public static ManeuverParameters OptimizeEjection(ManeuverParameters original_maneuver, Orbit initial_orbit, Orbit target, double UT_arrival)
{
alglib.minlmstate state;
alglib.minlmreport rep;
double[] x = new double[4];
double[] scale = new double[4];
x[0] = original_maneuver.dV.x;
x[1] = original_maneuver.dV.y;
x[2] = original_maneuver.dV.z;
x[3] = 0;
scale[0] = scale[1] = scale[2] = original_maneuver.dV.magnitude;
scale[3] = initial_orbit.period;
OptimizerData data = new OptimizerData();
data.initial_orbit = initial_orbit;
data.original_UT = original_maneuver.UT;
data.UT_arrival = UT_arrival;
data.pos_arrival = target.getTruePositionAtUT(UT_arrival);
alglib.minlmcreatev(3, x, 0.01, out state);
alglib.minlmsetcond(state, 0, 0, 0, 50);
alglib.minlmsetscale(state, scale);
alglib.minlmoptimize(state, DistanceToTarget, null, data);
alglib.minlmresults(state, out x, out rep);
return(new ManeuverParameters(new Vector3d(x[0], x[1], x[2]), original_maneuver.UT + x[3]));
}
public static ManeuverParameters OptimizeEjection(ManeuverParameters original_maneuver, Orbit initial_orbit, Orbit target, double UT_arrival, double earliest_UT)
{
int N = 0;
while (true)
{
alglib.minlmstate state;
alglib.minlmreport rep;
double[] x = new double[5];
double[] scale = new double[5];
x[0] = original_maneuver.dV.x;
x[1] = original_maneuver.dV.y;
x[2] = original_maneuver.dV.z;
x[3] = original_maneuver.UT + N * initial_orbit.period;
x[4] = UT_arrival;
scale[0] = scale[1] = scale[2] = original_maneuver.dV.magnitude;
scale[3] = initial_orbit.period;
scale[4] = target.period / 4.0;
OptimizerData data = new OptimizerData();
data.initial_orbit = initial_orbit;
data.target_orbit = target;
alglib.minlmcreatev(6, x, 0.001, out state);
double epsx = 1e-16; // stop if |(x(k+1)-x(k)) ./ scale| <= EpsX
double epsf = 1e-16; // stop if |F(k+1)-F(k)| <= EpsF*max{|F(k)|,|F(k+1)|,1}
alglib.minlmsetcond(state, 0, epsf, epsx, 50);
alglib.minlmsetscale(state, scale);
alglib.minlmoptimize(state, DistanceToTarget, null, data);
alglib.minlmresults(state, out x, out rep);
Debug.Log("Transfer calculator: termination type=" + rep.terminationtype);
Debug.Log("Transfer calculator: iteration count=" + rep.iterationscount);
// try again in one orbit if the maneuver node is in the past
if (x[3] < earliest_UT)
{
Debug.Log("Transfer calculator: maneuver is " + (earliest_UT - x[3]) + " s too early, trying again in " + initial_orbit.period + " s");
N++;
}
else
{
Debug.Log("from optimizer DV = " + Math.Sqrt(Math.Pow(x[0], 2.0) + Math.Pow(x[1], 2.0) + Math.Pow(x[2], 2.0)));
return(new ManeuverParameters(new Vector3d(x[0], x[1], x[2]), x[3]));
}
}
}
public static ManeuverParameters OptimizeEjection(ManeuverParameters original_maneuver, Orbit initial_orbit, Orbit target, double UT_arrival, double earliest_UT)
{
while (true)
{
alglib.minlmstate state;
alglib.minlmreport rep;
double[] x = new double[4];
double[] scale = new double[4];
x[0] = original_maneuver.dV.x;
x[1] = original_maneuver.dV.y;
x[2] = original_maneuver.dV.z;
x[3] = 0;
scale[0] = scale[1] = scale[2] = original_maneuver.dV.magnitude;
scale[3] = initial_orbit.period;
