initialize DEPLOY = false initialize RETURN = false initialize STATION_KEEP = false #ifdef VROLE chaser #include plugs_chaser.bhv <var_init> #elseifdef VROLE evader #include plugs_evader.bhv <var_init> #endif //----------------------------------------------- // Helm Behavior File set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = STATION-KEEPING { MODE = ACTIVE STATION_KEEP = true } set MODE = RETURNING { MODE = ACTIVE RETURN = true } #ifdef VROLE chaser #include plugs_chaser.bhv <modes> #elseifdef VROLE evader #include plugs_evader.bhv <modes> #endif //---------------------------------------------- Behavior = BHV_StationKeep { name = station-keep pwt = 100 condition = MODE == STATION-KEEPING center_activate = true inner_radius = 5 outer_radius = 10 outer_speed = 1.0 transit_speed = 1.3 swing_time = 7 visual_hints = vertex_size=0, edge_color=blue } //---------------------------------------------- Behavior = BHV_Waypoint { name = bhv_waypoint pwt = 100 condition = MODE==RETURNING spawnx_flag = RETURN_UPDATES=point=$[OSX],$[OSY] speed = 2.5 points = 0,0 } //---------------------------------------------- Behavior = BHV_AvoidCollision { name = avd_collision pwt = 400 condition = (MODE == PATROLLING) or (MODE==TRAILING) updates = CONTACT_INFO endflag = CONTACT_RESOLVED = $[CONTACT],avd templating = spawn contact = to-be-set pwt_outer_dist = 50 pwt_inner_dist = 20 completed_dist = 145 min_util_cpa_dist = 8 max_util_cpa_dist = 25 pwt_grade = linear on_no_contact_ok = true extrapolate = true decay = 30,60 bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0 } #ifdef VROLE chaser #include plugs_chaser.bhv <bhvs> #elseifdef VROLE evader #include plugs_evader.bhv <bhvs> #endif