Title

SMALL_LINE Up Down SMALL_LINE Forward Up

SMALL_LINE Forward Backward SMALL_LINE Down Forward

SMALL_LINE Forward Backward SMALL_LINE Up Down SMALL_LINE Forward Backward SMALL_LINE Up Down SMALL_LINE Up Down SMALL_LINE Right Left SMALL_LINE Left Right SMALL_LINE Backward Forward SMALL_LINE Right Left SMALL_LINE Left Right SMALL_LINE Down Up SMALL_LINE Right Left SMALL_LINE Left Right SMALL_LINE Right Left SMALL_LINE Down Up SMALL_LINE Left Right SMALL_LINE Right Left SMALL_LINE Left Right SMALL_LINE Down Up SMALL_LINE Hardpoints 3 2 21 -3 2 13 Salvo Group 1 0 -2 -7 2 0 -2 -2 0 -2 Turrets 0 2 26 0 5 6 MART Group Raycast 0 0 0 Reset 2 -2 -2 -2 -2 -9 3 -2 17 3 -2 25 -2 -2 -3 2 -2 -8 -3 -2 16 -3 -2 24 true C.T.S Reaper Attack Rover true false 0 82291820508174698 CastShadows InScene -0.002601069 0.6838448 -0.5484517 0.481196642 Small SmallRealWheel5x5 137709207130345594 Clean_Armor 144115188075855929 false Small Grid 7458 true false 0 110865540396007663 CastShadows InScene -0.481209368 0.5484537 0.6838342 -0.00261605438 Small SmallRealWheel5x5mirrored 74865245229845809 Clean_Armor 144115188075855929 false Small Grid 393 true false 0 109058923494121272 CastShadows InScene -0.481192082 0.548457 0.683843732 -0.00260836328 Small SmallRealWheel5x5 141484496166855214 Clean_Armor 144115188075855929 false Small Grid 3930 true false 0 102036599988120996 CastShadows InScene -0.002603391 0.6838437 -0.548453152 0.481196553 Small SmallRealWheel5x5mirrored 109156748070875276 Clean_Armor 144115188075855929 false Small Grid 4859 true false 0 87168960213855855 CastShadows InScene -0.48119536 0.548453569 0.683844268 -0.00260420027 Small SmallRealWheel5x5mirrored 135067085834594688 Clean_Armor 144115188075855929 false Small Grid 7822 true false 0 131622074193186998 CastShadows InScene 0.0475646965 0.7280719 0.4817033 -0.485397547 Small SmallPistonTop 113586895931015240 Clean_Armor 144115188075855929 133665026560779807 false SmallStator 135136728436726357 Clean_Armor 144115188075855929 144115188075855929 Faction MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 0 Rotor Azimuth false true true true true 123537804556081365 false 5 -0 0.0006952286 false false 448000 0 MART Group Raycast 0 1 0 Small Grid 9206 true false 0 105520639773205116 CastShadows InScene -0.00260208128 0.6838446 -0.5484527 0.4811958 Small SmallRealWheel5x5 112801453843472757 Clean_Armor 144115188075855929 false Small Grid 9233 true false 0 116900233015742092 CastShadows InScene -0.481205344 0.548457861 0.6838337 -0.00262088259 Small SmallRealWheel5x5mirrored 117569552798943330 Clean_Armor 144115188075855929 false Small Grid 3176 true false 0 129308190623477182 CastShadows InScene -0.00260731857 0.6838437 -0.5484577 0.481191427 Small SmallRealWheel5x5 119937015869620279 Clean_Armor 144115188075855929 false Small Grid 2110 true false 0 95943418491242052 CastShadows InScene -0.343113273 0.8749417 0.09205078 0.3290546 Small SmallRotor 97001023768291414 144115188075855929 141599454696052287 false SmallWarhead 81928648872222001 Clean_Armor 144115188075855929 144115188075855929 Faction 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SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallWarhead 90017643550941073 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 2 false true true true 10000 false false SmallWarhead 94175560786637206 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 3 false true true true 10000 false false SmallWarhead 129359034557779705 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 4 false true true true 10000 false false SmallWarhead 124306516665995786 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 5 false true true true 10000 false false SmallWarhead 121439401016280450 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 6 false true true true 10000 false false SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockSmallBatteryBlock 138120494895717789 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery false true true true true 0.05 true 0 false false 0 SmallBlockSmallBatteryBlock 113782044599883397 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery 2 false true true true true 0.05 true 0 false false 0 SmallBlockSmallBatteryBlock 142133503047873108 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery 3 false true true true true 0.05 true 0 false false 0 SmallBlockRemoteControl 86243786844039224 Clean_Armor 144115188075855929 144115188075855929 Faction MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 Remote Control false true true true false Character Character false 0 0 -1 0 false false 0 false false SmallProgrammableBlock 130903583035681310 Clean_Armor 144115188075855929 144115188075855929 Faction Missile Computer false true true true true #region Script //------------------------------------------------------------ // ADN - Easy Lidar Homing Script v25.0 //------------------------------------------------------------ //----- Refer To Steam Workshop Discussion Section For Variables Definition ----- //Sets the default missile homing mode. See http://steamcommunity.com/workshop/filedetails/discussion/807454034/1457328392110577137/ for more information. int missileLaunchType = 0; //Type of block to disconnect missile from launching ship: 0 = Merge Block, 1 = Rotor, 2 = Connector, 3 = Merge Block And Any Locked Connectors, 4 = Rotor And Any Locked Connectors, 99 = No detach required int missileDetachPortType = 1; //Spin Missile By This RPM After Launch Clearance float spinAmount = 0; //Whether to perform a vertical takeoff for the launching procedure bool verticalTakeoff = true; //Whether to exclude locking-on to friendly targets. Recommended to set to true after testing bool excludeFriendly = false; //Whether to adjust thrust based on intended and actual aim vector bool adjustThrustBasedOnAim = false; //Whether to fly straight first until LOCK command is given via R_TARGET Text Panel to start homing. Activating this will ignore launchSeconds variable bool waitForHomingTrigger = false; //Whether to allow missile to read Custom Data of the R_TARGET to get command during missile homing bool enableMissileCommand = true; //The amount of spread for 5 point raycast for easier initial lock-on. Zero to use normal single beam lock-on float fivePointInitialLockDist = 0f; //Raycast ahead of of your initial aiming, to mitigate high ping and gyro sync lag. Zero to use normal single beam lock-on int raycastAheadCount = 0; float raycastAheadSeconds = 0f; //Whether to Offset Targeting based on first Lidar Hit Position bool useOffsetTargeting = false; //Whether to Offset Raycasting based on first Lidar Hit Position bool useOffsetRaycasting = false; //For AI Turret lock-on modes. Whether to switch to raycast after AI turret lock-on bool switchTurretToRaycast = true; //------------------------------ Inter Grid Communications Configuration ------------------------------ string missileId = null; string missileGroup = null; string allowedSenderId = null; //------------------------------ Reference Block Name Configuration ------------------------------ string strShipRefBlockGroup = "GRP_ELH_SHIP"; string strDetachBlockGroup = "GRP_ELH_DETACH"; string strShipRefLidar = "R_LIDAR"; string strShipRefFwd = "R_FORWARD"; string strShipRefPanel = "R_TARGET"; string strShipRefTurrets = "R_DESIGNATOR"; string strShipRefNotMissileTag = "NOT_MISSILE"; string missileActivationCommands = ""; string missileTriggerCommands = ""; string proximityTriggerCommands = "SETWB:Warhead:Safety:True,ACTW:Warhead:Detonate"; string failunsafeTriggerCommands = "SETWB:Warhead:Safety:True"; string strGyroscopesTag = ""; string strThrustersTag = ""; string strDetachPortTag = ""; string strDirectionRefBlockTag = ""; string strProximitySensorTag = "PROXIMITY"; string strLockTriggerBlockTag = "R_ALERT"; string strLockTriggerAction = "PlaySound"; string strStatusDisplayPrefix = "<D>"; //------------------------------ Lidar Lock On Configuration ------------------------------ float LIDAR_MIN_LOCK_DISTANCE = 50; float LIDAR_MAX_LOCK_DISTANCE = 3000; int LIDAR_REFRESH_INTERVAL = 0; float LIDAR_REFRESH_CALC_FACTOR = 0.85f; //------------------------------ Missile Handling Configuration ------------------------------ double launchSeconds = 1; bool boolNaturalDampener = true; bool boolCompensateDampener = true; //------------------------------ Proportional Navigation And PID Tuning ------------------------------ double THRUST_ESTIMATE_FACTOR = 0.75; double AIM_P = 0; double AIM_I = 0; double AIM_D = 0; double AIM_LIMIT = 6.3; double INTEGRAL_WINDUP_UPPER_LIMIT = 0; double INTEGRAL_WINDUP_LOWER_LIMIT = 0; //------------------------------ Script Parameters Configuration ------------------------------ int MERGE_SEPARATE_WAIT_THRESHOLD = 60; bool outputMissileStatus = true; //------------------------------ Important Constants ------------------------------ const double DEF_SMALL_GRID_P = 31.42; const double DEF_SMALL_GRID_I = 0; const double DEF_SMALL_GRID_D = 10.48; const double DEF_BIG_GRID_P = 15.71; const double DEF_BIG_GRID_I = 0; const double DEF_BIG_GRID_D = 7.05; const double RPM_FACTOR = 1800 / Math.PI; const float MIN_THRUST_ACCELERATION = 10f; const int MIN_ACCEL_RECOUNT_TICKS = 120; const int MIN_LIDAR_RECOUNT_TICKS = 15; const float SECOND = 60f; //------------------------------ Below Is Main Script Body ------------------------------ List<IMyCameraBlock> shipRefLidars; IMyTerminalBlock shipRefFwd; IMyTextPanel shipRefPanel; List<IMyLargeTurretBase> shipRefTurrets; List<IMyCameraBlock> missileLidars; IMyShipController remoteControl; IMyTerminalBlock refFwdBlock; IMyTerminalBlock refDwdBlock; bool isFixedDirection; IMyLargeTurretBase homingTurret; bool hasProximitySensors; List<ProximitySensor> proximitySensors; int failunsafeGrpCnt; bool isLidarMode; IMyRadioAntenna commsAntenna; IMyTerminalBlock alertBlock; IMyFunctionalBlock statusDisplay; IMyTerminalBlock notMissile; double notMissileRadius; bool homingReleaseLock; bool commsPositionSet; Vector3D commsPosition; bool commsFwdSet; RayD commsFwd; bool commsLidarTargetSet; MyDetectedEntityInfo commsLidarTarget; GyroControl gyroControl; PIDController yawController; PIDController pitchController; PIDController rollController; List<IMyThrust> fwdThrusters; List<IMyThrust> launchThrusters; IMyTerminalBlock detachBlock; int detachBlockType = -1; int adjustThrustState; MatrixD refWorldMatrix; MatrixD refViewMatrixUnclean4thCol; //Used by TransformNormal only, therefore its Transposed from WorldMatrix without cleanup of 4th Column bool refFwdReverse; bool fwdIsTurret; Vector3D refFwdPosition; Vector3D refFwdVector; bool refFwdSet; Vector3D naturalGravity; double naturalGravityLength; Vector3D midPoint; Vector3D shipVelocity; double speed; double rpm; Vector3D lastMidPoint; Vector3D lastNormal; MyDetectedEntityInfo lidarTargetInfo; Vector3D lidarLastForward; Vector3D lidarAimChangeVector; int lidarLastForwardClock; Vector3D offsetTargetPosition; Vector3D offsetRaycastPosition; Vector3D targetPosition; Vector3D lastTargetPosition; bool targetPositionSet; int lastTargetPositionClock; Vector3D targetVector; double distToTarget; Vector3D targetAcceleration; Vector3D targetDirection; double targetSpeed; double targetRadius; double ticksRatio = 0; double ticksFactor = 0; int lidarStaggerIndex = 0; int nextLidarTriggerTicks = 0; int nextLidarRecountTicks = 0; int nextAccelRecountTicks = 0; List<KeyValuePair<double, string[]>> rpmTriggerList; List<KeyValuePair<double, string[]>> distTriggerList; List<KeyValuePair<int, string[]>> timeTriggerList; bool haveTriggerCommands; Random rnd = new Random(); List<IMyThrust>[] thrustGroup; float[] thrustTotal; double thrustAcceleration; int subCounter = 0; int subMode = 0; int mode = -2; int clock = 0; bool init = false; Program() { Runtime.UpdateFrequency = UpdateFrequency.Once; } void Main(string arguments, UpdateType updateSource) { //---------- Initialization And General Controls ---------- if (!init) { if (subMode == 0) //Check for configuration command { if ((updateSource & UpdateType.Once) > 0 || updateSource == UpdateType.IGC) { return; } subCounter = 0; subMode = 1; missileId = Me.GetId().ToString(); missileGroup = null; if (Me.CustomData.Length > 0) { ProcessCustomConfiguration(); } if (spinAmount > 0) spinAmount *= MathHelper.RPMToRadiansPerSecond; if (raycastAheadCount > 0 && raycastAheadSeconds == 0f) { raycastAheadSeconds = 0.5f; } if (arguments.Length > 0) { ProcessConfigurationCommand(arguments); } if (subMode == 1) //Not Diagnostic Commands { Runtime.UpdateFrequency = UpdateFrequency.Update1; } return; } else if (subMode == 1) //Missile still on launching ship's grid { if (subCounter == 0) { InitLaunchingShipRefBlocks(); if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } subCounter = 1; return; } else if (subCounter == 1) { detachBlock = GetDetachGridBlock(); subCounter = 2; return; } else { if (!DetachFromGrid()) { throw new Exception("--- Initialization Failed ---"); } subCounter = 0; subMode = (missileDetachPortType == 99 ? 3 : 2); return; } } else if (subMode == 2) //Missile waiting for successful detachment from launching ship { bool isDetached = false; if (notMissile != null) { isDetached = (notMissile.CubeGrid != Me.CubeGrid); } else if (detachBlockType == 0) { isDetached = !((detachBlock as IMyShipMergeBlock).IsConnected); } else if (detachBlockType == 1) { isDetached = !((detachBlock as IMyMotorBase).IsAttached); } else if (detachBlockType == 2) { isDetached = ((detachBlock as IMyShipConnector).Status != MyShipConnectorStatus.Connected); } if (isDetached) { subCounter = 0; subMode = 3; return; } else { subCounter++; if (subCounter >= MERGE_SEPARATE_WAIT_THRESHOLD) { Echo("Error: Missile detach failed."); throw new Exception("--- Initialization Failed ---"); } return; } } else if (subMode == 3) //Missile successfully detached and currently initializing { if (subCounter == 0) { subCounter = 1; if (missileDetachPortType == 3 || missileDetachPortType == 4) { DetachLockedConnectors(); return; } } if (subCounter == 1) { if (notMissile != null) { notMissileRadius = ComputeBlockGridDiagonalVector(notMissile).Length() / 2.0; } InitMissileBlocks(); subCounter = 2; return; } else if (subCounter == 2) { InitMissileLidars(); subCounter = 3; return; } else if (subCounter == 3) { InitGyroControl(); subCounter = 4; return; } else if (subCounter == 4) { InitThrusters(); if (IsNotEmpty(missileActivationCommands)) { subCounter = 5; return; } } } if (fwdThrusters != null) { foreach (IMyThrust thrust in fwdThrusters) { thrust.Enabled = true; } } if (launchThrusters != null) { foreach (IMyThrust thrust in launchThrusters) { thrust.Enabled = true; } } gyroControl.Enabled(true); if (statusDisplay != null) { statusDisplay.Enabled = true; IMyRadioAntenna radioAntenna = statusDisplay as IMyRadioAntenna; if (radioAntenna != null && !radioAntenna.IsBroadcasting) { radioAntenna.EnableBroadcasting = true; } } if (missileLaunchType == 99) { Runtime.UpdateFrequency = UpdateFrequency.None; mode = 99; } else { nextLidarTriggerTicks = LIDAR_REFRESH_INTERVAL; if (waitForHomingTrigger) { subCounter = int.MaxValue; } else { if (missileLaunchType == 6) { refFwdSet = true; } subCounter = (int)(launchSeconds * SECOND); } FireThrusters(verticalTakeoff ? launchThrusters : fwdThrusters, true); mode = -1; } if (IsNotEmpty(missileActivationCommands)) { ExecuteTriggerCommand(missileActivationCommands); } isLidarMode = "0,1,2,5,7,8,9,10".Contains(missileLaunchType.ToString()); subMode = 0; clock = 0; init = true; return; } //---------- Modes And Controls ---------- if (arguments.Length > 0) { ProcessCommunicationMessage(arguments); } if (enableMissileCommand) { ProcessMissileCommand(shipRefPanel.CustomData); } if ((updateSource & UpdateType.Update1) == 0 || Runtime.TimeSinceLastRun.Ticks == 0) { return; } clock++; CalculateParameters(); if (mode == -1) //Launching { if (waitForHomingTrigger) { if (homingReleaseLock) { subCounter = 0; } } if (subCounter > 0) { subCounter -= 1; } else { if (verticalTakeoff) { FireThrusters(launchThrusters, false); FireThrusters(fwdThrusters, true); } gyroControl.SetGyroOverride(true); if (spinAmount > 0) { gyroControl.SetGyroRoll(spinAmount); } distToTarget = 1000000; if (missileLaunchType == 3 || missileLaunchType == 4 || missileLaunchType == 6) { if (IsNotEmpty(missileTriggerCommands)) { ExecuteTriggerCommand(missileTriggerCommands); } } lastTargetPosition = targetPosition = ((refWorldMatrix.Forward * 1000000) + midPoint); subCounter = 0; subMode = 0; mode = missileLaunchType; } } else if (mode == 0) //Lidar Homing With Initial Shipborne Lidar Lock-On { if (subMode == 0) //Initial Lock-On { if (nextLidarTriggerTicks <= clock || commsLidarTargetSet) { bool targetFound = false; if (commsLidarTargetSet) { commsLidarTargetSet = false; targetFound = CheckAndSetValidLidarTarget(ref commsLidarTarget, ref refWorldMatrix); } else if (shipRefFwd != null) { targetFound = PerformPreLock(shipRefLidars, shipRefFwd, fwdIsTurret); } if (targetFound) { targetFound = false; double overshootDistance = targetRadius / 2; Vector3D lidarPosition = (useOffsetRaycasting ? lidarTargetInfo.HitPosition.Value : lidarTargetInfo.Position); IMyCameraBlock syncLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (syncLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - syncLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = syncLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { if (entityInfo.EntityId == lidarTargetInfo.EntityId) { targetFound = true; } } if (!targetFound && !useOffsetRaycasting) { lidarPosition = lidarTargetInfo.HitPosition.Value; syncLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (syncLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - syncLidar.GetPosition()) * overshootDistance); entityInfo = syncLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { if (entityInfo.EntityId == lidarTargetInfo.EntityId) { useOffsetRaycasting = true; targetFound = true; } } } } } if (targetFound) { TransitToFullLock(); } } } if (targetPositionSet) { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } } else if (subMode == 1) //Lidar Homing { PerformLidarLogic(); } PerformCommonOperations(); } else if (mode == 1) //Lidar Homing With Initial Shipborne GPS Coordinates Lock-On { if (subMode == 0) //Initial Lock-On { if (commsPositionSet) { commsPositionSet = false; targetPosition = commsPosition; targetPositionSet = true; } else { Vector3D parsedVector; if (shipRefPanel != null && ParseCoordinates(shipRefPanel.GetPublicTitle(), out parsedVector)) { targetPosition = parsedVector; targetPositionSet = true; } else { lastTargetPosition = targetPosition = GetFlyStraightVector(); targetPositionSet = false; } } if (targetPositionSet && (GetMissileMidPoint() - targetPosition).Length() < 1) { lastTargetPosition = targetPosition = GetFlyStraightVector(); targetPositionSet = false; } if (targetPositionSet) { if (nextLidarTriggerTicks <= clock) { double overshootDistance = targetRadius / 2; IMyCameraBlock syncLidar = GetLidarAndRecountTicks(missileLidars, ref targetPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (syncLidar != null) { Vector3D testTargetPosition = targetPosition + (Vector3D.Normalize(targetPosition - syncLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = syncLidar.Raycast(testTargetPosition); if (!entityInfo.IsEmpty()) { if (CheckAndSetValidLidarTarget(ref entityInfo, ref refWorldMatrix)) { TransitToFullLock(); } } } } } CalculateTargetInfo(); } else if (subMode == 1) //Lidar Homing { PerformLidarLogic(); } PerformCommonOperations(); } else if (mode == 2) //Lidar Homing With Initial Shipborne Camera Guidance { if (subMode == 0) //Initial Camera Guidance { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } SetCameraGuidanceParameters(); if (nextLidarTriggerTicks <= clock) { Vector3D shipRefTargetPosition = refFwdPosition + (refFwdVector * LIDAR_MAX_LOCK_DISTANCE); if (PerformPreLock(missileLidars, ref refWorldMatrix, ref refFwdVector, ref shipRefTargetPosition)) { TransitToFullLock(); } } } else if (subMode == 1) //Lidar Homing { PerformLidarLogic(); } PerformCommonOperations(); } else if (mode == 3) //Camera Guided Mode { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } SetCameraGuidanceParameters(); PerformCommonOperations(); } else if (mode == 4) //Cruise Mode { if (commsPositionSet) { commsPositionSet = false; targetPosition = commsPosition; targetPositionSet = true; } else if (shipRefPanel != null) { Vector3D parsedVector; if (ParseCoordinates(shipRefPanel.GetPublicTitle(), out parsedVector)) { targetPosition = parsedVector; targetPositionSet = true; } } CalculateTargetInfo(); PerformCommonOperations(); } else if (mode == 6) //Fixed Glide Mode { if (!refFwdSet) { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; refFwdSet = true; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); refFwdSet = true; } } SetCameraGuidanceParameters(); PerformCommonOperations(); } else if (mode == 7) //Lidar Homing With Shipborne Lidar Lock-On (Semi-Active Style Guidance) { if (subMode == 0) //Initial Lock-On { if (nextLidarTriggerTicks <= clock || commsLidarTargetSet) { if (commsLidarTargetSet) { commsLidarTargetSet = false; if (CheckAndSetValidLidarTarget(ref commsLidarTarget, ref refWorldMatrix)) { TransitToFullLock(); } } else if (shipRefFwd != null) { if (PerformPreLock(shipRefLidars, shipRefFwd, fwdIsTurret)) { TransitToFullLock(); } } } if (targetPositionSet) { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } } else if (subMode == 1) //Lidar Homing { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (nextLidarTriggerTicks <= clock || commsLidarTargetSet) { bool targetFound = false; double overshootDistance = targetRadius / 2; if (commsLidarTargetSet) { commsLidarTargetSet = false; CheckAndUpdateLidarTarget(ref commsLidarTarget, ref targetFound); } else if (shipRefFwd != null) { MatrixD shipRefWorldMatrix = shipRefFwd.WorldMatrix; Vector3D lidarPosition = (useOffsetRaycasting ? targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation) : targetPosition); IMyCameraBlock aimLidar = GetLidarAndRecountTicks(shipRefLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref shipRefWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); } if (!targetFound && !useOffsetRaycasting) { lidarPosition = targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation); aimLidar = GetLidarAndRecountTicks(shipRefLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref shipRefWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); if (targetFound) { useOffsetRaycasting = true; } } } } } } targetPositionSet = targetFound; } if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } PerformCommonOperations(); } else if (mode == 8 || mode == 9 || mode == 5) //Turret AI Homing { if (subMode == 0) //Initialization { if (mode == 5) { if (shipRefTurrets.Count > 0) { homingTurret = shipRefTurrets[0]; subCounter = 0; subMode = 1; } } else if (homingTurret != null) { homingTurret.EnableIdleRotation = false; homingTurret.SetValueFloat("Range", homingTurret.GetMaximum<float>("Range")); homingTurret.Enabled = true; if (refFwdVector.Sum == 0) { targetPosition = refWorldMatrix.Translation + (refWorldMatrix.Forward * 1000000); } else { targetPosition = refFwdPosition + (refFwdVector * 1000000); } subCounter = 0; subMode = 1; } } else if (subMode == 1) //Seeking For Target { if (mode == 5) { for (int i = 0; i < shipRefTurrets.Count; i++) { if (shipRefTurrets[i].HasTarget) { homingTurret = shipRefTurrets[i]; break; } } } if (homingTurret.HasTarget) { SetHomingTurretLidarTarget(); offsetTargetPosition = offsetRaycastPosition = Vector3D.Zero; if (IsNotEmpty(missileTriggerCommands)) { ExecuteTriggerCommand(missileTriggerCommands); } subCounter = 0; subMode = 2; } else if (mode == 9) { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } SetCameraGuidanceParameters(); } } else if (subMode == 2) //Turret Target Locked { if (switchTurretToRaycast) { PerformLidarLogic(); if (!targetPositionSet && homingTurret.HasTarget) { SetHomingTurretLidarTarget(); } } else { if (homingTurret.HasTarget) { SetHomingTurretLidarTarget(); } else { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); } } } PerformCommonOperations(); } if (statusDisplay != null) { if (mode == -2) { DisplayStatus("Idle"); } else if (mode == -1) { DisplayStatus("Launching"); } else if (mode == 0 || mode == 1 || mode == 7) { if (subMode == 0) { DisplayStatus("Initial Lock"); } else if (subMode == 1) { DisplayStatus((targetPositionSet ? "Lock" : "Trace") + ": [" + Math.Round(targetPosition.GetDim(0), 2) + "," + Math.Round(targetPosition.GetDim(1), 2) + "," + Math.Round(targetPosition.GetDim(2), 2) + "]"); } else { DisplayStatus("-"); } } else if (mode == 2) { if (subMode == 0) { DisplayStatus("Initial Camera Lock"); } else if (subMode == 1) { DisplayStatus((targetPositionSet ? "Lock" : "Trace") + ": [" + Math.Round(targetPosition.GetDim(0), 2) + "," + Math.Round(targetPosition.GetDim(1), 2) + "," + Math.Round(targetPosition.GetDim(2), 2) + "]"); } else { DisplayStatus("-"); } } else if (mode == 3) { DisplayStatus("Camera"); } else if (mode == 4) { DisplayStatus("Cruise: [" + Math.Round(targetPosition.GetDim(0), 2) + "," + Math.Round(targetPosition.GetDim(1), 2) + "," + Math.Round(targetPosition.GetDim(2), 2) + "]"); } else if (mode == 6) { DisplayStatus("Fixed Glide"); } else if (mode == 5 || mode == 8 || mode == 9) { if (subMode == 2) { DisplayStatus("Turret Locked"); } else if (subMode == 0 || subMode == 1) { DisplayStatus("Initial Lock"); } else { DisplayStatus("-"); } } else { DisplayStatus("-"); } } if (outputMissileStatus) { string statusCode; switch (mode) { case -2: statusCode = "-"; break; case -1: statusCode = (waitForHomingTrigger ? "W" : (subCounter > 0 ? "F" : "K")); break; case 0: case 1: case 5: case 7: statusCode = (subMode == 0 ? "K" : (targetPositionSet ? "L" : "T")); break; case 2: statusCode = (subMode == 0 ? "C" : (targetPositionSet ? "L" : "T")); break; case 3: statusCode = "C"; break; case 4: statusCode = "D"; break; case 6: statusCode = "G"; break; case 8: statusCode = (subMode == 2 ? "U" : "K"); break; default: statusCode = "-"; break; } Echo("ST:" + mode + ":" + subMode + ":" + (waitForHomingTrigger ? 