// ==============================================================================================================================================
//
VECTOR3 SyncMFD::ComputeDeOrbit(double mu, double rea, VECTOR3 _entry, VECTOR3 _cp)
{
double alpha = angle(_entry, _cp);
double refalt = length(_entry);
double ca = length(_cp);
double vup = sqrt(2.0*mu/refalt); // Upper Limit = escape velocity
double vlw = 0.0;
double v = 0.0;
double p = 0.0;
double a = 0.0;
double e = 0.0;
double t = 0.0;
double r = 0.0;
for (int i=0;i<32;i++) {
v = (vup + vlw) / 2.0;
p = cos(rea) * refalt * v; p*=p; p/=mu;
a = -mu*refalt / (v*v*refalt - 2.0*mu);
e = sqrt(1.0 - p/a);
t = PI2 - acos((p-refalt)/(refalt*e));
r = p / (1.0+e*cos(t-alpha));
if (r>ca) vup=v; else vlw=v;
}
VECTOR3 _n = crossp(_entry, _cp);
VECTOR3 _q = crossp(_n, _cp);
double fpa = tra2fpa(t-alpha, e);
double ve = sqrt(2.0*mu/ca - mu/a);
VECTOR3 _v = unit(_q)*cos(fpa)*ve + unit(_cp)*sin(fpa)*ve;
return _v;
}
// ==============================================================================================================================================
// Define orbit by using ship's position vector and Periapsis vector
//
bool Orbit::ApproachOrbit(OBJHANDLE ref, VECTOR3 pos, VECTOR3 peri)
{
VECTOR3 normal = crossp(pos,peri);
VECTOR3 minv = crossp(normal,peri);
double x,y;
double tra = nangle(pos,peri,normal);
double myy = oapiGetMass(ref) * GC;
double ped = length(peri);
double rad = length(pos);
double ecc = ( ped - rad ) / ( rad*cos(tra)-ped ); // Eccentricity of orbit
double sma = ped/(1.0-ecc); // Semi-major axis
double par = sma * (1.0-ecc*ecc); // Parameter
double vel = sqrt(2.0*myy/rad - myy/sma); // Ship's velocity
double smi = sqrt( fabs(sma) * par );
double eca = tra2eca(tra,ecc);
if (ecc<1) {
x = -sma * sin(eca);
y = smi * cos(eca);
} else {
x = sma * sinh(eca);
y = smi * cosh(eca);
}
double l = sqrt(x*x + y*y);
VECTOR3 an = unit(peri) * (vel * x / l);
VECTOR3 di = unit(minv) * (vel * y / l);
Elements(pos,an+di,myy,false);
return true;
}
// ==============================================================================================================================================
//
void Orbit::CreateProjectionPlane(VECTOR3 normal, VECTOR3 zero)
{
Reset();
myy = 1.327e20;
ecc = 0;
sma = AU;
rad = AU;
inc = 0;
lan = 0;
agp = 0;
tra = 0;
par = sma;
mna = 0;
mnm = MeanMotion();
ang = sqrt(myy*par);
lpe = 0;
trl = 0;
majv = unit(crossp(crossp(normal,zero),normal));
norv = unit(normal);
minv = unit(crossp(norv,majv));
Xmajv = majv * sma;
Xminv = minv * sma;
Xcv = _V(0,0,0);
SetProjection(this);
}
// ==============================================================================================================================================
//
void Orbit::CreateProjectionOrbit(VECTOR3 normal)
{
majv = unit(crossp(crossp(normal,zero),normal));
norv = unit(normal);
minv = unit(crossp(norv,majv));
lan = 0.0;
agp = 0.0;
tra = 0.0;
sma = AU;
par = AU;
lpe = lan;
trl = lan;
Xmajv = majv * sma;
Xminv = minv * sqrt(fabs(sma*par));
Xcv = majv * (sma*ecc);
}
// ==============================================================================================================================================
//
bool Orbit::DefineOrbit(OBJHANDLE ref, VECTOR3 pos, VECTOR3 normal,double tra,double ecc)
{
VECTOR3 ma = create_vector(normal,pos,PI2-tra);
VECTOR3 mi = unit(crossp(normal,ma));
double x,y;
double myy = oapiGetMass(ref) * GC;
double rad = length(pos);
double par = rad * (1.0+ecc*cos(tra));
double sma = par / (1.0-ecc*ecc);
double vel = sqrt(2.0*myy/rad - myy/sma); // Ship's velocity
double smi = sqrt( fabs(sma) * par );
double eca = tra2eca(tra,ecc);
INVALIDD(par*sma*vel) return false;
if (ecc<1.0) {
x = -sma * sin(eca);
y = smi * cos(eca);
} else {
x = sma * sinh(eca);
y = smi * cosh(eca);
}
double l = sqrt(x*x + y*y);
VECTOR3 an = ma * (vel * x / l);
VECTOR3 di = mi * (vel * y / l);
Elements(pos,an+di,myy,false);
return true;
}
void get_canvas_camera(dpoint3d &ipos, dpoint3d &istr, dpoint3d &ihei, dpoint3d &ifor)
{
//ipo: camera position
//ist: camera's unit RIGHT vector
//ihe: camera's unit DOWN vector
//ifo: camera's unit FORWARD vector
ipos.x = 1024 -solid_view.m_lens_point[0];
ipos.y = solid_view.m_lens_point[1];
ipos.z = 256.0 - solid_view.m_lens_point[2];
double f[3];
for(int i = 0; i<3; i++)f[i] = solid_view.m_target_point[i] - solid_view.m_lens_point[i];
norm(f);
double down[3];
for(int i = 0; i<3; i++)down[i] = -solid_view.m_vertical[i];
double right[3];
crossp(down, f, right);
istr.x = -right[0];
istr.y = right[1];
istr.z = -right[2];
ihei.x = -down[0];
ihei.y = down[1];
ihei.z = -down[2];
ifor.x = -f[0];
ifor.y = f[1];
ifor.z = -f[2];
}
// ==============================================================================================================================================
// Radius vector will point in vernal equinox
//
void Orbit::CreateNewCircularOrbit(Orbit *plane, double rad)
{
double mu=plane->myy;
double vcir=sqrt(mu/rad);
VECTOR3 rv=plane->Position(0);
VECTOR3 vv=crossp(plane->norv,rv);
Elements(set_length(rv,rad),set_length(vv,vcir),mu,false);
}
void CSolidView::LimitCamera(){
if(m_lens_point[0] < 1)m_lens_point[0] = 1;
if(m_lens_point[0] > 1023)m_lens_point[0] = 1023;
if(m_lens_point[1] < 1)m_lens_point[1] = 1;
if(m_lens_point[1] > 1023)m_lens_point[1] = 1023;
