Expansion Deep Horizon Advanced Navigation Computer

"use strict";
this.name = "Deep_Horizon_Adv_Nav_Comp_Equipment";
this.authors	= "Cmd. Cheyd (Blake Deakins) and PhantorGorth (Paul Cooper)";
this.contributors = "Svengali";
this.description = "Adds a prime-able piece of equipment that improves interstellar navigation in the form of fuel savings.";
this.version = "1.0.0";
this.copyright = "� Creative Commons Attribution-Noncommercial-ShareAlike 3.0 Unported license (Modified)";

//*************************************************************************************************************
//************************************           Event Functions           ************************************
//*************************************************************************************************************

this.activated = function () {
	// If there is already a coutdown running
	if (player.ship.status == "STATUS_WITCHSPACE_COUNTDOWN") {
		// Was the countdown triggered by DH-ANC?
		if (worldScripts["Deep_Horizon_Adv_Nav_Comp"].usedANC == true) {
			// Yes - Cancel the ANC countdown with notice and end processing.
			worldScripts["Deep_Horizon_Adv_Nav_Comp"]._cancelANC(false);
			return;
		} else {
			// No - use the ANC cancellation function to kill the countdown silently.
			worldScripts["Deep_Horizon_Adv_Nav_Comp"]._cancelANC(true);
			player.consoleMessage("Prior hyperspace initiation cancelled by Adv. Nav Computer calcuations.", 4);
		}
	}
	// No countdown previously running - Set flag that ANC is being used and activate the equipment via the world script
	worldScripts["Deep_Horizon_Adv_Nav_Comp"].usedANC = true;
	worldScripts["Deep_Horizon_Adv_Nav_Comp"]._ancActivated();
}

this.equipmentDestroyed = this.equipmentDamanged = function (equipment) {
	// Let the world script handle.
	worldScripts["Deep_Horizon_Adv_Nav_Comp"]._ancDamaged();
}

"use strict";
this.name = "Deep_Horizon_Adv_Nav_Comp";
this.authors	= "Cmd. Cheyd (Blake Deakins) and PhantorGorth (Paul Cooper)";
this.contributors = "Svengali, Nick Rogers";
this.description = "Adds a prime-able piece of equipment that improves interstellar navigation in the form of fuel savings.";
this.copyright = "� Creative Commons Attribution-Noncommercial-ShareAlike 3.0 Unported license (Modified)";

/*
	***************************************************************************************************************
	**  A significant portion of the code contained herein was based on code originally written and contributed by
	**	Svengali.  Without his contribution, this OXP would not have been possible.  Thanks Olli!
	***************************************************************************************************************
*/

//*************************************************************************************************************
//************************************         Variable Declaration        ************************************
//*************************************************************************************************************
this.$jumpDistance = 0;
this.usedANC = false;

this.$lastSource = -1;

//*************************************************************************************************************
//************************************           Event Functions           ************************************
//*************************************************************************************************************
this.startUp = function() {
	// get instance
	this.myFCB = new CheydsReorient();
	this.systemDone = false;
	this.loopHere = false;
}

this.shipWillLaunchFromStation = function () {
	this._systemSetup();
	if (this.systemDone) return;
	this.loopHere = false;
	this.entryVectorCorrect = false;
	this.$lastSource = system.ID;
}

this.shipWillEnterWitchspace = function(cause) {
	this.systemDone = false;
	this.myFCB.fcbRemove(1);
	if (cause == "wormhole") {
		this.playerCancelledJumpCountdown();
		return;
	} else if (cause =="standard jump" && this.usedANC) {
		// Calculate distance about to be jumped.  Use this after the jump for fuel waste calculations
		var playerTarget = this._playerTargetSystem();
		this.$jumpDistance = Number(System.infoForSystem(galaxyNumber,system.ID).distanceToSystem(System.infoForSystem(galaxyNumber,playerTarget)).toFixed(1));
		this.entryVector = player.ship.heading.angleTo(this.$jumpMarker.position.subtract(player.ship.position).direction());
	}
}

