add fixed time for spice translations, update insight asset to use (#1614)

* add fixed time for spice translations, update insight asset to use

* review cleanup

data/assets/scene/solarsystem/missions/insight/edl.asset

@@ -60,33 +60,118 @@ local legDeployTime = "2018 NOV 26 19:43:06.68" -- entry + 243s
 local landerSeperationTime = "2018 NOV 26 19:44:51.68" -- entry + 348s
 local touchdownTime = "2018 NOV 26 19:45:32.68" -- entry + 389s
 local panelDeployTime = "2018 NOV 26 19:45:33.68" -- entry + 390s
-local foreverTime = "2018 NOV 26 20:17:50.68" -- entry + 2327s
 
 local kernelTouchdownTime = "2018 NOV 26 19:45:32.3"
 local spiceRotationEndTime = "2018 NOV 26 19:51:39"
 
-local InsightParent = {
-  Identifier = "InsightParent",
-  Parent = "MarsBarycenter",
-  Transform = {
-    Translation = {
+local TranslationKeyframes = {
+  ['1850 JAN 01 00:00:00'] = {
       Type = "SpiceTranslation",
       Target = "INSIGHT",
       Observer = "MARS",
-      Frame = "GALACTIC",
-      Kernels = iKernels
+      Frame = "IAU_MARS",
+      Kernels = iKernels,
+      FixedDate = '2018 NOV 26 19:39:03'
+  },
+  ['2018 NOV 26 19:39:02'] = {
+      Type = "SpiceTranslation",
+      Target = "INSIGHT",
+      Observer = "MARS",
+      Frame = "IAU_MARS",
+      Kernels = iKernels,
+      FixedDate = '2018 NOV 26 19:39:03'
+  },
+  ['2018 NOV 26 19:39:03'] = {
+    Type = "SpiceTranslation",
+    Target = "INSIGHT",
+    Observer = "MARS",
+    Frame = "IAU_MARS",
+    Kernels = iKernels
+  },
+  ['2018 NOV 26 19:39:04'] = {
+    Type = "SpiceTranslation",
+    Target = "INSIGHT",
+    Observer = "MARS",
+    Frame = "IAU_MARS",
+    Kernels = iKernels
+  },
+ ['2018 NOV 26 19:45:34'] = {
+    Type = "SpiceTranslation",
+    Target = "INSIGHT",
+    Observer = "MARS",
+    Frame = "IAU_MARS",
+    Kernels = iKernels
+  },
+  ['2018 NOV 26 19:45:35'] = {
+      Type = "SpiceTranslation",
+      Target = "INSIGHT",
+      Observer = "MARS",
+      Frame = "IAU_MARS",
+      Kernels = iKernels,
+      FixedDate = '2018 NOV 26 19:45:34'
+  },
+}
+
+local RotationKeyframes = {
+  ['1850 JAN 01 00:00:00'] = {
+    Type = "SpiceRotation",
+    SourceFrame = "INSIGHT_LANDER_CRUISE",
+    DestinationFrame = "IAU_MARS",
+    FixedDate = '2018 NOV 26 19:39:02',
+    Kernels = iKernels
+  },
+  ['2018 NOV 26 19:39:02'] = {
+    Type = "SpiceRotation",
+    SourceFrame = "INSIGHT_LANDER_CRUISE",
+    DestinationFrame = "IAU_MARS",
+    FixedDate = '2018 NOV 26 19:39:02',
+    Kernels = iKernels
+  },
+  ['2018 NOV 26 19:39:03'] = {
+    Type = "SpiceRotation",
+    SourceFrame = "INSIGHT_LANDER_CRUISE",
+    DestinationFrame = "IAU_MARS",
+    Kernels = iKernels
+  },
+  ['2018 NOV 26 19:39:04'] = {
+    Type = "SpiceRotation",
+    SourceFrame = "INSIGHT_LANDER_CRUISE",
+    DestinationFrame = "IAU_MARS",
+    Kernels = iKernels
+  },
+ ['2018 NOV 26 19:45:34'] = {
+    Type = "SpiceRotation",
+    SourceFrame = "INSIGHT_LANDER_CRUISE",
+    DestinationFrame = "IAU_MARS",
+    Kernels = iKernels
+  },
+  ['2018 NOV 26 19:45:35'] = {
+    Type = "SpiceRotation",
+    SourceFrame = "INSIGHT_LANDER_CRUISE",
+    DestinationFrame = "IAU_MARS",
+    FixedDate = '2018 NOV 26 19:45:34'
+  },
+}
+
+
+local InsightParent = {
+  Identifier = "InsightParent",
+  Parent = "Mars",
+  Transform = {
+    Translation ={
+      Type = "TimelineTranslation",
+      Keyframes = TranslationKeyframes,
     },
     Rotation = {
-      Type = "SpiceRotation",
-      SourceFrame = "INSIGHT_LANDER_CRUISE",
-      DestinationFrame = "GALACTIC"
+      Type = "TimelineRotation",
+      Keyframes = RotationKeyframes,
     }
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = spiceRotationEndTime
-  },
+  -- TimeFrame = {