if(m_lens_point[2] < 0)m_lens_point[2] = 0;
if(m_lens_point[2] > 2048)m_lens_point[2] = 2048;
// recalculate m_vertical
double f[3];
for(int i = 0; i<3; i++)f[i] = m_target_point[i] - m_lens_point[i];
norm(f);
double right[3];
crossp(f, m_vertical, right);
crossp(right, f, m_vertical);
norm(m_vertical);
}
void AscentAP::SetLaunchAzimuth (double azimuth)
{
launch_azimuth = azimuth;
// current launch location in local planet frame
VECTOR3 pos, equ, dir, nml, ne, nd;
double lng, lat, rad;
double slng, clng, slat, clat;
double saz = sin(azimuth), caz = cos(azimuth);
OBJHANDLE hRef = vessel->GetGravityRef();
vessel->GetGlobalPos(pos);
oapiGlobalToLocal (hRef, &pos, &equ);
oapiLocalToEqu (hRef, equ, &lng, &lat, &rad);
slng = sin(lng), clng = cos(lng), slat = sin(lat), clat = cos(lat);
normalise(equ); // unit radius vector
// launch direction in local planet frame
dir = _V(-clng*slat*caz - slng*saz, clat*caz, -slng*slat*caz + clng*saz);
// normal of orbital plane in local planet frame
nml = crossp(dir, equ);
// normal of equator plane in local planet frame
ne = _V(0,1,0);
// direction of ascending node
nd = unit (crossp(nml, ne));
// orbit inclination
tgt.inc = acos(dotp(nml, ne));
// longitude of ascending node
tgt.lan = atan2(nd.z, nd.x);
// rotation matrix from equator plane to target orbit plane
double sinc = sin(tgt.inc), cinc = cos(tgt.inc);
double slan = sin(tgt.lan), clan = cos(tgt.lan);
MATRIX3 R1 = _M(1,0,0, 0,cinc,sinc, 0,-sinc,cinc);
MATRIX3 R2 = _M(clan,0,-slan, 0,1,0, slan,0,clan);
tgt.R = mul(R2,R1);
}
// ==============================================================================================================================================
//
double Orbit::TrlOfNode(VECTOR3 tgt_norv)
{
if (Defined()) {
VECTOR3 z; z.x=0; z.z=0; z.y=1.0;
VECTOR3 vlan,vect;
if (length(crossp(z,norv))==0) vlan=majv, vect=minv;
else {
vlan = unit(crossp(z,norv));
vect = unit(crossp(norv,vlan));
}
VECTOR3 lv = crossp(norv, tgt_norv);
double xf=dotp(lv,vect);
double xl=dotp(lv,vlan);
return limit(atan2(xf,xl)+lan);
}
return 0;
}
// ==============================================================================================================================================
//
void Orbit::GEO(OBJHANDLE ref)
{
if (!ref) { GeoRef=NULL; return; }
double obli = oapiGetPlanetObliquity(ref);
double peri = oapiGetPlanetPeriod(ref);
double trans = oapiGetPlanetTheta(ref);
VECTOR3 rota, refd;
PlanetAxis(obli,trans,&rota,&refd);
VECTOR3 velo = crossp(rota,refd);
double myy = oapiGetMass(ref)*GC;
double rad = pow(fabs(peri)*sqrt(myy)/PI2, 2.0 / 3.0);
double vel = sqrt(myy/rad);
refd=set_length(refd,rad);
velo=set_length(velo,vel);
if (peri<0) velo=_V(0,0,0)-velo;
Elements(refd,velo,myy);
GeoRef=ref;
}
const MATRIX3 &AttitudeReference::GetFrameRotMatrix () const
{
// Returns rotation matrix for rotation from reference frame to global frame
if (!valid_axes) {
VECTOR3 axis1, axis2, axis3;
switch (mode) {
case 0: // inertial (ecliptic)
axis3 = _V(1,0,0);
axis2 = _V(0,1,0);
break;
case 1: { // inertial (equator)
MATRIX3 R;
oapiGetPlanetObliquityMatrix (v->GetGravityRef(), &R);
//axis3 = _V(R.m13, R.m23, R.m33);
axis3 = _V(R.m11, R.m21, R.m31);
axis2 = _V(R.m12, R.m22, R.m32);
} break;
case 2: { // orbital velocity / orbital momentum vector
OBJHANDLE hRef = v->GetGravityRef();
v->GetRelativeVel (hRef, axis3);
axis3 = unit (axis3);
VECTOR3 vv, vm;
v->GetRelativePos (hRef, vv); // local vertical
vm = crossp (axis3,vv); // direction of orbital momentum
axis2 = unit (crossp (vm,axis3));
} break;
case 3: { // local horizon / local north (surface)
OBJHANDLE hRef = v->GetSurfaceRef();
v->GetRelativePos (hRef, axis2);
axis2 = unit (axis2);
MATRIX3 prot;
oapiGetRotationMatrix (hRef, &prot);
VECTOR3 paxis = {prot.m12, prot.m22, prot.m32}; // planet rotation axis in global frame
VECTOR3 yaxis = unit (crossp (paxis,axis2)); // direction of yaw=+90 pole in global frame
axis3 = crossp (axis2,yaxis);
} break;
case 4: { // synced to NAV source (type-specific)
NAVDATA ndata;
NAVHANDLE hNav = v->GetNavSource (navid);
axis3 = _V(0,0,1);
axis2 = _V(0,1,0);
if (hNav) {
oapiGetNavData (hNav, &ndata);
switch (ndata.type) {
case TRANSMITTER_IDS: {
VECTOR3 pos, dir, rot;
MATRIX3 R;
VESSEL *vtgt = oapiGetVesselInterface (ndata.ids.hVessel);
vtgt->GetRotationMatrix (R);
vtgt->GetDockParams (ndata.ids.hDock, pos, dir, rot);
axis3 = -mul(R,dir);
axis2 = mul(R,rot);
} break;
case TRANSMITTER_VTOL:
case TRANSMITTER_VOR: {
OBJHANDLE hRef = v->GetSurfaceRef();
VECTOR3 spos, npos;
v->GetRelativePos (hRef, axis2);
v->GetGlobalPos (spos);
axis2 = unit (axis2);
oapiGetNavPos (hNav, &npos);
npos -= spos;
axis3 = unit(crossp(crossp(axis2,npos),axis2));
} break;
}
}
} break;
}
axis1 = crossp(axis2,axis3);
R = _M(axis1.x, axis2.x, axis3.x, axis1.y, axis2.y, axis3.y, axis1.z, axis2.z, axis3.z);
valid_axes = true;
valid_euler = false;
}
return R;
}
bd(double* e, double dtheta, int flag, double* xin, double* xout)
/*
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
purpose
Subroutine bd performs the transformation between the coefficient vector and
the angular rate vector.
calling sequence
variable i/o description
-------- --- -----------
e i unit vector along slew eigen-axis.
dtheta i slew angle (rad).
flag i flag determining direction of transformation.
