internal static bool CanShootTargetObb(Weapon weapon, MyEntity entity, Vector3D targetLinVel, Vector3D targetAccel)
{
var prediction = weapon.System.Values.HardPoint.AimLeadingPrediction;
var trackingWeapon = weapon.TurretMode ? weapon : weapon.Comp.TrackingWeapon;
Vector3D targetPos;
if (Vector3D.IsZero(targetLinVel, 5E-03))
{
targetLinVel = Vector3.Zero;
}
if (Vector3D.IsZero(targetAccel, 5E-03))
{
targetAccel = Vector3.Zero;
}
var rotMatrix = Quaternion.CreateFromRotationMatrix(entity.PositionComp.WorldMatrix);
var obb = new MyOrientedBoundingBoxD(entity.PositionComp.WorldAABB.Center, entity.PositionComp.LocalAABB.HalfExtents, rotMatrix);
if (prediction != Prediction.Off && !weapon.ActiveAmmoDef.AmmoDef.Const.IsBeamWeapon && weapon.ActiveAmmoDef.AmmoDef.Const.DesiredProjectileSpeed > 0)
{
targetPos = weapon.GetPredictedTargetPosition(obb.Center, targetLinVel, targetAccel);
}
else
{
targetPos = obb.Center;
}
obb.Center = targetPos;
weapon.TargetBox = obb;
var maxRangeSqr = obb.HalfExtent.AbsMax() + weapon.MaxTargetDistance;
maxRangeSqr *= maxRangeSqr;
double rangeToTarget;
Vector3D.DistanceSquared(ref targetPos, ref weapon.MyPivotPos, out rangeToTarget);
bool canTrack = false;
if (rangeToTarget <= maxRangeSqr)
{
var targetDir = targetPos - weapon.MyPivotPos;
if (weapon == trackingWeapon)
{
double checkAzimuth;
double checkElevation;
MathFuncs.GetRotationAngles(ref targetDir, ref weapon.WeaponConstMatrix, out checkAzimuth, out checkElevation);
var azConstraint = Math.Min(weapon.MaxAzimuthRadians, Math.Max(weapon.MinAzimuthRadians, checkAzimuth));
var elConstraint = Math.Min(weapon.MaxElevationRadians, Math.Max(weapon.MinElevationRadians, checkElevation));
Vector3D constraintVector;
Vector3D.CreateFromAzimuthAndElevation(azConstraint, elConstraint, out constraintVector);
constraintVector = Vector3D.Rotate(constraintVector, weapon.WeaponConstMatrix);
var testRay = new RayD(weapon.MyPivotPos, constraintVector);
if (obb.Intersects(ref testRay) != null)
{
canTrack = true;
}
if (weapon.Comp.Debug)
{
weapon.LimitLine = new LineD(weapon.MyPivotPos, weapon.MyPivotPos + (constraintVector * weapon.ActiveAmmoDef.AmmoDef.Const.MaxTrajectory));
}
}
else
{
canTrack = MathFuncs.IsDotProductWithinTolerance(ref weapon.MyPivotDir, ref targetDir, weapon.AimingTolerance);
}
}
return(canTrack);
}
internal static bool CanShootTarget(Weapon weapon, Vector3D targetCenter, Vector3D targetLinVel, Vector3D targetAccel, out Vector3D targetPos)
{
var prediction = weapon.System.Values.HardPoint.AimLeadingPrediction;
var trackingWeapon = weapon.TurretMode ? weapon : weapon.Comp.TrackingWeapon;
if (Vector3D.IsZero(targetLinVel, 5E-03))
{
targetLinVel = Vector3.Zero;
}
if (Vector3D.IsZero(targetAccel, 5E-03))
{
targetAccel = Vector3.Zero;
}
if (prediction != Prediction.Off && !weapon.ActiveAmmoDef.AmmoDef.Const.IsBeamWeapon && weapon.ActiveAmmoDef.AmmoDef.Const.DesiredProjectileSpeed > 0)
{
targetPos = weapon.GetPredictedTargetPosition(targetCenter, targetLinVel, targetAccel);
}
else
{
targetPos = targetCenter;
}
var targetDir = targetPos - weapon.MyPivotPos;
double rangeToTarget;
