public void AddComputerModuleLater(ComputerModule module)
{
//The actual loading is delayed to FixedUpdate because AddComputerModule can get called inside a foreach loop
//over the modules, and modifying the list during the loop will cause an exception. Maybe there is a better
//way to deal with this?
modulesToLoad.Add(module);
}
public T GetComputerModule <T>() where T : ComputerModule
{
for (int i = 0; i < unorderedComputerModules.Count; i++)
{
ComputerModule pm = unorderedComputerModules[i];
T module = pm as T;
if (module != null)
{
return(module);
}
}
return(null);
}
public bool RecursiveUser(object user)
{
if (base.Contains(user))
{
return(true);
}
else
{
foreach (object o in this)
{
ComputerModule c = o as ComputerModule;
if (c != null && c != controlledModule)
{
if (c.users.RecursiveUser(user))
{
return(true);
}
}
}
return(false);
}
}
public void RemoveComputerModule(ComputerModule module)
{
unorderedComputerModules.Remove(module);
ClearModulesCache();
}
public bool landActivate(ComputerModule controller, double touchdownSpeed = 0.5)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
trans_land_touchdown_speed = touchdownSpeed;
if (trans_land)
{
return true;
}
trans_land = true;
trans_land_gears = false;
tmode = TMode.KEEP_VERTICAL;
return true;
}
public bool controlClaim(ComputerModule newController, bool force = false)
{
if (controlModule == newController)
{
return true;
}
if (!controlRelease(newController, force))
{
return false;
}
_controlModule = newController;
return true;
}
public bool attitudeTo(Quaternion attitude, AttitudeReference reference, ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
attitudeReference = reference;
attitudeTarget = attitude;
_attitudeActive = true;
_attitudeRollMatters = true;
return true;
}
private void drive(FlightCtrlState s)
{
stress = 0;
if (part.State == PartStates.DEAD)
{
return;
}
if (controlModule != null)
{
if (controlModule.enabled)
{
controlModule.drive(s);
}
else
{
_controlModule = null;
}
}
if (TimeWarp.CurrentRate > TimeWarp.MaxPhysicsRate)
{
return;
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
if (trans_land)
{
if (part.vessel.Landed || part.vessel.Splashed)
{
tmode = TMode.OFF;
trans_land = false;
}
else
{
tmode = TMode.KEEP_VERTICAL;
trans_kill_h = true;
double minalt = Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue);
if (vesselState.maxThrustAccel < vesselState.gravityForce.magnitude)
{
trans_spd_act = 0;
}
else
{
trans_spd_act = (float)-Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.50F;
}
if (!trans_land_gears && (minalt < 1000))
{
foreach (Part p in part.vessel.parts)
{
if (p is LandingLeg)
{
LandingLeg l = (LandingLeg)p;
if (l.legState == LandingLeg.LegStates.RETRACTED)
{
l.DeployOnActivate = true;
l.force_activate();
}
}
}
trans_land_gears = true;
}
if (minalt < 200)
{
minalt = Math.Min(vesselState.altitudeBottom, minalt);
trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * 200) * 0.50F, (float)minalt / 200);
trans_spd_act = (float)Math.Min(-trans_land_touchdown_speed, trans_spd_act);
// if (minalt < 3.0 * trans_land_touchdown_speed) trans_spd_act = -(float)trans_land_touchdown_speed;
/*
if ((minalt >= 90) && (vesselState.speedHorizontal > 1)) {
trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * 200) * 0.90F, (float)(minalt - 100) / 300);
} else {
trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * 200) * 0.90F, (float)minalt / 300);
}
*/
}
}
}
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.Exclude(vesselState.up, part.vessel.orbit.GetVel() - part.vessel.mainBody.getRFrmVel(vesselState.CoM));
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * part.vessel.mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * part.vessel.mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
if (spd > 0)
{
rot = vesselState.up;
}
else
{
rot = dir.normalized;
}
}
attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
