KSPAerostats/Plugin/ModuleAerostat.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using UnityEngine;

namespace Aerostats
{
    public class ModuleAerostat : PartModule
    {
        [KSPField(isPersistant = false, guiActive = false)]
        public string DeployAnimation = "semiDeploy";

        [KSPField(isPersistant = false, guiActive = false)]
        public string InflateAnimation = "fullyDeploy";

        // In this class, amount of gas Q is specified in m^3 at stp (standard pressure of 100kPa and temperature of 0°C = 273K). Ideal gas equation P.V = n.R.T gives us the equivalent number of moles: n = P.V/R/T = 100000.Q/8.314/273 = 44.Q mol
        private static readonly float R = 8.314f;
        private static readonly float ZeroCelsius = 273.15f;
        private static readonly float StandardPressure = 100000.0f;
        private static readonly float StpVolumeToMoles = 100000.0f / R / 273.15f;

        /// <summary>
        /// Maximum rate at which gas can be injected in the balloon to fill it, in m^3/s at stp
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float MaxGasFillRate = 100;

        /// <summary>
        /// Maximum rate at which gas can be removed from the balloon to deflate it, in m^3/s at stp
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float MaxGasVentRate = 500;

        /// <summary>
        /// Volume at which the balloon is full. Trying to add more gas, or simply having already stored gas expand due to lower exterior pressure or increased temperature, will cause gas to be vented through the security valve.
        /// Air density at sea level is about 1.2kg/m^3, which means a 1000m^3 balloon will be able to lift about 1 ton at sea level (after substracting the balloon gas weight)
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float MaxBalloonVolume = 10000;

        /// <summary>
        /// Maximum initial reserve of compressed gas, in m^3 at stp
        /// For helium, the volume needed to store this reserve is about 0.0014m^3 of compressed storage (liquid) for 1m^3 of gas at stp
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float CompressedGasStorage = 15000;

        [KSPField(isPersistant = true, guiActive = true)]
        public float RemainingCompressedGas = 15000;

        /// <summary>
        /// Weight, in kilograms, of 1m^3 of gas at 100kPa and 0°C
        /// Helium is 179g/m^3
        /// Hydrogen is 90g/m^3
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float GasDensity = 0.179f;

        /// <summary>
        /// Quantity of gas that the system is trying to get inside the balloon, in m^3 at 100kPa and 0°C. If the balloon contains more gas, some will be vented, otherwise, gas will be injected.
        /// If the balloon can not store the target amount of gas (because the maximum volume has been reached), the system won't try to inject more gas, to avoid venting through the security valve of the balloon.
        /// </summary>
        [KSPField(isPersistant = true, guiActive = true)]
        [UI_FloatRange(minValue = 0, maxValue = 20000.0f, stepIncrement = 1.0f)]
        public float LiftingGasTargetQuantity;

        /// <summary>
        /// Mass of the empty balloon, in kg
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float BalloonEmptyMass = 50.0f;

        /// <summary>
        /// Minimum amount of gas that will be use to inflate the balloon at the beginning.
        /// This is needed if you want the balloon to lift itself right after staging.
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float MinimumFillQuantity = 75.0f;

        /// <summary>
        /// Drag coefficient of the balloon
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float BalloonDragCoeff = 0.3f;

        /// <summary>
        /// Force applied by the spring between the balloon and the vessel, proportional to spring extension, in newton per meter
        /// </summary>
        [KSPField(isPersistant = false, guiActive = false)]
        public float SpringHardness = 20000.0f;

        private bool Staged;

        /// <summary>
        /// Gas quantity currently inside the balloon
        /// </summary>
        [KSPField(isPersistant = true, guiActive = true)]
        public float LiftingGasQuantity;

