157 lines
5.5 KiB
Plaintext
157 lines
5.5 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 3,5,5,1 alternative behavior
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// RUN AWAY!
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include_once BrawlerScriptUtil.txt
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behavior alt3551_run_away
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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 mAlternative3551Enabled = 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 = 5;
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int lcall = 1;
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// Maneuver Alternative flight values
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Vec3 mDir0 = Vec3();
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double mGMX = 1.0;
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double mSpd0 = 3.0;
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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_alt3551_run_away, 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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writeln_d("not a quantum tasker!");
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return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
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}
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if (!mAlternative3551Enabled)
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{
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writeln_d("behavior not enabled!");
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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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writeln_d("no weapon (hostile) tasks!");
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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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writeln_d("no hostile track!");
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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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writeln_d("hostile was destroyed!");
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return Failure("hostile was destroyed!");
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}
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// alt35.f line 233 - 234
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# rrunmn = 5.*ramp(twopi,obang(iac,me)+obang(me,iac),0.)
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# if(rngun(iac)*ftnmi .lt. rrunmn) go to 205
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double obang_hostile_me = brawlerPlatform.OffBoresightAngle(hostile.Target(), PLATFORM);
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double obang_me_hostile = brawlerPlatform.OffBoresightAngle(PLATFORM, hostile.Target());
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double rrunmn = 5.0 * ramp(Math.TWO_PI(), obang_hostile_me + obang_me_hostile, 0.0);
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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 (rangeToHostile * Math.M_PER_NM() < rrunmn)
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{
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// Hostile too far
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string msg = write_str("T=",TIME_NOW,", alt ", ilevel, kalt, icall, lcall, " range to hostile < minimum range to run");
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writeln_d(msg);
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return Failure(msg);
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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 235 - 243
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#245 continue
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# iactn = 4
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# call vmult(-1.,dxeuan(1,iac),dir0)
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# lenalt = lactn(iactn)
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# altdsc = altpk(3,5,icall,1,iacidt(iac),0)
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# dir0(3) = 0.
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# gmx = gmxsu
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# spd0 = 3.
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# spdmod = thrttl
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Vec3 dxeuan = RelativePositionNED(PLATFORM.Location(), projectedHostileLocation);
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mDir0.SetX(dxeuan.X() * -1.0);
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mDir0.SetY(dxeuan.Y() * -1.0);
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mDir0.SetZ(0.0);
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mGMX = brawlerPlatform.MaxSustainedGs();
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mSpd0 = 3.0;
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### Evaluate [Projected] Maneuver Alternative
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double score = brawlerPlatform.EvaluateVectorWithThrottle(mDir0, mGMX, mSpd0, ilevel, kalt, icall, lcall);
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writeln_d("mDir0 = ", mDir0.ToString(), ", mGMX = ", mGMX, ", mSpd0 = ", mSpd0, ", score = ", score, ", my speed = ", PLATFORM.Speed());
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return score;
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end_precondition
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execute
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## what was evaluated should be actually performed now
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brawlerPlatform.FlyVectorWithThrottle(mDir0, mGMX, mSpd0);
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end_execute
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end_behavior
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