| 28 | function AIVehicleUtil.driveToPoint(self, dt, acceleration, allowedToDrive, moveForwards, tX, tZ, maxSpeed, doNotSteer) |
| 29 | |
| 30 | if self.firstTimeRun then |
| 31 | |
| 32 | if allowedToDrive then |
| 33 | |
| 34 | local tX_2 = tX * 0.5; |
| 35 | local tZ_2 = tZ * 0.5; |
| 36 | |
| 37 | local d1X, d1Z = tZ_2, -tX_2; |
| 38 | if tX > 0 then |
| 39 | d1X, d1Z = -tZ_2, tX_2; |
| 40 | end |
| 41 | |
| 42 | local hit,_,f2 = Utils.getLineLineIntersection2D(tX_2,tZ_2, d1X,d1Z, 0,0, tX, 0); |
| 43 | |
| 44 | if doNotSteer == nil or not doNotSteer then |
| 45 | local rotTime = 0; |
| 46 | local radius = 0; |
| 47 | if hit and math.abs(f2) < 100000 then |
| 48 | radius = tX * f2; |
| 49 | rotTime = self.wheelSteeringDuration * ( math.atan(1/radius) / math.atan(1/self.maxTurningRadius) ); |
| 50 | end |
| 51 | |
| 52 | local targetRotTime = 0; |
| 53 | if rotTime >= 0 then |
| 54 | targetRotTime = math.min(rotTime, self.maxRotTime) |
| 55 | else |
| 56 | targetRotTime = math.max(rotTime, self.minRotTime) |
| 57 | end |
| 58 | |
| 59 | if targetRotTime > self.rotatedTime then |
| 60 | self.rotatedTime = math.min(self.rotatedTime + dt*self.aiSteeringSpeed, targetRotTime); |
| 61 | else |
| 62 | self.rotatedTime = math.max(self.rotatedTime - dt*self.aiSteeringSpeed, targetRotTime); |
| 63 | end |
| 64 | |
| 65 | -- adjust maxSpeed |
| 66 | local steerDiff = targetRotTime - self.rotatedTime; |
| 67 | local fac = math.abs(steerDiff) / math.max(self.maxRotTime, -self.minRotTime); |
| 68 | maxSpeed = maxSpeed * math.max( 0.01, 1.0 - math.pow(fac,0.25)); |
| 69 | end; |
| 70 | end |
| 71 | |
| 72 | self.motor:setSpeedLimit(maxSpeed); |
| 73 | if self.cruiseControl.state ~= Drivable.CRUISECONTROL_STATE_ACTIVE then |
| 74 | self:setCruiseControlState(Drivable.CRUISECONTROL_STATE_ACTIVE); |
| 75 | end |
| 76 | |
| 77 | if not allowedToDrive then |
| 78 | acceleration = 0; |
| 79 | end |
| 80 | if not moveForwards then |
| 81 | acceleration = -acceleration; |
| 82 | end |
| 83 | |
| 84 | if not g_currentMission.missionInfo.stopAndGoBraking then |
| 85 | if acceleration ~= self.nextMovingDirection then |
| 86 | if not self.hasStopped then |
| 87 | if math.abs(self.lastSpeedAcceleration) < 0.0001 and math.abs(self.lastSpeedReal) < 0.0001 and math.abs(self.lastMovedDistance) < 0.001 then |
| 88 | acceleration = 0; |
| 89 | end |
| 90 | end |
| 91 | end |
| 92 | end |
| 93 | |
| 94 | WheelsUtil.updateWheelsPhysics(self, dt, self.lastSpeedReal, acceleration, not allowedToDrive, self.requiredDriveMode); |
| 95 | |
| 96 | end |
| 97 | |
| 98 | end |
| 114 | function AIVehicleUtil.driveInDirection(self, dt, steeringAngleLimit, acceleration, slowAcceleration, slowAngleLimit, allowedToDrive, moveForwards, lx, lz, maxSpeed, slowDownFactor) |
| 115 | |
| 116 | local angle = 0; |
| 117 | if lx ~= nil and lz ~= nil then |
| 118 | local dot = lz; |
| 119 | angle = math.deg(math.acos(dot)); |
| 120 | if angle < 0 then |
| 121 | angle = angle+180; |