t_integral += t_err * TimeWarp.fixedDeltaTime;
double t_deriv = (t_err - t_prev_err) / TimeWarp.fixedDeltaTime;
double t_act = (t_Kp * t_err) + (t_Ki * t_integral) + (t_Kd * t_deriv);
t_prev_err = t_err;
double int_error = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, vesselState.forward));
//print("int_error = " + int_error);
if ((tmode != TMode.KEEP_VERTICAL) || (int_error < 2) || ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (int_error < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = s.mainThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = s.mainThrottle = Mathf.Clamp(trans_prev_thrust + (float)t_act, 0, 1.0F);
}
}
else
{
if ((int_error >= 2) && (vesselState.torqueThrustPYAvailable > vesselState.torquePYAvailable * 10))
{
trans_prev_thrust = s.mainThrottle = 0.1F;
}
else
{
trans_prev_thrust = s.mainThrottle = 0;
}
}
}
if (attitudeActive)
{
int userCommanding = (Mathfx.Approx(s.pitch, 0, 0.1F) ? 0 : 1) + (Mathfx.Approx(s.yaw, 0, 0.1F) ? 0 : 2) + (Mathfx.Approx(s.roll, 0, 0.1F) ? 0 : 4);
s.killRot = false;
Quaternion target = attitudeGetReferenceRotation(attitudeReference) * attitudeTarget;
Quaternion delta = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(part.vessel.transform.rotation) * target);
/*
if (Mathf.Abs(Quaternion.Angle(delta, Quaternion.identity)) > 30) {
delta = Quaternion.Slerp(Quaternion.identity, delta, 0.1F);
}
*/
Vector3d deltaEuler = delta.eulerAngles;
Vector3d err = new Vector3d((deltaEuler.x > 180) ? (deltaEuler.x - 360.0F) : deltaEuler.x, -((deltaEuler.y > 180) ? (deltaEuler.y - 360.0F) : deltaEuler.y), (deltaEuler.z > 180) ? (deltaEuler.z - 360.0F) : deltaEuler.z) * Math.PI / 180.0F;
Vector3d torque = new Vector3d(vesselState.torquePYAvailable + vesselState.torqueThrustPYAvailable * s.mainThrottle, vesselState.torqueRAvailable, vesselState.torquePYAvailable + vesselState.torqueThrustPYAvailable * s.mainThrottle);
Vector3d inertia = Vector3d.Scale(MuUtils.Sign(vesselState.angularMomentum) * 1.1, Vector3d.Scale(Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum), MuUtils.Invert(Vector3d.Scale(torque, vesselState.MoI))));
err += MuUtils.Reorder(inertia, 132);
err.Scale(Vector3d.Scale(vesselState.MoI, MuUtils.Invert(torque)));
integral += err * TimeWarp.fixedDeltaTime;
Vector3d deriv = (err - prev_err) / TimeWarp.fixedDeltaTime;
act = Kp * err + Ki * integral + Kd * deriv;
prev_err = err;
if (userCommanding != 0)
{
if (attitudeKILLROT)
{
attitudeTo(Quaternion.LookRotation(part.vessel.transform.up, -part.vessel.transform.forward), AttitudeReference.INERTIAL, null);
}
}
if ((userCommanding & 4) > 0)
{
prev_err = new Vector3d(prev_err.x, prev_err.y, 0);
integral = new Vector3d(integral.x, integral.y, 0);
if (!attitudeRollMatters)
{
attitudeTo(Quaternion.LookRotation(attitudeTarget * Vector3d.forward, attitudeWorldToReference(-part.vessel.transform.forward, attitudeReference)), attitudeReference, null);
_attitudeRollMatters = false;
}
}
else
{
if (!double.IsNaN(act.z)) s.roll = Mathf.Clamp(s.roll + act.z, -1.0F, 1.0F);
}
if ((userCommanding & 3) > 0)
{
prev_err = new Vector3d(0, 0, prev_err.z);
integral = new Vector3d(0, 0, integral.z);
}
else
{
if (!double.IsNaN(act.x)) s.pitch = Mathf.Clamp(s.pitch + act.x, -1.0F, 1.0F);
if (!double.IsNaN(act.y)) s.yaw = Mathf.Clamp(s.yaw + act.y, -1.0F, 1.0F);
}
stress = Mathf.Min(Mathf.Abs(act.x), 1.0F) + Mathf.Min(Mathf.Abs(act.y), 1.0F) + Mathf.Min(Mathf.Abs(act.z), 1.0F);
}
if (double.IsNaN(s.mainThrottle))
{
print("MechJeb: caught throttle = NaN");
s.mainThrottle = 0;
}
}
public bool autoStageActivate(ComputerModule controller, double stagingDelay = 1.0, int stageLimit = 0)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
autoStage = true;
autoStageDelay = stagingDelay;
autoStageLimit = stageLimit;
return true;
}
public bool attitudeTo(double heading, double pitch, double roll, ComputerModule controller)
