//Finds Currently Detected Enemy Location
#region Enemy Scan #RFC#
/*=================================================
* Function: RFC Function bar #RFC#
* --------------------------------------- */
Vector3D EnemyScan(MISSILE This_Missile)
{
//Targeting Module
//-----------------------------------------------
//Retrieves Target Position
var This_Missile_Director = This_Missile.TURRET as IMyLargeTurretBase;
var ENEMY_POS = new Vector3D();
//LOS as first call
if (TOWCamera != null)
{
Vector3D Scanpos = RC.WorldMatrix.Forward * TOW_Distance;
if (TOWCamera.CanScan(Scanpos))
{
TemporaryTarget = new MyDetectedEntityInfo();
var ThisEntity = TOWCamera.Raycast(Scanpos);
if (ThisEntity.Relationship == MyRelationsBetweenPlayerAndBlock.Enemies)
{
TemporaryTarget = ThisEntity;
ENEMY_POS = (Vector3D)TemporaryTarget.HitPosition;
}
}
}
//Turret Detection As Secondary
else if (This_Missile_Director.GetTargetedEntity().IsEmpty() == false && !(OverrideToLongTargets && TemporaryTarget.IsEmpty()))
{
ENEMY_POS = This_Missile_Director.GetTargetedEntity().Position; //Also based on position for critical hits
}
//Finally If nothing Detected on turrets default to LOS with some basic prediction
else
{
if (!TemporaryTarget.IsEmpty())
{
double TimeSinceFired = (TemporaryTarget.TimeStamp - DateTime.Now.Millisecond) / 1000.00;
Vector3D Velocity = (Vector3D)TemporaryTarget.Velocity;
ENEMY_POS = (Vector3D)TemporaryTarget.HitPosition + Velocity * TimeSinceFired;
}
//OtherWise Straigh Up TOW
else
{
ENEMY_POS = RC.GetPosition() + RC.WorldMatrix.Forward * ((This_Missile.GYRO.GetPosition() - Me.GetPosition()).Length() + 300);
}
}
return(ENEMY_POS);
}
//SubMethod State Machine For Launching Missiles
#region MissileLaunchHandler
public IEnumerable <bool> MissileLaunchHandler()
{
//Gathers Missile Information
yield return(INIT_NEXT_MISSILE());
//Disables Merge Block
MISSILE ThisMissile = MISSILES[MISSILES.Count - 1];
var MERGE_A = ThisMissile.MERGE;
(MERGE_A as IMyShipMergeBlock).Enabled = false;
yield return(true);
yield return(true); //Safety Tick
//Launches Missile & Gathers Next Scanner
PREP_FOR_LAUNCH(MISSILES.Count - 1);
}
public void Update()
{
// スペースキーで一括回収
if (Input.GetKeyDown(KeyCode.Space))
{
this.pool.Clear();
}
// アクティブなオブジェクト数の更新
// 呼び出されたフレームで経過時間0 秒で処理されていたものを通常稼動扱いにする
this.pool.FrameTop();
float elapsedTime = Time.deltaTime;
this.calcTime += elapsedTime;
// とりあえず0.1 秒毎に発射
float span = 0.1f;
if (this.calcTime >= span)
{
// プールから取り出して点火
Missile2D missile;
Vector3 point = trans_.localPosition;
if (this.pool.AwakeObject((int)this.nextType, point, out missile))
{
missile.Ignition();
}
if (this.nextType == MISSILE.LEFT)
{
this.nextType = MISSILE.UP;
}
else
{
++this.nextType;
}
this.calcTime -= span;
}
// アクティブなオブジェクトの更新
this.pool.Proc(elapsedTime);
}
//Preps For Launch & Launches
#region RFC Prep-For Launch Subroutine #RFC#
/*=================================================
* Function: RFC Function bar #RFC#
* --------------------------------------- */
void PREP_FOR_LAUNCH(int INT)
{
Echo(INT + "");
MISSILE ThisMissile = MISSILES[INT];
ThisMissile.MissileMass = 0;
ThisMissile.MissileThrust = 0;
//Preps Battery For Launch
var POWER_A = ThisMissile.POWER;
if (ThisMissile.POWER != null && ThisMissile.POWER is IMyBatteryBlock)
{
POWER_A.ApplyAction("OnOff_On");
POWER_A.SetValue("Recharge", false);
POWER_A.SetValue("Discharge", true);
ThisMissile.MissileMass += POWER_A.Mass;
}
//Removes Thrusters That Are Still on the same Grid As launcher
List <IMyThrust> TemporaryThrust = new List <IMyThrust>();
TemporaryThrust.AddRange(ThisMissile.THRUSTERS);
