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You + * can find the source code of these projects along with license information below. + * + * Project: Flight Assist (https://github.com/Naosyth/FlightAssist) + * Copyright: Copyright (c) 2017 Brandon Worl + * Licence: MIT Licence (https://github.com/Naosyth/FlightAssist/blob/master/LICENSE) + * + * Licence: + * MIT License + * + * Copyright (c) 2019 Sean Campbell + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Installation: + * 1. Create a group labeled 'heli assist' (or whatever you have configured the + * Heli-Assist group to be called) containing the gyroscopes, thrusters and + * cockpits you wish to use with Heli-Assist. + * 2. Load the Heli-Assist script into a programmable block. + * 3. (optionally) configure the Heli-Assist config as described in the configuration + * section. + * + * Usage: + * Once installed, Heli-Assist will align the craft with natural gravity. Using the + * WASD keys will result in the craft pitching and rolling in the appropriate direction + * as to result in forwarding or lateral motion. Additionally, it will regulate thrust + * accordingly to maintain altitude. + * + * Using the mouse or up down left and right keys will orientate the craft accordingly + * in addition to any pitch or roll already applied to move. Activation of the inertial + * dampeners will result in the craft pitching and rolling in the appropriate direction + * to slow the craft. + * + * Flight Modes: + * For ease of use, Heli-Assist provides different flight modes for multiple situations. + * * Flight mode will make the craft behave as described above and is activated by + * running the program with the argument 'flight'. The 'toggle_flight' argument + * will toggle between flight mode and manual mode. + * * Landing mode behaves almost identically to flight mode, except that the maximum + * pitch and roll (and thereby rate of acceleration) will be reduced to allow for more + * precise movement. Additionally, the inertial dampeners will automatically activate. + * Landing mode is activated by running the program with the argument 'landing'. The + * 'toggle_landing' argument will toggle between landing mode and flight mode. + * * Manual mode will disable the WASD keys and inertial dampening affecting pitch and roll + * but will still regulate thrust in order to maintain altitude. Manual mode is useful for + * aiming at targets or ignoring the limits of Heli-Assist's other flight modes, without the + * Heli-Assist automatically correcting. Manual mode is activated by running the program with + * the argument 'manual'. The 'toggle_manual' argument will toggle between manual mode and + * flight mode. + * * Standby mode will cause Heli-Assist to relinquish control of all gyroscopes and thrusters, + * allowing the pilot or another script to control them. It is helpful for switching between + * different craft configurations (such as shifting from hovering configuration to a high-speed + * configuration like a modern VTOL aircraft such as a harrier) or allowing for another script + * such as Vector Thrust to take control. Standby mode is activated by running the program with + * the argument 'standby'. The 'toggle_standby' argument will toggle between standby mode and + * flight mode. + * * Shutdown mode will power off all thrusters and gyroscopes associated with Heli-Assist. + * Shutdown mode is activated by running the program with the argument 'shutdown'. The + * 'toggle_shutdown' argument will toggle between shutdown mode and flight mode. + * + * Parameters: + * Heli-Assist provides multiple flight parameters in addition to its modes for customizability. + * * The Precision Aim parameter can be used in flight, landing and manual mode, reducing the + * sensitivity of the mouse/joystick to make aiming easier. It is toggled on/off by running + * the program with the 'toggle_precision' argument. + * * The Lateral Override parameter can be used in flight and landing mode and overrides inertial + * dampening on the lateral axis, meaning that disabling the inertial dampeners will only + * disable forward and backwards dampening, to make cruising easier. It is toggled on/off + * by running the program with the 'toggle_lateral_override' argument ('toggle_lateral_dampening' + * does the same and is retained for compatibility reasons). + * + * Configuration: + * Heli Assist is configured by editing the Custom Data of the programmable block and is automatically + * generated on first use. + * * block_group_name - This allows for the setting of a custom group name for blocks associated + * with Heli Assist. By default, it is 'Heli Assist' (without quotes). + * * start_mode - This sets the mode that Heli Assist will be in when it is first started, as + * described above. By default is 'flight'. + * * remember_mode - This setting determines whether Heli Assist should attempt to remember the + * mode it was last in when the script is restarted. By default, it is 'true'. + * * max_pitch - This sets the maximum allowed pitch in degrees for both the WASD keys and the + * motion dampeners. By default, it is 45. + * * max_roll - This sets the maximum allowed roll in degrees for both the WASD keys and the motion + * dampeners. By default, it is 45. + * * max_landing_pitch - This sets the maximum allowed pitch in degrees for both the WASD keys and + * the motion dampeners while in landing mode. By default, it is 10. + * * max_landing_roll - This sets the maximum allowed roll in degrees for both the WASD keys and + * the motion dampeners while in landing mode. By default, it is 10. + * * precision - This sets the reduction in movement from gyroscopes when in precision aim mode. + * By default, it is 16. + * * mouse_speed - This sets the mouse sensitivity in all modes. By default, it is 10. + * + * Change Log: + * v1.15: + * * Fixed a bug where craft would gradually drift up due to incorrect craft mass being used. + * v1.14: + * * Fixed a bug where high pitch and roll config settings would cause craft to pitch and roll indefinitely. + * * Fixed a bug where script