0 : subCounter) + ":" + clock + ":" + statusCode + ":" + Math.Round(targetPosition.GetDim(0), 5) + ":" + Math.Round(targetPosition.GetDim(1), 5) + ":" + Math.Round(targetPosition.GetDim(2), 5) + ":" + Math.Round(targetRadius, 5) + ":"); } } //------------------------------ Miscellaneous Methods ------------------------------ void DisplayStatus(string statusMsg) { if (statusDisplay != null) { statusDisplay.CustomName = strStatusDisplayPrefix + " Mode: " + mode + ", " + statusMsg; } } void TriggerLockAlert() { if (alertBlock != null) { if (alertBlock.HasAction(strLockTriggerAction)) { alertBlock.ApplyAction(strLockTriggerAction); } } } Vector3D GetMissileMidPoint() { return (Me.CubeGrid.GridIntegerToWorld(Me.CubeGrid.Min) + Me.CubeGrid.GridIntegerToWorld(Me.CubeGrid.Max)) / 2; } Vector3D GetFlyStraightVector() { return (shipVelocity * 1000000) + midPoint; } bool IsNotEmpty(string line) { return (line != null && line.Length > 0); } bool NameContains(IMyTerminalBlock block, string nameTag) { return (block.CustomName.IndexOf(nameTag, StringComparison.OrdinalIgnoreCase) > -1); } //------------------------------ Missile And Target Information Methods ------------------------------ void CalculateParameters() { //---------- Calculate Missile Related Variables ---------- refWorldMatrix = refFwdBlock.WorldMatrix; if (refFwdReverse) { refWorldMatrix.Forward = refWorldMatrix.Backward; refWorldMatrix.Left = refWorldMatrix.Right; } refViewMatrixUnclean4thCol = MatrixD.Transpose(refWorldMatrix); if (remoteControl != null) { MyShipVelocities velocity = remoteControl.GetShipVelocities(); midPoint = remoteControl.CenterOfMass; shipVelocity = velocity.LinearVelocity; speed = shipVelocity.Length(); naturalGravity = remoteControl.GetNaturalGravity(); naturalGravityLength = naturalGravity.Length(); naturalGravity = (naturalGravityLength > 0 ? naturalGravity / naturalGravityLength : Vector3D.Zero); rpm = Math.Abs(velocity.AngularVelocity.Dot(refWorldMatrix.Forward)) * MathHelper.RadiansPerSecondToRPM; } else { midPoint = GetMissileMidPoint(); shipVelocity = (midPoint - lastMidPoint) * SECOND; speed = shipVelocity.Length(); lastMidPoint = midPoint; naturalGravity = shipVelocity; naturalGravityLength = naturalGravity.Length(); naturalGravity = (naturalGravityLength > 0 ? naturalGravity / naturalGravityLength : Vector3D.Zero); rpm = Math.Acos(lastNormal.Dot(refWorldMatrix.Up)) * RPM_FACTOR; lastNormal = refWorldMatrix.Up; } } void CalculateTargetInfo() { if (targetPositionSet) { double deltaTimeRS = SECOND / (clock - lastTargetPositionClock); Vector3D prevVelocity = targetDirection * targetSpeed; targetDirection = targetPosition - lastTargetPosition; targetSpeed = targetDirection.Length(); if (targetSpeed > 0) { targetDirection = targetDirection / targetSpeed; targetSpeed = targetSpeed * deltaTimeRS; } targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * deltaTimeRS; lastTargetPosition = targetPosition; lastTargetPositionClock = clock; targetPositionSet = false; } else { targetPosition = lastTargetPosition + ((targetDirection * targetSpeed) / SECOND * (clock - lastTargetPositionClock)); } } void SetCameraGuidanceParameters() { Vector3D shipToMissileVector = midPoint - refFwdPosition; Vector3D viewLineToMissileVector = Vector3D.Reject(shipToMissileVector, refFwdVector); double extraDistanceExtend = (speed * 2) + (shipToMissileVector - viewLineToMissileVector).Length(); targetPosition = refFwdPosition + (refFwdVector * extraDistanceExtend); } void CalculateNavigationParameters() { Vector3D rangeVector = targetPosition - midPoint; Vector3D velocityVector = (targetDirection * targetSpeed) - shipVelocity; Vector3D accelerationVector = targetAcceleration; if (refDwdBlock == null && naturalGravityLength > 0.1 && boolCompensateDampener) { accelerationVector -= naturalGravity * naturalGravityLength; } double missileAcceleration = CalculateThrustAcceleration(); double a = 0.25 * (accelerationVector.LengthSquared() - (missileAcceleration * missileAcceleration)); double b = accelerationVector.Dot(velocityVector); double c = accelerationVector.Dot(rangeVector) + velocityVector.Dot(velocityVector); double d = 2 * rangeVector.Dot(velocityVector); double e = rangeVector.Dot(rangeVector); double t = FastSolver.Solve(a, b, c, d, e); if (t == double.MaxValue) t = 1000; distToTarget = rangeVector.Length(); Vector3D interceptPoint = targetPosition + (velocityVector * t) + (0.5 * accelerationVector * t * t); targetVector = Vector3D.Normalize(interceptPoint - midPoint); targetVector = Vector3D.TransformNormal(targetVector, refViewMatrixUnclean4thCol); targetVector.Normalize(); } double CalculateThrustAcceleration() { if (nextAccelRecountTicks <= clock) { nextAccelRecountTicks = clock + MIN_ACCEL_RECOUNT_TICKS; if (remoteControl == null) { thrustAcceleration = MIN_THRUST_ACCELERATION; } else { float totalThrust = 0; foreach (IMyThrust thruster in fwdThrusters) { totalThrust += thruster.MaxEffectiveThrust; } thrustAcceleration = totalThrust / remoteControl.CalculateShipMass().TotalMass; if (double.IsNaN(thrustAcceleration) || double.IsInfinity(thrustAcceleration) || thrustAcceleration < MIN_THRUST_ACCELERATION) { thrustAcceleration = MIN_THRUST_ACCELERATION; } } } return thrustAcceleration * THRUST_ESTIMATE_FACTOR; } Vector3D CalculateTurretViewVector(IMyLargeTurretBase turret) { Vector3D direction; Vector3D.CreateFromAzimuthAndElevation(turret.Azimuth, turret.Elevation, out direction); return Vector3D.TransformNormal(direction, turret.WorldMatrix); } Vector3D[] SpreadRaycastPoint(ref Vector3D targetPoint, ref Vector3D forwardVector, float distance, int lidarCount) { Vector3D[] refPoints; if (lidarCount > 1) { if (raycastAheadCount > 0) { lidarAimChangeVector = (forwardVector * distance) - lidarLastForward; lidarAimChangeVector = lidarAimChangeVector / (clock - lidarLastForwardClock) * SECOND * raycastAheadSeconds / raycastAheadCount; lidarLastForward = (forwardVector * distance); lidarLastForwardClock = clock; refPoints = new Vector3D[lidarCount]; for (int i = 0; i < lidarCount; i++) { refPoints[i] = targetPoint + (lidarAimChangeVector * i); } } else { MatrixD matrix = MatrixD.CreateFromDir(forwardVector); refPoints = new Vector3D[5] { targetPoint, targetPoint + (matrix.Up * fivePointInitialLockDist), targetPoint + (matrix.Up * -fivePointInitialLockDist), targetPoint + (matrix.Left * fivePointInitialLockDist), targetPoint + (matrix.Left * -fivePointInitialLockDist) }; } } else { refPoints = new Vector3D[1] { targetPoint }; } return refPoints; } //------------------------------ Missile Lock-On And Leading Methods ------------------------------ bool PerformPreLock(List<IMyCameraBlock> lidars, IMyTerminalBlock refFwd, bool isTurret) { MatrixD worldMatrix = refFwd.WorldMatrix; Vector3D fwdVector = (isTurret ? CalculateTurretViewVector(refFwd as IMyLargeTurretBase) : worldMatrix.Forward); Vector3D targetPoint = worldMatrix.Translation + (fwdVector * LIDAR_MAX_LOCK_DISTANCE); return PerformPreLock(lidars, ref worldMatrix, ref fwdVector, ref targetPoint); } bool PerformPreLock(List<IMyCameraBlock> lidars, ref MatrixD worldMatrix, ref Vector3D fwdVector, ref Vector3D targetPoint) { if (lidarTargetInfo.IsEmpty()) { int lidarCount = raycastAheadCount > 0 ? raycastAheadCount + 1 : (fivePointInitialLockDist > 0 ? 5 : 1); List<IMyCameraBlock> aimLidars = GetLidarsAndRecountTicks(lidars, ref targetPoint, 0, lidarStaggerIndex++, lidarCount, ref worldMatrix); if (aimLidars.Count > 0) { if (aimLidars.Count < lidarCount) { lidarCount = 1; } Vector3D[] refPoints = SpreadRaycastPoint(ref targetPoint, ref fwdVector, LIDAR_MAX_LOCK_DISTANCE, lidarCount); for (int i = 0; i < lidarCount; i++) { MyDetectedEntityInfo entityInfo = aimLidars[i].Raycast(refPoints[i]); if (!entityInfo.IsEmpty()) { if (CheckAndSetValidLidarTarget(ref entityInfo, ref worldMatrix)) { return true; } } } } } else { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); double overshootDistance = targetRadius / 2; IMyCameraBlock aimLidar = GetLidarAndRecountTicks(lidars, ref targetPosition, overshootDistance, lidarStaggerIndex++, ref worldMatrix); if (aimLidar != null) { MyDetectedEntityInfo entityInfo = aimLidar.Raycast(targetPoint); if (!entityInfo.IsEmpty()) { if (CheckAndSetValidLidarTarget(ref entityInfo, ref worldMatrix)) { return true; } else { lidarTargetInfo = new MyDetectedEntityInfo(); targetPositionSet = false; } } } } return false; } void PerformLidarLogic() { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (nextLidarTriggerTicks <= clock) { bool targetFound = false; double overshootDistance = targetRadius / 2; Vector3D lidarPosition = (useOffsetRaycasting ? targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation) : targetPosition); IMyCameraBlock aimLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); } if (!targetFound && !useOffsetRaycasting) { lidarPosition = targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation); aimLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); if (targetFound) { useOffsetRaycasting = true; } } } } } targetPositionSet = targetFound; } if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } bool CheckAndSetValidLidarTarget(ref MyDetectedEntityInfo entityInfo, ref MatrixD shipRefWorldMatrix) { if (IsValidLidarTarget(ref entityInfo, ref shipRefWorldMatrix)) { double deltaTimeRS = SECOND / (clock - lastTargetPositionClock); Vector3D prevVelocity = targetDirection * targetSpeed; distToTarget = Vector3D.Distance(entityInfo.Position, refWorldMatrix.Translation); targetSpeed = entityInfo.Velocity.Length(); targetDirection = (targetSpeed > 0 ? new Vector3D(entityInfo.Velocity) / targetSpeed : new Vector3D()); targetRadius = Vector3D.Distance(entityInfo.BoundingBox.Min, entityInfo.BoundingBox.Max); targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * deltaTimeRS; if (entityInfo.HitPosition.HasValue) { offsetTargetPosition = offsetRaycastPosition = Vector3D.TransformNormal(entityInfo.HitPosition.Value - entityInfo.Position, MatrixD.Transpose(entityInfo.Orientation)); } else { offsetTargetPosition = offsetRaycastPosition = Vector3D.Zero; } lidarTargetInfo = entityInfo; lastTargetPositionClock = clock; targetPosition = entityInfo.Position; targetPositionSet = true; return true; } else { return false; } } void CheckAndUpdateLidarTarget(ref MyDetectedEntityInfo entityInfo, ref bool targetFound) { if (entityInfo.EntityId == lidarTargetInfo.EntityId) { double deltaTimeRS = SECOND / (clock - lastTargetPositionClock); Vector3D prevVelocity = targetDirection * targetSpeed; distToTarget = Vector3D.Distance(entityInfo.Position, refWorldMatrix.Translation); targetSpeed = entityInfo.Velocity.Length(); targetDirection = (targetSpeed > 0 ? new Vector3D(entityInfo.Velocity) / targetSpeed : new Vector3D()); targetRadius = Vector3D.Distance(entityInfo.BoundingBox.Min, entityInfo.BoundingBox.Max); targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * deltaTimeRS; if (useOffsetRaycasting && entityInfo.HitPosition.HasValue) { offsetRaycastPosition = Vector3D.TransformNormal(entityInfo.HitPosition.Value - entityInfo.Position, MatrixD.Transpose(entityInfo.Orientation)); } lidarTargetInfo = entityInfo; lastTargetPositionClock = clock; targetPosition = entityInfo.Position; targetFound = true; } } void SetHomingTurretLidarTarget() { MyDetectedEntityInfo entityInfo = homingTurret.GetTargetedEntity(); Vector3D prevVelocity = targetDirection * targetSpeed; distToTarget = Vector3D.Distance(entityInfo.Position, refWorldMatrix.Translation); targetSpeed = entityInfo.Velocity.Length(); targetDirection = (targetSpeed > 0 ? new Vector3D(entityInfo.Velocity) / targetSpeed : new Vector3D()); targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * SECOND; lidarTargetInfo = entityInfo; lastTargetPositionClock = clock; targetPosition = entityInfo.Position; targetPositionSet = true; } void TransitToFullLock() { TriggerLockAlert(); if (IsNotEmpty(missileTriggerCommands)) { ExecuteTriggerCommand(missileTriggerCommands); } nextLidarRecountTicks = clock; subCounter = 0; subMode = 1; } void PerformCommonOperations() { CalculateNavigationParameters(); AimAtTarget(); if (adjustThrustBasedOnAim) { AdjustThrustBasedOnAim(); } if (boolNaturalDampener) { AimAtNaturalGravity(); } if (haveTriggerCommands) { ProcessTriggerCommands(); } if (hasProximitySensors) { CheckProximitySensors(); } } List<IMyCameraBlock> GetAvailableLidars(List<IMyCameraBlock> lidars, ref Vector3D aimPoint, double overshootDistance, int indexOffset, int lidarCount) { List<IMyCameraBlock> result = new List<IMyCameraBlock>(lidarCount); for (int i = 0; i < lidars.Count; i++) { IMyCameraBlock lidar = lidars[(i + indexOffset) % lidars.Count]; Vector3D adjustedAimPoint; if (overshootDistance == 0) { adjustedAimPoint = aimPoint; } else { Vector3D aimVector = aimPoint - lidar.WorldMatrix.Translation; double distance = aimVector.Length(); adjustedAimPoint = aimPoint + (aimVector / distance * overshootDistance); } if (lidar.IsWorking && lidar.CanScan(adjustedAimPoint)) { result.Add(lidar); if (result.Count >= lidarCount) break; } } return result; } IMyCameraBlock GetLidarAndRecountTicks(List<IMyCameraBlock> lidars, ref Vector3D aimPoint, double overshootDistance, int indexOffset, ref MatrixD recountRefMatrix) { List<IMyCameraBlock> result = GetLidarsAndRecountTicks(lidars, ref aimPoint, overshootDistance, indexOffset, 1, ref recountRefMatrix); return (result.Count > 0 ? result[0] : null); } List<IMyCameraBlock> GetLidarsAndRecountTicks(List<IMyCameraBlock> lidars, ref Vector3D aimPoint, double overshootDistance, int indexOffset, int count, ref MatrixD recountRefMatrix) { List<IMyCameraBlock> result; if (nextLidarRecountTicks <= clock) { result = GetAvailableLidars(lidars, ref aimPoint, overshootDistance, indexOffset, lidars.Count); ticksFactor = ticksRatio / (Math.Max((float)result.Count / (count > 1 ? 2 : 1), 1) * LIDAR_REFRESH_CALC_FACTOR); nextLidarRecountTicks = clock + MIN_LIDAR_RECOUNT_TICKS; if (result.Count > count) { result = result.GetRange(0, count); } } else { result = GetAvailableLidars(lidars, ref aimPoint, overshootDistance, indexOffset, count); } if (result.Count >= (count > 1 ? 2 : 1)) { RecountLidarTicks(Vector3D.Distance(aimPoint, recountRefMatrix.Translation) + overshootDistance, ticksFactor); } return result; } void RecountLidarTicks(double distance, double factor) { if (LIDAR_REFRESH_INTERVAL == 0) { nextLidarTriggerTicks = clock + (int)Math.Ceiling(distance * factor); } else { nextLidarTriggerTicks = clock + LIDAR_REFRESH_INTERVAL; } } bool IsValidLidarTarget(ref MyDetectedEntityInfo entityInfo, ref MatrixD referenceWorldMatrix) { if (entityInfo.Type == MyDetectedEntityType.LargeGrid || entityInfo.Type == MyDetectedEntityType.SmallGrid) { if (Vector3D.Distance(entityInfo.Position, referenceWorldMatrix.Translation) > LIDAR_MIN_LOCK_DISTANCE) { if (!excludeFriendly || IsNotFriendly(entityInfo.Relationship)) { if (notMissile == null || (entityInfo.Position - ComputeBlockGridMidPoint(notMissile)).Length() > notMissileRadius) { if ((entityInfo.Position - referenceWorldMatrix.Translation).Length() >= LIDAR_MIN_LOCK_DISTANCE && (GetMissileMidPoint() - entityInfo.Position).Length() >= 1) { return true; } } } } } return false; } bool IsValidProximityTarget(ref MyDetectedEntityInfo detected) { bool matchAll = (!isLidarMode && lidarTargetInfo.EntityId <= 0); if (detected.EntityId > 0 && (matchAll || lidarTargetInfo.EntityId == detected.EntityId)) { if (!excludeFriendly || IsNotFriendly(detected.Relationship)) { return true; } } return false; } bool IsNotFriendly(MyRelationsBetweenPlayerAndBlock relationship) { return (relationship != MyRelationsBetweenPlayerAndBlock.FactionShare && relationship != MyRelationsBetweenPlayerAndBlock.Owner); } //------------------------------ Missile Aiming Methods ------------------------------ int GetMultiplierSign(double value) { return (value < 0 ? -1 : 1); } void AimAtTarget() { //---------- Activate Gyroscopes To Turn Towards Target ---------- Vector3D yawVector = new Vector3D(targetVector.GetDim(0), 0, targetVector.GetDim(2)); Vector3D pitchVector = new Vector3D(0, targetVector.GetDim(1), targetVector.GetDim(2)); yawVector.Normalize(); pitchVector.Normalize(); //This is NOT True Azimuth and Elevation. Pitch can be more than 90 degrees for improved oversteer. double yawInput = Math.Acos(yawVector.Dot(Vector3D.Forward)) * GetMultiplierSign(targetVector.GetDim(0)); double pitchInput = Math.Acos(pitchVector.Dot(Vector3D.Forward)) * GetMultiplierSign(targetVector.GetDim(1)); //---------- PID Controller Adjustment ---------- if (double.IsNaN(yawInput)) yawInput = 0; if (double.IsNaN(pitchInput)) pitchInput = 0; yawInput = yawController.Filter(yawInput, 2); pitchInput = pitchController.Filter(pitchInput, 2); if (Math.Abs(yawInput) + Math.Abs(pitchInput) > AIM_LIMIT) { double adjust = AIM_LIMIT / (Math.Abs(yawInput) + Math.Abs(pitchInput)); yawInput *= adjust; pitchInput *= adjust; } //---------- Set Gyroscope Parameters ---------- gyroControl.SetGyroYaw((float)yawInput); gyroControl.SetGyroPitch((float)pitchInput); } void AimAtNaturalGravity() { //---------- Activate Gyroscopes To Aim Dampener At Natural Gravity ---------- if (refDwdBlock == null || naturalGravityLength < 0.01) { return; } MatrixD dampenerLookAtMatrix = MatrixD.CreateLookAt(Vector3D.Zero, refDwdBlock.WorldMatrix.Forward, refWorldMatrix.Forward); Vector3D gravityVector = Vector3D.TransformNormal(naturalGravity, dampenerLookAtMatrix); gravityVector.SetDim(1, 0); gravityVector.Normalize(); double rollInput = Math.Acos(gravityVector.Dot(Vector3D.Forward)) * GetMultiplierSign(gravityVector.GetDim(0)); //---------- PID Controller Adjustment ---------- if (double.IsNaN(rollInput)) rollInput = 0; rollInput = rollController.Filter(rollInput, 2); //---------- Set Gyroscope Parameters ---------- gyroControl.SetGyroRoll((float)rollInput); } void AdjustThrustBasedOnAim() { double dot = Vector3D.Forward.Dot(targetVector); if (dot > 0.707) { if (adjustThrustState != 0) { FireThrusters(fwdThrusters, true); adjustThrustState = 0; } } else if (dot <= 0) { if (adjustThrustState != 2) { FireThrusters(fwdThrusters, false); adjustThrustState = 2; } } else { AdjustThrusters(fwdThrusters, (float)(dot * 1.414)); adjustThrustState = 1; } } //------------------------------ Missile Separation Methods ------------------------------ IMyTerminalBlock GetDetachGridBlock() { switch (missileDetachPortType) { case 0: case 3: return GetClosestBlockFromReference(GetDetachBlocks<IMyShipMergeBlock>(), Me, true); case 1: case 4: List<IMyTerminalBlock> blocks = GetDetachBlocks<IMyMotorBase>(); for (int i = 0; i < blocks.Count; i++) { IMyCubeGrid grid = ((IMyMotorBase)blocks[i]).TopGrid; if (grid != null && grid == Me.CubeGrid) return blocks[i]; } return null; case 2: return GetClosestBlockFromReference(GetDetachBlocks<IMyShipConnector>(), Me, true); default: return null; } } bool DetachFromGrid() { switch (missileDetachPortType) { case 0: case 3: if (detachBlock == null) { Echo("Error: Missing Merge Block" + (IsNotEmpty(strDetachPortTag) ? " with tag " + strDetachPortTag : "") + " to detach."); return false; } detachBlockType = 0; ((IMyShipMergeBlock)detachBlock).Enabled = false; return true; case 1: case 4: if (detachBlock == null) { Echo("Error: Missing Rotor" + (IsNotEmpty(strDetachPortTag) ? " with tag " + strDetachPortTag : "") + " to detach."); return false; } detachBlockType = 1; ((IMyMotorBase)detachBlock).Detach(); return true; case 2: if (detachBlock == null) { Echo("Error: Missing Connector" + (IsNotEmpty(strDetachPortTag) ? " with tag " + strDetachPortTag : "") + " to detach."); return false; } detachBlockType = 2; ((IMyShipConnector)detachBlock).Disconnect(); return true; case 99: return true; default: Echo("Error: Unknown missileDetachPortType - " + missileDetachPortType + "."); return false; } } List<IMyTerminalBlock> GetDetachBlocks<T>() where T: class, IMyTerminalBlock { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); IMyBlockGroup group = (IsNotEmpty(strDetachBlockGroup) ? GridTerminalSystem.GetBlockGroupWithName(strDetachBlockGroup) : null); if (group == null) { if (IsNotEmpty(strDetachPortTag)) { GridTerminalSystem.GetBlocksOfType<T>(blocks, MatchDetachPortTag); } else { GridTerminalSystem.GetBlocksOfType<T>(blocks); } } else { if (IsNotEmpty(strDetachPortTag)) { group.GetBlocksOfType<T>(blocks, MatchDetachPortTag); } else { group.GetBlocksOfType<T>(blocks); } } return blocks; } bool MatchDetachPortTag(IMyTerminalBlock block) { return (block.CustomName.IndexOf(strDetachPortTag, StringComparison.OrdinalIgnoreCase) > -1); } IMyTerminalBlock GetClosestBlockFromReference(List<IMyTerminalBlock> checkBlocks, IMyTerminalBlock referenceBlock, bool sameGridCheck = false) { IMyTerminalBlock checkBlock = null; double prevCheckDistance = double.MaxValue; for (int i = 0; i < checkBlocks.Count; i++) { if (!sameGridCheck || checkBlocks[i].CubeGrid == referenceBlock.CubeGrid) { double currCheckDistance = (checkBlocks[i].GetPosition() - referenceBlock.GetPosition()).Length(); if (currCheckDistance < prevCheckDistance) { prevCheckDistance = currCheckDistance; checkBlock = checkBlocks[i]; } } } return checkBlock; } void DetachLockedConnectors() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.GetBlocksOfType<IMyShipConnector>(blocks); for (int i = 0; i < blocks.Count; i++) { if (blocks[i].CubeGrid == Me.CubeGrid) { IMyShipConnector otherConnector = ((IMyShipConnector)blocks[i]).OtherConnector; if (otherConnector == null || blocks[i].CubeGrid != otherConnector.CubeGrid) { blocks[i].ApplyAction("Unlock"); } } } } //------------------------------ String Parsing Methods ------------------------------ bool ParseMatrix(string[] tokens, out MatrixD parsedMatrix, int start = 0, bool isOrientation = false) { if (tokens.Length < start + (isOrientation ? 9 : 16)) { parsedMatrix = new MatrixD(); return false; } double v; double[] r = new double[isOrientation ? 