public bool CanTarget(Vector3D target)
{
Vector3D
up = BSDCon.WorldMatrix.Forward,
down = BSDCon.WorldMatrix.Backward;
target = Vector3D.Normalize(Vector3D.Subtract(target, Vector3D.Add(BSDCon.GetPosition(), Vector3D.Multiply(down, 2))));
if (InterCosine(up, target) >= Math.Cos(maxAngle * (Math.PI / 180.0)))
{
return(true);
}
return(false);
}
public string DoYourJob()
{
string output = "";
if (Evaluate(out output))
{
DisownTheTurret();
return(output);
}
if (CTRL.IsUnderControl)
{
if (this.currState != State.MANUAL)
{
ChangeState(State.MANUAL);
}
if (RLDCon.Enabled == true)
{
RLDCon.Enabled = false;
}
XROT.UpperLimitDeg = float.MaxValue;
XROT.LowerLimitDeg = float.MinValue;
XROT.TargetVelocityRPM = 0;
YROT.TargetVelocityRPM = 0;
YROTA.TargetVelocityRPM = 0;
float X = CTRL == null ? 0f : CTRL.RotationIndicator.Y;
float Y = CTRL == null ? 0f : CTRL.RotationIndicator.X;
float Z = CTRL == null ? 0f : CTRL.MoveIndicator.Z;
if (Z < 0)
{
Fire(true);
}
else
{
Fire(false);
}
Move(X / 20, Y / 20);
return(output + "Manual Control");
}
else
{
if (currState.Equals(State.IDLE))
{
Move(0, 0);
return(output + "Idle");
}
else
if (currState.Equals(State.RELOAD))
{
Move(0, 0);
return(output + "Reloading...");
}
else
if (currState.Equals(State.MANUAL))
{
ChangeState(State.STOW);
return(output + "...");
}
Vector3D
target = currState.Equals(State.TRACK) ? targetCoords : Vector3D.Add(BSDCon.GetPosition(), Vector3D.Multiply(BSDCon.WorldMatrix.Forward, 100)),
me = this.CTRL.GetPosition(),
sub = CutVector(Vector3D.Normalize(Vector3D.Subtract(target, me))),
curr = Vector3D.Subtract(CutVector(DirintToVec(1)), sub);
List <NavPrompt>
prompts = new List <NavPrompt>(),
sorted = new List <NavPrompt>();
for (int i = 3; i < 7; i++)
{
prompts.Add(new NavPrompt(i, Vector3D.Subtract(CutVector(DirintToVec(i)), sub)));
}
sorted = prompts.OrderBy(o => o.vLength).ToList();
Vector2I culprit = new Vector2I(sorted[0].dirInt, sorted[1].dirInt);
if (currState.Equals(State.STOW))
{
if (this.RLDCon.Enabled == false)
{
this.RLDCon.Enabled = true;
}
if ((this.RLDCon.Status == MyShipConnectorStatus.Connectable && curr.Length() < 0.02f) || this.RLDCon.Status == MyShipConnectorStatus.Connected)
{
this.RLDCon.Connect();
if (!hasTarget)
{
ChangeState(State.IDLE);
}
else
{
ChangeState(State.RELOAD);
}
}
else
{
DoubleCTM(sorted[0].dirInt, sorted[0].vLength, sorted[1].dirInt, sorted[1].vLength);
}
return(output + "Stowing");
}
else
if (currState.Equals(State.TRACK))
{
if (this.RLDCon.Enabled == true)
{
this.RLDCon.Enabled = false;
}
if (!this.hasTarget)
{
ChangeState(State.STOW);
return("Lost Target");
}
DoubleCTM(sorted[0].dirInt, sorted[0].vLength, sorted[1].dirInt, sorted[1].vLength);
double
distance = Vector3D.Distance(target, me),
currlength = curr.Length();
if (currlength < 0.2f && distance <= 800d)
{
Fire(true);
return(output + ("Firing"));
}
else
{
Fire(false);
return(output + ("Tracking..."));
}
/**/
}
return("???");
}
}
}
public class Entry {
public Vector3D
position,
velocity;
