/
ReturnFromMoon.cs
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/
ReturnFromMoon.cs
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/*
* Copyright Lamont Granquist, Sebastien Gaggini and the MechJeb contributors
* SPDX-License-Identifier: LicenseRef-PD-hp OR Unlicense OR CC0-1.0 OR 0BSD OR MIT-0 OR MIT OR LGPL-2.1+
*/
#nullable enable
using System;
using JetBrains.Annotations;
using MechJebLib.Core;
using MechJebLib.Core.TwoBody;
using MechJebLib.Primitives;
using MechJebLib.Utils;
namespace MechJebLib.Maneuvers
{
public static class ReturnFromMoon
{
private struct Args
{
public double MoonSOI;
public double PeR;
public double Inc;
public V3 R0;
public V3 V0;
public V3 MoonR0;
public V3 MoonV0;
public Scale MoonToPlanetScale;
public bool OptimizeBurn;
public double PerFactor;
}
private static void NLPFunction(double[] x, double[] fi, object obj)
{
var args = (Args)obj;
double moonSOI = args.MoonSOI;
double peR = args.PeR;
double inc = args.Inc;
V3 r0 = args.R0;
V3 v0 = args.V0;
V3 moonR0 = args.MoonR0;
V3 moonV0 = args.MoonV0;
Scale moonToPlanetScale = args.MoonToPlanetScale;
bool optimizeBurn = args.OptimizeBurn;
double perFactor = args.PerFactor;
var dv = new V3(x[0], x[1], x[2]);
double burnTime = x[3];
double soiHalfTime = x[4];
V3 rsoi = new V3(moonSOI, x[5], x[6]).sph2cart;
V3 vsoi = new V3(x[7], x[8], x[9]).sph2cart;
double planetHalfTime = x[10];
var rf = new V3(x[11], x[12], x[13]);
var vf = new V3(x[14], x[15], x[16]);
(V3 rburn, V3 vburn) = Shepperd.Solve(1.0, burnTime, r0, v0);
(V3 r1Minus, V3 v1Minus) = Shepperd.Solve(1.0, soiHalfTime, rburn, vburn + dv);
(V3 r1Plus, V3 v1Plus) = Shepperd.Solve(1.0, -soiHalfTime, rsoi, vsoi);
double t2 = (soiHalfTime * 2 + burnTime) / moonToPlanetScale.TimeScale;
(V3 moonR2, V3 moonV2) = Shepperd.Solve(1.0, t2, moonR0, moonV0);
V3 rsoiPlanet = rsoi / moonToPlanetScale.LengthScale + moonR2;
V3 vsoiPlanet = vsoi / moonToPlanetScale.VelocityScale + moonV2;
(V3 r2Minus, V3 v2Minus) = Shepperd.Solve(1.0, planetHalfTime, rsoiPlanet, vsoiPlanet);
(V3 r2Plus, V3 v2Plus) = Shepperd.Solve(1.0, -planetHalfTime, rf, vf);
double objDv = optimizeBurn ? dv.sqrMagnitude : 0;
double objPeR = Statics.Powi(rf.magnitude - peR, 2) * perFactor;
fi[0] = objDv + objPeR; // FIXME: inc constraint
// meet in the moon's SOI
fi[1] = r1Minus.x - r1Plus.x;
fi[2] = r1Minus.y - r1Plus.y;
fi[3] = r1Minus.z - r1Plus.z;
fi[4] = v1Minus.x - v1Plus.x;
fi[5] = v1Minus.y - v1Plus.y;
fi[6] = v1Minus.z - v1Plus.z;
fi[7] = r2Minus.x - r2Plus.x;
fi[8] = r2Minus.y - r2Plus.y;
fi[9] = r2Minus.z - r2Plus.z;
fi[10] = v2Minus.x - v2Plus.x;
fi[11] = v2Minus.y - v2Plus.y;
fi[12] = v2Minus.z - v2Plus.z;
fi[13] = V3.Dot(rf.normalized, vf.normalized);
}
[UsedImplicitly]
public static (V3 V, double dt) Maneuver(double centralMu, double moonMu, V3 moonR0, V3 moonV0, double moonSOI,
