| public static Approx ( Vector3 val, Vector3 about, float range ) : bool | ||
| val | Vector3 | |
| about | Vector3 | |
| range | float | |
| 리턴 | bool | |
public void PreUpdateState(FlightCtrlState s)
{
//update control info
PreUpdateControls = s;
IsActiveVessel = vessel != null && vessel == FlightGlobals.ActiveVessel;
HasUserInput =
!Mathfx.Approx(PreUpdateControls.pitch, PreUpdateControls.pitchTrim, 0.01f) ||
!Mathfx.Approx(PreUpdateControls.roll, PreUpdateControls.rollTrim, 0.01f) ||
!Mathfx.Approx(PreUpdateControls.yaw, PreUpdateControls.yawTrim, 0.01f);
AutopilotDisabled = HasUserInput;
//update onPlanet state
var on_planet = vessel.OnPlanet();
var in_orbit = vessel.InOrbit();
if(on_planet != OnPlanet)
{
if(CFG.Enabled)
CFG.EnginesProfiles.OnPlanetChanged(on_planet);
if(!on_planet)
{
if(CFG.BlockThrottle)
{
var THR = TCA.GetModule<ThrottleControl>();
if(THR != null) THR.Throttle = 0f;
}
CFG.DisableVSC();
CFG.Nav.Off();
CFG.HF.Off();
if(IsActiveVessel && TCAGui.Instance.ORB != null)
TCAGui.Instance.ActiveTab = TCAGui.Instance.ORB;
}
}
OnPlanet = on_planet;
InOrbit = in_orbit;
}
private void SetFlightCtrlState(Vector3d act, Vector3d deltaEuler, FlightCtrlState s, double precision, float drive_limit)
{
bool userCommandingPitchYaw = (Mathfx.Approx(s.pitch, s.pitchTrim, 0.1F) ? false : true) || (Mathfx.Approx(s.yaw, s.yawTrim, 0.1F) ? false : true);
bool userCommandingRoll = (Mathfx.Approx(s.roll, s.rollTrim, 0.1F) ? false : true);
if (userCommandingPitchYaw || userCommandingRoll)
{
pid.Reset();
part.vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, false);
if (attitudeKILLROT)
{
attitudeTo(Quaternion.LookRotation(vessel.GetTransform().up, -vessel.GetTransform().forward), AttitudeReference.INERTIAL, null);
}
}
else
{
double int_error = Math.Abs(Vector3d.Angle(attitudeGetReferenceRotation(attitudeReference) * attitudeTarget * Vector3d.forward, vesselState.forward));
part.vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, false);
}
if (!attitudeRollMatters)
{
attitudeTo(Quaternion.LookRotation(attitudeTarget * Vector3d.forward, attitudeWorldToReference(-vessel.GetTransform().forward, attitudeReference)), attitudeReference, null);
_attitudeRollMatters = false;
}
if (!userCommandingRoll)
{
if (!double.IsNaN(act.z))
{
s.roll = Mathf.Clamp((float)(act.z), -drive_limit, drive_limit);
}
if (Math.Abs(s.roll) < 0.05)
{
s.roll = 0;
}
}
if (!userCommandingPitchYaw)
{
if (!double.IsNaN(act.x))
{
s.pitch = Mathf.Clamp((float)(act.x), -drive_limit, drive_limit);
