public WeldBlock(Mover mover, AllNavigationSettings navSet, PseudoBlock welder, IMySlimBlock block)
: base(mover, navSet)
{
this.m_logger = new Logger(GetType().Name, () => mover.Block.CubeGrid.DisplayName, () => block.getBestName(), () => m_stage.ToString());
this.m_offset = welder.Block.LocalAABB.GetLongestDim() * 0.5f; // this works for default welders, may not work if mod has an exotic design
this.m_welder = welder;
this.m_targetSlim = block;
this.m_timeout_start = Globals.UpdateCount + TimeoutStart;
IMyCubeBlock Projector = ((MyCubeGrid)block.CubeGrid).Projector;
if (Projector != null)
{
this.m_weldProjection = true;
this.m_otherGrid = Projector.CubeGrid;
this.m_slimTarget_initDmg = 1f;
this.m_targetCell = Projector.CubeGrid.WorldToGridInteger(block.CubeGrid.GridIntegerToWorld(block.Position));
}
else
{
this.m_weldProjection = false;
this.m_slimTarget_initDmg = block.Damage();
this.m_targetCell = block.Position;
}
m_navSet.Settings_Task_NavEngage.NavigatorMover = this;
m_navSet.Settings_Task_NavEngage.NavigatorRotator = this;
m_navSet.Settings_Task_NavEngage.DestinationEntity = m_realGrid;
IEnumerator<Vector3I> neighbours = this.m_targetSlim.ForEachNeighbourCell();
while (neighbours.MoveNext())
{
Vector3I cell = m_weldProjection ? Projector.CubeGrid.WorldToGridInteger(block.CubeGrid.GridIntegerToWorld(neighbours.Current)) : neighbours.Current;
m_neighbours.Add(cell);
if (this.m_realGrid.GetCubeBlock(cell) == null)
m_emptyNeighbours.Add(cell);
}
m_targetSlim.ComputeWorldCenter(out m_targetWorld);
m_lineUp.To = m_targetWorld;
}
private void CubeGrid_OnBlockRemoved(IMySlimBlock obj)
{
IMyCubeBlock fatblock = obj.FatBlock;
if (fatblock == null)
return;
myLogger.debugLog("block removed: " + obj.getBestName());
myLogger.debugLog("block removed: " + obj.FatBlock.DefinitionDisplayNameText + "/" + obj.getBestName());
lock_CubeBlocks.AcquireExclusive();
try
{
// by type
MyObjectBuilderType myOBtype = fatblock.BlockDefinition.TypeId;
ListSnapshots<IMyCubeBlock> setBlocks_Type;
if (!CubeBlocks_Type.TryGetValue(myOBtype, out setBlocks_Type))
{
myLogger.debugLog("failed to get list of type: " + myOBtype);
return;
}
if (setBlocks_Type.Count == 1)
CubeBlocks_Type.Remove(myOBtype);
else
setBlocks_Type.mutable().Remove(fatblock);
// by definition
IMyTerminalBlock asTerm = obj.FatBlock as IMyTerminalBlock;
if (asTerm != null)
TerminalBlocks--;
}
catch (Exception e) { myLogger.alwaysLog("Exception: " + e, Logger.severity.ERROR); }
finally { lock_CubeBlocks.ReleaseExclusive(); }
myLogger.debugLog("leaving CubeGrid_OnBlockRemoved(): " + obj.getBestName());
}
/// <summary>
/// Find the closest damaged block that can be repaired; either the missing components are available or there are no missing components.
/// </summary>
/// <returns>The closest repairable block to the welders.</returns>
private IMySlimBlock FindClosestRepairable()
{
Log.DebugLog("searching for closest repairable block");
if (m_damagedBlocks.Count == 0)
{
if (m_projectedBlocks.Count != 0)
{
ProjectedToDamaged();
}
if (m_damagedBlocks.Count == 0)
{
GetDamagedBlocks();
if (m_damagedBlocks.Count == 0)
{
return(null);
}
}
}
GetInventoryItems();
IMySlimBlock repairable = null;
double closest = float.MaxValue;
List <IMySlimBlock> removeList = null;
foreach (IMySlimBlock slim in m_damagedBlocks)
{
if (slim.Closed())
{
Log.DebugLog("slim closed: " + slim.getBestName());
continue;
}
if (slim.Damage() == 0f && ((MyCubeGrid)slim.CubeGrid).Projector == null)
{
Log.DebugLog("already repaired: " + slim.getBestName(), Logger.severity.DEBUG);
if (removeList == null)
{
removeList = new List <IMySlimBlock>();
}
removeList.Add(slim);
continue;
}
Vector3D position;
slim.ComputeWorldCenter(out position);
double dist = Vector3D.DistanceSquared(m_controlBlock.CubeBlock.GetPosition(), position);
if (dist < closest)
{
m_components_missing.Clear();
if (slim.Damage() != 0f)
{
GetMissingComponents(slim);
}
else
{
// slim is projection
GetAllComponents(slim);
}
bool haveItem = false;
foreach (string component in m_components_missing.Keys)
{
if (m_components_inventory.ContainsKey(component))
{
haveItem = true;
break;
}
}
if (haveItem || m_components_missing.Count == 0)
{
repairable = slim;
closest = dist;
}
}
}
if (removeList != null)
{
foreach (IMySlimBlock remove in removeList)
{
m_damagedBlocks.Remove(remove);
}
}
Log.DebugLog(() => "closest repairable block: " + repairable.getBestName(), Logger.severity.DEBUG, condition: repairable != null);
