wip

Author: Peter Vaiko

scripts/ai/turns/TurnManeuver.lua

@@ -466,12 +466,13 @@ function LoopTurnManeuver:init(vehicle, turnContext, vehicleDirectionNode, turni
     self.debugPrefix = '(LoopTurn): '
     TurnManeuver.init(self, vehicle, turnContext, vehicleDirectionNode, turningRadius,
             workWidth, steeringLength)
-    self:debug('r=%.1f, w=%.1f, steeringLength=%.1f', turningRadius, workWidth, steeringLength)
-    local turnEndNode, endZOffset = self.turnContext:getTurnEndNodeAndOffsets(0)
+    local turnEndNode, endZOffset = self.turnContext:getTurnEndNodeAndOffsets(steeringLength)
+    self:debug('r=%.1f, w=%.1f, steeringLength=%.1f, endZOffset=%.1f', turningRadius, workWidth, steeringLength, endZOffset)
+    local pullForward = 0.5 * workWidth
+    self.course = Course.createFromNode(self.vehicle, vehicleDirectionNode,
+            0, 0, pullForward, 1, false)
     local path = PathfinderUtil.findAnalyticPath(PathfinderUtil.dubinsSolver,
-            vehicleDirectionNode, 0, 0, turnEndNode, 0, endZOffset, 5)
-    self.course = Course.createFromNode(self.vehicle, self.vehicle:getAIDirectionNode(),
-            0, 0, workWidth / 2, 1, false)
+            vehicleDirectionNode, 0, pullForward + 0.5, turnEndNode, 0, -steeringLength, turningRadius)
     self.course:append(Course.createFromAnalyticPath(self.vehicle, path, true))
     local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.course, steeringLength)
     self:applyTightTurnOffset(endingTurnLength)