@Override
public Coordinate[] getLocations() {
if (null == this.parent) {
throw new BugException(
" Attempted to get absolute position Vector of a Stage without a parent. ");
}
if (this.isAfter()) {
return super.getLocations();
} else {
Coordinate[] parentInstances = this.parent.getLocations();
if (1 != parentInstances.length) {
throw new BugException(
" OpenRocket does not (yet) support external stages attached to external stages. "
+ "(assumed reason for getting multiple parent locations into an external stage.)");
}
final Coordinate center = parentInstances[0].add(this.position);
Coordinate[] instanceLocations = this.getInstanceOffsets();
Coordinate[] toReturn = new Coordinate[instanceLocations.length];
for (int i = 0; i < toReturn.length; i++) {
toReturn[i] = center.add(instanceLocations[i]);
}
return toReturn;
}
}
@Override
public Coordinate[] getInstanceOffsets() {
checkState();
final double radius = this.radialPosition_m;
final double startAngle = this.angularPosition_rad;
final double angleIncr = this.angularSeparation;
Coordinate center = Coordinate.ZERO;
double curAngle = startAngle;
Coordinate[] toReturn = new Coordinate[this.count];
for (int instanceNumber = 0; instanceNumber < this.count; instanceNumber++) {
final double curY = radius * Math.cos(curAngle);
final double curZ = radius * Math.sin(curAngle);
toReturn[instanceNumber] = center.add(0, curY, curZ);
curAngle += angleIncr;
}
return toReturn;
}
private FlightDataBranch simulateLoop() {
// Initialize the simulation
currentStepper = flightStepper;
currentStatus = currentStepper.initialize(currentStatus);
// Get originating position (in case listener has modified launch position)
Coordinate origin = currentStatus.getRocketPosition();
Coordinate originVelocity = currentStatus.getRocketVelocity();
try {
// Start the simulation
while (handleEvents()) {
// Take the step
double oldAlt = currentStatus.getRocketPosition().z;
if (SimulationListenerHelper.firePreStep(currentStatus)) {
// Step at most to the next event
double maxStepTime = Double.MAX_VALUE;
FlightEvent nextEvent = currentStatus.getEventQueue().peek();
if (nextEvent != null) {
maxStepTime =
MathUtil.max(nextEvent.getTime() - currentStatus.getSimulationTime(), 0.001);
}
log.trace(
"BasicEventSimulationEngine: Taking simulation step at t="
+ currentStatus.getSimulationTime());
currentStepper.step(currentStatus, maxStepTime);
}
SimulationListenerHelper.firePostStep(currentStatus);
// Check for NaN values in the simulation status
checkNaN();
// Add altitude event
addEvent(
new FlightEvent(
FlightEvent.Type.ALTITUDE,
currentStatus.getSimulationTime(),
currentStatus.getConfiguration().getRocket(),
new Pair<Double, Double>(oldAlt, currentStatus.getRocketPosition().z)));
if (currentStatus.getRocketPosition().z > currentStatus.getMaxAlt()) {
currentStatus.setMaxAlt(currentStatus.getRocketPosition().z);
}
// Position relative to start location
Coordinate relativePosition = currentStatus.getRocketPosition().sub(origin);
