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generateCourse.lua
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--[[
@title: Course Generation for Courseplay
@authors: Jakob Tischler
@version: 0.71
@date: 09 Feb 2013
@updated: 27 Feb 2014
@copyright: No reproduction, usage or copying without the explicit permission by the author allowed.
]]
function courseplay:generateCourse(vehicle, silent)
local self = courseplay.generation;
-----------------------------------
local fieldCourseName = tostring(vehicle.cp.currentCourseName);
if vehicle.cp.fieldEdge.selectedField.fieldNum > 0 then
fieldCourseName = courseplay.fields.fieldData[vehicle.cp.fieldEdge.selectedField.fieldNum].name;
end;
courseplay:debug(string.format("generateCourse() called for %q", fieldCourseName), 7);
-- Make sure everything's set and in order
courseplay:validateCourseGenerationData(vehicle);
if not vehicle.cp.hasValidCourseGenerationData then
return;
end;
local poly = {}
local islandNodes = {}
if vehicle.cp.fieldEdge.selectedField.fieldNum > 0 then
poly.points = courseplay.utils.table.copy(courseplay.fields.fieldData[vehicle.cp.fieldEdge.selectedField.fieldNum].points, true);
poly.numPoints = courseplay.fields.fieldData[vehicle.cp.fieldEdge.selectedField.fieldNum].numPoints;
if vehicle.cp.courseGeneratorSettings.islandBypassMode ~= Island.BYPASS_MODE_NONE then
if not courseplay.fields.fieldData[vehicle.cp.fieldEdge.selectedField.fieldNum].islandNodes then
courseGenerator.findIslands( courseplay.fields.fieldData[vehicle.cp.fieldEdge.selectedField.fieldNum])
end
islandNodes = courseplay.fields.fieldData[vehicle.cp.fieldEdge.selectedField.fieldNum].islandNodes
end
else
poly.points = courseplay.utils.table.copy(vehicle.Waypoints, true);
poly.numPoints = #(poly.points);
end;
courseplay:clearCurrentLoadedCourse(vehicle);
---#################################################################
-- (1) SET UP CORNERS AND DIRECTIONS --
--------------------------------------------------------------------
courseplay:debug('(1) SET UP CORNERS AND DIRECTIONS', 7);
local workWidth = vehicle.cp.workWidth;
if vehicle.cp.multiTools > 1 then
workWidth = workWidth * vehicle.cp.multiTools
end
local corners = {
[1] = 'SW',
[2] = 'NW',
[3] = 'NE',
[4] = 'SE'
};
local directions = {
[1] = 'N',
[2] = 'E',
[3] = 'S',
[4] = 'W'
};
local ridgeMarker = {
none = 0,
left = 1,
right = 2
};
local crn = corners[vehicle.cp.startingCorner];
local dir = directions[vehicle.cp.startingDirection];
-- Automatic direction selected so use the algorithm that can generate lanes in any direction
if vehicle.cp.isNewCourseGenSelected() then
if vehicle.cp.startingCorner == courseGenerator.STARTING_LOCATION_VEHICLE_POSITION then
vehicle.cp.generationPosition.x, _, vehicle.cp.generationPosition.z = getWorldTranslation(vehicle.rootNode)
vehicle.cp.generationPosition.hasSavedPosition = true
vehicle:setCpVar('generationPosition.fieldNum',vehicle.cp.fieldEdge.selectedField.fieldNum,courseplay.isClient)
end
local status, ok = courseGenerator.generate( vehicle, fieldCourseName, poly, workWidth, islandNodes )
-- called from another screen which will take care of notifying the user, no need for dialogs here.
if silent then return status, ok end
if not status then
--- Prevent Dialog from locking up mouse and keyboard when closing it.
courseplay:lockContext(false);
-- show message if there was an exception
local messageDialog = g_gui:showGui('InfoDialog');
messageDialog.target:setText(courseplay:loc('COURSEPLAY_COULDNT_GENERATE_COURSE'));
messageDialog.target:setCallback( function () g_gui:showGui('') end, self )
return status, ok
end
if not ok then
--- Prevent Dialog from locking up mouse and keyboard when closing it.
courseplay:lockContext(false);
-- show message if the generated course may have issues due to the selected track direction
local messageDialog = g_gui:showGui('InfoDialog');
messageDialog.target:setText(courseplay:loc('COURSEPLAY_COURSE_SUBOPTIMAL'));
messageDialog.target:setCallback( function () g_gui:showGui('') end, self )
end
return status, ok
end
-- Otherwise, revert to the N/E/S/W directions
---#################################################################
-- (2) HEADLAND
--------------------------------------------------------------------
courseplay:debug('(2) HEADLAND', 7);
if vehicle.cp.headland.exists() then --we have headland, baby!
