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Generated from ZerothAngel's FtDScripts version 5256d3e9d296\r\n-- Modules: unifiedmissilemain, unifiedmissile, generalmissile, sign, deepcopy, round, getvectorangle, pronav, quadraticintercept, quadraticsolver, missiledriver, weapontypes, periodic, commons\r\n\r\n-- CONFIGURATION\r\n\r\n-- Generally these should match the settings on your Local Weapon Controller.\r\n-- It will prevent locking onto high-priority targets that are farther\r\n-- than your missiles' max range or re-locking onto targets your missiles\r\n-- can't hit (e.g. torpedoes re-locking onto air targets).\r\nLimits = {\r\n   MinRange = 0,\r\n   MaxRange = 650,\r\n   MinAltitude = -500,\r\n   MaxAltitude = 50,\r\n}\r\n-- Optional weapon slot to fire. If non-nil then an LWC is not needed.\r\n-- However, script-fired weapons aren't governed by failsafes, so keep\r\n-- that in mind...\r\n-- Missile controllers on turrets should be assigned the same weapon slot\r\n-- as their turret block.\r\nMissileWeaponSlot = 1\r\n\r\n-- Target selection algorithm for newly-launched missiles.\r\n-- 1 = Focus on highest priority target\r\n-- 2 = Pseudo-random split against all targetable targets\r\nMissileTargetSelector = 1\r\n\r\n-- NOTE: The following config is for sea-skimming \"pop-up\" missiles.\r\n-- There are more examples below it, including:\r\n--  Javelin-style top-attack\r\n--  Bottom-attack torpedoes\r\n--  Sea-skimming pop-under missiles\r\n\r\n-- Always be sure each setting ends with a comma!\r\n\r\nConfig = {\r\n   -- GENERAL SETTINGS\r\n\r\n   -- If the target's elevation (that is, altitude relative to the ground\r\n   -- it is over) is below this, use the special attack profile (closing,\r\n   -- special maneuver, etc.).\r\n   -- Note that the \"ground\" is capped at 0 (sea level), so keep this in\r\n   -- mind for submarine targets. Their elevation will always be negative.\r\n   -- If not using the special attack profile, it will intercept as normal.\r\n   -- Set to like -999 to disable the special attack profile.\r\n   -- Set it to like 9999 to always use the special attack profile.\r\n   SpecialAttackElevation = 10,\r\n\r\n   -- If the missile is ever below this altitude, it will head straight up.\r\n   -- Set to -500 or lower for torpedoes.\r\n   MinimumAltitude = 0,\r\n\r\n   -- Thrust to use in AA mode, may be nil.\r\n   DefaultThrust = nil,\r\n\r\n   -- Optional detonation range in meters -- to simulate a proximity fuse\r\n   -- Set to negative or nil to disable.\r\n   DetonationRange = nil,\r\n\r\n   -- If a detonation range is defined, and the angle between the missile\r\n   -- velocity and the target vector is greater than this, detonate.\r\n   -- This allows detonations on near misses, i.e. when the missile is\r\n   -- about to pass the aim point.\r\n   -- Set to 0 to base detonation solely on range.\r\n   DetonationAngle = 30,\r\n\r\n   -- Note: \"RelativeTo\" parameters should be one of\r\n   -- 0 - Absolute\r\n   -- 1 - Relative to target's altitude\r\n   -- 2 - Relative to target's sea depth\r\n   -- 3 - Relative to target's ground\r\n   -- 4 - Relative to missile's altitude\r\n\r\n   -- SPECIAL ATTACK PROFILE\r\n\r\n   -- The missile can have up to 3 phases: closing, special maneuver, terminal.\r\n   -- To disable the special maneuver phase, set SpecialManeuverDistance\r\n   -- to nil.\r\n\r\n   -- Distance to aim toward target when closing.\r\n   -- Smaller means it will reach closing elevation/altitude sooner,\r\n   -- but will need to make a steeper angle to do so.\r\n   ClosingDistance = 0,\r\n\r\n   -- Whether the closing phase takes place above or below sea level.\r\n   -- This affects terrain hugging.\r\n   ClosingAboveSeaLevel = true,\r\n\r\n   -- Minimum distance above terrain (or sea level).\r\n   ClosingElevation = 3,\r\n\r\n   -- Closing altitude. Set to nil to only hug terrain.\r\n   -- If set to a number, you should also set ClosingAltitudeRelativeTo.\r\n   ClosingAltitude = nil,\r\n\r\n   -- See the \"RelativeTo\" explanation above. Only used if ClosingAltitude\r\n   -- is a number and not nil.\r\n   ClosingAltitudeRelativeTo = 0,\r\n\r\n   -- Closing phase thrust setting for variable thrusters. nil to disable.\r\n   ClosingThrust = nil,\r\n\r\n   -- Maximum angle between target & missile velocity in degrees before\r\n   -- modifying thrust. nil to set thrust regardless of angle.\r\n   ClosingThrustAngle = nil,\r\n\r\n   -- \"Evasion\" settings while closing\r\n   -- This simply makes the missile move side-to-side in a pseudo-random\r\n   -- manner.\r\n   -- First number is magnitude of evasion in meters (to each side)\r\n   -- Second number is time scale, smaller is slower. <1 recommended.\r\n   -- Set whole thing to nil to disable, e.g. Evasion = nil\r\n   Evasion = { 20, .25 },\r\n\r\n   -- Ground distance from target at which to perform the special maneuver.\r\n   -- Set to nil to disable.\r\n   SpecialManeuverDistance = 250,\r\n\r\n   -- Whether the special maneuver phase takes place above or below sea level.\r\n   -- This affects terrain hugging.\r\n   SpecialManeuverAboveSeaLevel = true,\r\n\r\n   -- Minimum distance above terrain (or sea level)\r\n   SpecialManeuverElevation = 3,\r\n\r\n   -- Special maneuver altitude. Set to nil to only hug terrain.\r\n   SpecialManeuverAltitude = 30,\r\n\r\n   -- See the \"RelativeTo\" explanation above. Only used if\r\n   -- SpecialManeuverAltitude is a number and not nil.\r\n   SpecialManeuverAltitudeRelativeTo = 3,\r\n\r\n   -- Special maneuver phase thrust setting for variable thrusters.\r\n   -- nil to disable.\r\n   SpecialManeuverThrust = nil,\r\n\r\n   -- Maximum angle between target & missile velocity in degrees before\r\n   -- modifying thrust. nil to set thrust regardless of angle.\r\n   SpecialManeuverThrustAngle = nil,\r\n\r\n   -- Ground distance from target for terminal phase. During this phase,\r\n   -- it will intercept the target as normal, i.e. aim straight for the\r\n   -- predicted aim point.\r\n   TerminalDistance = 100,\r\n\r\n   -- Terminal phase thrust setting for variable thrusters. nil to disable.\r\n   TerminalThrust = nil,\r\n\r\n   -- Maximum angle between target & missile velocity in degrees before\r\n   -- modifying thrust. nil to set thrust regardless of angle.\r\n   TerminalThrustAngle = nil,\r\n\r\n   -- TERRAIN HUGGING\r\n\r\n   -- How many seconds at current speed to look-ahead\r\n   LookAheadTime = 2,\r\n\r\n   -- Look-ahead resolution in meters. The smaller it is, the more samples\r\n   -- will be taken (and more processing...)\r\n   -- Set to 0 to disable terrain hugging, in which case the \"ground\"\r\n   -- will always be assumed to be -500 or 0 (depending on the related\r\n   -- sea level setting)\r\n   LookAheadResolution = 3,\r\n}\r\n\r\n-- Javelin-style top-attack profile\r\n-- Change \"JavelinConfig\" to simply \"Config\" to overwrite the\r\n-- above settings.