        /// <summary>
        /// Inflation ratio of the balloon (0=empty, 1=maximum)
        /// </summary>
        private float Inflation = 0;

        private GameObject Balloon;

        private void PlayAnimation(string animationName, float animationSpeed)
        {
            foreach (Animation animation in part.FindModelAnimators(animationName))
            {
                AnimationState state = animation[animationName];
                state.normalizedTime = 0;
                state.normalizedSpeed = animationSpeed;
                state.enabled = true;
                animation.Play(animationName);
            }
        }

        private bool IsAnimationPlaying(string animationName)
        {
            return part.FindModelAnimators(animationName).Any(a => a[animationName].enabled);
        }

        private void SetInflation(float ratio)
        {
            foreach (Animation animation in part.FindModelAnimators(InflateAnimation))
            {
                AnimationState state = animation[InflateAnimation];
                state.normalizedTime = ratio;
                state.normalizedSpeed = 0;
                state.enabled = true;
                animation.Play(InflateAnimation);
            }
        }

        public override void OnStart(PartModule.StartState state)
        {
            if (!HighLogic.LoadedSceneIsEditor && !HighLogic.LoadedSceneIsFlight) { return; }

            ScreenMessages.PostScreenMessage("Aerostat loaded");
            part.stagingIcon = "PARACHUTES";
        }

        private void OnStaged()
        {
            UnityEngine.Debug.Log("Aerostats: staged");
            ScreenMessages.PostScreenMessage("staged");
            //PlayAnimation(DeployAnimation, 1.0f);

            Balloon = GameObject.CreatePrimitive(PrimitiveType.Sphere);
            Balloon.transform.position = part.Rigidbody.position + part.Rigidbody.transform.up;
            Balloon.AddComponent<Rigidbody>();
            Balloon.rigidbody.mass = BalloonEmptyMass;

            Balloon.rigidbody.angularDrag = 10.0f;

            LiftingGasQuantity = Math.Min(MinimumFillQuantity, RemainingCompressedGas);
            RemainingCompressedGas -= LiftingGasQuantity;
        }

        private void FixedUpdate()
        {
            if (!Staged && GameSettings.LAUNCH_STAGES.GetKeyDown() && vessel.isActiveVessel && (part.inverseStage == Staging.CurrentStage - 1 || Staging.CurrentStage == 0))
            {
                Staged = true;
                OnStaged();
            }

            if (Staged)
            {
                //if (!IsAnimationPlaying(DeployAnimation))
                {
                    float externalTemperature = (float)FlightGlobals.getExternalTemperature();
                    float balloonInternalTemperature = externalTemperature;
                    float externalPressure = Math.Max((float)FlightGlobals.getStaticPressure() * 1000.0f, 0.00001f);
                    Util.PostSingleScreenMessage("external atmo", "Temperature = " + externalTemperature + "K, Pressure=" + externalPressure + "Pa");

                    float currentMaxQuantity = MaxBalloonVolume / R / balloonInternalTemperature * externalPressure / StpVolumeToMoles;

                    LiftingGasTargetQuantity = Math.Max(MinimumFillQuantity, LiftingGasTargetQuantity);
                    if(LiftingGasTargetQuantity > LiftingGasQuantity)
                    {
                        // infalting balloon
                        float stepFinalQuantity = Math.Min(LiftingGasQuantity + MaxGasFillRate * Time.fixedDeltaTime, Math.Min(LiftingGasTargetQuantity, currentMaxQuantity));
                        float step = Math.Max(stepFinalQuantity - LiftingGasQuantity, 0.0f);
                        LiftingGasQuantity += step;
                        RemainingCompressedGas -= step;

                        // gas exhausted
                        if(RemainingCompressedGas < 0)
                        {
                            Util.PostSingleScreenMessage("out of gas", "Lifting gas reserve exhausted");
                            LiftingGasQuantity += RemainingCompressedGas;
                            RemainingCompressedGas = 0;
                        }
                    }
                    else
                    {
                        // deflating balloon
                        LiftingGasQuantity = Math.Max(LiftingGasQuantity - MaxGasVentRate * Time.fixedDeltaTime, LiftingGasTargetQuantity);
                    }


