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turn.lua
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turn.lua
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local abs, min, max, floor, ceil, square, pi, rad, deg = math.abs, math.min, math.max, math.floor, math.ceil, math.sqrt, math.pi, math.rad, math.deg;
local _; --- The _ is an discard character for values not needed. Setting it to local, prevent's it from being an global variable.
--- SET VALUES
local wpDistance = 1.5; -- Waypoint Distance in Strait lines
local wpCircleDistance = 1; -- Waypoint Distance in circles
-- if the direction difference between turnStart and turnEnd is bigger than this then
-- we consider that as a turn when switching to the next up/down lane and assume that
-- after the turn we'll be heading into the opposite direction.
local laneTurnAngleThreshold = 150
---@param turnContext TurnContext
function courseplay:turn(vehicle, dt, turnContext)
---- TURN STAGES:
-- 0: Raise implements
-- 1: Create Turn maneuver (Creating waypoints to follow)
-- 2: Drive Turn maneuver
-- abort turn if loaded and heading back to the silo except when on an alignment course
-- (which is a turn manever) to the first course waypoint
if vehicle.cp.isLoaded and not courseplay:onAlignmentCourse( vehicle ) then
vehicle.cp.isTurning = nil;
courseplay:clearTurnTargets(vehicle);
return;
end
local realDirectionNode = vehicle.isReverseDriving and vehicle.cp.reverseDrivingDirectionNode or vehicle.cp.DirectionNode;
local allowedToDrive = true;
local moveForwards = true;
local refSpeed = vehicle.cp.speeds.turn;
local directionForce = 1;
local lx, lz = 0, 1;
local dtpX, dtpZ = 0, 1;
local turnOutTimer = 1500;
local turnTimer = 1500;
local wpChangeDistance = 3;
local reverseWPChangeDistance = 5;
local reverseWPChangeDistanceWithTool = vehicle.isReverseDriving and 3 or 3;
local isHarvester = Utils.getNoNil(courseplay:isCombine(vehicle) or courseplay:isChopper(vehicle) or courseplay:isHarvesterSteerable(vehicle), false);
local allowedAngle = vehicle.cp.changeDirAngle or isHarvester and 15 or 3; -- Used for changing direction if the vehicle or vehicle and tool angle difference are below that.
if vehicle.cp.noStopOnEdge then
turnOutTimer = 0;
end;
--- This is in case we use manually recorded fieldswork course and not generated.
if not vehicle.cp.courseWorkWidth then
courseplay:calculateWorkWidth(vehicle, true);
vehicle.cp.courseWorkWidth = vehicle.cp.workWidth;
end;
-- This is to correct course work width when loading from a save course when using multiTools
if vehicle.cp.multiTools and vehicle.cp.multiTools > 1 and vehicle.cp.courseWorkWidth ~= vehicle.cp.workWidth*vehicle.cp.multiTools then
vehicle.cp.courseWorkWidth = vehicle.cp.workWidth*vehicle.cp.multiTools
end;
-- find out the headland height to figure out if we have enough room on the headland to make turns
if vehicle.cp.courseWorkWidth and vehicle.cp.courseWorkWidth > 0 and vehicle.cp.courseNumHeadlandLanes and vehicle.cp.courseNumHeadlandLanes > 0 then
-- First headland is only half the work width
vehicle.cp.headlandHeight = vehicle.cp.courseWorkWidth / 2;
-- Add extra workwidth for each extra headland
if vehicle.cp.courseNumHeadlandLanes > 1 then
vehicle.cp.headlandHeight = vehicle.cp.headlandHeight + ((vehicle.cp.courseNumHeadlandLanes - 1) * vehicle.cp.courseWorkWidth);
end;
else
vehicle.cp.headlandHeight = 0;
end;
--- Get front and back markers
local frontMarker = Utils.getNoNil(vehicle.cp.aiFrontMarker, -3);
local backMarker = Utils.getNoNil(vehicle.cp.backMarkerOffset,0);
local vehicleX, vehicleY, vehicleZ = getWorldTranslation(realDirectionNode);
----------------------------------------------------------
-- Debug prints
----------------------------------------------------------
if courseplay.debugChannels[14] then
if #vehicle.cp.turnTargets > 0 then
-- Draw debug points for waypoints.
for index, turnTarget in ipairs(vehicle.cp.turnTargets) do
if index < #vehicle.cp.turnTargets then
local nextTurnTarget = vehicle.cp.turnTargets[index + 1];
local posY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, turnTarget.posX, 300, turnTarget.posZ);
local nextPosY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, nextTurnTarget.posX, 300, nextTurnTarget.posZ);
if turnTarget.turnReverse then
local color = { r = 0, g = 1, b = 0}; -- Green Line
--if not nextTurnTarget.turnReverse then
-- color["r"], color["g"], color["b"] = 0, 1, 1; -- Light Blue Line
--end
cpDebug:drawLine(turnTarget.posX, posY + 3, turnTarget.posZ, color["r"], color["g"], color["b"], nextTurnTarget.posX, nextPosY + 3, nextTurnTarget.posZ); -- Green Line
if turnTarget.revPosX and turnTarget.revPosZ then
nextPosY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, turnTarget.revPosX, 300, turnTarget.revPosZ);
cpDebug:drawLine(turnTarget.posX, posY + 3, turnTarget.posZ, 1, 0, 0, turnTarget.revPosX, nextPosY + 3, turnTarget.revPosZ); -- Red Line
end;
else
local color = { r = 0, g = 1, b = 1}; -- Light Blue Line
if nextTurnTarget.changeWhenPosible then
color["r"], color["g"], color["b"] = 1, 0.706, 0; -- Orange Line
end
cpDebug:drawLine(turnTarget.posX, posY + 3, turnTarget.posZ, color["r"], color["g"], color["b"], nextTurnTarget.posX, nextPosY + 3, nextTurnTarget.posZ); -- Light Blue Line
end;
elseif turnTarget.turnReverse and turnTarget.revPosX and turnTarget.revPosZ then
local posY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, turnTarget.posX, 300, turnTarget.posZ);
local nextPosY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, turnTarget.revPosX, 300, turnTarget.revPosZ);
cpDebug:drawLine(turnTarget.posX, posY + 3, turnTarget.posZ, 1, 0, 0, turnTarget.revPosX, nextPosY + 3, turnTarget.revPosZ); -- Red Line
end;
end;
end;
if turnContext and turnContext.turnStartWpNode and turnContext.turnEndWpNode then
DebugUtil.drawDebugNode(turnContext.turnStartWpNode.node, 'Start')
DebugUtil.drawDebugNode(turnContext.turnEndWpNode.node, 'End')
end
end;
--- Get the directionNodeToTurnNodeLength used for reverse turn distances
-- this is the distance between the tractor's directionNode and the real turning node of the implement (?)