// Add appropriate events
if (!currentStatus.isLiftoff()) {
// Avoid sinking into ground before liftoff
if (relativePosition.z < 0) {
currentStatus.setRocketPosition(origin);
currentStatus.setRocketVelocity(originVelocity);
}
// Detect lift-off
if (relativePosition.z > 0.02) {
addEvent(new FlightEvent(FlightEvent.Type.LIFTOFF, currentStatus.getSimulationTime()));
}
} else {
// Check ground hit after liftoff
if (currentStatus.getRocketPosition().z < 0) {
currentStatus.setRocketPosition(currentStatus.getRocketPosition().setZ(0));
addEvent(
new FlightEvent(FlightEvent.Type.GROUND_HIT, currentStatus.getSimulationTime()));
addEvent(
new FlightEvent(
FlightEvent.Type.SIMULATION_END, currentStatus.getSimulationTime()));
}
}
// Check for launch guide clearance
if (!currentStatus.isLaunchRodCleared()
&& relativePosition.length()
> currentStatus.getSimulationConditions().getLaunchRodLength()) {
addEvent(
new FlightEvent(FlightEvent.Type.LAUNCHROD, currentStatus.getSimulationTime(), null));
}
// Check for apogee
if (!currentStatus.isApogeeReached()
&& currentStatus.getRocketPosition().z < currentStatus.getMaxAlt() - 0.01) {
currentStatus.setMaxAltTime(currentStatus.getSimulationTime());
addEvent(
new FlightEvent(
FlightEvent.Type.APOGEE,
currentStatus.getSimulationTime(),
currentStatus.getConfiguration().getRocket()));
}
// //@Obsolete
// //@Redundant
// // Check for burnt out motors
// for( MotorClusterState state : currentStatus.getActiveMotors()){
// if ( state.isSpent()){
// addEvent(new FlightEvent(FlightEvent.Type.BURNOUT,
// currentStatus.getSimulationTime(),
// (RocketComponent) state.getMount(), state));
// }
// }
// Check for Tumbling
// Conditions for transision are:
// apogee reached (if sustainer stage)
// and is not already tumbling
// and not stable (cg > cp)
// and aoa > AOA_TUMBLE_CONDITION threshold
// and thrust < THRUST_TUMBLE_CONDITION threshold
if (!currentStatus.isTumbling()) {
final double t = currentStatus.getFlightData().getLast(FlightDataType.TYPE_THRUST_FORCE);
final double cp = currentStatus.getFlightData().getLast(FlightDataType.TYPE_CP_LOCATION);
final double cg = currentStatus.getFlightData().getLast(FlightDataType.TYPE_CG_LOCATION);
final double aoa = currentStatus.getFlightData().getLast(FlightDataType.TYPE_AOA);
final boolean wantToTumble = (cg > cp && aoa > AOA_TUMBLE_CONDITION);
if (wantToTumble) {
final boolean tooMuchThrust = t > THRUST_TUMBLE_CONDITION;
// final boolean isSustainer = status.getConfiguration().isStageActive(0);
final boolean isApogee = currentStatus.isApogeeReached();
if (tooMuchThrust) {
currentStatus.getWarnings().add(Warning.TUMBLE_UNDER_THRUST);
} else if (isApogee) {
addEvent(new FlightEvent(FlightEvent.Type.TUMBLE, currentStatus.getSimulationTime()));
currentStatus.setTumbling(true);
}
}
}
}
} catch (SimulationException e) {
SimulationListenerHelper.fireEndSimulation(currentStatus, e);
// Add FlightEvent for Abort.
