public void AddContact(long id)
{
if (!this.listeContactId.Contains(id))
{
p.Echo("Add contact" + id);
this.listeContactId.Add(id);
}
}
private void showText(string text, int tick)
{
foreach (Display scr in getUpdatingDisplays(tick))
{
scr.display.WriteText(text + "\n", true);
//scr.ShowPublicTextOnScreen();
}
caller.Echo(text);
}
// [License]
// LicenseString = AKI-30000101
// Key = 7729408826157419017
private void ParseConfigs()
{
ErrorMsg = "";
MyIni Parser = new MyIni();
if (!Parser.TryParse(Program.Me.CustomData))
{
return;
}
var LicenseString = Parser.Get(LicenseHasher.GetLicenseField(), LicenseHasher.GetLicenseString()).ToString();
var Key = Parser.Get(LicenseHasher.GetLicenseField(), LicenseHasher.GetLicenseKeyString()).ToInt64();
if (StringToNumber(LicenseString) != Key)
{
Crash(LicenseHasher.GetWrongKeyError());
EchoError();
LicenseOK = false;
return;
}
string[] fields = LicenseString.Split('-');
if (fields[0] != GetTagFunction(Program.Me)())
{
Crash(LicenseHasher.GetWrongOwnerError());
EchoError();
LicenseOK = false;
return;
}
var year = int.Parse(fields[1].Substring(0, 4));
var month = int.Parse(fields[1].Substring(4, 2));
var day = int.Parse(fields[1].Substring(6, 2));
if (new DateTime(year, month, day) < DateTime.Today)
{
Crash(LicenseHasher.GetElapsedError());
EchoError();
LicenseOK = false;
return;
}
if (ErrorMsg == string.Empty)
{
stringBuilder.Clear();
stringBuilder.AppendLine("<< Project Looking Glass >>");
stringBuilder.AppendLine("<< V 1.01 >>");
stringBuilder.AppendLine();
stringBuilder.AppendLine("<< License Accepted >>");
stringBuilder.AppendLine($"<< License Holder - {fields[0]} >>");
stringBuilder.AppendLine($"<< License Valid Until - {year}/{month}/{day} >>");
stringBuilder.AppendLine();
stringBuilder.AppendLine("<< AKI thanks you for your business. >>");
Program.Echo(stringBuilder.ToString());
}
}
public void Print(List <IMyTextSurface> LogScreens)
{
string Output = Prefix + RunIndicator() + "\n"; //Add default massage
_program.Echo("Detected screens: " + LogScreens.Count);
foreach (string Line in Messages)
{
Output += Line + "\n";
}
Messages = new List <string>(); //reset lists
if (Warnings.Count > 0)
{
Output += "\nWarnings:\n";
foreach (string Line in Warnings)
{
Output += Line + "\n";
}
}
Warnings = new List <string>();
if (Errors.Count > 0)
{
Output += "\nErrors:\n";
foreach (string Line in Errors)
{
Output += Line + "\n";
}
}
Errors = new List <string>();
if (LogScreens.Count <= 0)
{
Output += "No output screens detected.\n";
}
foreach (IMyTextSurface Screen in LogScreens)
{
try {
Screen.ContentType = ContentType.TEXT_AND_IMAGE;
Screen.WriteText(Output);
} catch {
_program.Echo(Screen.Name + " is not a valid screen.");
}
}
_program.Echo(Output);
}
internal AirlockState tick(float atmo, double tankFill)
{
AirlockState?ret = null;
if (atmo < MAX_ATMOSPHERE)
{
float air = getAtmo();
if (atmoLastTick > atmo) //accidentally left outside doors open? But only want to fire this once, not continuously, or it keeps closing airlocks
{
setAirlockState(AirlockState.CLOSED, false, air);
}
if (isDepressurized())
{
//show("Airlock '"+airlockID+"' is depressurized.");
}
else if (isBreached())
{
caller.Echo("Airlock '" + airlockID + "' is breached!");
setAirlockState(AirlockState.CLOSED, false, air);
}
else
{
//show("Airlock '"+airlockID+"' is pressurized.");
}
AirlockState s = getCurrentAirlockState();
setAirlockState(s, false, air, false);
if (s != AirlockState.CLOSED && s != AirlockState.OPEN)
{
preventAccidentalOpen(s);
}
if (atmo < MAX_ATMOSPHERE && air > 0.02 && !(allowOpenIfNoO2Space && isDepressurized() && tankFill > 0.99))
{
setDoorStates(outerDoors, false, false);
}
caller.Echo("Airlock '" + airlockID + "' is " + s + ".");
ret = s;
}
else
{
setAirlockState(AirlockState.OPEN, true, atmo); //fresh air
