protected override void update()
{
if (Blocks.Count <= 0)
{
return;
}
referenceController_ = Blocks[0];
foreach (var controller in Blocks)
{
blocksOn_ += isOn(controller) ? 1 : 0;
blocksFunctional_ += controller.IsFunctional ? 1 : 0;
if (controller.CanControlShip && controller.IsUnderControl)
{
referenceController_ = controller;
}
if (controller.IsMainCockpit)
{
mainController_ = controller;
}
}
if (mainController_ != null)
{
referenceController_ = mainController_;
}
speedMax_ = Default.MaxShipSpeed; // ToDo: Find a more generic way to support speed mods
speedCurrent_ = (float)referenceController_.GetShipSpeed();
speedRatio_ = clamp(speedCurrent_ / speedMax_);
pGravity_ = referenceController_.GetNaturalGravity().Length();
aGravity_ = referenceController_.GetArtificialGravity().Length();
MyShipMass mass = referenceController_.CalculateShipMass();
massTotal_ = mass.TotalMass;
massShip_ = mass.BaseMass;
massInventory_ = massTotal_ - massShip_;
massRatio_ = clamp(massInventory_ / (massShip_ * 1.5f)); // ToDo: find a more accurate way
//var velocities = referenceController_.GetShipVelocities();
//referenceController_.DampenersOverride
UpdateFinished = true;
}
void UpdateTelemetry()
{
prevSpeed = currSpeed;
currAccl = (currSpeed = sc.GetShipSpeed()) - prevSpeed;
gravity = (gravityStrength = sc.GetNaturalGravity().Length()) / 9.81;
if (shipMassUpdateTick < Pgm.totalTicks)
{
shipMassUpdateTick = Pgm.totalTicks + TPS;
shipMass = sc.CalculateShipMass();
}
shipWeight = gravityStrength * shipMass.PhysicalMass; // or -> shipMass.TotalMass
prevAltitude = altitudeSurface;
if (sc.TryGetPlanetElevation(MyPlanetElevation.Surface, out altitudeSurface))
{
altitudeDiff = altitudeSurface - prevAltitude;
}
else
{
altitudeSurface = altitudeDiff = double.NaN;
}
atmosphereDensity = parachute?.Atmosphere ?? float.NaN;
if (null != downCamera)
{
if (downCamera.CanScan(1000))
{
MyDetectedEntityInfo dei = downCamera.Raycast(1000);
double len = 0;
if (null != dei.HitPosition)
{
Vector3D hp = (Vector3D)dei.HitPosition;
len = (hp - downCamera.CubeGrid.GetPosition()).Length();
}
raycastName = dei.Name + "/" + len; //downCamera.CubeGrid.GetPosition(); //dei.HitPosition.ToString();
}
else
{
raycastName = downCamera.AvailableScanRange.ToString();
}
}
}
public void OnFlightUpdateFrame()
{
if (is_enabled)
{
desired = Vector3D.Zero;
velocity = control.GetShipVelocities().LinearVelocity;
gravity = control.GetNaturalGravity();
ship_mass = control.CalculateShipMass();
effective_breaking_distance = Settings.ARRIVAL_DIST * (ship_mass.TotalMass / ship_mass.BaseMass);
tasks.OnUpdateFrame();
if ((flags & SpaceshipFlags.CAS) == SpaceshipFlags.CAS)
{
cas.OnUpdateFrame();
}
if ((flags & SpaceshipFlags.FD) == SpaceshipFlags.FD)
{
fd.OnUpdateFrame();
}
Vector3DLimit(ref desired, Settings.MAX_SPEED);
if ((flags & SpaceshipFlags.AP) == SpaceshipFlags.AP)
{
autopilot.OnUpdateFrame();
}
if ((flags & SpaceshipFlags.TM) == SpaceshipFlags.TM)
{
thrusters.OnUpdateFrame();
}
else
{
thrusters.Disable();
}
CheckConnector();
if (fd.prev == fd.next)
{
fd.SetFlightPlan(null);
}
}
}
/// <summary>
/// Queries the current task for suggestions on linear and angular velocities, and sets up thrusters and gyros accordingly.
