internal static void SampleLanesOneSideUpTo(Road road, SamplingStateRoad state, Side side, float sRoad,
int outputIdx, ref NativeArray <PointSampleGlobal> samples, LaneType stopAtLane)
{
var lanes = GetLaneSectionSideUpTo(state.GetLaneSection(road, sRoad), side, stopAtLane);
SampleLanesOneSide(road, state, side, sRoad, outputIdx, ref samples, lanes.Count());
}
// TODO: Refactor to separate lane sampling into helper which is agnostic to Side or LaneSection
// Find all invocations of SampleLanes_____ and modify them to move the lanes array initialization
// into the calling function
internal static void SampleLanesOneSide(Road road, SamplingStateRoad state, Side side, float sRoad,
int outputIdx, ref NativeArray <PointSampleGlobal> samples, int stopBeforeIdx = int.MaxValue)
{
var laneEdgeOffsetLocal = state.GetLaneOffset(road, sRoad);
// TODO: Direct access to the Idx should be revoked and replaced with Getter methods
var laneSection = state.GetLaneSection(road, sRoad);
var lanes = GetLaneSectionSide(laneSection, side);
if (!lanes.Any())
{
return;
}
var numLanes = lanes.Count();
var laneIter = lanes.GetEnumerator();
var numSamplesPerLane = samples.Length / math.min(numLanes, stopBeforeIdx);
var sLaneSection = sRoad - laneSection.sRoad;
var geometrySample = state.GetGeometrySample(road, sRoad);
for (var laneIdx = 0; laneIdx < numLanes && laneIdx < stopBeforeIdx; ++laneIdx)
{
// For some reason, in IEnumerables, the 'current' field actually returns the value at index-1 rather
// than the actual current value, so we need to move the iterator first to set 'current' to the value
// we'd expect
laneIter.MoveNext();
var lane = laneIter.Current;
var sampleLocal = BuildLaneSample(lane, laneEdgeOffsetLocal, sLaneSection);
laneEdgeOffsetLocal = sampleLocal.position.y;
var currentIdx = ComputeLaneSampleIdx(laneIdx, numSamplesPerLane, outputIdx);
if (currentIdx >= samples.Length)
{
throw new Exception("Computed an out of range index.");
}
// The offset for the lane edge is measured along the normal of the reference line
samples[currentIdx] =
FromLocalToGlobal(geometrySample.pose, sampleLocal);
}
laneIter.Dispose();
}
internal static NativeArray <PointSampleGlobal> BuildSamplesFromRoadOutline(
Road road, float samplesPerMeter, LaneType stopAtLane)
{
if (road.geometry.Count == 0)
{
throw new Exception($"The road {road} has no reference line.");
}
var numTotalSamples = ComputeNumSamplesForRoadLength(road.length, samplesPerMeter) * 2;
var samplingState = new SamplingStateRoad(road, samplesPerMeter);
var numSectionsLeft = road.laneSections.Max(s => s.leftLanes.Count());
var numSectionsRight = road.laneSections.Max(s => s.rightLanes.Count());
var leftSamplesTemp = new NativeArray <PointSampleGlobal>(numSectionsLeft, Allocator.Temp);
var rightSamplesTemp = new NativeArray <PointSampleGlobal>(numSectionsRight, Allocator.Temp);
var allSamples = new NativeArray <PointSampleGlobal>(numTotalSamples, Allocator.Temp);
for (var sampleIdx = 0; sampleIdx < numTotalSamples / 2; sampleIdx++)
{
var sRoad = samplingState.sRoadLastComputed;
// We intentionally do not pass state as a reference here, as each sampling pass will cover the same
// segment of road. We would need to do some refactoring to sample all lanes for a given s-coordinate
// in one call in order to use sampling state more effectively
SampleLanesOneSideUpTo(
road, samplingState, Side.Left, sRoad, 0, ref leftSamplesTemp, stopAtLane);
SampleLanesOneSideUpTo(
road, samplingState, Side.Right, sRoad, 0, ref rightSamplesTemp, stopAtLane);
var currentSection = road.laneSections[samplingState.laneSectionIdx];
if (currentSection.rightLanes.Any())
{
var sampledLanes = GetLaneSectionSideUpTo(samplingState.GetLaneSection(road, sRoad), Side.Right,
stopAtLane);
allSamples[sampleIdx] = sampledLanes.Any()
? rightSamplesTemp[sampledLanes.Count() - 1]
: SampleCenter(road, samplingState, sRoad);
}
else
{
allSamples[sampleIdx] = SampleCenter(road, samplingState, sRoad);
}
// allSamples must be ordered to form a counter-clockwise outline, so left samples get added
// in reverse order to the end of the array
var leftIdx = numTotalSamples - 1 - sampleIdx;
if (currentSection.leftLanes.Any())
{
var sampledLanes = GetLaneSectionSideUpTo(samplingState.GetLaneSection(road, sRoad), Side.Left,
stopAtLane);
allSamples[leftIdx] = sampledLanes.Any()
? leftSamplesTemp[sampledLanes.Count() - 1]
: SampleCenter(road, samplingState, sRoad);
}
else
{
allSamples[leftIdx] = SampleCenter(road, samplingState, sRoad);
}
var stepSucceeded = samplingState.Step(road);
// We expect stepping to fail at the end of the current segment, but otherwise this would be a problem
if (!stepSucceeded && sampleIdx * 2 + 2 != numTotalSamples)
{
Debug.LogWarning($"Reached end of road {road.roadId} early. Still have " +
$"{numTotalSamples / 2 - sampleIdx - 1} samples to do.");
}
}
leftSamplesTemp.Dispose();
rightSamplesTemp.Dispose();
return(allSamples);
}
