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Update(I)\r\n\tI:ClearLogs()\r\n\t\r\n\ttime = I:GetTimeSinceSpawn()\r\n\r\n\t\t\t\r\n\tOwnPos = I:GetAiPosition(0)\r\n\tWepNum = I:GetWeaponCount()\r\n\tOwnVec = I:GetVelocityVector()\r\n\tOwnVec.y = 0\r\n\tOwnVec = OwnVec * 0.1\r\n\tfor i = 0, WepNum do\r\n\t\twepinfo = I:GetWeaponInfo(i)\r\n\r\n\t\t--タレットだったら\r\n\t\tif wepinfo.WeaponType == 4 then\r\n\t\t\t\r\n\t\t\t---\r\n\t\t\tscale = 20\r\n\t\t\tPitch = I:GetConstructPitch()\r\n\t\t\tif(Pitch > 180.0) then\r\n\t\t\t\t Pitch = Pitch - 360.0\r\n\t\t\tend\r\n\t\t\tPitch = Pitch/180.0\r\n\t\t\t\r\n\t\t\t\r\n\t\t\tRoll = I:GetConstructRoll()\r\n\t\t\tif(Roll > 180.0) then\r\n\t\t\t\t Roll = Roll - 360.0\r\n\t\t\tend\r\n\t\t\tRoll = Roll/180.0\r\n\t\t\t\r\n\t\t\t\r\n\t\t\t--左右どっちの足か判定用\r\n\t\t\tQua = Quaternion.LookRotation(I:GetConstructForwardVector(),I:GetConstructUpVector())\r\n\t\t\t\r\n\t\t\tpos = wepinfo.GlobalPosition - OwnPos\r\n\t\t\tpos = Quaternion.Inverse(Qua) * pos\r\n\t\t\t\r\n\t\t\tangular = I:GetLocalAngularVelocity()\r\n\t\t\tI:Log(\"x:\"..angular.x..\" y:\"..angular.y..\" z:\"..angular.z)\r\n\t\t\t\r\n\t\t\trollmove = angular.z\r\n\r\n\t\t\tslidevec = Qua * I:GetVelocityVector()\r\n\t\t\tI:Log(slidevec.x)\r\n\t\t\tslidevec.x = -slidevec.x*0.01\t\r\n\r\n\t\t\tVec = Vector3(0,-1,0)\r\n\t\t\tif(pos.x > 0.5) then\r\n\t\t\t\t--右足\r\n\t\t\t\tVec.x = (0.2+math.min(0,Roll+slidevec.x));\r\n\t\t\t\tVec.y = -1;\r\n\t\t\t\tVec.z = -rollmove*0.1-Pitch*scale;\r\n\t\t\telse\r\n\t\t\t\t--左足\r\n\t\t\t\tVec.x = -(0.2+math.max(0,Roll-slidevec.x));\r\n\t\t\t\tVec.y = -1;\r\n\t\t\t\tVec.z = rollmove*0.1-Pitch*scale;\r\n\t\t\tend\r\n\r\n\r\n\r\n\t\t\tVec = Vec.normalized\r\n\t\t\t\r\n\t\t\t\r\n\t\t\tVec = Qua * Vec;\r\n\t\t\t\r\n\t\t\t--I:Log(i..\":\"..Vec.x..\",\"..Vec.y..\",\"..Vec.z)\r\n\t\t\t\r\n\t\t\t--if( wepinfo.LocalPosition )\r\n\t\t\t\r\n\t\t\tI:AimWeaponInDirection(i, Vec.x, Vec.y, Vec.z, 5)\r\n\t\t\t\r\n\t\t\t--lwep = I:GetWeaponInfoOnTurretOrSpinner(i, 0)\r\n\t\t\t\r\n\t\t\t--I:AimWeaponInDirectionOnTurretOrSpinner(i, 0, lwep.CurrentDirection.x, lwep.CurrentDirection.y, lwep.CurrentDirection.z, 4)\r\n\t\t\t--I:FireWeaponOnTurretOrSpinner(i, 0, 4)\r\n\t\tend\r\n\tend\r\nend","--Ultimate Cannon Aiming Script v1.1\r\n\r\n--You can specify settings per weapon slot (for turrets this is the weapon slot of the turret, for spinners it is the weapons slot of the weapons on the spinner).\r\n--If you haven't specified settings for a weapon slot then the weapons in that slot will use the default settings.\r\n\r\n--Not that the weapons should NOT be controlled by an AI, meaning no local weapon controllers (LWCs) next to the weapons or turrets.\r\n\r\n--don't forget about the commas after each line except the 'mainframe = ...' line\r\n\r\n--default settings\r\ndefaultSetting = {\r\n\r\n  --set this to true if this group of weapons is to be controlled by this script, false if not\r\n  controlledByScript = false,\r\n  \r\n  --set this to true if the shells in this group have a supercavitation base component\r\n  superCavitationBase = false,\r\n  \r\n  --set this to true if the shells in this group have a gravcompensator component\r\n  gravCompensator = false,\r\n  \r\n  --set this to true if the weapons should be fired using only high arcing trajectories\r\n  mortar = false,\r\n  \r\n  --set this to the (average) barrel length of the weapons in this group\r\n  barrelLength = 14,\r\n  \r\n  --how many degrees the barrel is allowed to aim to the left. Must be between -180 (meaning no restriction) and 0 (meaning not allowed to aim to the left at all). For a 500mm cannon with a 3m elevation mantlet this should be -5\r\n  minAzimuth = -90,\r\n  \r\n  --how many degrees the barrel is allowed to aim to the right. Must be between 0 (meaning not allowed to aim to the right at all) and 180 (meaning no restriction). For a 500mm cannon with a 3m elevation mantlet this should be 5\r\n  maxAzimuth = 90,\r\n  \r\n  --how many degrees the barrel is allowed to aim downwards. Must be between -180 (meaning no restriction) and 0 (meaning not allowed to aim down at all). For a 500mm cannon with a 3m elevation mantlet this should be -45\r\n  minElevation = -90,\r\n  \r\n  --how many degrees the barrel is allowed to aim up. Must be between 0 (meaning not allowed to aim up at all) and 180 (meaning no restriction). For a 500mm cannon with a 3m elevation mantlet this should be 45\r\n  maxElevation = 90,\r\n  \r\n  --how many degrees turrets and spinners are allowed to rotate to the left (note that those restriction should NOT also be set in the turret itself)\r\n  minTurretRotation = -180,\r\n  \r\n  --how many degrees turrets and spinners are allowed to rotate to the right (note that those restriction should NOT also be set in the turret itself)\r\n  maxTurretRotation = 180,\r\n  \r\n  --similar to 'required acc before fire' as found ingame in weapons settings. Also in degrees. Restrictions set in the weapon might still apply\r\n  requiredAccuracy = 1,\r\n  \r\n  --minimal time (in seconds) the shell must travel before hitting a target. Can be used to prevent a cannon from blowing itself up by shooting at too close targets\r\n  minFlightTime = 0.001,\r\n  \r\n  --maximal flight time (in seconds) of the shells. Should not be set higher than the effective time of the shell.\r\n  maxFlightTime = 10,\r\n  \r\n  --the index of the mainframe to use for getting targets. Not fully implemented yet and should probably be left at 0.\r\n  mainframe = 0\r\n}\r\n\r\n--ignore the next line\r\nsettings = {}\r\n\r\n\r\n--settings for weapons in weapon slot 1\r\nsettings[1] = {\r\n\r\n  --set this to false if these settings should be ignored and the default should be used instead. Set this to true to use these settings for weapons in weapon slot 1\r\n  useTheseSetings = false,\r\n  \r\n  --everything else is the same as for the default settings\r\n  controlledByScript = true,\r\n  superCavitationBase = false,\r\n  gravCompensator = false,\r\n  mortar = false,\r\n  barrelLength = 9,\r\n  minAzimuth = -45,\r\n  maxAzimuth = 45,\r\n  minElevation = -90,\r\n  maxElevation = 90,\r\n  minTurretRotation = -90,\r\n  maxTurretRotation = 90,\r\n  requiredAccuracy = 1,\r\n  minFlightTime = 0.001,\r\n  maxFlightTime = 15,\r\n  mainframe = 0\r\n}\r\n\r\n--settings for weapons in weapon slot 2\r\nsettings[2] = {\r\n  useTheseSetings = false,\r\n  controlledByScript = false,\r\n  superCavitationBase = false,\r\n  gravCompensator = false,\r\n  mortar = false,\r\n  barrelLength = 10,\r\n  minAzimuth = -180,\r\n  maxAzimuth = 180,\r\n  minElevation = -180,\r\n  maxElevation = 180,\r\n  minTurretRotation = -180,\r\n  maxTurretRotation = 180,\r\n  requiredAccuracy = 1,\r\n  minFlightTime = 0.001,\r\n  maxFlightTime = 15,\r\n  mainframe = 0\r\n}\r\n\r\n--settings for weapons in weapon slot 3\r\nsettings[3] = {\r\n  useTheseSetings = true,\r\n  controlledByScript = true,\r\n  superCavitationBase = false,\r\n  gravCompensator = false,\r\n  mortar = false,\r\n  barrelLength = 17,\r\n  minAzimuth = -180,\r\n  maxAzimuth = 180,\r\n  minElevation = -180,\r\n  maxElevation = 180,\r\n  minTurretRotation = -180,\r\n  maxTurretRotation = 180,\r\n  requiredAccuracy = 1,\r\n  minFlightTime = 0.001,\r\n  maxFlightTime = 15,\r\n  mainframe = 0\r\n}\r\n\r\n--settings for weapons in weapon slot 4\r\nsettings[4] = {\r\n  useTheseSetings = false,\r\n  controlledByScript = true,\r\n  superCavitationBase = false,\r\n  gravCompensator = false,\r\n  mortar = false,\r\n  barrelLength = 10,\r\n  minAzimuth = -180,\r\n  maxAzimuth = 180,\r\n  minElevation = -180,\r\n  maxElevation = 180,\r\n  minTurretRotation = -180,\r\n  maxTurretRotation = 180,\r\n  requiredAccuracy = 1,\r\n  minFlightTime = 0.001,\r\n  maxFlightTime = 15,\r\n  mainframe = 0\r\n}\r\n\r\n--settings for weapons in weapon slot 5\r\nsettings[5] = {\r\n  useTheseSetings = false,\r\n  controlledByScript = true,\r\n  superCavitationBase = false,\r\n  gravCompensator = false,\r\n  mortar = false,\r\n  barrelLength = 10,\r\n  minAzimuth = -180,\r\n  maxAzimuth = 180,\r\n  minElevation = -180,\r\n  maxElevation = 180,\r\n  minTurretRotation = -180,\r\n  maxTurretRotation = 180,\r\n  requiredAccuracy = 1,\r\n  minFlightTime = 0.001,\r\n  maxFlightTime = 15,\r\n  mainframe = 0\r\n}\r\n\r\n--end of the settings. Everything after this does not require any changes by the user\r\n\r\n\r\n-------------------------------------\r\n\r\n\r\n\r\n-- Algorithm constants. Probably shouldn't mess with these. If the script takes too long, just message me and I'll take a look at it. \r\nlambertW_THRESHOLD = 1E-10\r\nlamberW_MAX_ITERATIONS = 100\r\nvyFromT_THRESHOLD=1E-2\r\nvyFromT_MAX_ITERATIONS=500\r\nsolve_MAX_DEPTH=4\r\nsolve_THRESHOLD=1E-1\r\nsolve_MAX_ITERATIONS=100\r\n\r\n\r\nh2 = nil\r\nh3 = nil\r\ng = nil\r\nk=nil\r\nNaN=0/0\r\nmath.e=math.exp(1)\r\nAPI=nil\r\n\r\n\r\n\r\n-----------------------------------\r\n\r\n--global constants\r\nCANNON = 0\r\nMISSILE = 1\r\nLASER = 2\r\nHARPOON = 3\r\nTURRET = 4\r\nMISSILECONTROL = 5\r\nFIRECONTROLCOMPUTER = 6\r\n\r\nORIENTATION_THRESHOLD = .01\r\nORIENTATION_CHANGE_THRESHOLD = .001\r\nTURRET_WEAPON_DISTANCE_THRESHOLD = 0.01\r\n\r\nfor key, value in ipairs(settings) do\r\n  if not value.useTheseSetings then\r\n    settings[key] = nil\r\n  end\r\n  if value.minFlightTime <= 0 then\r\n    value.minFlightTime = 0.001\r\n  end\r\n  value.requiredAccuracyDot = math.cos(value.requiredAccuracy / 180 * math.pi)\r\nend\r\ndefaultSetting.requiredAccuracyDot = math.cos(defaultSetting.requiredAccuracy / 180 * math.pi)\r\n\r\n\r\n\r\n--global object to store a bunch of data in\r\nglobal = nil\r\n\r\n--table to store fixed cannons\r\nfixedCannons = {}\r\n\r\n--table to store turrets with cannons\r\nturrets = {}\r\n\r\n--table to store spinners with cannons\r\nspinners = {}\r\n\r\n--table to store the position of the turret or spinner indexed by turretSpinnerIndex\r\nturretSpinnerByIndex = {}\r\n\r\n--round function. I do not care about the case that the non-integer part is exactly .5\r\nfunction math.round(x)\r\n  return math.floor(x+.5)\r\nend\r\n\r\nfunction createGlobalObject(I)\r\n  g = I:GetGravityForAltitude(0).y\r\n  local g = {}\r\n  global = g\r\n\r\n  --reference to the interface\r\n  g.I = I\r\n  \r\n  --flag is used to differentiate between old and new data\r\n  g.flag = I:GetTime()\r\n\r\n  --position and forward vector etc. of the construct\r\n  g.position = I:GetConstructPosition()\r\n  g.right = I:GetConstructRightVector()\r\n  g.up = I:GetConstructUpVector()\r\n  g.forward = I:GetConstructForwardVector()\r\n\r\n  g.velocity = I:GetVelocityVector()\r\n\r\nend\r\n\r\n--get global right, up and forward vectors expressed in local coordinates of coordinateFrame\r\nfunction getInverseDirectionVectors(coordinateFrame)\r\n  local inverseRight = Vector3(coordinateFrame.right.x, coordinateFrame.up.x, coordinateFrame.forward.x)\r\n  local inverseUp = Vector3(coordinateFrame.right.y, coordinateFrame.up.y, coordinateFrame.forward.y)\r\n  local inverseForward = Vector3(coordinateFrame.right.z, coordinateFrame.up.z, coordinateFrame.forward.z)\r\n  return inverseRight, inverseUp, inverseForward\r\nend\r\n\r\n--converts local coordinates from coordinateFrame to global coordianates using the position, right, up and forward properties of coordinateFrame\r\nfunction localToGlobalFloat(localPosition, coordinateFrame)\r\n  return coordinateFrame.position + coordinateFrame.right * localPosition.x + coordinateFrame.up * localPosition.y + coordinateFrame.forward * localPosition.z\r\nend\r\n\r\nfunction