/// </summary>
/// <param name="elapsed">How many seconds elapsed since the last update.</param>
/// <returns>True if all tasks have been completed.</returns>
public bool Update(double elapsed)
{
if (CurrentTask == null) //if there is nothing to do, drift
{
return(true); //report that we are done
}
else //there is something to do
{
elapsedTime = elapsed;
Velocities = Controller.GetShipVelocities();
Mass = Controller.CalculateShipMass();
// current velocities
Vector3D LinearV = Velocities.LinearVelocity;
Vector3D TargetAngularV = Velocities.AngularVelocity;
//task can always set respective velocities to 0 to avoid linear and/or angular motion
Controller.DampenersOverride = CurrentTask.DampenersOverride;
//query the task.
bool done = CurrentTask.Update(this, ref LinearV, ref TargetAngularV);
Log?.Invoke($"Task {CurrentTask.ToString()}\nDone: {done}\nLinear {LinearV.ToString()}\nAngular {TargetAngularV.ToString()}");
//whether its done or not, apply changes to thrust/rotation
SetRotationVelocity(TargetAngularV, CurrentTask.Reference, CurrentTask.ReferenceForward, CurrentTask.ReferenceUp);
SetThrustVector(LinearV);
if (done)
{ //current task has been completed
Tasks.RemoveAt(0);
if (Tasks.Count > 0)
{
return(false);
}
else
{
//set the ship to manual piloting
Controller.DampenersOverride = true;
DisableOverrides();
return(true);
}
}
else
{
return(false);
}
}
}
public bool Update()
{
if (Controller != null)
{
//Masses of ship
masses = Controller.CalculateShipMass();
val = masses.PhysicalMass - masses.BaseMass;
if (masses.PhysicalMass == 0)
{
val = 0;
}
if (val != Value)
{
Value = val;
return(true);
}
}
return(false);
}
public override void update(MyContext context)
{
if (!context.FoundAllBlocks)
{
return;
}
MyShipMass mass = context._cockpits[0].CalculateShipMass();
float maxMass;
if (!float.TryParse(context.Program.Me.CustomData, out maxMass))
{
context.Program.Echo("Invalid max weight custom data");
return;
}
if (mass.PhysicalMass >= maxMass)
{
MyContext.setBlocksEnabled(context._drills, false);
}
}
public void Main(string argument, UpdateType updateSource)
{
string[] argInfo = argument.Split(new string[] { "," }, StringSplitOptions.None);
if (argument == "RUN")
{
//Check if can scan, and scan if can.
if (cam.CanScan(rayCastDistance))
{
detectedInfo = cam.Raycast(rayCastDistance);
}
else
{
Echo("Can't scan yet!");
}
Echo("INITIATING");
coordinate = Vector3D.Zero; //initating to zero value.
Boolean found = false;
if (detectedInfo.HitPosition != null)
{
coordinate = detectedInfo.HitPosition.Value;
found = true;
}
if (found)
{
Vector3D currentCoords = rc.GetPosition();
//creating unit vector
double denominator = Math.Sqrt(Math.Pow(coordinate.X - currentCoords.X, 2)
+ Math.Pow(coordinate.Y - currentCoords.Y, 2)
+ Math.Pow(coordinate.Z - currentCoords.Z, 2));
double xMultiplier = (coordinate.X - currentCoords.X) / denominator;
double yMultiplier = (coordinate.Y - currentCoords.Y) / denominator;
double zMultiplier = (coordinate.Z - currentCoords.Z) / denominator;
//manipulating target coordinate with unit vector
coordinate.X -= finalDistFromTarget * xMultiplier;
coordinate.Y -= finalDistFromTarget * yMultiplier;
coordinate.Z -= finalDistFromTarget * zMultiplier;
//Setting up backward thrusters list
backwardThrusters = new List <IMyThrust>();
//Obtaining each thruster pointing backward
foreach (IMyThrust thruster in thrusters)
{
if (Base6Directions.GetFlippedDirection(rc.Orientation.Forward) == Base6Directions.GetFlippedDirection(thruster.Orientation.Forward))
{
backwardThrusters.Add(thruster);
}
}
//Obtaining max backward acceleration
MyShipMass myShipMass = rc.CalculateShipMass();
backwardsAcceleration = CalculateAcceleration(myShipMass.TotalMass, backwardThrusters);
//autopilot settings
rc.ClearWaypoints();
rc.AddWaypoint(coordinate, "AUTO DYNAMIC BRAKING SCRIPT COORDINATE");
rc.SetAutoPilotEnabled(true);
rc.SetCollisionAvoidance(false);
rc.SetDockingMode(false); //CHANGE??? or dont?
