| public ComputeForces ( double altitude, UnityEngine.Vector3d airVelocity, UnityEngine.Vector3d vup, double angleOfAttack ) : UnityEngine.Vector3d | ||
| altitude | double | |
| airVelocity | UnityEngine.Vector3d | |
| vup | UnityEngine.Vector3d | |
| angleOfAttack | double | |
| return | UnityEngine.Vector3d | |
private Vector2d ComputeCacheEntry(int v, int a, int m)
{
double vel = MaxVelocity * (double)v / (double)(InternalArray.GetLength(0) - 1);
Vector3d velocity = new Vector3d(vel, 0, 0);
double AoA = MaxAoA * ((double)a / (double)(InternalArray.GetLength(1) - 1) * 2.0 - 1.0);
double currentAltitude = MaxAltitude * (double)m / (double)(InternalArray.GetLength(2) - 1);
Vector2d packedForce = Model.PackForces(Model.ComputeForces(currentAltitude, velocity, new Vector3d(0, 1, 0), AoA), currentAltitude, vel);
return(InternalArray[v, a, m] = packedForce);
}
internal static void DebugTelemetry()
{
if (!Util.IsFlight)
{
return;
}
double now = Planetarium.GetUniversalTime();
double dt = now - PreviousFrameTime;
if (dt > 0.5 || dt < 0.0)
{
Vector3d bodySpacePosition = new Vector3d();
Vector3d bodySpaceVelocity = new Vector3d();
if (aerodynamicModel_ != null && Trajectories.IsVesselAttached)
{
CelestialBody body = Trajectories.AttachedVessel.orbit.referenceBody;
bodySpacePosition = Trajectories.AttachedVessel.GetWorldPos3D() - body.position;
bodySpaceVelocity = Trajectories.AttachedVessel.obt_velocity;
double altitudeAboveSea = bodySpacePosition.magnitude - body.Radius;
Vector3d airVelocity = bodySpaceVelocity - body.getRFrmVel(body.position + bodySpacePosition);
double R = PreviousFramePos.magnitude;
Vector3d gravityForce = PreviousFramePos * (-body.gravParameter / (R * R * R) * Trajectories.AttachedVessel.totalMass);
Quaternion inverseRotationFix = body.inverseRotation ?
Quaternion.AngleAxis((float)(body.angularVelocity.magnitude / Math.PI * 180.0 * dt), Vector3.up)
: Quaternion.identity;
Vector3d TotalForce = (bodySpaceVelocity - inverseRotationFix * PreviousFrameVelocity) * (Trajectories.AttachedVessel.totalMass / dt);
TotalForce += bodySpaceVelocity * (dt * 0.000015); // numeric precision fix
Vector3d ActualForce = TotalForce - gravityForce;
Transform vesselTransform = Trajectories.AttachedVessel.ReferenceTransform;
Vector3d vesselBackward = (Vector3d)(-vesselTransform.up.normalized);
Vector3d vesselForward = -vesselBackward;
Vector3d vesselUp = (Vector3d)(-vesselTransform.forward.normalized);
Vector3d vesselRight = Vector3d.Cross(vesselUp, vesselBackward).normalized;
double AoA = Math.Acos(Vector3d.Dot(airVelocity.normalized, vesselForward.normalized));
if (Vector3d.Dot(airVelocity, vesselUp) > 0)
{
AoA = -AoA;
}
VesselAerodynamicModel.DebugParts = true;
Vector3d referenceForce = aerodynamicModel_.ComputeForces(20000, new Vector3d(0, 0, 1500), new Vector3d(0, 1, 0), 0);
VesselAerodynamicModel.DebugParts = false;
Vector3d predictedForce = aerodynamicModel_.ComputeForces(altitudeAboveSea, airVelocity, vesselUp, AoA);
//VesselAerodynamicModel.Verbose = true;
Vector3d predictedForceWithCache = aerodynamicModel_.GetForces(body, bodySpacePosition, airVelocity, AoA);
//VesselAerodynamicModel.Verbose = false;
Vector3d localTotalForce = new Vector3d(
Vector3d.Dot(TotalForce, vesselRight),
Vector3d.Dot(TotalForce, vesselUp),
Vector3d.Dot(TotalForce, vesselBackward));
Vector3d localActualForce = new Vector3d(
Vector3d.Dot(ActualForce, vesselRight),
Vector3d.Dot(ActualForce, vesselUp),
Vector3d.Dot(ActualForce, vesselBackward));
Vector3d localPredictedForce = new Vector3d(
Vector3d.Dot(predictedForce, vesselRight),
Vector3d.Dot(predictedForce, vesselUp),
Vector3d.Dot(predictedForce, vesselBackward));
Vector3d localPredictedForceWithCache = new Vector3d(
