fix: reverse offset bug

Yet another bug that would never have happened
if we were using a compiled language...

scripts/Course.lua

@@ -224,7 +224,7 @@ function Course:enrichWaypointData(startIx)
         self.waypoints[i].curvature = i == 1 and 0 or 1 / self:calculateSignedRadius(i)
         if (self:isReverseAt(i) and not self:switchingToForwardAt(i)) or self:switchingToReverseAt(i) then
             -- X offset must be reversed at waypoints where we are driving in reverse
-            self.waypoints[i]:setReverseOffset()
+            self.waypoints[i]:setReverseOffset(true)
         end
     end
     -- make the last waypoint point to the same direction as the previous so we don't

scripts/Waypoint.lua

@@ -164,7 +164,7 @@ function Waypoint:getOffsetPosition(offsetX, offsetZ, dx, dz)
 	-- check for NaN
 	if deltaX and deltaZ and deltaX == deltaX and deltaZ == deltaZ then
 		-- X offset should be inverted if we drive reverse here (left is always left regardless of the driving direction)
-		local reverse = self.rev and -1 or 1
+		local reverse = self.reverseOffset and -1 or 1
 		x = x - deltaZ * reverse * offsetX + deltaX * offsetZ
 		z = z + deltaX * reverse * offsetX + deltaZ * offsetZ
 	end
@@ -203,8 +203,8 @@ function Waypoint:setPosition(x, z, y)
 	end
 end
 
-function Waypoint:setReverseOffset()
-	self.reverseOffset = true
+function Waypoint:setReverseOffset(reverseOffset)
+	self.reverseOffset = reverseOffset
 end
 
 function Waypoint:translate(dx, dz)

scripts/ai/turns/TurnManeuver.lua

@@ -265,8 +265,7 @@ end
 ---@param dBack number distance in meters to move the course back (positive moves it backwards!)
 ---@param ixBeforeEndingTurnSection number index of the last waypoint of the actual turn, if we can finish the turn
 --- before we reach the vehicle position at turn end, there's no reversing needed at the turn end.
----@param endingTurnLength number length of the straight ending turn section into the next row
-function TurnManeuver:adjustCourseToFitField(course, dBack, ixBeforeEndingTurnSection, endingTurnLength)
+function TurnManeuver:adjustCourseToFitField(course, dBack, ixBeforeEndingTurnSection)
     self:debug('moving course back: d=%.1f', dBack)
     local reversingOffset = self:getReversingOffset()
     -- generate a straight reverse section first (less than 1 m step should make sure we always end up with
@@ -284,7 +283,7 @@ function TurnManeuver:adjustCourseToFitField(course, dBack, ixBeforeEndingTurnSe
         self:debug('Reverse to work start (implement in back)')
         -- vehicle in front of the work start node at turn end
         local forwardAfterTurn = Course.createFromNode(self.vehicle, self.turnContext.vehicleAtTurnEndNode, 0,
-                dFromTurnEnd, dFromTurnEnd + self.steeringLength, 0.8, false)
+                dFromTurnEnd + 1, dFromTurnEnd + 1 + self.steeringLength, 0.8, false)
         courseWithReversing:append(forwardAfterTurn)
         -- allow early direction change when aligned
         TurnManeuver.setTurnControlForLastWaypoints(courseWithReversing, forwardAfterTurn:getLength(),
@@ -340,7 +339,7 @@ function AnalyticTurnManeuver:init(vehicle, turnContext, vehicleDirectionNode, t
         end
         local ixBeforeEndingTurnSection = self.course:getNumberOfWaypoints()
         endingTurnLength = 10 --self.turnContext:appendEndingTurnCourse(self.course, steeringLength, self.applyTightTurnOffset)
-        self.course = self:adjustCourseToFitField(self.course, dBack, ixBeforeEndingTurnSection, endingTurnLength)
+        self.course = self:adjustCourseToFitField(self.course, dBack, ixBeforeEndingTurnSection)
     else
         if self.applyTightTurnOffset then
             self.course:setUseTightTurnOffsetForLastWaypoints(