public void GotoObject(GameObject obj, bool cruise = true, float maxThrottle = 1, float gotoRange = 40)
{
_targetObject = obj;
CurrentBehaviour = AutopilotBehaviours.Goto;
CanCruise = cruise;
_maxThrottle = maxThrottle;
this.gotoRange = gotoRange;
}
public void GotoVec(Vector3 vec, bool cruise, float maxThrottle = 1, float gotoRange = 40)
{
_targetObject = null;
_targetPosition = vec;
_targetRadius = 5;
_maxThrottle = maxThrottle;
CurrentBehaviour = AutopilotBehaviours.Goto;
CanCruise = cruise;
this.gotoRange = gotoRange;
}
public void StartDock(GameObject target)
{
_targetObject = target;
var docking = target.GetComponent <CDockComponent>();
if (docking != null)
{
if (docking.Action.Kind == DockKinds.Tradelane)
{
var hpend = docking.GetDockHardpoints(Parent.PhysicsComponent.Body.Position).Last();
tlDockHP = hpend.Name;
}
}
CurrentBehaviour = AutopilotBehaviours.Dock;
CanCruise = true;
gotoRange = 40;
}
public override void FixedUpdate(TimeSpan time)
{
var control = Parent.GetComponent <ShipControlComponent>();
if (control == null)
{
return;
}
control.Pitch = control.Yaw = 0;
if (CurrentBehaviour == AutopilotBehaviours.None)
{
ResetDockState();
return;
}
Vector3 targetPoint = Vector3.Zero;
float radius = -1;
float maxSpeed = 1f;
if (CurrentBehaviour == AutopilotBehaviours.Goto)
{
targetPoint = TargetObject.PhysicsComponent == null?TargetObject.GetTransform().Transform(Vector3.Zero) : TargetObject.PhysicsComponent.Body.Position;
ResetDockState();
}
else
{
var docking = TargetObject.GetComponent <DockComponent>();
if (docking == null)
{
CurrentBehaviour = AutopilotBehaviours.None;
ResetDockState();
Parent.World.BroadcastMessage(Parent, GameMessageKind.ManeuverFinished);
return;
}
var hp = docking.GetDockHardpoints(Parent.PhysicsComponent.Body.Position).Skip(lastTargetHp).First();
radius = 5;
targetPoint = (hp.Transform * TargetObject.GetTransform()).Transform(Vector3.Zero);
if (lastTargetHp > 0)
{
maxSpeed = 0.3f;
}
if (lastTargetHp == 2)
{
radius = docking.TriggerRadius;
}
if (!hasTriggeredAnimation && docking.TryTriggerAnimation(Parent))
{
hasTriggeredAnimation = true;
}
if (docking.RequestDock(Parent))
{
ResetDockState();
DockComplete(docking.Action);
}
var d2 = (targetPoint - Parent.PhysicsComponent.Body.Position).Length;
if (d2 < 80)
{
maxSpeed = 0.3f;
}
}
//Bring ship to within 40 metres of target
var targetRadius = TargetObject.PhysicsComponent.Body.Collider.Radius;
var myRadius = Parent.PhysicsComponent.Body.Collider.Radius;
var distance = (targetPoint - Parent.PhysicsComponent.Body.Position).Length;
var distrad = radius < 0 ? (targetRadius + myRadius + 40) : radius + myRadius;
bool distanceSatisfied = distrad >= distance;
if (distanceSatisfied)
{
control.EnginePower = 0;
}
else
{
control.EnginePower = maxSpeed;
}
//Orientation
var dt = time.TotalSeconds;
var vec = Parent.InverseTransformPoint(targetPoint);
//normalize it
vec.Normalize();
//
bool directionSatisfied = (Math.Abs(vec.X) < 0.0015f && Math.Abs(vec.Y) < 0.0015f);
if (!directionSatisfied)
{
control.Yaw = MathHelper.Clamp((float)YawControl.Update(0, vec.X, dt), -1, 1);
control.Pitch = MathHelper.Clamp((float)PitchControl.Update(0, -vec.Y, dt), -1, 1);
}
else
{
control.Yaw = 0;
control.Pitch = 0;
}
if (distanceSatisfied && directionSatisfied && CurrentBehaviour == AutopilotBehaviours.Goto)
{
Parent.World.BroadcastMessage(Parent, GameMessageKind.ManeuverFinished);