localDirectionToGlobalFloat(locaDirection, coordinateFrame)\r\n  return coordinateFrame.right * locaDirection.x + coordinateFrame.up * locaDirection.y + coordinateFrame.forward * locaDirection.z\r\nend\r\n\r\n--converts global coordinates to local coordinates of coordinateFrame using the position, inverseRight, inverseUp and inverseForward properties of coordinateFrame, if necessary creating them first\r\nfunction globalToLocalFloat(globalPosition, coordinateFrame) \r\n  if not coordinateFrame.inverseRight then\r\n    coordinateFrame.inverseRight, coordinateFrame.inverseUp, coordinateFrame.inverseForward = getInverseDirectionVectors(coordinateFrame)\r\n  end\r\n  local translatedPosition = globalPosition-coordinateFrame.position\r\n  return coordinateFrame.inverseRight * translatedPosition.x + coordinateFrame.inverseUp * translatedPosition.y + coordinateFrame.inverseForward * translatedPosition.z\r\nend\r\n\r\n--converts global directions to local direction of coordinateFrame using the inverseRight, inverseUp and inverseForward properties of coordinateFrame, if necessary creating them first\r\nfunction globalDirectionToLocalFloat(globalDirection, coordinateFrame)\r\n  if not coordinateFrame.inverseRight then\r\n    coordinateFrame.inverseRight, coordinateFrame.inverseUp, coordinateFrame.inverseForward = getInverseDirectionVectors(coordinateFrame)\r\n  end\r\n  return coordinateFrame.inverseRight * globalDirection.x + coordinateFrame.inverseUp * globalDirection.y + coordinateFrame.inverseForward * globalDirection.z\r\nend\r\n\r\nfunction globalDirectionToLocalInteger(globalDirection, coordinateFrame)\r\n  return roundVector(globalDirectionToLocalFloat(globalDirection, coordinateFrame))\r\nend\r\n\r\n--converts global coordinates to local coordinates of coordinateFrame using the position, inverseRight, inverseUp and inverseForward properties of coordinateFrame, if necessary creating them first and rounds he result\r\nfunction globalToLocalInteger(globalPosition, coordinateFrame) \r\n  return roundVector(globalToLocalFloat(globalPosition, coordinateFrame))\r\nend\r\n\r\n--rounding vectors in one go\r\nfunction roundVector(vector)\r\n  return Vector3(math.round(vector.x),math.round(vector.y),math.round(vector.z))\r\nend\r\n\r\n--calculates a (practicaly unique) index from a vector of integers. Used for storing weapons based on position\r\nfunction indexFromVector(vector)\r\n  return vector.x+vector.y*1000+vector.z*1000000\r\nend\r\n\r\nfunction updateWeaponsTurretsAndSpinnersTables()\r\n  local g = global\r\n  local I = g.I\r\n  local weaponCount = I:GetWeaponCount()\r\n  local spinnerCount = I:GetSpinnerCount()\r\n  local turretSpinnerCount = I:GetTurretSpinnerCount()\r\n\r\n  --update fixed weapons and turrets\r\n  for weaponIndex=0, weaponCount-1 do\r\n    local weaponInfo = I:GetWeaponInfo(weaponIndex)\r\n    local weaponType = weaponInfo.WeaponType\r\n    if weaponType == CANNON then\r\n      updateWeapon(weaponInfo, weaponIndex)\r\n    elseif weaponType == TURRET then\r\n      updateTurret(weaponInfo, weaponIndex)\r\n    end\r\n  end\r\n\r\n  --update spinners\r\n  for spinnerIndex=0, spinnerCount-1 do\r\n    local spinner = I:GetSpinnerInfo(spinnerIndex)\r\n    updateSpinner(spinner,spinnerIndex)\r\n  end\r\n\r\n  --update weapons on turrets and spinners\r\n  for turretSpinnerIndex=0, turretSpinnerCount-1 do\r\n    updateWeaponsOnTurretsOrSpinners(turretSpinnerIndex)\r\n  end\r\nend\r\n\r\nfunction updateWeapon(weaponInfo, weaponIndex)\r\n  local localPosition = weaponInfo.LocalPosition\r\n  local tableIndex = indexFromVector(localPosition)\r\n  local extraInfo\r\n  if not fixedCannons[tableIndex] then\r\n    extraInfo = {right = false, up = false, forward = false,weaponIndex = weaponIndex, ready = false}\r\n    local info = {weaponInfo=weaponInfo,extraInfo=extraInfo}\r\n    fixedCannons[tableIndex] = info\r\n  else\r\n    local info = fixedCannons[tableIndex]\r\n    info.weaponInfo = weaponInfo\r\n    extraInfo = info.extraInfo\r\n  end\r\n  extraInfo.flag = global.flag\r\n  if not extraInfo.forward and not weaponInfo.PlayerCurrentlyControllingIt then\r\n    local localWeaponDirection = globalDirectionToLocalFloat(weaponInfo.CurrentDirection,global)\r\n    local roundedLocalWeaponDirection = roundVector(localWeaponDirection)\r\n    if extraInfo.lastWeaponDirection and Vector3.Distance(localWeaponDirection, extraInfo.lastWeaponDirection) < ORIENTATION_CHANGE_THRESHOLD and Vector3.Distance(localWeaponDirection,roundedLocalWeaponDirection) < ORIENTATION_THRESHOLD then\r\n      extraInfo.forward = roundedLocalWeaponDirection\r\n      if extraInfo.forward == Vector3.up then\r\n        extraInfo.right = Vector3.right\r\n        extraInfo.up = Vector3.back\r\n      else\r\n        extraInfo.up = Vector3.up\r\n        extraInfo.right = roundVector(Vector3.Cross(extraInfo.up, extraInfo.forward))\r\n      end\r\n      extraInfo.ready = true\r\n    else\r\n      extraInfo.lastWeaponDirection = localWeaponDirection\r\n    end\r\n  end\r\nend\r\n\r\nfunction updateTurret(weaponInfo, weaponIndex)\r\n  local localPosition = globalToLocalInteger(weaponInfo.GlobalPosition,global)\r\n  local tableIndex = indexFromVector(localPosition)\r\n  local extraInfo\r\n  if not turrets[tableIndex] then\r\n    extraInfo = {weapons = false, right = false, up = false, forward = false, turretSpinnerIndex = false, weaponSlot = false, maxMuzzleVelocity = false, averageWeaponPosition = false, weaponIndex = false, ready = false, flag = false, weaponSlot = false, currentDirection = false}\r\n    local info = {weaponInfo=weaponInfo,extraInfo=extraInfo}\r\n    turrets[tableIndex] = info\r\n  else\r\n    local info = turrets[tableIndex]\r\n    info.weaponInfo = weaponInfo\r\n    extraInfo = info.extraInfo\r\n  end\r\n  extraInfo.flag = global.flag\r\n  extraInfo.weaponIndex = weaponIndex\r\n  if extraInfo.weapons then\r\n    if not extraInfo.up and not weaponInfo.PlayerCurrentlyControllingIt then\r\n      local localWeaponDirection = globalDirectionToLocalFloat(weaponInfo.CurrentDirection, global)\r\n      local roundedLocalWeaponDirection = roundVector(localWeaponDirection)\r\n      if extraInfo.lastWeaponDirection and Vector3.Distance(localWeaponDirection, extraInfo.lastWeaponDirection) < ORIENTATION_CHANGE_THRESHOLD and Vector3.Distance(localWeaponDirection,roundedLocalWeaponDirection) < ORIENTATION_THRESHOLD then\r\n        extraInfo.forward = roundedLocalWeaponDirection\r\n        local _,info = next(extraInfo.weapons,nil)\r\n        if info == nil then\r\n        else\r\n\t        local weaponInfo = info.weaponInfo\r\n\t        local localTurretWeaponPosition = weaponInfo.LocalPosition\r\n\t        localTurretWeaponPosition.z = 0\r\n\t        local localVehicleWeaponPosition = globalToLocalInteger(weaponInfo.GlobalPosition, global)-localPosition\r\n\t        localVehicleWeaponPosition = localVehicleWeaponPosition - extraInfo.forward * Vector3.Dot(localVehicleWeaponPosition, extraInfo.forward)\r\n\t        local rotation1\r\n\t        if extraInfo.forward.x==1 then\r\n\t          rotation1 = Quaternion.AngleAxis(90, Vector3.up)\r\n\t        elseif extraInfo.forward.x==-1 then\r\n\t          rotation1 = Quaternion.AngleAxis(-90, Vector3.up)\r\n\t        elseif extraInfo.forward.y==1 then\r\n\t          rotation1 = Quaternion.AngleAxis(-90, Vector3.right)\r\n\t        elseif extraInfo.forward.y==-1 then\r\n\t          rotation1 = Quaternion.AngleAxis(90, Vector3.right)\r\n\t        elseif extraInfo.forward.z==1 then\r\n\t          rotation1 = Quaternion.identity\r\n\t        elseif extraInfo.forward.z==-1 then\r\n\t          rotation1 = Quaternion.AngleAxis(180, Vector3.up)\r\n\t        end\r\n\t        for i=0,3 do\r\n\t          local rotation2 = Quaternion.AngleAxis(90 * i,extraInfo.forward)\r\n\t          if localVehicleWeaponPosition == roundVector(rotation2 * (rotation1 * localTurretWeaponPosition)) then\r\n\t            extraInfo.up = roundVector(rotation2 * (rotation1 * Vector3.up)) \r\n\t            extraInfo.right = roundVector(rotation2 * (rotation1 * Vector3.right)) \r\n\t            break\r\n\t          end\r\n\t        end\r\n\t        extraInfo.ready = true\r\n\t    end\r\n      else\r\n        extraInfo.lastWeaponDirection = localWeaponDirection\r\n      end\r\n    end\r\n  end\r\nend\r\n\r\nfunction updateSpinner(spinnerInfo, spinnerIndex)\r\n  local localPosition = globalToLocalInteger(spinnerInfo.Position, global)\r\n  local tableIndex = indexFromVector(localPosition)\r\n  local extraInfo\r\n  if not spinners[tableIndex] then\r\n    extraInfo = {weapons = false, right = false, up = false, forward = false, turretSpinnerIndex = false, weaponSlot = false, maxMuzzleVelocity = false, averageWeaponPosition = false, spinnerIndex = spinnerIndex, ready = false, flag = false, weaponSlot = false, currentDirection = false, currentRotation = false}\r\n    local info = {spinnerInfo=spinnerInfo,extraInfo=extraInfo}\r\n    spinners[tableIndex] = info\r\n  else\r\n    local info = spinners[tableIndex]\r\n    info.spinnerInfo = spinnerInfo\r\n    extraInfo = info.extraInfo\r\n  end\r\n  extraInfo.flag = global.flag\r\n  extraInfo.spinnerIndex = spinnerIndex\r\n  if extraInfo.weapons then\r\n    if not extraInfo.up then\r\n      local localForwardsDirection = globalDirectionToLocalFloat(spinnerInfo.Forwards, global)\r\n      local roundedLocalForwardsDirection = roundVector(localForwardsDirection)\r\n      if extraInfo.lastForwardsDirection and Vector3.Distance(localForwardsDirection, extraInfo.lastForwardsDirection) < ORIENTATION_CHANGE_THRESHOLD and Vector3.Distance(localForwardsDirection,roundedLocalForwardsDirection) < ORIENTATION_THRESHOLD then\r\n        extraInfo.forward = roundedLocalForwardsDirection\r\n        local rotation = spinnerInfo.LocalRotation\r\n        extraInfo.up = roundVector(rotation*Vector3.up)\r\n        extraInfo.right = roundVector(Vector3.Cross(extraInfo.up, extraInfo.forward))\r\n        extraInfo.ready = true\r\n      else\r\n        extraInfo.lastForwardsDirection = localForwardsDirection\r\n        global.I:SetSpinnerRotationAngle(spinnerIndex, 0)\r\n      end\r\n    end\r\n    if extraInfo.ready then\r\n      local currentRelativeForward = Vector3.Dot(spinnerInfo.LocalForwards, extraInfo.forward)\r\n      local currentRelativeRight = Vector3.Dot(spinnerInfo.LocalForwards, extraInfo.right)\r\n      extraInfo.currentRotation = math.atan2(currentRelativeRight, currentRelativeForward)/math.pi*180\r\n    end\r\n  end\r\nend\r\n\r\nfunction updateWeaponsOnTurretsOrSpinners(turretSpinnerIndex)\r\n  local I = global.I\r\n  local weaponCountOnTurretOrSpinner = I:GetWeaponCountOnTurretOrSpinner(turretSpinnerIndex)\r\n  if not turretSpinnerByIndex[turretSpinnerIndex] then\r\n    local found = false\r\n    for weaponIndex=0,weaponCountOnTurretOrSpinner-1 do\r\n      local weapon = I:GetWeaponInfoOnTurretOrSpinner(turretSpinnerIndex, weaponIndex)\r\n      if weapon.WeaponType==CANNON then\r\n        local squaredDistanceFromTurret = weapon.LocalPosition.sqrMagnitude\r\n        local globalPosition = weapon.GlobalPosition\r\n        for _,turret in pairs(turrets) do\r\n          if math.abs((globalPosition-turret.weaponInfo.GlobalPosition).sqrMagnitude-squaredDistanceFromTurret) < TURRET_WEAPON_DISTANCE_THRESHOLD then\r\n            turretSpinnerByIndex[turretSpinnerIndex] = turret\r\n            turret.extraInfo.weapons = {}\r\n            turret.extraInfo.turretSpinnerIndex = turretSpinnerIndex\r\n            found = true\r\n            break\r\n          end\r\n        end\r\n        if found then break end\r\n        for _,spinner