ret = AirlockState.OPEN;
}
atmoLastTick = atmo;
return(ret.Value);
}
public void add(string a, int b)
{
if (b <= this.k)
{
var c = n(a); if (b == ERROR)
{
i.Echo(c);
}
for (int d = 0; d < h.Count; d++)
{
if (autoscroll)
{
List <string> e = new List <string>(); e.AddRange(h[d].GetPublicText().Split(new char[] { '\n', '\r' }, StringSplitOptions.RemoveEmptyEntries)); StringBuilder f = new StringBuilder(); e.Add(c); if (!h[d].GetPrivateTitle().ToLower().Equals("nolinelimit"))
{
int g = m(h[d]); if (e.Count > g)
{
e.RemoveRange(0, e.Count - g);
}
}
h[d].WritePublicText(string.Join("\n", e));
}
else
{
h[d].WritePublicText(c + '\n', true);
}
}
}
}
private void Init()
{
List <IMyTerminalBlock> rotors = new List <IMyTerminalBlock>();
grid.SearchBlocksOfName("Cell", rotors,
delegate(IMyTerminalBlock block) {
return(block is IMyMotorStator && Util.NameRegex(block, CellPattern).Success);
});
program.Echo("initialized with " + rotors.Count + " rotors");
for (int n = 0; n < rotors.Count; n++)
{
PrisonCell p = new PrisonCell(this, rotors[n] as IMyMotorStator);
prisons[p.id] = p;
}
}
void p(string a, int b)
{
if (b <= ERROR)
{
k.Echo(a);
}
}
private void DisplayOnProgramableBlock(string msg, int verbosity)
{
if (verbosity <= ERROR)
{
GridProgram.Echo(msg);
}
}
public static void Echo(string str)
{
if (Program != null)
{
Program.Echo(str);
}
}
private void show(string text)
{
foreach (IMyTextPanel scr in displays)
{
scr.WritePublicText(text + "\n", true);
}
caller.Echo(text);
}
public void Test()
{
foreach (UnitTest unit_test in unitTests)
{
try
{
gridProgram.Echo("Testing " + unit_test.UnitTestName + "...");
unit_test.OnUnitTest();
gridProgram.Echo("Test " + unit_test.UnitTestName + " was successful!");
}
catch (Exception e)
{
gridProgram.Echo("Test " + unit_test.UnitTestName + " failed!");
gridProgram.Echo(e.ToString());
}
}
}
public HangarSystem(string hangar_prefix, Dictionary <string, string> block_names, MyGridProgram source, IMyTextSurface screen)
{
this.hangar_prefix = hangar_prefix;
this.source = source;
this.screen = screen;
blocks = new Dictionary <string, IMyTerminalBlock>();
grouped_blocks = new Dictionary <string, List <IMyTerminalBlock> >();
GetBlocks(block_names);
string saved_status = "";
try
{
saved_status = source.Me.CustomData.Split(',')[0];
}
catch (Exception e)
{
source.Echo(string.Format("ERROR GETTING SAVED INFO: {0}", e.Message));
}
if (saved_status != "")
{
source.Echo(string.Format("Saved Info:\n{0}", saved_status));
HangarStatus tmp_status;
Enum.TryParse(saved_status, out tmp_status);
SetHangarStatus(tmp_status);
}
else if (IsDocked())
{
SetHangarStatus(HangarStatus.docked);
}
else
{
SetHangarStatus(HangarStatus.free);
}
IMySensorBlock landing_sensor = (IMySensorBlock)blocks["landing_sensor"];
IMySensorBlock exit_sensor = (IMySensorBlock)blocks["exit_sensor"];
landing_sensor.DetectSmallShips = true;
landing_sensor.DetectSubgrids = true;
landing_sensor.DetectEnemy = false;
exit_sensor.DetectSmallShips = true;
exit_sensor.DetectSubgrids = true;
exit_sensor.DetectEnemy = false;
}
public void Log(string message)
{
// if (_lcd != null)
// {
// _lcd.WriteText(message + '\n', true);
// }
_program.Echo(message);
}
private void show(string text)
{
foreach (IMyTextPanel scr in displays)
{
scr.WriteText(text + "\n", true);
scr.FontSize = 0.707F;
scr.ShowPublicTextOnScreen();
}
caller.Echo(text);
}
public Logger(IMyTextSurface s, MyGridProgram p = null)
{
this._surface = s;
if (this._surface == null)
{
if (p != null)
{
p.Echo("No Logger found");
}
return;
}
else
{
if (p != null)
{
p.Echo("Logger surface found");
}
}
this._surface.ContentType = VRage.Game.GUI.TextPanel.ContentType.TEXT_AND_IMAGE;
}
internal void tick(bool fullUpdate, float atmo, double tankFill, HashSet <IMyDoor> closedDoors, HashSet <IMyAirVent> depressurizing)
