/// <summary>
/// Prepare for harvesting
/// </summary>
/// <remarks>
/// <para>If drills are full, change stage to Finished.</para>
/// <para>Get closest asteroid, pick a random point.</para>
/// <para>Set CNS settings</para>
/// <para>Enables Drills.</para>
/// </remarks>>
private void Ready()
{
LogEntered("Ready()");
HarvestState = Navigator.ReportableState.H_Ready;
if (DrillFullness(GetDrills()) > FullAmount_Return)
{
myLogger.debugLog("Drills are full: " + DrillFullness(GetDrills()) + " > " + FullAmount_Return, "Ready()");
SetNextStage(Finished, false);
return;
}
Vector3D?target = GetUsefulTarget(GetClosestAsteroid().WorldVolume);
if (!target.HasValue)
{
myLogger.debugLog("failed to get a useful point inside asteroid", "Ready()");
SetNextStage(Ready, false);
return;
}
targetVoxel = (Vector3)target;
CNS_RestorePrevious();
CNS.setDestination(closestVoxel);
CNS.ignoreAsteroids = true;
ReadyPoint = NavigationDrill.GetPosition();
myLogger.debugLog("Ready", "Ready()");
SetNextStage(ApproachAsteroid, false);
}
/// <summary>
/// Keep getting random point in sphere until there is one with voxels between it and nav drill
/// </summary>
private Vector3D?GetUsefulTarget(BoundingSphereD sphere)
{
Vector3 navPos = NavigationDrill.GetPosition();
for (int attempt = 0; attempt < 10; attempt++)
{
Vector3 point = GetRandomTarget(sphere);
if (VoxelsBetweenNavAndPoint(point))
{
myLogger.debugLog("got a useful point: " + point, "GetUsefulTarget()");
return(point);
}
myLogger.debugLog("totally useless: " + point, "GetUsefulTarget()");
}
return(null);
}
private void StartTunnelThrough()
{
LogEntered("StartTunnelThrough()");
HarvestState = Navigator.ReportableState.H_Tunnel;
//CNS.atWayDest(); // consider destination reached
Vector3D current = NavigationDrill.GetPosition();
Vector3D forwardVect = NavigationDrill.WorldMatrix.Forward;
CNS_SetHarvest();
CNS.setDestination(current + forwardVect * 128);
CNS.SpecialFlyingInstructions = NavSettings.SpecialFlying.Line_Any;
myNav.fullStop("start tunneling through");
SetNextStage(TunnelThrough, true);
}
/// <summary>
/// Determines if there are voxels between navigation drill and given point
/// </summary>
private bool VoxelsBetweenNavAndPoint(Vector3D point)
{
return(MyAPIGateway.Entities.RayCastVoxel(NavigationDrill.GetPosition(), point, out closestVoxel));
}