local directionNodeToTurnNodeLength = courseplay:getDirectionNodeToTurnNodeLength(vehicle);
--- Get the firstReverseWheledWorkTool used for reversing
local reversingWorkTool = courseplay:getFirstReversingWheeledWorkTool(vehicle);
--- Reset reverseWPChangeDistance if we don't have an trailed implement
if reversingWorkTool then
reverseWPChangeDistance = reverseWPChangeDistanceWithTool;
end;
--- While driving (Stage 2 & 3), do we need to use the reversing WP change distance
local curTurnTarget = vehicle.cp.turnTargets[vehicle.cp.curTurnIndex];
if curTurnTarget and curTurnTarget.turnReverse then
wpChangeDistance = reverseWPChangeDistance;
end;
----------------------------------------------------------
-- TURN STAGES 1 - 3
----------------------------------------------------------
if vehicle.cp.turnStage > 0 then
----------------------------------------------------------
-- TURN STAGES 1 - Create Turn maneuver (Creating waypoints to follow)
----------------------------------------------------------
if vehicle.cp.turnStage == 1 then
--- Cleanup in case we already have old info
courseplay:clearTurnTargets(vehicle); -- Make sure we have cleaned it from any previus usage.
--- Setting default turnInfo values
local turnInfo = {};
turnInfo.directionNode = realDirectionNode
turnInfo.frontMarker = frontMarker;
turnInfo.backMarker = backMarker;
turnInfo.halfVehicleWidth = 2.5;
turnInfo.directionNodeToTurnNodeLength = directionNodeToTurnNodeLength + 0.5; -- 0.5 is to make the start turn point just a tiny in front of the tractor
turnInfo.wpChangeDistance = wpChangeDistance;
turnInfo.reverseWPChangeDistance = reverseWPChangeDistance;
turnInfo.direction = -1;
turnInfo.haveHeadlands = courseplay:haveHeadlands(vehicle);
-- Headland height in the waypoint overrides the generic headland height calculation. This is for the
-- short edge headlands where we make 180 turns on te headland course. The generic calculation would use
-- the number of headlands and think there is room on the headland to make the turn.
-- Therefore, the course generator will add a headlandHeightForTurn = 0 for these turn waypoints to make
-- sure on field turns are calculated correctly.
turnInfo.headlandHeight = turnContext.turnStartWp.headlandHeightForTurn and
turnContext.turnStartWp.headlandHeightForTurn or vehicle.cp.headlandHeight;
turnInfo.numLanes ,turnInfo.onLaneNum = courseplay:getLaneInfo(vehicle);
turnInfo.turnOnField = vehicle.cp.turnOnField;
turnInfo.reverseOffset = 0;
turnInfo.extraAlignLength = 6;
turnInfo.haveWheeledImplement = reversingWorkTool ~= nil;
if turnInfo.haveWheeledImplement then
turnInfo.reversingWorkTool = reversingWorkTool;
turnInfo.extraAlignLength = turnInfo.extraAlignLength + directionNodeToTurnNodeLength * 2;
end;
turnInfo.isHarvester = isHarvester;
-- headland turn data
vehicle.cp.headlandTurn = turnContext:isHeadlandCorner() and {} or nil
-- direction halfway between dir of turnStart and turnEnd
turnInfo.halfAngle = math.deg( getAverageAngle( math.rad( turnContext.turnEndWp.angle ),
math.rad( turnContext.turnStartWp.angle )))
-- delta between turn start and turn end
turnInfo.deltaAngle = math.pi - ( math.rad( turnContext.turnEndWp.angle )
- math.rad( turnContext.turnStartWp.angle ))
turnInfo.startDirection = turnContext.turnStartWp.angle
--- Get the turn radius either by the automatic or user provided turn circle.
local extRadius = 0.5 + (0.15 * directionNodeToTurnNodeLength); -- The extra calculation is for dynamic trailer length to prevent jackknifing;
turnInfo.turnRadius = vehicle.cp.turnDiameter * 0.5 + extRadius;
turnInfo.turnDiameter = turnInfo.turnRadius * 2;
--- Get the new turn target with offset
if courseplay:getIsVehicleOffsetValid(vehicle) and turnContext:isHeadlandCorner() == false then
courseplay:debug(string.format("%s:(Turn) turnWithOffset = true", nameNum(vehicle)), 14);
courseplay:turnWithOffset(vehicle);
end;
local totalOffsetX = vehicle.cp.totalOffsetX * -1
--- Create temp target node and translate it.
turnInfo.targetNode = createTransformGroup("cpTempTargetNode");
link(g_currentMission.terrainRootNode, turnInfo.targetNode);
local cx,cz = turnContext.turnEndWp.x, turnContext.turnEndWp.z
local cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, cx, 300, cz);
setTranslation(turnInfo.targetNode, cx, cy, cz);
turnContext:setTargetNode(targetNode)
-- Rotate it's direction to the next wp.
local yRot = MathUtil.getYRotationFromDirection(turnContext.turnEndWp.dx, turnContext.turnEndWp.dz);
setRotation(turnInfo.targetNode, 0, yRot, 0);
-- Retranslate it again to the correct position if there is offsets.
if totalOffsetX ~= 0 then
local totalOffsetZ
if vehicle.cp.headlandTurn then
-- headland turns are not near 180 degrees so just moving the target left/right won't work.
-- we must move it back as well
totalOffsetZ = totalOffsetX / math.tan( turnInfo.deltaAngle / 2 )
else
totalOffsetZ = 0
end
cx, cy, cz = localToWorld( turnInfo.targetNode, totalOffsetX, 0, totalOffsetZ )
setTranslation(turnInfo.targetNode, cx, cy, cz);
courseplay:debug(("%s:(Turn) Offset x = %.1f, z = %.1f"):format( nameNum( vehicle ), totalOffsetX, totalOffsetZ ), 14 )
end;
--- Debug Print
if courseplay.debugChannels[14] then
local x,y,z = getWorldTranslation(turnInfo.targetNode);
local ctx,_,ctz = localToWorld(turnInfo.targetNode, 0, 0, 20);
--drawDebugLine(x, y+5, z, 1, 0, 0, ctx, y+5, ctz, 0, 1, 0);
cpDebug:drawLine(x, y+5, z, 1, 0, 0, ctx, y+5, ctz);
-- this is an test
courseplay:debug(("%s:(Turn) wp%d=%.1f°, wp%d=%.1f°, directionChangeDeg = %.1f° halfAngle = %.1f"):format(nameNum(vehicle),
turnContext.beforeTurnStartWp.cpIndex, turnContext.beforeTurnStartWp.angle, turnContext.turnEndWp.cpIndex, turnContext.turnEndWp.angle, turnContext.directionChangeDeg, turnInfo.halfAngle), 14);
end;
--- Get the local delta distances from the tractor to the targetNode
turnInfo.targetDeltaX, _, turnInfo.targetDeltaZ = worldToLocal(turnInfo.directionNode, cx, vehicleY, cz);
courseplay:debug(string.format("%s:(Turn) targetDeltaX=%.2f, targetDeltaZ=%.2f", nameNum(vehicle), turnInfo.targetDeltaX, turnInfo.targetDeltaZ), 14);
--- Get the turn direction
if turnContext:isHeadlandCorner() then
-- headland corner turns have a targetDeltaX around 0 so use the direction diff
if turnContext.directionChangeDeg > 0 then
turnInfo.direction = 1;
end
else
if turnInfo.targetDeltaX > 0 then
turnInfo.direction = 1;
end;
end
--- Check if tool width will collide on turn (Value is set in askForSpecialSettings)
for i=1, #(vehicle.cp.workTools) do
local workTool = vehicle.cp.workTools[i];
if workTool.cp.widthWillCollideOnTurn and vehicle.cp.courseWorkWidth and (vehicle.cp.workWidth / 2) > turnInfo.halfVehicleWidth then
turnInfo.halfVehicleWidth = vehicle.cp.workWidth / 2;
end;
end
-- Relative position of the turn start waypoint from the vehicle.
