/* PRIVATE METHODS */
private void PackedSpin(Data.PRVessel v)
{
if (v.vessel.situation != Vessel.Situations.LANDED && v.vessel.situation != Vessel.Situations.SPLASHED && v.vessel.situation != Vessel.Situations.PRELAUNCH)
{
v.vessel.SetRotation(Quaternion.AngleAxis(v.momentum.magnitude * TimeWarp.CurrentRate, v.vessel.ReferenceTransform.rotation * v.momentum) * v.vessel.transform.rotation, true);
}
}
private void OnVesselGoOffRails(Vessel vessel)
{
Data.PRVessel v = data.FindPRVessel(vessel);
if (vessel.situation != Vessel.Situations.LANDED && vessel.situation != Vessel.Situations.SPLASHED && vessel.situation != Vessel.Situations.PRELAUNCH)
{
if (v.rotationModeActive && v.storedAngularMomentum.magnitude > threshold)
{
if (GetStabilityMode(vessel) != StabilityMode.AUTOPILOT)
{
ApplyMomentumDelayed(v);
}
}
else if (GetStabilityMode(vessel) != StabilityMode.ABSOLUTE)
{
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && !v.momentumModeActive)
{
Quaternion shift = Quaternion.Euler(0f, Vector3.Angle(Planetarium.right, v.planetariumRight), 0f);
//Set relative rotation if there is a reference
if (v.reference != null)
{
vessel.SetRotation(FromToRotation(shift * v.direction, (v.reference.GetTransform().position - vessel.transform.position).normalized) * (shift * v.rotation), true);
}
//Reset momentumModeActive heading
vessel.Autopilot.SAS.lockedRotation = vessel.ReferenceTransform.rotation;
}
else
{
ApplyMomentumDelayed(v);
}
}
}
}
private void ApplyMomentumNow(Data.PRVessel v)
{
Vector3d angularmomentum = v.GoingOffRailsAngularMomentum;
Vector3d MOI = v.vessel.MOI;
//These shouldn't happen
if (MOI.x == 0d)
{
MOI.x = 0.001d;
}
if (MOI.y == 0d)
{
MOI.y = 0.001d;
}
if (MOI.z == 0d)
{
MOI.z = 0.001d;
}
Vector3d angularvelocity = Vector3d.zero;
angularvelocity.x = angularmomentum.x / MOI.x;
angularvelocity.y = angularmomentum.y / MOI.y;
angularvelocity.z = angularmomentum.z / MOI.z;
//Vector3d av = v.GoingOffRailsAngularMomentum;
Vector3d COM = v.vessel.CoMD;
Quaternion rotation = v.vessel.ReferenceTransform.rotation;
Vector3d av_by_rotation = rotation * angularvelocity;
//KSPLog.print(string.Format("Apply angular vel: {0}, MOI: {1}, momentum: {3}", angularvelocity, MOI, angularmomentum));
//Applying force on every part
foreach (Part p in v.vessel.parts)
{
if (!p.GetComponent <Rigidbody>())
{
continue;
}
if (p.mass == 0f)
{
continue;
}
Rigidbody partrigidbody = p.GetComponent <Rigidbody> ();
//Store the Rigidbody's max angular velocity for later restoration.
if (!RigidBodyMaxAngularVelocityPairs.ContainsKey(partrigidbody))
{
RigidBodyMaxAngularVelocityPairs[partrigidbody] = new RigidBodyMaxAngularVelocitySaveData(partrigidbody.maxAngularVelocity);
}
RigidBodyMaxAngularVelocityPairs[partrigidbody].FrameCounter = 10;
partrigidbody.maxAngularVelocity *= 10f;
partrigidbody.AddTorque(av_by_rotation, ForceMode.VelocityChange);
partrigidbody.AddForce(Vector3d.Cross(av_by_rotation, (Vector3d)p.WCoM - COM), ForceMode.VelocityChange);
}
}
private void ApplyMomentumDelayed(Data.PRVessel v)
{
//Wait a few ticks to apply these.
