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chane navigation profiles to go for attack direction instead of target

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This commit is contained in:
Brandon Danyluk 2021-04-13 20:05:28 -06:00
parent d34201ed4e
commit a2d2dd0df9
8 changed files with 32 additions and 28 deletions
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6
addons/missileguidance/functions/fnc_guidancePFH.sqf
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@ -19,7 +19,7 @@
BEGIN_COUNTER(guidancePFH);
params ["_args", "_pfID"];
_args params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams"];
_args params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams", "_targetData"];
_firedEH params ["_shooter","","","","_ammo","","_projectile"];
_launchParams params ["","_targetLaunchParams","","","","","_navigationType"];
_stateParams params ["_lastRunTime", "_seekerStateParams", "_attackProfileStateParams", "_lastKnownPosState", "_navigationParameters", "_guidanceParameters"];
@ -40,6 +40,8 @@ _seekerTargetPos = AGLtoASL ASLToAGL _seekerTargetPos;
private _profileAdjustedTargetPos = [_seekerTargetPos, _args, _attackProfileStateParams] call FUNC(doAttackProfile);
private _projectilePos = getPosASLVisual _projectile;
_targetData set [1, _projectilePos vectorFromTo _profileAdjustedTargetPos];
// If we have no seeker target, then do not change anything
// If there is no deflection on the missile, this cannot change and therefore is redundant. Avoid calculations for missiles without any deflection
@ -70,7 +72,7 @@ if ((_pitchRate != 0 || {_yawRate != 0}) && {_profileAdjustedTargetPos isNotEqua
if (isNil "_pitchChange") then {
_pitchChange = 0;
};
private _clampedPitch = (_pitchChange min _pitchRate) max -_pitchRate;
private _clampedYaw = (_yawChange min _yawRate) max -_yawRate;

10
addons/missileguidance/functions/fnc_navigationType_augmentedProNav.sqf
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@ -20,17 +20,17 @@ _firedEH params ["","","","","","","_projectile"];
_stateParams params ["", "", "", "","_navigationParams"];
_navigationParams params ["_lastMissileFrame", "_navigationGain"];
_lastMissileFrame params ["_lastLineOfSight"];
_targetData params ["_targetDirection", "", "_targetVelocity", "_targetAcceleration"];
_targetData params ["_targetDirection", "_attackProfileDirection", "", "_targetVelocity", "_targetAcceleration"];
// Proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
private _closingVelocity = _targetVelocity vectorDiff velocity _projectile;
private _targetAccelerationProjected = _targetDirection vectorMultiply (_targetAcceleration vectorDotProduct _targetDirection);
private _targetAccelerationProjected = _attackProfileDirection vectorMultiply (_targetAcceleration vectorDotProduct _attackProfileDirection);
_targetAcceleration = _targetAcceleration vectorDiff _targetAccelerationProjected;
// the los rate is tiny, so we multiply by a constant of a power of ten to get more aggressive acceleration
// this is just due to how we measure our LOS delta, the vectors involved are _tiny_
private _losDelta = _targetDirection vectorDiff _lastLineOfSight;
private _losDelta = _attackProfileDirection vectorDiff _lastLineOfSight;
private _losRate = if (_timestep == 0) then {
0
} else {
@ -42,11 +42,11 @@ private _commandedAcceleration = _closingVelocity vectorMultiply _lateralAcceler
_commandedAcceleration = _commandedAcceleration vectorAdd (_losDelta vectorMultiply (0.5 * _navigationGain * vectorMagnitude _targetAcceleration));
// we need acceleration normal to our LOS
private _commandedAccelerationProjected = _targetDirection vectorMultiply (_commandedAcceleration vectorDotProduct _targetDirection);
private _commandedAccelerationProjected = _attackProfileDirection vectorMultiply (_commandedAcceleration vectorDotProduct _attackProfileDirection);
_commandedAcceleration = _commandedAcceleration vectorDiff _commandedAccelerationProjected;
if (accTime > 0) then {
_navigationParams set [0, [_seekerTargetPos, _targetVelocity, _targetDirection]];
_navigationParams set [0, [_seekerTargetPos, _targetVelocity, _attackProfileDirection]];
};
_commandedAcceleration

