// Start is called before the first frame update
void Start()
{
body = GetComponent <Rigidbody>();
navigator = GetComponent <PathNavigator>();
autopilot = GetComponent <Autopilot>();
vehicle = GetComponent <Vehicle>();
workers = new List <IWorker>();
int[] inputShape = null;
for (int i = 0; i < 5; i++)
{
var model = ModelLoader.LoadFromStreamingAssets(modelName + i + ".nn");
workers.Add(WorkerFactory.CreateWorker(WorkerFactory.Type.CSharpBurst, model));
inputShape = model.inputs[0].shape;
}
classificationWorker = WorkerFactory.CreateWorker(WorkerFactory.Type.CSharpBurst, ModelLoader.LoadFromStreamingAssets(modelName + "C" + ".nn"));
numObservations = (inputShape.Last() - 1) / 3;
inputs = new Tensor(new TensorShape(inputShape));
estimations = new List <float>();
curvature = new float[numObservations];
camber = new float[numObservations];
inclination = new float[numObservations];
rearLeft = vehicle.wheels.Where(w => w.localAttachmentPosition.z < 0).Where(w => w.localAttachmentPosition.x < 0).ToArray();
rearRight = vehicle.wheels.Where(w => w.localAttachmentPosition.z < 0).Where(w => w.localAttachmentPosition.x > 0).ToArray();
}
public static void CargobobMagnet()
{
var player = API.GetPlayerPed(-1);
if (API.IsPedInAnyHeli(player))
{
var heli = API.GetVehiclePedIsIn(player, false);
var pilot = API.GetPedInVehicleSeat(heli, -1);
if (pilot != player && !Autopilot.IsOwnedAutopilot(pilot))
{
Common.Notification("Player is not the pilot of this heli");
return;
}
if (API.IsCargobobMagnetActive(heli))
{
API.SetCargobobPickupMagnetActive(heli, false);
API.RetractCargobobHook(heli);
}
else
{
API.EnableCargobobHook(heli, 1);
API.SetCargobobPickupMagnetActive(heli, true);
}
}
else
{
Common.Notification("Player is not in a heli");
}
}
public static AI CreateAI(AIParameters parameters, Spaceship spaceship, Autopilot autopilot, Spaceship mother)
{
if (parameters.AIType == AIType.Player)
{
return(null);
}
else if (parameters.AIType == AIType.PassiveAI)
{
return(new PassiveAI(spaceship, autopilot));
}
else if (parameters.AIType == AIType.SimpleAI)
{
return(new SimpleAI(parameters, spaceship, autopilot));
}
else if (parameters.AIType == AIType.DroneAI)
{
return(new DroneAI(parameters, spaceship, autopilot, mother));
}
else if (parameters.AIType == AIType.TurretAI)
{
return(new TurretAI(parameters, spaceship, autopilot));
}
else
{
return(null);
}
}
public SimpleAI(AIParameters parameters, Spaceship spaceship, Autopilot autopilot) : base(spaceship, autopilot)
{
Home = spaceship.Position;
AgroDistance = Helpers.ParseFloat(parameters.Param1);
DeagroDistance = Helpers.ParseFloat(parameters.Param2);
DeagroTime = Helpers.ParseFloat(parameters.Param3);
}
private JoystickOutput GetJoystickInput(long totalTicks)
{
// Get user joystick input or autopilot input based on previous state
#if XBOX
if (IsPlayerControlled)
{
return(GetUserInput());
}
#else
if (_useJoystick && IsPlayerControlled)
{
return(GetUserInput());
}
#endif
// Hover if button is pressed
if (Keyboard.GetState().IsKeyDown(Keys.H))
{
return(Autopilot.GetHoverOutput(AutopilotAwareState, totalTicks, out _controlGoal));
}
