void LifeForm::fire()
{
Basic::Number* hdgObj = new Basic::Number(getHeadingR());
Basic::Number* pitchObj = new Basic::Number(lookAngle * Basic::Angle::D2RCC);
StoresMgr* mgr = getStoresManagement();
if (mgr != nullptr) {
if (getSimulation() != nullptr) {
if (weaponSel == LF_MISSILE) {
mgr->setGunSelected(false);
Missile* missile = mgr->getNextMissile();
if (missile != nullptr) {
missile->setSlotInitPitch(pitchObj);
missile->setSlotInitHeading(hdgObj);
missile->reset();
Missile* msl = mgr->releaseOneMissile();
if (msl != nullptr) {
if (tgtAquired && tgtPlayer != nullptr) msl->setTargetPlayer(tgtPlayer, true);
}
}
}
else if (weaponSel == LF_GUN) {
mgr->setGunSelected(true);
Gun* myGun = mgr->getGun();
if (myGun != nullptr) {
myGun->setGunArmed(true);
Basic::Number* num = new Basic::Number(lookAngle * Basic::Angle::D2RCC);
myGun->setSlotPitch(num);
num->unref();
myGun->fireControl(true);
}
}
}
}
hdgObj->unref();
pitchObj->unref();
}
void LifeForm::look(const LCreal up, const LCreal sdws)
{
if (getDamage() < 1) {
if (lockMode != LOCKED) {
lockMode = SEARCHING;
// our up and sideways come in as -5 to 5, which is a rate to adjust heading
const osg::Vec3 old = getEulerAngles();
LCreal hdg = old.z();
LCreal ptc = lookAngle;
LCreal tempSdws = sdws;
LCreal tempUp = up;
if (lcAbs(tempSdws) < 0.00005) tempSdws = 0;
if (lcAbs(tempUp) < 0.05) tempUp = 0;
hdg += tempSdws;
hdg = lcAepcRad(hdg);
// we don't change our pitch when we look up and down, we only change our look angle, so we have to keep
// that separate. WE do, however, change our heading based on where we are looking, so that is correct
ptc += tempUp;
if (ptc > 90) ptc = 90;
else if (ptc < -90) ptc = -90;
//std::cout << "HEADING = " << hdg << std::endl;
setLookAngle(ptc);
osg::Vec3 eul(0, 0, hdg);
setEulerAngles(eul);
// now based on this we need to know if we have a target in our crosshairs...
tgtAquired = false;
if (tgtPlayer != nullptr) tgtPlayer->unref();
tgtPlayer = nullptr;
const osg::Vec3 myPos = getPosition();
osg::Vec3 tgtPos;
osg::Vec3 vecPos;
LCreal az = 0.0, el = 0.0, range = 0.0, diffAz = 0.0, diffEl = 0.0;
const LCreal maxAz = (0.7f * static_cast<LCreal>(Basic::Angle::D2RCC));
const LCreal maxEl = (0.7f * static_cast<LCreal>(Basic::Angle::D2RCC));
//LCreal maxRange = 1500.0f; // long range right now
const LCreal la = lookAngle * static_cast<LCreal>(Basic::Angle::D2RCC);
Simulation* sim = getSimulation();
if (sim != nullptr) {
Basic::PairStream* players = sim->getPlayers();
if (players != nullptr) {
Basic::List::Item* item = players->getFirstItem();
while (item != nullptr && !tgtAquired) {
Basic::Pair* pair = static_cast<Basic::Pair*>(item->getValue());
if (pair != nullptr) {
Player* player = dynamic_cast<Player*>(pair->object());
if (player != nullptr && player != this && !player->isMajorType(WEAPON) && !player->isDestroyed()) {
// ok, calculate our position from this guy
tgtPos = player->getPosition();
vecPos = tgtPos - myPos;
az = lcAtan2(vecPos.y(), vecPos.x());
range = (vecPos.x() * vecPos.x() + vecPos.y() * vecPos.y());
range = std::sqrt(range);
// now get our elevation
el = lcAtan2(-vecPos.z(), range);
