bool DetectCollision(Vector3 direction)
{
if (MissileGuidance.GetRadarAltitude(vessel) < 20)
{
return(false);
}
direction = direction.normalized;
int layerMask = 557057;
Ray ray = new Ray(vesselTransform.position + (50 * vesselTransform.up), direction);
float distance = Mathf.Clamp((float)vessel.srfSpeed * 5, 250, 2500);
RaycastHit hit;
if (Physics.SphereCast(ray, 10, out hit, distance, layerMask))
{
Rigidbody otherRb = hit.collider.attachedRigidbody;
if (otherRb)
{
if (Vector3.Dot(otherRb.velocity, vessel.srf_velocity) < 0)
{
return(true);
}
else
{
return(false);
}
}
else
{
return(true);
}
}
else
{
return(false);
}
}
void TakeOff(FlightCtrlState s)
{
threatLevel = 1;
debugString += "\nTaking off/Gaining altitude";
if (vessel.Landed && vessel.srfSpeed < takeOffSpeed)
{
return;
}
steerMode = SteerModes.Aiming;
float radarAlt = MissileGuidance.GetRadarAltitude(vessel);
Vector3 forwardPoint = vessel.transform.position + Vector3.ProjectOnPlane(vesselTransform.up * 100, upDirection);
float terrainDiff = MissileGuidance.GetRaycastRadarAltitude(forwardPoint) - radarAlt;
terrainDiff = Mathf.Max(terrainDiff, 0);
float rise = Mathf.Clamp((float)vessel.srfSpeed * 0.3f, 5, 100);
if (radarAlt > 70)
{
vessel.ActionGroups.SetGroup(KSPActionGroup.Gear, false);
}
else
{
vessel.ActionGroups.SetGroup(KSPActionGroup.Gear, true);
}
FlyToPosition(s, forwardPoint + (upDirection * (rise + terrainDiff)));
if (radarAlt > minAltitude)
{
startedLanded = false;
}
}
void AutoPilot(FlightCtrlState s)
{
if (!vessel || !vessel.transform || vessel.packed || !vessel.mainBody)
{
return;
}
vesselTransform = vessel.ReferenceTransform;
//default brakes off full throttle
//s.mainThrottle = 1;
//vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
AdjustThrottle(maxSpeed, true);
useAB = true;
useBrakes = true;
vessel.ActionGroups.SetGroup(KSPActionGroup.SAS, true);
steerMode = SteerModes.NormalFlight;
GetGuardTarget();
if (vessel.Landed && standbyMode && weaponManager && BDATargetManager.TargetDatabase[BDATargetManager.BoolToTeam(weaponManager.team)].Count == 0)
{
//s.mainThrottle = 0;
//vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
AdjustThrottle(0, true);
return;
}
//upDirection = -FlightGlobals.getGeeForceAtPosition(transform.position).normalized;
upDirection = VectorUtils.GetUpDirection(vessel.transform.position);
debugString = string.Empty;
if (MissileGuidance.GetRadarAltitude(vessel) < minAltitude)
{
startedLanded = true;
}
if (startedLanded)
{
TakeOff(s);
turningTimer = 0;
}
else
{
if (FlyAvoidCollision(s))
{
turningTimer = 0;
}
else if (command != PilotCommands.Free)
{
UpdateCommand(s);
}
else
{
UpdateAI(s);
}
}
//brake and cut throttle if exceeding max speed
/*
* if(vessel.srfSpeed > maxSpeed)
* {
* vessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
* s.mainThrottle = 0;
* }
*/
debugString += "\nthreatLevel: " + threatLevel;
}