| 122 | end |
| 123 | |
| 124 | local turnLeft = lx > 0.00001; |
| 125 | if not moveForwards then |
| 126 | turnLeft = not turnLeft; |
| 127 | end |
| 128 | |
| 129 | local targetRotTime = 0; |
| 130 | |
| 131 | if turnLeft then |
| 132 | --rotate to the left |
| 133 | targetRotTime = self.maxRotTime*math.min(angle/steeringAngleLimit, 1); |
| 134 | else |
| 135 | --rotate to the right |
| 136 | targetRotTime = self.minRotTime*math.min(angle/steeringAngleLimit, 1); |
| 137 | end |
| 138 | |
| 139 | if targetRotTime > self.rotatedTime then |
| 140 | self.rotatedTime = math.min(self.rotatedTime + dt*self.aiSteeringSpeed, targetRotTime); |
| 141 | else |
| 142 | self.rotatedTime = math.max(self.rotatedTime - dt*self.aiSteeringSpeed, targetRotTime); |
| 143 | end |
| 144 | end |
| 145 | |
| 146 | |
| 147 | if self.firstTimeRun then |
| 148 | local acc = acceleration; |
| 149 | if maxSpeed ~= nil and maxSpeed ~= 0 then |
| 150 | if math.abs(angle) >= slowAngleLimit then |
| 151 | maxSpeed = maxSpeed * slowDownFactor; |
| 152 | end |
| 153 | self.motor:setSpeedLimit(maxSpeed); |
| 154 | |
| 155 | if self.cruiseControl.state ~= Drivable.CRUISECONTROL_STATE_ACTIVE then |
| 156 | self:setCruiseControlState(Drivable.CRUISECONTROL_STATE_ACTIVE); |
| 157 | end |
| 158 | else |
| 159 | if math.abs(angle) >= slowAngleLimit then |
| 160 | acc = slowAcceleration; |
| 161 | end |
| 162 | end |
| 163 | if not allowedToDrive then |
| 164 | acc = 0; |
| 165 | end |
| 166 | if not moveForwards then |
| 167 | acc = -acc; |
| 168 | end |
| 169 | WheelsUtil.updateWheelsPhysics(self, dt, self.lastSpeedReal, acc, not allowedToDrive, self.requiredDriveMode); |
| 170 | end |
| 171 | end |
| 257 | function AIVehicleUtil.getMaxToolRadius(implement) |
| 258 | |
| 259 | local radius = 0; |
| 260 | |
| 261 | if implement.object.aiTurningRadiusLimitation ~= nil then |
| 262 | if implement.object.aiTurningRadiusLimitation.radius ~= nil then |
| 263 | return implement.object.aiTurningRadiusLimitation.radius; |
| 264 | end |
| 265 | end |
| 266 | |
| 267 | if implement.object.aiTurningRadiusLimitation ~= nil and implement.object.aiTurningRadiusLimitation.rotationJoint ~= nil then |
| 268 | |
| 269 | local refNode = implement.object.aiTurningRadiusLimitation.rotationJoint; |
| 270 | -- If the refNode is any attacher joint, we always use the currently used attacher joint |
| 271 | for _, inputAttacherJoint in pairs(implement.object.inputAttacherJoints) do |
| 272 | if refNode == inputAttacherJoint.node then |
| 273 | refNode = implement.object.attacherJoint.node; |
| 274 | break; |
| 275 | end |
| 276 | end |
| 277 | |
| 278 | local rx,_,rz = localToLocal(refNode, implement.object.components[1].node, 0,0,0); |
| 279 | |
| 280 | for _,wheelIndex in pairs(implement.object.aiTurningRadiusLimitation.wheelIndices) do |
| 281 | |
| 282 | -- use first component as cosy?! |
| 283 | local wheel = implement.object.wheels[wheelIndex+1]; |
