82 lines
2.5 KiB
Plaintext
82 lines
2.5 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 pursue-point_pathing
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script_variables
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bool tempVariable;
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WsfGeoPoint mCurrentPointIntercept;
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double cSLOW_UPDATE_RATE = 3.0;
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double cINTERCEPT_SPEED = 1000; # m/s
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end_script_variables
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precondition
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writeln("precondition pursue-point_pathing");
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if (!PLATFORM.GetPathFinder().IsValid())
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{
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writeln("no path-finder available");
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return false;
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}
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if (PROCESSOR.GetRIPRCommanderProcessor().IsValid())
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{
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WsfRIPRJob currentJob = PROCESSOR.GetRIPRCommanderProcessor().GetJobFor(TIME_NOW, PROCESSOR);
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if (currentJob.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 (currentJob.Name() == "pursue-point")
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{
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mCurrentPointIntercept = (WsfGeoPoint)currentJob.GetData("targetPoint");
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if (mCurrentPointIntercept.IsValid())
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{
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return true;
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}
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}
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}
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}
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return false;
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end_precondition
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execute
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writeln("executing pursue-point_pathing.");
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PROCESSOR.SetUpdateInterval(cSLOW_UPDATE_RATE);
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PLATFORM.GoToSpeed(cINTERCEPT_SPEED);
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extern double cDEFAULT_ALTITUDE;
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PLATFORM.GoToAltitude(cDEFAULT_ALTITUDE, 200);
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double interceptAltitude = mCurrentPointIntercept.Altitude();
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double interceptHeading = PLATFORM.TrueBearingTo(mCurrentPointIntercept);
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double interceptRange = PLATFORM.SlantRangeTo(mCurrentPointIntercept);
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writeln_d(" T=", TIME_NOW, ", range: ", interceptRange, " true-bearing: ", interceptHeading);
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WsfGeoPoint startGeoPoint = PLATFORM.Location();
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if (!PLATFORM.FindAndSetPath(startGeoPoint, mCurrentPointIntercept))
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{
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PLATFORM.FollowRoute("DEFAULT_ROUTE","CLOSEST_POINT");
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}
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#if ( (interceptAltitude - PLATFORM.Altitude()) > 5)
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if ( (interceptAltitude - PLATFORM.Altitude()) > 10000*MATH.M_PER_FT())
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{
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writeln_d("GoToAltitude: ",interceptAltitude);
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#PLATFORM.GoToAltitude(interceptAltitude);
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}
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end_execute
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end_behavior
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