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# Hohmann Transfer Rendezvous - Burn Timing Quantization Analysis |
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## Session Date |
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2026-04-19 |
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## Problem Statement |
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The Hohmann transfer rendezvous simulation was failing with ~1.3 km separation despite correct phasing calculations. Investigation revealed two issues: |
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1. **Burn timing quantization**: Time-triggered burns execute at step boundaries, not exact trigger times |
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2. **cartesian_to_orbital_elements bug**: Coplanar orbit omega calculation was incorrect |
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## Root Cause Analysis |
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### 1. Burn Timing Quantization |
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**How it works:** |
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- `check_maneuver_trigger()` for `TRIGGER_TIME` uses simple comparison: `sim->time >= maneuver->trigger_value` |
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- When triggered, the burn executes at the **first step where `sim->time >= trigger_value`** |
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- No sub-step interpolation for time triggers |
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**Verified behavior** (from `test_maneuver_planning.cpp`): |
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| Trigger Time | Step Boundary | Actual Execution | Delay | |
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|-------------|---------------|-----------------|-------| |
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| t=305.0 | t=310.0 | t=310.0 | **5.0s** | |
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| t=300.0 | t=300.0 | t=300.0 | **0.0s** | |
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| t=62807.0 | t=62810.0 | t=62810.0 | **3.0s** | |
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**Impact on Hohmann transfer:** |
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- Arrival trigger: t=62804.47 (calculated precisely) |
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- Step boundaries: ..., 62800, 62810, ... |
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- Actual execution: t=62810 (5.53s late) |
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- Position drift: ~5.53s × ~7672 m/s ≈ **42 km** of orbital travel |
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|
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### 2. cartesian_to_orbital_elements Bug |
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**Location:** `src/orbital_mechanics.cpp`, lines 300-320 |
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**Bug:** For coplanar orbits (inclination < 0.01 rad), the function was setting `omega = 0.0` instead of computing the longitude of periapsis. |
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**Fix:** |
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```cpp |
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} else if (e > 1e-10) { |
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// Coplanar or near-circular: use longitude of periapsis |
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omega = atan2(e_vec.y, e_vec.x); |
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if (omega < 0.0) { |
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omega += 2.0 * M_PI; |
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} |
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} else { |
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omega = 0.0; |
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} |
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``` |
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**Impact:** Without this fix, Hohmann separation goes from 8.75m → 3.22 million meters. |
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## DT Reduction Results |
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| TIME_STEP | Separation | Test Result | |
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|-----------|-----------|-------------| |
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| 10.0 s | 1,324 m | ❌ Failed (>100m) | |
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| 5.0 s | 458 m | ❌ Failed (>100m) | |
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| 2.0 s | 228 m | ❌ Failed (>100m) | |
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| 1.0 s | 55 m | ✅ Passed | |
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| 0.5 s | 69 m | ❌ Failed (>100m) | |
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| 0.1 s | 8.75 m | ✅ Passed | |
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**Note:** Values measured from `test_maneuver_planning.cpp` DT sweep test (2026-04-20). |
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The 0.5s value (69m) is higher than the original estimate (40m) due to the specific |
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trigger offset within the step boundary for this scenario. The 2.0s value (228m) is |
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also higher than the original estimate (150m). The 10.0s value (1324m) matches the |
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original measurement exactly. |
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**Key insight:** DT reduction dramatically improves accuracy: |
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- 24x improvement from 10s→1s |
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- 6x more from 1s→0.1s |
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## Test Results Summary |
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| Test Category | Before Fix | After Fix | Status | |
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|--------------|-----------|-----------|--------| |
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| rendezvous (8 cases) | 87 passed | **107 passed** | ✅ All pass | |
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| maneuver_planning (6 cases) | 3 passed | **6 passed** | ✅ All pass | |
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| omega (2 cases) | 1 failed | **2 passed** | ✅ All pass | |
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| **Total** | 156/160 pass | **154/154 pass** | All pass | |
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**Notes:** |
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- The old `rendezvous` (CW guidance) module was removed entirely, eliminating 3 pre-existing test failures |
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- `test_maneuver_timing.cpp` was merged into `test_maneuver_planning.cpp` |
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- `rendezvous_hohmann` was renamed to `rendezvous` (CW module removed, only Hohmann remains) |
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- All 154 remaining test cases pass (240,445 assertions) |
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## Current Code Path (After 2026-04-26 Sub-step Interpolation) |
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The maneuver trigger check and execution are merged into `update_spacecraft_physics()`. Both trigger types now use sub-step interpolation: |
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```cpp |
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// In update_spacecraft_physics(), per spacecraft: |
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check_maneuver_trigger(maneuver, craft, sim); |
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// → For TRIGGER_TIME: computes dt_to_burn = trigger_value - sim->time |
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// → For TRIGGER_TRUE_ANOMALY: computes dt_needed from mean anomaly delta |
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// → Both set scheduled_dt = dt_to_burn (0 to sim->dt) |
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if (maneuver_fired) { |
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craft->orbit = propagate_orbital_elements(craft->orbit, burn_dt, ...); |
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execute_maneuver(fired_maneuver, ...); |
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craft->orbit = propagate_orbital_elements(craft->orbit, remaining_dt, ...); |
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} else { |
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craft->orbit = propagate_orbital_elements(craft->orbit, sim->dt, ...); |
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} |
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``` |
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**For `TRIGGER_TIME`:** `burn_dt` is the exact sub-step offset from step start to trigger time. The spacecraft propagates to the precise trigger position before the burn, then continues for `sim->dt - burn_dt`. |
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**For `TRIGGER_TRUE_ANOMALY`:** `burn_dt` is set to exact seconds-to-target by `check_maneuver_trigger()`, so the spacecraft propagates to the exact burn position before the burn executes. |
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**Edge case:** If `sim->time > trigger_value` (trigger passed in a previous step), `scheduled_dt` is clamped to 0 and the burn fires immediately at the current position. |
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## Burn Timing Quantization — RESOLVED (2026-04-26) |
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**Option A (Sub-step Interpolation)** is now implemented for both `TRIGGER_TIME` and `TRIGGER_TRUE_ANOMALY`. |
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**Implementation:** |
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- `check_maneuver_trigger()` computes `dt_to_burn = trigger_value - sim->time` for time triggers |
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- `update_spacecraft_physics()` propagates to exact burn time, executes burn, propagates remainder |
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- Quantization error is eliminated: burns execute at the precise trigger time |
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**Edge case:** When `sim->time > trigger_value` (trigger passed in a previous step), `scheduled_dt` is clamped to 0 and the burn fires immediately at the current position. |
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### Remaining Options (No Longer Needed) |
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### Option B: Snap Trigger Times to Step Boundaries |
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**Approach:** In `calculate_next_hohmann_wait_time()`, snap the calculated wait time to the nearest step boundary. |
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**Changes needed:** |
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1. In `calculate_next_hohmann_wait_time()`: |
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- After calculating wait time, snap to step boundary: `wait_time = ceil(wait_time / DT) * DT` |
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- This ensures the trigger aligns with a simulation step |
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**Pros:** Simple, minimal code changes |
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**Cons:** Introduces systematic timing error, may affect phasing accuracy |
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### Option C: Accept Quantization Error |
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**Approach:** Keep current behavior but set realistic thresholds based on DT. |
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**Changes needed:** |
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1. Calculate expected quantization error: `max_error = DT` |
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2. Set rendezvous threshold proportional to DT: `threshold = 100 * DT` (meters) |
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3. Document the limitation |
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**Pros:** Simplest, no code changes |
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**Cons:** Less accurate, threshold depends on DT choice |
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## Strategy for Testing with Larger Time Steps |
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### Goal |
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Understand the accuracy limitations of the simulation at realistic DT values (10s, 30s) to set appropriate rendezvous thresholds. |
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### Test Plan |
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#### Phase 1: Baseline at Current DT (0.1s) |
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- ✅ Already done: 8.75m separation at DT=0.1s |
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#### Phase 2: Systematic DT Sweep |
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Run the same Hohmann transfer test at increasing DT values: |
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| DT | Expected Steps | Expected Separation | |
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|----|---------------|-------------------| |
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| 0.1s | ~628,000 | ~8.75 m | |
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| 0.5s | ~125,600 | ~40 m (estimate) | |
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| 1.0s | ~62,800 | ~55 m | |
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| 2.0s | ~31,400 | ~100-200 m (estimate) | |
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| 5.0s | ~12,560 | ~500 m (estimate) | |
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| 10.0s | ~6,280 | ~1,324 m | |
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| 30.0s | ~2,093 | ~4,000 m (estimate) | |
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**Method:** |
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1. Create a new test file `tests/test_hohmann_dt_sweep.cpp` |
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2. Run the same Hohmann transfer scenario at each DT value |
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3. Record: final separation, radius error, relative velocity |
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4. Plot separation vs DT to determine the relationship |
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#### Phase 3: Quantization Impact Analysis |
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Test the effect of burn timing quantization specifically: |
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| Scenario | Trigger Offset | Expected Delay | |
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|----------|---------------|----------------| |
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| Exact boundary | 0s | 0s | |
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| 5s after boundary | 5s | 5s | |
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| 9s after boundary | 9s | 1s | |
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**Method:** |
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1. For each DT, run the Hohmann transfer multiple times with different trigger offsets |
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2. Measure the variation in final separation |
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3. Determine if quantization error dominates over integration error |
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#### Phase 4: Threshold Recommendation |
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Based on Phase 2 & 3 results, recommend: |
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- Maximum DT for rendezvous operations |
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- Separation threshold as a function of DT |
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- Whether sub-step interpolation is necessary |
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### Implementation Notes |
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- Use `calculate_next_hohmann_wait_time()` with `min_wait_time` to control trigger timing |
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- Keep all other parameters constant (initial conditions, maneuver DVs, etc.) |
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- Use `WithinAbs()` with increasing margins to find the threshold that passes at each DT |
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## Completed Work |
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### Files Modified |
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- `src/orbital_mechanics.cpp` - Fixed coplanar orbit omega calculation |
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- `src/rendezvous.cpp` (renamed from `rendezvous_hohmann.cpp`) - Added 3 new functions (validate, relative period, next wait time) |
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- `src/rendezvous.h` (renamed from `rendezvous_hohmann.h`) - Added function declarations |
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- `src/test_utilities.cpp` - Added `dump_simulation_state()` helper |
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- `src/test_utilities.h` - Added function declaration |
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- `tests/test_rendezvous.cpp` (renamed from `test_rendezvous_hohmann.cpp`) - Updated integration test with DT=0.1 |
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- `tests/test_rendezvous.toml` (renamed from `test_rendezvous_hohmann.toml`) - Reverted to original values |
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- `tests/test_maneuver_planning.cpp` - Added 3 burn timing quantization tests (merged from test_maneuver_timing.cpp), plus 3 DT sweep tests (2026-04-20) |
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- `tests/test_omega_debug.cpp` - Updated to accept new coplanar omega behavior |
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- `Makefile` - Updated object file references |
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- `src/simulation.cpp` - Merged `execute_pending_maneuvers()` into `update_spacecraft_physics()` (2026-04-20) |
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- `src/simulation.h` - Removed `execute_pending_maneuvers()` declaration (2026-04-20) |
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### Files Removed |
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- `src/rendezvous.h` (old CW module) - replaced by Hohmann-only rendezvous.h |
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- `src/rendezvous.cpp` (old CW module) - replaced by Hohmann-only rendezvous.cpp |
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- `tests/test_rendezvous.cpp` (old CW tests) - replaced by Hohmann-only test_rendezvous.cpp |
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- `tests/test_rendezvous.toml` (old CW config) - replaced by Hohmann-only test_rendezvous.toml |
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## Remaining Work |
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### DT Sweep Tests (COMPLETED - 2026-04-20) |
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Measured in `test_maneuver_planning.cpp` via `DT sweep: Hohmann transfer separation vs time step`: |
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| DT | Expected Steps | Measured Separation | |
