Revert "Merge pull request #20 from cthunter01/propagator"

This reverts commit 6280d9fb0184275843a8f4406c7293e41e65a639, reversing changes made to 3c9c8b8c6a2b2e7430ff09efdc2cc0c1996b16ca.
Revert "adding testfile to test repo mirroring from gitea to github"
2025-04-16 18:23:28 -06:00 · 2025-04-16 18:22:05 -06:00 · 2025-04-16 18:21:48 -06:00 · 2025-04-16 18:21:16 -06:00 · 2025-04-16 18:20:47 -06:00 · 2025-04-16 18:15:55 -06:00
46 changed files with 1127 additions and 941 deletions
--- a/.github/workflows/cmake-multi-platform.yml
+++ b/.github/workflows/cmake-multi-platform.yml
@ -0,0 +1,86 @@
+# This starter workflow is for a CMake project running on multiple platforms. There is a different
+# starter workflow if you just want a single platform.
+# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+name: CMake on multiple platforms
+
+on:
+  push:
+    branches: [ "development" ]
+  pull_request:
+    branches: [ "development" ]
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations.
+      # Consider changing this to true when your workflow is stable.
+      fail-fast: false
+
+      # Set up a matrix to run the following 3 configurations:
+      # 1. <Windows, Release, latest MSVC compiler toolchain on the default runner image, default generator>
+      # 2. <Linux, Release, latest GCC compiler toolchain on the default runner image, default generator>
+      # 3. <Linux, Release, latest Clang compiler toolchain on the default runner image, default generator>
+      #
+      # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list.
+      matrix:
+        os: [ubuntu-latest, windows-latest]
+        build_type: [Release]
+        c_compiler: [gcc-13, clang, cl]
+        include:
+          - os: windows-latest
+            c_compiler: cl
+            cpp_compiler: cl
+          - os: ubuntu-latest
+            c_compiler: gcc-13
+            cpp_compiler: g++-13
+            #- os: ubuntu-latest
+            #c_compiler: clang
+            #cpp_compiler: clang++
+        exclude:
+          - os: windows-latest
+            c_compiler: gcc-13
+          - os: windows-latest
+            c_compiler: clang
+          - os: ubuntu-latest
+            c_compiler: cl
+            # Clang is broken on ubuntu-latest. C++20 brings in inconsistent libraries            
+          - os: ubuntu-latest
+            c_compiler: clang
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Install Qt
+      uses: jurplel/install-qt-action@v3
+      with:
+        version: 6.6.2
+        target: desktop
+
+    - name: Set reusable strings
+      # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: >
+        cmake -B ${{ steps.strings.outputs.build-output-dir }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}
+
+    - name: Build
+      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }}
+
+    - name: Test
+      working-directory: ${{ steps.strings.outputs.build-output-dir }}
+      # Execute tests defined by the CMake configuration. Note that --build-config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest --build-config ${{ matrix.build_type }} -R 'qtrocket_*'
--- a/.gitignore
+++ b/.gitignore
@ -38,6 +38,8 @@ build/
 docs/doxygen/*

 # IDE
+*.swp
 qtrocket.pro.user
 .qmake.stash
+CMakeLists.txt.user

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -5,6 +5,8 @@ project(qtrocket VERSION 0.1 LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

+enable_testing()
+
 include(FetchContent)

 # Google Test framework
@ -17,10 +19,10 @@ endif()
 FetchContent_MakeAvailable(googletest)

 # fmtlib dependency
-FetchContent_Declare(fmt
-    GIT_REPOSITORY https://github.com/fmtlib/fmt
-    GIT_TAG        9.1.0)
-FetchContent_MakeAvailable(fmt)
+#FetchContent_Declare(fmt
+#    GIT_REPOSITORY https://github.com/fmtlib/fmt
+#    GIT_TAG        9.1.0)
+#FetchContent_MakeAvailable(fmt)

 # jsoncpp dependency
 FetchContent_Declare(jsoncpp
@ -48,11 +50,18 @@ endif()
 FetchContent_MakeAvailable(CURL)

 # eigen dependency
-FetchContent_Declare(eigen
+FetchContent_Declare(Eigen
   GIT_REPOSITORY https://gitlab.com/libeigen/eigen
   GIT_TAG 3.4.0)
-FetchContent_MakeAvailable(eigen)
+FetchContent_MakeAvailable(Eigen)

+# boost dependency
+
+FetchContent_Declare(Boost
+   GIT_REPOSITORY https://github.com/boostorg/boost
+   GIT_TAG boost-1.84.0)
+set(BOOST_INCLUDE_LIBRARIES property_tree)
+FetchContent_MakeAvailable(Boost)
 # Add qtrocket subdirectories. These are components that will be linked in 


@ -63,7 +72,7 @@ set(CMAKE_AUTORCC ON)

 if(WIN32)
  set(CMAKE_PREFIX_PATH $ENV{QTDIR})
-  include_directories("C:\\boost\\boost_1_82_0\\")
+#  include_directories("C:\\boost\\boost_1_82_0\\")
 #  find_package(Qt6Core REQUIRED)
 #  find_package(Qt6Widgets REQUIRED)
 endif()
--- a/CMakeLists.txt.user
+++ b/CMakeLists.txt.user
@ -1,416 +0,0 @@
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-   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
-    <value type="QString" key="language">Cpp</value>
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-    </valuemap>
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-    <value type="QString" key="language">QmlJS</value>
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--- a/QtRocket.cpp
+++ b/QtRocket.cpp
@ -1,4 +1,3 @@
-
 /// \cond
 // C headers
 // C++ headers
@ -45,7 +44,7 @@ void guiWorker(int argc, char* argv[], int& ret)

   // Go!
   MainWindow w(QtRocket::getInstance());
-   logger->info("Showing MainWindow");
+   logger->debug("Showing MainWindow");
   w.show();
   ret = a.exec();

@ -65,7 +64,7 @@ void QtRocket::init()
   std::lock_guard<std::mutex> lck(mtx);
   if(!initialized)
   {
-      utils::Logger::getInstance()->info("Instantiating new QtRocket");
+      utils::Logger::getInstance()->debug("Instantiating new QtRocket");
      instance = new QtRocket();
      initialized = true;
   }
@ -81,13 +80,20 @@ QtRocket::QtRocket()
   setEnvironment(std::make_shared<sim::Environment>());

   rocket.first =
-      std::make_shared<Rocket>();
+      std::make_shared<model::RocketModel>();
   
   rocket.second =
      std::make_shared<sim::Propagator>(rocket.first);

   motorDatabase = std::make_shared<utils::MotorModelDatabase>();

+   logger->debug("Initial states vector size: " + std::to_string(states.capacity()) );
+   // Reserve at least 1024 spaces for StateData
+   if(states.capacity() < 1024)
+   {
+       states.reserve(1024);
+   }
+   logger->debug("New states vector size: " + std::to_string(states.capacity()) );
 }

 int QtRocket::run(int argc, char* argv[])
@ -107,7 +113,7 @@ int QtRocket::run(int argc, char* argv[])
 void QtRocket::launchRocket()
 {
   // initialize the propagator
-   rocket.second->clearStates();
+   rocket.first->clearStates();
   rocket.second->setCurrentTime(0.0);

   // start the rocket motor
--- a/QtRocket.h
+++ b/QtRocket.h
@ -14,13 +14,12 @@

 // qtrocket headers
 #include "model/MotorModel.h"
-#include "model/Rocket.h"
-#include "sim/AtmosphericModel.h"
-#include "sim/GravityModel.h"
+#include "model/RocketModel.h"
 #include "sim/Environment.h"
 #include "sim/Propagator.h"
 #include "utils/Logger.h"
 #include "utils/MotorModelDatabase.h"
+#include "utils/math/MathTypes.h"

 /**
 * @brief The QtRocket class is the master controller for the QtRocket application.
@ -44,13 +43,13 @@ public:

   std::shared_ptr<sim::Environment> getEnvironment() { return environment; }
   void setTimeStep(double t) { rocket.second->setTimeStep(t); }
-   std::shared_ptr<Rocket> getRocket() { return rocket.first; }
+   std::shared_ptr<model::RocketModel> getRocket() { return rocket.first; }

   std::shared_ptr<utils::MotorModelDatabase> getMotorDatabase() { return motorDatabase; }

   void addMotorModels(std::vector<model::MotorModel>& m);

-   void addRocket(std::shared_ptr<Rocket> r) { rocket.first = r; }
+   void addRocket(std::shared_ptr<model::RocketModel> r) { rocket.first = r; rocket.second = std::make_shared<sim::Propagator>(r); }

   void setEnvironment(std::shared_ptr<sim::Environment> e) { environment = e; }

@ -59,18 +58,13 @@ public:
    * @brief getStates returns a vector of time/state pairs generated during launch()
    * @return vector of pairs of doubles, where the first value is a time and the second a state vector
    */
-   const std::vector<std::pair<double, Vector6>>& getStates() const { return rocket.second->getStates(); }
+   const std::vector<std::pair<double, StateData>>& getStates() const { return rocket.first->getStates(); }

   /**
    * @brief setInitialState sets the initial state of the Rocket.
    * @param initState initial state vector (x, y, z, xDot, yDot, zDot, pitch, yaw, roll, pitchDot, yawDot, rollDot)
    */
-   void setInitialState(const std::vector<double>& initialPos,
-                        const std::vector<double>& initialVel,
-                        const std::vector<double>& initialOri,
-                        const std::vector<double>& initialOriRate)
-
-   { rocket.second->setInitialState(initialPos, initialVel, initialOri, initialOriRate); }
+   void setInitialState(const StateData& initState) { rocket.first->setInitialState(initState); }

 private:
   QtRocket();
@ -84,11 +78,19 @@ private:

   utils::Logger* logger;

-   std::pair<std::shared_ptr<Rocket>, std::shared_ptr<sim::Propagator>> rocket;
+   using Rocket = std::pair<std::shared_ptr<model::RocketModel>, std::shared_ptr<sim::Propagator>>;
+   Rocket rocket;

   std::shared_ptr<sim::Environment> environment;
   std::shared_ptr<utils::MotorModelDatabase> motorDatabase;

+   // Launch site
+   // ECEF coordinates
+   Vector3 launchSitePosition{0.0, 0.0, 0.0};
+
+   // Table of state data
+   std::vector<StateData> states;
+
 };