+  --   Type = "TimeFrameInterval",
+  --   Start = entryTimeStart,
+  --   End = spiceRotationEndTime
+  -- },
   GUI = {
     Hidden = true,
     Name = "InsightParent",
@@ -121,7 +206,6 @@ local Insight_Entry_CapsuleA = {
   },
   TimeFrame = {
     Type = "TimeFrameInterval",
-    Start = entryTimeStart,
     End = landerSeperationTime
   },
   GUI = {
@@ -142,7 +226,6 @@ local Insight_Entry_Capsule_Ring = {
   },
   TimeFrame = {
     Type = "TimeFrameInterval",
-    Start = entryTimeStart,
     End = landerSeperationTime
   },
   GUI = {
@@ -163,7 +246,6 @@ local Insight_Entry_Capsule_Plugs = {
   },
   TimeFrame = {
     Type = "TimeFrameInterval",
-    Start = entryTimeStart,
     End = landerSeperationTime
   },
   GUI = {
@@ -184,7 +266,6 @@ local Insight_Entry_Heatshield = {
   },
   TimeFrame = {
     Type = "TimeFrameInterval",
-    Start = entryTimeStart,
     End = heatShieldSeperationTime
   },
   GUI = {
@@ -329,11 +410,6 @@ local Insight_Lander_A001 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A001",
@@ -350,11 +426,6 @@ local Insight_Lander_A002 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A002",
@@ -371,11 +442,6 @@ local Insight_Lander_A003 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A003",
@@ -392,11 +458,6 @@ local Insight_Lander_A004 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A004",
@@ -413,11 +474,6 @@ local Insight_Lander_A005 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A005",
@@ -434,11 +490,6 @@ local Insight_Lander_A006 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A006",
@@ -455,11 +506,6 @@ local Insight_Lander_A007 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A007",
@@ -476,11 +522,6 @@ local Insight_Lander_A008 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander A008",
@@ -497,11 +538,6 @@ local Insight_Lander_foil1 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander foil",
@@ -518,11 +554,6 @@ local Insight_Lander_Tex01 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander Tex01",
@@ -539,11 +570,6 @@ local Insight_Lander_Tex02 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources,
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight Lander Tex02",
@@ -605,7 +631,6 @@ local Insight_Legs_Deployed_tex = {
   TimeFrame = {
     Type = "TimeFrameInterval",
     Start = legDeployTime,
-    End = foreverTime
   },
   GUI = {
     Hidden = true,
@@ -626,7 +651,6 @@ local Insight_Legs_Deployed_AO06 = {
   TimeFrame = {
     Type = "TimeFrameInterval",
     Start = legDeployTime,
-    End = foreverTime
   },
   GUI = {
     Hidden = true,
@@ -644,11 +668,6 @@ local Insight_Panels_Stowed_tex = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight panels_stow_tex",
@@ -665,11 +684,6 @@ local Insight_Panels_Stowed_tex2 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight panels_stow_tex2",
@@ -686,11 +700,6 @@ local Insight_Panels_Stowed_AO01 = {
     ModelTransform = RotationMatrix,
     LightSources = LightSources
   },
-  TimeFrame = {
-    Type = "TimeFrameInterval",
-    Start = entryTimeStart,
-    End = foreverTime
-  },
   GUI = {
     Hidden = true,
     Name = "Insight panels_stow_AO",
@@ -710,7 +719,6 @@ local Insight_Panels_Deployed_tex = {
   TimeFrame = {
     Type = "TimeFrameInterval",
     Start = panelDeployTime,
-    End = foreverTime
   },
   GUI = {
     Hidden = true,
@@ -731,7 +739,6 @@ local Insight_Panels_Deployed_tex2 = {
   TimeFrame = {
     Type = "TimeFrameInterval",
     Start = panelDeployTime,
-    End = foreverTime
   },
   GUI = {
     Hidden = true,
@@ -752,7 +759,6 @@ local Insight_Panels_Deployed_AO06 = {
   TimeFrame = {
     Type = "TimeFrameInterval",
     Start = panelDeployTime,
-    End = foreverTime
   },
   GUI = {
     Hidden = true,

