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Generated from ZerothAngel's FtDScripts version b27ba65169de\r\n-- Modules: repairquad, repair-ai, waypointmove, quadraticintercept, quadraticsolver, avoidance, getbearingtopoint, getvectorangle, spairs, planarvector, yawthrottle, spinnercontrol, normalizebearing, propulsionapi, altitudecontrol, terraincheck, evasion, manualcontroller, componenttypes, threedofspinner, pid, sign, periodic, firstrun, commons\r\n\r\n-- CONFIGURATION\r\n\r\n-- Activate on these AI modes. Valid keys are \"off\", \"on\", \"combat\",\r\n-- \"patrol\", and \"fleetmove\".\r\nActivateWhen = {\r\n--   on = true,\r\n   combat = true,\r\n   fleetmove = true,\r\n}\r\n\r\n-- How often to run. At 1, it will run every update. At 10,\r\n-- it will run every 10th update. The lower it is, the more\r\n-- responsive it will be, but it will also take more processing time.\r\nAI_UpdateRate = 4\r\nQuadcopter_UpdateRate = 4\r\n\r\n-- Offset from repair target's center of mass.\r\n-- Note the Y value is ignored.\r\nRepairTargetOffset = Vector3(10, 0, 25)\r\n\r\n-- When considering other repair targets, they must\r\n-- be within this distance and within this altitude range\r\nRepairTargetMaxDistance = 1500\r\nRepairTargetMaxParentDistance = 2500\r\nRepairTargetMaxAltitudeDelta = 100\r\n-- And have health equal to or below this fraction\r\nRepairTargetMaxHealthFraction = 0.99\r\n-- And have health equal to or above this fraction\r\nRepairTargetMinHealthFraction = 0.25\r\n\r\n-- Repair targets are scored according to\r\n-- Distance * DistanceWeight + ParentDistance * ParentDistanceWeight +\r\n--   Damage * DamageWeight\r\n-- Where Distance is this ship's distance from the target\r\n-- ParentDistance is the target's distance from the parent\r\n-- Damage is 1.0 - HealthFraction\r\nDistanceWeight = 0\r\nParentDistanceWeight = 0\nDamageWeight = 100.0\r\n-- Parent's score multiplied by this bonus (or penalty if <1)\r\nParentBonus = 1\r\n\r\n-- Return-to-origin settings\r\nReturnToOrigin = false\r\n\r\n-- WAYPOINT MOVE SETTINGS\r\n\r\nWaypointMoveConfig = {\r\n   -- Maximum distance from stationary waypoints.\r\n   -- If further than this, set throttle to ClosingDrive (below).\r\n   -- Should be comparable to ship's turning radius.\r\n   MaxDistance = 250,\r\n   -- If farther away than this from a moving waypoint, set throttle\r\n   -- to ClosingDrive (below).\r\n   ApproachDistance = 100,\r\n   -- Throttle when distance from waypoint is >ApproachDistance.\r\n   ClosingDrive = 1,\r\n   -- Speed relative to waypoint in meters per second when within\r\n   -- ApproachDistance. Our speed will be the waypoint speed +/- this.\r\n   RelativeApproachSpeed = 1,\r\n   -- Minimum speed in meters per second when within ApproachDistance.\r\n   -- Probably not a good idea for hydrofoil-based subs to stop.\r\n   -- If nil, it will use the script's default, which is 0 in most cases.\r\n   MinimumSpeed = nil,\r\n   -- Constants for throttle PID, used when within ApproachDistance.\r\n   ThrottlePIDConfig = {\r\n      Kp = .01,\r\n      Ti = 0,\r\n      Td = .125,\r\n   },\r\n}\r\n\r\n-- AVOIDANCE CONFIGURATION\r\n\r\n-- How much clearance to require above and below when avoiding\r\n-- terrain and friendlies.\r\n-- Ship's height is multiplied by this and then centered around\r\n-- the ship's physical midpoint (not necessarily the center of mass).\r\n-- ClearanceFactor of 1 means to check exactly the ship's lower\r\n-- and upper bounds.\r\n-- Rotations (pitch, roll) are not accounted for, so it's best to\r\n-- have some padding.\r\nClearanceFactor = 1.1\r\n\r\n-- FRIENDLY AVOIDANCE\r\n\r\n-- Distance to check for friendlies. Friendlies beyond this\r\n-- distance are ignored.\r\nFriendlyCheckDistance = 1500\r\n\r\n-- Each of the following has two numbers:\r\n-- The first is a duration of time in seconds. If a collision\r\n-- looks imminent within this time, it will turn away.\r\n-- The second is the absolute minimum distance to be from friendlies.\r\nFriendlyAvoidanceCombat = { 20, 100 }\r\nFriendlyAvoidanceIdle = { 10, 100 }\r\n\r\n-- Friendly avoidance weight. Generally should be >1.\r\n-- Set to 0 to disable friendly avoidance.\r\n-- Greater number means it will begin to turn away sooner.\r\nFriendlyAvoidanceWeight = 10\r\n\r\n-- TERRAIN AVOIDANCE\r\n\r\n-- How many seconds ahead (at current speed) to sample\r\n-- the terrain.\r\n-- At minimum, it should be the time it takes for your ship to\r\n-- complete a 90-degree turn.\r\nLookAheadTime = 20\r\n\r\n-- Look-ahead resolution, in meters. The smaller it is, the more\r\n-- samples of the terrain will be taken.\r\n-- Probably shouldn't be larger than the length of your ship.\r\n-- Set to nil to automatically use a quarter of your ship's length.\r\nLookAheadResolution = nil\r\n\r\n-- When there's an obstacle in front, this is how far (in degrees)\r\n-- left and right to check for an opening. Should probably be <45\r\nLookAheadAngle = 30\r\n\r\n-- By default, the horizontal midpoint and both sides of the ship\r\n-- (after accounting for ClearanceFactor) are extended forward\r\n-- and used to check the terrain. If you have a particularly\r\n-- wide ship, you may want to check more points. Use this to\r\n-- increase the number of subdivisions between the midpoint and\r\n-- the sides. Set to 0 for no extra points, 1 for 1 extra\r\n-- between midpoint and side (so 2 additional total), etc.\r\n-- Don't go too crazy, because it will increase the number of\r\n-- terrain checks dramatically.\r\nTerrainAvoidanceSubdivisions = 0\r\n\r\n-- Terrain avoidance weight. Should be >1, set to 0 to disable.\r\n-- Greater number means it will begin to turn away sooner.\r\nTerrainAvoidanceWeight = 100\r\n\r\n-- YAW & PROPULSION\r\n\r\n-- Yaw PID controller settings\r\n-- These default values have worked well for me on\r\n-- a variety of ships. YMMV.\r\n-- { 1, 0, 0 } is a good (but rough) starting point.\r\nYawPIDConfig = {\r\n   Kp = 0.25,\r\n   Ti = 0,\r\n   Td = 0.4,\r\n}\r\n\r\n-- To use forward (or reverse!) spinners as propulsion,\r\n-- set either or both of the following options to true.\r\nUseSpinners = false\r\nUseDediBlades = true\r\n\r\n-- ALTITUDE CONTROL\r\n\r\n-- Switch to manual altitude control on these AI modes. Valid keys are \"off\",\r\n-- \"on\", \"combat\", \"patrol\", and \"fleetmove\".\r\n-- Only used when ManualAltitudeDriveMaintainerFacing below is non-nil.\r\nManualAltitudeWhen = {\r\n   off = true,\r\n   on = true,\r\n   combat = true,\r\n   patrol = true,\r\n   fleetmove = true,\r\n}\r\n\r\n-- Manual altitude control (optional, default disabled)\r\n-- Set the following to an axis-aligned unit Vector3, i.e. Vector3.forward,\r\n-- Vector3.up, Vector3.left, etc.\r\n-- Then place a drive maintainer block facing that direction. It should be the\r\n-- only drive maintainer facing that direction.\r\nManualAltitudeDriveMaintainerFacing = nil\r\n\r\n-- Determines scaling for manual altitude control. -1.0 throttle on the\r\n-- drive maintainer means 0 altitude, 1.0 throttle means MaxManualAltitude.\r\n-- Only used when ManualAltitudeDriveMaintainerFacing above is non-nil.