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;
}
