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KJRManager.cs
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KJRManager.cs
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/*
Kerbal Joint Reinforcement, v3.3.3
Copyright 2015, Michael Ferrara, aka Ferram4
This file is part of Kerbal Joint Reinforcement.
Kerbal Joint Reinforcement is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Kerbal Joint Reinforcement is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Kerbal Joint Reinforcement. If not, see <http://www.gnu.org/licenses/>.
*/
using System;
using System.Collections;
using System.Collections.Generic;
using System.Text;
using UnityEngine;
using CompoundParts;
namespace KerbalJointReinforcement
{
[KSPAddon(KSPAddon.Startup.Flight, false)]
public class KJRManager : MonoBehaviour
{
private List<Vessel> updatedVessels;
private HashSet<Vessel> vesselOffRails;
private Dictionary<Vessel, List<Joint>> vesselJointStrengthened;
private KJRMultiJointManager multiJointManager;
private KJRMultiJointManager decouplerJointManager;
private bool isEVAConstructionModeActive = false;
private bool disableAllJoints = false;
private bool showAdditionalJoints = true;
private bool showInterstageJoints = true;
private List<LineRenderer> jointRenderers;
private List<string> additionalJointNames;
private List<string> interstageJointNames;
private Material material;
private Rect windowRect;
private Vector2 scrollPos;
public void Awake()
{
KJRJointUtils.LoadConstants();
updatedVessels = new List<Vessel>();
vesselOffRails = new HashSet<Vessel>();
vesselJointStrengthened = new Dictionary<Vessel, List<Joint>>();
multiJointManager = new KJRMultiJointManager();
decouplerJointManager = new KJRMultiJointManager();
}
public void Start()
{
GameEvents.onVesselWasModified.Add(OnVesselWasModified);
GameEvents.onVesselGoOffRails.Add(OnVesselOffRails);
GameEvents.onVesselGoOnRails.Add(OnVesselOnRails);
GameEvents.onVesselDestroy.Add(OnVesselOnRails);
GameEvents.OnGameSettingsApplied.Add(OnSettingsApplied);
GameEvents.onRoboticPartLockChanged.Add(OnRoboticPartLockChanged);
GameEvents.OnEVAConstructionModePartDetached.Add(OnEVAConstructionModePartDetached);
GameEvents.OnEVAConstructionMode.Add(OnEVAConstructionMode);
}
public void OnDestroy()
{
GameEvents.onVesselWasModified.Remove(OnVesselWasModified);
GameEvents.onVesselGoOffRails.Remove(OnVesselOffRails);
GameEvents.onVesselGoOnRails.Remove(OnVesselOnRails);
GameEvents.onVesselDestroy.Remove(OnVesselOnRails);
GameEvents.OnGameSettingsApplied.Remove(OnSettingsApplied);
GameEvents.onRoboticPartLockChanged.Remove(OnRoboticPartLockChanged);
GameEvents.OnEVAConstructionModePartDetached.Remove(OnEVAConstructionModePartDetached);
GameEvents.OnEVAConstructionMode.Remove(OnEVAConstructionMode);
updatedVessels = null;
vesselOffRails = null;
vesselJointStrengthened = null;
multiJointManager.OnDestroy();
multiJointManager = null;
decouplerJointManager.OnDestroy();
decouplerJointManager = null;
CleanUpDebugRenderers();
}
public void Update()
{
if (!KJRJointUtils.settings.debug) return;
GatherAndShowDebugInformation();
}
public void OnGUI()
{
if (!KJRJointUtils.settings.debug) return;
windowRect = GUILayout.Window(GetInstanceID(), windowRect, WindowFunction, "KJR Debug", HighLogic.Skin.window);
}
private void OnVesselWasModified(Vessel v)
{
if (v is null || v.isEVA)
return;
if (KJRJointUtils.settings.debug)
{
StringBuilder debugString = new StringBuilder();
debugString.AppendLine($"KJR: Modified vessel {v.id} ({v.GetName()})");
debugString.AppendLine(Environment.StackTrace);
debugString.AppendLine("Now contains: ");
foreach (Part p in v.Parts)
debugString.AppendLine($" {p.partInfo.name} ({p.flightID})");
Debug.Log(debugString);
}
updatedVessels.Remove(v);
StartCoroutine(RunVesselJointUpdateFunctionWhenSafe(v));
}
private IEnumerator RunVesselJointUpdateFunctionWhenSafe(Vessel v)
{
if (isEVAConstructionModeActive)
{
// During EVA Construction things seem to be in a wonky state in regards to physics,
// resulting in issues when RunVesselJointUpdateFunction tries to update the vessel
yield return new WaitUntil(() => !isEVAConstructionModeActive);
}
// Try to update the joints only once on a vessel that has changed multiple times during EVA Construction
if (!updatedVessels.Contains(v))
RunVesselJointUpdateFunction(v);
}
private void OnVesselOffRails(Vessel v)
{
if (v is null || v.isEVA)
return;
disableAllJoints = false;
bool vesselHasLaunchClamps = false;
RunVesselJointUpdateFunction(v);
if (!vesselOffRails.Contains(v) && v.precalc.isEasingGravity)
{
Debug.Log("[KJR] easing " + v.vesselName);
vesselOffRails.Add(v);
List<Joint> jointList = new List<Joint>();
for (int i = 0; i < v.Parts.Count; ++i)
{
Part p = v.Parts[i];
p.crashTolerance *= 10000f;
if (p.attachJoint)
p.attachJoint.SetUnbreakable(true, false);
Joint[] partJoints = p.GetComponents<Joint>();
if (p.Modules.Contains<LaunchClamp>())
{
vesselHasLaunchClamps = true;
foreach (Joint j in partJoints)
{
if (j.connectedBody == null)
{
jointList.Remove(j);
GameObject.Destroy(j);
KJRJointUtils.ConnectLaunchClampToGround(p);
break;
}
}
}
}
}
else
{
for (int i = 0; i < v.Parts.Count; ++i)
{
Part p = v.Parts[i];
if (p.Modules.Contains<LaunchClamp>())
{
vesselHasLaunchClamps = true;
break;
}
}
}
// if we had launch clamps and our situation is not PRELAUNCH then assume some physics issue has bounced us into landed or flying situation.
