ZodiusInfuser

Given that the Making History Expansion is coming out next week, I suspect most modders will be waiting for that to see if a KSP 1.4.1 drops with it too. So I would suggest holding off with a 1.4 release until after the expansion is out. Of course, that won't change the unity version so testing now is a good idea. Personally, I'm quite interested to see how all this model / texture switching / theme stuff works. After all, it would be very easy to create alternate themes for the rework parts given their "I can't do texturing, so here's solid colours instead" style

This. Don't spread the direct link. If you must share something then share the forum post for the link instead.

Seeing as I've been in to the whole omni/mecanum wheel thing, I felt that the lineup could do with expanding: The far left and far right ones I modelled this weekend, and took me way too long! Who would have thought making geometrically accurate omni wheels that aren't super high-poly would be difficult . For a sense of scale, the largest one is 2.3m in diameter. Still have the suspension system for each to model, but hoping I can reuse some designs I had in the past.

Pointer i'm guessing is what defines the "Up" of the IR Build Aid, so that should be changed to either 1,0,0 or 0,0,1 (or their -1 equivalents) to get the right the overlay to display correctly.

Yes that is fine, after all uncontrolled joints are more like bearings IRL so have no motor to stop them. I guess the idea would be to slow spinning things down over time. I can see this being useful for fairground recreations which have things that spin uncontrolled but do slow down over time. As for lockable, could that be achieved as a high braking force toggle, like when someone applies the breaks on a bicycle to slow them down. So an uncontrolled part would then have a Normal Friction and a Braking Friction slider that you can independently set.

Well that's the question isn't it, are uncontrolled parts just normal parts that don't let you adjust their default position? Certainly in old IR that's how they were. The cfg flag for freeMoving just told the GUI to not let you change the default position. I guess in IR Next uncontrolled parts are different from normal parts? Unless there is a specific code or joint reason for this, having uncontrolled parts be the same as normal parts (to me anyway) makes logical sense. It would need to be decided which parts would need Variable Elastic Actuator variants. My preference would be to keep it short and maybe just make three, a rotatron, a pivotron, and an extendatron (although maybe in this case having all current extendatrons with this ability would make more sense). In any case, I agree that specific parts should exist for this added functionality, as that makes them easy to identify from the other parts.

New Omni Wheel part in-game. Final version will be less slidey.

Ah okay, I had not considered the complexities of switching a model when it's already been loaded and in use. Honestly, having separate parts works and I am sure players can live with a lightly more populated parts list. I found this paper that details some of the maths involved: https://pdfs.semanticscholar.org/f971/36b372f36a588373142e17e8b68f6994227e.pdf Also, there's this one about their geometry if you really want to delve in to it: http://www.geometrie.tugraz.at/gfrerrer/publications/MecanumWheel.pdf From everything I read about the wheels when doing the original models, and using some at work, the use of rollers has the effect of simulating very low friction perpendicular to the roller rotation axis, and normal friction parallel to it, hence me putting the KSPWheel at 45 degrees with a low side friction. Most of the math I've seen for controlling them (and omni wheels too https://en.wikipedia.org/wiki/Omni_wheel) calculates the intended velocity vector at each wheel's position and takes the magnitude of that in the roller rotation axis direction, so the tricky bit there would be figuring out what velocity each wheel needs to produce a motion. This powerpoint seems to cover that latter issue pretty well for multiple 360 degree motion wheel types (the types I have for IR): http://first.wpi.edu/Images/CMS/First/2008CON_Omni_Mackenzie.ppt Great! That's exactly what I was thinking of then to animate the rollers. As for only making the roller on the ground spin, if only the wheel collider contact point is considered then due to how these wheels are designed, only one roller is ever touching that contact point at any one time, so slicing the circumference of the main wheel up in to 8 (for example) and having some internal roller RPM for each should be enough to give the right effect IMO. The individual rollers of mecanum wheels are unpowered and rotate freely in their bearings as they move over the surface. I've seen one exception to the un-powered case and that's this omni wheel by Honda, where the two directions are independently driveable (https://youtu.be/c1sgV7UBGUo). I was actually wondering earlier if this could be done with the current modules by having two wheel colliders on top of each other at 90 degrees at the correct sizes, although I haven't got a use-case in mind for KSP where this would be better than the other wheel options of the IR Rework. I'm going to continue configuring the other mecanum / omni wheels with this setup, because even without any special plugin stuff, they are fun to play around with. Edit: Omni wheel in-game. Very slidey though, so will probably have to increase the rotational resistance or something else that reduces the effect of backdriving on the motors. Edit 2: Tried making that Omni wheel like the Honda wheel I linked to (with 2 wheel colliders at 90 degrees with zero side friction each) and other than the lack of an easy control system, it works with the wheels placed as you would on a car. Can drive forward and back with the main wheels and sideways with the rollers. Now to decide whether that part I showed should become this or whether to model a new one...