}
if (!double.IsNaN(act.y))
{
s.yaw = Mathf.Clamp((float)(act.y), -drive_limit, drive_limit);
}
if (Math.Abs(s.pitch) < 0.05)
{
s.pitch = 0;
}
if (Math.Abs(s.yaw) < 0.05)
{
s.yaw = 0;
}
}
}
public void UpdateAutopilotInfo(FlightCtrlState s)
{
if (!CFG.Enabled)
{
return;
}
Controls.GimbalLimit = 100;
HasUserInput =
!Mathfx.Approx(s.pitch, s.pitchTrim, 0.01f) ||
!Mathfx.Approx(s.roll, s.rollTrim, 0.01f) ||
!Mathfx.Approx(s.yaw, s.yawTrim, 0.01f);
AutopilotDisabled = HasUserInput;
}
private void calculateSteering(FlightCtrlState s)
{
if (!isActive)
{
return;
}
HasUserInput = !Mathfx.Approx(s.pitch, s.pitchTrim, GLB.USER_INPUT_TOL) ||
!Mathfx.Approx(s.roll, s.rollTrim, GLB.USER_INPUT_TOL) ||
!Mathfx.Approx(s.yaw, s.yawTrim, GLB.USER_INPUT_TOL);
if (HasUserInput)
{
return;
}
steering.Zero();
var AV = vessel.angularVelocity * Mathf.Rad2Deg;
if (launchParams != null && launchParams.Valid && !launchParams.maneuverStarted)
{
UpdateAttitudeError();
var torque = getTorque(out var nonRcsTorque);
var maxAA = Utils.AngularAcceleration(torque, vessel.MOI) * Mathf.Rad2Deg;
// x is direct error, y is pitch; see AttitudeError description
steering.x = pitchController.Update(AttitudeError.y, -AV.x, maxAA.x);
steering.z = yawController.Update(AttitudeError.z, -AV.z, maxAA.z);
// disable RCS to fine-tune attitude
host.vessel.ActionGroups.SetGroup(KSPActionGroup.RCS,
AttitudeError.x > GLB.MAX_ATTITUDE_ERROR ||
nonRcsTorque.IsZero());
}
else
{
pitchPID.Update(AV.x);
steering.x = pitchPID.Action;
yawPID.Update(AV.z);
steering.z = yawPID.Action;
}
rollPID.Update(AV.y);
steering.y = rollPID.Action;
}
private void FixedUpdate()
{
if (FocusedObject)
{
CameraTarget = FocusedObject.position;
}
//Actual Camera Rig Transformations
Quaternion QT = Quaternion.Euler(m_localRotation.y, m_localRotation.x, 0);
m_pivotPosition.rotation = Quaternion.Lerp(m_pivotPosition.rotation, QT, Time.deltaTime * orbitDampening);
//Handle zooming.
if (m_cameraPosition.localPosition.z != ZoomLevel * -1f)
{
m_cameraPosition.localPosition = new Vector3(0f, 0f, Mathf.Lerp(m_cameraPosition.localPosition.z, ZoomLevel * -1f, .1f));//Time.deltaTime * scrollDampening));
}
//Handle camera offset.
if (!Mathfx.Approx(m_cameraPosition.parent.localPosition, CameraOffset, 0.05f))
{
m_cameraPosition.parent.localPosition = Mathfx.Hermite(m_cameraPosition.parent.localPosition, CameraOffset, .2f);
}
else
{
m_cameraPosition.parent.localPosition = CameraOffset;
}
//Handle camera movement.
