private void SpawnConvoy(IMyShipController baseToSpawnAt)
{
var factionId = baseToSpawnAt.OwnerId;
var spawnerPosition = baseToSpawnAt.GetPosition();
var gravity = baseToSpawnAt.GetNaturalGravity();
var unitType = baseToSpawnAt.CustomName.Contains("GROUND") ? UnitType.Ground : UnitType.Air;
var cargoSize = heatSystem.GenerateCargoShipSize();
//TODO: Should let base define the convoy spawn points
//TODO: gravity is not normalized and is being used to scale the spawn point... It should be normalized and then meters used to modify.
// NOTE: The .Forward IS normalized, so the scalar is in meters.
if (unitType == UnitType.Air)
{
var positionToSpawn = spawnerPosition + gravity * -5f + baseToSpawnAt.WorldMatrix.Forward * 30;
var transportPrefab = PrefabGrid.GetAirTransport(cargoSize);
DuckUtils.SpawnInGravity(positionToSpawn, gravity, factionId, transportPrefab.PrefabName,
transportPrefab.InitialBeaconName,
Vector3D.Normalize(baseToSpawnAt.WorldMatrix.Forward));
}
else
{
var positionToSpawn = spawnerPosition + gravity * -1f + baseToSpawnAt.WorldMatrix.Forward * 35;
var transportPrefab = PrefabGrid.GetGroundTransport(cargoSize);
DuckUtils.SpawnInGravity(positionToSpawn, gravity, factionId, transportPrefab.PrefabName,
transportPrefab.InitialBeaconName,
Vector3D.Normalize(baseToSpawnAt.WorldMatrix.Forward));
}
}
public WheelControl(IMyShipController rc, UpdateFrequency tickSpeed, List <IMyMotorSuspension> wheels)
{
if (rc == null)
{
throw new Exception("Ship controller null.");
}
this.rc = rc;
this.wheels = wheels.Select(x => new Wheel(x, GetForce(x))).ToList();
double factor = 1;
if (tickSpeed == UpdateFrequency.Update10)
{
factor = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
factor = 100;
}
double secondsPerTick = (1.0 / 60) * factor;
anglePID = new PID(P2 / factor, I2 / factor, D2 / factor, 0.2 / factor, secondsPerTick);
forwardPID = new PID(P / factor, I / factor, D / factor, 0.2 / factor, secondsPerTick);
Reset();
}
public GyroRotation(Program P, IMyShipController cockpit)
{
this.P = P;
P.GridTerminalSystem.GetBlocksOfType(gyros);
this.cockpit = cockpit;
}
public Program()
{
if (string.IsNullOrWhiteSpace(sensorGroup))
{
sensors = GetBlocks <IMySensorBlock>();
}
else
{
sensors = GetBlocks <IMySensorBlock>(sensorGroup, true);
}
// Prioritize the given cockpit name
rc = GetBlock <IMyShipController>(cockpitName, true);
if (rc == null) // Second priority cockpit
{
rc = GetBlock <IMyCockpit>();
}
if (rc == null) // Thrid priority remote control
{
rc = GetBlock <IMyRemoteControl>();
}
if (rc == null) // No cockpits found.
