pioneerspacesim/pioneer — pull request #1812 by jaj22 (2012-12-15 03:52:14+00:00)
Title: Autopilot v3, frame/body rework and related fixes

Main features:
1. Frame/body heirarchy rewritten to primarily use 3x3 orientation matrices.
2. Position, orientation and bounding radii now contained in Body rather than scattered around the heirarchy.
3. Station rotating frames removed. Ships docked with stations are now moved with them.
4. Feature added to collision detection: Dynamic bodies can now be assigned a group against which they're not checked.
5. Bounding radius split properly into visual and physical/effect radius.
6. Autopilot now much more reliable in both general navigation and collision avoidance with low sideaccel ships.
7. Autopilot attempts to keep ship upright near planets, so ships are capable of landing at more starports.
8. Autopilot now has full interception capability in FlyTo.
9. Formation flight AICommand added and working.
10. Autopilot now has fuel management code, some parts based or nicked from Irigi's.
11. Numerous related fixes and optimisations.
12. Probably other stuff that I forgot.