return(repairable);
}
/// <summary>
/// <para>Test line segment between startPosition and targetPosition for obstructing entities.</para>
/// <para>Tests for obstructing voxel map, character, or grid.</para>
///// <param name="shortTest">When checking voxels, shortens the line by 1 m, needed to interact with an entity that may be on the surface of the voxel.</param>
/// </summary>
public static bool Obstructed <Tobstruct, Tignore>(LineD line, IEnumerable <Tobstruct> potentialObstructions, IEnumerable <Tignore> ignoreList, bool checkVoxel = true, bool checkPlanet = DefaultCheckPlanet) //, bool shortTest = true)
where Tobstruct : IMyEntity
where Tignore : IMyEntity
{
Profiler.StartProfileBlock();
// Test each entity
foreach (IMyEntity entity in potentialObstructions)
{
if (entity.Closed)
{
continue;
}
if (ignoreList != null && ignoreList.Contains((Tignore)entity))
{
continue;
}
IMyCharacter asChar = entity as IMyCharacter;
if (asChar != null)
{
double distance;
if (entity.WorldAABB.Intersects(ref line, out distance))
{
Logger.DebugLog("obstructed by character: " + entity.getBestName());
Profiler.EndProfileBlock();
return(true);
}
continue;
}
IMyCubeGrid asGrid = entity as IMyCubeGrid;
if (asGrid != null)
{
if (!asGrid.Save)
{
continue;
}
ICollection <Vector3I> allHitCells;
List <Vector3I> hitCells = new List <Vector3I>();
asGrid.RayCastCells(line.From, line.To, hitCells);
allHitCells = hitCells;
foreach (Vector3I pos in allHitCells)
{
IMySlimBlock slim = asGrid.GetCubeBlock(pos);
if (slim == null)
{
continue;
}
MyCubeBlock fatblock = (MyCubeBlock)slim.FatBlock;
if (fatblock != null)
{
if (ignoreList != null && ignoreList.Contains((Tignore)slim.FatBlock))
{
continue;
}
Dictionary <string, MyEntitySubpart> subparts = fatblock.Subparts;
if (subparts != null && subparts.Count != 0)
{
Vector3 gsPosition = pos * asGrid.GridSize;
BoundingBox gsAABB;
fatblock.CombinedAABB(out gsAABB);
if (gsAABB.Contains(gsPosition) == ContainmentType.Disjoint)
{
continue;
}
}
}
Logger.DebugLog("obstructed by block: " + slim.getBestName() + " on " + slim.CubeGrid.DisplayName + ", id: " + slim.CubeGrid.EntityId);
Profiler.EndProfileBlock();
return(true);
}
}
}
if (checkVoxel)
{
// Voxel Test
MyVoxelBase hitVoxel;
Vector3D hitPosition;
if (RayCastVoxels(line, out hitVoxel, out hitPosition, checkPlanet))
{
Logger.DebugLog("obstructed by voxel: " + hitVoxel + " at " + hitPosition);
Profiler.EndProfileBlock();
return(true);
}
}
// no obstruction found
Profiler.EndProfileBlock();
return(false);
}
public override void Move()
{
if (m_targetSlim.Closed())
{
Log.DebugLog("target block closed: " + m_targetSlim.getBestName(), Logger.severity.INFO);
m_navSet.OnTaskComplete_NavEngage();
EnableWelders(false);
return;
}
m_targetSlim.ComputeWorldCenter(out m_targetWorld);
if (m_stage == Stage.Retreat)
{
Retreat();
return;
}
float offsetSquared = m_offset + OffsetAdd + OffsetAdd; offsetSquared *= offsetSquared;
if (Vector3.DistanceSquared(m_welder.WorldPosition, m_targetWorld) > offsetSquared)
{
EnableWelders(false);
if (m_closestEmptyNeighbour.HasValue && Globals.UpdateCount > m_timeout_start)
{
Log.DebugLog("failed to start, dropping neighbour: " + m_closestEmptyNeighbour, Logger.severity.DEBUG);
if (m_emptyNeighbours.Count > 1)
{
m_emptyNeighbours.Remove(m_closestEmptyNeighbour.Value);
m_closestEmptyNeighbour = null;
}
else
{
Log.DebugLog("tried every empty neighbour, giving up", Logger.severity.INFO);
EnableWelders(false);
m_stage = Stage.Retreat;
return;
}
}
if (!m_closestEmptyNeighbour.HasValue)
{
GetClosestEmptyNeighbour();
if (!m_closestEmptyNeighbour.HasValue)
{
Log.DebugLog("tried every empty neighbour, giving up", Logger.severity.INFO);
EnableWelders(false);
m_stage = Stage.Retreat;
return;
}
m_timeout_start = Globals.UpdateCount + TimeoutStart;
Vector3D from = m_realGrid.GridIntegerToWorld(m_closestEmptyNeighbour.Value);
m_lineUp.From = m_lineUp.To + (from - m_lineUp.To) * 100d;
}
Vector3 closestPoint = m_lineUp.ClosestPoint(m_welder.WorldPosition);
if (Vector3.DistanceSquared(m_welder.WorldPosition, closestPoint) > 1f || m_navSet.Settings_Current.DistanceAngle > 0.1f)
{
m_stage = Stage.Lineup;
Destination dest = Destination.FromWorld(m_realGrid, m_lineUp.ClosestPoint(m_welder.WorldPosition));
m_pathfinder.MoveTo(destinations: dest);
return;
}
else // linedup up
{
m_stage = Stage.Approach;
}
}
else // near target
{
m_stage = Stage.Weld;
EnableWelders(true);
}
MoveToTarget();
}