-- Note that as we start the turn when the backMarkerOffset reaches the turn start point, this zOffset
-- is the same as the backMarkerOffset
_, _, turnInfo.zOffset = worldToLocal(turnInfo.directionNode, turnContext.turnStartWp.x, vehicleY, turnContext.turnStartWp.z);
-- remember this as we'll need it later
turnInfo.deltaZBetweenVehicleAndTarget = turnInfo.targetDeltaZ
-- targetDeltaZ is now the delta Z between the turn start and turn end waypoints.
turnInfo.targetDeltaZ = turnInfo.targetDeltaZ - turnInfo.zOffset;
-- Calculate reverseOffset in case we need to reverse.
-- This is used in both wide turns and in the question mark turn
local offset = turnInfo.zOffset;
-- only if all implements are in the front
if turnInfo.frontMarker > 0 and turnInfo.backMarker > 0 then
offset = -turnInfo.zOffset - turnInfo.frontMarker;
end;
if turnInfo.turnOnField and not turnInfo.isHarvester and not vehicle.cp.aiTurnNoBackward then
turnInfo.reverseOffset = max((turnInfo.turnRadius + turnInfo.halfVehicleWidth - turnInfo.headlandHeight), offset);
elseif turnInfo.isHarvester and turnInfo.frontMarker > 0 then
-- without fully understanding this reverseOffset, correct it for combines so they don't make
-- unnecessarily wide turns (and hit trees outside the field)
turnInfo.reverseOffset = -turnInfo.frontMarker
else
-- the weird thing about this is that reverseOffset here equals to zOffset and this is why
-- the wide turn works at all, even if there's no reversing.
turnInfo.reverseOffset = offset;
end;
courseplay:debug(("%s:(Turn Data) frontMarker=%q, backMarker=%q, halfVehicleWidth=%q, directionNodeToTurnNodeLength=%q, wpChangeDistance=%q"):format(nameNum(vehicle), tostring(turnInfo.frontMarker), tostring(backMarker), tostring(turnInfo.halfVehicleWidth), tostring(turnInfo.directionNodeToTurnNodeLength), tostring(turnInfo.wpChangeDistance)), 14);
courseplay:debug(("%s:(Turn Data) reverseWPChangeDistance=%q, direction=%q, haveHeadlands=%q, headlandHeight=%q"):format(nameNum(vehicle), tostring(turnInfo.reverseWPChangeDistance), tostring(turnInfo.direction), tostring(turnInfo.haveHeadlands), tostring(turnInfo.headlandHeight)), 14);
courseplay:debug(("%s:(Turn Data) numLanes=%q, onLaneNum=%q, turnOnField=%q, reverseOffset=%q"):format(nameNum(vehicle), tostring(turnInfo.numLanes), tostring(turnInfo.onLaneNum), tostring(turnInfo.turnOnField), tostring(turnInfo.reverseOffset)), 14);
courseplay:debug(("%s:(Turn Data) haveWheeledImplement=%q, reversingWorkTool=%q, turnRadius=%q, turnDiameter=%q"):format(nameNum(vehicle), tostring(turnInfo.haveWheeledImplement), tostring(turnInfo.reversingWorkTool), tostring(turnInfo.turnRadius), tostring(turnInfo.turnDiameter)), 14);
courseplay:debug(("%s:(Turn Data) targetNode=%q, targetDeltaX=%q, targetDeltaZ=%q, zOffset=%q"):format(nameNum(vehicle), tostring(turnInfo.targetNode), tostring(turnInfo.targetDeltaX), tostring(turnInfo.targetDeltaZ), tostring(turnInfo.zOffset)), 14);
courseplay:debug(("%s:(Turn Data) reverseOffset=%q, isHarvester=%q"):format(nameNum(vehicle), tostring(turnInfo.reverseOffset), tostring(turnInfo.isHarvester)), 14);
if not turnContext:isHeadlandCorner() then
----------------------------------------------------------
-- SWITCH TO THE NEXT LANE
----------------------------------------------------------
courseplay:debug(string.format("%s:(Turn) Direction difference is %.1f, this is a lane switch.", nameNum(vehicle), turnContext.directionChangeDeg), 14);
----------------------------------------------------------
-- WIDE TURNS (Turns where the distance to next lane is bigger than the turning Diameter)
----------------------------------------------------------
if abs(turnInfo.targetDeltaX) >= turnInfo.turnDiameter then
if abs(turnInfo.targetDeltaX) >= (turnInfo.turnDiameter * 2) and abs(turnInfo.targetDeltaZ) >= (turnInfo.turnRadius * 3) then
courseplay:generateTurnTypeWideTurnWithAvoidance(vehicle, turnInfo);
else
courseplay:generateTurnTypeWideTurn(vehicle, turnInfo);
end;
----------------------------------------------------------
-- NAROW TURNS (Turns where the distance to next lane is smaller than the turning Diameter)
----------------------------------------------------------
else
--- If we have wheeled implement, then do turns based on that.
if turnInfo.haveWheeledImplement then
--- Get the Triangle sides
local centerOffset = abs(turnInfo.targetDeltaX) / 2;
local sideC = turnInfo.turnDiameter;
local sideB = centerOffset + turnInfo.turnRadius;
local centerHeight = square(sideC^2 - sideB^2);
--- Check if there is enough space to make Ohm turn on the headland.
local useOhmTurn = false;
if (-turnInfo.zOffset + centerHeight + turnInfo.turnRadius + turnInfo.halfVehicleWidth) < turnInfo.headlandHeight then
useOhmTurn = true;
end;
--- Ohm Turn
if useOhmTurn or turnInfo.isHarvester or vehicle.cp.aiTurnNoBackward or not turnInfo.turnOnField then
courseplay:generateTurnTypeOhmTurn(vehicle, turnInfo);
else
--- Questionmark Turn
courseplay:generateTurnTypeQuestionmarkTurn(vehicle, turnInfo);
end;
--- If not wheeled implement, then do the short turns.
