public WaypointTask(MyGridProgram program, IAutopilot pilotSubsystem, Waypoint waypoint, AvoidObstacleMode avoidObstacleMode = AvoidObstacleMode.SmartEnter, IMyTerminalBlock moveReference = null)
{
Autopilot = pilotSubsystem;
Program = program;
Destination = waypoint;
IntelScratchpad = new List <IFleetIntelligence>(64);
PositionScratchpad = new List <Vector3>(64);
ObstacleMode = avoidObstacleMode;
MoveReference = moveReference;
Cleared = false;
WaypointHelper.PlotPath(new Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence>(), TimeSpan.FromSeconds(1), Autopilot, Destination, IntelScratchpad, PositionScratchpad, Program, ObstacleMode);
}
public void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
if (!Cleared)
{
Autopilot.Clear();
Cleared = true;
}
Autopilot.Move(ObstacleMode == AvoidObstacleMode.DoNotAvoid ? Destination.Position : WaypointHelper.PlotPath(IntelItems, canonicalTime, Autopilot, Destination, IntelScratchpad, PositionScratchpad, Program, ObstacleMode));
Autopilot.Turn(Destination.Direction);
Autopilot.Spin(Destination.DirectionUp);
Autopilot.Drift(Destination.Velocity);
Autopilot.SetMaxSpeed(Destination.MaxSpeed);
Autopilot.Reference = MoveReference;
if (canonicalTime == TimeSpan.Zero)
{
Autopilot.AtWaypoint(Destination);
Autopilot.Clear();
}
}