Thanks for the advice. As much as it pains me to switch from the previous implementation (something about it working like IRL physics appealed to me), your suggestion makes a lot more sense for getting the omni-directional functionality in to the game. I switched them to using single wheel colliders like you suggested (at 0.707 the actual wheel size to have the spinning be correct), increased their suspension, put their side friction to close to zero, and added rolling resistance. Here is the result: It turns out the normal driving module with tank steering gives forward / back and turning control easily, but as you say, new code would be needed for that. Would that be better as a separate Motor module or a PR to the existing one? As for roller animations, if it's possible to get the side velocity of the wheel then I imagine that would be fairly easy to do as a new module? Also, would you be open to having new functionality added to the mirroring module? For these it would be nice if the Left Spiral and Right Spiral versions could be switched between independently from the symmetry.

Thanks for the info. After discussion with Shadowmage, using IR to drive the mecanums is not the best idea with KSP's latest physics. As such I've been trying out a purely KSPWheel solution that is proving to be quite promising, and would let me use mirroring again if I wanted. Plus, things like the propellers don't use IR either so mirroring shouldn't be an issue there either. Here's what the wheels are like so far (much to tweak still, plus model changes and code support for the rollers needed):

Okay, thank you. I'll have a play around and see if I can get something working without a code change first. -------------------------------------------------- I realise this it a bit of an odd use-case, but would anyone be able to give me advise on how I may be able to get my Mecanum wheels working again? As you can see from the disco shot (even more so when they're rotating ), there are two parts (a left and right version) consisting of 8 free-spinning rollers placed at 45 degrees from the main Infernal Robotics rotation axis. When driven by IR in the correct direction, this lets a craft move forward/back, strafe left/right, or turn on the spot. This is something I had working back in the days of KerbalFoundries but doesn't seem to want to play ball with KSPWheel. The suspension compresses and I see the rollers rotate, but it seems like they are fighting each other too much to let the strafing work as intended, not to mention that at high IR rotation speeds they seem to loose traction with the ground completely. I suspect it is settings thing, but as KF and KSPWheel are different mods, I am not sure what I should be looking to tweak to get the physics behaving how I want. Note, the green lines in that image are actually going up from each roller (through the center) despite what it looks like. For reference, here are two videos of how they used to work: And here's a good video showing mecanum wheels IRL if you're interested: https://www.youtube.com/watch?v=_tmiu1wpp_E Edit: Here's the part config as it currently stands: PART { // --- General Parameters --- name = IR_LargeMecanum_Right module = Part author = Zodius (model) // --- Asset Parameters --- //mesh = model.mu MODEL { model = MagicSmokeIndustries/Parts/Rework_Utility/Probe/Mecanums/IR_LargeMecanum_KSPW/model_right texture = IR_Robotic, MagicSmokeIndustries/Parts/Rework_Utility/Probe/Mecanums/IR_Robotic texture = IR_Robotic_e, MagicSmokeIndustries/Parts/Rework_Utility/Probe/Mecanums/IR_Robotic_e } scale = 1 rescaleFactor = 1 // --- Node Definitions --- node_stack = 0.0, 0.0, 0.52, 0.0, 0.0, 1.0, 1 node_attach = 0.0, 0.0, 0.52, 0.0, 0.0, -1.0 // --- Editor Parameters --- TechRequired = experimentalMotors entryCost = 6000 cost = 580 category = none subcategory = 0 title = Mecatron - Kuka (Right) manufacturer = Magic Smoke Industries & SM Solutions description = This special wheel allows for omni-directional motion when 4 or more are placed together as mirrored pairs. They are complex to setup, but once going expect positioning machinery to get a whole lot easier! Warranty void at speeds over 30x. Tip: Place the wheels so that their diagonal lines form an X shape from above. For more info search 'Mecanum Wheel' on Koogle. // attachment rules: stack, srfAttach, allowStack, allowSrfAttach, allowCollision attachRules = 1,1,0,0,0 // --- Standard Part Parameters --- mass = 0.3 dragModelType = default maximum_drag = 0.3 minimum_drag = 0.2 angularDrag = 1 maxTemp = 2000 bulkheadProfiles = size0, srf crashTolerance = 100 breakingForce = 100 breakingTorque = 