public virtual Vector3d Lift(Vector3d vesselVelocity, double liftFactor)
{
if (shieldedFromAirstream || hasLiftModule)
{
return(Vector3d.zero);
}
// direction of the lift in a vessel centric reference
Vector3d liftV = partToVessel * ((Vector3d)cubes.LiftForce * bodyLiftMultiplier * liftFactor);
Vector3d liftVector = liftV.ProjectOnPlane(vesselVelocity);
#if DEBUG && false
if (vesselVelocity.sqrMagnitude > 1 && oPart.DragCubes.LiftForce.sqrMagnitude > 0.001)
{
string msg = oPart.name;
Vector3 bodyL = oPart.transform.rotation * (oPart.bodyLiftScalar * oPart.DragCubes.LiftForce);
Vector3 bodyLift = Vector3.ProjectOnPlane(bodyL, -oPart.dragVectorDir);
msg += "\n liftDir " + MuUtils.PrettyPrint(liftVector) + " vs " + MuUtils.PrettyPrint(bodyLift) + " " + Vector3.Angle(liftVector, bodyLift).ToString("F3") + "°";
Vector3 localBodyL = oPart.vessel.transform.InverseTransformDirection(bodyL);
msg += "\n liftV " + MuUtils.PrettyPrint(liftV) + " vs " + MuUtils.PrettyPrint(localBodyL) + " " + Vector3.Angle(liftV, localBodyL).ToString("F3") + "°";
msg += "\n liftForce " + MuUtils.PrettyPrint(cubes.LiftForce) + " vs " + MuUtils.PrettyPrint(oPart.DragCubes.LiftForce) + " " + Vector3.Angle(cubes.LiftForce, oPart.DragCubes.LiftForce).ToString("F3") + "°";
msg += "\n Normals " + MuUtils.PrettyPrint(-vesselVelocity) + " vs " + MuUtils.PrettyPrint(-oPart.dragVectorDir) + " " + Vector3.Angle(-vesselVelocity, -oPart.dragVectorDir).ToString("F3") + "°";
msg += "\n vals " + bodyLiftMultiplier.ToString("F5") + " " + dynamicPressurekPa.ToString("F5") + " " + liftCurves.liftMachCurve.Evaluate(mach).ToString("F5");
Log.dbg(msg);
}
#endif
return(liftVector);
}
public string ToString(string format)
{
return(MuUtils.PrettyPrint(value, format));
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
//core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox1"));//RCS auto mode
int currentController = core.attitude.activeController;
if (GUILayout.Toggle(currentController == 0, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox2")))//MJAttitudeController
{
currentController = 0;
}
if (GUILayout.Toggle(currentController == 1, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox3")))//KosAttitudeController
{
currentController = 1;
}
if (GUILayout.Toggle(currentController == 2, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox4")))//HybridController
{
currentController = 2;
}
GUILayout.BeginHorizontal();
GUILayout.Space(20);
GUILayout.BeginVertical();
core.attitude.Controller.GUI();
GUILayout.EndVertical();
GUILayout.EndHorizontal();
if (currentController != core.attitude.activeController)
{
core.attitude.SetActiveController(currentController);
}
showInfos = GUILayout.Toggle(showInfos, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox5"));//Show Numbers
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label1"), GUILayout.ExpandWidth(true));//Axis Control
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label2"), GUILayout.ExpandWidth(true));//Torque
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label3"), GUILayout.ExpandWidth(true));//torqueReactionSpeed
GUILayout.Label(
"|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.InvertNoNaN());
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label4"), GUILayout.ExpandWidth(true));//MOI / torque
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label5"), GUILayout.ExpandWidth(true));//MOI
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label6"), GUILayout.ExpandWidth(true));//Angular Velocity
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label7"), GUILayout.ExpandWidth(true));//"Angular M"
GUILayout.Label(
"|" + vesselState.angularMomentum.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.angularMomentum),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label8"), GUILayout.ExpandWidth(true));//fixedDeltaTime
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox(Localizer.Format("#MechJeb_AttitudeAdjust_Label9"), arrows.arrowsLength, "", 50); //Arrows length