local isClockwise = self:isPolyClockwise(poly.points);
courseplay:debug(string.format('headland: poly isClockwise=%s', tostring(isClockwise)), 7);
if isClockwise ~= vehicle.cp.headland.userDirClockwise then
courseplay:debug(string.format('\tuserDirClockwise=%s -> reverse poly.points', tostring(vehicle.cp.headland.userDirClockwise)), 7);
poly.points = table.reverse(poly.points);
end;
courseplay:debug(string.format("generateCourse(%i): headland.numLanes=%s, headland.orderBefore=%s", debug.getinfo(1).currentline, tostring(vehicle.cp.headland.numLanes), tostring(vehicle.cp.headland.orderBefore)), 7);
local orderCW = vehicle.cp.headland.userDirClockwise;
local numLanes = vehicle.cp.headland.getNumLanes();
local polyPoints = poly.points;
local polyLength = poly.numPoints;
vehicle.cp.headland.lanes = {};
for curLane=1, numLanes do
local lane = {};
-- polyLength = #(polyPoints); --TODO: try to use count in loop
local numOffsetPoints = 0;
local laneRidgeMarker = ridgeMarker.none;
if numLanes > 1 then
if vehicle.cp.headland.orderBefore and curLane < numLanes then
laneRidgeMarker = orderCW and ridgeMarker.right or ridgeMarker.left;
elseif not vehicle.cp.headland.orderBefore and curLane > 1 then
laneRidgeMarker = orderCW and ridgeMarker.left or ridgeMarker.right;
end;
end;
local offsetWidth, noGoWidth = self:getOffsetWidth(vehicle, curLane,workWidth);
courseplay:debug(string.format('headland lane %d: laneRidgeMarker=%d, offset offsetWidth=%.1f, noGoWidth=%.2f', curLane, laneRidgeMarker, offsetWidth, noGoWidth), 7);
-- --------------------------------------------------
-- (2.1) CREATE INITIAL OFFSET POINTS
courseplay:debug('(2.1) CREATE INITIAL OFFSET POINTS', 7);
for i,cp in pairs(polyPoints) do
local np = polyPoints[i + 1];
local pp = polyPoints[i - 1];
if i == 1 then
pp = polyPoints[polyLength];
elseif i == polyLength then
np = polyPoints[1];
end;
local insert = true;
cp.dirX, cp.dirZ, cp.distToNextPoint = self:getPointDirection(cp, np);
cp.cy = cp.cy or 0;
-- last point: distance to first point -> try to decrease angle when jumping into next lane;
if i == polyLength then
local minDistance = offsetWidth; -- * 3/4;
if cp.distToNextPoint < minDistance then
insert = false;
end;
end;
local offsetX,offsetZ;
if insert then
local dirX,dirZ,vl = self:getPointDirection(pp, cp);
-- courseplay:debug(string.format('\tpoint %d: cp.cx,cz=%.1f,%.1f, pp.cx,cz=%.1f,%.1f -> dirX,dirZ=%.1f,%.1f, vl=%.1f', i, cp.cx,cp.cz, pp.cx,pp.cz, dirX,dirZ, vl), 7);
if vl and vl > 0.0001 then
if orderCW then --offset to the right
offsetX = cp.cx - dirZ * offsetWidth;
offsetZ = cp.cz + dirX * offsetWidth;
-- courseplay:debug(string.format('\t\toffsetX=cp.cx - dirZ * workWidth=%.1f - %.1f * %.1f = %.1f', cp.cx,dirZ, offsetWidth, offsetX), 7);
-- courseplay:debug(string.format('\t\toffsetZ=cp.cz + dirX * workWidth=%.1f + %.1f * %.1f = %.1f', cp.cz,dirX, offsetWidth, offsetZ), 7);
else --offset to the left
offsetX = cp.cx + dirZ * offsetWidth;
offsetZ = cp.cz - dirX * offsetWidth;
-- courseplay:debug(string.format('\t\toffsetX=cp.cx + dirZ * workWidth=%.1f + %.1f * %.1f = %.1f', cp.cx,dirZ, offsetWidth, offsetX), 7);
-- courseplay:debug(string.format('\t\toffsetZ=cp.cz - dirX * workWidth=%.1f - %.1f * %.1f = %.1f', cp.cz,dirX, offsetWidth, offsetZ), 7);
end;
-- check intersection with previous offset vector
if numOffsetPoints > 0 then
local prevOffsP = lane[numOffsetPoints];
if courseplay:segmentsIntersection(cp.cx, cp.cz, offsetX, offsetZ, pp.cx, pp.cz, prevOffsP.cx, prevOffsP.cz) then
courseplay:debug(string.format('\tpoint %d: intersection with previous offset vector -> skip this point', i), 7);
insert = false;
end;
end;
end;
end; --END if insert
if insert and offsetX and offsetZ then
local data = {
cx = offsetX,
cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, offsetX, 1, offsetZ), --TODO: actually only needed for debugPoint/debugLine
cz = offsetZ,
origPointIdx = i,
offsetLane = curLane
};
table.insert(lane, data);
numOffsetPoints = numOffsetPoints + 1;
end;
end; --END for i,cp in pairs(polyPoints)
-- check intersections for first offset vector
if numOffsetPoints > 0 then
local op1 = lane[1];
local p1 = polyPoints[op1.origPointIdx];
local op2 = lane[numOffsetPoints];
local p2 = polyPoints[op2.origPointIdx];
if courseplay:segmentsIntersection(p1.cx, p1.cz, op1.cx, op1.cz, p2.cx, p2.cz, op2.cx, op2.cz) then
courseplay:debug('\tpoint 1: intersection with previous offset vector -> skip this point', 7);
table.remove(lane, 1);
numOffsetPoints = numOffsetPoints - 1;
end;
end;
courseplay:debug(string.format("generateCourse(%i): #lane %s = %s", debug.getinfo(1).currentline, tostring(curLane), tostring(numOffsetPoints)), 7);
-- courseplay:debug(tableShow(lane, string.format('[line %d] lane %d', debug.getinfo(1).currentline, curLane), 7), 7); -- WORKS
-- --------------------------------------------------
-- (2.2) CHECK AND DELETE OVERLAPS
courseplay:debug('(2.2) CHECK AND DELETE OVERLAPS', 7);
local toBeDeleted = {};
for i,offsP in pairs(lane) do
if not offsP.toBeDeleted then
local checkOverlap = true;
-- (2.2.1) check intersections
local previousDeleted = false;
local p1, p2, p3, p4 = lane[i - 2], lane[i - 1], lane[i + 1], lane[i + 2];
if p1 and p2 and p3 and p4 then
local intersect = courseplay:segmentsIntersection(p1.cx, p1.cz, p2.cx, p2.cz, p3.cx, p3.cz, p4.cx, p4.cz);
if intersect then
local newPoint = { cx = intersect.x, cy = 0, cz = intersect.z, offsetLane = curLane };
-- newPoint.cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, intersect.x, 1, intersect.z); --TODO: needed for anything else than debugPoint/debugLine?
