public void scanFromAllVessels()
{
if (Time.realtimeSinceStartup - last_scan_time < 1 && Time.realtimeSinceStartup > last_scan_time)
{
return;
}
if (last_scan_frame == Time.frameCount)
{
return;
}
last_scan_frame = Time.frameCount;
last_scan_time = Time.realtimeSinceStartup;
scan_UT = Planetarium.GetUniversalTime();
currentActiveSensor = 0;
currentActiveVessel = 0;
actualPasses = 0;
maxRes = 0;
foreach (SCANdata data in body_data.Values)
{
data.updateCoverage();
}
foreach (Vessel v in FlightGlobals.Vessels)
{
if (!knownVessels.ContainsKey(v.id))
{
continue;
}
SCANvessel vessel = knownVessels[v.id];
SCANdata data = getData(v.mainBody);
vessel.vessel = v;
if (!data.disabled)
{
if (v.mainBody == FlightGlobals.currentMainBody || scan_background)
{
if (isVesselKnown(v))
{
doScanPass(knownVessels[v.id], scan_UT, scan_UT, vessel.lastUT, vessel.latitude, vessel.longitude);
++currentActiveVessel;
currentActiveSensor += knownVessels[v.id].sensors.Count;
}
}
}
vessel.body = v.mainBody;
vessel.frame = Time.frameCount;
vessel.lastUT = scan_UT;
vessel.latitude = fixLatitude(v.latitude);
vessel.longitude = fixLongitude(v.longitude);
}
activeVessels = currentActiveVessel;
activeSensors = currentActiveSensor;
}
public void registerSensor(Guid id, SCANdata.SCANtype sensors, double fov, double min_alt, double max_alt, double best_alt)
{
if (!knownVessels.ContainsKey(id))
{
knownVessels[id] = new SCANvessel();
}
SCANvessel sv = knownVessels[id];
sv.id = id;
foreach (SCANdata.SCANtype sensor in Enum.GetValues(typeof(SCANdata.SCANtype)))
{
if (countBits((int)sensor) != 1)
{
continue;
}
if ((sensor & sensors) == SCANdata.SCANtype.Nothing)
{
continue;
}
double this_fov = fov, this_min_alt = min_alt, this_max_alt = max_alt, this_best_alt = best_alt;
if (this_max_alt <= 0)
{
this_min_alt = 5000;
this_max_alt = 500000;
this_best_alt = 200000;
this_fov = 5;
if ((sensor & SCANdata.SCANtype.AltimetryHiRes) != SCANdata.SCANtype.Nothing)
{
this_fov = 3;
}
if ((sensor & SCANdata.SCANtype.AnomalyDetail) != SCANdata.SCANtype.Nothing)
{
this_min_alt = 0;
this_max_alt = 2000;
this_best_alt = 0;
this_fov = 1;
}
}
if (!sv.sensors.ContainsKey(sensor))
{
sv.sensors[sensor] = new SCANsensor();
}
SCANsensor s = sv.sensors[sensor];
s.sensor = sensor;
s.fov = this_fov;
s.min_alt = this_min_alt;
s.max_alt = this_max_alt;
s.best_alt = this_best_alt;
}
}
public void unregisterSensor(Vessel v, SCANdata.SCANtype sensors)
{
if (!knownVessels.ContainsKey(v.id))
{
return;
}
SCANvessel sv = knownVessels[v.id];
sv.id = v.id;
sv.vessel = v;
foreach (SCANdata.SCANtype sensor in Enum.GetValues(typeof(SCANdata.SCANtype)))
{
if ((sensors & sensor) == SCANdata.SCANtype.Nothing)
{
continue;
}
if (!sv.sensors.ContainsKey(sensor))
{
continue;
}
sv.sensors.Remove(sensor);
}
}
protected void doScanPass(SCANvessel vessel, double UT, double startUT, double lastUT, double llat, double llon)
