C# Vessel.findLocalCenterOfMass方法代码示例

		public Vector3 GetVesselWorldCoM (Vessel v)
		{
			var com = v.findLocalCenterOfMass ();
			return v.rootPart.partTransform.TransformPoint (com);
		}

        /// <summary>
        /// Returns the torque the ship can exert around its center of mass
        /// </summary>
        /// <returns>The torque in N m, around the (pitch, roll, yaw) axes.</returns>
        /// <param name="vessel">The ship whose torque should be measured.</param>
        /// <param name="thrust">The ship's throttle setting, on a scale of 0 to 1.</param>
        public static Vector3d GetTorque(Vessel vessel, float thrust)
        {
            // Do everything in vessel coordinates
            var centerOfMass = vessel.findLocalCenterOfMass();

            // Don't assume any particular symmetry for the vessel
            double pitch = 0, roll = 0, yaw = 0;

            foreach (Part part in vessel.parts)
            {
                foreach (PartModule module in part.Modules)
                {
                    if (!module.isEnabled)
                        continue;

                    var reactionWheelModule = module as ModuleReactionWheel;
                    var rcsModule = module as ModuleRCS;
                    if (reactionWheelModule != null && reactionWheelModule.wheelState == ModuleReactionWheel.WheelState.Active)
                    {
                        pitch += reactionWheelModule.PitchTorque;
                        roll += reactionWheelModule.RollTorque;
                        yaw += reactionWheelModule.YawTorque;
                    }
                        // Is there a more direct way to see if RCS is enabled? module.isEnabled doesn't work...
                    else if (rcsModule != null && vessel.ActionGroups[KSPActionGroup.RCS])
                    {
                        var vesselTransform = vessel.GetTransform();
                        foreach (Transform thruster in rcsModule.thrusterTransforms)
                        {
                            // Avoids problems with part.Rigidbody.centerOfMass; should also give better
                            //  support for RCS units integrated into larger parts
                            Vector3d thrusterOffset = vesselTransform.InverseTransformPoint(thruster.position) - centerOfMass;
                            /* Code by sarbian, shamelessly copied from MechJeb */
                            Vector3d thrusterThrust = vesselTransform.InverseTransformDirection(-thruster.up.normalized) * rcsModule.thrusterPower;
                            Vector3d thrusterTorque = Vector3.Cross(thrusterOffset, thrusterThrust);
                            /* end sarbian's code */

                            // This overestimates the usable torque, but that doesn't change the final behavior much
                            pitch += (float)Math.Abs(thrusterTorque.x);
                            roll += (float)Math.Abs(thrusterTorque.y);
                            yaw += (float)Math.Abs(thrusterTorque.z);
                        }
                    }
                }

                Vector3d gimbal = GetThrustTorque(part, vessel) * thrust;
                pitch += gimbal.x;
                roll += gimbal.y;
                yaw += gimbal.z;
            }

            return new Vector3d(pitch, roll, yaw);
        }

 public StoredVessel(Vessel vsl)
 {
     vessel = vsl.BackupVessel();
     metric = new Metric(vsl);
     id     = vessel.vesselID;
     CoM    = vsl.findLocalCenterOfMass();
     crew   = vsl.GetVesselCrew();
     resources = new VesselResources<ProtoVessel, ProtoPartSnapshot, ProtoPartResourceSnapshot>(vessel);
     //			fixTripLogger(); //FIXME
 }