public override void Start()
{
if (CheckErrors() == true)
{
return;
}
base.Start();
terminalVel = MFcompute.FindTerminalVelocity(totalThrust, myRigidbody);
OnValidate();
}
public override void Awake()
{
if (CheckErrors() == true)
{
return;
}
base.Awake();
turnSpeed = turnRate; // used by FS_Targeting to evaluate time to aim
terminalVel = MFcompute.FindTerminalVelocity(totalThrust, myRigidbody);
OnValidate();
}
public static float SmoothRateChange(float distance, float closureRate, float curRate, float rateAccel, float decelMult, float rateMax)
{
int _goalFactor = distance >= 0 ? 1 : -1; // which way is goal?
int _curTurnFactor = curRate >= 0 ? 1 : -1; // which way currently turning?
// if goal is within accelleration, reduce accel to match goal. This minimizes jitter at high acceleration speeds
if ((distance <= rateAccel * _curTurnFactor * Time.deltaTime && distance >= 0) || (distance >= rateAccel * _curTurnFactor * Time.deltaTime && distance <= 0))
{
rateAccel = Mathf.Abs(distance) / Time.deltaTime;
}
float _rateDecel = rateAccel * decelMult * 2f; // decelerate faster than accelerating (*2 to make it a little more agressive as default)
// determine which way to accelerate
if (_goalFactor * _curTurnFactor > 0)
{
// positive: moving towards goal
if (distance * _goalFactor >= MFcompute.DistanceToStop(closureRate, _rateDecel) * _goalFactor)
{
// turn faster
curRate = Mathf.Clamp(curRate + (rateAccel * _curTurnFactor * Time.deltaTime), -rateMax, rateMax);
}
else
{
if (distance * _goalFactor <= MFcompute.DistanceToStop(closureRate, _rateDecel) * _goalFactor * .8)
{
//turn slower
curRate = Mathf.Clamp(curRate - (_rateDecel * _curTurnFactor * Time.deltaTime), -rateMax, rateMax);
} // else don't change
}
}
else
{
// negative: moving away from goal, start heading towards goal
curRate = Mathf.Clamp(curRate + (_rateDecel * _goalFactor * Time.deltaTime), -rateMax, rateMax);
}
return(curRate);
}
public virtual void FixedUpdate()
{
velocity = UnitVelocity();
if (_navTarget)
{
navTargetAim = _navTarget.position;
if (useIntercept == true)
{
if (interceptForPlatform && interceptForPlatform.target == _navTarget)
{
// intercept for this target already computed by platform
navTargetAim = interceptForPlatform.targetAimLocation - (interceptForPlatform.weaponMount.position - transform.position);
}
else
{
float _vel = velocity.magnitude; // use my speed
if (interceptForPlatform)
{
_vel = interceptForPlatform.shotSpeed ?? 0f;
} // use platform shot speed
// _navTarget velocity
Vector3 _navVelocity = Vector3.zero;
if (navRigidbody)
{
_navVelocity = navRigidbody.velocity;
}
else
{
_navVelocity = navLastPosition - _navTarget.position;
navLastPosition = _navTarget.position;
}
navTargetAim = MFcompute.Intercept(transform.position, velocity, _vel, _navTarget.position, _navVelocity) ?? _navTarget.position;
}
}
}
}
public virtual Vector3 AimLocation()
{
// adjust aim location to hit target
Vector3 _aimLoc = Vector3.zero;
if (_target)
{
_aimLoc = _target.position;
if (useIntercept == true && shotSpeed != null)
{
Vector3 _targetVelocity = Vector3.zero;
// target velocity
if (targetRigidbody) // if target has a rigidbody, use velocity
{
_targetVelocity = targetRigidbody.velocity;
}
else // otherwise compute velocity from change in position
{
