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= 0\r\nAngle2 = 0\r\nCurTarget = 0\r\nMissileAimpoints = {}\r\nMissileTopDownInRange = {}\r\nMissileLastPos = {}\r\nMissileLastRelPos = {}\r\nMissileTerminal = {}\r\nMissileSeed = {}\r\nSelfLastVel = {}\r\nMissileTarget = {}\r\nTargetAimPoints = {}\r\nTargetLastAdd = {}\r\nMissileErrors = {}\r\nECMErrors = {}\r\nStabilityErrorDir = {}\r\nTargetLastPos = {}\r\nTransMovement = {}\r\nTransLast = {}\r\nMissMovement = {}\r\nCorrections = {}\r\nLastVectors = {}\r\n\r\nLastTargetID = nil\r\n--### EDIT HERE ###--\r\n--IMPORTANT INFORMATION: you need to have an AI breadboard outputting stability then multiply it by 0.01 to send into a propulsion component set to E to ensure missile accuracy\r\n--Requires no gpp, requires no detection, it just works. I recommend a separate AI mainframe for the missiles so they don't sap GPP from detection for other turrets as they don't really need it but still take it.\r\n\r\n--[Targetting]\r\nlocal AIMainFrame = 1 -- what mainframe should we listen to for target info?\r\n\r\n--[Error Correction]\r\nlocal MissileSize = 2 --1 for smalls, 2 for mediums 3 for larges, 4 for huges, required for accuracy considerations\r\n\r\n--[GUIDANCE OPTIONS]\r\nlocal Prediction = 1 --Use Predictive guidance, if set to zero the missile will not attempt to lead target which is mostly for debugging\r\nlocal PredictionMaxLead = 2 --Maximum time prediction can aim ahead, lower for less overreaction at range, higher for a straighter path\r\n\r\n--[SPEED CONTROL]\r\nlocal AdjustSpeed = 1 --Slows missile speed when it cannot turn to target in time (note, just add or remove a 0 for each length, 300 max for smalls, 300000 for huges)\r\nlocal MinThrust = 1000 --minimum thrust when adjusting speed\r\nlocal MidThrust = 2000 --maximum thrust when adjusting speed\r\nlocal MaxThrust = 3000 --thrust when target is close to aimpoint\r\nlocal PursuitTurnSpeed = 20 --the expected turn rate per second when trying to hit a target\r\nlocal AngleToTargetBuffer = 1 --multiplies angle to target value for the purpose of slowing down if above turn rate\r\n--fuel conservation\r\nlocal Cruise = 1 --sets the missile to go at a lower speed when the distance to target is above a certain value\r\nlocal CruiseSpeed = 2000 --the cruising thrust of the missile\r\nlocal MaxSpeed = 3000 --the maximum thrust of the missile\r\nlocal CruiseDistance = 1150 --the distance beyond which the missile goes slower to save fuel (ideally this should be a lil above the value the missile can be detected at)\r\n\r\n--[SPREAD OPTIONS]\r\nlocal CircularSpread = 0 --Spread Shots Around in a circle of this radius at whatever aim position is picked (also works with AimCenter)\r\nlocal LinearSpread = 0 --Spread shots between target aim point and center of mass\r\nlocal AimCenter = 0 --Aim all shots at center of mass, useful for small targets and AA roles\r\nlocal AimCenterVsFast = 1 --Aim center vs fast targets, otherwise use selected spread pattern\r\n--aimpoint spread\r\nlocal AimPointSpread = 1 --Evenly Spread shots over detected aimpoints, set aim time to 1s on AI if using this\r\nlocal AimPointsToHold = 6 --How many aimpoints to hold before recycling new ones in, note: if this is too high then old aimpoints that are no longer valid will remain and increase miss rate\r\nlocal HoldTime = 360 --How many seconds away from target to you want to lock in target, too short and you can't turn to it in time, too long and results may be inaccurate\r\n\r\n--[FLIGHT MODEL OPTIONS]\r\nlocal ThrustDelay = 0 --Thrust delay time, setting this helps the guidance not overshoot lead due to low speed\r\nlocal Height = 0 --Distance above (or below) target to go for in direct persuit (useful for proximity detonators or angled frag