init

platforms/brawler/alternatives/behavior_alt3581_negative_velocity.txt

@@ -0,0 +1,165 @@
+# ****************************************************************************
+# 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 alt35.f
+// Replicates the negative velocity 3,5,8,1 alternative behavior
+
+include_once BrawlerScriptUtil.txt
+
+behavior alt3581_negative_velocity
+
+   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 mAlternative3581Enabled = true;
+      bool mCheckBoresight = true;
+      bool mCheckRange = true;
+
+      // Alternative ID
+      int ilevel = 3;
+      int kalt   = 5;
+      int icall  = 8;
+      int lcall  = 1;
+
+      // Maneuver Alternative flight values
+      Vec3 mDir0;
+      double mGMX = 1.0;
+      double mSpd0 = 3.0;
+
+      //**********************************************************************//
+      //********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
+      //**********************************************************************//
+      WsfDraw  mDraw             = WsfDraw();
+      double   mLastTime         = 0.0;
+
+   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 behavior_alt3581_negative_velocity, 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 (!mAlternative3581Enabled)
+      {
+         writeln_d("behavior not enabled!");
+         return Failure("behavior alternative not enabled");
+      }
+
+      WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
+      if(tasks.Count() <= 0)
+      {
+         return Failure("no weapon (hostile) tasks!");
+      }
+      WsfTask targetTask = tasks.Entry(0);
+      WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
+      if (!hostile.IsValid())
+      {
+         return Failure("no hostile track!");
+      }
+
+      //TODO - change this script so it doesn't use a truth method?
+      if (hostile.TargetKilled())
+      {
+         return Failure("hostile was destroyed!");
+      }
+
+      // alt35.f line 282 - 285
+#      if(spdut(iac).eq.0.0)goto 205
+#      if(obang(iac,me).gt.hafpi) go to 205
+#      rrunmn = 5.*ramp(twopi,obang(iac,me)+obang(me,iac),0.)  <- same as 3551
+#      if(rngun(iac)*ftnmi .gt. rrunmn+1.) go to 205
+
+      if (!hostile.VelocityValid() || (hostile.Speed()*MATH.FT_PER_M()) < 1)
+      {
+         // If we don't have valid velocity or spoed is effectively zero
+         string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " hostile has invalid or no speed");
+         writeln_d(msg);
+         return Failure(msg);
+      }
+
+      double obang_hostile_me = brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM);
+      double obang_me_hostile = brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target());
+
+      if (mCheckBoresight == true && obang_hostile_me > Math.PI_OVER_2())
+      {
+         // Not ahead of hostile
+         string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " off boresight angle hostile to me > Pi/2");
+         writeln_d(msg);
+         return Failure(msg);
+      }
+
+      double rrunmn = 5.0 * ramp(Math.TWO_PI(), obang_hostile_me + obang_me_hostile, 0.0);
+      double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
+      WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
+      double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
+      if (mCheckRange == true && rangeToHostile * Math.M_PER_NM() < rrunmn + 1.0)
+      {
+         // Hostile too far
+         string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " range to hostile < minimum range to run");
+         writeln_d(msg);
+         return Failure(msg);
+      }
+
+      // ALL CONDITIONS PASS
+      ### Generate Maneuver Alternative
+      // alt35.f line 286 - 292
+#      iactn = 4
+#      lenalt = lactn(iactn)
+#      altdsc = altpk(3,5,icall,1,iacidt(iac),0)
+#      call vmake(-1.,veut(1,iac),dir0)
+#      gmx = gmxsu
+#      spd0 = 3.
+#      spdmod = thrttl
+      mDir0 = vmake(-1.0, hostile.VelocityNED());
+      mGMX = brawlerPlatform.MaxSustainedGs();
+      mSpd0 = 3.0;
+
+      ### Evaluate [Projected] Maneuver Alternative
+      double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
+      return score;
+
+   end_precondition
+
+
+   execute
+      ## what was evaluated should be actually performed now
+      brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
+   end_execute
+
+end_behavior
+