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Advanced Naval AI v6.3 (2018/2/27) huwahuwa\r\n\r\n-- 交戦距離\r\nEngagementDistance = 2100\r\n\r\n-- 自身の重心からどれくらいの高度の地形を検知するかを指定\r\nVerticalDistance = -15\r\n\r\n-- 敵から離れる時の艦首を向ける最大角度（90~170）\r\nMaximumYawAngle = 120\r\n\r\n-- 敵に近づく時の艦首を向ける最小角度（10~90）\r\nMinimumYawAngle = 60\r\n\r\n-- ビークルを回避するときの艦首を向ける角度（90~180）\r\nAvoidanceYaw = 150\r\n\r\n\r\n\r\n-- 船の全長 * TerrainSurveyCoefficient = 地形調査距離\r\nTerrainSurveyCoefficient = 3\r\n\r\n-- 船の全長 * AvoidanceCoefficient = 回避開始距離\r\nAvoidanceCoefficient = 2.1\r\n\r\n-- 船の全長 * StopDistanceCoefficient = 停止距離(地形のみ)\r\nStopDistanceCoefficient = 2\r\n\r\n-- 地形調査の方位角精度(数値が小さいほど高精度・高負荷)\r\nTerrainSurveyAzimuthAccuracy = 10\r\n\r\n-- 地形調査の距離精度(数値が大きいほど高精度・高負荷)\r\nTerrainSurveyDistanceAccuracy = 20\r\n\r\n\r\n\r\n-- ビークルの操作モードを選択 (Water = 0,Land = 1,Air = 2)\r\nRequestControlMode = 0\r\n\r\n-- 軽量モード 処理が軽くなりますが地形回避が単純になります (有効 = true,無効 = false)\r\nDegradeMode = false\r\n\r\n\r\n\r\n-- コンプレックスコントロール検知用ピストンID指定\r\n--              MainPistonIndex, YawPistonIndex\r\nPistonIndex = {           {   },          {   }}\r\n\r\n-- 出力を０に戻す速さ\r\nBackSpeed = 0.02\r\n\r\n\r\n\r\n-- PD制御設定\r\nYawKp = 0.002\r\nYawTd = YawKp * 40\r\n\r\n--                PDData[1]:Kp  PDData[2]:Td  PDData[3]:OutMax  PDData[4]:OutMin  PDData[5]:preP\r\nYawPDData      = {       YawKp,        YawTd,                1,               -1}\r\n\r\nfunction PDControl(ProcessVariable,PDData)\r\n  local Output\r\n  \r\n  if ProcessVariable then\r\n    PDData[5] = PDData[5] or 0\r\n    \r\n    local P = ProcessVariable\r\n    local D = (P - PDData[5]) / 0.025\r\n    \r\n    Output = P * PDData[1] + D * PDData[1] * PDData[2]\r\n    Output = math.min(Output,PDData[3])\r\n    Output = math.max(Output,PDData[4])\r\n    \r\n    PDData[5] = P\r\n  else\r\n    Output = 0\r\n  end\r\n  \r\n  return Output\r\nend\r\n\r\n\r\n\r\nExtensionMemory = {}\r\n\r\nfunction PistonConfirmation(I)\r\n  local AlivePistonIndex = {}\r\n  \r\n  for Count1 = 1,table.maxn(PistonIndex) do\r\n    for Count2 = 1,table.maxn(PistonIndex[Count1]) do\r\n      if I:IsAlive(PistonIndex[Count1][Count2]) then\r\n        AlivePistonIndex[Count1] = PistonIndex[Count1][Count2]\r\n      end\r\n    end\r\n  end\r\n  \r\n  return AlivePistonIndex\r\nend\r\n\r\nfunction ManualOperationDetection(I)\r\n  local ManualDrive = {}\r\n  local AlivePistonIndex = PistonConfirmation(I)\r\n  \r\n  Time = Time or 0\r\n  \r\n  for Count = 1,table.maxn(AlivePistonIndex) do\r\n    local Extension\r\n    local Index = AlivePistonIndex[Count]\r\n    \r\n    if Index then\r\n      local Type\r\n      \r\n      Extension = I:GetPistonExtension(Index)\r\n      local preExtension = ExtensionMemory[Count] or Extension\r\n      \r\n      if Extension > 0.9 then\r\n        I:SetPistonExtension(Index,0.9)\r\n        Extension = 0.9\r\n      elseif Extension < 0.1 then\r\n        