FC

Moose Development/Moose/Core/Astar.lua

@@ -166,7 +166,7 @@ ASTAR.INF=1/0
 
 --- ASTAR class version.
 -- @field #string version
-ASTAR.version="0.4.0"
+ASTAR.version="0.5.0"
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- TODO list
@@ -174,6 +174,7 @@ ASTAR.version="0.4.0"
 
 -- TODO: Add more valid neighbour functions.
 -- TODO: Write docs.
+-- DONE: Add pathlines for seach/valid neighbours.
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
 -- Constructor
@@ -789,6 +790,42 @@ function ASTAR:FindClosestPathline(Coordinate)
   return pathline, dist, vec3, S
 end
 
+--- Find the closest node to the given coordinate.
+-- @param #ASTAR self
+-- @param Core.Point#COORDINATE Coord Reference coordinate.
+-- @param #table ExcludeNodes Nodes that are excluded.
+-- @return #ASTAR.Node The node that was fround
+function ASTAR:_FindClosestTerminalNode(Coord, ExcludeNodes)
+  
+  -- Find the closest pathline to the ref coordinate.
+  local pathline, dist, vec3, s=self:FindClosestPathline(Coord)
+
+  -- Find the closest node to the given start coordinate.
+  local node, dist2=self:FindClosestNode(Coord)
+  
+  if pathline and vec3 and dist and dist2>dist then
+
+    -- Create a node on the closest pathline so we first go straight there and then along the pathline.
+    local node=self:AddNodeFromCoordinate(COORDINATE:NewFromVec3(vec3))
+    
+    -- We also need the pathline point.    
+    local point=pathline:AddPointFromVec3(vec3, nil, s.p1)
+
+    node.pathline=pathline    
+    node.pathpoint=point
+    
+    self:T2(self.lid..string.format("Added new node=%d, which is closest to start coord. dist=%.1f m", node.id, dist))
+  end
+
+  -- Find the closest node to the given start coordinate.
+  local Node, dist3=self:FindClosestNode(Coord, ExcludeNodes)
+
+  -- Debug info.
+  self:T(self.lid..string.format("CLOSEST node ID=%d, distance=%.1f", Node.id, dist3))
+
+  return Node, dist3
+end
+
 
 --- Find the start node.
 -- @param #ASTAR self
@@ -885,8 +922,14 @@ end
 -- @return #table Table of nodes from start to finish.
 function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
 
-  self:FindStartNode()
-  self:FindEndNode()
+--  self:FindStartNode()
+--  self:FindEndNode()
+  
+  -- Find start Node (closest node to start coordinate).
+  self.startNode=self:_FindClosestTerminalNode(self.startCoord)
+  
+  -- Find end node, which is not the start node (excluded).
+  self.endNode=self:_FindClosestTerminalNode(self.endCoord, {self.startNode})
 
   local nodes=self.nodes
   local start=self.startNode
@@ -924,22 +967,6 @@ function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
     -- Get current node.
     local current=self:_LowestFscore(openset, f_score)
     
-    -- Debug
---    self:I("FF current node="..current.id)
---    self:I("FF came_from")
---    for _neighbour,_current in pairs(came_from) do
---      local neighbour=_neighbour --#ASTAR.Node
---      local current=_current --#ASTAR.Node
---      self:I(string.format("neighbour=%d --> %d=current", neighbour.id, current.id))
---    end
---    local text="Path:"
---    local path=self:_UnwindPath({}, came_from, current)
---    for i,_node in pairs(path) do
---      local node=_node --#ASTAR.Node
---      text=text..string.format("\n[%d] Node=%d", i, node.id)
---    end
---    self:I(text)
-    
     -- Check if we are at the end node.
     if current.id==goal.id then
     
@@ -984,14 +1011,7 @@ function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
     
     -- Get neighbour nodes.
     local neighbors=self:_NeighbourNodes(current, nodes)
-    
---    local text=string.format("Current node UID=%d pathline=%s", current.id, current.pathline and current.pathline.name or "N/A")
---    for _,_node in pairs(neighbors) do
---      local node=_node --#ASTAR.Node
---      text=text..string.format("\nNeighbour node UID=%d pathline=%s", node.id, node.pathline and node.pathline.name or "N/A")
---    end
---    self:T(self.lid..text)
-    
+
     -- Loop over neighbours.
     for _,neighbor in pairs(neighbors) do
     

Moose Development/Moose/Core/Pathline.lua

@@ -513,6 +513,11 @@ function PATHLINE:GetClosestPoint3D(Vec3)
   local D=math.huge
   local S={} --#PATHLINE.Segment
   
+  if not Vec3 then
+    self:E(self.lid.."ERROR: input Vec3 is nil!")
+    return nil, nil, nil
+  end
+  
   for i=2,#self.points do
 
     local A=self.points[i-1] --#PATHLINE.Point
@@ -531,8 +536,7 @@ function PATHLINE:GetClosestPoint3D(Vec3)
     local f=proj/lab/lab
     
     -- Debug info.
-    local text=string.format("FF Proj=%.1f, |ab|=%.1f, f=%.1f", proj, lab, f)
-    self:T(self.lid..text)
+    self:T(self.lid..string.format("Proj=%.1f, |ab|=%.1f, f=%.1f", proj, lab, f))
     