modules/space/rotation/spicerotation.cpp

@@ -52,6 +52,13 @@ namespace {
         "The time frame in which the spice kernels are valid."
     };
 
+    constexpr openspace::properties::Property::PropertyInfo FixedDateInfo = {
+        "FixedDate",
+        "Fixed Date",
+        "A time to lock the rotation to. Setting this to an empty string will "
+        "unlock the time and return to rotation based on current simulation time."
+    };
+
     struct [[codegen::Dictionary(SpiceRotation)]] Parameters {
         // [[codegen::verbatim(SourceInfo.description)]]
         std::string sourceFrame
@@ -66,6 +73,10 @@ namespace {
         // [[codegen::verbatim(TimeFrameInfo.description)]]
         std::optional<ghoul::Dictionary> timeFrame
             [[codegen::reference("core_time_frame")]];
+
+        // [[codegen::verbatim(FixedDateInfo.description)]]
+        std::optional<std::string> fixedDate
+            [[codegen::annotation("A time to lock the rotation to")]];
     };
 #include "spicerotation_codegen.cpp"
 } // namespace
@@ -79,6 +90,7 @@ documentation::Documentation SpiceRotation::Documentation() {
 SpiceRotation::SpiceRotation(const ghoul::Dictionary& dictionary)
     : _sourceFrame(SourceInfo)
     , _destinationFrame(DestinationInfo)
+    , _fixedDate(FixedDateInfo)
 {
     const Parameters p = codegen::bake<Parameters>(dictionary);
 
@@ -96,6 +108,17 @@ SpiceRotation::SpiceRotation(const ghoul::Dictionary& dictionary)
         }
     }
 
+    _fixedDate.onChange([this]() {
+        if (_fixedDate.value().empty()) {
+            _fixedEphemerisTime = std::nullopt;
+        }
+        else {
+            _fixedEphemerisTime = SpiceManager::ref().ephemerisTimeFromDate(_fixedDate);
+        }
+    });
+    _fixedDate = p.fixedDate.value_or(_fixedDate);
+    addProperty(_fixedDate);
+
     if (dictionary.hasKey(TimeFrameInfo.identifier)) {
         ghoul::Dictionary timeFrameDictionary =
             dictionary.value<ghoul::Dictionary>(TimeFrameInfo.identifier);
@@ -111,16 +134,21 @@ SpiceRotation::SpiceRotation(const ghoul::Dictionary& dictionary)
 
     _sourceFrame.onChange([this]() { requireUpdate(); });
     _destinationFrame.onChange([this]() { requireUpdate(); });
+
 }
 
 glm::dmat3 SpiceRotation::matrix(const UpdateData& data) const {
     if (_timeFrame && !_timeFrame->isActive(data.time)) {
         return glm::dmat3(1.0);
     }
+    double time = data.time.j2000Seconds();
+    if (_fixedEphemerisTime.has_value()) {
+        time = *_fixedEphemerisTime;
+    }
     return SpiceManager::ref().positionTransformMatrix(
         _sourceFrame,
         _destinationFrame,
-        data.time.j2000Seconds()
+        time
     );
 }
 

modules/space/rotation/spicerotation.h

@@ -29,6 +29,7 @@
 
 #include <openspace/properties/stringproperty.h>
 #include <openspace/scene/timeframe.h>
+#include <optional>
 
 namespace openspace {
 
@@ -46,7 +47,10 @@ public:
 private:
     properties::StringProperty _sourceFrame;
     properties::StringProperty _destinationFrame;
+    properties::StringProperty _fixedDate;
+
     ghoul::mm_unique_ptr<TimeFrame> _timeFrame;
+    std::optional<double> _fixedEphemerisTime;
 };
 