else
--- Get the Triangle sides
turnInfo.centerOffset = (turnInfo.targetDeltaX * turnInfo.direction) - turnInfo.turnRadius;
local sideC = turnInfo.turnDiameter;
local sideB = turnInfo.turnRadius + turnInfo.centerOffset; -- which is exactly targetDeltaX, see above
turnInfo.centerHeight = square(sideC^2 - sideB^2);
local neededSpace = abs(turnInfo.targetDeltaZ) + turnInfo.zOffset + 1 + turnInfo.centerHeight + (turnInfo.reverseWPChangeDistance * 1.5);
--- Forward 3 Point Turn
if neededSpace < turnInfo.headlandHeight or turnInfo.isHarvester or not turnInfo.turnOnField then
courseplay:generateTurnTypeForward3PointTurn(vehicle, turnInfo);
--- Reverse 3 Point Turn
else
courseplay:generateTurnTypeReverse3PointTurn(vehicle, turnInfo);
end;
end;
end
else
-------------------------------------------------------------
-- A SHARP TURN, LIKELY ON THE HEADLAND BUT NOT A LANE SWITCH
-------------------------------------------------------------
courseplay:debug(string.format("%s:(Turn) Direction difference is %.1f, this is a corner, maneuver type = %d.",
nameNum(vehicle), turnContext.directionChangeDeg, vehicle.cp.headland.reverseManeuverType), 14);
vehicle.cp.turnCorner = turnContext:createCorner(vehicle, turnInfo.turnRadius)
if turnInfo.isHarvester then
if vehicle.cp.headland.reverseManeuverType == courseplay.HEADLAND_REVERSE_MANEUVER_TYPE_STRAIGHT then
courseplay.generateTurnTypeHeadlandCornerReverseStraightCombine(vehicle, turnInfo)
elseif vehicle.cp.headland.reverseManeuverType == courseplay.HEADLAND_REVERSE_MANEUVER_TYPE_CURVE then
courseplay.generateTurnTypeHeadlandCornerReverseWithCurve(vehicle, turnInfo)
end
else
courseplay.generateTurnTypeHeadlandCornerReverseStraightTractor(vehicle, turnInfo)
end
end
cpPrintLine(14, 1);
courseplay:debug(string.format("%s:(Turn) Generated %d Turn Waypoints", nameNum(vehicle), #vehicle.cp.turnTargets), 14);
cpPrintLine(14, 3);
vehicle.cp.turnStage = 2;
--vehicle.cp.turnStage = 100; -- Stop the tractor (Developing Tests)
unlink(turnInfo.targetNode);
delete(turnInfo.targetNode);
----------------------------------------------------------
-- TURN STAGES 2 - Drive Turn maneuver
----------------------------------------------------------
elseif vehicle.cp.turnStage == 2 then
if curTurnTarget then
if curTurnTarget.turnEnd then
if vehicle.cp.curTurnIndex == #vehicle.cp.turnTargets then
-- We are on the last waypoint, so we goto stage 3 without changing to new waypoints.
vehicle.cp.turnStage = 3;
else
-- We have more waypoints, so we goto stage 4, which will still change waypoints together with checking if we can lower the implement
vehicle.cp.turnStage = 4;
end;
courseplay:debug(string.format("%s:(Turn) Ending turn at waypoint %d, switch to stage %d", nameNum(vehicle), vehicle.cp.curTurnIndex, vehicle.cp.turnStage ), 14);
return;
end;
local dist = courseplay:distance(curTurnTarget.posX, curTurnTarget.posZ, vehicleX, vehicleZ);
local distOrig = dist
local forceSwitch = false
-- Set reversing settings.
if curTurnTarget.turnReverse then
refSpeed = vehicle.cp.speeds.reverse;
if reversingWorkTool and reversingWorkTool.cp.realTurningNode then
local workToolX, workToolY, workToolZ = getWorldTranslation(reversingWorkTool.cp.realTurningNode);
dist = courseplay:distance(curTurnTarget.posX, curTurnTarget.posZ, workToolX, workToolZ);
local _, _, dz = worldToLocal(reversingWorkTool.cp.realTurningNode, curTurnTarget.posX, workToolY, curTurnTarget.posZ)
if dz > 0 then
-- we are reversing but the target is in front of us, switch to the next target to avoid
-- circling back to this one
forceSwitch = true
courseplay.debugVehicle(14, vehicle, '(Turn) Reversing with tool but target %d is in front of us, dist = %.1f, dz = %.1f',
vehicle.cp.curTurnIndex, dist, dz)
end
if courseplay.debugChannels[14] then
cpDebug:drawLine(vehicleX, workToolY + 5, vehicleZ, 1, 1, 0, workToolX, workToolY + 5, workToolZ);
end
end;
-- If next wp is more than 10 meters ahead, use fieldwork speed.
elseif dist > 10 and not curTurnTarget.turnReverse then
refSpeed = vehicle.cp.speeds.field;
end;
-- Change turn waypoint
if dist < wpChangeDistance or forceSwitch then
-- raise turn progress events to turn plows
local progress = vehicle.cp.curTurnIndex / #vehicle.cp.turnTargets
if turnContext then
vehicle:raiseAIEvent("onAITurnProgress", "onAIImplementTurnProgress", progress, turnContext:isLeftTurn())
end
courseplay:debug( string.format( "%s:(Turn) @( %.1f, %.1f) ix = %d/%d, distOrig = %.1f, dist = %.1f, wpChangeDistance = %.1f, progress = %.0f",
nameNum( vehicle ), vehicleX, vehicleZ, vehicle.cp.curTurnIndex, #vehicle.cp.turnTargets, distOrig, dist, wpChangeDistance, progress * 100 ), 14)
-- See if we have to raise/lower implements at this point
if vehicle.cp.turnTargets[vehicle.cp.curTurnIndex].raiseImplement then
courseplay:debug( string.format( "%s:(Turn) raising implement at turn waypoint %d", nameNum(vehicle), vehicle.cp.curTurnIndex ), 14 )
vehicle.cp.driver:raiseImplements()
elseif vehicle.cp.turnTargets[vehicle.cp.curTurnIndex].lowerImplement then
courseplay:debug( string.format( "%s:(Turn) lowering implement at turn waypoint %d", nameNum(vehicle), vehicle.cp.curTurnIndex ), 14 )
vehicle.cp.driver:lowerImplements()
end
local nextCurTurnIndex = min(vehicle.cp.curTurnIndex + 1, #vehicle.cp.turnTargets);
local changeDir = ((curTurnTarget.turnReverse and not vehicle.cp.turnTargets[nextCurTurnIndex].turnReverse) or (not curTurnTarget.turnReverse and vehicle.cp.turnTargets[nextCurTurnIndex].turnReverse))
-- We are still moving and want to switch directions STOP if using MR mod. And we haven't yet stopped
if math.abs(vehicle.lastSpeedReal) > 0.0001 and vehicle.mrIsMrVehicle and changeDir and not vehicle.cp.mrHasStopped then
allowedToDrive = false
-- We have finally stopped on direction. Set a flag to allow movement again
elseif math.abs(vehicle.lastSpeedReal) < 0.0001 and vehicle.mrIsMrVehicle and changeDir then
vehicle.cp.mrHasStopped = true;
else
-- We are now 1 index away from the direction clear the flag
if vehicle.cp.mrHasStopped then
vehicle.cp.mrHasStopped = nil
end;
vehicle.cp.curTurnIndex = nextCurTurnIndex;
end
end;
-- Start reversing before time if we are allowed and if we can
if curTurnTarget.changeWhenPosible then
-- Get the world rotation of the next lane
