| 948 | function AITurnStrategy.drawTurnSegments(segments) |
| 949 | for i,segment in pairs(segments) do |
| 950 | if segment.isCurve == true then |
| 951 | local oX,oY,oZ = localToWorld(segment.o, 0,2,0) |
| 952 | local xX,xY,xZ = localToWorld(segment.o, 2,2,0) |
| 953 | local yX,yY,yZ = localToWorld(segment.o, 0,4,0) |
| 954 | local zX,zY,zZ = localToWorld(segment.o, 0,2,2) |
| 955 | |
| 956 | drawDebugLine(oX,oY,oZ, 1,0,0, xX,xY,xZ, 1,0,0) |
| 957 | drawDebugLine(oX,oY,oZ, 0,1,0, yX,yY,yZ, 0,1,0) |
| 958 | drawDebugLine(oX,oY,oZ, 0,0,1, zX,zY,zZ, 0,0,1) |
| 959 | |
| 960 | Utils.renderTextAtWorldPosition(yX,yY,yZ, tostring(i), 0.02, 0) |
| 961 | |
| 962 | local ts = 20 |
| 963 | for i=0,ts-1 do |
| 964 | local x1 = segment.radius * math.cos(segment.startAngle + i*(segment.endAngle-segment.startAngle)/ts) |
| 965 | local z1 = segment.radius * math.sin(segment.startAngle + i*(segment.endAngle-segment.startAngle)/ts) |
| 966 | local x2 = segment.radius * math.cos(segment.startAngle + (i+1)*(segment.endAngle-segment.startAngle)/ts) |
| 967 | local z2 = segment.radius * math.sin(segment.startAngle + (i+1)*(segment.endAngle-segment.startAngle)/ts) |
| 968 | local w1X,w1Y,w1Z = localToWorld(segment.o, x1,0,z1) |
| 969 | local w2X,w2Y,w2Z = localToWorld(segment.o, x2,0,z2) |
| 970 | local w1Y = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, w1X,w1Y,w1Z) + 1 |
| 971 | local w2Y = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, w2X,w2Y,w2Z) + 1 |
| 972 | drawDebugLine(w1X,w1Y,w1Z, (ts-i)/ts,i/ts,0, w2X,w2Y,w2Z, (ts-i-1)/ts,(i+1)/ts,0) |
| 973 | end |
| 974 | else |
| 975 | local sY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, unpack(segment.startPoint)) + 1 |
| 976 | local eY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, unpack(segment.endPoint)) + 1 |
| 977 | drawDebugLine(segment.startPoint[1],sY,segment.startPoint[3], 1,0,0, segment.endPoint[1],eY,segment.endPoint[3], 0,1,0) |
| 978 | |
| 979 | drawDebugLine(segment.startPoint[1],sY,segment.startPoint[3], 1,1,1, segment.startPoint[1],sY+2,segment.startPoint[3], 1,1,1) |
| 980 | drawDebugLine(segment.endPoint[1],sY,segment.endPoint[3], 1,1,1, segment.endPoint[1],sY+2,segment.endPoint[3], 1,1,1) |
| 981 | |
| 982 | Utils.renderTextAtWorldPosition((segment.startPoint[1]+segment.endPoint[1])/2, (sY+eY)/2, (segment.startPoint[3]+segment.endPoint[3])/2, tostring(i), 0.02, 0) |
| 983 | end |
| 984 | end |
| 985 | end |
| 476 | function AITurnStrategy:getDistanceToCollision(dt, vX,vY,vZ, turnData, lookAheadDistance) |
| 477 | local allowLeft = self.usesExtraStraight == turnData.useExtraStraightLeft |
| 478 | local allowRight = self.usesExtraStraight == turnData.useExtraStraightRight |
| 479 | |
| 480 | local distanceToTurn = lookAheadDistance |
| 481 | |
| 482 | -- Disable this turn strategy immediately if we are supposed to turn in a direction that is not allwoed |
| 483 | -- or if the only allowed side does not have any work to be done |
| 484 | if not allowLeft and not allowRight then |
| 485 | distanceToTurn = -1 |
| 486 | elseif self.turnLeft ~= nil then |
| 487 | if (self.turnLeft and not allowRight) or (not self.turnLeft and not allowLeft) then |
| 488 | distanceToTurn = -1 |
| 489 | end |
| 490 | else |
| 491 | local allowLeftWithCol = allowLeft and self.collisionEndPosLeft == nil |
| 492 | local allowRightWithCol = allowRight and self.collisionEndPosRight == nil |
| 493 | |
| 494 | -- Turn if not allowed or has collision on one side and the other side has no work to be done |
| 495 | if not allowLeftWithCol or not allowRightWithCol then |
| 496 | local leftAreaPercentage, rightAreaPercentage = AIVehicleUtil.getValidityOfTurnDirections(self.vehicle, turnData) |
| 497 | |
| 498 | if allowLeftWithCol and leftAreaPercentage <= 3*AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 499 | distanceToTurn = -1 |
| 500 | end |
| 501 | if allowRightWithCol and rightAreaPercentage <= 3*AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 502 | distanceToTurn = -1 |
| 503 | end |
| 504 | end |
| 505 | end |
| 506 | |
| 507 | if self.collisionDetected then |
| 508 | if self.collisionDetectedPosX ~= nil then |
| 509 | local dist = MathUtil.vector3Length(vX-self.collisionDetectedPosX, vY-self.collisionDetectedPosY, vZ-self.collisionDetectedPosZ) |
| 510 | distanceToTurn = math.min(distanceToTurn, lookAheadDistance - dist) |
| 511 | else |
| 512 | distanceToTurn = -1 |
| 513 | end |
| 514 | end |
| 515 | |
