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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)
---- 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
-- TODO: move this to TurnContext?
local realDirectionNode = AIDriverUtil.getDirectionNode(vehicle)
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 = 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 + ((vehicle.cp.courseNumHeadlandLanes - 1) * vehicle.cp.courseWorkWidth)
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.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 - 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
-- 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);
-- 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)
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);
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.changeDirectionWhenAligned 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 opposite 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.workEndNode) 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
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;
courseplay.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;
--[[
This is a copy of the original Giants VehicleUtil.driveToPoint() with the speed adjustment removed. The original
code slows down the vehicle according to the difference between the target steering angle and the current steering
angle.
This is generally a good thing but with this old turn code we do not have a pure pursuit controller yet and
the vehicle is moving towards a fix point. This means that the steering angle is continuously changing while driving
towards this waypoint (trending towards zero as we approach it) and when switching to the next waypoint, the target
steering angle has a sudden jump, causing the speed adjustment to kick in. You can observe the changing steering angle
when looking at the vehicle's wheels while in a turn.
The speed adjustment causes a sudden slow down whenever the turn waypoint is changed, that is why we remove it here as
the turn maneuver seems to work fine without it and it is a lot smoother.
On the long term this should be solved by using the pure pursuit controller during the turns as well as the PPC has
no fixed waypoint so the steering angle remains constant and the speed adjustment won't kick in, so the original
Giants function can again be used.
--]]
function courseplay.driveToPoint(self, dt, acceleration, allowedToDrive, moveForwards, tX, tZ, maxSpeed, doNotSteer)
if self.firstTimeRun then
if allowedToDrive then
local tX_2 = tX * 0.5
local tZ_2 = tZ * 0.5
local d1X, d1Z = tZ_2, -tX_2
if tX > 0 then
d1X, d1Z = -tZ_2, tX_2
end
local hit,_,f2 = MathUtil.getLineLineIntersection2D(tX_2,tZ_2, d1X,d1Z, 0,0, tX, 0)
if doNotSteer == nil or not doNotSteer then
local rotTime = 0
if hit and math.abs(f2) < 100000 then
local radius = tX * f2
rotTime = self.wheelSteeringDuration * ( math.atan(1/radius) / math.atan(1/self.maxTurningRadius) )
end
local targetRotTime
if rotTime >= 0 then
targetRotTime = math.min(rotTime, self.maxRotTime)
else
targetRotTime = math.max(rotTime, self.minRotTime)
end
if targetRotTime > self.rotatedTime then
self.rotatedTime = math.min(self.rotatedTime + dt*self:getAISteeringSpeed(), targetRotTime)
else
self.rotatedTime = math.max(self.rotatedTime - dt*self:getAISteeringSpeed(), targetRotTime)
end
end
end
self:getMotor():setSpeedLimit(math.min(maxSpeed, self:getCruiseControlSpeed()))
if self:getCruiseControlState() ~= Drivable.CRUISECONTROL_STATE_ACTIVE then
self:setCruiseControlState(Drivable.CRUISECONTROL_STATE_ACTIVE)
end
if not allowedToDrive then
acceleration = 0
end
if not moveForwards then
acceleration = -acceleration
end
WheelsUtil.updateWheelsPhysics(self, dt, self.lastSpeedReal*self.movingDirection, acceleration, not allowedToDrive, true)
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