\r\nMaxManualAltitude = 400\r\n\r\n-- If false, your desired altitudes are relative to\r\n-- the ground (or sea level, if over water)\r\n-- If true, then no terrain checking will be done.\r\nAbsoluteAltitude = false\r\n\r\n-- Desired altitudes\r\nDesiredAltitudeCombat = 100\r\nDesiredAltitudeIdle = 100\r\n\r\n-- Only used when AbsoluteAltitude is false AND TerrainCheckLookAheadTime\r\n-- (see below) is nil.\r\n-- This helps determine look ahead distance.\r\n-- Think of it as the tallest obstacle the terrain checker will try to\r\n-- fly over.\r\nMaxAltitude = 300\r\n\r\n-- First number is altitude variation\r\n-- Second is time scale, which should generally be <1.\r\n-- Smaller is slower.\r\n-- Set to nil to disable, e.g. Evasion = nil\r\nEvasion = { 25, .5 }\r\n\r\n-- Whether or not to apply the above evasion settings when under manual control.\r\nManualEvasion = true\r\n\r\n-- TERRAIN CHECKING\r\n\r\n-- How many seconds to look ahead, in terms of velocity.\r\n-- Generally depends on your maximum vertical speed. The slower you\r\n-- move vertically, the farther you should look ahead.\r\n-- However, if your normal AI has any sort of terrain checking, this\r\n-- should probably look farther than it.\r\n-- Set to nil to base dynamically on the current altitude/depth.\r\n-- You should also make sure TerrainCheckVerticalSpeed is accurate\r\n-- below.\r\nTerrainCheckLookAheadTime = 30\r\n\r\n-- Look-ahead resolution, in meters. The smaller it is, the more\r\n-- samples of the terrain will be taken.\r\n-- Probably shouldn't be larger than the length of your ship.\r\n-- Set to nil to automatically use half your ship's length.\r\nTerrainCheckResolution = nil\r\n\r\n-- By default, the horizontal midpoint and both sides of the ship\r\n-- are extended forward and used to check the terrain.\r\n-- If you have a particularly wide ship, you may want to check\r\n-- more points. Use this to increase the number of subdivisions\r\n-- between the midpoint and the sides. Set to 0 for no extra\r\n-- points, 1 for 1 extra between midpoint and side (so 2\r\n-- additional total), etc. Don't go too crazy, because it will\r\n-- increase the number of terrain checks dramatically.\r\nTerrainCheckSubdivisions = 0\r\n\r\n-- Maximum vertical speed. Only used when TerrainCheckLookAheadTime\r\n-- above is nil.\r\n-- Set to nil to determine dynamically.\r\n-- If you know the performance characteristics of your ship, it's\r\n-- recommended you set this rather than leave it to be determined.\r\n-- The starting max vertical speed is 1 m/s, which will lead to\r\n-- very far look ahead distances (until the actual vertical speed\r\n-- is determined).\r\nTerrainCheckMaxVerticalSpeed = nil\r\n\r\n-- When determining look ahead time dynamically, the remaining altitude\r\n-- (= max altitude - current altitude) is multiplied by this before\r\n-- dividing by the max vertical speed.\r\n-- Should be slightly >1 to provide a buffer.\r\nTerrainCheckBufferFactor = 1.05\r\n\r\n-- 3DOF SPINNER CONFIGURATION\r\n\r\n-- Switches to enable/disable control of each axis.\r\nControlRoll = true\r\nControlPitch = true\r\n\r\n-- PID values\r\nAltitudePIDConfig = {\r\n   Kp = 5,\r\n   Ti = 5,\r\n   Td = .3,\r\n}\r\nPitchPIDConfig = {\r\n   Kp = 5,\r\n   Ti = 5,\r\n   Td = .3,\r\n}\r\nRollPIDConfig = {\r\n   Kp = .5,\r\n   Ti = 5,\r\n   Td = .3,\r\n}\r\n\r\n-- The weird thing about dedicated heliblade spinners is that \"always up\"\r\n-- only means \"up\" when rotating clockwise. When oriented upside down,\r\n-- they don't behave in the expected/intuitive way. You have to rotate\r\n-- it clockwise rather than counter-clockwise as you would when the\r\n-- \"always up fraction\" is 0.\r\n-- Set to true if the dedicated heliblade spinners have a positive\r\n-- \"always up fraction.\" Note that Lua scripts can't read this value, so\r\n-- it is best to set it on the spinner to 1 or 0.\r\nDediBladesAlwaysUp = false\r\n\r\n-- COMMONS SETTINGS\r\n\r\nCommons = {\r\n   -- Preferred mainframe indexes for target priority.\r\n   -- Once a mainframe is successfully queried, the rest are ignored.\r\n   -- First mainframe (in \"C\" screen) = 0, 2nd = 1, etc.\r\n   -- The last one in the list should always be 0.\r\n   -- For example, to query the 2nd, 3rd, and 1st (in that order), set\r\n   -- to { 1, 2, 0 }\r\n   PreferredTargetMainframes = { 0 },\r\n\r\n   -- Maximum range for an enemy to still be considered a threat.\r\n   MaxEnemyRange = 10000,\r\n}\r\n\r\n-- COMPONENT TYPES (don't change)\r\n\r\n-- luacheck: push ignore 131\r\nBALLOON = 0 -- boolean\r\nDRIVEMAINTAINER = 1 -- float\r\nAIRPUMP = 2 -- float/bool\r\nRESOURCEGATHERER = 3 -- boolean\r\nOILDRILL = 4 -- boolean\r\nAMMOPROCESSOR = 5 -- boolean\r\nOILPROCESSOR = 6 -- boolean\r\nTRACTORBEAM = 7 -- boolean\r\nHYDROFOIL = 8 -- float\r\nPROPULSION = 9 -- float\r\nSHIELDPROJECTOR = 10 -- float/int\r\nHELIUMPUMP = 11 -- float/bool\r\n-- luacheck: pop\r\n\r\n-- PROPULSION API CONSTANTS (don't change)\r\n\r\n-- luacheck: push ignore 131\r\nWATER = 0\r\nLAND = 1\r\nAIR = 2\r\n\r\nYAWLEFT = 0\r\nYAWRIGHT = 1\r\nROLLLEFT = 2\r\nROLLRIGHT = 3\r\nNOSEUP = 4\r\nNOSEDOWN = 5\r\nINCREASE = 6\r\nDECREASE = 7\r\nMAINPROPULSION = 8\r\n-- luacheck: pop\r\n\r\n-- Control mode. Set to WATER, LAND, or AIR.\r\n-- Change accordingly for helicopters/thrustercraft\r\n-- Note that altitude must be controlled by some other means\r\nMode = AIR\r\n\r\n-- !!! CODE BEGINS HERE, EDIT AT YOUR OWN RISK !!!\r\n\r\n-- Commons module\r\n\r\n-- The one global that holds the Commons instance.\r\n-- A new instance MUST be instantiated every update.\r\nC = nil\r\n\r\n-- Presumably, calling a Lua binding is slow, especially methods\r\n-- that return tables. Only call API when we need something and cache\r\n-- the result for the lifetime of the instance.\r\nfunction Commons.create(I, AttackSalvage)\r\n   local self = {}\r\n\r\n   self.I = I\r\n   self.AttackSalvage = AttackSalvage\r\n\r\n   -- Can't implement \"properties\" because no metatable\r\n   -- Since everything is read-only anyway, we'll just implement\r\n   -- everything as lazy-init instance getters.\r\n\r\n   -- Time\r\n   self.Now = Commons.Now\r\n\r\n   -- Miscellaneous\r\n   self.IsDocked = Commons.IsDocked\r\n\r\n   -- Position and attitude\r\n   self.Position = Commons.Position\r\n   self.CoM = Commons.CoM\r\n   self.Altitude = Commons.Altitude\r\n   self.Yaw = Commons.Yaw\r\n   self.Pitch = Commons.Pitch\r\n   self.Roll = Commons.Roll\r\n\r\n   -- Velocity\r\n   self.Velocity = Commons.Velocity\r\n   self.ForwardSpeed = Commons.ForwardSpeed\r\n\r\n   -- Orientation\r\n   self.ForwardVector = Commons.ForwardVector\r\n   self.UpVector = Commons.UpVector\r\n   self.RightVector = Commons.RightVector\r\n   self.ToGlobal = Commons.ToGlobal\r\n   self.ToLocal = Commons.ToLocal\r\n\r\n   -- Weapon controllers\r\n   self.HullWeaponControllers = Commons.HullWeaponControllers\r\n   self.TurretWeaponControllers = Commons.TurretWeaponControllers\r\n   self.WeaponControllers = Commons.WeaponControllers\r\n\r\n   -- Targets\r\n   self.GatherTargets = Commons.GatherTargets -- Private\r\n   self.FirstTarget = Commons.FirstTarget\r\n   self.Targets = Commons.Targets\r\n\r\n   -- Maybe friendlies too...?