/// <summary>
/// Adds an agent node to the json
/// </summary>
/// <param name="data">Json object where data will be added</param>
/// <param name="scenarioAgent">Scenario agent to serialize</param>
private static void SerializeAgentNode(JSONNode data, ScenarioAgent scenarioAgent)
{
var agentNode = new JSONObject();
data.Add(agentNode);
if (scenarioAgent.Variant is CloudAgentVariant cloudVariant)
{
agentNode.Add("id", new JSONString(cloudVariant.guid));
}
agentNode.Add("uid", new JSONString(scenarioAgent.Uid));
agentNode.Add("variant", new JSONString(scenarioAgent.Variant.Name));
agentNode.Add("type", new JSONNumber(scenarioAgent.Source.AgentTypeId));
agentNode.Add("parameterType", new JSONString(scenarioAgent.Source.ParameterType));
var transform = new JSONObject();
agentNode.Add("transform", transform);
var position = new JSONObject().WriteVector3(scenarioAgent.TransformToMove.position);
transform.Add("position", position);
var rotation = new JSONObject().WriteVector3(scenarioAgent.TransformToRotate.rotation.eulerAngles);
transform.Add("rotation", rotation);
foreach (var extension in scenarioAgent.Extensions)
{
extension.Value.SerializeToJson(agentNode);
}
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="previousElement">Scenario element that has been deselected</param>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement previousElement, ScenarioElement selectedElement)
{
//Detach from current agent events
if (colorExtension != null)
{
colorExtension.ColorChanged -= SelectedAgentOnColorChanged;
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
colorExtension = selectedAgent.GetExtension <AgentColorExtension>();
if (colorExtension == null)
{
Hide();
}
else
{
colorExtension.ColorChanged += SelectedAgentOnColorChanged;
Show();
}
}
else
{
Hide();
}
}
/// <inheritdoc/>
public override IEnumerator Apply(PlaybackPanel playbackPanel, TriggerEffector triggerEffector,
ITriggerAgent triggerAgent)
{
if (!(triggerEffector is TimeToCollisionEffector ttcEffector))
{
ScenarioManager.Instance.logPanel.EnqueueError(
$"Invalid trigger effector passed to the {GetType().Name}.");
yield break;
}
var egos = ScenarioManager.Instance.GetExtension <ScenarioAgentsManager>().Agents
.Where(a => a.Source.AgentType == AgentType.Ego);
ScenarioAgent collisionEgo = null;
var lowestTTC = TimeToCollisionEffector.TimeToCollisionLimit;
foreach (var ego in egos)
{
var ttc = ttcEffector.CalculateTTC(ego, triggerAgent, triggerAgent.MovementSpeed);
if (ttc >= lowestTTC || ttc < 0.0f)
{
continue;
}
lowestTTC = ttc;
collisionEgo = ego;
}
yield return(playbackPanel.StartCoroutine(ttcEffector.Apply(lowestTTC, collisionEgo, triggerAgent)));
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="previousElement">Scenario element that has been deselected</param>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement previousElement, ScenarioElement selectedElement)
{
//Detach from current agent events
if (destinationPointExtension != null && selectedAgent == previousElement)
{
//Hide destination point if something else than the destination point is selected
if (!(selectedElement is ScenarioDestinationPoint ||
selectedElement is ScenarioDestinationPointWaypoint) &&
destinationPointExtension.DestinationPoint != null)
{
destinationPointExtension.DestinationPoint.SetVisibility(false);
}
destinationPointExtension = null;
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
destinationPointExtension = selectedAgent.GetExtension <AgentDestinationPoint>();
if (destinationPointExtension == null)
{
Hide();
}
else
{
Show();
}
}
else
{
Hide();
}
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement selectedElement)
{
//Detach from current agent events
if (selectedAgent != null)
{
//Hide destination point if agent is deselected and something else is selected
if (destinationPointExtension != null && selectedElement != destinationPointExtension.DestinationPoint)
{
destinationPointExtension.DestinationPoint.SetVisibility(false);
}
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
destinationPointExtension = selectedAgent.GetExtension <AgentDestinationPoint>();
if (destinationPointExtension == null)
{
