private void GoTo(Vector3D pos, string label)
{
Stop();
rc.AddWaypoint(new MyWaypointInfo(label, pos));
rc.FlightMode = FlightMode.OneWay;
rc.SetAutoPilotEnabled(true);
}
public IEnumerator <int> Forward() //uses rotationGoal
{
_currentState = "Forward()";
yield return(0);
_remote.ClearWaypoints();
_remote.SpeedLimit = 2.0f;
_remote.FlightMode = FlightMode.OneWay;
var remotePos = _remote.GetPosition();
var diff = remotePos - _remote.CenterOfMass;
var wp = 2.5 * (_basis[_rotationGoal]) + remotePos + diff;
_remote.AddWaypoint(wp, "Forward");
var curPosition = remotePos;
yield return(0);
while (Vector3D.DistanceSquared(curPosition, wp) > 2) // requires tweaking
{
_remote.SetAutoPilotEnabled(true);
curPosition = _remote.GetPosition();
yield return(0);
}
_remote.SetAutoPilotEnabled(false);
yield return(1);
}
//Idle Drone function
void Idle()
{
//If Auto Home enabled then return home if not within buffer range.
if (Vector3.DistanceSquared(_homeLoc, Me.GetPosition()) > distanceBuffer * distanceBuffer && autoHome)
{
ReturnHome();
return;
}
else
{
if (modeIndicator != null)
{
modeIndicator.SetValue <Color>("Color", new Color(1f, 1f, 0f));
}
EchoToLCD("Status: Idle");
if (_patrolEnabled && !MissingOrDamaged())
{
Patrol();
}
else
{
StopPatrol();
ResetTargets(); //resets any target info
if (_remoteBlock != null)
{
_remoteBlock.SetAutoPilotEnabled(false);
_remoteBlock.FlightMode = FlightMode.OneWay;
_remoteBlock.ClearWaypoints();
}
}
}
}
private void setupAndStartDrone(Vector3D Target, string WP_Name, bool dockingMode)
{
RemoteControl.SetAutoPilotEnabled(false);
RemoteControl.ClearWaypoints();
RemoteControl.AddWaypoint(Target, WP_Name);
RemoteControl.ApplyAction("CollisionAvoidance_On");
RemoteControl.ApplyAction("AutoPilot_On");
RemoteControl.ApplyAction((dockingMode)? "DockingMode_On" : "DockingMode_Off");
RemoteControl.SetAutoPilotEnabled(true);
}
public bool TurnForward()
{
control.ClearWaypoints();
Vector3 controlWorldPos = Me.CubeGrid.GridIntegerToWorld(control.Position);
control.AddWaypoint(controlWorldPos + forward * 100, "[AUTO]Forward");
SwitchFlyMode(false);
if (!control.IsAutoPilotEnabled)
{
control.SetAutoPilotEnabled(true);
}
return(Vector3.Dot(Me.CubeGrid.GridIntegerToWorld(control.Position + Base6Directions.GetIntVector(control.Orientation.Forward)) - controlWorldPos, forward) < 0.1f);
}
public override void DoOnDirectMasterMsg(MyIGCMessage msg)
{
p.Echo("Getting msg from master");
if (msg.Tag == ShipFormationMaster.TAG_FORMATION)
{
GPS center = new GPS(msg.Data.ToString());
p.Echo("Getting formation msg from master : ");
IMyRemoteControl r = GetRemote();
r.ClearWaypoints();
int nbWP = 18;
double angleTmp = 0;
double angleDeg = 360 / nbWP;
for (int i = 0; i < nbWP; ++i)
{
GPS wp = center.ComputeCoordinate(ShipFormationMaster.DISTANCE, DegreeToRadian(angleTmp));
MyWaypointInfo dest = new MyWaypointInfo("WP_" + i, wp.x, wp.y, wp.z);
r.AddWaypoint(dest);
angleTmp += angleDeg;
}
GetLight().SetValue("Color", new Color(0, 255, 0));
r.FlightMode = FlightMode.Circle;
r.SetCollisionAvoidance(false);
r.SetAutoPilotEnabled(true);
}
}
//Use For Precise Turning (docking, mining, attacking)
//----------==--------=------------=-----------=---------------=------------=-----=-----*/
void GyroTurn6(Vector3D TARGET, double GAIN, IMyGyro GYRO, IMyRemoteControl REF_RC, double ROLLANGLE, double MAXANGULARVELOCITY)
{
//确保自动驾驶仪没有功能
REF_RC.SetAutoPilotEnabled(false);
//检测前、上 & Pos
Vector3D ShipForward = REF_RC.WorldMatrix.Forward;
Vector3D ShipUp = REF_RC.WorldMatrix.Up;
Vector3D ShipPos = REF_RC.GetPosition();
//创建和使用逆Quatinion
Quaternion Quat_Two = Quaternion.CreateFromForwardUp(ShipForward, ShipUp);
var InvQuat = Quaternion.Inverse(Quat_Two);
Vector3D DirectionVector = Vector3D.Normalize(TARGET - ShipPos); //RealWorld Target Vector
Vector3D RCReferenceFrameVector = Vector3D.Transform(DirectionVector, InvQuat); //Target Vector In Terms Of RC Block
//转换为局部方位和高度
double ShipForwardAzimuth = 0; double ShipForwardElevation = 0;
Vector3D.GetAzimuthAndElevation(RCReferenceFrameVector, out ShipForwardAzimuth, out ShipForwardElevation);
//Does Some Rotations To Provide For any Gyro-Orientation做一些旋转来提供任何旋转方向
var RC_Matrix = REF_RC.WorldMatrix.GetOrientation();
var Vector = Vector3.Transform((new Vector3D(ShipForwardElevation, ShipForwardAzimuth, ROLLANGLE)), RC_Matrix); //Converts To World转换为世界
var TRANS_VECT = Vector3.Transform(Vector, Matrix.Transpose(GYRO.WorldMatrix.GetOrientation())); //Converts To Gyro Local转换为陀螺仪方位
//Applies To Scenario适用于场景
GYRO.Pitch = (float)MathHelper.Clamp((-TRANS_VECT.X * GAIN), -MAXANGULARVELOCITY, MAXANGULARVELOCITY);
GYRO.Yaw = (float)MathHelper.Clamp(((-TRANS_VECT.Y) * GAIN), -MAXANGULARVELOCITY, MAXANGULARVELOCITY);
GYRO.Roll = (float)MathHelper.Clamp(((-TRANS_VECT.Z) * GAIN), -MAXANGULARVELOCITY, MAXANGULARVELOCITY);
