public void GetNextLane()
{
// TODO move to method sampled earlier?
if (currentMapLaneSegmentBuilder?.stopLine != null) // check if stopline is connected to current path
{
prevMapLaneSegmentBuilder = currentMapLaneSegmentBuilder;
if (currentMapLaneSegmentBuilder.stopLine.mapIntersectionBuilder != null) // null if map not setup right TODO add check to report
{
if (currentMapLaneSegmentBuilder.stopLine.mapIntersectionBuilder.isStopSign) // stop sign
{
StartCoroutine(WaitStopSign());
}
else if (currentMapLaneSegmentBuilder.stopLine.currentState == TrafficLightSetState.Red) // traffic light
{
StartCoroutine(WaitTrafficLight());
}
}
}
if (currentMapLaneSegmentBuilder?.nextConnectedLanes.Count >= 1) // choose next path and set waypoints
{
currentMapLaneSegmentBuilder = currentMapLaneSegmentBuilder.nextConnectedLanes[(int)Random.Range(0, currentMapLaneSegmentBuilder.nextConnectedLanes.Count)];
SetLaneData(currentMapLaneSegmentBuilder.segment.targetWorldPositions);
}
else // issue getting new waypoints so despawn
{
Despawn();
}
}
public MapLaneSegmentBuilder GetClosestLane(Vector3 position, out float distance)
{
MapLaneSegmentBuilder result = null;
float minDist = float.PositiveInfinity;
// TODO: this should be optimized
foreach (var seg in spawnLaneBldrs)
{
var segment = seg.segment;
if (segment.targetWorldPositions.Count >= 2)
{
for (int i = 0; i < segment.targetWorldPositions.Count - 1; i++)
{
var p0 = segment.targetWorldPositions[i];
var p1 = segment.targetWorldPositions[i + 1];
float d = SqrDistanceToSegment(p0, p1, position);
if (d < minDist)
{
minDist = d;
result = seg;
}
}
}
}
distance = minDist;
return(result);
}
private void ResetData()
{
StopAllCoroutines();
currentMapLaneSegmentBuilder = null;
currentIntersectionComponent = null;
if (prevMapLaneSegmentBuilder?.stopLine?.mapIntersectionBuilder != null)
{
prevMapLaneSegmentBuilder.stopLine.mapIntersectionBuilder.ExitStopSignQueue(this);
}
prevMapLaneSegmentBuilder = null;
currentNPCLightState = NPCLightStateTypes.Off;
allRenderers.ForEach(x => SetNPCLightRenderers(x));
currentSpeed = 0f;
currentStopTime = 0f;
path = 0f;
currentSpeed_measured = 0f;
rb.angularVelocity = Vector3.zero;
rb.velocity = Vector3.zero;
isCurve = false;
isLeftTurn = false;
isRightTurn = false;
isStopLight = false;
isStopSign = false;
hasReachedStopSign = false;
isLaneDataSet = false;
}
public void setStartLane(MapLaneSegmentBuilder lane)
{
this.Q.Clear(); // ensure there is nothing left over in the queue (this is the FIRST lane)
this.currentLane = lane;
this.previousLane = lane; // to avoid having a null previousLane at the start.
