public void Do(Dictionary <MyTuple <IntelItemType, long>, IFleetIntelligence> IntelItems, TimeSpan canonicalTime, Profiler profiler)
{
if (canonicalTime == TimeSpan.Zero)
{
return;
}
runs++;
if (MonitorSubsystem != null &&
(MonitorSubsystem.GetPercentage(MonitorOptions.Hydrogen) < 0.2 ||
MonitorSubsystem.GetPercentage(MonitorOptions.Cargo) < 0.02 ||
MonitorSubsystem.GetPercentage(MonitorOptions.Power) < 0.1))
{
GoHome(canonicalTime);
return;
}
IMyShipController controller = Autopilot.Controller;
Vector3D linearVelocity = controller.GetShipVelocities().LinearVelocity;
var currentPosition = controller.WorldMatrix.Translation;
LeadTask.Destination.MaxSpeed = Autopilot.CruiseSpeed;
if (!TargetPositionSet)
{
if (IntelKey.Item1 == IntelItemType.Waypoint && IntelItems.ContainsKey(IntelKey))
{
TargetPosition = IntelItems[IntelKey].GetPositionFromCanonicalTime(canonicalTime);
PatrolMaxSpeed = ((Waypoint)IntelItems[IntelKey]).MaxSpeed;
}
TargetPositionSet = true;
}
EnemyShipIntel orbitIntel = null;
EnemyShipIntel shootIntel = null;
double closestIntelDist = CombatSystem.AlertDist;
foreach (var intel in IntelItems)
{
if (intel.Key.Item1 != IntelItemType.Enemy)
{
continue;
}
var enemyIntel = (EnemyShipIntel)intel.Value;
if (!EnemyShipIntel.PrioritizeTarget(enemyIntel))
{
continue;
}
if (IntelProvider.GetPriority(enemyIntel.ID) < 2)
{
continue;
}
double dist = (enemyIntel.GetPositionFromCanonicalTime(canonicalTime) - controller.WorldMatrix.Translation).Length();
if (IntelKey.Item1 == IntelItemType.Enemy && enemyIntel.ID != IntelKey.Item2 && FocusedTarget)
{
continue;
}
if (enemyIntel.CubeSize == MyCubeSize.Small)
{
dist -= 300;
}
if (IntelProvider.GetPriority(enemyIntel.ID) == 3)
{
dist -= 600;
}
if (IntelProvider.GetPriority(enemyIntel.ID) == 4)
{
dist -= 1200;
}
if (dist < closestIntelDist)
{
closestIntelDist = dist;
shootIntel = enemyIntel;
if (enemyIntel.Radius > 30)
{
orbitIntel = enemyIntel;
}
}
}
if (shootIntel == null && CombatSystem.TargetIntel != null && IntelProvider.GetPriority(CombatSystem.TargetIntel.ID) >= 2)
{
shootIntel = CombatSystem.TargetIntel;
}
if (orbitIntel == null)
{
orbitIntel = shootIntel;
}
var gravdir = Autopilot.Controller.GetNaturalGravity();
if (gravdir != Vector3D.Zero)
{
gravdir.Normalize();
}
// No Target
if (orbitIntel == null)
{
// Plot Intercept
if (IntelKey.Item1 == IntelItemType.Enemy && IntelItems.ContainsKey(IntelKey) && EnemyShipIntel.PrioritizeTarget((EnemyShipIntel)IntelItems[IntelKey]) && IntelProvider.GetPriority(IntelKey.Item2) >= 2)
{
var target = IntelItems[IntelKey];
LeadTask.Destination.Position = currentPosition + AttackHelpers.GetAttackPoint(target.GetVelocity(), target.GetPositionFromCanonicalTime(canonicalTime) + target.GetVelocity() * 0.08 - currentPosition, Autopilot.CruiseSpeed);
}
// Go to Position ( Scramble )
else if (TargetPosition != Vector3.Zero)
{
LeadTask.Destination.MaxSpeed = PatrolMaxSpeed;
LeadTask.Destination.Position = TargetPosition;
}
else
{
GoHome(canonicalTime);
return;
}
Vector3D toTarget = LeadTask.Destination.Position - Program.Me.WorldMatrix.Translation;
if (toTarget.LengthSquared() > 400)
{
if (gravdir == Vector3D.Zero)
{
LeadTask.Destination.Direction = toTarget;
}
else
{
LeadTask.Destination.Direction = Vector3D.Zero;
}
}
else
{
LeadTask.Destination.Direction = Vector3D.Zero;
}
LastAcceleration = Vector3D.Zero;
LastReference = MatrixD.Zero;
LastEnemyVelocity = Vector3D.Zero;
LastEnemyPosition = Vector3D.Zero;
LastRelativeAttackPoint = Vector3D.Zero;
// targetLastPoweredRun = 0;
}
// Orbiting a Target
else
{
CombatSystem.MarkEngaged();
LeadTask.Destination.MaxSpeed = Autopilot.CombatSpeed;
Vector3D targetPosition = orbitIntel.GetPositionFromCanonicalTime(canonicalTime);
var periodicFactor = runs * Math.PI * CombatSystem.EngageTheta / 4;
Vector3D periodicDirection = Math.Sin(periodicFactor) * controller.WorldMatrix.Left + Math.Cos(periodicFactor) * controller.WorldMatrix.Up;
var Acceleration = linearVelocity - LastLinearVelocity;
if (LastAcceleration == Vector3D.Zero)
{
LastAcceleration = Acceleration;