V3 r0, V3 v0, double peR, double inc, double dtmin = double.NegativeInfinity, double dtmax = double.PositiveInfinity)
{
Statics.Log(
$"ManeuverToReturnFromMoon({centralMu}, {moonMu}, new V3({moonR0}), new V3({moonV0}), {moonSOI}, new V3({r0}), new V3({v0}), {peR}, {inc})");
const double DIFFSTEP = 1e-9;
const double EPSX = 1e-4;
const int MAXITS = 1000;
const int NVARIABLES = 17;
const int NEQUALITYCONSTRAINTS = 13;
const int NINEQUALITYCONSTRAINTS = 0;
double[] x = new double[NVARIABLES];
double[] fi = new double[NEQUALITYCONSTRAINTS + NINEQUALITYCONSTRAINTS + 1];
double[] bndl = new double[NVARIABLES];
double[] bndu = new double[NVARIABLES];
for (int i = 0; i < NVARIABLES; i++)
{
bndl[i] = double.NegativeInfinity;
bndu[i] = double.PositiveInfinity;
}
bndl[3] = dtmin;
bndu[3] = dtmax;
var moonScale = Scale.Create(moonMu, Math.Sqrt(r0.magnitude * moonSOI));
var planetScale = Scale.Create(centralMu, Math.Sqrt(moonR0.magnitude * peR));
Scale moonToPlanetScale = moonScale.ConvertTo(planetScale);
(double _, double ecc) = Maths.SmaEccFromStateVectors(moonMu, r0, v0);
double dt, tt1;
V3 rf, vf, dv, r2, v2;
if (ecc < 1)
{
// do the planet first which is analogous to heliocentric in a transfer
V3 v1 = ChangeOrbitalElement.DeltaV(centralMu, moonR0, moonV0, peR, ChangeOrbitalElement.Type.PERIAPSIS);
// then do the source moon SOI
V3 vneg, vpos, rburn;
(vneg, vpos, rburn, dt) = Maths.SingleImpulseHyperbolicBurn(moonMu, r0, v0, v1);
dv = vpos - vneg;
tt1 = Maths.TimeToNextRadius(moonMu, rburn, vpos, moonSOI);
(r2, v2) = Shepperd.Solve(moonMu, tt1, rburn, vpos);
}
else
{
dt = 0;
dv = V3.zero;
tt1 = Maths.TimeToNextRadius(moonMu, r0, v0, moonSOI);
(r2, v2) = Shepperd.Solve(moonMu, tt1, r0, v0);
}
// construct mostly feasible solution
(V3 moonR2, V3 moonV2) = Shepperd.Solve(centralMu, tt1 + dt, moonR0, moonV0);
V3 r2Sph = r2.cart2sph;
V3 v2Sph = v2.cart2sph;
V3 r2Planet = r2 + moonR2;
V3 v2Planet = v2 + moonV2;
double tt2 = Maths.TimeToNextPeriapsis(centralMu, r2Planet, v2Planet);
(rf, vf) = Shepperd.Solve(centralMu, tt2, r2Planet, v2Planet);
dv /= moonScale.VelocityScale;
dt /= moonScale.TimeScale;
tt1 /= moonScale.TimeScale;
v2Sph[0] /= moonScale.VelocityScale;
tt2 /= planetScale.TimeScale;
rf /= planetScale.LengthScale;
vf /= planetScale.VelocityScale;
x[0] = dv.x; // maneuver x
x[1] = dv.y; // maneuver y
x[2] = dv.z; // maneuver z
x[3] = dt; // maneuver dt
x[4] = tt1 / 2; // 1/2 coast time through moon SOI
x[5] = r2Sph[1]; // theta of SOI position
x[6] = r2Sph[2]; // phi of SOI position
x[7] = v2Sph[0]; // r of SOI velocity
x[8] = v2Sph[1]; // theta of SOI velocity
x[9] = v2Sph[2]; // phi of SOI velocity
x[10] = tt2 / 2; // 1/2 coast time through planet SOI
x[11] = rf.x; // final rx
x[12] = rf.y; // final ry
x[13] = rf.z; // final rz
x[14] = vf.x; // final vx