\r\nJavelinConfig = {\r\n   SpecialAttackElevation = 10,\r\n   MinimumAltitude = 0,\r\n   DefaultThrust = nil,\r\n   DetonationRange = nil,\r\n   DetonationAngle = 30,\r\n   ClosingDistance = 50,\r\n   ClosingAboveSeaLevel = true,\r\n   ClosingElevation = 3,\r\n   ClosingAltitude = 100,\r\n   ClosingAltitudeRelativeTo = 3, -- i.e. relative to target's ground\r\n   ClosingThrust = nil,\r\n   ClosingThrustAngle = nil,\r\n   Evasion = { 20, .25 },\r\n   SpecialManeuverDistance = nil, -- No special maneuver phase\r\n   SpecialManeuverAboveSeaLevel = true,\r\n   SpecialManeuverElevation = 3,\r\n   SpecialManeuverAltitude = 30,\r\n   SpecialManeuverAltitudeRelativeTo = 3,\r\n   SpecialManeuverThrust = nil,\r\n   SpecialManeuverThrustAngle = nil,\r\n   TerminalDistance = 150,\r\n   TerminalThrust = nil,\r\n   TerminalThrustAngle = nil,\r\n   LookAheadTime = 2,\r\n   LookAheadResolution = 0, -- No need to look at terrain\r\n}\r\n\r\n-- Bottom-attack torpedoes\r\n-- Change \"TorpedoConfig\" to simply \"Config\" to overwrite the\r\n-- above settings.\r\nTorpedoConfig = {\r\n   SpecialAttackElevation = 9999, -- Always use special attack profile\r\n   MinimumAltitude = -500,\r\n   DefaultThrust = nil,\r\n   DetonationRange = nil,\r\n   DetonationAngle = 30,\r\n   ClosingDistance = 50,\r\n   ClosingAboveSeaLevel = false,\r\n   ClosingElevation = 10, -- i.e. Minimum altitude above seabed\r\n   ClosingAltitude = -150,\r\n   ClosingAltitudeRelativeTo = 2, -- i.e. relative to target's depth, which is never more than 0\r\n   ClosingThrust = nil,\r\n   ClosingThrustAngle = nil,\r\n   Evasion = nil,\r\n   SpecialManeuverDistance = nil, -- No special maneuver phase\r\n   SpecialManeuverAboveSeaLevel = true,\r\n   SpecialManeuverElevation = 3,\r\n   SpecialManeuverAltitude = 30,\r\n   SpecialManeuverAltitudeRelativeTo = 3,\r\n   SpecialManeuverThrust = nil,\r\n   SpecialManeuverThrustAngle = nil,\r\n   TerminalDistance = 175,\r\n   TerminalThrust = nil,\r\n   TerminalThrustAngle = nil,\r\n   LookAheadTime = 2,\r\n   LookAheadResolution = 3,\r\n}\r\n\r\n-- Sea-skimming pop-under missiles\r\n-- Change \"PopUnderConfig\" to simply \"Config\" to overwrite the\r\n-- above settings.\r\n-- Needs a lot of experimentation, but the following settings\r\n-- work for me using 6-block missiles: Fin x3, Var thruster (300 thrust),\r\n-- Torpedo prop, Fuel x2, Lua receiver, Warhead x4.\r\nPopUnderConfig = {\r\n   SpecialAttackElevation = 10,\r\n   MinimumAltitude = -50, -- Should be lower than SpecialManeuverAltitude\r\n   DefaultThrust = nil,\r\n   DetonationRange = nil,\r\n   DetonationAngle = 30,\r\n   ClosingDistance = 50,\r\n   ClosingAboveSeaLevel = true,\r\n   ClosingElevation = 3,\r\n   ClosingAltitude = nil,\r\n   ClosingAltitudeRelativeTo = 0,\r\n   ClosingThrust = nil,\r\n   ClosingThrustAngle = nil,\r\n   Evasion = { 20, .25 },\r\n   SpecialManeuverDistance = 110,\r\n   SpecialManeuverAboveSeaLevel = false,\r\n   SpecialManeuverElevation = 10,\r\n   SpecialManeuverAltitude = -25,\r\n   SpecialManeuverAltitudeRelativeTo = 2, -- i.e. 25 meters below target's depth\r\n   SpecialManeuverThrust = nil,\r\n   SpecialManeuverThrustAngle = nil,\r\n   TerminalDistance = 50,\r\n   TerminalThrust = nil,\r\n   TerminalThrustAngle = nil,\r\n   LookAheadTime = 2,\r\n   LookAheadResolution = 3,\r\n}\r\n\r\n-- MISSILE DRIVER SETTINGS\r\n\r\n-- Detonate after this many seconds of being out of combat.\r\n-- Set to some large number (e.g. 999) to disable.\r\nDetonateAfter = 10\r\n\r\n-- Reset/clear the transceiver cache every so often.\r\n-- Set to some large number (e.g. 9999) to disable.\r\n-- This is mainly important for any scripts that use GetLuaTransceiverInfo\r\n-- to select a guidance instance, such as dualprofile. This is because\r\n-- damage may knock out a launchpad (which is what is normally returned)\r\n-- and instead return the transceiver BlockInfo, which may ultimately lead\r\n-- to a different selection.\r\nTransceiverResetInterval = 5\r\n\r\n-- COMMONS SETTINGS\r\n\r\nCommons = {\r\n   -- Preferred mainframe indexes for target priority.\r\n   -- Once a mainframe is successfully queried, the rest are ignored.\r\n   -- First mainframe (in \"C\" screen) = 0, 2nd = 1, etc.\r\n   -- The last one in the list should always be 0.\r\n   -- For example, to query the 2nd, 3rd, and 1st (in that order), set\r\n   -- to { 1, 2, 0 }\r\n   PreferredTargetMainframes = { 0 },\r\n\r\n   -- Maximum range for an enemy to still be considered a threat.\r\n   MaxEnemyRange = 10000,\r\n}\r\n\r\n-- WEAPON TYPES (don't change)\r\n\r\n-- luacheck: push ignore 131\r\nCANNON = 0\r\nMISSILE = 1\r\nLASER = 2\r\nHARPOON = 3\r\nTURRET = 4\r\nMISSILECONTROL = 5\r\nFIRECONTROLCOMPUTER = 6\r\n-- luacheck: pop\r\n\r\n-- MISCELLANEOUS\r\n\r\n-- The update rate, i.e. run every UpdateRate calls to Update method.\r\n-- Set to 1 to update every call.\r\n-- Setting to e.g. 10 means to run every 10th call.\r\n-- Smaller means more responsive, but also means more processor usage.\r\nUpdateRate = 4\r\n\r\n-- !!! CODE BEGINS HERE, EDIT AT YOUR OWN RISK !!!\r\n\r\n-- Commons module\r\n\r\n-- The one global that holds the Commons instance.\r\n-- A new instance MUST be instantiated every update.\r\nC = nil\r\n\r\n-- Presumably, calling a Lua binding is slow, especially methods\r\n-- that return tables. Only call API when we need something and cache\r\n-- the result for the lifetime of the instance.\r\nfunction Commons.create(I, AttackSalvage)\r\n   local self = {}\r\n\r\n   self.I = I\r\n   self.AttackSalvage = AttackSalvage\r\n\r\n   -- Can't implement \"properties\" because no metatable\r\n   -- Since everything is read-only anyway, we'll just implement\r\n   -- everything as lazy-init instance getters.\r\n\r\n   -- Time\r\n   self.Now = Commons.Now\r\n\r\n   -- Miscellaneous\r\n   self.IsDocked = Commons.IsDocked\r\n\r\n   -- Position and attitude\r\n   self.Position = Commons.Position\r\n   self.CoM = Commons.CoM\r\n   self.Altitude = Commons.Altitude\r\n   self.Yaw = Commons.Yaw\r\n   self.Pitch = Commons.Pitch\r\n   self.Roll = Commons.Roll\r\n\r\n   -- Velocity\r\n   self.Velocity = Commons.Velocity\r\n   self.ForwardSpeed = Commons.ForwardSpeed\r\n\r\n   -- Orientation\r\n   self.ForwardVector = Commons.ForwardVector\r\n   self.UpVector = Commons.UpVector\r\n   self.RightVector = Commons.RightVector\r\n   self.ToGlobal = Commons.ToGlobal\r\n   self.ToLocal = Commons.ToLocal\r\n\r\n   -- Weapon controllers\r\n   self.HullWeaponControllers = Commons.HullWeaponControllers\r\n   self.TurretWeaponControllers = Commons.TurretWeaponControllers\r\n   self.WeaponControllers = Commons.WeaponControllers\r\n\r\n   -- Targets\r\n   self.GatherTargets = Commons.GatherTargets -- Private\r\n   self.FirstTarget = Commons.FirstTarget\r\n   self.Targets = Commons.Targets\r\n\r\n   -- Maybe friendlies too...?