def __init__(self, index, name, ui_name):
"""Constructs curve class representation for PIP file.
NOTE: creating this classes also saves instance to array in static variable,
for calculation of curve length and leads to nodes flag.
So don't make temporary instances of this class.
:param index: index of curve
:type index: int
:param name: name of the curve
:type name: str
:param name: ui name of the curve ('start_locator_name->end_locator_name')
:type name: str
"""
self.__index = index
self.__name = name
self.__flags = 0
self.__leads_to_nodes = 0
self.__traffic_rule = None
self.__sempahore_id = None
self.__next_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__prev_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__length = 0
self.__bezier = Bezier()
self.__tmp_ui_name = ui_name # name for reporting invalid curves
self.__tmp_start_flags = 0 # temporary store flags for start point
self.__tmp_end_flags = 0 # temporary store flags for end point
self.__tmp_next_curves = [
] # temporary store next curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_prev_curves = [
] # temporary store prev curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_start_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_end_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_start_node_i = -1 # index of the node that start of this curve belongs to
self.__tmp_end_node_i = -1 # index of the node that start of this curve belongs to
Curve.__global_curve_counter += 1
def __init__(self, index, name, ui_name):
"""Constructs curve class representation for PIP file.
NOTE: creating this classes also saves instance to array in static variable,
for calculation of curve length and leads to nodes flag.
So don't make temporary instances of this class.
:param index: index of curve
:type index: int
:param name: name of the curve
:type name: str
:param name: ui name of the curve ('start_locator_name->end_locator_name')
:type name: str
"""
self.__index = index
self.__name = name
self.__flags = 0
self.__leads_to_nodes = 0
self.__traffic_rule = None
self.__sempahore_id = None
self.__next_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__prev_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__length = 0
self.__bezier = Bezier()
self.__tmp_ui_name = ui_name # name for reporting invalid curves
self.__tmp_start_flags = 0 # temporary store flags for start point
self.__tmp_end_flags = 0 # temporary store flags for end point
self.__tmp_next_curves = [] # temporary store next curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_prev_curves = [] # temporary store prev curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_start_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_end_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_start_node_i = -1 # index of the node that start of this curve belongs to
self.__tmp_end_node_i = -1 # index of the node that start of this curve belongs to
Curve.__global_curve_counter += 1
class Curve:
__NODE_DIR_LEN_COEF = 0.33333333333
"""Coeficient for calculating curve direction vectors."""
__global_curve_counter = 0
@staticmethod
def reset_counter():
Curve.__global_curve_counter = 0
@staticmethod
def get_global_curve_count():
return Curve.__global_curve_counter
@staticmethod
def prepare_curves(curves_l):
"""Calculates lengths and leads to nodes variables for given curves.
Should be used before calling get_as_section() on curves class instances.
:param curves_l: list of curves to prepare
:type curves_l: collections.Iterable[Curve]
"""
for curve in curves_l:
# first calculate length
pos0, dir0 = curve.get_start(cartes_tang=False)
pos1, dir1 = curve.get_end(cartes_tang=False)
for i in range(
4): # converge to actual length with four iterations
curr_dir0 = Vector(dir0 * Vector(
(0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF *
curve.get_length())
curr_dir1 = Vector(dir1 * Vector(
(0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF *
curve.get_length())
new_length = _curve_utils.compute_smooth_curve_length(
pos0, curr_dir0, pos1, curr_dir1,
_PL_consts.CURVE_MEASURE_STEPS)
curve.set_length(new_length)
# second calculate leads to nodes
if curve.is_inbound():
curve.calc_leads_to_nodes_forward(0)
# report invalid curves
invalid_curves = []
""":type : list[Curve]"""
for curve in curves_l:
if not curve.is_valid():
invalid_curves.append(curve)
if len(invalid_curves) > 0:
msg = (
"W Connections with loose ends detected, expect problems in game.\n\t "
"Check connections with starting Navigation Points:\n\t [")
for curve in invalid_curves:
msg += "'" + curve.get_ui_name() + "', "
msg = msg[:-2] + "]"
lprint(msg)
def __lt__(self, other):
return self.__index < other.get_index()
def __eq__(self, other):
return self.__index == other.get_index()
def __init__(self, index, name, ui_name):
"""Constructs curve class representation for PIP file.
