steerByRaw.ks

DECLARE PARAMETER steerVector.

set directionVector to VXCL(ship:facing:foreVector, steerVector).
if VANG(ship:facing:starVector, directionVector) > 90 {
	set vectorAngle to VANG(ship:facing:topVector,directionVector).
}
else { set vectorAngle to 360-VANG(ship:facing:topVector,directionVector). }.
set facingAngle to VANG(ship:facing:foreVector, steerVector).
set pitchAngle to cos(vectorAngle)*facingAngle.
set yawAngle to sin(vectorAngle)*facingAngle.

set pitchE0 to pitchAngle.
set yawE0 to yawAngle.
set rollE0 to ship:facing:roll.
set t0 to time:seconds.

WAIT 0.05.

set directionVector to VXCL(ship:facing:foreVector, steerVector).
if VANG(ship:facing:starVector, directionVector) > 90 {
	set vectorAngle to VANG(ship:facing:topVector,directionVector).
}
else { set vectorAngle to 360-VANG(ship:facing:topVector,directionVector). }.
set facingAngle to VANG(ship:facing:foreVector, steerVector).
set pitchAngle to cos(vectorAngle)*facingAngle.
set yawAngle to sin(vectorAngle)*facingAngle.

set t1 to time:seconds.
set pitchE1 to pitchAngle.
set yawE1 to yawAngle.
set rollE1 to ship:facing:roll.

set dPitch to (pitchE1 - pitchE0)/(t1 - t0).
set dYaw to (yawE1 - yawE0)/(t1 - t0).
set dRoll to (rollE1 - rollE0)/(t1 - t0).

set ship:control:pitch to (pitchP*pitchE1 + pitchD*dPitch).
set ship:control:yaw to -1*(yawP*yawE1 + yawD*dYaw).
set ship:control:roll to (rollD*dRoll).