Hide();
}
else
{
Show();
}
}
else
{
Hide();
}
}
public void AddScenario(ScenarioAgent scenario)
{
if (!Scenarii.Exists(s => s.AgentId.Equals(scenario.AgentId)))
{
Scenarii.Add(scenario);
}
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement selectedElement)
{
//Detach from current agent events
if (behaviourExtension != null)
{
behaviourExtension.BehaviourChanged -= BehaviourExtensionOnBehaviourChanged;
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
behaviourExtension = selectedAgent.GetExtension <AgentBehaviour>();
if (behaviourExtension == null)
{
Hide();
}
else
{
behaviourExtension.BehaviourChanged += BehaviourExtensionOnBehaviourChanged;
Show();
}
}
else
{
Hide();
}
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement selectedElement)
{
if (agentWaypoints != null)
{
agentWaypoints.IsActiveChanged -= AgentWaypointsOnIsActiveChanged;
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
agentWaypoints = selectedAgent.GetExtension <AgentWaypoints>();
if (agentWaypoints == null)
{
Hide();
}
else
{
agentWaypoints.IsActiveChanged += AgentWaypointsOnIsActiveChanged;
Show();
}
}
else
{
Hide();
}
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement selectedElement)
{
//Detach from current agent events
if (selectedAgent != null)
{
selectedAgent.VariantChanged -= SelectedAgentOnVariantChanged;
if (sensorsConfiguration != null)
{
sensorsConfiguration.SensorsConfigurationIdChanged -= SelectedAgentOnSensorsConfigurationIdChanged;
}
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
sensorsConfiguration = selectedAgent.GetExtension <AgentSensorsConfiguration>();
if (sensorsConfiguration == null)
{
Hide();
}
else
{
selectedAgent.VariantChanged += SelectedAgentOnVariantChanged;
sensorsConfiguration.SensorsConfigurationIdChanged += SelectedAgentOnSensorsConfigurationIdChanged;
Show();
}
}
else
{
Hide();
}
}
/// <inheritdoc/>
public override void Deinitialize()
{
ParentAgent.ExtensionAdded -= ParentAgentOnExtensionAdded;
ParentAgent.ExtensionRemoved -= ParentAgentOnExtensionRemoved;
var behaviourExtension = ParentAgent.GetExtension <AgentBehaviour>();
if (behaviourExtension != null)
{
behaviourExtension.BehaviourChanged -= ParentAgentOnBehaviourChanged;
}
base.Deinitialize();
ParentAgent = null;
}
/// <inheritdoc/>
public override void Initialize(ScenarioElement parentElement)
{
base.Initialize(parentElement);
ParentAgent = (ScenarioAgent)parentElement;
SetStartEndElements(parentElement, null);
ParentAgent.ExtensionAdded += ParentAgentOnExtensionAdded;
ParentAgent.ExtensionRemoved += ParentAgentOnExtensionRemoved;
var behaviourExtension = ParentAgent.GetExtension <AgentBehaviour>();
if (behaviourExtension != null)
{
behaviourExtension.BehaviourChanged += ParentAgentOnBehaviourChanged;
}
}
/// <summary>
/// Attach this destination point to the agent
/// </summary>
/// <param name="agent">Scenario agent to which destination point will be attached</param>
/// <param name="initializeTransform">Should this attach initialize the transform</param>
public void AttachToAgent(ScenarioAgent agent, bool initializeTransform)
{
ParentAgent = agent;
PlaybackPath.Initialize(this);
var extension = agent.GetExtension <AgentDestinationPoint>();
extension.SetDestinationPoint(this);
if (!initializeTransform)
{
return;
}
transform.SetParent(agent.transform);
var forward = agent.TransformToMove.forward;
TransformToMove.localPosition = forward * InitialOffset;
TransformToRotate.localRotation = Quaternion.LookRotation(forward);
Refresh();
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="previousElement">Scenario element that has been deselected</param>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement previousElement, ScenarioElement selectedElement)
{
//Detach from current agent events
if (behaviourExtension != null)
{
behaviourExtension.BehaviourChanged -= SelectedAgentOnBehaviourChanged;
Hide();
}
selectedAgent = selectedElement as ScenarioAgent;
behaviourExtension = selectedAgent == null ? null : selectedAgent.GetExtension <AgentBehaviour>();
//Attach to selected agent events
if (behaviourExtension != null)
{
behaviourExtension.BehaviourChanged += SelectedAgentOnBehaviourChanged;
