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This commit is contained in:
Brandon Danyluk 2021-04-01 20:12:49 -06:00
parent 17175db48e
commit 7179a91c77
1 changed files with 19 additions and 11 deletions

30
addons/missileguidance/functions/fnc_guidancePFH.sqf

@ -74,35 +74,43 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
_currentPitchYawRoll params ["_pitch", "_yaw", "_roll"];
_lastMissileFrame params ["_lastTargetPosition", "_lastTargetVelocity", "_lastAngle"];
// Proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
private _navigationGain = 3;
// integrate target velocity for realistic inference of velocity
private _targetVelocity = (_seekerTargetPos vectorDiff _lastTargetPosition) vectorMultiply (1 / diag_deltaTime);
private _targetAcceleration = (_targetVelocity vectorDiff _lastTargetVelocity) vectorMultiply (1 / diag_deltaTime);
private _currentLineOfSight = vectorNormalized (_profileAdjustedTargetPos vectorDiff _projectilePos);
private _targetVelocityAtPositon = _profileAdjustedTargetPos vectorAdd _targetVelocity;
private _currentLineOfSight = vectorNormalized (_seekerTargetPos vectorDiff _projectilePos);
private _targetVelocityAtPositon = _seekerTargetPos vectorAdd _targetVelocity;
private _lineOfSightAtPosition = _projectilePos vectorAdd _currentLineOfSight;
// get angle between LOS's
private _angleNow = acos (_targetVelocityAtPositon vectorCos _lineOfSightAtPosition);
private _angleNow = acos (1 min (_targetVelocityAtPositon vectorCos _lineOfSightAtPosition));
private _losChange = (_angleNow - _lastAngle) / diag_deltaTime;
private _closingVelocity = (velocity _projectile) vectorDiff _targetVelocity;
private _commandedAcceleration = vectorMagnitude (_closingVelocity vectorMultiply (_navigationGain * _losChange));
private _commandedAcceleration = _closingVelocity vectorMultiply (_navigationGain * _losChange);
_commandedAcceleration = _projectile vectorWorldToModelVisual _commandedAcceleration;
private _relativeLOS = _projectile vectorWorldToModelVisual (_currentLineOfSight vectorCrossProduct velocity _projectile);
_commandedAcceleration = _relativeLOS vectorMultiply (vectorMagnitude _commandedAcceleration);
// commanded acceleration is normal to LOS
private _relativeLOS = vectorNormalized (_projectile vectorWorldToModelVisual (_currentLineOfSight vectorCrossProduct velocity _projectile));
_commandedAcceleration = _relativeLOS vectorMultiply _commandedAcceleration;
#ifdef DRAW_GUIDANCE_INFO
TRACE_1("",_commandedAcceleration);
TRACE_1("",_losChange);
private _projectilePosAGL = ASLToAGL _projectilePos;
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd ((_projectile vectorModelToWorldVisual _relativeLOS) vectorMultiply 15), [1, 0, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_currentLineOfSight vectorMultiply 15), [0, 0, 1, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd ((vectorNormalized velocity _projectile) vectorMultiply 15), [0, 1, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_projectile vectorModelToWorldVisual _commandedAcceleration), [1, 1, 0, 1]];
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, str _commandedAcceleration, 1, 0.025, "TahomaB"];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], _projectilePosAGL vectorAdd [0, 0, 0.75], 0.75, 0.75, 0, str _losChange, 1, 0.025, "TahomaB"];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], ASLToAGL (_seekerTargetPos vectorAdd _targetVelocity), 0.75, 0.75, 0, "Predicted Position", 1, 0.025, "TahomaB"];
#endif
if (!isGamePaused && accTime > 0) then {
_commandedAcceleration params ["_pitchChange", "_yawChange"];
_commandedAcceleration params ["_pitchChange", "_yawChange", ""];
private _clampedPitch = (-_pitchChange min _pitchDegreesPerSecond) max -_pitchDegreesPerSecond;
private _clampedYaw = (_yawChange min _yawDegreesPerSecond) max -_yawDegreesPerSecond;