private static Vector3D NOTHING = new Vector3D(44, 44, 44);
private const double maxSpeed = 400d;
public Entry(Vector3D position, Vector3D velocity)
{
this.position = position;
this.velocity = velocity;
}
public Entry(double px, double py, double pz, double vx, double vy, double vz) : this(new Vector3D(px, py, pz), new Vector3D(vx, vy, vz))
{
}
public Vector3D EstimatePosition()
{
return(ApplyTarSpd(position, velocity));
}
double InterCosine(Vector3D first, Vector3D second)
{
double
scalarProduct = first.X * second.X + first.Y * second.Y + first.Z * second.Z,
productOfLengths = first.Length() * second.Length();
return(scalarProduct / productOfLengths);
}
Vector3D GetProjectedPos(Vector3D enPos, Vector3D enSpeed, Vector3D myPos)
{
/// do not enter if enSpeed is a "0" vector, or if our speed is 0
Vector3D
A = enPos,
B = myPos;
double
t = enSpeed.Length() / maxSpeed, //t -> b = a*t
projPath, //b
dist = Vector3D.Distance(A, B), //c
cos = InterCosine(enSpeed, Vector3D.Subtract(myPos, enPos)),
delta = 4 * dist * dist * ((1 / (t * t)) + (cos * cos) - 1);
if (delta < 0)
{
return(NOTHING);
}
else
if (delta == 0)
{
if (t == 0)
{
return(NOTHING);
}
projPath = -1 * (2 * dist * cos) / (2 * (((t * t) - 1) / (t * t)));
}
else
{
if (t == 0)
{
return(NOTHING);
}
else
if (t == 1)
{
projPath = (dist) / (2 * cos);
}
else
{
projPath = ((2 * dist * cos - Math.Sqrt(delta)) / (2 * (((t * t) - 1) / (t * t))));
if (projPath < 0)
{
projPath = ((2 * dist * cos + Math.Sqrt(delta)) / (2 * (((t * t) - 1) / (t * t))));
}
}
}
enSpeed = Vector3D.Normalize(enSpeed);
enSpeed = Vector3D.Multiply(enSpeed, projPath);
return(Vector3D.Add(enPos, enSpeed));
}
Vector3D ApplyTarSpd(Vector3D position, Vector3D speed)
{
double
mySpeed = turret.CTRL.GetShipVelocities().LinearVelocity.Length(),
enSpeed = speed.Length(),
multiplier;
/**/
position = Vector3D.Add(position, Vector3D.Multiply(speed, Math.Sqrt(enSpeed) / 60));
/**/
if (enSpeed > 0)
{
Vector3D output = GetProjectedPos(position, speed, turret.CTRL.GetPosition());
if (!output.Equals(NOTHING))
{
return(output);
}
}
multiplier = (mySpeed != 0 && enSpeed != 0) ? (enSpeed / mySpeed) : 0;
Vector3D
addition = Vector3D.Multiply(speed, multiplier);
return(Vector3D.Add(position, addition));
}
}
public void Save()
{
Storage = hasTurret.ToString() + ";" + turIndx.ToString();
}
bool SetAEGISController()
{
/// this should be okay if there are no ships with Radar Control Script docked to the main ship
AEGIS_Controller = GridTerminalSystem.GetBlockWithName(GetFullScriptName(AEGIS_CONTROLLER_SCRIPT_NAME)) as IMyProgrammableBlock;
/// if the programmable block we picked is not from this ship, we commence the search to find it anyway
if (AEGIS_Controller != null && !IsOnThisGrid(AEGIS_Controller))
{
List <IMyProgrammableBlock> temp = new List <IMyProgrammableBlock>();
AEGIS_Controller = null;
GridTerminalSystem.GetBlocksOfType(temp);
foreach (IMyProgrammableBlock prog in temp)
{
if (IsOnThisGrid(prog) && prog.CustomName.Equals(GetFullScriptName(AEGIS_CONTROLLER_SCRIPT_NAME)))