{
Quaternion attitude = Quaternion.AngleAxis((float)heading, Vector3.up) * Quaternion.AngleAxis(-(float)pitch, Vector3.right) * Quaternion.AngleAxis(-(float)roll, Vector3.forward);
return attitudeTo(attitude, MechJebCore.AttitudeReference.SURFACE_NORTH, controller);
}
private void drive(FlightCtrlState s)
{
stress = 0;
if (part.State == PartStates.DEAD)
{
return;
}
if (controlModule != null)
{
if (controlModule.enabled)
{
controlModule.drive(s);
}
else
{
_controlModule = null;
}
}
if ((TimeWarp.WarpMode == TimeWarp.Modes.HIGH) && (TimeWarp.CurrentRate > TimeWarp.MaxPhysicsRate))
{
return;
}
driveThrust(s);
driveAttitude(s);
driveAutoStaging();
if (double.IsNaN(s.mainThrottle))
{
print("MechJeb: caught throttle = NaN");
s.mainThrottle = 0;
}
lastThrottle = s.mainThrottle;
}
public void warpTo(ComputerModule controller, double timeLeft, double[] lookaheadTimes, double maxRate = 100000.0)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller)) return;
if ((TimeWarp.WarpMode == TimeWarp.Modes.HIGH) && ((timeLeft < lookaheadTimes[TimeWarp.CurrentRateIndex])
|| (timeWarp.warpRates[TimeWarp.CurrentRateIndex] > maxRate)))
{
warpDecrease(controller, true);
}
else if ((TimeWarp.CurrentRateIndex < timeWarp.warpRates.Length - 1
&& lookaheadTimes[TimeWarp.CurrentRateIndex + 1] < timeLeft
&& timeWarp.warpRates[TimeWarp.CurrentRateIndex + 1] <= maxRate)
|| (TimeWarp.WarpMode == TimeWarp.Modes.LOW))
{
warpIncrease(controller, false, maxRate);
}
}
public void warpMinimum(ComputerModule controller, bool instant = false)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller)) return;
if (TimeWarp.CurrentRateIndex <= 0) return; //Somehow setting TimeWarp.SetRate to 0 when already at 0 causes unexpected rapid separation (Kracken)
TimeWarp.SetRate(0, instant);
}
public bool thrustDeactivate(ComputerModule controller)
{
/*
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
*/
if (tmode == TMode.OFF)
{
return true;
}
tmode = TMode.OFF;
return true;
}
public bool autoStageDeactivate(ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
autoStage = false;
return true;
}
public bool thrustActivate(ComputerModule controller, float value, TMode mode)
{
/*
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
*/
trans_spd_act = value;
tmode = mode;
return true;
}
public bool launch(ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
lastStageTime = vesselState.time;
if (Staging.CurrentStage == Staging.StageCount)
{
Staging.ActivateNextStage();
return true;
}
return false;
}
public bool attitudeDeactivate(ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
_attitudeActive = false;
attitudeChanged = true;
return true;
}
public void AddComputerModule(ComputerModule module)
{
computerModules.Add(module);
modulesUpdated = true;
}
public bool attitudeTo(Vector3d direction, AttitudeReference reference, ComputerModule controller)
{
bool ok = false;
double ang_diff = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, attitudeGetReferenceRotation(reference) * direction));
if (!attitudeActive || (ang_diff > 45))
{
ok = attitudeTo(Quaternion.LookRotation(direction, attitudeWorldToReference(-part.vessel.transform.forward, reference)), reference, controller);
}
else
{
ok = attitudeTo(Quaternion.LookRotation(direction, attitudeWorldToReference(attitudeReferenceToWorld(attitudeTarget * Vector3d.up, attitudeReference), reference)), reference, controller);
}
if (ok)
{
_attitudeRollMatters = false;
return true;
}
else
{
return false;
}
}
public void RemoveComputerModule(ComputerModule module)
{
computerModules.Remove(module);
modulesUpdated = true;
}
public bool controlRelease(ComputerModule controller, bool force = false)
{
if (controlModule != null)
{
controlModule.onControlLost();
}
_controlModule = null;
attitudeDeactivate(controller);
landDeactivate(controller);
tmode = TMode.OFF;
