// Simply clears waypoints and stops the vessel for predefined loiter time
void Sentry()
{
// Simple control for exiting and entering Loiter
if (!loiterOngoing)
{
loiterOngoing = true;
statusText.text = "loitering";
loiterStart = Time.timeSinceLevelLoad;
ClearWaypoints();
}
if (Time.timeSinceLevelLoad - loiterTime > loiterStart)
{
flightStatus = FlightStatus.patrolling;
// TODO request order instead
wpList = RouteAndManeuverPlanner.PlanPatrol(gameObject.transform.position);
wpIndex = wpList.Count - 1;
desiredSpeed = patrolSpeedMax;
generalThrust = patrolThrust;
loiterOngoing = false;
statusText.text = "";
return;
}
Stop();
}
//--------------------------------------
#region Waypoint methods
void WaypointCheck()
{
wpIndex = wpList.Count - 1;
if (statusInFormation == StatusInFormation.lead)
{
if (wpList.Count == 0)
{
return;
} // sanity check
// Check if the Vessel is close enough to the waypoint and if, then remove it
Vector2 vectorToWP = wpList[wpIndex].wpCoordinates - gameObject.GetComponent <Rigidbody2D>().position;
if (Vector2.SqrMagnitude(vectorToWP) < wpList[wpIndex].wpRadius * wpList[wpIndex].wpRadius)
{
wpList.RemoveAt(wpIndex);
wpIndex = wpList.Count - 1;
}
if (wpList[wpIndex].temporary)
{
TempWPSanityCheck();
}
}
headingToWaypoint = RouteAndManeuverPlanner.HeadingFromPositions(
new Vector2(gameObject.transform.position.x, gameObject.transform.position.y),
wpList[wpIndex].wpCoordinates
);
}
void InitialLockedManeuver()
{
Transform targetTransform = targetObject.transform;
desiredHeading = RouteAndManeuverPlanner.GetInterceptHeading(targetTransform, gameObject.transform, initialSpeed);
// ExecuteThrust(initialSpeed);
}
void Pursue()
{
if (targetObject)
{
float distanceToTarget = Vector2.Distance(new Vector2(gameObject.transform.position.x, gameObject.transform.position.y), new Vector2(targetObject.transform.position.x, targetObject.transform.position.y));
// Switch to Roaming mode if target is out of radar range
if (distanceToTarget > missile.radar.pingReach)
{
missileState = MissileState.roaming;
CancelInvoke("Pursue");
invokeSet = false;
return;
}
Vector2 killBurn = RouteAndManeuverPlanner.GetHitBurn(targetObject.transform, gameObject.transform, missile.fuel, mass);
desiredHeading = killBurn.x;
if (Mathf.Abs(desiredHeading - missile.transform.eulerAngles.z) < 0.5f)
{
// ExecuteThrust(killBurn.y);
}
}
}