{"id":279021,"date":"2016-04-25T18:05:04","date_gmt":"2016-04-25T14:05:04","guid":{"rendered":"http:\/\/savepearlharbor.com\/?p=279021"},"modified":"-0001-11-30T00:00:00","modified_gmt":"-0001-11-29T21:00:00","slug":"","status":"publish","type":"post","link":"https:\/\/savepearlharbor.com\/?p=279021","title":{"rendered":"\u041f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u043e\u0432 \u0420\u043e\u0434\u0440\u0438\u0433\u0430-\u0413\u0430\u043c\u0438\u043b\u044c\u0442\u043e\u043d\u0430 \u0432 \u0437\u0430\u0434\u0430\u0447\u0430\u0445 \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u043f\u043e\u043b\u0435\u0442\u0430 \u041b\u0410"},"content":{"rendered":"<p>       \u041f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u043e\u0432 \u0420\u043e\u0434\u0440\u0438\u0433\u0430-\u0413\u0430\u043c\u0438\u043b\u044c\u0442\u043e\u043d\u0430 \u0432 \u0437\u0430\u0434\u0430\u0447\u0430\u0445 \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u043f\u043e\u043b\u0435\u0442\u0430 \u041b\u0410.<br \/>  \u0420\u0435\u0430\u043b\u0438\u0437\u0430\u0446\u0438\u044f \u0432 \u043a\u043e\u0434\u0435.<a name=\"habracut\"><\/a><\/p>\n<p>  \u0412\u0440\u0435\u043c\u044f \u043f\u043e\u0448\u043b\u043e. \u0412 \u0438\u043d\u0442\u0435\u0440\u043d\u0435\u0442\u0435 \u043c\u043e\u0436\u043d\u043e \u043d\u0430\u0439\u0442\u0438 \u043d\u0435\u043c\u0430\u043b\u043e \u043e\u043f\u0438\u0441\u0430\u043d\u0438\u0439 \u0442\u043e\u0433\u043e, \u0447\u0442\u043e \u0442\u0430\u043a\u043e\u0435 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u044b \u0420\u043e\u0434\u0440\u0438\u0433\u043e-\u0413\u0430\u043c\u0438\u043b\u044c\u0442\u043e\u043d\u0430, \u043e\u0442\u043a\u0443\u0434\u0430 \u043e\u043d\u0438 \u0432\u0437\u044f\u043b\u0438\u0441\u044c \u0438 \u0434\u043b\u044f \u0447\u0435\u0433\u043e \u043d\u0443\u0436\u043d\u044b. \u0412\u043c\u0435\u0441\u0442\u0435 \u0441 \u044d\u0442\u0438\u043c \u0432\u0430\u043c \u043f\u0440\u0435\u0434\u043b\u043e\u0436\u0430\u0442 \u0443\u0437\u043d\u0430\u0442\u044c, \u0447\u0442\u043e \u0442\u0430\u043a\u043e\u0435 \u043a\u0432\u0430\u0442\u0435\u0440\u043d\u0438\u043e\u043d\u044b, \u0433\u0438\u043f\u0435\u0440\u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u043d\u044b\u0435 \u0447\u0438\u0441\u043b\u0430 \u0438 \u043a\u0430\u043a \u0438\u0445 \u043c\u043e\u0436\u043d\u043e \u0432\u044b\u0432\u0435\u0441\u0442\u0438. \u0417\u0434\u0435\u0441\u044c \u043e\u043f\u0438\u0441\u0430\u043d\u043e, \u043a\u0430\u043a \u043f\u0440\u0438\u043c\u0435\u043d\u0438\u0442\u044c \u0438\u0445 \u043d\u0430 \u043f\u0440\u0430\u043a\u0442\u0438\u043a\u0435 \u0432 \u0437\u0430\u0434\u0430\u0447\u0430\u0445 \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u043f\u043e\u043b\u0435\u0442\u0430. \u041d\u0438\u0436\u0435 \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u043b\u0435\u043d \u0444\u0440\u0430\u0433\u043c\u0435\u043d\u0442 \u043a\u043e\u0434\u0430 \u043d\u0430 \u044f\u0437\u044b\u043a\u0435 Java:<\/p>\n<pre><code class=\"java\">\/\/\u0432\u044b\u0447\u0438\u0441\u043b\u0435\u043d\u0438\u0435 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u043e\u0432 \u0420\u043e\u0434\u0440\u0438\u0433\u043e-\u0413\u0430\u043c\u0438\u043b\u044c\u0442\u043e\u043d\u0430 \u043f\u043e \u0443\u0433\u043b\u0430\u043c \u042d\u0439\u043b\u0435\u0440\u0430:         double \u03c1rg = Math.cos(psi \/ 2) * Math.cos(fi \/ 2) * Math.cos(gam \/ 2) + Math.sin(psi \/ 2) * Math.sin(fi \/ 2) * Math.sin(gam \/ 2);\/\/- \u043a\u043b\u0438\u0448\u0438\u043d         double \u03bbrg = Math.cos(psi \/ 2) * Math.cos(fi \/ 2) * Math.sin(gam \/ 2) - Math.sin(psi \/ 2) * Math.sin(fi \/ 2) * Math.cos(gam \/ 2);\/\/+         double \u03bcrg = Math.sin(psi \/ 2) * Math.cos(fi \/ 2) * Math.cos(gam \/ 2) + Math.cos(psi \/ 2) * Math.sin(fi \/ 2) * Math.sin(gam \/ 2);         double Vrg = Math.cos(psi \/ 2) * Math.sin(fi \/ 2) * Math.cos(gam \/ 2) - Math.sin(psi \/ 2) * Math.cos(fi \/ 2) * Math.sin(gam \/ 2);          \/\/\u041d\u043e\u0440\u043c\u0438\u0440\u043e\u0432\u043a\u0430. \u041c\u043e\u0434\u0443\u043b\u044c \u0432\u0435\u043a\u0442\u043e\u0440\u0430 \u0432 4-\u0445 \u043c\u0435\u0440\u043d\u043e\u043c \u043f\u0440\u043e\u0441\u0442\u0440\u0430\u043d\u0441\u0442\u0432\u0435 \u0434\u043b\u044f \u043d\u043e\u0440\u043c\u0438\u0440\u043e\u0432\u043a\u0438:          double norm = Math.sqrt(\u03c1rg*\u03c1rg+\u03bbrg*\u03bbrg+\u03bcrg*\u03bcrg+Vrg*Vrg); \/\/\u043d\u043e\u0440\u043c\u0438\u0440\u043e\u0432\u043a\u0430 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u043e\u0432:         double[] rg = {\u03c1rg\/norm, \u03bbrg\/norm, \u03bcrg\/norm, Vrg\/norm);          \u03c1rg = rg[0];         \u03bbrg = rg[1];         \u03bcrg = rg[2];         Vrg = rg[3]; \/\/\u0432\u044b\u0447\u0438\u0441\u043b\u0435\u043d\u0438\u0435 \u043f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u043d\u044b\u0445 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u043e\u0432 \u0420\u0413         double \u03c1rgt = -dt*(Rocket.w[0]*\u03bbrg+Rocket.w[1]*\u03bcrg+Rocket.w[2]*Vrg)\/2;         double \u03bbrgt = dt*(Rocket.w[0]*\u03c1rg -Rocket.w[1]*Vrg +Rocket.w[2]*\u03bcrg)\/2;         double \u03bcrgt = dt*(Rocket.w[0]*Vrg -Rocket.w[1]*\u03c1rg -Rocket.w[2]*\u03bbrg)\/2;          double Vrgt = dt*(-Rocket.w[0]*\u03bcrg +Rocket.w[1]*\u03bbrg+Rocket.w[2]*\u03c1rg)\/2; \/\/\u0438\u043d\u0442\u0435\u0433\u0440\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 (\u043c\u0435\u0442\u043e\u0434 \u042d\u0439\u043b\u0435\u0440\u0430):         \u03c1rg = \u03c1rg+\u03c1rgt;         \u03bbrg = \u03bbrg+\u03bbrgt;         \u03bcrg = \u03bcrg+\u03bcrgt;         Vrg = Vrg+Vrgt;  \/\/\u0443\u0433\u043b\u044b \u042d\u0439\u043b\u0435\u0440\u0430 \u043d\u0430 \u043d\u043e\u0432\u043e\u043c \u0448\u0430\u0433\u0435         