//Note that if the vessel immediately went back on rails,
//these values would be updated when it came off again and all
//would be well.
v.GoingOffRailsFrameCounter = 3;
v.GoingOffRailsAngularMomentum = v.storedAngularMomentum;
}
private void PackedRotation(Data.PRVessel v)
{
Quaternion shift = Quaternion.Euler(0f, Vector3.Angle(Planetarium.right, v.planetariumRight), 0f);
if (v.vessel.situation != Vessel.Situations.LANDED && v.vessel.situation != Vessel.Situations.SPLASHED && v.vessel.situation != Vessel.Situations.PRELAUNCH)
{
v.vessel.SetRotation(FromToRotation(shift * v.direction, (v.reference.GetTransform().position - v.vessel.transform.position).normalized) * (shift * v.rotation), true);
}
}
private void BodyGUI(int windowID)
{
Data.PRVessel v = data.FindPRVessel(activeVessel);
GUILayout.BeginVertical();
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (GUILayout.Button(close))
{
showBodyWindow = false;
}
GUILayout.EndHorizontal();
GUILayout.Label("Select target in map \nto set as reference");
if (GUILayout.Button("Set", GUILayout.ExpandWidth(true)))
{
if (activeVessel.targetObject != null)
{
if (activeVessel.targetObject.GetType() == typeof(CelestialBody) || activeVessel.targetObject.GetType() == typeof(Vessel))
{
v.reference = activeVessel.targetObject;
}
v.dynamicReference = false;
}
else
{
v.dynamicReference = false;
v.reference = null;
}
}
if (GUILayout.Button("Unset", GUILayout.ExpandWidth(true)))
{
v.reference = null;
v.dynamicReference = false;
}
GUILayout.Space(10);
if (GUILayout.Button("Sun", GUILayout.ExpandWidth(true)))
{
v.reference = Sun.Instance.sun;
v.dynamicReference = false;
}
if (GUILayout.Button(activeVessel.mainBody.name, GUILayout.ExpandWidth(true)))
{
v.reference = activeVessel.mainBody;
v.dynamicReference = false;
}
if (GUILayout.Button("Dynamic", GUILayout.ExpandWidth(true)))
{
v.dynamicReference = true;
//v.reference = v.vessel.mainBody; --> This should not be necessary!
}
GUILayout.EndVertical();
GUI.DragWindow();
}
private void AdjustSAS(Data.PRVessel v)
{
if (v.reference != null)
{
if (v.lastTransform != null && v.lastPosition != null)
{
Vector3d newPosition = (Vector3d)v.lastTransform.position - v.reference.GetTransform().position;
QuaternionD delta = FromToRotation(v.lastPosition, newPosition);
QuaternionD adjusted = delta * (QuaternionD)v.vessel.Autopilot.SAS.lockedRotation;
v.vessel.Autopilot.SAS.lockedRotation = adjusted;
}
}
}
/* PRIVATE METHODS */
private void PackedSpin(Data.PRVessel v)
{
Vector3 _angularVelocity = Vector3.zero;
_angularVelocity.x = v.storedAngularMomentum.x / v.vessel.MOI.x;
_angularVelocity.y = v.storedAngularMomentum.y / v.vessel.MOI.y;
_angularVelocity.z = v.storedAngularMomentum.z / v.vessel.MOI.z;
if (v.vessel.situation != Vessel.Situations.LANDED && v.vessel.situation != Vessel.Situations.SPLASHED && v.vessel.situation != Vessel.Situations.PRELAUNCH)
{
v.vessel.SetRotation(Quaternion.AngleAxis(_angularVelocity.magnitude * TimeWarp.CurrentRate, v.vessel.ReferenceTransform.rotation * _angularVelocity) * v.vessel.transform.rotation, true);
}
}
private void OnVesselWillDestroy(Vessel vessel)
{
Debug.Log("[PR] Deleting " + vessel.vesselName + " as reference.");
foreach (Vessel _vessel in FlightGlobals.Vessels)
{
Data.PRVessel v = data.FindPRVessel(_vessel);