this.shipExitedWitchspace = function() {
	if (system.ID != -1) this.$lastSource = system.ID;
	// If the ANC was used, calculate distance travelled and reward fuel savings.
	this._systemSetup();
	this.loopHere = false;
	if (!this.usedANC) return;
	this.usedANC = false;
	if ((this.$jumpDistance > 1.0) && this.entryVectorCorrect) {
		var fuelSaved = Number((this.$jumpDistance*0.1).toFixed(1));
		player.ship.fuel += fuelSaved;
		player.consoleMessage("Fuel savings due to optimized routing: " + fuelSaved, 4);
		this.entryVectorCorrect = false;
	} else if (this.$jumpDistance < 1.0) {
		player.consoleMessage("Jump distance was too short to achieve appreciable fuel savings.",4);
	} else {
		player.consoleMessage("Entry vector across witchspace event horizon meniscus too far off calculated.  Fuel savings negated.",4);
	}
}

this.shipWillExitWitchspace = function () {
	if (this.entryVector < 0.010) this.entryVectorCorrect = true;
	this._stopNavFrameCallback();
	if (this.$navFrameVE) this.$navFrameVE.remove();
	if (this.$navStarVE) this.$navStarVE.remove();
	if (this.navigationTimer) {
		this.navigationTimer.stop();
		delete this.navigationTimer;
	}
}

this.shipWillDockWithStation = this.shipDied = function() {
	// cleaning up to avoid trouble
	this.usedANC = false;
	this._stopNavFrameCallback();
	delete this.navFrameCallbackID;
	if (this.$navFrameVE) this.$navFrameVE.remove();
	if (this.$navStarVE) this.$navStarVE.remove();
	if (this.myFCB) this.myFCB.fcbRemove(1);
	if (this.navigationTimer) {
		this.navigationTimer.stop();
		delete this.navigationTimer;
	}
	this.loopHere = false;
}

this.playerStartedJumpCountdown = function(type, seconds) {
	if (!this.usedANC) {
		if (type === "standard") {
			if (worldScripts["Deep_Horizon_Emer_Jump_Initiator"]) {
				if (worldScripts["Deep_Horizon_Emer_Jump_Initiator"].$usedEWI) return;
				else {
					this._spawnDHINavVEs();
					this._reorientPlayer();
				}
			} else {
				this._spawnDHINavVEs();
				this._reorientPlayer();
			}
		}
	} else {
		if (this.navigationTimer && this.loopHere) {
			this._cancelANC(false);
			this.loopHere = false;
		}
		if (type == "standard" && seconds == player.ship.hyperspaceSpinTime*2) this.loopHere = true;
		else if (type == "standard" && seconds != player.ship.hyperspaceSpinTime*2) {
			this._cancelANC(false);
			this._reorientPlayer();
		}
	}
}

this.playerCancelledJumpCountdown = this.playerStartedAutoPilot = function() {
	//If the ANC is running, kill it.
	if (this.usedANC) this._cancelANC(true);
	else {
		this.usedANC = false;
		this._stopNavFrameCallback();
		if (this.$navFrameVE) this.$navFrameVE.remove();
		if (this.$navStarVE) this.$navStarVE.remove();
		if (this.myFCB) this.myFCB.fcbRemove(1);
		if (this.navigationTimer) {
			this.navigationTimer.stop();
			delete this.navigationTimer;
		}
		this.loopHere = false;
	}
}

this.playerJumpFailed = function(reason) {
	//If the ANC is running, kill it.
	this.usedANC = false;
	this._stopNavFrameCallback();
	delete this.navFrameCallbackID;
	if (this.$navFrameVE) this.$navFrameVE.remove();
	if (this.$navStarVE) this.$navStarVE.remove();
	if (this.myFCB) this.myFCB.fcbRemove(1);
	if (this.navigationTimer) {
		this.navigationTimer.stop();
		delete this.navigationTimer;
	}
	this.loopHere = false;
}

//*************************************************************************************************************
//************************************            OXP Functions            ************************************
//*************************************************************************************************************

