Added UI for wheels

.gitignore

@@ -1,2 +1,3 @@
 # Godot 4+ specific ignores
 .godot/
+recordings/

DebugDraw.gd

@@ -34,7 +34,7 @@ func _process(_delta):
 func _draw():
 	for vector in vectors:
 		vector.draw(self, get_viewport().get_camera_3d())
-	vectors.clear()
+	#vectors.clear()
 
 
 func draw_vector(pos: Vector3, dir: Vector3, color: Color):

WheelSliders.gd

@@ -0,0 +1,11 @@
+extends VBoxContainer
+
+@export var wheel_slider: PackedScene
+@export var wheels: Node
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	for wheel in wheels.get_children():
+		var slider = wheel_slider.instantiate()
+		slider.init(wheel)
+		add_child(slider)

cube_sat.gd

@@ -1,23 +1,27 @@
 extends Node3D
 
 var net_momentum = Vector3(0, 0, 0)
-
-# Called when the node enters the scene tree for the first time.
-func _ready():
-	pass # Replace with function body.
-
+var body_velocity = Vector3.ZERO
+const inertia: float = 6.0
 
 
 func get_wheel_momentum():
 	var momentum: Vector3 = Vector3.ZERO
 	for wheel in get_tree().get_nodes_in_group("wheel"):
 		momentum += wheel.get_momentum()
 	return momentum
-
+
+
+var count = 0
 # Called every frame. 'delta' is the elapsed time since the previous frame.
 func _process(delta):
 	var body_momentum = net_momentum - get_wheel_momentum()
-	if not body_momentum.is_zero_approx():
-		rotate(body_momentum.normalized(), delta * body_momentum.length())
+	body_velocity = body_momentum / inertia
+	if not body_velocity.is_zero_approx():
+		rotate(body_velocity.normalized(), delta * body_velocity.length())
 
-	DebugDraw.draw_vector(global_position, body_momentum * 0.5, Color.GREEN)
+	count += delta
+	if count > 0.1:
+		DebugDraw.draw_vector(global_position, body_velocity * 0.5, Color.GREEN)
+		count = 0
+		#DebugDraw.draw_vector(global_position, get_wheel_momentum() * 0.5, Color.PINK)

cube_sat.tscn

@@ -12,36 +12,34 @@
 script = ExtResource("1_xxq55")
 
 [node name="base" parent="." instance=ExtResource("1_jxnbk")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.8, 0)
 
 [node name="wheel1" type="Node3D" parent="." groups=["wheel"]]
-transform = Transform3D(1, 0, 0, 0, 0.848048, -0.529919, 0, 0.529919, 0.848048, -1.2615, 1.4606, 0.319901)
+transform = Transform3D(1, 0, 0, 0, 0.848048, -0.529919, 0, 0.529919, 0.848048, -1.2615, 0.6606, 0.319901)
 rotation_edit_mode = 2
 script = ExtResource("3_k8xaf")
-rpm = -40.0
+velocity = 100.0
 
 [node name="wheel1_model" parent="wheel1" instance=ExtResource("2_7bbpg")]
 transform = Transform3D(1, 0, 0, 0, 0.848048, 0.529919, 0, -0.529919, 0.848048, 1.2615, -1.40818, 0.502707)
 
 [node name="wheel2" type="Node3D" parent="." groups=["wheel"]]
-transform = Transform3D(-4.37114e-08, 0.529919, 0.848048, 0, 0.848048, -0.529919, -1, -2.31635e-08, -3.70694e-08, 0.31072, 1.46108, 1.26162)
+transform = Transform3D(-4.37114e-08, 0.529919, 0.848048, 0, 0.848048, -0.529919, -1, -2.31635e-08, -3.70694e-08, 0.31072, 0.66108, 1.26162)
 script = ExtResource("3_k8xaf")
-rpm = 0.0
 
 [node name="wheel2_model" parent="wheel2" instance=ExtResource("3_i4bun")]
 transform = Transform3D(-4.37114e-08, 0, -1, 0.529919, 0.848048, -2.31635e-08, 0.848048, -0.529919, -3.70694e-08, 1.26162, -1.40373, 0.51075)
 