config is not auto-generated when left blank. + * * Added mouse sensitivity setting to config. + * v1.13: + * * Fixed a bug that prevented lateral dampening override from working. + * * Added proportional dampening to inertial dampening. + * * Changed lateral dampening to lateral override for less ambiguity + * * Updated readme. + * v1.12: + * * Fixed a bug where control seats facing specific directions would make craft uncontrollable. + * v1.11: + * * Added automatic detection of new gyroscopes, thrusters and cockpits, updating every 10 seconds. + * * Fixed a bug where specific gyroscope configurations would make craft uncontrollable. + * v1.10: + * * Added precision aim. + * * Added lateral only dampening. + * * Added standby mode. + * * Changed landing mode so it will no longer force the use of dampeners. + * v1.01: + * * Fixed a bug where gyroscopes would fail to respond when placed in specific directions. + */ + +IMyShipController controller; +GyroController gyroController; +ThrusterController thrustController; + +//Runtime Variables +TimeSpan timeSinceLastUpdate; +bool updateFinished = false; +bool isFirstUpdate = true; + +//State Variables; +string mode; + +bool enableLateralOverride; +bool enablePrecisionAim; + +//Config Variables +string blockGroupName; + +string start_mode; +bool rememberLastMode; + +float maxFlightPitch; +float maxFlightRoll; + +float maxLandingPitch; +float maxLandingRoll; + +float precisionAimFactor; +float mouseSpeed; + +//Cache Variables +List<IMyShipController> controllerCache; +List<IMyGyro> gyroCache; +List<IMyThrust> thrustCache; + +string configCache; + +static Program program; + +public Program() +{ + controllerCache = new List<IMyShipController>(); + gyroCache = new List<IMyGyro>(); + thrustCache = new List<IMyThrust>(); + + timeSinceLastUpdate = TimeSpan.FromSeconds(0); + Runtime.UpdateFrequency = UpdateFrequency.Update1; + + try { this.Update(); } + catch (Exception e) { Echo("Error: " + e.Message); } + + program = this; +} + +public void Save() +{ + Storage = mode; +} + +public void Main(string argument, UpdateType updateSource) +{ + timeSinceLastUpdate += Runtime.TimeSinceLastRun; + + if (isFirstUpdate || !updateFinished || timeSinceLastUpdate > TimeSpan.FromSeconds(10)) + { + try { this.Update(); } + catch (Exception e) { Echo("Error: " + e.Message); } + timeSinceLastUpdate = TimeSpan.FromSeconds(0); + return; + } + + Echo("Script running, next update: " + (10 - (uint)timeSinceLastUpdate.TotalSeconds).ToString()); + Echo("Current Mode: " + mode); + Echo("Precision Aim: " + (enablePrecisionAim ? "enabled" : "disabled")); + Echo("Lateral Override: " + (enableLateralOverride ? "enabled" : "disabled")); + + if (IsValidMode(argument)) + SwitchToMode(argument); + else if (argument == "toggle_manual") SwitchToMode(mode == "manual" ? "flight" : "manual"); + else if (argument == "toggle_landing") SwitchToMode(mode == "landing" ? "flight" : "landing"); + else if (argument == "toggle_shutdown") SwitchToMode(mode == "shutdown" ? "flight" : "shutdown"); + else if (argument == "toggle_standby") SwitchToMode(mode == "standby" ? "flight" : "standby"); + else if (argument == "toggle_precision") enablePrecisionAim = !enablePrecisionAim; + else if (argument == "toggle_lateral_dampening") enableLateralOverride = !enableLateralOverride; + else if (argument == "toggle_lateral_override") enableLateralOverride = !enableLateralOverride; + else if (argument == "update") + { + updateFinished = false; + return; + } + + var wasd = controller.MoveIndicator; + var mouse = new Vector3(controller.RotationIndicator, controller.RollIndicator * 9); + var dampeningRotation = gyroController.CalculatePitchRollToAchiveVelocity(Vector3.Zero); + var autoStop = controller.DampenersOverride; + + if (enablePrecisionAim) mouse *= 1 / precisionAimFactor; + else mouse *= mouseSpeed; + + switch (mode) + { + case "flight": + { + var pitch = wasd.Z * maxFlightPitch * degToRad; + var roll = wasd.X * maxFlightRoll * degToRad; + dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxFlightRoll, maxFlightPitch) * degToRad); + + if ((autoStop || enableLateralOverride) && IsEqual(0, roll)) roll = MinAbs(dampeningRotation.X, maxFlightRoll * degToRad); + if (autoStop && IsEqual(0, pitch)) pitch = MinAbs(dampeningRotation.Y, maxFlightPitch * degToRad); + + gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse); + thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover()); + break; + } + case "landing": + { + var pitch = wasd.Z * maxLandingPitch * degToRad; + var roll = wasd.X * maxLandingRoll * degToRad; + dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxLandingRoll, maxLandingPitch) * degToRad); + + if ((autoStop || enableLateralOverride) && IsEqual(0, roll)) roll = MinAbs(dampeningRotation.X, maxLandingRoll); + if (autoStop && IsEqual(0, pitch)) pitch = MinAbs(dampeningRotation.Y, maxLandingPitch); + + gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse); + thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover()); + break; + } + case "manual": + gyroController.SetAngularVelocity(mouse); thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover()); + break; + case "shutdown": + break; + case "standby": + break; + } +} + +void SwitchToMode(string mode) +{ + if (!IsValidMode(mode)) return; + switch (mode) + { + case "flight": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(true); + break; + case "landing": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(true); + controller.DampenersOverride = true; + break; + case "manual": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(true); + break; + case "shutdown": + gyroController.SetEnabled(false); + thrustController.SetEnabled(false); + break; + case "standby": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(false); + thrustController.SetYAxisThrust(0); + break; + } + this.mode = mode; + enablePrecisionAim = false; + enableLateralOverride = false; +} + +bool IsValidMode(string mode) +{ + return mode == "flight" || mode == "landing" || mode == "manual" || mode == "shutdown" || mode == "standby"; +} + +public void Update() +{ + if (isFirstUpdate || configCache != Me.CustomData || Me.CustomData == "") + { + var config = new ConfigSection("main"); + config.Read(Me.CustomData); + + blockGroupName = config.Get<string>("block_group_name", "Heli Assist"); + + start_mode = config.Get<string>("start_mode", "flight"); + rememberLastMode = config.Get<bool>("remember_mode", true); + + maxFlightPitch = config.Get<float>("max_pitch", 40.0f); + maxFlightRoll = config.Get<float>("max_roll", 40.0f); + + maxLandingPitch = config.Get<float>("max_landing_pitch", 15.0f); + maxLandingRoll = config.Get<float>("max_landing_roll", 15.0f); + + precisionAimFactor = config.Get<float>("precision", 16.0f); + mouseSpeed = config.Get<float>("mouse_speed", 0.5f); + + if (Me.CustomData == "") Me.CustomData = configCache = config.write(); + else configCache = Me.CustomData; + } + + var blockGroup = GridTerminalSystem.GetBlockGroupWithName(blockGroupName); + if (blockGroup == null) throw new Exception("Could not find block group with name '" + blockGroupName + "'"); + + controllerCache.Clear(); + blockGroup.GetBlocksOfType<IMyShipController>(controllerCache); + if (!controllerCache.Any()) throw new Exception("Ship must have at least one ship controller"); + controller = null; + foreach (var controller in controllerCache) + { + if (controller.IsUnderControl || (controller.IsMainCockpit && this.controller == null)) + this.controller = controller; + } + if (this.controller == null) this.controller = controllerCache.First(); + + gyroCache.Clear(); + blockGroup.GetBlocksOfType<IMyGyro>(gyroCache); + if (!gyroCache.Any()) throw new Exception("Ship must have atleast one gyroscope"); + + thrustCache.Clear(); + blockGroup.GetBlocksOfType<IMyThrust>(thrustCache); + if (!thrustCache.Any()) throw new Exception("Ship must have atleast one thruster"); + + if (thrustController == null) thrustController = new ThrusterController(controller, thrustCache); + else thrustController.Update(controller, thrustCache); + + if (gyroController == null) gyroController = new GyroController(controller, gyroCache); + else gyroController.Update(controller, gyroCache); + + if (isFirstUpdate && rememberLastMode && IsValidMode(Storage)) SwitchToMode(Storage); + else if (isFirstUpdate) SwitchToMode(start_mode); + + isFirstUpdate = false; + updateFinished = true; +} + +//The GyroController module is based on Flight Assist's GyroController and HoverModule, sharing code in places. +public class GyroController +{ + const float dampeningFactor = 25.0f; + + private IMyShipController controller; + private List<IMyGyro> gyroscopes; + + public GyroController(IMyShipController controller, List<IMyGyro> gyroscopes) + { + this.controller = controller; + this.gyroscopes = new List<IMyGyro>(gyroscopes); + } + + public void Update(IMyShipController controller, List<IMyGyro> gyroscopes) + { + SetController(controller); + AddGyroscopes(gyroscopes); + } + + public void AddGyroscopes(List<IMyGyro> gyroscopes) + { + this.gyroscopes.AddList(gyroscopes); + this.gyroscopes = this.gyroscopes.Distinct().ToList(); + } + + public void SetController(IMyShipController controller) + { + this.controller = controller; + } + + public void SetEnabled(bool setEnabled) + { + foreach (var gyroscope in gyroscopes) + { + gyroscope.Enabled = setEnabled; + } + } + + public void SetOverride(bool setOverride) + { + foreach (var gyroscope in gyroscopes) + { + gyroscope.GyroOverride = setOverride; + } + } + + public Vector2 CalculatePitchRollToAchiveVelocity(Vector3 targetVelocity) + { + Vector3 diffrence = Vector3.Normalize(controller.GetShipVelocities().LinearVelocity - targetVelocity); + Vector3 gravity = -Vector3.Normalize(controller.GetNaturalGravity()); + float velocity = (float)controller.GetShipSpeed(); + float proportionalModifier = (float)Math.Pow(Math.Abs(diffrence.Length()), 2); + + float pitch = NotNaN(Vector3.Dot(diffrence, Vector3.Cross(gravity, controller.WorldMatrix.Right)) * velocity) * proportionalModifier / dampeningFactor; + float roll = NotNaN(Vector3.Dot(diffrence, Vector3.Cross(gravity, controller.WorldMatrix.Forward)) * velocity) * proportionalModifier / dampeningFactor; + + pitch = MinAbs(pitch, 90.0f * degToRad); + roll = MinAbs(roll, 90.0f * degToRad); + + return new Vector2(roll, pitch); + } + + public Vector3 CalculateVelocityToAlign(float offsetPitch = 0.0f, float offsetRoll = 0.0f) + { + var gravity = -Vector3.Normalize(Vector3.TransformNormal(controller.GetNaturalGravity(), Matrix.Transpose(controller.WorldMatrix))); + var target = Vector3.Normalize(Vector3.Transform(gravity, Matrix.CreateFromAxisAngle(Vector3.Right, offsetPitch) * Matrix.CreateFromAxisAngle(Vector3.Forward, offsetRoll))); + + var pitch = Vector3.Dot(Vector3.Forward, target); + var roll = Vector3.Dot(Vector3.Right, target); + + return new Vector3(pitch, 0, roll); + } + + public void SetAngularVelocity(Vector3 velocity) + { + var cockpitLocalVelocity = Vector3.TransformNormal(velocity, controller.WorldMatrix); + foreach (var gyro in gyroscopes) + { + var gyroLocalVelocity = Vector3.TransformNormal(cockpitLocalVelocity, Matrix.Transpose(gyro.WorldMatrix)); + + gyro.Pitch = gyroLocalVelocity.X; + gyro.Yaw = gyroLocalVelocity.Y; + gyro.Roll = gyroLocalVelocity.Z; + } + } +} + +public class ThrusterController +{ + private IMyShipController controller; + private List<IMyThrust> allThrusters; + private List<IMyThrust> upThrusters, downThrusters, leftThrusters, rightThrusters, forwardThrusters, backwardThrusters; + + public ThrusterController(IMyShipController controller, List<IMyThrust> thrusters) + { + upThrusters = new List<IMyThrust>(); + downThrusters = new List<IMyThrust>(); + leftThrusters = new List<IMyThrust>(); + rightThrusters = new List<IMyThrust>(); + forwardThrusters = new List<IMyThrust>(); + backwardThrusters = new List<IMyThrust>(); + + Update(controller, thrusters); + } + + public void Update(IMyShipController controller, List<IMyThrust> thrusters) + { + this.controller = controller; + this.allThrusters = thrusters.Distinct().ToList(); + + foreach (var thruster in thrusters) + { + if (thruster.GridThrustDirection.Z < 