[READ-ONLY] Mirror of https://github.com/thoda-dev/du-elevator. a generic elevator script for Dual Universe
v1.3.4 - improved stability
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-5
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Source/Unit/OnStart.lua
+2
-4
Source/Unit/OnStart.lua
···
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--[[
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Version Management
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]]
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-
local version = "V 1.3.3"
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+
local version = "V 1.3.4"
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local log_split = "================================================="
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--printing version in lua chat
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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)
···
682
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then
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finalBrakeInput = 1
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--use engines to help braking
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-
if ElevatorData.verticalSpeedSigned < 0 then
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if ElevatorData.verticalSpeedSigned < 0 and isInAtmosphere then
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Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)
687
-
elseif ElevatorData.verticalSpeedSigned > 0 then
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Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, -1)
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end
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end
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ElevatorData.isBreaking = (finalBrakeInput == 1)
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-1
config.json
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-1
config.json
···
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 <style>\r\n * {font-size:1vh !important;}\r\n .hud {\r\n position: absolute;\r\n left: 5vh;\r\n top: 5vh;\r\n right: 5vh;\r\n display: flex;\r\n flex-direction: column;\r\n justify-content: left;\r\n align-items: left;\r\n }\r\n .widget_container {\r\n border: 2px solid orange;\r\n border-radius:.5vh;\r\n background-color: rgba(0, 0, 0, .5);\r\n display: flex;\r\n flex-direction: column;\r\n padding:.5vh;\r\n margin-top:1vh;\r\n }\r\n .widget_container div {\r\n display: flex;\r\n flex-direction: row;\r\n justify-content: space-between;\r\n }\r\n .widget_container div div {\r\n margin:.25vh;\r\n }\r\n .widget_container div div:first-child {\r\n text-transform: uppercase;\r\n font-weight: bold;\r\n }\r\n .selected {\r\n color: teal;\r\n }\r\n .movingto {\r\n color: green;\r\n }\r\n .atmo .gauge {\r\n background-color: #22d3ee;\r\n }\r\n .atmo .gauge_label {\r\n color: #155e75;\r\n }\r\n .space .gauge {\r\n background-color: #fbbf24;\r\n }\r\n .space .gauge_label {\r\n color: #92400e;\r\n }\r\n .rocket .gauge {\r\n background-color: #a78bfa;\r\n }\r\n .rocket .gauge_label {\r\n color: #5b21b6;\r\n }\r\n .gauge_container {\r\n display:block;\r\n width:100%;\r\n min-width:10vw;\r\n position: relative;\r\n border: 1px solid black;\r\n background-color: rgba(0, 0, 0, .75);\r\n height: 1.5vh;\r\n }\r\n .gauge {\r\n position: absolute;\r\n z-index:1;\r\n top:-.25vh;\r\n left:-.25vh;\r\n height:100%;\r\n margin:0;\r\n background-color: cyan;\r\n }\r\n .gauge_label {\r\n position:relative;\r\n display:block;\r\n z-index:10;\r\n margin:0;\r\n padding:0;\r\n width:100%;\r\n text-align:center;\r\n }\r\n </style>\r\n <div class=\"hud\">\r\n <div class=\"widget_container\">\r\n <div>\r\n <div>Base Altitude</div><div>]] .. format_number(utils.round(BaseAltitute)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Target Altitude</div><div>]] .. format_number(utils.round(TargetAltitude)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Current Altitude</div><div>]] .. format_number(utils.round(ElevatorData.altitude)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Atmosphere Distance</div><div>]] .. format_number(utils.round(ElevatorData.atmosphereDistance)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Maximum Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.currentMaxSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Vertical Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.verticalSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Lateral Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.lateralSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Longitudinal Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.longitudinalSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Direction</div><div>]] .. ElevatorData.direction .. [[</div>\r\n </div>\r\n <div>\r\n <div>Brake</div><div>]] .. brakeStatus .. [[</div>\r\n </div>\r\n </div>\r\n ]]\r\n if #fuelTanks > 0 then\r\n html = html .. '<div class=\"widget_container\">'\r\n for _, tank in pairs(fuelTanks) do\r\n html = html .. '<div><div>' .. tank:getName() .. '</div><div>' .. tank:getTimeLeftString() .. '</div></div><div class=\"gauge_container ' .. tank:getFuelType() .. '\"><div class=\"gauge\" style=\"width:' .. utils.round(tank:getPercentFilled()) .. '%;\"></div><div class=\"gauge_label\"><div style=\"margin-left:auto;margin-right:auto;padding:0;margin-top:-.25vh;\">' .. format_number(utils.round(tank:getPercentFilled())) .. '%</div></div></div>'\r\n end\r\n html = html .. '</div>'\r\n end\r\n if #Bookmarks > 0 then\r\n html = html .. '<div class=\"widget_container\"><div><div style=\"text-align:center !important;border-bottom:1px solid black;width:100%;\">Bookmarks</div></div>'\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 .. '<div class=\"' .. class .. '\"><div>' .. displayName .. '</div><div>' .. format_number(bookmark.altitude) .. 'm</div></div>'\r\n end\r\n html = html .. '</div>'\r\n end\r\n if DisplayAtlasData and (ElevatorData.planetData ~= nil) then\r\n html = html .. '<div class=\"widget_container\">'\r\n html = html .. '<div><div style=\"text-align:center;border-bottom:1px solid black;width:100%;\">Atlas Data</div></div>'\r\n --html = html .. '<div><img src=\"/'..ElevatorData.planetData.iconPath..'\" style=\"width:10vh;height:10vh;\"></div>' --image is blinking in hud, you can display it here but by default i'm removing it\r\n html = html .. '<div><div>Planet Name</div><div>'..ElevatorData.planetData.name[localeIndex]..'</div></div>'\r\n html = html .. '<div><div>Planet Type</div><div>'..ElevatorData.planetData.type[localeIndex]..'</div></div>'\r\n html = html .. '<div><div>Planet gravity</div><div>'..ElevatorData.planetData.gravity..'m/s²</div></div>'\r\n html = html .. '<div><div>Planet Surface Average Altitude</div><div>'..ElevatorData.planetData.surfaceAverageAltitude..'m</div></div>'\r\n html = html .. '<div><div>Planet Surface Min Altitude</div><div>'..ElevatorData.planetData.surfaceMinAltitude..'m</div></div>'\r\n html = html .. '<div><div>Planet Surface Max Altitude</div><div>'..ElevatorData.planetData.surfaceMaxAltitude..'m</div></div>'\r\n html = html .. '<div><div>Planet Max Altitude For Satic Core</div><div>'..ElevatorData.planetData.maxStaticAltitude..'m</div></div>'\r\n html = html .. '</div>'\r\n end\r\n html = html .. '</div>'\r\n system.setScreen(html) --render the HUD\r\nend\r\n\r\n--[[\r\n Version Management\r\n]]\r\nlocal version = \"V 1.3.3\"\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 f<g then b=b..','end;f=f+1 end;return b..'}'end,stringifyBoolean=function(self,j)return tostring(j)end,tableLength=function(self,e)local k=0;for l in pairs(e)do k=k+1 end;return k end}}\r\nSerializer = setmetatable({}, Serializer)\r\n--[[\r\n Fuel Tanks Metatable By Jericho\r\n Version: 1.0.0\r\n Unminified Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/ElementsMetatable/FuelTank.lua\r\n]]\r\nFuelTank={__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}}\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 then\r\n Nav.axisCommandManager:setThrottleCommand(axisCommandId.vertical, 1)\r\n elseif ElevatorData.verticalSpeedSigned > 0 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":[]}}}}
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 <style>\r\n * {font-size:1vh !important;}\r\n .hud {\r\n position: absolute;\r\n left: 5vh;\r\n top: 5vh;\r\n right: 5vh;\r\n display: flex;\r\n flex-direction: column;\r\n justify-content: left;\r\n align-items: left;\r\n }\r\n .widget_container {\r\n border: 2px solid orange;\r\n border-radius:.5vh;\r\n background-color: rgba(0, 0, 0, .5);\r\n display: flex;\r\n flex-direction: column;\r\n padding:.5vh;\r\n margin-top:1vh;\r\n }\r\n .widget_container div {\r\n display: flex;\r\n flex-direction: row;\r\n justify-content: space-between;\r\n }\r\n .widget_container div div {\r\n margin:.25vh;\r\n }\r\n .widget_container div div:first-child {\r\n text-transform: uppercase;\r\n font-weight: bold;\r\n }\r\n .selected {\r\n color: teal;\r\n }\r\n .movingto {\r\n color: green;\r\n }\r\n .atmo .gauge {\r\n background-color: #22d3ee;\r\n }\r\n .atmo .gauge_label {\r\n color: #155e75;\r\n }\r\n .space .gauge {\r\n background-color: #fbbf24;\r\n }\r\n .space .gauge_label {\r\n color: #92400e;\r\n }\r\n .rocket .gauge {\r\n background-color: #a78bfa;\r\n }\r\n .rocket .gauge_label {\r\n color: #5b21b6;\r\n }\r\n .gauge_container {\r\n display:block;\r\n width:100%;\r\n min-width:10vw;\r\n position: relative;\r\n border: 1px solid black;\r\n background-color: rgba(0, 0, 0, .75);\r\n height: 1.5vh;\r\n }\r\n .gauge {\r\n position: absolute;\r\n z-index:1;\r\n top:-.25vh;\r\n left:-.25vh;\r\n height:100%;\r\n margin:0;\r\n background-color: cyan;\r\n }\r\n .gauge_label {\r\n position:relative;\r\n display:block;\r\n z-index:10;\r\n margin:0;\r\n padding:0;\r\n width:100%;\r\n text-align:center;\r\n }\r\n </style>\r\n <div class=\"hud\">\r\n <div class=\"widget_container\">\r\n <div>\r\n <div>Base Altitude</div><div>]] .. format_number(utils.round(BaseAltitute)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Target Altitude</div><div>]] .. format_number(utils.round(TargetAltitude)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Current Altitude</div><div>]] .. format_number(utils.round(ElevatorData.altitude)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Atmosphere Distance</div><div>]] .. format_number(utils.round(ElevatorData.atmosphereDistance)) .. [[m</div>\r\n </div>\r\n <div>\r\n <div>Maximum Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.currentMaxSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Vertical Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.verticalSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Lateral Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.lateralSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Longitudinal Speed</div><div>]] .. format_number(math.abs(utils.round(ElevatorData.longitudinalSpeed*3.6))) .. [[km/h</div>\r\n </div>\r\n <div>\r\n <div>Direction</div><div>]] .. ElevatorData.direction .. [[</div>\r\n </div>\r\n <div>\r\n <div>Brake</div><div>]] .. brakeStatus .. [[</div>\r\n </div>\r\n </div>\r\n ]]\r\n if #fuelTanks > 0 then\r\n html = html .. '<div class=\"widget_container\">'\r\n for _, tank in pairs(fuelTanks) do\r\n html = html .. '<div><div>' .. tank:getName() .. '</div><div>' .. tank:getTimeLeftString() .. '</div></div><div class=\"gauge_container ' .. tank:getFuelType() .. '\"><div class=\"gauge\" style=\"width:' .. utils.round(tank:getPercentFilled()) .. '%;\"></div><div class=\"gauge_label\"><div style=\"margin-left:auto;margin-right:auto;padding:0;margin-top:-.25vh;\">' .. format_number(utils.round(tank:getPercentFilled())) .. '%</div></div></div>'\r\n end\r\n html = html .. '</div>'\r\n end\r\n if #Bookmarks > 0 then\r\n html = html .. '<div class=\"widget_container\"><div><div style=\"text-align:center !important;border-bottom:1px solid black;width:100%;\">Bookmarks</div></div>'\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 .. '<div class=\"' .. class .. '\"><div>' .. displayName .. '</div><div>' .. format_number(bookmark.altitude) .. 'm</div></div>'\r\n end\r\n html = html .. '</div>'\r\n end\r\n if DisplayAtlasData and (ElevatorData.planetData ~= nil) then\r\n html = html .. '<div class=\"widget_container\">'\r\n html = html .. '<div><div style=\"text-align:center;border-bottom:1px solid black;width:100%;\">Atlas Data</div></div>'\r\n --html = html .. '<div><img src=\"/'..ElevatorData.planetData.iconPath..'\" style=\"width:10vh;height:10vh;\"></div>' --image is blinking in hud, you can display it here but by default i'm removing it\r\n html = html .. '<div><div>Planet Name</div><div>'..ElevatorData.planetData.name[localeIndex]..'</div></div>'\r\n html = html .. '<div><div>Planet Type</div><div>'..ElevatorData.planetData.type[localeIndex]..'</div></div>'\r\n html = html .. '<div><div>Planet gravity</div><div>'..ElevatorData.planetData.gravity..'m/s²</div></div>'\r\n html = html .. '<div><div>Planet Surface Average Altitude</div><div>'..ElevatorData.planetData.surfaceAverageAltitude..'m</div></div>'\r\n html = html .. '<div><div>Planet Surface Min Altitude</div><div>'..ElevatorData.planetData.surfaceMinAltitude..'m</div></div>'\r\n html = html .. '<div><div>Planet Surface Max Altitude</div><div>'..ElevatorData.planetData.surfaceMaxAltitude..'m</div></div>'\r\n html = html .. '<div><div>Planet Max Altitude For Satic Core</div><div>'..ElevatorData.planetData.maxStaticAltitude..'m</div></div>'\r\n html = html .. '</div>'\r\n end\r\n html = html .. '</div>'\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 f<g then b=b..','end;f=f+1 end;return b..'}'end,stringifyBoolean=function(self,j)return tostring(j)end,tableLength=function(self,e)local k=0;for l in pairs(e)do k=k+1 end;return k end}}\r\nSerializer = setmetatable({}, Serializer)\r\n--[[\r\n Fuel Tanks Metatable By Jericho\r\n Version: 1.0.0\r\n Unminified Source available at: https://github.com/Jericho1060/DualUniverse/blob/master/ElementsMetatable/FuelTank.lua\r\n]]\r\nFuelTank={__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}}\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 .. 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