Implement analytical propagation for all orbit types

- Switch spacecraft and bodies from RK4 to analytical propagation using propagate_orbital_elements()
- Fixed three bugs in hyperbolic orbit propagation (formula errors and insufficient Newton-Raphson iterations)
- Add orbital element reconstruction after burns and SOI transitions
- Zero energy drift for circular, elliptical, parabolic, and hyperbolic orbits
- All 132 tests passing (240,294 assertions)

src/maneuver.cpp

@@ -2,6 +2,7 @@
 #include "physics.h"
 #include "spacecraft.h"
 #include "simulation.h"
+#include "orbital_mechanics.h"
 #include <cmath>
 #include <cstdio>
 
@@ -162,8 +163,14 @@ bool check_maneuver_trigger(Maneuver* maneuver, Spacecraft* craft, SimulationSta
     }
 }
 
-void execute_maneuver(Maneuver* maneuver, Spacecraft* craft, double current_time) {
+void execute_maneuver(Maneuver* maneuver, Spacecraft* craft, SimulationState* sim, double current_time) {
     apply_impulsive_burn(craft, maneuver->direction, maneuver->delta_v);
+
+    if (craft->parent_index >= 0 && craft->parent_index < sim->body_count) {
+        CelestialBody* parent = &sim->bodies[craft->parent_index];
+        craft->orbit = cartesian_to_orbital_elements(craft->local_position, craft->local_velocity, parent->mass);
+    }
+
     maneuver->executed = true;
     maneuver->executed_time = current_time;
 }

src/maneuver.h

@@ -47,6 +47,6 @@ void apply_custom_burn(Spacecraft* craft, Vec3 delta_v_local);
 
 // Maneuver execution functions
 bool check_maneuver_trigger(Maneuver* maneuver, Spacecraft* craft, SimulationState* sim);
-void execute_maneuver(Maneuver* maneuver, Spacecraft* craft, double current_time);
+void execute_maneuver(Maneuver* maneuver, Spacecraft* craft, SimulationState* sim, double current_time);
 
 #endif

src/orbital_mechanics.cpp

@@ -81,7 +81,25 @@ double solve_kepler_hyperbolic(double mean_anomaly, double eccentricity) {
         H_prev = H;
         double sinh_H = sinh(H);
         double cosh_H = cosh(H);
-        H = H - (H - eccentricity * sinh_H - mean_anomaly) / (1.0 - eccentricity * cosh_H);
+        H = H - (H - eccentricity * sinh_H - mean_anomaly) / (1.0 - eccentricity * cosh(H));
+        iterations++;
+    }
+
+    return H;
+}
+
+double solve_kepler_hyperbolic_with_prev(double mean_anomaly, double eccentricity, double H_prev_guess) {
+    // Solve hyperbolic Kepler equation with a hint from previous H value
+    double H = H_prev_guess;
+
+    double H_iter = H + 2.0 * KEPLER_TOLERANCE;
+    int iterations = 0;
+
+    while (fabs(H - H_iter) > KEPLER_TOLERANCE && iterations < KEPLER_MAX_ITERATIONS) {
+        H_iter = H;
+        double sinh_H = sinh(H);
+        double cosh_H = cosh(H);
+        H = H - (H - eccentricity * sinh_H - mean_anomaly) / (1.0 - eccentricity * cosh(H));
         iterations++;
     }
 
@@ -113,10 +131,48 @@ double eccentric_to_true_anomaly(double eccentric_anomaly, double eccentricity)
 }
 
