///// <summary>
///// get the damping force in a direction
///// </summary>
///// <param name="direction">the direction of force / acceleration</param>
//public float GetDampingInDirection(Base6Directions.Direction direction)
//{
// float dampingForce = 0;
// foreach (ThrusterProperties thruster in thrustersInDirection[direction])
// if (!thruster.thruster.Closed && thruster.thruster.IsWorking)
// dampingForce += thruster.dampingForce * thruster.thruster.ThrustMultiplier;
// return dampingForce;
//}
/// <summary>
/// get the force in a direction
/// </summary>
/// <param name="direction">the direction of force / acceleration</param>
public float GetForceInDirection(Base6Directions.Direction direction)
{
float force = 0;
foreach (ThrusterProperties thruster in thrustersInDirection[direction])
if (!thruster.thruster.Closed && thruster.thruster.IsWorking)
force += thruster.force * thruster.thruster.ThrustMultiplier;
return force;
}
public void SetLocalPosition(Vector3I sectionStart, int sectionStartPosition, float cubeSize, Base6Directions.Direction forward, Base6Directions.Direction offset)
{
int segmentPosition = LinePosition - sectionStartPosition;
Matrix localMatrix = PositionComp.LocalMatrix;
Vector3 offsetVector = PositionComp.LocalMatrix.GetDirectionVector(forward) * segmentPosition + PositionComp.LocalMatrix.GetDirectionVector(offset) * 0.10f;
localMatrix.Translation = (sectionStart + offsetVector / PositionComp.Scale.Value) * cubeSize;
PositionComp.LocalMatrix = localMatrix;
m_segmentDirection = forward;
}
public Base6Directions.Direction GetDirection(Base6Directions.Direction direction)
{
switch (direction)
{
case Base6Directions.Direction.Right:
return Right;
case Base6Directions.Direction.Left:
return Left;
case Base6Directions.Direction.Up:
return Up;
case Base6Directions.Direction.Down:
return Down;
case Base6Directions.Direction.Backward:
return Backward;
case Base6Directions.Direction.Forward:
default:
return Forward;
}
}
public void SetDirection(Base6Directions.Direction dirToSet, Base6Directions.Direction newDirection)
{
switch (dirToSet)
{
case Base6Directions.Direction.Right:
Right = newDirection;
break;
case Base6Directions.Direction.Left:
Left = newDirection;
break;
case Base6Directions.Direction.Up:
Up = newDirection;
break;
case Base6Directions.Direction.Down:
Down = newDirection;
break;
case Base6Directions.Direction.Backward:
Backward = newDirection;
break;
case Base6Directions.Direction.Forward:
Forward = newDirection;
break;
}
}
public MyBlockOrientation(ref Matrix m)
{
this.Forward = Base6Directions.GetForward(ref m);
this.Up = Base6Directions.GetUp(ref m);
}
public static void Transform(ref Vector3I value, ref MatrixI matrix, out Vector3I result)
{
result = ((Vector3I)(((value.X * Base6Directions.GetIntVector(matrix.Right)) + (value.Y * Base6Directions.GetIntVector(matrix.Up))) + (value.Z * Base6Directions.GetIntVector(matrix.Backward)))) + matrix.Translation;
}
/// <summary>
/// Sets the overrides in a direction to match a particular force ratio.
