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Fix for #7083: Fly stops turning when target is inside the turn radius #16054

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merged 1 commit into from
Feb 8, 2019
Merged

Fix for #7083: Fly stops turning when target is inside the turn radius #16054

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28 changes: 28 additions & 0 deletions OpenRA.Mods.Common/Activities/Air/Fly.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,26 @@ public override Activity Tick(Actor self)
var targetAltitude = aircraft.CenterPosition.Z + aircraft.Info.CruiseAltitude.Length - self.World.Map.DistanceAboveTerrain(aircraft.CenterPosition).Length;
if (aircraft.CenterPosition.Z < targetAltitude)
desiredFacing = aircraft.Facing;
else
{
// Using the turn rate, compute a hypothetical circle traced by a continuous turn.
// If it contains the destination point, it's unreachable without more complex manuvering.
var turnRadius = CalculateTurnRadius(aircraft.MovementSpeed, aircraft.TurnSpeed);

// The current facing is a tangent of the minimal turn circle.
// Make a perpendicular vector, and use it to locate the turn's center.
var turnCenterFacing = aircraft.Facing;
turnCenterFacing += Util.GetNearestFacing(aircraft.Facing, desiredFacing) > 0 ? 64 : -64;

var turnCenterDir = new WVec(0, -1024, 0).Rotate(WRot.FromFacing(turnCenterFacing));
turnCenterDir *= turnRadius;
turnCenterDir /= 1024;

// Compare with the target point, and keep flying away if it's inside the circle.
var turnCenter = aircraft.CenterPosition + turnCenterDir;
if ((checkTarget.CenterPosition - turnCenter).HorizontalLengthSquared < turnRadius * turnRadius)
desiredFacing = aircraft.Facing;
}

FlyToward(self, aircraft, desiredFacing, aircraft.Info.CruiseAltitude);

Expand All @@ -133,5 +153,13 @@ public override IEnumerable<Target> GetTargets(Actor self)
{
yield return target;
}

public static int CalculateTurnRadius(int speed, int turnSpeed)
{
// turnSpeed -> divide into 256 to get the number of ticks per complete rotation
// speed -> multiply to get distance travelled per rotation (circumference)
// 45 -> divide by 2*pi to get the turn radius: 45==256/(2*pi), with some extra leeway
return 45 * speed / turnSpeed;
}
}
}
9 changes: 2 additions & 7 deletions OpenRA.Mods.Common/Activities/Air/ReturnToBase.cs
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Expand Up @@ -53,11 +53,6 @@ public static Actor ChooseResupplier(Actor self, bool unreservedOnly)
.ClosestTo(self);
}

int CalculateTurnRadius(int speed)
{
return 45 * speed / aircraft.Info.TurnSpeed;
}

void Calculate(Actor self)
{
if (dest == null || dest.IsDead || Reservable.IsReserved(dest))
Expand All @@ -77,7 +72,7 @@ void Calculate(Actor self)

// Add 10% to the turning radius to ensure we have enough room
var speed = aircraft.MovementSpeed * 32 / 35;
var turnRadius = CalculateTurnRadius(speed);
var turnRadius = Fly.CalculateTurnRadius(speed, aircraft.Info.TurnSpeed);

// Find the center of the turning circles for clockwise and counterclockwise turns
var angle = WAngle.FromFacing(aircraft.Facing);
Expand Down Expand Up @@ -154,7 +149,7 @@ public override Activity Tick(Actor self)

List<Activity> landingProcedures = new List<Activity>();

var turnRadius = CalculateTurnRadius(aircraft.Info.Speed);
var turnRadius = Fly.CalculateTurnRadius(aircraft.Info.Speed, aircraft.Info.TurnSpeed);

landingProcedures.Add(new Fly(self, Target.FromPos(w1), WDist.Zero, new WDist(turnRadius * 3)));
landingProcedures.Add(new Fly(self, Target.FromPos(w2)));
Expand Down