| 516 | self.distanceToCollision = distanceToTurn |
| 517 | |
| 518 | -- increase the size of the collision check boxes more to the back |
| 519 | -- this helps to avoid issues if an object is between the field end and the vehicle direction node -> so the boxes cover also 5m behind the direction node |
| 520 | local boxLookBackDistance = 0 |
| 521 | if self.parent ~= nil then |
| 522 | if self.parent.rowStartTranslation ~= nil then |
| 523 | local x, _, z = getWorldTranslation(self.vehicle:getAIVehicleDirectionNode()) |
| 524 | boxLookBackDistance = math.min(MathUtil.vector2Length(x-self.parent.rowStartTranslation[1], z-self.parent.rowStartTranslation[3]) * 0.66, 5) |
| 525 | end |
| 526 | end |
| 527 | |
| 528 | -- |
| 529 | for i=#self.maxTurningSizeBoxes, 1, -1 do |
| 530 | self.maxTurningSizeBoxes[i] = nil |
| 531 | end |
| 532 | |
| 533 | local collisionHitLeft = false |
| 534 | local collisionHitRight = false |
| 535 | |
| 536 | if (self.turnLeft == nil or self.turnLeft == false) and allowLeft then |
| 537 | local turnLeft = true |
| 538 | self:updateTurningSizeBox(self.leftBox, turnLeft, turnData, math.max(0,distanceToTurn)) |
| 539 | local box = self.leftBox |
| 540 | box.center[3] = box.center[3]-boxLookBackDistance/2 |
| 541 | box.size[3] = box.size[3]+boxLookBackDistance |
| 542 | |
| 543 | if not self:validateCollisionBox(box) then |
| 544 | self.vehicle.stopAIVehicle(AIVehicle.STOP_REASON_UNKOWN) |
| 545 | return distanceToTurn |
| 546 | end |
| 547 | |
| 548 | collisionHitLeft = self:getIsBoxColliding(box) |
| 549 | |
| 550 | table.insert(self.maxTurningSizeBoxes, box) |
| 551 | |
| 552 | if collisionHitLeft and self.collisionEndPosLeft == nil then |
| 553 | self.collisionEndPosLeft = { localToWorld(self.vehicleDirectionNode, 0,0,box.size[3]) } |
| 554 | end |
| 555 | end |
| 556 | |
| 557 | if (self.turnLeft == nil or self.turnLeft == true) and allowRight then |
| 558 | local turnLeft = false |
| 559 | self:updateTurningSizeBox(self.rightBox, turnLeft, turnData, math.max(0,distanceToTurn)) |
| 560 | local box = self.rightBox |
| 561 | box.center[3] = box.center[3]-boxLookBackDistance/2 |
| 562 | box.size[3] = box.size[3]+boxLookBackDistance |
| 563 | |
| 564 | if not self:validateCollisionBox(box) then |
| 565 | self.vehicle.stopAIVehicle(AIVehicle.STOP_REASON_UNKOWN) |
| 566 | return distanceToTurn |
| 567 | end |
| 568 | |
| 569 | collisionHitRight = self:getIsBoxColliding(box) |
| 570 | |
| 571 | table.insert(self.maxTurningSizeBoxes, box) |
| 572 | |
| 573 | if collisionHitRight and self.collisionEndPosRight == nil then |
| 574 | self.collisionEndPosRight = { localToWorld(self.vehicleDirectionNode, 0,0,box.size[3]) } |
| 575 | end |
| 576 | end |
| 577 | |
| 578 | self:evaluateCollisionHits(vX,vY,vZ, collisionHitLeft, collisionHitRight, turnData) |
| 579 | |
| 580 | return distanceToTurn |
| 581 | end |
| 165 | function AITurnStrategy:getDriveData(dt, vX,vY,vZ, turnData) |
| 166 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 167 | self.vehicle:addAIDebugText(string.format("strategy: %s", self.strategyName)) |
| 168 | end |
| 169 | |
| 170 | local tX, tY, tZ |
| 171 | local maxSpeed = self.vehicle:getSpeedLimit() |
| 172 | maxSpeed = math.min(14, maxSpeed) |
| 173 | local distanceToStop |
| 174 | |
| 175 | local segment = self.turnSegments[self.activeTurnSegmentIndex] |
| 176 | local segmentIsFinished = false |
| 177 | |
| 178 | local moveForwards = segment.moveForward |
| 179 | |
| 180 | if segment.isCurve then |
| 181 | local angleDirSign = MathUtil.sign(segment.endAngle - segment.startAngle) |
| 182 | |
| 183 | local curAngle |
| 184 | if self.reverserDirectionNode ~= nil and not moveForwards then |
| 185 | curAngle = AITurnStrategy.getAngleInSegment(self.reverserDirectionNode, segment) |
| 186 | else |
| 187 | curAngle = AITurnStrategy.getAngleInSegment(self.vehicleAISteeringNode, segment) |
| 188 | end |
| 189 | |
| 190 | local nextAngleDistance = math.max(3, 0.33 * self.vehicle.maxTurningRadius) |
| 191 | |
| 192 | local nextAngle = curAngle + angleDirSign * nextAngleDistance / segment.radius |
| 193 | if nextAngle > math.pi then |
| 194 | nextAngle = nextAngle - 2*math.pi |
| 195 | elseif nextAngle < -math.pi then |
| 196 | nextAngle = nextAngle + 2*math.pi |
| 197 | end |
| 198 | |
| 199 | local endAngle = segment.endAngle |
| 200 | if endAngle > math.pi then |
| 201 | endAngle = endAngle - 2*math.pi |
| 202 | elseif endAngle < -math.pi then |
| 203 | endAngle = endAngle + 2*math.pi |
