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v1.0\r\n\r\n--コンプレックス入力\r\n--T(1)...高度制御スラスター稼働\r\n--G(2)...前進停止\r\n--Y(3)...左旋回\r\n--I(7)...右旋回\r\n--L(10)..旋回停止\r\n--H(4)...左ミサイル発射\r\n--K(8)...右ミサイル発射\r\n\r\n--ドッキング制御\r\nWING_FOLD_ENABLE = false  --翼の格納機能の有効無効(true:有効、false:無効)\r\nWING_FOLD_ALT = 20        --翼の格納高度\r\nWING_FOLD_ANG = 108       --翼の格納角度\r\nSPIN_BLOCK_ID_L = 4       --スピンブロックID(左)\r\nSPIN_BLOCK_ID_R = 5       --スピンブロックID(右)\r\nDockingSafety = false     --ドッキング安全装置(変数)\r\n\r\n--高度制御\r\nALT_MAX = 500                     --最高高度\r\nALT_MIN = 40                      --最低高度\r\nALT_MARGIN = 10                   --上昇閾値と下降閾値の間隔\r\nALT_SAME_CNT = 3                  --同一高度帯の味方機数\r\nALT_DIFF = 8                      --別高度帯との高度差\r\nALT_CNT_U = 1                     --上昇時のDriveFraction\r\nALT_CNT_D = 0                     --下降時のDriveFraction\r\nALT_CNT_N = 0.25                  --通常時のDriveFraction\r\nALT_CNT_NAME = \"AltitudeControl\"  --高度制御スラスターの名称\r\n\r\n--回避制御\r\nCOLLISION_AZM = 45          --衝突回避対象の水平範囲\r\nCOLLISION_RNG = 120         --衝突回避対象の距離\r\nCOLLISION_ELV = 15          --衝突回避対象の垂直範囲(敵のみ)\r\nCOLLISION_ALT_MARGIN = 3    --衝突回避対象の高度余裕(味方のみ)\r\nCOLLISION_CNT_TIME = 2      --衝突回避後に旋回を停止する時間\r\nDANGER_AZM = 135            --至近衝突回避対象の水平範囲\r\nDANGER_RNG = 40             --至近衝突回避対象の距離\r\nMISSILE_VLC_MIN = 100       --ミサイルの最低速度\r\nMISSILE_RNG = 200           --ミサイルの回避距離\r\nMISSILE_CNT_TIME = 3        --ミサイルを同一方向に回避する時間\r\nAvoidLastTime = 0           --最後に回避した時間(変数)\r\nCollisionAvoidLastTime = 0  --最後に衝突を回避した時間(変数)\r\nMissileAvoidLastTime = 0    --最後にミサイルを回避した時間(変数)\r\nMissileAvoidDirection = 0   --ミサイルを回避する方向(変数)\r\n\r\n--火器制御\r\nLEFT_AZM = 15           --左ミサイルの水平発射範囲\r\nLEFT_ELV = 15           --左ミサイルの垂直発射範囲\r\nLEFT_RNG_MAX = 1200     --左ミサイルの最大発射距離\r\nLEFT_RNG_MIN = 100      --左ミサイルの最小発射距離\r\nRIGHT_AZM = 10          --右ミサイルの水平発射範囲\r\nRIGHT_ELV = 10          --右ミサイルの垂直発射範囲\r\nRIGHT_RNG_MAX = 1000    --右ミサイルの最大発射距離\r\nRIGHT_RNG_MIN = 300     --右ミサイルの最小発射距離\r\nFIRE_DELAY_AVOID = 0.5  --回避動作後ミサイル発射までのディレイ\r\n\r\n\r\n--高度を考慮しない距離を取得する\r\nfunction getGroundDistance(I,targetPosition)\r\n  \r\n  local myPosition = I:GetConstructPosition()                                              --自分の位置情報\r\n  local myPositionGround = I:Maths_CreateVector3(myPosition.x,0,myPosition.z)              --自分の位置情報(高度を考慮しない)\r\n  local targetPositionGround = I:Maths_CreateVector3(targetPosition.x,0,targetPosition.z)  --対象の位置情報(高度を考慮しない)\r\n  \r\n  return Vector3.Distance(myPositionGround,targetPositionGround)\r\n  \r\nend\r\n\r\n\r\n--垂直方向の角度を取得する(向かって下が正)\r\nfunction getElevation(I,targetPosition)\r\n  \r\n  local myPosition = I:GetConstructPosition()                       --自分の位置情報\r\n  local targetGroundDistance = getGroundDistance(I,targetPosition)  --対象との距離(高度を考慮しない)\r\n  \r\n  return math.deg(math.atan2(targetGroundDistance,targetPosition.y - myPosition.y)) - 90\r\n  \r\nend\r\n\r\n\r\n--水平方向の角度を取得する(向かって左が正)\r\nfunction getAzimuth(I,targetPosition)\r\n\r\n  local myPosition = I:GetConstructPosition()                                           --自分の位置情報\r\n  local myVector = I:GetConstructForwardVector()                                        --自分のベクトル\r\n  local targetVector = targetPosition - myPosition                                      --対象のベクトル\r\n  local myVectorGround = I:Maths_CreateVector3(myVector.x,0,myVector.z)                 --自分のベクトル(高度を考慮しない)\r\n  local targetVectorGround = I:Maths_CreateVector3(targetVector.x,0,targetVector.z)     --対象のベクトル(高度を考慮しない)\r\n  local targetAzimuth = I:Maths_AngleBetweenVectors(myVectorGround,targetVectorGround)  --対象の方位(高度を考慮しない)\r\n  \r\n  --外積から方位の左右を求める\r\n  if Vector3.Cross(targetVectorGround,myVectorGround).y < 0 then\r\n    return -targetAzimuth\r\n  else\r\n    return targetAzimuth\r\n  end\r\n  \r\nend\r\n\r\n\r\n--ドッキング制御\r\nfunction DockingControl(I)\r\n  \r\n  local myAltitude = I:GetConstructPosition().y  --自分の高度\r\n  \r\n  --ドッキング時\r\n  if I:IsDocked() then\r\n    \r\n    --ドッキング安全装置を有効にする\r\n    DockingSafety = true\r\n    \r\n    --翼の格納機能が有効かつ敵が存在しない場合、翼を格納する\r\n    if WING_FOLD_ENABLE and I:GetNumberOfTargets(0) <= 0 then\r\n      I:SetSpinBlockRotationAngle(SPIN_BLOCK_ID_L, -WING_FOLD_ANG)\r\n      I:SetSpinBlockRotationAngle(SPIN_BLOCK_ID_R, WING_FOLD_ANG)\r\n    end\r\n  \r\n  --非ドッキング時\r\n  else\r\n    \r\n    --翼の格納高度を超えた場合、翼を展開する\r\n    if myAltitude > WING_FOLD_ALT then\r\n      I:SetSpinBlockRotationAngle(SPIN_BLOCK_ID_L, 0)\r\n      I:SetSpinBlockRotationAngle(SPIN_BLOCK_ID_R, 0)\r\n    end\r\n    \r\n    --翼が展開済みの場合、邪魔な緑線を消す\r\n    if I:GetSubConstructInfo(SPIN_BLOCK_ID_L).LocalRotation.y <= 0 then\r\n      I:SetSpinBlockInstaSpin(SPIN_BLOCK_ID_L,0)\r\n    end\r\n    if I:GetSubConstructInfo(SPIN_BLOCK_ID_R).LocalRotation.y <= 0 then\r\n      I:SetSpinBlockInstaSpin(SPIN_BLOCK_ID_R,0)\r\n    end\r\n    \r\n    --最低高度を超えた場合、ドッキング安全装置を解除する\r\n    if myAltitude > ALT_MIN then\r\n      DockingSafety = false\r\n    end\r\n    \r\n  end\r\n  \r\n  --ドッキング安全装置が有効な場合、前進、旋回を停止する\r\n  if DockingSafety then\r\n    I:RequestComplexControllerStimulus(2)\r\n    I:RequestComplexControllerStimulus(10)\r\n  end\r\n  \r\nend\r\n\r\n\r\n--高度制御\r\nfunction AltitudeControl(I)\r\n  \r\n  local myAltitude = I:GetConstructPosition().y           --自分の高度\r\n  local targetAltitude = I:GetTargetInfo(0,0).Position.y  --対象の高度\r\n  local upThreshold = ALT_MIN                             --上昇閾値\r\n  local downThreshold = ALT_MIN + ALT_MARGIN              --下降閾値\r\n  local fluctuation = 0                                   --高度のゆらぎ\r\n  local altCtrlIndex = -1                                 --高度制御スラスターのインデックス\r\n  \r\n  --全スラスター出力を初期化(スラスター修理時にインデックスがずれる対策)\r\n  I:Component_SetFloatLogicAll(9, 1)\r\n  \r\n  --高度制御スラスターのインデックスを取得する\r\n  for i=0 , I:Component_GetCount(9) -1 , 1 do\r\n    if I:Component_GetBlockInfo(9,i).CustomName == ALT_CNT_NAME then\r\n      altCtrlIndex = i\r\n      break\r\n    end\r\n  end\r\n  \r\n  --高度制御スラスターが存在しない場合、処理を終了\r\n  if altCtrlIndex == -1 then\r\n    return\r\n  end\r\n  \r\n  --高度制御スラスターは常に動作させる\r\n  I:RequestComplexControllerStimulus(1)\r\n  \r\n  --FleetIndexに応じて高度にゆらぎを持たせる\r\n  fluctuation = math.floor(math.max(I.FleetIndex - 1 , 0) / ALT_SAME_CNT) * ALT_DIFF\r\n  upThreshold = upThreshold + fluctuation\r\n  downThreshold = downThreshold + fluctuation\r\n  \r\n  --対象が上空にいる場合、上昇・下降の閾値を変更する\r\n  if targetAltitude > downThreshold then\r\n    upThreshold = math.min(targetAltitude - ALT_MARGIN, ALT_MAX - ALT_MARGIN) - fluctuation\r\n    downThreshold = math.min(targetAltitude, ALT_MAX) - fluctuation\r\n  end\r\n  \r\n  --高度制御スラスターの出力を調整する\r\n  if myAltitude <= upThreshold then\r\n    \r\n    --高度が上昇閾値以下の場合、高度制御スラスターの出力を「上昇時」に設定する\r\n    I:Component_SetFloatLogic(9,altCtrlIndex,ALT_CNT_U)\r\n    \r\n  elseif myAltitude >= downThreshold then\r\n    \r\n    --高度が下降閾値以上の場合、高度制御スラスターの出力を「下降時」に設定する\r\n    I:Component_SetFloatLogic(9,altCtrlIndex,ALT_CNT_D)\r\n    \r\n  else\r\n    \r\n    --高度が閾値の間の場合、高度制御スラスターの出力を「通常時」に設定する\r\n    I:Component_SetFloatLogic(9,altCtrlIndex,ALT_CNT_N)  \r\n    \r\n  end\r\n  \r\nend\r\n\r\n\r\n--回避制御\r\nfunction AvoidControl(I)\r\n  \r\n  --ドッキング安全装置が有効な場合、回避行動はとらない\r\n  if DockingSafety then\r\n    return\r\n  end\r\n  \r\n  local myAltitude = I:GetConstructPosition().y  --自分の高度\r\n  local closestVehicleRange = 10000              --最も近いビークルの距離\r\n  local closestVehicleAzimuth = 0                --最も近いビークルの方位\r\n  local closestMissileRange = 10000              --最も近いミサイルの距離\r\n  local closestMissileAzimuth = 0                --最も近いミサイルの方位\r\n  \r\n  --すべての敵ビークルに対し、衝突の可能性を判定する\r\n  for i=0, I:GetNumberOfTargets(0)-1, 1 do\r\n    \r\n    local targetPosition = I:GetTargetPositionInfo(0, i).Position     --対象の位置情報\r\n    local targetGroundDistance = getGroundDistance(I,targetPosition)  --対象の距離(高度を考慮しない)\r\n    local targetAzimuth = getAzimuth(I,targetPosition)                --対象の水平方位\r\n    local targetElevation = getElevation(I,targetPosition)            --対象の垂直方位\r\n    \r\n    --衝突の可能性を、距離、水平方位、垂直方位を基に判定\r\n    if ((targetGroundDistance <= COLLISION_RNG\r\n      and math.abs(targetAzimuth) <= COLLISION_AZM)\r\n      or (targetGroundDistance <= DANGER_RNG\r\n      and math.abs(targetAzimuth) <= DANGER_AZM))\r\n      and math.abs(targetElevation) <= COLLISION_ELV then\r\n      \r\n      --衝突の可能性がある場合、最も近い対象の距離と方位を記録\r\n      if targetGroundDistance < closestVehicleRange