Show();
}
SelectedAgentOnBehaviourChanged(behaviourExtension == null ? "" : behaviourExtension.Behaviour);
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="previousElement">Scenario element that has been deselected</param>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement previousElement, ScenarioElement selectedElement)
{
//Detach from current agent events
if (selectedAgent != null)
{
selectedAgent.VariantChanged -= SelectedAgentOnVariantChanged;
}
selectedAgent = selectedElement as ScenarioAgent;
//Attach to selected agent events
if (selectedAgent != null)
{
Show();
selectedAgent.VariantChanged += SelectedAgentOnVariantChanged;
}
else
{
Hide();
}
}
/// <summary>
/// Method called when another scenario element has been selected
/// </summary>
/// <param name="previousElement">Scenario element that has been deselected</param>
/// <param name="selectedElement">Scenario element that has been selected</param>
private void OnSelectedOtherElement(ScenarioElement previousElement, ScenarioElement selectedElement)
{
if (isAddingWaypoints)
{
ScenarioManager.Instance.GetExtension <InputManager>().CancelAddingElements(this);
}
//Force input apply on deselect
if (selectedWaypoint != null)
{
SubmitChangedInputs();
}
selectedWaypoint = selectedElement as ScenarioAgentWaypoint;
selectedAgent = selectedWaypoint != null ? (ScenarioAgent)selectedWaypoint.ParentElement : null;
selectedAgentWaypointsPath =
selectedAgent == null ? null : selectedAgent.GetExtension <AgentWaypointsPath>();
//Disable waypoints for ego vehicles
if (selectedAgent == null || selectedAgentWaypointsPath == null ||
!selectedAgent.Source.AgentSupportWaypoints(selectedAgent))
{
gameObject.SetActive(false);
}
else
{
gameObject.SetActive(true);
speedPanel.SetActive(selectedWaypoint != null);
accelerationPanel.SetActive(selectedWaypoint != null);
waitTimePanel.SetActive(selectedWaypoint != null);
if (selectedWaypoint != null)
{
speedInput.CurrentContext = selectedWaypoint;
speedInput.ExternalValueChange(selectedWaypoint.DestinationSpeed, selectedWaypoint, false);
accelerationInput.CurrentContext = selectedWaypoint;
accelerationInput.ExternalValueChange(selectedWaypoint.Acceleration, selectedWaypoint, false);
waitTimeInput.text = selectedWaypoint.WaitTime.ToString("F");
}
triggerEditPanel.OnSelectedNewTrigger(selectedWaypoint.LinkedTrigger);
UnityUtilities.LayoutRebuild(transform as RectTransform);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="startTime">Playback time when this action starts</param>
/// <param name="agent">Scenario agent that will be moved by this action</param>
/// <param name="previousAction">Previous agent's move action used for initial parameters</param>
/// <param name="destination">Agent's destination position applied when the action ends</param>
/// <param name="rotation">Agent's rotation which will be applied when this action is performed</param>
/// <param name="destinationSpeed">Agent's destination speed used during the playback movement</param>
/// <param name="acceleration">Agent's acceleration used during the playback movement</param>
public AgentMoveAction(float startTime, ScenarioAgent agent, AgentMoveAction previousAction,
Vector3 destination, Quaternion rotation, float destinationSpeed, float acceleration) : base(
startTime)
{
Agent = agent;
InitialPosition = previousAction?.Destination ?? Agent.TransformForPlayback.position;
InitialRotation = Agent.TransformForPlayback.rotation;
Destination = destination;
Rotation = rotation;
InitialSpeed = previousAction?.DestinationSpeed ?? 0.0f;
DestinationSpeed = destinationSpeed;
Acceleration = acceleration;
var distance = Vector3.Distance(InitialPosition, destination);
if (acceleration > 0)
{
// If max speed is lower than the initial speed convert acceleration to deceleration
if (destinationSpeed < InitialSpeed)
{
Acceleration *= -1;
}
if (!UniformlyAcceleratedMotion.CalculateDuration(acceleration, InitialSpeed,
distance, ref destinationSpeed, out var accelerationDuration, out var accelerationDistance))
{
// Max speed will not be reached with current acceleration
AccelerationDestination = destination;