 #endif // QTROCKET_H
--- a/README.md
+++ b/README.md
@ -1,71 +1,2 @@
 # qtrocket
-An open source model Rocket Simulator written in C++ and Qt Toolkit, coming soon!
-
-## Why?
-Because it's fun! Model and High Power rocketry are enjoyable hobbies that teach model building
-and inspire people to keep learning. For me, part of that learning process includes learning more
-about the aerodynamics of rocket flight, and what better way to learn than write a simulator?
-
-There are already open source rocket simulators out there (e.g. OpenRocket), but this is another
-take on that idea. For one, this is written in C++ and OpenRocket is written in Java, but more 
-importantly, I hope to engineer this in a way that is as modular as possible from the standpoint
-of the parts, components, and concepts involved in modeling a rocket. That way, this can serve not
-only as a model rocket design program, but a platform for people to learn about how rockets fly by
-building and integrating their own test parts and models easily. This way QtRocket may serve as a
-learning platform not just for me, but for others as well.
-
-### Why Release An Unfinished Product?
-Well, first of all it isn't actually *released* yet. But it is public because I'm always interested in getting any feedback others may have. I'm doing this to learn as well, and if you have any
-pointers, I'd love to hear them! And if you want to contribute, well, please do! Let's talk :)
-
-## External Build Dependencies
-* Boost libraries. On Windows this is hardcoded to v1.82.0, but only because I'm not sure how dependencies work on Windows
-* Qt6 (You can download it for free for Open Source use here: https://www.qt.io/download)
-* Other dependencies are handled within the CMake build system
-* Maybe something else I'm forgetting about? If you find something not listed that isn't a standard install, let me know
-
-## How To Use It
-First, it's still in the very early stages of development, but it *can* propagate objects through
-an atomosphere with a given coefficient of drag, mass, and motor.
-
-When you first open qtrocket, you're presented with the main window:
-![Main Window](resources/screenshots/MainWindow.png)
-
-The main window thus far has been centered around testing the core physics engin. As you can see,
-there are several fields that you can edit:
-* Initial Velocity - This is an initial vertical velocity off the launch rod or rail
-* Angle - Currently disabled. If the rocket launches at an angle, this would be it. Currently
-it is disabled and set at 90 degrees from horizontal, aka vertical.
-* mass - The mass of the rocket in kilograms (not including the motor)
-* Cd - The coefficient of drag of the rocket
-* Time Step - The time step used by the simulator, in seconds. Defaults to 0.01 seconds.
-
-Once you fill out these fields (or just accept their defaults), you are ready to load a motor. The
-"Load RSE Database File" button will open a file browser to allow you to select a RockSim
-engine database file. One is included in the data/ directory of qtrocket that holds some AeroTech 
-motors. After selecting a motor, you can click on the "Set Motor" button. This will add the selected
-motor to the rocket, and use it to launch the rocket.
-
-Once you have selected and added the rocket motor, click "Calculate Trajectory". A new dialog will
-appear (if the plot is empty, just click the "Plot Altitude" button):
-![Alt text](resources/screenshots/Altitude.png)
-From here you can also plot velocity by clicking "Plot Velocity":
-![Alt text](resources/screenshots/Velocity.png)
-
-And, plot the thrust curve of the motor you selected.
-
-## Thrustcurve.org integration
-There is another feature, in that qtrocket integrates with the excellent online motor database thrustcurve.org. From the main window, click "Get Thrustcurve Motor Data". A new window will open:
-
-![Alt text](resources/screenshots/ThrustCurveWindow.png)
-
-In order to use it, you first must click "Get Metadata". Then you can select the manufacturer, motor diameter, and impulse class.
-
-After filling out those combo boxes, click "Search". From there, you can search all available
-motors with those criteria. After choosing one in the combo box, click "setMotor", and that
-motor's thrust curve will be displayed in the plot.
-
-
-## Known Issues
-* It doesn't do much
-   * I know, but it's just a little fella and it's still growing ;)
+An open source model Rocket Simulator written in C++ and Qt Toolkit, coming soon
--- a/gui/AnalysisWindow.cpp
+++ b/gui/AnalysisWindow.cpp
@ -36,7 +36,7 @@ AnalysisWindow::~AnalysisWindow()
 void AnalysisWindow::onButton_plotAltitude_clicked()
 {
   QtRocket* qtRocket = QtRocket::getInstance();
-   const std::vector<std::pair<double, Vector6>>& res = qtRocket->getStates();
+   const std::vector<std::pair<double, StateData>>& res = qtRocket->getStates();
   auto& plot = ui->plotWidget;
   plot->clearGraphs();
   plot->setInteraction(QCP::iRangeDrag, true);
@ -46,7 +46,7 @@ void AnalysisWindow::onButton_plotAltitude_clicked()
   for (int i = 0; i < tData.size(); ++i)
   {
     tData[i] = res[i].first;
-     zData[i] = res[i].second[2];
+     zData[i] = res[i].second.position[2];
   }
   // create graph and assign data to it:
   plot->addGraph();
@ -63,7 +63,7 @@ void AnalysisWindow::onButton_plotAltitude_clicked()
 void AnalysisWindow::onButton_plotVelocity_clicked()
 {
   QtRocket* qtRocket = QtRocket::getInstance();
-   const std::vector<std::pair<double, Vector6>>& res = qtRocket->getStates();
+   const std::vector<std::pair<double, StateData>>& res = qtRocket->getStates();
   auto& plot = ui->plotWidget;
   plot->clearGraphs();
   plot->setInteraction(QCP::iRangeDrag, true);
@ -74,7 +74,7 @@ void AnalysisWindow::onButton_plotVelocity_clicked()
   for (int i = 0; i < tData.size(); ++i)
   {
     tData[i] = res[i].first;
-     zData[i] = res[i].second[5];
+     zData[i] = res[i].second.velocity[2];
   }
   // create graph and assign data to it:
   plot->addGraph();
@ -91,8 +91,8 @@ void AnalysisWindow::onButton_plotVelocity_clicked()

 void AnalysisWindow::onButton_plotMotorCurve_clicked()
 {
-   std::shared_ptr<Rocket> rocket = QtRocket::getInstance()->getRocket();
-   model::MotorModel motor = rocket->getCurrentMotorModel();
+   std::shared_ptr<model::RocketModel> rocket = QtRocket::getInstance()->getRocket();
+   model::MotorModel motor = rocket->getMotorModel();
   ThrustCurve tc = motor.getThrustCurve();


@ -122,4 +122,4 @@ void AnalysisWindow::onButton_plotMotorCurve_clicked()
   plot->yAxis->setRange(*std::min_element(std::begin(fData), std::end(fData)), *std::max_element(std::begin(fData), std::end(fData)));
   plot->replot();

-}
+}
--- a/gui/MainWindow.cpp
+++ b/gui/MainWindow.cpp
@ -20,7 +20,7 @@
 #include "gui/MainWindow.h"
 #include "gui/ThrustCurveMotorSelector.h"
 #include "gui/SimOptionsWindow.h"
-#include "model/Rocket.h"
+#include "model/RocketModel.h"
 #include "utils/RSEDatabaseLoader.h"


@ -123,15 +123,15 @@ void MainWindow::onButton_calculateTrajectory_clicked()

   double initialVelocityX = initialVelocity * std::cos(initialAngle / 57.2958);
   double initialVelocityZ = initialVelocity * std::sin(initialAngle / 57.2958);
-   std::vector<double> initialPos = {0.0, 0.0, 0.0};
-   std::vector<double> initialVel = {initialVelocityX, 0.0, initialVelocityZ};
-   std::vector<double> initialOri = {0.0, 0.0, 0.0};
-   std::vector<double> initialOriRate = {0.0, 0.0, 0.0};
+   //std::vector<double> initialState = {0.0, 0.0, 0.0, initialVelocityX, 0.0, initialVelocityZ, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
+   StateData initialState;
+   initialState.position = {0.0, 0.0, 0.0};
+   initialState.velocity = {initialVelocityX, 0.0, initialVelocityZ};
   auto rocket = QtRocket::getInstance()->getRocket();
   rocket->setMass(mass);
   rocket->setDragCoefficient(dragCoeff);

-   qtRocket->setInitialState(initialPos, initialVel, initialOri, initialOriRate);
+   qtRocket->setInitialState(initialState);
   qtRocket->launchRocket();

   AnalysisWindow aWindow;
@ -204,4 +204,4 @@ void MainWindow::onButton_setMotor_clicked()
 void MainWindow::onMenu_File_Quit_triggered()
 {
   this->close();
-}
+}
--- a/main.cpp
+++ b/main.cpp
@ -1,11 +1,9 @@
-
 /// \cond
 // C headers
 // C++ headers
 // 3rd party headers
 /// \endcond

-
 #include "QtRocket.h"
 #include "utils/Logger.h"

@ -14,13 +12,16 @@ int main(int argc, char *argv[])

   // Instantiate logger
   utils::Logger* logger = utils::Logger::getInstance();
-   logger->setLogLevel(utils::Logger::DEBUG_);
+   logger->setLogLevel(utils::Logger::PERF_);
+   logger->info("Logger instantiated at PERF level");
   // instantiate QtRocket
+   logger->debug("Starting QtRocket");
   QtRocket* qtrocket = QtRocket::getInstance();

   // Run QtRocket. This'll start the GUI thread and block until the user
   // exits the program
+   logger->debug("QtRocket->run()");
   int retVal = qtrocket->run(argc, argv);
   logger->debug("Returning");
   return retVal;
-}
+}
--- a/model/CMakeLists.txt
+++ b/model/CMakeLists.txt
@ -3,10 +3,18 @@ add_library(model
   MotorModel.h
   MotorModelDatabase.cpp
   MotorModelDatabase.h
-   Rocket.cpp
-   Rocket.h
+   Part.cpp
+   Part.h
+   Propagatable.cpp
+   Propagatable.h
+   RocketModel.cpp
+   RocketModel.h
   ThrustCurve.cpp
-   ThrustCurve.h)
+   ThrustCurve.h
+   InertiaTensors.h)

 target_link_libraries(model PRIVATE
   utils)
+
+# Unit tests
+add_subdirectory(tests)
--- a/model/InertiaTensors.h
+++ b/model/InertiaTensors.h
@ -0,0 +1,70 @@
+#ifndef INERTIATENSORS_H
+#define INERTIATENSORS_H
+
+#include "utils/math/MathTypes.h"
+
+namespace model
+{
+
+/**
+ * @brief The InertiaTensors class provides a collection of methods to
+ *        deliver some common inertia tensors centered about the center of mass
+ */
+class InertiaTensors
+{
+public:
+
+/**
+ * @brief SolidSphere
+ * @param radius (meters)
+ * @return
+ */
+static Matrix3 SolidSphere(double radius)
+{
+    double xx = 0.4*radius*radius;
+    double yy = xx;
+    double zz = xx;
+    return Matrix3{{xx, 0, 0},
+                   {0, yy, 0},
+                   {0, 0, zz}};
+}
+
+/**
+ * @brief HollowSphere
+ * @param radius (meters)
+ * @return
+ */
+static Matrix3 HollowSphere(double radius)
+{
+    double xx = (2.0/3.0)*radius*radius;
+    double yy = xx;
+    double zz = xx;
+    return Matrix3{{xx, 0, 0},
+                   {0, yy, 0},
+                   {0, 0, zz}};
+}
+
+/**
+ * @brief Tube - The longitudinal axis is the z-axis. Can also be used for a solid cylinder
+ *        when innerRadius = 0.0
+ * @param innerRadius (meters)
+ * @param outerRadius (meters)
+ * @param length (meters)
+ * @return
+ */
+static Matrix3 Tube(double innerRadius, double outerRadius, double length)
+{
+    double xx = (1.0/12.0)*(3.0*(innerRadius*innerRadius + outerRadius*outerRadius) + length*length);
+    double yy = xx;
+    double zz = (1.0/2.0)*(innerRadius*innerRadius + outerRadius*outerRadius);
+    return Matrix3{{xx, 0.0, 0.0},
+                   {0.0, yy, 0.0},
+                   {0.0, 0.0, zz}};
+
+}
+
+};
+
+}
+
+#endif // INERTIATENSORS_H
--- a/model/MotorModel.cpp
+++ b/model/MotorModel.cpp
@ -60,6 +60,7 @@ double MotorModel::getMass(double simTime) const
      double propMassEnd   = i->second;
      double slope = (propMassEnd - propMassStart) / (tEnd - tStart);
      double currentMass = emptyMass + propMassStart + (thrustTime - tStart) * slope;
+      utils::Logger::getInstance()->info("simTime: " + std::to_string(simTime) + ": motor mass: " + std::to_string(currentMass));
      return currentMass;