NOTE: creating this classes also saves instance to array in static variable,
for calculation of curve length and leads to nodes flag.
So don't make temporary instances of this class.
:param index: index of curve
:type index: int
:param name: name of the curve
:type name: str
:param name: ui name of the curve ('start_locator_name->end_locator_name')
:type name: str
"""
self.__index = index
self.__name = name
self.__flags = 0
self.__leads_to_nodes = 0
self.__traffic_rule = None
self.__sempahore_id = None
self.__next_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__prev_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__length = 0
self.__bezier = Bezier()
self.__tmp_ui_name = ui_name # name for reporting invalid curves
self.__tmp_start_flags = 0 # temporary store flags for start point
self.__tmp_end_flags = 0 # temporary store flags for end point
self.__tmp_next_curves = [
] # temporary store next curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_prev_curves = [
] # temporary store prev curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_start_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_end_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_start_node_i = -1 # index of the node that start of this curve belongs to
self.__tmp_end_node_i = -1 # index of the node that start of this curve belongs to
Curve.__global_curve_counter += 1
def set_output_boundaries(self, scs_props):
"""Sets prefab leaving/output lane and node index.
:param scs_props: scs props from end prefab locator used in this curve
:type scs_props: io_scs_tools.properties.object.ObjectSCSTools
"""
boundary_lane = int(scs_props.locator_prefab_np_boundary)
boundary_node = int(scs_props.locator_prefab_np_boundary_node)
# calculate actual boundary lane index
if boundary_lane > 0:
if _PL_consts.PREFAB_LANE_COUNT_MAX < boundary_lane <= _PL_consts.PREFAB_LANE_COUNT_MAX * 2:
self.__tmp_end_lane_i = boundary_lane - 1 - _PL_consts.PREFAB_LANE_COUNT_MAX
if 0 <= boundary_node < _PL_consts.PREFAB_NODE_COUNT_MAX:
self.__tmp_end_node_i = boundary_node
else:
lprint(
"D Given input node index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_node))
else:
lprint(
"D Given output lane boundary index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_lane))
def set_input_boundaries(self, scs_props):
"""Sets prefab entry/input lane and node index.
:param scs_props: scs props from start prefab locator used in this curve
:type scs_props: io_scs_tools.properties.object.ObjectSCSTools
"""
boundary_lane = int(scs_props.locator_prefab_np_boundary)
boundary_node = int(scs_props.locator_prefab_np_boundary_node)
# calculate actual boundary lane index
if boundary_lane > 0:
if boundary_lane <= _PL_consts.PREFAB_LANE_COUNT_MAX:
self.__tmp_start_lane_i = boundary_lane - 1
if 0 <= boundary_node < _PL_consts.PREFAB_NODE_COUNT_MAX:
self.__tmp_start_node_i = boundary_node
else:
lprint(
"D Given input node index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_node))
else:
lprint(
"D Given output lane boundary index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_lane))
def set_flags(self, scs_props, to_start=False):
"""Sets flags to curve start point or curve end point and calculates curve common flag variable.
:param scs_props: scs props from prefab locator used in this curve
:type scs_props: io_scs_tools.properties.object.ObjectSCSTools
:param to_start: if True flags are saved in start point; otherwise flags are saved in end point
:type to_start: bool
"""
flags = 0
# intersection priority
flags |= (
int(scs_props.locator_prefab_np_priority_modifier) <<
_PL_consts.PNCF.PRIORITY_SHIFT) & _PL_consts.PNCF.PRIORITY_MASK
# additive priority
if scs_props.locator_prefab_np_add_priority:
flags |= _PL_consts.PNCF.ADDITIVE_PRIORITY
# limit displacement
if scs_props.locator_prefab_np_limit_displace:
flags |= _PL_consts.PNCF.LIMIT_DISPLACEMENT
# blinker
flags |= int(scs_props.locator_prefab_np_blinker)
# low probability
if scs_props.locator_prefab_np_low_probab:
flags |= _PL_consts.PNCF.LOW_PROBABILITY
# allowed vehicles
flags |= int(scs_props.locator_prefab_np_allowed_veh)
if to_start:
self.__tmp_start_flags = flags
else:
self.__tmp_end_flags = flags
# update common curve flags variable
self.__flags = self.__tmp_start_flags & self.__tmp_end_flags
self.__flags |= (self.__tmp_start_flags
& _PL_consts.PNCF.START_NAV_POINT_FLAGS)
self.__flags |= (self.__tmp_end_flags
& _PL_consts.PNCF.END_NAV_POINT_FLAGS)
def set_length(self, value):
"""Set curve length.