newPoint.dirX,newPoint.dirZ = self:getPointDirection(offsP, p3);
courseplay:debug(string.format('\tintersection found (%d-%d and %d-%d): x,y,z=%.1f,%.1f,%.1f', i - 2, i - 1, i + 1, i + 2, newPoint.cx, newPoint.cy, newPoint.cz), 7);
table.insert(toBeDeleted, i - 1);
lane[i] = newPoint;
offsP = newPoint;
table.insert(toBeDeleted, i + 1);
lane[i + 1].toBeDeleted = true;
courseplay:debug(string.format('\tdelete %d and %d, set intersection as new point %d, skip checking overlap', i - 1, i + 1, i), 7);
previousDeleted = true;
checkOverlap = false;
end;
end;
-- (2.2.2) check overlap -- TODO: include pointInPoly check in the while loop
if checkOverlap then
local checkNum = i;
local swingDir = 1;
local count = 0;
while true do
count = count + 1;
if count > polyLength then
break;
end;
local cp = polyPoints[checkNum];
--set and rotate tg
setTranslation(vehicle.cp.headland.tg, cp.cx, cp.cy, cp.cz);
local rot = MathUtil.getYRotationFromDirection(cp.dirX, cp.dirZ);
setRotation(vehicle.cp.headland.tg, 0, rot, 0);
-- courseplay:debug(string.format('\ttg setTranslation(%s, [x] %.1f, [y] %.1f, [z] %.1f), setRotation() [y] %.1f', tostring(vehicle.cp.headland.tg), cp.cx, cp.cy, cp.cz, rot), 7);
-- check overlap
local dx,dy,dz = worldToLocal(vehicle.cp.headland.tg, offsP.cx, offsP.cy, offsP.cz);
local overlap = dx > -noGoWidth and dx < noGoWidth and dz > 0 and dz < cp.distToNextPoint * vehicle.cp.headland.rectWidthRatio;
if overlap then
courseplay:debug(string.format('\toffset point %d: OVERLAP!', i), 7);
courseplay:debug(string.format('\t\tcount=%d, swingDir=%d, checkNum=%d', count, swingDir, checkNum), 7);
courseplay:debug(string.format('\t\tdx,dy,dz=%.1f,%.1f,%.1f', dx,dy,dz), 7);
-- courseplay:debug(string.format('\t\tdx > -noGoWidth = %s // dx < noGoWidth = %s // dz > 0 = %s, dz < cp.distToNextPoint * vehicle.cp.headland.rectWidthRatio = %s', tostring(dx > -noGoWidth), tostring(dx < noGoWidth), tostring(dz > 0), tostring(dz < cp.distToNextPoint * vehicle.cp.headland.rectWidthRatio)), 7);
table.insert(toBeDeleted, i);
break;
else
-- courseplay:debug(string.format('\t\tNO OVERLAP! --> new checkNum = %d + (%d * %d) = %d', checkNum, count, swingDir, checkNum + (count * swingDir)), 7);
checkNum = checkNum + (count * swingDir);
--rudimentary looped table
if checkNum < 1 then
checkNum = polyLength - math.abs(checkNum);
-- courseplay:debug(string.format('\t\t\tcheckNum < 1 --> checkNum = %d', checkNum), 7);
elseif checkNum > polyLength then
checkNum = checkNum - polyLength;
-- courseplay:debug(string.format('\t\t\tcheckNum > numPoints --> checkNum = %d', checkNum), 7);
end;
swingDir = swingDir * -1;
end;
end; --END while true
end; --END if checkOverlap
end; --END if not offsP.toBeDeleted
end;
for i,offsPointNum in pairs(toBeDeleted) do
lane[offsPointNum] = nil;
-- numOffsetPoints = table.maxn(lane);
numOffsetPoints = numOffsetPoints - 1;
courseplay:debug(string.format('delete offset point(%d) -> new numOffsetPoints=%d', offsPointNum, numOffsetPoints), 7);
end;
-- courseplay:debug(tableShow(lane, string.format('[line %d] lane %d', debug.getinfo(1).currentline, curLane), 7), 7); --WORKS
-- --------------------------------------------------
-- (2.3) CHECK AND FIX DISTANCES
courseplay:debug('(2.3) CHECK AND FIX DISTANCES', 7);
local finalPoints = {};
local pointsInserted = 0;
for i,offsP in pairs(lane) do
local insertCurrent = true;
local np1Idx, np1 = next(lane, i);
local pp = finalPoints[pointsInserted - 1];
if np1 then
local dist = MathUtil.vector2Length(np1.cx - offsP.cx, np1.cz - offsP.cz);
-- courseplay:debug(string.format('\t%d: dist to next=%.1f', i, dist), 7);
-- check min distance, if less: delete cur point
if dist < vehicle.cp.headland.minPointDistance then
courseplay:debug(string.format('\tpoint %d: distance to next [%d] = %.1f (< minDistance %.1f) -> delete cur point', i, np1Idx, dist, vehicle.cp.headland.minPointDistance), 7);
insertCurrent = false;
-- check max distance, if more: smooth spline (add points)
elseif dist > vehicle.cp.headland.maxPointDistance then
local np2Idx, np2 = next(lane, np1Idx);
if np2 and pp then
insertCurrent = false;
-- courseplay:debug(string.format('\tinsert point %d into "finalPoints"', i), 7);
table.insert(finalPoints, offsP);
pointsInserted = pointsInserted + 1;
local steps = math.ceil(dist/5);
courseplay:debug(string.format('\tpoint %d: distance to next [%d] = %.1f -> smooth with %d steps', i, np1Idx, dist, steps), 7);
courseplay:debug(string.format('\twith points { pp [%.1f/%.1f], offsP [%.1f/%.1f], np1 [%.1f/%.1f], np2 [%.1f/%.1f] }', pp.cx, pp.cz, offsP.cx, offsP.cz, np1.cx, np1.cz, np2.cx, np2.cz), 7);
local smoothed = self:smoothSpline({ pp, offsP, np1, np2 }, steps, true);
for j, smoothPoint in pairs(smoothed) do
if j > steps + 1 and j <= steps + steps then --NOTE: smoothSpline's return includes the initial points, so they have to be skipped
-- smoothPoint.cy = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, smoothPoint.cx, 1, smoothPoint.cz); --TODO: only needed for debugPoint/debugLine ?