// Use assisted autopilot if enabled in settings to control joystick output
if (_scenario.AssistedAutopilot)
{
return(Autopilot.GetAssistedOutput(GetUserInput(), AutopilotAwareState, totalTicks, out _controlGoal));
}
// Use autopilot to control joystick output
return(Autopilot.GetOutput(AutopilotAwareState, totalTicks, out _controlGoal));
}
public static void TeleportToClosestVehicle(bool forcePassenger = false)
{
var vehicles = Vehicles.Get();
if (Common.GetClosestEntity(vehicles, out int vehicle))
{
if (Vehicles.GetFreeSeat(vehicle, out int seat, forcePassenger))
{
var player = API.GetPlayerPed(-1);
API.SetPedIntoVehicle(player, vehicle, seat);
}
else
{
if (!forcePassenger)
{
var driver = API.GetPedInVehicleSeat(vehicle, -1);
if (Autopilot.IsOwnedAutopilot(driver))
{
API.DeletePed(ref driver);
var player = API.GetPlayerPed(-1);
API.SetPedIntoVehicle(player, vehicle, -1);
return;
}
}
Common.Notification("Closest vehicle doesn't have a free seat");
}
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.None;
try
{
api = new WcPbApi();
api.Activate(Me);
debugPanels = new Dictionary <string, DebugPanel>();
InitDebugPanels();
DebugPanel debugLog = DebugPanelByName("log");
debugLog.Title = "Debug Log";
// The remote control block is the forward reference for this grid. I should probably change this to something else....
remoteControlBlock = GridTerminalSystem.GetBlockWithName("Remote Control") as IMyRemoteControl;
situationalAwareness = new SituationalAwareness(api, Me, AccelerationFilterCoeff, DebugPanelByName("sitcon"), DebugPanelByName("track"));
navigationSystems = new NavigationSystems(GridTerminalSystem, remoteControlBlock);
motionController = new Autopilot(navigationSystems, DebugPanelByName("heading"), DebugPanelByName("thrust"));
currentTime = 0;
}
catch (Exception e)
{
Echo($"*** Caught exception {e.Message}\n{e.StackTrace}");
}
}
public Controller(DroneClient client, AnalyzerOutput output, Config configuration, IoTHubController hubController)
{
analyzer = output;
analyzer.PropertyChanged += Analyzer_PropertyChanged;
droneClient = client;
this.hubController = hubController;
autoPilot = new Autopilot(client);
config = configuration;
}
public void CreatePlayerParty()
{
Debug.Log("Creating player party");
//create MacroAIParty for player
PlayerParty = GameManager.Inst.NPCManager.MacroAI.GeneratePlayerParty();
PlayerAutopilot = PlayerShip.GetComponent <Autopilot>();
PlayerAutopilot.Initialize(PlayerParty, GameManager.Inst.NPCManager.AllFactions["player"]);
Debug.Log("Creating player party DONE");
}
public DroneAI(AIParameters parameters, Spaceship spaceship, Autopilot autopilot, Spaceship mother) : base(spaceship, autopilot)
{
Mother = mother;
AgroDistance = Helpers.ParseFloat(parameters.Param1);
DeagroDistance = Helpers.ParseFloat(parameters.Param2);
DeagroTime = Helpers.ParseFloat(parameters.Param3);
OrbitAngle = 0f;
}
public ShipBase SpawnPlayerShip(Loadout loadout, string factionID, MacroAIParty party)
{
ShipBase ship = GameManager.Inst.PlayerControl.PlayerShip;
BuildShip(ship, loadout, factionID, party);
Autopilot pilot = GameManager.Inst.PlayerControl.PlayerAutopilot;