GYRO.GyroOverride = true;
//GYRO.SetValueFloat("Pitch", (float)((TRANS_VECT.X) * GAIN));
//GYRO.SetValueFloat("Yaw", (float)((-TRANS_VECT.Y) * GAIN));
//GYRO.SetValueFloat("Roll", (float)((-TRANS_VECT.Z) * GAIN));
}
void LaunchDrone(EncounterType encounterType, IMyRemoteControl remote, IMyEntity entity, Vector3D despawnCoords)
{
if (remote != null && encounterType == EncounterType.TransientCargoship)
{
remote.ClearWaypoints();
remote.FlightMode = Sandbox.ModAPI.Ingame.FlightMode.OneWay;
remote.AddWaypoint(despawnCoords, "DespawnTarget");
remote.SetAutoPilotEnabled(true);
remote.SpeedLimit = CARGOSHIP_SPEED;
Util.Notify("Autopilot set");
}
SpawnedShip ship = new SpawnedShip();
ship.entityId = entity.EntityId;
if (encounterType == EncounterType.Static || encounterType == EncounterType.TransientEncounter)
{
m_empireData.encounters.Add(ship);
}
else if (encounterType == EncounterType.TransientCargoship)
{
m_empireData.civilianFleet.Add(ship);
}
else if (encounterType == EncounterType.TransientAttackship)
{
m_empireData.militaryFleet.Add(ship);
}
ship.despawnTick = GlobalData.world.currentTick + Tick.Minutes(10);
if (encounterType == EncounterType.TransientAttackship || encounterType == EncounterType.TransientCargoship)
{
BotManager.CreateBot(BotManager.BotType.CargoShip, this, ship, remote);
}
Util.Log("Drone Prepped!");
}
void Target(Vector3 position)
{
target = position;
mainControl.ClearWaypoints();
mainControl.AddWaypoint(position, "Target Destination");
mainControl.FlightMode = FlightMode.OneWay;
mainControl.SetAutoPilotEnabled(true);
}
public void Main(string argument, UpdateType updateSource)
{
// The main entry point of the script, invoked every time
// one of the programmable block's Run actions are invoked,
// or the script updates itself. The updateSource argument
// describes where the update came from. Be aware that the
// updateSource is a bitfield and might contain more than
// one update type.
//
// The method itself is required, but the arguments above
// can be removed if not needed.
IMyLaserAntenna antenna = (IMyLaserAntenna)GridTerminalSystem.GetBlockWithName("Main Laser Antenna");
IMyRemoteControl remoteControl = (IMyRemoteControl)GridTerminalSystem.GetBlockWithName("Main Remote Control");
if (antenna != null && remoteControl != null)
{
if (antenna.Status != MyLaserAntennaStatus.Connected)
{
if (antenna.Status != MyLaserAntennaStatus.RotatingToTarget)
{
if (antenna.Status != MyLaserAntennaStatus.SearchingTargetForAntenna)
{
if (antenna.Status != MyLaserAntennaStatus.Connecting)
{
antenna.Connect();
}
}
}
remoteControl.ClearWaypoints();
remoteControl.AddWaypoint(antenna.TargetCoords, "Antenna Target");
remoteControl.SpeedLimit = 10;
remoteControl.Direction = Base6Directions.Direction.Forward;
remoteControl.SetAutoPilotEnabled(true);
regainedConnection = false;
}
else if (!regainedConnection)
{
remoteControl.SetAutoPilotEnabled(false);
regainedConnection = true;
}
}
}
//--------------- Pilot management ---------------
public bool onUpdate()
{
if (remotePilot.IsAutoPilotEnabled)
{
if (state == PilotState.DISABLED)
{
state = PilotState.DRIVING;
}
this.Objective = getCurrentObjective();
if (this.Objective != null)
{
double destination = Move();
if (destination < precisionFactor)
{// target reached
if (state == PilotState.AVOID)
{
state = PilotState.DRIVING;
}
bool hasAny = RemoveReachedObjective();
if (!hasAny)
{
uIManager.printOnScreens("service", "[SYS] AP destination reached");
remotePilot.HandBrake = true;
wheelController.ReleaseWheels();
}
}
}
else
{
// No waypoints in list
remotePilot.SetAutoPilotEnabled(false);
return(false);
}
}
else
{
wheelController.ReleaseWheels();
state = PilotState.DISABLED;
}
return(true);
}
public void Main(string args)
{
if (args.StartsWith("AntennaPosition"))
{
Echo("Recived message");
Vector3 coords;
if (StringToVector3(args, out coords))
{
var currentPos = remoteControl.GetPosition();
if ((currentPos - coords).Length() < NotDisturbDistance)
{
remoteControl.SetAutoPilotEnabled(false);
}
remoteControl.ClearWaypoints();
remoteControl.AddWaypoint(coords, "Destination");
Echo($"Move to {coords.ToString()}");
remoteControl.SetAutoPilotEnabled(true);
}
}
}
/**
* AreaDefenceDroneAI
* ==============================
* Copyright (c) 2015 Thomas Klose <*****@*****.**>
* Source:
*
* Summary
* ------------------------------
*
*
* Abstract
* ------------------------------
*
*
* Example
* ------------------------------
*
*/
void Main(string args)
{
IMyRemoteControl RemoteControl = GridTerminalSystem.GetBlockWithName("RC") as IMyRemoteControl;
if (RemoteControl != null)
{
//GPS: ORIGIN: -56148.91:23763.12:-2721.73:
Vector3D origin = new Vector3D(-56148.91, 23763.12, -2721.73);
RemoteControl.SetAutoPilotEnabled(false);
RemoteControl.ClearWaypoints();
