1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 | // // Kerbal Engineer Redux // // Copyright (C) 2014 CYBUTEK // // This program is free software: you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation, either version 3 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program. If not, see <http://www.gnu.org/licenses/>. // namespace KerbalEngineer.Flight.Readouts.Vessel { #region Using Directives using UnityEngine; #endregion public class AttitudeProcessor : IUpdatable, IUpdateRequest { #region Fields private static readonly AttitudeProcessor instance = new AttitudeProcessor(); private Vector3 centreOfMass = Vector3.zero; private double heading; private double headingRate; private Vector3 north = Vector3.zero; private double pitch; private double pitchRate; private double previousHeading; private double previousPitch; private double previousRoll; private double roll; private double rollRate; private Quaternion surfaceRotation; private Vector3 up = Vector3.zero; #endregion #region Properties public static double Heading { get { return instance.heading; } } public static double HeadingRate { get { return instance.headingRate; } } public static AttitudeProcessor Instance { get { return instance; } } public static double Pitch { get { return instance.pitch; } } public static double PitchRate { get { return instance.pitchRate; } } public static double Roll { get { return instance.roll; } } public static double RollRate { get { return instance.rollRate; } } public bool UpdateRequested { get; set; } #endregion #region Methods public static void RequestUpdate() { instance.UpdateRequested = true; } public void Update() { this.surfaceRotation = this.GetSurfaceRotation(); this.previousHeading = this.heading; this.previousPitch = this.pitch; this.previousRoll = this.roll; // This code was derived from MechJeb2's implementation for getting the vessel's surface relative rotation. this.heading = this.surfaceRotation.eulerAngles.y; this.pitch = this.surfaceRotation.eulerAngles.x > 180.0f ? 360.0f - this.surfaceRotation.eulerAngles.x : -this.surfaceRotation.eulerAngles.x; this.roll = this.surfaceRotation.eulerAngles.z > 180.0f ? this.surfaceRotation.eulerAngles.z - 360.0f : this.surfaceRotation.eulerAngles.z; this.headingRate = this.heading - this.previousHeading; this.pitchRate = this.pitch - this.previousPitch; this.rollRate = this.roll - this.previousRoll; } private Quaternion GetSurfaceRotation() { // This code was derived from MechJeb2's implementation for getting the vessel's surface relative rotation. this.centreOfMass = FlightGlobals.ActiveVessel.findWorldCenterOfMass(); this.up = (this.centreOfMass - FlightGlobals.ActiveVessel.mainBody.position).normalized; this.north = Vector3.ProjectOnPlane((FlightGlobals.ActiveVessel.mainBody.position + FlightGlobals.ActiveVessel.mainBody.transform.up * (float)FlightGlobals.ActiveVessel.mainBody.Radius) - this.centreOfMass, this.up).normalized; return Quaternion.Inverse(Quaternion.Euler(90.0f, 0.0f, 0.0f) * Quaternion.Inverse(FlightGlobals.ActiveVessel.transform.rotation) * Quaternion.LookRotation(this.north, this.up)); } #endregion } } |