{
float f = getAirLevel();
if (fullUpdate)
{
bool open = isShipWaiting();
caller.Echo("Hangar '" + hangarID + "' Open Queued: " + open);
caller.Echo("Hangar '" + hangarID + "' Air Level: " + f + "%");
setHangarStatus(open, f, atmo, tankFill, closedDoors, depressurizing);
}
Color c = getColor(f);
if (c != currentColor)
{
setColor(c);
}
Color c2 = colorTick < COLOR_FADE_DURATION?Color.Lerp(lastColor, currentColor, colorTick / COLOR_FADE_DURATION) : currentColor;
//Echo(lastColor+" > "+currentColor+" p="+colorTick/4F+" = "+c2);
foreach (IMyLightingBlock light in spotlights)
{
light.Color = c2;
}
foreach (IMyLightingBlock light in auxLights)
{
light.Enabled = f >= AMBIENT_LIGHT_THRESHOLD;
}
float frac = f / 100F;
foreach (IMyTextPanel scr in screens)
{
setScreenContent(scr, frac);
}
colorTick++;
}
public void Show(MyGridProgram GS)
{
if (!Added)
{
Clear();
}
var text = string.Join("", buf);
if (ToConsole || (Txt == null))
{
GS.Echo(text);
}
if (Txt != null)
{
Txt.WritePublicText(text); Txt.CustomData += "\n\n" + text;
}
}
private void Echo(string str)
{
Program.Echo(str);
}
public void Echo(string s) => _root.Echo(s);
/// <summary>
/// Process all pending IGC messages.
/// </summary>
public void ProcessIGCMessages()
{
bool bFoundMessages = false;
if (_debug)
{
_gridProgram.Echo(_broadcastChannels.Count.ToString() + " broadcast channels");
}
if (_debug)
{
_gridProgram.Echo(_broadcastMessageHandlers.Count.ToString() + " broadcast message handlers");
}
if (_debug)
{
_gridProgram.Echo(_unicastMessageHandlers.Count.ToString() + " unicast message handlers");
}
// TODO: make this a yield return thing if processing takes too long
do
{
bFoundMessages = false;
foreach (var channel in _broadcastChannels)
{
if (channel.HasPendingMessage)
{
bFoundMessages = true;
var msg = channel.AcceptMessage();
if (_debug)
{
_gridProgram.Echo("Broadcast received. TAG:" + msg.Tag);
_debugTextPanel?.WriteText("IGC:" + msg.Tag + " SRC:" + msg.Source.ToString("X") + "\n", true);
}
foreach (var handler in _broadcastMessageHandlers)
{
if (_debug)
{
_gridProgram.Echo("Calling handler");
}
handler(msg);
}
if (_debug)
{
_gridProgram.Echo("Broadcast Handlers completed");
}
}
}
} while (bFoundMessages); // Process all pending messages
if (_unicastListener != null)
{
if (_debug)
{
_gridProgram.Echo("Unicast check");
}
// TODO: make this a yield return thing if processing takes too long
do
{
// since there's only one channel, we could just use .HasPendingMessages directly.. but this keeps the code loops the same
bFoundMessages = false;
if (_unicastListener.HasPendingMessage)
{
bFoundMessages = true;
var msg = _unicastListener.AcceptMessage();
if (_debug)
{
_gridProgram.Echo("Unicast received. TAG:" + msg.Tag);
}
foreach (var handler in _unicastMessageHandlers)
{
if (_debug)
{
_gridProgram.Echo(" Unicast Handler");
}
// Call each handler
handler(msg);
}
if (_debug)
{
_gridProgram.Echo("Broadcast Handlers completed");
}
}
} while (bFoundMessages); // Process all pending messages
if (_debug)
{
_gridProgram.Echo("Unicast check completed");
}
}
}
//
public void Echo(string s)
{
pg.Echo(s);
}
Vector3D _getApplyVal()
{
if (_checkOrInitRc())
{
return(zero);
}
Vector3D v = targetVelocity;
Vector3D gravity = _gravity();
if (gravity.Length() == 0)
{
gravity = zero;
}
Vector3D velocity = _velocity();
double mass = (double)rc.CalculateShipMass().BaseMass + (
(rc.CalculateShipMass().TotalMass -
// rc.CalculateShipMass().BaseMass) /10);
rc.CalculateShipMass().BaseMass));
Vector3D vn = Vector3D.Normalize(v);
Vector3D accAlongVector = tm.GetThrustAlongVector(vn);
double accAlongVectorLength = accAlongVector.Length();
pg.Echo("accAlongVectorLength = \n" + accAlongVectorLength);
Vector3D velocityProjection = velocity * (velocity.Dot(vn) / velocity.Length());
