public CelestialBody(Universe universe)
{
position = new Vector3();
rotation = new Quaternion();
radius = 0;
mass = 0;
gravParameter = 0;
this.universe = universe;
}
public void update(global::Vessel vessel)
{
centerOfMass = new Vector3(vessel.findWorldCenterOfMass());
mass = 0;
torque = new Vector3(0, 0, 0);
momentumOfInertia = new Vector3(0, 0, 0);
angularMomentum = new Vector3(0, 0, 0);
foreach(Part p in vessel.parts)
{
if (p.physicalSignificance != Part.PhysicalSignificance.NONE)
{
double partMass = p.mass + p.GetResourceMass();
mass += partMass;
}
if (p is CommandPod)
{
torque = torque + Vector3.one * Math.Abs(((CommandPod)p).rotPower);
}
foreach (PartModule pm in p.Modules)
{
if (!pm.isEnabled) continue;
if (pm is ModuleReactionWheel)
{
ModuleReactionWheel rw = (ModuleReactionWheel)pm;
if (rw.wheelState == ModuleReactionWheel.WheelState.Active)
{
torque = torque + new Vector3(rw.PitchTorque, rw.RollTorque, rw.YawTorque);
}
}
}
}
var inertiaTensor = new Matrix3x3();
foreach (Part p in vessel.parts)
{
if (p.Rigidbody == null) continue;
Vector3d principalMoments = p.Rigidbody.inertiaTensor;
UnityEngine.Quaternion princAxesRot = UnityEngine.Quaternion.Inverse(vessel.GetTransform().rotation) * p.transform.rotation * p.Rigidbody.inertiaTensorRotation;
UnityEngine.Quaternion invPrincAxesRot = UnityEngine.Quaternion.Inverse(princAxesRot);
for (int i = 0; i < 3; i++)
{
Vector3d iHat = Vector3d.zero;
iHat[i] = 1;
for (int j = 0; j < 3; j++)
{
Vector3d jHat = Vector3d.zero;
jHat[j] = 1;
inertiaTensor[i, j] += Vector3d.Dot(iHat, princAxesRot * Vector3d.Scale(principalMoments, invPrincAxesRot * jHat));
}
}
double partMass = p.mass + p.GetResourceMass();
UnityEngine.Vector3 partPosition = vessel.GetTransform().InverseTransformDirection(p.Rigidbody.worldCenterOfMass - centerOfMass.unity);
for (int i = 0; i < 3; i++)
{
inertiaTensor[i, i] += partMass * partPosition.sqrMagnitude;
for (int j = 0; j < 3; j++)
{
inertiaTensor[i, j] += -partMass * partPosition[i] * partPosition[j];
}
}
}
momentumOfInertia = new Vector3(inertiaTensor[0, 0], inertiaTensor[2, 2], inertiaTensor[1, 1]);
Vector3 angularVelocity = new Quaternion(vessel.GetTransform().rotation).inverse * new Vector3(vessel.rigidbody.angularVelocity);
angularMomentum = inertiaTensor * angularVelocity;
angularMomentum = new Vector3(angularMomentum.x, angularMomentum.z, angularMomentum.y);
}
public void updateState(global::Vessel vessel)
{
_rootRotation = new Quaternion(vessel.GetTransform().rotation);
}
public void update(global::Vessel vessel)
{
body.update(vessel);
orbit.update(vessel.orbit, Planetarium.GetUniversalTime());
_rootRotation = new Quaternion(vessel.GetTransform().rotation);
_rotatingFrameVelocity = new Vector3(vessel.mainBody.getRFrmVel(position.unity));
gravity = new Vector3(FlightGlobals.getGeeForceAtPosition(position.unity));
altitude = vessel.mainBody.GetAltitude(position.unity);
UnityEngine.RaycastHit sfc;
if (UnityEngine.Physics.Raycast(position.unity, -up.unity, out sfc, (float)altitude + 10000.0F, 1 << 15))
{
altitude = sfc.distance;
}
else if (vessel.mainBody.pqsController != null)
{
altitude -= (vessel.mainBody.pqsController.GetSurfaceHeight(UnityEngine.QuaternionD.AngleAxis(vessel.mainBody.GetLongitude(position.unity), Vector3d.down) * UnityEngine.QuaternionD.AngleAxis(vessel.mainBody.GetLatitude(position.unity), Vector3d.forward) * Vector3d.right) - vessel.mainBody.pqsController.radius);
}
double altitudeASL = vessel.mainBody.GetAltitude(position.unity);
double atmosphericPressure = FlightGlobals.getStaticPressure(altitudeASL, vessel.mainBody);
if (atmosphericPressure < vessel.mainBody.atmosphereMultiplier * 1e-6) atmosphericPressure = 0;
atmosphericDensity = FlightGlobals.getAtmDensity(atmosphericPressure);
//parts (info for rcs, engines, intakes, tanks)
}
public Vessel(Universe universe)
{
_rootRotation = new Quaternion();
_rotatingFrameVelocity = new Vector3();
gravity = new Vector3();
orbit = new math.Orbit(universe);
body = new RigidBody();
}
protected override void onSetup(Screen screen)
{
window.area.set(300, 500, 400, 150);
content.views.clear();
_sensetivity = new Selector(0.1f, 1, 10, "Sensetivity");
_inertia = new Selector(1, 1, 10, "Inertia");
content.views.add(_sensetivity.view);
_controller = new PIDControllerV(10000, 0, 800, -1000000, 1000000);
target = Quaternion.identity;
controlYaw = Control.No;
controlPitch = Control.No;
controlRoll = Control.No;
}
public void update(global::CelestialBody body)
{
name = body.GetName();
position = new Vector3(body.position);
rotation = new Quaternion(body.rotation);
radius = body.Radius;
mass = body.Mass;
gravParameter = body.gravParameter;
}
