public bool CombatOrbit(Vector3D target)
{
if (!Avoiding && _shipControls != null)
{
var distance = (target - Ship.GetPosition()).Length();
//MaxSpeed = ;
//MaxSpeed = (target - Ship.GetPosition()).Length() < FollowRange*.8 ? 20 : MaxSpeed;
//oh no... a turnary inside a turnary... someone burn me on a stick... nah its okay if I do it this one time
MaxSpeed = MaxSpeed <10 ? 10 :
distance> FollowRange ? distance / ApproachSpeedMod : 20;
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
//Util.Notify("cp1");
//validateTarget(); //This is just to make sure our owner/target was not destoried
ResetOrbitCoords(target, FollowRange);
NavInfo nav = new NavInfo(Ship.GetPosition(), _coords[_currentCoord], (IMyEntity)_shipControls);
//_toPosition - _fromPosition for distance or to generate a vector twords target
if (nav.Direction.Length() < (_coords[_currentCoord] - _coords[_previousCoord]).Length() * .66)
{
_previousCoord = _currentCoord;
_currentCoord++;
if (_currentCoord >= _coords.Count)
{
_currentCoord = 0;
}
}
if (Math.Abs(nav.Direction.LengthSquared()) > 0 || Math.Abs(nav.Rotation.LengthSquared()) > 0)
{
_shipControls.MoveAndRotate(nav.Direction, Vector2.Zero, nav.Roll);
//this calculates max speed based on distance
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
else
{
_shipControls.MoveAndRotateStopped();
}
}
return(true);
}
//indicates the drone was avoiding rather than orbiting
return(false);
}
public bool Follow(Vector3D position, int followDistance)
{
if (Ship != null && !Avoiding && _shipControls != null)
{
NavInfo nav = new NavInfo(Ship.GetPosition(), position, (IMyEntity)_shipControls);
var distance = (position - Ship.GetPosition()).Length();
MaxSpeed = distance > followDistance ? distance / ApproachSpeedMod : 40;
if (distance > 100)
{
MaxSpeed = distance > followDistance ? distance / ApproachSpeedMod : 100;
}
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
AlignTo(position);
if (nav.Direction.Length() < followDistance)
{
if (Ship.Physics.LinearVelocity.Normalize() > 0)
{
_shipControls.MoveAndRotateStopped();
}
}
else
{
if (Math.Abs(nav.Direction.Length()) > followDistance)
{
_shipControls.MoveAndRotate(nav.Direction, nav.Rotation, nav.Roll);
AlignTo(position);
}
}
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
return(true);
}
//indicates the drone was avoiding rather than following
return(false);
}
public void OrbitAttackTarget(Vector3D p, Vector3D v)
{
var distance = (p - Ship.GetPosition()).Length();
var m = Ship.Physics.LinearVelocity;
//what is this you may ask? the enemy position plus their velocity, minus the drones velocity for lead shooting
Vector3D position;
NavInfo nav;
{
position = new Vector3D(p.X + (v.X) - m.X, p.Y + (v.Y) - m.Y, p.Z + (v.Z) - m.Z);
//position = new Vector3D(p.X + (v.X), p.Y + (v.Y), p.Z + (v.Z));
nav = new NavInfo(Ship.GetPosition(), position, (IMyEntity)ShipControls);
navigation.MaxSpeed = (v.Normalize() + 10) * 1.5;
}
if (!navigation.Avoiding)
{
if (distance > navigation.FollowRange / 2)
{
CombatOrbit(position);
}
}
var alignAngle = navigation.AlignTo(position);
if (nav.Direction.Length() < _maxAttackRange && alignAngle < 3)
{
ManualFire(true);
}
else
{
ManualFire(false);
}
NameBeacon();
}
//Working. this sorts through the list of nearbyentities and calculates a single avoidance vector
public void ApproachLocation(Vector3D position)
{
Util.GetInstance().Log("Inside Approach Location Method", logPath);
if (Ship != null && _shipControls != null)
{
Util.GetInstance().Log("ship not null, _controlls not nul", logPath);
//NavInfo nav = new NavInfo(Ship.GetPosition(), position, (IMyEntity)_shipControls);
var dir = position - Ship.GetPosition();
var distance = (position - Ship.GetPosition()).Length();
MaxSpeed = 5;//distance > FollowRange ? distance / ApproachSpeedMod : 40;
bool shipMovingTooFast = Ship.Physics.LinearVelocity.Normalize() > MaxSpeed;
