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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 Straight 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)
-- TODO: move this to TurnContext?
local realDirectionNode = AIDriverUtil.getDirectionNode(vehicle)
local moveForwards = true;
local lx, lz = 0, 1;
local dtpX, dtpZ = 0, 1;
local wpChangeDistance = 3;
local reverseWPChangeDistance = 5;
local reverseWPChangeDistanceWithTool = 3;
local isHarvester = Utils.getNoNil(
courseplay:isCombine(vehicle) or
courseplay:isChopper(vehicle) or
vehicle.cp.driver.isACombineAIDriver, false);
--- 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;
--- Get front and back markers
local frontMarker = turnContext.frontMarkerDistance
local backMarker = turnContext.backMarkerDistance
local _, vehicleY, _ = 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.changeDirectionWhenAligned 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 - Create Turn maneuver (Creating waypoints to follow)
----------------------------------------------------------
if vehicle.cp.settings.turnStage:is(true) 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
-- when PPC is driving we don't have to care about wp change distances, PPC takes care of that. Still use
-- a small value to make sure none of the turn generator functions end up with overlapping waypoints
turnInfo.wpChangeDistance = 0.5
turnInfo.reverseWPChangeDistance = 0.5
turnInfo.direction = -1;
turnInfo.haveHeadlands = courseplay:haveHeadlands(vehicle);
-- 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
turnInfo.headlandHeight = vehicle.cp.courseWorkWidth / 2 + ((vehicle.cp.courseNumHeadlandLanes - 1) * vehicle.cp.courseWorkWidth)
else
turnInfo.headlandHeight = 0
end
-- if the headland is not perpendicular, we have less room to turn
turnInfo.headlandHeight = turnInfo.headlandHeight * math.cos(turnContext:getHeadlandAngle())
-- 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 turnInfo.headlandHeight;
turnInfo.numLanes ,turnInfo.onLaneNum = courseplay:getLaneInfo(vehicle);
turnInfo.turnOnField = vehicle.cp.settings.turnOnField:is(true);
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;
turnInfo.noReverse = g_vehicleConfigurations:getRecursively(vehicle, 'noReverse')
-- 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;
--- Create temp target node and translate it.
turnInfo.targetNode = turnContext.turnEndWpNode.node
local cx,cz = turnContext.turnEndWp.x, turnContext.turnEndWp.z
--- 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
-- 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 turnInfo.noReverse 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, noReverse=%q"):format(nameNum(vehicle), tostring(turnInfo.reverseOffset), tostring(turnInfo.isHarvester), tostring(turnInfo.noReverse)), 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 turnInfo.noReverse 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)
courseplay.generateTurnTypeHeadlandCornerReverseStraightTractor(vehicle, turnInfo)
end
cpPrintLine(14, 1);
courseplay:debug(string.format("%s:(Turn) Generated %d Turn Waypoints", nameNum(vehicle), #vehicle.cp.turnTargets), 14);
cpPrintLine(14, 3);
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;
lx, lz = AIVehicleUtil.getDriveDirection(vehicle.cp.directionNode, posX, vehicleY, posZ);
if curTurnTarget.turnReverse then
lx, lz, moveForwards = courseplay:goReverse(vehicle,lx,lz);
end;
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 turnInfo.noReverse 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 turnInfo.noReverse 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 turnInfo.noReverse 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 turnInfo.noReverse 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 turnInfo.noReverse 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);
