void apply_to_others(Action <ModuleTCA> action)
{
if (TCA.CFG.Squad == 0 || !SquadMode)
{
return;
}
for (int i = 0, num_vessels = FlightGlobals.Vessels.Count; i < num_vessels; i++)
{
var v = FlightGlobals.Vessels[i];
if (v == null || v == VSL.vessel || !v.loaded)
{
continue;
}
var tca = ModuleTCA.EnabledTCA(v);
if (tca == null || !tca.Controllable ||
tca.CFG.Squad == 0 || tca.CFG.Squad != TCA.CFG.Squad)
{
continue;
}
//try to reach packed vessels
if (v.packed)
{
var dist = (v.transform.position - VSL.vessel.transform.position).magnitude;
var sit = v.vesselRanges.GetSituationRanges(v.situation);
sit.pack = dist * 1.5f;
sit.unpack = dist * 1.2f;
v.GoOffRails();
}
action(tca);
}
Message("Squad Action Executed");
}
bool ComputeManeuver(Vessel v, out Vector3d maneuver)
{
maneuver = Vector3d.zero;
//calculate distance
var dir = (v.CurrentCoM - VSL.Physics.wCoM);
var dist = dir.magnitude;
dir /= dist;
//first try to get TCA from other vessel and get vessel's R and Exhaust
var vR = 0f;
var vB = new Bounds();
Transform vT = null;
var tca = ModuleTCA.EnabledTCA(v);
if (tca != null)
{
// if(tca.CPS != null &&
// tca.CPS.IsActive &&
// VSL.Physics.M > tca.VSL.Physics.M &&
// VSL.vessel.srfSpeed > v.srfSpeed) //test
// return false;
vR = tca.VSL.Geometry.R;
vB = tca.VSL.Geometry.B;
vT = tca.VSL.refT;
}
else //do a raycast
{
RaycastHit raycastHit;
if (Physics.SphereCast(VSL.Geometry.C + dir * (VSL.Geometry.R + 0.1f), VSL.Geometry.R, dir,
out raycastHit, dist, RadarMask))
{
vR = (raycastHit.point - v.CurrentCoM).magnitude;
}
vT = v.ReferenceTransform;
vB = v.Bounds(vT);
vB.Encapsulate(v.EnginesExhaust());
}
//compute course correction
var dV = VSL.vessel.srf_velocity - v.srf_velocity + (VSL.vessel.acceleration - v.acceleration) * CPS.LookAheadTime;
var thrershold = -1f;
if (v.LandedOrSplashed)
{
thrershold = 0;
}
else if (Dangerous.Contains(v.id))
{
thrershold = CPS.SafeDistance;
}
if (AvoideVessel(VSL, dir, dist, dV, vR, vB, vT, out maneuver, thrershold))
{
Dangerous.Add(v.id);
}
else
{
Dangerous.Remove(v.id);
}
return(!maneuver.IsZero());
}
protected bool GetTCA()
{
if (FlightGlobals.ActiveVessel != null)
{
TCA = ModuleTCA.EnabledTCA(FlightGlobals.ActiveVessel);
}
return(TCA != null);
}
void apply_to_others(Action <ModuleTCA> action)
{
if (TCA.CFG.Squad == 0 || !SquadMode)
{
return;
}
bool executed = false;
for (int i = 0, num_vessels = FlightGlobals.Vessels.Count; i < num_vessels; i++)
{
var v = FlightGlobals.Vessels[i];
if (v == null || v == VSL.vessel || !v.loaded)
{
continue;
}
var tca = ModuleTCA.EnabledTCA(v);
if (tca == null || !tca.Available)
{
continue;
}
if (tca.CFG.Squad == 0 || tca.CFG.Squad != TCA.CFG.Squad)
{
continue;
}
if (!is_comm_reachable(tca))
{
continue;
}
//try to reach packed vessels
UnpackVessel(TCA.vessel, v);
action(tca);
executed = true;
}
if (executed)
{
Message("Squad Action Executed");
}
}
void update_formation_info()
{
tVSL = CFG.Target.GetVessel();
if (tVSL == null)
{
reset_formation();
CanManeuver = false;
return;
}
if (tPN == null || !tPN.Valid)
{
tTCA = ModuleTCA.EnabledTCA(tVSL);
tPN = tTCA != null?tTCA.GetModule <PointNavigator>() : null;
}
var only_count = false;
if (tVSL.srf_velocity.sqrMagnitude < C.FormationSpeedSqr)
{
reset_formation(); CanManeuver = false; only_count = true;
}
//update followers
var offset = 0f;
var can_maneuver = true;
all_followers.Clear();
for (int i = 0, num_vessels = FlightGlobals.Vessels.Count; i < num_vessels; i++)
{
var v = FlightGlobals.Vessels[i];
if (v == null || v.packed || !v.loaded)
{
continue;
}
var tca = ModuleTCA.EnabledTCA(v);
if (tca != null &&
(tca.vessel == VSL.vessel ||
tca.CFG.Nav[Navigation.FollowTarget] &&
tca.CFG.Target.GetTarget() != null &&
tca.CFG.Target.GetTarget() == CFG.Target.GetTarget()))
{
var vPN = tca.GetModule <PointNavigator>();
if (vPN == null)
{
continue;
}
all_followers.Add(v.id, vPN);
if (offset < vPN.VSL.Geometry.R)
{
offset = vPN.VSL.Geometry.R;
}
if (v.id != VSL.vessel.id)
{
can_maneuver &= !vPN.Maneuvering ||
(Maneuvering && VSL.vessel.id.CompareTo(v.id) > 0);
}
}
}
if (only_count)
{
return;
}
CanManeuver = can_maneuver;
var follower_index = all_followers.IndexOfKey(VSL.vessel.id);
if (follower_index == 0)
{
var forward = tVSL == null? Vector3d.zero : -tVSL.srf_velocity.normalized;
var side = Vector3d.Cross(VSL.Physics.Up, forward).normalized;
var num_offsets = all_followers.Count + (all_followers.Count % 2);
offset *= 2;
var target_size = tTCA != null? tTCA.VSL.Geometry.D : Utils.ClampL(Math.Pow(tVSL.totalMass, 1 / 3f), 1);
if (offset < target_size)
{
offset = (float)target_size;
}
offset *= C.MinDistance;
if (Formation == null || Formation.Count != num_offsets || FormationUpdateTimer.TimePassed)
{
FormationUpdateTimer.Reset();
Formation = new List <FormationNode>(num_offsets);
for (int i = 0; i < num_offsets; i++)
{
Formation.Add(new FormationNode(tVSL, i, forward, side, offset));
}
all_followers.ForEach(p => p.Value.UpdateFormation(Formation));
}
else
{
for (int i = 0; i < num_offsets; i++)
{
Formation[i].Update(forward, side, offset);
}
}
}
keep_formation = Formation != null;
if (Formation == null || fnode != null)
{
return;
}
//compute follower offset
var min_d = -1f;
var min_off = 0;
for (int i = 0; i < Formation.Count; i++)
{
var node = Formation[i];
if (node.Follower != null)
{
continue;
}
var d = node.Distance(VSL.vessel);
if (min_d < 0 || min_d > d)
{
min_d = d;
min_off = i;
}
}
Formation[min_off].Follower = VSL.vessel;
fnode = Formation[min_off];
}