| 204 | end |
| 205 | |
| 206 | angleDirSign = MathUtil.sign(segment.endAngle - segment.startAngle) |
| 207 | |
| 208 | local curAngleDiff = angleDirSign * (curAngle - endAngle) -- > 0 if after endAngle |
| 209 | if curAngleDiff > math.rad(10) then |
| 210 | curAngleDiff = curAngleDiff - 2*math.pi |
| 211 | elseif curAngleDiff < -2*math.pi + math.rad(10) then |
| 212 | curAngleDiff = curAngleDiff + 2*math.pi |
| 213 | end |
| 214 | |
| 215 | local nextAngleDiff = angleDirSign * (nextAngle - endAngle) |
| 216 | if nextAngleDiff > math.rad(10) then |
| 217 | nextAngleDiff = nextAngleDiff - 2*math.pi |
| 218 | elseif nextAngleDiff < -2*math.pi + math.rad(10) then |
| 219 | nextAngleDiff = nextAngleDiff + 2*math.pi |
| 220 | end |
| 221 | |
| 222 | local pX = math.cos(nextAngle) * segment.radius |
| 223 | local pZ = math.sin(nextAngle) * segment.radius |
| 224 | tX,tY,tZ = localToWorld(segment.o, pX,0,pZ) |
| 225 | |
| 226 | -- condition for segment finish |
| 227 | distanceToStop = -curAngleDiff * segment.radius |
| 228 | |
| 229 | if distanceToStop < 0.01 or (segment.usePredictionToSkipToNextSegment ~= false and nextAngleDiff > 0) then |
| 230 | segmentIsFinished = true |
| 231 | end |
| 232 | |
| 233 | if segment.checkForSkipToNextSegment then |
| 234 | local nextSegment = self.turnSegments[self.activeTurnSegmentIndex+1] |
| 235 | |
| 236 | local dirX = nextSegment.endPoint[1] - nextSegment.startPoint[1] |
| 237 | local dirZ = nextSegment.endPoint[3] - nextSegment.startPoint[3] |
| 238 | local dirLength = MathUtil.vector2Length(dirX, dirZ) |
| 239 | local dx,_,_ |
| 240 | if self.reverserDirectionNode ~= nil and not moveForwards then |
| 241 | dx,_,_ = worldDirectionToLocal(self.reverserDirectionNode, dirX/dirLength,0,dirZ/dirLength) |
| 242 | else |
| 243 | dx,_,_ = worldDirectionToLocal(self.vehicleAISteeringNode, dirX/dirLength,0,dirZ/dirLength) |
| 244 | end |
| 245 | |
| 246 | local l = MathUtil.vector2Length(dirX, dirZ) |
| 247 | dirX, dirZ = dirX / l, dirZ / l |
| 248 | pX, pZ = MathUtil.projectOnLine(vX, vZ, nextSegment.startPoint[1], nextSegment.startPoint[3], dirX, dirZ) |
| 249 | local dist = MathUtil.vector2Length(vX-pX, vZ-pZ) |
| 250 | |
| 251 | local distToStart = MathUtil.vector2Length(vX-nextSegment.startPoint[1], vZ-nextSegment.startPoint[3]) |
| 252 | |
| 253 | if dist < 1.5 and math.abs(dx) < 0.15 and distToStart < self.vehicle.sizeLength/2 then |
| 254 | segmentIsFinished = true |
| 255 | end |
| 256 | end |
| 257 | |
| 258 | -- |
| 259 | if not moveForwards and self.reverserDirectionNode ~= nil then |
| 260 | local x,_,z = worldToLocal(self.reverserDirectionNode, tX,vY,tZ) |
| 261 | local alpha = Utils.getYRotationBetweenNodes(self.vehicleAISteeringNode, self.reverserDirectionNode) |
| 262 | local ltX = math.cos(alpha)*x - math.sin(alpha)*z |
| 263 | local ltZ = math.sin(alpha)*x + math.cos(alpha)*z |
| 264 | ltX = -ltX |
| 265 | tX,_,tZ = localToWorld(self.vehicleAISteeringNode, ltX,0,ltZ) |
| 266 | end |
| 267 | |
| 268 | -- just visual debuging |
| 269 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 270 | drawDebugLine(vX,vY+2,vZ, 1,1,0, tX,tY+2,tZ, 1,1,0) |
| 271 | end |
| 272 | else |
| 273 | local toolX,_,toolZ |
| 274 | if self.reverserDirectionNode ~= nil then |
| 275 | toolX,_,toolZ = getWorldTranslation(self.reverserDirectionNode) |
| 276 | end |
| 277 | |
| 278 | local dirX = segment.endPoint[1] - segment.startPoint[1] |
| 279 | local dirZ = segment.endPoint[3] - segment.startPoint[3] |
| 280 | |
| 281 | local l = MathUtil.vector2Length(dirX, dirZ) |
| 282 | dirX, dirZ = dirX / l, dirZ / l |
| 283 | local pX, pZ |
| 284 | if self.reverserDirectionNode ~= nil and not moveForwards then |
| 285 | pX, pZ = MathUtil.projectOnLine(toolX, toolZ, segment.startPoint[1], segment.startPoint[3], dirX, dirZ) |
| 286 | else |
| 287 | if self.vehicleAIReverserNode ~= nil and not moveForwards then |
| 288 | toolX,_,toolZ = getWorldTranslation(self.vehicleAIReverserNode) |
| 289 | pX, pZ = MathUtil.projectOnLine(toolX, toolZ, segment.startPoint[1], segment.startPoint[3], dirX, dirZ) |
| 290 | else |
| 291 | pX, pZ = MathUtil.projectOnLine(vX, vZ, segment.startPoint[1], segment.startPoint[3], dirX, dirZ) |
| 292 | end |
| 293 | end |
| 294 | |
| 295 | local factor = 1.0 |
| 296 | tX = pX + (dirX * factor * self.vehicle.maxTurningRadius) |
| 297 | tZ = pZ + (dirZ * factor * self.vehicle.maxTurningRadius) |
| 298 | |