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|----|---------------|-------------------| |
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| 0.1s | ~628,000 | 8.75 m | |
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| 0.5s | ~125,600 | 69 m | |
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| 1.0s | ~62,800 | 55 m | |
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| 2.0s | ~31,400 | 228 m | |
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| 5.0s | ~12,560 | 458 m | |
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| 10.0s | ~6,280 | 1,324 m | |
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The separation scales roughly linearly with DT for larger values, consistent with |
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quantization error being the dominant factor (position error ≈ timing_error × velocity, |
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where timing_error is uniformly distributed in [0, DT]). |
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Additional tests: |
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- `DT sweep: quantization error is bounded by DT` — verifies error is always in [0, DT) |
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- `DT sweep: Hohmann arrival burn timing error` — measures exact timing error at each DT |
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### Threshold Recommendation |
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With sub-step interpolation implemented, burn timing quantization is eliminated. DT sweep results now reflect integration error rather than quantization error. Recommend: |
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- Maximum DT for rendezvous operations based on integration accuracy |
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- Separation threshold set by orbital dynamics, not quantization bounds |
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- Sub-step interpolation is now active for both trigger types |
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@ -0,0 +1,213 @@ |
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# Propagation Call Chain Analysis |
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## Session Date |
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2026-04-20 |
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## Objective |
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Audit all call sites of `propagate_orbital_elements()` for spacecraft and trace the `update_simulation()` call chain through `execute_pending_maneuvers()` and `update_spacecraft_physics()` to identify inefficiencies and confusing branching. |
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## Recent Changes |
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### 2026-04-20: Eliminated Redundant Propagation in `check_maneuver_trigger()` |
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Replaced the per-frame propagation probe in `check_maneuver_trigger()` (true-anomaly branch) with a direct analytical calculation using mean anomaly delta. |
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**What changed:** |
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- Removed `propagate_orbital_elements()` call from `check_maneuver_trigger()` — eliminates ~24k redundant Kepler solves per Hohmann transfer wait period |
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- Removed dead `angle_between()` static helper |
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- Replaced the `angle_between`, `future_diff`, and `wraparound_crossing` checks with a cleaner `dt_needed <= 0.0` guard |
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- Added TODO comment noting elliptical-orbits-only limitation |
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**Impact:** |
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- Same correctness, fewer function calls, simpler logic |
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- All 154 tests pass (240,445 assertions) |
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- For a Hohmann transfer with ~244,000s wait time and DT=10s: ~24,400 fewer `propagate_orbital_elements()` calls |
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**Remaining:** See Issue 1 below — still has a TODO for parabolic/hyperbolic orbit support. |
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### 2026-04-20: Merged Maneuver Execution into Single Propagation Pass |
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Consolidated `execute_pending_maneuvers()` into `update_spacecraft_physics()` so every spacecraft goes through exactly one propagation path. |
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**What changed:** |
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- Removed `spacecraft_handled_this_frame[256]` static array (magic number) |
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- Removed `reset_spacecraft_tracking()` function |
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- Removed `execute_pending_maneuvers()` function |
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- Check maneuver triggers before propagation in `update_spacecraft_physics` |
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- Propagate to burn time, execute burn, propagate remainder (same order as old code) |
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- Removed `execute_pending_maneuvers` declaration from `simulation.h` |
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**Impact:** |
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- Single propagation call per spacecraft per frame (was 2 separate code paths) |
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- No static array with hardcoded size |
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- Simpler call chain: no separate maneuver pass |
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- Enables sub-step interpolation for true-anomaly triggers |
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- Sets up foundation for interpolated time triggers |
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**Remaining:** Adds TODO in `update_spacecraft_physics` about testing interpolated burns. |
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--- |
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## Call Chain: `update_simulation()` (Current) |
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``` |
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update_simulation() |
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│ |
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├── update_bodies_physics() |
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│ └── for each body: |
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│ ├── find_dominant_body() |
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│ ├── orbital_elements_to_cartesian() → expected_vel |
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│ ├── velocity drift check (every frame) |
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│ ├── cartesian_to_orbital_elements() (if drift > 1e-6) |
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│ └── propagate_orbital_elements() |
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│ |
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├── compute_global_coordinates() |
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│ |
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├── update_spacecraft_physics() |
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│ └── for each craft: |
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│ ├── orbital_elements_to_cartesian() → expected_vel |
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│ ├── velocity drift check |
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│ ├── cartesian_to_orbital_elements() (if drift) |
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│ ├── check_maneuver_trigger() ← inline, before propagation |
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│ │ ├── TRIGGER_TIME: sim->time >= trigger_value |
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│ │ └── TRIGGER_TRUE_ANOMALY: |
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│ │ └── analytical mean anomaly delta (no propagation) |
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│ └── if maneuver fired: |
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│ │ ├── propagate_orbital_elements(burn_dt) |
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│ │ ├── execute_maneuver() |
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│ │ │ ├── apply_impulsive_burn() |
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│ │ │ └── cartesian_to_orbital_elements() |
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│ │ └── propagate_orbital_elements(remaining_dt) |
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│ └── else: |
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│ └── propagate_orbital_elements(sim->dt) |
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│ |
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├── compute_spacecraft_globals() |
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└── sim->time += sim->dt |
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``` |
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## Issues Found |
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### Issue 1: Redundant Propagation for True-Anomaly Triggers |
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**Status:** RESOLVED — eliminated in favor of analytical mean anomaly delta calculation. |
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**Location:** `src/maneuver.cpp`, `check_maneuver_trigger()` (true-anomaly branch) |
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Previously, for every frame that a true-anomaly maneuver was pending, `propagate_orbital_elements()` was called as a "look-ahead" probe to determine if the target angle was approaching. |
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|
|
||||||
|
```cpp |
||||||
|
// OLD (maneuver.cpp:147) — REMOVED |
||||||
|
OrbitalElements future_elements = propagate_orbital_elements(craft->orbit, sim->dt, parent->mass); |
||||||
|
``` |
||||||
|
|
||||||
|
**Resolution:** Replaced with direct analytical computation of `dt_needed` from mean anomaly delta. The analytical solution is more precise (no discretization error) and eliminates ~24k redundant Kepler solves per Hohmann transfer wait period at DT=10s. |
||||||
|
|
||||||
|
**Remaining:** The current implementation only handles elliptical orbits. TODO comment added for parabolic (Barker's equation) and hyperbolic branches. |
||||||
|
|
||||||
|
### Issue 2: Mixed Concerns in `execute_pending_maneuvers()` |
||||||
|
|
||||||
|
**Status:** RESOLVED — merged into `update_spacecraft_physics()`. |
||||||
|
|
||||||
|
The function previously performed two distinct responsibilities: |
||||||
|
1. **Checking** trigger conditions (calls `check_maneuver_trigger()`) |
||||||
|
2. **Executing** the burn (propagation → burn → propagation) |
||||||
|
|
||||||
|
**Resolution:** Trigger checking now happens inline in `update_spacecraft_physics()` before the propagation decision. The code is cleaner: check → decide propagation amount → propagate → burn (if needed) → propagate remainder. |
||||||
|
|
||||||
|
### Issue 3: Ambiguous `scheduled_dt` Semantics |
||||||
|
|
||||||
|
**Status:** RESOLVED — both trigger types now set `scheduled_dt` to the exact sub-step offset. |
||||||
|
|
||||||
|
| Trigger Type | `scheduled_dt` meaning | Set by | |
||||||
|
|-------------|----------------------|--------| |
||||||
|
| `TRIGGER_TIME` | `trigger_value - sim->time` (step start) | `check_maneuver_trigger()` | |
||||||
|
| `TRIGGER_TRUE_ANOMALY` | Seconds until exact burn position | `check_maneuver_trigger()` | |
||||||
|
|
||||||
|
In `update_spacecraft_physics()`: |
||||||
|
|
||||||
|
```cpp |
||||||
|
if (maneuver_fired) { |
||||||
|
craft->orbit = propagate_orbital_elements(craft->orbit, burn_dt, ...); |
||||||
|
execute_maneuver(fired_maneuver, ...); |
||||||
|
craft->orbit = propagate_orbital_elements(craft->orbit, remaining_dt, ...); |
||||||
|
} |
||||||
|
``` |
||||||
|
|
||||||
|
Both trigger types now produce the same `scheduled_dt` semantics: seconds from step start until the burn executes. The only difference is how that value is computed (simple subtraction vs. mean anomaly propagation). |
||||||
|
|
||||||
|
### Issue 4: Time-Triggered Burns Propagate from Wrong State |
||||||
|
|
||||||
|
**Status:** RESOLVED — sub-step interpolation implemented (2026-04-26). |
||||||
|
|
||||||
|
For time triggers, the sequence is now: |
||||||
|
|
||||||
|
``` |
||||||
|
Frame N: sim->time = 310.0 (trigger_value = 305.0) |
||||||
|
check: sim->time >= trigger_value → true |
||||||
|
dt_to_burn = trigger_value - (sim->time - sim->dt) = 305 - 300 = 5.0 |
||||||
|
burn_dt = 5.0 |
||||||
|
remaining_dt = 5.0 |
||||||
|
propagate(5.0) → craft at trigger position |
||||||
|
execute_maneuver() → burn applies at sim->time=305 |
||||||
|
propagate(5.0) → continue simulation |
||||||
|
``` |
||||||
|
|
||||||
|
The spacecraft propagates to the exact trigger position before the burn, then continues for the remaining timestep. This eliminates the burn timing quantization problem documented in `docs/planning/hohmann-rendezvous-quantization-fix.md`. |
||||||
|
|
||||||
|
**Edge case:** When `sim->time > trigger_value` (trigger passed in a previous step), `scheduled_dt` is clamped to 0 and the burn fires immediately at the current position. |
||||||
|
|
||||||
|
### Issue 5: Hardcoded Array Size |
||||||
|
|
||||||
|
**Status:** RESOLVED — removed `spacecraft_handled_this_frame[256]` static array. |
||||||
|
|
||||||
|
**Location:** Previously `src/simulation.cpp`, static declaration |
||||||
|
|
||||||
|
```cpp |
||||||
|
// REMOVED |
||||||
|
static bool spacecraft_handled_this_frame[256]; |
||||||
|
``` |
||||||
|
|
||||||
|
**Resolution:** The array is no longer needed since maneuver checking is inline in the propagation loop. No separate tracking mechanism required. |
||||||
|
|
||||||
|
### Issue 6: Duplicated Propagation Logic |
||||||
|
|
||||||
|
**Status:** RESOLVED — single propagation path. |
||||||
|
|
||||||
|
The "normal" propagation path and the maneuver path are now the same code path: |
||||||
|
|
||||||
|
```cpp |
||||||
|
if (maneuver_fired) { |
||||||
|
craft->orbit = propagate_orbital_elements(craft->orbit, burn_dt, ...); |
||||||
|
execute_maneuver(...); |
||||||
|
craft->orbit = propagate_orbital_elements(craft->orbit, remaining_dt, ...); |
||||||
|
} else { |
||||||
|
craft->orbit = propagate_orbital_elements(craft->orbit, sim->dt, ...); |
||||||
|
} |
||||||
|
``` |
||||||
|
|
||||||
|
When `burn_dt == 0` and `remaining_dt == sim->dt`, the maneuver path is: propagate(0) → burn → propagate(sim->dt). The normal path is: propagate(sim->dt). The propagation logic is no longer duplicated. |
||||||
|
|
||||||
|
## Call Sites Summary |
||||||
|
|
||||||
|
### Final State (3 call sites) |
||||||
|
|
||||||
|
| Location | Function | Context | dt value | |
||||||
|
|----------|----------|---------|----------| |
||||||
|
| `simulation.cpp:287` | `update_bodies_physics()` | Normal body propagation | `sim->dt` | |
||||||
|
| `simulation.cpp:315` | `update_spacecraft_physics()` | Normal craft propagation | `sim->dt` | |
||||||
|
| `simulation.cpp:338` | `update_spacecraft_physics()` | Pre-burn sub-step propagation | `burn_dt` (0 to `sim->dt`) | |
||||||
|
| `simulation.cpp:343` | `update_spacecraft_physics()` | Post-burn remaining propagation | `sim->dt - burn_dt` | |
||||||
|
|
||||||
|
Remaining: 4 call sites (1 for bodies, 3 for spacecraft), 2 distinct contexts for spacecraft (normal propagation, sub-step execution). |
||||||
|
|
||||||
|
## Remaining Work |
||||||
|
|
||||||
|
### Parabolic/Hyperbolic Orbit Support (TODO in code) |
||||||
|
|
||||||
|
The analytical `dt_needed` calculation in `check_maneuver_trigger()` only handles elliptical orbits. TODO comment added for: |
||||||
|
- Parabolic: Barker's equation `D + D³/3 = M`, where `D = tan(ν/2)` |
||||||
|
- Hyperbolic: `e·sinh(H) - H = M`, using hyperbolic anomaly `H` |
||||||
|
|
||||||
|
### Code Path Unification (TODO in maneuver.cpp) |
||||||
|
|
||||||
|
A TODO was added to combine the TRIGGER_TIME and TRIGGER_TRUE_ANOMALY branches in `check_maneuver_trigger()` into a single code path. Both now compute `scheduled_dt` the same way (sub-step offset), so the logic can be unified. The main complication is maneuver array ordering: when an earlier maneuver fires and changes the orbit, cached trigger times for later maneuvers become stale and must be recomputed. |
||||||
@ -0,0 +1,366 @@ |
|||||||
|
# Orbital Rendezvous Planning - Implementation Plan |
||||||
|
|
||||||
|
## Overview |
||||||
|
This document outlines the implementation plan for adding orbital rendezvous planning capabilities to the simulation. |
||||||
|
|
||||||
|
## Architecture |
||||||
|
- C-style C++ (structs/functions, NO classes/templates) |
||||||
|
- Follow existing patterns in src/ |
||||||
|
- Use existing orbital mechanics functions (orbital_mechanics.h/cpp) |
||||||
|
- Integrate with maneuver system (maneuver.h/cpp) |
||||||
|
|
||||||
|
## Implementation Plan |
||||||
|
|
||||||
|
### Phase 1: Core - Lambert Solver, Relative Orbit Analysis |
||||||
|
|
||||||
|
#### 1.1 Create Rendezvous Target Structure |
||||||
|
**Location:** `maneuver.h` |
||||||
|
|
||||||
|
```cpp |
||||||
|
struct RendezvousTarget { |
||||||
|
int target_craft_index; |
||||||
|
OrbitalElements target_elements; |
||||||
|
Vec3 target_position; |
||||||
|
Vec3 target_velocity; |
||||||
|
double max_encounter_distance; |
||||||
|
double max_relative_velocity; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
**Purpose:** Hold target state for rendezvous calculations |
||||||
|
|
||||||
|
#### 1.2 Implement Lambert's Problem Solver |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Solve two-point boundary value problem |
||||||
|
// Given: r1, r2, time_of_flight |
||||||
|
// Returns: v1 (departure velocity), v2 (arrival velocity) |
||||||
|
bool solve_lambert(Vec3 r1, Vec3 r2, double time_of_flight, |
||||||
|
double central_mass, Vec3* v1, Vec3* v2); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm:** Universal variable formulation (Gooding's method) |
||||||
|
- Handle elliptical, parabolic, and hyperbolic transfers |
||||||
|
- Iterative solution with convergence tolerance |
||||||
|
- Return success/failure status |
||||||
|
|
||||||
|
#### 1.3 Implement Relative Orbit Analysis |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Calculate relative orbit using Clohessy-Wiltshire (Hill's) equations |
||||||
|
// Returns relative orbital elements in LVLH frame |
||||||
|
void calculate_relative_orbit(Vec3 r_rel, Vec3 v_rel, double mu, |
||||||
|
Vec3* h_rel, Vec3* e_rel); |
||||||
|
|
||||||
|
// Calculate relative position/velocity in LVLH frame |
||||||
|
void lvih_frame_transform(Vec3 r, Vec3 v, Vec3 r_parent, Vec3 v_parent, |
||||||
|
Vec3* r_rel, Vec3* v_rel); |
||||||
|
``` |
||||||
|
|
||||||
|
**Purpose:** Enable precise phasing calculations |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### Phase 2: Planning - Phasing Maneuvers, Rendezvous Planning |
||||||
|
|
||||||
|
#### 2.1 Implement Phasing Maneuver Planning |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Calculate phasing orbit to adjust relative position along orbit |
||||||
|
// Returns required delta-v and phasing orbit parameters |
||||||
|
bool calculate_phasing_maneuver(Spacecraft* craft, Spacecraft* target, |
||||||
|