then\r\n        closestVehicleRange = targetGroundDistance\r\n        closestVehicleAzimuth = targetAzimuth\r\n      end\r\n      \r\n    end\r\n    \r\n  end\r\n  \r\n  --すべての味方ビークルに対し、衝突の可能性を判定する\r\n  for i=0, I:GetFriendlyCount()-1, 1 do\r\n    \r\n    local targetPosition = I:GetFriendlyInfo(i).ReferencePosition              --対象の位置情報\r\n    local targetGroundDistance = getGroundDistance(I,targetPosition)           --対象の距離(高度を考慮しない)\r\n    local targetAzimuth = getAzimuth(I,targetPosition)                         --対象の水平方位\r\n    local targetAltMax = I:GetFriendlyInfo(i).AxisAlignedBoundingBoxMaximum.y  --対象の上端高度\r\n    local targetAltMin = I:GetFriendlyInfo(i).AxisAlignedBoundingBoxMinimum.y  --対象の下端高度\r\n    \r\n    --衝突の可能性を、距離、水平方位、高度を基に判定\r\n    if ((targetGroundDistance <= COLLISION_RNG\r\n      and math.abs(targetAzimuth) <= COLLISION_AZM)\r\n      or (targetGroundDistance <= DANGER_RNG\r\n      and math.abs(targetAzimuth) <= DANGER_AZM))\r\n      and (myAltitude <= targetAltMax + COLLISION_ALT_MARGIN\r\n      and  myAltitude >= targetAltMin - COLLISION_ALT_MARGIN)then\r\n      \r\n      --衝突の可能性がある場合、最も近い対象の距離と方位を記録\r\n      if targetGroundDistance < closestVehicleRange then\r\n        closestVehicleRange = targetGroundDistance\r\n        closestVehicleAzimuth = targetAzimuth\r\n      end\r\n    \r\n    end\r\n    \r\n  end\r\n  \r\n  --衝突の可能性が存在する場合、優先して回避する\r\n  if closestVehicleRange <= COLLISION_RNG then\r\n    \r\n    --対象が左側なら右旋回+停止\r\n    if closestVehicleAzimuth > 0 then\r\n      I:RequestComplexControllerStimulus(2)\r\n      I:RequestComplexControllerStimulus(7)\r\n      \r\n    --対象が右側なら左旋回+停止\r\n    else \r\n      I:RequestComplexControllerStimulus(2)\r\n      I:RequestComplexControllerStimulus(3)\r\n      \r\n    end\r\n    \r\n    --回避した時間を記録して終了\r\n    AvoidLastTime = I:GetTimeSinceSpawn()\r\n    CollisionAvoidLastTime = I:GetTimeSinceSpawn()\r\n    return\r\n    \r\n  end\r\n  \r\n  \r\n  --検知しているすべてのミサイルに対し、脅威度を判定する\r\n  for i=0, I:GetNumberOfWarnings(0) -1, 1 do\r\n    \r\n    local missileInfo = I:GetMissileWarning(0, i)           --ミサイルの情報\r\n    local missileRange = missileInfo.Range                  --ミサイルの距離\r\n    local missileAzimuth = missileInfo.Azimuth              --ミサイルの水平方位\r\n    local missileVelocity = missileInfo.Velocity.magnitude  --ミサイルの速度\r\n    \r\n    --ミサイル脅威度を、速度、距離を基に判定\r\n    if missileVelocity > MISSILE_VLC_MIN \r\n      and missileRange <= MISSILE_RNG then\r\n      \r\n      --最も近いミサイルの距離と方位を記録\r\n      if missileRange < closestMissileRange then\r\n        closestMissileRange = missileRange\r\n        closestMissileAzimuth = missileAzimuth\r\n      end\r\n      \r\n    end\r\n    \r\n  end\r\n  \r\n  --脅威となるミサイルが存在する場合、ミサイルを回避する\r\n  if closestMissileRange <= MISSILE_RNG then\r\n    \r\n    --ミサイル回避方向を選択してから時間が経過している場合、回避方向を再選択する\r\n    if MissileAvoidLastTime == 0\r\n      or I:GetTimeSinceSpawn() > MissileAvoidLastTime + MISSILE_CNT_TIME then\r\n      \r\n      if (closestMissileAzimuth > -90 and closestMissileAzimuth < 0)\r\n        or closestMissileAzimuth > 90 then\r\n        --ミサイルが左前方または右後方なら、右旋回\r\n        MissileAvoidDirection = 7\r\n      else\r\n        --ミサイルが右前方または左後方なら、左旋回\r\n        MissileAvoidDirection = 3\r\n      end\r\n      \r\n      --回避方向を選択した時間を記録する\r\n      MissileAvoidLastTime = I:GetTimeSinceSpawn()\r\n      \r\n    end\r\n    \r\n    --ミサイルを回避する\r\n    I:RequestComplexControllerStimulus(MissileAvoidDirection)\r\n    \r\n    --回避した時間を記録して終了\r\n    AvoidLastTime = I:GetTimeSinceSpawn()\r\n    return\r\n    \r\n  end\r\n  \r\n  --衝突回避から一定時間が経過していない場合、旋回を停止する(衝突防止)\r\n  if CollisionAvoidLastTime ~= 0\r\n    and I:GetTimeSinceSpawn() <= CollisionAvoidLastTime + COLLISION_CNT_TIME then\r\n    \r\n    I:RequestComplexControllerStimulus(10)\r\n    \r\n  end\r\n  \r\nend\r\n\r\n\r\n--火器制御\r\nfunction WeaponControl(I)\r\n  \r\n  --ドッキング安全装置が有効な場合、ミサイル発射判定は行わない\r\n  if DockingSafety then\r\n    return\r\n  end\r\n  \r\n  --敵が存在しない場合、ミサイル発射判定は行わない\r\n  if I:GetNumberOfTargets(0) <= 0 then\r\n    return\r\n  end\r\n  \r\n  --AIがOFFの場合、ミサイル発射判定は行わない\r\n  if I:Component_GetIntLogic(26,0) == 0 then\r\n    return\r\n  end\r\n  \r\n  --回避中または回避から一定時間が経過していない場合、ミサイル発射判定は行わない\r\n  if AvoidLastTime ~= 0\r\n    and I:GetTimeSinceSpawn() <= AvoidLastTime + FIRE_DELAY_AVOID then\r\n    return\r\n  end\r\n  \r\n  local targetPosition = I:GetTargetInfo(0,0).Position              --対象の位置情報\r\n  local targetGroundDistance = getGroundDistance(I,targetPosition)  --対象の距離(高度を考慮しない)\r\n  local targetElevation = getElevation(I,targetPosition)            --対象の垂直方位\r\n  local targetAzimuth = getAzimuth(I,targetPosition)                --対象の水平方位\r\n  \r\n  --左ミサイル発射判定\r\n  if targetGroundDistance <= LEFT_RNG_MAX\r\n    and targetGroundDistance >= LEFT_RNG_MIN\r\n    and math.abs(targetElevation) <= LEFT_ELV\r\n    and math.abs(targetAzimuth) <= LEFT_AZM then\r\n    \r\n    --対象が指定範囲内の場合、左ミサイルを発射\r\n    I:RequestComplexControllerStimulus(4)\r\n    \r\n  end\r\n  \r\n  --右ミサイル発射判定\r\n  if targetGroundDistance <= RIGHT_RNG_MAX\r\n    and targetGroundDistance >= RIGHT_RNG_MIN\r\n    and math.abs(targetElevation) <= RIGHT_ELV\r\n    and math.abs(targetAzimuth) <= RIGHT_AZM then\r\n    \r\n    --対象が指定範囲内の場合、右ミサイルを発射\r\n    I:RequestComplexControllerStimulus(8)\r\n    \r\n  end\r\n  \r\nend\r\n\r\n\r\n--メイン\r\nfunction Update(I)\r\n  \r\n  --ドッキング制御\r\n  DockingControl(I)\r\n  \r\n  --高度制御\r\n  AltitudeControl(I)\r\n  \r\n  --回避制御\r\n  AvoidControl(I)\r\n  \r\n  --火器制御\r\n  WeaponControl(I)\r\n  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