| 60 | function AIDriveStrategy:getDistanceToEndOfField(dt, vX,vY,vZ) |
| 61 | |
| 62 | if self.lastHasNoField then |
| 63 | local dist = MathUtil.vector3Length(self.lastValidGroundPosX - vX, self.lastValidGroundPosY - vY, self.lastValidGroundPosZ - vZ) |
| 64 | return self.distanceToEnd - dist, false, true |
| 65 | end |
| 66 | if self.fieldEndGabDetected then |
| 67 | return 0, false, true |
| 68 | end |
| 69 | local distanceToTurn = self.lookAheadDistanceField |
| 70 | local attachedAIImplements = self.vehicle:getAttachedAIImplements() |
| 71 | |
| 72 | local hasField = false |
| 73 | local ownedField = true |
| 74 | |
| 75 | -- implement list must be sorted in decreasing order by distance to vehicle (front to back) |
| 76 | local lookAheadDist |
| 77 | |
| 78 | for i=1, table.getn(attachedAIImplements) do |
| 79 | local implement = attachedAIImplements[i] |
| 80 | local leftMarker, rightMarker, backMarker = implement.object:getAIMarkers() |
| 81 | |
| 82 | if i == 1 then |
| 83 | lookAheadDist = self.lookAheadDistanceField |
| 84 | else |
| 85 | local implementPre = attachedAIImplements[i-1] |
| 86 | |
| 87 | local leftMarker2, _, backMarker2 = implementPre.object:getAIMarkers() |
| 88 | |
| 89 | local _,_,zDiffArea = localToLocal(leftMarker2, backMarker2, 0,0,0) |
| 90 | local _,_,zDiff = localToLocal(leftMarker2, leftMarker, 0,0,0) |
| 91 | |
| 92 | lookAheadDist = math.max(0, zDiff - zDiffArea - implement.object:getAILookAheadSize()) |
| 93 | |
| 94 | -- tools behind the first tool should test at the same 'z value' if they are the same type |
| 95 | -- e.g. two cutters in comparison to fruit preparer and harvester |
| 96 | if self.turnData ~= nil and self.turnData.allImplementsOfSameType == true then |
| 97 | lookAheadDist = lookAheadDist + self.lookAheadDistanceField + zDiffArea + implement.object:getAILookAheadSize() |
| 98 | end |
| 99 | end |
| 100 | |
| 101 | local _, _, markerZOffset = 0, 0, 0 |
| 102 | local size = implement.object:getAILookAheadSize() |
| 103 | |
| 104 | if implement.object:getAIHasNoFullCoverageArea() then |
| 105 | _, _, markerZOffset = localToLocal(backMarker, leftMarker, 0,0,0) |
| 106 | lookAheadDist = 0 |
| 107 | size = size + math.abs(markerZOffset) |
| 108 | end |
| 109 | |
| 110 | local lX0, _, lZ0 = localToWorld(leftMarker, 0, 0, markerZOffset) |
| 111 | local rX0, _, rZ0 = localToWorld(rightMarker, 0, 0, markerZOffset) |
| 112 | |
| 113 | local lX = lX0 + self.vehicle.aiDriveDirection[1] * lookAheadDist |
| 114 | local lZ = lZ0 + self.vehicle.aiDriveDirection[2] * lookAheadDist |
| 115 | local rX = rX0 + self.vehicle.aiDriveDirection[1] * lookAheadDist |
| 116 | local rZ = rZ0 + self.vehicle.aiDriveDirection[2] * lookAheadDist |
| 117 | |
| 118 | local hX = lX + self.vehicle.aiDriveDirection[1] * size |
| 119 | local hZ = lZ + self.vehicle.aiDriveDirection[2] * size |
| 120 | |
| 121 | local area, areaTotal = AIVehicleUtil.getAIAreaOfVehicle(implement.object, lX,lZ, rX,rZ, hX,hZ, false) |
| 122 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 123 | self.vehicle:addAIDebugText(string.format("tool %d: area=%.1f areaTotal=%.1f", i, area, areaTotal)) |
| 124 | |
| 125 | local lY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, lX,0,lZ)+2 |
| 126 | local rY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, rX,0,rZ)+2 |
| 127 | local hY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, hX,0,hZ)+2 |
| 128 | |
| 129 | self.vehicle:addAIDebugLine({lX,lY,lZ}, {rX,rY,rZ}, {0,1,0}) |
| 130 | self.vehicle:addAIDebugLine({lX,lY,lZ}, {hX,hY,hZ}, {0,1,0}) |
| 131 | end |
| 132 | |
| 133 | -- We're good if any tool is above a field owned by the player and has valid ground |
| 134 | if area > 0 then |
| 135 | local farmId = self.vehicle.spec_aiVehicle.startedFarmId |
| 136 | |
| 137 | if g_farmlandManager:getIsOwnedByFarmAtWorldPosition(farmId, (rX + hX)*0.5, (rZ + hZ)*0.5) |
| 138 | or g_missionManager:getIsMissionWorkAllowed(farmId, (rX + hX)*0.5, (rZ + hZ)*0.5, nil) then |
| 139 | hasField = true |
| 140 | break |
| 141 | else |
| 142 | ownedField = false |
| 143 | end |
| 144 | end |
| 145 | end |
| 146 | |
| 147 | self.lastHasNoField = not hasField |
| 148 | if hasField then |
| 149 | local distance = self.vehicle.lastMovedDistance |
| 150 | local dirX, dirY, dirZ = localDirectionToWorld(self.vehicle:getAIVehicleDirectionNode(), 0,0,distance + 0.75) |
| 151 | |
| 152 | self.lastValidGroundPosX = vX + dirX |
| 153 | self.lastValidGroundPosY = vY + dirY |
| 154 | self.lastValidGroundPosZ = vZ + dirZ |
| 155 | else |
| 156 | self.distanceToEnd = lookAheadDist |
| 157 | local dist = MathUtil.vector3Length(self.lastValidGroundPosX - vX, self.lastValidGroundPosY - vY, self.lastValidGroundPosZ - vZ) |
| 158 | distanceToTurn = self.distanceToEnd - dist |
| 159 | end |
| 160 | |
| 161 | return distanceToTurn, hasField, ownedField |
| 162 | end |