def test_controlling_orientation(self):
ref = self.vessel.orbit.body.reference_frame
root = self.parts.root
port = self.parts.with_title('Clamp-O-Tron Docking Port')[0]
# Check vessel direction is in direction of root part
# and perpendicular to the docking port
vessel_dir = self.vessel.direction(ref)
root_dir = root.direction(ref)
port_dir = port.direction(ref)
self.assertAlmostEqual(vessel_dir, root_dir, places=2)
self.assertAlmostEqual(0, dot(vessel_dir, port_dir), places=2)
# Control from the docking port
self.parts.controlling = port
# Check vessel direction is now the direction of the docking port
vessel_dir = self.vessel.direction(ref)
self.assertAlmostEqual(0, dot(vessel_dir, root_dir), places=2)
self.assertAlmostEqual(vessel_dir, port_dir, places=2)
# Control from the root part
self.parts.controlling = root
# Check vessel direction is now the direction of the root part
vessel_dir = self.vessel.direction(ref)
self.assertAlmostEqual(vessel_dir, root_dir, places=2)
self.assertAlmostEqual(0, dot(vessel_dir, port_dir), places=2)
def test_controlling_orientation(self):
ref = self.vessel.orbit.body.reference_frame
root = self.parts.root
port = self.parts.with_title('Clamp-O-Tron Docking Port')[0]
# Check vessel direction is in direction of root part
# and perpendicular to the docking port
vessel_dir = self.vessel.direction(ref)
root_dir = root.direction(ref)
port_dir = port.direction(ref)
self.assertAlmostEqual(vessel_dir, root_dir, places=2)
self.assertAlmostEqual(0, dot(vessel_dir, port_dir), places=2)
# Control from the docking port
self.parts.controlling = port
# Check vessel direction is now the direction of the docking port
vessel_dir = self.vessel.direction(ref)
self.assertAlmostEqual(0, dot(vessel_dir, root_dir), places=2)
self.assertAlmostEqual(vessel_dir, port_dir, places=2)
# Control from the root part
self.parts.controlling = root
# Check vessel direction is now the direction of the root part
vessel_dir = self.vessel.direction(ref)
self.assertAlmostEqual(vessel_dir, root_dir, places=2)
self.assertAlmostEqual(0, dot(vessel_dir, port_dir), places=2)
def test_velocity(self):
for body in self.space_center.bodies.values():
if body.orbit is None:
continue
# Check body velocity in body's reference frame
v = body.velocity(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), v)
# Check body velocity in parent body's non-rotating reference frame
v = body.velocity(body.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(body.orbit.speed, norm(v), places=2)
# Check body velocity in parent body's reference frame
v = body.velocity(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertAlmostEqual(0, v[1])
else:
self.assertNotAlmostEqual(0, v[1])
angular_velocity = body.orbit.body.angular_velocity(
body.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(0, angular_velocity[0])
self.assertAlmostEqual(0, angular_velocity[2])
rotational_speed = dot((0, 1, 0), angular_velocity)
position = list(body.position(body.orbit.body.reference_frame))
position[1] = 0
radius = norm(position)
rotational_speed *= radius
# TODO: large error
self.assertAlmostEqual(abs(rotational_speed + body.orbit.speed),
norm(v),
delta=500)
def test_velocity(self):
for body in self.space_center.bodies.values():
if body.orbit is None:
continue
# Check body velocity in body's reference frame
v = body.velocity(body.reference_frame)
self.assertAlmostEqual((0, 0, 0), v)
# Check body velocity in parent body's non-rotating reference frame
v = body.velocity(body.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(body.orbit.speed, norm(v), places=3)
