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Copy pathTriggerSensor.lua
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146 lines (123 loc) · 4.78 KB
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---@classTriggerSensor
TriggerSensor=CpObject()
TriggerSensor.TRIGGER_RAYCAST_DISTANCE=10
---@paramdriverAIDriver
---@paramvehicletable
functionTriggerSensor:init(driver,vehicle)
self.driver=driver
self.vehicle=vehicle
self.totalVehicleLength=AIDriverUtil.getVehicleAndImplementsTotalLength(self.vehicle)
self.triggers= {}
self.numTriggers=0
self.debugChannel=courseplay.DBG_TRIGGERS
end
functionTriggerSensor:debug(...)
courseplay.debugVehicle(self.debugChannel,self.vehicle,...)
end
functionTriggerSensor:debugEnabled()
returncourseplay.debugChannels[self.debugChannel]
end
functionTriggerSensor:onDraw()
ifnotself:debugEnabled() then
return
end
locali=0
localy=0.5
fortrigger,datainpairs(self.triggers) do
y=self:renderText(y,0.4,"%d: Trigger(%s), dist: %.2f",i,tostring(getName(data.triggerID)),data.distanceUntilFound)
i=i+1
end
y=self:renderText(y,0.4,"Current triggers: %d",self.numTriggers)
y=self:renderText(y,0.4,"Total vehicle length: %.2f",self.totalVehicleLength)
y=self:renderText(y,0.4,"Distance Traveled: %.2f",self.driver:getDistanceMovedSinceStart() or0)
end
functionTriggerSensor:renderText(y,xOffset,text,...)
renderText(xOffsetand0.3+xOffsetor0.3,y,0.02,string.format(text,...))
returny-0.02
end
functionTriggerSensor:onUpdate(dt)
self:updateTriggers()
end
functionTriggerSensor:updateTriggers()
fortrigger,datainpairs(self.triggers) do
ifself:hasTriggerPassed(data.distanceUntilFound) then
self.triggers[trigger] =nil
self.numTriggers=math.max(self.numTriggers-1,0)
self:debug("Removed trigger(%s)",tostring(getName(data.triggerID)))
end
end
end
functionTriggerSensor:hasTriggerPassed(distanceUntilFound)
return (distanceUntilFound+self.TRIGGER_RAYCAST_DISTANCE+self.totalVehicleLength) <self.driver:getDistanceMovedSinceStart()
end
---@paramtriggertable
---@paramtriggerIDnumber
functionTriggerSensor:addTrigger(trigger,triggerID)
self.triggers[trigger] = {
triggerID=triggerID,
distanceUntilFound=self.driver:getDistanceMovedSinceStart()
}
self:debug("Added trigger(%s)",tostring(getName(triggerID)))
self.numTriggers=self.numTriggers+1
end
functionTriggerSensor:isNearTriggers()
returnself.numTriggers>0
end
--- Loading/ filling trigger callback
---@paramtransformIdnumber
---@paramxnumber
---@paramynumber
---@paramznumber
---@paramdistancenumber
functionTriggerSensor:loadingFillingTriggerCallback(transformId, x, y, z, distance)
ifCpManager.confirmedNoneSpecialTriggers[transformId] then
returntrue;
end;
localobjectName=tostring(getName(transformId));
ifself:debugEnabled() then
cpDebug:drawPoint(x, y, z, 1, 1, 0);
end;
localloadingTriggers=Triggers.getLoadingTriggers()
localfillingTriggers=Triggers.getFillTriggers()
localtrigger=loadingTriggers[transformId] orfillingTriggers[transformId]
iftriggerandnotself.triggers[trigger] then
self:addTrigger(trigger, transformId)
returnfalse
end
CpManager.confirmedNoneSpecialTriggers[transformId] =true
CpManager.confirmedNoneSpecialTriggersCounter=CpManager.confirmedNoneSpecialTriggersCounter+1
self:debug("added %d (%s) to trigger blacklist -> total = %d",transformId,objectName, CpManager.confirmedNoneSpecialTriggersCounter)
returntrue
end
functionTriggerSensor:raycastLoadingFillingTriggers()
localraycastDistance=self.TRIGGER_RAYCAST_DISTANCE
localdx,dz=self.driver.course:getDirectionToWPInDistance(self.driver.ppc:getCurrentWaypointIx(),self.vehicle,raycastDistance)
localx,y,z,nx,ny,nz=courseplay:getTipTriggerRaycastDirection(self.vehicle,dx,dz,raycastDistance)
self:raycast(x,y,z, nx,ny,nz, "loadingFillingTriggerCallback", raycastDistance)
localdirectionNode=self.driver:getDirectionNode()
localny=0
-- raycast start point in front of vehicle
localx1,_,z1=localToWorld(directionNode,2,0,0)
localx2,_,z2=localToWorld(directionNode,-2,0,0)
localdx1,dz1=x1+nx*raycastDistance,z1+nz*raycastDistance
localdx2,dz2=x2+nx*raycastDistance,z2+nz*raycastDistance
localnx1,nz1=MathUtil.vector2Normalize(dx2-x1, dz2-z1)
localnx2,nz2=MathUtil.vector2Normalize(dx1-x2, dz1-z2)
--create a hammerhead raycast to get small triggers
nx, ny, nz=localDirectionToWorld(directionNode, 1, 0, 0)
self:raycast(dx2, y+2, dz2, nx, ny, nz,"loadingFillingTriggerCallback", 4)
end
---@paramxnumber
---@paramynumber
---@paramznumber
---@paramnxnumber
---@paramnynumber
---@paramnznumber
---@paramcallbackfunction
---@paramraycastDistancenumber
functionTriggerSensor:raycast(x,y,z, nx,ny,nz, callback, raycastDistance)
ifself:debugEnabled() then
cpDebug:drawLine(x,y,z, 1,0,0, x+(nx*raycastDistance),y+(ny*raycastDistance),z+(nz*raycastDistance))
end
raycastAll(x,y,z, nx,ny,nz, callback, raycastDistance, self)
end