charges)\r\n--topdown\r\nlocal TopDown = 1 --Go up then come down on target, DOESN'T WORK WITH APN (note, put TopDownMaxSpeed below 75 if enabling this while using automatic guidance setting)\r\nlocal TopDownMaxSpeed = 75 --Only top down vs stuff below this speed\r\nlocal TopDownMinRange = 250 --Minimum range for top down attacks\r\nlocal TopDownMaxRange = 2500 --Maximum range for top down attacks\r\nlocal MissileTurnRate = 20 --degrees/sec, Uses this to determine the distance away from target it must start descending\r\nlocal TopDownRelativeHeight = 0 --Set to 1 to use height relative to target, 0 to use raw height value relative to sea level\r\nlocal TopDownMaxHeight = 300 --The height above or below a target that the top down attack aims for before going down\r\nlocal SwitchHeight = 0 --Height at which bottomup will swap to top down and vice versa, leave at 0 to turn off, otherwise set it to a value that will be the height below which it will swap, for example, set to 10 to have it swap to top down if the craft is below 10 meters altitude\r\n\r\n--[TARGET OPTIONS]\r\nlocal FollowTheLeader = 1 --If one missile has a target aimpoint, all other missiles pick that as their target aimpoint.\r\nlocal HoldTarget = 1 --Hold the position on target it was given on launch (note, doing this may cause misses against targets that shift their angle)\r\n--Split Target\r\nlocal SplitTargets = 0 --Split missiles up between all detected targets\r\nlocal SplitAboveTargetCount = 100 --Split missiles if there's more than this many targets\r\nlocal SplitTargetLimitRange = 0 --Should missiles have a limited range?\r\nlocal SplitTargetRangeLimit = 2000 --meters, Missiles should go after targets in this range, if there are none then go after others if possible\r\n\r\n--[DETONATION OPTIONS]\r\nlocal AoE = -1 --Detonates if missile is less than this distance from target\r\nlocal DetOnOvershoot = 0 --Detonate after overshoot to give direct hit a chance but damage enemy's rear if missed\r\nlocal PreDetOnOvershoot = 0 --Detonates the tick before overshoot to catch enemy in blast (useful for fly over top down frag charges)\r\n\r\n--[EVASION OPTIONS]\r\nlocal Spiral = 0 --Missiles approach target while spiraling, helps vs kinetic\r\nlocal Serpentine = 0 --Missiles serpentine side to side while approaching target, helps vs kinetic\r\n--Circus\r\nlocal Circus = 0 --Missiles spread out at launch in random directions around enemy for a set time, helps vs flak/ints\r\nlocal SpreadTime = 1.5 --How long Circus missiles spread before homing on target more accurately\r\nlocal Circus2 = 0 --Missiles pick a direction around the target to go after then converge based on their missile turn rate in topdown settings\r\nlocal Circus2MaxSpread = 150 --Distance around the enemy craft missiles try to go for, be sure to set min or max alt in aiming restrictions if needed.\r\n--Patterns\r\nlocal Grid = 1 --Spread in a grid formation\r\nlocal GridSpread = 50 --spread goal in meters\r\n\r\n--[LAUNCHER OPTIONS]\r\nlocal ApplyToCustomNameOnly = 0 --Only be used on launchers of certain name, if you use multiple missile lua block codes all must be set to this\r\nlocal Name = \"AA\" --Name of launchers to be used on [MUST USE SHIFT+N ON LAUNCHER AND SET CUSTOM NAME THERE]\r\n\r\n--[AIMING RESTRICTIONS]\r\nlocal ApplyMinimumAlt = 0 --Should the missile have a minimum aim position\r\nlocal ApplyMaximumAlt = 0 --Should the missile have a maximum aim position\r\nlocal MinimumAlt = -10 --Lowest aim position of a missile relative to sea level\r\nlocal MaximumAlt = -1 --Highest aim position of a missile relative to sea level\r\n\r\n--### END OF OPTIONS ###--\n\n\rfunction Update(I)\r\n  --setup variables\r\n  local TargetCount = I:GetNumberOfTargets(0)\r\n  local Targets = {}\r\n  local