9 : 16]; for (int i = start; i < start + r.Length; i++) { if (double.TryParse(tokens[i], out v)) { r[i] = v; } } if (isOrientation) { parsedMatrix = new MatrixD(r[0], r[1], r[2], r[3], r[4], r[5], r[6], r[7], r[8]); } else { parsedMatrix = new MatrixD(r[0], r[1], r[2], r[3], r[4], r[5], r[6], r[7], r[8], r[9], r[10], r[11], r[12], r[13], r[14], r[15]); } return true; } bool ParseVector(string[] tokens, out Vector3D parsedVector, int start = 0) { parsedVector = new Vector3D(); if (tokens.Length < start + 3) { return false; } double result; if (double.TryParse(tokens[start], out result)) { parsedVector.SetDim(0, result); } else { return false; } if (double.TryParse(tokens[start + 1], out result)) { parsedVector.SetDim(1, result); } else { return false; } if (double.TryParse(tokens[start + 2], out result)) { parsedVector.SetDim(2, result); } else { return false; } return true; } bool ParseCoordinates(string coordinates, out Vector3D parsedVector) { parsedVector = new Vector3D(); coordinates = coordinates.Trim(); double result; string[] tokens = coordinates.Split(':'); if (coordinates.StartsWith("GPS") && tokens.Length >= 5) { if (double.TryParse(tokens[2], out result)) { parsedVector.SetDim(0, result); } else { return false; } if (double.TryParse(tokens[3], out result)) { parsedVector.SetDim(1, result); } else { return false; } if (double.TryParse(tokens[4], out result)) { parsedVector.SetDim(2, result); } else { return false; } return true; } else if (coordinates.StartsWith("[T:") && tokens.Length >= 4) { if (double.TryParse(tokens[1], out result)) { parsedVector.SetDim(0, result); } else { return false; } if (double.TryParse(tokens[2], out result)) { parsedVector.SetDim(1, result); } else { return false; } if (double.TryParse(tokens[3].Substring(0, tokens[3].Length - 1), out result)) { parsedVector.SetDim(2, result); } else { return false; } return true; } else { return false; } } //------------------------------ Command Processing Methods ------------------------------ void ProcessCustomConfiguration() { CustomConfiguration cfg = new CustomConfiguration(Me); cfg.Load(); cfg.Get("missileLaunchType", ref missileLaunchType); cfg.Get("missileDetachPortType", ref missileDetachPortType); cfg.Get("spinAmount", ref spinAmount); cfg.Get("verticalTakeoff", ref verticalTakeoff); cfg.Get("excludeFriendly", ref excludeFriendly); cfg.Get("adjustThrustBasedOnAim", ref adjustThrustBasedOnAim); cfg.Get("waitForHomingTrigger", ref waitForHomingTrigger); cfg.Get("enableMissileCommand", ref enableMissileCommand); cfg.Get("fivePointInitialLockDist", ref fivePointInitialLockDist); cfg.Get("raycastAheadCount", ref raycastAheadCount); cfg.Get("raycastAheadSeconds", ref raycastAheadSeconds); cfg.Get("useOffsetTargeting", ref useOffsetTargeting); //cfg.Get("useOffsetRaycasting", ref useOffsetRaycasting); cfg.Get("switchTurretToRaycast", ref switchTurretToRaycast); cfg.Get("missileId", ref missileId); cfg.Get("missileGroup", ref missileGroup); cfg.Get("allowedSenderId", ref allowedSenderId); cfg.Get("strShipRefLidar", ref strShipRefLidar); cfg.Get("strShipRefBlockGroup", ref strShipRefBlockGroup); cfg.Get("strDetachBlockGroup", ref strDetachBlockGroup); cfg.Get("strShipRefForward", ref strShipRefFwd); cfg.Get("strShipRefTargetPanel", ref strShipRefPanel); cfg.Get("strShipRefTurrets", ref strShipRefTurrets); cfg.Get("strShipRefNotMissileTag", ref strShipRefNotMissileTag); cfg.Get("missileActivationCommands", ref missileActivationCommands); cfg.Get("missileTriggerCommands", ref missileTriggerCommands); cfg.Get("proximityTriggerCommands", ref proximityTriggerCommands); cfg.Get("failunsafeTriggerCommands", ref failunsafeTriggerCommands); cfg.Get("strGyroscopesTag", ref strGyroscopesTag); cfg.Get("strThrustersTag", ref strThrustersTag); cfg.Get("strDetachPortTag", ref strDetachPortTag); cfg.Get("strDirectionRefBlockTag", ref strDirectionRefBlockTag); cfg.Get("strProximitySensorTag", ref strProximitySensorTag); cfg.Get("strLockTriggerBlockTag", ref strLockTriggerBlockTag); cfg.Get("strLockTriggerAction", ref strLockTriggerAction); cfg.Get("strStatusDisplayPrefix", ref strStatusDisplayPrefix); cfg.Get("launchSeconds", ref launchSeconds); cfg.Get("boolNaturalDampener", ref boolNaturalDampener); cfg.Get("LIDAR_MIN_LOCK_DISTANCE", ref LIDAR_MIN_LOCK_DISTANCE); cfg.Get("LIDAR_MAX_LOCK_DISTANCE", ref LIDAR_MAX_LOCK_DISTANCE); cfg.Get("LIDAR_REFRESH_INTERVAL", ref LIDAR_REFRESH_INTERVAL); cfg.Get("LIDAR_REFRESH_CALC_FACTOR", ref LIDAR_REFRESH_CALC_FACTOR); cfg.Get("THRUST_ESTIMATE_FACTOR", ref THRUST_ESTIMATE_FACTOR); cfg.Get("AIM_P", ref AIM_P); cfg.Get("AIM_I", ref AIM_I); cfg.Get("AIM_D", ref AIM_D); cfg.Get("AIM_LIMIT", ref AIM_LIMIT); cfg.Get("INTEGRAL_WINDUP_UPPER_LIMIT", ref INTEGRAL_WINDUP_UPPER_LIMIT); cfg.Get("INTEGRAL_WINDUP_LOWER_LIMIT", ref INTEGRAL_WINDUP_LOWER_LIMIT); cfg.Get("MERGE_SEPARATE_WAIT_THRESHOLD", ref MERGE_SEPARATE_WAIT_THRESHOLD); cfg.Get("outputMissileStatus", ref outputMissileStatus); } void ProcessConfigurationCommand(string commandLine) { string[] keyValues = commandLine.Split(','); for (int i = 0; i < keyValues.Length; i++) { string[] tokens = keyValues[i].Trim().Split(':'); if (tokens.Length > 0) { ProcessSingleConfigCommand(tokens); } } } void ProcessSingleConfigCommand(string[] tokens) { string cmdToken = tokens[0].Trim().ToUpper(); if (cmdToken.Equals("MODE") && tokens.Length >= 2) { int modeValue; if (int.TryParse(tokens[1], out modeValue)) { missileLaunchType = modeValue; } } else if (cmdToken.Equals("R_LDR") && tokens.Length >= 2) { strShipRefLidar = tokens[1]; } else if (cmdToken.Equals("R_TAR") && tokens.Length >= 2) { strShipRefPanel = tokens[1]; } else if (cmdToken.Equals("R_FWD") && tokens.Length >= 2) { strShipRefFwd = tokens[1]; } else if (cmdToken.Equals("R_DES") && tokens.Length >= 2) { strShipRefTurrets = tokens[1]; } else if (cmdToken.Equals("V_LS") && tokens.Length >= 2) { double lsValue; if (double.TryParse(tokens[1], out lsValue)) { launchSeconds = lsValue; } } else if (cmdToken.Equals("V_DAMP") && tokens.Length >= 2) { bool dampenerValue; if (bool.TryParse(tokens[1], out dampenerValue)) { boolNaturalDampener = dampenerValue; } } else if (cmdToken.Equals("P_VT") && tokens.Length >= 2) { bool vtValue; if (bool.TryParse(tokens[1], out vtValue)) { verticalTakeoff = vtValue; } } else if (cmdToken.Equals("P_WFT") && tokens.Length >= 2) { bool wftValue; if (bool.TryParse(tokens[1], out wftValue)) { waitForHomingTrigger = wftValue; } } else if (cmdToken.Equals("P_EMC") && tokens.Length >= 2) { bool emcValue; if (bool.TryParse(tokens[1], out emcValue)) { enableMissileCommand = emcValue; } } else if (cmdToken.Equals("SPIN") && tokens.Length >= 2) { float spinValue; if (float.TryParse(tokens[1], out spinValue)) { spinAmount = spinValue * MathHelper.RPMToRadiansPerSecond; } } else if (cmdToken.Equals("CHECK") || cmdToken.Equals("CHECKMISSILE")) { subMode = 0; CheckMissile(); } else if (cmdToken.Equals("CHECKSHIP")) { subMode = 0; CheckLaunchingShip(); } } void ProcessTriggerCommands() { if (rpmTriggerList != null && rpmTriggerList.Count > 0) { int i = 0; while (i < rpmTriggerList.Count) { if (rpmTriggerList[i].Key <= rpm) { ProcessSingleMissileCommand(rpmTriggerList[i].Value); rpmTriggerList.RemoveAt(i); } else { i++; } } } if (distTriggerList != null && distTriggerList.Count > 0) { int i = 0; while (i < distTriggerList.Count) { if (distTriggerList[i].Key >= distToTarget) { ProcessSingleMissileCommand(distTriggerList[i].Value); distTriggerList.RemoveAt(i); } else { i++; } } } if (timeTriggerList != null && timeTriggerList.Count > 0) { int i = 0; while (i < timeTriggerList.Count) { if (timeTriggerList[i].Key <= clock) { ProcessSingleMissileCommand(timeTriggerList[i].Value); timeTriggerList.RemoveAt(i); } else { i++; } } } } void CheckProximitySensors() { int curfailunsafe = 0; for (int i = 0; i < proximitySensors.Count; i++) { ProximitySensor sensor = proximitySensors[i]; if (sensor.lidar == null) continue; double dist = sensor.distance; if (dist <= 0) { dist = speed / SECOND; } if (sensor.lidar.IsWorking && sensor.lidar.CanScan(dist)) { if (sensor.dmsrange > dist && sensor.lidar.CanScan(sensor.dmsrange)) { MyDetectedEntityInfo detected = sensor.lidar.Raycast(sensor.dmsrange, sensor.pitch, sensor.yaw); if (IsValidProximityTarget(ref detected)) { double raycastDist = Vector3D.Distance((detected.HitPosition.HasValue ? detected.HitPosition.Value : detected.Position), sensor.lidar.GetPosition()); if (raycastDist <= dist) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } if (detected.HitPosition.HasValue) { raycastDist = Vector3D.Distance(detected.Position, sensor.lidar.GetPosition()); } if (sensor.dmsActive) { if (raycastDist > sensor.dmsPrevDist) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } sensor.dmsPrevDist = raycastDist; } else { sensor.dmsPrevDist = raycastDist; sensor.dmsActive = true; } } else if (sensor.dmsActive) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } } else { MyDetectedEntityInfo detected = sensor.lidar.Raycast(dist, sensor.pitch, sensor.yaw); if (IsValidProximityTarget(ref detected)) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } } } else if (sensor.dmsActive) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } else if (sensor.failunsafe) { if (failunsafeGrpCnt > 0) { curfailunsafe++; } else { ProcessMissileCommand(sensor.failunsafeTriggerCommands); sensor.lidar = null; return; } } } if (failunsafeGrpCnt > 0 && curfailunsafe >= failunsafeGrpCnt) { string failunsafeCmd = null; for (int i = 0; i < proximitySensors.Count; i++) { ProximitySensor sensor = proximitySensors[i]; if (sensor.lidar != null && sensor.failasgroup && sensor.failunsafe) { failunsafeCmd = sensor.failunsafeTriggerCommands; sensor.lidar = null; } } if (failunsafeCmd != null) { ProcessMissileCommand(failunsafeCmd); return; } } } void ProcessCommunicationMessage(string message) { string[] msgTokens = message.Split(new char[] {'\r','\n'}, StringSplitOptions.RemoveEmptyEntries); for (int i = 0; i < msgTokens.Length; i++) { string msg = msgTokens[i]; string recipient; string sender; string options; //Not Supported Yet, For Future Use int start = msg.IndexOf("MSG;", 0, StringComparison.OrdinalIgnoreCase); if (start > -1) { start += 4; recipient = NextToken(msg, ref start, ';'); sender = NextToken(msg, ref start, ';'); options = NextToken(msg, ref start, ';'); if (IsValidRecipient(recipient) && IsValidSender(sender)) { if (msg.Length > start) { ProcessMissileCommand(msg.Substring(start)); } } } } } bool IsValidRecipient(string recipient) { if (recipient.Length == 0) { return true; } int code = (recipient[0] == '*' ? 1 : 0) + (recipient[recipient.Length - 1] == '*' ? 2 : 0); switch (code) { case 0: return missileId.Equals(recipient, StringComparison.OrdinalIgnoreCase) || (missileGroup != null && missileGroup.Equals(recipient, StringComparison.OrdinalIgnoreCase)); case 1: return missileId.EndsWith(recipient.Substring(1), StringComparison.OrdinalIgnoreCase) || (missileGroup != null && missileGroup.EndsWith(recipient.Substring(1), StringComparison.OrdinalIgnoreCase)); case 2: return missileId.StartsWith(recipient.Substring(0, recipient.Length - 1), StringComparison.OrdinalIgnoreCase) || (missileGroup != null && missileGroup.StartsWith(recipient.Substring(0, recipient.Length - 1), StringComparison.OrdinalIgnoreCase)); default: return (recipient.Length == 1) || (missileId.IndexOf(recipient.Substring(1, recipient.Length - 2), StringComparison.OrdinalIgnoreCase) > -1) || (missileGroup != null && (missileGroup.IndexOf(recipient.Substring(1, recipient.Length - 2), StringComparison.OrdinalIgnoreCase) > -1)); } } bool IsValidSender(string sender) { if (allowedSenderId == null || allowedSenderId.Length == 0) { return true; } int code = (allowedSenderId[0] == '*' ? 1 : 0) + (allowedSenderId[allowedSenderId.Length - 1] == '*' ? 2 : 0); switch (code) { case 0: return sender.Equals(allowedSenderId, StringComparison.OrdinalIgnoreCase); case 1: return sender.EndsWith(allowedSenderId.Substring(1), StringComparison.OrdinalIgnoreCase); case 2: return sender.StartsWith(allowedSenderId.Substring(0, allowedSenderId.Length - 1), StringComparison.OrdinalIgnoreCase); default: return (allowedSenderId.Length == 1) || (sender.IndexOf(allowedSenderId.Substring(1, allowedSenderId.Length - 2), StringComparison.OrdinalIgnoreCase) > -1); } } string NextToken(string line, ref int start, char delim) { if (line.Length > start) { int end = line.IndexOf(delim, start); if (end > -1) { string result = line.Substring(start, end - start); start = end + 1; return result; } } start = line.Length; return ""; } void ProcessMissileCommand(string commandLine) { string[] keyValues = commandLine.Split(','); for (int i = 0; i < keyValues.Length; i++) { string[] tokens = keyValues[i].Trim().Split(':'); if (tokens.Length > 0) { ProcessSingleMissileCommand(tokens); } } } void ProcessSingleMissileCommand(string[] tokens) { string cmdToken = tokens[0].Trim().ToUpper(); if (cmdToken.Equals("GPS")) { if (tokens.Length >= 4) { Vector3D parsedVector; if (ParseVector(tokens, out parsedVector, (tokens.Length == 4 ? 1 : 2))) { commsPosition = parsedVector; commsPositionSet = true; } } } else if (cmdToken.Equals("FWD")) { if (tokens.Length >= 4) { Vector3D parsedVector1; if (ParseVector(tokens, out parsedVector1, 1)) { Vector3D parsedVector2; if (tokens.Length >= 7) { if (!ParseVector(tokens, out parsedVector2, 4)) { parsedVector2 = new Vector3D(); } } else { parsedVector2 = new Vector3D(); } commsFwd = new RayD(parsedVector2, parsedVector1); commsFwdSet = true; } } } else if (cmdToken.Equals("LDR")) { if (tokens.Length >= 2) { long entityId; if (!long.TryParse(tokens[1], out entityId)) { entityId = -1; } Vector3D position; if (!(tokens.Length >= 5 && ParseVector(tokens, out position, 2))) { position = new Vector3D(); } Vector3D velocity; if (!(tokens.Length >= 8 && ParseVector(tokens, out velocity, 5))) { velocity = new Vector3D(); } Vector3D hitPosition; if (!(tokens.Length >= 11 && ParseVector(tokens, out hitPosition, 8))) { hitPosition = position; } Vector3D boxMin; if (!(tokens.Length >= 14 && ParseVector(tokens, out boxMin, 11))) { boxMin = position + new Vector3D(-1.25, -1.25, -1.25); } MatrixD orientation; if (!(tokens.Length >= 23 && ParseMatrix(tokens, out orientation, 14, true))) { orientation = new MatrixD(); } int value; MyDetectedEntityType targetType; if (!(tokens.Length >= 24 && !int.TryParse(tokens[23], out value))) { value = 3; } try { targetType = (MyDetectedEntityType)value; } catch { targetType = MyDetectedEntityType.LargeGrid; } MyRelationsBetweenPlayerAndBlock targetRelationship; if (!(tokens.Length >= 25 && !int.TryParse(tokens[24], out value))) { value = 3; } try { targetRelationship = (MyRelationsBetweenPlayerAndBlock)value; } catch { targetRelationship = MyRelationsBetweenPlayerAndBlock.Neutral; } long timestamp; if (!(tokens.Length >= 26 && !long.TryParse(tokens[25], out timestamp))) { timestamp = DateTime.Now.Ticks; } BoundingBoxD boundingBox = new BoundingBoxD(boxMin, position + position - boxMin); commsLidarTarget = new MyDetectedEntityInfo(entityId, (tokens.Length >= 27 ? tokens[26] : ""), targetType, hitPosition, orientation, velocity, targetRelationship, boundingBox, timestamp); commsLidarTargetSet = true; } } else if (cmdToken.Equals("LOCK")) { homingReleaseLock = true; } else if (cmdToken.Equals("ABORT")) { gyroControl.ZeroTurnGyro(); Runtime.UpdateFrequency = UpdateFrequency.None; mode = 99; } else if (cmdToken.Equals("SEVER")) { if (shipRefLidars != null) { shipRefLidars.Clear(); } shipRefFwd = null; shipRefPanel = null; enableMissileCommand = false; } else if (cmdToken.Equals("CRUISE")) { if (verticalTakeoff) { FireThrusters(launchThrusters, false); FireThrusters(fwdThrusters, true); } gyroControl.ResetGyro(); gyroControl.SetGyroOverride(true); if (spinAmount > 0) { gyroControl.SetGyroRoll(spinAmount); } lastTargetPosition = targetPosition = GetFlyStraightVector(); targetDirection = targetAcceleration = Vector3D.Zero; targetSpeed = 0; subCounter = 0; subMode = 0; mode = 4; } else if (cmdToken.Equals("GLIDE")) { if (verticalTakeoff) { FireThrusters(launchThrusters, false); FireThrusters(fwdThrusters, true); } gyroControl.ResetGyro(); gyroControl.SetGyroOverride(true); if (spinAmount > 0) { gyroControl.SetGyroRoll(spinAmount); } if (mode == -1) { refFwdPosition = midPoint; refFwdVector = Vector3D.Normalize(shipVelocity); refFwdSet = true; } else if (mode == 8 && homingTurret != null) { refFwdPosition = midPoint; refFwdVector = CalculateTurretViewVector(homingTurret); refFwdSet = true; } else if ((mode == 2 && subMode == 0) || (mode == 3)) { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; refFwdSet = true; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); refFwdSet = true; } } else { refFwdPosition = midPoint; refFwdVector = Vector3D.Normalize(targetPosition - midPoint); refFwdSet = true; } targetDirection = targetAcceleration = Vector3D.Zero; targetSpeed = 0; subCounter = 0; subMode = 0; mode = 6; } else if (cmdToken.StartsWith("ACT") && tokens.Length >= 3) { char opCode = (cmdToken.Length >= 4 ? cmdToken[3] : 'B'); List<IMyTerminalBlock> triggerBlocks = null; switch (opCode) { case 'B': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 3); break; case 'P': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 1); break; case 'S': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 2); break; case 'W': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 0); break; } if (triggerBlocks != null) { for (int i = 0; i < triggerBlocks.Count; i++) { ITerminalAction action = triggerBlocks[i].GetActionWithName(tokens[2]); if (action != null) { action.Apply(triggerBlocks[i]); } } } } else if (cmdToken.StartsWith("SET") && tokens.Length >= 3) { char opCode = (cmdToken.Length >= 4 ? cmdToken[3] : 'B'); List<IMyTerminalBlock> triggerBlocks = null; switch (opCode) { case 'B': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 3); break; case 'P': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 1); break; case 'S': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 2); break; case 'W': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 0); break; } char propCode = (cmdToken.Length >= 5 ? cmdToken[4] : 'P'); if (triggerBlocks != null) { for (int i = 0; i < triggerBlocks.Count; i++) { switch (propCode) { case 'P': triggerBlocks[i].SetValueFloat(tokens[2], float.Parse(tokens[3])); break; case 'B': triggerBlocks[i].SetValueBool(tokens[2], bool.Parse(tokens[3])); break; case 'D': triggerBlocks[i].SetValueFloat(tokens[2], (float)distToTarget / float.Parse(tokens[3])); break; case 'S': triggerBlocks[i].SetValueFloat(tokens[2], (float)speed / float.Parse(tokens[3])); break; case 'T': triggerBlocks[i].SetValueFloat(tokens[2], (float)(distToTarget / speed) / float.Parse(tokens[3])); break; case 'A': triggerBlocks[i].SetValueFloat(tokens[2], triggerBlocks[i].GetValueFloat(tokens[2]) + float.Parse(tokens[3])); break; case 'M': triggerBlocks[i].SetValueFloat(tokens[2], triggerBlocks[i].GetValueFloat(tokens[2]) * float.Parse(tokens[3])); break; } } } } else if (cmdToken.Equals("SPIN") && tokens.Length >= 1) { spinAmount = (tokens.Length >= 2 ? float.Parse(tokens[1]) : 30f) * MathHelper.RPMToRadiansPerSecond; gyroControl.SetGyroRoll(spinAmount); } } void ExecuteTriggerCommand(string commandLine) { int startIndex = commandLine.IndexOf('[') + 1; int endIndex = commandLine.LastIndexOf(']'); string command = (startIndex > 0 && endIndex > -1 ? commandLine.Substring(startIndex, endIndex - startIndex) : commandLine); string[] keyValues = command.Split(','); for (int i = 0; i < keyValues.Length; i++) { string[] tokens = keyValues[i].Trim().Split(':'); if (tokens.Length > 0) { string cmdToken = tokens[0].Trim(); bool resolved = false; if (cmdToken.Length == 3 && cmdToken.StartsWith("TG")) { int type; double value = 0; bool parsed = (tokens.Length >= 3 ? double.TryParse(tokens[1], out value) : false); switch (cmdToken[2]) { case 'R': type = 1; break; case 'D': type = 2; break; case 'E': type = 2; value = distToTarget - value; break; case 'V': type = 2; value += targetRadius; break; case 'T': type = 3; value = (value * SECOND) + clock; break; default: type = 0; break; } if (type > 0) { resolved = true; if (parsed) { string[] items = new string[tokens.Length - 2]; Array.Copy(tokens, 2, items, 0, items.Length); switch (type) { case 1: if (rpmTriggerList == null) rpmTriggerList = new List<KeyValuePair<double, string[]>>(); rpmTriggerList.Add(new KeyValuePair<double, string[]>(value, items)); break; case 2: if (distTriggerList == null) distTriggerList = new List<KeyValuePair<double, string[]>>(); distTriggerList.Add(new KeyValuePair<double, string[]>(value, items)); break; case 3: if (timeTriggerList == null) timeTriggerList = new List<KeyValuePair<int, string[]>>(); timeTriggerList.Add(new KeyValuePair<int, string[]>((int)value, items)); break; } haveTriggerCommands = true; } } } if (!resolved) { ProcessSingleMissileCommand(tokens); } } } } //------------------------------ Script Debugging Methods ------------------------------ void CheckMissile() { Echo("----- Missile Issues -----\n"); shipRefLidars = new List<IMyCameraBlock>(1); InitMissileBlocks(); InitMissileLidars(); InitGyroControl(); InitThrusters(); Echo("\n----- Missile Parameters -----"); Echo("\n[Compatible Homing Modes]:"); Echo((missileLidars.Count > 0 ? "0,1,2,3,4,5,6,7" : "3,4,5,6,7") + (homingTurret != null ? ",8,9" : "")); Echo("Gravity Dampeners: " + (boolNaturalDampener ? "Yes" : "No")); Echo("\nVertical Takeoff: " + (verticalTakeoff == true ? "Yes" : "No")); Echo("\nProximity Sensors: " + (proximitySensors != null ? "Yes" : "No")); Echo("\n<<Below lists the Detected Blocks.\nSet to Show On HUD for checking>>"); Echo("\nOne of the Forward Thrusters:"); if (fwdThrusters.Count > 0) { Echo(fwdThrusters[0].CustomName); fwdThrusters[0].ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nOne of the Gravity Dampeners:"); if (refDwdBlock != null) { Echo(refDwdBlock.CustomName); refDwdBlock.ShowOnHUD = true; } else { Echo("<NONE>"); } if (fwdThrusters.Count > 0) { bool haveFwdLidars = false; for (int i = 0; i < missileLidars.Count; i++) { if (missileLidars[i].WorldMatrix.Forward.Dot(fwdThrusters[0].WorldMatrix.Backward) > 0.99) { haveFwdLidars = true; break; } } if (!haveFwdLidars) { Echo("\nWarning: Missing Forward Facing Cameras."); } } Echo("\n--- End Of Check, Recompile Script & Remove CHECK Argument ---"); } void CheckLaunchingShip() { Echo("----- Launching Ship Warnings -----\n"); InitLaunchingShipRefBlocks(); Echo("\n----- Launching Ship Parameters -----"); Echo("\n<<Below lists the Detected Blocks.\nSet to Show On HUD for checking>>"); Echo("\nR_FORWARD Aiming Block:"); if (shipRefFwd != null) { Echo(shipRefFwd.CustomName); shipRefFwd.ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nOne of the R_LIDAR Cameras:"); if (shipRefLidars.Count > 0) { Echo(shipRefLidars[0].CustomName); shipRefLidars[0].ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nR_TARGET GPS Text Panel:"); if (shipRefPanel != null) { Echo(shipRefPanel.CustomName); shipRefPanel.ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nLock-On Alert Sound Block:"); if (alertBlock != null) { Echo(alertBlock.CustomName); alertBlock.ShowOnHUD = true; } else { Echo("<NONE>"); } detachBlock = GetDetachGridBlock(); Echo("\nBlock to Detach on Launch:"); if (detachBlock != null) { Echo(detachBlock.CustomName); detachBlock.ShowOnHUD = true; } else { Echo("<WARNING NOT FOUND>"); } Echo("\n--- End Of Check, Recompile Script & Remove CHECKSHIP Argument ---"); } //------------------------------ Initialization Methods ------------------------------ bool InitLaunchingShipRefBlocks() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); IMyBlockGroup group = (IsNotEmpty(strShipRefBlockGroup) ? GridTerminalSystem.GetBlockGroupWithName(strShipRefBlockGroup) : null); if (group != null) { group.GetBlocks(blocks); } else { GridTerminalSystem.GetBlocks(blocks); } bool multiShipRefPanel = false; bool multiShipRefFwd = false; shipRefPanel = null; shipRefLidars = new List<IMyCameraBlock>(); if (missileLaunchType == 5) { shipRefTurrets = new List<IMyLargeTurretBase>(); } foreach (IMyTerminalBlock block in blocks) { if (block is IMyCameraBlock) { if (NameContains(block, strShipRefLidar)) { shipRefLidars.Add(block as IMyCameraBlock); } } else if (block is IMyTextPanel) { if (NameContains(block, strShipRefPanel)) { if (shipRefPanel == null) { shipRefPanel = block as IMyTextPanel; } else { multiShipRefPanel = true; } } } if (NameContains(block, strShipRefFwd)) { if (shipRefFwd == null) { shipRefFwd = block; } else { multiShipRefFwd = true; } } if (alertBlock == null && NameContains(block, strLockTriggerBlockTag)) { alertBlock = block; } if (notMissile == null && NameContains(block, strShipRefNotMissileTag)) { notMissile = block; } if (missileLaunchType == 5) { if (block is IMyLargeTurretBase && NameContains(block, strShipRefTurrets)) { shipRefTurrets.Add(block as IMyLargeTurretBase); } } } if (shipRefLidars.Count == 0) { Echo("Warning: Missing Camera Lidars with tag " + strShipRefLidar); } else { foreach (IMyCameraBlock camera in shipRefLidars) { camera.Enabled = true; camera.EnableRaycast = true; } } if (shipRefPanel == null) { Echo("Warning: Missing Text Panel with tag " + strShipRefPanel); enableMissileCommand = false; } else if (multiShipRefPanel) { Echo("Warning: Multiple Text Panel with tag " + strShipRefPanel + " found. Using first panel - " + shipRefPanel.CustomName); } if (shipRefFwd == null) { IMyCockpit cockpit = null; foreach (IMyTerminalBlock block in blocks) { if (block is IMyCockpit) { if (cockpit == null || (!cockpit.IsMainCockpit && (block as IMyCockpit).IsMainCockpit)) { cockpit = block as IMyCockpit; } } } if (cockpit == null) { Echo("Warning: Missing Forward Block with tag " + strShipRefFwd); } else { Echo("Warning: Missing Forward Block, Using Cockpit - " + cockpit.CustomName); shipRefFwd = cockpit; } } else if (multiShipRefFwd) { Echo("Warning: Multiple Forward Block with tag " + strShipRefFwd + " found. Using first block - " + shipRefFwd.CustomName); } fwdIsTurret = ((shipRefFwd as IMyLargeTurretBase) != null); return true; } List<IMyTerminalBlock> GetMissileBlocks() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.GetBlocks(blocks); return blocks; } void InitMissileBlocks() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.GetBlocks(blocks); List<IMyGyro> gyros = new List<IMyGyro>(); missileLidars = new List<IMyCameraBlock>(); fwdThrusters = null; remoteControl = null; refFwdBlock = null; homingTurret = null; statusDisplay = null; isFixedDirection = IsNotEmpty(strDirectionRefBlockTag); bool needStatusBlock = IsNotEmpty(strStatusDisplayPrefix); thrustGroup = new List<IMyThrust>[6]; thrustTotal = new float[6]; bool haveThruster = false; foreach (IMyTerminalBlock block in blocks) { if (block.CubeGrid == Me.CubeGrid) { if (block is IMyGyro) { if (strGyroscopesTag == null || strGyroscopesTag.Length == 0 || NameContains(block, strGyroscopesTag)) { gyros.Add(block as IMyGyro); } } else if (block is IMyThrust) { if (strThrustersTag == null || strThrustersTag.Length == 0 || NameContains(block, strThrustersTag)) { IMyThrust thruster = block as IMyThrust; int index = (int)thruster.Orientation.Forward; if (thrustGroup[index] == null) { thrustGroup[index] = new List<IMyThrust>(); } thrustGroup[index].Add(thruster); thrustTotal[index] += Math.Max(thruster.MaxEffectiveThrust, 0.00001f); haveThruster = true; } } else if (block is IMyCameraBlock) { missileLidars.Add(block as IMyCameraBlock); } else if (block is IMyRemoteControl) { remoteControl = block as IMyRemoteControl; } else if (block is IMyRadioAntenna) { commsAntenna = block as IMyRadioAntenna; } if (isFixedDirection && refFwdBlock == null) { if (NameContains(block, strDirectionRefBlockTag)) { refFwdBlock = block; } } } if (needStatusBlock && statusDisplay == null) { if (block.CustomName.StartsWith(strStatusDisplayPrefix, StringComparison.OrdinalIgnoreCase)) { statusDisplay = block as IMyFunctionalBlock; } } } if (missileLaunchType == 8 || missileLaunchType == 9) { foreach (IMyTerminalBlock block in blocks) { if (block is IMyLargeTurretBase) { homingTurret = block as IMyLargeTurretBase; break; } } } if (gyros.Count == 0) Echo("Error: Missing Gyroscopes."); if (!haveThruster) Echo("Warning: Missing Thrusters."); if (remoteControl == null) Echo("Error: Missing Remote Control."); gyroControl = new GyroControl(gyros); if (spinAmount > 0) { boolNaturalDampener = false; } isFixedDirection = (refFwdBlock != null); if (refFwdBlock == null) { refFwdBlock = ComputeHighestThrustReference(); refFwdReverse = true; } if (refFwdBlock == null) { Echo("Warning: Missing Reference Blocks or Forward Thrusters. Using " + (remoteControl == null ? "Programmable Block" : "Remote Control") + " for Reference."); refFwdBlock = (remoteControl == null ? Me : (IMyTerminalBlock)remoteControl); refFwdReverse = false; } if (commsAntenna != null) { commsAntenna.Enabled = true; commsAntenna.EnableBroadcasting = true; } refWorldMatrix = refFwdBlock.WorldMatrix; if (refFwdReverse) { refWorldMatrix.Forward = refWorldMatrix.Backward; refWorldMatrix.Left = refWorldMatrix.Right; } } void InitGyroControl() { gyroControl?.Init(ref refWorldMatrix); InitPIDControllers(); } void InitMissileLidars() { proximitySensors = null; failunsafeGrpCnt = 0; for (int i = 0; i < missileLidars.Count; i++) { missileLidars[i].Enabled = true; missileLidars[i].EnableRaycast = true; int startIndex = missileLidars[i].CustomName.IndexOf(strProximitySensorTag, StringComparison.OrdinalIgnoreCase); if (startIndex > -1) { if (proximitySensors == null) { proximitySensors = new List<ProximitySensor>(); hasProximitySensors = true; } ProximitySensor proxSensor = new ProximitySensor(missileLidars[i]); proximitySensors.Add(proxSensor); double proximityDist = 0; startIndex += strProximitySensorTag.Length + 1; if (missileLidars[i].CustomName.Length > startIndex) { if (missileLidars[i].CustomName[startIndex - 1] == '_') { string proximityDistStr; int endIndex = missileLidars[i].CustomName.IndexOf(" ", startIndex, StringComparison.OrdinalIgnoreCase); if (endIndex == -1) { proximityDistStr = missileLidars[i].CustomName.Substring(startIndex).Trim(); } else { proximityDistStr = missileLidars[i].CustomName.Substring(startIndex, endIndex - startIndex).Trim(); } if (!double.TryParse(proximityDistStr, out proximityDist)) { proximityDist = 0; } } } proxSensor.distance = proximityDist; CustomConfiguration cfg = new CustomConfiguration(proxSensor.lidar); cfg.Load(); float yaw = 0, pitch = 0; bool failunsafe = false, failasgroup = false; double distance = 0, dmsrange = 0; string failunsafeTriggerCmds = failunsafeTriggerCommands, proximityTriggerCmds = proximityTriggerCommands; cfg.Get("yaw", ref yaw); cfg.Get("pitch", ref pitch); cfg.Get("failunsafe", ref failunsafe); cfg.Get("failasgroup", ref failasgroup); cfg.Get("distance", ref distance); cfg.Get("dmsrange", ref dmsrange); cfg.Get("failunsafeTriggerCommands", ref failunsafeTriggerCmds); cfg.Get("proximityTriggerCommands", ref proximityTriggerCmds); proxSensor.yaw = yaw; proxSensor.pitch = pitch; proxSensor.failunsafe = failunsafe; proxSensor.failasgroup = failasgroup; proxSensor.distance = distance; proxSensor.dmsrange = dmsrange; proxSensor.failunsafeTriggerCommands = failunsafeTriggerCmds; proxSensor.proximityTriggerCommands = proximityTriggerCmds; if (failasgroup && failunsafe) { failunsafeGrpCnt++; } } } if (missileLidars.Count > 0 || shipRefLidars.Count > 0) { IMyCameraBlock lidar = (missileLidars.Count > 0 ? missileLidars[0] : shipRefLidars[0]); ticksRatio = lidar.TimeUntilScan(lidar.AvailableScanRange + 1000) * 0.00006; ticksFactor = ticksRatio / Math.Max((int)Math.Floor(missileLidars.Count * LIDAR_REFRESH_CALC_FACTOR), 1); } else { ticksRatio = 0.03; ticksFactor = 0.03; } } void InitPIDControllers() { //---------- Setup PID Controller ---------- if (AIM_P + AIM_I + AIM_D < 0.001) { if (Me.CubeGrid.GridSizeEnum == MyCubeSize.Large) { AIM_P = DEF_BIG_GRID_P; AIM_I = DEF_BIG_GRID_I; AIM_D = DEF_BIG_GRID_D; } else { AIM_P = DEF_SMALL_GRID_P; AIM_I = DEF_SMALL_GRID_I; AIM_D = DEF_SMALL_GRID_D; AIM_LIMIT *= 2; } } yawController = new PIDController(AIM_P, AIM_I, AIM_D, INTEGRAL_WINDUP_UPPER_LIMIT, INTEGRAL_WINDUP_LOWER_LIMIT, SECOND); pitchController = new PIDController(AIM_P, AIM_I, AIM_D, INTEGRAL_WINDUP_UPPER_LIMIT, INTEGRAL_WINDUP_LOWER_LIMIT, SECOND); rollController = new PIDController(AIM_P, AIM_I, AIM_D, INTEGRAL_WINDUP_UPPER_LIMIT, INTEGRAL_WINDUP_LOWER_LIMIT, SECOND); } void InitThrusters() { //---------- Find Forward Thrusters ---------- if (!isFixedDirection || verticalTakeoff) { float highestThrust = 0; int highestSide = -1; int up = -1; for (int i = 0; i < 6; i++) { if (thrustGroup[i] != null) { bool checkTotal = false; Base6Directions.Direction direction = refWorldMatrix.GetClosestDirection(thrustGroup[i][0].WorldMatrix.Backward); switch (direction) { case Base6Directions.Direction.Forward: fwdThrusters = thrustGroup[i]; break; case Base6Directions.Direction.Left: case Base6Directions.Direction.Right: case Base6Directions.Direction.Down: checkTotal = true; break; case Base6Directions.Direction.Up: checkTotal = true; if (isFixedDirection) { refDwdBlock = thrustGroup[i][0]; up = i; } break; } if (checkTotal) { if (thrustTotal[i] > highestThrust) { highestThrust = thrustTotal[i]; highestSide = i; } } } } if (highestThrust == 0) { if (boolNaturalDampener) { Echo("Warning: Natural Gravity Dampener feature not possible as there are no Downward Thrusters found."); } boolNaturalDampener = false; } else { if (!isFixedDirection) { refDwdBlock = thrustGroup[highestSide][0]; up = highestSide; } if (refDwdBlock == null) { Echo("Warning: Natural Gravity Dampener feature not possible as Fixed Downward Side does not have any Thrusters."); boolNaturalDampener = false; } } if (up > -1) { launchThrusters = thrustGroup[up]; } } else { for (int i = 0; i < 6; i++) { if (thrustGroup[i] != null) { Base6Directions.Direction direction = refWorldMatrix.GetClosestDirection(thrustGroup[i][0].WorldMatrix.Backward); if (direction == Base6Directions.Direction.Forward) { fwdThrusters = thrustGroup[i]; } else if (boolNaturalDampener && direction == Base6Directions.Direction.Up) { launchThrusters = thrustGroup[i]; refDwdBlock = launchThrusters[0]; } } } if (boolNaturalDampener && refDwdBlock == null) { Echo("Warning: Natural Gravity Dampener feature not possible as there are no Downward Thrusters found."); boolNaturalDampener = false; } } if (fwdThrusters == null) { fwdThrusters = new List<IMyThrust>(); } } IMyTerminalBlock ComputeHighestThrustReference() { float highestThrust = thrustTotal[0]; IMyThrust refThrust = (highestThrust > 0 ? thrustGroup[0][0] : null); for (int i = 1; i < 6; i++) { if (thrustTotal[i] > highestThrust) { highestThrust = thrustTotal[i]; refThrust = thrustGroup[i][0]; } else if (thrustTotal[i] == highestThrust && highestThrust > 0) { IMyThrust chkThrust = thrustGroup[i][0]; Vector3D diagonal = ComputeBlockGridDiagonalVector(Me); double dot1 = Math.Abs(diagonal.Dot(chkThrust.WorldMatrix.Forward)); double dot2 = Math.Abs(diagonal.Dot(refThrust.WorldMatrix.Forward)); if (dot1 > dot2) { refThrust = chkThrust; } } } return refThrust; } Vector3D ComputeBlockGridDiagonalVector(IMyTerminalBlock block) { IMyCubeGrid cubeGrid = block.CubeGrid; Vector3D minVector = cubeGrid.GridIntegerToWorld(cubeGrid.Min); Vector3D maxVector = cubeGrid.GridIntegerToWorld(cubeGrid.Max); return (minVector - maxVector); } Vector3D ComputeBlockGridMidPoint(IMyTerminalBlock block) { return (block.CubeGrid.GridIntegerToWorld(block.CubeGrid.Min) + block.CubeGrid.GridIntegerToWorld(block.CubeGrid.Max)) / 2; } //------------------------------ Thruster Control Methods ------------------------------ void FireThrusters(List<IMyThrust> thrusters, bool overrideMode) { if (thrusters != null) { for (int i = 0; i < thrusters.Count; i++) { thrusters[i].ThrustOverridePercentage = (overrideMode ? 1f : 0f); } } } void AdjustThrusters(List<IMyThrust> thrusters, float scale) { if (thrusters != null) { for (int i = 0; i < thrusters.Count; i++) { thrusters[i].ThrustOverridePercentage = scale; } } } //------------------------------ Block Finder ------------------------------ List<IMyTerminalBlock> GetBlocksWithName<T>(string name, int matchType = 0) where T: class, IMyTerminalBlock { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.SearchBlocksOfName(name, blocks); List<IMyTerminalBlock> filteredBlocks = new List<IMyTerminalBlock>(); for (int i = 0; i < blocks.Count; i++) { if (matchType > 0) { bool isMatch = false; switch (matchType) { case 1: if (blocks[i].CustomName.StartsWith(name, StringComparison.OrdinalIgnoreCase)) { isMatch = true; } break; case 2: if (blocks[i].CustomName.EndsWith(name, StringComparison.OrdinalIgnoreCase)) { isMatch = true; } break; case 3: if (blocks[i].CustomName.Equals(name, StringComparison.OrdinalIgnoreCase)) { isMatch = true; } break; default: isMatch = true; break; } if (!isMatch) { continue; } } IMyTerminalBlock block = blocks[i] as T; if (block != null) { filteredBlocks.Add(block); } } return filteredBlocks; } //------------------------------ Custom Classes ------------------------------ public class GyroControl { static Action<IMyGyro, float> NegYaw = (g, v) => { g.Yaw = -v; }; static Action<IMyGyro, float> PosYaw = (g, v) => { g.Yaw = v; }; static Action<IMyGyro, float> NegPitch = (g, v) => { g.Pitch = -v; }; static Action<IMyGyro, float> PosPitch = (g, v) => { g.Pitch = v; }; static Action<IMyGyro, float> NegRoll = (g, v) => { g.Roll = -v; }; static Action<IMyGyro, float> PosRoll = (g, v) => { g.Roll = v; }; Action<IMyGyro, float>[] profiles = {NegYaw,PosYaw,NegPitch,PosPitch,NegRoll,PosRoll}; List<IMyGyro> gyros; byte[] gyroYaw; byte[] gyroPitch; byte[] gyroRoll; int activeGyro = 0; public GyroControl(List<IMyGyro> newGyros) { gyros = newGyros; } public void Init(ref MatrixD refWorldMatrix) { if (gyros == null) { gyros = new List<IMyGyro>(); } gyroYaw = new byte[gyros.Count]; gyroPitch = new byte[gyros.Count]; gyroRoll = new byte[gyros.Count]; for (int i = 0; i < gyros.Count; i++) { gyroYaw[i] = SetRelativeDirection(gyros[i].WorldMatrix.GetClosestDirection(refWorldMatrix.Up)); gyroPitch[i] = SetRelativeDirection(gyros[i].WorldMatrix.GetClosestDirection(refWorldMatrix.Left)); gyroRoll[i] = SetRelativeDirection(gyros[i].WorldMatrix.GetClosestDirection(refWorldMatrix.Forward)); } activeGyro = 0; } public byte SetRelativeDirection(Base6Directions.Direction dir) { switch (dir) { case Base6Directions.Direction.Up: return 1; case Base6Directions.Direction.Down: return 0; case Base6Directions.Direction.Left: return 2; case Base6Directions.Direction.Right: return 3; case Base6Directions.Direction.Forward: return 4; case Base6Directions.Direction.Backward: return 5; } return 0; } public void Enabled(bool enabled) { foreach (IMyGyro gyro in gyros) { gyro.Enabled = enabled; } } public void SetGyroOverride(bool bOverride) { CheckGyro(); for (int i = 0; i < gyros.Count; i++) { if (i == activeGyro) gyros[i].GyroOverride = bOverride; else gyros[i].GyroOverride = false; } } public void SetGyroYaw(float yawRate) { CheckGyro(); if (activeGyro < gyros.Count) { profiles[gyroYaw[activeGyro]](gyros[activeGyro], yawRate); } } public void SetGyroPitch(float pitchRate) { if (activeGyro < gyros.Count) { profiles[gyroPitch[activeGyro]](gyros[activeGyro], pitchRate); } } public void SetGyroRoll(float rollRate) { if (activeGyro < gyros.Count) { profiles[gyroRoll[activeGyro]](gyros[activeGyro], rollRate); } } public void ZeroTurnGyro() { for (int i = 0; i < gyros.Count; i++) { profiles[gyroYaw[i]](gyros[i], 0f); profiles[gyroPitch[i]](gyros[i], 0f); } } public void ResetGyro() { foreach (IMyGyro gyro in gyros) { gyro.Yaw = gyro.Pitch = gyro.Roll = 0f; } } private void CheckGyro() { while (activeGyro < gyros.Count) { if (gyros[activeGyro].IsFunctional) { break; } else { IMyGyro gyro = gyros[activeGyro]; gyro.Enabled = gyro.GyroOverride = false; gyro.Yaw = gyro.Pitch = gyro.Roll = 0f; activeGyro++; } } } } public class PIDController { double integral; double lastInput; double gain_p; double gain_i; double gain_d; double upperLimit_i; double lowerLimit_i; double second; public PIDController(double pGain, double iGain, double dGain, double iUpperLimit = 0, double iLowerLimit = 0, float stepsPerSecond = 60f) { gain_p = pGain; gain_i = iGain; gain_d = dGain; upperLimit_i = iUpperLimit; lowerLimit_i = iLowerLimit; second = stepsPerSecond; } public double Filter(double input, int round_d_digits) { double roundedInput = Math.Round(input, round_d_digits); integral = integral + (input / second); integral = (upperLimit_i > 0 && integral > upperLimit_i ? upperLimit_i : integral); integral = (lowerLimit_i < 0 && integral < lowerLimit_i ? lowerLimit_i : integral); double derivative = (roundedInput - lastInput) * second; lastInput = roundedInput; return (gain_p * input) + (gain_i * integral) + (gain_d * derivative); } public void Reset() { integral = lastInput = 0; } } public class ProximitySensor { public IMyCameraBlock lidar; public float yaw; public float pitch; public bool failunsafe; public bool failasgroup; public double distance; public double dmsrange; public string failunsafeTriggerCommands; public string proximityTriggerCommands; public bool dmsActive; public double dmsPrevDist; public ProximitySensor(IMyCameraBlock inputLidar) { lidar = inputLidar; } } public class FastSolver { public static readonly double epsilon = 0.000001; public static readonly double cos120d = -0.5; public static readonly double sin120d = Math.Sin(Math.PI / 3.0); public static readonly double root3 = Math.Sqrt(3.0); public static readonly double inv3 = 1.0 / 3.0; public static readonly double inv9 = 1.0 / 9.0; public static readonly double inv54 = 1.0 / 54.0; //Shortcut Ignoring Of Complex Values And Return Smallest Real Number public static double Solve(double a, double b, double c, double d, double e) { if (Math.Abs(a) < epsilon) a = (a >= 0 ? epsilon : -epsilon); double inva = 1 / a; b *= inva; c *= inva; d *= inva; e *= inva; double a3 = -c; double b3 = b * d - 4 * e; double c3 = -b * b * e - d * d + 4 * c * e; double[] result; bool chooseMaximal = SolveCubic(a3, b3, c3, out result); double y = result[0]; if (chooseMaximal) { if (Math.Abs(result[1]) > Math.Abs(y)) y = result[1]; if (Math.Abs(result[2]) > Math.Abs(y)) y = result[2]; } double q1, q2, p1, p2, squ; double u = y * y - 4 * e; if (Math.Abs(u) < epsilon) { q1 = q2 = y * 0.5; u = b * b - 4 * (c - y); if (Math.Abs(u) < epsilon) { p1 = p2 = b * 0.5; } else { squ = Math.Sqrt(u); p1 = (b + squ) * 0.5; p2 = (b - squ) * 0.5; } } else { squ = Math.Sqrt(u); q1 = (y + squ) * 0.5; q2 = (y - squ) * 0.5; double dm = 1 / (q1 - q2); p1 = (b * q1 - d) * dm; p2 = (d - b * q2) * dm; } double v1, v2; u = p1 * p1 - 4 * q1; if (u < 0) { v1 = double.MaxValue; } else { squ = Math.Sqrt(u); v1 = MinPosNZ(-p1 + squ, -p1 - squ) * 0.5; } u = p2 * p2 - 4 * q2; if (u < 0) { v2 = double.MaxValue; } else { squ = Math.Sqrt(u); v2 = MinPosNZ(-p2 + squ, -p2 - squ) * 0.5; } return MinPosNZ(v1, v2); } private static bool SolveCubic(double a, double b, double c, out double[] result) { result = new double[4]; double a2 = a * a; double q = (a2 - 3 * b) * inv9; double r = (a * (2 * a2 - 9 * b) + 27 * c) * inv54; double r2 = r * r; double q3 = q * q * q; if (r2 < q3) { double sqq = Math.Sqrt(q); double t = r / (sqq * sqq * sqq); if (t < -1) t = -1; else if (t > 1) t = 1; t = Math.Acos(t); a *= inv3; q = -2 * sqq; double costv3 = Math.Cos(t * inv3); double sintv3 = Math.Sin(t * inv3); result[0] = q * costv3 - a; result[1] = q * ((costv3 * cos120d) - (sintv3 * sin120d)) - a; result[2] = q * ((costv3 * cos120d) + (sintv3 * sin120d)) - a; return true; } else { double g = -Math.Pow(Math.Abs(r) + Math.Sqrt(r2 - q3), inv3); if (r < 0) g = -g; double h = (g == 0 ? 0 : q / g); a *= inv3; result[0] = (g + h) - a; result[1] = -0.5 * (g + h) - a; result[2] = 0.5 * root3 * (g - h); if (Math.Abs(result[2]) < epsilon) { result[2] = result[1]; return true; } else { return false; } } } private static double MinPosNZ(double a, double b) { if (a <= 0) return (b > 0 ? b : double.MaxValue); else if (b <= 0) return a; else return Math.Min(a, b); } } public class CustomConfiguration { public IMyTerminalBlock configBlock; public Dictionary<string, string> config; public CustomConfiguration(IMyTerminalBlock block) { configBlock = block; config = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase); } public void Load() { ParseCustomData(configBlock, config); } public void Save() { WriteCustomData(configBlock, config); } public string Get(string key, string defVal = null) { return config.GetValueOrDefault(key.Trim(), defVal); } public void Get(string key, ref string res) { string val; if (config.TryGetValue(key.Trim(), out val)) res = val; } public void Get(string key, ref int res) { int val; if (int.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref float res) { float val; if (float.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref double res) { double val; if (double.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref bool res) { bool val; if (bool.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref bool? res) { bool val; if (bool.TryParse(Get(key), out val)) res = val; } public void Set(string key, string value) { config[key.Trim()] = value; } public static void ParseCustomData(IMyTerminalBlock block, Dictionary<string, string> cfg, bool clr = true) { if (clr) { cfg.Clear(); } string[] arr = block.CustomData.Split(new char[] {'\r','\n'}, StringSplitOptions.RemoveEmptyEntries); for (int i = 0; i < arr.Length; i++) { string ln = arr[i]; string va; int p = ln.IndexOf('='); if (p > -1) { va = ln.Substring(p + 1); ln = ln.Substring(0, p); } else { va = ""; } cfg[ln.Trim()] = va.Trim(); } } public static void WriteCustomData(IMyTerminalBlock block, Dictionary<string, string> cfg) { StringBuilder sb = new StringBuilder(cfg.Count * 100); foreach (KeyValuePair<string, string> va in cfg) { sb.Append(va.Key).Append('=').Append(va.Value).Append('\n'); } block.CustomData = sb.ToString(); } } #endregion 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 SmallBlockConveyor 117669109633949095 Clean_Armor 144115188075855929 SmallBlockSmallHydrogenThrust 124043155754668337 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters false true true true false SmallBlockSmallHydrogenThrust 90780934672056292 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters 2 false true true true false SmallBlockSmallHydrogenThrust 135131702401935715 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters 3 false true true true false ConnectorSmall 110180071873413600 Clean_Armor 144115188075855929 144115188075855929 Faction 0.5 MyInventoryBase 0 0.064 9223372036854.775807 2147483647 CanSend false MyTimerComponent true 0 0 true false Frame10 20 80 false Ejector false true true true true false false 0 0 SmallBlockGyro 139725744169657797 Clean_Armor 144115188075855929 144115188075855929 Faction Gyroscope false true true true true SmallBlockGyro 112412486641713969 Clean_Armor 144115188075855929 144115188075855929 Faction Gyroscope 2 false true true true true SmallBlockArmorInvCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockConveyor 123112848550569562 Clean_Armor 144115188075855929 SmallBlockConveyor 105460036119711600 Clean_Armor 144115188075855929 SmallBlockConveyor 93254314770650360 Clean_Armor 144115188075855929 OxygenGeneratorSmall 122796192572514488 Clean_Armor 144115188075855929 144115188075855929 Faction MyInventoryBase 0 1 9223372036854.775807 2147483647 CanReceive false MyTimerComponent true 0 0 true false Frame100 100 300 false O2/H2 Generator false true true true true SmallBlockLargeHydrogenThrust 122091195126134002 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Large Hydrogen Thruster false true true true false SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockSmallHydrogenThrust 78208801160960496 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters 5 false true true true false SmallWarhead 131850892766225548 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 7 false true true true 10000 false false Right Left SMALL_LINE Backward Forward SMALL_LINE Up Down SMALL_LINE Down Up SMALL_LINE Right Left SMALL_LINE Right Left SMALL_LINE Up Down SMALL_LINE Down Up SMALL_LINE Backward Forward SMALL_LINE Backward Forward SMALL_LINE Backward Forward LARGE_LINE Small Grid 5863 true false 0 116572784104908890 CastShadows InScene 0.862836957 0.3396525 0.3596069 -0.10407427 Small SmallRotor 127733922234797040 144115188075855929 122430383508386269 false SmallWarhead 83856423857121434 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead false true true true 10000 false false SmallCameraBlock 108025695471487650 Clean_Armor 144115188075855929 144115188075855929 Faction Camera false true true true true false 1.04719758 SmallBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallBlockArmorCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorCorner2Tip Clean_Armor 144115188075855929 SmallWarhead 131019576552032011 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 2 false true true true 10000 false false SmallWarhead 76093575396370015 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 3 false true true true 10000 false false SmallWarhead 112011330091242618 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 4 false true true true 10000 false false SmallWarhead 89965599338819579 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 5 false true true true 10000 false false SmallWarhead 113231168304787369 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 6 false true true true 10000 false false SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Tip Clean_Armor 144115188075855929 SmallBlockSmallBatteryBlock 108655634526019479 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery false true true true true 0.05 true 0 false false 0 SmallBlockSmallBatteryBlock 82871151171889211 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery 