public void UpdateTransformMatrixList(Matrix4x4 worldToVesselMatrix)
{
if (meshDataList != null)
{
_ready = false;
//if the previous transform order hasn't been completed yet, wait here to let it
while (_meshesToUpdate > 0)
{
if (this == null)
{
return;
}
}
_ready = false;
_meshesToUpdate = meshDataList.Count;
for (int i = 0; i < meshDataList.Count; ++i)
{
GeometryMesh mesh = meshDataList[i];
if (mesh.TrySetThisToVesselMatrixForTransform())
{
mesh.TransformBasis(worldToVesselMatrix);
}
else
{
FARLogger.Info("A mesh on " + part.partInfo.title + " did not exist and was removed");
meshDataList.RemoveAt(i);
--i;
lock (this)
{
--_meshesToUpdate;
}
}
}
}
if (crossSectionAdjusters == null)
{
return;
}
foreach (ICrossSectionAdjuster adjuster in crossSectionAdjusters)
{
adjuster.SetThisToVesselMatrixForTransform();
adjuster.TransformBasis(worldToVesselMatrix);
adjuster.UpdateArea();
}
}
private void OnDisplayList(int id)
{
GUI.BringWindowToFront(id);
scrollPos = GUILayout.BeginScrollView(scrollPos, listStyle);
for (int i = 0; i < stringOptions.Length; i++)
{
// Highlight the selected item
GUIStyle tmpStyle = (selectedOption == i) ? selectedItemStyle : dropdownItemStyle;
if (GUILayout.Button(stringOptions[i], tmpStyle))
{
FARLogger.Info("Selected " + stringOptions[i]);
selectedOption = i;
HideList();
}
}
GUILayout.EndScrollView();
}
private void UpdateInfo()
{
if (_infoMessages.Count <= 0)
{
return;
}
var sB = new StringBuilder();
foreach (string message in _infoMessages)
{
sB.AppendLine(message);
}
_infoMessages.Clear();
FARLogger.Info("" + sB);
}
public void UpdateTransformMatrixList(Matrix4x4 worldToVesselMatrix)
{
if (meshDataList != null)
{
_ready = false;
while (_meshesToUpdate > 0) //if the previous transform order hasn't been completed yet, wait here to let it
{
if (this == null)
{
return;
}
}
_ready = false;
_meshesToUpdate = meshDataList.Count;
for (int i = 0; i < meshDataList.Count; ++i)
{
GeometryMesh mesh = meshDataList[i];
if (mesh.TrySetThisToVesselMatrixForTransform())
{
//ThreadPool.QueueUserWorkItem(mesh.MultithreadTransformBasis, worldToVesselMatrix);
mesh.TransformBasis(worldToVesselMatrix);
}
else
{
FARLogger.Info("A mesh on " + part.partInfo.title + " did not exist and was removed");
meshDataList.RemoveAt(i);
--i;
lock (this)
--_meshesToUpdate;
}
}
}
if (crossSectionAdjusters != null)
{
for (int i = 0; i < crossSectionAdjusters.Count; ++i)
{
ICrossSectionAdjuster adjuster = crossSectionAdjusters[i];
adjuster.SetThisToVesselMatrixForTransform();
adjuster.TransformBasis(worldToVesselMatrix);
adjuster.UpdateArea();
}
}
//overallMeshBounds = part.GetPartOverallMeshBoundsInBasis(worldToVesselMatrix);
}
private void DataInput(InitialConditions inits, StabilityDerivOutput vehicleData, bool longitudinal)
{
GUILayout.BeginHorizontal();
for (int i = 0; i < inits.inits.Length; i++)
{
GUILayout.Label(Localizer.Format("FAREditorSimInit") + inits.names[i] + ": ");
inits.inits[i] = GUILayout.TextField(inits.inits[i], GUILayout.ExpandWidth(true));
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("FAREditorSimEndTime"));
inits.maxTime = GUILayout.TextField(inits.maxTime, GUILayout.ExpandWidth(true));
GUILayout.Label(Localizer.Format("FAREditorSimTimestep"));
inits.dt = GUILayout.TextField(inits.dt, GUILayout.ExpandWidth(true));
if (GUILayout.Button(Localizer.Format("FAREditorSimRunButton"), GUILayout.Width(150.0F), GUILayout.Height(25.0F)))
{
for (int i = 0; i < inits.inits.Length; i++)
{
inits.inits[i] = Regex.Replace(inits.inits[i], @"[^-?[0-9]*(\.[0-9]*)?]", "");
}
inits.maxTime = Regex.Replace(inits.maxTime, @"[^-?[0-9]*(\.[0-9]*)?]", "");
inits.dt = Regex.Replace(inits.dt, @"[^-?[0-9]*(\.[0-9]*)?]", "");
double[] initCond = new double[inits.inits.Length];
for (int i = 0; i < initCond.Length; i++)
{
initCond[i] = Convert.ToDouble(inits.inits[i]) * inits.scaling[i];
FARLogger.Info("initCond[" + i + "]= " + initCond[i] + ", after scaling with " + inits.scaling[i] + ".");
}
GraphData data;
if (longitudinal)
{
data = simManager.StabDerivLinearSim.RunTransientSimLongitudinal(vehicleData, Convert.ToDouble(inits.maxTime), Convert.ToDouble(inits.dt), initCond);
}
else
{
data = simManager.StabDerivLinearSim.RunTransientSimLateral(vehicleData, Convert.ToDouble(inits.maxTime), Convert.ToDouble(inits.dt), initCond);
}
UpdateGraph(data, Localizer.Format("FAREditorSimGraphTime"), Localizer.Format("FAREditorSimGraphParams"), 0, Convert.ToDouble(inits.maxTime), 50);
}
GUILayout.EndHorizontal();
}
protected override void OnStart()
{
FARLogger.Info("FARVesselAero on " + vessel.name + " reporting startup");
base.OnStart();
if (!HighLogic.LoadedSceneIsFlight)
{
enabled = false;
return;
}
_currentGeoModules = new List <GeometryPartModule>();
foreach (Part p in vessel.parts)
{
p.maximum_drag = 0;
p.minimum_drag = 0;
p.angularDrag = 0;
GeometryPartModule g = p.GetComponent <GeometryPartModule>();
if (!(g is null))
{
_currentGeoModules.Add(g);
if (g.Ready)
{
geoModulesReady++;
}
}
if (!p.Modules.Contains <KerbalEVA>() && !p.Modules.Contains <FlagSite>())
{
continue;
}
FARLogger.Info("Handling Stuff for KerbalEVA / Flag");
g = (GeometryPartModule)p.AddModule("GeometryPartModule");
g.OnStart(StartState());
p.AddModule("FARAeroPartModule").OnStart(StartState());
_currentGeoModules.Add(g);
}
RequestUpdateVoxel(false);
enabled = true;
}
public static void LoadConfiguration()
{
string[] namesTmp = Enum.GetNames(typeof(KSPActionGroup));
string[] names = new string[namesTmp.Length - 1];
for (int i = 0; i < namesTmp.Length - 1; ++i)
{
names[i] = namesTmp[i];
}
KSPActionGroup[] agTypes = new KSPActionGroup[names.Length];
actionGroupDropDown = new GUIDropDown <KSPActionGroup> [3];
for (int i = 0; i < agTypes.Length; i++)
{
agTypes[i] = (KSPActionGroup)Enum.Parse(typeof(KSPActionGroup), names[i]);
}
// straight forward, reading the (action name, action group) tuples
KSP.IO.PluginConfiguration config = FARDebugAndSettings.config;
for (int i = 0; i < ACTION_COUNT; ++i)
{
try
{
id2actionGroup[i] = (KSPActionGroup)Enum.Parse(typeof(KSPActionGroup), config.GetValue(configKeys[i], id2actionGroup[i].ToString()));;
currentGuiStrings[i] = id2actionGroup[i].ToString(); // don't forget to initialize the gui
FARLogger.Info(String.Format("Loaded AG {0} as {1}", configKeys[i], id2actionGroup[i]));
}
catch (Exception e)
{
FARLogger.Warning("Error reading config key '" + configKeys[i] + "' with value '" + config.GetValue(configKeys[i], "n/a") + "' gave " + e.ToString());
}
int initIndex = 0;
for (int j = 0; j < agTypes.Length; j++)
{
if (id2actionGroup[i] == agTypes[j])
{
initIndex = j;
break;
}
}
GUIDropDown <KSPActionGroup> dropDown = new GUIDropDown <KSPActionGroup>(names, agTypes, initIndex);
actionGroupDropDown[i] = dropDown;
}
}
private Bounds SetBoundsFromMeshes()
{
if (meshDataList.Count == 0)
{
// If the mesh is empty, try rebuilding it. This can happen when a part was added to the editor but not
// the ship before adding it to the ship
RebuildAllMeshData();
}
Vector3 upper = Vector3.one * float.NegativeInfinity, lower = Vector3.one * float.PositiveInfinity;
foreach (GeometryMesh geoMesh in meshDataList)
{
if (!geoMesh.valid)
{
continue;
}
upper = Vector3.Max(upper, geoMesh.bounds.max);
lower = Vector3.Min(lower, geoMesh.bounds.min);
}
var overallBounds = new Bounds((upper + lower) * 0.5f, upper - lower);
float tmpTestBounds = overallBounds.center.x +
overallBounds.center.y +
overallBounds.center.z +
overallBounds.extents.x +
overallBounds.extents.y +
overallBounds.extents.z;
if (float.IsNaN(tmpTestBounds) || float.IsInfinity(tmpTestBounds))
{
FARLogger.Info("Overall bounds error in " + part.partInfo.title + " " + meshDataList.Count + " meshes");
Valid = false;
}
else
{
Valid = true;
}
return(overallBounds);
}
public StockProcFairingGeoUpdater(ModuleProceduralFairing fairing, GeometryPartModule geoModule)
{
this.fairing = fairing;
this.geoModule = geoModule;
if (validParts == null)
{
FARLogger.Info("Fairing event setup");
validParts = new Dictionary <Part, GeometryPartModule>();
GameEvents.onFairingsDeployed.Add(FairingDeployGeometryUpdate);
}
validParts.Add(geoModule.part, geoModule);
if (HighLogic.LoadedSceneIsEditor)
{
prevPanelBounds = new List <Bounds>();
}
}
private void FixedUpdate()
