public static Bounds BoundsWithExhaust(this Vessel vessel, Transform refT)
{
var b = vessel.Bounds(refT);
b.Encapsulate(vessel.EnginesExhaust(refT));
return(b);
}
bool ComputeManeuver(Vessel v, out Vector3d maneuver)
{
maneuver = Vector3d.zero;
//calculate distance
var dir = (v.CurrentCoM - VSL.Physics.wCoM);
var dist = dir.magnitude;
dir /= dist;
//first try to get TCA from other vessel and get vessel's R and Exhaust
var vR = 0f;
var vB = new Bounds();
Transform vT = null;
var tca = ModuleTCA.EnabledTCA(v);
if (tca != null)
{
// if(tca.CPS != null &&
// tca.CPS.IsActive &&
// VSL.Physics.M > tca.VSL.Physics.M &&
// VSL.vessel.srfSpeed > v.srfSpeed) //test
// return false;
vR = tca.VSL.Geometry.R;
vB = tca.VSL.Geometry.B;
vT = tca.VSL.refT;
}
else //do a raycast
{
RaycastHit raycastHit;
if (Physics.SphereCast(VSL.Geometry.C + dir * (VSL.Geometry.R + 0.1f), VSL.Geometry.R, dir,
out raycastHit, dist, RadarMask))
{
vR = (raycastHit.point - v.CurrentCoM).magnitude;
}
vT = v.ReferenceTransform;
vB = v.Bounds(vT);
vB.Encapsulate(v.EnginesExhaust());
}
//compute course correction
var dV = VSL.vessel.srf_velocity - v.srf_velocity + (VSL.vessel.acceleration - v.acceleration) * CPS.LookAheadTime;
var thrershold = -1f;
if (v.LandedOrSplashed)
{
thrershold = 0;
}
else if (Dangerous.Contains(v.id))
{
thrershold = CPS.SafeDistance;
}
if (AvoideVessel(VSL, dir, dist, dV, vR, vB, vT, out maneuver, thrershold))
{
Dangerous.Add(v.id);
}
else
{
Dangerous.Remove(v.id);
}
return(!maneuver.IsZero());
}
bool ComputeManeuver(Vessel v, out Vector3d maneuver)
{
maneuver = Vector3d.zero;
//calculate distance
var dir = (v.CurrentCoM-VSL.Physics.wCoM);
var dist = dir.magnitude;
dir /= dist;
//first try to get TCA from other vessel and get vessel's R and Exhaust
var vR = 0f;
var vB = new Bounds();
Transform vT = null;
var tca = ModuleTCA.EnabledTCA(v);
if(tca != null)
{
// if(tca.CPS != null &&
// tca.CPS.IsActive &&
// VSL.Physics.M > tca.VSL.Physics.M &&
// VSL.vessel.srfSpeed > v.srfSpeed) //test
// return false;
vR = tca.VSL.Geometry.R;
vB = tca.VSL.Geometry.B;
vT = tca.VSL.refT;
}
else //do a raycast
{
RaycastHit raycastHit;
if(Physics.SphereCast(VSL.Geometry.C+dir*(VSL.Geometry.R+0.1f), VSL.Geometry.R, dir,
out raycastHit, dist, RadarMask))
vR = (raycastHit.point-v.CurrentCoM).magnitude;
vT = v.ReferenceTransform;
vB = v.Bounds(vT);
vB.Encapsulate(v.EnginesExhaust());
}
//compute course correction
var dV = VSL.vessel.srf_velocity-v.srf_velocity+(VSL.vessel.acceleration-v.acceleration)*CPS.LookAheadTime;
var thrershold = -1f;
if(v.LandedOrSplashed) thrershold = 0;
else if(Dangerous.Contains(v.id)) thrershold = CPS.SafeDistance;
if(AvoideVessel(VSL, dir, dist, dV, vR, vB, vT, out maneuver, thrershold))
Dangerous.Add(v.id);
else Dangerous.Remove(v.id);
return !maneuver.IsZero();
}
