/// <param name="centreDestination">where the centre of the grid will end up (local)</param>
private void createCapsule(Vector3 centreDestination, IMyCubeBlock navigationBlock)
{
float longestDistanceSquared = 0;
foreach (Vector3 rejection in rejectionCells)
{
float distanceSquared = (rejection - CentreRejection).LengthSquared();
if (distanceSquared > longestDistanceSquared)
{
longestDistanceSquared = distanceSquared;
}
}
Vector3D P0 = RelativeVector3F.createFromLocal(Centre, myCubeGrid).getWorldAbsolute();
//Vector3D P1 = RelativeVector3F.createFromLocal(centreDestination, myCubeGrid).getWorldAbsolute();
// need to extend capsule past destination by distance between remote and front of ship
Vector3 localPosition = navigationBlock.LocalPosition();
Ray navTowardsDest = new Ray(localPosition, DirectionNorm);
float tMin, tMax;
myCubeGrid.LocalVolume.IntersectRaySphere(navTowardsDest, out tMin, out tMax);
Vector3D P1 = RelativeVector3F.createFromLocal(centreDestination + tMax * DirectionNorm, myCubeGrid).getWorldAbsolute();
float CapsuleRadius = (float)(Math.Pow(longestDistanceSquared, 0.5) + 3 * myCubeGrid.GridSize);
myPath = new Capsule(P0, P1, CapsuleRadius);
}
public static bool IsOnSide(this IMyCubeBlock block, Vector3 side)
{
Vector3 blockPosition = block.LocalPosition();
Vector3D centreOfMass = block.CubeGrid.Physics.CenterOfMassWorld;
MatrixD invWorld = block.CubeGrid.PositionComp.WorldMatrixNormalizedInv;
Vector3D.Transform(ref centreOfMass, ref invWorld, out centreOfMass);
Vector3 localCentreOfMass = centreOfMass;
float blockPosInDirect; Vector3.Dot(ref blockPosition, ref side, out blockPosInDirect);
float centreInDirect; Vector3.Dot(ref localCentreOfMass, ref side, out centreInDirect);
return(blockPosInDirect > centreInDirect);
}