public void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
if (canonicalTime == TimeSpan.Zero)
{
return;
}
runs++;
if (MonitorSubsystem != null &&
(MonitorSubsystem.GetPercentage(MonitorOptions.Hydrogen) < 0.2 ||
MonitorSubsystem.GetPercentage(MonitorOptions.Cargo) < 0.02 ||
MonitorSubsystem.GetPercentage(MonitorOptions.Power) < 0.1))
{
GoHome(canonicalTime);
return;
}
IMyShipController controller = Autopilot.Controller;
Vector3D linearVelocity = controller.GetShipVelocities().LinearVelocity;
var currentPosition = controller.WorldMatrix.Translation;
LeadTask.Destination.MaxSpeed = Autopilot.CruiseSpeed;
if (!TargetPositionSet)
{
if (IntelKey.Item1 == IntelItemType.Waypoint && IntelItems.ContainsKey(IntelKey))
{
TargetPosition = IntelItems[IntelKey].GetPositionFromCanonicalTime(canonicalTime);
PatrolMaxSpeed = ((Waypoint)IntelItems[IntelKey]).MaxSpeed;
}
TargetPositionSet = true;
}
EnemyShipIntel orbitIntel = null;
EnemyShipIntel shootIntel = null;
double closestIntelDist = CombatSystem.AlertDist;
foreach (var intel in IntelItems)
{
if (intel.Key.Item1 != IntelItemType.Enemy)
{
continue;
}
var enemyIntel = (EnemyShipIntel)intel.Value;
if (!EnemyShipIntel.PrioritizeTarget(enemyIntel))
{
continue;
}
if (IntelProvider.GetPriority(enemyIntel.ID) < 2)
{
continue;
}
double dist = (enemyIntel.GetPositionFromCanonicalTime(canonicalTime) - controller.WorldMatrix.Translation).Length();
if (IntelKey.Item1 == IntelItemType.Enemy && enemyIntel.ID != IntelKey.Item2 && FocusedTarget)
{
continue;
}
if (enemyIntel.CubeSize == MyCubeSize.Small)
{
dist -= 300;
}
if (IntelProvider.GetPriority(enemyIntel.ID) == 3)
{
dist -= 600;
}
if (IntelProvider.GetPriority(enemyIntel.ID) == 4)
{
dist -= 1200;
}
if (dist < closestIntelDist)
{
closestIntelDist = dist;
shootIntel = enemyIntel;
if (enemyIntel.Radius > 30)
{
orbitIntel = enemyIntel;
}
}
}
if (shootIntel == null && CombatSystem.TargetIntel != null && IntelProvider.GetPriority(CombatSystem.TargetIntel.ID) >= 2)
{
shootIntel = CombatSystem.TargetIntel;
}
if (orbitIntel == null)
{
orbitIntel = shootIntel;
}
var gravdir = Autopilot.Controller.GetNaturalGravity();
if (gravdir != Vector3D.Zero)
{
gravdir.Normalize();
}
// No Target
if (orbitIntel == null)
{
// Plot Intercept
if (IntelKey.Item1 == IntelItemType.Enemy && IntelItems.ContainsKey(IntelKey) && EnemyShipIntel.PrioritizeTarget((EnemyShipIntel)IntelItems[IntelKey]) && IntelProvider.GetPriority(IntelKey.Item2) >= 2)
{
var target = IntelItems[IntelKey];
LeadTask.Destination.Position = currentPosition + AttackHelpers.GetAttackPoint(target.GetVelocity(), target.GetPositionFromCanonicalTime(canonicalTime) + target.GetVelocity() * 0.08 - currentPosition, Autopilot.CruiseSpeed);
}
// Go to Position ( Scramble )
else if (TargetPosition != Vector3.Zero)
{
LeadTask.Destination.MaxSpeed = PatrolMaxSpeed;
LeadTask.Destination.Position = TargetPosition;
}
else
{
GoHome(canonicalTime);
return;
}
Vector3D toTarget = LeadTask.Destination.Position - Program.Me.WorldMatrix.Translation;
if (toTarget.LengthSquared() > 400)
{
if (gravdir == Vector3D.Zero)
{
