Exemple #1
0
        private void autoPilot(AutoPilot pilot, FlightCtrlState controls)
        {
            controls.killRot = false;
            if (!controls.isIdle)
            {
                Enabled = false;
            }

            if (attachedVessel == null || !Enabled)
            {
                return;
            }

            Vessel vessel = attachedVessel;

            CelestialBody body        = vessel.mainBody;
            Vector3d      pos         = vessel.GetWorldPos3D() - body.position;
            Vector3d      airVelocity = vessel.obt_velocity - body.getRFrmVel(body.position + pos);

            Transform vesselTransform = vessel.ReferenceTransform;

            Vector3d vesselBackward = (Vector3d)(-vesselTransform.up.normalized);
            Vector3d vesselForward  = -vesselBackward;
            Vector3d vesselUp       = (Vector3d)(-vesselTransform.forward.normalized);
            Vector3d vesselRight    = Vector3d.Cross(vesselUp, vesselBackward).normalized;

            Vector3d localVel = new Vector3d(Vector3d.Dot(vesselRight, airVelocity), Vector3d.Dot(vesselUp, airVelocity), Vector3d.Dot(vesselBackward, airVelocity));
            Vector3d prograde = localVel.normalized;

            Vector3d localGravityUp     = new Vector3d(Vector3d.Dot(vesselRight, pos), Vector3d.Dot(vesselUp, pos), Vector3d.Dot(vesselBackward, pos)).normalized;
            Vector3d localProgradeRight = Vector3d.Cross(prograde, localGravityUp).normalized;

            localGravityUp = Vector3d.Cross(localProgradeRight, prograde);

            Vector3d vel = vessel.obt_velocity - body.getRFrmVel(body.position + pos); // air velocity
            double   AoA = (float)DescentProfile.fetch.GetAngleOfAttack(body, pos, vel);
            Vector3d worldTargetDirection = CorrectedDirection;
            Vector3d targetDirection      = new Vector3d(Vector3d.Dot(vesselRight, worldTargetDirection), Vector3d.Dot(vesselUp, worldTargetDirection), Vector3d.Dot(vesselBackward, worldTargetDirection));
            Vector3d targetUp             = prograde * (-Math.Sin(AoA)) + localGravityUp * Math.Cos(AoA);

            Vector2 correction = Correction;

            float dirx = targetDirection.z > 0.0f ? Mathf.Sign((float)targetDirection.x) : (float)targetDirection.x;
            float diry = targetDirection.z > 0.0f ? Mathf.Sign((float)targetDirection.y) : (float)targetDirection.y;
            float dirz = targetUp.y < 0.0f ? Mathf.Sign((float)targetUp.x) : (float)targetUp.x;

            if (targetUp.y > 0.0f)
            {
                dirz += correction.x; // in case the craft has wings, roll it to use lift for left/right correction
            }

            float maxSteer = Mathf.Clamp(2.0f - Smoothness * 0.2f, 0.1f, 1.0f);

            float warpDamp = 1.0f / TimeWarp.CurrentRate;

            controls.pitch = Mathf.Clamp(diry * Strength + vessel.angularVelocity.x * Smoothness, -maxSteer, maxSteer) * warpDamp;
            controls.yaw   = Mathf.Clamp(-dirx * Strength + vessel.angularVelocity.z * Smoothness, -maxSteer, maxSteer) * warpDamp;
            controls.roll  = Mathf.Clamp(-dirz * Strength + vessel.angularVelocity.y * Smoothness, -maxSteer, maxSteer) * warpDamp;
        }
Exemple #2
0
 public void Start()
 {
     fetch_ = this;
 }
        private void autoPilot(AutoPilot pilot, FlightCtrlState controls)
        {
            controls.killRot = false;
            if (!controls.isIdle)
                Enabled = false;

            if (attachedVessel == null || !Enabled)
                return;

            Vessel vessel = attachedVessel;

            CelestialBody body = vessel.mainBody;
            Vector3d pos = vessel.GetWorldPos3D() - body.position;
            Vector3d airVelocity = vessel.obt_velocity - body.getRFrmVel(body.position + pos);

            Transform vesselTransform = vessel.ReferenceTransform;

            Vector3d vesselBackward = (Vector3d)(-vesselTransform.up.normalized);
            Vector3d vesselForward = -vesselBackward;
            Vector3d vesselUp = (Vector3d)(-vesselTransform.forward.normalized);
            Vector3d vesselRight = Vector3d.Cross(vesselUp, vesselBackward).normalized;

            Vector3d localVel = new Vector3d(Vector3d.Dot(vesselRight, airVelocity), Vector3d.Dot(vesselUp, airVelocity), Vector3d.Dot(vesselBackward, airVelocity));
            Vector3d prograde = localVel.normalized;

            Vector3d localGravityUp = new Vector3d(Vector3d.Dot(vesselRight, pos), Vector3d.Dot(vesselUp, pos), Vector3d.Dot(vesselBackward, pos)).normalized;
            Vector3d localProgradeRight = Vector3d.Cross(prograde, localGravityUp).normalized;
            localGravityUp = Vector3d.Cross(localProgradeRight, prograde);

            Vector3d vel = vessel.obt_velocity - body.getRFrmVel(body.position + pos); // air velocity
            double AoA = (float)DescentProfile.fetch.GetAngleOfAttack(body, pos, vel);
            Vector3d worldTargetDirection = CorrectedDirection;
            Vector3d targetDirection = new Vector3d(Vector3d.Dot(vesselRight, worldTargetDirection), Vector3d.Dot(vesselUp, worldTargetDirection), Vector3d.Dot(vesselBackward, worldTargetDirection));
            Vector3d targetUp = prograde * (-Math.Sin(AoA)) + localGravityUp * Math.Cos(AoA);

            Vector2 correction = Correction;

            float dirx = targetDirection.z > 0.0f ? Mathf.Sign((float)targetDirection.x) : (float)targetDirection.x;
            float diry = targetDirection.z > 0.0f ? Mathf.Sign((float)targetDirection.y) : (float)targetDirection.y;
            float dirz = targetUp.y < 0.0f ? Mathf.Sign((float)targetUp.x) : (float)targetUp.x;

            if(targetUp.y > 0.0f)
            {
                dirz += correction.x; // in case the craft has wings, roll it to use lift for left/right correction
            }

            float maxSteer = Mathf.Clamp(2.0f - Smoothness*0.2f, 0.1f, 1.0f);

            float warpDamp = 1.0f / TimeWarp.CurrentRate;
            controls.pitch = Mathf.Clamp(diry * Strength + vessel.angularVelocity.x * Smoothness, -maxSteer, maxSteer) * warpDamp;
            controls.yaw = Mathf.Clamp(-dirx * Strength + vessel.angularVelocity.z * Smoothness, -maxSteer, maxSteer) * warpDamp;
            controls.roll = Mathf.Clamp(-dirz * Strength + vessel.angularVelocity.y * Smoothness, -maxSteer, maxSteer) * warpDamp;
        }
 public void Start()
 {
     fetch_ = this;
 }