void runSimulations()
{
if (TimeWarp.CurrentRate <= TimeWarp.MaxPhysicsRate &&
(nextSimulationDelayMs == 0 || nextSimulationTimer.ElapsedMilliseconds > nextSimulationDelayMs))
{
Stopwatch s = Stopwatch.StartNew();
prediction = simulateReentryRK4(simulationTimeStep, Vector3d.zero);
s.Stop();
nextSimulationDelayMs = 10 * s.ElapsedMilliseconds;
nextSimulationTimer.Reset();
nextSimulationTimer.Start();
if (autoLandAtTarget &&
(landStep == LandStep.COURSE_CORRECTIONS || landStep == LandStep.ON_COURSE || landStep == LandStep.DECELERATING))
{
if (!velocityCorrectionSet) simCounter = 0;
if ((simCounter % 25) == 0)
{
if (courseCorrectionsAllowed())
{
velAUnit = chooseDownrangeVelocityVector();
}
else
{
velAUnit = vesselState.upNormalToVelSurface;
}
velBUnit = vesselState.leftSurface;
}
if ((simCounter % 5) == 0) computeVelocityCorrection();
}
}
}
//predict the reentry trajectory. uses the fourth order Runge-Kutta numerical integration scheme
protected LandingPrediction simulateReentryRK4(Vector3d startPos, Vector3d startVel, double startTime, double dt, bool recurse)
{
LandingPrediction result = new LandingPrediction();
//should change this to also account for hyperbolic orbits where we have passed periapsis
//should also change this to use the orbit giv en by the parameters
if (part.vessel.orbit.PeA > part.vessel.mainBody.maxAtmosphereAltitude)
{
result.outcome = LandingPrediction.Outcome.NO_REENTRY;
return result;
}
//use the known orbit in vacuum to find the position and velocity when we first hit the atmosphere
//or start decelerating with thrust:
AROrbit freefallTrajectory = new AROrbit(startPos, startVel, startTime, part.vessel.mainBody);
double initialT = projectFreefallEndTime(freefallTrajectory, startTime);
//a hack to detect improperly initialized stuff and not try to do the simulation
if (double.IsNaN(initialT))
{
result.outcome = LandingPrediction.Outcome.NO_REENTRY;
return result;
}
Vector3d pos = freefallTrajectory.positionAtTime(initialT);
Vector3d vel = freefallTrajectory.velocityAtTime(initialT);
double initialAltitude = FlightGlobals.getAltitudeAtPos(pos);
Vector3d initialPos = new Vector3d(pos.x, pos.y, pos.z);
Vector3d initialVel = new Vector3d(vel.x, vel.y, vel.z); ;
double dragCoeffOverMass = vesselState.massDrag / vesselState.mass;
//now integrate the equations of motion until we hit the surface or we exit the atmosphere again:
double t = initialT;
result.maxGees = 0;
bool beenInAtmosphere = false;
while (true)
{
//one time step of RK4:
Vector3d dv1 = dt * ARUtils.computeTotalAccel(pos, vel, dragCoeffOverMass, part.vessel.mainBody);
Vector3d dx1 = dt * vel;
Vector3d dv2 = dt * ARUtils.computeTotalAccel(pos + 0.5 * dx1, vel + 0.5 * dv1, dragCoeffOverMass, part.vessel.mainBody);
Vector3d dx2 = dt * (vel + 0.5 * dv1);
Vector3d dv3 = dt * ARUtils.computeTotalAccel(pos + 0.5 * dx2, vel + 0.5 * dv2, dragCoeffOverMass, part.vessel.mainBody);
Vector3d dx3 = dt * (vel + 0.5 * dv2);
Vector3d dv4 = dt * ARUtils.computeTotalAccel(pos + dx3, vel + dv3, dragCoeffOverMass, part.vessel.mainBody);
Vector3d dx4 = dt * (vel + dv3);
Vector3d dx = (dx1 + 2 * dx2 + 2 * dx3 + dx4) / 6.0;
Vector3d dv = (dv1 + 2 * dv2 + 2 * dv3 + dv4) / 6.0;
pos += dx;
vel += dv;
t += dt;
double altitudeASL = FlightGlobals.getAltitudeAtPos(pos);
if (altitudeASL < part.vessel.mainBody.maxAtmosphereAltitude) beenInAtmosphere = true;
//We will thrust to reduce our speed if it is too high. However we have to
//be aware that it's the *surface* frame speed that is controlled.
