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More work on miss on purpose

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Pax1601
2023-11-04 09:57:18 +01:00
parent 528e0db79c
commit 9cc6e9e790
40 changed files with 515 additions and 263 deletions
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2
src/core/include/groundunit.h
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@@ -17,6 +17,8 @@ public:
virtual void setOnOff(bool newOnOff, bool force = false);
virtual void setFollowRoads(bool newFollowRoads, bool force = false);
void aimAtPoint(Coords aimTarget, double horizontalScatterMultiplier = 1, double verticalScatterMultiplier = 1);
protected:
virtual void AIloop();
static json::value database;

1
src/core/include/unit.h
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@@ -204,6 +204,7 @@ protected:
/********** Other **********/
unsigned int taskCheckCounter = 0;
unsigned int internalCounter = 0;
Unit* missOnPurposeTarget = nullptr;
bool hasTaskAssigned = false;
double initialFuel = 0;
map<unsigned char, unsigned long long> updateTimeMap;

156
src/core/src/groundunit.cpp
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@@ -148,6 +148,8 @@ void GroundUnit::AIloop()
break;
}
case State::REACH_DESTINATION: {
setTask("Reaching destination");
string enrouteTask = "";
bool looping = false;
@@ -189,37 +191,8 @@ void GroundUnit::AIloop()
case State::SIMULATE_FIRE_FIGHT: {
setTask("Simulating fire fight");
if (!getHasTask() || internalCounter == 0) {
double dist;
double bearing1;
double bearing2;
Geodesic::WGS84().Inverse(position.lat, position.lng, targetPosition.lat, targetPosition.lng, dist, bearing1, bearing2);
double r = 15; /* m */
/* Default gun values */
double barrelHeight = 1.0; /* m */
double muzzleVelocity = 860; /* m/s */
if (database.has_object_field(to_wstring(name))) {
json::value databaseEntry = database[to_wstring(name)];
if (databaseEntry.has_number_field(L"barrelHeight") && databaseEntry.has_number_field(L"muzzleVelocity")) {
barrelHeight = databaseEntry[L"barrelHeight"].as_number().to_double();
muzzleVelocity = databaseEntry[L"muzzleVelocity"].as_number().to_double();
}
}
double barrelElevation = r * (9.81 * dist / (2 * muzzleVelocity * muzzleVelocity) + (targetPosition.alt - (position.alt + barrelHeight)) / dist); /* m */
double lat = 0;
double lng = 0;
double randomBearing = bearing1 + (((double)(rand()) / (double)(RAND_MAX) - 0.5) * 2) * 0; // TODO put defined constant here
Geodesic::WGS84().Direct(position.lat, position.lng, randomBearing, r, lat, lng);
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << lat << ", lng = " << lng << ", alt = " << position.alt + barrelElevation + barrelHeight << ", radius = 0.001}";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
setHasTask(true);
if (internalCounter == 0) {
aimAtPoint(targetPosition, 3.0, 0.0);
}
if (internalCounter == 0)
@@ -264,6 +237,17 @@ void GroundUnit::AIloop()
case State::MISS_ON_PURPOSE: {
setTask("Missing on purpose");
/* Check that the unit can perform AAA duties */
bool canAAA = false;
if (database.has_object_field(to_wstring(name))) {
json::value databaseEntry = database[to_wstring(name)];
if (databaseEntry.has_boolean_field(L"canAAA"))
canAAA = databaseEntry[L"canAAA"].as_bool();
}
if (!canAAA)
setState(State::IDLE);
/* Only run this when the internal counter reaches 0 to avoid excessive computations when no nearby target */
if (internalCounter == 0 && getOperateAs() > 0) {
double distance = 0;
@@ -276,8 +260,9 @@ void GroundUnit::AIloop()
double aimTime = 10; /* s */
unsigned int shotsToFire = 10;
double shotsBaseInterval = 15; /* s */
double shotsBaseScatter = 5; /* degs */
double shotsBaseScatter = 2; /* degs */
double engagementRange = 10000; /* m */
double targetingRange = 0; /* m */
if (database.has_object_field(to_wstring(name))) {
json::value databaseEntry = database[to_wstring(name)];
@@ -295,38 +280,61 @@ void GroundUnit::AIloop()
shotsBaseInterval = databaseEntry[L"shotsBaseInterval"].as_number().to_double();
if (databaseEntry.has_number_field(L"shotsBaseScatter"))
shotsBaseScatter = databaseEntry[L"shotsBaseScatter"].as_number().to_double();
if (databaseEntry.has_number_field(L"targetingRange"))
targetingRange = databaseEntry[L"targetingRange"].as_number().to_double();
}
/* Only do if we have a valid target close enough for AAA */
if (target != nullptr && distance < 10000 /* m */) {
if (target != nullptr && distance < 3 * engagementRange) {
/* Approximate the flight time */
if (muzzleVelocity != 0)
aimTime += distance / muzzleVelocity;
internalCounter = (aimTime + (3 - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL;
/* Compute where the target will be in aimTime seconds. */
double aimDistance = target->getHorizontalVelocity() * aimTime;
double aimLat = 0;
double aimLng = 0;
Geodesic::WGS84().Direct(target->getPosition().lat, target->getPosition().lng, target->getHeading() * 57.29577, aimDistance, aimLat, aimLng); /* TODO make util function */
double aimAlt = target->getPosition().alt + target->getVerticalVelocity() * aimTime;