InRangeTargets = {}\r\n  local TargetTotal = TargetCount\r\n  local LeadTarget = nil\r\n  local LeadAdjustment = nil\r\n  local Adjustment\r\n  Angle1 = Angle1 + 5\r\n  if Angle1 > 360 then Angle1 = 0 end\r\n  Angle2 = Angle2 + 1\r\n  if Angle2 > 45 then Angle2 = -45 end\r\n  local CurAimPoint = 0\r\n  local AimPos\r\n  local MissileCount = I:GetLuaTransceiverCount()\r\n  --Get targets in range and aimpoints\r\n  for i=0, TargetCount do\r\n    local TargetData = I:GetTargetInfo(AIMainFrame,i)\r\n    if TargetData.Valid == true then\r\n      Targets[TargetData.Id] = {TargetData,I:GetTargetPositionInfo(AIMainFrame, i)}\r\n      if SplitTargetLimitRange == 1 then\r\n        if Vector3.Distance(TargetData.Position, I:GetConstructPosition()) <= SplitTargetRangeLimit then\r\n          InRangeTargets[#InRangeTargets+1] = TargetData\r\n        end\r\n      end\r\n      if AimPointSpread == 1 then\r\n        local Inacc = I:GetTargetPositionInfo(AIMainFrame, i).Position-TargetData.Position    \r\n        if TargetAimPoints[TargetData.Id] == nil then\r\n          TargetAimPoints[TargetData.Id] = {TargetData.AimPointPosition-Inacc - TargetData.Position} \r\n          TargetLastAdd[TargetData.Id] = I:GetGameTime()\r\n        end\r\n        if TargetLastAdd[TargetData.Id]+1 < I:GetGameTime() then\r\n          TargetAimPoints[TargetData.Id][#TargetAimPoints[TargetData.Id]+1] = TargetData.AimPointPosition-Inacc - TargetData.Position\r\n          TargetLastAdd[TargetData.Id] = I:GetGameTime()\r\n        end\r\n        if #TargetAimPoints[TargetData.Id] > AimPointsToHold then\r\n          table.remove(TargetAimPoints[TargetData.Id],1)\r\n        end\r\n      end\r\n    end\r\n  end\r\n  if SplitTargetLimitRange == 1 then\r\n    TargetTotal = #InRangeTargets\r\n  end\r\n\r\n  --go through tranceivers to determine missile group\r\n  for t=0, I:GetLuaTransceiverCount() do\r\n    if ApplyToCustomNameOnly ~= 1 or I:GetLuaTransceiverInfo(t).CustomName == Name then\r\n      --run through each missile to tell em what to do\r\n      for m=0, I:GetLuaControlledMissileCount(t) do\r\n        local MissileData = I:GetLuaControlledMissileInfo(t,m)\r\n        --Get the starting variables setup for the missile\r\n        if MissileSeed[MissileData.Id] == nil then\r\n          MissileSeed[MissileData.Id] = Vector3(math.random(-1,1),math.random(0,1),math.random(-1,1))\r\n          MissileTerminal[MissileData.Id] = false\r\n          --use missile length and parts to determine the correction of the missile compared to its starting position to determine spread offset\r\n          local missilelength = 3\r\n          if I:GetMissileInfo(t,m) ~= nil then\r\n            local Parts = I:GetMissileInfo(t,m).Parts\r\n            missilelength = #Parts\r\n          end\r\n          local correction\r\n          if MissileSize == 1 then\r\n            correction = I:GetLuaTransceiverInfo(t).Forwards*(missilelength*0.125)\r\n          elseif MissileSize == 2 then\r\n            correction = I:GetLuaTransceiverInfo(t).Forwards*(missilelength*0.25 + 1)\r\n          elseif MissileSize == 3 then\r\n            correction = I:GetLuaTransceiverInfo(t).Forwards*(missilelength*0.5 + 1)\r\n          else\r\n            correction = I:GetLuaTransceiverInfo(t).Forwards*(missilelength + 1)\r\n          end\r\n          Corrections[MissileData.Id] = correction\r\n\r\n          --get stability value at time of launch, assume it adds spread in the same direction as everything else\r\n          --know max miss is 10m at 0% stability\r\n          --get direction of error seed by using launcher as a known position\r\n          StabilityErrorDir[MissileData.Id] = (I:GetLuaTransceiverInfo(t).Position - (MissileData.Position + correction)).normalized\r\n          