public ReentrySimulation(Orbit _initialOrbit, double _UT, double _dragMassExcludingUsedParachutes, List <SimulatedParachute> _parachuteList, double _mass,
IDescentSpeedPolicy _descentSpeedPolicy, double _decelEndAltitudeASL, double _maxThrustAccel, double _parachuteSemiDeployMultiplier, double _probableLandingSiteASL, bool _multiplierHasError, double _dt)
{
// Store all the input values as they were given
input_initialOrbit = _initialOrbit;
input_UT = _UT;
input_dragMassExcludingUsedParachutes = _dragMassExcludingUsedParachutes;
input_parachuteList = _parachuteList;
input_mass = _mass;
input_descentSpeedPolicy = _descentSpeedPolicy;
input_decelEndAltitudeASL = _decelEndAltitudeASL;
input_maxThrustAccel = _maxThrustAccel;
input_parachuteSemiDeployMultiplier = _parachuteSemiDeployMultiplier;
input_probableLandingSiteASL = _probableLandingSiteASL;
input_multiplierHasError = _multiplierHasError;
input_dt = _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;
seaLevelAtmospheres = body.atmosphereMultiplier;
scaleHeight = 1000 * body.atmosphereScaleHeight;
bodyRadius = body.Radius;
gravParameter = body.gravParameter;
this.dragMassExcludingUsedParachutes = _dragMassExcludingUsedParachutes;
this.parachutes = _parachuteList;
this.parachuteSemiDeployMultiplier = _parachuteSemiDeployMultiplier;
this.multiplierHasError = _multiplierHasError;
this.mass = _mass;
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>();
}
public ReentrySimulation(Orbit initialOrbit, double UT, double dragCoefficient,
IDescentSpeedPolicy descentSpeedPolicy, double endAltitudeASL, double maxThrustAccel)
{
CelestialBody body = initialOrbit.referenceBody;
bodyHasAtmosphere = body.atmosphere;
seaLevelAtmospheres = body.atmosphereMultiplier;
scaleHeight = 1000 * body.atmosphereScaleHeight;
bodyRadius = body.Radius;
gravParameter = body.gravParameter;
this.dragCoefficient = dragCoefficient;
bodyAngularVelocity = body.angularVelocity;
this.descentSpeedPolicy = descentSpeedPolicy;
landedRadius = bodyRadius + endAltitudeASL;
aerobrakedRadius = bodyRadius + body.RealMaxAtmosphereAltitude();
mainBody = body;
this.maxThrustAccel = maxThrustAccel;
referenceFrame = ReferenceFrame.CreateAtCurrentTime(initialOrbit.referenceBody);
orbitReenters = OrbitReenters(initialOrbit);
if (orbitReenters)
{
startUT = UT;
t = startUT;
AdvanceToFreefallEnd(initialOrbit);
}
maxDragGees = 0;
deltaVExpended = 0;
trajectory = new List <AbsoluteVector>();
}
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;
}
public override void Drive(FlightCtrlState s)
{
if (landStep == LandStep.OFF)
{
return;
}
descentSpeedPolicy = PickDescentSpeedPolicy();
predictor.descentSpeedPolicy = PickDescentSpeedPolicy(); //create a separate IDescentSpeedPolicy object for the simulation
predictor.endAltitudeASL = DecelerationEndAltitude();
prediction = predictor.GetResult(); //grab a reference to the current result, in case a new one comes in while we're doing stuff
if (!PredictionReady && landStep != LandStep.DEORBIT_BURN && landStep != LandStep.PLANE_CHANGE && landStep != LandStep.LOW_DEORBIT_BURN &&
landStep != LandStep.UNTARGETED_DEORBIT && landStep != LandStep.FINAL_DESCENT)
{
return;
}
switch (landStep)
{
case LandStep.UNTARGETED_DEORBIT:
DriveUntargetedDeorbit(s);
break;
case LandStep.PLANE_CHANGE:
DrivePlaneChange(s);
break;
case LandStep.LOW_DEORBIT_BURN:
DriveLowDeorbitBurn(s);
break;
case LandStep.DEORBIT_BURN:
DriveDeorbitBurn(s);
break;
case LandStep.COURSE_CORRECTIONS:
DriveCourseCorrections(s);
break;
case LandStep.KILLING_HORIZONTAL_VELOCITY:
DriveKillHorizontalVelocity(s);
break;
case LandStep.FINAL_DESCENT:
DriveUntargetedLanding(s);
break;
default:
break;
}
}
public override void Drive(FlightCtrlState s)
{
if (!active)
{
return;
}
// If the latest prediction is a landing, aerobrake or no-reentry prediciton then keep it.
