// Doesn't work, just learning to use github
/// <summary>
/// Find the Intersections of two orbits
/// </summary>
/// <returns>
/// 0 for no intersections found, 1 for 1, 2 for 2
/// True anomaly of intersections in out intersect1 and intersect2
/// </returns>
/// <param name='orbit'>
/// Orbit.
/// </param>
/// <param name='tgtorbit'>
/// Tgtorbit.
/// </param>
/// <param name='intersect1'>
/// Intsect1.
/// </param>
/// <param name='intersect2'>
/// Intsect2.
/// </param>
public static int FindIntersectSimple(this Orbit orbit, Orbit tgtorbit, out double intersect1, out double intersect2)
{
double anomaly = 0;
intersect1 = 361;
intersect2 = 361;
int div = 50;
double range = 360;
double lowest = 1e10;
int count = 0;
while (lowest>100) {
for (int i=0; i<div; i++) {
double j;
anomaly += (i / div) * range;
j = Math.Abs (orbit.f (tgtorbit, anomaly));
if (i == 0) {
lowest = j;
intersect1 = anomaly;
}
if (j < lowest) {
lowest = j;
intersect1 = anomaly;
}
}
range = range / 2;
anomaly = intersect1 - range / 2;
count++;
if (count > 30)
return 2;
}
return 0;
}
/// <summary>
/// Calculates position of the orbiting body for given time. It also updates <see cref="CurrentPosition"/> property.
/// </summary>
/// <param name="time">time from the creation of the start system (time 0)</param>
/// <returns>Position as spherical coordinates</returns>
public static SphericalCoordinates CalculatePosition(float time, Orbit orbitData)
{
time = Mathf.Repeat(time, orbitData.Period);
//mean anomaly
float n = 2f * Mathf.PI / orbitData.Period;
float M = n * time;
//eccentric anomaly
float deltaMax = Mathf.Pow(10, anomalyPrecision * -1);
float E = M;
float error = E - orbitData.Eccentricity * Mathf.Sin(E) - M;
int i = 0;
while (Mathf.Abs(error) > deltaMax && i < 5)
{
E = E - error / (1f - orbitData.Eccentricity * Mathf.Cos(E));
error = E - orbitData.Eccentricity * Mathf.Sin(E) - M;
i++;
}
//true anomaly
var S = Mathf.Sin(E);
var C = Mathf.Cos(E);
var fak = Mathf.Sqrt(1f - orbitData.Eccentricity * orbitData.Eccentricity);
float phi = Mathf.Atan2(fak * S, C - orbitData.Eccentricity);
//distance
// float r = MeanDistance * (1 - Eccentricity * Eccentricity) / (1 + Eccentricity * Mathf.Cos(phi));
float r = orbitData.MeanDistance * (1 - orbitData.Eccentricity * Mathf.Cos(E));
phi = phi + orbitData.PeriapsisArgumentRadians;
float elevation = orbitData.InclinationRadians * Mathf.Cos(phi);
return new SphericalCoordinates(r, phi, elevation);
}
public static ManeuverNode PlaceManeuverNode(this Vessel vessel, Orbit patch, Vector3d dV, double UT)
{
//placing a maneuver node with bad dV values can really mess up the game, so try to protect against that
//and log an exception if we get a bad dV vector:
for (int i = 0; i < 3; i++)
{
if (double.IsNaN(dV[i]) || double.IsInfinity(dV[i]))
{
throw new Exception("VesselExtensions.PlaceManeuverNode: bad dV: " + dV);
}
}
if (double.IsNaN(UT) || double.IsInfinity(UT))
{
throw new Exception("VesselExtensions.PlaceManeuverNode: bad UT: " + UT);
}
//It seems that sometimes the game can freak out if you place a maneuver node in the past, so this
//protects against that.
UT = Math.Max(UT, Planetarium.GetUniversalTime());
//convert a dV in world coordinates into the coordinate system of the maneuver node,
//which uses (x, y, z) = (radial+, normal-, prograde)
Vector3d nodeDV = patch.DeltaVToManeuverNodeCoordinates(UT, dV);
ManeuverNode mn = vessel.patchedConicSolver.AddManeuverNode(UT);
mn.OnGizmoUpdated(nodeDV, UT);
return mn;
}
public override ManeuverParameters MakeNodeImpl(Orbit o, double universalTime, MechJebModuleTargetController target)
{
double UT = timeSelector.ComputeManeuverTime(o, universalTime, target);
var dV = OrbitalManeuverCalculator.DeltaVToResonantOrbit(o, UT, (double)resonanceNumerator.val / resonanceDenominator.val);
return new ManeuverParameters(dV, UT);
}
/// <summary>
/// Orbit foo, this finds the nodes of two orbits
/// </summary>
/// <returns>
/// The true anomaly of the ascending node(descing node is 180degrees off)
/// </returns>
/// <param name='orbit'>
/// Orbit.
/// </param>
/// <param name='tgtorbit'>
/// Target Orbit
/// </param>
public static double FindAN(Orbit orbit, Orbit tgtorbit)
{
double rad = Math.PI/180;
double Lan1 = orbit.LAN;
double inc1 = orbit.inclination;
double Lan2 = tgtorbit.LAN;
double inc2 = tgtorbit.inclination;
//see braeunig.us/space... cross product of two orbital planes gives the node location
var a = new Vector3d(Math.Sin(inc1*rad)*Math.Cos(Lan1*rad), Math.Sin(inc1*rad)*Math.Sin(Lan1*rad),
Math.Cos(inc1*rad));
var b = new Vector3d(Math.Sin(inc2*rad)*Math.Cos(Lan2*rad), Math.Sin(inc2*rad)*Math.Sin(Lan2*rad),
Math.Cos(inc2*rad));
var c = new Vector3d(0, 0, 0);
c = Vector3d.Cross(a, b);
var coord = new double[] {0, 0};
coord = LatLonofVector(c); //get the coordinates lat/lon of the ascending node
double lat = coord[0];
double lon = coord[1];
//go look at the diagrams at braeunig.us/space
double α = lon - Lan1; //its all greek to me
if (α < 0) α += 360;
double λ = Math.Atan(Math.Tan(α*rad)/Math.Cos(inc1*rad))/rad;
double x = 180 + (λ - orbit.argumentOfPeriapsis);
if (x > 360) return 360 - x;
else return x;
}
private static void DrawOrbit(Orbit o, CelestialBody referenceBody, Matrix4x4 screenTransform, int numSegments)
{
if (!o.activePatch) {
return;
}
double startTA;
double endTA;
double now = Planetarium.GetUniversalTime();
if (o.patchEndTransition != Orbit.PatchTransitionType.FINAL) {
startTA = o.TrueAnomalyAtUT(o.StartUT);
endTA = o.TrueAnomalyAtUT(o.EndUT);
if (endTA < startTA) {
endTA += 2.0 * Math.PI;
}
} else {
startTA = o.GetUTforTrueAnomaly(0.0, now);
endTA = startTA + 2.0 * Math.PI;
}
double dTheta = (endTA - startTA) / (double)numSegments;
double theta = startTA;
double timeAtTA = o.GetUTforTrueAnomaly(theta, now);
Vector3 lastVertex = screenTransform.MultiplyPoint3x4(o.getRelativePositionFromTrueAnomaly(theta).xzy + (o.referenceBody.getTruePositionAtUT(timeAtTA)) - (referenceBody.getTruePositionAtUT(timeAtTA)));
for (int i = 0; i < numSegments; ++i) {
GL.Vertex3(lastVertex.x, lastVertex.y, 0.0f);
theta += dTheta;
timeAtTA = o.GetUTforTrueAnomaly(theta, now);
Vector3 newVertex = screenTransform.MultiplyPoint3x4(o.getRelativePositionFromTrueAnomaly(theta).xzy + (o.referenceBody.getTruePositionAtUT(timeAtTA)) - (referenceBody.getTruePositionAtUT(timeAtTA)));
GL.Vertex3(newVertex.x, newVertex.y, 0.0f);
lastVertex = newVertex;
}
}
public static Vector3d DeltaVAndTimeForCheapestCourseCorrection(Orbit o, double UT, Orbit target, CelestialBody targetBody, double finalPeR, out double burnUT)
{
Vector3d collisionDV = DeltaVAndTimeForCheapestCourseCorrection(o, UT, target, out burnUT);
Orbit collisionOrbit = o.PerturbedOrbit(burnUT, collisionDV);
double collisionUT = collisionOrbit.NextClosestApproachTime(target, burnUT);
Vector3d collisionPosition = target.SwappedAbsolutePositionAtUT(collisionUT);
Vector3d collisionRelVel = collisionOrbit.SwappedOrbitalVelocityAtUT(collisionUT) - target.SwappedOrbitalVelocityAtUT(collisionUT);
double soiEnterUT = collisionUT - targetBody.sphereOfInfluence / collisionRelVel.magnitude;
Vector3d soiEnterRelVel = collisionOrbit.SwappedOrbitalVelocityAtUT(soiEnterUT) - target.SwappedOrbitalVelocityAtUT(soiEnterUT);
double E = 0.5 * soiEnterRelVel.sqrMagnitude - targetBody.gravParameter / targetBody.sphereOfInfluence; //total orbital energy on SoI enter
double finalPeSpeed = Math.Sqrt(2 * (E + targetBody.gravParameter / finalPeR)); //conservation of energy gives the orbital speed at finalPeR.
double desiredImpactParameter = finalPeR * finalPeSpeed / soiEnterRelVel.magnitude; //conservation of angular momentum gives the required impact parameter
Vector3d displacementDir = Vector3d.Cross(collisionRelVel, o.SwappedOrbitNormal()).normalized;
Vector3d interceptTarget = collisionPosition + desiredImpactParameter * displacementDir;
Vector3d velAfterBurn;
Vector3d arrivalVel;
LambertSolver.Solve(o.SwappedRelativePositionAtUT(burnUT), interceptTarget - o.referenceBody.position, collisionUT - burnUT, o.referenceBody, true, out velAfterBurn, out arrivalVel);
Vector3d deltaV = velAfterBurn - o.SwappedOrbitalVelocityAtUT(burnUT);
return deltaV;
}
public OrbitInfo(Orbitable orb, SharedObjects sharedObj)
{
orbit = orb.Orbit;
shared = sharedObj;
name = orb.GetName();
InitializeSuffixes();
}
public OrbitInfo( Orbit orb, SharedObjects sharedObj )
{
shared = sharedObj;
orbit = orb;
name = "<unnamed>";
InitializeSuffixes();
}
public override ManeuverParameters MakeNodeImpl(Orbit o, double UT, MechJebModuleTargetController target)
{
if (!target.NormalTargetExists)
throw new OperationException("must select a target for the course correction.");
Orbit correctionPatch = o;
while (correctionPatch != null)
{
if (correctionPatch.referenceBody == target.TargetOrbit.referenceBody)
{
o = correctionPatch;
UT = correctionPatch.StartUT;
break;
}
correctionPatch = target.core.vessel.GetNextPatch(correctionPatch);
}
if (correctionPatch == null || correctionPatch.referenceBody != target.TargetOrbit.referenceBody)
throw new OperationException("target for course correction must be in the same sphere of influence");
if (o.NextClosestApproachTime(target.TargetOrbit, UT) < UT + 1 ||
o.NextClosestApproachDistance(target.TargetOrbit, UT) > target.TargetOrbit.semiMajorAxis * 0.2)
{
errorMessage = "Warning: orbit before course correction doesn't seem to approach target very closely. Planned course correction may be extreme. Recommend plotting an approximate intercept orbit and then plotting a course correction.";
}
CelestialBody targetBody = target.Target as CelestialBody;
Vector3d dV = targetBody != null ?