 } // namespace openspace

modules/space/translation/spicetranslation.cpp

@@ -62,6 +62,13 @@ namespace {
         "should be retrieved. The default value is GALACTIC."
     };
 
+    constexpr openspace::properties::Property::PropertyInfo FixedDateInfo = {
+        "FixedDate",
+        "Fixed Date",
+        "A time to lock the position to. Setting this to an empty string will "
+        "unlock the time and return to position based on current simulation time."
+    };
+
     struct [[codegen::Dictionary(SpiceTranslation)]] Parameters {
         // [[codegen::verbatim(TargetInfo.description)]]
         std::string target
@@ -74,6 +81,9 @@ namespace {
         std::optional<std::string> frame
             [[codegen::annotation("A valid SPICE NAIF name for a reference frame")]];
 
+        std::optional<std::string> fixedDate
+            [[codegen::annotation("A date to lock the position to")]];
+
         // A single kernel or list of kernels that this SpiceTranslation depends on. All
         // provided kernels will be loaded before any other operation is performed
         std::optional<std::variant<std::vector<std::string>, std::string>> kernels;
@@ -92,6 +102,7 @@ SpiceTranslation::SpiceTranslation(const ghoul::Dictionary& dictionary)
     , _observer(ObserverInfo)
     , _frame(FrameInfo, DefaultReferenceFrame)
     , _cachedFrame(DefaultReferenceFrame)
+    , _fixedDate(FixedDateInfo)
 {
     const Parameters p = codegen::bake<Parameters>(dictionary);
 
@@ -142,6 +153,17 @@ SpiceTranslation::SpiceTranslation(const ghoul::Dictionary& dictionary)
     });
     addProperty(_frame);
 
+    _fixedDate.onChange([this]() {
+        if (_fixedDate.value().empty()) {
+            _fixedEphemerisTime = std::nullopt;
+        }
+        else {
+            _fixedEphemerisTime = SpiceManager::ref().ephemerisTimeFromDate(_fixedDate);
+        }
+    });
+    _fixedDate = p.fixedDate.value_or(_fixedDate);
+    addProperty(_fixedDate);
+
     _target = p.target;
     _observer = p.observer;
     _frame = p.frame.value_or(_frame);
@@ -149,12 +171,17 @@ SpiceTranslation::SpiceTranslation(const ghoul::Dictionary& dictionary)
 
 glm::dvec3 SpiceTranslation::position(const UpdateData& data) const {
     double lightTime = 0.0;
+
+    double time = data.time.j2000Seconds();
+    if (_fixedEphemerisTime.has_value()) {
+        time = *_fixedEphemerisTime;
+    }
     return SpiceManager::ref().targetPosition(
         _cachedTarget,
         _cachedObserver,
         _cachedFrame,
         {},
-        data.time.j2000Seconds(),
+        time,
         lightTime
     ) * 1000.0;
 }

modules/space/translation/spicetranslation.h

@@ -28,6 +28,7 @@
 #include <openspace/scene/translation.h>
 
 #include <openspace/properties/stringproperty.h>
+#include <optional>
 
 namespace openspace {
 
@@ -43,6 +44,7 @@ private:
     properties::StringProperty _target;
     properties::StringProperty _observer;
     properties::StringProperty _frame;
+    properties::StringProperty _fixedDate;
 
     // We are accessing these values every frame and when retrieving a string from the
     // StringProperty, it allocates some new memory, which we want to prevent. Until the
@@ -51,6 +53,7 @@ private:
     std::string _cachedTarget;
     std::string _cachedObserver;
     std::string _cachedFrame;
+    std::optional<double> _fixedEphemerisTime;
 
     glm::dvec3 _position = glm::dvec3(0.0);
 };