# Check body velocity in parent body's reference frame
v = body.velocity(body.orbit.body.reference_frame)
if body.orbit.inclination == 0:
self.assertAlmostEqual(0, v[1])
else:
self.assertNotAlmostEqual(0, v[1])
angular_velocity = body.orbit.body.angular_velocity(
body.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(0, angular_velocity[0])
self.assertAlmostEqual(0, angular_velocity[2])
rotational_speed = dot((0, 1, 0), angular_velocity)
position = list(body.position(body.orbit.body.reference_frame))
position[1] = 0
radius = norm(position)
rotational_speed *= radius
#TODO: large error
self.assertAlmostEqual(abs(rotational_speed + body.orbit.speed), norm(v), delta=500)
def check_directions(self, flight):
""" Check flight.direction against flight.heading and flight.pitch """
direction = vector(flight.direction)
up_direction = (1, 0, 0)
north_direction = (0, 1, 0)
self.assertAlmostEqual(1, norm(direction))
# Check vessel direction vector agrees with pitch angle
pitch = 90 - rad2deg(math.acos(dot(up_direction, direction)))
self.assertAlmostEqual(pitch, flight.pitch, delta=2)
# Check vessel direction vector agrees with heading angle
up_component = dot(direction, up_direction) * vector(up_direction)
north_component = normalize(vector(direction) - up_component)
self.assertDegreesAlmostEqual(
rad2deg(math.acos(dot(north_component, north_direction))),
flight.heading, delta=1)
def check_speeds(self, flight):
""" Check flight.velocity agrees with flight.*_speed """
up_direction = (0, 1, 0)
velocity = vector(flight.velocity)
vertical_speed = dot(velocity, up_direction)
horizontal_speed = norm(velocity) - vertical_speed
self.assertAlmostEqual(norm(velocity), flight.speed, delta=1)
self.assertAlmostEqual(horizontal_speed, flight.horizontal_speed, delta=1)
self.assertAlmostEqual(vertical_speed, flight.vertical_speed, delta=1)
def check_speeds(self, flight):
""" Check flight.velocity agrees with flight.*_speed """
up_direction = (0, 1, 0)
velocity = vector(flight.velocity)
vertical_speed = dot(velocity, up_direction)
horizontal_speed = norm(velocity) - vertical_speed
self.assertAlmostEqual(norm(velocity), flight.speed, delta=1)
self.assertAlmostEqual(horizontal_speed,
flight.horizontal_speed, delta=1)
self.assertAlmostEqual(vertical_speed,
flight.vertical_speed, delta=1)
def check_orbital_vectors(self, flight):
""" Check orbital direction vectors """
prograde = vector(flight.prograde)
retrograde = vector(flight.retrograde)
normal = vector(flight.normal)
anti_normal = vector(flight.anti_normal)
radial = vector(flight.radial)
anti_radial = vector(flight.anti_radial)
self.assertAlmostEqual(1, norm(prograde))
self.assertAlmostEqual(1, norm(retrograde))
self.assertAlmostEqual(1, norm(normal))
self.assertAlmostEqual(1, norm(anti_normal))
self.assertAlmostEqual(1, norm(radial))
self.assertAlmostEqual(1, norm(anti_radial))
self.assertAlmostEqual(tuple(prograde), [-x for x in retrograde], places=2)
self.assertAlmostEqual(tuple(radial), [-x for x in anti_radial], places=2)
self.assertAlmostEqual(tuple(normal), [-x for x in anti_normal], places=2)
self.assertAlmostEqual(0, dot(prograde, radial), places=2)
self.assertAlmostEqual(0, dot(prograde, normal), places=2)
self.assertAlmostEqual(0, dot(radial, normal), places=2)
def check_speed(self, flight, ref):
up = normalize(vector(self.vessel.position(ref))
- vector(self.vessel.orbit.body.position(ref)))
v = self.vessel.velocity(ref)
speed = norm(v)
vertical_speed = dot(v, up)
horizontal_speed = math.sqrt(speed*speed - vertical_speed*vertical_speed)
