Merge pull request #1562 from pleroy/1561

Move the code that extends the prediction to Renderer
mockingbirdnest · Sep 21, 2017 · 6c7b951 · 6c7b951
2 parents 6ab31e2 + fe13210
commit 6c7b951
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Showing 13 changed files with 146 additions and 132 deletions.
diff --git a/ksp_plugin/interface.cpp b/ksp_plugin/interface.cpp
@@ -792,14 +792,6 @@ void principia__SetPartApparentDegreesOfFreedom(Plugin* const plugin,
   return m.Return();
 }
 
-void principia__SetPredictionLength(Plugin* const plugin,
-                                    double const t) {
-  journal::Method<journal::SetPredictionLength> m({plugin, t});
-  CHECK_NOTNULL(plugin);
-  plugin->SetPredictionLength(t * Second);
-  return m.Return();
-}
-
 // Make it so that all log messages of at least |min_severity| are logged to
 // stderr (in addition to logging to the usual log file(s)).
 void principia__SetStderrLogging(int const min_severity) {

diff --git a/ksp_plugin/interface_vessel.cpp b/ksp_plugin/interface_vessel.cpp
@@ -70,9 +70,9 @@ void principia__VesselSetPredictionAdaptiveStepParameters(
   journal::Method<journal::VesselSetPredictionAdaptiveStepParameters> m(
       {plugin, vessel_guid, adaptive_step_parameters});
   CHECK_NOTNULL(plugin);
-  plugin->GetVessel(vessel_guid)
-      ->set_prediction_adaptive_step_parameters(
-          FromAdaptiveStepParameters(adaptive_step_parameters));
+  plugin->SetPredictionAdaptiveStepParameters(
+      vessel_guid,
+      FromAdaptiveStepParameters(adaptive_step_parameters));
   return m.Return();
 }
 

diff --git a/ksp_plugin/plugin.cpp b/ksp_plugin/plugin.cpp
@@ -51,6 +51,7 @@ namespace principia {
 namespace ksp_plugin {
 namespace internal_plugin {
 
+using astronomy::InfiniteFuture;
 using astronomy::ParseTT;
 using astronomy::KSPStockSystemFingerprint;
 using astronomy::KSPStabilizedSystemFingerprint;
@@ -680,10 +681,25 @@ RelativeDegreesOfFreedom<AliceSun> Plugin::CelestialFromParent(
   return result;
 }
 
+void Plugin::SetPredictionAdaptiveStepParameters(
+    GUID const& vessel_guid,
+    Ephemeris<Barycentric>::AdaptiveStepParameters const&
+        prediction_adaptive_step_parameters) const {
+  // If there is a target vessel, it is integrated with the same parameters as
+  // the given (current) vessel.  This makes it possible to plot the prediction
+  // of the current vessel.
+  if (renderer_->HasTargetVessel()) {
+    renderer_->GetTargetVessel().set_prediction_adaptive_step_parameters(
+        prediction_adaptive_step_parameters);
+  }
+  FindOrDie(vessels_, vessel_guid)
+      ->set_prediction_adaptive_step_parameters(
+          prediction_adaptive_step_parameters);
+}
+
 void Plugin::UpdatePrediction(GUID const& vessel_guid) const {
   CHECK(!initializing_);
-  FindOrDie(vessels_, vessel_guid)->UpdatePrediction(
-      current_time_ + prediction_length_);
+  FindOrDie(vessels_, vessel_guid)->UpdatePrediction(InfiniteFuture);
 }
 
 void Plugin::CreateFlightPlan(GUID const& vessel_guid,
@@ -730,11 +746,10 @@ void Plugin::ComputeAndRenderClosestApproaches(
     Position<World> const& sun_world_position,
     std::unique_ptr<DiscreteTrajectory<World>>& closest_approaches) const {
   CHECK(renderer_->HasTargetVessel());
-  UpdatePredictionForRendering(begin.trajectory()->Size());
 