OrbitalManeuverCalculator.DeltaVAndTimeForCheapestCourseCorrection(o, UT, target.TargetOrbit, targetBody, targetBody.Radius + courseCorrectFinalPeA, out UT):
OrbitalManeuverCalculator.DeltaVAndTimeForCheapestCourseCorrection(o, UT, target.TargetOrbit, interceptDistance, out UT);
return new ManeuverParameters(dV, UT);
}
/// <summary>
/// Find the point on the orbit that includes the initial time where the ejection angle is closest to the suplied one
/// </summary>
/// <param name="oObject">Orbit of the vessel/body</param>
/// <param name="timeInitial">The UT you want to search around for the angle - will search 1/2 an orbit back and 1/2 forward</param>
/// <param name="numDivisions">Higher thisnumber the more precise the answer - and the longer it will take</param>
/// <param name="closestAngle">The output of the closest angle the method could find</param>
/// <param name="targetAngle">The ejection angle we are looking for</param>
/// <returns></returns>
internal static double timeOfEjectionAngle(Orbit oObject, double timeInitial, double targetAngle, double numDivisions, out double closestAngle)
{
double timeStart = timeInitial - oObject.period/2;
double periodtoscan = oObject.period;
double closestAngleTime = timeStart;
double closestAngleValue = Double.MaxValue;
double minTime = timeStart;
double maxTime = timeStart + periodtoscan;
//work out iterations for precision - we only really need to within a second - so how many iterations do we actually need
//Each iteration gets us 1/10th of the period to scan
for (int iter = 0; iter < 8; iter++) {
double dt = (maxTime - minTime) / numDivisions;
for (int i = 0; i < numDivisions; i++) {
double t = minTime + i * dt;
double angle = oObject.getEjectionAngleAtUT(t);
if (Math.Abs(angle - targetAngle) < closestAngleValue) {
closestAngleValue = Math.Abs(angle - targetAngle);
closestAngleTime = t;
}
}
minTime = (closestAngleTime - dt).Clamp(timeStart, timeStart + periodtoscan);
maxTime = (closestAngleTime + dt).Clamp(timeStart, timeStart + periodtoscan);
}
closestAngle = closestAngleValue + targetAngle;
return closestAngleTime;
}
protected TransferCalculator(
Orbit o, Orbit target,
double min_departure_time,
double max_departure_time,
double min_transfer_time,
double max_transfer_time,
int width,
int height)
{
originOrbit = o;
destinationOrbit = target;
origin = new Orbit();
origin.UpdateFromOrbitAtUT(o, min_departure_time, o.referenceBody);
destination = new Orbit();
destination.UpdateFromOrbitAtUT(target, min_departure_time, target.referenceBody);
maxDurationSamples = height;
dateSamples = width;
nextDateIndex = dateSamples;
this.minDepartureTime = min_departure_time;
this.maxDepartureTime = max_departure_time;
this.minTransferTime = min_transfer_time;
this.maxTransferTime = max_transfer_time;
computed = new ManeuverParameters[dateSamples, maxDurationSamples];
pendingJobs = 0;
#if DEBUG
log = new string[dateSamples, maxDurationSamples];
#endif
}
static void WarpShip(Vessel vessel, Orbit newOrbit)
{
if (newOrbit.getRelativePositionAtUT (Planetarium.GetUniversalTime ()).magnitude > newOrbit.referenceBody.sphereOfInfluence)
throw new ArgumentException ("Destination position was above the sphere of influence");
vessel.Landed = false;
vessel.Splashed = false;
vessel.landedAt = string.Empty;
var parts = vessel.parts;
if (parts != null) {
var clamps = parts.Where (p => p.Modules != null && p.Modules.OfType<LaunchClamp> ().Any ()).ToList ();
foreach (var clamp in clamps)
clamp.Die ();
}
try {
OrbitPhysicsManager.HoldVesselUnpack (60);
} catch (NullReferenceException) {
}
foreach (var v in (FlightGlobals.fetch == null ? (IEnumerable<Vessel>)new[] { vessel } : FlightGlobals.Vessels).Where(v => !v.packed))
v.GoOnRails ();
HardsetOrbit (vessel.orbit, newOrbit);
vessel.orbitDriver.pos = vessel.orbit.pos.xzy;
vessel.orbitDriver.vel = vessel.orbit.vel;
}
/// <summary>
/// Initializes the script.
/// </summary>
void Start()
{
// Store the central object original position
originalCentralBodyPosition = CentralObject.transform.position;
// Calculate the up vector if not entered
if (Up == Vector3.zero)
Up = CentralObject.transform.up;
orbits = new Orbit[OrbitingObjects.Length];
// for each orbiting object, calculate the normal vector to its orbital plane
for (int i=0; i<OrbitingObjects.Length; i++) {
// Get the normalized direction vector between the two objects
Vector3 direction = (OrbitingObjects[i].orbitingObject.transform.position - CentralObject.transform.position).normalized;
// Calculate a perpendicular vector to the orbital plane
Vector3 normal = Vector3.Cross (direction, Up);
normal = Vector3.Cross (normal, direction);
// Add a new Orbit containing all the information needed for the orbit to the array of orbits
orbits[i] = new Orbit (OrbitingObjects[i].orbitingObject, OrbitingObjects[i].revolutionsPerMinute, normal);
}
}
public VesselData(VesselData vd)
{
name = vd.name;
id = vd.id;
craftURL = vd.craftURL;
craftPart = vd.craftPart;
flagURL = vd.flagURL;
vesselType = vd.vesselType;
body = vd.body;
orbit = vd.orbit;
latitude = vd.latitude;
longitude = vd.longitude;
altitude = vd.altitude;
height = vd.height;
orbiting = vd.orbiting;
owned = vd.owned;
pqsCity = vd.pqsCity;
pqsOffset = vd.pqsOffset;
heading = vd.heading;
pitch = vd.pitch;
roll = vd.roll;
foreach (CrewData cd in vd.crew)
{
crew.Add(new CrewData(cd));
}
}
public void EllipticSector()
{
var o = new Orbit { SemiMajorAxis = 2, SemiMinorAxis = 1, TransformAngle = 0 };
AssertAreClose(o.S(Math.PI), 0);
AssertAreClose(o.S(0), Math.PI);
AssertAreClose(o.S(1, -Math.PI), 2 * Math.PI);
}
public override ManeuverParameters MakeNodeImpl(Orbit o, double universalTime, MechJebModuleTargetController target)
{
double UT = timeSelector.ComputeManeuverTime(o, universalTime, target);
if (!target.NormalTargetExists)
{
throw new OperationException("must select a target to match planes with.");
}
else if (o.referenceBody != target.TargetOrbit.referenceBody)
{
throw new OperationException("can only match planes with an object in the same sphere of influence.");
}
else if (timeSelector.timeReference == TimeReference.REL_ASCENDING)
{
if (!o.AscendingNodeExists(target.TargetOrbit))
{
throw new OperationException("ascending node with target doesn't exist.");
}
}
else
{
if (!o.DescendingNodeExists(target.TargetOrbit))
{
throw new OperationException("descending node with target doesn't exist.");
}
}
Vector3d dV = (timeSelector.timeReference == TimeReference.REL_ASCENDING) ?
OrbitalManeuverCalculator.DeltaVAndTimeToMatchPlanesAscending(o, target.TargetOrbit, UT, out UT):
OrbitalManeuverCalculator.DeltaVAndTimeToMatchPlanesDescending(o, target.TargetOrbit, UT, out UT);
return new ManeuverParameters(dV, UT);
}
double tauP; //normalized parabolic transfer time
#endregion Fields
#region Constructors
/// <summary>
/// Initializes a new instance of the <see cref="ThrottleControlledAvionics.LambertSolver"/> class.
/// </summary>
/// <param name="orb">Starting orbit.</param>
/// <param name="destination">Destination radius-vector.</param>
/// <param name="UT">Starting UT.</param>
public LambertSolver(Orbit orb, Vector3d destination, double UT)
{
orbit = orb;
body = orbit.referenceBody;
StartUT = UT;
mu = body.gravParameter;
r1 = orb.getRelativePositionAtUT(UT);
var h = Vector3d.Cross(r1, destination);
if(h.sqrMagnitude < 0.01) h = orb.GetOrbitNormal();
c = destination-r1;
cm = c.magnitude;
var r1m = r1.magnitude;
var r2m = destination.magnitude;
var rrm = r1m+r2m;
m = rrm+cm;
n = rrm-cm;
m3 = m*m*m;
var transfer_angle = Vector3d.Angle(r1, destination)*Mathf.Deg2Rad;
if(h.z < 0) transfer_angle = Utils.TwoPI-transfer_angle;
sigma = Math.Sqrt(n/m);
if(transfer_angle > Math.PI) sigma = -sigma;
sigma2 = sigma*sigma;
sigma3 = sigma2*sigma;
sigma5 = sigma2*sigma3;
tauP = 2/3.0*(1-sigma3);
tauME = Math.Acos(sigma)+sigma*Math.Sqrt(1-sigma2);
}
public override ManeuverParameters MakeNodeImpl(Orbit o, double universalTime, MechJebModuleTargetController target)
{
double UT = timeSelector.ComputeManeuverTime(o, universalTime, target);
var dV = OrbitalManeuverCalculator.DeltaVToShiftNodeLongitude(o, UT, target.targetLongitude);
return new ManeuverParameters(dV, UT);
}
//Computes the time until the phase angle between the launchpad and the target equals the given angle.
//The convention used is that phase angle is the angle measured starting at the target and going east until
//you get to the launchpad.
//The time returned will not be exactly accurate unless the target is in an exactly circular orbit. However,
//the time returned will go to exactly zero when the desired phase angle is reached.
public static double TimeToPhaseAngle(double phaseAngle, CelestialBody launchBody, double launchLongitude, Orbit target)
{
double launchpadAngularRate = 360 / launchBody.rotationPeriod;
double targetAngularRate = 360.0 / target.period;
if (Vector3d.Dot(target.SwappedOrbitNormal(), launchBody.angularVelocity) < 0) targetAngularRate *= -1; //retrograde target
Vector3d currentLaunchpadDirection = launchBody.GetSurfaceNVector(0, launchLongitude);
Vector3d currentTargetDirection = target.SwappedRelativePositionAtUT(Planetarium.GetUniversalTime());
currentTargetDirection = Vector3d.Exclude(launchBody.angularVelocity, currentTargetDirection);
double currentPhaseAngle = Math.Abs(Vector3d.Angle(currentLaunchpadDirection, currentTargetDirection));
if (Vector3d.Dot(Vector3d.Cross(currentTargetDirection, currentLaunchpadDirection), launchBody.angularVelocity) < 0)
{
currentPhaseAngle = 360 - currentPhaseAngle;
}
double phaseAngleRate = launchpadAngularRate - targetAngularRate;
double phaseAngleDifference = MuUtils.ClampDegrees360(phaseAngle - currentPhaseAngle);
if (phaseAngleRate < 0)
{
phaseAngleRate *= -1;
phaseAngleDifference = 360 - phaseAngleDifference;
}
return phaseAngleDifference / phaseAngleRate;
}
public OrbitInfo(Orbitable orb, SharedObjects sharedObj)
: this()
{
orbit = orb.Orbit;
Shared = sharedObj;
name = orb.GetName();
}
public override ManeuverParameters MakeNodeImpl(Orbit o, double UT, MechJebModuleTargetController target)
{
if (!target.NormalTargetExists)
{
throw new OperationException("must select a target for the Hohmann transfer.");
}
else if (o.referenceBody != target.TargetOrbit.referenceBody)
{
throw new OperationException("target for Hohmann transfer must be in the same sphere of influence.");
}
else if (o.eccentricity > 1)
{
throw new OperationException("starting orbit for Hohmann transfer must not be hyperbolic.");
}
else if (target.TargetOrbit.eccentricity > 1)
{
throw new OperationException("target orbit for Hohmann transfer must not be hyperbolic.");
}
else if (o.RelativeInclination(target.TargetOrbit) > 30 && o.RelativeInclination(target.TargetOrbit) < 150)
{
errorMessage = "Warning: target's orbital plane is at a " + o.RelativeInclination(target.TargetOrbit).ToString("F0") + "º angle to starting orbit's plane (recommend at most 30º). Planned transfer may not intercept target properly.";
}
else if (o.eccentricity > 0.2)
{
errorMessage = "Warning: Recommend starting Hohmann transfers from a near-circular orbit (eccentricity < 0.2). Planned transfer is starting from an orbit with eccentricity " + o.eccentricity.ToString("F2") + " and so may not intercept target properly.";
}
Vector3d dV = OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(o, target.TargetOrbit, UT, out UT);
return new ManeuverParameters(dV, UT);
}
public OrbitInfo( Orbit orb, SharedObjects sharedObj)
: this()
{
Shared = sharedObj;
orbit = orb;
name = "<unnamed>";