\r\n\r\n   return self\r\nend\r\n\r\nfunction Commons:Now()\r\n   if not self._Now then\r\n      self._Now = self.I:GetTimeSinceSpawn()\r\n   end\r\n   return self._Now\r\nend\r\n\r\nfunction Commons:IsDocked()\r\n   if not self._IsDocked then\r\n      self._IsDocked = self.I:IsDocked()\r\n   end\r\n   return self._IsDocked\r\nend\r\n\r\nfunction Commons:Position()\r\n   if not self._Position then\r\n      self._Position = self.I:GetConstructPosition()\r\n   end\r\n   return self._Position\r\nend\r\n\r\nfunction Commons:CoM()\r\n   if not self._CoM then\r\n      self._CoM = self.I:GetConstructCenterOfMass()\r\n   end\r\n   return self._CoM\r\nend\r\n\r\nfunction Commons:Altitude()\r\n   return self:CoM().y\r\nend\r\n\r\nfunction Commons:Yaw()\r\n   if not self._Yaw then\r\n      self._Yaw = self.I:GetConstructYaw()\r\n   end\r\n   return self._Yaw\r\nend\r\n\r\nfunction Commons:Pitch()\r\n   if not self._Pitch then\r\n      local Pitch = self.I:GetConstructPitch()\r\n      if Pitch > 180 then\r\n         Pitch = 360 - Pitch\r\n      else\r\n         Pitch = -Pitch\r\n      end\r\n      self._Pitch = Pitch\r\n   end\r\n   return self._Pitch\r\nend\r\n\r\nfunction Commons:Roll()\r\n   if not self._Roll then\r\n      local Roll = self.I:GetConstructRoll()\r\n      if Roll > 180 then\r\n         Roll = Roll - 360\r\n      end\r\n      self._Roll = Roll\r\n   end\r\n   return self._Roll\r\nend\r\n\r\nfunction Commons:Velocity()\r\n   if not self._Velocity then\r\n      self._Velocity = self.I:GetVelocityVector()\r\n   end\r\n   return self._Velocity\r\nend\r\n\r\nfunction Commons:ForwardSpeed()\r\n   if not self._ForwardSpeed then\r\n      self._ForwardSpeed = self.I:GetForwardsVelocityMagnitude()\r\n   end\r\n   return self._ForwardSpeed\r\nend\r\n\r\nfunction Commons:ForwardVector()\r\n   if not self._ForwardVector then\r\n      self._ForwardVector = self.I:GetConstructForwardVector()\r\n   end\r\n   return self._ForwardVector\r\nend\r\n\r\nfunction Commons:UpVector()\r\n   if not self._UpVector then\r\n      self._UpVector = self.I:GetConstructUpVector()\r\n   end\r\n   return self._UpVector\r\nend\r\n\r\nfunction Commons:RightVector()\r\n   if not self._RightVector then\r\n      self._RightVector = self.I:GetConstructRightVector()\r\n   end\r\n   return self._RightVector\r\nend\r\n\r\nfunction Commons:ToGlobal()\r\n   if not self._ToGlobal then\r\n      self._ToGlobal = Quaternion.LookRotation(self:ForwardVector(), self:UpVector())\r\n   end\r\n   return self._ToGlobal\r\nend\r\n\r\nfunction Commons:ToLocal()\r\n   if not self._ToLocal then\r\n      self._ToLocal = Quaternion.Inverse(self:ToGlobal())\r\n   end\r\n   return self._ToLocal\r\nend\r\n\r\nfunction Commons.AddWeapon(Weapons, WeaponInfo, TurretIndex, WeaponIndex)\r\n   local Weapon = {\r\n      Index = WeaponIndex,\r\n      TurretIndex = TurretIndex,\r\n      Type = WeaponInfo.WeaponType,\r\n      Slot = WeaponInfo.WeaponSlot,\r\n      Position = WeaponInfo.GlobalPosition,\r\n      Speed = WeaponInfo.Speed,\r\n      PlayerControl = WeaponInfo.PlayerCurrentlyControllingIt,\r\n   }\r\n   table.insert(Weapons, Weapon)\r\nend\r\n\r\nfunction Commons:HullWeaponControllers()\r\n   if not self._HullWeaponControllers then\r\n      local Weapons = {}\r\n      for windex = 0,self.I:GetWeaponCount()-1 do\r\n         local Info = self.I:GetWeaponInfo(windex)\r\n         Commons.AddWeapon(Weapons, Info, nil, windex)\r\n      end\r\n      self._HullWeaponControllers = Weapons\r\n   end\r\n   return self._HullWeaponControllers\r\nend\r\n\r\nfunction Commons:TurretWeaponControllers()\r\n   if not self._TurretWeaponControllers then\r\n      local Weapons = {}\r\n      for tindex = 0,self.I:GetTurretSpinnerCount()-1 do\r\n         for windex = 0,self.I:GetWeaponCountOnTurretOrSpinner(tindex)-1 do\r\n            local Info = self.I:GetWeaponInfoOnTurretOrSpinner(tindex, windex)\r\n            Commons.AddWeapon(Weapons, Info, tindex, windex)\r\n         end\r\n      end\r\n      self._TurretWeaponControllers = Weapons\r\n   end\r\n   return self._TurretWeaponControllers\r\nend\r\n\r\nfunction Commons:WeaponControllers()\r\n   if not self._WeaponControllers then\r\n      local Weapons = {}\r\n      for _,Weapon in pairs(self:HullWeaponControllers()) do\r\n         table.insert(Weapons, Weapon)\r\n      end\r\n      for _,Weapon in pairs(self:TurretWeaponControllers()) do\r\n         table.insert(Weapons, Weapon)\r\n      end\r\n      self._WeaponControllers = Weapons\r\n   end\r\n   return self._WeaponControllers\r\nend\r\n\r\nfunction Commons.ConvertTarget(Index, TargetInfo, Offset, Range)\r\n   local Target = {\r\n      Id = TargetInfo.Id,\r\n      Index = Index,\r\n      Position = TargetInfo.Position,\r\n      Offset = Offset,\r\n      Range = Range,\r\n      SqrRange = Range * Range,\r\n      AimPoint = TargetInfo.AimPointPosition,\r\n      Velocity = TargetInfo.Velocity,\r\n   }\r\n   return Target\r\nend\r\n\r\nfunction Commons:GatherTargets(Targets, StartIndex, MaxTargets)\r\n   local CoM = self:CoM()\r\n   local AttackSalvage = self.AttackSalvage\r\n   -- Query mainframes in the preferred order\r\n   for _,mindex in pairs(Commons.PreferredTargetMainframes) do\r\n      local TargetCount = self.I:GetNumberOfTargets(mindex)\r\n      if TargetCount > 0 then\r\n         if not StartIndex then StartIndex = 0 end\r\n         if not MaxTargets then MaxTargets = math.huge end\r\n         for tindex = StartIndex,TargetCount-1 do\r\n            if #Targets >= MaxTargets then break end\r\n            local TargetInfo = self.I:GetTargetInfo(mindex, tindex)\r\n            -- Will probably never not be valid, but eh, check anyway\r\n            if TargetInfo.Valid and (TargetInfo.Protected or AttackSalvage) then\r\n               local Offset = TargetInfo.Position - CoM\r\n               local Range = Offset.magnitude\r\n               if Range <= Commons.MaxEnemyRange then\r\n                  table.insert(Targets, Commons.ConvertTarget(tindex, TargetInfo, Offset, Range))\r\n               end\r\n            end\r\n         end\r\n         -- Whether or not we actually added new targets, we have a definitive\r\n         -- answer.\r\n         -- All AIs see the same targets, so stop after one has been\r\n         -- successfully queried.\r\n         -- Note can't distinguish between non-existant mainframe\r\n         -- and no targets.\r\n         break\r\n      end\r\n   end\r\nend\r\n\r\nfunction Commons:FirstTarget()\r\n   if not self._FirstTarget then\r\n      -- Did we already gather all targets?\r\n      if self._Targets then\r\n         -- Use first one\r\n         local Target = self._Targets[1]\r\n         self._FirstTarget = Target and { Target } or {}\r\n      else\r\n         -- Just fetch first target, if any\r\n         local Targets = {}\r\n         self:GatherTargets(Targets, 0, 1)\r\n         self._FirstTarget = Targets\r\n      end\r\n   end\r\n   -- Note self._FirstTarget is a table of at most size 1, which allows it\r\n   -- to be distinguished between uninitialized and no target.\r\n   return self._FirstTarget[1]\r\nend\r\n\r\nfunction Commons:Targets()\r\n   if not self._Targets then\r\n      local Targets = {}\r\n      -- Do we have a first target already?\r\n      if self._FirstTarget then\r\n         local Target = self._FirstTarget[1]\r\n         if not Target then\r\n            -- First target was already set, but there is no target.