0) forwardThrusters.Add(thruster); + if (thruster.GridThrustDirection.Z > 0) backwardThrusters.Add(thruster); + if (thruster.GridThrustDirection.Y < 0) upThrusters.Add(thruster); + if (thruster.GridThrustDirection.Y > 0) downThrusters.Add(thruster); + if (thruster.GridThrustDirection.X < 0) leftThrusters.Add(thruster); + if (thruster.GridThrustDirection.X > 0) rightThrusters.Add(thruster); + + thruster.ThrustOverride = 0; + } + + forwardThrusters = forwardThrusters.Distinct().ToList(); + backwardThrusters = backwardThrusters.Distinct().ToList(); + upThrusters = upThrusters.Distinct().ToList(); + downThrusters = downThrusters.Distinct().ToList(); + leftThrusters = leftThrusters.Distinct().ToList(); + rightThrusters = rightThrusters.Distinct().ToList(); + } + + public void SetEnabled(bool enabled) + { + foreach (var thruster in allThrusters) + { + thruster.Enabled = enabled; + } + } + + public float SetZAxisThrust(float thrust) + { + return setAxisThrust(thrust, ref forwardThrusters, ref backwardThrusters); + } + + public float SetYAxisThrust(float thrust) + { + return setAxisThrust(thrust, ref upThrusters, ref downThrusters); + } + + public float SetXAxisThrust(float thrust) + { + return setAxisThrust(thrust, ref leftThrusters, ref rightThrusters); + } + + public float CalculateMaxEffectiveForwardThrust() + { + return calculateMaxAxisThrust(ref forwardThrusters); + } + + public float CalculateMaxEffectiveBackwardThrust() + { + return calculateMaxAxisThrust(ref backwardThrusters); + } + + public float CalculateMaxEffectiveLeftThrust() + { + return calculateMaxAxisThrust(ref leftThrusters); + } + + public float CalculateMaxEffectiveRightThrust() + { + return calculateMaxAxisThrust(ref rightThrusters); + } + + public float CalculateMaxEffectiveUpThrust() + { + return calculateMaxAxisThrust(ref upThrusters); + } + + public float CalculateMaxEffectiveDownThrust() + { + return calculateMaxAxisThrust(ref downThrusters); + } + + public float CalculateThrustToHover() + { + var gravityDir = controller.GetNaturalGravity(); + var weight = controller.CalculateShipMass().PhysicalMass * gravityDir.Length(); + var velocity = controller.GetShipVelocities().LinearVelocity; + + gravityDir.Normalize(); + var gravityMatrix = Matrix.Invert(Matrix.CreateFromDir(gravityDir)); + velocity = Vector3D.Transform(velocity, gravityMatrix); + + if (Vector3.Transform(controller.WorldMatrix.GetOrientation().Down, gravityMatrix).Z < 0) + return (float)(weight + weight * -velocity.Z); + else + return -(float)(weight + weight * -velocity.Z); + } + + private float calculateMaxAxisThrust(ref List<IMyThrust> thrusters) + { + float thrust = 0; + foreach (var thruster in thrusters) + { + thrust += thruster.MaxEffectiveThrust; + } + return thrust; + } + + private float calculateEffectiveThustRatio(IMyThrust thruster) + { + return thruster.MaxThrust / thruster.MaxEffectiveThrust; + } + + private float setAxisThrust(float thrust, ref List<IMyThrust> thrustersPos, ref List<IMyThrust> thrustersNeg) + { + List<IMyThrust> thrusters, backThrusters; + + if (thrust >= 0) + { + thrusters = thrustersPos; + backThrusters = thrustersNeg; + } + else + { + thrusters = thrustersNeg; + backThrusters = thrustersPos; + } + + thrust = Math.Abs(thrust); + + foreach (var thruster in backThrusters) + { + thruster.ThrustOverride = 0.0f; + } + + foreach (var thruster in thrusters) + { + //TODO: replace with smart thruster thrust allocation code. + var localThrust = (thrust / thrusters.Count) * calculateEffectiveThustRatio(thruster); + thruster.ThrustOverride = (float.IsNaN(localThrust) || float.IsInfinity(localThrust)) ? 0 : localThrust; + } + return 0.0f; + } +} + +const float degToRad = (float)Math.PI / 180; +const float radToDeg = 180.0f / (float)Math.PI; + +public static bool IsEqual(float value1, float value2, float epsilon = 0.0001f) +{ + return Math.Abs(NotNaN(value1 - value2)) <= epsilon; +} + +public static float NotNaN(float value) +{ + return float.IsNaN(value) ? 0 : value; +} + +public static float MinAbs(float value1, float value2) +{ + return Math.Min(Math.Abs(value1), Math.Abs(value2)) * (value1 < 0 ? -1 : 1); +} +class ConfigSection +{ + Dictionary<string, string> config; + string name; + + public ConfigSection(string name) + { + this.config = new Dictionary<string, string>(); + this.name = name; + } + + public void Read(string text) + { + config.Clear(); + + var ini = new MyIni(); + MyIniParseResult parseResult; + if (!ini.TryParse(text, out parseResult)) + throw new Exception("Failed To Read Config: " + parseResult.Error + " on line" + parseResult.LineNo.ToString()); + + var keys = new List<MyIniKey>(); + ini.GetKeys(name, keys); + foreach (var key in keys) + { + config.Add(key.Name, ini.Get(key).ToString()); + } + } + + public string write() + { + MyIni ini = new MyIni(); + ini.AddSection(name); + + foreach (var kv in config) { ini.Set(name, kv.Key, kv.Value); } + + return ini.ToString(); + } + + public T Get<T>(string key, T value) + { + if (!config.ContainsKey(key)) + { + config.Add(key, value.ToString()); + return value; + } + string result; config.TryGetValue(key, out result); + return (T)Convert.ChangeType(result, typeof(T)); + } +} + landing + + + CAP_HalfSlopeArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_ArmorHalfSlopeCorner + + + + CarbonFibre_Armor + + + CAP_ArmorSlope2Tip + + + + CarbonFibre_Armor + + + CAP_HalfSlopeArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfSlopeArmorBlock + + + + CarbonFibre_Armor + + + CAP_ArmorCorner2Tip + + + + CarbonFibre_Armor + + + CAP_ArmorHalfSlopeCorner + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_ArmorHalfSlopeInverted + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_ArmorBlock + + + Clean_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_ArmorHalfSlopeInverted + + + + CarbonFibre_Armor + + + CAP_ArmorHalfSlopeInverted + + 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0 + 0 + 0 + 0 + 0 + 255 + + + 4281479935 + 255 + 50 + 50 + 255 + 50 + 50 + 255 + + + 0 + + + + 0 + + 1 + NONE + + 4294967295 + 255 + 255 + 255 + 255 + 255 + 255 + 255 + + + 4278190080 + 0 + 0 + 0 + 0 + 0 + 