}
public ReentrySimulation(Orbit _initialOrbit, double _UT, SimulatedVessel _vessel, SimCurves _simcurves, IDescentSpeedPolicy _descentSpeedPolicy, double _decelEndAltitudeASL, double _maxThrustAccel, double _parachuteSemiDeployMultiplier, double _probableLandingSiteASL, bool _multiplierHasError, double _dt, double _min_dt)
{
// Store all the input values as they were given
input_initialOrbit = _initialOrbit;
input_UT = _UT;
vessel = _vessel;
input_descentSpeedPolicy = _descentSpeedPolicy;
input_decelEndAltitudeASL = _decelEndAltitudeASL;
input_maxThrustAccel = _maxThrustAccel;
input_parachuteSemiDeployMultiplier = _parachuteSemiDeployMultiplier;
input_probableLandingSiteASL = _probableLandingSiteASL;
input_multiplierHasError = _multiplierHasError;
input_dt = _dt;
// the vessel attitude relative to the surface vel. Fixed for now
attitude = Quaternion.Euler(180,0,0);
min_dt = _min_dt;
max_dt = _dt;
dt = max_dt;
// Get a copy of the original orbit, to be more thread safe
initialOrbit = new Orbit();
initialOrbit.UpdateFromOrbitAtUT(_initialOrbit, _UT, _initialOrbit.referenceBody);
CelestialBody body = _initialOrbit.referenceBody;
bodyHasAtmosphere = body.atmosphere;
bodyRadius = body.Radius;
gravParameter = body.gravParameter;
this.parachuteSemiDeployMultiplier = _parachuteSemiDeployMultiplier;
this.multiplierHasError = _multiplierHasError;
bodyAngularVelocity = body.angularVelocity;
this.descentSpeedPolicy = _descentSpeedPolicy;
decelRadius = bodyRadius + _decelEndAltitudeASL;
aerobrakedRadius = bodyRadius + body.RealMaxAtmosphereAltitude();
mainBody = body;
this.maxThrustAccel = _maxThrustAccel;
this.probableLandingSiteASL = _probableLandingSiteASL;
this.probableLandingSiteRadius = _probableLandingSiteASL + bodyRadius;
referenceFrame = ReferenceFrame.CreateAtCurrentTime(_initialOrbit.referenceBody);
orbitReenters = OrbitReenters(_initialOrbit);
if (orbitReenters)
startUT = _UT;
maxDragGees = 0;
deltaVExpended = 0;
trajectory = new List<AbsoluteVector>();
simCurves = _simcurves;
once = true;
}
// Use this for initialization
void Start()
{
cameraScript = cameraObject.GetComponent<CameraMovement>();
kmCameraScript = kmCameraObject.GetComponent<CameraMovement>();
orbitScript = rotateObject.GetComponent<Orbit>();
timerText.text = timeLeft.ToString("0.00");
timerScreen.SetActive(false);
}
public void CircularOrbitAtZeroHasZeroAnglesAndMeanDistance()
{
Orbit orbit = new Orbit { Period = 1, MeanDistance = 1, Eccentricity = 0, Inclination = 0, PeriapsisArgument = 0 };
var position = OrbitMechanics.CalculatePosition(0, orbit);
Assert.AreEqual(0, position.Polar);
Assert.AreEqual(0, position.Elevation);
Assert.AreEqual(1, position.Radius);
}
public void CircularOrbitAtThreeQyartersYearHas270PolarAngleAndMeanDistance()
{
Orbit orbit = new Orbit { Period = 1, MeanDistance = 1, Eccentricity = 0, Inclination = 0, PeriapsisArgument = 0 };
var position = OrbitMechanics.CalculatePosition(0.75f, orbit);
Assert.AreEqual(Math.PI + Math.PI / 2, position.Polar, 0.00001);
Assert.AreEqual(0, position.Elevation);
Assert.AreEqual(1, position.Radius);
}
public Orbit stockPatch { get; set; } // tells wether the patch starting from this state is superimposed on a stock KSP patch, or null if something makes it diverge (atmospheric entry for example)
public VesselState(Vessel vessel)
{
referenceBody = vessel.orbit.referenceBody;
time = Planetarium.GetUniversalTime();
position = vessel.GetWorldPos3D() - referenceBody.position;
velocity = vessel.obt_velocity;
stockPatch = vessel.orbit;
}
public void CircularSector()
{
var o = new Orbit {SemiMajorAxis = 1, SemiMinorAxis = 1, TransformAngle = 0};
AssertAreClose(o.S(1, 0), Math.PI / 2);
AssertAreClose(o.S(1, Math.PI), 0);
AssertAreClose(o.S(1, -Math.PI/2), 3*Math.PI/4);
AssertAreClose(o.S(1, -Math.PI), Math.PI);
}
public override void DoParametersGUI(Orbit o, double universalTime, MechJebModuleTargetController target)
{
if (target.Target is CelestialBody)
GuiUtils.SimpleTextBox("Approximate final periapsis", courseCorrectFinalPeA, "km");
else
GuiUtils.SimpleTextBox("Closest approach distance", interceptDistance, "m");
GUILayout.Label("Schedule the burn to minimize the required ΔV.");
}
public override void UpdateOrbit(Orbit current)
{
base.UpdateOrbit(current);
update(false, false);
}
public void UpdateOrbit(Orbit current, bool with_brake, bool brake_at_fly_above)
{
base.UpdateOrbit(current);
update(with_brake, brake_at_fly_above);
}
public LandingPath(VesselWrapper vsl, Orbit orb, double target_altitude, double startUT, double dt,
double start_mass, double fuel = 0, double brake_vel = 0)
{
VSL = vsl;
Orbit = orb;
TargetAltitude = target_altitude;
StartUT = startUT;
UT0 = VSL.Physics.UT;
if (Orbit.referenceBody.atmosphere || brake_vel > 0 && fuel > 0)
{
EndUT = startUT + orb.timeToPe;
HavePoints = brake_vel > 0 && fuel > 0;
var p = newP(StartUT);
var m = start_mass;
var s = Math.Max(VSL.Geometry.MinArea, VSL.Geometry.AreaWithBrakes);
var ascending = p.Ascending;
p.Duration = dt;
while ((ascending || p.Altitude > TargetAltitude) && p.UT < EndUT)
{
if (!ascending && dt > 0.01)
{
var dAlt = p.Altitude - TargetAltitude;
if (dAlt / p.SrfSpeed < dt)
{
dt = dAlt / p.SrfSpeed * 0.9;
p.Duration = dt;
}
}
var drag_dv = p.SpecificDrag * s / m * dt;
var prev_alt = p.Altitude;
Atmosphere |= drag_dv > 0;
HavePoints |= Atmosphere;
if (HavePoints)
{
if (Points.Count == 0)
{
FirstPointUT = p.UT;
if (Atmosphere)
{
AtmoStartUT = p.UT;
}
}
Points.Add(p);
// VSL.Log("drag dV {}, m {}, fm {}, brake_vel {}, p {}",
// drag_dv, m, fuel, brake_vel, p);//debug
var r = p.pos.magnitude;
if (brake_vel > 0 && fuel > 0)
{
//compute thrust direction
var vV = Utils.ClampL(Vector3d.Dot(p.vel, p.pos / r), 1e-5);
var b_dir = LandingTrajectoryAutopilot.CorrectedBrakeVelocity(VSL, p.vel, p.pos,
p.DynamicPressure / 1000 / LandingTrajectoryAutopilot.C.MinDPressure,
(p.Altitude - TargetAltitude) / vV).normalized;
//compute thrust and mass flow
float mflow;
var thrust = VSL.Engines.ThrustAtAlt((float)p.SrfSpeed, (float)p.Altitude, out mflow);
var Ve = thrust / mflow;
var dm = mflow * dt;
if (dm > fuel)
{
dm = fuel;
}
var bV = (double)VSL.Engines.DeltaV(Ve, (float)dm);
if (bV > brake_vel)
{
bV = brake_vel;
dm = EnginesProps.FuelNeeded((float)bV, Ve, (float)m);
}
p.vel -= b_dir * bV;
brake_vel -= bV;
// VSL.Log("vV {}, vB {}, thrust {}, mflow {}, Ve {}, dm {}\nb_dir {}\nvel {}\npos {}",
// vV, bV, thrust, mflow, Ve, dm, b_dir, p.vel, p.pos);//debug
//spend fuel
fuel -= dm;
m -= dm;
}
if (Atmosphere)
{
p.vel -= p.srf_vel / p.SrfSpeed * Math.Min(drag_dv, p.SrfSpeed);
}
p.vel -= p.pos * p.Body.gMagnitudeAtCenter / r / r / r * dt;
p.pos += p.vel * dt;
p.UT += dt;
p.Update();
if (Atmosphere && AtmoStopUT < 0 && p.SrfSpeed < 10)
{
AtmoStopUT = p.UT;
}
}
else
{
p.Update(p.UT + dt);
}
ascending &= p.Altitude > prev_alt;
}
if (HavePoints)
{
Points.Add(p);
if (Atmosphere && AtmoStopUT < 0)
{
AtmoStopUT = p.UT;
}
}
EndUT = p.UT;
LastPoint = p;
}
else
{
EndUT = TrajectoryCalculator.NearestRadiusUT(Orbit, Orbit.referenceBody.Radius + TargetAltitude, StartUT);
LastPoint = newP(EndUT);
}
}
/// Dublicate an orbit
public static Orbit Clone(this Orbit orbit0)
{
return(new Orbit(orbit0.inclination, orbit0.eccentricity, orbit0.semiMajorAxis, orbit0.LAN, orbit0.argumentOfPeriapsis, orbit0.meanAnomalyAtEpoch, orbit0.epoch, orbit0.referenceBody));
}
public override void UpdateOrbit(Orbit current)
{
base.UpdateOrbit(current);
TransferTime = -1;
update();
}
internal static double timeOfClosestApproach(Orbit oOrig, Orbit oTgt, double timeStart, out double closestdistance)
{
return(timeOfClosestApproach(oOrig, oTgt, timeStart, oOrig.period, 20, out closestdistance));
}
internal static double timeOfTargetAltitude(Orbit oOrig, double timeStart, out double closestdistance, double targetDistance)
{
//return timeOfClosestApproach(a, b, time + ((orbit - 1) * a.period), (orbit * a.period), 20, out closestdistance);
return(timeOfTargetAltitude(oOrig, timeStart, 20, out closestdistance, targetDistance));
}
public Vector3d GetOrbitVelocityAtSurface()
{
return(Orbit.getOrbitalVelocityAtUT(AtTargetUT));
}
protected override void Collide(Collision2D other)
{
Rigidbody2D rb = other.gameObject.GetComponent <Rigidbody2D>();
if (rb)
{
if (frozenObjects.Contains(rb))
{
rb.isKinematic = false;
rb.velocity = Vector2.zero;
rb.angularVelocity = 0;
rb.constraints = RigidbodyConstraints2D.None;
frozenObjects.Remove(rb);
}
else
{
//scaled.TimeScale = 0;
rb.isKinematic = true;
rb.velocity = Vector2.zero;
rb.angularVelocity = 0;
rb.constraints = RigidbodyConstraints2D.FreezeAll;
frozenObjects.Add(rb);
GameObject.FindWithTag("Player").GetComponentInChildren <TimeGun>().StartUnFreeze(rb, freezeTime);
}
return;
}
Movingplatform platform = other.gameObject.GetComponent <Movingplatform>();
if (platform)
{
FrozenPlatform frozen = frozenPlatforms.FirstOrDefault(p => p.platform == platform);
if (frozen.platform != null)
{
frozen.platform.TimeScale = frozen.unfrozenTimeScale;
frozenPlatforms.Remove(frozen);
}
else
{
frozenPlatforms.Add(new FrozenPlatform {
platform = platform, unfrozenTimeScale = platform.TimeScale
});
platform.TimeScale = 0;
GameObject.FindWithTag("Player").GetComponentInChildren <TimeGun>().StartUnFreeze(platform, freezeTime);
}
return;
}
Orbit o = other.gameObject.GetComponent <Orbit>();
if (o)
{
if (frozenOrbits.Contains(o))
{
o.enabled = true;
frozenOrbits.Remove(o);
}
else
{
frozenOrbits.Add(o);
o.enabled = false;
GameObject.FindWithTag("Player").GetComponentInChildren <TimeGun>().StartUnFreeze(o, freezeTime);
}
}
}
public Planet(GameObject prefab, Orbit orbit)
{
this.prefab = prefab;
this.orbit = orbit;
}
private static Vector3d CalculateDragVector(Vessel vessel, VesselData vesselData, Vector3d orbitalVector, Orbit vesselOrbit)
{
var normalizedOrbitalVector = orbitalVector.normalized;
var cosOrbitRaw = Vector3d.Dot(vessel.transform.up, normalizedOrbitalVector);
var cosOrbitalDrag = Math.Abs(cosOrbitRaw);
var squaredCosOrbitalDrag = cosOrbitalDrag * cosOrbitalDrag;
var atmosphericGasKgPerSquareMeter = AtmosphericFloatCurves.GetAtmosphericGasDensityKgPerCubicMeter(vesselOrbit.referenceBody, vessel.altitude);
var effectiveSpeedForDrag = Math.Max(0, orbitalVector.magnitude);
var dragForcePerSquareMeter = atmosphericGasKgPerSquareMeter * 0.5 * effectiveSpeedForDrag * effectiveSpeedForDrag;
var effectiveSurfaceArea = cosOrbitalDrag * vesselData.ModulePhotonSail.surfaceArea;
// calculate normal
Vector3d vesselNormal = vessel.transform.up;
if (cosOrbitRaw < 0)
{
vesselNormal = -vesselNormal;
}
// calculate specular drag
var specularDragCoefficient = squaredCosOrbitalDrag + 3 * squaredCosOrbitalDrag;
var specularDragPerSquareMeter = specularDragCoefficient * dragForcePerSquareMeter * 0.1;
var specularDragInNewton = specularDragPerSquareMeter * effectiveSurfaceArea;
Vector3d specularDragForce = specularDragInNewton * vesselNormal;
// calculate Diffuse Drag
var diffuseDragCoefficient = 2 + squaredCosOrbitalDrag * 1.3;
var diffuseDragPerSquareMeter = diffuseDragCoefficient * dragForcePerSquareMeter * 0.9;
var diffuseDragInNewton = diffuseDragPerSquareMeter * effectiveSurfaceArea;
Vector3d diffuseDragForceVector = diffuseDragInNewton * normalizedOrbitalVector * -1;
Vector3d combinedDragDecelerationVector = vesselData.TotalVesselMassInKg > 0
? (specularDragForce + diffuseDragForceVector) / vesselData.TotalVesselMassInKg
: Vector3d.zero;
return(combinedDragDecelerationVector);
}
private static void SetOrbit(OrbitDriver currentlyEditing, Orbit orbit)
{