if (vesselHasLaunchClamps && v.situation != Vessel.Situations.PRELAUNCH)
{
Debug.Log("[KJR] Vessel has launch clamps and is not PRELAUNCH: Moving back to PRELAUNCH");
v.situation = Vessel.Situations.PRELAUNCH;
v.launchTime = 0;
v.missionTime = 0;
v.skipGroundPositioning = false;
}
}
private void OnVesselOnRails(Vessel v)
{
if (v is null)
return;
if (updatedVessels.Contains(v))
{
if (vesselOffRails.Contains(v))
{
foreach (Part p in v.Parts)
{
p.crashTolerance = p.crashTolerance / 10000;
if (p.attachJoint)
p.attachJoint.SetUnbreakable(false, false);
}
vesselOffRails.Remove(v);
}
vesselJointStrengthened.Remove(v);
updatedVessels.Remove(v);
}
}
private void OnSettingsApplied()
{
KJRJointUtils.LoadConstants();
if (!KJRJointUtils.settings.debug) CleanUpDebugRenderers();
}
private void OnRoboticPartLockChanged(Part part, bool servoIsLocked)
{
if (!servoIsLocked)
{
multiJointManager.OnJointBreak(part);
decouplerJointManager.OnJointBreak(part);
}
OnVesselWasModified(part.vessel);
}
private void OnEVAConstructionModePartDetached(Vessel v, Part p)
{
multiJointManager.OnJointBreak(p);
decouplerJointManager.OnJointBreak(p);
}
private void OnEVAConstructionMode(bool active)
{
isEVAConstructionModeActive = active;
}
private void RunVesselJointUpdateFunction(Vessel v)
{
if (KJRJointUtils.settings.debug)
{
Debug.Log($"[KJR] Processing vessel {v.id} ({v.GetName()}); root {v.rootPart.partInfo.name} ({v.rootPart.flightID})");
}
bool child_parts = false;
bool success = false;
foreach (Part p in v.Parts)
{
if (p.parent != null && p.physicalSignificance == Part.PhysicalSignificance.FULL)
{
child_parts = true;
if (p.attachJoint != null)
{
success = true;
if (KJRJointUtils.settings.reinforceAttachNodes)
UpdatePartJoint(p);
}
}
if (KJRJointUtils.settings.reinforceDecouplersFurther && IsValidDecoupler(p))
{
MultiJointReinforceDecoupler(p);
continue;
}
if ((KJRJointUtils.settings.reinforceLaunchClampsFurther || KJRJointUtils.settings.clampJointHasInfiniteStrength) &&
p.parent != null && p.Modules.Contains<LaunchClamp>())
{
p.breakingForce = Mathf.Infinity;
p.breakingTorque = Mathf.Infinity;
p.mass = Mathf.Max(p.mass, (p.parent.mass + p.parent.GetResourceMass()) * 0.01f); //We do this to make sure that there is a mass ratio of 100:1 between the clamp and what it's connected to. This helps counteract some of the wobbliness simply, but also allows some give and springiness to absorb the initial physics kick
if (KJRJointUtils.settings.debug)
Debug.Log("[KJR] Launch Clamp Break Force / Torque increased");
if (!p.Modules.Contains<KJRLaunchClampReinforcementModule>())
KJRJointUtils.AddLaunchClampReinforcementModule(p);
}
}
if (KJRJointUtils.settings.reinforceAttachNodes && KJRJointUtils.settings.multiPartAttachNodeReinforcement)
MultiPartJointTreeChildren(v);
if (success || !child_parts)
updatedVessels.Add(v);
}
private bool IsValidDecoupler(Part p)
{
return p.Modules.Contains<ModuleDecouple>() || p.Modules.Contains<ModuleAnchoredDecoupler>();
}
public void FixedUpdate()
{
if (FlightGlobals.ready && FlightGlobals.Vessels != null)
{
for(int i = 0; i < updatedVessels.Count; ++i)
{
Vessel v = updatedVessels[i];
if (v == null || !vesselOffRails.Contains(v))
continue;
if (!v.precalc.isEasingGravity)
{
foreach (Part p in v.Parts)
{
p.crashTolerance /= 10000f;
if (p.attachJoint)
p.attachJoint.SetUnbreakable(false, false);
}
vesselOffRails.Remove(v);
}
}
}
}
private void UpdatePartJoint(Part p)
{
if (!KJRJointUtils.IsJointAdjustmentValid(p) || p.rb == null || p.attachJoint == null)
return;