RemoteControl.AddWaypoint(origin, "WP_Name");
RemoteControl.ApplyAction("CollisionAvoidance_On");
RemoteControl.ApplyAction("AutoPilot_On");
RemoteControl.ApplyAction("DockingMode_Off");
RemoteControl.SetAutoPilotEnabled(true);
// ADDAI Brain = new ADDAI(RC, GridTerminalSystem, origin, 500.0, 50.0);
// Brain.run();
}
}
public void NotReady()
{
StartElev = Elev;
SeaLevel = MinR;
RControllers.SetAutoPilotEnabled(false);
RControllers.FlightMode = FlightMode.OneWay;
RControllers.Direction = Base6Directions.Direction.Forward;
RControllers.SpeedLimit = 200;
StartLocation = RController.GetPosition();
RControllers.ClearWaypoints();
GyroStartLocation = RGyro.GetPosition();
RConStartLocation = RCon.GetPosition();
RefDist = Math.Round(Vector3D.Distance(GyroStartLocation, StartLocation), 2); //Distance between RC and Gyro
Distance = ((GyroStartLocation - StartLocation) * ((TargetAltitude - StartElev) / RefDist)); //Calculates Distance to Target
TargetLocation = (StartLocation + Distance); ////Calculates Co-ords for Target
RefDist = Math.Round(Vector3D.Distance(RConStartLocation, StartLocation), 2); //Distance between RC and Gyro
Distance = ((RConStartLocation - StartLocation) * ((AppTarget + StartElev) / RefDist)); //Calculates Distance to Approach (1000m)
AppLocation = (StartLocation + Distance); ////Calculates Co-ords for Target
RControllers.AddWaypoint(TargetLocation, (Ship + "Target Location"));
Init = true;
Main("Ready");
return;
}
void Main()
{
//check if current RC is damaged, look for a replacement
if (_currentControl == null || !_currentControl.IsFunctional)
{
_currentControl = _controllers.FirstOrDefault(c => c.IsFunctional);
}
if (_currentControl == null)
{
return; //no controls left :(
}
//Check Player Distance From Origin
_currentControl.ClearWaypoints();
Vector3D currentPos = _currentControl.GetPosition();
Vector3D closestPlayer;
_currentControl.GetNearestPlayer(out closestPlayer);
double playerDistanceOrigin = Vector3D.DistanceSquared(closestPlayer, _origin);
double playerDistanceDrone = Vector3D.DistanceSquared(currentPos, closestPlayer);
if (playerDistanceDrone < BREAKAWAY_DISTANCE * BREAKAWAY_DISTANCE || playerDistanceOrigin < PATROL_RADIUS * PATROL_RADIUS)
{
//Chase Player
_currentControl.AddWaypoint(closestPlayer, "Player");
//update guns
if (USE_STATIC_GUNS)
{
if (playerDistanceDrone <= WEAPON_ENGAGE_DIST * WEAPON_ENGAGE_DIST)
{
Vector3D playerDir = closestPlayer - currentPos;
playerDir.Normalize();
double dot = Vector3D.Dot(_currentControl.WorldMatrix.Forward, playerDir);
//check if player is inside our target cone
if (dot > _weaponAngle)
{
StartShooting();
_shooting = true;
}
else
{
StopShooting();
_shooting = false;
}
}
else if (playerDistanceDrone > WEAPON_DISENGAGE_DIST * WEAPON_DISENGAGE_DIST && _shooting)
{
StopShooting();
_shooting = false;
}
}
}
else
{
//Go To Origin
_currentControl.AddWaypoint(_origin, "Origin");
if (_shooting && USE_STATIC_GUNS)
{
_shooting = false;
StopShooting();
}
}
_currentControl.SetAutoPilotEnabled(true);
}
public void Main(string argument, UpdateType updateSource)
{
Runtime.UpdateFrequency = UpdateFrequency.Update100 | UpdateFrequency.Update10;
IMyTextPanel textPanel = (IMyTextPanel)GridTerminalSystem.GetBlockWithName(lcdName);
IMyRemoteControl remoteControl = (IMyRemoteControl)GridTerminalSystem.GetBlockWithName(remoteControllerName);
// If setupcomplete is false, run Setup method.
if (!setupcomplete)
{
Echo("Running setup.");
Setup();
}
else
{
// To create a listener, we use IGC to access the relevant method.
// We pass the same tag argument we used for our message.
IGC.RegisterBroadcastListener(broadcastChannel);
// Create a list for broadcast listeners.
List <IMyBroadcastListener> listeners = new List <IMyBroadcastListener>();
// The method argument below is the list we wish IGC to populate with all Listeners we've made.
// Our Listener will be at index 0, since it's the only one we've made so far.
IGC.GetBroadcastListeners(listeners);
if (listeners[0].HasPendingMessage)
{
// Let's create a variable for our new message.
// Remember, messages have the type MyIGCMessage.
MyIGCMessage message = new MyIGCMessage();
// Time to get our message from our Listener (at index 0 of our Listener list).
// We do this with the following method:
message = listeners[0].AcceptMessage();
// A message is a struct of 3 variables. To read the actual data,
// we access the Data field, convert it to type string (unboxing),
// and store it in the variable messagetext.
string messagetext = message.Data.ToString();
// We can also access the tag that the message was sent with.
string messagetag = message.Tag;
//Here we store the "address" to the Programmable Block (our friend's) that sent the message.
long sender = message.Source;
//Do something with the information!
