mode10.lua

function courseplay:handleMode10(vehicle,allowedToDrive,lx,lz, dt)

	
	if vehicle.cp.mode9TargetSilo == nil then
		vehicle.cp.mode9TargetSilo = courseplay:getMode9TargetBunkerSilo(vehicle,1)
	end
	if not vehicle.cp.mode9TargetSilo then
		courseplay:setInfoText(vehicle, courseplay:loc('COURSEPLAY_MODE10_NOSILO'));
		return true, false;
	end
	
	local emptyTimer = 2
	local x,y,z = getWorldTranslation(vehicle.cp.workTools[1].rootNode)
	local dx,dy,dz = getWorldTranslation(vehicle.cp.DirectionNode)
	local ty = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x, 1, z);
	local dty = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, dx, 1, dz)
	local nodeX,nodeY,nodeZ = worldToLocal(vehicle.cp.DirectionNode,x,y,z)
	local nx, ny, nz = localDirectionToWorld(vehicle.cp.DirectionNode, 0, 0, -1)
	local zeroX,zeroY,zeroZ = dx+(nx*-nodeZ) ,dy+(ny*-nodeZ),dz+(nz*-nodeZ)
	local offSetX,offSetY,offSetZ = worldToLocal(vehicle.cp.DirectionNode,zeroX,zeroY,zeroZ)
	local diffY = (zeroY-ty)-(dy-dty)
	
	local totalFillLevel = vehicle.cp.mode9TargetSilo.fillLevel
	local compactedFillLevel = vehicle.cp.mode9TargetSilo.compactedFillLevel
	local compactedRate = (vehicle.cp.mode9TargetSilo.compactedFillLevel*100)/vehicle.cp.mode9TargetSilo.fillLevel
	
	local fwd = true
	local cx,cy,cz =0,0,0;
	local goSave = false
	if vehicle.cp.mode10.searchCourseplayersOnly then
		for rootNode,courseplayer in pairs (CpManager.activeCoursePlayers) do
			local distance = courseplay:distanceToPoint(courseplayer,vehicle.Waypoints[1].cx,ty ,vehicle.Waypoints[1].cz) --courseplay:nodeToNodeDistance(vehicle.cp.DirectionNode, rootNode)
			--print(string.format("%s: distance = %s",tostring(rootNode),tostring(distance)))
			if distance  < vehicle.cp.mode10.searchRadius and courseplayer ~= vehicle and  courseplayer.cp.totalFillLevel ~= nil and courseplayer.cp.totalFillLevel > 1 then
				local insert = true
				for i=1,#vehicle.cp.mode10.stoppedCourseplayers do
					if courseplayer == vehicle.cp.mode10.stoppedCourseplayers[i] then
						insert = false
					end
				end
				if insert then
					table.insert(vehicle.cp.mode10.stoppedCourseplayers,courseplayer)
				end
			end
		end
	else
		for _,steerable in pairs(g_currentMission.enterables) do
			local x,y,z = getWorldTranslation(steerable.rootNode)
			local distance = courseplay:distance(x,z,vehicle.Waypoints[1].cx,vehicle.Waypoints[1].cz) 
			if distance  < vehicle.cp.mode10.searchRadius and steerable ~= vehicle and steerable.isMotorStarted then
				local insert = true
				for i=1,#vehicle.cp.mode10.stoppedCourseplayers do
					if steerable == vehicle.cp.mode10.stoppedCourseplayers[i] then
						insert = false
					end
				end
				if insert then
					table.insert(vehicle.cp.mode10.stoppedCourseplayers,steerable)
				end
			end
		end
	end

	local targetIsEmpty = vehicle.cp.actualTarget and vehicle.cp.actualTarget.empty
	local targetIsFilled = vehicle.cp.mode10.deadline and vehicle.cp.mode10.deadline == vehicle.cp.mode10.firstLine
	
	if #vehicle.cp.mode10.stoppedCourseplayers > 0 then
		for i=1, #vehicle.cp.mode10.stoppedCourseplayers do
			if i > 1 or not vehicle.Waypoints[vehicle.cp.previousWaypointIndex].wait then
				vehicle.cp.mode10.stoppedCourseplayers[i].cp.isNotAllowedToDrive = true
			end
		end
		goSave = true
	elseif not targetIsEmpty and not targetIsFilled then
		courseplay:setVehicleWait(vehicle, false);
		vehicle.cp.mode10.deadline = nil
	end
	
