public Point FlyAbovePoint(Vector3d pos)
{
if (Utils.ProjectionAngle(Orbit.getRelativePositionAtUT(StartUT), pos,
Orbit.getOrbitalVelocityAtUT(StartUT)) < 0)
{
return(newP(StartUT));
}
if (!HavePoints ||
Utils.ProjectionAngle(Orbit.getRelativePositionAtUT(AtmoStartUT),
TrajectoryCalculator.BodyRotationAtdT(Orbit.referenceBody, AtmoStartUT - UT0) * pos,
Orbit.getOrbitalVelocityAtUT(AtmoStartUT)) < 0)
{
return(newP(TrajectoryCalculator.FlyAboveUT(Orbit, pos, StartUT)));
}
var p0 = Points[0];
var angle0 = Utils.ProjectionAngle(p0.pos,
TrajectoryCalculator
.BodyRotationAtdT(Orbit.referenceBody, p0.UT - UT0) * pos,
p0.vel);
for (int i = 1, count = Points.Count; i < count; i++)
{
var p1 = Points[i];
var angle1 = Utils.ProjectionAngle(p1.pos,
TrajectoryCalculator
.BodyRotationAtdT(Orbit.referenceBody, p1.UT - UT0) * pos,
p1.vel);
if (angle1 > 0)
{
angle0 = angle1;
continue;
}
p0 = Points[i - 1];
var p = p0;
var t = angle0 / (angle0 - angle1);
p.UT += p0.Duration * t;
p.Duration = p1.UT - p.UT;
p.pos = Vector3d.Lerp(p0.pos, p1.pos, t);
p.Update();
return(p);
}
return(LastPoint);
}
void update(bool with_brake)
{
update_from_orbit(Orbit, StartUT);
//correct for brake maneuver
if (with_brake)
{
BrakeEndUT = AtTargetUT - GLB.LTRJ.CorrectionOffset;
BrakeStartUT = BrakeEndUT - MatchVelocityAutopilot.BrakingOffset((float)AtTargetVel.magnitude, VSL, out BrakeDuration);
brake_delta_v = -0.9 * Orbit.getOrbitalVelocityAtUT(BrakeEndUT);
update_from_orbit(TrajectoryCalculator.NewOrbit(Orbit, BrakeDeltaV, BrakeEndUT), BrakeEndUT);
}
else
{
brake_delta_v = -(AtTargetVel + Vector3d.Cross(Body.zUpAngularVelocity, AtTargetPos));
BrakeEndUT = TrajectoryCalculator.FlyAboveUT(Orbit, Target.RelSurfPos(Body).xzy, StartUT);
BrakeStartUT = BrakeEndUT - MatchVelocityAutopilot.BrakingOffset((float)BrakeDeltaV.magnitude, VSL, out BrakeDuration);
}
//compute vessel coordinates at maneuver start
if (VSL.LandedOrSplashed)
{
VslStartLat = Utils.ClampAngle(VSL.vessel.latitude);
VslStartLon = Utils.ClampAngle(VSL.vessel.longitude);
}
else
{
var start_pos = (TrajectoryCalculator.BodyRotationAtdT(Body, -TimeToStart) * StartPos).xzy + Body.position;
VslStartLat = Utils.ClampAngle(Body.GetLatitude(start_pos));
VslStartLon = Utils.ClampAngle(Body.GetLongitude(start_pos));
}
//compute distance to target
DistanceToTarget = Target.AngleTo(SurfacePoint) * Body.Radius;
BrakeEndDeltaAlt = Orbit.getRelativePositionAtUT(BrakeEndUT).magnitude - Body.Radius - TargetAltitude;
//compute distance in lat-lon coordinates
DeltaLat = Utils.AngleDelta(SurfacePoint.Pos.Lat, Target.Pos.Lat) *
Math.Sign(Utils.AngleDelta(Utils.ClampAngle(VslStartLat), SurfacePoint.Pos.Lat));
DeltaLon = Utils.AngleDelta(SurfacePoint.Pos.Lon, Target.Pos.Lon) *
Math.Sign(Utils.AngleDelta(Utils.ClampAngle(VslStartLon), SurfacePoint.Pos.Lon));
//compute distance in radial coordinates
DeltaFi = 90 - Vector3d.Angle(Orbit.GetOrbitNormal(),
TrajectoryCalculator.BodyRotationAtdT(Body, TimeToSurface) *
Body.GetRelSurfacePosition(Target.Pos.Lat, Target.Pos.Lon, TargetAltitude).xzy);
DeltaR = Utils.RadDelta(SurfacePoint.AngleTo(VslStartLat, VslStartLon), Target.AngleTo(VslStartLat, VslStartLon)) * Mathf.Rad2Deg;
}
void update(bool with_brake)
{
update_from_orbit(Orbit, StartUT);
LandingAngle = 90 - Vector3d.Angle(AtTargetPos, -AtTargetVel);
//correct for brake maneuver
if (with_brake)
{
//estimate time needed to rotate the ship downwards
var rotation_time = VSL.Torque.NoEngines?