| 284 | local nx,_,nz = localToLocal(wheel.repr, implement.object.components[1].node, 0,0,0); |
| 285 | |
| 286 | local x,z = nx-rx, nz-rz; |
| 287 | local cx,cz = 0,0; |
| 288 | |
| 289 | -- get max rotation |
| 290 | local rotMax; |
| 291 | if refNode == implement.object.attacherJoint.node then |
| 292 | local jointDesc = implement.object.attacherVehicle.attacherJoints[implement.jointDescIndex]; |
| 293 | rotMax = math.max(jointDesc.upperRotLimit[2], jointDesc.lowerRotLimit[2]) * implement.object.attacherJoint.lowerRotLimitScale[2]; |
| 294 | else |
| 295 | for _,compJoint in pairs(implement.object.componentJoints) do |
| 296 | if refNode == compJoint.jointNode then |
| 297 | rotMax = compJoint.rotLimit[2]; |
| 298 | if implement.object.aiVehicleDirectionNode ~= nil then |
| 299 | cx,_,cz = localToLocal(implement.object.aiVehicleDirectionNode, refNode, 0,0,0); |
| 300 | end |
| 301 | break; |
| 302 | end |
| 303 | end |
| 304 | end |
| 305 | |
| 306 | -- calc turning radius |
| 307 | local x1 = x*math.cos(rotMax) - z*math.sin(rotMax); |
| 308 | local z1 = x*math.sin(rotMax) + z*math.cos(rotMax); |
| 309 | |
| 310 | local dx = -z1; |
| 311 | local dz = x1; |
| 312 | if wheel.steeringAxleScale ~= 0 and wheel.steeringAxleRotMax ~= 0 then |
| 313 | local tmpx, tmpz = dx, dz; |
| 314 | dx = tmpx*math.cos(wheel.steeringAxleRotMax) - tmpz*math.sin(wheel.steeringAxleRotMax); |
| 315 | dz = tmpx*math.sin(wheel.steeringAxleRotMax) + tmpz*math.cos(wheel.steeringAxleRotMax); |
| 316 | end |
| 317 | |
| 318 | local hit,f1,f2 = Utils.getLineLineIntersection2D(cx,cz, 1,0, x1,z1, dx,dz); |
| 319 | if hit then |
| 320 | radius = math.max(radius, math.abs(f1)); |
| 321 | end |
| 322 | |
| 323 | end |
| 324 | |
| 325 | end |
| 326 | |
| 327 | return radius; |
| 328 | end |
| 369 | function AIVehicleUtil.getValidityOfTurnDirections(vehicle, checkFrontDistance, turnData) |
| 370 | -- let's check the area at/around the marker which is farest behind of vehicle |
| 371 | |
| 372 | checkFrontDistance = 5; |
| 373 | |
| 374 | local leftAreaPercentage = 0; |
| 375 | local rightAreaPercentage = 0; |
| 376 | |
| 377 | local minZ = math.huge; |
| 378 | local maxZ = -math.huge; |
| 379 | for _,implement in pairs(vehicle.aiImplementList) do |
| 380 | local _,_,zl = localToLocal(implement.object.aiLeftMarker, vehicle.aiVehicleDirectionNode, 0,0,0); |
| 381 | local _,_,zr = localToLocal(implement.object.aiRightMarker, vehicle.aiVehicleDirectionNode, 0,0,0); |
| 382 | local _,_,zb = localToLocal(implement.object.aiBackMarker, vehicle.aiVehicleDirectionNode, 0,0,0); |
| 383 | minZ = math.min(minZ, zl, zr, zb); |
| 384 | maxZ = math.max(maxZ, zl, zr, zb); |
| 385 | end |
| 386 | |
| 387 | local sideDistance; |
| 388 | if turnData == nil then |
| 389 | local minAreaWidth = math.huge; |
| 390 | for _,implement in pairs(vehicle.aiImplementList) do |
| 391 | local lx, _, _ = localToLocal(implement.object.aiLeftMarker, vehicle.aiVehicleDirectionNode, 0,0,0); |
