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Fixes bug, where the silo end is detected with a 180 degree angree fo… #822

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Merged
Tensuko merged 2 commits into from
May 3, 2025
Merged

Fixes bug, where the silo end is detected with a 180 degree angree fo… #822

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5de28b2
Fixes bug, where the silo end is detected with a 180 degree angree fo…
schwiti6190 May 2, 2025
bc502bb
Adjustment for start driving into the silo
schwiti6190 May 3, 2025
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21 changes: 8 additions & 13 deletions scripts/ai/strategies/AIDriveStrategyShovelSiloLoader.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -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.")
Expand Down Expand Up @@ -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)
Expand Down
12 changes: 12 additions & 0 deletions scripts/silo/BunkerSiloVehicleController.lua
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Expand Up @@ -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
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