\r\n            -- Definitely no more beyond that.\r\n            self._Targets = {}\r\n            return self._Targets\r\n         end\r\n         -- Copy the first target\r\n         table.insert(Targets, Target)\r\n         -- And continue off after first target\r\n         self:GatherTargets(Targets, Target.Index+1)\r\n      else\r\n         -- Gather from start\r\n         self:GatherTargets(Targets, 0)\r\n      end\r\n      self._Targets = Targets\r\n   end\r\n   return self._Targets\r\nend\r\n\r\n-- Periodic implementation\r\nPeriodic = {}\r\n\r\nfunction Periodic.create(Period, Function, Start)\r\n   local self = {}\r\n\r\n   self.Ticks = Start and Start or Period\r\n   self.Period = Period\r\n   self.Function = Function\r\n\r\n   if Period then\r\n      self.Tick = Periodic.Tick\r\n   else\r\n      -- If Period is nil, Tick does nothing\r\n      self.Tick = function (_, _) end\r\n   end\r\n\r\n   return self\r\nend\r\n\r\nfunction Periodic:Tick(I)\r\n   local Ticks = self.Ticks\r\n   Ticks = Ticks + 1\r\n   if Ticks >= self.Period then\r\n      self.Ticks = 0\r\n      self.Function(I)\r\n   else\r\n      self.Ticks = Ticks\r\n   end\r\nend\r\n\r\n-- MissileDriver module\r\nLastTransceiverCount = 0\r\nTransceiverGuidances = {}\r\nLastTransceiverResetTime = 0\r\nMissileStates = {}\r\nLastTimeTargetSeen = nil\r\n\r\nfunction MissileDriver_GatherTargets(GuidanceInfos)\r\n   local TargetsByPriority = {}\r\n   local TargetsById = {}\r\n\r\n   -- Augment target info\r\n   local Targets = C:Targets()\r\n   for _,Target in pairs(Targets) do\r\n      local CanTarget = {}\r\n      local InRange = {}\r\n      local Altitude = Target.Position.y\r\n      local Range = Target.SqrRange\r\n      for _,GuidanceInfo in pairs(GuidanceInfos) do\r\n         table.insert(CanTarget, Altitude >= GuidanceInfo.MinAltitude and Altitude <= GuidanceInfo.MaxAltitude)\r\n         table.insert(InRange, Range >= GuidanceInfo.MinRange and Range <= GuidanceInfo.MaxRange)\r\n      end\r\n      Target.CanTarget = CanTarget\r\n      Target.InRange = InRange\r\n      table.insert(TargetsByPriority, Target)\r\n      TargetsById[Target.Id] = Target\r\n   end\r\n\r\n   return TargetsByPriority, TargetsById\r\nend\r\n\r\nfunction MissileDriver_FireControl(I, GuidanceInfos, TargetsByPriority)\r\n   local SlotsToFire = {}\r\n   local Fire = false\r\n   for i = 1,#GuidanceInfos do\r\n      local Guidance = GuidanceInfos[i]\r\n      local WeaponSlot = Guidance.WeaponSlot\r\n      if WeaponSlot then\r\n         for _,Target in pairs(TargetsByPriority) do\r\n            -- Range isn't all that accurate since it's range from Position, not turret/controller, but eh...\r\n            if Target.CanTarget[i] and Target.InRange[i] then\r\n               -- Respect priority and don't bother with leading the target\r\n               if not SlotsToFire[WeaponSlot] then\r\n                  SlotsToFire[WeaponSlot] = Target.AimPoint\r\n                  Fire = true\r\n               end\r\n               break -- No need to check more targets\r\n            end\r\n         end\r\n      end\r\n   end\r\n\r\n   -- Only bother if there are slots to fire\r\n   if Fire then\r\n      for _,Weapon in pairs(C:HullWeaponControllers()) do\r\n         local WeaponSlot = Weapon.Slot\r\n         local AimPoint = SlotsToFire[WeaponSlot]\r\n         if AimPoint and not Weapon.PlayerControl then\r\n            local WeaponType = Weapon.Type\r\n            -- Top-level turrets and missile controllers only\r\n            if WeaponType == TURRET or WeaponType == MISSILECONTROL then\r\n               -- Relative to weapon position\r\n               local Offset = AimPoint - Weapon.Position\r\n               if I:AimWeaponInDirection(Weapon.Index, Offset.x, Offset.y, Offset.z, WeaponSlot) > 0 then\r\n                  I:FireWeapon(Weapon.Index, WeaponSlot)\r\n               end\r\n            end\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\n-- Target selection functions. Return the selected target (from Targets\r\n-- table) or nil. Targets will be pre-filtered and ordered by priority.\r\nMissileDriver_TargetSelectors = {\r\n   -- Highest priority target\r\n   function (I, TransceiverIndex, MissileIndex, Targets) -- luacheck: ignore 212\r\n      return Targets[1]\r\n   end,\r\n\r\n   -- Split based on TransceiverIndex and MissileIndex\r\n   function (I, TransceiverIndex, MissileIndex, Targets) -- luacheck: ignore 212\r\n      if #Targets > 0 then\r\n         -- Multiply both indices by prime numbers, take modulo\r\n         return Targets[1 + (TransceiverIndex * 1009 + MissileIndex * 1013) % #Targets]\r\n      else\r\n         return nil\r\n      end\r\n   end\r\n}\r\n\r\nfunction MissileDriver_Update(I, GuidanceInfos, SelectGuidance)\r\n   local Now = C:Now()\r\n   local TargetsByPriority, TargetsById = MissileDriver_GatherTargets(GuidanceInfos)\r\n   if #TargetsByPriority > 0 then\r\n      LastTimeTargetSeen = Now\r\n\r\n      if I.AIMode ~= \"off\" then\r\n         MissileDriver_FireControl(I, GuidanceInfos, TargetsByPriority)\r\n      end\r\n\r\n      local TransceiverCount = I:GetLuaTransceiverCount()\r\n      if TransceiverCount ~= LastTransceiverCount or (LastTransceiverResetTime+TransceiverResetInterval) < Now then\r\n         -- Reset cached guidances if transceiver count changed\r\n         -- (most likely due to damage or repair or timer timed out)\r\n         TransceiverGuidances = {}\r\n         LastTransceiverCount = TransceiverCount\r\n         LastTransceiverResetTime = Now\r\n      end\r\n\r\n      -- Missiles that are currently active are saved here. Then the old\r\n      -- table is overwritten.\r\n      local NewMissileStates = {}\r\n\r\n      -- We want to group missiles up by target so SetTarget methods are only\r\n      -- called once per target. This is done here.\r\n      local GuidanceQueue = {}\r\n\r\n      -- Filtered targets (in priority order) for each guidance type.\r\n      local FilteredTargetsByGuidance = {}\r\n\r\n      for tindex = 0,TransceiverCount-1 do\r\n         local GuidanceIndex = TransceiverGuidances[tindex]\r\n         if not GuidanceIndex then\r\n            -- Select guidance and cache it\r\n            GuidanceIndex = SelectGuidance(I, tindex)\r\n            TransceiverGuidances[tindex] = GuidanceIndex\r\n         end\r\n\r\n         local TargetSelector = MissileDriver_TargetSelectors[GuidanceInfos[GuidanceIndex].TargetSelector]\r\n\r\n         for mindex = 0,I:GetLuaControlledMissileCount(tindex)-1 do\r\n            local Missile = I:GetLuaControlledMissileInfo(tindex, mindex)\r\n            if Missile.Valid then\r\n               local MissileId = Missile.Id\r\n               local MissileState = MissileStates[MissileId]\r\n               if not MissileState then MissileState = {} end\r\n               local MissileTargetId = MissileState.TargetId\r\n               if not MissileTargetId then\r\n                  local FilteredTargets = FilteredTargetsByGuidance[GuidanceIndex]\r\n                  if not FilteredTargets then\r\n                     -- Filter prioritized targets and save.