| 392 | local rx, _, _ = localToLocal(implement.object.aiRightMarker, vehicle.aiVehicleDirectionNode, 0,0,0) |
| 393 | minAreaWidth = math.min(minAreaWidth, math.abs(lx-rx)); |
| 394 | end |
| 395 | sideDistance = minAreaWidth; |
| 396 | else |
| 397 | sideDistance = math.abs(turnData.sideOffsetRight - turnData.sideOffsetLeft); |
| 398 | end |
| 399 | --checkFrontDistance = math.max(checkFrontDistance, maxAreaWidth); |
| 400 | |
| 401 | local dx, dz = vehicle.aiDriveDirection[1], vehicle.aiDriveDirection[2]; |
| 402 | local sx, sz = -dz, dx; |
| 403 | |
| 404 | for _,implement in pairs(vehicle.aiImplementList) do |
| 405 | local lx, ly, lz = localToLocal(implement.object.aiLeftMarker, vehicle.aiVehicleDirectionNode, 0,0,0); |
| 406 | local rx, ry, rz = localToLocal(implement.object.aiRightMarker, vehicle.aiVehicleDirectionNode, 0,0,0); |
| 407 | |
| 408 | local width = math.abs(lx-rx); |
| 409 | local length = checkFrontDistance + (maxZ - minZ) + math.max(sideDistance*1.3 + 2, checkFrontDistance); -- 1.3~tan(53) allows detecting back along a field side with angle 53 (and 2m extra compensates for some variances, or higher angles with small tools) |
| 410 | |
| 411 | lx, ly, lz = localToWorld(vehicle.aiVehicleDirectionNode, lx,ly,maxZ + checkFrontDistance); |
| 412 | rx, ry, rz = localToWorld(vehicle.aiVehicleDirectionNode, rx,ry,maxZ + checkFrontDistance); |
| 413 | |
| 414 | |
| 415 | local lSX = lx; |
| 416 | local lSZ = lz; |
| 417 | local lWX = lSX - sx * width; |
| 418 | local lWZ = lSZ - sz * width; |
| 419 | local lHX = lSX - dx * length; |
| 420 | local lHZ = lSZ - dz * length; |
| 421 | |
| 422 | local rSX = rx; |
| 423 | local rSZ = rz; |
| 424 | local rWX = rSX + sx * width; |
| 425 | local rWZ = rSZ + sz * width; |
| 426 | local rHX = rSX - dx * length; |
| 427 | local rHZ = rSZ - dz * length; |
| 428 | |
| 429 | local lArea, lTotal = AIVehicleUtil.getAIAreaOfVehicle(implement.object, lSX,lSZ, lWX,lWZ, lHX,lHZ, false); |
| 430 | local rArea, rTotal = AIVehicleUtil.getAIAreaOfVehicle(implement.object, rSX,rSZ, rWX,rWZ, rHX,rHZ, false); |
| 431 | |
| 432 | --leftAreaPercentage = math.max(leftAreaPercentage, (lArea / lTotal)); |
| 433 | --rightAreaPercentage = math.max(rightAreaPercentage, (rArea / rTotal)); |
| 434 | if lTotal > 0 then |
| 435 | leftAreaPercentage = leftAreaPercentage + (lArea / lTotal); |
| 436 | end |
| 437 | if rTotal > 0 then |
| 438 | rightAreaPercentage = rightAreaPercentage + (rArea / rTotal); |
| 439 | end |
| 440 | |
| 441 | -- just visual debuging |
| 442 | if AIVehicle.aiDebugRendering then |
| 443 | local lSY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, lSX,0,lSZ)+2; |
| 444 | local lWY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, lWX,0,lWZ)+2; |
| 445 | local lHY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, lHX,0,lHZ)+2; |
| 446 | local rSY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, rSX,0,rSZ)+2; |
| 447 | local rWY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, rWX,0,rWZ)+2; |