VSL.Torque.NoEngines.MinRotationTime(90) :
VSL.Torque.MaxPossible.RotationTime(90, 0.1f);
//estimate amount fuel needed for the maneuver
var vertical_vel = Vector3d.Project(AtTargetVel, AtTargetPos);
SetBrakeEndUT(Math.Max(AtTargetUT - GLB.LTRJ.CorrectionOffset + rotation_time, StartUT));
SetBrakeDeltaV(vertical_vel);
if (BrakeFuel > 0)
{
//calculate braking maneuver
var dV = (float)BrakeDeltaV.magnitude;
BrakeDuration = VSL.Engines.AntigravTTB(dV);
BrakeDuration += rotation_time;
//find the appropriate point to perform the maneuver
var brake_end_UT = Math.Max(AtTargetUT - Mathf.Max(GLB.LTRJ.CorrectionOffset, BrakeDuration * 1.1f), StartUT);
var vertical_speed = vertical_vel.magnitude;
double fly_over_error;
do
{
SetBrakeEndUT(brake_end_UT);
fly_over_error = BrakeEndDeltaAlt - GLB.LTRJ.FlyOverAlt;
brake_end_UT -= Math.Abs(fly_over_error / vertical_speed);
} while(brake_end_UT > StartUT && fly_over_error < -1);
SetBrakeDeltaV(-0.9 * Orbit.getOrbitalVelocityAtUT(BrakeEndUT));
//calculate maneuver start time and update landing site
BrakeStartUT = Math.Max(BrakeEndUT - MatchVelocityAutopilot.BrakingOffset((float)BrakeDeltaV.magnitude, VSL, out BrakeDuration), StartUT);
update_from_orbit(TrajectoryCalculator.NewOrbit(Orbit, BrakeDeltaV, BrakeEndUT), BrakeEndUT);
}
else
{
BrakeStartUT = BrakeEndUT;
BrakeDuration = 0;
}
}
else
{
SetBrakeEndUT(TrajectoryCalculator.FlyAboveUT(Orbit, Target.RelOrbPos(Body), StartUT));
SetBrakeDeltaV(-(AtTargetVel + Vector3d.Cross(Body.zUpAngularVelocity, AtTargetPos)));
if (BrakeFuel > 0)
{
var offset = MatchVelocityAutopilot.BrakingOffset((float)BrakeDeltaV.magnitude, VSL, out BrakeDuration);
BrakeStartUT = Math.Max(BrakeEndUT - offset, StartUT);
}
else
{
BrakeStartUT = BrakeEndUT;
BrakeDuration = 0;
}
}
BrakeOffset = (float)Utils.ClampL(BrakeEndUT - BrakeStartUT, 0);
//compute vessel coordinates at maneuver start
if (VSL.LandedOrSplashed)
{
VslStartLat = Utils.ClampAngle(VSL.vessel.latitude);
VslStartLon = Utils.ClampAngle(VSL.vessel.longitude);
}
else
{
var start_pos = (TrajectoryCalculator.BodyRotationAtdT(Body, -TimeToStart) * StartPos).xzy + Body.position;
VslStartLat = Utils.ClampAngle(Body.GetLatitude(start_pos));
VslStartLon = Utils.ClampAngle(Body.GetLongitude(start_pos));
}
//compute distance to target
DistanceToTarget = Target.AngleTo(SurfacePoint) * Body.Radius;
SurfacePoint.Name += string.Format("\n{0} from target", Utils.formatBigValue((float)DistanceToTarget, "m"));
//compute distance in lat-lon coordinates
DeltaLat = Utils.AngleDelta(SurfacePoint.Pos.Lat, Target.Pos.Lat) *
Math.Sign(Utils.AngleDelta(approach.Lat, SurfacePoint.Pos.Lat));
DeltaLon = Utils.AngleDelta(SurfacePoint.Pos.Lon, Target.Pos.Lon) *
Math.Sign(Utils.AngleDelta(approach.Lon, SurfacePoint.Pos.Lon));
//compute distance in radial coordinates
DeltaFi = 90 - Vector3d.Angle(Orbit.GetOrbitNormal(),
TrajectoryCalculator.BodyRotationAtdT(Body, TimeToTarget) *
Body.GetRelSurfacePosition(Target.Pos.Lat, Target.Pos.Lon, TargetAltitude).xzy);
DeltaR = Utils.RadDelta(SurfacePoint.AngleTo(VslStartLat, VslStartLon), Target.AngleTo(VslStartLat, VslStartLon)) * Mathf.Rad2Deg;
// Utils.Log("{}", this);//debug
}