void SkipIfObstructed(Vector3D directionalVector, CollectDetectedBlocks collect = null)
{
if (IsObstructed(directionalVector, collect))
{
EchoR("Skipping: obstructed");
processStep++;
throw new PutOffExecutionException();
}
}
bool IsObstructed(Vector3D directionalVector, CollectDetectedBlocks collect = null)
{
if (collect == null)
{
collect = CollectAll;
}
var entities = FindDetectedGrids().FindAll(blk => collect(blk));
var referenceBlock = ReferenceBlock;
foreach (var entity in entities)
{
var dir = Vector3D.Normalize(entity.Position - referenceBlock.GetPosition());
var dot = Vector3D.Dot(dir, Vector3D.Normalize(directionalVector));
var radians = Math.Acos(MathHelper.Clamp(dot, -1f, 1f));
var degrees = MathHelper.ToDegrees(radians);
if (degrees > 0 && degrees < 60)
{
//EchoR(string.Format("Grid detected: {0}, degrees {1}, type: {2}", entity.Name, degrees, entity.Type));
return(true);
}
}
return(false);
}