	local inBunker = vehicle.cp.waypointIndex == 1 
	local refSpeed = math.min(vehicle.cp.speeds.reverse,30)

	if vehicle.cp.hasDriveControl then 
		courseplay:setFourWheelDrive(vehicle,inBunker)
	end
	
	if inBunker or vehicle.cp.mode10.isStuck then 
		if vehicle.cp.actualTarget == nil or vehicle.cp.BunkerSiloMap == nil then
			courseplay:getActualTarget(vehicle)
		end
		
		if vehicle.cp.modeState == 1 then --push
			courseplay:setShieldTarget(vehicle,"down")
			fwd = false

			local newSx = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].sx 
			local newSz = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].sz 
			local newWx = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][#vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap]].wx
			local newWz = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][#vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap]].wz
			local newHx = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].hx
			local newHz = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].hz
			local wY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, newWx, 1, newWz); 
			local hY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, newHx, 1, newHz);
		
			local fillType = DensityMapHeightUtil.getFillTypeAtLine(newWx, wY, newWz, newHx, hY, newHz, 5)
			local newFillLevel = DensityMapHeightUtil.getFillLevelAtArea(fillType, newSx, newSz, newWx, newWz, newHx, newHz )
			
			local leveled = vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].leveled
		
			local hasFillLevel = vehicle.cp.totalFillLevel > 100 and vehicle.cp.actualTarget.line > 1
			
			if vehicle.cp.mode10FillLevel == nil then 
				vehicle.cp.mode10FillLevel  = newFillLevel 
			end
			
			if vehicle.cp.fillLevelGo == nil then 
				vehicle.cp.fillLevelGo = true 
			end
			
			if vehicle.cp.actualTarget.empty or (vehicle.cp.mode10.deadline and vehicle.cp.mode10.deadline == vehicle.cp.mode10.firstLine) then
				goSave = true
			end
			
			local currentHeight = courseplay:round(y-ty,2)
			vehicle.cp.currentHeigth = currentHeight

			local shouldBHeight = 0
			local targetUnit = vehicle.cp.BunkerSiloMap[vehicle.cp.actualTarget.line][vehicle.cp.actualTarget.column]
			--print(string.format("targetUnit.height(%s)-(dy-dty)(%s)",tostring(targetUnit.height),tostring(y-dty)))
			---(dy-dty) --vehicle.cp.mode10.shieldHeight
						
			cx ,cz = targetUnit.cx, targetUnit.cz
			cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, cx, 1, cz);
				
			local distance2Target =  courseplay:distance(x,z, cx, cz) --distance from shovel to target
			
			
			
			if vehicle.cp.mode10.leveling then
			
				if vehicle.cp.speeds.bunkerSilo > 15 then
					vehicle.cp.speeds.bunkerSilo = 15
				elseif vehicle.cp.speeds.bunkerSilo > 10 then
					emptyTimer = 0.8
				end
				if vehicle.cp.mode10.automaticSpeed then --hard code till soultion for variable speed is available
					vehicle.cp.speeds.bunkerSilo = 10
				end
				--[[if leveled then
					courseplay:setInfoText(vehicle, ('verdichten %d'):format(compactedRate).."%");
				else
					courseplay:setInfoText(vehicle, 'verteilen');
				end]]
				
				
				if vehicle.cp.mode10.automaticHeigth then
					local tempHeight = targetUnit.height
					if vehicle.cp.mode10.drivingThroughtLoading and vehicle.cp.actualTarget.line == #vehicle.cp.BunkerSiloMap and tempHeight < 2 then --1.2 then
						shouldBHeight = tempHeight + 0.3
					elseif vehicle.cp.actualTarget.line < 2 then
						shouldBHeight = MathUtil.clamp(tempHeight,0.3,0.5)
					elseif vehicle.cp.actualTarget.line == 2 and tempHeight > 0.5 then
						shouldBHeight =  ((tempHeight - 0.5) /distance2Target)+ 0.5
					else
						shouldBHeight = math.max(0.3,tempHeight)
					end	
				else
					shouldBHeight = vehicle.cp.mode10.shieldHeight +(dy-dty)	
				end
				if not leveled then
					refSpeed = math.min(15,vehicle.cp.speeds.bunkerSilo)
				end
			else
				refSpeed = math.min(20,vehicle.cp.speeds.bunkerSilo)
			end
				