if (p.attachMethod == AttachNodeMethod.LOCKED_JOINT)
{
if (KJRJointUtils.settings.debug)
{
Debug.Log($"[KJR] Already processed part before: {p.partInfo.name} ({p.flightID}) -> {p.parent.partInfo.name} ({p.parent.flightID})");
}
return;
}
List<ConfigurableJoint> jointList;
if (p.Modules.GetModule<CModuleStrut>() is CModuleStrut s &&
s.jointTarget != null && s.jointRoot != null)
{
jointList = KJRJointUtils.GetJointListFromAttachJoint(s.strutJoint);
if (jointList != null)
{
for (int i = 0; i < jointList.Count; i++)
{
ConfigurableJoint j = jointList[i];
if (j == null)
continue;
JointDrive strutDrive = j.angularXDrive;
strutDrive.positionSpring = KJRJointUtils.settings.decouplerAndClampJointStrength;
strutDrive.maximumForce = KJRJointUtils.settings.decouplerAndClampJointStrength;
j.xDrive = j.yDrive = j.zDrive = j.angularXDrive = j.angularYZDrive = strutDrive;
j.xMotion = j.yMotion = j.zMotion = ConfigurableJointMotion.Locked;
j.angularXMotion = j.angularYMotion = j.angularZMotion = ConfigurableJointMotion.Locked;
//float scalingFactor = (s.jointTarget.mass + s.jointTarget.GetResourceMass() + s.jointRoot.mass + s.jointRoot.GetResourceMass()) * 0.01f;
j.breakForce = KJRJointUtils.settings.decouplerAndClampJointStrength;
j.breakTorque = KJRJointUtils.settings.decouplerAndClampJointStrength;
}
p.attachMethod = AttachNodeMethod.LOCKED_JOINT;
}
}
jointList = KJRJointUtils.GetJointListFromAttachJoint(p.attachJoint);
if (jointList == null)
return;
StringBuilder debugString = KJRJointUtils.settings.debug ? new StringBuilder() : null;
bool addAdditionalJointToParent = KJRJointUtils.settings.multiPartAttachNodeReinforcement;
//addAdditionalJointToParent &= !(p.Modules.Contains("LaunchClamp") || (p.parent.Modules.Contains("ModuleDecouple") || p.parent.Modules.Contains("ModuleAnchoredDecoupler")));
addAdditionalJointToParent &= !p.Modules.Contains<CModuleStrut>();
float partMass = p.mass + p.GetResourceMass();
for (int i = 0; i < jointList.Count; i++)
{
ConfigurableJoint j = jointList[i];
if (j == null)
continue;
String jointType = j.GetType().Name;
Rigidbody connectedBody = j.connectedBody;
Part connectedPart = connectedBody.GetComponent<Part>() ?? p.parent;
float parentMass = connectedPart.mass + connectedPart.GetResourceMass();
if (partMass < KJRJointUtils.settings.massForAdjustment || parentMass < KJRJointUtils.settings.massForAdjustment)
{
if (KJRJointUtils.settings.debug)
{
Debug.Log($"[KJR] Part mass too low, skipping: {p.partInfo.name} ({p.flightID})");
}
continue;
}
// Check attachment nodes for better orientation data
AttachNode attach = p.FindAttachNodeByPart(p.parent);
AttachNode p_attach = p.parent.FindAttachNodeByPart(p);
AttachNode node = attach ?? p_attach;
if (node == null)
{
// Check if it's a pair of coupled docking ports
var dock1 = p.Modules.GetModule<ModuleDockingNode>();
var dock2 = p.parent.Modules.GetModule<ModuleDockingNode>();
//Debug.Log($"[KJR] {dock1} {(dock1 ? ""+dock1.dockedPartUId : "?")} {dock2} {(dock2 ? ""+dock2.dockedPartUId : "?")}");
if (dock1 && dock2 && (dock1.dockedPartUId == p.parent.flightID || dock2.dockedPartUId == p.flightID))
{
attach = p.FindAttachNode(dock1.referenceAttachNode);
p_attach = p.parent.FindAttachNode(dock2.referenceAttachNode);
node = attach ?? p_attach;
}
}
// If still no node and apparently surface attached, use the normal one if it's there
if (node == null && p.attachMode == AttachModes.SRF_ATTACH)
node = attach = p.srfAttachNode;
#region debug spam
if (KJRJointUtils.settings.debug)
{
debugString.AppendLine("Original joint from " + p.partInfo.title + " to " + p.parent.partInfo.title);
