bypass.lua

function courseplay:isTheWayToTargetFree(self,lx,lz, targetX, targetZ,dod )
	if lx > 0.5 then
		lx = 0.5;
	elseif lx < -0.5 then
		lx = -0.5;
	end;
	dod = dod or 100
	local distance = math.min(self.lastSpeedReal*3600,40,dod-5)
	local heigth = 0.5
  -- a world point 4 m in front of the vehicle center, 0.5 m higher
  -- This is where we start checking for obstacles
	local tx, ty, tz = localToWorld(self.cp.DirectionNode,0,heigth,4)
  -- world direction 
	local nx, ny, nz = localDirectionToWorld(self.cp.DirectionNode, lx, 0, lz)
  -- terrain height at 30 m further ahead of the 4 m point (not sure why can't we directly localToWorld to it, why nx,nz?)
	local terrainHeight = getTerrainHeightAtWorldPos(g_currentMission.terrainRootNode, tx+(nx*distance), 0, tz+(nz*distance))
	local _, ly,_ = courseplay:getDriveDirection(self.cp.DirectionNode, tx+(nx*distance), terrainHeight, tz+(nz*distance))
	local isField = courseplay:isField(tx+(nx*distance), tz+(nz*distance), 1, 1)
  -- world normal vector towards a point 30 m ahead, considering terrain height.
	nx, ny, nz = localDirectionToWorld(self.cp.DirectionNode, lx, ly, lz)
  -- if there's a target waypoint and the point in distance is not on the field, check the way to that point, not just dead ahead.
	if not isField and targetX and targetZ then
		local targetY = getTerrainHeightAtWorldPos( g_currentMission.terrainRootNode, targetX, 0, targetZ )
		local dx, dy, dz = targetX - tx, targetY - ty, targetZ - tz
		-- this is the distance from the front of the vehicle to the target  
		distance = Utils.vector3Length( dx, dy, dz )
		if distance > 0 then
		  -- normal direction from the front of the vehicle to the target
		  nx, ny, nz = dx / distance, dy / distance, dz / distance
		end
	end

  -- At this point, we have the tx, ty and tz world coordinates at the front of the vehicle
  -- and the nx, ny, nz world direction and the distance. So we'll check if there are any 
  -- obstacles from tx, ty, tz in direction nx, ny, nz within distance.

	if self.cp.foundColli ~= nil and #(self.cp.foundColli) > 0  then
    -- but first take care of any previously found obstacles
		local vehicle = g_currentMission.nodeToVehicle[self.cp.foundColli[1].id];
		local vehicleSpeed = 0
		local xC,yC,zC = 0,0,0
		if vehicle == nil then
			local parent = getParent(self.cp.foundColli[1].id)
			vehicle = g_currentMission.nodeToVehicle[parent]
		end
    -- this is where the obstacle is in local coordinates
		local x,y,z = worldToLocal(self.cp.DirectionNode,self.cp.foundColli[1].x, self.cp.foundColli[1].y, self.cp.foundColli[1].z)
		local bypass = Utils.getNoNil(self.cp.foundColli[1].bp,5)
		local sideStep = x +(bypass* self.cp.foundColli[1].s)
		--y = math.max(y,4)
		xC,yC,zC = localToWorld(self.cp.DirectionNode,sideStep,y,z+bypass)
		if vehicleSpeed == 0 then
			if not self.cp.bypassWaypointsSet then
				courseplay:debug(string.format("%s setting bypassing point at x:%s, y%s, z:%s",nameNum(self) ,tostring(sideStep),tostring(y),tostring(z+bypass)),3)
				self.cp.bypassWaypointsSet = true
				self.cp.bypassWaypoints = {
											x = xC,
											y = yC,
											z = zC
											}
			else
				xC = self.cp.bypassWaypoints.x
				yC = self.cp.bypassWaypoints.y
				zC = self.cp.bypassWaypoints.z
			end
		else
			if courseplay.debugChannels[3] then drawDebugLine(tx, ty, tz, 1, 0, 0, tx+(nx*distance), ty+(ny*distance), tz+(nz*distance), 1, 0, 0) end;
			if self.cp.foundColli[1].s > 0 then
				raycastAll(tx, ty, tz, nx, ny, nz, "findBlockingObjectCallbackRight", distance, self)
			elseif self.cp.foundColli[1].s < 0 then
				raycastAll(tx, ty, tz, nx, ny, nz, "findBlockingObjectCallbackLeft", distance, self)
			end
		end
		if courseplay.debugChannels[3] then drawDebugPoint(xC,yC,zC, 1, 1, 1, 1) end;
		local lxC, lzC = AIVehicleUtil.getDriveDirection(self.cp.DirectionNode,xC,yC,zC );
		if z < 0 then
			--reset current because we passed some points already and don't want to go back there
			local targetsIndex = #self.cp.nextTargets
			if targetsIndex > 0  then
				local lastX,lastZ = self.cp.nextTargets[targetsIndex].x, self.cp.nextTargets[targetsIndex].z	
				courseplay:calculateAstarPathToCoords(self,nil,lastX,lastZ,nil,self.cp.isNavigatingPathfinding)
				self.cp.curTarget.x = self.cp.nextTargets[1].x
				self.cp.curTarget.z = self.cp.nextTargets[1].z
				self.cp.curTarget.y = getTerrainHeightAtWorldPos( g_currentMission.terrainRootNode, self.cp.curTarget.x, 0, self.cp.curTarget.z )
			end
			self.cp.foundColli = {}
			self.cp.bypassWaypointsSet = false
			self.cp.bypassWaypoints = {}
			courseplay:debug(nameNum(self) .."empty self.cp.foundColli ,stop bypassing",3)
			courseplay:debug("",3)
			return lx,lz
		end
		lx,lz = lxC, lzC
	else
    -- no obstacles found yet
		for i = -2 ,2,0.5 do
            -- from a world position 4 m ahead, 0.5 m higher, right, left and middle ...
			local tx, ty, tz = localToWorld(self.cp.DirectionNode,i,heigth,4)
			if courseplay.debugChannels[3] then drawDebugLine(tx, ty, tz, 1, 0, 0, tx+(nx*distance), ty+(ny*distance), tz+(nz*distance), 1, 0, 0) end ;
            -- ... look forward into the driving direction (taking into account the terrain height)
			if i < 0 then
				raycastAll(tx, ty, tz, nx, ny, nz, "findBlockingObjectCallbackRight", distance, self)
			elseif i > 0 then
				raycastAll(tx, ty, tz, nx, ny, nz, "findBlockingObjectCallbackLeft", distance, self)
			end
		end;
	end