I:SetPistonExtension(Index,0.1)\r\n        Extension = 0.1\r\n      end\r\n      \r\n      if Time >= 1 then\r\n        if Extension > 0.5 and preExtension >= Extension or Extension < 0.5 and preExtension <= Extension then\r\n          if math.abs(Extension - 0.5) < BackSpeed * 2 then\r\n            I:SetPistonExtension(Index,0.5)\r\n          elseif Extension > 0.5 then\r\n            I:SetPistonExtension(Index,Extension - BackSpeed)\r\n          elseif Extension < 0.5 then\r\n            I:SetPistonExtension(Index,Extension + BackSpeed)\r\n          end\r\n        end\r\n      end\r\n      \r\n      ExtensionMemory[Count] = Extension\r\n    else\r\n      Extension = 0.5\r\n    end\r\n    \r\n    ManualDrive[Count] = (Extension - 0.5) * 2.5\r\n  end\r\n  \r\n  if Time >= 1 then\r\n    Time = 0\r\n  else\r\n    Time = Time + 1\r\n  end\r\n  \r\n  return ManualDrive\r\nend\r\n\r\n\r\n\r\nfunction CloseVehiclePositionAndSpeed(I)\r\n  local CloseVehicleSpeed\r\n  local Count,CloseVehicleIndex = 0,0\r\n  local VehiclePosition = {}\r\n  \r\n  for EnemyIndex = 0,I:GetNumberOfTargets(0) - 1 do\r\n    VehiclePosition[Count] = I:GetTargetInfo(0,EnemyIndex).AimPointPosition - I:GetConstructCenterOfMass()\r\n    \r\n    Count = Count + 1\r\n  end\r\n  \r\n  for FriendlyIndex = 0,I:GetFriendlyCount() - 1 do\r\n    VehiclePosition[Count] = I:GetFriendlyInfo(FriendlyIndex).CenterOfMass - I:GetConstructCenterOfMass()\r\n    \r\n    Count = Count + 1\r\n  end\r\n  \r\n  if Count > 0 then\r\n    for VehicleIndex = 0,Count - 1 do\r\n      if VehiclePosition[VehicleIndex].magnitude < VehiclePosition[CloseVehicleIndex].magnitude then\r\n        CloseVehicleIndex = VehicleIndex\r\n      end\r\n    end\r\n    \r\n    if CloseVehicleIndex <= I:GetNumberOfTargets(0) - 1 then\r\n      CloseVehicleSpeed = I:GetTargetInfo(0,CloseVehicleIndex).Velocity\r\n    else\r\n      CloseVehicleSpeed = I:GetFriendlyInfo(CloseVehicleIndex - I:GetNumberOfTargets(0)).Velocity\r\n    end\r\n  end\r\n  \r\n  return VehiclePosition[CloseVehicleIndex],CloseVehicleSpeed\r\nend\r\n\r\nfunction VehicleCollisionAvoidance(I)\r\n  local TargetYaw\r\n  local YawDrive = 0\r\n  local CloseVehiclePosition,CloseVehicleSpeed = CloseVehiclePositionAndSpeed(I)\r\n  \r\n  if CloseVehiclePosition then\r\n    if CloseVehiclePosition.magnitude < AvoidanceDistance and I:GetVelocityMagnitude() > 3 then\r\n      local ForwardVector\r\n      \r\n      if I:GetForwardsVelocityMagnitude() > 0 then\r\n        ForwardVector = I:GetConstructForwardVector()\r\n      else\r\n        ForwardVector = -I:GetConstructForwardVector()\r\n      end\r\n      \r\n      local CloseVehicleAzimuth1 = Mathf.DeltaAngle(math.deg(math.atan2(CloseVehiclePosition.x,CloseVehiclePosition.z)),math.deg(math.atan2(ForwardVector.x,ForwardVector.z)))\r\n      local CloseVehicleAzimuth2 = Mathf.DeltaAngle(math.deg(math.atan2(-CloseVehiclePosition.x,-CloseVehiclePosition.z)),math.deg(math.atan2(CloseVehicleSpeed.x,CloseVehicleSpeed.z)))\r\n      \r\n      if CloseVehicleAzimuth1 > 0 then\r\n        TargetYaw = AvoidanceYaw\r\n      else\r\n        TargetYaw = -AvoidanceYaw\r\n      end\r\n      \r\n      if math.abs(CloseVehicleAzimuth1) + math.abs(CloseVehicleAzimuth2) < 90 and math.abs(CloseVehicleAzimuth1) < math.abs(CloseVehicleAzimuth2) then\r\n        if CloseVehicleAzimuth1 > 0 and CloseVehicleAzimuth2 < 0 or CloseVehicleAzimuth1 < 0 and CloseVehicleAzimuth2 > 0 then\r\n          TargetYaw = -TargetYaw\r\n        end\r\n      end\r\n      \r\n      TargetYaw = CloseVehicleAzimuth1 - TargetYaw\r\n      \r\n      YawDrive = PDControl(TargetYaw,YawPDData)\r\n    end\r\n  end\r\n  \r\n  return YawDrive\r\nend\r\n\r\n\r\n\r\nfunction TerrainSurveyLine(I,DepthsRequirement,TerrainSurveyVector,OffsetVector)\r\n  local TerrainAltitude\r\n  local Score = 0\r\n  \r\n  local Distance = TerrainSurveyDistance / TerrainSurveyDistanceAccuracy\r\n  \r\n  for Count = 1,TerrainSurveyDistanceAccuracy do\r\n    TerrainAltitude = I:GetTerrainAltitudeForPosition(I:GetConstructCenterOfMass() + OffsetVector + TerrainSurveyVector * Distance * Count)\r\n    \r\n    if TerrainAltitude > DepthsRequirement then\r\n      Score = TerrainSurveyDistance - Distance * Count\r\n      \r\n      break\r\n    end\r\n  end\r\n  \r\n  return Score\r\nend\r\n\r\nfunction TerrainSurvey(I)\r\n  local LeftTerrainSurveyVector,RightTerrainSurveyVector\r\n  local LeftTotalScore,RightTotalScore = 0,0\r\n  local Quaternion = I:Maths_CreateQuaternion(Vector3(I:GetConstructForwardVector().x,0,I:GetConstructForwardVector().z),Vector3(0,1,0))\r\n  \r\n  for Angle = TerrainSurveyAzimuthAccuracy,180,TerrainSurveyAzimuthAccuracy do\r\n    RightTerrainSurveyVector = I:Maths_RotateVector3(Vector3(math.sin(math.rad(Angle)),0,math.cos(math.rad(Angle))),Quaternion)\r\n    LeftTerrainSurveyVector = Vector3(-RightTerrainSurveyVector.x,0,RightTerrainSurveyVector.z)\r\n    \r\n    RightTotalScore = RightTotalScore + TerrainSurveyLine(I,DepthsRequirement,RightTerrainSurveyVector,Vector3(0,0,0))\r\n    LeftTotalScore = LeftTotalScore + TerrainSurveyLine(I,DepthsRequirement,LeftTerrainSurveyVector,Vector3(0,0,0))\r\n  end\r\n  \r\n  local YawDrive = (RightTotalScore - LeftTotalScore) / ((180 / TerrainSurveyAzimuthAccuracy) * TerrainSurveyDistance)\r\n  \r\n  I:Log('TerrainAvoidance')\r\n  \r\n  return YawDrive\r\nend\r\n\r\nfunction TerrainSurveyForwardAndBackward(I)\r\n  local BackwardScore\r\n  \r\n  local GroundForwardVector = Vector3(I:GetConstructForwardVector().x,0,I:GetConstructForwardVector().z).normalized\r\n  \r\n  local LeftOffsetVector = I:GetConstructRightVector() * I:GetConstructMinDimensions().x * 2\r\n  local RightOffsetVector = I:GetConstructRightVector() * I:GetConstructMaxDimensions().x * 2\r\n  \r\n  local LeftSideForwardScore = TerrainSurveyLine(I,DepthsRequirement,GroundForwardVector,LeftOffsetVector)\r\n  local RightSideForwardScore = TerrainSurveyLine(I,DepthsRequirement,GroundForwardVector,RightOffsetVector)\r\n  \r\n  local ForwardScore = math.max(LeftSideForwardScore,RightSideForwardScore)\r\n  \r\n  if ForwardScore == 0 then\r\n    BackwardScore = 0\r\n  else\r\n    local LeftSideBackwardScore = TerrainSurveyLine(I,DepthsRequirement,-GroundForwardVector,LeftOffsetVector)\r\n    local RightSideBackwardScore = TerrainSurveyLine(I,DepthsRequirement,-GroundForwardVector,RightOffsetVector)\r\n    \r\n    BackwardScore = math.max(LeftSideBackwardScore,RightSideBackwardScore)\r\n  end\r\n  \r\n  return ForwardScore,BackwardScore\r\nend\r\n\r\n\r\n\r\nfunction TurningMovementYawDrive(I,ForwardScore)\r\n  local YawDrive = 0\r\n  \r\n  if I:GetNumberOfTargets(0) > 0 then\r\n    local GroundAimPointVector = Vector3(AimPoint.x,0,AimPoint.z).normalized\r\n    local AimPointTerrainSurveyScore = TerrainSurveyLine(I,math.max(I:GetTargetInfo(0,0).AimPointPosition.y,I:GetConstructCenterOfMass().y),GroundAimPointVector,Vector3(0,0,0))\r\n    \r\n    I:Log('AimPointTerrainSurveyScore : '..AimPointTerrainSurveyScore)\r\n    \r\n    if not TurningMovementYaw and ForwardScore > 0 then\r\n      if math.abs(AimPointAngle) < MinimumYawAngle - 5 or math.abs(AimPointAngle) > MaximumYawAngle + 5 or DegradeMode then\r\n        if math.abs(AimPointAngle) < 90 then\r\n          TurningMovementYaw = 1\r\n        elseif math.abs(AimPointAngle) > 90 then\r\n          TurningMovementYaw = -1\r\n        end\r\n        \r\n        if AimPointAngle > 0 then\r\n          TurningMovement = 'CounterClockwise'\r\n        else\r\n          TurningMovement = 'Clockwise'\r\n        end\r\n      end\r\n    end\r\n    \r\n    if TurningMovementYaw then\r\n      if TurningMovementYaw == 1 and math.abs(AimPointAngle) > 90 or TurningMovementYaw == -1 and math.abs(AimPointAngle) < 90 then\r\n        TurningMovement = nil\r\n        TurningMovementYaw = nil\r\n      else\r\n        if TurningMovement == 'CounterClockwise' then\r\n          YawDrive = TurningMovementYaw\r\n        elseif TurningMovement == 'Clockwise' then\r\n          YawDrive = -TurningMovementYaw\r\n        end\r\n        \r\n        I:Log('TurningMovement')\r\n      end\r\n    end\r\n  else\r\n    TurningMovement = nil\r\n    TurningMovementYaw = nil\r\n  end\r\n  \r\n  return YawDrive\r\nend\r\n\r\nfunction Engagement(I)\r\n  local YawDrive = 0\r\n  \r\n  if I:GetNumberOfTargets(0) > 0 then\r\n    local TargetYaw\r\n    \r\n    local AimPointGroundDistance = math.sqrt(AimPoint.x * AimPoint.x + AimPoint.z * AimPoint.z)\r\n    \r\n    local YawAngle = EngagementDistance - AimPointGroundDistance + 90\r\n    YawAngle = math.min(YawAngle,MaximumYawAngle)\r\n    YawAngle = math.max(YawAngle,MinimumYawAngle)\r\n    \r\n    if AimPointAngle > 0 then\r\n      TargetYaw = AimPointAngle - YawAngle\r\n    else\r\n      TargetYaw = AimPointAngle + YawAngle\r\n    end\r\n    \r\n    YawDrive = PDControl(TargetYaw,YawPDData)\r\n  end\r\n  \r\n  return YawDrive\r\nend\r\n\r\n\r\n\r\nfunction Update(I)\r\n  I:ClearLogs()\r\n  \r\n  local MainDrive,YawDrive\r\n  \r\n  if not Length then\r\n    Length = I:GetConstructMaxDimensions().z - I:GetConstructMinDimensions().z\r\n  end\r\n  \r\n  TerrainSurveyDistance = Length * TerrainSurveyCoefficient\r\n  AvoidanceDistance = Length * AvoidanceCoefficient\r\n  StopDistance = Length * (AvoidanceCoefficient - StopDistanceCoefficient)\r\n  \r\n  DepthsRequirement = I:GetConstructCenterOfMass().y + VerticalDistance\r\n  \r\n  local ManualDrive = ManualOperationDetection(I)\r\n  local ForwardScore,BackwardScore = TerrainSurveyForwardAndBackward(I)\r\n  \r\n  if I:GetNumberOfTargets(0) > 0 then\r\n    AimPoint = I:GetTargetInfo(0,0).AimPointPosition - I:GetConstructCenterOfMass()\r\n    AimPointAngle = Mathf.DeltaAngle(math.deg(math.atan2(AimPoint.x,AimPoint.z)),math.deg(math.atan2(I:GetConstructForwardVector().x,I:GetConstructForwardVector().z)))\r\n    \r\n    I:Log('AimPointAngle : '..AimPointAngle)\r\n  end\r\n  \r\n  \r\n  \r\n  if ManualDrive[2] and ManualDrive[2] ~= 0 then\r\n    YawDrive = ManualDrive[2]\r\n  else\r\n    YawDrive = VehicleCollisionAvoidance(I)\r\n  end\r\n  \r\n  if YawDrive == 0 then\r\n    YawDrive = TurningMovementYawDrive(I,ForwardScore)\r\n  end\r\n  \r\n  if YawDrive == 0 and ForwardScore > 0 and not DegradeMode then\r\n    YawDrive = TerrainSurvey(I)\r\n  end\r\n  \r\n  if YawDrive == 0 then\r\n    YawDrive = Engagement(I)\r\n  end\r\n  \r\n  if RequestControlMode == 0 and I:GetForwardsVelocityMagnitude() < 0 then\r\n    YawDrive = -YawDrive\r\n  end\r\n  \r\n  \r\n  \r\n  if ManualDrive[1] and ManualDrive[1] ~= 0 then\r\n    MainDrive = ManualDrive[1]\r\n  else\r\n    local ForwardDrive = StopDistance - ForwardScore\r\n    local BackwardDrive = StopDistance - BackwardScore\r\n    \r\n    if ForwardDrive > 0 then\r\n      MainDrive = ForwardDrive / StopDistance\r\n    else\r\n      if BackwardDrive > 0 then\r\n        MainDrive = (ForwardDrive / AvoidanceDistance) * (BackwardDrive / StopDistance)\r\n      else\r\n        MainDrive = (ForwardDrive / AvoidanceDistance) - (BackwardDrive / AvoidanceDistance)\r\n      end\r\n    end\r\n    \r\n    if I:GetNumberOfTargets(0) == 0 then\r\n      MainDrive = 0\r\n    end\r\n  end\r\n  \r\n  \r\n  \r\n  I:RequestControl(RequestControlMode,0,YawDrive)\r\n  I:RequestControl(RequestControlMode,1,-YawDrive)\r\n  I:RequestControl(RequestControlMode,8,MainDrive)\r\n  \r\n  \r\n  \r\n  I:Log('YawDrive : '..YawDrive)\r\n  I:Log('MainDrive : '..MainDrive)\r\nend"],"BlockStringDataIds":[94],"GameVersion":"2.3.1","PersistentSubObjectIndex":267,"PersistentBlockIndex":2553,"BlockCount":5007}}