for (int i = 0; i < TemporaryThrust.Count; i++)
{
var item = TemporaryThrust[i];
if (item.CubeGrid != ThisMissile.GYRO.CubeGrid)
{
ThisMissile.THRUSTERS.Remove(item); continue;
}
}
//Retrieves Largest Thrust Direction
Dictionary <Vector3D, double> ThrustDict = new Dictionary <Vector3D, double>();
foreach (IMyThrust item in ThisMissile.THRUSTERS)
{
Vector3D Fwd = item.WorldMatrix.Forward;
double Thrval = item.MaxEffectiveThrust;
if (ThrustDict.ContainsKey(Fwd) == false)
{
ThrustDict.Add(Fwd, Thrval);
}
else
{
ThrustDict[Fwd] = ThrustDict[Fwd] + Thrval;
}
}
List <KeyValuePair <Vector3D, double> > ThrustList = ThrustDict.ToList();
ThrustList.Sort((x, y) => y.Value.CompareTo(x.Value));
Vector3D ThrForward = ThrustList[0].Key;
//Preps Thrusters For Launch (removes any not on grid)
TemporaryThrust = new List <IMyThrust>();
TemporaryThrust.AddRange(ThisMissile.THRUSTERS);
for (int i = 0; i < TemporaryThrust.Count; i++)
{
var item = TemporaryThrust[i];
//Retrieves Thrusters Only Going In The Forward
if (item.WorldMatrix.Forward != ThrForward)
{
item.ApplyAction("OnOff_On"); ThisMissile.THRUSTERS.Remove(item); continue;
}
//Runs Std Operations
item.ApplyAction("OnOff_On");
double ThisThrusterThrust = (item as IMyThrust).MaxThrust;
(item as IMyThrust).ThrustOverride = (float)ThisThrusterThrust;
ThisMissile.MissileThrust += ThisThrusterThrust;
ThisMissile.MissileMass += item.Mass;
}
//Removes Any Warheads Not On The Grid
List <IMyTerminalBlock> TemporaryWarheads = new List <IMyTerminalBlock>();
TemporaryWarheads.AddRange(ThisMissile.WARHEADS);
for (int i = 0; i < ThisMissile.WARHEADS.Count; i++)
{
var item = TemporaryWarheads[i];
if (item.CubeGrid != ThisMissile.GYRO.CubeGrid)
{
ThisMissile.WARHEADS.Remove(item); continue;
}
ThisMissile.MissileMass += item.Mass;
}
//-----------------------------------------------------
//Adds Additional Mass & Sets Accel (ovverrides If Possible)
ThisMissile.MissileMass += ThisMissile.GYRO.Mass;
ThisMissile.MissileMass += ThisMissile.MERGE.Mass;
double number;
if (double.TryParse(ThisMissile.GYRO.CustomData, out number))
{
double.TryParse(ThisMissile.GYRO.CustomData, out ThisMissile.MissileMass);
}
ThisMissile.MissileAccel = ThisMissile.MissileThrust / ThisMissile.MissileMass;
//Sets Grid Type
ThisMissile.IsLargeGrid = ThisMissile.GYRO.CubeGrid.GridSizeEnum == MyCubeSize.Large;
ThisMissile.FuseDistance = ThisMissile.IsLargeGrid ? 16 : 7;
}
//Finds First Missile Available
#region RFC Initialise Missile Blocks #RFC#
/*=================================================
* Function: RFC Function bar #RFC#
* --------------------------------------- */
bool INIT_NEXT_MISSILE()
{
//Finds Missile Blocks (performs 1 gts)
List <IMyTerminalBlock> GYROS = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyGyro>(GYROS, b => b.CustomName == "#A#");
List <IMyTerminalBlock> TURRETS = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyLargeTurretBase>(TURRETS, b => b.CustomName == "#A#");
List <IMyThrust> THRUSTERS = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType <IMyThrust>(THRUSTERS, b => b.CustomName == "#A#");
List <IMyTerminalBlock> MERGES = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyShipMergeBlock>(MERGES, b => b.CustomName == "#A#");
List <IMyTerminalBlock> BATTERIES = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyTerminalBlock>(BATTERIES, b => b.CustomName == "#A#" && (b is IMyBatteryBlock || b is IMyReactor));
List <IMyTerminalBlock> WARHEADS = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyWarhead>(WARHEADS, b => b.CustomName == "#A#");
//Diagnostics For No Gyro
Lstrundata = "No More Missile (Gyros) Detected";