bool isShipAlignedToLocation = FlyingTwords(dir);
bool isShipWithinFollowRange = Math.Abs(dir.Length()) < FollowRange;
bool isShipStopped = Math.Abs(Ship.Physics.LinearVelocity.Normalize()) < 0;
Util.GetInstance().Log("distance " + distance, logPath);
Util.GetInstance().Log("maxSpeed " + MaxSpeed, logPath);
Util.GetInstance().Log("currentSpeed " + Ship.Physics.LinearVelocity.Normalize(), logPath);
if (shipMovingTooFast)
{
_shipControls.MoveAndRotateStopped();
}
else
{
Util.GetInstance().Log("dir/aligned/range/stopped/toofast " + dir + "/" + isShipAlignedToLocation + "/" + isShipWithinFollowRange + isShipStopped + "/" + shipMovingTooFast, logPath);
NavInfo navInfo = new NavInfo(Ship.GetPosition(), position, _shipControls.Entity);
_shipControls.MoveAndRotate(navInfo.Direction, navInfo.Rotation, navInfo.Roll);
//MyRemoteControl remote = _shipControls as MyRemoteControl;
//remote.PreviousControlledEntity.MoveAndRotate();
//_shipControls.MoveAndRotate(dir, new Vector2(), 0);
//MyAPIGateway.Session.GPS.AddLocalGps(MyAPIGateway.Session.GPS.Create("destination", "null", Ship.GetPosition() + dir, true, true));
}
}
}
//Working. this sorts through the list of nearbyentities and calculates a single avoidance vector
public bool AvoidNearbyEntities()
{
//avoiding and avoiding stage two are what I use as "AirBreaks" to bring acceleration down
//most of the time avoiding requires a direction change so this makes it easier to slow down and change direction
//rather than just going full power in an new direction sice dampaners slow down the ship much faster than max opposite power it prevents
//drones from drifting into one another while trying to avoid
if (Avoiding)
{
Avoiding = false;
}
try{
if (_shipControls != null && Ship != null)
{
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else if (Ship != null)
{
List <Vector3D> avoidanceVectors = new List <Vector3D>();
Vector2 avoidanceRot = Vector2.Zero;
//from the list of my nearby entities select
//only targets that have a mass > 20% my mass (otherwise theres no real need to dodge)
//order them by distance
//select only the top _avoidNumTargets
var topEntities =
_nearbyFloatingObjects
.Where(y => y != null && (y.Physics.Mass > Ship.Physics.Mass * .2) &&
(y != Ship))
//to rule out the chance of the ship avoiding its self... which is annoying
.OrderBy(x => (x.GetPosition() - Ship.GetPosition()).Length())
.Take(_avoidNumTargets).ToList();
//Dodge the _avoidNumTargets Entities found by building a single avoidance direction
foreach (var item in topEntities)
{
if (item != null)
{
var distance = Math.Abs((item.GetPosition() - Ship.GetPosition()).Length());
var enemyBoundingBoxSize = (item.GetPosition() - item.LocalAABB.Max).Length() / 2;
if (distance < FollowRange / 8)
{
avoidanceRot += NavInfo.CalculateRotation(item.GetPosition(),
_shipControls as IMyEntity);
var temp = (Ship.GetPosition() - item.GetPosition());
var val2 = item.Physics.Mass / Ship.Physics.Mass > 75 ? 75 : item.Physics.Mass / Ship.Physics.Mass;
if (val2 < 30)
{
val2 = 30;
}
double[] vals = { temp.X, temp.Y, temp.Z };
double min = vals.Min();
if ((int)min == 0)
{
min = 1;
}
temp = temp / min * val2;
Util.GetInstance().Log("[DroneNavigation.AvoidNearbyEntities] " + Ship.DisplayName + " avoiding Ship -> Distance: " + distance + " Mass: " + item.Physics.Mass);
Util.GetInstance().Log("^^avoiding power x:" + temp.X + " y:" + temp.Y + " z:" + temp.Z);
avoidanceVectors.Add(temp);
// * (item.Physics.Mass / biggestMass));
}
}
}
foreach (var item in _nearbyAsteroids)
{
if (item != null)
{
var distance = Math.Abs((item.GetPosition() - Ship.GetPosition()).Length());
var enemyBoundingBoxSize = item.LocalAABB.Max.Normalize();
MaxSpeed = MaxSpeed > distance / ApproachSpeedMod ? distance / ApproachSpeedMod : MaxSpeed;
var detectRange = _avoidanceRange + enemyBoundingBoxSize;
if (distance < detectRange)