Echo("Message received with tag" + messagetag + "\n\r");
Echo("from address " + sender.ToString() + ": \n\r");
Echo(messagetext);
allmessage += $"\n new message \n {messagetext}\n{messagetext.Split(':')[2]}";
textPanel.WriteText(allmessage);
List <MyWaypointInfo> myWaypoints = new List <MyWaypointInfo>();
string gpsname = messagetext.Split(':')[1];
double x = 0;
double y = 0;
double z = 0;
try
{
x = Convert.ToDouble(messagetext.Split(':')[2]);
y = Convert.ToDouble(messagetext.Split(':')[3]);
z = Convert.ToDouble(messagetext.Split(':')[4]);
}
catch (Exception e)
{
Echo(e.Message);
}
Echo(messagetext.Split('1')[0]);
myWaypoints.Add(new MyWaypointInfo(gpsname, x, y, z));
remoteControl.ClearWaypoints();
remoteControl.AddWaypoint(myWaypoints[0]);
remoteControl.SetCollisionAvoidance(true);
remoteControl.SetAutoPilotEnabled(true);
}
}
int textlength = textPanel.GetText().Length;
if (textlength > 100)
{
allmessage = "";
}
}
private void HandleFacing(TempData tempData)
{
Vector3 desiredRotSpeed;
if (command == null)
{
desiredRotSpeed = Vector3.Zero;
}
else
{
var navigationData = command.GetNavData(program);
//Vector3 targetDirection = chosenTarget.Position - Me.CubeGrid.GridIntegerToWorld( Me.Position );
//targetDirection.Normalize();
Vector3 des = navigationData.desiredForward.Value;
//VrageMath doesn't have Vector3 * Matrix3x3 multiplication
//navigationData.desiredFacing = new Vector3( Vector3.Dot(des, directionAdjustMatrix.Col0), Vector3.Dot( des, directionAdjustMatrix.Col1 ), Vector3.Dot( des, directionAdjustMatrix.Col2 ) );
List <IMyRadioAntenna> antenna = new List <IMyRadioAntenna>();
GridTerminalSystem.GetBlocksOfType <IMyRadioAntenna>(antenna);
antenna[0].CustomName = "Desired Facing: " + navigationData.desiredForward;
desiredRotSpeed = tempData.facing.Cross(navigationData.desiredForward.Value); //get direction of desired rotation
desiredRotSpeed.Normalize();
//Echo("Dd: " + desiredSpeed);
desiredRotSpeed.Multiply(0.5f - tempData.facing.Dot(navigationData.desiredForward.Value) / 2); //get magnitude of desired rotation
//Echo( "Desired speed: " + desiredSpeed.Length() );
//desiredSpeed = desiredDir - rotSpeed;
//Echo( string.Format( "Facing: {0} TargetDir:{1}", facing, targetDirection ) );
}
Vector3 targetRotation = new Vector3(tempData.facingLeft.Dot(desiredRotSpeed), tempData.facingUp.Dot(desiredRotSpeed), tempData.facing.Dot(desiredRotSpeed));
//targetRotation = new Vector3( 0,targetRotation.Y,0 );
//program.Echo( "TR: " + targetRotation );
if (useControlBlock)
{
List <IMyRemoteControl> control = new List <IMyRemoteControl>();
GridTerminalSystem.GetBlocksOfType <IMyRemoteControl>(control);
if (shouldSetWaypoint == 0)
{
if (control.Count > 0)
{
IMyRemoteControl cntrl = control[0];
cntrl.ControlThrusters = false;
cntrl.ControlWheels = true;
cntrl.ClearWaypoints();
var desiredFacing = command.GetNavData(program).desiredForward.Value;
cntrl.AddWaypoint(Me.CubeGrid.GridIntegerToWorld(cntrl.Position) + desiredFacing * 10000, "dummy rotation target");
cntrl.AddWaypoint(new MyWaypointInfo());
cntrl.SetAutoPilotEnabled(true);
Vector3 target = Me.CubeGrid.GridIntegerToWorld(cntrl.Position) + (desiredFacing * 1000);
program.Echo(string.Format("RC: {0:0.0} {1:0.0} {2:0.0}", target.X, target.Y, target.Z));
}
else
{
program.Echo("Can't find any control blocks");
}
shouldSetWaypoint = 50;
}
else
{
shouldSetWaypoint--;
}
}
else
{
foreach (var gyro in gyros)
{
try {
gyro.SetValueBool("Override", true);
gyro.Pitch = -targetRotation.Dot(Base6Directions.GetVector(gyro.Orientation.Left)) * 60;
gyro.Yaw = targetRotation.Dot(Base6Directions.GetVector(gyro.Orientation.Up)) * 60;
gyro.Roll = -targetRotation.Dot(Base6Directions.GetVector(gyro.Orientation.Forward)) * 60;
} catch (Exception e) { program.Echo(e.StackTrace); }
}
}
}
void Main(string argument, UpdateType updateSource)
{
if (updateSource == UpdateType.Update1 || updateSource == UpdateType.Update10 || updateSource == UpdateType.Update100)
{
// Main code
Clock.Update();
if (Clock.Runtime == startRuntime)
{
Echo("Starting.");
Start();
}
else if (startRuntime != -1)
{
Echo("Waiting to start:");
double sec = startDelay - Clock.GetSeconds(0);
Echo(sec.ToString("0.0") + 's');
return;
}
Echo("Running.");
Detect();
Echo("Has target: " + detected);
Echo("Known location: " + lastEnemy.HasValue);
Echo("Firing: " + fire);
double secSince = Clock.GetSeconds(contactTime);
if (secSince > 0 && secSince < timeout)
{
Echo("Time since contact: " + secSince.ToString("0.00"));
}
double temp = rc.GetNaturalGravity().Length();
bool newValue = temp > useGravityValue;
if (newValue != useGravity)
{
useGravity = newValue;
InitializeOrbit();
}
Move();
FireState();
}
else if (updateSource == UpdateType.IGC)
{
if (helpListener != null && receiveHelpMsgs && !detected && helpListener.HasPendingMessage && !rc.IsAutoPilotEnabled)
{
MyIGCMessage msg = helpListener.AcceptMessage();
if (msg.Data is Vector3D)
{
Vector3D pos = (Vector3D)msg.Data;
double dist2 = Vector3D.DistanceSquared(rc.GetPosition(), pos);
if (dist2 < replyToHelpRange * replyToHelpRange)
{
lastEnemy = null;
rc.SetAutoPilotEnabled(false);
rc.ClearWaypoints();
rc.AddWaypoint(new MyWaypointInfo("Enemy", pos));
rc.FlightMode = FlightMode.OneWay;
rc.SetAutoPilotEnabled(true);
}
}
}
}
else
{
Command(argument);
}
}
public void Main(string argument, UpdateType updateSource)
{
string[] argInfo = argument.Split(new string[] { "," }, StringSplitOptions.None);
if (argument == "RUN")
{
//Check if can scan, and scan if can.
if (cam.CanScan(rayCastDistance))
{
detectedInfo = cam.Raycast(rayCastDistance);
}
else
{
Echo("Can't scan yet!");
}
Echo("INITIATING");
coordinate = Vector3D.Zero; //initating to zero value.