| 448 | local rHY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, rHX,0,rHZ)+2; |
| 449 | table.insert(vehicle.debugLines, { s={lSX,lSY,lSZ}, e={lWX,lWY,lWZ}, c={0.5, 0.5, 0.5} }); |
| 450 | table.insert(vehicle.debugLines, { s={lSX,lSY,lSZ}, e={lHX,lHY,lHZ}, c={0.5, 0.5, 0.5} }); |
| 451 | table.insert(vehicle.debugLines, { s={rSX,rSY,rSZ}, e={rWX,rWY,rWZ}, c={0.5, 0.5, 0.5} }); |
| 452 | table.insert(vehicle.debugLines, { s={rSX,rSY,rSZ}, e={rHX,rHY,rHZ}, c={0.5, 0.5, 0.5} }); |
| 453 | end |
| 454 | end |
| 455 | |
| 456 | leftAreaPercentage = leftAreaPercentage / table.getn(vehicle.aiImplementList); |
| 457 | rightAreaPercentage = rightAreaPercentage / table.getn(vehicle.aiImplementList); |
| 458 | --print(" ==> left/rightAreaPercentage = "..tostring(leftAreaPercentage).." / "..tostring(rightAreaPercentage)); |
| 459 | |
| 460 | return leftAreaPercentage, rightAreaPercentage; |
| 461 | end |
| 467 | function AIVehicleUtil.getImplementList(vehicle, implementList) |
| 468 | local validAttacherUsed = false |
| 469 | if vehicle.attachedImplements ~= nil then |
| 470 | for _,implement in pairs(vehicle.attachedImplements) do |
| 471 | if implement.object ~= nil then |
| 472 | AIVehicleUtil.getImplementList(implement.object, implementList); |
| 473 | if implement.object.aiLeftMarker ~= nil and implement.object.aiRightMarker ~= nil and implement.object.aiBackMarker ~= nil then |
| 474 | -- check if tool is attached with correct attacherJoint |
| 475 | if table.getn(implement.object.inputAttacherJoints) > 1 then |
| 476 | |
| 477 | local usedJointType; |
| 478 | local hasCutterOrImplementJoint = false |
| 479 | for j,inputAttacherJoint in pairs (implement.object.inputAttacherJoints) do |
| 480 | local joinType = inputAttacherJoint.jointType; |
| 481 | if implement.object.inputAttacherJointDescIndex == j then |
| 482 | usedJointType = jointType; |
| 483 | end |
| 484 | if jointType == AttacherJoints.JOINTTYPE_CUTTER or jointType == AttacherJoints.JOINTTYPE_CUTTERHARVESTER or jointType == AttacherJoints.JOINTTYPE_IMPLEMENT then |
| 485 | hasCutterOrImplementJoint = true; |
| 486 | end |
| 487 | end |
| 488 | -- If the tool has cutter or implement attacher joint, it needs to be attached to this attacher joint (e.g. a cutter with a trailer attacher) |
| 489 | if not hasCutterOrImplementJoint or (usedJointType == AttacherJoints.JOINTTYPE_CUTTER or usedJointType == AttacherJoints.JOINTTYPE_CUTTERHARVESTER or usedJointType == AttacherJoints.JOINTTYPE_IMPLEMENT) then |
| 490 | table.insert(implementList, implement); |
| 491 | end |
| 492 | else |
| 493 | table.insert(implementList, implement); |
| 494 | end |
| 495 | end |
| 496 | end |
| 497 | end |
| 498 | end |
| 499 | end |
| 545 | function AIVehicleUtil.getAIAreaOfVehicle(vehicle, startWorldX, startWorldZ, widthWorldX, widthWorldZ, heightWorldX, heightWorldZ, ignoreProhibitedValues) |
| 546 | local terrainDetailRequiredValueRanges = vehicle.terrainDetailRequiredValueRanges; |
