Esempio n. 1
0
        public void Update(Vessel vessel)
        {
            if (vessel.rigidbody == null)
            {
                return;                           //if we try to update before rigidbodies exist we spam the console with NullPointerExceptions.
            }
            //if (vessel.packed) return;

            time   = Planetarium.GetUniversalTime();
            deltaT = TimeWarp.fixedDeltaTime;

            CoM = vessel.findWorldCenterOfMass();
            up  = (CoM - vessel.mainBody.position).normalized;

            Rigidbody rigidBody = vessel.rootPart.rigidbody;

            if (rigidBody != null)
            {
                rootPartPos = rigidBody.position;
            }

            north                 = Vector3d.Exclude(up, (vessel.mainBody.position + vessel.mainBody.transform.up * (float)vessel.mainBody.Radius) - CoM).normalized;
            east                  = vessel.mainBody.getRFrmVel(CoM).normalized;
            forward               = vessel.GetTransform().up;
            rotationSurface       = Quaternion.LookRotation(north, up);
            rotationVesselSurface = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(vessel.GetTransform().rotation) * rotationSurface);

            velocityVesselOrbit       = vessel.orbit.GetVel();
            velocityVesselOrbitUnit   = velocityVesselOrbit.normalized;
            velocityVesselSurface     = velocityVesselOrbit - vessel.mainBody.getRFrmVel(CoM);
            velocityVesselSurfaceUnit = velocityVesselSurface.normalized;
            velocityMainBodySurface   = rotationSurface * velocityVesselSurface;

            horizontalOrbit   = Vector3d.Exclude(up, velocityVesselOrbit).normalized;
            horizontalSurface = Vector3d.Exclude(up, velocityVesselSurface).normalized;

            angularVelocity = Quaternion.Inverse(vessel.GetTransform().rotation) * vessel.rigidbody.angularVelocity;

            radialPlusSurface = Vector3d.Exclude(velocityVesselSurface, up).normalized;
            radialPlus        = Vector3d.Exclude(velocityVesselOrbit, up).normalized;
            normalPlusSurface = -Vector3d.Cross(radialPlusSurface, velocityVesselSurfaceUnit);
            normalPlus        = -Vector3d.Cross(radialPlus, velocityVesselOrbitUnit);

            gravityForce = FlightGlobals.getGeeForceAtPosition(CoM);
            localg       = gravityForce.magnitude;

            speedOrbital.value           = velocityVesselOrbit.magnitude;
            speedSurface.value           = velocityVesselSurface.magnitude;
            speedVertical.value          = Vector3d.Dot(velocityVesselSurface, up);
            speedSurfaceHorizontal.value = (velocityVesselSurface - (speedVertical * up)).magnitude;
            speedOrbitHorizontal         = (velocityVesselOrbit - (speedVertical * up)).magnitude;

            vesselHeading.value = rotationVesselSurface.eulerAngles.y;
            vesselPitch.value   = (rotationVesselSurface.eulerAngles.x > 180) ? (360.0 - rotationVesselSurface.eulerAngles.x) : -rotationVesselSurface.eulerAngles.x;
            vesselRoll.value    = (rotationVesselSurface.eulerAngles.z > 180) ? (rotationVesselSurface.eulerAngles.z - 360.0) : rotationVesselSurface.eulerAngles.z;

            altitudeASL.value = vessel.mainBody.GetAltitude(CoM);
            RaycastHit sfc;

            if (Physics.Raycast(CoM, -up, out sfc, (float)altitudeASL + 10000.0F, 1 << 15))
            {
                altitudeTrue.value = sfc.distance;
            }
            else if (vessel.mainBody.pqsController != null)
            {
                // from here: http://kerbalspaceprogram.com/forum/index.php?topic=10324.msg161923#msg161923
                altitudeTrue.value = vessel.mainBody.GetAltitude(CoM) - (vessel.mainBody.pqsController.GetSurfaceHeight(QuaternionD.AngleAxis(vessel.mainBody.GetLongitude(CoM), Vector3d.down) * QuaternionD.AngleAxis(vessel.mainBody.GetLatitude(CoM), Vector3d.forward) * Vector3d.right) - vessel.mainBody.pqsController.radius);
            }
            else
            {
                altitudeTrue.value = vessel.mainBody.GetAltitude(CoM);
            }

            double surfaceAltitudeASL = altitudeASL - altitudeTrue;

            altitudeBottom = altitudeTrue;
            foreach (Part p in vessel.parts)
            {
                if (p.collider != null)
                {
                    Vector3d bottomPoint   = p.collider.ClosestPointOnBounds(vessel.mainBody.position);
                    double   partBottomAlt = vessel.mainBody.GetAltitude(bottomPoint) - surfaceAltitudeASL;
                    altitudeBottom = Math.Max(0, Math.Min(altitudeBottom, partBottomAlt));
                }
            }

            double atmosphericPressure = FlightGlobals.getStaticPressure(altitudeASL, vessel.mainBody);

            if (atmosphericPressure < vessel.mainBody.atmosphereMultiplier * 1e-6)
            {
                atmosphericPressure = 0;
            }
            atmosphericDensity      = FlightGlobals.getAtmDensity(atmosphericPressure);
            atmosphericDensityGrams = atmosphericDensity * 1000;

            orbitApA.value      = vessel.orbit.ApA;
            orbitPeA.value      = vessel.orbit.PeA;
            orbitPeriod.value   = vessel.orbit.period;
            orbitTimeToAp.value = vessel.orbit.timeToAp;
            if (vessel.orbit.eccentricity < 1)
            {
                orbitTimeToPe.value = vessel.orbit.timeToPe;
            }
            else
            {
                orbitTimeToPe.value = -vessel.orbit.meanAnomaly / (2 * Math.PI / vessel.orbit.period);
            }
            orbitLAN.value = vessel.orbit.LAN;
            orbitArgumentOfPeriapsis.value = vessel.orbit.argumentOfPeriapsis;
            orbitInclination.value         = vessel.orbit.inclination;
            orbitEccentricity.value        = vessel.orbit.eccentricity;
            orbitSemiMajorAxis.value       = vessel.orbit.semiMajorAxis;
            latitude.value  = vessel.mainBody.GetLatitude(CoM);
            longitude.value = MuUtils.ClampDegrees180(vessel.mainBody.GetLongitude(CoM));

            if (vessel.mainBody != Planetarium.fetch.Sun)
            {
                Vector3d delta = vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + 1) - vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() - 1);
                Vector3d plUp  = Vector3d.Cross(vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime()) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime()), vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4)).normalized;
                angleToPrograde = MuUtils.ClampDegrees360((((vessel.orbit.inclination > 90) || (vessel.orbit.inclination < -90)) ? 1 : -1) * ((Vector3)up).AngleInPlane(plUp, delta));
            }
            else
            {
                angleToPrograde = 0;
            }

            mainBody = vessel.mainBody;

            radius = (CoM - vessel.mainBody.position).magnitude;

            mass = thrustAvailable = thrustMinimum = massDrag = torqueRAvailable = torquePYAvailable = torqueThrustPYAvailable = 0;
            rcsThrustAvailable = new Vector6();
            rcsTorqueAvailable = new Vector6();