rc.FlightMode = FlightMode.OneWay;
rc.Direction = Base6Directions.Direction.Forward;
blindMode = false;
}
}
else if (argInfo[0] == "blind".ToLower())
{
int dist = 0;
Boolean passed = Int32.TryParse(argInfo[1], out dist);
if (passed)
{
Vector3D dir = rc.WorldMatrix.Forward;
coordinate = rc.GetPosition();
coordinate.X += dir.X * dist;
coordinate.Y += dir.Y * dist;
coordinate.Z += dir.Z * dist;
Vector3D currentCoords = rc.GetPosition();
//Setting up backward thrusters list
backwardThrusters = new List <IMyThrust>();
//Obtaining each thruster pointing backward
foreach (IMyThrust thruster in thrusters)
{
if (Base6Directions.GetFlippedDirection(rc.Orientation.Forward) == Base6Directions.GetFlippedDirection(thruster.Orientation.Forward))
{
backwardThrusters.Add(thruster);
}
}
//Obtaining max backward acceleration
MyShipMass myShipMass = rc.CalculateShipMass();
backwardsAcceleration = CalculateAcceleration(myShipMass.TotalMass, backwardThrusters);
//autopilot settings
rc.ClearWaypoints();
rc.AddWaypoint(coordinate, "CAPTXAN'S SCRIPT COORDINATE");
rc.SetAutoPilotEnabled(true);
rc.SetCollisionAvoidance(false);
rc.SetDockingMode(false); //CHANGE??? or dont?
rc.FlightMode = FlightMode.OneWay;
rc.Direction = Base6Directions.Direction.Forward;
blindMode = true;
blindCounter = 0;
}
else
{
Echo("2nd parameter is not a number!");
}
}
else
{
//User Feedback
if (!cam.CanScan(rayCastDistance))
{
float percentage = ((cam.TimeUntilScan(rayCastDistance) / 1000) / (rayCastDistance / 2000));
percentage = (1 - percentage) * 100;
Echo("Raycast is recharging " + percentage + "%");
if (!cam.EnableRaycast)
{
cam.EnableRaycast = true;
}
}
else
{
Echo("Ready to Scan");
cam.EnableRaycast = false;
}
//Travelling CHANGE HERE FOR ENABLE / DISABLE AUTOPILOT
if (rc.IsAutoPilotEnabled)
{
travelling = true;
double currentDistanceFromTarget = Vector3D.Distance(coordinate, rc.GetPosition());
Echo("Travelling, ETA: " + (int)(currentDistanceFromTarget / rc.GetShipSpeed()) + "s");
//Calculating stopping distance to determine if thrusters need to be enabled.