			local heightDiff  = courseplay:round(shouldBHeight,2) - courseplay:round(currentHeight,2)
			local targetHeigth = courseplay:round(shouldBHeight,3) + (courseplay:round(shouldBHeight,3)- currentHeight) -(dy-dty)  - diffY 	+ vehicle.cp.mode10.bladeOffset		
			
			vehicle.cp.shouldBHeight = courseplay:round(shouldBHeight,2)
			vehicle.cp.tractorHeight = courseplay:round(dy-dty,2)
			vehicle.cp.diffY = courseplay:round(diffY,2)
			vehicle.cp.mode10.targetHeigth = courseplay:round(targetHeigth,2)
			
			if not vehicle.cp.mode10.leveling then
				targetHeigth = 0
			end
			
			if leveled then
				targetHeigth = 2
				distance2Target =  courseplay:distanceToPoint(vehicle, cx, cy, cz) --distance from vehicle to target
			end
						
			--[[if vehicle.cp.shieldState == "down" and  targetHeigth < 0 then  --TODO find a proper way to trigger  swinging 
				--print("jump detected : "..tostring(vehicle.cp.mode10.lastDiffDiff))
				if not vehicle.cp.mode10.jumpIsCounted then
					vehicle.cp.mode10.jumpsPerRun = vehicle.cp.mode10.jumpsPerRun + 1 
					vehicle.cp.mode10.jumpIsCounted = true
				end
			else
				vehicle.cp.mode10.jumpIsCounted = false
			end]]

			
			if vehicle.cp.shieldState == "down" and math.abs(heightDiff) > 0.01 then -- math.abs(heightDiff) > 0.05 then
				--check whether we have the target height in our table or set the closest 
				local closestIndex = 99
				local closestValue = 99
				if vehicle.cp.mode10.alphaList[targetHeigth] then
					--print(string.format("vehicle.cp.mode10.alphaList[targetHeigth(%s) exists]",tostring(targetHeigth)))
					closestIndex = targetHeigth
				else
					--print(string.format("vehicle.cp.mode10.alphaList[targetHeigth(%s) doesnt exist serach nearest]",tostring(targetHeigth)))
					for indexHeight,alpha in pairs (vehicle.cp.mode10.alphaList) do
						--print("try "..tostring(indexHeight))
						local diff = math.abs(targetHeigth-indexHeight)
						if closestValue > diff then
							--print(string.format("%s is closer- set as closest",tostring(closestValue)))
							closestIndex = indexHeight
							closestValue = diff
						end				
					end	
				end	
				--print("set MoveShield to ".. tostring(closestIndex).."  Alpha: "..tostring(vehicle.cp.mode10.alphaList[closestIndex]))
				courseplay:moveShield(vehicle,"up",dt,vehicle.cp.mode10.alphaList[closestIndex])
				