debugString.AppendLine(" " + p.partInfo.name + " (" + p.flightID + ") -> " + p.parent.partInfo.name + " (" + p.parent.flightID + ")");
debugString.AppendLine("");
debugString.AppendLine(p.partInfo.title + " Inertia Tensor: " + p.rb.inertiaTensor + " " + p.parent.partInfo.name + " Inertia Tensor: " + connectedBody.inertiaTensor);
debugString.AppendLine("");
debugString.AppendLine("Std. Joint Parameters");
debugString.AppendLine("Connected Body: " + p.attachJoint.Joint.connectedBody);
debugString.AppendLine("Attach mode: " + p.attachMode + " (was " + jointType + ")");
if (attach != null)
debugString.AppendLine("Attach node: " + attach.id + " - " + attach.nodeType + " " + attach.size);
if (p_attach != null)
debugString.AppendLine("Parent node: " + p_attach.id + " - " + p_attach.nodeType + " " + p_attach.size);
debugString.AppendLine("Anchor: " + p.attachJoint.Joint.anchor);
debugString.AppendLine("Axis: " + p.attachJoint.Joint.axis);
debugString.AppendLine("Sec Axis: " + p.attachJoint.Joint.secondaryAxis);
debugString.AppendLine("Break Force: " + p.attachJoint.Joint.breakForce);
debugString.AppendLine("Break Torque: " + p.attachJoint.Joint.breakTorque);
debugString.AppendLine("");
debugString.AppendLine("Joint Motion Locked: " + Convert.ToString(p.attachJoint.Joint.xMotion == ConfigurableJointMotion.Locked));
debugString.AppendLine("X Drive");
debugString.AppendLine("Position Spring: " + p.attachJoint.Joint.xDrive.positionSpring);
debugString.AppendLine("Position Damper: " + p.attachJoint.Joint.xDrive.positionDamper);
debugString.AppendLine("Max Force: " + p.attachJoint.Joint.xDrive.maximumForce);
debugString.AppendLine("");
debugString.AppendLine("Y Drive");
debugString.AppendLine("Position Spring: " + p.attachJoint.Joint.yDrive.positionSpring);
debugString.AppendLine("Position Damper: " + p.attachJoint.Joint.yDrive.positionDamper);
debugString.AppendLine("Max Force: " + p.attachJoint.Joint.yDrive.maximumForce);
debugString.AppendLine("");
debugString.AppendLine("Z Drive");
debugString.AppendLine("Position Spring: " + p.attachJoint.Joint.zDrive.positionSpring);
debugString.AppendLine("Position Damper: " + p.attachJoint.Joint.zDrive.positionDamper);
debugString.AppendLine("Max Force: " + p.attachJoint.Joint.zDrive.maximumForce);
debugString.AppendLine("");
debugString.AppendLine("Angular X Drive");
debugString.AppendLine("Position Spring: " + p.attachJoint.Joint.angularXDrive.positionSpring);
debugString.AppendLine("Position Damper: " + p.attachJoint.Joint.angularXDrive.positionDamper);
debugString.AppendLine("Max Force: " + p.attachJoint.Joint.angularXDrive.maximumForce);
debugString.AppendLine("");
debugString.AppendLine("Angular YZ Drive");
debugString.AppendLine("Position Spring: " + p.attachJoint.Joint.angularYZDrive.positionSpring);
debugString.AppendLine("Position Damper: " + p.attachJoint.Joint.angularYZDrive.positionDamper);
debugString.AppendLine("Max Force: " + p.attachJoint.Joint.angularYZDrive.maximumForce);
debugString.AppendLine("");
//Debug.Log(debugString.ToString());
}
#endregion
float breakForce = Math.Min(p.breakingForce, connectedPart.breakingForce) * KJRJointUtils.settings.breakForceMultiplier;
float breakTorque = Math.Min(p.breakingTorque, connectedPart.breakingTorque) * KJRJointUtils.settings.breakTorqueMultiplier;
float radius = 0;
float area = 0;
float momentOfInertia = 0;
if (node != null)
{
// Part that owns the node. For surface attachment,
// this can only be parent if docking flips hierarchy.
