public void ThrustToVelocity(Vector3D velocity)
{
if (thrustPidController == null)
{
throw new Exception("wat de neuk thrustPid is null");
}
if (thrustControl == null)
{
throw new Exception("wat de neuk thrustControl is null");
}
if (ingameTime == null)
{
throw new Exception("wat de neuk ingameTime is null");
}
Vector3D difference = velocity - ControlVelocity;
double differenceMag = difference.Normalize();
double percent = thrustPidController.NextValue(differenceMag, (lastTime - ingameTime.Time).TotalSeconds);
percent = MathHelperD.Clamp(percent, 0, 1);
thrustControl.ApplyForce(difference, percent);
lastTime = ingameTime.Time;
}
public void Main()
{
if (accelerateTarget == null || accelerateTarget == Vector3D.Zero || accelerateTarget == Vector3D.PositiveInfinity || PID_Controller == null || !accelerateTarget.IsValid())
{
return;
}
Vector3D accelerateTargetNormalized = accelerateTarget;
double accelerateTargetLength = accelerateTargetNormalized.Normalize();
double error = Vector3D.Dot(control.WorldMatrix.Forward, accelerateTarget) + accelerateTargetLength;
double multiplier = Math.Abs(PID_Controller.NextValue(error, 0.016));
if (accelerateTargetLength < negligible)
{
accelerateTargetNormalized = Vector3D.Normalize(control.GetShipVelocities().LinearVelocity);
}
GyroUtils.PointInDirection(gyros, control, accelerateTargetNormalized, multiplier);
//ThrustUtils.SetThrustBasedDot(thrusters, accelerateTargetNormalized, multiplier);
autopilotModule.ThrustToVelocity(control.GetShipVelocities().LinearVelocity + accelerateTarget);
if (accelerateInDirection && control.GetShipSpeed() >= (speedLimit - 0.01))
{
accelerateTarget = Vector3D.Zero;
BoostForward(0);
accelerateInDirection = false;
}
}
public void PointInDirection(List <IMyGyro> gyros, MatrixD reference, Vector3D direction, Vector3D up)
{
double yaw, pitch, roll;
GyroUtils.DirectionToPitchYawRoll(reference, direction, up, out yaw, out pitch, out roll);
double timeSinceLast = (ingameTime.Time - lastTime).TotalSeconds;
lastTime = ingameTime.Time;
yaw = yawPid.NextValue(yaw, timeSinceLast);
pitch = pitchPid.NextValue(pitch, timeSinceLast);
roll = rollPid.NextValue(roll, timeSinceLast);
GyroUtils.ApplyGyroOverride(gyros, reference, pitch, yaw, roll, onlyUpdateOne);
}
public void ThrustToVelocity(Vector3D velocity)
{
Vector3D difference = velocity - ControlVelocity;
double differenceMag = difference.Normalize();
double percent = thrustPidController.NextValue(differenceMag, (lastTime - ingameTime.Time).TotalSeconds);
percent = MathHelperD.Clamp(percent, 0, 1);
thrustControl.ApplyForce(difference, percent);
lastTime = ingameTime.Time;
}