Vector3d surfaceVel = vel - part.vessel.mainBody.getRFrmVel(pos);
double maxSurfaceVel = decelerationSpeed(altitudeASL, vesselState.maxThrustAccel, part.vessel.mainBody);
if (altitudeASL > decelerationEndAltitudeASL && surfaceVel.magnitude > maxSurfaceVel)
{
surfaceVel = maxSurfaceVel * surfaceVel.normalized;
vel = surfaceVel + part.vessel.mainBody.getRFrmVel(pos);
}
//during reentry the gees you feel come from drag:
double dragAccel = ARUtils.computeDragAccel(pos, vel, dragCoeffOverMass, part.vessel.mainBody).magnitude;
result.maxGees = Math.Max(dragAccel / 9.81, result.maxGees);
//detect landing
if (altitudeASL < decelerationEndAltitudeASL)
{
result.outcome = LandingPrediction.Outcome.LANDED;
result.landingLatitude = part.vessel.mainBody.GetLatitude(pos);
result.landingLongitude = part.vessel.mainBody.GetLongitude(pos);
result.landingLongitude -= (t - vesselState.time) * (360.0 / (part.vessel.mainBody.rotationPeriod)); //correct for planet rotation (360 degrees every 6 hours)
result.landingLongitude = ARUtils.clampDegrees(result.landingLongitude);
result.landingTime = t;
return result;
}
//detect the end of an aerobraking pass
if (beenInAtmosphere
&& part.vessel.mainBody.maxAtmosphereAltitude > 0
&& altitudeASL > part.vessel.mainBody.maxAtmosphereAltitude + 1000
&& Vector3d.Dot(vel, pos - part.vessel.mainBody.position) > 0)
{
if (part.vessel.orbit.PeA > 0 || !recurse)
{
result.outcome = LandingPrediction.Outcome.AEROBRAKED;
result.aerobrakeApoapsis = ARUtils.computeApoapsis(pos, vel, part.vessel.mainBody);
result.aerobrakePeriapsis = ARUtils.computePeriapsis(pos, vel, part.vessel.mainBody);
return result;
}
else
{
//continue suborbital trajectories to a landing
return simulateReentryRK4(pos, vel, t, dt, false);
}
}
//Don't tie up the CPU by running forever. Some real reentry trajectories will time out, but that's
//just too bad. It's possible to spend an arbitarily long time in the atmosphere before landing.
//For example, a circular orbit just inside the edge of the atmosphere will decay
//extremely slowly. So there's no reasonable timeout setting here that will simulate all valid reentry trajectories
//to their conclusion.
if (t > initialT + 1000)
{
result.outcome = LandingPrediction.Outcome.TIMED_OUT;
print("MechJeb landing simulation timed out:");
print("current ship altitude ASL = " + vesselState.altitudeASL);
print("freefall end altitude ASL = " + initialAltitude);
print("freefall end position = " + initialPos);
print("freefall end vel = " + initialVel);
print("timeout position = " + pos);
print("timeout altitude ASL = " + altitudeASL);
return result;
}
}
}
//programmatic interface to land at a specific target.
public void landAt(double latitude, double longitude)
{
this.enabled = true;
core.controlClaim(this);
autoLandAtTarget = true;
deorbitBurnFirstMessage = false;
gaveUpOnCourseCorrections = false;
targetLatitude = latitude;
targetLongitude = longitude;
initializeDecimalStrings();
initializeDMSStrings();
if (targetLatitude == BEACH_LATITUDE && targetLongitude == BEACH_LONGITUDE) dmsInput = false;
core.landDeactivate(this);
landStep = LandStep.COURSE_CORRECTIONS;
FlightInputHandler.SetNeutralControls();
//run an initial landing simulation
prediction = simulateReentryRK4(simulationTimeStep, Vector3d.zero);
//initialize the state machine
if (part.vessel.orbit.PeA < 0 || prediction.outcome == LandingPrediction.Outcome.LANDED)
{
landStep = LandStep.COURSE_CORRECTIONS;
}
else
{
landStep = LandStep.DEORBIT_BURN;
deorbiting = false;
}
}