:param value: curve length
:type value: float
"""
self.__length = value
def set_traffic_rule(self, traffic_rule):
"""Set traffic rule for this curve.
:param traffic_rule: traffic rule string
:type traffic_rule: str
"""
self.__traffic_rule = traffic_rule
def set_semaphore_id(self, semaphore_id):
"""Set sempahore ID to curve.
:param semaphore_id: id of semaphore on this curve
:type semaphore_id: int
:return: True if succesfully set id, False if id value is smaller then 0
:rtype: bool
"""
if semaphore_id >= 0:
self.__sempahore_id = semaphore_id
return True
else:
return False
def add_next_curve(self, curve):
"""Adds next curve.
:param curve: next curve instance
:type curve: Curve
:return: True if next curve is properly set; False if next curves array is already full
:rtype: bool
"""
if len(self.__tmp_next_curves) >= _PL_consts.NAVIGATION_NEXT_PREV_MAX:
lprint(
"D Navigation point next curve overflow on curve with index: %s;",
(self.__index, ))
return False
self.__next_curves[len(self.__tmp_next_curves)] = curve.get_index()
self.__tmp_next_curves.append(curve)
return True
def add_prev_curve(self, curve):
"""Adds previous curve.
:param curve: previous curve instance
:type curve: Curve
:return: True if previous curve is properly set; False if previous curves array is already full
:rtype: bool
"""
if len(self.__tmp_prev_curves) >= _PL_consts.NAVIGATION_NEXT_PREV_MAX:
lprint(
"D Navigation point previous curve overflow on curve with index: %s;",
(self.__index, ))
return False
self.__prev_curves[len(self.__tmp_prev_curves)] = curve.get_index()
self.__tmp_prev_curves.append(curve)
return True
def set_start(self, position, rotation):
"""Set start point of curve
:param position: position represented with tuple (size:3) or Vector
:type position: tuple | Vector
:param rotation: rotation represented with tuple (size:4) or Vector
:type rotation: tuple | Quaternion
"""
self.__bezier.set_start(position, rotation)
def set_end(self, position, rotation):
"""Set end point of curve
:param position: position represented with tuple (size:3) or Vector
:type position: tuple | Vector
:param rotation: rotation represented with tuple (size:4) or Vector
:type rotation: tuple | Quaternion
"""
self.__bezier.set_end(position, rotation)
def get_start(self, cartes_tang=True):
"""Get start point position and rotation tuple.
NOTE: when using cartes, length of the curve must be already calculated
:param cartes_tang: create cartesian representation of SCS curve
:type cartes_tang: bool
:return: tuple of position and rotation (position, rotation)
:rtype: tuple[mathutils.Vector, mathutils.Vector | mathutils.Quaternion]
"""
position, rotation = self.__bezier.get_start()
if cartes_tang:
rotation = rotation * Vector(
(0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF * self.get_length()
return position, rotation
def get_end(self, cartes_tang=True):
"""Get end point position and rotation tuple.
NOTE: when using cartes, length of the curve must be already calculated
:param cartes_tang: create cartesian representation of SCS curve
:type cartes_tang: bool
:return: tuple of position and rotation (position, rotation)
:rtype: tuple[mathutils.Vector, mathutils.Vector | mathutils.Quaternion]
"""
position, rotation = self.__bezier.get_end()
if cartes_tang:
rotation = rotation * Vector(
(0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF * self.get_length()
return position, rotation
def get_length(self):
"""Get length of the curve.
:return: curve length
:rtype: float
"""
return self.__length
def get_index(self):
"""Gets curve index.
:return: curve index
:rtype: int
"""
return self.__index
def get_ui_name(self):
"""Gets UI name of the curve.
:return: ui name
:rtype: str
"""
return self.__tmp_ui_name
def get_output_node_index(self):
"""Gets output node index.
:return: node index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_end_node_i
def get_input_node_index(self):
"""Gets input node index.
:return: node index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_start_node_i
def get_output_lane_index(self):
"""Gets output lane index.
