public void FixedUpdate()
{
if (!(HighLogic.LoadedSceneIsFlight && FlightGlobals.ready))
{
return;
}
vm = vessel.vesselModules.OfType <VesselModuleRotation>().First();
tc = part.Modules.GetModule <ModuleTorqueController>();
rw = part.Modules.GetModule <ModuleReactionWheel>();
angularVelocity = vessel.angularVelocity.magnitude;
rollTorque = rw.RollTorque;
pitchTorque = rw.PitchTorque;
yawTorque = rw.YawTorque;
inputVectorDelta = (rw.inputVector * TimeWarp.fixedDeltaTime).ToString("0.0000");
}
// Apply torque in OnFlyByWire because the module FixedUpdate() is called too late,
// resulting in a 1 frame lag in torque updates, leading to having torque when you shouldn't.
private void UpdateTorque(FlightCtrlState st)
{
// autopilot can be null just before vessel is destroyed
if (vessel.Autopilot == null)
{
return;
}
// Not sure why but in some cases the reference the the module can be null if acquired in OnStart.
// To be on the safe side we acquire it here
if (rwmodule == null)
{
// Get the reaction wheel module
rwmodule = part.Modules.GetModule <ModuleReactionWheel>();
if (rwmodule == null)
{
return;
}
// Get the module config torque value
maxTorque.x = rwmodule.PitchTorque;
maxTorque.y = rwmodule.RollTorque;
maxTorque.z = rwmodule.YawTorque;
// Hide RW control modes and enable/disable toggle from GUI and action groups
TweakUI(rwmodule);
}
// do this only once, and check for null
// note : not caching it because keeping track of vesselModule changes is a mess
VesselModuleRotation vRotModule = vessel.vesselModules.OfType <VesselModuleRotation>().FirstOrDefault();
if (vRotModule == null)
{
return;
}
// We have everything we need, now do the nerf
if (FlightGlobals.ready && vessel.loaded && !vessel.packed)
{
// Get the saturation factor calculated from the vessel rotation
saturationFactor = vRotModule.velSaturationTorqueFactor;
// On pilot rotation requests, use nerfed torque output
if (pilotInput)
{
SetNerfedTorque(); // SAS is disabled
}
else
{
if (vessel.Autopilot.Enabled)
{
if (vessel.Autopilot.Mode.Equals(VesselAutopilot.AutopilotMode.StabilityAssist))
{
SetStockTorque(); // SAS is in stability assist mode
}
else
{
// SAS is in target mode, enable full torque if the target is near.
// orientationDiff : 1.0 = toward target, 0.0 = target is at a 90° angle
// float orientationDiff = Math.Max(Vector3.Dot(vessel.Autopilot.SAS.targetOrientation.normalized, vessel.GetTransform().up.normalized), 0);
float orientationDiff = Math.Max(Vector3.Dot(vRotModule.targetDirection.normalized, vessel.GetTransform().up.normalized), 0);
if (!isOnTarget && orientationDiff > 0.999f)
{
isOnTarget = true;
}
if (isOnTarget && orientationDiff < 0.90f)
{
isOnTarget = false;
}
if (isOnTarget)
{
// Torque output is maximal when on target and decrease to zero quickly according to the floatcurve
float orientationTorqueFactor = Math.Max(torqueOutput.Evaluate(orientationDiff), 0);
if (orientationTorqueFactor < Single.Epsilon || orientationTorqueFactor <= saturationFactor * MandatoryRCSSettings.torqueOutputFactor)
{
SetNerfedTorque(); // We are locked but too far
}
else
{
SetTargetTorque(orientationTorqueFactor); // We are locked, apply the torque curve
}
}
else
{
SetNerfedTorque(); // Target hasn't been reached
}
}
}
else
{
SetNerfedTorque(); // SAS is disabled
}
}
}
}
