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Ops
Fixes
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Frank
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6445cf01a2
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3737592734
@ -329,6 +329,17 @@ function ASTAR:SetValidNeighbourDistance(MaxDistance)
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return self
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end
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--- Set valid neighbours to be in a certain distance.
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-- @param #ASTAR self
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-- @param #number MaxDistance Max distance between nodes in meters. Default is 2000 m.
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-- @return #ASTAR self
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function ASTAR:SetValidNeighbourRoad(MaxDistance)
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self:SetValidNeighbourFunction(ASTAR.Road, MaxDistance)
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return self
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end
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--- Set the function which calculates the "cost" to go from one to another node.
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-- The first to arguments of this function are always the two nodes under consideration. But you can add optional arguments.
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-- Very often the distance between nodes is a good measure for the cost.
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@ -368,6 +379,16 @@ function ASTAR:SetCostDist3D()
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return self
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end
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--- Set heuristic cost to go from one node to another to be their 3D distance.
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-- @param #ASTAR self
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-- @return #ASTAR self
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function ASTAR:SetCostRoad()
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self:SetCostFunction(ASTAR)
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return self
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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-- Grid functions
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -510,6 +531,22 @@ function ASTAR.LoS(nodeA, nodeB, corridor)
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return los
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end
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--- Function to check if two nodes have a road connection.
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-- @param #ASTAR.Node nodeA First node.
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-- @param #ASTAR.Node nodeB Other node.
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-- @return #boolean If true, two nodes are connected via a road.
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function ASTAR.Road(nodeA, nodeB)
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local path=land.findPathOnRoads("roads", nodeA.coordinate.x, nodeA.coordinate.z, nodeB.coordinate.x, nodeB.coordinate.z)
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if path then
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return true
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else
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return false
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end
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end
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--- Function to check if distance between two nodes is less than a threshold distance.
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-- @param #ASTAR.Node nodeA First node.
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-- @param #ASTAR.Node nodeB Other node.
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@ -533,7 +570,8 @@ end
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-- @param #ASTAR.Node nodeB Other node.
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-- @return #number Distance between the two nodes.
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function ASTAR.Dist2D(nodeA, nodeB)
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return nodeA.coordinate:Get2DDistance(nodeB)
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local dist=nodeA.coordinate:Get2DDistance(nodeB)
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return dist
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end
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--- Heuristic cost is given by the 3D distance between the nodes.
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@ -541,7 +579,8 @@ end
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-- @param #ASTAR.Node nodeB Other node.
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-- @return #number Distance between the two nodes.
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function ASTAR.Dist3D(nodeA, nodeB)
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return nodeA.coordinate:Get3DDistance(nodeB.coordinate)
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local dist=nodeA.coordinate:Get3DDistance(nodeB.coordinate)
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return dist
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end
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--- Heuristic cost is given by the distance between the nodes on road.
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@ -550,15 +589,26 @@ end
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-- @return #number Distance between the two nodes.
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function ASTAR.DistRoad(nodeA, nodeB)
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local path, dist, gotpath=nodeA.coordinate:GetPathOnRoad(nodeB.coordinate, IncludeEndpoints, Railroad, MarkPath, SmokePath)
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-- Get the path.
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local path=land.findPathOnRoads("roads", nodeA.coordinate.x, nodeA.coordinate.z, nodeB.coordinate.x, nodeB.coordinate.z)
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if gotpath then
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return dist
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else
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return math.huge
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end
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if path then
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local dist=0
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for i=2,#path do
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local b=path[i] --DCS#Vec2
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local a=path[i-1] --DCS#Vec2
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dist=dist+UTILS.VecDist2D(a,b)
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end
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return nodeA.coordinate:Get3DDistance(nodeB.coordinate)
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return dist
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end
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return math.huge
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end
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-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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@ -167,14 +167,16 @@ end
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-- @param #number Nshots Number of shots to fire. Default 3.
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
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function ARMYGROUP:AddTaskWaypointFireAtPoint(Coordinate, Waypoint, Radius, Nshots, WeaponType, Prio)
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Waypoint=Waypoint or self:GetWaypointNext()
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local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
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self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio)
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local task=self:AddTaskWaypoint(DCStask, Waypoint, nil, Prio)
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return task
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end
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--- Add a *scheduled* task.
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@ -184,12 +186,14 @@ end
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #string Clock Time when to start the attack.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task table.