\r\n                     FilteredTargets = {}\r\n                     for _,Target in pairs(TargetsByPriority) do\r\n                        if Target.CanTarget[GuidanceIndex] and Target.InRange[GuidanceIndex] then\r\n                           table.insert(FilteredTargets, Target)\r\n                        end\r\n                     end\r\n                     FilteredTargetsByGuidance[GuidanceIndex] = FilteredTargets\r\n                  end\r\n\r\n                  -- Select target for this missile\r\n                  local Target = TargetSelector(I, tindex, mindex, FilteredTargets)\r\n                  if Target then\r\n                     MissileTargetId = Target.Id\r\n                     MissileState.TargetId = MissileTargetId\r\n                     NewMissileStates[MissileId] = MissileState\r\n                  end\r\n               end\r\n\r\n               local Target = nil\r\n\r\n               -- Now check if the target is still around\r\n               if MissileTargetId then\r\n                  Target = TargetsById[MissileTargetId]\r\n                  if not Target then\r\n                     -- Saved target is gone, select closest target that\r\n                     -- this missile can target\r\n                     local MissilePosition = Missile.Position\r\n                     local ClosestDistance = math.huge -- Actually squared\r\n                     for _,T in pairs(TargetsByPriority) do\r\n                        if T.CanTarget[GuidanceIndex] then\r\n                           local Offset = T.Position - MissilePosition\r\n                           local Distance = Offset.sqrMagnitude\r\n\r\n                           if Distance < ClosestDistance then\r\n                              MissileTargetId = T.Id\r\n                              MissileState.TargetId = MissileTargetId\r\n                              NewMissileStates[MissileId] = MissileState\r\n                              Target = T\r\n\r\n                              ClosestDistance = Distance\r\n                           end\r\n                        end\r\n                     end\r\n                  else\r\n                     -- Save for next update\r\n                     NewMissileStates[MissileId] = MissileState\r\n                  end\r\n               end\r\n\r\n               if Target then\r\n                  -- Add queue entry to guide this missile to its target (once all\r\n                  -- missiles have been checked)\r\n                  local QueueMissiles = GuidanceQueue[Target.Id]\r\n                  if not QueueMissiles then\r\n                     -- First time we've queued up for this target this update\r\n                     QueueMissiles = {}\r\n                     GuidanceQueue[Target.Id] = QueueMissiles\r\n                  end\r\n                  local QueueMissile = {\r\n                     TransceiverIndex = tindex,\r\n                     MissileIndex = mindex,\r\n                     GuidanceIndex = GuidanceIndex,\r\n                     Missile = Missile,\r\n                     MissileState = MissileState,\r\n                  }\r\n                  table.insert(QueueMissiles, QueueMissile)\r\n               end\r\n            end\r\n         end\r\n      end\r\n\r\n      -- Process guidance queue\r\n      for TargetId,QueueMissiles in pairs(GuidanceQueue) do\r\n         local Target = TargetsById[TargetId]\r\n         local TargetPosition,TargetAimPoint,TargetVelocity = Target.Position,Target.AimPoint,Target.Velocity\r\n\r\n         -- First call each controller's SetTarget method\r\n         for _,GuidanceInfo in pairs(GuidanceInfos) do\r\n            GuidanceInfo.Controller:SetTarget(I, TargetPosition, TargetAimPoint, TargetVelocity)\r\n         end\r\n\r\n         -- Now Guide each missile for this target\r\n         for _,QueueMissile in pairs(QueueMissiles) do\r\n            local Guidance = GuidanceInfos[QueueMissile.GuidanceIndex]\r\n            local tindex,mindex = QueueMissile.TransceiverIndex,QueueMissile.MissileIndex\r\n            local AimPoint = Guidance.Controller:Guide(I, tindex, mindex, TargetPosition, TargetAimPoint, TargetVelocity, QueueMissile.Missile, QueueMissile.MissileState)\r\n\r\n            I:SetLuaControlledMissileAimPoint(tindex, mindex, AimPoint.x, AimPoint.y, AimPoint.z)\r\n         end\r\n      end\r\n\r\n      -- Overwrite old states with newly-saved states. Gets rid of\r\n      -- dead missiles.\r\n      MissileStates = NewMissileStates\r\n   elseif LastTimeTargetSeen and (LastTimeTargetSeen+DetonateAfter) < Now then\r\n      LastTimeTargetSeen = nil\r\n\r\n      -- Detonate all missiles\r\n      for tindex = 0,I:GetLuaTransceiverCount()-1 do\r\n         for mindex = 0,I:GetLuaControlledMissileCount(tindex)-1 do\r\n            I:DetonateLuaControlledMissile(tindex, mindex)\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\n-- Returns solution(s) to a quadratic equation in table form.\r\n-- Table will be empty if solutions are imaginary or invalid.\r\nfunction QuadraticSolver(a, b, c)\r\n   if a == 0 then\r\n      -- Actually linear\r\n      if b ~= 0 then\r\n         return { -c / b }\r\n      else\r\n         return {} -- Division by zero...\r\n      end\r\n   else\r\n      -- Discriminant\r\n      local disc = b * b - 4 * a * c\r\n      if disc < 0 then\r\n         return {} -- Imaginary\r\n      elseif disc == 0 then\r\n         -- Single solution\r\n         return { -.5 * b / a }\r\n      else\r\n         -- Two solutions\r\n         local q = (b > 0) and (-.5 * (b + math.sqrt(disc))) or (-.5 * (b - math.sqrt(disc)))\r\n         local t1 = q / a\r\n         local t2 = c / q\r\n         if t1 > t2 then\r\n            return { t2, t1 }\r\n         else\r\n            return { t1, t2 }\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\n-- Quadratic intercept formula\r\nfunction QuadraticIntercept(Position, Velocity, Target, TargetVelocity, DefaultInterceptTime)\r\n   if not DefaultInterceptTime then DefaultInterceptTime = 1 end\r\n   local Offset = Target - Position\r\n   -- Apparently you can apply binomial expansion to vectors\r\n   -- ...as long as it's 2nd degree only\r\n   local a = Vector3.Dot(TargetVelocity, TargetVelocity) - Vector3.Dot(Velocity, Velocity)  -- aka difference of squares of velocity magnitudes\r\n   local b = 2 * Vector3.Dot(Offset, TargetVelocity)\r\n   local c = Vector3.Dot(Offset, Offset) -- Offset.magnitude squared\r\n   local Solutions = QuadraticSolver(a, b, c)\r\n   local InterceptTime = DefaultInterceptTime\r\n   -- Pick smallest positive intercept time\r\n   if #Solutions == 1 then\r\n      local t = Solutions[1]\r\n      if t > 0 then InterceptTime = t end\r\n   elseif #Solutions == 2 then\r\n      local t1 = Solutions[1]\r\n      local t2 = Solutions[2]\r\n      if t1 > 0 then\r\n         InterceptTime = t1\r\n      elseif t2 > 0 then\r\n         InterceptTime = t2\r\n      end\r\n   end\r\n\r\n   return Target + TargetVelocity * InterceptTime,InterceptTime\r\nend\r\n\r\n-- Proportional navigation implementation\r\nfunction ProNav(Gain, TimeStep, MissilePosition, MissileVelocity, TargetPosition, TargetVelocity)\r\n   local Offset = TargetPosition - MissilePosition\r\n   local RelativeVelocity = TargetVelocity - MissileVelocity\r\n   local Omega = Vector3.Cross(Offset, RelativeVelocity) / Vector3.Dot(Offset, Offset)\r\n   -- Acceleration will be orthogonal to missile velocity\r\n   local Direction = MissileVelocity.normalized\r\n   local Acceleration = Vector3.Cross(Direction * -Gain * RelativeVelocity.magnitude, Omega)\r\n\r\n   -- Transform acceleration into a relative aim point\r\n   return MissilePosition + MissileVelocity * TimeStep + Acceleration * TimeStep * TimeStep * 0.5\r\nend\r\n\r\n-- Returns the angle of a vector on the XZ plane relative to forward.