// However if it is any other sort or result it is not much use to us, so do not bother!
{
ReentrySimulation.Result result = predictor.Result;
if (null != result)
{
if (result.outcome != ReentrySimulation.Outcome.ERROR && result.outcome != ReentrySimulation.Outcome.TIMED_OUT)
{
this.prediction = result;
}
}
}
{
ReentrySimulation.Result result = predictor.GetErrorResult();
if (null != result)
{
if (result.outcome != ReentrySimulation.Outcome.ERROR && result.outcome != ReentrySimulation.Outcome.TIMED_OUT)
{
this.errorPrediction = result;
}
}
}
descentSpeedPolicy = PickDescentSpeedPolicy();
predictor.descentSpeedPolicy = PickDescentSpeedPolicy(); //create a separate IDescentSpeedPolicy object for the simulation
predictor.decelEndAltitudeASL = DecelerationEndAltitude();
predictor.parachuteSemiDeployMultiplier = this.parachutePlan.Multiplier;
// Consider lowering the langing gear
{
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (deployGears && !deployedGears && (minalt < 1000))
{
DeployLandingGears();
}
}
base.Drive(s);
}
public override void Drive(FlightCtrlState s)
{
if (!active)
{
return;
}
descentSpeedPolicy = PickDescentSpeedPolicy();
predictor.descentSpeedPolicy = PickDescentSpeedPolicy(); //create a separate IDescentSpeedPolicy object for the simulation
predictor.decelEndAltitudeASL = DecelerationEndAltitude();
predictor.parachuteSemiDeployMultiplier = this.parachutePlan.Multiplier;
// Consider lowering the langing gear
{
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (deployGears && !deployedGears && (minalt < 1000))
{
DeployLandingGears();
}
}
base.Drive(s);
}
public void Init(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, double _maxOrbits, bool _noSKiptoFreefall)
{
// 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;
steps = 0;
maxOrbits = _maxOrbits;
noSKiptoFreefall = _noSKiptoFreefall;
// 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.UpdateAtCurrentTime(_initialOrbit.referenceBody);
orbitReenters = OrbitReenters(_initialOrbit);
startX = initialOrbit.SwappedRelativePositionAtUT(startUT);
// This calls some Unity function so it should be done outside the thread
if (orbitReenters)
{
startUT = _UT;
t = startUT;
AdvanceToFreefallEnd(initialOrbit);
}
maxDragGees = 0;
deltaVExpended = 0;
trajectory = ListPool<AbsoluteVector>.Instance.Borrow();
simCurves = _simcurves;
once = true;
}
public static ReentrySimulation Borrow(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, double _maxOrbits, bool _noSKiptoFreefall)
{
ReentrySimulation sim = pool.Borrow();
sim.Init(_initialOrbit, _UT, _vessel, _simcurves, _descentSpeedPolicy, _decelEndAltitudeASL, _maxThrustAccel, _parachuteSemiDeployMultiplier, _probableLandingSiteASL, _multiplierHasError, _dt, _min_dt, _maxOrbits, _noSKiptoFreefall);
return sim;
}
public override AutopilotStep Drive(FlightCtrlState s)
{
if (vessel.LandedOrSplashed)
{
core.landing.StopLanding();
return(null);
}
// TODO perhaps we should pop the parachutes at this point, or at least consider it depending on the altitude.
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (vesselState.limitedMaxThrustAccel < vesselState.gravityForce.magnitude)
{
// if we have TWR < 1, just try as hard as we can to decelerate:
// (we need this special case because otherwise the calculations spit out NaN's)
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
core.thrust.trans_spd_act = 0;
}
else if (minalt > 200)
{
if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.surfaceVelocity, vesselState.up) < 80))
{
// if we have positive vertical velocity, point up and don't thrust:
core.attitude.attitudeTo(Vector3d.up, AttitudeReference.SURFACE_NORTH, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.forward, -vesselState.surfaceVelocity) > 45))
{
// if we're not facing approximately retrograde, turn to point retrograde and don't thrust:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else
{
//if we're above 200m, point retrograde and control surface velocity:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
//core.thrust.trans_spd_act = (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.90F;
Vector3d estimatedLandingPosition = vesselState.CoM + vesselState.surfaceVelocity.sqrMagnitude / (2 * vesselState.limitedMaxThrustAccel) * vesselState.surfaceVelocity.normalized;
double terrainRadius = mainBody.Radius + mainBody.TerrainAltitude(estimatedLandingPosition);
aggressivePolicy = new GravityTurnDescentSpeedPolicy(terrainRadius, mainBody.GeeASL * 9.81, vesselState.limitedMaxThrustAccel); // this constant policy creation is wastefull...
