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Nlaw - Update to use Missile Guidance Framework (#10034)
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| Original file line number | Diff line number | Diff line change |
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@@ -4,3 +4,5 @@ PREP(attackProfile); | |
| PREP(keyDown); | ||
| PREP(onFired); | ||
| PREP(seeker); | ||
| PREP(navigation); | ||
| PREP(navigation_onFired); | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| #include "..\script_component.hpp" | ||
| /* | ||
| * Author: tcvm | ||
| * Attempts to hold angle as fed to by seeker. Does so with a simple proportional controller | ||
| * | ||
| * Arguments: | ||
| * Guidance Arg Array <ARRAY> | ||
| * | ||
| * Return Value: | ||
| * Commanded acceleration normal to LOS in world space <ARRAY> | ||
| * | ||
| * Example: | ||
| * [] call ace_missileguidance_fnc_navigationType_line | ||
| * | ||
| * Public: No | ||
| */ | ||
| // arbitrary constant | ||
| #define PROPORTIONALITY_CONSTANT 20 | ||
| params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos", "_targetData", "_navigationParams"]; | ||
| _args params ["_firedEH"]; | ||
| _firedEH params ["","","","","","","_projectile"]; | ||
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| _navigationParams params ["_yawChange", "_pitchChange", "_lastPitch", "_lastYaw", "_initialPitch", "_pitchUp", "_lastYawRateDifference"]; | ||
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| // for some reason we need to multiply this. I don't know why, but it just works | ||
| _pitchChange = _pitchChange * 1.5; | ||
| _yawChange = _yawChange * 1.5; | ||
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| ((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"]; | ||
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| private _pitchRate = if (_timestep == 0) then { | ||
| 0 | ||
| } else { | ||
| (_currentPitch - _lastPitch) / _timestep | ||
| }; | ||
| _navigationParams set [2, _currentPitch]; | ||
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| private _pitchModifier = if (_pitchChange == 0) then { | ||
| 1 | ||
| } else { | ||
| abs (_pitchRate / _pitchChange) | ||
| }; | ||
| private _desiredPitchChange = (_pitchChange - _pitchRate) * PROPORTIONALITY_CONSTANT * _pitchModifier; | ||
| _desiredPitchChange = _desiredPitchChange + _pitchUp * (_initialPitch - _currentPitch) * PROPORTIONALITY_CONSTANT * _pitchModifier; | ||
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| private _yawRate = if (_timestep == 0) then { | ||
| 0 | ||
| } else { | ||
| (_currentYaw - _lastYaw) / _timestep | ||
| }; | ||
| _navigationParams set [3, _currentYaw]; | ||
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| private _yawModifier = if (_yawChange == 0) then { | ||
| 1 | ||
| } else { | ||
| abs (_yawRate / _yawChange) | ||
| }; | ||
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| private _yawRateDifference = _yawChange - _yawRate; | ||
| private _yawChangeDerivative = if (_timestep == 0) then { | ||
| 0 | ||
| } else { | ||
| (_yawRateDifference - _lastYawRateDifference) / _timestep | ||
| }; | ||
| _navigationParams set [6, _yawRateDifference]; | ||
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| private _desiredYawChange = _yawRateDifference * PROPORTIONALITY_CONSTANT + _yawRateDifference * 2; | ||
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| #ifdef DRAW_NLAW_INFO | ||
| drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["dP [%1] dY: [%2]", _desiredPitchChange, _desiredYawChange], 1, 0.025, "TahomaB"]; | ||
| drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 1] vectorAdd ASLtoAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["pitch proportional [%1] yaw proportional [%2]", _pitchModifier, _yawModifier], 1, 0.025, "TahomaB"]; | ||
| #endif | ||
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| TRACE_4("nlaw pitch/yaw info",_currentPitch,_lastPitch,_currentYaw,_lastYaw); | ||
