private void Maneuver(ZACommons commons, EventDriver eventDriver)
{
var velocity = velocimeter.GetAverageVelocity();
if (velocity != null)
{
var shipControl = (ShipControlCommons)commons;
cruiser.Cruise(shipControl, MANEUVERING_SPEED, (Vector3D)velocity,
enableBackward: false);
}
}
public void Burn(ZACommons commons, EventDriver eventDriver)
{
if (ShouldAbort(commons, eventDriver, Modes.Burning, false))
{
return;
}
var shipControl = (ShipControlCommons)commons;
var controller = GetShipController(shipControl);
if (controller == null)
{
return;
}
var gravity = controller.GetNaturalGravity();
if (gravity.LengthSquared() > 0.0)
{
// Override gyro, disable "bottom" thrusters
shipControl.Reset(gyroOverride: true, thrusterEnable: true,
thrusterCondition: ThrusterCondition);
shipControl.ThrustControl.Enable(Base6Directions.GetFlippedDirection(BrakeDirection), false);
var down = shipControl.ShipBlockOrientation.TransformDirection(BrakeDirection);
seeker.Init(shipControl,
shipUp: Base6Directions.GetPerpendicular(down),
shipForward: down);
if (Autodrop)
{
// "forward" & "right"
var forward = Base6Directions.GetPerpendicular(BrakeDirection);
var right = Base6Directions.GetCross(forward, BrakeDirection);
// Actual orientations don't matter
// Just as long as they're planar & perpendicular to down
LongCruiser.Init(shipControl, localForward: forward);
LatCruiser.Init(shipControl, localForward: right);
}
Mode = Modes.Gliding;
eventDriver.Schedule(FramesPerRun, Glide);
}
else
{
cruiser.Cruise(shipControl, VTVLHELPER_BURN_SPEED,
condition: ThrusterCondition);
eventDriver.Schedule(FramesPerRun, Burn);
}
}
public void Mine(ZACommons commons, EventDriver eventDriver)
{
if (Mode != Modes.Mining)
{
return;
}
var shipControl = (ShipControlCommons)commons;
var targetVector = GetTarget(shipControl, StartDirection);
targetVector = Perturb(eventDriver.TimeSinceStart, targetVector);
double yawPitchError;
seeker.Seek(shipControl, targetVector, out yawPitchError);
cruiser.Cruise(shipControl, TARGET_MINING_SPEED);
eventDriver.Schedule(FramesPerRun, Mine);
}
private void AlignmentThrust(ShipControlCommons shipControl, Vector3D offset, Cruiser cruiser)
{
var velocity = shipControl.LinearVelocity;
if (velocity != null)
{
// Project offset against reference direction
var referenceDirection = GetReferenceVector(shipControl, cruiser.LocalForward);
var referenceDistance = Vector3D.Dot(offset, referenceDirection);
var targetSpeed = Math.Min(Math.Abs(referenceDistance) * VTVLHELPER_APPROACH_GAIN, VTVLHELPER_MAXIMUM_SPEED);
targetSpeed *= Math.Sign(referenceDistance);
cruiser.Cruise(shipControl, targetSpeed, (Vector3D)velocity);
}
}
private void AlignmentThrust(ShipControlCommons shipControl, Vector3D offset, Cruiser cruiser)
{
var velocity = shipControl.LinearVelocity;
if (velocity != null)
{
// Project offset against reference direction
var referenceDirection = GetReferenceVector(shipControl, cruiser.LocalForward);
var referenceDistance = Vector3D.Dot(offset, referenceDirection);
var targetSpeed = Math.Min(Math.Abs(referenceDistance) * VTVLHELPER_APPROACH_GAIN, VTVLHELPER_MAXIMUM_SPEED);
targetSpeed *= Math.Sign(referenceDistance);
Func <IMyThrust, bool> AlignThrusterCondition = VTVLHELPER_USE_BRAKING_THRUSTER_SPEC_FOR_ALIGN ? ThrusterCondition : null;
cruiser.Cruise(shipControl, targetSpeed, (Vector3D)velocity,
condition: AlignThrusterCondition);
}
}
private void Thrust(ShipControlCommons shipControl, double distance,
Vector3D velocity, Cruiser cruiser)
{
if (Math.Abs(distance) < 1.0)
{
// Close enough
var thrustControl = shipControl.ThrustControl;
thrustControl.Enable(cruiser.LocalForward, true);
thrustControl.Enable(cruiser.LocalBackward, true);
}
else
{
var targetSpeed = Math.Min(Math.Abs(distance) / AUTOPILOT_TTT_BUFFER,
AutopilotSpeed);
targetSpeed = Math.Max(targetSpeed, AUTOPILOT_MIN_SPEED); // Avoid Zeno's paradox...
targetSpeed *= Math.Sign(distance);
cruiser.Cruise(shipControl, targetSpeed, velocity);
}
}
public void Run(ZACommons commons, EventDriver eventDriver)
{
if (!AutopilotEngaged)
{
Reset(commons);
return;
}
var shipControl = (ShipControlCommons)commons;
var targetVector = AutopilotTarget - shipControl.ReferencePoint;
var distance = targetVector.Normalize();
double yawPitchError;;
var gyroControl = seeker.Seek(shipControl, targetVector,
out yawPitchError);
var targetSpeed = Math.Min(distance / AUTOPILOT_TTT_BUFFER,
AutopilotSpeed);
targetSpeed = Math.Max(targetSpeed, AUTOPILOT_MIN_SPEED); // Avoid Zeno's paradox...
cruiser.Cruise(shipControl, targetSpeed);
if (distance < AUTOPILOT_DISENGAGE_DISTANCE)
{
Reset(commons);
if (DoneAction != null)
{
DoneAction(commons, eventDriver);
}
}
else
{
eventDriver.Schedule(FramesPerRun, Run);
}
}
private void AlignmentThrust(ShipControlCommons shipControl, Vector3D offset, Cruiser cruiser)
{
var velocity = shipControl.LinearVelocity;
if (velocity != null)
{
// Project offset against reference direction
var referenceDirection = GetReferenceVector(shipControl, cruiser.LocalForward);
var referenceDistance = Vector3D.Dot(offset, referenceDirection);
var targetSpeed = Math.Min(Math.Abs(referenceDistance) * VTVLHELPER_APPROACH_GAIN, VTVLHELPER_MAXIMUM_SPEED);
targetSpeed *= Math.Sign(referenceDistance);
cruiser.Cruise(shipControl, targetSpeed, (Vector3D)velocity);
}
}
private void Thrust(ShipControlCommons shipControl, double distance,
Vector3D velocity, Cruiser cruiser)
{
if (Math.Abs(distance) < 1.0)
{
// Close enough
var thrustControl = shipControl.ThrustControl;
thrustControl.Enable(cruiser.LocalForward, true);
thrustControl.Enable(cruiser.LocalBackward, true);
}
else
{
var targetSpeed = Math.Min(Math.Abs(distance) / AUTOPILOT_TTT_BUFFER,
AutopilotSpeed);
targetSpeed = Math.Max(targetSpeed, AUTOPILOT_MIN_SPEED); // Avoid Zeno's paradox...
targetSpeed *= Math.Sign(distance);
cruiser.Cruise(shipControl, targetSpeed, velocity);
}
}