{
throw new Exception("No cockpit/remote control found. Set the cockpitName field in settings.");
}
if (activeRaycasting)
{
allCameras = new List <IMyCameraBlock>();
}
foreach (IMyCameraBlock c in GetBlocks <IMyCameraBlock>())
{
if (EqualsPrecision(Vector3D.Dot(rc.WorldMatrix.Forward, c.WorldMatrix.Forward), 1, 0.01))
{
forwardCameras.Add(c);
c.EnableRaycast = true;
}
if (activeRaycasting)
{
allCameras.Add(c);
}
}
LoadStorage();
if (tickSpeed == UpdateFrequency.Update10)
{
echoFrequency = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
echoFrequency = 1;
}
if (!isDisabled)
{
Runtime.UpdateFrequency = tickSpeed;
}
Echo("Ready");
}
bool BlockCollect(IMyTerminalBlock block)
{
if (block is IMyMotorSuspension)
{
wheels.Add((IMyMotorSuspension)block);
}
if (block is IMyPistonBase && block.CustomName != null && block.CustomName.StartsWith(miningPrefix))
{
forwardPistons.Add((IMyPistonBase)block);
}
if (block is IMyPistonBase && block.CustomName != null && block.CustomName.StartsWith(miningReversePrefix))
{
backwardPistons.Add((IMyPistonBase)block);
}
if (block is IMyShipDrill && block.CustomName != null && block.CustomName.StartsWith(miningPrefix))
{
drills.Add((IMyShipDrill)block);
}
if (block is IMyShipController && ((IMyShipController)block).IsUnderControl && ((IMyShipController)block).CanControlShip)
{
shipController = (IMyShipController)block;
}
return(false);
}
private static IMyShipController FindDefaultCockpit(IMyGridTerminalSystem gts, IMyTerminalBlock anyBlock)
{
List <IMyShipController> allBlocks = new List <IMyShipController>();
gts.GetBlocksOfType <IMyShipController>(allBlocks, block => block.IsSameConstructAs(anyBlock) && block.CanControlShip);
if (allBlocks.Count == 0)
{
return(null);
}
IMyShipController findedCtrl = allBlocks[0];
foreach (IMyShipController ctrl in allBlocks)
{
if (ctrl.IsUnderControl)
{
return(ctrl);
}
if (ctrl.IsMainCockpit)
{
findedCtrl = ctrl;
}
}
return(findedCtrl);
}
//private void SettingsRequest(ulong steamid)
//{
// NetSettings.SetValue(Settings.Static);
// Tools.Debug(MyAPIGateway.Utilities.SerializeToXML(Settings.Static));
//}
private void Changed(VRage.Game.ModAPI.Interfaces.IMyControllableEntity o, VRage.Game.ModAPI.Interfaces.IMyControllableEntity n)
{
foreach (WeaponBase w in GridWeapons)
{
w.State.Value &= ~WeaponState.ManualShoot;
}
GridWeapons.Clear();
ControlledGridId = 0;
ActiveTurret = n?.Entity as IMyLargeTurretBase;
if (ActiveTurret == null)
{
ActiveShipController = n?.Entity as IMyShipController;
SelectedDefinitionId = Tools.GetSelectedHotbarDefinition(ActiveShipController);
}
MyCubeGrid grid = (n?.Entity as MyCubeBlock)?.CubeGrid;
if (grid != null)
{
ControlledGridId = grid.EntityId;
foreach (MyCubeBlock block in grid.GetFatBlocks())
{
WeaponControlLayer layer = block.GameLogic.GetAs <WeaponControlLayer>();
if (layer != null)
{
GridWeapons.Add(layer.Weapon);
}
}
}
}
public Vector3D GetShipAngularVelocity(IMyShipController dataBlock)
{
var worldLocalVelocities = dataBlock.GetShipVelocities().AngularVelocity;
var worldToAnchorLocalMatrix = Matrix.Transpose(dataBlock.WorldMatrix.GetOrientation());
return(Vector3D.Transform(worldLocalVelocities, worldToAnchorLocalMatrix));
}
public Vector3D GetGravity(IMyShipController dataBlock)
{
var worldLocalGravity = dataBlock.GetNaturalGravity();
var worldToAnchorLocalMatrix = Matrix.Transpose(dataBlock.WorldMatrix.GetOrientation());
return(Vector3D.Transform(worldLocalGravity, worldToAnchorLocalMatrix));
}
public void Setup()
{
// Cockpit
List <IMyTerminalBlock> cockpitListReferences = new List <IMyTerminalBlock>();
GridTerminalSystem.SearchBlocksOfName(CockpitTag, cockpitListReferences);
if (cockpitListReferences.Count == 0)
{
throw new Exception("No cockpit found! Check the naming tag.");
}
CockpitBlock = (IMyShipController)cockpitListReferences[0];
ReferenceBlock = cockpitListReferences[0];
// Antenna
List <IMyTerminalBlock> antennaListReferences = new List <IMyTerminalBlock>();
GridTerminalSystem.SearchBlocksOfName(AntennaTag, antennaListReferences);
if (antennaListReferences.Count == 0)
{
throw new Exception("No ILS Receiver Antenna! Check naming tag.");
}
Antenna = (IMyRadioAntenna)antennaListReferences[0];
IGC.RegisterBroadcastListener(ILSAntennaChannel);
IGC.RegisterBroadcastListener(VORAntennaChannel);
IGC.RegisterBroadcastListener(NDBAntennaChannel);
// Mark setup as completed.
