void UpdateReletiveTargetData(object Sender, UpdateEventArgs e) // Only works in atmosphere
{
Vector3D PlanetPos;
Cockpit.TryGetPlanetPosition(out PlanetPos);
Vector3D MePos = Me.CubeGrid.GetPosition();
Vector3D TargetPos = LastTargetData.HitPosition ?? MePos;
Vector3D MeVelocity = Cockpit.GetShipVelocities().LinearVelocity;
Vector3D MeGravity = Cockpit.GetNaturalGravity();
double Distance = Vector3D.Distance(TargetPos, MePos);
double MeHeight = Vector3D.Distance(MePos, PlanetPos);
double TargetHeight = Vector3D.Distance(TargetPos, PlanetPos);
double RelativeTargetHeight = TargetHeight - MeHeight; // Should be negative when aircraft is above
Vector3D RelativePlanetPos = PlanetPos - MePos;
Vector3D MeRelativeGroundPos = RelativePlanetPos * (-RelativeTargetHeight / MeHeight);
Vector3D MeGroundPos = MePos + MeRelativeGroundPos;
Vector3D GroundPosToTarget = TargetPos - MeGroundPos;
double S, U, V, A, T; // Equations of motion in SUVAT notation.
T = ProjectileGroundInterceptTime(RelativeTargetHeight, Cockpit.GetShipVelocities().LinearVelocity, Cockpit.GetNaturalGravity());
S = ProjectileLateralTravelDistance(T, GroundPosToTarget, Cockpit.GetShipVelocities().LinearVelocity);
double GroundDistanceToDrop = Vector3D.Distance(MeGroundPos, TargetPos) - S;
double TimeUntilDrop = GroundDistanceToDrop / Cockpit.GetShipVelocities().LinearVelocity.Dot(Vector3D.Normalize(GroundPosToTarget));
Vector3D RelativePlanetPosFromTarget = PlanetPos - MePos;
Vector3D ToRight = Vector3D.Normalize(GroundPosToTarget.Cross(MeGravity));
double ToRightCorrection = Vector3D.Normalize(MeVelocity).Dot(ToRight);
double ToRightCorrectionAngle = Math.Asin(ToRightCorrection) / Math.PI * 180;
string ToRightText = ToRightCorrectionAngle >= 0 ? "Right" : "Left";
ConsoleBuffers["ToRightCorrectionAngle"] = $"To {ToRightText}: {Math.Abs(ToRightCorrectionAngle):F1}°";
ConsoleBuffers["TimeUntilDrop"] = $"Time until Drop: {TimeUntilDrop:F1}s";
ConsoleBuffers["GroundDistanceUntillDrop"] = $"Distance until Drop: {GroundDistanceToDrop:F1}m";
}
/// <summary>
/// гаситель инерции
/// </summary>
private void InertionCompensator()
{
velocity = cockpit.GetShipVelocities(); // получение скорости корабля относительно мира
Vector3D V3Dfow = cockpit.WorldMatrix.Forward; // вектор направления вперед у корабля
Vector3D V3Dup = cockpit.WorldMatrix.Up; // вектор направления вверх у корабля
Vector3D V3Dleft = cockpit.WorldMatrix.Left; // вектор направления влево у корабля
Vector3D velocityV3Dleft = new Vector3D(velocity.LinearVelocity.X, 0, 0); // вектор скорости по оси X (лево/право)
Vector3D velocityV3Dup = new Vector3D(0, velocity.LinearVelocity.Y, 0); // вектор скорости по оси Y (вверх/вниз)
Vector3D velocityV3Dfow = new Vector3D(0, 0, velocity.LinearVelocity.Z); // вектор скорости по оси Z (вперед/назад)
double projectionLeft = velocityV3Dleft.Length() * Vector3D.Dot(velocityV3Dleft, V3Dleft) +
velocityV3Dfow.Length() * Vector3D.Dot(velocityV3Dfow, V3Dleft) +
velocityV3Dup.Length() * Vector3D.Dot(velocityV3Dup, V3Dleft);
double projectionUp = velocityV3Dleft.Length() * Vector3D.Dot(velocityV3Dleft, V3Dup) +
velocityV3Dfow.Length() * Vector3D.Dot(velocityV3Dfow, V3Dup) +
velocityV3Dup.Length() * Vector3D.Dot(velocityV3Dup, V3Dup);
double projectionFow = velocityV3Dleft.Length() * Vector3D.Dot(velocityV3Dleft, V3Dfow) +
