329 lines
13 KiB
Plaintext
329 lines
13 KiB
Plaintext
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# ****************************************************************************
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# CUI
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#
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# The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
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#
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# The use, dissemination or disclosure of data in this file is subject to
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# limitation or restriction. See accompanying README and LICENSE for details.
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# ****************************************************************************
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include_once behavior_timeline_reposition.txt #drag to restart further back on timeline
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include_once behavior_timeline_delay.txt #maneuver to delay enemy's engagement
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include_once behavior_timeline_engage.txt #intercept/shoot timeline targets
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#include_once behavior_timeline_support.txt #fly support role on a timeline (usually behind lead shooter role)
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include_once behavior_weapon_support.txt #crank & support weapon
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include_once behavior_planned_route.txt #no timeline tasks, just return to route
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include_once behavior_evade.txt #evade iminent threats (missiles)
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include_once behavior_go_home.txt #disengage, go back to initial location
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#include_once behavior_fly_timeline.txt
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processor TIMELINE_PROC WSF_QUANTUM_TASKER_PROCESSOR
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update_interval 2 sec
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script_variables
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double mGeesToTurnWith = 6.0; #update this however intelligently you can (based on risk level?)
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#double mOffsetAngle = 45.0; #TODO - calculate half sensor angle?
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double mOffsetAngle = 30.0; #TODO - calculate half sensor angle?
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double mDelaySpeed = 204; #0.6
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double mEngageSpeed = 237; #0.8
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double mDragSpeed = 309; #1.2
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double mDefaultAltitude = 35000 * MATH.M_PER_FT();
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#double mDragAltitude = 30000 * MATH.M_PER_FT();
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double mDragAltitude = 35000 * MATH.M_PER_FT(); #testing
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bool mConsiderPeersWeapons = true; #do not shoot if peers already are
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#bool mRequiredToSupportWeapons = true; #TODO - update dynamically somehow?
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bool mRequiredToSupportWeapons = true; #TODO - update dynamically somehow?
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double DefaultPercentRangeMax = 0.80; # don't launch unless within this percent of Rmax
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double DefaultPercentRangeMin = 1.20; # don't launch unless beyond this percent of Rmin
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##weapon + threat specific shooting parameters
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##specify an Rmax based on which weapon used and which threat engaged
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#Map<string, Map<string, double>> WeaponThreatRmaxMap = Map<string, Map<string, double>>();
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#WeaponThreatRmaxMap["base_weapon"] = Map<string, double>();
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#WeaponThreatRmaxMap["base_weapon"].Set("fighter", 0.80);
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bool mDrawSeparationData = true;
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string mSeparateSide = "LEFT"; #this is dynamically updated based on engagement axis
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#do not edit these:
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bool mSeparateEngagement = false;
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double mEngagementTrueBearing = -1.0; #valid if in [0,360], update based on engagement axis
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WsfDraw mDraw = WsfDraw();
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Array<WsfLocalTrack> mTimeLineLocalTargets;
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WsfLocalTrack mNearestTimeLineTarget;
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Array<WsfLocalTrack> mTimeLineLocalTargetsToShoot = Array<WsfLocalTrack>();
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end_script_variables
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on_update
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#update these if necessary
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mSeparateEngagement = false;
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mEngagementTrueBearing = -1.0;
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#populate shared variables
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WsfTask timeline = GetTimeLineTask(PROCESSOR);
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mTimeLineLocalTargets = GetTimeLineTaskLocalTargets(PLATFORM, timeline);
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Array<double> times = Array<double>();
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foreach(WsfLocalTrack target in mTimeLineLocalTargets)
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{
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double time = TimeToReachPoint(target, PLATFORM.Location(), mGeesToTurnWith);
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times.PushBack(time);
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}
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SortLocalTracksByValue(mTimeLineLocalTargets, times);
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mNearestTimeLineTarget = GetNearestTimeLineTaskLocalTarget(PLATFORM, timeline);
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if (timeline.IsValid() &&
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timeline.AuxDataExists("point_a") &&
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timeline.AuxDataExists("point_b") )
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{
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WsfGeoPoint SeparateA = (WsfGeoPoint)timeline.AuxDataObject("point_a");
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WsfGeoPoint SeparateB = (WsfGeoPoint)timeline.AuxDataObject("point_b");
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if (SeparateA.IsValid() && SeparateB.IsValid())
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{
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WsfGeoPoint near;
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WsfGeoPoint far;
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if (PLATFORM.GroundRangeTo(SeparateA) < PLATFORM.GroundRangeTo(SeparateB))
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{
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near = SeparateA;
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far = SeparateB;
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}
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else
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{
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near = SeparateB;
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far = SeparateA;
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}
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mDraw.SetLayer("timeline_proc");
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mDraw.SetId("timeline_proc");
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mDraw.SetDuration(PROCESSOR.UpdateInterval());
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mDraw.SetLineSize(1);
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mDraw.SetLineStyle("solid");
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Array<WsfTrack> targets = (Array<WsfTrack>)timeline.AuxDataObject("targets");
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#check if platform is on the correct side of separation line
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WsfGeoPoint clusterMeanLocation = (WsfGeoPoint)timeline.AuxDataObject("cluster_mean");
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double refAz = near.TrueBearingTo(far);
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#save this engagement axis true bearing!