| 547 | local terrainDetailProhibitValueRanges = vehicle.terrainDetailProhibitValueRanges; |
| 548 | local requiredFruitType = vehicle.aiRequiredFruitType; |
| 549 | local requiredMinGrowthState = vehicle.aiRequiredMinGrowthState; |
| 550 | local requiredMaxGrowthState = vehicle.aiRequiredMaxGrowthState; |
| 551 | local requiredFruitType2 = vehicle.aiRequiredFruitType2; |
| 552 | local requiredMinGrowthState2 = vehicle.aiRequiredMinGrowthState2; |
| 553 | local requiredMaxGrowthState2 = vehicle.aiRequiredMaxGrowthState2; |
| 554 | local prohibitedFruitType = vehicle.aiProhibitedFruitType; |
| 555 | local prohibitedMinGrowthState = vehicle.aiProhibitedMinGrowthState; |
| 556 | local prohibitedMaxGrowthState = vehicle.aiProhibitedMaxGrowthState; |
| 557 | local useWindrowed = vehicle.aiUseWindrowFruitType; |
| 558 | local useDensityHeightMap = vehicle.aiUseDensityHeightMap; |
| 559 | if ignoreProhibitedValues then |
| 560 | terrainDetailProhibitValueRanges = {}; |
| 561 | prohibitedFruitType = FruitUtil.FRUITTYPE_UNKNOWN; |
| 562 | prohibitedMinGrowthState = nil; |
| 563 | prohibitedMaxGrowthState = nil; |
| 564 | end |
| 565 | |
| 566 | if not useDensityHeightMap then |
| 567 | if vehicle.fruitTypes == nil then -- no cutter |
| 568 | local area, totalArea = AIVehicleUtil.getAIArea(startWorldX, startWorldZ, widthWorldX, widthWorldZ, heightWorldX, heightWorldZ, terrainDetailRequiredValueRanges, terrainDetailProhibitValueRanges, requiredFruitType, requiredMinGrowthState, requiredMaxGrowthState, prohibitedFruitType, prohibitedMinGrowthState, prohibitedMaxGrowthState, useWindrowed, requiredFruitType2, requiredMinGrowthState2, requiredMaxGrowthState2); |
| 569 | return area, totalArea; |
| 570 | else |
| 571 | -- cutter |
| 572 | local area, totalArea = 0, 0; |
| 573 | |
| 574 | local fruitTypesToUse = vehicle.fruitTypes; |
| 575 | if vehicle.currentInputFruitType ~= FruitUtil.FRUITTYPE_UNKNOWN then |
| 576 | fruitTypesToUse = {}; |
| 577 | fruitTypesToUse[vehicle.currentInputFruitType] = true; |
| 578 | end |
| 579 | for index,_ in pairs(fruitTypesToUse) do |
| 580 | |
| 581 | local desc = FruitUtil.fruitIndexToDesc[index]; |
| 582 | local isAllowed = true; |
| 583 | |
| 584 | if vehicle.getCombine ~= nil then |
| 585 | local combine = vehicle:getCombine(); |
| 586 | if combine ~= nil then |
| 587 | if vehicle.fillTypeConverters ~= nil and vehicle.fillTypeConverters[index] ~= nil then |
| 588 | isAllowed = combine:allowFillType(vehicle.fillTypeConverters[index].fillTypeTarget, false); |
| 589 | else |
| 590 | isAllowed = combine:allowFillType(FruitUtil.fruitTypeToFillType[index], false); |
| 591 | end |
| 592 | end |
| 593 | end |
| 594 | |
| 595 | if isAllowed then |
| 596 | requiredFruitType = index; |
| 597 | local minGrowthState, maxGrowthState, minGrowthState2, maxGrowthState2; |
| 598 | if vehicle.fruitPreparer ~= nil and vehicle.fruitPreparer.fruitType ~= nil then |
