feat: config to disable tight turn offset

Added vehicle config option to disable tight turn offset
in 180 turns.

#3173

config/VehicleConfigurations.xml

@@ -128,7 +128,7 @@ You can define the following custom settings:
 	Disables the pipe height adjustment for trailers of a few pipe implements/vehicles.
 
 - ignorePipeMovingToolIndex: int
-	Ignores the given pipe moving tool by it's index.
+	Ignores the given pipe moving tool by its index.
 	This can be used to ignore a pipe moving part 
 	and only use one part.
 	An example is the premium expansion Dewulf P3K Profi.
@@ -141,6 +141,13 @@ You can define the following custom settings:
 	Moving tool index for the pipe controller to control the pipe height.
 	This index is for the pipe part that is directly connected to the discharge node.
 
+- disableTightTurnOffsetInTurns: boolean
+    "Tight turn offset" is extending the radius of a turn with a towed implement, in
+    order to keep the implement on the path, while the tractor is driving outside the
+    generated turn course. Setting this to true disables this, as some implements,
+    especially big plows turn on the spot and align better with the next row without
+    tight turn offset.
+
 -->
 <VehicleConfigurations>
 	<Configurations>
@@ -169,6 +176,7 @@ You can define the following custom settings:
 		<Configuration type="INT">basePipeMovingToolIndex</Configuration>
 		<Configuration type="INT">childPipeMovingToolIndex</Configuration>
 		<Configuration type="FLOAT">unloadOffsetX</Configuration>
+        <Configuration type="BOOL">disableTightTurnOffsetInTurns</Configuration>
 	</Configurations>
     <!--[GIANTS]-->
 

scripts/ai/AIUtil.lua

@@ -321,9 +321,10 @@ end
 ---@param vehicle table
 ---@param object table
 ---@return boolean
-function AIUtil.isObjectAttachedOnTheBack(vehicle,object)
-	local _, _, dz = localToLocal(object.rootNode, AIUtil.getDirectionNode(vehicle), 0, 0, 0)
-	if dz < 0 then
+function AIUtil.isObjectAttachedOnTheBack(vehicle, object)
+	-- TODO: now in the implement's coordinate system, this is still not 100% reliable in turns
+	local _, _, dz = localToLocal(AIUtil.getDirectionNode(vehicle), object.rootNode, 0, 0, 0)
+	if dz > 0 then
 		return true
 	end
 	return false

scripts/ai/turns/AITurn.lua

@@ -619,7 +619,9 @@ end
 
 function CourseTurn:onWaypointChange(ix)
     AITurn.onWaypointChange(self, ix)
-    if self.turnCourse then
+    local tightTurnOffsetDisabled = not self.turnContext:isHeadlandCorner() and
+            g_vehicleConfigurations:getRecursively(self.vehicle, 'disableTightTurnOffsetInTurns')
+    if self.turnCourse and not tightTurnOffsetDisabled then
         if self.forceTightTurnOffset or (self.enableTightTurnOffset and self.turnCourse:useTightTurnOffset(ix)) then
             -- adjust the course a bit to the outside in a curve to keep a towed implement on the course
             -- TODO_22
@@ -732,7 +734,7 @@ function CourseTurn:onPathfindingDone(path)
         self.turnCourse:setUseTightTurnOffsetForLastWaypoints(15)
         local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.turnCourse, nil, true)
         local x = AIUtil.getDirectionNodeToReverserNodeOffset(self.vehicle)
-        self:debug('Extending course at direction switch for reversing to %.1f m (or at least 1m)', -x )
+        self:debug('Extending course at direction switch for reversing to %.1f m (or at least 1m)', -x)
         self.turnCourse:adjustForReversing(math.max(1, -x))
         TurnManeuver.setLowerImplements(self.turnCourse, endingTurnLength, true)
     else
@@ -987,7 +989,7 @@ function StartRowOnly:init(vehicle, driveStrategy, ppc, turnContext, startRowCou
     local _, steeringLength = AIUtil.getSteeringParameters(self.vehicle)
     self.enableTightTurnOffset = steeringLength > 0 and not AIUtil.hasArticulatedAxis(self.vehicle)
 
-        -- TODO: do we need tight turn offset here?
+    -- TODO: do we need tight turn offset here?
     self.turnCourse:setUseTightTurnOffsetForLastWaypoints(15)
     -- add a turn ending section into the row to make sure the implements are lowered correctly
     local endingTurnLength = self.turnContext:appendEndingTurnCourse(self.turnCourse, 3, true)