	return lx,lz
end

function courseplay:findBlockingObjectCallbackRight(transformId, x, y, z, distance)
	return courseplay:AnalyseRaycastResponse(self,"right",transformId, x, y, z, distance)
end

function courseplay:findBlockingObjectCallbackLeft(transformId, x, y, z, distance)
	return courseplay:AnalyseRaycastResponse(self,"left",transformId, x, y, z, distance)
end

function courseplay:AnalyseRaycastResponse(self,side,transformId, x, y, z, distance)
	if courseplay.debugChannels[3] then 
		drawDebugPoint(x, y, z, 1, 1, 1, 1) 
		
	
	end;
	local parent = getParent(transformId)
	local parentParent = getParent(parent)
	local vehicle = g_currentMission.nodeToVehicle[transformId];
	
	-- if Id is not found, try a level higher
	if vehicle == nil then
		vehicle = g_currentMission.nodeToVehicle[parent]
	end
	
	--look whether the id is somewhere else in a vehicle (for cutters)
  -- TODO: disabled to see if this is causing #2441. If yes, we need to 
  -- find a way to make this more efficient.
	if vehicle == nil and false then
		for id, foundVehicle in pairs(g_currentMission.nodeToVehicle) do
			for triggerName, TriggerId in pairs(foundVehicle) do
				if TriggerId == transformId then
					vehicle = foundVehicle
				end
			end
		end
		if vehicle ~= nil and vehicle.cp.hasSpecializationCutter then
			vehicle = vehicle.attacherVehicle
		end
	end
	
	local sideFactor = 1
	local idName = getName(transformId)
	
	if side == "left" then
		sideFactor = -1
	end
	if transformId == g_currentMission.terrainRootNode or parent == g_currentMission.terrainRootNode
	or CpManager.trafficCollisionIgnoreList[transformId]
	or string.match(idName,'otherCombColliTrigger')  --to prevent hitting the AIVE Triggers
	or string.match(idName,'aiCollisionTrigger') --to prevent hitting Giants AI Collision Trigger for Mode4/6 pathfinding
	or (self.cp.activeCombine ~= nil and (self.cp.activeCombine.rootNode == transformId or self.cp.activeCombine.rootNode == parent or self.cp.activeCombine.rootNode == parentParent ))
	or self.cpTrafficCollisionIgnoreList[transformId] or self.cpTrafficCollisionIgnoreList[parent] or self.cpTrafficCollisionIgnoreList[parentParent]
	or (self.cp.foundColli ~= nil and table.getn(self.cp.foundColli) > 0 and (self.cp.foundColli[1].id == transformId 
									      or (self.cp.foundColli[1].vehicleId ~= nil and vehicleId ~= nil
									      and self.cp.foundColli[1].vehicleId == vehicle.id)))
	then
		return true
	end
	if self.cp.activeCombine ~= nil then
		courseplay:debug(nameNum(self) .."found : "..tostring(idName).."["..tostring(transformId).."]	self.rootNode: "..tostring(self.rootNode).."	parent: "..tostring(parent).." parentParent: "..tostring(parentParent).." self.cp.activeCombine.rootNode: "..tostring(self.cp.activeCombine.rootNode).."  self.cpTrafficCollisionIgnoreList: "..tostring(self.cpTrafficCollisionIgnoreList[transformId] or self.cpTrafficCollisionIgnoreList[parent]),3)
	else
		courseplay:debug(nameNum(self) .."found : "..tostring(idName).."["..tostring(transformId).."]	self.rootNode: "..tostring(self.rootNode).."	parent: "..tostring(parent).."  self.cpTrafficCollisionIgnoreList: "..tostring(self.cpTrafficCollisionIgnoreList[transformId] or self.cpTrafficCollisionIgnoreList[parent]),3)	
	end
	self.cp.foundColli ={}
	self.cp.foundColli[1] = {}
	self.cp.foundColli[1].x = x
	self.cp.foundColli[1].y = y
	self.cp.foundColli[1].z = z
	self.cp.foundColli[1].s = sideFactor
	self.cp.foundColli[1].id = transformId
	
	if vehicle ~= nil then
		local length = vehicle.cp.totalLength or vehicle.sizeLength
		local workWidth = Utils.getNoNil(vehicle.cp.workWidth,0)
		local width = math.max(vehicle.sizeWidth,workWidth)
		self.cp.foundColli[1].bp = math.sqrt(length^2 + width^2)
		self.cp.foundColli[1].vehicleId = vehicle.id
	else
		--courseplay:findInTables(g_currentMission ,"g_currentMission", transformId)
	end
	courseplay:debug(nameNum(self) .."added : "..tostring(getName(transformId)).."["..tostring(transformId).."] to self.cp.foundColli[1] , start bypassing",3)

end