Vector3D.DistanceSquared(ref targetPos, ref weapon.MyPivotPos, out rangeToTarget);
var inRange = rangeToTarget <= weapon.MaxTargetDistanceSqr;
bool canTrack;
if (weapon == trackingWeapon)
{
Vector3D currentVector;
Vector3D.CreateFromAzimuthAndElevation(weapon.Azimuth, weapon.Elevation, out currentVector);
currentVector = Vector3D.Rotate(currentVector, weapon.WeaponConstMatrix);
var up = weapon.MyPivotUp;
var left = Vector3D.Cross(up, currentVector);
if (!Vector3D.IsUnit(ref left) && !Vector3D.IsZero(left))
{
left.Normalize();
}
var forward = Vector3D.Cross(left, up);
var matrix = new MatrixD {
Forward = forward, Left = left, Up = up,
};
double desiredAzimuth;
double desiredElevation;
MathFuncs.GetRotationAngles(ref targetDir, ref matrix, out desiredAzimuth, out desiredElevation);
var azConstraint = Math.Min(weapon.MaxAzimuthRadians, Math.Max(weapon.MinAzimuthRadians, desiredAzimuth));
var elConstraint = Math.Min(weapon.MaxElevationRadians, Math.Max(weapon.MinElevationRadians, desiredElevation));
var azConstrained = Math.Abs(elConstraint - desiredElevation) > 0.0000001;
var elConstrained = Math.Abs(azConstraint - desiredAzimuth) > 0.0000001;
canTrack = !azConstrained && !elConstrained;
}
else
{
canTrack = MathFuncs.IsDotProductWithinTolerance(ref weapon.MyPivotDir, ref targetDir, weapon.AimingTolerance);
}
return((inRange && canTrack) || weapon.Comp.TrackReticle);
}
internal static bool TrackingTarget(Weapon weapon, Target target)
{
Vector3D targetPos;
Vector3 targetLinVel = Vector3.Zero;
Vector3 targetAccel = Vector3.Zero;
var system = weapon.System;
Vector3D targetCenter;
var rayCheckTest = !weapon.Comp.Session.IsClient && weapon.Comp.State.Value.CurrentPlayerControl.ControlType == ControlType.None && weapon.ActiveAmmoDef.AmmoDef.Trajectory.Guidance == GuidanceType.None && (!weapon.Casting && weapon.Comp.Session.Tick - weapon.Comp.LastRayCastTick > 29 || weapon.System.Values.HardPoint.Other.MuzzleCheck && weapon.Comp.Session.Tick - weapon.LastMuzzleCheck > 29);
if (rayCheckTest && !weapon.RayCheckTest())
{
return(false);
}
if (weapon.Comp.TrackReticle)
{
targetCenter = weapon.Comp.Ai.DummyTarget.Position;
}
else if (target.IsProjectile)
{
if (target.Projectile == null)
{
Log.Line($"TrackingTarget: is projectile and it is null");
targetCenter = Vector3D.Zero;
}
else
{
targetCenter = target.Projectile.Position;
}
}
else if (!target.IsFakeTarget)
{
if (target.Entity == null)
{
Log.Line($"TrackingTarget: is entity and it is null");
targetCenter = Vector3D.Zero;
}
else
{
targetCenter = target.Entity.PositionComp.WorldAABB.Center;
}
}
else
{
targetCenter = Vector3D.Zero;
}
var needsPrediction = weapon.System.Prediction != Prediction.Off && (!weapon.ActiveAmmoDef.AmmoDef.Const.IsBeamWeapon && weapon.ActiveAmmoDef.AmmoDef.Const.DesiredProjectileSpeed > 0);
if (needsPrediction)
{
if (weapon.Comp.TrackReticle)
{
targetLinVel = weapon.Comp.Ai.DummyTarget.LinearVelocity;
targetAccel = weapon.Comp.Ai.DummyTarget.Acceleration;
}
else
{
var topMostEnt = target.Entity?.GetTopMostParent();
if (target.Projectile != null)
{
targetLinVel = target.Projectile.Velocity;
targetAccel = target.Projectile.AccelVelocity;
}
else if (topMostEnt?.Physics != null)