//-------------------------------------------------------------------------------------------------------------
// returns the player's target system (1.80) or the next jump to their target system (1.82)
this._playerTargetSystem = function() {
	if (player.ship.hasOwnProperty("nextSystem")) return player.ship.nextSystem;

	var p = player.ship;
	var target = p.targetSystem;

	var last = system.ID;
	if (system.ID == -1) {
		last = this.$lastSource;
	}

	if (oolite.compareVersion("1.81") < 0) {
		// in 1.81 or greater, the target system could be more than 7 ly away. It becomes, essentially, the final destination.
		// there could be multiple interim stop points between the current system and the target system.
		// the only way to get this info is to recreate a route using the same logic as entered on the ANA, and pick item 1
		// from the list. That should be the next destination in the list.
		var myRoute = System.infoForSystem(global.galaxyNumber, last).routeToSystem(System.infoForSystem(global.galaxyNumber, target), p.routeMode);
		if (myRoute) {
			target = myRoute.route[1];
		}
	}

	return target;
}


this._ancActivated = function () {
	var playerTarget = this._playerTargetSystem();
	if (!playerTarget || playerTarget == system.ID) {
		// Local system is selected.  Halt.
		player.consoleMessage("Local system selected.  Navigation calculations unnecessary.  Shutting down.", 4);
		return;
	}
	if (System.infoForSystem(galaxyNumber,system.ID).distanceToSystem(System.infoForSystem(galaxyNumber,playerTarget)) > player.ship.fuel) {
		// Insufficient Fuel.  Halt.
		player.consoleMessage("Insufficient fuel to reach destination system.  Navigation calculations unnecessary.  Shutting down.", 4);
		return;
	}
	if (!this.navigationTimer) {
		// Proceed with ANC-style long-count jump.
		this._spawnDHINavVEs();
		//Pause to simulate calculations...
		var delay = Math.floor((system.scrambledPseudoRandomNumber (24784 + playerTarget)*100)/33);
		this.navigationTimer = new Timer(this, this._reorientPlayer, 3+delay);
	} else {
		// Cancel the ANC.
		this._cancelANC(false);
	}
	return;
}

this._initiateJump = function () {
	var self = worldScripts["Deep_Horizon_Adv_Nav_Comp"];
	if (player.ship.status === "STATUS_IN_FLIGHT") {
		self.usedANC = true;
		player.ship.beginHyperspaceCountdown(player.ship.hyperspaceSpinTime*2);
	} else self.usedANC = false;
}

this._spawnDHINavVEs = function () {
	// Select farpointMarker that matches the destination system.
	var playerTarget = this._playerTargetSystem();
	for (var i = this.$farpointMarkers.length; i > 0; i--) {
		if (playerTarget == this.$farpointMarkers[i-1].systemID) {
			this.$jumpMarker = this.$farpointMarkers[i-1]
		}
	}
	player.consoleMessage("Locking onto " + System.systemNameForID(playerTarget) + " system witchpoint nav beacon.", 4);
	// Spawn Visual Effect and store reference to it
	this.$navFrameVE = system.addVisualEffect("deephorizon_navframe",this._vectoredPositionToTarget(this.$jumpMarker.position,player.ship.collisionRadius + 5000));
	this.$navStarVE = system.addVisualEffect("deephorizon_navstar",this._vectoredPositionToTarget(this.$jumpMarker.position,player.ship.collisionRadius + 50000));
	// Orient the VE toward the player ship
	this.$navFrameVE.scale(0.66);
	this.$navStarVE.scale(3.30-this.$jumpMarker.distanceToSystem*.27);
	var tex = this.$jumpMarker.systemID%4;
	switch (tex) {
		case 1:
			this.$navStarVE.setMaterials({"dhi_navstar.png":{"textures":["dhi_navstar2.png"],"fragment_shader":"dhi_anc_jumpstar.fragment","emission_map":"dhi_navstar2.png","uniforms":{"uColorMap":{"type":"texture","value":"0"},"uSpecIntensity":"shaderFloat1","uSpecColor":"shaderVector1"},"vertex_shader":"dhi_anc_jumpstar.vertex"}});
			break;
		case 2:
			this.$navStarVE.setMaterials({"dhi_navstar.png":{"textures":["dhi_navstar3.png"],"fragment_shader":"dhi_anc_jumpstar.fragment","emission_map":"dhi_navstar3.png","uniforms":{"uColorMap":{"type":"texture","value":"0"},"uSpecIntensity":"shaderFloat1","uSpecColor":"shaderVector1"},"vertex_shader":"dhi_anc_jumpstar.vertex"}});
			break;
		case 3:
			this.$navStarVE.setMaterials({"dhi_navstar.png":{"textures":["dhi_navstar4.png"],"fragment_shader":"dhi_anc_jumpstar.fragment","emission_map":"dhi_navstar4.png","uniforms":{"uColorMap":{"type":"texture","value":"0"},"uSpecIntensity":"shaderFloat1","uSpecColor":"shaderVector1"},"vertex_shader":"dhi_anc_jumpstar.vertex"}});
			break;
	}
	this._reorientVEToPlayer (this.$navFrameVE);
	this._reorientVEToPlayer (this.$navStarVE);
	this.navFrameCallbackID = addFrameCallback(this._positionNavVisualEffects.bind(this));
}