				--[[local groundContact = true
				for index, wheel in pairs(vehicle:getWheels()) do
					print(" check Wheel "..tostring(index).." hasGroundContact: "..tostring(wheel.hasGroundContact))
					if not wheel.hasGroundContact then
						groundContact = false
					end
				end	]]
			elseif vehicle.cp.shieldState == "up" then
				--make a table of moveAlphas per shield height
				local height = courseplay:round(currentHeight-(dy-dty)-diffY,3)
				if vehicle.cp.mode10.leveling then
					if vehicle.cp.mode10.alphaList[height] == nil then
						vehicle.cp.mode10.alphaList[height] = vehicle.cp.workTools[1].attacherJointControl.controls[1].moveAlpha
						--print("add "..tostring(height).." to alphaList Alpha: "..tostring(vehicle.cp.mode10.alphaList[height]))
						if vehicle.cp.mode10.lowestAlpha > height then
							vehicle.cp.mode10.lowestAlpha = height
						end
					end
				else
				--search the alpha where the shield is flat to the ground
					if vehicle.cp.mode10.tempSchieldHeight == nil then 
						vehicle.cp.mode10.tempSchieldHeight = currentHeight +0.5
						--print("set tempSchieldHeight to "..tostring(vehicle.cp.mode10.tempSchieldHeight))
					end
					--print("currentHeight: "..tostring(currentHeight))
					if currentHeight < 0.2 then 
						if currentHeight == vehicle.cp.mode10.tempSchieldHeight then
							--if the shield doesnt move it means its flat to the ground
							vehicle.cp.shieldState = vehicle.cp.targetShieldState
							--print("shield doesnt move-> break")
						else
							vehicle.cp.mode10.tempSchieldHeight = currentHeight
							vehicle.cp.mode10.alphaList[0] = vehicle.cp.workTools[1].attacherJointControl.controls[1].moveAlpha
							--print("set tempSchieldHeight to "..tostring(vehicle.cp.mode10.tempSchieldHeight))							
						end
					end
				end
				
				return true,false
			end

		
			if vehicle.cp.fillLevelGo and  hasFillLevel then
				vehicle.cp.fillLevelGo = false
			end
			
			local emptyTimerIsThrought = courseplay:timerIsThrough(vehicle,'levelerEmpty',false)
			if emptyTimerIsThrought then
				courseplay:resetCustomTimer(vehicle, 'levelerEmpty',true);
			end
			
			--check the target where to go next

			
			if distance2Target < 1 then
				vehicle.cp.actualTarget.line = math.min(vehicle.cp.actualTarget.line + 1,#vehicle.cp.BunkerSiloMap)
				if vehicle.cp.mode10.bladeOffset == 0 then
					vehicle.cp.mode10.bladeOffset = courseplay:round( shouldBHeight-currentHeight,2)
				end						
				if vehicle.cp.actualTarget.line == #vehicle.cp.BunkerSiloMap then
					targetUnit = vehicle.cp.BunkerSiloMap[vehicle.cp.actualTarget.line][vehicle.cp.actualTarget.column]
					cx ,cz = targetUnit.cx, targetUnit.cz
					cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, cx, 1, cz);
					if leveled then
						distance2Target =  courseplay:distanceToPoint(vehicle, cx, cy, cz)
					else
						distance2Target =  courseplay:distance(x,z, cx, cz)
					end
				end
			end
			
			local is2Heigh = (y-ty > 4 and not vehicle.cp.mode10.leveling)
			local isAtEnd = (vehicle.cp.actualTarget.line == #vehicle.cp.BunkerSiloMap and distance2Target < math.max((shouldBHeight*1.74),1))--1)
			local isBladeEmptyTillNow = (not hasFillLevel and vehicle.cp.fillLevelGo and vehicle.cp.actualTarget.line == #vehicle.cp.BunkerSiloMap and distance2Target < 4 and not leveled)
			local fillLevelChanged = vehicle.cp.mode10FillLevel ~= newFillLevel and newFillLevel~= 0 and not  vehicle.cp.mode10.leveling
			local lastLine = vehicle.cp.mode10.leveling and targetUnit.lastLine and distance2Target < 1 and vehicle.cp.mode10.drivingThroughtLoading and not leveled
		
			if (vehicle.cp.slippingStage > 0 and not vehicle.cp.mode10.isStuck )
			or fillLevelChanged
			or emptyTimerIsThrought
			or is2Heigh
			or isBladeEmptyTillNow
			--or (vehicle.cp.mode10.jumpsPerRun >= 2 and vehicle.cp.actualTarget.line > 3)
			or isAtEnd
			or lastLine
			
			
			then
			--print(string.format("dropOut reason: fillLevelChanged(%s);emptyTimerIsThrought(%s);is2Heigh(%s);isBladeEmptyTillNow(%s)",tostring(fillLevelChanged),tostring(emptyTimerIsThrought),tostring(is2Heigh),tostring(isBladeEmptyTillNow)))
				if goSave then
					courseplay:setWaypointIndex(vehicle, 2);
					vehicle.cp.fillLevelGo = true
					courseplay:setModeState(vehicle, 2);
				else
					courseplay:setModeState(vehicle, 2);
					vehicle.cp.mode10.isStuck = false
				end
 