MissileErrors[MissileData.Id] = (I:GetLuaTransceiverInfo(t).Position - MissileData.Position + correction) + (10*(1-I:GetPropulsionRequest(13)))*StabilityErrorDir[MissileData.Id]\r\n          ECMErrors[MissileData.Id] = Vector3(0,0,0)\r\n          TransMovement[MissileData.Id] = Vector3(0,0,0)\r\n          MissMovement[MissileData.Id] = Vector3(0,0,0)\r\n        end\r\n\r\n        --Select a target out of the list of targets\r\n        local TargetData = nil\r\n        if CurTarget+1 > #InRangeTargets and SplitTargetLimitRange == 1 then CurTarget = 0 end\r\n        if (SplitTargetLimitRange == 0 or #InRangeTargets == 0) or InRangeTargets[CurTarget+1]~=nil then\r\n          if MissileTarget[MissileData.Id] == nil and MissileData.Id ~= 0 then\r\n            if SplitTargets == 1 or TargetTotal>SplitAboveTargetCount then\r\n              if SplitTargetLimitRange == 1 and #InRangeTargets>0 then\r\n                MissileTarget[MissileData.Id] = InRangeTargets[CurTarget+1].Id\r\n                CurTarget = CurTarget + 1\r\n                if CurTarget+1 > #InRangeTargets then CurTarget = 0 end\r\n              else\r\n                MissileTarget[MissileData.Id] = I:GetTargetInfo(AIMainFrame,CurTarget).Id\r\n                CurTarget = CurTarget + 1\r\n                if CurTarget+1 > TargetCount then CurTarget = 0 end\r\n              end\r\n            else\r\n              MissileTarget[MissileData.Id] = I:GetTargetInfo(AIMainFrame,0).Id\r\n            end\r\n          end\r\n          if Targets[MissileTarget[MissileData.Id]] == nil and MissileData.Id ~= 0 then --is not a valid target in this run\r\n            if SplitTargets == 1 or TargetTotal>SplitAboveTargetCount then\r\n              if SplitTargetLimitRange == 1 and #InRangeTargets>0 then\r\n                MissileTarget[MissileData.Id] = InRangeTargets[CurTarget+1].Id\r\n                CurTarget = CurTarget + 1\r\n                if CurTarget+1 > #InRangeTargets then CurTarget = 0 end\r\n              else\r\n                MissileTarget[MissileData.Id] = I:GetTargetInfo(AIMainFrame,CurTarget).Id\r\n                CurTarget = CurTarget + 1\r\n                if CurTarget+1 > TargetCount then CurTarget = 0 end\r\n              end\r\n            else\r\n              MissileTarget[MissileData.Id] = I:GetTargetInfo(AIMainFrame,0).Id\r\n            end\r\n          end\r\n          \r\n          if Targets[MissileTarget[MissileData.Id]] ~= nil then\r\n            TargetData = Targets[MissileTarget[MissileData.Id]][1]\r\n          end\r\n        end\r\n\r\n        --this is where the fun begins: we have a missile and a target, guide it and get all the bells and whistles going\r\n        if MissileData.Id ~= 0 and TargetData~=nil then\r\n          --update stability miss\r\n          local StabilityMiss = (10*(1-I:GetPropulsionRequest(13)))*StabilityErrorDir[MissileData.Id]\r\n\r\n          --update spread/gpp miss\r\n          TransMovement[MissileData.Id] = TransMovement[MissileData.Id] + I:GetVelocityVector()/40\r\n          MissMovement[MissileData.Id] = MissMovement[MissileData.Id] + MissileData.Velocity/40\r\n          local Addition = ((I:GetLuaTransceiverInfo(t).Position-TransMovement[MissileData.Id]) - (MissileData.Position-MissMovement[MissileData.Id]) + Corrections[MissileData.Id]) + (10*(1-I:GetPropulsionRequest(13)))*StabilityErrorDir[MissileData.Id]\r\n          if Addition.magnitude < 1000 then \r\n            MissileErrors[MissileData.Id] = Addition\r\n          end\r\n\r\n          --iterate through aimpoints for aimpoint spread setting\r\n          if AimPointSpread == 1 then\r\n            CurAimPoint = CurAimPoint + 1\r\n            if CurAimPoint > math.min(AimPointsToHold,#TargetAimPoints[TargetData.Id]) then CurAimPoint = 1 end\r\n          end\r\n\r\n          --determine