private static void Entities_OnCloseAll()
{
MyAPIGateway.Entities.OnCloseAll -= Entities_OnCloseAll;
DoTests = null;
Path = null;
Timer = null;
s_logger = null;
}
private void OnOreSearchComplete(bool success, Vector3D orePosition, IMyVoxelBase foundMap, string oreName)
{
if (!success)
{
m_logger.debugLog("No ore target found", Logger.severity.INFO);
m_navSet.OnTaskComplete_NavRot();
m_navSet.Settings_Commands.Complaint = InfoString.StringId.NoOreFound;
return;
}
m_targetVoxel = foundMap;
m_depositPos = orePosition;
m_depositOre = oreName;
Vector3 toCentre = Vector3.Normalize(m_targetVoxel.GetCentre() - m_depositPos);
GetExteriorPoint(m_depositPos, toCentre, m_longestDimension, exterior => {
m_approach = new LineSegmentD(exterior - toCentre * m_longestDimension * 5f, exterior);
m_state = State.Approaching;
m_logger.debugLog("approach: " + m_approach.From.ToGpsTag("From") + ", " + m_approach.To.ToGpsTag("To"));
});
}
private static void Entities_OnCloseAll()
{
MyAPIGateway.Entities.OnCloseAll -= Entities_OnCloseAll;
DoTests = null;
Path = null;
Timer = null;
s_logger = null;
}
public bool GravityTest(LineSegmentD line, Vector3D finalDestination, out MyEntity blockingPath, out Vector3? pointOfObstruction)
{
if (Vector3.DistanceSquared(line.From, line.To) > 10000f)
{
BoundingBoxD box = line.BoundingBox;
m_voxels.Clear();
MyGamePruningStructure.GetAllVoxelMapsInBox(ref box, m_voxels);
foreach (MyEntity entity in m_voxels)
{
MyPlanet planet = entity as MyPlanet;
if (planet == null)
continue;
Vector3D planetCentre = planet.GetCentre();
Vector3D closestPoint = line.ClosestPoint(planetCentre);
if (!planet.IsPositionInGravityWell(closestPoint))
continue;
m_logger.debugLog("path: " + line.From + " to " + line.To + ", final: " + finalDestination + ", closest point: " + closestPoint + ", planet @ " + planetCentre + " : " + planet.getBestName(), "GravityTest()");
if (closestPoint == line.From)
{
m_logger.debugLog("closest point is start", "GravityTest()");
continue;
}
if (closestPoint == line.To)
{
if (line.To == finalDestination )
{
m_logger.debugLog("closest point is final", "GravityTest()");
continue;
}
if (Vector3D.DistanceSquared(planetCentre, closestPoint) < Vector3D.DistanceSquared(planetCentre, finalDestination))
{
m_logger.debugLog("closest point is end, which is closer to planet than final dest is", "GravityTest()");
blockingPath = entity;
pointOfObstruction = closestPoint;
return false;
}
m_logger.debugLog("closest point is end", "GravityTest()");
continue;
}
//float startGravity = planet.GetWorldGravityGrid( line.From).LengthSquared();
//float closestGravity = planet.GetWorldGravityGrid(closestPoint).LengthSquared();
//double toDistSq = Vector3D.DistanceSquared(planetCentre, line.To);
//if (closestPoint == line.To && (line.To == finalDestination || ))
//{
// m_logger.debugLog("path: " + line.From + " to " + line.To + ", closest point: " + closestPoint + ", planet @ " + planetCentre + " : " + planet.getBestName(), "GravityTest()");
// m_logger.debugLog("closest point is end", "GravityTest()");
// continue;
//}
//m_logger.debugLog("path: " + line.From + " to " + line.To + ", closest point: " + closestPoint + ", planet @ " + planetCentre + " : " + planet.getBestName(), "GravityTest()", Logger.severity.DEBUG);
double closestDistSq = Vector3D.DistanceSquared(planetCentre, closestPoint) + 1f;
if (closestDistSq < Vector3D.DistanceSquared(planetCentre, line.From) || closestDistSq < Vector3D.DistanceSquared(planetCentre, line.To))
{
m_logger.debugLog("path moves ship closer to planet. closestDistSq: " + closestDistSq + ", from dist sq: " + Vector3D.DistanceSquared(planetCentre, line.From) + ", to dist sq: " + Vector3D.DistanceSquared(planetCentre, line.To), "GravityTest()", Logger.severity.INFO);
blockingPath = entity;
pointOfObstruction = closestPoint;
return false;
}
}
}
blockingPath = null;
pointOfObstruction = null;
return true;
}
public RailData(Vector3D start)
{
RailStart = start;
Rail = new LineSegmentD();
Created = Globals.ElapsedTime;
}
public RailData(Vector3D start)
{
RailStart = start;
Rail = new LineSegmentD();
Created = Globals.ElapsedTime;
}
/// <summary>
/// Subpart of Mover() that runs when ship is inside destination radius.