= 0 -> compute coefficient vector from
angular rate vector
= 1 -> compute angular rate vector from
coefficient vector
xin i input vector.
xout o output vector.
return value
0 -> no error
-1 -> transformation direction incorrectly specified.
external references
crossp
programming
J. J. McEnnan, April, 2003.
COPYRIGHT (C) 2003 by James McEnnan
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
{
int i;
double sa, ca, b0, b1, b2, temp1[3], temp2[3];
if(dtheta > EPS)
{
ca = cos(dtheta);
sa = sin(dtheta);
if(flag == 0)
{
b1 = 0.5*dtheta*sa/(1.0 - ca);
b2 = 0.5*dtheta;
}
else if(flag == 1)
{
b1 = sa/dtheta;
b2 = (ca - 1.0)/dtheta;
}
else
return -1;
b0 = xin[0]*e[0] + xin[1]*e[1] + xin[2]*e[2];
crossp(e,xin,temp2);
crossp(temp2,e,temp1);
for(i = 0;i < 3;i++)
xout[i] = b0*e[i] + b1*temp1[i] + b2*temp2[i];
}
else
{
for(i = 0;i < 3;i++)
xout[i] = xin[i];
}
return 0;
}
rf(double* e, double dtheta, double* win, double* rhs)
/*
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
purpose
Subroutine rf computes the non-linear rate contributions to the final
angular acceleration.
calling sequence
variable i/o description
-------- --- -----------
e i unit vector along slew eigen-axis.
dtheta i slew angle (rad).
win i input final angular rate vector.
rhs o output vector containing non-linear rate contributions
to the final acceleration.
return value
none
external references
crossp
programming
J. J. McEnnan, May, 2003.
COPYRIGHT (C) 2003 by James McEnnan
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
{
int i;
double sa, ca, dot, mag, c1, r0, r1, temp1[3], temp2[3];
if(dtheta > EPS)
{
ca = cos(dtheta);
sa = sin(dtheta);
crossp(e,win,temp2);
crossp(temp2,e,temp1);
dot = win[0]*e[0] + win[1]*e[1] + win[2]*e[2];
mag = win[0]*win[0] + win[1]*win[1] + win[2]*win[2];
c1 = (1.0 - ca);
r0 = 0.5*(mag - dot*dot)*(dtheta - sa)/c1;
r1 = dot*(dtheta*sa - 2.0*c1)/(dtheta*c1);
for(i = 0;i < 3;i++)
rhs[i] = r0*e[i] + r1*temp1[i];
}
else
{
for(i = 0;i < 3;i++)
rhs[i] = 0.0;
}
}
void slew3_init(double dt, double dtheta, double* e, double* wi, double* ai, double* wf, double* af)
/*
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
purpose
Subroutine slew3_init computes the coefficients for a third-order polynomial
interpolation function describing a slew between the input initial and
final states.
calling sequence
variable i/o description
-------- --- -----------
dt i slew time (sec).
dtheta i slew angle (rad).
e i unit vector along slew eigen-axis.
wi i initial body angular rate (rad/sec).
ai i initial body angular acceleration (rad/sec^2)
(included for compatibility only).
wf i final body angular rate (rad/sec).
af i final body angular acceleration (rad/sec^2)
(included for compatibility only).
return value
none
external references
none
programming
J. J. McEnnan, March, 2003.
COPYRIGHT (C) 2003 by James McEnnan
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
{
int i;
double sa, ca, c1, c2;
double b0, bvec1[3], bvec2[3], bvec[3];
if(dt <= 0.0)
return;
sa = sin(dtheta);
ca = cos(dtheta);
/* final angular rate terms. */
if(dtheta > EPS)
{
c1 = 0.5*sa*dtheta/(1.0 - ca);
c2 = 0.5*dtheta;
b0 = e[0]*wf[0] + e[1]*wf[1] + e[2]*wf[2];
crossp(e,wf,bvec2);
crossp(bvec2,e,bvec1);
for(i = 0;i < 3;i++)
bvec[i] = b0*e[i] + c1*bvec1[i] + c2*bvec2[i];
}
else
{
for(i = 0;i < 3;i++)
bvec[i] = wf[i];
}
/* compute coefficients. */
for(i = 0;i < 3;i++)
{
b[0][i] = wi[i];
a[2][i] = e[i]*dtheta;
b[2][i] = bvec[i];
a[0][i] = b[0][i]*dt;
a[1][i] = (b[2][i]*dt - 3.0*a[2][i]);
b[1][i] = (2.0*a[0][i] + 2.0*a[1][i])/dt;
c[0][i] = (2.0*b[0][i] + b[1][i])/dt;
c[1][i] = ( b[1][i] + 2.0*b[2][i])/dt;
d[i] = ( c[0][i] + c[1][i])/dt;
}
}
// ==============================================================================================================================================
//
bool SyncMFD::InterpolateClosestPassage(OBJHANDLE ref, Orbit *src, double lon,double lat,double orbit,double *diff,double *tim,double *head,double *tr)
{
VECTOR3 Rot,Off;
Orbit LEO;
int i;
double obli = 0.0;
double trans = 0.0;
double per = 0.0;
double offset = 0.0;
double size = 0.0;
double time = 0.0;
// Rotation elements
obli = oapiGetPlanetObliquity(ref);
trans = oapiGetPlanetTheta(ref);
per = oapiGetPlanetPeriod(ref);
offset = oapiGetPlanetCurrentRotation(ref);
size = oapiGetSize(ref);
LEO.LEO(ref);
double step = PI2/16.01;
double start = orbit;
double end = orbit+PI2+(step/2.0);
double trl, dst2;
double dot,old_dot=0;
VECTOR3 pos = _V(0,0,0);
VECTOR3 vel = _V(0,0,0);
VECTOR3 gpv = _V(0,0,0);
VECTOR3 spd = _V(0,0,0);
VECTOR3 relv = _V(0,0,0);
VECTOR3 relp = _V(0,0,0);
bool no_intercept=true;
bool first=true;
for (trl=start;trl<end;trl+=step) {
// Caluclate time to a location
time=Trl2Time(trl,src)/86400.0;
// Caluclate Planets Rotation offset at that time
PlanetAxis(obli,trans,offset,per,time,&Rot,&Off);
// Calculate Ship's position vector and distance^2
pos = src->Position(trl);
dst2 = dotp(pos,pos);
// Reset the distance to correspond a surface position.
pos = set_length(pos,size);
// Compute ship's surface velocity vector direction
vel = crossp(src->norv,pos);
// Compute ship's surface velocity vector magnitude
vel = set_length(vel,src->ang*size/dst2);
// Compute base's position vector
gpv = VectorByLonLat(Rot,Off,lon,lat)*size;
// Compute speed of the base
spd = GroundSpeedVector(ref,time,lon,lat);
// Copmute relative position to the base
relv = (vel-spd);
relp = (pos-gpv);
dot = dotp(relv,relp);
if (old_dot<0 && dot>0 && !first) {
if (angle(pos,gpv)<PI05) {
start=trl-step;
no_intercept=false;
break;
}
}
first=false;
old_dot=dot;
}
// Return N/A if no passage points found
if (no_intercept) {
if (head) *head = 0;
if (diff) *diff = 0;
if (tim) *tim = 0;
if (tr) *tr = start+PI2-PI05;
return false;
}
trl=start;
old_dot=-1; // We are approaching the base
double trll=0;
no_intercept=true;
for (i=0;i<24;i++) {
step/=2.0;
// Caluclate time to a location
time=Trl2Time(trl,src)/86400.0;
// Caluclate Planets Rotation offset at that time
PlanetAxis(obli,trans,offset,per,time,&Rot,&Off);
// Calculate Ship's position vector and distance^2
pos = src->Position(trl);
dst2 = dotp(pos,pos);
// Reset the distance to correspond a surface position.
