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Add support for generating waypoints centered on vessels (#47)
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@siimav
siimav committed Aug 11, 2024
1 parent cdfcf1a commit 54a030d
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Showing 2 changed files with 126 additions and 60 deletions.
185 changes: 126 additions & 59 deletions source/ContractConfigurator/Behaviour/WaypointGenerator.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,11 @@ private class WaypointData
public Vector3d pqsOffset;
public LaunchSite launchSite = null;
public List<string> parameter = new List<string>();
public string vessel = null;
public int count = 1;
public bool underwater = false;
public bool isAdded = false;
public bool isInitialized = false;

public WaypointData()
{
Expand Down Expand Up @@ -76,6 +78,7 @@ public WaypointData(WaypointData orig, Contract contract)
pqsOffset = orig.pqsOffset;
launchSite = orig.launchSite;
parameter = orig.parameter.ToList();
vessel = orig.vessel;
underwater = orig.underwater;

SetContract(contract);
Expand All @@ -90,6 +93,7 @@ public void SetContract(Contract contract)
}
}
}

private List<WaypointData> waypoints = new List<WaypointData>();
private bool initialized = false;
private bool boundToMapViewEvent = false;
Expand Down Expand Up @@ -144,6 +148,9 @@ public void Initialize()
LoggingUtil.LogVerbose(this, "Initializing waypoint generator.");
foreach (WaypointData wpData in waypoints)
{
if (wpData.isInitialized)
continue;

CelestialBody body = FlightGlobals.Bodies.Where<CelestialBody>(b => b.name == wpData.waypoint.celestialName).FirstOrDefault();
if (body == null)
{
Expand Down Expand Up @@ -176,61 +183,17 @@ public void Initialize()
}
else if (wpData.type == "RANDOM_WAYPOINT_NEAR")
{
Waypoint nearWaypoint = waypoints[wpData.nearIndex].waypoint;

LoggingUtil.LogVerbose(this, " Generating a random waypoint near waypoint {0}...", nearWaypoint.name);

if (!nearWaypoint.celestialBody.hasSolidSurface)
wpData.waterAllowed = true;


// Convert input to radians
double rlat1 = nearWaypoint.latitude * Math.PI / 180.0;
double rlon1 = nearWaypoint.longitude * Math.PI / 180.0;

for (int i = 0; i < 10000; i++)
// This type supports deferred generation of waypoints.
// For instance the vessel might not be available yet so the coordinates cannot be generated either.
if (string.IsNullOrEmpty(wpData.vessel))
{
// Sliding window
double window = (i < 100 ? 1 : (1.01 * (i-100+1)));
double max = wpData.maxDistance * window;
double min = wpData.minDistance / window;

// Distance between our point and the random waypoint
double d = min + random.NextDouble() * (max - min);

// Random bearing
double brg = random.NextDouble() * 2.0 * Math.PI;

// Angle between our point and the random waypoint
double a = d / nearWaypoint.celestialBody.Radius;

// Calculate the coordinates
double rlat2 = Math.Asin(Math.Sin(rlat1) * Math.Cos(a) + Math.Cos(rlat1) * Math.Sin(a) * Math.Cos(brg));
double rlon2;

// Check for pole
if (Math.Abs(Math.Cos(rlat1)) < 0.0001)
{
rlon2 = rlon1;
}
else
{
rlon2 = ((rlon1 - Math.Asin(Math.Sin(brg) * Math.Sin(a) / Math.Cos(rlat2)) + Math.PI) % (2.0 * Math.PI)) - Math.PI;
}

wpData.waypoint.latitude = rlat2 * 180.0 / Math.PI;
wpData.waypoint.longitude = rlon2 * 180.0 / Math.PI;

// Calculate the waypoint altitude
Vector3d radialVector = QuaternionD.AngleAxis(wpData.waypoint.longitude, Vector3d.down) *
QuaternionD.AngleAxis(wpData.waypoint.latitude, Vector3d.forward) * Vector3d.right;
double altitude = body.pqsController.GetSurfaceHeight(radialVector) - body.pqsController.radius;

// Check water conditions if required
if (!nearWaypoint.celestialBody.hasSolidSurface || !nearWaypoint.celestialBody.ocean || (wpData.waterAllowed && !wpData.underwater)|| (wpData.underwater && altitude < 0) || (!wpData.underwater && altitude > 0))
{
break;
}
if (!InitWPNearOtherWP(wpData))
continue;
}
else
{
if (!InitWPNearVessel(wpData))
continue;
}
}
else if (wpData.type == "PQS_CITY")
Expand All @@ -244,15 +207,99 @@ public void Initialize()

