public override void Move()
{
Log.DebugLog("m_gridFinder == null", Logger.severity.FATAL, condition: m_gridFinder == null);
Log.DebugLog("m_navSet == null", Logger.severity.FATAL, condition: m_navSet == null);
Log.DebugLog("m_mover == null", Logger.severity.FATAL, condition: m_mover == null);
Log.DebugLog("m_navBlock == null", Logger.severity.FATAL, condition: m_navBlock == null);
m_gridFinder.Update();
if (m_gridFinder.Grid == null)
{
Log.DebugLog("searching");
m_mover.StopMove();
// only timeout if (Grid == null), ship could simply be waiting its turn
if (Globals.ElapsedTime > m_searchTimeoutAt)
{
Log.DebugLog("Search timed out", Logger.severity.INFO);
m_navSet.OnTaskComplete(m_settingLevel);
UnreserveTarget();
m_mover.StopMove();
m_mover.StopRotate();
return;
}
if (m_landingState > LandingState.Approach)
{
Log.DebugLog("Decreasing landing state from " + m_landingState + " to " + LandingState.Approach, Logger.severity.DEBUG);
m_landingState = LandingState.Approach;
}
return;
}
else
{
m_searchTimeoutAt = Globals.ElapsedTime + SearchTimeout;
if (!m_gridFinder.Grid.isRecent())
{
m_pathfinder.MoveTo(m_gridFinder.Grid);
return;
}
if (m_gridFinder.Block != null)
{
m_destination = Destination.FromWorld(m_gridFinder.Block, m_navSet.Settings_Current.DestinationOffset.ToWorld(m_gridFinder.Block));
}
else
{
IMyCubeGrid grid = (IMyCubeGrid)m_gridFinder.Grid.Entity;
CubeGridCache cache = CubeGridCache.GetFor(grid);
if (cache == null)
{
return;
}
m_previousCell = cache.GetClosestOccupiedCell(m_navBlock.WorldPosition, m_previousCell);
m_destination = Destination.FromWorld(grid, grid.GridIntegerToWorld(m_previousCell));
}
if (m_landingState > LandingState.Approach)
{
Move_Land();
return;
}
if (m_landingState == LandingState.None && m_navSet.Settings_Current.Stay_In_Formation)
{
Log.DebugLog("Maintaining offset position from target", condition: m_navSet.DistanceLessThanDestRadius());
m_pathfinder.MoveTo(destinations: m_destination);
return;
}
if (m_navSet.DistanceLessThanDestRadius())
{
if (m_landingState == LandingState.None)
{
if (m_targetBlock != null && m_targetBlock.Forward.HasValue ? m_navSet.DirectionMatched() : m_navBlock.Physics.AngularVelocity.LengthSquared() < 0.01f)
{
Log.DebugLog("Arrived at target", Logger.severity.INFO);
m_navSet.OnTaskComplete(m_settingLevel);
UnreserveTarget();
m_mover.StopRotate();
}
m_mover.StopMove();
return;
}
Move_Land();
return;
}
m_pathfinder.MoveTo(destinations: m_destination);
}
}
private void Move_Grind()
{
if (m_stage < Stage.Grind)
{
Log.DebugLog("Now grinding", Logger.severity.DEBUG);
//m_navSet.OnTaskComplete_NavMove();
m_stage = Stage.Grind;
//m_navSet.Settings_Task_NavMove.PathfinderCanChangeCourse = false;
EnableGrinders(true);
}
CubeGridCache cache = CubeGridCache.GetFor(m_enemy);
if (cache == null)
{
return;
}
m_previousCell = cache.GetClosestOccupiedCell(m_controlBlock.CubeGrid.GetCentre(), m_previousCell);
IMySlimBlock block = m_enemy.GetCubeBlock(m_previousCell);
if (block == null)
{
Log.DebugLog("No block found at cell position: " + m_previousCell, Logger.severity.INFO);
return;
}
//Log.DebugLog("block: " + block);
m_targetPosition = m_enemy.GridIntegerToWorld(m_enemy.GetCubeBlock(m_previousCell).Position);
//Log.DebugLog("cellPosition: " + m_previousCell + ", block: " + m_enemy.GetCubeBlock(m_previousCell) + ", world: " + m_targetPosition);
if (m_navSet.Settings_Current.DistanceAngle > MaxAngleRotate)
{
if (m_pathfinder.RotateCheck.ObstructingEntity != null)
{
Log.DebugLog("Extricating ship from target");
m_navSet.Settings_Task_NavMove.SpeedMaxRelative = float.MaxValue;
Destination dest = Destination.FromWorld(m_enemy, m_targetPosition + m_navGrind.WorldMatrix.Backward * 100f);
m_pathfinder.MoveTo(destinations: dest);
}
else
{
Log.DebugLog("Waiting for angle to match");
m_pathfinder.HoldPosition(m_enemy);
}
return;
}
Vector3D grindPosition = m_navGrind.WorldPosition;
float distSq = (float)Vector3D.DistanceSquared(m_targetPosition, grindPosition);
float offset = m_grinderOffset + m_enemy.GridSize;
float offsetEpsilon = offset + 5f;
if (distSq > offsetEpsilon * offsetEpsilon)
{
Vector3D targetToGrinder = grindPosition - m_targetPosition;
targetToGrinder.Normalize();
//Log.DebugLog("far away(" + distSq + "), moving to " + (m_targetPosition + targetToGrinder * offset));
m_navSet.Settings_Task_NavMove.SpeedMaxRelative = float.MaxValue;
Destination dest = Destination.FromWorld(m_enemy, m_targetPosition + targetToGrinder * offset);
m_pathfinder.MoveTo(destinations: dest);
}
else
{
//Log.DebugLog("close(" + distSq + "), moving to " + m_targetPosition);
m_navSet.Settings_Task_NavMove.SpeedMaxRelative = 1f;
Destination dest = Destination.FromWorld(m_enemy, m_targetPosition);
m_pathfinder.MoveTo(destinations: dest);
}
}