Some more adjustements for loading inside of a bunker silo

scripts/ai/AIDriveStrategyShovelSiloLoader.lua

@@ -184,7 +184,7 @@ function AIDriveStrategyShovelSiloLoader:setAllStaticParameters()
     Markers.setMarkerNodes(self.vehicle)
     self.frontMarkerNode, self.backMarkerNode, self.frontMarkerDistance, self.backMarkerDistance = 
         Markers.getMarkerNodes(self.vehicle)
-    self.siloEndProximitySensor = SingleForwardLookingProximitySensorPack(self.vehicle, self.shovelController:getShovelNode(), 5, 1)
+    self.siloEndProximitySensor = SingleForwardLookingProximitySensorPack(self.vehicle, self.shovelController:getShovelNode(), 1, 1)
     self.heapNode = CpUtil.createNode("heapNode", 0, 0, 0, nil)
     self.lastTrailerSearch = 0
     self.isStuckTimer = Timer.new(self.isStuckMs)
@@ -275,9 +275,13 @@ function AIDriveStrategyShovelSiloLoader:getDriveData(dt, vX, vY, vZ)
             self.isStuckTimer:startIfNotRunning()
         end
         local _, _, closestObject = self.siloEndProximitySensor:getClosestObjectDistanceAndRootVehicle()
-        local isEndReached, maxSpeed = self.siloController:isEndReached(self.shovelController:getShovelNode(), 0)
-        if self.silo:isTheSameSilo(closestObject) or isEndReached then
-            self:debug("End wall detected or bunker silo end is reached.")
+        local isEndReached, maxSpeed = self.siloController:isEndReached(self.shovelController:getShovelNode(), 2)
+        self:setMaxSpeed(maxSpeed)
+        if isEndReached then
+            self:debug("End of the silo or heap was detected.")
+            self:startDrivingOutOfSilo()
+        elseif self.silo:isTheSameSilo(closestObject) and self.silo:isNodeInSilo(self.shovelController:getShovelNode()) then
+            self:debug("End wall of the silo was detected.")
             self:startDrivingOutOfSilo()
         end
         if self.shovelController:isFull() then 

scripts/silo/BunkerSiloVehicleController.lua

@@ -419,6 +419,21 @@ function CpBunkerSiloLoaderController:getNextLine(numLines, width)
 	return self:getLineWithTheMostFillLevel(width)
 end
 
+
+--- Is the end of the silo reached.
+---@param node number
+---@param margin number
+---@return boolean end reached?
+---@return number distance to the end 
+function CpBunkerSiloLoaderController:isEndReached(node, margin)
+	if self.drivingTarget then
+		local dx, dz = unpack(self.drivingTarget[2])
+		local _, _, z = worldToLocal(node, dx, 0, dz)
+		return z < margin, MathUtil.clamp(z * 2, 5, math.huge)
+	end
+	return false, math.huge
+end
+
 function CpBunkerSiloLoaderController:draw()
 	if self:isDebugEnabled() then
 		if self.bestLoadTarget then

scripts/silo/BunkerSiloWrapper.lua

@@ -205,8 +205,9 @@ function CpSilo:getTotalFillLevel()
 	return 0
 end
 
-function CpSilo:isTheSameSilo()
+function CpSilo:isTheSameSilo(object)
 	--- override
+	return false
 end
 
 --- Heap Bunker Silo
@@ -339,6 +340,7 @@ function CpBunkerSilo:isTheSameSilo(object)
 			end
 		end
 	end
+	return false
 end
 
 function CpBunkerSilo:getFrontArea(length, sideOffset)