if (!object.ReferenceEquals(_vessel, vessel))
{
if (object.ReferenceEquals(vessel, v.reference))
{
v.reference = null;
}
}
}
}
private void ApplyMomentum(Data.PRVessel v)
{
Vector3 av = v.momentum;
Vector3 COM = v.vessel.CoM;
Quaternion rotation = v.vessel.ReferenceTransform.rotation;
//Applying force on every part
foreach (Part p in v.vessel.parts)
{
if (!p.GetComponent <Rigidbody>())
{
continue;
}
p.GetComponent <Rigidbody>().AddTorque(rotation * av, ForceMode.VelocityChange);
p.GetComponent <Rigidbody>().AddForce(Vector3.Cross(rotation * av, (p.transform.position - COM)), ForceMode.VelocityChange);
}
}
private void FixedUpdate()
{
if (activeVessel != FlightGlobals.ActiveVessel)
{
activeVessel = FlightGlobals.ActiveVessel;
Interface.instance.desiredRPMstr = data.FindPRVessel(activeVessel).desiredRPM.ToString();
}
foreach (Data.PRVessel v in data.PRVessels)
{
v.processed = false;
}
if (RigidBodyMaxAngularVelocityPairs.Count > 0)
{
List <Rigidbody> toremove = null;
foreach (KeyValuePair <Rigidbody, RigidBodyMaxAngularVelocitySaveData> kp in RigidBodyMaxAngularVelocityPairs)
{
kp.Value.FrameCounter--;
if (kp.Value.FrameCounter == 0)
{
try
{
kp.Key.maxAngularVelocity = kp.Value.OriginalValue;
}
catch
{
}
if (toremove == null)
{
toremove = new List <Rigidbody>();
}
toremove.Add(kp.Key);
}
}
if (toremove != null)
{
for (int i = 0; i < toremove.Count; ++i)
{
RigidBodyMaxAngularVelocityPairs.Remove(toremove[i]);
}
}
}
#region ### Cycle through all vessels ###
foreach (Vessel vessel in FlightGlobals.Vessels)
{
Data.PRVessel v = data.FindPRVessel(vessel);
v.processed = true;
if (v.dynamicReference)
{
if (v.reference == null || (v.reference.GetType() != typeof(CelestialBody) || v.reference.GetName() != vessel.mainBody.GetName())) //Main body mode; continuous update of reference to mainBody
{
Debug.Log("[PR] Updated the reference of " + v.vessel.vesselName + " from " + (v.reference != null ? v.reference.GetName() : "Null") + " to " + vessel.mainBody.name);
v.reference = vessel.mainBody;
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
v.lastActive = false;
}
}
if (vessel.packed)
{
#region ### PACKED ###
if (vessel.loaded) //is okay, rotation doesnt need to be persistent when rotating
{
var currentStabilityMode = GetStabilityMode(vessel);
//Debug.Log("[PR] - currentStabilityMode: " + Enum.GetName(typeof(StabilityMode), currentStabilityMode));
if (currentStabilityMode == StabilityMode.PROGRADE)
{
var rotation = Quaternion.FromToRotation(vessel.transform.up.normalized, vessel.obt_velocity.normalized);
vessel.transform.Rotate(rotation.eulerAngles, Space.World);
v.vessel.SetRotation(vessel.transform.rotation);
}
else if (v.storedAngularMomentum.magnitude >= threshold)
{
if (currentStabilityMode != StabilityMode.AUTOPILOT)
{
PackedSpin(v);
}
}
else if (currentStabilityMode != StabilityMode.ABSOLUTE)
{
if (currentStabilityMode == StabilityMode.RELATIVE && v.rotationModeActive && !v.momentumModeActive && v.storedAngularMomentum.magnitude < threshold)
{
if (v.rotationModeActive == true && v.reference != null)
{
if (v.reference == v.lastReference)
{
PackedRotation(v);
}
}
}
else
{
PackedSpin(v);
}
}
}
v.lastActive = false;
#endregion
}
else
{
#region ### UNPACKED ###
//Did this vessel just go off rails?
