35 | function AITurnStrategyBulb3:startTurn(driveStrategyStraight) |
36 | if not AITurnStrategyDefault:superClass().startTurn(self, driveStrategyStraight) then |
37 | return false |
38 | end |
39 | local turnData = driveStrategyStraight.turnData |
40 | |
41 | local sideOffset |
42 | if self.turnLeft then |
43 | sideOffset = turnData.sideOffsetLeft |
44 | else |
45 | sideOffset = turnData.sideOffsetRight |
46 | end |
47 | |
48 | --# |
49 | --self.usePredictionToSkipToNextSegment = true |
50 | |
51 | -- first circle |
52 | local c1X,c1Y,c1Z |
53 | if sideOffset >= 0 then |
54 | c1X,c1Y,c1Z = -turnData.radius,0,0 |
55 | else |
56 | c1X,c1Y,c1Z = turnData.radius,0,0 |
57 | end |
58 | |
59 | local alpha = math.acos( math.abs(sideOffset) / turnData.radius ) |
60 | |
61 | -- second circle |
62 | local c2X,c2Y,c2Z |
63 | if sideOffset >= 0 then |
64 | c2X = 2*sideOffset - turnData.radius |
65 | else |
66 | c2X = 2*sideOffset + turnData.radius |
67 | end |
68 | c2Y = 0 |
69 | c2Z = math.sin(alpha) * 2 * turnData.radius |
70 | |
71 | c1Z = c1Z + turnData.zOffsetTurn |
72 | c2Z = c2Z + turnData.zOffsetTurn |
73 | |
74 | local rvX,rvY,rvZ = getWorldRotation(self.vehicle:getAIVehicleDirectionNode()) |
75 | |
76 | self:addNoFullCoverageSegment(self.turnSegments) |
77 | |
78 | --# first straight |
79 | local segment = {} |
80 | segment.isCurve = false |
81 | segment.moveForward = true |
82 | segment.slowDown = true |
83 | segment.startPoint = self:getVehicleToWorld(0,0,0, true) |
84 | segment.endPoint = self:getVehicleToWorld(0,0,c1Z, true) |
85 | table.insert(self.turnSegments, segment) |
86 | |
87 | --# first curve |
88 | local segment = {} |
89 | segment.isCurve = true |
90 | segment.moveForward = true |
91 | segment.radius = turnData.radius |
92 | segment.o = createTransformGroup("segment1") |
93 | link(getRootNode(), segment.o) |
94 | setTranslation(segment.o, self:getVehicleToWorld(c1X,c1Y,c1Z) ) |
95 | setRotation(segment.o, rvX,rvY,rvZ) |
96 | if sideOffset >= 0 then |
97 | segment.startAngle = 0 |
98 | segment.endAngle = alpha |
99 | else |
100 | segment.startAngle = math.pi |
101 | segment.endAngle = math.pi - alpha |
102 | end |
103 | table.insert(self.turnSegments, segment) |
104 | |
105 | --# second curve |
106 | local segment = {} |
107 | segment.isCurve = true |
108 | segment.moveForward = true |
109 | segment.radius = turnData.radius |
110 | segment.o = createTransformGroup("segment2") |
111 | --segment.checkForValidArea = not self.vehicle.aiAlignedProcessing --true |
112 | link(getRootNode(), segment.o) |
113 | setTranslation(segment.o, self:getVehicleToWorld(c2X,c2Y,c2Z) ) |
114 | setRotation(segment.o, rvX,rvY,rvZ) |
115 | if sideOffset >= 0 then |
116 | segment.startAngle = math.pi + alpha |
117 | segment.endAngle = 0 |
118 | else |
119 | segment.startAngle = -alpha |
120 | segment.endAngle = math.pi |
121 | end |
122 | table.insert(self.turnSegments, segment) |
123 | |
124 | --# final straight |
125 | local segment = {} |
126 | segment.isCurve = false |
127 | segment.moveForward = true |
128 | segment.slowDown = true |
129 | --segment.checkForValidArea = not self.vehicle.aiAlignedProcessing --true |
130 | local x = 2*sideOffset |
131 | segment.startPoint = self:getVehicleToWorld(x,0,c2Z, true) |
132 | segment.endPoint = self:getVehicleToWorld(x,0,math.min(turnData.zOffset, c2Z-0.1), true) |
133 | table.insert(self.turnSegments, segment) |
134 | |
135 | self:startTurnFinalization() |
136 | |
137 | return true |
138 | end |
143 | function AITurnStrategyBulb3:updateTurningSizeBox(box, turnLeft, turnData, lookAheadDistance) |
144 | |
145 | local sideOffset |
146 | if turnLeft then |
147 | sideOffset = turnData.sideOffsetLeft |
148 | else |
149 | sideOffset = turnData.sideOffsetRight |
150 | end |
151 | |
152 | -- first circle |
153 | local c1X,c1Y,c1Z |
154 | if sideOffset >= 0 then |
155 | c1X,c1Y,c1Z = -turnData.radius,0,0 |
156 | else |
157 | c1X,c1Y,c1Z = turnData.radius,0,0 |
158 | end |
159 | |
160 | local alpha = math.acos( math.abs(sideOffset) / turnData.radius ) |
161 | |
162 | -- second circle |
163 | local c2X,c2Y,c2Z |
164 | if sideOffset >= 0 then |
165 | c2X = 2*sideOffset - turnData.radius |
166 | else |
167 | c2X = 2*sideOffset + turnData.radius |
168 | end |
169 | c2Y = 0 |
170 | c2Z = math.sin(alpha) * 2 * turnData.radius |
171 | |
172 | c1Z = c1Z + turnData.zOffsetTurn |
173 | c2Z = c2Z + turnData.zOffsetTurn |
174 | |
175 | --# 3) estimate final size of bounding box |
176 | |
177 | local xb = math.max(turnData.toolOverhang.front.xb, turnData.toolOverhang.back.xb) |
178 | --local zb = math.max(turnData.toolOverhang.front.zb, turnData.toolOverhang.back.zb) |
179 | local xt = math.max(turnData.toolOverhang.front.xt, turnData.toolOverhang.back.xt) |
180 | --local zt = math.max(turnData.toolOverhang.front.zt, turnData.toolOverhang.back.zt) |
181 | local delta = math.max(xb, turnData.radius + xt) |
182 | |
183 | local maxX = c2X + delta |
184 | local minX = c2X - delta |
185 | local maxZ = c2Z + delta |
186 | |
187 | box.center[1], box.center[2], box.center[3] = maxX - (maxX-minX)/2, 0, maxZ/2 + lookAheadDistance/2 |
188 | box.size[1], box.size[2], box.size[3] = (maxX-minX)/2, 5, maxZ/2 + lookAheadDistance/2 |
189 | |
190 | self:adjustHeightOfTurningSizeBox(box) |
191 | |
192 | return box |
193 | end |