\r\n\r\n   return self\r\nend\r\n\r\nfunction Commons:Now()\r\n   if not self._Now then\r\n      self._Now = self.I:GetTimeSinceSpawn()\r\n   end\r\n   return self._Now\r\nend\r\n\r\nfunction Commons:IsDocked()\r\n   if not self._IsDocked then\r\n      self._IsDocked = self.I:IsDocked()\r\n   end\r\n   return self._IsDocked\r\nend\r\n\r\nfunction Commons:Position()\r\n   if not self._Position then\r\n      self._Position = self.I:GetConstructPosition()\r\n   end\r\n   return self._Position\r\nend\r\n\r\nfunction Commons:CoM()\r\n   if not self._CoM then\r\n      self._CoM = self.I:GetConstructCenterOfMass()\r\n   end\r\n   return self._CoM\r\nend\r\n\r\nfunction Commons:Altitude()\r\n   return self:CoM().y\r\nend\r\n\r\nfunction Commons:Yaw()\r\n   if not self._Yaw then\r\n      self._Yaw = self.I:GetConstructYaw()\r\n   end\r\n   return self._Yaw\r\nend\r\n\r\nfunction Commons:Pitch()\r\n   if not self._Pitch then\r\n      local Pitch = self.I:GetConstructPitch()\r\n      if Pitch > 180 then\r\n         Pitch = 360 - Pitch\r\n      else\r\n         Pitch = -Pitch\r\n      end\r\n      self._Pitch = Pitch\r\n   end\r\n   return self._Pitch\r\nend\r\n\r\nfunction Commons:Roll()\r\n   if not self._Roll then\r\n      local Roll = self.I:GetConstructRoll()\r\n      if Roll > 180 then\r\n         Roll = Roll - 360\r\n      end\r\n      self._Roll = Roll\r\n   end\r\n   return self._Roll\r\nend\r\n\r\nfunction Commons:Velocity()\r\n   if not self._Velocity then\r\n      self._Velocity = self.I:GetVelocityVector()\r\n   end\r\n   return self._Velocity\r\nend\r\n\r\nfunction Commons:ForwardSpeed()\r\n   if not self._ForwardSpeed then\r\n      self._ForwardSpeed = self.I:GetForwardsVelocityMagnitude()\r\n   end\r\n   return self._ForwardSpeed\r\nend\r\n\r\nfunction Commons:ForwardVector()\r\n   if not self._ForwardVector then\r\n      self._ForwardVector = self.I:GetConstructForwardVector()\r\n   end\r\n   return self._ForwardVector\r\nend\r\n\r\nfunction Commons:UpVector()\r\n   if not self._UpVector then\r\n      self._UpVector = self.I:GetConstructUpVector()\r\n   end\r\n   return self._UpVector\r\nend\r\n\r\nfunction Commons:RightVector()\r\n   if not self._RightVector then\r\n      self._RightVector = self.I:GetConstructRightVector()\r\n   end\r\n   return self._RightVector\r\nend\r\n\r\nfunction Commons:ToGlobal()\r\n   if not self._ToGlobal then\r\n      self._ToGlobal = Quaternion.LookRotation(self:ForwardVector(), self:UpVector())\r\n   end\r\n   return self._ToGlobal\r\nend\r\n\r\nfunction Commons:ToLocal()\r\n   if not self._ToLocal then\r\n      self._ToLocal = Quaternion.Inverse(self:ToGlobal())\r\n   end\r\n   return self._ToLocal\r\nend\r\n\r\nfunction Commons.AddWeapon(Weapons, WeaponInfo, TurretIndex, WeaponIndex)\r\n   local Weapon = {\r\n      Index = WeaponIndex,\r\n      TurretIndex = TurretIndex,\r\n      Type = WeaponInfo.WeaponType,\r\n      Slot = WeaponInfo.WeaponSlot,\r\n      Position = WeaponInfo.GlobalPosition,\r\n      Speed = WeaponInfo.Speed,\r\n      PlayerControl = WeaponInfo.PlayerCurrentlyControllingIt,\r\n   }\r\n   table.insert(Weapons, Weapon)\r\nend\r\n\r\nfunction Commons:HullWeaponControllers()\r\n   if not self._HullWeaponControllers then\r\n      local Weapons = {}\r\n      for windex = 0,self.I:GetWeaponCount()-1 do\r\n         local Info = self.I:GetWeaponInfo(windex)\r\n         Commons.AddWeapon(Weapons, Info, nil, windex)\r\n      end\r\n      self._HullWeaponControllers = Weapons\r\n   end\r\n   return self._HullWeaponControllers\r\nend\r\n\r\nfunction Commons:TurretWeaponControllers()\r\n   if not self._TurretWeaponControllers then\r\n      local Weapons = {}\r\n      for tindex = 0,self.I:GetTurretSpinnerCount()-1 do\r\n         for windex = 0,self.I:GetWeaponCountOnTurretOrSpinner(tindex)-1 do\r\n            local Info = self.I:GetWeaponInfoOnTurretOrSpinner(tindex, windex)\r\n            Commons.AddWeapon(Weapons, Info, tindex, windex)\r\n         end\r\n      end\r\n      self._TurretWeaponControllers = Weapons\r\n   end\r\n   return self._TurretWeaponControllers\r\nend\r\n\r\nfunction Commons:WeaponControllers()\r\n   if not self._WeaponControllers then\r\n      local Weapons = {}\r\n      for _,Weapon in pairs(self:HullWeaponControllers()) do\r\n         table.insert(Weapons, Weapon)\r\n      end\r\n      for _,Weapon in pairs(self:TurretWeaponControllers()) do\r\n         table.insert(Weapons, Weapon)\r\n      end\r\n      self._WeaponControllers = Weapons\r\n   end\r\n   return self._WeaponControllers\r\nend\r\n\r\nfunction Commons.ConvertTarget(Index, TargetInfo, Offset, Range)\r\n   local Target = {\r\n      Id = TargetInfo.Id,\r\n      Index = Index,\r\n      Position = TargetInfo.Position,\r\n      Offset = Offset,\r\n      Range = Range,\r\n      SqrRange = Range * Range,\r\n      AimPoint = TargetInfo.AimPointPosition,\r\n      Velocity = TargetInfo.Velocity,\r\n   }\r\n   return Target\r\nend\r\n\r\nfunction Commons:GatherTargets(Targets, StartIndex, MaxTargets)\r\n   local CoM = self:CoM()\r\n   local AttackSalvage = self.AttackSalvage\r\n   -- Query mainframes in the preferred order\r\n   for _,mindex in pairs(Commons.PreferredTargetMainframes) do\r\n      local TargetCount = self.I:GetNumberOfTargets(mindex)\r\n      if TargetCount > 0 then\r\n         if not StartIndex then StartIndex = 0 end\r\n         if not MaxTargets then MaxTargets = math.huge end\r\n         for tindex = StartIndex,TargetCount-1 do\r\n            if #Targets >= MaxTargets then break end\r\n            local TargetInfo = self.I:GetTargetInfo(mindex, tindex)\r\n            -- Will probably never not be valid, but eh, check anyway\r\n            if TargetInfo.Valid and (TargetInfo.Protected or AttackSalvage) then\r\n               local Offset = TargetInfo.Position - CoM\r\n               local Range = Offset.magnitude\r\n               if Range <= Commons.MaxEnemyRange then\r\n                  table.insert(Targets, Commons.ConvertTarget(tindex, TargetInfo, Offset, Range))\r\n               end\r\n            end\r\n         end\r\n         -- Whether or not we actually added new targets, we have a definitive\r\n         -- answer.\r\n         -- All AIs see the same targets, so stop after one has been\r\n         -- successfully queried.\r\n         -- Note can't distinguish between non-existant mainframe\r\n         -- and no targets.\r\n         break\r\n      end\r\n   end\r\nend\r\n\r\nfunction Commons:FirstTarget()\r\n   if not self._FirstTarget then\r\n      -- Did we already gather all targets?\r\n      if self._Targets then\r\n         -- Use first one\r\n         local Target = self._Targets[1]\r\n         self._FirstTarget = Target and { Target } or {}\r\n      else\r\n         -- Just fetch first target, if any\r\n         local Targets = {}\r\n         self:GatherTargets(Targets, 0, 1)\r\n         self._FirstTarget = Targets\r\n      end\r\n   end\r\n   -- Note self._FirstTarget is a table of at most size 1, which allows it\r\n   -- to be distinguished between uninitialized and no target.