// Plane Ver4 x7
val{
	pitch_1(default=0,min=-5,max=5,step=0,disp=0)
	roll_1(default=0,min=-5,max=5,step=0,disp=0)
	rolls_1(default=90,min=85,max=95,step=0,disp=0)
	yaw_1(default=0,min=-5,max=5,step=0,disp=0)
	jet_1(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_1(default=0,min=0,max=5000,step=0,disp=0)
	col_1(default=#ffffff,disp=0)
	dmp_1(default=1,disp=0)
	spr_1(default=1,disp=0)

	pitch_2(default=0,min=-5,max=5,step=0,disp=0)
	roll_2(default=0,min=-5,max=5,step=0,disp=0)
	rolls_2(default=90,min=85,max=95,step=0,disp=0)
	yaw_2(default=0,min=-5,max=5,step=1,disp=0)
	jet_2(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_2(default=0,min=0,max=5000,step=0,disp=0)
	col_2(default=#0000ff,disp=0)
	dmp_2(default=1,disp=0)
	spr_2(default=1,disp=0)

	pitch_3(default=0,min=-5,max=5,step=0,disp=0)
	roll_3(default=0,min=-5,max=5,step=0,disp=0)
	rolls_3(default=90,min=85,max=95,step=0,disp=0)
	yaw_3(default=0,min=-5,max=5,step=1,disp=0)
	jet_3(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_3(default=0,min=0,max=5000,step=0,disp=0)
	col_3(default=#00ff00,disp=0)
	dmp_3(default=1,disp=0)
	spr_3(default=1,disp=0)

	pitch_4(default=0,min=-5,max=5,step=0,disp=0)
	roll_4(default=0,min=-5,max=5,step=0,disp=0)
	rolls_4(default=90,min=85,max=95,step=0,disp=0)
	yaw_4(default=0,min=-5,max=5,step=1,disp=0)
	jet_4(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_4(default=0,min=0,max=5000,step=0,disp=0)
	col_4(default=#00ffff,disp=0)
	dmp_4(default=1,disp=0)
	spr_4(default=1,disp=0)

	pitch_5(default=0,min=-5,max=5,step=0,disp=0)
	roll_5(default=0,min=-5,max=5,step=0,disp=0)
	rolls_5(default=90,min=85,max=95,step=0,disp=0)
	yaw_5(default=0,min=-5,max=5,step=1,disp=0)
	jet_5(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_5(default=0,min=0,max=5000,step=0,disp=0)
	col_5(default=#ff0000,disp=0)
	dmp_5(default=1,disp=0)
	spr_5(default=1,disp=0)

	pitch_6(default=0,min=-5,max=5,step=0,disp=0)
	roll_6(default=0,min=-5,max=5,step=0,disp=0)
	rolls_6(default=90,min=85,max=95,step=0,disp=0)
	yaw_6(default=0,min=-5,max=5,step=1,disp=0)
	jet_6(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_6(default=0,min=0,max=5000,step=0,disp=0)
	col_6(default=#ff00ff,disp=0)
	dmp_6(default=1,disp=0)
	spr_6(default=1,disp=0)

