protected static float computeTorqueRatio(Vector3 lever, Vector3 thrustDir, Vector3 specTorque, float mass, Vector3 MoI, float ratio_factor, out float specificThrustToCom)
{
specificThrustToCom = Vector3.Dot(lever.normalized, thrustDir);
var specificLinearAccel = Mathf.Abs(specificThrustToCom / mass);
var specificAngularAccel = TorqueProps.AngularAcceleration(specTorque, MoI).magnitude;
var ratio = specificLinearAccel > 0
? Mathf.Clamp01(1 - 1 / (1 + specificAngularAccel * ratio_factor / specificLinearAccel))
: 0;
return(ratio);
}
public bool OptimizeForZeroTorque(Vector3 MoI)
{
var torque = Vector3.zero;
float torque_error, angle_error, max_limit;
if (Balanced.Count > 0)
{
torque = TorqueProps.CalculateImbalance(true, Manual, UnBalanced);
EngineOptimizer.OptimizeLimitsForTorque(Balanced, Vector3.zero, torque, MoI, true,
out max_limit, out torque_error, out angle_error);
}
if (Steering.Count > 0)
{
torque = TorqueProps.CalculateImbalance(true, Manual, UnBalanced, Balanced);
return(EngineOptimizer.OptimizeLimitsForTorque(Steering, Vector3.zero, torque, MoI, true,
out max_limit, out torque_error, out angle_error));
}
return(true);
}
void UpdateShipStats()
{
MinLimit = 0;
var thrust = Vector3.zero;
var selected_parts = GetSelectedParts();
CalculateMassAndCoM(selected_parts);
if (CFG != null && CFG.Enabled && Engines.Count > 0)
{
ActiveEngines.Clear();
for (int i = 0, EnginesCount = Engines.Count; i < EnginesCount; i++)
{
var e = Engines[i];
var ecfg = CFG.ActiveProfile.GetConfig(e);
if (ecfg == null || ecfg.On)
{
ActiveEngines.Add(e);
}
}
if (selected_parts.Count > 0)
{
var selected_engines = new List <EngineWrapper>();
selected_parts.ForEach(p => find_engines_recursively(p, selected_engines));
ActiveEngines.AddRange(selected_engines);
}
if (ActiveEngines.Count > 0)
{
ActiveEngines.ForEach(process_active_engine);
compute_inertia_tensor();
selected_parts.ForEach(update_inertia_tensor);
ActiveEngines.SortByRole();
float max_limit, torque_error, angle_error;
var imbalance = TorqueProps.CalculateImbalance(true, ActiveEngines.Manual, ActiveEngines.UnBalanced);
if (ActiveEngines.Balanced.Count > 0)
{
EngineOptimizer.OptimizeLimitsForTorque(ActiveEngines.Balanced, Vector3.zero, imbalance, MoI, true,
out max_limit, out torque_error, out angle_error);
imbalance = TorqueProps.CalculateImbalance(true, ActiveEngines.Manual, ActiveEngines.UnBalanced, ActiveEngines.Balanced);
}
if (ActiveEngines.Steering.Count > 0)
{
if (!EngineOptimizer.OptimizeLimitsForTorque(ActiveEngines.Steering, Vector3.zero, imbalance, MoI, true,
out max_limit, out torque_error, out angle_error))
{
ActiveEngines.Steering.ForEach(e => e.limit = 0);
ActiveEngines.Balanced.ForEach(e => e.limit = 0);
}
}
MinLimit = 1;
for (int i = 0, ActiveEnginesCount = ActiveEngines.Count; i < ActiveEnginesCount; i++)
{
var e = ActiveEngines[i];
thrust += e.wThrustDir * e.nominalCurrentThrust(e.limit);
if (e.Role != TCARole.MANUAL &&
e.Role != TCARole.MANEUVER &&
MinLimit > e.limit)
{
MinLimit = e.limit;
}
e.forceThrustPercentage(e.limit * 100);
}
var T = thrust.magnitude / Utils.G0;
MinTWR = T / Mass;
MaxTWR = T / DryMass;
}
}
}
public static bool OptimizeLimitsForTorque(IList <EngineWrapper> engines, Vector3 needed_torque, Vector3 start_imbalance, Vector3 MoI, bool useDefTorque,
out float max_limit, out float torque_error, out float angle_error)
{
var num_engines = engines.Count;
var zero_torque = needed_torque.IsZero();
var preset_limits = engines.Any(e => e.preset_limit >= 0);
float error, angle;
var last_error = -1f;
Vector3 cur_imbalance = start_imbalance;
Vector3 target;
torque_error = -1f;
angle_error = -1f;
// Utils.Log("=============================== Optimization ===============================\n" +
// "needed torque {}\n" +
// "start imbalance {}\n" +
// "MoI {}\n" +
// "engines:\n{}",
// needed_torque, start_imbalance, MoI, engines);//debug
for (int i = 0; i < C.MaxIterations; i++)
{
//calculate current errors and target
cur_imbalance = start_imbalance;
for (int j = 0; j < num_engines; j++)
{
var e = engines[j]; cur_imbalance += e.Torque(e.throttle * e.limit, useDefTorque);
}
angle = zero_torque ? 0f : Utils.Angle2(cur_imbalance, needed_torque);
target = needed_torque - cur_imbalance;
error = TorqueProps.AngularAcceleration(target, MoI).magnitude;
// Utils.Log("current imbalance: {}\nerror: {} < {}", cur_imbalance, error, ENG.OptimizationTorqueCutoff*ENG.OptimizationPrecision);//debug
//remember the best state
if (angle <= 0 && error < torque_error || angle + error < angle_error + torque_error || angle_error < 0)
{
for (int j = 0; j < num_engines; j++)