2 false true true true true 0.05 true 0 false false 0 SmallBlockSmallBatteryBlock 92441307705532410 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery 3 false true true true true 0.05 true 0 false false 0 SmallBlockRemoteControl 118010611001630310 Clean_Armor 144115188075855929 144115188075855929 Faction MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 Remote Control false true true true false Character Character false 0 0 -1 0 false false 0 false false SmallProgrammableBlock 137423749681891266 Clean_Armor 144115188075855929 144115188075855929 Faction Missile Computer false true true true true #region Script //------------------------------------------------------------ // ADN - Easy Lidar Homing Script v25.0 //------------------------------------------------------------ //----- Refer To Steam Workshop Discussion Section For Variables Definition ----- //Sets the default missile homing mode. See http://steamcommunity.com/workshop/filedetails/discussion/807454034/1457328392110577137/ for more information. int missileLaunchType = 0; //Type of block to disconnect missile from launching ship: 0 = Merge Block, 1 = Rotor, 2 = Connector, 3 = Merge Block And Any Locked Connectors, 4 = Rotor And Any Locked Connectors, 99 = No detach required int missileDetachPortType = 1; //Spin Missile By This RPM After Launch Clearance float spinAmount = 0; //Whether to perform a vertical takeoff for the launching procedure bool verticalTakeoff = true; //Whether to exclude locking-on to friendly targets. Recommended to set to true after testing bool excludeFriendly = false; //Whether to adjust thrust based on intended and actual aim vector bool adjustThrustBasedOnAim = false; //Whether to fly straight first until LOCK command is given via R_TARGET Text Panel to start homing. Activating this will ignore launchSeconds variable bool waitForHomingTrigger = false; //Whether to allow missile to read Custom Data of the R_TARGET to get command during missile homing bool enableMissileCommand = true; //The amount of spread for 5 point raycast for easier initial lock-on. Zero to use normal single beam lock-on float fivePointInitialLockDist = 0f; //Raycast ahead of of your initial aiming, to mitigate high ping and gyro sync lag. Zero to use normal single beam lock-on int raycastAheadCount = 0; float raycastAheadSeconds = 0f; //Whether to Offset Targeting based on first Lidar Hit Position bool useOffsetTargeting = false; //Whether to Offset Raycasting based on first Lidar Hit Position bool useOffsetRaycasting = false; //For AI Turret lock-on modes. Whether to switch to raycast after AI turret lock-on bool switchTurretToRaycast = true; //------------------------------ Inter Grid Communications Configuration ------------------------------ string missileId = null; string missileGroup = null; string allowedSenderId = null; //------------------------------ Reference Block Name Configuration ------------------------------ string strShipRefBlockGroup = "GRP_ELH_SHIP"; string strDetachBlockGroup = "GRP_ELH_DETACH"; string strShipRefLidar = "R_LIDAR"; string strShipRefFwd = "R_FORWARD"; string strShipRefPanel = "R_TARGET"; string strShipRefTurrets = "R_DESIGNATOR"; string strShipRefNotMissileTag = "NOT_MISSILE"; string missileActivationCommands = ""; string missileTriggerCommands = ""; string proximityTriggerCommands = "SETWB:Warhead:Safety:True,ACTW:Warhead:Detonate"; string failunsafeTriggerCommands = "SETWB:Warhead:Safety:True"; string strGyroscopesTag = ""; string strThrustersTag = ""; string strDetachPortTag = ""; string strDirectionRefBlockTag = ""; string strProximitySensorTag = "PROXIMITY"; string strLockTriggerBlockTag = "R_ALERT"; string strLockTriggerAction = "PlaySound"; string strStatusDisplayPrefix = "<D>"; //------------------------------ Lidar Lock On Configuration ------------------------------ float LIDAR_MIN_LOCK_DISTANCE = 50; float LIDAR_MAX_LOCK_DISTANCE = 3000; int LIDAR_REFRESH_INTERVAL = 0; float LIDAR_REFRESH_CALC_FACTOR = 0.85f; //------------------------------ Missile Handling Configuration ------------------------------ double launchSeconds = 1; bool boolNaturalDampener = true; bool boolCompensateDampener = true; //------------------------------ Proportional Navigation And PID Tuning ------------------------------ double THRUST_ESTIMATE_FACTOR = 0.75; double AIM_P = 0; double AIM_I = 0; double AIM_D = 0; double AIM_LIMIT = 6.3; double INTEGRAL_WINDUP_UPPER_LIMIT = 0; double INTEGRAL_WINDUP_LOWER_LIMIT = 0; //------------------------------ Script Parameters Configuration ------------------------------ int MERGE_SEPARATE_WAIT_THRESHOLD = 60; bool outputMissileStatus = true; //------------------------------ Important Constants ------------------------------ const double DEF_SMALL_GRID_P = 31.42; const double DEF_SMALL_GRID_I = 0; const double DEF_SMALL_GRID_D = 10.48; const double DEF_BIG_GRID_P = 15.71; const double DEF_BIG_GRID_I = 0; const double DEF_BIG_GRID_D = 7.05; const double RPM_FACTOR = 1800 / Math.PI; const float MIN_THRUST_ACCELERATION = 10f; const int MIN_ACCEL_RECOUNT_TICKS = 120; const int MIN_LIDAR_RECOUNT_TICKS = 15; const float SECOND = 60f; //------------------------------ Below Is Main Script Body ------------------------------ List<IMyCameraBlock> shipRefLidars; IMyTerminalBlock shipRefFwd; IMyTextPanel shipRefPanel; List<IMyLargeTurretBase> shipRefTurrets; List<IMyCameraBlock> missileLidars; IMyShipController remoteControl; IMyTerminalBlock refFwdBlock; IMyTerminalBlock refDwdBlock; bool isFixedDirection; IMyLargeTurretBase homingTurret; bool hasProximitySensors; List<ProximitySensor> proximitySensors; int failunsafeGrpCnt; bool isLidarMode; IMyRadioAntenna commsAntenna; IMyTerminalBlock alertBlock; IMyFunctionalBlock statusDisplay; IMyTerminalBlock notMissile; double notMissileRadius; bool homingReleaseLock; bool commsPositionSet; Vector3D commsPosition; bool commsFwdSet; RayD commsFwd; bool commsLidarTargetSet; MyDetectedEntityInfo commsLidarTarget; GyroControl gyroControl; PIDController yawController; PIDController pitchController; PIDController rollController; List<IMyThrust> fwdThrusters; List<IMyThrust> launchThrusters; IMyTerminalBlock detachBlock; int detachBlockType = -1; int adjustThrustState; MatrixD refWorldMatrix; MatrixD refViewMatrixUnclean4thCol; //Used by TransformNormal only, therefore its Transposed from WorldMatrix without cleanup of 4th Column bool refFwdReverse; bool fwdIsTurret; Vector3D refFwdPosition; Vector3D refFwdVector; bool refFwdSet; Vector3D naturalGravity; double naturalGravityLength; Vector3D midPoint; Vector3D shipVelocity; double speed; double rpm; Vector3D lastMidPoint; Vector3D lastNormal; MyDetectedEntityInfo lidarTargetInfo; Vector3D lidarLastForward; Vector3D lidarAimChangeVector; int lidarLastForwardClock; Vector3D offsetTargetPosition; Vector3D offsetRaycastPosition; Vector3D targetPosition; Vector3D lastTargetPosition; bool targetPositionSet; int lastTargetPositionClock; Vector3D targetVector; double distToTarget; Vector3D targetAcceleration; Vector3D targetDirection; double targetSpeed; double targetRadius; double ticksRatio = 0; double ticksFactor = 0; int lidarStaggerIndex = 0; int nextLidarTriggerTicks = 0; int nextLidarRecountTicks = 0; int nextAccelRecountTicks = 0; List<KeyValuePair<double, string[]>> rpmTriggerList; List<KeyValuePair<double, string[]>> distTriggerList; List<KeyValuePair<int, string[]>> timeTriggerList; bool haveTriggerCommands; Random rnd = new Random(); List<IMyThrust>[] thrustGroup; float[] thrustTotal; double thrustAcceleration; int subCounter = 0; int subMode = 0; int mode = -2; int clock = 0; bool init = false; Program() { Runtime.UpdateFrequency = UpdateFrequency.Once; } void Main(string arguments, UpdateType updateSource) { //---------- Initialization And General Controls ---------- if (!init) { if (subMode == 0) //Check for configuration command { if ((updateSource & UpdateType.Once) > 0 || updateSource == UpdateType.IGC) { return; } subCounter = 0; subMode = 1; missileId = Me.GetId().ToString(); missileGroup = null; if (Me.CustomData.Length > 0) { ProcessCustomConfiguration(); } if (spinAmount > 0) spinAmount *= MathHelper.RPMToRadiansPerSecond; if (raycastAheadCount > 0 && raycastAheadSeconds == 0f) { raycastAheadSeconds = 0.5f; } if (arguments.Length > 0) { ProcessConfigurationCommand(arguments); } if (subMode == 1) //Not Diagnostic Commands { Runtime.UpdateFrequency = UpdateFrequency.Update1; } return; } else if (subMode == 1) //Missile still on launching ship's grid { if (subCounter == 0) { InitLaunchingShipRefBlocks(); if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } subCounter = 1; return; } else if (subCounter == 1) { detachBlock = GetDetachGridBlock(); subCounter = 2; return; } else { if (!DetachFromGrid()) { throw new Exception("--- Initialization Failed ---"); } subCounter = 0; subMode = (missileDetachPortType == 99 ? 3 : 2); return; } } else if (subMode == 2) //Missile waiting for successful detachment from launching ship { bool isDetached = false; if (notMissile != null) { isDetached = (notMissile.CubeGrid != Me.CubeGrid); } else if (detachBlockType == 0) { isDetached = !((detachBlock as IMyShipMergeBlock).IsConnected); } else if (detachBlockType == 1) { isDetached = !((detachBlock as IMyMotorBase).IsAttached); } else if (detachBlockType == 2) { isDetached = ((detachBlock as IMyShipConnector).Status != MyShipConnectorStatus.Connected); } if (isDetached) { subCounter = 0; subMode = 3; return; } else { subCounter++; if (subCounter >= MERGE_SEPARATE_WAIT_THRESHOLD) { Echo("Error: Missile detach failed."); throw new Exception("--- Initialization Failed ---"); } return; } } else if (subMode == 3) //Missile successfully detached and currently initializing { if (subCounter == 0) { subCounter = 1; if (missileDetachPortType == 3 || missileDetachPortType == 4) { DetachLockedConnectors(); return; } } if (subCounter == 1) { if (notMissile != null) { notMissileRadius = ComputeBlockGridDiagonalVector(notMissile).Length() / 2.0; } InitMissileBlocks(); subCounter = 2; return; } else if (subCounter == 2) { InitMissileLidars(); subCounter = 3; return; } else if (subCounter == 3) { InitGyroControl(); subCounter = 4; return; } else if (subCounter == 4) { InitThrusters(); if (IsNotEmpty(missileActivationCommands)) { subCounter = 5; return; } } } if (fwdThrusters != null) { foreach (IMyThrust thrust in fwdThrusters) { thrust.Enabled = true; } } if (launchThrusters != null) { foreach (IMyThrust thrust in launchThrusters) { thrust.Enabled = true; } } gyroControl.Enabled(true); if (statusDisplay != null) { statusDisplay.Enabled = true; IMyRadioAntenna radioAntenna = statusDisplay as IMyRadioAntenna; if (radioAntenna != null && !radioAntenna.IsBroadcasting) { radioAntenna.EnableBroadcasting = true; } } if (missileLaunchType == 99) { Runtime.UpdateFrequency = UpdateFrequency.None; mode = 99; } else { nextLidarTriggerTicks = LIDAR_REFRESH_INTERVAL; if (waitForHomingTrigger) { subCounter = int.MaxValue; } else { if (missileLaunchType == 6) { refFwdSet = true; } subCounter = (int)(launchSeconds * SECOND); } FireThrusters(verticalTakeoff ? launchThrusters : fwdThrusters, true); mode = -1; } if (IsNotEmpty(missileActivationCommands)) { ExecuteTriggerCommand(missileActivationCommands); } isLidarMode = "0,1,2,5,7,8,9,10".Contains(missileLaunchType.ToString()); subMode = 0; clock = 0; init = true; return; } //---------- Modes And Controls ---------- if (arguments.Length > 0) { ProcessCommunicationMessage(arguments); } if (enableMissileCommand) { ProcessMissileCommand(shipRefPanel.CustomData); } if ((updateSource & UpdateType.Update1) == 0 || Runtime.TimeSinceLastRun.Ticks == 0) { return; } clock++; CalculateParameters(); if (mode == -1) //Launching { if (waitForHomingTrigger) { if (homingReleaseLock) { subCounter = 0; } } if (subCounter > 0) { subCounter -= 1; } else { if (verticalTakeoff) { FireThrusters(launchThrusters, false); FireThrusters(fwdThrusters, true); } gyroControl.SetGyroOverride(true); if (spinAmount > 0) { gyroControl.SetGyroRoll(spinAmount); } distToTarget = 1000000; if (missileLaunchType == 3 || missileLaunchType == 4 || missileLaunchType == 6) { if (IsNotEmpty(missileTriggerCommands)) { ExecuteTriggerCommand(missileTriggerCommands); } } lastTargetPosition = targetPosition = ((refWorldMatrix.Forward * 1000000) + midPoint); subCounter = 0; subMode = 0; mode = missileLaunchType; } } else if (mode == 0) //Lidar Homing With Initial Shipborne Lidar Lock-On { if (subMode == 0) //Initial Lock-On { if (nextLidarTriggerTicks <= clock || commsLidarTargetSet) { bool targetFound = false; if (commsLidarTargetSet) { commsLidarTargetSet = false; targetFound = CheckAndSetValidLidarTarget(ref commsLidarTarget, ref refWorldMatrix); } else if (shipRefFwd != null) { targetFound = PerformPreLock(shipRefLidars, shipRefFwd, fwdIsTurret); } if (targetFound) { targetFound = false; double overshootDistance = targetRadius / 2; Vector3D lidarPosition = (useOffsetRaycasting ? lidarTargetInfo.HitPosition.Value : lidarTargetInfo.Position); IMyCameraBlock syncLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (syncLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - syncLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = syncLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { if (entityInfo.EntityId == lidarTargetInfo.EntityId) { targetFound = true; } } if (!targetFound && !useOffsetRaycasting) { lidarPosition = lidarTargetInfo.HitPosition.Value; syncLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (syncLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - syncLidar.GetPosition()) * overshootDistance); entityInfo = syncLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { if (entityInfo.EntityId == lidarTargetInfo.EntityId) { useOffsetRaycasting = true; targetFound = true; } } } } } if (targetFound) { TransitToFullLock(); } } } if (targetPositionSet) { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } } else if (subMode == 1) //Lidar Homing { PerformLidarLogic(); } PerformCommonOperations(); } else if (mode == 1) //Lidar Homing With Initial Shipborne GPS Coordinates Lock-On { if (subMode == 0) //Initial Lock-On { if (commsPositionSet) { commsPositionSet = false; targetPosition = commsPosition; targetPositionSet = true; } else { Vector3D parsedVector; if (shipRefPanel != null && ParseCoordinates(shipRefPanel.GetPublicTitle(), out parsedVector)) { targetPosition = parsedVector; targetPositionSet = true; } else { lastTargetPosition = targetPosition = GetFlyStraightVector(); targetPositionSet = false; } } if (targetPositionSet && (GetMissileMidPoint() - targetPosition).Length() < 1) { lastTargetPosition = targetPosition = GetFlyStraightVector(); targetPositionSet = false; } if (targetPositionSet) { if (nextLidarTriggerTicks <= clock) { double overshootDistance = targetRadius / 2; IMyCameraBlock syncLidar = GetLidarAndRecountTicks(missileLidars, ref targetPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (syncLidar != null) { Vector3D testTargetPosition = targetPosition + (Vector3D.Normalize(targetPosition - syncLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = syncLidar.Raycast(testTargetPosition); if (!entityInfo.IsEmpty()) { if (CheckAndSetValidLidarTarget(ref entityInfo, ref refWorldMatrix)) { TransitToFullLock(); } } } } } CalculateTargetInfo(); } else if (subMode == 1) //Lidar Homing { PerformLidarLogic(); } PerformCommonOperations(); } else if (mode == 2) //Lidar Homing With Initial Shipborne Camera Guidance { if (subMode == 0) //Initial Camera Guidance { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } SetCameraGuidanceParameters(); if (nextLidarTriggerTicks <= clock) { Vector3D shipRefTargetPosition = refFwdPosition + (refFwdVector * LIDAR_MAX_LOCK_DISTANCE); if (PerformPreLock(missileLidars, ref refWorldMatrix, ref refFwdVector, ref shipRefTargetPosition)) { TransitToFullLock(); } } } else if (subMode == 1) //Lidar Homing { PerformLidarLogic(); } PerformCommonOperations(); } else if (mode == 3) //Camera Guided Mode { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } SetCameraGuidanceParameters(); PerformCommonOperations(); } else if (mode == 4) //Cruise Mode { if (commsPositionSet) { commsPositionSet = false; targetPosition = commsPosition; targetPositionSet = true; } else if (shipRefPanel != null) { Vector3D parsedVector; if (ParseCoordinates(shipRefPanel.GetPublicTitle(), out parsedVector)) { targetPosition = parsedVector; targetPositionSet = true; } } CalculateTargetInfo(); PerformCommonOperations(); } else if (mode == 6) //Fixed Glide Mode { if (!refFwdSet) { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; refFwdSet = true; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); refFwdSet = true; } } SetCameraGuidanceParameters(); PerformCommonOperations(); } else if (mode == 7) //Lidar Homing With Shipborne Lidar Lock-On (Semi-Active Style Guidance) { if (subMode == 0) //Initial Lock-On { if (nextLidarTriggerTicks <= clock || commsLidarTargetSet) { if (commsLidarTargetSet) { commsLidarTargetSet = false; if (CheckAndSetValidLidarTarget(ref commsLidarTarget, ref refWorldMatrix)) { TransitToFullLock(); } } else if (shipRefFwd != null) { if (PerformPreLock(shipRefLidars, shipRefFwd, fwdIsTurret)) { TransitToFullLock(); } } } if (targetPositionSet) { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } } else if (subMode == 1) //Lidar Homing { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (nextLidarTriggerTicks <= clock || commsLidarTargetSet) { bool targetFound = false; double overshootDistance = targetRadius / 2; if (commsLidarTargetSet) { commsLidarTargetSet = false; CheckAndUpdateLidarTarget(ref commsLidarTarget, ref targetFound); } else if (shipRefFwd != null) { MatrixD shipRefWorldMatrix = shipRefFwd.WorldMatrix; Vector3D lidarPosition = (useOffsetRaycasting ? targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation) : targetPosition); IMyCameraBlock aimLidar = GetLidarAndRecountTicks(shipRefLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref shipRefWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); } if (!targetFound && !useOffsetRaycasting) { lidarPosition = targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation); aimLidar = GetLidarAndRecountTicks(shipRefLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref shipRefWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); if (targetFound) { useOffsetRaycasting = true; } } } } } } targetPositionSet = targetFound; } if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } PerformCommonOperations(); } else if (mode == 8 || mode == 9 || mode == 5) //Turret AI Homing { if (subMode == 0) //Initialization { if (mode == 5) { if (shipRefTurrets.Count > 0) { homingTurret = shipRefTurrets[0]; subCounter = 0; subMode = 1; } } else if (homingTurret != null) { homingTurret.EnableIdleRotation = false; homingTurret.SetValueFloat("Range", homingTurret.GetMaximum<float>("Range")); homingTurret.Enabled = true; if (refFwdVector.Sum == 0) { targetPosition = refWorldMatrix.Translation + (refWorldMatrix.Forward * 1000000); } else { targetPosition = refFwdPosition + (refFwdVector * 1000000); } subCounter = 0; subMode = 1; } } else if (subMode == 1) //Seeking For Target { if (mode == 5) { for (int i = 0; i < shipRefTurrets.Count; i++) { if (shipRefTurrets[i].HasTarget) { homingTurret = shipRefTurrets[i]; break; } } } if (homingTurret.HasTarget) { SetHomingTurretLidarTarget(); offsetTargetPosition = offsetRaycastPosition = Vector3D.Zero; if (IsNotEmpty(missileTriggerCommands)) { ExecuteTriggerCommand(missileTriggerCommands); } subCounter = 0; subMode = 2; } else if (mode == 9) { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); } SetCameraGuidanceParameters(); } } else if (subMode == 2) //Turret Target Locked { if (switchTurretToRaycast) { PerformLidarLogic(); if (!targetPositionSet && homingTurret.HasTarget) { SetHomingTurretLidarTarget(); } } else { if (homingTurret.HasTarget) { SetHomingTurretLidarTarget(); } else { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); } } } PerformCommonOperations(); } if (statusDisplay != null) { if (mode == -2) { DisplayStatus("Idle"); } else if (mode == -1) { DisplayStatus("Launching"); } else if (mode == 0 || mode == 1 || mode == 7) { if (subMode == 0) { DisplayStatus("Initial Lock"); } else if (subMode == 1) { DisplayStatus((targetPositionSet ? "Lock" : "Trace") + ": [" + Math.Round(targetPosition.GetDim(0), 2) + "," + Math.Round(targetPosition.GetDim(1), 2) + "," + Math.Round(targetPosition.GetDim(2), 2) + "]"); } else { DisplayStatus("-"); } } else if (mode == 2) { if (subMode == 0) { DisplayStatus("Initial Camera Lock"); } else if (subMode == 1) { DisplayStatus((targetPositionSet ? "Lock" : "Trace") + ": [" + Math.Round(targetPosition.GetDim(0), 2) + "," + Math.Round(targetPosition.GetDim(1), 2) + "," + Math.Round(targetPosition.GetDim(2), 2) + "]"); } else { DisplayStatus("-"); } } else if (mode == 3) { DisplayStatus("Camera"); } else if (mode == 4) { DisplayStatus("Cruise: [" + Math.Round(targetPosition.GetDim(0), 2) + "," + Math.Round(targetPosition.GetDim(1), 2) + "," + Math.Round(targetPosition.GetDim(2), 2) + "]"); } else if (mode == 6) { DisplayStatus("Fixed Glide"); } else if (mode == 5 || mode == 8 || mode == 9) { if (subMode == 2) { DisplayStatus("Turret Locked"); } else if (subMode == 0 || subMode == 1) { DisplayStatus("Initial Lock"); } else { DisplayStatus("-"); } } else { DisplayStatus("-"); } } if (outputMissileStatus) { string statusCode; switch (mode) { case -2: statusCode = "-"; break; case -1: statusCode = (waitForHomingTrigger ? "W" : (subCounter > 0 ? "F" : "K")); break; case 0: case 1: case 5: case 7: statusCode = (subMode == 0 ? "K" : (targetPositionSet ? "L" : "T")); break; case 2: statusCode = (subMode == 0 ? "C" : (targetPositionSet ? "L" : "T")); break; case 3: statusCode = "C"; break; case 4: statusCode = "D"; break; case 6: statusCode = "G"; break; case 8: statusCode = (subMode == 2 ? "U" : "K"); break; default: statusCode = "-"; break; } Echo("ST:" + mode + ":" + subMode + ":" + (waitForHomingTrigger ? 