_targetVelocity = (_aimLoc - lastTargetPosition) / Time.deltaTime;
lastTargetPosition = _aimLoc;
}
// point at linear intercept position
Vector3?interceptAim = MFcompute.Intercept(exitLoc, velocity, (float)shotSpeed, _aimLoc, _targetVelocity);
if (interceptAim == null)
{
target = null;
}
else
{
_aimLoc = (Vector3)interceptAim;
}
}
}
return(_aimLoc);
}
public static float?BallisticIteration(Vector3 exitLoc, float?shotSpeed, float aimRad, MFnum.ArcType arc, Transform target,
Vector3 targetVelocity, Vector3 platformVelocity, Vector3 aimLoc_In, out Vector3 aimLoc_Out)
{
float?_ballAim = null;
aimLoc_Out = aimLoc_In;
// find new flight time
float?_flightTime = MFball.BallisticFlightTime(aimLoc_In, exitLoc, (float)shotSpeed, aimRad, arc);
float _effectiveShotSpeed = Vector3.Distance(exitLoc, aimLoc_In) / (float)_flightTime;
// find intercept based on new _effectiveShotSpeed
Vector3?_intAim = MFcompute.Intercept(exitLoc, platformVelocity, _effectiveShotSpeed, target.position, targetVelocity);
if (_intAim == null)
{
_ballAim = null;
}
else
{
aimLoc_Out = (Vector3)_intAim; // modify target aim location
// re-calculate ballistic trajectory based on intercept point
_ballAim = MFball.BallisticAimAngle(aimLoc_Out, exitLoc, (float)shotSpeed, arc);
}
return(_ballAim);
}
public override Vector3 AimLocation() {
// intercept and ballistics
if ( _target ) {
Vector3 _targetVelocity = Vector3.zero;
targetLoc = _target.position;
if ( useIntercept == true && shotSpeed != null ) {
// target velocity
if (targetRigidbody) { // if target has a rigidbody, use velocity
_targetVelocity = targetRigidbody.velocity;
} else { // otherwise compute velocity from change in position
_targetVelocity = ( targetLoc - lastTargetPosition ) / Time.deltaTime;
lastTargetPosition = targetLoc;
}
}
if ( useGravity == true && Physics.gravity.y != 0 && shotSpeed != null ) { // ballistic aim
int _factor = -Physics.gravity.y > 0 ? 1 : -1;
// find initial aim angle
float? _ballAim = MFball.BallisticAimAngle( targetLoc, exitLoc, (float)shotSpeed, curArc );
if ( _ballAim == null ) {
target = null;
} else {
if ( useIntercept == true && playerControl == false ) { // ballistic + intercept
// iterate for better ballistic accuracy when also using intercept
int bi = 0;
int biMax;
if ( curArc == MFnum.ArcType.High ) {
biMax = highArcBallisticIterations;
} else {
biMax = ballisticIterations;
}
while ( _target && bi++ < biMax ) {
// _ballAim = BallisticIteration ( exitLoc, (float)shotSpeed, (float)_ballAim, _targetVelocity );
_ballAim = MFball.BallisticIteration ( exitLoc, (float)shotSpeed, (float)_ballAim, curArc, _target, _targetVelocity, velocity, targetLoc, out targetLoc );
if ( _ballAim == null ) { target = null; } // no solution, release target
}
}
if ( _target ) { // target can become null in balistic iteration if no solution
Vector3 _cross = -Vector3.Cross( ( targetLoc - exitLoc ), Vector3.up );
Quaternion _eleAngleDir = Quaternion.AngleAxis( _factor * (float)_ballAim * Mathf.Rad2Deg, -_cross );
targetAimLocation = exitLoc + (( _eleAngleDir * Vector3.Cross( _cross, Vector3.up ) ).normalized * targetRange );
}
}
} else { // no gravity
if ( useIntercept == true && playerControl == false && shotSpeed != null ) {
// point at linear intercept position