if courseplay:round(finalPoints[#finalPoints].cx,4) == courseplay:round(smoothPoint.cx,4) and
courseplay:round(finalPoints[#finalPoints].cz,4) == courseplay:round(smoothPoint.cz,4) then
courseplay:debug(string.format('\t\t not inserted smoothPoint because of double entry'), 7);
else
smoothPoint.cy = 0;
smoothPoint.offsetLane = curLane;
courseplay:debug(string.format('\t\tinsert smoothPoint %d (cx,cz=%.1f,%.1f) into "finalPoints"', j, smoothPoint.cx, smoothPoint.cz), 7);
table.insert(finalPoints, smoothPoint);
pointsInserted = pointsInserted + 1;
end
elseif j > steps + steps then
break;
end;
end; --END for j, smoothPoint in pairs(smoothed)
end; --END if np2 and pp
end; --END if dist
end; --END if np1
if insertCurrent then
-- courseplay:debug(string.format('\tinsert point %d into "finalPoints"', i), 7);
table.insert(finalPoints, offsP);
pointsInserted = pointsInserted + 1;
end;
end; --END for i,offsP in pairs(lane)
numOffsetPoints = pointsInserted;
-- courseplay:debug(tableShow(finalPoints, string.format('[line %d] finalPoints %d', debug.getinfo(1).currentline, curLane), 7), 7); --WORKS
if numOffsetPoints >= 5 then
-- --------------------------------------------------
-- (2.4) FINALIZE (ADD POINT DATA)
courseplay:debug('(2.4) FINALIZE (ADD POINT DATA)', 7);
lane = finalPoints;
for i,cp in pairs(lane) do
local np = lane[i+1];
if i == numOffsetPoints then
np = lane[1];
end;
local dirX,dirZ = self:getPointDirection(cp, np);
cp.angle = MathUtil.getYRotationFromDirection(dirX, dirZ);
cp.wait = nil;
cp.rev = nil;
cp.crossing = nil;
cp.generated = true;
cp.lane = curLane * -1; --negative lane = headland
cp.turnStart = nil;
cp.turnEnd = nil;
cp.ridgeMarker = laneRidgeMarker;
end;
polyPoints = lane;
polyLength = numOffsetPoints;
courseplay:debug(string.format("generateCourse(%i): inserting lane #%d (%d points) into headland.lanes", debug.getinfo(1).currentline, curLane, numOffsetPoints), 7);
-- courseplay:debug(tableShow(lane, string.format('[line %d] lane %d', debug.getinfo(1).currentline, curLane), 7), 7); --WORKS
table.insert(vehicle.cp.headland.lanes, lane);
else
courseplay:debug(string.format('headland lane #%d has fewer than 5 points (invalid) -> stop headland calculation', curLane), 7);
break;
end;
end; --END for curLane in numLanes
local numCreatedLanes = #(vehicle.cp.headland.lanes);
courseplay:debug(string.format('generateCourse(%i): #vehicle.cp.headland.lanes=%s', debug.getinfo(1).currentline, tostring(numCreatedLanes)), 7);
-- courseplay:debug(tableShow(vehicle.cp.headland.lanes, 'vehicle.cp.headland.lanes', 7), 7); --WORKS
--base field work course on headland path
if numCreatedLanes > 0 then
poly.points = vehicle.cp.headland.lanes[numCreatedLanes]; --up/down based on last offset lane (= 1/2 workWidth overlap) - TODO: smaller overlap (1/4) ?