courseplay:generateTurnCircle(vehicle, center3, center2, stopDir, turnInfo.turnRadius, (turnInfo.direction * -1), true);
--- Extra WP - Make strait points to field edge if needed
if turnInfo.frontMarker < 0 and turnInfo.zOffset - targetOffsetZ < 0 then
local toPoint = {}
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, -turnInfo.frontMarker - 3);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint);
end;
--- Extra WP - End Turn turnInfo.frontMarker
posX, _, posZ = localToWorld(turnInfo.targetNode, 0, 0, -turnInfo.zOffset + (turnInfo.frontMarker < 0 and -turnInfo.frontMarker or 0) + 5);
courseplay:addTurnTarget(vehicle, posX, posZ, true);
end;
function courseplay:generateTurnTypeQuestionmarkTurn(vehicle, turnInfo)
cpPrintLine(14, 3);
courseplay:debug(string.format("%s:(Turn) Using Questionmark Turn", nameNum(vehicle)), 14);
cpPrintLine(14, 3);
local posX, posZ;
local fromPoint, toPoint = {}, {};
local canTurnOnHeadland = false;
local center1, center2, startDir, stopDir = {}, {}, {}, {};
local isReverseingBaleLoader = turnInfo.reversingWorkTool and courseplay:isBaleLoader(turnInfo.reversingWorkTool)
--- Get the Triangle sides
local centerOffset = (turnInfo.targetDeltaX * turnInfo.direction) - turnInfo.turnRadius;
local sideC = turnInfo.turnDiameter;
local sideB = turnInfo.turnRadius + centerOffset;
local centerHeight = square(sideC^2 - sideB^2);
courseplay:debug(("%s:(Turn) centerOffset=%s, sideB=%s, sideC=%s, centerHeight=%s"):format(nameNum(vehicle), tostring(centerOffset), tostring(sideB), tostring(sideC), tostring(centerHeight)), 14);
--- Check if we can turn on the headlands
local spaceNeeded = 0;
if vehicle.cp.settings.oppositeTurnMode:is(true) or isReverseingBaleLoader then
spaceNeeded = -turnInfo.zOffset + centerHeight + turnInfo.turnRadius + turnInfo.halfVehicleWidth;
else
spaceNeeded = -turnInfo.zOffset + turnInfo.turnRadius + turnInfo.halfVehicleWidth;
end;
if spaceNeeded < turnInfo.headlandHeight then
canTurnOnHeadland = true;
end;
courseplay:debug(("%s:(Turn) canTurnOnHeadland=%s, headlandHeight=%.2fm, spaceNeeded=%.2fm"):format(nameNum(vehicle), tostring(canTurnOnHeadland), turnInfo.headlandHeight, spaceNeeded), 14);
--- Target is behind of us
local targetOffsetZ = 0;
if turnInfo.deltaZBetweenVehicleAndTarget < 0 then
if canTurnOnHeadland then
targetOffsetZ = abs(turnInfo.targetDeltaZ);
else
targetOffsetZ = turnInfo.zOffset + abs(turnInfo.targetDeltaZ);
end;
end;
--- Front marker is in front of tractor
local extraMoveBack = 0
-- This works fine as long as there's no implement with a work area in the back as well. We don't really handle that
-- case properly. In stage 0 we check for the backmarker to change to stage 1 so we'll be further ahead than with
-- a front implement only. So no need to move the circle back, actually it should be moved forward but I don't have
-- the motivation to change that, for now, just don't move back, this works most of the time.
if turnInfo.frontMarker > 0 and turnInfo.backMarker > 0 then
extraMoveBack = turnInfo.frontMarker;
end;
courseplay:debug(("%s:(Turn) targetOffsetZ=%s, extraMoveBack=%.2fm"):format(nameNum(vehicle), tostring(targetOffsetZ), extraMoveBack), 14);
--- Get the center height offset
local centerHeightOffset = -targetOffsetZ + turnInfo.reverseOffset + extraMoveBack;
if not turnInfo.haveHeadlands then
centerHeightOffset = centerHeightOffset + abs(turnInfo.targetDeltaZ * 0.75);
end;
--- Get the numLanes and onLaneNum, so we can switch to the right turn maneuver.