\r\n-- Slightly different than Vector3.Angle as it accounts for negative\r\n-- (counter-clockwise) angles as well\r\nfunction GetVectorAngle(v)\r\n   return math.deg(math.atan2(v.x, v.z))\r\nend\r\n\r\n-- http://lua-users.org/wiki/SimpleRound\r\nfunction Round(num, idp)\r\n   local mult = 10^(idp or 0)\r\n   return math.floor(num * mult + 0.5) / mult\r\nend\r\n\r\n-- http://lua-users.org/wiki/CopyTable\r\nfunction deepcopy(orig)\r\n    local orig_type = type(orig)\r\n    local copy\r\n    if orig_type == 'table' then\r\n        copy = {}\r\n        for orig_key, orig_value in next, orig, nil do\r\n            copy[deepcopy(orig_key)] = deepcopy(orig_value)\r\n        end\r\n        -- Note: No access to the metatable\r\n        -- setmetatable(copy, deepcopy(getmetatable(orig)))\r\n    else -- number, string, boolean, etc\r\n        copy = orig\r\n    end\r\n    return copy\r\nend\r\n\r\n-- Returns sign of the argument.\r\n-- By default, returns 0 for 0, unlike Mathf.Sign which returns 1\r\nfunction Sign(n, ZeroSign)\r\n   if n > 0 then\r\n      return 1\r\n   elseif n < 0 then\r\n      return -1\r\n   else\r\n      return ZeroSign or 0\r\n   end\r\nend\r\n\r\n-- GeneralMissile implementation\r\nGeneralMissile = {}\r\n\r\n-- Returns cosine of Angle (given in degrees) or Default\r\nfunction PrepareAngle(Angle, Default)\r\n   return Angle and math.cos(math.rad(Angle)) or Default\r\nend\r\n\r\nfunction GeneralMissile.create(Config)\r\n   local self = deepcopy(Config)\r\n\r\n   -- If one config set or the other is missing, set defaults and activation\r\n   -- appropriately\r\n   if not self.AntiAir then\r\n      self.ProfileActivationElevation = math.huge\r\n      self.AntiAir = {\r\n         Gain = 5,\r\n      }\r\n   elseif not self.Phases then\r\n      self.ProfileActivationElevation = -math.huge\r\n      self.Phases = {\r\n         {\r\n            Distance = 150,\r\n         },\r\n         {\r\n            Distance = 50,\r\n            AboveSeaLevel = false,\r\n            MinElevation = 0,\r\n         },\r\n      }\r\n   end\r\n\r\n   -- Calculate cosine of all angle parameters ahead of time\r\n   self.DetonationAngle = PrepareAngle(self.DetonationAngle, 1)\r\n   self.AntiAir.ThrustAngle = PrepareAngle(self.AntiAir.ThrustAngle)\r\n   self.AntiAir.OneTurnAngle = PrepareAngle(self.AntiAir.OneTurnAngle, 1)\r\n   for i = 1,#self.Phases do\r\n      self.Phases[i].ThrustAngle = PrepareAngle(self.Phases[i].ThrustAngle)\r\n   end\r\n\r\n   -- Handle certain nil values so they will always evaluate false\r\n   if not self.DetonationRange then self.DetonationRange = -1 end\r\n   if not self.AntiAir.OneTurnTime then self.AntiAir.OneTurnTime = -1 end\r\n\r\n   -- Methods (because no setmetatable)\r\n   self.GetTerrainHeight = GeneralMissile.GetTerrainHeight\r\n   self.ModifyAltitude = GeneralMissile.ModifyAltitude\r\n   self.GetPhaseAltitude = GeneralMissile.GetPhaseAltitude\r\n   self.ExecuteProfile = GeneralMissile.ExecuteProfile\r\n   -- \"Public\" methods\r\n   self.SetTarget = GeneralMissile.SetTarget\r\n   self.Guide = GeneralMissile.Guide\r\n\r\n   return self\r\nend\r\n\r\n-- Initialize state, save info about missile\r\nfunction InitMissileState(I, TransceiverIndex, MissileIndex, MissileState)\r\n   local Fuel = 0\r\n   local ThrusterCount,Thrust = 0,0\r\n   local MissileInfo = I:GetMissileInfo(TransceiverIndex, MissileIndex)\r\n   for _,Part in pairs(MissileInfo.Parts) do\r\n      if Part.Name == \"missile fuel tank\" then\r\n         Fuel = Fuel + 5000\r\n      elseif Part.Name == \"missile variable speed thruster\" then\r\n         ThrusterCount = ThrusterCount + 1\r\n         Thrust = Thrust + Part.Registers[2]\r\n      end\r\n   end\r\n   MissileState.Fuel = Fuel\r\n   MissileState.ThrusterCount = ThrusterCount\r\n   MissileState.CurrentThrust = Thrust\r\nend\r\n\r\n-- Update state, including fuel estimation\r\nfunction UpdateMissileState(I, TransceiverIndex, MissileIndex, Position, Missile, MissileState)\r\n   local Fuel = MissileState.Fuel\r\n   if not Fuel then\r\n      -- Initialize state\r\n      InitMissileState(I, TransceiverIndex, MissileIndex, MissileState)\r\n      Fuel = MissileState.Fuel\r\n   end\r\n\r\n   -- Determine time step\r\n   local LastTime = MissileState.LastTime\r\n   if not LastTime then LastTime = 0 end\r\n   local Now = Missile.TimeSinceLaunch\r\n   local TimeStep = Now - LastTime\r\n   MissileState.LastTime = Now\r\n\r\n   -- Integrate to figure out how much fuel was consumed since LastTime.\r\n   -- Note that var thrust ramp up screws this up slightly.\r\n   -- But it's better to overestimate the fuel than underestimate.\r\n   if Position.y >= 0 then\r\n      -- Variable thrusters consume no fuel when underwater\r\n      -- But torpedo props do. So this will be inaccurate if there are\r\n      -- torpedo props...\r\n      Fuel = Fuel - MissileState.CurrentThrust * TimeStep -- Assumes 1 fuel per thrust per second\r\n   end\r\n   MissileState.Fuel = math.max(Fuel, 0)\r\n\r\n   return Now,TimeStep\r\nend\r\n\r\n-- Set thrust according to flavor\r\nfunction SetMissileThrust(I, TransceiverIndex, MissileIndex, Position, Velocity, AimPoint, MissileState, Thrust, ThrustAngle, ImpactTime)\r\n   if not Thrust then return end\r\n\r\n   if Thrust < 0 then\r\n      -- Base thrust on current (estimated) fuel and predicted impact time\r\n      Thrust = Round(MissileState.Fuel / ImpactTime, 1)\r\n      -- Constrain (is this needed?)\r\n      Thrust = math.max(50, math.min(10000, Thrust))\r\n   end\r\n\r\n   -- Set thrust if different\r\n   if MissileState.CurrentThrust ~= Thrust then\r\n      if ThrustAngle then\r\n         -- Note we end up calculating this twice in certain circumstances,\r\n         -- but that's ok\r\n         -- Sometimes it's the predicted aim point, sometimes it's the real\r\n         -- one\r\n         local TargetVector = AimPoint - Position\r\n         local CosAngle = Vector3.Dot(TargetVector.normalized, Velocity.normalized)\r\n         if CosAngle < ThrustAngle then return end -- Not yet\r\n      end\r\n      -- Perform voodoo that is apparently deprecated and/or unstable\r\n      -- But since all the cool kids are doing it...\r\n\r\n      -- How do we check if this is valid?