Vector3d.Dot(predictedForceWithCache, vesselRight),
Vector3d.Dot(predictedForceWithCache, vesselUp),
Vector3d.Dot(predictedForceWithCache, vesselBackward));
Telemetry.Send("ut", now);
Telemetry.Send("altitude", Trajectories.AttachedVessel.altitude);
Telemetry.Send("airspeed", Math.Floor(airVelocity.magnitude));
Telemetry.Send("aoa", (AoA * 180.0 / Math.PI));
Telemetry.Send("force_actual", localActualForce.magnitude);
Telemetry.Send("force_actual.x", localActualForce.x);
Telemetry.Send("force_actual.y", localActualForce.y);
Telemetry.Send("force_actual.z", localActualForce.z);
//Telemetry.Send("force_total", localTotalForce.magnitude);
//Telemetry.Send("force_total.x", localTotalForce.x);
//Telemetry.Send("force_total.y", localTotalForce.y);
//Telemetry.Send("force_total.z", localTotalForce.z);
Telemetry.Send("force_predicted", localPredictedForce.magnitude);
Telemetry.Send("force_predicted.x", localPredictedForce.x);
Telemetry.Send("force_predicted.y", localPredictedForce.y);
Telemetry.Send("force_predicted.z", localPredictedForce.z);
Telemetry.Send("force_predicted_cache", localPredictedForceWithCache.magnitude);
//Telemetry.Send("force_predicted_cache.x", localPredictedForceWithCache.x);
//Telemetry.Send("force_predicted_cache.y", localPredictedForceWithCache.y);
//Telemetry.Send("force_predicted_cache.z", localPredictedForceWithCache.z);
//Telemetry.Send("force_reference", referenceForce.magnitude);
//Telemetry.Send("force_reference.x", referenceForce.x);
//Telemetry.Send("force_reference.y", referenceForce.y);
//Telemetry.Send("force_reference.z", referenceForce.z);
//Telemetry.Send("velocity.x", bodySpaceVelocity.x);
//Telemetry.Send("velocity.y", bodySpaceVelocity.y);
//Telemetry.Send("velocity.z", bodySpaceVelocity.z);
//Vector3d velocity_pos = (bodySpacePosition - PreviousFramePos) / dt;
//Telemetry.Send("velocity_pos.x", velocity_pos.x);
//Telemetry.Send("velocity_pos.y", velocity_pos.y);
//Telemetry.Send("velocity_pos.z", velocity_pos.z);
Telemetry.Send("drag", Trajectories.AttachedVessel.rootPart.rb.drag);
Telemetry.Send("density", Trajectories.AttachedVessel.atmDensity);
Telemetry.Send("density_calc", StockAeroUtil.GetDensity(altitudeAboveSea, body));
Telemetry.Send("density_calc_precise", StockAeroUtil.GetDensity(Trajectories.AttachedVessel.GetWorldPos3D(), body));
Telemetry.Send("temperature", Trajectories.AttachedVessel.atmosphericTemperature);
Telemetry.Send("temperature_calc", StockAeroUtil.GetTemperature(Trajectories.AttachedVessel.GetWorldPos3D(), body));
}
PreviousFrameVelocity = bodySpaceVelocity;
PreviousFramePos = bodySpacePosition;
PreviousFrameTime = now;
}
}
public void FixedUpdate()
{
if (HighLogic.LoadedScene != GameScenes.FLIGHT)
{
return;
}
double now = Planetarium.GetUniversalTime();
double dt = now - PreviousFrameTime;
if (dt > 0.5 || dt < 0.0)
{
Vector3d bodySpacePosition = new Vector3d();
Vector3d bodySpaceVelocity = new Vector3d();
if (aerodynamicModel_ != null && vessel_ != null)
{
CelestialBody body = vessel_.orbit.referenceBody;
bodySpacePosition = vessel_.GetWorldPos3D() - body.position;
bodySpaceVelocity = vessel_.obt_velocity;
double altitudeAboveSea = bodySpacePosition.magnitude - body.Radius;
Vector3d airVelocity = bodySpaceVelocity - body.getRFrmVel(body.position + bodySpacePosition);
#if DEBUG_COMPARE_FORCES
double R = PreviousFramePos.magnitude;
Vector3d gravityForce = PreviousFramePos * (-body.gravParameter / (R * R * R) * vessel_.totalMass);
Quaternion inverseRotationFix = body.inverseRotation ? Quaternion.AngleAxis((float)(body.angularVelocity.magnitude / Math.PI * 180.0 * dt), Vector3.up) : Quaternion.identity;