local width = vehicle.cp.courseWorkWidth * 0.5;
local doNormalTurn = true;
local widthNeeded = turnInfo.turnDiameter + turnInfo.halfVehicleWidth - vehicle.cp.courseWorkWidth;
if vehicle.cp.settings.oppositeTurnMode:is(true) then
width = turnInfo.onLaneNum * vehicle.cp.courseWorkWidth - (vehicle.cp.courseWorkWidth * 0.5);
doNormalTurn = (turnInfo.haveHeadlands and widthNeeded > (width + turnInfo.headlandHeight) or widthNeeded > width);
courseplay:debug(("%s:(Turn) doNormalTurn=%s, haveHeadlands=%s, %.1fm > %.1fm"):format(nameNum(vehicle), tostring(doNormalTurn), tostring(turnInfo.haveHeadlands), widthNeeded, (turnInfo.haveHeadlands and (width + turnInfo.headlandHeight) or width)), 14);
else
width = (turnInfo.numLanes - turnInfo.onLaneNum) * vehicle.cp.courseWorkWidth - (vehicle.cp.courseWorkWidth * 0.5);
doNormalTurn = (turnInfo.haveHeadlands and widthNeeded < (width + turnInfo.headlandHeight) or widthNeeded < width);
courseplay:debug(("%s:(Turn) doNormalTurn=%s, haveHeadlands=%s, %.1fm < %.1fm"):format(nameNum(vehicle), tostring(doNormalTurn), tostring(turnInfo.haveHeadlands), widthNeeded, (turnInfo.haveHeadlands and (width + turnInfo.headlandHeight) or width)), 14);
end;
--- Do the opposite direction turns for bale loaders, so we avoid bales in the normal turn direction
if doNormalTurn and isReverseingBaleLoader then
courseplay.debugVehicle(14, vehicle, '(Turn) opposite direction for bale loaders to avoid bales')
doNormalTurn = false;
end;
if doNormalTurn then
----------------------------------------------------------
-- Question Mark Turn.
----------------------------------------------------------
--- If we cant turn on headland, then reverse back into the field to turn there.
--- This is to prevent vehicles to drive too much into fences and such
if not canTurnOnHeadland then
if turnInfo.targetDeltaZ + turnInfo.zOffset < centerHeightOffset then
-- Reverse back
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, centerHeightOffset + 3);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, centerHeightOffset + turnInfo.directionNodeToTurnNodeLength + turnInfo.reverseWPChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, nil, turnInfo.reverseWPChangeDistance);
else
-- Move forward to the first turn circle
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, turnInfo.targetDeltaZ + turnInfo.zOffset);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, centerHeightOffset);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
end;
end;
--- Get the new zOffset
local newZOffset = centerHeight + centerHeightOffset;
courseplay:debug(("%s:(Turn) centerHeightOffset=%s, reverseOffset=%s, zOffset=%s, turnRadius=%s"):format(nameNum(vehicle), tostring(centerHeightOffset), tostring(turnInfo.reverseOffset), tostring(turnInfo.zOffset), tostring(turnInfo.turnRadius)), 14);
--- Get the 2 circle center cordinate
center1.x,_,center1.z = localToWorld(turnInfo.targetNode, centerOffset * turnInfo.direction, 0, centerHeightOffset);
center2.x,_,center2.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction * -1, 0, newZOffset);
--- Generate first turn circle
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, centerHeightOffset);
courseplay:generateTurnCircle(vehicle, center1, startDir, center2, turnInfo.turnRadius, turnInfo.direction);
--- Generate second turn circle
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, newZOffset);
courseplay:generateTurnCircle(vehicle, center2, center1, stopDir, turnInfo.turnRadius, (turnInfo.direction * -1), false);
--- If we have headlands, then see if we can skip the reversing back part.
if turnInfo.haveHeadlands and newZOffset < turnInfo.directionNodeToTurnNodeLength * 0.5 then
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.directionNodeToTurnNodeLength + turnInfo.wpChangeDistance + 6);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, false, true);
else
--- 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;
--- Check if there is enough space to reverse back to the new lane start.
