/// <summary>
/// Get the largest potential torque provided by the part, in Newton meters in the pitch, yaw and roll axes.
/// Returns a pair of torques: the positive torque around each axis, and the negative torque.
/// </summary>
public static Torque GetPotentialTorque(this ITorqueProvider torqueProvider)
{
Vector3 pos;
Vector3 neg;
torqueProvider.GetPotentialTorque(out pos, out neg);
Vector3d posd = pos;
Vector3d negd = neg;
return(new Torque(posd * 1000.0d, negd * 1000.0d));
}
/// <summary>
/// Get the total torque for a vessel.
/// </summary>
/// <param name="vessel">The vessel from which ot get the total torque.</param>
/// <returns>The vessel torque as a Vector3.</returns>
public static Vector3 GetVesselTorque(Vessel vessel)
{
// the resulting torque
Vector3 vesselTorque = Vector3.zero;
// positive and negative vessel torque for all part modules that are torque providers
Vector3 positiveTorque = Vector3.zero;
Vector3 negativeTorque = Vector3.zero;
// cycle through all vessel parts.
int partCount = vessel.Parts.Count;
for (int iPart = 0; iPart < partCount; ++iPart)
{
Part part = vessel.Parts[iPart];
// loop through all modules for the part
int moduleCount = part.Modules.Count;
for (int iModule = 0; iModule < moduleCount; ++iModule)
{
// find modules in part that are torque providers.
ITorqueProvider torqueProvider = part.Modules[iModule] as ITorqueProvider;
if (torqueProvider == null)
{
continue;
}
// pos and neg torque for this part module
Vector3 posTorque;
Vector3 negTorque;
// get potential torque for the current module and update pos and neg torques.
torqueProvider.GetPotentialTorque(out posTorque, out negTorque);
positiveTorque += posTorque;
negativeTorque += negTorque;
}
}
// get max torque from all components of pos and neg torques.
vesselTorque.x = Mathf.Max(positiveTorque.x, negativeTorque.x);
vesselTorque.y = Mathf.Max(positiveTorque.y, negativeTorque.y);
vesselTorque.z = Mathf.Max(positiveTorque.z, negativeTorque.z);
return(vesselTorque);
}
private void AnalyzeOtherTorque()
{
torqueOthers.Reset();
/* this is a special list of ITorqueProvider-containing Parts that are *NOT* Engines, RW, RCS, Control Surfaces */
foreach (var pair in otherTorque)
{
Part p = pair.Key;
List <ITorqueProvider> mlist = p.Modules.GetModules <ITorqueProvider>();
for (int m = 0; m < mlist.Count; m++)
{
Vector3 pos;
Vector3 neg;
ITorqueProvider it = mlist[m];
it.GetPotentialTorque(out pos, out neg);
torqueOthers.Add(pos);
torqueOthers.Add(-neg);
}
}
}
/// <summary>
/// See https://github.com/KSP-KOS/KOS/issues/2814 for why this wrapper around KSP's API call exists.
/// <para />
/// </summary>
void CorrectedGetPotentialTorque(ITorqueProvider tp, out Vector3 pos, out Vector3 neg)
{
if (tp is ModuleRCS)
{
// The stock call GetPotentialTorque is completely broken in the case of ModuleRCS. So
// this replaces it entirely until KSP ever fixes the bug that's been in their
// bug list forever (probably won't get fixed).
ModuleRCS rcs = tp as ModuleRCS;
Part p = rcs.part;
// This is the list of various reasons this RCS module might
// be suppressed right now. It would be nice if all this
// stuff flipped one common flag during Update for all the
// rest of the code to check, but sadly that doesn't seem to
// be the case and you have to check these things individually:
if (p.ShieldedFromAirstream || !rcs.rcsEnabled || !rcs.isEnabled ||
rcs.isJustForShow || rcs.flameout || !rcs.rcs_active)
{
pos = new Vector3(0f, 0f, 0f);
neg = new Vector3(0f, 0f, 0f);
}
else
{
// The algorithm here is adapted from code in the MandatoryRCS mod
// that had to solve this same problem:
// Note the swapping of Y and Z axes to align with "part space":
Vector3 rotateEnables = new Vector3(rcs.enablePitch ? 1 : 0, rcs.enableRoll ? 1 : 0, rcs.enableYaw ? 1 : 0);
Vector3 translateEnables = new Vector3(rcs.enableX ? 1 : 0, rcs.enableZ ? 1 : 0, rcs.enableY ? 1 : 0);
pos = new Vector3(0f, 0f, 0f);
neg = new Vector3(0f, 0f, 0f);
for (int i = rcs.thrusterTransforms.Count - 1; i >= 0; --i)
{
Transform rcsTransform = rcs.thrusterTransforms[i];
Vector3 rcsPosFromCoM = rcsTransform.position - Vessel.CurrentCoM;
Vector3 rcsThrustDir = rcs.useZaxis ? -rcsTransform.forward : rcsTransform.up;
float powerFactor = rcs.thrusterPower * rcs.thrustPercentage * 0.01f;
// Normally you'd check for precision mode to nerf powerFactor here,
// but kOS doesn't obey that.