DestinationSpeed = destinationSpeed;
Duration = AccelerationDuration = accelerationDuration;
}
else
{
// Calculate mixed duration of accelerated and linear movements
AccelerationDestination = InitialPosition +
(destination - InitialPosition).normalized * accelerationDistance;
var linearDistance = distance - accelerationDistance;
AccelerationDuration = accelerationDuration;
Duration = AccelerationDuration + linearDistance / DestinationSpeed;
}
}
/// <inheritdoc/>
public override bool AgentSupportWaypoints(ScenarioAgent agent)
{
return(false);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="parentAgent">Scenario agent that will be controlled</param>
public AgentController(ScenarioAgent parentAgent)
{
agent = parentAgent;
}
/// <inheritdoc/>
public override bool AgentSupportWaypoints(ScenarioAgent agent)
{
var behaviourExtension = agent.GetExtension <AgentBehaviour>();
return(behaviourExtension != null && behaviourExtension.Behaviour == nameof(NPCWaypointBehaviour));
}
/// <summary>
/// Unregisters the agent in the manager
/// </summary>
/// <param name="agent">Agent to register</param>
public void UnregisterAgent(ScenarioAgent agent)
{
Agents.Remove(agent);
AgentUnregistered?.Invoke(agent);
}
/// <summary> /// Checks if the given agent supports waypoints /// </summary> /// <param name="agent">Agent to check</param> /// <returns>True if agent supports waypoints, false otherwise</returns> public abstract bool AgentSupportWaypoints(ScenarioAgent agent);
private void DrawAgentIntent(ScenarioAgent agent, Graphics graphics, Rectangle rect)
{
if (agent.Intent != null)
{
var intentVec = new PointF()
{
X = agent.GetPosition().X - agent.Intent.GetPosition().X, Y = agent.GetPosition().Y - agent.Intent.GetPosition().Y
};
var intentLength = Magnitude(intentVec);
if (intentLength > 0.05f)
{
intentVec.X /= intentLength;
intentVec.Y /= intentLength;
if (!agent.IntentAttractive)
{
intentVec.X = -intentVec.X;
intentVec.Y = -intentVec.Y;
}
var tip = CoordinatesToDisplayPoint(agent.GetPosition().X - intentVec.X * agent.Radius, agent.GetPosition().Y - intentVec.Y * agent.Radius, rect);
var bottomCenter = new PointF(agent.GetPosition().X + intentVec.X * agent.Radius, agent.GetPosition().Y + intentVec.Y * agent.Radius);
var intentOrthogonalVec = Normalize(new PointF(-intentVec.Y, intentVec.X));
var bottomL = CoordinatesToDisplayPoint(bottomCenter.X - intentOrthogonalVec.X * agent.Radius * 0.3f, bottomCenter.Y - intentOrthogonalVec.Y * agent.Radius * 0.3f, rect);
var bottomR = CoordinatesToDisplayPoint(bottomCenter.X + intentOrthogonalVec.X * agent.Radius * 0.3f, bottomCenter.Y + intentOrthogonalVec.Y * agent.Radius * 0.3f, rect);
var bcExtended = new PointF(agent.GetPosition().X + intentVec.X * agent.Radius * 1.2f, agent.GetPosition().Y + intentVec.Y * agent.Radius * 1.2f);
var bc = CoordinatesToDisplayPoint(bcExtended.X, bcExtended.Y, rect);
Color darker = GetDarkerColor(agent.Color);
Color lighter = GetLighterColor(agent.Color);
using (var gradient = new LinearGradientBrush(tip, bc, lighter, darker))
{
var poly = new Point[] { tip, bottomL, bottomR, tip };
graphics.DrawLines(Pens.Black, poly);
graphics.FillPolygon(gradient, poly);
using (var dashPen = new Pen(agent.Color))
{
var agentCenter = CoordinatesToDisplayPoint(agent.GetPosition().X, agent.GetPosition().Y, rect);
dashPen.DashStyle = DashStyle.Dash;
graphics.DrawLine(dashPen, agentCenter, CoordinatesToDisplayPoint(agent.Intent.GetPosition().X, agent.Intent.GetPosition().Y, rect));
}
}
}
}
else
{
using (var ellipse = new GraphicsPath())
{
var insetRect = ToDisplayRect(agent, rect, 0.35f);
ellipse.AddEllipse(insetRect);
using (var gradient = new PathGradientBrush(ellipse))
{
gradient.CenterColor = GetDarkerColor(agent.Color);
gradient.SurroundColors = new[] { GetLighterColor(agent.Color) };
graphics.FillRectangle(gradient, insetRect);
}
}
}
}
/// <summary>
/// Registers the agent in the manager
/// </summary>
/// <param name="agent">Agent to register</param>
public void RegisterAgent(ScenarioAgent agent)
{
Agents.Add(agent);
AgentRegistered?.Invoke(agent);
}
public void AddScenario(ScenarioAgent scenario)
{
Engine.AddScenario(scenario);
}