{
Vessel v = vessel.vessel;
SCANdata data = getData(v.mainBody);
double soi_radius = v.mainBody.sphereOfInfluence - v.mainBody.Radius;
double alt = v.altitude, lat = fixLatitude(v.latitude), lon = fixLongitude(v.longitude);
double res = 0;
Orbit o = v.orbit;
bool uncovered;
if(scanQueue == null) scanQueue = new Queue<double>();
if(scanQueue.Count != 0) scanQueue.Clear();
loop: // don't look at me like that, I just unrolled the recursion
if(res > 0) {
if(double.IsNaN(UT)) goto dequeue;
if(o.ObT <= 0) goto dequeue;
if(double.IsNaN(o.getObtAtUT(UT))) goto dequeue;
Vector3d pos = o.getPositionAtUT(UT);
double rotation = 0;
if(v.mainBody.rotates) {
rotation = (360 * ((UT - scan_UT) / v.mainBody.rotationPeriod)) % 360;
}
alt = v.mainBody.GetAltitude(pos);
lat = fixLatitude(v.mainBody.GetLatitude(pos));
lon = fixLongitude(v.mainBody.GetLongitude(pos) - rotation);
if(alt < 0) alt = 0;
if(res > maxRes) maxRes = (int)res;
} else {
alt = v.heightFromTerrain;
if(alt < 0) alt = v.altitude;
}
if(Math.Abs(lat - llat) < 1 && Math.Abs(lon - llon) < 1 && res > 0) goto dequeue;
actualPasses++;
uncovered = res <= 0;
foreach(SCANsensor sensor in knownVessels[v.id].sensors.Values) {
if(res <= 0) {
if(data.getCoverage(sensor.sensor) > 0) uncovered = false;
}
sensor.inRange = false;
sensor.bestRange = false;
if(alt < sensor.min_alt) continue;
if(alt > Math.Min(sensor.max_alt, soi_radius)) continue;
sensor.inRange = true;
double fov = sensor.fov;
double ba = Math.Min(sensor.best_alt, soi_radius);
if(alt < ba) fov = (alt / ba) * fov;
else sensor.bestRange = true;
double surfscale = 600000d/v.mainBody.Radius;
if(surfscale < 1) surfscale = 1;
surfscale = Math.Sqrt(surfscale);
fov *= surfscale;
if(fov > 20) fov = 20;
int f = (int)Math.Truncate(fov);
int f1 = f + (int)Math.Round(fov - f);
for(int x=-f; x<=f1; ++x) {
for(int y=-f; y<=f1; ++y) {
data.registerPass(lon + x, lat + y, sensor.sensor);
}
}
}
if(uncovered) return;
/*
if(v.mainBody == FlightGlobals.currentMainBody) {
if(res > 0) data.map_small.SetPixel((int)Math.Round(lon) + 180, (int)Math.Round(lat) + 90, Color.magenta);
else data.map_small.SetPixel((int)Math.Round(lon) + 180, (int)Math.Round(lat) + 90, Color.yellow);
}
*/
if(vessel.lastUT <= 0) return;
if(vessel.frame <= 0) return;
if(v.LandedOrSplashed) return;
if(res >= timeWarpResolution) goto dequeue;
if(startUT > UT) {
scanQueue.Enqueue((startUT + UT) / 2);
scanQueue.Enqueue(startUT);
scanQueue.Enqueue(UT);
scanQueue.Enqueue(lat);
scanQueue.Enqueue(lon);
scanQueue.Enqueue(res + 1);
}
startUT = UT;
UT = (lastUT + UT) / 2;
llat = lat;
llon = lon;
res = res + 1;
goto loop;
dequeue:
if(scanQueue.Count <= 0) return;
UT = scanQueue.Dequeue();
startUT = scanQueue.Dequeue();
lastUT = scanQueue.Dequeue();
llat = scanQueue.Dequeue();
llon = scanQueue.Dequeue();
res = scanQueue.Dequeue();