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox6")); //Visible through object
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox7"), GUILayout.ExpandWidth(false)); //Display the CoM
arrows.colSphereActive = GUILayout.Toggle(arrows.colSphereActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox8"), GUILayout.ExpandWidth(false)); //Display the CoL
arrows.cotSphereActive = GUILayout.Toggle(arrows.cotSphereActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox9"), GUILayout.ExpandWidth(false)); //Display the CoT
GUILayout.BeginHorizontal();
GUILayout.Label(Localizer.Format("#MechJeb_AttitudeAdjust_Label10"), GUILayout.ExpandWidth(true)); //Radius of Sphere
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox10")); //Arrows origins at the CoM
arrows.srfVelocityArrowActive = GUILayout.Toggle(arrows.srfVelocityArrowActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox11")); //Pod Surface Velocity (green)
arrows.obtVelocityArrowActive = GUILayout.Toggle(arrows.obtVelocityArrowActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox12")); //Pod Orbital Velocity (red)
arrows.dotArrowActive = GUILayout.Toggle(arrows.dotArrowActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox13")); //Direction of Thrust (purple pink)
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox14")); //Command Pod Forward (electric blue)
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox15")); //Requested Attitude (gray)
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox16")); //Debug (magenta)
arrows.debugArrow2Active = GUILayout.Toggle(arrows.debugArrow2Active, Localizer.Format("#MechJeb_AttitudeAdjust_checkbox17")); //Debug2 (light blue)
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
if (GUILayout.Button("Reset"))
{
core.attitude.ResetConfig();
OnStart(PartModule.StartState.None);
}
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GUILayout.BeginHorizontal();
GUILayout.Label("Tf (s)", GUILayout.ExpandWidth(true));
GUILayout.Label("P", GUILayout.ExpandWidth(false));
TfX.text = GUILayout.TextField(TfX.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("Y", GUILayout.ExpandWidth(false));
TfY.text = GUILayout.TextField(TfY.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.Label("R", GUILayout.ExpandWidth(false));
TfZ.text = GUILayout.TextField(TfZ.text, GUILayout.ExpandWidth(true), GUILayout.Width(40));
GUILayout.EndHorizontal();
TfX = Math.Max(0.01, TfX);
TfY = Math.Max(0.01, TfY);
TfZ = Math.Max(0.01, TfZ);
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.TfV), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
}
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
GuiUtils.SimpleTextBox("Deadband = ", deadband, "", 50);
core.attitude.deadband = Math.Max(deadband, 0.0);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
//Lower value of "kWlimit" reduces maximum angular velocity
double kWlimit = core.attitude.kWlimit;
var nextkWlimit = new EditableDoubleMult(kWlimit, 0.01);
GuiUtils.SimpleTextBox("Maximum Relative Angular Velocity", nextkWlimit, "%");
nextkWlimit = (EditableDouble)GUILayout.HorizontalSlider((float)nextkWlimit, 0.0F, 1.0F);
const int sliderPrecision = 3;
if (Math.Round(Math.Abs(nextkWlimit - kWlimit), sliderPrecision) > 0)
{
core.attitude.kWlimit = Math.Round(nextkWlimit, sliderPrecision);
}
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kp), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Ki", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Ki), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.Kd), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Error", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.error * Mathf.Rad2Deg), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Axis Control ", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("torqueReactionSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Inertia", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.inertia.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("MOI / torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI stock", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.MOI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.MOI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular Velocity", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (electric blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (magenta)");