0 : subCounter) + ":" + clock + ":" + statusCode + ":" + Math.Round(targetPosition.GetDim(0), 5) + ":" + Math.Round(targetPosition.GetDim(1), 5) + ":" + Math.Round(targetPosition.GetDim(2), 5) + ":" + Math.Round(targetRadius, 5) + ":"); } } //------------------------------ Miscellaneous Methods ------------------------------ void DisplayStatus(string statusMsg) { if (statusDisplay != null) { statusDisplay.CustomName = strStatusDisplayPrefix + " Mode: " + mode + ", " + statusMsg; } } void TriggerLockAlert() { if (alertBlock != null) { if (alertBlock.HasAction(strLockTriggerAction)) { alertBlock.ApplyAction(strLockTriggerAction); } } } Vector3D GetMissileMidPoint() { return (Me.CubeGrid.GridIntegerToWorld(Me.CubeGrid.Min) + Me.CubeGrid.GridIntegerToWorld(Me.CubeGrid.Max)) / 2; } Vector3D GetFlyStraightVector() { return (shipVelocity * 1000000) + midPoint; } bool IsNotEmpty(string line) { return (line != null && line.Length > 0); } bool NameContains(IMyTerminalBlock block, string nameTag) { return (block.CustomName.IndexOf(nameTag, StringComparison.OrdinalIgnoreCase) > -1); } //------------------------------ Missile And Target Information Methods ------------------------------ void CalculateParameters() { //---------- Calculate Missile Related Variables ---------- refWorldMatrix = refFwdBlock.WorldMatrix; if (refFwdReverse) { refWorldMatrix.Forward = refWorldMatrix.Backward; refWorldMatrix.Left = refWorldMatrix.Right; } refViewMatrixUnclean4thCol = MatrixD.Transpose(refWorldMatrix); if (remoteControl != null) { MyShipVelocities velocity = remoteControl.GetShipVelocities(); midPoint = remoteControl.CenterOfMass; shipVelocity = velocity.LinearVelocity; speed = shipVelocity.Length(); naturalGravity = remoteControl.GetNaturalGravity(); naturalGravityLength = naturalGravity.Length(); naturalGravity = (naturalGravityLength > 0 ? naturalGravity / naturalGravityLength : Vector3D.Zero); rpm = Math.Abs(velocity.AngularVelocity.Dot(refWorldMatrix.Forward)) * MathHelper.RadiansPerSecondToRPM; } else { midPoint = GetMissileMidPoint(); shipVelocity = (midPoint - lastMidPoint) * SECOND; speed = shipVelocity.Length(); lastMidPoint = midPoint; naturalGravity = shipVelocity; naturalGravityLength = naturalGravity.Length(); naturalGravity = (naturalGravityLength > 0 ? naturalGravity / naturalGravityLength : Vector3D.Zero); rpm = Math.Acos(lastNormal.Dot(refWorldMatrix.Up)) * RPM_FACTOR; lastNormal = refWorldMatrix.Up; } } void CalculateTargetInfo() { if (targetPositionSet) { double deltaTimeRS = SECOND / (clock - lastTargetPositionClock); Vector3D prevVelocity = targetDirection * targetSpeed; targetDirection = targetPosition - lastTargetPosition; targetSpeed = targetDirection.Length(); if (targetSpeed > 0) { targetDirection = targetDirection / targetSpeed; targetSpeed = targetSpeed * deltaTimeRS; } targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * deltaTimeRS; lastTargetPosition = targetPosition; lastTargetPositionClock = clock; targetPositionSet = false; } else { targetPosition = lastTargetPosition + ((targetDirection * targetSpeed) / SECOND * (clock - lastTargetPositionClock)); } } void SetCameraGuidanceParameters() { Vector3D shipToMissileVector = midPoint - refFwdPosition; Vector3D viewLineToMissileVector = Vector3D.Reject(shipToMissileVector, refFwdVector); double extraDistanceExtend = (speed * 2) + (shipToMissileVector - viewLineToMissileVector).Length(); targetPosition = refFwdPosition + (refFwdVector * extraDistanceExtend); } void CalculateNavigationParameters() { Vector3D rangeVector = targetPosition - midPoint; Vector3D velocityVector = (targetDirection * targetSpeed) - shipVelocity; Vector3D accelerationVector = targetAcceleration; if (refDwdBlock == null && naturalGravityLength > 0.1 && boolCompensateDampener) { accelerationVector -= naturalGravity * naturalGravityLength; } double missileAcceleration = CalculateThrustAcceleration(); double a = 0.25 * (accelerationVector.LengthSquared() - (missileAcceleration * missileAcceleration)); double b = accelerationVector.Dot(velocityVector); double c = accelerationVector.Dot(rangeVector) + velocityVector.Dot(velocityVector); double d = 2 * rangeVector.Dot(velocityVector); double e = rangeVector.Dot(rangeVector); double t = FastSolver.Solve(a, b, c, d, e); if (t == double.MaxValue) t = 1000; distToTarget = rangeVector.Length(); Vector3D interceptPoint = targetPosition + (velocityVector * t) + (0.5 * accelerationVector * t * t); targetVector = Vector3D.Normalize(interceptPoint - midPoint); targetVector = Vector3D.TransformNormal(targetVector, refViewMatrixUnclean4thCol); targetVector.Normalize(); } double CalculateThrustAcceleration() { if (nextAccelRecountTicks <= clock) { nextAccelRecountTicks = clock + MIN_ACCEL_RECOUNT_TICKS; if (remoteControl == null) { thrustAcceleration = MIN_THRUST_ACCELERATION; } else { float totalThrust = 0; foreach (IMyThrust thruster in fwdThrusters) { totalThrust += thruster.MaxEffectiveThrust; } thrustAcceleration = totalThrust / remoteControl.CalculateShipMass().TotalMass; if (double.IsNaN(thrustAcceleration) || double.IsInfinity(thrustAcceleration) || thrustAcceleration < MIN_THRUST_ACCELERATION) { thrustAcceleration = MIN_THRUST_ACCELERATION; } } } return thrustAcceleration * THRUST_ESTIMATE_FACTOR; } Vector3D CalculateTurretViewVector(IMyLargeTurretBase turret) { Vector3D direction; Vector3D.CreateFromAzimuthAndElevation(turret.Azimuth, turret.Elevation, out direction); return Vector3D.TransformNormal(direction, turret.WorldMatrix); } Vector3D[] SpreadRaycastPoint(ref Vector3D targetPoint, ref Vector3D forwardVector, float distance, int lidarCount) { Vector3D[] refPoints; if (lidarCount > 1) { if (raycastAheadCount > 0) { lidarAimChangeVector = (forwardVector * distance) - lidarLastForward; lidarAimChangeVector = lidarAimChangeVector / (clock - lidarLastForwardClock) * SECOND * raycastAheadSeconds / raycastAheadCount; lidarLastForward = (forwardVector * distance); lidarLastForwardClock = clock; refPoints = new Vector3D[lidarCount]; for (int i = 0; i < lidarCount; i++) { refPoints[i] = targetPoint + (lidarAimChangeVector * i); } } else { MatrixD matrix = MatrixD.CreateFromDir(forwardVector); refPoints = new Vector3D[5] { targetPoint, targetPoint + (matrix.Up * fivePointInitialLockDist), targetPoint + (matrix.Up * -fivePointInitialLockDist), targetPoint + (matrix.Left * fivePointInitialLockDist), targetPoint + (matrix.Left * -fivePointInitialLockDist) }; } } else { refPoints = new Vector3D[1] { targetPoint }; } return refPoints; } //------------------------------ Missile Lock-On And Leading Methods ------------------------------ bool PerformPreLock(List<IMyCameraBlock> lidars, IMyTerminalBlock refFwd, bool isTurret) { MatrixD worldMatrix = refFwd.WorldMatrix; Vector3D fwdVector = (isTurret ? CalculateTurretViewVector(refFwd as IMyLargeTurretBase) : worldMatrix.Forward); Vector3D targetPoint = worldMatrix.Translation + (fwdVector * LIDAR_MAX_LOCK_DISTANCE); return PerformPreLock(lidars, ref worldMatrix, ref fwdVector, ref targetPoint); } bool PerformPreLock(List<IMyCameraBlock> lidars, ref MatrixD worldMatrix, ref Vector3D fwdVector, ref Vector3D targetPoint) { if (lidarTargetInfo.IsEmpty()) { int lidarCount = raycastAheadCount > 0 ? raycastAheadCount + 1 : (fivePointInitialLockDist > 0 ? 5 : 1); List<IMyCameraBlock> aimLidars = GetLidarsAndRecountTicks(lidars, ref targetPoint, 0, lidarStaggerIndex++, lidarCount, ref worldMatrix); if (aimLidars.Count > 0) { if (aimLidars.Count < lidarCount) { lidarCount = 1; } Vector3D[] refPoints = SpreadRaycastPoint(ref targetPoint, ref fwdVector, LIDAR_MAX_LOCK_DISTANCE, lidarCount); for (int i = 0; i < lidarCount; i++) { MyDetectedEntityInfo entityInfo = aimLidars[i].Raycast(refPoints[i]); if (!entityInfo.IsEmpty()) { if (CheckAndSetValidLidarTarget(ref entityInfo, ref worldMatrix)) { return true; } } } } } else { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); double overshootDistance = targetRadius / 2; IMyCameraBlock aimLidar = GetLidarAndRecountTicks(lidars, ref targetPosition, overshootDistance, lidarStaggerIndex++, ref worldMatrix); if (aimLidar != null) { MyDetectedEntityInfo entityInfo = aimLidar.Raycast(targetPoint); if (!entityInfo.IsEmpty()) { if (CheckAndSetValidLidarTarget(ref entityInfo, ref worldMatrix)) { return true; } else { lidarTargetInfo = new MyDetectedEntityInfo(); targetPositionSet = false; } } } } return false; } void PerformLidarLogic() { targetPosition = lidarTargetInfo.Position + (lidarTargetInfo.Velocity / SECOND * (clock - lastTargetPositionClock)); if (nextLidarTriggerTicks <= clock) { bool targetFound = false; double overshootDistance = targetRadius / 2; Vector3D lidarPosition = (useOffsetRaycasting ? targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation) : targetPosition); IMyCameraBlock aimLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); MyDetectedEntityInfo entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); } if (!targetFound && !useOffsetRaycasting) { lidarPosition = targetPosition + Vector3D.TransformNormal(offsetRaycastPosition, lidarTargetInfo.Orientation); aimLidar = GetLidarAndRecountTicks(missileLidars, ref lidarPosition, overshootDistance, lidarStaggerIndex++, ref refWorldMatrix); if (aimLidar != null) { lidarPosition += (Vector3D.Normalize(lidarPosition - aimLidar.GetPosition()) * overshootDistance); entityInfo = aimLidar.Raycast(lidarPosition); if (!entityInfo.IsEmpty()) { CheckAndUpdateLidarTarget(ref entityInfo, ref targetFound); if (targetFound) { useOffsetRaycasting = true; } } } } } targetPositionSet = targetFound; } if (useOffsetTargeting) { targetPosition += Vector3D.TransformNormal(offsetTargetPosition, lidarTargetInfo.Orientation); } } bool CheckAndSetValidLidarTarget(ref MyDetectedEntityInfo entityInfo, ref MatrixD shipRefWorldMatrix) { if (IsValidLidarTarget(ref entityInfo, ref shipRefWorldMatrix)) { double deltaTimeRS = SECOND / (clock - lastTargetPositionClock); Vector3D prevVelocity = targetDirection * targetSpeed; distToTarget = Vector3D.Distance(entityInfo.Position, refWorldMatrix.Translation); targetSpeed = entityInfo.Velocity.Length(); targetDirection = (targetSpeed > 0 ? new Vector3D(entityInfo.Velocity) / targetSpeed : new Vector3D()); targetRadius = Vector3D.Distance(entityInfo.BoundingBox.Min, entityInfo.BoundingBox.Max); targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * deltaTimeRS; if (entityInfo.HitPosition.HasValue) { offsetTargetPosition = offsetRaycastPosition = Vector3D.TransformNormal(entityInfo.HitPosition.Value - entityInfo.Position, MatrixD.Transpose(entityInfo.Orientation)); } else { offsetTargetPosition = offsetRaycastPosition = Vector3D.Zero; } lidarTargetInfo = entityInfo; lastTargetPositionClock = clock; targetPosition = entityInfo.Position; targetPositionSet = true; return true; } else { return false; } } void CheckAndUpdateLidarTarget(ref MyDetectedEntityInfo entityInfo, ref bool targetFound) { if (entityInfo.EntityId == lidarTargetInfo.EntityId) { double deltaTimeRS = SECOND / (clock - lastTargetPositionClock); Vector3D prevVelocity = targetDirection * targetSpeed; distToTarget = Vector3D.Distance(entityInfo.Position, refWorldMatrix.Translation); targetSpeed = entityInfo.Velocity.Length(); targetDirection = (targetSpeed > 0 ? new Vector3D(entityInfo.Velocity) / targetSpeed : new Vector3D()); targetRadius = Vector3D.Distance(entityInfo.BoundingBox.Min, entityInfo.BoundingBox.Max); targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * deltaTimeRS; if (useOffsetRaycasting && entityInfo.HitPosition.HasValue) { offsetRaycastPosition = Vector3D.TransformNormal(entityInfo.HitPosition.Value - entityInfo.Position, MatrixD.Transpose(entityInfo.Orientation)); } lidarTargetInfo = entityInfo; lastTargetPositionClock = clock; targetPosition = entityInfo.Position; targetFound = true; } } void SetHomingTurretLidarTarget() { MyDetectedEntityInfo entityInfo = homingTurret.GetTargetedEntity(); Vector3D prevVelocity = targetDirection * targetSpeed; distToTarget = Vector3D.Distance(entityInfo.Position, refWorldMatrix.Translation); targetSpeed = entityInfo.Velocity.Length(); targetDirection = (targetSpeed > 0 ? new Vector3D(entityInfo.Velocity) / targetSpeed : new Vector3D()); targetAcceleration = ((targetDirection * targetSpeed) - prevVelocity) * SECOND; lidarTargetInfo = entityInfo; lastTargetPositionClock = clock; targetPosition = entityInfo.Position; targetPositionSet = true; } void TransitToFullLock() { TriggerLockAlert(); if (IsNotEmpty(missileTriggerCommands)) { ExecuteTriggerCommand(missileTriggerCommands); } nextLidarRecountTicks = clock; subCounter = 0; subMode = 1; } void PerformCommonOperations() { CalculateNavigationParameters(); AimAtTarget(); if (adjustThrustBasedOnAim) { AdjustThrustBasedOnAim(); } if (boolNaturalDampener) { AimAtNaturalGravity(); } if (haveTriggerCommands) { ProcessTriggerCommands(); } if (hasProximitySensors) { CheckProximitySensors(); } } List<IMyCameraBlock> GetAvailableLidars(List<IMyCameraBlock> lidars, ref Vector3D aimPoint, double overshootDistance, int indexOffset, int lidarCount) { List<IMyCameraBlock> result = new List<IMyCameraBlock>(lidarCount); for (int i = 0; i < lidars.Count; i++) { IMyCameraBlock lidar = lidars[(i + indexOffset) % lidars.Count]; Vector3D adjustedAimPoint; if (overshootDistance == 0) { adjustedAimPoint = aimPoint; } else { Vector3D aimVector = aimPoint - lidar.WorldMatrix.Translation; double distance = aimVector.Length(); adjustedAimPoint = aimPoint + (aimVector / distance * overshootDistance); } if (lidar.IsWorking && lidar.CanScan(adjustedAimPoint)) { result.Add(lidar); if (result.Count >= lidarCount) break; } } return result; } IMyCameraBlock GetLidarAndRecountTicks(List<IMyCameraBlock> lidars, ref Vector3D aimPoint, double overshootDistance, int indexOffset, ref MatrixD recountRefMatrix) { List<IMyCameraBlock> result = GetLidarsAndRecountTicks(lidars, ref aimPoint, overshootDistance, indexOffset, 1, ref recountRefMatrix); return (result.Count > 0 ? result[0] : null); } List<IMyCameraBlock> GetLidarsAndRecountTicks(List<IMyCameraBlock> lidars, ref Vector3D aimPoint, double overshootDistance, int indexOffset, int count, ref MatrixD recountRefMatrix) { List<IMyCameraBlock> result; if (nextLidarRecountTicks <= clock) { result = GetAvailableLidars(lidars, ref aimPoint, overshootDistance, indexOffset, lidars.Count); ticksFactor = ticksRatio / (Math.Max((float)result.Count / (count > 1 ? 2 : 1), 1) * LIDAR_REFRESH_CALC_FACTOR); nextLidarRecountTicks = clock + MIN_LIDAR_RECOUNT_TICKS; if (result.Count > count) { result = result.GetRange(0, count); } } else { result = GetAvailableLidars(lidars, ref aimPoint, overshootDistance, indexOffset, count); } if (result.Count >= (count > 1 ? 2 : 1)) { RecountLidarTicks(Vector3D.Distance(aimPoint, recountRefMatrix.Translation) + overshootDistance, ticksFactor); } return result; } void RecountLidarTicks(double distance, double factor) { if (LIDAR_REFRESH_INTERVAL == 0) { nextLidarTriggerTicks = clock + (int)Math.Ceiling(distance * factor); } else { nextLidarTriggerTicks = clock + LIDAR_REFRESH_INTERVAL; } } bool IsValidLidarTarget(ref MyDetectedEntityInfo entityInfo, ref MatrixD referenceWorldMatrix) { if (entityInfo.Type == MyDetectedEntityType.LargeGrid || entityInfo.Type == MyDetectedEntityType.SmallGrid) { if (Vector3D.Distance(entityInfo.Position, referenceWorldMatrix.Translation) > LIDAR_MIN_LOCK_DISTANCE) { if (!excludeFriendly || IsNotFriendly(entityInfo.Relationship)) { if (notMissile == null || (entityInfo.Position - ComputeBlockGridMidPoint(notMissile)).Length() > notMissileRadius) { if ((entityInfo.Position - referenceWorldMatrix.Translation).Length() >= LIDAR_MIN_LOCK_DISTANCE && (GetMissileMidPoint() - entityInfo.Position).Length() >= 1) { return true; } } } } } return false; } bool IsValidProximityTarget(ref MyDetectedEntityInfo detected) { bool matchAll = (!isLidarMode && lidarTargetInfo.EntityId <= 0); if (detected.EntityId > 0 && (matchAll || lidarTargetInfo.EntityId == detected.EntityId)) { if (!excludeFriendly || IsNotFriendly(detected.Relationship)) { return true; } } return false; } bool IsNotFriendly(MyRelationsBetweenPlayerAndBlock relationship) { return (relationship != MyRelationsBetweenPlayerAndBlock.FactionShare && relationship != MyRelationsBetweenPlayerAndBlock.Owner); } //------------------------------ Missile Aiming Methods ------------------------------ int GetMultiplierSign(double value) { return (value < 0 ? -1 : 1); } void AimAtTarget() { //---------- Activate Gyroscopes To Turn Towards Target ---------- Vector3D yawVector = new Vector3D(targetVector.GetDim(0), 0, targetVector.GetDim(2)); Vector3D pitchVector = new Vector3D(0, targetVector.GetDim(1), targetVector.GetDim(2)); yawVector.Normalize(); pitchVector.Normalize(); //This is NOT True Azimuth and Elevation. Pitch can be more than 90 degrees for improved oversteer. double yawInput = Math.Acos(yawVector.Dot(Vector3D.Forward)) * GetMultiplierSign(targetVector.GetDim(0)); double pitchInput = Math.Acos(pitchVector.Dot(Vector3D.Forward)) * GetMultiplierSign(targetVector.GetDim(1)); //---------- PID Controller Adjustment ---------- if (double.IsNaN(yawInput)) yawInput = 0; if (double.IsNaN(pitchInput)) pitchInput = 0; yawInput = yawController.Filter(yawInput, 2); pitchInput = pitchController.Filter(pitchInput, 2); if (Math.Abs(yawInput) + Math.Abs(pitchInput) > AIM_LIMIT) { double adjust = AIM_LIMIT / (Math.Abs(yawInput) + Math.Abs(pitchInput)); yawInput *= adjust; pitchInput *= adjust; } //---------- Set Gyroscope Parameters ---------- gyroControl.SetGyroYaw((float)yawInput); gyroControl.SetGyroPitch((float)pitchInput); } void AimAtNaturalGravity() { //---------- Activate Gyroscopes To Aim Dampener At Natural Gravity ---------- if (refDwdBlock == null || naturalGravityLength < 0.01) { return; } MatrixD dampenerLookAtMatrix = MatrixD.CreateLookAt(Vector3D.Zero, refDwdBlock.WorldMatrix.Forward, refWorldMatrix.Forward); Vector3D gravityVector = Vector3D.TransformNormal(naturalGravity, dampenerLookAtMatrix); gravityVector.SetDim(1, 0); gravityVector.Normalize(); double rollInput = Math.Acos(gravityVector.Dot(Vector3D.Forward)) * GetMultiplierSign(gravityVector.GetDim(0)); //---------- PID Controller Adjustment ---------- if (double.IsNaN(rollInput)) rollInput = 0; rollInput = rollController.Filter(rollInput, 2); //---------- Set Gyroscope Parameters ---------- gyroControl.SetGyroRoll((float)rollInput); } void AdjustThrustBasedOnAim() { double dot = Vector3D.Forward.Dot(targetVector); if (dot > 0.707) { if (adjustThrustState != 0) { FireThrusters(fwdThrusters, true); adjustThrustState = 0; } } else if (dot <= 0) { if (adjustThrustState != 2) { FireThrusters(fwdThrusters, false); adjustThrustState = 2; } } else { AdjustThrusters(fwdThrusters, (float)(dot * 1.414)); adjustThrustState = 1; } } //------------------------------ Missile Separation Methods ------------------------------ IMyTerminalBlock GetDetachGridBlock() { switch (missileDetachPortType) { case 0: case 3: return GetClosestBlockFromReference(GetDetachBlocks<IMyShipMergeBlock>(), Me, true); case 1: case 4: List<IMyTerminalBlock> blocks = GetDetachBlocks<IMyMotorBase>(); for (int i = 0; i < blocks.Count; i++) { IMyCubeGrid grid = ((IMyMotorBase)blocks[i]).TopGrid; if (grid != null && grid == Me.CubeGrid) return blocks[i]; } return null; case 2: return GetClosestBlockFromReference(GetDetachBlocks<IMyShipConnector>(), Me, true); default: return null; } } bool DetachFromGrid() { switch (missileDetachPortType) { case 0: case 3: if (detachBlock == null) { Echo("Error: Missing Merge Block" + (IsNotEmpty(strDetachPortTag) ? " with tag " + strDetachPortTag : "") + " to detach."); return false; } detachBlockType = 0; ((IMyShipMergeBlock)detachBlock).Enabled = false; return true; case 1: case 4: if (detachBlock == null) { Echo("Error: Missing Rotor" + (IsNotEmpty(strDetachPortTag) ? " with tag " + strDetachPortTag : "") + " to detach."); return false; } detachBlockType = 1; ((IMyMotorBase)detachBlock).Detach(); return true; case 2: if (detachBlock == null) { Echo("Error: Missing Connector" + (IsNotEmpty(strDetachPortTag) ? " with tag " + strDetachPortTag : "") + " to detach."); return false; } detachBlockType = 2; ((IMyShipConnector)detachBlock).Disconnect(); return true; case 99: return true; default: Echo("Error: Unknown missileDetachPortType - " + missileDetachPortType + "."); return false; } } List<IMyTerminalBlock> GetDetachBlocks<T>() where T: class, IMyTerminalBlock { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); IMyBlockGroup group = (IsNotEmpty(strDetachBlockGroup) ? GridTerminalSystem.GetBlockGroupWithName(strDetachBlockGroup) : null); if (group == null) { if (IsNotEmpty(strDetachPortTag)) { GridTerminalSystem.GetBlocksOfType<T>(blocks, MatchDetachPortTag); } else { GridTerminalSystem.GetBlocksOfType<T>(blocks); } } else { if (IsNotEmpty(strDetachPortTag)) { group.GetBlocksOfType<T>(blocks, MatchDetachPortTag); } else { group.GetBlocksOfType<T>(blocks); } } return blocks; } bool MatchDetachPortTag(IMyTerminalBlock block) { return (block.CustomName.IndexOf(strDetachPortTag, StringComparison.OrdinalIgnoreCase) > -1); } IMyTerminalBlock GetClosestBlockFromReference(List<IMyTerminalBlock> checkBlocks, IMyTerminalBlock referenceBlock, bool sameGridCheck = false) { IMyTerminalBlock checkBlock = null; double prevCheckDistance = double.MaxValue; for (int i = 0; i < checkBlocks.Count; i++) { if (!sameGridCheck || checkBlocks[i].CubeGrid == referenceBlock.CubeGrid) { double currCheckDistance = (checkBlocks[i].GetPosition() - referenceBlock.GetPosition()).Length(); if (currCheckDistance < prevCheckDistance) { prevCheckDistance = currCheckDistance; checkBlock = checkBlocks[i]; } } } return checkBlock; } void DetachLockedConnectors() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.GetBlocksOfType<IMyShipConnector>(blocks); for (int i = 0; i < blocks.Count; i++) { if (blocks[i].CubeGrid == Me.CubeGrid) { IMyShipConnector otherConnector = ((IMyShipConnector)blocks[i]).OtherConnector; if (otherConnector == null || blocks[i].CubeGrid != otherConnector.CubeGrid) { blocks[i].ApplyAction("Unlock"); } } } } //------------------------------ String Parsing Methods ------------------------------ bool ParseMatrix(string[] tokens, out MatrixD parsedMatrix, int start = 0, bool isOrientation = false) { if (tokens.Length < start + (isOrientation ? 9 : 16)) { parsedMatrix = new MatrixD(); return false; } double v; double[] r = new double[isOrientation ? 9 : 16]; for (int i = start; i < start + r.Length; i++) { if (double.TryParse(tokens[i], out v)) { r[i] = v; } } if (isOrientation) { parsedMatrix = new MatrixD(r[0], r[1], r[2], r[3], r[4], r[5], r[6], r[7], r[8]); } else { parsedMatrix = new MatrixD(r[0], r[1], r[2], r[3], r[4], r[5], r[6], r[7], r[8], r[9], r[10], r[11], r[12], r[13], r[14], r[15]); } return true; } bool ParseVector(string[] tokens, out Vector3D parsedVector, int start = 0) { parsedVector = new Vector3D(); if (tokens.Length < start + 3) { return false; } double result; if (double.TryParse(tokens[start], out result)) { parsedVector.SetDim(0, result); } else { return false; } if (double.TryParse(tokens[start + 1], out result)) { parsedVector.SetDim(1, result); } else { return false; } if (double.TryParse(tokens[start + 2], out result)) { parsedVector.SetDim(2, result); } else { return false; } return true; } bool ParseCoordinates(string coordinates, out Vector3D parsedVector) { parsedVector = new Vector3D(); coordinates = coordinates.Trim(); double result; string[] tokens = coordinates.Split(':'); if (coordinates.StartsWith("GPS") && tokens.Length >= 5) { if (double.TryParse(tokens[2], out result)) { parsedVector.SetDim(0, result); } else { return false; } if (double.TryParse(tokens[3], out result)) { parsedVector.SetDim(1, result); } else { return false; } if (double.TryParse(tokens[4], out result)) { parsedVector.SetDim(2, result); } else { return false; } return true; } else if (coordinates.StartsWith("[T:") && tokens.Length >= 4) { if (double.TryParse(tokens[1], out result)) { parsedVector.SetDim(0, result); } else { return false; } if (double.TryParse(tokens[2], out result)) { parsedVector.SetDim(1, result); } else { return false; } if (double.TryParse(tokens[3].Substring(0, tokens[3].Length - 1), out result)) { parsedVector.SetDim(2, result); } else { return false; } return true; } else { return false; } } //------------------------------ Command Processing Methods ------------------------------ void ProcessCustomConfiguration() { CustomConfiguration cfg = new CustomConfiguration(Me); cfg.Load(); cfg.Get("missileLaunchType", ref missileLaunchType); cfg.Get("missileDetachPortType", ref missileDetachPortType); cfg.Get("spinAmount", ref spinAmount); cfg.Get("verticalTakeoff", ref verticalTakeoff); cfg.Get("excludeFriendly", ref excludeFriendly); cfg.Get("adjustThrustBasedOnAim", ref adjustThrustBasedOnAim); cfg.Get("waitForHomingTrigger", ref waitForHomingTrigger); cfg.Get("enableMissileCommand", ref enableMissileCommand); cfg.Get("fivePointInitialLockDist", ref fivePointInitialLockDist); cfg.Get("raycastAheadCount", ref raycastAheadCount); cfg.Get("raycastAheadSeconds", ref raycastAheadSeconds); cfg.Get("useOffsetTargeting", ref useOffsetTargeting); //cfg.Get("useOffsetRaycasting", ref useOffsetRaycasting); cfg.Get("switchTurretToRaycast", ref switchTurretToRaycast); cfg.Get("missileId", ref missileId); cfg.Get("missileGroup", ref missileGroup); cfg.Get("allowedSenderId", ref allowedSenderId); cfg.Get("strShipRefLidar", ref strShipRefLidar); cfg.Get("strShipRefBlockGroup", ref strShipRefBlockGroup); cfg.Get("strDetachBlockGroup", ref strDetachBlockGroup); cfg.Get("strShipRefForward", ref strShipRefFwd); cfg.Get("strShipRefTargetPanel", ref strShipRefPanel); cfg.Get("strShipRefTurrets", ref strShipRefTurrets); cfg.Get("strShipRefNotMissileTag", ref strShipRefNotMissileTag); cfg.Get("missileActivationCommands", ref missileActivationCommands); cfg.Get("missileTriggerCommands", ref missileTriggerCommands); cfg.Get("proximityTriggerCommands", ref proximityTriggerCommands); cfg.Get("failunsafeTriggerCommands", ref failunsafeTriggerCommands); cfg.Get("strGyroscopesTag", ref strGyroscopesTag); cfg.Get("strThrustersTag", ref strThrustersTag); cfg.Get("strDetachPortTag", ref strDetachPortTag); cfg.Get("strDirectionRefBlockTag", ref strDirectionRefBlockTag); cfg.Get("strProximitySensorTag", ref strProximitySensorTag); cfg.Get("strLockTriggerBlockTag", ref strLockTriggerBlockTag); cfg.Get("strLockTriggerAction", ref strLockTriggerAction); cfg.Get("strStatusDisplayPrefix", ref strStatusDisplayPrefix); cfg.Get("launchSeconds", ref launchSeconds); cfg.Get("boolNaturalDampener", ref boolNaturalDampener); cfg.Get("LIDAR_MIN_LOCK_DISTANCE", ref LIDAR_MIN_LOCK_DISTANCE); cfg.Get("LIDAR_MAX_LOCK_DISTANCE", ref LIDAR_MAX_LOCK_DISTANCE); cfg.Get("LIDAR_REFRESH_INTERVAL", ref LIDAR_REFRESH_INTERVAL); cfg.Get("LIDAR_REFRESH_CALC_FACTOR", ref LIDAR_REFRESH_CALC_FACTOR); cfg.Get("THRUST_ESTIMATE_FACTOR", ref