diff --git a/README.MD b/README.MD index 5d74326..6e46fcd 100644 --- a/README.MD +++ b/README.MD @@ -25,7 +25,9 @@ You can join me on Discord for help or suggestions or requests by following that You must link the following elements to the remote control (order doesn't matter, the script will detect them automatically): - Link the core to the remote control - Link the fuel tank to the remote control (only if you want to see the fuel gauge) -- Link the databank to the remote control (not required bu will imporved the alignement of the construct when landing) +- Link the databank to the remote control (not required) + - databank is used to store the initial position and orientation of the elevator. Using it will increase precision of the elevator. + - storing bookmarks dynamically with the commands require the databank. ## Setup @@ -58,20 +60,25 @@ You may need to adjust the power depending on the weight of your construct and o You can set bookmarks to save altitudes with a name. Edit the script and go to Unit > OnStart, you will see a Bookmark list (table) at the top of the script. You can edit the list to add your custom points. The first element will be used ad the base altitude when the elevator is landed on the floor. -Navigating using bookmarks : +It's also possible to use the command `save:` in the chat to save the current position with the specified name and `delete` to delete the current selected bookmark. (see Chat Command section below) + +Navigating using bookmarks (based on the default game key bindings): - you can navigate in the list in the HUD with your keyboard keys arrows up and down +- using arrow up and down with Ctrl (or strg depending on the language of your keyboard) will move the selected bookmark up or down in the list - pressing the key arrow right will start the travel to the selected bookmark Current selected bookmark is displayed in blue, the current bookmark the elevator is going to is displayed in green. ### Chat Command -- open the "lua" chat channel and type `goto:` to go to the specified altitude with `` the altitude in meters, if the altitude is missing or invalid, it will send you the `BaseAltitude` +open the "lua" chat channel and type one of these commands : +- `goto:` to go to the specified altitude with `` the altitude in meters, if the altitude is missing or invalid, it will send you the `BaseAltitude` +- `save:` to save the current position with `` the name of the bookmark +- `delete` to delete the current selected bookmark ### Other keys - Option 1 (default Alt+1): save the current position and orientation as initial values in the databank -- Option 2 (default Alt+2): save the current planet id in the databank (used to compute distance and positions when really far from the planet) # Customize the HUD @@ -104,6 +111,8 @@ The method has one argument named ElevatorData which is a table containing all t # Coming Soon - screen support to display position informations and bookmarks and navigate by clicking on it +- manual control mode to be able to control the elevator with the keyboard (like a normal ship) +- replacing altitude bookmarks by positions to be able to use the elevator as an autopilot browsing threw waypoints - ~~support for emitter to be able to send a signal to a specific channel to close a door to lock the elevator in position~~ This feature will not be done but replaced by a more generic system to manage several events than can be used to interact with any thing in the construct (doors, lights, etc...) or on another construct (like a door on the floor) via an emitter. # Support or donation diff --git a/Source/Unit/OnStart.lua b/Source/Unit/OnStart.lua index 9b4e74f..e2abb3e 100644 --- a/Source/Unit/OnStart.lua +++ b/Source/Unit/OnStart.lua @@ -210,7 +210,7 @@ function RENDER_HUD(ElevatorData) displayName = ' >> ' .. bookmark.name class = 'movingto' end - html = html .. '
' .. displayName .. '
' .. format_number(bookmark.altitude) .. 'm
' + html = html .. '
' .. displayName .. '
' .. format_number((utils.round(bookmark.altitude*100)/100)) .. 'm
' end html = html .. '' end @@ -234,7 +234,7 @@ end --[[ Version Management ]] -local version = "V 1.3.4" +local version = "V 1.4.0" local log_split = "=================================================" --printing version in lua chat system.print(log_split)local a=""local b=math.ceil((50-#version-2)/2)for c=1,b,1 do a=a..'='end;a=a.." "..version.." "for c=1,b,1 do a=a..'='end;system.print(a)system.print(log_split) @@ -251,6 +251,7 @@ Serializer = setmetatable({}, Serializer) Unminified Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/ElementsMetatable/FuelTank.lua ]] FuelTank={__index={name='',percentage=0,timeLeft=0,lastRefresh=0,fuelType='rocket',refresh=function(self)local a=system.getUtcTime()if lastRefresh~=a then local b=self.getClass():lower()if b:find('atmo')then self.fuelType="atmo"elseif b:find('space')then self.fuelType="space"end;local c=self.getWidgetData()local d=json.decode(c)self.name=d.name;self.percentage=d.percentage;self.timeLeft=tonumber(d.timeLeft)self.lastRefresh=a end end,getName=function(self)self:refresh()return self.name end,getPercentFilled=function(self)self:refresh()return self.percentage end,getSecondsLeft=function(self)self:refresh()return self.timeLeft end,getFuelType=function(self)self:refresh()return self.fuelType end,getTimeLeftString=function(self)local e=self:getSecondsLeft()if e==nil or e<=0 then return"-"end;days=string.format("%2.f",math.floor(e/(3600*24)))hours=string.format("%2.f",math.floor(e/3600-days*24))mins=string.format("%2.f",math.floor(e/60-hours*60-days*24*60))secs=string.format("%2.f",math.floor(e-hours*3600-days*24*60*60-mins*60))str=""if tonumber(days)>0 then str=str..days.."d "end;if tonumber(hours)>0 then str=str..hours.."h "end;if tonumber(mins)>0 then str=str..mins.."m "end;if tonumber(secs)>0 then str=str..secs.."s"end;return str end,dump=function(self)self:refresh()system.print('{name="'..self.name..'",percentage='..self.percentage..',timeLeft='..self.timeLeft..',fuelType="'..self.fuelType..'"}')end}} + --[[ Detecting elements linked ]] @@ -305,6 +306,7 @@ goingForward = false shiftPressed = false jumpDelta = 0 baseAcceleration = 0.8 +BrakePressed = false Nav = Navigator.new(system, core, unit) Nav.axisCommandManager:setupCustomTargetSpeedRanges(axisCommandId.longitudinal, {100, 500, 1000, 2000,3000, 5000}) @@ -382,6 +384,42 @@ function storeReferencePlanet(force) if __DEBUG then system.print('Planet ID: ' .. PlanetID) end end +function getClosestBodyIdFromAtlas() + local closestBody = nil + local closestDistance = 0 + local constructPos = vec3(construct.getWorldPosition()) + for _, body in pairs(atlas[0]) do + local distance = (vec3(body.center) - constructPos):len() + if closestBody == nil or distance < closestDistance then + closestBody = body.id + closestDistance = distance + end + end + return closestBody +end + +function mergeBookmarksFromDatabank() + if (databank ~= nil) and databank.hasKey('Bookmarks') then + local str = databank.getStringValue('Bookmarks') + local bookmarks_data = Serializer:parse(str) + for _, bookmark in pairs(bookmarks_data) do + local exists = false + for _, b in pairs(Bookmarks) do + if b.name == bookmark.name then + exists = true + break + end + end + if not exists then + Bookmarks[#Bookmarks+1] = bookmark + end + end + databank.setStringValue('Bookmarks', Serializer:stringify(Bookmarks)) + end +end + +mergeBookmarksFromDatabank() + --[[ Compute planet atmosphere altitude ]] @@ -418,7 +456,7 @@ ElevatorData = { longitudinalSpeed = 0, coreAltitude = TargetAltitude, altitude = TargetAltitude, - planetData = nil, + planetData = atlas[0][getClosestBodyIdFromAtlas()], direction = 'Stabilizing', atmosphereDistance = 0, atmosphereAltitude = 0, @@ -426,8 +464,6 @@ ElevatorData = { currentMaxSpeed = MaxSpeed, } -storeReferencePlanet(false) - --computing the distance from the planet sea level as target altitude if ElevatorData.planetData ~= nil then TargetAltitude = computePlanetSeaDistance(ElevatorData.planetData, construct.getWorldPosition()) @@ -435,7 +471,7 @@ if ElevatorData.planetData ~= nil then end --base selected bookmark is 0 -> none selected as index 0 doesn't exist in lua -selectedBookmarkIndex = 0 +selectedBookmarkIndex = 1 --[[ init the HUD @@ -765,20 +801,44 @@ Script.system:onFlush(systemOnFlush) Actions ]] local systemActionsStart = {} +local systemActionsLoop = {} +local systemActionsStop = {} systemActionsStart[Script.system.ACTIONS.DOWN] = function () - if selectedBookmarkIndex < #Bookmarks then - selectedBookmarkIndex = selectedBookmarkIndex + 1 + if BrakePressed then + if selectedBookmarkIndex < #Bookmarks then + local temp = Bookmarks[selectedBookmarkIndex] + Bookmarks[selectedBookmarkIndex] = Bookmarks[selectedBookmarkIndex + 1] + selectedBookmarkIndex = selectedBookmarkIndex + 1 + Bookmarks[selectedBookmarkIndex] = temp + else + selectedBookmarkIndex = 1 + end else - selectedBookmarkIndex = 1 + if selectedBookmarkIndex < #Bookmarks then + selectedBookmarkIndex = selectedBookmarkIndex + 1 + else + selectedBookmarkIndex = 1 + end + if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end end - if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end end systemActionsStart[Script.system.ACTIONS.UP] = function () - if selectedBookmarkIndex > 1 then - selectedBookmarkIndex = selectedBookmarkIndex - 1 + if BrakePressed then + if selectedBookmarkIndex > 1 then + local temp = Bookmarks[selectedBookmarkIndex] + Bookmarks[selectedBookmarkIndex] = Bookmarks[selectedBookmarkIndex - 1] + selectedBookmarkIndex = selectedBookmarkIndex - 1 + Bookmarks[selectedBookmarkIndex] = temp + else + selectedBookmarkIndex = #Bookmarks + end else - selectedBookmarkIndex = #Bookmarks + if selectedBookmarkIndex > 1 then + selectedBookmarkIndex = selectedBookmarkIndex - 1 + else + selectedBookmarkIndex = #Bookmarks + end end if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end end @@ -794,10 +854,15 @@ end systemActionsStart[Script.system.ACTIONS.OPTION_1] = function() storeIniPosAndForward(true) end -systemActionsStart[Script.system.ACTIONS.OPTION_2] = function() - storeReferencePlanet(true) +systemActionsStart[Script.system.ACTIONS.BRAKE] = function() + BrakePressed = true +end +systemActionsStop[Script.system.ACTIONS.BRAKE] = function() + BrakePressed = false end Script.system:onActionStart(systemActionsStart) --loading all "actionStart" functions +Script.system:onActionLoop(systemActionsLoop) --loading all "actionLoop" functions +Script.system:onActionStop(systemActionsStop) --loading all "actionStop" functions --[[ Chat Commands @@ -808,6 +873,46 @@ Script.system:onInputText(function (text) TargetAltitude = tonumber(text:split(':')[2]) or BaseAltitute brakeInput = 0 system.print('Target Altitude set to ' .. TargetAltitude .. 'm') + elseif text:lower():find('save:') then + if databank == nil then + system.print('Please, install a databank to save bookmarks') + return + end + if databank.hasKey('Bookmarks') then + local str = databank.getStringValue('Bookmarks') + local bookmarks_data = Serializer:parse(str) + + end + local name = text:split(':')[2] + for _, bookmark in pairs(Bookmarks) do + if bookmark.name == name then + system.print('Bookmark "' .. name .. '"" already exists') + return + end + end + if name ~= nil then + local altitude = ElevatorData.altitude + local bookmark = { + name = name, + altitude = altitude + } + Bookmarks[#Bookmarks+1] = bookmark + databank.setStringValue('Bookmarks', Serializer:stringify(Bookmarks)) + system.print('Bookmark ' .. name .. ' saved at ' .. altitude .. 