            EngineInfo einfo = new EngineInfo(forward, CoM);
            IntakeInfo iinfo = new IntakeInfo();

            var rcsbal = vessel.GetMasterMechJeb().rcsbal;

            if (vessel.ActionGroups[KSPActionGroup.RCS] && rcsbal.enabled)
            {
                Vector3d rot = Vector3d.zero;
                foreach (Vector6.Direction dir6 in Enum.GetValues(typeof(Vector6.Direction)))
                {
                    Vector3d dir = Vector6.directions[dir6];
                    double[] throttles;
                    List <RCSSolver.Thruster> thrusters;
                    rcsbal.GetThrottles(dir, out throttles, out thrusters);
                    if (throttles != null)
                    {
                        for (int i = 0; i < throttles.Length; i++)
                        {
                            if (throttles[i] > 0)
                            {
                                Vector3d force = thrusters[i].GetThrust(dir, rot);
                                rcsThrustAvailable.Add(dir * Vector3d.Dot(force * throttles[i], dir));
                            }
                        }
                    }
                }
            }

            foreach (Part p in vessel.parts)
            {
                if (p.physicalSignificance != Part.PhysicalSignificance.NONE)
                {
                    double partMass = p.TotalMass();
                    mass     += partMass;
                    massDrag += partMass * p.maximum_drag;
                }

                if (vessel.ActionGroups[KSPActionGroup.RCS] && !rcsbal.enabled)
                {
                    foreach (ModuleRCS pm in p.Modules.OfType <ModuleRCS>())
                    {
                        double maxT = pm.thrusterPower;

                        if ((pm.isEnabled) && (!pm.isJustForShow))
                        {
                            torqueRAvailable += maxT;
                            if (p.Rigidbody != null)
                            {
                                torquePYAvailable += maxT * (p.Rigidbody.worldCenterOfMass - CoM).magnitude;
                            }

                            foreach (Transform t in pm.thrusterTransforms)
                            {
                                rcsThrustAvailable.Add(-t.up * pm.thrusterPower);
                            }
                        }
                    }
                }
                if (p is CommandPod)
                {
                    torqueRAvailable  += Math.Abs(((CommandPod)p).rotPower);
                    torquePYAvailable += Math.Abs(((CommandPod)p).rotPower);
                }

                foreach (PartModule pm in p.Modules)
                {
                    if (!pm.isEnabled)
                    {
                        continue;
                    }

                    if (pm is ModuleEngines)
                    {
                        einfo.AddNewEngine(pm as ModuleEngines);
                    }
                    else if (pm is ModuleResourceIntake)
                    {
                        iinfo.addIntake(pm as ModuleResourceIntake);
                    }
                }
            }

            thrustAvailable         += einfo.thrustAvailable;
            thrustMinimum           += einfo.thrustMinimum;
            torqueThrustPYAvailable += einfo.torqueThrustPYAvailable;

            // Convert the resource information from the einfo and iinfo format
            // to the more useful ResourceInfo format.
            resources = new Dictionary <int, ResourceInfo>();
            foreach (var info in einfo.resourceRequired)
            {
                int id  = info.Key;
                var req = info.Value;
                resources[id] = new ResourceInfo(
                    PartResourceLibrary.Instance.GetDefinition(id),
                    req.requiredLastFrame,
                    req.requiredAtMaxThrottle,
                    iinfo.getIntakes(id));
            }

            int intakeAirId = PartResourceLibrary.Instance.GetDefinition("IntakeAir").id;

            intakeAir       = 0;
            intakeAirNeeded = 0;
            intakeAirAtMax  = 0;
            if (resources.ContainsKey(intakeAirId))
            {
                intakeAir       = resources[intakeAirId].intakeProvided;
                intakeAirNeeded = resources[intakeAirId].required;
                intakeAirAtMax  = resources[intakeAirId].requiredAtMaxThrottle;
            }

            angularMomentum = new Vector3d(angularVelocity.x * MoI.x, angularVelocity.y * MoI.y, angularVelocity.z * MoI.z);

            maxThrustAccel = thrustAvailable / mass;
            minThrustAccel = thrustMinimum / mass;

            inertiaTensor = new Matrix3x3();
            foreach (Part p in vessel.parts)
            {
                if (p.Rigidbody == null)
                {
                    continue;
                }

                //Compute the contributions to the vessel inertia tensor due to the part inertia tensor
                Vector3d   principalMoments = p.Rigidbody.inertiaTensor;
                Quaternion princAxesRot     = Quaternion.Inverse(vessel.GetTransform().rotation) * p.transform.rotation * p.Rigidbody.inertiaTensorRotation;
                Quaternion invPrincAxesRot  = Quaternion.Inverse(princAxesRot);

                for (int i = 0; i < 3; i++)
                {
                    Vector3d iHat = Vector3d.zero;
                    iHat[i] = 1;
                    for (int j = 0; j < 3; j++)
                    {
                        Vector3d jHat = Vector3d.zero;
                        jHat[j]              = 1;
                        inertiaTensor[i, j] += Vector3d.Dot(iHat, princAxesRot * Vector3d.Scale(principalMoments, invPrincAxesRot * jHat));
                    }
                }

                //Compute the contributions to the vessel inertia tensor due to the part mass and position
                double  partMass     = p.TotalMass();
                Vector3 partPosition = vessel.transform.InverseTransformDirection(p.Rigidbody.worldCenterOfMass - CoM);

                for (int i = 0; i < 3; i++)
                {
                    inertiaTensor[i, i] += partMass * partPosition.sqrMagnitude;

                    for (int j = 0; j < 3; j++)
                    {
                        inertiaTensor[i, j] += -partMass * partPosition[i] * partPosition[j];
                    }
                }
            }

            MoI             = new Vector3d(inertiaTensor[0, 0], inertiaTensor[1, 1], inertiaTensor[2, 2]);
            angularMomentum = inertiaTensor * angularVelocity;
        }
Esempio n. 2
0
        public void Update(Vessel vessel)
        {
            if (vessel.rigidbody == null) return; //if we try to update before rigidbodies exist we spam the console with NullPointerExceptions.
            //if (vessel.packed) return;

            time = Planetarium.GetUniversalTime();
            deltaT = TimeWarp.fixedDeltaTime;

            CoM = vessel.findWorldCenterOfMass();
            MoI = vessel.findLocalMOI(CoM);
            up = (CoM - vessel.mainBody.position).normalized;

            Rigidbody rigidBody = vessel.rootPart.rigidbody;
            if (rigidBody != null) rootPartPos = rigidBody.position;

            north = Vector3d.Exclude(up, (vessel.mainBody.position + vessel.mainBody.transform.up * (float)vessel.mainBody.Radius) - CoM).normalized;
            east = vessel.mainBody.getRFrmVel(CoM).normalized;
            forward = vessel.GetTransform().up;
            rotationSurface = Quaternion.LookRotation(north, up);
            rotationVesselSurface = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(vessel.GetTransform().rotation) * rotationSurface);

            velocityVesselOrbit = vessel.orbit.GetVel();
            velocityVesselOrbitUnit = velocityVesselOrbit.normalized;
            velocityVesselSurface = velocityVesselOrbit - vessel.mainBody.getRFrmVel(CoM);
            velocityVesselSurfaceUnit = velocityVesselSurface.normalized;
            velocityMainBodySurface = rotationSurface * velocityVesselSurface;

            horizontalOrbit = Vector3d.Exclude(up, velocityVesselOrbit).normalized;
            horizontalSurface = Vector3d.Exclude(up, velocityVesselSurface).normalized;

            angularVelocity = Quaternion.Inverse(vessel.GetTransform().rotation) * vessel.rigidbody.angularVelocity;