15
addons/missileguidance/functions/fnc_navigationType_lineOfSight.sqf
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@ -18,18 +18,19 @@ params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos"];
_args params ["_firedEH", "", "", "", "_stateParams", "_targetData"];
_firedEH params ["","","","","","","_projectile"];
_stateParams params ["", "", "", "","_navigationParams"];
_navigationParams params ["_lastLineOfSight"];
_targetData params ["_targetDirection", "", "_targetVelocity", ""];
_navigationParams params ["_onLaunch"];
_onLaunch params ["_lastLineOfSight"];
_targetData params ["_targetDirection", "_attackProfileDirection", "", "_targetVelocity", ""];
// Semi-proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
// the los rate is tiny, so we multiply by a constant of a power of ten to get more aggressive acceleration
// this is just due to how we measure our LOS delta, the vectors involved are _tiny_
private _losDelta = _targetDirection vectorDiff _lastLineOfSight;
private _losDelta = _attackProfileDirection vectorDiff _lastLineOfSight;
private _losRate = if (_timestep == 0) then {
0
} else {
10 * (vectorMagnitude _losDelta) / _timestep;
1 * (vectorMagnitude _losDelta) / _timestep;
};
private _closingVelocity = _targetVelocity vectorDiff (velocity _projectile);
@ -37,11 +38,11 @@ private _closingVelocity = _targetVelocity vectorDiff (velocity _projectile);
private _commandedAcceleration = _closingVelocity vectorMultiply _losRate;
// we need acceleration normal to our LOS
private _commandedAccelerationProjected = _lineOfSight vectorMultiply (_commandedAcceleration vectorDotProduct _lineOfSight);
private _commandedAccelerationProjected = _attackProfileDirection vectorMultiply (_commandedAcceleration vectorDotProduct _attackProfileDirection);
_commandedAcceleration = _commandedAcceleration vectorDiff _commandedAccelerationProjected;
if (accTime > 0) then {
_navigationParams set [0, _targetDirection];
_navigationParams set [0, [_attackProfileDirection]];
};
_commandedAccelerationProjected
_commandedAcceleration

8
addons/missileguidance/functions/fnc_navigationType_proNav.sqf
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@ -20,14 +20,14 @@ _firedEH params ["","","","","","","_projectile"];
_stateParams params ["", "", "", "","_navigationParams"];
_navigationParams params ["_lastMissileFrame", "_navigationGain"];
_lastMissileFrame params ["_lastLineOfSight"];
_targetData params ["_targetDirection", "", "_targetVelocity", ""];
_targetData params ["_targetDirection", "_attackProfileDirection", "", "_targetVelocity", ""];
// Proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
private _closingVelocity = _targetVelocity vectorDiff velocity _projectile;
// the los rate is tiny, so we multiply by a constant of a power of ten to get more aggressive acceleration
// this is just due to how we measure our LOS delta, the vectors involved are _tiny_
private _losDelta = _targetDirection vectorDiff _lastLineOfSight;
private _losDelta = _attackProfileDirection vectorDiff _lastLineOfSight;
private _losRate = if (_timestep == 0) then {
0
} else {
@ -38,11 +38,11 @@ private _lateralAcceleration = _navigationGain * _losRate;
private _commandedAcceleration = _closingVelocity vectorMultiply _lateralAcceleration;
// we need acceleration normal to our LOS
private _commandedAccelerationProjected = _targetDirection vectorMultiply (_commandedAcceleration vectorDotProduct _targetDirection);
private _commandedAccelerationProjected = _attackProfileDirection vectorMultiply (_commandedAcceleration vectorDotProduct _attackProfileDirection);
_commandedAcceleration = _commandedAcceleration vectorDiff _commandedAccelerationProjected;
if (accTime > 0) then {
_navigationParams set [0, [_seekerTargetPos, _targetVelocity, _targetDirection]];
_navigationParams set [0, [_seekerTargetPos, _targetVelocity, _attackProfileDirection]];
};
_commandedAcceleration