in pairs(spinners) do\r\n          if math.abs((globalPosition-spinner.spinnerInfo.Position).sqrMagnitude-squaredDistanceFromTurret) < TURRET_WEAPON_DISTANCE_THRESHOLD then\r\n            turretSpinnerByIndex[turretSpinnerIndex] = spinner\r\n            spinner.extraInfo.weapons = {}\r\n            spinner.extraInfo.turretSpinnerIndex = turretSpinnerIndex\r\n            found = true\r\n            break\r\n          end\r\n        end\r\n      end\r\n    end\r\n  end\r\n  if turretSpinnerByIndex[turretSpinnerIndex] then\r\n    local turretSpinner = turretSpinnerByIndex[turretSpinnerIndex]\r\n    local extraInfo = turretSpinner.extraInfo\r\n    extraInfo.maxMuzzleVelocity = 0\r\n    extraInfo.averageWeaponPosition = Vector3(0,0,0)\r\n    local weaponCount = 0\r\n    for weaponIndex = 0,weaponCountOnTurretOrSpinner - 1 do\r\n      local weaponInfo = I:GetWeaponInfoOnTurretOrSpinner(turretSpinnerIndex, weaponIndex)\r\n      if weaponInfo.WeaponType == CANNON and weaponInfo.Valid and weaponInfo.Speed > 0 then\r\n        local localPosition = weaponInfo.LocalPosition\r\n        local weapons = turretSpinner.extraInfo.weapons\r\n        local tableIndex = indexFromVector(localPosition)\r\n        if not weapons[tableIndex] then\r\n          local info = {weaponInfo = false, flag = false, weaponIndex = false}\r\n          weapons[tableIndex] = info\r\n        end\r\n        local info = weapons[tableIndex]\r\n        info.weaponInfo = weaponInfo\r\n        info.flag = global.flag\r\n        info.weaponIndex = weaponIndex\r\n        if extraInfo.maxMuzzleVelocity < weaponInfo.Speed then\r\n          extraInfo.maxMuzzleVelocity = weaponInfo.Speed\r\n          extraInfo.weaponSlot = weaponInfo.WeaponSlot\r\n          extraInfo.currentDirection = weaponInfo.CurrentDirection\r\n        end\r\n        extraInfo.averageWeaponPosition = extraInfo.averageWeaponPosition + weaponInfo.GlobalPosition\r\n        weaponCount = weaponCount + 1\r\n      end\r\n    end\r\n    extraInfo.averageWeaponPosition = extraInfo.averageWeaponPosition/weaponCount\r\n  end\r\nend\r\n\r\nfunction getTargets()\r\n  local I = global.I\r\n  targets = {}\r\n  for mainframeIndex=0, I:GetNumberOfMainframes() - 1 do\r\n    targets[mainframeIndex + 1] = {}\r\n    local targetCount = 1\r\n    for targetIndex=0, I:GetNumberOfTargets(mainframeIndex) do\r\n      local targetInfo = I:GetTargetInfo(mainframeIndex, targetIndex)\r\n      if targetInfo.Valid and targetInfo.Protected then\r\n        targets[mainframeIndex + 1][targetIndex + 1] = I:GetTargetInfo(mainframeIndex, targetIndex)\r\n        local targetCount = targetCount + 1\r\n      end\r\n    end\r\n  end\r\n  return targets\r\nend\r\n\r\nfunction aimAndFireFixedWeapons(allTargets)\r\n  for _,info in pairs(fixedCannons) do\r\n    local weaponInfo = info.weaponInfo\r\n    local extraInfo = info.extraInfo\r\n    if not weaponInfo.PlayerCurrentlyControllingIt and extraInfo.ready and extraInfo.flag == global.flag and weaponInfo.Valid and weaponInfo.Speed > 0 then\r\n      local setting = settings[weaponInfo.WeaponSlot]\r\n      if not setting then\r\n        setting = defaultSetting\r\n      end\r\n      if setting.controlledByScript then\r\n        local targets = allTargets[setting.mainframe+1]\r\n        if targets then\r\n          local cannonPosition = weaponInfo.GlobalPosition + weaponInfo.CurrentDirection * setting.barrelLength\r\n          local muzzleVelocity = weaponInfo.Speed\r\n          for _,target in ipairs(targets) do\r\n            local aimDirection, flightTime = solve_1(cannonPosition, global.velocity, target.AimPointPosition, target.Velocity, setting.minFlightTime, setting.maxFlightTime, muzzleVelocity, setting.superCavitationBase, setting.gravCompensator, setting.mortar, linearLessHeight)\r\n            if aimDirection == aimDirection then\r\n              local localAimDirection = globalDirectionToLocalFloat(globalDirectionToLocalFloat(aimDirection, global),extraInfo)\r\n              local azimuth = math.atan2(localAimDirection.x,localAimDirection.z)/math.pi*180\r\n              local elevation = math.atan2(localAimDirection.y,localAimDirection.z)/math.pi*180\r\n              if azimuth > setting.minAzimuth and azimuth < setting.maxAzimuth and elevation > setting.minElevation and elevation < setting.maxElevation then\r\n                global.I:AimWeaponInDirection(extraInfo.weaponIndex, aimDirection.x, aimDirection.y, aimDirection.z, 0)\r\n                local normalizedAimDirection = aimDirection.normalized\r\n                if Vector3.Dot(normalizedAimDirection, weaponInfo.CurrentDirection) > setting.requiredAccuracyDot then\r\n                  global.I:FireWeapon(extraInfo.weaponIndex, 0)\r\n                end\r\n                break\r\n              end\r\n            end\r\n          end\r\n        end\r\n      end\r\n    end\r\n  end\r\nend\r\n\r\nfunction aimAndFireTurretedWeapons(allTargets)\r\n  local I = global.I\r\n  for _,turretInfo in pairs(turrets) do\r\n    local turretWeaponInfo = turretInfo.weaponInfo\r\n    local turretExtraInfo = turretInfo.extraInfo\r\n    if not turretWeaponInfo.PlayerCurrentlyControllingIt and turretExtraInfo.ready and turretExtraInfo.flag == global.flag and turretWeaponInfo.Valid and turretExtraInfo.maxMuzzleVelocity > 0 then\r\n      local setting = settings[turretWeaponInfo.WeaponSlot]\r\n      if not setting then\r\n        setting = defaultSetting\r\n      end\r\n      if setting.controlledByScript then\r\n        local targets = allTargets[setting.mainframe+1]\r\n        if targets then\r\n          local cannonPosition = turretExtraInfo.averageWeaponPosition + turretWeaponInfo.CurrentDirection.normalized * setting.barrelLength\r\n          local muzzleVelocity = turretExtraInfo.maxMuzzleVelocity\r\n          for _,target in ipairs(targets) do\r\n            local aimDirection, flightTime = solve_1(cannonPosition, global.velocity, target.AimPointPosition, target.Velocity, setting.minFlightTime, setting.maxFlightTime, muzzleVelocity, setting.superCavitationBase, setting.gravCompensator, setting.mortar, linearLessHeight)\r\n            if aimDirection == aimDirection then\r\n              local localAimDirection = globalDirectionToLocalFloat(globalDirectionToLocalFloat(aimDirection, global),turretExtraInfo)\r\n              local rotation = math.atan2(localAimDirection.x,localAimDirection.z)/math.pi*180\r\n              if rotation > setting.minTurretRotation and rotation < setting.maxTurretRotation or (setting.minTurretRotation <= -180 or setting.maxTurretRotation >= 180) then\r\n                if setting.minTurretRotation > -180 or setting.maxTurretRotation < 180 then\r\n                  local localCurrentDirection = globalDirectionToLocalFloat(globalDirectionToLocalFloat(turretWeaponInfo.CurrentDirection, global),turretExtraInfo)\r\n                  local currentRotation = math.atan2(localCurrentDirection.x,localCurrentDirection.z)/math.pi*180\r\n                  if currentRotation*rotation < 0 then\r\n                    if math.abs(currentRotation-rotation) > 180 then\r\n                      local newAimDirection = localDirectionToGlobalFloat(turretExtraInfo.forward, global)\r\n                      global.I:AimWeaponInDirection(turretExtraInfo.weaponIndex, newAimDirection.x, newAimDirection.y, newAimDirection.z, 0)\r\n                    else\r\n                      global.I:AimWeaponInDirection(turretExtraInfo.weaponIndex, aimDirection.x, aimDirection.y, aimDirection.z, 0)\r\n                    end\r\n                  else\r\n                    global.I:AimWeaponInDirection(turretExtraInfo.weaponIndex, aimDirection.x, aimDirection.y, aimDirection.z, 0)\r\n                  end\r\n                else\r\n                  global.I:AimWeaponInDirection(turretExtraInfo.weaponIndex, aimDirection.x, aimDirection.y, aimDirection.z, 0)\r\n                end\r\n                for _, info in pairs(turretExtraInfo.weapons) do\r\n                  local weaponInfo = info.weaponInfo\r\n                  if info.flag == global.flag and weaponInfo.Valid and weaponInfo.Speed>0 then\r\n                    local weaponIndex = info.weaponIndex\r\n                    local cannonPosition = weaponInfo.GlobalPosition + weaponInfo.CurrentDirection.normalized * setting.barrelLength\r\n                    local muzzleVelocity = weaponInfo.Speed\r\n                    local aimDirection, flightTime = solve_1(cannonPosition, global.velocity, target.AimPointPosition, target.Velocity, setting.minFlightTime, setting.maxFlightTime, muzzleVelocity, setting.superCavitationBase, setting.gravCompensator, setting.mortar, linearLessHeight)\r\n                    if aimDirection == aimDirection then\r\n                      local localAimDirection = globalDirectionToLocalFloat(globalDirectionToLocalFloat(aimDirection, global),turretExtraInfo)\r\n                      local elevation = math.atan(localAimDirection.y/math.sqrt(localAimDirection.x * localAimDirection.x + localAimDirection.z *  localAimDirection.z))/math.pi*180\r\n                      if elevation > setting.minElevation and elevation < setting.maxElevation then\r\n                        I:AimWeaponInDirectionOnTurretOrSpinner(turretExtraInfo.turretSpinnerIndex, weaponIndex, aimDirection.x, aimDirection.y, aimDirection.z, 0)\r\n                        local normalizedAimDirection = aimDirection.normalized\r\n                        if Vector3.Dot(normalizedAimDirection, weaponInfo.CurrentDirection) > setting.requiredAccuracyDot then\r\n                          I:FireWeaponOnTurretOrSpinner(turretExtraInfo.turretSpinnerIndex, weaponIndex, 0)\r\n                        end\r\n                      end\r\n                    end\r\n                  end\r\n                end\r\n                break\r\n              end\r\n            end\r\n          end\r\n        end\r\n      end\r\n    end\r\n  end\r\nend\r\n\r\nfunction aimAndFireSpinnedWeapons(allTargets)\r\n  local I = global.I\r\n  for _,info in pairs(spinners) do\r\n    local spinnerInfo = info.spinnerInfo\r\n    local spinnerExtraInfo = info.extraInfo\r\n    if spinnerExtraInfo.ready and spinnerExtraInfo.flag == global.flag and spinnerExtraInfo.maxMuzzleVelocity > 0 then\r\n      local setting = settings[spinnerExtraInfo.WeaponSlot]\r\n      if not setting then\r\n        setting = defaultSetting\r\n      end\r\n      if setting.controlledByScript then\r\n        local targets = allTargets[setting.mainframe+1]\r\n        if targets then\r\n          local cannonPosition = spinnerExtraInfo.averageWeaponPosition + spinnerExtraInfo.currentDirection.normalized * setting.barrelLength\r\n          local muzzleVelocity = spinnerExtraInfo.maxMuzzleVelocity\r\n          for _,target in ipairs(targets) do\r\n            local aimDirection, flightTime = solve_1(cannonPosition, global.velocity, target.AimPointPosition, target.Velocity, setting.minFlightTime, setting.maxFlightTime, muzzleVelocity, setting.superCavitationBase, setting.gravCompensator, setting.mortar, linearLessHeight)\r\n            if aimDirection == aimDirection then\r\n              local localAimDirection = globalDirectionToLocalFloat(globalDirectionToLocalFloat(aimDirection, global), spinnerExtraInfo)\r\n              local rotation = math.atan2(localAimDirection.x,localAimDirection.z)/math.pi*180\r\n              if rotation > setting.minTurretRotation and rotation < setting.maxTurretRotation or (setting.minTurretRotation <= -180 or setting.maxTurretRotation >= 180) then\r\n                local currentRotation = spinnerExtraInfo.currentRotation\r\n                