public void Flee()
{
Quaternion turn = Quaternion.FromToRotation(Vector3.forward, own_ship.Position);
movement_quack.PushFront(new AIMouvementCommand [] {
AIMouvementCommand.Turn(turn, own_ship, true),
AIMouvementCommand.EngineAccelerate(own_ship.Position * 100, own_ship)
});
}
public void Thrust(Vector3 delta_v, bool prioritize = false)
{
if (prioritize)
{
movement_quack.PushFront(AIMouvementCommand.EngineAccelerate(delta_v, own_ship));
}
else
{
movement_quack.PushBack(AIMouvementCommand.EngineAccelerate(delta_v, own_ship));
}
}
/// <summary> Matches Velocity with target </summary>
/// <param name="tg"> The concerned target </param>
public void MatchVelocity(Target tg)
{
Vector3 d_v = tg.Velocity - own_ship.Velocity;
if (d_v.sqrMagnitude > 4)
{
Quaternion turn = Quaternion.Inverse(own_ship.Orientation) * Quaternion.FromToRotation(Vector3.forward, d_v);
movement_quack.PushBack(AIMouvementCommand.Turn(turn, own_ship));
movement_quack.PushBack(AIMouvementCommand.EngineAccelerate(d_v, own_ship));
}
else
{
movement_quack.PushBack(AIMouvementCommand.RCSAccelerate(d_v, own_ship));
}
}
/// <summary> Matches velocities with target the closest to target as possible </summary>
/// <param name="tg"> The concerned target </param>
public void MatchVelocityNearTarget(Target tg)
{
Vector3 d_v = tg.Velocity - own_ship.Velocity;
if (Vector3.Dot(own_ship.Position - tg.Position, d_v) < 0)
{
MatchVelocity(tg); // -> ->
return; // has to be catching up -> Δx · Δv > 0
}
float relative_velocity = d_v.magnitude;
float acceleration = own_ship.MaxAcceleration;
if (relative_velocity > 4)
{
float breaking_distance = .5f * d_v.sqrMagnitude / acceleration;
float full_distance = Vector3.Project(tg.Position - own_ship.Position, d_v).magnitude;
float plus_dist = 0;
if (!tg.virt_ship)
{
plus_dist = tg.Ship.radius;
}
Quaternion turn = Quaternion.FromToRotation(Vector3.forward, d_v);
movement_quack.PushBack(AIMouvementCommand.Turn(turn, own_ship, true));
movement_quack.PushBack(AIMouvementCommand.HoldOrientation((full_distance - breaking_distance - plus_dist) / relative_velocity, own_ship));
movement_quack.PushBack(AIMouvementCommand.EngineAccelerate(d_v, own_ship));
}
else
{
float breaking_time = relative_velocity / acceleration;
float breaking_distance = .5f * d_v.sqrMagnitude / acceleration;
float full_distance = Vector3.Project(tg.Position - own_ship.Position, d_v).magnitude;
movement_quack.PushBack(AIMouvementCommand.RCSAccelerate(d_v, own_ship));
}
}