0 + 255 + + 0 + SCRIPT + TSS_EnergyHydrogen + 2 + true + + 4278190080 + 0 + 0 + 0 + 0 + 0 + 0 + 255 + + + 4281479935 + 255 + 50 + 50 + 255 + 50 + 50 + 255 + + + 0 + + + + + + + MyModStorageComponent + + + + + 74de02b3-27f9-4960-b1c4-27351f2b06d1 + [main] +block_group_name=[Loki] [Spine] Heli-Control +start_mode=flight +remember_mode=True +max_pitch=30 +max_roll=30 +max_landing_pitch=10 +max_landing_roll=10 +precision=16 +mouse_speed=0.5 + + + + + + + + + [Loki] [Spine] Heli Assist Script + false + true + true + true + 1 + true + /* + * Heli Assist + * ----------- + * + * Credits: + * This script uses modified components from existing open source projects. You + * can find the source code of these projects along with license information below. + * + * Project: Flight Assist (https://github.com/Naosyth/FlightAssist) + * Copyright: Copyright (c) 2017 Brandon Worl + * Licence: MIT Licence (https://github.com/Naosyth/FlightAssist/blob/master/LICENSE) + * + * Licence: + * MIT License + * + * Copyright (c) 2019 Sean Campbell + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Installation: + * 1. Create a group labeled 'heli assist' (or whatever you have configured the + * Heli-Assist group to be called) containing the gyroscopes, thrusters and + * cockpits you wish to use with Heli-Assist. + * 2. Load the Heli-Assist script into a programmable block. + * 3. (optionally) configure the Heli-Assist config as described in the configuration + * section. + * + * Usage: + * Once installed, Heli-Assist will align the craft with natural gravity. Using the + * WASD keys will result in the craft pitching and rolling in the appropriate direction + * as to result in forwarding or lateral motion. Additionally, it will regulate thrust + * accordingly to maintain altitude. + * + * Using the mouse or up down left and right keys will orientate the craft accordingly + * in addition to any pitch or roll already applied to move. Activation of the inertial + * dampeners will result in the craft pitching and rolling in the appropriate direction + * to slow the craft. + * + * Flight Modes: + * For ease of use, Heli-Assist provides different flight modes for multiple situations. + * * Flight mode will make the craft behave as described above and is activated by + * running the program with the argument 'flight'. The 'toggle_flight' argument + * will toggle between flight mode and manual mode. + * * Landing mode behaves almost identically to flight mode, except that the maximum + * pitch and roll (and thereby rate of acceleration) will be reduced to allow for more + * precise movement. Additionally, the inertial dampeners will automatically activate. + * Landing mode is activated by running the program with the argument 'landing'. The + * 'toggle_landing' argument will toggle between landing mode and flight mode. + * * Manual mode will disable the WASD keys and inertial dampening affecting pitch and roll + * but will still regulate thrust in order to maintain altitude. Manual mode is useful for + * aiming at targets or ignoring the limits of Heli-Assist's other flight modes, without the + * Heli-Assist automatically correcting. Manual mode is activated by running the program with + * the argument 'manual'. The 'toggle_manual' argument will toggle between manual mode and + * flight mode. + * * Standby mode will cause Heli-Assist to relinquish control of all gyroscopes and thrusters, + * allowing the pilot or another script to control them. It is helpful for switching between + * different craft configurations (such as shifting from hovering configuration to a high-speed + * configuration like a modern VTOL aircraft such as a harrier) or allowing for another script + * such as Vector Thrust to take control. Standby mode is activated by running the program with + * the argument 'standby'. The 'toggle_standby' argument will toggle between standby mode and + * flight mode. + * * Shutdown mode will power off all thrusters and gyroscopes associated with Heli-Assist. + * Shutdown mode is activated by running the program with the argument 'shutdown'. The + * 'toggle_shutdown' argument will toggle between shutdown mode and flight mode. + * + * Parameters: + * Heli-Assist provides multiple flight parameters in addition to its modes for customizability. + * * The Precision Aim parameter can be used in flight, landing and manual mode, reducing the + * sensitivity of the mouse/joystick to make aiming easier. It is toggled on/off by running + * the program with the 'toggle_precision' argument. + * * The Lateral Override parameter can be used in flight and landing mode and overrides inertial + * dampening on the lateral axis, meaning that disabling the inertial dampeners will only + * disable forward and backwards dampening, to make cruising easier. It is toggled on/off + * by running the program with the 'toggle_lateral_override' argument ('toggle_lateral_dampening' + * does the same and is retained for compatibility reasons). + * + * Configuration: + * Heli Assist is configured by editing the Custom Data of the programmable block and is automatically + * generated on first use. + * * block_group_name - This allows for the setting of a custom group name for blocks associated + * with Heli Assist. By default, it is 'Heli Assist' (without quotes). + * * start_mode - This sets the mode that Heli Assist will be in when it is first started, as + * described above. By default is 'flight'. + * * remember_mode - This setting determines whether Heli Assist should attempt to remember the + * mode it was last in when the script is restarted. By default, it is 'true'. + * * max_pitch - This sets the maximum allowed pitch in degrees for both the WASD keys and the + * motion dampeners. By default, it is 45. + * * max_roll - This sets the maximum allowed roll in degrees for both the WASD keys and the motion + * dampeners. By default, it is 45. + * * max_landing_pitch - This sets the maximum allowed pitch in degrees for both the WASD keys and + * the motion dampeners while in landing mode. By default, it is 10. + * * max_landing_roll - This sets the maximum