public override void OnModuleDisabled()
{
core.rcs.users.Remove(this);
core.attitude.attitudeDeactivate();
dockingStep = DockingStep.OFF;
drawBoundingBox = false;
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
vesselBoundingBox = vessel.GetBoundingBox();
targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
targetSize = targetBoundingBox.size.magnitude;
if (!overrideSafeDistance)
{
safeDistance = vesselBoundingBox.size.magnitude + targetSize + 0.5f;
}
else
{
safeDistance = (float)overridenSafeDistance.val;
}
if (core.target.Target is ModuleDockingNode)
{
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
}
else
{
acquireRange = 0.25;
}
}
catch (Exception e)
{
print(e);
}
if (zSep < 0) //we're behind the target
{
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
}
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < targetSize)
{
dockingStep = DockingStep.BACKING_UP;
}
else
{
dockingStep = DockingStep.MOVING_TO_START;
}
}
else
{
dockingStep = DockingStep.DOCKING;
}
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
Vector3Pair vesselBoundingBox = vessel.GetBoundingBox();
Vector3Pair targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
targetSize = Mathf.Max(targetBoundingBox.p1.magnitude, targetBoundingBox.p2.magnitude);
safeDistance = Mathf.Max(vesselBoundingBox.p1.magnitude, vesselBoundingBox.p2.magnitude) + targetSize;
if (core.target.Target is ModuleDockingNode)
{
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
}
else
{
acquireRange = 0.25;
}
}
catch (Exception e)
{
print(e);
}
if (zSep < 0) //we're behind the target
{
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
}
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < targetSize)
{
dockingStep = DockingStep.BACKING_UP;
}
else
{
dockingStep = DockingStep.MOVING_TO_START;
}
}
else
{
dockingStep = DockingStep.DOCKING;
}
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
Vector3Pair vesselBoundingBox = vessel.GetBoundingBox();
Vector3Pair targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
targetSize = Mathf.Max(targetBoundingBox.p1.magnitude, targetBoundingBox.p2.magnitude);
safeDistance = Mathf.Max(vesselBoundingBox.p1.magnitude, vesselBoundingBox.p2.magnitude) + targetSize;
if (core.target.Target is ModuleDockingNode)
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
else
acquireRange = 0.25;
}
catch (Exception e)
{
print(e);
}
if (zSep < 0) //we're behind the target
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
if (zSep < targetSize)
dockingStep = DockingStep.BACKING_UP;
else
dockingStep = DockingStep.MOVING_TO_START;
else
dockingStep = DockingStep.DOCKING;
}
public override void OnModuleEnabled()
{
core.rcs.users.Add(this);
core.attitude.users.Add(this);
dockingStep = DockingStep.INIT;
}
public override void OnModuleDisabled()
{
core.rcs.users.Remove(this);
core.attitude.attitudeDeactivate();
dockingStep = DockingStep.OFF;
}
public override void OnFixedUpdate()
{
UpdateDistance();
switch (dockingStep)
{
case DockingStep.INIT:
if (!core.target.NormalTargetExists)
{
dockingStep = DockingStep.OFF;
users.Clear();
return;
}
InitDocking();
break;
case DockingStep.WRONG_SIDE_BACKING_UP:
if (-zSep > safeDistance)
dockingStep = DockingStep.WRONG_SIDE_LATERAL;
break;
case DockingStep.WRONG_SIDE_LATERAL:
if (lateralSep.magnitude > safeDistance)
dockingStep = DockingStep.WRONG_SIDE_SWITCHSIDE;
break;
case DockingStep.WRONG_SIDE_SWITCHSIDE:
if (zSep > 0)
dockingStep = DockingStep.BACKING_UP;
break;
case DockingStep.BACKING_UP:
if (zSep > targetSize)
dockingStep = DockingStep.MOVING_TO_START;
break;
case DockingStep.MOVING_TO_START:
if (lateralSep.magnitude < dockingcorridorRadius)
dockingStep = DockingStep.DOCKING;
break;
case DockingStep.DOCKING:
if (zSep < acquireRange)
{
dockingStep = DockingStep.OFF;
users.Clear();
enabled = false;
}
break;
default:
break;
}
}
public override void OnModuleEnabled()
{
core.rcs.users.Add(this);
core.attitude.users.Add(this);
dockingStep = DockingStep.INIT;
}
void EndDocking()
{
dockingStep = DockingStep.OFF;
users.Clear();
enabled = false;
}
public override void OnFixedUpdate()
{
if (!core.target.NormalTargetExists)
{
EndDocking();
return;
}
UpdateDistance();
switch (dockingStep)
{
case DockingStep.INIT:
InitDocking();
break;
case DockingStep.WRONG_SIDE_BACKING_UP:
if (-zSep > safeDistance)
{
dockingStep = DockingStep.WRONG_SIDE_LATERAL;
}
break;
case DockingStep.WRONG_SIDE_LATERAL:
if (lateralSep.magnitude > safeDistance)
{
dockingStep = DockingStep.WRONG_SIDE_SWITCHSIDE;
}
break;
case DockingStep.WRONG_SIDE_SWITCHSIDE:
if (zSep > 0)
{
dockingStep = DockingStep.BACKING_UP;
}
break;
case DockingStep.BACKING_UP:
if (zSep > targetSize)
{
dockingStep = DockingStep.MOVING_TO_START;
}
break;
case DockingStep.MOVING_TO_START:
if (lateralSep.magnitude < dockingcorridorRadius)
{
dockingStep = DockingStep.DOCKING;
}
break;
case DockingStep.DOCKING:
if (zSep < acquireRange)
{
EndDocking();
}
// Added checks to make sure we're still good to dock.