core.thrust.trans_spd_act = (float)(aggressivePolicy.MaxAllowedSpeed(vesselState.CoM - mainBody.position, vesselState.surfaceVelocity));
}
}
else
{
// last 200 meters:
core.thrust.trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.limitedMaxThrustAccel - vesselState.localg) * 2 * 200) * 0.90F, (float)minalt / 200);
// take into account desired landing speed:
core.thrust.trans_spd_act = (float)Math.Min(-core.landing.touchdownSpeed, core.thrust.trans_spd_act);
// core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
// core.thrust.trans_kill_h = true;
// if (Math.Abs(Vector3d.Angle(-vessel.surfaceVelocity, vesselState.up)) < 10)
if (vesselState.speedSurfaceHorizontal < 5)
{
// if we're falling more or less straight down, control vertical speed and
// kill horizontal velocity
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
}
else
{
// if we're falling at a significant angle from vertical, our vertical speed might be
// quite small but we might still need to decelerate. Control the total speed instead
// by thrusting directly retrograde
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
core.thrust.trans_spd_act *= -1;
}
}
status = "Final descent: " + vesselState.altitudeBottom.ToString("F0") + "m above terrain";
// ComputeCourseCorrection doesn't work close to the ground
/* if (core.landing.landAtTarget)
* {
* core.rcs.enabled = true;
* Vector3d deltaV = core.landing.ComputeCourseCorrection(false);
* core.rcs.SetWorldVelocityError(deltaV);
*
* status += "\nDV: " + deltaV.magnitude.ToString("F3") + " m/s";
* } */
return(this);
}
public override void Drive(FlightCtrlState s)
{
if (landStep == LandStep.OFF) return;
// If the latest prediction is a landing, aerobrake or no-reentry prediciton then keep it. However if it is any other sort or result it is not much use to us, so do not bother!
{
ReentrySimulation.Result result = predictor.GetResult();
if (null != result)
{
if (result.outcome != ReentrySimulation.Outcome.ERROR && result.outcome != ReentrySimulation.Outcome.TIMED_OUT)
{
this.prediction = result;
}
}
}
{
ReentrySimulation.Result result = predictor.GetErrorResult();
if (null != result)
{
if (result.outcome != ReentrySimulation.Outcome.ERROR && result.outcome != ReentrySimulation.Outcome.TIMED_OUT)
{
this.errorPrediction = result;
}
}
}
descentSpeedPolicy = PickDescentSpeedPolicy();
predictor.descentSpeedPolicy = PickDescentSpeedPolicy(); //create a separate IDescentSpeedPolicy object for the simulation
predictor.decelEndAltitudeASL = DecelerationEndAltitude();
predictor.parachuteSemiDeployMultiplier = this.parachutePlan.Multiplier;
// Consider lowering the langing gear
{
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (deployGears && !deployedGears && (minalt < 1000)) DeployLandingGears();
}
if (!PredictionReady && landStep != LandStep.DEORBIT_BURN && landStep != LandStep.PLANE_CHANGE && landStep != LandStep.LOW_DEORBIT_BURN
&& landStep != LandStep.UNTARGETED_DEORBIT && landStep != LandStep.FINAL_DESCENT) return;
switch (landStep)
{
case LandStep.UNTARGETED_DEORBIT:
DriveUntargetedDeorbit(s);
break;
case LandStep.PLANE_CHANGE:
DrivePlaneChange(s);
break;
case LandStep.LOW_DEORBIT_BURN:
DriveLowDeorbitBurn(s);
break;
case LandStep.DEORBIT_BURN:
DriveDeorbitBurn(s);
break;
case LandStep.COURSE_CORRECTIONS:
DriveCourseCorrections(s);
break;
case LandStep.KILLING_HORIZONTAL_VELOCITY:
DriveKillHorizontalVelocity(s);
break;
case LandStep.FINAL_DESCENT:
DriveUntargetedLanding(s);
break;
default:
break;
}
}
public override void Drive(FlightCtrlState s)
{
if (landStep == LandStep.OFF) return;
descentSpeedPolicy = PickDescentSpeedPolicy();
predictor.descentSpeedPolicy = PickDescentSpeedPolicy(); //create a separate IDescentSpeedPolicy object for the simulation
predictor.endAltitudeASL = DecelerationEndAltitude();
prediction = predictor.GetResult(); //grab a reference to the current result, in case a new one comes in while we're doing stuff
if (!PredictionReady && landStep != LandStep.DEORBIT_BURN && landStep != LandStep.PLANE_CHANGE && landStep != LandStep.LOW_DEORBIT_BURN