{
AEGIS_Controller = prog; return(true);
}
}
}
/// and if we fail... welp, we can just inform the rest of the script that we can't do nothing
return(AEGIS_Controller != null);
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
MyInstance = this;
SetAEGISController();
String[] data = Storage.Split(';');
try { hasTurret = bool.Parse(data[0]); } catch (Exception e) { e.ToString(); hasTurret = false; }
try { turIndx = int.Parse(data[1]); } catch (Exception e) { e.ToString(); turIndx = 0; }
SetTurIndx(turIndx);
}
string GetFullScriptName(string ScriptName)
{
return("[" + ScriptName + "] Script");
}
void SayMyName(string ScriptName, float textSize = 2f)
{
Me.CustomName = GetFullScriptName(ScriptName);
ScriptName = "\n\n" + ScriptName;
IMyTextSurface surface = Me.GetSurface(0);
surface.Alignment = TextAlignment.CENTER;
surface.ContentType = ContentType.TEXT_AND_IMAGE;
surface.FontSize = textSize;
surface.WriteText(ScriptName);
}
void SetTurIndx(int index)
{
if (index < 1)
{
turret = new Turret();
hasTurret = false;
turIndx = 0;
Runtime.UpdateFrequency = UpdateFrequency.None;
MY_PREFIX = "UNS-AEG";
}
else
{
turIndx = index;
if (GetTheTurret())
{
hasTurret = true;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
MY_PREFIX = TURRET_BASE + index;
}
else
{
turret = new Turret();
hasTurret = false;
turIndx = 0;
Runtime.UpdateFrequency = UpdateFrequency.None;
MY_PREFIX = "UNS-AEG";
}
}
SayMyName(MY_PREFIX);
}
bool IsOnThisGrid(IMyCubeBlock one)
{
return(AreOnSameGrid(one, Me));
}
bool AreOnSameGrid(IMyCubeBlock one, IMyCubeBlock two)
{
return(one.CubeGrid.Equals(two.CubeGrid));
}
static void DisownTheTurret()
{
turret.Lockdown();
MyInstance.hasTurret = false;
MyInstance.turIndx = 0;
turret = null;
MyInstance.MY_PREFIX = "UNS-AEG";
MyInstance.Runtime.UpdateFrequency = UpdateFrequency.None;
MyInstance.SayMyName(MyInstance.MY_PREFIX);
}
void MakeInvisible(IMyTerminalBlock block)
{
block.ShowInToolbarConfig = false;
block.ShowInTerminal = false;
block.ShowInInventory = false;
block.ShowOnHUD = false;
}
bool GetTheTurret()
{
List <IMyRemoteControl> remCons = new List <IMyRemoteControl>();
List <IMyMotorStator> rots = new List <IMyMotorStator>();
List <IMySmallGatlingGun> gatGuns = new List <IMySmallGatlingGun>(), ctrlGuns;
List <IMyShipConnector> conns = new List <IMyShipConnector>();
List <IMyConveyorSorter> sorters = new List <IMyConveyorSorter>();
List <IMyCameraBlock> cameras = new List <IMyCameraBlock>();
GridTerminalSystem.GetBlocksOfType(remCons);
GridTerminalSystem.GetBlocksOfType(rots);
GridTerminalSystem.GetBlocksOfType(gatGuns);
GridTerminalSystem.GetBlocksOfType(conns);
GridTerminalSystem.GetBlocksOfType(sorters);
GridTerminalSystem.GetBlocksOfType(cameras);
string status = "";
int turNo;
turret = null;
foreach (IMyRemoteControl ctrl in remCons)
{
if (ctrl.CustomData.StartsWith(TURRET_BASE))
{
try{
turNo = int.Parse(ctrl.CustomData.Substring(TURRET_BASE.Length));
if (turNo != turIndx)
{
continue;
}
ctrl.CustomName = "[" + TURRET_BASE + turNo + "] Controller";