            radialPlusSurface = Vector3d.Exclude(velocityVesselSurface, up).normalized;
            radialPlus = Vector3d.Exclude(velocityVesselOrbit, up).normalized;
            normalPlusSurface = -Vector3d.Cross(radialPlusSurface, velocityVesselSurfaceUnit);
            normalPlus = -Vector3d.Cross(radialPlus, velocityVesselOrbitUnit);

            gravityForce = FlightGlobals.getGeeForceAtPosition(CoM);
            localg = gravityForce.magnitude;

            speedOrbital.value = velocityVesselOrbit.magnitude;
            speedSurface.value = velocityVesselSurface.magnitude;
            speedVertical.value = Vector3d.Dot(velocityVesselSurface, up);
            speedSurfaceHorizontal.value = (velocityVesselSurface - (speedVertical * up)).magnitude;
            speedOrbitHorizontal = (velocityVesselOrbit - (speedVertical * up)).magnitude;

            vesselHeading.value = rotationVesselSurface.eulerAngles.y;
            vesselPitch.value = (rotationVesselSurface.eulerAngles.x > 180) ? (360.0 - rotationVesselSurface.eulerAngles.x) : -rotationVesselSurface.eulerAngles.x;
            vesselRoll.value = (rotationVesselSurface.eulerAngles.z > 180) ? (rotationVesselSurface.eulerAngles.z - 360.0) : rotationVesselSurface.eulerAngles.z;

            altitudeASL.value = vessel.mainBody.GetAltitude(CoM);
            RaycastHit sfc;
            if (Physics.Raycast(CoM, -up, out sfc, (float)altitudeASL + 10000.0F, 1 << 15))
            {
                altitudeTrue.value = sfc.distance;
            }
            else if (vessel.mainBody.pqsController != null)
            {
                // from here: http://kerbalspaceprogram.com/forum/index.php?topic=10324.msg161923#msg161923
                altitudeTrue.value = vessel.mainBody.GetAltitude(CoM) - (vessel.mainBody.pqsController.GetSurfaceHeight(QuaternionD.AngleAxis(vessel.mainBody.GetLongitude(CoM), Vector3d.down) * QuaternionD.AngleAxis(vessel.mainBody.GetLatitude(CoM), Vector3d.forward) * Vector3d.right) - vessel.mainBody.pqsController.radius);
            }
            else
            {
                altitudeTrue.value = vessel.mainBody.GetAltitude(CoM);
            }

            double surfaceAltitudeASL = altitudeASL - altitudeTrue;
            altitudeBottom = altitudeTrue;
            foreach (Part p in vessel.parts)
            {
                if (p.collider != null)
                {
                    Vector3d bottomPoint = p.collider.ClosestPointOnBounds(vessel.mainBody.position);
                    double partBottomAlt = vessel.mainBody.GetAltitude(bottomPoint) - surfaceAltitudeASL;
                    altitudeBottom = Math.Max(0, Math.Min(altitudeBottom, partBottomAlt));
                }
            }

            double atmosphericPressure = FlightGlobals.getStaticPressure(altitudeASL, vessel.mainBody);
            if (atmosphericPressure < vessel.mainBody.atmosphereMultiplier * 1e-6) atmosphericPressure = 0;
            atmosphericDensity = FlightGlobals.getAtmDensity(atmosphericPressure);
            atmosphericDensityGrams = atmosphericDensity * 1000;

            orbitApA.value = vessel.orbit.ApA;
            orbitPeA.value = vessel.orbit.PeA;
            orbitPeriod.value = vessel.orbit.period;
            orbitTimeToAp.value = vessel.orbit.timeToAp;
            if (vessel.orbit.eccentricity < 1) orbitTimeToPe.value = vessel.orbit.timeToPe;
            else orbitTimeToPe.value = -vessel.orbit.meanAnomaly / (2 * Math.PI / vessel.orbit.period);
            orbitLAN.value = vessel.orbit.LAN;
            orbitArgumentOfPeriapsis.value = vessel.orbit.argumentOfPeriapsis;
            orbitInclination.value = vessel.orbit.inclination;
            orbitEccentricity.value = vessel.orbit.eccentricity;
            orbitSemiMajorAxis.value = vessel.orbit.semiMajorAxis;
            latitude.value = vessel.mainBody.GetLatitude(CoM);
            longitude.value = MuUtils.ClampDegrees180(vessel.mainBody.GetLongitude(CoM));

            if (vessel.mainBody != Planetarium.fetch.Sun)
            {
                Vector3d delta = vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + 1) - vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() - 1);
                Vector3d plUp = Vector3d.Cross(vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime()) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime()), vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4)).normalized;
                angleToPrograde = MuUtils.ClampDegrees360((((vessel.orbit.inclination > 90) || (vessel.orbit.inclination < -90)) ? 1 : -1) * ((Vector3)up).AngleInPlane(plUp, delta));
            }
            else
            {
                angleToPrograde = 0;
            }

            mainBody = vessel.mainBody;

            radius = (CoM - vessel.mainBody.position).magnitude;

            mass = thrustAvailable = thrustMinimum = massDrag = torqueRAvailable = torquePYAvailable = torqueThrustPYAvailable = 0;
            rcsThrustAvailable = new Vector6();
            rcsTorqueAvailable = new Vector6();

            EngineInfo einfo = new EngineInfo(forward, CoM);
            IntakeInfo iinfo = new IntakeInfo();

            var rcsbal = vessel.GetMasterMechJeb().rcsbal;
            if (vessel.ActionGroups[KSPActionGroup.RCS] && rcsbal.enabled)
            {
                Vector3d rot = Vector3d.zero;
                foreach (Vector6.Direction dir6 in Enum.GetValues(typeof(Vector6.Direction)))
                {
                    Vector3d dir = Vector6.directions[dir6];
                    double[] throttles;
                    List<RCSSolver.Thruster> thrusters;
                    rcsbal.GetThrottles(dir, out throttles, out thrusters);
                    if (throttles != null)
                    {
                        for (int i = 0; i < throttles.Length; i++)
                        {
                            if (throttles[i] > 0)
                            {
                                Vector3d force = thrusters[i].GetThrust(dir, rot);
                                rcsThrustAvailable.Add(dir * Vector3d.Dot(force * throttles[i], dir));
                            }
                        }
                    }
                }
            }

            foreach (Part p in vessel.parts)
            {
                if (p.physicalSignificance != Part.PhysicalSignificance.NONE)
                {
                    double partMass = p.TotalMass();
                    mass += partMass;
                    massDrag += partMass * p.maximum_drag;
                }

                if (p.Rigidbody != null) MoI += p.Rigidbody.inertiaTensor;

                if (vessel.ActionGroups[KSPActionGroup.RCS] && !rcsbal.enabled)
                {
                    foreach (ModuleRCS pm in p.Modules.OfType<ModuleRCS>())
                    {
                        double maxT = pm.thrustForces.Max();

                        if ((pm.isEnabled) && (!pm.isJustForShow))
                        {
                            torqueRAvailable += maxT;
                            if (p.Rigidbody != null) torquePYAvailable += maxT * (p.Rigidbody.worldCenterOfMass - CoM).magnitude;