'm') + else + system.print('Please, provide a name for the bookmark') + end + elseif text:lower() == 'delete' then + if databank == nil then + system.print('Please, install a databank to manage bookmarks with commands') + return + end + if Bookmarks[selectedBookmarkIndex] then + --delete selected bookmark + local name = Bookmarks[selectedBookmarkIndex].name + table.remove(Bookmarks, selectedBookmarkIndex) + databank.setStringValue('Bookmarks', Serializer:stringify(Bookmarks)) + end else system.print('Unknown command') end diff --git a/config.json b/config.json index 9354be2..7a33c97 100644 --- a/config.json +++ b/config.json @@ -1 +1 @@ -{"events":[],"handlers":[{"code":"Script.system:update()","filter":{"args":[],"signature":"onUpdate()","slotKey":"-4"},"key":"9"},{"code":"Script.system:inputText(text)","filter":{"args":[{"variable":"*"}],"signature":"onInputText(text)","slotKey":"-4"},"key":"10"},{"code":"Script.system:flush()","filter":{"args":[],"signature":"onFlush()","slotKey":"-4"},"key":"11"},{"code":"Script.system:actionStop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStop(action)","slotKey":"-4"},"key":"12"},{"code":"Script.system:actionStart(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStart(action)","slotKey":"-4"},"key":"13"},{"code":"Script.system:actionLoop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionLoop(action)","slotKey":"-4"},"key":"14"},{"code":"Script.player:parentChanged(oldId, newId)","filter":{"args":[{"variable":"*"},{"variable":"*"}],"signature":"onParentChanged(oldId,newId)","slotKey":"-3"},"key":"3"},{"code":"Script.construct:VRStationEntered(id)","filter":{"args":[{"variable":"*"}],"signature":"onVRStationEntered(id)","slotKey":"-2"},"key":"4"},{"code":"Script.construct:undocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onUndocked(id)","slotKey":"-2"},"key":"5"},{"code":"Script.construct:PvPTimer(active)","filter":{"args":[{"variable":"*"}],"signature":"onPvPTimer(active)","slotKey":"-2"},"key":"6"},{"code":"Script.construct:playerBoarded(id)","filter":{"args":[{"variable":"*"}],"signature":"onPlayerBoarded(id)","slotKey":"-2"},"key":"7"},{"code":"Script.construct:constructDocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onConstructDocked(id)","slotKey":"-2"},"key":"8"},{"code":"Script.unit:timer(tag)","filter":{"args":[{"variable":"*"}],"signature":"onTimer(tag)","slotKey":"-1"},"key":"0"},{"code":"Script.unit:stop()","filter":{"args":[],"signature":"onStop()","slotKey":"-1"},"key":"1"},{"code":"--[[\r\n DU-ELEVATOR by Jericho\r\n]]\r\n\r\n--[[\r\n Bookmarks: you can store several altitudes here to navigate easily\r\n]]\r\nlocal Bookmarks = {\r\n { name = 'Start Point', altitude = 294 },\r\n { name = 'Hovering', altitude = 300 },\r\n { name = 'Floor 1', altitude = 350 },\r\n { name = 'Floor 2', altitude = 500 },\r\n { name = 'Space 1', altitude = 5000 },\r\n { name = 'Space 2', altitude = 6000 },\r\n { name = 'Space 3', altitude = 10000 },\r\n { name = 'Space 4', altitude = 20000 },\r\n { name = 'Space 5', altitude = 50000 },\r\n { name = 'Space 6', altitude = 200000 },\r\n}\r\n\r\n--[[\r\n LUA PARAMETERS\r\n]]\r\n__DEBUG = false --export: Debug mode, will print more information in the console\r\nShowParentingWidget = false --export: Show the parenting widget\r\nShowControlUnitWidget = false --export: show the default widget of the construct\r\nDisplayAtlasData = true --export: show the Atlas widget with closest planet informations\r\n\r\n--[[\r\n HUD Rendering\r\n]]\r\nfunction RENDER_HUD(ElevatorData)\r\n --[[\r\n That function is used for rendering the HUD,\r\n You can update it or replace all its content to customise it.\r\n You can also remove its content if you don't want a HUD.\r\n It's not affecting in any way how the elevator is working and it's just a display\r\n \r\n ElevatorData is an object containing values that are refresh all the time.\r\n ElevatorData.isBreaking - boolean - if the brakes a are enabled or not.\r\n ElevatorData.verticalSpeed - number - the absolute vertical speed of the elevator in m/s.\r\n ElevatorData.verticalSpeedSigned - number - the real vertical speed of the elevator in m/s. if <0 the elevator is falling.\r\n ElevatorData.lateralSpeed - numver - the absolute lateral speed of the elevator in m/s.\r\n ElevatorData.longitudinalSpeed - number - the absolute Longitudinal speed of the elevator in m/s.\r\n ElevatorData.coreAltitude - number - the altitude from sea level returned by the core in meters. (warning: this altitude in space when far from planets is 0)\r\n ElevatorData.altitude - number - computed altitude from the distance between the construct and the sea level of the closest planet. (not 0 when in space)\r\n ElevatorData.atmosphereDistance - number - computed distance from the construct to the atmosphere of the closest planet\r\n ElevatorData.atmosphereAltitude - number - computed altitude of the atmosphere of the closest planet.\r\n ElevatorData.atmoMaxSpeed - number - the maximum speed of the elevator in m/s when in atmosphere. (anti burn security)\r\n ElevatorData.currentMaxSpeed - number - the maximum speed of the elevator in m/s. (50km/h in space)\r\n ElevatorData.planetData - table - Atlas Data of the closest planet. See atlas in game file for the structure (Game Directory\\data\\lua\\atlas.lua)\r\n ]]\r\n --locale for Translation\r\n local locale = system.getLocale()\r\n localeIndex = 1 --default to english\r\n if locale == 'fr-FR' then\r\n localeIndex = 2 --french index in atlas\r\n elseif locale == 'de-DE' then\r\n localeIndex = 3 --german index in atlas\r\n end\r\n --direction if the elevator from the speed\r\n local direction = 'Stabilizing'\r\n if ElevatorData.verticalSpeedSigned > 0 then\r\n direction = 'Up'\r\n elseif ElevatorData.verticalSpeedSigned < 0 then\r\n direction = 'Down'\r\n end\r\n --braking status text for hud\r\n local brakeStatus = 'Off'\r\n if ElevatorData.isBreaking then\r\n brakeStatus = 'On'\r\n end\r\n --html rendering\r\n local html = [[\r\n \r\n
\r\n
\r\n
\r\n
Base Altitude
]] .. format_number(utils.round(BaseAltitute)) .. [[m
\r\n
\r\n
\r\n
Target Altitude
]] .. format_number(utils.round(TargetAltitude)) .. [[m
\r\n
\r\n
\r\n
Current Altitude
]] .. format_number(utils.round(ElevatorData.altitude)) .. [[m
\r\n
\r\n
\r\n
Atmosphere Distance
]] .. format_number(utils.round(ElevatorData.atmosphereDistance)) .. [[m
\r\n
\r\n
\r\n
Maximum Speed
]] .. format_number(math.abs(utils.round(ElevatorData.currentMaxSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Vertical Speed
]] .. format_number(math.abs(utils.round(ElevatorData.verticalSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Lateral Speed
]] .. format_number(math.abs(utils.round(ElevatorData.lateralSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Longitudinal Speed
]] .. format_number(math.abs(utils.round(ElevatorData.longitudinalSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Direction
]] .. ElevatorData.direction .. [[
\r\n
\r\n
\r\n
Brake
]] .. brakeStatus .. [[
\r\n
\r\n
\r\n ]]\r\n if #fuelTanks > 0 then\r\n html = html .. '
'\r\n for _, tank in pairs(fuelTanks) do\r\n html = html .. '
' .. tank:getName() .. '
' .. tank:getTimeLeftString() .. '
' .. format_number(utils.round(tank:getPercentFilled())) .. '%
'\r\n end\r\n html = html .. '
'\r\n end\r\n if #Bookmarks > 0 then\r\n html = html .. '
Bookmarks
'\r\n for index, bookmark in ipairs(Bookmarks) do\r\n local class=''\r\n if selectedBookmarkIndex == index then\r\n class = 'selected'\r\n end\r\n local displayName = bookmark.name\r\n if selectedBookmarkIndex > 0 and bookmark.altitude == TargetAltitude then\r\n displayName = ' >> ' .. bookmark.name\r\n class = 'movingto'\r\n end\r\n html = html .. '
' .. displayName .. '
' .. format_number(bookmark.altitude) .. 'm
'\r\n end\r\n html = html .. '
'\r\n end\r\n if DisplayAtlasData and (ElevatorData.planetData ~= nil) then\r\n html = html .. '
'\r\n html = html .. '
Atlas Data
'\r\n --html = html .. '
' --image is blinking in hud, you can display it here but by default i'm removing it\r\n html = html .. '
Planet Name
'..ElevatorData.planetData.name[localeIndex]..'
'\r\n html = html .. '
Planet Type
'..ElevatorData.planetData.type[localeIndex]..'
'\r\n html = html .. '
Planet gravity
'..ElevatorData.planetData.gravity..'m/s²
'\r\n html = html .. '
Planet Surface Average Altitude
'..ElevatorData.planetData.surfaceAverageAltitude..'m
'\r\n html = html .. '
Planet Surface Min Altitude
'..ElevatorData.planetData.surfaceMinAltitude..'m
'\r\n html = html .. '
Planet Surface Max Altitude
'..ElevatorData.planetData.surfaceMaxAltitude..'m
'\r\n html = html .. '
Planet Max Altitude For Satic Core
'..ElevatorData.planetData.maxStaticAltitude..'m
'\r\n html = html .. '
'\r\n end\r\n html = html .. '
'\r\n system.setScreen(html) --render the HUD\r\nend\r\n\r\n--[[\r\n Version Management\r\n]]\r\nlocal version = \"V 1.3.4\"\r\nlocal log_split = \"=================================================\"\r\n--printing version in lua chat\r\nsystem.print(log_split)local a=\"\"local b=math.ceil((50-#version-2)/2)for c=1,b,1 do a=a..'='end;a=a..\" \"..version..\" \"for c=1,b,1 do a=a..'='end;system.print(a)system.print(log_split)\r\n--[[\r\n Lua Serializer by Jericho\r\n Version: 1.0.0\r\n Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/Serializer/Serializer.lua\r\n]]\r\nSerializer={__index={stringify=function(self,a)if type(a)=='number'then return self:stringifyNumber(a)elseif type(a)=='string'then return self:stringifyString(a)elseif type(a)=='table'then return self:stringifyTable(a)elseif type(a)=='boolean'then return self:stringifyBoolean(a)end;return nil end,parse=function(self,b)return load(\"return \"..b)()end,stringifyTableKey=function(self,c)if type(c)=='number'then return'['..self:stringifyNumber(c)..']'end;return c end,stringifyNumber=function(self,d)return tostring(d)end,stringifyString=function(self,b)return string.format('%q',b):gsub('\\\\\\n','\\n'):gsub('\\\\\\r','\\r'):gsub('\\\\\\t','\\t')end,stringifyTable=function(self,e)local b='{'local f=1;local g=self:tableLength(e)for h,i in pairs(e)do b=b..self:stringifyTableKey(h)..'='..self:stringify(i)if f0 then str=str..days..\"d \"end;if tonumber(hours)>0 then str=str..hours..\"h \"end;if tonumber(mins)>0 then str=str..mins..\"m \"end;if tonumber(secs)>0 then str=str..secs..\"s\"end;return str end,dump=function(self)self:refresh()system.print('{name=\"'..self.name..'\",percentage='..self.percentage..',timeLeft='..self.timeLeft..',fuelType=\"'..self.fuelType..'