100 // --- Robotics Parameters --- MODULE { name = MuMechToggle rotateJoint = True rotateAxis = 0, 0, 1 keyRotateSpeed = 20.0 rotateLimits = False limitTweakable = False invertSymmetry = False jointSpring = 0 jointDamping = 0 fixedMesh = Base servoName = Mecatron - Kuka (R) motorSndPath = "" // Motor loop sound path } MODULE { name = KSPWheelBase WHEEL { colliderName = Collider0 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider1 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider2 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider3 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider4 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider5 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider6 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } WHEEL { colliderName = Collider7 radius = 0.135 mass = 0.025 travel = 0.05 load = 0.25 } loadRating = 10 minLoadRating = 1 maxLoadRating = 25 maxSpeed = 50 } MODULE { name = KSPWheelRotation wheelIndex = 0 wheelMeshName = Roller0 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 1 wheelMeshName = Roller1 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 2 wheelMeshName = Roller2 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 3 wheelMeshName = Roller3 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 4 wheelMeshName = Roller4 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 5 wheelMeshName = Roller5 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 6 wheelMeshName = Roller6 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelRotation wheelIndex = 7 wheelMeshName = Roller7 rotationAxis = 0, 0, 1 } MODULE { name = KSPWheelMotor wheelIndex = 0 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 1 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 2 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 3 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 4 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 5 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 6 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } MODULE { name = KSPWheelMotor wheelIndex = 7 maxMotorTorque = 0 maxRPM = 100 gearRatio = 1 } } Note, there are 8 motors without torque because that seemed to be the only way to get the rollers to visually spin when passing over the ground. Does massively clutter up the right-click menu unfortunately.

I'll have to look at that, could be interesting for the IR propeller parts as it bugs me they are all left versions

What was the problem and what niceties are you adding? For all the rework parts I chose the scale values and ranges for specific reasons, so I hope you're not just adding in x5 scales for example. Purely for the point of removing the errors that appear about TS when you only have IR installed, I agree. I am hesitant about players just modifying scales as they wish though as that means you cannot rely on scales being correct when sharing craft files for instance. I should point out that the Rework is still a separate mod from IR itself. Its parts are included here for player convenience because Rudolf asked me. Nope, I never did texture them in the end.

The issue is that there are clockwise and counter-clockwise versions of mecanum wheels (think like left and right shoes). KSP symmetry doesn't actually mirror the geometry, merely rotates it to the mirrored position, so I'm not sure if that's what FAR fixed (and even then, would IR be happy?). Maybe a good middle-ground would be if there was a mod that could swap one part on your craft for another one. That way you could put clockwise wheels on in symmetry then switch the others and break the symmetry. I'm not aware of such a mod existing though... You make a valid point about attachment node, and IIRC they already have one on for that very reason.

So I'm looking at getting the wheels working in-game again (using KSPWheel), and having some success: I have a question regarding the more interesting (to me anyway) mecanum wheels. KSPWheel supports mirroring to get the Left and Right versions like the old KerbalFoundries mod did, but unfortunately implements it in a different way that, although makes more sense, causes IR to NullRef every time you try interacting with the mirrored version. This is unlikely to be fixed by either mod, so... Would people be okay with the Left and Right version of the mecanum wheels being separate parts? Pros: Lets you more easily choose which version you want without the mirrored and un-mirrored one always being the opposite. Cons: Have to place each one individually with snapping to have them aligned, or attached to a part that has been placed in symmetry. Thanks