{
targetLinVel = topMostEnt.Physics.LinearVelocity;
targetAccel = topMostEnt.Physics.LinearAcceleration;
}
}
if (Vector3D.IsZero(targetLinVel, 5E-03))
{
targetLinVel = Vector3.Zero;
}
if (Vector3D.IsZero(targetAccel, 5E-03))
{
targetAccel = Vector3.Zero;
}
targetPos = weapon.GetPredictedTargetPosition(targetCenter, targetLinVel, targetAccel);
}
else
{
targetPos = targetCenter;
}
weapon.Target.TargetPos = targetPos;
double rangeToTargetSqr;
Vector3D.DistanceSquared(ref targetPos, ref weapon.MyPivotPos, out rangeToTargetSqr);
var targetDir = targetPos - weapon.MyPivotPos;
var locked = true;
if (weapon.Comp.TrackReticle || rangeToTargetSqr <= weapon.MaxTargetDistanceSqr)
{
var maxAzimuthStep = system.AzStep;
var maxElevationStep = system.ElStep;
Vector3D currentVector;
Vector3D.CreateFromAzimuthAndElevation(weapon.Azimuth, weapon.Elevation, out currentVector);
currentVector = Vector3D.Rotate(currentVector, weapon.WeaponConstMatrix);
var up = weapon.MyPivotUp;
var left = Vector3D.Cross(up, currentVector);
if (!Vector3D.IsUnit(ref left) && !Vector3D.IsZero(left))
{
left.Normalize();
}
var forward = Vector3D.Cross(left, up);
var constraintMatrix = new MatrixD {
Forward = forward, Left = left, Up = up,
};
double desiredAzimuth;
double desiredElevation;
MathFuncs.GetRotationAngles(ref targetDir, ref constraintMatrix, out desiredAzimuth, out desiredElevation);
var azConstraint = Math.Min(weapon.MaxAzimuthRadians, Math.Max(weapon.MinAzimuthRadians, desiredAzimuth));
var elConstraint = Math.Min(weapon.MaxElevationRadians, Math.Max(weapon.MinElevationRadians, desiredElevation));
var elConstrained = Math.Abs(elConstraint - desiredElevation) > 0.0000001;
var azConstrained = Math.Abs(azConstraint - desiredAzimuth) > 0.0000001;
weapon.Target.IsTracking = !azConstrained && !elConstrained;
if (weapon.Target.IsTracking && weapon.Comp.State.Value.CurrentPlayerControl.ControlType != ControlType.Camera && !weapon.Comp.ResettingSubparts)
{
var oldAz = weapon.Azimuth;
var oldEl = weapon.Elevation;
var epsilon = target.IsProjectile ? 1E-06d : rangeToTargetSqr <= 640000 ? 1E-03d : rangeToTargetSqr <= 3240000 ? 1E-04d : 1E-05d;
var az = weapon.Azimuth + MathHelperD.Clamp(desiredAzimuth, -maxAzimuthStep, maxAzimuthStep);
var el = weapon.Elevation + MathHelperD.Clamp(desiredElevation - weapon.Elevation, -maxElevationStep, maxElevationStep);
var azDiff = oldAz - az;
var elDiff = oldEl - el;
var azLocked = MyUtils.IsZero(azDiff, (float)epsilon);
var elLocked = MyUtils.IsZero(elDiff, (float)epsilon);
locked = azLocked && elLocked;
var aim = !azLocked || !elLocked;
if (aim)
{
if (!azLocked)
{
weapon.Azimuth = az;
}
if (!elLocked)
{
weapon.Elevation = el;
}
weapon.IsHome = false;
weapon.AimBarrel(azDiff, elDiff, !azLocked, !elLocked);
}
}
}
else
{
weapon.Target.IsTracking = false;
}
if (weapon.Comp.State.Value.CurrentPlayerControl.ControlType == ControlType.Camera)
{
return(weapon.Target.IsTracking);
}
var isAligned = false;
if (weapon.Target.IsTracking)
{
isAligned = locked || MathFuncs.IsDotProductWithinTolerance(ref weapon.MyPivotDir, ref targetDir, weapon.AimingTolerance);
}