arrows.debugArrow2Active = GUILayout.Toggle(arrows.debugArrow2Active, "Debug (light blue)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.TfV.x != TfX || core.attitude.TfV.y != TfY || core.attitude.TfV.z != TfZ)
{
core.attitude.TfV.x = TfX;
core.attitude.TfV.y = TfY;
core.attitude.TfV.z = TfZ;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto tunning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
}
else
{
// pid.Kd = kpFactor / Tf;
// pid.Kp = pid.Kd / (kiFactor * Math.Sqrt(2) * Tf);
// pid.Ki = pid.Kp / (kpFactor * Math.Sqrt(2) * Tf);
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.Tf.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
}
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
core.rcs.rcsThrottle = GUILayout.Toggle(core.rcs.rcsThrottle, " RCS throttle when 0k thrust");
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torqueAvailable.x + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueAvailable.y,
vesselState.torqueAvailable.z + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("|MOI| / |Torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(ratio.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.Tf != Tf)
{
core.attitude.Tf = Tf;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
core.attitude.Tf_autoTune = GUILayout.Toggle(core.attitude.Tf_autoTune, " Tf auto-tuning");
if (!core.attitude.Tf_autoTune)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
}
else
{
// pid.Kd = kpFactor / Tf;
// pid.Kp = pid.Kd / (kiFactor * Math.Sqrt(2) * Tf);
// pid.Ki = pid.Kp / (kpFactor * Math.Sqrt(2) * Tf);
GUILayout.BeginHorizontal();
GUILayout.Label("Tf", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.Tf.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Tf range");
GuiUtils.SimpleTextBox("min", TfMin, "", 50);
TfMin = Math.Max(TfMin, 0.01);
GuiUtils.SimpleTextBox("max", TfMax, "", 50);
TfMax = Math.Max(TfMax, 0.01);
GUILayout.EndHorizontal();
GUILayout.Label("PID factors");
GuiUtils.SimpleTextBox("Kd = ", kdFactor, " / Tf", 50);
kdFactor = Math.Max(kdFactor, 0.01);
GuiUtils.SimpleTextBox("Kp = pid.Kd / (", kpFactor, " * Math.Sqrt(2) * Tf)", 50);
kpFactor = Math.Max(kpFactor, 0.01);
GuiUtils.SimpleTextBox("Ki = pid.Kp / (", kiFactor, " * Math.Sqrt(2) * Tf)", 50);
kiFactor = Math.Max(kiFactor, 0.01);
}
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(
core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = vesselState.torqueAvailable + vesselState.torqueFromEngine * vessel.ctrlState.mainThrottle;
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, torque.Invert());
GUILayout.BeginHorizontal();
GUILayout.Label("|MOI| / |Torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(ratio.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
}
MechJebModuleAttitudeController.useCoMVelocity = GUILayout.Toggle(MechJebModuleAttitudeController.useCoMVelocity, "Use CoM velocity instead of stock");
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
GUILayout.BeginHorizontal();
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM. Radius of ", GUILayout.ExpandWidth(false));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.podSrfVelocityArrowActive = GUILayout.Toggle(arrows.podSrfVelocityArrowActive, "Pod Surface Velocity (yellow)");
arrows.comSrfVelocityArrowActive = GUILayout.Toggle(arrows.comSrfVelocityArrowActive, "CoM Surface Velocity (green)");
arrows.podObtVelocityArrowActive = GUILayout.Toggle(arrows.podObtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.comObtVelocityArrowActive = GUILayout.Toggle(arrows.comObtVelocityArrowActive, "CoM Orbital Velocity (orange)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (Navy Blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (Gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (Magenta)");