| 599 | minGrowthState = Utils.getNoNil(requiredMinGrowthState, desc.minPreparingGrowthState); |
| 600 | maxGrowthState = Utils.getNoNil(requiredMaxGrowthState, desc.maxPreparingGrowthState); |
| 601 | |
| 602 | requiredFruitType2 = requiredFruitType |
| 603 | minGrowthState2 = Utils.getNoNil(requiredMinGrowthState2, desc.minHarvestingGrowthState); |
| 604 | maxGrowthState2 = Utils.getNoNil(requiredMaxGrowthState2, desc.maxHarvestingGrowthState); |
| 605 | if vehicle.allowsForageGrowhtState then |
| 606 | minGrowthState2 = math.min(minGrowthState2, desc.minForageGrowthState); |
| 607 | end |
| 608 | else |
| 609 | minGrowthState = Utils.getNoNil(requiredMinGrowthState, desc.minHarvestingGrowthState); |
| 610 | maxGrowthState = Utils.getNoNil(requiredMaxGrowthState, desc.maxHarvestingGrowthState); |
| 611 | if vehicle.allowsForageGrowhtState then |
| 612 | minGrowthState = math.min(minGrowthState, desc.minForageGrowthState); |
| 613 | end |
| 614 | end |
| 615 | area, totalArea = AIVehicleUtil.getAIArea(startWorldX, startWorldZ, widthWorldX, widthWorldZ, heightWorldX, heightWorldZ, terrainDetailRequiredValueRanges, terrainDetailProhibitValueRanges, requiredFruitType, minGrowthState, maxGrowthState, prohibitedFruitType, prohibitedMinGrowthState, prohibitedMaxGrowthState, useWindrowed, requiredFruitType2, minGrowthState2, maxGrowthState2); |
| 616 | end |
| 617 | |
| 618 | if area > 0 then |
| 619 | break; |
| 620 | end |
| 621 | end |
| 622 | return area, totalArea; |
| 623 | end |
| 624 | else |
| 625 | -- first check if we are on a field |
| 626 | local detailId = g_currentMission.terrainDetailId; |
| 627 | local x,z, widthX,widthZ, heightX,heightZ = Utils.getXZWidthAndHeight(nil, startWorldX, startWorldZ, widthWorldX, widthWorldZ, heightWorldX, heightWorldZ); |
| 628 | |
| 629 | setDensityCompareParams(detailId, "greater", 0); |
| 630 | local _,area,_ = getDensityParallelogram(detailId, x, z, widthX, widthZ, heightX, heightZ, g_currentMission.terrainDetailTypeFirstChannel, g_currentMission.terrainDetailTypeNumChannels); |
| 631 | setDensityCompareParams(detailId, "greater", -1); |
| 632 | if area == 0 then |
| 633 | return 0, 0; |
| 634 | end |
| 635 | |
| 636 | if requiredFruitType ~= FruitUtil.FRUITTYPE_UNKNOWN then |
| 637 | local fillType; |
| 638 | if useWindrowed then |
| 639 | fillType = FruitUtil.fruitTypeToWindrowFillType[requiredFruitType]; |
| 640 | else |
| 641 | fillType = FruitUtil.fruitTypeToFillType[requiredFruitType]; |
| 642 | end |
| 643 | local _, area, totalArea = TipUtil.getFillLevelAtArea(fillType, startWorldX,startWorldZ, widthWorldX,widthWorldZ, heightWorldX,heightWorldZ); |
| 644 | return area, totalArea; |
| 645 | else |
| 646 | if useWindrowed then |
| 647 | for _,desc in pairs(FruitUtil.fruitTypes) do |
| 648 | if desc.hasWindrow then |
| 649 | local fillType = FruitUtil.fruitTypeToWindrowFillType[desc.index]; |
| 650 | local fillLevel, area, totalArea = TipUtil.getFillLevelAtArea(fillType, startWorldX,startWorldZ, widthWorldX,widthWorldZ, heightWorldX,heightWorldZ); |