&& landStep != LandStep.UNTARGETED_DEORBIT && landStep != LandStep.FINAL_DESCENT) return;
switch (landStep)
{
case LandStep.UNTARGETED_DEORBIT:
DriveUntargetedDeorbit(s);
break;
case LandStep.PLANE_CHANGE:
DrivePlaneChange(s);
break;
case LandStep.LOW_DEORBIT_BURN:
DriveLowDeorbitBurn(s);
break;
case LandStep.DEORBIT_BURN:
DriveDeorbitBurn(s);
break;
case LandStep.COURSE_CORRECTIONS:
DriveCourseCorrections(s);
break;
case LandStep.KILLING_HORIZONTAL_VELOCITY:
DriveKillHorizontalVelocity(s);
break;
case LandStep.FINAL_DESCENT:
DriveUntargetedLanding(s);
break;
default:
break;
}
}
Vector3d x; //coordinate system used is centered on main body
#endregion Fields
#region Constructors
public ReentrySimulation(Orbit _initialOrbit, double _UT, double _dragMassExcludingUsedParachutes, List<SimulatedParachute> _parachuteList, double _mass,
IDescentSpeedPolicy _descentSpeedPolicy, double _decelEndAltitudeASL, double _maxThrustAccel, double _parachuteSemiDeployMultiplier, double _probableLandingSiteASL, bool _multiplierHasError, double _dt)
{
// Store all the input values as they were given
input_initialOrbit = _initialOrbit;
input_UT = _UT;
input_dragMassExcludingUsedParachutes = _dragMassExcludingUsedParachutes;
input_parachuteList = _parachuteList;
input_mass = _mass;
input_descentSpeedPolicy = _descentSpeedPolicy;
input_decelEndAltitudeASL = _decelEndAltitudeASL;
input_maxThrustAccel = _maxThrustAccel;
input_parachuteSemiDeployMultiplier = _parachuteSemiDeployMultiplier;
input_probableLandingSiteASL = _probableLandingSiteASL;
input_multiplierHasError = _multiplierHasError;
input_dt = _dt;
max_dt = _dt;
dt = max_dt;
CelestialBody body = _initialOrbit.referenceBody;
bodyHasAtmosphere = body.atmosphere;
seaLevelAtmospheres = body.atmosphereMultiplier;
scaleHeight = 1000 * body.atmosphereScaleHeight;
bodyRadius = body.Radius;
gravParameter = body.gravParameter;
this.dragMassExcludingUsedParachutes = _dragMassExcludingUsedParachutes;
this.parachutes = _parachuteList;
this.parachuteSemiDeployMultiplier = _parachuteSemiDeployMultiplier;
this.multiplierHasError = _multiplierHasError;
this.mass = _mass;
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;
t = startUT;
AdvanceToFreefallEnd(_initialOrbit);
}
maxDragGees = 0;
deltaVExpended = 0;
trajectory = new List<AbsoluteVector>();
}
public override AutopilotStep Drive(FlightCtrlState s)
{
if (vessel.LandedOrSplashed)
{
core.landing.StopLanding();
return null;
}
// TODO perhaps we should pop the parachutes at this point, or at least consider it depending on the altitude.
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (vesselState.limitedMaxThrustAccel < vesselState.gravityForce.magnitude)
{
// if we have TWR < 1, just try as hard as we can to decelerate:
// (we need this special case because otherwise the calculations spit out NaN's)
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
core.thrust.trans_spd_act = 0;
}
else if (minalt > 200)
{
if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.surfaceVelocity, vesselState.up) < 80))
{
// if we have positive vertical velocity, point up and don't thrust:
core.attitude.attitudeTo(Vector3d.up, AttitudeReference.SURFACE_NORTH, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.forward, -vesselState.surfaceVelocity) > 45))
{
// if we're not facing approximately retrograde, turn to point retrograde and don't thrust:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else
{
//if we're above 200m, point retrograde and control surface velocity:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
//core.thrust.trans_spd_act = (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.90F;
Vector3d estimatedLandingPosition = vesselState.CoM + vesselState.surfaceVelocity.sqrMagnitude / (2 * vesselState.limitedMaxThrustAccel) * vesselState.surfaceVelocity.normalized;
double terrainRadius = mainBody.Radius + mainBody.TerrainAltitude(estimatedLandingPosition);
aggressivePolicy = new GravityTurnDescentSpeedPolicy(terrainRadius, mainBody.GeeASL * 9.81, vesselState.limitedMaxThrustAccel); // this constant policy creation is wastefull...