THRUST_ESTIMATE_FACTOR); cfg.Get("AIM_P", ref AIM_P); cfg.Get("AIM_I", ref AIM_I); cfg.Get("AIM_D", ref AIM_D); cfg.Get("AIM_LIMIT", ref AIM_LIMIT); cfg.Get("INTEGRAL_WINDUP_UPPER_LIMIT", ref INTEGRAL_WINDUP_UPPER_LIMIT); cfg.Get("INTEGRAL_WINDUP_LOWER_LIMIT", ref INTEGRAL_WINDUP_LOWER_LIMIT); cfg.Get("MERGE_SEPARATE_WAIT_THRESHOLD", ref MERGE_SEPARATE_WAIT_THRESHOLD); cfg.Get("outputMissileStatus", ref outputMissileStatus); } void ProcessConfigurationCommand(string commandLine) { string[] keyValues = commandLine.Split(','); for (int i = 0; i < keyValues.Length; i++) { string[] tokens = keyValues[i].Trim().Split(':'); if (tokens.Length > 0) { ProcessSingleConfigCommand(tokens); } } } void ProcessSingleConfigCommand(string[] tokens) { string cmdToken = tokens[0].Trim().ToUpper(); if (cmdToken.Equals("MODE") && tokens.Length >= 2) { int modeValue; if (int.TryParse(tokens[1], out modeValue)) { missileLaunchType = modeValue; } } else if (cmdToken.Equals("R_LDR") && tokens.Length >= 2) { strShipRefLidar = tokens[1]; } else if (cmdToken.Equals("R_TAR") && tokens.Length >= 2) { strShipRefPanel = tokens[1]; } else if (cmdToken.Equals("R_FWD") && tokens.Length >= 2) { strShipRefFwd = tokens[1]; } else if (cmdToken.Equals("R_DES") && tokens.Length >= 2) { strShipRefTurrets = tokens[1]; } else if (cmdToken.Equals("V_LS") && tokens.Length >= 2) { double lsValue; if (double.TryParse(tokens[1], out lsValue)) { launchSeconds = lsValue; } } else if (cmdToken.Equals("V_DAMP") && tokens.Length >= 2) { bool dampenerValue; if (bool.TryParse(tokens[1], out dampenerValue)) { boolNaturalDampener = dampenerValue; } } else if (cmdToken.Equals("P_VT") && tokens.Length >= 2) { bool vtValue; if (bool.TryParse(tokens[1], out vtValue)) { verticalTakeoff = vtValue; } } else if (cmdToken.Equals("P_WFT") && tokens.Length >= 2) { bool wftValue; if (bool.TryParse(tokens[1], out wftValue)) { waitForHomingTrigger = wftValue; } } else if (cmdToken.Equals("P_EMC") && tokens.Length >= 2) { bool emcValue; if (bool.TryParse(tokens[1], out emcValue)) { enableMissileCommand = emcValue; } } else if (cmdToken.Equals("SPIN") && tokens.Length >= 2) { float spinValue; if (float.TryParse(tokens[1], out spinValue)) { spinAmount = spinValue * MathHelper.RPMToRadiansPerSecond; } } else if (cmdToken.Equals("CHECK") || cmdToken.Equals("CHECKMISSILE")) { subMode = 0; CheckMissile(); } else if (cmdToken.Equals("CHECKSHIP")) { subMode = 0; CheckLaunchingShip(); } } void ProcessTriggerCommands() { if (rpmTriggerList != null && rpmTriggerList.Count > 0) { int i = 0; while (i < rpmTriggerList.Count) { if (rpmTriggerList[i].Key <= rpm) { ProcessSingleMissileCommand(rpmTriggerList[i].Value); rpmTriggerList.RemoveAt(i); } else { i++; } } } if (distTriggerList != null && distTriggerList.Count > 0) { int i = 0; while (i < distTriggerList.Count) { if (distTriggerList[i].Key >= distToTarget) { ProcessSingleMissileCommand(distTriggerList[i].Value); distTriggerList.RemoveAt(i); } else { i++; } } } if (timeTriggerList != null && timeTriggerList.Count > 0) { int i = 0; while (i < timeTriggerList.Count) { if (timeTriggerList[i].Key <= clock) { ProcessSingleMissileCommand(timeTriggerList[i].Value); timeTriggerList.RemoveAt(i); } else { i++; } } } } void CheckProximitySensors() { int curfailunsafe = 0; for (int i = 0; i < proximitySensors.Count; i++) { ProximitySensor sensor = proximitySensors[i]; if (sensor.lidar == null) continue; double dist = sensor.distance; if (dist <= 0) { dist = speed / SECOND; } if (sensor.lidar.IsWorking && sensor.lidar.CanScan(dist)) { if (sensor.dmsrange > dist && sensor.lidar.CanScan(sensor.dmsrange)) { MyDetectedEntityInfo detected = sensor.lidar.Raycast(sensor.dmsrange, sensor.pitch, sensor.yaw); if (IsValidProximityTarget(ref detected)) { double raycastDist = Vector3D.Distance((detected.HitPosition.HasValue ? detected.HitPosition.Value : detected.Position), sensor.lidar.GetPosition()); if (raycastDist <= dist) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } if (detected.HitPosition.HasValue) { raycastDist = Vector3D.Distance(detected.Position, sensor.lidar.GetPosition()); } if (sensor.dmsActive) { if (raycastDist > sensor.dmsPrevDist) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } sensor.dmsPrevDist = raycastDist; } else { sensor.dmsPrevDist = raycastDist; sensor.dmsActive = true; } } else if (sensor.dmsActive) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } } else { MyDetectedEntityInfo detected = sensor.lidar.Raycast(dist, sensor.pitch, sensor.yaw); if (IsValidProximityTarget(ref detected)) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } } } else if (sensor.dmsActive) { ProcessMissileCommand(sensor.proximityTriggerCommands); sensor.lidar = null; return; } else if (sensor.failunsafe) { if (failunsafeGrpCnt > 0) { curfailunsafe++; } else { ProcessMissileCommand(sensor.failunsafeTriggerCommands); sensor.lidar = null; return; } } } if (failunsafeGrpCnt > 0 && curfailunsafe >= failunsafeGrpCnt) { string failunsafeCmd = null; for (int i = 0; i < proximitySensors.Count; i++) { ProximitySensor sensor = proximitySensors[i]; if (sensor.lidar != null && sensor.failasgroup && sensor.failunsafe) { failunsafeCmd = sensor.failunsafeTriggerCommands; sensor.lidar = null; } } if (failunsafeCmd != null) { ProcessMissileCommand(failunsafeCmd); return; } } } void ProcessCommunicationMessage(string message) { string[] msgTokens = message.Split(new char[] {'\r','\n'}, StringSplitOptions.RemoveEmptyEntries); for (int i = 0; i < msgTokens.Length; i++) { string msg = msgTokens[i]; string recipient; string sender; string options; //Not Supported Yet, For Future Use int start = msg.IndexOf("MSG;", 0, StringComparison.OrdinalIgnoreCase); if (start > -1) { start += 4; recipient = NextToken(msg, ref start, ';'); sender = NextToken(msg, ref start, ';'); options = NextToken(msg, ref start, ';'); if (IsValidRecipient(recipient) && IsValidSender(sender)) { if (msg.Length > start) { ProcessMissileCommand(msg.Substring(start)); } } } } } bool IsValidRecipient(string recipient) { if (recipient.Length == 0) { return true; } int code = (recipient[0] == '*' ? 1 : 0) + (recipient[recipient.Length - 1] == '*' ? 2 : 0); switch (code) { case 0: return missileId.Equals(recipient, StringComparison.OrdinalIgnoreCase) || (missileGroup != null && missileGroup.Equals(recipient, StringComparison.OrdinalIgnoreCase)); case 1: return missileId.EndsWith(recipient.Substring(1), StringComparison.OrdinalIgnoreCase) || (missileGroup != null && missileGroup.EndsWith(recipient.Substring(1), StringComparison.OrdinalIgnoreCase)); case 2: return missileId.StartsWith(recipient.Substring(0, recipient.Length - 1), StringComparison.OrdinalIgnoreCase) || (missileGroup != null && missileGroup.StartsWith(recipient.Substring(0, recipient.Length - 1), StringComparison.OrdinalIgnoreCase)); default: return (recipient.Length == 1) || (missileId.IndexOf(recipient.Substring(1, recipient.Length - 2), StringComparison.OrdinalIgnoreCase) > -1) || (missileGroup != null && (missileGroup.IndexOf(recipient.Substring(1, recipient.Length - 2), StringComparison.OrdinalIgnoreCase) > -1)); } } bool IsValidSender(string sender) { if (allowedSenderId == null || allowedSenderId.Length == 0) { return true; } int code = (allowedSenderId[0] == '*' ? 1 : 0) + (allowedSenderId[allowedSenderId.Length - 1] == '*' ? 2 : 0); switch (code) { case 0: return sender.Equals(allowedSenderId, StringComparison.OrdinalIgnoreCase); case 1: return sender.EndsWith(allowedSenderId.Substring(1), StringComparison.OrdinalIgnoreCase); case 2: return sender.StartsWith(allowedSenderId.Substring(0, allowedSenderId.Length - 1), StringComparison.OrdinalIgnoreCase); default: return (allowedSenderId.Length == 1) || (sender.IndexOf(allowedSenderId.Substring(1, allowedSenderId.Length - 2), StringComparison.OrdinalIgnoreCase) > -1); } } string NextToken(string line, ref int start, char delim) { if (line.Length > start) { int end = line.IndexOf(delim, start); if (end > -1) { string result = line.Substring(start, end - start); start = end + 1; return result; } } start = line.Length; return ""; } void ProcessMissileCommand(string commandLine) { string[] keyValues = commandLine.Split(','); for (int i = 0; i < keyValues.Length; i++) { string[] tokens = keyValues[i].Trim().Split(':'); if (tokens.Length > 0) { ProcessSingleMissileCommand(tokens); } } } void ProcessSingleMissileCommand(string[] tokens) { string cmdToken = tokens[0].Trim().ToUpper(); if (cmdToken.Equals("GPS")) { if (tokens.Length >= 4) { Vector3D parsedVector; if (ParseVector(tokens, out parsedVector, (tokens.Length == 4 ? 1 : 2))) { commsPosition = parsedVector; commsPositionSet = true; } } } else if (cmdToken.Equals("FWD")) { if (tokens.Length >= 4) { Vector3D parsedVector1; if (ParseVector(tokens, out parsedVector1, 1)) { Vector3D parsedVector2; if (tokens.Length >= 7) { if (!ParseVector(tokens, out parsedVector2, 4)) { parsedVector2 = new Vector3D(); } } else { parsedVector2 = new Vector3D(); } commsFwd = new RayD(parsedVector2, parsedVector1); commsFwdSet = true; } } } else if (cmdToken.Equals("LDR")) { if (tokens.Length >= 2) { long entityId; if (!long.TryParse(tokens[1], out entityId)) { entityId = -1; } Vector3D position; if (!(tokens.Length >= 5 && ParseVector(tokens, out position, 2))) { position = new Vector3D(); } Vector3D velocity; if (!(tokens.Length >= 8 && ParseVector(tokens, out velocity, 5))) { velocity = new Vector3D(); } Vector3D hitPosition; if (!(tokens.Length >= 11 && ParseVector(tokens, out hitPosition, 8))) { hitPosition = position; } Vector3D boxMin; if (!(tokens.Length >= 14 && ParseVector(tokens, out boxMin, 11))) { boxMin = position + new Vector3D(-1.25, -1.25, -1.25); } MatrixD orientation; if (!(tokens.Length >= 23 && ParseMatrix(tokens, out orientation, 14, true))) { orientation = new MatrixD(); } int value; MyDetectedEntityType targetType; if (!(tokens.Length >= 24 && !int.TryParse(tokens[23], out value))) { value = 3; } try { targetType = (MyDetectedEntityType)value; } catch { targetType = MyDetectedEntityType.LargeGrid; } MyRelationsBetweenPlayerAndBlock targetRelationship; if (!(tokens.Length >= 25 && !int.TryParse(tokens[24], out value))) { value = 3; } try { targetRelationship = (MyRelationsBetweenPlayerAndBlock)value; } catch { targetRelationship = MyRelationsBetweenPlayerAndBlock.Neutral; } long timestamp; if (!(tokens.Length >= 26 && !long.TryParse(tokens[25], out timestamp))) { timestamp = DateTime.Now.Ticks; } BoundingBoxD boundingBox = new BoundingBoxD(boxMin, position + position - boxMin); commsLidarTarget = new MyDetectedEntityInfo(entityId, (tokens.Length >= 27 ? tokens[26] : ""), targetType, hitPosition, orientation, velocity, targetRelationship, boundingBox, timestamp); commsLidarTargetSet = true; } } else if (cmdToken.Equals("LOCK")) { homingReleaseLock = true; } else if (cmdToken.Equals("ABORT")) { gyroControl.ZeroTurnGyro(); Runtime.UpdateFrequency = UpdateFrequency.None; mode = 99; } else if (cmdToken.Equals("SEVER")) { if (shipRefLidars != null) { shipRefLidars.Clear(); } shipRefFwd = null; shipRefPanel = null; enableMissileCommand = false; } else if (cmdToken.Equals("CRUISE")) { if (verticalTakeoff) { FireThrusters(launchThrusters, false); FireThrusters(fwdThrusters, true); } gyroControl.ResetGyro(); gyroControl.SetGyroOverride(true); if (spinAmount > 0) { gyroControl.SetGyroRoll(spinAmount); } lastTargetPosition = targetPosition = GetFlyStraightVector(); targetDirection = targetAcceleration = Vector3D.Zero; targetSpeed = 0; subCounter = 0; subMode = 0; mode = 4; } else if (cmdToken.Equals("GLIDE")) { if (verticalTakeoff) { FireThrusters(launchThrusters, false); FireThrusters(fwdThrusters, true); } gyroControl.ResetGyro(); gyroControl.SetGyroOverride(true); if (spinAmount > 0) { gyroControl.SetGyroRoll(spinAmount); } if (mode == -1) { refFwdPosition = midPoint; refFwdVector = Vector3D.Normalize(shipVelocity); refFwdSet = true; } else if (mode == 8 && homingTurret != null) { refFwdPosition = midPoint; refFwdVector = CalculateTurretViewVector(homingTurret); refFwdSet = true; } else if ((mode == 2 && subMode == 0) || (mode == 3)) { if (commsFwdSet) { commsFwdSet = false; refFwdPosition = commsFwd.Position; refFwdVector = commsFwd.Direction; refFwdSet = true; } else if (shipRefFwd != null) { refFwdPosition = shipRefFwd.WorldMatrix.Translation; refFwdVector = (fwdIsTurret ? CalculateTurretViewVector(shipRefFwd as IMyLargeTurretBase) : shipRefFwd.WorldMatrix.Forward); refFwdSet = true; } } else { refFwdPosition = midPoint; refFwdVector = Vector3D.Normalize(targetPosition - midPoint); refFwdSet = true; } targetDirection = targetAcceleration = Vector3D.Zero; targetSpeed = 0; subCounter = 0; subMode = 0; mode = 6; } else if (cmdToken.StartsWith("ACT") && tokens.Length >= 3) { char opCode = (cmdToken.Length >= 4 ? cmdToken[3] : 'B'); List<IMyTerminalBlock> triggerBlocks = null; switch (opCode) { case 'B': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 3); break; case 'P': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 1); break; case 'S': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 2); break; case 'W': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 0); break; } if (triggerBlocks != null) { for (int i = 0; i < triggerBlocks.Count; i++) { ITerminalAction action = triggerBlocks[i].GetActionWithName(tokens[2]); if (action != null) { action.Apply(triggerBlocks[i]); } } } } else if (cmdToken.StartsWith("SET") && tokens.Length >= 3) { char opCode = (cmdToken.Length >= 4 ? cmdToken[3] : 'B'); List<IMyTerminalBlock> triggerBlocks = null; switch (opCode) { case 'B': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 3); break; case 'P': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 1); break; case 'S': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 2); break; case 'W': triggerBlocks = GetBlocksWithName<IMyTerminalBlock>(tokens[1], 0); break; } char propCode = (cmdToken.Length >= 5 ? cmdToken[4] : 'P'); if (triggerBlocks != null) { for (int i = 0; i < triggerBlocks.Count; i++) { switch (propCode) { case 'P': triggerBlocks[i].SetValueFloat(tokens[2], float.Parse(tokens[3])); break; case 'B': triggerBlocks[i].SetValueBool(tokens[2], bool.Parse(tokens[3])); break; case 'D': triggerBlocks[i].SetValueFloat(tokens[2], (float)distToTarget / float.Parse(tokens[3])); break; case 'S': triggerBlocks[i].SetValueFloat(tokens[2], (float)speed / float.Parse(tokens[3])); break; case 'T': triggerBlocks[i].SetValueFloat(tokens[2], (float)(distToTarget / speed) / float.Parse(tokens[3])); break; case 'A': triggerBlocks[i].SetValueFloat(tokens[2], triggerBlocks[i].GetValueFloat(tokens[2]) + float.Parse(tokens[3])); break; case 'M': triggerBlocks[i].SetValueFloat(tokens[2], triggerBlocks[i].GetValueFloat(tokens[2]) * float.Parse(tokens[3])); break; } } } } else if (cmdToken.Equals("SPIN") && tokens.Length >= 1) { spinAmount = (tokens.Length >= 2 ? float.Parse(tokens[1]) : 30f) * MathHelper.RPMToRadiansPerSecond; gyroControl.SetGyroRoll(spinAmount); } } void ExecuteTriggerCommand(string commandLine) { int startIndex = commandLine.IndexOf('[') + 1; int endIndex = commandLine.LastIndexOf(']'); string command = (startIndex > 0 && endIndex > -1 ? commandLine.Substring(startIndex, endIndex - startIndex) : commandLine); string[] keyValues = command.Split(','); for (int i = 0; i < keyValues.Length; i++) { string[] tokens = keyValues[i].Trim().Split(':'); if (tokens.Length > 0) { string cmdToken = tokens[0].Trim(); bool resolved = false; if (cmdToken.Length == 3 && cmdToken.StartsWith("TG")) { int type; double value = 0; bool parsed = (tokens.Length >= 3 ? double.TryParse(tokens[1], out value) : false); switch (cmdToken[2]) { case 'R': type = 1; break; case 'D': type = 2; break; case 'E': type = 2; value = distToTarget - value; break; case 'V': type = 2; value += targetRadius; break; case 'T': type = 3; value = (value * SECOND) + clock; break; default: type = 0; break; } if (type > 0) { resolved = true; if (parsed) { string[] items = new string[tokens.Length - 2]; Array.Copy(tokens, 2, items, 0, items.Length); switch (type) { case 1: if (rpmTriggerList == null) rpmTriggerList = new List<KeyValuePair<double, string[]>>(); rpmTriggerList.Add(new KeyValuePair<double, string[]>(value, items)); break; case 2: if (distTriggerList == null) distTriggerList = new List<KeyValuePair<double, string[]>>(); distTriggerList.Add(new KeyValuePair<double, string[]>(value, items)); break; case 3: if (timeTriggerList == null) timeTriggerList = new List<KeyValuePair<int, string[]>>(); timeTriggerList.Add(new KeyValuePair<int, string[]>((int)value, items)); break; } haveTriggerCommands = true; } } } if (!resolved) { ProcessSingleMissileCommand(tokens); } } } } //------------------------------ Script Debugging Methods ------------------------------ void CheckMissile() { Echo("----- Missile Issues -----\n"); shipRefLidars = new List<IMyCameraBlock>(1); InitMissileBlocks(); InitMissileLidars(); InitGyroControl(); InitThrusters(); Echo("\n----- Missile Parameters -----"); Echo("\n[Compatible Homing Modes]:"); Echo((missileLidars.Count > 0 ? "0,1,2,3,4,5,6,7" : "3,4,5,6,7") + (homingTurret != null ? ",8,9" : "")); Echo("Gravity Dampeners: " + (boolNaturalDampener ? "Yes" : "No")); Echo("\nVertical Takeoff: " + (verticalTakeoff == true ? "Yes" : "No")); Echo("\nProximity Sensors: " + (proximitySensors != null ? "Yes" : "No")); Echo("\n<<Below lists the Detected Blocks.\nSet to Show On HUD for checking>>"); Echo("\nOne of the Forward Thrusters:"); if (fwdThrusters.Count > 0) { Echo(fwdThrusters[0].CustomName); fwdThrusters[0].ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nOne of the Gravity Dampeners:"); if (refDwdBlock != null) { Echo(refDwdBlock.CustomName); refDwdBlock.ShowOnHUD = true; } else { Echo("<NONE>"); } if (fwdThrusters.Count > 0) { bool haveFwdLidars = false; for (int i = 0; i < missileLidars.Count; i++) { if (missileLidars[i].WorldMatrix.Forward.Dot(fwdThrusters[0].WorldMatrix.Backward) > 0.99) { haveFwdLidars = true; break; } } if (!haveFwdLidars) { Echo("\nWarning: Missing Forward Facing Cameras."); } } Echo("\n--- End Of Check, Recompile Script & Remove CHECK Argument ---"); } void CheckLaunchingShip() { Echo("----- Launching Ship Warnings -----\n"); InitLaunchingShipRefBlocks(); Echo("\n----- Launching Ship Parameters -----"); Echo("\n<<Below lists the Detected Blocks.\nSet to Show On HUD for checking>>"); Echo("\nR_FORWARD Aiming Block:"); if (shipRefFwd != null) { Echo(shipRefFwd.CustomName); shipRefFwd.ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nOne of the R_LIDAR Cameras:"); if (shipRefLidars.Count > 0) { Echo(shipRefLidars[0].CustomName); shipRefLidars[0].ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nR_TARGET GPS Text Panel:"); if (shipRefPanel != null) { Echo(shipRefPanel.CustomName); shipRefPanel.ShowOnHUD = true; } else { Echo("<NONE>"); } Echo("\nLock-On Alert Sound Block:"); if (alertBlock != null) { Echo(alertBlock.CustomName); alertBlock.ShowOnHUD = true; } else { Echo("<NONE>"); } detachBlock = GetDetachGridBlock(); Echo("\nBlock to Detach on Launch:"); if (detachBlock != null) { Echo(detachBlock.CustomName); detachBlock.ShowOnHUD = true; } else { Echo("<WARNING NOT FOUND>"); } Echo("\n--- End Of Check, Recompile Script & Remove CHECKSHIP Argument ---"); } //------------------------------ Initialization Methods ------------------------------ bool InitLaunchingShipRefBlocks() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); IMyBlockGroup group = (IsNotEmpty(strShipRefBlockGroup) ? GridTerminalSystem.GetBlockGroupWithName(strShipRefBlockGroup) : null); if (group != null) { group.GetBlocks(blocks); } else { GridTerminalSystem.GetBlocks(blocks); } bool multiShipRefPanel = false; bool multiShipRefFwd = false; shipRefPanel = null; shipRefLidars = new List<IMyCameraBlock>(); if (missileLaunchType == 5) { shipRefTurrets = new List<IMyLargeTurretBase>(); } foreach (IMyTerminalBlock block in blocks) { if (block is IMyCameraBlock) { if (NameContains(block, strShipRefLidar)) { shipRefLidars.Add(block as IMyCameraBlock); } } else if (block is IMyTextPanel) { if (NameContains(block, strShipRefPanel)) { if (shipRefPanel == null) { shipRefPanel = block as IMyTextPanel; } else { multiShipRefPanel = true; } } } if (NameContains(block, strShipRefFwd)) { if (shipRefFwd == null) { shipRefFwd = block; } else { multiShipRefFwd = true; } } if (alertBlock == null && NameContains(block, strLockTriggerBlockTag)) { alertBlock = block; } if (notMissile == null && NameContains(block, strShipRefNotMissileTag)) { notMissile = block; } if (missileLaunchType == 5) { if (block is IMyLargeTurretBase && NameContains(block, strShipRefTurrets)) { shipRefTurrets.Add(block as IMyLargeTurretBase); } } } if (shipRefLidars.Count == 0) { Echo("Warning: Missing Camera Lidars with tag " + strShipRefLidar); } else { foreach (IMyCameraBlock camera in shipRefLidars) { camera.Enabled = true; camera.EnableRaycast = true; } } if (shipRefPanel == null) { Echo("Warning: Missing Text Panel with tag " + strShipRefPanel); enableMissileCommand = false; } else if (multiShipRefPanel) { Echo("Warning: Multiple Text Panel with tag " + strShipRefPanel + " found. Using first panel - " + shipRefPanel.CustomName); } if (shipRefFwd == null) { IMyCockpit cockpit = null; foreach (IMyTerminalBlock block in blocks) { if (block is IMyCockpit) { if (cockpit == null || (!cockpit.IsMainCockpit && (block as IMyCockpit).IsMainCockpit)) { cockpit = block as IMyCockpit; } } } if (cockpit == null) { Echo("Warning: Missing Forward Block with tag " + strShipRefFwd); } else { Echo("Warning: Missing Forward Block, Using Cockpit - " + cockpit.CustomName); shipRefFwd = cockpit; } } else if (multiShipRefFwd) { Echo("Warning: Multiple Forward Block with tag " + strShipRefFwd + " found. Using first block - " + shipRefFwd.CustomName); } fwdIsTurret = ((shipRefFwd as IMyLargeTurretBase) != null); return true; } List<IMyTerminalBlock> GetMissileBlocks() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.GetBlocks(blocks); return blocks; } void InitMissileBlocks() { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.GetBlocks(blocks); List<IMyGyro> gyros = new List<IMyGyro>(); missileLidars = new List<IMyCameraBlock>(); fwdThrusters = null; remoteControl = null; refFwdBlock = null; homingTurret = null; statusDisplay = null; isFixedDirection = IsNotEmpty(strDirectionRefBlockTag); bool needStatusBlock = IsNotEmpty(strStatusDisplayPrefix); thrustGroup = new List<IMyThrust>[6]; thrustTotal = new float[6]; bool haveThruster = false; foreach (IMyTerminalBlock block in blocks) { if (block.CubeGrid == Me.CubeGrid) { if (block is IMyGyro) { if (strGyroscopesTag == null || strGyroscopesTag.Length == 0 || NameContains(block, strGyroscopesTag)) { gyros.Add(block as IMyGyro); } } else if (block is IMyThrust) { if (strThrustersTag == null || strThrustersTag.Length == 0 || NameContains(block, strThrustersTag)) { IMyThrust thruster = block as IMyThrust; int index = (int)thruster.Orientation.Forward; if (thrustGroup[index] == null) { thrustGroup[index] = new List<IMyThrust>(); } thrustGroup[index].Add(thruster); thrustTotal[index] += Math.Max(thruster.MaxEffectiveThrust, 0.00001f); haveThruster = true; } } else if (block is IMyCameraBlock) { missileLidars.Add(block as IMyCameraBlock); } else if (block is IMyRemoteControl) { remoteControl = block as IMyRemoteControl; } else if (block is IMyRadioAntenna) { commsAntenna = block as IMyRadioAntenna; } if (isFixedDirection && refFwdBlock == null) { if (NameContains(block, strDirectionRefBlockTag)) { refFwdBlock = block; } } } if (needStatusBlock && statusDisplay == null) { if (block.CustomName.StartsWith(strStatusDisplayPrefix, StringComparison.OrdinalIgnoreCase)) { statusDisplay = block as IMyFunctionalBlock; } } } if (missileLaunchType == 8 || missileLaunchType == 9) { foreach (IMyTerminalBlock block in blocks) { if (block is IMyLargeTurretBase) { homingTurret = block as IMyLargeTurretBase; break; } } } if (gyros.Count == 0) Echo("Error: Missing Gyroscopes."); if (!haveThruster) Echo("Warning: Missing Thrusters."); if (remoteControl == null) Echo("Error: Missing Remote Control."); gyroControl = new GyroControl(gyros); if (spinAmount > 0) { boolNaturalDampener = false; } isFixedDirection = (refFwdBlock != null); if (refFwdBlock == null) { refFwdBlock = ComputeHighestThrustReference(); refFwdReverse = true; } if (refFwdBlock == null) { Echo("Warning: Missing Reference Blocks or Forward Thrusters. Using " + (remoteControl == null ? "Programmable Block" : "Remote Control") + " for