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 CruiseGuidance()
{
Vector3 cruiseTarget = Vector3.zero;
float distance = Vector3.Distance(TargetPosition, vessel.CoM);
if (distance < 4500)
{
cruiseTarget = MissileGuidance.GetTerminalManeuveringTarget(TargetPosition, vessel, CruiseAltitude);
debugString += "\nTerminal Maneuvers";
}
else
{
float agmThreshDist = 2500;
if (distance < agmThreshDist)
{
if (!MissileGuidance.GetBallisticGuidanceTarget(TargetPosition, vessel, true, out cruiseTarget))
{
cruiseTarget = MissileGuidance.GetAirToGroundTarget(TargetPosition, vessel, 1.85f);
}
debugString += "\nDescending On Target";
}
else
{
cruiseTarget = MissileGuidance.GetCruiseTarget(TargetPosition, vessel, CruiseAltitude);
debugString += "\nCruising";
}
}
debugString += "\nRadarAlt: " + MissileGuidance.GetRadarAltitude(vessel);
return(cruiseTarget);
}
public void GuidanceSteer(FlightCtrlState s)
{
if (guidanceActive && targetVessel != null && vessel != null && vesselTransform != null && velocityTransform != null)
{
velocityTransform.rotation = Quaternion.LookRotation(vessel.srf_velocity, -vesselTransform.forward);
Vector3 targetPosition = targetVessel.CoM;
Vector3 localAngVel = vessel.angularVelocity;
if (guidanceMode == 1)
{
targetPosition = MissileGuidance.GetAirToAirTarget(targetPosition, vessel.srf_velocity, vessel.acceleration, vessel, out timeToImpact);
}
else if (guidanceMode == 2)
{
targetPosition = MissileGuidance.GetAirToGroundTarget(targetPosition, vessel, 1.85f);
}
else
{
targetPosition = MissileGuidance.GetCruiseTarget(targetPosition, vessel, cruiseAltitude);
}
Vector3 targetDirection = velocityTransform.InverseTransformPoint(targetPosition).normalized;
targetDirection = Vector3.RotateTowards(Vector3.forward, targetDirection, 15 * Mathf.Deg2Rad, 0);
float steerYaw = (steerMult * targetDirection.x) - (steerDamping * -localAngVel.z);
float steerPitch = (steerMult * targetDirection.y) - (steerDamping * -localAngVel.x);
s.yaw = Mathf.Clamp(steerYaw, -maxSteer, maxSteer);
s.pitch = Mathf.Clamp(steerPitch, -maxSteer, maxSteer);
s.mainThrottle = 1;
}
}