void InitDocking()
{
lastTarget = core.target.Target;
try
{
vesselBoundingBox = vessel.GetBoundingBox();
targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
targetSize = targetBoundingBox.size.magnitude;
if (!overrideSafeDistance)
{
safeDistance = vesselBoundingBox.size.magnitude + targetSize + 0.5f;
}
else
{
safeDistance = (float)overridenSafeDistance.val;
}
if (core.target.Target is ModuleDockingNode)
{
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
}
else
{
acquireRange = 0.25;
}
}
catch (Exception e)
{
print(e);
}
if (zSep < 0) //we're behind the target
{
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
}
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < targetSize)
{
dockingStep = DockingStep.BACKING_UP;
}
else
{
dockingStep = DockingStep.MOVING_TO_START;
}
}
else
{
dockingStep = DockingStep.DOCKING;
}
}
// From FAR with ferram4 authorisation
public static MechJebModuleDockingAutopilot.Box3d GetBoundingBox(this Vessel vessel, bool debug = false)
{
Vector3 minBounds = new Vector3();
Vector3 maxBounds = new Vector3();
if (debug)
{
MonoBehaviour.print("[GetBoundingBox] Start " + vessel.vesselName);
}
for (int i = 0; i < vessel.parts.Count; i++)
{
Part p = vessel.parts[i];
Vector3Pair partBox = p.GetBoundingBox();
if (debug)
{
MonoBehaviour.print("[GetBoundingBox] " + p.name + " " + (partBox.p1 - partBox.p2).magnitude.ToString("F3"));
}
maxBounds.x = Mathf.Max(maxBounds.x, partBox.p1.x);
minBounds.x = Mathf.Min(minBounds.x, partBox.p2.x);
maxBounds.y = Mathf.Max(maxBounds.y, partBox.p1.y);
minBounds.y = Mathf.Min(minBounds.y, partBox.p2.y);
maxBounds.z = Mathf.Max(maxBounds.z, partBox.p1.z);
minBounds.z = Mathf.Min(minBounds.z, partBox.p2.z);
//foreach (var sympart in p.symmetryCounterparts)
//{
// partBox = sympart.GetBoundingBox();
// maxBounds.x = Mathf.Max(maxBounds.x, partBox.p1.x);
// minBounds.x = Mathf.Min(minBounds.x, partBox.p2.x);
// maxBounds.y = Mathf.Max(maxBounds.y, partBox.p1.y);
// minBounds.y = Mathf.Min(minBounds.y, partBox.p2.y);
// maxBounds.z = Mathf.Max(maxBounds.z, partBox.p1.z);
// minBounds.z = Mathf.Min(minBounds.z, partBox.p2.z);
//}
}
if (debug)
{
MonoBehaviour.print("[GetBoundingBox] End " + vessel.vesselName);
}
MechJebModuleDockingAutopilot.Box3d box = new MechJebModuleDockingAutopilot.Box3d();
box.center = new Vector3d((maxBounds.x + minBounds.x) / 2, (maxBounds.y + minBounds.y) / 2, (maxBounds.z + minBounds.z) / 2);
box.size = new Vector3d(Math.Abs(box.center.x - maxBounds.x), Math.Abs(box.center.y - maxBounds.y), Math.Abs(box.center.z - maxBounds.z));
return(box);
}
void DrawBoundingBox()
{
if (drawBoundingBox && vessel == FlightGlobals.ActiveVessel)
{
vesselBoundingBox = vessel.GetBoundingBox();
GLUtils.DrawBoundingBox(vessel.mainBody, vessel, vesselBoundingBox, Color.green);
if (core.target.Target != null)
{
Vessel targetVessel = core.target.Target.GetVessel();
targetBoundingBox = targetVessel.GetBoundingBox();
GLUtils.DrawBoundingBox(targetVessel.mainBody, targetVessel, targetBoundingBox, Color.blue);
}
}
}