core.thrust.trans_spd_act = (float)(aggressivePolicy.MaxAllowedSpeed(vesselState.CoM - mainBody.position, vesselState.surfaceVelocity));
}
}
else
{
// last 200 meters:
core.thrust.trans_spd_act = -Mathf.Lerp(0, (float)Math.Sqrt((vesselState.limitedMaxThrustAccel - vesselState.localg) * 2 * 200) * 0.90F, (float)minalt / 200);
// take into account desired landing speed:
core.thrust.trans_spd_act = (float)Math.Min(-core.landing.touchdownSpeed, core.thrust.trans_spd_act);
// core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
// core.thrust.trans_kill_h = true;
// if (Math.Abs(Vector3d.Angle(-vessel.surfaceVelocity, vesselState.up)) < 10)
if (vesselState.speedSurfaceHorizontal < 5)
{
// if we're falling more or less straight down, control vertical speed and
// kill horizontal velocity
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
}
else
{
// if we're falling at a significant angle from vertical, our vertical speed might be
// quite small but we might still need to decelerate. Control the total speed instead
// by thrusting directly retrograde
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
core.thrust.trans_spd_act *= -1;
}
}
status = "Final descent: " + vesselState.altitudeBottom.ToString("F0") + "m above terrain";
// ComputeCourseCorrection doesn't work close to the ground
/* if (core.landing.landAtTarget)
{
core.rcs.enabled = true;
Vector3d deltaV = core.landing.ComputeCourseCorrection(false);
core.rcs.SetWorldVelocityError(deltaV);
status += "\nDV: " + deltaV.magnitude.ToString("F3") + " m/s";
} */
return this;
}
public override AutopilotStep Drive(FlightCtrlState s)
{
if (vessel.LandedOrSplashed)
{
core.landing.StopLanding();
vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, true);
vessel.Autopilot.Enable(VesselAutopilot.AutopilotMode.RadialIn);
return(null);
}
if (useChute)
{
waitForChute = vesselState.parachutes.Any(p => p.Anim.isPlaying);
}
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (vesselState.limitedMaxThrustAccel < vesselState.gravityForce.magnitude)
{
// if we have TWR < 1, just try as hard as we can to decelerate:
// (we need this special case because otherwise the calculations spit out NaN's)
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
core.thrust.trans_spd_act = 0;
}
else if (minalt > 25D * gee)
{
if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.surfaceVelocity, vesselState.up) < 80))
{
// if we have positive vertical velocity, point up and don't thrust:
core.attitude.attitudeTo(Vector3d.up, AttitudeReference.SURFACE_NORTH, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.forward, -vesselState.surfaceVelocity) > 45))
{
// if we're not facing approximately retrograde, turn to point retrograde and don't thrust:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if (useChute)
{
// rely on parachutes to get down to 200m
// always point up towards target, so any lift providing surface will get us closer
Vector3d diff = core.target.GetPositionTargetPosition() - core.landing.LandingSite;
core.attitude.attitudeTo(Quaternion.LookRotation(-vesselState.surfaceVelocity, diff), AttitudeReference.INERTIAL, null);
// for fine tuning we need to reduce deploy angles or we just spin around target
finalDifferenceTarget.value = diff.magnitude;
if (finalDifferenceTarget < 100)
{
foreach (var mcs in vessel.FindPartModulesImplementing <ModuleControlSurface>())
{
if (mcs.deploy)
{
Vector2 scaledLimit = Vector2.Max((float)finalDifferenceTarget / 100f * mcs.deployAngleLimits, new Vector2(-2, 2));
mcs.deployAngle = Mathf.Clamp(mcs.deployAngle, scaledLimit.x, scaledLimit.y);
}
}
}
//Debug.Log(String.Format("Diff to target: {0:F2} ", (Vector3) diff));
//assume we fall straight due to parachutes
double maxSpeed = 0.9 * Math.Sqrt(2d * vesselState.altitudeTrue * (vesselState.limitedMaxThrustAccel - gee));
if (!waitForChute && (vesselState.TerminalVelocity() > maxSpeed))
{
Debug.Log(String.Format("Emergency break in final descent alt:{0} accel:{1} maxSpeed:{2} terminal v:{3}", vesselState.altitudeTrue, vesselState.limitedMaxThrustAccel, maxSpeed, vesselState.TerminalVelocity()));
core.thrust.trans_spd_act = (float)maxSpeed;
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
}
else
{
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
}
else
{
//if we're above 200m, point retrograde and control surface velocity:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
//core.thrust.trans_spd_act = (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.90F;
Vector3d estimatedLandingPosition = vesselState.CoM + vesselState.surfaceVelocity.sqrMagnitude / (2 * vesselState.limitedMaxThrustAccel) * vesselState.surfaceVelocity.normalized;
double terrainRadius = mainBody.Radius + mainBody.TerrainAltitude(estimatedLandingPosition);
aggressivePolicy = new GravityTurnDescentSpeedPolicy(terrainRadius, gee, vesselState.limitedMaxThrustAccel); // this constant policy creation is wastefull...