currentStatus
.getFlightData()
.addEvent(
new FlightEvent(
FlightEvent.Type.EXCEPTION,
currentStatus.getSimulationTime(),
currentStatus.getConfiguration().getRocket(),
e.getLocalizedMessage()));
currentStatus.getWarnings().add(e.getLocalizedMessage());
}
return currentStatus.getFlightData();
}
@Override
public FlightData simulate(SimulationConditions simulationConditions) throws SimulationException {
Set<MotorId> motorBurntOut = new HashSet<MotorId>();
// Set up flight data
FlightData flightData = new FlightData();
// Set up rocket configuration
Configuration configuration = setupConfiguration(simulationConditions);
MotorInstanceConfiguration motorConfiguration = setupMotorConfiguration(configuration);
if (motorConfiguration.getMotorIDs().isEmpty()) {
throw new MotorIgnitionException("No motors defined in the simulation.");
}
// Initialize the simulation
currentStepper = flightStepper;
status = initialStatus(configuration, motorConfiguration, simulationConditions, flightData);
status = currentStepper.initialize(status);
SimulationListenerHelper.fireStartSimulation(status);
// Get originating position (in case listener has modified launch position)
Coordinate origin = status.getRocketPosition();
Coordinate originVelocity = status.getRocketVelocity();
try {
double maxAlt = Double.NEGATIVE_INFINITY;
// Start the simulation
while (handleEvents()) {
// Take the step
double oldAlt = status.getRocketPosition().z;
if (SimulationListenerHelper.firePreStep(status)) {
// Step at most to the next event
double maxStepTime = Double.MAX_VALUE;
FlightEvent nextEvent = status.getEventQueue().peek();
if (nextEvent != null) {
maxStepTime = MathUtil.max(nextEvent.getTime() - status.getSimulationTime(), 0.001);
}
log.verbose(
"BasicEventSimulationEngine: Taking simulation step at t="
+ status.getSimulationTime());
currentStepper.step(status, maxStepTime);
}
SimulationListenerHelper.firePostStep(status);
// Calculate values for custom expressions
FlightDataBranch data = status.getFlightData();
ArrayList<CustomExpression> allExpressions =
status.getSimulationConditions().getSimulation().getCustomExpressions();
for (CustomExpression expression : allExpressions) {
data.setValue(expression.getType(), expression.evaluate(status));
}
// Check for NaN values in the simulation status
checkNaN();
// Add altitude event
addEvent(
new FlightEvent(
FlightEvent.Type.ALTITUDE,
status.getSimulationTime(),
status.getConfiguration().getRocket(),
new Pair<Double, Double>(oldAlt, status.getRocketPosition().z)));
if (status.getRocketPosition().z > maxAlt) {
maxAlt = status.getRocketPosition().z;
}
// Position relative to start location
Coordinate relativePosition = status.getRocketPosition().sub(origin);
// Add appropriate events
if (!status.isLiftoff()) {
// Avoid sinking into ground before liftoff
if (relativePosition.z < 0) {
status.setRocketPosition(origin);
status.setRocketVelocity(originVelocity);
}
// Detect lift-off
if (relativePosition.z > 0.02) {
addEvent(new FlightEvent(FlightEvent.Type.LIFTOFF, status.getSimulationTime()));
}
} else {
// Check ground hit after liftoff
if (status.getRocketPosition().z < 0) {
status.setRocketPosition(status.getRocketPosition().setZ(0));
addEvent(new FlightEvent(FlightEvent.Type.GROUND_HIT, status.getSimulationTime()));
addEvent(new FlightEvent(FlightEvent.Type.SIMULATION_END, status.getSimulationTime()));
}
}
// Check for launch guide clearance
if (!status.isLaunchRodCleared()
&& relativePosition.length() > status.getSimulationConditions().getLaunchRodLength()) {
addEvent(new FlightEvent(FlightEvent.Type.LAUNCHROD, status.getSimulationTime(), null));
}
// Check for apogee
if (!status.isApogeeReached() && status.getRocketPosition().z < maxAlt - 0.01) {
addEvent(
new FlightEvent(
FlightEvent.Type.APOGEE,
status.getSimulationTime(),
status.getConfiguration().getRocket()));
}
// Check for burnt out motors
for (MotorId motorId : status.getMotorConfiguration().getMotorIDs()) {
MotorInstance motor = status.getMotorConfiguration().getMotorInstance(motorId);
if (!motor.isActive() && motorBurntOut.add(motorId)) {
addEvent(
new FlightEvent(
FlightEvent.Type.BURNOUT,
status.getSimulationTime(),
(RocketComponent) status.getMotorConfiguration().getMotorMount(motorId),
motorId));
}
}
}
} catch (SimulationException e) {
SimulationListenerHelper.fireEndSimulation(status, e);
throw e;
}
SimulationListenerHelper.fireEndSimulation(status, null);
flightData.addBranch(status.getFlightData());
if (!flightData.getWarningSet().isEmpty()) {
log.info("Warnings at the end of simulation: " + flightData.getWarningSet());
}
// TODO: HIGH: Simulate branches
return flightData;
}