| TRACE_6("nlaw navigation",_yawChange,_desiredYawChange,_pitchChange,_desiredPitchChange,_yawRate,_pitchRate); | ||
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| _projectile vectorModelToWorldVisual [_yawChange + _desiredYawChange, 0, _pitchChange + _desiredPitchChange] | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| #include "..\script_component.hpp" | ||
| /* | ||
| * Author: PabstMirror | ||
| * Sets up missile guidance state arrays (called from missileGuidance's onFired). | ||
| * | ||
| * Arguments: | ||
| * Guidance Arg Array <ARRAY> | ||
| * | ||
| * Return Value: | ||
| * Navigation Parameters <ARRAY> | ||
| * | ||
| * Example: | ||
| * [] call ace_nlaw_fnc_onFired | ||
| * | ||
| * Public: No | ||
| */ | ||
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| params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams"]; | ||
| _firedEH params ["_shooter","","","","","","_projectile"]; | ||
| _launchParams params ["","_targetLaunchParams","","_attackProfile"]; | ||
| _targetLaunchParams params ["_target"]; | ||
| _stateParams params ["", "", "", "", "_navigationParams"]; | ||
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| // Reset _launchPos origin as projectile's height instead of player's foot | ||
| _targetLaunchParams set [2, getPosASL _projectile]; | ||
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| // Get state params: | ||
| TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile); | ||
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| private _firedLOS = _shooter weaponDirection (currentWeapon _shooter); | ||
| private _yawChange = 0; | ||
| private _pitchChange = 0; | ||
|
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| if (_shooter == ACE_player) then { | ||
| TRACE_2("isPlayer",GVAR(yawChange),GVAR(pitchChange)); | ||
| _yawChange = GVAR(yawChange); | ||
| _pitchChange = GVAR(pitchChange); | ||
| TRACE_1("los check",_firedLOS call CBA_fnc_vect2Polar); | ||
| } else { | ||
| if ((!isNil "_target") && {!isNull _target}) then { | ||
| _firedLOS = (getPosASL _projectile) vectorFromTo (aimPos _target); | ||
| (((eyePos _shooter) vectorFromTo (aimPos _target)) call CBA_fnc_vect2Polar) params ["", "_startYaw", "_startPitch"]; | ||
| // Add some random error to AI's velocity prediction: | ||
| private _random = random [(_shooter skillFinal "aimingAccuracy") min 0.9, 1, 2-((_shooter skillFinal "aimingAccuracy") min 0.9)]; | ||
| (((eyePos _shooter) vectorFromTo ((aimPos _target) vectorAdd ((velocity _target) vectorMultiply (_random)))) call CBA_fnc_vect2Polar) params ["", "_predictedYaw", "_predictedPitch"]; | ||
| _yawChange = ([_predictedYaw - _startYaw] call CBA_fnc_simplifyAngle180); | ||
| _pitchChange = ([_predictedPitch - _startPitch] call CBA_fnc_simplifyAngle180); | ||
| TRACE_1("AI",_target); | ||
| } else { | ||
| TRACE_1("AI - no target",_target); | ||
| }; | ||
| }; | ||
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| // Limit Max Deflection | ||
| //_yawChange = -10 max _yawChange min 10; | ||
| //_pitchChange = -10 max _pitchChange min 10; | ||
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| ((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"]; | ||
| ((ACE_player weaponDirection (currentWeapon ACE_player)) call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"]; | ||
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| TRACE_5("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange,_currentPitch,_currentYaw); | ||
| _navigationParams set [0, _yawChange]; | ||
| _navigationParams set [1, _pitchChange]; | ||
| _navigationParams set [2, _currentPitch]; // last pitch | ||
| _navigationParams set [3, _currentYaw]; // last yaw | ||
| _navigationParams set [4, _pitch]; // initial pitch | ||
| _navigationParams set [5, 0]; // whether or not to zero out the pitch | ||
| _navigationParams set [6, 0]; | ||
| _navigationParams | ||
|
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