/// <summary>
/// Check for all waypoints who have exit interconnects that overlaps input and no stop
/// </summary>
/// <param name="exits"></param>
/// <param name="ai"></param>
/// <returns></returns>
private List<IntersectionInvolved> nonStopOverlaps(IEnumerable<ITraversableWaypoint> exits, ArbiterInterconnect ai)
{
// list of exits that have an interconnect which overlaps the interconnect input
List<IntersectionInvolved> nonStopOverlapWaypoints = new List<IntersectionInvolved>();
// get line of the interconnect
Line aiLine = new Line(ai.InitialGeneric.Position, ai.FinalGeneric.Position);
// loop over all exits
foreach (ITraversableWaypoint exit in exits)
{
// make sure not our exit and the exit is not a stop and if exit and other are both waypoints then ways not the same
if (!exit.Equals(ai.InitialGeneric) && !exit.IsStop &&
((!(ai.InitialGeneric is ArbiterWaypoint) || !(exit is ArbiterWaypoint))
|| !((ArbiterWaypoint)ai.InitialGeneric).Lane.Way.Equals(((ArbiterWaypoint)exit).Lane.Way)))
{
// get all interconnects of the exit
foreach (ArbiterInterconnect tmp in exit.Exits)
{
// check relative priority that these are equal or lesser priority
if (ai.ComparePriority(tmp) != -1)
{
// simple check if the interconnect's final is same as input final
if (tmp.FinalGeneric.Equals(ai.FinalGeneric))
{
// check not already added
if (!nonStopOverlapWaypoints.Contains(new IntersectionInvolved(((ITraversableWaypoint)tmp.FinalGeneric).VehicleArea)))
{
// add exit
nonStopOverlapWaypoints.Add(new IntersectionInvolved(exit, exit.VehicleArea, tmp.TurnDirection));
}
}
// otherwise check overlap of interconnects
else
{
// get line of tmp interconnect
Line tmpLine = new Line(tmp.InitialGeneric.Position, tmp.FinalGeneric.Position);
// position of cross
Coordinates intersectionPoint;
// check intersection
bool intersects = aiLine.Intersect(tmpLine, out intersectionPoint) && ai.IsInside(intersectionPoint);
if (intersects)
{
// check not already added
if (!nonStopOverlapWaypoints.Contains(new IntersectionInvolved(((ITraversableWaypoint)tmp.FinalGeneric).VehicleArea)))
{
// add exit
nonStopOverlapWaypoints.Add(new IntersectionInvolved(exit, exit.VehicleArea, tmp.TurnDirection));
}
}
}
}
}
}
}
return nonStopOverlapWaypoints;
}
/// <summary>
/// Get lanes that overlap with hte interconnect
/// </summary>
/// <param name="lanes"></param>
/// <param name="ai"></param>
/// <returns></returns>
private List<IntersectionInvolved> laneOverlaps(List<ArbiterLane> lanes, ArbiterInterconnect ai, IEnumerable<ITraversableWaypoint> exits)
{
List<IntersectionInvolved> overlaps = new List<IntersectionInvolved>();
LineSegment aiSegment = new LineSegment(ai.InitialGeneric.Position, ai.FinalGeneric.Position);
if (ai.FinalGeneric is ArbiterWaypoint)
{
ArbiterWaypoint fin = (ArbiterWaypoint)ai.FinalGeneric;
if (fin.PreviousPartition != null && !this.FoundStop(fin.PreviousPartition.Initial, exits, fin.Lane))
{
ArbiterWaypoint foundExit = null;
foreach (ITraversableWaypoint itw in exits)
{
if (itw is ArbiterWaypoint && ((ArbiterWaypoint)itw).Lane.Equals(fin.Lane) &&
(foundExit == null || itw.Position.DistanceTo(fin.Position) < foundExit.Position.DistanceTo(fin.Position)))
foundExit = (ArbiterWaypoint)itw;
}
if (foundExit != null)
overlaps.Add(new IntersectionInvolved(foundExit, fin.Lane, ArbiterTurnDirection.Straight));
else
overlaps.Add(new IntersectionInvolved(fin.Lane));
}
}
foreach (ArbiterLane al in lanes)
{
if (!(ai.InitialGeneric is ArbiterWaypoint) || !((ArbiterWaypoint)ai.InitialGeneric).Lane.Equals(al))
{
foreach (LineSegment ls in al.LanePath().GetSegmentEnumerator())
{
Coordinates interCoord;
bool intersect = ls.Intersect(aiSegment, out interCoord);
/*if (intersect)
{
Console.WriteLine("");
}*/
if (intersect && ai.IsInside(interCoord) && !overlaps.Contains(new IntersectionInvolved(al)) &&
ai.InterconnectPath.GetClosestPoint(interCoord).Location.DistanceTo(interCoord) < 0.00001 && al.IsInside(interCoord))
{
// get closest partition
ArbiterLanePartition alp = al.GetClosestPartition(interCoord);
if (!this.FoundStop(alp.Initial, exits, al))
{
ArbiterWaypoint foundExit = null;
foreach (ITraversableWaypoint itw in exits)
{
if (itw is ArbiterWaypoint && ((ArbiterWaypoint)itw).Lane.Equals(alp.Lane) &&
(foundExit == null || itw.Position.DistanceTo(interCoord) < foundExit.Position.DistanceTo(interCoord)))
foundExit = (ArbiterWaypoint)itw;
}
if (foundExit != null)
overlaps.Add(new IntersectionInvolved(foundExit, alp.Lane, ArbiterTurnDirection.Straight));
else
overlaps.Add(new IntersectionInvolved(al));
}
}
}
}
}
return overlaps;
}