pos = set_length(pos,size);
// Compute ship's surface velocity vector direction
vel = crossp(src->norv,pos);
// Compute ship's surface velocity vector magnitude
vel = set_length(vel,src->ang*size/dst2);
// Compute base's position vector
gpv = VectorByLonLat(Rot,Off,lon,lat)*size;
// Compute speed of the base
spd = GroundSpeedVector(ref,time,lon,lat);
// Copmute relative position to the base
relv = (vel-spd);
relp = (pos-gpv);
dot = dotp(relv,relp);
trll=trl;
if (dot==0) {
no_intercept=false;
break; // closest position archived, break
}
if (dot>0) { // base is behind of us, step back
trl=trl-step;
no_intercept=false; // Verify, We have a base passage.
}
else trl=trl+step; // base is front of us, cuntinue stepping
}
double dif=angle(pos, gpv);
VECTOR3 zero=crossp(pos,spd);
if (head) *head = nangle(relp,zero,pos);
if (diff) *diff = dif;
if (tim) *tim = time*86400.0;
if (tr) *tr = trll;
return true;
}
// ==============================================================================================================================================
//
void SyncMFD::Update(HDC hDC)
{
int pos;
int ld=MFD->LineHeight;
int fbp=MFD->FirstButton;
char *Mnu = {"BaseSync v3.2\0"};
int width=MFD->width;
int height=MFD->height;
double w=(double) width;
double h=(double) height;
int i;
VECTOR3 Rot,Off,opos;
double obli,trans,per,offset,diff,p,op,t,time,lon,lat;
double trl,heading;
char name[32];
static const int MAXSOLN = 160;
double times[MAXSOLN],diffs[MAXSOLN],heads[MAXSOLN];
int sol_found = 0;
double max_diff=1000;
bool draw_text=false;
Orbit LEO,ShipOrbit,Ecliptic;
SetTextColor(hDC,white);
SetTextAlign(hDC,TA_LEFT);
TextOut(hDC,5,1,Mnu, (int)strlen(Mnu));
if (mode.enc==0) Text(hDC,5,1+ld,"Latitude");
if (mode.enc==1) Text(hDC,5,1+ld,"Closest passage");
if (mode.enc==2) Text(hDC,5,1+ld,"Apoapsis");
if (mode.enc==3) Text(hDC,5,1+ld,"Periapsis");
if (sync_num<1) sync_num=1;
if (sync_num>99) sync_num=99;
OBJHANDLE ref = oapiGetObjectByName(trgt->ref);
if (ref==NULL) {
usingGS2 = false;
trgt = &bstrgt;
ref=ship->GetSurfaceRef();
}
if (ref==NULL) return;
ShipOrbit.Elements(ship->GetHandle(), ref);
Ecliptic.Ecliptic();
oapiGetObjectName(ref, trgt->ref, 31);
// Rotation elements
obli = oapiGetPlanetObliquity(ref);
trans = oapiGetPlanetTheta(ref);
per = oapiGetPlanetPeriod(ref);
offset = oapiGetPlanetCurrentRotation(ref);
// LEO
LEO.LEO(ref);
if (!usingGS2) {
OBJHANDLE tgt = oapiGetBaseByName(ref, trgt->name);
if (tgt) {
oapiGetObjectName(tgt,trgt->name,32);
oapiGetBaseEquPos(tgt,&trgt->lon, &trgt->lat);
}
else strcpy(trgt->name,"Surface");
}
double trle=ShipOrbit.TrlOfNode(&LEO);
double EqI=angle(ShipOrbit.norv, LEO.norv);
double ang=asin(sin(trgt->lat) / sin(EqI));
double apos=limit(trle+ang);
double bpos=limit(trle+PI-ang);
double atime=ShipOrbit.TimeTo(apos);
double btime=ShipOrbit.TimeTo(bpos);
double dist=ShipOrbit.PeriapsisDistance();
double apodist = dist=ShipOrbit.AopapsisDistance();
if (dist<oapiGetSize(ref)) dist=oapiGetSize(ref);
double zoom=w/(2.55 * (apodist + apodist + dist) / 3.0);
double r=oapiGetSize(ref)*zoom;
double x=w/2,y=h/2;
double intpos=0;
if (display_texts&2) {
SelectObject(hDC,solid_pen_dgrey);
DrawEllipse(hDC,x-r,y-r,x+r,y+r,w,h);
if (mode.enc==0) { // Latitude
if ((sync_sel&1)==0) SelectObject(hDC,solid_pen_y), intpos=apos;
else SelectObject(hDC,solid_pen_dgrey);
r=ShipOrbit.Radius(apos)*zoom;
DrawLine(hDC,x,y,x+r*cos(apos),x-r*sin(apos),w,h,false);
if ((sync_sel&1)==1) SelectObject(hDC,solid_pen_y), intpos=bpos;
else SelectObject(hDC,solid_pen_dgrey);
r=ShipOrbit.Radius(bpos)*zoom;
DrawLine(hDC,x,y,x+r*cos(bpos),x-r*sin(bpos),w,h,false);
}
if (mode.enc==1) { // Closest Passage
r=ShipOrbit.Radius(sync_trl)*zoom;
intpos=sync_trl;
SelectObject(hDC,solid_pen_y);
DrawLine(hDC,x,y,x+r*cos(sync_trl),x-r*sin(sync_trl),w,h,false);
}
if (mode.enc==2 || mode.enc==3) { // Aopapsis Periapsis
SelectObject(hDC,solid_pen_y);
r=ShipOrbit.Radius(sync_trl)*zoom;
DrawLine(hDC,x,y,x+r*cos(sync_trl),x-r*sin(sync_trl),w,h,false);
SelectObject(hDC,solid_pen_grey);
r=ShipOrbit.Radius(sync_line)*zoom;
DrawLine(hDC,x,y,x+r*cos(sync_line),x-r*sin(sync_line),w,h,false);
}
ShipOrbit.SetProjection(&ShipOrbit);
ShipOrbit.GDIDraw(hDC,green,w,h,zoom,true,true);
if (mode.deo) {
r=ShipOrbit.Radius(deo.trlBurn)*zoom;
SelectObject(hDC,solid_pen_white);
DrawLine(hDC,x,y,x+r*cos(deo.trlBurn),x-r*sin(deo.trlBurn),w,h,false);
}
}
if (EqI>=trgt->lat || mode.enc!=0) {