// From FAR with ferram4 authorisation
public static MechJebModuleDockingAutopilot.Box3d GetBoundingBox(this Vessel vessel, bool debug = false)
{
Vector3 minBounds = new Vector3();
Vector3 maxBounds = new Vector3();
Log.dbg("[GetBoundingBox] Start {0}", vessel.vesselName);
for (int i = 0; i < vessel.parts.Count; i++)
{
Part p = vessel.parts[i];
PartExtensions.Vector3Pair partBox = p.GetBoundingBox();
Log.dbg("[GetBoundingBox] {0} {1:0.000}", p.name, (partBox.p1 - partBox.p2).magnitude);
maxBounds.x = Mathf.Max(maxBounds.x, partBox.p1.x);
minBounds.x = Mathf.Min(minBounds.x, partBox.p2.x);
maxBounds.y = Mathf.Max(maxBounds.y, partBox.p1.y);
minBounds.y = Mathf.Min(minBounds.y, partBox.p2.y);
maxBounds.z = Mathf.Max(maxBounds.z, partBox.p1.z);
minBounds.z = Mathf.Min(minBounds.z, partBox.p2.z);
//foreach (var sympart in p.symmetryCounterparts)
//{
// partBox = sympart.GetBoundingBox();
// maxBounds.x = Mathf.Max(maxBounds.x, partBox.p1.x);
// minBounds.x = Mathf.Min(minBounds.x, partBox.p2.x);
// maxBounds.y = Mathf.Max(maxBounds.y, partBox.p1.y);
// minBounds.y = Mathf.Min(minBounds.y, partBox.p2.y);
// maxBounds.z = Mathf.Max(maxBounds.z, partBox.p1.z);
// minBounds.z = Mathf.Min(minBounds.z, partBox.p2.z);
//}
}
if (debug)
{
Log.info("[GetBoundingBox] End {0}", vessel.vesselName);
}
MechJebModuleDockingAutopilot.Box3d box = new MechJebModuleDockingAutopilot.Box3d();
box.center = new Vector3d((maxBounds.x + minBounds.x) / 2, (maxBounds.y + minBounds.y) / 2, (maxBounds.z + minBounds.z) / 2);
box.size = new Vector3d(Math.Abs(box.center.x - maxBounds.x), Math.Abs(box.center.y - maxBounds.y), Math.Abs(box.center.z - maxBounds.z));
return(box);
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
vesselBoundingBox = vessel.GetBoundingBox();
targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
if (!overrideTargetSize)
{
targetSize = targetBoundingBox.size.magnitude;
}
else
{
targetSize = (float)overridenTargetSize.val;
}
if (!overrideSafeDistance)
{
safeDistance = vesselBoundingBox.size.magnitude + targetSize + 0.5f;
}
else
{
safeDistance = (float)overridenSafeDistance.val;
}
if (core.target.Target is ModuleDockingNode)
{
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
}
else
{
acquireRange = 0.25;
}
}
catch (Exception e)
{
Log.err(e, this);
}
if (zSep < 0) //we're behind the target
{
// If we're more than half our own bounding box size behind the target port then use wrong side behavior
// Still needs improvement. The reason for these changes is that to prevent wrong side behavior when our
// port slipped behind the target by a fractional amount. The result is that rather than avoiding the
// target ship we end up trying to pass right through it.
// What's really needed here is code that compares bounding box positions to determine if we just try to back up or change sides completely.
if (Math.Abs(zSep) > vesselBoundingBox.size.magnitude * 0.5f)
{
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
}
else
{
dockingStep = DockingStep.BACKING_UP; // Just back straight up.