                            foreach (Transform t in pm.thrusterTransforms)
                            {
                                rcsThrustAvailable.Add(-t.up * pm.thrusterPower);
                            }
                        }
                    }
                }
                if (p is CommandPod)
                {
                    torqueRAvailable += Math.Abs(((CommandPod)p).rotPower);
                    torquePYAvailable += Math.Abs(((CommandPod)p).rotPower);
                }

                foreach (PartModule pm in p.Modules)
                {
                    if (!pm.isEnabled) continue;

                    if (pm is ModuleEngines)
                    {
                        einfo.AddNewEngine(pm as ModuleEngines);
                    }
                    else if (pm is ModuleResourceIntake)
                    {
                        iinfo.addIntake(pm as ModuleResourceIntake);
                    }
                }
            }

            thrustAvailable += einfo.thrustAvailable;
            thrustMinimum += einfo.thrustMinimum;
            torqueThrustPYAvailable += einfo.torqueThrustPYAvailable;

            // Convert the resource information from the einfo and iinfo format
            // to the more useful ResourceInfo format.
            resources = new Dictionary<int, ResourceInfo>();
            foreach (var info in einfo.resourceRequired)
            {
                int id = info.Key;
                var req = info.Value;
                resources[id] = new ResourceInfo(
                        PartResourceLibrary.Instance.GetDefinition(id),
                        req.requiredLastFrame,
                        req.requiredAtMaxThrottle,
                        iinfo.getIntakes(id));
            }

            int intakeAirId = PartResourceLibrary.Instance.GetDefinition("IntakeAir").id;
            intakeAir = 0;
            intakeAirNeeded = 0;
            intakeAirAtMax = 0;
            if (resources.ContainsKey(intakeAirId))
            {
                intakeAir = resources[intakeAirId].intakeProvided;
                intakeAirNeeded = resources[intakeAirId].required;
                intakeAirAtMax = resources[intakeAirId].requiredAtMaxThrottle;
            }

            angularMomentum = new Vector3d(angularVelocity.x * MoI.x, angularVelocity.y * MoI.y, angularVelocity.z * MoI.z);

            maxThrustAccel = thrustAvailable / mass;
            minThrustAccel = thrustMinimum / mass;
        }
Esempio n. 3
0
        public void Update(Vessel vessel)
        {
            if (vessel.rigidbody == null)
            {
                return;                           //if we try to update before rigidbodies exist we spam the console with NullPointerExceptions.
            }
            //if (vessel.packed) return;

            // To investigate some strange error
            if ((vessel.mainBody == null || (object)(vessel.mainBody) == null) && counter == 0)
            {
                if ((object)(vessel.mainBody) == null)
                {
                    MechJebCore.print("vessel.mainBody is proper null");
                }
                else
                {
                    MechJebCore.print("vessel.mainBody is Unity null");
                }

                counter = counter++ % 100;
            }


            time   = Planetarium.GetUniversalTime();
            deltaT = TimeWarp.fixedDeltaTime;

            CoM = vessel.findWorldCenterOfMass();
            up  = (CoM - vessel.mainBody.position).normalized;

            Rigidbody rigidBody = vessel.rootPart.rigidbody;

            if (rigidBody != null)
            {
                rootPartPos = rigidBody.position;
            }

            north                 = Vector3d.Exclude(up, (vessel.mainBody.position + vessel.mainBody.transform.up * (float)vessel.mainBody.Radius) - CoM).normalized;
            east                  = vessel.mainBody.getRFrmVel(CoM).normalized;
            forward               = vessel.GetTransform().up;
            rotationSurface       = Quaternion.LookRotation(north, up);
            rotationVesselSurface = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(vessel.GetTransform().rotation) * rotationSurface);

//            velocityVesselOrbit = vessel.orbit.GetVel();
//            velocityVesselOrbitUnit = velocityVesselOrbit.normalized;
//            velocityVesselSurface = velocityVesselOrbit - vessel.mainBody.getRFrmVel(CoM);
//            velocityVesselSurfaceUnit = velocityVesselSurface.normalized;
            velocityMainBodySurface = rotationSurface * vessel.srf_velocity;

            horizontalOrbit   = Vector3d.Exclude(up, vessel.obt_velocity).normalized;
            horizontalSurface = Vector3d.Exclude(up, vessel.srf_velocity).normalized;

            angularVelocity = Quaternion.Inverse(vessel.GetTransform().rotation) * vessel.rigidbody.angularVelocity;

            radialPlusSurface = Vector3d.Exclude(vessel.srf_velocity, up).normalized;
            radialPlus        = Vector3d.Exclude(vessel.obt_velocity, up).normalized;
            normalPlusSurface = -Vector3d.Cross(radialPlusSurface, vessel.srf_velocity.normalized);
            normalPlus        = -Vector3d.Cross(radialPlus, vessel.obt_velocity.normalized);

            gravityForce = FlightGlobals.getGeeForceAtPosition(CoM);
            localg       = gravityForce.magnitude;

            speedOrbital.value           = vessel.obt_velocity.magnitude;
            speedSurface.value           = vessel.srf_velocity.magnitude;
            speedVertical.value          = Vector3d.Dot(vessel.srf_velocity, up);
            speedSurfaceHorizontal.value = Vector3d.Exclude(up, vessel.srf_velocity).magnitude; //(velocityVesselSurface - (speedVertical * up)).magnitude;
            speedOrbitHorizontal         = (vessel.obt_velocity - (speedVertical * up)).magnitude;

            vesselHeading.value = rotationVesselSurface.eulerAngles.y;
            vesselPitch.value   = (rotationVesselSurface.eulerAngles.x > 180) ? (360.0 - rotationVesselSurface.eulerAngles.x) : -rotationVesselSurface.eulerAngles.x;
            vesselRoll.value    = (rotationVesselSurface.eulerAngles.z > 180) ? (rotationVesselSurface.eulerAngles.z - 360.0) : rotationVesselSurface.eulerAngles.z;

            altitudeASL.value = vessel.mainBody.GetAltitude(CoM);
            //RaycastHit sfc;
            //if (Physics.Raycast(CoM, -up, out sfc, (float)altitudeASL + 10000.0F, 1 << 15))
            //{
            //    altitudeTrue.value = sfc.distance;
            //}
            //else if (vessel.mainBody.pqsController != null)
            //{
            //    // from here: http://kerbalspaceprogram.com/forum/index.php?topic=10324.msg161923#msg161923
            //    altitudeTrue.value = vessel.mainBody.GetAltitude(CoM) - (vessel.mainBody.pqsController.GetSurfaceHeight(QuaternionD.AngleAxis(vessel.mainBody.GetLongitude(CoM), Vector3d.down) * QuaternionD.AngleAxis(vessel.mainBody.GetLatitude(CoM), Vector3d.forward) * Vector3d.right) - vessel.mainBody.pqsController.radius);
            //}
            //else
            //{
            //    altitudeTrue.value = vessel.mainBody.GetAltitude(CoM);
            //}

