/// <summary>
/// Add the spheres that prevent autopilot from getting stuck between objects.
/// </summary>
/// <remarks>
/// For every cluster, adds a sphere that includes the centre of every sphere in the cluster.
/// </remarks>
public void AddMiddleSpheres()
{
for (int indexO = Clusters.Count - 1; indexO >= 0; indexO--)
{
List <RepulseSphere> cluster = Clusters[indexO];
if (cluster.Count < 2)
{
continue;
}
Vector3D[] points = new Vector3D[cluster.Count];
for (int indexI = cluster.Count - 1; indexI >= 0; indexI--)
{
points[indexI] = cluster[indexI].Centre;
}
BoundingSphereD sphere = BoundingSphereD.CreateFromPoints(points);
RepulseSphere repulse = new RepulseSphere()
{
Centre = sphere.Center, FixedRadius = sphere.Radius
};
#if DEBUG
List <IMyEntity> entities; ResourcePool.Get(out entities);
foreach (RepulseSphere rs in cluster)
{
entities.AddArray(rs.Entities);
}
repulse.Entities = entities.ToArray();
entities.Clear();
ResourcePool.Return(entities);
#endif
cluster.Add(repulse);
}
}
public void Add(ref RepulseSphere sphere)
{
List <RepulseSphere> joinedCluster = null;
List <RepulseSphere> emptyCluster = null;
for (int indexO = Clusters.Count - 1; indexO >= 0; indexO--)
{
List <RepulseSphere> cluster = Clusters[indexO];
if (cluster.Count == 0)
{
emptyCluster = cluster;
continue;
}
for (int indexI = cluster.Count - 1; indexI >= 0; indexI--)
{
RepulseSphere checkSphere = cluster[indexI];
double distSq;
Vector3D.DistanceSquared(ref sphere.Centre, ref checkSphere.Centre, out distSq);
double radii = sphere.FixedRadius + checkSphere.FixedRadius;
radii *= radii;
if (distSq <= radii)
{
if (joinedCluster != null)
{
joinedCluster.AddList(cluster);
cluster.Clear();
}
else
{
joinedCluster = cluster;
cluster.Add(sphere);
}
break;
}
}
}
if (joinedCluster == null)
{
if (emptyCluster != null)
{
emptyCluster.Add(sphere);
}
else
{
ResourcePool.Get(out joinedCluster);
joinedCluster.Add(sphere);
Clusters.Add(joinedCluster);
}
}
}
