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work on parsing heightmap

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This commit is contained in:
Brandon Danyluk 2021-06-01 14:13:45 -06:00
parent e6fcd110d2
commit 7cf29ba715
2 changed files with 54 additions and 12 deletions
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50
addons/missileguidance/functions/fnc_seekerType_TERCOM.sqf
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@ -21,7 +21,7 @@
params ["", "_args", "_seekerStateParams", "", "_timestep"];
_args params ["_firedEH", "_launchParams", "", "", "", "_targetData"];
_firedEH params ["","","","","","","_projectile"];
_seekerStateParams params ["_heightBuffer", "_insPosition", "_seekerState", "_currentWaypoint", "_waypoints", "_heightmap"];
_seekerStateParams params ["_heightBuffer", "_heightStrip", "_lastMeasurePos", "_insPosition", "_seekerState", "_currentWaypoint", "_waypoints", "_heightmap"];
_launchParams params ["", "_targetLaunchParams"];
_targetLaunchParams params ["", "", "_launchPos"];
@ -48,13 +48,53 @@ switch (_seekerState) do {
_targetData set [2, _distance];
_finalPosition = _missilePosProjected;
(_heightmap select 0) params ["", "_resolution"];
if (_insPosition inArea [_position, _resolution, _resolution, (_direction#0) atan2 (_direction#1), true]) then {
_seekerStateParams set [2, TERCOM_STATE_FOLLOWING_TERRAIN];
(_heightmap select 0) params ["", "_gridSize"];
if (_insPosition inArea [_position, _gridSize, _gridSize, (_direction#0) atan2 (_direction#1), true]) then {
_seekerStateParams set [4, TERCOM_STATE_FOLLOWING_TERRAIN];
_seekerStateParams set [2, _insPosition];
};
};
case TERCOM_STATE_FOLLOWING_TERRAIN: {
(_heightmap select _currentWaypoint) params ["_grid", "_gridSize", "_cellResolution", "_gridWidth", "_gridHeight"];
// just brute force it, we won't usually have a lot of grids to check
if (_insPosition vectorDistance _lastMeasurePos < _cellResolution) then {
_heightBuffer pushBack getTerrainHeightASL _insPosition;
} else {
private _averageHeight = 0;
{
_averageHeight = _averageHeight + _x;
} forEach _heightBuffer;
_averageHeight = _averageHeight / count _heightBuffer;
_heightStrip pushBack _averageHeight;
// find all strips in heightmap that match the direction we are moving
// Start from edge and go in
// Match strip to what we found that best fits
private _direction = _insPosition vectorFromTo _lastMeasurePos;
private _possibleStrips = [];
private _xDir = 0;
if ((_direction select 0) < 0) then {
_xDir = -1;
} else {
_xDir = 1;
};
private _yDir = 0;
if ((_direction select 2) < 0) then {
_yDir = -1;
} else {
_yDir = 1;
};
_heightBuffer = [];
_seekerStateParams set [1, _heightStrip];
_seekerStateParams set [2, _insPosition];
};
_seekerStateParams set [0, _heightBuffer];
};
case TERCOM_STATE_TERMINAL: {
@ -65,7 +105,7 @@ if (!isGamePaused && accTime > 0) then {
private _projectileVelocity = velocity _projectile;
_insPosition = _insPosition vectorAdd (_projectileVelocity vectorMultiply _timestep);
_seekerStateParams set [1, _insPosition];
_seekerStateParams set [3, _insPosition];
};
_finalPosition

16
addons/missileguidance/functions/fnc_tercom_onFired.sqf
View File

@ -19,7 +19,7 @@ _firedEH params ["","","","","","","_projectile"];
_stateParams params ["", "_seekerStateParams"];
// need a number that denotes maximum grid width at specified resolution
// 3 grid cells in either direction
// 5 grid cells in either direction
#define MAX_GRID_WIDTH 5
private _minResolution = 50;
@ -64,7 +64,7 @@ private _maxWaypoints = (count _waypoints) - 1;
_firstHeightmapCell pushBack [_gridPos#0, _gridPos#1, _heightAtPos];
_gridPos = _gridPos vectorAdd (_direction vectorMultiply _resolution);
};
_heightmap pushBack [_firstHeightmapCell, _resolution * MAX_GRID_WIDTH];
_heightmap pushBack [_firstHeightmapCell, _resolution * MAX_GRID_WIDTH, _resolution, MAX_GRID_WIDTH, _x];
};
} forEach _waypoints;
@ -86,9 +86,11 @@ private _maxWaypoints = (count _waypoints) - 1;
} forEach _waypoints;
_seekerStateParams set [0, []]; // internal buffer of heights
_seekerStateParams set [1, getPosASLVisual _projectile]; // calculated current position - simulating INS guidance
_seekerStateParams set [2, TERCOM_STATE_SEEKING_BASKET]; // current state
_seekerStateParams set [3, 0]; // current waypoint
_seekerStateParams set [4, _waypoints];
_seekerStateParams set [5, _heightmap];
_seekerStateParams set [1, []]; // Height strips
_seekerStateParams set [2, [0, 0, 0]]; // Last assumed grid position
_seekerStateParams set [3, getPosASLVisual _projectile]; // calculated current position - simulating INS guidance
_seekerStateParams set [4, TERCOM_STATE_SEEKING_BASKET]; // current state
_seekerStateParams set [5, 0]; // current waypoint
_seekerStateParams set [6, _waypoints];
_seekerStateParams set [7, _heightmap];