private static bool TryFindWidthRecord(EcsRoadData roadData, EcsLane lane, float sLocal,
out LaneWidthRecord laneWidthRecord)
{
var widthRecordIdx = 0;
var foundWidthRecord = false;
laneWidthRecord = default;
var laneWidthRecords = lane.GetLaneWidthRecords(roadData.laneWidthRecords);
for (; widthRecordIdx < laneWidthRecords.Length; widthRecordIdx++)
{
var widthRecordNext = laneWidthRecords[widthRecordIdx];
var sOffsetNext = widthRecordNext.sSectionOffset;
if (sOffsetNext > sLocal)
{
break;
}
laneWidthRecord = widthRecordNext;
foundWidthRecord = true;
}
return(foundWidthRecord);
}
// TODO: Width records are still searched every time - this could be optimized by tracking the current record
/// <summary>
/// Sample the laneSection at the given s position.
/// </summary>
/// <param name="sDelta">s position to sample. Must be between laneSection and s + length.</param>
internal static PointSampleLocal BuildLaneSample(EcsRoadData roadData, EcsLane lane, float laneOffset, float sSection)
{
if (!TryFindWidthRecord(roadData, lane, sSection, out var widthRecord))
{
if (lane.laneType == LaneType.Border)
{
return(new PointSampleLocal(0.0f, 0.0f, 0.0f));
}
throw new Exception("Couldn't find width record for lane... xodr file may be malformed.'");
}
var sign = lane.id > 0 ? 1f : -1f;
var sDelta = sSection - widthRecord.sSectionOffset;
var width = sign * Poly3ComputeV(widthRecord.poly3, sDelta);
var heading = sign * Poly3ComputeHeading(widthRecord.poly3, sDelta);
return(new PointSampleLocal(new Vector2(0, width + laneOffset), heading));
}
protected override void OnUpdate()
{
var rnd = Parameters.roadNetworkDescription == null ? staticRnd : Parameters.roadNetworkDescription;
if (rnd == null)
return;
var id = rnd.entityRoadId == 0 ? nextId++ : rnd.entityRoadId;
rnd.entityRoadId = id;
var ecsRoadNetwork = new EcsRoadNetwork() { id = id };
//check for an existing road network
var query = EntityManager.CreateEntityQuery(typeof(EcsRoadNetwork), typeof(EcsRoad));
query.AddSharedComponentFilter(ecsRoadNetwork);
if (query.CalculateChunkCount() > 0)
return;
var roadEntities = new NativeArray<Entity>(rnd.AllRoads.Length, Allocator.Temp);
EntityManager.CreateEntity(m_RoadArchetype, roadEntities);
var junctionEntities = new NativeArray<Entity>(rnd.AllJunctions.Length, Allocator.Temp);
EntityManager.CreateEntity(m_JunctionArchetype, junctionEntities);
for (var roadIndex = 0; roadIndex < rnd.AllRoads.Length; roadIndex++)
{
var road = rnd.AllRoads[roadIndex];
var entity = roadEntities[roadIndex];
EntityManager.SetSharedComponentData(entity, ecsRoadNetwork);
EntityManager.SetComponentData(entity, new EcsRoad
{
length = road.length,
junction = string.IsNullOrEmpty(road.junction) || string.Equals("-1", road.junction) ? Entity.Null : junctionEntities[rnd.GetJunctionIndexById(road.junction)],
name = road.name,
predecessor = CreateEcsRoadLink(road.predecessor, rnd, roadEntities, junctionEntities),
successor = CreateEcsRoadLink(road.successor, rnd, roadEntities, junctionEntities)
});
//multiple copies - there is almost certainly a better way
FillBuffer(road.elevationProfiles, entity);
FillBuffer(road.geometry, entity);
FillBuffer(road.laneOffsets, entity);
var laneSections = EntityManager.GetBuffer<EcsLaneSection>(entity);
var lanes = EntityManager.GetBuffer<EcsLane>(entity);
var laneWidthRecords = EntityManager.GetBuffer<LaneWidthRecord>(entity);
laneSections.ResizeUninitialized(road.laneSections.Count);
for (var i = 0; i < road.laneSections.Count; i++)
{
var section = road.laneSections[i];
laneSections[i] = new EcsLaneSection
{
centerLaneIndex = lanes.Length + section._centerIdx,
firstLaneIndex = lanes.Length,
laneCount = section._allLanes.Length,
sRoad = section.sRoad
};
foreach (var lane in section._allLanes)
{
var ecsLane = new EcsLane
{
firstLaneWidthRecordIndex = laneWidthRecords.Length,
laneWidthRecordCount = lane.widthRecords.Length,
firstPredecessorId = FirstOrZero(lane.link.predecessors),
predecessorIdCount = lane.link.predecessors?.Length ?? 0,
firstSuccessorId = FirstOrZero(lane.link.successors),
successorIdCount = lane.link.successors?.Length ?? 0,
id = lane.id
};
var nativeData = new NativeArray<LaneWidthRecord>(lane.widthRecords, Allocator.Temp);
laneWidthRecords.AddRange(nativeData);
nativeData.Dispose();
lanes.Add(ecsLane);
}
}
}
for (var junctionIndex = 0; junctionIndex < rnd.AllJunctions.Length; junctionIndex++)
{
var junction = rnd.AllJunctions[junctionIndex];
var entity = junctionEntities[junctionIndex];
EntityManager.SetSharedComponentData(entity, ecsRoadNetwork);
EntityManager.SetComponentData(entity, new EcsJunction
{
name = junction.name,
junctionId = junction.junctionId
});
var connectionBuffer = EntityManager.GetBuffer<EcsJunctionConnection>(entity);
connectionBuffer.ResizeUninitialized(junction.connections.Count);
for (int connectionIndex = 0; connectionIndex < junction.connections.Count; connectionIndex++)
{
var connection = junction.connections[connectionIndex];
connectionBuffer[connectionIndex] = new EcsJunctionConnection
{
connectingRoad = roadEntities[rnd.GetRoadIndexById(connection.connectingRoadId)],
incomingRoad = roadEntities[rnd.GetRoadIndexById(connection.incomingRoadId)],
linkContactPoint = connection.contactPoint
};
}
}
}
