NLAW - fix guidance, improve warhead (#11293)

* change NLAW to PID based guidance

* progress

* remove debug text

* fix guidance, tweak pids

* Fix bug on attack profile null return

* Update addons/nlaw/script_component.hpp

Co-authored-by: PabstMirror <pabstmirror@gmail.com>

---------

Co-authored-by: PabstMirror <pabstmirror@gmail.com>

Author: TheCandianVendingMachine

addons/missileguidance/CfgMissileTypesNato.hpp

@@ -403,8 +403,8 @@ class GVAR(type_Milan) {
 class GVAR(type_Nlaw) {
     enabled = 0;
 
-    pitchRate = 5;      // Minium flap deflection for guidance
-    yawRate = 10;      // Maximum flap deflection for guidance
+    pitchRate = 30;      // Minium flap deflection for guidance
+    yawRate = 30;      // Maximum flap deflection for guidance
 
     canVanillaLock = 0;          // Can this default vanilla lock? Only applicable to non-cadet mode
 

addons/nlaw/CfgAmmo.hpp

@@ -2,14 +2,14 @@ class ace_missileguidance_type_Nlaw;
 class CfgAmmo {
     class M_NLAW_AT_F;
     class ACE_NLAW: M_NLAW_AT_F {
-        submunitionAmmo = "ACE_NLAW_Penetrator";
+        submunitionAmmo = "";
         triggerOnImpact = 0; // The shaped charge only points downwards, so don't fire it in DA mode
         maxSpeed = 200;
         typicalSpeed = 185;
         thrust = 400; // 400 * 0.5 == 200 - swift acceleration to expected speed
         thrustTime = 0.5;
         timeToLive = 5.6; // Time until self-destruction (1000 meters @ 200m/s when accounting for air friction)
-        warheadName = "HEAT";
+        warheadName = "HE";
         class ace_missileguidance: ace_missileguidance_type_Nlaw {
             enabled = 1;
         };
@@ -22,5 +22,6 @@ class CfgAmmo {
         // -> 1000 * 33.333 * 15 / 1000 = ~500
         caliber = 33.333;
         warheadName = "HEAT";
+        hit = 450;
     };
 };

addons/nlaw/XEH_postInit.sqf

@@ -23,7 +23,7 @@ GVAR(pitchChange) = 0;
 // Visual debuging, idealy used with a moving vehicle called "testTarget"
 #ifdef DRAW_NLAW_INFO
 GVAR(debug_firedPrediction) = [];
-addMissionEventHandler ["Draw3d", {
+addMissionEventHandler ["Draw3D", {
     // BLACK - On fired path prediction
     { drawIcon3D _x; } forEach GVAR(debug_firedPrediction);
 

addons/nlaw/functions/fnc_attackProfile.sqf

@@ -18,19 +18,20 @@
  */
 
 params ["_seekerTargetPos", "_args", "_attackProfileStateParams"];
-
-#ifdef DRAW_NLAW_INFO
 _args params ["_firedEH", "_launchParams"];
 _launchParams params ["","_targetLaunchParams", "", "_attackProfile"];
+_attackProfileStateParams params ["_startTime"];
+private _flightTime = CBA_missionTime - _startTime;
+
+#ifdef DRAW_NLAW_INFO
 _targetLaunchParams params ["", "", "_launchPos"];
 _firedEH params ["","","","","","","_projectile"];
 
-_attackProfileStateParams params ["_startTime", "_startLOS", "_yawChange", "_pitchChange"];
+_attackProfileStateParams params ["", "_startLOS", "_yawChange", "_pitchChange"];
 (_startLOS call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
 
 private _projectilePos = getPosASL _projectile;
 private _distanceFromLaunch = (_launchPos distance _projectilePos) + 10;
-private _flightTime = CBA_missionTime - _startTime;
 
 private _realYaw = _yaw + _yawChange * _flightTime;
 private _realPitch = _pitch + _pitchChange * _flightTime;
@@ -47,4 +48,10 @@ if ((count _test) > 0) then {
 };
 #endif
 
-[0, 0, 1]
+if (_attackProfile == QGVAR(overflyTopAttack)) then {
+    private _denominmator = 1 + exp (1.0 - 3.0 * _flightTime);
+    [0, 0, 3.5 / _denominmator]
+} else {
+    [0, 1, 0]
+}
+

addons/nlaw/functions/fnc_navigation.sqf

@@ -14,58 +14,43 @@
  *
  * Public: No
  */
-// arbitrary constant
-#define PROPORTIONALITY_CONSTANT 20
 params ["_args", "_timestep", "_seekerTargetPos", "_profileAdjustedTargetPos", "_targetData", "_navigationParams"];
-_args params ["_firedEH"];
+_args params ["_firedEH", "_launchParams", "_flightParams"];
 _firedEH params ["","","","","","","_projectile"];
+_flightParams params ["_missilePitchRate", "_missileYawRate"];
+_launchParams params ["","_targetLaunchParams"];
+_targetLaunchParams params ["", "", "_launchPos"];
 