if missile is in topdown range\r\n          if MissileData.TimeSinceLaunch < 0.1 then\r\n            MissileAimpoints[MissileData.Id] = nil\r\n            local TarDist = Vector3.Distance(MissileData.Position,Targets[MissileTarget[MissileData.Id]][1].Position)\r\n            if TopDown == 1 and TarDist > TopDownMinRange and TarDist < TopDownMaxRange then\r\n              MissileTopDownInRange[MissileData.Id] = true\r\n            else\r\n              MissileTopDownInRange[MissileData.Id] = false\r\n            end\r\n          end\r\n\r\n          --update aimpoint spread in situations where it has no aimpoint or isn't locked in yet\r\n          if MissileAimpoints[MissileData.Id] == nil or (AimPointSpread == 1 and #TargetAimPoints[TargetData.Id]<AimPointsToHold and #TargetAimPoints[TargetData.Id]>0) or HoldTarget == 0 or MissileData.TimeSinceLaunch < 1 then\r\n            if MissileAimpoints[MissileData.Id] == nil then MissileAimpoints[MissileData.Id] = Vector3(0,0,0) end\r\n            if AimPointSpread == 1 then\r\n              MissileAimpoints[MissileData.Id] = TargetAimPoints[TargetData.Id][CurAimPoint]\r\n            end\r\n          end\r\n\r\n          if TargetData.Position ~= nil and MissileAimpoints[MissileData.Id] ~= nil then\r\n            --get target pos\r\n            local Target = TargetData.Position\r\n            --add missile aimpoints to our target position\r\n            Adjustment = MissileAimpoints[MissileData.Id]+Vector3(0,Height,0)\r\n\r\n            --Target velocity is provided inaccurately, we must calculate our own\r\n            if TargetLastPos[MissileData.Id] == nil then TargetLastPos[MissileData.Id] = Target end\r\n            local RealTarVel = (Target-TargetLastPos[MissileData.Id])*40\r\n\r\n            --ECCM package, we keep a running tally of ECM throwing us off and correct for it, at least above a certain threshold to avoid false positives\r\n            local SelfVel = MissileData.Velocity\r\n            if SelfLastVel[MissileData.Id] == nil then SelfLastVel[MissileData.Id] = SelfVel end\r\n            if MissileLastPos[MissileData.Id] == nil then MissileLastPos[MissileData.Id] = MissileData.Position+(MissileErrors[MissileData.Id]-StabilityMiss) end\r\n            local Discrepancy = (MissileData.Position+(MissileErrors[MissileData.Id]-StabilityMiss)) - (MissileLastPos[MissileData.Id]+(SelfLastVel[MissileData.Id])/40)\r\n            MissileLastPos[MissileData.Id] = MissileData.Position+(MissileErrors[MissileData.Id]-StabilityMiss)\r\n            if (Discrepancy.magnitude>5 and Discrepancy.magnitude<200) or ECMErrors[MissileData.Id].magnitude>5 then\r\n              ECMErrors[MissileData.Id] = ECMErrors[MissileData.Id] + Discrepancy\r\n            end\r\n            SelfLastVel[MissileData.Id] = SelfVel\r\n\r\n            --calculate time to target\r\n            local RelPos = Target - MissileData.Position\r\n            if MissileLastRelPos[MissileData.Id] == nil then MissileLastRelPos[MissileData.Id] = RelPos end\r\n            local TarPos = Target + Adjustment\r\n            local Distance = ((Target + Adjustment)-MissileData.Position).magnitude\r\n            local RelVel = (MissileLastRelPos[MissileData.Id]-RelPos)*40\r\n            MissileLastRelPos[MissileData.Id] = RelPos\r\n            local SelfSpeed = SelfVel.magnitude\r\n            local TimeToTarget = math.min((Distance/RelVel.magnitude),PredictionMaxLead,(SelfSpeed/20))\r\n\r\n            --hold time is the time below which we lock in, before this time we can adjust our aimpoints more\r\n            if TimeToTarget > HoldTime then\r\n              --pick if we aim center or not based on target speed\r\n              local AimCenterAuto = 0\r\n              if RealTarVel.magnitude>75 and AimCenterVsFast == 1 