return true;
}
public void warpDecrease(ComputerModule controller, bool instant = true)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller)) return;
if (TimeWarp.CurrentRateIndex > 0
/*&& timeWarp.warpRates[TimeWarp.CurrentRateIndex] == TimeWarp.CurrentRate*/)
{
TimeWarp.SetRate(TimeWarp.CurrentRateIndex - 1, instant);
}
}
public bool landDeactivate(ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
if (!trans_land)
{
return true;
}
trans_land = false;
tmode = TMode.OFF;
return true;
}
public bool warpIncrease(ComputerModule controller, bool instant = true, double maxRate = 10000.0)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller)) return false;
//need to use instantaneous altitude and not the time-averaged vesselState.altitudeASL,
//because the game freaks out really hard if you try to violate the altitude limits
double instantAltitudeASL = (vesselState.CoM - part.vessel.mainBody.position).magnitude - part.vessel.mainBody.Radius;
//conditions to increase warp:
//-we are not already at max warp
//-the most recent non-instant warp change has completed
//-the next warp rate is not greater than maxRate
//-we are out of the atmosphere, or the next warp rate is still a physics rate, or we are landed
//-increasing the rate is allowed by altitude limits, or we are landed
//-we did not increase the warp within the last 2 seconds
if (TimeWarp.CurrentRateIndex + 1 < timeWarp.warpRates.Length
&& (TimeWarp.CurrentRate == 0 || timeWarp.warpRates[TimeWarp.CurrentRateIndex] == TimeWarp.CurrentRate)
&& timeWarp.warpRates[TimeWarp.CurrentRateIndex + 1] <= maxRate
&& (instantAltitudeASL > part.vessel.mainBody.maxAtmosphereAltitude
|| timeWarp.warpRates[TimeWarp.CurrentRateIndex + 1] <= TimeWarp.MaxPhysicsRate
|| part.vessel.Landed)
&& (instantAltitudeASL > timeWarp.altitudeLimits[TimeWarp.CurrentRateIndex + 1] * part.vessel.mainBody.Radius
|| part.vessel.Landed)
&& vesselState.time - warpIncreaseAttemptTime > 2)
{
warpIncreaseAttemptTime = vesselState.time;
TimeWarp.SetRate(TimeWarp.CurrentRateIndex + 1, instant);
return true;
}
else
{
return false;
}
}
public UserPool(ComputerModule controlledModule)
: base()
{
this.controlledModule = controlledModule;
}
public void warpMinimum(ComputerModule controller, bool instant = true)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller)) return;
TimeWarp.SetRate(0, instant);
}
public void AddComputerModule(ComputerModule module)
{
unorderedComputerModules.Add(module);
ClearModulesCache();
}
public void warpPhysics(ComputerModule controller, bool instant = true)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller)) return;
if (timeWarp.warpRates[TimeWarp.CurrentRateIndex] <= TimeWarp.MaxPhysicsRate)
{
return;
}
else
{
int newIndex = TimeWarp.CurrentRateIndex;
while (newIndex > 0 && timeWarp.warpRates[newIndex] > TimeWarp.MaxPhysicsRate) newIndex--;
TimeWarp.SetRate(newIndex, instant);
}
}
public void AddComputerModule(ComputerModule module)
{
unorderedComputerModules.Add(module);
sortedModules.Clear();
}
public void warpTo(ComputerModule controller, double timeLeft, double[] lookaheadTimes, double maxRate = 10000.0)
{
if (timeLeft < lookaheadTimes[TimeWarp.CurrentRateIndex]
|| timeWarp.warpRates[TimeWarp.CurrentRateIndex] > maxRate)
{
warpDecrease(controller, true);
}
else if (TimeWarp.CurrentRateIndex < timeWarp.warpRates.Length - 1
&& lookaheadTimes[TimeWarp.CurrentRateIndex + 1] < timeLeft
&& timeWarp.warpRates[TimeWarp.CurrentRateIndex + 1] <= maxRate)
{
warpIncrease(controller, false, maxRate);
}
}
public void RemoveComputerModule(ComputerModule module)
{
unorderedComputerModules.Remove(module);
sortedModules.Clear();
}
public bool stage(ComputerModule controller)
{
if ((controlModule != null) && (controller != null) && (controlModule != controller))
{
return false;
}
lastStageTime = vesselState.time;
Staging.ActivateNextStage();
return true;
}