\"}')end}}\r\n--[[\r\n Detecting elements linked\r\n]]\r\ncore = nil\r\nfuelTanks = {}\r\ndatabank = nil\r\nfor slot_name, slot in pairs(unit) do\r\n if\r\n type(slot) == \"table\"\r\n and type(slot.export) == \"table\"\r\n and slot.getClass\r\n then\r\n local class = slot.getClass():lower()\r\n if class:find(\"coreunit\") then\r\n core = slot\r\n elseif class:find(\"fuelcontainer\") then\r\n fuelTanks[#fuelTanks + 1] = setmetatable(slot, FuelTank)\r\n elseif class:find(\"databank\") then\r\n databank = slot\r\n end\r\n end\r\nend\r\n\r\n--[[\r\n stopping the script if required elements are not linked\r\n]]\r\nif core == nil then\r\n system.print('Core unit is not linked, exiting the script')\r\n unit.exit()\r\nend\r\nif databank == nil then\r\n system.print('Databank is not linked')\r\nend\r\n\r\n--[[\r\n Atlas\r\n]]\r\natlas = require\"atlas\"\r\n\r\n--[[\r\n Default Unit Start Mechanics\r\n]]\r\npitchInput = 0\r\npitchInputFromDevice = 0\r\nrollInput = 0\r\nyawInput = 0\r\nverticalStrafeInput = 0\r\nlateralStrafeInput = 0\r\nbrakeInput = 1 --braking by default\r\ngoingBack = false\r\ngoingForward = false\r\nshiftPressed = false\r\njumpDelta = 0\r\nbaseAcceleration = 0.8\r\n\r\nNav = Navigator.new(system, core, unit)\r\nNav.axisCommandManager:setupCustomTargetSpeedRanges(axisCommandId.longitudinal, {100, 500, 1000, 2000,3000, 5000})\r\nNav.axisCommandManager:setTargetGroundAltitude(0)\r\nunit.deactivateGroundEngineAltitudeStabilization()\r\n\r\n-- Parenting widget\r\nif ShowParentingWidget then\r\n parentingPanelId = system.createWidgetPanel(\"Docking\")\r\n parentingWidgetId = system.createWidget(parentingPanelId,\"parenting\")\r\n system.addDataToWidget(unit.getWidgetDataId(),parentingWidgetId)\r\nend\r\nif not ShowControlUnitWidget then\r\n unit.hideWidget()\r\nend\r\n\r\n--[[\r\n Storing base position and orientation of the elevator\r\n]]\r\nfunction storeIniPosAndForward(force)\r\n if force == nil then force = false end\r\n ConstructInitPos = construct.getWorldPosition()\r\n --replace that pos by a hand written value to be sure the construct will always realign the same position\r\n --ConstructInitPos = {-1231461.6525868,1201334.4594833,-2617227.3718653}\r\n if __DEBUG then system.print('ConstructInitPos: ' .. json.encode(ConstructInitPos)) end\r\n BaseForward = construct.getWorldForward()\r\n --replace that pos by a hand written value to be sure the construct will always realign the same forward orientation\r\n --BaseForward = {-0.085554607212543,0.2445342447567,-0.9658600687807}\r\n if __DEBUG then system.print('BaseForward: ' .. json.encode(BaseForward)) end\r\n if databank ~= nil then\r\n if databank.hasKey('ConstructInitPos') and not force then\r\n ConstructInitPos = Serializer:parse(databank.getStringValue('ConstructInitPos'))\r\n system.print(\"ConstructInitPos loaded from databank\")\r\n else\r\n local toStore = Serializer:stringify(ConstructInitPos)\r\n databank.setStringValue('ConstructInitPos', toStore)\r\n system.print(\"ConstructInitPos stored in databank\")\r\n system.print(toStore)\r\n end\r\n if databank.hasKey('BaseForward') and not force then\r\n BaseForward = Serializer:parse(databank.getStringValue('BaseForward'))\r\n system.print(\"BaseForward loaded from databank\")\r\n else\r\n local toStore = Serializer:stringify(BaseForward)\r\n databank.setStringValue('BaseForward', toStore)\r\n system.print(\"BaseForward stored in databank\")\r\n system.print(toStore)\r\n end\r\n else\r\n system.print(\"No Databank detected\")\r\n end\r\n BaseForward = vec3(BaseForward)\r\nend\r\n\r\n--[[\r\n Storing Planet ID in Databank to be sure we always have the origin planet store even where too far from planet (1su or more)\r\n]]\r\nfunction storeReferencePlanet(force)\r\n if force == nil then force = false end\r\n local PlanetID = nil\r\n if databank.hasKey('PlanetID') and not force then\r\n PlanetID = databank.getIntValue('PlanetID')\r\n else\r\n PlanetID = core.getCurrentPlanetId()\r\n if PlanetID ~= nil then\r\n databank.setIntValue('PlanetID', PlanetID)\r\n system.print(\"Planet ID stored in databank: \" .. PlanetID)\r\n end\r\n end\r\n if PlanetID == nil then\r\n system.print(\"WARNING: no planet detected, you may be too far away in spance, please, restart the elevator from the planet surface\")\r\n else\r\n ElevatorData.planetData = atlas[0][PlanetID]\r\n end\r\n if __DEBUG then system.print('Planet ID: ' .. PlanetID) end\r\nend\r\n\r\n--[[\r\n Compute planet atmosphere altitude\r\n]]\r\nfunction computePlanetAtmoAltitude(planetData)\r\n return planetData.atmosphereRadius - planetData.radius\r\nend\r\n\r\n--[[\r\n --compute distance from a planet sea level\r\n]]\r\nfunction computePlanetSeaDistance(planetData, constructWorldPosition)\r\n return (vec3(planetData.center) - vec3(constructWorldPosition)):len() - planetData.radius\r\nend\r\n\r\nConstructInitPos = nil\r\nBaseForward = nil\r\nstoreIniPosAndForward()\r\nif ConstructInitPos == nil or BaseForward == nil then\r\n system.print(\"An Error occurs during Init. Try removing the databank, remove its dynamic properties and install it again ...\")\r\nend\r\nBaseAltitute = Bookmarks[1].altitude --getting the base altitude from the 1st bookmark\r\n--init a value to store the target altitude\r\nTargetAltitude = core.getAltitude() --by default to the start altitude to avoid falling down if in the air\r\n\r\nMaxSpeed = construct.getFrictionBurnSpeed() -- for security to avoid burning if going too fast\r\nMaxSpeedOnPlanet = MaxSpeed\r\nif __DEBUG then system.print('MaxSpeed: ' .. (MaxSpeed*3.6) .. 'km/h') end\r\n\r\nElevatorData = {\r\n isBreaking = brakeInput == 1,\r\n verticalSpeed = 0,\r\n verticalSpeedSigned = 0,\r\n lateralSpeed = 0,\r\n longitudinalSpeed = 0,\r\n coreAltitude = TargetAltitude,\r\n altitude = TargetAltitude,\r\n planetData = nil,\r\n direction = 'Stabilizing',\r\n atmosphereDistance = 0,\r\n atmosphereAltitude = 0,\r\n atmoMaxSpeed = MaxSpeedOnPlanet,\r\n currentMaxSpeed = MaxSpeed,\r\n}\r\n\r\nstoreReferencePlanet(false)\r\n\r\n--computing the distance from the planet sea level as target altitude\r\nif ElevatorData.planetData ~= nil then\r\n TargetAltitude = computePlanetSeaDistance(ElevatorData.planetData, construct.getWorldPosition())\r\n ElevatorData.atmosphereAltitude = computePlanetAtmoAltitude(ElevatorData.planetData)\r\nend\r\n\r\n--base selected bookmark is 0 -> none selected as index 0 doesn't exist in lua\r\nselectedBookmarkIndex = 0\r\n\r\n--[[\r\n init the HUD\r\n]]\r\nsystem.showScreen(true)\r\n\r\n--[[\r\n Kinematics functions by Jaylebreak\r\n Source available at https://gitlab.com/JayleBreak/dualuniverse/-/blob/master/DUflightfiles/autoconf/custom/kinematics.lua\r\n]]\r\nfunction computeAccelerationTime(initial, acceleration, final) return (final - initial)/acceleration end\r\nfunction computeDistanceAndTime(initial, final, mass, thrust, t50, brakeThrust)\r\n t50 = t50 or 0\r\n brakeThrust = brakeThrust or 0\r\n local speedUp = initial < final\r\n local a0 = thrust / (speedUp and mass or -mass)\r\n local b0 = -brakeThrust/mass\r\n local totA = a0+b0\r\n if initial == final then\r\n return 0, 0\r\n elseif speedUp and totA <= 0 or not speedUp and totA >= 0 then\r\n return -1, -1\r\n end\r\n local distanceToMax, timeToMax = 0, 0\r\n if a0 ~= 0 and t50 > 0 then\r\n local c1 = math.pi/t50/2\r\n local v = function(t)\r\n return a0*(t/2 - t50*math.sin(c1*t)/math.pi) + b0*t + initial\r\n end\r\n local speedchk = speedUp and function(s) return s >= final end or function(s) return s <= final end\r\n timeToMax = 2*t50\r\n if speedchk(v(timeToMax)) then\r\n local lasttime = 0\r\n while math.abs(timeToMax - lasttime) > 0.25 do\r\n local t = (timeToMax + lasttime)/2\r\n if speedchk(v(t)) then\r\n timeToMax = t\r\n else\r\n lasttime = t\r\n end\r\n end\r\n end\r\n local K = 2*a0*t50^2/math.pi^2\r\n distanceToMax = K*(math.cos(c1*timeToMax) - 1) + (a0+2*b0)*timeToMax^2/4 + initial*timeToMax\r\n if timeToMax < 2*t50 then\r\n return distanceToMax, timeToMax\r\n end\r\n initial = v(timeToMax)\r\n end\r\n local a = a0+b0\r\n local t = computeAccelerationTime(initial, a, final)\r\n local d = initial*t + a*t*t/2\r\n return distanceToMax+d, timeToMax+t\r\nend\r\n\r\n--[[\r\n Compute angle between vectors by Jericho\r\n]]\r\nfunction signedAngleBetween(vec1, vec2, planeNormal)\r\n local normVec1 = vec1:project_on_plane(planeNormal):normalize()\r\n local normVec2 = vec2:normalize()\r\n local v1v2dot = normVec1:dot(normVec2)\r\n local angle = math.acos(utils.clamp(v1v2dot,-1,1))\r\n local crossProduct = vec1:cross(vec2)\r\n if crossProduct:dot(planeNormal) < 0 then\r\n return -angle\r\n end\r\n return angle\r\nend\r\n--[[\r\n\tformatting numbers by adding a space between thousands by Jericho\r\n]]\r\nfunction format_number(a)local b=a;while true do b,k=string.gsub(b,\"^(-?%d+)(%d%d%d)\",'%1 %2')if k==0 then break end end;local c=string.sub(b,-2)if c=='.0'then b=string.sub(b,1,b:len()-2)end;return b end\r\n--[[\r\n DU-LUA-Framework by Jericho\r\n Permit to code easier by grouping most of the code in a single event Unit > Start\r\n Unminified Source available here: https://github.com/Jericho1060/du-lua-framework\r\n]]--\r\nlocal a=system.print;local b=error;local c=pcall;local d=assert;local e=coroutine;local f=e.create;local g=e.status;local h=e.resume;local i=\"dead\"local j=\"suspended\"function runFunction(k,l,...)local m,n=c(k,...)if not m then b(l..n)end end;local o={__index={cos={update={},flush={}},fns={update={},flush={},action={start={},stop={},loop={}},inputText=nil,start=nil,stop=nil},ACTIONS={FORWARD=\"forward\",BACKWARD=\"backward\",YAW_LEFT=\"yawleft\",YAW_RIGHT=\"yawright\",STRAFE_LEFT=\"strafeleft\",STRAFE_RIGHT=\"straferight\",LEFT=\"left\",RIGHT=\"right\",UP=\"up\",DOWN=\"down\",GROUND_ALTITUDE_UP=\"groundaltitudeup\",GROUND_ALTITUDE_DOWN=\"groundaltitudedown\",LEFT_ALT=\"lalt\",LEFT_SHIFT=\"lshift\",GEAR=\"gear\",LIGHT=\"light\",BRAKE=\"brake\",OPTION_1=\"option1\",OPTION_2=\"option2\",OPTION_3=\"option3\",OPTION_4=\"option4\",OPTION_5=\"option5\",OPTION_6=\"option6\",OPTION_7=\"option7\",OPTION_8=\"option8\",OPTION_9=\"option9\",OPTION_10=\"option10\",OPTION_11=\"option11\",OPTION_12=\"option12\",OPTION_13=\"option13\",OPTION_14=\"option14\",OPTION_15=\"option15\",OPTION_16=\"option16\",OPTION_17=\"option17\",OPTION_18=\"option18\",OPTION_19=\"option19\",OPTION_20=\"option20\",OPTION_21=\"option21\",OPTION_22=\"option22\",OPTION_23=\"option23\",OPTION_24=\"option24\",OPTION_25=\"option25\",OPTION_26=\"option26\",OPTION_27=\"option27\",OPTION_28=\"option28\",OPTION_29=\"option29\",LEFT_MOUSE=\"leftmouse\",STOP_ENGINES=\"stopengines\",SPEED_UP=\"speedup\",SPEED_DOWN=\"speeddown\",ANTIGRAVITY=\"antigravity\",BOOSTER=\"booster\"},main={update=f(function()end),flush=f(function()end)},update=function(self)local p=g(self.main.update)if p==i then self.main.update=f(function()self:runUpdate()end)elseif p==j then d(h(self.main.update))end end,flush=function(self)local p=g(self.main.flush)if p==i then self.main.flush=f(function()self:runFlush()end)elseif p==j then d(h(self.main.flush))end end,action=function(self,q,r)if self.fns.action[q][r]then runFunction(self.fns.action[q][r],\"System Action \"..q..\" Error: \")end end,actionStart=function(self,r)self:action('start',r)end,actionStop=function(self,r)self:action('stop',r)end,actionLoop=function(self,r)self:action('loop',r)end,inputText=function(self,s)if self.fns.inputText then runFunction(self.fns.inputText,\"System Input Text Error: \",s)end end,runUpdate=function(self)for t,u in pairs(self.cos.update)do local m=g(u)if m==i then self.cos.update[t]=f(self.fns.update[t])elseif m==j then d(h(u))end end end,runFlush=function(self)for t,u in pairs(self.cos.flush)do local m=g(u)if m==i then self.cos.flush[t]=f(self.fns.flush[t])elseif m==j then d(h(u))end end end,onUpdate=function(self,v)for t,w in pairs(v)do self.fns.update[t]=w;self.cos.update[t]=f(w)end end,onFlush=function(self,v)for t,w in pairs(v)do self.fns.flush[t]=w;self.cos.flush[t]=f(w)end end,onAction=function(self,q,v)for t,w in pairs(v)do self.fns.action[q][t]=w end end,onActionStart=function(self,v)self:onAction(\"start\",v)end,onActionStop=function(self,v)self:onAction(\"stop\",v)end,onActionLoop=function(self,v)self:onAction(\"loop\",v)end,onInputText=function(self,k)self.fns.inputText=k end}}local x={__index={timers={},stopFn=function()end,timer=function(self,y)if self.timers[y]then runFunction(self.timers[y],\"Unit Timer \"..y..\" Error: \")end end,setTimer=function(self,y,z,k)self.timers[y]=k;unit.setTimer(y,z)end,stopTimer=function(self,y)unit.stopTimer(y)self.timers[y]=nil end,onStop=function(self,k)self.stopFn=k end,stop=function(self)if self.stopFn then runFunction(self.stopFn,\"Unit Stop Error: \")end end}}local A={__index={parentChangedFn=function(B,C)end,onParentChange=function(self,k)self.parentChangedFn=k end,parentChanged=function(self,B,C)if self.parentChangedFn then runFunction(self.parentChangedFn,\"Player Parent Changed Error: \",B,C)end end}}local D={__index={dockedFn=function(E)end,onDocked=function(self,k)self.dockedFn=k end,docked=function(self,E)if self.dockedFn then runFunction(self.dockedFn,\"Construct Docked Error: \",E)end end,undockedFn=function(E)end,onUndocked=function(self,k)self.undockedFn=k end,undocked=function(self,E)if self.undockedFn then runFunction(self.undockedFn,\"Construct Undocked Error: \",E)end end,playerBoardedFn=function(E)end,onPlayerBoarded=function(self,k)self.playerBoardedFn=k end,playerBoarded=function(self,E)if self.playerBoardedFn then runFunction(self.playerBoardedFn,\"Construct Player Boarded Error: \",E)end end,VRStationEnteredFn=function(E)end,onVRStationEntered=function(self,k)self.VRStationEnteredFn=k end,VRStationEntered=function(self,E)if self.VRStationEnteredFn then runFunction(self.VRStationEnteredFn,\"Construct VR Station Entered Error: \",E)end end,constructDockedFn=function(E)end,onConstructDocked=function(self,k)self.constructDockedFn=k end,constructDocked=function(self,E)if self.constructDockedFn then runFunction(self.constructDockedFn,\"Construct Construct Docked Error: \",E)end end,PvPTimerFn=function(F)end,onPvPTimer=function(self,k)self.PvPTimerFn=k end,PvPTimer=function(self,F)if self.PvPTimerFn then runFunction(self.PvPTimerFn,\"Construct PvP Timer Error: \",F)end end}}DU_Framework={__index={system=setmetatable({},o),unit=setmetatable({},x),player=setmetatable({},A),construct=setmetatable({},D)}}\r\n\r\nScript = {}\r\nsetmetatable(Script, DU_Framework)\r\n\r\n--[[\r\n String Helpers For Lua By Jericho\r\n]]\r\nString = {\r\n __index = {\r\n split = function(self, delimiter)\r\n local result = {}\r\n for match in (self..delimiter):gmatch(\"(.