   }
--- a/model/Part.cpp
+++ b/model/Part.cpp
@ -0,0 +1,109 @@
+#include "Part.h"
+#include "utils/Logger.h"
+
+namespace model
+{
+
+Part::Part(const std::string& n,
+           const Matrix3& I,
+           double m,
+           const Vector3& centerMass)
+   : parent(nullptr),
+     name(n),
+     inertiaTensor(I),
+     compositeInertiaTensor(I),
+     mass(m),
+     compositeMass(m),
+     cm(centerMass),
+     needsRecomputing(false),
+     childParts()
+{ }
+
+Part::~Part()
+{}
+
+Part::Part(const Part& orig)
+   : parent(orig.parent),
+     name(orig.name),
+     inertiaTensor(orig.inertiaTensor),
+     compositeInertiaTensor(orig.compositeInertiaTensor),
+     mass(orig.mass),
+     compositeMass(orig.compositeMass),
+     cm(orig.cm),
+     needsRecomputing(orig.needsRecomputing),
+     childParts()
+{
+
+   // We are copying the whole tree. If the part we're copying itself has child
+   // parts, we are also copying all of them! This may be inefficient and not what
+   // is desired, but it is less likely to lead to weird bugs with the same part
+   // appearing in multiple locations of the rocket
+   utils::Logger::getInstance()->debug("Calling model::Part copy constructor. Recursively copying all child parts. Check Part names for uniqueness");
+   
+   
+   for(const auto& i : orig.childParts)
+   {
+      Part& x = *std::get<0>(i);
+      std::shared_ptr<Part> tempPart = std::make_shared<Part>(x);
+      childParts.emplace_back(tempPart, std::get<1>(i));;
+   }
+
+}
+
+double Part::getChildMasses(double t)
+{
+   double childMasses{0.0};
+   for(const auto& i : childParts)
+   {
+      childMasses += std::get<0>(i)->getMass(t);
+   }
+   return childMasses;
+
+}
+
+void Part::addChildPart(const Part& childPart, Vector3 position)
+{
+   
+   double childMass = childPart.compositeMass;
+   Matrix3 childInertiaTensor = childPart.compositeInertiaTensor;
+   std::shared_ptr<Part> newChild = std::make_shared<Part>(childPart);
+   // Set the parent pointer
+   newChild->parent = this;
+
+   // Recompute inertia tensor
+
+   childInertiaTensor += childMass * ( position.dot(position) * Matrix3::Identity() - position*position.transpose());
+
+   compositeInertiaTensor += childInertiaTensor;
+   compositeMass += childMass;
+
+   childParts.emplace_back(std::move(newChild), std::move(position));
+
+   if(parent)
+   {
+      parent->markAsNeedsRecomputing();
+      parent->recomputeInertiaTensor();
+   }
+
+}
+
+void Part::recomputeInertiaTensor()
+{
+   if(!needsRecomputing)
+   {
+      return;
+   }
+   // recompute the whole composite inertia tensor
+   // Reset the composite inertia tensor
+   compositeInertiaTensor = inertiaTensor;
+   compositeMass = mass;
+   for(auto& [child, pos] : childParts)
+   {
+      child->recomputeInertiaTensor();
+      compositeInertiaTensor += child->compositeInertiaTensor + child->compositeMass * ( pos.dot(pos) * Matrix3::Identity() - pos*pos.transpose());
+      compositeMass += child->compositeMass;
+   }
+   needsRecomputing = false;
+}
+
+} // namespace model
--- a/model/Part.h
+++ b/model/Part.h
@ -0,0 +1,136 @@
+#ifndef MODEL_PART_H
+#define MODEL_PART_H
+
+/// \cond
+// C headers
+// C++ headers
+#include <vector>
+#include <memory>
+
+// 3rd party headers
+/// \endcond
+
+// qtrocket headers
+#include "utils/math/MathTypes.h"
+
+namespace model
+{
+
+class Part
+{
+public:
+   Part(const std::string& name,
+        const Matrix3& I,
+        double m,
+        const Vector3& centerMass);
+
+   virtual ~Part();
+
+   Part(const Part&);
+
+   Part& operator=(Part other)
+   {
+       if(this != &other)
+       {
+           std::swap(parent, other.parent);
+           std::swap(name, other.name);
+           std::swap(inertiaTensor, other.inertiaTensor);
+           std::swap(compositeInertiaTensor, other.compositeInertiaTensor);
+           std::swap(mass, other.mass);
+           std::swap(compositeMass, other.compositeMass);
+           std::swap(cm, other.cm);
+           std::swap(needsRecomputing, other.needsRecomputing);
+           std::swap(childParts, other.childParts);
+       }
+       return *this;
+   }
+   Part& operator=(Part&& other)
+   {
+       parent = std::move(other.parent);
+       name = std::move(other.name);
+       inertiaTensor  = std::move(other.inertiaTensor);
+       compositeInertiaTensor  = std::move(other.compositeInertiaTensor);
+       mass  = std::move(other.mass);
+       compositeMass  = std::move(other.compositeMass);
+       cm  = std::move(other.cm);
+       needsRecomputing  = std::move(other.needsRecomputing);
+       childParts  = std::move(other.childParts);
+
+       return *this;
+   }
+
+   void setMass(double m) { mass = m; }
+
+   // Set the inertia tensor
+   void setI(const Matrix3& I) { inertiaTensor = I; }
+   Matrix3 getI() { return inertiaTensor; }
+   Matrix3 getCompositeI() { return compositeInertiaTensor; }
+
+   void setCm(const Vector3& x) { cm = x; }
+   // Special version of setCM that assumes the cm lies along the body x-axis
+   void setCm(double x) { cm = {x, 0.0, 0.0}; }
+
+   double getMass(double t)
+   {
+      return mass;
+   }
+
+   double getCompositeMass(double t)
+   {
+      return compositeMass;
+   }
+
+   /**
+    * @brief Add a child part to this part.
+    * 
+    * @param childPart Child part to add
+    * @param position  Relative position of the child part's center-of-mass w.r.t the
+    *                  parent's center of mass
+    */
+   void addChildPart(const Part& childPart, Vector3 position);
+
+   /**
+    * @brief Recomputes the inertia tensor. If the change is due to the change in inertia
+    *        of a child part, an optional name of the child part can be given to
+    *        only recompute that change rather than recompute all child inertia
+    *        tensors
+    * 
+    * @param name Optional name of the child part to recompute. If empty, it will
+    *             recompute all child inertia tensors
+    */
+   //void recomputeInertiaTensor(std::string name = "");
+   void recomputeInertiaTensor();
+private:
+
+   // This is a pointer to the parent Part, if it has one. Purpose is to be able to
+   // tell the parent if it needs to recompute anything if this part changes. e.g.
+   // if a change to this part's inertia tensor occurs, the parent needs to recompute
+   // it's total inertia tensor.
+   Part* parent{nullptr};
+
+   std::string name;
+
+   double getChildMasses(double t);
+   void markAsNeedsRecomputing()
+   { needsRecomputing = true; if(parent) { parent->markAsNeedsRecomputing(); }}
+
+   // Because a part is both a simple part and the composite of itself with all of it's children,
+   // we will keep track of this object's inertia tensor (without children), and the composite
+   // one with all of it's children attached
+   Matrix3 inertiaTensor; // moment of inertia tensor with respect to the part's center of mass and
+   Matrix3 compositeInertiaTensor;
+   double mass; // The moment of inertia tensor also has this, so don't double compute
+   double compositeMass; // The mass of this part along with all attached parts
+
+   Vector3 cm; // center of mass wrt middle of component
+
+   bool needsRecomputing{false};
+
+   /// @brief  child parts and the relative positions of their center of mass w.r.t.
+   ///         the center of mass of this part
+   std::vector<std::tuple<std::shared_ptr<Part>, Vector3>> childParts;
+};
+
+}
+
+#endif // MODEL_PART_H
--- a/model/Propagatable.cpp
+++ b/model/Propagatable.cpp
--- a/model/Propagatable.h
+++ b/model/Propagatable.h
@ -0,0 +1,58 @@
+#ifndef MODEL_PROPAGATABLE_H
+#define MODEL_PROPAGATABLE_H
+
+/// \cond
+// C headers
+// C++ headers
+#include <utility>
+// 3rd party headers
+/// \endcond
+
+// qtrocket headers
+#include "sim/Aero.h"
+#include "sim/StateData.h"
+#include "utils/math/MathTypes.h"
+
+namespace model
+{
+
+class Propagatable
+{
+public:
+   Propagatable() {}
+   virtual ~Propagatable() {}
+
+   virtual Vector3 getForces(double t) = 0;
+   virtual Vector3 getTorques(double t) = 0;
+
+   virtual double getMass(double t) = 0;
+   virtual Matrix3 getInertiaTensor(double t) = 0;
+
+   virtual bool terminateCondition(double t) = 0;
+
+   void setCurrentState(const StateData& st) { currentState = st; }
+   const StateData& getCurrentState() { return currentState; }
+
+   const StateData& getInitialState() { return initialState; }
+   void setInitialState(const StateData& init) { initialState = init; }
+
+   void appendState(double t, const StateData& st) { states.emplace_back(t, st); }
+
+   const std::vector<std::pair<double, StateData>>& getStates() { return states; }
+
+   void clearStates() { states.clear(); }
+
+protected:
+
+   sim::Aero aeroData;
+
+   StateData initialState;
+   StateData currentState;
+   StateData nextState;
+
+   std::vector<std::pair<double, StateData>> states;
+};
+
+}
+
+#endif // MODEL_PROPAGATABLE_H
--- a/model/Rocket.cpp
+++ b/model/Rocket.cpp
@ -1,33 +0,0 @@
-
-// qtrocket headers
-#include "Rocket.h"
-#include "QtRocket.h"
-
-Rocket::Rocket()
-{
-
-}
-
-void Rocket::launch()
-{
-   mm.startMotor(0.0);
-}
-
-void Rocket::setMotorModel(const model::MotorModel& motor)
-{
-   mm = motor;
-}
-
-bool Rocket::terminateCondition(const std::pair<double, Vector6>& cond)
-{
-   // Terminate propagation when the z coordinate drops below zero
-    if(cond.second[2] < 0)
-        return true;
-    else
-        return false;
-}
-
-double Rocket::getThrust(double t)
-{
-   return mm.getThrust(t);
-}
--- a/model/RocketModel.cpp
+++ b/model/RocketModel.cpp
@ -0,0 +1,79 @@
+
+// qtrocket headers
+#include "RocketModel.h"
+#include "QtRocket.h"
+#include "InertiaTensors.h"
+
+namespace model
+{
+
+RocketModel::RocketModel()
+    : topPart("NoseCone", InertiaTensors::SolidSphere(1.0), 1.0, {0.0, 0.0, 1.0})
+{
+
+}
+
+
+double RocketModel::getMass(double t)
+{
+    double mass = mm.getMass(t);
+    mass += topPart.getCompositeMass(t);
+    return mass;
+}
+
+Matrix3 RocketModel::getInertiaTensor(double)
+{
+    return topPart.getCompositeI();
+}
+
+bool RocketModel::terminateCondition(double)
+{
+   // Terminate propagation when the z coordinate drops below zero
+    if(currentState.position[2] < 0)
+        return true;
+    else
+        return false;
+}
+
+Vector3 RocketModel::getForces(double t)
+{
+    // Get thrust
+    // Assume that thrust is always through the center of mass and in the rocket's Z-axis
+    Vector3 forces{0.0, 0.0, mm.getThrust(t)};
+
+
+    // Get gravity
+    auto gravityModel = QtRocket::getInstance()->getEnvironment()->getGravityModel();
+
+    Vector3 gravity = gravityModel->getAccel(currentState.position)*getMass(t);
+
+    forces += gravity;
+
+    // Calculate aero forces
+
+
+    return forces;
+}
+
+Vector3 RocketModel::getTorques(double t)
+{
+    return Vector3{0.0, 0.0, 0.0};
+
+}
+
+double RocketModel::getThrust(double t)
+{
+   return mm.getThrust(t);
+}
+
+void RocketModel::launch()
+{
+   mm.startMotor(0.0);
+}
+
+void RocketModel::setMotorModel(const model::MotorModel& motor)
+{
+   mm = motor;
+}
+
+} // namespace model
--- a/model/RocketModel.h
+++ b/model/RocketModel.h
@ -1,9 +1,10 @@
-#ifndef ROCKET_H
-#define ROCKET_H
+#ifndef ROCKETMODEL_H
+#define ROCKETMODEL_H