local fromDistance = newZOffset - 3;
local extraDistance = 0;
if fromDistance < 0 then
extraDistance = abs(fromDistance);
end;
--- Do we need to move extra back on the last reverse wp
if turnInfo.targetDeltaZ > 0 then
extraMoveBack = extraMoveBack + turnInfo.targetDeltaZ;
end;
--- Extra WP 1 - Move a bit more forward
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, newZOffset);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, newZOffset + 3);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, newZOffset + 4);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, newZOffset + directionNodeToTurnNodeLength + extraDistance + turnInfo.extraAlignLength + turnInfo.wpChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, nil, nil, nil, true);
---newZOffset
if fromDistance > 0 then
--- Extra WP 2 - Reverse with End Turn
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, fromDistance);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, 0);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, true, directionNodeToTurnNodeLength + extraMoveBack + turnInfo.reverseWPChangeDistance);
else
--- Extra WP 2 - Reverse with End Turn
posX, _, posZ = localToWorld(turnInfo.targetNode, 0, 0, 0);
local revPosX, _, revPosZ = localToWorld(turnInfo.targetNode, 0, 0, -(directionNodeToTurnNodeLength + extraMoveBack + turnInfo.reverseWPChangeDistance));
courseplay:addTurnTarget(vehicle, posX, posZ, true, true, revPosX, revPosZ);
end;
end;
else
----------------------------------------------------------
-- Reverse Question Mark Turn
----------------------------------------------------------
centerHeightOffset = centerHeightOffset + abs(turnInfo.targetDeltaZ * 0.25)
--- Target is behind of us
if turnInfo.targetDeltaZ < turnInfo.zOffset then
centerHeightOffset = centerHeightOffset - abs(turnInfo.targetDeltaZ * 0.75)
end;
--- Get the new zOffset.
local newZOffset = centerHeight + centerHeightOffset;
--- If we cant turn on headland, then reverse back into the field to turn there.
--- This is to prevent vehicles to drive too much into fences and such
if not canTurnOnHeadland then
--- Add the reverseOffset to centerHeigthOffset
--centerHeightOffset = centerHeightOffset + turnInfo.reverseOffset;
--- Recalculate the new zOffset since we need to reverse back.
newZOffset = centerHeight + centerHeightOffset;
--- Reverse back
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, turnInfo.targetDeltaZ + 3);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, newZOffset + turnInfo.directionNodeToTurnNodeLength + turnInfo.reverseWPChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, nil, turnInfo.reverseWPChangeDistance);
end;
courseplay:debug(("%s:(Turn) centerHeightOffset=%s, reverseOffset=%s, zOffset=%s, turnRadius=%s"):format(nameNum(vehicle), tostring(centerHeightOffset), tostring(turnInfo.reverseOffset), tostring(turnInfo.zOffset), tostring(turnInfo.turnRadius)), 14);
--- Get the 2 circle center cordinate
center1.x,_,center1.z = localToWorld(turnInfo.targetNode, (abs(turnInfo.targetDeltaX) + turnInfo.turnRadius) * turnInfo.direction, 0, newZOffset);
center2.x,_,center2.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, centerHeightOffset);
--- Generate first turn circle
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, newZOffset);
courseplay:generateTurnCircle(vehicle, center1, startDir, center2, turnInfo.turnRadius, turnInfo.direction * -1);
--- Generate second turn circle
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, centerHeightOffset);
courseplay:generateTurnCircle(vehicle, center2, center1, stopDir, turnInfo.turnRadius, turnInfo.direction, true);
--- Check if there is enought space to reverse back to the new lane start.
local fromDistance = centerHeightOffset - 3;
--- If the last turn circle ends 3m behind the new lane start, we dont need to reverse back.
if fromDistance < -3 then
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.directionNodeToTurnNodeLength + turnInfo.wpChangeDistance + 6);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, false, true);
--- The last turn circle is less than 3m behind the lane start, so we have to reverse back.
