public void VoxelCheckRequest(bool useAsteroidAABB = false)
{
if (_collisionSystem.AutoPilot.InGravity())
{
var stepList = _collisionSystem.AutoPilot.GetPlanetPathSteps(StartPosition, DirectionVector, Distance, true);
var planet = _collisionSystem.AutoPilot.GetCurrentPlanet();
var planetCenter = planet.PositionComp.WorldAABB.Center;
int index = -1;
bool underwater = false;
for (int i = 0; i < stepList.Count; i++)
{
var step = stepList[i];
var stepToCore = Vector3D.Distance(planetCenter, step);
var stepSurfaceToCore = Vector3D.Distance(planetCenter, WaterHelper.GetClosestSurface(step, planet, _collisionSystem.AutoPilot.CurrentWater));
if (stepToCore < stepSurfaceToCore)
{
//Logger.MsgDebug("Planet Voxel Found: ", DebugTypeEnum.Collision);
index = i == 0 ? 0 : i - 1;
break;
}
}
if (index >= 0)
{
CollisionIsWater = WaterHelper.IsPositionUnderwater(stepList[index], _collisionSystem.AutoPilot.CurrentWater);
VoxelEntity = planet;
VoxelCoords = stepList[index];
VoxelDistance = Vector3D.Distance(StartPosition, stepList[index]);
}
}
else
{
MyVoxelBase closestVoxel = null;
double closestDistance = -1;
/*
* //Temp Debug Code Start
* _voxelScanList.Clear();
* var startCorner = StartPosition + new Vector3D(-2000, -2000, -2000);
* var endCorner = StartPosition + new Vector3D(2000, 2000, 2000);
* var box = new BoundingBoxD(startCorner, endCorner);
* MyGamePruningStructure.GetAllVoxelMapsInBox(ref box, _voxelScanList);
*/
foreach (var voxel in _voxelScanList)
{
var planet = voxel as MyPlanet;
if (planet != null)
{
continue;
}
if (!useAsteroidAABB)
{
double minDist = 0;
double maxDist = 0;
bool boxCheckResult = voxel.PositionComp.WorldAABB.Intersect(ref Ray, out minDist, out maxDist);
Vector3D startBox = boxCheckResult ? (minDist - 5) * DirectionVector + StartPosition : StartPosition;
Vector3D endBox = boxCheckResult ? (maxDist + 5) * DirectionVector + StartPosition : EndPosition;
Vector3D?hitPosition = null;
LineD voxelLine = new LineD(startBox, endBox);
bool gotHit = false;
try {
using (voxel.Pin()) {
gotHit = voxel.GetIntersectionWithLine(ref voxelLine, out hitPosition);
}
} catch (Exception e) {
Logger.WriteLog("Supressed Exception While Checking Voxel Collision");
Logger.WriteLog(e.ToString());
}
if (hitPosition.HasValue)
{
var hitDist = Vector3D.Distance((Vector3D)hitPosition, StartPosition);
if (closestVoxel == null || closestVoxel != null && hitDist < closestDistance)
{
closestVoxel = voxel;
closestDistance = hitDist;
}
}
}
else
{
if (voxel.PositionComp.WorldAABB.Contains(StartPosition) == ContainmentType.Contains)
{
var hitDist = Vector3D.Distance(StartPosition, StartPosition + DirectionVector);
if (closestVoxel == null || closestVoxel != null && hitDist < closestDistance)
{
closestVoxel = voxel;
closestDistance = hitDist;
}
}
else
{
double hitDist = 0;
voxel.PositionComp.WorldAABB.Intersects(ref Line, out hitDist);
if (closestVoxel == null || closestVoxel != null && hitDist < closestDistance)
{
closestVoxel = voxel;
closestDistance = hitDist;
}
}
}
}
if (closestDistance == -1)
{
return;
}
VoxelEntity = closestVoxel;
VoxelDistance = closestDistance;
VoxelCoords = closestDistance * DirectionVector + StartPosition;
}
}
private void CalculateAreaAndPath()
{
//Reset Existing Values
_closestNodeToStart = null;
_closestNodeToEnd = null;
_endPath = false;
_goodNodes.Clear();
_badNodes.Clear();
_pathWaypoints.Clear();
_shorelineNodes.Clear();
if (!EnablePathGeneration)
{
_endPath = true;
return;
}
//Create The Grid Of Nodes
var up = _behavior.AutoPilot.UpDirectionFromPlanet;
var forward = Vector3D.CalculatePerpendicularVector(up);
var myPos = _behavior.RemoteControl.GetPosition();
var myMatrix = MatrixD.CreateWorld(myPos, forward, up);
double distanceOffsetHalf = (_worldStepDistance * _steps) / 2;
var startOffset = new Vector3D(-distanceOffsetHalf, 0, -distanceOffsetHalf);
var startGridCoords = Vector3D.Transform(startOffset, myMatrix);
_targetCoords = _behavior.AutoPilot.GetPendingWaypoint();
for (int x = 0; x <= _steps; x++)
{
for (int y = 0; y <= _steps; y++)
{
var gridWorldCellOffset = startOffset;
gridWorldCellOffset.X += (x * _worldStepDistance);
gridWorldCellOffset.Z += (y * _worldStepDistance);
var gridWorldCoords = Vector3D.Transform(gridWorldCellOffset, myMatrix);
double distAboveWater = 0;
var surfaceCoords = WaterHelper.GetClosestSurface(gridWorldCoords, _behavior.AutoPilot.CurrentPlanet, _behavior.AutoPilot.CurrentWater, ref distAboveWater);
if (x == 0 & y == 0)
{
_gridStartCoords = surfaceCoords;
}
if (x == _steps - 1 & y == _steps - 1)
{
_gridEndCoords = surfaceCoords;
}
var node = new PathNode(surfaceCoords, x, y);
if (distAboveWater > -_minimumDepth)
{
_badNodes.Add(node);
continue;
}
_goodNodes.Add(node);
node.DistanceFromStart = Vector3D.Distance(myPos, surfaceCoords);
node.DistanceFromEnd = Vector3D.Distance(surfaceCoords, _targetCoords);
if (_closestNodeToStart == null || node.DistanceFromStart < _closestNodeToStart.DistanceFromStart)
{
_closestNodeToStart = node;
}
if (_closestNodeToEnd == null || node.DistanceFromEnd < _closestNodeToEnd.DistanceFromEnd)
{
_closestNodeToEnd = node;
}
}
}
for (int i = _goodNodes.Count - 1; i >= 0; i--)
{
if (GetNeighbours(_goodNodes[i], true).Count > 0)
{
_shorelineNodes.Add(_goodNodes[i]);
_goodNodes.RemoveAt(i);
}
}
if (_shorelineNodes.Contains(_closestNodeToStart))
{
_closestNodeToStart = null;
foreach (var node in _goodNodes)
{
if (_closestNodeToStart == null || node.DistanceFromStart < _closestNodeToStart.DistanceFromStart)
{
_closestNodeToStart = node;
}
}
}
if (_shorelineNodes.Contains(_closestNodeToEnd))
{
_closestNodeToEnd = null;
foreach (var node in _goodNodes)
{
if (_closestNodeToEnd == null || node.DistanceFromEnd < _closestNodeToEnd.DistanceFromEnd)
{
_closestNodeToEnd = node;
}
}
}
//Logger.MsgDebug("Total Nodes Calculated: " + _goodNodes.Count, DebugTypeEnum.AutoPilot);
//Calculate the Path
_pathWaypoints = new List <Vector3D>(FindPath());
}