void Update()
{
// If there is no target set, there is no need for calculations.
if (!controller.Target)
{
return;
}
elapsedTime += Time.deltaTime;
// Only use guidance when the life time of the missile is greater than the set delay.
if (elapsedTime < delay)
{
return;
}
// Do some fancy math which is too complicated for a little comment. I suggest reading the Wikipedia entry on proportional navigation if you want to know how it works.
previousLos = los;
los = controller.Target.position - transform.position;
losDelta = los - previousLos;
losDelta = losDelta - Vector3.Project(losDelta, los);
if (advancedMode)
{
desiredRotation = (Time.deltaTime * los) + (losDelta * navigationalConstant) + (Time.deltaTime * desiredRotation * navigationalConstant * 0.5f); // Augmented version of proportional navigation.
}
else
{
desiredRotation = (Time.deltaTime * los) + (losDelta * navigationalConstant); // Plain proportional navigation.
}
controller.Rotate(Quaternion.LookRotation(desiredRotation, transform.up)); // Use the Rotate function of the controller, instead of the transforms, to consider the rotation rate of the missile.
}
void Update()
{
// If there is no target set, there is no need for calculations.
if (!controller.Target)
{
return;
}
elapsedTime += Time.deltaTime;
// Only use guidance when the life time of the missile is greater than the set delay.
if (elapsedTime < delay)
{
return;
}
if (advancedMode)
{
// The advanced mode only works when the missile is closing in on the target, so we need to make sure that it only runs if that's the case.
// Otherwise we just use the normal lookat method to rotate.
currentDistance = Vector3.Distance(transform.position, controller.Target.position);
if (currentDistance < previousDistance)
{
// This little function reflects the velocity vector along the LoS vector. The resulting vector "aims ahead" to overcome the missiles inertia more quickly.
Vector3 velocity = -controller.Velocity.normalized;
Vector3 los = (controller.Target.position - transform.position).normalized;
Vector3 modifiedRotation = Vector3.Reflect(velocity, los);
controller.Rotate(Quaternion.LookRotation(modifiedRotation)); // Use the Rotate function of the controller, instead of the transforms, to consider the rotation rate of the missile.
}
else
{
controller.Rotate(Quaternion.LookRotation(controller.Target.position - transform.position, transform.up)); // Use the Rotate function of the controller, instead of the transforms, to consider the rotation rate of the missile.
}
previousDistance = currentDistance;
}
else
{
controller.Rotate(Quaternion.LookRotation(controller.Target.position - transform.position, transform.up));
}
}