 [node name="wheel3" type="Node3D" parent="." groups=["wheel"]]
-transform = Transform3D(-1, 4.6327e-08, 7.41387e-08, 0, 0.848048, -0.529919, -8.74228e-08, -0.529919, -0.848048, 1.2626, 1.45715, -0.320415)
+transform = Transform3D(-1, 4.6327e-08, 7.41387e-08, 0, 0.848048, -0.529919, -8.74228e-08, -0.529919, -0.848048, 1.2626, 0.65715, -0.320415)
 script = ExtResource("3_k8xaf")
-rpm = 0.0
 
 [node name="wheel3_model" parent="wheel3" instance=ExtResource("4_fogof")]
 transform = Transform3D(-1, 0, -8.74228e-08, 4.6327e-08, 0.848048, -0.529919, 7.41387e-08, -0.529919, -0.848048, 1.2626, -1.40553, 0.500446)
 
 [node name="wheel4" type="Node3D" parent="." groups=["wheel"]]
-transform = Transform3D(-4.37114e-08, -0.529919, -0.848048, 0, 0.848048, -0.529919, 1, -2.31635e-08, -3.70694e-08, -0.324512, 1.4571, -1.25987)
+transform = Transform3D(-4.37114e-08, -0.529919, -0.848048, 0, 0.848048, -0.529919, 1, -2.31635e-08, -3.70694e-08, -0.324512, 0.6571, -1.25987)
 script = ExtResource("3_k8xaf")
-rpm = 0.0
 
 [node name="wheel4_model" parent="wheel4" instance=ExtResource("5_s3a6f")]
 transform = Transform3D(-4.37114e-08, 0, 1, -0.529919, 0.848048, -2.31635e-08, -0.848048, -0.529919, -3.70694e-08, 1.25987, -1.40766, 0.496943)

project.godot

@@ -19,6 +19,11 @@ config/icon="res://icon.svg"
 
 DebugDraw="*res://DebugDraw.gd"
 
+[editor]
+
+movie_writer/movie_file="/storage/Documents/Godot/ReactionWheels/out.avi"
+movie_writer/fps=30
+
 [input]
 
 "Left Click"={

wheel.gd

@@ -1,23 +1,27 @@
 extends Node3D
 
-@export var rpm: float = 4.0
-const inertia: float = 1.0
+const inertia: float = 1.0 # kg * m^2
+const max_velocity: float = 40.0 # rad/s
 
-# Called when the node enters the scene tree for the first time.
-func _ready():
-	pass # Replace with function body.
+@export var velocity: float = 0.0 # rad / s
+@export var acceleration: float = 0.0 # rad / s^2
 
 
 # Called every frame. 'delta' is the elapsed time since the previous frame.
 func _process(delta):
+	velocity += acceleration;
+	if abs(velocity) > max_velocity:
+		velocity = clamp(velocity, -max_velocity, max_velocity)
+		acceleration = 0
 	animate(delta)
 
 
 func animate(delta):
-	rotate_object_local(Vector3(0, 0, 1), rads_per_sec() * delta)
+	rotate_object_local(Vector3(0, 0, 1), velocity * delta)
 
 func get_momentum() -> Vector3:
-	return rads_per_sec() * inertia * get_global_transform().basis.z;
+	return velocity * inertia * get_global_transform().basis.z;
 
-func rads_per_sec() -> float:
-	return 0.1047198 * rpm
+
+func rpm() -> float:
+	return 9.5492968 * velocity

wheel_slider.gd

@@ -0,0 +1,34 @@
+extends HBoxContainer
+
+var wheel: Node
+
+func init(_wheel: Node):
+	wheel = _wheel
+	$ID.text = wheel.name
+	$Indicator.min_value = -wheel.max_velocity
+	$Indicator.max_value = wheel.max_velocity
+
+
+func _process(delta):
+	if wheel.velocity != $Indicator.value:
+		display_velocity()
+
+func _gui_input(event):
+	wheel.velocity = $Indicator.value
+
+func display_velocity():
+	$Indicator.value = wheel.velocity
+	$RPM.text = "RPM: %.1f" % (9.5492968 * wheel.velocity)
+
+
+func _on_plus_button_down():
+	wheel.acceleration = 0.1 # Replace with function body.
+
+func _on_minus_button_down():
+	wheel.acceleration = -0.1 
+
+func _on_minus_button_up():
+	wheel.acceleration = 0 # Replace with function body.
+
+func _on_plus_button_up():
+	wheel.acceleration = 0 # Replace with function body.