double velocityProjectionLength = velocityProjection.Length();
pg.Echo("velocityProjectionLength = \n" + velocityProjectionLength);
double breakingTime = velocityProjectionLength / accAlongVectorLength;
pg.Echo("breakingTime = \n" + breakingTime);
double breakingDistance = 1.1 * breakingTime * velocityProjectionLength / 2;
pg.Echo("breakingDistance = \n" + breakingDistance);
if (v.Length() < breakingDistance)
{
// v = -v;
v = vn * (velocityProjectionLength - accAlongVectorLength);
}
// if (tm.unobtainable (velocityProjection)) {
// vn = velocityProjection - velocity;
// }
// Vector3D correction = velocity+gravity;
// double corrLen = 100-correction.Length();
// double vLen = v.Length();
// if (vLen > corrLen) {
// v *= (corrLen/vLen);
// }
Vector3D tv = Vector3D.TransformNormal(
v - velocity - gravity,
MatrixD.Transpose(pg.Me.CubeGrid.WorldMatrix)
);
refVelocity = v - velocity - gravity;
return(tv * mass);
}
public void PreencherLCDPanelOUEcho(int index, ref IMyTextPanel infoLayoutLCD, string assemblerKey, int qtdAssemblersNotFound, ref List <ControlObject> controlObjectList)
{
switch (index)
{
case 1: {
if (infoLayoutLCD != null)
{
infoLayoutLCD.WriteText("----- Produção Automática -----", true);
infoLayoutLCD.WriteText("-------------------------------", true);
infoLayoutLCD.WriteText("", true);
infoLayoutLCD.WriteText("", true);
infoLayoutLCD.WriteText("O(s) Container(s) Final(is) não existem, por favor verifique o(s) nome(s) do(s) container(s) e tente novamente!", true);
}
else
{
myProgram.Echo("----- Produção Automática -----");
myProgram.Echo("-------------------------------");
myProgram.Echo("");
myProgram.Echo("");
myProgram.Echo("O(s) Container(s) Final(is) não existem, por favor verifique o(s) nome(s) do(s) container(s) e tente novamente!");
}
break;
}
case 2: {
if (infoLayoutLCD != null)
{
if (qtdAssemblersNotFound == 1)
{
infoLayoutLCD.WriteText("----- Produção Automática -----", true);
infoLayoutLCD.WriteText("-------------------------------", true);
infoLayoutLCD.WriteText("", true);
infoLayoutLCD.WriteText("", true);
infoLayoutLCD.WriteText("O assembler: " + assemblerKey + ", não foi encontrado!", true);
}
else
{
infoLayoutLCD.WriteText(infoLayoutLCD.GetText(), true);
infoLayoutLCD.WriteText("O assembler: " + assemblerKey + ", não foi encontrado!", true);
}
}
else
{
if (qtdAssemblersNotFound == 1)
{
myProgram.Echo("----- Produção Automática -----");
myProgram.Echo("-------------------------------");
myProgram.Echo("");
myProgram.Echo("");
myProgram.Echo("O assembler: " + assemblerKey + ", não foi encontrado!");
}
else
{
myProgram.Echo("O assembler: " + assemblerKey + ", não foi encontrado!");
}
}
break;
}
case 3: {
// --------------------------------------------------
// CRIANDO O CABEÇALHO DA TELA
// --------------------------------------------------
infoLayoutLCD.WriteText("----- Produção Automática -----", true);
infoLayoutLCD.WriteText("-------------------------------", true);
infoLayoutLCD.WriteText("", true);
infoLayoutLCD.WriteText("", true);
infoLayoutLCD.WriteText("Componente - Qtd Produzida/Qtd Produzir/Qtd Manter/Assemblers Informados/Assemblers Encontrados", true);
// --------------------------------------------------
// CRIANDO O CORPO DA TELA
// --------------------------------------------------
StringBuilder linhaLCD = new StringBuilder();
foreach (var controlObject in controlObjectList)
{
linhaLCD.AppendLine(controlObject.getAssemblerKey() +
controlObject.getComponentsAmountProduced() +
controlObject.getComponentsAmountToProduce() +
controlObject.getComponetAmountKeepStorage() +
controlObject.getFoundAllAssemblers() +
controlObject.getQtdyOfAssemblersFound());
infoLayoutLCD.WriteText(linhaLCD, true);
}
break;
}
default:
break;
}
}
/// <summary>
/// Open the hangar door and prepare the hangar for a ship to dock.
