public void TravelToPosition(Vector3D position, bool enableAvoidance, double maximumVelocity = 100, double safetyMargin = 1.25, bool turnSelf = true)
{
double distanceFromTargetSQ = (position - ControlPosition).LengthSquared();
if (distanceFromTargetSQ > 1 || controller.GetShipSpeed() > 0.0001)
{
if (enableAvoidance)
{
if (avoidanceCheckCounter++ > 100)
{
double scanDistance = CalculateStoppingDistance() * safetyMargin;
avoidanceCheckCounter = 0;
collisionAvoidance.Scan(scanDistance);
}
if (collisionAvoidance.CheckForObjects())
{
Vector3D heading = Vector3D.Normalize(position - ControlPosition);
Vector3D nextDir = Vector3D.Zero;
collisionAvoidance.NextPosition(ref nextDir, heading);
ThrustToVelocity(nextDir * maximumVelocity);
gyroControl.StopRotation(gyros);
return;
}
}
TravelToPosition(position, maximumVelocity, safetyMargin, turnSelf);
}
}