SetupComplete = true;
Echo("Setup complete.");
}
private float GetEdgeDistance(IMyShipController reference, Vector3D direction)
{
Vector3D edgeDirection = GetShipEdgeVector(reference, direction);
Vector3D edgePos = reference.GetPosition() + edgeDirection;
return((float)Vector3D.Distance(reference.CenterOfMass, edgePos));
}
public AdvanceControlShip(IMyCockpit cockpit)
{
m_shipControl = cockpit;
m_cockpit = cockpit;
m_remote = null;
Matrix cockOrientation = new Matrix();
m_shipControl.Orientation.GetMatrix(out cockOrientation);
rotation_Bcockpit_2_Bship = cockOrientation;
rotation_Bship_2_Bcockpit = MatrixD.Transpose(rotation_Bcockpit_2_Bship); //Transpose is quicker than invert, and equivalent in this case
if (USE_DEBUG)
{
lcd1 = m_cockpit.GetSurface(0);
setFont(lcd1);
if (m_cockpit.SurfaceCount > 1)
{
lcd2 = m_cockpit.GetSurface(1);
setFont(lcd2);
}
if (m_cockpit.SurfaceCount > 2)
{
lcd3 = m_cockpit.GetSurface(2);
setFont(lcd3);
}
}
}
public ControlModule(GridTerminalSystemUtils gts, IMyShipController control)
{
this.control = control;
gts.GetBlocksOfTypeOnGrid(thrusters);
gts.GetBlocksOfTypeOnGrid(gyros);
}
public void SpawnConvoyTransport(IMyShipController baseToSpawnAt)
{
var factionId = baseToSpawnAt.OwnerId;
var spawnerPosition = baseToSpawnAt.GetPosition();
var gravity = baseToSpawnAt.GetNaturalGravity();
var unitType = baseToSpawnAt.CustomName.Contains("GROUND") ? UnitType.Ground : UnitType.Air;
var cargoSize = heatSystem.GenerateCargoShipSize();
if (unitType == UnitType.Air)
{
var positionToSpawn = spawnerPosition + gravity * -5f + baseToSpawnAt.WorldMatrix.Forward * 30;
var transportPrefab = CalPrefabFactory.GetAirTransport(cargoSize);
DuckUtils.SpawnInGravity(positionToSpawn, gravity, factionId, transportPrefab.PrefabName,
transportPrefab.InitialBeaconName,
Vector3D.Normalize(baseToSpawnAt.WorldMatrix.Forward));
}
else
{
var positionToSpawn = spawnerPosition + gravity * -1f + baseToSpawnAt.WorldMatrix.Forward * 35;
var transportPrefab = CalPrefabFactory.GetGroundTransport(cargoSize);
DuckUtils.SpawnInGravity(positionToSpawn, gravity, factionId, transportPrefab.PrefabName,
transportPrefab.InitialBeaconName,
Vector3D.Normalize(baseToSpawnAt.WorldMatrix.Forward));
}
}
private void UpdateController()
{
Env.Log?.PushStack("UpdateControllerFromArgument");
IMyShipController OldController = RefecenceController;
RefecenceController = null;
Env.Log?.IfDebug?.Debug("D1");
string optionKey = "SetController";
string findBy = Env.GlobalArgs.hasOption(optionKey) && (Env.GlobalArgs.getOption(optionKey).Count > 0) ? Env.GlobalArgs.getOption(optionKey)[0] : "AUTO";
switch (findBy)
{
case "AUTO":
UpdateControlerByAutodetect();
break;
default:
UpdateControllerByTag(findBy);
break;
}
if (!OldController.Equals(RefecenceController))
{
OnControllerChanged(OldController);
}
Env.Log?.PopStack();
}
void GyroSetup()
{
foreach (var gyro in useGyros)
{
gyro.GyroOverride = false;
}
useGyros.Clear();
if (gyroControl == null)
{
gyroControl = _program.wicoBlockMaster.GetMainController();
}
if (gyroControl == null)
{
// no good controller found
// throw new Exception("GYROS: No controller found");
return;
}
foreach (var tb in allLocalGyros)
