Implement impulsive maneuvers

Author: arda-guler

command_panel.py

@@ -554,6 +554,41 @@ def generate_s2():
                 cm_s2_button = tk.Button(entry_panel, text="Create Const. Thrust Mnv.", command=generate_s2)
                 cm_s2_button.grid(row=4, column=0)
 
+                # option 3
+                cm_s3t1_label = tk.Label(entry_panel, text="Maneuver Name")
+                cm_s3t2_label = tk.Label(entry_panel, text="Vessel Name")
+                cm_s3t3_label = tk.Label(entry_panel, text="Frame of Ref.")
+                cm_s3t4_label = tk.Label(entry_panel, text="Orientation")
+                cm_s3t5_label = tk.Label(entry_panel, text="Delta-v")
+                cm_s3t6_label = tk.Label(entry_panel, text="Perform Time")
+                cm_s3t1_label.grid(row=5, column=1)
+                cm_s3t2_label.grid(row=5, column=2)
+                cm_s3t3_label.grid(row=5, column=3)
+                cm_s3t4_label.grid(row=5, column=4)
+                cm_s3t5_label.grid(row=5, column=5)
+                cm_s3t6_label.grid(row=5, column=6)
+
+                cm_s3t1 = tk.Text(entry_panel, width=15, height=1)
+                cm_s3t2 = tk.Text(entry_panel, width=15, height=1)
+                cm_s3t3 = tk.Text(entry_panel, width=15, height=1)
+                cm_s3t4 = tk.Text(entry_panel, width=15, height=1)
+                cm_s3t5 = tk.Text(entry_panel, width=15, height=1)
+                cm_s3t6 = tk.Text(entry_panel, width=15, height=1)
+                cm_s3t1.grid(row=6, column=1)
+                cm_s3t2.grid(row=6, column=2)
+                cm_s3t3.grid(row=6, column=3)
+                cm_s3t4.grid(row=6, column=4)
+                cm_s3t5.grid(row=6, column=5)
+                cm_s3t6.grid(row=6, column=6)
+
+                def generate_s3():
+                    if cm_s3t1.get("1.0","end-1c") and cm_s3t2.get("1.0","end-1c") and cm_s3t3.get("1.0","end-1c") and cm_s3t4.get("1.0","end-1c") and cm_s3t5.get("1.0","end-1c") and cm_s3t6.get("1.0","end-1c"):
+                        command = "create_maneuver " + cm_s3t1.get("1.0", "end-1c") + " impulsive " + cm_s3t2.get("1.0","end-1c") + " " + cm_s3t3.get("1.0","end-1c") + " " + cm_s3t4.get("1.0","end-1c") + " " + cm_s3t5.get("1.0","end-1c") + " " + cm_s3t6.get("1.0","end-1c")
+                        add_to_buffer(command)
+
+                cm_s3_button = tk.Button(entry_panel, text="Create Impulsive Mnv.", command=generate_s3)
+                cm_s3_button.grid(row=6, column=0)
+                
             elif cmd_a == "delete_maneuver":
                 dm_help = tk.Label(entry_panel, text="'delete_maneuver' command removes a maneuver from the simulation.")
                 dm_help.grid(row=0, column=0, columnspan=10)

graphics.py

@@ -134,20 +134,36 @@ def drawTrajectories(vessels, scene_lock):
                     glVertex3f(vertices[i].x, vertices[i].y, vertices[i].z)
                 glEnd()
 
-def drawManeuvers(maneuvers):
-
-    # change color to maneuver color
-    glColor(1.0, 1.0, 0.0)
+def drawManeuvers(maneuvers, point_size, cam):
 
     for m in maneuvers:
-        
-        vertices = m.get_draw_vertices()
 