/// </summary>
private void Move_Land()
{
if (IsLocked())
{
Log.DebugLog("Attached!", Logger.severity.INFO);
m_navSet.OnTaskComplete(m_settingLevel);
UnreserveTarget();
m_mover.StopMove(false);
m_mover.StopRotate();
if (m_navSet.Shopper != null)
{
Log.DebugLog("starting shopper");
m_navSet.Shopper.Start();
}
return;
}
switch (m_landingState)
{
case LandingState.None:
{
throw new Exception("landing state is None");
}
case LandingState.Approach:
{
m_navSet.GetSettingsLevel(m_settingLevel).NavigatorRotator = this;
m_navSet.GetSettingsLevel(m_settingLevel).NavigationBlock = m_navBlock;
if (m_landGearWithoutTargetBlock)
{
m_landingState = LandingState.Catch;
goto case LandingState.Catch;
}
else
{
m_landingState = LandingState.Holding;
goto case LandingState.Holding;
}
}
case LandingState.Holding:
{
if (m_gridFinder.Block != null && ReserveTarget(m_gridFinder.Block.EntityId))
{
Log.DebugLog("Have a block, starting landing sequence", Logger.severity.DEBUG);
m_landingState = LandingState.LineUp;
return;
}
m_pathfinder.HoldPosition(m_gridFinder.Grid);
return;
}
case LandingState.LineUp:
{
if (m_gridFinder.Block == null)
{
Log.DebugLog("lost block");
m_landingState = LandingState.Holding;
return;
}
if (m_navSet.DirectionMatched())
{
if (m_navSet.Settings_Current.Distance < 1f)
{
Log.DebugLog("Reached line: " + m_navSet.Settings_Current.Distance);
m_landingState = LandingState.Landing;
return;
}
}
//else if (m_pathfinder.RotateCheck.ObstructingEntity != null)
//{
// Vector3D destinationWorld = m_destination.WorldPosition();
// Vector3 directAway = m_navBlock.WorldPosition - destinationWorld;
// if (directAway.LengthSquared() < 1)
// {
// destinationWorld = m_gridFinder.Grid.Entity.WorldAABB.Center;
// directAway = m_navBlock.WorldPosition - destinationWorld;
// }
// Vector3D targetPosition = destinationWorld + Vector3.Normalize(directAway) * m_navSet.Settings_Current.DestinationRadius;
// Log.DebugLog("Pathfinder cannot rotate, moving away. destination: " + destinationWorld + ", directAway: " + Vector3.Normalize(directAway) +
// ", DestinationRadius: " + m_navSet.Settings_Current.DestinationRadius + ", targetPosition: " + targetPosition);
// m_destination.SetWorld(ref targetPosition);
// m_pathfinder.MoveTo(destinations: m_destination);
// return;
//}
else if (m_navSet.Settings_Current.Distance < 1f)
{
// replace do nothing (line) or other rotator that is preventing ship from landing
m_navSet.Settings_Task_NavWay.NavigatorRotator = this;
}
// move to line from target block outwards
Vector3D landFaceVector = GetLandingFaceVector();
float distanceBetween = m_gridFinder.Block.GetLengthInDirection(m_landingDirection) * 0.5f + m_landingHalfSize + 1f;
Vector3D destWorld = m_destination.WorldPosition();
LineSegmentD destinationLine = new LineSegmentD(destWorld + landFaceVector * distanceBetween, destWorld + landFaceVector * 1000f);