//Iterates Through List To Find Complete Missile Based On Gyro
foreach (var Key_Gyro in GYROS)
{
MISSILE NEW_MISSILE = new MISSILE();
NEW_MISSILE.GYRO = Key_Gyro;
Vector3D GyroPos = Key_Gyro.GetPosition();
double Distance = 40;
//Sorts And Selects Turrets
List <IMyTerminalBlock> TempTurrets = TURRETS.FindAll(b => (b.GetPosition() - GyroPos).LengthSquared() < Distance * Distance);
TempTurrets.Sort((x, y) => (x.GetPosition() - Key_Gyro.GetPosition()).LengthSquared().CompareTo((y.GetPosition() - Key_Gyro.GetPosition()).LengthSquared()));
//Sorts And Selects Batteries
List <IMyTerminalBlock> TempPower = BATTERIES.FindAll(b => (b.GetPosition() - GyroPos).LengthSquared() < Distance * Distance);
TempPower.Sort((x, y) => (x.GetPosition() - Key_Gyro.GetPosition()).LengthSquared().CompareTo((y.GetPosition() - Key_Gyro.GetPosition()).LengthSquared()));
//Sorts And Selects Merges
List <IMyTerminalBlock> TempMerges = MERGES.FindAll(b => (b.GetPosition() - GyroPos).LengthSquared() < Distance * Distance);
TempMerges.Sort((x, y) => (x.GetPosition() - Key_Gyro.GetPosition()).LengthSquared().CompareTo((y.GetPosition() - Key_Gyro.GetPosition()).LengthSquared()));
//Sorts And Selects Thrusters
NEW_MISSILE.THRUSTERS = THRUSTERS.FindAll(b => (b.GetPosition() - GyroPos).LengthSquared() < Distance * Distance);
//Sorts And Selects Warheads
NEW_MISSILE.WARHEADS = WARHEADS.FindAll(b => (b.GetPosition() - GyroPos).LengthSquared() < Distance * Distance);
//Checks All Key Blocks Are Present
bool HasTurret = TempTurrets.Count > 0;
bool HasPower = TempPower.Count > 0;
bool HasMerge = TempMerges.Count > 0;
bool HasThruster = NEW_MISSILE.THRUSTERS.Count > 0;
//Echos Some Useful Diagnostics
Lstrundata = "Last Missile Failed To Fire\nReason:" +
"\nHas Gyro: True" +
"\nHas Turret: " + HasTurret +
"\nHas Power: " + HasPower +
"\nHasMerge: " + HasMerge +
"\nHasThruster: " + HasThruster;
//Assigns and Exits Loop
if (HasTurret && HasPower && HasMerge && HasThruster)
{
NEW_MISSILE.TURRET = TempTurrets[0];
NEW_MISSILE.POWER = TempPower[0];
NEW_MISSILE.MERGE = TempMerges[0];
MISSILES.Add(NEW_MISSILE);
Lstrundata = "Launched Missile:" + MISSILES.Count;
return(true);
}
}
return(false);
}
//Standard Guidance Routine
#region RdavNav Missile Guidance #RFC#
/*=================================================
* RdavNav
* --------------------------------------- */
void STD_GUIDANCE(MISSILE This_Missile)
{
//Targeting Module
//-----------------------------------------------
//Retrieves Target Position
var This_Missile_Director = This_Missile.TURRET as IMyLargeTurretBase;
var ENEMY_POS = new Vector3D();
//Logical Determination Of Enemy Position
if (This_Missile_Director.GetTargetedEntity().IsEmpty() == false)
{
ENEMY_POS = This_Missile_Director.GetTargetedEntity().Position; //Also based on position for critical hits
}
//else if (!(This_Missile.TARGET_PREV_POS == null)) //new Vector3D()
//{ENEMY_POS = This_Missile.TARGET_PREV_POS;}
else
{
ENEMY_POS = RC.GetPosition() + RC.WorldMatrix.Forward * ((This_Missile.GYRO.GetPosition() - Me.GetPosition()).Length() + 300);
}
//Sorts CurrentVelocities
Vector3D MissilePosition = This_Missile.GYRO.CubeGrid.WorldVolume.Center;
Vector3D MissilePositionPrev = This_Missile.MIS_PREV_POS;
Vector3D MissileVelocity = (MissilePosition - MissilePositionPrev) / Global_Timestep;
Vector3D TargetPosition = ENEMY_POS;
Vector3D TargetPositionPrev = This_Missile.TARGET_PREV_POS;
Vector3D TargetVelocity = (TargetPosition - This_Missile.TARGET_PREV_POS) / Global_Timestep;
//Uses RdavNav Navigation APN Guidance System
//-----------------------------------------------