	pitch_7(default=0,min=-5,max=5,step=0,disp=0)
	roll_7(default=0,min=-5,max=5,step=0,disp=0)
	rolls_7(default=90,min=85,max=95,step=0,disp=0)
	yaw_7(default=0,min=-5,max=5,step=1,disp=0)
	jet_7(default=0,min=-50000,max=50000,step=0,disp=0)
	shot_7(default=0,min=0,max=5000,step=0,disp=0)
	col_7(default=#ffff00,disp=0)
	dmp_7(default=1,disp=0)
	spr_7(default=1,disp=0)
}
///////////////////////////////////////////////////////////////////////////////
key{
}
///////////////////////////////////////////////////////////////////////////////
body{
	core(name=c_1,color=col_1){
		n:arm(angle=pitch_1,option=5000,power=shot_1,spring=spr_1,damper=dmp_1,color=col_1){
			w:trim(angle=roll_1,spring=spr_1,damper=dmp_1,color=col_1){
				e:trimf(angle=rolls_1,option=1,spring=spr_1,damper=dmp_1,color=col_1){
					n:jet(angle=180,power=jet_1,effect=1,spring=spr_1,damper=dmp_1,color=col_1){
					}
				}
			}
			e:trim(angle=roll_1,spring=spr_1,damper=dmp_1,color=col_1){
			}
		}
		n:trim(angle=90,spring=spr_1,damper=dmp_1,color=col_1){
			s:chip(angle=yaw_1,spring=spr_1,damper=dmp_1,color=col_1){
			}
		}
//---------------------------------------------------------------------------//
		n:chip(name=c_2,color=col_2){
			n:arm(angle=pitch_2,option=5000,power=shot_2,spring=spr_2,damper=dmp_2,color=col_2){
				w:trim(angle=roll_2,spring=spr_2,damper=dmp_2,color=col_2){
					e:trimf(angle=rolls_2,option=1,spring=spr_2,damper=dmp_2,color=col_2){
						n:jet(angle=180,power=jet_2,effect=1,spring=spr_2,damper=dmp_2,color=col_2){
						}
					}
				}
				e:trim(angle=roll_2,spring=spr_2,damper=dmp_2,color=col_2){
				}
			}
			n:trim(angle=90,spring=spr_2,damper=dmp_2,color=col_2){
				s:chip(angle=yaw_2,spring=spr_2,damper=dmp_2,color=col_2){
				}
			}
		}
//---------------------------------------------------------------------------//
		n:chip(name=c_3,color=col_3){
			n:arm(angle=pitch_3,option=5000,power=shot_3,spring=spr_3,damper=dmp_3,color=col_3){
				w:trim(angle=roll_3,spring=spr_3,damper=dmp_3,color=col_3){
					e:trimf(angle=rolls_3,option=1,spring=spr_3,damper=dmp_3,color=col_3){
						n:jet(angle=180,power=jet_3,effect=1,spring=spr_3,damper=dmp_3,color=col_3){
						}
					}
				}
				e:trim(angle=roll_3,spring=spr_3,damper=dmp_3,color=col_3){
				}
			}
			n:trim(angle=90,spring=spr_3,damper=dmp_3,color=col_3){
				s:chip(angle=yaw_3,spring=spr_3,damper=dmp_3,color=col_3){
				}
			}
		}
//---------------------------------------------------------------------------//
		n:chip(name=c_4,color=col_4){
			n:arm(angle=pitch_4,option=5000,power=shot_4,spring=spr_4,damper=dmp_4,color=col_4){
				w:trim(angle=roll_4,spring=spr_4,damper=dmp_4,color=col_4){
					e:trimf(angle=rolls_4,option=1,spring=spr_4,damper=dmp_4,color=col_4){