:return: lane index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_end_lane_i
def get_input_lane_index(self):
"""Gets input lane index.
:return: lane index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_start_lane_i
def get_leads_to_nodes(self):
"""Gets current leads to nodes flag value from the curve.
:return: current leads to nodes flag
:rtype: int
"""
return self.__leads_to_nodes
def get_next_prev_curves(self, next_curves):
"""Returns list of next or previus curves depending on parameter.
:param next_curves: True for next curves; False for prev curves
:type next_curves: bool
:return: list of next/previous curves
:rtype: list[Curve]
"""
if next_curves:
return self.__tmp_next_curves
else:
return self.__tmp_prev_curves
def get_all_next_prev_curves(self,
next_curves,
all_next_prev=None,
depth=5):
"""Gets all next or previous curves to given depth. Default 5.
:param next_curves: True for next curves; False for previous curves
:type next_curves: bool
:param all_next_prev: dictionary of already found next/prev curves where key is curve index and value is the curve object itself
:type all_next_prev: dict[int, Curve]
:param depth: depth of searching for common curve (taken from PIP exporter
:type depth: int
:return: all next/prev curves
:rtype: dict[int, Curve]
"""
depth -= 1
if depth <= 0:
return all_next_prev
if all_next_prev is None:
all_next_prev = {}
for next_prev in self.get_next_prev_curves(next_curves):
if next_prev.get_index() not in all_next_prev:
all_next_prev[next_prev.get_index()] = next_prev
all_next_prev = next_prev.get_all_next_prev_curves(
next_curves, all_next_prev, depth)
return all_next_prev
def get_closest_point(self,
point,
iterations=_PL_consts.CURVE_CLOSEST_POINT_ITER):
"""Get's closest point on the curve to given point.
NOTE: length of the curve must be already calculated.
:param point: point to which closest curve point will be calculated
:type point: mathutils.Vector
:param iterations: number of iterastion for halving algorithm
:type iterations: int
:return: curve position coeficient of the closest point (0.0 - 1.0)
:rtype: float
"""
curve_p1, curve_t1 = self.get_start()
curve_p2, curve_t2 = self.get_end()
interval = (0, 0.5, 1)
while iterations > 0:
curr_p = _curve_utils.smooth_curve(curve_p1, curve_t1, curve_p2,
curve_t2, interval[0])
p1_distance = _math_utils.get_distance(curr_p, point)
curr_p = _curve_utils.smooth_curve(curve_p1, curve_t1, curve_p2,
curve_t2, interval[2])
p3_distance = _math_utils.get_distance(curr_p, point)
if p1_distance < p3_distance:
interval = (interval[0], (interval[0] + interval[1]) / 2,
interval[1])
else:
interval = (interval[1], (interval[1] + interval[2]) / 2,
interval[2])
iterations -= 1
return interval[1]
def is_inbound(self):
"""Returns true if this curve is starting curve.
:return: True if curve is inbound; False otherwise
:rtype: bool
"""
return self.__tmp_start_lane_i != -1 and self.__tmp_start_node_i != -1
def is_valid(self):
"""Returns true if curve is valid.
NOTE: make sure calc_leads_to_nodes_forward is called before,
because without calculated leads to nodes we don't know if it's valid or not
:return: True if curve is valid; False otherwise
:rtype: bool
"""
return self.__leads_to_nodes > 0
def calc_leads_to_nodes_forward(self,
ancestor_leads_to_nodes,
already_visited=None):
"""Calculate leads to nodes recursive in forward direction.