firstLaneSegmentInit();
fetchStopTargetFromLane();
}
public void InitLaneData(MapLaneSegmentBuilder seg)
{
ResetData();
normalSpeed = Random.Range(normalSpeedRange.x, normalSpeedRange.y);
currentMapLaneSegmentBuilder = seg;
SetLaneData(currentMapLaneSegmentBuilder.segment.targetWorldPositions);
isLaneDataSet = true;
}
private void ProcessSpawnLaneData()
{
foreach (Transform child in spawnLanesHolder)
{
tempLane = child.GetComponent <MapLaneSegmentBuilder>();
if (tempLane != null)
{
spawnLaneBldrs.Add(tempLane);
}
}
}
public void SetLaneData(MapLaneSegmentBuilder seg)
{
currentMapLaneSegmentBuilder = seg;
SetLaneData(currentMapLaneSegmentBuilder.segment.targetWorldPositions);
currentSpeed = 0f;
currentSpeed_measured = currentSpeed;
normalSpeed = Random.Range(normalSpeedRange.x, normalSpeedRange.y);
targetSpeed = normalSpeed;
rb.angularVelocity = Vector3.zero;
rb.velocity = Vector3.zero;
isLaneDataSet = true;
}
private void Despawn()
{
StopAllCoroutines();
isLaneDataSet = false;
isStop = false;
if (prevMapLaneSegmentBuilder?.stopLine?.mapIntersectionBuilder != null)
{
prevMapLaneSegmentBuilder.stopLine.mapIntersectionBuilder.ExitQueue(this);
}
currentMapLaneSegmentBuilder = null;
prevMapLaneSegmentBuilder = null;
NPCManager.Instance.DespawnNPC(gameObject);
}
private void EvaluateTarget()
{
distanceToCurrentTarget = Vector3.Distance(new Vector3(frontCenter.position.x, 0f, frontCenter.position.z), new Vector3(currentTarget.x, 0f, currentTarget.z));
distanceToStopTarget = Vector3.Distance(new Vector3(frontCenter.position.x, 0f, frontCenter.position.z), new Vector3(stopTarget.x, 0f, stopTarget.z));
if (Vector3.Dot(frontCenter.forward, (currentTarget - frontCenter.position).normalized) < 0 || distanceToCurrentTarget < 1f)
{
if (currentIndex == laneData.Count - 2) // reached 2nd to last target index see if stop line is present
{
if (currentMapLaneSegmentBuilder?.stopLine != null) // check if stopline is connected to current path
{
currentIntersectionComponent = currentMapLaneSegmentBuilder.stopLine?.mapIntersectionBuilder?.intersectionC;
stopTarget = currentMapLaneSegmentBuilder.segment.targetWorldPositions[currentMapLaneSegmentBuilder.segment.targetWorldPositions.Count - 1];
prevMapLaneSegmentBuilder = currentMapLaneSegmentBuilder;
if (prevMapLaneSegmentBuilder.stopLine.mapIntersectionBuilder != null) // null if map not setup right TODO add check to report missing stopline
{
if (prevMapLaneSegmentBuilder.stopLine.mapIntersectionBuilder.isStopSign) // stop sign
{
StartCoroutine(WaitStopSign());
}
else
{
StartCoroutine(WaitTrafficLight());
}
}
GetTurnSignal();
}
}
if (currentIndex < laneData.Count - 2)
{
currentIndex++;
currentTarget = laneData[currentIndex];
CurrentPath[0] = CurrentPath[1];
CurrentPath[1] = CurrentPath[2];
CurrentPath[2] = laneData[currentIndex + 1];
}
else if (currentIndex < laneData.Count - 1) // reached target dist and is not at last index of lane data
{
currentIndex++;
currentTarget = laneData[currentIndex];
CurrentPath[0] = CurrentPath[1];
CurrentPath[1] = CurrentPath[2];
CurrentPath[2] = CurrentPath[2];
}
else
{
GetNextLane();
}
}
}
private void GetNextLane()
{
// last index of current lane data
if (currentMapLaneSegmentBuilder?.nextConnectedLanes.Count >= 1) // choose next path and set waypoints
{
currentMapLaneSegmentBuilder = currentMapLaneSegmentBuilder.nextConnectedLanes[(int)Random.Range(0, currentMapLaneSegmentBuilder.nextConnectedLanes.Count)];
SetLaneData(currentMapLaneSegmentBuilder.segment.targetWorldPositions);
GetTurnSignal();
}
else // issue getting new waypoints so despawn
