Merge pull request #822 from Courseplay/issue-612

Fixes bug, where the silo end is detected with a 180 degree angree fo…

Author: Tensuko

scripts/ai/strategies/AIDriveStrategyShovelSiloLoader.lua

@@ -297,7 +297,11 @@ function AIDriveStrategyShovelSiloLoader:getDriveData(dt, vX, vY, vZ)
             self.isStuckTimer:stop()
         end
         local _, _, closestObject = self.siloEndProximitySensor:getClosestObjectDistanceAndRootVehicle()
-        local isEndReached, maxSpeed = self.siloController:isEndReached(self.shovelController:getShovelNode(), 2)
+        local isEndReached, maxSpeed = false, math.huge
+        if self.siloController:isSameDirection(self.shovelController:getShovelNode()) then
+            --- Makes sure the silo end calculation is only used, if the driver is turned in that direction...
+            isEndReached, maxSpeed = self.siloController:isEndReached(self.shovelController:getShovelNode(), 2)
+        end
         self:setMaxSpeed(maxSpeed)
         if isEndReached then
             self:debug("End of the silo or heap was detected.")
@@ -647,18 +651,9 @@ function AIDriveStrategyShovelSiloLoader:startDrivingToSilo(target)
     local dx, _, dz = siloCourse:worldToWaypointLocal(1, vx, 0, vz)
     if dz < 0 and dz > -self.maxDistanceWithoutPathfinding and 
         math.abs(dx) <= math.abs(dz) and 
-        math.abs(dx) < self.maxDistanceWithoutPathfinding * math.sqrt(2)/2 then 
-        --[[
-            |...|
-            |...|   <- Silo
-            -----
-              x     <- Target waypoint
-            ooooo
-           ooooooo  <- Circle, where the pathfinding is skipped.
-            ooooo
-              o
-        ]]--  
-        -- TODO: Beautify the math above :) 
+        math.abs(dx) < self.maxDistanceWithoutPathfinding * math.sqrt(2)/2 and 
+        self.siloController:isSameDirection(AIUtil.getDirectionNode(self.vehicle)) then
+         
         self:debug("Start driving into the silo directly.")
         self:startCourse(siloCourse, 1)
         self:setNewState(self.states.DRIVING_INTO_SILO)

scripts/silo/BunkerSiloVehicleController.lua

@@ -229,6 +229,18 @@ function CpBunkerSiloVehicleController:isEndReached(node, margin)
 	return false, math.huge
 end
 
+--- Check if the drive target direction is within 45° relative to the given node.
+--- @param node number
+--- @return boolean
+function CpBunkerSiloVehicleController:isSameDirection(node)
+	if not self.drivingTarget then
+		return false
+	end
+	local dx, dz = unpack(self.drivingTarget[2])
+	local x, _, z = localToWorld(node, 0, 0, 0)
+	return math.abs(MathUtil.getYRotationFromDirection(x - dx, z - dz)) < math.pi/2
+end
+
 --- Generates a silo map with lines and a map with rectangle tiles.
 ---@param width number
 ---@param unitWidth number