Vector3? _interceptAim = MFcompute.Intercept( exitLoc, velocity, (float)shotSpeed, targetLoc, _targetVelocity );
if ( _interceptAim == null ) {
target = null;
} else {
targetAimLocation = (Vector3)_interceptAim;
}
} else { // point at target position
targetAimLocation = _target.position;
}
}
} else {
targetAimLocation = Vector3.zero;
}
return targetAimLocation;
}
public override void Update () {
if (error == true) { return; }
base.Update(); // AimLocation() called from base
// find rotation/elevation rates
float _useTime;
if (Time.time < .5) {
// _useTime = Time.deltaTime; // to avoid smoothDeltaTime returning NaN on the first few frames
return; // avoids initial movement spurt
} else {
_useTime = Time.smoothDeltaTime;
}
float _curRotRateEst = Quaternion.Angle( rotator.localRotation, lastRotation ) / _useTime;
float _curEleRateEst = Quaternion.Angle( elevator.localRotation, lastElevation ) / _useTime;
// average rotation, then move to lastRotation
averageRotRateEst = (_curRotRateEst + lastRotRateEst) / 2f;
lastRotRateEst = _curRotRateEst;
lastRotation = rotator.localRotation;
// average elevation, then move to lastElevation
averageEleRateEst = (_curEleRateEst + lastEleRateEst) / 2f;
lastEleRateEst = _curEleRateEst;
lastElevation = elevator.localRotation;
// find inaccuracy caused by rotation/elevation. (using .03 to minimize influence from spikes)
if ( averageRotRateEst > rotationAccel * .03f || averageEleRateEst > elevationAccel * .03f ) {
totalTurnWeapInaccuracy = turningWeapInaccuracy * (averageRotRateEst + averageEleRateEst);
// totalTurnAimInaccuracy = turningAimInaccuracy * (averageRotRateEst + averageEleRateEst);
} else {
totalTurnWeapInaccuracy = 0f;
// totalTurnAimInaccuracy = 0f;
}
// move aim error location
// if ( aimError + totalTurnAimInaccuracy > 0 ) {
if ( aimError > 0 ) {
if ( Time.time >= lastAimError + aimErrorInterval ) {
systAimError = Random.insideUnitSphere;
lastAimError = Time.time;
}
}
// find aim locations
if ( _target ) {
Vector3 _localTarget;
timeSinceTarget = Time.time;
// move apparent location of target due to turret aim error
// if ( aimError + totalTurnAimInaccuracy > 0 ) {
if ( aimError > 0 ) {
// targetAimLocation = targetAimLocation + ((systAimError * (aimError + totalTurnAimInaccuracy) * targetRange) / 57.3f ); // 57.3 is the distance where 1 unit offset appears as 1° offset
targetAimLocation = targetAimLocation + ((systAimError * aimError * targetRange) / 57.3f ); // 57.3 is the distance where 1 unit offset appears as 1° offset
}
// find target's location in rotation plane
_localTarget = rotator.InverseTransformPoint( targetAimLocation );
rotatorPlaneTarget = rotator.TransformPoint( new Vector3(_localTarget.x, 0f, _localTarget.z) );
// find target's location in elevation plane as if rotator is already facing target, as rotation will eventualy bring it to front. (don't elevate past 90/-90 degrees to reach target)
Vector3 _cross = Vector3.Cross( rotator.up, targetAimLocation - weaponMount.position );
Vector3 _level = Vector3.Cross( _cross, rotator.up ); // find direction towards target but level with local plane
float _angle = Vector3.Angle( _level, targetAimLocation - weaponMount.position );
if ( _localTarget.y < elevator.localPosition.y + weaponMount.localPosition.y ) { _angle *= -1; } // should angle be negative?