LeadTask.Destination.Direction = toTarget;
}
else
{
LeadTask.Destination.Direction = Vector3D.Zero;
}
}
else
{
LeadTask.Destination.Direction = Vector3D.Zero;
}
LastAcceleration = Vector3D.Zero;
LastReference = MatrixD.Zero;
LastEnemyVelocity = Vector3D.Zero;
LastEnemyPosition = Vector3D.Zero;
LastRelativeAttackPoint = Vector3D.Zero;
// targetLastPoweredRun = 0;
}
// Orbiting a Target
else
{
CombatSystem.MarkEngaged();
LeadTask.Destination.MaxSpeed = Autopilot.CombatSpeed;
Vector3D targetPosition = orbitIntel.GetPositionFromCanonicalTime(canonicalTime);
var periodicFactor = runs * Math.PI * CombatSystem.EngageTheta / 4;
Vector3D periodicDirection = Math.Sin(periodicFactor) * controller.WorldMatrix.Left + Math.Cos(periodicFactor) * controller.WorldMatrix.Up;
var Acceleration = linearVelocity - LastLinearVelocity;
if (LastAcceleration == Vector3D.Zero)
{
LastAcceleration = Acceleration;
}
if (LastReference == MatrixD.Zero)
{
LastReference = controller.WorldMatrix;
}
if (LastEnemyVelocity == Vector3D.Zero)
{
LastEnemyVelocity = shootIntel.GetVelocity();
}
if (LastEnemyPosition == Vector3D.Zero)
{
LastEnemyPosition = shootIntel.GetPositionFromCanonicalTime(canonicalTime);
}
var enemyAcceleration = shootIntel.GetVelocity() - LastEnemyVelocity;
var enemyVelocityAdjust = shootIntel.GetVelocity() * 2 - LastEnemyVelocity;
var CurrentAccelerationPreviousFrame = Vector3D.TransformNormal(Acceleration, MatrixD.Transpose(LastReference));
var accelerationAdjust = Vector3D.TransformNormal(CurrentAccelerationPreviousFrame, controller.WorldMatrix);
var velocityAdjust = linearVelocity + accelerationAdjust * 0.4;
velocityAdjust *= CombatSystem.OwnSpeedMultiplier;
Vector3D relativeAttackPoint = AttackHelpers.GetAttackPoint(enemyVelocityAdjust - velocityAdjust, shootIntel.GetPositionFromCanonicalTime(canonicalTime) + enemyVelocityAdjust * 0.25 - controller.WorldMatrix.Translation - velocityAdjust * 0.25, CombatSystem.ProjectileSpeed);
relativeAttackPoint.Normalize();
if (LastRelativeAttackPoint == Vector3D.Zero)
{
LastRelativeAttackPoint = relativeAttackPoint;
}
LastAcceleration = linearVelocity - LastLinearVelocity;
LeadTask.Destination.Direction = relativeAttackPoint;
if ((controller.WorldMatrix.Translation - targetPosition).Length() < CombatSystem.FireDist &&
VectorHelpers.VectorAngleBetween(LeadTask.Destination.Direction, controller.WorldMatrix.Forward) < CombatSystem.FireTolerance)
{
CombatSystem.Fire();
}
Vector3D dirTargetToMe = controller.WorldMatrix.Translation - targetPosition;
var distTargetToMe = dirTargetToMe.Length();
dirTargetToMe.Normalize();
if (Mode == 0)
{
Vector3D dirTargetToOrbitTarget = Vector3D.Cross(dirTargetToMe, controller.WorldMatrix.Up);
dirTargetToOrbitTarget.Normalize();
if (gravdir == Vector3D.Zero)
{
LeadTask.Destination.DirectionUp = Math.Sin(CombatSystem.EngageTheta) * controller.WorldMatrix.Right + Math.Cos(CombatSystem.EngageTheta) * controller.WorldMatrix.Up;
LeadTask.Destination.Position = targetPosition + orbitIntel.GetVelocity() + dirTargetToMe * CombatSystem.EngageDist + dirTargetToOrbitTarget * 200;
}
else
{