				--autmatic speed
				--[[if vehicle.cp.mode10.automaticSpeed and vehicle.cp.mode10.leveling then
					vehicle.cp.speeds.bunkerSilo = 8
					if vehicle.cp.mode10.jumpsPerRun >= 1 then
						vehicle.cp.speeds.bunkerSilo = math.max(vehicle.cp.speeds.bunkerSilo - 1,3)
					elseif vehicle.cp.mode10.jumpsPerRun == 0 and vehicle.cp.actualTarget.line > #vehicle.cp.BunkerSiloMap*0.8 then
						vehicle.cp.speeds.bunkerSilo = math.min(vehicle.cp.speeds.bunkerSilo + 1,15)
					end
				end]]

				if is2Heigh then
					vehicle.cp.mode10.deadline = math.max(2,vehicle.cp.actualTarget.line-2)
					--print(string.format("set deadline to %s ",tostring(vehicle.cp.mode10.deadline)))
				elseif not vehicle.cp.mode10.leveling and (isAtEnd or isBladeEmptyTillNow) then
					vehicle.cp.mode10.deadline = math.max(2,vehicle.cp.actualTarget.line-1)
					--print(string.format("set deadline to %s ",tostring(vehicle.cp.mode10.deadline)))
				end
				if courseplay:getCustomTimerExists(vehicle, 'levelerEmpty') then
					courseplay:resetCustomTimer(vehicle, 'levelerEmpty',true);
				end
				--vehicle.cp.mode10.jumpsPerRun = 0
				vehicle.cp.mode10FillLevel = nil
				vehicle.cp.mode10.lastTargetLine = vehicle.cp.actualTarget.line	
				vehicle.cp.mode10.shieldHeightChanged = false	
				
				if vehicle.cp.slippingStage > 0 then
					courseplay:resetSlippingTimers(vehicle)
					courseplay:setSlippingStage(vehicle, 0);
				end
				
				return true,false
			else
				vehicle.cp.mode10FillLevel = newFillLevel
			end
			
			if not vehicle.cp.fillLevelGo  and not hasFillLevel and vehicle.cp.actualTarget.line > 2 then
				if courseplay:timerIsThrough(vehicle,'levelerEmpty') then
					courseplay:setCustomTimer(vehicle, "levelerEmpty", emptyTimer);
				end
			else
				courseplay:resetCustomTimer(vehicle, 'levelerEmpty',true);
			end
			
			if vehicle.cp.actualTarget.line >= #vehicle.cp.BunkerSiloMap-1 and distance2Target < 10 then
				refSpeed= 6
			end
			
		elseif vehicle.cp.modeState == 2 then --pull
			courseplay:setShieldTarget(vehicle,"up")

			cx,cz = vehicle.Waypoints[vehicle.cp.numWaypoints].cx, vehicle.Waypoints[vehicle.cp.numWaypoints].cz
			cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, cx, 1, cz);
			if courseplay:distance3D(x,y,z,cx,cy,cz) < 3  then
				courseplay:setModeState(vehicle, 1);
				vehicle.cp.fillLevelGo = true
				vehicle.cp.maxHeight = 0
				if vehicle.cp.shouldBHeight < 1 then
					vehicle.cp.mode10.bladeOffset = 0
				end
				courseplay:getActualTarget(vehicle)
				--return true, false
			end
			if vehicle.cp.slippingStage == 1 and vehicle.cp.actualTarget.line > 4 then
				if vehicle.cp.actualTarget.column > 1 then
					cx, _, cz = localToWorld(vehicle.cp.DirectionNode, 2,  0, 3);
				else
					cx, _, cz = localToWorld(vehicle.cp.DirectionNode, -2,  0, 3);
				end
			elseif vehicle.cp.slippingStage > 1 then
				vehicle.cp.mode10.isStuck = true
			end
			refSpeed = vehicle.cp.speeds.turn
			
			if vehicle.cp.mode10.newApproach then
				vehicle.cp.mode10.newApproach = nil
			end
		else
			vehicle.cp.fillLevelGo = true
			vehicle.cp.modeState = 1
		end 
		