GUILayout.EndVertical();
if (!core.attitude.Tf_autoTune)
{
if (core.attitude.Tf != Tf)
{
core.attitude.Tf = Tf;
core.attitude.setPIDParameters();
}
}
else
{
if (core.attitude.TfMin != TfMin || core.attitude.TfMax != TfMax)
{
core.attitude.TfMin = TfMin;
core.attitude.TfMax = TfMax;
core.attitude.setPIDParameters();
}
if (core.attitude.kpFactor != kpFactor || core.attitude.kiFactor != kiFactor || core.attitude.kdFactor != kdFactor)
{
core.attitude.kpFactor = kpFactor;
core.attitude.kiFactor = kiFactor;
core.attitude.kdFactor = kdFactor;
core.attitude.setPIDParameters();
}
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
core.GetComputerModule <MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
if (!core.attitude.useSAS)
{
GUILayout.Label("Larger ship do better with a larger Tf");
GuiUtils.SimpleTextBox("Tf (s)", Tf);
Tf = Math.Max(0.01, Tf);
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
GUILayout.BeginHorizontal();
GUILayout.Label("Kp, Ki, Kd", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.Kp.ToString("F3") + ", " +
core.attitude.pid.Ki.ToString("F3") + ", " +
core.attitude.pid.Kd.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("prop. action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.propAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("deriv. action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.derivativeAct), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("integral action.", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("PID Action", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pidAction), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("AttitudeRollMatters ", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.attitudeRollMatters ? "true" : "false", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torqueAvailable.x + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueAvailable.y,
vesselState.torqueAvailable.z + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
if ((core.attitude.Tf != Tf))
{
core.attitude.Tf = Tf;
double Kd = 0.53 / Tf;
double Kp = Kd / (3 * Math.Sqrt(2) * Tf);
double Ki = Kp / (12 * Math.Sqrt(2) * Tf);
core.attitude.pid = new PIDControllerV2(Kp, Ki, Kd, 1, -1);
}
base.WindowGUI(windowID);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
//core.GetComputerModule<MechJebModuleCustomWindowEditor>().registry.Find(i => i.id == "Toggle:AttitudeController.useSAS").DrawItem();
core.attitude.RCS_auto = GUILayout.Toggle(core.attitude.RCS_auto, " RCS auto mode");
int currentController = core.attitude.activeController;
if (GUILayout.Toggle(currentController == 0, "MJAttitudeController"))
{
currentController = 0;
}
if (GUILayout.Toggle(currentController == 1, "KosAttitudeController"))
{
currentController = 1;
}
if (GUILayout.Toggle(currentController == 2, "HybridController"))
{
currentController = 2;
}
GUILayout.BeginHorizontal();
GUILayout.Space(20);
GUILayout.BeginVertical();
core.attitude.Controller.GUI();
GUILayout.EndVertical();
GUILayout.EndHorizontal();
if (currentController != core.attitude.activeController)
{
core.attitude.SetActiveController(currentController);
}
showInfos = GUILayout.Toggle(showInfos, "Show Numbers");
if (showInfos)
{
GUILayout.BeginHorizontal();
GUILayout.Label("Axis Control ", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.AxisState, "F0"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + core.attitude.torque.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(core.attitude.torque),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("torqueReactionSpeed", GUILayout.ExpandWidth(true));
GUILayout.Label(
"|" + vesselState.torqueReactionSpeed.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.torqueReactionSpeed),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d ratio = Vector3d.Scale(vesselState.MoI, core.attitude.torque.InvertNoNaN());
GUILayout.BeginHorizontal();