{
if (useGyros.Count >= LIMIT_GYROS)
{
break; // we are done adding
}
// only use gyros that are on same grid as the controller
if (tb.CubeGrid.EntityId == gyroControl.CubeGrid.EntityId)
{
// TODO: check limitations and naming options
useGyros.Add(tb);
}
}
}
public ActiveSensor(IMyShipController Cont, IMyCameraBlock Cam, IMyMotorStator XRot, IMyMotorStator YRot)
{
this.Cont = Cont;
this.Cam = Cam;
this.XRot = XRot;
this.YRot = YRot;
}
void LocalGridChangedHandler()
{
gyrosOff();
gyroControl = null;
useGyros.Clear();
allLocalGyros.Clear();
}
void LocalGridChangedHandler()
{
sensorsList.Clear();
sensorInfos.Clear();
shipController = null;
localGrids.Clear();
}
public MissileManagementClient(ACPWrapper antennaWrapper, IMyShipController rc, long id, MissileType missileType)
{
this.antennaWrapper = antennaWrapper;
this.rc = rc;
this.id = id;
this.missileType = missileType;
}
private void GetBlocks()
{
string blockGroupName = configReader.Get <string>("blockGroupName");
IMyBlockGroup blockGroup = GridTerminalSystem.GetBlockGroupWithName(blockGroupName);
List <IMyShipController> controllers = new List <IMyShipController>();
blockGroup.GetBlocksOfType <IMyShipController>(controllers);
if (controllers.Count == 0)
{
throw new Exception("Error: " + blockGroupName + " does not contain a cockpit or remote control block.");
}
cockpit = controllers[0];
List <IMyTextPanel> textPanels = new List <IMyTextPanel>();
blockGroup.GetBlocksOfType <IMyTextPanel>(textPanels);
if (textPanels.Count > 0)
{
textPanel = textPanels[0];
textPanel.Font = "Monospace";
textPanel.FontSize = 1.0f;
textPanel.ShowPublicTextOnScreen();
}
blockGroup.GetBlocksOfType <IMyGyro>(gyros);
if (gyros.Count == 0)
{
throw new Exception("Error: " + blockGroupName + " does not contain any gyroscopes.");
}
}
public void LocalGridChangedHandler()
{
// forget what we thought we knew
shipdimController = null;
MainShipController = null;
shipControllers.Clear();
}
bool CollectParts(IMyTerminalBlock block)
{
if (Context.Reference.CubeGrid.EntityId != block.CubeGrid.EntityId)
{
return(false);
}
if (block is IMyShipController && ((IMyShipController)block).CanControlShip)
{
controller = (IMyShipController)block;
}
if (block is IMyThrust)
{
IMyThrust thruster = (IMyThrust)block;
thrustersList.Add(thruster);
thruster.ThrustOverride = 0;
thrusterManager.AddThruster(thruster);
}
if (block is IMyGyro)
{
IMyGyro gyro = (IMyGyro)block;
gyros.Add(gyro);
gyro.Pitch = 0;
gyro.Yaw = 0;
gyro.Roll = 0;
gyro.GyroOverride = false;
}
return(false);
}
void SetDampenersOnline(bool dampOn)
{
if (shipControllers.Count <= 0)
{
return;
}
IMyShipController SHIP_CONTROLLER = null;
foreach (IMyShipController controler in shipControllers)
{
if (controler.IsWorking)
{
SHIP_CONTROLLER = controler; if (controler.IsMainCockpit)
{
break;
}
}
}
if (SHIP_CONTROLLER != null)
{
if (dampOn)
{
if (SHIP_CONTROLLER.GetShipSpeed() <= 0d)
{
SHIP_CONTROLLER.DampenersOverride = true;
}
}
else
{
SHIP_CONTROLLER.DampenersOverride = false;
}
}
}
public Program()
{
// The constructor, called only once every session and
// always before any other method is called. Use it to
// initialize your script.