Boolean found = false;
if (detectedInfo.HitPosition != null)
{
coordinate = detectedInfo.HitPosition.Value;
found = true;
}
if (found)
{
Vector3D currentCoords = rc.GetPosition();
//creating unit vector
double denominator = Math.Sqrt(Math.Pow(coordinate.X - currentCoords.X, 2)
+ Math.Pow(coordinate.Y - currentCoords.Y, 2)
+ Math.Pow(coordinate.Z - currentCoords.Z, 2));
double xMultiplier = (coordinate.X - currentCoords.X) / denominator;
double yMultiplier = (coordinate.Y - currentCoords.Y) / denominator;
double zMultiplier = (coordinate.Z - currentCoords.Z) / denominator;
//manipulating target coordinate with unit vector
coordinate.X -= finalDistFromTarget * xMultiplier;
coordinate.Y -= finalDistFromTarget * yMultiplier;
coordinate.Z -= finalDistFromTarget * zMultiplier;
//Setting up backward thrusters list
backwardThrusters = new List <IMyThrust>();
//Obtaining each thruster pointing backward
foreach (IMyThrust thruster in thrusters)
{
if (Base6Directions.GetFlippedDirection(rc.Orientation.Forward) == Base6Directions.GetFlippedDirection(thruster.Orientation.Forward))
{
backwardThrusters.Add(thruster);
}
}
//Obtaining max backward acceleration
MyShipMass myShipMass = rc.CalculateShipMass();
backwardsAcceleration = CalculateAcceleration(myShipMass.TotalMass, backwardThrusters);
//autopilot settings
rc.ClearWaypoints();
rc.AddWaypoint(coordinate, "AUTO DYNAMIC BRAKING SCRIPT COORDINATE");
rc.SetAutoPilotEnabled(true);
rc.SetCollisionAvoidance(false);
rc.SetDockingMode(false); //CHANGE??? or dont?
rc.FlightMode = FlightMode.OneWay;
rc.Direction = Base6Directions.Direction.Forward;
blindMode = false;
}
}
else if (argInfo[0] == "blind".ToLower())
{
int dist = 0;
Boolean passed = Int32.TryParse(argInfo[1], out dist);
if (passed)
{
Vector3D dir = rc.WorldMatrix.Forward;
coordinate = rc.GetPosition();
coordinate.X += dir.X * dist;
coordinate.Y += dir.Y * dist;
coordinate.Z += dir.Z * dist;
Vector3D currentCoords = rc.GetPosition();
//Setting up backward thrusters list
backwardThrusters = new List <IMyThrust>();
//Obtaining each thruster pointing backward
foreach (IMyThrust thruster in thrusters)
{
if (Base6Directions.GetFlippedDirection(rc.Orientation.Forward) == Base6Directions.GetFlippedDirection(thruster.Orientation.Forward))
{
backwardThrusters.Add(thruster);
}
}
//Obtaining max backward acceleration
MyShipMass myShipMass = rc.CalculateShipMass();
backwardsAcceleration = CalculateAcceleration(myShipMass.TotalMass, backwardThrusters);
//autopilot settings
rc.ClearWaypoints();
rc.AddWaypoint(coordinate, "CAPTXAN'S SCRIPT COORDINATE");
rc.SetAutoPilotEnabled(true);
rc.SetCollisionAvoidance(false);
rc.SetDockingMode(false); //CHANGE??? or dont?
rc.FlightMode = FlightMode.OneWay;
rc.Direction = Base6Directions.Direction.Forward;
blindMode = true;
blindCounter = 0;
}
else
{
Echo("2nd parameter is not a number!");
}
}
else
{
//User Feedback
if (!cam.CanScan(rayCastDistance))
{
float percentage = ((cam.TimeUntilScan(rayCastDistance) / 1000) / (rayCastDistance / 2000));
percentage = (1 - percentage) * 100;
Echo("Raycast is recharging " + percentage + "%");
if (!cam.EnableRaycast)
{
cam.EnableRaycast = true;
}
}
else
{
Echo("Ready to Scan");
cam.EnableRaycast = false;
}
//Travelling CHANGE HERE FOR ENABLE / DISABLE AUTOPILOT
if (rc.IsAutoPilotEnabled)
{
travelling = true;
double currentDistanceFromTarget = Vector3D.Distance(coordinate, rc.GetPosition());
Echo("Travelling, ETA: " + (int)(currentDistanceFromTarget / rc.GetShipSpeed()) + "s");
//Calculating stopping distance to determine if thrusters need to be enabled.
Echo("Current Speed: " + (int)rc.GetShipSpeed() + "m/s");
Echo("Ship Speed Limit: " + rc.SpeedLimit + "m/s");
if (rc.GetShipSpeed() > rc.SpeedLimit - 1) //If ship at max speed
{
Vector3D currentTrajectory = Vector3D.Normalize(rc.GetPosition() - prevPosition);
prevPosition = rc.GetPosition();
Vector3D calculatedTrajectory = Vector3D.Normalize(rc.GetPosition() - coordinate);
double accuracyAmount;
if (currentDistanceFromTarget > 15000)
{
accuracyAmount = .99999;
}
else if (currentDistanceFromTarget > 5000)
{
accuracyAmount = .9999;
}
else
{
accuracyAmount = .999;
}
if (currentDistanceFromTarget * .90 > (Math.Pow(rc.GetShipSpeed(), 2) / (2 * backwardsAcceleration)) &&
Math.Abs(currentTrajectory.Dot(calculatedTrajectory)) > accuracyAmount)
{
foreach (IMyThrust thruster in thrusters)
{
thruster.ApplyAction("OnOff_Off");
}
}
else //Curr < stopp
{
foreach (IMyThrust thruster in thrusters)
{
thruster.ApplyAction("OnOff_On");
}
}
}
Echo("Blind Mode: " + blindMode);
if (blindMode)
{
Echo("Blind Counter: " + blindCounter);
Echo("Coll Avoid: " + rc.);
if (cam.CanScan(((Math.Pow(rc.GetShipSpeed(), 2) / (2 * backwardsAcceleration)) * 2)))
{
detectedInfo = cam.Raycast((Math.Pow(maxSpeed, 2) / (2 * backwardsAcceleration)) * 2);
if (detectedInfo.HitPosition != null)
{
rc.SpeedLimit = 3;
rc.SetCollisionAvoidance(true);
blindCounter = 0;
}
else
{
if (blindCounter > 500)
{
rc.SpeedLimit = maxSpeed;
rc.SetCollisionAvoidance(false);
blindCounter = 0;
}
else
{
blindCounter++;
}
}
}
}
}
else if (travelling)
{
foreach (IMyThrust thruster in thrusters)
{
thruster.ApplyAction("OnOff_On");
}
travelling = false;
blindMode = false;
}
}
//Additional Arugment Commands
if (argument == "ABORT")
{
rc.SetAutoPilotEnabled(false);
rc.DampenersOverride = true;
}
}
//Primary Generic Functions
//==========================
