IEnumerator LerpGray()
{
float startTime = Time.time;
float prevMaxRamp = maxRampOffset;
float prevLerpFreq = lerpFrequency;
float offset = 0;
while (true)
{
if (!prevMaxRamp.Approx(maxRampOffset))
{
prevMaxRamp = maxRampOffset;
}
if (!prevLerpFreq.Approx(lerpFrequency))
{
prevLerpFreq = lerpFrequency;
float currLerpParam = Mathf.InverseLerp(0, maxRampOffset, gray.rampOffset);
float sinVal = Mathf.Sin(Time.time - startTime);
float upOrDown = Mathf.Sign(sinVal);
startTime = Time.time - (Mathf.Asin(currLerpParam * 2f - 1f) / lerpFrequency);
//startTime = startTime + 2 * (Mathf.PI / 2 - startTime);
// if opposite direction, (pi / 2) - startTime
}
gray.rampOffset = Mathf.Lerp(0, maxRampOffset, (Mathf.Sin((Time.time - startTime) * lerpFrequency) + 1f) / 2f);
yield return(null);
}
}
public bool Iteration()
{
var dict = new SortedDictionary <float, float>();
theta0 = GetIterValue();
dict.Add(Dist(), GetIterValue()); // 计算当前距离并存放到字典里，以距离作为Key排序
SetIterValue(theta0 + alpha); // 计算向前步进后的距离，放进字典
var dist = Dist();
if (!dict.ContainsKey(dist))
{
dict.Add(dist, GetIterValue()); //（字典里的值是被DOF限制后的）
}
SetIterValue(theta0 - alpha); // 反向
dist = Dist();
if (!dict.ContainsKey(dist))
{
dict.Add(dist, GetIterValue());
}
foreach (var i in dict)
{
SetIterValue(i.Value);
astIK.Rotate();
break;
}
theta1 = GetIterValue();
return(theta0.Approx(theta1)); // 是否已经接近最佳值
}
internal static float ValueFromSides(this float negativeSide, float positiveSide)
{
float v1 = negativeSide.Abs();
float v2 = positiveSide.Abs();
if (v1.Approx(v2))
{
return(0.0f);
}
return((double)v1 > (double)v2 ? -v1 : v2);
}
private void ModeSiphon()
{
float moles = metaNode.GasMix.Moles * (IsExpandedRange ? 0.40f : 0.05f) * Effectiveness; // siphon a portion
moles = moles.Clamp(0, nominalMolesTransferCap);
if (moles.Approx(0))
{
return;
}
GasMix.TransferGas(pipeMix, metaNode.GasMix, moles);
}
public void SetIntegrityLevel(float newLevel)
{
Mathf.Clamp(newLevel, 0, 100);
//0 check
if (newLevel.Approx(0))
{
integritySlider.value = 0;
return;
}
// 0 to 1
integritySlider.value = newLevel / 100;
}
public void SetPowerLevel(float newLevel)
{
Mathf.Clamp(newLevel, 0, 100);
//0 check
if (newLevel.Approx(0))
{
powerSlider.value = 0;
return;
}
// 0 to 1
powerSlider.value = newLevel / 100;
}
private static void InternalSetMoles(GasData data, GasSO gasType, float moles, bool isChange)
{
lock (data.GasesArray) //Because it gets the gas and it could be added in between this
{
//Try to get gas value if already inside mix
GetGasType(data, gasType, out var gas);
if (gas != null)
{
if (isChange)
{
gas.Moles += moles;
}
else
{
gas.Moles = moles;
}
//Remove gas from mix if less than threshold
if (gas.Moles <= AtmosConstants.MinPressureDifference)
{
data.RemoveGasType(gasType);
}
return;
}
//Gas isn't inside mix so we'll add it
//Dont add new data for negative moles
if (Math.Sign(moles) == -1)
{
return;
}
//Dont add if approx 0 or below threshold
if (moles.Approx(0) || moles <= AtmosConstants.MinPressureDifference)
{
return;
}
var newValues = GetGasValues();
newValues.Moles = moles;
newValues.GasSO = gasType;
data.GasesArray.Add(newValues);
data.GasesDict.Add(gasType, newValues);
}
}
private void ModeScrub()
{
// Scrub out a portion of each specified gas.