						n:jet(angle=180,power=jet_4,effect=1,spring=spr_4,damper=dmp_4,color=col_4){
						}
					}
				}
				e:trim(angle=roll_4,spring=spr_4,damper=dmp_4,color=col_4){
				}
			}
			n:trim(angle=90,spring=spr_4,damper=dmp_4,color=col_4){
				s:chip(angle=yaw_4,spring=spr_4,damper=dmp_4,color=col_4){
				}
			}
		}
//---------------------------------------------------------------------------//
		n:chip(name=c_5,color=col_5){
			n:arm(angle=pitch_5,option=5000,power=shot_5,spring=spr_5,damper=dmp_5,color=col_5){
				w:trim(angle=roll_5,spring=spr_5,damper=dmp_5,color=col_5){
					e:trimf(angle=rolls_5,option=1,spring=spr_5,damper=dmp_5,color=col_5){
						n:jet(angle=180,power=jet_5,effect=1,spring=spr_5,damper=dmp_5,color=col_5){
						}
					}
				}
				e:trim(angle=roll_5,spring=spr_5,damper=dmp_5,color=col_5){
				}
			}
			n:trim(angle=90,spring=spr_5,damper=dmp_5,color=col_5){
				s:chip(angle=yaw_5,spring=spr_5,damper=dmp_5,color=col_5){
				}
			}
		}
//---------------------------------------------------------------------------//
		n:chip(name=c_6,color=col_6){
			n:arm(angle=pitch_6,option=5000,power=shot_6,spring=spr_6,damper=dmp_6,color=col_6){
				w:trim(angle=roll_6,spring=spr_6,damper=dmp_6,color=col_6){
					e:trimf(angle=rolls_6,option=1,spring=spr_6,damper=dmp_6,color=col_6){
						n:jet(angle=180,power=jet_6,effect=1,spring=spr_6,damper=dmp_6,color=col_6){
						}
					}
				}
				e:trim(angle=roll_6,spring=spr_6,damper=dmp_6,color=col_6){
				}
			}
			n:trim(angle=90,spring=spr_6,damper=dmp_6,color=col_6){
				s:chip(angle=yaw_6,spring=spr_6,damper=dmp_6,color=col_6){
				}
			}
		}
//---------------------------------------------------------------------------//
		n:chip(name=c_7,color=col_7){
			n:arm(angle=pitch_7,option=5000,power=shot_7,spring=spr_7,damper=dmp_7,color=col_7){
				w:trim(angle=roll_7,spring=spr_7,damper=dmp_7,color=col_7){
					e:trimf(angle=rolls_7,option=1,spring=spr_7,damper=dmp_7,color=col_7){
						n:jet(angle=180,power=jet_7,effect=1,spring=spr_7,damper=dmp_7,color=col_7){
						}
					}
				}
				e:trim(angle=roll_7,spring=spr_7,damper=dmp_7,color=col_7){
				}
			}
			n:trim(angle=90,spring=spr_7,damper=dmp_7,color=col_7){
				s:chip(angle=yaw_7,spring=spr_7,damper=dmp_7,color=col_7){
				}
			}
		}
//---------------------------------------------------------------------------//
	}
}
///////////////////////////////////////////////////////////////////////////////
Lua{
baseh=_Y(0)
c_1=1
c_2=c_1+8
c_3=c_2+8
c_4=c_3+8
c_5=c_4+8
c_6=c_5+8
c_7=c_6+8
tgtx={};tgty={};tgtz={}
tgtx[c_1]=0;tgty[c_1]=0;tgtz[c_1]=0
tgtx[c_2]=0;tgty[c_2]=0;tgtz[c_2]=0
tgtx[c_3]=0;tgty[c_3]=0;tgtz[c_3]=0
tgtx[c_4]=0;tgty[c_4]=0;tgtz[c_4]=0
tgtx[c_5]=0;tgty[c_5]=0;tgtz[c_5]=0
tgtx[c_6]=0;tgty[c_6]=0;tgtz[c_6]=0
tgtx[c_7]=0;tgty[c_7]=0;tgtz[c_7]=0