if (!Mathfx.Approx(m_pivotPosition.position, CameraTarget, 0.05f))
{
m_pivotPosition.position = Mathfx.Hermite(m_pivotPosition.position, CameraTarget, .2f);
}
else
{
m_pivotPosition.position = CameraTarget;
}
}
private void SetFlightCtrlState(Vector3d act, Vector3d deltaEuler, FlightCtrlState s, float drive_limit)
{
bool userCommandingPitchYaw = (Mathfx.Approx(s.pitch, s.pitchTrim, 0.1F) ? false : true) || (Mathfx.Approx(s.yaw, s.yawTrim, 0.1F) ? false : true);
bool userCommandingRoll = (Mathfx.Approx(s.roll, s.rollTrim, 0.1F) ? false : true);
// Disable the new SAS so it won't interfere. But enable it while in timewarp for compatibility with PersistentRotation
if (TimeWarp.WarpMode != TimeWarp.Modes.HIGH || TimeWarp.CurrentRateIndex == 0)
{
part.vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, false);
}
if (attitudeKILLROT)
{
if (lastReferencePart != vessel.GetReferenceTransformPart() || userCommandingPitchYaw || userCommandingRoll)
{
attitudeTo(Quaternion.LookRotation(vessel.GetTransform().up, -vessel.GetTransform().forward), AttitudeReference.INERTIAL, null);
lastReferencePart = vessel.GetReferenceTransformPart();
}
}
if (userCommandingPitchYaw || userCommandingRoll)
{
pid.Reset();
}
if (!userCommandingRoll)
{
if (!double.IsNaN(act.z))
{
s.roll = Mathf.Clamp((float)(act.z), -drive_limit, drive_limit);
}
}
if (!userCommandingPitchYaw)
{
if (!double.IsNaN(act.x))
{
s.pitch = Mathf.Clamp((float)(act.x), -drive_limit, drive_limit);
}
if (!double.IsNaN(act.y))
{
s.yaw = Mathf.Clamp((float)(act.y), -drive_limit, drive_limit);
}
}
// RCS and SAS control:
Vector3d absErr; // Absolute error (exag º)
absErr.x = Math.Abs(deltaEuler.x);
absErr.y = Math.Abs(deltaEuler.y);
absErr.z = Math.Abs(deltaEuler.z);
if ((absErr.x < 0.4) && (absErr.y < 0.4) && (absErr.z < 0.4))
{
if (timeCount < 50)
{
timeCount++;
}
else
{
if (RCS_auto)
{
if (attitudeRCScontrol && core.rcs.users.Count == 0)
{
part.vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, false);
}
}
}
}
else if ((absErr.x > 1.0) || (absErr.y > 1.0) || (absErr.z > 1.0))
{
timeCount = 0;
if (RCS_auto && ((absErr.x > 3.0) || (absErr.y > 3.0) || (absErr.z > 3.0)))
{
if (attitudeRCScontrol)
{
part.vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, true);
}
}
}
} // end of SetFlightCtrlState
public override void Drive(FlightCtrlState s)
{
float threshold = 0.1F;
bool _userCommandingRotation = !(Mathfx.Approx(s.pitch, s.pitchTrim, threshold) &&
Mathfx.Approx(s.yaw, s.yawTrim, threshold) &&
Mathfx.Approx(s.roll, s.rollTrim, threshold));
bool _userCommandingTranslation = !(Math.Abs(s.X) < threshold &&
Math.Abs(s.Y) < threshold &&
Math.Abs(s.Z) < threshold);
if (_userCommandingRotation && !_userCommandingTranslation)
{
userCommandingRotationSmoothed = 2;
}
else if (userCommandingRotationSmoothed > 0)
{
userCommandingRotationSmoothed--;
}
if (core.GetComputerModule <MechJebModuleThrustWindow>().hidden&& core.GetComputerModule <MechJebModuleAscentGuidance>().hidden)
{
return;
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.ProjectOnPlane(vesselState.surfaceVelocity, vesselState.up);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vesselState.orbitalVelocity) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vesselState.surfaceVelocity) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL) ||
!trans_kill_h ||
(core.attitude.attitudeError < 2) ||
((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
bool useGimbal = (vesselState.torqueFromEngine.x / vessel.ctrlState.mainThrottle > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueFromEngine.z / vessel.ctrlState.mainThrottle > vesselState.torqueAvailable.z * 10);
bool useDiffThrottle = (vesselState.torqueFromDiffThrottle.x > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueFromDiffThrottle.z > vesselState.torqueAvailable.z * 10);
if ((core.attitude.attitudeError >= 2) && (useGimbal || (useDiffThrottle && core.thrust.differentialThrottle)))
{
trans_prev_thrust = targetThrottle = 0.1F;
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
// Only set throttle if a module need it. Othewise let the user or other mods set it
// There is always at least 1 user : the module itself (why ?)