   DiscreteTrajectory<Barycentric> apoapsides_trajectory;
   DiscreteTrajectory<Barycentric> periapsides_trajectory;
-  ComputeApsides(renderer_->GetTargetVessel().prediction(),
+  ComputeApsides(renderer_->GetTargetVesselPrediction(current_time_),
                  begin,
                  end,
                  apoapsides_trajectory,
@@ -754,10 +769,6 @@ void Plugin::ComputeAndRenderNodes(
     Position<World> const& sun_world_position,
     std::unique_ptr<DiscreteTrajectory<World>>& ascending,
     std::unique_ptr<DiscreteTrajectory<World>>& descending) const {
-  if (renderer_->HasTargetVessel()) {
-    UpdatePredictionForRendering(begin.trajectory()->Size());
-  }
-
   auto const trajectory_in_plotting =
       renderer_->RenderBarycentricTrajectoryInPlotting(begin, end);
   DiscreteTrajectory<Navigation> ascending_trajectory;
@@ -782,10 +793,6 @@ void Plugin::ComputeAndRenderNodes(
                    PlanetariumRotation());
 }
 
-void Plugin::SetPredictionLength(Time const& t) {
-  prediction_length_ = t;
-}
-
 void Plugin::SetPredictionAdaptiveStepParameters(
     Ephemeris<Barycentric>::AdaptiveStepParameters const&
         prediction_adaptive_step_parameters) {
@@ -873,11 +880,6 @@ void Plugin::SetTargetVessel(GUID const& vessel_guid,
   not_null<Celestial const*> const celestial =
       FindOrDie(celestials_, reference_body_index).get();
   not_null<Vessel*> const vessel = FindOrDie(vessels_, vessel_guid).get();
-  // Make sure that the current time is covered by the prediction.
-  if (current_time_ > vessel->prediction().t_max()) {
-    vessel->UpdatePrediction(current_time_ + prediction_length_);
-  }
-
   renderer_->SetTargetVessel(vessel, celestial, ephemeris_.get());
 }
 
@@ -1255,15 +1257,6 @@ void Plugin::UpdatePlanetariumRotation() {
       to_planetarium;
 }
 
-void Plugin::UpdatePredictionForRendering(std::int64_t const size) const {
-  auto& vessel = renderer_->GetTargetVessel();
-  auto parameters = vessel.prediction_adaptive_step_parameters();
-  // Adding one to ensure that we set a strictly positive max_steps.
-  parameters.set_max_steps(size + 1);
-  vessel.set_prediction_adaptive_step_parameters(parameters);
-  vessel.UpdatePrediction(current_time_ + prediction_length_);
-}
-
 Velocity<World> Plugin::VesselVelocity(
     Instant const& time,
     DegreesOfFreedom<Barycentric> const& degrees_of_freedom) const {

diff --git a/ksp_plugin/plugin.hpp b/ksp_plugin/plugin.hpp
@@ -278,6 +278,11 @@ class Plugin {
   virtual RelativeDegreesOfFreedom<AliceSun> CelestialFromParent(
       Index celestial_index) const;
 
+  virtual void SetPredictionAdaptiveStepParameters(
+      GUID const& vessel_guid,
+      Ephemeris<Barycentric>::AdaptiveStepParameters const&
+          prediction_adaptive_step_parameters) const;
+
   // Updates the prediction for the vessel with guid |vessel_guid|.
   void UpdatePrediction(GUID const& vessel_guid) const;
 
@@ -312,8 +317,6 @@ class Plugin {
       std::unique_ptr<DiscreteTrajectory<World>>& ascending,
       std::unique_ptr<DiscreteTrajectory<World>>& descending) const;
 
-  virtual void SetPredictionLength(Time const& t);
-
   virtual void SetPredictionAdaptiveStepParameters(
       Ephemeris<Barycentric>::AdaptiveStepParameters const&
           prediction_adaptive_step_parameters);
@@ -406,10 +409,6 @@ class Plugin {
   // whenever |main_body_| or |planetarium_rotation_| changes.
   void UpdatePlanetariumRotation();
 