| 299 | if self.reverserDirectionNode ~= nil and not moveForwards then |
| 300 | local x,_,z = worldToLocal(self.reverserDirectionNode, tX,vY,tZ) |
| 301 | local alpha = Utils.getYRotationBetweenNodes(self.vehicleAISteeringNode, self.reverserDirectionNode) |
| 302 | |
| 303 | local articulatedAxisSpec = self.vehicle.spec_articulatedAxis |
| 304 | if articulatedAxisSpec ~= nil and articulatedAxisSpec.componentJoint ~= nil then |
| 305 | local node1 = self.vehicle.components[articulatedAxisSpec.componentJoint.componentIndices[1]].node |
| 306 | local node2 = self.vehicle.components[articulatedAxisSpec.componentJoint.componentIndices[2]].node |
| 307 | if articulatedAxisSpec.anchorActor == 1 then |
| 308 | node1, node2 = node2, node1 |
| 309 | end |
| 310 | |
| 311 | local beta = Utils.getYRotationBetweenNodes(node1, node2) |
| 312 | alpha = alpha - beta |
| 313 | end |
| 314 | |
| 315 | local ltX = math.cos(alpha)*x - math.sin(alpha)*z |
| 316 | local ltZ = math.sin(alpha)*x + math.cos(alpha)*z |
| 317 | ltX = -ltX |
| 318 | tX,_,tZ = localToWorld(self.vehicleAISteeringNode, ltX,0,ltZ) |
| 319 | end |
| 320 | |
| 321 | distanceToStop = MathUtil.vector3Length(segment.endPoint[1]-vX, segment.endPoint[2]-vY, segment.endPoint[3]-vZ) |
| 322 | |
| 323 | |
| 324 | local _,_,lz = worldToLocal(self.vehicleAISteeringNode, segment.endPoint[1],segment.endPoint[2],segment.endPoint[3]) |
| 325 | if (segment.moveForward and lz < 0) or (not segment.moveForward and lz > 0) then |
| 326 | segmentIsFinished = true |
| 327 | end |
| 328 | |
| 329 | -- check during pre final straight, only used by reverse strategies |
| 330 | if segment.checkAlignmentToSkipSegment then |
| 331 | local d1x,_,d1z = localDirectionToWorld(self.vehicleAISteeringNode, 0,0,1) |
| 332 | local l1 = MathUtil.vector2Length(d1x, d1z) |
| 333 | d1x, d1z = d1x/l1, d1z/l1 |
| 334 | local a1 = math.acos( d1x * dirX + d1z * dirZ ) |
| 335 | local dist = MathUtil.vector2Length(vX-pX, vZ-pZ) |
| 336 | local canSkip = math.deg(a1) < 8 and dist < 0.6 |
| 337 | |
| 338 | if self.vehicle.spec_articulatedAxis ~= nil and self.vehicle.spec_articulatedAxis.componentJoint ~= nil then |
| 339 | for i=1,2 do |
| 340 | local node = self.vehicle.components[self.vehicle.spec_articulatedAxis.componentJoint.componentIndices[i]].node |
| 341 | |
| 342 | d1x,_,d1z = localDirectionToWorld(node, 0,0,1) |
| 343 | l1 = MathUtil.vector2Length(d1x, d1z) |
| 344 | d1x, d1z = d1x/l1, d1z/l1 |
| 345 | local a = math.acos( d1x * dirX + d1z * dirZ ) |
| 346 | canSkip = canSkip and math.deg(a) < 8 |
| 347 | end |
| 348 | end |
| 349 | |
| 350 | if self.reverserDirectionNode ~= nil then |
| 351 | local d2x,_,d2z = localDirectionToWorld(self.reverserDirectionNode, 0,0,1) |
| 352 | local l2 = MathUtil.vector2Length(d2x, d2z) |
| 353 | d2x, d2z = d2x/l2, d2z/l2 |
| 354 | local a2 = math.acos( d2x * dirX + d2z * dirZ ) |
| 355 | pX, pZ = MathUtil.projectOnLine(toolX,toolZ, segment.startPoint[1],segment.startPoint[3], dirX,dirZ) |
| 356 | dist = MathUtil.vector2Length(toolX-pX, toolZ-pZ) |
| 357 | canSkip = canSkip and math.deg(a2) < 6 and dist < 0.6 |
| 358 | end |
| 359 | |
| 360 | local nextSegment = self.turnSegments[self.activeTurnSegmentIndex+1] |
| 361 | local _,_,sz = worldToLocal(self.vehicleDirectionNode, nextSegment.startPoint[1],nextSegment.startPoint[2],nextSegment.startPoint[3]) |
| 362 | local _,_,ez = worldToLocal(self.vehicleDirectionNode, nextSegment.endPoint[1],nextSegment.endPoint[2],nextSegment.endPoint[3]) |
| 363 | canSkip = canSkip and (sz < 0 or ez < 0) |
| 364 | |
| 365 | if canSkip then |
| 366 | segmentIsFinished = true |
| 367 | end |
| 368 | end |
| 369 | |
| 370 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 371 | local sY = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, tX,vY,tZ) |
| 372 | drawDebugLine(vX,vY+2,vZ, 1,1,0, tX,sY+2,tZ, 1,1,0) |
| 373 | end |
| 374 | end |
| 375 | |
| 376 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 377 | self.vehicle:addAIDebugText(string.format("active segment: %d", self.activeTurnSegmentIndex)) |
| 378 | end |
| 379 | |
| 380 | --# check if a tool can already work |
| 381 | if segment.checkForValidArea then |
| 382 | local lookAheadDist = 0 |
| 383 | local lookAheadSize = 1 |
| 384 | if not moveForwards then |
| 385 | lookAheadSize = -1 |
| 386 | end |
| 387 | if AIVehicleUtil.checkImplementListForValidGround(self.vehicle, lookAheadDist, lookAheadSize) then |
| 388 | segmentIsFinished = true |