-_navigationParams params ["_yawChange", "_pitchChange", "_lastPitch", "_lastYaw", "_initialPitch", "_pitchUp", "_lastYawRateDifference"];
+_navigationParams params ["_pid_pitch", "_pid_yaw", "_launchTime", "_pitchChange", "_yawChange", "_initialPitch", "_initialYaw"];
+private _elapsedTime = CBA_missionTime - _launchTime;
+private _expectedPitch = _initialPitch + _elapsedTime * _pitchChange;
+private _expectedYaw = _initialYaw + _elapsedTime * _yawChange;
 
-// for some reason we need to multiply this. I don't know why, but it just works
-_pitchChange = _pitchChange * 1.5;
-_yawChange = _yawChange * 1.5;
+private _position = getPosASLVisual _projectile vectorDiff _launchPos;
 
-((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"];
+private _distance = 0.01 max vectorMagnitude _position;
 
-private _pitchRate = if (_timestep == 0) then {
-    0
-} else {
-    (_currentPitch - _lastPitch) / _timestep
-};
-_navigationParams set [2, _currentPitch];
+_profileAdjustedTargetPos params ["", "", "_heightOffset"];
+private _expectedPosition = ([_distance, _expectedYaw, _expectedPitch] call CBA_fnc_polar2vect) vectorAdd [0, 0, _heightOffset];
+private _offset = _position vectorDiff _expectedPosition;
 
-private _pitchModifier = if (_pitchChange == 0) then {
-    1
-} else {
-    abs (_pitchRate / _pitchChange)
-};
-private _desiredPitchChange = (_pitchChange - _pitchRate) * PROPORTIONALITY_CONSTANT * _pitchModifier;
-_desiredPitchChange = _desiredPitchChange + _pitchUp * (_initialPitch - _currentPitch) * PROPORTIONALITY_CONSTANT * _pitchModifier;
+private _offsetProjectileSpace = _projectile vectorWorldToModelVisual _offset;
 
-private _yawRate = if (_timestep == 0) then {
-    0
-} else {
-    (_currentYaw - _lastYaw) / _timestep
-};
-_navigationParams set [3, _currentYaw];
+private _pitchCommand = _pitchChange + ([_pid_pitch, _offsetProjectileSpace select 2] call CBA_pid_fnc_update);
+private _yawCommand = _yawChange + ([_pid_yaw, _offsetProjectileSpace select 0] call CBA_pid_fnc_update);
 
-private _yawRateDifference = _yawChange - _yawRate;
-_navigationParams set [6, _yawRateDifference];
+#ifdef DRAW_NLAW_INFO
+private _projectilePosition = getPosASLVisual _projectile;
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 0.75] vectorAdd ASLtoAGL _projectilePosition, 0.75, 0.75, 0, format ["%1", _position], 1, 0.025, "TahomaB"];
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 0.50] vectorAdd ASLtoAGL _projectilePosition, 0.75, 0.75, 0, format ["%1 m/s", vectorMagnitude velocity _projectile], 1, 0.025, "TahomaB"];
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 0.25] vectorAdd ASLtoAGL _projectilePosition, 0.75, 0.75, 0, format ["pCmd [%1] yCmd: [%2]", _pitchCommand, _yawCommand], 1, 0.025, "TahomaB"];
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, -0.25] vectorAdd ASLtoAGL _projectilePosition, 0.75, 0.75, 0, format ["%1secs", _elapsedTime], 1, 0.025, "TahomaB"];
 
-private _desiredYawChange = _yawRateDifference * PROPORTIONALITY_CONSTANT + _yawRateDifference * 2;
+drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLtoAGL (_launchPos vectorAdd _expectedPosition), 0.75, 0.75, 0, format ["Expected Position"], 1, 0.025, "TahomaB"];
+drawLine3D [ASLtoAGL _launchPos, ASLtoAGL (_launchPos vectorAdd _expectedPosition), [1, 0, 0, 1], 6];
+drawLine3D [ASLtoAGL _projectilePosition, ASLtoAGL (_projectilePosition vectorAdd _offset), [0, 0, 1, 1], 6];
 