{
avoidanceRot += NavInfo.CalculateRotation(item.GetPosition(), _shipControls as IMyEntity);
var temp = (Ship.GetPosition() - item.GetPosition());
var rx = (detectRange - Math.Abs(temp.X)) * (temp.X / temp.X);
var y = (detectRange - Math.Abs(temp.Y)) * (temp.Y / temp.Y);
var z = (detectRange - Math.Abs(temp.Z)) * (temp.Z / temp.Z);
double[] vals = new[] { rx, y, z };
double max = vals.Max(x => Math.Abs(x));
if (max == 0)
{
max = vals.Average() != 0?vals.Average():1;
}
var SpeedPowerBoostBasedOnRange = distance / 100;
temp = new Vector3D(rx, y, z) / max * SpeedPowerBoostBasedOnRange * 20;
Util.GetInstance().Log("[DroneNavigation.AvoidNearbyEntities] " + Ship.DisplayName + " avoiding asteroid -> Distance: " + (distance - detectRange));
Util.GetInstance().Log("^^avoiding power x:" + temp.X + " y:" + temp.Y + " z:" + temp.Z);
avoidanceVectors.Add(temp);
}
}
}
if (avoidanceVectors.Count > 0)
{
avoidanceVectors = avoidanceVectors.OrderBy(x => x.Length()).ToList();
var avoidanceVector = avoidanceVectors[0];
for (int i = 1; i < avoidanceVectors.Count && i < 5; i++)
{
var temp = avoidanceVectors[i];
avoidanceVector += temp;
}
avoidanceVector = (avoidanceVector / avoidanceVectors.Count);
double[] vals = { avoidanceVector.X, avoidanceVector.Y, avoidanceVector.Z };
double max = vals.Max(x => Math.Abs(x));
if (max == 0)
{
max = vals.Average() != 0 ? vals.Average() : 1;
}
avoidanceVector = avoidanceVector / max * 104;
if (_nearbyAsteroids.Count > 0)
{
Util.GetInstance().Log("[DroneNavigation.AvoidNearbyEntities] final avoiding power -> x:" + avoidanceVector.X + " y:" + avoidanceVector.Y + " z:" + avoidanceVector.Z);
}
if (MaxSpeed < 10)
{
MaxSpeed = 10;
}
AvoidTarget(avoidanceVector);
Avoiding = true;
}
}
}
}
catch (Exception e)
{
// i dont care about this error
//Util.GetInstance().LogError(e.ToString());
}
return(Avoiding);
}
public bool Orbit(List <Vector3D> targets)
{
try
{
if (!Avoiding && _shipControls != null)
{
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
ResetOrbitCoords(targets);
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] number coords: " + _coords.Count() + " current coord " + _currentCoord,
"mothershipFlightPath.txt");
if ((_coords[_currentCoord] - Ship.GetPosition()).Length() < FollowRange / 2)
{
//Util.Notify("Skipping");
_currentCoord = _currentCoord + 1;
}
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] cp1",
"mothershipFlightPath.txt");
if (_currentCoord >= _coords.Count)
{
_currentCoord = 0;
}
NavInfo nav = new NavInfo(Ship.GetPosition(), _coords[_currentCoord],
(IMyEntity)_shipControls);
AlignTo(_coords[_currentCoord]);
//_toPosition - _fromPosition
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] cp2",
"mothershipFlightPath.txt");
if (nav.Direction.Length() < (_coords[_currentCoord] - _coords[_previousCoord]).Length() * .66)
{
_previousCoord = _currentCoord;
_currentCoord++;
if (_currentCoord >= _coords.Count)
{
_currentCoord = 0;
}
}
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] cp3",
"mothershipFlightPath.txt");
if (Math.Abs(nav.Direction.LengthSquared()) > 0 ||
Math.Abs(nav.Rotation.LengthSquared()) > 0)
{
_shipControls.MoveAndRotate(nav.Direction, nav.Rotation, nav.Roll);
//this calculates max speed based on distance
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
else
{
_shipControls.MoveAndRotateStopped();
}
}
return(true);
}
} //indicates the drone was avoiding rather than orbiting
catch (Exception e)
{
Util.GetInstance().LogError(e.ToString());
}
return(false);
}
//Working,
public bool Orbit(Vector3D target)
{
if (!Avoiding && _shipControls != null)
{
//MyAPIGateway.Session.Factions.TryGetPlayerFaction();
var distance = (target - Ship.GetPosition()).Length();
MaxSpeed = distance / ApproachSpeedMod;
if (MaxSpeed > 40)
{
MaxSpeed = 40;
}
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
//Util.Notify("cp1");/
