Nlaw - Update to use Missile Guidance Framework (#10034)

Author: TheCandianVendingMachine

addons/nlaw/ACE_GuidanceConfig.hpp

@@ -12,3 +12,9 @@ class EGVAR(missileguidance,SeekerTypes) {
         functionName = QFUNC(seeker);
     };
 };
+class EGVAR(missileguidance,NavigationTypes) {
+    class GVAR(PLOS) {
+        functionName = QFUNC(navigation);
+        onFired = QFUNC(navigation_onFired);
+    };
+};

addons/nlaw/CfgAmmo.hpp

@@ -6,9 +6,8 @@ class CfgAmmo {
         class ace_missileguidance {
             enabled = 1;
 
-            minDeflection = 0.0005;      // Minium flap deflection for guidance
-            maxDeflection = 0.01;       // Maximum flap deflection for guidance
-            incDeflection = 0.0005;      // The incrmeent in which deflection adjusts.
+            pitchRate = 5;      // Minium flap deflection for guidance
+            yawRate = 10;      // Maximum flap deflection for guidance
 
             canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 
@@ -19,6 +18,9 @@ class CfgAmmo {
             defaultSeekerLockMode = "LOBL";
             seekerLockModes[] = {"LOBL"};
 
+            defaultNavigationType = QGVAR(PLOS);
+            navigationTypes[] = { QGVAR(PLOS) };
+
             seekLastTargetPos = 0;      // seek last target position [if seeker loses LOS of target, continue to last known pos]
             seekerAngle = 45;           // Angle in front of the missile which can be searched
             seekerAccuracy = 1;         // seeker accuracy multiplier

addons/nlaw/XEH_PREP.hpp

@@ -4,3 +4,5 @@ PREP(attackProfile);
 PREP(keyDown);
 PREP(onFired);
 PREP(seeker);
+PREP(navigation);
+PREP(navigation_onFired);

addons/nlaw/XEH_postInit.sqf

@@ -22,7 +22,11 @@ GVAR(pitchChange) = 0;
 
 // Visual debuging, idealy used with a moving vehicle called "testTarget"
 #ifdef DRAW_NLAW_INFO
+GVAR(debug_firedPrediction) = [];
 addMissionEventHandler ["Draw3d", {
+    // BLACK - On fired path prediction
+    { drawIcon3D _x; } forEach GVAR(debug_firedPrediction);
+
     // GREEN - Draw an object called "testTarget"'s aim pos and 1 sec aimpos predicted by velocity
     if ((!isNil "testTarget") && {!isNull testTarget}) then {
         {

addons/nlaw/functions/fnc_attackProfile.sqf

@@ -18,14 +18,13 @@
  */
 
 params ["_seekerTargetPos", "_args", "_attackProfileStateParams"];
+
+#ifdef DRAW_NLAW_INFO
 _args params ["_firedEH", "_launchParams"];
 _launchParams params ["","_targetLaunchParams", "", "_attackProfile"];
 _targetLaunchParams params ["", "", "_launchPos"];
 _firedEH params ["","","","","","","_projectile"];
 
-// Use seeker (if terminal)
-if (_seekerTargetPos isNotEqualTo [0,0,0]) exitWith {_seekerTargetPos};
-
 _attackProfileStateParams params ["_startTime", "_startLOS", "_yawChange", "_pitchChange"];
 (_startLOS call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
 
@@ -36,14 +35,6 @@ private _flightTime = CBA_missionTime - _startTime;
 private _realYaw = _yaw + _yawChange * _flightTime;
 private _realPitch = _pitch + _pitchChange * _flightTime;
 