            //double surfaceAltitudeASL = altitudeASL - altitudeTrue;

            double surfaceAltitudeASL = vessel.mainBody.pqsController != null ? vessel.pqsAltitude : 0d;

            altitudeTrue.value = altitudeASL - surfaceAltitudeASL;

            altitudeBottom = altitudeTrue;
            foreach (Part p in vessel.parts)
            {
                if (p.collider != null)
                {
                    Vector3d bottomPoint   = p.collider.ClosestPointOnBounds(vessel.mainBody.position);
                    double   partBottomAlt = vessel.mainBody.GetAltitude(bottomPoint) - surfaceAltitudeASL;
                    altitudeBottom = Math.Max(0, Math.Min(altitudeBottom, partBottomAlt));
                }
            }

            double atmosphericPressure = FlightGlobals.getStaticPressure(altitudeASL, vessel.mainBody);

            if (atmosphericPressure < vessel.mainBody.atmosphereMultiplier * 1e-6)
            {
                atmosphericPressure = 0;
            }
            atmosphericDensity      = FlightGlobals.getAtmDensity(atmosphericPressure);
            atmosphericDensityGrams = atmosphericDensity * 1000;

            orbitApA.value      = vessel.orbit.ApA;
            orbitPeA.value      = vessel.orbit.PeA;
            orbitPeriod.value   = vessel.orbit.period;
            orbitTimeToAp.value = vessel.orbit.timeToAp;
            if (vessel.orbit.eccentricity < 1)
            {
                orbitTimeToPe.value = vessel.orbit.timeToPe;
            }
            else
            {
                orbitTimeToPe.value = -vessel.orbit.meanAnomaly / (2 * Math.PI / vessel.orbit.period);
            }
            orbitLAN.value = vessel.orbit.LAN;
            orbitArgumentOfPeriapsis.value = vessel.orbit.argumentOfPeriapsis;
            orbitInclination.value         = vessel.orbit.inclination;
            orbitEccentricity.value        = vessel.orbit.eccentricity;
            orbitSemiMajorAxis.value       = vessel.orbit.semiMajorAxis;
            latitude.value  = vessel.mainBody.GetLatitude(CoM);
            longitude.value = MuUtils.ClampDegrees180(vessel.mainBody.GetLongitude(CoM));

            if (vessel.mainBody != Planetarium.fetch.Sun)
            {
                Vector3d delta = vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + 1) - vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() - 1);
                Vector3d plUp  = Vector3d.Cross(vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime()) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime()), vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4)).normalized;
                angleToPrograde = MuUtils.ClampDegrees360((((vessel.orbit.inclination > 90) || (vessel.orbit.inclination < -90)) ? 1 : -1) * ((Vector3)up).AngleInPlane(plUp, delta));
            }
            else
            {
                angleToPrograde = 0;
            }

            mainBody = vessel.mainBody;

            radius = (CoM - vessel.mainBody.position).magnitude;

            mass = massDrag = torqueThrustPYAvailable = 0;
            thrustVectorLastFrame   = new Vector3d();
            thrustVectorMaxThrottle = new Vector3d();
            thrustVectorMinThrottle = new Vector3d();
            torqueAvailable         = new Vector3d();
            rcsThrustAvailable      = new Vector6();
            rcsTorqueAvailable      = new Vector6();
            ctrlTorqueAvailable     = new Vector6();

            EngineInfo einfo = new EngineInfo(CoM);
            IntakeInfo iinfo = new IntakeInfo();

            parachutes = new List <ModuleParachute>();

            var rcsbal = vessel.GetMasterMechJeb().rcsbal;

            if (vessel.ActionGroups[KSPActionGroup.RCS] && rcsbal.enabled)
            {
                Vector3d rot = Vector3d.zero;
                foreach (Vector6.Direction dir6 in Enum.GetValues(typeof(Vector6.Direction)))
                {
                    Vector3d dir = Vector6.directions[dir6];
                    double[] throttles;
                    List <RCSSolver.Thruster> thrusters;
                    rcsbal.GetThrottles(dir, out throttles, out thrusters);
                    if (throttles != null)
                    {
                        for (int i = 0; i < throttles.Length; i++)
                        {
                            if (throttles[i] > 0)
                            {
                                Vector3d force = thrusters[i].GetThrust(dir, rot);
                                rcsThrustAvailable.Add(vessel.GetTransform().InverseTransformDirection(dir * Vector3d.Dot(force * throttles[i], dir)));
                            }
                        }
                    }
                }
            }

            hasMFE = false;

            foreach (Part p in vessel.parts)
            {
                if (p.IsPhysicallySignificant())
                {
                    double partMass = p.TotalMass();
                    mass     += partMass;
                    massDrag += partMass * p.maximum_drag;
                }

                if (vessel.ActionGroups[KSPActionGroup.RCS] && !rcsbal.enabled)
                {
                    foreach (ModuleRCS pm in p.Modules.OfType <ModuleRCS>())
                    {
                        double   maxT         = pm.thrusterPower;
                        Vector3d partPosition = p.Rigidbody.worldCenterOfMass - CoM;

                        if ((pm.isEnabled) && (!pm.isJustForShow))
                        {
                            foreach (Transform t in pm.thrusterTransforms)
                            {
                                Vector3d thrusterThrust = vessel.GetTransform().InverseTransformDirection(-t.up.normalized) * pm.thrusterPower;
                                rcsThrustAvailable.Add(thrusterThrust);
                                Vector3d thrusterTorque = Vector3.Cross(vessel.GetTransform().InverseTransformDirection(partPosition), thrusterThrust);
                                rcsTorqueAvailable.Add(thrusterTorque);
                            }
                        }
                    }
                }

                if (p is ControlSurface)
                {
                    Vector3d       partPosition = p.Rigidbody.worldCenterOfMass - CoM;
                    ControlSurface cs           = (p as ControlSurface);
                    Vector3d       airSpeed     = vessel.srf_velocity + Vector3.Cross(cs.Rigidbody.angularVelocity, cs.transform.position - cs.Rigidbody.position);
                    // Air Speed is velocityVesselSurface
                    // AddForceAtPosition seems to need the airspeed vector rotated with the flap rotation x its surface
                    Quaternion airSpeedRot   = Quaternion.AngleAxis(cs.ctrlSurfaceRange * cs.ctrlSurfaceArea, cs.transform.rotation * cs.pivotAxis);
                    Vector3    ctrlTroquePos = vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, cs.getLiftVector(airSpeedRot * airSpeed)));
                    Vector3    ctrlTroqueNeg = vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, cs.getLiftVector(Quaternion.Inverse(airSpeedRot) * airSpeed)));
                    ctrlTorqueAvailable.Add(ctrlTroquePos);
                    ctrlTorqueAvailable.Add(ctrlTroqueNeg);
                }

                if (p is CommandPod)
                {
                    torqueAvailable += Vector3d.one * Math.Abs(((CommandPod)p).rotPower);
                }

                foreach (VesselStatePartExtension vspe in vesselStatePartExtensions)
                {
                    vspe(p);
                }

                foreach (PartModule pm in p.Modules)
                {
                    if (!pm.isEnabled)
                    {
                        continue;
                    }

                    if (pm is ModuleReactionWheel)
                    {
                        ModuleReactionWheel rw = (ModuleReactionWheel)pm;
                        // I had to remove the test for active in .23 since the new ressource system reply to the RW that
                        // there is no energy available when the RW do tiny adjustement.
                        // I replaceed it with a test that check if there is electricity anywhere on the ship.
                        // Let's hope we don't get reaction wheel that use something else
                        //if (rw.wheelState == ModuleReactionWheel.WheelState.Active && !rw.stateString.Contains("Not enough"))
                        if (rw.wheelState == ModuleReactionWheel.WheelState.Active && vessel.HasElectricCharge())
                        {
                            torqueAvailable += new Vector3d(rw.PitchTorque, rw.RollTorque, rw.YawTorque);
                        }
                    }
                    else if (pm is ModuleEngines)
                    {
                        einfo.AddNewEngine(pm as ModuleEngines);
                    }
                    else if (pm is ModuleEnginesFX)
                    {
                        einfo.AddNewEngine(pm as ModuleEnginesFX);
                    }
                    else if (pm is ModuleResourceIntake)
                    {
                        iinfo.addIntake(pm as ModuleResourceIntake);
                    }
                    else if (pm is ModuleParachute)
                    {
                        parachutes.Add(pm as ModuleParachute);
                    }
                    else if (pm is ModuleControlSurface)
                    {
                        // TODO : Tweakable for ignorePitch / ignoreYaw  / ignoreRoll
                        ModuleControlSurface cs           = (pm as ModuleControlSurface);
                        Vector3d             partPosition = p.Rigidbody.worldCenterOfMass - CoM;