// Usual case... target in range
draw_text=true;
SetTextColor(hDC,green);
pos=(fbp+(ld*8));
if (display_texts&1 && !mode.deo) {
if (mode.enc==0) {
Text(hDC,5,pos," #: Time:");
Text(hDC,width/2,pos,"Lon Diff:"), pos+=ld;
} else {
Text(hDC,5,pos," #: Time:");
Text(hDC,5+width/3,pos," Dist:");
Text(hDC,5+width*2/3,pos," Heading:"), pos+=ld;
}
}
if (atime<btime && atime>0) sync_sel=0;
else if (btime>0) sync_sel=1;
else sync_sel=0;
for (i=0;i<MAXSOLN;i++) {
times[i]=0;
diffs[i]=0;
}
sync_min = -1;
if (ShipOrbit.ecc<1 && mode.enc==0) {
for (i=0;i<MAXSOLN;i++) {
if (i&1) time=MAX(atime, btime);
else time=MIN(atime, btime);
if (time==atime) op=apos;
else op=bpos;
p=(double)i;
if (i>1) time+=ShipOrbit.Period()*floor(p/2);
t = time/86400;
PlanetAxis(obli,trans,offset,per,t,&Rot,&Off);
opos=ShipOrbit.Position(op);
LonLat(opos,Rot,Off,&lon,&lat);
diff=lon-trgt->lon;
if (fabs(diff)<max_diff) {
max_diff=fabs(diff), sync_time=time, sync_trl=op;
sync_min=i;
}
times[i]=time;
diffs[i]=diff;
if (time > 0.0 && diff >0.0) {
sol_found++;
if (sol_found==sync_num) break;
}
}
}
max_diff=1e10;
if (ShipOrbit.ecc<1 && mode.enc==1) {
double posit=ShipOrbit.trl;
for (i=0;i<MAXSOLN;i++) {
InterpolateClosestPassage(ref,&ShipOrbit,trgt->lon,trgt->lat,posit,&diff,&time,&heading,&trl);
posit=trl+PI05;
if (diff<max_diff && diff>0) {
max_diff=diff, sync_time=time, sync_trl=limit(trl);
sync_min=i;
}
heads[i]=heading;
times[i]=time;
diffs[i]=diff;
if (time > 0.0 && diff >0.0) {
sol_found++;
if (sol_found==sync_num) break;
}
}
}
if (ShipOrbit.ecc<1 && (mode.enc==2 || mode.enc==3)) {
for (i=0;i<MAXSOLN;i++) {
if (mode.enc==2) sync_line=limit(ShipOrbit.lpe+PI);
else sync_line=limit(ShipOrbit.lpe);
time=ShipOrbit.TimeTo(sync_line) + ShipOrbit.Period() * (double)i;
t = time / 86400.0;
PlanetAxis(obli,trans,offset,per,t,&Rot,&Off);
VECTOR3 gpv=VectorByLonLat(Rot,Off,trgt->lon,trgt->lat);
VECTOR3 pos=ShipOrbit.Position(sync_line);
diff = angle(gpv,pos);
heading = nangle(pos-gpv,Rot,gpv);
ShipOrbit.Longitude(gpv,NULL,NULL,&trl);
if (diff<max_diff && diff>0) {
max_diff=diff, sync_time=time, sync_trl=limit(trl);
sync_min=i;
}
if (time==0) time=0.1;
heads[i]=heading;
times[i]=time;
diffs[i]=diff;
if (time > 0.0 && diff >0.0) {
sol_found++;
if (sol_found==sync_num) break;
}
}
}
// Hyperbolic Orbit
if (ShipOrbit.ecc>=1 && (atime>0 || btime>0)) {
mode.enc=0;
for (i=0;i<2;i++) {
if (atime>0 && btime>0) {
if (i&1) time=MAX(atime, btime);
else time=MIN(atime, btime);
}
else time=(atime>0 ? atime : btime);
op = (time==atime? apos : bpos);
p=(double)i;
if (i>1) time+=ShipOrbit.Period()*floor(p/2);
t = time/86400;
PlanetAxis(obli,trans,offset,per,t,&Rot,&Off);
opos=ShipOrbit.Position(op);
LonLat(opos,Rot,Off,&lon,&lat);
diff=lon-trgt->lon;
if (fabs(diff)<max_diff) {
max_diff=fabs(diff), sync_time=time, sync_trl=op;
sync_min=i;
}
times[i]=time;
diffs[i]=diff;
if (atime<0 || btime<0) break;
}
}
if (sync_min > -1) {
sol.num = sync_min+1;
sol.tSol = times[sync_min];
sol.dist = diffs[sync_min];
sol.hdg = heads[sync_min];
sol.dataValid = true;
} else {
sol.dataValid = false;
}
double rad=oapiGetSize(ref);
int no=0;
int disp_i = 1;
if (display_texts&1 && !mode.deo) {
for (i=0;i<MAXSOLN;i++) {
if (i==sync_min) SetTextColor(hDC,lyellow);
else SetTextColor(hDC,lgreen);
if (times[i]>0.0 && diffs[i]>=0.0) {
if (disp_i >= sync_dispmin && disp_i <= sync_dispmin+7) {
if (mode.enc==0) {
sprintf(name,"%2d: ",disp_i);
Text(hDC,5,pos,name,times[i]);
TextA(hDC,width/2,pos,"",diffs[i]*DEG), pos+=ld;
} else { // enc_mode 1,2,3
no++;
sprintf(name,"%2d: ",disp_i);
Text(hDC,5,pos,name,times[i]);
Text(hDC,5+width/3,pos," ",diffs[i]*rad);
TextA(hDC,5+width*2/3,pos," ",heads[i]*DEG), pos+=ld;
}
}
disp_i++;
if (disp_i > sync_num) break;
}
}
}
sync_sel+=sync_min;
} else {
// We are in Latitude mode, and the target is outside of our inclination - i.e. no solution
sol.dataValid = false;
SetTextAlign(hDC,TA_CENTER);
SetTextColor(hDC,yellow);
pos=(fbp+(ld*8));
Text(hDC,width/2,pos,"Target Out of Range"); pos+=ld;
}
if (mode.dir) {
// Calculate burn for plane change correction in DIRECT mode
if (EqI<trgt->lat && mode.enc==0) {
double trl;
PlanetAxis(obli,trans,offset,per,0,&Rot,&Off);
VECTOR3 gpv = VectorByLonLat(Rot,Off,trgt->lon,trgt->lat);
ShipOrbit.Longitude(gpv,NULL,NULL,&trl);
sync_time=ShipOrbit.TimeTo(trl);
sync_trl=trl;
}
time_to_int=sync_time;
double trl=sync_trl;