-private _returnTargetPos = _launchPos vectorAdd ([_distanceFromLaunch, _realYaw, _realPitch] call CBA_fnc_polar2vect);
-
-if (_attackProfile == QGVAR(overflyTopAttack)) then { // Add 2m height in OTA attack mode
-    _returnTargetPos = _returnTargetPos vectorAdd [0,0,2];
-};
-
-
-#ifdef DRAW_NLAW_INFO
 drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL _launchPos, 0.75, 0.75, 0, "LAUNCH", 1, 0.025, "TahomaB"];
 drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,1,1,1], ASLtoAGL (_launchPos vectorAdd (_startLOS vectorMultiply (_distanceFromLaunch + 50))), 0.75, 0.75, 0, "Original LOS", 1, 0.025, "TahomaB"];
 drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,1,0,1], ASLtoAGL (_launchPos vectorAdd ([_distanceFromLaunch + 50, _realYaw, _realPitch] call CBA_fnc_polar2vect)), 0.75, 0.75, 0, format ["Predicted @%1sec",(floor(_flightTime * 10)/10)], 1, 0.025, "TahomaB"];
@@ -56,5 +47,4 @@ if ((count _test) > 0) then {
 };
 #endif
 
-// TRACE_1("Adjusted target position",_returnTargetPos);
-_returnTargetPos;
+[0, 0, 1]

addons/nlaw/functions/fnc_keyDown.sqf

@@ -74,7 +74,7 @@ playSound "ACE_Sound_Click";
     _args set [1, _yaw];
     _args set [2, _pitch];
 
-    #ifdef DEBUG_MODE_FULL
+    #ifdef DRAW_NLAW_INFO
     hintSilent format ["Instantaneous\nYaw: %1\n Pitch: %2\nGVAR\nYaw: %3\nPitch: %4", _yawChange, _pitchChange, GVAR(yawChange), GVAR(pitchChange)];
     #endif
 }, .25, [CBA_missionTime, _yaw, _pitch, true]] call CBA_fnc_addPerFrameHandler;

addons/nlaw/functions/fnc_navigation.sqf

@@ -0,0 +1,78 @@
+#include "..\script_component.hpp"
+/*
+ * Author: tcvm
+ * Attempts to hold angle as fed to by seeker. Does so with a simple proportional controller
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * Commanded acceleration normal to LOS in world space <ARRAY>
+ *
+ * Example:
+ * [] call ace_missileguidance_fnc_navigationType_line
+ *
+ * Public: No
+ */
+// arbitrary constant
+#define PROPORTIONALITY_CONSTANT 20
+params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos", "_targetData", "_navigationParams"];
+_args params ["_firedEH"];
+_firedEH params ["","","","","","","_projectile"];
+
+_navigationParams params ["_yawChange", "_pitchChange", "_lastPitch", "_lastYaw", "_initialPitch", "_pitchUp", "_lastYawRateDifference"];
+
+// for some reason we need to multiply this. I don't know why, but it just works
+_pitchChange = _pitchChange * 1.5;
+_yawChange = _yawChange * 1.5;
+
+((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"];
+
+private _pitchRate = if (_timestep == 0) then {
+    0
+} else {
+    (_currentPitch - _lastPitch) / _timestep
+};
+_navigationParams set [2, _currentPitch];
+
+private _pitchModifier = if (_pitchChange == 0) then {
+    1
+} else {
+    abs (_pitchRate / _pitchChange)
+};
+private _desiredPitchChange = (_pitchChange - _pitchRate) * PROPORTIONALITY_CONSTANT * _pitchModifier;
+_desiredPitchChange = _desiredPitchChange + _pitchUp * (_initialPitch - _currentPitch) * PROPORTIONALITY_CONSTANT * _pitchModifier;
+
+private _yawRate = if (_timestep == 0) then {
+    0
+} else {
+    (_currentYaw - _lastYaw) / _timestep
+};
+_navigationParams set [3, _currentYaw];
+
+private _yawModifier = if (_yawChange == 0) then {
+    1
+} else {
+    abs (_yawRate / _yawChange)
+};
+
+private _yawRateDifference = _yawChange - _yawRate;
+private _yawChangeDerivative = if (_timestep == 0) then {
+    0
+} else {
+    (_yawRateDifference - _lastYawRateDifference) / _timestep
+};
+_navigationParams set [6, _yawRateDifference];
+
+private _desiredYawChange = _yawRateDifference * PROPORTIONALITY_CONSTANT + _yawRateDifference * 2;
+
+#ifdef DRAW_NLAW_INFO
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["dP [%1] dY: [%2]", _desiredPitchChange, _desiredYawChange], 1, 0.025, "TahomaB"];
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 1] vectorAdd ASLtoAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["pitch proportional [%1] yaw proportional [%2]", _pitchModifier, _yawModifier], 1, 0.025, "TahomaB"];
+#endif
+
+TRACE_4("nlaw pitch/yaw info",_currentPitch,_lastPitch,_currentYaw,_lastYaw);
+TRACE_6("nlaw navigation",_yawChange,_desiredYawChange,_pitchChange,_desiredPitchChange,_yawRate,_pitchRate);
+
+_projectile vectorModelToWorldVisual [_yawChange + _desiredYawChange, 0, _pitchChange + _desiredPitchChange]
+