{
// TODO raycast to see adjacent lanes? Need system
Despawn();
}
}
public Vector3 Dequeue()
{
if (this.Q.Count == 0)
{
if (this.currentLane)
{
// enqueue waypoints from next lane, then dequeue
this.previousLane = this.currentLane;
// fetch next lane
this.currentLane = this.currentLane.nextConnectedLanes[(int)UnityEngine.Random.Range(0, this.currentLane.nextConnectedLanes.Count)];
fetchWaypointsFromLane();
}
else
{
Debug.LogError("currentLane is not set for the waypoint queue.");
}
}
return(this.Q.Dequeue());
}
public void GetNextLane()
{
// last index of current lane data
if (currentMapLaneSegmentBuilder?.nextConnectedLanes.Count >= 1) // choose next path and set waypoints
{
MapLaneSegmentBuilder tempMSB = currentMapLaneSegmentBuilder;
currentMapLaneSegmentBuilder = currentMapLaneSegmentBuilder.nextConnectedLanes[(int)Random.Range(0, currentMapLaneSegmentBuilder.nextConnectedLanes.Count)];
SetLaneData(currentMapLaneSegmentBuilder.segment.targetWorldPositions);
if (tempMSB.stopLine != null)
{
path = transform.InverseTransformPoint(currentMapLaneSegmentBuilder.segment.targetWorldPositions[currentMapLaneSegmentBuilder.segment.targetWorldPositions.Count - 1]).x;
if (path < -1f)
{
isLeftTurn = true;
isRightTurn = false;
}
else if (path > 1f)
{
isLeftTurn = false;
isRightTurn = true;
}
else
{
isLeftTurn = false;
isRightTurn = false;
}
}
else
{
isLeftTurn = false;
isRightTurn = false;
}
}
else // issue getting new waypoints so despawn
{
// TODO raycast to see adjacent lanes? Need system
Despawn();
}
}
private void SetNPCOnMap()
{
for (int i = 0; i < currentPooledNPCs.Count; i++)
{
if (!currentPooledNPCs[i].activeInHierarchy)
{
seg = MapManager.Instance.GetRandomLane();
if (seg.segment.targetWorldPositions == null || seg.segment.targetWorldPositions.Count == 0)
{
continue;
}
if (seg.segment.targetWorldPositions.Count < 2)
{
continue;
}
var start = seg.segment.targetWorldPositions[0];
//var end = seg.segment.targetWorldPositions[seg.segment.targetWorldPositions.Count - 1];
//var estAvgPoint = (start + end) * 0.5f;
if (IsPositionWithinSpawnArea(start)) // || IsPositionWithinSpawnArea(estAvgPoint) || IsPositionWithinSpawnArea(end))
{
if (!Physics.CheckSphere(seg.segment.targetWorldPositions[0], checkRadius, NPCSpawnCheckBitmask))
{
spawnPos = seg.segment.targetWorldPositions[0];
currentPooledNPCs[i].transform.position = spawnPos;
if (!IsVisible(currentPooledNPCs[i]))
{
currentPooledNPCs[i].GetComponent <NPCControllerComponent>().SetLaneData(seg);
currentPooledNPCs[i].SetActive(true);
currentPooledNPCs[i].transform.LookAt(seg.segment.targetWorldPositions[1]); // TODO check if index 1 is valid
activeNPCCount++;
}
}
}
}
}
}
public void SetLaneData()
{
lanes = new List <MapLaneSegmentBuilder>();
lanes.AddRange(GetComponentsInChildren <MapLaneSegmentBuilder>());
lanesForward = new List <MapLaneSegmentBuilder>();
lanesReverse = new List <MapLaneSegmentBuilder>();
isOneWay = true;
// for laneSections with branching lanes, all lanes should have at least 3 waypoints
for (var i = 0; i < lanes.Count; i++)
{
var lane = lanes[i];
var idx = 1; // index to compute vector from lane to otherLane and distance between those two lanes
var laneDir = (lane.segment.targetWorldPositions[1] - lane.segment.targetWorldPositions[0]).normalized;
var minDistLeft = 50f;
var minDistRight = 50f;
for (var j = 0; j < lanes.Count; j++)
{
var otherLane = lanes[j];
if (lane == otherLane)
{
continue;
}
// Check if these two lanes have same directions by check the dist between 1st pos in lane and (the 1st and last pos in otherLane).