PlanetAxis(obli,trans,offset,per,time_to_int/86400.0,&Rot,&Off);
VECTOR3 pos = ShipOrbit.Position(trl);
VECTOR3 gpv = VectorByLonLat(Rot,Off,trgt->lon,trgt->lat);
VECTOR3 lan = crossp(gpv, pos);
VECTOR3 nor = ShipOrbit.norv;
ShipOrbit.Longitude(lan,NULL,NULL,&sol.trlBurn);
sol.rIn = fabs(asin(dotp(gpv,nor)));
double a = ShipOrbit.TimeToPoint(sol.trlBurn);
double b = ShipOrbit.TimeToPoint(limit(sol.trlBurn+PI));
if (fabs(a)<fabs(b)) sol.tToBurn =a, sol.nmlBurn=true;
else sol.tToBurn =b, sol.nmlBurn=false;
sol.dV = sol.rIn*ShipOrbit.ang/ShipOrbit.Radius(sol.trlBurn);
sol.tBurn =BurnTimeBydV(sol.dV,ship);
} else {
// Calculate burn for plane change correction in EQUATORIAL mode
sol.trlBurn=ShipOrbit.TrlOfNode(&LEO);
sol.rIn=MAX(trgt->lat-EqI,0);
double a=ShipOrbit.TimeToPoint(sol.trlBurn);
double b=ShipOrbit.TimeToPoint(limit(sol.trlBurn+PI));
if (fabs(a)<fabs(b)) sol.tToBurn =a, sol.nmlBurn=true;
else sol.tToBurn =b, sol.nmlBurn=false;
sol.dV = sol.rIn*ShipOrbit.ang/ShipOrbit.Radius(sol.trlBurn);
sol.tBurn =BurnTimeBydV(sol.dV,ship);
}
if (display_texts&2) {
ShipOrbit.DrawPlaneIntersection(hDC,sol.trlBurn,w/2,h/2,zoom,grey);
}
SetTextAlign(hDC,TA_LEFT);
pos=1;
SetTextColor(hDC,grey);
if (usingGS2) {
Text(hDC,width*1/2,pos,"Linked ","to GS"); pos+=ld;
// Check if GS2 changed target
if (bstrgt.lat != gs2trgt->lat || bstrgt.lon != gs2trgt->lon) {
strcpy(bstrgt.ref, gs2trgt->ref);
strcpy(bstrgt.name, gs2trgt->name);
bstrgt.lat = gs2trgt->lat;
bstrgt.lon = gs2trgt->lon;
bstrgt.alt = gs2trgt->alt;
bstrgt.ang = gs2trgt->ang;
bstrgt.ant = gs2trgt->ant;
}
} else {
Text(hDC,width*1/2,pos,"Ref ",trgt->ref); pos+=ld;
}
Text(hDC,width*1/2,pos,"Tgt ",trgt->name); pos+=ld;
if (display_texts&1) {
if (!mode.deo) {
// Display the burn solution for plane change
deo.dataValid = false;
pos=fbp;
SetTextColor(hDC,lgreen);
if (trgt->lat<0) TextA(hDC,5,pos,"Lat ",fabs(DEG*trgt->lat),"S"), pos+=ld;
else TextA(hDC,5,pos,"Lat ",DEG*trgt->lat,"N"), pos+=ld;
if (trgt->lon<0) TextA(hDC,5,pos,"Lon ",fabs(DEG*trgt->lon),"W"), pos+=ld;
else TextA(hDC,5,pos,"Lon ",DEG*trgt->lon,"E"), pos+=ld;
TextA(hDC,5,pos,"EqI ",EqI*DEG), pos+=ld;
PlanetAxis(ref,0,&Rot,&Off);
VECTOR3 base_pos = VectorByLonLat(Rot,Off,trgt->lon,trgt->lat);
VECTOR3 ship_pos; ship->GetRelativePos(ref,ship_pos);
VECTOR3 ship_vel; ship->GetRelativeVel(ref,ship_vel);
VECTOR3 gsp=GroundSpeedVector(ref,ship);
VECTOR3 zero=crossp(ship_pos,ship_vel);
double head = nangle(gsp,zero,ship_pos);
double baseHeight = oapiGetSize(ref);
#if ORBITER_VERSION == 2016
ELEVHANDLE eh = oapiElevationManager(ref);
if (eh) {
baseHeight += oapiSurfaceElevation(ref, trgt->lon, trgt->lat);
}
#endif
TextA(hDC,5,pos,"Hed ",head*DEG), pos+=ld;
Text(hDC,5,pos, "GSp ",length(gsp)), pos+=ld;
Text(hDC,5,pos, "Dst ",angle(ship_pos,base_pos)*baseHeight), pos+=ld;
if (sol.dataValid) {
double altitude = length(ShipOrbit.Position(intpos));
altitude -= baseHeight;
Text(hDC,5,pos, "Alt ",altitude);
}
pos+=ld;
pos=fbp;
int xx=width/2;
SetTextColor(hDC,green);
if (mode.dir) Text(hDC,xx,pos,"Direct:"), pos+=ld;
else Text(hDC,xx,pos,"Equator:"), pos+=ld;
SetTextColor(hDC,lgreen);
TextA(hDC,xx,pos,"RIn ",sol.rIn*DEG), pos+=ld;
TextA(hDC,xx,pos,"LAN ",sol.trlBurn*DEG), pos+=ld;
Text(hDC,xx,pos," Tn ",sol.tToBurn), pos+=ld;
if (abs(sol.tBurn) > 0.1) {
if (sol.nmlBurn) Text(hDC,xx,pos,"PlC ",sol.tBurn,"s (+)"), pos+=ld;
else Text(hDC,xx,pos,"PlC ",sol.tBurn,"s (-)"), pos+=ld;
Text(hDC,xx,pos," dV ",sol.dV,"m/s"), pos+=ld;
} else {
Text(hDC,xx,pos,"PlC 0.000s"), pos+=ld;
Text(hDC,xx,pos," dV 0.000m/s"), pos+=ld;
}
if (sol.dataValid) {
burn.dV = sol.dV;
burn.orientation = sol.nmlBurn ? 1 : -1;
burn.tToInstBurn = sol.tToBurn;
burn.dataValid = true;
} else {
burn.dataValid = false;
}
} else {
// Display the deorbit parameters and burn solution
pos=fbp;
SetTextColor(hDC,white);
Text(hDC,5,pos,"De-Orbit Program"), pos+=2*ld;
SetTextColor(hDC,lgreen);
if (usingGS2) {
Text(hDC,5,pos, "Ang, Ant, Alt from GS"), pos+=ld;
TextA(hDC,5,pos,"GS Ang ",trgt->ang*DEG), pos+=ld;
TextA(hDC,5,pos,"GS Ant ",trgt->ant*DEG), pos+=ld;
Text(hDC,5,pos, "GS Alt ",trgt->alt,"km"), pos+=2*ld;
} else {
TextA(hDC,5,pos,"Ang ",bstrgt.ang*DEG), pos+=ld;
TextA(hDC,5,pos,"Ant ",bstrgt.ant*DEG), pos+=ld;
Text(hDC,5,pos, "Alt ",bstrgt.alt,"km"), pos+=2*ld;
}
double pre;
ComputeDeOrbit(ShipOrbit.myy,ShipOrbit.rad,trgt->alt*1000+oapiGetSize(ref),trgt->ang,&pre,&deo.dV);
deo.dV=ShipOrbit.vel-deo.dV;