-#ifdef DRAW_NLAW_INFO
-private _yawModifier = if (_yawChange == 0) then {
-    1
-} else {
-    abs (_yawRate / _yawChange)
-};
-drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], ASLToAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["dP [%1] dY: [%2]", _desiredPitchChange, _desiredYawChange], 1, 0.025, "TahomaB"];
-drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,1,1], [0, 0, 1] vectorAdd ASLToAGL getPosASLVisual _projectile, 0.75, 0.75, 0, format ["pitch proportional [%1] yaw proportional [%2]", _pitchModifier, _yawModifier], 1, 0.025, "TahomaB"];
+hintSilent format ["pCmd [%1]\nyCmd: [%2]\n\n%3 err\n%4secs", _pitchCommand, _yawCommand, vectorMagnitude _offset, _elapsedTime];
 #endif
 
-TRACE_4("nlaw pitch/yaw info",_currentPitch,_lastPitch,_currentYaw,_lastYaw);
-TRACE_6("nlaw navigation",_yawChange,_desiredYawChange,_pitchChange,_desiredPitchChange,_yawRate,_pitchRate);
-
-_projectile vectorModelToWorldVisual [_yawChange + _desiredYawChange, 0, _pitchChange + _desiredPitchChange]
+_projectile vectorModelToWorldVisual [_yawCommand, 0, _pitchCommand]

addons/nlaw/functions/fnc_navigation_onFired.sqf

@@ -14,13 +14,17 @@
  *
  * Public: No
  */
+#define PROPORTIONAL 1.588
+#define INTEGRAL 0.358
+#define DERIVATIVE 1.255
+#define HISTORY_LENGTH 30
 
 params ["_firedEH", "_launchParams", "_flightParams", "_seekerParams", "_stateParams"];
 _firedEH params ["_shooter","","","","","","_projectile"];
 _launchParams params ["","_targetLaunchParams","","_attackProfile"];
 _targetLaunchParams params ["_target"];
 _stateParams params ["", "", "", "", "_navigationParams"];
-
+_flightParams params ["_pitchRate", "_yawRate"];
 // Reset _launchPos origin as projectile's height instead of player's foot
 _targetLaunchParams set [2, getPosASL _projectile];
 
@@ -55,16 +59,25 @@ if (_shooter == ACE_player) then {
 //_yawChange = -10 max _yawChange min 10;
 //_pitchChange = -10 max _pitchChange min 10;
 
-((velocity _projectile) call CBA_fnc_vect2polar) params ["", "_currentYaw", "_currentPitch"];
-((_shooter weaponDirection (currentWeapon _shooter)) call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
+private _velocity = velocity _projectile;
+private _forwardVelocity = [_velocity select 0, _velocity select 1, 0];
+private _currentPitch = (_velocity select 2) atan2 vectorMagnitude _forwardVelocity;
+private _currentYaw = (_velocity select 0) atan2 (_velocity select 1);
+(_firedLOS call CBA_fnc_vect2Polar) params ["", "_yaw", "_pitch"];
+
+private _additionalPitch = 1 + abs _pitchChange;
+private _additionalYaw = 1 + abs _yawChange;
+
+private _pid_pitch = [PROPORTIONAL * _additionalPitch, INTEGRAL, DERIVATIVE * _additionalPitch , 0, -_pitchRate, _pitchRate, HISTORY_LENGTH] call CBA_pid_fnc_create;
+private _pid_yaw = [PROPORTIONAL * _additionalYaw, INTEGRAL, DERIVATIVE * _additionalYaw, 0, -_yawRate, _yawRate, HISTORY_LENGTH] call CBA_pid_fnc_create;
 
 TRACE_5("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange,_currentPitch,_currentYaw);
-_navigationParams set [0, _yawChange];
-_navigationParams set [1, _pitchChange];
-_navigationParams set [2, _currentPitch]; // last pitch
-_navigationParams set [3, _currentYaw]; // last yaw
-_navigationParams set [4, _pitch]; // initial pitch
-_navigationParams set [5, 0]; // whether or not to zero out the pitch
-_navigationParams set [6, 0];
+_navigationParams set [0, _pid_pitch];
+_navigationParams set [1, _pid_yaw];
+_navigationParams set [2, CBA_missionTime];
+_navigationParams set [3, _pitchChange];
+_navigationParams set [4, _yawChange];
+_navigationParams set [5, _pitch];
+_navigationParams set [6, _yaw];
 _navigationParams
 