else if (lateralSep.magnitude > dockingcorridorRadius) // far from docking axis
{
if (zSep < 0) //we're behind the target
{
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
}
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < 1)
{
dockingStep = DockingStep.MOVING_TO_START;
}
}
}
break;
default:
break;
}
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
vesselBoundingBox = vessel.GetBoundingBox();
targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
if (!overrideTargetSize)
{
targetSize = targetBoundingBox.size.magnitude;
}
else
{
targetSize = (float)overridenTargetSize.val;
}
if (!overrideSafeDistance)
{
safeDistance = vesselBoundingBox.size.magnitude + targetSize + 0.5f;
}
else
{
safeDistance = (float)overridenSafeDistance.val;
}
if (core.target.Target is ModuleDockingNode)
{
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
}
else
{
acquireRange = 0.25;
}
}
catch (Exception e)
{
Log.err(e, this);
}
if (zSep < 0) //we're behind the target
{
// If we're more than half our own bounding box size behind the target port then use wrong side behavior
// Still needs improvement. The reason for these changes is that to prevent wrong side behavior when our
// port slipped behind the target by a fractional amount. The result is that rather than avoiding the
// target ship we end up trying to pass right through it.
// What's really needed here is code that compares bounding box positions to determine if we just try to back up or change sides completely.
if (Math.Abs(zSep) > vesselBoundingBox.size.magnitude * 0.5f)
{
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
}
else
{
dockingStep = DockingStep.BACKING_UP; // Just back straight up.
}
}
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < targetSize)
{
dockingStep = DockingStep.BACKING_UP;
}
else
{
dockingStep = DockingStep.MOVING_TO_START;
}
}
else
{
dockingStep = DockingStep.DOCKING;
}
}
public override void OnFixedUpdate()
{
if (!core.target.NormalTargetExists)
{
EndDocking();
return;
}
UpdateDistance();
switch (dockingStep)
{
case DockingStep.INIT:
InitDocking();
break;
case DockingStep.WRONG_SIDE_BACKING_UP:
if (-zSep > safeDistance)
{
dockingStep = DockingStep.WRONG_SIDE_LATERAL;
}
break;
case DockingStep.WRONG_SIDE_LATERAL:
if (lateralSep.magnitude > safeDistance)
{
dockingStep = DockingStep.WRONG_SIDE_SWITCHSIDE;
}
break;
case DockingStep.WRONG_SIDE_SWITCHSIDE:
if (zSep > 0)
{
dockingStep = DockingStep.BACKING_UP;
}
break;
case DockingStep.BACKING_UP:
if (zSep > targetSize)
{
dockingStep = DockingStep.MOVING_TO_START;
}
break;
case DockingStep.MOVING_TO_START:
if (lateralSep.magnitude < dockingcorridorRadius)
{
dockingStep = DockingStep.DOCKING;
}
break;
case DockingStep.DOCKING:
if (zSep < acquireRange)
{
EndDocking();
}
break;
default:
break;
}
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
vesselBoundingBox = vessel.GetBoundingBox();
targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
if (!overrideTargetSize)
targetSize = targetBoundingBox.size.magnitude;
else
targetSize = (float)overridenTargetSize.val;
if (!overrideSafeDistance)
safeDistance = vesselBoundingBox.size.magnitude + targetSize + 0.5f;
else
safeDistance = (float)overridenSafeDistance.val;
if (core.target.Target is ModuleDockingNode)
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
else
acquireRange = 0.25;
}
catch (Exception e)
{
print(e);
}
if (zSep < 0) //we're behind the target
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
if (zSep < targetSize)
dockingStep = DockingStep.BACKING_UP;
else
dockingStep = DockingStep.MOVING_TO_START;
else
dockingStep = DockingStep.DOCKING;
}
void EndDocking()
{
dockingStep = DockingStep.OFF;
users.Clear();
enabled = false;
}
public override void OnFixedUpdate()
{
if (!core.target.NormalTargetExists)
{
EndDocking();
return;
}
UpdateDistance();
switch (dockingStep)
{
case DockingStep.INIT:
InitDocking();
break;
case DockingStep.WRONG_SIDE_BACKING_UP:
if (-zSep > safeDistance)
dockingStep = DockingStep.WRONG_SIDE_LATERAL;
break;
case DockingStep.WRONG_SIDE_LATERAL:
if (lateralSep.magnitude > safeDistance)
dockingStep = DockingStep.WRONG_SIDE_SWITCHSIDE;
break;
case DockingStep.WRONG_SIDE_SWITCHSIDE:
if (zSep > 0)
dockingStep = DockingStep.BACKING_UP;
break;
case DockingStep.BACKING_UP:
if (zSep > targetSize)
dockingStep = DockingStep.MOVING_TO_START;
break;
case DockingStep.MOVING_TO_START:
if (lateralSep.magnitude < dockingcorridorRadius)
dockingStep = DockingStep.DOCKING;
break;
case DockingStep.DOCKING:
if (zSep < acquireRange)
{
EndDocking();
}
// Added checks to make sure we're still good to dock.
else if (lateralSep.magnitude > dockingcorridorRadius) // far from docking axis
{
if (zSep < 0) //we're behind the target
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < 1)
dockingStep = DockingStep.MOVING_TO_START;
}
}
break;
default:
break;
}
}