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mSeparateEngagement = true;
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mEngagementTrueBearing = MATH.NormalizeAngle0_360(refAz);
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double ownAz = near.TrueBearingTo(PLATFORM.Location()) - refAz;
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double tgtAz = near.TrueBearingTo(clusterMeanLocation) - refAz;
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ownAz = MATH.NormalizeAngleMinus180_180(ownAz);
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tgtAz = MATH.NormalizeAngleMinus180_180(tgtAz);
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#save off turn direction
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if (tgtAz < 0) {
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mSeparateSide = "LEFT";
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} else {
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mSeparateSide = "RIGHT";
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}
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bool CorrectSide = ((ownAz * tgtAz) > 0);
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#draw lines for separation divide
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mDraw.SetColor(0.0, 0.0, 0.0); #black
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mDraw.BeginLines();
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mDraw.Vertex(near);
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mDraw.Vertex(far);
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mDraw.End();
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if (CorrectSide) {
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mDraw.SetColor(0.0, 1.0, 1.0); #aqua
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} else {
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mDraw.SetColor(1.0, 0.0, 0.0); #red
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}
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#draw line from me to target center of gravity
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mDraw.BeginLines();
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mDraw.Vertex(PLATFORM);
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#mDraw.Vertex(targetCluster.MeanLocation());
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mDraw.Vertex(mTimeLineLocalTargets.Front().CurrentLocation());
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mDraw.End();
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# mDraw.SetEllipseMode("line");
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# mDraw.BeginCircle(0.0, 4.0 * MATH.M_PER_NM());
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# mDraw.Vertex(PLATFORM);
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# mDraw.End();
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}
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}
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#update the "mTimeLineLocalTargetsToShoot" list
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mTimeLineLocalTargetsToShoot.Clear();
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if (timeline.IsValid())
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{
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string RISK = timeline.AuxDataString("RISK");
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foreach(WsfLocalTrack target in mTimeLineLocalTargets)
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{
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writeln_d("T=",TIME_NOW," ", PLATFORM.Name(), " checking if shootable: ", target.TargetName());
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if (FiredOn(PLATFORM, target, mConsiderPeersWeapons))
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{
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writeln_d(" NO - already fired on!");
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continue;
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}
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if (mRequiredToSupportWeapons == true && RISK != "HIGH") #can support any shot when risk is high (won't be dragging)
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{
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double gate = timeline.AuxDataDouble("DOR"); #range (meters)
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if (RISK == "MEDIUM")
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{
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gate = timeline.AuxDataDouble("MAR"); #range (meters)
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}
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#calculate if we have time or range to support a shot to this target:
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###################################################################
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###################################################################
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###################################################################
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#figure out weapon range & time of flight
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double weaponMaxRange = 0.0;
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WsfWeapon maxRangeWeapon;
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for (int i=0; i < PLATFORM.WeaponCount(); i+=1)
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{
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WsfWeapon weapon = PLATFORM.WeaponEntry(i);
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if (WeaponCapableAvailableAgainstThreat(weapon, target))
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{
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double weaponRange = MaxRange(PLATFORM,weapon,target);
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if (weaponRange > weaponMaxRange)
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{
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weaponMaxRange = weaponRange;
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maxRangeWeapon = weapon;
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}
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}
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}
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if (!maxRangeWeapon.IsValid())
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{
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writeln_d(" NO - do not have a weapon for the target");
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continue; #no weapon for this target
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}
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#estimate time before we can shoot
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#hypothetical shot
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#estimate time cranking (based on weapon travel time)
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#does this leave us enough time to turn to drag?