addons/nlaw/functions/fnc_navigation_onFired.sqf

@@ -0,0 +1,70 @@
+#include "..\script_component.hpp"
+/*
+ * Author: PabstMirror
+ * Sets up missile guidance state arrays (called from missileGuidance's onFired).
+ *
+ * Arguments:
+ * Guidance Arg Array <ARRAY>
+ *
+ * Return Value:
+ * Navigation Parameters <ARRAY>
+ *
+ * Example:
+ * [] call ace_nlaw_fnc_onFired
+ *
+ * Public: No
+ */
+
+params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams"];
+_firedEH params ["_shooter","","","","","","_projectile"];
+_launchParams params ["","_targetLaunchParams","","_attackProfile"];
+_targetLaunchParams params ["_target"];
+_stateParams params ["", "", "", "", "_navigationParams"];
+
+// Reset _launchPos origin as projectile's height instead of player's foot
+_targetLaunchParams set [2, getPosASL _projectile];
+
+// Get state params:
+TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile);
+
+private _firedLOS = _shooter weaponDirection (currentWeapon _shooter);
+private _yawChange = 0;
+private _pitchChange = 0;
+
+if (_shooter == ACE_player) then {
+    TRACE_2("isPlayer",GVAR(yawChange),GVAR(pitchChange));
+    _yawChange = GVAR(yawChange);
+    _pitchChange = GVAR(pitchChange);
+    TRACE_1("los check",_firedLOS call CBA_fnc_vect2Polar);
+} else {
+    if ((!isNil "_target") && {!isNull _target}) then {
+        _firedLOS = (getPosASL _projectile) vectorFromTo (aimPos _target);
+        (((eyePos _shooter) vectorFromTo (aimPos _target)) call CBA_fnc_vect2Polar) params ["", "_startYaw", "_startPitch"];
+        // Add some random error to AI's velocity prediction:
+        private _random = random [(_shooter skillFinal "aimingAccuracy") min 0.9, 1, 2-((_shooter skillFinal "aimingAccuracy") min 0.9)];
+        (((eyePos _shooter) vectorFromTo ((aimPos _target) vectorAdd ((velocity _target) vectorMultiply (_random)))) call CBA_fnc_vect2Polar) params ["", "_predictedYaw", "_predictedPitch"];
+        _yawChange = ([_predictedYaw - _startYaw] call CBA_fnc_simplifyAngle180);
+        _pitchChange = ([_predictedPitch - _startPitch] call CBA_fnc_simplifyAngle180);
+        TRACE_1("AI",_target);
+    } else {
+        TRACE_1("AI - no target",_target);
+    };
+};
+
+// Limit Max Deflection
+//_yawChange = -10 max _yawChange min 10;
+//_pitchChange = -10 max _pitchChange min 10;
+
+((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"];
+((ACE_player weaponDirection (currentWeapon ACE_player)) call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
+
+TRACE_5("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange,_currentPitch,_currentYaw);
+_navigationParams set [0, _yawChange];
+_navigationParams set [1, _pitchChange];
+_navigationParams set [2, _currentPitch]; // last pitch
+_navigationParams set [3, _currentYaw]; // last yaw
+_navigationParams set [4, _pitch]; // initial pitch
+_navigationParams set [5, 0]; // whether or not to zero out the pitch
+_navigationParams set [6, 0];
+_navigationParams
+

addons/nlaw/functions/fnc_onFired.sqf

@@ -19,15 +19,15 @@ params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_statePa
 _firedEH params ["_shooter","","","","","","_projectile"];
 _launchParams params ["","_targetLaunchParams","","_attackProfile"];
 _targetLaunchParams params ["_target"];
-_stateParams params ["", "", "_attackProfileStateParams"];
+_stateParams params ["", "_seekerStateParams", "_attackProfileStateParams"];
 
