/// <summary>
/// Sphere test for simple entities, like floating objects, and for avoiding dangerous ships tools.
/// </summary>
/// <param name="entity">The entity to test.</param>
/// <param name="input"><see cref="TestInput"/></param>
/// <param name="result"><see cref="GridTestResult"/></param>
/// <returns>True if the entity is obstructing the ship.</returns>
private bool SphereTest(MyEntity entity, ref TestInput input, ref GridTestResult result)
{
Vector3D currentPosition = AutopilotGrid.GetCentre();
Vector3D rejectD = input.Direction;
Vector3D disp; Vector3D.Multiply(ref rejectD, input.Length, out disp);
Vector3D finalPosition; Vector3D.Add(ref currentPosition, ref disp, out finalPosition);
float shipRadius = AutopilotGrid.PositionComp.LocalVolume.Radius;
Vector3D obsPos = entity.GetCentre();
Vector3D offObsPos; Vector3D.Subtract(ref obsPos, ref input.Offset, out offObsPos);
float obsRadius = entity.PositionComp.LocalVolume.Radius;
if (entity is MyCubeBlock)
{
// it is an active tool so increase the radius
obsRadius += 10f;
}
m_lineSegment.From = currentPosition;
m_lineSegment.To = finalPosition;
Vector3D closest;
result.Distance = (float)m_lineSegment.ClosestPoint(ref offObsPos, out closest);
double distance; Vector3D.Distance(ref offObsPos, ref closest, out distance);
result.Proximity = (float)distance - (shipRadius + obsRadius);
if (result.Proximity <= 0f && IsRejectionTowards(ref obsPos, ref currentPosition, ref rejectD))
{
Logger.DebugLog("Rejection " + input.Direction + " hit " + entity.nameWithId());
result.ObstructingBlock = entity as MyCubeBlock; // it may not be a block
return(true);
}
return(false);
}
/// <summary>
/// Tests if autopilot's ship would endanger a grid with a ship tool.
/// </summary>
/// <param name="grid">The grid that is potentially endangered.</param>
/// <param name="input"><see cref="TestInput"/></param>
/// <param name="result"><see cref="GridTestResult"/></param>
/// True if the ship would endanger grid.
private bool EndangerGrid(MyCubeGrid grid, ref TestInput input, ref GridTestResult result)
{
Vector3D currentPosition = AutopilotGrid.GetCentre();
Vector3D obstructPositon = grid.GetCentre();
Vector3D rejectD = input.Direction;
Vector3D gridPosition = grid.GetCentre() - input.Offset;
float gridRadius = grid.PositionComp.LocalVolume.Radius;
Vector3 rejectDispF; Vector3.Multiply(ref input.Direction, input.Length, out rejectDispF);
Vector3D rejectDisp = rejectDispF;
IEnumerable <CubeGridCache> myCaches = AttachedGrid.AttachedGrids(AutopilotGrid, AttachedGrid.AttachmentKind.Terminal, true).Select(CubeGridCache.GetFor);
foreach (CubeGridCache cache in myCaches)
{
if (cache == null)
{
Logger.DebugLog("Missing a cache", Logger.severity.DEBUG);
return(true);
}
foreach (MyShipDrill drill in cache.BlocksOfType(typeof(MyObjectBuilder_Drill)))
{
if (drill.IsShooting && ToolObstructed(drill, ref gridPosition, gridRadius, ref rejectDisp, ref result) && IsRejectionTowards(ref obstructPositon, ref currentPosition, ref rejectD))
{
return(true);
}
}
foreach (MyShipGrinder grinder in cache.BlocksOfType(typeof(MyObjectBuilder_ShipGrinder)))
{
if (grinder.IsShooting && ToolObstructed(grinder, ref gridPosition, gridRadius, ref rejectDisp, ref result) && IsRejectionTowards(ref obstructPositon, ref currentPosition, ref rejectD))
{
return(true);
}
}
}
return(false);
}
/// <summary>
/// Tests if a specified tool will endager a grid at gridPosition.