	
		if vehicle.cp.mode10.isStuck then
			if math.abs(vehicle.lastSpeedReal*3600) > 2 then
				if courseplay:timerIsThrough(vehicle,'stuckTimer',false ) then
					vehicle.cp.mode10.isStuck = false
				end
				if courseplay:timerIsThrough(vehicle,'stuckTimer') then
					courseplay:setCustomTimer(vehicle, "stuckTimer", 2);
				end
			else
				courseplay:resetCustomTimer(vehicle, 'stuckTimer',true);
			end
			local otherColumn = vehicle.cp.actualTarget.column +1
			local otherLine = math.min(vehicle.cp.actualTarget.line,vehicle.cp.actualTarget.line+2)
			if otherColumn > #vehicle.cp.BunkerSiloMap[1] then
				otherColumn = 1
			end
			local targetUnit = vehicle.cp.BunkerSiloMap[otherLine][otherColumn]
			cx ,cz = targetUnit.cx, targetUnit.cz
			fwd = false
		end 	
		
		
		lx,lz = AIVehicleUtil.getDriveDirection(vehicle.cp.DirectionNode, cx, cy, cz);
		if math.abs(vehicle.lastSpeedReal) < 0.0001 and not g_currentMission.missionInfo.stopAndGoBraking then
			if not fwd then
				vehicle.nextMovingDirection = -1
			else
				vehicle.nextMovingDirection = 1
			end;
		end;
		local steeringAngle = vehicle.cp.steeringAngle;
		if vehicle.cp.isFourWheelSteering and vehicle.cp.curSpeed > 20 then
			-- We are a four wheel steered vehicle, so dampen the steeringAngle when driving fast, since we turn double as fast as normal and will cause oscillating.
			steeringAngle = vehicle.cp.steeringAngle * 2;
		end;
		lx,lz = AIVehicleUtil.getDriveDirection(vehicle.cp.DirectionNode, cx, cy, cz);
		if not fwd then
			lx = -lx
			lz = -lz
		end

		if vehicle.isReverseDriving then
			lz = -lz
		end

		--cpDebug:drawLine(x, y, z, 1, 0, 0, cx, cy+5, cz);
		courseplay:handleSlipping(vehicle, refSpeed);
		AIVehicleUtil.driveInDirection(vehicle, dt, steeringAngle, 1, 0.5, 20, true, fwd, lx, lz, refSpeed, 1);
			
		return false,true;
	else
		courseplay:setShieldTarget(vehicle,"up")
		if vehicle.cp.previousWaypointIndex < 2 and vehicle.cp.slippingStage > 1 then
			vehicle.cp.mode10.isStuck = true
		end
	end --end inBunker
	--print(string.format(" return true, allowedToDrive(%s)",tostring(allowedToDrive)))
	return true ,allowedToDrive;
end;

function courseplay:setShieldTarget(vehicle,target)
	if vehicle.cp.targetShieldState ~= target then
		vehicle.cp.targetShieldState = target
	end
end
		 
function courseplay:moveShield(vehicle,moveUp,dt,fixAlpha)
	local leveler = vehicle.cp.workTools[1]
	local move = 0
	local factor = 0.4
	if moveUp == "up" then
		move = -factor
	elseif moveUp == "down" then
		move = factor
	end

	if leveler.attacherJointControl ~= nil and leveler.attacherJointControl.controls ~= nil and leveler.attacherJointControl.jointDesc ~= nil then
            --for i=1,2 do
                local control = leveler.attacherJointControl.controls[1] --[i]; --TODO figure out which attacher is to move
                if control.controlActionIndex ~= nil then
                    local jointDesc = leveler.attacherJointControl.jointDesc;
                    if fixAlpha then
						control.moveAlpha = fixAlpha
					else
						local moveAlpha = control.moveAlpha + (0.001 * dt * move);
						moveAlpha = MathUtil.clamp(moveAlpha, jointDesc.upperAlpha, jointDesc.lowerAlpha);
						if moveAlpha == jointDesc.upperAlpha 
						or moveAlpha == jointDesc.lowerAlpha 
						then
							return true
						end
						control.moveAlpha = moveAlpha 
					end
                end
            --end

