void DeregisterBird(Hummingbird bird)
{
Hummingbirds.Remove(bird);
BirdToEnemy.Remove(bird);
ScannerSubsystem.RemoveScannerGroup(BirdScannerGroups[bird]);
BirdScannerGroups.Remove(bird);
}
void RegisterBird(Hummingbird newBird)
{
Hummingbirds.Add(newBird);
BirdToEnemy.Add(newBird, 0);
var birdCamGroup = new ScannerGroup(newBird.Cameras);
BirdScannerGroups[newBird] = birdCamGroup;
ScannerSubsystem.AddScannerGroup(birdCamGroup);
}
public Hummingbird Release()
{
releaseStage = -10;
var bird = Hummingbird;
Hummingbird = null;
turretRotor = null;
hummingbirdConnector = null;
GridTerminalHelper.OtherMergeBlock(ChasisMerge).Enabled = false;
TurretMerge.Enabled = true;
return(bird);
}
public static Hummingbird GetHummingbird(IMyTerminalBlock reference, IMyBlockGroup group)
{
if (group == null)
{
throw new Exception($"CANNOT FIND GROUP {GroupName}");
}
Hummingbird hummingbird = new Hummingbird();
group.GetBlocksOfType <IMyTerminalBlock>(null, (x) => hummingbird.CollectParts(x, reference));
if (hummingbird.TurretRotor != null)
{
group.GetBlocksOfType <IMyTerminalBlock>(null, (x) => hummingbird.CollectParts(x, hummingbird.TurretRotor.Top));
}
hummingbird.SetUp();
return(hummingbird);
}
public void Update()
{
if (!setup)
{
setup = true;
Piston.Velocity = 0.2f;
if (!Hummingbird.CheckHummingbirdComponents(ChasisMerge, ref hummingbirdConnector, ref turretRotor, ref PartScratchpad, ref status))
{
return;
}
if (Hummingbird.CheckHummingbirdComponents(TurretMerge, ref hummingbirdConnector, ref turretRotor, ref PartScratchpad, ref status))
{
turretRotor.Detach();
releaseStage = 1;
Piston.Velocity = -0.2f;
return;
}
if (turretRotor != null)
{
Hummingbird = Hummingbird.GetHummingbird(turretRotor, Host.Context.Terminal.GetBlockGroupWithName(Hummingbird.GroupName));
if (Hummingbird.Gats.Count == 0)
{
Hummingbird = null;
TurretMerge.Enabled = true;
return;
}
releaseStage = 20;
turretRotor.Displacement = 0.11f;
return;
}
}
if (releaseStage > 1 && releaseStage < 20)
{
releaseStage++;
}
if (releaseStage == 5)
{
}
else if (releaseStage == 7)
{
}
else if (releaseStage == 8)
{
GridTerminalHelper.OtherMergeBlock(TurretMerge).Enabled = false;
TurretMerge.Enabled = false;
}
else if (releaseStage == 9)
{
turretRotor.Attach();
}
else if (releaseStage == 10)
{
Piston.Velocity = 0.2f;
}
else if (releaseStage > 11 && Piston.CurrentPosition == Piston.MaxLimit)
{
turretRotor.Displacement = 0.11f;
Hummingbird = Hummingbird.GetHummingbird(turretRotor, Host.Context.Terminal.GetBlockGroupWithName(Hummingbird.GroupName));
}
}
private void RetireBird(Hummingbird bird)
{
bird.SetDest(Controller.WorldMatrix.Translation);
bird.IsRetiring = true;
}
public void Update(TimeSpan timestamp, UpdateFrequency updateFlags)
{
if (timestamp == TimeSpan.Zero)
{
return;
}
foreach (var bird in Hummingbirds)
{
if (bird.IsAlive())
{
bird.Update();
}
else
{
DeadBirds.Add(bird);
}
}
foreach (var bird in DeadBirds)
{
DeregisterBird(bird);
}
runs++;
if (runs % 20 == 0)
{
var intelItems = IntelProvider.GetFleetIntelligences(timestamp);
// Get the top targets
TopEnemies.Clear();
EnemyToScore.Clear();