Thanks for the explanation. In that case can I either change the allowed scale values or disable it and have no scaling? The IR Rework parts follow a Cube Root scaling (don't ask) rather than the usual x1.25 etc Okay, thanks. Is there a way to get the angle between the two wheel collider suspensions too? The wheel I have modelled is like this, so has a central piece that has the suspension (hence wanting the average height), but then the two wheels can pivot. Would the Bogey module give me this info? (see https://www.trucksplanet.com/catalog/model.php?id=562)

Oh, another question. I don't suppose KSPWheel (or some other mod for that matter) has a constraint module that will set the position of a game object to be at the mid-point of two other game objects (or at least the height)? The suspension setup on my Hauler wheel would benefit from this.

That's one IR wheel back in-game again Got some things to fix still, like why the IR Base piece gets recentered at the part origin, and how to turn off the KSPWheel scaling options (as there's already TweakScale configs), but your guide saved me a tonne of time! I don't suppose you know or can point me to a guide explaining how to set up multiple wheels in a single part?

Mass should always be cubic I thought? And as for EC unless there is a reason to change it, use whatever the original IR used, otherwise its yet another thing to test. How are you achieving such a large scale? Pretty sure the values I set do not let my parts go beyond the x2 problem size.

Just thought I'd show off some new Utility parts I've been doing to get back in to the swing of things. The first is a locking mechanism for whale_2's mod (which you should check out here: https://forum.kerbalspaceprogram.com/index.php?/topic/169614-anyone-care-to-make-some-simple-models/). The second is an IR-themed Docking Port Jr because I remembered you could reference multiple models from a single part (usual caveats with docking ports and IR apply). Utilitron - Lock Utilitron - Dock

LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9979391; dotfwd = -0.0002038725; offset = 0.01890041 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9980423; dotfwd = -0.000202706; offset = 0.03287748 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.998212; dotfwd = -0.0002029877; offset = 0.03141457 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9987131; dotfwd = -0.0002042482; offset = 0.02648287 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9996161; dotfwd = -0.0002056783; offset = 0.01399477 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9997553; dotfwd = -0.0002061621; offset = 0.01096608 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9999364; dotfwd = -0.0002106741; offset = 0.01235008 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9999173; dotfwd = -0.0001917784; offset = 0.01554141 LockMechanism: checkRollAndDot:0: (part id=2906528708): dotup = -0.9999368; dotfwd = -0.0002083529; offset = 0.01074668 LockMechanism: lockHasp:0: (part id=2906528708): lockHasp; part = IR.LockConnector; id = 2842179534; relock = False LockMechanism: lockHasp:0: (part id=2906528708): acquiring master status LockMechanism: MoveNext:0: (part id=2906528708): finalize lock; other part=2842179534 LockMechanism: MoveNext:0: (part id=2906528708): latch slipped LockMechanism: lockHasp:0: (part id=2906528708): lockHasp; part = IR.LockConnector; id = 2842179534; relock = False LockMechanism: lockHasp:0: (part id=2906528708): acquiring master status LockMechanism: MoveNext:0: (part id=2906528708): finalize lock; other part=2842179534 LockMechanism: lockHasp:0: (part id=2906528708): lockHasp; part = IR.LockConnector; id = 2842179534; relock = False LockMechanism: lockHasp:0: (part id=2906528708): acquiring master status LockMechanism: MoveNext:0: (part id=2906528708): finalize lock; other part=2842179534 LockMechanism: MoveNext:0: (part id=2906528708): creating joint LockMechanism: MoveNext:0: (part id=2906528708): locked LockMechanism: MoveNext:0: (part id=2906528708): master; otherLock id = 2842179534 LockMechanism: MoveNext:0: (part id=2906528708): creating joint LockMechanism: MoveNext:0: (part id=2906528708): locked LockMechanism: MoveNext:0: (part id=2906528708): master; otherLock id = 2842179534 LockMechanism: MoveNext:0: (part id=2906528708): finalize unlock; master: True; slave: False; broken: False LockMechanism: MoveNext:0: (part id=2842179534): finalize unlock; master: False; slave: True; broken: False LockMechanism: MoveNext:0: (part id=2906528708): destroying joint NullReferenceException: Object reference not set to an instance of an object at InnerLock.LockMechanism+<finalizeUnlock>d__42.MoveNext () [0x00000] in <filename unknown>:0 at UnityEngine.SetupCoroutine.InvokeMoveNext (IEnumerator enumerator, IntPtr returnValueAddress) [0x00000] in <filename unknown>:0 NullReferenceException: Object reference not set to an instance of an object at InnerLock.LockMechanism+<finalizeUnlock>d__42.MoveNext () [0x00000] in <filename unknown>:0 at UnityEngine.SetupCoroutine.InvokeMoveNext (IEnumerator enumerator, IntPtr returnValueAddress) [0x00000] in <filename unknown>:0 Whoops The joint failed to be removed when disconnecting. Both sides turning cyan is definitely better