elevatorPlaneTarget = weaponMount.position + (Quaternion.AngleAxis( _angle, -rotator.right ) * rotator.forward * 1000f);
// Debug.DrawRay( weaponMount.position, _cross, Color.red, .01f );
// Debug.DrawRay( weaponMount.position, _level, Color.green, .01f );
// Debug.DrawRay( weaponMount.position, targetAimLocation - weaponMount.position, Color.cyan, .01f );
// Debug.Log( _angle );
} else { // no target
targetAimLocation = Vector3.zero;
if ( Time.time >= timeSinceTarget + restDelay ) {
// set rotation and elevation goals to the rest position
rotatorPlaneTarget = rotator.position + (Quaternion.AngleAxis(restAngle.y, transform.up) * transform.forward * 1000f);
elevatorPlaneTarget = elevator.position + (Quaternion.AngleAxis(restAngle.x, -rotator.right) * rotator.forward * 1000f);
}
}
// turning
_curRotSeperation = MFmath.AngleSigned(rotator.forward, rotatorPlaneTarget - weaponMount.position, transform.up);
_curEleSeperation = MFmath.AngleSigned(elevator.forward, elevatorPlaneTarget - weaponMount.position, -rotator.right);
// turn opposite if shortest route is through a gimbal limit
float _bearing = MFmath.AngleSigned(transform.forward, rotatorPlaneTarget - weaponMount.position, transform.up);
float _aimAngle = MFmath.AngleSigned(transform.forward, rotator.forward, rotator.up);
float _modAccel = rotationAccel;
float _modSeperation = _curRotSeperation;
if (limitLeft > -180 || limitRight < 180) { // is there a gimbal limit?
if ( (_curRotSeperation < 0 && _bearing > 0 && _aimAngle < 0) || (_curRotSeperation > 0 && _bearing < 0 && _aimAngle > 0) ) { // is shortest turn angle through a limit?
// reverse turn
_modAccel *= -1f; // for constant turn rate mode
_modSeperation *= -1f; // for smooth turn rate mode
}
}
Quaternion _rot;
if (constantTurnRate == true) { // no variation in rotation speed. more accurate, lightweight, less realistic.
// apply rotation
_rot = Quaternion.LookRotation( rotatorPlaneTarget - rotator.position, transform.up );
rotator.rotation = Quaternion.RotateTowards( rotator.rotation, _rot, Mathf.Min(_modAccel, rotationRateMax) * Time.deltaTime );
// apply elevation
_rot = Quaternion.LookRotation( elevatorPlaneTarget - weaponMount.position, rotator.up );
elevator.rotation = Quaternion.RotateTowards( elevator.rotation, _rot, Mathf.Min(elevationAccel, elevationRateMax) * Time.deltaTime );
} else { // accellerate/decellerate to rotation goal
// find closure rate of angle to target.
float _closureTurnRate = (_curRotSeperation - lastRotSeperation) / Time.deltaTime;
float _closureEleRate = (_curEleSeperation - lastEleSeperation) / Time.deltaTime;
// store current rate and seperation to become last rate/seperation for next time
lastRotSeperation = _curRotSeperation;
lastEleSeperation = _curEleSeperation;
// apply rotation
curRotRate = MFcompute.SmoothRateChange(_modSeperation, _closureTurnRate, curRotRate, rotationAccel, decelerateMult, rotationRateMax);
rotator.rotation = Quaternion.AngleAxis(curRotRate * Time.deltaTime, transform.up) * rotator.rotation;
// apply elevation
curEleRate = MFcompute.SmoothRateChange(_curEleSeperation, _closureEleRate, curEleRate, elevationAccel, decelerateMult, elevationRateMax);
elevator.rotation = Quaternion.AngleAxis(curEleRate * Time.deltaTime, -rotator.right) * elevator.rotation;
}
CheckGimbalLimits();
// prevent nonsence
rotator.localEulerAngles = new Vector3( 0f, rotator.localEulerAngles.y, 0f );
elevator.localEulerAngles = new Vector3( elevator.localEulerAngles.x, 0f, 0f );
// turn sounds
if (rotatorSound.audioSource) {
TurnSound( rotatorSound, averageRotRateEst, rotationRateMax );
}
if (elevatorSound.audioSource) {
TurnSound( elevatorSound, averageEleRateEst, elevationRateMax );
}
}