foreach (var intelItem in intelItems)
{
if (intelItem.Key.Item1 == IntelItemType.Enemy)
{
var esi = (EnemyShipIntel)intelItem.Value;
var dist = (esi.GetPositionFromCanonicalTime(timestamp + IntelProvider.CanonicalTimeDiff) - Context.Reference.WorldMatrix.Translation).Length();
if (dist > MaxEngagementDist)
{
continue;
}
var priority = IntelProvider.GetPriority(esi.ID);
var size = esi.Radius;
if (size < MinEngagementSize && priority < 3)
{
continue;
}
if (priority < 2)
{
continue;
}
int score = (int)(priority * 10000 + size);
EnemyToScore[esi] = score;
for (int i = 0; i <= TopEnemies.Count; i++)
{
if (i == TopEnemies.Count || score > EnemyToScore[TopEnemies[i]])
{
TopEnemies.Insert(i, esi);
break;
}
}
}
}
// Determine how many birds should be assigned to each enemy
EnemyToNumBirds.Clear();
int totalNeededBirds = 0;
for (int i = 0; i < TopEnemies.Count && i < 4; i++)
{
EnemyToNumBirds[TopEnemies[i]] = EnemyCountToNumBirdsPerEnemy[TopEnemies.Count][i];
EnemyToAssignedBirds[TopEnemies[i]] = 0;
totalNeededBirds += EnemyToNumBirds[TopEnemies[i]];
}
// Remove excess birds from enemies
foreach (var bird in Hummingbirds)
{
var birdTargetID = BirdToEnemy[bird];
if (birdTargetID == 0)
{
continue;
}
if (!bird.IsCombatCapable())
{
BirdToEnemy[bird] = 0;
continue;
}
var birdTargetKey = MyTuple.Create(IntelItemType.Enemy, birdTargetID);
if (!intelItems.ContainsKey(birdTargetKey))
{
BirdToEnemy[bird] = 0;
continue;
}
var birdTarget = (EnemyShipIntel)intelItems[birdTargetKey];
if (!EnemyToNumBirds.ContainsKey(birdTarget) || EnemyToNumBirds[birdTarget] == 0)
{
BirdToEnemy[bird] = 0;
continue;
}
EnemyToNumBirds[birdTarget]--;
totalNeededBirds--;
}
// Assign birds to enemies
foreach (var bird in Hummingbirds)
{
if (totalNeededBirds == 0)
{
break;
}
// Bird can't fight, keep looking
if (!bird.IsCombatCapable())
{
continue;
}
// Bird already has target, keep looking
if (BirdToEnemy[bird] != 0)
{
continue;
}
EnemyShipIntel targetEnemy = null;
foreach (var enemy in EnemyToNumBirds.Keys)
{
if (EnemyToNumBirds[enemy] > 0)
{
targetEnemy = enemy;
break;
}
}
BirdToEnemy[bird] = targetEnemy.ID;
EnemyToNumBirds[targetEnemy]--;
totalNeededBirds--;
}
NeedsMoreBirds = totalNeededBirds > 0;
int birdIndex;
// ASSUME birds are not far enough from main controller that gravity direction matters too much
var gravDir = Controller.GetTotalGravity();
gravDir.Normalize();
// For each enemy, assign bird target and destination
foreach (var enemy in TopEnemies)
{
birdIndex = 0;
foreach (var bird in Hummingbirds)
{
if (BirdToEnemy[bird] != enemy.ID)
{
continue;
}
if (bird.Gats.Count == 0)
{
continue;
}
var birdAltitudeTheta = Math.PI * ((runs / (BirdSineConstantSeconds * 30) % 2) - 1);
var birdSwayTheta = Math.PI * ((runs / (BirdPendulumConstantSeconds * 30) % 2) - 1);
var targetPos = enemy.GetPositionFromCanonicalTime(timestamp + IntelProvider.CanonicalTimeDiff);
bird.SetTarget(targetPos, enemy.GetVelocity() - gravDir * (float)TrigHelpers.FastCos(birdAltitudeTheta) * 2);
var targetToBase = bird.Base.WorldMatrix.Translation - targetPos;