                        Vector3d airSpeed = vessel.srf_velocity + Vector3.Cross(cs.part.Rigidbody.angularVelocity, cs.transform.position - cs.part.Rigidbody.position);

                        Quaternion airSpeedRot = Quaternion.AngleAxis(cs.ctrlSurfaceRange * cs.ctrlSurfaceArea, cs.transform.rotation * Vector3.right);

                        Vector3 ctrlTroquePos = vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, cs.getLiftVector(airSpeedRot * airSpeed)));
                        Vector3 ctrlTroqueNeg = vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, cs.getLiftVector(Quaternion.Inverse(airSpeedRot) * airSpeed)));
                        ctrlTorqueAvailable.Add(ctrlTroquePos);
                        ctrlTorqueAvailable.Add(ctrlTroqueNeg);
                    }

                    if (pm.ClassName == "ModuleEngineConfigs" || pm.ClassName == "ModuleHybridEngine" || pm.ClassName == "ModuleHybridEngines")
                    {
                        hasMFE = true;
                    }

                    foreach (VesselStatePartModuleExtension vspme in vesselStatePartModuleExtensions)
                    {
                        vspme(pm);
                    }
                }
            }

            // Consider all the parachutes
            {
                bool tempParachuteDeployed = false;
                foreach (ModuleParachute p in parachutes)
                {
                    if (p.deploymentState == ModuleParachute.deploymentStates.DEPLOYED || p.deploymentState == ModuleParachute.deploymentStates.SEMIDEPLOYED)
                    {
                        tempParachuteDeployed = true;
                        break;
                    }
                }
                this.parachuteDeployed = tempParachuteDeployed;
            }

            torqueAvailable += Vector3d.Max(rcsTorqueAvailable.positive, rcsTorqueAvailable.negative);   // Should we use Max or Min ?
            torqueAvailable += Vector3d.Max(ctrlTorqueAvailable.positive, ctrlTorqueAvailable.negative); // Should we use Max or Min ?

            thrustVectorMaxThrottle += einfo.thrustMax;
            thrustVectorMinThrottle += einfo.thrustMin;
            thrustVectorLastFrame   += einfo.thrustCurrent;
            torqueThrustPYAvailable += einfo.torqueThrustPYAvailable;

            if (thrustVectorMaxThrottle.magnitude == 0 && vessel.ActionGroups[KSPActionGroup.RCS])
            {
                rcsThrust = true;
                thrustVectorMaxThrottle += (Vector3d)(vessel.transform.up) * rcsThrustAvailable.down;
            }
            else
            {
                rcsThrust = false;
            }

            // Convert the resource information from the einfo and iinfo format
            // to the more useful ResourceInfo format.
            resources = new Dictionary <int, ResourceInfo>();
            foreach (var info in einfo.resourceRequired)
            {
                int id  = info.Key;
                var req = info.Value;
                resources[id] = new ResourceInfo(
                    PartResourceLibrary.Instance.GetDefinition(id),
                    req.requiredLastFrame,
                    req.requiredAtMaxThrottle,
                    iinfo.getIntakes(id));
            }

            int intakeAirId = PartResourceLibrary.Instance.GetDefinition("IntakeAir").id;

            intakeAir           = 0;
            intakeAirNeeded     = 0;
            intakeAirAtMax      = 0;
            intakeAirAllIntakes = 0;
            if (resources.ContainsKey(intakeAirId))
            {
                intakeAir           = resources[intakeAirId].intakeProvided;
                intakeAirAllIntakes = resources[intakeAirId].intakeAvailable;
                intakeAirNeeded     = resources[intakeAirId].required;
                intakeAirAtMax      = resources[intakeAirId].requiredAtMaxThrottle;
            }

            angularMomentum = new Vector3d(angularVelocity.x * MoI.x, angularVelocity.y * MoI.y, angularVelocity.z * MoI.z);

            inertiaTensor = new Matrix3x3();
            foreach (Part p in vessel.parts)
            {
                if (p.Rigidbody == null)
                {
                    continue;
                }

                //Compute the contributions to the vessel inertia tensor due to the part inertia tensor
                Vector3d   principalMoments = p.Rigidbody.inertiaTensor;
                Quaternion princAxesRot     = Quaternion.Inverse(vessel.GetTransform().rotation) * p.transform.rotation * p.Rigidbody.inertiaTensorRotation;
                Quaternion invPrincAxesRot  = Quaternion.Inverse(princAxesRot);

                for (int i = 0; i < 3; i++)
                {
                    Vector3d iHat = Vector3d.zero;
                    iHat[i] = 1;
                    for (int j = 0; j < 3; j++)
                    {
                        Vector3d jHat = Vector3d.zero;
                        jHat[j]              = 1;
                        inertiaTensor[i, j] += Vector3d.Dot(iHat, princAxesRot * Vector3d.Scale(principalMoments, invPrincAxesRot * jHat));
                    }
                }

                //Compute the contributions to the vessel inertia tensor due to the part mass and position
                double  partMass     = p.TotalMass();
                Vector3 partPosition = vessel.GetTransform().InverseTransformDirection(p.Rigidbody.worldCenterOfMass - CoM);

                for (int i = 0; i < 3; i++)
                {
                    inertiaTensor[i, i] += partMass * partPosition.sqrMagnitude;

                    for (int j = 0; j < 3; j++)
                    {
                        inertiaTensor[i, j] += -partMass * partPosition[i] * partPosition[j];
                    }
                }
            }

            MoI             = new Vector3d(inertiaTensor[0, 0], inertiaTensor[1, 1], inertiaTensor[2, 2]);
            angularMomentum = inertiaTensor * angularVelocity;
        }
Esempio n. 4
0
        public void Update(Vessel vessel)
        {
            if (vessel.rigidbody == null) return; //if we try to update before rigidbodies exist we spam the console with NullPointerExceptions.
            //if (vessel.packed) return;

            time = Planetarium.GetUniversalTime();
            deltaT = TimeWarp.fixedDeltaTime;

            CoM = vessel.findWorldCenterOfMass();
            up = (CoM - vessel.mainBody.position).normalized;