GUILayout.Label("MOI / torque", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + ratio.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(ratio), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("MOI", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vesselState.MoI.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.MoI), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular Velocity", GUILayout.ExpandWidth(true));
GUILayout.Label("|" + vessel.angularVelocity.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vessel.angularVelocity),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("Angular M", GUILayout.ExpandWidth(true));
GUILayout.Label(
"|" + vesselState.angularMomentum.magnitude.ToString("F3") + "| " + MuUtils.PrettyPrint(vesselState.angularMomentum),
GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("fixedDeltaTime", GUILayout.ExpandWidth(true));
GUILayout.Label(TimeWarp.fixedDeltaTime.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
MechJebModuleDebugArrows arrows = core.GetComputerModule <MechJebModuleDebugArrows>();
GuiUtils.SimpleTextBox("Arrows length", arrows.arrowsLength, "", 50);
arrows.seeThrough = GUILayout.Toggle(arrows.seeThrough, "Visible through object");
arrows.comSphereActive = GUILayout.Toggle(arrows.comSphereActive, "Display the CoM", GUILayout.ExpandWidth(false));
arrows.colSphereActive = GUILayout.Toggle(arrows.colSphereActive, "Display the CoL", GUILayout.ExpandWidth(false));
arrows.cotSphereActive = GUILayout.Toggle(arrows.cotSphereActive, "Display the CoT", GUILayout.ExpandWidth(false));
GUILayout.BeginHorizontal();
GUILayout.Label("Radius of Sphere", GUILayout.ExpandWidth(true));
arrows.comSphereRadius.text = GUILayout.TextField(arrows.comSphereRadius.text, GUILayout.Width(40));
GUILayout.EndHorizontal();
arrows.displayAtCoM = GUILayout.Toggle(arrows.displayAtCoM, "Arrows origins at the CoM");
arrows.srfVelocityArrowActive = GUILayout.Toggle(arrows.srfVelocityArrowActive, "Pod Surface Velocity (green)");
arrows.obtVelocityArrowActive = GUILayout.Toggle(arrows.obtVelocityArrowActive, "Pod Orbital Velocity (red)");
arrows.dotArrowActive = GUILayout.Toggle(arrows.dotArrowActive, "Direction of Thrust (purple pink)");
arrows.forwardArrowActive = GUILayout.Toggle(arrows.forwardArrowActive, "Command Pod Forward (electric blue)");
//arrows.avgForwardArrowActive = GUILayout.Toggle(arrows.avgForwardArrowActive, "Forward Avg (blue)");
arrows.requestedAttitudeArrowActive = GUILayout.Toggle(arrows.requestedAttitudeArrowActive, "Requested Attitude (gray)");
arrows.debugArrowActive = GUILayout.Toggle(arrows.debugArrowActive, "Debug (magenta)");
arrows.debugArrow2Active = GUILayout.Toggle(arrows.debugArrow2Active, "Debug2 (light blue)");
GUILayout.EndVertical();
base.WindowGUI(windowID);
}
public virtual Vector3d Drag(Vector3d vesselVelocity, double dragFactor, float mach)
{
if (shieldedFromAirstream || noDrag)
{
return(Vector3d.zero);
}
Vector3d dragVectorDirLocal = -(vesselToPart * vesselVelocity).normalized;
cubes.SetDrag(dragVectorDirLocal, mach);
Vector3d drag = -vesselVelocity.normalized * cubes.AreaDrag * dragFactor;
#if DEBUG && false
bool delta = false;
string msg = oPart.name;
if (vesselVelocity.sqrMagnitude > 1 && dynamicPressurekPa - oPart.dynamicPressurekPa > oPart.dynamicPressurekPa * 0.1)
{
msg += " dynamicPressurekPa " + dynamicPressurekPa.ToString("f4") + " vs " + oPart.dynamicPressurekPa.ToString("f4");
delta = true;
}
//if (vesselVelocity.sqrMagnitude > 1 && cubes.AreaDrag - oPart.DragCubes.AreaDrag > oPart.DragCubes.AreaDrag * 0.1)
if (vesselVelocity.sqrMagnitude > 1)
{
msg += "\n AreaDrag " + cubes.AreaDrag.ToString("f4") + " vs " + oPart.DragCubes.AreaDrag.ToString("f4");
//msg += "\n mach " + mach.ToString("f4") + " vs " + oPart.machNumber.ToString("f4");
msg += "\n dragDir " + MuUtils.PrettyPrint(dragDir) + " vs " + MuUtils.PrettyPrint(oPart.dragVectorDirLocal) + " " + Vector3.Angle(dragDir, oPart.dragVectorDirLocal).ToString("F3") + "°";
