208 lines
7.8 KiB
Plaintext
208 lines
7.8 KiB
Plaintext
# ****************************************************************************
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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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// converted BRAWLER v7.5 alt35.f
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// Replicates the 1v1 Defensive Maneuver 3,5,1,1 alternative behavior
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// Defensive right break turn
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// Operates on nearest perceived threat to generate maneuver alternative
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include_once BrawlerScriptUtil.txt
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behavior alt3511_break_right
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script_debug_writes off
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script_variables
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WsfQuantumTaskerProcessor processor;
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WsfPerceptionProcessor perception;
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WsfBrawlerPlatform brawlerPlatform;
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//**********************************************************************//
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//** debugging parameters **//
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//**********************************************************************//
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bool mDrawSteering = false;
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//**********************************************************************//
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//** alternative parameters **//
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//**********************************************************************//
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// Flag used to enable/disable this alternative
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bool mAlternative3511Enabled = true;
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bool mCheckRange = true;
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bool mCheckBoresight = true;
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bool mCheckClosingSpeed = true;
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// Alternative ID
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int ilevel = 3;
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int kalt = 5;
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int icall = 1;
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int lcall = 1;
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// Maneuver Alternative flight values
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Vec3 mDir0;
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double mGMX = 1.0;
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double mSpd0 = 3.0;
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// ALSO NEED:
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// randomization to simulate imperfect desision making, valsig, read from MIND file, typically ~0.01
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// Production rule bias, used in socring of alternative
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//**********************************************************************//
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//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
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//**********************************************************************//
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WsfDraw mDraw = WsfDraw();
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double mLastTime = 0.0;
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end_script_variables
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on_init
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if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
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{
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processor = (WsfQuantumTaskerProcessor)PROCESSOR;
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}
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perception = (WsfPerceptionProcessor)PLATFORM.Processor("perception");
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brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
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end_on_init
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precondition
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#writeln_d(PLATFORM.Name(), " precondition behavior_alt3511_break_right, T=", TIME_NOW);
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### Evaluate conditions that would prevent behavior alternative from running
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if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
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{
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return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
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}
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if (!mAlternative3511Enabled)
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{
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return Failure("behavior alternative not enabled");
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}
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WsfTaskList tasks = processor.TasksReceivedOfType("WEAPON");
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if(tasks.Count() <= 0)
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{
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return Failure("no weapon (hostile) tasks!");
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}
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WsfTask targetTask = tasks.Entry(0);
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WsfLocalTrack hostile = PLATFORM.MasterTrackList().Find(targetTask.LocalTrackId());
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if (!hostile.IsValid())
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{
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return Failure("no hostile track!");
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}
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//TODO - change this script so it doesn't use a truth method?
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if (hostile.TargetKilled())
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{
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return Failure("hostile was destroyed!");
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}
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// alt35.f line 136 - 140
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//if the predicted range (rngun) between me and threat greater then 2 nautical miles, skip
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double projectionTime = TIME_NOW + brawlerPlatform.ProjectedTimeDelta();
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WsfGeoPoint projectedHostileLocation = hostile.LocationAtTime(projectionTime);
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double rangeToHostile = PLATFORM.SlantRangeTo(projectedHostileLocation);
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if (mCheckRange == true && rangeToHostile > 2.0 * Math.M_PER_NM())
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{
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string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " nearest hostile further than 2 nautical miles");
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writeln_d(msg);
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return Failure(msg);
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}
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//if the off-bore angle between threat and me is greater than pi/2, skip
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if (mCheckBoresight == true && brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM) > Math.PI_OVER_2())
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{
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string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Boresight angle between hostile and me greater than Pi/2");
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writeln_d(msg);
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return Failure(msg);
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}
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//if the off-bore angle between me and the threat is less than pi/2 check more conditions
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if (mCheckBoresight == true && brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target()) < Math.PI_OVER_2())
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{
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//if the predicted range rate (rngrun) of the threat is greater then zero, skip
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if (mCheckClosingSpeed == true && PLATFORM.ClosingSpeedOf(hostile) > 0)
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{
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string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Hostile is not closing");
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writeln_d(msg);
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return Failure(msg);
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}
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//if the predicted range minus the range rate * 2 is greater than 3000, skip
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if (mCheckRange == true && rangeToHostile * Math.FT_PER_M() - (PLATFORM.ClosingSpeedOf(hostile) * 3.28084 * 2.0) > 3000.0)
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{
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string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " Hostile further than 3000 ft within 2 seconds");
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writeln_d(msg);
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return Failure(msg);
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}
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}
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// ALL CONDITIONS PASS
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### Generate Maneuver Alternative
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// alt35.f line 141 - 153
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# fill dir0 with values from dxpme(1,iac)
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# vxfrmc(rwep,dir0,dir0,1) - transforms vectors as specified by an orientation matrix
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# dir0(1) = 0
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# vxfrmc(rwep,dir0,dir0,2)
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# if(-xp(3,me).lt.5000.) dir0(3) = amin1(0.,dir0(3))
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# vnorm(dir0,dir0)
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# gmx = gmxin+(2.-gmxin)*ramp(1.,rngun(iac)*ftnmi,2.)
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# iactn = 4
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# lenalt = lactn(iactn)
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# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
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# spd0 = 3.
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# spdmod = thrttl
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mDir0 = RelativePositionNED(PLATFORM.Location(), projectedHostileLocation);
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mDir0 = brawlerPlatform.ConvertNEDtoWind(mDir0);
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mDir0.SetX(0.0);
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mDir0 = brawlerPlatform.ConvertWindtoNED(mDir0);
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if (PLATFORM.Altitude() < 5000.0 * Math.M_PER_FT())
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{
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mDir0.SetZ( Math.Min(0.0, mDir0.Z()) );
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}
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mDir0.Normalize();
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mGMX = brawlerPlatform.MaxAvailableGs() + (2.0 - brawlerPlatform.MaxAvailableGs()) *
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ramp(1.0, rangeToHostile * Math.M_PER_NM(), 2.0);
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mSpd0 = 3.0;
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### Evaluate (Score) Maneuver Alternative
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double alternativeScore = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
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### Return Maneuver Alternative Score
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return alternativeScore;
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end_precondition
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execute
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writeln_d(PLATFORM.Name(), " executing behavior_alt3511_break_right, T=", TIME_NOW);
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// Fly this alternative
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brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
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# if (mDrawSteering == true)
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# {
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# mDraw.SetLayer("behavior_pursue_target");
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# mDraw.SetDuration(processor.UpdateInterval());
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# mDraw.SetColor(1.0, 0.5, 0.0);
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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(mTargetPoint);
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# mDraw.End();
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# }
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#
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# string msg = write_str("pursue-target: ", targetTrack.TargetName(), " at speed ", (string)mTargetSpeed);
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# writeln_d(" T=", TIME_NOW, " ", PLATFORM.Name(), " ", msg);
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# FlyTarget( PLATFORM, mTargetPoint, mTargetSpeed);
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end_execute
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end_behavior
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