{
var e = engines[j]; e.best_limit = e.limit;
}
angle_error = angle;
torque_error = error;
}
//check convergence conditions
if (error < C.OptimizationTorqueCutoff * C.OptimizationPrecision ||
last_error > 0 && Mathf.Abs(error - last_error) < C.OptimizationPrecision * last_error)
{
break;
}
last_error = error;
//normalize limits of main and balanced engines before optimization
if (!preset_limits)
{
var limit_norm = 0f;
for (int j = 0; j < num_engines; j++)
{
var e = engines[j];
if (e.Role == TCARole.MANEUVER)
{
continue;
}
if (limit_norm < e.limit)
{
limit_norm = e.limit;
}
}
if (limit_norm > 0)
{
for (int j = 0; j < num_engines; j++)
{
var e = engines[j];
if (e.Role == TCARole.MANEUVER)
{
continue;
}
e.limit = Mathf.Clamp01(e.limit / limit_norm);
}
}
}
//optimize limits
if (!optimization_for_torque_pass(engines, num_engines, target, target.magnitude, C.OptimizationPrecision, useDefTorque))
{
break;
}
}
var optimized = torque_error < C.OptimizationTorqueCutoff ||
(!zero_torque && angle_error < C.OptimizationAngleCutoff);
// Utils.Log("num engines {}, optimized {}, TorqueError {}, TorqueAngle {}\nneeded torque {}\ncurrent turque {}\nlimits:\n{}\n" +
// "-------------------------------------------------------------------------------------------------",
// num_engines, optimized, torque_error, angle_error, needed_torque, cur_imbalance,
// engines.Aggregate("", (s, e) => s+string.Format("{0}: VSF {1:P1}, throttle {2:P1}, best limit {3:P1}\n",
// e.name, e.VSF, e.throttle, e.best_limit)));//debug
//treat single-engine crafts specially
if (num_engines == 1)
{
engines[0].limit = optimized ? engines[0].best_limit : 0f;
max_limit = engines[0].limit;
}
else //restore the best state
{
max_limit = 0;
for (int j = 0; j < num_engines; j++)
{
var e = engines[j];
e.limit = e.best_limit;
if (e.limit > max_limit)
{
max_limit = e.limit;
}
}
}
return(optimized);
}
public static bool OptimizeLimitsForTorque(
IList <EngineWrapper> engines,
Vector3 needed_torque,
Vector3 start_imbalance,
Vector3 MoI,
bool useDefTorque,
out float max_limit,
out float torque_error,
out float angle_error
)
{
torque_error = -1f;
angle_error = -1f;
max_limit = 0;
var num_engines = engines.Count;
if (num_engines == 0)
{
return(true);
}
var zero_torque = needed_torque.IsZero();
var preset_limits = engines.Any(e => e.preset_limit >= 0);
var torqueOnly = !preset_limits && engines.All(e => e.Role == TCARole.MANEUVER);
var last_error = -1f;
for (var i = 0; i < C.MaxIterations; i++)
{
// calculate current target
var cur_imbalance = start_imbalance;
for (var j = 0; j < num_engines; j++)
{
var e = engines[j];
cur_imbalance += e.Torque(e.throttle * e.limit, useDefTorque);
}
var target = needed_torque - cur_imbalance;
if (target.IsZero())
{
break;
}
// calculate torque and angle errors
var error = TorqueProps.AngularAcceleration(target, MoI).sqrMagnitude;
var angle = zero_torque ? 0f : Utils.Angle2Rad(cur_imbalance, needed_torque) * C.AngleErrorWeight;
//remember the best state
if (zero_torque && error < torque_error ||
angle + error < angle_error + torque_error ||
angle_error < 0)
{
for (var j = 0; j < num_engines; j++)
{
var e = engines[j];
e.best_limit = e.limit;
}
torque_error = error;
if (!zero_torque && !cur_imbalance.IsZero())
{
angle_error = angle;
}
}
// check convergence conditions
if (error < C.TorqueCutoff ||
last_error > 0 && Mathf.Abs(error - last_error) < C.OptimizationPrecision * last_error)
{
break;
}
last_error = error;
// normalize limits of main and balanced engines before optimization
if (!preset_limits)
{
var limit_norm = 0f;
for (var j = 0; j < num_engines; j++)
{
var e = engines[j];
if (e.Role == TCARole.MANEUVER)
{
continue;
}
if (limit_norm < e.limit)
{
limit_norm = e.limit;
}
}
if (limit_norm > 0 && limit_norm < 1)
{
for (var j = 0; j < num_engines; j++)
{
var e = engines[j];
if (e.Role == TCARole.MANEUVER)
{
continue;
}
e.limit = Mathf.Clamp01(e.limit / limit_norm);
}
}
}
// optimize limits
if (!optimization_for_torque_pass(engines,
num_engines,
target,
target.magnitude,
C.OptimizationPrecision,
useDefTorque,
torqueOnly))
{
break;
}
}
var optimized = torque_error < C.OptimizationTorqueCutoff ||
(angle_error >= 0 && angle_error < C.OptimizationAngleCutoff);
// treat single-engine crafts specially
if (num_engines == 1)
{
engines[0].limit = optimized ? engines[0].best_limit : 0f;
max_limit = engines[0].limit;
}
else //restore the best state
{
max_limit = 0;
for (var j = 0; j < num_engines; j++)
{
var e = engines[j];
e.limit = e.best_limit;
if (e.limit > max_limit)
{
max_limit = e.limit;
}
}
}
return(optimized);
}