Vector3D closestPoint = destinationLine.ClosestPoint(m_navBlock.WorldPosition);
Log.DebugLog("Flying to closest point to " + m_navBlock.WorldPosition + " on line between " + destinationLine.From + " and " + destinationLine.To + " which is " + closestPoint);
Log.DebugLog("missing block", Logger.severity.ERROR, condition: m_gridFinder.Block == null);
m_destination = Destination.FromWorld(m_gridFinder.Block, closestPoint);
m_pathfinder.MoveTo(destinations: m_destination);
return;
}
case LandingState.Landing:
{
if (m_gridFinder.Block == null)
{
Log.DebugLog("lost block");
m_landingState = LandingState.Holding;
return;
}
if (m_navSet.Settings_Current.DistanceAngle > 0.1f)
{
Log.DebugLog("waiting for direction to match");
m_pathfinder.HoldPosition(m_gridFinder.Grid);
return;
}
LockConnector();
float distanceBetween = m_gridFinder.Block.GetLengthInDirection(m_landingDirection) * 0.5f + m_landingHalfSize + 0.1f;
//Log.DebugLog("moving to " + (m_targetPosition + GetLandingFaceVector() * distanceBetween) + ", distance: " + m_navSet.Settings_Current.Distance, "Move_Land()");
//if (m_navSet.DistanceLessThan(1f))
//{
// m_landingSpeedFudge += 0.0001f;
// if (m_landingSpeedFudge > 0.1f)
// m_landingSpeedFudge = -0.1f;
//}
m_destination.Position += GetLandingFaceVector() * distanceBetween;
m_pathfinder.MoveTo(destinations: m_destination);
return;
}
case LandingState.Catch:
{
if (m_navSet.Settings_Current.DistanceAngle > 0.1f)
{
Log.DebugLog("waiting for direction to match");
m_pathfinder.HoldPosition(m_gridFinder.Grid);
return;
}
//if (m_navSet.DistanceLessThan(1f))
//{
// m_landingSpeedFudge += 0.0001f;
// if (m_landingSpeedFudge > 0.1f)
// m_landingSpeedFudge = -0.1f;
// Log.DebugLog("target position: " + m_destination.WorldPosition() + ", nav position: " + m_navBlock.WorldPosition + ", distance: " + Vector3D.Distance(m_destination.WorldPosition(), m_navBlock.WorldPosition) + "/" + m_navSet.Settings_Current.Distance + ", fudge: " + m_landingSpeedFudge);
//}
//m_destination.Position += m_gridFinder.Grid.GetLinearVelocity() * m_landingSpeedFudge;
m_pathfinder.MoveTo(destinations: m_destination);
return;
}
}
}
private void OnOreSearchComplete(bool success, Vector3D orePosition, IMyVoxelBase foundMap, string oreName)
{
if (!success)
{
m_logger.debugLog("No ore target found", Logger.severity.INFO);
m_navSet.OnTaskComplete_NavRot();
m_navSet.Settings_Commands.Complaint = "No ore found";
return;
}
m_targetVoxel = foundMap;
m_depositPos = orePosition;
m_depositOre = oreName;
Vector3 toCentre = Vector3.Normalize(m_targetVoxel.GetCentre() - m_depositPos);
GetExteriorPoint(m_depositPos, toCentre, m_longestDimension, exterior => {
m_approach = new LineSegmentD(exterior - toCentre * m_longestDimension * 5f, exterior);
m_state = State.Approaching;
m_logger.debugLog("approach: " + m_approach.From.ToGpsTag("From") + ", " + m_approach.To.ToGpsTag("To"));
});
}
