private StabilityMode GetStabilityMode(Vessel vessel)
{
if (vessel.IsControllable == false || RemoteTechWrapper.Controllable(vessel) == false)
{
return(StabilityMode.OFF); /* Vessel is uncontrollable */
}
else if (RemoteTechWrapper.GetMode(vessel) != RemoteTechWrapper.ACFlightMode.Off)
{
return(StabilityMode.ABSOLUTE);
}
else if (MechJebWrapper.Active(vessel))
{
return(StabilityMode.AUTOPILOT); /* MechJeb is commanding the vessel */
}
else if (vessel.ActionGroups[KSPActionGroup.SAS] && data.FindPRVessel(vessel).mjMode == MechJebWrapper.SATarget.OFF && MechJebWrapper.GetMode(vessel) == MechJebWrapper.SATarget.OFF)
{
/* Only stock SAS is enabled */
if (vessel.Autopilot.Mode == VesselAutopilot.AutopilotMode.StabilityAssist)
{
return(StabilityMode.RELATIVE);
}
else if (vessel.Autopilot.Mode == VesselAutopilot.AutopilotMode.Prograde)
{
return(StabilityMode.PROGRADE);
}
else
{
return(StabilityMode.ABSOLUTE);
}
}
else if (!vessel.ActionGroups[KSPActionGroup.SAS] && (data.FindPRVessel(vessel).mjMode != MechJebWrapper.SATarget.OFF || MechJebWrapper.GetMode(vessel) != MechJebWrapper.SATarget.OFF))
{
return(StabilityMode.ABSOLUTE); /* Only SmartA.S.S. is enabled */
}
else if (!vessel.ActionGroups[KSPActionGroup.SAS] && data.FindPRVessel(vessel).mjMode == MechJebWrapper.SATarget.OFF && MechJebWrapper.GetMode(vessel) == MechJebWrapper.SATarget.OFF)
{
return(StabilityMode.OFF); /* Nothing is enabled */
}
else
{
return(StabilityMode.OFF);
}
}
private void FixedUpdate()
{
if (activeVessel != FlightGlobals.ActiveVessel)
{
activeVessel = FlightGlobals.ActiveVessel;
Interface.instance.desiredRPMstr = data.FindPRVessel(activeVessel).desiredRPM.ToString();
}
foreach (Data.PRVessel v in data.PRVessels)
{
v.processed = false;
}
if (RigidBodyMaxAngularVelocityPairs.Count > 0)
{
List <Rigidbody> toremove = null;
foreach (KeyValuePair <Rigidbody, RigidBodyMaxAngularVelocitySaveData> kp in RigidBodyMaxAngularVelocityPairs)
{
kp.Value.FrameCounter--;
if (kp.Value.FrameCounter == 0)
{
try
{
kp.Key.maxAngularVelocity = kp.Value.OriginalValue;
}
catch
{
}
if (toremove == null)
{
toremove = new List <Rigidbody>();
}
toremove.Add(kp.Key);
}
}
if (toremove != null)
{
for (int i = 0; i < toremove.Count; ++i)
{
RigidBodyMaxAngularVelocityPairs.Remove(toremove[i]);
}
}
}
#region ### Cycle through all vessels ###
foreach (Vessel vessel in FlightGlobals.Vessels)
{
Data.PRVessel v = data.FindPRVessel(vessel);
v.processed = true;
if (v.dynamicReference)
{
if (v.reference == null || (v.reference.GetType() != typeof(CelestialBody) || v.reference.GetName() != vessel.mainBody.GetName())) //Main body mode; continuous update of reference to mainBody
{
Debug.Log("[PR] Updated the reference of " + v.vessel.vesselName + " from " + (v.reference != null ? v.reference.GetName() : "Null") + " to " + vessel.mainBody.name);
v.reference = vessel.mainBody;
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
v.lastActive = false;
}
}
if (vessel.packed)
{
#region ### PACKED ###
if (vessel.loaded) //is okay, rotation doesnt need to be persistent when rotating
{
var currentStabilityMode = GetStabilityMode(vessel);
//Debug.Log("[PR] - currentStabilityMode: " + Enum.GetName(typeof(StabilityMode), currentStabilityMode));
if (currentStabilityMode == StabilityMode.PROGRADE)
{
var rotation = Quaternion.FromToRotation(vessel.transform.up.normalized, vessel.obt_velocity.normalized);
vessel.transform.Rotate(rotation.eulerAngles, Space.World);
v.vessel.SetRotation(vessel.transform.rotation);
}
else if (v.storedAngularMomentum.magnitude >= threshold)
{
if (currentStabilityMode != StabilityMode.AUTOPILOT)
{
PackedSpin(v);
}
}
else if (currentStabilityMode != StabilityMode.ABSOLUTE)
{
if (currentStabilityMode == StabilityMode.RELATIVE && v.rotationModeActive && !v.momentumModeActive && v.storedAngularMomentum.magnitude < threshold)
{
if (v.rotationModeActive == true && v.reference != null)
{
if (v.reference == v.lastReference)
{
PackedRotation(v);
}
}
}
else
{
PackedSpin(v);
}
}
}
v.lastActive = false;
#endregion
}
else
{
#region ### UNPACKED ###
//Did this vessel just go off rails?
