private bool MoveAndRotate()
{
INavigatorMover navM = m_navSet.Settings_Current.NavigatorMover;
if (navM != null)
{
Profiler.Profile(navM.Move);
INavigatorRotator navR = m_navSet.Settings_Current.NavigatorRotator; // fetched here because mover might remove it
if (navR != null)
{
Profiler.Profile(navR.Rotate);
}
else
{
navR = m_navSet.Settings_Current.NavigatorMover as INavigatorRotator; // fetch again in case it was removed
if (navR != null)
{
Profiler.Profile(navR.Rotate);
}
}
Profiler.Profile(m_mover.MoveAndRotate);
return(true);
}
return(false);
}
public void TestPath(Vector3D destination, bool landing)
{
if (m_navSet.Settings_Current.DestinationChanged || m_prevMover != m_navSet.Settings_Current.NavigatorMover)
{
m_logger.debugLog("new destination: " + destination, Logger.severity.INFO);
m_navSet.Settings_Task_NavWay.DestinationChanged = false;
m_prevMover = m_navSet.Settings_Current.NavigatorMover;
m_runId++;
m_pathLow.Clear();
ClearAltPath();
m_pathState = PathState.Not_Running;
m_planetCheckDest.Stop();
m_planetCheckSpeed.Stop();
}
//else
// m_logger.debugLog("destination unchanged", "TestPath()");
if (Globals.UpdateCount < m_nextRunPath)
return;
m_nextRunPath = Globals.UpdateCount + 10ul;
if (m_pathLow.Count != 0)
{
m_logger.debugLog("path low is running");
return;
}
m_navBlock = m_navSet.Settings_Current.NavigationBlock;
m_destination = destination;
m_ignoreAsteroid = m_navSet.Settings_Current.IgnoreAsteroid;
m_landing = landing;
m_canChangeCourse = m_navSet.Settings_Current.PathfinderCanChangeCourse;
MyEntity destEntity = m_navSet.Settings_Current.DestinationEntity as MyEntity;
m_logger.debugLog("DestinationEntity: " + m_navSet.Settings_Current.DestinationEntity.getBestName());
byte runId = m_runId;
const float minimumDistance = 100f;
const float minDistSquared = minimumDistance * minimumDistance;
const float seconds = 10f;
const float distOverSeconds = minimumDistance / seconds;
Vector3 displacement = destination - m_navBlock.WorldPosition;
float distanceSquared = displacement.LengthSquared();
float testDistance;
Vector3 move_direction = m_grid.Physics.LinearVelocity;
float speedSquared = move_direction.LengthSquared();
if (distanceSquared > minDistSquared)
{
// only look ahead 10 s / 100 m
testDistance = speedSquared < distOverSeconds ? minimumDistance : (float)Math.Sqrt(speedSquared) * seconds;
if (testDistance * testDistance < distanceSquared)
{
Vector3 direction = displacement / (float)Math.Sqrt(distanceSquared);
destination = m_navBlock.WorldPosition + testDistance * direction;
m_logger.debugLog("moved destination: " + destination + ", distance: " + testDistance + ", direction: " + direction);
}
}
else
m_logger.debugLog("using actual destination: " + destination);
m_pathHigh.Enqueue(() => TestPath(destination, destEntity, runId, isAlternate: false, tryAlternates: true));
if (m_ignoreAsteroid)
m_planetCheckDest.Stop();
else
m_planetCheckDest.Start(destination - m_navBlock.WorldPosition);
// given velocity and distance, calculate destination
if (speedSquared > 1f)
{
Vector3D moveDest = m_navBlock.WorldPosition + move_direction * LookAheadSpeed_Seconds;
m_pathHigh.Enqueue(() => TestPath(moveDest, null, runId, isAlternate: false, tryAlternates: false, slowDown: true));
if (m_ignoreAsteroid)
m_planetCheckSpeed.Stop();
else
m_planetCheckSpeed.Start(moveDest - m_navBlock.WorldPosition);
}
else
{
m_navSet.Settings_Task_NavWay.SpeedMaxRelative = float.MaxValue;
m_navSet.Settings_Task_NavWay.SpeedTarget = float.MaxValue;
}
RunItem();
}
public void TestPath(Vector3D destination, bool landing)
{
if (m_navSet.Settings_Current.DestinationChanged || m_prevMover != m_navSet.Settings_Current.NavigatorMover)
{
m_logger.debugLog("new destination: " + destination, Logger.severity.INFO);
m_navSet.Settings_Task_NavWay.DestinationChanged = false;
m_prevMover = m_navSet.Settings_Current.NavigatorMover;
m_runId++;
m_pathLow.Clear();
ClearAltPath();
m_pathState = PathState.Not_Running;
m_planetCheckDest.Stop();
m_planetCheckSpeed.Stop();
}
//else
// m_logger.debugLog("destination unchanged", "TestPath()");
if (Globals.UpdateCount < m_nextRunPath)
{
return;
}
m_nextRunPath = Globals.UpdateCount + 10ul;
if (m_pathLow.Count != 0)
{
m_logger.debugLog("path low is running");
return;
}
m_navBlock = m_navSet.Settings_Current.NavigationBlock;