-- リミッタ -------------------------------------------------------------------
function limiter(p,l)
	return math.min(l,math.max(-l,p))
end

-- GETWVEC --------------------------------------------------------------------
function getwvec(lx,ly,lz,cn)
	local wx=_XX(cn)*lx+_YX(cn)*ly+_ZX(cn)*lz
	local wy=_XY(cn)*lx+_YY(cn)*ly+_ZY(cn)*lz
	local wz=_XZ(cn)*lx+_YZ(cn)*ly+_ZZ(cn)*lz
	return wx,wy,wz
end

-- GETLVEC --------------------------------------------------------------------
function getlvec(wx,wy,wz,cn)
	local lx=_XX(cn)*wx+_XY(cn)*wy+_XZ(cn)*wz
	local ly=_YX(cn)*wx+_YY(cn)*wy+_YZ(cn)*wz
	local lz=_ZX(cn)*wx+_ZY(cn)*wy+_ZZ(cn)*wz
	return lx,ly,lz
end

-- 飛行目標座標設定 -----------------------------------------------------------
function target_set(cn)
	local lx=tgtx[cn]-_X(cn)
	local ly=tgty[cn]-_Y(cn)
	local lz=tgtz[cn]-_Z(cn)
	local dst=math.sqrt(lx^2+ly^2+lz^2)
	if(cn==c_1)and(dst<50) then
		tgtx[cn]=math.random(2400)-1200
		tgty[cn]=math.random(400)+200+baseh
		tgtz[cn]=math.random(2400)-1200
	elseif(cn==c_2) then
		tgtx[cn]=_X(c_1)+vx+4
		tgty[cn]=_Y(c_1)+vy
		tgtz[cn]=_Z(c_1)+vz
	elseif(cn==c_3) then
		tgtx[cn]=_X(c_1)+vx-4
		tgty[cn]=_Y(c_1)+vy
		tgtz[cn]=_Z(c_1)+vz
	elseif(cn==c_4) then
		tgtx[cn]=_X(c_1)+vx
		tgty[cn]=_Y(c_1)+vy
		tgtz[cn]=_Z(c_1)+vz+4
	elseif(cn==c_5) then
		tgtx[cn]=_X(c_1)+vx
		tgty[cn]=_Y(c_1)+vy
		tgtz[cn]=_Z(c_1)+vz-4
	elseif(cn==c_6) then
		tgtx[cn]=_X(c_1)+vx
		tgty[cn]=_Y(c_1)+vy+3
		tgtz[cn]=_Z(c_1)+vz
	elseif(cn==c_7) then
		tgtx[cn]=_X(c_1)+vx
		tgty[cn]=_Y(c_1)+vy-3
		tgtz[cn]=_Z(c_1)+vz
	end
	lx=tgtx[cn]-_X(cn)
	ly=tgty[cn]-_Y(cn)
	lz=tgtz[cn]-_Z(cn)
	dst=math.sqrt(lx^2+ly^2+lz^2)
	ly=ly+1	-- 誤差修正
	return lx,ly,lz,dst
end

-- 飛行機制御 -----------------------------------------------------------------
function plane_ctrl(cn,jet,pitch,roll,yaw)
	local lx,ly,lz,dst=target_set(cn)
	lx,ly,lz=getlvec(lx,ly,lz,cn)
	local rx,ry,rz,r,c
	local h=_H(cn)
	if(h>=0) then	-- 地面が接近したら上昇回避
		rx=(_AX(cn)-0.6)
		rz=(_EZ(cn)+_WZ(cn)*0.5)
		ry=_WY(cn)*0.5
	else
		-- ピッチ制御
		rx=math.atan2(-ly,-lz*0.1)+_WX(cn)*0.5
		-- ロール制御
		r=math.sqrt(lx^2+ly^2)
		c=math.deg(math.atan2(r,-lz))
		if(c<10) then
			rz=_EZ(cn)+_WZ(cn)*0.5
		else
			rz=math.atan2(lx,ly)+_WZ(cn)*0.5
			rx=math.min(0,rx)	-- 大きく旋回するときはピッチダウンしない
		end
		-- ヨー制御
		ry=math.atan2(lx,-lz*0.1)+_WY(cn)
	end

	local k=50000/(_VZ(cn)^2+1)
	pitch=pitch+limiter(rx*k-pitch,1)
	roll=roll+limiter(rz*k-roll,1)
	yaw=yaw+limiter(ry*k-yaw,1)

	if(cn==c_1) then
		jet=5000*(250+_VZ(cn)*3.6)
	else
		jet=5000*(250+(dst-13)/2+_VZ(cn)*3.6)
	end