self.assertAlmostEqual(speed, flight.speed, delta=0.5)
self.assertAlmostEqual(vertical_speed, flight.vertical_speed, delta=0.5)
self.assertAlmostEqual(horizontal_speed, flight.horizontal_speed, delta=0.5)
def check_orbital_vectors(self, flight):
""" Check orbital direction vectors """
prograde = vector(flight.prograde)
retrograde = vector(flight.retrograde)
normal = vector(flight.normal)
anti_normal = vector(flight.anti_normal)
radial = vector(flight.radial)
anti_radial = vector(flight.anti_radial)
self.assertAlmostEqual(1, norm(prograde))
self.assertAlmostEqual(1, norm(retrograde))
self.assertAlmostEqual(1, norm(normal))
self.assertAlmostEqual(1, norm(anti_normal))
self.assertAlmostEqual(1, norm(radial))
self.assertAlmostEqual(1, norm(anti_radial))
self.assertAlmostEqual(
tuple(prograde), [-x for x in retrograde], places=2)
self.assertAlmostEqual(
tuple(radial), [-x for x in anti_radial], places=2)
self.assertAlmostEqual(
tuple(normal), [-x for x in anti_normal], places=2)
self.assertAlmostEqual(0, dot(prograde, radial), places=2)
self.assertAlmostEqual(0, dot(prograde, normal), places=2)
self.assertAlmostEqual(0, dot(radial, normal), places=2)
def check_speed(self, flight, ref):
up = normalize(vector(self.vessel.position(ref)) -
vector(self.vessel.orbit.body.position(ref)))
v = self.vessel.velocity(ref)
speed = norm(v)
vertical_speed = dot(v, up)
horizontal_speed = math.sqrt(
speed*speed - vertical_speed*vertical_speed)
self.assertAlmostEqual(speed, flight.speed, delta=0.5)
self.assertAlmostEqual(vertical_speed,
flight.vertical_speed, delta=0.5)
self.assertAlmostEqual(horizontal_speed,
flight.horizontal_speed, delta=0.5)
def check_object_surface_velocity(self, obj, ref):
if obj.orbit is not None:
# Check rotational component of velocity same as orbital speed
v = self.space_center.transform_velocity((0, 0, 0), (0, 0, 0), ref,
obj.orbit.body.reference_frame)
#if obj.orbit.inclination == 0:
# self.assertAlmostEqual(0, v[1])
#else:
# self.assertNotAlmostEqual(0, v[1])
angular_velocity = obj.orbit.body.angular_velocity(
obj.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(0, angular_velocity[0])
self.assertAlmostEqual(0, angular_velocity[2])
rotational_speed = dot((0, 1, 0), angular_velocity)
position = list(obj.position(obj.orbit.body.reference_frame))
position[1] = 0
radius = norm(position)
rotational_speed *= radius
#TODO: large error
self.assertAlmostEqual(abs(rotational_speed + obj.orbit.speed), norm(v), delta=200)
def check_object_surface_velocity(self, obj, ref):
if obj.orbit is not None:
# Check rotational component of velocity same as orbital speed
v = self.space_center.transform_velocity(
(0, 0, 0), (0, 0, 0), ref, obj.orbit.body.reference_frame)
# if obj.orbit.inclination == 0:
# self.assertAlmostEqual(0, v[1])
# else:
# self.assertNotAlmostEqual(0, v[1])
angular_velocity = obj.orbit.body.angular_velocity(
obj.orbit.body.non_rotating_reference_frame)
self.assertAlmostEqual(0, angular_velocity[0])
self.assertAlmostEqual(0, angular_velocity[2])
rotational_speed = dot((0, 1, 0), angular_velocity)
position = list(obj.position(obj.orbit.body.reference_frame))
position[1] = 0
radius = norm(position)
rotational_speed *= radius
# TODO: large error
self.assertAlmostEqual(abs(rotational_speed + obj.orbit.speed),
norm(v),
delta=200)
def test_dot(self):
self.assertAlmostEqual(0, dot((1, 0, 0), (0, 1, 0)))
self.assertAlmostEqual(1, dot((1, 0, 0), (1, 0, 0)))
def test_dot(self):
self.assertAlmostEqual(0, dot((1, 0, 0), (0, 1, 0)))
self.assertAlmostEqual(1, dot((1, 0, 0), (1, 0, 0)))
