lab1/platforms/brawler/alternatives/behavior_alt3431_roll-15_pull.txt

# ****************************************************************************
# CUI
#
# The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
#
# The use, dissemination or disclosure of data in this file is subject to
# limitation or restriction. See accompanying README and LICENSE for details.
# ****************************************************************************

// converted BRAWLER v7.5 alt34.f -> alt343.f
// Replicates the 3,4,3,1 alternative behavior
// alt3431_roll-15_pull

behavior alt3431_roll-15_pull

   script_debug_writes off

   script_variables

      WsfQuantumTaskerProcessor processor;
      WsfPerceptionProcessor    perception;
      WsfBrawlerPlatform        brawlerPlatform;

      //**********************************************************************//
      //** debugging parameters                                             **//
      //**********************************************************************//
      bool     mDrawSteering     = false;

      //**********************************************************************//
      //** alternative parameters                                           **//
      //**********************************************************************//
      // Flag used to enable/disable this alternative
      bool mAlternative3431Enabled = true;
      double mLongRange = 5.0 * Math.M_PER_NM();

      // Alternative ID
      int ilevel = 3;
      int kalt   = 4;
      int icall  = 3;
      int lcall  = 1;

      Vec3 a0;      # maneuver plane
      Vec3 dir0;    # direction vector
      double gmx;   # max Gs
      double spd0;  # throttle setting

      //**********************************************************************//
      //********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
      //**********************************************************************//
      WsfDraw  mDraw             = WsfDraw();
      double   mLastTime         = 0.0;
      double   grav              = 32.17405;

   end_script_variables

   on_init
      if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         processor = (WsfQuantumTaskerProcessor)PROCESSOR;
      }
      perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
      brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
   end_on_init

   precondition
      #writeln_d(PLATFORM.Name(), " precondition alt3431 roll-15_pull, T=", TIME_NOW);

      ### Evaluate conditions that would prevent behavior alternative from running

      if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
      {
         writeln_d("not a quantum tasker!");
         return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
      }

      if (!mAlternative3431Enabled)
      {
         writeln_d("behavior not enabled!");
         return Failure("behavior alternative not enabled");
      }

      ## alt 34.f line 97, & 140
      #lrange = rhst*ftnmi .gt. 5.0
      #if(lrange)goto 15

      WsfTrack nearestHostile = perception.NearestThreat();
      double rangeToNearest = 999999999; # default large value, in meters
      if (nearestHostile.IsValid() &&
          nearestHostile.LocationValid())
      {
         rangeToNearest = nearestHostile.SlantRangeTo(PLATFORM);
      }

      if (!nearestHostile.IsValid())
      {
         writeln_d("nearest hostile not valid!");
         return Failure("no vaild hostiles closer than 5 nautical miles");
      }

      if (rangeToNearest > mLongRange)
      {
         writeln_d("nearest hostile too far away! (", rangeToNearest," m)");
         return Failure("no vaild hostiles closer than 5 nautical miles");
      }

      ##alt343.f line 99-109
      ## ROLL -15 & PULL
      #dir0(1) = 0.
      #dir0(2) = -sd15
      #dir0(3) = -cd15
      #call vxfrmc(rwep,dir0,dir0,2)
      ## DIR0 IS UNIT ACCELERATION VECTOR IN DESIRED MANEUVER PLANE
      #call manpln(dir0,gmxsu)
      double sd15 = 0.2588190;
      double cd15 = 0.9659258;
      dir0 = Vec3.Construct(0.0, -sd15, -cd15);
      dir0 = brawlerPlatform.ConvertWindtoNED(dir0);
      double gmxsu = brawlerPlatform.MaxTacticalGs();
      #call manpln(dir0,gmxsu)
      #manpln() - maneuver in plane: replicated in 6 lines below
      dir0 = vorth(dir0, PLATFORM.VelocityNED());
      dir0.Normalize();
      int iactn = 4;
      gmx = gmxsu;
      spd0 = 3.0;
      int spdmod = 2;   //thrttl

      ### Project and Evaluate (Score) Maneuver Alternative
      double score = brawlerPlatform.EvaluateVectorWithThrottle(dir0, gmx, spd0, ilevel, kalt, icall, lcall);
      return score;

   end_precondition

   execute
      ## what was evaluated should be actually performed now
      PLATFORM.FlyVectorWithThrottle(dir0, gmx, spd0);
   end_execute

end_behavior