if (v.GoingOffRailsFrameCounter != -1)
{
--v.GoingOffRailsFrameCounter;
if (v.GoingOffRailsFrameCounter == 0)
{
ApplyMomentumNow(v);
v.GoingOffRailsFrameCounter = -1;
}
}
else
{
//Update Momentum when unpacked
if (GetStabilityMode(vessel) != StabilityMode.OFF && !v.momentumModeActive && vessel.angularVelocity.magnitude < threshold) //C1
{
v.storedAngularMomentum = Vector3.zero;
}
else
{
v.storedAngularMomentum = vessel.angularMomentum;
//KSPLog.print(string.Format("SAVE angular vel: {0}, Momentum: {1}, MOI: {2}", vessel.angularVelocity, vessel.angularMomentum, vessel.MOI));
}
}
//Update mjMode when unpacked
v.mjMode = MechJebWrapper.GetMode(vessel);
v.rtMode = RemoteTechWrapper.GetMode(vessel);
//Apply Momentum to activeVessel using Fly-By-Wire
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && v.momentumModeActive) //C1 \ IsControllable
{
float desiredRPM = (vessel.angularVelocity.magnitude * 60f * (1f / Time.fixedDeltaTime)) / 360f;
if (v.desiredRPM >= 0)
{
vessel.ctrlState.roll = Mathf.Clamp((v.desiredRPM - desiredRPM), -1f, +1f);
}
else
{
vessel.ctrlState.roll = -Mathf.Clamp((-v.desiredRPM - desiredRPM), -1f, +1f);
}
}
//Update rotation
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
//Adjust SAS for Relative Rotation
if (v.rotationModeActive && v.reference != null) //C2
{
//Update direction
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && !v.momentumModeActive)
{
if (v.lastActive && v.reference == v.lastReference)
{
AdjustSAS(v);
}
v.lastActive = true;
}
else
{
v.lastActive = false;
}
v.lastPosition = (Vector3d)v.lastTransform.position - v.reference.GetTransform().position;
}
else
{
v.direction = Vector3.zero;
v.lastPosition = Vector3.zero;
v.lastActive = false;
}
#endregion
}
v.lastTransform = vessel.ReferenceTransform;
v.lastReference = v.reference;
}
#endregion
data.PRVessels.RemoveAll(v => v.processed == false);
}
private void MainGUI(int windowID)
{
Data.PRVessel v = data.FindPRVessel(activeVessel);
Texture toggle;
if (MainWindowActive)
{
toggle = GameDatabase.Instance.GetTexture("PersistentRotation/Textures/minimize_w", false);
}
else
{
toggle = GameDatabase.Instance.GetTexture("PersistentRotation/Textures/maximize_w", false);
}
GUILayout.BeginVertical();
//Minimize und Option Buttons
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (GUILayout.Button(options))
{
showConfigWindow = !showConfigWindow;
}
if (GUILayout.Button(toggle))
{
MainWindowActive = !MainWindowActive;
MainWindowRect = new Rect(MainWindowRect.x, MainWindowRect.y, 200, 10);
}
GUILayout.EndHorizontal();
//If maximized
if (MainWindowActive)
{
if (activeVessel.IsControllable)
{
GUILayout.BeginHorizontal();
if (v.rotationModeActive)
{
GUI.contentColor = Color.green;
}
else
{
GUI.contentColor = Color.red;
}
if (GUILayout.Button("Rotation", GUILayout.ExpandWidth(true)))
{
mode = 1;
}
if (v.momentumModeActive)
{
GUI.contentColor = Color.green;
}
else
{
GUI.contentColor = Color.red;
}
if (GUILayout.Button("Momentum", GUILayout.ExpandWidth(true)))
{
mode = 2;
}
GUI.contentColor = Color.white;
GUILayout.EndHorizontal();
GUILayout.Space(15f);
if (mode == 1)
{
if (GUILayout.Button("Relative Rotation", GUILayout.ExpandWidth(true)))
{
showBodyWindow = !showBodyWindow;
}
if (v.reference != null)
{
if (v.dynamicReference)
{
GUILayout.Label("Reference: Dynamic (" + v.reference.GetName() + ")");
}
else
{
GUILayout.Label("Reference: " + v.reference.GetName());
}
}
else
{
GUILayout.Label("Reference: None");
}
string _text = "Activate";
if (v.rotationModeActive)
{
_text = "Deactivate";
}
if (GUILayout.Button(_text, GUILayout.ExpandWidth(true)))
{
if (v.rotationModeActive == false)
{
v.rotationModeActive = true;
v.momentumModeActive = false;
if (v.reference != null)
{
v.direction = (v.reference.GetTransform().position - activeVessel.transform.position).normalized;
}
v.rotation = activeVessel.transform.rotation;