/// </summary>
/// <param name="tool">The hazardous tool.</param>
/// <param name="gridPosition">The positon of the grid.</param>
/// <param name="gridRadius">The radius around gridPosition which the tool must not intersect.</param>
/// <param name="rejectDisp">The displacement of travel.</param>
/// <param name="result"><see cref="GridTestResult"/></param>
/// <returns>True if tool would endanger a grid at gridPosition.</returns>
private bool ToolObstructed(MyCubeBlock tool, ref Vector3D gridPosition, float gridRadius, ref Vector3D rejectDisp, ref GridTestResult result)
{
m_lineSegment.From = tool.PositionComp.GetPosition();
m_lineSegment.To = m_lineSegment.From + rejectDisp;
Vector3D closest;
result.Distance = (float)m_lineSegment.ClosestPoint(ref gridPosition, out closest);
double distance; Vector3D.Distance(ref gridPosition, ref closest, out distance);
result.Proximity = (float)distance - (gridRadius + tool.PositionComp.LocalVolume.Radius + 5f);
return(result.Proximity <= 0f);
}
/// <summary>
/// Tests a grid for obstructing the ship via vector rejection.
/// </summary>
/// <param name="oGrid">The grid that may obstruct this one.</param>
/// <param name="ignoreBlock">Block to ignore, or null</param>
/// <param name="input"><see cref="TestInput"/></param>
/// <param name="result"><see cref="GridTestResult"/></param>
/// <returns>True if oGrid is blocking the ship.</returns>
private bool RejectionIntersects(MyCubeGrid oGrid, MyCubeBlock ignoreBlock, ref TestInput input, ref GridTestResult result)
{
//Logger.DebugLog("Rejection vector is not normalized, length squared: " + rejectionVector.LengthSquared(), Logger.severity.FATAL, condition: Math.Abs(rejectionVector.LengthSquared() - 1f) > 0.001f);
//Logger.DebugLog("Testing for rejection intersection: " + oGrid.nameWithId() + ", starting from: " + (AutopilotGrid.GetCentre() + offset) + ", rejection vector: " + rejectionVector + ", distance: " + rejectionDistance +
// ", final: " + (AutopilotGrid.GetCentre() + offset + rejectionVector * rejectionDistance));
//Logger.DebugLog("rejction distance < 0: " + rejectionDistance, Logger.severity.ERROR, condition: rejectionDistance < 0f);
IEnumerable <CubeGridCache> myCaches = AttachedGrid.AttachedGrids(AutopilotGrid, AttachedGrid.AttachmentKind.Physics, true).Select(CubeGridCache.GetFor);
Vector3D currentPosition = AutopilotGrid.GetCentre();
CubeGridCache oCache = CubeGridCache.GetFor(oGrid);
if (oCache == null)
{
Logger.DebugLog("Failed to get cache for other grid", Logger.severity.DEBUG);
return(false);
}
bool checkBlock = ignoreBlock != null && oGrid == ignoreBlock.CubeGrid;
Vector3 v; input.Direction.CalculatePerpendicularVector(out v);
Vector3 w; Vector3.Cross(ref input.Direction, ref v, out w);
Matrix to3D = new Matrix(v.X, v.Y, v.Z, 0f,
w.X, w.Y, w.Z, 0f,
input.Direction.X, input.Direction.Y, input.Direction.Z, 0f,
0f, 0f, 0f, 1f);
Matrix to2D; Matrix.Invert(ref to3D, out to2D);
float roundTo;
int minDistanceSquared;
if (AutopilotGrid.GridSizeEnum == oGrid.GridSizeEnum)
{
roundTo = AutopilotGrid.GridSize;
minDistanceSquared = 1;
}
else
{
roundTo = Math.Min(AutopilotGrid.GridSize, oGrid.GridSize);
minDistanceSquared = (int)Math.Ceiling(Math.Max(AutopilotGrid.GridSize, oGrid.GridSize) / roundTo);
minDistanceSquared *= minDistanceSquared;
}
int maxDistanceSquared = minDistanceSquared * 100;
Profiler.StartProfileBlock("RejectionIntersects:Build ship");
Vector2IMatrix <bool> apShipRejections;
ResourcePool.Get(out apShipRejections);
MatrixD worldMatrix = AutopilotGrid.WorldMatrix;
float gridSize = AutopilotGrid.GridSize;
