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= false\n\nIsAvoidingMissile = \"T\"  \nIsAvoidingMissileUrgent = \"Y\"\nIsAvoidingMissilePanic = \"G\"\nGTFO = \"H\"\nTakeControl = \"U\" \nAntiCollide = \"I\"\nAntiCollideCritical = \"J\"\n\nPanicTti  = 0.45\nUrgentTti = 1.00\t\t\t\t\nWarnedTti = 1.50\t\nLastRunTime = 0\nAvoidanceRadius = 30\nAltMin = 60\nSpeedMin = 20\nMinAltitude = 50\nMaxAltitude = 600\nPredictTime = 0.5\n\nDebugControlOutputs = true\nExampleControlVal = \"K\"\n\n\nAvoidCollisionsFriendly = false\nAvoidCollisionsEnemy = true\nAvoidCollisionsRadius = 10\t\t-- reserved area around ourselves and other craft\nAvoidanceTurnRate = 20 \t\t\t-- how quickly we turn to avoid collisions.  High values may interfere with other behaviors\nAvoidanceTimeThreshold = 0.6\t\t-- Seconds Ahead to avoid collision\n\n\nfunction CallComplexControl(I, keyRequested)\n\n    --T G Y H U J I K O L up down left right\n\n    if keyRequested == nil then return end\n    if string.len(keyRequested) == 0 then return end\n\n    keyRequested = string.upper(keyRequested)\n\n    stim = 0\n    if     keyRequested == \"T\" then stim = 1 \n    elseif keyRequested == \"G\" then stim = 2 \n    elseif keyRequested == \"Y\" then stim = 3 \n    elseif keyRequested == \"H\" then stim = 4 \n    elseif keyRequested == \"U\" then stim = 5 \n    elseif keyRequested == \"J\" then stim = 6 \n    elseif keyRequested == \"I\" then stim = 7 \n    elseif keyRequested == \"K\" then stim = 8 \n    elseif keyRequested == \"O\" then stim = 9 \n    elseif keyRequested == \"L\" then stim = 10 \n    elseif keyRequested == \"UP\" then stim = 11 \n    elseif keyRequested == \"DOWN\" then stim = 12 \n    elseif keyRequested == \"LEFT\" then stim = 13 \n    elseif keyRequested == \"RIGHT\" then stim = 14 end\n\n    if stim > 0 then \n        I:RequestComplexControllerStimulus(stim) \n        if DebugControlOutputs then\n            I:Log(\"ComplexKey Output: \" .. keyRequested)\n        end\n    else\n        if DebugControlOutputs then\n            I:Log(\"Requested Output '\" .. keyRequested .. \"' not recognized\")\n        end\n    end\n\nend\n\n\nfunction GetNumberOfWarnings(I)      \n\t  if unexpected_condition then error() end   \n\t  return I:GetNumberOfWarnings()       \nend\n\nfunction GetMissileWarnings(I,ii)    \n\t  if unexpected_condition then error() end   \n\t  return I:GetMissileWarning(ii)\nend\n\n\nfunction Jink(I)\n\tI:Log(\"RunningJink\")\nI:Log(I:GetTime())\n\tFrameTime = I:GetTimeSinceSpawn() - LastRunTime\nI:Log(FrameTime)\nif FrameTime == 0 then return false end\n\n\tLastRunTime = I:GetTimeSinceSpawn()\n\n\n\tI:Log(LastRunTime)\nI:Log(\"Check\")\n\n\tif I:GetNumberOfTargets(0) > 0 then\n\n \t\ttargetPosInfoJink = I:GetTargetPositionInfo(0, 0)\n \t\ttargetAltitudeJink = targetPosInfo.AltitudeAboveSeaLevel\n\n\t\t\n\t\t\n\t\tif CurrPos == nil then \n\t\t\tPrevPos = I:GetConstructPosition()\n\t\t\t\n\t\telse \n\t\t\tPrevPos = CurrPos\n\t\t\t \n\t\tend\n\t\tCurrPos = I:GetConstructPosition()\n\n\n\t\t\n\t\tif CurrVel == nil then \n\t\t\tPrevVel = I:GetVelocityVector()\n\t\t\t\n\t\telse\n\t\t\tPrevVel = CurrVel\n\t\t\t\n\t\tend\n\n\t\tCurrVel = I:GetVelocityVector()\n\n\t\tAcc = (CurrVel - PrevVel) / FrameTime\nI:Log(string.format(\"Acc x:%.2f y:%.2f z:%.2f\", Acc.x, Acc.y, Acc.z))\n\n\t \ttargetPosJink = targetPosInfoJink.Position\n \t\ttargetDirJink = targetPosInfoJink.Direction\n\n\n\t\t worldDirection = CurrPos - targetPosJink\n\n\t\tif targetVelJink == nil then \nTargetPrevVel = targetPosInfoJink.Velocity\n\nelse\n\n\t\nTargetPrevVel = targetVelJink\n\t\t\t\nI:Log(string.format(\"TargetPrevVel x:%.2f y:%.2f z:%.2f\", TargetPrevVel.x, TargetPrevVel.y, TargetPrevVel.z))\n\nend\n\ntargetVelJink = targetPosInfoJink.Velocity\nI:Log(string.format(\"targetVel x:%.2f y:%.2f z:%.2f\", targetVel.x, targetVel.y, targetVel.z))\nTargetAcc = (targetVelJink - TargetPrevVel) / FrameTime\nI:Log(string.format(\"TargetAcc x:%.2f y:%.2f z:%.2f\", TargetAcc.x, TargetAcc.y, TargetAcc.z))\nTargetSpeedJink = targetVelJink.magnitude\n\t\t distance = worldDirection.magnitude\n\t\t targetDot = Vector3.Dot(targetVelJink/TargetSpeedJink, worldDirection/distance)\nTargetFuturePosition = targetPosJink + targetVelJink * PredictTime + 0.5 * TargetAcc * PredictTime ^2\nTargetFutureVel = targetVelJink + TargetAcc * PredictTime\n\n\n\t\tTargetFutureSpeed = TargetFutureVel.magnitude\n\n\t\tFuturePos_Euler = CurrPos + CurrVel * PredictTime + (Acc * PredictTime ^ 2 ) / 2\n\t\tFuturePos_Verlet = 2 * CurrPos - PrevPos + Acc * PredictTime ^ 2 \n\t\t\n\n\t\tFutureWorldDir = FuturePos_Verlet - TargetFuturePosition\n\t\tFutureDistance = FutureWorldDir.magnitude\n\n\n\t\tFutureTargetDot = Vector3.Dot(TargetFutureVel/TargetFutureSpeed, FutureWorldDir/FutureDistance)\n\n\n\n\t\t behind = targetDot < 0.25\n\t\t PointAtUs = (targetDot > 0.707) or (FutureTargetDot > 0.707)  \nI:Log(tostring(PointAtUs))\n\n\n\nif PointAtUs == true and TargetSpeedJink > SpeedMin then\n                 \n\t\t\tCallComplexControl(I, GTFO)\n                 \tI:Log(tostring(GTFO))\n                 \tI:Log(\"Jink\")\nI:LogToHud(\"Jinking\")\nend\nend\nend\n\n\nfunction AvoidCollisions(I)\n\n\tif AvoidCollisionsFsiendly == false and AvoidCollisionsEnemy == false then return false end --we do not avoid.\n\n\t--Collect some variables about myself.