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Should fix skid loaders #295

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Should fix skid loaders #295

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3 changes: 3 additions & 0 deletions config/VehicleConfigurations.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -466,6 +466,9 @@ You can define the following custom settings:
shovelMovingToolIx = "1"
/>

<Vehicle name="highDumpBucket.xml"
shovelMovingToolIx="1"/>

<!--[DLC]-->

<!--Harvester-->
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8 changes: 8 additions & 0 deletions scripts/specializations/CpShovelPositions.lua
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Expand Up @@ -448,8 +448,16 @@ function CpShovelPositions:setShovelPosition(dt, shovelLimits, armLimits, height
--- Controls the arm height
setTranslation(armProjectionNode, 0, i1y, i1z)
setTranslation(armToolRefNode, ax, ay, az)

local _, shy, shz = localToLocal(shovelTool.node, armVehicle.rootNode, 0, 0, 0)
local _, _, rz = localRotationToLocal(getParent(shovelTool.node), getParent(getParent(shovelTool.node)), 0, 0, 0)
local dirZ, dirY = MathUtil.vector2Normalize(shz - az, shy - ay)
if math.abs(rz) > math.rad(160) then
--- We assume the shovel node is rotated by 180 degrees,
--- so we have to flip the calculation
dirZ, dirY = MathUtil.vector2Normalize(az - shz, ay - shy)
end

oldRotRelativeArmRot = MathUtil.getYRotationFromDirection(-dirZ, dirY) + math.pi/2

alpha = math.atan2(i1y - ay, i1z - az)
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