// If all these gases exceed transfer amount, reduce each gas scrub mole count proportionally.
float scrubbableMolesAvailable = 0;
lock (metaNode.GasMix.GasesArray) //no Double lock
{
foreach (GasValues gas in metaNode.GasMix.GasesArray) //doesn't appear to modify list while iterating
{
if (FilteredGases.Contains(gas.GasSO))
{
scrubbingGasMoles[gas.GasSO] = gas.Moles * (IsExpandedRange ? 0.05f : 0.20f) * Effectiveness;
scrubbableMolesAvailable += scrubbingGasMoles[gas.GasSO];
}
}
}
if (scrubbableMolesAvailable.Approx(0))
{
return; // No viable gases found
}
float molesToTransfer = scrubbableMolesAvailable.Clamp(0, nominalMolesTransferCap * Effectiveness);
float ratio = molesToTransfer / scrubbableMolesAvailable;
ratio = ratio.Clamp(0, 1);
// actual scrubbing
for (int i = 0; i < Gas.Gases.Count; i++)
{
GasSO gas = Gas.Gases[i];
float transferAmount = scrubbingGasMoles[i] * ratio;
if (transferAmount.Approx(0))
{
continue;
}
metaNode.GasMix.RemoveGas(gas, transferAmount);
if (selfSufficient == false)
{
pipeMix.AddGas(gas, transferAmount);
}
}
Array.Clear(scrubbingGasMoles, 0, scrubbingGasMoles.Length);
}
public bool Approx(Float2 other, float maxDifference = .0001f) => X.Approx(other.X, maxDifference) && Y.Approx(other.Y, maxDifference);
/// <summary>
/// Pulls in the desired gas, as well as others, from the specified gas mix and adds them to the blood stream
/// </summary>
/// <param name="gasMix">The gas mix to breathe in from</param>
/// <param name="blood">The blood to put gases into</param>
/// <returns> True if breathGasMix was changed </returns>
private bool BreatheIn(GasMix breathGasMix, ReagentMix blood, float efficiency)
{
if (RelatedPart.HealthMaster.RespiratorySystem.CanBreathAnywhere)
{
blood.Add(RelatedPart.requiredReagent, RelatedPart.bloodType.GetSpareGasCapacity(blood));
return(false);
}
ReagentMix toInhale = new ReagentMix();
var Available = RelatedPart.bloodType.GetGasCapacityOfnonMeanCarrier(blood);
var TotalMoles = breathGasMix.Moles;
foreach (var gasValues in breathGasMix.GasData.GasesArray)
{
var gas = gasValues.GasSO;
if (GAS2ReagentSingleton.Instance.DictionaryGasToReagent.ContainsKey(gas) == false)
{
continue;
}
// n = PV/RT
float gasMoles = breathGasMix.GetPressure(gas) * LungSize / (8.314f * breathGasMix.Temperature);
// Get as much as we need, or as much as in the lungs, whichever is lower
Reagent gasReagent = GAS2ReagentSingleton.Instance.GetGasToReagent(gas);
float molesRecieved = 0;
if (gasReagent == RelatedPart.bloodType.CirculatedReagent)
{
molesRecieved = Mathf.Min(gasMoles, RelatedPart.bloodType.GetSpareGasCapacity(blood, gasReagent));
}
else
{
if (gasMoles == 0)
{
molesRecieved = 0;
}
else
{
molesRecieved = Available / (TotalMoles / gasMoles);
molesRecieved = Mathf.Min(molesRecieved, gasMoles);
}
}
if (molesRecieved.Approx(0) == false)
{
toInhale.Add(gasReagent, molesRecieved * efficiency);
}
//TODO: Add pressureSafeMax check here, for hyperoxia
}
RelatedPart.HealthMaster.RespiratorySystem.GasExchangeToBlood(breathGasMix, blood, toInhale);
// Counterintuitively, in humans respiration is stimulated by pressence of CO2 in the blood, not lack of oxygen
// May want to change this code to reflect that in the future so people don't hyperventilate when they are on nitrous oxide
var inGas = GAS2ReagentSingleton.Instance.GetGasToReagent(requiredGas);
float bloodCap = RelatedPart.bloodType.GetGasCapacity(RelatedPart.BloodContainer.CurrentReagentMix);
float foreignCap = RelatedPart.bloodType.GetGasCapacityForeign(RelatedPart.BloodContainer.CurrentReagentMix);
float bloodSaturation = 0;
if (bloodCap + foreignCap == 0)
{
bloodSaturation = 0;
}
else
{
