init

2025-09-12 15:20:28 +08:00
commit 3257a14c32
449 changed files with 388780 additions and 0 deletions
--- a/processors/quantum_agents/aiai/behavior_pursue_speed.txt
+++ b/processors/quantum_agents/aiai/behavior_pursue_speed.txt
@@ -0,0 +1,112 @@
+# ****************************************************************************
+# 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.
+# ****************************************************************************
+
+
+behavior pursue_speed
+
+   script_debug_writes off
+
+   script_variables
+
+      WsfTrack mTargetTrack;
+
+      // these values suggested for air to air fighters & jets
+      double mMatchSpeedDistanceMin =   1 * 1852;        #  1 mile
+      double mMatchSpeedDistanceMax =  20 * 1852;        # 20 miles
+      double mWaitSpeed             = 293.941;  //mach 0.95 at 25200 ft altitude
+      double mInterceptSpeed        = 600 * MATH.MPS_PER_NMPH();
+
+      #double mWaitSpeed             = 500 * MATH.MPS_PER_NMPH();
+      #double mInterceptSpeed        = 800 * MATH.MPS_PER_NMPH();
+      #double mInterceptSpeed        = 293.941;  //mach 0.95 at 25200 ft altitude
+
+   end_script_variables
+
+   precondition
+      writeln_d(PLATFORM.Name(), " precondition pursue_speed, T=", TIME_NOW);
+      if (!PROCESSOR.IsA_TypeOf("WSF_RIPR_PROCESSOR"))
+      {
+         return Failure("behavior not attached to a RIPR processor!");
+      }   //   ((WsfRIPRProcessor)PROCESSOR)
+      //get target from ripr processor, to be sure
+      mTargetTrack = ((WsfRIPRProcessor)PROCESSOR).GetTarget();
+      if (mTargetTrack.IsNull() || !mTargetTrack.IsValid())
+      {
+         writeln_d("    No valid target track found to pursue!");
+         return Failure("target track not found");
+      }
+      return true;
+   end_precondition
+
+
+   execute
+      string comment = write_str(PLATFORM.Name(), " executing pursue_speed, T=", TIME_NOW);
+      writeln_d(comment);
+      #PLATFORM.Comment(comment);
+
+      extern double mDesiredSpeed;
+
+      mDesiredSpeed = mInterceptSpeed;
+      if (mTargetTrack.VelocityValid())
+      {
+         if (mTargetTrack.AirDomain())
+         {
+            extern double EffectiveRange(WsfPlatform, WsfTrack);
+
+            double speedOfTarget = mTargetTrack.Speed();
+            double effRange      = EffectiveRange(PLATFORM, mTargetTrack);
+            double distanceWindow = mMatchSpeedDistanceMax - mMatchSpeedDistanceMin;
+            double speedWindow   = mInterceptSpeed - speedOfTarget;
+
+            if(effRange < mMatchSpeedDistanceMax &&  effRange > mMatchSpeedDistanceMin)
+            {
+               double rangeScale = (effRange - mMatchSpeedDistanceMin) / distanceWindow;
+               mDesiredSpeed = speedOfTarget + (speedWindow * rangeScale);
+               writeln_d(PLATFORM.Name(), " pursue-target, speed scaled down in matching window!");
+            }
+            else if (effRange <= mMatchSpeedDistanceMin)
+            {
+               mDesiredSpeed = speedOfTarget * 0.99;
+               writeln_d(PLATFORM.Name(), " pursue-target, speed set to match target!");
+            }
+
+            if (mDesiredSpeed < mWaitSpeed)
+            {
+               mDesiredSpeed = mWaitSpeed;
+               writeln_d(PLATFORM.Name(), " pursue-target, speed was lower than wait speed, adjust!");
+            }
+         }
+         else if (mTargetTrack.LandDomain())
+         {
+            writeln_d(PLATFORM.Name(), " pursue-target, target is land domain, adjust speed!");
+            double speedOfTarget = mTargetTrack.Speed();
+            double range      = PLATFORM.GroundRangeTo(mTargetTrack);
+            double distanceWindow = mMatchSpeedDistanceMax - mMatchSpeedDistanceMin;
+            double speedWindow   = mInterceptSpeed - speedOfTarget;
+
+            if(range < mMatchSpeedDistanceMax &&  range > mMatchSpeedDistanceMin)
+            {
+               double rangeScale = (range - mMatchSpeedDistanceMin) / distanceWindow;
+               mDesiredSpeed = speedOfTarget + (speedWindow * rangeScale);
+            }
+            else if (range <= mMatchSpeedDistanceMin)
+            {
+               mDesiredSpeed = speedOfTarget * 0.99;
+            }
+
+            if (mDesiredSpeed < mWaitSpeed)
+            {
+               mDesiredSpeed = mWaitSpeed;
+            }
+         }
+      }
+
+   end_execute
+
+end_behavior