var flatDirTargetToMe = dirTargetToMe - VectorHelpers.VectorProjection(dirTargetToMe, gravdir);
flatDirTargetToMe.Normalize();
LeadTask.Destination.Position = targetPosition + orbitIntel.GetVelocity() + flatDirTargetToMe * CombatSystem.EngageDist * 0.9 - gravdir * 300 + periodicDirection * 100;
}
LeadTask.Destination.Velocity = orbitIntel.GetVelocity() * 0.5;
}
else if (Mode == 2)
{
LeadTask.Destination.Position = targetPosition + dirTargetToMe * (CombatSystem.EngageDist + (CombatSystem.EngageDist - distTargetToMe));
LeadTask.Destination.Velocity = orbitIntel.GetVelocity();
}
LastReference = controller.WorldMatrix;
LastEnemyVelocity = shootIntel.GetVelocity();
LastEnemyPosition = shootIntel.GetPositionFromCanonicalTime(canonicalTime);
LastRelativeAttackPoint = relativeAttackPoint;
//var n = VectorHelpers.VectorProjection(enemyAcceleration, gravdir).Length() / enemyAcceleration.Length();
//
//if (targetLastPoweredRun == 0 || n < 0.6)
// targetLastPoweredRun = runs;
//
//if (runs - targetLastPoweredRun > 20)
// IntelProvider.SetPriority(shootIntel.ID, 1);
}
if (!Attack)
{
Vector3D toTarget = TargetPosition - Program.Me.WorldMatrix.Translation;
if (toTarget.LengthSquared() > 100)
{
LeadTask.Destination.Position = TargetPosition;
}
else
{
LeadTask.Destination.Position = Vector3D.Zero;
}
LeadTask.Destination.Velocity = Vector3D.Zero;
}
if (Mode == 1)
{
//TODO: Add support for disabling dampeners in this mode - let pilot have full control aside from aiming
LeadTask.Destination.Position = controller.GetPosition();
LeadTask.Destination.Velocity = Vector3D.Zero;
if (shootIntel == null)
{
LeadTask.Destination.Direction = Vector3D.Zero;
LeadTask.Destination.DirectionUp = Vector3D.Zero;
}
}
LastLinearVelocity = linearVelocity;
if (LeadTask.Status == TaskStatus.Incomplete)
{
LeadTask.Do(IntelItems, canonicalTime, profiler);
}
}
public void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
if (canonicalTime == TimeSpan.Zero)
{
return;
}
if (MiningSystem.Recalling > 0 || currentPosition > 120)
{
Recalling = true;
}
if (Recalling && state < 3)
{
state = 3;
}
if (state == 1) // Diving to surface of asteroid
{
MineTask.Do(IntelItems, canonicalTime, profiler);
MineTask.Destination.MaxSpeed = Autopilot.GetMaxSpeedFromBrakingDistance(kFarSensorDist);
if (MineTask.Status == TaskStatus.Complete || !MiningSystem.SensorsFarClear())
{
EntryPoint = Autopilot.Reference.WorldMatrix.Translation + MineTask.Destination.Direction * (kFarSensorDist - 10);
MineTask.Destination.MaxSpeed = 1f;
state = 2;
}
}
else if (state == 2) // Boring tunnel
{
bool sampleHome = false;
double distToMiningEnd = (Autopilot.Reference.WorldMatrix.Translation - MiningEnd).Length();
if (MiningSystem.SensorsClear())
{
MineTask.Destination.Position = MiningEnd;
}
else if (MiningSystem.SensorsBack())
{
MineTask.Destination.Position = EntryPoint;
}
else
{
MineTask.Destination.Position = Vector3D.Zero;
if (SampleCount <= 0)
{
SampleCount = kSampleFrequency;
var cargoPercentage = MonitorSubsystem.GetPercentage(MonitorOptions.Cargo);
if (LastSampleCargoPercentages.Count >= kMaxSampleCount)
{
LastSampleCargoPercentages.Enqueue(cargoPercentage);