{
if (EditorLogic.RootPart != null)
{
if (_vehicleAero.CalculationCompleted)
{
_vehicleAero.UpdateSonicDragArea();
LEGACY_UpdateWingAeroModels(EditorLogic.SortedShipList.Count != prevPartCount || partMovement);
prevPartCount = EditorLogic.SortedShipList.Count;
voxelWatch.Stop();
FARLogger.Info("Voxelization Time (ms): " + voxelWatch.ElapsedMilliseconds);
voxelWatch.Reset();
_simManager.UpdateAeroData(_vehicleAero, _wingAerodynamicModel);
UpdateCrossSections();
foreach (IDesignConcern designConcern in _customDesignConcerns)
{
designConcern.Test();
}
editorReportUpdate.Invoke(EngineersReport.Instance, null);
}
if (_updateRateLimiter < FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate)
{
_updateRateLimiter++;
}
else if (VoxelizationUpdateQueued)
{
string shipname = EditorLogic.fetch.ship.shipName ?? "unknown ship";
FARLogger.Info("Updating " + shipname);
RecalculateVoxel();
}
}
else
{
VoxelizationUpdateQueued = true;
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
}
}
public void Rebuild()
{
FARLogger.Info("Rebuilding visual voxel mesh...");
Clear(false);
int submeshes = m_debugVoxels.Count / MAX_VOXELS_PER_SUBMESH + 1;
FARLogger.Info("Voxel mesh contains " + m_debugVoxels.Count + " voxels in " + submeshes + " submeshes");
SetupSubmeshes(submeshes);
int indexOffset = 0;
for (int i = 0; i < submeshes; i++)
{
for (int j = i * MAX_VOXELS_PER_SUBMESH; j < Math.Min((i + 1) * MAX_VOXELS_PER_SUBMESH, m_debugVoxels.Count); j++)
{
m_debugVoxels[j].AddToMesh(m_submeshes[i].Vertices, m_submeshes[i].Uvs, m_submeshes[i].Triangles, indexOffset);
}
m_submeshes[i].Rebuild();
}
FARLogger.Info("Finished rebuilding visual voxel mesh.");
}
private void OnDisplayList(int id)
{
GUI.BringWindowToFront(id);
scrollPos = GUILayout.BeginScrollView(scrollPos, GUIDropDownStyles.List);
for (int i = 0; i < stringOptions.Length; i++)
{
// Highlight the selected item
GUIStyle tmpStyle =
selectedOption == i ? GUIDropDownStyles.SelectedItem : GUIDropDownStyles.DropDownItem;
if (!GUILayout.Button(stringOptions[i], tmpStyle))
{
continue;
}
FARLogger.Info("Selected " + stringOptions[i]);
selectedOption = i;
HideList();
}
GUILayout.EndScrollView();
}
public void Rebuild()
{
FARLogger.Info("Rebuilding visual voxel mesh...");
Clear();
int meshes = DebugVoxels.Count / MaxVoxelsPerSubmesh + 1;
FARLogger.Info("Voxel mesh contains " + DebugVoxels.Count + " voxels in " + meshes + " submeshes");
SetupSubmeshes(meshes);
for (int i = 0; i < meshes; i++)
{
for (int j = i * MaxVoxelsPerSubmesh;
j < Math.Min((i + 1) * MaxVoxelsPerSubmesh, DebugVoxels.Count);
j++)
{
DebugVoxels[j].AddToMesh(submeshes[i].Vertices, submeshes[i].Uvs, submeshes[i].Triangles);
}
submeshes[i].Rebuild();
}
FARLogger.Info("Finished rebuilding visual voxel mesh.");
}
public void PrintToConsole()
{
StringBuilder MatrixDump = new StringBuilder();
for (int j = 0; j < n; j++)
{
MatrixDump.Append("[");
for (int i = 0; i < m; i++)
{
MatrixDump.Append(matrix[i, j]);
if (i < m - 1)
{
MatrixDump.Append(",");
}
else
{
MatrixDump.Append("]\n\r");
}
}
}
FARLogger.Info(MatrixDump.ToString());
}
private void Start()
{
FARLogger.Info("Initiating RealChuteLite Chute Property Calculation");
foreach (AvailablePart part in PartLoader.Instance.loadedParts)
{
Part prefab = part.partPrefab;
if (prefab != null && prefab.Modules.Contains <RealChuteFAR>())
{
//Updates the part's GetInfo.
RealChuteFAR module = prefab.Modules.GetModule <RealChuteFAR>();
DragCubeSystem.Instance.LoadDragCubes(prefab);
DragCube semi = prefab.DragCubes.Cubes.Find(c => c.Name == "SEMIDEPLOYED"), deployed = prefab.DragCubes.Cubes.Find(c => c.Name == "DEPLOYED");
if (semi == null || deployed == null)
{
FARLogger.Info("" + part.title + " cannot find drag cube for RealChuteLite");
}
module.preDeployedDiameter = GetApparentDiameter(semi);
module.deployedDiameter = GetApparentDiameter(deployed);
part.moduleInfos.Find(m => m.moduleName == "RealChute").info = module.GetInfo();
}
}
}
private Bounds SetBoundsFromMeshes()
{
Vector3 upper = Vector3.one * float.NegativeInfinity, lower = Vector3.one * float.PositiveInfinity;
foreach (GeometryMesh geoMesh in meshDataList)
{
if (!geoMesh.valid)
{
continue;
}
upper = Vector3.Max(upper, geoMesh.bounds.max);
lower = Vector3.Min(lower, geoMesh.bounds.min);
}
var overallBounds = new Bounds((upper + lower) * 0.5f, upper - lower);
float tmpTestBounds = overallBounds.center.x +
overallBounds.center.y +
overallBounds.center.z +
overallBounds.extents.x +
overallBounds.extents.y +
overallBounds.extents.z;
if (float.IsNaN(tmpTestBounds) || float.IsInfinity(tmpTestBounds))
{
FARLogger.Info("Overall bounds error in " + part.partInfo.title + " " + meshDataList.Count + " meshes");
Valid = false;
}
else
{
Valid = true;
}
return(overallBounds);
}
public GraphData RunTransientSimLateral(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
double[] Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
Derivs[15] = Derivs[15] / vehicleData.nominalVelocity;
Derivs[18] = Derivs[18] / vehicleData.nominalVelocity;
Derivs[21] = Derivs[21] / vehicleData.nominalVelocity - 1;
double Lb = Derivs[16] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Nb = Derivs[17] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Lp = Derivs[19] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Np = Derivs[20] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Lr = Derivs[22] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Nr = Derivs[23] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
Derivs[16] = Lb + Derivs[26] / Derivs[0] * Nb;
Derivs[17] = Nb + Derivs[26] / Derivs[2] * Lb;
Derivs[19] = Lp + Derivs[26] / Derivs[0] * Np;
Derivs[20] = Np + Derivs[26] / Derivs[2] * Lp;
Derivs[22] = Lr + Derivs[26] / Derivs[0] * Nr;
Derivs[23] = Nr + Derivs[26] / Derivs[2] * Lr;
for (int k = 0; k < Derivs.Length; k++)
{
double f = Derivs[k];
if (num < 15)
{
num++; //Avoid Ix, Iy, Iz and long derivs
continue;
}
else
{
num++;
}
FARLogger.Info("" + i + "," + j);
if (i <= 2)
{
A.Add(f, i, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(_instantCondition.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude) * Math.Cos(vehicleData.stableAoA * Math.PI / 180) / vehicleData.nominalVelocity, 3, 0);
A.Add(1, 1, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Yb / u0 , Yp / u0 , -(1 - Yr/ u0) , g Cos(θ0) / u0 ]
* | [ Lb , Lp , Lr , 0 ]
* | [ Nb , Np , Nr , 0 ]
* \ / [ 0 , 1 , 0 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "β", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "p", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "r", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "φ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
public void LoadAssets()
{
FARLogger.Info("Loading shader bundle");
MainThread.StartCoroutine(Load);
}
public GraphData RunTransientSimLongitudinal(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
SimMatrix B = new SimMatrix(1, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
double[] Derivs = new double[27];
for (int k = 0; k < vehicleData.stabDerivs.Length; k++)
{
double f = vehicleData.stabDerivs[k];
if (num < 3 || num >= 15)
{
num++; //Avoid Ix, Iy, Iz
continue;
}
else
{
num++;
}
FARLogger.Info(i + "," + j);
if (i <= 2)
{
if (num == 10)
{
A.Add(f + vehicleData.nominalVelocity, i, j);
}
else
{
A.Add(f, i, j);
}
}
else
{
B.Add(f, 0, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(-_instantCondition.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude), 3, 1);
A.Add(1, 2, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Z w , Z u , Z q + u, 0 ]
* | [ X w , X u , X q , -g ]
* | [ M w , M u , M q , 0 ]
* \ / [ 0 , 0 , 1 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "w", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "u", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "q", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "θ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
public StabilityDerivOutput CalculateStabilityDerivs(
CelestialBody body,
double alt,
double machNumber,
int flapSetting,
bool spoilers,
double alpha,
double beta,
double phi
)
{
GasProperties properties = FARAtmosphere.GetGasProperties(body,
new Vector3d(0, 0, alt),
Planetarium.GetUniversalTime());