pilot.AvoidanceDetector = ship.MyReference.AvoidanceDetector;
pilot.AvoidanceDetector.ParentShip = ship;
//load weapons
foreach (WeaponJoint joint in ship.MyReference.WeaponJoints)
{
joint.ParentShip = ship;
foreach (KeyValuePair <string, InvItemData> jointSetup in loadout.WeaponJoints)
{
if (jointSetup.Key == joint.JointID && jointSetup.Value != null)
{
joint.LoadWeapon(jointSetup.Value);
}
}
}
for (int i = 0; i < loadout.Defensives.Count; i++)
{
if (loadout.Defensives[i] != null && loadout.Defensives[i].Item.GetStringAttribute("Defensive Type") == "Countermeasure")
{
CMDispenser dispenser = new CMDispenser();
dispenser.ParentShip = ship;
dispenser.AmmoID = loadout.Defensives[i].RelatedItemID;
dispenser.Type = DefensiveType.Countermeasure;
ship.MyReference.Defensives.Add(dispenser);
}
}
//load ammo bay
ship.Storage.AmmoBayItems = new Dictionary <string, InvItemData>();
foreach (InvItemData item in loadout.AmmoBayItems)
{
ship.Storage.AmmoBayItems.Add(item.Item.ID, item);
}
ship.Storage.CargoBayItems = new List <InvItemData>();
foreach (InvItemData item in loadout.CargoBayItems)
{
ship.Storage.CargoBayItems.Add(item);
}
//In$8177BB
//load power management setting
ship.CurrentPowerMgmtButton = loadout.CurrentPowerMgmtButton;
return(ship);
}
public void Reset(TimeSpan totalGameTime, HelicopterScenario scenario, NavigationMap heightmap)
{
Console.WriteLine(@"Resetting helicopter.");
_scenario = scenario;
// TODO We would rather want to do Autopilot.Reset() than this fugly code
Autopilot.IsAtDestination = false;
Autopilot = Autopilot.Clone();
Autopilot.Task = scenario.Task.Clone();
Autopilot.Map = heightmap;
Vector3 startPosition = scenario.StartPosition;
Vector3 startVelocity = Vector3.Zero;
Vector3 startAcceleration = Vector3.Zero;
Quaternion startOrientation = Quaternion.Identity;
if (Task.HoldHeightAboveGround > 0)
{
startPosition.Y = Autopilot.Map.GetAltitude(VectorHelper.ToHorizontal(startPosition)) + Task.HoldHeightAboveGround;
}
var startPhysicalState = new PhysicalHeliState(
startOrientation, startPosition, startVelocity, startAcceleration);
var initialState = new SimulationStepResults(startPhysicalState, totalGameTime);
_physicalState = startPhysicalState;
// Re-create the state provider when resetting because some sensors will have to re-initialize.
_physics = new HeliPhysics(_collision, UseTerrainCollision);
_sensors = new SensorModel(_sensorSpecifications, Autopilot.Map, startPosition, startOrientation);
_perfectStateProvider = new PerfectState();
_estimatedStateProvider = new SensorEstimatedState(_sensors, startPhysicalState);
// Wait for state to become stable.
// while (!_perfectStateProvider.Ready)
// {
// TODO GPS will require N seconds of startup time
// _perfectStateProvider.Update(initialState, 0, 0, new JoystickOutput());
// Sensors.Update(initialState, new JoystickOutput());
// Thread.Sleep(100);
// }
// When resetting, use perfect state as starting point.
// TODO It should not be necessary to create this waypoint since it should never be used for navigation! Delete if safe.
// Use start position and start orientation instead.