-)\"..delimiter) do\r\n table.insert(result, match)\r\n end\r\n return result\r\n end\r\n }\r\n}\r\nstring = setmetatable(string, String)\r\nstring.__index = string\r\n\r\nlocal systemOnFlush = {\r\n function()\r\n local yawSpeedFactor = 0.1 --export: the auto yaw speed multiplier\r\n local yawAccelerationFactor = 3\r\n local lateralAntiDriftFactor = 1\r\n local lateralStrafeFactor = 5\r\n local brakeSpeedFactor = 1\r\n local brakeFlatFactor = 4\r\n local autoBrakeSpeed = 15\r\n -- validate params\r\n brakeSpeedFactor = math.max(brakeSpeedFactor, 0.01)\r\n brakeFlatFactor = math.max(brakeFlatFactor, 0.01)\r\n yawSpeedFactor = math.max(yawSpeedFactor, 0.01)\r\n yawAccelerationFactor = math.max(yawAccelerationFactor, 0.01)\r\n --init all the PIDs as global if first flush\r\n if (rollPID == nil) then rollPID = pid.new(0.2, 0, 10) end\r\n if (pitchPID == nil) then pitchPID = pid.new(0.2, 0, 10) end\r\n if (yawPID == nil) then yawPID = pid.new(0.2, 0, 10) end\r\n if (lateralPID == nil) then lateralPID = pid.new(0.2, 0, 10) end\r\n if (longitudinalPID == nil) then longitudinalPID = pid.new(0.2, 0, 10) end\r\n if (distancePID == nil) then distancePID = pid.new(0.2, 0, 10) end\r\n\r\n -- final inputs\r\n if unit.isMouseDirectControlActivated() then\r\n -- in direct control, we tweak the pitch to behave inbetween virtual joystick and direct control\r\n -- this helps a lot for ground construct control\r\n pitchInputFromDevice = utils.clamp(pitchInputFromDevice + system.getControlDeviceForwardInput() * system.getActionUpdateDeltaTime(), -1.0, 1.0)\r\n else\r\n pitchInputFromDevice = system.getControlDeviceForwardInput()\r\n end\r\n local finalPitchInput = pitchInput + pitchInputFromDevice\r\n local finalRollInput = rollInput + system.getControlDeviceYawInput()\r\n local finalYawInput = yawInput - system.getControlDeviceLeftRightInput()\r\n local combinedRollYawInput = utils.clamp(finalRollInput - finalYawInput, -1.0, 1.0);\r\n local finalVerticalStrafeInput = verticalStrafeInput\r\n local finalLateralStrafeInput = lateralStrafeInput;\r\n local finalBrakeInput = brakeInput\r\n\r\n -- Axis\r\n local worldVertical = vec3(core.getWorldVertical())\r\n local worldRight = vec3(core.getWorldRight())\r\n local worldForward = vec3(core.getWorldForward())\r\n local constructUp = vec3(construct.getWorldOrientationUp())\r\n local constructForward = vec3(construct.getWorldOrientationForward())\r\n local constructRight = vec3(construct.getWorldOrientationRight())\r\n local constructVelocity = vec3(construct.getWorldVelocity())\r\n local constructVelocityDir = vec3(construct.getWorldVelocity()):normalize()\r\n local constructAngularVelocity = vec3(construct.getWorldAngularVelocity())\r\n local constructYawVelocity = constructAngularVelocity:dot(constructUp)\r\n local constructWorldPosition = vec3(construct.getWorldPosition())\r\n local constructTargetPosition = vec3(ConstructInitPos)\r\n\r\n -- Engine commands\r\n local keepCollinearity = 0 -- for easier reading\r\n local dontKeepCollinearity = 1 -- for easier reading\r\n local tolerancePercentToSkipOtherPriorities = 1 -- if we are within this tolerance (in%), we don't go to the next priorities\r\n\r\n --fake braking value\r\n local canBrake = false\r\n\r\n -- keeping the start position alignement\r\n local StrafeSpeedFactor = 1 --export: useg to increase the force of the alignement, decrease the value if the alignement is too strong or increase it if it's too slow\r\n local positionDifference = constructTargetPosition - constructWorldPosition\r\n local lateralOffset = positionDifference:project_on(constructRight):len() * utils.sign(positionDifference:dot(constructRight))\r\n ElevatorData.lateralSpeed = constructVelocity:project_on(worldRight):len()\r\n local lateralDistance = math.abs(lateralOffset)\r\n local longitudinalOffset = positionDifference:project_on(constructForward):len() * utils.sign(positionDifference:dot(constructForward))\r\n ElevatorData.longitudinalSpeed = constructVelocity:project_on(worldForward):len()\r\n local longitudinalDistance = math.abs(longitudinalOffset)\r\n if (lateralDistance < .25) and (longitudinalDistance < .25) then canBrake = true end\r\n if ((ElevatorData.lateralSpeed*3.6) > lateralDistance) or ((ElevatorData.longitudinalSpeed*3.6) > longitudinalDistance) then canBrake = true end\r\n lateralPID:inject(lateralOffset)\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.lateral, lateralPID:get() * StrafeSpeedFactor)\r\n longitudinalPID:inject(longitudinalOffset)\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.longitudinal, longitudinalPID:get() * StrafeSpeedFactor)\r\n\r\n -- Rotation\r\n local currentRollDeg = getRoll(worldVertical, constructForward, constructRight)\r\n local currentPitchDeg = -math.asin(constructForward:dot(worldVertical)) * constants.rad2deg\r\n local targetRollDeg = 0\r\n local targetPitchDeg = 0\r\n local targetYawDeg = signedAngleBetween(BaseForward,constructForward,constructUp)*180/math.pi\r\n rollPID:inject(targetRollDeg - currentRollDeg)\r\n pitchPID:inject(targetPitchDeg - currentPitchDeg)\r\n yawPID:inject(-targetYawDeg*yawSpeedFactor)\r\n\r\n local constructTargetAngularVelocity = rollPID:get() * constructForward + pitchPID:get() * constructRight + yawPID:get() * constructUp\r\n\r\n Nav:setEngineTorqueCommand('torque', constructTargetAngularVelocity, keepCollinearity, 'airfoil', '', '', tolerancePercentToSkipOtherPriorities)\r\n\r\n -- moving up or down from TargetAltitude\r\n ElevatorData.verticalSpeed = constructVelocity:project_on(worldVertical):len()\r\n ElevatorData.verticalSpeedSigned = ElevatorData.verticalSpeed * -utils.sign(constructVelocity:dot(worldVertical))\r\n local brakeDistance = 0\r\n local brakeDistanceToAtmosphere = 0\r\n local maxBrake = construct.getMaxBrake()\r\n ElevatorData.coreAltitude = core.getAltitude()\r\n ElevatorData.atmosphereAltitude = computePlanetAtmoAltitude(ElevatorData.planetData)\r\n ElevatorData.altitude = computePlanetSeaDistance(ElevatorData.planetData, constructWorldPosition)\r\n ElevatorData.atmosphereDistance = ElevatorData.altitude - ElevatorData.atmosphereAltitude\r\n local isInAtmosphere = ElevatorData.atmosphereDistance <= 0\r\n local targetIsInAtmosphere = TargetAltitude <= ElevatorData.atmosphereAltitude\r\n if maxBrake ~= nil then\r\n local g = core.getGravityIntensity()\r\n if ElevatorData.verticalSpeedSigned < 0 then\r\n g = ElevatorData.planetData.gravity --when falling, apply the max gravity to the braking computing to increase braking\r\n end\r\n local inertialMass = construct.getInertialMass()\r\n local speedSign = utils.sign(ElevatorData.verticalSpeedSigned)\r\n brakeDistanceToAtmosphere, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, ElevatorData.atmoMaxSpeed, inertialMass, 0, 0, maxBrake - (g * inertialMass * speedSign))\r\n brakeDistance, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, 0, inertialMass, 0, 0, maxBrake - (g * inertialMass * speedSign))\r\n end\r\n if isInAtmosphere or (targetIsInAtmosphere and (brakeDistanceToAtmosphere > ElevatorData.atmosphereDistance)) then\r\n ElevatorData.currentMaxSpeed = ElevatorData.atmoMaxSpeed\r\n else\r\n ElevatorData.currentMaxSpeed = 50000/3.6 -- 50km/h in m/s = 13888.88888888889....\r\n end\r\n local distance = TargetAltitude - ElevatorData.altitude\r\n local targetDistance = utils.sign(distance) * (math.abs(distance)-brakeDistance)\r\n distancePID:inject(targetDistance)\r\n if distancePID:get() > 0.25 or ElevatorData.verticalSpeedSigned < -ElevatorData.currentMaxSpeed then --using a 0.25 meter deadband for stabilizing\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\r\n ElevatorData.direction = 'up'\r\n if ElevatorData.verticalSpeedSigned < 0 then\r\n finalBrakeInput = 1\r\n end\r\n elseif distancePID:get() < -0.25 or ElevatorData.verticalSpeedSigned > ElevatorData.currentMaxSpeed then\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1)\r\n ElevatorData.direction = 'down'\r\n if ElevatorData.verticalSpeedSigned > 0 then\r\n finalBrakeInput = 1\r\n end\r\n else\r\n Nav.axisCommandManager:resetCommand(axisCommandId.vertical)\r\n ElevatorData.direction = 'stabilizing'\r\n end\r\n\r\n --Brakes\r\n if (math.abs(distance) < (ElevatorData.verticalSpeed*3.6) and canBrake) --speed control\r\n or (ElevatorData.verticalSpeed >= ElevatorData.currentMaxSpeed) --anti burn speed\r\n or ((math.abs(distancePID:get()) < .25) and canBrake) --altitude reached with 0.25m deadband\r\n or ((brakeDistance > math.abs(distance)) and canBrake) --braking distance\r\n or (finalBrakeInput == 0 and autoBrakeSpeed > 0 and Nav.axisCommandManager.throttle == 0 and constructVelocity:len() < autoBrakeSpeed)\r\n then\r\n finalBrakeInput = 1\r\n --use engines to help braking\r\n if ElevatorData.verticalSpeedSigned < 0 and isInAtmosphere then\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\r\n end\r\n end\r\n ElevatorData.isBreaking = (finalBrakeInput == 1)\r\n local brakeAcceleration = -finalBrakeInput * (brakeSpeedFactor * constructVelocity + brakeFlatFactor * constructVelocityDir)\r\n\r\n Nav:setEngineForceCommand('brake', brakeAcceleration)\r\n\r\n -- AutoNavigation regroups all the axis command by 'TargetSpeed'\r\n local autoNavigationEngineTags = ''\r\n local autoNavigationAcceleration = vec3()\r\n local autoNavigationUseBrake = false\r\n\r\n -- Longitudinal Translation\r\n local longitudinalEngineTags = 'thrust analog longitudinal'\r\n local longitudinalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.longitudinal)\r\n if (longitudinalCommandType == axisCommandType.byThrottle) then\r\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(longitudinalEngineTags,axisCommandId.longitudinal)\r\n Nav:setEngineForceCommand(longitudinalEngineTags, longitudinalAcceleration, keepCollinearity)\r\n elseif (longitudinalCommandType == axisCommandType.byTargetSpeed) then\r\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.longitudinal)\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. longitudinalEngineTags\r\n autoNavigationAcceleration = autoNavigationAcceleration + longitudinalAcceleration\r\n if (Nav.axisCommandManager:getTargetSpeed(axisCommandId.longitudinal) == 0 or -- we want to stop\r\n Nav.axisCommandManager:getCurrentToTargetDeltaSpeed(axisCommandId.longitudinal) < - Nav.axisCommandManager:getTargetSpeedCurrentStep(axisCommandId.longitudinal) * 0.5) -- if the longitudinal velocity would need some braking\r\n then\r\n autoNavigationUseBrake = true\r\n end\r\n end\r\n\r\n -- Lateral Translation\r\n local lateralStrafeEngineTags = 'thrust analog lateral'\r\n local lateralCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.lateral)\r\n if (lateralCommandType == axisCommandType.byThrottle) then\r\n local lateralStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(lateralStrafeEngineTags,axisCommandId.lateral)\r\n Nav:setEngineForceCommand(lateralStrafeEngineTags, lateralStrafeAcceleration, keepCollinearity)\r\n elseif (lateralCommandType == axisCommandType.byTargetSpeed) then\r\n local lateralAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.lateral)\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. lateralStrafeEngineTags\r\n autoNavigationAcceleration = autoNavigationAcceleration + lateralAcceleration\r\n end\r\n\r\n -- Vertical Translation\r\n local verticalStrafeEngineTags = 'thrust analog vertical'\r\n local verticalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.vertical)\r\n if (verticalCommandType == axisCommandType.byThrottle) then\r\n local verticalStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(verticalStrafeEngineTags,axisCommandId.vertical)\r\n Nav:setEngineForceCommand(verticalStrafeEngineTags, verticalStrafeAcceleration, keepCollinearity, 'airfoil', 'ground', '', tolerancePercentToSkipOtherPriorities)\r\n elseif (verticalCommandType == axisCommandType.byTargetSpeed) then\r\n local verticalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.vertical)\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. verticalStrafeEngineTags\r\n autoNavigationAcceleration = autoNavigationAcceleration + verticalAcceleration\r\n end\r\n\r\n -- Auto Navigation (Cruise Control)\r\n if (autoNavigationAcceleration:len() > constants.epsilon) then\r\n if (brakeInput ~= 0 or autoNavigationUseBrake or math.abs(constructVelocityDir:dot(constructForward)) < 0.95) -- if the velocity is not properly aligned with the forward\r\n then\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ', brake'\r\n end\r\n Nav:setEngineForceCommand(autoNavigationEngineTags, autoNavigationAcceleration, dontKeepCollinearity, '', '', '', tolerancePercentToSkipOtherPriorities)\r\n end\r\n\r\n -- Rockets\r\n Nav:setBoosterCommand('rocket_engine')\r\n end\r\n}\r\n\r\nlocal systemOnUpdate = {\r\n function ()\r\n Nav:update()\r\n RENDER_HUD(ElevatorData)\r\n end\r\n}\r\n\r\nScript.system:onUpdate(systemOnUpdate)\r\nScript.system:onFlush(systemOnFlush)\r\n\r\n--[[\r\n Actions\r\n]]\r\nlocal systemActionsStart = {}\r\n\r\nsystemActionsStart[Script.system.ACTIONS.DOWN] = function ()\r\n if selectedBookmarkIndex < #Bookmarks then\r\n selectedBookmarkIndex = selectedBookmarkIndex + 1\r\n else\r\n selectedBookmarkIndex = 1\r\n end\r\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.UP] = function ()\r\n if selectedBookmarkIndex > 1 then\r\n selectedBookmarkIndex = selectedBookmarkIndex - 1\r\n else\r\n selectedBookmarkIndex = #Bookmarks\r\n end\r\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.STRAFE_RIGHT] = function ()\r\n brakeInput = 0\r\n if selectedBookmarkIndex > 0 then\r\n TargetAltitude = Bookmarks[selectedBookmarkIndex].altitude\r\n if __DEBUG then system.print('Target Altitude: ' .. TargetAltitude) end\r\n else\r\n system.print('No bookmark selected')\r\n end\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.OPTION_1] = function()\r\n storeIniPosAndForward(true)\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.OPTION_2] = function()\r\n storeReferencePlanet(true)\r\nend\r\nScript.system:onActionStart(systemActionsStart) --loading all \"actionStart\" functions\r\n\r\n--[[\r\n Chat Commands\r\n]]\r\n\r\nScript.system:onInputText(function (text)\r\n if text:lower():find('goto:') then\r\n TargetAltitude = tonumber(text:split(':')[2]) or BaseAltitute\r\n brakeInput = 0\r\n system.print('Target Altitude set to ' .. TargetAltitude .. 'm')\r\n else\r\n system.print('Unknown command')\r\n end\r\nend)\r\n","filter":{"args":[],"signature":"onStart()","slotKey":"-1"},"key":"2"}],"methods":[],"slots":{"0":{"name":"slot1","type":{"events":[],"methods":[]}},"1":{"name":"slot2","type":{"events":[],"methods":[]}},"2":{"name":"slot3","type":{"events":[],"methods":[]}},"3":{"name":"slot4","type":{"events":[],"methods":[]}},"4":{"name":"slot5","type":{"events":[],"methods":[]}},"5":{"name":"slot6","type":{"events":[],"methods":[]}},"6":{"name":"slot7","type":{"events":[],"methods":[]}},"7":{"name":"slot8","type":{"events":[],"methods":[]}},"8":{"name":"slot9","type":{"events":[],"methods":[]}},"9":{"name":"slot10","type":{"events":[],"methods":[]}},"-5":{"name":"library","type":{"events":[],"methods":[]}},"-4":{"name":"system","type":{"events":[],"methods":[]}},"-3":{"name":"player","type":{"events":[],"methods":[]}},"-2":{"name":"construct","type":{"events":[],"methods":[]}},"-1":{"name":"unit","type":{"events":[],"methods":[]}}}} \ No newline at end of file +{"events":[],"handlers":[{"code":"Script.system:update()","filter":{"args":[],"signature":"onUpdate()","slotKey":"-4"},"key":"9"},{"code":"Script.system:inputText(text)","filter":{"args":[{"variable":"*"}],"signature":"onInputText(text)","slotKey":"-4"},"key":"10"},{"code":"Script.system:flush()","filter":{"args":[],"signature":"onFlush()","slotKey":"-4"},"key":"11"},{"code":"Script.system:actionStop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStop(action)","slotKey":"-4"},"key":"12"},{"code":"Script.system:actionStart(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionStart(action)","slotKey":"-4"},"key":"13"},{"code":"Script.system:actionLoop(action)","filter":{"args":[{"variable":"*"}],"signature":"onActionLoop(action)","slotKey":"-4"},"key":"14"},{"code":"Script.player:parentChanged(oldId, newId)","filter":{"args":[{"variable":"*"},{"variable":"*"}],"signature":"onParentChanged(oldId,newId)","slotKey":"-3"},"key":"3"},{"code":"Script.construct:VRStationEntered(id)","filter":{"args":[{"variable":"*"}],"signature":"onVRStationEntered(id)","slotKey":"-2"},"key":"4"},{"code":"Script.construct:undocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onUndocked(id)","slotKey":"-2"},"key":"5"},{"code":"Script.construct:PvPTimer(active)","filter":{"args":[{"variable":"*"}],"signature":"onPvPTimer(active)","slotKey":"-2"},"key":"6"},{"code":"Script.construct:playerBoarded(id)","filter":{"args":[{"variable":"*"}],"signature":"onPlayerBoarded(id)","slotKey":"-2"},"key":"7"},{"code":"Script.construct:constructDocked(id)","filter":{"args":[{"variable":"*"}],"signature":"onConstructDocked(id)","slotKey":"-2"},"key":"8"},{"code":"Script.unit:timer(tag)","filter":{"args":[{"variable":"*"}],"signature":"onTimer(tag)","slotKey":"-1"},"key":"0"},{"code":"Script.unit:stop()","filter":{"args":[],"signature":"onStop()","slotKey":"-1"},"key":"1"},{"code":"--[[\r\n DU-ELEVATOR by Jericho\r\n]]\r\n\r\n--[[\r\n Bookmarks: you can store several altitudes here to navigate easily\r\n]]\r\nlocal Bookmarks = {\r\n { name = 'Start Point', altitude = 294 },\r\n { name = 'Hovering', altitude = 300 },\r\n { name = 'Floor 1', altitude = 350 },\r\n { name = 'Floor 2', altitude = 500 },\r\n { name = 'Space 1', altitude = 5000 },\r\n { name = 'Space 2', altitude = 6000 },\r\n { name = 'Space 3', altitude = 10000 },\r\n { name = 'Space 4', altitude = 20000 },\r\n { name = 'Space 5', altitude = 50000 },\r\n { name = 'Space 6', altitude = 200000 },\r\n}\r\n\r\n--[[\r\n LUA PARAMETERS\r\n]]\r\n__DEBUG = false --export: Debug mode, will print more information in the console\r\nShowParentingWidget = false --export: Show the parenting widget\r\nShowControlUnitWidget = false --export: show the default widget of the construct\r\nDisplayAtlasData = true --export: show the Atlas widget with closest planet informations\r\n\r\n--[[\r\n HUD Rendering\r\n]]\r\nfunction RENDER_HUD(ElevatorData)\r\n --[[\r\n That function is used for rendering the HUD,\r\n You can update it or replace all its content to customise it.\r\n You can also remove its content if you don't want a HUD.\r\n It's not affecting in any way how the elevator is working and it's just a display\r\n \r\n ElevatorData is an object containing values that are refresh all the time.\r\n ElevatorData.isBreaking - boolean - if the brakes a are enabled or not.\r\n ElevatorData.verticalSpeed - number - the absolute vertical speed of the elevator in m/s.\r\n ElevatorData.verticalSpeedSigned - number - the real vertical speed of the elevator in m/s. if <0 the elevator is falling.\r\n ElevatorData.lateralSpeed - numver - the absolute lateral speed of the elevator in m/s.\r\n ElevatorData.longitudinalSpeed - number - the absolute Longitudinal speed of the elevator in m/s.\r\n ElevatorData.coreAltitude - number - the altitude from sea level returned by the core in meters. (warning: this altitude in space when far from planets is 0)\r\n ElevatorData.altitude - number - computed altitude from the distance between the construct and the sea level of the closest planet. (not 0 when in space)\r\n ElevatorData.atmosphereDistance - number - computed distance from the construct to the atmosphere of the closest planet\r\n ElevatorData.atmosphereAltitude - number - computed altitude of the atmosphere of the closest planet.\r\n ElevatorData.atmoMaxSpeed - number - the maximum speed of the elevator in m/s when in atmosphere. (anti burn security)\r\n ElevatorData.currentMaxSpeed - number - the maximum speed of the elevator in m/s. (50km/h in space)\r\n ElevatorData.planetData - table - Atlas Data of the closest planet. See atlas in game file for the structure (Game Directory\\data\\lua\\atlas.lua)\r\n ]]\r\n --locale for Translation\r\n local locale = system.getLocale()\r\n localeIndex = 1 --default to english\r\n if locale == 'fr-FR' then\r\n localeIndex = 2 --french index in atlas\r\n elseif locale == 'de-DE' then\r\n localeIndex = 3 --german index in atlas\r\n end\r\n --direction if the elevator from the speed\r\n local direction = 'Stabilizing'\r\n if ElevatorData.verticalSpeedSigned > 0 then\r\n direction = 'Up'\r\n elseif ElevatorData.verticalSpeedSigned < 0 then\r\n direction = 'Down'\r\n end\r\n --braking status text for hud\r\n local brakeStatus = 'Off'\r\n if ElevatorData.isBreaking then\r\n brakeStatus = 'On'\r\n end\r\n --html rendering\r\n local html = [[\r\n \r\n
\r\n
\r\n
\r\n
Base Altitude
]] .. format_number(utils.round(BaseAltitute)) .. [[m
\r\n
\r\n
\r\n
Target Altitude
]] .. format_number(utils.round(TargetAltitude)) .. [[m
\r\n
\r\n
\r\n
Current Altitude
]] .. format_number(utils.round(ElevatorData.altitude)) .. [[m
\r\n
\r\n
\r\n
Atmosphere Distance
]] .. format_number(utils.round(ElevatorData.atmosphereDistance)) .. [[m
\r\n
\r\n
\r\n
Maximum Speed
]] .. format_number(math.abs(utils.round(ElevatorData.currentMaxSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Vertical Speed
]] .. format_number(math.abs(utils.round(ElevatorData.verticalSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Lateral Speed
]] .. format_number(math.abs(utils.round(ElevatorData.lateralSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Longitudinal Speed
]] .. format_number(math.abs(utils.round(ElevatorData.longitudinalSpeed*3.6))) .. [[km/h
\r\n
\r\n
\r\n
Direction
]] .. ElevatorData.direction .. [[
\r\n
\r\n
\r\n
Brake
]] .. brakeStatus .. [[
\r\n
\r\n
\r\n ]]\r\n if #fuelTanks > 0 then\r\n html = html .. '
'\r\n for _, tank in pairs(fuelTanks) do\r\n html = html .. '
' .. tank:getName() .. '
' .. tank:getTimeLeftString() .. '
' .. format_number(utils.round(tank:getPercentFilled())) .. '%
'\r\n end\r\n html = html .. '
'\r\n end\r\n if #Bookmarks > 0 then\r\n html = html .. '
Bookmarks
'\r\n for index, bookmark in ipairs(Bookmarks) do\r\n local class=''\r\n if selectedBookmarkIndex == index then\r\n class = 'selected'\r\n end\r\n local displayName = bookmark.name\r\n if selectedBookmarkIndex > 0 and bookmark.altitude == TargetAltitude then\r\n displayName = ' >> ' .. bookmark.name\r\n class = 'movingto'\r\n end\r\n html = html .. '
' .. displayName .. '
' .. format_number((utils.round(bookmark.altitude*100)/100)) .. 'm
'\r\n end\r\n html = html .. '
'\r\n end\r\n if DisplayAtlasData and (ElevatorData.planetData ~= nil) then\r\n html = html .. '
'\r\n html = html .. '
Atlas Data
'\r\n --html = html .. '
' --image is blinking in hud, you can display it here but by default i'm removing it\r\n html = html .. '
Planet Name
'..ElevatorData.planetData.name[localeIndex]..'
'\r\n html = html .. '
Planet Type
'..ElevatorData.planetData.type[localeIndex]..'