float minProjection = float.MaxValue, maxProjection = float.MinValue; // the permitted range when rejecting the other grids cells
foreach (CubeGridCache cache in myCaches)
{
if (cache == null)
{
Logger.DebugLog("Missing a cache", Logger.severity.DEBUG);
Profiler.EndProfileBlock();
return(false);
}
foreach (Vector3I cell in cache.OccupiedCells())
{
Vector3 local = cell * gridSize;
MyCubeBlock block = (MyCubeBlock)cache.CubeGrid.GetCubeBlock(cell)?.FatBlock;
if (block != null && block.Subparts != null && block.Subparts.Count != 0 && !CellOccupiedByBlock(cell, block))
{
continue;
}
Vector3D world; Vector3D.Transform(ref local, ref worldMatrix, out world);
Vector3D relative; Vector3D.Subtract(ref world, ref currentPosition, out relative);
Vector3 relativeF = relative;
float projectionDistance; Vector3 rejection;
VectorExtensions.RejectNormalized(ref relativeF, ref input.Direction, out projectionDistance, out rejection);
if (projectionDistance < minProjection)
{
minProjection = projectionDistance;
}
else if (projectionDistance > maxProjection)
{
maxProjection = projectionDistance;
}
Vector3 planarComponents; Vector3.Transform(ref rejection, ref to2D, out planarComponents);
//Logger.DebugLog("Math fail: rejection: " + rejection + ", planar components: " + planarComponents + "\nto3D: " + to3D, Logger.severity.WARNING, condition: planarComponents.Z > 0.001f || planarComponents.Z < -0.001f);
Vector2 pc2 = new Vector2(planarComponents.X, planarComponents.Y);
apShipRejections[ToCell(pc2, roundTo)] = true;
//Logger.DebugLog("My rejection: " + rejection + ", planar: " + ToCell(pc2, roundTo));
}
}
Profiler.EndProfileBlock();
minProjection += StartRayCast; // allow autopilot to move away from a touching object
//Logger.DebugLog("projection min: " + minProjection + ", max: " + maxProjection + ", max for other: " + (maxProjection + rejectionDistance));
maxProjection += input.Length;
//Logger.DebugLog("checking other grid cells");
Profiler.StartProfileBlock("RejectionIntersects:other grid");
Vector2IMatrix <bool> otherGridRejections;
ResourcePool.Get(out otherGridRejections);
worldMatrix = oGrid.WorldMatrix;
gridSize = oGrid.GridSize;
foreach (Vector3I cell in oCache.OccupiedCells())
{
//Logger.DebugLog("cell: " + cell);
Vector3 local = cell * gridSize;
Vector3D world; Vector3D.Transform(ref local, ref worldMatrix, out world);
Vector3D offsetWorld; Vector3D.Subtract(ref world, ref input.Offset, out offsetWorld);
Vector3D relative; Vector3D.Subtract(ref offsetWorld, ref currentPosition, out relative);
Vector3 relativeF = relative;
Vector3 rejection;
VectorExtensions.RejectNormalized(ref relativeF, ref input.Direction, out result.Distance, out rejection);
if (result.Distance < minProjection || result.Distance > maxProjection)
{
continue;
}
Vector3 planarComponents; Vector3.Transform(ref rejection, ref to2D, out planarComponents);
//Logger.DebugLog("Math fail: rejection: " + rejection + ", planar components: " + planarComponents + "\nto3D: " + to3D, Logger.severity.WARNING, condition: planarComponents.Z > 0.001f || planarComponents.Z < -0.001f);
Vector2 pc2 = new Vector2(planarComponents.X, planarComponents.Y);
Vector2I cell2D = ToCell(pc2, roundTo);
if (!otherGridRejections.Add(cell2D, true))
{
//Logger.DebugLog("Already tested: " + cell2D);
continue;
}
//Logger.DebugLog("Rejection: " + rejection + ", planar: " + cell2D);
//Logger.DebugLog("testing range. x: " + (cell2D.X - steps) + " - " + (cell2D.X + steps));
ExpandingRings.Ring ring = default(ExpandingRings.Ring);
for (int ringIndex = 0; ring.DistanceSquared <= maxDistanceSquared; ringIndex++)
