Waypoints

Moose Development/Moose/Core/Astar.lua

@@ -141,22 +141,30 @@ end
 -- @param #ASTAR.Node nodeB
 function ASTAR.LoS(nodeA, nodeB)
 
-  local los=nodeA.coordinate:IsLOS(nodeB.coordinate, 0.5)
+  local offset=0.1
+  
+  local dx=200
+  local dy=dx
+  
+  local cA=nodeA.coordinate:SetAltitude(0, true)
+  local cB=nodeB.coordinate:SetAltitude(0, true)
+
+  local los=cA:IsLOS(cB, offset)
   
   if los then
-    local heading=nodeA.coordinate:HeadingTo(nodeB.coordinate)
+    local heading=cA:HeadingTo(cB)
     
-    local Ap=nodeA.coordinate:Translate(100, heading+90)
-    local Bp=nodeA.coordinate:Translate(100, heading+90)
+    local Ap=cA:Translate(dx, heading+90)
+    local Bp=cB:Translate(dx, heading+90)
 
-    los=Ap:IsLOS(Bp, 0.5)
+    los=Ap:IsLOS(Bp, offset)
     
     if los then
 
-      local Am=nodeA.coordinate:Translate(100, heading-90)
-      local Bm=nodeA.coordinate:Translate(100, heading-90)
+      local Am=cA:Translate(dy, heading-90)
+      local Bm=cB:Translate(dy, heading-90)
     
-      los=Am:IsLOS(Bm, 0.5)
+      los=Am:IsLOS(Bm, offset)
     end
     
   end
@@ -170,8 +178,9 @@ end
 
 --- Find the closest node from a given coordinate.
 -- @param #ASTAR self
--- @param Core.Point#COORDINATE Coordinate.
--- @return #ASTAR.Node Cloest node to the coordinate.
+-- @param #number DeltaX Increment in the direction of start to end coordinate in meters. Default 2000 meters.
+-- @param #number DeltaY Increment perpendicular to the direction of start to end coordinate in meters. Default is same as DeltaX.
+-- @return #ASTAR self
 function ASTAR:CreateGrid()
 
   local Dx=20000
@@ -218,6 +227,7 @@ function ASTAR:CreateGrid()
   end
   env.info("FF Done building grid!")
 
+  return self
 end
 
 --- Find the closest node from a given coordinate.

Moose Development/Moose/Ops/FlightGroup.lua

@@ -1699,7 +1699,7 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
   local speed=self.group and self.group:GetVelocityKMH() or 100
 
   -- Set current waypoint or we get problem that the _PassingWaypoint function is triggered too early, i.e. right now and not when passing the next WP.
-  local current=self.group:GetCoordinate():WaypointAir("BARO", COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, speed, true, nil, {}, "Current")
+  local current=self.group:GetCoordinate():WaypointAir(COORDINATE.WaypointAltType.BARO, COORDINATE.WaypointType.TurningPoint, COORDINATE.WaypointAction.TurningPoint, speed, true, nil, {}, "Current")
   table.insert(wp, current)
 
   -- Add remaining waypoints to route.
@@ -1710,7 +1710,7 @@ function FLIGHTGROUP:onafterUpdateRoute(From, Event, To, n)
   -- Debug info.
   local hb=self.homebase and self.homebase:GetName() or "unknown"
   local db=self.destbase and self.destbase:GetName() or "unknown"
-  self:T(self.lid..string.format("Updating route for WP #%d-%d  homebase=%s destination=%s", n, #wp, hb, db))
+  self:I(self.lid..string.format("Updating route for WP #%d-%d  homebase=%s destination=%s", n, #wp, hb, db))
 
 
   if #wp>1 then
@@ -2910,15 +2910,26 @@ end
 
 --- Initialize Mission Editor waypoints.
 -- @param #FLIGHTGROUP self
--- @param #table waypoints Table of waypoints. Default is from group template.
 -- @return #FLIGHTGROUP self
-function FLIGHTGROUP:InitWaypoints(waypoints)
+function FLIGHTGROUP:InitWaypoints()
 