/// </summary>
private void SetOverrides(Base6Directions.Direction direction, float ratio)
{
float force = GetForceInDirection(direction) * ratio;
// no need to lock thrustersInDirection, it is updated on game thread
foreach (MyThrust thruster in thrustersInDirection[direction])
if (!thruster.Closed && thruster.IsWorking)
{
if (force <= 0f)
{
if (TP_ThrustOverride.GetValue(thruster) != 0f)
TP_ThrustOverride.SetValue(thruster, 0f);
continue;
}
float maxForce = GetThrusterMaxForce(thruster);
if (maxForce > force)
{
float overrideValue = Math.Max(force / maxForce * maxThrustOverrideValue, minThrustOverrideValue);
if (TP_ThrustOverride.GetValue(thruster) != overrideValue)
TP_ThrustOverride.SetValue(thruster, overrideValue);
//myLogger.debugLog("direction: " + direction + ", thruster: " + thruster.DisplayNameText + ", add partial force " + force + " of " + maxForce + ", overrideValue: " + overrideValue, "SetOverrides()");
force = 0f;
}
else
{
if (TP_ThrustOverride.GetValue(thruster) != maxThrustOverrideValue)
TP_ThrustOverride.SetValue(thruster, maxThrustOverrideValue);
force -= maxForce;
//myLogger.debugLog("direction: " + direction + ", thruster at full force: " + thruster.DisplayNameText, "SetOverrides()");
}
}
}
private float CalcForceInDirection(Base6Directions.Direction direction)
{
float force = 0;
using (lock_thrustersInDirection.AcquireSharedUsing())
foreach (MyThrust thruster in thrustersInDirection[direction])
if (!thruster.Closed && thruster.IsWorking)
force += GetThrusterMaxForce(thruster);
m_totalThrustForce[direction] = force;
if (direction == m_primaryForce.Direction)
{
//myLogger.debugLog("updating primary force, direction: " + direction + ", force: " + force, "CalcForceInDirection()");
m_primaryForce.Force = force;
}
else if (force > m_primaryForce.Force * 1.1f)
{
myLogger.debugLog("stronger than primary force, direction: " + direction + ", force: " + force + ", acceleration: " + force / myGrid.Physics.Mass + ", primary: " + m_primaryForce, Logger.severity.DEBUG);
m_secondaryForce = m_primaryForce;
m_primaryForce.Direction = direction;
m_primaryForce.Force = force;
if (m_secondaryForce.Direction == Base6Directions.GetFlippedDirection(m_primaryForce.Direction))
m_secondaryForce = new ForceInDirection() { Direction = Base6Directions.GetPerpendicular(m_primaryForce.Direction) };
myLogger.debugLog("secondary: " + m_secondaryForce);
Standard.SetMatrixOrientation(m_primaryForce.Direction, m_secondaryForce.Direction);
Gravity.SetMatrixOrientation(m_secondaryForce.Direction, m_primaryForce.Direction);
}
else if (direction == m_secondaryForce.Direction)
{
//myLogger.debugLog("updating secondary force, direction: " + direction + ", force: " + force, "CalcForceInDirection()");
m_secondaryForce.Force = force;
}
else if (force > m_secondaryForce.Force * 1.1f && direction != Base6Directions.GetFlippedDirection(m_primaryForce.Direction))
{
myLogger.debugLog("stronger than secondary force, direction: " + direction + ", force: " + force + ", acceleration: " + force / myGrid.Physics.Mass + ", secondary: " + m_secondaryForce, Logger.severity.DEBUG);
m_secondaryForce.Direction = direction;
m_secondaryForce.Force = force;
Standard.SetMatrixOrientation(m_primaryForce.Direction, m_secondaryForce.Direction);
Gravity.SetMatrixOrientation(m_secondaryForce.Direction, m_primaryForce.Direction);
}
return force;
}
/// <summary>
/// Determines if the ship has enough force to accelerate in the specified direction. Checks against gravity.