\r\n   return self._FirstTarget[1]\r\nend\r\n\r\nfunction Commons:Targets()\r\n   if not self._Targets then\r\n      local Targets = {}\r\n      -- Do we have a first target already?\r\n      if self._FirstTarget then\r\n         local Target = self._FirstTarget[1]\r\n         if not Target then\r\n            -- First target was already set, but there is no target.\r\n            -- Definitely no more beyond that.\r\n            self._Targets = {}\r\n            return self._Targets\r\n         end\r\n         -- Copy the first target\r\n         table.insert(Targets, Target)\r\n         -- And continue off after first target\r\n         self:GatherTargets(Targets, Target.Index+1)\r\n      else\r\n         -- Gather from start\r\n         self:GatherTargets(Targets, 0)\r\n      end\r\n      self._Targets = Targets\r\n   end\r\n   return self._Targets\r\nend\r\n\r\n-- FirstRun module\r\nFirstRunList = {}\r\n\r\nfunction FirstRun(I)\r\n   FirstRun = nil\r\n\r\n   for _,Function in pairs(FirstRunList) do\r\n      Function(I)\r\n   end\r\nend\r\n\r\nfunction AddFirstRun(Function)\r\n   table.insert(FirstRunList, Function)\r\nend\r\n\r\n-- Periodic implementation\r\nPeriodic = {}\r\n\r\nfunction Periodic.create(Period, Function, Start)\r\n   local self = {}\r\n\r\n   self.Ticks = Start and Start or Period\r\n   self.Period = Period\r\n   self.Function = Function\r\n\r\n   if Period then\r\n      self.Tick = Periodic.Tick\r\n   else\r\n      -- If Period is nil, Tick does nothing\r\n      self.Tick = function (_, _) end\r\n   end\r\n\r\n   return self\r\nend\r\n\r\nfunction Periodic:Tick(I)\r\n   local Ticks = self.Ticks\r\n   Ticks = Ticks + 1\r\n   if Ticks >= self.Period then\r\n      self.Ticks = 0\r\n      self.Function(I)\r\n   else\r\n      self.Ticks = Ticks\r\n   end\r\nend\r\n\r\n-- Returns sign of the argument.\r\n-- By default, returns 0 for 0, unlike Mathf.Sign which returns 1\r\nfunction Sign(n, ZeroSign)\r\n   if n > 0 then\r\n      return 1\r\n   elseif n < 0 then\r\n      return -1\r\n   else\r\n      return ZeroSign or 0\r\n   end\r\nend\r\n\r\n-- PID implementation\r\nPID = {}\r\n\r\nfunction PID.create(Config, Min, Max)\r\n   local self = {}\r\n   self.Kp = Config.Kp\r\n   if Config.Ti ~= 0 then\r\n      self.Ki = Config.Kp / Config.Ti\r\n   else\r\n      self.Ki = 0\r\n   end\r\n   self.Kd = Config.Kp * Config.Td\r\n   self.Integral = 0.0\r\n   self.LastError = 0.0\r\n   self.Min = Min\r\n   self.Max = Max\r\n\r\n   -- Due to lack of setmetatable\r\n   self.Control = PID.FirstControl\r\n\r\n   return self\r\nend\r\n\r\nfunction PID:Control(Error)\r\n   local Now = C:Now()\r\n   local dt = Now - self.LastTime\r\n   local Integral = self.Integral + Error * dt\r\n   local Derivative = (Error - self.LastError) / dt\r\n   self.LastError = Error\r\n   self.LastTime = Now\r\n\r\n   local CV = (self.Kp * Error) +\r\n      (self.Ki * Integral) +\r\n      (self.Kd * Derivative)\r\n\r\n   -- Windup prevention\r\n   if CV > self.Max then\r\n      if Integral <= self.Integral then self.Integral = Integral end\r\n      return self.Max\r\n   elseif CV < self.Min then\r\n      if Integral >= self.Integral then self.Integral = Integral end\r\n      return self.Min\r\n   end\r\n\r\n   self.Integral = Integral\r\n   return CV\r\nend\r\n\r\nfunction PID:FirstControl(_)\r\n   -- Call the real one next time\r\n   self.Control = PID.Control\r\n   -- Just set LastTime and return 0 for now\r\n   self.LastTime = C:Now()\r\n   return 0\r\nend\r\n\r\n-- 3DoF Spinner module (Altitude, Pitch, Roll)\r\nAltitudePID = PID.create(AltitudePIDConfig, -30, 30)\r\nPitchPID = PID.create(PitchPIDConfig, -30, 30)\r\nRollPID = PID.create(RollPIDConfig, -30, 30)\r\n\r\nDesiredAltitude = 0\r\nDesiredPitch = 0\r\nDesiredRoll = 0\r\n\r\nLastSpinnerCount = 0\r\nSpinners = {}\r\n\r\nfunction SetAltitude(Alt)\r\n   DesiredAltitude = Alt\r\nend\r\n\r\nfunction AdjustAltitude(Delta) -- luacheck: ignore 131\r\n   DesiredAltitude = C:Altitude() + Delta\r\nend\r\n\r\nfunction SetPitch(Angle) -- luacheck: ignore 131\r\n   DesiredPitch = Angle\r\nend\r\n\r\nfunction SetRoll(Angle) -- luacheck: ignore 131\r\n   DesiredRoll = Angle\r\nend\r\n\r\nfunction ThreeDoFSpinner_ClassifySpinners(I)\r\n   local SpinnerCount = I:GetSpinnerCount()\r\n   if SpinnerCount ~= LastSpinnerCount then\r\n      LastSpinnerCount = SpinnerCount\r\n      Spinners = {}\r\n\r\n      for i = 0,SpinnerCount-1 do\r\n         local IsDedi = I:IsSpinnerDedicatedHelispinner(i)\r\n         if IsDedi then -- TODO regular spinner support\r\n            local Info = I:GetSpinnerInfo(i)\r\n            local DotZ = (Info.LocalRotation * Vector3.up).y\r\n            if math.abs(DotZ) > .001 then\r\n               local CoMOffset = Info.LocalPositionRelativeToCom\r\n               local UpSign = DediBladesAlwaysUp and 1 or Sign(DotZ)\r\n               local Spinner = {\r\n                  Index = i,\r\n                  AltitudeSign = UpSign,\r\n                  PitchSign = UpSign * Sign(CoMOffset.z),\r\n                  RollSign = UpSign * Sign(CoMOffset.x),\r\n               }\r\n               table.insert(Spinners, Spinner)\r\n            end\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\nfunction ThreeDoFSpinner_Update(I)\r\n   local AltitudeCV = AltitudePID:Control(DesiredAltitude - C:Altitude())\r\n   local PitchCV = ControlPitch and PitchPID:Control(DesiredPitch - C:Pitch()) or 0\r\n   local RollCV = ControlRoll and RollPID:Control(DesiredRoll - C:Roll()) or 0\r\n\r\n   ThreeDoFSpinner_ClassifySpinners(I)\r\n\r\n   for _,Info in pairs(Spinners) do\r\n      local Output = AltitudeCV * Info.AltitudeSign + PitchCV * Info.PitchSign + RollCV * Info.RollSign\r\n      Output = math.max(-30, math.min(30, Output))\r\n      I:SetSpinnerContinuousSpeed(Info.Index, Output)\r\n   end\r\nend\r\n\r\nfunction ThreeDoFSpinner_Disable(I)\r\n   ThreeDoFSpinner_ClassifySpinners(I)\r\n   for _,Info in pairs(Spinners) do\r\n      I:SetSpinnerContinuousSpeed(Info.Index, 0)\r\n   end\r\nend\r\n\r\n-- ManualController implementation\r\nManualController = {}\r\n\r\nfunction ManualController.create(Direction)\r\n   local self = {}\r\n\r\n   if Direction then\r\n      self.Direction = Direction\r\n      self.LastDriveMaintainerCount = 0\r\n      self.DriveMaintainerIndex = nil\r\n      self.LastReading = 0\r\n\r\n      self.GetReading = ManualController.GetReading\r\n   else\r\n      -- No Direction, no manual control\r\n      -- Set GetReading to dummy function\r\n      -- (it's best if it isn't called at all...)