| 389 | self.activeTurnSegmentIndex = #self.turnSegments |
| 390 | end |
| 391 | end |
| 392 | |
| 393 | --# |
| 394 | if segment.findEndOfField then |
| 395 | local lookAheadDist = 0 |
| 396 | local lookAheadSize = 1 |
| 397 | if not moveForwards then |
| 398 | lookAheadSize = -1 |
| 399 | end |
| 400 | if not AIVehicleUtil.checkImplementListForValidGround(self.vehicle, lookAheadDist, lookAheadSize) then |
| 401 | segmentIsFinished = true |
| 402 | end |
| 403 | end |
| 404 | |
| 405 | -- activate next segment or stop turn |
| 406 | if segmentIsFinished then |
| 407 | self.activeTurnSegmentIndex = self.activeTurnSegmentIndex + 1 |
| 408 | |
| 409 | if self.turnSegments[self.activeTurnSegmentIndex] == nil then |
| 410 | self.isTurning = false |
| 411 | return nil |
| 412 | end |
| 413 | end |
| 414 | |
| 415 | -- calculate turn progress percentage |
| 416 | local totalSegmentLength = 0 |
| 417 | local usedSegmentDistance = 0 |
| 418 | for i, turnSegment in ipairs(self.turnSegments) do |
| 419 | -- exclude the last straight part(s) since we don't know how far we need to go |
| 420 | if turnSegment.checkAlignmentToSkipSegment then |
| 421 | break |
| 422 | end |
| 423 | |
| 424 | local segmentLength |
| 425 | if turnSegment.isCurve then |
| 426 | segmentLength = math.abs(turnSegment.endAngle - turnSegment.startAngle) * turnSegment.radius |
| 427 | else |
| 428 | segmentLength = math.abs(MathUtil.vector3Length(turnSegment.endPoint[1]-turnSegment.startPoint[1], |
| 429 | turnSegment.endPoint[2]-turnSegment.startPoint[2], |
| 430 | turnSegment.endPoint[3]-turnSegment.startPoint[3])) |
| 431 | end |
| 432 | segmentLength = math.abs(segmentLength) |
| 433 | |
| 434 | totalSegmentLength = totalSegmentLength + segmentLength |
| 435 | |
| 436 | if i < self.activeTurnSegmentIndex then |
| 437 | usedSegmentDistance = usedSegmentDistance + segmentLength |
| 438 | elseif i == self.activeTurnSegmentIndex then |
| 439 | usedSegmentDistance = usedSegmentDistance + (segmentLength-distanceToStop) |
| 440 | end |
| 441 | end |
| 442 | |
| 443 | local turnProgress = usedSegmentDistance / totalSegmentLength |
| 444 | self.vehicle:aiTurnProgress(turnProgress, self.turnLeft) |
| 445 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 446 | self.vehicle:addAIDebugText(string.format("turn progress: %.1f%%", turnProgress*100)) |
| 447 | end |
| 448 | |
| 449 | if not segment.slowDown then |
| 450 | distanceToStop = math.huge |
| 451 | end |
| 452 | |
| 453 | return tX, tZ, moveForwards, maxSpeed, distanceToStop |
| 454 | end |
| 585 | function AITurnStrategy:getIsBoxColliding(box) |
| 586 | box.x, box.y, box.z = localToWorld(self.vehicleDirectionNode, box.center[1], box.center[2], box.center[3]) |
| 587 | box.zx, box.zy, box.zz = localDirectionToWorld(self.vehicleDirectionNode, 0,0,1) |
| 588 | box.xx, box.xy, box.xz = localDirectionToWorld(self.vehicleDirectionNode, 1,0,0) |
| 589 | box.ry = math.atan2(box.zx, box.zz) |
| 590 | box.color = AITurnStrategy.COLLISION_BOX_COLOR_OK |
| 591 | |
| 592 | self.collisionHit = false |
| 593 | overlapBox(box.x,box.y,box.z, 0,box.ry,0, box.size[1],box.size[2],box.size[3], "collisionTestCallback", self, AIVehicleUtil.COLLISION_MASK, true, true, true) |
| 594 | if self.collisionHit then |
| 595 | box.color = AITurnStrategy.COLLISION_BOX_COLOR_HIT |
| 596 | return true |
| 597 | end |
| 598 | |
| 599 | local x1, _, z1 = localToWorld(self.vehicleDirectionNode, box.center[1]+box.size[1], 0, box.center[3]+box.size[3]) |
| 600 | local x2, _, z2 = localToWorld(self.vehicleDirectionNode, box.center[1]+box.size[1], 0, box.center[3]-box.size[3]) |
| 601 | |
| 602 | local t1 = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x1, 0, z1) |
| 603 | local t2 = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, x2, 0, z2) |
| 604 | |
| 605 | -- check if at the box start or end position is water |
| 606 | if t1 < g_currentMission.waterY or t2 < g_currentMission.waterY then |
| 607 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 608 | self.vehicle:addAIDebugText(string.format(" hit water: b%.1f f%.1f w%.1f", t1, t2, g_currentMission.waterY)) |
| 609 | end |
| 610 | |
| 611 | box.color = AITurnStrategy.COLLISION_BOX_COLOR_HIT |
| 612 | return true |
| 613 | end |
| 614 | |
| 615 | local testLength = 3 |
| 616 | |
| 617 | -- left and right side of the box |
| 618 | local angle1 = self:getCollisionBoxSlope(self.vehicleDirectionNode, box.center[1]+box.size[1], 0, box.center[3]+box.size[3], box.center[1]+box.size[1], 0, box.center[3]+box.size[3]-testLength) |