if (users.Count() > 1)
{
s.mainThrottle = targetThrottle;
}
float throttleLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit)
{
limiter = LimitMode.Throttle;
}
throttleLimit = Mathf.Min(throttleLimit, (float)maxThrottle);
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.TerminalVelocity;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitDynamicPressure)
{
float limit = MaximumDynamicPressureThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.DynamicPressure;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventOverheats)
{
float limit = (float)TemperatureSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Temperature;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Acceleration;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (electricThrottle && ElectricEngineRunning())
{
float limit = ElectricThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Electric;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit)
{
limiter = LimitMode.Flameout;
}
throttleLimit = Mathf.Min(throttleLimit, limit);
}
if (limiterMinThrottle && limiter != LimitMode.None && throttleLimit < minThrottle)
{
limiter = LimitMode.MinThrottle;
throttleLimit = (float)minThrottle;
}
if (double.IsNaN(throttleLimit))
{
throttleLimit = 0;
}
throttleLimit = Mathf.Clamp01(throttleLimit);
vesselState.throttleLimit = throttleLimit;
if (s.mainThrottle < throttleLimit)
{
limiter = LimitMode.None;
}
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle))
{
s.mainThrottle = 0;
}
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
if (s.Z == 0 && core.rcs.rcsThrottle && vesselState.rcsThrust)
{
s.Z = -s.mainThrottle;
}
lastThrottle = s.mainThrottle;
if (!core.attitude.enabled)
{
Vector3d act = new Vector3d(s.pitch, s.yaw, s.roll);
differentialThrottleDemandedTorque = -Vector3d.Scale(act.xzy, vesselState.torqueFromDiffThrottle * s.mainThrottle * 0.5f);
}
}
private void SetFlightCtrlState(Vector3d act, Vector3d deltaEuler, FlightCtrlState s, float drive_limit)
{
bool userCommandingPitchYaw = (Mathfx.Approx(s.pitch, s.pitchTrim, 0.1F) ? false : true) || (Mathfx.Approx(s.yaw, s.yawTrim, 0.1F) ? false : true);
bool userCommandingRoll = (Mathfx.Approx(s.roll, s.rollTrim, 0.1F) ? false : true);
// Disable the new SAS so it won't interfere.
// Todo : enable it when it's a good idea or the user had it enabled before
part.vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, false);
if (attitudeKILLROT)
{
if (lastReferencePart != vessel.GetReferenceTransformPart() || userCommandingPitchYaw || userCommandingRoll)
{
attitudeTo(Quaternion.LookRotation(vessel.GetTransform().up, -vessel.GetTransform().forward), AttitudeReference.INERTIAL, null);
lastReferencePart = vessel.GetReferenceTransformPart();
}
}
if (userCommandingPitchYaw || userCommandingRoll)
{
pid.Reset();
}
if (!attitudeRollMatters)
{
attitudeTo(Quaternion.LookRotation(attitudeTarget * Vector3d.forward, attitudeWorldToReference(-vessel.GetTransform().forward, attitudeReference)), attitudeReference, null);
_attitudeRollMatters = false;
}
if (!userCommandingRoll)
{
if (!double.IsNaN(act.z))
{
s.roll = Mathf.Clamp((float)(act.z), -drive_limit, drive_limit);
}
}
if (!userCommandingPitchYaw)
{
if (!double.IsNaN(act.x))
{
s.pitch = Mathf.Clamp((float)(act.x), -drive_limit, drive_limit);
}
if (!double.IsNaN(act.y))
{
s.yaw = Mathf.Clamp((float)(act.y), -drive_limit, drive_limit);
}
}
// RCS and SAS control:
Vector3d absErr; // Absolute error (exag º)
absErr.x = Math.Abs(deltaEuler.x);
absErr.y = Math.Abs(deltaEuler.y);
absErr.z = Math.Abs(deltaEuler.z);