poly.numPoints = #(poly.points);
courseplay:debug(string.format('headland: numCreatedLanes=%d -> poly=%s, poly.points=%s, poly.numPoints=%s, #poly.points=%s', numCreatedLanes, tostring(poly), tostring(poly.points), tostring(poly.numPoints), tostring(poly.points and #poly.points or 'nil')), 7);
end;
end; --END if vehicle.cp.headland.numLanes ~= 0
---#################################################################
-- (3) DIMENSIONS, ALL PATH POINTS
--------------------------------------------------------------------
courseplay:debug('(3) DIMENSIONS, ALL PATH POINTS', 7);
local _, _, dimensions = courseplay.fields:getPolygonData(poly.points, nil, nil, true, true);
courseplay:debug(string.format('minX=%s, maxX=%s', tostring(dimensions.minX), tostring(dimensions.maxX)), 7); --WORKS
courseplay:debug(string.format('minZ=%s, maxZ=%s', tostring(dimensions.minZ), tostring(dimensions.maxZ)), 7); --WORKS
courseplay:debug(string.format('generateCourse(%i): width=%s, height=%s', debug.getinfo(1).currentline, tostring(dimensions.width), tostring(dimensions.height)), 7); --WORKS
local numLanes, pointsPerLane = 0, 0;
local curLaneDir;
local pointDistance = 5;
local pipSafety = 0.1;
local pathPoints = {};
if dir == "N" or dir == "S" then --North or South
numLanes = math.ceil(dimensions.width / workWidth);
pointsPerLane = math.ceil(dimensions.height / pointDistance);
if numLanes * workWidth < dimensions.width then
numLanes = numLanes + 1;
end;
courseplay:debug(string.format('generateCourse(%i): numLanes=%s, pointsPerLane=%s', debug.getinfo(1).currentline, tostring(numLanes), tostring(pointsPerLane)), 7); --WORKS
for curLane=1, numLanes do
--Lane directions
if dir == "S" then
--NORTH->SOUTH, starting at NORTH
if courseplay:isOdd(curLane) then
curLaneDir = "S";
elseif courseplay:isEven(curLane) then
curLaneDir = "N";
end;
elseif dir == "N" then
--SOUTH->NORTH, starting at SOUTH
if courseplay:isOdd(curLane) then
curLaneDir = "N";
elseif courseplay:isEven(curLane) then
curLaneDir = "S";
end;
end;
courseplay:debug(string.format("curLane = %d, curLaneDir = %s", curLane, curLaneDir), 7); --WORKS
for a=1, pointsPerLane do
local curPoint = {
num = a + ((curLane-1) * pointsPerLane);
lane = curLane;
x = dimensions.minX + (workWidth * curLane) - (workWidth/2);
z = dimensions.minZ;
};
if crn == "NW" or crn == "SE" then
if courseplay:isOdd(curLane) then
curPoint.ridgeMarker = ridgeMarker["left"];
elseif courseplay:isEven(curLane) then
curPoint.ridgeMarker = ridgeMarker["right"];
end;
elseif crn == "SW" or crn == "NE" then
if courseplay:isOdd(curLane) then
curPoint.ridgeMarker = ridgeMarker["right"];
elseif courseplay:isEven(curLane) then
curPoint.ridgeMarker = ridgeMarker["left"];
end;
end;
if crn == "NE" or crn == "SE" then
curPoint.x = dimensions.maxX - (workWidth * curLane) + (workWidth/2);
end;
if curLaneDir == "S" then
curPoint.z = dimensions.minZ + (pointDistance * (a-1));
if curPoint.z >= dimensions.maxZ then
curPoint.z = dimensions.maxZ - pipSafety;
end;
elseif curLaneDir == "N" then
curPoint.z = dimensions.maxZ - (pointDistance * (a-1));
if curPoint.z <= dimensions.minZ then
curPoint.z = dimensions.minZ + pipSafety;
end;
end;
--last lane
curPoint.x = MathUtil.clamp(curPoint.x, dimensions.minX + (workWidth/2), dimensions.maxX - (workWidth/2));
--is point in field?
local _, pointInPoly = courseplay.fields:getPolygonData(poly.points, curPoint.x, curPoint.z, true, true, true);
if pointInPoly then
--courseplay:debug(string.format("Point %d (lane %d, point %d) - x=%.1f, z=%.1f - in Poly - adding to pathPoints", curPoint.num, curLane, a, curPoint.x, curPoint.z), 7);
table.insert(pathPoints, curPoint);
else
--courseplay:debug(string.format("Point %d (lane %d, point %d) - x=%.1f, z=%.1f - not in Poly - not adding to pathPoints", curPoint.num, curLane, a, curPoint.x, curPoint.z), 7);
end;
end; --END for curPoint in pointsPerLane
end; --END for curLane in numLanes
--END North or South
elseif dir == "E" or dir == "W" then --East or West
numLanes = math.ceil(dimensions.height / workWidth);
pointsPerLane = math.ceil(dimensions.width / pointDistance);
if numLanes * workWidth < dimensions.height then
numLanes = numLanes + 1;
end;
courseplay:debug(string.format("generateCourse(%i): numLanes = %s, pointsPerLane = %s", debug.getinfo(1).currentline, tostring(numLanes), tostring(pointsPerLane)), 7); --WORKS
for curLane=1, numLanes do
--Lane directions
if dir == "E" then
--WEST->EAST, starting at WEST
if courseplay:isOdd(curLane) then
curLaneDir = "E";
elseif courseplay:isEven(curLane) then
curLaneDir = "W";
end;
elseif dir == "W" then
--EAST->WEST, starting at EAST
if courseplay:isOdd(curLane) then
curLaneDir = "W";
elseif courseplay:isEven(curLane) then
curLaneDir = "E";
end;
end;
courseplay:debug(string.format("curLane = %d, curLaneDir = %s", curLane, curLaneDir), 7); --WORKS
for a=1, pointsPerLane do
local curPoint = {
num = a + ((curLane-1) * pointsPerLane);
lane = curLane;
x = dimensions.minX;
z = dimensions.minZ + (workWidth * curLane) - (workWidth/2);
};
if crn == "SW" or crn == "NE" then
if courseplay:isOdd(curLane) then
curPoint.ridgeMarker = ridgeMarker["left"];
elseif courseplay:isEven(curLane) then
curPoint.ridgeMarker = ridgeMarker["right"];
end;
elseif crn == "SE" or crn == "NW" then
if courseplay:isOdd(curLane) then
curPoint.ridgeMarker = ridgeMarker["right"];
elseif courseplay:isEven(curLane) then
curPoint.ridgeMarker = ridgeMarker["left"];
end;
end;
if crn == "SW" or crn == "SE" then
curPoint.z = dimensions.maxZ - (workWidth * curLane) + (workWidth/2);
end;
if curLaneDir == "E" then
curPoint.x = dimensions.minX + (pointDistance * (a-1));
if curPoint.x >= dimensions.maxX then
curPoint.x = dimensions.maxX - pipSafety;
end;
elseif curLaneDir == "W" then
curPoint.x = dimensions.maxX - (pointDistance * (a-1));
if curPoint.x <= dimensions.minX then
curPoint.x = dimensions.minX + pipSafety;
end;
end;
--last lane
curPoint.z = MathUtil.clamp(curPoint.z, dimensions.minZ + (workWidth/2), dimensions.maxZ - (workWidth/2));
--is point in field?
