internal static void BuildSamplesInsideLaneSection(
Road road, int laneId, int numSamplesSection, int outputIdx, TraversalDirection samplingDirection,
ref SamplingStateRoad samplingState, ref NativeArray <PointSampleGlobal> samplesOut)
{
var numSamplesOut = samplesOut.Length;
var numEdgesToSample = math.abs(laneId);
var numSamplesEdge = numEdgesToSample == 0 ? numSamplesOut : numSamplesOut * numEdgesToSample;
// We will need to sample the center line as well, if we are not between two lane edges
var shouldSampleCenter = numEdgesToSample <= 1;
var samplesEdges = new NativeArray <PointSampleGlobal>(numSamplesEdge, Allocator.Temp);
var side = ToSide(laneId);
var sectionStart = samplingDirection == TraversalDirection.Forward ? outputIdx : numSamplesSection + outputIdx - 1;
for (var sampleNum = 0; sampleNum < numSamplesSection; sampleNum++)
{
var sampleIdx = sectionStart + sampleNum * (int)samplingDirection;
var sRoad = samplingState.sRoadLastComputed;
SampleLanesOneSide(road, samplingState, side, sRoad, sampleIdx, ref samplesEdges,
numEdgesToSample);
// Lane index is lane ID - 1 because ID's start at 1, not 0
var laneSampleIdx = ComputeLaneSampleIdx(numEdgesToSample - 1, numSamplesOut, sampleIdx);
var poseOuterEdge = samplesEdges[laneSampleIdx].pose;
RigidTransform poseInnerEdge;
if (shouldSampleCenter)
{
poseInnerEdge = SampleCenter(road, samplingState, sRoad).pose;
}
else
{
var innerEdgeIdx = ComputeLaneSampleIdx(numEdgesToSample - 2, numSamplesOut, sampleIdx);
poseInnerEdge = samplesEdges[innerEdgeIdx].pose;
}
var positionMean = math.lerp(poseInnerEdge.pos, poseOuterEdge.pos, 0.5f);
var rotationMean = math.nlerp(poseInnerEdge.rot, poseOuterEdge.rot, 0.5f);
samplesOut[sampleIdx] = new PointSampleGlobal(rotationMean, positionMean);
samplingState.Step(road);
}
samplesEdges.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);
}