NOTE: this should be called only on input nodes once before get_as_section call
:param ancestor_leads_to_nodes: all ancestors curves leads to nodes flags
:type ancestor_leads_to_nodes: int
:param already_visited: curves indices dictionary of already visited curves by this recursion
:type already_visited: dict[int, int]
:return: it's own calculated leads to nodes flag (used in recursion)
:rtype: int
"""
if already_visited is None:
already_visited = {}
# make sure to add self to already visited
already_visited[self.__index] = 1
end_mask = _PL_consts.PNLF.END_NODE_MASK | _PL_consts.PNLF.END_LANE_MASK
start_mask = _PL_consts.PNLF.START_NODE_MASK | _PL_consts.PNLF.START_LANE_MASK
self.__leads_to_nodes |= ancestor_leads_to_nodes & start_mask
if self.__tmp_start_lane_i >= 0 and self.__tmp_start_node_i >= 0:
self.__leads_to_nodes |= 1 << (self.__tmp_start_node_i +
_PL_consts.PNLF.START_NODE_SHIFT)
self.__leads_to_nodes |= 1 << (self.__tmp_start_lane_i +
_PL_consts.PNLF.START_LANE_SHIFT)
if self.__tmp_end_lane_i >= 0 and self.__tmp_end_node_i >= 0:
self.__leads_to_nodes |= 1 << (self.__tmp_end_node_i +
_PL_consts.PNLF.END_NODE_SHIFT)
self.__leads_to_nodes |= 1 << (self.__tmp_end_lane_i +
_PL_consts.PNLF.END_LANE_SHIFT)
# recursively calculate leads to nodes and collect flag values on all middle nodes
for next_c in self.__tmp_next_curves:
# stop following the path if next curve was already visited
if next_c.get_index() not in already_visited:
child_c_leads_to_nodes = next_c.calc_leads_to_nodes_forward(
self.__leads_to_nodes, already_visited)
self.__leads_to_nodes |= child_c_leads_to_nodes & end_mask
else: # as next curve was already visited pickup leads to nodes directly from it
self.__leads_to_nodes |= next_c.get_leads_to_nodes() & end_mask
return self.__leads_to_nodes
def get_as_section(self):
"""Get curve information represented with SectionData structure class.
:return: packed curve as section data
:rtype: io_scs_tools.internals.structure.SectionData
"""
__EMPTY_LINE__ = ("", "")
section = _SectionData("Curve")
section.props.append(("Index", self.__index))
section.props.append(("#", "start locator: %r" % self.__tmp_ui_name))
section.props.append(("Name", self.__name))
section.props.append(__EMPTY_LINE__)
section.props.append(("Flags", self.__flags))
section.props.append(__EMPTY_LINE__)
section.props.append(("LeadsToNodes", self.__leads_to_nodes))
if self.__traffic_rule is not None and self.__traffic_rule != "":
section.props.append(__EMPTY_LINE__)
section.props.append(("TrafficRule", self.__traffic_rule))
if self.__sempahore_id is not None and self.__sempahore_id != -1:
section.props.append(__EMPTY_LINE__)
section.props.append(("SemaphoreID", self.__sempahore_id))
section.props.append(__EMPTY_LINE__)
section.props.append(("NextCurves", ["ii", tuple(self.__next_curves)]))
section.props.append(("PrevCurves", ["ii", tuple(self.__prev_curves)]))
section.props.append(__EMPTY_LINE__)
section.props.append(("Length", ["&", (self.__length, )]))
section.props.append(__EMPTY_LINE__)
section.sections.append(self.__bezier.get_as_section())
return section
class Curve:
__NODE_DIR_LEN_COEF = 0.33333333333
"""Coeficient for calculating curve direction vectors."""
__global_curve_counter = 0
@staticmethod
def reset_counter():
Curve.__global_curve_counter = 0
@staticmethod
def get_global_curve_count():
return Curve.__global_curve_counter
@staticmethod
def prepare_curves(curves_l):
"""Calculates lengths and leads to nodes variables for given curves.
Should be used before calling get_as_section() on curves class instances.
:param curves_l: list of curves to prepare
:type curves_l: collections.Iterable[Curve]
"""
for curve in curves_l:
# first calculate length
pos0, dir0 = curve.get_start(cartes_tang=False)
pos1, dir1 = curve.get_end(cartes_tang=False)
for i in range(4): # converge to actual length with four iterations
curr_dir0 = Vector(dir0 * Vector((0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF * curve.get_length())
curr_dir1 = Vector(dir1 * Vector((0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF * curve.get_length())
new_length = _curve_utils.compute_smooth_curve_length(pos0, curr_dir0, pos1, curr_dir1, _PL_consts.CURVE_MEASURE_STEPS)
curve.set_length(new_length)
# second calculate leads to nodes
if curve.is_inbound():
curve.calc_leads_to_nodes_forward(0)
# report invalid curves
invalid_curves = []
""":type : list[Curve]"""
for curve in curves_l:
if not curve.is_valid():
invalid_curves.append(curve)
if len(invalid_curves) > 0:
msg = ("W Connections with loose ends detected, expect problems in game.\n\t "
"Check connections with starting Navigation Points:\n\t [")
for curve in invalid_curves:
msg += "'" + curve.get_ui_name() + "', "
msg = msg[:-2] + "]"
lprint(msg)
def __eq__(self, other):
return self.__index == other.get_index()
def __init__(self, index, name, ui_name):
"""Constructs curve class representation for PIP file.
