protected override void SetElementValue(ulong id, byte[] data)
{
switch (id)
{
case ElementID.BlockDuration:
BlockDuration = ToULong(data);
break;
case ElementID.ReferencePriority:
ReferencePriority = ToULong(data);
break;
case ElementID.ReferenceBlock:
ReferenceBlock.Add(ToLong(data));
break;
case ElementID.CodecState:
CodecState = data;
break;
case ElementID.DiscardPadding:
DiscardPadding = ToLong(data);
break;
}
}
void ProcessStepMoveAwayFromDock()
{
SkipIfOrbitMode();
SkipIfNoGridNearby();
var _rb = ReferenceBlock;
var thrusters = new List <IMyThrust>();
if (!IsObstructed(_rb.WorldMatrix.Forward))
{
GridTerminalSystem.GetBlocksOfType(thrusters, thruster => thruster.WorldMatrix.Forward == _rb.WorldMatrix.Backward);
}
else if (!IsObstructed(_rb.WorldMatrix.Backward))
{
GridTerminalSystem.GetBlocksOfType(thrusters, thruster => thruster.WorldMatrix.Forward == _rb.WorldMatrix.Forward);
}
else if (!IsObstructed(_rb.WorldMatrix.Left))
{
GridTerminalSystem.GetBlocksOfType(thrusters, thruster => thruster.WorldMatrix.Forward == _rb.WorldMatrix.Right);
}
else if (!IsObstructed(_rb.WorldMatrix.Right))
{
GridTerminalSystem.GetBlocksOfType(thrusters, thruster => thruster.WorldMatrix.Forward == _rb.WorldMatrix.Left);
}
else if (!IsObstructed(_rb.WorldMatrix.Up))
{
GridTerminalSystem.GetBlocksOfType(thrusters, thruster => thruster.WorldMatrix.Forward == _rb.WorldMatrix.Down);
}
else if (!IsObstructed(_rb.WorldMatrix.Down))
{
GridTerminalSystem.GetBlocksOfType(thrusters, thruster => thruster.WorldMatrix.Forward == _rb.WorldMatrix.Up);
}
else
{
ZeroThrustOverride();
EchoR("Ship is obstructed, waiting clearance");
throw new PutOffExecutionException();
}
double currentSpeed = RemoteControl.GetShipSpeed();
double distanceFromDock = Vector3D.Distance(lastShipPosition, ReferenceBlock.GetPosition());
if (distanceFromDock < SafeDistanceFromDock && currentSpeed < 5)
{
thrusters.ForEach(thrust =>
{
if (thrust.CurrentThrust > thrust.ThrustOverride)
{
thrust.ThrustOverride = thrust.CurrentThrust + 5000f;
}
thrust.ThrustOverride += 2000f;
});
}
else if (distanceFromDock > SafeDistanceFromDock)
{
processStep++;
}
}
public void Handle(DrillEvent e)
{
Action <DrillEvent> action;
if (_stateBehavior.TryGetValue(_state, out action))
{
action(e);
}
_lastTime = DateTime.Now;
_lastWorldPosition = ReferenceBlock.GetPosition();
}
void ProcessStepTravelToWaypoint()
{
SkipIfDocked();
SkipIfStopAtWaypointDisabled();
var _rc = RemoteControl;
double distanceFromWaypoint = Vector3D.Distance(currentWaypoint.Coords, ReferenceBlock.GetPosition());
if (Math.Round(_rc.GetShipSpeed(), 0) == 0 && distanceFromWaypoint < 100)
{
_rc.SetAutoPilotEnabled(false); // might be still enabled and we want it disabled before the next step
processStep++;
}
informationTerminals.Text = string.Format("Arriving at {0} in {1}s", currentWaypoint.Name, Math.Round(distanceFromWaypoint / _rc.GetShipSpeed(), 0));
}
double CalculateYZAngle()
{
var yDirectionalVector = new Vector3D(0, 1, 0);
var entityToPlanetDirectionalVector = Vector3D.Normalize(ReferenceBlock.GetPosition() - OrbitCenterPosition);
var entityAngle = Math.Atan2(entityToPlanetDirectionalVector.Y, entityToPlanetDirectionalVector.Z)
- Math.Atan2(yDirectionalVector.Y, yDirectionalVector.Z);
if (entityAngle < 0)
{
entityAngle += 2 * Math.PI;
}
if (entityAngle > (Math.PI / 2) && entityAngle < (Math.PI * 3 / 2))
{
entityAngle += Math.PI;
}
return(entityAngle);
}
Waypoint FindNextOrbitWaypoint()
{
double planetRadius = OrbitRadius;
var xDirectionalVector = new Vector3D(1, 0, 0);
var yDirectionalVector = new Vector3D(0, 1, 0);
var entityToPlanetDirectionalVector = Vector3D.Normalize(ReferenceBlock.GetPosition() - OrbitCenterPosition);
var dotX = Vector3D.Dot(xDirectionalVector, entityToPlanetDirectionalVector);
var dotY = Vector3D.Dot(yDirectionalVector, entityToPlanetDirectionalVector);
var entityXYAngle = Math.Acos(MathHelper.Clamp(dotX, -1f, 1f));
if (dotY < 0)
{
entityXYAngle = 2 * Math.PI - entityXYAngle;
}
entityXYAngle += (Math.PI * 2) / 20; // next waypoint increment
var z = 0;
var x = planetRadius * Math.Cos(entityXYAngle);
var y = planetRadius * Math.Sin(entityXYAngle);
if (orbitYZAngle == 0)
{
orbitYZAngle = CalculateYZAngle();
}
MatrixD xRotationMatrix = new MatrixD(1, 0, 0, 0, Math.Cos(orbitYZAngle), -Math.Sin(orbitYZAngle), 0, Math.Sin(orbitYZAngle), Math.Cos(orbitYZAngle));
var gpsCoords = new Vector3D(x, y, z);
gpsCoords = Vector3D.Rotate(gpsCoords, xRotationMatrix);
gpsCoords = Vector3D.Add(gpsCoords, OrbitCenterPosition);
//EchoR($"GPS:NextWP:{gpsCoords.X}:{gpsCoords.Y}:{gpsCoords.Z}:#FFF17575:");
return(new Waypoint(string.Format("WP:{0:#.###}", entityXYAngle), gpsCoords, false));
}
void ProcessStepFindNextWaypoint()
{
if (OrbitMode)
{
currentWaypoint = FindNextOrbitWaypoint();
}
else
{
if (waypoints.Count() == 0)
{
EchoR("No waypoint defined");
throw new PutOffExecutionException();
}
if (currentWaypoint == null)
{
currentWaypoint = waypoints.First();
}
else
{
double distanceFromWaypoint = Vector3D.Distance(currentWaypoint.Coords, ReferenceBlock.GetPosition());
if (distanceFromWaypoint < 100)
{
currentWaypoint = GetNextWaypoint();
}
}
}
processStep++;
}
void UpdateLastShipPosition()
{
lastShipPosition = ReferenceBlock.GetPosition();
}