	local shot=0
	if(_KEY(5)>0) then shot=5000 end

	return jet,pitch,roll,yaw,shot
end

-- 表示 -----------------------------------------------------------------------
function display(cn)
	local vx,vy,vz=_VX(cn),_VY(cn),_VZ(cn)
	local vel=math.sqrt(vx^2+vy^2+vz^2)
	out(0,"FPS=",_FPS(),", Chips=",_CHIPS(),", Weight=",_WEIGHT(),"kg")
	out(1,"ChipNo.",cn,", Speed=",vel*3.6,"km/h")
	out(2,"X=",_X(cn),", Y=",_Y(cn),", Z=",_Z(cn),", H=",_H(cn)," [m]")
	out(3,"Vx=",vx,", Vy=",vy,", Vz=",vz," [m/s]")
	out(4,"Ax=",_AX(cn),", Ax=",_AY(cn),", Ez=",_EZ(cn)," [rad]")
	out(5,"Wx=",_WX(cn),", Wy=",_WY(cn),", Wz=",_WZ(cn)," [rad/s]")
end

-- メイン ---------------------------------------------------------------------
gcheck=0
function main()
	if(_TICKS()<2) then
		local t
		local c_2s,c_3s,c_4s,c_5s,c_6s,c_7s=c_2-1,c_3-1,c_4-1,c_5-1,c_6-1,c_7-1
		t=_SPLIT(c_2s)
		t=_SPLIT(c_3s)
		t=_SPLIT(c_4s)
		t=_SPLIT(c_5s)
		t=_SPLIT(c_6s)
		t=_SPLIT(c_7s)
	end

	if(dmode==1) then
		display(c_1)
	elseif(dmode==2) then
		display(c_2)
	elseif(dmode==3) then
		display(c_3)
	elseif(dmode==4) then
		display(c_4)
	elseif(dmode==5) then
		display(c_5)
	elseif(dmode==6) then
		display(c_4)
	elseif(dmode==7) then
		display(c_5)
	else
		dmode=0
		out(0,"FPS=",_FPS())
		out(1,"C : Change Display Mode")
	end
	if(_KEY(6)>0)and(key6==0) then
		dmode=math.mod(dmode+1,8)
	end
	key6=_KEY(6)

	vx,vy,vz=getwvec(_VX(c_1)*0.2,_VY(c_1)*0.2,_VZ(c_1)*0.2,c_1)
	JET_1,PITCH_1,ROLL_1,YAW_1,SHOT_1=plane_ctrl(c_1,JET_1,PITCH_1,ROLL_1,YAW_1)
	JET_2,PITCH_2,ROLL_2,YAW_2,SHOT_2=plane_ctrl(c_2,JET_2,PITCH_2,ROLL_2,YAW_2)
	JET_3,PITCH_3,ROLL_3,YAW_3,SHOT_3=plane_ctrl(c_3,JET_3,PITCH_3,ROLL_3,YAW_3)
	JET_4,PITCH_4,ROLL_4,YAW_4,SHOT_4=plane_ctrl(c_4,JET_4,PITCH_4,ROLL_4,YAW_4)
	JET_5,PITCH_5,ROLL_5,YAW_5,SHOT_5=plane_ctrl(c_5,JET_5,PITCH_5,ROLL_5,YAW_5)
	JET_6,PITCH_6,ROLL_6,YAW_6,SHOT_6=plane_ctrl(c_6,JET_6,PITCH_6,ROLL_6,YAW_6)
	JET_7,PITCH_7,ROLL_7,YAW_7,SHOT_7=plane_ctrl(c_7,JET_7,PITCH_7,ROLL_7,YAW_7)
	ROLLS_1=ROLL_1+90
	ROLLS_2=ROLL_2+90
	ROLLS_3=ROLL_3+90
	ROLLS_4=ROLL_4+90
	ROLLS_5=ROLL_5+90
	ROLLS_6=ROLL_6+90
	ROLLS_7=ROLL_7+90

end
}