else
local extraDistance = 0;
if fromDistance < 3 then
extraDistance = abs(fromDistance - 3);
end;
--- Do we need to move extra back on the last reverse wp
if turnInfo.targetDeltaZ > 0 then
extraMoveBack = extraMoveBack + turnInfo.targetDeltaZ;
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 * 1.5;
if turnInfo.haveWheeledImplement and turnInfo.reversingWorkTool.cp.isPivot then
directionNodeToTurnNodeLength = turnInfo.directionNodeToTurnNodeLength * 1.75;
end;
--- Extra WP 1 - Move a bit more forward
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, centerHeightOffset);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, centerHeightOffset + directionNodeToTurnNodeLength + extraDistance + turnInfo.extraAlignLength + turnInfo.wpChangeDistance);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, nil, nil, nil, true);
if fromDistance >= 3 then
--- Extra WP 2 - Reverse with End Turn
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, fromDistance);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, 0);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, true, directionNodeToTurnNodeLength + extraMoveBack + turnInfo.reverseWPChangeDistance);
else
--- Extra WP 2 - Reverse with End Turn
posX, _, posZ = localToWorld(turnInfo.targetNode, 0, 0, 0);
local revPosX, _, revPosZ = localToWorld(turnInfo.targetNode, 0, 0, -(directionNodeToTurnNodeLength + extraMoveBack + turnInfo.reverseWPChangeDistance));
courseplay:addTurnTarget(vehicle, posX, posZ, true, true, revPosX, revPosZ);
end;
end;
end;
end;
function courseplay:generateTurnTypeForward3PointTurn(vehicle, turnInfo)
cpPrintLine(14, 3);
courseplay:debug(string.format("%s:(Turn) Using Forward 3 Point Turn", nameNum(vehicle)), 14);
cpPrintLine(14, 3);
local posX, posZ;
local fromPoint, toPoint = {}, {};
--local canTurnOnHeadland = false;
local center1, center2, startDir, intersect1, intersect2, stopDir = {}, {}, {}, {}, {}, {};
local frontOffset = -1;
if turnInfo.frontMarker > 0 then
frontOffset = frontOffset - turnInfo.frontMarker;
end;
-- getAttachedImplementsAllowTurnBackward will return true for anything easy to reverse, that is has no towed implement,
-- like combines or tractors with implements mounted on the 3 point hitch. Those should make the same turn (fishtail or K-turn)
-- as combines do as it takes up a lot less space on the headland. Our calculation of how much space is needed is still off a bit
-- so you may have to turn off 'turn on field' for this to work for tractors.
if not (courseplay:isCombine(vehicle) or courseplay:isChopper(vehicle)) and
not AIVehicleUtil.getAttachedImplementsAllowTurnBackward(vehicle) then
local targetDeltaZ = turnInfo.targetDeltaZ;
if targetDeltaZ > 0 then
targetDeltaZ = 0;
end;
--- Get the numLanes and onLaneNum, so we can switch to the right turn maneuver.
