public Tuple4 Rotation(ReferenceFrame referenceFrame)
{
if (ReferenceEquals(referenceFrame, null))
{
throw new ArgumentNullException(nameof(referenceFrame));
}
return(referenceFrame.RotationFromWorldSpace(InternalVessel.ReferenceTransform.rotation).ToTuple());
}
public Tuple4 Rotation(ReferenceFrame referenceFrame)
{
var up = Vector3.up;
var right = InternalBody.GetRelSurfacePosition(0, 0, 1).normalized;
var forward = Vector3.Cross(right, up);
Vector3.OrthoNormalize(ref forward, ref up);
var rotation = Quaternion.LookRotation(forward, up);
return(referenceFrame.RotationFromWorldSpace(rotation).ToTuple());
}
public Tuple4 Rotation (ReferenceFrame referenceFrame)
{
if (ReferenceEquals (referenceFrame, null))
throw new ArgumentNullException (nameof (referenceFrame));
var up = Vector3.up;
var right = InternalBody.GetRelSurfacePosition (0, 0, 1).normalized;
var forward = Vector3.Cross (right, up);
Vector3.OrthoNormalize (ref forward, ref up);
var rotation = Quaternion.LookRotation (forward, up);
return referenceFrame.RotationFromWorldSpace (rotation).ToTuple ();
}
void DoAutoPiloting(PilotAddon.ControlInputs state)
{
SAS = false;
var currentDirection = ReferenceFrame.DirectionFromWorldSpace(InternalVessel.ReferenceTransform.up);
rotationRateController.ReferenceFrame = ReferenceFrame;
var targetRotation = Vector3d.zero;
if (targetDirection != Vector3d.zero)
{
targetRotation += (Vector3.Cross(targetDirection, currentDirection) * RotationSpeedMultiplier).ClampMagnitude(0f, MaxRotationSpeed);
}
if (!Double.IsNaN(TargetRoll))
{
float currentRoll = (float)ReferenceFrame.RotationFromWorldSpace(InternalVessel.ReferenceTransform.rotation).PitchHeadingRoll().z;
var rollError = GeometryExtensions.NormAngle(TargetRoll - currentRoll) * (Math.PI / 180f);
targetRotation += targetDirection * (rollError * RollSpeedMultiplier).Clamp(-MaxRollSpeed, MaxRollSpeed);
}
rotationRateController.Target = targetRotation;
rotationRateController.Update(state);
}
public static Tuple4 TransformRotation(Tuple4 rotation, ReferenceFrame from, ReferenceFrame to)
{
CheckReferenceFrames(from, to);
return(to.RotationFromWorldSpace(from.RotationToWorldSpace(rotation.ToQuaternion())).ToTuple());
}
public Tuple4 Rotation(ReferenceFrame referenceFrame)
{
return(referenceFrame.RotationFromWorldSpace(InternalVessel.ReferenceTransform.rotation).ToTuple());
}