if setting.minTurretRotation > -180 or setting.maxTurretRotation < 180 then\r\n                  if currentRotation*rotation < 0 then\r\n                    if math.abs(currentRotation-rotation) > 180 then\r\n                      local newAimDirection = localDirectionToGlobalFloat(spinnerExtraInfo.forward, global)\r\n                      rotateSpinner(currentRotation, 0, spinnerExtraInfo.spinnerIndex)\r\n                    else\r\n                      rotateSpinner(currentRotation, rotation, spinnerExtraInfo.spinnerIndex)\r\n                    end\r\n                  else\r\n                    rotateSpinner(currentRotation, rotation, spinnerExtraInfo.spinnerIndex)\r\n                  end\r\n                else\r\n                  rotateSpinner(currentRotation, rotation, spinnerExtraInfo.spinnerIndex)\r\n                end\r\n                for _, info in pairs(spinnerExtraInfo.weapons) do\r\n                  local weaponInfo = info.weaponInfo\r\n                  if info.flag == global.flag and weaponInfo.Valid and weaponInfo.Speed>0 then\r\n                    local weaponIndex = info.weaponIndex\r\n                    local cannonPosition = weaponInfo.GlobalPosition + weaponInfo.CurrentDirection.normalized * setting.barrelLength\r\n                    local muzzleVelocity = weaponInfo.Speed\r\n                    local aimDirection, flightTime = solve_1(cannonPosition, global.velocity, target.AimPointPosition, target.Velocity, setting.minFlightTime, setting.maxFlightTime, muzzleVelocity, setting.superCavitationBase, setting.gravCompensator, setting.mortar, linearLessHeight)\r\n                    if aimDirection == aimDirection then\r\n                      local localAimDirection = globalDirectionToLocalFloat(globalDirectionToLocalFloat(aimDirection, global), spinnerExtraInfo)\r\n                      local elevation = math.atan(localAimDirection.y/math.sqrt(localAimDirection.x * localAimDirection.x + localAimDirection.z *  localAimDirection.z))/math.pi*180\r\n                      if elevation > setting.minElevation and elevation < setting.maxElevation then\r\n                        I:AimWeaponInDirectionOnTurretOrSpinner(spinnerExtraInfo.turretSpinnerIndex, weaponIndex, aimDirection.x, aimDirection.y, aimDirection.z, 0)\r\n                        local normalizedAimDirection = aimDirection.normalized\r\n                        if Vector3.Dot(normalizedAimDirection, weaponInfo.CurrentDirection) > setting.requiredAccuracyDot then\r\n                          I:FireWeaponOnTurretOrSpinner(spinnerExtraInfo.turretSpinnerIndex, weaponIndex, 0)\r\n                        end\r\n                      end\r\n                    end\r\n                  end\r\n                end\r\n                break\r\n              end\r\n            end\r\n          end\r\n        end\r\n      end\r\n    end\r\n  end\r\nend\r\n\r\nfunction rotateSpinner(from, to, spinnerIndex)\r\n  global.I:SetSpinnerRotationAngle(spinnerIndex, to)\r\n  if false then\r\n    local rotationSpeed\r\n    if math.abs(from-to) < 180 then\r\n      rotationSpeed = to - from\r\n    else\r\n      if from < to then\r\n        from = from + 360\r\n      else\r\n        to = to + 360\r\n      end\r\n      rotationSpeed = to - from\r\n    end\r\n    rotationSpeed = rotationSpeed * math.pi / 180 * 40\r\n    if rotationSpeed < -30 then\r\n      rotationSpeed = -30\r\n    elseif rotationSpeed > 30 then\r\n      rotationSpeed = 30\r\n    end\r\n    global.I:SetSpinnerContinuousSpeed(spinnerIndex, rotationSpeed)\r\n  end\r\nend\r\n\r\nfunction logVectorToHud(vector)\r\n  global.I:LogToHud(vector.x..\" \"..vector.y..\" \"..vector.z)\r\nend\r\n\r\nfunction logQuaternionToHud(vector)\r\n  global.I:LogToHud(vector.x..\" \"..vector.y..\" \"..vector.z..\" \"..vector.w)\r\nend\r\n\r\nfunction Update(I)\r\n  createGlobalObject(I)\r\n  updateWeaponsTurretsAndSpinnersTables()\r\n  local targets = getTargets()\r\n  aimAndFireFixedWeapons(targets)\r\n  aimAndFireTurretedWeapons(targets)\r\n  aimAndFireSpinnedWeapons(targets)\r\nend\r\n\r\n\r\n\r\n---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\r\n---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\r\n\r\n\r\n\r\n\r\nfunction math.sign(x)\r\n  return x>0 and 1 or x<0 and -1 or 0\r\nend\r\n\r\nfunction copy(v)\r\n  return Vector3(v.x,v.y,v.z)\r\nend\r\n\r\nfunction localFromGlobal(globalPosition)\r\n  local constructPosition = API:GetConstructPosition()\r\n  return Vector3(math.floor(.5+Vector3.Dot(globalPosition-constructPosition,API:GetConstructRightVector())),math.floor(.5+Vector3.Dot(globalPosition-constructPosition,API:GetConstructUpVector())),math.floor(.5+Vector3.Dot(globalPosition-constructPosition,API:GetConstructForwardVector())))\r\nend\r\n\r\n\r\nfunction linearLessHeight(t_pos,t_vel,T)\r\n  local target = t_pos+Vector3(t_vel.x,0.2*t_vel.y,t_vel.z)*T\r\n  return target\r\nend\r\n\r\n\r\nfunction linear(t_pos,t_vel,T)\r\n  local target = t_pos+t_vel*T\r\n  return target\r\nend\r\n\r\nfunction simulate(s_pos,s_vel,T,dt)\r\n  local s_pos = copy(s_pos)\r\n  local s_vel = copy(s_vel)\r\n  local t = 0\r\n  while t<T do\r\n    if s_pos.y<0 then\r\n      s_vel=s_vel-s_vel*k*dt\r\n    end\r\n    if s_pos.y<h2 then\r\n      s_vel.y=s_vel.y+g*dt\r\n    elseif s_pos.y<h3 then\r\n      s_vel.y=s_vel.y+g*dt*(h3-s_pos.y)/(h3-h2)\r\n    end\r\n    s_pos=s_pos+s_vel*dt\r\n    t=t+dt\r\n  end\r\n  return(s_pos)\r\nend\r\n\r\nfunction LambertW_neg_alt(a,b,c)\r\n  local d=-c*math.exp(a*k/b)*k/b\r\n  if d<-1/math.e or d>0 then\r\n    return({})\r\n  end\r\n  local bound=-math.log(b/c/k)/k\r\n  local t=0\r\n  local cexpminkt=c\r\n  local error=a+cexpminkt\r\n  local i=0\r\n  while i<lamberW_MAX_ITERATIONS and math.abs(error)>lambertW_THRESHOLD do\r\n    i = i+1\r\n    local t_new=t-error/(b-k*cexpminkt)\r\n    if t_new>bound then\r\n      t=(t+bound)/2\r\n    else\r\n      t=t_new\r\n    end\r\n    t=t_new\r\n    cexpminkt=c*math.exp(-k*t)\r\n    error=a+b*t+cexpminkt\r\n  end\r\n  return({t})\r\nend\r\n  \r\nfunction heightFromVerticalSpeed(y,vy,T,underWaterTimes,T_done)\r\n  if y<0 or (y==0 and vy<=0) then\r\n    if #underWaterTimes==0 then\r\n      table.insert(underWaterTimes,0)\r\n    end\r\n    local c=(g/k-vy)/k\r\n    local b=g/k\r\n    local a=-c+y\r\n    if vy/k+y<0 then\r\n      return a+b*T+c*math.exp(-k*T),underWaterTimes\r\n    end\r\n    local t = LambertW_neg_alt(a,b,c)\r\n    if #t==0 or t[1]<0 or t[1]>T then\r\n      return a+b*T+c*math.exp(-k*T),underWaterTimes\r\n    else\r\n      t=t[1]\r\n      table.insert(underWaterTimes,t+T_done)\r\n      return heightFromVerticalSpeed(0,b+(vy-g/k)*math.exp(-k*t),T-t,underWaterTimes,0)\r\n    end\r\n  end\r\n  \r\n  if (y>0 or (y==0 and vy>0)) and (y<h2 or (y==h2 and vy<=0)) then\r\n    if vy>0 then\r\n      local D=vy*vy-2*(y-h2)*g\r\n      if D>=0 then\r\n        local t=(-vy+math.sqrt(D))/g\r\n        if t>T then\r\n          return y+vy*T+g/2*T*T,underWaterTimes\r\n        else\r\n          return heightFromVerticalSpeed(h2,vy+g*t,T-t,underWaterTimes,T_done+t)\r\n        end\r\n      end\r\n    end\r\n    local D=vy*vy-2*y*g\r\n    local t=(-vy-math.sqrt(D))/g\r\n    if t>T then\r\n      return y+vy*T+g/2*T*T,underWaterTimes\r\n    else\r\n      table.insert(underWaterTimes,t+T_done)\r\n      return heightFromVerticalSpeed(0,vy+g*t,T-t,underWaterTimes,0)\r\n    end\r\n  end\r\n  \r\n  if (y>h2 or (y==h2 and vy>0)) and (y<h3 or (y==h3 and vy<0)) then\r\n    local a=h3\r\n    local d=math.sqrt(g/(h2-h3))\r\n    local c=(y-a+vy/d)/2\r\n    local b=y-a-c\r\n    if vy>0 then\r\n      local D=-4*b*c\r\n      if D>=0 then\r\n        local t\r\n        if c>0 then\r\n          t=math.log(math.sqrt(D)/(2*c))/d\r\n        else\r\n          t=math.log(-math.sqrt(D)/(2*c))/d\r\n        end\r\n        if t>T then\r\n          local expdT=math.exp(d*T)\r\n          return a+b/expdT+c*expdT,underWaterTimes\r\n        else\r\n          local expdt=math.exp(d*t)\r\n          return heightFromVerticalSpeed(h3,d*(c*expdt-b/expdt),T-t,underWaterTimes,T_done+t)\r\n        end\r\n      end\r\n    end\r\n    local B=a-h2\r\n    local D=B*B-4*b*c\r\n    local t\r\n    if c*d>0 then\r\n      t=math.log((-B+math.sqrt(D))/(2*c))/d\r\n    else\r\n      t=math.log((-B-math.sqrt(D))/(2*c))/d\r\n    end\r\n    if t>T then\r\n      local expdt=math.exp(d*T)\r\n      return a+b/expdt+c*expdt,underWaterTimes\r\n    else\r\n      local expdt=math.exp(d*t)\r\n      return heightFromVerticalSpeed(h2,d*(c*expdt-b/expdt),T-t,underWaterTimes,T_done+t)\r\n    end\r\n  end\r\n  \r\n  if y>=h3 or (y==h2 and vy>0) then\r\n    if vy>=0 then\r\n      return y+vy*T,underWaterTimes\r\n    else\r\n      local t=(h3-y)/vy\r\n      if t>T then\r\n        return y+vy*T,underWaterTimes\r\n      else\r\n        return heightFromVerticalSpeed(h3,vy,T-t,underWaterTimes,T_done+t)\r\n      end\r\n    end\r\n  end\r\nend      \r\n\r\nfunction vyFromT_secant_alt(minvy, maxvy, T, y, targetHeight)\r\n  local a,underWaterTimes=heightFromVerticalSpeed(y,minvy,T,{},0)\r\n  local b,underWaterTimes=heightFromVerticalSpeed(y,maxvy,T,{},0)\r\n  a=a-targetHeight\r\n  b=b-targetHeight\r\n  local vy1=minvy\r\n  local vy2=maxvy\r\n  if a*b>0 then\r\n    return NaN,underWaterTimes\r\n  end\r\n  if a>b then\r\n    vy1,vy2=vy2,vy1\r\n  end\r\n  local c=b\r\n  local vy3=b\r\n  local i=1\r\n  while i<vyFromT_MAX_ITERATIONS and math.abs(c)>vyFromT_THRESHOLD do\r\n    i=i+1\r\n    vy3=(vy1*b-vy2*a)/(b-a)\r\n    c,underWaterTimes=heightFromVerticalSpeed(y,vy3,T,{},0)\r\n    c=c-targetHeight\r\n    if vy3==vy1 or vy3==vy2 then\r\n      break\r\n    end\r\n    if c>0 then\r\n      vy2=vy3\r\n      b=c\r\n    else\r\n      vy1=vy3\r\n      a=c\r\n    end\r\n  end\r\n  return vy3,underWaterTimes\r\nend\r\n  \r\nfunction horizontalDistanceModifierFromVelocityAndTime(T,underWaterTimes)\r\n  local result=0\r\n  local above=true\r\n  local a=1\r\n  for i=0,#underWaterTimes-1 do\r\n    if above then\r\n      result = result+a*underWaterTimes[i+1]\r\n      T=T-underWaterTimes[i+1]\r\n    else\r\n      local expminkt=math.exp(-k*underWaterTimes[i+1])\r\n      result = result+a*(1-expminkt)/k\r\n      a = a*expminkt\r\n      T=T-underWaterTimes[i+1]\r\n    end\r\n    above=not above\r\n  end\r\n  if above then\r\n    result = result+a*T\r\n  else\r\n    local expminkT=math.exp(-k*T)\r\n    result = result+a*(1-expminkT)/k\r\n  end\r\n  return(result)\r\nend\r\n\r\nfunction horizontalStuff(c_pos,c_vel,vy,T,v,underWaterTimes,target)\r\n  local m=horizontalDistanceModifierFromVelocityAndTime(T,underWaterTimes)\r\n  local s_vel = (target-c_pos)/m\r\n  s_vel.y=vy\r\n  local error = (s_vel-c_vel).magnitude-v\r\n  return error,s_vel\r\nend\r\n\r\nfunction solve_1(c_pos,c_vel,t_pos,t_vel,tmin,tmax,v,supCav,gravComp,mortar,targetFromTime)\r\n  if supCav then\r\n    k=.07\r\n  else\r\n    k=.7\r\n  end\r\n  \r\n  if gravComp then\r\n    h2 = 100000\r\n    h3 = 1000000\r\n  else\r\n    h2 = 500\r\n    h3 = 900\r\n  end\r\n  \r\n  local error, sign, sign1, sign2\r\n  local v_min = c_vel.y-2*v\r\n  local v_max = c_vel.y+2*v\r\n  local signs={}\r\n  local T=tmin\r\n  local target=targetFromTime(t_pos,t_vel,T)\r\n  local vy,underWaterTimes=vyFromT_secant_alt(v_min,v_max,T,c_pos.y,target.y)\r\n  if vy~=vy then\r\n    table.insert(signs,NaN)\r\n  else\r\n    error,s_vel=horizontalStuff(c_pos,c_vel,vy,T,v,underWaterTimes,target)\r\n    table.insert(signs,math.sign(error))\r\n  end\r\n  T=tmax\r\n  target=targetFromTime(t_pos,t_vel,T)\r\n  vy,underWaterTimes=vyFromT_secant_alt(v_min,v_max,T,c_pos.y,target.y)\r\n  if vy~=vy then\r\n    