 /// \cond
 // C headers
 // C++ headers
+#include <vector>
 #include <memory>
 #include <string>
 #include <utility> // std::move
@ -12,22 +13,34 @@
 /// \endcond

 // qtrocket headers
-#include "model/ThrustCurve.h"
-#include "model/MotorModel.h"
+#include "model/Part.h"
 #include "sim/Propagator.h"
-#include "utils/math/MathTypes.h"
+#include "model/MotorModel.h"
+
+#include "model/Propagatable.h"
+// Not yet
+//#include "model/Stage.h"
+
+namespace model
+{

 /**
 * @brief The Rocket class holds all rocket components
 *
 */
-class Rocket
+class RocketModel : public Propagatable
 {
 public:
    /**
    * @brief Rocket class constructor
    */
-   Rocket();
+   RocketModel();
+
+   /**
+    * @brief Rocket class destructor
+    * 
+    */
+   virtual ~RocketModel() {}

    /**
    * @brief launch Propagates the Rocket object until termination,
@ -35,33 +48,22 @@ public:
    */
   void launch();

+   Vector3 getForces(double t) override;
+   Vector3 getTorques(double t) override;
   /**
-    * @brief getMass returns the current mass of the rocket. This is the sum of all components' masses
-    * @return total current mass of the Rocket
+    * @brief getMass returns current rocket mass
+    * @param t current simulation time
+    * @return mass in kg
    */
-   double getMass(double simTime) const { return mass + mm.getMass(simTime); }
+   double getMass(double t) override;
+   /**
+    * @brief terminateCondition returns true or false, whether the passed-in time/state matches the terminate condition
+    * @param cond time/state pair
+    * @return true if the passed-in time/state satisfies the terminate condition
+    */
+   bool terminateCondition(double t) override;

-   /**
-    * @brief setMass sets the current total mass of the Rocket
-    * @param m total Rocket mass
-    * @todo This should be dynamically computed, not set. Fix this
-    */
-   void setMass(double m) { mass = m;}
-
-   /**
-    * @brief setDragCoefficient sets the current total drag coefficient of the Rocket
-    * @param d drag coefficient
-    * @todo This should be dynamically computed, not set. Fix this
-    */
-   void setDragCoefficient(double d) { dragCoeff = d; }
-
-   /**
-    * @brief getDragCoefficient returns the current drag coefficient
-    *
-    * This is intended to be called by the propagator during propagation.
-    * @return the coefficient of drag
-    */
-   double getDragCoefficient() const { return dragCoeff; }
+   Matrix3 getInertiaTensor(double t) override;

   /**
    * @brief getThrust returns current motor thrust
@ -70,24 +72,25 @@ public:
    */
   double getThrust(double t);

+
   /**
    * @brief setMotorModel
    * @param motor
    */
   void setMotorModel(const model::MotorModel& motor);

+
+   /**
+    * @brief getMotorModel
+    */
+   MotorModel getMotorModel() { return mm; }
+
   /**
    * @brief Returns the current motor model.
    * @return The current motor model
    */
-   const model::MotorModel& getCurrentMotorModel() const { return mm; }
+   //const model::MotorModel& getCurrentMotorModel() const { return mm; }

-   /**
-    * @brief terminateCondition returns true or false, whether the passed-in time/state matches the terminate condition
-    * @param cond time/state pair
-    * @return true if the passed-in time/state satisfies the terminate condition
-    */
-   bool terminateCondition(const std::pair<double, Vector6>& cond);

   /**
    * @brief setName sets the rocket name
@ -95,16 +98,19 @@ public:
    */
   void setName(const std::string& n) { name = n; }

-
+   double getDragCoefficient() { return 1.0; }
+   void setDragCoefficient(double d) { }
+   void setMass(double m) { }

 private:

   std::string name; /// Rocket name
-   double dragCoeff; /// @todo get rid of this, should be dynamically calculated
-   double mass; /// @todo get rid of this, should be dynamically computed, but is the current rocket mass

   model::MotorModel mm; /// Current Motor Model

+   model::Part topPart;
+
 };

-#endif // ROCKET_H
+} // namespace model
+#endif // ROCKETMODEL_H
--- a/model/ThrustCurve.cpp
+++ b/model/ThrustCurve.cpp
@ -8,8 +8,6 @@
 /// \endcond

 #include "model/ThrustCurve.h"
-#include "utils/Logger.h"
-

 ThrustCurve::ThrustCurve(std::vector<std::pair<double, double>>& tc)
   : thrustCurve(tc),
--- a/model/tests/CMakeLists.txt
+++ b/model/tests/CMakeLists.txt
@ -0,0 +1,16 @@
+
+add_executable(model_tests
+   PartTests.cpp
+)
+
+target_link_libraries(model_tests PRIVATE
+   model
+   utils
+   GTest::gtest_main
+)
+
+include(GoogleTest)
+gtest_discover_tests(model_tests)
+
+add_test(NAME qtrocket_model_tests COMMAND model_tests)
+
--- a/model/tests/PartTests.cpp
+++ b/model/tests/PartTests.cpp
@ -0,0 +1,70 @@
+#include <gtest/gtest.h>
+
+#include "model/Part.h"
+
+class PartTest : public testing::Test
+{
+protected:
+  // Per-test-suite set-up.
+  // Called before the first test in this test suite.
+  // Can be omitted if not needed.
+  static void SetUpTestSuite()
+  {
+    //shared_resource_ = new ...;
+
+    // If `shared_resource_` is **not deleted** in `TearDownTestSuite()`,
+    // reallocation should be prevented because `SetUpTestSuite()` may be called
+    // in subclasses of FooTest and lead to memory leak.
+    //
+    // if (shared_resource_ == nullptr) {
+    //   shared_resource_ = new ...;
+    // }
+  }
+
+  // Per-test-suite tear-down.
+  // Called after the last test in this test suite.
+  // Can be omitted if not needed.
+  static void TearDownTestSuite()
+  {
+    //delete shared_resource_;
+    //shared_resource_ = nullptr;
+  }
+
+  // You can define per-test set-up logic as usual.
+  void SetUp() override { }
+
+  // You can define per-test tear-down logic as usual.
+  void TearDown() override { }
+
+  // Some expensive resource shared by all tests.
+  //static T* shared_resource_;
+};
+
+//T* FooTest::shared_resource_ = nullptr;
+
+TEST(PartTest, CreationTests)
+{
+   Matrix3 inertia;
+   inertia << 1, 0, 0,
+              0, 1, 0,
+              0, 0, 1;
+   Vector3 cm{1, 0, 0};
+   model::Part testPart("testPart",
+                        inertia,
+                        1.0,
+                        cm);
+   
+   Matrix3 inertia2;
+   inertia2 << 1, 0, 0,
+               0, 1, 0,
+               0, 0, 1;
+   Vector3 cm2{1, 0, 0};
+   model::Part testPart2("testPart2",
+                        inertia2,
+                        1.0,
+                        cm2);
+   Vector3 R{2.0, 2.0, 2.0};
+   testPart.addChildPart(testPart2, R);
+
+   
+}
--- a/sim/Aero.cpp
+++ b/sim/Aero.cpp
--- a/sim/Aero.h
+++ b/sim/Aero.h
@ -0,0 +1,40 @@
+#ifndef SIM_AERO_H
+#define SIM_AERO_H
+
+/// \cond
+// C headers
+// C++ headers
+
+// 3rd party headers
+/// \endcond
+
+// qtrocket headers
+#include "utils/math/MathTypes.h"
+
+namespace sim
+{
+
+class Aero
+{
+public:
+
+private:
+
+   Vector3 cp; /// center of pressure
+
+   double Cx; /// longitudinal coefficient
+   double Cy; /// These are probably the same for axial symmetric
+   double Cz; /// rockets. The coeffients in the y and z body directions
+
+   double Cl; // roll moment coefficient
+   double Cm; // pitch moment coefficient
+   double Cn; // yaw moment coefficient
+
+   double baseCd; // coefficient of drag due to base drag
+   double Cd; // total coeffient of drag
+
+   
+};
+}
+
+#endif // SIM_AERO_H
--- a/sim/AtmosphericModel.h
+++ b/sim/AtmosphericModel.h
@ -13,6 +13,10 @@ public:
   virtual double getDensity(double altitude) = 0;
   virtual double getPressure(double altitude) = 0;
   virtual double getTemperature(double altitude) = 0;
+
+   virtual double getSpeedOfSound(double altitude) = 0;
+   virtual double getDynamicViscosity(double altitude) = 0;
+
 };

 } // namespace sim
--- a/sim/CMakeLists.txt
+++ b/sim/CMakeLists.txt
@ -1,4 +1,6 @@
 add_library(sim
+   Aero.cpp
+   Aero.h
   AtmosphericModel.h
   ConstantAtmosphere.h
   ConstantGravityModel.h
--- a/sim/ConstantAtmosphere.h
+++ b/sim/ConstantAtmosphere.h
@ -15,6 +15,10 @@ public:
   double getDensity(double) override { return 1.225; }
   double getPressure(double) override { return 101325.0; }
   double getTemperature(double) override { return 288.15; }
+
+   double getSpeedOfSound(double) override { return 340.294; }
+
+   double getDynamicViscosity(double) override { return 1.78938e-5; }
 };

 } // namespace sim
--- a/sim/DESolver.h
+++ b/sim/DESolver.h
@ -4,13 +4,12 @@
 /// \cond
 // C headers
 // C++ headers
-#include <vector>
+#include <utility>

 // 3rd party headers
 /// \endcond

 // qtrocket headers
-#include "utils/math/MathTypes.h"

 namespace sim
 {
--- a/sim/Environment.h
+++ b/sim/Environment.h
@ -17,7 +17,6 @@