}
if (LastReference == MatrixD.Zero)
{
LastReference = controller.WorldMatrix;
}
if (LastEnemyVelocity == Vector3D.Zero)
{
LastEnemyVelocity = shootIntel.GetVelocity();
}
if (LastEnemyPosition == Vector3D.Zero)
{
LastEnemyPosition = shootIntel.GetPositionFromCanonicalTime(canonicalTime);
}
var enemyAcceleration = shootIntel.GetVelocity() - LastEnemyVelocity;
var enemyVelocityAdjust = shootIntel.GetVelocity() * 2 - LastEnemyVelocity;
var CurrentAccelerationPreviousFrame = Vector3D.TransformNormal(Acceleration, MatrixD.Transpose(LastReference));
var accelerationAdjust = Vector3D.TransformNormal(CurrentAccelerationPreviousFrame, controller.WorldMatrix);
var velocityAdjust = linearVelocity + accelerationAdjust * 0.4;
velocityAdjust *= CombatSystem.OwnSpeedMultiplier;
Vector3D relativeAttackPoint = AttackHelpers.GetAttackPoint(enemyVelocityAdjust - velocityAdjust, shootIntel.GetPositionFromCanonicalTime(canonicalTime) + enemyVelocityAdjust * 0.25 - controller.WorldMatrix.Translation - velocityAdjust * 0.25, CombatSystem.ProjectileSpeed);
relativeAttackPoint.Normalize();
if (LastRelativeAttackPoint == Vector3D.Zero)
{
LastRelativeAttackPoint = relativeAttackPoint;
}
LastAcceleration = linearVelocity - LastLinearVelocity;
LeadTask.Destination.Direction = relativeAttackPoint;
if ((controller.WorldMatrix.Translation - targetPosition).Length() < CombatSystem.FireDist &&
VectorHelpers.VectorAngleBetween(LeadTask.Destination.Direction, controller.WorldMatrix.Forward) < CombatSystem.FireTolerance)
{
CombatSystem.Fire();
}
Vector3D dirTargetToMe = controller.WorldMatrix.Translation - targetPosition;
var distTargetToMe = dirTargetToMe.Length();
dirTargetToMe.Normalize();
if (Mode == 0)
{
Vector3D dirTargetToOrbitTarget = Vector3D.Cross(dirTargetToMe, controller.WorldMatrix.Up);
dirTargetToOrbitTarget.Normalize();
if (gravdir == Vector3D.Zero)
{
LeadTask.Destination.DirectionUp = Math.Sin(CombatSystem.EngageTheta) * controller.WorldMatrix.Right + Math.Cos(CombatSystem.EngageTheta) * controller.WorldMatrix.Up;
LeadTask.Destination.Position = targetPosition + orbitIntel.GetVelocity() + dirTargetToMe * CombatSystem.EngageDist + dirTargetToOrbitTarget * 200;
}
else
{
var flatDirTargetToMe = dirTargetToMe - VectorHelpers.VectorProjection(dirTargetToMe, gravdir);
flatDirTargetToMe.Normalize();
LeadTask.Destination.Position = targetPosition + orbitIntel.GetVelocity() + flatDirTargetToMe * CombatSystem.EngageDist * 0.9 - gravdir * 300 + periodicDirection * 100;
}
LeadTask.Destination.Velocity = orbitIntel.GetVelocity() * 0.5;
}
else if (Mode == 2)
{
LeadTask.Destination.Position = targetPosition + dirTargetToMe * (CombatSystem.EngageDist + (CombatSystem.EngageDist - distTargetToMe));
LeadTask.Destination.Velocity = orbitIntel.GetVelocity();
}
LastReference = controller.WorldMatrix;
LastEnemyVelocity = shootIntel.GetVelocity();
LastEnemyPosition = shootIntel.GetPositionFromCanonicalTime(canonicalTime);
LastRelativeAttackPoint = relativeAttackPoint;
//var n = VectorHelpers.VectorProjection(enemyAcceleration, gravdir).Length() / enemyAcceleration.Length();
//
//if (targetLastPoweredRun == 0 || n < 0.6)
// targetLastPoweredRun = runs;
//
//if (runs - targetLastPoweredRun > 20)
// IntelProvider.SetPriority(shootIntel.ID, 1);
}
if (!Attack)
{
Vector3D toTarget = TargetPosition - Program.Me.WorldMatrix.Translation;
if (toTarget.LengthSquared() > 100)
{
LeadTask.Destination.Position = TargetPosition;
}
else
{
LeadTask.Destination.Position = Vector3D.Zero;
}
LeadTask.Destination.Velocity = Vector3D.Zero;
}
if (Mode == 1)
{
//TODO: Add support for disabling dampeners in this mode - let pilot have full control aside from aiming
LeadTask.Destination.Position = controller.GetPosition();
LeadTask.Destination.Velocity = Vector3D.Zero;
if (shootIntel == null)
{
LeadTask.Destination.Direction = Vector3D.Zero;
LeadTask.Destination.DirectionUp = Vector3D.Zero;
}
}
LastLinearVelocity = linearVelocity;
if (LeadTask.Status == TaskStatus.Incomplete)
{
LeadTask.Do(IntelItems, canonicalTime, profiler);
}
}