//Use For General Drone Flying:
void RC_Manager(Vector3D TARGET, IMyRemoteControl RC, bool TURN_ONLY)
{
//Uses Rotation Control To Handle Max Rotational Velocity
//---------------------------------------------------------
if (RC.GetShipVelocities().AngularVelocity.AbsMax() > PrecisionMaxAngularVel)
{
print("转动速度放缓"); RC.SetAutoPilotEnabled(false); return;
}
//Setup Of Common Variables
//--------------------------------------------
Vector3D DronePosition = RC.GetPosition();
Vector3D Drone_To_Target = Vector3D.Normalize(TARGET - DronePosition);
//Override Direction Detection
//-------------------------------
double To_Target_Angle = Vector3D.Dot(Vector3D.Normalize(RC.GetShipVelocities().LinearVelocity), Drone_To_Target);
double Ship_Velocity = RC.GetShipVelocities().LinearVelocity.Length();
//Turn Only: (Will drift ship automatically)
//--------------------------------------------
/*List<MyWaypointInfo> way = new List<MyWaypointInfo>();
* RC.GetWaypointInfo(way);
* if (way.Count>0)
* {
* if (way[0].Coords!= TARGET)
* {
* //RC.ApplyAction("AutoPilot_Off");
* //RC.ClearWaypoints();
* }
* }*/
if (TURN_ONLY)
{
//if (way.Count <1)
{
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(TARGET, "母船起点");
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("CollisionAvoidance_Off");
RC.ControlThrusters = false;
}
return;
}
//Drift Cancellation Enabled:
//-----------------------------
if (To_Target_Angle < 0.4 && Ship_Velocity > 3)
{
//Aim Gyro To Reflected Vector
Vector3D DRIFT_VECTOR = Vector3D.Normalize(RC.GetShipVelocities().LinearVelocity);
Vector3D REFLECTED_DRIFT_VECTOR = -1 * (Vector3D.Normalize(Vector3D.Reflect(DRIFT_VECTOR, Drone_To_Target)));
Vector3D AIMPINGPOS = (-1 * DRIFT_VECTOR * 500) + DronePosition;
//if (way.Count < 1 )
{
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(AIMPINGPOS, "AIMPINGPOS");
RC.SpeedLimit = 100;
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("CollisionAvoidance_Off");
}
}
//System Standard Operation:
//---------------------------
else
{
//Assign To RC, Clear And Refresh Command
List <ITerminalAction> action = new List <ITerminalAction>();
RC.GetActions(action);
RC.ControlThrusters = true;
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(TARGET, "目标");
RC.SpeedLimit = 100;
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("DockingMode_Off");
RC.ApplyAction("CollisionAvoidance_On");
}
}
public void Main(string argument, UpdateType updateType)
{
Vector3D homebase = new Vector3D(coord[0], coord[1], coord[2]);
Vector3D homebasevelocity = new Vector3D(velocityout[0], velocityout[1], velocityout[2]);
MatrixD m = brain.WorldMatrix;
Matrix test;
switch (argument.ToLower())
{
case "auto":
brain.SetAutoPilotEnabled(true);
brain.SetCollisionAvoidance(true);
brain.DampenersOverride = true;
Echo("Auto Pilot Enabled.");
break;
case "stop":
brain.SetAutoPilotEnabled(false);
brain.SetCollisionAvoidance(false);
brain.DampenersOverride = false;
Echo("Auto Pilot Disabled.");
break;
}
info.WritePublicText("");
info.WritePublicText(brain.CalculateShipMass().TotalMass.ToString() + " : Mass \n", true);
//calculate manhattan distance
int dist = (int)Math.Ceiling(Math.Abs(homebase.X - brain.GetPosition().X) + Math.Abs(homebase.Y - brain.GetPosition().Y) + Math.Abs(homebase.Z - brain.GetPosition().Z));
info.WritePublicText(dist.ToString() + " :Distance \n", true);
//debugging to an lcd screen - used as a visual aid
info.WritePublicText(m.Forward.X.ToString(), true);
//found out how to use and turn gyro
//if (dist < 20 && m.Forward.X < 0.1)
//{
// gyro.SetValueFloat("Yaw", 2);
// gyro.GetActionWithName("Override").Apply(gyro);
//}
//check for new homebase coords
if (listeners[0].HasPendingMessage)
{
packet = listeners[0].AcceptMessage();
string messagetext = packet.Data.ToString();
sentcord = messagetext;
}
//check for new homebase velocity
if (listeners[1].HasPendingMessage)
{
packet = listeners[1].AcceptMessage();
string messagetext1 = packet.Data.ToString();
sentvelocity = messagetext1;
}
string[] coords = sentcord.Split(' ');
if (coords[0] != "")
{
coord[0] = double.Parse(coords[0].Remove(0, 2));
coord[1] = double.Parse(coords[1].Remove(0, 2));
coord[2] = double.Parse(coords[2].Remove(0, 2));
}
string[] velocity = sentvelocity.Split(' ');
if (velocity[0] != "")
{
velocityout[0] = double.Parse(velocity[0].Remove(0, 2));
velocityout[1] = double.Parse(velocity[1].Remove(0, 2));
velocityout[2] = double.Parse(velocity[2].Remove(0, 2));
}
GetPredictedTargetPosition(homebase, homebasevelocity);
//add new thrusters to list
for (int i = 0; i < term.Count; i++)
{
onGridThrust.Add((IMyThrust)term[i]);
}
}
public void Main(string argument, UpdateType updateSource)
{
if (goodsetup)
{
Echo("LastR: " + lastReversePath);
Echo("Mode: " + mode);
Echo("DockingDir: " + rcDockingDir.ToString());
Echo("Password: "******"Argument: " + argument);
string[] info = argument.Split(new string[] { "," }, StringSplitOptions.None);
if (updateSource != UpdateType.Antenna)
{
if (info[0].ToLower() == "dock")
{
if (info.Length == 1)
{
Boolean sent = antenna.TransmitMessage("requestdock," + password + ",default");
if (!sent)
{
messageQue.Add("requestdock," + password + ",default");
}
}
else if (info.Length == 2)
{
Boolean sent = antenna.TransmitMessage("requestdock," + password + "," + info[1]);
if (!sent)
{
messageQue.Add("requestdock," + password + "," + info[1]);
}
