public void ReadServerAPI()
{
// memoryBridge.CoMD = memoryBridge.GetVector3("CoMD" + memoryBridge.fileName);
memoryBridge.CurrentCOM = memoryBridge.GetVector3("CurrentCOM" + memoryBridge.fileName);
memoryBridge.LocalCOM = memoryBridge.GetVector3("LocalCOM" + memoryBridge.fileName);
memoryBridge.Acceleration = memoryBridge.GetVector3("Acceleration" + memoryBridge.fileName);
memoryBridge.obt_velocity = memoryBridge.GetVector3("obt_velocity" + memoryBridge.fileName);
memoryBridge.srf_velocity = memoryBridge.GetVector3("srf_velocity" + memoryBridge.fileName);
memoryBridge.altitude = memoryBridge.GetFloat("altitude" + memoryBridge.fileName);
memoryBridge.heightFromTerrain = memoryBridge.GetFloat("heightFromTerrain" + memoryBridge.fileName);
memoryBridge.horizontalSrfSpeed = memoryBridge.GetFloat("horizontalSrfSpeed" + memoryBridge.fileName);
memoryBridge.latitude = memoryBridge.GetFloat("latitude" + memoryBridge.fileName);
memoryBridge.longitude = memoryBridge.GetFloat("longitude" + memoryBridge.fileName);
memoryBridge.mach = memoryBridge.GetFloat("mach" + memoryBridge.fileName);
memoryBridge.srfSpeed = memoryBridge.GetFloat("srfSpeed" + memoryBridge.fileName);
memoryBridge.terrainAltitude = memoryBridge.GetFloat("terrainAltitude" + memoryBridge.fileName);
memoryBridge.verticalSpeed = memoryBridge.GetFloat("verticalSpeed" + memoryBridge.fileName);
memoryBridge.currentStage = memoryBridge.GetFloat("currentStage" + memoryBridge.fileName);
memoryBridge.geeForce_immediate = memoryBridge.GetFloat("geeForce_immediate" + memoryBridge.fileName);
memoryBridge.heightFromSurface = memoryBridge.GetFloat("heightFromSurface" + memoryBridge.fileName);
memoryBridge.obt_speed = memoryBridge.GetFloat("obt_speed" + memoryBridge.fileName);
memoryBridge.directSunlight = memoryBridge.GetBool("directSunlight" + memoryBridge.fileName);
memoryBridge.Landed = memoryBridge.GetBool("Landed" + memoryBridge.fileName);
memoryBridge.loaded = memoryBridge.GetBool("loaded" + memoryBridge.fileName);
memoryBridge.Splashed = memoryBridge.GetBool("Splashed" + memoryBridge.fileName);
}
public void CheckClearance()
{
if (IKactive)//& legMode == LegMode.Translate)
{
//limbMirror.contactPoint.position = limbMirror.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
// limbIK.contactPoint.position = limbIK.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
}
torque = memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "torque");
velocity = torque.magnitude;
explosionPotential = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "explosionPotential");
gExplodeChance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "gExplodeChance");
footActive = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "active");
hasExploded = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "exploded");
if (hasExploded)
{
CamUI.SetCamText(name + " has exploded");
Debug.LogError("Exploded Leg : " + name + " Velocity : " + velocity + " Mode : " + limbIK.gaitSequenceMode.ToString() + " Percent : " + CalculateStridePercent());
}
rawClearance = memoryBridge.GetFloat(limbMirror.servoWrist.servoName + "KSPFootClearance");
//if(limbMirror.limbEnd == null)
//{
// Debug.Log("end point null");
//}
var contactPointOffSet = limbMirror.servoWrist.transform.position.y - limbMirror.trueLimbEnd.position.y;
footClearance = rawClearance - contactPointOffSet;
if (footClearance < .03f)
{
footClearance = 0;
}
groundContact = memoryBridge.GetBool(limbMirror.servoWrist.servoName + "GroundContact");
//if (!collisionPoint)
//{
// collisionPoint = new GameObject("CollisionPoint").transform;
// // DebugVector.DrawVector(collisionPoint, DebugVector.Direction.all, .5f, .1f, Color.red, Color.white, Color.blue);
//}
//collisionPoint.position = limbMirror.servoWrist.transform.TransformPoint(memoryBridge.GetVector3(limbMirror.servoWrist.servoName + "CollisionPoint"));
// limbMirror.