            Rigidbody rigidBody = vessel.rootPart.rigidbody;
            if (rigidBody != null) rootPartPos = rigidBody.position;

            north = Vector3d.Exclude(up, (vessel.mainBody.position + vessel.mainBody.transform.up * (float)vessel.mainBody.Radius) - CoM).normalized;
            east = vessel.mainBody.getRFrmVel(CoM).normalized;
            forward = vessel.GetTransform().up;
            rotationSurface = Quaternion.LookRotation(north, up);
            rotationVesselSurface = Quaternion.Inverse(Quaternion.Euler(90, 0, 0) * Quaternion.Inverse(vessel.GetTransform().rotation) * rotationSurface);

            velocityVesselOrbit = vessel.orbit.GetVel();
            velocityVesselOrbitUnit = velocityVesselOrbit.normalized;
            velocityVesselSurface = velocityVesselOrbit - vessel.mainBody.getRFrmVel(CoM);
            velocityVesselSurfaceUnit = velocityVesselSurface.normalized;
            velocityMainBodySurface = rotationSurface * velocityVesselSurface;

            horizontalOrbit = Vector3d.Exclude(up, velocityVesselOrbit).normalized;
            horizontalSurface = Vector3d.Exclude(up, velocityVesselSurface).normalized;

            angularVelocity = Quaternion.Inverse(vessel.GetTransform().rotation) * vessel.rigidbody.angularVelocity;

            radialPlusSurface = Vector3d.Exclude(velocityVesselSurface, up).normalized;
            radialPlus = Vector3d.Exclude(velocityVesselOrbit, up).normalized;
            normalPlusSurface = -Vector3d.Cross(radialPlusSurface, velocityVesselSurfaceUnit);
            normalPlus = -Vector3d.Cross(radialPlus, velocityVesselOrbitUnit);

            gravityForce = FlightGlobals.getGeeForceAtPosition(CoM);
            localg = gravityForce.magnitude;

            speedOrbital.value = velocityVesselOrbit.magnitude;
            speedSurface.value = velocityVesselSurface.magnitude;
            speedVertical.value = Vector3d.Dot(velocityVesselSurface, up);
            speedSurfaceHorizontal.value = (velocityVesselSurface - (speedVertical * up)).magnitude;
            speedOrbitHorizontal = (velocityVesselOrbit - (speedVertical * up)).magnitude;

            vesselHeading.value = rotationVesselSurface.eulerAngles.y;
            vesselPitch.value = (rotationVesselSurface.eulerAngles.x > 180) ? (360.0 - rotationVesselSurface.eulerAngles.x) : -rotationVesselSurface.eulerAngles.x;
            vesselRoll.value = (rotationVesselSurface.eulerAngles.z > 180) ? (rotationVesselSurface.eulerAngles.z - 360.0) : rotationVesselSurface.eulerAngles.z;

            altitudeASL.value = vessel.mainBody.GetAltitude(CoM);
            RaycastHit sfc;
            if (Physics.Raycast(CoM, -up, out sfc, (float)altitudeASL + 10000.0F, 1 << 15))
            {
                altitudeTrue.value = sfc.distance;
            }
            else if (vessel.mainBody.pqsController != null)
            {
                // from here: http://kerbalspaceprogram.com/forum/index.php?topic=10324.msg161923#msg161923
                altitudeTrue.value = vessel.mainBody.GetAltitude(CoM) - (vessel.mainBody.pqsController.GetSurfaceHeight(QuaternionD.AngleAxis(vessel.mainBody.GetLongitude(CoM), Vector3d.down) * QuaternionD.AngleAxis(vessel.mainBody.GetLatitude(CoM), Vector3d.forward) * Vector3d.right) - vessel.mainBody.pqsController.radius);
            }
            else
            {
                altitudeTrue.value = vessel.mainBody.GetAltitude(CoM);
            }

            double surfaceAltitudeASL = altitudeASL - altitudeTrue;
            altitudeBottom = altitudeTrue;
            foreach (Part p in vessel.parts)
            {
                if (p.collider != null)
                {
                    Vector3d bottomPoint = p.collider.ClosestPointOnBounds(vessel.mainBody.position);
                    double partBottomAlt = vessel.mainBody.GetAltitude(bottomPoint) - surfaceAltitudeASL;
                    altitudeBottom = Math.Max(0, Math.Min(altitudeBottom, partBottomAlt));
                }
            }

            double atmosphericPressure = FlightGlobals.getStaticPressure(altitudeASL, vessel.mainBody);
            if (atmosphericPressure < vessel.mainBody.atmosphereMultiplier * 1e-6) atmosphericPressure = 0;
            atmosphericDensity = FlightGlobals.getAtmDensity(atmosphericPressure);
            atmosphericDensityGrams = atmosphericDensity * 1000;

            orbitApA.value = vessel.orbit.ApA;
            orbitPeA.value = vessel.orbit.PeA;
            orbitPeriod.value = vessel.orbit.period;
            orbitTimeToAp.value = vessel.orbit.timeToAp;
            if (vessel.orbit.eccentricity < 1) orbitTimeToPe.value = vessel.orbit.timeToPe;
            else orbitTimeToPe.value = -vessel.orbit.meanAnomaly / (2 * Math.PI / vessel.orbit.period);
            orbitLAN.value = vessel.orbit.LAN;
            orbitArgumentOfPeriapsis.value = vessel.orbit.argumentOfPeriapsis;
            orbitInclination.value = vessel.orbit.inclination;
            orbitEccentricity.value = vessel.orbit.eccentricity;
            orbitSemiMajorAxis.value = vessel.orbit.semiMajorAxis;
            latitude.value = vessel.mainBody.GetLatitude(CoM);
            longitude.value = MuUtils.ClampDegrees180(vessel.mainBody.GetLongitude(CoM));

            if (vessel.mainBody != Planetarium.fetch.Sun)
            {
                Vector3d delta = vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + 1) - vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() - 1);
                Vector3d plUp = Vector3d.Cross(vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime()) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime()), vessel.mainBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4) - vessel.mainBody.referenceBody.getPositionAtUT(Planetarium.GetUniversalTime() + vessel.mainBody.orbit.period / 4)).normalized;
                angleToPrograde = MuUtils.ClampDegrees360((((vessel.orbit.inclination > 90) || (vessel.orbit.inclination < -90)) ? 1 : -1) * ((Vector3)up).AngleInPlane(plUp, delta));
            }
            else
            {
                angleToPrograde = 0;
            }

            mainBody = vessel.mainBody;

            radius = (CoM - vessel.mainBody.position).magnitude;

            mass = massDrag = torqueThrustPYAvailable = 0;
            thrustVectorLastFrame = new Vector3d();
            thrustVectorMaxThrottle = new Vector3d();
            thrustVectorMinThrottle = new Vector3d();
            torqueAvailable = new Vector3d();
            rcsThrustAvailable = new Vector6();
            rcsTorqueAvailable = new Vector6();
            ctrlTorqueAvailable = new Vector6();

            EngineInfo einfo = new EngineInfo(CoM);
            IntakeInfo iinfo = new IntakeInfo();

            parachutes = new  List<ModuleParachute>();

            var rcsbal = vessel.GetMasterMechJeb().rcsbal;
            if (vessel.ActionGroups[KSPActionGroup.RCS] && rcsbal.enabled)
            {
                Vector3d rot = Vector3d.zero;
                foreach (Vector6.Direction dir6 in Enum.GetValues(typeof(Vector6.Direction)))
                {
                    Vector3d dir = Vector6.directions[dir6];
                    double[] throttles;
                    List<RCSSolver.Thruster> thrusters;
                    rcsbal.GetThrottles(dir, out throttles, out thrusters);
                    if (throttles != null)
                    {
                        for (int i = 0; i < throttles.Length; i++)
                        {
                            if (throttles[i] > 0)
                            {
                                Vector3d force = thrusters[i].GetThrust(dir, rot);
                                rcsThrustAvailable.Add(dir * Vector3d.Dot(force * throttles[i], dir));
                            }
                        }
                    }
                }
            }

            foreach (Part p in vessel.parts)
            {
                if (p.physicalSignificance != Part.PhysicalSignificance.NONE)
                {
                    double partMass = p.TotalMass();
                    mass += partMass;
                    massDrag += partMass * p.maximum_drag;
                }

                if (vessel.ActionGroups[KSPActionGroup.RCS] && !rcsbal.enabled)
                {
                    foreach (ModuleRCS pm in p.Modules.OfType<ModuleRCS>())
                    {
                        double maxT = pm.thrusterPower;
                        Vector3d partPosition = p.Rigidbody.worldCenterOfMass - CoM;