-        if len(vertices) > 3:
-            glBegin(GL_LINE_STRIP)
-            for i in range(1, len(vertices)):
-                glVertex3f(vertices[i].x, vertices[i].y, vertices[i].z)
-            glEnd()
+        if m.type != "impulsive":
+
+            if m.type == "const_accel":
+                glColor(0.0, 1.0, 1.0)
+            else: # const_thrust
+                glColor(1.0, 1.0, 0.0)
+                
+            vertices = m.get_draw_vertices()
+
+            if len(vertices) > 3:
+                glBegin(GL_LINE_STRIP)
+                for i in range(1, len(vertices)):
+                    glVertex3f(vertices[i].x, vertices[i].y, vertices[i].z)
+                glEnd()
+                
+        else:
+            if m.get_draw_point():
+                glColor(1.0, 0.0, 1.0)
+                vertex = m.get_draw_point()
+                cam_dist = (cam.get_pos() - vertex).mag()
+                mnv_point_size = max(int(60000/cam_dist), 1)
+                glPointSize(mnv_point_size)
+                glBegin(GL_POINTS)
+                glVertex3f(vertex.x, vertex.y, vertex.z)
+                glEnd()
+                glPointSize(point_size)
 
 def drawProjections(projections):
 
@@ -337,7 +353,7 @@ def drawRapidCompute(cam, size=0.2):
     render_AN("RAPID COMPUTE ACTIVE", (1,0,0), [-5, 0.5], cam, size)
     render_AN("PLEASE BE PATIENT", (1,0,0), [-3, -0.5], cam, size/1.5)
 
-def drawScene(bodies, vessels, surface_points, barycenters, projections, maneuvers, active_cam, show_trajectories=True, draw_mode=1, labels_visible=True, scene_lock=None):
+def drawScene(bodies, vessels, surface_points, barycenters, projections, maneuvers, active_cam, show_trajectories=True, draw_mode=1, labels_visible=True, scene_lock=None, point_size=2):
 
     # sort the objects by their distance to the camera so we can draw the ones in the front last
     # and it won't look like a ridiculous mess on screen
@@ -370,6 +386,6 @@ def drawScene(bodies, vessels, surface_points, barycenters, projections, maneuve
             drawProjectionLabels(projections, active_cam)
 
         drawTrajectories(vessels, scene_lock)
-        drawManeuvers(maneuvers)
+        drawManeuvers(maneuvers, point_size, active_cam)
         glDisable(GL_LINE_SMOOTH)
 

main.py

@@ -226,6 +226,15 @@ def import_scenario(scn_filename):
                                                          float(line[6]), float(line[7]), float(line[8]),
                                                          float(line[9]), float(line[10]))
 
+            elif line[2] == "impulsive":
+                if (line[5] in preset_orientations):
+                    new_maneuver = maneuver_impulsive(line[1], find_obj_by_name(line[3]), find_obj_by_name(line[4]),
+                                                      line[5], float(line[6]), float(line[7]))
+                else:
+                    line[5] = eval(line[5])
+                    new_maneuver = maneuver_impulsive(line[1], find_obj_by_name(line[3]), find_obj_by_name(line[4]),
+                                                      vec3(lst=line[5]), float(line[6]), float(line[7]))
+
             maneuvers.append(new_maneuver)
             print("Loading maneuver:", new_maneuver.get_name())
 
@@ -318,6 +327,8 @@ def export_scenario(scn_filename):
         time_save_string = "T|" + str(sim_time) + "\n"
         scn_file.write(time_save_string)
 
+        scn_file.write("\n")
+
         print("Writing bodies...")
         for b in bodies:
             body_save_string = "B|" + b.get_name() + "|" + b.get_model_path() + "|" + str(b.get_mass()) + "|" +\
@@ -327,12 +338,16 @@ def export_scenario(scn_filename):
                                str(b.atmos_scale_height) + "\n"
             scn_file.write(body_save_string)
 
+        scn_file.write("\n")
+
         print("Writing vessels...")
         for v in vessels:
             vessel_save_string = "V|" + v.get_name() + "|" + v.get_model_path() + "|" + str(v.get_color()) + "|" +\
                                  str(v.get_pos().tolist()) + "|" + str(v.get_vel().tolist()) + "\n"
             scn_file.write(vessel_save_string)
 