deo.trlBurn = limit(sync_trl - trgt->ant - pre);
deo.tInstBurn = ShipOrbit.TimeToPoint(deo.trlBurn);
deo.tBurn = BurnTimeBydV(deo.dV,ship);
deo.tToBurn = deo.tInstBurn - 0.5 * deo.tBurn;
Text(hDC,5,pos, "TBn ",deo.tToBurn,"s"), pos+=ld;
TextA(hDC,5,pos,"TrL ",deo.trlBurn*DEG), pos+=ld;
Text(hDC,5,pos, " dV ",deo.dV,"m/s"), pos+=ld;
Text(hDC,5,pos, " BT ",deo.tBurn,"s"), pos+=2*ld;
if (ShipOrbit.ecc>0.015) {
SetTextColor(hDC,lgreen);
Text(hDC,5,pos,"De-orbit burn data only accurate"); pos+=ld;
Text(hDC,5,pos,"if your Ecc is 0.015 or less."); pos+=ld;
Text(hDC,5,pos,"(If burn complete, please ignore.)"); pos+=ld;pos+=ld;
}
if (!mode.dir) {
SetTextColor(hDC,lgreen);
Text(hDC,5,pos,"Use \"Direct\" mode to re-synchronize"); pos+=ld;
Text(hDC,5,pos,"the approach after the de-orbit");
}
deo.dataValid = true;
burn.dV = -deo.dV;
burn.orientation = 0;
burn.tToInstBurn = deo.tToBurn;
burn.dataValid = true;
}
}
if (!MMPut_done) {
mma.PutMMStruct("BaseSyncTarget", &bstrgt);
mma.PutMMStruct("BaseSyncMode", &mode);
mma.PutMMStruct("BaseSyncSolution", &sol);
mma.PutMMStruct("BaseSyncDeorbit", &deo);
mma.PutMMStruct("BaseSyncBurn", &burn); // To be removed after BTC synchronization
if (burn.dataValid)
{
mma.Put("dv", burn.dV);
mma.Put("InstantaneousBurnTime", burn.tToInstBurn);
mma.Put("Orientation", burn.orientation);
}
else
{
mma.Delete("dv");
mma.Delete("InstantaneousBurnTime");
mma.Delete("Orientation");
}
MMPut_done = true;
}
}
// ==============================================================================================================================================
//
void Orbit::Elements(VECTOR3 r, VECTOR3 v,double m,bool reset_proj)
{
Reset();
if (fabs(r.x)<0.01) r.x=0; if (fabs(r.y)<0.01) r.y=0;
if (fabs(r.z)<0.01) r.z=0; if (fabs(v.x)<0.01) v.x=0;
if (fabs(v.y)<0.01) v.y=0; if (fabs(v.z)<0.01) v.z=0;
vv=v; rv=r;
double vel2;
VECTOR3 z; z.x=0; z.z=0; z.y=1.0;
vel2 = dotp(v,v);
vel = sqrt(vel2);
rad = length(r);
myy = m;
// Computer normal vector and vector pointing ascenting node
norv = crossp(r,v);
ang = length(norv);
norv = norv*(1.0/ang);
VECTOR3 ANv = unit(crossp(z,norv));
// Inclination
inc = acos(-norv.y);
par = ang*ang/myy;
majv =( r * (vel2-myy/rad) ) - (v * dotp(r,v));
double ml=length(majv);
ecc = ml/myy;
if (ecc<1e-6) ecc=0;
if (inc<1e-6) inc=0;
sma = par / (1.0-ecc*ecc);
r=r*(1.0/rad); // Make the radius vector to unit size, After computing ecc-vector
if (inc==0) ANv=_V(1,0,0); // Place ANv to vernal equinox
if (ecc!=0) majv=majv*(1.0/ml); // Make the major vector to unit size
else majv=ANv; // Place major vector to ascenting node
// Longitude of ascenting node
if (inc!=0) {
double x=ANv.x;
if (x>=1) {
lan=0;
} else if (x<=-1) {
lan=PI;
} else {
lan=acos(x);
if (ANv.z<0) lan=PI2-lan;
}
} else {
lan=0.0;
}
// Argument of Periapsis
if (inc!=0 && ecc!=0) {
double x=dotp(ANv,majv);
if (x>1) x=1; // Avoid some precision problems
else if (x<-1) x=-1;
agp=acos(x);
if (majv.y<0) agp=PI2-agp;
} else if (ecc!=0) {
agp=acos(majv.x);
if (majv.z<0) agp=PI2-agp;
}
else agp=0.0;
// True anomaly
if (ecc!=0) {
double x=dotp(majv,r);
if (x>=1) tra=0;
else if (x<=-1) tra=PI;
else {
tra=acos(x);
x=dotp(r,v);
if (fabs(x)<1e-6) x=0; // Avoid some precision problems
if (x<0) tra=PI2-tra;
}
} else if (inc!=0) {
tra=acos(dotp(ANv,r));
if (dotp(ANv,v)>0) tra=PI2-tra;
} else {
tra=acos(r.x);
if (v.x>0) tra=PI2-tra;
}
lpe=limit(agp+lan); // Longitude of Periapsis
trl=limit(lpe+tra); // True longitude
minv=unit(crossp(norv,majv)); // Minor axis vector
mna=tra2mna(tra,ecc); // Mean anomaly
mnm=MeanMotion();
Xmajv = majv * sma;
Xminv = minv * sqrt(fabs(sma*par));
Xcv = majv * (sma*ecc);
if (reset_proj) SetProjection(this);
}
void slew3(double t, double dt, double* qi, double* q, double* omega, double* alpha, double* jerk)
/*
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
purpose
Subroutine slew3 computes the quaternion, body angular rate, acceleration and
jerk as a function of time corresponding to a third-order polynomial
interpolation function describing a slew between initial and final states.
calling sequence
variable i/o description
-------- --- -----------
t i current time (seconds from start).
dt i slew time (sec).
qi i initial attitude quaternion.
q o current attitude quaternion.
omega o current body angular rate (rad/sec).
alpha o current body angular acceleration (rad/sec^2).
jerk o current body angular jerk (rad/sec^3).