/* If the target is in targeting range and we are in highest precision mode, target it */
if (distance < targetingRange && shotsScatter == 3) {
/* Send the command */
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'AttackUnit', unitID = " << target->getID() << " }";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
setHasTask(true);
}
/* Else, do miss on purpose */
else {
/* Compute where the target will be in aimTime seconds. */
double aimDistance = target->getHorizontalVelocity() * aimTime;
double aimLat = 0;
double aimLng = 0;
Geodesic::WGS84().Direct(target->getPosition().lat, target->getPosition().lng, target->getHeading() * 57.29577, aimDistance, aimLat, aimLng); /* TODO make util function */
double aimAlt = target->getPosition().alt + target->getVerticalVelocity() * aimTime;
/* Compute a random scattering depending on the distance and the selected shots scatter */
double scatterDistance = distance * tan(shotsBaseScatter * (3 - shotsScatter) / 57.29577) * RANDOM_MINUS_ONE_TO_ONE;
double scatterAngle = 180 * RANDOM_MINUS_ONE_TO_ONE;
Geodesic::WGS84().Direct(aimLat, aimLng, scatterAngle, scatterDistance, aimLat, aimLng); /* TODO make util function */
aimAlt = aimAlt + distance * tan(shotsBaseScatter * (3 - shotsScatter) / 57.29577) * RANDOM_MINUS_ONE_TO_ONE;
/* Send the command */
if (distance > engagementRange) {
aimAtPoint(Coords(aimLat, aimLng, aimAlt));
log("Aiming at point!");
}
else {
/* Compute a random scattering depending on the distance and the selected shots scatter */
double scatterDistance = distance * tan(shotsBaseScatter * (3 - shotsScatter) / 57.29577) * RANDOM_MINUS_ONE_TO_ONE;
double scatterAngle = 180 * RANDOM_MINUS_ONE_TO_ONE;
Geodesic::WGS84().Direct(aimLat, aimLng, scatterAngle, scatterDistance, aimLat, aimLng); /* TODO make util function */
aimAlt = aimAlt + distance * tan(shotsBaseScatter * (3 - shotsScatter) / 57.29577) * RANDOM_MINUS_ONE_TO_ONE;
/* Send the command */
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << aimLat << ", lng = " << aimLng << ", alt = " << aimAlt << ", radius = 0.001, expendQty = " << shotsToFire << " }";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
setHasTask(true);
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << aimLat << ", lng = " << aimLng << ", alt = " << aimAlt << ", radius = 0.001, expendQty = " << shotsToFire << " }";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
setHasTask(true);
}
setTargetPosition(Coords(aimLat, aimLng, target->getPosition().alt));
setTargetPosition(Coords(aimLat, aimLng, target->getPosition().alt));
}
missOnPurposeTarget = target;
}
else {
if (getHasTask())
@@ -343,6 +351,8 @@ void GroundUnit::AIloop()
alertnessTimeConstant = databaseEntry[L"alertnessTimeConstant"].as_number().to_double();
}
internalCounter = (5 + RANDOM_ZERO_TO_ONE * alertnessTimeConstant) / FRAMERATE_TIME_INTERVAL;
missOnPurposeTarget = nullptr;
setTargetPosition(Coords(NULL));
}
internalCounter--;
@@ -382,3 +392,45 @@ void GroundUnit::setFollowRoads(bool newFollowRoads, bool force)
resetActiveDestination(); /* Reset active destination to apply option*/
}
}
void GroundUnit::aimAtPoint(Coords aimTarget, double horizontalScatterMultiplier, double verticalScatterMultiplier) {
double dist;
double bearing1;
double bearing2;
Geodesic::WGS84().Inverse(position.lat, position.lng, aimTarget.lat, aimTarget.lng, dist, bearing1, bearing2);
double r = 15; /* m */
/* Default gun values */
double barrelHeight = 1.0; /* m */
double muzzleVelocity = 860; /* m/s */
double shotsBaseScatter = 5; /* degs */
if (database.has_object_field(to_wstring(name))) {
json::value databaseEntry = database[to_wstring(name)];
if (databaseEntry.has_number_field(L"barrelHeight") && databaseEntry.has_number_field(L"muzzleVelocity")) {
barrelHeight = databaseEntry[L"barrelHeight"].as_number().to_double();
muzzleVelocity = databaseEntry[L"muzzleVelocity"].as_number().to_double();
}
if (databaseEntry.has_number_field(L"shotsBaseScatter"))
shotsBaseScatter = databaseEntry[L"shotsBaseScatter"].as_number().to_double();
}
//double barrelElevation = r * (9.81 * dist / (2 * muzzleVelocity * muzzleVelocity) + (aimTarget.alt - (position.alt + barrelHeight)) / dist); /* m */
double deltaHeight = (aimTarget.alt - (position.alt + barrelHeight));
double alpha = 9.81 / 2 * dist * dist / (muzzleVelocity * muzzleVelocity);
double inner = dist * dist - 4 * alpha * (alpha + deltaHeight);
if (inner > 0) {
double barrelElevation = r * tan(atan((dist - sqrt(inner)) / (2 * alpha)) + RANDOM_MINUS_ONE_TO_ONE * (3 - shotsScatter) * verticalScatterMultiplier);
double lat = 0;
double lng = 0;
double randomBearing = bearing1 + RANDOM_MINUS_ONE_TO_ONE * (3 - shotsScatter) * horizontalScatterMultiplier;
Geodesic::WGS84().Direct(position.lat, position.lng, randomBearing, r, lat, lng);
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << lat << ", lng = " << lng << ", alt = " << position.alt + barrelElevation + barrelHeight << ", radius = 0.001}";
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
setHasTask(true);
}
}