const float defaultWaypointRadius = 5;
var startWaypoint = new Waypoint(startPosition, 0, WaypointType.Intermediate, defaultWaypointRadius);
_trueState = StateHelper.ToHeliState(startPhysicalState, GetHeightAboveGround(startPhysicalState.Position), startWaypoint, new JoystickOutput());
_estimatedState = _trueState;
Log.Clear();
}
// Make sure '_autopilot' variable is initialized with an object
private void InitializeAutopilot()
{
if (_autopilot != null)
{
return;
}
_autopilot = new Autopilot(_droneClient);
_autopilot.OnOutOfObjectives += Autopilot_OnOutOfObjectives;
}
private void Awake()
{
autopilot = GetComponent <Autopilot>();
navigator = GetComponent <PathNavigator>();
pathObservations = GetComponent <PathObservations>();
logToConsole = false;
lastUndersteerError = 0f;
navigator.Reset();
CreateProfile();
}
public void TestElementWithParams()
{
var elem = new Autopilot("name");
Assert.AreEqual(
"<?xml version=\"1.0\" encoding=\"utf-8\"?>" + Environment.NewLine +
"<Autopilot>name</Autopilot>",
elem.ToString()
);
}
public void TestEmptyElement()
{
var elem = new Autopilot();
Assert.AreEqual(
"<?xml version=\"1.0\" encoding=\"utf-8\"?>" + Environment.NewLine +
"<Autopilot></Autopilot>",
elem.ToString()
);
}
public static int[] SetSwitches(Ruta ruta, Autopilot autopilot,int screen, bool cam)
{
byte sw = (byte)(screen & 0x3);
sw |= (byte)(((int)autopilot) << 2);
sw |= (byte)(((int)ruta) << 4);
if (!cam)
sw |= 0x40;
return build_packet((byte)REGS.Switches, new byte[] { sw });
}
public MiningRoutines(MyIni ini, CommandLine cmd, Autopilot ap, ISaveManager manager)
{
this.ap = ap;
var keys = new List <MyIniKey>();
ini.GetKeys("mining-routine", keys);
keys.ForEach(k => this.miningRoutes[k.Name] = ini.Get(k).ToInt32());
cmd.RegisterCommand(new Command("mine-recall", Command.Wrap(this._recall), "Goes to the given mining position", nArgs: 1));
cmd.RegisterCommand(new Command("mine-save", Command.Wrap(this._savePos), "Saves the current mining position", nArgs: 1));
manager.AddOnSave(_save);
}
void Start()
{
Go.defaultEaseType = GoEaseType.CircIn;
score = GameObject.Find("Score").GetComponent <Score>();
spawner = GameObject.Find("Asteroid Spawner").GetComponent <AsteroidSpawner>();
canvas = GameObject.Find("Canvas").GetComponent <Canvas>();
autopilot = GameObject.Find("Autopilot").GetComponent <Autopilot>();
welcomeText = GameObject.Find("WelcomeText").GetComponent <Text>();
autopilot.enabled = false;
}
public void TestElementWithTextNode()
{
var elem = new Autopilot();
elem.AddText("Here is the content");
Assert.AreEqual(
"<?xml version=\"1.0\" encoding=\"utf-8\"?>" + Environment.NewLine +
"<Autopilot>Here is the content</Autopilot>",
elem.ToString()
);
}
// Make sure '_autopilot' variable is initialized with an object
private void CreateAutopilot()
{
if (_autopilot != null)
{
return;
}
_autopilot = new Autopilot(_droneClient);
_autopilot.OnOutOfObjectives += Autopilot_OnOutOfObjectives;
_autopilot.BindToClient();
_autopilot.Start();
}
public override void Update(Dictionary <int, RadarProfile> radarProfiles)
{
int closestEnemyUID = Omniscience.NULL_UID;
float closestEnemyDistance = float.MaxValue;