There is not really any use case for priming the other end, other than possibly preventing a hostile docking attempt? Yea, if both indicators lit up then that would make the behaviour more understandable. I don't have any better sound I can give you, but something like this may be cool (Edit: couldn't find what I was thinking of, but some sort of relay or solenoid sound slowed down could work) Electro-permanent magnets , they're actually used quite a bit for connectors like this. They're basically a magnet that can be switched on and off, only requiring power on the transition state (something like 50V for a nanosecond). Or make all the colours be exposed in the cfg? ---------------------------------------------------------------------------------------------------- This is cool! https://drive.google.com/open?id=1_H0IPDQcJTwnz7wbggBxineD2QVWaWQ3 Connected it to that truss that was on the craft and decoupled it (with no decoupler force) and it stayed connected Oh and sorry about this, but I exited to the space center and went back to the craft from that image and bit with the decoupler was gone but the connector was still green. I proceeded to disengage it and got this: LockMechanism: MoveNext:0: (part id=2825291401): finalize unlock; master: True; slave: False (Filename: C:/buildslave/unity/build/artifacts/generated/common/runtime/UnityEngineDebugBindings.gen.cpp Line: 42) NullReferenceException: Object reference not set to an instance of an object at InnerLock.LockMechanism.disengageLock () [0x00000] in <filename unknown>:0 at BaseEvent.Invoke () [0x00000] in <filename unknown>:0 at UIPartActionButton.OnClick () [0x00000] in <filename unknown>:0 at UnityEngine.Events.InvokableCall.Invoke (System.Object[] args) [0x00000] in <filename unknown>:0 at UnityEngine.Events.InvokableCallList.Invoke (System.Object[] parameters) [0x00000] in <filename unknown>:0 at UnityEngine.Events.UnityEventBase.Invoke (System.Object[] parameters) [0x00000] in <filename unknown>:0 at UnityEngine.Events.UnityEvent.Invoke () [0x00000] in <filename unknown>:0 at UnityEngine.UI.Button.Press () [0x00000] in <filename unknown>:0 at UnityEngine.UI.Button.OnPointerClick (UnityEngine.EventSystems.PointerEventData eventData) [0x00000] in <filename unknown>:0 at UnityEngine.EventSystems.ExecuteEvents.Execute (IPointerClickHandler handler, UnityEngine.EventSystems.BaseEventData eventData) [0x00000] in <filename unknown>:0 at UnityEngine.EventSystems.ExecuteEvents.Execute[IPointerClickHandler] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.EventFunction`1 functor) [0x00000] in <filename unknown>:0 UnityEngine.DebugLogHandler:Internal_LogException(Exception, Object) UnityEngine.DebugLogHandler:LogException(Exception, Object) UnityEngine.Logger:LogException(Exception, Object) UnityEngine.Debug:LogException(Exception) UnityEngine.EventSystems.ExecuteEvents:Execute(GameObject, BaseEventData, EventFunction`1) UnityEngine.EventSystems.StandaloneInputModule:ProcessMousePress(MouseButtonEventData) UnityEngine.EventSystems.StandaloneInputModule:ProcessMouseEvent(Int32) UnityEngine.EventSystems.StandaloneInputModule:ProcessMouseEvent() UnityEngine.EventSystems.StandaloneInputModule:Process() UnityEngine.EventSystems.EventSystem:Update() Oh and I did get a point where I disconnected two locks and the sound played / indicators changed but the joint remained. Nothing logged for that though.