Log.Info("Setorbit");
currentlyEditing.DynamicSetOrbit(orbit);
}
public static Vector3d Node2OrbitalDeltaV(ManeuverNode node, Orbit o = null) => Node2OrbitalDeltaV(o ?? node.patch, node.DeltaV, node.UT);
private void checkOrbit()
{
if (_manager.SelectedManeuverNode == null || _snapTab == null)
{
return;
}
if (_patch == null)
{
SetFields();
}
double UT = Planetarium.GetUniversalTime();
//_snapTab.CurrentTime.OnTextUpdate.Invoke(string.Format("Maneuver Node #{0}: T {1}", _index + 1, KSPUtil.PrintTime(UT - _manager.SelectedManeuverNode.UT, 3, true)));
_snapTab.ResetTime.OnTextUpdate.Invoke(string.Format("{0}", KSPUtil.PrintTime(_startUT - UT, 3, false)));
if (_patch.eccentricity >= 1)
{
if (_manager.SelectedManeuverNode.attachedGizmo != null)
{
_manager.SelectedManeuverNode.attachedGizmo.orbitsAdded = 0;
}
_orbitsAdded = 0;
_snapTab.NextOrbitButton.gameObject.SetActive(false);
_snapTab.PreviousOrbitButton.gameObject.SetActive(false);
_snapTab.ApoButton.gameObject.SetActive(false);
if (_patch.timeToPe < 0)
{
_snapTab.PeriButton.gameObject.SetActive(false);
}
else if (_patch.PeR < 0)
{
_snapTab.PeriButton.gameObject.SetActive(false);
}
else if (_patch.UTsoi > 0 && _patch.timeToPe + _patch.StartUT > _patch.UTsoi)
{
_snapTab.PeriButton.gameObject.SetActive(false);
}
else
{
_snapTab.PeriButton.gameObject.SetActive(true);
periUT = _patch.StartUT + _patch.timeToPe;
}
if ((_patch.patchEndTransition == Orbit.PatchTransitionType.ENCOUNTER || _patch.patchEndTransition == Orbit.PatchTransitionType.ESCAPE || _patch.patchEndTransition == Orbit.PatchTransitionType.MANEUVER) &&
(_patch.nextPatch.patchEndTransition == Orbit.PatchTransitionType.ENCOUNTER || _patch.nextPatch.patchEndTransition == Orbit.PatchTransitionType.ESCAPE))
{
_snapTab.NextPatchButton.gameObject.SetActive(true);
if (_patch.nextPatch.nextPatch.UTsoi > 0)
{
nextPUT = _patch.nextPatch.nextPatch.StartUT + ((_patch.nextPatch.nextPatch.UTsoi - _patch.nextPatch.nextPatch.StartUT) / 2);
}
else if (_patch.nextPatch.nextPatch.eccentricity < 1 && !double.IsNaN(_patch.nextPatch.nextPatch.period) && !double.IsInfinity(_patch.nextPatch.nextPatch.period))
{
nextPUT = _patch.nextPatch.nextPatch.StartUT + (_patch.nextPatch.nextPatch.period / 2);
}
else
{
nextPUT = _patch.nextPatch.nextPatch.StartUT + ((_patch.nextPatch.nextPatch.EndUT - _patch.nextPatch.nextPatch.StartUT) / 2);
}
}
else
{
_snapTab.NextPatchButton.gameObject.SetActive(false);
}
if (_patch.patchStartTransition == Orbit.PatchTransitionType.INITIAL || _patch.patchStartTransition == Orbit.PatchTransitionType.MANEUVER)
{
_snapTab.PreviousPatchButton.gameObject.SetActive(false);
}
else
{
_snapTab.PreviousPatchButton.gameObject.SetActive(true);
if (_patch.previousPatch.UTsoi > 0)
{
prevPUT = _patch.previousPatch.StartUT + ((_patch.previousPatch.UTsoi - _patch.previousPatch.StartUT) / 2);
}
else if (_patch.previousPatch.eccentricity < 1 && !double.IsNaN(_patch.previousPatch.period) && !double.IsInfinity(_patch.previousPatch.period))
{
prevPUT = _patch.previousPatch.StartUT + (_patch.previousPatch.period / 2);
}
else
{
prevPUT = _patch.previousPatch.StartUT + ((_patch.previousPatch.EndUT - _patch.previousPatch.StartUT) / 2);
}
}
eqAscUT = ManeuverUtilities.EqAscTime(_patch);
if (_patch.UTsoi > 0 && eqAscUT > _patch.UTsoi)
{
_snapTab.EqAscButton.gameObject.SetActive(false);
}
else if (eqAscUT < UT)
{
_snapTab.EqAscButton.gameObject.SetActive(false);
}
else
{
_snapTab.EqAscButton.gameObject.SetActive(true);
}
eqDescUT = ManeuverUtilities.EqDescTime(_patch);
if (_patch.UTsoi > 0 && eqDescUT > _patch.UTsoi)
{
_snapTab.EqDescButton.gameObject.SetActive(false);
}
else if (eqDescUT < UT)
{
_snapTab.EqDescButton.gameObject.SetActive(false);
}
else
{
_snapTab.EqDescButton.gameObject.SetActive(true);
}
ITargetable target = FlightGlobals.fetch.VesselTarget;
if (target == null)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
_snapTab.RelDescButton.gameObject.SetActive(false);
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
Orbit tgtPatch = target.GetOrbit();
if (tgtPatch.referenceBody != _patch.referenceBody)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
_snapTab.RelDescButton.gameObject.SetActive(false);
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
relAscUT = ManeuverUtilities.RelAscTime(_patch, target);
if (_patch.UTsoi > 0 && relAscUT > _patch.UTsoi)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
}
else if (relAscUT < UT)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
}
else
{
_snapTab.RelAscButton.gameObject.SetActive(true);
}
relDescUT = ManeuverUtilities.RelDescTime(_patch, target);
if (_patch.UTsoi > 0 && relDescUT > _patch.UTsoi)
{
_snapTab.RelDescButton.gameObject.SetActive(false);
}
else if (relDescUT < UT)
{
_snapTab.RelDescButton.gameObject.SetActive(false);
}
else
{
_snapTab.RelDescButton.gameObject.SetActive(true);
}
if (target.GetVessel() == null)
{
clAppUT = _patch.closestTgtApprUT;
}
else
{
clAppUT = ManeuverUtilities.closestVessel(0, _patch, tgtPatch, true, 0, 0);
}
if (clAppUT <= 0)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else if (_patch.UTsoi > 0 && clAppUT > _patch.UTsoi)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else if (clAppUT < UT)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
_snapTab.ClAppButton.gameObject.SetActive(true);
}
}
}
}
else
{
if (_patch.patchEndTransition == Orbit.PatchTransitionType.FINAL)
{
if (!double.IsNaN(_patch.period) && !double.IsInfinity(_patch.period))
{
_snapTab.NextOrbitButton.gameObject.SetActive(true);
nextOUT = _manager.SelectedManeuverNode.UT + _patch.period;
}
else
{
_snapTab.NextOrbitButton.gameObject.SetActive(false);
}
if (double.IsNaN(_patch.period) || double.IsInfinity(_patch.period) || _manager.SelectedManeuverNode.UT - _patch.period < UT)
{
_snapTab.PreviousOrbitButton.gameObject.SetActive(false);
}
else
{
_snapTab.PreviousOrbitButton.gameObject.SetActive(true);
prevOUT = _manager.SelectedManeuverNode.UT - _patch.period;
}
_snapTab.ApoButton.gameObject.SetActive(true);
apoUT = _patch.StartUT + _patch.timeToAp;
_snapTab.PeriButton.gameObject.SetActive(true);
periUT = _patch.StartUT + _patch.timeToPe;
_snapTab.NextPatchButton.gameObject.SetActive(false);
if (_patch.patchStartTransition == Orbit.PatchTransitionType.INITIAL || _patch.patchStartTransition == Orbit.PatchTransitionType.MANEUVER)
{
_snapTab.PreviousPatchButton.gameObject.SetActive(false);
}
else
{
_snapTab.PreviousPatchButton.gameObject.SetActive(true);
if (_patch.previousPatch.UTsoi > 0)
{
prevPUT = _patch.previousPatch.StartUT + ((_patch.previousPatch.UTsoi - _patch.previousPatch.StartUT) / 2);
}
else if (_patch.previousPatch.eccentricity < 1 && !double.IsNaN(_patch.previousPatch.period) && !double.IsInfinity(_patch.previousPatch.period))
{
prevPUT = _patch.previousPatch.StartUT + (_patch.previousPatch.period / 2);
}
else
{
prevPUT = _patch.previousPatch.StartUT + ((_patch.previousPatch.EndUT - _patch.previousPatch.StartUT) / 2);
}
}
_snapTab.EqAscButton.gameObject.SetActive(true);
eqAscUT = ManeuverUtilities.EqAscTime(_patch);
_snapTab.EqDescButton.gameObject.SetActive(true);
eqDescUT = ManeuverUtilities.EqDescTime(_patch);
ITargetable target = FlightGlobals.fetch.VesselTarget;
if (target == null)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
_snapTab.RelDescButton.gameObject.SetActive(false);
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
Orbit tgtPatch = target.GetOrbit();
if (tgtPatch.referenceBody != _patch.referenceBody)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
_snapTab.RelDescButton.gameObject.SetActive(false);
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
_snapTab.RelAscButton.gameObject.SetActive(true);
relAscUT = ManeuverUtilities.RelAscTime(_patch, target);
_snapTab.RelDescButton.gameObject.SetActive(true);
relDescUT = ManeuverUtilities.RelDescTime(_patch, target);
if (target.GetVessel() == null)
{
clAppUT = _patch.closestTgtApprUT;
}
else
{
clAppUT = ManeuverUtilities.closestVessel(0, _patch, tgtPatch, true, 0, 0);
}
if (clAppUT <= 0)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
_snapTab.ClAppButton.gameObject.SetActive(true);
}
}
}
}
else
{
if (_manager.SelectedManeuverNode.attachedGizmo != null)
{
_manager.SelectedManeuverNode.attachedGizmo.orbitsAdded = 0;
}
_orbitsAdded = 0;
_snapTab.NextOrbitButton.gameObject.SetActive(false);
_snapTab.PreviousOrbitButton.gameObject.SetActive(false);
if (_patch.timeToAp < 0)
{
_snapTab.ApoButton.gameObject.SetActive(false);
}
if (_patch.UTsoi > 0 && _patch.timeToAp + _patch.StartUT > _patch.UTsoi)
{
_snapTab.ApoButton.gameObject.SetActive(false);
}
if (_patch.ApA > _patch.referenceBody.sphereOfInfluence)
{
_snapTab.ApoButton.gameObject.SetActive(false);
}
else
{
_snapTab.ApoButton.gameObject.SetActive(true);
apoUT = _patch.StartUT + _patch.timeToAp;
}
if (_patch.timeToPe < 0)
{
_snapTab.PeriButton.gameObject.SetActive(false);
}
else if (_patch.PeR < 0)
{
_snapTab.PeriButton.gameObject.SetActive(false);
}
else if (_patch.UTsoi > 0 && _patch.timeToPe + _patch.StartUT > _patch.UTsoi)
{
_snapTab.PeriButton.gameObject.SetActive(false);
}
else
{
_snapTab.PeriButton.gameObject.SetActive(true);
periUT = _patch.StartUT + _patch.timeToPe;
}
if ((_patch.patchEndTransition == Orbit.PatchTransitionType.ENCOUNTER || _patch.patchEndTransition == Orbit.PatchTransitionType.ESCAPE || _patch.patchEndTransition == Orbit.PatchTransitionType.MANEUVER) &&
(_patch.nextPatch.patchEndTransition == Orbit.PatchTransitionType.ENCOUNTER || _patch.nextPatch.patchEndTransition == Orbit.PatchTransitionType.ESCAPE))
{
_snapTab.NextPatchButton.gameObject.SetActive(true);
if (_patch.nextPatch.nextPatch.UTsoi > 0)
{
nextPUT = _patch.nextPatch.nextPatch.StartUT + ((_patch.nextPatch.nextPatch.UTsoi - _patch.nextPatch.nextPatch.StartUT) / 2);
}
else if (_patch.nextPatch.nextPatch.eccentricity < 1 && !double.IsNaN(_patch.nextPatch.nextPatch.period) && !double.IsInfinity(_patch.nextPatch.nextPatch.period))
{
nextPUT = _patch.nextPatch.nextPatch.StartUT + (_patch.nextPatch.nextPatch.period / 2);
}
else
{
nextPUT = _patch.nextPatch.nextPatch.StartUT + ((_patch.nextPatch.nextPatch.EndUT - _patch.nextPatch.nextPatch.StartUT) / 2);
}
}
else
{
_snapTab.NextPatchButton.gameObject.SetActive(false);
}
if (_patch.patchStartTransition == Orbit.PatchTransitionType.INITIAL || _patch.patchStartTransition == Orbit.PatchTransitionType.MANEUVER)
{
_snapTab.PreviousPatchButton.gameObject.SetActive(false);
}
else
{
_snapTab.PreviousPatchButton.gameObject.SetActive(true);
if (_patch.previousPatch.UTsoi > 0)
{
prevPUT = _patch.previousPatch.StartUT + ((_patch.previousPatch.UTsoi - _patch.previousPatch.StartUT) / 2);
}
else if (_patch.previousPatch.eccentricity < 1 && !double.IsNaN(_patch.previousPatch.period) && !double.IsInfinity(_patch.previousPatch.period))
{
prevPUT = _patch.previousPatch.StartUT + (_patch.previousPatch.period / 2);
}
else
{
prevPUT = _patch.previousPatch.StartUT + ((_patch.previousPatch.EndUT - _patch.previousPatch.StartUT) / 2);
}
}
eqAscUT = ManeuverUtilities.EqAscTime(_patch);
if (_patch.UTsoi > 0 && eqAscUT > _patch.UTsoi)
{
_snapTab.EqAscButton.gameObject.SetActive(false);
}
else if (eqAscUT < UT)
{
_snapTab.EqAscButton.gameObject.SetActive(false);
}
else
{
_snapTab.EqAscButton.gameObject.SetActive(true);
}
eqDescUT = ManeuverUtilities.EqDescTime(_patch);
if (_patch.UTsoi > 0 && eqDescUT > _patch.UTsoi)
{
_snapTab.EqDescButton.gameObject.SetActive(false);
}
else if (eqDescUT < UT)
{
_snapTab.EqDescButton.gameObject.SetActive(false);
}
else
{
