//--------------------------------------------------------------------------------------------------------------
/// <summary>
/// Calculates the new thrust value based on the averaged <see cref="AIMContext.DecidedDirection"/>.
/// </summary>
protected override void CalculateForce()
{
Vector3 velocity = Body.velocity;
Vector3 targetGlobal = Context.DecidedDirection;
float deltaAngle = Vector3.Angle(velocity, targetGlobal) * Mathf.Deg2Rad;
deltaAngle = Mathf.Clamp(deltaAngle, 0, 1);
// calculate up/downward force
float thrust = (ThrustFactor * Mathf.Cos(deltaAngle) * targetGlobal.y - velocity.y);
angleToUp = Vector3.Angle(transform.up, Vector3.up) * Mathf.Deg2Rad;
thrust = thrust / Mathf.Cos(angleToUp);
if (UsePidController)
{
thrust = ThrustController.GetOutput(thrust);
}
// compensate gravity
float nominalThrottle = -Physics.gravity.y * Body.mass;
thrust = Mathf.Clamp(thrust, -nominalThrottle / 2, nominalThrottle / 2);
thrust = thrust + nominalThrottle / Mathf.Cos(angleToUp);
// no downward acceleration
if (thrust < 0)
{
thrust = 0.0f;
}
force = thrust * transform.up;
}
public WaypointFollower(List<Waypoint> waypointsToFollow, IMyShipController shipController, ThrustController oof) {
waypoints = waypointsToFollow;
controller = shipController;
thrustController = oof;
currentWaypointIndex = 0;
}
WaterfallController CreateNewController()
{
if (controllerTypes[controllerFlag] == "atmosphere_density")
{
AtmosphereDensityController newCtrl = new AtmosphereDensityController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "custom")
{
CustomController newCtrl = new CustomController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "engineEvent")
{
EngineEventController newCtrl = new EngineEventController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
newCtrl.eventName = eventTypes[eventFlag];
newCtrl.eventCurve = eventCurve;
newCtrl.eventDuration = eventDuration;
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "gimbal")
{
GimbalController newCtrl = new GimbalController();
newCtrl.name = newControllerName;
newCtrl.axis = axisTypes[axisFlag];
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "light")
{
LightController newCtrl = new LightController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "mach")
{
MachController newCtrl = new MachController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "random")
{
RandomnessController newCtrl = new RandomnessController();
newCtrl.name = newControllerName;
newCtrl.range = randomRange;
newCtrl.scale = perlinScale;
newCtrl.minimum = perlinMin;
newCtrl.seed = perlinSeed;
newCtrl.speed = perlinSpeed;
newCtrl.noiseType = randTypes[randFlag];
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "rcs")
{
RCSController newCtrl = new RCSController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
newCtrl.responseRateUp = rampRateUp;
newCtrl.responseRateDown = rampRateDown;
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "throttle")
{
ThrottleController newCtrl = new ThrottleController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
newCtrl.responseRateUp = rampRateUp;
newCtrl.responseRateDown = rampRateDown;
return(newCtrl);
}
else if (controllerTypes[controllerFlag] == "thrust")
{
ThrustController newCtrl = new ThrustController();
newCtrl.name = newControllerName;
newCtrl.linkedTo = controllerTypes[controllerFlag];
return(newCtrl);
}
else
{
return(null);
}
}
private void ClearCurrent()
{
ClearBalanceVisualizer();
foreach (Visual3D visual in _currentVisuals)
{
_viewport.Children.Remove(visual);
}
_currentVisuals.Clear();
if (_currentBody != null)
{
_currentBody.Dispose();
_currentBody = null;
}
if (_bot != null)
{
_map.RemoveItem(_bot, true);
_bot.Dispose();
_bot = null;
}
_shipDNA = null;
if (_thrustController != null)
{
_thrustController.Dispose();
_thrustController = null;
}
}
private async void btnLoadShip_Click(object sender, RoutedEventArgs e)
{
try
{
string errMsg;
ShipDNA shipDNA = ShipEditorWindow.LoadShip(out errMsg);
if (shipDNA == null)
{
if (!string.IsNullOrEmpty(errMsg))
{
MessageBox.Show(errMsg, this.Title, MessageBoxButton.OK, MessageBoxImage.Warning);
}
return;
}
EnsureWorldStarted();
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = chkLoadRepairPositions.IsChecked.Value,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Bot, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_bot.PhysicsBody.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Ship_ApplyForceAndTorque);
_thrustController = new ThrustController(_bot, _viewport, _itemOptions);
if (_bot.Fuel != null)
{
_bot.Fuel.QuantityCurrent = _bot.Fuel.QuantityMax;
}
_bot.RecalculateMass();