velocityV3Dfow.Length() * Vector3D.Dot(velocityV3Dfow, V3Dfow) +
velocityV3Dup.Length() * Vector3D.Dot(velocityV3Dup, V3Dfow); // нахождение длин проекций по 3 осям
/*
* Управление тягой вперед/назад
*/
if (projectionFow > 10)
{
ThrustOn(thrustBackward);
ThrustOff(thrustForward);
}
else if (projectionFow < -10)
{
ThrustOn(thrustForward);
ThrustOff(thrustBackward);
}
else
{
ThrustOff(thrustForward);
ThrustOff(thrustBackward);
}
/*
* Управление тягой влево/вправо
*/
if (projectionLeft > 10)
{
ThrustOn(thrustRight);
ThrustOff(thrustLeft);
}
else if (projectionLeft < -10)
{
ThrustOn(thrustLeft);
ThrustOff(thrustRight);
}
else
{
ThrustOff(thrustRight);
ThrustOff(thrustLeft);
}
/*
* Управление тягой вверх/вниз
*/
if (projectionUp > 10)
{
ThrustOn(thrustDown);
ThrustOff(thrustUp);
}
else if (projectionUp < -10)
{
ThrustOn(thrustUp);
ThrustOff(thrustDown);
}
else
{
ThrustOff(thrustUp);
ThrustOff(thrustDown);
}
}
public void Update(MyDetectedEntityInfo target, Vector3D T, Vector3D PointerPos, Vector3D PointerDir)
{
if (!Launched)
{
foreach (IMyThrust thr in thrusters)
{
thr.Enabled = true;
thr.ThrustOverridePercentage = 1;
}
Launched = true;
}
else
{
counter++;
if (remcon.IsFunctional && (counter > VerticalDelay))
{
double currentVelocity = remcon.GetShipVelocities().LinearVelocity.Length();
Vector3D targetvector = new Vector3D();
if (LASER_GUIDED)
{
targetvector = ((remcon.GetPosition() - PointerPos).Dot(PointerDir) + 700) * PointerDir + PointerPos - remcon.GetPosition();
}
else
{
targetvector = FindInterceptVector(remcon.GetPosition(),
currentVelocity * INTERCEPT_COURSE,
T,
target.Velocity);
}
Vector3D trgNorm = Vector3D.Normalize(targetvector);
if ((target.Position - remcon.GetPosition()).Length() < WH_ARM_DIST)
{
if (currentVelocity - MyVelocity < -ACCEL_DET)
{
foreach (IMyWarhead wh in warheads)
{
wh.Detonate();
}
}
MyVelocity = currentVelocity;
}
Vector3D velNorm = Vector3D.Normalize(remcon.GetShipVelocities().LinearVelocity);
Vector3D CorrectionVector = Math.Max(ReflectK * trgNorm.Dot(velNorm), 1) * trgNorm - velNorm;
Vector3D G = remcon.GetNaturalGravity();
if (G.LengthSquared() == 0)
{
CorrectionVector = Math.Max(ReflectK * trgNorm.Dot(velNorm), 1) * trgNorm - velNorm;
}
else
{
if (JAVELIN)
{
//trgNorm = Vector3D.Normalize(Vector3D.Reflect(-G, trgNorm));
trgNorm = Vector3D.Normalize(G.Dot(trgNorm) * trgNorm * JAVELIN_CURVE - G);
}
CorrectionVector = Math.Max(ReflectK * trgNorm.Dot(velNorm), 1) * trgNorm - velNorm;
double A = 0;
foreach (IMyThrust thr in thrusters)
{
A += thr.MaxEffectiveThrust;
}
A /= remcon.CalculateShipMass().PhysicalMass;
Vector3D CorrectionNorm = Vector3D.Normalize(CorrectionVector);
//CorrectionVector = CorrectionNorm * A - G;
Vector3D gr = Vector3D.Reject(remcon.GetNaturalGravity(), CorrectionNorm);
CorrectionVector = CorrectionNorm * Math.Sqrt(A * A + gr.LengthSquared()) - gr;
}
Vector3D Axis = Vector3D.Normalize(CorrectionVector).Cross(remcon.WorldMatrix.Forward);
if (Axis.LengthSquared() < 0.1)
{
Axis += remcon.WorldMatrix.Backward * ROLL;
}
Axis *= GyroMult;
foreach (IMyGyro gyro in gyros)
{
gyro.Pitch = (float)Axis.Dot(gyro.WorldMatrix.Right);
gyro.Yaw = (float)Axis.Dot(gyro.WorldMatrix.Up);
gyro.Roll = (float)Axis.Dot(gyro.WorldMatrix.Backward);
}
}
else
{
foreach (IMyGyro gyro in gyros)
{
gyro.Pitch = 0;
gyro.Yaw = 0;
gyro.Roll = 0;
}
}
}
}