OptimizerData data = new OptimizerData();
data.initial_orbit = initial_orbit;
data.original_UT = original_maneuver.UT;
data.UT_arrival = UT_arrival;
data.pos_arrival = target.getTruePositionAtUT(UT_arrival);
alglib.minlmcreatev(4, x, 0.01, out state);
double epsx = 1e-4; // stop if |(x(k+1)-x(k)) ./ scale| <= EpsX
double epsf = 0.01; // stop if |F(k+1)-F(k)| <= EpsF*max{|F(k)|,|F(k+1)|,1}
alglib.minlmsetcond(state, 0, epsf, epsx, 50);
alglib.minlmsetscale(state, scale);
alglib.minlmoptimize(state, DistanceToTarget, null, data);
alglib.minlmresults(state, out x, out rep);
Debug.Log("Transfer calculator: termination type=" + rep.terminationtype);
Debug.Log("Transfer calculator: iteration count=" + rep.iterationscount);
// try again in one orbit if the maneuver node is in the past
if (original_maneuver.UT + x[3] < earliest_UT)
{
Debug.Log("Transfer calculator: maneuver is " + (earliest_UT - original_maneuver.UT - x[3]) + " s too early, trying again in " + initial_orbit.period + " s");
original_maneuver.UT += initial_orbit.period;
}
else
{
return(new ManeuverParameters(new Vector3d(x[0], x[1], x[2]), original_maneuver.UT + x[3]));
}
}
}
private void JobFinished()
{
int remaining = Interlocked.Decrement(ref pendingJobs);
if (remaining == 0)
{
for (int date_index = 0; date_index < dateSamples; date_index++)
{
int n = DurationSamplesForDate(date_index);
for (int duration_index = 0; duration_index < n; duration_index++)
{
if (computed[bestDate, bestDuration] == null ||
(computed[date_index, duration_index] != null &&
IsBetter(bestDate, bestDuration, date_index, duration_index)))
{
bestDate = date_index;
bestDuration = duration_index;
}
}
}
arrivalDate = DateFromIndex(bestDate) + DurationFromIndex(bestDuration);
result = computed[bestDate, bestDuration];
pendingJobs = -1;
#if DEBUG
string dir = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
var f = System.IO.File.CreateText(dir + "/DeltaVWorking.csv");
f.WriteLine(originOrbit.referenceBody.referenceBody.gravParameter);
for (int date_index = 0; date_index < dateSamples; date_index++)
{
int n = DurationSamplesForDate(date_index);
for (int duration_index = 0; duration_index < n; duration_index++)
{
f.WriteLine(log[date_index, duration_index]);
}
}
#endif
}
}
public List <ManeuverParameters> OptimizeEjection(double UT_transfer, Orbit initial_orbit, Orbit target, CelestialBody target_body, double UT_arrival, double earliest_UT, double target_PeR, bool includeCaptureBurn)
{
int N = 0;
List <ManeuverParameters> NodeList = new List <ManeuverParameters>();
while (true)
{
const double DIFFSTEP = 1e-6;
const double EPSX = 1e-9;
const int MAXITS = 100;
alglib.minlmstate state;
alglib.minlmreport rep;
double[] x = new double[3];
double[] scale = new double[3];
Vector3d exitDV, captureDV;
CalcLambertDVs(UT_transfer, UT_arrival - UT_transfer, out exitDV, out captureDV);
Orbit source = initial_orbit.referenceBody.orbit; // helicentric orbit of the source planet
// helicentric transfer orbit
Orbit transfer_orbit = new Orbit();
transfer_orbit.UpdateFromStateVectors(source.getRelativePositionAtUT(UT_transfer), source.getOrbitalVelocityAtUT(UT_transfer) + exitDV, source.referenceBody, UT_transfer);