// Set altitude
SetAltitude(wpData, body);
wpData.isInitialized = true;

LoggingUtil.LogVerbose(this, " Generated waypoint {0} at {1}, {2}.", wpData.waypoint.name, wpData.waypoint.latitude, wpData.waypoint.longitude);
}

initialized = true;
initialized = waypoints.All(w => w.isInitialized);
LoggingUtil.LogVerbose(this, "Waypoint generator initialized.");
}
}

private bool InitWPNearOtherWP(WaypointData wpData)
{
WaypointData otherWPData = waypoints[wpData.nearIndex];
if (!otherWPData.isInitialized)
return false;
Waypoint nearWaypoint = otherWPData.waypoint;

LoggingUtil.LogVerbose(this, " Generating a random waypoint near waypoint {0}...", nearWaypoint.name);

CelestialBody body = nearWaypoint.celestialBody;

InitWPNearPoint(wpData, body, nearWaypoint.latitude, nearWaypoint.longitude);
return true;
}

private bool InitWPNearVessel(WaypointData wpData)
{
Vessel nearVessel = ContractVesselTracker.Instance.GetAssociatedVessel(wpData.vessel);
if (nearVessel == null)
return false;

LoggingUtil.LogVerbose(this, " Generating a random waypoint near vessel {0}...", nearVessel.name);

InitWPNearPoint(wpData, nearVessel.mainBody, nearVessel.latitude, nearVessel.longitude);

return true;
}

private static void InitWPNearPoint(WaypointData wpData, CelestialBody body, double lat, double lon)
{
// Convert input to radians
double rlat1 = lat * Math.PI / 180.0;
double rlon1 = lon * Math.PI / 180.0;

if (!body.hasSolidSurface)
wpData.waterAllowed = true;

for (int i = 0; i < 10000; i++)
{
// Sliding window
double window = (i < 100 ? 1 : (1.01 * (i - 100 + 1)));
double max = wpData.maxDistance * window;
double min = wpData.minDistance / window;

// Distance between our point and the random waypoint
double d = min + random.NextDouble() * (max - min);

// Random bearing
double brg = random.NextDouble() * 2.0 * Math.PI;

// Angle between our point and the random waypoint
double a = d / body.Radius;

// Calculate the coordinates
double rlat2 = Math.Asin(Math.Sin(rlat1) * Math.Cos(a) + Math.Cos(rlat1) * Math.Sin(a) * Math.Cos(brg));
double rlon2;

// Check for pole
if (Math.Abs(Math.Cos(rlat1)) < 0.0001)
{
rlon2 = rlon1;
}
else
{
rlon2 = ((rlon1 - Math.Asin(Math.Sin(brg) * Math.Sin(a) / Math.Cos(rlat2)) + Math.PI) % (2.0 * Math.PI)) - Math.PI;
}

wpData.waypoint.latitude = rlat2 * 180.0 / Math.PI;
wpData.waypoint.longitude = rlon2 * 180.0 / Math.PI;

// Calculate the waypoint altitude
Vector3d radialVector = QuaternionD.AngleAxis(wpData.waypoint.longitude, Vector3d.down) *
QuaternionD.AngleAxis(wpData.waypoint.latitude, Vector3d.forward) * Vector3d.right;
double altitude = body.pqsController.GetSurfaceHeight(radialVector) - body.pqsController.radius;

// Check water conditions if required
if (!body.hasSolidSurface || !body.ocean || (wpData.waterAllowed && !wpData.underwater) || (wpData.underwater && altitude < 0) || (!wpData.underwater && altitude > 0))
{
break;
}
}
}

private void GeneratePQSCityCoordinates(WaypointData wpData, CelestialBody body)
{
LoggingUtil.LogVerbose(this, " pqs city: {0}", wpData.pqsCity);
Expand Down Expand Up @@ -416,10 +463,16 @@ public static WaypointGenerator Create(ConfigNode configNode, WaypointGeneratorF
// Get settings for randomization
valid &= ConfigNodeUtil.ParseValue<bool>(child, "waterAllowed", x => wpData.waterAllowed = x, factory, true);

valid &= ConfigNodeUtil.OnlyOne(child, new string[] { "vessel", "nearIndex" }, factory);
ConfigNodeUtil.ParseValue<string>(child, "vessel", x => wpData.vessel = x, factory, defaultValue: null);