+        scn_file.write("\n")
+
         print("Writing maneuvers...")
         for m in maneuvers:
             maneuver_save_string = "M|" + m.get_name() + "|"
@@ -343,13 +358,21 @@ def export_scenario(scn_filename):
                 maneuver_save_string += "const_thrust|" + m.get_vessel().get_name() + "|" + m.frame_body.get_name() + "|" +\
                                         str(m.orientation_input) + "|" + str(m.thrust) + "|" +  str(m.mass_init) + "|" + str(m.mass_flow) + "|" +\
                                         str(m.t_start) + "|" + str(m.duration) + "\n"
+
+            elif m.get_type() == "impulsive":
+                maneuver_save_string += "impulsive|" + m.get_vessel().get_name() + "|" + m.frame_body.get_name() + "|" +\
+                                        str(m.orientation_input) + "|" + str(m.delta_v) + "|" + str(m.t_perform) + "\n"
             scn_file.write(maneuver_save_string)
 
+        scn_file.write("\n")
+
         print("Writing surface points...")
         for s in surface_points:
             sp_save_string = "S|" + s.get_name() + "|" + s.get_body().get_name() + "|" + str(s.get_color()) + "|" + str(s.get_gpos()) + "\n"
             scn_file.write(sp_save_string)
 
+        scn_file.write("\n")
+
         print("Writing barycenters...")
         for bc in barycenters:
             bc_save_string = "C|" + bc.get_name() + "|"
@@ -358,18 +381,24 @@ def export_scenario(scn_filename):
             bc_save_string = bc_save_string[:-1]+"\n"
             scn_file.write(bc_save_string)
 
+        scn_file.write("\n")
+
         print("Writing radiation pressures...")
         for rp in radiation_pressures:
             rp_save_string = "R|" + rp.get_name() + "|" + rp.vessel.get_name() + "|" + rp.body.get_name() + "|" + str(rp.get_area()) +\
                              "|" + rp.orientation_frame.get_name() + "|" + str(rp.direction_input) + "|" + str(rp.mass) + "|" + str(rp.mass_auto_update) + "\n"
             scn_file.write(rp_save_string)
 
+        scn_file.write("\n")
+
         print("Writing atmospheric drags...")
         for ad in atmospheric_drags:
             ad_save_string = "A|" + ad.get_name() + "|" + ad.vessel.get_name() + "|" + ad.body.get_name() + "|" + str(ad.get_area()) +\
                              "|" + str(ad.get_drag_coeff()) + "|" + str(ad.get_mass()) + "|" + str(ad.mass_auto_update) + "\n"
             scn_file.write(ad_save_string)
 
+        scn_file.write("\n")
+
         print("Scenario export complete!")
         time.sleep(2)
 
@@ -402,6 +431,17 @@ def create_maneuver_const_thrust(mnv_name, mnv_vessel, mnv_frame, mnv_orientatio
 
     maneuvers.append(new_maneuver)
 
+def create_maneuver_impulsive(mnv_name, mnv_vessel, mnv_frame, mnv_orientation, mnv_deltav, mnv_t_perform):
+    global maneuvers
+
+    if find_maneuver_by_name(mnv_name):
+        print("A maneuver with this name already exists. Please pick another name for the new maneuver.\n")
+        input("Press Enter to continue...")
+        return
+
+    new_maneuver = maneuver_impulsive(mnv_name, mnv_vessel, mnv_frame, mnv_orientation, mnv_deltav, mnv_t_perform)
+    maneuvers.append(new_maneuver)
+
 def delete_maneuver(mnv_name):
     global maneuvers
 
@@ -1199,6 +1239,15 @@ def main(scn_filename=None, start_time=0):
 