foreach (RadarProfile radarProfile in radarProfiles.Values)
{
if (radarProfile.Team != Spaceship.Team)
{
float distance = (Spaceship.Position - radarProfile.Position).magnitude;
if (distance < closestEnemyDistance)
{
closestEnemyUID = radarProfile.UID;
closestEnemyDistance = distance;
}
}
}
if (closestEnemyDistance < AgroDistance)
{
Aggroed = true;
AggroCountdown = DeagroTime;
}
else if (Aggroed == true && closestEnemyDistance > DeagroDistance)
{
AggroCountdown -= Time.deltaTime;
if (AggroCountdown <= 0f)
{
Aggroed = false;
}
}
if (Aggroed & closestEnemyUID != Omniscience.NULL_UID)
{
Autopilot.SetTarget(radarProfiles[closestEnemyUID].Position, AutopilotBehaviour.Seek);
Spaceship.SelectTarget(closestEnemyUID);
Spaceship.QueueAttack(1);
}
else
{
Spaceship.DropTarget();
if (Mother == null)
{
Autopilot.Halt();
}
else
{
OrbitAngle += ORBIT_ANGULAR_SPEED * Time.deltaTime;
Vector2 displacement = ORBIT_DISTANCE * (Quaternion.Euler(0, 0, OrbitAngle) * Vector2.right);
Autopilot.SetTarget(Mother.Position + displacement, AutopilotBehaviour.Seek);
}
}
}
protected override void OnCreate(Bundle savedInstanceState)
{
Autopilot.AutomaticTakeOff(this.ApplicationContext);
TabLayoutResource = Resource.Layout.Tabbar;
ToolbarResource = Resource.Layout.Toolbar;
base.OnCreate(savedInstanceState);
Xamarin.Essentials.Platform.Init(this, savedInstanceState);
global::Xamarin.Forms.Forms.Init(this, savedInstanceState);
LoadApplication(new App());
}
public void TestElementWithExtraAttributes()
{
var elem = new Autopilot();
elem.SetOption("newParam1", "value");
elem.SetOption("newParam2", 1);
Assert.AreEqual(
"<?xml version=\"1.0\" encoding=\"utf-8\"?>" + Environment.NewLine +
"<Autopilot newParam1=\"value\" newParam2=\"1\"></Autopilot>",
elem.ToString()
);
}
public Spaceship(IMyGridTerminalSystem system, IMyIntergridCommunicationSystem igc)
{
this.system = system;
this.igc = igc;
cpu = FindRunningPB(system);
control = FindBlockOfType <IMyRemoteControl>(system, this, Settings.TAG);
connector = FindBlockOfType <IMyShipConnector>(system, this, Settings.TAG);
debug = FindBlockOfType <IMyTextPanel>(system, this, Settings.TAG);
if (debug == null)
{
IMyCockpit cockpit = FindBlockOfType <IMyCockpit>(system, this, Settings.TAG);
if (cockpit.SurfaceCount > 0)
{
debug = cockpit.GetSurface(0);
}
}
debug.Font = "Monospace";
debug.ContentType = ContentType.TEXT_AND_IMAGE;
/*
* screen = cockpit.GetSurface(0);
* screen.ContentType = ContentType.SCRIPT;
* MySpriteDrawFrame frame = screen.DrawFrame();
*
*
* frame.Add(new MySprite(SpriteType.TEXTURE, "SquareSimple", new Vector2(0, 0), new Vector2(512, 512), Color.Black));
* frame.Add(MySprite.CreateText("Ftiaxe Me!!!", "DEBUG", Color.White));
* frame.Dispose();
*/
listener = igc.RegisterBroadcastListener(Settings.COMM_CHANNEL);
listener = igc.RegisterBroadcastListener(Settings.COMM_CHANNEL);
listener.SetMessageCallback(Settings.COMM_CHANNEL);
thrusters = new ThrustersManager(this, control, system);
autopilot = new Autopilot(this, control, FindBlockOfType <IMyGyro>(system, this));
cas = new CollisionAvoidanceSystem(this);
fd = new FlightDirector(this);
if (connector.Status == MyShipConnectorStatus.Connected)
