public void StopRotation()
{
for (int i = 0; i < gyros.Count; ++i)
{
IMyGyro gyro = gyros[i] as IMyGyro;
gyro.SetValue(GyroAction.Pitch.GetName(), gyro.GetDefaultValue <float>(GyroAction.Pitch.GetName()));
gyro.SetValue(GyroAction.Yaw.GetName(), gyro.GetDefaultValue <float>(GyroAction.Yaw.GetName()));
gyro.SetValue(GyroAction.Roll.GetName(), gyro.GetDefaultValue <float>(GyroAction.Roll.GetName()));
}
}
public bool setSpin(IMyGyro gyro, string direct, float speed)
{
try
{
gyro.SetValue("Pitch", 0.0f);
gyro.SetValue("Yaw", 0.0f);
gyro.SetValue("Roll", 0.0f);
gyro.SetValue(direct, speed);
return(true);
}
catch (Exception e)
{
_program.debugSB.AppendLine("Set Spin Error:").AppendLine($"Exception: {e}\n---");
return(false);
}
}
void GyroOverride(bool isOverride, Vector3 v, float power = 1)
{
var gyros = new List <IMyTerminalBlock>();
GridTerminalSystem.SearchBlocksOfName("Gyro", gyros);
for (int i = 0; i < gyros.Count; i++)
{
IMyGyro gyro = gyros[i] as IMyGyro;
if (gyro != null)
{
if ((!gyro.GyroOverride && isOverride) || (gyro.GyroOverride && !isOverride))
{
gyro.ApplyAction("Override");
}
gyro.SetValue("Power", power);
gyro.SetValue("Yaw", v.GetDim(0));
gyro.SetValue("Pitch", v.GetDim(1));
gyro.SetValue("Roll", v.GetDim(2));
}
}
}
} //GetChangeInPose()
protected void TurnGyros(List <IMyTerminalBlock> gyroList, Vector3D axis, double angle, float coEff = 0.5f)
{
float ctrlVel = 0.1f; // control velocity
IMyGyro gyro = null; // for looping through gyros
int i = 0; // counter for looping
gyro = gyroList[0] as IMyGyro;
ctrlVel = gyro.GetMaximum <float>("Yaw") * (float)(angle / Math.PI) * coEff;
ctrlVel = Math.Min(gyro.GetMaximum <float>("Yaw"), ctrlVel);
ctrlVel = (float)Math.Max(0.005, ctrlVel);
axis.Normalize();
axis *= ctrlVel;
for (i = 0; i < gyroList.Count; i++)
{
gyro = gyroList[i] as IMyGyro;
gyro.SetValue("Pitch", Convert.ToSingle(axis.GetDim(0)));
gyro.SetValue("Yaw", -Convert.ToSingle(axis.GetDim(1)));
gyro.SetValue("Roll", -Convert.ToSingle(axis.GetDim(2)));
} // for i loop
} //TurnGyros method
/// <summary>
/// Rotates the ship relative to the reference block.
/// A positive Yaw value rotates around the Up vector, such that the Right vector is moved to the Backward vector on the shortest way.
/// A positive Pitch value rotates around the Right vector, such that the Up vector is moved to the Backward vector on the shortest way.
/// A positive Roll value rotates around the Backward vector, such that the Up vector is moved to the Right vector on the shortest way.
/// </summary>
/// <param name="axis"></param>
/// <param name="value"></param>
public void Rotate(VRageMath.Vector3 axis, float value)
{
if (value < gyroRotateMin || value > gyroRotateMax)
{
throw new Exception("Value out of range [" + gyroRotateMin + ", " + gyroRotateMax + "].");
}
VRageMath.Matrix local = new VRageMath.Matrix();
referenceBlock.Orientation.GetMatrix(out local);
axis = VRageMath.Vector3.Transform(axis, local);
for (int i = 0; i < gyros.Count; ++i)
{
IMyGyro gyro = gyros[i] as IMyGyro;
gyro.Orientation.GetMatrix(out local);
VRageMath.Matrix toGyro = VRageMath.Matrix.Transpose(local);
VRageMath.Vector3 transformedAxis = VRageMath.Vector3.Transform(axis, toGyro);
GyroAction action = gyroActions[transformedAxis];
gyro.SetValue(action.GetName(), action.Reversed ? -value : value);
}
}
/// <summary>
/// Rotates the ship relative to the reference block.
/// A positive Yaw value rotates around the Up vector, such that the Right vector is moved to the Backward vector on the shortest way.
/// A positive Pitch value rotates around the Right vector, such that the Up vector is moved to the Backward vector on the shortest way.
/// A positive Roll value rotates around the Backward vector, such that the Up vector is moved to the Right vector on the shortest way.
/// </summary>
/// <param name="axis"></param>
/// <param name="value"></param>
private void Rotate(VRageMath.Vector3 axis, float value)
{
if (value < Min || value > Max)
{
throw new Exception("Value '" + value + "' out of range [" + Min + ", " + Max + "].");
}
VRageMath.Matrix local = new VRageMath.Matrix();
referenceBlock.Orientation.GetMatrix(out local);
axis = VRageMath.Vector3.Transform(axis, local);
for (int i = 0; i < gyroscopeBlocks.Count; ++i)
{
IMyGyro gyro = gyroscopeBlocks[i] as IMyGyro;
gyro.Orientation.GetMatrix(out local);
VRageMath.Matrix toGyro = VRageMath.Matrix.Transpose(local);
VRageMath.Vector3 transformedAxis = VRageMath.Vector3.Transform(axis, toGyro);
GyroAction action = GyroAction.getActionAroundAxis(transformedAxis);
gyro.SetValue(action.Name, action.Reversed ? -value : value);
}
}