moveShip.lua

local args = {...}
local pos = ship.getWorldspacePosition()

maxSpeed = 13

cruisingAltitude = 330
if args[4] ~= nil then
    cruisingAltitude = tonumber(args[4])
end
mass = ship.getMass()
accelAmount = 30

count = 0
tolerance = 0.2
toleranceHorizontal = 1
multConst = (44.6650051949/math.pi)*180

function toY(y)
    yVec = 1
    while(math.abs(yVec) > 0.1)
    do
        pos = ship.getWorldspacePosition()
        vel = ship.getVelocity()
        yVec = y-pos.y
        yVecNorm = yVec/math.abs(yVec)
        targetVel = yVecNorm*math.min(math.abs(yVec),maxSpeed)
        ship.applyInvariantForce(0,(targetVel-vel.y)*60*ship.getMass(),0)
        sleep(0.01)
    end
end

function toXZ(x,z)
    vecMagnitude = 1
    while(vecMagnitude > 0.1)
    do
        pos = ship.getWorldspacePosition()
        vel = ship.getVelocity()
        xVec = x-pos.x
        zVec = z-pos.z
        vecMagnitude = math.sqrt(math.pow(xVec,2)+math.pow(zVec,2))
        xNormVec = xVec/vecMagnitude
        zNormVec = zVec/vecMagnitude
        targetVelX = xNormVec*math.min(vecMagnitude,maxSpeed)
        targetVelZ = zNormVec*math.min(vecMagnitude,maxSpeed)
        ship.applyInvariantForce((targetVelX-vel.x)*60*ship.getMass(),0,(targetVelZ-vel.z)*60*ship.getMass())
        sleep(0.01)
    end
end

function findAngle(x,z)
    yaw = 0
    pos = ship.getWorldspacePosition()
    x = tonumber(x) - pos.x
    z = tonumber(z) - pos.z
    mag = math.sqrt(math.pow(x,2)+math.pow(z,2))
    x = x/mag
    z = z/mag
    if z >= 0 then
        yaw  = math.acos(x)
    else
        yaw = 2*math.pi - math.acos(x)
    end
    yaw = (yaw+math.pi) % (math.pi*2)
    return yaw
end

function rotShip(angle)
    ship.applyInvariantTorque(0,-multConst*angle*ship.getMass(),0)
end

function rotToAngle(angle)
    currentShipRot = ship.getYaw()
    if currentShipRot < 0 then
        currentShipRot = currentShipRot + math.pi*2
    end
    if ship.getYaw() < 0 then
        currentShipRot = math.pi*2 + ship.getYaw()
    end
    angleA = angle - currentShipRot
    if math.abs(angleA) > math.pi then
        angleB = -(angleA/math.abs(angleA))*(2*math.pi - math.abs(angleA))
        rotShip(angleB)
    else
        rotShip(angleA)
    end
end

toY(cruisingAltitude)
print("Cruising altitude reached.")
targetAngle = findAngle(args[1],args[3])
if targetAngle ~= targetAngle then
    print("NaN Error!")
else
    rotToAngle(targetAngle)
    print("Orientation Locked")
    toXZ(args[1],args[3])
    print("Horizontal position reached.")
    toY(args[2])
    print("You've reached your destination.")
end