private double Tasklet(AscentSimulationControl currentBestGuess, double currentBestScore, double perturbationScale, bool print,
out AscentSimulationControl control,
out LookAheadState lookAheadState,
out State state)
{
control = new AscentSimulationControl()
{
InitialVerticalTime = Math.Max(5, currentBestGuess.InitialVerticalTime + (perturbationScale * _random.NextDouble(1))),
KickPitchTime = Math.Max(0, currentBestGuess.KickPitchTime + (perturbationScale * _random.NextDouble(4))),
KickPitchAngle = currentBestGuess.KickPitchAngle, //Math.Max(0, currentBestGuess.KickPitchAngle + (perturbationScale * _random.NextDouble(1))),
StagingAngle = Math.Max(0, Math.Min(90, currentBestGuess.StagingAngle + (perturbationScale * _random.NextDouble(2)))),
MaxAcceleration = Math.Max(0, currentBestGuess.MaxAcceleration + (perturbationScale * _random.NextDouble(0.1))),
Rocket = currentBestGuess.Rocket
//Stage1Duration = currentBestGuess.Stage1Duration, // + (perturbationScale * _random.NextDouble(3)),
//Stage2Duration = currentBestGuess.Stage2Duration, // + (perturbationScale * _random.NextDouble(3)),
//Stage1InitialAcceleration = currentBestGuess.Stage1InitialAcceleration,
//Stage1MaxAcceleration = currentBestGuess.Stage1MaxAcceleration,
//Stage2InitialAcceleration = currentBestGuess.Stage2InitialAcceleration,
//Stage2MaxAcceleration = currentBestGuess.Stage2MaxAcceleration
//InitialTurnDuration = currentBestGuess.InitialTurnDuration + (perturbationScale * _random.NextDouble(0.2)),
//MaxThrust1 = currentBestGuess.MaxThrust1,
//MinThrust1 = currentBestGuess.MinThrust1,
//MaxThrust2 = currentBestGuess.MaxThrust2,
//MinThrust2 = currentBestGuess.MinThrust2,
//ThrustCutoff = 1000, // Math.Max(0, currentBestGuess.ThrustCutoff + (perturbationScale * _random.NextDouble(5))),
////ThrustCurve = Math.Max(0, currentBestGuess.ThrustCurve + (perturbationScale * _random.NextDouble(5))),
//ThrustDuration1 = Math.Max(0, currentBestGuess.ThrustDuration1 + (perturbationScale * _random.NextDouble(5))),
//ThrustDuration2 = Math.Max(0, currentBestGuess.ThrustDuration2 + (perturbationScale * _random.NextDouble(5))),
//TurnDelay = currentBestGuess.TurnDelay, //Math.Max(0, currentBestGuess.TurnDelay + (perturbationScale * _random.NextDouble(1))),
//TurnDuration = Math.Max(0, currentBestGuess.TurnDuration + (perturbationScale * _random.NextDouble(1))),
};
var simulation = new AscentSimulation(Goal, control, InitialState, SurfaceVelocity);
double totalFuelMass = control.Rocket.TotalFuelMass();
while (!simulation.CurrentState.IsDone)
{
//Console.WriteLine("{0} {1}", simulation.CurrentState.ExpendedMass - totalFuelMass, simulation.CurrentState.Time);
simulation.FastTick(TimeStep, MicroSteps);
if (simulation.LookAheadState.Apoapsis / 1000.0 > (Goal.Apoapsis + 15) || simulation.LookAheadState.Periapsis / 1000.0 > (Goal.Periapsis + 15))
{
//control.Stage2Duration = Math.Max(0, simulation.CurrentState.Time - control.Stage1Duration);
break;
}
}
if (print)
{
Print(Goal, simulation.LookAheadState, simulation.CurrentState, control, currentBestScore);
}
lookAheadState = simulation.LookAheadState;
state = simulation.CurrentState;
return(ComputeScore(Goal, simulation.LookAheadState, state, control));
}
private static void Print(AscentSimulationGoal goal, LookAheadState lookAheadState, State state, AscentSimulationControl guess, double bestScore)
{
Console.WriteLine("{0,1:F} {1,1:F}, {2,2:F}/{3,2:F}: g {4,1:F}, d {5,1:F}, mass left {6,2:F} kg - score {7,3:F}/{8,3:F}",
(lookAheadState.Periapsis) / 1000.0,
(lookAheadState.Apoapsis) / 1000.0,
(state.Position.Length - Constants.EarthRadius) / 1000.0,
state.ReachedAltitude / 1000.0,
state.LossesToGravity,
state.LossesToDrag,
guess.Rocket.TotalFuelMass() - state.ExpendedMass,
ComputeScore(goal, lookAheadState, state, guess),
bestScore
);
}
public static double ComputeScore(AscentSimulationGoal goal, LookAheadState lookAheadState, State state, AscentSimulationControl guess)
{
const double distanceScaling = 10.0;
double distanceFromApoapsisGoal = lookAheadState.Apoapsis / 1000.0 - goal.Apoapsis;