Part main = (node == attach) ? p : p.parent;
// Orientation and position of the node in owner's local coords
Vector3 ndir = node.orientation.normalized;
Vector3 npos = node.position + node.offset;
// And in the current part's local coords
Vector3 dir = p.transform.InverseTransformDirection(main.transform.TransformDirection(ndir));
if (node.nodeType == AttachNode.NodeType.Surface)
{
// Guessed main axis; for parts with stack nodes should be the axis of the stack
Vector3 up = KJRJointUtils.GuessUpVector(main).normalized;
// if guessed up direction is same as node direction, it's basically stack
// for instance, consider a radially-attached docking port
if (Mathf.Abs(Vector3.Dot(up, ndir)) > 0.9f)
{
radius = Mathf.Min(KJRJointUtils.CalculateRadius(main, ndir), KJRJointUtils.CalculateRadius(connectedPart, ndir));
if (radius <= 0.001)
radius = node.size * 1.25f;
area = Mathf.PI * radius * radius; //Area of cylinder
momentOfInertia = area * radius * radius / 4; //Moment of Inertia of cylinder
}
else
{
// x along surface, y along ndir normal to surface, z along surface & main axis (up)
var size1 = KJRJointUtils.CalculateExtents(main, ndir, up);
var size2 = KJRJointUtils.CalculateExtents(connectedPart, ndir, up);
// use average of the sides, since we don't know which one is used for attaching
float width1 = (size1.x + size1.z) / 2;
float width2 = (size2.x + size2.z) / 2;
if (size1.y * width1 > size2.y * width2)
{
area = size1.y * width1;
radius = Mathf.Max(size1.y, width1);
}
else
{
area = size2.y * width2;
radius = Mathf.Max(size2.y, width2);
}
momentOfInertia = area * radius / 12; //Moment of Inertia of a rectangle bending along the longer length
}
}
else
{
radius = Mathf.Min(KJRJointUtils.CalculateRadius(p, dir), KJRJointUtils.CalculateRadius(connectedPart, dir));
if (radius <= 0.001)
radius = node.size * 1.25f;
area = Mathf.PI * radius * radius; //Area of cylinder
momentOfInertia = area * radius * radius / 4; //Moment of Inertia of cylinder
}
}
//Assume part is attached along its "up" cross section; use a cylinder to approximate properties
else if (p.attachMode == AttachModes.STACK)
{
radius = Mathf.Min(KJRJointUtils.CalculateRadius(p, Vector3.up), KJRJointUtils.CalculateRadius(connectedPart, Vector3.up));
if (radius <= 0.001)
radius = node.size * 1.25f;
area = Mathf.PI * radius * radius; //Area of cylinder
momentOfInertia = area * radius * radius / 4; //Moment of Inertia of cylinder
}
else if (p.attachMode == AttachModes.SRF_ATTACH)
{
// x,z sides, y along main axis
Vector3 up1 = KJRJointUtils.GuessUpVector(p);
var size1 = KJRJointUtils.CalculateExtents(p, up1);
Vector3 up2 = KJRJointUtils.GuessUpVector(connectedPart);
var size2 = KJRJointUtils.CalculateExtents(connectedPart, up2);
// use average of the sides, since we don't know which one is used for attaching
float width1 = (size1.x + size1.z) / 2;
float width2 = (size2.x + size2.z) / 2;
if (size1.y * width1 > size2.y * width2)
{
area = size1.y * width1;
radius = Mathf.Max(size1.y, width1);
}
else
{
area = size2.y * width2;
radius = Mathf.Max(size2.y, width2);
}
momentOfInertia = area * radius / 12; //Moment of Inertia of a rectangle bending along the longer length
}
if (KJRJointUtils.settings.useVolumeNotArea) //If using volume, raise al stiffness-affecting parameters to the 1.5 power
{
area = Mathf.Pow(area, 1.5f);
momentOfInertia = Mathf.Pow(momentOfInertia, 1.5f);
}
breakForce = Mathf.Max(KJRJointUtils.settings.breakStrengthPerArea * area, breakForce);
breakTorque = Mathf.Max(KJRJointUtils.settings.breakTorquePerMOI * momentOfInertia, breakTorque);
JointDrive angDrive = j.angularXDrive;
angDrive.positionSpring = Mathf.Max(momentOfInertia * KJRJointUtils.settings.angularDriveSpring, angDrive.positionSpring);
angDrive.positionDamper = Mathf.Max(momentOfInertia * KJRJointUtils.settings.angularDriveDamper * 0.1f, angDrive.positionDamper);
angDrive.maximumForce = breakTorque;
/*float moi_avg = p.rb.inertiaTensor.magnitude;
moi_avg += (p.transform.localToWorldMatrix.MultiplyPoint(p.CoMOffset) - p.parent.transform.position).sqrMagnitude * p.rb.mass;
