/// <summary>
/// Sphere test for simple entities, like floating objects, and for avoiding dangerous ships tools.
/// </summary>
/// <param name="entity">The entity to test.</param>
/// <param name="input"><see cref="TestInput"/></param>
/// <param name="result"><see cref="GridTestResult"/></param>
/// <returns>True if the entity is obstructing the ship.</returns>
private bool SphereTest(MyEntity entity, ref TestInput input, ref GridTestResult result)
{
Vector3D currentPosition = AutopilotGrid.GetCentre();
Vector3D rejectD = input.Direction;
Vector3D disp; Vector3D.Multiply(ref rejectD, input.Length, out disp);
Vector3D finalPosition; Vector3D.Add(ref currentPosition, ref disp, out finalPosition);
float shipRadius = AutopilotGrid.PositionComp.LocalVolume.Radius;
Vector3D obsPos = entity.GetCentre();
Vector3D offObsPos; Vector3D.Subtract(ref obsPos, ref input.Offset, out offObsPos);
float obsRadius = entity.PositionComp.LocalVolume.Radius;
if (entity is MyCubeBlock)
{
// it is an active tool so increase the radius
obsRadius += 10f;
}
m_lineSegment.From = currentPosition;
m_lineSegment.To = finalPosition;
Vector3D closest;
result.Distance = (float)m_lineSegment.ClosestPoint(ref offObsPos, out closest);
double distance; Vector3D.Distance(ref offObsPos, ref closest, out distance);
result.Proximity = (float)distance - (shipRadius + obsRadius);
if (result.Proximity <= 0f && IsRejectionTowards(ref obsPos, ref currentPosition, ref rejectD))
{
Logger.DebugLog("Rejection " + input.Direction + " hit " + entity.nameWithId());
result.ObstructingBlock = entity as MyCubeBlock; // it may not be a block
return(true);
}
return(false);
}
public Vector3D GetCentre()
{
return(MatchPosition ? Entity.GetCentre() : Vector3D.Zero);
}
