コード例 #1
0
        public void FixedUpdate()
        {
            if (!(HighLogic.LoadedSceneIsFlight && FlightGlobals.ready))
            {
                return;
            }



            vm = vessel.vesselModules.OfType <VesselModuleRotation>().First();
            tc = part.Modules.GetModule <ModuleTorqueController>();
            rw = part.Modules.GetModule <ModuleReactionWheel>();

            angularVelocity = vessel.angularVelocity.magnitude;
            rollTorque      = rw.RollTorque;
            pitchTorque     = rw.PitchTorque;
            yawTorque       = rw.YawTorque;

            inputVectorDelta = (rw.inputVector * TimeWarp.fixedDeltaTime).ToString("0.0000");
        }
コード例 #2
0
        // Apply torque in OnFlyByWire because the module FixedUpdate() is called too late,
        // resulting in a 1 frame lag in torque updates, leading to having torque when you shouldn't.
        private void UpdateTorque(FlightCtrlState st)
        {
            // autopilot can be null just before vessel is destroyed
            if (vessel.Autopilot == null)
            {
                return;
            }

            // Not sure why but in some cases the reference the the module can be null if acquired in OnStart.
            // To be on the safe side we acquire it here
            if (rwmodule == null)
            {
                // Get the reaction wheel module
                rwmodule = part.Modules.GetModule <ModuleReactionWheel>();

                if (rwmodule == null)
                {
                    return;
                }

                // Get the module config torque value
                maxTorque.x = rwmodule.PitchTorque;
                maxTorque.y = rwmodule.RollTorque;
                maxTorque.z = rwmodule.YawTorque;

                // Hide RW control modes and enable/disable toggle from GUI and action groups
                TweakUI(rwmodule);
            }

            // do this only once, and check for null
            // note : not caching it because keeping track of vesselModule changes is a mess
            VesselModuleRotation vRotModule = vessel.vesselModules.OfType <VesselModuleRotation>().FirstOrDefault();

            if (vRotModule == null)
            {
                return;
            }

            // We have everything we need, now do the nerf
            if (FlightGlobals.ready && vessel.loaded && !vessel.packed)
            {
                // Get the saturation factor calculated from the vessel rotation
                saturationFactor = vRotModule.velSaturationTorqueFactor;

                // On pilot rotation requests, use nerfed torque output
                if (pilotInput)
                {
                    SetNerfedTorque(); // SAS is disabled
                }
                else
                {
                    if (vessel.Autopilot.Enabled)
                    {
                        if (vessel.Autopilot.Mode.Equals(VesselAutopilot.AutopilotMode.StabilityAssist))
                        {
                            SetStockTorque(); // SAS is in stability assist mode
                        }
                        else
                        {
                            // SAS is in target mode, enable full torque if the target is near.
                            // orientationDiff : 1.0 = toward target, 0.0 = target is at a 90° angle
                            // float orientationDiff = Math.Max(Vector3.Dot(vessel.Autopilot.SAS.targetOrientation.normalized, vessel.GetTransform().up.normalized), 0);
                            float orientationDiff = Math.Max(Vector3.Dot(vRotModule.targetDirection.normalized, vessel.GetTransform().up.normalized), 0);

                            if (!isOnTarget && orientationDiff > 0.999f)
                            {
                                isOnTarget = true;
                            }
                            if (isOnTarget && orientationDiff < 0.90f)
                            {
                                isOnTarget = false;
                            }

                            if (isOnTarget)
                            {
                                // Torque output is maximal when on target and decrease to zero quickly according to the floatcurve
                                float orientationTorqueFactor = Math.Max(torqueOutput.Evaluate(orientationDiff), 0);
                                if (orientationTorqueFactor < Single.Epsilon || orientationTorqueFactor <= saturationFactor * MandatoryRCSSettings.torqueOutputFactor)
                                {
                                    SetNerfedTorque(); // We are locked but too far
                                }
                                else
                                {
                                    SetTargetTorque(orientationTorqueFactor); // We are locked, apply the torque curve
                                }
                            }
                            else
                            {
                                SetNerfedTorque(); // Target hasn't been reached
                            }
                        }
                    }
                    else
                    {
                        SetNerfedTorque(); // SAS is disabled
                    }
                }
            }
        }