public void Reinit()
{
Debug.Assert(IsValid);
if (m_endEntity != null)
{
m_destination.UpdateWorldTransform(m_endEntity.WorldMatrix);
m_destinationCenter = m_destination.GetDestination();
}
}
public MySmartGoal(IMyDestinationShape goal, MyEntity entity = null)
{
this.m_destination = goal;
this.m_destinationCenter = goal.GetDestination();
this.m_endEntity = entity;
if (this.m_endEntity != null)
{
this.m_destination.SetRelativeTransform(this.m_endEntity.PositionComp.WorldMatrixNormalizedInv);
this.m_endEntity.OnClosing += new Action <MyEntity>(this.m_endEntity_OnClosing);
}
this.m_pathfindingHeuristic = new Func <MyNavigationPrimitive, float>(this.Heuristic);
this.m_terminationCriterion = new Func <MyNavigationPrimitive, float>(this.Criterion);
this.m_ignoredPrimitives = new HashSet <MyHighLevelPrimitive>();
this.IsValid = true;
}
// MW:TODO optimize or change
public bool ReachableUnderThreshold(Vector3D begin, IMyDestinationShape end, float thresholdDistance)
{
m_reachPredicateDistance = thresholdDistance;
var beginPrimitive = FindClosestPrimitive(begin, false);
var endPrimitive = FindClosestPrimitive(end.GetDestination(), false);
if (beginPrimitive == null || endPrimitive == null)
{
return(false);
}
var beginHL = beginPrimitive.GetHighLevelPrimitive();
var endHL = endPrimitive.GetHighLevelPrimitive();
ProfilerShort.Begin("HL");
MySmartGoal goal = new MySmartGoal(end);
var path = goal.FindHighLevelPath(this, beginHL);
ProfilerShort.End();
if (path == null)
{
return(false);
}
m_reachEndPrimitive = endPrimitive;
ProfilerShort.Begin("Prepare for travesal");
PrepareTraversal(beginPrimitive, null, ReachablePredicate);
ProfilerShort.End();
ProfilerShort.Begin("checking for vertices");
try
{
foreach (var vertex in this)
{
if (vertex.Equals(m_reachEndPrimitive))
{
return(true);
}
}
}
finally
{
ProfilerShort.End();
}
return(false);
}
public bool GetNextTarget(Vector3D position, out Vector3D target, out float targetRadius, out IMyEntity relativeEntity)
{
target = Vector3D.Zero;
relativeEntity = null;
targetRadius = 0.8f;
if (!m_isValid)
{
return(false);
}
if (m_pathPoints.Count == 0 || m_pathCompleted || !m_isValid)
{
m_pathPoints = m_pathfinding.GetPath(m_planet, position, m_destination.GetDestination());
if (m_pathPoints.Count < 2)
{
return(false);
}
// m_pathPoints[0] is the begin position
m_currentPointIndex = 1;
}
if (m_currentPointIndex == m_pathPoints.Count - 1)
{
//try to generate more points by RequestPath(position, destination)
}
target = m_pathPoints[m_currentPointIndex];
// check distance
if (Math.Abs(Vector3.Distance(target, position)) < targetRadius)
{
if (m_currentPointIndex == m_pathPoints.Count - 1)
{
m_pathCompleted = true;
return(false);
}
else
{
m_currentPointIndex++;
}
target = m_pathPoints[m_currentPointIndex];
}
return(true);
}
public MySmartGoal(IMyDestinationShape goal, MyEntity entity = null)
{
m_destination = goal;
m_destinationCenter = goal.GetDestination();
m_endEntity = entity;
if (m_endEntity != null)
{
m_destination.SetRelativeTransform(m_endEntity.PositionComp.WorldMatrixNormalizedInv);
m_endEntity.OnClosing += m_endEntity_OnClosing;
}
m_pathfindingHeuristic = this.Heuristic;
m_terminationCriterion = this.Criterion;
m_ignoredPrimitives = new HashSet <MyHighLevelPrimitive>();
IsValid = true;
}
public MySmartGoal(IMyDestinationShape goal, MyEntity entity = null)
{
m_destination = goal;
m_destinationCenter = goal.GetDestination();
m_endEntity = entity;
if (m_endEntity != null)
{
m_destination.SetRelativeTransform(m_endEntity.PositionComp.WorldMatrixNormalizedInv);
m_endEntity.OnClosing += m_endEntity_OnClosing;
}
m_pathfindingHeuristic = this.Heuristic;
m_terminationCriterion = this.Criterion;
m_ignoredPrimitives = new HashSet<MyHighLevelPrimitive>();
IsValid = true;
}
public bool ReachableUnderThreshold(Vector3D begin, IMyDestinationShape end, float thresholdDistance)
{
this.m_reachPredicateDistance = thresholdDistance;
MyNavigationPrimitive startingVertex = this.FindClosestPrimitive(begin, false, null);
MyNavigationPrimitive primitive2 = this.FindClosestPrimitive(end.GetDestination(), false, null);
if ((startingVertex != null) && (primitive2 != null))
{
MyHighLevelPrimitive highLevelPrimitive = startingVertex.GetHighLevelPrimitive();
primitive2.GetHighLevelPrimitive();
if (new MySmartGoal(end, null).FindHighLevelPath(this, highLevelPrimitive) == null)
{
return(false);
}
this.m_reachEndPrimitive = primitive2;
base.PrepareTraversal(startingVertex, null, new Predicate <MyNavigationPrimitive>(this.ReachablePredicate), null);
try
{
using (MyPathFindingSystem <MyNavigationPrimitive> .Enumerator enumerator = base.GetEnumerator())
{
while (true)
{
if (!enumerator.MoveNext())
{
break;
}
if (enumerator.Current.Equals(this.m_reachEndPrimitive))
{
return(true);
}
}
}
}
finally
{
}
}
return(false);
}
private bool TargetMoved()
{
return(Vector3D.DistanceSquared(m_destinationCenter, m_destination.GetDestination()) > 4.0f);
}