Cool! Apologies for repeatedly making your life awkward with my part design After some quick testing I have a few suggestions you may wish to consider: - The red color to indicate that a connection is close seems odd, as usually red suggests failure. Perhaps cyan would be better? - It's possible to connect an engaged connector to one that isn't engaged. If the other connector was "primed" and had its indicators show as such then that would make sense, but for now it seems weird, particularly in this image (https://drive.google.com/open?id=1Mv5O0vHCxUlrxGY9x1ALBpuCUkdbJPMY) where the indication suggests that the top connector is saying "I could connect but the other connector is not engaged". Actually, if red could indicate exactly that, that would be great! - The sounds could do with being shorter, something like an electronic relay latching as the design is based on electro-permanent magnets so no moving parts. And, it may have been the lighting, but just wanted to check the yellow you're using is the default one assigned to the emissive?

I'm guessing this is the relevant bit? [LOG 23:52:26.709] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9949711; dotfwd = 0.0001602494; offset = 0.1836627 [LOG 23:52:26.711] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9949711; dotfwd = 0.0001602494; offset = 0.2044022 [LOG 23:52:46.459] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9966115; dotfwd = 0.0002155165; offset = 0.1157446 [LOG 23:52:46.460] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9966115; dotfwd = 0.0002155165; offset = 0.1338332 [LOG 23:53:05.908] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.997785; dotfwd = 0.0001833331; offset = 0.003118726 [LOG 23:53:05.910] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.997785; dotfwd = 0.0001833331; offset = 0.006439521 [LOG 23:53:06.325] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.997149; dotfwd = 0.0007626858; offset = 0.005323868 [LOG 23:53:06.326] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.997149; dotfwd = 0.0007626858; offset = 0.005371158 [LOG 23:53:06.359] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.997116; dotfwd = 2.724124E-05; offset = 0.004105757 [LOG 23:53:06.360] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.997116; dotfwd = 2.724124E-05; offset = 0.006108232 [LOG 23:53:06.663] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9971123; dotfwd = 0.0007672475; offset = 0.005456313 [LOG 23:53:06.664] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9971123; dotfwd = 0.0007672475; offset = 0.005284217 [LOG 23:53:06.910] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9970024; dotfwd = 0.0002466122; offset = 0.004981198 [LOG 23:53:06.911] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9970024; dotfwd = 0.0002466122; offset = 0.005460859 [LOG 23:53:06.994] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9971457; dotfwd = 0.001001752; offset = 0.006003884 [LOG 23:53:06.995] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9971457; dotfwd = 0.001001752; offset = 0.005608961 [LOG 23:53:07.012] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9971066; dotfwd = 0.0002902738; offset = 0.004936226 [LOG 23:53:07.013] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9971066; dotfwd = 0.0002902738; offset = 0.00602358 [LOG 23:53:07.310] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9971107; dotfwd = 0.0007999936; offset = 0.005567428 [LOG 23:53:07.311] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9971107; dotfwd = 0.0007999936; offset = 0.005266307 [LOG 23:53:07.527] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9973278; dotfwd = 0.0004757282; offset = 0.00353981 [LOG 23:53:07.528] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9973278; dotfwd = 0.0004757282; offset = 0.007087805 [LOG 23:53:07.578] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9975336; dotfwd = 0.0006433404; offset = 0.002475326 [LOG 23:53:07.579] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9975336; dotfwd = 0.0006433404; offset = 0.007038346 [LOG 23:53:07.596] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9975777; dotfwd = 4.47611E-05; offset = 0.001256313 [LOG 23:53:07.597] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9975777; dotfwd = 4.47611E-05; offset = 0.008250913 [LOG 23:53:07.661] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9977821; dotfwd = 0.001093575; offset = 0.003096957 [LOG 23:53:07.662] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9977821; dotfwd = 0.001093575; offset = 0.009238591 [LOG 23:53:07.678] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9977862; dotfwd = 0.000325418; offset = 0.002372434 [LOG 23:53:07.679] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9977862; dotfwd = 0.000325418; offset = 0.009974854 [LOG 23:53:07.878] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9982311; dotfwd = 0.0006986723; offset = 0.00375555 [LOG 23:53:07.879] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9982311; dotfwd = 0.0006986723; offset = 0.01154836 [LOG 23:53:08.078] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9985087; dotfwd = 0.0005166611; offset = 0.00721726 [LOG 23:53:08.079] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9985087; dotfwd = 0.0005166611; offset = 0.01416866 [LOG 23:53:08.112] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9986644; dotfwd = 0.0005598914; offset = 0.007243291 [LOG 23:53:08.113] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9986644; dotfwd = 0.0005598914; offset = 0.01415038 [LOG 23:53:08.128] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9986743; dotfwd = 2.386179E-05; offset = 0.008456149 [LOG 23:53:08.129] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9986743; dotfwd = 2.386179E-05; offset = 0.01529425 [LOG 23:53:08.479] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9987033; dotfwd = 0.0006957446; offset = 0.008219571 [LOG 23:53:08.480] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9987033; dotfwd = 0.0006957446; offset = 0.0149885 [LOG 23:53:08.729] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9986273; dotfwd = 0.0003292914; offset = 0.008519008 [LOG 23:53:08.730] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9986273; dotfwd = 0.0003292914; offset = 0.01537127 [LOG 23:53:08.813] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9987288; dotfwd = 0.0009662785; offset = 0.008634325 [LOG 23:53:08.814] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9987288; dotfwd = 0.0009662785; offset = 0.01518589 [LOG 23:53:08.829] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9987037; dotfwd = 0.0002985611; offset = 0.009200686 [LOG 23:53:08.830] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9987037; dotfwd = 0.0002985611; offset = 0.01587598 [LOG 23:53:09.095] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9987015; dotfwd = 0.0007080742; offset = 0.008222732 [LOG 23:53:09.096] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9987015; dotfwd = 0.0007080742; offset = 0.01498889 [LOG 23:53:09.329] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9986725; dotfwd = 0.0003773511; offset = 0.008184795 [LOG 23:53:09.330] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9986725; dotfwd = 0.0003773511; offset = 0.01493568 [LOG 23:53:09.379] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9988363; dotfwd = 0.0006802345; offset = 0.007831926 [LOG 23:53:09.380] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9988363; dotfwd = 0.0006802345; offset = 0.01441219 [LOG 23:53:09.396] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9988917; dotfwd = 6.905894E-05; offset = 0.009004629 [LOG 23:53:09.397] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9988917; dotfwd = 6.905894E-05; offset = 0.01544903 [LOG 23:53:09.479] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.999171; dotfwd = 0.001048019; offset = 0.01125689 [LOG 23:53:09.480] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.999171; dotfwd = 0.001048019; offset = 0.01694147 [LOG 23:53:09.613] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9992637; dotfwd = 0.0007794152; offset = 0.01149344 [LOG 23:53:09.614] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9992637; dotfwd = 0.0007794152; offset = 0.01683896 [LOG 23:53:09.681] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9993985; dotfwd = 0.0003804751; offset = 0.01082734 [LOG 23:53:09.682] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9993985; dotfwd = 0.0003804751; offset = 0.01604073 [LOG 23:53:09.780] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9993961; dotfwd = 0.000636832; offset = 0.0134205 [LOG 23:53:09.781] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9993961; dotfwd = 0.000636832; offset = 0.01856682 [LOG 23:53:10.113] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9993854; dotfwd = 0.0008821518; offset = 0.01204022 [LOG 23:53:10.114] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9993854; dotfwd = 0.0008821518; offset = 0.01720438 [LOG 23:53:10.146] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9993327; dotfwd = 0.0001628418; offset = 0.01171902 [LOG 23:53:10.147] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9993327; dotfwd = 0.0001628418; offset = 0.01712866 [LOG 23:53:13.115] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9975492; dotfwd = 0.0008804073; offset = 0.005109455 [LOG 23:53:13.116] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9975492; dotfwd = 0.0008804073; offset = 0.01369062 [LOG 23:53:16.451] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.997614; dotfwd = 0.00114363; offset = 0.004986072 [LOG 23:53:16.453] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.997614; dotfwd = 0.00114363; offset = 0.003407429 [LOG 