public DockTaskGenerator(MyGridProgram program, IAutopilot autopilot, IDockingSubsystem ds)
{
Program = program;
Autopilot = autopilot;
DockingSubsystem = ds;
holdTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.Avoid, DockingSubsystem.Connector);
approachTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.SmartEnter, DockingSubsystem.Connector);
enterTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid, DockingSubsystem.Connector);
closeTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid, DockingSubsystem.Connector);
dockTask = new DockTask(DockingSubsystem);
Task = new MoveToAndDockTask();
Task.Reset(holdTask, approachTask, enterTask, closeTask, dockTask, MyTuple.Create(IntelItemType.NONE, (long)1234), Program, MyCubeSize.Small, DockingSubsystem.Connector, DockingSubsystem.DirectionIndicator);
Task.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.FromSeconds(1), null);
dockTask.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
holdTask.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
new WaitTask().Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
}
public override void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
if (!IntelItems.ContainsKey(IntelKey))
{
Aborted = true;
TaskQueue.Clear();
return;
}
DockIntel dock = (DockIntel)IntelItems[IntelKey];
Vector3D dockPosition = dock.GetPositionFromCanonicalTime(canonicalTime);
Vector3 approachPoint = dock.WorldMatrix.Forward * dock.UndockFar + dockPosition;
Vector3 entryPoint = dock.WorldMatrix.Forward * (dock.UndockNear + (DockSize == MyCubeSize.Large ? 1.25f : 0.5f) + 1) + dockPosition;
Vector3 closePoint = dock.WorldMatrix.Forward * (dock.UndockNear + (DockSize == MyCubeSize.Large ? 1f : 0.25f)) + dockPosition;
Vector3 dockDirection = dock.WorldMatrix.Backward;
Vector3D dockToMeDir = Program.Me.WorldMatrix.Translation - dockPosition;
double dockToMeDist = dockToMeDir.Length();
ApproachEntrance.Destination.Direction = dockDirection;
if (dockToMeDist < 250 && dockToMeDist > 150)
{
EnterHoldingPattern.Destination.Position = Vector3D.Zero;
}
else
{
dockToMeDir.Normalize();
Vector3 holdPoint = dockToMeDir * 200 + dockPosition;
EnterHoldingPattern.Destination.Position = holdPoint;
EnterHoldingPattern.Destination.Velocity = dock.GetVelocity();
}
ApproachEntrance.Destination.Direction = dockDirection;
ApproachEntrance.Destination.Position = approachPoint;
ApproachEntrance.Destination.Velocity = dock.GetVelocity();
ApproachDock.Destination.Direction = dockDirection;
ApproachDock.Destination.Position = entryPoint;
ApproachDock.Destination.Velocity = dock.GetVelocity();
FinalAdjustToDock.Destination.Direction = dockDirection;
FinalAdjustToDock.Destination.Position = closePoint;
FinalAdjustToDock.Destination.Velocity = dock.GetVelocity();
if (Indicator != null && dock.IndicatorDir != Vector3D.Zero)
{
//Matrix.CreateWorld(Connector.WorldMatrix.Translation, Connector.WorldMatrix.Forward, Indicator.WorldMatrix.Forward);
var tDir = Vector3D.TransformNormal(Vector3D.TransformNormal(dock.IndicatorDir, MatrixD.Transpose(MatrixD.CreateFromDir(Connector.WorldMatrix.Forward, Indicator.WorldMatrix.Forward))), Connector.WorldMatrix);
ApproachEntrance.Destination.DirectionUp = tDir;
ApproachDock.Destination.DirectionUp = tDir;
FinalAdjustToDock.Destination.DirectionUp = tDir;
}
if (TaskQueue.Count < 6)
{
Program.IGC.SendBroadcastMessage(dock.HangarChannelTag, MyTuple.Create(Program.Me.CubeGrid.EntityId, dock.ID, (int)HangarRequest.RequestDock));
Program.IGC.SendBroadcastMessage(dock.HangarChannelTag, MyTuple.Create(Program.Me.CubeGrid.EntityId, dock.ID, (int)HangarRequest.Reserve));
if (dock.OwnerID == Program.Me.CubeGrid.EntityId && (dock.Status & HangarStatus.Docking) != 0)
{
WaitForClearance.Status = TaskStatus.Complete;
}
}
if (TaskQueue.Count == 4 && (ApproachEntrance.Autopilot.Reference.GetPosition() - approachPoint).LengthSquared() < 1)
{
TaskQueue.Dequeue();
}
if (TaskQueue.Count == 3 && (ApproachDock.Autopilot.Reference.GetPosition() - entryPoint).LengthSquared() < 0.5)
{
TaskQueue.Dequeue();
}
if (TaskQueue.Count < 3)
{
if (DockTask.DockingSubsystem.Connector.Status == MyShipConnectorStatus.Connectable)
{
FinalAdjustToDock.Autopilot.Clear();
DockTask.Do(IntelItems, canonicalTime, profiler);
TaskQueue.Clear();
}
}
base.Do(IntelItems, canonicalTime, profiler);
}