private Vector3 AGMGuidance()
{
if (TargetingMode != TargetingModes.Gps)
{
if (TargetAcquired)
{
//lose lock if seeker reaches gimbal limit
float targetViewAngle = Vector3.Angle(vessel.transform.forward, TargetPosition - vessel.CoM);
if (targetViewAngle > maxOffBoresight)
{
Debug.Log("[BDArmory]: AGM Missile guidance failed - target out of view");
guidanceActive = false;
}
}
else
{
if (TargetingMode == TargetingModes.Laser)
{
//keep going straight until found laser point
TargetPosition = laserStartPosition + (20000 * startDirection);
}
}
}
Vector3 agmTarget = MissileGuidance.GetAirToGroundTarget(TargetPosition, vessel, 1.85f);
return(agmTarget);
}
private Vector3 AAMGuidance()
{
Vector3 aamTarget;
if (TargetAcquired)
{
float timeToImpact;
aamTarget = MissileGuidance.GetAirToAirTargetModular(TargetPosition, TargetVelocity, previousTargetVelocity, TargetAcceleration, vessel, previousMissileVelocity, out timeToImpact);
previousTargetVelocity = TargetVelocity;
previousMissileVelocity = vessel.Velocity();
TimeToImpact = timeToImpact;
if (Vector3.Angle(aamTarget - vessel.CoM, vessel.transform.forward) > maxOffBoresight * 0.75f)
{
Debug.LogFormat("[BDArmory]: Missile with Name={0} has exceeded the max off boresight, checking missed target ", vessel.vesselName);
aamTarget = TargetPosition;
}
DrawDebugLine(vessel.CoM, aamTarget);
}
else
{
aamTarget = vessel.CoM + (20 * vessel.srfSpeed * vessel.Velocity().normalized);
}
return(aamTarget);
}
protected override void AutoPilot(FlightCtrlState s)
{
speedController.targetSpeed = speed;
Vector3 targetDirection;
if (MissileGuidance.GetRadarAltitude(vessel) < 500)
{
targetDirection = Quaternion.AngleAxis(75, vessel.transform.right) * VectorUtils.GetUpDirection(vessel.CoM);
vessel.ActionGroups.SetGroup(KSPActionGroup.Gear, true);
}
else
{
if (targetVessel != null)
{
targetDirection = targetVessel.CoM - vessel.CoM;
}
else
{
Vector3 worldPos = vessel.mainBody.GetWorldSurfacePosition(assignedPositionGeo.x, assignedPositionGeo.y, 0);
targetDirection = worldPos + VectorUtils.GetUpDirection(worldPos) * ((float)vessel.mainBody.GetAltitude(worldPos) + 1500) - vessel.CoM;
}
vessel.ActionGroups.SetGroup(KSPActionGroup.Gear, false);
}
float pitchError = VectorUtils.SignedAngle(vessel.transform.up, Vector3.ProjectOnPlane(targetDirection, vessel.transform.right), -vessel.transform.forward);
float yawError = VectorUtils.SignedAngle(vessel.transform.up, Vector3.ProjectOnPlane(targetDirection, vessel.transform.forward), vessel.transform.right);
float rollError = VectorUtils.SignedAngle(-vessel.transform.forward, Vector3.ProjectOnPlane(Vector3.Angle(vessel.transform.up, targetDirection) > 7 ? targetDirection : VectorUtils.GetUpDirection(vessel.CoM), vessel.transform.up), vessel.transform.right);
Vector3 localAngVel = vessel.angularVelocity;
s.roll = 0.04f * rollError - 1.2f * -localAngVel.y;
s.pitch = 0.1f * pitchError - 3f * -localAngVel.x;
s.yaw = 0.03f * yawError - 0.6f * -localAngVel.z;
}
void UpdateTarget()
{
slaved = false;
if (weaponManager && wm.slavingTurrets && wm.CurrentMissile)
{
slaved = true;
slavedTargetPosition = MissileGuidance.GetAirToAirFireSolution(wm.CurrentMissile, wm.slavedPosition,
wm.slavedVelocity);
}
}
// Fire missile from each missile source on self
public void FireMissiles(GameObject go = null)
{
for (int i = 0; i < missileBurst; i++)
{
GameObject _missile = Instantiate(data.missile, transform.position + transform.up, transform.rotation);
MissileGuidance _misGuidance = _missile.GetComponent <MissileGuidance>();
_misGuidance.crosshair = crosshair;
_misGuidance.target = go;
_misGuidance.UpdateColliderIgnore(ignoreColliderList);
if (i % 2 == 0)
{
_misGuidance.swirlSpeed *= -1;
