// Call all planners in order and return the flightTime if at least one planner
// found a solution. The return value is only true if the last planner that found a
// plan had mayLaunch = true.
private static bool RunPlanners(ICollection <TrajectoryPlannerBase> planners,
ProjectileKinematics projectileKinematics,
Vector3 predictedLauncherPosition,
Vector3 predictedTargetPosition,
out float flightTime)
{
Projectile3D projectile3D = projectileKinematics.Projectile3D;
flightTime = 0;
bool mayLaunch = false;
foreach (TrajectoryPlannerBase planner in planners)
{
if (planner.PlanTimeToTarget(projectile3D, predictedLauncherPosition,
predictedTargetPosition, ref flightTime))
{
mayLaunch = planner.mayLaunch;
}
}
return(mayLaunch);
}
// Based on the incoming positions, velocities and timing information, this function
// uses dead reckoning to work out the TrajectoryXXXPlanner inputs to plan plan the
// next projectile's trajectory with. The planners are called from lo to high
// PlanNumber. If any (future) plan is available, it returns the initial velocity for
// that plan. Otherwise, it returns Vector3.Zero. Furthermore, if a future plan is
// found AND it allows launching AND the target is within reach AND
// minimumTimeToNextLaunch <= 0, then shouldLaunch = true.
public static Vector3 UpdatePlan(ICollection <TrajectoryPlannerBase> planners,
ProjectileKinematics projectileKinematics,
Vector3 launcherPosition,
Vector3 launcherVelocity,
Vector3 targetPosition,
Vector3 targetVelocity,
float minimumTimeToNextLaunch,
ref float lastFlightTime,
out bool shouldLaunch)
{
// Work out where the launcher and the target are most likely to be when
// minimumTimeToNextLaunch becomes zero again.
minimumTimeToNextLaunch = Mathf.Max(0.0f, minimumTimeToNextLaunch);
float timeToTarget = minimumTimeToNextLaunch + lastFlightTime;
Vector3 predictedLauncherPosition = launcherPosition + launcherVelocity *
minimumTimeToNextLaunch;
Vector3 predictedTargetPosition = targetPosition + targetVelocity * timeToTarget;
// Run the planners
bool mayLaunch = RunPlanners(planners, projectileKinematics,
predictedLauncherPosition, predictedTargetPosition, out lastFlightTime);
// Calculate the projectile spawn velocity if a flight time estimate is available
Vector3 projectileVelocity = Vector3.zero;
if (lastFlightTime > 0)
{
Projectile3D projectile3D = projectileKinematics.Projectile3D;
projectileVelocity =
projectile3D.GetInitialVelocityGivenRelativeTargetAndTime(
predictedTargetPosition - predictedLauncherPosition, lastFlightTime);
}
// Set shouldLaunch to true iff the planners presented a plan and
// the time is right.
shouldLaunch = mayLaunch && minimumTimeToNextLaunch <= 0;
return(projectileVelocity);
}
// Based on the incoming positions, velocities and timing information, this function
// uses dead reckoning to work out the TrajectoryXXXPlanner inputs to plan plan the
// next projectile's trajectory with. The planners are called from lo to high
// PlanNumber. If any (future) plan is available, it returns the initial velocity for
// that plan. Otherwise, it returns Vector3.Zero. Furthermore, if a future plan is
// found AND it allows launching AND the target is within reach AND
// minimumTimeToNextLaunch <= 0, then shouldLaunch = true.
public static Vector3 UpdatePlan(ICollection<TrajectoryPlannerBase> planners,
ProjectileKinematics projectileKinematics,
Vector3 launcherPosition,
Vector3 launcherVelocity,
Vector3 targetPosition,
Vector3 targetVelocity,
float minimumTimeToNextLaunch,
ref float lastFlightTime,
out bool shouldLaunch)
{
// Work out where the launcher and the target are most likely to be when
// minimumTimeToNextLaunch becomes zero again.
minimumTimeToNextLaunch = Mathf.Max(0.0f, minimumTimeToNextLaunch);
float timeToTarget = minimumTimeToNextLaunch + lastFlightTime;
Vector3 predictedLauncherPosition = launcherPosition + launcherVelocity *
minimumTimeToNextLaunch;
Vector3 predictedTargetPosition = targetPosition + targetVelocity * timeToTarget;
// Run the planners
bool mayLaunch = RunPlanners(planners, projectileKinematics,
predictedLauncherPosition, predictedTargetPosition, out lastFlightTime);
// Calculate the projectile spawn velocity if a flight time estimate is available
Vector3 projectileVelocity = Vector3.zero;
if (lastFlightTime > 0)
{
Projectile3D projectile3D = projectileKinematics.Projectile3D;
projectileVelocity =
projectile3D.GetInitialVelocityGivenRelativeTargetAndTime(
predictedTargetPosition - predictedLauncherPosition, lastFlightTime);
}
// Set shouldLaunch to true iff the planners presented a plan and
// the time is right.
shouldLaunch = mayLaunch && minimumTimeToNextLaunch <= 0;
return projectileVelocity;
}
// if the barrel is misaligned with the
// latest plan.
void Start()
{
_projectileKinematics = launchProjectile.GetComponent<ProjectileKinematics>();
_planners = TurretHelper.SortPlanners(
GetComponents<TrajectoryPlannerBase>());
_pitchMotorControl = GetComponentInChildren<PitchMotorControl>();
_yawMotorControl = GetComponentInChildren<YawMotorControl>();
_barrelRecoil = GetComponentInChildren<BarrelRecoil>();
_aimForwardAxis = launchTransform.forward;
}
// Call all planners in order and return the flightTime if at least one planner
// found a solution. The return value is only true if the last planner that found a
// plan had mayLaunch = true.
private static bool RunPlanners(ICollection<TrajectoryPlannerBase> planners,
ProjectileKinematics projectileKinematics,
Vector3 predictedLauncherPosition,
Vector3 predictedTargetPosition,
out float flightTime)
{
Projectile3D projectile3D = projectileKinematics.Projectile3D;
flightTime = 0;
bool mayLaunch = false;
foreach (TrajectoryPlannerBase planner in planners)
{
if (planner.PlanTimeToTarget(projectile3D, predictedLauncherPosition,
predictedTargetPosition, ref flightTime))
{
mayLaunch = planner.mayLaunch;
}
}
return mayLaunch;
}
