Road generateVirtualRoad(int i1, int i2)
{
Road r1 = connection[i1];
Road r2 = connection[i2];
if (outLaneRange[i1, i2] == null)
{
return(null);
}
int loOutLaneNum = outLaneRange[i1, i2].First;
int hiOutLaneNum = outLaneRange[i1, i2].Second;
int loInLaneNum = inLaneRange[i2, i1].First;
int hiInLaneNum = inLaneRange[i2, i1].Second;
Debug.Assert(hiOutLaneNum - loOutLaneNum == hiInLaneNum - loInLaneNum);
float r1_margin = startof(r1.curve) ? r1.margin0Param : r1.margin1Param;
float r2_margin = startof(r2.curve) ? r2.margin0Param : r2.margin1Param;
float r1_radiOffset = 0.5f * (r1.getLaneCenterOffset(loOutLaneNum, !startof(r1.curve)) + r1.getLaneCenterOffset(hiOutLaneNum, !startof(r1.curve)));
float r2_radiOffset = 0.5f * (r2.getLaneCenterOffset(loInLaneNum, startof(r2.curve)) + r2.getLaneCenterOffset(hiInLaneNum, startof(r2.curve)));
Vector3 r1_endPos = r1.at(r1_margin) + r1.rightNormal(r1_margin) * r1_radiOffset;
Vector3 r2_endPos = r2.at(r2_margin) + r2.rightNormal(r2_margin) * r2_radiOffset;
List <string> virtualRoadLaneCfg = new List <string>();
int virtualRoadLaneCount = hiOutLaneNum - loOutLaneNum + 1;
for (int i = 0; i != virtualRoadLaneCount; ++i)
{
virtualRoadLaneCfg.Add("lane");
if (i != virtualRoadLaneCount - 1)
{
virtualRoadLaneCfg.Add("dash_white");
}
}
Vector2 r1_direction = startof(r1.curve) ? -r1.curve.direction_2d(r1_margin) : r1.curve.direction_2d(r1_margin);
Vector2 r2_direction = startof(r2.curve) ? -r2.curve.direction_2d(r2_margin) : r2.curve.direction_2d(r2_margin);
if (Geometry.Parallel(r1_direction, r2_direction))
{
/*TODO: perform a U turn when r1 = r2*/
if (Algebra.isRoadNodeClose(r1_endPos, r2_endPos))
{
/*exact same lane config for neighbors, just go straight*/
return(null);
}
//return new Road(Line.TryInit(r1_endPos, r2_endPos), virtualRoadLaneCfg, _noEntity: true);
return(createNoEntityRoadIfNotNull(Line.TryInit(r1_endPos, r2_endPos), virtualRoadLaneCfg));
}
else
{
Curve l1 = Line.TryInit(Algebra.toVector2(r1_endPos), Algebra.toVector2(r1_endPos) + Algebra.InfLength * r1_direction, r1_endPos.y, r1_endPos.y);
Curve l2 = Line.TryInit(Algebra.toVector2(r2_endPos), Algebra.toVector2(r2_endPos) + Algebra.InfLength * r2_direction, r2_endPos.y, r2_endPos.y);
List <Vector3> intereSectionPoint = Geometry.curveIntersect(l1, l2);
if (intereSectionPoint.Count == 1)
{
//return new Road(Bezeir.TryInit(r1_endPos, intereSectionPoint.First(), r2_endPos), virtualRoadLaneCfg, _noEntity: true);
return(createNoEntityRoadIfNotNull(Bezeir.TryInit(r1_endPos, intereSectionPoint.First(), r2_endPos), virtualRoadLaneCfg));
}
else
{
//return new Road(Line.TryInit(r1_endPos, r2_endPos), virtualRoadLaneCfg, _noEntity: true);
return(createNoEntityRoadIfNotNull(Line.TryInit(r1_endPos, r2_endPos), virtualRoadLaneCfg));
}
}
}
// Update is called once per frame
void Update()
{
if (pathOn != null)
{
float distToTravel;
if (acceleration < 0f && speed < (-acceleration) * Time.deltaTime)
{
distToTravel = speed * speed / (2 * (-acceleration));
}
else
{
distToTravel = speed * Time.deltaTime + 0.5f * acceleration * Time.deltaTime * Time.deltaTime;
}
speed += Time.deltaTime * acceleration;
speed = Mathf.Max(0f, speed);
distTraveledOnSeg += distToTravel;
bool termination;
int nextSeg, nextLane;
Pair <Road, float> nextInfo = pathOn.travelAlong(currentSeg, currentParam, distToTravel, laneOn, out nextSeg, out nextLane, out termination);
if (termination)
{
VhCtrlOfCurrentSeg.VehicleLeave(this, laneOn);
stopEvent.Invoke();
Reset();
return;
}
Road roadOn = nextInfo.First;
currentParam = nextInfo.Second;
if (currentSeg != nextSeg)
{
VhCtrlOfCurrentSeg.VehicleLeave(this, laneOn);
distTraveledOnSeg = distToTravel;
laneOn = nextLane;
currentSeg = nextSeg;
VhCtrlOfCurrentSeg.VehicleEnter(this, laneOn);
}
if (!Algebra.isclose(rightOffset, 0f))
{
float lateralAcc = (lateralSpeedMagnitude * lateralSpeedMagnitude > 2 * lateralMaxAcc * Mathf.Abs(rightOffset)) ?
-0.98f * lateralMaxAcc : lateralMaxAcc;
lateralSpeedMagnitude = Mathf.Max(lateralSpeedMagnitude + lateralAcc * Time.deltaTime, 0f);
rightOffset = Mathf.Sign(rightOffset) * Mathf.Max(Mathf.Abs(rightOffset) - lateralSpeedMagnitude * Time.deltaTime, 0f);
}
else
{
lateralSpeedMagnitude = 0f;
}
transform.position = roadOn.at(currentParam, usebuff: true) +
roadOn.rightNormal(currentParam, usebuff: true) * (roadOn.getLaneCenterOffset(laneOn, headingOfCurrentSeg) + rightOffset);
transform.rotation = headingOfCurrentSeg ?
Quaternion.LookRotation(roadOn.frontNormal(currentParam, usebuff: true), roadOn.upNormal(currentParam, usebuff: true)) :
Quaternion.LookRotation(-roadOn.frontNormal(currentParam, usebuff: true), roadOn.upNormal(currentParam, usebuff: true));
if (rightOffset != 0f)
{
if (headingOfCurrentSeg)
{
transform.Rotate(roadOn.upNormal(currentParam, usebuff: true), -Mathf.Sign(rightOffset) * Mathf.Atan(lateralSpeedMagnitude / Mathf.Max(speed, 0.2f)) * Mathf.Rad2Deg);
}
else
{
transform.Rotate(roadOn.upNormal(currentParam, usebuff: true), Mathf.Sign(rightOffset) * Mathf.Atan(lateralSpeedMagnitude / Mathf.Max(speed, 0.2f)) * Mathf.Rad2Deg);
}
}
wheelRotation = (wheelRotation + distToTravel / wheeRadius * Mathf.Rad2Deg) % 360;
/*TODO: calculate wheel radius*/
transform.GetChild(0).GetChild(1).localRotation = transform.GetChild(0).GetChild(2).localRotation =
transform.GetChild(0).GetChild(3).localRotation = transform.GetChild(0).GetChild(4).localRotation =
Quaternion.Euler(wheelRotation, 0f, 0f);
}
}
