double GetMaxAngleDeviationFromAcceleration(float accel)
{
var DownAccel = MaxDownThrust / shipMass;
var LateralAccel = MaxLateralThrust / shipMass;
var MaxAngle = Math.PI * 0.5;
var LateralFactor = (LateralAccel - accel) / gravStr;
if (LateralFactor < 1)
{
MaxAngle = TrigHelpers.FastAsin(LateralFactor);
}
var DownFactor = (accel - MaxDownThrust) / gravStr;
if (DownFactor < 1)
{
MaxAngle = Math.Min(MaxAngle, Math.Acos(DownFactor));
}
return(MaxAngle);
}
public void Update()
{
LifeTimeTicks++;
// Startup Subroutine
if (LifeTimeTicks == 1)
{
foreach (var engine in Drive.HoverEngines)
{
engine.AltitudeMin = 1;
engine.PushOnly = true;
}
}
if (LifeTimeTicks == 60)
{
foreach (var engine in Drive.HoverEngines)
{
engine.AltitudeMin = 2;
}
}
if (LifeTimeTicks == 120)
{
foreach (var engine in Drive.HoverEngines)
{
engine.AltitudeMin = 7;
}
}
if (LifeTimeTicks % kRunEveryXUpdates == 0)
{
Vector3D PlanetDir = PlanetPos - Controller.WorldMatrix.Translation;
PlanetDir.Normalize();
// Orient Self
Drive.Turn(Gats.Count > 0 ? Gats[0].WorldMatrix : Controller.WorldMatrix, target);
// Aim Turret
if (TurretRotor != null)
{
if (target != Vector3D.Zero && Drive.GravAngle < Math.PI * 0.1)
{
var TurretAngle = TrigHelpers.FastAsin(Gats[0].WorldMatrix.Forward.Dot(PlanetDir));
Vector3D TargetDir = target - Gats[0].WorldMatrix.Translation;
var targetDist = TargetDir.Length();
TargetDir.Normalize();
var TargetAngle = TrigHelpers.FastAsin(TargetDir.Dot(PlanetDir));
var angleDiff = TargetAngle - TurretAngle;
if (VectorHelpers.VectorAngleBetween(Gats[0].WorldMatrix.Forward, TargetDir) < 0.05 && targetDist < 800)
{
Fire();
}
TurretRotor.TargetVelocityRPM = (float)TurretPID.Control(angleDiff);
}
else
{
TurretPID.Reset();
TurretRotor.TargetVelocityRPM = 0;
}
}
// Check your fire
fireTicks--;
if (fireTicks == -1)
{
foreach (var gat in Gats)
{
TerminalPropertiesHelper.SetValue(gat, "Shoot", false);
}
}
// Check Movement
if (Destination != Vector3D.Zero)
{
Drive.Drive(Destination);
if (Drive.Arrived)
{
Destination = Vector3D.Zero;
Drive.Flush();
}
}
}
}