internal static bool Fly(global::Vessel vessel, PilotAddon.ControlInputs state)
{
// Get the auto-pilot object. Do nothing if there is no auto-pilot engaged for this vessel.
if (!engaged.ContainsKey(vessel.id))
{
return(false);
}
var autoPilot = engaged [vessel.id];
if (autoPilot == null)
{
return(false);
}
// If the client that engaged the auto-pilot has disconnected, disengage and reset the auto-pilot
if (autoPilot.requestingClient != null && !autoPilot.requestingClient.Connected)
{
autoPilot.attitudeController.ReferenceFrame = ReferenceFrame.Surface(vessel);
autoPilot.attitudeController.TargetPitch = 0;
autoPilot.attitudeController.TargetHeading = 0;
autoPilot.attitudeController.TargetRoll = double.NaN;
autoPilot.Disengage();
return(false);
}
// Run the auto-pilot
autoPilot.SAS = false;
autoPilot.attitudeController.Update(state);
return(true);
}
public Flight Flight(ReferenceFrame referenceFrame = null)
{
if (referenceFrame == null)
{
referenceFrame = ReferenceFrame.Surface(InternalVessel);
}
return(new Flight(InternalVessel, referenceFrame));
}
public Flight Flight(ReferenceFrame referenceFrame = null)
{
var vessel = InternalVessel;
if (ReferenceEquals(referenceFrame, null))
{
referenceFrame = ReferenceFrame.Surface(vessel);
}
return(new Flight(vessel, referenceFrame));
}
internal static bool Fly(global::Vessel vessel, PilotAddon.ControlInputs state)
{
// Get the auto-pilot object. Do nothing if there is no auto-pilot engaged for this vessel.
if (!engaged.ContainsKey(vessel.id))
{
return(false);
}
var autoPilot = engaged [vessel.id];
if (autoPilot == null)
{
return(false);
}
// If the client that engaged the auto-pilot has disconnected, disengage and reset the auto-pilot
if (autoPilot.requestingClient != null && !autoPilot.requestingClient.Connected)
{
autoPilot.attitudeController.ReferenceFrame = ReferenceFrame.Surface(vessel);
autoPilot.attitudeController.TargetPitch = 0;
autoPilot.attitudeController.TargetHeading = 0;
autoPilot.attitudeController.TargetRoll = double.NaN;
autoPilot.Disengage();
return(false);
}
//auto shutdown engine
if (autoPilot.Speed > autoPilot.ShutdownSpeed)
{
autoPilot.vessel.Control.Throttle = 0.0f;
state.Throttle = 0.0f;
autoPilot.maxAcc = -1.0d;
}
if (autoPilot.maxAcc >= 0)
{
double deltaTime = Time.fixedDeltaTime;
if (deltaTime > 0.01)
{
double acc = autoPilot.vessel.Thrust / autoPilot.vessel.Mass;
float throttle = 1.0f + (float)autoPilot.throttleController.Update(autoPilot.maxAcc, acc, deltaTime);
state.Throttle = throttle.Clamp(0.01f, 1.0f);
}
}
// Run the auto-pilot
autoPilot.SAS = false;
autoPilot.attitudeController.Update(state);
return(true);
}
internal AutoPilot(global::Vessel vessel)
{
if (!engaged.ContainsKey(vessel.id))
{
engaged [vessel.id] = null;
}
vesselId = vessel.id;
rotationRateController = new RotationRateController(vessel);
ReferenceFrame = ReferenceFrame.Surface(vessel);
TargetDirection = null;
TargetRoll = float.NaN;
RotationSpeedMultiplier = 1f;
RollSpeedMultiplier = 1f;
MaxRollSpeed = 1f;
MaxRotationSpeed = 1f;
}
Vector3d SASTargetDirection()
{
var vessel = InternalVessel;
var sasMode = SASMode;
// Stability assist
if (sasMode == SASMode.StabilityAssist)
{
throw new InvalidOperationException("No target direction in stability assist mode");
}
// Maneuver node