local _, pointInPoly = courseplay.fields:getPolygonData(poly.points, curPoint.x, curPoint.z, true, true, true);
if pointInPoly then
--courseplay:debug(string.format("Point %d (lane %d, point %d) - x=%.1f, z=%.1f - in Poly - adding to pathPoints", curPoint.num, curLane, a, curPoint.x, curPoint.z), 7);
table.insert(pathPoints, curPoint);
else
--courseplay:debug(string.format("Point %d (lane %d, point %d) - x=%.1f, z=%.1f - not in Poly - not adding to pathPoints", curPoint.num, curLane, a, curPoint.x, curPoint.z), 7);
end;
end; --END for curPoint in pointsPerLane
end; --END for curLane in numLanes
end; --END East or West
---############################################################################
-- (4) CHECK PATH LANES FOR VALID START AND END POINTS and FILL fieldWorkCourse
-------------------------------------------------------------------------------
courseplay:debug('(4) CHECK PATH LANES FOR VALID START AND END POINTS and FILL fieldWorkCourse #pathPoints:'..tostring(#pathPoints), 7);
local fieldWorkCourse = {};
local numPoints = #(pathPoints);
for i=1, numPoints do
local cp = pathPoints[i]; --current
local np = pathPoints[i+1]; --next
local pp = pathPoints[i-1]; --previous
if i == 1 then
pp = pathPoints[numPoints];
end;
if i == numPoints then
np = pathPoints[1];
end;
cp.firstInLane = pp.lane ~= cp.lane; --previous point in different lane -> I'm first in lane
cp.lastInLane = np.lane ~= cp.lane; --next point in different lane -> I'm last in lane
local isLastLane = cp.lane == numLanes;
--REAL ANGLE: right = 0deg, top = 90deg, left = 180deg, bottom = 270deg
--SIGN ANGLE: N=180, E=90, S=0, W=270
local angleDeg, signAngleDeg;
if cp.firstInLane or i == 1 then
angleDeg = math.deg(math.atan2(np.z - cp.z, np.x - cp.x));
signAngleDeg = math.deg(math.atan2(np.x - cp.x, np.z - cp.z));
else
angleDeg = math.deg(math.atan2(cp.z - pp.z, cp.x - pp.x));
signAngleDeg = math.deg(math.atan2(cp.x - pp.x, cp.z - pp.z));
end;
if cp.firstInLane or i == 1 or isLastLane then
cp.ridgeMarker = 0;
end;
local point = {
cx = cp.x,
cz = cp.z,
angle = angleDeg,
wait = nil, --will be set to true for first and last after all is set and done
rev = nil,
crossing = nil,
lane = cp.lane,
turnStart = courseplay:trueOrNil(cp.lastInLane and cp.lane < numLanes),
turnEnd = courseplay:trueOrNil(cp.firstInLane and i > 1),
ridgeMarker = cp.ridgeMarker,
generated = true
};
local newFirstInLane, newLastInLane;
--TURN MANEUVER ... AND STUFF
if cp.firstInLane then
local projectionAngle = courseplay:invertAngleDeg(point.angle);
local testPoint, testLength = {}, 20;
testPoint.x = cp.x + testLength * math.cos(MathUtil.degToRad(projectionAngle));
testPoint.z = cp.z + testLength * math.sin(MathUtil.degToRad(projectionAngle));
newFirstInLane = self:lineIntersectsPoly(cp, testPoint, poly);
if newFirstInLane ~= nil then
--courseplay:debug(string.format("lane %d: newFirstInLane: x=%f, z=%f", cp.lane, newFirstInLane.x, newFirstInLane.z), 7);
newFirstInLane.cx = newFirstInLane.x;
newFirstInLane.cz = newFirstInLane.z;
newFirstInLane.angle = point.angle;
newFirstInLane.wait = point.wait;
newFirstInLane.crossing = point.crossing;
newFirstInLane.rev = point.rev;
newFirstInLane.lane = point.lane;
newFirstInLane.firstInLane = true;
newFirstInLane.turnStart = nil;
newFirstInLane.turnEnd = courseplay:trueOrNil(i > 1);
newFirstInLane.ridgeMarker = 0;
newFirstInLane.generated = true;
--reset some vars in old first point
point.wait = nil;
point.firstInLane = false;
point.turnStart = nil;
point.turnEnd = nil;
end;
end; --END cp.firstInLane
if cp.lastInLane and i ~= numPoints then
angleDeg = courseplay:positiveAngleDeg(angleDeg);
local testPoint, testLength = {}, 20;
testPoint.x = cp.x + testLength * math.cos(MathUtil.degToRad(angleDeg));
testPoint.z = cp.z + testLength * math.sin(MathUtil.degToRad(angleDeg));
--courseplay:debug(string.format("x=%f, z=%f, testPoint: x=%f, z=%f", cp.x, cp.z, testPoint.x, testPoint.z), 7);
newLastInLane = self:lineIntersectsPoly(cp, testPoint, poly);
if newLastInLane ~= nil then
--courseplay:debug(string.format("newLastInLane: x=%f, z=%f", newLastInLane.x, newLastInLane.z), 7);
newLastInLane.cx = newLastInLane.x;
newLastInLane.cz = newLastInLane.z;
newLastInLane.angle = point.angle;
newLastInLane.wait = point.wait;
newLastInLane.crossing = point.crossing;
newLastInLane.rev = point.rev;
newLastInLane.lane = point.lane;
newLastInLane.lastInLane = true;