/// </summary>
/// <param name="accelertation">The minimum acceleration required, in m/s/s</param>
public bool CanMoveDirection(Base6Directions.Direction direction, float acceleration = 1f)
{
Update();
return GetForceInDirection(direction, true) > Grid.Physics.Mass * acceleration;
}
public Matrix GetFloatMatrix()
{
return(Matrix.CreateWorld(new Vector3(Translation), Base6Directions.GetVector(Forward), Base6Directions.GetVector(Up)));
}
/// <summary>
/// Returns the direction baseDirection will point to after transformation
/// </summary>
public Base6Directions.Direction TransformDirection(Base6Directions.Direction baseDirection)
{
Base6Directions.Axis axis = Base6Directions.GetAxis(baseDirection);
int flip = ((int)baseDirection % 2);
if (axis == Base6Directions.Axis.ForwardBackward)
{
return flip == 1 ? Base6Directions.GetFlippedDirection(Forward) : Forward;
}
if (axis == Base6Directions.Axis.LeftRight)
{
return flip == 1 ? Base6Directions.GetFlippedDirection(Left) : Left;
}
Debug.Assert(axis == Base6Directions.Axis.UpDown, "Axis invalid in MyBlockOrientation");
return flip == 1 ? Base6Directions.GetFlippedDirection(Up) : Up;
}
private static string GetAxisIndicator(Base6Directions.Direction direction)
{
switch (Base6Directions.GetAxis(direction))
{
case Base6Directions.Axis.LeftRight: // X
return Base6Directions.GetVector(direction).X < 0 ? "-X" : "+X";
case Base6Directions.Axis.UpDown: // Y
return Base6Directions.GetVector(direction).Y < 0 ? "-Y" : "+Y";
case Base6Directions.Axis.ForwardBackward: // Z
return Base6Directions.GetVector(direction).Z < 0 ? "-Z" : "+Z";
}
return null;
}
/// <summary>
/// Calculates the maximum speed that will allow the grid to stop at the destination.
/// </summary>
/// <param name="dist">The distance to the destination</param>
/// <param name="direct">The directional thrusters to use</param>
/// <returns>The maximum speed that will allow the grid to stop at the destination.</returns>
private float MaximumSpeed(float dist, Base6Directions.Direction direct)
{
// Mover will attempt to stop with normal thrust
float accel = -myThrust.GetForceInDirection(Base6Directions.GetFlippedDirection(direct)) / Block.Physics.Mass;
//myLogger.debugLog("dist: " + dist + ", accel: " + accel + ", max speed: " + PrettySI.makePretty(Math.Sqrt(-2 * accel * dist)), "MaximumSpeed()");
return (float)Math.Sqrt(-2 * accel * dist);
}
public static bool IsValidBlockOrientation(Direction forward, Direction up)
{
return(forward <= Direction.Down && up <= Direction.Down && Vector3.Dot(Base6Directions.GetVector(forward), Base6Directions.GetVector(up)) == 0f);
}
public MyBlockOrientation(ref Matrix m)
{
Forward = Base6Directions.GetForward(ref m);
Up = Base6Directions.GetUp(ref m);
Debug.Assert(IsValid);
}
public MyBlockOrientation(ref Quaternion q)
{
Forward = Base6Directions.GetForward(q);
Up = Base6Directions.GetUp(q);
Debug.Assert(IsValid);
}
public static Matrix UnpackOrthoMatrix(ref Vector4 packed)
{
int w = (int)packed.W;
return(Matrix.CreateWorld(new Vector3(packed), Base6Directions.GetVector((int)(w / 6)), Base6Directions.GetVector((int)(w % 6))));
}
public void SetExplored(ulong packedCoord, Base6Directions.DirectionFlags directionFlags)
{
CellInfo info = new CellInfo();
if (m_cellInfos.TryGetValue(packedCoord, out info))
{
info.ExploredDirections = directionFlags;
m_cellInfos[packedCoord] = info;
}
else
{
Debug.Assert(false, "Could not find navmesh cell info for setting explored directions!");
}
}
protected void SetConstraint(MyShipMergeBlock otherBlock, HkConstraint constraint, Base6Directions.Direction otherRight)
{
Debug.Assert(m_constraint == null && m_other == null);
if (m_constraint != null || m_other != null) return;
m_constraint = constraint;
m_other = otherBlock;
m_otherRight = otherRight;
CheckEmissivity();
NeedsUpdate |= MyEntityUpdateEnum.EACH_FRAME;
}
/// <summary>
/// Returns the direction that this orientation transforms to baseDirection
/// </summary>
public Base6Directions.Direction TransformDirectionInverse(Base6Directions.Direction baseDirection)
{
Base6Directions.Axis axis = Base6Directions.GetAxis(baseDirection);