\r\n      self.GetReading = function (_, _) return 0 end\r\n   end\r\n\r\n   return self\r\nend\r\n\r\nfunction ManualController:GetReading(I)\r\n   local DriveMaintainerCount = I:Component_GetCount(DRIVEMAINTAINER)\r\n   if DriveMaintainerCount ~= self.LastDriveMaintainerCount then\r\n      -- Clear cached index\r\n      self.DriveMaintainerIndex = nil\r\n      self.LastDriveMaintainerCount = DriveMaintainerCount\r\n   end\r\n\r\n   local DriveMaintainerIndex = self.DriveMaintainerIndex\r\n   if not DriveMaintainerIndex then\r\n      -- Look for the first one facing the direction we want\r\n      local Direction = self.Direction\r\n      for i = 0,DriveMaintainerCount-1 do\r\n         local BlockInfo = I:Component_GetBlockInfo(DRIVEMAINTAINER, i)\r\n         if Vector3.Dot(BlockInfo.LocalForwards, Direction) > 0.001 then\r\n            DriveMaintainerIndex = i\r\n            self.DriveMaintainerIndex = DriveMaintainerIndex\r\n            break\r\n         end\r\n      end\r\n\r\n      if not DriveMaintainerIndex then\r\n         -- Still don't have one, just return last reading\r\n         return self.LastReading\r\n      end\r\n   end\r\n\r\n   self.LastReading = I:Component_GetFloatLogic(DRIVEMAINTAINER, DriveMaintainerIndex)\r\n   return self.LastReading\r\nend\r\n\r\nPerlinOffset = 0\r\n\r\nfunction Evasion_FirstRun(_)\r\n   -- Used as Y coordinate for Perlin generator\r\n   PerlinOffset = 1000.0 * math.random()\r\nend\r\nAddFirstRun(Evasion_FirstRun)\r\n\r\n-- Offset by Evasion, if set\r\nfunction CalculateEvasion(Evasion)\r\n   if Evasion then\r\n      return Evasion[1] * (2.0 * Mathf.PerlinNoise(Evasion[2] * C:Now(), PerlinOffset) - 1.0)\r\n   else\r\n      return 0\r\n   end\r\nend\r\n\r\n-- Terrain following module\r\nTerrainCheckPoints = {}\r\nCurrentMaxVerticalSpeed = 1\r\n\r\n-- Pre-calculate check points for terrain following\r\nfunction TerrainCheck_FirstRun(I)\r\n   local MaxDim = I:GetConstructMaxDimensions()\r\n   local MinDim = I:GetConstructMinDimensions()\r\n   local Dimensions = MaxDim - MinDim\r\n   local HalfDimensions = Dimensions / 2\r\n\r\n   table.insert(TerrainCheckPoints, 0)\r\n   table.insert(TerrainCheckPoints, -HalfDimensions.x)\r\n   table.insert(TerrainCheckPoints, HalfDimensions.x)\r\n   if TerrainCheckSubdivisions > 0 then\r\n      local Delta = HalfDimensions.x / (TerrainCheckSubdivisions+1)\r\n      for i=1,TerrainCheckSubdivisions do\r\n         local x = i * Delta\r\n         table.insert(TerrainCheckPoints, -x)\r\n         table.insert(TerrainCheckPoints, x)\r\n      end\r\n   end\r\n\r\n   if not TerrainCheckResolution then\r\n      TerrainCheckResolution = HalfDimensions.z\r\n   end\r\n   if TerrainCheckMaxVerticalSpeed then\r\n      CurrentMaxVerticalSpeed = TerrainCheckMaxVerticalSpeed\r\n   end\r\nend\r\nAddFirstRun(TerrainCheck_FirstRun)\r\n\r\n-- Using pre-calculated check points, scan ahead a certain distance\r\n-- (using Velocity * look-ahead time) and return maximum height of terrain.\r\nfunction GetTerrainHeight(I, Velocity, MinAltitude, MaxAltitude)\r\n   local Height = MinAltitude\r\n   local Speed = Velocity.magnitude\r\n   local Direction = Velocity / Speed\r\n   local Perp = Vector3.Cross(Direction, Vector3.up)\r\n\r\n   -- Determine how far to look ahead\r\n   local LookAheadTime\r\n   if TerrainCheckLookAheadTime then\r\n      LookAheadTime = TerrainCheckLookAheadTime\r\n   else\r\n      -- If using dynamic vertical speed, update that first.\r\n      -- Note: Only care about positive vertical speeds.\r\n      -- Don't count falling!\r\n      if not TerrainCheckMaxVerticalSpeed and Velocity.y > CurrentMaxVerticalSpeed then\r\n         CurrentMaxVerticalSpeed = Velocity.y\r\n      end\r\n\r\n      local RemainingAltitude = math.max(0, MaxAltitude - C:Altitude())\r\n      LookAheadTime = math.max(1, TerrainCheckBufferFactor * RemainingAltitude / CurrentMaxVerticalSpeed)\r\n   end\r\n   local MaxDistance = Speed * LookAheadTime\r\n\r\n   -- Calculate (mid-point) distances for this velocity once\r\n   local Distances = {}\r\n   for d = 0,MaxDistance-1,TerrainCheckResolution do\r\n      table.insert(Distances, C:CoM() + Direction * d)\r\n   end\r\n\r\n   -- Make sure end point is also checked\r\n   -- (Generally it won't be evenly divisible by TerrainCheckResolution)\r\n   table.insert(Distances, C:CoM() + Direction * MaxDistance)\r\n\r\n   for _,Offset in pairs(TerrainCheckPoints) do\r\n      local Side = Perp * Offset\r\n      for _,Distance in pairs(Distances) do\r\n         local TestPoint = Distance + Side\r\n         Height = math.max(Height, I:GetTerrainAltitudeForPosition(TestPoint))\r\n      end\r\n   end\r\n\r\n   return Height\r\nend\r\n\r\n-- Altitude Control module\r\nManualAltitudeController = ManualController.create(ManualAltitudeDriveMaintainerFacing)\r\nHalfMaxManualAltitude = MaxManualAltitude / 2\r\n\r\nDesiredControlAltitude = 0\r\nControlAltitudeOffset = 0\r\n\r\nfunction Altitude_Control(I)\r\n   ControlAltitudeOffset = 0\r\n\r\n   local NewAltitude\r\n   if ManualAltitudeDriveMaintainerFacing and ManualAltitudeWhen[I.AIMode] then\r\n      NewAltitude = HalfMaxManualAltitude + ManualAltitudeController:GetReading(I) * HalfMaxManualAltitude\r\n      if ManualEvasion and C:FirstTarget() then\r\n         ControlAltitudeOffset = CalculateEvasion(Evasion)\r\n      end\r\n   else\r\n      if C:FirstTarget() then\r\n         NewAltitude = DesiredAltitudeCombat\r\n         ControlAltitudeOffset = CalculateEvasion(Evasion)\r\n      else\r\n         NewAltitude = DesiredAltitudeIdle\r\n      end\r\n   end\r\n\r\n   if not AbsoluteAltitude then\r\n      -- Look ahead at the terrain, but don't fly lower than sea level\r\n      local Height = GetTerrainHeight(I, C:Velocity(), 0, MaxAltitude)\r\n      NewAltitude = NewAltitude + Height\r\n   end\r\n\r\n   DesiredControlAltitude = NewAltitude\r\nend\r\n\r\n-- Normalizes a bearing to (-180, 180].\r\nfunction NormalizeBearing(Bearing)\r\n   Bearing = Bearing % 360\r\n   if Bearing > 180 then Bearing = Bearing - 360 end\r\n   return Bearing\r\nend\r\n\r\n-- SpinnerControl implementation\r\nSpinnerControl = {}\r\n\r\n-- Note: Axis should be a unit vector depicting the positive direction\r\n-- Typically Vector3.up, Vector3.forward, etc.\r\nfunction SpinnerControl.create(Axis, UseSpinners, UseDediBlades, AlwaysUp)\r\n   local self = {}\r\n\r\n   self.Axis = Axis\r\n   self.UseSpinners = UseSpinners\r\n   self.UseDediBlades = UseDediBlades\r\n   self.AlwaysUp = AlwaysUp\r\n   self.LastSpinnerCount = 0\r\n   self.Spinners = {}\r\n\r\n   if UseSpinners or UseDediBlades then\r\n      self.Classify = SpinnerControl.Classify\r\n   else\r\n      -- Not using spinners at all, so just make Classify do nothing\r\n      self.Classify = function (_, _) end\r\n   end\r\n   self.SetSpeed = SpinnerControl.SetSpeed\r\n\r\n   return self\r\nend\r\n\r\n-- Classify and gather spinners on the construct that contribute thrust\r\n-- along the desired axis. Should be called per Update.\r\n-- (Assumption is that damage changes indices...)\r\nfunction SpinnerControl:Classify(I)\r\n   local SpinnerCount = I:GetSpinnerCount()\r\n   -- If the count hasn't changed since last check, do nothing.