this._positionNavVisualEffects = function () {
	this._reorientVEToPlayer (this.$navFrameVE);
	this._reorientVEToPlayer (this.$navStarVE);
	this.$navFrameVE.position = this._vectoredPositionToTarget(this.$jumpMarker.position,player.ship.collisionRadius + 5000);
	this.$navStarVE.position = this._vectoredPositionToTarget(this.$jumpMarker.position,player.ship.collisionRadius + 10000 );
	this.$navStarVE.shaderVector1 = this.$jumpMarker.uSpecColor;
	this.$navStarVE.shaderFloat1 = this.$jumpMarker.uSpecIntensity;
	return;
}

this._stopNavFrameCallback = function() {
	if(!this.navFrameCallbackID) return;
	removeFrameCallback(this.navFrameCallbackID);
	delete this.navFrameCallbackID;
	return;
};

this._reorientPlayer = function _reorientPlayer() {
	//Calculation of the roll and Pitch accelerations and decelerations based on variations from a Cobra Mk3.
	var rollAcc = (0.2) * (player.ship.maxThrust / 30) / (player.ship.mass / 185580.015625) / ((player.ship.boundingBox.x + player.ship.boundingBox.y) / 160);
	if (rollAcc > 1) rollAcc = 1;
	else if (rollAcc < 0.28) rollAcc = 0.28;
	var pitchAcc = rollAcc * (160/95) * ((player.ship.boundingBox.x + player.ship.boundingBox.y) / 160) / ((player.ship.boundingBox.y + player.ship.boundingBox.z) / 95);
	if (pitchAcc > 1) pitchAcc = 1;
	else if (pitchAcc < 0.255) pitchAcc = 0.255;
	var rollDec = rollAcc / 2;
	var pitchDec = pitchAcc / 2;
	//Turn the player to the appropriate buoy for the selected system.ID
	this.myFCB.fcbFace(player.ship,[[1,this.$jumpMarker],[0,this.$jumpMarker]],0,[rollAcc,pitchAcc],[rollDec,pitchDec],this._initiateJump);
	player.consoleMessage (System.systemNameForID(this._playerTargetSystem()) + " system beacon acquired.  Reorienting ship for vectored system departure\n",4);
	return;
}

this._reorientVEToPlayer = function (navVE) {
	var orient = this._lookAtRotate (player.ship.position.subtract(navVE.position),player.ship.orientation.vectorUp());
	if (orient === null) orient = this._lookAtRotate(player.ship.position.subtract(navVE.position),player.ship.orientation.vectorForward().multiply(-1));
	navVE.orientation = orient;
}


this._orthoNormalise = function(a, b)
{
	//Returns a normalised vector that is in the plane of "ab" and is at 90� to "a" in the same half plane as "b".
	var a2 = a.direction();
	var b2 = b.direction();
	var c = a.cross(b).cross(a);

	return c.direction();
}

this._lookAtRotateEuler = function(theta, phi, psi)
{
	//Returns a Quaternion that matches a rotational transformation that is described by the Euler angles.
	//Uses Y axis at the basis axis for theta and the Z axis is used to measure phi from.
	var q = new Quaternion(1, 0, 0, 0);

	var theta2 = (Math.PI/2) - theta;

	q = q.rotateZ(psi);
	q = q.rotateX(theta2);
	q = q.rotateY(phi);