if (axis == Base6Directions.GetAxis(Forward))
{
return baseDirection == Forward ? Base6Directions.Direction.Forward : Base6Directions.Direction.Backward;
}
if (axis == Base6Directions.GetAxis(Left))
{
return baseDirection == Left ? Base6Directions.Direction.Left : Base6Directions.Direction.Right;
}
Debug.Assert(axis == Base6Directions.GetAxis(Up), "Direction invalid in MyBlockOrientation");
return baseDirection == Up ? Base6Directions.Direction.Up : Base6Directions.Direction.Down;
}
public MyBlockOrientation(Base6Directions.Direction forward, Base6Directions.Direction up)
{
Forward = forward;
Up = up;
Debug.Assert(IsValid);
}
public static int GetMountPointWallIndex(Base6Directions.Direction direction)
{
return m_mountPointWallIndices[(int)direction];
}
public Component(int index, Base6Directions.DirectionFlags exploredDirections)
{
m_componentIndex = index;
m_exploredDirections = exploredDirections;
}
public Vector3 MountPointLocalToBlockLocal(Vector3 coord, Base6Directions.Direction mountPointDirection)
{
Vector3 retval = default(Vector3);
int wallIndex = m_mountPointWallIndices[(int)mountPointDirection];
TransformMountPointPosition(ref coord, wallIndex, Size, out retval);
retval -= Center;
return retval;
}
/// <summary>
/// get the force in a direction
/// </summary>
/// <param name="direction">the direction of force / acceleration</param>
public float GetForceInDirection(Base6Directions.Direction direction, bool adjustForGravity = false)
{
float force;
if (!m_totalThrustForce.TryGetValue(direction, out force))
force = CalcForceInDirection(direction);
if (adjustForGravity)
{
float change = Base6Directions.GetVector(direction).Dot(LocalGravity) * myGrid.Physics.Mass;
//myLogger.debugLog("For direction " + direction + ", and force " + force + ", Gravity adjusts available force by " + change + ", after adjustment: " + (force + change), "GetForceInDirection()");
force += change;
}
return force;
//return Math.Max(force, 1f); // a minimum of 1 N prevents dividing by zero
}
public Vector3 MountPointLocalNormalToBlockLocal(Vector3 normal, Base6Directions.Direction mountPointDirection)
{
Vector3 retval = default(Vector3);
int wallIndex = m_mountPointWallIndices[(int)mountPointDirection];
Vector3.TransformNormal(ref normal, ref m_mountPointTransforms[wallIndex], out retval);
return retval;
}
/// <summary>
/// Clears all overrides in a particular direcion.
/// </summary>
private void ClearOverrides(Base6Directions.Direction direction)
{
// no need to lock thrustersInDirection, it is updated on game thread
foreach (MyThrust thruster in thrustersInDirection[direction])
if (!thruster.Closed && thruster.IsWorking && TP_ThrustOverride.GetValue(thruster) != 0f)
TP_ThrustOverride.SetValue(thruster, 0f);
}
private void OnChangeDirection(Base6Directions.Direction direction)
{
m_currentDirection.Value = direction;
}
public SerializableBlockOrientation(Base6Directions.Direction forward, Base6Directions.Direction up)
{
Forward = forward;
Up = up;
}
public bool GetComponentInfo(int componentIndex, ulong cellIndex, out Base6Directions.DirectionFlags exploredDirections)
{
exploredDirections = (Base6Directions.DirectionFlags)0;
CellInfo cellInfo;
bool success = TryGetCell(cellIndex, out cellInfo);
Debug.Assert(success, "Could not retrieve cell info for a cell!");
int relativeComponentIndex = componentIndex - cellInfo.StartingIndex;
Debug.Assert(relativeComponentIndex >= 0 && relativeComponentIndex < cellInfo.ComponentNum, "Component index overflow! The component does not belong to this cell!");
if (relativeComponentIndex < 0 || relativeComponentIndex >= cellInfo.ComponentNum)
{
return false;
}
exploredDirections = cellInfo.ExploredDirections;
return true;
}
public void ChangeDirection(Base6Directions.Direction direction)
{
m_currentDirection.Value = direction;
}
public MyBlockOrientation(ref Quaternion q)
{
this.Forward = Base6Directions.GetForward((Quaternion)q);
this.Up = Base6Directions.GetUp((Quaternion)q);
}
/// <summary>
/// Initializes the orientation of the slim block according to the given forward and up vectors.