//msg += "\n dragVel " + MuUtils.PrettyPrint(vesselVelocity.normalized) + " vs " + MuUtils.PrettyPrint(oPart.dragVector.normalized) + " " + Vector3.Angle(vesselVelocity.normalized, oPart.dragVector).ToString("F3") + "°";
msg += "\n Real° " + MuUtils.PrettyPrint(oPart.dragVectorDirLocal) + " " + Vector3.Angle(oPart.dragVectorDirLocal, Vector3.down).ToString("F3") + "°";
msg += "\n Sim° " + MuUtils.PrettyPrint(dragDir) + " " + Vector3.Angle(dragDir, Vector3.down).ToString("F3") + "°";
msg += "\n toUp " + MuUtils.PrettyPrint(vesselToPart * Vector3.up) + Vector3.Angle(vesselToPart * Vector3.up, Vector3.up).ToString("F3") + "°";
Vector3 quatUp = vesselToPart * Vector3.up;
Vector3 shipUp = oPart.vessel.transform.InverseTransformDirection(oPart.transform.up);
msg += "\n Ups " + MuUtils.PrettyPrint(quatUp) + " vs " + MuUtils.PrettyPrint(shipUp) + " " + Vector3.Angle(quatUp, shipUp).ToString("F3") + "°";
//msg += "\n AreaOccluded ";
//for (int i = 0; i < 6; i++)
//{
// msg += cubes.AreaOccluded[i].ToString("F3") + "/" + oPart.DragCubes.AreaOccluded[i].ToString("F3") + " ";
//}
//msg += "\n WeightedDrag ";
//for (int i = 0; i < 6; i++)
//{
// msg += cubes.WeightedDrag[i].ToString("F3") + "/" + oPart.DragCubes.WeightedDrag[i].ToString("F3") + " ";
//}
msg += "\n vesselToPart " + MuUtils.PrettyPrint(vesselToPart.eulerAngles);
delta = true;
}
if (delta)
{
Log.dbg(msg);
}
#endif
return(drag);
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
GuiUtils.SimpleTextBox("Kp", Kp);
GuiUtils.SimpleTextBox("Ki", Ki);
GuiUtils.SimpleTextBox("Kd", Kd);
GuiUtils.SimpleTextBox("Tf", Tf);
GuiUtils.SimpleTextBox("Ki_limit", Ki_limit);
GuiUtils.SimpleTextBox("Factor", factor);
GUILayout.BeginHorizontal();
GUILayout.Label("prevError", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.prevError), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|prevError|", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.prevError.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("intAccum", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(core.attitude.pid.intAccum), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|intAccum|", GUILayout.ExpandWidth(true));
GUILayout.Label(core.attitude.pid.intAccum.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
double precision = Math.Max(0.5, Math.Min(10.0, (vesselState.torquePYAvailable + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle) * 20.0 / vesselState.MoI.magnitude));
GUILayout.BeginHorizontal();
GUILayout.Label("precision", GUILayout.ExpandWidth(true));
GUILayout.Label(precision.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d torque = new Vector3d(
vesselState.torquePYAvailable + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle,
vesselState.torqueRAvailable,
vesselState.torquePYAvailable + vesselState.torqueThrustPYAvailable * vessel.ctrlState.mainThrottle
);
GUILayout.BeginHorizontal();
GUILayout.Label("torque", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(torque), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|torque|", GUILayout.ExpandWidth(true));
GUILayout.Label(torque.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
Vector3d inertia = Vector3d.Scale(
vesselState.angularMomentum.Sign(),
Vector3d.Scale(
Vector3d.Scale(vesselState.angularMomentum, vesselState.angularMomentum),
Vector3d.Scale(torque, vesselState.MoI).Invert()
)
);
GUILayout.BeginHorizontal();
GUILayout.Label("inertia", GUILayout.ExpandWidth(true));
GUILayout.Label(MuUtils.PrettyPrint(inertia), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.Label("|inertia|", GUILayout.ExpandWidth(true));
GUILayout.Label(inertia.magnitude.ToString("F3"), GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
GUILayout.EndVertical();
if ((Kp != core.attitude.Kp) || (Ki != core.attitude.Ki) || (Kd != core.attitude.Kd))
{
core.attitude.Kp = Kp;
core.attitude.Ki = Ki;
core.attitude.Kd = Kd;
core.attitude.Ki_limit = Ki_limit;
core.attitude.pid = new PIDControllerV(Kp, Ki, Kd, Ki_limit, -Ki_limit);
}
core.attitude.drive_factor = factor;
core.attitude.Tf = Tf;
base.WindowGUI(windowID);
}