 // Reset _launchPos origin as projectile's height instead of player's foot
 _targetLaunchParams set [2, getPosASL _projectile];
 
 // Get state params:
 TRACE_3("start of attack profile",_attackProfile,_shooter,vectorDir _projectile);
 
-private _firedLOS = _shooter weaponDirection (currentWeapon _shooter);
+private _firedLOS = vectorDir _projectile;
 private _yawChange = 0;
 private _pitchChange = 0;
 
@@ -36,6 +36,23 @@ if (_shooter == ACE_player) then {
     _yawChange = GVAR(yawChange);
     _pitchChange = GVAR(pitchChange);
     TRACE_1("los check",_firedLOS call CBA_fnc_vect2Polar);
+
+    #ifdef DRAW_NLAW_INFO
+    systemChat format ["YAW [%1]", _yawChange];
+    systemChat format ["PITCH [%1]", _pitchChange];
+    GVAR(debug_firedPrediction) = [];
+    private _debugPos = getPosASL _projectile;
+    ((ACE_player weaponDirection (currentWeapon ACE_player)) call CBA_fnc_vect2Polar) params ["", "_debugYaw", "_debugPitch"];
+    private _distance = 0;
+    for "_x" from 0 to 6 step 0.1 do {
+        private _debugAproxVel = linearConversion [0, 1, 5, 40, 170, true];
+        _distance = _distance + _debugAproxVel * 0.1;
+        private _debugYaw = _debugYaw + _yawChange * _x;
+        private _debugPitch = _debugPitch + _pitchChange * _x;
+        private _debugPos = _debugPos vectorAdd ([_distance, _debugYaw, _debugPitch] call CBA_fnc_polar2vect);
+        GVAR(debug_firedPrediction) pushBack ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,0,0,1], ASLtoAGL _debugPos, 0.5, 0.5, 0, format ["%1", _x], 1, 0.025, "TahomaB"];
+    };
+    #endif
 } else {
     if ((!isNil "_target") && {!isNull _target}) then {
         _firedLOS = (getPosASL _projectile) vectorFromTo (aimPos _target);
@@ -55,6 +72,10 @@ if (_shooter == ACE_player) then {
 _yawChange = -10 max _yawChange min 10;
 _pitchChange = -10 max _pitchChange min 10;
 
+_seekerStateParams set [2, _yawChange];
+_seekerStateParams set [3, _pitchChange];
+_seekerStateParams set [4, CBA_missionTime];
+
 TRACE_3("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange);
 _attackProfileStateParams set [0, CBA_missionTime];
 _attackProfileStateParams set [1, _firedLOS];

addons/nlaw/functions/fnc_seeker.sqf

@@ -16,14 +16,27 @@
  *
  * Public: No
  */
+#define PITCH_UP_TIME 1
 
-params ["", "_args", "_seekerStateParams"];
+params ["", "_args", "_seekerStateParams", "", "", "_targetData"];
 _args params ["_firedEH", "_launchParams", "", "_seekerParams", "_stateParams"];
 _firedEH params ["","","","","","","_projectile"];
 _launchParams params ["", "_targetLaunchParams", "", "_attackProfile"];
 _targetLaunchParams params ["", "", "_launchPos"];
+_stateParams params ["", "", "", "", "_navigationParams"];
 
-if (_attackProfile == QGVAR(directAttack)) exitWith {[0,0,0]};
+if (_attackProfile == QGVAR(directAttack)) exitWith {
+    _navigationParams set [5, 1];
+    [0,0,0]
+};
+
+_seekerStateParams params ["", "", "", "_originalPitchRate", "_startTime"];
+_navigationParams params ["", "_pitchRate"];
+
+// pitch up for the first second of flight to begin an over-fly trajectory
+private _pitchChange = linearConversion [0, PITCH_UP_TIME, CBA_missionTime - _startTime, 2, 0, true];
+_navigationParams set [1, _originalPitchRate + _pitchChange];
+_navigationParams set [5, ((CBA_missionTime - _startTime) min PITCH_UP_TIME) / PITCH_UP_TIME];
 
 private _projPos = getPosASL _projectile;