Echo("Current Speed: " + (int)rc.GetShipSpeed() + "m/s");
Echo("Ship Speed Limit: " + rc.SpeedLimit + "m/s");
if (rc.GetShipSpeed() > rc.SpeedLimit - 1) //If ship at max speed
{
Vector3D currentTrajectory = Vector3D.Normalize(rc.GetPosition() - prevPosition);
prevPosition = rc.GetPosition();
Vector3D calculatedTrajectory = Vector3D.Normalize(rc.GetPosition() - coordinate);
double accuracyAmount;
if (currentDistanceFromTarget > 15000)
{
accuracyAmount = .99999;
}
else if (currentDistanceFromTarget > 5000)
{
accuracyAmount = .9999;
}
else
{
accuracyAmount = .999;
}
if (currentDistanceFromTarget * .90 > (Math.Pow(rc.GetShipSpeed(), 2) / (2 * backwardsAcceleration)) &&
Math.Abs(currentTrajectory.Dot(calculatedTrajectory)) > accuracyAmount)
{
foreach (IMyThrust thruster in thrusters)
{
thruster.ApplyAction("OnOff_Off");
}
}
else //Curr < stopp
{
foreach (IMyThrust thruster in thrusters)
{
thruster.ApplyAction("OnOff_On");
}
}
}
Echo("Blind Mode: " + blindMode);
if (blindMode)
{
Echo("Blind Counter: " + blindCounter);
Echo("Coll Avoid: " + rc.);
if (cam.CanScan(((Math.Pow(rc.GetShipSpeed(), 2) / (2 * backwardsAcceleration)) * 2)))
{
detectedInfo = cam.Raycast((Math.Pow(maxSpeed, 2) / (2 * backwardsAcceleration)) * 2);
if (detectedInfo.HitPosition != null)
{
rc.SpeedLimit = 3;
rc.SetCollisionAvoidance(true);
blindCounter = 0;
}
else
{
if (blindCounter > 500)
{
rc.SpeedLimit = maxSpeed;
rc.SetCollisionAvoidance(false);
blindCounter = 0;
}
else
{
blindCounter++;
}
}
}
}
}
else if (travelling)
{
foreach (IMyThrust thruster in thrusters)
{
thruster.ApplyAction("OnOff_On");
}
travelling = false;
blindMode = false;
}
}
//Additional Arugment Commands
if (argument == "ABORT")
{
rc.SetAutoPilotEnabled(false);
rc.DampenersOverride = true;
}
}
public Vector2 Draw(Drawing drawing, Vector2 position)
{
if (!enable)
{
return(position);
}
if (search)
{
Search();
}
float force = 0f;
float mass = 0f;
if (!cockpit.IsEmpty)
{
MyShipMass shipMass = cockpit.First.CalculateShipMass();
mass = shipMass.TotalMass;
}
string direction = "none";
Dictionary <string, float> forces = new Dictionary <string, float>();
thrusts_up.ForEach(delegate(IMyThrust block)
{
direction = "Up";
if (forces.ContainsKey(direction))
{
forces[direction] += block.MaxThrust;
}
else
{
forces.Add(direction, block.MaxThrust);
}
});
thrusts_down.ForEach(delegate(IMyThrust block)
{
direction = "Down";
if (forces.ContainsKey(direction))
{
forces[direction] += block.MaxThrust;
}
else
{
forces.Add(direction, block.MaxThrust);
}
});
thrusts_left.ForEach(delegate(IMyThrust block)
{
direction = "Left";
if (forces.ContainsKey(direction))
{
forces[direction] += block.MaxThrust;
}
else
{
forces.Add(direction, block.MaxThrust);
}
});
thrusts_right.ForEach(delegate(IMyThrust block)
{
direction = "Right";
if (forces.ContainsKey(direction))
{
forces[direction] += block.MaxThrust;
}
else
{
forces.Add(direction, block.MaxThrust);
}
});
thrusts_forward.ForEach(delegate(IMyThrust block)
{
direction = "Forward";
if (forces.ContainsKey(direction))
{
forces[direction] += block.MaxThrust;
}
else
{
forces.Add(direction, block.MaxThrust);
}
});
thrusts_backward.ForEach(delegate(IMyThrust block)
{
direction = "Backward";
if (forces.ContainsKey(direction))
{
forces[direction] += block.MaxThrust;
}
else
{
forces.Add(direction, block.MaxThrust);
}
});
MySprite text = new MySprite()
{
Type = SpriteType.TEXT,
Color = Color.DimGray,
Position = position + new Vector2(0, 0),
RotationOrScale = 1f,
FontId = drawing.Font,
Alignment = TextAlignment.LEFT
};
// Up
force = 0f;
forces.TryGetValue("Up", out force);
text.Data = $"Up: {force / 1000}kN / {Math.Round(force / mass, 1)}m/s²";
drawing.AddSprite(text);
// Down
position += new Vector2(0, 40);
force = 0f;
forces.TryGetValue("Down", out force);
text.Data = $"Down: {force / 1000}kN / {Math.Round(force / mass, 1)}m/s²";
text.Position = position;
drawing.AddSprite(text);
// Forward
position += new Vector2(0, 40);
force = 0f;
forces.TryGetValue("Forward", out force);
text.Data = $"Forward: {force / 1000}kN / {Math.Round(force / mass, 1)}m/s²";
text.Position = position;
drawing.AddSprite(text);
// Backward
position += new Vector2(0, 40);
force = 0f;
forces.TryGetValue("Backward", out force);
text.Data = $"Backward: {force / 1000}kN / {Math.Round(force / mass, 1)}m/s²";
text.Position = position;
drawing.AddSprite(text);
// Right
position += new Vector2(0, 40);
force = 0f;
forces.TryGetValue("Right", out force);
text.Data = $"Right: {force / 1000}kN / {Math.Round(force / mass, 1)}m/s²";
text.Position = position;
drawing.AddSprite(text);
// Left
position += new Vector2(0, 40);
force = 0f;
forces.TryGetValue("Left", out force);
text.Data = $"Left: {force / 1000}kN / {Math.Round(force / mass, 1)}m/s²";
text.Position = position;
drawing.AddSprite(text);
position += new Vector2(0, 40);
return(position);
}
//MyFunctions,Methods
//ФУНКЦИИ УПРАВЛЕНИЯ ДВИЖЕНИЕМ
//Управление тягой движков.
