Fix NLAW and PLOS

The missile pitches up due to initial angle stuff. I don't know if this is behaviour we want to fix or not?

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;
 

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

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);
+    };
+};

addons/nlaw/CfgAmmo.hpp

@@ -18,8 +18,8 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOBL";
             seekerLockModes[] = {"LOBL"};
 
-            defaultNavigationType = "LineOfSight";
+            defaultNavigationType = QGVAR(PLOS);
-            navigationTypes[] = { "LineOfSight" };
+            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

addons/nlaw/XEH_PREP.hpp

@@ -4,3 +4,5 @@ PREP(attackProfile);
 PREP(keyDown);
 PREP(onFired);
 PREP(seeker);
+PREP(navigation);
+PREP(navigation_onFired);

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);
+[0, 0, 1]
-_returnTargetPos;

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;

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 <ARRAY>
+ *
+ * Return Value:
+ * Commanded acceleration normal to LOS in world space <ARRAY>
+ *
+ * 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]
+

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 <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];
+

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;