double pressure = properties.Pressure;
double temperature = properties.Temperature;
double density = properties.Density;
double sspeed = properties.SpeedOfSound;
double u0 = sspeed * machNumber;
double q = u0 * u0 * density * 0.5f;
var stabDerivOutput = new StabilityDerivOutput
{
nominalVelocity = u0,
altitude = alt,
body = body
};
Vector3d CoM = Vector3d.zero;
double mass = 0;
double MAC = 0;
double b = 0;
double area = 0;
double Ix = 0;
double Iy = 0;
double Iz = 0;
double Ixy = 0;
double Iyz = 0;
double Ixz = 0;
var input = new InstantConditionSimInput(alpha, beta, phi, 0, 0, 0, machNumber, 0, flapSetting, spoilers);
var pertOutput = new InstantConditionSimOutput();
_instantCondition.GetClCdCmSteady(input, out InstantConditionSimOutput nominalOutput, true);
List <Part> partsList = EditorLogic.SortedShipList;
foreach (Part p in partsList)
{
if (FARAeroUtil.IsNonphysical(p))
{
continue;
}
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
CoM += partMass * (Vector3d)p.transform.TransformPoint(p.CoMOffset);
mass += partMass;
FARWingAerodynamicModel w = p.GetComponent <FARWingAerodynamicModel>();
if (w == null)
{
continue;
}
if (w.isShielded)
{
continue;
}
area += w.S;
MAC += w.GetMAC() * w.S;
b += w.Getb_2() * w.S;
if (w is FARControllableSurface controllableSurface)
{
controllableSurface.SetControlStateEditor(CoM,
p.transform.up,
0,
0,
0,
input.flaps,
input.spoilers);
}
}
if (area.NearlyEqual(0))
{
area = _instantCondition._maxCrossSectionFromBody;
MAC = _instantCondition._bodyLength;
b = 1;
}
MAC /= area;
b /= area;
CoM /= mass;
mass *= 1000;
stabDerivOutput.b = b;
stabDerivOutput.MAC = MAC;
stabDerivOutput.area = area;
foreach (Part p in partsList)
{
if (p == null || FARAeroUtil.IsNonphysical(p))
{
continue;
}
//This section handles the parallel axis theorem
Vector3 relPos = p.transform.TransformPoint(p.CoMOffset) - CoM;
double x2 = relPos.z * relPos.z;
double y2 = relPos.x * relPos.x;
double z2 = relPos.y * relPos.y;
double x = relPos.z;
double y = relPos.x;
double z = relPos.y;
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
Ix += (y2 + z2) * partMass;
Iy += (x2 + z2) * partMass;
Iz += (x2 + y2) * partMass;
Ixy += -x * y * partMass;
Iyz += -z * y * partMass;
Ixz += -x * z * partMass;
//And this handles the part's own moment of inertia
Vector3 principalInertia = p.Rigidbody.inertiaTensor;
Quaternion prncInertRot = p.Rigidbody.inertiaTensorRotation;
//The rows of the direction cosine matrix for a quaternion
var Row1 =
new Vector3(prncInertRot.x * prncInertRot.x -
prncInertRot.y * prncInertRot.y -
prncInertRot.z * prncInertRot.z +
prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.x * prncInertRot.y + prncInertRot.z * prncInertRot.w),
2 * (prncInertRot.x * prncInertRot.z - prncInertRot.y * prncInertRot.w));
var Row2 = new Vector3(2 * (prncInertRot.x * prncInertRot.y - prncInertRot.z * prncInertRot.w),
-prncInertRot.x * prncInertRot.x +
prncInertRot.y * prncInertRot.y -
prncInertRot.z * prncInertRot.z +
prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.y * prncInertRot.z + prncInertRot.x * prncInertRot.w));
var Row3 = new Vector3(2 * (prncInertRot.x * prncInertRot.z + prncInertRot.y * prncInertRot.w),
2 * (prncInertRot.y * prncInertRot.z - prncInertRot.x * prncInertRot.w),
-prncInertRot.x * prncInertRot.x -
prncInertRot.y * prncInertRot.y +
prncInertRot.z * prncInertRot.z +
prncInertRot.w * prncInertRot.w);
//And converting the principal moments of inertia into the coordinate system used by the system
Ix += principalInertia.x * Row1.x * Row1.x +
principalInertia.y * Row1.y * Row1.y +
principalInertia.z * Row1.z * Row1.z;
Iy += principalInertia.x * Row2.x * Row2.x +
principalInertia.y * Row2.y * Row2.y +
principalInertia.z * Row2.z * Row2.z;
Iz += principalInertia.x * Row3.x * Row3.x +
principalInertia.y * Row3.y * Row3.y +
principalInertia.z * Row3.z * Row3.z;
Ixy += principalInertia.x * Row1.x * Row2.x +
principalInertia.y * Row1.y * Row2.y +
principalInertia.z * Row1.z * Row2.z;
Ixz += principalInertia.x * Row1.x * Row3.x +
principalInertia.y * Row1.y * Row3.y +
principalInertia.z * Row1.z * Row3.z;
Iyz += principalInertia.x * Row2.x * Row3.x +
principalInertia.y * Row2.y * Row3.y +
principalInertia.z * Row2.z * Row3.z;
}
Ix *= 1000;
Iy *= 1000;
Iz *= 1000;
stabDerivOutput.stabDerivs[0] = Ix;
stabDerivOutput.stabDerivs[1] = Iy;
stabDerivOutput.stabDerivs[2] = Iz;
stabDerivOutput.stabDerivs[24] = Ixy;
stabDerivOutput.stabDerivs[25] = Iyz;
stabDerivOutput.stabDerivs[26] = Ixz;
//This is the effect of gravity
double effectiveG = InstantConditionSim.CalculateAccelerationDueToGravity(body, alt);
//This is the effective reduction of gravity due to high velocity
effectiveG -= u0 * u0 / (alt + body.Radius);
double neededCl = mass * effectiveG / (q * area);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
//Longitudinal Mess
_instantCondition.SetState(machNumber, neededCl, CoM, 0, input.flaps, input.spoilers);
FARMathUtil.OptimizationResult optResult =
FARMathUtil.Secant(_instantCondition.FunctionIterateForAlpha,
0,
10,
1e-4,
1e-4,
minLimit: -90,
maxLimit: 90);
int calls = optResult.FunctionCalls;
// if stable AoA doesn't exist, calculate derivatives at 0 incidence
if (!optResult.Converged)
{
FARLogger.Info("Stable angle of attack not found, calculating derivatives at 0 incidence instead");
alpha = 0;
_instantCondition.FunctionIterateForAlpha(alpha);
calls += 1;
}
else
{
alpha = optResult.Result;
}
input.alpha = alpha;
nominalOutput = _instantCondition.iterationOutput;
input.alpha = alpha + 2;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
stabDerivOutput.stableCl = neededCl;
stabDerivOutput.stableCd = nominalOutput.Cd;
stabDerivOutput.stableAoA = alpha;
stabDerivOutput.stableAoAState = "";
if (Math.Abs((nominalOutput.Cl - neededCl) / neededCl) > 0.1)
{
stabDerivOutput.stableAoAState = nominalOutput.Cl > neededCl ? "<" : ">";
}
FARLogger.Info("Cl needed: " +
neededCl.ToString(CultureInfo.InvariantCulture) +
", AoA: " +
stabDerivOutput.stableAoA.ToString(CultureInfo.InvariantCulture) +
", Cl: " +
nominalOutput.Cl.ToString(CultureInfo.InvariantCulture) +
", Cd: " +
nominalOutput.Cd.ToString(CultureInfo.InvariantCulture) +
", function calls: " +
calls.ToString());
//vert vel derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / (2 * FARMathUtil.deg2rad);
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / (2 * FARMathUtil.deg2rad);
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / (2 * FARMathUtil.deg2rad);
pertOutput.Cl += nominalOutput.Cd;
pertOutput.Cd -= nominalOutput.Cl;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (Iy * u0);
stabDerivOutput.stabDerivs[3] = pertOutput.Cl; //Zw
stabDerivOutput.stabDerivs[4] = pertOutput.Cd; //Xw
stabDerivOutput.stabDerivs[5] = pertOutput.Cm; //Mw
// Rodhern: The motivation for the revised stability derivatives sign interpretations of Zq, Xq, Ze and Xe
// is to align the sign conventions used for Zu, Zq, Ze, Xu, Xq and Xe. Further explanation can be found
// here: https://forum.kerbalspaceprogram.com/index.php?/topic/109098-official-far-craft-repository/&do=findComment&comment=2425057
input.alpha = alpha;
input.machNumber = machNumber + 0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//fwd vel derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05 * machNumber;
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05 * machNumber;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05 * machNumber;
pertOutput.Cl += 2 * nominalOutput.Cl;
pertOutput.Cd += 2 * nominalOutput.Cd;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (u0 * Iy);
stabDerivOutput.stabDerivs[6] = pertOutput.Cl; //Zu
stabDerivOutput.stabDerivs[7] = pertOutput.Cd; //Xu
stabDerivOutput.stabDerivs[8] = pertOutput.Cm; //Mu
input.machNumber = machNumber;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.alphaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//pitch rate derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05;
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05;
pertOutput.Cl *= -q * area * MAC / (2 * u0 * mass); // Rodhern: Replaced 'q' by '-q', so that formulas
pertOutput.Cd *= -q * area * MAC / (2 * u0 * mass); // for Zq and Xq match those for Zu and Xu.