public void ThrustOverride(string groupName, bool on_off)
{
//Берём все движки из "Engines" и закидываем их в thrustList.
thrustGroup = GridTerminalSystem.GetBlockGroupWithName(groupName);
thrustGroup.GetBlocksOfType <IMyThrust>(thrustList);
gyroList = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType <IMyGyro>(gyroList);
//Поиск блока Remote Control, получение массы, вектора движения и гравитации.
if (FindBlockByPartOfName(nameRemCon).Count == 1)
{
remCon = FindBlockByPartOfName(nameRemCon)[0] as IMyShipController;
MyShipMass rawMass = remCon.CalculateShipMass();
mass = rawMass.PhysicalMass;
gravityVector = remCon.GetNaturalGravity();
Display("GravityVector:\r\n" + gravityVector.ToString(), nameStateLCD);
Vector3D gravityNorm = Vector3D.Normalize(gravityVector);
double gravityNormDouble = gravityVector.Normalize();
Display("GravityNorm: " + gravityNormDouble.ToString(), nameStateLCD);
gravity = Convert.ToSingle(gravityNormDouble);
velocityVector = remCon.GetShipVelocities().LinearVelocity;
verticalVelocity = -(float)gravityNorm.Dot(velocityVector);
}
else if (FindBlockByPartOfName(nameRemCon).Count > 1)
{
Display("Warning! \r\n We find more than \r\n 1 blocks Remote control:", nameDebugLCD);
foreach (IMyRemoteControl remCon in FindBlockByPartOfName(nameRemCon))
{
string data = remCon.CustomName;
Display(data, nameDebugLCD);
}
}
else
{
Display("Warning! \r\n You don't have remote control blocks!", nameDebugLCD);
}
if (on_off)
{
Display("EnginesElevating - on", nameStateLCD);
GetMyPos();
/*В последний раз я переписал парсер, такое ощещение, что в предыдущий раз я вообще не понимал как он должен работать. =)
* Сейчас пытаюсь выяснить как правильно найти разницу в координатах платформы и структуры, для управления тягой движков.
* Получилось получить направление вектора вверх, но пока непонятно как это можно использовать.
* Update: Вероятно, можно получить вектор расстояния (координаты структуры - координаты платформы) и с помощью скалярного произведения
* на вектор вверх, получить нужное значение, для управления высотой.
*/
//Достаём из панели и записываем координаты в переменные.
string floorPos = GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+");
string PlatformPos = GetTextValueMultiline(namePlatformPosStorage, sensorName + @"](?>\S+\s)+\S+");
//Парсим строки с координатам.(Достаём оттуда числовые значения XYZ)
List <float> floorPosParsed = new List <float>();
floorPosParsed = CoordParser(GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+"));
List <float> platformPosParsed = new List <float>();
platformPosParsed = CoordParser(GetTextValueMultiline(namePlatformPosStorage, sensorName + @"](?>\S+\s)+\S+"));
//Получаем вектор вверх и сразу парсим его.
List <float> upVectorParsed = new List <float>();
upVectorParsed = CoordParser(remCon.WorldMatrix.Up.ToString()); Display("RemConVectorUp: " + remCon.WorldMatrix.Up.ToString(), nameParserLCD);
//Объявляем вектор расстояния и присваиваем ему нужные значения.
