/// <summary>
/// PRONAV
/// </summary>
/// <param name="target"></param>
/// <returns>Heading we need to aim at</returns>
public Vector3D Navigate(HaE_Entity target)
{
Vector3D targetpos = target.entityInfo.Position;
if (target.entityInfo.HitPosition.HasValue)
{
targetpos = target.entityInfo.HitPosition.Value;
}
Vector3D myVel = controller.control.GetShipVelocities().LinearVelocity;
Vector3D rangeVec = targetpos - controller.control.GetPosition();
Vector3D closingVel = target.entityInfo.Velocity - myVel;
Vector3D accel = CalculateAccel(rangeVec, closingVel);
accel += -controller.control.GetNaturalGravity(); //Gravity term
double maxForwardAccel = ThrustUtils.GetForwardThrust(controller.thrusters, controller.control);
maxForwardAccel /= controller.control.CalculateShipMass().PhysicalMass;
double forwardAccel = maxForwardAccel;
double accelMag = accel.Normalize();
forwardAccel -= accelMag;
forwardAccel = MathHelperD.Clamp(forwardAccel, 0, maxForwardAccel);
accel *= accelMag;
accel += Vector3D.Normalize(rangeVec) * forwardAccel;
return(accel);
}
private void ApplyThrustPercentage(double percentage)
{
if (percentage > 0 && percentage != currentThrustAmount)
{
ThrustUtils.SetThrustPercentage(thrusters, (float)percentage);
currentThrustAmount = (float)percentage;
}
else if (percentage <= 0 && currentThrustAmount != 0)
{
ThrustUtils.SetThrustPercentage(thrusters, 0);
currentThrustAmount = 0;
}
}
public void Update()
{
if (!_targetUpdated)
{
_target = InterpolateTarget();
}
Vector3D aimVector = Navigate(_target);
GyroUtils.PointInDirection(_gyros, _gyros[0].WorldMatrix, aimVector);
aimVector.Normalize();
ThrustUtils.SetThrustBasedDot(_thrusters, aimVector);
UpdatePayload();
}
private Vector3D Navigate(Vector3D targetpos)
{
Vector3D currentPos = _gyros[0].GetPosition();
Vector3D myVel = currentPos - _previousPosition;
Vector3D targetVel = targetpos - _previousTargetPosition;
Vector3D myFThrust = ThrustUtils.GetThrustSum(_thrusters);
Vector3D rangeVec = targetpos - _gyros[0].GetPosition();
Vector3D closingVel = targetVel - myVel;
Vector3D accel = CalculateAccel(rangeVec, closingVel);
double accelMag = accel.Normalize();
_previousTargetPosition = targetpos;
_previousTargetSpeed = targetVel;
_previousPosition = currentPos;
accel *= accelMag;
accel += rangeVec;
return(accel);
}
public void LaunchForward()
{
ThrustUtils.SetThrustBasedDot(thrusters, control.WorldMatrix.Forward);
}
public void ApplyThrust(Vector3D dir)
{
ThrustUtils.SetThrustBasedDot(thrusters, dir, 2.5);
}
public void BoostForward(float amount)
{
ThrustUtils.SetThrust(thrusters, control.WorldMatrix.Forward, amount);
}
