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Copy pathRoverComputer.cs
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244 lines (218 loc) · 9.43 KB
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using UnityEngine;
namespace RemoteTech.FlightComputer
{
public class RoverComputer
{
private Vessel mVessel;
private RoverPIDController mThrottlePID, mWheelPID;
private float
mRoverAlt,
mRoverLat,
mRoverLon,
mTargetLat,
mTargetLon,
brakeDist;
private Quaternion mRoverRot;
private Vector3 ForwardAxis;
public float Delta { get; private set; }
public float DeltaT { get; private set; }
public RoverComputer()
{
mThrottlePID = new RoverPIDController(10f, 1e-5F, 1e-5F, -1f, 1f);
mWheelPID = new RoverPIDController(10f, 1e-5F, 1e-5F, -1f, 1f, 5f);
}
public void SetVessel(Vessel v)
{
mVessel = v;
}
private float RoverHDG
{
get
{
Vector3d up = (mVessel.CoM - mVessel.mainBody.position).normalized;
Vector3d north = Vector3d.Exclude(up, (mVessel.mainBody.position + mVessel.mainBody.transform.up * (float)mVessel.mainBody.Radius) - mVessel.CoM).normalized;
if (ForwardAxis == Vector3.zero)
return RTUtil.GetHeading(mVessel.srf_velocity.normalized, up, north);
else
return RTUtil.GetHeading(mVessel.ReferenceTransform.TransformDirection(ForwardAxis), up, north);
}
}
private float TargetHDG
{
get
{
Vector3d up = (mVessel.CoM - mVessel.mainBody.position).normalized;
Vector3d north = Vector3d.Exclude(up, (mVessel.mainBody.position + mVessel.mainBody.transform.up * (float)mVessel.mainBody.Radius) - mVessel.CoM).normalized;
return RTUtil.GetHeading((TargetPos - mVessel.CoM).normalized, up, north);
}
}
private Vector3 TargetPos
{
get
{
return mVessel.mainBody.GetWorldSurfacePosition(mTargetLat, mTargetLon, mVessel.altitude);
}
}
private Vector3 RoverOrigPos
{
get
{
return mVessel.mainBody.GetWorldSurfacePosition(mRoverLat, mRoverLon, mRoverAlt);
}
}
private float RoverSpeed
{
get
{
if (ForwardAxis == Vector3.zero)
return (float)mVessel.srf_velocity.magnitude;
else
return Vector3.Dot(mVessel.srf_velocity, mVessel.ReferenceTransform.TransformDirection(ForwardAxis));
}
}
public void InitMode(RemoteTech.FlightComputer.Commands.DriveCommand dc)
{
if (mVessel == null) {
MonoBehaviour.print("mVessel was null!!!!!!!!!!!!!!!!!!!!!!!!!!");
}
ForwardAxis = Vector3.zero;
mRoverAlt = (float)mVessel.altitude;
mRoverLat = (float)mVessel.latitude;
mRoverLon = (float)mVessel.longitude;
Delta = 0;
DeltaT = 0;
brakeDist = 0;
switch (dc.mode) {
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Turn:
mRoverRot = mVessel.ReferenceTransform.rotation;
break;
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Distance:
mWheelPID.setClamp(-1, 1);
break;
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.DistanceHeading:
mWheelPID.setClamp(-dc.steering, dc.steering);
break;
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Coord:
mWheelPID.setClamp(-dc.steering, dc.steering);
mTargetLat = dc.target;
mTargetLon = dc.target2;
break;
}
mThrottlePID.Reset();
mWheelPID.Reset();
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
public bool Drive(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
if (dc != null) {
if (mVessel.srf_velocity.magnitude > 0.5) {
float degForward = Mathf.Abs(RTUtil.ClampDegrees90(Vector3.Angle(mVessel.srf_velocity, mVessel.ReferenceTransform.forward)));
float degUp = Mathf.Abs(RTUtil.ClampDegrees90(Vector3.Angle(mVessel.srf_velocity, mVessel.ReferenceTransform.up)));
float degRight = Mathf.Abs(RTUtil.ClampDegrees90(Vector3.Angle(mVessel.srf_velocity, mVessel.ReferenceTransform.right)));
if (degForward < degUp && degForward < degRight)
ForwardAxis = Vector3.forward;
else if (degRight < degUp && degRight < degForward)
ForwardAxis = Vector3.right;
else
ForwardAxis = Vector3.up;
}
switch (dc.mode) {
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Turn:
return Turn(dc, fs);
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Distance:
return Distance(dc, fs);
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.DistanceHeading:
return DistanceHeading(dc, fs);
case RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Coord:
return Coord(dc, fs);
}
return true;
}
return true;
}
private bool Turn(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
Delta = Math.Abs(Quaternion.Angle(mRoverRot, mVessel.ReferenceTransform.rotation));
DeltaT = Delta / mVessel.GetComponent<Rigidbody>().angularVelocity.magnitude;
if (Delta < dc.target) {
fs.wheelThrottle = mThrottlePID.Control(dc.speed - RoverSpeed);
fs.wheelSteer = dc.steering;
return false;
} else {
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return true;
}
}
private bool Distance(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
float speed = RoverSpeed;
Delta = Math.Abs(dc.target) - Vector3.Distance(RoverOrigPos, mVessel.CoM);
DeltaT = Delta / Math.Abs(speed);
if (Delta > 0) {
fs.wheelThrottle = mThrottlePID.Control(BrakeSpeed(dc.speed, speed) - speed);
return false;
} else {
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return true;
}
}
private bool DistanceHeading(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
float speed = RoverSpeed;
Delta = Math.Abs(dc.target) - Vector3.Distance(RoverOrigPos, mVessel.CoM);
DeltaT = Delta / speed;
if (Delta > 0) {
fs.wheelThrottle = mThrottlePID.Control(BrakeSpeed(dc.speed, speed) - speed);
if (ForwardAxis != Vector3.zero)
fs.wheelSteer = mWheelPID.Control(RTUtil.AngleBetween(RoverHDG, dc.target2));
return false;
} else {
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return true;
}
}
private float BrakeSpeed(float speed, float actualSpeed)
{
if (brakeDist == 0) {
if (DeltaT > actualSpeed / 2) {
return speed;
} else
brakeDist = Delta;
}
return Math.Max(Math.Min(speed, (float)Math.Sqrt(Delta / brakeDist) * speed), speed / 10);
}
private bool Coord(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
float
deg = RTUtil.AngleBetween(RoverHDG, TargetHDG),
speed = RoverSpeed;
Delta = Vector3.Distance(mVessel.CoM, TargetPos);
DeltaT = Delta / speed;
if (Delta > Math.Abs(deg) / 36) {
fs.wheelThrottle = mThrottlePID.Control(BrakeSpeed(dc.speed, speed) - speed);
if (ForwardAxis != Vector3.zero)
fs.wheelSteer = mWheelPID.Control(deg);
return false;
} else {
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return true;
}
}
}
}
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