public void Reset(WaypointTask holdTask, WaypointTask approachTask, WaypointTask enterTask, WaypointTask closeTask, DockTask dockTask, MyTuple <IntelItemType, long> intelKey, MyGridProgram program, MyCubeSize dockSize, IMyTerminalBlock connector, IMyTerminalBlock indicator = null)
{
Reset();
if (indicator != null)
{
Indicator = indicator;
Connector = connector;
}
EnterHoldingPattern = holdTask;
WaitForClearance = new WaitTask();
ApproachEntrance = approachTask;
ApproachDock = enterTask;
FinalAdjustToDock = closeTask;
DockTask = dockTask;
IntelKey = intelKey;
DockSize = dockSize;
Program = program;
closeTask.Destination.MaxSpeed = 0.5f;
enterTask.Destination.MaxSpeed = 5;
TaskQueue.Enqueue(EnterHoldingPattern);
TaskQueue.Enqueue(WaitForClearance);
TaskQueue.Enqueue(ApproachEntrance);
TaskQueue.Enqueue(ApproachDock);
TaskQueue.Enqueue(FinalAdjustToDock);
TaskQueue.Enqueue(DockTask);
}
public LocustAttackTask(MyGridProgram program, LocustCombatSystem combatSystem, IAutopilot autopilot, IAgentSubsystem agentSubsystem, MyTuple <IntelItemType, long> intelKey)
{
Program = program;
CombatSystem = combatSystem;
Autopilot = autopilot;
AgentSubsystem = agentSubsystem;
IntelKey = intelKey;
Status = TaskStatus.Incomplete;
LeadTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.Avoid);
}
// int targetLastPoweredRun = 0;
public HornetAttackTask(MyGridProgram program, HornetCombatSubsystem combatSystem, IAutopilot autopilot, IAgentSubsystem agentSubsystem, IMonitorSubsystem monitorSubsystem, IIntelProvider intelProvider)
{
Program = program;
CombatSystem = combatSystem;
Autopilot = autopilot;
AgentSubsystem = agentSubsystem;
MonitorSubsystem = monitorSubsystem;
IntelProvider = intelProvider;
Status = TaskStatus.Incomplete;
LeadTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.Avoid);
}
public HoneybeeMiningTask(MyGridProgram program, HoneybeeMiningSystem miningSystem, IAutopilot autopilot, IAgentSubsystem agentSubsystem, Waypoint target, AsteroidIntel host, IIntelProvider intelProvider, IMonitorSubsystem monitorSubsystem, IDockingSubsystem dockingSubsystem, DockTaskGenerator dockTaskGenerator, UndockFirstTaskGenerator undockTaskGenerator)
{
Program = program;
MiningSystem = miningSystem;
Autopilot = autopilot;
AgentSubsystem = agentSubsystem;
MonitorSubsystem = monitorSubsystem;
Host = host;
MiningDepth = MiningSystem.MineDepth;
LowestExpectedOreDist = (float)MiningDepth;
DockingSubsystem = dockingSubsystem;
Status = TaskStatus.Incomplete;
double lDoc, det;
GetSphereLineIntersects(host.Position, host.Radius, target.Position, target.Direction, out lDoc, out det);
Perpendicular = GetPerpendicular(target.Direction);
CoPerp = Perpendicular.Cross(target.Direction);
if (det < 0)
{
Status = TaskStatus.Aborted;
state = -1;
return;
}
SurfaceDist = -lDoc + Math.Sqrt(det);
ApproachPoint = target.Position + target.Direction * SurfaceDist * 0.3;
ExitPoint = ApproachPoint;
EntryPoint = target.Position + target.Direction * miningSystem.CloseDist;
MiningEnd = target.Position - target.Direction * MiningDepth;
SurfacePoint = target.Position;
LeadTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.SmartEnter);
MineTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid);
LeadTask.Destination.Position = ApproachPoint;
LeadTask.Destination.Direction = target.Direction * -1;
LeadTask.Destination.DirectionUp = Perpendicular + CoPerp;
intelProvider.ReportFleetIntelligence(LeadTask.Destination, TimeSpan.FromSeconds(1));
MineTask.Destination.Direction = target.Direction * -1;
MineTask.Destination.DirectionUp = Perpendicular + CoPerp;
MineTask.Destination.Position = EntryPoint;
DockTaskGenerator = dockTaskGenerator;
UndockTaskGenerator = undockTaskGenerator;
}
public DockTaskGenerator(MyGridProgram program, IAutopilot autopilot, IDockingSubsystem ds)
{
Program = program;
Autopilot = autopilot;
DockingSubsystem = ds;
holdTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.Avoid, DockingSubsystem.Connector);
approachTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.SmartEnter, DockingSubsystem.Connector);
enterTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid, DockingSubsystem.Connector);
closeTask = new WaypointTask(Program, Autopilot, new Waypoint(), WaypointTask.AvoidObstacleMode.DoNotAvoid, DockingSubsystem.Connector);
dockTask = new DockTask(DockingSubsystem);
Task = new MoveToAndDockTask();
Task.Reset(holdTask, approachTask, enterTask, closeTask, dockTask, MyTuple.Create(IntelItemType.NONE, (long)1234), Program, MyCubeSize.Small, DockingSubsystem.Connector, DockingSubsystem.DirectionIndicator);
Task.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.FromSeconds(1), null);
dockTask.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
holdTask.Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
new WaitTask().Do(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.Zero, null);
}