pertOutput.Cm *= q * area * MAC * MAC / (2 * u0 * Iy);
stabDerivOutput.stabDerivs[9] = pertOutput.Cl; //Zq
stabDerivOutput.stabDerivs[10] = pertOutput.Cd; //Xq
stabDerivOutput.stabDerivs[11] = pertOutput.Cm; //Mq
input.alphaDot = 0;
input.pitchValue = 0.1;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//elevator derivs
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.1;
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.1;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.1;
pertOutput.Cl *= -q * area / mass; // Rodhern: Replaced 'q' by '-q', so that formulas
pertOutput.Cd *= -q * area / mass; // for Ze and Xe match those for Zu and Xu.
pertOutput.Cm *= q * area * MAC / Iy;
stabDerivOutput.stabDerivs[12] = pertOutput.Cl; //Ze
stabDerivOutput.stabDerivs[13] = pertOutput.Cd; //Xe
stabDerivOutput.stabDerivs[14] = pertOutput.Cm; //Me
//Lateral Mess
input.pitchValue = 0;
input.beta = beta + 2;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//sideslip angle derivs
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / (2 * FARMathUtil.deg2rad);
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / (2 * FARMathUtil.deg2rad);
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / (2 * FARMathUtil.deg2rad);
pertOutput.Cy *= q * area / mass;
pertOutput.Cn *= q * area * b / Iz;
pertOutput.C_roll *= q * area * b / Ix;
stabDerivOutput.stabDerivs[15] = pertOutput.Cy; //Yb
stabDerivOutput.stabDerivs[17] = pertOutput.Cn; //Nb
stabDerivOutput.stabDerivs[16] = pertOutput.C_roll; //Lb
input.beta = beta;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.phiDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
//roll rate derivs
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05;
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[18] = pertOutput.Cy; //Yp
stabDerivOutput.stabDerivs[20] = pertOutput.Cn; //Np
stabDerivOutput.stabDerivs[19] = pertOutput.C_roll; //Lp
input.phiDot = 0;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.betaDot = -0.05;
//yaw rate derivs
_instantCondition.GetClCdCmSteady(input, out pertOutput, true);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05f;
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05f;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05f;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[21] = pertOutput.Cy; //Yr
stabDerivOutput.stabDerivs[23] = pertOutput.Cn; //Nr
stabDerivOutput.stabDerivs[22] = pertOutput.C_roll; //Lr
return(stabDerivOutput);
}
private List <MeshData> CreateMeshListFromTransforms(ref List <Transform> meshTransforms)
{
List <MeshData> meshList = new List <MeshData>();
List <Transform> validTransformList = new List <Transform>();
if (part.Modules.Contains <KerbalEVA>() || part.Modules.Contains <FlagSite>())
{
FARLogger.Info("Adding vox box to Kerbal / Flag");
meshList.Add(CreateBoxMeshForKerbalEVA());
validTransformList.Add(part.partTransform);
meshTransforms = validTransformList;
return(meshList);
}
Bounds rendererBounds = this.part.GetPartOverallMeshBoundsInBasis(part.partTransform.worldToLocalMatrix);
Bounds colliderBounds = this.part.GetPartColliderBoundsInBasis(part.partTransform.worldToLocalMatrix);
bool cantUseColliders = true;
bool isFairing = part.Modules.Contains <ModuleProceduralFairing>() || part.Modules.Contains("ProceduralFairingSide");
bool isDrill = part.Modules.Contains <ModuleAsteroidDrill>() || part.Modules.Contains <ModuleResourceHarvester>();
//Voxelize colliders
if ((forceUseColliders || isFairing || isDrill || (rendererBounds.size.x * rendererBounds.size.z < colliderBounds.size.x * colliderBounds.size.z * 1.6f && rendererBounds.size.y < colliderBounds.size.y * 1.2f && (rendererBounds.center - colliderBounds.center).magnitude < 0.3f)) && !forceUseMeshes)
{
foreach (Transform t in meshTransforms)
{
MeshData md = GetColliderMeshData(t);
if (md == null)
{
continue;
}
meshList.Add(md);
validTransformList.Add(t);
cantUseColliders = false;
}
}
if (part.Modules.Contains <ModuleJettison>())
{
List <ModuleJettison> jettisons = part.Modules.GetModules <ModuleJettison>();
HashSet <Transform> jettisonTransforms = new HashSet <Transform>();
for (int i = 0; i < jettisons.Count; i++)
{
ModuleJettison j = jettisons[i];
if (j.jettisonTransform == null)
{
continue;
}
jettisonTransforms.Add(j.jettisonTransform);
if (j.isJettisoned)
{
continue;
}
Transform t = j.jettisonTransform;
if (t.gameObject.activeInHierarchy == false)
{
continue;
}
MeshData md = GetVisibleMeshData(t, false);
if (md == null)
{
continue;
}
meshList.Add(md);
validTransformList.Add(t);
}
//Voxelize Everything
if ((cantUseColliders || forceUseMeshes || isFairing) && !isDrill) //in this case, voxelize _everything_
{
foreach (Transform t in meshTransforms)
{
if (jettisonTransforms.Contains(t))
{
continue;
}
MeshData md = GetVisibleMeshData(t, false);
if (md == null)
{
continue;
}
meshList.Add(md);
validTransformList.Add(t);
}
}
}
else
{
//Voxelize Everything
if ((cantUseColliders || forceUseMeshes || isFairing) && !isDrill) //in this case, voxelize _everything_
{
foreach (Transform t in meshTransforms)
{
MeshData md = GetVisibleMeshData(t, false);
if (md == null)
{
continue;
}
meshList.Add(md);
validTransformList.Add(t);
}
}
}
meshTransforms = validTransformList;
return(meshList);
}
public void VesselUpdate(bool recalcGeoModules)
{
if (vessel == null)
{
vessel = gameObject.GetComponent <Vessel>();
if (vessel == null || vessel.vesselTransform == null)
{
return;
}
}
if (_vehicleAero == null)
{
_vehicleAero = new VehicleAerodynamics();
_vesselIntakeRamDrag = new VesselIntakeRamDrag();
}
if (_updateRateLimiter < FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate) //this has been updated recently in the past; queue an update and return
{
_updateQueued = true;
return;
}
else //last update was far enough in the past to run; reset rate limit counter and clear the queued flag
{
_updateRateLimiter = 0;
_updateQueued = false;
}
if (vessel.rootPart.Modules.Contains <LaunchClamp>())// || _vessel.rootPart.Modules.Contains("KerbalEVA"))
{
DisableModule();
return;
}
if (recalcGeoModules)
{
_currentGeoModules.Clear();
geoModulesReady = 0;
for (int i = 0; i < vessel.Parts.Count; i++)
{
Part p = vessel.Parts[i];
GeometryPartModule g = p.Modules.GetModule <GeometryPartModule>();
if ((object)g != null)
{
_currentGeoModules.Add(g);
if (g.Ready)
{
geoModulesReady++;
}
}
}
}
if (_currentGeoModules.Count > geoModulesReady)
{
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
_updateQueued = true;
return;
}
if (_currentGeoModules.Count == 0)
{
DisableModule();
FARLogger.Info("Disabling FARVesselAero on " + vessel.name + " due to no FARGeometryModules on board");
}
TriggerIGeometryUpdaters();
if (FARThreading.VoxelizationThreadpool.RunInMainThread)
{
for (int i = _currentGeoModules.Count - 1; i >= 0; --i)
{
if (!_currentGeoModules[i].Ready)
{
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
_updateQueued = true;
return;
}
}
}
_voxelCount = VoxelCountFromType();
if (!_vehicleAero.TryVoxelUpdate(vessel.vesselTransform.worldToLocalMatrix, vessel.vesselTransform.localToWorldMatrix, _voxelCount, vessel.Parts, _currentGeoModules, !setup))
{
_updateRateLimiter = FARSettingsScenarioModule.VoxelSettings.minPhysTicksPerUpdate - 2;
_updateQueued = true;
}
if (!_updateQueued)
{
setup = true;
}
FARLogger.Info("Updating vessel voxel for " + vessel.vesselName);
}
public StabilityDerivExportOutput CalculateStabilityDerivs(CelestialBody body, double alt, double machNumber, int flapSetting, bool spoilers, double alpha, double beta, double phi)
{
double pressure = body.GetPressure(alt);
double temperature = body.GetTemperature(alt);
double density = body.GetDensity(pressure, temperature);
double sspeed = body.GetSpeedOfSound(pressure, density);
double u0 = sspeed * machNumber;
double q = u0 * u0 * density * 0.5f;
StabilityDerivOutput stabDerivOutput = new StabilityDerivOutput();
StabilityDerivExportVariables stabDerivExport = new StabilityDerivExportVariables();
stabDerivOutput.nominalVelocity = u0;
