public void setOrientation(Quaternion orientation)
{
this._initial_orientation = orientation;
this.orientation_given = true;
}
public Vector3D QuaternionRotate(Quaternion RotationQuaternion)
{
Quaternion RotationQuaternionConjugate = RotationQuaternion.conjugate();
Quaternion vec = new Quaternion(0, this._x, this._y, this._z);
Quaternion result = RotationQuaternion * vec * RotationQuaternionConjugate;
return result.getVector();
}
public void setBatchSet(double time, Vector3D pos, Quaternion orientation)
{
Spacecraft sc = new Spacecraft();
sc.setPosition(pos);
if (orientation.Norm() > 0)
{
sc.setOrientation(orientation);
}
sc.setFixedTime(time);
this.spacecrafts.Add(sc);
}
public Vector3D QuaternionRotate(Vector3D axis, double angle)
{
Quaternion RotationQuaternion = new RotationQuaternion(axis, angle);
Quaternion RotationQuaternionConjugate = RotationQuaternion.conjugate();
Quaternion vec = new Quaternion(0, this._x, this._y, this._z);
Quaternion result = RotationQuaternion * vec * RotationQuaternionConjugate;
return result.getVector();
}
public void setTime(double time)
{
this._time = time;
if (this.fixedPositionGiven)
{
this._position = this._fixed_position;
}
else
{
this._position = this._kepler_orbit.getPosition(time);
}
this._sun_position = this.calculateSunPosition();
if (this.isOrientationGiven())
{
// take orientation transition into account
this._orientation = new RotationQuaternion(new Vector3D(0, 0, 1), this._orientation_transition.z()) *
new RotationQuaternion(new Vector3D(0, 1, 0), this._orientation_transition.y()) *
new RotationQuaternion(new Vector3D(1, 0, 0), this._orientation_transition.x()) *
this._initial_orientation;
this._POV_right = this._POV_right.QuaternionRotate(this._orientation);
this._POV_direction = ((new Vector3D(-1, 0, 0).QuaternionRotate(this._orientation) / (new Vector3D(-1, 0, 0).QuaternionRotate(this._orientation).norm())) * ((0.5 * this._POV_right.norm()) / Math.Tan(tools.deg2rad(Program.sim.getFOV()) / 2)));
}
else
{
// calculate necessary orientation quaternion to look nadir
double phi, theta, r;
r = this.getPosition().norm();
phi = Math.Atan2(this.getPosition().y(), this.getPosition().x());
theta = Math.Acos(this.getPosition().z() / r);
this._orientation = new RotationQuaternion(new Vector3D(0, 1, 0), theta) * new RotationQuaternion(new Vector3D(0, 0, 1), -phi);
this._POV_right = this._POV_right.QuaternionRotate(this._orientation);
this._POV_direction = ((new Vector3D(-this.getPosition().x(), -this.getPosition().y(), -this.getPosition().z()) / (new Vector3D(-this.getPosition().x(), -this.getPosition().y(), -this.getPosition().z()).norm())) * ((0.5 * this._POV_right.norm()) / Math.Tan(tools.deg2rad(Program.sim.getFOV()) / 2)));
}
this._POV_up = this._POV_right % this._POV_direction; // cross product
this._POV_up = this._POV_up / this._POV_up.norm();
}