local laneRot = MathUtil.getYRotationFromDirection(turnContext.turnEndWp.dx, turnContext.turnEndWp.dz);
laneRot = deg(laneRot);
if reversingWorkTool and reversingWorkTool.cp.realTurningNode then
-- Get the world rotation of the tool
dx, _, dz = localDirectionToWorld(reversingWorkTool.cp.realTurningNode, 0, 0, 1);
else
-- Get the world rotation of the vehicle
dx, _, dz = localDirectionToWorld(realDirectionNode, 0, 0, 1);
end;
local toolRot = MathUtil.getYRotationFromDirection(dx, dz);
toolRot = deg(toolRot);
--courseplay:debug(("%s:(Turn) laneRot=%.2f, toolRot=%.2f"):format(nameNum(vehicle), laneRot, toolRot), 14);
-- Get the angle difference
local angleDifference = min( abs((toolRot + 180 - laneRot) %360 - 180), abs((laneRot + 180 - toolRot) %360 - 180) )
-- If the angle diff is less than the allowed angle, then goto the first wp in oposite drive direction
if angleDifference then
courseplay:debug(("%s:(Turn) Change direction when anglediff(%.2f) <= %.2f"):format(nameNum(vehicle), angleDifference, allowedAngle), 14);
if angleDifference <= allowedAngle then
if math.abs(vehicle.lastSpeedReal) > 0.0001 and vehicle.mrIsMrVehicle then
allowedToDrive = false -- This is to ensure MR brakes before changing directions to prevent runaway tractors on steep grades
else
local changeToForward = curTurnTarget.turnReverse;
for i = vehicle.cp.curTurnIndex, #vehicle.cp.turnTargets, 1 do
if changeToForward and not vehicle.cp.turnTargets[i].turnReverse then
courseplay:debug(("%s:(Turn) Changing to forward"):format(nameNum(vehicle)), 14);
vehicle.cp.curTurnIndex = i;
return;
elseif not changeToForward and vehicle.cp.turnTargets[i].turnReverse then
courseplay:debug(("%s:(Turn) Changing to reverse"):format(nameNum(vehicle)), 14);
vehicle.cp.curTurnIndex = i;
return;
end;
end;
end;
end;
end;
end;
else
vehicle.cp.turnStage = 1; -- (THIS SHOULD NEVER HAPPEN) Somehow we don't have any waypoints, so try recollect them.
return;
end;
----------------------------------------------------------
-- TURN STAGES 3 - Lower implement and continue on next lane
----------------------------------------------------------
elseif vehicle.cp.turnStage == 3 then
local deltaZ, lowerImplements
if courseplay:onAlignmentCourse( vehicle ) then
courseplay:endAlignmentCourse( vehicle )
courseplay:setWaypointIndex(vehicle, vehicle.cp.waypointIndex );
return
else
_, _, deltaZ = worldToLocal(realDirectionNode,turnContext.turnEndWp.x, vehicleY, turnContext.turnEndWp.z)
lowerImplements = deltaZ < frontMarker + 3
end
if curTurnTarget.turnReverse then
refSpeed = vehicle.cp.speeds.reverse;
lowerImplements = deltaZ > frontMarker;
end;
-- Lower implement and continue on next lane
if vehicle.cp.driver:shouldLowerImplements(turnContext.turnEndWpNode.node, curTurnTarget.turnReverse) then
courseplay.debugVehicle(12, vehicle, '(Turn) lowering implements')
vehicle.cp.driver:lowerImplements()
vehicle.cp.isTurning = nil;
if vehicle.cp.driver then
vehicle.cp.driver:onTurnEnd()
end
courseplay:clearTurnTargets(vehicle);
return;
end;
----------------------------------------------------------
-- TURN STAGES 4 - Lower implement and continue on next lane (Multi waypoint version)
----------------------------------------------------------
elseif vehicle.cp.turnStage == 4 then
if curTurnTarget.turnEnd and vehicle.cp.curTurnIndex == #vehicle.cp.turnTargets then
vehicle.cp.turnStage = 3;
return;
end;
local dist = courseplay:distance(curTurnTarget.posX, curTurnTarget.posZ, vehicleX, vehicleZ);
-- Set reversing settings.
if curTurnTarget.turnReverse then
refSpeed = vehicle.cp.speeds.reverse;
if reversingWorkTool and reversingWorkTool.cp.realTurningNode then
local workToolX, _, workToolZ = getWorldTranslation(reversingWorkTool.cp.realTurningNode);
dist = courseplay:distance(curTurnTarget.posX, curTurnTarget.posZ, workToolX, workToolZ);
if courseplay.debugChannels[14] then
local posY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, workToolX, 300, workToolZ);
cpDebug:drawLine(vehicleX, posY + 5, vehicleZ, 1, 1, 0, workToolX, posY + 5, workToolZ);
end
end;
end;
-- Change turn waypoint
if dist < wpChangeDistance then
vehicle.cp.curTurnIndex = min(vehicle.cp.curTurnIndex + 1, #vehicle.cp.turnTargets);
return;
end;
--- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-- Check if we are at the start of the lane and lower if so and continue working.
--- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
local _, _, deltaZ = worldToLocal(realDirectionNode, turnContext.turnEndWp.x, vehicleY, turnContext.turnEndWp.z)
--courseplay.debugVehicle(14, vehicle, 'ix=%d dz=%.1f', vehicle.cp.waypointIndex+1, deltaZ)
local lowerImplements = deltaZ < frontMarker + 3
if curTurnTarget.turnReverse then
refSpeed = vehicle.cp.speeds.reverse;
lowerImplements = deltaZ > frontMarker;
end;
-- Lower implement and continue on next lane
if vehicle.cp.driver.shouldLowerImplements and vehicle.cp.driver:shouldLowerImplements(turnContext.turnEndWpNode.node, curTurnTarget.turnReverse) then
courseplay.debugVehicle(12, vehicle, '(Turn) lowering implements')
vehicle.cp.driver:lowerImplements()
vehicle.cp.isTurning = nil;
if vehicle.cp.driver then
vehicle.cp.driver:onTurnEnd()
end
courseplay:clearTurnTargets(vehicle);
return;
end;
----------------------------------------------------------
-- UNKNOWN TURN STAGE - Stop the vehicle from driving (Used for developing purpose)
----------------------------------------------------------
else
allowedToDrive = false;
end;
----------------------------------------------------------
-- TURN STAGES 0 - Finish lane and raise implement and change to stage 1
----------------------------------------------------------
else
--- Add WP to follow while doing last bit before raising Implement
if not curTurnTarget then
local extraForward = 0;
if backMarker < 0 then
extraForward = abs(backMarker);
end;
local cx, cz = courseplay:getVehicleOffsettedCoords(vehicle, turnContext.turnStartWp.x, turnContext.turnStartWp.z);
local posX, posZ = cx + (extraForward + 10) * turnContext.beforeTurnStartWp.dx, cz + (extraForward + 10) * turnContext.beforeTurnStartWp.dz;
courseplay:addTurnTarget(vehicle, posX, posZ);
end;
--- Use the speed limit if we are still working and turn speed is higher that the speed limit.