Reference."); refFwdBlock = (remoteControl == null ? Me : (IMyTerminalBlock)remoteControl); refFwdReverse = false; } if (commsAntenna != null) { commsAntenna.Enabled = true; commsAntenna.EnableBroadcasting = true; } refWorldMatrix = refFwdBlock.WorldMatrix; if (refFwdReverse) { refWorldMatrix.Forward = refWorldMatrix.Backward; refWorldMatrix.Left = refWorldMatrix.Right; } } void InitGyroControl() { gyroControl?.Init(ref refWorldMatrix); InitPIDControllers(); } void InitMissileLidars() { proximitySensors = null; failunsafeGrpCnt = 0; for (int i = 0; i < missileLidars.Count; i++) { missileLidars[i].Enabled = true; missileLidars[i].EnableRaycast = true; int startIndex = missileLidars[i].CustomName.IndexOf(strProximitySensorTag, StringComparison.OrdinalIgnoreCase); if (startIndex > -1) { if (proximitySensors == null) { proximitySensors = new List<ProximitySensor>(); hasProximitySensors = true; } ProximitySensor proxSensor = new ProximitySensor(missileLidars[i]); proximitySensors.Add(proxSensor); double proximityDist = 0; startIndex += strProximitySensorTag.Length + 1; if (missileLidars[i].CustomName.Length > startIndex) { if (missileLidars[i].CustomName[startIndex - 1] == '_') { string proximityDistStr; int endIndex = missileLidars[i].CustomName.IndexOf(" ", startIndex, StringComparison.OrdinalIgnoreCase); if (endIndex == -1) { proximityDistStr = missileLidars[i].CustomName.Substring(startIndex).Trim(); } else { proximityDistStr = missileLidars[i].CustomName.Substring(startIndex, endIndex - startIndex).Trim(); } if (!double.TryParse(proximityDistStr, out proximityDist)) { proximityDist = 0; } } } proxSensor.distance = proximityDist; CustomConfiguration cfg = new CustomConfiguration(proxSensor.lidar); cfg.Load(); float yaw = 0, pitch = 0; bool failunsafe = false, failasgroup = false; double distance = 0, dmsrange = 0; string failunsafeTriggerCmds = failunsafeTriggerCommands, proximityTriggerCmds = proximityTriggerCommands; cfg.Get("yaw", ref yaw); cfg.Get("pitch", ref pitch); cfg.Get("failunsafe", ref failunsafe); cfg.Get("failasgroup", ref failasgroup); cfg.Get("distance", ref distance); cfg.Get("dmsrange", ref dmsrange); cfg.Get("failunsafeTriggerCommands", ref failunsafeTriggerCmds); cfg.Get("proximityTriggerCommands", ref proximityTriggerCmds); proxSensor.yaw = yaw; proxSensor.pitch = pitch; proxSensor.failunsafe = failunsafe; proxSensor.failasgroup = failasgroup; proxSensor.distance = distance; proxSensor.dmsrange = dmsrange; proxSensor.failunsafeTriggerCommands = failunsafeTriggerCmds; proxSensor.proximityTriggerCommands = proximityTriggerCmds; if (failasgroup && failunsafe) { failunsafeGrpCnt++; } } } if (missileLidars.Count > 0 || shipRefLidars.Count > 0) { IMyCameraBlock lidar = (missileLidars.Count > 0 ? missileLidars[0] : shipRefLidars[0]); ticksRatio = lidar.TimeUntilScan(lidar.AvailableScanRange + 1000) * 0.00006; ticksFactor = ticksRatio / Math.Max((int)Math.Floor(missileLidars.Count * LIDAR_REFRESH_CALC_FACTOR), 1); } else { ticksRatio = 0.03; ticksFactor = 0.03; } } void InitPIDControllers() { //---------- Setup PID Controller ---------- if (AIM_P + AIM_I + AIM_D < 0.001) { if (Me.CubeGrid.GridSizeEnum == MyCubeSize.Large) { AIM_P = DEF_BIG_GRID_P; AIM_I = DEF_BIG_GRID_I; AIM_D = DEF_BIG_GRID_D; } else { AIM_P = DEF_SMALL_GRID_P; AIM_I = DEF_SMALL_GRID_I; AIM_D = DEF_SMALL_GRID_D; AIM_LIMIT *= 2; } } yawController = new PIDController(AIM_P, AIM_I, AIM_D, INTEGRAL_WINDUP_UPPER_LIMIT, INTEGRAL_WINDUP_LOWER_LIMIT, SECOND); pitchController = new PIDController(AIM_P, AIM_I, AIM_D, INTEGRAL_WINDUP_UPPER_LIMIT, INTEGRAL_WINDUP_LOWER_LIMIT, SECOND); rollController = new PIDController(AIM_P, AIM_I, AIM_D, INTEGRAL_WINDUP_UPPER_LIMIT, INTEGRAL_WINDUP_LOWER_LIMIT, SECOND); } void InitThrusters() { //---------- Find Forward Thrusters ---------- if (!isFixedDirection || verticalTakeoff) { float highestThrust = 0; int highestSide = -1; int up = -1; for (int i = 0; i < 6; i++) { if (thrustGroup[i] != null) { bool checkTotal = false; Base6Directions.Direction direction = refWorldMatrix.GetClosestDirection(thrustGroup[i][0].WorldMatrix.Backward); switch (direction) { case Base6Directions.Direction.Forward: fwdThrusters = thrustGroup[i]; break; case Base6Directions.Direction.Left: case Base6Directions.Direction.Right: case Base6Directions.Direction.Down: checkTotal = true; break; case Base6Directions.Direction.Up: checkTotal = true; if (isFixedDirection) { refDwdBlock = thrustGroup[i][0]; up = i; } break; } if (checkTotal) { if (thrustTotal[i] > highestThrust) { highestThrust = thrustTotal[i]; highestSide = i; } } } } if (highestThrust == 0) { if (boolNaturalDampener) { Echo("Warning: Natural Gravity Dampener feature not possible as there are no Downward Thrusters found."); } boolNaturalDampener = false; } else { if (!isFixedDirection) { refDwdBlock = thrustGroup[highestSide][0]; up = highestSide; } if (refDwdBlock == null) { Echo("Warning: Natural Gravity Dampener feature not possible as Fixed Downward Side does not have any Thrusters."); boolNaturalDampener = false; } } if (up > -1) { launchThrusters = thrustGroup[up]; } } else { for (int i = 0; i < 6; i++) { if (thrustGroup[i] != null) { Base6Directions.Direction direction = refWorldMatrix.GetClosestDirection(thrustGroup[i][0].WorldMatrix.Backward); if (direction == Base6Directions.Direction.Forward) { fwdThrusters = thrustGroup[i]; } else if (boolNaturalDampener && direction == Base6Directions.Direction.Up) { launchThrusters = thrustGroup[i]; refDwdBlock = launchThrusters[0]; } } } if (boolNaturalDampener && refDwdBlock == null) { Echo("Warning: Natural Gravity Dampener feature not possible as there are no Downward Thrusters found."); boolNaturalDampener = false; } } if (fwdThrusters == null) { fwdThrusters = new List<IMyThrust>(); } } IMyTerminalBlock ComputeHighestThrustReference() { float highestThrust = thrustTotal[0]; IMyThrust refThrust = (highestThrust > 0 ? thrustGroup[0][0] : null); for (int i = 1; i < 6; i++) { if (thrustTotal[i] > highestThrust) { highestThrust = thrustTotal[i]; refThrust = thrustGroup[i][0]; } else if (thrustTotal[i] == highestThrust && highestThrust > 0) { IMyThrust chkThrust = thrustGroup[i][0]; Vector3D diagonal = ComputeBlockGridDiagonalVector(Me); double dot1 = Math.Abs(diagonal.Dot(chkThrust.WorldMatrix.Forward)); double dot2 = Math.Abs(diagonal.Dot(refThrust.WorldMatrix.Forward)); if (dot1 > dot2) { refThrust = chkThrust; } } } return refThrust; } Vector3D ComputeBlockGridDiagonalVector(IMyTerminalBlock block) { IMyCubeGrid cubeGrid = block.CubeGrid; Vector3D minVector = cubeGrid.GridIntegerToWorld(cubeGrid.Min); Vector3D maxVector = cubeGrid.GridIntegerToWorld(cubeGrid.Max); return (minVector - maxVector); } Vector3D ComputeBlockGridMidPoint(IMyTerminalBlock block) { return (block.CubeGrid.GridIntegerToWorld(block.CubeGrid.Min) + block.CubeGrid.GridIntegerToWorld(block.CubeGrid.Max)) / 2; } //------------------------------ Thruster Control Methods ------------------------------ void FireThrusters(List<IMyThrust> thrusters, bool overrideMode) { if (thrusters != null) { for (int i = 0; i < thrusters.Count; i++) { thrusters[i].ThrustOverridePercentage = (overrideMode ? 1f : 0f); } } } void AdjustThrusters(List<IMyThrust> thrusters, float scale) { if (thrusters != null) { for (int i = 0; i < thrusters.Count; i++) { thrusters[i].ThrustOverridePercentage = scale; } } } //------------------------------ Block Finder ------------------------------ List<IMyTerminalBlock> GetBlocksWithName<T>(string name, int matchType = 0) where T: class, IMyTerminalBlock { List<IMyTerminalBlock> blocks = new List<IMyTerminalBlock>(); GridTerminalSystem.SearchBlocksOfName(name, blocks); List<IMyTerminalBlock> filteredBlocks = new List<IMyTerminalBlock>(); for (int i = 0; i < blocks.Count; i++) { if (matchType > 0) { bool isMatch = false; switch (matchType) { case 1: if (blocks[i].CustomName.StartsWith(name, StringComparison.OrdinalIgnoreCase)) { isMatch = true; } break; case 2: if (blocks[i].CustomName.EndsWith(name, StringComparison.OrdinalIgnoreCase)) { isMatch = true; } break; case 3: if (blocks[i].CustomName.Equals(name, StringComparison.OrdinalIgnoreCase)) { isMatch = true; } break; default: isMatch = true; break; } if (!isMatch) { continue; } } IMyTerminalBlock block = blocks[i] as T; if (block != null) { filteredBlocks.Add(block); } } return filteredBlocks; } //------------------------------ Custom Classes ------------------------------ public class GyroControl { static Action<IMyGyro, float> NegYaw = (g, v) => { g.Yaw = -v; }; static Action<IMyGyro, float> PosYaw = (g, v) => { g.Yaw = v; }; static Action<IMyGyro, float> NegPitch = (g, v) => { g.Pitch = -v; }; static Action<IMyGyro, float> PosPitch = (g, v) => { g.Pitch = v; }; static Action<IMyGyro, float> NegRoll = (g, v) => { g.Roll = -v; }; static Action<IMyGyro, float> PosRoll = (g, v) => { g.Roll = v; }; Action<IMyGyro, float>[] profiles = {NegYaw,PosYaw,NegPitch,PosPitch,NegRoll,PosRoll}; List<IMyGyro> gyros; byte[] gyroYaw; byte[] gyroPitch; byte[] gyroRoll; int activeGyro = 0; public GyroControl(List<IMyGyro> newGyros) { gyros = newGyros; } public void Init(ref MatrixD refWorldMatrix) { if (gyros == null) { gyros = new List<IMyGyro>(); } gyroYaw = new byte[gyros.Count]; gyroPitch = new byte[gyros.Count]; gyroRoll = new byte[gyros.Count]; for (int i = 0; i < gyros.Count; i++) { gyroYaw[i] = SetRelativeDirection(gyros[i].WorldMatrix.GetClosestDirection(refWorldMatrix.Up)); gyroPitch[i] = SetRelativeDirection(gyros[i].WorldMatrix.GetClosestDirection(refWorldMatrix.Left)); gyroRoll[i] = SetRelativeDirection(gyros[i].WorldMatrix.GetClosestDirection(refWorldMatrix.Forward)); } activeGyro = 0; } public byte SetRelativeDirection(Base6Directions.Direction dir) { switch (dir) { case Base6Directions.Direction.Up: return 1; case Base6Directions.Direction.Down: return 0; case Base6Directions.Direction.Left: return 2; case Base6Directions.Direction.Right: return 3; case Base6Directions.Direction.Forward: return 4; case Base6Directions.Direction.Backward: return 5; } return 0; } public void Enabled(bool enabled) { foreach (IMyGyro gyro in gyros) { gyro.Enabled = enabled; } } public void SetGyroOverride(bool bOverride) { CheckGyro(); for (int i = 0; i < gyros.Count; i++) { if (i == activeGyro) gyros[i].GyroOverride = bOverride; else gyros[i].GyroOverride = false; } } public void SetGyroYaw(float yawRate) { CheckGyro(); if (activeGyro < gyros.Count) { profiles[gyroYaw[activeGyro]](gyros[activeGyro], yawRate); } } public void SetGyroPitch(float pitchRate) { if (activeGyro < gyros.Count) { profiles[gyroPitch[activeGyro]](gyros[activeGyro], pitchRate); } } public void SetGyroRoll(float rollRate) { if (activeGyro < gyros.Count) { profiles[gyroRoll[activeGyro]](gyros[activeGyro], rollRate); } } public void ZeroTurnGyro() { for (int i = 0; i < gyros.Count; i++) { profiles[gyroYaw[i]](gyros[i], 0f); profiles[gyroPitch[i]](gyros[i], 0f); } } public void ResetGyro() { foreach (IMyGyro gyro in gyros) { gyro.Yaw = gyro.Pitch = gyro.Roll = 0f; } } private void CheckGyro() { while (activeGyro < gyros.Count) { if (gyros[activeGyro].IsFunctional) { break; } else { IMyGyro gyro = gyros[activeGyro]; gyro.Enabled = gyro.GyroOverride = false; gyro.Yaw = gyro.Pitch = gyro.Roll = 0f; activeGyro++; } } } } public class PIDController { double integral; double lastInput; double gain_p; double gain_i; double gain_d; double upperLimit_i; double lowerLimit_i; double second; public PIDController(double pGain, double iGain, double dGain, double iUpperLimit = 0, double iLowerLimit = 0, float stepsPerSecond = 60f) { gain_p = pGain; gain_i = iGain; gain_d = dGain; upperLimit_i = iUpperLimit; lowerLimit_i = iLowerLimit; second = stepsPerSecond; } public double Filter(double input, int round_d_digits) { double roundedInput = Math.Round(input, round_d_digits); integral = integral + (input / second); integral = (upperLimit_i > 0 && integral > upperLimit_i ? upperLimit_i : integral); integral = (lowerLimit_i < 0 && integral < lowerLimit_i ? lowerLimit_i : integral); double derivative = (roundedInput - lastInput) * second; lastInput = roundedInput; return (gain_p * input) + (gain_i * integral) + (gain_d * derivative); } public void Reset() { integral = lastInput = 0; } } public class ProximitySensor { public IMyCameraBlock lidar; public float yaw; public float pitch; public bool failunsafe; public bool failasgroup; public double distance; public double dmsrange; public string failunsafeTriggerCommands; public string proximityTriggerCommands; public bool dmsActive; public double dmsPrevDist; public ProximitySensor(IMyCameraBlock inputLidar) { lidar = inputLidar; } } public class FastSolver { public static readonly double epsilon = 0.000001; public static readonly double cos120d = -0.5; public static readonly double sin120d = Math.Sin(Math.PI / 3.0); public static readonly double root3 = Math.Sqrt(3.0); public static readonly double inv3 = 1.0 / 3.0; public static readonly double inv9 = 1.0 / 9.0; public static readonly double inv54 = 1.0 / 54.0; //Shortcut Ignoring Of Complex Values And Return Smallest Real Number public static double Solve(double a, double b, double c, double d, double e) { if (Math.Abs(a) < epsilon) a = (a >= 0 ? epsilon : -epsilon); double inva = 1 / a; b *= inva; c *= inva; d *= inva; e *= inva; double a3 = -c; double b3 = b * d - 4 * e; double c3 = -b * b * e - d * d + 4 * c * e; double[] result; bool chooseMaximal = SolveCubic(a3, b3, c3, out result); double y = result[0]; if (chooseMaximal) { if (Math.Abs(result[1]) > Math.Abs(y)) y = result[1]; if (Math.Abs(result[2]) > Math.Abs(y)) y = result[2]; } double q1, q2, p1, p2, squ; double u = y * y - 4 * e; if (Math.Abs(u) < epsilon) { q1 = q2 = y * 0.5; u = b * b - 4 * (c - y); if (Math.Abs(u) < epsilon) { p1 = p2 = b * 0.5; } else { squ = Math.Sqrt(u); p1 = (b + squ) * 0.5; p2 = (b - squ) * 0.5; } } else { squ = Math.Sqrt(u); q1 = (y + squ) * 0.5; q2 = (y - squ) * 0.5; double dm = 1 / (q1 - q2); p1 = (b * q1 - d) * dm; p2 = (d - b * q2) * dm; } double v1, v2; u = p1 * p1 - 4 * q1; if (u < 0) { v1 = double.MaxValue; } else { squ = Math.Sqrt(u); v1 = MinPosNZ(-p1 + squ, -p1 - squ) * 0.5; } u = p2 * p2 - 4 * q2; if (u < 0) { v2 = double.MaxValue; } else { squ = Math.Sqrt(u); v2 = MinPosNZ(-p2 + squ, -p2 - squ) * 0.5; } return MinPosNZ(v1, v2); } private static bool SolveCubic(double a, double b, double c, out double[] result) { result = new double[4]; double a2 = a * a; double q = (a2 - 3 * b) * inv9; double r = (a * (2 * a2 - 9 * b) + 27 * c) * inv54; double r2 = r * r; double q3 = q * q * q; if (r2 < q3) { double sqq = Math.Sqrt(q); double t = r / (sqq * sqq * sqq); if (t < -1) t = -1; else if (t > 1) t = 1; t = Math.Acos(t); a *= inv3; q = -2 * sqq; double costv3 = Math.Cos(t * inv3); double sintv3 = Math.Sin(t * inv3); result[0] = q * costv3 - a; result[1] = q * ((costv3 * cos120d) - (sintv3 * sin120d)) - a; result[2] = q * ((costv3 * cos120d) + (sintv3 * sin120d)) - a; return true; } else { double g = -Math.Pow(Math.Abs(r) + Math.Sqrt(r2 - q3), inv3); if (r < 0) g = -g; double h = (g == 0 ? 0 : q / g); a *= inv3; result[0] = (g + h) - a; result[1] = -0.5 * (g + h) - a; result[2] = 0.5 * root3 * (g - h); if (Math.Abs(result[2]) < epsilon) { result[2] = result[1]; return true; } else { return false; } } } private static double MinPosNZ(double a, double b) { if (a <= 0) return (b > 0 ? b : double.MaxValue); else if (b <= 0) return a; else return Math.Min(a, b); } } public class CustomConfiguration { public IMyTerminalBlock configBlock; public Dictionary<string, string> config; public CustomConfiguration(IMyTerminalBlock block) { configBlock = block; config = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase); } public void Load() { ParseCustomData(configBlock, config); } public void Save() { WriteCustomData(configBlock, config); } public string Get(string key, string defVal = null) { return config.GetValueOrDefault(key.Trim(), defVal); } public void Get(string key, ref string res) { string val; if (config.TryGetValue(key.Trim(), out val)) res = val; } public void Get(string key, ref int res) { int val; if (int.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref float res) { float val; if (float.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref double res) { double val; if (double.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref bool res) { bool val; if (bool.TryParse(Get(key), out val)) res = val; } public void Get(string key, ref bool? res) { bool val; if (bool.TryParse(Get(key), out val)) res = val; } public void Set(string key, string value) { config[key.Trim()] = value; } public static void ParseCustomData(IMyTerminalBlock block, Dictionary<string, string> cfg, bool clr = true) { if (clr) { cfg.Clear(); } string[] arr = block.CustomData.Split(new char[] {'\r','\n'}, StringSplitOptions.RemoveEmptyEntries); for (int i = 0; i < arr.Length; i++) { string ln = arr[i]; string va; int p = ln.IndexOf('='); if (p > -1) { va = ln.Substring(p + 1); ln = ln.Substring(0, p); } else { va = ""; } cfg[ln.Trim()] = va.Trim(); } } public static void WriteCustomData(IMyTerminalBlock block, Dictionary<string, string> cfg) { StringBuilder sb = new StringBuilder(cfg.Count * 100); foreach (KeyValuePair<string, string> va in cfg) { sb.Append(va.Key).Append('=').Append(va.Value).Append('\n'); } block.CustomData = sb.ToString(); } } #endregion 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 SmallBlockConveyor 122379929796693229 Clean_Armor 144115188075855929 SmallBlockSmallHydrogenThrust 89902576586274312 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters false true true true false SmallBlockSmallHydrogenThrust 91759240853259351 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters 2 false true true true false SmallBlockSmallHydrogenThrust 138503199521081028 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters 3 false true true true false ConnectorSmall 133546955379795575 Clean_Armor 144115188075855929 144115188075855929 Faction 0.5 MyInventoryBase 0 0.064 9223372036854.775807 2147483647 CanSend false MyTimerComponent true 0 0 true false Frame10 70 80 false Ejector false true true true true false false 0 0 SmallBlockGyro 92568368476535788 Clean_Armor 144115188075855929 144115188075855929 Faction Gyroscope false true true true true SmallBlockGyro 102119677144027272 Clean_Armor 144115188075855929 144115188075855929 Faction Gyroscope 2 false true true true true SmallBlockArmorInvCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorInvCorner2Base Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockConveyor 94746095364550919 Clean_Armor 144115188075855929 SmallBlockConveyor 138955345435169098 Clean_Armor 144115188075855929 SmallBlockConveyor 110747768887069737 Clean_Armor 144115188075855929 OxygenGeneratorSmall 104079013119482173 Clean_Armor 144115188075855929 144115188075855929 Faction MyInventoryBase 0 1 9223372036854.775807 2147483647 CanReceive false MyTimerComponent true 0 0 false false Frame100 0 300 false O2/H2 Generator false true true true true SmallBlockLargeHydrogenThrust 111882339214970876 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Large Hydrogen Thruster false true true true false SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockSmallHydrogenThrust 87191887848833514 Clean_Armor 144115188075855929 MyTimerComponent true 0 0 false false Frame100 0 100 false Hydrogen Thrusters 5 false true true true false SmallWarhead 102486157480090722 Clean_Armor 144115188075855929 144115188075855929 Faction Warhead 7 false true true true 10000 false false Left Right SMALL_LINE Forward Backward SMALL_LINE Up Down SMALL_LINE Down Up SMALL_LINE Left Right SMALL_LINE Left Right SMALL_LINE Up Down SMALL_LINE Down Up SMALL_LINE Forward Backward SMALL_LINE Forward Backward SMALL_LINE Forward Backward LARGE_LINE Small Grid 1888 true false 0 119823728017221800 CastShadows InScene 0.307130426 -0.171497956 -0.3743441 0.857977748 Small SmallGatlingTurret 107488389179679904 Clean_Armor 144115188075855929 144115188075855929 Faction MyInventoryBase 0 0.084 9223372036854.775807 2147483647 CanReceive false MyTimerComponent true 0 0 true false Frame10 0 10 false Gatling Turret false true true true true false false true 0.1 1.04719758 73 0 true 0 0 73 NATO_25x184mm 637217815353333830 false false false false false true ConnectorMedium 96312743243931071 Clean_Armor 144115188075855929 144115188075855929 Faction 0.5 MyInventoryBase 0 1.152 9223372036854.775807 2147483647 CanSend false MyTimerComponent true 0 0 true false Frame10 50 80 false Connector false true true true true true false 0 0 SmallBlockSmallContainer 75275613085806883 Clean_Armor 144115188075855929 144115188075855929 Faction MyInventoryBase 0 0.125 9223372036854.775807 2147483647 CanReceive CanSend false Small Cargo Container false true true true SmallBlockSmallContainer 91712851456424419 Clean_Armor 144115188075855929 144115188075855929 Faction MyInventoryBase 0 0.125 9223372036854.775807 2147483647 CanReceive CanSend false Small Cargo Container 2 false true true true SmallCameraBlock 125641455359098840 Clean_Armor 144115188075855929 144115188075855929 Faction InitCam false true true true true false 1.04719758 SmallBlockGyro 118337914282332511 Clean_Armor 144115188075855929 144115188075855929 Faction Gyroscope false true true true true SmallBlockSmallBatteryBlock 126442155086817234 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery false true true true true 0.05 true 0 false false 0 SmallProgrammableBlock 95209439773304472 Clean_Armor 144115188075855929 144115188075855929 Faction MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 Drone Programmable block L false true true true true 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 SmallBlockSmallBatteryBlock 89063113020157592 Clean_Armor 144115188075855929 144115188075855929 Faction Small Battery 4 false true true true true 0.05 true 0 false false 0 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallSuspension3x3 84806617976256754 Clean_Armor 144115188075855929 Wheel Suspension 3x3 Right false true true true true 125795394631952213 false 5 -0.00306022353 0.9 3.40282347E+38 true 2.8 0 -0.32 0.2586531 false false 100.425842 0.106860548 0.162305176 0.5 true true 0 0 SmallSuspension3x3mirrored 74196606237510462 Clean_Armor 144115188075855929 Wheel Suspension 3x3 Left false true true true true 76479016011782142 false 5 -0.003129663 0.9 3.40282347E+38 true 2.8 0 -0.32 0.2586531 false false 100.425842 0.106860548 0.162305176 0.5 true true 0 0 SmallSuspension3x3 73831259845415019 Clean_Armor 144115188075855929 Wheel Suspension 3x3 Right 2 false true true true true 120647033983826808 false 5 -0.00305921026 0.9 3.40282347E+38 true 2.8 0 -0.32 0.2586531 false false 100.425842 0.106860548 0.162305176 0.5 true true 0 0 SmallSuspension3x3mirrored 97291484187821936 Clean_Armor 144115188075855929 Wheel Suspension 3x3 Left 2 false true true true true 87159540133787056 false 5 -0.00305992551 0.9 3.40282347E+38 true 2.8 0 -0.32 0.2586531 false false 100.425842 0.106860548 0.162305176 0.5 true true 0 0 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorInvCorner2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorInvCorner2Base Clean_Armor 144115188075855929 SmallAdvancedStator 107520707059450583 Clean_Armor 144115188075855929 144115188075855929 Faction MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 lock Advanced Rotor false true true true true 143285084191395969 false 5 0 6.28286934 false true 448000 0 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallBlockRemoteControl 92452207304968069 Clean_Armor 144115188075855929 144115188075855929 Faction MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 FCS Remote Control Drone L false true true true false Character Character false 0 0 -1 0 false false 0 false false SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallBlockRadioAntenna 94906569788324267 Clean_Armor 144115188075855929 144115188075855929 Faction Drone Antenna false true true true false 5000 false true 0 false true 'Swarmer' Attack Drone SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Tip Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorSlope2Base Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallHeavyBlockArmorBlock Clean_Armor 144115188075855929 SmallLCDPanel 83372492878450295 0.499992371 0.499992371 Clean_Armor 144115188075855929 144115188075855929 Faction LCD Panel false true true true true Title READ_AND_WRITE_FACTION 0 1 Public title NONE 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