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Merged
lamont-granquist merged 1 commit into from
Jun 16, 2026
Merged

Automated code cleanup #2245

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12 changes: 6 additions & 6 deletions .editorconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,7 @@ dotnet_naming_symbols.constants_symbols.required_modifiers = const
dotnet_naming_symbols.constants_symbols.resharper_applicable_kinds = constant_field
dotnet_naming_symbols.constants_symbols.resharper_required_modifiers = any
dotnet_naming_symbols.enum_member_symbols.applicable_accessibilities = *
dotnet_naming_symbols.enum_member_symbols.applicable_kinds =
dotnet_naming_symbols.enum_member_symbols.applicable_kinds =
dotnet_naming_symbols.enum_member_symbols.resharper_applicable_kinds = enum_member
dotnet_naming_symbols.enum_member_symbols.resharper_required_modifiers = any
dotnet_naming_symbols.local_constants_symbols.applicable_accessibilities = *
Expand Down Expand Up @@ -235,23 +235,23 @@ dotnet_naming_symbols.static_readonly_symbols.required_modifiers = readonly, sta
dotnet_naming_symbols.static_readonly_symbols.resharper_applicable_kinds = readonly_field
dotnet_naming_symbols.static_readonly_symbols.resharper_required_modifiers = static
dotnet_naming_symbols.unity_serialized_field_symbols.applicable_accessibilities = *
dotnet_naming_symbols.unity_serialized_field_symbols.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols.resharper_applicable_kinds = unity_serialised_field
dotnet_naming_symbols.unity_serialized_field_symbols.resharper_required_modifiers = instance
dotnet_naming_symbols.unity_serialized_field_symbols_1.applicable_accessibilities = *
dotnet_naming_symbols.unity_serialized_field_symbols_1.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_1.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_1.resharper_applicable_kinds = unity_serialised_field
dotnet_naming_symbols.unity_serialized_field_symbols_1.resharper_required_modifiers = instance
dotnet_naming_symbols.unity_serialized_field_symbols_2.applicable_accessibilities = *
dotnet_naming_symbols.unity_serialized_field_symbols_2.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_2.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_2.resharper_applicable_kinds = unity_serialised_field
dotnet_naming_symbols.unity_serialized_field_symbols_2.resharper_required_modifiers = instance
dotnet_naming_symbols.unity_serialized_field_symbols_3.applicable_accessibilities = *
dotnet_naming_symbols.unity_serialized_field_symbols_3.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_3.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_3.resharper_applicable_kinds = unity_serialised_field
dotnet_naming_symbols.unity_serialized_field_symbols_3.resharper_required_modifiers = instance
dotnet_naming_symbols.unity_serialized_field_symbols_4.applicable_accessibilities = *
dotnet_naming_symbols.unity_serialized_field_symbols_4.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_4.applicable_kinds =
dotnet_naming_symbols.unity_serialized_field_symbols_4.resharper_applicable_kinds = unity_serialised_field
dotnet_naming_symbols.unity_serialized_field_symbols_4.resharper_required_modifiers = instance
dotnet_style_parentheses_in_arithmetic_binary_operators = never_if_unnecessary:none
Expand Down
222 changes: 111 additions & 111 deletions MechJeb2/AttitudeControllers/BetterController.cs
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18 changes: 9 additions & 9 deletions MechJeb2/AttitudeControllers/DirectionTracker.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ namespace MuMech.AttitudeControllers
public class DirectionTracker
{
private QuaternionD _previousRotation;
public Vector3d TrackedRotation;
public Vector3d TrackedRotation;

private bool NeedsInitialization() => _previousRotation == new QuaternionD(0, 0, 0, 0);

Expand All @@ -21,18 +21,18 @@ public Vector3d Update(QuaternionD currentRotation)
if (NeedsInitialization())
{
_previousRotation = currentRotation;
TrackedRotation = Vector3d.zero;
TrackedRotation = Vector3d.zero;
return TrackedRotation;
}

// Calculate the change in rotation and the change in euler angles
QuaternionD deltaRotation = QuaternionD.Inverse(_previousRotation) * currentRotation;
Vector3d deltaEuler = MathExtensions.EulerAngles(deltaRotation);
Vector3d deltaEuler = MathExtensions.EulerAngles(deltaRotation);

// Convert to radians and clamp to [-pi, pi]
double deltaPitch = ClampPi(Deg2Rad(deltaEuler.x));
double deltaYaw = -ClampPi(Deg2Rad(deltaEuler.y));
double deltaRoll = ClampPi(Deg2Rad(deltaEuler.z));
double deltaYaw = -ClampPi(Deg2Rad(deltaEuler.y));
double deltaRoll = ClampPi(Deg2Rad(deltaEuler.z));