Vector3D distanceVector;
distanceVector.X = floorPosParsed[0] - platformPosParsed[0];
distanceVector.Y = floorPosParsed[1] - platformPosParsed[1];
distanceVector.Z = floorPosParsed[2] - platformPosParsed[2];
//Объявляем вектор вверх и присваиваем ему уже полученный.
Vector3D vectorUp = remCon.WorldMatrix.Up;
//С помощью скалярного произведения, получаем вертикальную проекцию для управления двигателями.
verticalProject = (float)distanceVector.Dot(vectorUp);
Display(verticalProject.ToString(), nameParserLCD);
//Расчёт необходимой силы для подъёма. - данной силы недостаточно даже для удерживания платформы на месте
force = (float)((1 + (verticalProject - verticalVelocity) * kA) * gravityVector.Length() * mass);
/*"Эксперимент с батарейкой"
* string BatVectorUP = "X:0.880934000015259 Y:-0.431211113929749 Z:0.194967776536942}";
* List<float> BatVectorUPParsed = new List<float>();
* BatVectorUPParsed = CoordParser(BatVectorUP);
* string BatPos = "X:53535.6127123895 Y:-26681.3688097174 Z:12106.9409922019}";
* //string PlPos = "X: 53534.4160012206 Y: -26683.558898142 Z: 12107.9450289915}";
* //BatPos - PlPos = X-1.2 Y-2.2 Z1
* //(BatPos - PlPos)*BatVectorUP = X - 0.96 Y 0,88 Z0,1
* List<float> BatPosParsed = new List<float>();
* BatPosParsed = CoordParser(BatPos);
* string BatPosNorm = "X: " + (BatPosParsed[0] / BatVectorUPParsed[0]).ToString() + " Y: " + (BatPosParsed[1] / BatVectorUPParsed[1]).ToString() + " Z: " + (BatPosParsed[2] / BatVectorUPParsed[2]).ToString();
* Display("BatVectorUP: " + BatVectorUP, nameParserLCD);
* Display("BatPos: " + BatPos, nameParserLCD);
* Display("BatPosNorm: " + BatPosNorm, nameParserLCD);
*
*
* foreach (IMyGyro gyro in gyroList)
* {
* Display("Gyro1VectorUp: " + gyro.WorldMatrix.Up.ToString(), nameParserLCD);
* List<float> gyroUpVectorParsed = new List<float>();
* gyroUpVectorParsed = CoordParser(gyro.WorldMatrix.Up.ToString());
* string differenceUpVectors = "X: " + (gyroUpVectorParsed[0] - upVectorParsed[0]).ToString() + " Y: " + (gyroUpVectorParsed[1] - upVectorParsed[1]).ToString() + " Z: " + (gyroUpVectorParsed[2] - upVectorParsed[2]).ToString();
* Display("DifferenceUpVectors: " + differenceUpVectors, nameParserLCD);
* }*/
engineState = "FloorNum: " + GetTextValueInline("SetFloorLevel", nameLCDfloorLevel) + "\n";
engineState = engineState + "FloorNum: " + GetFloorNumber() + "\n";
engineState = engineState + "FloorCoords: " + floorPos + "\n";
engineState = engineState + "PlatformCoords: " + PlatformPos + "\n";
engineState = engineState + "CoordParser: " + floorPosParsed.Count + "\n";
engineState = engineState + "CoordParsedY: " + floorPosParsed[1] + "\n";
foreach (IMyThrust thrust in thrustList)
{
//Управление двигателями.
float correction = ((force / thrustList.Count) / 100f) * (thrust.MaxThrust - thrust.MaxEffectiveThrust) / (thrust.MaxThrust / 100f); //Поправка на высоту, для атмо двигателей. 20640
//correction = correction - ((correction / 10000f) * 15);
thrust.ThrustOverride = (force / thrustList.Count);
if (thrust.ThrustOverride == 0)
{
thrust.ThrustOverride = 1;
}
//Выводим состояние движков на панель.