NOTE: creating this classes also saves instance to array in static variable,
for calculation of curve length and leads to nodes flag.
So don't make temporary instances of this class.
:param index: index of curve
:type index: int
:param name: name of the curve
:type name: str
:param name: ui name of the curve ('start_locator_name->end_locator_name')
:type name: str
"""
self.__index = index
self.__name = name
self.__flags = 0
self.__leads_to_nodes = 0
self.__traffic_rule = None
self.__sempahore_id = None
self.__next_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__prev_curves = [-1] * _PL_consts.NAVIGATION_NEXT_PREV_MAX
self.__length = 0
self.__bezier = Bezier()
self.__tmp_ui_name = ui_name # name for reporting invalid curves
self.__tmp_start_flags = 0 # temporary store flags for start point
self.__tmp_end_flags = 0 # temporary store flags for end point
self.__tmp_next_curves = [] # temporary store next curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_prev_curves = [] # temporary store prev curve class instances for actual usage in preparation stage
""":type : list[Curve]"""
self.__tmp_start_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_end_lane_i = -1 # index of boundary lane, used for calculating leads to nodes flag
self.__tmp_start_node_i = -1 # index of the node that start of this curve belongs to
self.__tmp_end_node_i = -1 # index of the node that start of this curve belongs to
Curve.__global_curve_counter += 1
def set_output_boundaries(self, scs_props):
"""Sets prefab leaving/output lane and node index.
:param scs_props: scs props from end prefab locator used in this curve
:type scs_props: io_scs_tools.properties.object.ObjectSCSTools
"""
boundary_lane = int(scs_props.locator_prefab_np_boundary)
boundary_node = int(scs_props.locator_prefab_np_boundary_node)
# calculate actual boundary lane index
if boundary_lane > 0:
if _PL_consts.PREFAB_LANE_COUNT_MAX < boundary_lane <= _PL_consts.PREFAB_LANE_COUNT_MAX * 2:
self.__tmp_end_lane_i = boundary_lane - 1 - _PL_consts.PREFAB_LANE_COUNT_MAX
if 0 <= boundary_node < _PL_consts.PREFAB_NODE_COUNT_MAX:
self.__tmp_end_node_i = boundary_node
else:
lprint("D Given input node index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_node))
else:
lprint("D Given output lane boundary index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_lane))
def set_input_boundaries(self, scs_props):
"""Sets prefab entry/input lane and node index.
:param scs_props: scs props from start prefab locator used in this curve
:type scs_props: io_scs_tools.properties.object.ObjectSCSTools
"""
boundary_lane = int(scs_props.locator_prefab_np_boundary)
boundary_node = int(scs_props.locator_prefab_np_boundary_node)
# calculate actual boundary lane index
if boundary_lane > 0:
if boundary_lane <= _PL_consts.PREFAB_LANE_COUNT_MAX:
self.__tmp_start_lane_i = boundary_lane - 1
if 0 <= boundary_node < _PL_consts.PREFAB_NODE_COUNT_MAX:
self.__tmp_start_node_i = boundary_node
else:
lprint("D Given input node index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_node))
else:
lprint("D Given output lane boundary index in curve(index: %s) is invalid: %s. Ignoring it.",
(self.__index, boundary_lane))
def set_flags(self, scs_props, to_start=False):
"""Sets flags to curve start point or curve end point and calculates curve common flag variable.