then\r\n                AimCenterAuto = 1\r\n              else\r\n                AimCenterAuto = 0\r\n              end\r\n              --if linear spread is on spread shots between aimpoint and center of mass, also add circular spread, or don't\r\n              if LinearSpread == 1 then\r\n                local Direction = (TargetData.AimPointPosition - Target).normalized\r\n                local DirDist = Vector3.Distance(TargetData.AimPointPosition,Target)\r\n                MissileAimpoints[MissileData.Id] = (Direction * DirDist * math.random(0,100) * 0.01) + Vector3(math.random(-CircularSpread,CircularSpread),0,math.random(-CircularSpread,CircularSpread))\r\n              else\r\n                MissileAimpoints[MissileData.Id] = (TargetData.AimPointPosition - Target) + Vector3(math.random(-CircularSpread,CircularSpread),0,math.random(-CircularSpread,CircularSpread))\r\n              end\r\n              --use aimpoint spread spreading evenly over aimpoints\r\n              if AimPointSpread == 1 then\r\n                MissileAimpoints[MissileData.Id] = TargetAimPoints[TargetData.Id][CurAimPoint]\r\n              end\r\n              --aim at center of mass if it's set to\r\n              if AimCenter == 1 or AimCenterAuto == 1 then\r\n                MissileAimpoints[MissileData.Id] = Vector3(math.random(-CircularSpread,CircularSpread),0,math.random(-CircularSpread,CircularSpread))\r\n              else\r\n                --inaccuracy removal\r\n                if AimPointSpread ~= 1 then\r\n                  local info = Targets[MissileTarget[MissileData.Id]][2]\r\n                  local Inacc = Targets[MissileTarget[MissileData.Id]][2].Position-TargetData.Position\r\n                  MissileAimpoints[MissileData.Id] = MissileAimpoints[MissileData.Id] - Inacc\r\n                end\r\n              end\r\n              --if nothing is selected here we just aim at the normal aimpoint\r\n              --update aimpoints and distances\r\n              Adjustment = MissileAimpoints[MissileData.Id]+Vector3(0,Height,0)\r\n              Distance = ((Target + Adjustment)-MissileData.Position).magnitude\r\n              TarPos = Target + Adjustment\r\n\r\n              if LeadTarget == nil then LeadTarget = Target end\r\n              if LeadAdjustment == nil then LeadAdjustment = Adjustment end\r\n              if FollowTheLeader == 1 and not(SplitTargets == 1 or TargetTotal>SplitAboveTargetCount) then\r\n                Target = LeadTarget\r\n                Adjustment = LeadAdjustment\r\n              end\r\n            end\r\n\r\n            --topdown attack height settings\r\n            local SP2d = Vector3(MissileData.Position.x,0,MissileData.Position.z) --2d missile pos\r\n            local TP2d = Vector3(TarPos.x,0,TarPos.z) --2d target pos\r\n            local Distance2d = Vector3.Distance(SP2d,TP2d)\r\n            local TimeToTarget = (Distance/RelVel.magnitude)\r\n            local TDHeight = 0\r\n            if MissileTerminal[MissileData.Id] ~= true and RealTarVel.magnitude < TopDownMaxSpeed then\r\n              if MissileTopDownInRange[MissileData.Id] then\r\n                local TimeToTarget2d = (Distance2d/Vector3(RelVel.x,0,RelVel.z).magnitude)\r\n                if TimeToTarget2d > (90/MissileTurnRate) then\r\n                  if SwitchHeight ~= 0 and TarPos.z < SwitchHeight then\r\n                    TopDownMaxHeight = -TopDownMaxHeight\r\n                  end\r\n                  if TopDownRelativeHeight == 1 then\r\n                    TDHeight = TarPos.y + TopDownMaxHeight\r\n                  else\r\n                    TDHeight = TopDownMaxHeight\r\n                  end\r\n                  TDHeight = TDHeight+((TDHeight-MissileData.Position.y)*2)\r\n                else\r\n                  