三维定位 可用

local ship = peripheral.find("warpdriveShipCore")
local lasers = peripheral.getNames()

local offsetDistance = 25

-- Filter for warpdriveLaserCamera peripherals and set beam frequency.
for i = #lasers, 1, -1 do
    if peripheral.getType(lasers[i]) ~= "warpdriveLaserCamera" then
        table.remove(lasers, i)
    else
        peripheral.wrap(lasers[i]).beamFrequency(1420)
    end
end

-- Get ship dimensions and status.
ship_front, ship_right, ship_up = ship.dim_positive()
ship_back, ship_left, ship_down = ship.dim_negative()
ship_isInHyper = ship.isInHyperspace()
ship_movement = { ship.movement() }
ship_rotationSteps = ship.rotationSteps()

print("Emit Scanning Laser to Jump Ship and Aligning the Mining Laser")

while true do
    local event, laserName, lx, ly, lz, block, _, _, _, type, metadata, resistance = os.pullEvent()

    if event == "laserScanning" then
        -- Convert laser scanning coordinates to numbers.
        local lastLx = tonumber(lx)
        local lastLy = tonumber(ly)
        local lastLz = tonumber(lz)

        -- Get current ship position.
        local mx, my, mz = ship.getLocalPosition()

        print("Laser target: X:" .. lastLx .. " Y:" .. lastLy .. " Z:" .. lastLz)

        -- Calculate vector from laser target (L) to ship (M)
        local vx = mx - lastLx
        local vy = my - lastLy
        local vz = mz - lastLz

        local dist = math.sqrt(vx*vx + vy*vy + vz*vz)

        if dist > 0 then
            -- Normalize the vector.
            local ux = vx / dist
            local uy = vy / dist
            local uz = vz / dist

            -- Calculate dx, dy, dz as the point offsetDistance away from the laser target along the vector toward the ship.
            local dx = lastLx + ux * offsetDistance
            local dy = lastLy + uy * offsetDistance
            local dz = lastLz + uz * offsetDistance

            -- Round the coordinates to whole numbers.
            dx = math.floor(dx + 0.5)
            dy = math.floor(dy + 0.5)
            dz = math.floor(dz + 0.5)

            print("Calculated jump coordinates: (" .. dx .. ", " .. dy .. ", " .. dz .. ")")

            -- Retrieve ship orientation and compute minimum movement thresholds.
            local rx, ry, rz = ship.getOrientation()
            local minForwardBack = math.abs(ship_front + ship_back + 1)
            local minLeftRight = math.abs(ship_left + ship_right + 1)
            local minUpDown = math.abs(ship_up + ship_down + 1)

            -- Compute the movement difference between target jump point and ship.
            local jx = dx - mx
            local jy = dy - my
            local jz = dz - mz

            -- For horizontal movement, adjust based on ship orientation.
            local forwardBackMov = 0
            local leftRightMov = 0
            -- For vertical movement, use the raw difference.
            local upDownMov = jy

            if rx == 1 then
                forwardBackMov = jx
                leftRightMov = jz
            elseif rx == -1 then
                forwardBackMov = -jx
                leftRightMov = -jz
            elseif rz == 1 then
                forwardBackMov = jz
                leftRightMov = -jx
            elseif rz == -1 then
                forwardBackMov = -jz
                leftRightMov = jx
            end

            -- Check if movement is large enough in each axis.
            if math.abs(forwardBackMov) < minForwardBack and math.abs(upDownMov) < minUpDown and math.abs(leftRightMov) < minLeftRight then
                print("The movement is too small!")
            else
                ship.movement(forwardBackMov, upDownMov, leftRightMov)
                ship.rotationSteps(0)
                ship.command("MANUAL", true)
            end
        else
            print("Error: Ship and target are at the same location!")
        end
    end
end