double UT_SOI_exit;
OrbitalManeuverCalculator.SOI_intercept(transfer_orbit, initial_orbit.referenceBody, UT_transfer, UT_arrival, out UT_SOI_exit);
// convert from heliocentric to body centered velocity
Vector3d Vsoi = transfer_orbit.getOrbitalVelocityAtUT(UT_SOI_exit) - initial_orbit.referenceBody.orbit.getOrbitalVelocityAtUT(UT_SOI_exit);
// find the magnitude of Vinf from energy
double Vsoi_mag = Vsoi.magnitude;
double E_h = Vsoi_mag * Vsoi_mag / 2 - initial_orbit.referenceBody.gravParameter / initial_orbit.referenceBody.sphereOfInfluence;
double Vinf_mag = Math.Sqrt(2 * E_h);
// scale Vsoi by the Vinf magnitude (this is now the Vinf target that will yield Vsoi at the SOI interface, but in the Vsoi direction)
Vector3d Vinf = Vsoi / Vsoi.magnitude * Vinf_mag;
// using Vsoi seems to work slightly better here than the Vinf from the heliocentric computation at UT_Transfer
//ManeuverParameters maneuver = ComputeEjectionManeuver(Vsoi, initial_orbit, UT_transfer, true);
ManeuverParameters maneuver = ComputeEjectionManeuver(Vinf, initial_orbit, UT_transfer, true);
//
// common setup for the optimization problems
//
x[0] = maneuver.dV.x;
x[1] = maneuver.dV.y;
x[2] = maneuver.dV.z;
UT_transfer = maneuver.UT;
scale[0] = scale[1] = scale[2] = 1000.0f;
//
// initial patched conic shooting to precisely hit the target
//
const int ZEROMISSCONS = 3;
double[] fi = new double[ZEROMISSCONS];
zeroMissObjectiveFunction(x, fi, null, initial_orbit, target_body, UT_transfer, UT_arrival);
Debug.Log("zero miss phase before optimization = " + new Vector3d(fi[0], fi[1], fi[2]).magnitude + " m (" + new Vector3d(x[0], x[1], x[2]).magnitude + " m/s)");
alglib.minlmcreatev(3, ZEROMISSCONS, x, DIFFSTEP, out state);
alglib.minlmsetcond(state, EPSX, MAXITS);
alglib.minlmsetscale(state, scale);
alglib.minlmoptimize(state, (x, fi, obj) => zeroMissObjectiveFunction(x, fi, obj, initial_orbit, target_body, UT_transfer, UT_arrival), null, null);
alglib.minlmresults(state, out x, out rep);
zeroMissObjectiveFunction(x, fi, null, initial_orbit, target_body, UT_transfer, UT_arrival);
Debug.Log("zero miss phase after optimization = " + new Vector3d(fi[0], fi[1], fi[2]).magnitude + " m (" + new Vector3d(x[0], x[1], x[2]).magnitude + " m/s)");
Debug.Log("Transfer calculator: termination type=" + rep.terminationtype);
Debug.Log("Transfer calculator: iteration count=" + rep.iterationscount);
//
// Fine tuning of the periapsis
//
bool failed = false;
if (target_PeR > 0)
{
const int PERIAPSISCONS = 1;
double[] fi2 = new double[PERIAPSISCONS];
periapsisObjectiveFunction(x, fi2, null, initial_orbit, target_body, UT_transfer, UT_arrival, target_PeR, ref failed);
Debug.Log("periapsis phase before optimization = " + fi2[0] + " m (" + new Vector3d(x[0], x[1], x[2]).magnitude + " m/s)");
alglib.minlmcreatev(3, PERIAPSISCONS, x, DIFFSTEP, out state);
alglib.minlmsetcond(state, EPSX, MAXITS);
alglib.minlmsetscale(state, scale);
alglib.minlmoptimize(state, (x, fi, obj) => periapsisObjectiveFunction(x, fi, obj, initial_orbit, target_body, UT_transfer, UT_arrival, target_PeR, ref failed), null, null);