groupName = info[1];
}
else if (info.Length == 3)
{
Boolean sent = antenna.TransmitMessage("requestdock," + password + "," + groupName + "," + info[2]);
if (!sent)
{
messageQue.Add("requestdock," + password + "," + groupName + "," + info[2]);
}
}
else
{
Echo("ERROR, ARGUMENT SIZE INVALID");
}
}
else if (info[0].ToLower() == "stop")
{
Storage = "";
dockingConnectorPos = new Vector3D();
dockingDir = new Vector3D();
mode = 0;
globalPath.Clear();
reversePath.Clear();
rc.ClearWaypoints();
foreach (IMyThrust thrust in allThrusters)
{
thrust.ThrustOverridePercentage = 0;
}
foreach (IMyGyro gyro in gyros)
{
gyro.GyroOverride = false;
gyro.Pitch = 0;
gyro.Yaw = 0;
gyro.Roll = 0;
}
Boolean sent = antenna.TransmitMessage("canceldock," + password);
if (!sent)
{
messageQue.Add("canceldock," + password);
}
}
else if (info[0] == "depart")
{
if (mode == 5 && connector.Status == MyShipConnectorStatus.Connected)
{
Main("dock," + groupName + ",leaving", UpdateType.Mod);
}
else
{
Echo("ERROR, WRONG MODE OR ALREADY DISCONNECTED");
}
}
else if (info[0].ToLower() == "newpassword")
{
Random r = new Random();
password = r.Next(1000000, 9999999) + "";
}
}
else if (updateSource == UpdateType.Antenna && info[0] == password)
{
Echo("Message Received: " + argument);
if (info[1] == "received" && info.Length == 3) //info[2] is name of spaceport
{
Echo("Request to '" + info[2] + "' was received, awaiting further instruction.");
}
else if (info[1] == "fail")
{
Echo("Request to '" + info[3] + "' failed.");
}
else if (info[1] == "rejected")
{
Echo("TOOK TO LONG, DOCKING PERMISSION REJECTED");
mode = 0;
rc.SetAutoPilotEnabled(false);
antenna.CustomName += " ERROR";
}
else if (info[1] == "wait")
{
Echo("Request to '" + info[3] + "' success, but placed into waiting que");
waiting = true;
}
else if (info[1] == "dockinginfo")
{
if (mode == 5)
{
connector.Disconnect();
List <MyWaypointInfo> path = new List <MyWaypointInfo>();
string[] strWaypoints = new string[info.Length - 5];
for (int i = 0; i < strWaypoints.Length; i++)
{
strWaypoints[i] = info[i + 5];
}
foreach (string waypoint in strWaypoints)
{
MyWaypointInfo newPoint;
Boolean pass = MyWaypointInfo.TryParse(waypoint, out newPoint);
if (pass)
{
path.Add(newPoint);
}
else
{
break;
}
}
path.Reverse();
reversePath = path;
EnableRC(reversePath, out path);
mode = 6;
}
else if (info.Length == 5)
{
linkedConnectorName = info[2];
string strConnectorPos = info[3];
string strDockingDir = info[4];
//parse str's into their proper values
Boolean pass1 = Vector3D.TryParse(strConnectorPos, out dockingConnectorPos);
Boolean pass2 = Vector3D.TryParse(strDockingDir, out dockingDir);
Dock2(dockingConnectorPos, dockingDir); mode = 2;
}
else if (info.Length > 5)
{
linkedConnectorName = info[2];
string strConnectorPos = info[3];
string strDockingDir = info[4];
string[] strWaypoints = new string[info.Length - 5];
for (int i = 0; i < strWaypoints.Length; i++)
{
strWaypoints[i] = info[i + 5];
}
//parse str's into their proper values
Boolean pass1 = Vector3D.TryParse(strConnectorPos, out dockingConnectorPos);
Boolean pass2 = Vector3D.TryParse(strDockingDir, out dockingDir);
pass2 = false;
List <MyWaypointInfo> path = new List <MyWaypointInfo>();
Boolean pass3 = true;
foreach (string waypoint in strWaypoints)
{
pass2 = true;
MyWaypointInfo newPoint;
pass3 = MyWaypointInfo.TryParse(waypoint, out newPoint);
if (pass3)
{
path.Add(newPoint);
}
else
{
break;
}
}
if (pass1 && pass2 && pass3)
{
EnableRC(path, out globalPath);
reversePath.Reverse();
mode = 1;
}
else
{
Echo(pass1 + " " + pass2 + " " + pass3);
}
}
}
}
else if (info[0] == "antennapos" && info.Length == 2)
{
Boolean updated = Vector3D.TryParse(info[1], out antennaPos);
if (updated)
{
antenna.Radius = (float)(Vector3D.Distance(rc.GetPosition(), antennaPos) + 10);
}
else
{
Echo("Failed to update antenna position");
}
}
else if (mode == 2 && !rc.IsAutoPilotEnabled && Vector3D.Distance(rc.GetPosition(), rc.CurrentWaypoint.Coords) >= 5)
{
rc.SetAutoPilotEnabled(true);
}
else if (mode == 1 && globalPath.Count != 0)
{
FollowPath(globalPath, true);
}
}
else if (mode == 1)
{
FollowPath(globalPath, true);
}
else if (mode == 2 && rc.IsAutoPilotEnabled && Vector3D.Distance(rc.GetPosition(), rc.CurrentWaypoint.Coords) < 5)
{
Dock3();
Boolean sent = antenna.TransmitMessage("freepath," + groupName);
if (!sent)
{
messageQue.Add("freepath," + groupName);
}
}
else if (mode == 2 && !rc.IsAutoPilotEnabled && Vector3D.Distance(rc.GetPosition(), rc.CurrentWaypoint.Coords) >= 5)
{
rc.SetAutoPilotEnabled(true);
}
else if (mode == 3 && Dock3())
{
Echo("DOCKED!");
}
else if (mode == 6)
{
FollowPath(reversePath, false);
}
else if (updateSource == UpdateType.Update100)
{
shipMass = rc.CalculateShipMass().TotalMass;
}
if (waiting)
{
Echo("Waiting for clearance");
}
}
else
{
Echo("SETUP FAILED. DO NOT SETUP WHILE CONNECTED TO ANOTHER GRID");
}
}
internal override void Update()
{
CheckEscortsAlive();
if (!leader.IsControlledByFaction("GCORP"))
{
GroupState = NpcGroupState.Disbanding;
InitiateDisbandProtocols();
}
else if ((GroupState == NpcGroupState.Travelling || GroupState == NpcGroupState.InCombat) &&
Vector3D.DistanceSquared(Destination, leader.GetPosition()) < 300.0 * 300) // increase to 300 to allow for variations in height. V26
// && Vector3D.DistanceSquared(Destination, leader.GetPosition()) < 200.0*200) // increase to 200 to allow for variations in height.