            local isDirty = false;
            for i=1,2 do
                local control = leveler.attacherJointControl.controls[i];
                if control.moveAlphaSend ~= control.moveAlpha then
                    control.moveAlphaSend = control.moveAlpha;
                    isDirty = true;
                end
            end
            if isDirty then
                leveler:raiseDirtyFlags(leveler.attacherJointControl.dirtyFlag);
                leveler:updateAttacherJoint(leveler.attacherJointControl.controls[1].moveAlpha, leveler.attacherJointControl.controls[2].moveAlpha);
            end

	end;
end

function courseplay:getActualTarget(vehicle)
	--print(string.format("courseplay:getActualTarget(vehicle) called by %s",tostring(courseplay.utils:getFnCallPath(3))))
	local newApproach = vehicle.cp.actualTarget == nil or vehicle.cp.mode10.newApproach
		
	vehicle.cp.BunkerSiloMap = courseplay:createBunkerSiloMap(vehicle, vehicle.cp.mode9TargetSilo)
	if vehicle.cp.BunkerSiloMap ~= nil then
		local stopSearching = false
		local mostFillLevelAtLine = 0
		local mostFillLevelIndex = 2
		local fillLevelsPerColumn = {}
		local levelingTarget = {}
		local fillingTarget = {}
		local totalFillLevel = vehicle.cp.mode9TargetSilo.fillLevel
		if vehicle.cp.mode10.leveling then 
			--calculate the height of the shield base on the volume of a truncated pyramid 
			local compactedFillLevel = vehicle.cp.mode9TargetSilo.compactedFillLevel
			local realFillLevel = vehicle.cp.mode10.drivingThroughtLoading and (((totalFillLevel-compactedFillLevel)*1.4)+compactedFillLevel) or totalFillLevel
			local bunkerLength = vehicle.cp.BunkerSiloMap[1][1].bunkerLength;
			local bunkerWidth =  vehicle.cp.BunkerSiloMap[1][1].bunkerWidth;
			local totalHeight = 3.5
			local elevationWidth = 1.05/totalHeight
			local elevationLengthFactor = vehicle.cp.mode10.drivingThroughtLoading and 12 or 6
			local elevationLength = elevationLengthFactor/totalHeight
			local height = 0
			local baseArea = 0
			local topArea = 0
			local volume = 0
			local tuneFactor = 0.75
			local area = vehicle.cp.mode9TargetSilo.bunkerSiloArea
			courseplay:debug("BunkeSilo: realFillLevel: "..tostring(realFillLevel).." compactRate: "..tostring((compactedFillLevel*100)/totalFillLevel),10)
			
			for i=0.01,totalHeight,0.01 do
				local bunkerLengthClean = bunkerLength-2
				baseArea = bunkerLengthClean * (bunkerWidth-1)
				topArea = ((bunkerWidth-1)+(elevationWidth*i))* (bunkerLengthClean - (elevationLength*i))
				volume = i/3* (baseArea + topArea + math.sqrt(baseArea*topArea))
				height = i
				--print(string.format("try with %s; width %s; length %s; volume %s ",tostring(i),tostring(((bunkerWidth-1)+(elevationWidth*i))),tostring((bunkerLength - (elevationLength*i))),tostring(courseplay:round(volume,1))))

				if courseplay:round(volume,1)> realFillLevel/1000 then
					--print("break with "..tostring(height))
					break
				end
			end			
			--print(string.format("height(%s) = (realFillLevel(%s)/1000) / volume(%s))",tostring(height),tostring(realFillLevel),tostring(volume)))
			courseplay:setFillLevels(vehicle,height)