addons/nlaw/functions/fnc_onFired.sqf

@@ -43,14 +43,19 @@ if (_shooter == ACE_player) then {
     GVAR(debug_firedPrediction) = [];
     private _debugPos = getPosASL _projectile;
     ((ACE_player weaponDirection (currentWeapon ACE_player)) call CBA_fnc_vect2Polar) params ["", "_debugYaw", "_debugPitch"];
+    private _timeToLive = getNumber ((configOf _projectile) >> "timeToLive");
+    private _thrust = getNumber ((configOf _projectile) >> "thrust");
+    private _thrustTime = getNumber ((configOf _projectile) >> "thrustTime");
     private _distance = 0;
-    for "_x" from 0 to 6 step 0.1 do {
-        private _debugAproxVel = linearConversion [0, 1, 5, 40, 170, true];
-        _distance = _distance + _debugAproxVel * 0.1;
+    private _timestep = 0.1;
+    for "_x" from 0 to _timeToLive step _timestep do {
+        private _debugAproxVel = linearConversion [0, _thrustTime, _x, 0, _thrust * _thrustTime, true];
+        _distance = _distance + _debugAproxVel * _timestep;
         private _debugYaw = _debugYaw + _yawChange * _x;
         private _debugPitch = _debugPitch + _pitchChange * _x;
         private _debugPos = _debugPos vectorAdd ([_distance, _debugYaw, _debugPitch] call CBA_fnc_polar2vect);
         GVAR(debug_firedPrediction) pushBack ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,0,0,1], ASLToAGL _debugPos, 0.5, 0.5, 0, format ["%1", _x], 1, 0.025, "TahomaB"];
+        GVAR(debug_firedPrediction) pushBack ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [0,0,0,1], [0, 0, 0.25] vectorAdd ASLToAGL _debugPos, 0.5, 0.5, 0, format ["%1 m/s", _debugAproxVel], 1, 0.025, "TahomaB"];
     };
     #endif
 } else {
@@ -72,9 +77,11 @@ if (_shooter == ACE_player) then {
 _yawChange = -10 max _yawChange min 10;
 _pitchChange = -10 max _pitchChange min 10;
 
+_seekerStateParams set [1, SEEKER_STATE_LOOKING];
 _seekerStateParams set [2, _yawChange];
 _seekerStateParams set [3, _pitchChange];
 _seekerStateParams set [4, CBA_missionTime];
+_seekerStateParams set [5, FUZE_LENGTH];
 
 TRACE_3("attackProfileStateParams",_firedLOS,_yawChange,_pitchChange);
 _attackProfileStateParams set [0, CBA_missionTime];

addons/nlaw/functions/fnc_seeker.sqf

@@ -16,27 +16,19 @@
  *
  * Public: No
  */
-#define PITCH_UP_TIME 1
-
+#define STEP_SIZE 0.25
 params ["", "_args", "_seekerStateParams", "", "", "_targetData"];
 _args params ["_firedEH", "_launchParams", "", "_seekerParams", "_stateParams"];
-_firedEH params ["","","","","","","_projectile"];
+_firedEH params ["_shooter","","","","","","_projectile"];
 _launchParams params ["", "_targetLaunchParams", "", "_attackProfile"];
 _targetLaunchParams params ["", "", "_launchPos"];
 _stateParams params ["", "", "", "", "_navigationParams"];
 
 if (_attackProfile == QGVAR(directAttack)) exitWith {
-    _navigationParams set [5, 1];
-    [0,0,0]
+    [0, 0, 0]
 };
 
 _seekerStateParams params ["", "", "", "_originalPitchRate", "_startTime"];
-_navigationParams params ["", "_pitchRate"];
-
-// pitch up for the first second of flight to begin an over-fly trajectory
-private _pitchChange = linearConversion [0, PITCH_UP_TIME, CBA_missionTime - _startTime, 2, 0, true];
-_navigationParams set [1, _originalPitchRate + _pitchChange];
-_navigationParams set [5, ((CBA_missionTime - _startTime) min PITCH_UP_TIME) / PITCH_UP_TIME];
 
 private _projPos = getPosASL _projectile;
 
@@ -50,46 +42,74 @@ if ((_projPos distance _launchPos) >= 20) then {
         _seekerStateParams set [0, _projPos]; // Set _lastPos to current position
     };
 
-    _seekerStateParams params ["_lastPos", "_terminal"];
-    if (_terminal) exitWith {};
+    _seekerStateParams params ["_lastPos", "_state"];
 
     private _vectorDir = _lastPos vectorFromTo _projPos;
     private _frameDistance = _lastPos vectorDistance _projPos;
 