/// </summary>
public void StartDockingProcedure()
{
if (status == HangarStatus.free)
{
SetHangarStatus(HangarStatus.docking);
//change graphic of external LCDs to arrow
SetExternalScreens(DisplayTextures.arrowTexture);
//open door
OpenCloseHangarDoor(true);
source.Echo("OPENING BIG DOOR");
PowerLights(false, "group_int_lights");
PowerLights(true, "group_ext_lights");
PowerLights(true, "group_warn_lights");
source.Echo("LIGHTS SET");
//WAIT for sensor to detect ship landing
source.Echo("WAITING FOR SENSOR TO DETECT SHIP");
}
}
public void write(string msg)
{
string arg = "[" + program.ElapsedTime.TotalMilliseconds.ToString() + "] " + msg;
program.Echo(arg);
}
public void Update(double Seconds)
{
Program.Echo('\n' + "Update()");
LeftLock = (Left.Status == LegStatus.Lowered);
RightLock = (Right.Status == LegStatus.Lowered);
if (LastCommand != Command)
{
switch (Command)
{
case LegCommand.Stop:
Left.Stop();
Right.Stop();
break;
case LegCommand.Forward:
Left.Forward();
Right.Forward();
break;
case LegCommand.Backward:
Left.Backward();
Right.Backward();
break;
case LegCommand.Left:
Left.Backward();
Right.Forward();
break;
case LegCommand.Right:
Left.Forward();
Right.Backward();
break;
}
}
if (MovingLeg == null || LockedLeg == null)
{
if (LeftLock && RightLock)
{
if (NextUnlockRight || (Left.StridePercent < Right.StridePercent && !NextUnlockLeft))
{
MovingLeg = Right;
LockedLeg = Left;
}
else
{
MovingLeg = Left;
LockedLeg = Right;
}
MovingLeg.Raise();
}
else if (LeftLock)
{
MovingLeg = Right;
LockedLeg = Left;
}
else if (RightLock)
{
MovingLeg = Left;
LockedLeg = Right;
}
else
{
if (Preferance == Base6Directions.Direction.Left)
{
MovingLeg = Right;
LockedLeg = Left;
}
else
{
MovingLeg = Left;
LockedLeg = Right;
}
}
}
if (MovingLeg == Left)
{
Program.Echo("ML, SR");
}
else
{
Program.Echo("MR, SL");
}
if (NextLockLeft)
{
Program.Echo("NextLockLeft");
}
else if (NextLockRight)
{
Program.Echo("NextLockRight");
}
else
{
Program.Echo("NextLockNone");
}
if (Command != LegCommand.Stop)
{
//MovingLeg.Continue();
if (LockedLeg.State != LegState.Pushing)
{
LockedLeg.Push();
}
if (MovingLeg.State != LegState.Returning && MovingLeg.State != LegState.Lowering)
{
MovingLeg.Return();
}
else
{
if (MovingLeg.StridePercent < 50)
{
if (MovingLeg.State != LegState.Returning)
{
MovingLeg.Return();
if (MovingLeg == Left)
{
NextLockLeft = true;
}
else
{
NextLockRight = true;
}
}
}
else if (MovingLeg.StridePercent >= 50)
{
if (MovingLeg.State != LegState.Lowering)
{
MovingLeg.Drop();
if (MovingLeg == Left)
{
NextUnlockRight = true;
}
else
{
NextUnlockLeft = true;
}
}
}
if (MovingLeg.Status == LegStatus.Raised)
{
MovingLeg.Lower();
}
}
LastSwitch += Seconds;
}
else
{
MovingLeg.Stop();
