Merge pull request #878 from Courseplay/871-collision-avoidance-perf

perf: collision avoidance controller

Author: Tensuko

scripts/Course.lua

@@ -1330,24 +1330,26 @@ end
 
 --- Check if our course intersects otherCourse
 ---@param otherCourse Course
----@param lookahead number distance in meters we want to traverse on our course to check for an intersection
----@param startAtCurrentWaypoint boolean if true, start checking at the current waypoint on both courses,
---- otherwise at the first waypoint
+---@param lookahead number distance in meters we want to traverse on our course and on the other course
+--- to check for an intersection. The search always starts at the current waypoint of each course
 ---@return number, number distance on my course to the intersection point (or nil when there is no intersection),
 --- distance on the other course until the intersection point.
-function Course:intersects(otherCourse, lookahead, startAtCurrentWaypoint)
+function Course:intersects(otherCourse, lookahead)
     local myDistance = 0
-    for i = startAtCurrentWaypoint and self:getCurrentWaypointIx() or 1, #self.waypoints - 1 do
+    for i = self:getCurrentWaypointIx() , #self.waypoints - 1 do
         local m1, m2 = self.waypoints[i], self.waypoints[i + 1]
         myDistance = myDistance + m2.dToHere - m1.dToHere
         local otherDistance = 0
-        for j = startAtCurrentWaypoint and otherCourse:getCurrentWaypointIx() or 1, #otherCourse.waypoints - 1 do
+        for j = otherCourse:getCurrentWaypointIx(), #otherCourse.waypoints - 1 do
             local o1, o2 = otherCourse.waypoints[j], otherCourse.waypoints[j + 1]
             otherDistance = otherDistance + o2.dToHere - o1.dToHere
             if CpMathUtil.getIntersectionPoint(m1.x, m1.z, m2.x, m2.z, o1.x, o1.z, o2.x, o2.z) then
                 -- these sections intersect
                 return myDistance, otherDistance
             end
+            if otherDistance > lookahead then
+                break
+            end
         end
         if myDistance > lookahead then
             break