'\r\n html = html .. '
Planet gravity
'..ElevatorData.planetData.gravity..'m/s²
'\r\n html = html .. '
Planet Surface Average Altitude
'..ElevatorData.planetData.surfaceAverageAltitude..'m
'\r\n html = html .. '
Planet Surface Min Altitude
'..ElevatorData.planetData.surfaceMinAltitude..'m
'\r\n html = html .. '
Planet Surface Max Altitude
'..ElevatorData.planetData.surfaceMaxAltitude..'m
'\r\n html = html .. '
Planet Max Altitude For Satic Core
'..ElevatorData.planetData.maxStaticAltitude..'m
'\r\n html = html .. '
'\r\n end\r\n html = html .. '
'\r\n system.setScreen(html) --render the HUD\r\nend\r\n\r\n--[[\r\n Version Management\r\n]]\r\nlocal version = \"V 1.4.0\"\r\nlocal log_split = \"=================================================\"\r\n--printing version in lua chat\r\nsystem.print(log_split)local a=\"\"local b=math.ceil((50-#version-2)/2)for c=1,b,1 do a=a..'='end;a=a..\" \"..version..\" \"for c=1,b,1 do a=a..'='end;system.print(a)system.print(log_split)\r\n--[[\r\n Lua Serializer by Jericho\r\n Version: 1.0.0\r\n Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/Serializer/Serializer.lua\r\n]]\r\nSerializer={__index={stringify=function(self,a)if type(a)=='number'then return self:stringifyNumber(a)elseif type(a)=='string'then return self:stringifyString(a)elseif type(a)=='table'then return self:stringifyTable(a)elseif type(a)=='boolean'then return self:stringifyBoolean(a)end;return nil end,parse=function(self,b)return load(\"return \"..b)()end,stringifyTableKey=function(self,c)if type(c)=='number'then return'['..self:stringifyNumber(c)..']'end;return c end,stringifyNumber=function(self,d)return tostring(d)end,stringifyString=function(self,b)return string.format('%q',b):gsub('\\\\\\n','\\n'):gsub('\\\\\\r','\\r'):gsub('\\\\\\t','\\t')end,stringifyTable=function(self,e)local b='{'local f=1;local g=self:tableLength(e)for h,i in pairs(e)do b=b..self:stringifyTableKey(h)..'='..self:stringify(i)if f0 then str=str..days..\"d \"end;if tonumber(hours)>0 then str=str..hours..\"h \"end;if tonumber(mins)>0 then str=str..mins..\"m \"end;if tonumber(secs)>0 then str=str..secs..\"s\"end;return str end,dump=function(self)self:refresh()system.print('{name=\"'..self.name..'\",percentage='..self.percentage..',timeLeft='..self.timeLeft..',fuelType=\"'..self.fuelType..'\"}')end}}\r\n\r\n--[[\r\n Detecting elements linked\r\n]]\r\ncore = nil\r\nfuelTanks = {}\r\ndatabank = nil\r\nfor slot_name, slot in pairs(unit) do\r\n if\r\n type(slot) == \"table\"\r\n and type(slot.export) == \"table\"\r\n and slot.getClass\r\n then\r\n local class = slot.getClass():lower()\r\n if class:find(\"coreunit\") then\r\n core = slot\r\n elseif class:find(\"fuelcontainer\") then\r\n fuelTanks[#fuelTanks + 1] = setmetatable(slot, FuelTank)\r\n elseif class:find(\"databank\") then\r\n databank = slot\r\n end\r\n end\r\nend\r\n\r\n--[[\r\n stopping the script if required elements are not linked\r\n]]\r\nif core == nil then\r\n system.print('Core unit is not linked, exiting the script')\r\n unit.exit()\r\nend\r\nif databank == nil then\r\n system.print('Databank is not linked')\r\nend\r\n\r\n--[[\r\n Atlas\r\n]]\r\natlas = require\"atlas\"\r\n\r\n--[[\r\n Default Unit Start Mechanics\r\n]]\r\npitchInput = 0\r\npitchInputFromDevice = 0\r\nrollInput = 0\r\nyawInput = 0\r\nverticalStrafeInput = 0\r\nlateralStrafeInput = 0\r\nbrakeInput = 1 --braking by default\r\ngoingBack = false\r\ngoingForward = false\r\nshiftPressed = false\r\njumpDelta = 0\r\nbaseAcceleration = 0.8\r\nBrakePressed = false\r\n\r\nNav = Navigator.new(system, core, unit)\r\nNav.axisCommandManager:setupCustomTargetSpeedRanges(axisCommandId.longitudinal, {100, 500, 1000, 2000,3000, 5000})\r\nNav.axisCommandManager:setTargetGroundAltitude(0)\r\nunit.deactivateGroundEngineAltitudeStabilization()\r\n\r\n-- Parenting widget\r\nif ShowParentingWidget then\r\n parentingPanelId = system.createWidgetPanel(\"Docking\")\r\n parentingWidgetId = system.createWidget(parentingPanelId,\"parenting\")\r\n system.addDataToWidget(unit.getWidgetDataId(),parentingWidgetId)\r\nend\r\nif not ShowControlUnitWidget then\r\n unit.hideWidget()\r\nend\r\n\r\n--[[\r\n Storing base position and orientation of the elevator\r\n]]\r\nfunction storeIniPosAndForward(force)\r\n if force == nil then force = false end\r\n ConstructInitPos = construct.getWorldPosition()\r\n --replace that pos by a hand written value to be sure the construct will always realign the same position\r\n --ConstructInitPos = {-1231461.6525868,1201334.4594833,-2617227.3718653}\r\n if __DEBUG then system.print('ConstructInitPos: ' .. json.encode(ConstructInitPos)) end\r\n BaseForward = construct.getWorldForward()\r\n --replace that pos by a hand written value to be sure the construct will always realign the same forward orientation\r\n --BaseForward = {-0.085554607212543,0.2445342447567,-0.9658600687807}\r\n if __DEBUG then system.print('BaseForward: ' .. json.encode(BaseForward)) end\r\n if databank ~= nil then\r\n if databank.hasKey('ConstructInitPos') and not force then\r\n ConstructInitPos = Serializer:parse(databank.getStringValue('ConstructInitPos'))\r\n system.print(\"ConstructInitPos loaded from databank\")\r\n else\r\n local toStore = Serializer:stringify(ConstructInitPos)\r\n databank.setStringValue('ConstructInitPos', toStore)\r\n system.print(\"ConstructInitPos stored in databank\")\r\n system.print(toStore)\r\n end\r\n if databank.hasKey('BaseForward') and not force then\r\n BaseForward = Serializer:parse(databank.getStringValue('BaseForward'))\r\n system.print(\"BaseForward loaded from databank\")\r\n else\r\n local toStore = Serializer:stringify(BaseForward)\r\n databank.setStringValue('BaseForward', toStore)\r\n system.print(\"BaseForward stored in databank\")\r\n system.print(toStore)\r\n end\r\n else\r\n system.print(\"No Databank detected\")\r\n end\r\n BaseForward = vec3(BaseForward)\r\nend\r\n\r\n--[[\r\n Storing Planet ID in Databank to be sure we always have the origin planet store even where too far from planet (1su or more)\r\n]]\r\nfunction storeReferencePlanet(force)\r\n if force == nil then force = false end\r\n local PlanetID = nil\r\n if databank.hasKey('PlanetID') and not force then\r\n PlanetID = databank.getIntValue('PlanetID')\r\n else\r\n PlanetID = core.getCurrentPlanetId()\r\n if PlanetID ~= nil then\r\n databank.setIntValue('PlanetID', PlanetID)\r\n system.print(\"Planet ID stored in databank: \" .. PlanetID)\r\n end\r\n end\r\n if PlanetID == nil then\r\n system.print(\"WARNING: no planet detected, you may be too far away in spance, please, restart the elevator from the planet surface\")\r\n else\r\n ElevatorData.planetData = atlas[0][PlanetID]\r\n end\r\n if __DEBUG then system.print('Planet ID: ' .. PlanetID) end\r\nend\r\n\r\nfunction getClosestBodyIdFromAtlas()\r\n local closestBody = nil\r\n local closestDistance = 0\r\n local constructPos = vec3(construct.getWorldPosition())\r\n for _, body in pairs(atlas[0]) do\r\n local distance = (vec3(body.center) - constructPos):len()\r\n if closestBody == nil or distance < closestDistance then\r\n closestBody = body.id\r\n closestDistance = distance\r\n end\r\n end\r\n return closestBody\r\nend\r\n\r\nfunction mergeBookmarksFromDatabank()\r\n if (databank ~= nil) and databank.hasKey('Bookmarks') then\r\n local str = databank.getStringValue('Bookmarks')\r\n local bookmarks_data = Serializer:parse(str)\r\n for _, bookmark in pairs(bookmarks_data) do\r\n local exists = false\r\n for _, b in pairs(Bookmarks) do\r\n if b.name == bookmark.name then\r\n exists = true\r\n break\r\n end\r\n end\r\n if not exists then\r\n Bookmarks[#Bookmarks+1] = bookmark\r\n end\r\n end\r\n databank.setStringValue('Bookmarks', Serializer:stringify(Bookmarks))\r\n end\r\nend\r\n\r\nmergeBookmarksFromDatabank()\r\n\r\n--[[\r\n Compute planet atmosphere altitude\r\n]]\r\nfunction computePlanetAtmoAltitude(planetData)\r\n return planetData.atmosphereRadius - planetData.radius\r\nend\r\n\r\n--[[\r\n --compute distance from a planet sea level\r\n]]\r\nfunction computePlanetSeaDistance(planetData, constructWorldPosition)\r\n return (vec3(planetData.center) - vec3(constructWorldPosition)):len() - planetData.radius\r\nend\r\n\r\nConstructInitPos = nil\r\nBaseForward = nil\r\nstoreIniPosAndForward()\r\nif ConstructInitPos == nil or BaseForward == nil then\r\n system.print(\"An Error occurs during Init. Try removing the databank, remove its dynamic properties and install it again ...\")\r\nend\r\nBaseAltitute = Bookmarks[1].altitude --getting the base altitude from the 1st bookmark\r\n--init a value to store the target altitude\r\nTargetAltitude = core.getAltitude() --by default to the start altitude to avoid falling down if in the air\r\n\r\nMaxSpeed = construct.getFrictionBurnSpeed() -- for security to avoid burning if going too fast\r\nMaxSpeedOnPlanet = MaxSpeed\r\nif __DEBUG then system.print('MaxSpeed: ' .. (MaxSpeed*3.6) .. 'km/h') end\r\n\r\nElevatorData = {\r\n isBreaking = brakeInput == 1,\r\n verticalSpeed = 0,\r\n verticalSpeedSigned = 0,\r\n lateralSpeed = 0,\r\n longitudinalSpeed = 0,\r\n coreAltitude = TargetAltitude,\r\n altitude = TargetAltitude,\r\n planetData = atlas[0][getClosestBodyIdFromAtlas()],\r\n direction = 'Stabilizing',\r\n atmosphereDistance = 0,\r\n atmosphereAltitude = 0,\r\n atmoMaxSpeed = MaxSpeedOnPlanet,\r\n currentMaxSpeed = MaxSpeed,\r\n}\r\n\r\n--computing the distance from the planet sea level as target altitude\r\nif ElevatorData.planetData ~= nil then\r\n TargetAltitude = computePlanetSeaDistance(ElevatorData.planetData, construct.getWorldPosition())\r\n ElevatorData.atmosphereAltitude = computePlanetAtmoAltitude(ElevatorData.planetData)\r\nend\r\n\r\n--base selected bookmark is 0 -> none selected as index 0 doesn't exist in lua\r\nselectedBookmarkIndex = 1\r\n\r\n--[[\r\n init the HUD\r\n]]\r\nsystem.showScreen(true)\r\n\r\n--[[\r\n Kinematics functions by Jaylebreak\r\n Source available at https://gitlab.com/JayleBreak/dualuniverse/-/blob/master/DUflightfiles/autoconf/custom/kinematics.lua\r\n]]\r\nfunction computeAccelerationTime(initial, acceleration, final) return (final - initial)/acceleration end\r\nfunction computeDistanceAndTime(initial, final, mass, thrust, t50, brakeThrust)\r\n t50 = t50 or 0\r\n brakeThrust = brakeThrust or 0\r\n local speedUp = initial < final\r\n local a0 = thrust / (speedUp and mass or -mass)\r\n local b0 = -brakeThrust/mass\r\n local totA = a0+b0\r\n if initial == final then\r\n return 0, 0\r\n elseif speedUp and totA <= 0 or not speedUp and totA >= 0 then\r\n return -1, -1\r\n end\r\n local distanceToMax, timeToMax = 0, 0\r\n if a0 ~= 0 and t50 > 0 then\r\n local c1 = math.pi/t50/2\r\n local v = function(t)\r\n return a0*(t/2 - t50*math.sin(c1*t)/math.pi) + b0*t + initial\r\n end\r\n local speedchk = speedUp and function(s) return s >= final end or function(s) return s <= final end\r\n timeToMax = 2*t50\r\n if speedchk(v(timeToMax)) then\r\n local lasttime = 0\r\n while math.abs(timeToMax - lasttime) > 0.25 do\r\n local t = (timeToMax + lasttime)/2\r\n if speedchk(v(t)) then\r\n timeToMax = t\r\n else\r\n lasttime = t\r\n end\r\n end\r\n end\r\n local K = 2*a0*t50^2/math.pi^2\r\n distanceToMax = K*(math.cos(c1*timeToMax) - 1) + (a0+2*b0)*timeToMax^2/4 + initial*timeToMax\r\n if timeToMax < 2*t50 then\r\n return distanceToMax, timeToMax\r\n end\r\n initial = v(timeToMax)\r\n end\r\n local a = a0+b0\r\n local t = computeAccelerationTime(initial, a, final)\r\n local d = initial*t + a*t*t/2\r\n return distanceToMax+d, timeToMax+t\r\nend\r\n\r\n--[[\r\n Compute angle between vectors by Jericho\r\n]]\r\nfunction signedAngleBetween(vec1, vec2, planeNormal)\r\n local normVec1 = vec1:project_on_plane(planeNormal):normalize()\r\n local normVec2 = vec2:normalize()\r\n local v1v2dot = normVec1:dot(normVec2)\r\n local angle = math.acos(utils.clamp(v1v2dot,-1,1))\r\n local crossProduct = vec1:cross(vec2)\r\n if crossProduct:dot(planeNormal) < 0 then\r\n return -angle\r\n end\r\n return angle\r\nend\r\n--[[\r\n\tformatting numbers by adding a space between thousands by Jericho\r\n]]\r\nfunction format_number(a)local b=a;while true do b,k=string.gsub(b,\"^(-?