core.thrust.trans_spd_act = (float)(aggressivePolicy.MaxAllowedSpeed(vesselState.CoM - mainBody.position, vesselState.surfaceVelocity));
}
}
else
{
// last 250m on Kerbin, lower on lighter, higher on heavier bodies
// + 15% safety margin on break distance + distance for last three second with touchdown speed
double safety_alt = Math.Max(0.85D * (minalt - core.landing.touchdownSpeed * 2D /*s*/), 0);
if (mainBody.atmosphere)
{
// calculate effective terminal velocity for powered landing
// it is smaller as reduced speed from slow down decreases drag
// equations are derived from F = k * v^2 + m* ( a -g ), meaning accelerating from ground with help of drag
// equation assumes that k is constant, which fails at bigger altitude, but within final touchdown it is safe assumption
double a_eff = vesselState.limitedMaxThrustAccel - gee;
double v_terminal = vesselState.TerminalVelocity() * Math.Sqrt(a_eff / gee);
//double x_0 = - 0.5D * v_terminal / a_eff * Math.Log( 1+ core.landing.touchdownSpeed * core.landing.touchdownSpeed/ (v_terminal * v_terminal));
// v(t) = v_terminal * tan( a_eff * t / v_terminal) + arctan( touchdownSpeed / v_terminal) )
// x(t) = x_o - v_terminal^2 / a_eff * ln(cos(a_eff / v_terminal * t + arctan(touchdownSpeed / v_terminal) ))
// note: equations are only for small t where assumption about drag holds -> parameter in cos stays in [0,pi/2]
// v(x) = v_terminal * tan( arccos( e ^(-a_eff/v_terminal^2 * ( x -x_0))))
// for survivable touchdownspeeds x_0 is few cm, so we neglect it
core.thrust.trans_spd_act = (float)(-v_terminal * Math.Tan(Math.Acos(Math.Exp(-a_eff / (v_terminal * v_terminal) * safety_alt))));
Debug.Log(String.Format("FinalDescent: Limit speed for safety alt={0:F0} to v_target={1:F1}, v={2:F1}, targetThrottle={3:P0}, tmode={4}", safety_alt, core.thrust.trans_spd_act, vesselState.speedVertical, core.thrust.targetThrottle, core.thrust.tmode));
}
else
{
// last 200 meters ramp down speed with limit of falling full throttle break
core.thrust.trans_spd_act = -Mathf.Sqrt((float)((vesselState.limitedMaxThrustAccel - vesselState.localg) * safety_alt * 2D + core.landing.touchdownSpeed * core.landing.touchdownSpeed));
}
// take into account desired landing speed:
core.thrust.trans_spd_act = (float)Math.Min(-core.landing.touchdownSpeed, core.thrust.trans_spd_act);
//avoid hopping due to throttle PID oversteering on very last moment, so we do direct control
if (-vesselState.speedVertical < 3D * core.landing.touchdownSpeed && core.thrust.targetThrottle > 0.2 && safety_alt < 5)
{
core.attitude.attitudeTo(Quaternion.LookRotation(vesselState.up, vessel.transform.forward), AttitudeReference.INERTIAL, null);
if (-vesselState.speedVertical > core.landing.touchdownSpeed + 1D)
{
// break with maximum thrust or 50 m/s if we have more available, so speed between 2 physical updates should change at most 1 m/s
core.thrust.trans_spd_act = 100f * Mathf.Clamp01((float)((gee + 50) / vesselState.limitedMaxThrustAccel));
}
else
{
//constant speed descent, we just fight gravity
core.thrust.trans_spd_act = 95f * Mathf.Clamp01((float)(gee / vesselState.limitedMaxThrustAccel));
}
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
Debug.Log(String.Format("FinalDescent: Touchdown soon ! safety alt={0:F1}, v_vertical={2:F1}, v_horizontal={3:F1} => thrust={1:F0} % ", safety_alt, core.thrust.trans_spd_act, vesselState.speedVertical.value, vesselState.speedSurfaceHorizontal.value));
}
else if (vesselState.speedSurfaceHorizontal < 5)
{
// if we're falling more or less straight down, control vertical speed and
// kill horizontal velocity
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
}
else
{
// if we're falling at a significant angle from vertical, our vertical speed might be