local width = vehicle.cp.courseWorkWidth * 0.5;
local doNormalTurn = true;
local widthNeeded = turnInfo.turnDiameter + turnInfo.halfVehicleWidth - vehicle.cp.courseWorkWidth;
if vehicle.cp.settings.oppositeTurnMode:is(true) then
width = turnInfo.onLaneNum * vehicle.cp.courseWorkWidth - (vehicle.cp.courseWorkWidth * 0.5);
doNormalTurn = widthNeeded > width;
courseplay:debug(("%s:(Turn) doNormalTurn=%s, %.1fm > %.1fm"):format(nameNum(vehicle), tostring(doNormalTurn), widthNeeded, width), 14);
else
width = (turnInfo.numLanes - turnInfo.onLaneNum) * vehicle.cp.courseWorkWidth - (vehicle.cp.courseWorkWidth * 0.5);
doNormalTurn = widthNeeded < width;
courseplay:debug(("%s:(Turn) doNormalTurn=%s, %.1fm < %.1fm"):format(nameNum(vehicle), tostring(doNormalTurn), widthNeeded, width), 14);
end;
if not doNormalTurn then
--- We don't have space on the side we want to turn into, so we do the turn in opposite direction
turnInfo.direction = turnInfo.direction * -1;
end;
courseplay:debug(("%s:(Turn) centerOffset=%s, centerHeight=%s"):format(nameNum(vehicle), tostring(turnInfo.centerOffset), tostring(turnInfo.centerHeight)), 14);
--- Get the 2 circle center coordinate
center1.x,_,center1.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX - turnInfo.turnRadius * turnInfo.direction, 0, targetDeltaZ + turnInfo.zOffset + frontOffset);
center2.x,_,center2.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction * -1, 0, targetDeltaZ + turnInfo.zOffset - turnInfo.centerHeight + frontOffset);
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, targetDeltaZ + turnInfo.zOffset + frontOffset);
--- Generate Strait point up to start point
if turnInfo.targetDeltaZ > 0 then
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.directionNode, 0, 0, 0);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, startDir);
end;
--- Generate first turn circle (Forward)
courseplay:generateTurnCircle(vehicle, center1, startDir, center2, turnInfo.turnRadius, turnInfo.direction, true);
--- Move a little bit more forward, so we can reverse properly
local dx, dz = courseplay:getPointDirection(center1, center2, false);
local rotationDeg = deg(MathUtil.getYRotationFromDirection(dx, dz));
rotationDeg = rotationDeg + (90 * turnInfo.direction);
dx, dz = MathUtil.getDirectionFromYRotation(rad(rotationDeg));
local wp = vehicle.cp.turnTargets[#vehicle.cp.turnTargets];
fromPoint.x = wp.posX;
fromPoint.z = wp.posZ;
toPoint.x = wp.posX + ((2 + turnInfo.wpChangeDistance) * dx);
toPoint.z = wp.posZ + ((2 + turnInfo.wpChangeDistance) * dz);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint);
--- Generate second turn circle (Reversing)
local zPosition = targetDeltaZ + turnInfo.zOffset - turnInfo.centerHeight + frontOffset;
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, zPosition);
courseplay:generateTurnCircle(vehicle, center2, center1, stopDir, turnInfo.turnRadius, turnInfo.direction, true, true);
--- Move a bit further back
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, zPosition - 2);
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, zPosition - (turnInfo.reverseWPChangeDistance * 1.5));
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, nil, nil, true);
--- Move further back depending on the frontmarker
if turnInfo.frontMarker < zPosition then
fromPoint.x, _, fromPoint.z = localToWorld(turnInfo.targetNode, 0, 0, zPosition - (turnInfo.reverseWPChangeDistance * 2));
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, -turnInfo.frontMarker - (turnInfo.reverseWPChangeDistance * 2));
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true, nil, nil, true);
end;
--- Finish the turn
local x, z = toPoint.x, toPoint.z;
fromPoint.x = x;
fromPoint.z = z;
toPoint.x, _, toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, turnInfo.directionNodeToTurnNodeLength - turnInfo.zOffset + 5);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, false, true);
