feat: use actual vehicle dimensions for pathfinding

modDesc.xml

@@ -190,6 +190,7 @@ Changelog 8.1.0.0
 		<sourceFile filename="scripts/ai/util/AIUtil.lua"/>
 		<sourceFile filename="scripts/ai/util/FillLevelUtil.lua"/>
 		<sourceFile filename="scripts/ai/util/ImplementUtil.lua"/>
+		<sourceFile filename="scripts/ai/util/VehicleSizeScanner.lua"/>
 		<sourceFile filename="scripts/ai/util/WorkWidthUtil.lua"/>
 		<sourceFile filename="scripts/ai/PathfinderController.lua"/>
 		<sourceFile filename="scripts/ai/ProximityController.lua"/>

scripts/ai/util/VehicleSizeScanner.lua

@@ -0,0 +1,102 @@
+--[[
+This file is part of Courseplay (https://github.com/Courseplay)
+Copyright (C) 2025 Courseplay Dev Team
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+]]
+
+--- A utility to scan the actual vehicle size using overlap boxes.
+VehicleSizeScanner = CpObject()
+
+function VehicleSizeScanner:init()
+    self.logger = Logger('VehicleSizeScanner', Logger.level.debug, CpDebug.DBG_IMPLEMENTS)
+end
+
+--- Scan the size of the given vehicle, using the given reference node (or the root node if nil).
+--- This function uses overlap boxes moved towards the vehicle from all four directions to find the extents
+--- by detecting collisions between the box and the vehicle.
+---@param vehicle Vehicle
+---@param referenceNode number|nil
+---@return number front distance of the frontmost point from the reference node
+---@return number rear distance of the rearmost point from the reference node
+---@return number left distance of the leftmost point from the reference node
+---@return number right distance of the rightmost point from the reference node
+function VehicleSizeScanner:scan(vehicle, referenceNode)
+    self.left = self:_measureDimension(vehicle, referenceNode, 50, 0.1, 'x')
+    self.right = self:_measureDimension(vehicle, referenceNode, -50, -0.1, 'x')
+    self.front = self:_measureDimension(vehicle, referenceNode, 50, 0.1, 'z')
+    self.rear = self:_measureDimension(vehicle, referenceNode, -50, -0.1, 'z')
+    self.logger:debug(vehicle, 'Front: %.1f Rear: %.1f Left: %.1f Right: %.1f ',
+            self.front, self.rear, self.left, self.right)
+    return self.front, self.rear, self.left, self.right
+end
+
+function VehicleSizeScanner:getLength()
+    -- front is positive z, rear is negative z
+    return self.front - self.rear
+end
+
+function VehicleSizeScanner:getWidth()
+    -- left is positive x, right is negative x
+    return self.left - self.right
+end
+
+function VehicleSizeScanner:_measureDimension(vehicle, referenceNode, startDistance, endDistance, axis)
+    local step = endDistance > startDistance and 0.1 or -0.1
+    local boxHalfSize = 25
+    local obX, obY, obZ, getLocalPosition
+    if axis == 'x' then
+        getLocalPosition = function(node, d)
+            return localToWorld(node, d, 0, 0)
+        end
+        -- a rectangle (thin box) in the y-z plane, moving along the x axis
+        obX, obY, obZ = 0.1, 10, boxHalfSize
+    elseif axis == 'y' then
+        getLocalPosition = function(node, d)
+            return localToWorld(node, 0, d, 0)
+        end
+        -- a rectangle (thin box) in the x-z plane, moving along the y axis
+        obX, obY, obZ = boxHalfSize, 0.1, boxHalfSize
+    elseif axis == 'z' then
+        getLocalPosition = function(node, d)
+            return localToWorld(node, 0, 0, d)
+        end
+        -- a rectangle (thin box) in the x-y plane, moving along the z axis
+        obX, obY, obZ = boxHalfSize, 10, 0.1
+    end
+    local dimension = 3
+    local node = referenceNode or vehicle.rootNode
+    local xRot, yRot, zRot = getWorldRotation(node)
+    self.vehicleBeingScanned = vehicle
+    self.scannedVehicleFound = false
+    -- create an overlap box, very thin, like a plane and move it towards the vehicle until we find a collision
+    for ix = startDistance, endDistance, step do
+        local x, y, z = getLocalPosition(vehicle.rootNode, ix)
+        overlapBox(x, y, z, xRot, yRot, zRot, obX, obY, obZ, "_overlapBoxCallback", self, CpUtil.getDefaultCollisionFlags(), true, true, true, true)
+        if self.scannedVehicleFound then
+            --PathfinderUtil.addOverlapBox(x, y, z, xRot, yRot, zRot, obX, obY, obZ)
+            dimension = ix
+            break
+        end
+    end
+    return dimension
+end
+
+function VehicleSizeScanner:_overlapBoxCallback(transformId)
+    local collidingObject = g_currentMission.nodeToObject[transformId]
+    if collidingObject and self.vehicleBeingScanned == collidingObject then
+        self.scannedVehicleFound = true
+    end
+end
+