wheel_slider.tscn

@@ -0,0 +1,35 @@
+[gd_scene load_steps=2 format=3 uid="uid://c67ruvyiuhsk2"]
+
+[ext_resource type="Script" path="res://wheel_slider.gd" id="1_jd0x8"]
+
+[node name="WheelSlider" type="HBoxContainer"]
+offset_right = 40.0
+offset_bottom = 40.0
+script = ExtResource("1_jd0x8")
+
+[node name="ID" type="Label" parent="."]
+layout_mode = 2
+
+[node name="Indicator" type="ProgressBar" parent="."]
+custom_minimum_size = Vector2(100, 0)
+layout_mode = 2
+size_flags_horizontal = 3
+size_flags_vertical = 1
+show_percentage = false
+
+[node name="Minus" type="Button" parent="."]
+layout_mode = 2
+text = "<-"
+
+[node name="Plus" type="Button" parent="."]
+layout_mode = 2
+text = "->"
+
+[node name="RPM" type="Label" parent="."]
+layout_mode = 2
+text = "RPM: "
+
+[connection signal="button_down" from="Minus" to="." method="_on_minus_button_down"]
+[connection signal="button_up" from="Minus" to="." method="_on_minus_button_up"]
+[connection signal="button_down" from="Plus" to="." method="_on_plus_button_down"]
+[connection signal="button_up" from="Plus" to="." method="_on_plus_button_up"]

world.gd

@@ -0,0 +1,10 @@
+extends WorldEnvironment
+
+
+func _input(event):
+
+	# Camera Control      
+	if event is InputEventMouseMotion and Input.is_action_pressed("Right Click"):
+		$CameraPivot.rotation.y -= event.relative.x*0.01
+		$CameraPivot.rotation.x -= event.relative.y*0.01
+		$CameraPivot.rotation.x = clamp($CameraPivot.rotation.x, -PI/2, PI/2)

world.tscn

@@ -1,8 +1,16 @@
-[gd_scene load_steps=7 format=3 uid="uid://dfyqnvtu6mank"]
+[gd_scene load_steps=15 format=3 uid="uid://dfyqnvtu6mank"]
 
 [ext_resource type="Texture2D" uid="uid://bticauqhtnqoi" path="res://models/starmap_8k.jpg" id="1_wj1c1"]
 [ext_resource type="Script" path="res://world.gd" id="2_84njd"]
-[ext_resource type="PackedScene" uid="uid://b7cygqcjty0y4" path="res://cube_sat.tscn" id="2_w2af2"]
+[ext_resource type="Script" path="res://cube_sat.gd" id="3_u3n3o"]
+[ext_resource type="PackedScene" uid="uid://dxic8waqchc3t" path="res://models/base.glb" id="4_ebyt2"]
+[ext_resource type="Script" path="res://WheelSliders.gd" id="4_hgbox"]
+[ext_resource type="Script" path="res://wheel.gd" id="5_dcxpo"]
+[ext_resource type="PackedScene" uid="uid://dkc3ycisdan1s" path="res://models/wheel1.glb" id="6_fbovo"]
+[ext_resource type="PackedScene" uid="uid://c67ruvyiuhsk2" path="res://wheel_slider.tscn" id="6_ixj40"]
+[ext_resource type="PackedScene" uid="uid://wyem8uhw5svt" path="res://models/wheel2.glb" id="7_d23cs"]
+[ext_resource type="PackedScene" uid="uid://bt08pw46fj85o" path="res://models/wheel3.glb" id="8_jnql3"]
+[ext_resource type="PackedScene" uid="uid://4d82d6kch12" path="res://models/wheel4.glb" id="9_1451l"]
 
 [sub_resource type="PanoramaSkyMaterial" id="PanoramaSkyMaterial_tvcqa"]
 panorama = ExtResource("1_wj1c1")
@@ -19,8 +27,43 @@ sky = SubResource("Sky_cwi6a")
 environment = SubResource("Environment_crkvp")
 script = ExtResource("2_84njd")
 
