internal SamplingStatePoly3(ParamPoly3Data poly3, float dsStepForApproximation = 0.1f)
{
m_poly3 = poly3;
m_dsStepForApproximation = dsStepForApproximation;
m_currentIdx = 0;
var initialValues = new SimpsonsRuleValues(0, GeometrySampling.Poly3ComputeL(m_poly3, 0), 0);
m_values = new[]
{
initialValues,
GeometrySampling.Poly3ComputeSimpsonStep(m_poly3, initialValues, dsStepForApproximation)
};
}
public bool Step(EcsRoadData road)
{
if (Mathf.Approximately(sRoadLastComputed, road.ecsRoad.length))
{
return(false);
}
if (GeometrySampling.IsApproximatelyLessThan(sRoadCurrent + sRoadStep, road.ecsRoad.length))
{
sRoadCurrent += sRoadStep;
}
else
{
sRoadCurrent = road.ecsRoad.length;
}
CheckStateAndUpdate(road);
return(true);
}
private void ComputeSamples(EcsRoadData road)
{
if (Mathf.Approximately(sRoadCurrent, sRoadLastComputed))
{
Debug.LogWarning("Compute samples called for the same s-value twice.");
}
sRoadLastComputed = sRoadCurrent;
var geometry = road.ecsGeometries[geometryIdx];
//var sGeometry = sRoadCurrent - geometry.sRoad;
geometrySample = geometry.Sample(sRoadCurrent);
if (road.laneOffsets.Length > 0)
{
var laneOffsetRecord = road.laneOffsets[laneOffsetIdx];
var sLaneOffset = sRoadCurrent - laneOffsetRecord.sRoad;
laneOffset = GeometrySampling.Poly3ComputeV(laneOffsetRecord.poly3, sLaneOffset);
}
}
internal SamplingStatePoly3(Geometry geometry, float dsStepForApproximation = 0.1f)
{
if (geometry.geometryKind == GeometryKind.Poly3)
{
m_poly3 = new ParamPoly3Data(geometry.poly3Data);
}
else
{
m_poly3 = geometry.paramPoly3Data;
}
m_dsStepForApproximation = dsStepForApproximation;
m_currentIdx = 0;
var initialValues = new SimpsonsRuleValues(0, GeometrySampling.Poly3ComputeL(m_poly3, 0), 0);
m_values = new[]
{
initialValues,
GeometrySampling.Poly3ComputeSimpsonStep(m_poly3, initialValues, m_dsStepForApproximation)
};
}
private void CheckStateAndUpdate(EcsRoadData road)
{
if (!IsStale())
{
return;
}
if (!GeometrySampling.IsApproximatelyLessThan(sRoadCurrent, geometryEndS))
{
(geometryIdx, geometryEndS) =
FindNextAlongLength(road.ecsGeometries, sRoadCurrent, geometryIdx, road.ecsRoad.length);
geometryState = new SamplingStateGeometry(road.ecsGeometries[geometryIdx]);
}
if (!GeometrySampling.IsApproximatelyLessThan(sRoadCurrent, laneOffsetEndS))
{
(laneOffsetIdx, laneOffsetEndS) =
FindNextAlongLength(road.laneOffsets, sRoadCurrent, laneOffsetIdx, road.ecsRoad.length);
}
if (!GeometrySampling.IsApproximatelyLessThan(sRoadCurrent, laneSectionEndS))
{
if (canMoveToNextLaneSection)
{
(laneSectionIdx, laneSectionEndS) =
FindNextAlongLength(road.ecsLaneSections, sRoadCurrent, laneSectionIdx, road.ecsRoad.length);
}
else if (!Mathf.Approximately(sRoadCurrent, laneSectionEndS))
{
throw new Exception("Attempted to traverse past end of lane section, but " +
$"{nameof(canMoveToNextLaneSection)} is {canMoveToNextLaneSection}");
}
}
ComputeSamples(road);
}