table.insert(signs,NaN)\r\n  else\r\n    error,s_vel=horizontalStuff(c_pos,c_vel,vy,T,v,underWaterTimes,target)\r\n    table.insert(signs,math.sign(error))\r\n  end\r\n  local sign1,sign2\r\n  if signs[1]*signs[2]<0 then\r\n    sign1,sign2=signs[1],signs[2]\r\n  else\r\n    local step = tmax-tmin\r\n    if (function()\r\n    for i=0,solve_MAX_DEPTH do\r\n      T=tmin+.5*step\r\n      target=targetFromTime(t_pos,t_vel,T)\r\n      for j=0,math.pow(2,i)-1 do\r\n        vy,underWaterTimes=vyFromT_secant_alt(v_min,v_max,T,c_pos.y,target.y)\r\n        if vy~=vy then\r\n          table.insert(signs,2+2*j,NaN)\r\n        else\r\n          local error,s_vel=horizontalStuff(c_pos,c_vel,vy,T,v,underWaterTimes,target)\r\n          if error~=error then\r\n            table.insert(signs,2+2*j,NaN)\r\n          else\r\n            sign=math.sign(error)\r\n            if signs[2*j+1]==signs[2*j+1] and (signs[2*j+1]~=sign and not mortar) or signs[2*j+1]<sign then\r\n              tmin=T-.5*step\r\n              tmax=T\r\n              sign1,sign2=signs[2*j+1],sign\r\n              return(false)\r\n            elseif signs[2*j+2]==signs[2*j+2] and (signs[2*j+2]~=sign and not mortar) or signs[2*j+2]>sign then\r\n              tmin=T\r\n              tmax=T+.5*step\r\n              sign1,sign2=sign,signs[2*j+2]\r\n              return(false)\r\n            else\r\n              table.insert(signs,2+2*j,sign)\r\n            end\r\n          end\r\n        end\r\n        T=T+step\r\n        target=targetFromTime(t_pos,t_vel,T)\r\n      end\r\n      step = .5*step\r\n    end\r\n    return(true) end)() then\r\n      return NaN,NaN\r\n    end\r\n  end\r\n  local step=.5*(tmax-tmin)\r\n  T=tmin+step\r\n  target=targetFromTime(t_pos,t_vel,T)\r\n  vy,underWaterTimes=vyFromT_secant_alt(v_min,v_max,T,c_pos.y,target.y)\r\n  error,s_vel=horizontalStuff(c_pos,c_vel,vy,T,v,underWaterTimes,target)\r\n  if error~=error then\r\n    return NaN,NaN\r\n  end\r\n  local i=1\r\n  while math.abs(error)>solve_THRESHOLD do\r\n    i=i+1\r\n    if i>solve_MAX_ITERATIONS then\r\n      return NaN,NaN\r\n    end\r\n    sign = math.sign(error)\r\n    step=.5*step\r\n    if sign==sign1 then\r\n      T=T+step\r\n    else\r\n      T=T-step\r\n    end\r\n    target=targetFromTime(t_pos,t_vel,T)\r\n    vy,underWaterTimes=vyFromT_secant_alt(v_min,v_max,T,c_pos.y,target.y)\r\n    error,s_vel=horizontalStuff(c_pos,c_vel,vy,T,v,underWaterTimes,target)\r\n    if error~=error then\r\n      return NaN,NaN\r\n    end\r\n  end\r\n  s_vel.y=vy\r\n  s_vel=s_vel-c_vel\r\n  return s_vel.normalized,T\r\nend","reflect = 2\r\nlaser   = 3\r\n\r\n-- MISSILE AVOIDANCE OPTIONS\r\nWarningMainframe = 0\r\nRunAwayTTT = 2\r\nRunAngle = 0\r\nDodgeTTT = 1\r\nDodgingRollTolerance = 60\r\nDangerRadius = 20\r\nNormalSpeed = 180\r\nCraftRadius = 10\r\nDodgingSpeed = 5\r\n\r\n--FRIEND AVOIDANCE OPTIONS\r\nFriendlyCheckDistance = 50\r\nVerticalClearance = 50\r\nFriendlyAvoidanceWeight = 10\r\n\r\nuseJets         = true\r\nuseDediSpinners = true\r\nuseAllSpinners  = false\r\n\r\norbiterMode        = \"off\"        -- \"off\": the default frontal mode, \"both\": doesn't have a preferred side, \"left\"/\"right\": only uses one side to fight\r\nmatchAltitude      = false        -- In combat will match the target's altitude(evasion will use this altitude as base, minAltitude and maxAltitude still apply).\r\nrepairMode         = false        -- Won't fight but try to repair friendlies\r\nisSatellite        = false        -- Will aim at the target with the bottom\r\nrepairClosestFirst = true         -- In repair mode goes to help the most damaged ally first on false\r\nminDamageNoticed   = 1            -- 0.95 means the craft won't bother with anything above 95% health\r\naddAltude\t\t\t\t= 0\r\noptimalAltitude         = 100     -- Move at this height when in combat/stay this many meters above target in repair mode(can be negative for repair)\r\noptimalDistance         = 700    -- Try to maintain this distance from target in both modes(doesn't take altitude into account). If you want to get close consider reducing maxPitchMagnitude. -1 means staying stationary.\r\nminAltitude             = 30      -- Measured at center of mass, leave some clearance\r\nmaxAltitude             = 500     -- Without space captain above 300 the atmosphere starts to thin out. Use space propulsion if you want to go much higher\r\nmaxPitchMagnitude       = 50      -- Pitch with a bigger absolute value will be clamped to match this\r\nmaxRoll                 = 5       -- Max roll\r\npitchMovementAssist     = 0       -- Max angle to pitch at to help forward/backwards movement\r\nrollMovementAssist      = 0       -- Max angle to roll at to help left/right movement\r\nevasiveAltitudeChange   = 70      -- Vertical evasive manouvers add/subtract this to/from altitude\r\nevasiveLeftPeriod       = 6       -- Go left for this amount of time(seconds)\r\nevasiveRightPeriod      = 6      -- Go right for this amount of time(seconds)\r\nuseBalloons             = true    -- Set it to false when not using balloons for water start\r\nballonDeployAltitude    = 0       -- Deploy balloons below this one\r\nballonReleaseAltitude   = 100     -- Cut balloons above this\r\naltitudeFeedbackMeters  = 10      -- Writes the new target altitude to HUD in off/on/combat mode, if it changed by at least this much. 0 turns feedback off.\r\n\r\n-- Used for getting a serial number(that's not used for anything right now)\r\nblueprintName = \"\"\r\n\r\n-- Tune PIDs here\r\n--                       P,        D,       I,    OutMax,   OutMin,    IMax,    IMin\r\nrollPIDData     = {   0.005,     0.001,     0.00,         1,       -1,       1,      -1}\r\npitchPIDData    = {    0.03,     0.004,     0.00,         1,       -1,       1,      -1}\r\naltitudePIDData = {    0.2,     0.05,    0.00,         1,       -1,       1,      -1}\r\nyawPIDData      = {    0.01,     0.002,     0.0,         1,       -1,       1,      -1}\r\nslipPIDData     = {   0.05,     0.05,     0.0,         1,       -1,       1,      -1}\r\ndistancePIDData = {    0.1,      0.5,     0.0,         1,       -1,       1,      -1}\r\n\r\n\r\nlocalTime = 0\r\n\r\nUnDockTime = 0\r\n\r\nMyNo = 0\r\nMyID = 0\r\n\r\nfunction sign(x)\r\n  return x>0 and 1 or x<0 and -1 or 0\r\nend\r\nfunction Init(I)\r\n    -- forgive me for I have sinned\r\n    API = I\r\n\tMyNo = API.FleetIndex\r\n\tAPI:Log(\"FIndex:\"..MyNo)\r\n\tmath.randomseed(API:GetTime() + localTime + MyNo)\r\n\t\r\n    if not VehicleState then\r\n        VehicleState = {}\r\n    end\r\n    VehicleState.centerOfMass   = API:GetConstructCenterOfMass()\r\n    VehicleState.pitch          = -API:GetConstructPitch()\r\n    VehicleState.roll           = API:GetConstructRoll()\r\n    VehicleState.forwardVector  = API:GetConstructForwardVector()\r\n    VehicleState.upVector       = API:GetConstructUpVector()\r\n    VehicleState.yaw            = API:GetConstructYaw()\r\n    VehicleState.speed          = API:GetForwardsVelocityMagnitude()\r\n    VehicleState.currentTime    = API:GetTime() + localTime + MyNo\r\n    VehicleState.velocity       = API:GetVelocityVector()\r\n    VehicleState.AICount        = API:GetNumberOfMainframes()\r\n    VehicleState.flagship       = API.Fleet.Flagship\r\n    propulsionAngleTolerance        = 0.5\r\n    local horizontalProjection      = Vector3(VehicleState.forwardVector.x, 0, VehicleState.forwardVector.z)\r\n\r\n    VehicleState.projectionRotation = Quaternion.Inverse(Quaternion.LookRotation(horizontalProjection, VehicleState.upVector))\r\n    VehicleState.normalRotation     = Quaternion.Inverse(Quaternion.LookRotation(VehicleState.forwardVector, VehicleState.upVector))\r\n\r\n    VehicleState.target = GetCombatTarget()\r\n    if repairMode then\r\n        VehicleState.repairTarget = GetRepairTarget()\r\n    end\r\n\r\n    VehicleState.targetPosition = nil\r\n\r\n    if API.AIMode == \"fleetmove\" and API.IsFlagship then\r\n        VehicleState.AIMode = \"patrol\"\r\n    else\r\n        VehicleState.AIMode = API.AIMode\r\n    end\r\n\r\n    if VehicleState.pitch<-180 then\r\n        VehicleState.pitch = VehicleState.pitch+360\r\n    end\r\n    if VehicleState.roll>180 then\r\n        VehicleState.roll = VehicleState.roll-360\r\n    end\r\n\r\n    if not VehicleState.serial then\r\n        SetSerial()\r\n        InitPIDs()\r\n        \r\n        if API:Component_GetCount(8) == 0 then\r\n            VehicleState.hasAltitudeControl = false\r\n            VehicleState.adjustedAltitude   = optimalAltitude\r\n        else\r\n            VehicleState.hasAltitudeControl = true\r\n            SetAltitudeHydrofoil(optimalAltitude)\r\n        end\r\n    end\r\n\r\n    if VehicleState.hasAltitudeControl then\r\n        SetupAltitudeControl()\r\n    end\r\nend\r\n\r\nfunction SetupAltitudeControl()\r\n    local altitudeFlag = API:Component_GetFloatLogic(8, 0) + 45\r\n    local newAltitude  = minAltitude + ((maxAltitude-minAltitude) * altitudeFlag / 90)\r\n\r\n    if altitudeFeedbackMeters > 0 then\r\n        local promptAltitude = math.floor(newAltitude / altitudeFeedbackMeters) * altitudeFeedbackMeters\r\n\r\n        if not VehicleState.lastAltitudePrompt or math.abs(promptAltitude - VehicleState.lastAltitudePrompt) >= altitudeFeedbackMeters then\r\n            if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" or VehicleState.AIMode == \"combat\" then\r\n                --API:LogToHud(\"Altitude: \" .. promptAltitude .. \"m\")\r\n            end\r\n            VehicleState.lastAltitudePrompt = promptAltitude\r\n        end\r\n    end\r\n    VehicleState.adjustedAltitude = newAltitude\r\nend\r\n\r\nfunction SetAltitudeHydrofoil(newAltitude)\r\n    local relativeAltitude = math.min(math.max(newAltitude, minAltitude), maxAltitude) - minAltitude\r\n    local altitudeFraction = relativeAltitude / (maxAltitude-minAltitude)\r\n    local normalizedRange  = altitudeFraction - 0.5\r\n    local fullAngle        = normalizedRange * 90\r\n\r\n    -- initialize altitude flag hydrofoil angle\r\n    API:Component_SetFloatLogic(8, 0, math.min(math.max(fullAngle, -45), 45))\r\nend\r\n\r\n-- Take over all jets, not just vertical ones\r\nfunction EnableAllJets()\r\n    VehicleState.jetsAtMax = 0\r\n\r\n    if useJets then\r\n        for i=0,3 do\r\n            API:RequestThrustControl(i)\r\n        end\r\n        for i=6,9 do\r\n            API:RequestThrustControl(i)\r\n        end\r\n    end\r\nend\r\n\r\nfunction ResetJetStrengths()\r\n    if not VehicleState.jetsAtMax or VehicleState.jetsAtMax == 0 then\r\n        API:Component_SetFloatLogicAll(9,1)\r\n        VehicleState.jetsAtMax = 1\r\n    end\r\nend\r\n\r\nfunction SetupPropulsion()\r\n    -- Send an 'on' signal to vertical jets\r\n    if useJets then\r\n        -- up/down\r\n        API:RequestThrustControl(4)\r\n        API:RequestThrustControl(5)\r\n        -- pitch up/down\r\n        API:RequestControl(2, 4, 1)\r\n        API:RequestControl(2, 5, 1)\r\n    end\r\n\r\n    if VehicleState.AIMode == \"on\" or VehicleState.AIMode == \"off\" then\r\n        -- Manual mode, lay off side/forward propulsion strengths\r\n        ResetJetStrengths()\r\n    else\r\n        -- Automatic, toggle everything on\r\n        EnableAllJets()\r\n    end\r\n\r\n    JetManager = {\r\n        propulsionCount = API:Component_GetCount(9),\r\n        GetComponent    = function (serial) return API:Component_GetBlockInfo(9,serial) end,\r\n        SetImpulse      = function (serial,impulse) API:Component_SetFloatLogic(9,serial,math.min(math.max(impulse, 0),1)) end,\r\n        GetFowardVector = function (propulsion) return