}
}
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
{
if (zSep < targetSize)
{
dockingStep = DockingStep.BACKING_UP;
}
else
{
dockingStep = DockingStep.MOVING_TO_START;
}
}
else
{
dockingStep = DockingStep.DOCKING;
}
}
public static void DrawBoundingBox(CelestialBody mainBody, Vessel vessel, MechJebModuleDockingAutopilot.Box3d box, Color c)
{
//Vector3d origin = vessel.GetWorldPos3D() - vessel.GetTransform().rotation * box.center ;
//Vector3d origin = vessel.GetTransform().TransformPoint(box.center);
Vector3d origin = vessel.transform.TransformPoint(box.center);
Vector3d A1 = origin + vessel.transform.rotation * new Vector3d(+box.size.x, +box.size.y, +box.size.z);
Vector3d A2 = origin + vessel.transform.rotation * new Vector3d(+box.size.x, -box.size.y, +box.size.z);
Vector3d A3 = origin + vessel.transform.rotation * new Vector3d(-box.size.x, -box.size.y, +box.size.z);
Vector3d A4 = origin + vessel.transform.rotation * new Vector3d(-box.size.x, +box.size.y, +box.size.z);
Vector3d B1 = origin + vessel.transform.rotation * new Vector3d(+box.size.x, +box.size.y, -box.size.z);
Vector3d B2 = origin + vessel.transform.rotation * new Vector3d(+box.size.x, -box.size.y, -box.size.z);
Vector3d B3 = origin + vessel.transform.rotation * new Vector3d(-box.size.x, -box.size.y, -box.size.z);
Vector3d B4 = origin + vessel.transform.rotation * new Vector3d(-box.size.x, +box.size.y, -box.size.z);
GL.PushMatrix();
material.SetPass(0);
GL.LoadOrtho();
GL.Begin(GL.LINES);
GL.Color(c);
GLVertex(A1);
GLVertex(A2);
GLVertex(A2);
GLVertex(A3);
GLVertex(A3);
GLVertex(A4);
GLVertex(A4);
GLVertex(A1);
GLVertex(B1);
GLVertex(B2);
GLVertex(B2);
GLVertex(B3);
GLVertex(B3);
GLVertex(B4);
GLVertex(B4);
GLVertex(B1);
GLVertex(A1);
GLVertex(B1);
GLVertex(A2);
GLVertex(B2);
GLVertex(A3);
GLVertex(B3);
GLVertex(A4);
GLVertex(B4);
GL.End();
GL.PopMatrix();
}
void InitDocking()
{
lastTarget = core.target.Target;
try
{
vesselBoundingBox = vessel.GetBoundingBox();
targetBoundingBox = lastTarget.GetVessel().GetBoundingBox();
if (!overrideTargetSize)
targetSize = targetBoundingBox.size.magnitude;
else
targetSize = (float)overridenTargetSize.val;
if (!overrideSafeDistance)
safeDistance = vesselBoundingBox.size.magnitude + targetSize + 0.5f;
else
safeDistance = (float)overridenSafeDistance.val;
if (core.target.Target is ModuleDockingNode)
acquireRange = ((ModuleDockingNode)core.target.Target).acquireRange * 0.5;
else
acquireRange = 0.25;
}
catch (Exception e)
{
print(e);
}
if (zSep < 0) //we're behind the target
dockingStep = DockingStep.WRONG_SIDE_BACKING_UP;
else if (lateralSep.magnitude > dockingcorridorRadius) // in front but far from docking axis
if (zSep < targetSize)
dockingStep = DockingStep.BACKING_UP;
else
dockingStep = DockingStep.MOVING_TO_START;
else
dockingStep = DockingStep.DOCKING;
}
void DrawBoundingBox()
{
if (drawBoundingBox && vessel == FlightGlobals.ActiveVessel)
{
vesselBoundingBox = vessel.GetBoundingBox();
GLUtils.DrawBoundingBox(vessel.mainBody, vessel, vesselBoundingBox, Color.green);
if (core.target.Target != null)
{
Vessel targetVessel = core.target.Target.GetVessel();
targetBoundingBox = targetVessel.GetBoundingBox();
GLUtils.DrawBoundingBox(targetVessel.mainBody, targetVessel, targetBoundingBox, Color.blue);
}
}
}