// Apply in the KSP/MJ pitch/roll/yaw order
TrackedRotation.x += deltaPitch;
Expand All @@ -48,12 +48,12 @@ public Vector3d Update(QuaternionD currentRotation)
public (Vector3d desired, Vector3d error, double distance) Desired(QuaternionD desiredRotation)
{
QuaternionD deltaRotation = QuaternionD.Inverse(_previousRotation) * desiredRotation;
Vector3d deltaEuler = MathExtensions.EulerAngles(deltaRotation);
Vector3d deltaEuler = MathExtensions.EulerAngles(deltaRotation);

// Convert to radians and clamp to [-pi, pi]
double deltaPitch = ClampPi(Deg2Rad(deltaEuler.x));
double deltaYaw = -ClampPi(Deg2Rad(deltaEuler.y));
double deltaRoll = ClampPi(Deg2Rad(deltaEuler.z));
double deltaYaw = -ClampPi(Deg2Rad(deltaEuler.y));
double deltaRoll = ClampPi(Deg2Rad(deltaEuler.z));

var error = new Vector3d(deltaPitch, deltaRoll, deltaYaw);

Expand All @@ -66,7 +66,7 @@ public Vector3d Update(QuaternionD currentRotation)
public void Reset()
{
_previousRotation = new QuaternionD(0, 0, 0, 0);
TrackedRotation = Vector3d.zero;
TrackedRotation = Vector3d.zero;
}

// This method is used to reset the accumulated rotation for a specific axis
Expand Down
32 changes: 16 additions & 16 deletions MechJeb2/AttitudeControllers/HybridController.cs
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Expand Up @@ -8,35 +8,35 @@ namespace MuMech.AttitudeControllers
{
internal class HybridController : BaseAttitudeController
{
[UsedImplicitly] [Persistent(pass = (int)Pass.GLOBAL)]
[UsedImplicitly, Persistent(pass = (int)Pass.GLOBAL)]
public readonly EditableDouble MaxStoppingTime = new EditableDouble(2);

[UsedImplicitly] [Persistent(pass = (int)Pass.GLOBAL)]
[UsedImplicitly, Persistent(pass = (int)Pass.GLOBAL)]
public readonly EditableDoubleMult RollControlRange = new EditableDoubleMult(5 * Mathf.Deg2Rad, Mathf.Deg2Rad);

[UsedImplicitly] [Persistent(pass = (int)Pass.GLOBAL)]
[UsedImplicitly, Persistent(pass = (int)Pass.GLOBAL)]
public bool UseControlRange = true;

private readonly TorquePI _pitchPI = new TorquePI();
private readonly TorquePI _yawPI = new TorquePI();
private readonly TorquePI _rollPI = new TorquePI();
private readonly TorquePI _yawPI = new TorquePI();
private readonly TorquePI _rollPI = new TorquePI();

private readonly KosPIDLoop _pitchRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _yawRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _rollRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _yawRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _rollRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);

[UsedImplicitly] [Persistent(pass = (int)Pass.GLOBAL)]
[UsedImplicitly, Persistent(pass = (int)Pass.GLOBAL)]
public bool UseInertia = true;

private Vector3d _actuation = Vector3d.zero;
private Vector3d _actuation = Vector3d.zero;
private Vector3d _targetTorque = Vector3d.zero;
private Vector3d _omega = Vector3d.zero;
private Vector3d _omega = Vector3d.zero;

/* error */
private double _phiTotal;

/* error in pitch, roll, yaw */
private Vector3d _phiVector = Vector3d.zero;
private Vector3d _phiVector = Vector3d.zero;
private Vector3d _targetOmega = Vector3d.zero;

/* max angular rotation */
Expand All @@ -56,7 +56,7 @@ public override void DrivePre(FlightCtrlState s, out Vector3d act, out Vector3d
UpdateControl();

deltaEuler = _phiVector * Mathf.Rad2Deg;
act = _actuation;
act = _actuation;
}

private void UpdatePhi()
Expand All @@ -69,10 +69,10 @@ private void UpdatePhi()
QuaternionD deltaRotation = QuaternionD.Inverse((QuaternionD)vesselTransform.transform.rotation * MathExtensions.Euler(-90, 0, 0)) * Ac.RequestedAttitude;