goto loop;
}
public void registerSensor(Guid id, SCANdata.SCANtype sensors, double fov, double min_alt, double max_alt, double best_alt)
{
if(!knownVessels.ContainsKey(id)) knownVessels[id] = new SCANvessel();
SCANvessel sv = knownVessels[id];
sv.id = id;
foreach(SCANdata.SCANtype sensor in Enum.GetValues(typeof(SCANdata.SCANtype))) {
if(countBits((int)sensor) != 1) continue;
if((sensor & sensors) == SCANdata.SCANtype.Nothing) continue;
double this_fov = fov, this_min_alt = min_alt, this_max_alt = max_alt, this_best_alt = best_alt;
if(this_max_alt <= 0) {
this_min_alt = 5000;
this_max_alt = 500000;
this_best_alt = 200000;
this_fov = 5;
if((sensor & SCANdata.SCANtype.AltimetryHiRes) != SCANdata.SCANtype.Nothing) this_fov = 3;
if((sensor & SCANdata.SCANtype.AnomalyDetail) != SCANdata.SCANtype.Nothing) {
this_min_alt = 0;
this_max_alt = 2000;
this_best_alt = 0;
this_fov = 1;
}
}
if(!sv.sensors.ContainsKey(sensor)) sv.sensors[sensor] = new SCANsensor();
SCANsensor s = sv.sensors[sensor];
s.sensor = sensor;
s.fov = this_fov;
s.min_alt = this_min_alt;
s.max_alt = this_max_alt;
s.best_alt = this_best_alt;
}
}
protected void doScanPass(SCANvessel vessel, double UT, double startUT, double lastUT, double llat, double llon)
{
Vessel v = vessel.vessel;
SCANdata data = getData(v.mainBody);
double soi_radius = v.mainBody.sphereOfInfluence - v.mainBody.Radius;
double alt = v.altitude, lat = fixLatitude(v.latitude), lon = fixLongitude(v.longitude);
double res = 0;
Orbit o = v.orbit;
bool uncovered;
if (scanQueue == null)
{
scanQueue = new Queue <double>();
}
if (scanQueue.Count != 0)
{
scanQueue.Clear();
}
loop: // don't look at me like that, I just unrolled the recursion
if (res > 0)
{
if (double.IsNaN(UT))
{
goto dequeue;
}
if (o.ObT <= 0)
{
goto dequeue;
}
if (double.IsNaN(o.getObtAtUT(UT)))
{
goto dequeue;
}
Vector3d pos = o.getPositionAtUT(UT);
double rotation = 0;
if (v.mainBody.rotates)
{
rotation = (360 * ((UT - scan_UT) / v.mainBody.rotationPeriod)) % 360;
}
alt = v.mainBody.GetAltitude(pos);
lat = fixLatitude(v.mainBody.GetLatitude(pos));
lon = fixLongitude(v.mainBody.GetLongitude(pos) - rotation);
if (alt < 0)
{
alt = 0;
}
if (res > maxRes)
{
maxRes = (int)res;
}
}
else
{
alt = v.heightFromTerrain;
if (alt < 0)
{
alt = v.altitude;
}
}
if (Math.Abs(lat - llat) < 1 && Math.Abs(lon - llon) < 1 && res > 0)
{
goto dequeue;
}
actualPasses++;
uncovered = res <= 0;
foreach (SCANsensor sensor in knownVessels[v.id].sensors.Values)
{
if (res <= 0)
{
if (data.getCoverage(sensor.sensor) > 0)
{
uncovered = false;
}
}
sensor.inRange = false;
sensor.bestRange = false;
if (alt < sensor.min_alt)
{
continue;
}
if (alt > Math.Min(sensor.max_alt, soi_radius))
{
continue;
}
sensor.inRange = true;
double fov = sensor.fov;
//double ba = Math.Min(sensor.best_alt, soi_radius);
//if(alt < ba) fov = (alt / ba) * fov;