//
// The constructor is optional and can be removed if not
// needed.
//
// It's recommended to set Runtime.UpdateFrequency
// here, which will allow your script to run itself without a
// timer block.
Runtime.UpdateFrequency = UpdateFrequency.Update1;
g = GridTerminalSystem.GetBlockWithName("Gyro") as IMyGyro;
sc = GridTerminalSystem.GetBlockWithName("Cockpit") as IMyShipController;
lcd = GridTerminalSystem.GetBlockWithName("LCD") as IMyTextPanel;
thrusters = new List <IMyThrust>();
GridTerminalSystem.GetBlockGroupWithName("Thrusters").GetBlocksOfType <IMyThrust>(thrusters);
hDamp = false;
manualAlt = true;
vDamp = false;
targAltitude = GetAltitude();
mass = sc.CalculateShipMass().PhysicalMass;
curSpeed = 0;
lastHeading = sc.WorldMatrix.Forward;
}
// Helpers
void GetParts()
{
controller = null;
thrustersList.Clear();
for (int i = 0; i < thrusts.Length; i++)
{
thrusts[i] = 0;
}
thrusterManager.Clear();
Context.Terminal.GetBlocksOfType <IMyTerminalBlock>(null, CollectParts);
if (controller != null)
{
controller.IsMainCockpit = true;
controller.DampenersOverride = true;
reference = controller;
}
foreach (var thruster in thrustersList)
{
var f = thruster.Orientation.Forward;
thrusts[(int)f] += thruster.MaxEffectiveThrust;
}
}
public CollisionAvoidance(IMyShipController rc, EntityTracking_Module trackingModule, int resX, int resY)
{
this.rc = rc;
this.trackingModule = trackingModule;
localScanMap = BuildScanMap(resX, resY);
}
void ShipDimensions(IMyShipController orientationBlock)//BoundingBox bb, double BlockMetricConversion)
{
if (thisProgram.Me.CubeGrid.GridSizeEnum.ToString().ToLower().Contains("small"))
{
gridsize = SMALL_BLOCK_LENGTH;
}
else
{
gridsize = LARGE_BLOCK_LENGTH;
}
_obbf = new OrientedBoundingBoxFaces(orientationBlock);
Vector3D[] points = new Vector3D[4];
_obbf.GetFaceCorners(OrientedBoundingBoxFaces.LookupFront, points); // 5 = front
// front output order is BL, BR, TL, TR
_width = (points[0] - points[1]).Length();
_height = (points[0] - points[2]).Length();
_obbf.GetFaceCorners(0, points);
// face 0=right output order is BL, TL, BR, TR ???
