/// <summary>
/// Compute current angular velocity in pitch,roll,yaw axes
/// </summary>
Vector3 ComputeCurrentAngularVelocity()
{
var worldAngularVelocity = vessel.InternalVessel.GetComponent <Rigidbody> ().angularVelocity;
var localAngularVelocity = ReferenceFrame.AngularVelocityFromWorldSpace(worldAngularVelocity);
//TODO: why does this need to be negative?
return(-vessel.ReferenceFrame.DirectionFromWorldSpace(ReferenceFrame.DirectionToWorldSpace(localAngularVelocity)));
}
/// <summary>
/// Compute current angular velocity in pitch,roll,yaw axes
/// </summary>
Vector3 ComputeCurrentAngularVelocity()
{
var worldAngularVelocity = vessel.InternalVessel.GetComponent <Rigidbody> ().angularVelocity;
var localAngularVelocity = ReferenceFrame.AngularVelocityFromWorldSpace(worldAngularVelocity);
// TODO: why does this need to be negative?
var ret = -vessel.ReferenceFrame.DirectionFromWorldSpace(ReferenceFrame.DirectionToWorldSpace(localAngularVelocity));
if (PlaneMode)
{
var tav = TurnAngularVelocity();
if (vessel.InternalVessel.GetSrfVelocity().magnitude < 1200)
{
var up = new Vector3d(1, 0, 0);
up = vessel.ReferenceFrame.Rotation.Inverse() * vessel.SurfaceReferenceFrame.Rotation * up;
tav = Vector3d.Dot(up, tav) * up;
}
ret = ret - tav;
}
ret = transitionMat.MultiplyVector(ret);
return(ret);
}