| 619 | local angle2 = self:getCollisionBoxSlope(self.vehicleDirectionNode, box.center[1]-box.size[1], 0, box.center[3]+box.size[3], box.center[1]-box.size[1], 0, box.center[3]+box.size[3]-testLength) |
| 620 | |
| 621 | -- center of vehicle |
| 622 | local angle3 = self:getCollisionBoxSlope(self.vehicleDirectionNode, 0, 0, box.center[3]+box.size[3], 0, 0, box.center[3]+box.size[3]-testLength) |
| 623 | |
| 624 | -- side angle of box |
| 625 | local angle4 = self:getCollisionBoxSlope(self.vehicleDirectionNode, box.center[1]+box.size[1]-testLength, 0, box.center[3]+box.size[3], box.center[1]+box.size[1], 0, box.center[3]+box.size[3]) |
| 626 | local angle5 = self:getCollisionBoxSlope(self.vehicleDirectionNode, box.center[1]-box.size[1]+testLength, 0, box.center[3]+box.size[3], box.center[1]-box.size[1], 0, box.center[3]+box.size[3]) |
| 627 | |
| 628 | local angleBetween = math.max(angle1, angle2, angle3, angle4, angle5) |
| 629 | |
| 630 | if angleBetween > AITurnStrategy.SLOPE_DETECTION_THRESHOLD then |
| 631 | box.color = AITurnStrategy.COLLISION_BOX_COLOR_HIT |
| 632 | return true |
| 633 | end |
| 634 | |
| 635 | -- check for density height heaps higher than 2m |
| 636 | x1, _, z1 = localToWorld(self.vehicleDirectionNode, box.center[1]+box.size[1], 0, box.center[3]+box.size[3]) |
| 637 | x2, _, z2 = localToWorld(self.vehicleDirectionNode, box.center[1]-box.size[1], 0, box.center[3]+box.size[3]) |
| 638 | local length = MathUtil.vector2Length(x1-x2, z1-z2) |
| 639 | local steps = math.floor(length/3) |
| 640 | for i=0,steps do |
| 641 | local alpha = math.min(1/(steps+1)*(i+math.random()), 1) |
| 642 | local x, z = MathUtil.lerp(x1, x2, alpha), MathUtil.lerp(z1, z2, alpha) |
| 643 | local _, densityHeight = DensityMapHeightUtil.getHeightAtWorldPos(x, 0, z) |
| 644 | |
| 645 | if densityHeight >= AITurnStrategy.DENSITY_HEIGHT_THRESHOLD then |
| 646 | box.color = AITurnStrategy.COLLISION_BOX_COLOR_HIT |
| 647 | return true |
| 648 | end |
| 649 | end |
| 650 | |
| 651 | return false |
| 652 | end |
| 687 | function AITurnStrategy:startTurn(driveStrategyStraight) |
| 688 | |
| 689 | local turnData = driveStrategyStraight.turnData |
| 690 | |
| 691 | self.isTurning = true |
| 692 | |
| 693 | -- clear turn segments |
| 694 | for _,segment in pairs(self.turnSegments) do |
| 695 | if segment.o ~= nil then |
| 696 | delete(segment.o) |
| 697 | end |
| 698 | end |
| 699 | |
| 700 | self.turnSegments = {} |
| 701 | self.turnSegmentsTotalLength = 0 |
| 702 | self.activeTurnSegmentIndex = 1 |
| 703 | |
| 704 | local allowLeft = self.usesExtraStraight == turnData.useExtraStraightLeft and driveStrategyStraight.gabAllowTurnLeft |
| 705 | local allowRight = self.usesExtraStraight == turnData.useExtraStraightRight and driveStrategyStraight.gabAllowTurnRight |
| 706 | if not allowLeft and not allowRight then |
| 707 | return false |
| 708 | end |
| 709 | |
| 710 | --# |
| 711 | AIVehicleUtil.updateInvertLeftRightMarkers(self.vehicle, self.vehicle) |
| 712 | for _,implement in pairs(self.vehicle:getAttachedAIImplements()) do |
| 713 | AIVehicleUtil.updateInvertLeftRightMarkers(self.vehicle, implement.object) |
| 714 | end |
| 715 | |
| 716 | -- determine turn direction |
| 717 | local leftAreaPercentage, rightAreaPercentage = AIVehicleUtil.getValidityOfTurnDirections(self.vehicle, turnData) |
| 718 | |
| 719 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 720 | log(" --(I)--> self.turnLeft:", self.turnLeft, "leftAreaPercentage:", leftAreaPercentage, "rightAreaPercentage:", rightAreaPercentage) |
| 721 | end |
| 722 | |
| 723 | if driveStrategyStraight.corridorDistance ~= nil then |
| 724 | self.corridorPositionOffset = -driveStrategyStraight.corridorDistance |
| 725 | end |
| 726 | |
| 727 | local checkForLastValidPosition = function(vehicleNode, turnLeft, threshold) |
| 728 | if turnLeft and not allowLeft then |
| 729 | return false |
| 730 | end |
| 731 | if not turnLeft and not allowRight then |
| 732 | return false |
| 733 | end |
| 734 | |
| 735 | local position = driveStrategyStraight.lastValidTurnLeftPosition |
| 736 | if not turnLeft then |
| 737 | position = driveStrategyStraight.lastValidTurnRightPosition |
| 738 | end |
| 739 | |
| 740 | if position[1] ~= 0 and position[2] ~= 0 and position[3] ~= 0 then |
| 741 | local x, y, z = unpack(driveStrategyStraight.lastValidTurnCheckPosition) |
| 742 | local distance = MathUtil.vector3Length(position[1]-x, position[2]-y, position[3]-z) |