_length = (points[0] - points[2]).Length();
_length_blocks = (float)(_length / gridsize);
_width_blocks = (float)(_width / gridsize);
_height_blocks = (float)(_height / gridsize);
/*
* _length_blocks = bb.Size.GetDim(2) + 1;
* _width_blocks = bb.Size.GetDim(0) + 1;
* _height_blocks = bb.Size.GetDim(1) + 1;
* _block2metric = BlockMetricConversion;
* _length = Math.Round(_length_blocks * BlockMetricConversion, 2);
* _width = Math.Round(_width_blocks * BlockMetricConversion, 2);
* _height = Math.Round(_height_blocks * BlockMetricConversion, 2);
*/
}
/// <summary>Class that allow some high level control over the wheels. To be controlled, the wheels must be on the same grid than <paramref name="controller"/> and contain the keyword "Power"</summary>
/// <param name="command">Command line where the commands will be registered</param>
/// <param name="controller">Controller on the same grid than the wheels to get some physics information</param>
/// <param name="gts">To retrieve the wheels</param>
/// <param name="ini">Contains some serialized information for persistence</param>
/// <param name="manager">To spawn the updater process</param>
/// <param name="transformer">Transformer that transform world coordinates into the vehicules coordinate: Z must be parallel to the vehicle's forward direction an Y must be parallel to the vehicle's up direction</param>
public WheelsController(CommandLine command, IMyShipController controller, IMyGridTerminalSystem gts, MyIni ini, ISaveManager manager, CoordinatesTransformer transformer)
{
this.transformer = transformer;
this.controller = controller;
var wheels = new List <IMyMotorSuspension>();
gts.GetBlocksOfType(wheels, w => w.CubeGrid == controller.CubeGrid && w.DisplayNameText.Contains("Power"));
this.wheels = wheels.Select(w => new PowerWheel(w, this.WheelBase, transformer)).ToList();
this.wheels.Sort((w1, w2) => Math.Sign(w1.Position.Z - w2.Position.Z)); // needed for calibration
this.registerCommands(command);
manager.Spawn(this.updateWheels, "wheels-controller", period: 10);
manager.AddOnSave(this.save);
if (ini.ContainsKey(SECTION, "cal-weight"))
{
this.calibration = new Calibration()
{
Weight = ini.Get(SECTION, "cal-weight").ToSingle(),
MinZ = ini.Get(SECTION, "cal-min-z").ToDouble(),
MaxZ = ini.Get(SECTION, "cal-max-z").ToDouble(),
MinMult = ini.Get(SECTION, "cal-min-mult").ToSingle(),
MaxMult = ini.Get(SECTION, "cal-max-mult").ToSingle()
};
}
this.targetRatio = ini.Get(SECTION, "target-ratio").ToSingle(0.35f);
this.WheelBase.CenterOfTurnZOffset = ini.Get(SECTION, "turn-center-offset").ToDouble();
this.WheelBase.TurnRadiusOverride = ini.Get(SECTION, "turn-radius").ToDouble();
}
bool GrabBlocks()
{
List <IMyShipController> shipControllers = new List <IMyShipController>();
GridTerminalSystem.GetBlocksOfType(shipControllers, x => x.CustomName.Contains(shipControllerName));
if (shipControllers.Count == 0)
{
Echo($"Error: No ship controller named '{shipControllerName}' were found!");
return(false);
}
reference = shipControllers[0];
GridTerminalSystem.GetBlocksOfType(mainThrusters, x => x.WorldMatrix.Forward == reference.WorldMatrix.Backward);
if (mainThrusters.Count == 0)
{
Echo($"Error: No lift-off thrusters were found!");
return(false);
}
GridTerminalSystem.GetBlocksOfType(gyros);
if (gyros.Count == 0)
{
Echo($"Error: No gyros were found!");
return(false);
}
return(true);
}
private void Alignment(ShipControlCommons shipControl, IMyShipController controller)
{
Vector3D center;
if (DropTarget == null || !controller.TryGetPlanetPosition(out center)) return;
// Project the target position to our sphere
var targetRayDirection = Vector3D.Normalize((Vector3D)DropTarget - center);
var myRayLength = (shipControl.ReferencePoint - center).Length();
var targetPosition = center + targetRayDirection * myRayLength;
// Now get offset to target point on our sphere
// (not all that accurate over large distances, but eh)
var targetOffset = targetPosition - shipControl.ReferencePoint;
// Project targetOffset along each reference vector,
// set cruiser speed appropriately
AlignmentThrust(shipControl, targetOffset, LongCruiser);
AlignmentThrust(shipControl, targetOffset, LatCruiser);
}