else
--- Get the 2 circle center coordinate
local center1ZOffset = turnInfo.targetDeltaZ + turnInfo.zOffset + frontOffset;
local center2ZOffset = frontOffset
center1.x,_,center1.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX - turnInfo.turnRadius * turnInfo.direction, 0, center1ZOffset);
center2.x,_,center2.z = localToWorld(turnInfo.targetNode, turnInfo.turnRadius * turnInfo.direction, 0, center2ZOffset);
--- Get the circle intersection points
intersect1.x, intersect1.z = center1.x, center1.z;
intersect2.x, intersect2.z = center2.x, center2.z;
intersect2, intersect1 = courseplay:getTurnCircleTangentIntersectionPoints(intersect2, intersect1, turnInfo.turnRadius, turnInfo.targetDeltaX > 0);
--- Generate first turn circle (Forward)
startDir.x,_,startDir.z = localToWorld(turnInfo.targetNode, turnInfo.targetDeltaX, 0, center1ZOffset);
courseplay:generateTurnCircle(vehicle, center1, startDir, intersect1, turnInfo.turnRadius, turnInfo.direction, true);
--- Move a little bit more forward, so we can reverse properly
local dx, dz = courseplay:getPointDirection(intersect2, intersect1, false);
toPoint.x = intersect1.x + (turnInfo.wpChangeDistance * dx);
toPoint.z = intersect1.z + (turnInfo.wpChangeDistance * dz);
courseplay:generateTurnStraightPoints(vehicle, intersect1, toPoint);
--- Reverse back to the second turn circle start point
fromPoint.x = intersect1.x - (2 * dx);
fromPoint.z = intersect1.z - (2 * dz);
toPoint.x = intersect2.x - ((2 + turnInfo.reverseWPChangeDistance) * dx);
toPoint.z = intersect2.z - ((2 + turnInfo.reverseWPChangeDistance) * dz);
courseplay:generateTurnStraightPoints(vehicle, fromPoint, toPoint, true);
--- Generate second turn circle (Forward)
stopDir.x,_,stopDir.z = localToWorld(turnInfo.targetNode, 0, 0, center2ZOffset);
courseplay:generateTurnCircle(vehicle, center2, intersect2, stopDir, turnInfo.turnRadius, turnInfo.direction, false);
--- Finish the turn
toPoint.x,_,toPoint.z = localToWorld(turnInfo.targetNode, 0, 0, abs(turnInfo.frontMarker) + 5);
courseplay:generateTurnStraightPoints(vehicle, stopDir, toPoint, false, true);
end;
end;
function courseplay:generateTurnTypeReverse3PointTurn(vehicle, turnInfo)
cpPrintLine(14, 3);
courseplay:debug(string.format("%s:(Turn) Using Reversing 3 Point Turn", nameNum(vehicle)), 14);
cpPrintLine(14, 3);
local posX, posZ;
local fromPoint, toPoint = {}, {};
local center1, center2, startDir, stopDir = {}, {}, {}, {};
local targetDeltaZ = 0;
if turnInfo.targetDeltaZ > 0 then
targetDeltaZ = turnInfo.targetDeltaZ;
end;
--- Get the numLanes and onLaneNum, so we can switch to the right turn maneuver.
local width = vehicle.cp.courseWorkWidth * 0.5;
local doNormalTurn = true;
local widthNeeded = turnInfo.turnDiameter + turnInfo.halfVehicleWidth - vehicle.cp.courseWorkWidth;
-- TODO: even if getLaneInfo() was working correctly, this part only works for rectangular fields
if vehicle.cp.settings.oppositeTurnMode:is(true) then
width = turnInfo.onLaneNum * vehicle.cp.courseWorkWidth - (vehicle.cp.courseWorkWidth * 0.5);
doNormalTurn = widthNeeded > width;
courseplay:debug(("%s:(Turn) doNormalTurn=%s, %.1fm > %.1fm"):format(nameNum(vehicle), tostring(doNormalTurn), widthNeeded, width), 14);
else
width = (turnInfo.numLanes - turnInfo.onLaneNum) * vehicle.cp.courseWorkWidth - (vehicle.cp.courseWorkWidth * 0.5);
doNormalTurn = widthNeeded < width;
courseplay:debug(("%s:(Turn) doNormalTurn=%s, %.1fm < %.1fm"):format(nameNum(vehicle), tostring(doNormalTurn), widthNeeded, width), 14);
end;
if not doNormalTurn then
--- We don't have space on the side we want to turn into, so we do the turn in oposite direction
turnInfo.direction = turnInfo.direction * -1;
end;
--- Get the 2 circle center coordinate