refSpeed = courseplay:getSpeedWithLimiter(vehicle, refSpeed);
if vehicle.cp.driver.shouldRaiseImplements and vehicle.cp.driver:shouldRaiseImplements(turnContext.turnStartForwardWpNode.node) then
-- raise implements only if this is not a headland turn; in headland
-- turns the turn waypoint attribute will control when to raise/lower implements
if not turnContext:isHeadlandCorner() then
vehicle.cp.driver:raiseImplements()
end
vehicle.cp.turnStage = 1;
end
end;
----------------------------------------------------------
--Set the driving direction
----------------------------------------------------------
if curTurnTarget then
local posX, posZ = curTurnTarget.revPosX or curTurnTarget.posX, curTurnTarget.revPosZ or curTurnTarget.posZ;
local directionNode = vehicle.aiVehicleDirectionNode or vehicle.cp.DirectionNode;
dtpX,_,dtpZ = worldToLocal(directionNode, posX, vehicleY, posZ);
if courseplay:isWheelloader(vehicle) then
dtpZ = dtpZ * 0.5; -- wheel loaders need to turn more
end;
--print( ("dtp %.1f, %.1f, %.1f"):format( dtpX, dtpZ, refSpeed ))
lx, lz = AIVehicleUtil.getDriveDirection(vehicle.cp.DirectionNode, posX, vehicleY, posZ);
if curTurnTarget.turnReverse then
lx, lz, moveForwards = courseplay:goReverse(vehicle,lx,lz);
end;
end;
----------------------------------------------------------
-- Debug prints: Show Current Waypoint
----------------------------------------------------------b
if courseplay.debugChannels[12] and curTurnTarget then
local posX, posZ = curTurnTarget.revPosX or curTurnTarget.posX, curTurnTarget.revPosZ or curTurnTarget.posZ;
local posY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, posX, 300, posZ);
cpDebug:drawLine(posX, posY + 3, posZ, 0, 0, 1, posX, posY + 4, posZ); -- Blue Line
end;
if courseplay.debugChannels[14] then
local x1, _, z1 = localToWorld( realDirectionNode, -1, 0, frontMarker )
local x2, _, z2 = localToWorld( realDirectionNode, 1, 0, frontMarker )
local y = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x1, 0, z1 );
cpDebug:drawLine(x1, y + 5, z1, 0, 1, 0, x2, y + 5, z2);
local x1, _, z1 = localToWorld( realDirectionNode, -1, 0, backMarker )
local x2, _, z2 = localToWorld( realDirectionNode, 1, 0, backMarker )
cpDebug:drawLine(x1, y + 5, z1, 1, 0, 0, x2, y + 5, z2);
end
if vehicle.cp.turnCorner then
vehicle.cp.turnCorner:drawDebug()
end
----------------------------------------------------------
-- Need to wait for tools to lower? (this is now handled in the turn generation by getWpIxInDistanceFromEnd
----------------------------------------------------------
--allowedToDrive = allowedToDrive and not courseplay:needToWaitForTools(vehicle)
if vehicle.cp.drivingMode:get() == DrivingModeSetting.DRIVING_MODE_AIDRIVER then
-- in AIDriver based modes do not call / use legacy collision code
allowedToDrive = vehicle.cp.driver:detectCollision(dt)
else
-- allowedToDrive = courseplay:checkTraffic(self, true, allowedToDrive)
end
----------------------------------------------------------
-- allowedToDrive false -> SLOW DOWN TO STOP
----------------------------------------------------------
if not allowedToDrive then
-- reset slipping timers
courseplay:resetSlippingTimers(vehicle)
if courseplay.debugChannels[21] then
renderText(0.5,0.85-(0.03*vehicle.cp.coursePlayerNum),0.02,string.format("%s: vehicle.lastSpeedReal: %.8f km/h ",nameNum(vehicle),vehicle.lastSpeedReal*3600))
end
vehicle.cp.TrafficBrake = false;
vehicle.cp.isTrafficBraking = false;
if vehicle.cp.curSpeed > 1 then
allowedToDrive = true;
moveForwards = vehicle.movingDirection == 1;
directionForce = -1;
end;
vehicle.cp.speedDebugLine = ("turn("..tostring(debug.getinfo(1).currentline-1).."): allowedToDrive false ")
else
vehicle.cp.speedDebugLine = ("turn("..tostring(debug.getinfo(1).currentline-1).."): refSpeed = "..tostring(refSpeed))
courseplay:setSpeed(vehicle, refSpeed )
end;
----------------------------------------------------------
-- Traffic break if something is in front of us
----------------------------------------------------------
if vehicle.cp.TrafficBrake then
moveForwards = vehicle.movingDirection == -1;
end
----------------------------------------------------------
-- Vehicles with inverted driving direction.