//validateTarget(); //This is just to make sure our owner/target was not destoried
ResetOrbitCoords(target, FollowRange);
if (((_coords[_currentCoord + 1 >= _coords.Count ? 0 : _currentCoord + 1] - Ship.GetPosition()).Length()
< (_coords[_currentCoord] - Ship.GetPosition()).Length()) && (_coords[_currentCoord] - Ship.GetPosition()).Length() < FollowRange / 4)
{
//Util.Notify("Skipping");
_currentCoord = _currentCoord + 1;
}
if (_currentCoord >= _coords.Count)
{
_currentCoord = 0;
}
NavInfo nav = new NavInfo(Ship.GetPosition(), _coords[_currentCoord], (IMyEntity)_shipControls);
AlignTo(_coords[_currentCoord]);
//_toPosition - _fromPosition
if (nav.Direction.Length() < (_coords[_currentCoord] - _coords[_previousCoord]).Length() * .66)
{
_previousCoord = _currentCoord;
_currentCoord++;
if (_currentCoord >= _coords.Count)
{
_currentCoord = 0;
}
}
if (Math.Abs(nav.Direction.LengthSquared()) > 0 || Math.Abs(nav.Rotation.LengthSquared()) > 0)
{
_shipControls.MoveAndRotate(nav.Direction, nav.Rotation, nav.Roll);
//this calculates max speed based on distance
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
else
{
_shipControls.MoveAndRotateStopped();
}
}
return(true);
}
//indicates the drone was avoiding rather than orbiting
return(false);
}
public void OrbitAttackTarget(Vector3D p, Vector3D v)
{
var distance = (p - Ship.GetPosition()).Length();
var m = Ship.Physics.LinearVelocity;
//what is this you may ask? the enemy position plus their velocity, minus the drones velocity for lead shooting
Vector3D position;
NavInfo nav;
{
position = new Vector3D(p.X + (v.X) - m.X, p.Y + (v.Y) - m.Y, p.Z + (v.Z) - m.Z);
//position = new Vector3D(p.X + (v.X), p.Y + (v.Y), p.Z + (v.Z));
nav = new NavInfo(Ship.GetPosition(), position, (IMyEntity)ShipControls);
navigation.MaxSpeed = (v.Normalize() + 10) * 1.5;
}
if (!navigation.Avoiding)
{
if (distance > navigation.FollowRange/2)
CombatOrbit(position);
}
var alignAngle = navigation.AlignTo(position);
if (nav.Direction.Length() < _maxAttackRange && alignAngle < 3)
{
ManualFire(true);
}
else
{
ManualFire(false);
}
NameBeacon();
}
public bool Orbit(List<Vector3D> targets)
{
try
{
if (!Avoiding && _shipControls != null)
{
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
ResetOrbitCoords(targets);
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] number coords: " + _coords.Count() + " current coord " + _currentCoord,
"mothershipFlightPath.txt");
if ((_coords[_currentCoord] - Ship.GetPosition()).Length() < FollowRange/2)
{
//Util.Notify("Skipping");
_currentCoord = _currentCoord + 1;
}
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] cp1",
"mothershipFlightPath.txt");
if (_currentCoord >= _coords.Count)
_currentCoord = 0;
NavInfo nav = new NavInfo(Ship.GetPosition(), _coords[_currentCoord],
(IMyEntity) _shipControls);
AlignTo(_coords[_currentCoord]);
//_toPosition - _fromPosition
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] cp2",
"mothershipFlightPath.txt");
if (nav.Direction.Length() < (_coords[_currentCoord] - _coords[_previousCoord]).Length()*.66)
{
_previousCoord = _currentCoord;
_currentCoord++;
if (_currentCoord >= _coords.Count)
_currentCoord = 0;
}
Util.GetInstance()
.Log(
"[ConquestDroneManager.GenerateMission] cp3",
"mothershipFlightPath.txt");
if (Math.Abs(nav.Direction.LengthSquared()) > 0 ||
Math.Abs(nav.Rotation.LengthSquared()) > 0)
{
_shipControls.MoveAndRotate(nav.Direction, nav.Rotation, nav.Roll);
//this calculates max speed based on distance
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
else
_shipControls.MoveAndRotateStopped();
}
return true;
}
} //indicates the drone was avoiding rather than orbiting
catch (Exception e)
{
Util.GetInstance().LogError(e.ToString());
}
return false;
}
//Working,
public bool Orbit(Vector3D target)
{
if (!Avoiding && _shipControls != null)
{
//MyAPIGateway.Session.Factions.TryGetPlayerFaction();