\r\n      local MissileInfo = I:GetMissileInfo(TransceiverIndex, MissileIndex)\r\n\r\n      local ThrusterCount = MissileState.ThrusterCount\r\n      for _,Part in pairs(MissileInfo.Parts) do\r\n         -- Is this name constant or localized?\r\n         if Part.Name == \"missile variable speed thruster\" then\r\n            -- Each thruster carries its share\r\n            Part:SendRegister(2, Thrust / ThrusterCount)\r\n         end\r\n      end\r\n      MissileState.CurrentThrust = Thrust\r\n   end\r\nend\r\n\r\n-- Return highest terrain seen within look-ahead distance\r\nfunction GeneralMissile:GetTerrainHeight(I, Position, Velocity, MaxDistance)\r\n   if not MaxDistance then MaxDistance = math.huge end\r\n\r\n   local LookAheadTime,LookAheadResolution = self.LookAheadTime,self.LookAheadResolution\r\n   if not LookAheadTime or LookAheadResolution <= 0 then return -500 end\r\n\r\n   local Height = -500\r\n   local PlanarVelocity = Vector3(Velocity.x, 0, Velocity.z)\r\n   local Speed = PlanarVelocity.magnitude\r\n   local Direction = PlanarVelocity / Speed\r\n\r\n   local Distance = math.min(Speed * LookAheadTime, MaxDistance)\r\n\r\n   for d = 0,Distance-1,LookAheadResolution do\r\n      Height = math.max(Height, I:GetTerrainAltitudeForPosition(Position + Direction * d))\r\n   end\r\n\r\n   Height = math.max(Height, I:GetTerrainAltitudeForPosition(Position + Direction * Distance))\r\n\r\n   return Height\r\nend\r\n\r\n-- Modify an altitude according to RelativeTo\r\nfunction GeneralMissile:ModifyAltitude(Position, AimPoint, Altitude, RelativeTo)\r\n   if not AimPoint then\r\n      -- Relative to (constrained) target altitude\r\n      if RelativeTo == 1 then\r\n         -- Relative to target's absolute altitude [-500, whatever)\r\n         return self.TargetAltitude + Altitude\r\n      elseif RelativeTo == 2 then\r\n         -- Relative to target's sea depth [-500, 0]\r\n         return self.TargetDepth + Altitude\r\n      elseif RelativeTo == 3 then\r\n         -- Relative to target's ground [0, whatever)\r\n         return self.TargetGround + Altitude\r\n      elseif RelativeTo == 4 then\r\n         -- Relative to missile's altitude\r\n         return Position.y + Altitude\r\n      elseif RelativeTo == 5 then\r\n         -- \"Altitude\" is a lower bound\r\n         return math.max(self.TargetAltitude, Altitude)\r\n      elseif RelativeTo == 6 then\r\n         -- \"Altitude\" is an upper bound\r\n         return math.min(self.TargetAltitude, Altitude)\r\n      else\r\n         -- Absolute (no modification)\r\n         return Altitude\r\n      end\r\n   else\r\n      -- Relative to (constrained) aim point\r\n      if RelativeTo == 1 then\r\n         return AimPoint.y + Altitude\r\n      elseif RelativeTo == 2 then\r\n         return math.min(AimPoint.y, 0) + Altitude\r\n      elseif RelativeTo == 3 then\r\n         return math.max(AimPoint.y, 0) + Altitude\r\n      elseif RelativeTo == 4 then\r\n         return Position.y + Altitude\r\n      elseif RelativeTo == 5 then\r\n         return math.max(AimPoint.y, Altitude)\r\n      elseif RelativeTo == 6 then\r\n         return math.min(AimPoint.y, Altitude)\r\n      else\r\n         return Altitude\r\n      end\r\n   end\r\nend\r\n\r\n-- Modify altitude according to flavor\r\nfunction GeneralMissile:GetPhaseAltitude(I, Position, Velocity, Phase, MaxDistance)\r\n   local Height = self:GetTerrainHeight(I, Position, Velocity, MaxDistance)\r\n   if Phase.AboveSeaLevel then\r\n      -- Constrain terrain hugging to sea level\r\n      Height = math.max(Height, 0)\r\n   end\r\n   Height = Height + Phase.MinElevation\r\n\r\n   local Altitude = Phase.Altitude\r\n   if not Altitude then\r\n      -- Always relative to terrain.\r\n      return Height\r\n   else\r\n      -- Relative to something, hugging terrain if necessary.\r\n      return math.max(self:ModifyAltitude(Position, nil, Altitude, Phase.RelativeTo), Height)\r\n   end\r\nend\r\n\r\n-- Adjust aim point according to current profile phase\r\nfunction GeneralMissile:ExecuteProfile(I, TransceiverIndex, MissileIndex, Position, Velocity, AimPoint, TargetVelocity, MissileState)\r\n   -- Use quadratic prediction to determine aim point and predicted impact time\r\n   local ImpactTime\r\n   AimPoint,ImpactTime = QuadraticIntercept(Position, Velocity, AimPoint, TargetVelocity, 9999)\r\n\r\n   -- For sanity, range comparisons are done against ground distance\r\n   local NewTarget = Vector3(AimPoint.x, Position.y, AimPoint.z)\r\n   local GroundOffset = NewTarget - Position\r\n   local GroundDistance = GroundOffset.magnitude\r\n\r\n   -- First check if within terminal distance\r\n   local TerminalPhase = self.Phases[1]\r\n   if GroundDistance < TerminalPhase.Distance then\r\n      -- Modify aim point, if configured to do so\r\n      local Altitude = TerminalPhase.Altitude\r\n      if Altitude then\r\n         AimPoint = Vector3(AimPoint.x, self:ModifyAltitude(Position, AimPoint, Altitude, TerminalPhase.RelativeTo), AimPoint.z)\r\n      end\r\n\r\n      SetMissileThrust(I, TransceiverIndex, MissileIndex, Position, Velocity, AimPoint, MissileState, TerminalPhase.Thrust, TerminalPhase.ThrustAngle, ImpactTime)\r\n\r\n      return AimPoint\r\n   end\r\n\r\n   -- The assumption is that the phases are in order, closest to farthest\r\n   -- Except for the last, which is always the closing phase regardless of\r\n   -- its Distance\r\n   local PreviousPhase,IsClosing\r\n   local Phase = TerminalPhase\r\n   for i = 2,#self.Phases do\r\n      PreviousPhase = Phase\r\n      Phase = self.Phases[i]\r\n      IsClosing = i == #self.Phases\r\n      if GroundDistance < Phase.Distance then break end\r\n      -- If it's the last one (closing phase), the loop will end anyway\r\n   end\r\n\r\n   local GroundDirection,ToNextPhase\r\n\r\n   -- Rotate aim point, if configured to do so\r\n   local ApproachAngle = Phase.ApproachAngle\r\n   if ApproachAngle then\r\n      -- \"Forward\" is based off target's velocity\r\n      local TargetYaw = GetVectorAngle(TargetVelocity)\r\n      -- Determines missile's relative bearing so we can pick a side if needed\r\n      local MissileBearing = Mathf.DeltaAngle(TargetYaw, GetVectorAngle(Position - AimPoint))\r\n      -- Aim point bearing in world coordinates\r\n      local AimPointBearing = (TargetYaw + Sign(MissileBearing, 1) * ApproachAngle) % 360\r\n\r\n      -- Better way to calculate this?