stabDerivOutput.altitude = alt;
stabDerivOutput.body = body;
Vector3d CoM = Vector3d.zero;
double mass = 0;
double MAC = 0;
double b = 0;
double area = 0;
double Ix = 0;
double Iy = 0;
double Iz = 0;
double Ixy = 0;
double Iyz = 0;
double Ixz = 0;
InstantConditionSimInput input = new InstantConditionSimInput(alpha, beta, phi, 0, 0, 0, machNumber, 0, flapSetting, spoilers);
InstantConditionSimOutput nominalOutput;
InstantConditionSimOutput pertOutput = new InstantConditionSimOutput();
_instantCondition.GetClCdCmSteady(input, out nominalOutput, true);
List <Part> partsList = EditorLogic.SortedShipList;
for (int i = 0; i < partsList.Count; i++)
{
Part p = partsList[i];
if (FARAeroUtil.IsNonphysical(p))
{
continue;
}
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
//partMass += p.GetModuleMass(p.mass);
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
CoM += partMass * (Vector3d)p.transform.TransformPoint(p.CoMOffset);
mass += partMass;
FARWingAerodynamicModel w = p.GetComponent <FARWingAerodynamicModel>();
if (w != null)
{
if (w.isShielded)
{
continue;
}
area += w.S;
MAC += w.GetMAC() * w.S;
b += w.Getb_2() * w.S;
if (w is FARControllableSurface)
{
(w as FARControllableSurface).SetControlStateEditor(CoM, p.transform.up, 0, 0, 0, input.flaps, input.spoilers);
}
}
}
if (area.NearlyEqual(0))
{
area = _instantCondition._maxCrossSectionFromBody;
MAC = _instantCondition._bodyLength;
b = 1;
}
MAC /= area;
b /= area;
CoM /= mass;
mass *= 1000;
stabDerivOutput.b = b;
stabDerivOutput.MAC = MAC;
stabDerivOutput.area = area;
for (int i = 0; i < partsList.Count; i++)
{
Part p = partsList[i];
if (p == null || FARAeroUtil.IsNonphysical(p))
{
continue;
}
//This section handles the parallel axis theorem
Vector3 relPos = p.transform.TransformPoint(p.CoMOffset) - CoM;
double x2, y2, z2, x, y, z;
x2 = relPos.z * relPos.z;
y2 = relPos.x * relPos.x;
z2 = relPos.y * relPos.y;
x = relPos.z;
y = relPos.x;
z = relPos.y;
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
//partMass += p.GetModuleMass(p.mass);
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
Ix += (y2 + z2) * partMass;
Iy += (x2 + z2) * partMass;
Iz += (x2 + y2) * partMass;
Ixy += -x * y * partMass;
Iyz += -z * y * partMass;
Ixz += -x * z * partMass;
//And this handles the part's own moment of inertia
Vector3 principalInertia = p.Rigidbody.inertiaTensor;
Quaternion prncInertRot = p.Rigidbody.inertiaTensorRotation;
//The rows of the direction cosine matrix for a quaternion
Vector3 Row1 = new Vector3(prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.x * prncInertRot.y + prncInertRot.z * prncInertRot.w),
2 * (prncInertRot.x * prncInertRot.z - prncInertRot.y * prncInertRot.w));
Vector3 Row2 = new Vector3(2 * (prncInertRot.x * prncInertRot.y - prncInertRot.z * prncInertRot.w),
-prncInertRot.x * prncInertRot.x + prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.y * prncInertRot.z + prncInertRot.x * prncInertRot.w));
Vector3 Row3 = new Vector3(2 * (prncInertRot.x * prncInertRot.z + prncInertRot.y * prncInertRot.w),
2 * (prncInertRot.y * prncInertRot.z - prncInertRot.x * prncInertRot.w),
-prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y + prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w);
//And converting the principal moments of inertia into the coordinate system used by the system
Ix += principalInertia.x * Row1.x * Row1.x + principalInertia.y * Row1.y * Row1.y + principalInertia.z * Row1.z * Row1.z;
Iy += principalInertia.x * Row2.x * Row2.x + principalInertia.y * Row2.y * Row2.y + principalInertia.z * Row2.z * Row2.z;
Iz += principalInertia.x * Row3.x * Row3.x + principalInertia.y * Row3.y * Row3.y + principalInertia.z * Row3.z * Row3.z;
Ixy += principalInertia.x * Row1.x * Row2.x + principalInertia.y * Row1.y * Row2.y + principalInertia.z * Row1.z * Row2.z;
Ixz += principalInertia.x * Row1.x * Row3.x + principalInertia.y * Row1.y * Row3.y + principalInertia.z * Row1.z * Row3.z;
Iyz += principalInertia.x * Row2.x * Row3.x + principalInertia.y * Row2.y * Row3.y + principalInertia.z * Row2.z * Row3.z;
}
Ix *= 1000;
Iy *= 1000;
Iz *= 1000;
stabDerivOutput.stabDerivs[0] = Ix;
stabDerivOutput.stabDerivs[1] = Iy;
stabDerivOutput.stabDerivs[2] = Iz;
stabDerivOutput.stabDerivs[24] = Ixy;
stabDerivOutput.stabDerivs[25] = Iyz;
stabDerivOutput.stabDerivs[26] = Ixz;
double effectiveG = _instantCondition.CalculateAccelerationDueToGravity(body, alt); //This is the effect of gravity
effectiveG -= u0 * u0 / (alt + body.Radius); //This is the effective reduction of gravity due to high velocity
double neededCl = mass * effectiveG / (q * area);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
//Longitudinal Mess
_instantCondition.SetState(machNumber, neededCl, CoM, 0, input.flaps, input.spoilers);
alpha = FARMathUtil.SelectedSearchMethod(machNumber, _instantCondition.FunctionIterateForAlpha);
input.alpha = alpha;
nominalOutput = _instantCondition.iterationOutput;
//alpha_str = (alpha * Mathf.PI / 180).ToString();
input.alpha = (alpha + 2);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
stabDerivOutput.stableCl = neededCl;
stabDerivOutput.stableCd = nominalOutput.Cd;
stabDerivOutput.stableAoA = alpha;
stabDerivOutput.stableAoAState = "";
if (Math.Abs((nominalOutput.Cl - neededCl) / neededCl) > 0.1)
{
stabDerivOutput.stableAoAState = ((nominalOutput.Cl > neededCl) ? "<" : ">");
}
FARLogger.Info("Cl needed: " + neededCl + ", AoA: " + alpha + ", Cl: " + nominalOutput.Cl + ", Cd: " + nominalOutput.Cd);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / (2 * FARMathUtil.deg2rad); //vert vel derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / (2 * FARMathUtil.deg2rad);
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / (2 * FARMathUtil.deg2rad);
pertOutput.Cl += nominalOutput.Cd;
pertOutput.Cd -= nominalOutput.Cl;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (Iy * u0);
stabDerivOutput.stabDerivs[3] = pertOutput.Cl; //Zw
stabDerivOutput.stabDerivs[4] = pertOutput.Cd; //Xw
stabDerivOutput.stabDerivs[5] = pertOutput.Cm; //Mw
// Rodhern: The motivation for the revised stability derivatives sign interpretations of Zq, Xq, Ze and Xe
// is to align the sign conventions used for Zu, Zq, Ze, Xu, Xq and Xe. Further explanation can be found
// here: https://forum.kerbalspaceprogram.com/index.php?/topic/109098-official-far-craft-repository/&do=findComment&comment=2425057
input.alpha = alpha;
input.machNumber = machNumber + 0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05 * machNumber; //fwd vel derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05 * machNumber;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05 * machNumber;
pertOutput.Cl += 2 * nominalOutput.Cl;
pertOutput.Cd += 2 * nominalOutput.Cd;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (u0 * Iy);
stabDerivOutput.stabDerivs[6] = pertOutput.Cl; //Zu
stabDerivOutput.stabDerivs[7] = pertOutput.Cd; //Xu
stabDerivOutput.stabDerivs[8] = pertOutput.Cm; //Mu
input.machNumber = machNumber;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.alphaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05; //pitch rate derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05;
pertOutput.Cl *= -q * area * MAC / (2 * u0 * mass); // Rodhern: Replaced 'q' by '-q', so that formulas
pertOutput.Cd *= -q * area * MAC / (2 * u0 * mass); // for Zq and Xq match those for Zu and Xu.
pertOutput.Cm *= q * area * MAC * MAC / (2 * u0 * Iy);
stabDerivOutput.stabDerivs[9] = pertOutput.Cl; //Zq
stabDerivOutput.stabDerivs[10] = pertOutput.Cd; //Xq
stabDerivOutput.stabDerivs[11] = pertOutput.Cm; //Mq
input.alphaDot = 0;
input.pitchValue = 0.1;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.1; //elevator derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.1;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.1;
pertOutput.Cl *= -q * area / mass; // Rodhern: Replaced 'q' by '-q', so that formulas
pertOutput.Cd *= -q * area / mass; // for Ze and Xe match those for Zu and Xu.