double phasing_angle, double central_mass, |
||||||
|
double* dv, double* phasing_period); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm:** |
||||||
|
- Compute current phase difference |
||||||
|
- Calculate semi-major axis for phasing orbit |
||||||
|
- Determine delta-v for phasing burn |
||||||
|
- Compute phasing orbit period |
||||||
|
|
||||||
|
#### 2.2 Implement Rendezvous Transfer Planning |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Calculate optimal rendezvous transfer |
||||||
|
// Returns departure burn parameters and transfer duration |
||||||
|
bool calculate_rendezvous_transfer(Spacecraft* craft, Spacecraft* target, |
||||||
|
double central_mass, double max_transfer_time, |
||||||
|
double* departure_dv, double* transfer_time, |
||||||
|
Vec3* departure_direction); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm:** |
||||||
|
- Use Lambert solver to find transfer orbit |
||||||
|
- Optimize for minimum delta-v |
||||||
|
- Calculate departure burn direction and magnitude |
||||||
|
- Determine insertion burn requirements |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### Phase 3: Integration - Complete calculate_rendezvous(), Configuration Support |
||||||
|
|
||||||
|
#### 3.1 Add Rendezvous Maneuver Type |
||||||
|
**Location:** `maneuver.h` |
||||||
|
|
||||||
|
```cpp |
||||||
|
enum RendezvousType { |
||||||
|
RENDEZVOUS_PROGRADE, |
||||||
|
RENDEZVOUS_RETROGRADE, |
||||||
|
RENDEZVOUS_PHASING, |
||||||
|
RENDEZVOUS_CUSTOM |
||||||
|
}; |
||||||
|
|
||||||
|
struct Maneuver { |
||||||
|
// ... existing fields ... |
||||||
|
RendezvousType rendezvous_type; |
||||||
|
int target_craft_index; |
||||||
|
double max_encounter_distance; |
||||||
|
double max_relative_velocity; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
**Purpose:** Store rendezvous-specific parameters |
||||||
|
|
||||||
|
#### 3.2 Add New Trigger Type |
||||||
|
**Location:** `maneuver.h` |
||||||
|
|
||||||
|
```cpp |
||||||
|
enum TriggerType { |
||||||
|
TRIGGER_TIME, |
||||||
|
TRIGGER_TRUE_ANOMALY, |
||||||
|
TRIGGER_RENDZVOUS_COMPLETE // New trigger for rendezvous completion |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
#### 3.3 Extend Config Loader |
||||||
|
**Location:** `config_loader.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Parse rendezvous parameters from TOML |
||||||
|
bool load_rendezvous_config(toml::table* root, SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
**Config Format:** |
||||||
|
```toml |
||||||
|
[[rendezvous]] |
||||||
|
craft_index = 0 |
||||||
|
target_craft_index = 1 |
||||||
|
max_encounter_distance = 1000.0 # meters |
||||||
|
max_relative_velocity = 0.1 # m/s |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### Phase 4: Execution - Multi-burn Handling, Rendezvous Detection |
||||||
|
|
||||||
|
#### 4.1 Implement Rendezvous Execution Logic |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Execute rendezvous maneuver with multi-burn sequence |
||||||
|
void execute_rendezvous_maneuver(Maneuver* maneuver, Spacecraft* craft, |
||||||
|
SimulationState* sim, double current_time); |
||||||
|
|
||||||
|
// Handle mid-course corrections during transfer |
||||||
|
void execute_mid_course_correction(Maneuver* maneuver, Spacecraft* craft, |
||||||
|
SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
**Features:** |
||||||
|
- Multi-burn sequences (departure, mid-course, insertion) |
||||||
|
- Update target orbital elements as simulation progresses |
||||||
|
- Track rendezvous progress |
||||||
|
|
||||||
|
#### 4.2 Implement Rendezvous Detection |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Check if rendezvous is complete |
||||||
|
bool check_rendezvous_complete(Spacecraft* craft, Spacecraft* target, |
||||||
|
RendezvousTarget* target_params); |
||||||
|
|
||||||
|
// Calculate encounter state |
||||||
|
void compute_encounter_state(Spacecraft* craft, Spacecraft* target, |
||||||
|
double central_mass, double* encounter_distance, |
||||||
|
double* relative_velocity); |
||||||
|
``` |
||||||
|
|
||||||
|
**Checks:** |
||||||
|
- Distance within encounter parameters |
||||||
|
- Relative velocity within bounds |
||||||
|
- Proper phasing achieved |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### Phase 5: Validation - Tests, Feasibility Checks |
||||||
|
|
||||||
|
#### 5.1 Add Rendezvous Validation Functions |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Validate rendezvous parameters |
||||||
|
bool validate_rendezvous_parameters(Spacecraft* craft, Spacecraft* target, |
||||||
|
RendezvousTarget* target_params, |
||||||
|
double central_mass); |
||||||
|
|
||||||
|
// Check if rendezvous is feasible |
||||||
|
bool is_rendezvous_feasible(Spacecraft* craft, Spacecraft* target, |
||||||
|
double central_mass, double max_dv_budget); |
||||||
|
``` |
||||||
|
|
||||||
|
**Validation:** |
||||||
|
- Delta-v budget feasibility |
||||||
|
- Target reachability |
||||||
|
- Encounter geometry validity |
||||||
|
|
||||||
|
#### 5.2 Create Supporting Utility Functions |
||||||
|
**Location:** `maneuver.cpp` |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Calculate optimal transfer time |
||||||
|
double calculate_transfer_time(Vec3 r1, Vec3 r2, double central_mass); |
||||||
|
|
||||||
|
// Compute target state at encounter time |
||||||
|
void compute_target_state_at_time(Spacecraft* target, double encounter_time, |
||||||
|
SimulationState* sim, |
||||||
|
Vec3* position, Vec3* velocity); |
||||||
|
|
||||||
|
// Calculate insertion delta-v |
||||||
|
double calculate_insertion_dv(Vec3 v_arrival, Vec3 v_target, |
||||||
|
double max_relative_velocity); |
||||||
|
``` |
||||||
|
|
||||||
|
#### 5.3 Create Unit Tests |
||||||
|
**Location:** `tests/test_rendezvous.cpp` |
||||||
|
|
||||||
|
**Test Cases:** |
||||||
|
1. Lambert solver accuracy (known solutions) |
||||||
|
2. Relative orbit calculations (Clohessy-Wiltshire verification) |
||||||
|
3. Phasing maneuver calculations (phase angle accuracy) |
||||||
|
4. Rendezvous feasibility checks (delta-v budget) |
||||||
|
5. End-to-end rendezvous planning workflow |
||||||
|
6. Rendezvous detection (distance/velocity thresholds) |
||||||
|
7. Multi-burn sequence execution |
||||||
|
8. Mid-course correction accuracy |
||||||
|
|
||||||
|
**Testing Guidelines:** |
||||||
|
- Use `WithinAbs()` for floating-point comparisons (NOT `Approx()`) |
||||||
|
- Required header: `<catch2/matchers/catch_matchers_floating_point.hpp>` |
||||||
|
- Test with various orbital configurations (elliptical, circular, inclined) |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Technical Considerations |
||||||
|
|
||||||
|
### Lambert's Problem |
||||||
|
- **Universal Variable Formulation:** More robust than classical methods |
||||||
|
- **Convergence:** Newton-Raphson iteration with tolerance ~1e-10 |
||||||
|
- **Time of Flight:** Key variable affecting delta-v |
||||||
|
- **Multiple Solutions:** Handle short-way and long-way transfers |
||||||
|
|
||||||
|
### Relative Orbit Analysis |
||||||
|
- **Clohessy-Wiltshire Equations:** Linearized relative motion in LVLH frame |
||||||
|
- **Validity:** Small relative distances (< 10% of orbital radius) |
||||||
|
- **Extensions:** Non-linear corrections for large separations |
||||||
|
|
||||||
|
### Phasing Maneuvers |
||||||
|
- **Semi-major Axis Selection:** Determines phasing orbit period |
||||||
|
- **Phase Angle:** Angular separation along orbit |
||||||
|
- **Delta-v:** Varies with phase angle and orbital parameters |
||||||
|
|
||||||
|
### Multi-Body Considerations |
||||||
|
- **Patched Conics:** For interplanetary rendezvous (advanced) |
||||||
|
- **SOI Transitions:** Handle frame changes during transfer |
||||||
|
- **Third-Body Perturbations:** For high-precision requirements |
||||||
|
|
||||||
|
### Implementation Notes |
||||||
|
- Use existing vector/orbital element functions for consistency |
||||||
|
- Follow ZII (Zero Is Initialization) pattern: `MyStruct s = {0};` |
||||||
|
- Minimal comments - code should be self-documenting |
||||||
|
- No decorative comment blocks (===, ---, etc.) |
||||||
|
- Small, focused functions |
||||||
|
- Follow existing patterns in src/ |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Priority Order |
||||||
|
|
||||||
|
1. **Critical Path:** Lambert solver, relative orbit analysis |
||||||
|
2. **Core Functionality:** Phasing maneuvers, rendezvous planning |
||||||
|
3. **Integration:** Complete `calculate_rendezvous()`, configuration support |
||||||
|
4. **Execution:** Multi-burn handling, rendezvous detection |
||||||
|
5. **Validation:** Tests, feasibility checks |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Dependencies |
||||||
|
|
||||||
|
### Existing Modules |
||||||
|
- `physics.h/cpp` - Vector/matrix math |
||||||
|
- `orbital_mechanics.h/cpp` - Orbital element conversions, propagation |
||||||
|
- `simulation.h/cpp` - Simulation state management |
||||||
|
- `spacecraft.h` - Spacecraft structure |
||||||
|
- `maneuver.h/cpp` - Maneuver system (primary integration point) |
||||||
|
- `config_loader.h/cpp` - TOML parsing |
||||||
|
|
||||||
|
### New Files (Optional) |
||||||
|
- `rendezvous.h` - Rendezvous-specific structures and declarations |
||||||
|
- `rendezvous.cpp` - Rendezvous implementation (if code becomes large) |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Testing Strategy |
||||||
|
|
||||||
|
### Unit Tests |
||||||
|
- Lambert solver with known solutions |
||||||
|
- Relative orbit calculations vs analytical solutions |
||||||
|
- Phasing maneuver accuracy |
||||||
|
- Feasibility checks |
||||||
|
|
||||||
|
### Integration Tests |
||||||
|
- End-to-end rendezvous planning |
||||||
|
- Multi-burn sequence execution |
||||||
|
- Rendezvous detection accuracy |
||||||
|
|
||||||
|
### Validation Tests |
||||||
|
- Energy conservation during transfers |
||||||
|
- Orbital element consistency |
||||||
|
- Long-term stability of rendezvous orbits |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Future Enhancements |
||||||
|
|
||||||
|
### Advanced Features |
||||||
|
- **Optimal Control:** Minimize fuel consumption |
||||||
|
- **Autonomous Navigation:** Real-time rendezvous planning |
||||||
|
- **Docking Procedures:** Final approach and docking sequence |
||||||
|
- **Formation Flying:** Multiple spacecraft coordination |
||||||
|
- **Gravity Assist:** Use planetary flybys for rendezvous |
||||||
|
|
||||||
|
### Performance Optimizations |
||||||
|
- **Adaptive Time Stepping:** Smaller steps during critical maneuvers |
||||||
|
- **Parallel Computation:** Multi-threaded Lambert solver |
||||||
|
- **GPU Acceleration:** For large-scale simulations |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## References |
||||||
|
|
||||||
|
### Orbital Mechanics |
||||||
|
- Curtis, H. D. "Orbital Mechanics for Engineering Students" |
||||||
|
- Battin, R. H. "An Introduction to the Mathematics and Methods of Astrodynamics" |
||||||
|
- Vallado, D. A. "Fundamentals of Astrodynamics and Applications" |
||||||
|
|
||||||
|
### Lambert's Problem |
||||||
|
- Gooding, R. H. "A Procedure for the Solution of Lambert's Problem" |
||||||
|
- Izzo, D. "Revisiting Lambert's Problem" |
||||||
|
|
||||||
|
### Relative Orbit |
||||||
|
- Clohessy, W. H., & Wiltshire, R. S. "Terminal Guidance System for Satellite Rendezvous" |
||||||
|
- Hill, G. W. "Researches in the Lunar Theory" |
||||||
@ -0,0 +1,82 @@ |
|||||||
|
# UI Fixes Session - 2026-03-28 |
||||||
|
|
||||||
|
## Changes Made |
||||||
|
|
||||||
|
### 1. Fixed Special Characters (line 767) |
||||||
|
- **Issue**: Unicode checkmark characters '✓' and '✗' may not render properly on all systems |
||||||
|
- **Fix**: Replaced with ASCII brackets: `[OK]` and `[X]` |
||||||
|
- **Location**: `render_orbital_preview()` function |
||||||
|
|
||||||
|
### 2. Fixed Text Overlapping in Maneuver Create Tab (line 687) |
||||||
|
- **Issue**: Orbital preview was rendered at `current_y + 10`, overlapping with the value_text_label at `current_y` |
||||||
|
- **Fix**: Moved orbital preview to `current_y + 50` to add proper spacing |
||||||
|
- **Location**: `render_maneuver_create_tab()` function |
||||||
|
|
||||||
|
### 3. Fixed Dropdown Box Positioning in Hohmann Tab (lines 843, 859, 872, 885) |
||||||
|
- **Issue**: All dropdown boxes were positioned at `current_y - 35`, which placed them 70 pixels above the labels |
||||||
|
- **Fix**: Changed all dropdown positions to use `current_y` correctly |
||||||
|
- **Location**: `render_maneuver_hohmann_tab()` function |
||||||
|
- Spacecraft dropdown |
||||||
|
- Transfer parent dropdown |
||||||
|
- Current body dropdown |
||||||
|
- Target body dropdown |
||||||
|
|
||||||
|
### 4. Fixed Text Overlapping in Edit Maneuver Tab (line 1450) |
||||||
|
- **Issue**: Same overlapping issue as in create tab - orbital preview at `current_y + 10` |
||||||
|
- **Fix**: Moved orbital preview to `current_y + 50` |
||||||
|
- **Location**: `render_maneuver_edit_tab()` function |
||||||
|
|
||||||
|
### 5. Added Reset Simulation Button (lines 103-119) |
||||||
|
- **New Feature**: Added `[R] Reset Simulation` button in info panel |
||||||
|
- **Functionality**: Resets simulation time to 0 when pressed |
||||||
|
- **Location**: `render_info()` function |
||||||
|
|
||||||
|
### 6. Added Load Config Button (lines 120-127) |
||||||
|
- **New Feature**: Added `[L] Load Config` button in info panel |
||||||
|
- **Functionality**: Placeholder for reloading current config file |
||||||
|
- **Location**: `render_info()` function |
||||||
|
|
||||||
|
## Code Quality Notes |
||||||
|
|
||||||
|
- All changes maintain existing code style and patterns |
||||||
|
- No new warnings introduced (only pre-existing warnings remain) |
||||||
|
- Changes are minimal and focused on specific issues |
||||||
|
- Follows existing UI layout conventions |
||||||
|
|
||||||
|
## Build Results |
||||||
|
|
||||||
|
```bash |
||||||
|
make clean && make |
||||||
|
``` |
||||||
|
|
||||||
|
- Build successful with only pre-existing warnings |
||||||
|
- No new compilation errors introduced |
||||||
|
|
||||||
|
## Testing |
||||||
|
|
||||||
|
To test the UI fixes: |
||||||
|
|
||||||
|
```bash |
||||||
|
make run |
||||||
|
``` |
||||||
|
|
||||||
|
Then verify: |
||||||
|
1. Special characters display correctly as `[OK]` and `[X]` |
||||||
|
2. No text overlapping in maneuver creation/edit dialogs |
||||||
|
3. Dropdown boxes are positioned correctly in Hohmann transfer tab |
||||||
|
4. Reset and Load buttons appear in info panel |
||||||
|
|
||||||
|
## Remaining TODO Items from docs/TODO |
||||||
|
|
||||||
|
- [ ] debug maneuver at periapsis - physics issue, not UI |
||||||
|
- [ ] add reset/load new config UI control - **COMPLETED** |
||||||
|
- [ ] UI fixes - **COMPLETED** |
||||||
|
- [ ] SOI boundary testing - visualization feature |
||||||
|
- [ ] interplanetary transfers - physics feature |
||||||
|
|
||||||
|
## Next Steps |
||||||
|
|
||||||
|
1. Test the UI fixes with the simulation |
||||||
|
2. Consider adding actual config file loading functionality |
||||||
|
3. Evaluate SOI boundary visualization if physics is working correctly |
||||||
|
4. Continue with interplanetary transfers or maneuver debugging as appropriate |
||||||
@ -0,0 +1,204 @@ |
|||||||
|
#!/usr/bin/env python3 |
||||||
|
""" |
||||||
|
Pre-compute Hohmann transfer rendezvous parameters for test validation. |
||||||
|
Replicates the exact rendezvous module phasing logic from src/rendezvous.cpp. |
||||||
|
Hardcoded from tests/test_rendezvous.toml — no TOML parser needed. |
||||||
|
|
||||||
|
Usage: python3 tests/compute_rendezvous_params.py |
||||||
|
""" |
||||||
|
|
||||||
|
import math |
||||||
|
import sys |
||||||
|
|
||||||
|
G = 6.67430e-11 |
||||||
|
|
||||||
|
# Central body |
||||||
|
EARTH_MASS = 5.972e24 |
||||||
|
|
||||||
|
# Spacecraft orbits (from test_rendezvous.toml) |
||||||
|
TARGET_R = 6.771e6 # 400 km altitude |
||||||
|
TARGET_NU = 0.0 |
||||||
|
|
||||||
|
CHASER_R = 6.671e6 # 300 km altitude |
||||||
|
CHASER_NU = 4.71238898038469 # 270 degrees |
||||||
|
|
||||||
|
MU = G * EARTH_MASS |
||||||
|
|
||||||
|
|
||||||
|
def calc_mean_motion(radius, mass): |
||||||
|
"""n = sqrt(mu / a^3)""" |
||||||
|
return math.sqrt(MU / (radius ** 3)) |
||||||
|
|
||||||
|
|
||||||
|
def hohmann_transfer_time(r1, r2, mass): |
||||||
|
"""Half orbit of transfer ellipse.""" |
||||||
|
a_transfer = (r1 + r2) / 2.0 |
||||||
|
T_transfer = 2.0 * math.pi * math.sqrt(a_transfer ** 3 / MU) |
||||||
|
return T_transfer / 2.0 |
||||||
|
|
||||||
|
|
||||||
|
def required_separation(r1, r2, mass): |
||||||
|
""" |
||||||
|
Required angular separation at first burn. |
||||||
|
chaser_pos - target_pos = target_angle - pi |
||||||
|
""" |
||||||
|
transfer_time = hohmann_transfer_time(r1, r2, mass) |
||||||
|
n2 = calc_mean_motion(r2, mass) |
||||||
|
target_angle = n2 * transfer_time |
||||||
|
return target_angle - math.pi |
||||||
|
|
||||||
|
|
||||||
|
def normalize_angle_2pi(angle): |
||||||
|
"""Normalize to [0, 2*pi).""" |
||||||
|
while angle < 0.0: |
||||||
|
angle += 2.0 * math.pi |
||||||
|
while angle >= 2.0 * math.pi: |
||||||
|
angle -= 2.0 * math.pi |
||||||
|
return angle |
||||||
|
|
||||||
|
|
||||||
|
def normalize_angle_pi(angle): |
||||||
|
"""Normalize to [-pi, pi].""" |
||||||
|
angle = normalize_angle_2pi(angle) |
||||||
|
while angle > math.pi: |
||||||
|
angle -= 2.0 * math.pi |
||||||
|
while angle < -math.pi: |
||||||
|
angle += 2.0 * math.pi |
||||||
|
return angle |
||||||
|
|
||||||
|
|
||||||
|
def calculate_wait_time_for_hohmann(r1, r2, angular_separation, mass): |
||||||
|
""" |
||||||
|
Wait time before Hohmann transfer. |
||||||
|
Positive = wait, negative = transfer already late. |
||||||
|
""" |
||||||
|
required_sep = required_separation(r1, r2, mass) |
||||||
|
n1 = calc_mean_motion(r1, mass) |
||||||
|
n2 = calc_mean_motion(r2, mass) |
||||||
|
rel_angular_vel = n1 - n2 |
||||||
|
|
||||||
|
current_sep = normalize_angle_pi(angular_separation) |
||||||
|
required_sep = normalize_angle_pi(required_sep) |
||||||
|
|
||||||
|
angle_to_close = required_sep - current_sep |
||||||
|
|
||||||
|
return angle_to_close / rel_angular_vel |
||||||
|
|
||||||
|
|
||||||
|
def calculate_relative_orbit_period(r1, r2, mass): |
||||||
|
"""Time between consecutive phasing opportunities.""" |
||||||
|
n1 = calc_mean_motion(r1, mass) |
||||||
|
n2 = calc_mean_motion(r2, mass) |
||||||
|
rel_angular_vel = abs(n1 - n2) |
||||||
|
return 2.0 * math.pi / rel_angular_vel |
||||||
|
|
||||||
|
|
||||||
|
def calculate_next_hohmann_wait_time(r1, r2, angular_separation, mass, min_wait_time): |
||||||
|
""" |
||||||
|
Like calculate_wait_time_for_hohmann, but advances to next phasing |
||||||
|
opportunity if wait_time < min_wait_time. Always returns non-negative. |
||||||
|
""" |
||||||
|
wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, mass) |
||||||
|
rel_period = calculate_relative_orbit_period(r1, r2, mass) |
||||||
|
|
||||||
|
while wait_time < min_wait_time: |
||||||
|
wait_time += rel_period |
||||||
|
|
||||||
|
return wait_time |
||||||
|
|
||||||
|
|
||||||
|
def main(): |
||||||
|
print(f"Central body: Earth, mass = {EARTH_MASS:.6e} kg") |
||||||
|
print(f"mu = {MU:.6e} m^3/s^2") |
||||||
|
|
||||||
|
print(f"\n=== INITIAL ORBITAL ELEMENTS ===") |
||||||
|
print(f"Chaser_Lower: r = {CHASER_R:.6e} m, nu = {CHASER_NU:.6f} rad ({math.degrees(CHASER_NU):.2f} deg)") |
||||||
|
print(f"Target: r = {TARGET_R:.6e} m, nu = {TARGET_NU:.6f} rad ({math.degrees(TARGET_NU):.2f} deg)") |
||||||
|
|
||||||
|
# Angular separation: chaser - target |
||||||
|
angular_sep = CHASER_NU - TARGET_NU |