 #include "sim/ConstantAtmosphere.h"
 #include "sim/USStandardAtmosphere.h"
-#include "sim/GeoidModel.h"

 namespace sim
 {
--- a/sim/Propagator.cpp
+++ b/sim/Propagator.cpp
@ -2,7 +2,6 @@
 /// \cond
 // C headers
 // C++ headers
-#include <cmath>
 #include <chrono>
 #include <iostream>
 #include <sstream>
@ -14,106 +13,36 @@
 // qtrocket headers
 #include "Propagator.h"

-#include "QtRocket.h"
-#include "model/Rocket.h"
 #include "sim/RK4Solver.h"
 #include "utils/Logger.h"

-
-namespace sim {
-
-Propagator::Propagator(std::shared_ptr<Rocket> r)
-   : linearIntegrator(),
-     orientationIntegrator(),
-     rocket(r),
-     currentBodyState(),
-     worldFrameState()
+namespace sim
 {

+Propagator::Propagator(std::shared_ptr<model::Propagatable> r)
+   : linearIntegrator(),
+     object(r),
+     saveStates(true),
+     timeStep(0.01)
+{
+    // Linear velocity and acceleration
+    std::function<std::pair<Vector3, Vector3>(Vector3&, Vector3&)> linearODEs = [this](Vector3& state, Vector3& rate) -> std::pair<Vector3, Vector3>
+    {
+        Vector3 dPosition;
+        Vector3 dVelocity;
+        // dx/dt
+        dPosition = rate;

-   // This is a little strange, but I have to populate the integrator unique_ptr
-   // with reset. make_unique() doesn't work because the compiler can't seem to
-   // deduce the template parameters correctly, and I don't want to specify them
-   // manually either. RK4Solver constructor is perfectly capable of deducing it's
-   // template types, and it derives from DESolver, so we can just reset the unique_ptr
-   // and pass it a freshly allocated RK4Solver pointer
+        // dvx/dt
+        dVelocity = object->getForces(currentTime) / object->getMass(currentTime);

-   // The state vector has components of the form:
+        return std::make_pair(dPosition, dVelocity);
+    };

-   // Linear velocity and acceleration
-   std::function<std::pair<Vector3, Vector3>(Vector3&, Vector3&)> linearODE = [this](Vector3& state, Vector3& rate) -> std::pair<Vector3, Vector3>
-   {
-      Vector3 dPosition;
-      Vector3 dVelocity;
-      // dx/dt
-      dPosition[0] = rate[0];
+    linearIntegrator.reset(new RK4Solver<Vector3>(linearODEs));
+    linearIntegrator->setTimeStep(timeStep);

-      // dy/dt
-      dPosition[1] = rate[1];
-
-      // dz/dt
-      dPosition[2] = rate[2];
-
-      // dvx/dt
-      dVelocity[0] = getForceX() / getMass();
-
-      // dvy/dt
-      dVelocity[1] = getForceY() / getMass();
-
-      // dvz/dt
-      dVelocity[2] = getForceZ() / getMass();
-
-      return std::make_pair(dPosition, dVelocity);
-
-   };
-
-   linearIntegrator.reset(new RK4Solver<Vector6>(linearODE));
-   linearIntegrator->setTimeStep(timeStep);
-   
-   // This is pure quaternion
-   // This formula is taken from https://www.vectornav.com/resources/inertial-navigation-primer/math-fundamentals/math-attitudetran
-   //
-   // Convention for the quaternions is (vector, scalar). So q4 is scalar term
-   //
-   // q1Dot = 1/2 * [(q4*omega1) - (q3*omega2) + (q2*omega3)]
-   // q2Dot = 1/2 * [(q3*omega1) + (q4*omega2) - (q1*omega3)]
-   // q3Dot = 1/2 * [(-q2*omega1) + (q1*omega2) + (q4*omega3)]
-   // q4Dot = -1/2 *[(q1*omega1) + (q2*omega2) + (q3*omega3)]
-   //
-   // omega1 = yawRate
-   // omega2 = pitchRate
-   // omega3 = rollRate
-   //
-//   orientationIntegrator.reset(new RK4Solver(
-//       /* dyawRate/dt    */ [this](const std::vector<double>& s, double) -> double
-//       { return getTorqueP() / getIyaw(); },
-//       /* dpitchRate/dt  */ [this](const std::vector<double>& s, double) -> double
-//       { return getTorqueQ() / getIpitch(); },
-//       /* drollRate/dt   */ [this](const std::vector<double>& s, double) -> double
-//       { return getTorqueR() / getIroll(); },
-//       /* q1Dot */ [](const std::vector<double>& s, double) -> double
-//       {
-//           double retVal = s[6]*s[0] - s[5]*s[1] + s[4]*s[2];
-//           return 0.5 * retVal;
-//       },
-//       /* q2Dot */ [](const std::vector<double>& s, double) -> double
-//       {
-//           double retVal = s[5]*s[0] + s[6]*s[1] - s[3]*s[2];
-//           return 0.5 * retVal;
-//       },
-//       /* q3Dot */ [](const std::vector<double>& s, double) -> double
-//       {
-//           double retVal = -s[4]*s[0] + s[3]*s[1] + s[6]*s[2];
-//           return 0.5 * retVal;
-//       },
-//       /* q4Dot */ [](const std::vector<double>& s, double) -> double
-//       {
-//           double retVal = s[3]*s[0] + s[4]*s[1] + s[5]*s[2];
-//           return -0.5 * retVal;
-//       }));
-//   orientationIntegrator->setTimeStep(timeStep);
-
-   saveStates = true;
+    saveStates = true;
 }

 Propagator::~Propagator()
@ -122,91 +51,40 @@ Propagator::~Propagator()

 void Propagator::runUntilTerminate()
 {
-   std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
-   std::chrono::steady_clock::time_point endTime;
+    std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
+    std::chrono::steady_clock::time_point endTime;

-   while(true)
-   {
+    Vector3 currentPosition;
+    Vector3 currentVelocity;
+    Vector3 nextPosition;
+    Vector3 nextVelocity;
+    while(true)
+    {
+        currentPosition = object->getCurrentState().position;
+        currentVelocity = object->getCurrentState().velocity;

-      // Reset the body frame positions to zero since the origin of the body frame is the CM
-      currentBodyState[0] = 0.0;
-      currentBodyState[1] = 0.0;
-      currentBodyState[2] = 0.0;
+        std::tie(nextPosition, nextVelocity) = linearIntegrator->step(currentPosition, currentVelocity);

-      // tempRes gets overwritten
-      tempRes = linearIntegrator->step(currentBodyState);
+        StateData nextState;
+        nextState.position = nextPosition;
+        nextState.velocity = nextVelocity;
+        object->setCurrentState(nextState);

-      std::swap(currentBodyState, tempRes);
-      
-      if(saveStates)
-      {
-         states.push_back(std::make_pair(currentTime, currentBodyState));
-      }
-      if(rocket->terminateCondition(std::make_pair(currentTime, currentBodyState)))
-         break;
+        if(saveStates)
+        {
+            object->appendState(currentTime, nextState);
+        }
+        if(object->terminateCondition(currentTime))
+            break;

-      currentTime += timeStep;
-   }
-   endTime = std::chrono::steady_clock::now();
-
-   std::stringstream duration;
-   duration << "runUntilTerminate time (microseconds): ";
-   duration << std::chrono::duration_cast<std::chrono::microseconds>(endTime - startTime).count();
-   utils::Logger::getInstance()->debug(duration.str());
-
-}
-
-double Propagator::getMass()
-{
-    return rocket->getMass(currentTime);
-}
-
-double Propagator::getForceX()
-{
-    QtRocket* qtrocket = QtRocket::getInstance();
-    return (currentBodyState[3] >= 0 ? -1.0 : 1.0) *  qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentBodyState[2])/ 2.0 * 0.008107 * rocket->getDragCoefficient() * currentBodyState[3]* currentBodyState[3];
-}
-
-double Propagator::getForceY()
-{
-    QtRocket* qtrocket = QtRocket::getInstance();
-    return (currentBodyState[4] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentBodyState[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentBodyState[4]* currentBodyState[4];
-}
-
-double Propagator::getForceZ()
-{
-    QtRocket* qtrocket = QtRocket::getInstance();
-    double gravity = (qtrocket->getEnvironment()->getGravityModel()->getAccel(currentBodyState[0], currentBodyState[1], currentBodyState[2]))[2];
-    double airDrag = (currentBodyState[5] >= 0 ? -1.0 : 1.0) * qtrocket->getEnvironment()->getAtmosphericModel()->getDensity(currentBodyState[2]) / 2.0 * 0.008107 * rocket->getDragCoefficient() * currentBodyState[5]* currentBodyState[5];
-    double thrust  = rocket->getThrust(currentTime);
-    return gravity + airDrag + thrust;
-}
-
-double Propagator::getTorqueP() { return 0.0; }
-double Propagator::getTorqueQ() { return 0.0; }
-double Propagator::getTorqueR() { return 0.0; }
-
-Vector3 Propagator::getCurrentGravity()
-{
-   auto gravityModel = QtRocket::getInstance()->getEnvironment()->getGravityModel();
-   auto gravityAccel = gravityModel->getAccel(currentBodyState[0],
-                                              currentBodyState[1],
-                                              currentBodyState[2]);
-   Vector3 gravityVector{gravityAccel[0],
-                         gravityAccel[1],
-                         gravityAccel[2]};
-   
-
-   Quaternion q{currentOrientation[3],
-                currentOrientation[4],
-                currentOrientation[5],
-                currentOrientation[6]};
-
-   Vector3 res = q * gravityVector;
-   
-
-   return Vector3{0.0, 0.0, 0.0};
+        currentTime += timeStep;
+    }
+    endTime = std::chrono::steady_clock::now();

+    std::stringstream duration;
+    duration << "runUntilTerminate time (microseconds): ";
+    duration << std::chrono::duration_cast<std::chrono::microseconds>(endTime - startTime).count();
+    utils::Logger::getInstance()->debug(duration.str());

 }

--- a/sim/Propagator.h
+++ b/sim/Propagator.h
@ -5,20 +5,22 @@
 // C headers
 // C++ headers
 #include <memory>
-#include <vector>

 // 3rd party headers
 /// \endcond

 // qtrocket headers
-#include "sim/DESolver.h"
 #include "sim/RK4Solver.h"
 #include "utils/math/MathTypes.h"
 #include "sim/StateData.h"
+#include "model/Propagatable.h"


 // Forward declare
+namespace model
+{
 class Rocket;
+}
 class QtRocket;

 namespace sim
@ -27,43 +29,17 @@ namespace sim
 class Propagator
 {
 public:
-    Propagator(std::shared_ptr<Rocket> r);
+    Propagator(std::shared_ptr<model::Propagatable> o);
    ~Propagator();

-    void setInitialState(const std::vector<double>& initialState,
-                         const std::vector<double>& initialVelocity,
-                         const std::vector<double>& initialOrientation,
-                         const std::vector<double>& initalOriRate)
+    void setInitialState(const StateData& initialState)
    {
-       for(std::size_t i = 0; i < initialState.size(); ++i)
-       {
-           currentBodyPosition[i] = initialState[i];
-       }
-       for(std::size_t i = 0; i < initialVelocity.size(); ++i)
-       {
-           currentBodyVelocity[i] = initialVelocity[i];
-       }
-       /*
-       for(std::size_t i = 0; i < initialOrientation.size(); ++i)
-       {
-           currentOrientation[i] = initialOrientation[i];
-       }
-       for(std::size_t i = 0; i < initialOriRate.size(); ++i)
-       {
-           currentOrientationRate[i] = initialOriRate[i];
-       }
-       */
-
+        object->setInitialState(initialState);
    }