Vector3 thrust = powerFactor * rcsThrustDir;
Vector3 torque = Vector3d.Cross(rcsPosFromCoM, thrust);
Vector3 transformedTorque = Vector3.Scale(Vessel.ReferenceTransform.InverseTransformDirection(torque), rotateEnables);
pos += Vector3.Max(transformedTorque, Vector3.zero);
neg += Vector3.Min(transformedTorque, Vector3.zero);
}
}
}
else if (tp is ModuleReactionWheel)
{
// Although ModuleReactionWheel *mostly* works, the stock version ignores
// the authority limiter slider. It would have been possible to just take
// the result it gives and multiply it by the slider, but that relies on
// stock KSP never fixing it themselves and thus kOS would end up double-
// applying that multiplitation. To avoid that, it seems better to just
// make the entire thing homemade from scratch for now so if KSP ever fixes it
// on their end that doesn't break it on kOS's end:
ModuleReactionWheel wheel = tp as ModuleReactionWheel;
if (!wheel.moduleIsEnabled || wheel.wheelState != ModuleReactionWheel.WheelState.Active || wheel.actuatorModeCycle == 2)
{
pos = new Vector3(0f, 0f, 0f);
neg = new Vector3(0f, 0f, 0f);
}
else
{
float nerf = wheel.authorityLimiter / 100f;
pos = new Vector3(nerf * wheel.PitchTorque, nerf * wheel.RollTorque, nerf * wheel.YawTorque);
neg = -1 * pos;
}
}
else
{
tp.GetPotentialTorque(out pos, out neg);
}
}
/// <summary>
/// Import from MechJeb2
/// https://github.com/MuMech/MechJeb2/blob/dev/MechJeb2/VesselState.cs
/// </summary>
public static void AnalyzeParts(Vessel vessel)
{
torqueAvailable = Vector3d.zero;
Vector6 torqueReactionSpeed6 = new Vector6();
torqueReactionWheel.Reset();
torqueControlSurface.Reset();
torqueGimbal.Reset();
torqueOthers.Reset();
UpdateRCSThrustAndTorque(vessel);
for (int i = 0; i < vessel.parts.Count; i++)
{
Part p = vessel.parts[i];
for (int m = 0; m < p.Modules.Count; m++)
{
PartModule pm = p.Modules[m];
if (!pm.isEnabled)
{
continue;
}
ModuleReactionWheel rw = pm as ModuleReactionWheel;
if (rw != null)
{
Vector3 pos;
Vector3 neg;
rw.GetPotentialTorque(out pos, out neg);
// GetPotentialTorque reports the same value for pos & neg on ModuleReactionWheel
torqueReactionWheel.Add(pos);
torqueReactionWheel.Add(-neg);
}
else if (pm is ModuleControlSurface) // also does ModuleAeroSurface
{
ModuleControlSurface cs = (pm as ModuleControlSurface);
Vector3 ctrlTorquePos;
Vector3 ctrlTorqueNeg;
cs.GetPotentialTorque(out ctrlTorquePos, out ctrlTorqueNeg);
torqueControlSurface.Add(ctrlTorquePos);
torqueControlSurface.Add(ctrlTorqueNeg);
torqueReactionSpeed6.Add(Mathf.Abs(cs.ctrlSurfaceRange) / cs.actuatorSpeed * Vector3d.Max(ctrlTorquePos.Abs(), ctrlTorqueNeg.Abs()));
}
else if (pm is ModuleGimbal)
{
ModuleGimbal g = (pm as ModuleGimbal);
Vector3 pos;
Vector3 neg;
g.GetPotentialTorque(out pos, out neg);
// GetPotentialTorque reports the same value for pos & neg on ModuleGimbal
torqueGimbal.Add(pos);
torqueGimbal.Add(-neg);
if (g.useGimbalResponseSpeed)
{
torqueReactionSpeed6.Add((Mathf.Abs(g.gimbalRange) / g.gimbalResponseSpeed) * Vector3d.Max(pos.Abs(), neg.Abs()));
}
}
else if (pm is ModuleRCS)
{
// Handled separately
}
else if (pm is ITorqueProvider)
{
ITorqueProvider tp = pm as ITorqueProvider;
Vector3 pos;
Vector3 neg;
tp.GetPotentialTorque(out pos, out neg);
torqueOthers.Add(pos);
torqueOthers.Add(neg);
}
}
}
torqueAvailable += Vector3d.Max(torqueReactionWheel.positive, torqueReactionWheel.negative);
torqueAvailable += Vector3d.Max(rcsTorqueAvailable.positive, rcsTorqueAvailable.negative);
torqueAvailable += Vector3d.Max(torqueControlSurface.positive, torqueControlSurface.negative);
torqueAvailable += Vector3d.Max(torqueGimbal.positive, torqueGimbal.negative);
torqueAvailable += Vector3d.Max(torqueOthers.positive, torqueOthers.negative);
if (torqueAvailable.sqrMagnitude > 0)
{
torqueReactionSpeed = Vector3d.Max(torqueReactionSpeed6.positive, torqueReactionSpeed6.negative);
torqueReactionSpeed.Scale(torqueAvailable.InvertNoNaN());
}
else
{
torqueReactionSpeed = Vector3d.zero;
}
}