----------------------------------------------------------
if vehicle.isReverseDriving then
lz = -lz
end
if vehicle.cp.useProgessiveBraking then
courseplay:mrProgressiveBreaking(vehicle, refSpeed)
if vehicle.cp.mrAccelrator then
directionForce = -vehicle.cp.mrAccelrator -- The progressive breaking function returns a postive number which accelerates the tractor
end
end
-- hold while straw swath is active (not during headland turn maneuvers though)
local holdInTurn = not vehicle.cp.headlandTurn and vehicle.cp.driver and vehicle.cp.driver:holdInTurnManeuver(vehicle.cp.turnStage == 0)
allowedToDrive = not holdInTurn and allowedToDrive
if curTurnTarget and ((curTurnTarget.turnReverse and reversingWorkTool ~= nil) or (courseplay:onAlignmentCourse( vehicle ) and vehicle.cp.curTurnIndex < 2 )) then
if math.abs(vehicle.lastSpeedReal) < 0.0001 and not g_currentMission.missionInfo.stopAndGoBraking then
if not moveForwards then
vehicle.nextMovingDirection = -1
else
vehicle.nextMovingDirection = 1
end
end
AIVehicleUtil.driveInDirection(vehicle, dt, vehicle.cp.steeringAngle, directionForce, 0.5, 20, allowedToDrive, moveForwards, lx, lz, refSpeed, 1);
else
dtpZ = dtpZ * 0.85;
AIVehicleUtil.driveToPoint(vehicle, dt, directionForce, allowedToDrive, moveForwards, dtpX, dtpZ, refSpeed);
end
if vehicle.cp.drivingMode:get() == DrivingModeSetting.DRIVING_MODE_AIDRIVER then
-- in AIDriver based modes do not call / use legacy collision code
else
courseplay:setTrafficCollision(vehicle, lx, lz,false)
end
end;
function courseplay:generateTurnTypeWideTurn(vehicle, turnInfo)
cpPrintLine(14, 3);
courseplay:debug(string.format("%s:(Turn) Using Wide Turn", nameNum(vehicle)), 14);
cpPrintLine(14, 3);
local posX, posZ;
local fromPoint, toPoint = {}, {};
local canTurnOnHeadland = false;
local center1, center2, startDir, intersect1, intersect2, stopDir = {}, {}, {}, {}, {}, {};
-- Check if we can turn on the headlands
if (-turnInfo.zOffset + turnInfo.turnRadius + turnInfo.halfVehicleWidth) <= turnInfo.headlandHeight then
canTurnOnHeadland = true;
end;
--- Get the center height offset
if not turnInfo.haveHeadlands and not turnInfo.isHarvester and not vehicle.cp.aiTurnNoBackward and turnInfo.turnOnField then
turnInfo.reverseOffset = turnInfo.reverseOffset + abs(turnInfo.targetDeltaZ * 0.75);
end;
--- Add extra length to the directionNodeToTurnNodeLength if there is an pivoted tool behind the tractor.
-- This is to prevent too sharp turning when reversing to the first reverse point.
local directionNodeToTurnNodeLength = turnInfo.directionNodeToTurnNodeLength;
if turnInfo.haveWheeledImplement and turnInfo.reversingWorkTool.cp.isPivot then
directionNodeToTurnNodeLength = directionNodeToTurnNodeLength * 1.25;
end;
--- Extra WP 1 - Reverse back so we can turn inside the field (Only if we can't turn inside the headlands)
if not canTurnOnHeadland and not turnInfo.isHarvester and not vehicle.cp.aiTurnNoBackward and turnInfo.turnOnField then
-- Reverse back
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.directionNode, 0, 0, -directionNodeToTurnNodeLength);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.directionNode, 0, 0, turnInfo.zOffset - turnInfo.reverseOffset - directionNodeToTurnNodeLength - turnInfo.reverseWPChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, nil, turnInfo.reverseWPChangeDistance);
end;
-- Get the 2 circle center coordinate
-- I don't understand that turnInfo.zOffset here. That is our distance from the turn start WP, and with no reverseOffset it'll put the
-- circle behind us. I think this is buggy, and only works with that magic at the beginning where we end up with the reverseOffset == zOffset
center1.x,_,center1.z = localToWorld(turnInfo.directionNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset);
center2.x,_,center2.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.reverseOffset);
-- Get the circle intersection points
intersect1.x, intersect1.z = center1.x, center1.z;
intersect2.x, intersect2.z = center2.x, center2.z;
intersect1, intersect2 = courseplay:getTurnCircleTangentIntersectionPoints(intersect1, intersect2, turnInfo.turnRadius, turnInfo.targetDeltaX > 0);
--- Set start and stop dir for first turn circle
startDir.x,_,startDir.z = localToWorld(turnInfo.directionNode, 0, 0, turnInfo.zOffset - turnInfo.reverseOffset);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset);
--- Generate turn circle 1
courseplay:generateTurnCircle(vehicle, center1, startDir, intersect1, turnInfo.turnRadius, turnInfo.direction, true);
--- Generate points between the 2 circles
courseplay:generateTurnStraightPoints(vehicle, intersect1, intersect2);
--- Generate turn circle 2
courseplay:generateTurnCircle(vehicle, center2, intersect2, stopDir, turnInfo.turnRadius, turnInfo.direction, true);
--- Extra WP 2 - Reverse back to field edge
if not canTurnOnHeadland and not turnInfo.isHarvester and not vehicle.cp.aiTurnNoBackward and turnInfo.turnOnField then
-- Move a bit more forward
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset + directionNodeToTurnNodeLength + turnInfo.extraAlignLength + turnInfo.wpChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, nil, nil, nil, true);
-- Reverse back
if turnInfo.reverseOffset - 3 > 0 then
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset - 3);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, 0);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, true, turnInfo.frontMarker + directionNodeToTurnNodeLength + turnInfo.reverseWPChangeDistance);
else
posX, _, posZ = localToWorld(turnInfo.targetNode, 0, 0, 0);
local revPosX, _, revPosZ = localToWorld(turnInfo.targetNode, 0, 0, -(turnInfo.frontMarker + directionNodeToTurnNodeLength + turnInfo.reverseWPChangeDistance));
courseplay:addTurnTarget(vehicle, posX, posZ, true, true, revPosX, revPosZ);
end;
--- Extra WP 3 - Turn End
else
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, -turnInfo.reverseOffset + turnInfo.directionNodeToTurnNodeLength + 5);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, nil, true);
end;
end;
function courseplay:generateTurnTypeWideTurnWithAvoidance(vehicle, turnInfo)
cpPrintLine(14, 3);
courseplay:debug(string.format("%s:(Turn) Using Wide Turn With Corner Avoidance", nameNum(vehicle)), 14);
cpPrintLine(14, 3);
local posX, posZ;
local fromPoint, toPoint = {}, {};
local canTurnOnHeadland = false;
local center, startDir, stopDir = {}, {}, {};
-- Check if we can turn on the headlands
if (-turnInfo.zOffset + turnInfo.turnRadius + turnInfo.halfVehicleWidth) < turnInfo.headlandHeight then
canTurnOnHeadland = true;
end;
--- Add extra length to the directionNodeToTurnNodeLength if there is an pivoted tool behind the tractor.
