public void InitMode(DriveCommand dc)
{
axis = ModuleWheel.AlignmentAxis.None;
foreach (Part p in mVessel.parts)
{
if (p.Modules.Contains("ModuleWheel"))
{
axis = (p.Modules["ModuleWheel"] as ModuleWheel).alignmentAxis;
if (axis != ModuleWheel.AlignmentAxis.None)
{
break;
}
}
}
mRoverAlt = (float)mVessel.altitude;
mRoverLat = (float)mVessel.latitude;
mRoverLon = (float)mVessel.longitude;
switch (dc.mode)
{
case DriveCommand.DriveMode.Turn:
mRoverRot = mVessel.ReferenceTransform.rotation;
break;
case DriveCommand.DriveMode.Distance:
mWheelPID.setClamp(-1, 1);
mKeepHDG = RoverHDG;
break;
case DriveCommand.DriveMode.DistanceHeading:
mWheelPID.setClamp(-dc.steering, dc.steering);
break;
case DriveCommand.DriveMode.Coord:
mWheelPID.setClamp(-dc.steering, dc.steering);
mTargetLat = dc.target;
mTargetLon = dc.target2;
break;
}
mThrottlePID.Reset();
mWheelPID.Reset();
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
private void UpdateAxis()
{
mAxis = ModuleWheel.AlignmentAxis.None;
foreach (Part p in mVessel.parts)
{
if (p.Modules.Contains("ModuleWheel"))
{
float a = 0, b = 0, c = 0;
ModuleWheel.ControlAxis controlAxis = (p.Modules["ModuleWheel"] as ModuleWheel).controlAxis;
switch (controlAxis)
{
case ModuleWheel.ControlAxis.Forward:
a = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.forward, p.transform.forward));
b = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.right, p.transform.forward));
c = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.up, p.transform.forward));
break;
case ModuleWheel.ControlAxis.Right:
a = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.forward, p.transform.right));
b = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.right, p.transform.right));
c = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.up, p.transform.right));
break;
case ModuleWheel.ControlAxis.Up:
a = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.forward, p.transform.up));
b = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.right, p.transform.up));
c = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.up, p.transform.up));
break;
}
if (a > c)
{
if (a > b)
{
mAxis = ModuleWheel.AlignmentAxis.Forward;
}
else
{
mAxis = ModuleWheel.AlignmentAxis.Right;
}
}
else
{
if (c > b)
{
mAxis = ModuleWheel.AlignmentAxis.Up;
}
else
{
mAxis = ModuleWheel.AlignmentAxis.Right;
}
}
if (mAxis != ModuleWheel.AlignmentAxis.None)
{
break;
}
}
}
}
private void UpdateAxis()
{
mAxis = ModuleWheel.AlignmentAxis.None;
foreach (Part p in mVessel.parts) {
if (p.Modules.Contains("ModuleWheel")) {
float a = 0, b = 0, c = 0;
ModuleWheel.ControlAxis controlAxis = (p.Modules["ModuleWheel"] as ModuleWheel).controlAxis;
switch (controlAxis) {
case ModuleWheel.ControlAxis.Forward:
a = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.forward, p.transform.forward));
b = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.right, p.transform.forward));
c = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.up, p.transform.forward));
break;
case ModuleWheel.ControlAxis.Right:
a = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.forward, p.transform.right));
b = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.right, p.transform.right));
c = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.up, p.transform.right));
break;
case ModuleWheel.ControlAxis.Up:
a = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.forward, p.transform.up));
b = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.right, p.transform.up));
c = Math.Abs(Vector3.Dot(mVessel.ReferenceTransform.up, p.transform.up));
break;
}
if (a > c) {
if (a > b)
mAxis = ModuleWheel.AlignmentAxis.Forward;
else
mAxis = ModuleWheel.AlignmentAxis.Right;
} else {
if (c > b)
mAxis = ModuleWheel.AlignmentAxis.Up;
else
mAxis = ModuleWheel.AlignmentAxis.Right;
}
if (mAxis != ModuleWheel.AlignmentAxis.None)
break;
}
}
}
public void InitMode(DriveCommand dc)
{
axis = ModuleWheel.AlignmentAxis.None;
foreach (Part p in mVessel.parts) {
if (p.Modules.Contains("ModuleWheel")) {
axis = (p.Modules["ModuleWheel"] as ModuleWheel).alignmentAxis;
if (axis != ModuleWheel.AlignmentAxis.None)
break;
}
}
mRoverAlt = (float)mVessel.altitude;
mRoverLat = (float)mVessel.latitude;
mRoverLon = (float)mVessel.longitude;
switch (dc.mode) {
case DriveCommand.DriveMode.Turn:
mRoverRot = mVessel.ReferenceTransform.rotation;
break;
case DriveCommand.DriveMode.Distance:
mWheelPID.setClamp(-1, 1);
mKeepHDG = RoverHDG;
break;
case DriveCommand.DriveMode.DistanceHeading:
mWheelPID.setClamp(-dc.steering, dc.steering);
break;
case DriveCommand.DriveMode.Coord:
mWheelPID.setClamp(-dc.steering, dc.steering);
mTargetLat = dc.target;
mTargetLon = dc.target2;
break;
}
mThrottlePID.Reset();
mWheelPID.Reset();
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