-    const Vector6& getCurrentState() const
+    const StateData& getCurrentState() const
    {
-       std::vector<double> retVal{currentBodyPosition.begin(), currentBodyPosition.end()};
-       for(auto& i : currentBodyVelocity)
-       {
-          retVal.push_back(i);
-       }
-       return retVal;
+        return object->getCurrentState();
    }

    void runUntilTerminate();
@ -73,56 +49,21 @@ public:
       saveStates = s;
    }

-    const std::vector<std::pair<double, Vector6>>& getStates() const { return states; }
-
-    void clearStates() { states.clear(); }
    void setCurrentTime(double t) { currentTime = t; }
    void setTimeStep(double ts) { timeStep = ts; }
    void setSaveStats(bool s) { saveStates = s; }

 private:
-   double getMass();
-   double getForceX();
-   double getForceY();
-   double getForceZ();
-
-   double getTorqueP();
-   double getTorqueQ();
-   double getTorqueR();
-
-   double getIpitch() { return 1.0; }
-   double getIyaw()   { return 1.0; }
-   double getIroll()  { return 1.0; }

   std::unique_ptr<sim::RK4Solver<Vector3>> linearIntegrator;
 //   std::unique_ptr<sim::RK4Solver<Quaternion>> orientationIntegrator;

-   std::shared_ptr<Rocket> rocket;
+   std::shared_ptr<model::Propagatable> object;

-   StateData worldFrameState;
-   StateData bodyFrameState
-   Vector3 currentBodyPosition{0.0, 0.0, 0.0};
-   Vector3 currentBodyVelocity{0.0, 0.0, 0.0};
-   Vector3 nextBodyPosition{0.0, 0.0, 0.0};
-   Vector3 nextBodyVelocity{0.0, 0.0, 0.0};
-
-   std::vector<double> currentWorldState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-
-   Vector3 currentGravity{0.0, 0.0, 0.0};
-   Vector3 currentWindSpeed{0.0, 0.0, 0.0};
-   
-
-   // orientation vectors in the form (yawDot, pitchDot, rollDot, q1, q2, q3, q4)
-   Quaternion currentOrientation{0.0, 0.0, 0.0, 0.0};
-   Quaternion currentOrientationRate{0.0, 0.0, 0.0, 0.0};
-   Quaternion nextOrientation{0.0, 0.0, 0.0, 0.0};
-   Quaternion nextOrientationRate{0.0, 0.0, 0.0, 0.0};
   bool saveStates{true};
   double currentTime{0.0};
   double timeStep{0.01};
-   std::vector<std::pair<double, Vector6>> states;

-   Vector3 getCurrentGravity();
 };

 } // namespace sim
--- a/sim/RK4Solver.h
+++ b/sim/RK4Solver.h
@ -4,10 +4,8 @@
 /// \cond
 // C headers
 // C++ headers
-#include <cmath>
 #include <functional>
 #include <limits>
-#include <vector>

 // 3rd party headers

--- a/sim/StateData.h
+++ b/sim/StateData.h
@ -22,24 +22,63 @@ public:
   StateData() {}
   ~StateData() {}

-   std::vector<double> getPosStdVector()
+   StateData(const StateData&) = default;
+   StateData(StateData&&) = default;
+
+   StateData& operator=(const StateData& rhs)
+   {
+      if(this != &rhs)
+      {
+         position = rhs.position;
+         velocity = rhs.velocity;
+         orientation = rhs.orientation;
+         orientationRate = rhs.orientationRate;
+         dcm = rhs.dcm;
+         eulerAngles = rhs.eulerAngles;
+      }
+      return *this;
+   }
+   StateData& operator=(StateData&& rhs)
+   {
+      if(this != &rhs)
+      {
+         position = std::move(rhs.position);
+         velocity = std::move(rhs.velocity);
+         orientation = std::move(rhs.orientation);
+         orientationRate = std::move(rhs.orientationRate);
+         dcm = std::move(rhs.dcm);
+         eulerAngles = std::move(rhs.eulerAngles);
+      }
+      return *this;
+   }
+
+   std::vector<double> getPosStdVector() const
   {
      return std::vector<double>{position[0], position[1], position[2]};
   }
-   std::vector<double> getVelStdVector()
+   std::vector<double> getVelStdVector() const
   {
      return std::vector<double>{velocity[0], velocity[1], velocity[2]};
   }

+
 /// TODO: Put these behind an interface
+   //Vector3 getPosition() const
+   //{
+   //   return position;
+   //}
+
+   //Vector3 getVelocity() const
+   //{
+   //   return velocity;
+   //}
 // private:

-   // These are 4-vectors so quaternion multiplication works out. The last term (scalar) is always
-   // zero. I could just use quaternions here, but I want to make it clear that these aren't
-   // rotations, they're vectors
+   // Intended to be used as world state data
   Vector3 position{0.0, 0.0, 0.0};
   Vector3 velocity{0.0, 0.0, 0.0};

+   // Orientation of body coordinates w.r.t. world coordinates
   Quaternion orientation{0.0, 0.0, 0.0, 0.0}; /// (vector, scalar)
   Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; /// (vector, scalar)

@ -51,9 +90,6 @@ public:
   /// roll  - phi
   Vector3 eulerAngles{0.0, 0.0, 0.0};

-   // This is an array because the integrator expects it
-   double data[6];
-
 };

 #endif // STATEDATA_H
--- a/sim/USStandardAtmosphere.cpp
+++ b/sim/USStandardAtmosphere.cpp
@ -18,9 +18,9 @@ namespace sim
 {

 // Populate static data
-utils::BinMap initTemps()
+utils::Bin initTemps()
 {
-   utils::BinMap map;
+   utils::Bin map;
   map.insert(std::make_pair(0.0, 288.15));
   map.insert(std::make_pair(11000.0, 216.65));
   map.insert(std::make_pair(20000.0, 216.65));
@ -33,10 +33,9 @@ utils::BinMap initTemps()

 }

-/// TODO: These are inverted. They should be of the opposite sign
-utils::BinMap initLapseRates()
+utils::Bin initLapseRates()
 {
-   utils::BinMap map;
+   utils::Bin map;
   map.insert(std::make_pair(0.0, 0.0065));
   map.insert(std::make_pair(11000.0, 0.0));
   map.insert(std::make_pair(20000.0, -0.001));
@ -48,9 +47,9 @@ utils::BinMap initLapseRates()
   return map;
 }

-utils::BinMap initDensities()
+utils::Bin initDensities()
 {
-   utils::BinMap map;
+   utils::Bin map;
   map.insert(std::make_pair(0.0, 1.225));
   map.insert(std::make_pair(11000.0, 0.36391));
   map.insert(std::make_pair(20000.0, 0.08803));
@ -62,9 +61,9 @@ utils::BinMap initDensities()
   return map;
 }

-utils::BinMap initPressures()
+utils::Bin initPressures()
 {
-   utils::BinMap map;
+   utils::Bin map;
   map.insert(std::make_pair(0.0, 101325));
   map.insert(std::make_pair(11000.0, 22632.1));
   map.insert(std::make_pair(20000.0, 5474.89));
@ -76,12 +75,10 @@ utils::BinMap initPressures()
   return map;
 }

-utils::BinMap USStandardAtmosphere::temperatureLapseRate(initLapseRates());
-utils::BinMap USStandardAtmosphere::standardTemperature(initTemps());
-utils::BinMap USStandardAtmosphere::standardDensity(initDensities());
-utils::BinMap USStandardAtmosphere::standardPressure(initPressures());
-
-
+utils::Bin USStandardAtmosphere::temperatureLapseRate(initLapseRates());
+utils::Bin USStandardAtmosphere::standardTemperature(initTemps());
+utils::Bin USStandardAtmosphere::standardDensity(initDensities());
+utils::Bin USStandardAtmosphere::standardPressure(initPressures());

 USStandardAtmosphere::USStandardAtmosphere()
 {
@ -120,7 +117,6 @@ double USStandardAtmosphere::getTemperature(double altitude)
   double baseAltitude = standardTemperature.getBinBase(altitude);
   return baseTemp - (altitude - baseAltitude) * temperatureLapseRate[altitude];

-   return 0.0;
 }
 double USStandardAtmosphere::getPressure(double altitude)
 {
@ -128,13 +124,13 @@ double USStandardAtmosphere::getPressure(double altitude)
   {
      return standardPressure[altitude] * std::exp(
            (-Constants::g0 * Constants::airMolarMass * (altitude - standardPressure.getBinBase(altitude)))
-                                                  / (Constants::Rstar * standardPressure[altitude]));
+                                                  / (Constants::Rstar * standardTemperature[altitude]));

   }
   else
   {
-      double base = (standardPressure[altitude] - temperatureLapseRate[altitude] *
-                    (altitude - standardPressure.getBinBase(altitude))) / standardPressure[altitude];
+      double base = (standardTemperature[altitude] - temperatureLapseRate[altitude] *
+                    (altitude - standardPressure.getBinBase(altitude))) / standardTemperature[altitude];
      
      double exponent = (Constants::g0 * Constants::airMolarMass) /
         (Constants::Rstar * temperatureLapseRate[altitude]);
@ -143,4 +139,17 @@ double USStandardAtmosphere::getPressure(double altitude)
   }

 }
+
+double USStandardAtmosphere::getSpeedOfSound(double altitude)
+{
+   return std::sqrt( (Constants::gamma * Constants::Rstar * getTemperature(altitude))
+                     /
+                     Constants::airMolarMass);
+}
+
+double USStandardAtmosphere::getDynamicViscosity(double altitude)
+{
+   double temperature = getTemperature(altitude);
+   return (Constants::beta * std::pow(temperature, 1.5)) / ( temperature + Constants::S);
+}
 } // namespace sim
--- a/sim/USStandardAtmosphere.h
+++ b/sim/USStandardAtmosphere.h
@ -3,7 +3,7 @@

 // qtrocket headers
 #include "sim/AtmosphericModel.h"
-#include "utils/BinMap.h"
+#include "utils/Bin.h"

 namespace sim
 {
@ -28,11 +28,15 @@ public:
   double getPressure(double altitude) override;
   double getTemperature(double altitude) override;

+   double getSpeedOfSound(double altitude) override;
+
+   double getDynamicViscosity(double altitude) override;
+
 private:
-   static utils::BinMap temperatureLapseRate;
-   static utils::BinMap standardTemperature;
-   static utils::BinMap standardDensity;
-   static utils::BinMap standardPressure;
+   static utils::Bin temperatureLapseRate;
+   static utils::Bin standardTemperature;
+   static utils::Bin standardDensity;
+   static utils::Bin standardPressure;


 };
--- a/sim/tests/CMakeLists.txt
+++ b/sim/tests/CMakeLists.txt
@ -1,4 +1,3 @@
-enable_testing()

 add_executable(sim_tests
   USStandardAtmosphereTests.cpp
@ -12,3 +11,5 @@ target_link_libraries(sim_tests
 include(GoogleTest)
 gtest_discover_tests(sim_tests)

+add_test(NAME qtrocket_sim_tests COMMAND sim_tests)
+
--- a/sim/tests/USStandardAtmosphereTests.cpp
+++ b/sim/tests/USStandardAtmosphereTests.cpp
@ -6,27 +6,85 @@ TEST(USStandardAtmosphereTests, DensityTests)
 {
   sim::USStandardAtmosphere atmosphere;