-  // NOTE(egg): this is an ugly hack to try to get a long enough trajectory
-  // while retaining a timeout.
-  void UpdatePredictionForRendering(std::int64_t size) const;
-
   Velocity<World> VesselVelocity(
       Instant const& time,
       DegreesOfFreedom<Barycentric> const& degrees_of_freedom) const;
@@ -455,7 +454,6 @@ class Plugin {
   Ephemeris<Barycentric>::FixedStepParameters history_parameters_;
   Ephemeris<Barycentric>::AdaptiveStepParameters prolongation_parameters_;
   Ephemeris<Barycentric>::AdaptiveStepParameters prediction_parameters_;
-  Time prediction_length_ = 1 * Hour;
 
   // The thread pool for advancing vessels.
   ThreadPool<void> vessel_thread_pool_;

diff --git a/ksp_plugin/renderer.cpp b/ksp_plugin/renderer.cpp
@@ -1,6 +1,8 @@
 
 #include "ksp_plugin/renderer.hpp"
 
+#include <algorithm>
+
 #include "geometry/grassmann.hpp"
 #include "geometry/named_quantities.hpp"
 #include "physics/apsides.hpp"
@@ -40,7 +42,6 @@ void Renderer::SetTargetVessel(
     not_null<Vessel*> const vessel,
     not_null<Celestial const*> const celestial,
     not_null<Ephemeris<Barycentric> const*> const ephemeris) {
-  CHECK(!vessel->prediction().Empty());
   if (!target_ ||
       target_->vessel != vessel ||
       target_->celestial != celestial) {
@@ -72,6 +73,16 @@ Vessel const& Renderer::GetTargetVessel() const {
   return *target_->vessel;
 }
 
+DiscreteTrajectory<Barycentric> const& Renderer::GetTargetVesselPrediction(
+    Instant const& time) const {
+  CHECK(target_);
+  target_->vessel->UpdatePrediction(time);
+  // The prediction may not have been prolonged to |time| if we are near a
+  // singularity.
+  CHECK_LE(time, target_->vessel->prediction().last().time());
+  return target_->vessel->prediction();
+}
+
 not_null<std::unique_ptr<DiscreteTrajectory<World>>>
 Renderer::RenderBarycentricTrajectoryInWorld(
     Instant const& time,
@@ -94,20 +105,22 @@ not_null<std::unique_ptr<DiscreteTrajectory<Navigation>>>
 Renderer::RenderBarycentricTrajectoryInPlotting(
     DiscreteTrajectory<Barycentric>::Iterator const& begin,
     DiscreteTrajectory<Barycentric>::Iterator const& end) const {
-  CHECK(!target_ || !target_->vessel->prediction().Empty());
-
   auto trajectory = make_not_null_unique<DiscreteTrajectory<Navigation>>();
+  if (target_ && begin != end) {
+    auto last = end;
+    --last;
+    target_->vessel->UpdatePrediction(last.time());
+  }
   for (auto it = begin; it != end; ++it) {
+    Instant const& t = it.time();
     if (target_) {
-      if (it.time() < target_->vessel->prediction().t_min()) {
+      if (t < target_->vessel->prediction().t_min()) {
         continue;
-      } else if (it.time() > target_->vessel->prediction().t_max()) {
+      } else if (t > target_->vessel->prediction().t_max()) {
         break;
       }
     }
-    trajectory->Append(
-        it.time(),
-        BarycentricToPlotting(it.time())(it.degrees_of_freedom()));
+    trajectory->Append(t, BarycentricToPlotting(t)(it.degrees_of_freedom()));
   }
   return trajectory;
 }
@@ -158,7 +171,7 @@ Renderer::RenderPlottingTrajectoryInWorld(
 