_thrustController.MassChanged(chkShipSimple.IsChecked.Value);
if (chkShipDebugVisuals.IsChecked.Value)
{
_thrustController.DrawDebugVisuals_Pre();
}
_map.AddItem(_bot);
grdViewPort.Focus();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private async void btnShipChallenge2_Click(object sender, RoutedEventArgs e)
{
try
{
EnsureWorldStarted();
ClearCurrent();
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = FuelTank.PARTTYPE, Position = new Point3D(0.611527511599856, 0, 0.0153375982352619), Orientation = new Quaternion(0, -0.706493084706277, 0, 0.707719945502605), Scale = new Vector3D(4.70545346938791, 4.70545346938791, 1.04748080326409) });
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-1.48216852903668, 0, 0), Orientation = Quaternion.Identity, Scale = new Vector3D(1.65021551755816, 1.65021551755816, 1.65021551755816), ThrusterDirections = ThrusterDesign.GetThrusterDirections(ThrusterType.Two), ThrusterType = ThrusterType.Two });
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-2.60730396412872, 1.18811621237628, -0.0147591913688635), Orientation = new Quaternion(0, 0, -0.846976393198269, 0.531630500784946), Scale = new Vector3D(0.71390056433019, 0.71390056433019, 0.71390056433019), ThrusterDirections = ThrusterDesign.GetThrusterDirections(ThrusterType.Two_Two_One), ThrusterType = ThrusterType.Two_Two_One });
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-2.60721450068017, -1.18828382189838, -0.0147591913688617), Orientation = new Quaternion(0, 0, -0.496864090131338, 0.867828367788216), Scale = new Vector3D(0.71390056433019, 0.71390056433019, 0.71390056433019), ThrusterDirections = ThrusterDesign.GetThrusterDirections(ThrusterType.Two_Two_One), ThrusterType = ThrusterType.Two_Two_One });
ShipDNA shipDNA = ShipDNA.Create(parts);
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = false,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Bot, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_bot.PhysicsBody.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Ship_ApplyForceAndTorque);
_thrustController = new ThrustController(_bot, _viewport, _itemOptions);
//double mass = _ship.PhysicsBody.Mass;
_bot.Fuel.QuantityCurrent = _bot.Fuel.QuantityMax;
_bot.RecalculateMass();
_thrustController.MassChanged(chkShipSimple.IsChecked.Value);
if (chkShipDebugVisuals.IsChecked.Value)
{
_thrustController.DrawDebugVisuals_Pre();
}
//mass = _ship.PhysicsBody.Mass;
_map.AddItem(_bot);
grdViewPort.Focus();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}
private async void btnShipWackyFlyer_Click(object sender, RoutedEventArgs e)
{
try
{
EnsureWorldStarted();
ClearCurrent();
List<ShipPartDNA> parts = new List<ShipPartDNA>();
parts.Add(new ShipPartDNA() { PartType = FuelTank.PARTTYPE, Position = new Point3D(0, 0, 0), Orientation = Quaternion.Identity, Scale = new Vector3D(3, 3, 1) });
ThrusterType thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(1, 0, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(-1, 0, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(0, 1, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
thrustType = UtilityCore.GetRandomEnum<ThrusterType>(ThrusterType.Custom);
parts.Add(new ThrusterDNA() { PartType = Thruster.PARTTYPE, Position = new Point3D(0, -1, 0), Orientation = Math3D.GetRandomRotation(), Scale = new Vector3D(.5d, .5d, .5d), ThrusterDirections = ThrusterDesign.GetThrusterDirections(thrustType), ThrusterType = thrustType });
ShipDNA shipDNA = ShipDNA.Create(parts);
ShipCoreArgs core = new ShipCoreArgs()
{
Map = _map,
Material_Ship = _material_Bot,
World = _world,
};
ShipExtraArgs extra = new ShipExtraArgs()
{
Options = _editorOptions,
ItemOptions = _itemOptions,
Material_Projectile = _material_Bot,
Radiation = _radiation,
Gravity = _gravity,
RunNeural = false,
RepairPartPositions = false,
};
//Ship ship = await Ship.GetNewShipAsync(shipDNA, _world, _material_Bot, _map, extra);
Bot bot = new Bot(BotConstructor.ConstructBot(shipDNA, core, extra));
ClearCurrent();
_shipDNA = shipDNA;
_bot = bot;
_bot.PhysicsBody.ApplyForceAndTorque += new EventHandler<BodyApplyForceAndTorqueArgs>(Ship_ApplyForceAndTorque);
_thrustController = new ThrustController(_bot, _viewport, _itemOptions);
//double mass = _ship.PhysicsBody.Mass;
_bot.Fuel.QuantityCurrent = _bot.Fuel.QuantityMax;
_bot.RecalculateMass();
_thrustController.MassChanged(chkShipSimple.IsChecked.Value);
if (chkShipDebugVisuals.IsChecked.Value)
{
_thrustController.DrawDebugVisuals_Pre();
}
//mass = _ship.PhysicsBody.Mass;
_map.AddItem(_bot);
grdViewPort.Focus();
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}