/// <summary>
/// Starts harvesting.
/// </summary>
private void StartHarvest()
{
LogEntered("StartHarvest()");
HarvestState = Navigator.ReportableState.Harvest;
CNS.setDestination(targetVoxel);
if (!VoxelsBetweenNavAndPoint((Vector3D)CNS.getWayDest()))
{
myLogger.debugLog("no voxels between nav drill and destination", "StartHarvest()");
SetNextStage(Ready, false);
return;
}
if (myNav.MM.rotLenSq > rotLenSq_offCourse)
{
myLogger.debugLog("too far from correct direction", "StartHarvest()");
SetNextStage(StartTunnelThrough, false);
return;
}
if (IsInsideAsteroid())
{
myLogger.debugLog("now inside asteroid", "StartHarvest()");
SetNextStage(Harvest, true);
}
myNav.collisionCheckMoveAndRotate();
}
/// <summary>
/// Prepare for harvesting
/// </summary>
/// <remarks>
/// <para>If drills are full, change stage to Finished.</para>
/// <para>Get closest asteroid, pick a random point.</para>
/// <para>Set CNS settings</para>
/// <para>Enables Drills.</para>
/// </remarks>>
private void Ready()
{
LogEntered("Ready()");
HarvestState = Navigator.ReportableState.H_Ready;
if (DrillFullness(GetDrills()) > FullAmount_Return)
{
myLogger.debugLog("Drills are full: " + DrillFullness(GetDrills()) + " > " + FullAmount_Return, "Ready()");
SetNextStage(Finished, false);
return;
}
Vector3D?target = GetUsefulTarget(GetClosestAsteroid().WorldVolume);
if (!target.HasValue)
{
myLogger.debugLog("failed to get a useful point inside asteroid", "Ready()");
SetNextStage(Ready, false);
return;
}
targetVoxel = (Vector3)target;
CNS_RestorePrevious();
CNS.setDestination(closestVoxel);
CNS.ignoreAsteroids = true;
ReadyPoint = NavigationDrill.GetPosition();
myLogger.debugLog("Ready", "Ready()");
SetNextStage(ApproachAsteroid, false);
}
/// <summary>
/// Starts backing out
/// </summary>
private void StartBackout()
{
LogEntered("StartBackout()");
HarvestState = Navigator.ReportableState.H_Back;
//CNS.atWayDest(); // consider destination reached
CNS_SetHarvest();
CNS.setDestination(ReadyPoint);
CNS.SpecialFlyingInstructions = NavSettings.SpecialFlying.Line_SidelForward;
myNav.fullStop("StartBackout");
SetNextStage(Backout, false);
}
private void StartTunnelThrough()
{
LogEntered("StartTunnelThrough()");
HarvestState = Navigator.ReportableState.H_Tunnel;
//CNS.atWayDest(); // consider destination reached
Vector3D current = NavigationDrill.GetPosition();
Vector3D forwardVect = NavigationDrill.WorldMatrix.Forward;
CNS_SetHarvest();
CNS.setDestination(current + forwardVect * 128);
CNS.SpecialFlyingInstructions = NavSettings.SpecialFlying.Line_Any;
myNav.fullStop("start tunneling through");
SetNextStage(TunnelThrough, true);
}
/// <summary>
/// if outside of asteroid move using closestVoxel
/// </summary>
private void ApproachAsteroid()
{
LogEntered("ApproachAsteroid()");
if (IsInsideAsteroid() || myNav.MM.distToWayDest < 10)
{
myLogger.debugLog("Reached point (possibly)", "ApproachAsteroid()");
myNav.fullStop("close to asteroid");
CNS_SetHarvest();
CNS.setDestination(targetVoxel);
CNS.SpecialFlyingInstructions = NavSettings.SpecialFlying.Line_Any;
SetNextStage(RotateToWaypoint, false);
return;
}
myNav.collisionCheckMoveAndRotate();
}