if (moi_avg * 2f / drive.positionDamper < 0.08f)
{
drive.positionDamper = moi_avg / (0.04f);
drive.positionSpring = drive.positionDamper * drive.positionDamper / moi_avg;
}*/
j.angularXDrive = j.angularYZDrive = j.slerpDrive = angDrive;
JointDrive linDrive = j.xDrive;
linDrive.maximumForce = breakForce;
j.xDrive = j.yDrive = j.zDrive = linDrive;
SoftJointLimit lim = new SoftJointLimit();
lim.limit = 0;
lim.bounciness = 0;
SoftJointLimitSpring limSpring = new SoftJointLimitSpring();
limSpring.spring = 0;
limSpring.damper = 0;
j.linearLimit = j.angularYLimit = j.angularZLimit = j.lowAngularXLimit = j.highAngularXLimit = lim;
j.linearLimitSpring = j.angularYZLimitSpring = j.angularXLimitSpring = limSpring;
j.targetAngularVelocity = Vector3.zero;
j.targetVelocity = Vector3.zero;
j.targetRotation = Quaternion.identity;
j.targetPosition = Vector3.zero;
j.breakForce = breakForce;
j.breakTorque = breakTorque;
p.attachJoint.SetBreakingForces(j.breakForce, j.breakTorque);
p.attachMethod = AttachNodeMethod.LOCKED_JOINT;
if (addAdditionalJointToParent && p.parent.parent != null)
{
addAdditionalJointToParent = false;
if (!KJRJointUtils.IsJointAdjustmentValid(p.parent) || !KJRJointUtils.IsJointAdjustmentValid(p.parent.parent))
continue;
/*if (ValidDecoupler(p) || ValidDecoupler(p.parent))
continue;*/
Part newConnectedPart = p.parent.parent;
bool massRatioBelowThreshold = false;
int numPartsFurther = 0;
float partMaxMass = KJRJointUtils.MaximumPossiblePartMass(p);
List<Part> partsCrossed = new List<Part>();
List<Part> possiblePartsCrossed = new List<Part>();
partsCrossed.Add(p);
partsCrossed.Add(p.parent);
partsCrossed.Add(newConnectedPart);
Rigidbody connectedRb = newConnectedPart.rb;
do
{
float massRat1, massRat2;
massRat1 = partMaxMass / newConnectedPart.mass;
if (massRat1 < 1)
massRat1 = 1 / massRat1;
massRat2 = p.mass / KJRJointUtils.MaximumPossiblePartMass(newConnectedPart);
if (massRat2 < 1)
massRat2 = 1 / massRat2;
if (massRat1 > KJRJointUtils.settings.stiffeningExtensionMassRatioThreshold || massRat2 > KJRJointUtils.settings.stiffeningExtensionMassRatioThreshold)
{
if (newConnectedPart.parent != null)
{
if (!KJRJointUtils.IsJointAdjustmentValid(newConnectedPart.parent))
break;
newConnectedPart = newConnectedPart.parent;
if (newConnectedPart.rb == null)
possiblePartsCrossed.Add(newConnectedPart);
else
{
connectedRb = newConnectedPart.rb;
partsCrossed.AddRange(possiblePartsCrossed);
partsCrossed.Add(newConnectedPart);
possiblePartsCrossed.Clear();
}
}
else
break;
numPartsFurther++;
}
else
massRatioBelowThreshold = true;
} while (!massRatioBelowThreshold);// && numPartsFurther < 5);
if (connectedRb != null && !multiJointManager.CheckMultiJointBetweenParts(p, newConnectedPart))
{
ConfigurableJoint newJoint = p.gameObject.AddComponent<ConfigurableJoint>();
newJoint.connectedBody = connectedRb;
newJoint.axis = Vector3.right;
newJoint.secondaryAxis = Vector3.forward;
newJoint.anchor = Vector3.zero;
newJoint.connectedAnchor = p.transform.worldToLocalMatrix.MultiplyPoint(newConnectedPart.transform.position);
//if(massRatioBelowThreshold)
//{
newJoint.angularXDrive = newJoint.angularYZDrive = newJoint.slerpDrive = j.angularXDrive;
newJoint.xDrive = j.xDrive;
newJoint.yDrive = j.yDrive;
newJoint.zDrive = j.zDrive;
newJoint.linearLimit = newJoint.angularYLimit = newJoint.angularZLimit = newJoint.lowAngularXLimit = newJoint.highAngularXLimit = lim;
/*newJoint.targetAngularVelocity = Vector3.zero;
newJoint.targetVelocity = Vector3.zero;
newJoint.targetRotation = Quaternion.identity;
newJoint.targetPosition = Vector3.zero;*/
/*}
else
{
newJoint.xMotion = newJoint.yMotion = newJoint.zMotion = ConfigurableJointMotion.Locked;
newJoint.angularXMotion = newJoint.angularYMotion = newJoint.angularZMotion = ConfigurableJointMotion.Locked;
}*/
newJoint.breakForce = breakForce;
newJoint.breakTorque = breakTorque;
//jointList.Add(newJoint);
for (int k = 0; k < partsCrossed.Count; k++)
multiJointManager.RegisterMultiJoint(partsCrossed[k], newJoint);
}
/*if(p.symmetryCounterparts != null && p.symmetryCounterparts.Count > 0)
{
Part linkPart = null;
