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Fix for lane transition maneuvers #3421 (#3459)
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Omitted `turnDiameter` x offsets from the first quarter turn. 
Appears to now generate the intended course for 180-90-90 and 90-90-180 maneuvers.
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@GeorgeEarslight @pvaiko
GeorgeEarslight authored and pvaiko committed Mar 24, 2019
1 parent 0ac6507 commit 4de84e9
Showing 1 changed file with 10 additions and 10 deletions.
20 changes: 10 additions & 10 deletions turn.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -949,17 +949,17 @@ function courseplay:generateTurnTypeWideTurnWithAvoidance(vehicle, turnInfo)

--- Generate line between first and second turn circles
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.directionNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);

--- Generate the second turn circles
center.x,_,center.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
startDir.x,_,startDir.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
center.x,_,center.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
startDir.x,_,startDir.z = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnRadius);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.directionNode, vehicle.cp.courseWorkWidth * turnInfo.direction, 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 = localToWorld(turnInfo.directionNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.directionNode, vehicle.cp.courseWorkWidth * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset + turnInfo.turnDiameter);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.turnDiameter * turnInfo.direction, 0, turnInfo.reverseOffset);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);

Expand All @@ -981,17 +981,17 @@ function courseplay:generateTurnTypeWideTurnWithAvoidance(vehicle, turnInfo)

--- Generate line between first and second turn circles
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.directionNode, turnInfo.turnDiameter * turnInfo.direction, 0, turnInfo.zOffset - turnInfo.reverseOffset);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, vehicle.cp.courseWorkWidth * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);

--- Generate the second turn circles
center.x,_,center.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnRadius);
center.x,_,center.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, vehicle.cp.courseWorkWidth * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnDiameter);
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius) * turnInfo.direction, 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 = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnDiameter - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnRadius);
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, (vehicle.cp.courseWorkWidth - turnInfo.turnRadius) * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnRadius);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, turnInfo.reverseOffset - turnInfo.turnRadius);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);

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