\r\n   if SpinnerCount == self.LastSpinnerCount then return end\r\n\r\n   self.LastSpinnerCount = SpinnerCount\r\n   self.Spinners = {}\r\n\r\n   local UseSpinners,UseDediBlades,AlwaysUp,Axis = self.UseSpinners,self.UseDediBlades,self.AlwaysUp,self.Axis\r\n   for i = 0,SpinnerCount-1 do\r\n      local IsDedi = I:IsSpinnerDedicatedHelispinner(i)\r\n      if ((UseSpinners and not IsDedi) or\r\n          (UseDediBlades and IsDedi)) then\r\n         local Info = I:GetSpinnerInfo(i)\r\n         local DotZ = Vector3.Dot(Info.LocalRotation * Vector3.up,\r\n                                  Axis)\r\n         if math.abs(DotZ) > 0.001 then\r\n            local Spinner = {\r\n               Index = i,\r\n               Sign = AlwaysUp and 1 or Sign(DotZ),\r\n            }\r\n            table.insert(self.Spinners, Spinner)\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\n-- Sets spinner speed, Speed can be -30 to 30 (radians/second)\r\nfunction SpinnerControl:SetSpeed(I, Speed)\r\n   for _,Spinner in pairs(self.Spinners) do\r\n      I:SetSpinnerContinuousSpeed(Spinner.Index, Speed * Spinner.Sign)\r\n   end\r\nend\r\n\r\n-- Yaw & throttle module\r\nYawPID = PID.create(YawPIDConfig, -1.0, 1.0)\r\n\r\nPropulsionSpinners = SpinnerControl.create(Vector3.forward, UseSpinners, UseDediBlades)\r\n\r\nDesiredHeading = nil\r\nDesiredThrottle = nil\r\nCurrentThrottle = 0\r\n\r\n-- Sets heading to an absolute value, 0 is north, 90 is east\r\nfunction SetHeading(Heading)\r\n   DesiredHeading = Heading % 360\r\nend\r\n\r\n-- Adjusts heading toward relative bearing\r\nfunction AdjustHeading(Bearing) -- luacheck: ignore 131\r\n   SetHeading(C:Yaw() + Bearing)\r\nend\r\n\r\n-- Resets heading so yaw will no longer be modified\r\nfunction ResetHeading()\r\n   DesiredHeading = nil\r\nend\r\n\r\n-- Sets throttle. Throttle should be [-1, 1]\r\nfunction SetThrottle(Throttle)\r\n   DesiredThrottle = math.max(-1, math.min(1, Throttle))\r\nend\r\n\r\n-- Adjusts throttle by some delta\r\n-- NB CurrentThrottle does not change until YawThrottle_Update is called.\r\nfunction AdjustThrottle(Delta) -- luacheck: ignore 131\r\n   SetThrottle(CurrentThrottle + Delta)\r\nend\r\n\r\n-- Resets throttle so drives will no longer be modified\r\nfunction ResetThrottle()\r\n   DesiredThrottle = nil\r\nend\r\n\r\n-- Resets heading/throttle so they will no longer be modified\r\n-- (unless explicitly set again)\r\nfunction YawThrottle_Reset() -- luacheck: ignore 131\r\n   ResetHeading()\r\n   ResetThrottle()\r\nend\r\n\r\n-- Controls ship according to desired heading/throttle.\r\n-- Should be called every update.\r\n-- Default AI should be suppressed beforehand, if needed.\r\nfunction YawThrottle_Update(I)\r\n   if DesiredHeading then\r\n      local Error = NormalizeBearing(DesiredHeading - C:Yaw())\r\n\r\n      local CV = YawPID:Control(Error)\r\n      if CV > 0.0 then\r\n         I:RequestControl(Mode, YAWRIGHT, CV)\r\n      elseif CV < 0.0 then\r\n         I:RequestControl(Mode, YAWLEFT, -CV)\r\n      end\r\n   end\r\n\r\n   if DesiredThrottle then\r\n      I:RequestControl(Mode, MAINPROPULSION, DesiredThrottle)\r\n      PropulsionSpinners:Classify(I)\r\n      PropulsionSpinners:SetSpeed(I, DesiredThrottle * 30)\r\n      CurrentThrottle = DesiredThrottle\r\n   end\r\nend\r\n\r\nfunction YawThrottle_Disable(I)\r\n   I:RequestControl(Mode, MAINPROPULSION, 0)\r\n   PropulsionSpinners:Classify(I)\r\n   PropulsionSpinners:SetSpeed(I, 0)\r\n   CurrentThrottle = 0\r\nend\r\n\r\n-- Returns offset vector with target at same height as origin\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\n-- https://stackoverflow.com/questions/15706270/sort-a-table-in-lua\r\nfunction spairs(t, order)\r\n   -- collect the keys\r\n   local keys = {}\r\n   for k in pairs(t) do keys[#keys+1] = k end\r\n\r\n   -- if order function given, sort by it by passing the table and keys a, b,\r\n   -- otherwise just sort the keys\r\n   if order then\r\n      table.sort(keys, function(a,b) return order(t, a, b) end)\r\n   else\r\n      table.sort(keys)\r\n   end\r\n\r\n   -- return the iterator function\r\n   local i = 0\r\n   return function()\r\n      i = i + 1\r\n      if keys[i] then\r\n         return keys[i], t[keys[i]]\r\n      end\r\n   end\r\nend\r\n\r\n-- Returns the angle of a vector on the XZ plane relative to forward.\r\n-- Slightly different than Vector3.Angle as it accounts for negative\r\n-- (counter-clockwise) angles as well\r\nfunction GetVectorAngle(v)\r\n   return math.deg(math.atan2(v.x, v.z))\r\nend\r\n\r\n-- Get bearing toward a given world point\r\nfunction GetBearingToPoint(Point)\r\n   local Offset = Point - C:CoM()\r\n   return Mathf.DeltaAngle(C:Yaw(), GetVectorAngle(Offset))\r\nend\r\n\r\n-- Avoidance module\r\nMidPoint = nil\r\nVerticalClearance = 0\r\nCheckPoints = {}\r\n\r\n-- Used for tiebreakers\r\nPreviousTAvoid = Vector3.right\r\n\r\nfunction Avoidance_FirstRun(I)\r\n   local MaxDim = I:GetConstructMaxDimensions()\r\n   local MinDim = I:GetConstructMinDimensions()\r\n   local Dimensions = MaxDim - MinDim\r\n   local HalfDimensions = Dimensions / 2\r\n   MidPoint = MinDim + HalfDimensions -- Relative to Position and no rotation (local)\r\n\r\n   VerticalClearance = HalfDimensions.y * ClearanceFactor\r\n   local SideClearance = HalfDimensions.x * ClearanceFactor\r\n\r\n   -- Construct forward row of points (from which to base terrain avoidance checks)\r\n   -- Note origin is CoM\r\n   table.insert(CheckPoints, 0)\r\n   table.insert(CheckPoints, -SideClearance)\r\n   table.insert(CheckPoints, SideClearance)\r\n   if TerrainAvoidanceSubdivisions > 0 then\r\n      local Delta = SideClearance / (TerrainAvoidanceSubdivisions+1)\r\n      for i=1,TerrainAvoidanceSubdivisions do\r\n         local x = i * Delta\r\n         table.insert(CheckPoints, -x)\r\n         table.insert(CheckPoints, x)\r\n      end\r\n   end\r\n\r\n   if not LookAheadResolution then\r\n      LookAheadResolution = HalfDimensions.z / 2\r\n   end\r\nend\r\nAddFirstRun(Avoidance_FirstRun)\r\n\r\nfunction GetTerrainHits(I, Angle, LowerEdge, Speed)\r\n   local Hits = 0\r\n   local Rotation = Quaternion.Euler(0, Angle, 0) -- NB Angle is world\r\n\r\n   local MaxDistance = Speed * LookAheadTime\r\n\r\n   -- Calculate (mid-point) distances for this velocity once\r\n   local Distances = {}\r\n   for d = 0,MaxDistance-1,LookAheadResolution do\r\n      table.insert(Distances, d)\r\n   end\r\n\r\n   -- Make sure end point is also checked\r\n   -- (Generally it won't be evenly divisible by LookAheadResolution)\r\n   table.insert(Distances, MaxDistance)\r\n\r\n   for _,Offset in pairs(CheckPoints) do\r\n      local Blocked = false\r\n      for _,Distance in pairs(Distances) do\r\n         if Blocked then\r\n            -- Just assume all points beyond the previous are blocked as well\r\n            -- Also means the closer the obstacle, the greater the # of hits\r\n            Hits = Hits + 1\r\n         else\r\n            local TestPoint = C:CoM() + Rotation * Vector3(Offset, 0, Distance)\r\n            if I:GetTerrainAltitudeForPosition(TestPoint) >= LowerEdge then\r\n               Hits = Hits + 1\r\n               Blocked = true\r\n            end\r\n         end\r\n      end\r\n   end\r\n   return Hits\r\nend\r\n\r\n-- Modifies bearing to avoid any friendlies & terrain\r\nfunction Avoidance(I, Bearing)\r\n   -- Required clearance above and below\r\n   local PositionY = C:Position().y + MidPoint.y -- Not necessarily Altitude\r\n   local UpperEdge = PositionY + VerticalClearance\r\n   local LowerEdge = PositionY - VerticalClearance\r\n\r\n   local Velocity = C:Velocity()\r\n   Velocity = Vector3(Velocity.x, 0, Velocity.z)\r\n   local Speed = Velocity.magnitude\r\n\r\n   -- Look for nearby