alglib.minlmresults(state, out x, out rep);
periapsisObjectiveFunction(x, fi2, null, initial_orbit, target_body, UT_transfer, UT_arrival, target_PeR, ref failed);
Debug.Log("periapsis phase after optimization = " + fi2[0] + " m (" + new Vector3d(x[0], x[1], x[2]).magnitude + " m/s)");
Debug.Log("Transfer calculator: termination type=" + rep.terminationtype);
Debug.Log("Transfer calculator: iteration count=" + rep.iterationscount);
}
maneuver.dV.x = x[0];
maneuver.dV.y = x[1];
maneuver.dV.z = x[2];
//
// exit conditions and error handling
//
// try again if we failed to intersect the target orbit
if (failed)
{
Debug.Log("Failed to intersect target orbit");
}
// try again in one orbit if the maneuver node is in the past
else if (maneuver.UT < earliest_UT || failed)
{
Debug.Log("Transfer calculator: maneuver is " + (earliest_UT - maneuver.UT) + " s too early, trying again in " + initial_orbit.period + " s");
UT_transfer += initial_orbit.period;
}
else
{
Debug.Log("from optimizer DV = " + maneuver.dV + " t = " + maneuver.UT + " original arrival = " + UT_arrival);
NodeList.Add(maneuver);
break;
}
if (N++ > 10)
{
throw new OperationException("Ejection Optimization failed; try manual selection");
}
}
if (NodeList.Count > 0 && target_PeR > 0 && includeCaptureBurn)
{
// calculate the incoming orbit
Orbit incoming_orbit;
OrbitalManeuverCalculator.PatchedConicInterceptBody(initial_orbit, target_body, NodeList[0].dV, NodeList[0].UT, UT_arrival, out incoming_orbit);
double burnUT = incoming_orbit.NextPeriapsisTime(incoming_orbit.StartUT);
NodeList.Add(new ManeuverParameters(OrbitalManeuverCalculator.DeltaVToCircularize(incoming_orbit, burnUT), burnUT));
}
return(NodeList);
}
public static ManeuverParameters OptimizeEjection(ManeuverParameters original_maneuver, Orbit initial_orbit, Orbit target, double UT_arrival, double earliest_UT)
{
while(true)
{
alglib.minlmstate state;
alglib.minlmreport rep;
double[] x = new double[4];
double[] scale = new double[4];
x[0] = original_maneuver.dV.x;
x[1] = original_maneuver.dV.y;
x[2] = original_maneuver.dV.z;
x[3] = 0;
scale[0] = scale[1] = scale[2] = original_maneuver.dV.magnitude;
scale[3] = initial_orbit.period;
OptimizerData data = new OptimizerData();
data.initial_orbit = initial_orbit;
data.original_UT = original_maneuver.UT;
data.UT_arrival = UT_arrival;
data.pos_arrival = target.getTruePositionAtUT(UT_arrival);
alglib.minlmcreatev(4, x, 0.01, out state);
double epsx = 1e-4; // stop if |(x(k+1)-x(k)) ./ scale| <= EpsX
double epsf = 0.01; // stop if |F(k+1)-F(k)| <= EpsF*max{|F(k)|,|F(k+1)|,1}
alglib.minlmsetcond(state, 0, epsf, epsx, 50);
alglib.minlmsetscale(state, scale);
alglib.minlmoptimize(state, DistanceToTarget, null, data);
alglib.minlmresults(state, out x, out rep);
Debug.Log("Transfer calculator: termination type=" + rep.terminationtype);
Debug.Log("Transfer calculator: iteration count=" + rep.iterationscount);
// try again in one orbit if the maneuver node is in the past
if (original_maneuver.UT + x[3] < earliest_UT)
{
Debug.Log("Transfer calculator: maneuver is " + (earliest_UT - original_maneuver.UT - x[3]) + " s too early, trying again in " + initial_orbit.period + " s");