_snapTab.EqDescButton.gameObject.SetActive(true);
}
ITargetable target = FlightGlobals.fetch.VesselTarget;
if (target == null)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
_snapTab.RelDescButton.gameObject.SetActive(false);
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
Orbit tgtPatch = target.GetOrbit();
if (tgtPatch.referenceBody != _patch.referenceBody)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
_snapTab.RelDescButton.gameObject.SetActive(false);
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
relAscUT = ManeuverUtilities.RelAscTime(_patch, target);
if (_patch.UTsoi > 0 && relAscUT > _patch.UTsoi)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
}
else if (relAscUT < UT)
{
_snapTab.RelAscButton.gameObject.SetActive(false);
}
else
{
_snapTab.RelAscButton.gameObject.SetActive(true);
}
relDescUT = ManeuverUtilities.RelDescTime(_patch, target);
if (_patch.UTsoi > 0 && relDescUT > _patch.UTsoi)
{
_snapTab.RelDescButton.gameObject.SetActive(false);
}
else if (relDescUT < UT)
{
_snapTab.RelDescButton.gameObject.SetActive(false);
}
else
{
_snapTab.RelDescButton.gameObject.SetActive(true);
}
if (target.GetVessel() == null)
{
clAppUT = _patch.closestTgtApprUT;
}
else
{
clAppUT = ManeuverUtilities.closestVessel(0, _patch, tgtPatch, true, 0, 0);
}
if (clAppUT <= 0)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else if (_patch.UTsoi > 0 && clAppUT > _patch.UTsoi)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else if (clAppUT < UT)
{
_snapTab.ClAppButton.gameObject.SetActive(false);
}
else
{
_snapTab.ClAppButton.gameObject.SetActive(true);
}
}
}
}
}
}
protected void MaintainAerobrakeNode()
{
if (makeAerobrakeNodes)
{
//Remove node after finishing aerobraking:
if (aerobrakeNode != null && vessel.patchedConicSolver.maneuverNodes.Contains(aerobrakeNode))
{
if (aerobrakeNode.UT < vesselState.time && vesselState.altitudeASL > mainBody.RealMaxAtmosphereAltitude())
{
vessel.patchedConicSolver.RemoveManeuverNode(aerobrakeNode);
aerobrakeNode = null;
}
}
//Update or create node if necessary:
ReentrySimulation.Result r = GetResult();
if (r != null && r.outcome == ReentrySimulation.Outcome.AEROBRAKED)
{
//Compute the node dV:
Orbit preAerobrakeOrbit = GetReenteringPatch();
//Put the node at periapsis, unless we're past periapsis. In that case put the node at the current time.
double UT;
if (preAerobrakeOrbit == orbit &&
vesselState.altitudeASL < mainBody.RealMaxAtmosphereAltitude() && vesselState.speedVertical > 0)
{
UT = vesselState.time;
}
else
{
UT = preAerobrakeOrbit.NextPeriapsisTime(preAerobrakeOrbit.StartUT);
}
Orbit postAerobrakeOrbit = MuUtils.OrbitFromStateVectors(r.WorldEndPosition(), r.WorldEndVelocity(), r.body, r.endUT);
Vector3d dV = OrbitalManeuverCalculator.DeltaVToChangeApoapsis(preAerobrakeOrbit, UT, postAerobrakeOrbit.ApR);
if (aerobrakeNode != null && vessel.patchedConicSolver.maneuverNodes.Contains(aerobrakeNode))
{
//update the existing node
Vector3d nodeDV = preAerobrakeOrbit.DeltaVToManeuverNodeCoordinates(UT, dV);
aerobrakeNode.OnGizmoUpdated(nodeDV, UT);
}
else
{
//place a new node
aerobrakeNode = vessel.PlaceManeuverNode(preAerobrakeOrbit, dV, UT);
}
}
else
{
//no aerobraking, remove the node:
if (aerobrakeNode != null && vessel.patchedConicSolver.maneuverNodes.Contains(aerobrakeNode))
{
vessel.patchedConicSolver.RemoveManeuverNode(aerobrakeNode);
}
}
}
else
{
//Remove aerobrake node when it is turned off:
if (aerobrakeNode != null && vessel.patchedConicSolver.maneuverNodes.Contains(aerobrakeNode))
{
vessel.patchedConicSolver.RemoveManeuverNode(aerobrakeNode);
}
}
}
internal static double timeOfTargetDistance(Orbit oOrig, Orbit oTgt, double timeStart, int orbit, out double closestdistance, double targetDistance)
{
//return timeOfClosestApproach(a, b, time + ((orbit - 1) * a.period), (orbit * a.period), 20, out closestdistance);
return(timeOfTargetDistance(oOrig, oTgt, timeStart + ((orbit - 1) * oOrig.period), oOrig.period, 20, out closestdistance, targetDistance));
}
void update(bool with_brake, bool brake_at_fly_above)
{
reset();
//update everything
update_from_orbit();
update_landing_steepness();
ActualLandingAngle = 90 - Utils.Angle2(AtTargetPos, -AtTargetVel);
var AerobrakeStartUT = Path.Atmosphere ? Path.AtmoStartUT : AtTargetUT - 1;
//correct for brake maneuver
if (with_brake)
{
//estimate time needed to rotate the ship downwards
var rotation_time = VSL.Torque.NoEngines ?
VSL.Torque.NoEngines.RotationTime2Phase(90) :
VSL.Torque.MaxPossible.RotationTime2Phase(90, 0.1f);
//estimate amount of fuel needed for the maneuver
var vertical_vel = Vector3d.Project(AtTargetVel, AtTargetPos);
SetBrakeEndUT(Math.Max(AtTargetUT - LandingTrajectoryAutopilot.C.CorrectionOffset + rotation_time, StartUT));
SetBrakeDeltaV(vertical_vel);
if (BrakeFuel > 0)
{
//calculate braking maneuver
BrakeDuration = VSL.Engines.OnPlanetTTB(BrakeDeltaV,
Orbit.getRelativePositionAtUT(BrakeEndPoint.UT),
(float)(BrakeEndPointDeltaAlt + TargetAltitude));
BrakeDuration += rotation_time;
if (FullBrake)
{
if (brake_at_fly_above)
{
FlyAbovePoint = Path.FlyAbovePoint(Target.OrbPos(Body));
if (WillOverheat)
{
SetBrakeEndPoint(Path.PointAtShipTemp(VSL.Physics.MinMaxTemperature - 100));
}
else
{
SetBrakeEndPoint(FlyAbovePoint);
}
}
else
{
//find appropriate point to perform the maneuver
var brake_end_UT = Math.Max(AtTargetUT - Mathf.Max(LandingTrajectoryAutopilot.C.CorrectionOffset, BrakeDuration * 1.1f), StartUT);
var fly_over_alt = TargetAltitude + LandingTrajectoryAutopilot.C.FlyOverAlt;
if (WillOverheat)
{
SetBrakeEndPoint(Path.PointAtShipTemp(VSL.Physics.MinMaxTemperature - 100));
}
else if (Path.UT2Altitude(brake_end_UT) < fly_over_alt)
{
SetBrakeEndPoint(Path.PointAtAltitude(fly_over_alt));
}
else
{
SetBrakeEndUT(brake_end_UT);
}
}
}
else
{
SetBrakeEndUT(AerobrakeStartUT);
}
//update landing site
update_landing_site_after_brake();
}
else //no brake maneuver
{
SetBrakeEndUT(AerobrakeStartUT);
BrakeStartPoint = BrakeEndPoint;
BrakeDuration = 0;
}
}
else
{
FlyAbovePoint = Path.FlyAbovePoint(Target.OrbPos(Body));
if (WillOverheat)
{
SetBrakeEndPoint(Path.PointAtShipTemp(VSL.Physics.MinMaxTemperature - 100));
}
else
{
SetBrakeEndPoint(FlyAbovePoint);
}
SetBrakeDeltaV(-AtTargetVel - Vector3d.Cross(Body.zUpAngularVelocity, AtTargetPos));
if (BrakeFuel > 0)
{
var offset = MatchVelocityAutopilot.BrakingOffset((float)BrakeDeltaV.magnitude, VSL, out BrakeDuration);
BrakeStartPoint = Path.PointAtUT(Math.Max(BrakeEndPoint.UT - offset, StartUT));
}
else
{
SetBrakeEndUT(AerobrakeStartUT);
BrakeStartPoint = BrakeStartPoint;
BrakeDuration = 0;
}
}
BrakeOffset = (float)Utils.ClampL(BrakeEndPoint.UT - BrakeStartPoint.UT, 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 - Utils.Angle2(Orbit.GetOrbitNormal(),
TrajectoryCalculator.BodyRotationAtdT(Body, TimeToTarget) * Target.OrbPos(Body));
DeltaR = Utils.RadDelta(SurfacePoint.AngleTo(VslStartLat, VslStartLon), Target.AngleTo(VslStartLat, VslStartLon)) * Mathf.Rad2Deg;
// Utils.Log("{}", this);//debug
}
protected override void WindowGUI(int windowID)
{
GUILayout.BeginVertical();
List <ManeuverNode> maneuverNodes = GetManeuverNodes();
bool anyNodeExists = GetManeuverNodes().Any();
if (anyNodeExists)
{
GUILayout.BeginHorizontal();
if (GUILayout.Button(createNode ? "Create a new" : "Change the last"))
{
createNode = !createNode;
}
GUILayout.Label("maneuver node to:");
GUILayout.EndHorizontal();
}
else
{
GUILayout.Label("Create a new maneuver node to:");
createNode = true;
}
operationId = GuiUtils.ComboBox.Box(operationId, operationNames, this);
// Compute orbit and universal time parameters for next maneuver
double UT = vesselState.time;
Orbit o = orbit;
if (anyNodeExists)
{
if (createNode)
{
ManeuverNode last = maneuverNodes.Last();
UT = last.UT;
o = last.nextPatch;
}
else if (maneuverNodes.Count() > 1)
{
ManeuverNode last = maneuverNodes[maneuverNodes.Count() - 1];
UT = last.UT;
o = last.nextPatch;
}
}
try
{
operation[operationId].DoParametersGUI(o, UT, core.target);
}
catch (Exception) { } // TODO: Would be better to fix the problem but this will do for now
if (anyNodeExists)
{
GUILayout.Label("after the last maneuver node.");
}
bool makingNode = false;
bool executingNode = false;
GUILayout.BeginHorizontal();
if (GUILayout.Button("Create node"))
{
makingNode = true;
executingNode = false;
}
if (core.node != null && GUILayout.Button("Create and execute"))
{
makingNode = true;
executingNode = true;
}
GUILayout.EndHorizontal();
if (makingNode)
{
var computedNode = operation[operationId].MakeNode(o, UT, core.target);
if (computedNode != null)
{
if (!createNode)
{
vessel.patchedConicSolver.RemoveManeuverNode(maneuverNodes.Last());
}
vessel.PlaceManeuverNode(o, computedNode.dV, computedNode.UT);
}
if (executingNode && core.node != null)
{
core.node.ExecuteOneNode(this);
}
}
if (operation[operationId].getErrorMessage().Length > 0)
{
GUIStyle s = new GUIStyle(GUI.skin.label);
s.normal.textColor = Color.yellow;
GUILayout.Label(operation[operationId].getErrorMessage(), s);
}
if (GUILayout.Button("Remove ALL nodes"))
{
vessel.RemoveAllManeuverNodes();
}
if (core.node != null)
{
if (anyNodeExists && !core.node.enabled)
{
if (GUILayout.Button("Execute next node"))
{
core.node.ExecuteOneNode(this);
}
if (vessel.patchedConicSolver.maneuverNodes.Count > 1)
{
if (GUILayout.Button("Execute all nodes"))
{
core.node.ExecuteAllNodes(this);
}
}
}
else if (core.node.enabled)
{
if (GUILayout.Button("Abort node execution"))
{
core.node.Abort();
}
}
GUILayout.BeginHorizontal();
core.node.autowarp = GUILayout.Toggle(core.node.autowarp, "Auto-warp", GUILayout.ExpandWidth(true));
GUILayout.Label("Tolerance:", GUILayout.ExpandWidth(false));
core.node.tolerance.text = GUILayout.TextField(core.node.tolerance.text, GUILayout.Width(35), GUILayout.ExpandWidth(false));
if (GUILayout.Button("+", GUILayout.ExpandWidth(false)))
{
core.node.tolerance.val += 0.1;
}
if (GUILayout.Button("-", GUILayout.ExpandWidth(false)))
{
core.node.tolerance.val -= core.node.tolerance.val > 0.1 ? 0.1 : 0.0;
}
if (GUILayout.Button("R", GUILayout.ExpandWidth(false)))
{
core.node.tolerance.val = 0.1;
}
GUILayout.Label("m/s", GUILayout.ExpandWidth(false));
GUILayout.EndHorizontal();
}
GUILayout.EndVertical();
base.WindowGUI(windowID, operation[operationId].draggable);
}
void Start()
{
orbit = transform.GetComponent <Orbit>();
}
//Estimate the delta-V of the correction burn that would be required to put us on
//course for the target
public Vector3d ComputeCourseCorrection(bool allowPrograde)
{
//actualLandingPosition is the predicted actual landing position
Vector3d actualLandingPosition = RotatedLandingSite - mainBody.position;
//orbitLandingPosition is the point where our current orbit intersects the planet
double endRadius = mainBody.Radius + DecelerationEndAltitude() - 100;
Vector3d orbitLandingPosition = orbit.SwappedRelativePositionAtUT(orbit.NextTimeOfRadius(vesselState.time, endRadius));
//convertOrbitToActual is a rotation that rotates orbitLandingPosition on actualLandingPosition
Quaternion convertOrbitToActual = Quaternion.FromToRotation(orbitLandingPosition, actualLandingPosition);
//Consider the effect small changes in the velocity in each of these three directions
Vector3d[] perturbationDirections = { vesselState.velocityVesselSurfaceUnit, vesselState.radialPlusSurface, vesselState.normalPlusSurface };
//Compute the effect burns in these directions would
//have on the landing position, where we approximate the landing position as the place
//the perturbed orbit would intersect the planet.