var isSameDirection = true;
var distFirstToFirst = Vector3.Distance(lane.segment.targetWorldPositions[0], otherLane.segment.targetWorldPositions[0]);
var distFirstToLast = Vector3.Distance(lane.segment.targetWorldPositions[0], otherLane.segment.targetWorldPositions[otherLane.segment.targetWorldPositions.Count - 1]);
if (distFirstToFirst > distFirstToLast)
{
isSameDirection = false;
}
if (isSameDirection) // same direction
{
var cross = Vector3.Cross(laneDir, (otherLane.segment.targetWorldPositions[idx] - lane.segment.targetWorldPositions[idx]).normalized).y;
var dist = Mathf.RoundToInt(Vector3.Distance(lane.segment.targetWorldPositions[idx], otherLane.segment.targetWorldPositions[idx]));
if (cross < 0) // otherLane is left of lane
{
if (dist < minDistLeft) // closest lane left of lane is otherLane
{
minDistLeft = dist;
lane.leftForward = otherLane;
}
}
else if (cross > 0) // otherLane is right of lane
{
if (dist < minDistRight) // closest lane right of lane is otherLane
{
minDistRight = dist;
lane.rightForward = otherLane;
}
}
if (!lanesForward.Contains(lane) && !lanesReverse.Contains(lane))
{
lanesForward.Add(lane);
}
if (!lanesForward.Contains(otherLane) && !lanesReverse.Contains(otherLane))
{
lanesForward.Add(otherLane);
}
}
else // opposite direction
{
isOneWay = false;
var cross = Vector3.Cross(laneDir, (otherLane.segment.targetWorldPositions[otherLane.segment.targetWorldPositions.Count - 1 - idx] - lane.segment.targetWorldPositions[idx]).normalized).y;
var dist = Mathf.RoundToInt(Vector3.Distance(lane.segment.targetWorldPositions[idx], otherLane.segment.targetWorldPositions[otherLane.segment.targetWorldPositions.Count - 1 - idx]));
if (cross < 0) // otherLane is left of lane
{
if (dist < minDistLeft) // closest lane left of lane is otherLane
{
minDistLeft = dist;
lane.leftReverse = otherLane;
}
}
else if (cross > 0) // otherLane is right of lane
{
if (dist < minDistRight) // closest lane right of lane is otherLane
{
minDistRight = dist;
lane.rightReverse = otherLane;
}
}
if (!lanesForward.Contains(lane) && !lanesReverse.Contains(lane))
{
lanesForward.Add(lane);
}
if (!lanesReverse.Contains(otherLane) && !lanesForward.Contains(otherLane))
{
lanesReverse.Add(otherLane);
}
}
if (lane.leftForward != null)
{
lane.leftReverse = null; // null lane left reverse if not inside lane TODO right side
}
}
}
int wayCount = isOneWay ? 1 : 2;
for (int i = 0; i < wayCount; i++)
{
MapLaneSegmentBuilder currentLane = null;
List <MapLaneSegmentBuilder> edited = new List <MapLaneSegmentBuilder>();
List <MapLaneSegmentBuilder> currentLanes = i == 0 ? lanesForward : lanesReverse;
foreach (var lane in currentLanes)
{
if (lane.rightForward == null)
{
currentLane = lane;
lane.rightBoundType = HD.LaneBoundaryType.Types.Type.Curb;
break;
}
}
while (currentLane != null)
{
edited.Add(currentLane);
currentLane.laneNumber = edited.Count;
currentLane.laneCount = currentLanes.Count;
currentLane = currentLane.leftForward;
}
// set left boundary type for the left most lane
if (isOneWay)
{
edited[edited.Count - 1].leftBoundType = HD.LaneBoundaryType.Types.Type.Curb;
}
else
{
edited[edited.Count - 1].leftBoundType = HD.LaneBoundaryType.Types.Type.DoubleYellow;