x[15] = vf.y; // final vy
x[16] = vf.z; // final vz
var args = new Args
{
MoonSOI = moonSOI / moonScale.LengthScale,
PeR = peR / planetScale.LengthScale,
Inc = inc,
R0 = r0 / moonScale.LengthScale,
V0 = v0 / moonScale.VelocityScale,
MoonR0 = moonR0 / planetScale.LengthScale,
MoonV0 = moonV0 / planetScale.VelocityScale,
MoonToPlanetScale = moonToPlanetScale,
OptimizeBurn = false,
PerFactor = 5
};
alglib.minnlccreatef(NVARIABLES, x, DIFFSTEP, out alglib.minnlcstate state);
alglib.minnlcsetbc(state, bndl, bndu);
alglib.minnlcsetstpmax(state, 1e-3);
alglib.minnlcsetalgosqp(state);
alglib.minnlcsetcond(state, EPSX, MAXITS);
alglib.minnlcsetnlc(state, NEQUALITYCONSTRAINTS, NINEQUALITYCONSTRAINTS);
alglib.minnlcoptimize(state, NLPFunction, null, args);
alglib.minnlcresults(state, out x, out alglib.minnlcreport rep);
if (rep.terminationtype < 0)
throw new Exception(
$"DeltaVToChangeApsis(): SQP solver terminated abnormally: {rep.terminationtype}"
);
NLPFunction(x, fi, args);
if (Statics.DoubleArrayMagnitude(fi) > 1e-4)
throw new Exception("DeltaVToChangeApsis() no feasible solution found");
args.OptimizeBurn = true;
for (int i = 1; i < 7; i += 2)
{
args.PerFactor = 5 * Statics.Powi(10, i);
alglib.minnlcrestartfrom(state, x);
alglib.minnlcoptimize(state, NLPFunction, null, args);
alglib.minnlcresults(state, out x, out rep);
if (rep.terminationtype < 0)
throw new Exception(
$"DeltaVToChangeApsis(): SQP solver terminated abnormally: {rep.terminationtype}"
);
NLPFunction(x, fi, args);
fi[0] = 0; // zero out the objective
if (Statics.DoubleArrayMagnitude(fi) > 1e-4)
throw new Exception("DeltaVToChangeApsis() feasible solution was lost");
}
NLPFunction(x, fi, args);
return (new V3(x[0], x[1], x[2]) * moonScale.VelocityScale, x[3] * moonScale.TimeScale);
}
public static (V3 dv, double dt, double newPeR) NextManeuver(double centralMu, double moonMu, V3 moonR0, V3 moonV0,
double moonSOI, V3 r0, V3 v0, double peR, double inc, double dtmin = double.NegativeInfinity, double dtmax = double.PositiveInfinity)
{
double dt;
V3 dv;
int i = 0;
(double _, double ecc) = Maths.SmaEccFromStateVectors(moonMu, r0, v0);
while (true)
{
(dv, dt) = Maneuver(centralMu, moonMu, moonR0, moonV0, moonSOI, r0, v0, peR, inc, dtmin, dtmax);
if (dt > 0 || ecc >= 1)
break;
if (i++ >= 5)
throw new Exception("Maximum iterations exceeded with no valid future solution");
(r0, v0) = Shepperd.Solve(moonMu, Maths.PeriodFromStateVectors(moonMu, r0, v0), r0, v0);
}
(V3 r1, V3 v1) = Shepperd.Solve(moonMu, dt, r0, v0);
double tt1 = Maths.TimeToNextRadius(moonMu, r1, v1 + dv, moonSOI);
(V3 r2, V3 v2) = Shepperd.Solve(moonMu, tt1, r1, v1 + dv);
(V3 moonR2, V3 moonV2) = Shepperd.Solve(centralMu, dt + tt1, moonR0, moonV0);
double newPeR = Maths.PeriapsisFromStateVectors(centralMu, moonR2 + r2, moonV2 + v2);
return (dv, dt, newPeR);
}
}
}