CurrentBehaviour = AutopilotBehaviours.None;
}
if (distanceSatisfied && directionSatisfied && CurrentBehaviour == AutopilotBehaviours.Dock)
{
if (lastTargetHp < 2)
{
lastTargetHp++;
}
else
{
control.EnginePower = maxSpeed;
}
}
}
public void Cancel()
{
_targetObject = null;
CurrentBehaviour = AutopilotBehaviours.None;
}
public override void FixedUpdate(double time)
{
var control = Parent.GetComponent <ShipPhysicsComponent>();
var input = Parent.GetComponent <ShipInputComponent>();
if (input != null)
{
input.AutopilotThrottle = 0;
}
if (control == null)
{
return;
}
control.Pitch = control.Yaw = 0;
if (CurrentBehaviour == AutopilotBehaviours.None)
{
ResetDockState();
return;
}
Vector3 targetPoint = Vector3.Zero;
float radius = -1;
float maxSpeed = 1f;
if (CurrentBehaviour == AutopilotBehaviours.Goto)
{
targetPoint = GetTargetPoint();
ResetDockState();
}
else
{
var docking = _targetObject.GetComponent <CDockComponent>();
if (docking == null)
{
CurrentBehaviour = AutopilotBehaviours.None;
ResetDockState();
Parent.World.BroadcastMessage(Parent, GameMessageKind.ManeuverFinished);
return;
}
var hp = docking.GetDockHardpoints(Parent.PhysicsComponent.Body.Position).Skip(lastTargetHp).First();
radius = 5;
targetPoint = Vector3.Transform(Vector3.Zero, hp.Transform * _targetObject.WorldTransform);
if (lastTargetHp > 0)
{
maxSpeed = 0.3f;
}
if (lastTargetHp == 2)
{
radius = docking.TriggerRadius;
}
if (docking.Action.Kind == DockKinds.Tradelane)
{
if (docking.TryDockTL(Parent, tlDockHP))
{
CurrentBehaviour = AutopilotBehaviours.None;
ResetDockState();
//Parent.World.BroadcastMessage(Parent, GameMessageKind.ManeuverFinished);
return;
}
}
var d2 = (targetPoint - Parent.PhysicsComponent.Body.Position).Length();
if (d2 < 80)
{
maxSpeed = 0.3f;
}
}
float targetPower = 0;
//Bring ship to within GotoRange metres of target
var targetRadius = GetTargetRadius();
var myRadius = Parent.PhysicsComponent.Body.Collider.Radius;
var distance = (targetPoint - Parent.PhysicsComponent.Body.Position).Length();
if ((distance - gotoRange) > 2000 && CanCruise)
{
control.BeginCruise();
}
else if ((distance - gotoRange) < 200)
{
control.EndCruise();
}
var distrad = radius < 0 ? (targetRadius + myRadius + gotoRange) : radius + myRadius;
bool distanceSatisfied = distrad >= distance;
if (distanceSatisfied)
{
targetPower = 0;
}
else
{
targetPower = maxSpeed;
}
//Orientation
var dt = time;
var vec = Parent.InverseTransformPoint(targetPoint);
//normalize it
vec.Normalize();
//
bool directionSatisfied = (Math.Abs(vec.X) < 0.0015f && Math.Abs(vec.Y) < 0.0015f);
if (!directionSatisfied)
{
control.Yaw = MathHelper.Clamp((float)YawControl.Update(0, vec.X, dt), -1, 1);
control.Pitch = MathHelper.Clamp((float)PitchControl.Update(0, -vec.Y, dt), -1, 1);
}
else
{
control.Yaw = 0;
control.Pitch = 0;
}
if (distanceSatisfied && directionSatisfied && CurrentBehaviour == AutopilotBehaviours.Goto)
{
Parent.World.BroadcastMessage(Parent, GameMessageKind.ManeuverFinished);
CurrentBehaviour = AutopilotBehaviours.None;
}
if (distanceSatisfied && directionSatisfied && CurrentBehaviour == AutopilotBehaviours.Dock)
{
if (lastTargetHp < 2)
{
lastTargetHp++;
}
else
{
targetPower = maxSpeed;
}
}
if (targetPower > _maxThrottle)
{
targetPower = _maxThrottle;
}
if (input != null)
{
input.AutopilotThrottle = targetPower;
}
control.EnginePower = targetPower;
}