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function ARMYGROUP:AddTaskAttackGroup(TargetGroup, WeaponExpend, WeaponType, Clock, Prio)
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local DCStask=CONTROLLABLE.TaskAttackGroup(nil, TargetGroup, WeaponType, WeaponExpend, AttackQty, Direction, Altitude, AttackQtyLimit, GroupAttack)
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self:AddTask(DCStask, Clock, nil, Prio)
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local task=self:AddTask(DCStask, Clock, nil, Prio)
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return task
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end
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--- Check if the group is currently holding its positon.
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@ -737,6 +741,10 @@ function ARMYGROUP:_InitGroup()
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-- Set default formation from first waypoint.
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self.option.Formation=self:GetWaypoint(1).action
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self.optionDefault.Formation=self.option.Formation
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-- Default TACAN off.
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self:SetDefaultTACAN(nil, nil, nil, nil, true)
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self.tacan=UTILS.DeepCopy(self.tacanDefault)
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-- Units of the group.
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local units=self.group:GetUnits()
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@ -201,7 +201,7 @@ end
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-- @param #number WeaponType Type of weapon. Default auto.
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-- @param #number Prio Priority of the task.
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-- @return Ops.OpsGroup#OPSGROUP.Task The task data.
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function NAVYGROUP:AddTaskFireAtPoint(Coordinate, Radius, Nshots, WeaponType, Clock, Prio)
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function NAVYGROUP:AddTaskFireAtPoint(Coordinate, Clock, Radius, Nshots, WeaponType, Prio)
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local DCStask=CONTROLLABLE.TaskFireAtPoint(nil, Coordinate:GetVec2(), Radius, Nshots, WeaponType)
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@ -462,22 +462,37 @@ function NAVYGROUP:onafterStatus(From, Event, To)
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local turning=tostring(self:IsTurning())
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local alt=self.position.y
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local speed=UTILS.MpsToKnots(self.velocity)
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local speedExpected=UTILS.MpsToKnots(self.speedWp or 0)
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local speedExpected=UTILS.MpsToKnots(self:GetExpectedSpeed()) --UTILS.MpsToKnots(self.speedWp or 0)
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-- Waypoint stuff.
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local wpidxCurr=self.currentwp
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local wpuidCurr=0
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local wpidxNext=self:GetWaypointIndexNext()
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local wpuidNext=0
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local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint())
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local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint(), true)
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local wpuidCurr=self:GetWaypointUIDFromIndex(wpidxCurr) or 0
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local wpidxNext=self:GetWaypointIndexNext() or 0
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local wpuidNext=self:GetWaypointUIDFromIndex(wpidxNext) or 0
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local wpDist=UTILS.MetersToNM(self:GetDistanceToWaypoint() or 0)
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local wpETA=UTILS.SecondsToClock(self:GetTimeToWaypoint() or 0, true)
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-- Current ROE and alarm state.
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local roe=self:GetROE() or 0
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local als=self:GetAlarmstate() or 0
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-- Info text.
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local text=string.format("%s [ROE=%d,AS=%d, T/M=%d/%d]: Wp=%d[%d]-->%d[%d] (of %d) Dist=%.1f NM ETA=%s - Speed=%.1f (%.1f) kts, Depth=%.1f m, Hdg=%03d, Turn=%s Collision=%d IntoWind=%s",
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fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, #self.waypoints, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
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fsmstate, roe, als, nTaskTot, nMissions, wpidxCurr, wpuidCurr, wpidxNext, wpuidNext, #self.waypoints or 0, wpDist, wpETA, speed, speedExpected, alt, self.heading, turning, freepath, intowind)
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self:I(self.lid..text)
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if false then
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local text="Waypoints:"
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for i,wp in pairs(self.waypoints) do
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local waypoint=wp --Ops.OpsGroup#OPSGROUP.Waypoint
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text=text..string.format("\n%d. UID=%d", i, waypoint.uid)
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if i==self.currentwp then
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text=text.." current!"
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end
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end
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env.info(text)
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end
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end
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else
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@ -584,7 +599,7 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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for i=n, #self.waypoints do
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-- Waypoint.
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local wp=self.waypoints[i] --Ops.OpsGroup#OPSGROUP.Waypoint
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local wp=UTILS.DeepCopy(self.waypoints[i]) --Ops.OpsGroup#OPSGROUP.Waypoint
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-- Check if next wp.
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if i==n then
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@ -594,7 +609,10 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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-- Take speed specified.
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wp.speed=UTILS.KnotsToMps(Speed)
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else
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-- Take default waypoint speed.
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-- Take default waypoint speed. But make sure speed>0 if patrol ad infinitum.