//else sensor.bestRange = true;
double surfscale = 600000d / v.mainBody.Radius;
if (surfscale < 1)
{
surfscale = 1;
}
surfscale = Math.Sqrt(surfscale);
fov *= surfscale;
if (fov > 20)
{
fov = 20;
}
int f = (int)Math.Truncate(fov);
int f1 = f + (int)Math.Round(fov - f);
double clampLat;
double clampLon;
for (int x = -f; x <= f1; ++x)
{
clampLon = lon + x; // longitude does not need clamping
/*if (clampLon < 0 ) clampLon = 0; */
/*if (clampLon > 360) clampLon = 360; */
for (int y = -f; y <= f1; ++y)
{
clampLat = lat + y;
if (clampLat > 90)
{
clampLat = 90;
}
if (clampLat < -90)
{
clampLat = -90;
}
data.registerPass(clampLon, clampLat, sensor.sensor);
}
}
}
if (uncovered)
{
return;
}
/*
* if(v.mainBody == FlightGlobals.currentMainBody) {
* if(res > 0) data.map_small.SetPixel((int)Math.Round(lon) + 180, (int)Math.Round(lat) + 90, Color.magenta);
* else data.map_small.SetPixel((int)Math.Round(lon) + 180, (int)Math.Round(lat) + 90, Color.yellow);
* }
*/
if (vessel.lastUT <= 0)
{
return;
}
if (vessel.frame <= 0)
{
return;
}
if (v.LandedOrSplashed)
{
return;
}
if (res >= timeWarpResolution)
{
goto dequeue;
}
if (startUT > UT)
{
scanQueue.Enqueue((startUT + UT) / 2);
scanQueue.Enqueue(startUT);
scanQueue.Enqueue(UT);
scanQueue.Enqueue(lat);
scanQueue.Enqueue(lon);
scanQueue.Enqueue(res + 1);
}
startUT = UT;
UT = (lastUT + UT) / 2;
llat = lat;
llon = lon;
res = res + 1;
goto loop;
dequeue:
if (scanQueue.Count <= 0)
{
return;
}
UT = scanQueue.Dequeue();
startUT = scanQueue.Dequeue();
lastUT = scanQueue.Dequeue();
llat = scanQueue.Dequeue();
llon = scanQueue.Dequeue();
res = scanQueue.Dequeue();
goto loop;
}
private void registerSensor(Guid id, SCANtype sensors, double fov, double min_alt, double max_alt, double best_alt)
{
if (id == null)
return;
if (!knownVessels.ContainsKey(id))
knownVessels[id] = new SCANvessel();
SCANvessel sv = knownVessels[id];
sv.id = id;
sv.vessel = FlightGlobals.Vessels.FirstOrDefault(a => a.id == id);
if (sv.vessel == null)
{
knownVessels.Remove(id);
return;
}
foreach (SCANtype sensor in Enum.GetValues(typeof(SCANtype)))
{
if (SCANUtil.countBits((int)sensor) != 1)
continue;
if ((sensor & sensors) == SCANtype.Nothing)
continue;
double this_fov = fov;
double this_min_alt = min_alt;
double this_max_alt = max_alt;
double this_best_alt = best_alt;
if (this_max_alt <= 0)
{
this_min_alt = 5000;
this_max_alt = 500000;
this_best_alt = 200000;
this_fov = 5;
if ((sensor & SCANtype.AltimetryHiRes) != SCANtype.Nothing) this_fov = 3;
if ((sensor & SCANtype.AnomalyDetail) != SCANtype.Nothing)
{
this_min_alt = 0;
this_max_alt = 2000;
this_best_alt = 0;
this_fov = 1;
}
}
if (!sv.sensors.ContainsKey(sensor))
sv.sensors[sensor] = new SCANsensor();
SCANsensor s = sv.sensors[sensor];
s.sensor = sensor;
s.fov = this_fov;
s.min_alt = this_min_alt;
s.max_alt = this_max_alt;
s.best_alt = this_best_alt;
}
}