\n\tmyPos = I:GetConstructPosition()\n\tmyVel = I:GetVelocityVector()\n\tmySpeed = I:GetVelocityMagnitude()\n\tlocalTerrain = I:GetTerrainAltitudeForLocalPosition(0,0,0)\n\trealMinAlt = math.max(localTerrain + MinAltitude, MinAltitude)\n\tmyLowAlt = (MaxAltitude - realMinAlt)/4 + realMinAlt\n\tmyHiAlt =  MaxAltitude - (MaxAltitude - realMinAlt)/4\n\n\t--Create placeholders for craft we are about to inspect.\n\tnearestCollisionPos = Vector3(9999999,9999999,9999999)\n\tnearestTti = 9999999\n\tnearestDotTargetToMe = 0\n\tnearestDotMeToTarget = 0\n\tsource = 0\n\n\t--try and anticipate my future position along this path.\n\tmyFuturePos = I:GetConstructPosition() + (I:GetVelocityVector().normalized + I:GetVelocityVector().forward) * SpeedCurrent\n\n\t--parse a list of all friendlies and determine how likely we are to collide in the near future.\n\t--predictions are TTI based (comparing relative speed * DOT, since we don't know what direction everyone will turn in soon)\n\tif AvoidCollisionsFriendly and I:GetFriendlyCount() > 0 then\n\t\tfor ii=0,I:GetFriendlyCount()-1,1 do\n\t\t\n\t\t\ttargetPosInfo = I:GetFriendlyInfo(ii)\n\t\t\ttargetSizeVector = targetPosInfo.PositiveSize - targetPosInfo.NegativeSize\n\n\t\t\ttargetPos = targetPosInfo.CenterOfMass\n\t\t\ttargetVel = targetPosInfo.Velocity\n\n\t\t\tTargetDirection = myPos - targetPos\n\t\t\tMyDirection = targetPos - myPos\n\n\t\t\tdistance = (MyDirection.magnitude - AvoidCollisionsRadius) - targetSizeVector.magnitude\n\t\t\ttargetSpeed = targetVel.magnitude\n\t\t\t\n\t\t\ttargetDot = Vector3.Dot(targetVel.normalized, TargetDirection.normalized)\n\t\t\tmyDot = Vector3.Dot(myVel.normalized, MyDirection.normalized)\n\t\t\trelativeSpeed = (targetSpeed*targetDot + mySpeed*myDot)\n\t\t\tttiAC = 99999\n\t\t\t\n\t\t\tif relativeSpeed > 0 then ttiAC = distance / relativeSpeed end\n\t\t\t\n\t\t\tif ttiAC < nearestTti then --We record a new nearest collision threat.\n\t\t\t\tnearestCollisionPos = targetPos\n\t\t\t\tnearestTti = ttiAC\n\t\t\t\tnearestDotTargetToMe = targetDot\n\t\t\t\tnearestDotMeToTarget = myDot\n\t\t\t\tsource = 1\n\t\t\tend\n\n\t\tend\n\tend\n\t\n\t--Do the same, but now for enemies.\n\ttargetCount = I:GetNumberOfTargets(0)\n\tif AvoidCollisionsEnemy and targetCount > 0 then\n\t\tfor ii=0,targetCount-1,1 do\n\t\t\ttargetPosInfo = I:GetTargetPositionInfo(0, ii)\n\n\t\t\ttargetPos = targetPosInfo.Position\n\t\t\ttargetVel = targetPosInfo.Velocity\n\n\t\t\tTargetDirection = myPos - targetPos\n\t\t\tMyDirection = targetPos - myPos\n\n\t\t\tdistance = (MyDirection.magnitude - AvoidCollisionsRadius*2)\n\t\t\ttargetSpeed = targetVel.magnitude\n\t\t\t\n\t\t\ttargetDot = Vector3.Dot(targetVel.normalized, TargetDirection.normalized)\n\t\t\tmyDot = Vector3.Dot(myVel.normalized, MyDirection.normalized)\n\t\t\trelativeSpeed = (targetSpeed*targetDot + mySpeed*myDot)\n\t\t\tttiAC = 99999\n\n\t\t\tif relativeSpeed > 0 then ttiAC = distance / relativeSpeed end\n\n\t\t\tif ttiAC < nearestTti then --We record a new nearest collision threat.