void Move(Path path)
{
Vector3D targetVelocity = path.Velocity;
Vector3D myPos = rc.GetPosition();
Vector3D difference = path.Position - myPos;
double diffLen = difference.Length();
thrust.Velocity = difference + targetVelocity;
thrust.Update();
gyros.FaceVectors(path.Forward, path.Up);
path.Update();
}
private void Move()
{
if (!lastEnemy.HasValue)
{
return;
}
rc.SetAutoPilotEnabled(false);
Vector3D up = new Vector3D();
if (useGravity)
{
up = Vector3D.Normalize(-rc.GetNaturalGravity());
}
Vector3D myPos = rc.GetPosition();
if (detected)
{
// Target is in range, no prediction needed
Vector3D enemyVel = lastEnemy.Value.Velocity;
Vector3D enemyPos = lastEnemy.Value.Position;
Echo(enemyPos.ToString());
if (useRockets)
{
enemyPos = GetRocketLead(enemyPos, enemyVel);
}
else
{
enemyPos = GetLeadPosition(enemyPos, enemyVel);
}
Echo(myPos.ToString());
Vector3D meToTarget = Vector3D.Normalize(enemyPos - myPos);
gyros.FaceVectors(meToTarget, up);
Fire(meToTarget);
Vector3D velocity = enemyVel;
if (fire)
{
Vector3D target = enemyPos + Orbit();
Vector3D difference = target - myPos;
double diffLen = difference.Length();
Vector3D stop = thrust.StopDistance(1, enemyVel);
double stopLen = stop.Length();
if (!double.IsInfinity(stopLen))
{
if (stopLen > diffLen)
{
difference = Vector3D.Zero;
}
else
{
difference -= stop;
}
}
velocity += difference;
}
thrust.Velocity = velocity;
}
else
{
// Move towards predicted enemy position
fire = false;
double sec = Clock.GetSeconds(contactTime);
if (sec > timeout)
{
lastEnemy = null;
thrust.Reset();
gyros.Reset();
if (returnToOrigin)
{
ReturnOrigin();
}
return;
}
else
{
Vector3D enemyVel = lastEnemy.Value.Velocity;
Vector3D enemyPos = lastEnemy.Value.Position + enemyVel * sec;
Vector3D meToTarget = Vector3D.Normalize(enemyPos - myPos);
gyros.FaceVectors(meToTarget, Vector3D.Zero);
Vector3D difference = enemyPos - rc.GetPosition();
double diffLen = difference.Length();
if (diffLen < turretRange)
{
return;
}
// Compensate for the velocity of the ship so the ship doesn't run into the target
Vector3D stop = thrust.StopDistance(1, enemyVel);
double stopLen = stop.Length();
if (!double.IsInfinity(stopLen))
{
if (stopLen > diffLen)
{
difference = Vector3D.Zero;
}
else
{
difference -= stop;
}
}
Vector3D velocity = enemyVel + difference;
if (!double.IsInfinity(maxSpeed))
{
double speed2 = velocity.LengthSquared();
if (speed2 > maxSpeed2)
{
velocity = (velocity / Math.Sqrt(speed2)) * maxSpeed;
}
}
thrust.Velocity = velocity;
}
}
thrust.Update();
}