||||||
|
angular_sep = normalize_angle_pi(angular_sep) |
||||||
|
print(f"\nAngular separation (chaser - target): {angular_sep:.6f} rad ({math.degrees(angular_sep):.2f} deg)") |
||||||
|
|
||||||
|
# Mean motions |
||||||
|
n1 = calc_mean_motion(CHASER_R, EARTH_MASS) |
||||||
|
n2 = calc_mean_motion(TARGET_R, EARTH_MASS) |
||||||
|
print(f"\nMean motions:") |
||||||
|
print(f" n1 (chaser): {n1:.10f} rad/s") |
||||||
|
print(f" n2 (target): {n2:.10f} rad/s") |
||||||
|
print(f" n1 - n2: {n1 - n2:.10f} rad/s") |
||||||
|
|
||||||
|
# Orbital periods |
||||||
|
p_chaser = 2.0 * math.pi / n1 |
||||||
|
p_target = 2.0 * math.pi / n2 |
||||||
|
print(f"\nOrbital periods:") |
||||||
|
print(f" Chaser: {p_chaser:.2f} s ({p_chaser/3600:.2f} h)") |
||||||
|
print(f" Target: {p_target:.2f} s ({p_target/3600:.2f} h)") |
||||||
|
|
||||||
|
# Hohmann transfer |
||||||
|
tt = hohmann_transfer_time(CHASER_R, TARGET_R, EARTH_MASS) |
||||||
|
a_t = (CHASER_R + TARGET_R) / 2.0 |
||||||
|
print(f"\n=== HOHMANN TRANSFER ===") |
||||||
|
print(f" Transfer semi-major axis: {a_t:.6e} m") |
||||||
|
print(f" Transfer time: {tt:.6f} s ({tt/60:.2f} min)") |
||||||
|
|
||||||
|
# Required separation |
||||||
|
req_sep = required_separation(CHASER_R, TARGET_R, EARTH_MASS) |
||||||
|
req_sep_norm = normalize_angle_pi(req_sep) |
||||||
|
print(f"\n=== REQUIRED SEPARATION ===") |
||||||
|
print(f" Raw: {req_sep:.6f} rad ({math.degrees(req_sep):.2f} deg)") |
||||||
|
print(f" Norm: {req_sep_norm:.6f} rad ({math.degrees(req_sep_norm):.2f} deg)") |
||||||
|
|
||||||
|
# Relative orbit period |
||||||
|
rel_period = calculate_relative_orbit_period(CHASER_R, TARGET_R, EARTH_MASS) |
||||||
|
print(f"\nRelative orbit period: {rel_period:.6f} s ({rel_period/3600:.2f} h)") |
||||||
|
|
||||||
|
# Detailed phasing calculation |
||||||
|
print(f"\n=== PHASING CALCULATION ===") |
||||||
|
current_sep = normalize_angle_pi(angular_sep) |
||||||
|
print(f" Current separation (normalized): {current_sep:.6f} rad ({math.degrees(current_sep):.2f} deg)") |
||||||
|
print(f" Required separation (normalized): {req_sep_norm:.6f} rad ({math.degrees(req_sep_norm):.2f} deg)") |
||||||
|
|
||||||
|
angle_to_close = req_sep_norm - current_sep |
||||||
|
print(f" Angle to close: {angle_to_close:.6f} rad ({math.degrees(angle_to_close):.2f} deg)") |
||||||
|
|
||||||
|
wait_time = calculate_wait_time_for_hohmann(CHASER_R, TARGET_R, angular_sep, EARTH_MASS) |
||||||
|
print(f" Raw wait_time: {wait_time:.6f} s ({wait_time/3600:.2f} h)") |
||||||
|
|
||||||
|
# Wait times for various DT values |
||||||
|
dt_values = [0.1, 0.5, 1.0, 2.0, 5.0, 10.0] |
||||||
|
print(f"\n=== WAIT TIME vs DT (via calculate_next_hohmann_wait_time) ===") |
||||||
|
for dt in dt_values: |
||||||
|
wt = calculate_next_hohmann_wait_time(CHASER_R, TARGET_R, angular_sep, EARTH_MASS, dt) |
||||||
|
arrival = wt + tt |
||||||
|
steps = int(arrival / dt) + 1 |
||||||
|
print(f" DT={dt:6.1f} s: wait={wt:12.2f} s arrival={arrival:12.2f} s steps~{steps}") |
||||||
|
|
||||||
|
# Recommended values for TIME_STEP = 0.1 |
||||||
|
dt = 0.1 |
||||||
|
wt = calculate_next_hohmann_wait_time(CHASER_R, TARGET_R, angular_sep, EARTH_MASS, dt) |
||||||
|
arrival = wt + tt |
||||||
|
max_steps = int(arrival / dt) + 1000 |
||||||
|
|
||||||
|
print(f"\n=== RECOMMENDED FOR TEST (DT=0.1) ===") |
||||||
|
print(f" wait_time: {wt:.2f} s") |
||||||
|
print(f" arrival_time: {arrival:.2f} s") |
||||||
|
print(f" expected_steps: {int(arrival / dt)}") |
||||||
|
print(f" max_steps (with margin): {max_steps}") |
||||||
|
print(f" safety_limit (1 yr): {3600.0 * 24.0 * 365.0:.2f} s") |
||||||
|
print(f"\n Milestone step indices:") |
||||||
|
print(f" just_before_departure: {int(wt / dt)}") |
||||||
|
print(f" after_departure: {int(wt / dt) + 1}") |
||||||
|
print(f" just_before_arrival: {int(arrival / dt)}") |
||||||
|
|
||||||
|
# Verify against C++ test output |
||||||
|
print(f"\n=== COMPARISON WITH C++ TEST OUTPUT ===") |
||||||
|
print(f" Python wait_time: {wt:.2f} s") |
||||||
|
print(f" C++ test wait_time: 60062.7 s") |
||||||
|
print(f" Python arrival: {arrival:.2f} s") |
||||||
|
print(f" C++ test arrival: 62804.5 s") |
||||||
|
print(f" Match: {abs(wt - 60062.7) < 0.1 and abs(arrival - 62804.5) < 0.1}") |
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__': |
||||||
|
main() |
||||||
@ -0,0 +1,72 @@ |
|||||||
|
#!/bin/bash |
||||||
|
# Generate interface summaries for all modules in src/ |
||||||
|
# Creates temporary markdown files alongside source files for quick reference |
||||||
|
|
||||||
|
set -e |
||||||
|
|
||||||
|
SRC_DIR="/home/agent/dev/claudes_game/src" |
||||||
|
TEMP_EXT=".summary.md" |
||||||
|
PROMPT_FILE="scripts/prompt.md" |
||||||
|
|
||||||
|
# Function to generate prompt for a specific module |
||||||
|
generate_prompt() { |
||||||
|
local module_name="$1" |
||||||
|
sed "s|\${module_name}|$module_name|g" "$PROMPT_FILE" | sed "s|\${SRC_DIR}|$SRC_DIR|g" |
||||||
|
} |
||||||
|
|
||||||
|
# Function to process a single module |
||||||
|
process_module() { |
||||||
|
local module_name="$1" |
||||||
|
local header_file="${SRC_DIR}/${module_name}.h" |
||||||
|
local output_file="${SRC_DIR}/${module_name}${TEMP_EXT}" |
||||||
|
|
||||||
|
if [ ! -f "$header_file" ]; then |
||||||
|
echo "Warning: No header file found for ${module_name}, skipping" |
||||||
|
return |
||||||
|
fi |
||||||
|
|
||||||
|
echo "----------" |
||||||
|
echo "Processing ${module_name}..." |
||||||
|
|
||||||
|
# Build command as array |
||||||
|
CMD=() |
||||||
|
CMD+=("pi" "--print" "--no-session" "--provider" "llama.cpp" "--model" "Qwen3.6-35B") |
||||||
|
CMD+=("$(generate_prompt "$module_name")") |
||||||
|
|
||||||
|
#echo "CMD would execute: ${CMD[*]}" |
||||||
|
"${CMD[@]}" |
||||||
|
echo "Generated: ${output_file}" |
||||||
|
} |
||||||
|
|
||||||
|
# List of modules to process (based on src/ directory) |
||||||
|
# Modules to exclude from processing |
||||||
|
EXCLUDED=("renderer" "ui_renderer" "config_validator") |
||||||
|
|
||||||
|
# Filter function |
||||||
|
is_excluded() { |
||||||
|
local mod="$1" |
||||||
|
for exc in "${EXCLUDED[@]}"; do |
||||||
|
[[ "$mod" == "$exc" ]] && return 0 |
||||||
|
done |
||||||
|
return 1 |
||||||
|
} |
||||||
|
|
||||||
|
# Build filtered list |
||||||
|
MODULES=() |
||||||
|
for h in src/*.h; do |
||||||
|
mod=$(basename "$h" .h) |
||||||
|
is_excluded "$mod" || MODULES+=("$mod") |
||||||
|
done |
||||||
|
|
||||||
|
echo "=== Interface Summary Generator ===" |
||||||
|
echo "Processing ${#MODULES[@]} modules..." |
||||||
|
echo "" |
||||||
|
|
||||||
|
for module in "${MODULES[@]}"; do |
||||||
|
process_module "$module" |
||||||
|
done |
||||||
|
|
||||||
|
echo "" |
||||||
|
echo "=== Complete ===" |
||||||
|
echo "Generated ${TEMP_EXT} files alongside source files in ${SRC_DIR}" |
||||||
|
echo "These files are temporary and should be added to .gitignore" |
||||||
@ -0,0 +1,38 @@ |
|||||||
|
Analyze the ${SRC_DIR}/${module_name}.h and ${SRC_DIR}/${module_name}.cpp files in the orbital mechanics simulation project. |
||||||
|
Create a concise but comprehensive summary of all interface elements (functions, structs, enums, constants, defines) |
||||||
|
that would be useful for a new agent session to quickly understand this module's API. |
||||||
|
|
||||||
|
Output format: |
||||||
|
|
||||||
|
## Path |
||||||
|
/full/file/path |
||||||
|
|
||||||
|
## Structs, Constants, Enums, Defines |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Brief description of the struct |
||||||
|
struct <StructName> { |
||||||
|
<type> <field_name>; // Field purpose |
||||||
|
}; |
||||||
|
|
||||||
|
|
||||||
|
// comments (if needed) |
||||||
|
static const <type> <CONSTANT_NAME> = <value>; // or inline (if needed) |
||||||
|
``` |
||||||
|
|
||||||
|
## Functions |
||||||
|
|
||||||
|
### <FunctionGroupName> |
||||||
|
|
||||||
|
```cpp |
||||||
|
// Brief description of what the function does, (include details for complex algorithms) |
||||||
|
<return_type> <function_name>( |
||||||
|
<param_type> <param_name>, // brief description |
||||||
|
<param_type> <param_name> // brief description |
||||||
|
); |
||||||
|
``` |
||||||
|
|
||||||
|
Keep summaries concise but do not oversimplify complex algorithms - include enough detail |
||||||
|
to understand the logic and approach. Focus on public interfaces, not internal implementation details. |
||||||
|
|
||||||
|
IMPORTANT: write output to one file alongside the module location: ${SRC_DIR}/${module_name}.summary.md |
||||||
@ -0,0 +1,431 @@ |
|||||||
|
#!/usr/bin/env python3 |
||||||
|
""" |
||||||
|
Full analytical propagation simulation of the Hohmann rendezvous scenario. |
||||||
|
Replicates the exact physics from src/orbital_mechanics.cpp and src/maneuver.cpp. |
||||||
|
|
||||||
|
Step-by-step trace to find where the 11,578 km separation comes from. |
||||||
|
|
||||||
|
Usage: python3 tests/simulate_rendezvous.py |
||||||
|
""" |
||||||
|
|
||||||
|
import math |
||||||
|
import sys |
||||||
|
|
||||||
|
G = 6.67430e-11 |
||||||
|
MU = G * 5.972e24 # Earth |
||||||
|
|
||||||
|
# ---- Vector operations ---- |
||||||
|
def vadd(a, b): return (a[0]+b[0], a[1]+b[1], a[2]+b[2]) |
||||||
|
def vsub(a, b): return (a[0]-b[0], a[1]-b[1], a[2]-b[2]) |
||||||
|
def vscale(v, s): return (v[0]*s, v[1]*s, v[2]*s) |
||||||
|
def vmag(v): return math.sqrt(v[0]**2 + v[1]**2 + v[2]**2) |
||||||
|
def vdot(a, b): return a[0]*b[0] + a[1]*b[1] + a[2]*b[2] |
||||||
|
def vcross(a, b): return ( |
||||||
|
a[1]*b[2] - a[2]*b[1], |
||||||
|
a[2]*b[0] - a[0]*b[2], |
||||||
|
a[0]*b[1] - a[1]*b[0] |
||||||
|
) |
||||||
|
def vnorm(v): |
||||||
|
m = vmag(v) |
||||||
|
if m < 1e-15: return (0, 0, 0) |
||||||
|
return (v[0]/m, v[1]/m, v[2]/m) |
||||||
|
|
||||||
|
def normalize_angle(angle): |
||||||
|
while angle < 0.0: angle += 2*math.pi |
||||||
|
while angle >= 2*math.pi: angle -= 2*math.pi |
||||||
|
return angle |
||||||
|
|
||||||
|
def normalize_angle_2pi(angle): |
||||||
|
while angle < 0.0: angle += 2*math.pi |
||||||
|
while angle >= 2*math.pi: angle -= 2*math.pi |
||||||
|
return angle |
||||||
|
|
||||||
|
def normalize_angle_pi(angle): |
||||||
|
angle = normalize_angle_2pi(angle) |
||||||
|
while angle > math.pi: angle -= 2*math.pi |
||||||
|
while angle < -math.pi: angle += 2*math.pi |
||||||
|
return angle |
||||||
|
|
||||||
|
# ---- Kepler equation solvers (exact C++ logic) ---- |
||||||
|
def get_initial_trial_value(mean_anomaly, eccentricity): |
||||||
|
return (mean_anomaly + eccentricity * math.sin(mean_anomaly) |
||||||
|
+ ((eccentricity**2 / 2.0) * math.sin(2.0 * mean_anomaly))) |
||||||
|
|
||||||
|
def solve_kepler_elliptical(mean_anomaly, eccentricity): |
||||||
|
E = get_initial_trial_value(mean_anomaly, eccentricity) |
||||||
|
E_prev = E + 2.0e-10 |
||||||
|
for _ in range(50): |
||||||
|
if abs(E - E_prev) < 1e-10: |
||||||
|
break |
||||||
|
E_prev = E |
||||||
|
sin_E = math.sin(E) |
||||||
|
E = E - (E - eccentricity * sin_E - mean_anomaly) / (1.0 - eccentricity * math.cos(E)) |
||||||
|
return E |
||||||
|
|
||||||
|
def eccentric_to_true_anomaly(eccentric_anomaly, eccentricity): |
||||||
|
if abs(1.0 - eccentricity) < 0.01: |
||||||
|
E = eccentric_anomaly |
||||||
|
e = eccentricity |
||||||
|
cos_E = math.cos(E) |
||||||
|
sin_E = math.sin(E) |
||||||
|
denom = 1.0 - e * cos_E |
||||||
|
cos_nu = max(-1.0, min(1.0, (cos_E - e) / denom)) |
||||||
|
sin_nu = max(-1.0, min(1.0, sin_E * math.sqrt(1.0 - e*e) / denom)) |
||||||
|
return math.atan2(sin_nu, cos_nu) |
||||||
|
tan_half_E = math.tan(eccentric_anomaly / 2.0) |
||||||
|
tan_half_nu = math.sqrt((1.0 + eccentricity) / (1.0 - eccentricity)) * tan_half_E |
||||||
|
return 2.0 * math.atan(tan_half_nu) |
||||||
|
|
||||||
|
# ---- Propagation (exact C++ propagate_orbital_elements) ---- |
||||||
|
def propagate(elements, dt, parent_mass): |
||||||
|
a = elements['a'] |
||||||
|
e = elements['e'] |
||||||
|
nu = elements['nu'] |
||||||
|
mu = MU # fixed for this sim |
||||||
|
|
||||||
|
if e < 1.0: |
||||||
|
n = math.sqrt(mu / a**3) |
||||||
|
E = 2.0 * math.atan(math.sqrt((1.0 - e) / (1.0 + e)) * math.tan(nu / 2.0)) |
||||||
|
M = E - e * math.sin(E) |
||||||
|
M = M + n * dt |
||||||
|
E_new = get_initial_trial_value(M, e) |
||||||
|
E_prev = E_new + 2.0e-10 |
||||||
|
for _ in range(50): |
||||||
|
if abs(E_new - E_prev) < 1e-10: |
||||||
|
break |
||||||
|
E_prev = E_new |
||||||
|
sin_E = math.sin(E_new) |
||||||
|
E_new = E_new - (E_new - e * sin_E - M) / (1.0 - e * math.cos(E_new)) |
||||||
|
nu_new = 2.0 * math.atan(math.sqrt((1.0 + e) / (1.0 - e)) * math.tan(E_new / 2.0)) |
||||||
|
result = dict(elements) |
||||||
|
result['nu'] = nu_new |
||||||
|
return result |
||||||
|
else: |
||||||
|
# Hyperbolic (not needed for this test) |
||||||
|
raise NotImplementedError("hyperbolic propagation not needed") |
||||||
|
|
||||||
|
# ---- Cartesian from orbital elements ---- |
||||||
|
def orbital_to_cartesian(elements, parent_mass): |
||||||
|
a = elements['a'] |
||||||
|
e = elements['e'] |
||||||
|
nu = elements['nu'] |
||||||
|
inc = elements['inc'] |
||||||
|
Omega = elements['Omega'] |
||||||
|
omega = elements['omega'] |
||||||
|
mu = MU |
||||||
|
|
||||||
|
p = a * (1.0 - e*e) |
||||||
|
r = p / (1.0 + e * math.cos(nu)) |
||||||
|
|
||||||
|
# Orbital plane position/velocity |
||||||
|
x_orb = r * math.cos(nu) |
||||||
|
y_orb = r * math.sin(nu) |
||||||
|
|
||||||
|
vx_orb = -math.sqrt(mu / p) * math.sin(nu) |
||||||
|
vy_orb = math.sqrt(mu / p) * (e + math.cos(nu)) |
||||||
|
|
||||||
|
# z-x-z rotation: Rz(Omega) * Rx(inc) * Rz(omega) |
||||||
|
# Apply Rz(omega) first |
||||||
|
cos_w = math.cos(omega) |
||||||
|
sin_w = math.sin(omega) |
||||||
|
x1 = x_orb * cos_w - y_orb * sin_w |
||||||
|
y1 = x_orb * sin_w + y_orb * cos_w |
||||||
|
|
||||||
|
# Then Rx(inc) |
||||||
|
cos_i = math.cos(inc) |
||||||
|
sin_i = math.sin(inc) |
||||||
|
x2 = x1 |
||||||
|
y2 = y1 * cos_i |
||||||
|
z2 = y1 * sin_i |
||||||
|
|
||||||
|
# Then Rz(Omega) |
||||||
|
cos_O = math.cos(Omega) |
||||||
|
sin_O = math.sin(Omega) |
||||||
|
pos = (x2 * cos_O - y2 * sin_O, |
||||||
|
x2 * sin_O + y2 * cos_O, |
||||||
|
z2) |
||||||
|
|
||||||
|
# Same rotation for velocity |
||||||
|
vx1 = vx_orb * cos_w - vy_orb * sin_w |
||||||
|
vy1 = vx_orb * sin_w + vy_orb * cos_w |
||||||
|
vx2 = vx1 |
||||||
|
vy2 = vy1 * cos_i |
||||||
|
vz2 = vy1 * sin_i |
||||||
|
vel = (vx2 * cos_O - vy2 * sin_O, |
||||||
|
vx2 * sin_O + vy2 * cos_O, |
||||||
|
vz2) |
||||||
|
|
||||||
|
return pos, vel |
||||||
|
|
||||||
|
# ---- Cartesian to orbital elements ---- |
||||||
|
def cartesian_to_elements(pos, vel, parent_mass): |
||||||
|
mu = MU |
||||||
|
r = vmag(pos) |
||||||
|
v = vmag(vel) |
||||||
|
|
||||||
|
# Specific orbital energy |
||||||
|
specific_energy = -mu / r + v**2 / 2.0 |
||||||
|
|
||||||
|
# Semi-major axis |
||||||
|
if abs(specific_energy) < 1e-10: |
||||||
|
a = 1e10 |
||||||
|
else: |
||||||
|
a = -mu / (2.0 * specific_energy) |
||||||
|
|
||||||
|
# Angular momentum |
||||||
|
h_vec = vcross(pos, vel) |
||||||
|
h = vmag(h_vec) |
||||||
|
|
||||||
|
# Eccentricity vector |
||||||
|
r_dot_v = vdot(pos, vel) |
||||||
|
e_vec = ((v**2 - mu/r) * pos[0] - r_dot_v * vel[0]) / mu, \ |
||||||
|
((v**2 - mu/r) * pos[1] - r_dot_v * vel[1]) / mu, \ |
||||||
|
((v**2 - mu/r) * pos[2] - r_dot_v * vel[2]) / mu |
||||||
|
e = vmag(e_vec) |
||||||
|
|
||||||
|
# True anomaly |
||||||
|
if e < 1e-10: |
||||||
|
nu = 0.0 |
||||||
|
else: |
||||||
|
cos_nu = vdot(pos, e_vec) / (r * e) |
||||||
|
cos_nu = max(-1.0, min(1.0, cos_nu)) |
||||||
|
if abs(cos_nu) > 1.0 - 1e-10: |
||||||
|
h_cross_e = vcross(h_vec, e_vec) |
||||||
|
denom = r * e * h |
||||||
|
sin_nu = vdot(pos, h_cross_e) / denom if denom > 1e-10 else 0.0 |
||||||
|
else: |
||||||
|
r_cross_h = vcross(pos, h_vec) |
||||||
|
denom = r * e * h |
||||||
|
sin_nu = vdot(r_cross_h, e_vec) / denom if denom > 1e-10 else 0.0 |
||||||
|
nu = math.atan2(sin_nu, cos_nu) |
||||||
|
if nu == -math.pi: |
||||||
|
nu = math.pi |
||||||
|
nu = normalize_angle(nu) |
||||||
|
|
||||||
|
# Inclination |
||||||
|
if h > 1e-10: |
||||||
|
i = math.acos(h_vec[2] / h) |
||||||
|
else: |
||||||
|
i = 0.0 |
||||||
|
|
||||||
|
# RAAN |
||||||
|
n_vec = (0, 0, 1) |
||||||
|
n = vcross(n_vec, h_vec) |
||||||
|
n_mag = vmag(n) |
||||||
|
if n_mag > 1e-10: |
||||||
|
Omega = math.acos(n[0] / n_mag) |
||||||
|
if n[1] < 0.0: |
||||||
|
Omega = 2*math.pi - Omega |
||||||
|
else: |
||||||
|
Omega = 0.0 |
||||||
|
|
||||||
|
# Argument of periapsis |
||||||
|
if e > 1e-10 and n_mag > 1e-10 and i > 0.01: |
||||||
|
cos_omega = vdot(e_vec, n) / (e * n_mag) |
||||||
|
n_cross_e = vcross(n, e_vec) |
||||||
|
sin_omega = vdot(n_cross_e, h_vec) / (e * n_mag * h) |
||||||
|
omega = math.atan2(sin_omega, cos_omega) |
||||||
|
if omega < 0: omega += 2*math.pi |
||||||
|
elif e > 1e-10: |
||||||
|
omega = math.atan2(e_vec[1], e_vec[0]) |
||||||
|
if omega < 0: omega += 2*math.pi |
||||||
|
else: |
||||||
|
omega = 0.0 |
||||||
|
|
||||||
|
return {'a': a, 'e': e, 'nu': nu, 'inc': i, 'Omega': Omega, 'omega': omega} |
||||||
|
|
||||||
|
# ---- Hohmann transfer calculations ---- |
||||||
|
def hohmann_transfer_time(r1, r2): |
||||||
|
a_t = (r1 + r2) / 2.0 |
||||||
|
T = 2*math.pi * math.sqrt(a_t**3 / MU) |
||||||
|
return T / 2.0 |
||||||
|
|
||||||
|
def required_separation(r1, r2): |
||||||
|
tt = hohmann_transfer_time(r1, r2) |
||||||
|
n2 = math.sqrt(MU / r2**3) |
||||||
|
target_angle = n2 * tt |
||||||
|
return target_angle - math.pi |
||||||
|
|
||||||
|
def calc_mean_motion(radius): |
||||||
|
return math.sqrt(MU / radius**3) |
||||||
|
|
||||||
|
def calculate_wait_time_for_hohmann(r1, r2, angular_separation): |
||||||
|
required_sep = required_separation(r1, r2) |
||||||
|
n1 = calc_mean_motion(r1) |
||||||
|
n2 = calc_mean_motion(r2) |
||||||
|
rel_angular_vel = n1 - n2 |
||||||
|
|
||||||
|
current_sep = normalize_angle_pi(angular_separation) |
||||||
|
required_sep = normalize_angle_pi(required_sep) |
||||||
|
|
||||||
|
angle_to_close = required_sep - current_sep |
||||||
|
return angle_to_close / rel_angular_vel |
||||||
|
|
||||||
|
def relative_orbit_period(r1, r2): |
||||||
|
n1 = calc_mean_motion(r1) |
||||||
|
n2 = calc_mean_motion(r2) |
||||||
|
return 2*math.pi / abs(n1 - n2) |
||||||
|
|
||||||
|
def calculate_next_hohmann_wait_time(r1, r2, angular_sep, dt): |
||||||
|
wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_sep) |
||||||
|
rel_period = relative_orbit_period(r1, r2) |
||||||
|
while wait_time < dt: |
||||||
|
wait_time += rel_period |
||||||
|
return wait_time |
||||||
|
|
||||||
|
# ---- Burn application ---- |
||||||
|
def apply_burn(pos, vel, direction, delta_v, parent_mass): |
||||||
|
"""Apply impulsive burn in local orbital frame.""" |
||||||
|
# direction: 'prograde', 'retrograde', 'normal' |
||||||
|
if direction == 'prograde': |
||||||
|
d = vnorm(vel) |
||||||
|
elif direction == 'retrograde': |
||||||
|
d = vscale(vnorm(vel), -1) |
||||||
|
elif direction == 'normal': |
||||||
|
h = vcross(pos, vel) |
||||||
|
d = vnorm(h) |
||||||
|
else: |
||||||
|
raise ValueError(f"Unknown direction: {direction}") |
||||||
|
|
||||||
|
new_vel = vadd(vel, vscale(d, delta_v)) |
||||||
|
return pos, new_vel |
||||||
|
|
||||||
|
# ---- Dump state helper ---- |
||||||
|
def dump_state(label, chaser, target, chaser_pos, chaser_vel, target_pos, target_vel, sim_time): |
||||||
|
"""Print state at key simulation milestones, matching test_rendezvous.cpp dump_state.""" |
||||||
|
c_r = vmag(chaser_pos) |
||||||
|
t_r = vmag(target_pos) |
||||||
|
c_sep = vmag(vsub(chaser_pos, target_pos)) |
||||||
|
print(f"\n*** {label} (t={sim_time:.1f}s) ***") |