//Setup LOS rates and PN system
Vector3D LOS_Old = Vector3D.Normalize(TargetPositionPrev - MissilePositionPrev);
Vector3D LOS_New = Vector3D.Normalize(TargetPosition - MissilePosition);
Vector3D Rel_Vel = Vector3D.Normalize(TargetVelocity - MissileVelocity);
//And Assigners
Vector3D am = new Vector3D(1, 0, 0); double LOS_Rate; Vector3D LOS_Delta;
Vector3D MissileForwards = This_Missile.THRUSTERS[0].WorldMatrix.Backward;
//Vector/Rotation Rates
if (LOS_Old.Length() == 0)
{
LOS_Delta = new Vector3D(0, 0, 0); LOS_Rate = 0.0;
}
else
{
LOS_Delta = LOS_New - LOS_Old; LOS_Rate = LOS_Delta.Length() / Global_Timestep;
}
//-----------------------------------------------
//Closing Velocity
double Vclosing = (TargetVelocity - MissileVelocity).Length();
//If Under Gravity Use Gravitational Accel
Vector3D GravityComp = -RC.GetNaturalGravity();
//Calculate the final lateral acceleration
Vector3D LateralDirection = Vector3D.Normalize(Vector3D.Cross(Vector3D.Cross(Rel_Vel, LOS_New), Rel_Vel));
Vector3D LateralAccelerationComponent = LateralDirection * PNGain * LOS_Rate * Vclosing + LOS_Delta * 9.8 * (0.5 * PNGain); //Eases Onto Target Collision LOS_Delta * 9.8 * (0.5 * Gain)
//If Impossible Solution (ie maxes turn rate) Use Drift Cancelling For Minimum T
double OversteerReqt = (LateralAccelerationComponent).Length() / This_Missile.MissileAccel;
if (OversteerReqt > 0.98)
{
LateralAccelerationComponent = This_Missile.MissileAccel * Vector3D.Normalize(LateralAccelerationComponent + (OversteerReqt * Vector3D.Normalize(-MissileVelocity)) * 40);
}
//Calculates And Applies Thrust In Correct Direction (Performs own inequality check)
double ThrustPower = RdavUtils.Vector_Projection_Scalar(MissileForwards, Vector3D.Normalize(LateralAccelerationComponent)); //TESTTESTTEST
ThrustPower = This_Missile.IsLargeGrid ? MathHelper.Clamp(ThrustPower, 0.9, 1) : ThrustPower;
//MathHelper.Clamp(ThrustPower, 0.6, 1); //for improved thrust performance
foreach (IMyThrust thruster in This_Missile.THRUSTERS)
{
if (thruster.ThrustOverride != (thruster.MaxThrust * ThrustPower)) //12 increment inequality to help conserve on performance
{
thruster.ThrustOverride = (float)(thruster.MaxThrust * ThrustPower);
}
}
//Calculates Remaining Force Component And Adds Along LOS
double RejectedAccel = Math.Sqrt(This_Missile.MissileAccel * This_Missile.MissileAccel - LateralAccelerationComponent.LengthSquared()); //Accel has to be determined whichever way you slice it
if (double.IsNaN(RejectedAccel))
{
RejectedAccel = 0;
}
LateralAccelerationComponent = LateralAccelerationComponent + LOS_New * RejectedAccel;
//-----------------------------------------------
//Guides To Target Using Gyros
am = Vector3D.Normalize(LateralAccelerationComponent + GravityComp);
double Yaw; double Pitch;
GyroTurn6(am, 18, 0.3, This_Missile.THRUSTERS[0], This_Missile.GYRO as IMyGyro, This_Missile.PREV_Yaw, This_Missile.PREV_Pitch, out Pitch, out Yaw);
//Updates For Next Tick Round
This_Missile.TARGET_PREV_POS = TargetPosition;
This_Missile.MIS_PREV_POS = MissilePosition;
This_Missile.PREV_Yaw = Yaw;
This_Missile.PREV_Pitch = Pitch;
//Detonates warheads in close proximity
if ((TargetPosition - MissilePosition).LengthSquared() < 20 * 20 && This_Missile.WARHEADS.Count > 0) //Arms
{
foreach (var item in This_Missile.WARHEADS)
{
(item as IMyWarhead).IsArmed = true;
}
}
if ((TargetPosition - MissilePosition).LengthSquared() < This_Missile.FuseDistance * This_Missile.FuseDistance && This_Missile.WARHEADS.Count > 0) //A mighty earth shattering kaboom
{
(This_Missile.WARHEADS[0] as IMyWarhead).Detonate();
}
}