                                                          float(command[6]), float(command[7]), float(command[8]),
                                                          float(command[9]), float(command[10]))
+
+                    elif len(command) == 8 and command[2] == "impulsive":
+                        # name, type, vessel, frame, orientation, delta_v, perform_time
+                        if (not command[5] in preset_orientations):
+                            create_maneuver_impulsive(command[1], find_obj_by_name(command[3]), find_obj_by_name(command[4]),
+                                                      eval(command[5]), float(command[6]), float(command[7]))
+                        else:
+                            create_maneuver_impulsive(command[1], find_obj_by_name(command[3]), find_obj_by_name(command[4]),
+                                                      command[5], float(command[6]), float(command[7]))
                     else:
                         print("Wrong syntax for command 'create_maneuver'.\n")
                         time.sleep(2)
@@ -1544,6 +1593,7 @@ def main(scn_filename=None, start_time=0):
                             print("Maneuver types: const_accel, const_thrust")
                             print("const_accel params: <vessel> <frame_of_reference> <orientation> <acceleration> <start_time> <duration>")
                             print("const_thrust params: <vessel> <frame_of_reference> <orientation> <thrust> <initial_mass> <mass_flow> <start_time> <duration>")
+                            print("impulsive params: <vessel> <frame_of_reference> <orientation> <delta_v> <perform_time>")
                             input("Press Enter to continue...")
                         elif command[1] == "delete_maneuver":
                             print("\n'delete_maneuver' command removes a maneuver from the simulation.\n")
@@ -1952,7 +2002,7 @@ def main(scn_filename=None, start_time=0):
             # do the actual drawing
 
             # drawOrigin() -- maybe it'll be useful for debugging one day
-            drawScene(bodies, vessels, surface_points, barycenters, projections, maneuvers, get_active_cam(), show_trajectories, draw_mode, labels_visible, scene_lock)
+            drawScene(bodies, vessels, surface_points, barycenters, projections, maneuvers, get_active_cam(), show_trajectories, draw_mode, labels_visible, scene_lock, point_size)
             glfw.swap_buffers(window)
 
         cycle_dt = time.perf_counter() - cycle_start

maneuver.py

@@ -13,6 +13,63 @@ def get_vessel(self):
     def get_type(self):
         return self.type
 
+class maneuver_impulsive(maneuver):
+    def __init__(self, name, vessel, frame_body, orientation, delta_v, t_perform):
+        super().__init__(name, vessel, "impulsive")
+        self.frame_body = frame_body
+        self.orientation = orientation
+        self.orientation_input = orientation
+        self.delta_v = delta_v
+        self.t_perform = t_perform
+        self.done = False
+
+        self.draw_point = None
+
+    def set_orientation(self):
+        if not type(self.orientation) == type(vec3()):
+            self.orientation = self.vessel.get_orientation_rel_to(self.frame_body, self.orientation)
+
+    def perform_maneuver(self, current_time, delta_t):
+        if (not self.done) and current_time >= self.t_perform:
+            self.set_orientation()
+            self.vessel.set_vel(self.vessel.get_vel() + self.orientation * self.delta_v)
+            self.done = True
+            self.draw_point = self.vessel.get_draw_pos()
+
+    def is_performing(self, current_time):
+        return False
+
+    def get_state(self, current_time):
+        if self.done:
+            return "Completed"
+        else:
+            return "Pending"
+
+    def get_duration(self):
+        return 0
+
+    def get_name(self):
+        return self.name
+
+    def get_draw_point(self):
+        return self.draw_point
+
+    def clear_draw_vertices(self):
+        self.draw_point = None
+
+    def get_params_str(self):
+        output = "Vessel: " + self.vessel.get_name() + "\n"
+        
+        if type(self.orientation_input) == str:
+            output += "Orientation: " + self.orientation_input + " rel to " + self.frame_body.get_name()
+        else:
+            output += "Orientation: " + str(self.orientation) + " rel to global frame"
+            
+        output += "\nDv: " + str(self.delta_v) + " m/s\n"
+        output += "Perform Time: " + str(self.t_perform) + " s\n"
+
+        return output
+
 class maneuver_const_accel(maneuver):
     def __init__(self, name, vessel, frame_body, orientation, accel, t_start, duration):
         super().__init__(name, vessel, "const_accel")