// Token: 0x0600295E RID: 10590 RVA: 0x00139BAC File Offset: 0x00137FAC
public override void CompTickRare()
{
float ambientTemperature = this.parent.AmbientTemperature;
bool selected = Find.Selector.SelectedObjects.Contains(this.parent) && Prefs.DevMode;
Thing thing = null;
if (MyMap != null && MyPos.InBounds(MyMap))
{
thing = GenClosest.ClosestThingReachable(MyPos, MyMap, ThingRequest.ForGroup(ThingRequestGroup.Pawn), PathEndMode.OnCell, TraverseParms.For(TraverseMode.NoPassClosedDoors, Danger.Deadly, false), Props.triggerRadius, x => XenomorphUtil.isInfectablePawn(((Pawn)x)), null, 0, -1, false, RegionType.Set_Passable, false);
}
int huggercount = thing != null?XenomorphUtil.TotalSpawnedFacehuggerPawnCount(MyMap, 10, (Pawn)thing) : 0;
int hostcount = thing != null?XenomorphUtil.TotalSpawnedInfectablePawnCount(MyMap, 10, this.MyPos) : 0;
bool shouldHatch = huggercount < hostcount;
if (thing != null && ambientTemperature > -20f)
{
Pawn pawn = (Pawn)thing;
bool flag = XenomorphUtil.isInfectablePawn(pawn);
if (selected)
{
// Log.Message(string.Format("{0} isInfectable?: {1}", pawn.Label, flag));
}
if (flag)
{
this.canHatch = true;
}
if (canHatch && shouldHatch && DistanceBetween(MyPos, pawn.Position) < 10f)
{
float thingdist = DistanceBetween(MyPos, pawn.Position);
float thingsize = pawn.BodySize;
float thingstealth = thing.GetStatValue(StatDefOf.HuntingStealth);
float thingmovespeed = thing.GetStatValue(StatDefOf.MoveSpeed);
if (selected)
{
// Log.Message(string.Format("distance between {1} @{3} and {2} @ {4}: {0}", DistanceBetween(MyPos, pawn.Position), this.parent.LabelShort, pawn.Label, MyPos, pawn.Position));
// Log.Message(string.Format("{0} thingsize: {1}, thingstealth: {2}, thingmovespeed: {3}", pawn.Label, thingsize, thingstealth, thingmovespeed));
}
float hatchon = ((10 * thingdist) - (thingsize * 5));
float roll = thingstealth > 0 ? (Rand.RangeInclusive(0, 100) * thingstealth): (Rand.RangeInclusive(0, 100));
if (roll > hatchon)
{
this.willHatch = true;
}
if (selected)
{
Log.Message(string.Format("{0} hatchon: {1}, roll: {2}, willHatch: {3}", pawn.Label, hatchon, roll, willHatch));
}
}
}
if (thing == null)
{
// if (selected) Log.Message(string.Format("{0} @ {1}, Cant hatch No suitable Host Found", this.parent.Label, MyPos, canHatch));
}
}
// Update is called once per frame
void Update()
{
if (pybullet != IntPtr.Zero)
{
IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}
// Debug.Log(m_cubeUid);
if (m_cubeUid >= 0)
{
IntPtr cmd_handle =
NativeMethods.b3RequestActualStateCommandInit(pybullet, m_cubeUid);
IntPtr status_handle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd_handle);
EnumSharedMemoryServerStatus status_type = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status_handle);
if (status_type == EnumSharedMemoryServerStatus.CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
IntPtr p = IntPtr.Zero;
int objUid = 0;
int numDofQ = 0;
int numDofU = 0;
IntPtr inertialFrame = IntPtr.Zero;
IntPtr actualStateQ = IntPtr.Zero;
IntPtr actualStateQdot = IntPtr.Zero;
IntPtr joint_reaction_forces = IntPtr.Zero;
NativeMethods.b3GetStatusActualState(
status_handle, ref objUid, ref numDofQ, ref numDofU,
ref inertialFrame, ref actualStateQ,
ref actualStateQdot, ref joint_reaction_forces);
Debug.Log("objUid=" + objUid.ToString());
Debug.Log("numDofQ=" + numDofQ.ToString());
Debug.Log("numDofU=" + numDofU.ToString());
MyPos mpos = (MyPos)Marshal.PtrToStructure(actualStateQ, typeof(MyPos));
//Debug.Log("pos=(" + mpos.x.ToString()+","+ mpos.y.ToString()+ "," + mpos.z.ToString()+")");
//Debug.Log("orn=(" + mpos.qx.ToString() + "," + mpos.qy.ToString() + "," + mpos.qz.ToString() + mpos.qw.ToString() + ")");
Vector3 pos = new Vector3((float)mpos.x, (float)mpos.y, (float)mpos.z);
Quaternion orn = new Quaternion((float)mpos.qx, (float)mpos.qy, (float)mpos.qz, (float)mpos.qw);
Vector3 dimensions = new Vector3(1, 1, 1);
CjLib.DebugUtil.DrawBox(pos, orn, dimensions, Color.black);
}
}
{
CjLib.DebugUtil.DrawLine(new Vector3(-1, 0, 0), new Vector3(1, 0, 0), Color.red);
CjLib.DebugUtil.DrawLine(new Vector3(0, -1, 0), new Vector3(0, 1, 0), Color.green);
CjLib.DebugUtil.DrawLine(new Vector3(0, 0, -1), new Vector3(0, 0, 1), Color.blue);
}
}
public void SyncPoseBullet2Unity(GameObject body)
{
int bodyId = -1;
b3IdMap.TryGetValue(body, out bodyId);
if (bodyId >= 0)
{
IntPtr cmd_handle =
NativeMethods.b3RequestActualStateCommandInit(pybullet, bodyId);
IntPtr status_handle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd_handle);
EnumSharedMemoryServerStatus status_type = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status_handle);
if (status_type == EnumSharedMemoryServerStatus.CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
IntPtr p = IntPtr.Zero;
int numDofQ = 0;
int numDofU = 0;
IntPtr inertialFrame = IntPtr.Zero;
IntPtr actualStateQ = IntPtr.Zero;
IntPtr actualStateQdot = IntPtr.Zero;
IntPtr joint_reaction_forces = IntPtr.Zero;
NativeMethods.b3GetStatusActualState(
status_handle, ref bodyId, ref numDofQ, ref numDofU,
ref inertialFrame, ref actualStateQ,
ref actualStateQdot, ref joint_reaction_forces);
MyPos mpos = (MyPos)Marshal.PtrToStructure(actualStateQ, typeof(MyPos));
Vector3 pos = new Vector3((float)mpos.x, (float)mpos.y, (float)mpos.z);
Quaternion orn = new Quaternion((float)mpos.qx, (float)mpos.qy, (float)mpos.qz, (float)mpos.qw);
pos = RosSharp.TransformExtensions.Ros2Unity(pos);
orn = RosSharp.TransformExtensions.Ros2Unity(orn);
var tf = body.transform.position;
body.transform.SetPositionAndRotation(pos, orn);
}
}
}