	return q;
}

this._lookAtRotate = function(forward, up)
{
	//returns an orientation quaternion given a Forward vector and an Up vector (the Forward and Up do not need to be
	//orthonormal but they can not be parallel or anti-parallel.)
	if (forward.direction().cross(up.direction()).magnitude() < 0.01) return null; // Return null if Forward and Up are parallel or anti-parallel or nearly so.
	var f = forward.direction();
	var u = this._orthoNormalise(f, up);

	var v = new Vector3D(0,1,0); //Uses Y axis at the basis axis for theta and the Z axis is used to measure phi from for finding the Euler angles.
	var u2 = this._orthoNormalise(f, v);

	var sign = -u2.cross(u).dot(f);
	var sign = sign && sign / Math.abs(sign);

	var psi = sign * u2.angleTo(u);

	var z = new Vector3D(0,0,1);
	var h = new Vector3D(f.x,0,f.z);

	sign = -z.cross(h).y;
	sign = sign && sign / Math.abs(sign);

	var phi = sign * z.angleTo(h);

	sign = f.y;
	sign = sign && sign / Math.abs(sign);

	var theta = (Math.PI/2) - (sign * h.angleTo(f));

	return this._lookAtRotateEuler(theta, phi, psi);
}

this._vectoredPositionToTarget = function (targetPosVector, distance) {
	var v = targetPosVector.subtract(player.ship.position).direction();
	v = v.multiply(distance);
	v = v.add(player.ship.position);
	return v;
}

this._cancelANC = function(silent) {
	if (!silent) player.consoleMessage("Advanced Navigation calculations cancelled.", 4);
	this._stopNavFrameCallback();
	if (this.$navFrameVE) this.$navFrameVE.remove();
	if (this.$navStarVE) this.$navStarVE.remove();
	if (this.navigationTimer) {
		this.navigationTimer.stop();
		delete this.navigationTimer;
	}
	player.ship.cancelHyperspaceCountdown();
	if (this.myFCB) this.myFCB.fcbRemove(1);
	this.loopHere = false;
	this.usedANC = false;
	return;
}

this._ancDamaged = function() {
	if ((equipment == "EQ_ADV_NAV_COMP" || equipment == "EQ_ADVANCED_NAVIGATIONAL_ARRAY") && this.navigationTimer) {
		this._cancelANC(false);
	}
	return;
}

this._systemSetup = function () {
	this.$farpointMarkers = new Array();
	// Determine how many farpoint markers are needed
	this.$localSystems = System.infoForSystem(galaxyNumber,system.ID).systemsInRange(7);
	this.$spawnCount = this.$localSystems.length;
	// For each in-range system spawn a farpoint marker
	this.$farpointMarkers = system.addShips("DHI_farpoint_marker",this.$spawnCount,player.ship.position,5000000);
	//Assign a matching system.ID as an additional value to each buoy
	for (var i = this.$farpointMarkers.length; i > 0; i--) {
		var fpm = this.$farpointMarkers[i-1];
		fpm.systemID = this.$localSystems[i-1].systemID;
		fpm.galCoordinates = this.$localSystems[i-1].coordinates;
		fpm.name = this.$localSystems[i-1].name;
		fpm.distanceToSystem = System.infoForSystem(galaxyNumber,system.ID).distanceToSystem(this.$localSystems[i-1]);
		fpm.uSpecColor = this._selectColor(this.$localSystems[i-1].systemID,i);
		fpm.uSpecIntensity = 0.5;
		fpm.position = this.positionFarpointMarker(fpm,50000000);
	}
	this.systemDone = true;
	return;
}

//-------------------------------------------------------------------------------------------------------------
this.$anc_shipLaunchedEscapePod = function $anc_shipLaunchedEscapePod(pod, passengers) {
	pod.remove(true);
}

this._selectColor = function (sysID,i) {
	var color = System.infoForSystem(galaxyNumber,sysID).sun_color;
	if (typeof(color) === 'undefined') {
		var c = Math.floor(system.scrambledPseudoRandomNumber(785331-i)*7);
		switch (c) {
			case 0:		color = "magentaColor";	break;
			case 1:		color = "redColor"; 	break;
			case 2:		color = "orangeColor";	break;
			case 3:		color = "yellowColor";	break;
			case 4:		color = "whiteColor";	break;
			case 5:		color = "cyanColor";	break;
			default:	color = "blueColor";	break;
		}
	}
	switch (color) {
		case "magentaColor":	var colorVec = [1,0,1];	break;
		case "redColor":		var colorVec = [1,0,0];	break;
		case "orangeColor": 	var colorVec = [1,0.5,0];	break;
		case "yellowColor": 	var colorVec = [1,1,0];	break;
		case "whiteColor": 		var colorVec = [1,1,1];	break;
		case "cyanColor": 		var colorVec = [0,1,1];	break;
		case "blueColor": 		var colorVec = [0,0,1];	break;
		default:				colorVec = [1,1,1];
	}
	return colorVec;
}

