private void MoveToTarget()
{
if (m_navSet.DistanceLessThan(1f))
{
Log.DebugLog("Reached position: " + m_target, Logger.severity.WARNING);
if (m_stage == Stage.Backout)
{
m_target.SetWorld(m_target.WorldPosition() + m_navBlock.WorldMatrix.Backward * 100d);
}
else
{
Vector3D targetWorld = m_target.WorldPosition();
MyVoxelBase voxel = TargetVoxel;
m_target.SetWorld(targetWorld + Vector3D.Normalize(targetWorld - voxel.GetCentre()) * voxel.PositionComp.LocalVolume.Radius);
}
}
else if (IsStuck)
{
if (m_stage == Stage.Backout)
{
Log.DebugLog("Stuck", Logger.severity.DEBUG);
m_stage = Stage.FromCentre;
}
else
{
Log.DebugLog("Stuck", Logger.severity.DEBUG);
m_navSet.OnTaskComplete_NavWay();
}
}
else if (!IsNearVoxel(2d))
{
Log.DebugLog("Outside of voxel", Logger.severity.INFO);
m_mover.MoveAndRotateStop();
m_navSet.OnTaskComplete_NavMove();
}
else
{
m_pathfinder.MoveTo(destinations: m_target);
}
}
public VoxelLander(Pathfinder pathfinder, bool planet, PseudoBlock landBlock = null)
: base(pathfinder)
{
this.m_landBlock = landBlock ?? m_navSet.Settings_Current.LandingBlock;
this.m_targetType = planet ? "Planet" : "Asteroid";
if (this.m_landBlock == null)
{
Log.DebugLog("No landing block", Logger.severity.INFO);
return;
}
IMyLandingGear asGear = m_landBlock.Block as IMyLandingGear;
if (asGear != null)
{
ITerminalProperty <bool> autolock = asGear.GetProperty("Autolock") as ITerminalProperty <bool>;
Log.DebugLog("autolock == null", Logger.severity.FATAL, condition: autolock == null);
if (!autolock.GetValue(asGear))
{
autolock.SetValue(asGear, true);
}
}
Vector3D currentPostion = m_landBlock.WorldPosition;
MyVoxelBase closest = null;
if (planet)
{
closest = MyPlanetExtensions.GetClosestPlanet(m_landBlock.WorldPosition);
if (closest == null)
{
Log.DebugLog("No planets in the world", Logger.severity.WARNING);
return;
}
}
else
{
BoundingSphereD search = new BoundingSphereD(currentPostion, 10000d);
List <MyVoxelBase> nearby = new List <MyVoxelBase>();
MyGamePruningStructure.GetAllVoxelMapsInSphere(ref search, nearby);
double closestDistSquared = double.MaxValue;
foreach (MyVoxelBase voxel in nearby)
{
if (!(voxel is MyVoxelMap))
{
continue;
}
double distSquared = Vector3D.DistanceSquared(currentPostion, voxel.GetCentre());
if (distSquared < closestDistSquared)
{
closestDistSquared = distSquared;
closest = voxel;
}
}
if (closest == null)
{
Log.DebugLog("No asteroids nearby", Logger.severity.WARNING);
return;
}
}
Vector3D end = closest.GetCentre();
MyVoxelBase hitVoxel;
Vector3D hitPosition;
if (!RayCast.RayCastVoxels(ref currentPostion, ref end, out hitVoxel, out hitPosition))
{
throw new Exception("Failed to intersect voxel");
}
m_targetPostion = Destination.FromWorld(hitVoxel, hitPosition);
m_navSet.Settings_Task_NavRot.NavigatorMover = this;
m_navSet.Settings_Task_NavRot.IgnoreAsteroid = true;
Log.DebugLog("Landing on " + m_targetType + " at " + m_targetPostion, Logger.severity.DEBUG);
}