\r\n      local ModifiedAimPoint = AimPoint + Quaternion.Euler(0, AimPointBearing, 0) * (Vector3.forward * PreviousPhase.Distance)\r\n      ModifiedAimPoint.y = Position.y\r\n      local Offset = ModifiedAimPoint - Position\r\n\r\n      ToNextPhase = Offset.magnitude\r\n      GroundDirection = Offset / ToNextPhase\r\n   else\r\n      -- No aim point modification\r\n      GroundDirection = GroundOffset / GroundDistance\r\n      ToNextPhase = GroundDistance - PreviousPhase.Distance\r\n   end\r\n\r\n   -- New aim point is toward target at edge of next phase\r\n   -- (or closing phase distance, if closing phase)\r\n   local AimDistance = IsClosing and Phase.Distance or ToNextPhase\r\n   local NewAimPoint = Position + GroundDirection * AimDistance\r\n\r\n   -- Modify altitude according to parameters\r\n   NewAimPoint.y = self:GetPhaseAltitude(I, Position, Velocity, Phase, ToNextPhase)\r\n   -- Set thrust\r\n   SetMissileThrust(I, TransceiverIndex, MissileIndex, Position, Velocity, NewAimPoint, MissileState, Phase.Thrust, Phase.ThrustAngle, ImpactTime)\r\n   -- Perform horizontal evasion, if any\r\n   local Evasion = Phase.Evasion\r\n   if Evasion then\r\n      local Perp = Vector3.Cross(GroundDirection, Vector3.up)\r\n      -- Note this uses the global Now\r\n      NewAimPoint = NewAimPoint + Perp * Evasion[1] * (2 * Mathf.PerlinNoise(Evasion[2] * C:Now(), TransceiverIndex * 37 + MissileIndex) - 1)\r\n   end\r\n\r\n   return NewAimPoint\r\nend\r\n\r\nfunction GeneralMissile:SetTarget(I, TargetPosition, _, _)\r\n   local TargetAltitude = TargetPosition.y\r\n\r\n   self.TargetAltitude = TargetAltitude -- Raw altitude\r\n   self.TargetDepth = math.min(TargetAltitude, 0) -- When below sea level\r\n   self.TargetGround = math.max(I:GetTerrainAltitudeForPosition(TargetPosition), 0) -- When above sea level\r\n\r\n   -- For now, executing the profile is solely based on the target's\r\n   -- elevation above sea level.\r\n   self.DoExecuteProfile = (TargetAltitude - self.TargetGround) <= self.ProfileActivationElevation\r\nend\r\n\r\nfunction GeneralMissile:Guide(I, TransceiverIndex, MissileIndex, _, TargetAimPoint, TargetVelocity, Missile, MissileState)\r\n   local MissilePosition = Missile.Position\r\n   local MissileVelocity = Missile.Velocity\r\n   local MissileSpeed = MissileVelocity.magnitude\r\n\r\n   local Now,TimeStep = UpdateMissileState(I, TransceiverIndex, MissileIndex, MissilePosition, Missile, MissileState)\r\n\r\n   -- Note these are against the true aim point\r\n   local TargetVector = TargetAimPoint - MissilePosition\r\n   local TargetRange = TargetVector.magnitude\r\n   -- Calculate angle between missile velocity and target vector\r\n   local CosAngle = Vector3.Dot(TargetVector / TargetRange, MissileVelocity / MissileSpeed)\r\n\r\n   -- Check if we should detonate\r\n   if TargetRange <= self.DetonationRange and CosAngle <= self.DetonationAngle then\r\n      I:DetonateLuaControlledMissile(TransceiverIndex, MissileIndex)\r\n      return TargetAimPoint -- Don't really care at this point\r\n   end\r\n\r\n   local AimPoint\r\n\r\n   local OneTurnStart = MissileState.OneTurnStart\r\n   local MinAltitude = self.MinAltitude\r\n\r\n   if not OneTurnStart and MissilePosition.y >= MinAltitude then\r\n      -- Record the first time it is above minimum altitude\r\n      OneTurnStart = Now\r\n      MissileState.OneTurnStart = Now\r\n   end\r\n\r\n   if MissilePosition.y < MinAltitude then\r\n      -- Below minimum altitude, head straight up\r\n      AimPoint = Vector3(MissilePosition.x, MinAltitude+1000, MissilePosition.z)\r\n      -- Don't bother with setting thrust since they don't work underwater\r\n   elseif self.DoExecuteProfile then\r\n      -- Execute profile\r\n      AimPoint = self:ExecuteProfile(I, TransceiverIndex, MissileIndex, MissilePosition, MissileVelocity, TargetAimPoint, TargetVelocity, MissileState)\r\n   else\r\n      -- Since PN sucks at large angles, perform a \"one turn\" maneuver\r\n      -- if newly-launched\r\n      if Now <= (self.AntiAir.OneTurnTime + OneTurnStart) and CosAngle <= self.AntiAir.OneTurnAngle then\r\n         -- Just turn straight toward target\r\n         AimPoint = TargetAimPoint\r\n      else\r\n         -- Use PN guidance\r\n         AimPoint = ProNav(self.AntiAir.Gain, TimeStep, MissilePosition, MissileVelocity, TargetAimPoint, TargetVelocity)\r\n      end\r\n      -- Set thrust\r\n      local Thrust,ThrustAngle = self.AntiAir.DefaultThrust,nil\r\n      local TerminalRange = self.AntiAir.TerminalRange\r\n      if TerminalRange and TargetRange <= TerminalRange then\r\n         Thrust = self.AntiAir.Thrust\r\n         ThrustAngle = self.AntiAir.ThrustAngle\r\n      end\r\n      SetMissileThrust(I, TransceiverIndex, MissileIndex, MissilePosition, MissileVelocity, TargetAimPoint, MissileState, Thrust, ThrustAngle, TargetRange / MissileSpeed)\r\n   end\r\n\r\n   return AimPoint\r\nend\r\n\r\n-- UnifiedMissile implementation\r\nUnifiedMissile = {}\r\n\r\nfunction UnifiedMissile.create(Config)\r\n   local GMConfig = {\r\n      ProfileActivationElevation = Config.SpecialAttackElevation,\r\n      MinAltitude = Config.MinimumAltitude,\r\n      DetonationRange = Config.DetonationRange,\r\n      DetonationAngle = Config.DetonationAngle,\r\n      LookAheadTime = Config.LookAheadTime,\r\n      LookAheadResolution = Config.LookAheadResolution,\r\n\r\n      AntiAir = {\r\n         DefaultThrust = Config.DefaultThrust,\r\n         OneTurnTime = 3,\r\n         OneTurnAngle = 15,\r\n         Gain = 5,\r\n      },\r\n\r\n      Phases = {\r\n         {\r\n            Distance = Config.TerminalDistance,\r\n            Thrust = Config.TerminalThrust,\r\n            ThrustAngle = Config.TerminalThrustAngle,\r\n         },\r\n         {\r\n            Distance = Config.ClosingDistance,\r\n            AboveSeaLevel = Config.ClosingAboveSeaLevel,\r\n            MinElevation = Config.ClosingElevation,\r\n            Altitude = Config.ClosingAltitude,\r\n            RelativeTo = Config.ClosingAltitudeRelativeTo,\r\n            Thrust = Config.ClosingThrust,\r\n            ThrustAngle = Config.ClosingThrustAngle,\r\n            Evasion = Config.Evasion,\r\n         },\r\n      },\r\n   }\r\n\r\n   if Config.SpecialManeuverDistance then\r\n      local SpecialManeuverPhase = {\r\n         Distance = Config.SpecialManeuverDistance,\r\n         AboveSeaLevel = Config.SpecialManeuverAboveSeaLevel,\r\n         MinElevation = Config.SpecialManeuverElevation,\r\n         Altitude = Config.SpecialManeuverAltitude,\r\n         RelativeTo = Config.SpecialManeuverAltitudeRelativeTo,\r\n         Thrust = Config.SpecialManeuverThrust,\r\n         ThrustAngle = Config.SpecialManeuverThrustAngle,\r\n      }\r\n      table.insert(GMConfig.Phases, 2, SpecialManeuverPhase)\r\n   end\r\n\r\n   return GeneralMissile.create(GMConfig)\r\nend\r\n\r\n-- Unified missile main\r\nMyMissile = UnifiedMissile.create(Config)\r\n\r\nGuidanceInfos = {\r\n   {\r\n      Controller = MyMissile,\r\n      MinAltitude = Limits.MinAltitude,\r\n      MaxAltitude = Limits.MaxAltitude,\r\n      MinRange = Limits.MinRange * Limits.MinRange,\r\n      MaxRange = Limits.MaxRange * Limits.MaxRange,\r\n      WeaponSlot = MissileWeaponSlot,\r\n      TargetSelector = MissileTargetSelector,\r\n   }\r\n}\r\n\r\nfunction SelectGuidance(_, _)\r\n   return 1\r\nend\r\n\r\n-- Main update loop\r\nfunction MissileMain_Update(I)\r\n   MissileDriver_Update(I, GuidanceInfos, SelectGuidance)\r\nend\r\n\r\nMissileMain = Periodic.create(UpdateRate, MissileMain_Update)\r\n\r\nfunction Update(I) -- luacheck: ignore 131\r\n   C = Commons.create(I)\r\n   if not C:IsDocked() then\r\n      MissileMain:Tick(I)\r\n   end\r\nend\r\n"],"BlockStringDataIds":[15],"GameVersion":"v1.967","BlockCount":6178}}