// quite small but we might still need to decelerate. Control the total speed instead
// by thrusting directly retrograde
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
core.thrust.trans_spd_act *= -1;
}
}
status = "Final descent: " + vesselState.altitudeBottom.ToString("F0") + "m above terrain";
// ComputeCourseCorrection doesn't work close to the ground
/* if (core.landing.landAtTarget)
* {
* core.rcs.enabled = true;
* Vector3d deltaV = core.landing.ComputeCourseCorrection(false);
* core.rcs.SetWorldVelocityError(deltaV);
*
* status += "\nDV: " + deltaV.magnitude.ToString("F3") + " m/s";
* } */
return(this);
}
Vector3d x; //coordinate system used is centered on main body
#endregion Fields
#region Constructors
public ReentrySimulation(Orbit initialOrbit, double UT, double dragCoefficient, List<SimulatedParachute> parachuteList, double mass,
IDescentSpeedPolicy descentSpeedPolicy, double endAltitudeASL, double maxThrustAccel)
{
CelestialBody body = initialOrbit.referenceBody;
bodyHasAtmosphere = body.atmosphere;
seaLevelAtmospheres = body.atmosphereMultiplier;
scaleHeight = 1000 * body.atmosphereScaleHeight;
bodyRadius = body.Radius;
gravParameter = body.gravParameter;
this.dragCoefficient = dragCoefficient;
this.parachutes = parachuteList;
this.mass = mass;
bodyAngularVelocity = body.angularVelocity;
this.descentSpeedPolicy = descentSpeedPolicy;
landedRadius = bodyRadius + endAltitudeASL;
aerobrakedRadius = bodyRadius + body.RealMaxAtmosphereAltitude();
mainBody = body;
this.maxThrustAccel = maxThrustAccel;
referenceFrame = ReferenceFrame.CreateAtCurrentTime(initialOrbit.referenceBody);
orbitReenters = OrbitReenters(initialOrbit);
if (orbitReenters)
{
startUT = UT;
t = startUT;
AdvanceToFreefallEnd(initialOrbit);
}
maxDragGees = 0;
deltaVExpended = 0;
trajectory = new List<AbsoluteVector>();
}
public override AutopilotStep Drive(FlightCtrlState s)
{
if (vessel.LandedOrSplashed)
{
core.landing.StopLanding();
return(null);
}
// TODO perhaps we should pop the parachutes at this point, or at least consider it depending on the altitude.
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (vesselState.limitedMaxThrustAccel < vesselState.gravityForce.magnitude)
{
// if we have TWR < 1, just try as hard as we can to decelerate:
// (we need this special case because otherwise the calculations spit out NaN's)
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_kill_h = true;
core.thrust.trans_spd_act = 0;
}
else if (minalt > 200)
{
if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.surfaceVelocity, vesselState.up) < 80))
{
// if we have positive vertical velocity, point up and don't thrust:
core.attitude.attitudeTo(Vector3d.up, AttitudeReference.SURFACE_NORTH, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else if ((vesselState.surfaceVelocity.magnitude > 5) && (Vector3d.Angle(vesselState.forward, -vesselState.surfaceVelocity) > 45))
{
// if we're not facing approximately retrograde, turn to point retrograde and don't thrust:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.DIRECT;
core.thrust.trans_spd_act = 0;
}
else
{
//if we're above 200m, point retrograde and control surface velocity:
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
//core.thrust.trans_spd_act = (float)Math.Sqrt((vesselState.maxThrustAccel - vesselState.gravityForce.magnitude) * 2 * minalt) * 0.90F;
Vector3d estimatedLandingPosition = vesselState.CoM + vesselState.surfaceVelocity.sqrMagnitude / (2 * vesselState.limitedMaxThrustAccel) * vesselState.surfaceVelocity.normalized;
double terrainRadius = mainBody.Radius + mainBody.TerrainAltitude(estimatedLandingPosition);
aggressivePolicy = new GravityTurnDescentSpeedPolicy(terrainRadius, mainBody.GeeASL * 9.81, vesselState.limitedMaxThrustAccel); // this constant policy creation is wastefull...