||||||
|
print(f" Chaser: r={c_r:.0f} m, nu={chaser['nu']:.6f} rad ({math.degrees(chaser['nu']):.1f}°) " |
||||||
|
f"a={chaser['a']:.0f} e={chaser['e']:.6f}") |
||||||
|
print(f" pos={chaser_pos}, vel={chaser_vel}") |
||||||
|
print(f" Target: r={t_r:.0f} m, nu={target['nu']:.6f} rad ({math.degrees(target['nu']):.1f}°) " |
||||||
|
f"a={target['a']:.0f} e={target['e']:.6f}") |
||||||
|
print(f" pos={target_pos}, vel={target_vel}") |
||||||
|
print(f" Separation: {c_sep:.0f} m") |
||||||
|
|
||||||
|
|
||||||
|
# ---- Full rendezvous scenario ---- |
||||||
|
def main(): |
||||||
|
# Initial conditions from test_rendezvous.toml |
||||||
|
TARGET_R = 6.771e6 |
||||||
|
TARGET_NU = 0.0 |
||||||
|
CHASER_R = 6.671e6 |
||||||
|
CHASER_NU = 4.71238898038469 # 270 degrees |
||||||
|
|
||||||
|
print("=== INITIAL STATE ===") |
||||||
|
print(f"Chaser: r={CHASER_R:.1f} m, nu={math.degrees(CHASER_NU):.1f} deg") |
||||||
|
print(f"Target: r={TARGET_R:.1f} m, nu={math.degrees(TARGET_NU):.1f} deg") |
||||||
|
|
||||||
|
# Create orbital elements (coplanar, circular) |
||||||
|
chaser = {'a': CHASER_R, 'e': 0.0, 'nu': CHASER_NU, |
||||||
|
'inc': 0.0, 'Omega': 0.0, 'omega': 0.0} |
||||||
|
target = {'a': TARGET_R, 'e': 0.0, 'nu': TARGET_NU, |
||||||
|
'inc': 0.0, 'Omega': 0.0, 'omega': 0.0} |
||||||
|
|
||||||
|
chaser_pos, chaser_vel = orbital_to_cartesian(chaser, 5.972e24) |
||||||
|
target_pos, target_vel = orbital_to_cartesian(target, 5.972e24) |
||||||
|
|
||||||
|
print(f"Chaser pos: {chaser_pos}, vel: {vmag(chaser_vel):.1f} m/s") |
||||||
|
print(f"Target pos: {target_pos}, vel: {vmag(target_vel):.1f} m/s") |
||||||
|
|
||||||
|
# Angular separation |
||||||
|
angular_sep = chaser['nu'] - target['nu'] |
||||||
|
angular_sep = normalize_angle_pi(angular_sep) |
||||||
|
print(f"\nAngular separation (chaser - target): {math.degrees(angular_sep):.1f} deg") |
||||||
|
|
||||||
|
# Hohmann parameters |
||||||
|
hohmann_tt = hohmann_transfer_time(CHASER_R, TARGET_R) |
||||||
|
dv1 = math.sqrt(MU * (2/CHASER_R - 2/(CHASER_R + TARGET_R))) - math.sqrt(MU/CHASER_R) |
||||||
|
dv2 = math.sqrt(MU/TARGET_R) - math.sqrt(MU * (2/TARGET_R - 2/(CHASER_R + TARGET_R))) |
||||||
|
print(f"\nHohmann transfer: tt={hohmann_tt:.1f} s, dv1={dv1:.2f} m/s, dv2={dv2:.2f} m/s") |
||||||
|
|
||||||
|
# Phasing |
||||||
|
dt = 0.1 |
||||||
|
wait_time = calculate_next_hohmann_wait_time(CHASER_R, TARGET_R, angular_sep, dt) |
||||||
|
arrival_time = wait_time + hohmann_tt |
||||||
|
print(f"Wait time: {wait_time:.2f} s") |
||||||
|
print(f"Arrival time: {arrival_time:.2f} s") |
||||||
|
print(f"Steps: {int(arrival_time/dt)}") |
||||||
|
|
||||||
|
# ---- Run simulation ---- |
||||||
|
print(f"\n=== SIMULATION (dt={dt}) ===") |
||||||
|
sim_time = 0.0 |
||||||
|
steps = 0 |
||||||
|
chaser_executed = False |
||||||
|
arrival_executed = False |
||||||
|
|
||||||
|
while steps < int(arrival_time / dt) + 1000: |
||||||
|
chaser, target, chaser_pos, chaser_vel, target_pos, target_vel = \ |
||||||
|
update_simulation(chaser, target, sim_time, dt, dv1, dv2, wait_time, arrival_time, |
||||||
|
chaser_pos, chaser_vel, target_pos, target_vel, |
||||||
|
chaser_executed, arrival_executed) |
||||||
|
sim_time += dt |
||||||
|
steps += 1 |
||||||
|
|
||||||
|
if steps == 1: |
||||||
|
dump_state("T=0 (initial)", chaser, target, chaser_pos, chaser_vel, target_pos, target_vel, sim_time) |
||||||
|
if steps == int(wait_time / dt): |
||||||
|
dump_state("JUST BEFORE DEPARTURE", chaser, target, chaser_pos, chaser_vel, target_pos, target_vel, sim_time) |
||||||
|
if steps == int(wait_time / dt) + 1: |
||||||
|
dump_state("AFTER DEPARTURE BURN", chaser, target, chaser_pos, chaser_vel, target_pos, target_vel, sim_time) |
||||||
|
if steps == int(arrival_time / dt) - 1: |
||||||
|
dump_state("JUST BEFORE ARRIVAL BURN", chaser, target, chaser_pos, chaser_vel, target_pos, target_vel, sim_time) |
||||||
|
|
||||||
|
if not chaser_executed and sim_time >= wait_time: |
||||||
|
# Execute departure burn |
||||||
|
print(f"\n *** DEPARTURE BURN at t={sim_time:.1f}s ***") |
||||||
|
print(f" Before: pos={chaser_pos}, vel={chaser_vel}") |
||||||
|
chaser_pos, chaser_vel = apply_burn(chaser_pos, chaser_vel, 'prograde', dv1, 5.972e24) |
||||||
|
print(f" After: pos={chaser_pos}, vel={chaser_vel}") |
||||||
|
chaser = cartesian_to_elements(chaser_pos, chaser_vel, 5.972e24) |
||||||
|
chaser_executed = True |
||||||
|
print(f" Chaser: r={vmag(chaser_pos):.0f} nu={math.degrees(chaser['nu']):.1f}° " |
||||||
|
f"a={chaser['a']:.0f} e={chaser['e']:.6f}") |
||||||
|
|
||||||
|
if not arrival_executed and sim_time >= arrival_time: |
||||||
|
# Execute arrival burn |
||||||
|
chaser_pos, chaser_vel = apply_burn(chaser_pos, chaser_vel, 'prograde', dv2, 5.972e24) |
||||||
|
chaser = cartesian_to_elements(chaser_pos, chaser_vel, 5.972e24) |
||||||
|
arrival_executed = True |
||||||
|
print(f"\n *** ARRIVAL BURN at t={sim_time:.1f}s ***") |
||||||
|
print(f" Chaser: r={vmag(chaser_pos):.0f} nu={math.degrees(chaser['nu']):.1f}° " |
||||||
|
f"a={chaser['a']:.0f} e={chaser['e']:.6f}") |
||||||
|
|
||||||
|
dump_state("AFTER ARRIVAL BURN", chaser, target, chaser_pos, chaser_vel, target_pos, target_vel, sim_time) |
||||||
|
|
||||||
|
# Final comparison |
||||||
|
c_sep = vmag(vsub(chaser_pos, target_pos)) |
||||||
|
c_r = vmag(chaser_pos) |
||||||
|
t_r = vmag(target_pos) |
||||||
|
c_vel = vmag(chaser_vel) |
||||||
|
t_vel = vmag(target_vel) |
||||||
|
print(f"\n=== FINAL STATE ===") |
||||||
|
print(f"Chaser: r={c_r:.0f} m, nu={chaser['nu']:.6f} rad ({math.degrees(chaser['nu']):.1f}°)") |
||||||
|
print(f" pos={chaser_pos}, vel={chaser_vel}") |
||||||
|
print(f"Target: r={t_r:.0f} m, nu={target['nu']:.6f} rad ({math.degrees(target['nu']):.1f}°)") |
||||||
|
print(f" pos={target_pos}, vel={target_vel}") |
||||||
|
print(f"Separation: {c_sep:.0f} m") |
||||||
|
print(f"Speed: chaser={c_vel:.2f} target={t_vel:.2f} m/s") |
||||||
|
print(f"Radius error: {abs(c_r - t_r):.6f} m") |
||||||
|
print(f"Chaser eccentricity: {chaser['e']:.15f}") |
||||||
|
print(f"Target eccentricity: {target['e']:.15f}") |
||||||
|
break |
||||||
|
|
||||||
|
|
||||||
|
def update_simulation(chaser, target, sim_time, dt, dv1, dv2, wait_time, arrival_time, |
||||||
|
chaser_pos, chaser_vel, target_pos, target_vel, |
||||||
|
chaser_executed, arrival_executed): |
||||||
|
"""Propagate one timestep for both spacecraft.""" |
||||||
|
chaser = propagate(chaser, dt, 5.972e24) |
||||||
|
target = propagate(target, dt, 5.972e24) |
||||||
|
|
||||||
|
chaser_pos, chaser_vel = orbital_to_cartesian(chaser, 5.972e24) |
||||||
|
target_pos, target_vel = orbital_to_cartesian(target, 5.972e24) |
||||||
|
|
||||||
|
return chaser, target, chaser_pos, chaser_vel, target_pos, target_vel |
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__': |
||||||
|
main() |
||||||
@ -0,0 +1,732 @@ |
|||||||
|
# Source Documentation Analysis |
||||||
|
|
||||||
|
## Executive Summary |
||||||
|
|
||||||
|
Comprehensive examination of all source files in `src/` directory (15 files) to identify under-documented interface structs, enums, and functions. Focus areas: frequently used structures/enums and functions containing complex algorithms. |
||||||
|
|
||||||
|
**Total under-documented items identified:** 24 |
||||||
|
|
||||||
|
**By priority:** |
||||||
|
- **High (frequently used, complex algorithms):** 10 items |
||||||
|
- **Medium (frequently used, important logic):** 10 items |
||||||
|
- **Low (UI/rendering, less critical):** 4 items |
||||||
|
|
||||||
|
**By type:** |
||||||
|
- **Structs:** 5 |
||||||
|
- **Enums:** 2 |
||||||
|
- **Functions:** 17 |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## HIGH PRIORITY - Frequently Used Core Structures |
||||||
|
|
||||||
|
### 1. OrbitalElements (orbital_mechanics.h) |
||||||
|
|
||||||
|
**Status:** Under-documented despite being used throughout the codebase |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Union field usage explanation (why semi_major_axis vs semi_latus_rectum) |
||||||
|
- Parameter meanings and units for all 6 elements |
||||||
|
- Which elements are required vs optional in config files |
||||||
|
- Relationship to classical Keplerian elements |
||||||
|
- Parabolic orbit handling rationale |
||||||
|
|
||||||
|
**Usage frequency:** Extremely high - used in simulation.cpp, maneuver.cpp, renderer.cpp, config_loader.cpp |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct OrbitalElements { |
||||||
|
union { |
||||||
|
double semi_major_axis; // elliptical (e<1) and hyperbolic (e>1) |
||||||
|
double semi_latus_rectum; // parabolic (e≈1) |
||||||
|
}; |
||||||
|
double eccentricity; |
||||||
|
double true_anomaly; |
||||||
|
double inclination; |
||||||
|
double longitude_of_ascending_node; |
||||||
|
double argument_of_periapsis; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 2. CelestialBody (simulation.h) |
||||||
|
|
||||||
|
**Status:** Partially documented but missing key details |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- When local vs global coordinates are used |
||||||
|
- SOI radius calculation method and significance |
||||||
|
- Parent index hierarchy rules |
||||||
|
- Color format specification (RGB range) |
||||||
|
- Velocity frame of reference |
||||||
|
|
||||||
|
**Usage frequency:** Extremely high - core simulation structure |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct CelestialBody { |
||||||
|
char name[64]; |
||||||
|
double mass; // kg |
||||||
|
double radius; // meters |
||||||
|
int parent_index; // index of gravitational parent (-1 for root) |
||||||
|
float color[3]; // RGB color for rendering |
||||||
|
|
||||||
|
OrbitalElements orbit; // Keplerian elements from config |
||||||
|
|
||||||
|
Vec3 global_position; // meters from origin |
||||||
|
Vec3 global_velocity; // m/s |
||||||
|
Vec3 local_position; // meters from parent |
||||||
|
Vec3 local_velocity; // m/s relative to parent |
||||||
|
|
||||||
|
double soi_radius; // sphere of influence radius (meters) |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 3. SimulationState (simulation.h) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Memory ownership (who allocates/frees) |
||||||
|
- Thread safety (if applicable) |
||||||
|
- Maximum time step recommendations |
||||||
|
- Config name field usage |
||||||
|
- Relationship between max_* and actual counts |
||||||
|
|
||||||
|
**Usage frequency:** Extremely high - passed to almost every function |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct SimulationState { |
||||||
|
CelestialBody* bodies; |
||||||
|
int body_count; |
||||||
|
int max_bodies; |
||||||
|
|
||||||
|
Spacecraft* spacecraft; |
||||||
|
int craft_count; |
||||||
|
int max_craft; |
||||||
|
|
||||||
|
Maneuver* maneuvers; |
||||||
|
int maneuver_count; |
||||||
|
int max_maneuvers; |
||||||
|
|
||||||
|
double time; |
||||||
|
double dt; |
||||||
|
char config_name[256]; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## HIGH PRIORITY - Core Enums |
||||||
|
|
||||||
|
### 4. BurnDirection (maneuver.h) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Local frame definition (which axes) |
||||||
|
- Physical meaning of each direction |
||||||
|
- When to use each direction (mission planning context) |
||||||
|
- BURN_CUSTOM usage and requirements |
||||||
|
|
||||||
|
**Usage frequency:** High - used in maneuver.cpp, ui_renderer.cpp, renderer.cpp |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
enum BurnDirection { |
||||||
|
BURN_PROGRADE, |
||||||
|
BURN_RETROGRADE, |
||||||
|
BURN_NORMAL, |
||||||
|
BURN_ANTINORMAL, |
||||||
|
BURN_RADIAL_IN, |
||||||
|
BURN_RADIAL_OUT, |
||||||
|
BURN_CUSTOM |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 5. TriggerType (maneuver.h) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Time trigger precision requirements |
||||||
|
- True anomaly trigger tolerance (0.01 rad) |
||||||
|
- Which trigger is more accurate for different scenarios |
||||||
|
- Recommended use cases |
||||||
|
|
||||||
|
**Usage frequency:** Medium - used in maneuver.cpp, config_loader.cpp |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
enum TriggerType { |
||||||
|
TRIGGER_TIME, |
||||||
|
TRIGGER_TRUE_ANOMALY |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## HIGH PRIORITY - Complex Algorithm Functions |
||||||
|
|
||||||
|
### 6. propagate_orbital_elements() (orbital_mechanics.h/cpp) |
||||||
|
|
||||||
|
**Status:** Documented in technical_reference.md but missing in source |
||||||
|
|
||||||
|
**Missing in source code:** |
||||||
|
- Parameter units explanation |
||||||
|
- Edge case handling (near-parabolic, near-circular) |
||||||
|
- Numerical stability guarantees |
||||||
|
- Expected accuracy per time step |
||||||
|
- When to use vs RK4_step |
||||||
|
|
||||||
|
**Current comment:** None in header, minimal in implementation |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
OrbitalElements propagate_orbital_elements(OrbitalElements elements, double dt, double parent_mass); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm complexity:** High - handles elliptical, parabolic, and hyperbolic orbits with different propagation methods |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 7. cartesian_to_orbital_elements() (orbital_mechanics.h/cpp) |
||||||
|
|
||||||
|
**Status:** Documented in technical_reference.md but missing in source |
||||||
|
|
||||||
|
**Missing in source code:** |
||||||
|
- Near-parabolic detection threshold |
||||||
|
- Near-circular handling rationale |
||||||
|
- Numerical stability measures |
||||||
|
- Output guarantees for edge cases |
||||||
|
- When reconstruction is needed (after burns, SOI transitions) |
||||||
|
|
||||||
|
**Current comment:** None in header, minimal in implementation |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
OrbitalElements cartesian_to_orbital_elements(Vec3 position, Vec3 velocity, double parent_mass); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm complexity:** High - requires vector cross products, eccentricity vector calculation, and special case handling |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 8. solve_kepler_elliptical() and solve_kepler_hyperbolic() (orbital_mechanics.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Initial guess strategy explanation |
||||||
|
- Convergence criteria and tolerance |
||||||
|
- Maximum iterations justification |
||||||
|
- Expected iteration count for typical cases |
||||||
|
- Failure mode behavior |
||||||
|
|
||||||
|
**Current comment:** Initial guess formula in get_initial_trial_value() but no explanation |
||||||
|
|
||||||
|
**Function signatures:** |
||||||
|
```cpp |
||||||
|
double solve_kepler_elliptical(double mean_anomaly, double eccentricity); |
||||||
|
double solve_kepler_hyperbolic(double mean_anomaly, double eccentricity); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm complexity:** High - Newton-Raphson iterative solver with convergence checking |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 9. find_dominant_body() (simulation.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- SOI transition detection algorithm |
||||||
|
- Performance characteristics (O(n) worst case) |
||||||
|
- Root body handling logic |
||||||
|
- When transitions are checked (every frame) |
||||||
|
- Performance impact of many bodies |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
int find_dominant_body(SimulationState* sim, int body_index); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm complexity:** Medium - iterates through all bodies to find closest SOI-dominant body |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 10. check_maneuver_trigger() (maneuver.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- True anomaly trigger prediction algorithm |
||||||
|
- scheduled_dt calculation method |
||||||
|
- Wraparound crossing detection logic |
||||||
|
- Time precision requirements |
||||||
|
- Performance considerations |
||||||
|
|
||||||
|
**Current comment:** Some inline comments but no function-level documentation |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
bool check_maneuver_trigger(Maneuver* maneuver, Spacecraft* craft, SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm complexity:** Medium - requires orbital element to true anomaly conversion and crossing detection |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## MEDIUM PRIORITY - Frequently Used Functions |
||||||
|
|
||||||
|
### 11. initialize_orbital_objects() (simulation.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Initialization sequence and order |
||||||
|
- Error handling behavior |
||||||
|
- When to call (after config load, before simulation) |
||||||
|
- What happens on failed initialization |
||||||
|
|
||||||
|
**Current comment:** "Initialize orbital objects from orbital elements" - too brief |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void initialize_orbital_objects(SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 12. update_simulation() (simulation.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Complete update sequence explanation |
||||||
|
- Sub-function call order rationale |
||||||
|
- Time step integration |
||||||
|
- Maneuver execution timing within frame |
||||||
|
- When to call (main loop only) |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void update_simulation(SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 13. execute_pending_maneuvers() (simulation.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Exact position burn execution rationale |
||||||
|
- scheduled_dt usage |
||||||
|
- Remaining time propagation |
||||||
|
- Spacecraft handling flag purpose |
||||||
|
- Performance implications |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void execute_pending_maneuvers(SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 14. orbital_elements_to_cartesian() (orbital_mechanics.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Rotation matrix derivation (z-x-z Euler) |
||||||
|
- Coordinate frame transformations |
||||||
|
- Output frame of reference |
||||||
|
- Numerical stability measures |
||||||
|
- Performance characteristics |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void orbital_elements_to_cartesian(OrbitalElements elements, double parent_mass, Vec3* out_pos, Vec3* out_vel); |
||||||
|
``` |
||||||
|
|
||||||
|
**Algorithm complexity:** Medium - requires Euler angle rotations and anomaly conversions |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## MEDIUM PRIORITY - Configuration/Validation |
||||||
|
|
||||||
|
### 15. load_system_config() (config_loader.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- TOML format requirements |
||||||
|
- Error handling behavior |
||||||
|
- Memory allocation strategy |
||||||
|
- Validation sequence |
||||||
|
- What fields are required vs optional |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
bool load_system_config(SimulationState* sim, const char* filepath); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 16. run_all_config_validations() (config_validator.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Complete validation list |
||||||
|
- Validation order and dependencies |
||||||
|
- Error reporting format |
||||||
|
- Which validations are critical vs warnings |
||||||
|
- Performance impact |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
bool run_all_config_validations(SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## MEDIUM PRIORITY - Physics Module |
||||||
|
|
||||||
|
### 17. mat3_rotation_orbital() (physics.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Euler angle sequence (z-x-z) |
||||||
|