| 743 | if distance > threshold then |
| 744 | self.lastValidTurnPositionOffset = -distance |
| 745 | |
| 746 | return true |
| 747 | end |
| 748 | end |
| 749 | end |
| 750 | |
| 751 | if self.turnLeft == nil then |
| 752 | local forcePreferLeft = self.collisionEndPosLeft == nil and self.collisionEndPosRight ~= nil |
| 753 | local forcePreferRight = self.collisionEndPosRight == nil and self.collisionEndPosLeft ~= nil and allowRight and rightAreaPercentage > AIVehicleUtil.VALID_AREA_THRESHOLD |
| 754 | local preferLeft = ((leftAreaPercentage > rightAreaPercentage or forcePreferLeft) and not forcePreferRight) |
| 755 | |
| 756 | if allowLeft and leftAreaPercentage > AIVehicleUtil.VALID_AREA_THRESHOLD and (preferLeft or not allowRight) then |
| 757 | self.turnLeft = true |
| 758 | |
| 759 | -- still check for last valid turn position since the distance to the field could be greater than 5m |
| 760 | checkForLastValidPosition(self.vehicleDirectionNode, true, 5) |
| 761 | elseif allowRight and rightAreaPercentage > AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 762 | self.turnLeft = false |
| 763 | |
| 764 | -- still check for last valid turn position since the distance to the field could be greater than 5m |
| 765 | checkForLastValidPosition(self.vehicleDirectionNode, false, 5) |
| 766 | else |
| 767 | if not checkForLastValidPosition(self.vehicleDirectionNode, true, 5) then |
| 768 | if not checkForLastValidPosition(self.vehicleDirectionNode, false, 5) then |
| 769 | self:debugPrint("Stopping AIVehicle - no valid ground (I)") |
| 770 | return false |
| 771 | else |
| 772 | self.turnLeft = false |
| 773 | end |
| 774 | else |
| 775 | self.turnLeft = true |
| 776 | end |
| 777 | end |
| 778 | else |
| 779 | -- first, switch turn direction |
| 780 | self.turnLeft = not self.turnLeft |
| 781 | |
| 782 | -- if we are not allowed to turn into a direction because of field border, collision etc |
| 783 | -- and we have valid ground on the opposite side, we try the opposite side instead of stopping the ai |
| 784 | -- this solves bug #32797 |
| 785 | if self.turnLeft then |
| 786 | if not allowLeft and rightAreaPercentage > AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 787 | self.turnLeft = not self.turnLeft |
| 788 | end |
| 789 | else |
| 790 | if not allowRight and leftAreaPercentage > AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 791 | self.turnLeft = not self.turnLeft |
| 792 | end |
| 793 | end |
| 794 | |
| 795 | if self.turnLeft then |
| 796 | if not allowLeft or leftAreaPercentage < AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 797 | if not checkForLastValidPosition(self.vehicleDirectionNode, true, 5) then |
| 798 | return false |
| 799 | end |
| 800 | else |
| 801 | -- still check for last valid turn position since the distance to the field could be greater than 5m |
| 802 | checkForLastValidPosition(self.vehicleDirectionNode, true, 5) |
| 803 | end |
| 804 | else |
| 805 | if not allowRight or rightAreaPercentage < AIVehicleUtil.VALID_AREA_THRESHOLD then |
| 806 | if not checkForLastValidPosition(self.vehicleDirectionNode, false, 5) then |
| 807 | return false |
| 808 | end |
| 809 | else |
| 810 | -- still check for last valid turn position since the distance to the field could be greater than 5m |
| 811 | checkForLastValidPosition(self.vehicleDirectionNode, false, 5) |
| 812 | end |
| 813 | end |
| 814 | end |
| 815 | |
| 816 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 817 | log(" --(II)--> self.turnLeft:", self.turnLeft, "leftAreaPercentage:", leftAreaPercentage, "rightAreaPercentage:", rightAreaPercentage) |
| 818 | end |
| 819 | |
| 820 | -- update turn data |
| 821 | driveStrategyStraight.turnLeft = not self.turnLeft |
| 822 | driveStrategyStraight:updateTurnData() |
| 823 | driveStrategyStraight.turnLeft = nil |
| 824 | |
| 825 | local checkFrontDistance = 5 |
| 826 | |
| 827 | --# finally set new AI direction and target before turn -> if turn gets interrupted the direction afterwards will still be ok |
| 828 | self.vehicle.aiDriveDirection[1], self.vehicle.aiDriveDirection[2] = -self.vehicle.aiDriveDirection[1], -self.vehicle.aiDriveDirection[2] |
| 829 | |
| 830 | local sideOffset |
| 831 | if self.turnLeft then |
| 832 | sideOffset = turnData.sideOffsetLeft |
| 833 | else |
| 834 | sideOffset = turnData.sideOffsetRight |
| 835 | end |
| 836 | |
| 837 | -- move the ai target by the work width to the turn direction |