\n\t\t\t\tnearestCollisionPos = targetPos\n\t\t\t\tnearestTti = ttiAC\n\t\t\t\tnearestDotTargetToMe = targetDot\n\t\t\t\tnearestDotMeToTarget = myDot\n\t\t\t\tsource = 2\n\t\t\tend\n\n\t\tend\n\tend\n\n\t--now we know the most likely near future collision...\n\n\tif source == 0 or nearestTti > AvoidanceTimeThreshold or nearestCollisionPos == nil then return false end -- we found no targets worth avoiding\n\tif DebugAIMode == true and source > 0 then I:Log(string.format(\"Collision tti %.2f\", nearestTti)) end\n\n\tAvoidPosInfo = I:GetTargetPositionInfoForPosition(0, nearestCollisionPos.x,nearestCollisionPos.y,nearestCollisionPos.z)\n\n\t--if our imminent collision is less than 1/4 of our TTI threshold away, it's critical, so we will turn harder.\n\tif nearestTti < AvoidanceTimeThreshold/4 then ttiCritical = true end\n\n\tif ttiCritical then \n\t\tCallComplexControl(I, AntiCollideCritical)\n\n\tI:LogToHud(\"AvoidingCollision\")\n\t\t\n\tif DebugAIMode then\n\t\tI:Log(\"Avoiding Collision\")\n\tend\n\tif source == 1 or source == 2 then\n\t\treturn true --We're avoiding\n\telse\n\t\treturn false  --We're safe\n\tend\nend\nend \n\n\nfunction MissileAvoidance(I)\n\t\n\tmissileRan, NumberOfWarnings = pcall(GetNumberOfWarnings, I) \n\t\t\n\tif not missileRan then \n\t\n\t\tI:Log(\"Captured GetMissileWarnings Error: \" .. NumberOfWarnings)\n\t\n\treturn \n\tend\n\t\n\tif UseMissileAvoidance == false or NumberOfWarnings == 0 then return false end -- no dodge needed \n\t\n\tPanicMissilesFound = 0\n\tUrgentMissilesFound = 0\n\tWarnedMissilesFound = 0\n\t\n\tPanicMissilePos = {}\n\tUrgentMissilePos = {}\n\tWarnedMissilePos = {}\n\n\n\tmyPos = I:GetConstructPosition()\n\tmyVel = I:GetVelocityVector()\n\tmySpeed = I:GetVelocityMagnitude()\n\n\t\n\tfor ii=0,NumberOfWarnings-1,1 do\n\n\t\tmissileInfoRan, MissileInfo = pcall(GetMissileWarnings,I, ii) \n\t\t\n\t\tif not missileInfoRan  then\n\t\t\tI:Log(\"Captured GetMissileWarnings Error: \" .. MissileInfo)\n\t\tend\n\t\t\n\t\tif MissileInfo == nil then goto continue end\n\n\tif missileInfoRan then\n\t\t\tif MissileInfo.Valid then\n\t\t\t\t\n\t\t\t\ttargetPos = MissileInfo.Position\n\t\t\t\ttargetVel = MissileInfo.Velocity\n\t\t\t\t\n\t\t\t\tMissileDirection = myPos - targetPos\n\t\t\t\tMyDirection = targetPos - myPos\n\t\t\t\t\n\t\t\t\tdistance = MyDirection.magnitude - AvoidanceRadius\n\t\t\t\ttargetSpeed = targetVel.magnitude\n\t\t\t\t\n\t\t\t\ttargetDot = Vector3.Dot(targetVel.normalized, MissileDirection.normalized)\n\t\t\t\tmyDot = Vector3.Dot(myVel.normalized, MyDirection.normalized)\n\t\t\t\t\n\t\t\t\ttti = 99999\n\t\t\t\trelativeSpeed = (targetSpeed*targetDot + mySpeed*myDot)\n\t\t\t\t\n\t\t\t\tif relativeSpeed > 0 then tti = distance / relativeSpeed end\n\t\t\t\n\n\t\t\t\tif tti < PanicTti then\n\t\t\t\t\tPanicMissilesFound = PanicMissilesFound + 1\n\t\t\t\t\ttable.insert(PanicMissilePos, targetPos)\n\t\t\t\t\t\n\t\t\t\telseif tti < UrgentTti then\n\t\t\t\t\tUrgentMissilesFound = UrgentMissilesFound + 1\n\t\t\t\t\ttable.insert(UrgentMissilePos, targetPos)\n\t\t\t\t\t\n\t\t\t\telseif tti < WarnedTti then\n\t\t\t\t\tWarnedMissilesFound = WarnedMissilesFound + 1\n\t\t\t\t\ttable.insert(WarnedMissilePos, targetPos)\n\t\t\t\tend\n\t\t\t\t\n\t\t\tend\n\t\tend\n\t\t ::continue::\n\tend\n\n\tI:Log(string.format(\"MISSILES! Panic: %.0f  Urgent: %.0f Warned: %.0f Ignored: %.0f\", PanicMissilesFound, UrgentMissilesFound, WarnedMissilesFound, NumberOfWarnings - (UrgentMissilesFound + WarnedMissilesFound)))\n\t\t\t\n\tif PanicMissilesFound + WarnedMissilesFound + UrgentMissilesFound == 0 then return false end --no missiles need avoiding.\n\t\n\tI:LogToHud(string.format(\"MISSILES! Panic: %.0f  Urgent: %.0f Warned: %.0f Ignored: %.0f\", PanicMissilesFound, UrgentMissilesFound, WarnedMissilesFound, NumberOfWarnings - (UrgentMissilesFound + WarnedMissilesFound)))\n\n\t\t\n\tif PanicMissilesFound > 0 then\n\t\tCallComplexControl(I, IsAvoidingMissilePanic)\n\telseif UrgentMissilesFound > 0 then \n\t\tCallComplexControl(I, IsAvoidingMissileUrgent) \n\telseif WarnedMissilesFound > 0 then\n\t\tCallComplexControl(I, IsAvoidingMissile)\n\telse\n\tend\n\tI:Log(\"Avoiding Missile\")\n\t\n\n\n\treturn true -- we are dodging missiles\n\n\n\nend\n\n\nfunction SetCurrentValues(I)\n\t\n\t \n\n\tSpeedCurrent = I:GetVelocityMagnitude()\n\tAltitudeCurrent = math.min(I:GetConstructPosition().y, I:GetConstructPosition().y - I:GetTerrainAltitudeForLocalPosition(0,0,0))\nend\n\n\n\n\nfunction Update(I)\n\n    UpdateRan, UpdateError = pcall(SafeUpdate,I) \n    if not UpdateRan  then\n        I:ClearLogs()\n        I:Log(\"Error In Update(I): \" .. UpdateError)\n    end\nend\n\nfunction SafeUpdate(I)\n\tI:ClearLogs()\n\t\n\t--InitAI(I)\n\tSetCurrentValues(I)\n\t\n\tif MissileAvoidance(I) then return end\n\tif AvoidCollisions(I) then return end\n\tif Jink(I) then return end\n\t\nend\n"],"BlockStringDataIds":[45],"GameVersion":"3.2.9.7","PersistentSubObjectIndex":2,"PersistentBlockIndex":56,"AuthorDetails":{"Valid":true,"ForeignBlocks":1,"CreatorId":"c2a29816-cb33-4a48-b986-21ba93ad6c33","ObjectId":"a2b14996-bbda-4e01-bf3d-2910fee37297","CreatorReadableName":"EigenFunction","HashV1":"f8fcc53f8ffbf882715270e85350808a"},"BlockCount":575}}