public Tuple3 Position(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException("referenceFrame");
}
return(referenceFrame.PositionFromWorldSpace(InternalVessel.findWorldCenterOfMass()).ToTuple());
}
public Tuple3 AngularVelocity(ReferenceFrame referenceFrame)
{
// FIXME: finding the rigidbody is expensive - cache it
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException(nameof(referenceFrame));
}
return(referenceFrame.AngularVelocityFromWorldSpace(InternalVessel.GetComponent <Rigidbody> ().angularVelocity).ToTuple());
}
/// <summary>
/// The direction vector that the SAS autopilot is trying to hold in world space
/// </summary>
Vector3d SASTargetDirection()
{
// Stability assist
if (SASMode == SASMode.StabilityAssist)
{
throw new InvalidOperationException("No target direction in stability assist mode");
}
// Maneuver node
if (SASMode == SASMode.Maneuver)
{
var node = InternalVessel.patchedConicSolver.maneuverNodes.OrderBy(x => x.UT).FirstOrDefault();
if (node == null)
{
throw new InvalidOperationException("No maneuver node");
}
return(new Node(InternalVessel, node).WorldBurnVector);
}
// Orbital directions, in different speed modes
if (SASMode == SASMode.Prograde || SASMode == SASMode.Retrograde ||
SASMode == SASMode.Normal || SASMode == SASMode.AntiNormal ||
SASMode == SASMode.Radial || SASMode == SASMode.AntiRadial)
{
if (Control.GetSpeedMode() == SpeedMode.Orbit)
{
switch (SASMode)
{
case SASMode.Prograde:
return(ReferenceFrame.Orbital(InternalVessel).DirectionToWorldSpace(Vector3d.up));
case SASMode.Retrograde:
return(ReferenceFrame.Orbital(InternalVessel).DirectionToWorldSpace(Vector3d.down));
case SASMode.Normal:
return(ReferenceFrame.Orbital(InternalVessel).DirectionToWorldSpace(Vector3d.forward));
case SASMode.AntiNormal:
return(ReferenceFrame.Orbital(InternalVessel).DirectionToWorldSpace(Vector3d.back));
case SASMode.Radial:
return(ReferenceFrame.Orbital(InternalVessel).DirectionToWorldSpace(Vector3d.left));
case SASMode.AntiRadial:
return(ReferenceFrame.Orbital(InternalVessel).DirectionToWorldSpace(Vector3d.right));
}
}
else if (Control.GetSpeedMode() == SpeedMode.Surface)
{
switch (SASMode)
{
case SASMode.Prograde:
return(ReferenceFrame.SurfaceVelocity(InternalVessel).DirectionToWorldSpace(Vector3d.up));
case SASMode.Retrograde:
return(ReferenceFrame.SurfaceVelocity(InternalVessel).DirectionToWorldSpace(Vector3d.down));
case SASMode.Normal:
return(ReferenceFrame.Object(InternalVessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.up));
case SASMode.AntiNormal:
return(ReferenceFrame.Object(InternalVessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.down));
case SASMode.Radial:
return(ReferenceFrame.Surface(InternalVessel).DirectionToWorldSpace(Vector3d.right));
case SASMode.AntiRadial:
return(ReferenceFrame.Surface(InternalVessel).DirectionToWorldSpace(Vector3d.left));
}
}
else if (Control.GetSpeedMode() == SpeedMode.Target)
{
switch (SASMode)
{
case SASMode.Prograde:
return(InternalVessel.GetWorldVelocity() - FlightGlobals.fetch.VesselTarget.GetWorldVelocity());
case SASMode.Retrograde:
return(FlightGlobals.fetch.VesselTarget.GetWorldVelocity() - InternalVessel.GetWorldVelocity());
case SASMode.Normal:
return(ReferenceFrame.Object(InternalVessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.up));
case SASMode.AntiNormal:
return(ReferenceFrame.Object(InternalVessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.down));
case SASMode.Radial:
return(ReferenceFrame.Surface(InternalVessel).DirectionToWorldSpace(Vector3d.right));
case SASMode.AntiRadial:
return(ReferenceFrame.Surface(InternalVessel).DirectionToWorldSpace(Vector3d.left));
}
}
throw new InvalidOperationException("Unknown speed mode for orbital direction");
}
// Target and anti-target
if (SASMode == SASMode.Target || SASMode == SASMode.AntiTarget)
{
var target = FlightGlobals.fetch.VesselTarget;
if (target == null)
{
throw new InvalidOperationException("No target");
}
var direction = target.GetWorldPosition() - InternalVessel.GetWorldPos3D();
if (SASMode == SASMode.AntiTarget)
{
direction *= -1;
}
return(direction);
}
throw new InvalidOperationException("Unknown SAS mode");
}
public Tuple3 Velocity(ReferenceFrame referenceFrame)
{
return(referenceFrame.VelocityFromWorldSpace(InternalVessel.CoM, InternalVessel.GetOrbit().GetVel()).ToTuple());
}
public Tuple3 Position(ReferenceFrame referenceFrame)
{
return(referenceFrame.PositionFromWorldSpace(InternalVessel.GetWorldPos3D()).ToTuple());
}