if ((absErr.x < 0.4) && (absErr.y < 0.4) && (absErr.z < 0.4))
{
if (timeCount < 50)
{
timeCount++;
}
else
{
if (RCS_auto)
{
if (attitudeRCScontrol && core.rcs.users.Count == 0)
{
part.vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, false);
}
}
}
}
else if ((absErr.x > 1.0) || (absErr.y > 1.0) || (absErr.z > 1.0))
{
timeCount = 0;
if (RCS_auto && ((absErr.x > 3.0) || (absErr.y > 3.0) || (absErr.z > 3.0)))
{
if (attitudeRCScontrol)
{
part.vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, true);
}
}
}
} // end of SetFlightCtrlState
public override void Drive(FlightCtrlState s)
{
float threshold = 0.1F;
bool _userCommandingRotation = !(Mathfx.Approx(s.pitch, s.pitchTrim, threshold) &&
Mathfx.Approx(s.yaw, s.yawTrim, threshold) &&
Mathfx.Approx(s.roll, s.rollTrim, threshold));
bool _userCommandingTranslation = !(Math.Abs(s.X) < threshold &&
Math.Abs(s.Y) < threshold &&
Math.Abs(s.Z) < threshold);
if (_userCommandingRotation && !_userCommandingTranslation)
{
userCommandingRotationSmoothed = 2;
}
else if (userCommandingRotationSmoothed > 0)
{
userCommandingRotationSmoothed--;
}
if (core.GetComputerModule <MechJebModuleThrustWindow>().hidden&& core.GetComputerModule <MechJebModuleAscentGuidance>().hidden)
{
return;
}
if ((tmode != TMode.OFF) && (vesselState.thrustAvailable > 0))
{
double spd = 0;
switch (tmode)
{
case TMode.KEEP_ORBITAL:
spd = vesselState.speedOrbital;
break;
case TMode.KEEP_SURFACE:
spd = vesselState.speedSurface;
break;
case TMode.KEEP_VERTICAL:
spd = vesselState.speedVertical;
Vector3d rot = Vector3d.up;
if (trans_kill_h)
{
Vector3 hsdir = Vector3.ProjectOnPlane(vesselState.surfaceVelocity, vesselState.up);
Vector3 dir = -hsdir + vesselState.up * Math.Max(Math.Abs(spd), 20 * mainBody.GeeASL);
if ((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) > 5000) && (hsdir.magnitude > Math.Max(Math.Abs(spd), 100 * mainBody.GeeASL) * 2))
{
tmode = TMode.DIRECT;
trans_spd_act = 100;
rot = -hsdir;
}
else
{
rot = dir.normalized;
}
core.attitude.attitudeTo(rot, AttitudeReference.INERTIAL, null);
}
break;
}
double t_err = (trans_spd_act - spd) / vesselState.maxThrustAccel;
if ((tmode == TMode.KEEP_ORBITAL && Vector3d.Dot(vesselState.forward, vesselState.orbitalVelocity) < 0) ||
(tmode == TMode.KEEP_SURFACE && Vector3d.Dot(vesselState.forward, vesselState.surfaceVelocity) < 0))
{
//allow thrust to declerate
t_err *= -1;
}
double t_act = pid.Compute(t_err);
if ((tmode != TMode.KEEP_VERTICAL) ||
!trans_kill_h ||
(core.attitude.attitudeError < 2) ||
((Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue) < 1000) && (core.attitude.attitudeError < 90)))
{
if (tmode == TMode.DIRECT)
{
trans_prev_thrust = targetThrottle = trans_spd_act / 100.0F;
}
else
{
trans_prev_thrust = targetThrottle = Mathf.Clamp01(trans_prev_thrust + (float)t_act);
}
}
else
{
bool useGimbal = (vesselState.torqueGimbal.positive.x > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueGimbal.positive.z > vesselState.torqueAvailable.z * 10);
bool useDiffThrottle = (vesselState.torqueDiffThrottle.x > vesselState.torqueAvailable.x * 10) ||
(vesselState.torqueDiffThrottle.z > vesselState.torqueAvailable.z * 10);
if ((core.attitude.attitudeError >= 2) && (useGimbal || (useDiffThrottle && core.thrust.differentialThrottle)))
{
trans_prev_thrust = targetThrottle = 0.1F;
print(" targetThrottle = 0.1F");
}
else
{
trans_prev_thrust = targetThrottle = 0;
}
}
}
// Only set throttle if a module need it. Otherwise let the user or other mods set it
// There is always at least 1 user : the module itself (why ?)