this.positionFarpointMarker = function positionFarpointMarker(marker,distance)
{
	if (marker.galCoordinates == null) return null;

	var t = marker.galCoordinates;
	var s = System.infoForSystem(galaxyNumber, system.ID).coordinates;

	var tV = t.subtract(s);

	var u = system.scrambledPseudoRandomNumber(34567346);
	var v = system.scrambledPseudoRandomNumber(431976567);
	var w = system.scrambledPseudoRandomNumber(9834674);

	var theta = Math.acos(2 * u - 1);
	var phi = 2 * Math.PI * v;
	var psi = 2 * Math.PI * w;

	var v1 = new Vector3D(Math.sin(theta) * Math.sin(phi), Math.sin(theta) * Math.cos(phi), Math.cos(theta));
	var v2 = new Vector3D(0, 0, 1); //straight up
	var v3 = v2.cross(v1);
	v3 = v3.direction(); // normalize (should be normalized anyway)

	var q1 = new Quaternion(1,0,0,0);
	q1 = q1.rotate(v3, theta).normalize();
	var v4 = tV.rotateBy(q1).direction(); // rotate target vector tV so that the coordinate space has pole moved from straight up to v1 (theta, phi) (spherical coords)
	var q2 = new Quaternion(1,0,0,0);
	q2 = q2.rotate(v1, psi).normalize();
	v4 = v4.rotateBy(q2).direction(); // rotate about the new pole v1 by psi

	return v4.multiply(distance).add(player.ship.position);
}

this._anc_sum = function(arr) {
	var total = 0;
	for(var a = 0; a < arr.length; a++) { total += arr[a]; };
	return total
}

this._anc_time_taken = function(angle, max_ang_vel, dampa, dampb)
{
	var ret_val = [0, 0, 0];

	ret_val[0] = (angle / max_ang_vel) + ((dampa + dampb) * 0.5);
	ret_val[1] = dampa;
	ret_val[2] = dampb;

	if (ret_val[0] < (dampa + dampb))
	{
		var m = Math.sqrt((2 * angle)/(max_ang_vel * (dampa + dampb)));
		ret_val[0] = m * (dampa + dampb);
		ret_val[1] *= m;
		ret_val[2] *= m;
	}

	return ret_val;
}


//*************************************************************************************************************
//************************************            Lib Functions            ************************************
//*************************************************************************************************************
this.CheydsReorient = function CheydsReorient(){this._root = null;}
CheydsReorient.prototype = {
	constructor: CheydsReorient,
	cheyds_fcb: 0,
	cheyds_fcbs: [],
	cheyds_doAutoRemove: true,
	cheyds_autoRemove: function(mode){
		if(mode){
			if(!this.cheyds_autoRemoveTimer) this.cheyds_autoRemoveTimer = new Timer(this,this.fcbRemove,0,3);
			else if(!this.cheyds_autoRemoveTimer.isRunning) this.cheyds_autoRemoveTimer.start();
		} else if(this.cheyds_autoRemoveTimer) this.cheyds_autoRemoveTimer.stop();
	},