allowed roll in degrees for both the WASD keys and + * the motion dampeners while in landing mode. By default, it is 10. + * * precision - This sets the reduction in movement from gyroscopes when in precision aim mode. + * By default, it is 16. + * * mouse_speed - This sets the mouse sensitivity in all modes. By default, it is 10. + * + * Change Log: + * v1.15: + * * Fixed a bug where craft would gradually drift up due to incorrect craft mass being used. + * v1.14: + * * Fixed a bug where high pitch and roll config settings would cause craft to pitch and roll indefinitely. + * * Fixed a bug where script config is not auto-generated when left blank. + * * Added mouse sensitivity setting to config. + * v1.13: + * * Fixed a bug that prevented lateral dampening override from working. + * * Added proportional dampening to inertial dampening. + * * Changed lateral dampening to lateral override for less ambiguity + * * Updated readme. + * v1.12: + * * Fixed a bug where control seats facing specific directions would make craft uncontrollable. + * v1.11: + * * Added automatic detection of new gyroscopes, thrusters and cockpits, updating every 10 seconds. + * * Fixed a bug where specific gyroscope configurations would make craft uncontrollable. + * v1.10: + * * Added precision aim. + * * Added lateral only dampening. + * * Added standby mode. + * * Changed landing mode so it will no longer force the use of dampeners. + * v1.01: + * * Fixed a bug where gyroscopes would fail to respond when placed in specific directions. + */ + +IMyShipController controller; +GyroController gyroController; +ThrusterController thrustController; + +//Runtime Variables +TimeSpan timeSinceLastUpdate; +bool updateFinished = false; +bool isFirstUpdate = true; + +//State Variables; +string mode; + +bool enableLateralOverride; +bool enablePrecisionAim; + +//Config Variables +string blockGroupName; + +string start_mode; +bool rememberLastMode; + +float maxFlightPitch; +float maxFlightRoll; + +float maxLandingPitch; +float maxLandingRoll; + +float precisionAimFactor; +float mouseSpeed; + +//Cache Variables +List<IMyShipController> controllerCache; +List<IMyGyro> gyroCache; +List<IMyThrust> thrustCache; + +string configCache; + +static Program program; + +public Program() +{ + controllerCache = new List<IMyShipController>(); + gyroCache = new List<IMyGyro>(); + thrustCache = new List<IMyThrust>(); + + timeSinceLastUpdate = TimeSpan.FromSeconds(0); + Runtime.UpdateFrequency = UpdateFrequency.Update1; + + try { this.Update(); } + catch (Exception e) { Echo("Error: " + e.Message); } + + program = this; +} + +public void Save() +{ + Storage = mode; +} + +public void Main(string argument, UpdateType updateSource) +{ + timeSinceLastUpdate += Runtime.TimeSinceLastRun; + + if (isFirstUpdate || !updateFinished || timeSinceLastUpdate > TimeSpan.FromSeconds(10)) + { + try { this.Update(); } + catch (Exception e) { Echo("Error: " + e.Message); } + timeSinceLastUpdate = TimeSpan.FromSeconds(0); + return; + } + + Echo("Script running, next update: " + (10 - (uint)timeSinceLastUpdate.TotalSeconds).ToString()); + Echo("Current Mode: " + mode); + Echo("Precision Aim: " + (enablePrecisionAim ? "enabled" : "disabled")); + Echo("Lateral Override: " + (enableLateralOverride ? "enabled" : "disabled")); + + if (IsValidMode(argument)) + SwitchToMode(argument); + else if (argument == "toggle_manual") SwitchToMode(mode == "manual" ? "flight" : "manual"); + else if (argument == "toggle_landing") SwitchToMode(mode == "landing" ? "flight" : "landing"); + else if (argument == "toggle_shutdown") SwitchToMode(mode == "shutdown" ? "flight" : "shutdown"); + else if (argument == "toggle_standby") SwitchToMode(mode == "standby" ? "flight" : "standby"); + else if (argument == "toggle_precision") enablePrecisionAim = !enablePrecisionAim; + else if (argument == "toggle_lateral_dampening") enableLateralOverride = !enableLateralOverride; + else if (argument == "toggle_lateral_override") enableLateralOverride = !enableLateralOverride; + else if (argument == "update") + { + updateFinished = false; + return; + } + + var wasd = controller.MoveIndicator; + var mouse = new Vector3(controller.RotationIndicator, controller.RollIndicator * 9); + var dampeningRotation = gyroController.CalculatePitchRollToAchiveVelocity(Vector3.Zero); + var autoStop = controller.DampenersOverride; + + if (enablePrecisionAim) mouse *= 1 / precisionAimFactor; + else mouse *= mouseSpeed; + + switch (mode) + { + case "flight": + { + var pitch = wasd.Z * maxFlightPitch * degToRad; + var roll = wasd.X * maxFlightRoll * degToRad; + dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxFlightRoll, maxFlightPitch) * degToRad); + + if ((autoStop || enableLateralOverride) && IsEqual(0, roll)) roll = MinAbs(dampeningRotation.X, maxFlightRoll * degToRad); + if (autoStop && IsEqual(0, pitch)) pitch = MinAbs(dampeningRotation.Y, maxFlightPitch * degToRad); + + gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse); + thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover()); + break; + } + case "landing": + { + var pitch = wasd.Z * maxLandingPitch * degToRad; + var roll = wasd.X * maxLandingRoll * degToRad; + dampeningRotation = Vector2.Min(dampeningRotation, new Vector2(maxLandingRoll, maxLandingPitch) * degToRad); + + if ((autoStop || enableLateralOverride) && IsEqual(0, roll)) roll = MinAbs(dampeningRotation.X, maxLandingRoll); + if (autoStop && IsEqual(0, pitch)) pitch = MinAbs(dampeningRotation.Y, maxLandingPitch); + + gyroController.SetAngularVelocity(gyroController.CalculateVelocityToAlign(pitch, roll) + mouse); + thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover()); + break; + } + case "manual": + gyroController.SetAngularVelocity(mouse); thrustController.SetYAxisThrust(wasd.Y != 0 ? 