public DetectedUnitSensor AddOrUpdateSensor(BaseUnit unit, BaseSensor detectionSensor,
double detectionStrength, double distanceM, double targetApparentSizeArcSec, double minDetectableSizeArcSec)
{
DetectedUnitSensor sensor = _DetectionSensors.Find(d => d.Id == detectionSensor.Id);
if (sensor == null)
{
sensor = new DetectedUnitSensor();
sensor.Id = detectionSensor.Id;
sensor.DetectionSensor = detectionSensor;
sensor.DetectionPlatform = detectionSensor.OwnerUnit;
sensor.DetectedUnit = this;
DetectionClassification = unit.UnitClass.DetectionClassification;
SetDirty(GameConstants.DirtyStatus.UnitChanged);
_DetectionSensors.Add(sensor);
}
if ((detectionSensor.SensorClass.SensorType == GameConstants.SensorType.Radar ||
detectionSensor.SensorClass.SensorType == GameConstants.SensorType.Sonar) &&
detectionSensor.IsActive && detectionSensor.SensorClass.IsPassiveActiveSensor)
{
unit.DetectionWithActiveSensor(detectionSensor, detectionStrength);
}
sensor.DetectedUnit = this;
sensor.BearingDetectorToTargetDeg = MapHelper.CalculateBearingDegrees(
detectionSensor.OwnerUnit.Position.Coordinate, unit.Position.Coordinate);
sensor.DistanceDetectorToTargetM = distanceM;
sensor.DetectionStrength = detectionStrength;
sensor.ApparentSizeArcSec = targetApparentSizeArcSec;
DetectedGameWorldTimeSec = GameManager.Instance.Game.GameWorldTimeSec;
sensor.DetectedWorldGameTimeSec = GameManager.Instance.Game.GameWorldTimeSec;
// Check if more than one unit has contact with the detected unit, and if so set fixed
if (_DetectionSensors.Count > 1)
{
var firstPlatformId =
_DetectionSensors.First(s => !string.IsNullOrEmpty(s.DetectionPlatform.Id)).DetectionPlatform.Id;
if (_DetectionSensors.Any(s => s.DetectionPlatform.Id != firstPlatformId))
{
IsFixed = true;
}
}
sensor.IsBearingOnly = false;
switch (detectionSensor.SensorClass.SensorType)
{
case GameConstants.SensorType.Radar:
if (detectionSensor.SensorClass.IsPassiveActiveSensor && detectionSensor.IsActive) //Active radar
{
IsFixed = true;
if (detectionStrength > detectionSensor.SensorClass.IdentifyDetectionStrength)
{
IsIdentified = true;
}
}
else //passive radar, ie ESM
{
IsIdentified = true;
sensor.IsBearingOnly = true;
IsKnownToUseActiveRadar = unit.IsUsingActiveRadar();
}
break;
case GameConstants.SensorType.Sonar:
if (detectionSensor.SensorClass.IsPassiveActiveSensor && !detectionSensor.IsActive &&
detectionStrength >= detectionSensor.SensorClass.IdentifyDetectionStrength)
{
IsIdentified = true;
}
if ((detectionSensor.SensorClass.IsPassiveActiveSensor && !detectionSensor.IsActive) || (!detectionSensor.SensorClass.IsPassiveActiveSensor))
{
IsKnownToUseActiveSonar = unit.IsUsingActiveSonar();
}
break;
case GameConstants.SensorType.MAD:
//IsFixed = false;
//IsIdentified = false;
break;
case GameConstants.SensorType.Infrared:
case GameConstants.SensorType.Visual:
IsFixed = true;
if (detectionStrength >= detectionSensor.SensorClass.IdentifyDetectionStrength)
{
IsIdentified = true;
}
break;
default:
break;
}
if (unit != null)
{
RefersToUnit = unit;
if (!IsFixed)
{
sensor.UncertaintyRangeDeg = 10.0 / detectionStrength;
if (sensor.UncertaintyRangeDeg < 0.5)
{
sensor.UncertaintyRangeDeg = 0;
}
sensor.UncertaintyRangeM = sensor.DistanceDetectorToTargetM / 10.0;
if (detectionStrength > sensor.DetectionSensor.SensorClass.IdentifyDetectionStrength)
{
sensor.UncertaintyRangeM = sensor.UncertaintyRangeM / 2.0;
}
Coordinate newCoordinate = new Coordinate(unit.Position.Coordinate);
//TODO: UncertaintyRangeDeg betyr to forskjellige ting her...
if ((sensor.UncertaintyRangeM > 0 || sensor.UncertaintyRangeDeg > 0) &&
_ErrorDistanceM == 0 && _ErrorBearingDeg == 0)
{
double errorBearingDeg = 0;
double errorDistanceM = 0;
CalculatePositionFromUncertainty(
distanceM, ref errorBearingDeg, ref errorDistanceM, ref newCoordinate);
_ErrorBearingDeg = errorBearingDeg;
_ErrorDistanceM = errorDistanceM;
}
var coord = MapHelper.CalculateNewPosition2(unit.Position.Coordinate, _ErrorBearingDeg, _ErrorDistanceM);
Position = new Position(coord);
Position.HeightOverSeaLevelM = unit.Position.HeightOverSeaLevelM;
Position.BearingDeg = unit.Position.BearingDeg;
sensor.DistanceDetectorToTargetM = MapHelper.CalculateDistanceRoughM(
sensor.DetectionPlatform.Position.Coordinate, coord);
sensor.BearingDetectorToTargetDeg = MapHelper.CalculateBearingDegrees(
sensor.DetectionPlatform.Position.Coordinate, coord);
PositionRegion = GetPositionRegion(sensor);
}
else
{
PositionRegion = null;
Position = unit.Position.Clone();
}
}
//sensor.UncertaintyRangeM = 0;
return(sensor);
}