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if self.adinfinitum and wp.speed<0.1 then
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wp.speed=UTILS.KmphToMps(self.speedCruise)
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end
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end
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if Depth then
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@ -616,7 +634,7 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
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-- Dive depth is applied to all other waypoints.
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if self.depth then
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wp.alt=-self.depth
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else
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else
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-- Take default waypoint depth.
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end
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@ -1051,8 +1069,7 @@ function NAVYGROUP:_InitGroup()
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self.isNaval=true
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self.isGround=false
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-- Helo group.
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--TODO: Submarine check
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--self.isSubmarine=self.group:IsSubmarine()
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-- Ships are always AI.
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@ -1081,6 +1098,14 @@ function NAVYGROUP:_InitGroup()
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-- Set default formation. No really applicable for ships.
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self.optionDefault.Formation="Off Road"
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self.option.Formation=self.optionDefault.Formation
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-- Default TACAN off.
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self:SetDefaultTACAN(nil, nil, nil, nil, true)
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self.tacan=UTILS.DeepCopy(self.tacanDefault)
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-- Default ICLS off.
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self:SetDefaultICLS(nil, nil, nil, true)
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self.icls=UTILS.DeepCopy(self.iclsDefault)
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-- Get all units of the group.
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local units=self.group:GetUnits()
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@ -1096,6 +1096,22 @@ function OPSGROUP:GetWaypointByIndex(index)
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return nil
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end
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--- Get the waypoint UID from its index, i.e. its current position in the waypoints table.
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-- @param #OPSGROUP self
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-- @param #number index Waypoint index.
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-- @return #number Unique waypoint ID.
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function OPSGROUP:GetWaypointUIDFromIndex(index)
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for i,_waypoint in pairs(self.waypoints) do
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local waypoint=_waypoint --#OPSGROUP.Waypoint
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if i==index then
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return waypoint.uid
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end
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end
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return nil
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end
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--- Get the waypoint index (its position in the current waypoints table).
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-- @param #OPSGROUP self
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-- @param #number uid Waypoint unique ID.
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@ -1367,7 +1383,7 @@ function OPSGROUP:RemoveWaypoint(wpindex)
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local n=#self.waypoints
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-- Debug info.
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self:T(self.lid..string.format("Removing waypoint index %d, current wp index %d. N %d-->%d", wpindex, self.currentwp, N, n))
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self:I(self.lid..string.format("Removing waypoint index %d, current wp index %d. N %d-->%d", wpindex, self.currentwp, N, n))
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-- Waypoint was not reached yet.
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if wpindex > self.currentwp then
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@ -3861,7 +3877,7 @@ function OPSGROUP:SwitchICLS(Channel, Morse, UnitName)
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self:SetDefaultICLS(Channel,Morse,UnitName)
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self:T2(self.lid..string.format("Switching ICLS to Channel %d Morse %s on unit %s when GROUP is SPAWNED", self.iclsDefault.Channel, tostring(self.iclsDefault.Morse), self.iclsDefault.BeaconName))
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self:T2(self.lid..string.format("Switching ICLS to Channel %d Morse %s on unit %s when GROUP is SPAWNED", self.iclsDefault.Channel, tostring(self.iclsDefault.Morse), tostring(self.iclsDefault.BeaconName)))
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elseif self:IsAlive() then
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@ -909,6 +909,33 @@ function UTILS.VecNorm(a)
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return math.sqrt(UTILS.VecDot(a, a))
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end
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--- Calculate the distance between two 2D vectors.
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-- @param DCS#Vec2 a Vector in 3D with x, y components.
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-- @param DCS#Vec2 b Vector in 3D with x, y components.
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-- @return #number Distance between the vectors.
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function UTILS.VecDist2D(a, b)
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local c={x=b.x-a.x, y=b.y-a.y}
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local d=math.sqrt(c.x*c.x+c.y*c.y)
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return d
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end
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--- Calculate the distance between two 3D vectors.
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-- @param DCS#Vec3 a Vector in 3D with x, y, z components.
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-- @param DCS#Vec3 b Vector in 3D with x, y, z components.
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-- @return #number Distance between the vectors.
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function UTILS.VecDist3D(a, b)
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local c={x=b.x-a.x, y=b.y-a.y, z=b.z-a.z}
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local d=math.sqrt(UTILS.VecDot(c, c))
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return d
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end
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--- Calculate the [cross product](https://en.wikipedia.org/wiki/Cross_product) of two 3D vectors. The result is a 3D vector.
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-- @param DCS#Vec3 a Vector in 3D with x, y, z components.
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-- @param DCS#Vec3 b Vector in 3D with x, y, z components.
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