// get us some euler angles for the target transform
Vector3d ea = MathExtensions.EulerAngles(deltaRotation);
double pitch = ea[0] * UtilMath.Deg2Rad;
double yaw = ea[1] * UtilMath.Deg2Rad;
double roll = ea[2] * UtilMath.Deg2Rad;
Vector3d ea = MathExtensions.EulerAngles(deltaRotation);
double pitch = ea[0] * UtilMath.Deg2Rad;
double yaw = ea[1] * UtilMath.Deg2Rad;
double roll = ea[2] * UtilMath.Deg2Rad;

// law of cosines for the "distance" of the miss in radians
_phiTotal = Math.Acos(MuUtils.Clamp(Math.Cos(pitch) * Math.Cos(yaw), -1, 1));
Expand Down
38 changes: 19 additions & 19 deletions MechJeb2/AttitudeControllers/KosAttitudeController.cs
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Expand Up @@ -7,33 +7,33 @@ namespace MuMech.AttitudeControllers
{
internal class KosAttitudeController : BaseAttitudeController
{
[UsedImplicitly] [Persistent(pass = (int)Pass.GLOBAL)]
[UsedImplicitly, Persistent(pass = (int)Pass.GLOBAL)]
public readonly EditableDouble MaxStoppingTime = new EditableDouble(2);

[UsedImplicitly] [Persistent(pass = (int)Pass.GLOBAL)]
[UsedImplicitly, Persistent(pass = (int)Pass.GLOBAL)]
public readonly EditableDoubleMult RollControlRange = new EditableDoubleMult(5 * Mathf.Deg2Rad, Mathf.Deg2Rad);
//public double RollControlRange {
// get { return this.rollControlRange; }
// set { this.rollControlRange.val = Math.Max(EPSILON, Math.Min(Math.PI, value)); }
//}

private readonly TorquePI _pitchPI = new TorquePI();
private readonly TorquePI _yawPI = new TorquePI();
private readonly TorquePI _rollPI = new TorquePI();
private readonly TorquePI _yawPI = new TorquePI();
private readonly TorquePI _rollPI = new TorquePI();

private readonly KosPIDLoop _pitchRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _yawRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _rollRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _yawRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);
private readonly KosPIDLoop _rollRatePI = new KosPIDLoop(1, 0.1, 0, extraUnwind: true);

private Vector3d _actuation = Vector3d.zero;
private Vector3d _actuation = Vector3d.zero;
private Vector3d _targetTorque = Vector3d.zero;
private Vector3d _omega = Vector3d.zero;
private Vector3d _omega = Vector3d.zero;

/* error */
private double _phiTotal;

/* error in pitch, roll, yaw */
private Vector3d _phiVector = Vector3d.zero;
private Vector3d _phiVector = Vector3d.zero;
private Vector3d _targetOmega = Vector3d.zero;

/* max angular rotation */
Expand All @@ -53,29 +53,29 @@ public override void DrivePre(FlightCtrlState s, out Vector3d act, out Vector3d
UpdateControl();

deltaEuler = _phiVector * Mathf.Rad2Deg;
act = _actuation;
act = _actuation;
}

/* temporary state vectors */
private QuaternionD _vesselRotation;
private Vector3d _vesselForward;
private Vector3d _vesselTop;
private Vector3d _vesselStarboard;
private Vector3d _targetForward;
private Vector3d _targetTop;
private Vector3d _vesselForward;
private Vector3d _vesselTop;
private Vector3d _vesselStarboard;
private Vector3d _targetForward;
private Vector3d _targetTop;

/* private Vector3d targetStarboard; */

private void UpdateStateVectors()
{
/* FIXME: may get called more than once per tick */
_vesselRotation = (QuaternionD)Ac.Vessel.ReferenceTransform.rotation * MathExtensions.Euler(-90, 0, 0);
_vesselForward = _vesselRotation * Vector3d.forward;
_vesselTop = _vesselRotation * Vector3d.up;
_vesselRotation = (QuaternionD)Ac.Vessel.ReferenceTransform.rotation * MathExtensions.Euler(-90, 0, 0);
_vesselForward = _vesselRotation * Vector3d.forward;
_vesselTop = _vesselRotation * Vector3d.up;
_vesselStarboard = _vesselRotation * Vector3d.right;

_targetForward = Ac.RequestedAttitude * Vector3d.forward;
_targetTop = Ac.RequestedAttitude * Vector3d.up;
_targetTop = Ac.RequestedAttitude * Vector3d.up;
/* targetStarboard = target * Vector3d.right; */

_omega = -Ac.Vessel.angularVelocity;
Expand Down
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