new void Start()
{
base.Start();
float t = InterceptSolverNoAccel.FindRealSolutionSmallestT(this, targetDrive); //print(t + Time.time);
if (targetDrive == null || float.IsInfinity(t)) // Shooting at nothing or cannot hit the target
{
rb.velocity += transform.forward.normalized * speed;
return;
}
Vector3 rp = targetDrive.EstimatedPos(t) - rb.position;
Vector3 projectedWastedVel = Vector3.Project(rb.velocity, rp);
Vector3 wastedVel = -(rb.velocity - projectedWastedVel);
Vector3 towardsTargetVel = rp.normalized * Mathf.Sqrt(speed * speed - wastedVel.sqrMagnitude);
Vector3 resultVel = wastedVel + towardsTargetVel;
rb.velocity += resultVel;
transform.rotation = Quaternion.LookRotation(resultVel);
/*
* var g = GameObject.CreatePrimitive(PrimitiveType.Sphere);
* g.transform.position = targetDrive.EstimatedPos(t);
* Destroy(g.GetComponent<SphereCollider>()); */
}
public void PDCUpdate()
{
if (target == null) // No current target
{
return;
}
if (target != null && targetDrive == null) // New target acqusition
{
targetDrive = target.GetComponent <Drive>();
updateEstimatedIntercept();
transferingTarget = Quaternion.Angle(transform.rotation, targetRot) < maxTargetTransferAngle;
roundsRemaining = Random.Range(magSizeRange[0], magSizeRange[1]);
}
updateEstimatedIntercept();
transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRot, angularVelocity * Time.deltaTime);
transform.rotation = Quaternion.LookRotation(transform.forward, transform.parent.up); // Prevent weird rotations
if (parentPDCContoller.TargetInRange(transform, target)) // Only shoot when target is in range
{
if (Quaternion.Angle(transform.rotation, targetRot) < maxDeadzoneAngle)
{
ShootRound(true);
if (--roundsRemaining == 0) // Stop firing on current target, could also stop from round destroying target
{
ClearTarget();
}
}
else if (transferingTarget) // Shooting just for looks
{
ShootRound(false);
}
}
void updateEstimatedIntercept()
{
float predictedT = InterceptSolverNoAccel.FindRealSolutionSmallestT(
parentDrive.rb.velocity, roundSpawnPoint.position, pdcRoundSpeed, targetDrive);
if (float.IsInfinity(predictedT)) // Can never hit the target
{
ClearTarget();
return;
}
// 99% Sure these calculations are slightly off
Vector3 rp = targetDrive.EstimatedPos(predictedT) - roundSpawnPoint.position;
Vector3 projectedWastedVel = Vector3.Project(parentDrive.rb.velocity, rp);
Vector3 wastedVel = -(parentDrive.rb.velocity - projectedWastedVel);
Vector3 towardsTargetVel = rp.normalized * Mathf.Sqrt(pdcRoundSpeed * pdcRoundSpeed - wastedVel.sqrMagnitude);
targetRot = Quaternion.LookRotation(wastedVel + towardsTargetVel, transform.parent.up);
}
}
