VE Lua Documentation

laneChange

Definition

-- @/lua/vehicle/ai.lua:1169

local function laneChange(plan, dist, signedDisp)
  if not plan and currentRoute then plan = currentRoute.plan end
  if not plan then return end

  -- Apply node displacement
  local invDist = 1 / (dist + 1e-30)
  local curDist, normalDispVec = 0, vec3()
  for i = 2, plan.planCount do
    openLaneToLaneRange(plan[i])
    curDist = curDist + plan[i-1].length
    plan[i].lateralXnorm = clamp(plan[i].lateralXnorm + signedDisp * min(curDist * invDist, 1), plan[i].laneLimLeft, plan[i].laneLimRight)
    normalDispVec:setScaled2(plan[i].normal, plan[i].lateralXnorm)
    plan[i].pos:setAdd2(plan[i].posOrig, normalDispVec)

    -- Recalculate vec and dirVec
    plan[i].vec:setSub2(plan[i-1].pos, plan[i].pos); plan[i].vec.z = 0
    plan[i].dirVec:set(plan[i].vec)
    plan[i].dirVec:normalize()
  end

  updatePlanLen(plan)

  --[[ For debugging
  table.clear(newPositionsDebug)
  for i = 1, #newPositions do
    newPositionsDebug[i] = vec3(newPositions[i])
  end
  --]]
end

Callers

        -- this should really be done in ai.lua instead
        self.veh.queuedFuncs.laneChange = {timer = 0.25, vLua = 'ai.laneChange(nil, '..changeLaneDist..', '..sideDist..')'}
        self.veh.queuedFuncs.setStopPoint = {timer = 0.25, vLua = 'ai.setStopPoint(nil, '..(changeLaneDist + 20)..')'}

    laneChange(plan, max(10, dist - 20), disp * side)
    setStopPoint(plan, dist, {avoidJunction = true})

  if not pullOver and trafficStates.action.forcedStop then
    --laneChange(plan, 40, -trafficStates.side.displacement) -- this is no longer needed?
    setStopPoint()