if (users.Count > 1)
{
s.mainThrottle = targetThrottle;
}
throttleLimit = 1;
throttleFixedLimit = 1;
limiter = LimitMode.None;
if (limitThrottle)
{
if (maxThrottle < throttleLimit)
{
setFixedLimit((float)maxThrottle, LimitMode.Throttle);
}
}
if (limitToTerminalVelocity)
{
float limit = TerminalVelocityThrottle();
if (limit < throttleLimit)
{
setFixedLimit(limit, LimitMode.TerminalVelocity);
}
}
if (limitDynamicPressure)
{
float limit = MaximumDynamicPressureThrottle();
if (limit < throttleLimit)
{
setFixedLimit(limit, LimitMode.DynamicPressure);
}
}
if (limitToPreventOverheats)
{
float limit = (float)TemperatureSafetyThrottle();
if (limit < throttleLimit)
{
setFixedLimit(limit, LimitMode.Temperature);
}
}
if (limitAcceleration)
{
float limit = AccelerationLimitedThrottle();
if (limit < throttleLimit)
{
setFixedLimit(limit, LimitMode.Acceleration);
}
}
if (electricThrottle && ElectricEngineRunning())
{
float limit = ElectricThrottle();
if (limit < throttleLimit)
{
setFixedLimit(limit, LimitMode.Electric);
}
}
if (limitToPreventFlameout)
{
// This clause benefits being last: if we don't need much air
// due to prior limits, we can close some intakes.
float limit = FlameoutSafetyThrottle();
if (limit < throttleLimit)
{
setFixedLimit(limit, LimitMode.Flameout);
}
}
// Any limiters which can limit to non-zero values must come before this, any
// limiters (like ullage) which enforce zero throttle should come after. The
// minThrottle setting has authority over any other limiter that sets non-zero throttle.
if (limiterMinThrottle && limiter != LimitMode.None)
{
if (minThrottle > throttleFixedLimit)
{
setFixedLimit((float)minThrottle, LimitMode.MinThrottle);
}
if (minThrottle > throttleLimit)
{
setTempLimit((float)minThrottle, LimitMode.MinThrottle);
}
}
/* auto-RCS ullaging up to very stable */
if (autoRCSUllaging && s.mainThrottle > 0.0F && throttleLimit > 0.0F)
{
if (vesselState.lowestUllage < VesselState.UllageState.VeryStable)
{
Debug.Log("MechJeb RCS auto-ullaging: found state below very stable: " + vesselState.lowestUllage);
if (vessel.hasEnabledRCSModules())
{
if (!vessel.ActionGroups[KSPActionGroup.RCS])
{
Debug.Log("MechJeb RCS auto-ullaging: enabling RCS action group for automatic ullaging");
vessel.ActionGroups.SetGroup(KSPActionGroup.RCS, true);
}
Debug.Log("MechJeb RCS auto-ullaging: firing RCS to stabilize ulllage");
setTempLimit(0.0F, LimitMode.UnstableIgnition);
s.Z = -1.0F;
}
else
{
Debug.Log("MechJeb RCS auto-ullaging: vessel has no enabled/staged RCS modules");
}
}
}
/* prevent unstable ignitions */
if (limitToPreventUnstableIgnition && s.mainThrottle > 0.0F && throttleLimit > 0.0F)
{
if (vesselState.lowestUllage < VesselState.UllageState.Stable)
{
ScreenMessages.PostScreenMessage(preventingUnstableIgnitionsMessage);
Debug.Log("MechJeb Unstable Ignitions: preventing ignition in state: " + vesselState.lowestUllage);
setTempLimit(0.0F, LimitMode.UnstableIgnition);
}
}
// we have to force the throttle here so that rssMode can work, otherwise we don't get our last throttle command
// back on the next tick after disabling. we save this before applying the throttle limits so that we preserve
// the requested throttle, and not the limited throttle.