Vector3d[] deltas = new Vector3d[3];
for (int i = 0; i < 3; i++)
{
double perturbationDeltaV = 1; //warning: hard experience shows that setting this too low leads to bewildering bugs due to finite precision of Orbit functions
Orbit perturbedOrbit = orbit.PerturbedOrbit(vesselState.time, perturbationDeltaV * perturbationDirections[i]); //compute the perturbed orbit
double perturbedLandingTime;
if (perturbedOrbit.PeR < endRadius)
{
perturbedLandingTime = perturbedOrbit.NextTimeOfRadius(vesselState.time, endRadius);
}
else
{
perturbedLandingTime = perturbedOrbit.NextPeriapsisTime(vesselState.time);
}
Vector3d perturbedLandingPosition = perturbedOrbit.SwappedRelativePositionAtUT(perturbedLandingTime); //find where it hits the planet
Vector3d landingDelta = perturbedLandingPosition - orbitLandingPosition; //find the difference between that and the original orbit's intersection point
landingDelta = convertOrbitToActual * landingDelta; //rotate that difference vector so that we can now think of it as starting at the actual landing position
landingDelta = Vector3d.Exclude(actualLandingPosition, landingDelta); //project the difference vector onto the plane tangent to the actual landing position
deltas[i] = landingDelta / perturbationDeltaV; //normalize by the delta-V considered, so that deltas now has units of meters per (meter/second) [i.e., seconds]
}
//Now deltas stores the predicted offsets in landing position produced by each of the three perturbations.
//We now figure out the offset we actually want
//First we compute the target landing position. We have to convert the latitude and longitude of the target
//into a position. We can't just get the current position of those coordinates, because the planet will
//rotate during the descent, so we have to account for that.
Vector3d desiredLandingPosition = mainBody.GetRelSurfacePosition(core.target.targetLatitude, core.target.targetLongitude, 0);
float bodyRotationAngleDuringDescent = (float)(360 * (prediction.endUT - vesselState.time) / mainBody.rotationPeriod);
Quaternion bodyRotationDuringFall = Quaternion.AngleAxis(bodyRotationAngleDuringDescent, mainBody.angularVelocity.normalized);
desiredLandingPosition = bodyRotationDuringFall * desiredLandingPosition;
Vector3d desiredDelta = desiredLandingPosition - actualLandingPosition;
desiredDelta = Vector3d.Exclude(actualLandingPosition, desiredDelta);
//Now desiredDelta gives the desired change in our actual landing position (projected onto a plane
//tangent to the actual landing position).
Vector3d downrangeDirection;
Vector3d downrangeDelta;
if (allowPrograde)
{
//Construct the linear combination of the prograde and radial+ perturbations
//that produces the largest effect on the landing position. The Math.Sign is to
//detect and handle the case where radial+ burns actually bring the landing sign closer
//(e.g. when we are traveling close to straight up)
downrangeDirection = (deltas[0].magnitude * perturbationDirections[0]
+ Math.Sign(Vector3d.Dot(deltas[0], deltas[1])) * deltas[1].magnitude * perturbationDirections[1]).normalized;
downrangeDelta = Vector3d.Dot(downrangeDirection, perturbationDirections[0]) * deltas[0]
+ Vector3d.Dot(downrangeDirection, perturbationDirections[1]) * deltas[1];
}
else
{
//If we aren't allowed to burn prograde, downrange component of the landing
//position has to be controlled by radial+/- burns:
downrangeDirection = perturbationDirections[1];
downrangeDelta = deltas[1];
}
//Now solve a 2x2 system of linear equations to determine the linear combination
//of perturbationDirection01 and normal+ that will give the desired offset in the
//predicted landing position.
Matrix2x2 A = new Matrix2x2(
downrangeDelta.sqrMagnitude, Vector3d.Dot(downrangeDelta, deltas[2]),
Vector3d.Dot(downrangeDelta, deltas[2]), deltas[2].sqrMagnitude
);
Vector2d b = new Vector2d(Vector3d.Dot(desiredDelta, downrangeDelta), Vector3d.Dot(desiredDelta, deltas[2]));
Vector2d coeffs = A.inverse() * b;
Vector3d courseCorrection = coeffs.x * downrangeDirection + coeffs.y * perturbationDirections[2];
return(courseCorrection);
}
/// <summary>
/// Draws the orbit.
/// </summary>
/// <param name="orbit">The orbit.</param>
/// <param name="color">The color of the created line.</param>
public static void DrawOrbit(Orbit orbit, Color color)
{
DrawOrbit(orbit, color, Style.SOLID);
}
bool OrbitReenters(Orbit initialOrbit)
{
return(initialOrbit.PeR < decelRadius || initialOrbit.PeR < aerobrakedRadius);
}
public override void Drive(FlightCtrlState s)
{
if (!core.target.NormalTargetExists)
{
users.Clear();
return;
}
core.node.autowarp = core.node.autowarp && core.target.Distance > 1000;
//If we get within the target distance and then next maneuver node is still
//far in the future, delete it and we will create a new one to match velocities immediately.
//This can often happen because the target vessel's orbit shifts slightly when it is unpacked.
if (core.target.Distance < desiredDistance &&
vessel.patchedConicSolver.maneuverNodes.Count > 0 &&
vessel.patchedConicSolver.maneuverNodes[0].UT > vesselState.time + 1)
{
vessel.RemoveAllManeuverNodes();
}
if (vessel.patchedConicSolver.maneuverNodes.Count > 0)
{
//If we have plotted a maneuver, execute it.
if (!core.node.enabled)
{
core.node.ExecuteAllNodes(this);
}
}
else if (core.target.Distance < desiredDistance * 1.05 + 2 &&
core.target.RelativeVelocity.magnitude < 1)
{
//finished
users.Clear();
core.thrust.ThrustOff();
status = Localizer.Format("#MechJeb_RZauto_statu1");//"Successful rendezvous"
}
else if (core.target.Distance < desiredDistance * 1.05 + 2)
{
//We are within the target distance: match velocities
double UT = vesselState.time;
Vector3d dV = OrbitalManeuverCalculator.DeltaVToMatchVelocities(orbit, UT, core.target.TargetOrbit);
vessel.PlaceManeuverNode(orbit, dV, UT);
status = Localizer.Format("#MechJeb_RZauto_statu2", desiredDistance.ToString());//"Within " + + "m: matching velocities."
}
else if (core.target.Distance < vesselState.radius / 25)
{
if (orbit.NextClosestApproachDistance(core.target.TargetOrbit, vesselState.time) < desiredDistance &&
orbit.NextClosestApproachTime(core.target.TargetOrbit, vesselState.time) < vesselState.time + 150)
{
//We're close to the target, and on a course that will take us closer. Kill relvel at closest approach
double UT = orbit.NextClosestApproachTime(core.target.TargetOrbit, vesselState.time);
Vector3d dV = OrbitalManeuverCalculator.DeltaVToMatchVelocities(orbit, UT, core.target.TargetOrbit);
//adjust burn time so as to come to rest at the desired distance from the target:
double approachDistance = orbit.Separation(core.target.TargetOrbit, UT);
double approachSpeed = (orbit.SwappedOrbitalVelocityAtUT(UT) - core.target.TargetOrbit.SwappedOrbitalVelocityAtUT(UT)).magnitude;
if (approachDistance < desiredDistance)
{
UT -= Math.Sqrt(Math.Abs(desiredDistance * desiredDistance - approachDistance * approachDistance)) / approachSpeed;
}
//if coming in hot, stop early to avoid crashing:
if (approachSpeed > 10)
{
UT -= 1;
}
vessel.PlaceManeuverNode(orbit, dV, UT);
status = Localizer.Format("#MechJeb_RZauto_statu3");//"Planning to match velocities at closest approach."
}
else
{
//We're not far from the target. Close the distance
double closingSpeed = core.target.Distance / 100;
if (closingSpeed > maxClosingSpeed)
{
closingSpeed = maxClosingSpeed;
}
closingSpeed = Math.Max(0.01, closingSpeed);
double closingTime = core.target.Distance / closingSpeed;
double UT = vesselState.time + 15;
Vector3d dV = OrbitalManeuverCalculator.DeltaVToInterceptAtTime(orbit, UT, core.target.TargetOrbit, closingTime);
vessel.PlaceManeuverNode(orbit, dV, UT);
status = Localizer.Format("#MechJeb_RZauto_statu4");//"Close to target: plotting intercept"
}
}
else if (orbit.NextClosestApproachDistance(core.target.TargetOrbit, vesselState.time) < core.target.TargetOrbit.semiMajorAxis / 25)
{
//We're not close to the target, but we're on an approximate intercept course.
//Kill relative velocities at closest approach
double UT = orbit.NextClosestApproachTime(core.target.TargetOrbit, vesselState.time);
Vector3d dV = OrbitalManeuverCalculator.DeltaVToMatchVelocities(orbit, UT, core.target.TargetOrbit);
//adjust burn time so as to come to rest at the desired distance from the target:
double approachDistance = (orbit.SwappedAbsolutePositionAtUT(UT) - core.target.TargetOrbit.SwappedAbsolutePositionAtUT(UT)).magnitude;
double approachSpeed = (orbit.SwappedOrbitalVelocityAtUT(UT) - core.target.TargetOrbit.SwappedOrbitalVelocityAtUT(UT)).magnitude;
if (approachDistance < desiredDistance)
{
UT -= Math.Sqrt(Math.Abs(desiredDistance * desiredDistance - approachDistance * approachDistance)) / approachSpeed;
}
//if coming in hot, stop early to avoid crashing:
if (approachSpeed > 10)
{
UT -= 1;
}
vessel.PlaceManeuverNode(orbit, dV, UT);
status = Localizer.Format("#MechJeb_RZauto_statu5");//"On intercept course. Planning to match velocities at closest approach."
