/// <summary>
/// Is the selected reference attitude valid?
/// </summary>
/// <param name="reference"></param>
/// <returns></returns>
private bool ValidReference(ReferenceAttitude reference)
{
if (reference == ReferenceAttitude.REF_MANEUVER_NODE)
{
if (node == null)
{
return(false);
}
}
else if (reference == ReferenceAttitude.REF_TARGET || reference == ReferenceAttitude.REF_TARGET_ORIENTATION || reference == ReferenceAttitude.REF_TARGET_RELATIVE_VEL)
{
if (activeTarget == null)
{
return(false);
}
}
return(true);
}
/// <summary>
/// Configure and engage SAS.
/// </summary>
/// <param name="reference">Which attitude reference to apply.</param>
/// <param name="HPR">Heading, Pitch, Roll</param>
internal bool EngageAttitudePilot(ReferenceAttitude reference, Vector3 HPR)
{
if (!ValidReference(reference))
{
return(false);
}
if (!EngageSAS())
{
return(false);
}
relativeHPR = HPR;
relativeOrientation = Quaternion.AngleAxis(relativeHPR.x, Vector3.up) * Quaternion.AngleAxis(-relativeHPR.y, Vector3.right) * Quaternion.AngleAxis(-relativeHPR.z, Vector3.forward) * Quaternion.Euler(90, 0, 0);
activeReference = reference;
attitudePilotEngaged = true;
return(true);
}
/// <summary>
/// Return the rotation that
/// </summary>
/// <param name="reference"></param>
/// <returns></returns>
internal Quaternion getReferenceAttitude(ReferenceAttitude reference)
{
Quaternion referenceQuat = Quaternion.identity;
switch (reference)
{
case ReferenceAttitude.REF_INERTIAL:
referenceQuat = Quaternion.identity;
break;
case ReferenceAttitude.REF_ORBIT_PROGRADE:
referenceQuat = Quaternion.LookRotation(prograde, radialOut);
break;
case ReferenceAttitude.REF_ORBIT_HORIZONTAL:
referenceQuat = Quaternion.LookRotation(Vector3.ProjectOnPlane(prograde, up), up);
break;
case ReferenceAttitude.REF_SURFACE_PROGRADE:
referenceQuat = Quaternion.LookRotation(surfacePrograde, up);
break;
case ReferenceAttitude.REF_SURFACE_HORIZONTAL:
referenceQuat = Quaternion.LookRotation(Vector3.ProjectOnPlane(surfacePrograde, up), up);
break;
case ReferenceAttitude.REF_SURFACE_NORTH:
referenceQuat = Quaternion.LookRotation(vessel.north, up);
break;
case ReferenceAttitude.REF_TARGET:
referenceQuat = Quaternion.LookRotation(targetDirection, radialOut);
break;
case ReferenceAttitude.REF_TARGET_RELATIVE_VEL:
referenceQuat = Quaternion.LookRotation(targetRelativeVelocity.normalized, radialOut);
break;
case ReferenceAttitude.REF_TARGET_ORIENTATION:
// TODO!!!
referenceQuat = Quaternion.LookRotation(activeTarget.GetTransform().forward, activeTarget.GetTransform().up);
//if (targetType == TargetType.CelestialBody)
//{
//}
//else
//{
// referenceQuat = Quaternion.LookRotation(targetDirection, radialOut);
//}
break;
case ReferenceAttitude.REF_MANEUVER_NODE:
// TODO: use radialOut at the time of the maneuver, not the current radialOut. Or use the current top vector
referenceQuat = Quaternion.LookRotation(maneuverNodeVector.normalized, radialOut);
//referenceQuat = Quaternion.LookRotation(maneuverNodeVector.normalized, top); // This doesn't work right...
//referenceQuat = Quaternion.LookRotation(maneuverNodeVector.normalized, vessel.GetTransform().up); // this just spins....
break;
case ReferenceAttitude.REF_SUN:
referenceQuat = Quaternion.LookRotation((Planetarium.fetch.Sun.transform.position - vessel.CoM).normalized, Vector3.up);
break;
}
return(referenceQuat);
}
