public override void Move()
{
if (m_targetSlim.Closed())
{
Log.DebugLog("target block closed: " + m_targetSlim.getBestName(), Logger.severity.INFO);
m_navSet.OnTaskComplete_NavEngage();
EnableWelders(false);
return;
}
m_targetSlim.ComputeWorldCenter(out m_targetWorld);
if (m_stage == Stage.Retreat)
{
Retreat();
return;
}
float offsetSquared = m_offset + OffsetAdd + OffsetAdd; offsetSquared *= offsetSquared;
if (Vector3.DistanceSquared(m_welder.WorldPosition, m_targetWorld) > offsetSquared)
{
EnableWelders(false);
if (m_closestEmptyNeighbour.HasValue && Globals.UpdateCount > m_timeout_start)
{
Log.DebugLog("failed to start, dropping neighbour: " + m_closestEmptyNeighbour, Logger.severity.DEBUG);
if (m_emptyNeighbours.Count > 1)
{
m_emptyNeighbours.Remove(m_closestEmptyNeighbour.Value);
m_closestEmptyNeighbour = null;
}
else
{
Log.DebugLog("tried every empty neighbour, giving up", Logger.severity.INFO);
EnableWelders(false);
m_stage = Stage.Retreat;
return;
}
}
if (!m_closestEmptyNeighbour.HasValue)
{
GetClosestEmptyNeighbour();
if (!m_closestEmptyNeighbour.HasValue)
{
Log.DebugLog("tried every empty neighbour, giving up", Logger.severity.INFO);
EnableWelders(false);
m_stage = Stage.Retreat;
return;
}
m_timeout_start = Globals.UpdateCount + TimeoutStart;
Vector3D from = m_realGrid.GridIntegerToWorld(m_closestEmptyNeighbour.Value);
m_lineUp.From = m_lineUp.To + (from - m_lineUp.To) * 100d;
}
Vector3 closestPoint = m_lineUp.ClosestPoint(m_welder.WorldPosition);
if (Vector3.DistanceSquared(m_welder.WorldPosition, closestPoint) > 1f || m_navSet.Settings_Current.DistanceAngle > 0.1f)
{
m_stage = Stage.Lineup;
Destination dest = Destination.FromWorld(m_realGrid, m_lineUp.ClosestPoint(m_welder.WorldPosition));
m_pathfinder.MoveTo(destinations: dest);
return;
}
else // linedup up
{
m_stage = Stage.Approach;
}
}
else // near target
{
m_stage = Stage.Weld;
EnableWelders(true);
}
MoveToTarget();
}