%d+)(%d%d%d)\",'%1 %2')if k==0 then break end end;local c=string.sub(b,-2)if c=='.0'then b=string.sub(b,1,b:len()-2)end;return b end\r\n--[[\r\n DU-LUA-Framework by Jericho\r\n Permit to code easier by grouping most of the code in a single event Unit > Start\r\n Unminified Source available here: https://github.com/Jericho1060/du-lua-framework\r\n]]--\r\nlocal a=system.print;local b=error;local c=pcall;local d=assert;local e=coroutine;local f=e.create;local g=e.status;local h=e.resume;local i=\"dead\"local j=\"suspended\"function runFunction(k,l,...)local m,n=c(k,...)if not m then b(l..n)end end;local o={__index={cos={update={},flush={}},fns={update={},flush={},action={start={},stop={},loop={}},inputText=nil,start=nil,stop=nil},ACTIONS={FORWARD=\"forward\",BACKWARD=\"backward\",YAW_LEFT=\"yawleft\",YAW_RIGHT=\"yawright\",STRAFE_LEFT=\"strafeleft\",STRAFE_RIGHT=\"straferight\",LEFT=\"left\",RIGHT=\"right\",UP=\"up\",DOWN=\"down\",GROUND_ALTITUDE_UP=\"groundaltitudeup\",GROUND_ALTITUDE_DOWN=\"groundaltitudedown\",LEFT_ALT=\"lalt\",LEFT_SHIFT=\"lshift\",GEAR=\"gear\",LIGHT=\"light\",BRAKE=\"brake\",OPTION_1=\"option1\",OPTION_2=\"option2\",OPTION_3=\"option3\",OPTION_4=\"option4\",OPTION_5=\"option5\",OPTION_6=\"option6\",OPTION_7=\"option7\",OPTION_8=\"option8\",OPTION_9=\"option9\",OPTION_10=\"option10\",OPTION_11=\"option11\",OPTION_12=\"option12\",OPTION_13=\"option13\",OPTION_14=\"option14\",OPTION_15=\"option15\",OPTION_16=\"option16\",OPTION_17=\"option17\",OPTION_18=\"option18\",OPTION_19=\"option19\",OPTION_20=\"option20\",OPTION_21=\"option21\",OPTION_22=\"option22\",OPTION_23=\"option23\",OPTION_24=\"option24\",OPTION_25=\"option25\",OPTION_26=\"option26\",OPTION_27=\"option27\",OPTION_28=\"option28\",OPTION_29=\"option29\",LEFT_MOUSE=\"leftmouse\",STOP_ENGINES=\"stopengines\",SPEED_UP=\"speedup\",SPEED_DOWN=\"speeddown\",ANTIGRAVITY=\"antigravity\",BOOSTER=\"booster\"},main={update=f(function()end),flush=f(function()end)},update=function(self)local p=g(self.main.update)if p==i then self.main.update=f(function()self:runUpdate()end)elseif p==j then d(h(self.main.update))end end,flush=function(self)local p=g(self.main.flush)if p==i then self.main.flush=f(function()self:runFlush()end)elseif p==j then d(h(self.main.flush))end end,action=function(self,q,r)if self.fns.action[q][r]then runFunction(self.fns.action[q][r],\"System Action \"..q..\" Error: \")end end,actionStart=function(self,r)self:action('start',r)end,actionStop=function(self,r)self:action('stop',r)end,actionLoop=function(self,r)self:action('loop',r)end,inputText=function(self,s)if self.fns.inputText then runFunction(self.fns.inputText,\"System Input Text Error: \",s)end end,runUpdate=function(self)for t,u in pairs(self.cos.update)do local m=g(u)if m==i then self.cos.update[t]=f(self.fns.update[t])elseif m==j then d(h(u))end end end,runFlush=function(self)for t,u in pairs(self.cos.flush)do local m=g(u)if m==i then self.cos.flush[t]=f(self.fns.flush[t])elseif m==j then d(h(u))end end end,onUpdate=function(self,v)for t,w in pairs(v)do self.fns.update[t]=w;self.cos.update[t]=f(w)end end,onFlush=function(self,v)for t,w in pairs(v)do self.fns.flush[t]=w;self.cos.flush[t]=f(w)end end,onAction=function(self,q,v)for t,w in pairs(v)do self.fns.action[q][t]=w end end,onActionStart=function(self,v)self:onAction(\"start\",v)end,onActionStop=function(self,v)self:onAction(\"stop\",v)end,onActionLoop=function(self,v)self:onAction(\"loop\",v)end,onInputText=function(self,k)self.fns.inputText=k end}}local x={__index={timers={},stopFn=function()end,timer=function(self,y)if self.timers[y]then runFunction(self.timers[y],\"Unit Timer \"..y..\" Error: \")end end,setTimer=function(self,y,z,k)self.timers[y]=k;unit.setTimer(y,z)end,stopTimer=function(self,y)unit.stopTimer(y)self.timers[y]=nil end,onStop=function(self,k)self.stopFn=k end,stop=function(self)if self.stopFn then runFunction(self.stopFn,\"Unit Stop Error: \")end end}}local A={__index={parentChangedFn=function(B,C)end,onParentChange=function(self,k)self.parentChangedFn=k end,parentChanged=function(self,B,C)if self.parentChangedFn then runFunction(self.parentChangedFn,\"Player Parent Changed Error: \",B,C)end end}}local D={__index={dockedFn=function(E)end,onDocked=function(self,k)self.dockedFn=k end,docked=function(self,E)if self.dockedFn then runFunction(self.dockedFn,\"Construct Docked Error: \",E)end end,undockedFn=function(E)end,onUndocked=function(self,k)self.undockedFn=k end,undocked=function(self,E)if self.undockedFn then runFunction(self.undockedFn,\"Construct Undocked Error: \",E)end end,playerBoardedFn=function(E)end,onPlayerBoarded=function(self,k)self.playerBoardedFn=k end,playerBoarded=function(self,E)if self.playerBoardedFn then runFunction(self.playerBoardedFn,\"Construct Player Boarded Error: \",E)end end,VRStationEnteredFn=function(E)end,onVRStationEntered=function(self,k)self.VRStationEnteredFn=k end,VRStationEntered=function(self,E)if self.VRStationEnteredFn then runFunction(self.VRStationEnteredFn,\"Construct VR Station Entered Error: \",E)end end,constructDockedFn=function(E)end,onConstructDocked=function(self,k)self.constructDockedFn=k end,constructDocked=function(self,E)if self.constructDockedFn then runFunction(self.constructDockedFn,\"Construct Construct Docked Error: \",E)end end,PvPTimerFn=function(F)end,onPvPTimer=function(self,k)self.PvPTimerFn=k end,PvPTimer=function(self,F)if self.PvPTimerFn then runFunction(self.PvPTimerFn,\"Construct PvP Timer Error: \",F)end end}}DU_Framework={__index={system=setmetatable({},o),unit=setmetatable({},x),player=setmetatable({},A),construct=setmetatable({},D)}}\r\n\r\nScript = {}\r\nsetmetatable(Script, DU_Framework)\r\n\r\n--[[\r\n String Helpers For Lua By Jericho\r\n]]\r\nString = {\r\n __index = {\r\n split = function(self, delimiter)\r\n local result = {}\r\n for match in (self..delimiter):gmatch(\"(.-)\"..delimiter) do\r\n table.insert(result, match)\r\n end\r\n return result\r\n end\r\n }\r\n}\r\nstring = setmetatable(string, String)\r\nstring.__index = string\r\n\r\nlocal systemOnFlush = {\r\n function()\r\n local yawSpeedFactor = 0.1 --export: the auto yaw speed multiplier\r\n local yawAccelerationFactor = 3\r\n local lateralAntiDriftFactor = 1\r\n local lateralStrafeFactor = 5\r\n local brakeSpeedFactor = 1\r\n local brakeFlatFactor = 4\r\n local autoBrakeSpeed = 15\r\n -- validate params\r\n brakeSpeedFactor = math.max(brakeSpeedFactor, 0.01)\r\n brakeFlatFactor = math.max(brakeFlatFactor, 0.01)\r\n yawSpeedFactor = math.max(yawSpeedFactor, 0.01)\r\n yawAccelerationFactor = math.max(yawAccelerationFactor, 0.01)\r\n --init all the PIDs as global if first flush\r\n if (rollPID == nil) then rollPID = pid.new(0.2, 0, 10) end\r\n if (pitchPID == nil) then pitchPID = pid.new(0.2, 0, 10) end\r\n if (yawPID == nil) then yawPID = pid.new(0.2, 0, 10) end\r\n if (lateralPID == nil) then lateralPID = pid.new(0.2, 0, 10) end\r\n if (longitudinalPID == nil) then longitudinalPID = pid.new(0.2, 0, 10) end\r\n if (distancePID == nil) then distancePID = pid.new(0.2, 0, 10) end\r\n\r\n -- final inputs\r\n if unit.isMouseDirectControlActivated() then\r\n -- in direct control, we tweak the pitch to behave inbetween virtual joystick and direct control\r\n -- this helps a lot for ground construct control\r\n pitchInputFromDevice = utils.clamp(pitchInputFromDevice + system.getControlDeviceForwardInput() * system.getActionUpdateDeltaTime(), -1.0, 1.0)\r\n else\r\n pitchInputFromDevice = system.getControlDeviceForwardInput()\r\n end\r\n local finalPitchInput = pitchInput + pitchInputFromDevice\r\n local finalRollInput = rollInput + system.getControlDeviceYawInput()\r\n local finalYawInput = yawInput - system.getControlDeviceLeftRightInput()\r\n local combinedRollYawInput = utils.clamp(finalRollInput - finalYawInput, -1.0, 1.0);\r\n local finalVerticalStrafeInput = verticalStrafeInput\r\n local finalLateralStrafeInput = lateralStrafeInput;\r\n local finalBrakeInput = brakeInput\r\n\r\n -- Axis\r\n local worldVertical = vec3(core.getWorldVertical())\r\n local worldRight = vec3(core.getWorldRight())\r\n local worldForward = vec3(core.getWorldForward())\r\n local constructUp = vec3(construct.getWorldOrientationUp())\r\n local constructForward = vec3(construct.getWorldOrientationForward())\r\n local constructRight = vec3(construct.getWorldOrientationRight())\r\n local constructVelocity = vec3(construct.getWorldVelocity())\r\n local constructVelocityDir = vec3(construct.getWorldVelocity()):normalize()\r\n local constructAngularVelocity = vec3(construct.getWorldAngularVelocity())\r\n local constructYawVelocity = constructAngularVelocity:dot(constructUp)\r\n local constructWorldPosition = vec3(construct.getWorldPosition())\r\n local constructTargetPosition = vec3(ConstructInitPos)\r\n\r\n -- Engine commands\r\n local keepCollinearity = 0 -- for easier reading\r\n local dontKeepCollinearity = 1 -- for easier reading\r\n local tolerancePercentToSkipOtherPriorities = 1 -- if we are within this tolerance (in%), we don't go to the next priorities\r\n\r\n --fake braking value\r\n local canBrake = false\r\n\r\n -- keeping the start position alignement\r\n local StrafeSpeedFactor = 1 --export: useg to increase the force of the alignement, decrease the value if the alignement is too strong or increase it if it's too slow\r\n local positionDifference = constructTargetPosition - constructWorldPosition\r\n local lateralOffset = positionDifference:project_on(constructRight):len() * utils.sign(positionDifference:dot(constructRight))\r\n ElevatorData.lateralSpeed = constructVelocity:project_on(worldRight):len()\r\n local lateralDistance = math.abs(lateralOffset)\r\n local longitudinalOffset = positionDifference:project_on(constructForward):len() * utils.sign(positionDifference:dot(constructForward))\r\n ElevatorData.longitudinalSpeed = constructVelocity:project_on(worldForward):len()\r\n local longitudinalDistance = math.abs(longitudinalOffset)\r\n if (lateralDistance < .25) and (longitudinalDistance < .25) then canBrake = true end\r\n if ((ElevatorData.lateralSpeed*3.6) > lateralDistance) or ((ElevatorData.longitudinalSpeed*3.6) > longitudinalDistance) then canBrake = true end\r\n lateralPID:inject(lateralOffset)\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.lateral, lateralPID:get() * StrafeSpeedFactor)\r\n longitudinalPID:inject(longitudinalOffset)\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.longitudinal, longitudinalPID:get() * StrafeSpeedFactor)\r\n\r\n -- Rotation\r\n local currentRollDeg = getRoll(worldVertical, constructForward, constructRight)\r\n local currentPitchDeg = -math.asin(constructForward:dot(worldVertical)) * constants.rad2deg\r\n local targetRollDeg = 0\r\n local targetPitchDeg = 0\r\n local targetYawDeg = signedAngleBetween(BaseForward,constructForward,constructUp)*180/math.pi\r\n rollPID:inject(targetRollDeg - currentRollDeg)\r\n pitchPID:inject(targetPitchDeg - currentPitchDeg)\r\n yawPID:inject(-targetYawDeg*yawSpeedFactor)\r\n\r\n local constructTargetAngularVelocity = rollPID:get() * constructForward + pitchPID:get() * constructRight + yawPID:get() * constructUp\r\n\r\n Nav:setEngineTorqueCommand('torque', constructTargetAngularVelocity, keepCollinearity, 'airfoil', '', '', tolerancePercentToSkipOtherPriorities)\r\n\r\n -- moving up or down from TargetAltitude\r\n ElevatorData.verticalSpeed = constructVelocity:project_on(worldVertical):len()\r\n ElevatorData.verticalSpeedSigned = ElevatorData.verticalSpeed * -utils.sign(constructVelocity:dot(worldVertical))\r\n local brakeDistance = 0\r\n local brakeDistanceToAtmosphere = 0\r\n local maxBrake = construct.getMaxBrake()\r\n ElevatorData.coreAltitude = core.getAltitude()\r\n ElevatorData.atmosphereAltitude = computePlanetAtmoAltitude(ElevatorData.planetData)\r\n ElevatorData.altitude = computePlanetSeaDistance(ElevatorData.planetData, constructWorldPosition)\r\n ElevatorData.atmosphereDistance = ElevatorData.altitude - ElevatorData.atmosphereAltitude\r\n local isInAtmosphere = ElevatorData.atmosphereDistance <= 0\r\n local targetIsInAtmosphere = TargetAltitude <= ElevatorData.atmosphereAltitude\r\n if maxBrake ~= nil then\r\n local g = core.getGravityIntensity()\r\n if ElevatorData.verticalSpeedSigned < 0 then\r\n g = ElevatorData.planetData.gravity --when falling, apply the max gravity to the braking computing to increase braking\r\n end\r\n local inertialMass = construct.getInertialMass()\r\n local speedSign = utils.sign(ElevatorData.verticalSpeedSigned)\r\n brakeDistanceToAtmosphere, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, ElevatorData.atmoMaxSpeed, inertialMass, 0, 0, maxBrake - (g * inertialMass * speedSign))\r\n brakeDistance, _ = computeDistanceAndTime(ElevatorData.verticalSpeed, 0, inertialMass, 0, 0, maxBrake - (g * inertialMass * speedSign))\r\n end\r\n if isInAtmosphere or (targetIsInAtmosphere and (brakeDistanceToAtmosphere > ElevatorData.atmosphereDistance)) then\r\n ElevatorData.currentMaxSpeed = ElevatorData.atmoMaxSpeed\r\n else\r\n ElevatorData.currentMaxSpeed = 50000/3.6 -- 50km/h in m/s = 13888.88888888889....