friendlies\r\n   local FCount,FAvoid = 0,Vector3.zero\r\n   if FriendlyAvoidanceWeight > 0 then\r\n      local AvoidanceTime,MinDistance\r\n      if C:FirstTarget() then\r\n         AvoidanceTime,MinDistance = unpack(FriendlyAvoidanceCombat)\r\n      else\r\n         AvoidanceTime,MinDistance = unpack(FriendlyAvoidanceIdle)\r\n      end\r\n      for i = 0,I:GetFriendlyCount()-1 do\r\n         local Friend = I:GetFriendlyInfo(i)\r\n         -- Only consider friendlies within our altitude range\r\n         if Friend.Valid and\r\n            (Friend.AxisAlignedBoundingBoxMinimum.y <= UpperEdge and\r\n             Friend.AxisAlignedBoundingBoxMaximum.y >= LowerEdge) then\r\n               local Offset,_ = PlanarVector(C:CoM(), Friend.CenterOfMass)\r\n               local Distance = Offset.magnitude\r\n               if Distance < FriendlyCheckDistance then\r\n                  local Direction = Offset / Distance -- aka Offset.normalized\r\n                  local Collision = false\r\n                  if Distance < MinDistance then\r\n                     Collision = true\r\n                  else\r\n                     -- Calculate relative speed along offset vector\r\n                     local RelativeVelocity = Velocity - Friend.Velocity\r\n                     local RelativeSpeed = Vector3.Dot(RelativeVelocity, Direction)\r\n                     if RelativeSpeed > 0.0 and Distance / RelativeSpeed < AvoidanceTime then\r\n                        Collision = true\r\n                     end\r\n                  end\r\n                  if Collision then\r\n                     -- Collision imminent\r\n                     FCount = FCount + 1\r\n                     FAvoid = FAvoid - Direction\r\n                  end\r\n               end\r\n         end\r\n      end\r\n      if FCount > 0 then\r\n         FAvoid = FAvoid * FriendlyAvoidanceWeight\r\n      end\r\n   end\r\n\r\n   local TCount,TAvoid = 0,Vector3.zero\r\n   if TerrainAvoidanceWeight > 0 then\r\n      local VelocityAngle = GetVectorAngle(Velocity)\r\n      -- Check directly forward (w.r.t. velocity)\r\n      local ForwardHits = GetTerrainHits(I, VelocityAngle, LowerEdge, Speed)\r\n      if ForwardHits > 0 then\r\n         -- Look for an exit\r\n         local LeftHits = GetTerrainHits(I, VelocityAngle-LookAheadAngle, LowerEdge, Speed)\r\n         local RightHits = GetTerrainHits(I, VelocityAngle+LookAheadAngle, LowerEdge, Speed)\r\n         -- And steer left or right accordingly\r\n         if LeftHits < RightHits then\r\n            TAvoid = Vector3.left\r\n         elseif RightHits < LeftHits then\r\n            TAvoid = Vector3.right\r\n         else\r\n            TAvoid = PreviousTAvoid\r\n         end\r\n         PreviousTAvoid = TAvoid\r\n         TCount = ForwardHits + LeftHits + RightHits\r\n         TAvoid = Quaternion.Euler(0, C:Yaw(), 0) * TAvoid * TerrainAvoidanceWeight\r\n      else\r\n         PreviousTAvoid = Vector3.right\r\n      end\r\n   end\r\n\r\n   if (FCount + TCount) == 0 then\r\n      return Bearing\r\n   else\r\n      -- Current target as given by Bearing\r\n      local NewTarget = Quaternion.Euler(0, C:Yaw()+Bearing, 0) * Vector3.forward\r\n      -- Add avoidance vectors\r\n      NewTarget = C:CoM() + NewTarget + FAvoid + TAvoid\r\n      -- Determine new bearing\r\n      return GetBearingToPoint(NewTarget)\r\n   end\r\nend\r\n\r\n-- Returns solution(s) to a quadratic equation in table form.\r\n-- Table will be empty if solutions are imaginary or invalid.\r\nfunction QuadraticSolver(a, b, c)\r\n   if a == 0 then\r\n      -- Actually linear\r\n      if b ~= 0 then\r\n         return { -c / b }\r\n      else\r\n         return {} -- Division by zero...\r\n      end\r\n   else\r\n      -- Discriminant\r\n      local disc = b * b - 4 * a * c\r\n      if disc < 0 then\r\n         return {} -- Imaginary\r\n      elseif disc == 0 then\r\n         -- Single solution\r\n         return { -.5 * b / a }\r\n      else\r\n         -- Two solutions\r\n         local q = (b > 0) and (-.5 * (b + math.sqrt(disc))) or (-.5 * (b - math.sqrt(disc)))\r\n         local t1 = q / a\r\n         local t2 = c / q\r\n         if t1 > t2 then\r\n            return { t2, t1 }\r\n         else\r\n            return { t1, t2 }\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\n-- Quadratic intercept formula\r\nfunction QuadraticIntercept(Position, Velocity, Target, TargetVelocity, DefaultInterceptTime)\r\n   if not DefaultInterceptTime then DefaultInterceptTime = 1 end\r\n   local Offset = Target - Position\r\n   -- Apparently you can apply binomial expansion to vectors\r\n   -- ...as long as it's 2nd degree only\r\n   local a = Vector3.Dot(TargetVelocity, TargetVelocity) - Vector3.Dot(Velocity, Velocity)  -- aka difference of squares of velocity magnitudes\r\n   local b = 2 * Vector3.Dot(Offset, TargetVelocity)\r\n   local c = Vector3.Dot(Offset, Offset) -- Offset.magnitude squared\r\n   local Solutions = QuadraticSolver(a, b, c)\r\n   local InterceptTime = DefaultInterceptTime\r\n   -- Pick smallest positive intercept time\r\n   if #Solutions == 1 then\r\n      local t = Solutions[1]\r\n      if t > 0 then InterceptTime = t end\r\n   elseif #Solutions == 2 then\r\n      local t1 = Solutions[1]\r\n      local t2 = Solutions[2]\r\n      if t1 > 0 then\r\n         InterceptTime = t1\r\n      elseif t2 > 0 then\r\n         InterceptTime = t2\r\n      end\r\n   end\r\n\r\n   return Target + TargetVelocity * InterceptTime,InterceptTime\r\nend\r\n\r\n-- Waypoint move module\r\nMTW_ThrottlePID = PID.create(WaypointMoveConfig.ThrottlePIDConfig, -1, 1)\r\n\r\nif not WaypointMoveConfig.MinimumSpeed then WaypointMoveConfig.MinimumSpeed = 0 end\r\n\r\n-- Scale desired speed up (or down) depending on angle between velocities\r\nfunction MTW_MatchSpeed(Velocity, TargetVelocity, Faster)\r\n   local Speed = Velocity.magnitude\r\n   local TargetSpeed = TargetVelocity.magnitude\r\n   -- Already calculated magnitudes...\r\n   local VelocityDirection = Velocity / Speed\r\n   local TargetVelocityDirection = TargetVelocity / TargetSpeed\r\n\r\n   local CosAngle = Vector3.Dot(TargetVelocityDirection, VelocityDirection)\r\n   local MinimumSpeed = WaypointMoveConfig.MinimumSpeed\r\n   if CosAngle > 0 then\r\n      local DesiredSpeed = TargetSpeed\r\n      -- Can take CosAngle into account and scale RelativeApproachSpeed appropriately,\r\n      -- but K.I.S.S. for now.