src/util/spicemanager.cpp

@@ -1362,11 +1362,31 @@ scripting::LuaLibrary SpiceManager::luaLibrary() {
             },
             {
                 "getCkCoverage",
-                & luascriptfunctions::ckCoverage,
+                &luascriptfunctions::ckCoverage,
                 {},
                 "{string [, printValues]}",
                 "Returns a list of CK coverage intervals for the target."
             },
+            {
+                "rotationMatrix",
+                &luascriptfunctions::rotationMatrix,
+                {},
+                "{string, string, string}",
+                "Returns the rotationMatrix for a given body in a frame of reference at a specific"
+                "time. The first agument is the target body, the second is the frame of reference,"
+                " the third is the time. Example: openspace.spice.rotationMatrix('"
+                "INSIGHT_LANDER_CRUISE','MARS', '2018 NOV 26 19:45:34')."
+            },
+            {
+                "position",
+                &luascriptfunctions::position,
+                {},
+                "{string, string, string, string}",
+                "Returns the position for a target by an observer in a frame of reference at a specific"
+                "time. The first agument is the target body, the second is the observer body, the third"
+                "is the frame of reference, and the fourth is the time. Example: openspace.spice."
+                "position('INSIGHT','MARS','GALACTIC', '2018 NOV 26 19:45:34')."
+            },
             {
                 "getSpiceBodies",
                 &luascriptfunctions::spiceBodies,

src/util/spicemanager_lua.inl

@@ -231,4 +231,76 @@ int ckCoverage(lua_State* L) {
     return 1;
 }
 
+/**
+ * rotationMatrix({string, string, string}):
+ * Returns the rotationMatrix for a given body in a frame of reference
+ * at a specific time.
+ */
+int rotationMatrix(lua_State* L) {
+    ghoul::lua::checkArgumentsAndThrow(L, 3, "lua::rotationMatrix");
+
+    const bool isString = (lua_isstring(L, 1) == 1) &&
+        (lua_isstring(L, 2) == 1) && (lua_isstring(L, 3) == 1);
+
+    if (!isString) {
+        LERRORC(
+            "rotationMatrix",
+            fmt::format(
+                "{}: Expected argument of type 'string' for all three agruments",
+                ghoul::lua::errorLocation(L)
+            )
+        );
+        lua_settop(L, 0);
+        ghoul_assert(lua_gettop(L) == 0, "Incorrect number of items left on stack");
+        return 0;
+    }
+
+    std::string body = ghoul::lua::value<std::string>(L, 1);
+    std::string frame = ghoul::lua::value<std::string>(L, 2);
+    std::string date = ghoul::lua::value<std::string>(L, 3);
+    const double ephemerisTime = SpiceManager::ref().ephemerisTimeFromDate(date);
+    glm::dmat3 rotationMatrix = SpiceManager::ref().frameTransformationMatrix
+    (body, frame, ephemerisTime);
+    ghoul::lua::push(L, 1, rotationMatrix);
+
+    return 1;
+}
+
+/**
+ * position({string, string, string, string}):
+ * Returns the position for a given body relative to another body, 
+ * in a given frame of reference, at a specific time.
+ */
+int position(lua_State* L) {
+    ghoul::lua::checkArgumentsAndThrow(L, 4, "lua::position");
+
+    const bool isString = (lua_isstring(L, 1) == 1) &&
+        (lua_isstring(L, 2) == 1) &&
+        (lua_isstring(L, 3) == 1) &&
+        (lua_isstring(L, 4) == 1);
+
+    if (!isString) {
+        LERRORC(
+            "position",
+            fmt::format(
+                "{}: Expected argument of type 'string' for all four agruments",
+                ghoul::lua::errorLocation(L)
+            )
+        );
+        lua_settop(L, 0);
+        ghoul_assert(lua_gettop(L) == 0, "Incorrect number of items left on stack");
+        return 0;
+    }
+
+    std::string target = ghoul::lua::value<std::string>(L, 1);
+    std::string observer = ghoul::lua::value<std::string>(L, 2);
+    std::string frame = ghoul::lua::value<std::string>(L, 3);
+    std::string date = ghoul::lua::value<std::string>(L, 4);
+    const double ephemerisTime = SpiceManager::ref().ephemerisTimeFromDate(date);
+    glm::dvec3 postion = SpiceManager::ref().targetPosition(target, observer, frame, {}, ephemerisTime);
+    ghoul::lua::push(L, 1, postion);
+
+    return 1;
+}
+
 } // namespace openspace::luascriptfunctions