turret = new Turret(ctrl);
ctrlGuns = new List <IMySmallGatlingGun>();
foreach (IMySmallGatlingGun gun in gatGuns)
{
if (AreOnSameGrid(gun, ctrl))
{
ctrlGuns.Add(gun); gun.CustomName = "[" + TURRET_BASE + turNo + "] Gun"; MakeInvisible(gun);
}
}
foreach (IMyShipConnector con in conns)
{
if (AreOnSameGrid(con, ctrl))
{
turret.SetRLCon(con); con.CustomName = "[" + TURRET_BASE + turNo + "] Reload Con"; conns.Remove(con); MakeInvisible(con); break;
}
}
foreach (IMyConveyorSorter sor in sorters)
{
if (AreOnSameGrid(sor, ctrl))
{
sor.CustomName = "[" + TURRET_BASE + turNo + "] Sorter"; MakeInvisible(sor);
}
}
foreach (IMyCameraBlock cam in cameras)
{
if (AreOnSameGrid(cam, ctrl))
{
turret.SetCamera(cam); cam.CustomName = "[" + TURRET_BASE + turNo + "] Camera"; MakeInvisible(cam); break;
}
}
if (!turret.HasRLDCon())
{
status += "\n102:The turret does not have a reload connector: " + turNo;
}
if (ctrlGuns.Count > 0)
{
turret.AddWeapon(ctrlGuns);
}
else
{
status += "\n105:There is a turret without weaponry on it: " + turNo;
}
}
catch (Exception e) {
e.ToString();
status += "\n109:There was a parsing error: \"" + ctrl.CustomData.Substring(TURRET_BASE.Length) + "\"";
status += "\n" + e.StackTrace;
}
}
}
if (turret == null)
{
status += "\n115:The turret was not found.";
Me.CustomData = status; return(false);
}
else
{
foreach (IMyMotorStator rot in rots)
{
if (rot.CustomData.Length <= 0)
{
continue;
}
string[] data = rot.CustomData.ToUpper().Split(';');
if (data.Length < 2)
{
try {
turNo = int.Parse(rot.CustomData.Substring(TURRET_BASE.Length));
if (turNo != turIndx)
{
continue;
}
}
catch (Exception e) {
e.ToString();
status += "\n127:There was a parsing error: \"" + rot.CustomData.Substring(TURRET_BASE.Length) + "\"";
continue;
}
status += "\n130:There is no rotor definition for a rotor: " + turNo;
}
else
{
try {
turNo = int.Parse(data[0].Substring(TURRET_BASE.Length));
}
catch (Exception e) {
e.ToString();
status += "\n138:There was a parsing error: \"" + data[0].Substring(TURRET_BASE.Length) + "\"";
continue;
}
if (turNo != turIndx)
{
continue;
}
if (data[1].ToUpper().Equals("XROT"))
{
if (!turret.HasXROT())
{
turret.SetXROT(rot);
rot.CustomName = "[" + TURRET_BASE + turNo + "] XROT";
}
else
{
status += "\n148:There is a double-XROT situation going on: " + turNo;
}
}
else
if (data[1].ToUpper().Equals("YROT"))
{
if (!turret.HasYROT())
{
turret.SetYROT(rot);
rot.CustomName = "[" + TURRET_BASE + turNo + "] YROT";
if (!turret.HasBSCon())
{
foreach (IMyShipConnector con in conns)
{
if (AreOnSameGrid(rot, con))
{
turret.SetBSCon(con); con.CustomName = "[" + TURRET_BASE + turNo + "] Base Con"; break;
}
}
}
}
else
{
status += "\n157:There is a double-YROT situation going on: " + turNo;
}
}
else
if (data[1].ToUpper().Equals("YROTA"))
{
if (!turret.HasYROTA())
{
turret.SetYROTA(rot);
rot.CustomName = "[" + TURRET_BASE + turNo + "] YROTA";
if (!turret.HasBSCon())
{
foreach (IMyShipConnector con in conns)
{
if (AreOnSameGrid(rot, con))
{