double distanceFromPeriapsisGoal = lookAheadState.Periapsis / 1000.0 - goal.Periapsis;
double distanceFromReachedAltitudeGoal = state.ReachedAltitude / 1000.0 - goal.Periapsis;
double distanceFromAltitudeGoal = (state.Position.Length - Constants.EarthRadius) / 1000.0 - goal.Periapsis;
double totalFuel = guess.Rocket.TotalFuelMass();
double fuelLeft = (totalFuel - state.ExpendedMass) / totalFuel;
return(ErrorFunction(distanceFromApoapsisGoal, distanceScaling)
+ ErrorFunction(distanceFromPeriapsisGoal, distanceScaling)
+ ErrorFunction(distanceFromReachedAltitudeGoal, distanceScaling)
+ ErrorFunction(distanceFromAltitudeGoal, distanceScaling)
+ fuelLeft * 5);
//+ ErrorFunction((guess.ThrustDuration1 + guess.ThrustDuration2) - guess.ThrustCutoff, 1);
}
public static void CalculateOrbit(ref LookAheadState lookAheadState, State state)
{
var mu = Constants.EarthGravitationalConstant;
var radiusVector = state.Position;
var velocityVector = state.Velocity;
var h = Vector3d.Cross(
radiusVector,
velocityVector
);
var r = radiusVector.Length;
var eccentricityVector = (
(velocityVector.LengthSquared - mu / r) * radiusVector - Vector3d.Dot(radiusVector, velocityVector) * velocityVector
) / mu;
var eccentricity = eccentricityVector.Length;
var specificOrbitalEnergy = velocityVector.LengthSquared / 2 - mu / r;
var semiMajorAxis = -mu / (2 * specificOrbitalEnergy);
var semiMinorAxis = semiMajorAxis * Math.Sqrt(1 - eccentricity * eccentricity);
var apoapsis = (1 + eccentricity) * semiMajorAxis;
var periapsis = (1 - eccentricity) * semiMajorAxis;
var semiLatusRectum = periapsis * (1 + eccentricity);
var thetaFromPeriapsis = Math.Acos(((semiLatusRectum - r) / (eccentricity * r)) % (Math.PI * 2));
var actualRotation = Math.Atan2(radiusVector.Y, radiusVector.X) + Math.PI / 2;
double argumentOfPeriapsis;
if (h.Z < 0)
{
thetaFromPeriapsis = Math.PI * 2 - thetaFromPeriapsis;
argumentOfPeriapsis = actualRotation - thetaFromPeriapsis;
//rotationMatrix = Matrix4d.Mult(rotationMatrix, Matrix4d.RotateY(Math.PI));
}
else
{
argumentOfPeriapsis = actualRotation - thetaFromPeriapsis;
}
var rotationMatrix = Matrix4d.CreateRotationZ(argumentOfPeriapsis);
int highAccuracyPoints = lookAheadState.FuturePositions.Length / 2;
double highAccuracyAngle = Math.PI / 20;
if (SampleOrbit(ref lookAheadState.FuturePositions, ref rotationMatrix, semiLatusRectum, eccentricity, thetaFromPeriapsis, highAccuracyAngle, 0, highAccuracyPoints))
{
SampleOrbit(ref lookAheadState.FuturePositions, ref rotationMatrix, semiLatusRectum, eccentricity, thetaFromPeriapsis - highAccuracyAngle, Math.PI * 2 - highAccuracyAngle, highAccuracyPoints, lookAheadState.FuturePositions.Length - highAccuracyPoints);
}
//double approximatePerimeter = Math.PI * (3 * (semiMajorAxis + semiMinorAxis) - Math.Sqrt((3*semiMajorAxis + semiMinorAxis) * (semiMajorAxis + 3*semiMinorAxis)));
lookAheadState.Apoapsis = apoapsis - Constants.EarthRadius;
lookAheadState.Periapsis = periapsis - Constants.EarthRadius;
lookAheadState.Eccentricity = eccentricity;
lookAheadState.SemiMajorAxis = semiMajorAxis;
lookAheadState.SemiMinorAxis = semiMinorAxis;
lookAheadState.SemiLatusRectum = semiLatusRectum;
lookAheadState.ArgumentOfPeriapsis = argumentOfPeriapsis;
lookAheadState.Theta = thetaFromPeriapsis;
//Title = string.Format("e{0,2:F}, {1,2:F} km {2,2:F} km, r {3,2:F}, v {4,2:F} {5,2:F} {6,2:F} {7,2:F}, a{8,2:F} b{9,2:F}", e, (apoapsis - Constants.EarthRadius)/1000, (periapsis - Constants.EarthRadius) / 1000, (radiusVector.Length - Constants.EarthRadius) /1000, velocityVector.Length / 1000, theta2, actualRotation, offset, (a - Constants.EarthRadius)/1000, (b - Constants.EarthRadius)/1000);
/*
* GL.PushMatrix();
* //GL.Rotate(offset / Math.PI * 180, Vector3d.UnitZ);
* GL.LineWidth(2f);
* GL.Color3(1f, 0f, 0f);
* GL.Begin(PrimitiveType.LineLoop);
* for (var theta = 0.0; theta < Math.PI * 2.0; theta += 0.01)
* {
* GL.Vertex3(Math.Sin(theta) * b, Math.Cos(theta) * a + (apoapsis - a), 0);
* }
* GL.End();
* GL.PopMatrix();
*/
}