propulsion.Forwards end,\r\n        type            = \"jet\"\r\n    }\r\n    RotorManager = {\r\n        propulsionCount = API:GetSpinnerCount(),\r\n        GetComponent    = function (serial) return API:GetSpinnerInfo(serial) end,\r\n        SetImpulse      = function (serial,impulse) if useAllSpinners or API:IsSpinnerDedicatedHelispinner(serial) then API:SetSpinnerInstaSpin(serial, math.min(math.max(impulse, -1),1)) end end,\r\n        GetFowardVector = function (propulsion) return QuaternionUpVector(propulsion.Rotation) end,\r\n        type            = \"spinner\"\r\n    }\r\n\r\n    PropulsionManagers = {}\r\n    if useAllSpinners or useDediSpinners then\r\n        table.insert(PropulsionManagers, RotorManager)\r\n    end\r\n    if useJets then\r\n        table.insert(PropulsionManagers, JetManager)\r\n    end\r\n\r\n    PropulsionComponents = {}\r\n    for i=1,table.getn(PropulsionManagers),1 do\r\n        for j=0,PropulsionManagers[i].propulsionCount-1,1 do\r\n            local component             = PropulsionManagers[i].GetComponent(j)\r\n            local globalOrientation     = PropulsionManagers[i].GetFowardVector(component)\r\n            local localOrientation      = VehicleState.normalRotation * globalOrientation\r\n            local horizontalOrientation = VehicleState.projectionRotation * globalOrientation\r\n            local position              = VehicleState.normalRotation * (component.Position - VehicleState.centerOfMass)\r\n\r\n            local currentComponent = {\r\n                serial                = j,\r\n                position              = position,\r\n                globalOrientation     = globalOrientation,\r\n                localOrientation      = localOrientation,\r\n                horizontalOrientation = horizontalOrientation,\r\n                sendImpulse           = PropulsionManagers[i].SetImpulse,\r\n                type                  = PropulsionManagers[i].type\r\n            }\r\n            table.insert(PropulsionComponents, currentComponent)\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddComponentImpulse(component, impulse)\r\n    if not component.impulse then\r\n        component.impulse = impulse\r\n    else\r\n        component.impulse = component.impulse + impulse\r\n    end\r\nend\r\n\r\nfunction AddPitchOutput(pitchInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if math.abs(component.localOrientation.y)>propulsionAngleTolerance then\r\n            -- pitch\r\n            if component.position.z<-0.05 then\r\n                AddComponentImpulse(component, -pitchInput * component.localOrientation.y)\r\n            elseif component.position.z>0.05 then\r\n                AddComponentImpulse(component, pitchInput * component.localOrientation.y)\r\n            end\r\n        end\r\n        \r\n\t    --API:Log(\"PI:\"..pitchInput)\r\n\t    if VehicleState and VehicleState.target then\r\n\t           --上下配置されている前後向きスラスタ処理\r\n\t\t    if math.abs(component.horizontalOrientation.z)>propulsionAngleTolerance then\r\n\t\t        if component.position.y<-0.05 then\r\n\t\t            AddComponentImpulse(component, Mathf.Max(0,pitchInput * component.localOrientation.z))\r\n\t\t        elseif component.position.y>0.05 then\r\n\t\t            AddComponentImpulse(component, Mathf.Max(0,-pitchInput * component.localOrientation.z))\r\n\t\t        end\r\n\t\t    end\r\n\t\tend\r\n    end\r\nend\r\n\r\nfunction AddRollOutput(rollInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if math.abs(component.localOrientation.y)>propulsionAngleTolerance then\r\n            if component.position.x<-0.05 then\r\n                AddComponentImpulse(component, -rollInput * component.localOrientation.y)\r\n            elseif component.position.x>0.05 then\r\n                AddComponentImpulse(component, rollInput * component.localOrientation.y)\r\n            end\r\n        end\r\n        \r\n        --if VehicleState.AIMode ~= \"off\" and VehicleState.AIMode ~= \"on\" then\r\n            if math.abs(component.localOrientation.x)>propulsionAngleTolerance then\r\n                if component.position.y<-0.05 then\r\n                    AddComponentImpulse(component, rollInput * component.localOrientation.x)\r\n                elseif component.position.y>0.05 then\r\n                    AddComponentImpulse(component, -rollInput * component.localOrientation.x)\r\n                end\r\n            end\r\n        --end        \r\n    end\r\nend\r\n\r\nfunction AddYawOutput(yawInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if math.abs(component.localOrientation.x)>propulsionAngleTolerance then\r\n            if component.position.z<-0.05 then\r\n                AddComponentImpulse(component, -yawInput * component.localOrientation.x)\r\n            elseif component.position.z>0.05 then\r\n                AddComponentImpulse(component, yawInput * component.localOrientation.x)\r\n            end\r\n        end\r\n        \r\n\t    API:Log(\"YI:\"..pitchInput)\r\n\t    \r\n\t    if VehicleState and VehicleState.target then\r\n\t\t    if(math.abs(yawInput) > 0.5) then\r\n\t\t        --左右配置されている前後向きスラスタ処理\r\n\t\t        if math.abs(component.horizontalOrientation.z)>propulsionAngleTolerance then\r\n\t\t        \tif component.position.x<-0.05 then\r\n\t\t                AddComponentImpulse(component, Mathf.Max(0,yawInput * component.localOrientation.z))\r\n\t\t            elseif component.position.x>0.05 then\r\n\t\t                AddComponentImpulse(component, Mathf.Max(0,-yawInput * component.localOrientation.z))\r\n\t\t            end\r\n\t\t        end\r\n\t        end\r\n\t     end\r\n    end\r\nend\r\n\r\nfunction AddAltitudeOutput(altitudeInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n        local magnitude = (component.globalOrientation.y > 0 and 1 or -1)\r\n\r\n        if math.abs(component.globalOrientation.y)>propulsionAngleTolerance then\r\n            AddComponentImpulse(component, altitudeInput * magnitude)\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddSlipOutput(slipInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n        local magnitude = (component.horizontalOrientation.x > 0 and 1 or -1)\r\n\r\n        if math.abs(component.horizontalOrientation.x)>propulsionAngleTolerance then\r\n            AddComponentImpulse(component, slipInput * magnitude)\r\n        end\r\n    end\r\nend\r\n\r\nfunction AddForwardOutput(forwardInput)\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n        local magnitude = (component.horizontalOrientation.z > 0 and 1 or -1)\r\n\r\n        if math.abs(component.horizontalOrientation.z)>propulsionAngleTolerance then\r\n            AddComponentImpulse(component, forwardInput * magnitude)\r\n        end\r\n    end\r\nend\r\n\r\nfunction SendPropulsionImpulses()\r\n    for i=1,table.getn(PropulsionComponents) do\r\n        local component = PropulsionComponents[i]\r\n\r\n        if component.impulse ~= nil then\r\n            component.sendImpulse(component.serial, component.impulse)\r\n        else\r\n            if component.type == \"spinner\" then\r\n                API:SetSpinnerSpeedFactor(component.serial, 1)\r\n            end\r\n        end\r\n    end\r\nend\r\n\r\nfunction SetPitch(targetPitch)\r\n    targetPitch               = math.max(math.min(targetPitch, maxPitchMagnitude), -maxPitchMagnitude)\r\n    pitchInput,pitchPID       = GetPIDOutput(targetPitch, VehicleState.pitch, pitchPID)\r\n\r\n    AddPitchOutput(pitchInput)\r\nend\r\n\r\nfunction SetRoll(targetRoll)\r\n    targetRoll                = math.max(math.min(targetRoll, maxRoll), -maxRoll)\r\n    rollInput,rollPID         = GetPIDOutput(targetRoll,  VehicleState.roll,  rollPID)\r\n\r\n    AddRollOutput(rollInput)\r\nend\r\n\r\nfunction SetAltitude(targetAltitude)\r\n    local highestTerrainAhead = HighestTerrainAhead()\r\n\r\n    targetAltitude            = math.min(math.max(targetAltitude, highestTerrainAhead+minAltitude), maxAltitude)\r\n\t--targetAltitude \t\t\t  = targetAltitude + AddAlt\r\n    altitudeInput,altitudePID = GetPIDOutput(targetAltitude, VehicleState.centerOfMass.y, altitudePID)\r\n\t\r\n    AddAltitudeOutput(altitudeInput)\r\nend\r\n\r\nfunction Turn(targetAzi)\r\n    yawInput,yawPID = GetPIDOutput(0, targetAzi, yawPID)\r\n\r\n    AddYawOutput(yawInput)\r\nend\r\n\r\nfunction SetSlipSpeedForDistance(distance)\r\n    slipSpeed,slipPID = GetPIDOutput(0, distance, slipPID)\r\n\r\n    AddSlipOutput(slipSpeed)\r\n    SetRoll(-rollMovementAssist * slipSpeed)\r\nend\r\n\r\nfunction SetForwardSpeedForDistance(distance, usePitch)\r\n    forwardSpeed,distancePID = GetPIDOutput(0, distance, distancePID)\r\n\r\n    AddForwardOutput(-forwardSpeed)\r\n    if usePitch then\r\n        SetPitch(pitchMovementAssist * forwardSpeed)\r\n    end\r\nend\r\n\r\nfunction GetFrontalEvasionData()\r\n    evasionData = {\r\n        slip           = 0,\r\n        altitudeChange = 0\r\n    }\r\n\r\n    local slipCycleDuration = evasiveRightPeriod + evasiveLeftPeriod\r\n    if slipCycleDuration == 0 then\r\n        return evasionData\r\n    end\r\n\r\n    local slipCycleTime = VehicleState.currentTime%slipCycleDuration\r\n    if slipCycleTime < evasiveRightPeriod then\r\n        evasionData.slip = 1\r\n    else\r\n        evasionData.slip = -1\r\n    end\r\n\r\n    if math.abs(VehicleState.pitch) < 45 then\r\n        if slipCycleTime < 3.5 or slipCycleTime > 8.5 then\r\n            evasionData.altitudeChange = evasiveAltitudeChange\r\n        else\r\n            evasionData.altitudeChange = -evasiveAltitudeChange * (slipCycleTime - 3.5) / 5\r\n        end\r\n    end\r\n\tAPI:Log(slipCycleTime)\r\n\t\r\n    return evasionData\r\nend\r\n\r\nfunction GetOrbitEvasionPitchOutput(altitude)\r\n    if not pitchDown then\r\n        pitchDown = false\r\n    end\r\n    \r\n    if VehicleState.centerOfMass.y > altitude + evasiveAltitudeChange then\r\n        pitchDown = true\r\n    elseif VehicleState.centerOfMass.y < altitude - evasiveAltitudeChange then\r\n        pitchDown = false\r\n    end\r\n    \r\n    if VehicleState.pitch < -maxPitchMagnitude then\r\n        pitchDown = false\r\n    elseif VehicleState.pitch > maxPitchMagnitude then\r\n        pitchDown = true\r\n    end\r\n\r\n    if pitchDown then\r\n        return -1\r\n    else\r\n        return 1\r\n    end\r\nend\r\n\r\nfunction HighestTerrainAhead()\r\n    local maxAltitude = 0\r\n    local nextAltitude\r\n\r\n    local xStep = VehicleState.velocity.x\r\n    local zStep = VehicleState.velocity.z\r\n    \r\n    for i=-0.5,5,0.25 do\r\n        nextAltitude = API:GetTerrainAltitudeForPosition(VehicleState.centerOfMass.x + xStep*i, VehicleState.centerOfMass.y, VehicleState.centerOfMass.z + zStep*i)\r\n        if nextAltitude>maxAltitude then\r\n            maxAltitude = nextAltitude\r\n        end\r\n    end\r\n    return maxAltitude\r\nend\r\n\r\nfunction GetCombatTarget()\r\n    local target = API:GetTargetPositionInfo(0,0)\r\n\r\n    if target.Valid then\r\n\t\tTgtInfo = API:GetTargetInfo(0, 0)\r\n\t\tAimPos = TgtInfo.AimPointPosition;\r\n\t\ttarget = API:GetTargetPositionInfoForPosition(0, AimPos.x, AimPos.y, AimPos.z)\r\n\r\n        local azimuth\r\n        if target.Azimuth>180 then\r\n            azimuth = target.Azimuth-360\r\n        else\r\n            azimuth = target.Azimuth\r\n        end\r\n        \r\n        \r\n\r\n        return {\r\n            Elevation      = -math.deg(math.atan((VehicleState.centerOfMass.y-target.AltitudeAboveSeaLevel) / target.GroundDistance)),\r\n            Azimuth        = azimuth,\r\n            GroundDistance = target.GroundDistance,\r\n            