/// <summary>
/// Generates a detour around the provided obstacle.
/// </summary>
/// <param name="obstacle">The obstacle.</param>
/// <param name="hitInfo">The hit information.</param>
/// <param name="fleetRadius">The fleet radius.</param>
/// <returns></returns>
private AutoPilotDestinationProxy GenerateDetourAroundObstacle(IAvoidableObstacle obstacle, RaycastHit hitInfo, float fleetRadius) {
Vector3 detourPosition = obstacle.GetDetour(Position, hitInfo, fleetRadius);
StationaryLocation detour = new StationaryLocation(detourPosition);
Vector3 detourOffset = CalcDetourOffset(detour);
float tgtStandoffDistance = _ship.CollisionDetectionZoneRadius;
return detour.GetApMoveTgtProxy(detourOffset, tgtStandoffDistance, Position);
}
private void HandleObstacleFoundIsTarget(IAvoidableObstacle obstacle) {
if (_ship.IsHQ) {
// should never happen as HQ approach is always direct
D.Warn("HQ {0} encountered obstacle {1} which is target.", DebugName, obstacle.DebugName);
}
ApTargetProxy.ResetOffset(); // go directly to target
if (_apNavJob != null) { // if no _apNavJob HandleObstacleFoundIsTarget() call originated from EngagePilot
D.AssertNotNull(_apObstacleCheckJob);
ResumeDirectCourseToTarget();
}
}
/// <summary>
/// Tries to generate a detour around the provided obstacle. Returns <c>true</c> if a detour
/// was generated, <c>false</c> otherwise.
/// <remarks>A detour can always be generated around an obstacle. However, this algorithm considers other factors
/// before initiating a heading change to redirect to a detour. E.g. moving obstacles that are far away
/// and/or require only a small change in heading may not necessitate a diversion to a detour yet.
/// </remarks>
/// </summary>
/// <param name="obstacle">The obstacle.</param>
/// <param name="zoneHitInfo">The zone hit information.</param>
/// <param name="detourProxy">The resulting detour.</param>
/// <returns></returns>
private bool TryGenerateDetourAroundObstacle(IAvoidableObstacle obstacle, RaycastHit zoneHitInfo, out AutoPilotDestinationProxy detourProxy) {
detourProxy = GenerateDetourAroundObstacle(obstacle, zoneHitInfo, _ship.Command.UnitMaxFormationRadius);
bool useDetour = true;
Vector3 detourBearing = (detourProxy.Position - Position).normalized;
float reqdTurnAngleToDetour = Vector3.Angle(_ship.CurrentHeading, detourBearing);
if (obstacle.IsMobile) {
if (reqdTurnAngleToDetour < DetourTurnAngleThreshold) {
useDetour = false;
// angle is still shallow but short remaining distance might require use of a detour
float maxDistanceTraveledBeforeNextObstacleCheck = _engineRoom.IntendedCurrentSpeedValue * _apObstacleCheckPeriod.TotalInHours;
float obstacleDistanceThresholdRequiringDetour = maxDistanceTraveledBeforeNextObstacleCheck * 2F; // HACK
float distanceToObstacleZone = zoneHitInfo.distance;
if (distanceToObstacleZone <= obstacleDistanceThresholdRequiringDetour) {
useDetour = true;
}
}
}
if (useDetour) {
D.Log(ShowDebugLog, "{0} has generated detour {1} to get by obstacle {2}. Reqd Turn = {3:0.#} degrees.", DebugName, detourProxy.DebugName, obstacle.DebugName, reqdTurnAngleToDetour);
}
else {
D.Log(ShowDebugLog, "{0} has declined to generate a detour to get by mobile obstacle {1}. Reqd Turn = {2:0.#} degrees.", DebugName, obstacle.DebugName, reqdTurnAngleToDetour);
}
return useDetour;
}
/// <summary>
/// Hook for derived classes to take action when an obstacle has been found that is also the destination.
/// </summary>
/// <param name="obstacle">The obstacle.</param>
protected virtual void HandleObstacleFoundIsTarget(IAvoidableObstacle obstacle) {
//D.Assert(GetType() == typeof(ShipItem.ShipHelm));
}
/// <summary> /// Tries to generate a detour around the provided obstacle. Returns <c>true</c> if a detour was generated, <c>false</c> otherwise. /// </summary> /// <param name="obstacle">The obstacle.</param> /// <param name="zoneHitInfo">The zone hit information.</param> /// <param name="detour">The detour.</param> /// <returns></returns> protected abstract bool TryGenerateDetourAroundObstacle(IAvoidableObstacle obstacle, RaycastHit zoneHitInfo, out INavigable detour);
/// <summary>
/// Generates a detour around the provided obstacle.
/// </summary>
/// <param name="obstacle">The obstacle.</param>
/// <param name="hitInfo">The hit information.</param>
/// <param name="fleetRadius">The fleet radius.</param>
/// <returns></returns>
protected INavigable GenerateDetourAroundObstacle(IAvoidableObstacle obstacle, RaycastHit hitInfo, float fleetRadius) {
Vector3 detourPosition = obstacle.GetDetour(Position, hitInfo, fleetRadius);
return new StationaryLocation(detourPosition);
}
private bool TryGenerateDetourAroundObstacle(IAvoidableObstacle obstacle, RaycastHit zoneHitInfo, out IFleetNavigable detour) {
detour = GenerateDetourAroundObstacle(obstacle, zoneHitInfo, _fleet.UnitMaxFormationRadius);
if (obstacle.IsMobile) {
Vector3 detourBearing = (detour.Position - Position).normalized;
float reqdTurnAngleToDetour = Vector3.Angle(_fleetData.CurrentFlagshipFacing, detourBearing);
if (reqdTurnAngleToDetour < DetourTurnAngleThreshold) {
// Note: can't use a distance check here as Fleets don't check for obstacles based on time.
// They only check when embarking on a new course leg
//D.Log(ShowDebugLog, "{0} has declined to generate a detour around mobile obstacle {1}. Reqd Turn = {2:0.#} degrees.", DebugName, obstacle.DebugName, reqdTurnAngleToDetour);
return false;
}
}
return true;
}