var distance = (target - Ship.GetPosition()).Length();
MaxSpeed = distance/ApproachSpeedMod;
if (MaxSpeed > 40)
MaxSpeed = 40;
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
//Util.Notify("cp1");/
//validateTarget(); //This is just to make sure our owner/target was not destoried
ResetOrbitCoords(target, FollowRange);
if (((_coords[_currentCoord + 1 >= _coords.Count ? 0 : _currentCoord + 1] - Ship.GetPosition()).Length()
< (_coords[_currentCoord] - Ship.GetPosition()).Length()) && (_coords[_currentCoord] - Ship.GetPosition()).Length()<FollowRange/4)
{
//Util.Notify("Skipping");
_currentCoord = _currentCoord + 1;
}
if (_currentCoord >= _coords.Count)
_currentCoord = 0;
NavInfo nav = new NavInfo(Ship.GetPosition(), _coords[_currentCoord], (IMyEntity) _shipControls);
AlignTo(_coords[_currentCoord]);
//_toPosition - _fromPosition
if (nav.Direction.Length() < (_coords[_currentCoord] - _coords[_previousCoord]).Length()*.66)
{
_previousCoord = _currentCoord;
_currentCoord++;
if (_currentCoord >= _coords.Count)
_currentCoord = 0;
}
if (Math.Abs(nav.Direction.LengthSquared()) > 0 || Math.Abs(nav.Rotation.LengthSquared()) > 0)
{
_shipControls.MoveAndRotate(nav.Direction, nav.Rotation, nav.Roll);
//this calculates max speed based on distance
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
else
_shipControls.MoveAndRotateStopped();
}
return true;
}
//indicates the drone was avoiding rather than orbiting
return false;
}
public bool Follow(Vector3D position, int followDistance)
{
if (Ship != null && !Avoiding && _shipControls != null)
{
NavInfo nav = new NavInfo(Ship.GetPosition(), position, (IMyEntity)_shipControls);
var distance = (position - Ship.GetPosition()).Length();
MaxSpeed = distance > followDistance ? distance / ApproachSpeedMod : 40;
if (distance > 100)
MaxSpeed = distance > followDistance ? distance / ApproachSpeedMod : 100;
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
AlignTo(position);
if (nav.Direction.Length() < followDistance)
{
if (Ship.Physics.LinearVelocity.Normalize() > 0)
{
_shipControls.MoveAndRotateStopped();
}
}
else
{
if (Math.Abs(nav.Direction.Length()) > followDistance)
{
_shipControls.MoveAndRotate(nav.Direction, nav.Rotation, nav.Roll);
AlignTo(position);
}
}
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
return true;
}
//indicates the drone was avoiding rather than following
return false;
}
public bool CombatOrbit(Vector3D target)
{
if (!Avoiding && _shipControls != null)
{
var distance = (target - Ship.GetPosition()).Length();
//MaxSpeed = ;
//MaxSpeed = (target - Ship.GetPosition()).Length() < FollowRange*.8 ? 20 : MaxSpeed;
//oh no... a turnary inside a turnary... someone burn me on a stick... nah its okay if I do it this one time
MaxSpeed = MaxSpeed < 10 ? 10 :
distance > FollowRange ? distance / ApproachSpeedMod : 20;
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
else
{
//Util.Notify("cp1");
//validateTarget(); //This is just to make sure our owner/target was not destoried
ResetOrbitCoords(target, FollowRange);
NavInfo nav = new NavInfo(Ship.GetPosition(), _coords[_currentCoord], (IMyEntity) _shipControls);
//_toPosition - _fromPosition for distance or to generate a vector twords target
if (nav.Direction.Length() < (_coords[_currentCoord] - _coords[_previousCoord]).Length()*.66)
{
_previousCoord = _currentCoord;
_currentCoord++;
if (_currentCoord >= _coords.Count)
_currentCoord = 0;
}
if (Math.Abs(nav.Direction.LengthSquared()) > 0 || Math.Abs(nav.Rotation.LengthSquared()) > 0)
{
_shipControls.MoveAndRotate(nav.Direction, Vector2.Zero, nav.Roll);
//this calculates max speed based on distance
if (Ship.Physics.LinearVelocity.Normalize() > MaxSpeed)
{
_shipControls.MoveAndRotateStopped();
}
}
else
_shipControls.MoveAndRotateStopped();
}
return true;
}
//indicates the drone was avoiding rather than orbiting
return false;
}