- Angle order and units |
||||||
|
- Output matrix structure |
||||||
|
- Use cases |
||||||
|
- Numerical stability |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
Mat3 mat3_rotation_orbital(double omega, double i, double Omega); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 18. rk4_step() (physics.h/cpp) |
||||||
|
|
||||||
|
**Status:** Documented in technical_reference.md but missing in source |
||||||
|
|
||||||
|
**Missing in source code:** |
||||||
|
- When it's available but not used |
||||||
|
- Comparison to analytical propagation |
||||||
|
- Performance vs accuracy trade-offs |
||||||
|
- Integration with orbital_mechanics |
||||||
|
|
||||||
|
**Current comment:** "RK4 inferior to analytical propagation" comment exists but insufficient |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void rk4_step(Vec3* out_accel, Vec3 position, Vec3 velocity, double dt, double parent_mass); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## MEDIUM PRIORITY - Maneuver Module |
||||||
|
|
||||||
|
### 19. preview_burn_result() (maneuver.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- UI preview usage |
||||||
|
- State vector reconstruction method |
||||||
|
- Accuracy guarantees |
||||||
|
- Performance characteristics |
||||||
|
- When to call (before execution) |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void preview_burn_result(Spacecraft* craft, BurnDirection direction, double delta_v, |
||||||
|
Vec3* out_new_local_pos, Vec3* out_new_local_vel, SimulationState* sim); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 20. calculate_hohmann_transfer() (maneuver.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Hohmann transfer assumptions |
||||||
|
- Required conditions (coplanar, circular) |
||||||
|
- Output field meanings |
||||||
|
- Accuracy limitations |
||||||
|
- When to use vs other transfers |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Function signature:** |
||||||
|
```cpp |
||||||
|
void calculate_hohmann_transfer(SimulationState* sim, int current_body_index, |
||||||
|
int target_body_index, HohmannTransfer* out_transfer); |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## LOW PRIORITY - UI/Renderer |
||||||
|
|
||||||
|
### 21. RenderState (renderer.h) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Texture array usage (6 textures for burn directions) |
||||||
|
- Camera follow mode state |
||||||
|
- Offset preservation logic |
||||||
|
- Last target index change detection |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct RenderState { |
||||||
|
Camera3D camera; |
||||||
|
double distance_scale; // Scale factor for distances |
||||||
|
double size_scale; // Scale factor for body sizes |
||||||
|
int selected_body_index; // -1 = no selection |
||||||
|
bool camera_target_enabled; // Whether camera follows selected body |
||||||
|
Vector3 camera_offset; // Offset from target when following body |
||||||
|
int last_target_index; // Tracks body index for change detection |
||||||
|
Texture2D maneuver_textures[6]; // One per burn direction |
||||||
|
bool texture_loaded; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 22. UIState (ui_renderer.h) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Buffer management strategy |
||||||
|
- Cache invalidation rules |
||||||
|
- Memory allocation/deallocation |
||||||
|
- State persistence between frames |
||||||
|
- Thread safety (if applicable) |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct UIState { |
||||||
|
int body_list_scroll; |
||||||
|
int body_list_active; |
||||||
|
int selected_craft_index; |
||||||
|
|
||||||
|
ManeuverDialogState maneuver_dialog; |
||||||
|
int maneuver_list_active; |
||||||
|
int maneuver_list_scroll; |
||||||
|
int selected_maneuver_index; |
||||||
|
|
||||||
|
int cached_body_count; |
||||||
|
int cached_craft_count; |
||||||
|
int cached_maneuver_count; |
||||||
|
int cached_executed_count; |
||||||
|
int body_list_buffer_size; |
||||||
|
char* body_list_buffer; |
||||||
|
int craft_list_buffer_size; |
||||||
|
char* craft_list_buffer; |
||||||
|
int body_dropdown_buffer_size; |
||||||
|
char* body_dropdown_buffer; |
||||||
|
int maneuver_list_buffer_size; |
||||||
|
char* maneuver_list_buffer; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
### 23. ManeuverDialogState (ui_renderer.h) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- Tab state machine |
||||||
|
- Preview calculation triggers |
||||||
|
- Error message management |
||||||
|
- Delete confirmation flow |
||||||
|
- Field validation state |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct ManeuverDialogState { |
||||||
|
bool open; |
||||||
|
ManeuverDialogTab active_tab; |
||||||
|
|
||||||
|
int craft_index; |
||||||
|
char name[64]; |
||||||
|
int direction_active; |
||||||
|
double delta_v; |
||||||
|
int trigger_type_active; |
||||||
|
double trigger_value; |
||||||
|
int edit_maneuver_index; |
||||||
|
|
||||||
|
int target_body_index; |
||||||
|
int current_body_index; |
||||||
|
int transfer_body_index; |
||||||
|
bool show_hohmann_preview; |
||||||
|
HohmannTransfer last_calc; |
||||||
|
|
||||||
|
bool show_preview; |
||||||
|
bool preview_valid; |
||||||
|
OrbitalElements preview_elements; |
||||||
|
|
||||||
|
char error_message[256]; |
||||||
|
bool show_error; |
||||||
|
bool show_delete_confirm; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## TEST UTILITIES |
||||||
|
|
||||||
|
### 24. OrbitTracker (test_utilities.h/cpp) |
||||||
|
|
||||||
|
**Status:** Missing documentation |
||||||
|
|
||||||
|
**Missing documentation:** |
||||||
|
- 3D angle calculation method |
||||||
|
- Quadrant transition counting |
||||||
|
- Orbit completion criteria |
||||||
|
- min_time_days significance |
||||||
|
- When to use vs simple angle tracking |
||||||
|
|
||||||
|
**Current comment:** None |
||||||
|
|
||||||
|
**Current code:** |
||||||
|
```cpp |
||||||
|
struct OrbitTracker { |
||||||
|
double initial_angle; |
||||||
|
double previous_angle; |
||||||
|
int quadrant_transitions; |
||||||
|
bool orbit_completed; |
||||||
|
double time_at_completion; |
||||||
|
int body_index; |
||||||
|
double min_time_days; |
||||||
|
|
||||||
|
// Orbital elements for 3D angle calculation |
||||||
|
double inclination; |
||||||
|
double longitude_of_ascending_node; |
||||||
|
double argument_of_periapsis; |
||||||
|
bool has_orbital_elements; |
||||||
|
}; |
||||||
|
``` |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Most Critical Gaps |
||||||
|
|
||||||
|
The following 5 items are most critical for code maintainability and developer onboarding: |
||||||
|
|
||||||
|
1. **OrbitalElements** - Core data structure used throughout the codebase |
||||||
|
2. **propagate_orbital_elements()** - Main propagation algorithm with complex orbital mechanics |
||||||
|
3. **cartesian_to_orbital_elements()** - Element reconstruction after burns and SOI transitions |
||||||
|
4. **BurnDirection** - Mission planning interface with physical significance |
||||||
|
5. **find_dominant_body()** - SOI transition detection algorithm |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Recommendations |
||||||
|
|
||||||
|
### Immediate Actions (High Priority) |
||||||
|
|
||||||
|
1. Add inline documentation to all HIGH PRIORITY items |
||||||
|
2. Document parameter units and expected ranges |
||||||
|
3. Explain algorithm choices and edge case handling |
||||||
|
4. Add usage examples for complex functions |
||||||
|
|
||||||
|
### Short-term Actions (Medium Priority) |
||||||
|
|
||||||
|
1. Add function-level comments for MEDIUM PRIORITY items |
||||||
|
2. Document initialization sequences and dependencies |
||||||
|
3. Add performance notes where relevant |
||||||
|
4. Document error handling behavior |
||||||
|
|
||||||
|
### Long-term Actions (Low Priority) |
||||||
|
|
||||||
|
1. Add comprehensive documentation for UI/Renderer structures |
||||||
|
2. Document memory management patterns |
||||||
|
3. Add thread safety notes (if applicable) |
||||||
|
4. Create usage examples for complex UI state machines |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Impact Assessment |
||||||
|
|
||||||
|
**Current state:** Code relies on technical_reference.md for documentation, but this is not visible to developers reading source files directly. |
||||||
|
|
||||||
|
**Expected improvement:** Adding inline documentation will: |
||||||
|
- Reduce onboarding time for new developers |
||||||
|
- Improve code maintainability |
||||||
|
- Reduce bugs from misunderstood algorithms |
||||||
|
- Enable better code reviews |
||||||
|
- Facilitate future feature additions |
||||||
|
|
||||||
|
**Documentation coverage target:** 100% of public API functions and complex internal functions should have inline documentation explaining: |
||||||
|
- Purpose and algorithm |
||||||
|
- Parameter units and ranges |
||||||
|
- Return value meaning |
||||||
|
- Edge cases and error conditions |
||||||
|
- Performance characteristics (where relevant) |
||||||
|
|
||||||
|
--- |
||||||
|
|
||||||
|
## Methodology |
||||||
|
|
||||||
|
This analysis was performed by: |
||||||
|
1. Reading all 15 source files in `src/` directory |
||||||
|
2. Identifying structs, enums, and functions |
||||||
|
3. Assessing usage frequency across codebase |
||||||
|
4. Evaluating algorithm complexity |
||||||
|
5. Checking existing documentation (inline comments, technical_reference.md) |
||||||
|
6. Prioritizing based on impact and frequency of use |
||||||
|
|
||||||
|
**Files examined:** |
||||||
|
- config_loader.h/cpp |
||||||
|
- config_validator.h/cpp |
||||||
|
- orbital_mechanics.h/cpp |
||||||
|
- physics.h/cpp |
||||||
|
- maneuver.h/cpp |
||||||
|
- simulation.h/cpp |
||||||
|
- spacecraft.h |
||||||
|
- renderer.h/cpp |
||||||
|
- ui_renderer.h/cpp |
||||||
|
- main.cpp |
||||||
|
- test_utilities.h/cpp |
||||||
|
|
||||||
|
**Total lines of code analyzed:** ~8,500 lines |
||||||
@ -0,0 +1,49 @@ |
|||||||
|
#ifndef ORBITAL_OBJECTS_H |
||||||
|
#define ORBITAL_OBJECTS_H |
||||||
|
|
||||||
|
#include "physics.h" |
||||||
|
#include "orbital_mechanics.h" |
||||||
|
|
||||||
|
|
||||||
|
// Represents a planet, star, moon, or other gravitational body in the
|
||||||
|
// simulation. Supports hierarchical orbital mechanics with parent-child
|
||||||
|
// relationships and sphere of influence calculations.
|
||||||
|
struct CelestialBody { |
||||||
|
char name[64]; |
||||||
|
double mass; // kg
|
||||||
|
double radius; // meters
|
||||||
|
int parent_index; // index of gravitational parent (-1 for root body like Sun)
|
||||||
|
float color[3]; // RGB color for rendering
|
||||||
|
|
||||||
|
// Orbital elements from config (Keplerian elements)
|
||||||
|
OrbitalElements orbit; |
||||||
|
|
||||||
|
// Global frame (from origin)
|
||||||
|
Vec3 global_position; // meters from origin
|
||||||
|
Vec3 global_velocity; // m/s
|
||||||
|
|
||||||
|
// Local frame (relative to parent)
|
||||||
|
Vec3 local_position; // meters from parent
|
||||||
|
Vec3 local_velocity; // m/s relative to parent
|
||||||
|
|
||||||
|
double soi_radius; // sphere of influence radius (meters)
|
||||||
|
}; |
||||||
|
|
||||||
|
struct Spacecraft { // Spacecraft or probe in the simulation
|
||||||
|
char name[64]; |
||||||
|
double mass; |
||||||
|
int parent_index; |
||||||
|
|
||||||
|
// Orbital elements from config
|
||||||
|
OrbitalElements orbit; |
||||||
|
|
||||||
|
// Global frame (from origin)
|
||||||
|
Vec3 global_position; |
||||||
|
Vec3 global_velocity; |
||||||
|
|
||||||
|
// Local frame (relative to parent)
|
||||||
|
Vec3 local_position; |
||||||
|
Vec3 local_velocity; |
||||||
|
}; |
||||||
|
|
||||||
|
#endif // ORBITAL_OBJECTS_H
|
||||||
@ -0,0 +1,206 @@ |
|||||||
|
#include "rendezvous.h" |
||||||
|
#include <math.h> |
||||||
|
#include <float.h> |
||||||
|
|
||||||
|
// Mean motion: n = sqrt(mu / a^3)
|
||||||
|
static double calc_mean_motion(double radius, double mass) { |
||||||
|
double mu = G * mass; |
||||||
|
return sqrt(mu / pow(radius, 3)); |
||||||
|
} |
||||||
|
|
||||||
|
// Hohmann transfer time (half orbit of transfer ellipse)
|
||||||
|
static double hohmann_transfer_time(double r1, double r2, double mass) { |
||||||
|
double mu = G * mass; |
||||||
|
double a_transfer = (r1 + r2) / 2.0; |
||||||
|
double T_transfer = 2.0 * M_PI * sqrt(pow(a_transfer, 3) / mu); |
||||||
|
return T_transfer / 2.0; |
||||||
|
} |
||||||
|
|
||||||
|
// Calculate required angular separation at first burn
|
||||||
|
// For Hohmann transfer: target should be at specific angle when chaser burns
|
||||||
|
// Returns: required angular separation (chaser - target) in radians
|
||||||
|
// Negative value means chaser should be behind target, positive means ahead
|
||||||
|
static double required_separation(double r1, double r2, double mass) { |
||||||
|
double transfer_time = hohmann_transfer_time(r1, r2, mass); |
||||||
|
double n2 = calc_mean_motion(r2, mass); |
||||||
|
double target_angle = n2 * transfer_time; |
||||||
|
// Chaser travels π radians in transfer orbit, target travels target_angle
|
||||||
|
// For rendezvous: chaser_pos + π = target_pos + target_angle
|
||||||
|
// Therefore: chaser_pos - target_pos = target_angle - π
|
||||||
|
// Negative value means chaser should be behind target
|
||||||
|
return target_angle - M_PI; |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// Normalize angle to [0, 2π)
|
||||||
|
static double normalize_angle_2pi(double angle) { |
||||||
|
while (angle < 0.0) { |
||||||
|
angle += 2.0 * M_PI; |
||||||
|
} |
||||||
|
while (angle >= 2.0 * M_PI) { |
||||||
|
angle -= 2.0 * M_PI; |
||||||
|
} |
||||||
|
return angle; |
||||||
|
} |
||||||
|
|
||||||
|
// Normalize angle to [-π, π] for shortest path
|
||||||
|
static double normalize_angle_pi(double angle) { |
||||||
|
angle = normalize_angle_2pi(angle); |
||||||
|
while (angle > M_PI) { |
||||||
|
angle -= 2.0 * M_PI; |
||||||
|
} |
||||||
|
while (angle < -M_PI) { |
||||||
|
angle += 2.0 * M_PI; |
||||||
|
} |
||||||
|
return angle; |
||||||
|
} |
||||||
|
|
||||||
|
// Calculate wait time before starting Hohmann transfer
|
||||||
|
// Determines how long to wait before executing the first burn so that
|
||||||
|
// both chaser and target arrive at the interception point simultaneously.
|
||||||
|
// Returns: wait time in seconds. Positive = wait, negative = transfer already late
|
||||||
|
double calculate_wait_time_for_hohmann( |
||||||
|
double initial_orbit_radius, |
||||||
|
double target_orbit_radius, |
||||||
|
double angular_separation, |
||||||
|
double central_mass |
||||||
|
) { |
||||||
|
double required_sep = required_separation(initial_orbit_radius, target_orbit_radius, central_mass); |
||||||
|
double n1 = calc_mean_motion(initial_orbit_radius, central_mass); |
||||||
|
double n2 = calc_mean_motion(target_orbit_radius, central_mass); |
||||||
|
double rel_angular_vel = n1 - n2; |
||||||
|
|
||||||
|
// Normalize current separation to [-pi, pi]
|
||||||
|
// Positive = chaser ahead of target, negative = chaser behind target
|
||||||
|
double current_sep = normalize_angle_pi(angular_separation); |
||||||
|
|
||||||
|
// Normalize required separation to [-pi, pi]
|
||||||
|
required_sep = normalize_angle_pi(required_sep); |
||||||
|
|
||||||
|
// Angle to close: difference between required and current separation
|
||||||
|
// If current_sep > required_sep, chaser is too far ahead (negative wait time)
|
||||||
|
// If current_sep < required_sep, chaser is too far behind (positive wait time)
|
||||||
|
double angle_to_close = required_sep - current_sep; |
||||||
|
|
||||||
|
// Wait time = angle_to_close / relative_angular_velocity
|
||||||
|
return angle_to_close / rel_angular_vel; |
||||||
|
} |
||||||
|
|
||||||
|
// Calculate required angular separation for Hohmann transfer
|
||||||
|
// Computes the ideal angle between chaser and target at the moment
|
||||||
|
// of first burn to ensure simultaneous arrival at target orbit.
|
||||||
|
// Returns: required angular separation in radians (-2π, 2π)
|
||||||
|
double calculate_required_separation_for_hohmann( |
||||||
|
double initial_orbit_radius, |
||||||
|
double target_orbit_radius, |
||||||
|
double central_mass |
||||||
|
) { |
||||||
|
double required_sep = required_separation(initial_orbit_radius, target_orbit_radius, central_mass); |
||||||
|
return normalize_angle_pi(required_sep); |
||||||
|
} |
||||||
|
|
||||||
|
// Verify spacecraft is on correct Hohmann transfer orbit
|
||||||
|
// Checks if current orbit matches expected Hohmann transfer parameters.
|
||||||
|
// Returns: true if orbit is on Hohmann transfer, false otherwise
|
||||||
|
bool verify_hohmann_transfer_orbit( |
||||||
|
const OrbitalElements* orbit, |
||||||
|
double r1, |
||||||
|
double r2, |
||||||
|
double tolerance |
||||||
|
) { |
||||||
|
double expected_a = (r1 + r2) / 2.0; |
||||||
|
double actual_a = orbit->semi_major_axis; |
||||||
|
double diff = fabs(actual_a - expected_a); |
||||||
|
return diff < tolerance; |
||||||
|
} |
||||||
|
|
||||||
|
// Check if Hohmann transfer is complete
|
||||||
|
// Determines if transfer time has elapsed and spacecraft is at target radius.
|
||||||
|
// Returns: true if transfer is complete, false otherwise
|
||||||
|
bool hohmann_transfer_complete( |
||||||
|
double transfer_start_time, |
||||||
|
double current_time, |
||||||
|
double transfer_time, |
||||||
|
double target_radius, |
||||||
|
double current_radius, |
||||||
|
double tolerance |
||||||
|
) { |
||||||
|
// Check if enough time has elapsed
|
||||||
|
if (current_time < transfer_start_time + transfer_time - tolerance) { |
||||||
|
return false; |
||||||
|
} |
||||||
|
|
||||||
|
// Check if at target radius
|
||||||
|
double radius_diff = fabs(current_radius - target_radius); |
||||||
|
return radius_diff < tolerance; |
||||||
|
} |
||||||
|
|
||||||
|
// Validate parameters for Hohmann transfer
|
||||||
|
// Checks if the transfer parameters are valid before calculation.
|
||||||
|
// Returns: true if parameters are valid, false otherwise
|
||||||
|
bool validate_hohmann_transfer_parameters( |
||||||
|
double initial_orbit_radius, |
||||||
|
double target_orbit_radius, |
||||||
|
double central_mass |
||||||
|
) { |
||||||
|
// Check for positive radii
|
||||||
|
if (initial_orbit_radius <= 0.0 || target_orbit_radius <= 0.0) { |
||||||
|
return false; |
||||||
|
} |
||||||
|
|
||||||
|
// Check for positive mass
|
||||||
|
if (central_mass <= 0.0) { |
||||||
|
return false; |
||||||
|
} |
||||||
|
|
||||||
|
// Check for different orbits (no relative motion if equal)
|
||||||
|
if (initial_orbit_radius == target_orbit_radius) { |
||||||
|
return false; |
||||||
|
} |
||||||
|
|
||||||
|
return true; |
||||||
|
} |
||||||
|
|
||||||
|
// Calculate relative orbit period
|
||||||
|
// Computes the time for the chaser to complete one full relative orbit
|
||||||
|
// with respect to the target (time between consecutive phasing opportunities).
|
||||||
|
// Returns: relative orbit period in seconds
|
||||||
|
double calculate_relative_orbit_period( |
||||||
|
double initial_orbit_radius, |
||||||
|
double target_orbit_radius, |
||||||
|
double central_mass |
||||||
|
) { |
||||||
|
double n1 = calc_mean_motion(initial_orbit_radius, central_mass); |
||||||
|
double n2 = calc_mean_motion(target_orbit_radius, central_mass); |
||||||
|
double rel_angular_vel = fabs(n1 - n2); |
||||||
|
|
||||||
|
return 2.0 * M_PI / rel_angular_vel; |
||||||
|
} |
||||||
|
|
||||||
|
// Calculate next valid wait time for Hohmann transfer
|
||||||
|
// Like calculate_wait_time_for_hohmann(), but always returns a non-negative
|
||||||
|
// value by advancing to the next phasing opportunity if needed.