if (core.rssMode)
{
SetFlightGlobals(s.mainThrottle);
}
if (double.IsNaN(throttleLimit))
{
throttleLimit = 1.0F;
}
throttleLimit = Mathf.Clamp01(throttleLimit);
/* we do not _apply_ the "fixed" limit, the actual throttleLimit should always be the more limited and lower one */
/* the purpose of the "fixed" limit is for external consumers like the node executor to consume */
if (double.IsNaN(throttleFixedLimit))
{
throttleFixedLimit = 1.0F;
}
throttleFixedLimit = Mathf.Clamp01(throttleFixedLimit);
vesselState.throttleLimit = throttleLimit;
vesselState.throttleFixedLimit = throttleFixedLimit;
if (s.mainThrottle < throttleLimit)
{
limiter = LimitMode.None;
}
s.mainThrottle = Mathf.Min(s.mainThrottle, throttleLimit);
if (smoothThrottle)
{
s.mainThrottle = SmoothThrottle(s.mainThrottle);
}
if (double.IsNaN(s.mainThrottle))
{
s.mainThrottle = 0;
}
s.mainThrottle = Mathf.Clamp01(s.mainThrottle);
if (s.Z == 0 && core.rcs.rcsThrottle && vesselState.rcsThrust)
{
s.Z = -s.mainThrottle;
}
lastThrottle = s.mainThrottle;
if (!core.attitude.enabled)
{
Vector3d act = new Vector3d(s.pitch, s.yaw, s.roll);
differentialThrottleDemandedTorque = -Vector3d.Scale(act.xzy, vesselState.torqueDiffThrottle * s.mainThrottle * 0.5f);
}
}
public void Update()
{
if (afx == null)
{
GameObject fx = GameObject.Find("FXLogic");
if (fx != null)
{
afx = fx.GetComponent <AerodynamicsFX>();
}
}
Animation flapsAnim = part.FindModelAnimators("Flap_Top_Right")[0];
if (vessel != null && vessel.mainBody.atmosphere && vessel.altitude < vessel.mainBody.RealMaxAtmosphereAltitude())
{
float direction = ((vessel.GetSrfVelocity().magnitude > 25) && (Vector3.Angle(vessel.transform.up, vessel.GetSrfVelocity()) > 90)) ? -1 : 1;
lastFlaps[0] = AdvanceAnimationTo(flapsAnim, "Flap_Top_Right", Mathf.Clamp01(direction * (vessel.ctrlState.pitch - vessel.ctrlState.yaw) / 2), TimeWarp.deltaTime, lastFlaps[0]);
lastFlaps[1] = AdvanceAnimationTo(flapsAnim, "Flap_Top_Left", Mathf.Clamp01(direction * (vessel.ctrlState.pitch + vessel.ctrlState.yaw) / 2), TimeWarp.deltaTime, lastFlaps[1]);
lastFlaps[2] = AdvanceAnimationTo(flapsAnim, "Flap_Bottom_Right", Mathf.Clamp01(direction * (-vessel.ctrlState.pitch - vessel.ctrlState.yaw) / 2), TimeWarp.deltaTime, lastFlaps[2]);
lastFlaps[3] = AdvanceAnimationTo(flapsAnim, "Flap_Bottom_Left", Mathf.Clamp01(direction * (-vessel.ctrlState.pitch + vessel.ctrlState.yaw) / 2), TimeWarp.deltaTime, lastFlaps[3]);
}
else
{
lastFlaps[0] = AdvanceAnimationTo(flapsAnim, "Flap_Top_Right", 0, TimeWarp.deltaTime, lastFlaps[0]);
lastFlaps[1] = AdvanceAnimationTo(flapsAnim, "Flap_Top_Left", 0, TimeWarp.deltaTime, lastFlaps[1]);