core.thrust.trans_spd_act = (float)(aggressivePolicy.MaxAllowedSpeed(vesselState.CoM - mainBody.position, vesselState.surfaceVelocity));
thrustAt200Meters = (float)vesselState.limitedMaxThrustAccel; // this gets updated until we are below 200 meters
}
}
else
{
float previous_trans_spd_act = Math.Abs(core.thrust.trans_spd_act); // avoid issues going from KEEP_SURFACE mode to KEEP_VERTICAL mode
// Last 200 meters, at this point the rocket has a TWR that will rise rapidly, so be sure to use the same policy based on an older
// TWR. Otherwise we would suddenly get a large jump in desired speed leading to a landing that is too fast.
core.thrust.trans_spd_act = Mathf.Lerp(0, (float)Math.Sqrt((thrustAt200Meters - vesselState.localg) * 2 * 200) * 0.90F, (float)minalt / 200);
// Sometimes during the descent we end up going up a bit due to overthrusting during breaking, avoid thrusting up even more and destabilizing the rocket
core.thrust.trans_spd_act = (float)Math.Min(previous_trans_spd_act, core.thrust.trans_spd_act);
// take into account desired landing speed:
core.thrust.trans_spd_act = (float)Math.Max(core.landing.touchdownSpeed, core.thrust.trans_spd_act);
// Prevent that we switch back from Vertical mode to KeepSurface mode
// When that happens the rocket will start tilting and end up falling over
if (vesselState.speedSurfaceHorizontal < 5)
{
forceVerticalMode = true;
}
if (forceVerticalMode)
{
// if we're falling more or less straight down, control vertical speed and
// kill horizontal velocity
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_VERTICAL;
core.thrust.trans_spd_act *= -1;
core.thrust.trans_kill_h = false; // rockets are long, and will fall over if you attempt to do any manouvers to kill that last bit of horizontal speed
if (core.landing.rcsAdjustment) // If allowed, use RCS to stablize the rocket
{
core.rcs.enabled = true;
}
// Turn on SAS because we are likely to have a bit of horizontal speed left that needs to stabilize
// Use SmartASS, because Mechjeb doesn't expect SAS to be used (i.e. it is automatically turned off again)
core.EngageSmartASSControl(MechJebModuleSmartASS.Mode.SURFACE, MechJebModuleSmartASS.Target.VERTICAL_PLUS, true);
}
else
{
// if we're falling at a significant angle from vertical, our vertical speed might be
// quite small but we might still need to decelerate. Control the total speed instead
// by thrusting directly retrograde
core.attitude.attitudeTo(Vector3d.back, AttitudeReference.SURFACE_VELOCITY, null);
core.thrust.tmode = MechJebModuleThrustController.TMode.KEEP_SURFACE;
}
}
status = "Final descent: " + vesselState.altitudeBottom.ToString("F0") + "m above terrain";
// ComputeCourseCorrection doesn't work close to the ground
/* if (core.landing.landAtTarget)
* {
* core.rcs.enabled = true;
* Vector3d deltaV = core.landing.ComputeCourseCorrection(false);
* core.rcs.SetWorldVelocityError(deltaV);
*
* status += "\nDV: " + deltaV.magnitude.ToString("F3") + " m/s";
* } */
return(this);
}
public override void Drive(FlightCtrlState s)
{
if (!active)
return;
// If the latest prediction is a landing, aerobrake or no-reentry prediciton then keep it.
// However if it is any other sort or result it is not much use to us, so do not bother!
{
ReentrySimulation.Result result = predictor.Result;
if (null != result)
{
if (result.outcome != ReentrySimulation.Outcome.ERROR && result.outcome != ReentrySimulation.Outcome.TIMED_OUT)
{
this.prediction = result;
}
}
}
{
ReentrySimulation.Result result = predictor.GetErrorResult();
if (null != result)
{
if (result.outcome != ReentrySimulation.Outcome.ERROR && result.outcome != ReentrySimulation.Outcome.TIMED_OUT)
{
this.errorPrediction = result;
}
}
}
descentSpeedPolicy = PickDescentSpeedPolicy();
PatchPredictorPolicy();
// Consider lowering the langing gear
{
double minalt = Math.Min(vesselState.altitudeBottom, Math.Min(vesselState.altitudeASL, vesselState.altitudeTrue));
if (deployGears && !deployedGears && (minalt < 1000))
DeployLandingGears();
}
base.Drive(s);
}
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;
}
