public override void drive(FlightControl control)
{
_drive(control);
control.yaw *= _sensetivity.value;
control.pitch *= _sensetivity.value;
control.roll *= _sensetivity.value;
}
protected override void onDrive(FlightCtrlState s)
{
if(_vessel == null)
return;
game.FlightControl control = new game.FlightControl();
control.update(s);
_vessel.updateState(this.vessel);
_protocol.requestControl(_vessel, control);
control.apply(s);
}
public FlightControl copy()
{
FlightControl ret = new FlightControl();
ret.throttle = throttle;
ret.yaw = yaw;
ret.pitch = pitch;
ret.roll = roll;
ret.dx = dx;
ret.dy = dy;
ret.dz = dz;
return ret;
}
public FlightControl copy()
{
FlightControl ret = new FlightControl();
ret.throttle = throttle;
ret.yaw = yaw;
ret.pitch = pitch;
ret.roll = roll;
ret.dx = dx;
ret.dy = dy;
ret.dz = dz;
return(ret);
}
protected override void onDrive(FlightCtrlState s)
{
if (_vessel == null)
{
return;
}
game.FlightControl control = new game.FlightControl();
control.update(s);
_vessel.updateState(this.vessel);
_protocol.requestControl(_vessel, control);
control.apply(s);
}
public void onControl(FlightControl control)
{
attitude.drive(control);
}
private void _drive(FlightControl c)
{
double rollDelta = Math.Abs(vessel.rotation.roll - _lastRoll);
if (rollDelta > Math.PI)
rollDelta = 2 * Math.PI - rollDelta;
if (rollDelta > Math.PI / 36)
{
_controller.reset();
_lastRoll = vessel.rotation.roll;
}
Quaternion delta = vessel.rotation.inverse * target;
Vector3 err = new Vector3((delta.pitch > Math.PI) ? (delta.pitch - 2 * Math.PI) : delta.pitch,
(delta.yaw > Math.PI) ? (delta.yaw - 2 * Math.PI) : delta.yaw,
(delta.roll > Math.PI) ? (delta.roll - 2 * Math.PI) : delta.roll);
err = new Vector3(controlPitch == Control.KillRotation ? 0 : err.x,
controlYaw == Control.KillRotation ? 0 : err.y,
controlRoll == Control.KillRotation ? 0 : err.z);
Vector3 torque = vessel.body.torque;
Vector3 inertia = vessel.body.angularMomentum.sign *
vessel.body.angularMomentum * vessel.body.angularMomentum *
(torque * vessel.body.momentumOfInertia).invert;
err += inertia;
err *= vessel.body.momentumOfInertia * torque.invert;
Vector3 act = _controller.compute(err, vessel.mainBody.universe.fixedDeltaTime);
double precision = (Math.Min(vessel.body.torque.x, vessel.body.torque.y) * 20.0 / vessel.body.momentumOfInertia.magnitude).clamp(0.5, 10);
double driveLimit = (err.magnitude * driveFactor / precision).clamp(0, 1);
act = act.clamp(-driveLimit, driveLimit);
act = _act + (act - _act) * (vessel.mainBody.universe.fixedDeltaTime / Tf);
setControls(act, c, driveLimit);
_act = new Vector3(c.pitch, c.yaw, c.roll);
}
private void setControls(Vector3 act, FlightControl c, double driveLimit)
{
control(act.z, driveLimit, controlRoll, ref c.roll);
control(act.x, driveLimit, controlPitch, ref c.pitch);
control(act.y, driveLimit, controlYaw, ref c.yaw);
}
public abstract void drive(FlightControl c);
