public void Main()
{
if (accelerateTarget == null || accelerateTarget == Vector3D.Zero || accelerateTarget == Vector3D.PositiveInfinity || PID_Controller == null || !accelerateTarget.IsValid())
{
return;
}
Vector3D accelerateTargetNormalized = accelerateTarget;
double accelerateTargetLength = accelerateTargetNormalized.Normalize();
double error = Vector3D.Dot(control.WorldMatrix.Forward, accelerateTarget) + accelerateTargetLength;
double multiplier = Math.Abs(PID_Controller.NextValue(error, 0.016));
if (accelerateTargetLength < negligible)
{
accelerateTargetNormalized = Vector3D.Normalize(control.GetShipVelocities().LinearVelocity);
}
GyroUtils.PointInDirection(gyros, control, accelerateTargetNormalized, multiplier);
//ThrustUtils.SetThrustBasedDot(thrusters, accelerateTargetNormalized, multiplier);
autopilotModule.ThrustToVelocity(control.GetShipVelocities().LinearVelocity + accelerateTarget);
if (accelerateInDirection && control.GetShipSpeed() >= (speedLimit - 0.01))
{
accelerateTarget = Vector3D.Zero;
BoostForward(0);
accelerateInDirection = false;
}
}
public void Main()
{
if ((currentMode & AutopilotMode.ThrustToVelocity) != 0)
{
autopilotModule.ThrustToVelocity(_targetVelocity);
}
else if ((currentMode & AutopilotMode.TravelToPosition) != 0)
{
if (Vector3D.DistanceSquared(autopilotModule.controller.GetPosition(), _targetLocation) < 0.1 && autopilotModule.controller.GetShipSpeed() < 0.01)
{
currentMode &= ~AutopilotMode.TravelToPosition;
}
autopilotModule.TravelToPosition(_targetLocation, _maxVelocity, _safetyMarginMult, (currentMode & AutopilotMode.AimInDirection) != 0);
}
if ((currentMode & AutopilotMode.AimInDirection) != 0)
{
autopilotModule.AimInDirection(_targetDirection, _targetDirUp);
}
}