remCon = FindBlockByPartOfName(nameRemCon)[0] as IMyShipController;
float g = (float)remCon.GetNaturalGravity().Length();
float octopusGravityData = thrust.MaxEffectiveThrust / mass - g;
/*for (int i = 0; i < CoordParser(GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+")).Count; i++)
* {
* coordParsed += CoordParser(GetTextValueMultiline(nameFloorPosStorage, floorSensorName + GetFloorNumber() + @"](?>\S+\s)+\S+"))[i].ToString();
* }*/
engineState = engineState + "MET: " + thrust.MaxEffectiveThrust.ToString() + "\n";
engineState = engineState + "MT: " + thrust.MaxThrust.ToString() + "\n";
engineState = engineState + "CORR: " + correction.ToString() + "\n";
engineState = engineState + "OCTOP_G_DATA: " + g.ToString() + "\n";
engineState = engineState + "TO: " + thrust.ThrustOverride.ToString() + "\n";
//engineState = engineState + "FM: " + ForceMultiply(CoordParser(GetTextValueMultiline(floorSensorName + GetFloorNumber(), nameFloorPosStorage))[1], CoordParser(GetTextValueMultiline(sensorName, namePlatformPosStorage))[1]).ToString();
}
Display(engineState, nameStateLCD);
}
else if (!on_off)
{
Display("EnginesElevating - off", nameStateLCD);
foreach (IMyThrust thrust in thrustList)
{
//Управление двигателями.
thrust.ThrustOverride = 0;
//Выводим состояние движков на панель.
string text = thrust.ThrustOverride.ToString();
Display(text, nameStateLCD);
}
}
}
/// <summary>
/// Calculates and thrust required to reach target velocity and configures thrusters to do so.
/// </summary>
/// <param name="targetvel">Desired velocity in world-space.</param>
void SetThrustVector(Vector3D targetvel)
{
//how much our current velocity differs from desired one?
Vector3D deltaV = targetvel - Velocities.LinearVelocity;
if (!Vector3D.IsZero(deltaV, 1e-3)) // it does, significantly.
{
//if (!Vector3D.IsZero(angularvel) && !Vector3D.IsZero(deltaV))
//{
// MatrixD rotmatrix = MatrixD.CreateFromYawPitchRoll(-angularvel.Y * elapsedTime / 2, -angularvel.X * elapsedTime / 2, -angularvel.Z * elapsedTime / 2);
// deltaV = Vector3D.Rotate(deltaV, rotmatrix);
//}
Vector3D grav;
switch (UseGravity)
{
case Gravity.Natural: grav = Controller.GetNaturalGravity(); break;
case Gravity.Artificial: grav = Controller.GetArtificialGravity(); break;
case Gravity.Total: grav = Controller.GetTotalGravity(); break;
default: grav = Vector3D.Zero; break;
}
double deltavabs = deltaV.Normalize();
//Estimate thrust required to stop before the next update.
//Prevents the ship from oscillating back and forth around the target.
double maxaccel = deltavabs / elapsedTime;
MyShipMass mass = Controller.CalculateShipMass();
double requiredthrust = mass.TotalMass * maxaccel;
if (!Vector3D.IsZero(grav))
{
deltaV = requiredthrust * deltaV - mass.TotalMass * grav;
requiredthrust = deltaV.Normalize();
}
//Calculate how much thrust each thruster can contribute to pushing the ship in required direction.
//It depends on thruster overall power, its effectiveness (ion/atmo) and direction.
double totalthrustvalue = 0.0;
for (int i = Thrusters.Count - 1; i >= 0; i--)
{
if (Thrusters[i].IsWorking) //disabled/damaged/unfueled thrusters are ignored
{
double projection = Thrusters[i].WorldMatrix.GetDirectionVector(Base6Directions.Direction.Backward).Dot(deltaV);
ThrustValues[i] = (projection > 0)
? projection * Thrusters[i].MaxEffectiveThrust
: 0;
totalthrustvalue += ThrustValues[i];
}
else
{
ThrustValues[i] = 0.0;
}
}
//Set thruster overrides accordingly.
for (int i = Thrusters.Count - 1; i >= 0; i--)
{
Thrusters[i].ThrustOverride = (float)(requiredthrust * ThrustValues[i] / totalthrustvalue);
}
}
else //We have already achieved target velocity
{
foreach (IMyThrust t in Thrusters)
{
t.ThrustOverride = 0.0f;
}
}
}
