Arma3_Epoch/ACE3
1
0
Fork 0
mirror of https://github.com/acemod/ACE3.git synced 2024-08-30 18:23:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

attempt at missile dynamics

Browse Source
This commit is contained in:
Brandon Danyluk 2021-03-26 23:15:29 -06:00
parent 2fd4f70c5b
commit 365860dd09
4 changed files with 40 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
addons/missileguidance/functions/fnc_guidancePFH.sqf
View File

@ -46,7 +46,7 @@ private _minDeflection = ((_flightParams select 0) - ((_flightParams select 0) *
private _maxDeflection = (_flightParams select 1) * _adjustTime;
// private _incDeflection = _flightParams select 2; // todo
private _projectilePos = getPosASL _projectile;
private _projectilePos = getPosASLVisual _projectile;
// Run seeker function:
private _seekerTargetPos = [[0,0,0], _args, _seekerStateParams, _lastKnownPosState] call FUNC(doSeekerSearch);
@ -62,28 +62,36 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
// Simulate moving servos by moving in each DOF by a fixed amount per frame
// Then setVectorDirAndUp to allow ARMA to translate the velocity to whatever PhysX says
private _rollDegreesPerSecond = 15;
private _yawDegreesPerSecond = 15;
private _pitchDegreesPerSecond = 15;
private _rollDegreesPerSecond = 30;
private _yawDegreesPerSecond = 30;
private _pitchDegreesPerSecond = 30;
private _proportionalGain = 1.6;
private _proportionalGain = 1;
private _integralGain = 0;
private _derivativeGain = 0;
_pidData params ["_pid", "_lastTargetPosition", "_lastLineOfSight", "_currentPitchYawRoll"];
_pidData params ["_pid", "_lastTargetDetails", "_lastLineOfSight", "_currentPitchYawRoll"];
_currentPitchYawRoll params ["_pitch", "_yaw", "_roll"];
_lastTargetDetails params ["_lastTargetPosition", "_lastTargetVelocity"];
private _navigationGain = 3;
private _targetVelocity = (_seekerTargetPos vectorDiff _lastTargetPosition) vectorMultiply (1 / TIMESTEP_FACTOR);
private _targetAcceleration = (_targetVelocity vectorDiff _lastTargetVelocity) vectorMultiply (1 / TIMESTEP_FACTOR);
private _lineOfSight = (_projectile vectorWorldToModelVisual (_profileAdjustedTargetPos vectorDiff _projectilePos));
private _lineOfSight = _projectile vectorWorldToModelVisual vectorNormalized (_profileAdjustedTargetPos vectorDiff _projectilePos);
private _losNormal = [(_lineOfSight#2), -(_lineOfSight#0), 0];
private _losDelta = _lineOfSight vectorDiff _lastLineOfSight;
private _losRate = (vectorMagnitude _losDelta) / _runtimeDelta;
private _closingVelocity = -_losRate;
private _deltaLOS = _lineOfSight vectorDiff _lastLineOfSight;
private _rotationRate = vectorMagnitude _deltaLOS;
private _closingVelocity = -_rotationRate;
private _commandedLateralAcceleration = _navigationGain * _losRate * _closingVelocity;
private _lateralAcceleration = _navigationGain * _rotationRate * _closingVelocity;
private _commandedAcceleration = _losNormal vectorMultiply _lateralAcceleration;
//_commandedAcceleration = _commandedAcceleration vectorAdd (_losNormal vectorMultiply (_navigationGain * 0.5 * TIMESTEP_FACTOR * (9.81 + 150)));
private _commandedAcceleration = [_lineOfSight#2, -(_lineOfSight#0), 0] vectorMultiply _commandedLateralAcceleration;
//systemChat str vectorMagnitude _targetAcceleration;
TRACE_5("PN", CBA_missionTime, _lineOfSight, _lastLineOfSight, _rotationRate, _deltaLOS);
private _acceleration = [0, 0];
{
@ -95,9 +103,9 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
private _proportional = _commandedAccelerationAxis * _proportionalGain;
private _d0 = _commandedAccelerationAxis * _derivativeGain;
private _derivative = (_d0 - _lastDerivative) / _runtimeDelta;
private _derivative = (_d0 - _lastDerivative) / TIMESTEP_FACTOR;
_integral = _integral + (_d0 * _runtimeDelta * _integralGain);
_integral = _integral + (_d0 * TIMESTEP_FACTOR * _integralGain);
private _pidSum = _proportional + _integral + _derivative;
@ -111,7 +119,12 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
TRACE_1("",_acceleration);
private _projectilePosAGL = ASLToAGL _projectilePos;
private _debugAcceleration = [_acceleration#0, 0, _acceleration#1];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd ((_projectile vectorModelToWorldVisual _debugAcceleration) vectorMultiply 5), [1, 0, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_lineOfSight vectorMultiply 15), [1, 0, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_lastLineOfSight vectorMultiply 5), [0, 1, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd ([_lineOfSight#2, -(_lineOfSight#0), 0] vectorMultiply 5), [0, 0, 1, 1]];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], [0, 0, 4] vectorAdd ASLtoAGL _projectilePos, 0.75, 0.75, 0, str _rotationRate, 1, 0.025, "TahomaB"];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], [0, 0, 3] vectorAdd ASLtoAGL _projectilePos, 0.75, 0.75, 0, str vectorMagnitude _targetAcceleration, 1, 0.025, "TahomaB"];
#endif
if (!isGamePaused && accTime > 0) then {
@ -120,8 +133,8 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
private _clampedPitch = (-_pitchChange min _pitchDegreesPerSecond) max -_pitchDegreesPerSecond;
private _clampedYaw = (_yawChange min _yawDegreesPerSecond) max -_yawDegreesPerSecond;
_pitch = _pitch + _clampedPitch * _runtimeDelta;
_yaw = _yaw + _clampedYaw * _runtimeDelta;
_pitch = _pitch + _clampedPitch * TIMESTEP_FACTOR;
_yaw = _yaw + _clampedYaw * TIMESTEP_FACTOR;
[_projectile, _pitch, _yaw, 0] call FUNC(changeMissileDirection);
@ -130,10 +143,13 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
};
_pidData set [0, _pid];
_pidData set [1, _profileAdjustedTargetPos];
if (accTime > 0) then {
_pidData set [1, [_seekerTargetPos, _targetVelocity]];
};
_pidData set [2, _lineOfSight];
_pidData set [3, _currentPitchYawRoll];
_stateParams set [4, _pidData];
_args set [4, _stateParams];
};
#ifdef DRAW_GUIDANCE_INFO