// Get near waypoint details
valid &= ConfigNodeUtil.ParseValue<int>(child, "nearIndex", x => wpData.nearIndex = x, factory,
x => Validation.GE(x, 0) && Validation.LT(x, wpGenerator.waypoints.Count));
valid &= ConfigNodeUtil.ParseValue<bool>(child, "chained", x => wpData.chained = x, factory, false);
if (string.IsNullOrEmpty(wpData.vessel))
{
valid &= ConfigNodeUtil.ParseValue<int>(child, "nearIndex", x => wpData.nearIndex = x, factory,
x => Validation.GE(x, 0) && Validation.LT(x, wpGenerator.waypoints.Count));
valid &= ConfigNodeUtil.ParseValue<bool>(child, "chained", x => wpData.chained = x, factory, false);
}
valid &= ConfigNodeUtil.ParseValue<int>(child, "count", x => wpData.count = x, factory, 1, x => Validation.GE(x, 1));

// Get distances
Expand Down Expand Up @@ -574,7 +627,7 @@ protected void OnMapViewFiltersModified(MapViewFiltering.VesselTypeFilter filter
wpData.isAdded = false;

string paramID = wpData.parameter.FirstOrDefault();
if (wpData.waypoint.visible && wpData.waypoint.contractReference != null &&
if (wpData.isInitialized && wpData.waypoint.visible && wpData.waypoint.contractReference != null &&
(!wpData.parameter.Any() || wpData.waypoint.contractReference.AllParameters.
Any(p => p.ID == paramID && p.State == ParameterState.Complete)))
{
Expand All @@ -594,6 +647,7 @@ protected override void OnParameterStateChange(ContractParameter param)

protected override void OnOffered()
{
Initialize();
foreach (WaypointData wpData in waypoints)
{
string paramID = wpData.parameter.FirstOrDefault();
Expand Down Expand Up @@ -639,6 +693,12 @@ protected override void OnLoad(ConfigNode configNode)
wpData.waypoint.celestialName = child.GetValue("celestialName");
wpData.waypoint.name = child.GetValue("name");
wpData.waypoint.id = child.GetValue("icon");
wpData.vessel = child.GetValue("vessel");
wpData.nearIndex = ConfigNodeUtil.ParseValue<int>(child, "nearIndex", -1);
wpData.count = ConfigNodeUtil.ParseValue<int>(child, "count", 1);
wpData.isInitialized = ConfigNodeUtil.ParseValue<bool>(child, "isInitialized", defaultValue: true);
wpData.minDistance = ConfigNodeUtil.ParseValue<double>(child, "minDistance", 0d);
wpData.maxDistance = ConfigNodeUtil.ParseValue<double>(child, "maxDistance", 0d);
wpData.waypoint.latitude = Convert.ToDouble(child.GetValue("latitude"));
wpData.waypoint.longitude = Convert.ToDouble(child.GetValue("longitude"));
wpData.waypoint.altitude = Convert.ToDouble(child.GetValue("altitude"));
Expand Down Expand Up @@ -695,6 +755,13 @@ protected override void OnSave(ConfigNode configNode)
child.AddValue("celestialName", wpData.waypoint.celestialName);
child.AddValue("name", wpData.waypoint.name);
child.AddValue("icon", wpData.waypoint.id);
child.AddValue("nearIndex", wpData.nearIndex);
if (wpData.vessel != null)
child.AddValue("vessel", wpData.vessel);
child.AddValue("minDistance", wpData.minDistance);
child.AddValue("maxDistance", wpData.maxDistance);
child.AddValue("count", wpData.count);
child.AddValue("isInitialized", wpData.isInitialized);
child.AddValue("latitude", wpData.waypoint.latitude);
child.AddValue("longitude", wpData.waypoint.longitude);
child.AddValue("altitude", wpData.waypoint.altitude);
Expand Down
1 change: 0 additions & 1 deletion source/ContractConfigurator/ExpressionParser/Parsers/Behaviours/WaypointGeneratorParser.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,6 @@ protected static IEnumerable<string> GetIdentifiers(string type)
}
else
{
yield return "nearIndex";
yield return "minDistance";
yield return "maxDistance";
}
Expand Down

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