m_destination = destination;
m_ignoreAsteroid = m_navSet.Settings_Current.IgnoreAsteroid;
m_landing = landing;
m_canChangeCourse = m_navSet.Settings_Current.PathfinderCanChangeCourse;
MyEntity destEntity = m_navSet.Settings_Current.DestinationEntity as MyEntity;
m_logger.debugLog("DestinationEntity: " + m_navSet.Settings_Current.DestinationEntity.getBestName());
byte runId = m_runId;
const float minimumDistance = 100f;
const float minDistSquared = minimumDistance * minimumDistance;
const float seconds = 10f;
const float distOverSeconds = minimumDistance / seconds;
Vector3 displacement = destination - m_navBlock.WorldPosition;
float distanceSquared = displacement.LengthSquared();
float testDistance;
Vector3 move_direction = m_grid.Physics.LinearVelocity;
float speedSquared = move_direction.LengthSquared();
if (distanceSquared > minDistSquared)
{
// only look ahead 10 s / 100 m
testDistance = speedSquared < distOverSeconds ? minimumDistance : (float)Math.Sqrt(speedSquared) * seconds;
if (testDistance * testDistance < distanceSquared)
{
Vector3 direction = displacement / (float)Math.Sqrt(distanceSquared);
destination = m_navBlock.WorldPosition + testDistance * direction;
m_logger.debugLog("moved destination: " + destination + ", distance: " + testDistance + ", direction: " + direction);
}
}
else
{
m_logger.debugLog("using actual destination: " + destination);
}
m_pathHigh.Enqueue(() => TestPath(destination, destEntity, runId, isAlternate: false, tryAlternates: true));
if (m_ignoreAsteroid)
{
m_planetCheckDest.Stop();
}
else
{
m_planetCheckDest.Start(destination - m_navBlock.WorldPosition);
}
// given velocity and distance, calculate destination
if (speedSquared > 1f)
{
Vector3D moveDest = m_navBlock.WorldPosition + move_direction * LookAheadSpeed_Seconds;
m_pathHigh.Enqueue(() => TestPath(moveDest, null, runId, isAlternate: false, tryAlternates: false, slowDown: true));
if (m_ignoreAsteroid)
{
m_planetCheckSpeed.Stop();
}
else
{
m_planetCheckSpeed.Start(moveDest - m_navBlock.WorldPosition);
}
}
else
{
m_navSet.Settings_Task_NavWay.SpeedMaxRelative = float.MaxValue;
m_navSet.Settings_Task_NavWay.SpeedTarget = float.MaxValue;
}
RunItem();
}
private void UpdateCustomInfo()
{
AutopilotTerminal ApTerm = m_block.AutopilotTerminal;
AllNavigationSettings.SettingsLevel Settings_Current = m_navSet.Settings_Current;
ApTerm.m_autopilotStatus = m_state;
if (m_state == State.Halted)
{
return;
}
AutopilotTerminal.AutopilotFlags flags = AutopilotTerminal.AutopilotFlags.None;
if (m_controlledGrid != null)
{
flags |= AutopilotTerminal.AutopilotFlags.HasControl;
}
if (m_pathfinder.ReportedObstruction != null)
{
ApTerm.m_blockedBy = m_pathfinder.ReportedObstruction.EntityId;
if (m_pathfinder.RotateCheck.ObstructingEntity != null)
{
flags |= AutopilotTerminal.AutopilotFlags.RotationBlocked;
}
}
else if (m_pathfinder.RotateCheck.ObstructingEntity != null)
{
flags |= AutopilotTerminal.AutopilotFlags.RotationBlocked;
ApTerm.m_blockedBy = m_pathfinder.RotateCheck.ObstructingEntity.EntityId;
}
EnemyFinder ef = Settings_Current.EnemyFinder;
if (ef != null && ef.Grid == null)
{
flags |= AutopilotTerminal.AutopilotFlags.EnemyFinderIssue;
ApTerm.m_reasonCannotTarget = ef.m_reason;
if (ef.m_bestGrid != null)
{
ApTerm.m_enemyFinderBestTarget = ef.m_bestGrid.Entity.EntityId;
}
}
INavigatorMover navM = Settings_Current.NavigatorMover;
if (navM != null)
{
flags |= AutopilotTerminal.AutopilotFlags.HasNavigatorMover;
ApTerm.m_prevNavMover = navM.GetType().Name;
AutopilotTerminal.Static.prevNavMoverInfo.Update((IMyTerminalBlock)m_block.CubeBlock, navM.AppendCustomInfo);
}
INavigatorRotator navR = Settings_Current.NavigatorRotator;
if (navR != null && navR != navM)
{
flags |= AutopilotTerminal.AutopilotFlags.HasNavigatorRotator;
ApTerm.m_prevNavRotator = navR.GetType().Name;
AutopilotTerminal.Static.prevNavRotatorInfo.Update((IMyTerminalBlock)m_block.CubeBlock, navR.AppendCustomInfo);
}
ApTerm.m_autopilotFlags = flags;
ApTerm.m_pathfinderState = m_pathfinder.CurrentState;
ApTerm.SetWaitUntil(Settings_Current.WaitUntil);
ApTerm.SetDistance(Settings_Current.Distance, Settings_Current.DistanceAngle);
ApTerm.m_welderUnfinishedBlocks = m_navSet.WelderUnfinishedBlocks;
ApTerm.m_complaint = Settings_Current.Complaint;
ApTerm.m_jumpComplaint = m_pathfinder.JumpComplaint;
}