4
addons/missileguidance/functions/fnc_onFired.sqf
View File

@ -96,7 +96,7 @@ if (_seekLastTargetPos && {!isNil "_target"}) then {
};
private _pitchYaw = (vectorDir _projectile) call CBA_fnc_vect2Polar;
private _pidData = [[[0, 0, 0], [0, 0, 0], [0, 0, 0]], [0, 0, 0], [0, 1, 0], [_pitchYaw select 0, _pitchYaw select 1, 0]];
private _pidData = [[[0, 0, 0], [0, 0, 0], [0, 0, 0]], [[0, 0, 0], [0, 0, 0]], [0, 1, 0], [_pitchYaw select 0, _pitchYaw select 1, 0]];
TRACE_4("Beginning ACE guidance system",_target,_ammo,_seekerType,_attackProfile);
private _args = [_this,
@ -148,7 +148,7 @@ if (_onFiredFunc != "") then {
// _stateParams params ["_lastRunTime", "_seekerStateParams", "_attackProfileStateParams", "_lastKnownPosState"];
// _seekerParams params ["_seekerAngle", "_seekerAccuracy", "_seekerMaxRange", "_seekerMinRange"];
[FUNC(guidancePFH), 0, _args ] call CBA_fnc_addPerFrameHandler;
[FUNC(guidancePFH),0, _args ] call CBA_fnc_addPerFrameHandler;
/* Clears locking settings

2
addons/missileguidance/functions/fnc_seekerType_Optic.sqf
View File

@ -47,7 +47,7 @@ private _eta = _distanceToTarget / _projectileSpeed;
private _adjustDistance = (velocity _target) vectorMultiply _eta;
TRACE_3("leading target",_distanceToTarget,_eta,_adjustDistance);
_foundTargetPos = _foundTargetPos vectorAdd _adjustDistance;
//_foundTargetPos = _foundTargetPos vectorAdd _adjustDistance;
TRACE_2("return",_foundTargetPos,(aimPos _target) distance _foundTargetPos);
_foundTargetPos;

6
addons/missileguidance/script_component.hpp
View File

@ -2,9 +2,9 @@
#define COMPONENT_BEAUTIFIED Missile Guidance
#include "\z\ace\addons\main\script_mod.hpp"
// #define DRAW_GUIDANCE_INFO
// #define DEBUG_MODE_FULL
// #define DISABLE_COMPILE_CACHE
#define DRAW_GUIDANCE_INFO
#define DEBUG_MODE_FULL
#define DISABLE_COMPILE_CACHE
// #define ENABLE_PERFORMANCE_COUNTERS
#ifdef DEBUG_ENABLED_MISSILEGUIDANCE