diff --git a/addons/missileguidance/functions/fnc_guidancePFH.sqf b/addons/missileguidance/functions/fnc_guidancePFH.sqf index dd55a5073c..fb843528c0 100644 --- a/addons/missileguidance/functions/fnc_guidancePFH.sqf +++ b/addons/missileguidance/functions/fnc_guidancePFH.sqf @@ -70,7 +70,8 @@ if ((_pitchRate != 0 || {_yawRate != 0}) && {_profileAdjustedTargetPos isNotEqua if (GVAR(debug_drawGuidanceInfo)) then { private _projectilePosAGL = ASLToAGL _projectilePos; - drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], _projectilePosAGL vectorAdd [0, 0, 1], 0.75, 0.75, 0, format ["cmdPitch: %1 cmdYaw %2", _commandedAcceleration#2, _commandedAcceleration#0], 1, 0.025, "TahomaB"]; + private _cmdAccelLocal = _projectile vectorWorldToModelVisual _commandedAcceleration; + drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], _projectilePosAGL vectorAdd [0, 0, 1], 0.75, 0.75, 0, format ["cmdPitch: %1 cmdYaw %2", _cmdAccelLocal#2, _cmdAccelLocal#0], 1, 0.025, "TahomaB"]; drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,1,0,1], _projectilePosAGL vectorAdd [0, 0, 2], 0.75, 0.75, 0, _navigationType, 1, 0.025, "TahomaB"]; drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd _commandedAcceleration, [1, 0, 1, 1]]; }; @@ -109,7 +110,6 @@ if ((_pitchRate != 0 || {_yawRate != 0}) && {_profileAdjustedTargetPos isNotEqua }; TRACE_9("pitch/yaw/roll",_pitch,_yaw,_roll,_yawChange,_pitchChange,_pitchRate,_yawRate,_clampedPitch,_clampedYaw); - _pitch = _pitch + _clampedPitch * _timestep; _yaw = _yaw + _clampedYaw * _timestep; diff --git a/addons/missileguidance/functions/fnc_onFired.sqf b/addons/missileguidance/functions/fnc_onFired.sqf index 89b73c7f08..3f85c9d587 100644 --- a/addons/missileguidance/functions/fnc_onFired.sqf +++ b/addons/missileguidance/functions/fnc_onFired.sqf @@ -156,7 +156,7 @@ private _args = [_this, getNumber ( _config >> "seekerMaxRange" ), getNumber ( _config >> "seekerMinRange" ) ], - [ diag_tickTime, [], [], _lastKnownPosState, _navigationParameters, [_pitchYaw select 1, 0, 1.5 + (_pitchYaw select 2)]], + [ diag_tickTime, [], [], _lastKnownPosState, _navigationParameters, [_pitchYaw select 1, 0, _pitchYaw select 2]], [ // target data from missile. Must be filled by seeker for navigation to work [0, 0, 0], // direction to target diff --git a/addons/nlaw/ACE_GuidanceConfig.hpp b/addons/nlaw/ACE_GuidanceConfig.hpp index e04753d681..6003586fe8 100644 --- a/addons/nlaw/ACE_GuidanceConfig.hpp +++ b/addons/nlaw/ACE_GuidanceConfig.hpp @@ -12,3 +12,9 @@ class EGVAR(missileguidance,SeekerTypes) { functionName = QFUNC(seeker); }; }; +class EGVAR(missileguidance,NavigationTypes) { + class GVAR(PLOS) { + functionName = QFUNC(navigation); + onFired = QFUNC(navigation_onFired); + }; +}; diff --git a/addons/nlaw/CfgAmmo.hpp b/addons/nlaw/CfgAmmo.hpp index cdc52eb524..f572678d20 100644 --- a/addons/nlaw/CfgAmmo.hpp +++ b/addons/nlaw/CfgAmmo.hpp @@ -18,8 +18,8 @@ class CfgAmmo { defaultSeekerLockMode = "LOBL"; seekerLockModes[] = {"LOBL"}; - defaultNavigationType = "LineOfSight"; - navigationTypes[] = { "LineOfSight" }; + defaultNavigationType = QGVAR(PLOS); + navigationTypes[] = { QGVAR(PLOS) }; seekLastTargetPos = 0; // seek last target position [if seeker loses LOS of target, continue to last known pos] seekerAngle = 45; // Angle in front of the missile which can be searched diff --git a/addons/nlaw/XEH_PREP.hpp b/addons/nlaw/XEH_PREP.hpp index aad1e57efb..1cd8dbc3c5 100644 --- a/addons/nlaw/XEH_PREP.hpp +++ b/addons/nlaw/XEH_PREP.hpp @@ -4,3 +4,5 @@ PREP(attackProfile); PREP(keyDown); PREP(onFired); PREP(seeker); +PREP(navigation); +PREP(navigation_onFired); diff --git a/addons/nlaw/functions/fnc_attackProfile.sqf b/addons/nlaw/functions/fnc_attackProfile.sqf index 21f77f0ff5..ddfa7d3a6f 100644 --- a/addons/nlaw/functions/fnc_attackProfile.sqf +++ b/addons/nlaw/functions/fnc_attackProfile.sqf @@ -18,14 +18,13 @@ */ params ["_seekerTargetPos", "_args", "_attackProfileStateParams"]; + +#ifdef DRAW_NLAW_INFO _args params ["_firedEH", "_launchParams"]; _launchParams params ["","_targetLaunchParams", "", "_attackProfile"]; _targetLaunchParams params ["", "", "_launchPos"]; _firedEH params ["","","","","","","_projectile"]; -// Use seeker (if terminal) -if (_seekerTargetPos isNotEqualTo [0,0,0]) exitWith {_seekerTargetPos}; - _attackProfileStateParams params ["_startTime", "_startLOS", "_yawChange", "_pitchChange"]; (_startLOS call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"]; @@ -36,14 +35,6 @@ private _flightTime = CBA_missionTime - _startTime; private _realYaw = _yaw + _yawChange * _flightTime; private _realPitch = _pitch + _pitchChange * _flightTime; -private _returnTargetPos = _launchPos vectorAdd ([_distanceFromLaunch, _realYaw, _realPitch] call CBA_fnc_polar2vect); - -if (_attackProfile == QGVAR(overflyTopAttack)) then { // Add 2m height in OTA attack mode - _returnTargetPos = _returnTargetPos vectorAdd [0,0,2]; -}; - - -#ifdef DRAW_NLAW_INFO drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL _launchPos, 0.75, 0.75, 0, "LAUNCH", 1, 0.025, "TahomaB"]; drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,1,1,1], ASLtoAGL (_launchPos vectorAdd (_startLOS vectorMultiply (_distanceFromLaunch + 50))), 0.75, 0.75, 0, "Original LOS", 1, 0.025, "TahomaB"]; drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,1,0,1], ASLtoAGL (_launchPos vectorAdd ([_distanceFromLaunch + 50, _realYaw, _realPitch] call CBA_fnc_polar2vect)), 0.75, 0.75, 0, format ["Predicted @%1sec",(floor(_flightTime * 10)/10)], 1, 0.025, "TahomaB"]; @@ -56,5 +47,4 @@ if ((count _test) > 0) then { }; #endif -// TRACE_1("Adjusted target position", _returnTargetPos); -_returnTargetPos; +[0, 0, 1] diff --git a/addons/nlaw/functions/fnc_keyDown.sqf b/addons/nlaw/functions/fnc_keyDown.sqf index fcc320360c..c2ee6a8fb8 100644 --- a/addons/nlaw/functions/fnc_keyDown.sqf +++ b/addons/nlaw/functions/fnc_keyDown.sqf @@ -74,7 +74,7 @@ playSound "ACE_Sound_Click"; _args set [1, _yaw]; _args set [2, _pitch]; - #ifdef DEBUG_MODE_FULL + #ifdef DRAW_NLAW_INFO hintSilent format ["Instantaneous\nYaw: %1\n Pitch: %2\nGVAR\nYaw: %3\nPitch: %4", _yawChange, _pitchChange, GVAR(yawChange), GVAR(pitchChange)]; #endif }, .25, [CBA_missionTime, _yaw, _pitch, true]] call