{
flags = SpaceshipFlags.Dock;
}
else
{
flags = SpaceshipFlags.Idle;
}
}
private static void AbortAutopilot(Autopilot ____autopilot, ref Vector3 __result)
{
if (____autopilot.IsFlyingToDestination() && __result.magnitude > 0.1f)
{
____autopilot.Abort();
}
if (lowSpeedMode)
{
__result.x = Mathf.Clamp(__result.x, -lowSpeedMax, lowSpeedMax);
__result.y = Mathf.Clamp(__result.y, -lowSpeedMax, lowSpeedMax);
__result.z = Mathf.Clamp(__result.z, -lowSpeedMax, lowSpeedMax);
}
}
public override void OnInspectorGUI()
{
Autopilot a = (Autopilot)target;
if (DrawDefaultInspector())
{
if (a.Chadburn != lastChadburn)
{
a.Chadburn = a.Chadburn; // Triggers the property setter
}
}
lastChadburn = a.Chadburn;
}
public static int[] SetSwitches(Ruta ruta, Autopilot autopilot, int screen, bool cam)
{
byte sw = (byte)(screen & 0x3);
sw |= (byte)(((int)autopilot) << 2);
sw |= (byte)(((int)ruta) << 4);
if (!cam)
{
sw |= 0x40;
}
return(build_packet((byte)REGS.Switches, new byte[] { sw }));
}
public void TestAllowGenericChildNodes()
{
var elem = new Autopilot();
elem.AddChild("generic-tag").AddText("Content").SetOption("tag", true);
Assert.AreEqual(
"<?xml version=\"1.0\" encoding=\"utf-8\"?>" + Environment.NewLine +
"<Autopilot>" + Environment.NewLine +
" <generic-tag tag=\"True\">Content</generic-tag>" + Environment.NewLine +
"</Autopilot>",
elem.ToString()
);
}
public void TestMixedContent()
{
var elem = new Autopilot();
elem.AddText("before")
.AddChild("Child").AddText("content");
elem.AddText("after");
Assert.AreEqual(
"<?xml version=\"1.0\" encoding=\"utf-8\"?>" + Environment.NewLine +
"<Autopilot>before<Child>content</Child>after</Autopilot>",
elem.ToString()
);
}
public void Initialize
(
Liscense liscense,
AIParameters aiParameters,
Dictionary <FlotsamType, int> lootDrops,
Hull hull,
Engine engine,
Reactor reactor,
ShieldGenerator shieldGenerator,
LifeSupport lifeSupport,
Weapon[] weapons
)
{
Hull = hull;
Engine = engine;
Reactor = reactor;
ShieldGenerator = shieldGenerator;
LifeSupport = lifeSupport;
Weapons = weapons;
WeaponInputs = new bool[Weapons.Length];
base.Initialize
(
thrustForce: Engine.ThrustForceMultiplier * Mathf.PI * Mathf.Pow(Hull.Size, 2),
turnForce: Engine.TurnForceMultiplier * Mathf.PI * Mathf.Pow(Hull.Size, 2),
maximumSpeed: Engine.MaximumSpeed,
mass: Hull.Mass
);
transform.localScale = new Vector2(Hull.Size, Hull.Size);
Liscense = liscense;
SelectedWeapon = 0;
ShowFDN = (Team != 0);
Immunities = new List <AttackImmunityRecord>();
Autopilot = new FastAutopilot(this);
AI = AI.CreateAI(aiParameters, this, Autopilot, Liscense.Mother);
LootDrops = lootDrops;
Credits = 0f;
Scrap = Hull.HullSpace;
Bullets = 0;
Rockets = 0;
Mines = 0;
Drones = 0;
Turrets = 0;
ModelSpecificInitialization();
}
void Start()
{
Go.defaultEaseType = GoEaseType.CircIn;
score = GameObject.Find("Score").GetComponent<Score>();
spawner = GameObject.Find("Asteroid Spawner").GetComponent<AsteroidSpawner>();
canvas = GameObject.Find("Canvas").GetComponent<Canvas>();
autopilot = GameObject.Find("Autopilot").GetComponent<Autopilot>();
welcomeText = GameObject.Find("WelcomeText").GetComponent<Text>();
autopilot.enabled = false;
}