0 : thrustController.CalculateThrustToHover()); + break; + case "shutdown": + break; + case "standby": + break; + } +} + +void SwitchToMode(string mode) +{ + if (!IsValidMode(mode)) return; + switch (mode) + { + case "flight": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(true); + break; + case "landing": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(true); + controller.DampenersOverride = true; + break; + case "manual": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(true); + break; + case "shutdown": + gyroController.SetEnabled(false); + thrustController.SetEnabled(false); + break; + case "standby": + gyroController.SetEnabled(true); + thrustController.SetEnabled(true); + gyroController.SetOverride(false); + thrustController.SetYAxisThrust(0); + break; + } + this.mode = mode; + enablePrecisionAim = false; + enableLateralOverride = false; +} + +bool IsValidMode(string mode) +{ + return mode == "flight" || mode == "landing" || mode == "manual" || mode == "shutdown" || mode == "standby"; +} + +public void Update() +{ + if (isFirstUpdate || configCache != Me.CustomData || Me.CustomData == "") + { + var config = new ConfigSection("main"); + config.Read(Me.CustomData); + + blockGroupName = config.Get<string>("block_group_name", "Heli Assist"); + + start_mode = config.Get<string>("start_mode", "flight"); + rememberLastMode = config.Get<bool>("remember_mode", true); + + maxFlightPitch = config.Get<float>("max_pitch", 40.0f); + maxFlightRoll = config.Get<float>("max_roll", 40.0f); + + maxLandingPitch = config.Get<float>("max_landing_pitch", 15.0f); + maxLandingRoll = config.Get<float>("max_landing_roll", 15.0f); + + precisionAimFactor = config.Get<float>("precision", 16.0f); + mouseSpeed = config.Get<float>("mouse_speed", 0.5f); + + if (Me.CustomData == "") Me.CustomData = configCache = config.write(); + else configCache = Me.CustomData; + } + + var blockGroup = GridTerminalSystem.GetBlockGroupWithName(blockGroupName); + if (blockGroup == null) throw new Exception("Could not find block group with name '" + blockGroupName + "'"); + + controllerCache.Clear(); + blockGroup.GetBlocksOfType<IMyShipController>(controllerCache); + if (!controllerCache.Any()) throw new Exception("Ship must have at least one ship controller"); + controller = null; + foreach (var controller in controllerCache) + { + if (controller.IsUnderControl || (controller.IsMainCockpit && this.controller == null)) + this.controller = controller; + } + if (this.controller == null) this.controller = controllerCache.First(); + + gyroCache.Clear(); + blockGroup.GetBlocksOfType<IMyGyro>(gyroCache); + if (!gyroCache.Any()) throw new Exception("Ship must have atleast one gyroscope"); + + thrustCache.Clear(); + blockGroup.GetBlocksOfType<IMyThrust>(thrustCache); + if (!thrustCache.Any()) throw new Exception("Ship must have atleast one thruster"); + + if (thrustController == null) thrustController = new ThrusterController(controller, thrustCache); + else thrustController.Update(controller, thrustCache); + + if (gyroController == null) gyroController = new GyroController(controller, gyroCache); + else gyroController.Update(controller, gyroCache); + + if (isFirstUpdate && rememberLastMode && IsValidMode(Storage)) SwitchToMode(Storage); + else if (isFirstUpdate) SwitchToMode(start_mode); + + isFirstUpdate = false; + updateFinished = true; +} + +//The GyroController module is based on Flight Assist's GyroController and HoverModule, sharing code in places. +public class GyroController +{ + const float dampeningFactor = 25.0f; + + private IMyShipController controller; + private List<IMyGyro> gyroscopes; + + public GyroController(IMyShipController controller, List<IMyGyro> gyroscopes) + { + this.controller = controller; + this.gyroscopes = new List<IMyGyro>(gyroscopes); + } + + public void Update(IMyShipController controller, List<IMyGyro> gyroscopes) + { + SetController(controller); + AddGyroscopes(gyroscopes); + } + + public void AddGyroscopes(List<IMyGyro> gyroscopes) + { + this.gyroscopes.AddList(gyroscopes); + this.gyroscopes = this.gyroscopes.Distinct().ToList(); + } + + public void SetController(IMyShipController controller) + { + this.controller = controller; + } + + public void SetEnabled(bool setEnabled) + { + foreach (var gyroscope in gyroscopes) + { + gyroscope.Enabled = setEnabled; + } + } + + public void SetOverride(bool setOverride) + { + foreach (var gyroscope in gyroscopes) + { + gyroscope.GyroOverride = setOverride; + } + } + + public Vector2 CalculatePitchRollToAchiveVelocity(Vector3 targetVelocity) + { + Vector3 diffrence = Vector3.Normalize(controller.GetShipVelocities().LinearVelocity - targetVelocity); + Vector3 gravity = -Vector3.Normalize(controller.GetNaturalGravity()); + float velocity = (float)controller.GetShipSpeed(); + float proportionalModifier = (float)Math.Pow(Math.Abs(diffrence.Length()), 2); + + float pitch = NotNaN(Vector3.Dot(diffrence, Vector3.Cross(gravity, controller.WorldMatrix.Right)) * velocity) * proportionalModifier / dampeningFactor; + float roll = NotNaN(Vector3.Dot(diffrence, Vector3.Cross(gravity, controller.WorldMatrix.Forward)) * velocity) * proportionalModifier / dampeningFactor; + + pitch = MinAbs(pitch, 90.0f * degToRad); + roll = MinAbs(roll, 90.0f * degToRad); + + return new Vector2(roll, pitch); + } + + public Vector3 CalculateVelocityToAlign(float offsetPitch = 0.0f, float offsetRoll = 0.0f) + { + var gravity = -Vector3.Normalize(Vector3.TransformNormal(controller.GetNaturalGravity(), Matrix.Transpose(controller.WorldMatrix))); + var target = Vector3.Normalize(Vector3.Transform(gravity, Matrix.CreateFromAxisAngle(Vector3.Right, offsetPitch) * Matrix.CreateFromAxisAngle(Vector3.Forward, offsetRoll))); + + var pitch = Vector3.Dot(Vector3.Forward, target); + var roll = Vector3.Dot(Vector3.Right, target); + + return new Vector3(pitch, 0, roll); + } + + public void SetAngularVelocity(Vector3 velocity) + { + var cockpitLocalVelocity = Vector3.TransformNormal(velocity, controller.WorldMatrix); + foreach (var gyro in gyroscopes) + { + var gyroLocalVelocity = Vector3.TransformNormal(cockpitLocalVelocity, Matrix.Transpose(gyro.WorldMatrix)); + + gyro.Pitch = gyroLocalVelocity.X; + gyro.Yaw = gyroLocalVelocity.Y; + gyro.Roll = gyroLocalVelocity.Z; + } + } +} + +public class ThrusterController +{ + private IMyShipController controller; + private List<IMyThrust> allThrusters; + private