\r\n end\r\n local distance = TargetAltitude - ElevatorData.altitude\r\n local targetDistance = utils.sign(distance) * (math.abs(distance)-brakeDistance)\r\n distancePID:inject(targetDistance)\r\n if distancePID:get() > 0.25 or ElevatorData.verticalSpeedSigned < -ElevatorData.currentMaxSpeed then --using a 0.25 meter deadband for stabilizing\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\r\n ElevatorData.direction = 'up'\r\n if ElevatorData.verticalSpeedSigned < 0 then\r\n finalBrakeInput = 1\r\n end\r\n elseif distancePID:get() < -0.25 or ElevatorData.verticalSpeedSigned > ElevatorData.currentMaxSpeed then\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1)\r\n ElevatorData.direction = 'down'\r\n if ElevatorData.verticalSpeedSigned > 0 then\r\n finalBrakeInput = 1\r\n end\r\n else\r\n Nav.axisCommandManager:resetCommand(axisCommandId.vertical)\r\n ElevatorData.direction = 'stabilizing'\r\n end\r\n\r\n --Brakes\r\n if (math.abs(distance) < (ElevatorData.verticalSpeed*3.6) and canBrake) --speed control\r\n or (ElevatorData.verticalSpeed >= ElevatorData.currentMaxSpeed) --anti burn speed\r\n or ((math.abs(distancePID:get()) < .25) and canBrake) --altitude reached with 0.25m deadband\r\n or ((brakeDistance > math.abs(distance)) and canBrake) --braking distance\r\n or (finalBrakeInput == 0 and autoBrakeSpeed > 0 and Nav.axisCommandManager.throttle == 0 and constructVelocity:len() < autoBrakeSpeed)\r\n then\r\n finalBrakeInput = 1\r\n --use engines to help braking\r\n if ElevatorData.verticalSpeedSigned < 0 and isInAtmosphere then\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\r\n end\r\n end\r\n ElevatorData.isBreaking = (finalBrakeInput == 1)\r\n local brakeAcceleration = -finalBrakeInput * (brakeSpeedFactor * constructVelocity + brakeFlatFactor * constructVelocityDir)\r\n\r\n Nav:setEngineForceCommand('brake', brakeAcceleration)\r\n\r\n -- AutoNavigation regroups all the axis command by 'TargetSpeed'\r\n local autoNavigationEngineTags = ''\r\n local autoNavigationAcceleration = vec3()\r\n local autoNavigationUseBrake = false\r\n\r\n -- Longitudinal Translation\r\n local longitudinalEngineTags = 'thrust analog longitudinal'\r\n local longitudinalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.longitudinal)\r\n if (longitudinalCommandType == axisCommandType.byThrottle) then\r\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(longitudinalEngineTags,axisCommandId.longitudinal)\r\n Nav:setEngineForceCommand(longitudinalEngineTags, longitudinalAcceleration, keepCollinearity)\r\n elseif (longitudinalCommandType == axisCommandType.byTargetSpeed) then\r\n local longitudinalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.longitudinal)\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. longitudinalEngineTags\r\n autoNavigationAcceleration = autoNavigationAcceleration + longitudinalAcceleration\r\n if (Nav.axisCommandManager:getTargetSpeed(axisCommandId.longitudinal) == 0 or -- we want to stop\r\n Nav.axisCommandManager:getCurrentToTargetDeltaSpeed(axisCommandId.longitudinal) < - Nav.axisCommandManager:getTargetSpeedCurrentStep(axisCommandId.longitudinal) * 0.5) -- if the longitudinal velocity would need some braking\r\n then\r\n autoNavigationUseBrake = true\r\n end\r\n end\r\n\r\n -- Lateral Translation\r\n local lateralStrafeEngineTags = 'thrust analog lateral'\r\n local lateralCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.lateral)\r\n if (lateralCommandType == axisCommandType.byThrottle) then\r\n local lateralStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(lateralStrafeEngineTags,axisCommandId.lateral)\r\n Nav:setEngineForceCommand(lateralStrafeEngineTags, lateralStrafeAcceleration, keepCollinearity)\r\n elseif (lateralCommandType == axisCommandType.byTargetSpeed) then\r\n local lateralAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.lateral)\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. lateralStrafeEngineTags\r\n autoNavigationAcceleration = autoNavigationAcceleration + lateralAcceleration\r\n end\r\n\r\n -- Vertical Translation\r\n local verticalStrafeEngineTags = 'thrust analog vertical'\r\n local verticalCommandType = Nav.axisCommandManager:getAxisCommandType(axisCommandId.vertical)\r\n if (verticalCommandType == axisCommandType.byThrottle) then\r\n local verticalStrafeAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromThrottle(verticalStrafeEngineTags,axisCommandId.vertical)\r\n Nav:setEngineForceCommand(verticalStrafeEngineTags, verticalStrafeAcceleration, keepCollinearity, 'airfoil', 'ground', '', tolerancePercentToSkipOtherPriorities)\r\n elseif (verticalCommandType == axisCommandType.byTargetSpeed) then\r\n local verticalAcceleration = Nav.axisCommandManager:composeAxisAccelerationFromTargetSpeed(axisCommandId.vertical)\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ' , ' .. verticalStrafeEngineTags\r\n autoNavigationAcceleration = autoNavigationAcceleration + verticalAcceleration\r\n end\r\n\r\n -- Auto Navigation (Cruise Control)\r\n if (autoNavigationAcceleration:len() > constants.epsilon) then\r\n if (brakeInput ~= 0 or autoNavigationUseBrake or math.abs(constructVelocityDir:dot(constructForward)) < 0.95) -- if the velocity is not properly aligned with the forward\r\n then\r\n autoNavigationEngineTags = autoNavigationEngineTags .. ', brake'\r\n end\r\n Nav:setEngineForceCommand(autoNavigationEngineTags, autoNavigationAcceleration, dontKeepCollinearity, '', '', '', tolerancePercentToSkipOtherPriorities)\r\n end\r\n\r\n -- Rockets\r\n Nav:setBoosterCommand('rocket_engine')\r\n end\r\n}\r\n\r\nlocal systemOnUpdate = {\r\n function ()\r\n Nav:update()\r\n RENDER_HUD(ElevatorData)\r\n end\r\n}\r\n\r\nScript.system:onUpdate(systemOnUpdate)\r\nScript.system:onFlush(systemOnFlush)\r\n\r\n--[[\r\n Actions\r\n]]\r\nlocal systemActionsStart = {}\r\nlocal systemActionsLoop = {}\r\nlocal systemActionsStop = {}\r\n\r\nsystemActionsStart[Script.system.ACTIONS.DOWN] = function ()\r\n if BrakePressed then\r\n if selectedBookmarkIndex < #Bookmarks then\r\n local temp = Bookmarks[selectedBookmarkIndex]\r\n Bookmarks[selectedBookmarkIndex] = Bookmarks[selectedBookmarkIndex + 1]\r\n selectedBookmarkIndex = selectedBookmarkIndex + 1\r\n Bookmarks[selectedBookmarkIndex] = temp\r\n else\r\n selectedBookmarkIndex = 1\r\n end\r\n else\r\n if selectedBookmarkIndex < #Bookmarks then\r\n selectedBookmarkIndex = selectedBookmarkIndex + 1\r\n else\r\n selectedBookmarkIndex = 1\r\n end\r\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\r\n end\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.UP] = function ()\r\n if BrakePressed then\r\n if selectedBookmarkIndex > 1 then\r\n local temp = Bookmarks[selectedBookmarkIndex]\r\n Bookmarks[selectedBookmarkIndex] = Bookmarks[selectedBookmarkIndex - 1]\r\n selectedBookmarkIndex = selectedBookmarkIndex - 1\r\n Bookmarks[selectedBookmarkIndex] = temp\r\n else\r\n selectedBookmarkIndex = #Bookmarks\r\n end\r\n else\r\n if selectedBookmarkIndex > 1 then\r\n selectedBookmarkIndex = selectedBookmarkIndex - 1\r\n else\r\n selectedBookmarkIndex = #Bookmarks\r\n end\r\n end\r\n if __DEBUG then system.print('Selected Bookmark Index: ' .. selectedBookmarkIndex) end\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.STRAFE_RIGHT] = function ()\r\n brakeInput = 0\r\n if selectedBookmarkIndex > 0 then\r\n TargetAltitude = Bookmarks[selectedBookmarkIndex].altitude\r\n if __DEBUG then system.print('Target Altitude: ' .. TargetAltitude) end\r\n else\r\n system.print('No bookmark selected')\r\n end\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.OPTION_1] = function()\r\n storeIniPosAndForward(true)\r\nend\r\nsystemActionsStart[Script.system.ACTIONS.BRAKE] = function()\r\n BrakePressed = true\r\nend\r\nsystemActionsStop[Script.system.ACTIONS.BRAKE] = function()\r\n BrakePressed = false\r\nend\r\nScript.system:onActionStart(systemActionsStart) --loading all \"actionStart\" functions\r\nScript.system:onActionLoop(systemActionsLoop) --loading all \"actionLoop\" functions\r\nScript.system:onActionStop(systemActionsStop) --loading all \"actionStop\" functions\r\n\r\n--[[\r\n Chat Commands\r\n]]\r\n\r\nScript.system:onInputText(function (text)\r\n if text:lower():find('goto:') then\r\n TargetAltitude = tonumber(text:split(':')[2]) or BaseAltitute\r\n brakeInput = 0\r\n system.print('Target Altitude set to ' .. TargetAltitude .. 'm')\r\n elseif text:lower():find('save:') then\r\n if databank == nil then\r\n system.print('Please, install a databank to save bookmarks')\r\n return\r\n end\r\n if databank.hasKey('Bookmarks') then\r\n local str = databank.getStringValue('Bookmarks')\r\n local bookmarks_data = Serializer:parse(str)\r\n\r\n end\r\n local name = text:split(':')[2]\r\n for _, bookmark in pairs(Bookmarks) do\r\n if bookmark.name == name then\r\n system.print('Bookmark \"' .. name .. '\"\" already exists')\r\n return\r\n end\r\n end\r\n if name ~= nil then\r\n local altitude = ElevatorData.altitude\r\n local bookmark = {\r\n name = name,\r\n altitude = altitude\r\n }\r\n Bookmarks[#Bookmarks+1] = bookmark\r\n databank.setStringValue('Bookmarks', Serializer:stringify(Bookmarks))\r\n system.print('Bookmark ' .. name .. ' saved at ' .. altitude .. 'm')\r\n else\r\n system.print('Please, provide a name for the bookmark')\r\n end\r\n elseif text:lower() == 'delete' then\r\n if databank == nil then\r\n system.print('Please, install a databank to manage bookmarks with commands')\r\n return\r\n end\r\n if Bookmarks[selectedBookmarkIndex] then\r\n --delete selected bookmark\r\n local name = Bookmarks[selectedBookmarkIndex].name\r\n table.remove(Bookmarks, selectedBookmarkIndex)\r\n databank.setStringValue('Bookmarks', Serializer:stringify(Bookmarks))\r\n end\r\n else\r\n system.print('Unknown command')\r\n end\r\nend)\r\n","filter":{"args":[],"signature":"onStart()","slotKey":"-1"},"key":"2"}],"methods":[],"slots":{"0":{"name":"slot1","type":{"events":[],"methods":[]}},"1":{"name":"slot2","type":{"events":[],"methods":[]}},"2":{"name":"slot3","type":{"events":[],"methods":[]}},"3":{"name":"slot4","type":{"events":[],"methods":[]}},"4":{"name":"slot5","type":{"events":[],"methods":[]}},"5":{"name":"slot6","type":{"events":[],"methods":[]}},"6":{"name":"slot7","type":{"events":[],"methods":[]}},"7":{"name":"slot8","type":{"events":[],"methods":[]}},"8":{"name":"slot9","type":{"events":[],"methods":[]}},"9":{"name":"slot10","type":{"events":[],"methods":[]}},"-5":{"name":"library","type":{"events":[],"methods":[]}},"-4":{"name":"system","type":{"events":[],"methods":[]}},"-3":{"name":"player","type":{"events":[],"methods":[]}},"-2":{"name":"construct","type":{"events":[],"methods":[]}},"-1":{"name":"unit","type":{"events":[],"methods":[]}}}} \ No newline at end of file