Altitude       = target.AltitudeAboveSeaLevel,\r\n            Position\t   = AimPos\r\n        }\r\n    else\r\n        return false\r\n    end\r\nend\r\n\r\nfunction GetRepairTarget()\r\n    -- Lower means more important\r\n    local highestPriorityValue = 1000000\r\n    local targetData = false\r\n    local friendlyCount = API:GetFriendlyCount()\r\n\r\n    for i=0,friendlyCount-1,1 do\r\n        local friendly = API:GetFriendlyInfo(i)\r\n        local targetCenterOfMass = friendly.CenterOfMass\r\n\r\n        local health = friendly.HealthFraction\r\n        if health<=minDamageNoticed and health<1 then\r\n            if not repairClosestFirst then\r\n                if health<highestPriorityValue then\r\n                    targetData = friendly\r\n                    highestPriorityValue = health\r\n                end\r\n            else\r\n                local distance = math.sqrt( (targetCenterOfMass.x-VehicleState.centerOfMass.x)*(targetCenterOfMass.x-VehicleState.centerOfMass.x)\r\n                                           +(targetCenterOfMass.z-VehicleState.centerOfMass.z)*(targetCenterOfMass.z-VehicleState.centerOfMass.z) )\r\n                if distance<highestPriorityValue then\r\n                    targetData = friendly\r\n                    highestPriorityValue = distance\r\n                end\r\n            end\r\n        end\r\n    end\r\n\r\n    if targetData then\r\n        return GetDirectionToCoordinates(targetData.CenterOfMass)\r\n    else\r\n        return false\r\n    end\r\nend\r\n\r\nfunction SetSerial()\r\n    local friendlyCount = API:GetFriendlyCount()\r\n\r\n    local cloneCount = 0\r\n    for i=0,friendlyCount-1,1 do\r\n        local friendly = API:GetFriendlyInfo(i)\r\n\r\n        if friendly.BlueprintName==blueprintName then\r\n            cloneCount = cloneCount+1\r\n        end\r\n    end\r\n    VehicleState.serial = cloneCount\r\nend\r\n\r\nfunction SetTargetPosition(position)\r\n    VehicleState.targetPosition = GetDirectionToCoordinates(position)\r\n\r\n    VehicleState.targetPosition.x             = position.x\r\n    VehicleState.targetPosition.y             = position.y\r\n    VehicleState.targetPosition.z             = position.z\r\n    VehicleState.targetPosition.sideDistance  = math.sin(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\r\n    VehicleState.targetPosition.frontDistance = math.cos(math.rad(VehicleState.targetPosition.Azimuth)) * VehicleState.targetPosition.GroundDistance\r\nend\r\n\r\nfunction PitchToTarget()\r\n    if isSatellite then\r\n        SetPitch(VehicleState.target.Elevation + 90)\r\n    else\r\n        if math.abs(VehicleState.target.Azimuth) > 10 then\r\n            SetPitch(0)\r\n        else\r\n            SetPitch(VehicleState.target.Elevation)\r\n        end\r\n    end\r\nend\r\n\r\nfunction Guard()\r\n    SetTargetPosition(VehicleState.flagship.CenterOfMass + VehicleState.flagship.Rotation * API.IdealFleetPosition)\r\n    SetAltitude(VehicleState.targetPosition.y)\r\n    SetAltitudeHydrofoil(VehicleState.targetPosition.y)\r\n\r\n    if not VehicleState.target then\r\n        if not API.IsFlagship then\r\n            Turn(GetVectorAngle(VehicleState.flagship.ForwardVector, VehicleState.forwardVector))\r\n        end\r\n\r\n        SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n        SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, true)\r\n    else\r\n        PitchToTarget()\r\n        Turn(VehicleState.target.Azimuth)\r\n        SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n        SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, false)\r\n    end\r\nend\r\n\r\nfunction Patrol()\r\n    SetTargetPosition(API.Waypoint)\r\n    SetAltitude(VehicleState.targetPosition.y)\r\n    SetAltitudeHydrofoil(VehicleState.targetPosition.y)\r\n    \r\n    if not VehicleState.target then\r\n        if VehicleState.targetPosition.GroundDistance > 200 then\r\n            local slipSpeed = GetSlipSpeed() * 5\r\n            slipOutput,slipPID = GetPIDOutput(0, slipSpeed, slipPID)\r\n\r\n            AddSlipOutput(slipOutput)\r\n            SetRoll(-rollMovementAssist * slipOutput)\r\n        \r\n            Turn(VehicleState.targetPosition.Azimuth)\r\n            SetForwardSpeedForDistance(VehicleState.targetPosition.GroundDistance, true)\r\n        else\r\n            SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n            SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, true)\r\n        end\r\n    else\r\n        PitchToTarget()\r\n        Turn(VehicleState.target.Azimuth)\r\n        SetSlipSpeedForDistance(VehicleState.targetPosition.sideDistance)\r\n        SetForwardSpeedForDistance(VehicleState.targetPosition.frontDistance, false)\r\n    end\r\nend\r\nfunction Escape()\r\n\t--API:LogToHud(\"ESCAPE!!:\"..DodgeAngle)\r\n    SetRoll(0)\r\n    local altitude = 0\r\n    if VehicleState.target then\r\n\t    if matchAltitude then\r\n\t        altitude = VehicleState.target.Altitude + addAltude\r\n\t    else\r\n\t        altitude = VehicleState.adjustedAltitude + addAltude\r\n\t    end\r\n\tend\r\n    SetAltitude(altitude+addAltude)\r\n    Turn(DodgeAngle)\r\n    SetPitch(0)\r\n    SetForwardSpeedForDistance(200, true)\r\nend\r\nfunction F_Escape()\r\n\r\n\t--API:LogToHud(\"F_ESCAPE!!:\")\r\n\t\r\n\tCoM = API:GetConstructCenterOfMass()\r\n\tif VehicleState.target then\r\n\t\tChangeMTG()\r\n\tend\r\n    SetTargetPosition(F_DodgeVec*10+CoM)\r\n    SetAltitude(VehicleState.targetPosition.y)\r\n    API:Log(VehicleState.targetPosition.frontDistance)\r\n    dist = VehicleState.targetPosition.frontDistance\r\n    SetAltitude(VehicleState.targetPosition.y)\r\n\tlocal slipSpeed = GetSlipSpeed() * 5\r\n\tslipOutput,slipPID = GetPIDOutput(0, slipSpeed, slipPID)\r\n\r\n\tAddSlipOutput(slipOutput)\r\n\r\n\r\n\tTurn(VehicleState.targetPosition.Azimuth)\r\n    SetPitch(0)\r\n    SetRoll(0)\r\n    API:Log(\"Azi:\"..VehicleState.targetPosition.Azimuth)\r\n    if math.abs(VehicleState.targetPosition.Azimuth) < 30 then\r\n\t\tSetForwardSpeedForDistance(1000, true)\r\n\telse\r\n\t\tSetForwardSpeedForDistance(0, true)\r\n\tend\r\nend\r\nfunction TgtMove()\r\n    API:Log(\"TgtMove\")\r\n    if not VehicleState.target then\r\n        Idle()\r\n        return\r\n    end\r\n\tif VehicleState.target then\r\n\r\n\t    SetTargetPosition(moveTgt)\r\n    \t--SetAltitude(VehicleState.targetPosition.y)\r\n\t    API:Log(VehicleState.targetPosition.frontDistance)\r\n\t    dist = VehicleState.targetPosition.frontDistance\r\n\t    if math.abs(dist) < 10 then\r\n\t\t\tChangeMTG()\r\n\t    end\r\n\t    SetAltitude(VehicleState.targetPosition.y)\r\n\t\tlocal slipSpeed = GetSlipSpeed() * 5\r\n\t\tslipOutput,slipPID = GetPIDOutput(0, slipSpeed, slipPID)\r\n\r\n\t\tAddSlipOutput(slipOutput)\r\n\t\tSetRoll(-rollMovementAssist * slipOutput)\r\n\r\n\t\tTurn(VehicleState.targetPosition.Azimuth)\r\n\t\t--API:Log(\"Azimuth\"..VehicleState.targetPosition.Azimuth)\r\n    \t--PitchToTarget()\r\n  \t\tSetPitch(0)\r\n    \t\r\n    \tAPI:Log(\"Azi:\"..VehicleState.targetPosition.Azimuth)\r\n\t\tif math.abs(VehicleState.targetPosition.Azimuth) < 30 then\r\n\t\t\tSetForwardSpeedForDistance(1000, true)\r\n\t\telse\r\n\t\t\tSetForwardSpeedForDistance(0, true)\r\n\t\tend\r\n\tend\r\n\t\r\nend\r\n\r\nfunction Repair()\r\n    local evasion = GetFrontalEvasionData()\r\n\r\n    AddSlipOutput(evasion.slip)\r\n    SetRoll(-rollMovementAssist * slipOutput)\r\n\r\n    Turn(VehicleState.repairTarget.Azimuth)    \r\n    SetAltitude(VehicleState.repairTarget.Altitude + VehicleState.adjustedAltitude + evasion.altitudeChange)\r\n    SetForwardSpeedForDistance(VehicleState.repairTarget.GroundDistance - optimalDistance, true)\r\nend\r\nfunction FrontalFight()\r\n    if not VehicleState.target then\r\n        Idle()\r\n        return\r\n    end\r\n\r\n    local evasion = GetFrontalEvasionData()\r\n    if math.abs(VehicleState.target.Azimuth) < 10 then\r\n        AddSlipOutput(evasion.slip)\r\n        SetRoll(-rollMovementAssist * evasion.slip)\r\n    else\r\n        SetRoll(0)\r\n    end\r\n\r\n    if matchAltitude then\r\n        SetAltitude(VehicleState.target.Altitude + evasion.altitudeChange)\r\n    else\r\n        SetAltitude(VehicleState.adjustedAltitude + evasion.altitudeChange)\r\n    end\r\n\r\n    PitchToTarget()\r\n    Turn(VehicleState.target.Azimuth)\r\n    SetForwardSpeedForDistance(VehicleState.target.GroundDistance - optimalDistance, false)\r\nend\r\n\r\nfunction CircleTarget()\r\n    if not VehicleState.target then\r\n        Idle()\r\n        return\r\n    end\r\n\r\n    local sign = 1\r\n    if orbiterMode == \"left\" then\r\n        sign = 1\r\n    elseif orbiterMode == \"right\" then\r\n        sign = -1\r\n    elseif VehicleState.target.Azimuth < 0 then\r\n        sign = -1\r\n    end\r\n    local optimalAzi = sign * 90 - sign * 45 * math.min(math.max((VehicleState.target.GroundDistance - optimalDistance) / 200, -1), 1)\r\n\r\n    if math.abs(90 - math.abs(VehicleState.target.Azimuth)) < 20 then\r\n        SetRoll(-sign * VehicleState.target.Elevation)\r\n    else\r\n        SetRoll(0)\r\n    end\r\n\r\n    local altitude\r\n    if matchAltitude then\r\n        altitude = VehicleState.target.Altitude\r\n    else\r\n        altitude = VehicleState.adjustedAltitude\r\n    end\r\n\r\n    if maxPitchMagnitude > 0  and evasiveAltitudeChange > 0 then\r\n        AddPitchOutput(GetOrbitEvasionPitchOutput(altitude))\r\n    else\r\n        SetPitch(-pitchMovementAssist)\r\n        SetAltitude(altitude+addAltude)\r\n    end\r\n\r\n    Turn(VehicleState.target.Azimuth - optimalAzi)\r\n    AddForwardOutput(1)\r\nend\r\n\r\nfunction Stabilize()\r\n    SetAltitude(VehicleState.adjustedAltitude)\r\n    SetPitch(0)\r\n    SetRoll(0)\r\nend\r\n\r\nfunction Idle()\r\n\tAPI:Log(\"Idle\")\r\n    SetAltitude(VehicleState.adjustedAltitude)\r\n    SetSlipSpeedForDistance(0)\r\n    SetForwardSpeedForDistance(0, true)\r\nend\r\n\r\nfunction CheckMissileWarnings(I)\r\n  Roll = I:GetConstructRoll()\r\n  CoM = I:GetConstructCenterOfMass()\r\n  if WarningMainframe<0 then return 0 end\r\n  \r\n  local NumWarnings = I:GetNumberOfWarnings(WarningMainframe)\r\n  local MinTTT = math.max(RunAwayTTT,DodgeTTT)\r\n  local MinWarning\r\n  local OwnVelocity = VehicleState.forwardVector * math.max(100, I:GetVelocityMagnitude())\r\n  \r\n  for w = 0, NumWarnings - 1 do\r\n    local Warning = I:GetMissileWarning(WarningMainframe, w)\r\n    if Warning.Valid and I:Maths_AngleBetweenVectors(Warning.Velocity, CoM - Warning.Position) < 90 then\r\n      local mSpeed = Vector3.Magnitude(Warning.Velocity)\r\n      local TTT = FindConvergence(I, CoM, OwnVelocity, Warning.Position, mSpeed, mSpeed*.75)\r\n      local PredictedPosition = CoM + OwnVelocity * TTT\r\n      local Orthogonal = (Warning.Position + Vector3.Normalize(Warning.Velocity)\r\n                         * Vector3.Distance(Warning.Position, PredictedPosition)\r\n                         * math.cos(math.rad(I:Maths_AngleBetweenVectors(Warning.Velocity, PredictedPosition - Warning.Position))))\r\n                         - PredictedPosition\r\n      local AdjustedPosition = PredictedPosition + Vector3.ClampMagnitude(Orthogonal, CraftRadius)\r\n      local Radius = (Vector3.Distance(Warning.Position, AdjustedPosition) / 2)\r\n                     / math.cos(math.rad(I:Maths_AngleBetweenVectors(Warning.Velocity, AdjustedPosition - Warning.Position) - 90))\r\n      if TTT < MinTTT and Radius > DangerRadius then\r\n        MinTTT = TTT\r\n        MinWarning = Warning\r\n      end\r\n    end\r\n  end\r\n\r\n  if (MinTTT < math.max(RunAwayTTT,DodgeTTT)) then\r\n    local AdjustedPosition = CoM + OwnVelocity * math.min(MinTTT,0.75)\r\n    local ApproachAngle=I:Maths_AngleBetweenVectors(MinWarning.Velocity, AdjustedPosition - MinWarning.Position)\r\n    if (MinTTT < DodgeTTT) then\r\n      if (math.abs(MinWarning.Azimuth) < 10 or math.abs(MinWarning.Azimuth) > 170) then\r\n        return sign(Roll)*120\r\n      end\r\n      \r\n      local Orthogonal = (MinWarning.Position + Vector3.Normalize(MinWarning.Velocity)\r\n                         * Vector3.Distance(MinWarning.Position, AdjustedPosition)\r\n                         * math.cos(math.rad(ApproachAngle))) - AdjustedPosition\r\n      local Objective = I:GetConstructPosition() - Orthogonal\r\n      return I:GetTargetPositionInfoForPosition(0, Objective.x, Objective.y, Objective.z).Azimuth\r\n    end\r\n    local Angle=MinWarning.Azimuth>0 and RunAngle or -RunAngle\r\n    local Objective = I:GetConstructPosition()+Quaternion.Euler(0,Angle,0)*(MinWarning.Position-CoM)\r\n    return I:GetTargetPositionInfoForPosition(0, Objective.x, 0, Objective.z).Azimuth\r\n  end\r\n  return 0\r\nend\r\n\r\nfunction CheckFriendWarnings(I)\r\n   local FCount,FAvoid = 0,Vector3.zero\r\n   local Velocity = VehicleState.forwardVector\r\n   Velocity = Vector3(Velocity.x, 0, Velocity.z)\r\n   local Speed = Velocity.magnitude\r\n   \r\n\tCoM = I:GetConstructCenterOfMass()\r\n\tlocal MaxDim = I:GetConstructMaxDimensions()\r\n\tlocal MinDim = I:GetConstructMinDimensions()\r\n\tlocal Dimensions = MaxDim - MinDim\r\n\tlocal HalfDimensions = Dimensions / 2\r\n\tMidPoint = MinDim + HalfDimensions -- Relative to Position and no rotation (local)\r\n\r\n\tlocal PositionY = CoM.y + MidPoint.y -- Not necessarily Altitude\r\n\tlocal UpperEdge = PositionY + VerticalClearance\r\n\tlocal LowerEdge = PositionY - VerticalClearance\r\n\r\n\tfor i = 0,I:GetFriendlyCount()-1 do\r\n\t\tlocal Friend = I:GetFriendlyInfo(i)\r\n\t\t--友軍存在判定\r\n\t\tif Friend.Valid and\r\n\t\t\t(Friend.AxisAlignedBoundingBoxMinimum.y <= UpperEdge and\r\n             Friend.AxisAlignedBoundingBoxMaximum.y >= LowerEdge) then\r\n\t\t\tlocal Offset = PlanarVector(CoM, Friend.CenterOfMass)\r\n\t\t\tlocal Distance = Offset.magnitude\r\n\t\t\tif Distance < FriendlyCheckDistance then\r\n\t\t\t\r\n\t\t\t    local Direction = Offset / Distance -- aka Offset.normalized\r\n\t\t\t    local Collision = false\r\n\t\t        -- Calculate relative speed along offset vector\r\n\t\t        local RelativeVelocity = Velocity - Friend.Velocity\r\n\t\t        local RelativeSpeed = Vector3.Dot(RelativeVelocity, Direction)\r\n\t\t        if RelativeSpeed > 0.0 and Distance / RelativeSpeed < 100 then\r\n\t\t\t        Collision = true\r\n\t\t        end\r\n\t\t\t    if Collision then\r\n\t\t\t        -- Collision imminent\r\n\t\t\t        FCount = FCount + 1\r\n\t\t\t        FAvoid = FAvoid - Direction\r\n\t\t\t    end\r\n\t\t\tend\r\n\t\tend\r\n\tend\r\n    if FCount > 0 then\r\n        FAvoid = FAvoid * FriendlyAvoidanceWeight\r\n        return FAvoid\r\n    end\r\n\r\n\r\n\treturn nil\r\nend\r\n\r\nmodetime = -1\r\nmodetimemax = 10\r\nAddAlt = 0\r\nDodgeAngle = 0\r\nfunction ChangeMTG()\r\n\tlen = math.random()*50+300\r\n\tr = math.random()*360.0\r\n\r\n\tlocal AddPos = Vector3(math.cos(r)*len,math.random()*100+50,math.sin(r)*len)\r\n\taddAltude = AddPos.y\r\n\tmoveTgt = VehicleState.target.Position+AddPos\r\nend\r\nfunction Update(I)\r\n\tlocal NumWarnings = I:GetNumberOfWarnings(0)\r\n\r\n    I:ClearLogs()\r\n\ttime=I:GetTimeSinceSpawn();\r\n\tdt = last_time and time-last_time or 0;\r\n\r\n    if I:IsDocked() then\r\n\t\t--シールドオフ\r\n\t\tlocalTime = localTime + 1\r\n    \tUnDockTime = 1\r\n        return\r\n    else\r\n\t\t\r\n\t    I:TellAiThatWeAreTakingControl()\r\n\r\n\t    Init(I)\r\n\t    SetupPropulsion(I)\r\n\t\tBalloonCheck()\r\n\t    \r\n\t    --ミサイル回避角\r\n \t\tDodgeAngle = CheckMissileWarnings(I)\r\n\t    --友軍回避角\r\n\t\tif not F_DodgeVec then\r\n\t\t    F_DodgeVec = {}\r\n\t\tend\r\n \t\tF_DodgeVec = CheckFriendWarnings(I)\r\n\r\n\t\t\r\n\t\tif UnDockTime > 0 then\r\n\t\t\tAddForwardOutput(1)\r\n\t\t\tUnDockTime = UnDockTime - dt\r\n\t\telse\r\n\r\n\t\tif not moveTgt then\r\n\t\t    moveTgt = {}\r\n\t\tend\r\n\t    if VehicleState and VehicleState.target then\r\n\t\t\tmodetime = modetime - dt\r\n\t\t\tif VehicleState.target then\r\n\t\t\t\tif modetime < 0 then\r\n\t\t\t\t    ChangeMTG()\r\n\t\t\t\t    modetime = modetimemax\r\n\t\t\t\tend\r\n\t\t\tend\r\n\t\t\tAPI:Log(\"MoveTgt\"..moveTgt.x..\",\"..moveTgt.y..\",\"..moveTgt.z)\r\n\t    end\r\n\t\t\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\t    if VehicleState.target then\r\n\t        ActivateShields()\r\n\t    else\r\n\t        DeactivateShields()\r\n\t    end\r\n\t    if DodgeAngle~=0 then\r\n\t    \tEscape()\r\n\t    elseif F_DodgeVec ~= nil then\r\n\t    \tF_Escape()\r\n\t    elseif VehicleState.AIMode == \"off\" then\r\n\t        Idle()\r\n\t    elseif VehicleState.AIMode == \"on\" then\r\n\t        Stabilize()\r\n\t    elseif VehicleState.AIMode == \"combat\" then\r\n\t\t\tif orbiterMode == \"both\" or orbiterMode == \"left\" or orbiterMode == \"right\" then\r\n\t\t\t    CircleTarget()\r\n\t\t\telse\r\n\t\t\t    if orbiterMode == \"ex\" then\r\n\t\t\t        API:Log(modetime)\r\n\t\t\t        if modetime > modetimemax/2 then\r\n\t\t\t            TgtMove()\r\n\t\t\t        else\r\n\t\t\t            FrontalFight()\r\n\t\t\t        end\r\n\t\t\t    else\r\n\t\t\t        FrontalFight()\r\n\t\t\t    end\r\n\t\t\tend\r\n\t    elseif VehicleState.AIMode == \"patrol\" then\r\n\t        Patrol()\r\n\t    elseif VehicleState.AIMode == \"fleetmove\" then\r\n\t        Guard()\r\n\t    end\r\n\tend\r\nend\r\n\r\n    SendPropulsionImpulses()\r\n\tlast_time=time;\r\nend\r\n\r\nfunction BalloonCheck()\r\n    if VehicleState.centerOfMass.y < ballonDeployAltitude then\r\n        API:Component_SetBoolLogicAll(0, true)\r\n    elseif VehicleState.centerOfMass.y > ballonReleaseAltitude then\r\n        API:Component_SetBoolLogicAll(0, false)\r\n    end\r\nend\r\n\r\n-- ________________________________________________________________________________?___ Generic helper functions ________________________________________________________________________________?___\r\nfunction PlanarVector(Origin, Target)\r\n   local NewTarget = Vector3(Target.x, Origin.y, Target.z)\r\n   return NewTarget - Origin, NewTarget\r\nend\r\n\r\nfunction GetDirectionToCoordinates(position)\r\n    local vectorToPosition = Vector3(position.x-VehicleState.centerOfMass.x, position.y-VehicleState.centerOfMass.y, position.z-VehicleState.centerOfMass.z)\r\n    local direction        = vectorToPosition.normalized\r\n\r\n    local aziDot         = direction.x*VehicleState.forwardVector.x + direction.z*VehicleState.forwardVector.z\r\n    local aziCross       = direction.z*VehicleState.forwardVector.x - direction.x*VehicleState.forwardVector.z\r\n    local groundDistance = math.sqrt(vectorToPosition.x*vectorToPosition.x + vectorToPosition.z*vectorToPosition.z)\r\n\r\n    return {\r\n        Elevation      = -math.deg(math.atan((VehicleState.centerOfMass.y-position.y) / groundDistance)),\r\n        Azimuth        = math.deg(math.atan2(aziCross, aziDot)),\r\n        Altitude       = position.y,\r\n        GroundDistance = groundDistance\r\n    }\r\nend\r\n\r\nfunction GetVectorAngle(vector1, vector2)\r\n    local aziDot   = vector1.x * vector2.x + vector1.z * vector2.z\r\n    local aziCross = vector1.z * vector2.x - vector1.x * vector2.z\r\n    \r\n    return math.deg(math.atan2(aziCross, aziDot));\r\nend\r\n\r\nfunction InitPID(pidData)\r\n    PID = {}\r\n    PID.Kp            = pidData[1]\r\n    PID.Kd            = pidData[2]\r\n    PID.Ki            = pidData[3]\r\n    PID.OutMax        = pidData[4]\r\n    PID.OutMin        = pidData[5]\r\n    PID.IMax          = pidData[6]\r\n    PID.IMin          = pidData[7]\r\n    PID.integral      = 0\r\n    PID.previousError = 0\r\n\r\n    return PID\r\nend\r\n\r\nfunction InitPIDs()\r\n    rollPID     = InitPID(rollPIDData)\r\n    pitchPID    = InitPID(pitchPIDData)\r\n    altitudePID = InitPID(altitudePIDData)\r\n    yawPID      = InitPID(yawPIDData)\r\n    slipPID     = InitPID(slipPIDData)\r\n    distancePID = InitPID(distancePIDData)\r\nend\r\n\r\nfunction GetPIDOutput(SetPoint, ProcessVariable, PID)\r\n    local error     = SetPoint - ProcessVariable\r\n    local timeDelta = 0.025\r\n    local derivative\r\n    local output\r\n\r\n    PID.integral = PID.integral + (error*timeDelta) * PID.Ki\r\n    if (PID.integral > PID.IMax) then PID.integral = PID.IMax end\r\n    if (PID.integral < PID.IMin) then PID.integral = PID.IMin end\r\n\r\n    derivative = (error - PID.previousError)/timeDelta\r\n\r\n    output = PID.Kp*error + PID.Kd*derivative + PID.integral\r\n    if (output > PID.OutMax) then output = PID.OutMax end\r\n    if (output < PID.OutMin) then output = PID.OutMin end\r\n\r\n    PID.previousError = error\r\n    return output,PID\r\nend\r\n\r\n-- Props to Evil4Zerggin for the function\r\nfunction QuaternionUpVector(quaternion)\r\n    local x = 2 * (quaternion.x * quaternion.y - quaternion.z * quaternion.w)\r\n    local y = 1-2 * (quaternion.x * quaternion.x + quaternion.z * quaternion.z)\r\n    local z = 2 * (quaternion.y * quaternion.z + quaternion.x * quaternion.w)\r\n\r\n    return Vector3(x, y, z).normalized\r\nend\r\n\r\nfunction GetSlipSpeed()\r\n    local velocityHeading = 180/math.pi*math.atan2(VehicleState.velocity.x,VehicleState.velocity.z)\r\n    if velocityHeading<0 then\r\n        velocityHeading = velocityHeading+360\r\n    end\r\n    local slipAngle = velocityHeading - VehicleState.yaw\r\n    local groundSpeedx = VehicleState.velocity.x\r\n    local groundSpeedz = VehicleState.velocity.z\r\n    local groundSpeed = math.sqrt(groundSpeedx^2 + groundSpeedz^2)\r\n    local slipSpeed = groundSpeed*math.sin(slipAngle/180*math.pi)\r\n\r\n    return slipSpeed\r\nend\r\n\r\nfunction ActivateShields()\r\n    local newStatus  = 1\r\n\r\n    if shieldStatus ~= newStatus then\r\n        local shieldCount = API:Component_GetCount(10)\r\n\r\n        for i=0,shieldCount-1,1 do\r\n            local shieldType = API:Component_GetIntLogic(10, i)\r\n\r\n            if shieldType==1 then\r\n                API:Component_SetFloatLogic(10,i,10)\r\n            elseif shieldType==2 then\r\n                API:Component_SetFloatLogic(10,i,reflect)\r\n            elseif shieldType==3 then\r\n                API:Component_SetFloatLogic(10,i,laser)\r\n            end\r\n        end\r\n\r\n        shieldStatus = newStatus\r\n    end\r\nend\r\n\r\nfunction DeactivateShields()\r\n    if not shieldStatus or shieldStatus~=0 then\r\n        API:Component_SetFloatLogicAll(10,0)\r\n        shieldStatus = 0\r\n    end\r\nend\r\n\r\nfunction FindConvergence(I, tPos, tVel, wPos, wSpeed, minConv)\r\n   local relativePosition = wPos - tPos\r\n   local distance = Vector3.Magnitude(relativePosition)\r\n   local targetAngle = I:Maths_AngleBetweenVectors(relativePosition, tVel)\r\n   local tSpeed = Vector3.Magnitude(tVel)\r\n\r\n   local a = tSpeed^2 - wSpeed^2\r\n   local b = -2 * tSpeed * distance * math.cos(math.rad(targetAngle))\r\n   local c = distance^2\r\n   local det = math.sqrt(b^2-4*a*c)\r\n   local ttt = distance / minConv\r\n\r\n   if det > 0 then\r\n      local root1 = math.min((-b + det)/(2*a), (-b - det)/(2*a))\r\n      local root2 = math.max((-b + det)/(2*a), (-b - det)/(2*a))\r\n      ttt = (root1 > 0 and root1) or (root2 > 0 and root2) or ttt\r\n   end\r\n   return 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