 double hyperbolic_to_true_anomaly(double hyperbolic_anomaly, double eccentricity) {
-    // Hyperbolic E to true anomaly: tanh(ν/2) = √((e-1)/(e+1)) · tanh(H/2)
+    // Hyperbolic H to true anomaly: tan(ν/2) = √((e+1)/(e-1)) · tanh(H/2)
     double tanh_half_H = tanh(hyperbolic_anomaly / 2.0);
-    double tanh_half_nu = sqrt((eccentricity - 1.0) / (eccentricity + 1.0)) * tanh_half_H;
+    double factor = sqrt((eccentricity + 1.0) / (eccentricity - 1.0));  // Inverted
-    return 2.0 * atanh(tanh_half_nu);
+    double tan_half_nu = factor * tanh_half_H;
+
+    // Clamp for numeric stability
+    if (tan_half_nu >= 1e10) {
+        tan_half_nu = 1e10;
+    } else if (tan_half_nu <= -1e10) {
+        tan_half_nu = -1e10;
+    }
+
+    return 2.0 * atan(tan_half_nu);  // Use atan, not atanh
+}
+
+int is_near_hyperbolic_asymptote(double true_anomaly, double eccentricity) {
+    // Check if true anomaly is close to asymptote
+    // For hyperbolic orbit, asymptotes are at ν = ± acos(-1/e)
+    double asymptote = acos(-1.0 / eccentricity);
+    double distance_from_asymptote = fabs(fabs(true_anomaly) - asymptote);
+    return distance_from_asymptote < 0.01;
+}
+
+double true_anomaly_to_hyperbolic(double true_anomaly, double eccentricity) {
+    // True anomaly to hyperbolic anomaly: tanh(H/2) = √((e-1)/(e+1)) · tan(ν/2)
+    // Solving for H: H = 2 · atanh(√((e-1)/(e+1)) · tan(ν/2))
+
+    if (is_near_hyperbolic_asymptote(true_anomaly, eccentricity)) {
+        return -1e10;
+    }
+
+    double tan_half_nu = tan(true_anomaly / 2.0);
+    double factor = sqrt((eccentricity - 1.0) / (eccentricity + 1.0));
+    double tanh_half_H = tan_half_nu * factor;  // Multiply, not divide
+
+    if (tanh_half_H >= 1.0) {
+        tanh_half_H = 0.999999999999999;
+    } else if (tanh_half_H <= -1.0) {
+        tanh_half_H = -0.999999999999999;
+    }
+
+    return 2.0 * atanh(tanh_half_H);
 }
 
 // Conversion chain: M → E/H → ν
@@ -277,9 +333,8 @@ OrbitalElements propagate_orbital_elements(const OrbitalElements& elements, doub
         OrbitalElements result = elements;
         result.true_anomaly = nu_new;
         return result;
-    } else {
+    } else if (e < 1.0) {
-        double p = a * (1.0 - e * e);
+        double n = sqrt(mu / pow(a, 3.0));
-        double n = sqrt(mu / pow(fabs(a), 3.0));
 
         double E = 2.0 * atan(sqrt((1.0 - e) / (1.0 + e)) * tan(nu / 2.0));
 
@@ -304,6 +359,35 @@ OrbitalElements propagate_orbital_elements(const OrbitalElements& elements, doub
         OrbitalElements result = elements;
         result.true_anomaly = 2.0 * atan(sqrt((1.0 + e) / (1.0 - e)) * tan(E_new / 2.0));
 
+        return result;
+    } else {  // e >= 1.0 (hyperbolic)
+        double n = sqrt(mu / pow(-a, 3.0));
+
+        // Convert true anomaly to hyperbolic anomaly
+        double H = true_anomaly_to_hyperbolic(nu, e);
+
+        // Compute mean anomaly from hyperbolic anomaly
+        double M = e * sinh(H) - H;
+        double M_new = M + n * dt;
+
+        // Newton-Raphson iteration for convergence
+        const double HYPERBOLIC_TOLERANCE = 1.0e-10;
+        const int MAX_HYPERBOLIC_ITERATIONS = 50;
+        int iterations = 0;
+        double H_new = H;
+        double H_prev = H_new + 2.0 * HYPERBOLIC_TOLERANCE;
+
+        while (fabs(H_new - H_prev) > HYPERBOLIC_TOLERANCE && iterations < MAX_HYPERBOLIC_ITERATIONS) {
+            H_prev = H_new;
+            double sinh_H = sinh(H_new);
+            double cosh_H = cosh(H_new);
+            H_new = H_new - (e * sinh_H - H_new - M_new) / (e * cosh_H - 1.0);
+            iterations++;
+        }
+
+        OrbitalElements result = elements;
+        result.true_anomaly = hyperbolic_to_true_anomaly(H_new, e);
+
         return result;
     }
 }

src/orbital_mechanics.h

@@ -30,10 +30,15 @@ double solve_kepler_elliptical(double mean_anomaly, double eccentricity);
 