     -- Cases for finite segment.
     local p=nil --DCS#Vec2

Moose Development/Moose/Ops/FlightControl.lua

@@ -4152,6 +4152,51 @@ function FLIGHTCONTROL:_CheckFlights()
     -- Current flight status.
     local flightstatus=self:GetFlightStatus(flight)
     
+
+
+    --- 
+    -- Track flight
+    ---
+    if true then
+    
+      for _,_element in pairs(flight.elements) do
+        local element=_element --Ops.OpsGroup#OPSGROUP.Element
+        
+        local unit=element.unit
+        
+        if unit and unit:IsAlive() then
+        
+          local coord=unit:GetCoord()
+          local vec3=coord:GetVec3()
+          
+          if vec3 and element.pos then
+          
+            local id=UTILS.GetMarkID()
+            
+            trigger.action.lineToAll(-1, id, vec3, element.pos, {1,1,1,0.5}, 1)
+          
+          end
+          
+          if coord then
+            local taxipath, dist, tpcoord, seg=self.airbase:GetClosestTaxiway(coord)
+            
+            if taxipath then
+              local text=string.format("Flight %s [%s/%s]: Unit %s close to taxiway %s. Dist=%.1f meters, Segment=%s-%s", flight:GetName(), flight:GetState(), self:GetFlightStatus(flight),
+              element.name, taxipath:GetName(), dist, seg.p1.name, seg.p2.name)
+              MESSAGE:New(text,10):ToAll():ToLog()            
+            end
+            
+          end
+          
+          -- Store last position.
+          element.pos=vec3
+          
+        end
+    
+      end
+      
+    end
+    
     if not flight.isAI then
 
       -- Check if speeding while taxiing.

Moose Development/Moose/Ops/FlightGroup.lua

@@ -61,6 +61,7 @@
 -- @field #boolean jettisonWeapons Allow (true) or disallow (false) AI to jettison weapons if in danger.
 -- @field #table flightplans Flight plans for this group.
 -- @field Navigation.FlightPlan#FLIGHTPLAN flightplan Currently active flight plan.
+-- @field Core.Pathline#PATHLINE taxipath Assigned taxi pathline.
 --
 -- @extends Ops.OpsGroup#OPSGROUP
 

Moose Development/Moose/Wrapper/Airbase.lua

@@ -1201,15 +1201,32 @@ end
 
 --- Add a taxiway from a given PATHLINE.
 -- @param #AIRBASE self
--- @param Core.Pathline#PATHLINE TaxiPathline Pathline of the taxi way.
--- @param #string Name Name of the taxi way, *e.g.* "Alpha", or "Alpha-Kilo".
--- @return #boolean If `true`, silent mode is enabled.
+-- @param Core.Pathline#PATHLINE TaxiPathline Pathline of the taxi way or name of pathline as #string.
+-- @param #string Name Name of the taxi way, *e.g.* "Alpha", or "Alpha-Kilo". Default is name of pathline.
+-- @return #AIRBASE self
 function AIRBASE:AddTaxiway(TaxiPathline, Name)
 
+  -- If passed as string, get pathline.
+  if type(TaxiPathline)=="string" then
+    TaxiPathline=PATHLINE:FindByName(TaxiPathline)
+  end
+
+  -- Set name.
   Name=Name or TaxiPathline:GetName()
 
-  self.taxiways[Name]=TaxiPathline
+  -- Create a deep copy.
+  local taxiway=UTILS.DeepCopy(TaxiPathline) --Core.Pathline#PATHLINE
+  
+  -- Set name.
+  taxiway.name=Name
 
+  -- Add to taxiways.
+  self.taxiways[Name]=taxiway
+  
+  
+  --self:I(self.taxiways)
+
+  return self
 end
 
 
@@ -1250,6 +1267,38 @@ function AIRBASE:FindTaxiwaysFromAtoB(StartCoord, EndCoord)
   return taxipath, taxiways
 end
 
+--- Get closest taxiway from a given reference coordinate.
+-- @param #AIRBASE self
+-- @param Core.Point#COORDINATE Coord Reference coordinate.
+-- @return Core.Pathline#PATHLINE Taxiway.
+-- @return #number Distance to taxiway in meters.
+-- @return Core.Point#COORDINATE Coordinate on taxiway closest to reference coordinate.
+-- @return Core.Pathline#PATHLINE.Segment Segment of the taxiway closest to the reference coordinate.
+function AIRBASE:GetClosestTaxiway(Coord)
+
+  local taxipath=nil
+  local distmin=math.huge
+  local coordmin=nil
+  local segmin=nil
+  
+  for name,_pathline in pairs(self.taxiways) do
+    local pathline=_pathline --Core.Pathline#PATHLINE
+    
+    local coord, dist, segment=pathline:GetClosestPoint3D(Coord)
+    
+    if dist<distmin then
+      taxipath=pathline
+      coordmin=coord
+      distmin=dist
+      segmin=segment
+    end
+  
+  end
+
+  return taxipath, distmin, coordmin, segmin
+end
+
+
 --- Find the shortest path using taxiways to get from given parking spot to the starting point of a runway.
 -- Note that the taxi ways have to be manually added with the `AIRBASE:AddTaxiway()` function.
 -- @param #AIRBASE self