turret.SetBSCon(con); con.CustomName = "[" + TURRET_BASE + turNo + "] Base Con"; break;
}
}
}
}
else
{
status += "\n166:There is a double-YROTA situation going on: " + turNo;
}
}
else
{
status += "\n167:There is an incomprehensible definition for a rotor: " + data[1];
}
}
}
}
//Echo(status);
if (status.Length > 0)
{
Me.CustomData = status;
}
return(true);
}
public void Output(object input)
{
string message = input is string?(string)input : input.ToString();
message = turIndx + ";" + message + "\n";
if (AEGIS_Controller != null || SetAEGISController())
{
AEGIS_Controller.CustomData += message;
}
else
{
Echo("UnU");
}
}
int TimeNo = 0;
public void Main(string argument, UpdateType updateSource)
{
/**/
if ((updateSource & (UpdateType.Script | UpdateType.Terminal | UpdateType.Trigger)) > 0)
{
string[] args = argument.ToLower().Split(' ');
if (args.Length > 0)
{
int turId;
double px, py, pz /**/, sx, sy, sz /**/;
switch (args[0])
{
case "tar":
if (turret == null || !hasTurret)
{
return;
}
if (args.Length > 3)
{
if (Double.TryParse(args[1], out px) && Double.TryParse(args[2], out py) && Double.TryParse(args[3], out pz))
{
Vector3D vec = new Vector3D(px, py, pz);
turret.TrySetTarget(vec);
turret.RLDCon.CustomData = turret.CanTarget(vec).ToString();
}
else
{
turret.ChangeState(Turret.State.STOW);
}
}
else
{
turret.ChangeState(Turret.State.STOW);
}
break;
case "assign":
case "set":
if (args.Length > 1)
{
if (int.TryParse(args[1], out turId))
{
Echo("Attempting to set Turret " + turId);
SetTurIndx(turId);
}
else
{
Echo("Failed to parse index.");
}
}
break;
case "reg": // "you have been provided a fresh data package"
/**/
if (turret == null || !hasTurret)
{
return;
}
string[]
registry = Me.CustomData.Split('\n'),
row;
Vector3D target;
for (int i = 0; i < registry.Length; i++)
{
row = registry[i].Split(';');
int ind = 0;
if (row.Length > 5 &&
double.TryParse(row[ind++], out px) &&
double.TryParse(row[ind++], out py) &&
double.TryParse(row[ind++], out pz) &&
double.TryParse(row[ind++], out sx) &&
double.TryParse(row[ind++], out sy) &&
double.TryParse(row[ind++], out sz))
{
/// dividing by 10, because the fire control provides data multiplied by 10 to aleviate the influence of the number limits on the accuracy of the data
/// (that is, it ommits the dots in the data provided and multiplies by 10)
target = new Entry(new Vector3D(px / 10, py / 10, pz / 10), new Vector3D(sx / 10, sy / 10, sz / 10)).EstimatePosition();
if (turret.TrySetTarget(target))
{
return;
}
}
}
turret.ClearTarget();
/**/
break;
default:
Echo("Command unknown");
break;
}
}
}
else
{
if (hasTurret && turret != null && TimeNo++ >= 600)
{
TimeNo = 0;
turret.PerformSelfDiagnostic();
}
if (hasTurret && turret != null)
{
string output = turret.DoYourJob();
Output(output);
}
}
/**/
}
}
}
/// 24 (longest string in 'Status') 6 + 18
///
public string DoYourJob()
{
string output;
if (Evaluate(out output))
{
return(output);
}
if (CTRL.IsUnderControl)
{
if (this.currState != State.MANUAL)
{
ChangeState(State.MANUAL);
}
