///<summary>Test if a path can be flown. From current position to AlternatePoint</summary>
/// <returns>true iff the path is flyable</returns>
private bool TestAltPath(Vector3 AlternatePoint, bool usefulTest = true)
{
myLogger.debugLog("testing alternate path: " + AlternatePoint, "TestAltPath()");
Vector3? alt_pointOfObstruction;
IMyEntity Alt_ObstructingEntity = myPathChecker.TestPath(AlternatePoint, NavigationBlock, IgnoreAsteroids, out alt_pointOfObstruction, DestGrid);
if (Alt_ObstructingEntity == null) // found a new path
{
CheckInterrupt();
if (usefulTest)
{
// Is this a useful path; can we get closer to the destination by flying it?
float pathwiseDistanceToDest = myPathChecker.distanceCanTravel(new Line(AlternatePoint, Destination, false));
CheckInterrupt();
if (pathwiseDistanceToDest >= DistanceToDest + CNS.destinationRadius)
{
myLogger.debugLog("path is unobstructed but not useful enough. distance to dest = " + DistanceToDest + ", pathwise = " + pathwiseDistanceToDest, "TestAltPath()", Logger.severity.TRACE);
CheckInterrupt();
return(false);
}
myLogger.debugLog("path is useful. distance to dest = " + DistanceToDest + ", pathwise = " + pathwiseDistanceToDest, "TestAltPath()", Logger.severity.TRACE);
}
SetOutput(new PathfinderOutput(myPathChecker, PathfinderOutput.Result.Alternate_Path, null, AlternatePoint));
myLogger.debugLog("Found a new path: " + AlternatePoint, "CheckPath()", Logger.severity.DEBUG);
return(true);
}
myLogger.debugLog("Alternate path is obstructed by " + Alt_ObstructingEntity.getBestName() + " at " + alt_pointOfObstruction, "TestAltPath()", Logger.severity.TRACE);
CheckInterrupt();
return(false);
}
private void PathClear(ref Vector3D destination, byte runId, bool isAlternate, bool slowDown)
{
if (runId == m_runId)
{
if (isAlternate)
{
LineSegment line = new LineSegment()
{
From = destination, To = m_destination
};
float distToWaypoint = (float)Vector3D.Distance(m_navBlock.WorldPosition, destination);
float pathValue = m_pathChecker.distanceCanTravel(line) + distToWaypoint * WaypointDistanceBias;
m_logger.debugLog("for point: " + line.From + ", waypoint distance: " + (float)Vector3D.Distance(m_navBlock.WorldPosition, destination) + ", path value: " + pathValue + ", required: " + m_altPath_PathValue, Logger.severity.TRACE);
if (!AddAlternatePath(pathValue, ref destination))
{
m_logger.debugLog("throwing out: " + line.From + ", path value: " + pathValue + ", required: " + m_altPath_PathValue, Logger.severity.TRACE);
}
return;
}
if (slowDown)
{
//m_logger.debugLog("Removing speed limit", "PathClear()");
m_navSet.Settings_Task_NavWay.SpeedMaxRelative = float.MaxValue;
m_navSet.Settings_Task_NavWay.SpeedTarget = float.MaxValue;
return;
}
m_logger.debugLog("path clear, throwing out search", Logger.severity.DEBUG, condition: m_pathLow.Count != 0);
MoveObstruction = null;
m_pathState = PathState.No_Obstruction;
m_pathLow.Clear();
}
else
{
m_logger.debugLog("destination changed, abort", Logger.severity.DEBUG);
}
return;
}