pertOutput.Cm *= q * area * MAC / Iy;
stabDerivOutput.stabDerivs[12] = pertOutput.Cl; //Ze
stabDerivOutput.stabDerivs[13] = pertOutput.Cd; //Xe
stabDerivOutput.stabDerivs[14] = pertOutput.Cm; //Me
//Lateral Mess
input.pitchValue = 0;
input.beta = (beta + 2);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / (2 * FARMathUtil.deg2rad); //sideslip angle derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / (2 * FARMathUtil.deg2rad);
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / (2 * FARMathUtil.deg2rad);
pertOutput.Cy *= q * area / mass;
pertOutput.Cn *= q * area * b / Iz;
pertOutput.C_roll *= q * area * b / Ix;
stabDerivOutput.stabDerivs[15] = pertOutput.Cy; //Yb
stabDerivOutput.stabDerivs[17] = pertOutput.Cn; //Nb
stabDerivOutput.stabDerivs[16] = pertOutput.C_roll; //Lb
input.beta = beta;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.phiDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05; //roll rate derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[18] = pertOutput.Cy; //Yp
stabDerivOutput.stabDerivs[20] = pertOutput.Cn; //Np
stabDerivOutput.stabDerivs[19] = pertOutput.C_roll; //Lp
input.phiDot = 0;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.betaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false); pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05f; //yaw rate derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05f;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05f;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[21] = pertOutput.Cy; //Yr
stabDerivOutput.stabDerivs[23] = pertOutput.Cn; //Nr
stabDerivOutput.stabDerivs[22] = pertOutput.C_roll; //Lr
// Assign values to export variables
stabDerivExport.craftmass = mass;
stabDerivExport.envpressure = pressure;
stabDerivExport.envtemperature = temperature;
stabDerivExport.envdensity = density;
stabDerivExport.envsoundspeed = sspeed;
stabDerivExport.envg = _instantCondition.CalculateAccelerationDueToGravity(body, alt);
stabDerivExport.sitmach = machNumber;
stabDerivExport.sitdynpres = q;
stabDerivExport.siteffg = effectiveG;
return(new StabilityDerivExportOutput(stabDerivOutput, stabDerivExport));
}
protected override void OnStart()
{
FARLogger.Info("FARVesselAero on " + vessel.name + " reporting startup");
base.OnStart();
if (!CompatibilityChecker.IsAllCompatible())
{
this.enabled = false;
return;
}
if (!HighLogic.LoadedSceneIsFlight)
{
this.enabled = false;
return;
}
_currentGeoModules = new List <GeometryPartModule>();
/*if (!vessel.rootPart)
* {
* this.enabled = false;
* return;
* }*/
for (int i = 0; i < vessel.parts.Count; i++)
{
Part p = vessel.parts[i];
p.maximum_drag = 0;
p.minimum_drag = 0;
p.angularDrag = 0;
/*p.dragModel = Part.DragModel.NONE;
* p.dragReferenceVector = Vector3.zero;
* p.dragScalar = 0;
* p.dragVector = Vector3.zero;
* p.dragVectorDir = Vector3.zero;
* p.dragVectorDirLocal = Vector3.zero;
* p.dragVectorMag = 0;
* p.dragVectorSqrMag = 0;
*
* p.bodyLiftMultiplier = 0;
* p.bodyLiftScalar = 0;*/
GeometryPartModule g = p.GetComponent <GeometryPartModule>();
if ((object)g != null)
{
_currentGeoModules.Add(g);
if (g.Ready)
{
geoModulesReady++;
}
}
if (p.Modules.Contains <KerbalEVA>() || p.Modules.Contains <FlagSite>())
{
FARLogger.Info("Handling Stuff for KerbalEVA / Flag");
g = (GeometryPartModule)p.AddModule("GeometryPartModule");
g.OnStart(StartState());
p.AddModule("FARAeroPartModule").OnStart(StartState());
_currentGeoModules.Add(g);
}
}
RequestUpdateVoxel(false);
this.enabled = true;
//GameEvents.onVesselLoaded.Add(VesselUpdateEvent);
//GameEvents.onVesselChange.Add(VesselUpdateEvent);
//GameEvents.onVesselLoaded.Add(VesselUpdate);
//GameEvents.onVesselCreate.Add(VesselUpdateEvent);
//FARLogger.Info("Starting " + _vessel.vesselName + " aero properties");
}
public static GraphData RunTransientSimLateral(
StabilityDerivOutput vehicleData,
double endTime,
double initDt,
double[] InitCond
)
{
var A = new SimMatrix(4, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
var Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
Derivs[15] = Derivs[15] / vehicleData.nominalVelocity;
Derivs[18] = Derivs[18] / vehicleData.nominalVelocity;
Derivs[21] = Derivs[21] / vehicleData.nominalVelocity - 1;
double Lb = Derivs[16] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Nb = Derivs[17] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Lp = Derivs[19] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Np = Derivs[20] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Lr = Derivs[22] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
double Nr = Derivs[23] / (1 - Derivs[26] * Derivs[26] / (Derivs[0] * Derivs[2]));
Derivs[16] = Lb + Derivs[26] / Derivs[0] * Nb;
Derivs[17] = Nb + Derivs[26] / Derivs[2] * Lb;
Derivs[19] = Lp + Derivs[26] / Derivs[0] * Np;
Derivs[20] = Np + Derivs[26] / Derivs[2] * Lp;
Derivs[22] = Lr + Derivs[26] / Derivs[0] * Nr;
Derivs[23] = Nr + Derivs[26] / Derivs[2] * Lr;
foreach (double f in Derivs)
{
if (num < 15)
{
num++; //Avoid Ix, Iy, Iz and long derivs
continue;
}
num++;
FARLogger.Info("" + i + "," + j);
if (i <= 2)
{
A.Add(f, i, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(InstantConditionSim.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude) *
Math.Cos(vehicleData.stableAoA * Math.PI / 180) /
vehicleData.nominalVelocity,
3,
0);
A.Add(1, 1, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Yb / u0 , Yp / u0 , -(1 - Yr/ u0) , g Cos(θ0) / u0 ]
* | [ Lb , Lp , Lr , 0 ]
* | [ Nb , Np , Nr , 0 ]
* \ / [ 0 , 1 , 0 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
var transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
var lines = new GraphData {
xValues = transSolve.time
};
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, FARConfig.GUIColors.LdColor, "β", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, FARConfig.GUIColors.CmColor, "p", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, FARConfig.GUIColors.CdColor, "r", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, FARConfig.GUIColors.ClColor, "φ", true);
return(lines);
}
public static GraphData RunTransientSimLongitudinal(
StabilityDerivOutput vehicleData,
double endTime,
double initDt,
double[] InitCond
)
{
var A = new SimMatrix(4, 4);
var B = new SimMatrix(1, 4);
A.PrintToConsole();
int i = 0;
int j = 0;
int num = 0;
foreach (double f in vehicleData.stabDerivs)
{
if (num < 3 || num >= 15)
{
num++; //Avoid Ix, Iy, Iz
continue;
}
num++;
FARLogger.Info(i + "," + j);
if (i <= 2)
{
if (num == 10)
{
A.Add(f + vehicleData.nominalVelocity, i, j);
}
else
{
A.Add(f, i, j);
}
}
else
{
B.Add(f, 0, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(-InstantConditionSim.CalculateAccelerationDueToGravity(vehicleData.body, vehicleData.altitude), 3, 1);
A.Add(1, 2, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Z w , Z u , Z q + u, 0 ]
* | [ X w , X u , X q , -g ]
* | [ M w , M u , M q , 0 ]
* \ / [ 0 , 0 , 1 , 0 ]
* V //And one that looks like this:
*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*
*/
var transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
var lines = new GraphData {
xValues = transSolve.time
};
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, FARConfig.GUIColors.LdColor, "w", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, FARConfig.GUIColors.CmColor, "u", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, FARConfig.GUIColors.CdColor, "q", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, FARConfig.GUIColors.ClColor, "θ", true);
return(lines);
}
public GraphData RunTransientSimLateral(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
int i = 0;
int j = 0;
double[] Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
double u0 = vehicleData.nominalVelocity;
double b2u = vehicleData.b / (2 * u0);
double effg = _instantCondition.CalculateEffectiveGravity(vehicleData.body, vehicleData.altitude, u0) * Math.Cos(vehicleData.stableCondition.stableAoA * Math.PI / 180);
double factor_xz_x = Derivs[26] / Derivs[0];
double factor_xz_z = Derivs[26] / Derivs[2];
double factor_invxz = 1 / (1 - factor_xz_x * factor_xz_z);
FARLogger.Info("u0= " + u0);
FARLogger.Info("b/(2u)= " + b2u + " IGNORED!");
FARLogger.Info("effg= " + effg + ", after multiplication with cos(AoA).");
FARLogger.Info("Ixz/Ix= " + factor_xz_x + ", used to add yaw to roll-deriv.");
FARLogger.Info("Ixz/Iz= " + factor_xz_z + ", used to add roll to yaw-deriv.");
FARLogger.Info("(1 - Ixz^2/(IxIz))^-1= " + factor_invxz);
// Rodhern: For possible backward compability the rotation (moment) derivatives can be
// scaled by "b/(2u)" (for pitch rate "mac/(2u)").