-   // Test that the calucated values are with 1% of the published values in the NOAA report
-   EXPECT_NEAR(atmosphere.getDensity(0.0) / 1.225, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(1000.0) / 1.112, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(2000.0) / 1.007, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(3000.0) / 0.9093, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(4000.0) / 0.8194, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(5000.0) / 0.7364, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(6000.0) / 0.6601, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(7000.0) / 0.5900, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(8000.0) / 0.5258, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(9000.0) / 0.4647, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(10000.0) / 0.4135, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(15000.0) / 0.1948, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(20000.0) / 0.08891, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(25000.0) / 0.039466, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(30000.0) / 0.018012, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(40000.0) / 0.0038510, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(60000.0) / 0.00028832, 1.0, 0.01);
-   EXPECT_NEAR(atmosphere.getDensity(70000.0) / 0.000074243, 1.0, 0.01);
-   // These two fail. Commenting out for now, the 50k meters is off by 5%, the 80k by 100%
-   // TODO: Why?
-   //EXPECT_NEAR(atmosphere.getDensity(50000.0) / 0.0010269, 1.0, 0.01);
-   //EXPECT_NEAR(atmosphere.getDensity(80000.0) / 0.000015701, 1.0, 0.01);
+   // Test that the calucated values are with 0.1% of the published values in the NOAA report
+   EXPECT_NEAR(atmosphere.getDensity(0.0) / 1.225, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(1000.0) / 1.112, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(2000.0) / 1.007, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(3000.0) / 0.9093, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(4000.0) / 0.8194, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(5000.0) / 0.7364, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(6000.0) / 0.6601, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(7000.0) / 0.5900, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(15000.0) / 0.19367, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(20000.0) / 0.088035, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(25000.0) / 0.039466, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(30000.0) / 0.018012, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getDensity(40000.0) / 0.0038510, 1.0, 0.001);
+
+   // These are generally accurate to ~0.5%. Slight deviation of calculated
+   // density from the given density in the report table
+   EXPECT_NEAR(atmosphere.getDensity(8000.0) / 0.52579, 1.0, 0.005);
+   EXPECT_NEAR(atmosphere.getDensity(9000.0) / 0.46706, 1.0, 0.005);
+   EXPECT_NEAR(atmosphere.getDensity(10000.0) / 0.41351, 1.0, 0.005);
+   EXPECT_NEAR(atmosphere.getDensity(50000.0) / 0.00097752, 1.0, 0.005);
+   EXPECT_NEAR(atmosphere.getDensity(60000.0) / 0.00028832, 1.0, 0.005);
+   EXPECT_NEAR(atmosphere.getDensity(70000.0) / 0.000074243, 1.0, 0.005);
+   EXPECT_NEAR(atmosphere.getDensity(80000.0) / 0.000015701, 1.0, 0.005);
+
 }
+
+TEST(USStandardAtmosphereTests, PressureTests)
+{
+   sim::USStandardAtmosphere atmosphere;
+
+   // Test that the calucated values are with 0.1% of the published values in the NOAA report
+   EXPECT_NEAR(atmosphere.getPressure(0.0)    / 101325.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(1000.0) / 89876.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(2000.0) / 79501.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(3000.0) / 70108.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(4000.0) / 61640.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(5000.0) / 54019.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(6000.0) / 47181.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(7000.0) / 41060.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(8000.0) / 35599.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(9000.0) / 30742.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(10000.0) / 26436.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(15000.0) / 12044.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(20000.0) / 5474.8, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(25000.0) / 2511.0, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(30000.0) / 1171.8, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(40000.0) / 277.52, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(50000.0) / 75.944, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(60000.0) / 20.314, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(70000.0) / 4.6342, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getPressure(80000.0) / 0.88627, 1.0, 0.001);
+
+}
+
+TEST(USStandardAtmosphereTests, TemperatureTests)
+{
+   sim::USStandardAtmosphere atmosphere;
+
+   // Test that the calucated values are with 0.1% of the published values in the NOAA report
+   EXPECT_NEAR(atmosphere.getTemperature(0.0)    / 288.15, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(1000.0) / 281.651, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(2000.0) / 275.154, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(3000.0) / 268.659, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(4000.0) / 262.166, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(5000.0) / 255.676, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(6000.0) / 249.187, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(7000.0) / 242.7, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(8000.0) / 236.215, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(9000.0) / 229.733, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(10000.0) / 223.252, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(15000.0) / 216.65, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(20000.0) / 216.65, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(25000.0) / 221.552, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(30000.0) / 226.509, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(40000.0) / 251.05, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(50000.0) / 270.65, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(60000.0) / 245.45, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(70000.0) / 217.450, 1.0, 0.001);
+   EXPECT_NEAR(atmosphere.getTemperature(80000.0) / 196.650, 1.0, 0.001);
+
+}
--- a/utils/BinMap.cpp
+++ b/utils/BinMap.cpp
@ -3,15 +3,14 @@
 // C headers
 // C++ headers
 #include <algorithm>
-#include <sstream>
+#include <format>
 #include <stdexcept>

 // 3rd party headers
-#include <fmt/core.h>
 /// \endcond

 // qtrocket headers
-#include "BinMap.h"
+#include "Bin.h"

 // TODO: Check on the availability of this in Clang.
 // Replace libfmt with format when LLVM libc++ supports it
@ -20,33 +19,33 @@
 namespace utils
 {

-BinMap::BinMap()
+Bin::Bin()
   : bins()
 {

 }

-BinMap::BinMap(BinMap&& o)
+Bin::Bin(Bin&& o)
   : bins(std::move(o.bins))
 {

 }

-BinMap::~BinMap()
+Bin::~Bin()
 {

 }

 // TODO: Very low priority, but if anyone wants to make this more efficient it could be
 // interesting
-void BinMap::insert(const std::pair<double, double>& toInsert)
+void Bin::insert(const std::pair<double, double>& toInsert)
 {
   bins.push_back(toInsert);
   std::sort(bins.begin(), bins.end(),
      [](const auto& a, const auto& b){ return a.first < b.first; });
 }

-double BinMap::operator[](double key)
+double Bin::operator[](double key)
 {
   auto iter = bins.begin();
   // If the key is less than the lowest bin value, then it is out of range
@ -56,12 +55,12 @@ double BinMap::operator[](double key)
   if(key < iter->first)
   {
      throw std::out_of_range(
-         fmt::format("{} less than lower bound {} of BinMap", key, iter->first));
+         std::format("{} less than lower bound {} of BinMap", key, iter->first));
   }
   // Increment it and start searching If we reach the end without finding an existing key
   // greater than our search term, then we've just hit the last bin and return that
   iter++;
-   double retVal = bins.end()->second;
+   double retVal = bins.back().second;
   while(iter !=  bins.end())
   {
      if(key < iter->first)
@ -74,7 +73,7 @@ double BinMap::operator[](double key)
   return retVal;
 }

-double BinMap::getBinBase(double key)
+double Bin::getBinBase(double key)
 {
   auto iter = bins.begin();
   // If the key is less than the lowest bin value, then it is out of range
@ -84,7 +83,7 @@ double BinMap::getBinBase(double key)
   if(key < iter->first)
   {
      throw std::out_of_range(
-         fmt::format("{} less than lower bound {} of BinMap", key, iter->first));
+         std::format("{} less than lower bound {} of BinMap", key, iter->first));
   }
   // Increment it and start searching If we reach the end without finding an existing key
   // greater than our search term, then we've just hit the last bin and return that
--- a/utils/BinMap.h
+++ b/utils/BinMap.h
@ -1,5 +1,5 @@
-#ifndef UTILS_BINMAP_H
-#define UTILS_BINMAP_H
+#ifndef UTILS_BIN_H
+#define UTILS_BIN_H

 /// \cond
 // C headers
@ -22,12 +22,12 @@ namespace utils {
 * @todo Make this class behave more like a proper STL container. Templetize it for one
 *
 */
-class BinMap
+class Bin
 {
 public:
-   BinMap();
-   BinMap(BinMap&& o);
-   ~BinMap();
+   Bin();
+   Bin(Bin&& o);
+   ~Bin();

   void insert(const std::pair<double, double>& toInsert);
   double operator[](double key);
@ -40,4 +40,4 @@ private:

 } // namespace utils

-#endif // UTILS_BINMAP_H
+#endif // UTILS_BIN_H
--- a/utils/CMakeLists.txt
+++ b/utils/CMakeLists.txt
@ -1,6 +1,6 @@
 add_library(utils
-        BinMap.cpp
-        BinMap.h
+    Bin.cpp
+        Bin.h
        CurlConnection.cpp
        CurlConnection.h
        Logger.cpp
@ -18,8 +18,13 @@ add_library(utils
        math/MathTypes.h
        math/UtilityMathFunctions.h)

+
+#target_include_directories(utils PRIVATE
+#    ${Boost_INCLUDE_DIRS})
+
+
 target_link_libraries(utils PUBLIC
   libcurl
+   Boost::property_tree
   jsoncpp_static
-   fmt::fmt-header-only
   eigen)
--- a/utils/Logger.cpp
+++ b/utils/Logger.cpp
@ -40,6 +40,13 @@ void Logger::log(std::string_view msg, const LogLevel& lvl)
   // all levels at or lower than the current level.
   switch(currentLevel)
   {
+      case PERF_:
+         if(lvl == PERF_)
+         {
+            outFile << "[PERF] " << msg << std::endl;
+             std::cout << "[PERF] " << msg << "\n";
+         }
+         [[fallthrough]];
      case DEBUG_:
         if(lvl == DEBUG_)
         {
--- a/utils/Logger.h
+++ b/utils/Logger.h
@ -25,7 +25,8 @@ public:
      ERROR_,
      WARN_,
      INFO_,
-      DEBUG_
+      DEBUG_,
+      PERF_
   };

   static Logger* getInstance();
@ -38,16 +39,11 @@ public:

   void setLogLevel(const LogLevel& lvl);
   
-   /*
-   std::function<void(std::string_view)> error;
-   std::function<void(std::string_view)> warn;
-   std::function<void(std::string_view)> info;
-   std::function<void(std::string_view)> debug;
-   */
   inline void error(std::string_view msg) { log(msg, ERROR_); }
   inline void warn(std::string_view msg)  { log(msg, WARN_); }
   inline void info(std::string_view msg)  { log(msg, INFO_); }
   inline void debug(std::string_view msg) { log(msg, DEBUG_); }
+   inline void perf(std::string_view msg) { log(msg, PERF_); }

   void log(std::ostream& o, const std::string& msg);

--- a/utils/ThrustCurveAPI.cpp
+++ b/utils/ThrustCurveAPI.cpp
@ -235,7 +235,9 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
      {
         Json::Reader reader;
         Json::Value jsonResult;
+Logger::getInstance()->debug("1");
         reader.parse(result, jsonResult);
+Logger::getInstance()->debug("2");

         for(Json::ValueConstIterator iter = jsonResult["results"].begin();
             iter != jsonResult["results"].end();
@ -244,6 +246,7 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
            model::MotorModel motorModel;
            model::MotorModel::MetaData mm;
            mm.commonName = (*iter)["commonName"].asString();
+Logger::getInstance()->debug("3");

            std::string availability = (*iter)["availability"].asString();
            if(availability == "regular")
@ -253,6 +256,7 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria

            mm.avgThrust = (*iter)["avgThrustN"].asDouble();
            mm.burnTime  = (*iter)["burnTimeS"].asDouble();
+Logger::getInstance()->debug("4");
            // TODO fill in certOrg
            // TODO fill in delays
            mm.designation = (*iter)["designation"].asString();
@ -279,8 +283,10 @@ std::vector<model::MotorModel> ThrustCurveAPI::searchMotors(const SearchCriteria
            else
                mm.type = model::MotorModel::MotorType(model::MotorModel::MOTORTYPE::HYBRID);