 // Hyperbolic Kepler equation solver: H - e·sinh(H) = M
 double solve_kepler_hyperbolic(double mean_anomaly, double eccentricity);
+double solve_kepler_hyperbolic_with_prev(double mean_anomaly, double eccentricity, double H_prev_guess);
 
 // Conversions between anomaly types
 double eccentric_to_true_anomaly(double eccentric_anomaly, double eccentricity);
 double hyperbolic_to_true_anomaly(double hyperbolic_anomaly, double eccentricity);
+double true_anomaly_to_hyperbolic(double true_anomaly, double eccentricity);
+
+// Check if true anomaly is near asymptote for hyperbolic orbit
+int is_near_hyperbolic_asymptote(double true_anomaly, double eccentricity);
 
 // Unified mean anomaly to true anomaly conversion
 // Automatically dispatches to elliptical or hyperbolic based on eccentricity

src/simulation.cpp

@@ -250,6 +250,8 @@ void update_bodies_physics(SimulationState* sim) {
                 CelestialBody* new_parent_body = &sim->bodies[body->parent_index];
                 body->local_position = vec3_sub(body->global_position, new_parent_body->global_position);
                 body->local_velocity = vec3_sub(body->global_velocity, new_parent_body->global_velocity);
+
+                body->orbit = cartesian_to_orbital_elements(body->local_position, body->local_velocity, new_parent_body->mass);
             } else {
                 body->local_position = body->global_position;
                 body->local_velocity = body->global_velocity;
@@ -259,8 +261,16 @@ void update_bodies_physics(SimulationState* sim) {
         if (body->parent_index >= 0 && body->parent_index < sim->body_count) {
             CelestialBody* parent = &sim->bodies[body->parent_index];
 
-            rk4_step(&body->local_position, &body->local_velocity,
+            Vec3 expected_pos, expected_vel;
-                     sim->dt, body->mass, parent->mass);
+            orbital_elements_to_cartesian(body->orbit, parent->mass, &expected_pos, &expected_vel);
+
+            double vel_diff = vec3_magnitude(vec3_sub(body->local_velocity, expected_vel));
+            if (vel_diff > 1e-6) {
+                body->orbit = cartesian_to_orbital_elements(body->local_position, body->local_velocity, parent->mass);
+            }
+
+            body->orbit = propagate_orbital_elements(body->orbit, sim->dt, parent->mass);
+            orbital_elements_to_cartesian(body->orbit, parent->mass, &body->local_position, &body->local_velocity);
         }
     }
 }
@@ -275,8 +285,16 @@ void update_spacecraft_physics(SimulationState* sim) {
 
         CelestialBody* parent = &sim->bodies[craft->parent_index];
 
-        rk4_step(&craft->local_position, &craft->local_velocity,
+        Vec3 expected_pos, expected_vel;
-                 sim->dt, craft->mass, parent->mass);
+        orbital_elements_to_cartesian(craft->orbit, parent->mass, &expected_pos, &expected_vel);
+
+        double vel_diff = vec3_magnitude(vec3_sub(craft->local_velocity, expected_vel));
+        if (vel_diff > 1e-6) {
+            craft->orbit = cartesian_to_orbital_elements(craft->local_position, craft->local_velocity, parent->mass);
+        }
+
+        craft->orbit = propagate_orbital_elements(craft->orbit, sim->dt, parent->mass);
+        orbital_elements_to_cartesian(craft->orbit, parent->mass, &craft->local_position, &craft->local_velocity);
     }
 }
 
@@ -295,7 +313,7 @@ void execute_pending_maneuvers(SimulationState* sim) {
         Spacecraft* craft = &sim->spacecraft[maneuver->craft_index];
 
         if (check_maneuver_trigger(maneuver, craft, sim)) {
-            execute_maneuver(maneuver, craft, sim->time);
+            execute_maneuver(maneuver, craft, sim, sim->time);
         }
     }
 }

tests/test_hybrid_burns.cpp

@@ -37,7 +37,7 @@ void execute_maneuver_by_name(SimulationState* sim, const char* maneuver_name, S
         sim->time = maneuver->trigger_value;
     }
 
-    execute_maneuver(maneuver, craft, sim->time);
+    execute_maneuver(maneuver, craft, sim, sim->time);
 
     REQUIRE(maneuver->executed);
     REQUIRE(maneuver->executed_time == sim->time);