var sampleGreater = 0;
var sampleLesser = 0;
var comparePercentage = LastSampleCargoPercentages.Dequeue() + 0.00001;
foreach (var percentage in LastSampleCargoPercentages)
{
if (percentage > comparePercentage)
{
sampleGreater++;
}
else
{
sampleLesser++;
}
}
if (sampleGreater > sampleLesser)
{
if (!HitOre)
{
HitOre = true;
var currentCoords = GetMiningPosition(currentPosition);
miningMatrix[currentCoords.X + 5, currentCoords.Y + 5] = 1;
}
if (LowestExpectedOreDist == -1)
{
LowestExpectedOreDist = (float)distToMiningEnd - 5;
}
}
else
{
if (HitOre || distToMiningEnd < LowestExpectedOreDist)
{
sampleHome = true;
if (!HitOre)
{
var currentCoords = GetMiningPosition(currentPosition);
miningMatrix[currentCoords.X + 5, currentCoords.Y + 5] = 2;
}
}
}
}
else
{
LastSampleCargoPercentages.Enqueue(cargoPercentage);
}
}
else
{
SampleCount--;
}
}
MiningSystem.Drill();
MineTask.Do(IntelItems, canonicalTime, profiler);
if (GoHomeCheck() || MiningSystem.SensorsFarClear() || distToMiningEnd < 4 || sampleHome)
{
if (MiningSystem.SensorsFarClear() || distToMiningEnd < 4 || sampleHome)
{
UpdateMiningMatrix(currentPosition);
IncrementCurrentPosition();
HitOre = false;
}
state = 3;
MineTask.Destination.MaxSpeed = 2;
LastSampleCargoPercentages.Clear();
}
}
else if (state == 3) // Exiting tunnel
{
MiningSystem.StopDrill();
if (MineTask.Destination.Position != ExitPoint)
{
MineTask.Destination.Position = EntryPoint;
}
MineTask.Do(IntelItems, canonicalTime, profiler);
if (MineTask.Status == TaskStatus.Complete)
{
if (MineTask.Destination.Position == EntryPoint)
{
MineTask.Destination.Position = ExitPoint;
MineTask.Destination.MaxSpeed = 100;
}
else
{
state = 10;
}
}
}
else if (state == 10) // Resuming to approach point
{
if (GoHomeCheck() || Recalling)
{
state = 4;
}
else
{
LeadTask.Destination.Position = ApproachPoint;
LeadTask.Do(IntelItems, canonicalTime, profiler);
if (LeadTask.Status == TaskStatus.Complete)
{
var position = GetMiningPosition(currentPosition);
LeadTask.Destination.Position = ApproachPoint + (Perpendicular * position.X * MiningSystem.OffsetDist + Perpendicular.Cross(MineTask.Destination.Direction) * position.Y * MiningSystem.OffsetDist);
LeadTask.Destination.MaxSpeed = 10;
ExitPoint = LeadTask.Destination.Position;
state = 11;
}
}
}
else if (state == 11) // Search for the digging spot
{
if (GoHomeCheck() || Recalling)
{
state = 4;
}
else
{
LeadTask.Do(IntelItems, canonicalTime, profiler);
if (LeadTask.Status == TaskStatus.Complete)
{
state = 1;
MiningSystem.SensorsOn();
var position = GetMiningPosition(currentPosition);
MineTask.Destination.Position = SurfacePoint + (Perpendicular * position.X * MiningSystem.OffsetDist + Perpendicular.Cross(MineTask.Destination.Direction) * position.Y * MiningSystem.OffsetDist) - MineTask.Destination.Direction * MiningSystem.CloseDist;
MiningEnd = SurfacePoint + (Perpendicular * position.X * MiningSystem.OffsetDist + Perpendicular.Cross(MineTask.Destination.Direction) * position.Y * MiningSystem.OffsetDist) + MineTask.Destination.Direction * MiningDepth;
}
}
}
else if (state == 4) // Going home
