326 lines
11 KiB
Plaintext
326 lines
11 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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behavior pincer
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script_debug_writes off
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script_variables
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//debug parameters
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bool mDrawSteering = false;
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//parameters for how to initially fly pincer (1st phase, separation)
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string mDirection = "none";
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double mPincerSpeed = 500 * MATH.MPS_PER_NMPH(); //400 kts
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double mPincerOffsetAngle = 70.0; //degrees
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//parameters for determining if to chase and how to do so (2nd phase, option A)
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double mEnemyFOVHalfAngle = 50.0; //degrees
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double mChaseAngle = 75.0; //degrees
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double mChaseSpeedlnsideFOV = 600 * MATH.MPS_PER_NMPH(); //600 kts
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double mChaseSpeedOutsideFOV = 1200 * MATH.MPS_PER_NMPH(); //1200 kts
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//parameters for determining if to drag (run) and how to do so (2nd phase, option B)
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double mRunDistance = 130 * 1852; //130nm (meters)
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double mRunAngleLimit = 15.0; //degrees
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double mDragSpeed = 800 * MATH.MPS_PER_NMPH(); //800 kts
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double mDragAddedAngle = -1.0; //degrees
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//util var, not for user edit
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WsfGeoPoint mPincerPoint;
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bool mDragging = false;
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bool mChasing = false;
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WsfDraw mDraw = WsfDraw();
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WsfRIPRJob mCurrentJob;
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end_script_variables
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script double GetPincerDragOffset(WsfTrack aTgt)
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if (aTgt.Speed() >= PLATFORM.Speed())
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{
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return 180.0;
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}
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else
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{
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return (180 - MATH.ACos(aTgt.Speed()/PLATFORM.Speed()));
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}
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end_script
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precondition
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#writeln_d("precondition pincer");
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if (!PROCESSOR.IsA_TypeOf("WSF_RIPR_PROCESSOR"))
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{
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return Failure("behavior not attached to a RIPR processor!");
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} // ((WsfRIPRProcessor)PROCESSOR)
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if (((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderProcessor().IsValid())
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{
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mCurrentJob = ((WsfRIPRProcessor)PROCESSOR).GetRIPRCommanderProcessor().GetJobFor(TIME_NOW, ((WsfRIPRProcessor)PROCESSOR));
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if (mCurrentJob.IsValid())
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{
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// If we're supposed to fly towards a point, go for it!
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if (mCurrentJob.Name() == "pincer")
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{
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mPincerPoint = (WsfGeoPoint)mCurrentJob.GetData("ZonePoint");
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mDirection = (string)mCurrentJob.GetData(PLATFORM.Name());
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if (mPincerPoint.IsValid())
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{
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return true;
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}
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else
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{
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writeln_d(PLATFORM.Name(), " pincer point not valid!");
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return Failure("pincer job did not have valid point");
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}
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}
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else
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{
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writeln_d(PLATFORM.Name(), " job not a pincer job: ", mCurrentJob.Name());
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}
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}
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else
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{
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writeln_d(PLATFORM.Name(), " job not valid!");
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}
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}
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else
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{
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writeln_d(PLATFORM.Name(), " commander not found!");
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return Failure("no commander found");
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}
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return Failure("current job not a valid pincer job");
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end_precondition
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execute
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writeln_d(PLATFORM.Name(), " executing pincer!, T=", TIME_NOW);
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//provide for another channel for pursue-target jobs
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if (((WsfRIPRProcessor)PROCESSOR).NumJobChannels() <= 1)
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{
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((WsfRIPRProcessor)PROCESSOR).SetNumJobChannels(2);
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}
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//writelnd("executing pincer.");
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((WsfRIPRProcessor)PROCESSOR).ClearTarget();
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//calculate heading if we are still flying offset
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double angle = 0;
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if (mDirection == "left")
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{
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angle = -mPincerOffsetAngle;
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}
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else if (mDirection == "right")
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{
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angle = mPincerOffsetAngle;
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}
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double heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) + angle);
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//find out if we are being chased & should drag threats away
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WsfTrack worstTrack;
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double worstDist = MATH.DOUBLE_MAX();
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double worstFOV = MATH.DOUBLE_MAX();
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Array<string> targetNames = (Array<string>)mCurrentJob.GetData("ZoneThreatNameArray");
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extern WsfTrack GetTrackByName (WsfPlatform, string);
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int allOnCap = (int)mCurrentJob.GetData("all_on_cap");
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if (allOnCap <= 0)
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{
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//save off the closest opponent track
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foreach(string tgtName in targetNames)
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{
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WsfTrack tgt = GetTrackByName(PLATFORM, tgtName);
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if (tgt.IsValid() && tgt.LocationValid())
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{
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double attackRange = tgt.GroundRangeTo(PLATFORM);
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if (attackRange < worstDist)
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{
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//run away, drag threats out
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worstDist = attackRange;
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worstTrack = tgt;
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}
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double fov = MATH.Fabs(tgt.RelativeBearingTo(PLATFORM));
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if (fov < worstFOV)
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{
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worstFOV = fov;
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}
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}
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}
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//manage dragging state
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if ( (mDragging == false) &&
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(worstDist < mRunDistance) &&
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(worstTrack.IsValid()) &&
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(worstTrack.HeadingValid()) &&
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(MATH.Fabs(worstTrack.TrueBearingTo(PLATFORM)-worstTrack.Heading()) < mRunAngleLimit))
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{
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mDragging = true;
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if (mDirection == "right")
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{
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int count = (int)mCurrentJob.GetData("right_drag");
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mCurrentJob.SetData("right_drag",count+1);
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writeln_d(PLATFORM.Name(), " increased right_drag to: ", count+1);
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}