}
else if (orbit.RelativeInclination(core.target.TargetOrbit) < 0.05 && orbit.eccentricity < 0.05)
{
//We're not on an intercept course, but we have a circular orbit in the right plane.
double hohmannUT;
Vector3d hohmannDV = OrbitalManeuverCalculator.DeltaVAndTimeForHohmannTransfer(orbit, core.target.TargetOrbit, vesselState.time, out hohmannUT);
double numPhasingOrbits = (hohmannUT - vesselState.time) / orbit.period;
double actualMaxPhasingOrbits = Math.Max(maxPhasingOrbits, 5); // ignore input values that are unreasonably small
if (numPhasingOrbits < actualMaxPhasingOrbits)
{
//It won't be too long until the intercept window. Plot a Hohmann transfer intercept.
vessel.PlaceManeuverNode(orbit, hohmannDV, hohmannUT);
status = Localizer.Format("#MechJeb_RZauto_statu6", numPhasingOrbits.ToString("F2"));//"Planning Hohmann transfer for intercept after " + + " phasing orbits."
}
else
{
//We are in a circular orbit in the right plane, but we aren't phasing quickly enough. Move to a better phasing orbit
double axisRatio = Math.Pow(1 + 1.25 / actualMaxPhasingOrbits, 2.0 / 3.0);
double lowPhasingRadius = core.target.TargetOrbit.semiMajorAxis / axisRatio;
double highPhasingRadius = core.target.TargetOrbit.semiMajorAxis * axisRatio;
bool useLowPhasingRadius = (lowPhasingRadius > mainBody.Radius + mainBody.RealMaxAtmosphereAltitude() + 3000) && (orbit.semiMajorAxis < core.target.TargetOrbit.semiMajorAxis);
double phasingOrbitRadius = (useLowPhasingRadius ? lowPhasingRadius : highPhasingRadius);
if (orbit.ApR < phasingOrbitRadius)
{
double UT1 = vesselState.time + 15;
Vector3d dV1 = OrbitalManeuverCalculator.DeltaVToChangeApoapsis(orbit, UT1, phasingOrbitRadius);
vessel.PlaceManeuverNode(orbit, dV1, UT1);
Orbit transferOrbit = vessel.patchedConicSolver.maneuverNodes[0].nextPatch;
double UT2 = transferOrbit.NextApoapsisTime(UT1);
Vector3d dV2 = OrbitalManeuverCalculator.DeltaVToCircularize(transferOrbit, UT2);
vessel.PlaceManeuverNode(transferOrbit, dV2, UT2);
}
else if (orbit.PeR > phasingOrbitRadius)
{
double UT1 = vesselState.time + 15;
Vector3d dV1 = OrbitalManeuverCalculator.DeltaVToChangePeriapsis(orbit, UT1, phasingOrbitRadius);
vessel.PlaceManeuverNode(orbit, dV1, UT1);
Orbit transferOrbit = vessel.patchedConicSolver.maneuverNodes[0].nextPatch;
double UT2 = transferOrbit.NextPeriapsisTime(UT1);
Vector3d dV2 = OrbitalManeuverCalculator.DeltaVToCircularize(transferOrbit, UT2);
vessel.PlaceManeuverNode(transferOrbit, dV2, UT2);
}
else
{
double UT = orbit.NextTimeOfRadius(vesselState.time, phasingOrbitRadius);
Vector3d dV = OrbitalManeuverCalculator.DeltaVToCircularize(orbit, UT);
vessel.PlaceManeuverNode(orbit, dV, UT);
}
status = Localizer.Format("#MechJeb_RZauto_statu7", numPhasingOrbits.ToString("F1"), maxPhasingOrbits.text, MuUtils.ToSI(phasingOrbitRadius - mainBody.Radius, 0));//"Next intercept window would be <<1>> orbits away, which is more than the maximum of <<2>> phasing orbits. Increasing phasing rate by establishing new phasing orbit at <<3>>m
}
}
else if (orbit.RelativeInclination(core.target.TargetOrbit) < 0.05)
{
//We're not on an intercept course. We're in the right plane, but our orbit isn't circular. Circularize.
bool circularizeAtPe;
if (orbit.eccentricity > 1)
{
circularizeAtPe = true;
}
else
{
circularizeAtPe = Math.Abs(orbit.PeR - core.target.TargetOrbit.semiMajorAxis) < Math.Abs(orbit.ApR - core.target.TargetOrbit.semiMajorAxis);
}
double UT;
if (circularizeAtPe)
{
UT = Math.Max(vesselState.time, orbit.NextPeriapsisTime(vesselState.time));
}
else
{
UT = orbit.NextApoapsisTime(vesselState.time);
}
Vector3d dV = OrbitalManeuverCalculator.DeltaVToCircularize(orbit, UT);
vessel.PlaceManeuverNode(orbit, dV, UT);
status = Localizer.Format("#MechJeb_RZauto_statu8");//"Circularizing."
}
else
{
//We're not on an intercept course, and we're not in the right plane. Match planes
bool ascending;
if (orbit.eccentricity < 1)
{
if (orbit.TimeOfAscendingNode(core.target.TargetOrbit, vesselState.time) < orbit.TimeOfDescendingNode(core.target.TargetOrbit, vesselState.time))
{
ascending = true;
}
else
{
ascending = false;
}
}
else
{
if (orbit.AscendingNodeExists(core.target.TargetOrbit))
{
ascending = true;
}
else
{
ascending = false;
}
}
double UT;
Vector3d dV;
if (ascending)
{
dV = OrbitalManeuverCalculator.DeltaVAndTimeToMatchPlanesAscending(orbit, core.target.TargetOrbit, vesselState.time, out UT);
}
else
{
dV = OrbitalManeuverCalculator.DeltaVAndTimeToMatchPlanesDescending(orbit, core.target.TargetOrbit, vesselState.time, out UT);
}
vessel.PlaceManeuverNode(orbit, dV, UT);
status = Localizer.Format("#MechJeb_RZauto_statu9");//"Matching planes."
}
}
/// <summary>
/// Draws the orbit.
/// </summary>
/// <param name="orbit">The orbit.</param>
public static void DrawOrbit(Orbit orbit)
{
DrawOrbit(orbit, Color.white, Style.SOLID);
}
public static ManeuverParameters ComputeEjectionManeuver(Vector3d exit_velocity, Orbit initial_orbit, double UT_0)
{
double GM = initial_orbit.referenceBody.gravParameter;
double C3 = exit_velocity.sqrMagnitude;
double Mh = initial_orbit.referenceBody.sphereOfInfluence;
double Rpe = initial_orbit.semiMajorAxis;
double isma = 2 / Mh - C3 / GM; //inverted Semi-major Axis, will work for parabolic orbit
double ecc = 1.0 - Rpe * isma;
//double vstart = Math.Sqrt(GM * (2 / Rpe - isma)); //{ total start boost}
//double slat = Rpe * Rpe * vstart * vstart / GM;
//the problem here should be R for circular orbit instead of Rpe
double slat = 2 * Rpe - isma * Rpe * Rpe; //but we don't know start point (yet) in elliptic orbit
double theta = Math.Acos((slat / Mh - 1) / ecc);
/*
* //old way infinity hyperbolic:
* //problems: it's not necessary hyperbolic (in case of low speed exit_velocity),
* //and exit_velocity appears not infinite far from celestial body, but only sphereOfInfluence far
* //i.e. Mh in previous statements(theta, isma) is not infinity!
*
* double sma = -GM / C3;
*
* double ecc = 1 - Rpe / sma;
* double theta = Math.Acos(-1 / ecc);
*
*/
Vector3d intersect_1;
Vector3d intersect_2;
// intersect_1 is the optimal position on the orbit assuming the orbit is circular and the sphere of influence is infinite
IntersectConePlane(exit_velocity, theta, initial_orbit.h, out intersect_1, out intersect_2);
Vector3d eccvec = initial_orbit.GetEccVector();
double true_anomaly = AngleAboutAxis(eccvec, intersect_1, initial_orbit.h);
// GetMeanAnomalyAtTrueAnomaly expects degrees and returns radians
double mean_anomaly = initial_orbit.GetMeanAnomalyAtTrueAnomaly(true_anomaly * 180 / Math.PI);
double delta_mean_anomaly = MuUtils.ClampRadiansPi(mean_anomaly - initial_orbit.MeanAnomalyAtUT(UT_0));
double UT = UT_0 + delta_mean_anomaly / initial_orbit.MeanMotion();
Vector3d V_0 = initial_orbit.getOrbitalVelocityAtUT(UT);
Vector3d pos = initial_orbit.getRelativePositionAtUT(UT);
double final_vel = Math.Sqrt(C3 + 2 * GM / pos.magnitude);
Vector3d x = pos.normalized;
Vector3d z = Vector3d.Cross(x, exit_velocity).normalized;
Vector3d y = Vector3d.Cross(z, x);
theta = Math.PI / 2;
double dtheta = 0.001;
Orbit sample = new Orbit();
double theta_err = Double.MaxValue;
for (int iteration = 0; iteration < 50; ++iteration)
{
Vector3d V_1 = final_vel * (Math.Cos(theta) * x + Math.Sin(theta) * y);
sample.UpdateFromStateVectors(pos, V_1, initial_orbit.referenceBody, UT);
theta_err = AngleAboutAxis(exit_velocity, sample.getOrbitalVelocityAtUT(OrbitExtensions.NextTimeOfRadius(sample, UT, sample.referenceBody.sphereOfInfluence)), z);
if (double.IsNaN(theta_err))
{
return(null);
}
if (Math.Abs(theta_err) <= Math.PI / 1800)
{
return(new ManeuverParameters((V_1 - V_0).xzy, UT));
}
V_1 = final_vel * (Math.Cos(theta + dtheta) * x + Math.Sin(theta + dtheta) * y);
sample.UpdateFromStateVectors(pos, V_1, initial_orbit.referenceBody, UT);
double theta_err_2 = AngleAboutAxis(exit_velocity, sample.getOrbitalVelocityAtUT(OrbitExtensions.NextTimeOfRadius(sample, UT, sample.referenceBody.sphereOfInfluence)), z);
V_1 = final_vel * (Math.Cos(theta - dtheta) * x + Math.Sin(theta - dtheta) * y);
sample.UpdateFromStateVectors(pos, V_1, initial_orbit.referenceBody, UT);
double theta_err_3 = AngleAboutAxis(exit_velocity, sample.getOrbitalVelocityAtUT(OrbitExtensions.NextTimeOfRadius(sample, UT, sample.referenceBody.sphereOfInfluence)), z);
double derr = MuUtils.ClampRadiansPi(theta_err_2 - theta_err_3) / (2 * dtheta);
theta = MuUtils.ClampRadiansTwoPi(theta - theta_err / derr);
// if theta > pi, replace with 2pi - theta, the function ejection_angle=f(theta) is symmetrc wrt theta=pi
if (theta > Math.PI)
{
theta = 2 * Math.PI - theta;
}
}
return(null);
}
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]));
}
}
}
// Creates a new ship with the given parameters for this mission. The code however seems unnecessarily convoluted and
// error-prone, but there are no better examples available on the internet.
private void CreateShip()
{
try
{
// The ShipConstruct-object can only savely exist while not in flight, otherwise it will spam Null-Pointer Exceptions every tick:
if (HighLogic.LoadedScene == GameScenes.FLIGHT)
{
throw new Exception("unable to run CreateShip while in flight");
}
// Load the parts form the saved vessel:
if (!File.Exists(shipTemplateFilename))
{
throw new Exception("file '" + shipTemplateFilename + "' not found");
}
ShipConstruct shipConstruct = ShipConstruction.LoadShip(shipTemplateFilename);
ProtoVessel dummyProto = new ProtoVessel(new ConfigNode(), null);
Vessel dummyVessel = new Vessel();
dummyProto.vesselRef = dummyVessel;
// Maybe adjust the orbit:
float vesselHeight = Math.Max(Math.Max(shipConstruct.shipSize.x, shipConstruct.shipSize.y), shipConstruct.shipSize.z);
if (missionType == MissionType.DEPLOY)
{
// Make sure that there won't be any collisions, when the vessel is created at the given orbit:
orbit = GUIOrbitEditor.ApplySafetyDistance(orbit, vesselHeight);
}
else if (missionType == MissionType.CONSTRUCT)
{
// Deploy the new ship next to the space-dock:
Vessel spaceDock = TargetVessel.GetVesselById((Guid)targetVesselId);
orbit = GUIOrbitEditor.CreateFollowingOrbit(spaceDock.orbit, TargetVessel.GetVesselSize(spaceDock) + vesselHeight);
orbit = GUIOrbitEditor.ApplySafetyDistance(orbit, vesselHeight);
}
else
{
throw new Exception("invalid mission-type '" + missionType.ToString() + "'");
}
// Instead of loading and constructing the ship ourselfs ShipConstruction.AssembleForLaunch() seems like the better
// option, this however just seems to work while in flight and even then I was unable to get it working correctly
// (it switches to the newly created ship and setting an orbit afterwards does not work correctly).
// In theory it should be enough to simply copy the parts from the ShipConstruct to the ProtoVessel, but
// this only seems to work when the saved vessel starts with the root-part and is designed top down from there.