var wasAligned = weapon.Target.IsAligned;
weapon.Target.IsAligned = isAligned;
var alignedChange = wasAligned != isAligned;
if (alignedChange && isAligned)
{
if (weapon.System.DesignatorWeapon)
{
for (int i = 0; i < weapon.Comp.Platform.Weapons.Length; i++)
{
var w = weapon.Comp.Platform.Weapons[i];
w.Target.StateChange(false, Target.States.Expired);
w.Target.CheckTick -= 240;
}
}
}
else if (alignedChange && !weapon.System.DelayCeaseFire)
{
weapon.StopShooting();
}
weapon.Target.TargetLock = weapon.Target.IsTracking && weapon.Target.IsAligned;
return(weapon.Target.IsTracking);
}
internal static void LeadTarget(Weapon weapon, MyEntity target, out Vector3D targetPos, out bool couldHit, out bool willHit)
{
var vel = target.Physics.LinearVelocity;
var accel = target.Physics.LinearAcceleration;
var trackingWeapon = weapon.TurretMode || weapon.Comp.TrackingWeapon == null ? weapon : weapon.Comp.TrackingWeapon;
var box = target.PositionComp.LocalAABB;
var obb = new MyOrientedBoundingBoxD(box, target.PositionComp.WorldMatrixRef);
var validEstimate = true;
var advancedMode = weapon.ActiveAmmoDef.AmmoDef.Trajectory.AccelPerSec > 0 || weapon.Comp.Ai.InPlanetGravity && weapon.ActiveAmmoDef.AmmoDef.Const.FeelsGravity;
if (!weapon.ActiveAmmoDef.AmmoDef.Const.IsBeamWeapon && weapon.ActiveAmmoDef.AmmoDef.Const.DesiredProjectileSpeed > 0)
{
targetPos = TrajectoryEstimation(weapon, obb.Center, vel, accel, out validEstimate, true, advancedMode);
}
else
{
targetPos = obb.Center;
}
obb.Center = targetPos;
weapon.TargetBox = obb;
var obbAbsMax = obb.HalfExtent.AbsMax();
var maxRangeSqr = obbAbsMax + weapon.MaxTargetDistance;
var minRangeSqr = obbAbsMax + weapon.MinTargetDistance;
maxRangeSqr *= maxRangeSqr;
minRangeSqr *= minRangeSqr;
double rangeToTarget;
Vector3D.DistanceSquared(ref targetPos, ref weapon.MyPivotPos, out rangeToTarget);
couldHit = validEstimate && rangeToTarget <= maxRangeSqr && rangeToTarget >= minRangeSqr;
bool canTrack = false;
if (validEstimate && rangeToTarget <= maxRangeSqr && rangeToTarget >= minRangeSqr)
{
var targetDir = targetPos - weapon.MyPivotPos;
if (weapon == trackingWeapon)
{
double checkAzimuth;
double checkElevation;
MathFuncs.GetRotationAngles(ref targetDir, ref weapon.WeaponConstMatrix, out checkAzimuth, out checkElevation);
var azConstraint = Math.Min(weapon.MaxAzToleranceRadians, Math.Max(weapon.MinAzToleranceRadians, checkAzimuth));
var elConstraint = Math.Min(weapon.MaxElToleranceRadians, Math.Max(weapon.MinElToleranceRadians, checkElevation));
Vector3D constraintVector;
Vector3D.CreateFromAzimuthAndElevation(azConstraint, elConstraint, out constraintVector);
Vector3D.Rotate(ref constraintVector, ref weapon.WeaponConstMatrix, out constraintVector);
var testRay = new RayD(ref weapon.MyPivotPos, ref constraintVector);
if (obb.Intersects(ref testRay) != null)
{
canTrack = true;
}
if (weapon.Comp.Debug)
{
weapon.LimitLine = new LineD(weapon.MyPivotPos, weapon.MyPivotPos + (constraintVector * weapon.ActiveAmmoDef.AmmoDef.Const.MaxTrajectory));
}
}
else
{
canTrack = MathFuncs.IsDotProductWithinTolerance(ref weapon.MyPivotFwd, ref targetDir, weapon.AimingTolerance);
}
}
willHit = canTrack;
}
