public void init(FlightAssistantRegistry registry, Log log, FlightAssistantControls controls, Sensors sensors, FlightAssistantConfig config)
{
this.config = config;
this.sensors = sensors;
this.thrustControl = controls.thrustControl;
this.gyroControl = controls.gyroControl;
this.registry = registry;
this.log = log;
}
public void init(FlightAssistantRegistry registry, Log log, FlightAssistantControls controls, Sensors sensors, FlightAssistantConfig config)
{
this.config = config;
this.sensors = sensors;
this.thrustControl = controls.thrustControl;
this.registry = registry;
this.log = log;
this.cruisingSpeed = config.cruiseControlDefaultCruisingSpeed;
}
/**
* Loops through all blocks of type IMyThrust and puts them in a dictionary that
* groups them by the direction in which they move the ship
*/
public static Dictionary <Direction, List <IMyThrust> > identifyThrusters(FlightAssistantRegistry registry)
{
// Initialize the dictionary
Dictionary <Direction, List <IMyThrust> > groupedThrusters = new Dictionary <Direction, List <IMyThrust> >();
groupedThrusters.Add(Direction.FORWARD, new List <IMyThrust>());
groupedThrusters.Add(Direction.BACKWARD, new List <IMyThrust>());
groupedThrusters.Add(Direction.LEFT, new List <IMyThrust>());
groupedThrusters.Add(Direction.RIGHT, new List <IMyThrust>());
groupedThrusters.Add(Direction.UP, new List <IMyThrust>());
groupedThrusters.Add(Direction.DOWN, new List <IMyThrust>());
// Get the thrusters from the grid
List <IMyThrust> thrusters = new List <IMyThrust>();
registry.gridTerminalSystem.GetBlocksOfType <IMyThrust>(thrusters);
// Get the controller's transformation matrix in relation to the grid
Matrix controllerOrientationMatrix;
registry.controller.Orientation.GetMatrix(out controllerOrientationMatrix);
// Invert the controller's transformation matrix so it can be used in
// transforming the thruster's orientation vectors to the controller's
// coordinate system
Matrix inverseControllerOrientationMatrix
= Matrix.Invert(controllerOrientationMatrix);
// Group the thrusters into the dictionary categories
// NOTE: the direction in which the thruster moves the ship is opposite from
// the direction in which the thruster fires in order to move the ship
thrusters.ForEach(thruster => {
// Align the thruster's orientation vector to the controller's coordinate
// system
Vector3D alignedThrustVector
= Vector3D.Transform(
directionToVector3D(thruster.Orientation.Forward),
inverseControllerOrientationMatrix
);
// Match the thruster to the appropriate direction
foreach (Direction direction in groupedThrusters.Keys)
{
if (areVectorsOpposite(alignedThrustVector, directionToVector3D(direction)))
{
groupedThrusters[direction].Add(thruster);
}
}
});
// Finally, return the populated dictionary
return(groupedThrusters);
}
/**
* Creates a list of references to ever gyro in the grid while also computing
* a rotation matrix that can be applied to a yaw/pitch/roll vector to rotate
* it from the control seat's coordinate system into the coordinate system of
* every individual gyro (cause the API doesn't do that for some reason)
*/
public static List <MyGyroWrapper> identifyGyros(FlightAssistantRegistry registry)
{
// Get the controller's orientation matrix
Matrix controllerOrientationMatrix;
registry.controller.Orientation.GetMatrix(out controllerOrientationMatrix);
// Compute the inverse of the controller's orientation matrix
Matrix controllerInverseOrientationMatrix
= Matrix.Invert(controllerOrientationMatrix);
// List the gyros from the grid
List <IMyGyro> gyros = new List <IMyGyro>();
registry.gridTerminalSystem.GetBlocksOfType <IMyGyro>(gyros);
// Initialize the return list
List <MyGyroWrapper> ret = new List <MyGyroWrapper>();
// For each gyro in the grid
gyros.ForEach(gyro => {
// Get the orientation matrix of the gyro
Matrix mtrx;
gyro.Orientation.GetMatrix(out mtrx);
// Multiply the rotation matrix of the gyro by the inverse orientation matrix
// of the controller. The resulting matrix is applied to yaw/pitch/roll vectors
// to rotate the gyro in reference to the controller rather than the grid
mtrx = Matrix.Multiply(mtrx, controllerInverseOrientationMatrix);
// Add the new GyroWrapper to the return list
ret.Add(new MyGyroWrapper(gyro, mtrx));
});
// Return the list
return(ret);
}
public void init(FlightAssistantRegistry registry)
{
this.registry = registry;
}
public void init(FlightAssistantRegistry registry)
{
thrustControl.init(registry);
gyroControl.init(registry);
}