// It seems that the root part has to be the first part in the ProtoVessel's parts-list and all other parts have
// to be listed in sequence radiating from the root part (eg 1=>2=>R<=3<=4 should be R,2,1,3,4). If the parts
// are not in the correct order, their rotation seems to get messed up or they are attached to the wrong
// attachmet-nodes, which is why we have to re-sort the parts with our own logic here.
// This part of the code is experimental however and only based on my own theories and observations about KSP's vessels.
Part rootPart = null;
foreach (Part p in shipConstruct.parts)
{
if (p.parent == null)
{
rootPart = p; break;
}
}
List <Part> pList = null;
dummyVessel.parts = FindAndAddAttachedParts(rootPart, ref pList); // Find all parts which are directly attached to the root-part and add them in order.
// Handle Subassemblies which are attached by surface attachment-nodes:
bool handleSurfaceAttachments = true;
while (dummyVessel.parts.Count < shipConstruct.parts.Count)
{
int processedParts = 0;
foreach (Part p in shipConstruct.parts)
{
if (dummyVessel.parts.Contains(p))
{
continue;
}
if (handleSurfaceAttachments)
{
// Check if the part is attached by a surface-node:
if (p.srfAttachNode != null && dummyVessel.parts.Contains(p.srfAttachNode.attachedPart))
{
// Add this surface attached part and all the sub-parts:
dummyVessel.parts = FindAndAddAttachedParts(p, ref dummyVessel.parts);
processedParts++;
}
}
else
{
// Simply copy this part:
dummyVessel.parts.Add(p);
}
}
if (processedParts == 0)
{
// If there are still unprocessed parts, just throw them in the list during the next iteration,
// this should not happen but we don't want to end up in an endless loop:
handleSurfaceAttachments = false;
}
}
// Initialize all parts:
uint missionID = (uint)Guid.NewGuid().GetHashCode();
uint launchID = HighLogic.CurrentGame.launchID++;
int maxStageOffset = -1;
foreach (Part p in dummyVessel.parts)
{
p.flagURL = flagURL == null ? HighLogic.CurrentGame.flagURL : flagURL;
p.missionID = missionID;
p.launchID = launchID;
p.temperature = 1.0;
maxStageOffset = Math.Max(p.stageOffset, maxStageOffset); // stageOffset is offset of this part in the staging-order (0..n with -1 meaning not staged)
// Apparently the part's ID from the saved craft is stored in craftID and has to get copied by hand into flightID, which is 0 by default.
// If it is not set, docking won't work and since it is referenced by surface-attachments like struts and fuel lines, it should always
// be the same as in the stored craft:
p.flightID = p.craftID;
// If the KRnD-Mod is installed, make sure that all parts of this newly created ship are set to the lates version:
foreach (PartModule module in p.Modules)
{
if (module.moduleName != "KRnDModule")
{
continue;
}
Debug.Log("[KSTS] found KRnD on '" + p.name.ToString() + "', setting to latest stats");
foreach (BaseField field in module.Fields)
{
if (field.name.ToString() == "upgradeToLatest")
{
field.SetValue(1, module); // Newer versions of KRnD use this flag to upgrade all attributes of the given part to the latest levels, when the vessel is activated.
if (field.GetValue(module).ToString() != "1")
{
Debug.LogError("[KSTS] unable to modify '" + field.name.ToString() + "'");
}
}
}
}
dummyProto.protoPartSnapshots.Add(new ProtoPartSnapshot(p, dummyProto));
}
// Store the parts in Config-Nodes:
foreach (ProtoPartSnapshot p in dummyProto.protoPartSnapshots)
{
p.storePartRefs();
}
List <ConfigNode> partNodesL = new List <ConfigNode>();
foreach (ProtoPartSnapshot snapShot in dummyProto.protoPartSnapshots)
{
ConfigNode node = new ConfigNode("PART");
snapShot.Save(node);
partNodesL.Add(node);
}
ConfigNode[] partNodes = partNodesL.ToArray();
ConfigNode[] additionalNodes = new ConfigNode[0];
// This will actually create the ship and add it to the global list of flights:
ConfigNode protoVesselNode = ProtoVessel.CreateVesselNode(shipName, VesselType.Ship, orbit, 0, partNodes, additionalNodes);
ProtoVessel pv = HighLogic.CurrentGame.AddVessel(protoVesselNode);
Debug.Log("[KSTS] deployed new ship '" + shipName.ToString() + "' as '" + pv.vesselRef.id.ToString() + "'");
ScreenMessages.PostScreenMessage("Vessel '" + shipName.ToString() + "' deployed"); // Popup message to notify the player
Vessel newVessel = FlightGlobals.Vessels.Find(x => x.id == pv.vesselID);
// While each part knows in which stage they are, the vessel has to know how many stages there are in total:
newVessel.protoVessel.stage = maxStageOffset + 1; // an offest of 0 would mean that there is only one stage
// Maybe add the initial crew to the vessel:
if (crewToDeliver != null && crewToDeliver.Count > 0 && newVessel != null)
{
foreach (string kerbonautName in crewToDeliver)
{
TargetVessel.AddCrewMember(newVessel, kerbonautName);
}
}
// Notify other mods about the new vessel:
GameEvents.onVesselCreate.Fire(newVessel);
}
catch (Exception e)
{
Debug.LogError("[KSTS] Mission.CreateShip(): " + e.ToString());
}
}
public static Mission CreateDeployment(string shipName, ShipTemplate template, Orbit orbit, MissionProfile profile, List <string> crew, string flagURL)
{
Mission mission = new Mission();
mission.missionType = MissionType.DEPLOY;
mission.shipTemplateFilename = SanitizePath(template.filename); // The filename contains silly portions like "KSP_x64_Data/..//saves", which break savegames because "//" starts a comment in the savegame ...
mission.orbit = orbit;
mission.shipName = shipName;
mission.profileName = profile.profileName;
mission.eta = Planetarium.GetUniversalTime() + profile.missionDuration;
mission.crewToDeliver = crew; // The crew we want the new vessel to start with.
mission.flagURL = flagURL;
return(mission);
}
public Quaternion attitudeGetReferenceRotation(AttitudeReference reference)
{
Vector3 fwd, up;
Quaternion rotRef = Quaternion.identity;
if (core.target.Target == null && (reference == AttitudeReference.TARGET || reference == AttitudeReference.TARGET_ORIENTATION || reference == AttitudeReference.RELATIVE_VELOCITY))
{
attitudeDeactivate();
return(rotRef);
}
if ((reference == AttitudeReference.MANEUVER_NODE) && (vessel.patchedConicSolver.maneuverNodes.Count == 0))
{
attitudeDeactivate();
return(rotRef);
}
switch (reference)
{
case AttitudeReference.ORBIT:
rotRef = Quaternion.LookRotation(vesselState.orbitalVelocity.normalized, vesselState.up);
break;
case AttitudeReference.ORBIT_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity.normalized), vesselState.up);
break;
case AttitudeReference.SURFACE_NORTH:
rotRef = vesselState.rotationSurface;
break;
case AttitudeReference.SURFACE_VELOCITY:
rotRef = Quaternion.LookRotation(vesselState.surfaceVelocity.normalized, vesselState.up);
break;
case AttitudeReference.TARGET:
fwd = (core.target.Position - vessel.GetTransform().position).normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.RELATIVE_VELOCITY:
fwd = core.target.RelativeVelocity.normalized;
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.TARGET_ORIENTATION:
Transform targetTransform = core.target.Transform;
if (core.target.CanAlign)
{
rotRef = Quaternion.LookRotation(targetTransform.forward, targetTransform.up);
}
else
{
rotRef = Quaternion.LookRotation(targetTransform.up, targetTransform.right);
}
break;
case AttitudeReference.MANEUVER_NODE:
fwd = vessel.patchedConicSolver.maneuverNodes[0].GetBurnVector(orbit);
up = Vector3d.Cross(fwd, vesselState.normalPlus);
Vector3.OrthoNormalize(ref fwd, ref up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SUN:
Orbit baseOrbit = vessel.mainBody == Planetarium.fetch.Sun ? vessel.orbit : orbit.TopParentOrbit();
up = vesselState.CoM - Planetarium.fetch.Sun.transform.position;
fwd = Vector3d.Cross(-baseOrbit.GetOrbitNormal().xzy.normalized, up);
rotRef = Quaternion.LookRotation(fwd, up);
break;
case AttitudeReference.SURFACE_HORIZONTAL:
rotRef = Quaternion.LookRotation(Vector3d.Exclude(vesselState.up, vesselState.surfaceVelocity.normalized), vesselState.up);
break;
}
return(rotRef);
}
public override AutopilotStep OnFixedUpdate()
{
//if we don't want to deorbit but we're already on a reentry trajectory, we can't wait until the ideal point
//in the orbit to deorbt; we already have deorbited.
if (orbit.ApA < mainBody.RealMaxAtmosphereAltitude())
{
core.thrust.targetThrottle = 0;
return(new CourseCorrection(core));
}
//We aim for a trajectory that
// a) has the same vertical speed as our current trajectory
// b) has a horizontal speed that will give it a periapsis of -10% of the body's radius
// c) has a heading that points toward where the target will be at the end of free-fall, accounting for planetary rotation
Vector3d horizontalDV = OrbitalManeuverCalculator.DeltaVToChangePeriapsis(orbit, vesselState.time, 0.9 * mainBody.Radius); //Imagine we are going to deorbit now. Find the burn that would lower our periapsis to -10% of the planet's radius
Orbit forwardDeorbitTrajectory = orbit.PerturbedOrbit(vesselState.time, horizontalDV); //Compute the orbit that would put us on
double freefallTime = forwardDeorbitTrajectory.NextTimeOfRadius(vesselState.time, mainBody.Radius) - vesselState.time; //Find how long that orbit would take to impact the ground
double planetRotationDuringFreefall = 360 * freefallTime / mainBody.rotationPeriod; //Find how many degrees the planet will rotate during that time
Vector3d currentTargetRadialVector = mainBody.GetWorldSurfacePosition(core.target.targetLatitude, core.target.targetLongitude, 0) - mainBody.position; //Find the current vector from the planet center to the target landing site
Quaternion freefallPlanetRotation = Quaternion.AngleAxis((float)planetRotationDuringFreefall, mainBody.angularVelocity); //Construct a quaternion representing the rotation of the planet found above
Vector3d freefallEndTargetRadialVector = freefallPlanetRotation * currentTargetRadialVector; //Use this quaternion to find what the vector from the planet center to the target will be when we hit the ground
Vector3d freefallEndTargetPosition = mainBody.position + freefallEndTargetRadialVector; //Then find the actual position of the target at that time
Vector3d freefallEndHorizontalToTarget = Vector3d.Exclude(vesselState.up, freefallEndTargetPosition - vesselState.CoM).normalized; //Find a horizontal unit vector that points toward where the target will be when we hit the ground
Vector3d currentHorizontalVelocity = Vector3d.Exclude(vesselState.up, vesselState.orbitalVelocity); //Find our current horizontal velocity
double finalHorizontalSpeed = (currentHorizontalVelocity + horizontalDV).magnitude; //Find the desired horizontal speed after the deorbit burn
Vector3d finalHorizontalVelocity = finalHorizontalSpeed * freefallEndHorizontalToTarget; //Combine the desired speed and direction to get the desired velocity after the deorbi burn
//Compute the angle between the location of the target at the end of freefall and the normal to our orbit:
Vector3d currentRadialVector = vesselState.CoM - mainBody.position;
double targetAngleToOrbitNormal = Vector3d.Angle(orbit.SwappedOrbitNormal(), freefallEndTargetRadialVector);
targetAngleToOrbitNormal = Math.Min(targetAngleToOrbitNormal, 180 - targetAngleToOrbitNormal);
double targetAheadAngle = Vector3d.Angle(currentRadialVector, freefallEndTargetRadialVector); //How far ahead the target is, in degrees
double planeChangeAngle = Vector3d.Angle(currentHorizontalVelocity, freefallEndHorizontalToTarget); //The plane change required to get onto the deorbit trajectory, in degrees
//If the target is basically almost normal to our orbit, it doesn't matter when we deorbit; might as well do it now
//Otherwise, wait until the target is ahead
if (targetAngleToOrbitNormal < 10 ||
(targetAheadAngle < 90 && targetAheadAngle > 60 && planeChangeAngle < 90))
{
deorbitBurnTriggered = true;
}
if (deorbitBurnTriggered)
{
if (!MuUtils.PhysicsRunning())
{
core.warp.MinimumWarp();
} //get out of warp
Vector3d deltaV = finalHorizontalVelocity - currentHorizontalVelocity;
core.attitude.attitudeTo(deltaV.normalized, AttitudeReference.INERTIAL, core.landing);
if (deltaV.magnitude < 2.0)
{
return(new CourseCorrection(core));
}
status = Localizer.Format("#MechJeb_LandingGuidance_Status7");//"Doing high deorbit burn"
}
else
{
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.ORBIT, core.landing);
if (core.node.autowarp)
{
core.warp.WarpRegularAtRate((float)(orbit.period / 10));
}
status = Localizer.Format("#MechJeb_LandingGuidance_Status8");//"Moving to high deorbit burn point"
}
return(this);
}