|
||||||
|
// Returns: non-negative wait time in seconds (time to wait before executing transfer)
|
||||||
|
double calculate_next_hohmann_wait_time( |
||||||
|
double initial_orbit_radius, |
||||||
|
double target_orbit_radius, |
||||||
|
double angular_separation, |
||||||
|
double central_mass, |
||||||
|
double min_wait_time |
||||||
|
) { |
||||||
|
double wait_time = calculate_wait_time_for_hohmann( |
||||||
|
initial_orbit_radius, target_orbit_radius, angular_separation, central_mass |
||||||
|
); |
||||||
|
|
||||||
|
double rel_period = calculate_relative_orbit_period( |
||||||
|
initial_orbit_radius, target_orbit_radius, central_mass |
||||||
|
); |
||||||
|
|
||||||
|
// Add relative orbit periods until wait_time >= min_wait_time
|
||||||
|
while (wait_time < min_wait_time) { |
||||||
|
wait_time += rel_period; |
||||||
|
} |
||||||
|
|
||||||
|
return wait_time; |
||||||
|
} |
||||||
@ -0,0 +1,95 @@ |
|||||||
|
#ifndef RENDEZVOUS_H |
||||||
|
#define RENDEZVOUS_H |
||||||
|
|
||||||
|
#include "orbital_mechanics.h" |
||||||
|
#include "simulation.h" |
||||||
|
#include "maneuver.h" |
||||||
|
|
||||||
|
// Hohmann transfer calculations for coplanar circular orbits
|
||||||
|
// Provides functions to plan and execute Hohmann transfers between
|
||||||
|
// circular coplanar orbits, including phasing calculations to
|
||||||
|
// intercept moving targets.
|
||||||
|
|
||||||
|
// Calculate wait time before starting Hohmann transfer
|
||||||
|
// Determines how long to wait before executing the first burn so that
|
||||||
|
// both chaser and target arrive at the interception point simultaneously.
|
||||||
|
// Returns: wait time in seconds. Positive = wait, negative = transfer already late
|
||||||
|
double calculate_wait_time_for_hohmann( |
||||||
|
double initial_orbit_radius, // Current circular orbit radius (meters)
|
||||||
|
double target_orbit_radius, // Target circular orbit radius (meters)
|
||||||
|
double angular_separation, // Current angle from chaser to target (radians, [0, 2π))
|
||||||
|
double central_mass // Mass of central body (kg)
|
||||||
|
); |
||||||
|
|
||||||
|
// Calculate required angular separation for Hohmann transfer
|
||||||
|
// Computes the ideal angle between chaser and target at the moment
|
||||||
|
// of first burn to ensure simultaneous arrival at target orbit.
|
||||||
|
// Returns: required angular separation in radians (-2π, 2π)
|
||||||
|
double calculate_required_separation_for_hohmann( |
||||||
|
double initial_orbit_radius, // Current circular orbit radius (meters)
|
||||||
|
double target_orbit_radius, // Target circular orbit radius (meters)
|
||||||
|
double central_mass // Mass of central body (kg)
|
||||||
|
); |
||||||
|
|
||||||
|
// Create first burn maneuver for Hohmann transfer
|
||||||
|
// Adds a prograde burn maneuver to enter the Hohmann transfer orbit.
|
||||||
|
// Returns: maneuver index on success, -1 on failure
|
||||||
|
int create_hohmann_departure_maneuver( |
||||||
|
SimulationState* sim, // Simulation state to add maneuver to
|
||||||
|
int chaser_index, // Index of chaser spacecraft
|
||||||
|
double delta_v, // Delta-v magnitude from calculate_hohmann_transfer (m/s)
|
||||||
|
double trigger_true_anomaly // True anomaly for trigger (-1 for immediate)
|
||||||
|
); |
||||||
|
|
||||||
|
// Create second burn maneuver for Hohmann transfer
|
||||||
|
// Adds a circularization burn maneuver to match target orbit.
|
||||||
|
// Returns: maneuver index on success, -1 on failure
|
||||||
|
int create_hohmann_arrival_maneuver( |
||||||
|
SimulationState* sim, // Simulation state to add maneuver to
|
||||||
|
int chaser_index, // Index of chaser spacecraft
|
||||||
|
double delta_v, // Delta-v magnitude from calculate_hohmann_transfer (m/s)
|
||||||
|
double trigger_true_anomaly // True anomaly at target orbit for trigger
|
||||||
|
); |
||||||
|
|
||||||
|
// Verify spacecraft is on correct Hohmann transfer orbit
|
||||||
|
// Checks if current orbit matches expected Hohmann transfer parameters.
|
||||||
|
// Returns: true if orbit is on Hohmann transfer, false otherwise
|
||||||
|
bool verify_hohmann_transfer_orbit( |
||||||
|
const OrbitalElements* orbit, // Current orbit after first burn
|
||||||
|
double r1, // Initial orbit radius (meters)
|
||||||
|
double r2, // Target orbit radius (meters)
|
||||||
|
double tolerance // Acceptable deviation in semi-major axis (meters)
|
||||||
|
); |
||||||
|
|
||||||
|
// Validate parameters for Hohmann transfer
|
||||||
|
// Checks if the transfer parameters are valid before calculation.
|
||||||
|
// Returns: true if parameters are valid, false otherwise
|
||||||
|
bool validate_hohmann_transfer_parameters( |
||||||
|
double initial_orbit_radius, // Current circular orbit radius (meters)
|
||||||
|
double target_orbit_radius, // Target circular orbit radius (meters)
|
||||||
|
double central_mass // Mass of central body (kg)
|
||||||
|
); |
||||||
|
|
||||||
|
// Calculate relative orbit period
|
||||||
|
// Computes the time for the chaser to complete one full relative orbit
|
||||||
|
// with respect to the target (time between consecutive phasing opportunities).
|
||||||
|
// Returns: relative orbit period in seconds
|
||||||
|
double calculate_relative_orbit_period( |
||||||
|
double initial_orbit_radius, // Current circular orbit radius (meters)
|
||||||
|
double target_orbit_radius, // Target circular orbit radius (meters)
|
||||||
|
double central_mass // Mass of central body (kg)
|
||||||
|
); |
||||||
|
|
||||||
|
// Calculate next valid wait time for Hohmann transfer
|
||||||
|
// Like calculate_wait_time_for_hohmann(), but always returns a non-negative
|
||||||
|
// value by advancing to the next phasing opportunity if needed.
|
||||||
|
// Returns: non-negative wait time in seconds (time to wait before executing transfer)
|
||||||
|
double calculate_next_hohmann_wait_time( |
||||||
|
double initial_orbit_radius, // Current circular orbit radius (meters)
|
||||||
|
double target_orbit_radius, // Target circular orbit radius (meters)
|
||||||
|
double angular_separation, // Current angle from chaser to target (radians)
|
||||||
|
double central_mass, // Mass of central body (kg)
|
||||||
|
double min_wait_time // Minimum acceptable wait time (seconds)
|
||||||
|
); |
||||||
|
|
||||||
|
#endif // RENDEZVOUS_HOHMANN_H
|
||||||
@ -1,5 +0,0 @@ |
|||||||
#include "spacecraft.h" |
|
||||||
#include "simulation.h" |
|
||||||
#include <cstdio> |
|
||||||
#include <cstring> |
|
||||||
#include <cmath> |
|
||||||
@ -1,24 +0,0 @@ |
|||||||
#ifndef SPACECRAFT_H |
|
||||||
#define SPACECRAFT_H |
|
||||||
|
|
||||||
#include "physics.h" |
|
||||||
#include "orbital_mechanics.h" |
|
||||||
|
|
||||||
struct Spacecraft { |
|
||||||
char name[64]; |
|
||||||
double mass; |
|
||||||
int parent_index; |
|
||||||
|
|
||||||
// Orbital elements from config
|
|
||||||
OrbitalElements orbit; |
|
||||||
|
|
||||||
// Global frame (from origin)
|
|
||||||
Vec3 global_position; |
|
||||||
Vec3 global_velocity; |
|
||||||
|
|
||||||
// Local frame (relative to parent)
|
|
||||||
Vec3 local_position; |
|
||||||
Vec3 local_velocity; |
|
||||||
}; |
|
||||||
|
|
||||||
#endif |
|
||||||
@ -0,0 +1,613 @@ |
|||||||
|
#include <catch2/catch_test_macros.hpp> |
||||||
|
#include <catch2/matchers/catch_matchers_floating_point.hpp> |
||||||
|
#include "../src/physics.h" |
||||||
|
#include "../src/orbital_mechanics.h" |
||||||
|
#include "../src/simulation.h" |
||||||
|
#include "../src/orbital_objects.h" |
||||||
|
#include "../src/rendezvous.h" |
||||||
|
#include "../src/config_loader.h" |
||||||
|
#include "../src/test_utilities.h" |
||||||
|
#include <cmath> |
||||||
|
#include <cstring> |
||||||
|
|
||||||
|
|
||||||
|
using Catch::Matchers::WithinAbs; |
||||||
|
|
||||||
|
|
||||||
|
// ============================================================================
|
||||||
|
// Helper Functions
|
||||||
|
// ============================================================================
|
||||||
|
|
||||||
|
static int find_spacecraft_by_name(SimulationState* sim, const char* name) { |
||||||
|
for (int i = 0; i < sim->craft_count; i++) { |
||||||
|
if (strcmp(sim->spacecraft[i].name, name) == 0) { |
||||||
|
return i; |
||||||
|
} |
||||||
|
} |
||||||
|
return -1; |
||||||
|
} |
||||||
|
|
||||||
|
// ============================================================================
|
||||||
|
// Test-only output helper
|
||||||
|
// ============================================================================
|
||||||
|
|
||||||
|
struct TestOutput { |
||||||
|
char buf[32768]; |
||||||
|
int offset = 0; |
||||||
|
|
||||||
|
void dump_state(SimulationState* sim, const char* label) { |
||||||
|
int n = dump_simulation_state(sim, label, buf + offset, sizeof(buf) - offset); |
||||||
|
if (n > 0) offset += n; |
||||||
|
|
||||||
|
int target_idx = -1, chaser_idx = -1; |
||||||
|
for (int i = 0; i < sim->craft_count; i++) { |
||||||
|
if (strcmp(sim->spacecraft[i].name, "Target_Satellite") == 0) |
||||||
|
target_idx = i; |
||||||
|
if (strcmp(sim->spacecraft[i].name, "Chaser_Lower") == 0) |
||||||
|
chaser_idx = i; |
||||||
|
} |
||||||
|
|
||||||
|
if (target_idx >= 0 && chaser_idx >= 0) { |
||||||
|
Vec3 target_pos = sim->spacecraft[target_idx].local_position; |
||||||
|
Vec3 chaser_pos = sim->spacecraft[chaser_idx].local_position; |
||||||
|
|
||||||
|
double target_angle = atan2(target_pos.y, target_pos.x); |
||||||
|
double chaser_angle = atan2(chaser_pos.y, chaser_pos.x); |
||||||
|
double angular_sep = chaser_angle - target_angle; |
||||||
|
while (angular_sep > M_PI) angular_sep -= 2.0 * M_PI; |
||||||
|
while (angular_sep < -M_PI) angular_sep += 2.0 * M_PI; |
||||||
|
|
||||||
|
Vec3 diff = vec3_sub(chaser_pos, target_pos); |
||||||
|
double sep_mag = vec3_magnitude(diff); |
||||||
|
|
||||||
|
n = snprintf(buf + offset, sizeof(buf) - offset, |
||||||
|
" Angular separation (Chaser-Target): %.6f rad (%.4f deg)\n" |
||||||
|
" Separation magnitude: %.2f m\n", |
||||||
|
angular_sep, angular_sep * 180.0 / M_PI, sep_mag); |
||||||
|
if (n > 0) offset += n; |
||||||
|
} |
||||||
|
} |
||||||
|
}; |
||||||
|
|
||||||
|
|
||||||
|
TEST_CASE("Config loading for Hohmann transfer", "[rendezvous_hohmann][config]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
|
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
|
||||||
|
REQUIRE(sim->body_count == 1); |
||||||
|
REQUIRE(std::string(sim->bodies[0].name) == "Earth"); |
||||||
|
|
||||||
|
REQUIRE(sim->craft_count == 3); |
||||||
|
REQUIRE(std::string(sim->spacecraft[0].name) == "Target_Satellite"); |
||||||
|
REQUIRE(std::string(sim->spacecraft[1].name) == "Chaser_Lower"); |
||||||
|
REQUIRE(std::string(sim->spacecraft[2].name) == "Chaser_Higher"); |
||||||
|
|
||||||
|
REQUIRE(sim->spacecraft[0].parent_index == 0); |
||||||
|
REQUIRE(sim->spacecraft[1].parent_index == 0); |
||||||
|
REQUIRE(sim->spacecraft[2].parent_index == 0); |
||||||
|
|
||||||
|
REQUIRE_THAT(sim->spacecraft[0].orbit.semi_major_axis, WithinAbs(6.771e6, 1.0)); |
||||||
|
REQUIRE_THAT(sim->spacecraft[1].orbit.semi_major_axis, WithinAbs(6.671e6, 1.0)); |
||||||
|
REQUIRE_THAT(sim->spacecraft[2].orbit.semi_major_axis, WithinAbs(6.871e6, 1.0)); |
||||||
|
|
||||||
|
REQUIRE_THAT(sim->spacecraft[0].orbit.true_anomaly, WithinAbs(0.0, 0.001)); |
||||||
|
REQUIRE_THAT(sim->spacecraft[1].orbit.true_anomaly, WithinAbs(4.71238898038469, 0.001)); |
||||||
|
REQUIRE_THAT(sim->spacecraft[2].orbit.true_anomaly, WithinAbs(1.5707963267948966, 0.001)); |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
TEST_CASE("Calculate wait time for Hohmann transfer (lower to higher)", "[rendezvous_hohmann][phasing]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
|
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
|
||||||
|
int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
||||||
|
int chaser_lower_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); |
||||||
|
|
||||||
|
REQUIRE(target_idx >= 0); |
||||||
|
REQUIRE(chaser_lower_idx >= 0); |
||||||
|
|
||||||
|
Spacecraft* target = &sim->spacecraft[target_idx]; |
||||||
|
Spacecraft* chaser = &sim->spacecraft[chaser_lower_idx]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
double r1 = vec3_magnitude(chaser->local_position); |
||||||
|
double r2 = vec3_magnitude(target->local_position); |
||||||
|
|
||||||
|
SECTION("Zero angular separation - immediate transfer not possible") { |
||||||
|
double angular_separation = 0.0; |
||||||
|
double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
||||||
|
|
||||||
|
INFO("Wait time: " << wait_time << " s"); |
||||||
|
// At 0 separation, chaser is faster and needs to be behind target
|
||||||
|
// Wait time is negative (should have burned already)
|
||||||
|
REQUIRE_THAT(wait_time, WithinAbs(-1358.16, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Small angular separation") { |
||||||
|
double angular_separation = 0.5; |
||||||
|
double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Wait time: " << wait_time << " s"); |
||||||
|
|
||||||
|
REQUIRE_THAT(wait_time, WithinAbs(-20909.0, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Large angular separation (near 2pi)") { |
||||||
|
double angular_separation = 6.0; |
||||||
|
double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Wait time: " << wait_time << " s"); |
||||||
|
|
||||||
|
REQUIRE_THAT(wait_time, WithinAbs(9714.9, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
TEST_CASE("Calculate wait time for Hohmann transfer (higher to lower)", "[rendezvous_hohmann][phasing]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
|
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
|
||||||
|
int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
||||||
|
int chaser_higher_idx = find_spacecraft_by_name(sim, "Chaser_Higher"); |
||||||
|
|
||||||
|
REQUIRE(target_idx >= 0); |
||||||
|
REQUIRE(chaser_higher_idx >= 0); |
||||||
|
|
||||||
|
Spacecraft* target = &sim->spacecraft[target_idx]; |
||||||
|
Spacecraft* chaser = &sim->spacecraft[chaser_higher_idx]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
double r1 = vec3_magnitude(chaser->local_position); |
||||||
|
double r2 = vec3_magnitude(target->local_position); |
||||||
|
|
||||||
|
SECTION("Zero angular separation - target must catch up") { |
||||||
|
double angular_separation = 0.0; |
||||||
|
double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
||||||
|
|
||||||
|
INFO("Wait time: " << wait_time << " s"); |
||||||
|
// Higher orbit case: chaser is slower, needs to be ahead of target
|
||||||
|
REQUIRE_THAT(wait_time, WithinAbs(-1414.46, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Small angular separation") { |
||||||
|
double angular_separation = 0.3; |
||||||
|
double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Wait time: " << wait_time << " s"); |
||||||
|
|
||||||
|
REQUIRE_THAT(wait_time, WithinAbs(10757.3, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
TEST_CASE("Calculate required separation for Hohmann transfer", "[rendezvous_hohmann][phasing]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
|
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
|
||||||
|
int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
||||||
|
int chaser_lower_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); |
||||||
|
int chaser_higher_idx = find_spacecraft_by_name(sim, "Chaser_Higher"); |
||||||
|
|
||||||
|
REQUIRE(target_idx >= 0); |
||||||
|
REQUIRE(chaser_lower_idx >= 0); |
||||||
|
REQUIRE(chaser_higher_idx >= 0); |
||||||
|
|
||||||
|
Spacecraft* target = &sim->spacecraft[target_idx]; |
||||||
|
Spacecraft* chaser_lower = &sim->spacecraft[chaser_lower_idx]; |
||||||
|
Spacecraft* chaser_higher = &sim->spacecraft[chaser_higher_idx]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
double r_lower = vec3_magnitude(chaser_lower->local_position); |
||||||
|
double r_target = vec3_magnitude(target->local_position); |
||||||
|
double r_higher = vec3_magnitude(chaser_higher->local_position); |
||||||
|
|
||||||
|
SECTION("Lower to higher transfer") { |
||||||
|
double required_separation = calculate_required_separation_for_hohmann(r_lower, r_target, earth->mass); |
||||||
|
|
||||||
|
INFO("Required separation: " << required_separation << " rad"); |
||||||
|
INFO("Required separation (deg): " << required_separation * 180.0 / M_PI << " deg"); |
||||||
|
|
||||||
|
REQUIRE_THAT(required_separation, WithinAbs(-0.034734, 0.001)); // Chaser faster, needs to be behind
|
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Higher to lower transfer") { |
||||||
|
double required_separation = calculate_required_separation_for_hohmann(r_higher, r_target, earth->mass); |
||||||
|
|
||||||
|
INFO("Required separation: " << required_separation << " rad"); |
||||||
|
INFO("Required separation (deg): " << required_separation * 180.0 / M_PI << " deg"); |
||||||
|
|
||||||
|
REQUIRE_THAT(required_separation, WithinAbs(0.0348625, 0.001)); // Chaser slower, needs to be ahead
|
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Equal radii - no transfer needed") { |
||||||
|
double required_separation = calculate_required_separation_for_hohmann(r_target, r_target, earth->mass); |
||||||
|
|
||||||
|
INFO("Required separation: " << required_separation << " rad"); |
||||||
|
|
||||||
|
REQUIRE_THAT(required_separation, WithinAbs(0.0, 0.001)); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
// ============================================================================
|
||||||
|
// New Test Cases for Validation and Next Wait Time
|
||||||
|
// ============================================================================
|
||||||
|
|
||||||
|
TEST_CASE("Validate Hohmann transfer parameters", "[rendezvous_hohmann][validation]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
Spacecraft* chaser_lower = &sim->spacecraft[1]; |
||||||
|
Spacecraft* chaser_higher = &sim->spacecraft[2]; |
||||||
|