| 838 | local x, z = self.vehicle.aiDriveTarget[1], self.vehicle.aiDriveTarget[2] |
| 839 | local dirX, dirZ = self.vehicle.aiDriveDirection[1], self.vehicle.aiDriveDirection[2] |
| 840 | local sideDistance = 2*sideOffset |
| 841 | local sideDirX, sideDirY = -dirZ, dirX |
| 842 | x, z = x+sideDirX*sideDistance, z+sideDirY*sideDistance |
| 843 | |
| 844 | self.vehicle.aiDriveTarget[1], self.vehicle.aiDriveTarget[2] = x, z |
| 845 | |
| 846 | self.vehicle:aiStartTurn(self.turnLeft) |
| 847 | |
| 848 | return true |
| 849 | end |
| 81 | function AITurnStrategy:update(dt) |
| 82 | |
| 83 | if VehicleDebug.state == VehicleDebug.DEBUG_AI then |
| 84 | |
| 85 | AITurnStrategy.drawTurnSegments(self.turnSegments) |
| 86 | |
| 87 | if self.maxTurningSizeBoxes ~= nil then |
| 88 | --if not self.isTurning then |
| 89 | if table.getn(self.maxTurningSizeBoxes) > 0 then |
| 90 | self.maxTurningSizeBoxes2 = {} |
| 91 | for _,box in pairs(self.maxTurningSizeBoxes) do |
| 92 | local box2 = {} |
| 93 | box2.points = {} |
| 94 | box2.name = box.name |
| 95 | box2.color = {unpack(box.color)} |
| 96 | |
| 97 | local x,y,z = box.x,box.y,box.z |
| 98 | |
| 99 | local blx = box.xx*box.size[1] - box.zx*box.size[3] |
| 100 | local blz = box.xz*box.size[1] - box.zz*box.size[3] |
| 101 | |
| 102 | local brx = -box.xx*box.size[1] - box.zx*box.size[3] |
| 103 | local brz = -box.xz*box.size[1] - box.zz*box.size[3] |
| 104 | |
| 105 | local flx = box.xx*box.size[1] + box.zx*box.size[3] |
| 106 | local flz = box.xz*box.size[1] + box.zz*box.size[3] |
| 107 | |
| 108 | local frx = -box.xx*box.size[1] + box.zx*box.size[3] |
| 109 | local frz = -box.xz*box.size[1] + box.zz*box.size[3] |
| 110 | |
| 111 | |
| 112 | table.insert(box2.points, { x+blx, y-box.size[2], z+blz } ) -- lower: lb |
| 113 | table.insert(box2.points, { x+brx, y-box.size[2], z+brz } ) -- rb |
| 114 | table.insert(box2.points, { x+frx, y-box.size[2], z+frz } ) -- rf |
| 115 | table.insert(box2.points, { x+flx, y-box.size[2], z+flz } ) -- lf |
| 116 | |
| 117 | table.insert(box2.points, { x+blx, y+box.size[2], z+blz } ) -- upper: lb |
| 118 | table.insert(box2.points, { x+brx, y+box.size[2], z+brz } ) |
| 119 | table.insert(box2.points, { x+frx, y+box.size[2], z+frz } ) |
| 120 | table.insert(box2.points, { x+flx, y+box.size[2], z+flz } ) |
| 121 | |
| 122 | table.insert(box2.points, { x, y, z } ) |
| 123 | |
| 124 | table.insert(self.maxTurningSizeBoxes2, box2) |
| 125 | end |
| 126 | self.maxTurningSizeBoxes = {} |
| 127 | end |
| 128 | |
| 129 | if self.maxTurningSizeBoxes2 ~= nil then |
| 130 | for _,box2 in pairs(self.maxTurningSizeBoxes2) do |
| 131 | local p = box2.points |
| 132 | local c = box2.color |
| 133 | |
| 134 | -- bottom |
| 135 | drawDebugLine(p[1][1],p[1][2],p[1][3], c[1],c[2],c[3], p[2][1],p[2][2],p[2][3], c[1],c[2],c[3]) |
| 136 | drawDebugLine(p[2][1],p[2][2],p[2][3], c[1],c[2],c[3], p[3][1],p[3][2],p[3][3], c[1],c[2],c[3]) |
| 137 | drawDebugLine(p[3][1],p[3][2],p[3][3], c[1],c[2],c[3], p[4][1],p[4][2],p[4][3], c[1],c[2],c[3]) |
| 138 | drawDebugLine(p[4][1],p[4][2],p[4][3], c[1],c[2],c[3], p[1][1],p[1][2],p[1][3], c[1],c[2],c[3]) |
| 139 | -- top |
| 140 | drawDebugLine(p[5][1],p[5][2],p[5][3], c[1],c[2],c[3], p[6][1],p[6][2],p[6][3], c[1],c[2],c[3]) |
| 141 | drawDebugLine(p[6][1],p[6][2],p[6][3], c[1],c[2],c[3], p[7][1],p[7][2],p[7][3], c[1],c[2],c[3]) |
| 142 | drawDebugLine(p[7][1],p[7][2],p[7][3], c[1],c[2],c[3], p[8][1],p[8][2],p[8][3], c[1],c[2],c[3]) |
| 143 | drawDebugLine(p[8][1],p[8][2],p[8][3], c[1],c[2],c[3], p[5][1],p[5][2],p[5][3], c[1],c[2],c[3]) |
| 144 | -- left |
| 145 | drawDebugLine(p[1][1],p[1][2],p[1][3], c[1],c[2],c[3], p[5][1],p[5][2],p[5][3], c[1],c[2],c[3]) |
| 146 | drawDebugLine(p[4][1],p[4][2],p[4][3], c[1],c[2],c[3], p[8][1],p[8][2],p[8][3], c[1],c[2],c[3]) |
| 147 | -- right |
| 148 | drawDebugLine(p[2][1],p[2][2],p[2][3], c[1],c[2],c[3], p[6][1],p[6][2],p[6][3], c[1],c[2],c[3]) |
| 149 | drawDebugLine(p[3][1],p[3][2],p[3][3], c[1],c[2],c[3], p[7][1],p[7][2],p[7][3], c[1],c[2],c[3]) |
| 150 | -- center |
| 151 | p[9][2] = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, p[9][1],p[9][2],p[9][3]) + 2 |
| 152 | drawDebugPoint(p[9][1],p[9][2],p[9][3], 1, 0, 0, 1) |
| 153 | |
| 154 | Utils.renderTextAtWorldPosition(p[9][1],p[9][2],p[9][3], box2.name, getCorrectTextSize(0.012), 0) |
| 155 | end |
| 156 | end |
| 157 | end |
| 158 | |
| 159 | end |
| 160 | |
| 161 | end |