if MissileData.TimeSinceLaunch > ThrustDelay + 0.1 then\r\n                    MissileTerminal[MissileData.Id] = true\r\n                  end\r\n                end\r\n              end\r\n            end\r\n            Adjustment = Adjustment + Vector3(0,TDHeight,0)\r\n            \r\n            --spread and evasion patterns\r\n            if Spiral == 1 then\r\n              local Right = Vector3.Cross(SelfVel.normalized, Vector3(0.0, 1.0, 0.0)).normalized*math.min(150,Distance2d/5)\r\n              Right = Quaternion.AngleAxis(Angle1, SelfVel.normalized) * Right\r\n              if Distance2d>500 then\r\n                Adjustment = Adjustment + Right\r\n              end\r\n            end\r\n            if Serpentine == 1 then\r\n              local Right = Vector3.Cross(SelfVel.normalized, Vector3(0.0, 1.0, 0.0)).normalized*math.min(150,Distance2d/5)\r\n              Right = Right * Mathf.Sin(Angle2*Mathf.Deg2Rad)\r\n              if Distance2d>500 then\r\n                Adjustment = Adjustment + Right\r\n              end\r\n            end\r\n            if Circus == 1 then\r\n              if Distance2d>250 and MissileData.TimeSinceLaunch - ThrustDelay < SpreadTime + 0.1 then\r\n                Adjustment = Adjustment + MissileSeed[MissileData.Id]*math.min(1000,Distance2d)\r\n              end\r\n            end\r\n            if Circus2 == 1 then\r\n              if TimeToTarget > (90/MissileTurnRate) and MissileTerminal[MissileData.Id] ~= true then\r\n                Adjustment = Adjustment + MissileSeed[MissileData.Id]*math.min(Circus2MaxSpread,math.max(Distance2d-Circus2MaxSpread,0))\r\n              else\r\n                if MissileData.TimeSinceLaunch > ThrustDelay + 0.1 then\r\n                  MissileTerminal[MissileData.Id] = true\r\n                end\r\n              end\r\n            end\r\n            if Grid == 1 then\r\n              local MisPos = ((((t+1)/MissileCount))-0.5/MissileCount)-0.5\r\n              if TimeToTarget > (90/MissileTurnRate) and MissileTerminal[MissileData.Id] ~= true then\r\n                local Dir = Target - I:GetConstructPosition()\r\n                local Dist = Vector3.Distance(Target, I:GetConstructPosition())\r\n                local Right = Vector3.Cross(Dir.normalized, Vector3(0, 1, 0).normalized)\r\n                local MisDist = 0\r\n                local nextmis\r\n                if MisPos<0 then\r\n                  nextmis = I:GetLuaControlledMissileInfo(t+1,0)\r\n                elseif MisPos>0 then\r\n                  nextmis = I:GetLuaControlledMissileInfo(t-1,0)\r\n                end\r\n                if nextmis~=nil then\r\n                  if MissileErrors[nextmis.Id]~=nil and ECMErrors[nextmis.Id]~=nil then\r\n                    MisDist = Vector3.Distance(MissileData.Position+(MissileErrors[MissileData.Id]-StabilityMiss)+ECMErrors[MissileData.Id], nextmis.Position+MissileErrors[nextmis.Id]+ECMErrors[nextmis.Id])\r\n                  end\r\n                end\r\n                if MisDist < GridSpread then\r\n                  Adjustment = Adjustment + Dir.normalized*Dist*0.25 + Right*MisPos*(GridSpread*MissileCount)\r\n                else\r\n                  Adjustment = Adjustment + Right*MisPos*(GridSpread*MissileCount)\r\n                end\r\n              else\r\n                if MissileData.TimeSinceLaunch > ThrustDelay + 0.1 then\r\n                  MissileTerminal[MissileData.Id] = true\r\n                end\r\n              end\r\n            end\r\n\r\n            --point at target before we start moving\r\n            if MissileData.TimeSinceLaunch < ThrustDelay+0.1 then \r\n              AimPos = (Target+Adjustment)-((MissileErrors[MissileData.Id]-StabilityMiss) - ECMErrors[MissileData.Id])+Vector3(0,Height,0)+((RealTarVel*(Distance/500)))\r\n            