-            motorModel.moveMetaData(std::move(mm));
+Logger::getInstance()->debug("5");
            auto tc = getThrustCurve(mm.motorIdTC);
+            motorModel.moveMetaData(std::move(mm));
+Logger::getInstance()->debug("6");
            if(tc)
            {
                motorModel.addThrustCurve(*tc);
--- a/utils/math/Constants.h
+++ b/utils/math/Constants.h
@ -6,9 +6,19 @@ namespace utils::math

 namespace Constants
 {
-   constexpr double Rstar = 8.3144598;
+   constexpr double Rstar = 8.31432;
   constexpr const double g0 = 9.80665;
   constexpr const double airMolarMass = 0.0289644;
+
+   // gamma is the ratio of the specific heat of air at constant pressure to that at
+   // constant volume. Used in computing the speed of sound
+   constexpr const double gamma = 1.4;
+
+   // beta is used in calculating the dynamic viscosity of air. Based on the 1976 US Standard
+   // Atmosphere report, it is empirically measured to be:
+   constexpr const double beta = 1.458e-6;
+   // Sutherland's constant
+   constexpr const double S = 110.4;
   constexpr const double standardTemperature = 288.15;
   constexpr const double standardDensity = 1.2250;
   constexpr const double meanEarthRadiusWGS84 = 6371008.8;
--- a/utils/math/MathTypes.h
+++ b/utils/math/MathTypes.h
@ -2,6 +2,7 @@
 #define UTILS_MATH_MATHTYPES_H

 #include <Eigen/Dense>
+#include <vector>

 /// This is not in any namespace. These typedefs are intended to be used throughout QtRocket,
 /// so keeping them in the global namespace seems to make sense.
@ -20,4 +21,54 @@ using Matrix4 = MyMatrix<4>;
 using Vector3 = MyVector<3>;
 using Vector6 = MyVector<6>;

+/*
+namespace utils
+{
+   std::vector<double> myVectorToStdVector(const Vector3& x)
+   {
+      return std::vector<double>{x.coeff(0), x.coeff(1), x.coeff(2)};
+   }
+
+   std::vector<double> myVectorToStdVector(const Vector6& x)
+   {
+      return std::vector<double>{x.coeff(0),
+                                 x.coeff(1),
+                                 x.coeff(2),
+                                 x.coeff(3),
+                                 x.coeff(4),
+                                 x.coeff(5)};
+   }
+}
+
+class Vector3 : public MyVector<3>
+{
+public:
+   template<typename... Args>
+   Vector3(Args&&... args) : MyVector<3>(std::forward<Args>(args)...)
+   {}
+   operator std::vector<double>()
+   {
+      return std::vector<double>{this->coeff(0), this->coeff(1), this->coeff(2)};
+   }
+};
+
+class Vector6 : public MyVector<6>
+{
+public:
+   template<typename... Args>
+   Vector6(Args&&... args) : MyVector<6>(std::forward<Args>(args)...)
+   {}
+   operator std::vector<double>()
+   {
+      return std::vector<double>{this->coeff(0),
+                                 this->coeff(1),
+                                 this->coeff(2),
+                                 this->coeff(3),
+                                 this->coeff(4),
+                                 this->coeff(5)};
+   }
+};
+*/
+
+
 #endif // UTILS_MATH_MATHTYPES_H
Author	SHA1	Message	Date
Travis Hunter	e6bf1fea9b	Revert "Merge pull request #20 from cthunter01/propagator" Some checks failed CMake on multiple platforms / build (Release, cl, cl, windows-latest) (push) Has been cancelled Details CMake on multiple platforms / build (Release, gcc-13, g++-13, ubuntu-latest) (push) Has been cancelled Details This reverts commit 6280d9fb0184275843a8f4406c7293e41e65a639, reversing changes made to 3c9c8b8c6a2b2e7430ff09efdc2cc0c1996b16ca.	2025-04-16 18:23:28 -06:00
Travis Hunter	152907beb2	Revert "adding testfile to test repo mirroring from gitea to github" This reverts commit 8af70eef399a5a237c2c8c006f3f58e56fe15e47.	2025-04-16 18:22:05 -06:00
Travis Hunter	d2ac30118b	Revert "second test of gitea push mirroring" This reverts commit c14697eddf0a15a2b5938f66fde6c12ca5fe840f.	2025-04-16 18:21:48 -06:00
Travis Hunter	cc9ba15320	Revert "third test of gitea push mirroring" This reverts commit 1e04c362ce24c44c400f2ab21fc6ed75239b080b.	2025-04-16 18:21:16 -06:00
Travis Hunter	9432848310	Revert "remove temporary test file" This reverts commit 60610150e277710f6751b09ed8db6a7c090dab06.	2025-04-16 18:20:47 -06:00
Travis Hunter	60610150e2	remove temporary test file Some checks failed CMake on multiple platforms / build (Release, cl, cl, windows-latest) (push) Has been cancelled Details CMake on multiple platforms / build (Release, gcc-13, g++-13, ubuntu-latest) (push) Has been cancelled Details	2025-04-16 18:15:55 -06:00
Travis Hunter	1e04c362ce	third test of gitea push mirroring Some checks failed CMake on multiple platforms / build (Release, cl, cl, windows-latest) (push) Has been cancelled Details CMake on multiple platforms / build (Release, gcc-13, g++-13, ubuntu-latest) (push) Has been cancelled Details	2025-04-05 19:19:41 -06:00
Travis Hunter	c14697eddf	second test of gitea push mirroring Some checks failed CMake on multiple platforms / build (Release, cl, cl, windows-latest) (push) Has been cancelled Details CMake on multiple platforms / build (Release, gcc-13, g++-13, ubuntu-latest) (push) Has been cancelled Details	2025-04-05 19:18:47 -06:00
Travis Hunter	8af70eef39	adding testfile to test repo mirroring from gitea to github Some checks failed CMake on multiple platforms / build (Release, cl, cl, windows-latest) (push) Has been cancelled Details CMake on multiple platforms / build (Release, gcc-13, g++-13, ubuntu-latest) (push) Has been cancelled Details	2025-04-05 19:05:21 -06:00
cthunter01	7fd12b6e0c	Merge pull request #21 from cthunter01/propagator Merge pull request #1 from qtrocket/development	2025-04-05 18:54:24 -06:00
cthunter01	ae72cf63a8	Merge pull request #1 from qtrocket/development update	2025-04-05 18:53:20 -06:00
cthunter01	6280d9fb01	Merge pull request #20 from cthunter01/propagator Propagator	2025-04-05 18:52:14 -06:00
Travis Hunter	6ddba41dd6	WIP	2024-08-16 18:18:49 -06:00
Travis Hunter	cb1a8c379b	Initial commit of propagator test branch	2024-08-16 16:18:35 -06:00
cthunter01	3c9c8b8c6a	Merge pull request #19 from cthunter01/development Fix build failures and add github CI actions. Automated builds on Ubuntu and Windows	2024-08-14 18:28:54 -06:00
cthunter01	ead8d1dc01	Merge branch 'qtrocket:development' into development	2024-08-14 18:27:26 -06:00
cthunter01	86587dc435	Update README.md	2024-08-14 18:25:52 -06:00
Travis Hunter	5a332ec060	Substantial refactor and cleanup of Propagator and Rocket class (now RocketModel class)	2024-03-17 10:19:39 -06:00
Travis Hunter	46eca1136f	Remove model::Stage for now. It'll be good in the future, but makes initial development more complex. Prototype with single stage rocket for now while working out the physics engine	2024-03-17 08:13:24 -06:00
Travis Hunter	63a5b8995f	Update CTest infrastructure to automatically run qtrocket unit tests	2024-03-15 15:17:26 -06:00
Travis Hunter	e0f3eb1c45	Exclude ubuntu-latest clang build since it's broken (not my breakage, Github's config of ubuntu-latest)	2024-03-15 13:29:30 -06:00
Travis Hunter	b72d6ff67f	Add unit tests to workflow. Disable clang for now because it's broken in ubuntu-latest build container	2024-03-15 13:27:05 -06:00
Travis Hunter	1a29d0b04e	Tweaking workflow. Trying to use gcc-13 on ubuntu	2024-03-15 12:58:37 -06:00
Travis Hunter	f938d5e21c	fix typo in windows-latest.yml action	2024-03-15 12:41:12 -06:00
Travis Hunter	78bfecd8a3	Split github actions by OS	2024-03-15 12:39:40 -06:00
cthunter01	903b0ee8e6	Update cmake-multi-platform.yml	2024-03-15 12:08:08 -06:00
cthunter01	fb7e267bb4	Test gcc13 on ubuntu-latest: Update cmake-multi-platform.yml	2024-03-15 11:58:14 -06:00
cthunter01	17e87e2c40	Update cmake-multi-platform.yml	2024-03-15 11:20:38 -06:00
cthunter01	46c5caa1ab	Add "install Qt" to github actions: Update cmake-multi-platform.yml	2024-03-15 11:17:44 -06:00
cthunter01	bf83ffc9ec	Add github actions: Create cmake-multi-platform.yml	2024-03-15 11:01:15 -06:00
Travis Hunter	5db186e8da	Fixed build on Fedora with boost. I'm not sure why it worked on FreeBSD but in Fedora 39 CMake didn't set boost up properly, or maybe the FetchContent(Boost) just never worked and it always found the installed boost library? But it fetches and sets up dynamically now...	2024-03-15 10:50:00 -06:00
Travis Hunter	e5c068ddf7	Remove external dependency on fmtlib in favor of std::format. Begin transition of model::Part into an interface	2024-03-14 18:06:05 -06:00
Travis Hunter	6a015d9797	Fix crash on motor load	2024-03-14 07:05:16 -06:00
Travis Hunter	f4e560fcd9	quick cleanup	2024-02-18 16:38:22 -07:00
Travis Hunter	5da279a8e6	Cleanup	2024-02-18 16:25:45 -07:00
Travis Hunter	d9cc4e4aec	Remove CMakeLists.txt.user	2024-02-18 09:03:51 -07:00
Travis Hunter	9517b5b682	Added first model tests. Super basic Part test	2023-10-20 17:03:52 -06:00
Travis Hunter	41183b8397	WIP. Added Stage objects, and made Stage and Rocket a Propagatable. Changed Propagator to propagate a Propagatable instead of a Rocket. This is to allow for propagating dropped stages	2023-10-20 14:48:35 -06:00
Travis Hunter	9b807d53a4	Fixed US Standard Atmosphere class and tests	2023-10-19 10:58:01 -06:00
Travis Hunter	9391b85a07	WIP. Started building model/Part component	2023-10-19 08:33:34 -06:00
Travis Hunter	4da21707b6	Building and running again	2023-10-16 17:40:33 -06:00
Travis Hunter	505a66a1be	WIP	2023-10-16 14:55:31 -06:00