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else if (mDirection == "left")
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{
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int count = (int)mCurrentJob.GetData("left_drag");
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mCurrentJob.SetData("left_drag",count+1);
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writeln_d(PLATFORM.Name(), " increased left_drag to: ", count+1);
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}
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}
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else if ( (mDragging == true) &&
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( (!worstTrack.IsValid()) ||
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(worstDist > (mRunDistance*1.1)) ||
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(!worstTrack.HeadingValid()) ||
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(MATH.Fabs(worstTrack.TrueBearingTo(PLATFORM)-worstTrack.Heading()) > (mRunAngleLimit*1.1))))
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{
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mDragging = false;
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if (mDirection == "right")
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{
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int count = (int)mCurrentJob.GetData("right_drag");
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mCurrentJob.SetData("right_drag",count-1);
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writeln_d(PLATFORM.Name(), " decreased right_drag to: ", count-1);
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}
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else if (mDirection == "left")
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{
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int count = (int)mCurrentJob.GetData("left_drag");
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mCurrentJob.SetData("left_drag",count -1);
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writeln_d(PLATFORM.Name(), " decreased left_drag to: ", count-1);
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}
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}
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mChasing = false;
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if (mDragging == true)
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{
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writeln_d("dragging!");
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//try to maintain distance
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PLATFORM.GoToSpeed(mDragSpeed);
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double dragOffset = GetPincerDragOffset(worstTrack);
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if (mDirection == "right")
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{
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if (mDragAddedAngle > 0)
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{
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heading = MATH.NormalizeAngle0_360(heading + mDragAddedAngle);
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}
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else
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{
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heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) + dragOffset);
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}
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}
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else if (mDirection == "left")
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{
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if (mDragAddedAngle > 0)
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{
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heading = MATH.NormalizeAngle0_360(heading - mDragAddedAngle);
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}
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else
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{
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heading = MATH.NormalizeAngle0_360(PLATFORM.TrueBearingTo(mPincerPoint) - dragOffset);
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}
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}
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}
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else
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{
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//look for reasons to chase
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PLATFORM.GoToSpeed(mPincerSpeed);
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//check if other pair is dragging, so we should chase
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int count = 0;
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if (mDirection == "right")
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{
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count = (int)mCurrentJob.GetData("left_drag");
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}
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else if (mDirection == "left")
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{
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count = (int)mCurrentJob.GetData("right_drag");
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}
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double diff = 0;
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if (worstTrack.IsValid() && worstTrack.HeadingValid())
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{
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double b1 = worstTrack.Heading();
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double b2 = worstTrack.TrueBearingTo(PLATFORM.Location());
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diff = MATH.NormalizeAngleMinus180_180(b2 - b1);
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}
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if (count > 0 && MATH.Fabs(diff) > mEnemyFOVHalfAngle)
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{
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//the other pincer group is being engaged, turn in now
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writeln_d(PLATFORM.Name(), " chasing because other pair is dragging");
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mChasing = true;
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}
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//check if we have flanked & can now chase
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else
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{
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if (mDirection == "right" && diff < -mChaseAngle)
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{
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writeln_d(PLATFORM.Name(), " right chasing because past chase angle");
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mChasing = true;
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}
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else if (mDirection == "left" && diff > mChaseAngle)
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{
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mChasing = true;
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writeln_d(PLATFORM.Name(), " left chasing because past chase angle");
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}
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}
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}
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}
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else
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{
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writeln_d("All targets still on cap, no dragging or chasing yet!");
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}
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if (mChasing == true)
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{
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writeln_d("chasing!");
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//double FOV = MATH.Fabs(worstTrack.RelativeBearingTo(PLATFORM));
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if (worstFOV <= mEnemyFOVHalfAngle)
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{
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PLATFORM.GoToSpeed(mChaseSpeedlnsideFOV);
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}
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else
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{
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PLATFORM.GoToSpeed(mChaseSpeedOutsideFOV);
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}
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if (worstTrack.IsValid())
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{
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heading = PLATFORM.TrueBearingTo(worstTrack);
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((WsfRIPRProcessor)PROCESSOR).SetTarget(worstTrack);
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}
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else
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{
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heading = PLATFORM.TrueBearingTo((WsfGeoPoint)mCurrentJob.GetData("ZonePoint"));
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}
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}
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PLATFORM.TurnToHeading(heading);
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if (mDrawSteering == true)
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{
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WsfGeoPoint pt = PLATFORM.Location();
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pt.Extrapolate(heading, 185200);
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mDraw.SetLayer("behavior_pincer");
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mDraw.SetDuration(PROCESSOR.UpdateInterval());
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mDraw.SetColor(0.0, 1.0, 0.75); //green-blue
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mDraw.SetLineSize(1);
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mDraw.BeginLines();
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mDraw.Vertex(PLATFORM.Location());
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mDraw.Vertex(pt);
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mDraw.Vertex(PLATFORM.Location());
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mDraw.Vertex(mPincerPoint);
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mDraw.End();
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}
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# # writeln_d(" T=", TIME_NOW, ", range: ", interceptRange, " true-bearing; interceptHeading); #
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##if ( (interceptAltitude - PLATFORM.Altitude()) > 5) #if ( (interceptAltitude - PLATFORM.Altitude()) > 10000*MATH.M_PER_FT())
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#{
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# writeln_d("GoToAltitude: ",interceptAltitude); # #PLATF0RM.GoToAltitude(interceptAltitude);
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#>
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end_execute
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end_behavior
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