if (RLDCon.Enabled == true)
{
RLDCon.Enabled = false;
}
XROT.UpperLimitDeg = float.MaxValue;
XROT.LowerLimitDeg = float.MinValue;
XROT.TargetVelocityRPM = 0;
YROT.TargetVelocityRPM = 0;
YROTA.TargetVelocityRPM = 0;
float X = CTRL == null ? 0f : CTRL.RotationIndicator.Y;
float Y = CTRL == null ? 0f : CTRL.RotationIndicator.X;
float Z = CTRL == null ? 0f : CTRL.MoveIndicator.Z;
if (Z < 0)
{
Fire(true);
}
else
{
Fire(false);
}
Move(X / 25, Y / 25);
return(output + "Manual Control");
}
else
{
if (currState.Equals(State.IDLE))
{
Move(0, 0);
return(output + "Idle");
}
else
if (currState.Equals(State.RELOAD))
{
Move(0, 0);
return(output + "Reloading...");
}
else
if (currState.Equals(State.MANUAL))
{
ChangeState(State.STOW);
return(output + "...");
}
Vector3D
target = currState.Equals(State.TRACK)? targetCoords : Vector3D.Add(BSDCon.GetPosition(), Vector3D.Multiply(BSDCon.WorldMatrix.Forward, 100)),
me = this.CTRL.GetPosition(),
sub = CutVector(Vector3D.Normalize(Vector3D.Subtract(target, me))),
curr = Vector3D.Subtract(CutVector(DirintToVec(1)), sub);
List <NavPrompt>
prompts = new List <NavPrompt>(),
sorted = new List <NavPrompt>();
/**/
for (int i = 3; i < 7; i++)
{
prompts.Add(new NavPrompt(i, Vector3D.Subtract(CutVector(DirintToVec(i)), sub)));
}
sorted = prompts.OrderBy(o => o.vLength).ToList();
Vector2I culprit = new Vector2I(sorted[0].dirInt, sorted[1].dirInt);
/**/
//// Old Culprit System Below
/**
* int culprit;
*
* for (int i = 1; i < 7; i++)
* prompts.Add(new NavPrompt(i, Vector3D.Subtract(CutVector(DirintToVec(i)), sub)));
* sorted = prompts.OrderBy(o => o.vLength).ToList();
*
* for (culprit = 0; culprit < 3; culprit++) {
* if (sorted[culprit].dirInt != 1 && sorted[culprit].dirInt != 2) {
* if(culprit==1 && (sorted[culprit].dirInt==5 || sorted[culprit].dirInt == 6)) {
* if (!AreQuiteSame(prompts[2].vLength, prompts[3].vLength)) {culprit=2;}
* }
* break;
* }
* }
* culprit = sorted[culprit].dirInt;
* /**/
if (currState.Equals(State.STOW))
{
if (this.RLDCon.Enabled == false)
{
this.RLDCon.Enabled = true;
}
if ((this.RLDCon.Status == MyShipConnectorStatus.Connectable && curr.Length() < 0.02f) || this.RLDCon.Status == MyShipConnectorStatus.Connected)
{
this.RLDCon.Connect();
if (!hasTarget)
{
ChangeState(State.IDLE);
}
else
{
ChangeState(State.RELOAD);
}
}
else
{
//Move(CulpritToMove(culprit,(float)curr.Length()));
DoubleCTM(sorted[0].dirInt, sorted[0].vLength, sorted[1].dirInt, sorted[1].vLength);
}
return(output + "Stowing");
}
else
if (currState.Equals(State.TRACK))
{
if (this.RLDCon.Enabled == true)
{
this.RLDCon.Enabled = false;
}
if (!this.hasTarget)
{
ChangeState(State.STOW);
return("Lost Target");
}
//Move(CulpritToMove(culprit, (float)(curr.Length())));
DoubleCTM(sorted[0].dirInt, sorted[0].vLength, sorted[1].dirInt, sorted[1].vLength);
/**/
if (curr.Length() < 0.1f && Vector3D.Subtract(target, me).Length() <= 800)
{
Fire(true);
return(output + ("Firing"));
}
else
{
Fire(false);
return(output + ("Tracking..."));
}
/**/
}
return("???");
}
}