var ratioNativeBlood = bloodCap / (bloodCap + foreignCap);
bloodSaturation = RelatedPart.BloodContainer[RelatedPart.requiredReagent] * ratioNativeBlood / bloodCap;
}
if (bloodSaturation >= RelatedPart.HealthMaster.CirculatorySystem.BloodInfo.BLOOD_REAGENT_SATURATION_OKAY)
{
currentBreatheCooldown = breatheCooldown; //Slow breathing, we're all good
RelatedPart.HealthMaster.HealthStateController.SetSuffocating(false);
}
else if (bloodSaturation <= RelatedPart.HealthMaster.CirculatorySystem.BloodInfo.BLOOD_REAGENT_SATURATION_BAD)
{
RelatedPart.HealthMaster.HealthStateController.SetSuffocating(true);
if (Random.value < 0.2)
{
Chat.AddActionMsgToChat(RelatedPart.HealthMaster.gameObject, "You gasp for breath", $"{RelatedPart.HealthMaster.PlayerScriptOwner.visibleName} gasps");
}
}
//Debug.Log("Gas inhaled: " + toInhale.Total + " Saturation: " + saturation);
return(toInhale.Total > 0);
}
private static void InternalSetMoles(GasData data, GasSO gasType, float moles, bool isChange)
{
//Try to get gas value if already inside mix
GetGasType(data, gasType, out var gas);
if (gas != null)
{
if (isChange)
{
gas.Moles += moles;
}
else
{
gas.Moles = moles;
}
//Remove gas from mix if less than threshold
if (gas.Moles <= AtmosConstants.MinPressureDifference)
{
data.RemoveGasType(gasType);
}
return;
}
//Gas isn't inside mix so we'll add it
//Dont add new data for negative moles
if (Math.Sign(moles) == -1)
{
return;
}
//Dont add if approx 0 or below threshold
if (moles.Approx(0) || moles <= AtmosConstants.MinPressureDifference)
{
return;
}
//Create new array and add old gas values and new gas
var newValues = new GasValues {
Moles = moles, GasSO = gasType
};
var newArray = new GasValues[data.GasesArray.Length + 1];
for (int i = 0; i < newArray.Length; i++)
{
if (data.GasesArray.Length == i)
{
newArray[i] = newValues;
//Should only happen on last index since we are adding only one thing so can break
break;
}
newArray[i] = data.GasesArray[i];
}
data.GasesArray = newArray;
data.GasesDict.Add(gasType, newValues);
}
IEnumerator PerformFollowPath(List <Node> path)
{
int node = 1;
while (node < path.Count)
{
if (!activated)
{
yield return(WaitFor.EndOfFrame);
yield break;
}
if (!movingToTile)
{
if (TickDelay.Approx(0) == false)
{
yield return(WaitFor.Seconds(TickDelay));
}
var dir = path[node].position - Vector2Int.RoundToInt(transform.localPosition);
if (!registerTile.Matrix.IsPassableAtOneMatrixOneTile(registerTile.LocalPositionServer + (Vector3Int)dir, true, context: gameObject))
{
var dC = registerTile.Matrix.GetFirst <DoorController>(
registerTile.LocalPositionServer + (Vector3Int)dir, true);
if (dC != null)
{
dC.MobTryOpen(gameObject);
yield return(WaitFor.Seconds(1f));
}
else
{
ResetMovingValues();
FollowCompleted();
Logger.Log("Path following timed out. Something must be in the way", Category.Movement);
yield break;
}
}
if (directional != null)
{
directional.FaceDirection(Orientation.From(dir));
}
cnt.Push(dir, context: gameObject);
movingToTile = true;
}
else
{
if (arrivedAtTile)
{
movingToTile = false;
arrivedAtTile = false;
timeOut = 0f;
node++;
}
else
{
//Mob has 5 seconds to get to the next tile
//or the AI should do something else
timeOut += Time.deltaTime;
if (timeOut > 5f)
{
ResetMovingValues();
Logger.Log("Path following timed out. Something must be in the way", Category.Movement);
FollowCompleted();
yield break;
}
}
}
yield return(WaitFor.EndOfFrame);
}
yield return(WaitFor.EndOfFrame);
ResetMovingValues();
FollowCompleted();
}
public bool Approx(Float4 other, float maxDifference = .0001f) => X.Approx(other.X, maxDifference) && Y.Approx(other.Y, maxDifference) && Z.Approx(other.Z, maxDifference) && W.Approx(other.W, maxDifference);