   -- Template waypoints.
   self.waypoints0=self.group:GetTemplateRoutePoints()
+  
+  self:I(self.waypoints0)
 
-  -- Waypoints of group as defined in the ME.
-  self.waypoints=waypoints or UTILS.DeepCopy(self.waypoints0)
+  -- Waypoints  
+  self.waypoints={}
+  
+  for index,wp in pairs(self.waypoints0) do
+  
+    env.info("FF index "..index)
+  
+    local waypoint=self:_CreateWaypoint(wp)
+    
+    self:_AddWaypoint(waypoint)
+     
+  end
 
   -- Get home and destination airbases from waypoints.
   self.homebase=self.homebase or self:GetHomebaseFromWaypoints()

Moose Development/Moose/Ops/NavyGroup.lua

@@ -539,8 +539,8 @@ function NAVYGROUP:onafterUpdateRoute(From, Event, To, n, Speed, Depth)
   
   -- Add remaining waypoints to route.
   for i=n, #self.waypoints do
-    local wp=self.waypoints[i]
-    
+    local wp=self.waypoints[i]  --Ops.OpsGroup#OPSGROUP.Waypoint
+
     -- Set speed.
     if i==n then
     

Moose Development/Moose/Ops/OpsGroup.lua

@@ -2185,24 +2185,17 @@ end
 -- @param #OPSGROUP self
 -- @param #table waypoint DCS waypoint data table.
 -- @return #OPSGROUP.Waypoint Waypoint data.
-function OPSGROUP:_CreateWaypoint(waypoint)
-
-  local wp={} --#OPSGROUP.Waypoint
+function OPSGROUP:_CreateWaypoint(waypoint, detour, onroad, formation)
   
-  wp.wp=waypoint
-  wp.uid=self.wpcounter
-  
-  wp.altitude=altitude
-  wp.speed=speed
-  wp.detour=detour
-  wp.formation=formation
-  wp.onroad=onroad
-
-  wp.coordinate=coordinate
+  waypoint.uid=self.wpcounter  
+  waypoint.coordinate=COORDINATE:New(waypoint.x, waypoint.alt, waypoint.y)
+  waypoint.detour=detour and detour or false
+  waypoint.formation=formation
+  waypoint.onroad=onroad and onroad or false
 
   self.wpcounter=self.wpcounter+1
   
-  return wp
+  return waypoint
 end
 
 --- Initialize Mission Editor waypoints.
@@ -2212,17 +2205,18 @@ end
 function OPSGROUP:_AddWaypoint(waypoint, wpnumber)
 
   wpnumber=wpnumber or #self.waypoints+1
+  
+  env.info(string.format("adding waypoint at index=%d", wpnumber))
 
   -- Add waypoint to table.
-  tabel.insert(self.waypoints, wpnumber, waypoint)
+  table.insert(self.waypoints, wpnumber, waypoint)
 
 end
 
 --- Initialize Mission Editor waypoints.
 -- @param #OPSGROUP self
--- @param #table waypoints Table of waypoints. Default is from group template.
 -- @return #OPSGROUP self
-function OPSGROUP:InitWaypoints(waypoints)
+function OPSGROUP:InitWaypoints()
 
   -- Template waypoints.
   self.waypoints0=self.group:GetTemplateRoutePoints()
@@ -2232,11 +2226,10 @@ function OPSGROUP:InitWaypoints(waypoints)
   
   for index,wp in pairs(self.waypoints0) do
   
-    local waypoint=self:_CreateWaypoint()
+    local waypoint=self:_CreateWaypoint(wp)
     
     self:_AddWaypoint(waypoint)
-    
-  
+     
   end
   
   -- Debug info.
@@ -2319,7 +2312,7 @@ function OPSGROUP:_UpdateWaypointTasks(n)
       table.insert(taskswp, TaskPassingWaypoint)      
           
       -- Waypoint task combo.
-      wp.wp.task=self.group:TaskCombo(taskswp)
+      wp.task=self.group:TaskCombo(taskswp)
       
     end