| 651 | if fillLevel > 0 then |
| 652 | return area, totalArea; |
| 653 | end |
| 654 | end |
| 655 | end |
| 656 | end |
| 657 | end |
| 658 | end |
| 659 | return 0, 0; |
| 660 | end |
| 681 | function AIVehicleUtil.getAIArea(startWorldX, startWorldZ, widthWorldX, widthWorldZ, heightWorldX, heightWorldZ, terrainDetailRequiredValueRanges, terrainDetailProhibitValueRanges, requiredFruitType, requiredMinGrowthState, requiredMaxGrowthState, prohibitedFruitType, prohibitedMinGrowthState, prohibitedMaxGrowthState, useWindrowed, requiredFruitType2, requiredMinGrowthState2, requiredMaxGrowthState2) |
| 682 | |
| 683 | local query = g_currentMission.fieldCropsQuery; |
| 684 | |
| 685 | if requiredFruitType ~= FruitUtil.FRUITTYPE_UNKNOWN then |
| 686 | local ids = g_currentMission.fruits[requiredFruitType]; |
| 687 | if ids ~= nil and ids.id ~= 0 then |
| 688 | local id = ids.id; |
| 689 | if useWindrowed then |
| 690 | return 0, 1; |
| 691 | end |
| 692 | |
| 693 | query:addRequiredCropType(ids.id, requiredMinGrowthState+1, requiredMaxGrowthState+1, 0, g_currentMission.numFruitStateChannels, g_currentMission.terrainDetailTypeFirstChannel, g_currentMission.terrainDetailTypeNumChannels); |
| 694 | end |
| 695 | end |
| 696 | if requiredFruitType2 ~= FruitUtil.FRUITTYPE_UNKNOWN and requiredFruitType2 ~= nil then |
| 697 | local ids = g_currentMission.fruits[requiredFruitType2]; |
| 698 | if ids ~= nil and ids.id ~= 0 then |
| 699 | local id = ids.id; |
| 700 | if useWindrowed then |
| 701 | return 0, 1; |
| 702 | end |
| 703 | |
| 704 | query:addRequiredCropType(ids.id, requiredMinGrowthState2+1, requiredMaxGrowthState2+1, 0, g_currentMission.numFruitStateChannels, g_currentMission.terrainDetailTypeFirstChannel, g_currentMission.terrainDetailTypeNumChannels); |
| 705 | end |
| 706 | end |
| 707 | if prohibitedFruitType ~= FruitUtil.FRUITTYPE_UNKNOWN then |
| 708 | local ids = g_currentMission.fruits[prohibitedFruitType]; |
| 709 | if ids ~= nil and ids.id ~= 0 then |
| 710 | query:addProhibitedCropType(ids.id, prohibitedMinGrowthState+1, prohibitedMaxGrowthState+1, 0, g_currentMission.numFruitStateChannels, g_currentMission.terrainDetailTypeFirstChannel, g_currentMission.terrainDetailTypeNumChannels); |
| 711 | end |
| 712 | end |
| 713 | |
| 714 | for _,valueRange in pairs(terrainDetailRequiredValueRanges) do |
| 715 | query:addRequiredGroundValue(valueRange[1], valueRange[2], valueRange[3], valueRange[4]); |
| 716 | end |
| 717 | for _,valueRange in pairs(terrainDetailProhibitValueRanges) do |
| 718 | query:addProhibitedGroundValue(valueRange[1], valueRange[2], valueRange[3], valueRange[4]); |
| 719 | end |
| 720 | local x,z, widthX,widthZ, heightX,heightZ = Utils.getXZWidthAndHeight(nil, startWorldX, startWorldZ, widthWorldX, widthWorldZ, heightWorldX, heightWorldZ); |
| 721 | return query:getParallelogram(x,z, widthX,widthZ, heightX,heightZ, true); |
| 722 | end |