straightdrive = {};

function straightdrive.prerequisitesPresent(specializations)
    return true;
	end

function straightdrive:load()
end	
	
	
function straightdrive:draw()
     if self.isAITractorActivated then
	  self.fahren = false
	  else
             if self.KompassX and self.KompassZ then
				g_currentMission:addHelpButtonText(g_i18n:getText("Drive on"), InputBinding.Driveon);
				if InputBinding.hasEvent(InputBinding.Driveon) then
				    if self.fahren  then 
						self.fahren = false
						straightdrive:raiseimplement(self)
						 self.motor:setSpeedLevel(0, false);
        self.motor.maxRpmOverride = nil;

        WheelsUtil.updateWheelsPhysics(self, 0, self.lastSpeed, 0, false, self.requiredDriveMode);
						
						
					else					
						self.aiTractorDirectionX = self.KompassX;self.aiTractorDirectionZ = self.KompassZ;self.fahren = true
						straightdrive:lowerimplement(self)

					end
				end
				if self.fahren then
				  
				  local x,y,z = getWorldTranslation(self.rootNode);
                  local dirX, dirZ = self.aiTractorDirectionX, self.aiTractorDirectionZ;
                  local targetX, targetZ = self.aiTractorTargetX, self.aiTractorTargetZ;
                  local dx, dz = x-targetX, z-targetZ;
                  local dot = dx*dirX + dz*dirZ;
                  local projTargetX = targetX +dirX;
                  local projTargetZ = targetZ +dirZ;     
                  newTargetX = projTargetX+self.aiTractorDirectionX*dot;
                  newTargetY = y;
                  newTargetZ = projTargetZ+self.aiTractorDirectionZ*dot;          
                  local lx, lz = AIVehicleUtil.getDriveDirection(self.rootNode, newTargetX, newTargetY, newTargetZ);       
                  AIVehicleUtil.driveInDirection(self, dt, 25, 0.5, 0.5, 20, true, true, lx, lz, 1, 0.9);
				end													
             end	
	    local x,y,z = localDirectionToWorld(self.rootNode, 0, 0, 1);
		local length = Utils.vector2Length(x,z);
		local dX = x/length
		local dZ = z/length
		local x,y,z = getWorldTranslation(self.rootNode);
		self.aiTractorTargetX = x;
        self.aiTractorTargetZ = z;
		local TEntfernung = math.sqrt(dX * dX + dZ * dZ)
		local TRichtung = math.deg(math.atan2(dX,dZ))
		
		
		if TRichtung < 0  then 
		TRichtung = 360 - (TRichtung * -1)
        end
		
		if not self.Beforeturn then self.Beforeturn = true ;end
		if self.fahren then
		  g_currentMission:addHelpButtonText(g_i18n:getText("Turn Right"), InputBinding.Turnright);
		  g_currentMission:addHelpButtonText(g_i18n:getText("Turn Left"), InputBinding.Turnleft);
		    if InputBinding.hasEvent(InputBinding.Turnleft) then 
				
				TRichtung = TRichtung + 90;self.turn = true;self.dreht = true				
				if TRichtung > 360 then TRichtung = TRichtung - 360
				end
				self.Beforeturn = TRichtung
		    end
			if InputBinding.hasEvent(InputBinding.Turnright) then 
				
				TRichtung = TRichtung - 90;self.turn = true;self.dreht = true			   
				if TRichtung < 0 then TRichtung = TRichtung + 360
				end
				self.Beforeturn = TRichtung
		    end
        end		
		renderText(0.85,0.77,0.03,string.format("Richtung: %f ",360 - math.floor(TRichtung + 0.5) ));
		
		self.KompassX = TEntfernung * math.sin(math.rad( math.floor(TRichtung + 0.5)) )
		self.KompassZ = TEntfernung * math.cos(math.rad( math.floor(TRichtung + 0.5)) )
		
		
		
		if self.turn and self.dreht then 
			self.aiTractorDirectionX = self.KompassX;self.aiTractorDirectionZ = self.KompassZ;
		    straightdrive:raiseimplement(self)
		               
					   
						
			self.dreht = false
			self.wait = true
		end
		if not self.wait then
			if self.turn  then
				if  math.floor(self.Beforeturn + 0.5) == math.floor(TRichtung + 0.5) then
					self.turn = false
					straightdrive:lowerimplement(self)
				
				end
			end
		end
		self.wait = false
    end
end	
		
		
function straightdrive:update()
end		

function straightdrive:delete()
end;	

function straightdrive:mouseEvent(posX, posY, isDown, isUp, button)
end		

function straightdrive:keyEvent(unicode, sym, modifier, isDown)
end;	

function straightdrive:raiseimplement(self)
                        
						for k,implement in pairs(self.attachedImplements) do
							if implement.object.needsLowering and implement.object.aiNeedsLowering then
								local jointDesc = self.attacherJoints[implement.jointDescIndex];
								jointDesc.moveDown = false;
							end;
							for k,implement in pairs(self.attachedImplements) do
								implement.object:aiRaise();
							end;
						end;			  
end 

function straightdrive:lowerimplement(self)
                        AITractor.updateToolsInfo(self);
						for k,implement in pairs(self.attachedImplements) do
							if implement.object.needsLowering and implement.object.aiNeedsLowering then
								local jointDesc = self.attacherJoints[implement.jointDescIndex];
								jointDesc.moveDown = true;
							end;
							implement.object:aiTurnOn();
							AITractor.addToolTrigger(self, implement.object);
						end;
end