targetToBase -= VectorHelpers.VectorProjection(targetToBase, gravDir);
var targetToBaseDist = targetToBase.Length();
targetToBase.Normalize();
var engageLocationLocus = targetToBase * Math.Min(600, targetToBaseDist + 400) + targetPos;
var engageLocationSwayDir = targetToBase.Cross(gravDir);
var engageLocationSwayDist = (TrigHelpers.FastCos(birdSwayTheta) - EnemyToAssignedBirds[enemy] * 0.5 + birdIndex + 0.5) * 100;
bird.SetDest(engageLocationLocus + engageLocationSwayDist * engageLocationSwayDir);
var birdDir = bird.Controller.WorldMatrix.Translation - Controller.WorldMatrix.Translation;
birdDir -= VectorHelpers.VectorProjection(birdDir, gravDir);;
var birdDist = birdDir.Length();
bird.Drive.DesiredAltitude = birdDist < 100 ? Hummingbird.RecommendedServiceCeiling :
(float)TrigHelpers.FastSin(birdAltitudeTheta + Math.PI * 0.5) *
(Hummingbird.RecommendedServiceCeiling - Hummingbird.RecommendedServiceFloor) + Hummingbird.RecommendedServiceFloor;
birdIndex++;
}
}
// Assign orbit task for unassigned birds
int numReserveBirds = 0;
foreach (var bird in Hummingbirds)
{
if (BirdToEnemy[bird] == 0 && bird.IsCombatCapable())
{
numReserveBirds++;
}
}
birdIndex = 0;
var randomPoint = new Vector3D(190, 2862, 809);
randomPoint -= VectorHelpers.VectorProjection(randomPoint, gravDir);
randomPoint.Normalize();
var randomPointCross = randomPoint.Cross(gravDir);
foreach (var bird in Hummingbirds)
{
if (BirdToEnemy[bird] != 0)
{
continue;
}
bird.SetTarget(Vector3D.Zero, Vector3D.Zero);
bird.Drive.DesiredAltitude = 30;
if (bird.IsCombatCapable() && !bird.IsRetiring)
{
var birdOrbitTheta = Math.PI * (((2 * birdIndex / (float)numReserveBirds) + runs / (BirdOrbitSeconds * 30)) % 2 - 1);
var birdOrbitDest = Controller.WorldMatrix.Translation +
TrigHelpers.FastCos(birdOrbitTheta) * randomPoint * BirdOrbitDist +
TrigHelpers.FastSin(birdOrbitTheta) * randomPointCross * BirdOrbitDist;
bird.SetDest(birdOrbitDest);
birdIndex++;
}
else if (!bird.IsRetiring)
{
RetireBird(bird);
}
else if (bird.IsRetiring)
{
if (!bird.IsLanding)
{
var birdDir = bird.Controller.WorldMatrix.Translation - bird.Destination;
birdDir -= VectorHelpers.VectorProjection(birdDir, gravDir);
var birdDist = birdDir.Length();
birdDir.Normalize();
if (birdDist < 50)
{
bird.SetDest(Vector3D.Zero);
bird.Drive.Flush();
foreach (var engine in bird.Drive.HoverEngines)
{
engine.AltitudeMin = 0;
}
bird.IsLanding = true;
}
}
else
{
double altitude;
bird.Controller.TryGetPlanetElevation(MyPlanetElevation.Surface, out altitude);
if (altitude < 6)
{
foreach (var engine in bird.Drive.HoverEngines)
{
engine.Block.Enabled = false;
DeadBirds.Add(bird);
}
}
}
}
}
}
foreach (var cradle in Cradles)
{
if (cradle == null)
{
continue;
}
cradle.Update();
}
if (runs % 60 == 0)
{
BirdReleaseTimeout--;
for (int i = 0; i < Cradles.Count(); i++)
{
if (Cradles[i] == null)
{
continue;
}
if (Cradles[i].Hummingbird == null)
{
Cradles[i].CheckHummingbird();
}
else if (NeedsMoreBirds && BirdReleaseTimeout <= 0)
{
Hummingbird bird = Cradles[i].Release();
bird.Base = Context.Reference;
RegisterBird(bird);
BirdReleaseTimeout = 5;
}
}
}
DeadBirds.Clear();
}