 RigidMotion<Barycentric, Navigation> Renderer::BarycentricToPlotting(
     Instant const& time) const {
-  return GetPlottingFrame()->ToThisFrameAtTime(time);
+  return GetPlottingFrame(time)->ToThisFrameAtTime(time);
 }
 
 RigidTransformation<Barycentric, World> Renderer::BarycentricToWorld(
@@ -187,7 +200,6 @@ OrthogonalMap<Frenet<Navigation>, World> Renderer::FrenetToWorld(
     NavigationManœuvre const& manœuvre,
     Rotation<Barycentric, AliceSun> const& planetarium_rotation) const {
   Instant const initial_time = manœuvre.initial_time();
-  NavigationFrame const& plotting_frame = *GetPlottingFrame();
   return PlottingToWorld(time, planetarium_rotation) *
          BarycentricToPlotting(initial_time).orthogonal_map() *
          manœuvre.FrenetFrame();
@@ -204,8 +216,9 @@ OrthogonalMap<Frenet<Navigation>, World> Renderer::FrenetToWorld(
       BarycentricToPlotting(time)(barycentric_degrees_of_freedom);
   Rotation<Frenet<Navigation>, Navigation> const
       frenet_frame_to_plotting_frame =
-          GetPlottingFrame()->FrenetFrame(time,
-                                          plotting_frame_degrees_of_freedom);
+          GetPlottingFrame(time)->FrenetFrame(
+              time,
+              plotting_frame_degrees_of_freedom);
 
   return PlottingToWorld(time, planetarium_rotation) *
          frenet_frame_to_plotting_frame.Forget();
@@ -230,15 +243,16 @@ OrthogonalMap<Frenet<Navigation>, World> Renderer::FrenetToWorld(
 
 OrthogonalMap<Navigation, Barycentric> Renderer::PlottingToBarycentric(
     Instant const& time) const {
-  return GetPlottingFrame()->FromThisFrameAtTime(time).orthogonal_map();
+  return GetPlottingFrame(time)->FromThisFrameAtTime(time).orthogonal_map();
 }
 
 RigidTransformation<Navigation, World> Renderer::PlottingToWorld(
     Instant const& time,
     Position<World> const& sun_world_position,
     Rotation<Barycentric, AliceSun> const& planetarium_rotation) const {
   return BarycentricToWorld(time, sun_world_position, planetarium_rotation) *
-         GetPlottingFrame()->FromThisFrameAtTime(time).rigid_transformation();
+         GetPlottingFrame(time)->
+             FromThisFrameAtTime(time).rigid_transformation();
 }
 
 OrthogonalMap<Navigation, World> Renderer::PlottingToWorld(
@@ -293,9 +307,17 @@ Renderer::Target::Target(
       target_frame(
           make_not_null_unique<
               BodyCentredBodyDirectionDynamicFrame<Barycentric, Navigation>>(
-                  ephemeris,
-                  [this]() -> auto& { return this->vessel->prediction(); },
-                  celestial->body())) {}
+              ephemeris,
+              [this]() -> auto& { return this->vessel->prediction(); },
+              celestial->body())) {}
+
+not_null<NavigationFrame const*> Renderer::GetPlottingFrame(
+    Instant const& time) const {
+  if (target_) {
+    GetTargetVesselPrediction(time);
+  }
+  return GetPlottingFrame();
+}
 
 }  // namespace internal_renderer
 }  // namespace ksp_plugin

diff --git a/ksp_plugin/renderer.hpp b/ksp_plugin/renderer.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <experimental/optional>
+#include <functional>
 #include <memory>
 
 #include "base/not_null.hpp"
@@ -48,8 +49,7 @@ class Renderer {
   virtual not_null<NavigationFrame const*> GetPlottingFrame() const;
 
   // Overrides the current plotting frame with one that is centred on the given
-  // |vessel|.  When using the operations below with a target vessel, the client
-  // must ensure that the |time| is covered by the vessel's prediction.
+  // |vessel|.
   virtual void SetTargetVessel(
       not_null<Vessel*> vessel,
       not_null<Celestial const*> celestial,
@@ -65,6 +65,11 @@ class Renderer {
   virtual Vessel& GetTargetVessel();
   virtual Vessel const& GetTargetVessel() const;
 