+    private _speed = vectorMagnitude velocity _projectile;
+    private _virtualTimeStep = STEP_SIZE / _speed;
+
     // Distance traveled depends on velocity and FPS - at 60fps it will be ~4m
     // Step size will effect accuracy and performance costs
-    for "_stepSize" from 0 to _frameDistance step 0.5 do {
+    for "_stepSize" from 0 to _frameDistance step STEP_SIZE do {
         // This represents a position that the missile was at between the last frame and now
         private _virtualPos = _lastPos vectorAdd (_vectorDir vectorMultiply _stepSize);
         #ifdef DRAW_NLAW_INFO
         drawLine3D [ASLToAGL _virtualPos, ASLToAGL (_virtualPos vectorAdd [0,0,-5]), [1,0,_stepSize/(_frameDistance max 0.1),1]];
         #endif
 
+        if (_state == SEEKER_STATE_TERMINAL) then {
+            _seekerStateParams params ["", "", "", "", "", "_fuzeTime"];
+            if (_frameDistance - _stepSize < STEP_SIZE) then {
+                _fuzeTime = _fuzeTime - abs (_frameDistance - _stepSize) / _speed;
+            } else {
+                _fuzeTime = _fuzeTime - _virtualTimeStep;
+            };
+            _seekerStateParams set [5, _fuzeTime];
+            if (_fuzeTime <= 0) then {
+                _seekerStateParams set [1, SEEKER_STATE_DETONATED];
+                _state = SEEKER_STATE_DETONATED;
+            };
+        };
+
         // Limit scan to 5 meters directly down (shaped charge jet has a very limited range)
         private _res = lineIntersectsSurfaces [_virtualPos, (_virtualPos vectorAdd [0,0,-5]), _projectile, objNull, true, 1, "FIRE", "VIEW"];
         if (_res isNotEqualTo []) then {
             (_res select 0) params ["_targetPos", "", "_target"];
-            if ((_target isKindOf "Tank") || {_target isKindOf "Car"} || {_target isKindOf "Air"}) exitWith {
+            if ((_target isKindOf "Tank") || {_target isKindOf "Car"} || {_target isKindOf "Air"}) then {
                 TRACE_3("Firing shaped charge down",_target,_targetPos distance _virtualPos,_frameDistance);
                 TRACE_2("",_target worldToModel (ASLToAGL _virtualPos),boundingBoxReal _target);
-                _virtualPos = _virtualPos vectorAdd (_vectorDir vectorMultiply 1.25);
 
-                _projectile setMissileTarget [_target, true];
-                triggerAmmo _projectile;
+                if (_state == SEEKER_STATE_LOOKING) then {
+                    _seekerStateParams set [1, SEEKER_STATE_TERMINAL];
+                    _state = SEEKER_STATE_TERMINAL;
+                };
+            };
+        };
+
+        if (_state == SEEKER_STATE_DETONATED) exitWith {
+            private _projDir = vectorUp _projectile;
+            _projectile setPosASL _virtualPos;
+            triggerAmmo _projectile;
 
-                _seekerStateParams set [1, true];
+            private _jet = createVehicle ["ACE_NLAW_Penetrator", [0, 0, 0], [], 0, "NONE"];
+            private _jetSpeed = getNumber (configOf _jet >> "typicalSpeed");
+            _jet setPosASL _virtualPos;
+            _jet setVelocity (_projDir vectorMultiply -_jetSpeed);
 
-                END_COUNTER(targetScan);
-                breakOut "targetScan";
-            };
+            _virtualPos = _virtualPos vectorAdd (_vectorDir vectorMultiply 1.25);
+
+            END_COUNTER(targetScan);
+            breakOut "targetScan";
         };
     };
     _seekerStateParams set [0, _projPos];
     END_COUNTER(targetScan);
 };
 
 // Exploded, return dummy value
-if (_seekerStateParams param [1, false]) exitWith {
+if ((_seekerStateParams param [1, SEEKER_STATE_LOOKING]) == SEEKER_STATE_DETONATED) exitWith {
     [0,0,1]
 };
 

addons/nlaw/script_component.hpp

@@ -16,3 +16,10 @@
 #endif
 
 #include "\z\ace\addons\main\script_macros.hpp"
+
+#define SEEKER_STATE_LOOKING 0
+#define SEEKER_STATE_TERMINAL 1
+#define SEEKER_STATE_DETONATED 2
+
+// (vt=d), (200 * FUZE_LENGTH = distance)
+#define FUZE_LENGTH (0.0075)