newLastInLane.turnStart = courseplay:trueOrNil(i < numPoints);
newLastInLane.turnEnd = nil;
newLastInLane.ridgeMarker = 0;
newLastInLane.generated = true;
point.wait = nil;
point.lastInLane = false;
point.turnStart = nil;
point.turnEnd = nil;
end;
end; --END cp.lastInLane
if newFirstInLane ~= nil then
newFirstInLane.angle = signAngleDeg;
table.insert(fieldWorkCourse, newFirstInLane);
end;
point.angle = signAngleDeg;
table.insert(fieldWorkCourse, point);
if newLastInLane ~= nil then
newLastInLane.angle = signAngleDeg;
table.insert(fieldWorkCourse, newLastInLane);
end;
end; --END for i in numPoints
---############################################################################
-- (5) ROTATE HEADLAND COURSES
-------------------------------------------------------------------------------
courseplay:debug('(5) ROTATE HEADLAND COURSES', 7);
local numHeadlandLanesCreated = 0;
if vehicle.cp.headland.exists() then
numHeadlandLanesCreated = #(vehicle.cp.headland.lanes);
if numHeadlandLanesCreated > 0 then
if vehicle.cp.headland.orderBefore then --each headland lanes' first point is closest to first fieldwork course point
for i,lane in pairs(vehicle.cp.headland.lanes) do
local numPoints = #lane;
local closest = self:getClosestPolyPoint(lane, fieldWorkCourse[1].cx, fieldWorkCourse[1].cz);
courseplay:debug(string.format('[before] rotating headland lane=%d, closest=%d -> rotate: numPoints-(closest-1)=%d-(%d-1)=%d', i, closest, numPoints, closest, numPoints - (closest-1)), 7);
vehicle.cp.headland.lanes[i] = table.rotate(lane, numPoints - (closest-1));
--courseplay:debug(tableShow(vehicle.cp.headland.lanes[i], 'rotated headland lane '..i), 7);
end;
else --each headland lanes' first point is closest to last fieldwork course point
local lastFieldworkPoint = fieldWorkCourse[#(fieldWorkCourse)];
--courseplay:debug(tableShow(lastFieldWorkPoint, 'lastFieldWorkPoint'), 7); --TODO: is nil - whyyyyy?
local headlandLanes = {}
for i=numHeadlandLanesCreated, 1, -1 do
local lane = vehicle.cp.headland.lanes[i];
local numPoints = #lane;
local closest = self:getClosestPolyPoint(lane, lastFieldworkPoint.cx, lastFieldworkPoint.cz); --TODO: works, but how if lastFieldWorkPoint is nil???
courseplay:debug(string.format('[after] rotating headland lane=%d, closest=%d -> rotate: numPoints-(closest-1)=%d-(%d-1)=%d', i, closest, numPoints, closest, numPoints - (closest-1)), 7);
table.insert(headlandLanes, table.rotate(lane, numPoints - (closest-1)));
end;
vehicle.cp.headland.lanes = nil;
vehicle.cp.headland.lanes = {};
vehicle.cp.headland.lanes = headlandLanes;
--courseplay:debug(tableShow(vehicle.cp.headland.lanes, 'rotated headland lanes'), 7);
end;
end;
end;
---############################################################################
-- (6) CONCATENATE HEADLAND COURSE and FIELDWORK COURSE
-------------------------------------------------------------------------------
courseplay:debug('(6) CONCATENATE HEADLAND COURSE and FIELDWORK COURSE #fieldWorkCourse:'..tostring(#fieldWorkCourse), 7);
local lastFivePoints = {};
if vehicle.cp.returnToFirstPoint then
fieldWorkCourse[#fieldWorkCourse].wait = false;
local srcCourse = fieldWorkCourse;
if vehicle.cp.headland.exists() and vehicle.cp.headland.orderBefore and #(vehicle.cp.headland.lanes) > 0 then
srcCourse = vehicle.cp.headland.lanes[1];
courseplay:debug(string.format('lastFivePoints: #headland.lanes=%d, headland.orderBefore=%s -> srcCourse = headland.lanes[1]', #(vehicle.cp.headland.lanes), tostring(vehicle.cp.headland.orderBefore)), 7);
end;
for b=5, 1, -1 do
local origPathPoint = srcCourse[b];
local point = {
cx = origPathPoint.cx,
cz = origPathPoint.cz,
angle = courseplay:invertAngleDeg(origPathPoint.angle),
wait = nil,
rev = nil,
crossing = nil,
lane = 1,
turnStart = nil,
turnEnd = nil,
ridgeMarker = 0,
generated = true
};
table.insert(lastFivePoints, point);
end;
end;
vehicle.Waypoints = {};
if numHeadlandLanesCreated > 0 then
if vehicle.cp.headland.orderBefore then
for i=1, #(vehicle.cp.headland.lanes) do
vehicle.Waypoints = tableConcat(vehicle.Waypoints, vehicle.cp.headland.lanes[i]);
end;
vehicle.Waypoints = tableConcat(vehicle.Waypoints, fieldWorkCourse);
else
vehicle.Waypoints = tableConcat(vehicle.Waypoints, fieldWorkCourse);
for i=1, #(vehicle.cp.headland.lanes) do
vehicle.Waypoints = tableConcat(vehicle.Waypoints, vehicle.cp.headland.lanes[i]);
end;
end;
else
vehicle.Waypoints = fieldWorkCourse;
end;
if #(lastFivePoints) > 0 then