-[node name="CubeSat" parent="." instance=ExtResource("2_w2af2")]
+[node name="CubeSat" type="Node3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -0.0125639)
+script = ExtResource("3_u3n3o")
+
+[node name="base" parent="CubeSat" instance=ExtResource("4_ebyt2")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.8, 0)
+
+[node name="wheels" type="Node3D" parent="CubeSat"]
+
+[node name="wheel1" type="Node3D" parent="CubeSat/wheels" groups=["wheel"]]
+transform = Transform3D(1, 0, 0, 0, 0.848048, -0.529919, 0, 0.529919, 0.848048, -1.2615, 0.6606, 0.319901)
+rotation_edit_mode = 2
+script = ExtResource("5_dcxpo")
+
+[node name="wheel1_model" parent="CubeSat/wheels/wheel1" instance=ExtResource("6_fbovo")]
+transform = Transform3D(1, 0, 0, 0, 0.848048, 0.529919, 0, -0.529919, 0.848048, 1.2615, -1.40818, 0.502707)
+
+[node name="wheel2" type="Node3D" parent="CubeSat/wheels" groups=["wheel"]]
+transform = Transform3D(-4.37114e-08, 0.529919, 0.848048, 0, 0.848048, -0.529919, -1, -2.31635e-08, -3.70694e-08, 0.31072, 0.66108, 1.26162)
+script = ExtResource("5_dcxpo")
+
+[node name="wheel2_model" parent="CubeSat/wheels/wheel2" instance=ExtResource("7_d23cs")]
+transform = Transform3D(-4.37114e-08, 0, -1, 0.529919, 0.848048, -2.31635e-08, 0.848048, -0.529919, -3.70694e-08, 1.26162, -1.40373, 0.51075)
+
+[node name="wheel3" type="Node3D" parent="CubeSat/wheels" groups=["wheel"]]
+transform = Transform3D(-1, 4.6327e-08, 7.41387e-08, 0, 0.848048, -0.529919, -8.74228e-08, -0.529919, -0.848048, 1.2626, 0.65715, -0.320415)
+script = ExtResource("5_dcxpo")
+
+[node name="wheel3_model" parent="CubeSat/wheels/wheel3" instance=ExtResource("8_jnql3")]
+transform = Transform3D(-1, 0, -8.74228e-08, 4.6327e-08, 0.848048, -0.529919, 7.41387e-08, -0.529919, -0.848048, 1.2626, -1.40553, 0.500446)
+
+[node name="wheel4" type="Node3D" parent="CubeSat/wheels" groups=["wheel"]]
+transform = Transform3D(-4.37114e-08, -0.529919, -0.848048, 0, 0.848048, -0.529919, 1, -2.31635e-08, -3.70694e-08, -0.324512, 0.6571, -1.25987)
+script = ExtResource("5_dcxpo")
+
+[node name="wheel4_model" parent="CubeSat/wheels/wheel4" instance=ExtResource("9_1451l")]
+transform = Transform3D(-4.37114e-08, 0, 1, -0.529919, 0.848048, -2.31635e-08, -0.848048, -0.529919, -3.70694e-08, 1.25987, -1.40766, 0.496943)
 
 [node name="CameraPivot" type="Node3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0)
@@ -30,4 +73,16 @@ transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.235759, -0.282455, 7.13333)
 current = true
 
 [node name="DirectionalLight3D" type="DirectionalLight3D" parent="CameraPivot/Camera"]
-transform = Transform3D(1, 0, 0, 0, 0.997819, -0.0660129, 0, 0.0660129, 0.997819, 0, -0.0163116, 0.120244)
+transform = Transform3D(1, 0, 0, 0, 0.997819, -0.0660129, 0, 0.0660129, 0.997819, 0, -0.0163116, 0.688179)
+
+[node name="Control" type="Panel" parent="."]
+offset_right = 40.0
+offset_bottom = 40.0
+
+[node name="WheelSliders" type="VBoxContainer" parent="Control" node_paths=PackedStringArray("wheels")]
+layout_mode = 0
+offset_right = 40.0
+offset_bottom = 40.0
+script = ExtResource("4_hgbox")
+wheel_slider = ExtResource("6_ixj40")
+wheels = NodePath("../../CubeSat/wheels")