return value
none
external references
unvec
programming
J. J. McEnnan, March, 2003.
COPYRIGHT (C) 2003 by James McEnnan
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
{
int i;
double x, ang, sa, ca, u[3], x1[2], unvec();
double th0[3], th1[3], th2[3], th3[3], temp0[3], temp1[3], temp2[3];
double thd1, thd2, thd3, w2, td2, ut2, wwd;
double w[3], udot[3], wd1[3], wd1xu[3], wd2[3], wd2xu[3];
if(dt <= 0.0)
return;
x = t/dt;
x1[0] = x - 1.0;
for(i = 1;i < 2;i++)
x1[i] = x1[i - 1]*x1[0];
for(i = 0;i < 3;i++)
{
th0[i] = ((x*a[2][i] + x1[0]*a[1][i])*x + x1[1]*a[0][i])*x;
th1[i] = (x*b[2][i] + x1[0]*b[1][i])*x + x1[1]*b[0][i];
th2[i] = x*c[1][i] + x1[0]*c[0][i];
th3[i] = d[i];
}
ang = unvec(th0,u);
ca = cos(0.5*ang);
sa = sin(0.5*ang);
q[0] = ca*qi[0] + sa*( u[2]*qi[1] - u[1]*qi[2] + u[0]*qi[3]);
q[1] = ca*qi[1] + sa*(-u[2]*qi[0] + u[0]*qi[2] + u[1]*qi[3]);
q[2] = ca*qi[2] + sa*( u[1]*qi[0] - u[0]*qi[1] + u[2]*qi[3]);
q[3] = ca*qi[3] + sa*(-u[0]*qi[0] - u[1]*qi[1] - u[2]*qi[2]);
ca = cos(ang);
sa = sin(ang);
if(ang > EPS)
{
/* compute angular rate vector. */
crossp(u,th1,temp1);
for(i = 0;i < 3;i++)
w[i] = temp1[i]/ang;
crossp(w,u,udot);
thd1 = u[0]*th1[0] + u[1]*th1[1] + u[2]*th1[2];
for(i = 0;i < 3;i++)
omega[i] = thd1*u[i] + sa*udot[i] - (1.0 - ca)*w[i];
/* compute angular acceleration vector. */
thd2 = udot[0]*th1[0] + udot[1]*th1[1] + udot[2]*th1[2] +
u[0]*th2[0] + u[1]*th2[1] + u[2]*th2[2];
crossp(u,th2,temp1);
for(i = 0;i < 3;i++)
wd1[i] = (temp1[i] - 2.0*thd1*w[i])/ang;
crossp(wd1,u,wd1xu);
for(i = 0;i < 3;i++)
temp0[i] = thd1*u[i] - w[i];
crossp(omega,temp0,temp1);
for(i = 0;i < 3;i++)
alpha[i] = thd2*u[i] + sa*wd1xu[i] - (1.0 - ca)*wd1[i] +
thd1*udot[i] + temp1[i];
/* compute angular jerk vector. */
w2 = w[0]*w[0] + w[1]*w[1] + w[2]*w[2];
thd3 = wd1xu[0]*th1[0] + wd1xu[1]*th1[1] + wd1xu[2]*th1[2] -
w2*(u[0]*th1[0] + u[1]*th1[1] + u[2]*th1[2]) +
2.0*(udot[0]*th2[0] + udot[1]*th2[1] + udot[2]*th2[2]) +
u[0]*th3[0] + u[1]*th3[1] + u[2]*th3[2];
crossp(th1,th2,temp1);
for(i = 0;i < 3;i++)
temp1[i] /= ang;
crossp(u,th3,temp2);
td2 = (th1[0]*th1[0] + th1[1]*th1[1] + th1[2]*th1[2])/ang;
ut2 = u[0]*th2[0] + u[1]*th2[1] + u[2]*th2[2];
wwd = w[0]*wd1[0] + w[1]*wd1[1] + w[2]*wd1[2];
for(i = 0;i < 3;i++)
wd2[i] = (temp1[i] + temp2[i] - 2.0*(td2 + ut2)*w[i] -
4.0*thd1*wd1[i])/ang;
crossp(wd2,u,wd2xu);
for(i = 0;i < 3;i++)
temp2[i] = thd2*u[i] + thd1*udot[i] - wd1[i];
crossp(omega,temp2,temp1);
crossp(alpha,temp0,temp2);
for(i = 0;i < 3;i++)
jerk[i] = thd3*u[i] + sa*wd2xu[i] - (1.0 - ca)*wd2[i] +
2.0*thd2*udot[i] + thd1*((1.0 + ca)*wd1xu[i] - w2*u[i] - sa*wd1[i]) -
wwd*sa*u[i] + temp1[i] + temp2[i];
}
else
{
crossp(th1,th2,temp1);
for(i = 0;i < 3;i++)
{
omega[i] = th1[i];
alpha[i] = th2[i];
jerk[i] = th3[i] - 0.5*temp1[i];
}
}
}
void CSolidView::OnMouse( MouseEvent& event )
{
if(event.LeftDown() || event.MiddleDown() || event.RightDown())
{
m_button_down_point = Point(event.GetX(), event.GetY());
m_current_point = m_button_down_point;
//StoreViewPoint();
m_initial_point = m_button_down_point;
}
else if(event.Dragging())
{
Point point_diff = Point(event.GetX(), event.GetY()) - m_current_point;
if(event.LeftIsDown())
{
if(point_diff.x > 100)point_diff.x = 100;
else if(point_diff.x < -100)point_diff.x = -100;
if(point_diff.y > 100)point_diff.y = 100;
else if(point_diff.y < -100)point_diff.y = -100;
double c=(m_size.x+m_size.y)/20;
double ang_x = point_diff.x/c;
double ang_y = point_diff.y/c;
double f[3];
for(int i = 0; i<3; i++)f[i] = m_target_point[i] - m_lens_point[i];
double fl = sqrt(f[0]*f[0] + f[1]*f[1] + f[2]*f[2]);
double uu[3];
for(int i = 0; i<3; i++)uu[i] = m_vertical[i];
double r[3];
crossp(f, uu, r);
norm(r);
double sinangx = sin(ang_x);
double oneminuscosangx = 1 - cos(ang_x);
double sinangy = sin(ang_y);
double oneminuscosangy = 1 - cos(ang_y);
for(int i = 0; i<3; i++)
{
m_lens_point[i] = m_lens_point[i] - r[i] * sinangx*fl;
m_lens_point[i] = m_lens_point[i] + f[i] * oneminuscosangx;
f[i] = f[i] + r[i] * sinangx * fl;
f[i] = f[i] - f[i] * oneminuscosangx;
}
crossp(f, uu, r);
norm(r);
for(int i = 0; i<3; i++)
{
m_lens_point[i] = m_lens_point[i] + uu[i] * sinangy*fl;
m_lens_point[i] = m_lens_point[i] + f[i] * oneminuscosangy;
m_vertical[i] = m_vertical[i] + f[i] * sinangy/fl;
m_vertical[i] = m_vertical[i] - uu[i] * oneminuscosangy;
}
LimitCamera();
}
else if(event.MiddleIsDown())
{
double f[3];
for(int i = 0; i<3; i++)f[i] = m_target_point[i] - m_lens_point[i];
norm(f);
double r[3];
crossp(f, m_vertical, r);
double d = dist(m_target_point, m_lens_point);
double div_x = (double)(point_diff.x) * d * 0.001;
double div_y = (double)(point_diff.y) * d * 0.001;
for(int i = 0; i<3; i++)m_target_point[i] = m_target_point[i] - r[i] * div_x + m_vertical[i] * div_y;
for(int i = 0; i<3; i++)m_lens_point[i] = m_lens_point[i] - r[i] * div_x + m_vertical[i] * div_y;
LimitCamera();
}
Refresh();
m_current_point = Point(event.GetX(), event.GetY());
}
if(event.GetWheelRotation() != 0)
{
double wheel_value = (double)(event.GetWheelRotation());
double multiplier = -wheel_value /1000.0;
ViewScale(multiplier);
Refresh();
}
}
