private void SetNextTarget()
{
Vector3D?prevTarget = TargetWorld;
if (m_path == null || !m_path.IsValid)
{
UnsetTarget();
return;
}
IMyDestinationShape dest = m_path.Destination;
Vector3D closestPoint = dest.GetClosestPoint(CapsuleCenter());
double distSq = TargetDistanceSq(ref closestPoint);
// TODO: Get rid of the ad-hoc numbers and use goal shapes
if (distSq > END_RADIUS * END_RADIUS)
{
float radius;
Vector3D targetWorld;
MyEntity relativeEntity;
Vector3D currentParentPosition = Parent.PositionAndOrientation.Translation;
if (m_path.PathCompleted)
{
if (distSq < DISTANCE_FOR_FINAL_APPROACH * DISTANCE_FOR_FINAL_APPROACH)
{
var endEntity = m_path.EndEntity;
UnsetPath();
SetTarget(closestPoint, END_RADIUS, endEntity, m_weight);
return;
}
else
{
if (prevTarget.HasValue)
{
m_path.Reinit(prevTarget.Value);
}
else
{
m_path.Reinit(currentParentPosition);
}
}
}
ProfilerShort.Begin("MySmartPath.GetNextTarget");
MyPathfindingStopwatch.Start();
bool result = m_path.GetNextTarget(Parent.PositionAndOrientation.Translation, out targetWorld, out radius, out relativeEntity);
MyPathfindingStopwatch.Stop();
ProfilerShort.End();
if (result)
{
SetTarget(targetWorld, radius, relativeEntity, m_weight);
return;
}
}
UnsetPath();
}