CBA_fnc_addPerFrameHandler; diff --git a/addons/nlaw/functions/fnc_navigation.sqf b/addons/nlaw/functions/fnc_navigation.sqf new file mode 100644 index 0000000000..835c3cdcf1 --- /dev/null +++ b/addons/nlaw/functions/fnc_navigation.sqf @@ -0,0 +1,26 @@ +#include "script_component.hpp" +/* + * Author: Brandon (TCVM) + * Holds angle as fed to by seeker + * + * Arguments: + * Guidance Arg Array + * + * Return Value: + * Commanded acceleration normal to LOS in world space + * + * Example: + * [] call ace_missileguidance_fnc_navigationType_line + * + * Public: No + */ +params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos", "_targetData", "_navigationParams"]; +_args params ["_firedEH"]; +_firedEH params ["","","","","","","_projectile"]; +_args params ["", "", "_flightParams"]; +_flightParams params ["_pitchRate", "_yawRate"]; + +_navigationParams params ["_yawChange", "_pitchChange", "_startTime"]; + +_projectile vectorModelToWorldVisual [2 * _yawChange, 0, 2 * _pitchChange] + diff --git a/addons/nlaw/functions/fnc_navigation_onFired.sqf b/addons/nlaw/functions/fnc_navigation_onFired.sqf new file mode 100644 index 0000000000..63d1f0ef02 --- /dev/null +++ b/addons/nlaw/functions/fnc_navigation_onFired.sqf @@ -0,0 +1,62 @@ +#include "script_component.hpp" +/* + * Author: PabstMirror + * Sets up missile guidance state arrays (called from missileGuidance's onFired). + * + * Arguments: + * Guidance Arg Array + * + * Return Value: + * None + * + * Example: + * [] call ace_nlaw_fnc_onFired + * + * Public: No + */ + +params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams"]; +_firedEH params ["_shooter","","","","","","_projectile"]; +_launchParams params ["","_targetLaunchParams","","_attackProfile"]; +_targetLaunchParams params ["_target"]; +_stateParams params ["", "", "", "", "_navigationParams"]; + +// Reset _launchPos origin as projectile's height instead of player's foot +_targetLaunchParams set [2, getPosASL _projectile]; + +// Get state params: +TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile); + +private _firedLOS = _shooter weaponDirection (currentWeapon _shooter); +private _yawChange = 0; +private _pitchChange = 0; + +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); + }; +}; + +// Limit Max Deflection +_yawChange = -10 max _yawChange min 10; +_pitchChange = -10 max _pitchChange min 10; + +TRACE_3("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange); +_navigationParams set [0, _yawChange]; +_navigationParams set [1, _pitchChange]; +_navigationParams set [2, CBA_missionTime]; + diff --git a/addons/nlaw/functions/fnc_onFired.sqf b/addons/nlaw/functions/fnc_onFired.sqf index 0552afcd86..4d5ac5254e 100644 --- a/addons/nlaw/functions/fnc_onFired.sqf +++ b/addons/nlaw/functions/fnc_onFired.sqf @@ -27,7 +27,7 @@ _targetLaunchParams set [2, getPosASL _projectile]; // Get state params: TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile); -private _firedLOS = _shooter weaponDirection (currentWeapon _shooter); +private _firedLOS = vectorDir _projectile; private _yawChange = 0; private _pitchChange = 0;