bool GetBulletHitPosition(Vector3 targetPosition, out Vector3 position)
{
position = Vector3.zero;
if (parentBlock == null)
{
return(false);
}
if (RadarTarget == null)
{
return(false);
}
//if (target.block != null)
//{
// if (target.block == parentBlock) return false;
//}
//Get an initial velocity
Vector3 targetVelocity = RadarTarget.Velocity;
Vector3 initialBulletV = ForwardDirection * cannonBallSpeed;
//Get an initial position
Vector3 initialPosition = parentBlock.transform.position;
//Assume no air resistance
int noSol;
float time;
if (targetVelocity.magnitude > 0.25f)
{
noSol = InterceptionCalculation.SolveBallisticArc(initialPosition, cannonBallSpeed, targetPosition, targetVelocity, Physics.gravity.magnitude, out aimDir, out time);
}
else
{
noSol = InterceptionCalculation.SolveBallisticArc(initialPosition, cannonBallSpeed, targetPosition, Physics.gravity.magnitude, out aimDir, out time);
}
//dir = (direction + parentBlock.transform.position).normalized;
//position = initialPosition + initialBulletV * (1 - drag * time) * time + 0.5f * gravity * time * time - relVelocity * time;
position = initialPosition + initialBulletV * time + 0.5f * Physics.gravity * time * time - targetVelocity * time;
return(noSol > 0);
}
private IEnumerator AddGuideForce()
{
//if (blockRadar.target.transform != preTargetTransform)
//{
previousPosition = Vector3.zero;
//preTargetTransform = blockRadar.target.transform;
integral = 0;
lastError = 0;
//}
Vector3 addedForce;
// Calculating the rotating axis
Vector3 positionDiff = blockRadar.target.Position - parentBlock.transform.position;
//Vector3 targetVelocity = blockRadar.target.rigidbody == null ?
// (blockRadar.target.Position - previousPosition) / Time.fixedDeltaTime : blockRadar.target.Velocity;
Vector3 targetVelocity = blockRadar.target.Velocity;
previousPosition = blockRadar.target.Position;
Vector3 relVelocity = targetVelocity - parentBlock.Rigidbody.velocity;
//float speed;
bool turretMode;
if (blockRadar.RadarType == RadarScript.RadarTypes.ActiveRadar)
{
turretMode = blockRadar.ShowBulletLanding;
//speed = turretMode ? blockRadar.cannonBallSpeed : parentRigidbody.velocity.magnitude;
}
else
{
turretMode = blockRadar.passiveSourceRadar == null ? false : blockRadar.passiveSourceRadar.ShowBulletLanding && sourceSpeedPower < 0.1f;
//speed = turretMode ? blockRadar.passiveSourceRadar.cannonBallSpeed : parentRigidbody.velocity.magnitude;
}
// Get the predicted point
float time;
Vector3 positionDiffPredicted;
if (turretMode)
{
Vector3 aimDir;
if (blockRadar.RadarType == RadarScript.RadarTypes.ActiveRadar)
{
aimDir = blockRadar.aimDir;
}
else
{
aimDir = blockRadar.passiveSourceRadar == null ? Vector3.zero : blockRadar.passiveSourceRadar.aimDir;
}
positionDiffPredicted = parentBlock.transform.position + aimDir * parentBlock.transform.position.magnitude * 10000;
}
else
{
time = InterceptionCalculation.FirstOrderInterceptTime(parentRigidbody.velocity.magnitude, positionDiff, relVelocity);
positionDiffPredicted = positionDiff + relVelocity * time;
}
positionDiffPredicted = positionDiffPredicted.normalized;
// Get the angle difference
float dotProduct = Vector3.Dot(ForwardDirection, positionDiffPredicted);
Vector3 towardsPositionDiff = (dotProduct * positionDiffPredicted - ForwardDirection) * Mathf.Sign(dotProduct);
towardsPositionDiff = towardsPositionDiff.normalized;
if (constantForce)
{
addedForce = torque * maxTorque * towardsPositionDiff * 2000f;
}
else
{
float angleDiff = Vector3.Angle(ForwardDirection, positionDiff) + Vector3.Angle(positionDiff, positionDiffPredicted);
integral += angleDiff * Time.fixedDeltaTime;
float derivitive = (angleDiff - lastError) / Time.fixedDeltaTime;
lastError = angleDiff;
float coefficient = angleDiff * pFactor + integral * iFactor + derivitive * dFactor;
addedForce = torque * maxTorque * coefficient * towardsPositionDiff;
}
// Add force to rotate rocket
parentRigidbody.AddForceAtPosition(addedForce, parentBlock.transform.position + ForwardDirection);
parentRigidbody.AddForceAtPosition(-addedForce, parentBlock.transform.position - ForwardDirection);
yield break;
}