6
addons/missileguidance/functions/fnc_navigationType_zeroEffortMiss.sqf
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@ -19,14 +19,14 @@ _args params ["_firedEH", "", "", "", "_stateParams", "_targetData"];
_firedEH params ["","","","","","","_projectile"];
_stateParams params ["", "", "", "","_navigationParams"];
_navigationParams params ["", "_navigationGain"];
_targetData params ["_targetDirection", "_targetRange", "_targetVelocity", "_targetAcceleration"];
_targetData params ["_targetDirection", "_attackProfileDirection", "_targetRange", "_targetVelocity", "_targetAcceleration"];
private _vectorToTarget = _targetDirection vectorMultiply _targetRange;
private _vectorToTarget = _attackProfileDirection vectorMultiply _targetRange;
private _closingVelocity = _targetVelocity vectorDiff velocity _projectile;
private _timeToGo = _targetRange / vectorMagnitude _closingVelocity;
private _zeroEffortMiss = _vectorToTarget vectorAdd (_closingVelocity vectorMultiply _timeToGo);
private _zeroEffortMissProjectiled = _targetDirection vectorMultiply (_zeroEffortMiss vectorDotProduct _targetDirection);
private _zeroEffortMissProjectiled = _attackProfileDirection vectorMultiply (_zeroEffortMiss vectorDotProduct _attackProfileDirection);
private _zeroEffortMissNormal = _zeroEffortMiss vectorDiff _zeroEffortMissProjectiled;
private _commandedAcceleration = _zeroEffortMissNormal vectorMultiply (_navigationGain / (_timeToGo * _timeToGo));

3
addons/missileguidance/functions/fnc_onFired.sqf
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@ -141,6 +141,7 @@ private _args = [_this,
[
// target data from missile. Must be filled by seeker for navigation to work
[0, 0, 0], // direction to target
[0, 0, 0], // direction to attack profile
0, // range to target
[0, 0, 0], // target velocity
[0, 0, 0] // target acceleration
@ -180,7 +181,7 @@ if (_onFiredFunc != "") then {
// _flightParams params ["_pitchRate", "_yawRate", "_isBangBangGuidance"];
// _stateParams params ["_lastRunTime", "_seekerStateParams", "_attackProfileStateParams", "_lastKnownPosState","_navigationParams", "_guidanceParameters"];
// _seekerParams params ["_seekerAngle", "_seekerAccuracy", "_seekerMaxRange", "_seekerMinRange"];
// _targetData params ["_targetDirection", "_targetRange", "_targetVelocity", "_targetAcceleration"];
// _targetData params ["_targetDirection", "_attackProfileDirection", "_targetRange", "_targetVelocity", "_targetAcceleration"];
[LINKFUNC(guidancePFH),0, _args ] call CBA_fnc_addPerFrameHandler;

6
addons/missileguidance/functions/fnc_seekerType_ARH.sqf
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@ -117,9 +117,9 @@ if !(isNull _target) then {
_seekerStateParams set [8, CBA_missionTime];
_seekerStateParams set [9, false];
_targetData set [1, _projectile distance _target];
_targetData set [2, velocity _target];
_targetData set [3, 0]; // todo: acceleration
_targetData set [2, _projectile distance _target];
_targetData set [3, velocity _target];
_targetData set [4, 0]; // todo: acceleration
};
_targetData set [0, (getPosASLVisual _projectile) vectorFromTo _expectedTargetPos];

6
addons/missileguidance/functions/fnc_seekerType_Optic.sqf
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@ -45,9 +45,9 @@ private _distanceToTarget = (getPosASL _projectile) vectorDistance _foundTargetP
private _eta = _distanceToTarget / _projectileSpeed;
_targetData set [0, (getPosASL _projectile) vectorFromTo _foundTargetPos];
_targetData set [1, _distanceToTarget];
_targetData set [2, velocity _target];
_targetData set [3, 0];
_targetData set [2, _distanceToTarget];
_targetData set [3, velocity _target];
_targetData set [4, 0];
TRACE_2("return",_foundTargetPos,(aimPos _target) distance _foundTargetPos);
_foundTargetPos;