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pn crap

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This commit is contained in:
Brandon Danyluk 2021-04-06 21:01:07 -06:00
parent 53ff3bb1f5
commit dee326606c
1 changed files with 26 additions and 21 deletions
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45
addons/missileguidance/functions/fnc_guidancePFH.sqf
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@ -70,11 +70,12 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
private _integralGain = 0;
private _derivativeGain = 0;
private _projectileSpeed = vectorMagnitude velocity _projectile;
private _projectileVelocity = velocity _projectile;
private _projectileSpeed = vectorMagnitude _projectileVelocity;
_pidData params ["_pid", "_lastMissileFrame", "_currentPitchYawRoll"];
_currentPitchYawRoll params ["_pitch", "_yaw", "_roll"];
_lastMissileFrame params ["_lastTargetPosition", "_lastTargetVelocity", "_lastAngles"];
_lastMissileFrame params ["_lastTargetPosition", "_lastTargetVelocity", "_lastLineOfSight"];
// Proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
private _navigationGain = 3;
@ -82,33 +83,36 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
private _targetVelocity = (_seekerTargetPos vectorDiff _lastTargetPosition) vectorMultiply (1 / diag_deltaTime);
private _targetAcceleration = (_targetVelocity vectorDiff _lastTargetVelocity) vectorMultiply (1 / diag_deltaTime);
private _lineOfSight = vectorNormalized (_seekerTargetPos vectorDiff _projectilePos);
private _lineOfSight = vectorNormalized (_profileAdjustedTargetPos vectorDiff _projectilePos);
_lastAngles params ["_lastAngleXY", "_lastAngleYZ", "_lastAngleXZ"];
// solve for xy frame
private _angleXY = (_lineOfSight#0) atan2 (_lineOfSight#1);
private _deltaAngleXY = (_angleXY - _lastAngleXY) / TIMESTEP_FACTOR;
private _commandedAccelerationX = _navigationGain * _deltaAngleXY * _projectileSpeed;
private _losDelta = _lineOfSight vectorDiff _lastLineOfSight;
private _losRate = (vectorMagnitude _losDelta) / TIMESTEP_FACTOR;
// solve for xz frame
private _angleXZ = (_lineOfSight#0) atan2 (_lineOfSight#2);
private _deltaAngleXZ = (_angleXZ - _lastAngleXZ) / TIMESTEP_FACTOR;
private _commandedAccelerationY = _navigationGain * _deltaAngleXZ * _projectileSpeed;
private _closingVelocity = vectorMagnitude (_projectileVelocity vectorDiff _targetVelocity);
// solve for yz frame
private _angleYZ = (_lineOfSight#1) atan2 (_lineOfSight#2);
private _deltaAngleYZ = (_angleYZ - _lastAngleYZ) / TIMESTEP_FACTOR;
private _commandedAccelerationZ = _navigationGain * _deltaAngleYZ * _projectileSpeed;
private _lateralAcceleration = (_navigationGain * _losRate * _closingVelocity * 10000000);
private _commandedAcceleration = (_projectile vectorWorldToModelVisual _lineOfSight) vectorMultiply _lateralAcceleration;
private _commandedAcceleration = _projectile vectorWorldToModelVisual [_commandedAccelerationX, _commandedAccelerationY, _commandedAccelerationZ];
private _normalA = ((vectorDirVisual _projectile) vectorCrossProduct _lineOfSight);
private _b = ((vectorUpVisual _projectile) vectorCrossProduct _lineOfSight);
private _normalAMagnitude = vectorMagnitude _normalA;
systemChat str [_deltaAngleXY, _deltaAngleXZ, _deltaAngleYZ];
private _t = _normalA vectorDotProduct _b;
private _normalASign = _t / abs _t;
private _normalB = (vectorUpVisual _projectile) vectorMultiply (-_normalASign * _normalAMagnitude);
_commandedAcceleration set [2, _lateralAcceleration * (_normalB#2)];
#ifdef DRAW_GUIDANCE_INFO
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, str _commandedAcceleration, 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"];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_normalA vectorMultiply 15), [1, 0, 1, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_normalB vectorMultiply 15), [0, 1, 1, 1]];
private _seekerPosAGL = ASLToAGL _seekerTargetPos;
drawLine3D [_seekerPosAGL, _seekerPosAGL vectorAdd _targetVelocity, [0, 1, 1, 1]];
drawLine3D [_seekerPosAGL, _seekerPosAGL vectorAdd (_projectilePos vectorDiff _seekerTargetPos), [0, 1, 1, 1]];
@ -118,12 +122,13 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
_commandedAcceleration params ["_yawChange", "", "_pitchChange"];
private _clampedPitch = (_pitchChange min _pitchDegreesPerSecond) max -_pitchDegreesPerSecond;
private _clampedYaw = (-_yawChange min _yawDegreesPerSecond) max -_yawDegreesPerSecond;
private _clampedYaw = (_yawChange min _yawDegreesPerSecond) max -_yawDegreesPerSecond;
_pitch = _pitch + _clampedPitch * diag_deltaTime;
_yaw = _yaw + _clampedYaw * diag_deltaTime;
[_projectile, _pitch, _yaw, 0] call FUNC(changeMissileDirection);
_projectile setVelocityModelSpace [0, _projectileSpeed, 0];
_currentPitchYawRoll set [0, _pitch];
_currentPitchYawRoll set [1, _yaw];
@ -131,7 +136,7 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
_pidData set [0, _pid];
if (accTime > 0) then {
_pidData set [1, [_seekerTargetPos, _targetVelocity, [_angleXY, _angleYZ, _angleXZ]]];
_pidData set [1, [_seekerTargetPos, _targetVelocity, _lineOfSight]];
};
_pidData set [2, _currentPitchYawRoll];
_stateParams set [4, _pidData];