23:53:16.534] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9977613; dotfwd = 0.005035377; offset = 0.01174029 [LOG 23:53:16.535] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9977613; dotfwd = 0.005035377; offset = 0.004116347 [LOG 23:53:16.568] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9977856; dotfwd = 0.001225964; offset = 0.01038906 [LOG 23:53:16.569] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9977856; dotfwd = 0.001225964; offset = 0.002430817 [LOG 23:53:17.035] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.998194; dotfwd = 0.0008426128; offset = 0.0183212 [LOG 23:53:17.036] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.998194; dotfwd = 0.0008426128; offset = 0.01106879 [LOG 23:53:17.054] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9982014; dotfwd = 0.001073084; offset = 0.01772476 [LOG 23:53:17.055] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9982014; dotfwd = 0.001073084; offset = 0.01036391 [LOG 23:53:17.170] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.998463; dotfwd = 0.0003707685; offset = 0.02645458 [LOG 23:53:17.171] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.998463; dotfwd = 0.0003707685; offset = 0.01921799 [LOG 23:53:17.201] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9984702; dotfwd = 0.0009622906; offset = 0.02626676 [LOG 23:53:17.202] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9984702; dotfwd = 0.0009622906; offset = 0.01904632 [LOG 23:53:17.719] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.99866; dotfwd = 0.0005213869; offset = 0.03110836 [LOG 23:53:17.720] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.99866; dotfwd = 0.0005213869; offset = 0.02412301 [LOG 23:53:18.970] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9975806; dotfwd = 0.0003283345; offset = 0.03245216 [LOG 23:53:18.971] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9975806; dotfwd = 0.0003283345; offset = 0.02291271 [LOG 23:53:19.019] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9975381; dotfwd = 0.0008370439; offset = 0.03242095 [LOG 23:53:19.020] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9975381; dotfwd = 0.0008370439; offset = 0.02278249 [LOG 23:53:21.271] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9996689; dotfwd = 0.000292941; offset = 0.02134211 [LOG 23:53:21.272] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9996689; dotfwd = 0.000292941; offset = 0.01796171 [LOG 23:53:21.528] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9998407; dotfwd = 0.0009809899; offset = 0.01810107 [LOG 23:53:21.529] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9998407; dotfwd = 0.0009809899; offset = 0.01571252 [LOG 23:53:21.657] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9998778; dotfwd = 0.0007093932; offset = 0.01680343 [LOG 23:53:21.658] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9998778; dotfwd = 0.0007093932; offset = 0.01477689 [LOG 23:53:21.724] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.99994; dotfwd = 0.0005363807; offset = 0.01509996 [LOG 23:53:21.725] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.99994; dotfwd = 0.0005363807; offset = 0.01363746 [LOG 23:53:21.739] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9999484; dotfwd = 1.430125E-05; offset = 0.01353294 [LOG 23:53:21.740] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9999484; dotfwd = 1.430125E-05; offset = 0.01218338 [LOG 23:53:21.773] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9999687; dotfwd = 0.001039482; offset = 0.0127989 [LOG 23:53:21.774] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9999687; dotfwd = 0.001039482; offset = 0.01173233 [LOG 23:53:21.805] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9999706; dotfwd = 0.0003761389; offset = 0.01154342 [LOG 23:53:21.806] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9999706; dotfwd = 0.0003761389; offset = 0.01052838 [LOG 23:53:21.922] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9999906; dotfwd = 0.0006961472; offset = 0.01141976 [LOG 23:53:21.923] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9999906; dotfwd = 0.0006961472; offset = 0.01083987 [LOG 23:53:21.972] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9999933; dotfwd = 0.0004022256; offset = 0.009564657 [LOG 23:53:21.973] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9999933; dotfwd = 0.0004022256; offset = 0.0090869 [LOG 23:53:22.055] LockMechanism: checkRollAndDot:0: (part id=333753755): dotup = -0.9999997; dotfwd = 0.000480271; offset = 0.008513362 [LOG 23:53:22.056] LockMechanism: checkRollAndDot:0: (part id=476591490): dotup = -0.9999997; dotfwd = 0.000480271; offset = 0.008619604 Ah, found the issue, 90 degree symmetry is a thing

Clearly I am missing something. What is supposed to happen once they are engaged and get in range of each other? https://drive.google.com/open?id=12BSTFqDgVNeKy9ZqtlMNUKiiY5OGnW2W