Vector3 center = p.transform.position;
float cross = float.NegativeInfinity;
for(int k = 0; k < p.symmetryCounterparts.Count; k++)
{
center += p.symmetryCounterparts[k].transform.position;
}
center /= (p.symmetryCounterparts.Count + 1);
for(int k = 0; k < p.symmetryCounterparts.Count; k++)
{
Part counterPart = p.symmetryCounterparts[k];
if (counterPart.parent == p.parent && counterPart.rb != null)
{
float tmpCross = Vector3.Dot(Vector3.Cross(center - p.transform.position, counterPart.transform.position - p.transform.position), p.transform.up);
if(tmpCross > cross)
{
cross = tmpCross;
linkPart = counterPart;
}
}
}
if (linkPart)
{
Rigidbody rigidBody = linkPart.rb;
if (!linkPart.rb)
continue;
ConfigurableJoint newJoint;
newJoint = p.gameObject.AddComponent<ConfigurableJoint>();
newJoint.connectedBody = rigidBody;
newJoint.anchor = Vector3.zero;
newJoint.axis = Vector3.right;
newJoint.secondaryAxis = Vector3.forward;
newJoint.breakForce = KJRJointUtils.decouplerAndClampJointStrength;
newJoint.breakTorque = KJRJointUtils.decouplerAndClampJointStrength;
newJoint.xMotion = newJoint.yMotion = newJoint.zMotion = ConfigurableJointMotion.Locked;
newJoint.angularXMotion = newJoint.angularYMotion = newJoint.angularZMotion = ConfigurableJointMotion.Locked;
multiJointManager.RegisterMultiJoint(p, newJoint);
multiJointManager.RegisterMultiJoint(linkPart, newJoint);
}
}*/
}
#region debug spam
if (KJRJointUtils.settings.debug)
{
debugString.AppendLine("Updated joint from " + p.partInfo.title + " to " + p.parent.partInfo.title);
debugString.AppendLine(" " + p.partInfo.name + " (" + p.flightID + ") -> " + p.parent.partInfo.name + " (" + p.parent.flightID + ")");
debugString.AppendLine("");
debugString.AppendLine(p.partInfo.title + " Inertia Tensor: " + p.rb.inertiaTensor + " " + p.parent.partInfo.name + " Inertia Tensor: " + connectedBody.inertiaTensor);
debugString.AppendLine("");
debugString.AppendLine("Std. Joint Parameters");
debugString.AppendLine("Connected Body: " + p.attachJoint.Joint.connectedBody);
debugString.AppendLine("Attach mode: " + p.attachMode + " (was " + jointType + ")");
if (attach != null)
debugString.AppendLine("Attach node: " + attach.id + " - " + attach.nodeType + " " + attach.size);
if (p_attach != null)
debugString.AppendLine("Parent node: " + p_attach.id + " - " + p_attach.nodeType + " " + p_attach.size);
debugString.AppendLine("Anchor: " + p.attachJoint.Joint.anchor);
debugString.AppendLine("Axis: " + p.attachJoint.Joint.axis);
debugString.AppendLine("Sec Axis: " + p.attachJoint.Joint.secondaryAxis);
debugString.AppendLine("Break Force: " + p.attachJoint.Joint.breakForce);
debugString.AppendLine("Break Torque: " + p.attachJoint.Joint.breakTorque);
debugString.AppendLine("");
debugString.AppendLine("Joint Motion Locked: " + Convert.ToString(p.attachJoint.Joint.xMotion == ConfigurableJointMotion.Locked));
debugString.AppendLine("Angular Drive");
debugString.AppendLine("Position Spring: " + angDrive.positionSpring);
debugString.AppendLine("Position Damper: " + angDrive.positionDamper);
debugString.AppendLine("Max Force: " + angDrive.maximumForce);
debugString.AppendLine("");
debugString.AppendLine("Cross Section Properties");
debugString.AppendLine("Radius: " + radius);
debugString.AppendLine("Area: " + area);
debugString.AppendLine("Moment of Inertia: " + momentOfInertia);
}
#endregion
}
if (KJRJointUtils.settings.debug)
Debug.Log(debugString.ToString());
}
public void MultiJointReinforceDecoupler(Part part)
{
if (part.parent == null || part.children.Count == 0)
return;
PartModule decoupler = null;
foreach (PartModule m in part.Modules)
{
if (m is ModuleDecouple)
{
decoupler = m;
break;
}
else if (m is ModuleAnchoredDecoupler)
{
decoupler = m;
break;
}
}
if (decoupler is ModuleDecouple md && md.isDecoupled)
return;
if (decoupler is ModuleAnchoredDecoupler mad && mad.isDecoupled)
return;
List<Part> childParts = new List<Part>();
List<Part> parentParts = new List<Part>();
parentParts = KJRJointUtils.GetDecouplerPartStiffeningList(part.parent, false, true);
foreach (Part p in part.children)
{