vehicle.Waypoints = tableConcat(vehicle.Waypoints, lastFivePoints);
end;
---############################################################################
-- (7) FINAL COURSE DATA
-------------------------------------------------------------------------------
courseplay:debug('(7) FINAL COURSE DATA', 7);
--vehicle:setCpVar('numWaypoints', #vehicle.Waypoints,courseplay.isClient);
vehicle.cp.numWaypoints = #vehicle.Waypoints;
if vehicle.cp.numWaypoints == 0 then
courseplay:debug('ERROR: #vehicle.Waypoints == 0 -> cancel and return', 7);
return;
end;
courseplay:setWaypointIndex(vehicle, 1);
vehicle:setCpVar('canDrive',true,courseplay.isClient);
vehicle.Waypoints[1].wait = true;
vehicle.Waypoints[1].crossing = true;
vehicle.Waypoints[vehicle.cp.numWaypoints].wait = true;
vehicle.Waypoints[vehicle.cp.numWaypoints].crossing = true;
vehicle.cp.numCourses = 1;
courseplay.signs:updateWaypointSigns(vehicle);
-- extra data for turn maneuver
vehicle.cp.courseWorkWidth = workWidth;
vehicle.cp.courseNumHeadlandLanes = numHeadlandLanesCreated;
vehicle.cp.courseHeadlandDirectionCW = vehicle.cp.headland.userDirClockwise;
vehicle.cp.hasGeneratedCourse = true;
courseplay:setFieldEdgePath(vehicle, nil, 0);
courseplay:validateCourseGenerationData(vehicle);
courseplay:validateCanSwitchMode(vehicle);
-- SETUP 2D COURSE DRAW DATA
vehicle.cp.course2dUpdateDrawData = true;
courseplay:debug(string.format("generateCourse() finished: %d lanes, %d headland %s", numLanes, numHeadlandLanesCreated, numHeadlandLanesCreated == 1 and 'lane' or 'lanes'), 7);
end;
------------------------------------------------------------------------
------------------------------------------------------------------------
------------------------------------------------------------------------
-- ############# HELPER FUNCTIONS
function courseplay.generation:getPolyDimensions(polyXValues, polyZValues)
local dimensions = {
minX = math.min(unpack(polyXValues));
maxX = math.max(unpack(polyXValues));
minZ = math.min(unpack(polyZValues));
maxZ = math.max(unpack(polyZValues));
};
dimensions.width = dimensions.maxX - dimensions.minX;
dimensions.height = dimensions.maxZ - dimensions.minZ;
return dimensions;
end;
function courseplay:invertAngleDeg(ang)
if ang > 0 then
return ang - 180;
else
return ang + 180;
end;
end;
function courseplay:positiveAngleDeg(ang)
return ang % 360;
end;
--[[
function courseplay:projectNewPoint(fromPointX, fromPointZ, dist, ang)
local x = fromPointX + (dist * math.cos(Utils.degToRad(ang)));
local z = fromPointZ + (dist * math.sin(Utils.degToRad(ang)));
return x, z;
end;
]]
function courseplay.generation:lineIntersectsPoly(point1, point2, poly)
for k,wp in pairs(poly.points) do
local nextPointIdx;
if k < poly.numPoints then
nextPointIdx = k + 1;
elseif k == poly.numPoints then
nextPointIdx = 1;
end;
local nextPoint = poly.points[nextPointIdx];
local intersects = courseplay:segmentsIntersection(point1.x, point1.z, point2.x, point2.z, wp.cx, wp.cz, nextPoint.cx, nextPoint.cz);
if intersects then
return intersects;
end;
end;
return nil;
end;
function courseplay:segmentsIntersection(A1x, A1y, A2x, A2y, B1x, B1y, B2x, B2y) --@src: http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect#comment19248344_1968345
local s1_x, s1_y, s2_x, s2_y;
s1_x = A2x - A1x;
s1_y = A2y - A1y;
s2_x = B2x - B1x;
s2_y = B2y - B1y;
local s, t;
s = (-s1_y * (A1x - B1x) + s1_x * (A1y - B1y)) / (-s2_x * s1_y + s1_x * s2_y);
t = ( s2_x * (A1y - B1y) - s2_y * (A1x - B1x)) / (-s2_x * s1_y + s1_x * s2_y);
if (s >= 0 and s <= 1 and t >= 0 and t <= 1) then
--Collision detected
local x = A1x + (t * s1_x);
local z = A1y + (t * s1_y);
return { x = x, z = z };
end;
--No collision
return nil;
end;
--@src: https://github.com/ChubbRck/Cosmic-Crossfire/blob/master/mathlib.lua#L322
--NOTE: combined area check with 2 virtual offset points (1 on each side) 'in poly' check
function courseplay.generation:isPolyClockwise(poly)
--offset test points
local dirX,dirZ = self:getPointDirection(poly[1],poly[2]);
local offsetRight = {
cx = poly[2].cx - dirZ,
cz = poly[2].cz + dirX,
isInPoly = false
};
local offsetLeft = {
cx = poly[2].cx + dirZ,
cz = poly[2].cz - dirX,
isInPoly = false
};
-- clockwise vs counterclockwise variables
local area, success, tries = 0, false, 1;
-- point in poly variables
local numPoints = #poly;
local cp, np, pp;
local fp = poly[1];
for i=1, numPoints do
cp = poly[i];
np = poly[i+1];