+  // If there is a target vessel, returns its prediction after extending it up
+  // to |time|.
+  virtual DiscreteTrajectory<Barycentric> const& GetTargetVesselPrediction(
+      Instant const& time) const;
+
   // Returns a trajectory in |World| corresponding to the trajectory defined by
   // |begin| and |end|, as seen in the current plotting frame.  In this function
   // and others in this class, |sun_world_position| is the current position of
@@ -165,10 +170,6 @@ class Renderer {
       not_null<Ephemeris<Barycentric> const*> ephemeris);
 
  private:
-  not_null<Celestial const*> const sun_;
-
-  not_null<std::unique_ptr<NavigationFrame>> plotting_frame_;
-
   struct Target {
     Target(not_null<Vessel*> vessel,
            not_null<Celestial const*> celestial,
@@ -177,6 +178,15 @@ class Renderer {
     not_null<Celestial const*> const celestial;
     not_null<std::unique_ptr<NavigationFrame>> const target_frame;
   };
+
+  // Returns a plotting frame suitable for evaluation at |time|, possibly by
+  // extending the prediction if there is a target vessel.
+  not_null<NavigationFrame const*> GetPlottingFrame(Instant const& time) const;
+
+  not_null<Celestial const*> const sun_;
+
+  not_null<std::unique_ptr<NavigationFrame>> plotting_frame_;
+
   std::experimental::optional<Target> target_;
 };
 

diff --git a/ksp_plugin/vessel.cpp b/ksp_plugin/vessel.cpp
@@ -229,9 +229,17 @@ void Vessel::DeleteFlightPlan() {
 }
 
 void Vessel::UpdatePrediction(Instant const& last_time) {
-  prediction_ = make_not_null_unique<DiscreteTrajectory<Barycentric>>();
-  auto const last = psychohistory_->last();
-  prediction_->Append(last.time(), last.degrees_of_freedom());
+  // TODO(phl): The prediction should probably be a fork of the psychohistory.
+  auto const psychohistory_last = psychohistory_->last();
+  auto const prediction_begin = prediction_->Begin();
+  if (prediction_->Empty() ||
+      prediction_begin.time() != psychohistory_last.time() ||
+      prediction_begin.degrees_of_freedom() !=
+          psychohistory_last.degrees_of_freedom()) {
+    prediction_ = make_not_null_unique<DiscreteTrajectory<Barycentric>>();
+    prediction_->Append(psychohistory_last.time(),
+                        psychohistory_last.degrees_of_freedom());
+  }
   FlowPrediction(last_time);
 }
 

diff --git a/ksp_plugin_adapter/ksp_plugin_adapter.cs b/ksp_plugin_adapter/ksp_plugin_adapter.cs
@@ -928,7 +928,6 @@ private void FixedUpdate() {
                       prediction_length_tolerance_index_]};
         plugin_.VesselSetPredictionAdaptiveStepParameters(
             main_vessel.id.ToString(), adaptive_step_parameters);
-        plugin_.SetPredictionLength(double.PositiveInfinity);
         plugin_.UpdatePrediction(main_vessel.id.ToString());
         string target_id =
             FlightGlobals.fetch.VesselTarget?.GetVessel()?.id.ToString();
@@ -944,7 +943,7 @@ private void FixedUpdate() {
       // TODO(egg): Set the degrees of freedom of the origin of |World| (by
       // toying with Krakensbane and FloatingOrigin) here.
 
-      // Now we let the game and Unity do their thing. among other things,
+      // Now we let the game and Unity do their thing.  Among other things,
       // the FashionablyLate callbacks, including ReportNonConservativeForces,
       // then the FlightIntegrator's FixedUpdate will run, then the Vessel's,
       // and eventually the physics simulation.