			
			--decide which cloumn is the next target and when the bunkersilo is leveled
			local leveled = true
			local counters = {}
			local lastLineInColumn = {}
			local nonCountedUnit = #vehicle.cp.BunkerSiloMap
			if vehicle.cp.mode10.drivingThroughtLoading then
				nonCountedUnit = nonCountedUnit -1
			end
			for lineIndex, line in pairs(vehicle.cp.BunkerSiloMap) do
				local columns = {}
				for column, fillUnit in pairs(line) do
					fillUnit.averageFillLevel = totalFillLevel / (#vehicle.cp.BunkerSiloMap * #line)
					local ratio = (fillUnit.fillLevel*100)/fillUnit.averageFillLevel
					fillUnit.leveled = ratio < 105
					if counters[column]== nil then
						counters[column] = 0
						lastLineInColumn[column] = 0
					end			
					
					if ratio <= 100 then
						columns[column] = "[ ]"
					elseif ratio <= 150 then
						columns[column] = "[0]"
					else
						columns[column] = "[X]"
						if lineIndex < nonCountedUnit then
							counters[column] = counters[column]+1
							lastLineInColumn[column] = lineIndex
							leveled = false
						end
					end
				end
				if courseplay.debugChannels[10] then
					local printString = ""
					for index =1,#columns do
						printString = printString..columns[index]
					end
					print(string.format(" %s",printString))
				end
			end
			
			if vehicle.cp.mode10.drivingThroughtLoading and vehicle.cp.mode10.leveling then
				leveled = true
			end			
			
			if leveled then
				courseplay:debug("set Leveled",10)
				vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].leveled = true
			else
				vehicle.cp.BunkerSiloMap[#vehicle.cp.BunkerSiloMap][1].leveled = false
			end
			
			
			local fullestColumn = 0
			if vehicle.cp.mode10.lastActualTarget then
				local allEqual = false
				local counterIndex = 0
				local counterValue = 0
				for i=1,#counters do
					if counterValue == counters[i] and counterValue > 0 then
						allEqual = true
					end
					if counterValue < counters[i] then
						counterValue = counters[i]
						counterIndex = i
					end
				end
				
				if allEqual or leveled then
					local nextColumnIndex = vehicle.cp.mode10.lastActualTarget+1
					if nextColumnIndex > #vehicle.cp.BunkerSiloMap[1] then
						nextColumnIndex = 1
					end
					fullestColumn = nextColumnIndex
				else
					local index = math.min(lastLineInColumn[counterIndex]+1,#vehicle.cp.BunkerSiloMap)
					vehicle.cp.BunkerSiloMap[index][counterIndex].lastLine =  true
					fullestColumn = counterIndex
				end
			else
				vehicle.cp.mode10.lastActualTarget = 1
				fullestColumn = 1
			end
			
			if newApproach then
				fullestColumn = math.ceil(#vehicle.cp.BunkerSiloMap[1]/2)
				--print("first run column: "..tostring(fullestColumn).."  of "..tostring(#vehicle.cp.BunkerSiloMap[1]))
			end	
			
			levelingTarget = {
										line = 1;
										column = fullestColumn;
										empty = false;
													}
			vehicle.cp.mode10.lastActualTarget = fullestColumn
			
		end

		-- find column with most fillLevel and figure out whether its empty
		for lineIndex, line in pairs(vehicle.cp.BunkerSiloMap) do
			if stopSearching then
				break
			end
			mostFillLevelAtLine = 0
			for column, fillUnit in pairs(line) do
				if 	mostFillLevelAtLine < fillUnit.fillLevel then
					mostFillLevelAtLine = fillUnit.fillLevel
					mostFillLevelIndex = column
				end
				if column == #line and mostFillLevelAtLine > 0 then
					fillUnit = line[mostFillLevelIndex]
					fillingTarget = {
										line = lineIndex;
										column = mostFillLevelIndex;
										empty = false;
												}
					stopSearching = true
					break
				end
			end
		end
		if mostFillLevelAtLine == 0 then
			fillingTarget = {
										line = 1;
										column = 1;
										empty = true;
												}
		end
		
		if vehicle.cp.mode10.leveling and not fillingTarget.empty then
			vehicle.cp.actualTarget = levelingTarget
		else
			vehicle.cp.actualTarget = fillingTarget
		end
		vehicle.cp.mode10.firstLine = vehicle.cp.actualTarget.line
		
	end
end

function courseplay:setFillLevels(vehicle,forceHeight)
	for lineIndex, line in pairs(vehicle.cp.BunkerSiloMap) do
		for column, fillUnit in pairs(line) do
			if forceHeight ~= nil then
				fillUnit.height = forceHeight
			end
		end
	end
end