{
ring = ExpandingRings.GetRing(ringIndex);
for (int squareIndex = 0; squareIndex < ring.Squares.Length; squareIndex++)
{
if (apShipRejections.Contains(cell2D + ring.Squares[squareIndex]))
{
if (ring.DistanceSquared <= minDistanceSquared)
{
IMySlimBlock slim = oGrid.GetCubeBlock(cell);
if (slim != null)
{
if (checkBlock && slim.FatBlock == ignoreBlock)
{
continue;
}
MyCubeBlock fat = (MyCubeBlock)slim.FatBlock;
if (fat != null && fat.Subparts != null && fat.Subparts.Count != 0 && !CellOccupiedByBlock(cell, fat))
{
continue;
}
result.ObstructingBlock = fat;
}
else
{
result.ObstructingBlock = null;
}
result.Proximity = 0f;
Logger.DebugLog("Hit, projectionDistance: " + result.Distance + ", min: " + minProjection + ", max: " + maxProjection + ", ring: " + ringIndex + ", ring dist sq: " + ring.DistanceSquared + ", min dist sq: " + minDistanceSquared + ", max dist sq: " + maxDistanceSquared);
Profiler.EndProfileBlock();
apShipRejections.Clear();
otherGridRejections.Clear();
ResourcePool.Return(apShipRejections);
ResourcePool.Return(otherGridRejections);
return(true);
}
else
{
maxDistanceSquared = ring.DistanceSquared;
goto NextCell;
}
}
}
}
NextCell :;
}
Profiler.EndProfileBlock();
apShipRejections.Clear();
otherGridRejections.Clear();
ResourcePool.Return(apShipRejections);
ResourcePool.Return(otherGridRejections);
result.Proximity = (float)Math.Sqrt(maxDistanceSquared);
return(false);
}
/// <summary>
/// Tests if a section of space can be travelled without hitting the specified entity.
/// </summary>
/// <param name="entity">The potential obstruction</param>
/// <param name="ignoreBlock">Null or the block autopilot is trying to connect with.</param>
/// <param name="input"><see cref="TestInput"/></param>
/// <param name="result"><see cref="GridTestResult"/></param>
/// <returns>True if the specified entity obstructs the path.</returns>
public bool ObstructedBy(MyEntity entity, MyCubeBlock ignoreBlock, ref TestInput input, out GridTestResult result)
{
//Logger.DebugLog("checking: " + entity.getBestName() + ", offset: " + offset + ", rejection vector: " + rejectionVector + ", rejection distance: " + rejectionDistance);
#if DEBUG
if (!input.Direction.IsValid() || Math.Abs(1f - input.Direction.LengthSquared()) > 0.01f)
{
throw new Exception("rejection vector is invalid. entity: " + entity.nameWithId() + ", input: " + input);
}
#endif
result = GridTestResult.Default;
result.Distance = input.Length;
MyCubeGrid grid = entity as MyCubeGrid;
if (grid != null)
{
// check for dangerous tools on grid
CubeGridCache cache = CubeGridCache.GetFor(grid);
if (cache == null)
{
return(false);
}
Profiler.StartProfileBlock("Checking Tools");
foreach (MyShipDrill drill in cache.BlocksOfType(typeof(MyObjectBuilder_Drill)))
{
if (drill.IsShooting)
{
if (SphereTest(drill, ref input, ref result))
{
Profiler.EndProfileBlock();
return(true);
}
}
}
foreach (MyShipGrinder grinder in cache.BlocksOfType(typeof(MyObjectBuilder_ShipGrinder)))
{
if (grinder.IsShooting)
{
if (SphereTest(grinder, ref input, ref result))
{
Profiler.EndProfileBlock();
return(true);
}
}
}
Profiler.EndProfileBlock();
if (ExtensionsRelations.canConsiderFriendly(Controller.CubeBlock, grid) && EndangerGrid(grid, ref input, ref result))
{
Logger.DebugLog("Movement would endanger: " + grid.getBestName());
return(true);
}
Profiler.StartProfileBlock("RejectionIntersects");
if (RejectionIntersects(grid, ignoreBlock, ref input, ref result))
{
Profiler.EndProfileBlock();
return(true);
}
Profiler.EndProfileBlock();
}
else
{
return(SphereTest(entity, ref input, ref result));
}
return(false);
}