fi = Math.asin(2 * (\u03c1rg * Vrg + \u03bbrg * \u03bcrg)); \/\/\u0443\u0433\u043e\u043b \u0442\u0430\u043d\u0433\u0430\u0436\u0430         gam = Math.atan(2 * (\u03c1rg * \u03bbrg - Vrg * \u03bcrg) \/ (Math.pow(\u03c1rg, 2) + Math.pow(\u03bcrg, 2) - Math.pow(Vrg, 2) - Math.pow(\u03bbrg, 2))); \/\/\u0443\u0433\u043e\u043b \u043a\u0440\u0435\u043d\u0430         psi = Math.atan(2 * (\u03c1rg * \u03bcrg - Vrg * \u03bbrg) \/ (Math.pow(\u03c1rg, 2) + Math.pow(\u03bbrg, 2) - Math.pow(Vrg, 2) - Math.pow(\u03bcrg, 2))); \/\/\u0443\u0433\u043e\u043b \u0440\u044b\u0441\u043a\u0430\u043d\u0438\u044f <\/code><\/pre>\n<p>  \u0410\u0432\u0442\u043e\u0440 \u043f\u043e\u0441\u0442\u0430\u0440\u0430\u043b\u0441\u044f \u0434\u0430\u0442\u044c \u0438\u0441\u0447\u0435\u0440\u043f\u044b\u0432\u0430\u044e\u0449\u0435\u0435 \u043a\u043e\u043b\u0438\u0447\u0435\u0441\u0442\u0432\u043e \u043a\u043e\u043c\u0435\u043d\u0442\u0430\u0440\u0438\u0435\u0432.<br \/>  \u041b\u0438\u0442\u0435\u0440\u0430\u0442\u0443\u0440\u0430: \u0418.\u0421.\u0413\u043e\u043b\u0443\u0431\u0435\u0432, \u0412.\u0413.\u0421\u0432\u0435\u0442\u043b\u043e\u0432 \u00ab\u041f\u0420\u041e\u0415\u041a\u0422\u0418\u0420\u041e\u0412\u0410\u041d\u0418\u0415 \u0417\u0415\u041d\u0418\u0422\u041d\u042b\u0425 \u0423\u041f\u0420\u0410\u0412\u041b\u042f\u0415\u041c\u042b\u0425 \u0420\u0410\u041a\u0415\u0422\u00bb. \u041c\u043e\u0441\u043a\u0432\u0430, 2001.               <\/p>\n<div class=\"clear\"><\/div>\n<p> \u0441\u0441\u044b\u043b\u043a\u0430 \u043d\u0430 \u043e\u0440\u0438\u0433\u0438\u043d\u0430\u043b \u0441\u0442\u0430\u0442\u044c\u0438 <a href=\"https:\/\/habrahabr.ru\/post\/282409\/\"> https:\/\/habrahabr.ru\/post\/282409\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>       \u041f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435 \u043f\u0430\u0440\u0430\u043c\u0435\u0442\u0440\u043e\u0432 \u0420\u043e\u0434\u0440\u0438\u0433\u0430-\u0413\u0430\u043c\u0438\u043b\u044c\u0442\u043e\u043d\u0430 \u0432 \u0437\u0430\u0434\u0430\u0447\u0430\u0445 \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u043f\u043e\u043b\u0435\u0442\u0430 \u041b\u0410.<br \/>  \u0420\u0435\u0430\u043b\u0438\u0437\u0430\u0446\u0438\u044f \u0432 \u043a\u043e\u0434\u0435.<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"class_list":["post-279021","post","type-post","status-publish","format-standard","hentry"],"_links":{"self":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts\/279021","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=279021"}],"version-history":[{"count":0,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts\/279021\/revisions"}],"wp:attachment":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=279021"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=279021"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=279021"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}