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double weaponTOF = TimeToHit(PLATFORM, maxRangeWeapon, target);
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if (weaponTOF <= 0)
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{
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writeln_d(" NO - could not find TOF data for weapon");
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#good weapon data no found
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continue;
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}
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double firingRange = DefaultPercentRangeMax * weaponMaxRange;
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writeln_d(" INFO - weapon \"", maxRangeWeapon.Name(), "\" firing range = ", firingRange, " TOF = ", weaponTOF);
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double targetRange = PLATFORM.GroundRangeTo(target.CurrentLocation());
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double rangeToGo = targetRange - firingRange;
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double timeTilShot = 0.0;
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double range = PLATFORM.GroundRangeTo(mNearestTimeLineTarget.CurrentLocation());
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if (rangeToGo > 0)
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{
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#assume target continues on its current heading
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#assume nearest threat closes towards you
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#assume we close towards target
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double myRelativeBearingToThreat = MATH.Fabs(MATH.NormalizeAngleMinus180_180(PLATFORM.TrueBearingTo(mNearestTimeLineTarget) - PLATFORM.TrueBearingTo(target)));
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double targetRelativeBearingToMe = target.RelativeBearingTo(PLATFORM);
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double closingSpeedToTarget = PLATFORM.Speed() + MATH.Cos(targetRelativeBearingToMe) * target.Speed();
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double closingSpeedOfThreat = mNearestTimeLineTarget.Speed() + MATH.Cos(myRelativeBearingToThreat) * PLATFORM.Speed();
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if (closingSpeedToTarget <= 0)
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{
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writeln_d(" NO - negative closing speed to target with range remaining to shoot");
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continue;
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}
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writeln_d(" INFO - closing to target = ", closingSpeedToTarget, " closing of threat = ", closingSpeedOfThreat);
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#subtract off closing distance to nearest threat during the time before shot
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timeTilShot = rangeToGo / closingSpeedToTarget;
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double temp = range;
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range -= (timeTilShot * closingSpeedOfThreat);
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writeln_d(" INFO - starting threat range = ", temp, " range after closing to shot loc = ", range);
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}
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#subtract off closing distance to nearest target during the time of weapon's flight
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double closingSpeedOfThreat = (mDelaySpeed * MATH.Cos(mOffsetAngle)) + mNearestTimeLineTarget.Speed();
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double temp = range;
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range -= (weaponTOF * closingSpeedOfThreat);
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writeln_d(" INFO - range at shot = ", temp, " range after supporting shot = ", range);
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# #calculate time to turn to drag (after cranking)
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# Array<double> vals = Array<double>();
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# double turnAngle = 180 - mOffsetAngle;
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# TurnAngleTimeAndDistance(turnAngle, mEngageSpeed, mGeesToTurnWith, vals);
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# double turnTime = vals[0];
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# double distSep = vals[1];
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# #subtract off closing distance to nearest target during the time of turning to drag
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# range += distSep;
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# range -= (turnTime*mNearestTimeLineTarget.Speed());
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if (range >= gate)
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{
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writeln_d(" YES - have time & range to support the shot.");
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mTimeLineLocalTargetsToShoot.PushBack(target);
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}
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else
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{
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writeln_d(" NO - do not have time & range to support the shot.");
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##TODO - should we break here?
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## its highly unlikely futher away targets will be shootable
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#break;
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}
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###################################################################
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###################################################################
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###################################################################
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}
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else if (mRequiredToSupportWeapons == false || RISK == "HIGH")
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{
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writeln_d(" YES - risk is high or not required to support.");
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#all targets are for shooting (if not already shot on)
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mTimeLineLocalTargetsToShoot.PushBack(target);
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}
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}
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}
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end_on_update
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behavior_tree
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selector
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behavior_node evade #
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behavior_node go_home #
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behavior_node timeline_reposition #
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#behavior_node timeline_support #TODO - integrate kyle's grinder behavior support stuff
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behavior_node timeline_delay #TODO - integrate nick's delay script
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behavior_node timeline_engage #TODO - only shoot if there is time to support it
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behavior_node weapon_support #
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behavior_node planned_route #
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end_selector
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end_behavior_tree
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end_processor
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