Vector3d TotalForce = (bodySpaceVelocity - inverseRotationFix * PreviousFrameVelocity) * (vessel_.totalMass / dt);
TotalForce += bodySpaceVelocity * (dt * 0.000015); // numeric precision fix
Vector3d ActualForce = TotalForce - gravityForce;
Transform vesselTransform = vessel_.ReferenceTransform;
Vector3d vesselBackward = (Vector3d)(-vesselTransform.up.normalized);
Vector3d vesselForward = -vesselBackward;
Vector3d vesselUp = (Vector3d)(-vesselTransform.forward.normalized);
Vector3d vesselRight = Vector3d.Cross(vesselUp, vesselBackward).normalized;
double AoA = Math.Acos(Vector3d.Dot(airVelocity.normalized, vesselForward.normalized));
if (Vector3d.Dot(airVelocity, vesselUp) > 0)
{
AoA = -AoA;
}
VesselAerodynamicModel.DebugParts = true;
Vector3d referenceForce = aerodynamicModel_.ComputeForces(20000, new Vector3d(0, 0, 1500), new Vector3d(0, 1, 0), 0);
VesselAerodynamicModel.DebugParts = false;
Vector3d predictedForce = aerodynamicModel_.ComputeForces(altitudeAboveSea, airVelocity, vesselUp, AoA);
//VesselAerodynamicModel.Verbose = true;
Vector3d predictedForceWithCache = aerodynamicModel_.GetForces(body, bodySpacePosition, airVelocity, AoA);
//VesselAerodynamicModel.Verbose = false;
Vector3d localTotalForce = new Vector3d(Vector3d.Dot(TotalForce, vesselRight), Vector3d.Dot(TotalForce, vesselUp), Vector3d.Dot(TotalForce, vesselBackward));
Vector3d localActualForce = new Vector3d(Vector3d.Dot(ActualForce, vesselRight), Vector3d.Dot(ActualForce, vesselUp), Vector3d.Dot(ActualForce, vesselBackward));
Vector3d localPredictedForce = new Vector3d(Vector3d.Dot(predictedForce, vesselRight), Vector3d.Dot(predictedForce, vesselUp), Vector3d.Dot(predictedForce, vesselBackward));
Vector3d localPredictedForceWithCache = new Vector3d(Vector3d.Dot(predictedForceWithCache, vesselRight), Vector3d.Dot(predictedForceWithCache, vesselUp), Vector3d.Dot(predictedForceWithCache, vesselBackward));
Util.PostSingleScreenMessage("actual/predict comparison", "air vel=" + Math.Floor(airVelocity.magnitude) + " ; AoA=" + (AoA * 180.0 / Math.PI));
//Util.PostSingleScreenMessage("total force", "actual total force=" + localTotalForce.ToString("0.000"));
Util.PostSingleScreenMessage("actual force", "actual force=" + localActualForce.ToString("0.000"));
Util.PostSingleScreenMessage("predicted force", "predicted force=" + localPredictedForce.ToString("0.000"));
Util.PostSingleScreenMessage("predict with cache", "predicted force with cache=" + localPredictedForceWithCache.ToString("0.000"));
Util.PostSingleScreenMessage("reference force", "reference force=" + referenceForce.ToString("0.000"));
Util.PostSingleScreenMessage("current vel", "current vel=" + bodySpaceVelocity.ToString("0.00") + " (mag=" + bodySpaceVelocity.magnitude.ToString("0.00") + ")");
//Util.PostSingleScreenMessage("vel from pos", "vel from pos=" + ((bodySpacePosition - PreviousFramePos) / dt).ToString("0.000") + " (mag=" + ((bodySpacePosition - PreviousFramePos) / dt).magnitude.ToString("0.00") + ")");
Util.PostSingleScreenMessage("force diff", "force ratio=" + (localActualForce.z / localPredictedForce.z).ToString("0.000"));
Util.PostSingleScreenMessage("drag", "physics drag=" + vessel_.rootPart.rb.drag);
#endif
double approximateRho = StockAeroUtil.GetDensity(altitudeAboveSea, body);
double preciseRho = StockAeroUtil.GetDensity(vessel_.GetWorldPos3D(), body);
double actualRho = vessel_.atmDensity;
Util.PostSingleScreenMessage("rho info", /*"preciseRho=" + preciseRho.ToString("0.0000") + " ; " +*/ "rho=" + approximateRho.ToString("0.0000") + " ; actual=" + actualRho.ToString("0.0000") + " ; ratio=" + (actualRho / approximateRho).ToString("0.00"));
}
PreviousFrameVelocity = bodySpaceVelocity;
PreviousFramePos = bodySpacePosition;
PreviousFrameTime = now;
}
}