childParts.AddRange(KJRJointUtils.GetDecouplerPartStiffeningList(p, true, true));
if (!childParts.Contains(p))
childParts.Add(p);
}
parentParts.Add(part);
StringBuilder debugString = null;
if (KJRJointUtils.settings.debug)
{
debugString = new StringBuilder();
debugString.AppendLine($"{parentParts.Count} parts above decoupler to be connected to {childParts.Count} below decoupler.");
debugString.AppendLine($"The following joints added by {part.partInfo.title} to increase stiffness:");
}
foreach (Part p in parentParts)
{
if (p == null || p.rb == null || p.Modules.Contains("ProceduralFairingDecoupler") || !KJRJointUtils.IsJointAdjustmentValid(p))
continue;
foreach (Part q in childParts)
{
if (q == null || q.rb == null || q.Modules.Contains("ProceduralFairingDecoupler") || p == q || !KJRJointUtils.IsJointAdjustmentValid(q))
continue;
if (decouplerJointManager.CheckMultiJointBetweenParts(p, q) || !decouplerJointManager.TrySetValidLinkedSet(p, q))
continue;
CreateDecouplerMultiJoint(p, q);
if (KJRJointUtils.settings.debug)
debugString.AppendLine($"{p.partInfo.title} connected to part {q.partInfo.title}");
}
}
if (KJRJointUtils.settings.debug)
Debug.Log(debugString.ToString());
}
private void CreateDecouplerMultiJoint(Part partWithJoint, Part partConnectedByJoint)
{
Rigidbody rigidBody = partConnectedByJoint.rb;
float breakForce = KJRJointUtils.settings.decouplerAndClampJointStrength;
float breakTorque = KJRJointUtils.settings.decouplerAndClampJointStrength;
Vector3 anchor = Vector3.zero;
Vector3 axis = Vector3.right;
ConfigurableJoint newJoint = partWithJoint.gameObject.AddComponent<ConfigurableJoint>();
newJoint.connectedBody = rigidBody;
newJoint.anchor = anchor;
newJoint.connectedAnchor = partWithJoint.transform.worldToLocalMatrix.MultiplyPoint(partConnectedByJoint.transform.position);
newJoint.axis = axis;
newJoint.secondaryAxis = Vector3.forward;
newJoint.breakForce = breakForce;
newJoint.breakTorque = breakTorque;
newJoint.xMotion = newJoint.yMotion = newJoint.zMotion = ConfigurableJointMotion.Locked;
newJoint.angularXMotion = newJoint.angularYMotion = newJoint.angularZMotion = ConfigurableJointMotion.Locked;
newJoint.breakForce = breakForce;
newJoint.breakTorque = breakTorque;
decouplerJointManager.RegisterMultiJointBetweenParts(partWithJoint, partConnectedByJoint, newJoint);
}
public void MultiPartJointTreeChildren(Vessel v)
{
if (v.Parts.Count <= 1)
return;
List<Part> childPartsToConnect = new List<Part>();
for (int i = 0; i < v.Parts.Count; ++i)
{
Part p = v.Parts[i];
if (p.children.Count == 0 && !p.Modules.Contains("LaunchClamp") &&
KJRJointUtils.MaximumPossiblePartMass(p) > KJRJointUtils.settings.massForAdjustment)
{
if (p.rb == null && p.Rigidbody != null)
{
p = p.RigidBodyPart;
}
childPartsToConnect.Add(p);
}
}
Rigidbody rootRb = v.rootPart.Rigidbody;
for (int i = 0; i < childPartsToConnect.Count; ++i)
{
Part p = childPartsToConnect[i];
Part linkPart = childPartsToConnect[i + 1 >= childPartsToConnect.Count ? 0 : i + 1];
Rigidbody rigidBody = linkPart.Rigidbody;
if (!p.rb || !rigidBody || p.rb == rigidBody)
continue;
if (!multiJointManager.CheckMultiJointBetweenParts(p, linkPart) && multiJointManager.TrySetValidLinkedSet(p, linkPart))
{
ConfigurableJoint betweenChildJoint = p.gameObject.AddComponent<ConfigurableJoint>();
betweenChildJoint.connectedBody = rigidBody;
betweenChildJoint.anchor = Vector3.zero;
betweenChildJoint.axis = Vector3.right;
betweenChildJoint.secondaryAxis = Vector3.forward;
betweenChildJoint.breakForce = KJRJointUtils.settings.decouplerAndClampJointStrength;
betweenChildJoint.breakTorque = KJRJointUtils.settings.decouplerAndClampJointStrength;
betweenChildJoint.xMotion = betweenChildJoint.yMotion = betweenChildJoint.zMotion = ConfigurableJointMotion.Locked;
betweenChildJoint.angularXMotion = betweenChildJoint.angularYMotion = betweenChildJoint.angularZMotion = ConfigurableJointMotion.Locked;
multiJointManager.RegisterMultiJointBetweenParts(p, linkPart, betweenChildJoint);
//multiJointManager.RegisterMultiJoint(p, betweenChildJoint);
//multiJointManager.RegisterMultiJoint(linkPart, betweenChildJoint);
}