/// Note that the resulting orientation can be different than the supplied orientation due to symmetries.
/// This function chooses one canonical orientation for all orientations from one symetry equivalent group of orientations.
/// </summary>
public void InitOrientation(Base6Directions.Direction Forward, Base6Directions.Direction Up)
{
if (MyCubeGridDefinitions.GetCubeRotationOptions(BlockDefinition) == MyRotationOptionsEnum.None)
{
Orientation = MyBlockOrientation.Identity;
}
else
{
Orientation = new MyBlockOrientation(Forward, Up);
}
if (BlockDefinition.CubeDefinition != null)
{
//Ensure we have always only one distinct orientation use
Orientation = MyCubeGridDefinitions.GetTopologyUniqueOrientation(BlockDefinition.CubeDefinition.CubeTopology, Orientation);
}
}
public MatrixI(Vector3I position, Base6Directions.Direction forward, Base6Directions.Direction up)
{
Translation = position;
Right = Base6Directions.GetFlippedDirection(Base6Directions.GetLeft(up, forward));
Up = up;
Backward = Base6Directions.GetFlippedDirection(forward);
}
public void MarkExplored(ulong otherCell, Base6Directions.Direction direction)
{
CellInfo info = new CellInfo();
if (m_cellInfos.TryGetValue(otherCell, out info))
{
info.ExploredDirections |= Base6Directions.GetDirectionFlag(direction);
m_cellInfos[otherCell] = info;
}
else
{
Debug.Assert(false, "Inconsistency: Cannot find cell info to mark explored information!");
}
}
public MatrixI(Base6Directions.Direction forward, Base6Directions.Direction up):
this(Vector3I.Zero, forward, up)
{ }
public static void TransformNormal(ref Vector3I normal, ref MatrixI matrix, out Vector3I result)
{
result = normal.X * Base6Directions.GetIntVector(matrix.Right) +
normal.Y * Base6Directions.GetIntVector(matrix.Up) +
normal.Z * Base6Directions.GetIntVector(matrix.Backward);
}
public static MatrixI CreateRotation(Base6Directions.Direction oldA, Base6Directions.Direction oldB, Base6Directions.Direction newA, Base6Directions.Direction newB)
{
Debug.Assert(Base6Directions.GetAxis(oldA) != Base6Directions.GetAxis(oldB), "Original vectors must not lie in line!");
Debug.Assert(Base6Directions.GetAxis(newA) != Base6Directions.GetAxis(newB), "Transformed vectors must not lie in line!");
MatrixI newMatrix = new MatrixI();
newMatrix.Translation = Vector3I.Zero;
Base6Directions.Direction oldC = Base6Directions.GetCross(oldA, oldB);
Base6Directions.Direction newC = Base6Directions.GetCross(newA, newB);
newMatrix.SetDirection(oldA, newA);
newMatrix.SetDirection(oldB, newB);
newMatrix.SetDirection(oldC, newC);
return newMatrix;
}
public static float GetLengthInDirection(this IMyCubeBlock block, Base6Directions.Direction direction)
{
switch (direction)
{
case Base6Directions.Direction.Right:
case Base6Directions.Direction.Left:
return block.LocalAABB.Size.X;
case Base6Directions.Direction.Up:
case Base6Directions.Direction.Down:
return block.LocalAABB.Size.Y;
case Base6Directions.Direction.Backward:
case Base6Directions.Direction.Forward:
return block.LocalAABB.Size.Z;
}
VRage.Exceptions.ThrowIf<NotImplementedException>(true, "direction not implemented: " + direction);
throw new Exception();
}
public MatrixI(ref Vector3I position, ref Vector3 forward, ref Vector3 up) :
this(ref position, Base6Directions.GetDirection(ref forward), Base6Directions.GetDirection(ref up))
{
}