public void OnFixedUpdate()
{
if (Vessel != null)
{
UpdateStateVectors(Vessel, Target);
SteeringHelper.AnalyzeParts(Vessel);
Vector3 Torque = SteeringHelper.TorqueAvailable;
var CoM = Vessel.CoM;
var MoI = Vessel.MOI;
phiTotal = calculatePhiTotal();
phiVector = calculatePhiVector();//deviation errors from orientation target
for (int i = 0; i < 3; i++)
{
//Edge case: Very low (torque/MoI) (like 0.0078!) rate so need to rise max acceleration artifically
StoppingTime = (OmegaThreshold <= (Torque[i] / MoI[i])) ?
1.0f :
(float)RTUtil.Clamp((1.0 / (Torque[i] / MoI[i])) * (Math.Abs(phiVector[i]) - Phi1FStoppingTime), 1.0, MaxStoppingTime);
MaxOmega[i] = Mathf.Max((Torque[i] * StoppingTime) / MoI[i], 0.0001f);
}
TargetOmega[0] = pitchRatePI.Update(-phiVector[0], 0, MaxOmega[0]);
TargetOmega[1] = rollRatePI.Update(-phiVector[1], 0, MaxOmega[1]);
TargetOmega[2] = yawRatePI.Update(-phiVector[2], 0, MaxOmega[2]);
if (Math.Abs(phiTotal) > RollControlRange)
{
TargetOmega[1] = 0;
rollRatePI.ResetI();
}
TargetTorque[0] = pitchPI.Update(Omega[0], TargetOmega[0], Vessel.MOI[0], Torque[0]);
TargetTorque[1] = rollPI.Update(Omega[1], TargetOmega[1], Vessel.MOI[1], Torque[1]);
TargetTorque[2] = yawPI.Update(Omega[2], TargetOmega[2], Vessel.MOI[2], Torque[2]);
}
}