v6.01.00079 Small island circling improved.

AIDriver.lua

@@ -134,7 +134,6 @@ function AIDriver:init(vehicle)
 	self.allowedToDrive = true
 	self.collisionDetectionEnabled = false
 	self.collisionDetector = CollisionDetector(self.vehicle)
-	self.collisionDetector:adaptCollisHeight()
 end
 
 -- destructor. The reason for having this is the collisionDetector which creates nodes and
@@ -630,7 +629,6 @@ function AIDriver:detectCollision(dt)
 	-- if no detector yet, no problem, create it now.
 	if not self.collisionDetector then
 		self.collisionDetector = CollisionDetector(self.vehicle)
-		self.collisionDetector:adaptCollisHeight()
 	end
 
 	local isInTraffic, trafficSpeed = self.collisionDetector:getStatus(dt)

FieldworkAIDriver.lua

@@ -291,6 +291,7 @@ function FieldworkAIDriver:onWaypointChange(ix)
 	self:debug('onWaypointChange %d', ix)
 	if self.state == self.states.ON_FIELDWORK_COURSE then
 		self:updateRemainingTime(ix)
+		self:calculateTightTurnOffset()
 		if self.fieldworkState == self.states.ON_CONNECTING_TRACK then
 			if not self.course:isOnConnectingTrack(ix) then
 				-- reached the end of the connecting track, back to work
@@ -299,7 +300,7 @@ function FieldworkAIDriver:onWaypointChange(ix)
 			end
 		end
 		if self.fieldworkState == self.states.TEMPORARY then
-			-- band aid to make sure we have our implements lowered by the time we end the
+			-- band aid to make sure we have our implements lowered by the time we end the`
 			-- temporary course
 			if ix == self.course:getNumberOfWaypoints() then
 				self:debug('temporary (alignment) course is about to end, start work')
@@ -455,7 +456,8 @@ end
 function FieldworkAIDriver:updateFieldworkOffset()
 	-- (as lua passes tables by reference, we can directly change self.fieldworkCourse even if we passed self.course
 	-- to the PPC to drive)
-	self.fieldworkCourse:setOffset(self.vehicle.cp.totalOffsetX + self.aiDriverOffsetX, self.vehicle.cp.toolOffsetZ + self.aiDriverOffsetZ)
+	self.fieldworkCourse:setOffset(self.vehicle.cp.totalOffsetX + self.aiDriverOffsetX + (self.tightTurnOffset or 0),
+		self.vehicle.cp.toolOffsetZ + self.aiDriverOffsetZ)
 end
 
 function FieldworkAIDriver:hasSameCourse(otherVehicle)
@@ -612,3 +614,58 @@ function FieldworkAIDriver:calculateLoweringDuration()
 		self.startedLoweringAt = nil
 	end
 end
+
+
+
+--- If we are towing an implement, move to a bigger radius in tight turns
+-- making sure that the towed implement's trajectory remains closer to the
+-- course.
+function FieldworkAIDriver:calculateTightTurnOffset()
+	local function smoothOffset(offset)
+		self.tightTurnOffset = (offset + 3 * (self.tightTurnOffset or 0 )) / 4
+		return self.tightTurnOffset
+	end
+	-- first of all, does the current waypoint have radius data?
+	local r = self.course:getWaypointRadius(self.ppc:getCurrentWaypointIx())
+	if not r then
+		return smoothOffset(0)
+	end
+
+	-- is there a wheeled implement behind the tractor and is it on a pivot?
+	local workTool = courseplay:getFirstReversingWheeledWorkTool(self.vehicle)
+	if not workTool or not workTool.cp.realTurningNode then
+		return smoothOffset(0)
+	end
+
+	-- get the distance between the tractor and the towed implement's turn node
+	-- (not quite accurate when the angle between the tractor and the tool is high)
+	local tractorX, _, tractorZ = getWorldTranslation( self.vehicle.cp.DirectionNode )
+	local toolX, _, toolZ = getWorldTranslation( workTool.cp.realTurningNode )
+	local towBarLength = courseplay:distance( tractorX, tractorZ, toolX, toolZ )
+
+	-- Is this really a tight turn? It is when the tow bar is longer than radius / 3, otherwise
+	-- we ignore it.
+	if towBarLength < r / 3 then
+		return smoothOffset(0)
+	end
+
+	-- Ok, looks like a tight turn, so we need to move a bit left or right of the course
+	-- to keep the tool on the course.
+	local rTractor = math.sqrt( r * r + towBarLength * towBarLength ) -- the radius the tractor should be on
+	local offset = rTractor - r
+
+	-- figure out left or right now?
+	local nextAngle = self.course:getWaypointAngleDeg(self.ppc:getCurrentWaypointIx() + 1)
+	local currentAngle = self.course:getWaypointAngleDeg(self.ppc:getCurrentWaypointIx())
+	if not nextAngle or not currentAngle then
+		return smoothOffset(0)
+	end
+
+	if getDeltaAngle(math.rad(nextAngle), math.rad(currentAngle)) > 0 then offset = -offset end
+
+	-- smooth the offset a bit to avoid sudden changes
+	smoothOffset(offset)
+	self:debug('Tight turn, r = %.1f, tow bar = %.1f m, currentAngle = %.0f, nextAngle = %.0f, offset = %.1f, smoothOffset = %.1f',	r, towBarLength, currentAngle, nextAngle, offset, self.tightTurnOffset )
+	-- remember the last value for smoothing
+	return self.tightTurnOffset
+end

TrafficCollision.lua

@@ -38,7 +38,7 @@ function CollisionDetector:init(vehicle, course)
 	self.requiredNumTriggers = 4
 	self.trafficCollisionTriggers = {}
 	self:createTriggers()
-
+	self:adaptCollisHeight()
 end
 
 -- destructor

Waypoint.lua

@@ -82,6 +82,7 @@ function Waypoint:set(cpWp, cpIndex)
 	self.x = cpWp.cx or cpWp.posX or cpWp.x or 0
 	self.z = cpWp.cz or cpWp.posZ or cpWp.z or 0
 	self.angle = cpWp.angle or nil
+	self.radius = cpWp.radius or nil
 	self.rev = cpWp.rev or false
 	self.speed = cpWp.speed
 	self.cpIndex = cpIndex or 0
@@ -364,13 +365,17 @@ function Course:getWaypointLocalPosition(node, ix)
 end
 
 function Course:getWaypointAngleDeg(ix)
-	return self.waypoints[ix].angle
+	return self.waypoints[math.min(#self.waypoints, ix)].angle
 end
 
 function Course:getRidgeMarkerState(ix)
 	return self.waypoints[ix].ridgeMarker or 0
 end
 
+function Course:getWaypointRadius(ix)
+	return self.waypoints[ix].radius
+end
+
 --- Get the average speed setting across n waypoints starting at ix
 function Course:getAverageSpeed(ix, n)
 	local total, count = 0, 0

modDesc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8" standalone="no" ?>
 <modDesc descVersion="40">
-	<version>6.01.00078</version>
+	<version>6.01.00079</version>
 	<author><![CDATA[Courseplay.devTeam]]></author>
 	<title>
 		<br>CoursePlay SIX</br>