//if(limbIK)
//if (!groundContact)
// ground.position = limbMirror.servoWrist.transform.position - new Vector3(0, rawClearance, 0);
var localPoint = limbMirror.limbEnd.localPosition - new Vector3(0, .4f, 0);
ground.position = limbMirror.servoWrist.transform.TransformPoint(localPoint) - new Vector3(0, rawClearance, 0);
}
public void VesselUpdate()
{
var vesselOffst = memoryBridge.GetVector3("AdjustedVesselCOMoffset" + memoryBridge.fileName);
vessel.meshOffset.localPosition = vesselOffst;
targetVessel.vesselOffset.localPosition = vesselOffst;
var kspOffset = memoryBridge.GetQuaternion("VesselGimbleOffset" + memoryBridge.fileName);
vessel.transform.rotation = kspOffset;
adjustedGimbal.rotation = vessel.transform.rotation;
var tempRot = adjustedGimbal.localRotation;
tempRot.x = 0;
tempRot.z = 0;
adjustedGimbal.localRotation = tempRot;
if (controlMode == FlightControlMode.RawStick)
{
targetVessel.vessel.rotation = adjustedGimbal.rotation;
System.TimeSpan deltaTime = TimeSpan.FromSeconds(Time.fixedDeltaTime);
bool recievingPitchInput = false;
bool recievingRollInput = false;
bool recievingYawInput = false;
var rollInput = Input.GetAxis("Roll");
var pitchInput = Input.GetAxis("Pitch");
var yawInput = Input.GetAxis("Yaw");
// Debug.Log(pitcInput);
if (rollInput != 0)
{
recievingRollInput = true;
}
if (pitchInput != 0)
{
recievingPitchInput = true;
}
if (yawInput != 0)
{
recievingYawInput = true;
}
// var tempVesselRot = targetVessel.vessel.transform.rotation;
if (recievingYawInput)
{
memoryBridge.SetFloat("VesselYaw", yawInput);
// tempVesselRot.y = mirrorVessel.vessel.transform.rotation.y;
}
else
{
memoryBridge.SetFloat("VesselYaw", 1.1f);
}
if (recievingPitchInput)
{
memoryBridge.SetFloat("VesselPitch", pitchInput);
// tempVesselRot.x = mirrorVessel.vessel.transform.rotation.x;
}
else
{
memoryBridge.SetFloat("VesselPitch", 1.1f);
}
if (recievingRollInput)
{
memoryBridge.SetFloat("VesselRoll", rollInput);
// tempVesselRot.z = mirrorVessel.vessel.transform.rotation.z;
}
else
{
memoryBridge.SetFloat("VesselRoll", 1.1f);
}
// targetVessel.vessel.transform.rotation = tempVesselRot;
var targetVesselOffset = Quaternion.Inverse(targetVessel.vessel.rotation) * vessel.transform.rotation;
//if (rollInput > 0 & Math.Abs(rollInput) <= 1)
//{
// memoryBridge.SetFloat("VesselRoll", rollInput);
//}
//else
//{
// memoryBridge.SetFloat("VesselRoll", PIDroll.CalculateResult(targetVesselOffset.z * 10, deltaTime));
//}
//memoryBridge.SetFloat("VesselPitch", pitchInput);
//memoryBridge.SetFloat("VesselYaw", yawInput);
// var targetVesselOffset = targetVessel.vessel.localEulerAngles - mirrorVessel.vessel.localEulerAngles;
// Debug.Log(targetVesselOffset);
// memoryBridge.SetFloat("VesselPitch", PIDpitch.CalculateResult(targetVesselOffset.x * 10, deltaTime));
}
// memoryBridge.SetFloat("VesselYaw", PIDyaw.CalculateResult(targetVesselOffset.y, deltaTime));
//var rawRoll = targetVesselOffset.x;
//float rollError = 0;
//if (rawRoll > 180)
//{
// rollError = 360 - rawRoll;
//}
//else
//{
// rollError = -rawRoll;
//}
//if (autoPilot)
//{
// //Debug.Log(Quaternion.Angle(adjustedGimbal.rotation, transform.rotation));
// var targetAngle = Quaternion.Angle(adjustedGimbal.rotation, transform.rotation);
// if (targetAngle < 3 & !vesselInRange)
// {
// OnVesselEnterTargerRange();
// }
// if (targetAngle >= 3 & vesselInRange)
// {
// OnVesselExitTargetRange();
// }
//}
}