/// <summary>
/// Tests for path intersection with voxel.
/// </summary>
/// <returns>True iff path is clear; voxel does not intersect path.</returns>
private bool TestVoxel(MyVoxelBase voxel, Capsule path, out Vector3? pointOfObstruction)
{
if (m_ignoreAsteroid)
{
m_logger.debugLog("Ignoring asteroid: " + voxel.getBestName());
pointOfObstruction = null;
return true;
}
Vector3[] intersection = new Vector3[2];
if (!path.IntersectsAABB(voxel, out intersection[0]))
{
m_logger.debugLog("path does not intersect AABB. " + voxel.getBestName(), Logger.severity.TRACE);
pointOfObstruction = null;
return true;
}
if (!path.get_Reverse().IntersectsAABB(voxel, out intersection[1]))
{
m_logger.debugLog("Reversed path does not intersect AABB, perhaps it moved? " + voxel.getBestName(), Logger.severity.WARNING);
pointOfObstruction = null;
return true;
}
Capsule testSection = new Capsule(intersection[0], intersection[1], path.Radius);
IMyVoxelMap asteroid = voxel as IMyVoxelMap;
if (asteroid != null)
{
if (testSection.Intersects(asteroid, out pointOfObstruction))
return false;
}
// planet test is done by PlanetChecker
m_logger.debugLog("Does not intersect path: " + voxel.getBestName(), Logger.severity.TRACE);
pointOfObstruction = null;
return true;
}
public bool TestSlow(out MyEntity blockingPath, out Vector3? pointOfObstruction)
{
m_logger.debugLog(m_offendingEntities == null, "m_offendingEntities == null, did you remember to call TestFast()?", "TestSlow()", Logger.severity.FATAL);
IMyCubeBlock ignoreBlock = m_ignoreEntity as IMyCubeBlock;
foreach (MyEntity entity in m_offendingEntities)
{
m_logger.debugLog("checking entity: " + entity.getBestName(), "TestSlow()");
IMyVoxelBase voxel = entity as IMyVoxelBase;
if (voxel != null)
{
if (m_ignoreAsteroid)
{
m_logger.debugLog("Ignoring asteroid: " + voxel.getBestName(), "TestSlow()");
continue;
}
Vector3[] intersection = new Vector3[2];
if (!m_path.IntersectsAABB(voxel, out intersection[0]))
{
m_logger.debugLog("path does not intersect AABB. " + voxel.getBestName(), "TestSlow()", Logger.severity.TRACE);
continue;
}
if (!m_path.get_Reverse().IntersectsAABB(voxel, out intersection[1]))
{
m_logger.debugLog("Reversed path does not intersect AABB, perhaps it moved? " + voxel.getBestName(), "TestSlow()", Logger.severity.WARNING);
continue;
}
Capsule testSection = new Capsule(intersection[0], intersection[1], m_path.Radius);
IMyVoxelMap asteroid = voxel as IMyVoxelMap;
if (asteroid != null)
{
if (testSection.Intersects(asteroid, out pointOfObstruction))
{
blockingPath = entity;
return false;
}
}
else
{
MyPlanet planet = voxel as MyPlanet;
if (planet != null && testSection.Intersects(planet, out pointOfObstruction))
{
blockingPath = entity;
return false;
}
}
m_logger.debugLog("Does not intersect path: " + voxel.getBestName(), "TestSlow()", Logger.severity.TRACE);
continue;
}
IMyCubeGrid grid = entity as IMyCubeGrid;
if (grid != null)
{
if (m_profiler.rejectionIntersects(grid, ignoreBlock, out blockingPath, out pointOfObstruction))
return false;
continue;
}
m_logger.debugLog("not a grid, testing bounds", "TestSlow()");
if (!m_path.IntersectsAABB(entity))
continue;
if (!m_path.IntersectsVolume(entity))
continue;
m_logger.debugLog("no more tests for non-grids are implemented", "TestSlow()", Logger.severity.DEBUG);
pointOfObstruction = m_path.get_Line().ClosestPoint(entity.GetCentre());
blockingPath = entity;
return false;
}
blockingPath = null;
pointOfObstruction = null;
return true;
}
/// <summary>
/// Gets a point outside of an asteroid.
/// </summary>
/// <param name="startPoint">Where to start the search from, must be inside WorldAABB, can be inside or outside asteroid.</param>
/// <param name="direction">Direction from outside asteroid towards inside asteroid</param>
/// <param name="buffer">Minimum distance between the voxel and exterior point</param>
private Vector3D GetExteriorPoint_Asteroid(Vector3D startPoint, Vector3 direction, float buffer)
{
IMyVoxelMap voxel = m_targetVoxel as IMyVoxelMap;
if (voxel == null)
{
m_logger.alwaysLog("m_targetVoxel is not IMyVoxelMap: " + m_targetVoxel.getBestName(), Logger.severity.FATAL);
throw new InvalidOperationException("m_targetVoxel is not IMyVoxelMap");
}
Vector3 v = direction * m_targetVoxel.LocalAABB.GetLongestDim();
Capsule surfaceFinder = new Capsule(startPoint - v, startPoint + v, buffer);
Vector3? obstruction;
if (surfaceFinder.Intersects(voxel, out obstruction))
return obstruction.Value;
else
{
m_logger.debugLog("Failed to intersect asteroid, using surfaceFinder.P0", Logger.severity.WARNING);
return surfaceFinder.P0;
}
}