}
}
}
public void SetLaneData()
{
lanes = new List <MapLaneSegmentBuilder>();
lanes.AddRange(GetComponentsInChildren <MapLaneSegmentBuilder>());
lanesForward = new List <MapLaneSegmentBuilder>();
lanesReverse = new List <MapLaneSegmentBuilder>();
isOneWay = true;
foreach (var lane in lanes)
{
var laneDir = (lane.segment.targetWorldPositions[0] - lane.segment.targetWorldPositions[1]).normalized;
var minDistLeft = 50f;
var minDistRight = 50f;
foreach (var otherLane in lanes)
{
if (lane == otherLane)
{
continue;
}
var otherDir = (otherLane.segment.targetWorldPositions[0] - otherLane.segment.targetWorldPositions[1]).normalized;
var dot = Mathf.RoundToInt(Vector3.Dot(laneDir, otherDir));
if (dot == 1) // same direction
{
var cross = Vector3.Cross(laneDir, (lane.segment.targetWorldPositions[0] - otherLane.segment.targetWorldPositions[0]).normalized).y;
var dist = Mathf.RoundToInt(Vector3.Distance(lane.segment.targetWorldPositions[0], otherLane.segment.targetWorldPositions[0]));
if (cross < 0) // otherLane is left of lane
{
if (dist < minDistLeft) // closest lane left of lane is otherLane
{
minDistLeft = dist;
lane.leftForward = otherLane;
}
}
else if (cross > 0) // otherLane is right of lane
{
if (dist < minDistRight) // closest lane right of lane is otherLane
{
minDistRight = dist;
lane.rightForward = otherLane;
}
}
if (!lanesForward.Contains(lane) && !lanesReverse.Contains(lane))
{
lanesForward.Add(lane);
}
if (!lanesForward.Contains(otherLane) && !lanesReverse.Contains(otherLane))
{
lanesForward.Add(otherLane);
}
}
else if (dot == -1) // opposite direction
{
isOneWay = false;
var cross = Vector3.Cross(laneDir, (lane.segment.targetWorldPositions[0] - otherLane.segment.targetWorldPositions[otherLane.segment.targetWorldPositions.Count - 1]).normalized).y;
var dist = Mathf.RoundToInt(Vector3.Distance(lane.segment.targetWorldPositions[0], otherLane.segment.targetWorldPositions[otherLane.segment.targetWorldPositions.Count - 1]));
if (cross < 0) // otherLane is left of lane
{
if (dist < minDistLeft) // closest lane left of lane is otherLane
{
minDistLeft = dist;
lane.leftReverse = otherLane;
}
}
else if (cross > 0) // otherLane is right of lane
{
if (dist < minDistRight) // closest lane right of lane is otherLane
{
minDistRight = dist;
lane.rightReverse = otherLane;
}
}
if (!lanesForward.Contains(lane) && !lanesReverse.Contains(lane))
{
lanesForward.Add(lane);
}
if (!lanesReverse.Contains(otherLane) && !lanesForward.Contains(otherLane))
{
lanesReverse.Add(otherLane);
}
}
if (lane.leftForward != null)
{
lane.leftReverse = null; // null lane left reverse if not inside lane TODO right side
}
}
}
int wayCount = isOneWay ? 1 : 2;
for (int i = 0; i < wayCount; i++)
{
MapLaneSegmentBuilder currentLane = null;
List <MapLaneSegmentBuilder> edited = new List <MapLaneSegmentBuilder>();
List <MapLaneSegmentBuilder> currentLanes = i == 0 ? lanesForward : lanesReverse;
foreach (var lane in currentLanes)
{
if (lane.rightForward == null)
{
currentLane = lane;
break;
}
}
while (currentLane != null)
{
edited.Add(currentLane);
currentLane.laneNumber = edited.Count;
currentLane.laneCount = currentLanes.Count;
currentLane = currentLane.leftForward;
}
}
}