\r\n      DesiredSpeed = DesiredSpeed + Sign(Faster) * WaypointMoveConfig.RelativeApproachSpeed\r\n      return math.max(MinimumSpeed, DesiredSpeed),Speed\r\n   else\r\n      -- Angle between velocities >= 90 degrees, go minimum speed\r\n      return MinimumSpeed,Speed\r\n   end\r\nend\r\n\r\n-- Move to a waypoint (using yaw & throttle only)\r\nfunction MoveToWaypoint(I, Waypoint, AdjustHeading, WaypointVelocity)\r\n   local Offset,TargetPosition = PlanarVector(C:CoM(), Waypoint)\r\n   local Distance = Offset.magnitude\r\n\r\n   if not WaypointVelocity then\r\n      -- Stationary waypoint, just point and go\r\n      if Distance >= WaypointMoveConfig.MaxDistance then\r\n         local Bearing = GetBearingToPoint(Waypoint)\r\n         AdjustHeading(Bearing)\r\n         SetThrottle(WaypointMoveConfig.ClosingDrive)\r\n      else\r\n         SetThrottle(0)\r\n      end\r\n   else\r\n      local Direction = Offset / Distance\r\n\r\n      local Velocity = C:Velocity()\r\n      -- Constrain our velocity and waypoint velocity to XZ plane\r\n      Velocity = Vector3(Velocity.x, 0, Velocity.z)\r\n      local TargetVelocity = Vector3(WaypointVelocity.x, 0, WaypointVelocity.z)\r\n      -- Predict intercept\r\n      local TargetPoint = QuadraticIntercept(C:CoM(), Velocity, TargetPosition, TargetVelocity)\r\n\r\n      local Bearing = GetBearingToPoint(TargetPoint)\r\n      AdjustHeading(Bearing)\r\n\r\n      if Distance >= WaypointMoveConfig.ApproachDistance then\r\n         -- Go full throttle and catch up\r\n         SetThrottle(WaypointMoveConfig.ClosingDrive)\r\n      else\r\n         -- Only go faster if waypoint is ahead of us\r\n         local Faster = Vector3.Dot(I:GetConstructForwardVector(), Direction)\r\n         -- Attempt to match speed\r\n         local DesiredSpeed,Speed = MTW_MatchSpeed(Velocity, TargetVelocity, Faster)\r\n         -- Use PID to set throttle\r\n         local Error = DesiredSpeed - Speed\r\n         local CV = MTW_ThrottlePID:Control(Error)\r\n         local Drive = math.max(0, math.min(1, CurrentThrottle + CV))\r\n         SetThrottle(Drive)\r\n      end\r\n   end\r\nend\r\n\r\n-- Repair AI module\r\nParentID = nil\r\nRepairTargetID = nil\r\n\r\nfunction Control_MoveToWaypoint(I, Waypoint, WaypointVelocity)\r\n   MoveToWaypoint(I, Waypoint, function (Bearing) AdjustHeading(Avoidance(I, Bearing)) end, WaypointVelocity)\r\nend\r\n\r\nfunction AdjustHeadingToRepairTarget(I)\r\n   local RepairTarget = I:GetFriendlyInfoById(RepairTargetID)\r\n   if RepairTarget and RepairTarget.Valid then\r\n      local RepairTargetCoM = RepairTarget.CenterOfMass + RepairTarget.ForwardVector * RepairTargetOffset.z + RepairTarget.RightVector * RepairTargetOffset.x\r\n\r\n      Control_MoveToWaypoint(I, RepairTargetCoM, RepairTarget.Velocity)\r\n   end\r\nend\r\n\r\nfunction CalculateRepairTargetWeight(Distance, ParentDistance, Friend)\r\n   return Distance * DistanceWeight +\r\n      ParentDistance * ParentDistanceWeight +\r\n      (1.0 - Friend.HealthFraction) * DamageWeight\r\nend\r\n\r\nfunction SelectRepairTarget(I)\r\n   -- Get Parent info\r\n   local Parent = I:GetFriendlyInfoById(ParentID)\r\n   if Parent and not Parent.Valid then\r\n      -- Hmm, parent gone (taken out of play?)\r\n      -- Skip for now, select new parent next update\r\n      RepairTargetID = nil\r\n      -- And ensure we latch onto a new parent\r\n      ParentID = nil\r\n      return\r\n   end\r\n\r\n   local Targets = {}\r\n   -- Parent first, adjust weight accordingly\r\n   local ParentCoM = Parent.CenterOfMass\r\n   local Offset,_ = PlanarVector(C:CoM(), ParentCoM)\r\n   Targets[Parent.Id] = CalculateRepairTargetWeight(Offset.magnitude, 0, Parent) * ParentBonus\r\n\r\n   local RepairTargetMinAltitude = C:Altitude() - RepairTargetMaxAltitudeDelta\r\n   local RepairTargetMaxAltitude = C:Altitude() + RepairTargetMaxAltitudeDelta\r\n\r\n   -- Scan nearby friendlies\r\n   for i = 0,I:GetFriendlyCount()-1 do\r\n      local Friend = I:GetFriendlyInfo(i)\r\n      if Friend and Friend.Valid and Friend.Id ~= ParentID then\r\n         -- Meets range and altitude requirements?\r\n         local FriendCoM = Friend.CenterOfMass\r\n         local FriendAlt = FriendCoM.y\r\n         local FriendHealth = Friend.HealthFraction\r\n         Offset,_ = PlanarVector(C:CoM(), FriendCoM)\r\n         local Distance = Offset.magnitude\r\n         Offset,_ = PlanarVector(ParentCoM, FriendCoM)\r\n         local ParentDistance = Offset.magnitude\r\n         if Distance <= RepairTargetMaxDistance and\r\n            ParentDistance <= RepairTargetMaxParentDistance and\r\n            FriendAlt >= RepairTargetMinAltitude and\r\n            FriendAlt <= RepairTargetMaxAltitude and\r\n            FriendHealth <= RepairTargetMaxHealthFraction and\r\n            FriendHealth >= RepairTargetMinHealthFraction then\r\n            Targets[Friend.Id] = CalculateRepairTargetWeight(Distance, ParentDistance, Friend)\r\n         end\r\n      end\r\n   end\r\n\r\n   -- Sort\r\n   for k,_ in spairs(Targets, function(t,a,b) return t[b] < t[a] end) do -- luacheck: ignore 512\r\n      RepairTargetID = k\r\n      -- Only care about the first one\r\n      break\r\n   end\r\nend\r\n\r\nfunction Imprint(I)\r\n   ParentID = nil\r\n   RepairTargetID = nil\r\n   local Closest = math.huge\r\n   for i = 0,I:GetFriendlyCount()-1 do\r\n      local Friend = I:GetFriendlyInfo(i)\r\n      if Friend and Friend.Valid then\r\n         local Offset,_ = PlanarVector(C:CoM(), Friend.CenterOfMass)\r\n         local Distance = Offset.magnitude\r\n         if Distance < Closest then\r\n            Closest = Distance\r\n            ParentID = Friend.Id\r\n         end\r\n      end\r\n   end\r\nend\r\n\r\nfunction RepairAI_Reset()\r\n   ParentID = nil\r\n   RepairTargetID = nil\r\nend\r\n\r\nfunction RepairAI_Main(I)\r\n   if not ParentID then\r\n      Imprint(I)\r\n   end\r\n   if ParentID then\r\n      SelectRepairTarget(I)\r\n   end\r\n   if RepairTargetID then\r\n      AdjustHeadingToRepairTarget(I)\r\n   else\r\n      SetThrottle(0)\r\n   end\r\nend\r\n\r\nfunction FormationMove(I)\r\n   local Flagship = I.Fleet.Flagship\r\n   if not I.IsFlagship and Flagship.Valid then\r\n      Control_MoveToWaypoint(I, Flagship.ReferencePosition + Flagship.Rotation * I.IdealFleetPosition, Flagship.Velocity)\r\n   else\r\n      Control_MoveToWaypoint(I, I.Waypoint) -- Waypoint assumed to be stationary\r\n   end\r\nend\r\n\r\nfunction RepairAI_Update(I)\r\n   Control_Reset()\r\n\r\n   local AIMode = I.AIMode\r\n   if AIMode ~= \"fleetmove\" then\r\n      if C:FirstTarget() then\r\n         RepairAI_Main(I)\r\n      else\r\n         if ReturnToOrigin then\r\n            RepairAI_Reset()\r\n            FormationMove(I)\r\n         else\r\n            -- Basically always active, as if in combat\r\n            RepairAI_Main(I)\r\n         end\r\n      end\r\n   else\r\n      RepairAI_Reset()\r\n      FormationMove(I)\r\n   end\r\nend\r\n\r\n-- Quadcopter repair AI\r\nThreeDoFSpinner = Periodic.create(Quadcopter_UpdateRate, Altitude_Control)\r\nRepairAI = Periodic.create(AI_UpdateRate, RepairAI_Update)\r\n\r\nControl_Reset = YawThrottle_Reset\r\n\r\nfunction Update(I) -- luacheck: ignore 131\r\n   C = Commons.create(I)\r\n   if FirstRun then FirstRun(I) end\r\n   if not C:IsDocked() then\r\n      ThreeDoFSpinner:Tick(I)\r\n\r\n      if ActivateWhen[I.AIMode] then\r\n         RepairAI:Tick(I)\r\n\r\n         -- Suppress default AI\r\n         I:TellAiThatWeAreTakingControl()\r\n\r\n         YawThrottle_Update(I)\r\n      else\r\n         RepairAI_Reset()\r\n      end\r\n\r\n      SetAltitude(DesiredControlAltitude+ControlAltitudeOffset)\r\n      ThreeDoFSpinner_Update(I)\r\n   else\r\n      RepairAI_Reset()\r\n      YawThrottle_Disable(I)\r\n      ThreeDoFSpinner_Disable(I)\r\n   end\r\nend"],"BlockStringDataIds":[5],"GameVersion":"v2.03","BlockCount":330}}