                        if ((pm.isEnabled) && (!pm.isJustForShow))
                        {
                            foreach (Transform t in pm.thrusterTransforms)
                            {
                                Vector3d thrusterThrust = -t.up * pm.thrusterPower;
                                rcsThrustAvailable.Add(thrusterThrust);
                                Vector3d thrusterTorque = vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, thrusterThrust));
                                rcsTorqueAvailable.Add(thrusterTorque);
                            }
                        }
                    }
                }

                if (p is ControlSurface)
                {
                    Vector3d partPosition = p.Rigidbody.worldCenterOfMass - CoM;
                    ControlSurface cs = (p as ControlSurface);
                    // Air Speed is velocityVesselSurface
                    // AddForceAtPosition seems to need the airspeed vector rotated with the flap rotation x its surface
                    Quaternion airSpeedRot = Quaternion.AngleAxis(cs.ctrlSurfaceRange * cs.ctrlSurfaceArea, cs.transform.rotation * cs.pivotAxis);
                    Vector3 ctrlTroquePos =  vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, cs.getLiftVector( airSpeedRot * velocityVesselSurface )));
                    Vector3 ctrlTroqueNeg =  vessel.GetTransform().InverseTransformDirection(Vector3.Cross(partPosition, cs.getLiftVector( Quaternion.Inverse(airSpeedRot) * velocityVesselSurface )));
                    ctrlTorqueAvailable.Add(ctrlTroquePos);
                    ctrlTorqueAvailable.Add(ctrlTroqueNeg);
                }

                if (p is CommandPod)
                {
                    torqueAvailable += Vector3d.one * Math.Abs(((CommandPod)p).rotPower);
                }

                foreach (VesselStatePartExtension vspe in vesselStatePartExtensions)
                {
                    vspe(p);
                }

                foreach (PartModule pm in p.Modules)
                {
                    if (!pm.isEnabled) continue;

                    if (pm is ModuleReactionWheel)
                    {
                        ModuleReactionWheel rw = (ModuleReactionWheel)pm;
                        // I had to remove the test for active in .23 since the new ressource system reply to the RW that
                        // there is no energy available when the RW do tiny adjustement.
                        // I replaceed it with a test that check if there is electricity anywhere on the ship.
                        // Let's hope we don't get reaction wheel that use something else
                        //if (rw.wheelState == ModuleReactionWheel.WheelState.Active && !rw.stateString.Contains("Not enough"))
                        if (rw.wheelState == ModuleReactionWheel.WheelState.Active && vessel.HasElectricCharge())
                            torqueAvailable += new Vector3d(rw.PitchTorque, rw.RollTorque, rw.YawTorque);
                    }
                    else if (pm is ModuleEngines)
                    {
                        einfo.AddNewEngine(pm as ModuleEngines);
                    }
                    else if (pm is ModuleEnginesFX)
                    {
                        einfo.AddNewEngine(pm as ModuleEnginesFX);
                    }
                    else if (pm is ModuleResourceIntake)
                    {
                        iinfo.addIntake(pm as ModuleResourceIntake);
                    }
                    else if (pm is ModuleParachute)
                    {
                        parachutes.Add(pm as ModuleParachute);
                    }

                    foreach (VesselStatePartModuleExtension vspme in vesselStatePartModuleExtensions)
                    {
                        vspme(pm);
                    }
                }
            }

            torqueAvailable += Vector3d.Max(rcsTorqueAvailable.positive, rcsTorqueAvailable.negative); // Should we use Max or Min ?
            torqueAvailable += Vector3d.Max(ctrlTorqueAvailable.positive, ctrlTorqueAvailable.negative); // Should we use Max or Min ?

            thrustVectorMaxThrottle += einfo.thrustMax;
            thrustVectorMinThrottle += einfo.thrustMin;
            thrustVectorLastFrame += einfo.thrustCurrent;
            torqueThrustPYAvailable += einfo.torqueThrustPYAvailable;

            // Convert the resource information from the einfo and iinfo format
            // to the more useful ResourceInfo format.
            resources = new Dictionary<int, ResourceInfo>();
            foreach (var info in einfo.resourceRequired)
            {
                int id = info.Key;
                var req = info.Value;
                resources[id] = new ResourceInfo(
                        PartResourceLibrary.Instance.GetDefinition(id),
                        req.requiredLastFrame,
                        req.requiredAtMaxThrottle,
                        iinfo.getIntakes(id));
            }

            int intakeAirId = PartResourceLibrary.Instance.GetDefinition("IntakeAir").id;
            intakeAir = 0;
            intakeAirNeeded = 0;
            intakeAirAtMax = 0;
            intakeAirAllIntakes = 0;
            if (resources.ContainsKey(intakeAirId))
            {
                intakeAir = resources[intakeAirId].intakeProvided;
                intakeAirAllIntakes = resources[intakeAirId].intakeAvailable;
                intakeAirNeeded = resources[intakeAirId].required;
                intakeAirAtMax = resources[intakeAirId].requiredAtMaxThrottle;
            }

            angularMomentum = new Vector3d(angularVelocity.x * MoI.x, angularVelocity.y * MoI.y, angularVelocity.z * MoI.z);

            inertiaTensor = new Matrix3x3();
            foreach (Part p in vessel.parts)
            {
                if (p.Rigidbody == null) continue;

                //Compute the contributions to the vessel inertia tensor due to the part inertia tensor
                Vector3d principalMoments = p.Rigidbody.inertiaTensor;
                Quaternion princAxesRot = Quaternion.Inverse(vessel.GetTransform().rotation) * p.transform.rotation * p.Rigidbody.inertiaTensorRotation;
                Quaternion invPrincAxesRot = Quaternion.Inverse(princAxesRot);

                for (int i = 0; i < 3; i++)
                {
                    Vector3d iHat = Vector3d.zero;
                    iHat[i] = 1;
                    for (int j = 0; j < 3; j++)
                    {
                        Vector3d jHat = Vector3d.zero;
                        jHat[j] = 1;
                        inertiaTensor[i, j] += Vector3d.Dot(iHat, princAxesRot * Vector3d.Scale(principalMoments, invPrincAxesRot * jHat));
                    }
                }

                //Compute the contributions to the vessel inertia tensor due to the part mass and position
                double partMass = p.TotalMass();
                Vector3 partPosition = vessel.GetTransform().InverseTransformDirection(p.Rigidbody.worldCenterOfMass - CoM);

                for (int i = 0; i < 3; i++)
                {
                    inertiaTensor[i, i] += partMass * partPosition.sqrMagnitude;

                    for (int j = 0; j < 3; j++)
                    {
                        inertiaTensor[i, j] += -partMass * partPosition[i] * partPosition[j];
                    }
                }
            }

            MoI = new Vector3d(inertiaTensor[0, 0], inertiaTensor[1, 1], inertiaTensor[2, 2]);
            angularMomentum = inertiaTensor * angularVelocity;
        }