List<IMyThrust> upThrusters, downThrusters, leftThrusters, rightThrusters, forwardThrusters, backwardThrusters; + + public ThrusterController(IMyShipController controller, List<IMyThrust> thrusters) + { + upThrusters = new List<IMyThrust>(); + downThrusters = new List<IMyThrust>(); + leftThrusters = new List<IMyThrust>(); + rightThrusters = new List<IMyThrust>(); + forwardThrusters = new List<IMyThrust>(); + backwardThrusters = new List<IMyThrust>(); + + Update(controller, thrusters); + } + + public void Update(IMyShipController controller, List<IMyThrust> thrusters) + { + this.controller = controller; + this.allThrusters = thrusters.Distinct().ToList(); + + foreach (var thruster in thrusters) + { + if (thruster.GridThrustDirection.Z < 0) forwardThrusters.Add(thruster); + if (thruster.GridThrustDirection.Z > 0) backwardThrusters.Add(thruster); + if (thruster.GridThrustDirection.Y < 0) upThrusters.Add(thruster); + if (thruster.GridThrustDirection.Y > 0) downThrusters.Add(thruster); + if (thruster.GridThrustDirection.X < 0) leftThrusters.Add(thruster); + if (thruster.GridThrustDirection.X > 0) rightThrusters.Add(thruster); + + thruster.ThrustOverride = 0; + } + + forwardThrusters = forwardThrusters.Distinct().ToList(); + backwardThrusters = backwardThrusters.Distinct().ToList(); + upThrusters = upThrusters.Distinct().ToList(); + downThrusters = downThrusters.Distinct().ToList(); + leftThrusters = leftThrusters.Distinct().ToList(); + rightThrusters = rightThrusters.Distinct().ToList(); + } + + public void SetEnabled(bool enabled) + { + foreach (var thruster in allThrusters) + { + thruster.Enabled = enabled; + } + } + + public float SetZAxisThrust(float thrust) + { + return setAxisThrust(thrust, ref forwardThrusters, ref backwardThrusters); + } + + public float SetYAxisThrust(float thrust) + { + return setAxisThrust(thrust, ref upThrusters, ref downThrusters); + } + + public float SetXAxisThrust(float thrust) + { + return setAxisThrust(thrust, ref leftThrusters, ref rightThrusters); + } + + public float CalculateMaxEffectiveForwardThrust() + { + return calculateMaxAxisThrust(ref forwardThrusters); + } + + public float CalculateMaxEffectiveBackwardThrust() + { + return calculateMaxAxisThrust(ref backwardThrusters); + } + + public float CalculateMaxEffectiveLeftThrust() + { + return calculateMaxAxisThrust(ref leftThrusters); + } + + public float CalculateMaxEffectiveRightThrust() + { + return calculateMaxAxisThrust(ref rightThrusters); + } + + public float CalculateMaxEffectiveUpThrust() + { + return calculateMaxAxisThrust(ref upThrusters); + } + + public float CalculateMaxEffectiveDownThrust() + { + return calculateMaxAxisThrust(ref downThrusters); + } + + public float CalculateThrustToHover() + { + var gravityDir = controller.GetNaturalGravity(); + var weight = controller.CalculateShipMass().PhysicalMass * gravityDir.Length(); + var velocity = controller.GetShipVelocities().LinearVelocity; + + gravityDir.Normalize(); + var gravityMatrix = Matrix.Invert(Matrix.CreateFromDir(gravityDir)); + velocity = Vector3D.Transform(velocity, gravityMatrix); + + if (Vector3.Transform(controller.WorldMatrix.GetOrientation().Down, gravityMatrix).Z < 0) + return (float)(weight + weight * -velocity.Z); + else + return -(float)(weight + weight * -velocity.Z); + } + + private float calculateMaxAxisThrust(ref List<IMyThrust> thrusters) + { + float thrust = 0; + foreach (var thruster in thrusters) + { + thrust += thruster.MaxEffectiveThrust; + } + return thrust; + } + + private float calculateEffectiveThustRatio(IMyThrust thruster) + { + return thruster.MaxThrust / thruster.MaxEffectiveThrust; + } + + private float setAxisThrust(float thrust, ref List<IMyThrust> thrustersPos, ref List<IMyThrust> thrustersNeg) + { + List<IMyThrust> thrusters, backThrusters; + + if (thrust >= 0) + { + thrusters = thrustersPos; + backThrusters = thrustersNeg; + } + else + { + thrusters = thrustersNeg; + backThrusters = thrustersPos; + } + + thrust = Math.Abs(thrust); + + foreach (var thruster in backThrusters) + { + thruster.ThrustOverride = 0.0f; + } + + foreach (var thruster in thrusters) + { + //TODO: replace with smart thruster thrust allocation code. + var localThrust = (thrust / thrusters.Count) * calculateEffectiveThustRatio(thruster); + thruster.ThrustOverride = (float.IsNaN(localThrust) || float.IsInfinity(localThrust)) ? 0 : localThrust; + } + return 0.0f; + } +} + +const float degToRad = (float)Math.PI / 180; +const float radToDeg = 180.0f / (float)Math.PI; + +public static bool IsEqual(float value1, float value2, float epsilon = 0.0001f) +{ + return Math.Abs(NotNaN(value1 - value2)) <= epsilon; +} + +public static float NotNaN(float value) +{ + return float.IsNaN(value) ? 0 : value; +} + +public static float MinAbs(float value1, float value2) +{ + return Math.Min(Math.Abs(value1), Math.Abs(value2)) * (value1 < 0 ? -1 : 1); +} +class ConfigSection +{ + Dictionary<string, string> config; + string name; + + public ConfigSection(string name) + { + this.config = new Dictionary<string, string>(); + this.name = name; + } + + public void Read(string text) + { + config.Clear(); + + var ini = new MyIni(); + MyIniParseResult parseResult; + if (!ini.TryParse(text, out parseResult)) + throw new Exception("Failed To Read Config: " + parseResult.Error + " on line" + parseResult.LineNo.ToString()); + + var keys = new List<MyIniKey>(); + ini.GetKeys(name, keys); + foreach (var key in keys) + { + config.Add(key.Name, ini.Get(key).ToString()); + } + } + + public string write() + { + MyIni ini = new MyIni(); + ini.AddSection(name); + + foreach (var kv in config) { ini.Set(name, kv.Key, kv.Value); } + + return ini.ToString(); + } + + public T Get<T>(string key, T value) + { + if (!config.ContainsKey(key)) + { + config.Add(key, value.ToString()); + return value; + } + string result; config.TryGetValue(key, out result); + return (T)Convert.ChangeType(result, typeof(T)); + } +} + landing + + + CAP_HalfSlopeArmorBlock + + + + CarbonFibre_Armor + + + CAP_HalfArmorBlock + + + + CarbonFibre_Armor + + + CAP_ArmorHalfSlopeCorner 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