lastFlaps[2] = AdvanceAnimationTo(flapsAnim, "Flap_Bottom_Right", 0, TimeWarp.deltaTime, lastFlaps[2]);
lastFlaps[3] = AdvanceAnimationTo(flapsAnim, "Flap_Bottom_Left", 0, TimeWarp.deltaTime, lastFlaps[3]);
}
switch (state)
{
case State.OFF:
if (HighLogic.LoadedSceneIsEditor || (HighLogic.LoadedSceneIsFlight && FlightGlobals.ready && vessel != null && core.attitude.enabled))
{
state = State.AWAKENING;
part.FindModelAnimators("Waking")[0].Play("Waking");
}
break;
case State.AWAKENING:
if (!part.FindModelAnimators("Waking")[0].isPlaying)
{
AdvanceAnimationTo(part.FindModelAnimators("Waking")[0], "Waking", 1, 100);
state = State.AWAKE;
lastBlink = lastAction = Time.time;
}
break;
case State.AWAKE:
if (!part.FindModelAnimators("Blink")[0].isPlaying)
{
if ((UnityEngine.Random.Range(0, 10.0F / (HighLogic.LoadedSceneIsEditor ? Time.deltaTime : TimeWarp.deltaTime)) < (Time.time - lastBlink)))
{
part.FindModelAnimators("Blink")[0].Play("Blink");
lastBlink = Time.time;
}
GameObject cam = HighLogic.LoadedSceneIsEditor ? EditorLogic.fetch.editorCamera.gameObject : FlightCamera.fetch.gameObject;
Vector3 target = (cam.transform.position - part.transform.position).normalized;
if (core.attitude.enabled)
{
target = core.attitude.attitudeGetReferenceRotation(core.attitude.attitudeReference) * core.attitude.attitudeTarget * Quaternion.Euler(90, 0, 0) * Vector3.up;
lastAction = Time.time;
}
Vector3 localTarget = part.transform.InverseTransformDirection(target);
Vector2 polarTarget = CartesianToPolar(localTarget);
if (Mathfx.Approx(polarTarget.x, -90, 1) || Mathfx.Approx(polarTarget.x, 90, 1))
{
polarTarget.y = eye_base.localEulerAngles.z + 90;
}
if ((!HighLogic.LoadedSceneIsEditor && (Time.time - lastAction > 30)))
{
if (Mathfx.Approx(eye_base.localEulerAngles.z, 0, 1) && Mathfx.Approx(eye_ball.localEulerAngles.x, 0, 1))
{
state = State.SLEEPING;
part.FindModelAnimators("Sleeping")[0].Play("Sleeping");
}
else
{
polarTarget = new Vector2(-90, 90);
}
}
if (afx != null && afx.FxScalar > 0)
{
polarTarget = new Vector2(90, 90);
}
eye_base.localEulerAngles = new Vector3(0, 0, Mathf.MoveTowardsAngle(eye_base.localEulerAngles.z, polarTarget.y - 90, 360 * Time.deltaTime));
eye_ball.localRotation = Quaternion.RotateTowards(eye_ball.localRotation, Quaternion.Euler(polarTarget.x + 90, 0, 0), 360 * Time.deltaTime);
}
break;
case State.SLEEPING:
if (!part.FindModelAnimators("Sleeping")[0].isPlaying)
{
AdvanceAnimationTo(part.FindModelAnimators("Sleeping")[0], "Sleeping", 1, 100);
state = State.OFF;
}
break;
default:
break;
}
}