v.planetariumRight = Planetarium.right;
}
else
{
v.rotationModeActive = false;
}
}
}
else if (mode == 2)
{
GUILayout.Label("Overwrite RPM:");
GUILayout.BeginHorizontal();
desiredRPMstr = GUILayout.TextField(desiredRPMstr);
GUILayout.Label(" RPM");
GUILayout.EndHorizontal();
GUILayout.Space(10f);
string _text = "Activate";
if (v.momentumModeActive)
{
_text = "Deactivate";
}
if (GUILayout.Button(_text, GUILayout.ExpandWidth(true)))
{
v.rotationModeActive = false;
if (v.momentumModeActive)
{
v.momentumModeActive = false;
}
else
{
try
{
v.desiredRPM = float.Parse(desiredRPMstr);
v.momentumModeActive = true;
}
catch
{
desiredRPMstr = v.desiredRPM.ToString();
}
}
}
}
}
else
{
GUILayout.Label("Vessel is not controllable.");
}
GUI.DragWindow();
}
GUILayout.EndVertical();
}
private void FixedUpdate()
{
if (activeVessel != FlightGlobals.ActiveVessel)
{
activeVessel = FlightGlobals.ActiveVessel;
Interface.instance.desiredRPMstr = data.FindPRVessel(activeVessel).desiredRPM.ToString();
}
foreach (Data.PRVessel v in data.PRVessels)
{
v.processed = false;
}
#region ### Cycle through all vessels ###
foreach (Vessel vessel in FlightGlobals.Vessels)
{
Data.PRVessel v = data.FindPRVessel(vessel);
v.processed = true;
if (v.dynamicReference)
{
if (v.reference == null || (v.reference.GetType() != typeof(CelestialBody) || v.reference.GetName() != vessel.mainBody.GetName())) //Main body mode; continuous update of reference to mainBody
{
Debug.Log("[PR] Updated the reference of " + v.vessel.vesselName + " from " + (v.reference != null ? v.reference.GetName() : "Null") + " to " + vessel.mainBody.name);
v.reference = vessel.mainBody;
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
v.lastActive = false;
}
}
if (vessel.packed)
{
#region ### PACKED ###
if (vessel.loaded) //is okay, rotation doesnt need to be persistent when rotating
{
if (v.momentum.magnitude >= threshold)
{
PackedSpin(v);
}
else if (GetStabilityMode(vessel) != StabilityMode.ABSOLUTE)
{
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && v.rotationModeActive && !v.momentumModeActive && v.momentum.magnitude < threshold)
{
if (v.rotationModeActive == true && v.reference != null)
{
if (v.reference == v.lastReference)
{
PackedRotation(v);
}
}
}
else
{
PackedSpin(v);
}
}
}
v.lastActive = false;
#endregion
}
else
{
#region ### UNPACKED ###
//Update Momentum when unpacked
if (GetStabilityMode(vessel) != StabilityMode.OFF && !v.momentumModeActive && vessel.angularVelocity.magnitude < threshold) //C1
{
v.momentum = Vector3.zero;
}
else
{
v.momentum = vessel.angularVelocity;
}
//Update mjMode when unpacked
v.mjMode = MechJebWrapper.GetMode(vessel);
v.rtMode = RemoteTechWrapper.GetMode(vessel);
//Apply Momentum to activeVessel using Fly-By-Wire
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && v.momentumModeActive) //C1 \ IsControllable
{
float desiredRPM = (vessel.angularVelocity.magnitude * 60f * (1f / Time.fixedDeltaTime)) / 360f;
if (v.desiredRPM >= 0)
{
vessel.ctrlState.roll = Mathf.Clamp((v.desiredRPM - desiredRPM), -1f, +1f);
}
else
{
vessel.ctrlState.roll = -Mathf.Clamp((-v.desiredRPM - desiredRPM), -1f, +1f);
}
}
//Update rotation
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
//Adjust SAS for Relative Rotation
if (v.rotationModeActive && v.reference != null) //C2
{
//Update direction
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && !v.momentumModeActive)
{
if (v.lastActive && v.reference == v.lastReference)
{
AdjustSAS(v);
}
v.lastActive = true;
}
else
{
v.lastActive = false;
}
v.lastPosition = (Vector3d)v.lastTransform.position - v.reference.GetTransform().position;
}
else
{
v.direction = Vector3.zero;
v.lastPosition = Vector3.zero;
v.lastActive = false;
}
#endregion
}
v.lastTransform = vessel.ReferenceTransform;
v.lastReference = v.reference;
}
#endregion
data.PRVessels.RemoveAll(v => v.processed == false);
}