LockedLeg.Stop();
}
LockedLeg.Update();
MovingLeg.Update();
LastCommand = Command;
if (LeftLock && RightLock && LastSwitch > 0.5 || LastSwitch > 5)
{
Leg temp = MovingLeg;
MovingLeg = LockedLeg;
LockedLeg = temp;
MovingLeg.Raise();
LastSwitch = 0;
}
}
public void Update()
{
//如果主控未设置则寻找主控，如果主控有变化，则重新初始化
if (SettedMain == null)
{
List <IMyShipController> list = new List <IMyShipController>();
MGP.GridTerminalSystem.GetBlocksOfType <IMyShipController> (list);
IMyShipController MainFound = null;
foreach (IMyShipController sc in list)
{
if (sc.IsUnderControl)
{
MainFound = sc;
}
}
if (Main != MainFound && MainFound != null)
{
Main = MainFound; Init();
}
else if (Main == null)
{
return;
}
}
else
{
Main = SettedMain;
}
//TODO 更新当前速度、加速度、旋转状态，更新当前操作状态
MyPos = Main.GetPosition();
MyVelocity = Main.GetShipVelocities().LinearVelocity;
InertiaDump = (ManualControl)?InertiaDump:Main.DampenersOverride;
Vector3 MoveIndicator = Main.MoveIndicator;
MatrixD refLookAtMatrix = MatrixD.CreateLookAt(new Vector3D(0, 0, 0), Main.WorldMatrix.Forward, Main.WorldMatrix.Up);
Vector3D rotation = (ManualControl)?Gyro(faceToDir):new Vector3D(Main.RotationIndicator.Y, -Main.RotationIndicator.X, -Main.RollIndicator * 100); //陀螺仪方向
//控制陀螺仪惯性
Vector3D AngularVectorToMe = Vector3D.TransformNormal(Main.GetShipVelocities().AngularVelocity, refLookAtMatrix);
CalcumRotation = (CalcumRotation * 4 + new Vector3D(AngularVectorToMe.Y, -AngularVectorToMe.X, -AngularVectorToMe.Z)) / 5;
rotation = rotation - new Vector3D(AngularVectorToMe.Y, -AngularVectorToMe.X, -AngularVectorToMe.Z) * 0.6 - CalcumRotation * 0.4;
SetGyroYPR(rotation);
//将飞船速度转换坐标系为相对速度
Vector3D relativeVelocity = new Vector3D(0);
if (MyVelocity.Length() > 0)
{
relativeVelocity = Vector3D.TransformNormal(MyVelocity, refLookAtMatrix); //坐标系转换后的相对速度
}
Vector3D relativeCruiseVelocity = new Vector3D(0);
if (CruiseVelocity.Length() > 0)
{
relativeCruiseVelocity = Vector3D.TransformNormal(CruiseVelocity, refLookAtMatrix);
}
//判断惯性控制输出
Vector3D output = (ManualControl)?OutputVector:new Vector3D(MoveIndicator.X * -100f, MoveIndicator.Y * -100f, MoveIndicator.Z * -100f);// 从控制到出力转换
Vector3D expectVelocity = (output.Length() > 0)?Vector3D.Normalize(output) * -100:Vector3D.Zero;
if (InertiaDump)
{
output.X = CalcInertiaDump(relativeVelocity.X - expectVelocity.X);
output.Y = CalcInertiaDump(relativeVelocity.Y - expectVelocity.Y);
output.Z = CalcInertiaDump(relativeVelocity.Z - expectVelocity.Z);
//output=(output.Length()>0)?Vector3D.Normalize(output)*100:Vector3D.Zero;
}
else
{
output = -expectVelocity;
}
MGP.Echo(output.ToString());
GEngine(output);
TEngine(output);
SEngine(output);
}
protected void Echo(string str)
{
Program.Echo(str);
}