{
if (DockingSubsystem == null || DockingSubsystem.HomeID == -1 || DockTaskGenerator == null || UndockTaskGenerator == null)
{
state = 9999;
}
else
{
if (HomeTask == null)
{
HomeTask = DockTaskGenerator.GenerateMoveToAndDockTask(MyTuple.Create(IntelItemType.NONE, (long)0), IntelItems, 40);
}
HomeTask.Do(IntelItems, canonicalTime, profiler);
if (HomeTask.Status != TaskStatus.Incomplete)
{
HomeTask = null;
homeCheck = false;
state = 5;
}
}
}
else if (state == 5) // Waiting for refuel/unload
{
if (Recalling)
{
state = 9999;
}
if ((Program.Me.WorldMatrix.Translation - EntryPoint).LengthSquared() > MiningSystem.CancelDist * MiningSystem.CancelDist)
{
state = 9999;
}
if (LeaveHomeCheck())
{
state = 6;
}
}
else if (state == 6) // Undocking
{
if (DockingSubsystem != null && DockingSubsystem.Connector.Status == MyShipConnectorStatus.Connected)
{
if (UndockTask == null)
{
UndockTask = UndockTaskGenerator.GenerateUndockTask(canonicalTime);
}
}
if (UndockTask != null)
{
UndockTask.Do(IntelItems, canonicalTime, profiler);
if (UndockTask.Status != TaskStatus.Incomplete)
{
UndockTask = null;
state = 10;
}
}
else
{
state = 10;
}
}
else if (state == 9999)
{
Status = TaskStatus.Complete;
}
}
public void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
IMyShipController controller = Autopilot.Controller;
var currentPosition = controller.WorldMatrix.Translation;
Vector3D linearVelocity = controller.GetShipVelocities().LinearVelocity;
if (!TargetPositionSet)
{
if (IntelKey.Item1 == IntelItemType.Waypoint && IntelItems.ContainsKey(IntelKey))
{
TargetPosition = IntelItems[IntelKey].GetPositionFromCanonicalTime(canonicalTime);
}
TargetPositionSet = true;
}
Vector3D worldAttackPoint;
if (TargetPositionSet && TargetPosition != Vector3D.Zero)
{
worldAttackPoint = TargetPosition;
}
else
{
if (IntelKey.Item1 != IntelItemType.Enemy || !IntelItems.ContainsKey(IntelKey))
{
AgentSubsystem.AddTask(TaskType.Dock, MyTuple.Create(IntelItemType.NONE, (long)0), CommandType.Enqueue, 0, canonicalTime);
Status = TaskStatus.Aborted;
return;
}
var target = (EnemyShipIntel)IntelItems[IntelKey];
worldAttackPoint = currentPosition + AttackHelpers.GetAttackPoint(target.GetVelocity(), target.GetPositionFromCanonicalTime(canonicalTime) + target.GetVelocity() * 0.08 - currentPosition, 98);
}
Vector3D dirToTarget = worldAttackPoint - currentPosition;
if (dirToTarget.Length() < LocustCombatSystem.kEngageRange && deployTime == TimeSpan.Zero)
{
CombatSystem.Deploy();
deployTime = canonicalTime;
}
dirToTarget.Normalize();
LeadTask.Destination.Direction = dirToTarget;
LeadTask.Destination.Position = worldAttackPoint + dirToTarget * 400;
if (deployTime != TimeSpan.Zero)
{
if (deployTime + TimeSpan.FromSeconds(2) < canonicalTime)
{
AgentSubsystem.AddTask(TaskType.Dock, MyTuple.Create(IntelItemType.NONE, (long)0), CommandType.Enqueue, 0, canonicalTime);
Status = TaskStatus.Aborted;
return;
}
else
{
LeadTask.Destination.DirectionUp = Math.Sin(kRotateTheta) * controller.WorldMatrix.Right + Math.Cos(kRotateTheta) * controller.WorldMatrix.Up;
}
}
LeadTask.Do(IntelItems, canonicalTime, profiler);
}