if (sasMode == SASMode.Maneuver)
{
if (vessel.patchedConicSolver.maneuverNodes.Count == 0)
{
throw new InvalidOperationException("No maneuver node");
}
var nextNode = vessel.patchedConicSolver.maneuverNodes [0];
foreach (var node in vessel.patchedConicSolver.maneuverNodes)
{
if (node.UT < nextNode.UT)
{
nextNode = node;
}
}
return(new Node(vessel, nextNode).WorldBurnVector);
}
// Orbital directions, in different speed modes
if (sasMode == SASMode.Prograde || sasMode == SASMode.Retrograde ||
sasMode == SASMode.Normal || sasMode == SASMode.AntiNormal ||
sasMode == SASMode.Radial || sasMode == SASMode.AntiRadial)
{
if (Control.GlobalSpeedMode == SpeedMode.Orbit)
{
switch (sasMode)
{
case SASMode.Prograde:
return(ReferenceFrame.Orbital(vessel).DirectionToWorldSpace(Vector3d.up));
case SASMode.Retrograde:
return(ReferenceFrame.Orbital(vessel).DirectionToWorldSpace(Vector3d.down));
case SASMode.Normal:
return(ReferenceFrame.Orbital(vessel).DirectionToWorldSpace(Vector3d.forward));
case SASMode.AntiNormal:
return(ReferenceFrame.Orbital(vessel).DirectionToWorldSpace(Vector3d.back));
case SASMode.Radial:
return(ReferenceFrame.Orbital(vessel).DirectionToWorldSpace(Vector3d.left));
case SASMode.AntiRadial:
return(ReferenceFrame.Orbital(vessel).DirectionToWorldSpace(Vector3d.right));
}
}
else if (Control.GlobalSpeedMode == SpeedMode.Surface)
{
switch (sasMode)
{
case SASMode.Prograde:
return(ReferenceFrame.SurfaceVelocity(vessel).DirectionToWorldSpace(Vector3d.up));
case SASMode.Retrograde:
return(ReferenceFrame.SurfaceVelocity(vessel).DirectionToWorldSpace(Vector3d.down));
case SASMode.Normal:
return(ReferenceFrame.Object(vessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.up));
case SASMode.AntiNormal:
return(ReferenceFrame.Object(vessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.down));
case SASMode.Radial:
return(ReferenceFrame.Surface(vessel).DirectionToWorldSpace(Vector3d.right));
case SASMode.AntiRadial:
return(ReferenceFrame.Surface(vessel).DirectionToWorldSpace(Vector3d.left));
}
}
else if (Control.GlobalSpeedMode == SpeedMode.Target)
{
switch (sasMode)
{
case SASMode.Prograde:
return(vessel.GetWorldVelocity() - FlightGlobals.fetch.VesselTarget.GetWorldVelocity());
case SASMode.Retrograde:
return(FlightGlobals.fetch.VesselTarget.GetWorldVelocity() - vessel.GetWorldVelocity());
case SASMode.Normal:
return(ReferenceFrame.Object(vessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.up));
case SASMode.AntiNormal:
return(ReferenceFrame.Object(vessel.orbit.referenceBody).DirectionToWorldSpace(Vector3d.down));
case SASMode.Radial:
return(ReferenceFrame.Surface(vessel).DirectionToWorldSpace(Vector3d.right));
case SASMode.AntiRadial:
return(ReferenceFrame.Surface(vessel).DirectionToWorldSpace(Vector3d.left));
}
}
throw new InvalidOperationException("Unknown speed mode for orbital direction");
}
// Target and anti-target
if (sasMode == SASMode.Target || sasMode == SASMode.AntiTarget)
{
var target = FlightGlobals.fetch.VesselTarget;
if (target == null)
{
throw new InvalidOperationException("No target");
}
var direction = target.GetWorldPosition() - vessel.GetWorldPos3D();
if (sasMode == SASMode.AntiTarget)
{
direction *= -1;
}
return(direction);
}
throw new InvalidOperationException("Unknown SAS mode");
}