	// Face target
	//	ent			Entity. Required. To be reoriented.
	//	tar			Entity. Required. Target entity.
	//	recall		Boolean. Recall settings. If set ignores dampb and starts over when duration over.
	//	angAccA		Number. Angular acceleration array
	//	angDecA		Number. Angular deceleration array 
	fcbFace: function(ent,tarVA,recall,angAccA,angDecA,call_back){
		if(!ent || !ent.isValid) return;
		var croStep = 0,ccl_sum = 0,ccl_ent = ent,ccl_tarVA = tarVA,ccl_tar = tarVA[0],ccl_recall = recall,ccl_angAccA = angAccA,ccl_angDecA = angDecA,ccl_angAcc,ccl_angDec,ccl_dampa,ccl_dampb;
		var ccl_last, initialAngle, aimAngle, alpha, reset = 0, max_ang_vel = 0, targetVector;
		var cheyds_fcbs_ref, absSecs, totalSecs = 0;
		var finalCallbackCalled = false, ccl_callback = call_back;
		var lastOrientation, lastUpAngle;

		this.cheyds_fcb = addFrameCallback(function(delta){
			if(!delta || !ccl_ent || !ccl_ent.isValid) return;

			if (ccl_sum == 0) {

				lastOrientation = ccl_ent.orientation;
				lastUpAngle = ccl_ent.orientation.vectorUp().angleTo(worldScripts["Deep_Horizon_Adv_Nav_Comp"]._orthoNormalise(ccl_ent.heading, ccl_tar[1].position.subtract(ccl_ent.position)));

				if ((!ccl_recall) && (ccl_tarVA.length > 0) && (croStep < ccl_tarVA.length)) {
					ccl_tar = ccl_tarVA[croStep];
				}

				if (ccl_tar[0] == 0) {
					max_ang_vel = ccl_ent.maxPitch;
					targetVector = ccl_tar[1].position.subtract(ccl_ent.position).direction();
					if (reset == 0) initialAngle = ccl_ent.heading.angleTo(targetVector);
				}
				else {
					max_ang_vel = ccl_ent.maxRoll;
					targetVector = worldScripts["Deep_Horizon_Adv_Nav_Comp"]._orthoNormalise(ccl_ent.heading, ccl_tar[1].position.subtract(ccl_ent.position));
					if (reset == 0) initialAngle = ccl_ent.orientation.vectorUp().angleTo(targetVector);
				}

				if(ccl_angAccA.length > 0) if (croStep < ccl_angAccA.length) { ccl_angAcc = ccl_angAccA[croStep]; } else { ccl_angAcc = ccl_angAccA[ccl_angAccA.length - 1]; }
				if(ccl_angDecA.length > 0) if (croStep < ccl_angDecA.length) { ccl_angDec = ccl_angDecA[croStep]; } else { ccl_angDec = ccl_angDecA[ccl_angDecA.length - 1]; }

				ccl_dampa = max_ang_vel / ccl_angAcc;
				ccl_dampb = max_ang_vel / ccl_angDec;

				let ret_val = worldScripts["Deep_Horizon_Adv_Nav_Comp"]._anc_time_taken(initialAngle, max_ang_vel, ccl_dampa, ccl_dampb);
				ccl_last = ret_val[0];
				log ("Reorient Function", "ccl_last = " + ccl_last + ".");
				ccl_dampa = ret_val[1];
				ccl_dampb = ret_val[2];

				totalSecs += ccl_last;
				if (croStep == (ccl_tarVA.length -1)) cheyds_fcbs_ref[1] = absSecs + totalSecs;

				alpha = ccl_last/(ccl_last - (ccl_dampa + ccl_dampb) / 2);


			}
			ccl_sum += delta;

			if(ccl_sum>=ccl_last){
				if(ccl_recall) ccl_sum = 0;
				else if (croStep < (ccl_tarVA.length-1)) {
					croStep += 1;
					ccl_sum = 0;
					reset = 0;

					return;
				}
				else if ((croStep == (ccl_tarVA.length - 1)) && (!finalCallbackCalled)) {
					finalCallbackCalled = true;
					ccl_callback();
				}
				else return;
			}