original_maneuver.UT += initial_orbit.period;
}
else
return new ManeuverParameters(new Vector3d(x[0], x[1], x[2]), original_maneuver.UT + x[3]);
}
}
private void JobFinished()
{
int remaining = Interlocked.Decrement(ref pendingJobs);
if (remaining == 0)
{
for (int date_index = 0; date_index < dateSamples; date_index++)
{
int n = DurationSamplesForDate(date_index);
for (int duration_index = 0; duration_index < n; duration_index++)
{
if (computed[bestDate, bestDuration] == null ||
(computed[date_index, duration_index] != null
&& IsBetter(bestDate, bestDuration, date_index, duration_index)))
{
bestDate = date_index;
bestDuration = duration_index;
}
}
}
arrivalDate = DateFromIndex(bestDate) + DurationFromIndex(bestDuration);
result = computed[bestDate, bestDuration];
pendingJobs = -1;
#if DEBUG
string dir = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
var f = System.IO.File.CreateText(dir + "/DeltaVWorking.csv");
f.WriteLine(originOrbit.referenceBody.referenceBody.gravParameter);
for (int date_index = 0; date_index < dateSamples; date_index++)
{
int n = DurationSamplesForDate(date_index);
for (int duration_index = 0; duration_index < n; duration_index++)
{
f.WriteLine(log[date_index, duration_index]);
}
}
#endif
}
}
public Porkchop(ManeuverParameters[,] nodes)
{
Gradient colours = new Gradient();
var colourKeys = new GradientColorKey[6];
colourKeys[0].color = new Color(0.25f, 0.25f, 1.0f);
colourKeys[0].time = 0.0f;
colourKeys[1].color = new Color(0.5f, 0.5f, 1.0f);
colourKeys[1].time = 0.01f;
colourKeys[2].color = new Color(0.5f, 1.0f, 1.0f);
colourKeys[2].time = 0.25f;
colourKeys[3].color = new Color(0.5f, 1.0f, 0.5f);
colourKeys[3].time = 0.5f;
colourKeys[4].color = new Color(1.0f, 1.0f, 0.5f);
colourKeys[4].time = 0.75f;
colourKeys[5].color = new Color(1.0f, 0.5f, 0.5f);
colourKeys[5].time = 1.0f;
var alphaKeys = new GradientAlphaKey[2];
alphaKeys[0].alpha = 1.0f;
alphaKeys[0].time = 0.0f;
alphaKeys[1].alpha = 1.0f;
alphaKeys[1].time = 1.0f;
colours.SetKeys(colourKeys, alphaKeys);
double DVminsqr = double.MaxValue;
double DVmaxsqr = double.MinValue;
for (int i = 0; i < nodes.GetLength(0); i++)
{
for (int j = 0; j < nodes.GetLength(1); j++)
{
if (nodes[i, j] != null)
{
double DVsqr = nodes[i, j].dV.sqrMagnitude;
if (DVsqr < DVminsqr)
{
DVminsqr = DVsqr;
}
DVmaxsqr = Math.Max(DVmaxsqr, nodes[i, j].dV.sqrMagnitude);
}
}
}
texture = new Texture2D(nodes.GetLength(0), nodes.GetLength(1), TextureFormat.RGB24, false);
double logDVminsqr = Math.Log(DVminsqr);
double logDVmaxsqr = Math.Min(Math.Log(DVmaxsqr), logDVminsqr + 4);
for (int i = 0; i < nodes.GetLength(0); i++)
{
for (int j = 0; j < nodes.GetLength(1); j++)
{
if (nodes[i, j] == null)
{
texture.SetPixel(i, j, colours.Evaluate(1));
}
else
{
double lambda = (Math.Log(nodes[i, j].dV.sqrMagnitude) - logDVminsqr) / (logDVmaxsqr - logDVminsqr);
texture.SetPixel(i, j, colours.Evaluate((float)lambda));
}
}
}
texture.Apply();
#if DEBUG
string dir = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
System.IO.File.WriteAllBytes(dir + "/Porkchop.png", texture.EncodeToPNG());
#endif
}