if (v.GoingOffRailsFrameCounter != -1)
{
--v.GoingOffRailsFrameCounter;
if (v.GoingOffRailsFrameCounter == 0)
{
ApplyMomentumNow(v);
v.GoingOffRailsFrameCounter = -1;
}
}
else
{
//Update Momentum when unpacked
if (GetStabilityMode(vessel) != StabilityMode.OFF && !v.momentumModeActive && vessel.angularVelocity.magnitude < threshold) //C1
{
v.storedAngularMomentum = Vector3.zero;
}
else
{
v.storedAngularMomentum = vessel.angularMomentum;
//KSPLog.print(string.Format("SAVE angular vel: {0}, Momentum: {1}, MOI: {2}", vessel.angularVelocity, vessel.angularMomentum, vessel.MOI));
}
}
//Update mjMode when unpacked
v.mjMode = MechJebWrapper.GetMode(vessel);
v.rtMode = RemoteTechWrapper.GetMode(vessel);
//Apply Momentum to activeVessel using Fly-By-Wire
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && v.momentumModeActive) //C1 \ IsControllable
{
float desiredRPM = (vessel.angularVelocity.magnitude * 60f * (1f / Time.fixedDeltaTime)) / 360f;
if (v.desiredRPM >= 0)
{
vessel.ctrlState.roll = Mathf.Clamp((v.desiredRPM - desiredRPM), -1f, +1f);
}
else
{
vessel.ctrlState.roll = -Mathf.Clamp((-v.desiredRPM - desiredRPM), -1f, +1f);
}
}
//Update rotation
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
//Adjust SAS for Relative Rotation
if (v.rotationModeActive && v.reference != null) //C2
{
//Update direction
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && !v.momentumModeActive)
{
if (v.lastActive && v.reference == v.lastReference)
{
AdjustSAS(v);
}
v.lastActive = true;
}
else
{
v.lastActive = false;
}
v.lastPosition = (Vector3d)v.lastTransform.position - v.reference.GetTransform().position;
}
else
{
v.direction = Vector3.zero;
v.lastPosition = Vector3.zero;
v.lastActive = false;
}
#endregion
}
v.lastTransform = vessel.ReferenceTransform;
v.lastReference = v.reference;
}
#endregion
data.PRVessels.RemoveAll(v => v.processed == false);
}
private void FixedUpdate()
{
if (activeVessel != FlightGlobals.ActiveVessel)
{
activeVessel = FlightGlobals.ActiveVessel;
Interface.instance.desiredRPMstr = data.FindPRVessel(activeVessel).desiredRPM.ToString();
}
foreach (Data.PRVessel v in data.PRVessels)
{
v.processed = false;
}
#region ### Cycle through all vessels ###
foreach (Vessel vessel in FlightGlobals.Vessels)
{
Data.PRVessel v = data.FindPRVessel(vessel);
v.processed = true;
if (v.dynamicReference)
{
if (v.reference == null || (v.reference.GetType() != typeof(CelestialBody) || v.reference.GetName() != vessel.mainBody.GetName())) //Main body mode; continuous update of reference to mainBody
{
Debug.Log("[PR] Updated the reference of " + v.vessel.vesselName + " from " + (v.reference != null ? v.reference.GetName() : "Null") + " to " + vessel.mainBody.name);
v.reference = vessel.mainBody;
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
v.lastActive = false;
}
}
if (vessel.packed)
{
#region ### PACKED ###
if (vessel.loaded) //is okay, rotation doesnt need to be persistent when rotating
{
if (v.momentum.magnitude >= threshold)
{
PackedSpin(v);
}
else if (GetStabilityMode(vessel) != StabilityMode.ABSOLUTE)
{
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && v.rotationModeActive && !v.momentumModeActive && v.momentum.magnitude < threshold)
{
if (v.rotationModeActive == true && v.reference != null)
{
if (v.reference == v.lastReference)
{
PackedRotation(v);
}
}
}
else
{
PackedSpin(v);
}
}
}
v.lastActive = false;
#endregion
}
else
{
#region ### UNPACKED ###
//Update Momentum when unpacked
if (GetStabilityMode(vessel) != StabilityMode.OFF && !v.momentumModeActive && vessel.angularVelocity.magnitude < threshold) //C1
{
v.momentum = Vector3.zero;
}
else
{
v.momentum = vessel.angularVelocity;
}
//Update mjMode when unpacked
v.mjMode = MechJebWrapper.GetMode(vessel);
v.rtMode = RemoteTechWrapper.GetMode(vessel);
//Apply Momentum to activeVessel using Fly-By-Wire
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && v.momentumModeActive) //C1 \ IsControllable
{
float desiredRPM = (vessel.angularVelocity.magnitude * 60f * (1f / Time.fixedDeltaTime)) / 360f;
if (v.desiredRPM >= 0)
{
vessel.ctrlState.roll = Mathf.Clamp((v.desiredRPM - desiredRPM), -1f, +1f);
}
else
{
vessel.ctrlState.roll = -Mathf.Clamp((-v.desiredRPM - desiredRPM), -1f, +1f);
}
}
//Update rotation
v.rotation = vessel.transform.rotation;
v.planetariumRight = Planetarium.right;
//Adjust SAS for Relative Rotation
if (v.rotationModeActive && v.reference != null) //C2
{
//Update direction
v.direction = (v.reference.GetTransform().position - vessel.transform.position).normalized;
if (GetStabilityMode(vessel) == StabilityMode.RELATIVE && !v.momentumModeActive)
{
if (v.lastActive && v.reference == v.lastReference)
{
AdjustSAS(v);
}
v.lastActive = true;
}
else
{
v.lastActive = false;
}
v.lastPosition = (Vector3d)v.lastTransform.position - v.reference.GetTransform().position;
}
else
{
v.direction = Vector3.zero;
v.lastPosition = Vector3.zero;
v.lastActive = false;
}
#endregion
}
v.lastTransform = vessel.ReferenceTransform;
v.lastReference = v.reference;
}
#endregion
data.PRVessels.RemoveAll(v => v.processed == false);
}