			if (ccl_tar[0] == 0) {
				let currentForward = ccl_ent.heading;
				let currentForwardAngle = currentForward.angleTo(targetVector);
				let currentUpAngle = ccl_ent.orientation.vectorUp().angleTo(targetVector);
				if (ccl_sum < ccl_dampa) aimAngle = (1 - (alpha*(ccl_last/ccl_dampa)*(ccl_sum/ccl_last)*(ccl_sum/ccl_last)/2))*initialAngle;
				else if (ccl_sum < (ccl_last - ccl_dampb)) aimAngle = (1 - ((alpha*ccl_dampa/ccl_last/2) + alpha*(ccl_sum-ccl_dampa)/ccl_last))*initialAngle;
				else if (ccl_sum < ccl_last) aimAngle = (alpha*(ccl_last/ccl_dampb)*(ccl_last-ccl_sum)/ccl_last*(ccl_last-ccl_sum)/ccl_last/2)*initialAngle;
				else aimAngle = 0;
				let angle = currentForwardAngle - aimAngle;
				let cross = lastOrientation.vectorForward().cross(targetVector).direction();
				ccl_ent.orientation = worldScripts["Deep_Horizon_Adv_Nav_Comp"]._lookAtRotate(ccl_ent.orientation.rotate(cross,-angle).vectorForward(), lastOrientation.vectorUp());
				lastOrientation = ccl_ent.orientation;
				lastUpAngle = currentUpAngle;
			}
			else {
				let currentForward = ccl_ent.heading;
				let currentForwardAngle = currentForward.angleTo(targetVector);
				let currentUpAngle = ccl_ent.orientation.vectorUp().angleTo(targetVector);
				if (ccl_sum < ccl_dampa) aimAngle = (1 - (alpha*(ccl_last/ccl_dampa)*(ccl_sum/ccl_last)*(ccl_sum/ccl_last)/2))*initialAngle;
				else if (ccl_sum < (ccl_last - ccl_dampb)) aimAngle = (1 - ((alpha*ccl_dampa/ccl_last/2) + alpha*(ccl_sum-ccl_dampa)/ccl_last))*initialAngle;
				else if (ccl_sum < ccl_last) aimAngle = (alpha*(ccl_last/ccl_dampb)*(ccl_last-ccl_sum)/ccl_last*(ccl_last-ccl_sum)/ccl_last/2)*initialAngle;
				else aimAngle = 0;
				let angle = currentUpAngle - aimAngle;
				let cross = lastOrientation.vectorUp().cross(targetVector).direction();
				ccl_ent.orientation = worldScripts["Deep_Horizon_Adv_Nav_Comp"]._lookAtRotate(lastOrientation.vectorForward(), ccl_ent.orientation.rotate(cross,-angle).vectorUp());
				lastOrientation = ccl_ent.orientation;
				lastUpAngle = currentUpAngle;
			}

			reset = 1;
			return;
		});
		absSecs = clock.absoluteSeconds;
		if(ccl_recall) this.cheyds_fcbs.push([this.cheyds_fcb,absSecs + 0xFFFFFF]);
		else {
			this.cheyds_fcbs.push([this.cheyds_fcb,absSecs + 0xFFFFFF]);
			cheyds_fcbs_ref = this.cheyds_fcbs[this.cheyds_fcbs.length - 1];
			if(this.cheyds_doAutoRemove) this.cheyds_autoRemove(1);
		}
		return;
	},
	// Check fcbs and log them. 
	fcbCheckAll: function(){
		if(!this.cheyds_fcbs.length) return(false);
		for(let i=0;i<this.cheyds_fcbs.length;i++){
			if(isValidFrameCallback(this.cheyds_fcbs[i][0])) log("fcbCheck","valid i:"+i+" fcb:"+this.cheyds_fcbs[i][0]+" typeof:"+typeof(this.cheyds_fcbs[i][0])+" lasts:"+(clock.absoluteSeconds-this.cheyds_fcbs[i][1]));
			else log("fcbCheck","invalid i:"+i);
		}
		return(true);
	},
	// Clean fcbs.
	//	all		Boolean. Clean all fcbs. 
	fcbRemove: function fcbRemove(all){
		if(!this.cheyds_fcbs.length) return(false);
		var checked=0;
		for(let i=0;i<this.cheyds_fcbs.length;i++){
			if(isValidFrameCallback(this.cheyds_fcbs[i][0])){
				if(all) removeFrameCallback(this.cheyds_fcbs[i][0]);
				else if(this.cheyds_doAutoRemove && clock.absoluteSeconds>this.cheyds_fcbs[i][1]){
					removeFrameCallback(this.cheyds_fcbs[i][0]);
					checked++;
				}
			} else checked++;
		}
		if(all || this.cheyds_fcbs.length===checked){
			this.cheyds_fcb = 0;
			this.cheyds_fcbs = [];
			this.cheyds_autoRemove();
		}
		return(true);
	}
};