-- This is to prevent too sharp turning when reversing to the first reverse point.
local directionNodeToTurnNodeLength = turnInfo.directionNodeToTurnNodeLength;
if turnInfo.haveWheeledImplement and turnInfo.reversingWorkTool.cp.isPivot then
directionNodeToTurnNodeLength = directionNodeToTurnNodeLength * 1.25;
end;
--- Extra WP 1 - Reverse back so we can turn inside the field (Only if we can't turn inside the headlands)
if not canTurnOnHeadland and not turnInfo.isHarvester and not vehicle.cp.aiTurnNoBackward and turnInfo.turnOnField then
-- Reverse back
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.directionNode, 0, 0, -directionNodeToTurnNodeLength);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.directionNode, 0, 0, turnInfo.zOffset - turnInfo.reverseOffset - directionNodeToTurnNodeLength - turnInfo.reverseWPChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, nil, turnInfo.reverseWPChangeDistance);-- Reverse back
end;
----------------------------------------------------------
-- If new lane is in front of us, Do the 90-90-180 turn
----------------------------------------------------------
if turnInfo.targetDeltaZ > 0 then
--- Generate the first turn circles
center.x,_,center.z = localToWorld(turnInfo.directionNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset);
startDir.x,_,startDir.z = localToWorld(turnInfo.directionNode, 0, 0, turnInfo.zOffset - turnInfo.reverseOffset);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.directionNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
courseplay:generateTurnCircle(vehicle, center, startDir, stopDir, turnInfo.turnRadius, turnInfo.direction);
--- Generate line between first and second turn circles
fromPoint.x, fromPoint.z = stopDir.x, stopDir.z
toPoint.x, _, toPoint.z = localToWorld(turnInfo.directionNode, turnInfo.targetDeltaX - turnInfo.direction * (turnInfo.turnRadius + turnInfo.turnDiameter), 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
--- Generate the second turn circles
center.x,_,center.z = localToWorld(turnInfo.directionNode, turnInfo.targetDeltaX - turnInfo.direction * (turnInfo.turnRadius + turnInfo.turnDiameter), 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
startDir.x, startDir.z = toPoint.x, toPoint.z;
stopDir.x,_,stopDir.z = localToWorld(turnInfo.directionNode, turnInfo.targetDeltaX - turnInfo.direction * turnInfo.turnDiameter, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
courseplay:generateTurnCircle(vehicle, center, startDir, stopDir, turnInfo.turnRadius, turnInfo.direction * -1);
--- Generate line between second and third turn circles
fromPoint.x, fromPoint.z = stopDir.x, stopDir.z;
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.turnDiameter * turnInfo.direction, 0, turnInfo.reverseOffset);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
--- Generate the third turn circles
center.x,_,center.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.reverseOffset);
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, turnInfo.turnDiameter * turnInfo.direction, 0, turnInfo.reverseOffset);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset);
courseplay:generateTurnCircle(vehicle, center, startDir, stopDir, turnInfo.turnRadius, turnInfo.direction, true);
----------------------------------------------------------
-- If new lane is behind us, Do the 180-90-90 turn
----------------------------------------------------------
else
--- Generate the first turn circles
center.x,_,center.z = localToWorld(turnInfo.directionNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset);
startDir.x,_,startDir.z = localToWorld(turnInfo.directionNode, 0, 0, turnInfo.zOffset - turnInfo.reverseOffset);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.directionNode, turnInfo.turnDiameter * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset);
courseplay:generateTurnCircle(vehicle, center, startDir, stopDir, turnInfo.turnRadius, turnInfo.direction);
--- Generate line between first and second turn circles
fromPoint.x, fromPoint.z = stopDir.x, stopDir.z
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX - turnInfo.direction * turnInfo.turnDiameter, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
--- Generate the second turn circles
center.x,_,center.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX - turnInfo.direction * (turnInfo.turnRadius + turnInfo.turnDiameter), 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
startDir.x, startDir.z = toPoint.x, toPoint.z;
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX - turnInfo.direction * (turnInfo.turnRadius + turnInfo.turnDiameter), 0, turnInfo.reverseOffset - turnInfo.turnRadius);
courseplay:generateTurnCircle(vehicle, center, startDir, stopDir, turnInfo.turnRadius, turnInfo.direction * -1);
--- Generate line between second and third turn circles
fromPoint.x, fromPoint.z = stopDir.x, stopDir.z
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnRadius);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
--- Generate the third turn circles
center.x,_,center.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.reverseOffset);
startDir.x, startDir.z = toPoint.x, toPoint.z;
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset);
courseplay:generateTurnCircle(vehicle, center, startDir, stopDir, turnInfo.turnRadius, turnInfo.direction, true);
end;
--- Extra WP 2 - Reverse back to field edge
if not canTurnOnHeadland and not turnInfo.isHarvester and not vehicle.cp.aiTurnNoBackward and turnInfo.turnOnField then
-- Move a bit more forward
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset + directionNodeToTurnNodeLength + turnInfo.extraAlignLength + turnInfo.wpChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, nil, nil, nil, true);
-- Reverse back
if turnInfo.reverseOffset - 3 > 0 then
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.reverseOffset - 3);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, 0);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, true, turnInfo.frontMarker + directionNodeToTurnNodeLength + turnInfo.reverseWPChangeDistance);
else
posX, _, posZ = localToWorld(turnInfo.targetNode, 0, 0, 0);
local revPosX, _, revPosZ = localToWorld(turnInfo.targetNode, 0, 0, -(turnInfo.frontMarker + directionNodeToTurnNodeLength + turnInfo.reverseWPChangeDistance));
courseplay:addTurnTarget(vehicle, posX, posZ, true, true, revPosX, revPosZ);
end;
--- Extra WP 3 - Turn End
else
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, -turnInfo.reverseOffset + turnInfo.directionNodeToTurnNodeLength + 5);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, nil, true);
end;
end;
function courseplay:generateTurnTypeOhmTurn(vehicle, turnInfo)
cpPrintLine(14, 3);
courseplay:debug(string.format("%s:(Turn) Using Ohm Turn", nameNum(vehicle)), 14);
cpPrintLine(14, 3);
local posX, posZ;
--- Get the Triangle sides
local centerOffset = abs(turnInfo.targetDeltaX) / 2;
local sideC = turnInfo.turnDiameter;
local sideB = centerOffset + turnInfo.turnRadius;
local centerHeight = square(sideC^2 - sideB^2);
--- Target is behind of us
local targetOffsetZ = 0;
if turnInfo.targetDeltaZ < 0 then
targetOffsetZ = abs(turnInfo.targetDeltaZ);
end;
if turnInfo.frontMarker > 0 then
targetOffsetZ = targetOffsetZ + (turnInfo.frontMarker * 1.5);
end;
--- Get the 3 circle center cordinate, startDir and stopDir
local center1, center2, center3, startDir, stopDir = {}, {}, {}, {}, {};
center1.x,_,center1.z = localToWorld(turnInfo.targetNode, (abs(turnInfo.targetDeltaX) + turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.zOffset - targetOffsetZ);
center2.x,_,center2.z = localToWorld(turnInfo.targetNode, centerOffset * turnInfo.direction, 0, turnInfo.zOffset - targetOffsetZ - centerHeight);
center3.x,_,center3.z = localToWorld(turnInfo.targetNode, -turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.zOffset - targetOffsetZ);
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, turnInfo.zOffset - targetOffsetZ);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.zOffset - targetOffsetZ);
--- Generate the 3 turn circles
courseplay:generateTurnCircle(vehicle, center1, startDir, center2, turnInfo.turnRadius, (turnInfo.direction * -1));
courseplay:generateTurnCircle(vehicle, center2, center1, center3, turnInfo.turnRadius, turnInfo.direction);