//for (int h = 18; h <= 23; h++)
// Derivs[h] = Derivs[h] * b2u;
Derivs[15] = Derivs[15] / u0;
Derivs[18] = Derivs[18] / u0;
Derivs[21] = Derivs[21] / u0 - 1;
double Lb = Derivs[16] * factor_invxz;
double Nb = Derivs[17] * factor_invxz;
double Lp = Derivs[19] * factor_invxz;
double Np = Derivs[20] * factor_invxz;
double Lr = Derivs[22] * factor_invxz;
double Nr = Derivs[23] * factor_invxz;
Derivs[16] = Lb + factor_xz_x * Nb;
Derivs[17] = Nb + factor_xz_z * Lb;
Derivs[19] = Lp + factor_xz_x * Np;
Derivs[20] = Np + factor_xz_z * Lp;
Derivs[22] = Lr + factor_xz_x * Nr;
Derivs[23] = Nr + factor_xz_z * Lr;
for (int k = 15; k < Derivs.Length; k++)
{
double f = Derivs[k];
if (i <= 2)
{
FARLogger.Info("A[" + i + "," + j + "]= f_" + k + " = " + f + ", after manipulation.");
A.Add(f, i, j);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(effg / u0, 3, 0);
A.Add(1, 1, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Yb / u0 , Yp / u0 , -(1 - Yr/ u0) , g Cos(θ0) / u0 ]
* | [ Lb , Lp , Lr , 0 ]
* | [ Nb , Np , Nr , 0 ]
* \ / [ 0 , 1 , 0 , 0 ]
* V
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "β", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "p", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "r", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "φ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
public StabilityDerivOutput CalculateStabilityDerivs(double u0, double q, double machNumber, double alpha, double beta, double phi, int flapSetting, bool spoilers, CelestialBody body, double alt)
{
StabilityDerivOutput stabDerivOutput = new StabilityDerivOutput();
stabDerivOutput.nominalVelocity = u0;
stabDerivOutput.altitude = alt;
stabDerivOutput.body = body;
Vector3d CoM = Vector3d.zero;
double mass = 0;
double MAC = 0;
double b = 0;
double area = 0;
double Ix = 0;
double Iy = 0;
double Iz = 0;
double Ixy = 0;
double Iyz = 0;
double Ixz = 0;
InstantConditionSimInput input = new InstantConditionSimInput(alpha, beta, phi, 0, 0, 0, machNumber, 0, flapSetting, spoilers);
InstantConditionSimOutput nominalOutput;
InstantConditionSimOutput pertOutput = new InstantConditionSimOutput();
_instantCondition.GetClCdCmSteady(input, out nominalOutput, true);
List <Part> partsList = EditorLogic.SortedShipList;
for (int i = 0; i < partsList.Count; i++)
{
Part p = partsList[i];
if (FARAeroUtil.IsNonphysical(p))
{
continue;
}
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
//partMass += p.GetModuleMass(p.mass);
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
CoM += partMass * (Vector3d)p.transform.TransformPoint(p.CoMOffset);
mass += partMass;
FARWingAerodynamicModel w = p.GetComponent <FARWingAerodynamicModel>();
if (w != null)
{
if (w.isShielded)
{
continue;
}
area += w.S;
MAC += w.GetMAC() * w.S;
b += w.Getb_2() * w.S;
if (w is FARControllableSurface)
{
(w as FARControllableSurface).SetControlStateEditor(CoM, p.transform.up, 0, 0, 0, input.flaps, input.spoilers);
}
}
}
if (area == 0)
{
area = _instantCondition._maxCrossSectionFromBody;
MAC = _instantCondition._bodyLength;
b = 1;
}
MAC /= area;
b /= area;
CoM /= mass;
mass *= 1000;
stabDerivOutput.b = b;
stabDerivOutput.MAC = MAC;
stabDerivOutput.area = area;
for (int i = 0; i < partsList.Count; i++)
{
Part p = partsList[i];
if (p == null || FARAeroUtil.IsNonphysical(p))
{
continue;
}
//This section handles the parallel axis theorem
Vector3 relPos = p.transform.TransformPoint(p.CoMOffset) - CoM;
double x2, y2, z2, x, y, z;
x2 = relPos.z * relPos.z;
y2 = relPos.x * relPos.x;
z2 = relPos.y * relPos.y;
x = relPos.z;
y = relPos.x;
z = relPos.y;
double partMass = p.mass;
if (p.Resources.Count > 0)
{
partMass += p.GetResourceMass();
}
//partMass += p.GetModuleMass(p.mass);
// If you want to use GetModuleMass, you need to start from p.partInfo.mass, not p.mass
Ix += (y2 + z2) * partMass;
Iy += (x2 + z2) * partMass;
Iz += (x2 + y2) * partMass;
Ixy += -x * y * partMass;
Iyz += -z * y * partMass;
Ixz += -x * z * partMass;
//And this handles the part's own moment of inertia
Vector3 principalInertia = p.Rigidbody.inertiaTensor;
Quaternion prncInertRot = p.Rigidbody.inertiaTensorRotation;
//The rows of the direction cosine matrix for a quaternion
Vector3 Row1 = new Vector3(prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.x * prncInertRot.y + prncInertRot.z * prncInertRot.w),
2 * (prncInertRot.x * prncInertRot.z - prncInertRot.y * prncInertRot.w));
Vector3 Row2 = new Vector3(2 * (prncInertRot.x * prncInertRot.y - prncInertRot.z * prncInertRot.w),
-prncInertRot.x * prncInertRot.x + prncInertRot.y * prncInertRot.y - prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w,
2 * (prncInertRot.y * prncInertRot.z + prncInertRot.x * prncInertRot.w));
Vector3 Row3 = new Vector3(2 * (prncInertRot.x * prncInertRot.z + prncInertRot.y * prncInertRot.w),
2 * (prncInertRot.y * prncInertRot.z - prncInertRot.x * prncInertRot.w),
-prncInertRot.x * prncInertRot.x - prncInertRot.y * prncInertRot.y + prncInertRot.z * prncInertRot.z + prncInertRot.w * prncInertRot.w);
//And converting the principal moments of inertia into the coordinate system used by the system
Ix += principalInertia.x * Row1.x * Row1.x + principalInertia.y * Row1.y * Row1.y + principalInertia.z * Row1.z * Row1.z;
Iy += principalInertia.x * Row2.x * Row2.x + principalInertia.y * Row2.y * Row2.y + principalInertia.z * Row2.z * Row2.z;
Iz += principalInertia.x * Row3.x * Row3.x + principalInertia.y * Row3.y * Row3.y + principalInertia.z * Row3.z * Row3.z;
Ixy += principalInertia.x * Row1.x * Row2.x + principalInertia.y * Row1.y * Row2.y + principalInertia.z * Row1.z * Row2.z;
Ixz += principalInertia.x * Row1.x * Row3.x + principalInertia.y * Row1.y * Row3.y + principalInertia.z * Row1.z * Row3.z;
Iyz += principalInertia.x * Row2.x * Row3.x + principalInertia.y * Row2.y * Row3.y + principalInertia.z * Row2.z * Row3.z;
}
Ix *= 1000;
Iy *= 1000;
Iz *= 1000;
stabDerivOutput.stabDerivs[0] = Ix;
stabDerivOutput.stabDerivs[1] = Iy;
stabDerivOutput.stabDerivs[2] = Iz;
stabDerivOutput.stabDerivs[24] = Ixy;
stabDerivOutput.stabDerivs[25] = Iyz;
stabDerivOutput.stabDerivs[26] = Ixz;
double effectiveG = _instantCondition.CalculateAccelerationDueToGravity(body, alt); //This is the effect of gravity
effectiveG -= u0 * u0 / (alt + body.Radius); //This is the effective reduction of gravity due to high velocity
double neededCl = mass * effectiveG / (q * area);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
//Longitudinal Mess
_instantCondition.SetState(machNumber, neededCl, CoM, 0, input.flaps, input.spoilers);
alpha = FARMathUtil.BrentsMethod(_instantCondition.FunctionIterateForAlpha, -30d, 30d, 0.001, 500);
input.alpha = alpha;
nominalOutput = _instantCondition.iterationOutput;
//alpha_str = (alpha * Mathf.PI / 180).ToString();
input.alpha = (alpha + 2);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
stabDerivOutput.stableCl = neededCl;
stabDerivOutput.stableCd = nominalOutput.Cd;
stabDerivOutput.stableAoA = alpha;
stabDerivOutput.stableAoAState = "";
if (Math.Abs((nominalOutput.Cl - neededCl) / neededCl) > 0.1)
{
stabDerivOutput.stableAoAState = ((nominalOutput.Cl > neededCl) ? "<" : ">");
}
FARLogger.Info("Cl needed: " + neededCl + ", AoA: " + alpha + ", Cl: " + nominalOutput.Cl + ", Cd: " + nominalOutput.Cd);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / (2 * FARMathUtil.deg2rad); //vert vel derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / (2 * FARMathUtil.deg2rad);
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / (2 * FARMathUtil.deg2rad);
pertOutput.Cl += nominalOutput.Cd;
pertOutput.Cd -= nominalOutput.Cl;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (Iy * u0);
stabDerivOutput.stabDerivs[3] = pertOutput.Cl; //Zw
stabDerivOutput.stabDerivs[4] = pertOutput.Cd; //Xw
stabDerivOutput.stabDerivs[5] = pertOutput.Cm; //Mw
input.alpha = alpha;
input.machNumber = machNumber + 0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05 * machNumber; //fwd vel derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05 * machNumber;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05 * machNumber;
pertOutput.Cl += 2 * nominalOutput.Cl;
pertOutput.Cd += 2 * nominalOutput.Cd;
pertOutput.Cl *= -q * area / (mass * u0);
pertOutput.Cd *= -q * area / (mass * u0);
pertOutput.Cm *= q * area * MAC / (u0 * Iy);
stabDerivOutput.stabDerivs[6] = pertOutput.Cl; //Zu