end\r\n\r\n            --improved predictive guidance\r\n            if Prediction == 1 then\r\n              local Counter = -MissileData.Velocity\r\n              AimPos = ((Target+Adjustment)+TimeToTarget*RealTarVel) - (MissileErrors[MissileData.Id]-StabilityMiss) + ECMErrors[MissileData.Id]\r\n              local AimDist = Vector3.Distance(AimPos, MissileData.Position)\r\n              AimPos = AimPos + Counter.normalized*AimDist*0.5\r\n              AimPos = Vector3.RotateTowards(MissileData.Velocity, AimPos-MissileData.Position, 0.7, 0)*1000\r\n            else\r\n              AimPos = Target+Adjustment - (MissileErrors[MissileData.Id]-StabilityMiss) + ECMErrors[MissileData.Id]\r\n              if ApplyMinimumAlt == 1 then\r\n                AimPos = Vector3(AimPos.x,math.max(AimPos.y,MinimumAlt),AimPos.z)\r\n              end\r\n              if ApplyMaximumAlt == 1 then\r\n                AimPos = Vector3(AimPos.x,math.min(AimPos.y,MaximumAlt),AimPos.z)\r\n              end\r\n            end\r\n            TargetLastPos[MissileData.Id] = Target\r\n\r\n            --adjust speed for better hit rate or for fuel saving\r\n            if AdjustSpeed == 1 or Cruise == 1 then\r\n              local RelPos = (AimPos - MissileData.Position).normalized\r\n              local AngleToTarget = Vector3.Angle(SelfVel, RelPos)\r\n              local Parts = I:GetMissileInfo(t,m).Parts\r\n              if string.find(Parts[1].Name,'Variable thruster') then\r\n                local thruster = Parts[1]\r\n                if Cruise == 1 and Distance > CruiseDistance then\r\n                  thruster:SendRegister(2,CruiseSpeed)\r\n                else\r\n                  if AdjustSpeed == 1 then\r\n                    if AngleToTarget*AngleToTargetBuffer > PursuitTurnSpeed*TimeToTarget then\r\n                      thruster:SendRegister(2,MinThrust)\r\n                    elseif AngleToTarget*AngleToTargetBuffer < PursuitTurnSpeed*TimeToTarget*0.2 then\r\n                      thruster:SendRegister(2,MaxThrust)\r\n                    else\r\n                      thruster:SendRegister(2,MidThrust)\r\n                    end\r\n                  else\r\n                    thruster:SendRegister(2,MaxSpeed)\r\n                  end\r\n                end\r\n              end\r\n            end\r\n\r\n            --aim at target\r\n            I:SetLuaControlledMissileAimPoint(t, m, AimPos.x, AimPos.y, AimPos.z)\r\n            \r\n            --proximity or on miss detonations (obsolete with the new module tbh)\r\n            local DetTarPos = Target+Adjustment - ((MissileErrors[MissileData.Id]-StabilityMiss) - ECMErrors[MissileData.Id])\r\n            local DetSelfPos = MissileData.Position\r\n            local PreDetTarPos = Target+Adjustment - ((MissileErrors[MissileData.Id]-StabilityMiss) - ECMErrors[MissileData.Id]) + (TargetData.Velocity*0.025)\r\n            local PreDetSelfPos = MissileData.Position + MissileData.Velocity*0.025\r\n            if DetOnOvershoot == 1 and Vector3.Dot(MissileData.Velocity.normalized, (DetTarPos-DetSelfPos).normalized) < 0 and Vector3.Distance(DetTarPos,DetSelfPos) < 50 then\r\n              I:DetonateLuaControlledMissile(t,m)\r\n            end\r\n            if PreDetOnOvershoot == 1 and Vector3.Dot(MissileData.Velocity.normalized, (PreDetTarPos-PreDetSelfPos).normalized) < 0 and Vector3.Distance(PreDetTarPos,PreDetSelfPos) < 50 then\r\n              I:DetonateLuaControlledMissile(t,m)\r\n            end\r\n            if Vector3.Distance(DetTarPos,DetSelfPos) < AoE then\r\n              I:DetonateLuaControlledMissile(t,m)\r\n            end\r\n          end\r\n        end\r\n      end\r\n    end\r\n  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