diffAz = lcAbs(lcAepcRad(az - static_cast<LCreal>(getHeadingR())));
diffEl = lcAbs(lcAepcRad(la - el));
if ((diffAz <= maxAz) && (diffEl <= maxEl)) {
lockMode = TGT_IN_SIGHT;
tgtAquired = true;
if (tgtPlayer != player) {
if (tgtPlayer != nullptr) tgtPlayer->unref();
tgtPlayer = player;
tgtPlayer->ref();
}
}
}
}
item = item->getNext();
}
players->unref();
players = nullptr;
}
}
}
// else we are locking on target, and need to follow our target player
else {
if (tgtPlayer == nullptr) lockMode = SEARCHING;
else {
const osg::Vec3 vecPos = tgtPlayer->getPosition() - getPosition();
const LCreal az = lcAtan2(vecPos.y(), vecPos.x());
LCreal range = (vecPos.x() * vecPos.x() + vecPos.y() * vecPos.y());
range = std::sqrt(range);
// now get our elevation
const LCreal el = lcAtan2(-vecPos.z(), range);
// now force that on us
setLookAngle(el * static_cast<LCreal>(Basic::Angle::R2DCC));
setEulerAngles(0, 0, az);
}
}
}
}
//------------------------------------------------------------------------------
// weaponDynamics -- default missile dynamics; using Robot Aircraft (RAC) dynamics
//------------------------------------------------------------------------------
void Missile::weaponDynamics(const LCreal dt)
{
static const LCreal g = ETHG; // Acceleration of Gravity
// ---
// Max turning G (Missiles: Use Gmax)
// ---
LCreal gmax = maxG;
// ---
// Computer max turn rate, max/min pitch rates
// ---
// Turn rate base on vp and g,s
LCreal ra_max = gmax * g / getTotalVelocity();
// Set max (pull up) pitch rate same as turn rate
LCreal qa_max = ra_max;
// Set min (push down) pitch rate
LCreal qa_min = -qa_max;
// ---
// Get old angular values
// ---
const osg::Vec3 oldRates = getAngularVelocities();
//LCreal pa1 = oldRates[IROLL];
LCreal qa1 = oldRates[IPITCH];
LCreal ra1 = oldRates[IYAW];
// ---
// Find pitch rate and update pitch
// ---
LCreal qa = lcAepcRad(cmdPitch - (LCreal) getPitchR());
if(qa > qa_max) qa = qa_max;
if(qa < qa_min) qa = qa_min;
// Using Pitch rate, integrate pitch
LCreal newTheta = (LCreal) (getPitch() + (qa + qa1) * dt / 2.0);
// Find turn rate
LCreal ra = lcAepcRad(cmdHeading - (LCreal) getHeadingR());
if(ra > ra_max) ra = ra_max;
if(ra < -ra_max) ra = -ra_max;
// Use turn rate integrate heading
LCreal newPsi = (LCreal) (getHeading() + (ra + ra1) * dt / 2.0);
if(newPsi > 2.0f*PI) newPsi -= (LCreal)(2.0*PI);
if(newPsi < 0.0f) newPsi += (LCreal)(2.0*PI);
// Roll angle proportional to max turn rate - filtered
LCreal pa = 0.0;
LCreal newPhi = (LCreal) ( 0.98 * getRollR() + 0.02 * ((ra / ra_max) * (Basic::Angle::D2RCC * 60.0)) );
// Sent angular values
setEulerAngles(newPhi, newTheta, newPsi);
setAngularVelocities(pa, qa, ra);
// Find Acceleration
LCreal vpdot = (cmdVelocity - getTotalVelocity());
if(vpdot > maxAccel) vpdot = maxAccel;
if(vpdot < -maxAccel) vpdot = -maxAccel;
// Set acceleration vector
osg::Vec3 aa(vpdot, 0.0, 0.0);
osg::Vec3 ae = aa * getRotMat();
setAcceleration(ae);
// Comute new velocity
LCreal newVP = getTotalVelocity() + vpdot * dt;
// Set acceleration vector
osg::Vec3 ve0 = getVelocity();
osg::Vec3 va(newVP, 0.0, 0.0);
osg::Vec3 ve1 = va * getRotMat();
setVelocity(ve1);
setVelocityBody(newVP, 0.0, 0.0);
}