// && Vector3D.Distance(Destination, leader.GetPosition()) < 100.0)
{
string sBeacons = "";
var slimBlocks2 = new List <IMySlimBlock>();
leader.GetBlocks(slimBlocks2, b => b.FatBlock is IMyBeacon);
foreach (var slim2 in slimBlocks2)
{
var beacon = slim2.FatBlock as IMyBeacon;
sBeacons += beacon.CustomName;
}
ModLog.Info("Group Arrived at destination: " + leader.CustomName + " " + sBeacons);
ArrivalObserver.GroupArrivedIntact();
audioSystem.PlayAudioRandomChance(0.1, AudioClip.ConvoyArrivedSafely);
GroupState = NpcGroupState.Disbanding;
InitiateDisbandProtocols();
ResetBeaconNames();
}
// ModLogs are for DEBUG nav script
// ModLog.Info("Convoy update:" + leader.CustomName+" ID:"+leader.EntityId.ToString() + " State:"+GroupState.ToString());
if ((GroupState == NpcGroupState.Travelling))
{
var currentTime = MyAPIGateway.Session.GameDateTime;
if (GroupSpawnTime + convoyInitiateTime < currentTime)
{
leader.SetAllBeaconNames(null, 20000f);
}
bool bKeenAutopilotActive = false;
var slimBlocks = new List <IMySlimBlock>();
leader.GetBlocks(slimBlocks, b => b.FatBlock is IMyRemoteControl);
IMyRemoteControl remoteControl = null;
foreach (var slim in slimBlocks)
{
remoteControl = slim.FatBlock as IMyRemoteControl;
bKeenAutopilotActive = remoteControl.IsAutoPilotEnabled;
// ModLog.Info("Keen Autopilot:" + bKeenAutopilotActive.ToString());
break;
}
slimBlocks.Clear();
leader.GetBlocks(slimBlocks, b => b.FatBlock is IMyProgrammableBlock);
foreach (var slim in slimBlocks)
{
var block = slim.FatBlock as IMyProgrammableBlock;
if (block == null)
{
continue;
}
if (block.CustomName.Contains("NAV"))
{
if (!bKeenAutopilotActive &&
GroupSpawnTime + convoyInitiateTime < currentTime // delay check for mode change.
)
{
if (//!bKeenAutopilotActive &&
block.DetailedInfo.Contains("mode=0") || block.DetailedInfo.Contains("mode=-1"))
{
if (remoteControl == null)
{
// nothing left to do. Remove it (and try again)
GroupState = NpcGroupState.Inactive; // this will cause NpcGroupManager to spawn a new convoy to replace this one.
return;
}
// force it to use Keen Autopilot
remoteControl.ClearWaypoints();
remoteControl.AddWaypoint(Destination, "Target");
remoteControl.SpeedLimit = 10;
remoteControl.SetAutoPilotEnabled(true);
/*
* // debug output
* var slimBlocks2 = new List<IMySlimBlock>();
* leader.GetBlocks(slimBlocks2, b => b.FatBlock is IMyBeacon);
* string sBeacons = "";
* foreach(var slim2 in slimBlocks2)
* {
* var beacon = slim2.FatBlock as IMyBeacon;
* sBeacons += beacon.CustomName;
* }
*
* // it didn't get the command!
* // GroupState = NpcGroupState.Inactive; // this will cause NpcGroupManager to spawn a new convoy to replace this one.
* ModLog.Info("Autopilot recovery because leader NAV not in correct mode: "+ sBeacons);
*/
}
break;
}
// ModLog.Info("PB:"+block.CustomName+"\n"+"DetailedInfo=:\n" + block.DetailedInfo);
}
}
// Following is just debug info
/*
* leader.GetBlocks(slimBlocks, b => b.FatBlock is IMyGyro);
* foreach (var slim in slimBlocks)
* {
* var block = slim.FatBlock as IMyGyro;
* if (block!=null && block.CustomName.Contains("NAV"))
* {
* ModLog.Info("G:"+block.CustomName + "\n");
* }
* }
*/
}
if (GroupState == NpcGroupState.Disbanding)
{
AttemptDespawning();
return;
}
if (DuckUtils.IsAnyPlayerNearPosition(leader.GetPosition(), 1000) && GroupState == NpcGroupState.Travelling)
{
GroupState = NpcGroupState.InCombat;
InitiateAttackProtocols();
}
if (GroupState == NpcGroupState.InCombat)
{
var player = DuckUtils.GetNearestPlayerToPosition(leader.GetPosition(), 4000);
if (player == null)
{
GroupState = NpcGroupState.Travelling; // Return to normal, cowardly players have run off or died
ResetBeaconNames();
if (escortDic.Count > 0) //todo maybe check if the escorts are actually alive? Dunno if doing this already
{
audioSystem.PlayAudio(AudioClip.DisengagingFromHostile, AudioClip.TargetLost);
}
else
{
audioSystem.PlayAudio(AudioClip.PursuitEvaded, AudioClip.SensorsLostTrack);
}
}
else
{
SendArmedEscortsNearPosition(player.GetPosition()); // Use same position as when escorting, to avoid collisions
}
}
if (GroupState == NpcGroupState.Travelling)
{
foreach (var entry in escortDic)
{
SendEscortToGrid(entry.Key, entry.Value, leader);
}
}
}
void updateRemote(IMyRemoteControl Remote, Vector3D newPos)
{
Remote.ClearWaypoints();
Remote.AddWaypoint(newPos, "Wingman Target");
Remote.SetAutoPilotEnabled(true);
}