stabDerivOutput.stabDerivs[7] = pertOutput.Cd; //Xu
stabDerivOutput.stabDerivs[8] = pertOutput.Cm; //Mu
input.machNumber = machNumber;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.alphaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.05; //pitch rate derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.05;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.05;
pertOutput.Cl *= q * area * MAC / (2 * u0 * mass);
pertOutput.Cd *= q * area * MAC / (2 * u0 * mass);
pertOutput.Cm *= q * area * MAC * MAC / (2 * u0 * Iy);
stabDerivOutput.stabDerivs[9] = pertOutput.Cl; //Zq
stabDerivOutput.stabDerivs[10] = pertOutput.Cd; //Xq
stabDerivOutput.stabDerivs[11] = pertOutput.Cm; //Mq
input.alphaDot = 0;
input.pitchValue = 0.1;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cl = (pertOutput.Cl - nominalOutput.Cl) / 0.1; //elevator derivs
pertOutput.Cd = (pertOutput.Cd - nominalOutput.Cd) / 0.1;
pertOutput.Cm = (pertOutput.Cm - nominalOutput.Cm) / 0.1;
pertOutput.Cl *= q * area / mass;
pertOutput.Cd *= q * area / mass;
pertOutput.Cm *= q * area * MAC / Iy;
stabDerivOutput.stabDerivs[12] = pertOutput.Cl; //Ze
stabDerivOutput.stabDerivs[13] = pertOutput.Cd; //Xe
stabDerivOutput.stabDerivs[14] = pertOutput.Cm; //Me
//Lateral Mess
input.pitchValue = 0;
input.beta = (beta + 2);
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / (2 * FARMathUtil.deg2rad); //sideslip angle derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / (2 * FARMathUtil.deg2rad);
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / (2 * FARMathUtil.deg2rad);
pertOutput.Cy *= q * area / mass;
pertOutput.Cn *= q * area * b / Iz;
pertOutput.C_roll *= q * area * b / Ix;
stabDerivOutput.stabDerivs[15] = pertOutput.Cy; //Yb
stabDerivOutput.stabDerivs[17] = pertOutput.Cn; //Nb
stabDerivOutput.stabDerivs[16] = pertOutput.C_roll; //Lb
input.beta = beta;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.phiDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false);
pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05; //roll rate derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[18] = pertOutput.Cy; //Yp
stabDerivOutput.stabDerivs[20] = pertOutput.Cn; //Np
stabDerivOutput.stabDerivs[19] = pertOutput.C_roll; //Lp
input.phiDot = 0;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, true);
input.betaDot = -0.05;
_instantCondition.GetClCdCmSteady(input, out pertOutput, true, false); pertOutput.Cy = (pertOutput.Cy - nominalOutput.Cy) / 0.05f; //yaw rate derivs
pertOutput.Cn = (pertOutput.Cn - nominalOutput.Cn) / 0.05f;
pertOutput.C_roll = (pertOutput.C_roll - nominalOutput.C_roll) / 0.05f;
pertOutput.Cy *= q * area * b / (2 * mass * u0);
pertOutput.Cn *= q * area * b * b / (2 * Iz * u0);
pertOutput.C_roll *= q * area * b * b / (2 * Ix * u0);
stabDerivOutput.stabDerivs[21] = pertOutput.Cy; //Yr
stabDerivOutput.stabDerivs[23] = pertOutput.Cn; //Nr
stabDerivOutput.stabDerivs[22] = pertOutput.C_roll; //Lr
return(stabDerivOutput);
}
private List <MeshData> CreateMeshListFromTransforms(ref List <Transform> meshTransforms)
{
DebugClear();
var meshList = new List <MeshData>();
var validTransformList = new List <Transform>();
if (part.Modules.Contains <KerbalEVA>() || part.Modules.Contains <FlagSite>())
{
FARLogger.Info("Adding vox box to Kerbal / Flag");
meshList.Add(CreateBoxMeshForKerbalEVA());
validTransformList.Add(part.partTransform);
meshTransforms = validTransformList;
return(meshList);
}
Matrix4x4 worldToLocalMatrix = part.partTransform.worldToLocalMatrix;
Bounds rendererBounds = part.GetPartOverallMeshBoundsInBasis(worldToLocalMatrix);
Bounds colliderBounds = part.GetPartColliderBoundsInBasis(worldToLocalMatrix);
bool cantUseColliders = true;
bool isFairing = part.Modules.Contains <ModuleProceduralFairing>() ||
part.Modules.Contains("ProceduralFairingSide");
bool isDrill = part.Modules.Contains <ModuleAsteroidDrill>() ||
part.Modules.Contains <ModuleResourceHarvester>();
//Voxelize colliders
if ((forceUseColliders ||
isFairing ||
isDrill ||
rendererBounds.size.x * rendererBounds.size.z < colliderBounds.size.x * colliderBounds.size.z * 1.6f &&
rendererBounds.size.y < colliderBounds.size.y * 1.2f &&
(rendererBounds.center - colliderBounds.center).magnitude < 0.3f) &&
!forceUseMeshes)
{
foreach (Transform t in meshTransforms)
{
MeshData md = GetColliderMeshData(t);
if (md == null)
{
continue;
}
DebugAddCollider(t);
meshList.Add(md);
validTransformList.Add(t);
cantUseColliders = false;
}
}
if (part.Modules.Contains <ModuleJettison>())
{
bool variants = part.Modules.Contains <ModulePartVariants>();
List <ModuleJettison> jettisons = part.Modules.GetModules <ModuleJettison>();
var jettisonTransforms = new HashSet <string>();
foreach (ModuleJettison j in jettisons)
{
if (j.jettisonTransform == null)
{
continue;
}
if (variants)
{
// with part variants, jettison name is a comma separated list of transform names
foreach (string transformName in j.jettisonName.Split(','))
{
jettisonTransforms.Add(transformName);
}
}
else
{
jettisonTransforms.Add(j.jettisonTransform.name);
}
if (j.isJettisoned)
{
continue;
}
Transform t = j.jettisonTransform;
if (t.gameObject.activeInHierarchy == false)
{
continue;
}
MeshData md = GetVisibleMeshData(t, ignoreIfNoRenderer, false);
if (md == null)
{
continue;
}
DebugAddMesh(t);
meshList.Add(md);
validTransformList.Add(t);
}
//Voxelize Everything
if ((cantUseColliders || forceUseMeshes || isFairing) && !isDrill)
{
foreach (Transform t in meshTransforms)
{
if (jettisonTransforms.Contains(t.name))
{
continue;
}
MeshData md = GetVisibleMeshData(t, ignoreIfNoRenderer, false);
if (md == null)
{
continue;
}
DebugAddMesh(t);
meshList.Add(md);
validTransformList.Add(t);
}
}
}
else
{
//Voxelize Everything
if ((cantUseColliders || forceUseMeshes || isFairing) && !isDrill)
{
foreach (Transform t in meshTransforms)
{
MeshData md = GetVisibleMeshData(t, ignoreIfNoRenderer, false);
if (md == null)
{
continue;
}
DebugAddMesh(t);
meshList.Add(md);
validTransformList.Add(t);
}
}
}
DebugPrint();
meshTransforms = validTransformList;
return(meshList);
}
public GraphData RunTransientSimLongitudinal(StabilityDerivOutput vehicleData, double endTime, double initDt, double[] InitCond)
{
SimMatrix A = new SimMatrix(4, 4);
int i = 0;
int j = 0;
double[] Derivs = new double[27];
vehicleData.stabDerivs.CopyTo(Derivs, 0);
double MAC2u = vehicleData.MAC / (2 * vehicleData.nominalVelocity);
double effg = _instantCondition.CalculateEffectiveGravity(vehicleData.body, vehicleData.altitude, vehicleData.nominalVelocity);
FARLogger.Info("MAC/(2u)= " + MAC2u + " IGNORED!");
FARLogger.Info("effg= " + effg);
// Rodhern: For possible backward compability the rotation (moment) derivatives can be
// scaled by "mac/(2u)" (pitch) and "b/(2u)" (roll and yaw).
//for (int h = 9; h <= 11; h++)
// Derivs[h] = Derivs[h] * MAC2u;
Derivs[9] = Derivs[9] + vehicleData.nominalVelocity;
for (int k = 3; k < 15 && k < Derivs.Length; k++)
{
double f = Derivs[k];
if (i <= 2)
{
FARLogger.Info("A[" + i + "," + j + "]= f_" + k + " = " + f);
A.Add(f, i, j);
}
else
{
FARLogger.Debug("Ignore B[0," + j + "]= " + f);
}
if (j < 2)
{
j++;
}
else
{
j = 0;
i++;
}
}
A.Add(-effg, 3, 1);
A.Add(1, 2, 3);
A.PrintToConsole(); //We should have an array that looks like this:
/* i --------------->
* j [ Z w , Z u , Z q + u, 0 ]
* | [ X w , X u , X q , -g ]
* | [ M w , M u , M q , 0 ]
* \ / [ 0 , 0 , 1 , 0 ]
* V
*/
//And one that looks like this: (Unused)
/*
* [ Z e ]
* [ X e ]
* [ M e ]
* [ 0 ]
*
*/
RungeKutta4 transSolve = new RungeKutta4(endTime, initDt, A, InitCond);
transSolve.Solve();
GraphData lines = new GraphData();
lines.xValues = transSolve.time;
double[] yVal = transSolve.GetSolution(0);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(3), "w", true);
yVal = transSolve.GetSolution(1);
ScaleAndClampValues(yVal, 1, 50);
lines.AddData(yVal, GUIColors.GetColor(2), "u", true);
yVal = transSolve.GetSolution(2);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(1), "q", true);
yVal = transSolve.GetSolution(3);
ScaleAndClampValues(yVal, 180 / Math.PI, 50);
lines.AddData(yVal, GUIColors.GetColor(0), "θ", true);
/*graph.SetBoundaries(0, endTime, -10, 10);
* graph.SetGridScaleUsingValues(1, 5);
* graph.horizontalLabel = "time";
* graph.verticalLabel = "value";
* graph.Update();*/
return(lines);
}