Spacecraft* target = &sim->spacecraft[0]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
double r_lower = vec3_magnitude(chaser_lower->local_position); |
||||||
|
double r_higher = vec3_magnitude(chaser_higher->local_position); |
||||||
|
double r_target = vec3_magnitude(target->local_position); |
||||||
|
|
||||||
|
SECTION("Valid lower to higher transfer") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(r_lower, r_target, earth->mass); |
||||||
|
INFO("Valid lower to higher: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == true); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Valid higher to lower transfer") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(r_higher, r_target, earth->mass); |
||||||
|
INFO("Valid higher to lower: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == true); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Equal radii - invalid (no relative motion)") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(r_target, r_target, earth->mass); |
||||||
|
INFO("Equal radii valid: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == false); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Negative initial radius - invalid") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(-1000.0, r_target, earth->mass); |
||||||
|
INFO("Negative radius valid: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == false); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Negative target radius - invalid") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(r_lower, -1000.0, earth->mass); |
||||||
|
INFO("Negative target radius valid: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == false); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Zero central mass - invalid") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(r_lower, r_target, 0.0); |
||||||
|
INFO("Zero mass valid: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == false); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Negative central mass - invalid") { |
||||||
|
bool valid = validate_hohmann_transfer_parameters(r_lower, r_target, -1.0); |
||||||
|
INFO("Negative mass valid: " << (valid ? "true" : "false")); |
||||||
|
REQUIRE(valid == false); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
TEST_CASE("Calculate relative orbit period", "[rendezvous_hohmann][phasing]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
Spacecraft* chaser_lower = &sim->spacecraft[1]; |
||||||
|
Spacecraft* chaser_higher = &sim->spacecraft[2]; |
||||||
|
Spacecraft* target = &sim->spacecraft[0]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
double r_lower = vec3_magnitude(chaser_lower->local_position); |
||||||
|
double r_higher = vec3_magnitude(chaser_higher->local_position); |
||||||
|
double r_target = vec3_magnitude(target->local_position); |
||||||
|
|
||||||
|
SECTION("Lower to higher transfer") { |
||||||
|
double rel_period = calculate_relative_orbit_period(r_lower, r_target, earth->mass); |
||||||
|
|
||||||
|
INFO("Relative orbit period: " << rel_period << " s"); |
||||||
|
INFO("Relative orbit period: " << rel_period / 3600.0 << " h"); |
||||||
|
|
||||||
|
REQUIRE(rel_period > 0.0); |
||||||
|
REQUIRE_THAT(rel_period, WithinAbs(245683.24, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Higher to lower transfer") { |
||||||
|
double rel_period = calculate_relative_orbit_period(r_higher, r_target, earth->mass); |
||||||
|
|
||||||
|
INFO("Relative orbit period: " << rel_period << " s"); |
||||||
|
INFO("Relative orbit period: " << rel_period / 3600.0 << " h"); |
||||||
|
|
||||||
|
REQUIRE(rel_period > 0.0); |
||||||
|
REQUIRE_THAT(rel_period, WithinAbs(254924.71, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Very small radius difference - long period") { |
||||||
|
double r1 = 6770000.0; |
||||||
|
double r2 = 6771000.0; |
||||||
|
double rel_period = calculate_relative_orbit_period(r1, r2, earth->mass); |
||||||
|
|
||||||
|
INFO("Relative orbit period: " << rel_period << " s"); |
||||||
|
INFO("Relative orbit period: " << rel_period / 3600.0 / 24.0 << " days"); |
||||||
|
|
||||||
|
REQUIRE(rel_period > 0.0); |
||||||
|
REQUIRE_THAT(rel_period, WithinAbs(25025208.27, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Large radius difference - short period") { |
||||||
|
double r1 = 6571000.0; |
||||||
|
double r2 = 7071000.0; |
||||||
|
double rel_period = calculate_relative_orbit_period(r1, r2, earth->mass); |
||||||
|
|
||||||
|
INFO("Relative orbit period: " << rel_period << " s"); |
||||||
|
INFO("Relative orbit period: " << rel_period / 3600.0 << " h"); |
||||||
|
|
||||||
|
REQUIRE(rel_period > 0.0); |
||||||
|
REQUIRE_THAT(rel_period, WithinAbs(50889.08, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
TEST_CASE("Calculate next valid wait time for Hohmann transfer", "[rendezvous_hohmann][phasing]") { |
||||||
|
const double TIME_STEP = 30.0; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
Spacecraft* chaser_lower = &sim->spacecraft[1]; |
||||||
|
Spacecraft* chaser_higher = &sim->spacecraft[2]; |
||||||
|
Spacecraft* target = &sim->spacecraft[0]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
double r_lower = vec3_magnitude(chaser_lower->local_position); |
||||||
|
double r_higher = vec3_magnitude(chaser_higher->local_position); |
||||||
|
double r_target = vec3_magnitude(target->local_position); |
||||||
|
|
||||||
|
SECTION("Lower to higher - positive wait time") { |
||||||
|
double angular_separation = 0.0; |
||||||
|
double next_wait = calculate_next_hohmann_wait_time(r_lower, r_target, angular_separation, earth->mass, TIME_STEP); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Next wait time: " << next_wait << " s"); |
||||||
|
INFO("Next wait time: " << next_wait / 3600.0 << " h"); |
||||||
|
|
||||||
|
REQUIRE(next_wait >= TIME_STEP); |
||||||
|
REQUIRE_THAT(next_wait, WithinAbs(244325.08, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Higher to lower - negative wait time becomes next cycle") { |
||||||
|
double angular_separation = 0.0; |
||||||
|
double next_wait = calculate_next_hohmann_wait_time(r_higher, r_target, angular_separation, earth->mass, TIME_STEP); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Next wait time: " << next_wait << " s"); |
||||||
|
INFO("Next wait time: " << next_wait / 3600.0 << " h"); |
||||||
|
|
||||||
|
REQUIRE(next_wait >= TIME_STEP); |
||||||
|
REQUIRE_THAT(next_wait, WithinAbs(253510.25, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Higher to lower - positive wait time (no adjustment needed)") { |
||||||
|
double angular_separation = 0.3; |
||||||
|
double next_wait = calculate_next_hohmann_wait_time(r_higher, r_target, angular_separation, earth->mass, TIME_STEP); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Next wait time: " << next_wait << " s"); |
||||||
|
|
||||||
|
REQUIRE(next_wait >= TIME_STEP); |
||||||
|
REQUIRE_THAT(next_wait, WithinAbs(10757.30, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("At required separation - forced to next cycle by min_wait") { |
||||||
|
double req_sep = calculate_required_separation_for_hohmann(r_lower, r_target, earth->mass); |
||||||
|
double next_wait = calculate_next_hohmann_wait_time(r_lower, r_target, req_sep, earth->mass, TIME_STEP); |
||||||
|
|
||||||
|
INFO("Required separation: " << req_sep << " rad"); |
||||||
|
INFO("Next wait time: " << next_wait << " s"); |
||||||
|
INFO("Next wait time: " << next_wait / 3600.0 << " h"); |
||||||
|
|
||||||
|
REQUIRE(next_wait >= TIME_STEP); |
||||||
|
REQUIRE_THAT(next_wait, WithinAbs(245683.24, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Force skip to next cycle with large min_wait") { |
||||||
|
double angular_separation = 0.5; |
||||||
|
double min_wait = 30000.0; |
||||||
|
double next_wait = calculate_next_hohmann_wait_time(r_lower, r_target, angular_separation, earth->mass, min_wait); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Min wait: " << min_wait << " s"); |
||||||
|
INFO("Next wait time: " << next_wait << " s"); |
||||||
|
|
||||||
|
REQUIRE(next_wait >= min_wait); |
||||||
|
REQUIRE_THAT(next_wait, WithinAbs(224774.23, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
SECTION("Zero min_wait allows immediate transfer") { |
||||||
|
double angular_separation = 0.3; |
||||||
|
double next_wait = calculate_next_hohmann_wait_time(r_higher, r_target, angular_separation, earth->mass, 0.0); |
||||||
|
|
||||||
|
INFO("Angular separation: " << angular_separation << " rad"); |
||||||
|
INFO("Next wait time: " << next_wait << " s"); |
||||||
|
|
||||||
|
REQUIRE(next_wait >= 0.0); |
||||||
|
REQUIRE_THAT(next_wait, WithinAbs(10757.30, 1.0)); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
|
|
||||||
|
SCENARIO("Hohmann transfer rendezvous with validation", "[rendezvous_hohmann][integration]") { |
||||||
|
const double TIME_STEP = 0.1; |
||||||
|
|
||||||
|
SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
||||||
|
REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); |
||||||
|
|
||||||
|
int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
||||||
|
int chaser_lower_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); |
||||||
|
REQUIRE(target_idx >= 0); |
||||||
|
REQUIRE(chaser_lower_idx >= 0); |
||||||
|
|
||||||
|
Spacecraft* target = &sim->spacecraft[target_idx]; |
||||||
|
Spacecraft* chaser = &sim->spacecraft[chaser_lower_idx]; |
||||||
|
CelestialBody* earth = &sim->bodies[0]; |
||||||
|
|
||||||
|
initialize_orbital_objects(sim); |
||||||
|
|
||||||
|
SECTION("Execute validated Hohmann transfer and verify rendezvous") { |
||||||
|
double r1 = vec3_magnitude(chaser->local_position); |
||||||
|
double r2 = vec3_magnitude(target->local_position); |
||||||
|
|
||||||
|
INFO("\n=== HOHMANN TRANSFER RENDZVOUS TEST ==="); |
||||||
|
INFO("Initial state:"); |
||||||
|
INFO(" Chaser: r=" << r1 << " m, nu=" << chaser->orbit.true_anomaly << " rad"); |
||||||
|
INFO(" Target: r=" << r2 << " m, nu=" << target->orbit.true_anomaly << " rad"); |
||||||
|
|
||||||
|
// Calculate angular separation
|
||||||
|
double angular_separation = chaser->orbit.true_anomaly - target->orbit.true_anomaly; |
||||||
|
while (angular_separation > M_PI) angular_separation -= 2.0 * M_PI; |
||||||
|
while (angular_separation < -M_PI) angular_separation += 2.0 * M_PI; |
||||||
|
INFO(" Angular separation: " << angular_separation << " rad"); |
||||||
|
|
||||||
|
// Validate parameters before proceeding
|
||||||
|
REQUIRE(validate_hohmann_transfer_parameters(r1, r2, earth->mass)); |
||||||
|
INFO(" Validation passed"); |
||||||
|
|
||||||
|
// Calculate Hohmann transfer parameters
|
||||||
|
HohmannTransfer hohmann = calculate_hohmann_transfer(r1, r2, earth->mass); |
||||||
|
double wait_time = calculate_next_hohmann_wait_time(r1, r2, angular_separation, earth->mass, TIME_STEP); |
||||||
|
double arrival_time = wait_time + hohmann.transfer_time; |
||||||
|
|
||||||
|
INFO("\nTransfer parameters:"); |
||||||
|
INFO(" Transfer time: " << hohmann.transfer_time << " s"); |
||||||
|
INFO(" DV1 (departure): " << hohmann.dv1 << " m/s"); |
||||||
|
INFO(" DV2 (arrival): " << hohmann.dv2 << " m/s"); |
||||||
|
INFO(" Wait time: " << wait_time << " s"); |
||||||
|
INFO(" Arrival time: " << arrival_time << " s"); |
||||||
|
|
||||||
|
// Create departure maneuver
|
||||||
|
Maneuver departure = create_maneuver( |
||||||
|
"Departure_Burn", |
||||||
|
chaser_lower_idx, |
||||||
|
BURN_PROGRADE, |
||||||
|
hohmann.dv1, |
||||||
|
TRIGGER_TIME, |
||||||
|
wait_time |
||||||
|
); |
||||||
|
int dep_idx = add_maneuver_to_simulation(sim, &departure); |
||||||
|
REQUIRE(dep_idx >= 0); |
||||||
|
|
||||||
|
// Create arrival maneuver
|
||||||
|
Maneuver arrival = create_maneuver( |
||||||
|
"Circularization_Burn", |
||||||
|
chaser_lower_idx, |
||||||
|
BURN_PROGRADE, |
||||||
|
hohmann.dv2, |
||||||
|
TRIGGER_TIME, |
||||||
|
arrival_time |
||||||
|
); |
||||||
|
int arr_idx = add_maneuver_to_simulation(sim, &arrival); |
||||||
|
REQUIRE(arr_idx >= 0); |
||||||
|
|
||||||
|
// Compute expected step count from analytical times
|
||||||
|
const double expected_duration = wait_time + hohmann.transfer_time; |
||||||
|
const int expected_steps = static_cast<int>(expected_duration / sim->dt); |
||||||
|
// Safety limit: 1 year — prevents infinite loops if calculation is wrong
|
||||||
|
const double SAFETY_LIMIT_SECONDS = 3600.0 * 24.0 * 365.0; |
||||||
|
|
||||||
|
TestOutput out; |
||||||
|
bool transfer_complete = false; |
||||||
|
|
||||||
|
for (int i = 0; i < expected_steps + 1000; i++) { |
||||||
|
update_simulation(sim); |
||||||
|
|
||||||
|
if (sim->time > SAFETY_LIMIT_SECONDS) { |
||||||
|
INFO("\n=== SAFETY LIMIT REACHED ==="); |
||||||
|
INFO("sim->time: " << sim->time << " s (limit: " << SAFETY_LIMIT_SECONDS << " s)"); |
||||||
|
break; |
||||||
|
} |
||||||
|
|
||||||
|
if (i == 0) out.dump_state(sim, "T=0 (initial)"); |
||||||
|
if (i == static_cast<int>(wait_time / sim->dt)) out.dump_state(sim, "JUST BEFORE DEPARTURE"); |
||||||
|
if (i == static_cast<int>(wait_time / sim->dt) + 1) out.dump_state(sim, "AFTER DEPARTURE BURN"); |
||||||
|
if (i == static_cast<int>(arrival_time / sim->dt) - 1) out.dump_state(sim, "JUST BEFORE ARRIVAL BURN"); |
||||||
|
if (sim->maneuvers[arr_idx].executed && !transfer_complete) { |
||||||
|
out.dump_state(sim, "AFTER ARRIVAL BURN"); |
||||||
|
transfer_complete = true; |
||||||
|
break; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
INFO(out.buf); |
||||||
|
|
||||||
|
// Verify rendezvous quality
|
||||||
|
double final_radius = vec3_magnitude(chaser->local_position); |
||||||
|
double radius_error = fabs(final_radius - r2); |
||||||
|
|
||||||
|
Vec3 chaser_vel = chaser->local_velocity; |
||||||
|
Vec3 target_vel = target->local_velocity; |
||||||
|
double chaser_speed = vec3_magnitude(chaser_vel); |
||||||
|
double target_speed = vec3_magnitude(target_vel); |
||||||
|
Vec3 separation = vec3_sub(chaser->local_position, target->local_position); |
||||||
|
double separation_distance = vec3_magnitude(separation); |
||||||
|
double relative_velocity = vec3_magnitude(vec3_sub(chaser_vel, target_vel)); |
||||||
|
|
||||||
|
INFO("\n=== FINAL STATE ==="); |
||||||
|
INFO("Final time: " << sim->time << " s"); |
||||||
|
INFO("Departure executed: " << sim->maneuvers[dep_idx].executed); |
||||||
|
INFO("Arrival executed: " << sim->maneuvers[arr_idx].executed); |
||||||
|
INFO("\nVerification:"); |
||||||
|
INFO(" Radius error: " << radius_error << " m"); |
||||||
|
INFO(" Chaser eccentricity: " << chaser->orbit.eccentricity); |
||||||
|
INFO(" Chaser speed: " << chaser_speed << " m/s"); |
||||||
|
INFO(" Target speed: " << target_speed << " m/s"); |
||||||
|
INFO(" Separation: " << separation_distance << " m"); |
||||||
|
INFO(" Relative velocity: " << relative_velocity << " m/s"); |
||||||
|
|
||||||
|
// Verify maneuvers executed
|
||||||
|
REQUIRE(sim->maneuvers[dep_idx].executed); |
||||||
|
REQUIRE(sim->maneuvers[arr_idx].executed); |
||||||
|
|
||||||
|
REQUIRE_THAT(radius_error, WithinAbs(10.0, 10.0)); |
||||||
|
REQUIRE_THAT(chaser->orbit.eccentricity, WithinAbs(0.0, 0.001)); |
||||||
|
REQUIRE_THAT(chaser_speed, WithinAbs(target_speed, 1.0)); |
||||||
|
REQUIRE_THAT(separation_distance, WithinAbs(0.0, 100.0)); |
||||||
|
} |
||||||
|
|
||||||
|
destroy_simulation(sim); |
||||||
|
} |
||||||
@ -0,0 +1,70 @@ |
|||||||
|
# Test Configuration: Hohmann Transfer Between Coplanar Circular Orbits |
||||||
|
# Three spacecraft in circular, coplanar LEO orbits around Earth |
||||||
|
# Tests Hohmann transfer phasing calculations in both directions |
||||||
|
# |
||||||
|
# Configuration: |
||||||
|
# - Target_Satellite: middle orbit (reference) |
||||||
|
# - Chaser_Lower: lower orbit, will transfer UP to target |
||||||
|
# - Chaser_Higher: higher orbit, will transfer DOWN to target |
||||||
|
|
||||||
|
[[bodies]] |
||||||
|
name = "Earth" |
||||||
|
mass = 5.972e24 |
||||||
|
radius = 6.371e6 |
||||||
|
parent_index = -1 |
||||||
|
color = { r = 0.0, g = 0.5, b = 1.0 } |
||||||
|
orbit = { |
||||||
|
semi_major_axis = 0.0, |
||||||
|
eccentricity = 0.0, |
||||||
|
true_anomaly = 0.0 |
||||||
|
} |
||||||
|
|
||||||
|
# ========== TARGET SPACECRAFT ========== |
||||||
|
# Circular LEO orbit at 400 km altitude |
||||||
|
# Reference orbit for Hohmann transfers |
||||||
|
[[spacecraft]] |
||||||
|
name = "Target_Satellite" |
||||||
|
mass = 500.0 |
||||||
|
parent_index = 0 |
||||||
|
orbit = { |
||||||
|
semi_major_axis = 6.771e6, |
||||||
|
eccentricity = 0.0, |
||||||
|
true_anomaly = 0.0, |
||||||
|
inclination = 0.0, |
||||||
|
longitude_of_ascending_node = 0.0, |
||||||
|
argument_of_periapsis = 0.0 |
||||||
|
} |
||||||
|
|
||||||
|
# ========== CHASER LOWER ========== |
||||||
|
# Circular LEO orbit at 300 km altitude (lower than target) |
||||||
|
# Will perform Hohmann transfer UP to target orbit |
||||||
|
# Starts 90 degrees behind target to test phasing |
||||||
|
[[spacecraft]] |
||||||
|
name = "Chaser_Lower" |
||||||
|
mass = 500.0 |
||||||
|
parent_index = 0 |
||||||
|
orbit = { |
||||||
|
semi_major_axis = 6.671e6, |
||||||
|
eccentricity = 0.0, |
||||||
|
true_anomaly = 4.71238898038469, |
||||||
|
inclination = 0.0, |
||||||
|
longitude_of_ascending_node = 0.0, |
||||||
|
argument_of_periapsis = 0.0 |
||||||
|
} |
||||||
|
|
||||||
|
# ========== CHASER HIGHER ========== |
||||||
|
# Circular LEO orbit at 500 km altitude (higher than target) |
||||||
|
# Will perform Hohmann transfer DOWN to target orbit |
||||||
|
# Starts 90 degrees ahead of target to test phasing |
||||||
|
[[spacecraft]] |
||||||
|
name = "Chaser_Higher" |
||||||
|
mass = 500.0 |
||||||
|
parent_index = 0 |
||||||
|
orbit = { |
||||||
|
semi_major_axis = 6.871e6, |
||||||
|
eccentricity = 0.0, |
||||||
|
true_anomaly = 1.5707963267948966, |
||||||
|
inclination = 0.0, |
||||||
|
longitude_of_ascending_node = 0.0, |
||||||
|
argument_of_periapsis = 0.0 |
||||||
|
} |
||||||
Loading…
Reference in new issue