                    // balloon security valve
                    if (LiftingGasQuantity > currentMaxQuantity)
                    {
                        Util.PostSingleScreenMessage("security valve", "Some gas has been vented by the balloon security valve");
                        LiftingGasQuantity = currentMaxQuantity;
                    }

                    float currentGasMoles = StpVolumeToMoles * LiftingGasQuantity;
                    float currentGasVolume = currentGasMoles * R * balloonInternalTemperature / externalPressure;
                    Inflation = currentGasVolume / MaxBalloonVolume;

                    Util.PostSingleScreenMessage("inflation", "Inflation = " + (Inflation * 100.0f).ToString("0.00") + "%");
                    //SetInflation(Inflation);

                    float airDensity = (float)FlightGlobals.getAtmDensity(externalPressure / 1000.0f, externalTemperature, vessel.mainBody);
                    float currentGasDensity = GasDensity * balloonInternalTemperature / ZeroCelsius / externalPressure * StandardPressure;
                    float balloonLift = currentGasVolume * airDensity;
                    float balloonGasMass = currentGasDensity * currentGasVolume;
                    Util.PostSingleScreenMessage("lift", "Air density = " + airDensity + "kg/m^3, Lift = " + (balloonLift - balloonGasMass) + "kg");
                    var gravityAccel = FlightGlobals.getGeeForceAtPosition(vessel.GetWorldPos3D());
                    //Util.PostSingleScreenMessage("gravity", "Gravity accel = (" + gravityAccel.x + ", " + gravityAccel.y + ", " + gravityAccel.z + ")");
                    
                    // V = 4/3*pi*r^3
                    float radius = Mathf.Pow(currentGasVolume * 0.75f / Mathf.PI, 0.333f);
                    float scale = radius + 0.1f;
                    Balloon.transform.localScale = new Vector3(scale,scale,scale);
                    Balloon.rigidbody.mass = (BalloonEmptyMass + balloonGasMass) * 0.001f;

                    Balloon.rigidbody.AddForce(-gravityAccel * balloonLift / 1000.0f, ForceMode.Force);

                    // balloon drag
                    var airVelocity = Balloon.rigidbody.velocity + Krakensbane.GetFrameVelocity() /*- vessel.mainBody.getRFrmVel(vessel.GetWorldPos3D())*/;
                    float sqVel = (float)airVelocity.magnitude;
                    sqVel *= sqVel;
                    float dragForce = 0.5f * airDensity * sqVel * BalloonDragCoeff * (Mathf.PI * radius * radius);
                    Util.PostSingleScreenMessage("balloon drag", "Drag = " + dragForce + "N");
                    Balloon.rigidbody.AddForce(-airVelocity.normalized * dragForce / 1000.0f, ForceMode.Force);

                    // spring between balloon and base
                    float restLength = 2.0f + radius;
                    var springVec = Balloon.rigidbody.position - part.rigidbody.position;
                    float springLength = springVec.magnitude;
                    float springForceMag = 0;
                    if(springLength > restLength)
                    {
                        float tensingLength = springLength - restLength;
                        springForceMag = tensingLength * SpringHardness;
                        var springForce = springVec * (springForceMag / springLength * 0.001f);
                        part.rigidbody.AddForce(springForce, ForceMode.Force);
                        Balloon.rigidbody.AddForceAtPosition(-springForce, Balloon.rigidbody.position - Balloon.transform.up * radius, ForceMode.Force);
                    }
                    Util.PostSingleScreenMessage("spring force", "Spring force = " + springForceMag + "N");
                }
            }
        }

        public void Update()
        {
            if (Balloon != null)
            {
                Gizmos.DrawLine(part.transform.position, Balloon.transform.position - Balloon.transform.up * Balloon.transform.localScale.x);
            }
        }
    }
}