_misGuidance.thetaPos = false;
}
}
}
// Attract missile within collider radius
private void OnTriggerEnter2D(Collider2D collision)
{
if (collision.tag == "Missile")
{
MissileGuidance _misGuidance = collision.GetComponent <MissileGuidance>();
if (_misGuidance != null)
{
if (_misGuidance.target != null && _misGuidance.target.tag != "Flare")
{
_misGuidance.ChangeTarget(gameObject);
}
else if (_misGuidance.target == null)
{
_misGuidance.ChangeTarget(gameObject);
}
}
}
}
private Vector3 CruiseGuidance()
{
Vector3 cruiseTarget = Vector3.zero;
float distanceSqr = (TargetPosition - vessel.CoM).sqrMagnitude;
if (distanceSqr < 4500 * 4500)
{
cruiseTarget = MissileGuidance.GetAirToGroundTarget(TargetPosition, vessel, 1.85f);
debugString.Append("Descending On Target");
debugString.Append(Environment.NewLine);
}
else
{
cruiseTarget = MissileGuidance.GetCruiseTarget(TargetPosition, vessel, CruiseAltitude);
debugString.Append("Cruising");
debugString.Append(Environment.NewLine);
}
debugString.Append($"RadarAlt: {MissileGuidance.GetRadarAltitude(vessel)}");
debugString.Append(Environment.NewLine);
return(cruiseTarget);
}
protected Vector3 CalculateAGMBallisticGuidance(MissileBase missile, Vector3 targetPosition)
{
//set up
if (_originalDistance == float.MinValue)
{
_startPoint = missile.vessel.CoM;
_originalDistance = Vector3.Distance(targetPosition, missile.vessel.CoM);
//calculating expected apogee bases on isosceles triangle
}
debugString.Append($"_originalDistance: {_originalDistance}");
debugString.Append(Environment.NewLine);
debugString.Append($"BallisticOverShootFactor: {BallisticOverShootFactor}");
debugString.Append(Environment.NewLine);
var surfaceDistanceVector = Vector3
.Project((missile.vessel.CoM - _startPoint), (targetPosition - _startPoint).normalized);
var pendingDistance = _originalDistance - surfaceDistanceVector.magnitude;
debugString.Append($"pendingDistance: {pendingDistance}");
debugString.Append(Environment.NewLine);
if (TimeIndex < 1)
{
return(missile.vessel.CoM + missile.vessel.Velocity() * 10);
}
Vector3 agmTarget;
// Getting apoapsis
if (missile.vessel.verticalSpeed > 0 && pendingDistance > _originalDistance * 0.5)
{
debugString.Append($"Ascending");
debugString.Append(Environment.NewLine);
var freeFallTime = CalculateFreeFallTime();
debugString.Append($"freeFallTime: {freeFallTime}");
debugString.Append(Environment.NewLine);
var horizontalTime = pendingDistance / missile.vessel.horizontalSrfSpeed;
debugString.Append($"horizontalTime: {horizontalTime}");
debugString.Append(Environment.NewLine);
if (freeFallTime >= horizontalTime)
{
debugString.Append($"Free fall achieved:");
debugString.Append(Environment.NewLine);
missile.Throttle = 0;
agmTarget = missile.vessel.CoM + missile.vessel.Velocity() * 10;
}
else
{
debugString.Append($"Free fall not achieved:");
debugString.Append(Environment.NewLine);
missile.Throttle = 1;
Vector3 dToTarget = targetPosition - missile.vessel.CoM;
Vector3 direction = Quaternion.AngleAxis(Mathf.Clamp(missile.maxOffBoresight * 0.9f, 0, 45f), Vector3.Cross(dToTarget, VectorUtils.GetUpDirection(missile.vessel.CoM))) * dToTarget;
agmTarget = missile.vessel.CoM + direction;
}
debugString.Append($"Throttle: {missile.Throttle}");
debugString.Append(Environment.NewLine);
}
else
{
debugString.Append($"Descending");
debugString.Append(Environment.NewLine);
agmTarget = MissileGuidance.GetAirToGroundTarget(targetPosition, missile.vessel, 1.85f);
if (missile is BDModularGuidance)
{
if (missile.vessel.InVacuum())
{
agmTarget = missile.vessel.CoM + missile.vessel.Velocity() * 10;
}
}
missile.Throttle = Mathf.Clamp((float)(missile.vessel.atmDensity * 10f), 0.01f, 1f);
}
return(agmTarget);
}