:param scs_props: scs props from prefab locator used in this curve
:type scs_props: io_scs_tools.properties.object.ObjectSCSTools
:param to_start: if True flags are saved in start point; otherwise flags are saved in end point
:type to_start: bool
"""
flags = 0
# intersection priority
flags |= (int(scs_props.locator_prefab_np_priority_modifier) << _PL_consts.PNCF.PRIORITY_SHIFT) & _PL_consts.PNCF.PRIORITY_MASK
# additive priority
if scs_props.locator_prefab_np_add_priority:
flags |= _PL_consts.PNCF.ADDITIVE_PRIORITY
# limit displacement
if scs_props.locator_prefab_np_limit_displace:
flags |= _PL_consts.PNCF.LIMIT_DISPLACEMENT
# blinker
flags |= int(scs_props.locator_prefab_np_blinker)
# low probability
if scs_props.locator_prefab_np_low_probab:
flags |= _PL_consts.PNCF.LOW_PROBABILITY
# allowed vehicles
flags |= int(scs_props.locator_prefab_np_allowed_veh)
if to_start:
self.__tmp_start_flags = flags
else:
self.__tmp_end_flags = flags
# update common curve flags variable
self.__flags = self.__tmp_start_flags & self.__tmp_end_flags
self.__flags |= (self.__tmp_start_flags & _PL_consts.PNCF.START_NAV_POINT_FLAGS)
self.__flags |= (self.__tmp_end_flags & _PL_consts.PNCF.END_NAV_POINT_FLAGS)
def set_length(self, value):
"""Set curve length.
:param value: curve length
:type value: float
"""
self.__length = value
def set_traffic_rule(self, traffic_rule):
"""Set traffic rule for this curve.
:param traffic_rule: traffic rule string
:type traffic_rule: str
"""
self.__traffic_rule = traffic_rule
def set_semaphore_id(self, semaphore_id):
"""Set sempahore ID to curve.
:param semaphore_id: id of semaphore on this curve
:type semaphore_id: int
:return: True if succesfully set id, False if id value is smaller then 0
:rtype: bool
"""
if semaphore_id >= 0:
self.__sempahore_id = semaphore_id
return True
else:
return False
def add_next_curve(self, curve):
"""Adds next curve.
:param curve: next curve instance
:type curve: Curve
:return: True if next curve is properly set; False if next curves array is already full
:rtype: bool
"""
if len(self.__tmp_next_curves) >= _PL_consts.NAVIGATION_NEXT_PREV_MAX:
lprint("D Navigation point next curve overflow on curve with index: %s;", (self.__index,))
return False
self.__next_curves[len(self.__tmp_next_curves)] = curve.get_index()
self.__tmp_next_curves.append(curve)
return True
def add_prev_curve(self, curve):
"""Adds previous curve.
:param curve: previous curve instance
:type curve: Curve
:return: True if previous curve is properly set; False if previous curves array is already full
:rtype: bool
"""
if len(self.__tmp_prev_curves) >= _PL_consts.NAVIGATION_NEXT_PREV_MAX:
lprint("D Navigation point previous curve overflow on curve with index: %s;", (self.__index,))
return False
self.__prev_curves[len(self.__tmp_prev_curves)] = curve.get_index()
self.__tmp_prev_curves.append(curve)
return True
def set_start(self, position, rotation):
"""Set start point of curve
:param position: position represented with tuple (size:3) or Vector
:type position: tuple | Vector
:param rotation: rotation represented with tuple (size:4) or Vector
:type rotation: tuple | Quaternion
"""
self.__bezier.set_start(position, rotation)
def set_end(self, position, rotation):
"""Set end point of curve
:param position: position represented with tuple (size:3) or Vector
:type position: tuple | Vector
:param rotation: rotation represented with tuple (size:4) or Vector
:type rotation: tuple | Quaternion
"""
self.__bezier.set_end(position, rotation)
def get_start(self, cartes_tang=True):
"""Get start point position and rotation tuple.
NOTE: when using cartes, length of the curve must be already calculated
:param cartes_tang: create cartesian representation of SCS curve
:type cartes_tang: bool
:return: tuple of position and rotation (position, rotation)
:rtype: tuple[mathutils.Vector, mathutils.Vector | mathutils.Quaternion]
"""
position, rotation = self.__bezier.get_start()
if cartes_tang:
rotation = rotation * Vector((0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF * self.get_length()
return position, rotation
def get_end(self, cartes_tang=True):
"""Get end point position and rotation tuple.
NOTE: when using cartes, length of the curve must be already calculated
:param cartes_tang: create cartesian representation of SCS curve
:type cartes_tang: bool
:return: tuple of position and rotation (position, rotation)
:rtype: tuple[mathutils.Vector, mathutils.Vector | mathutils.Quaternion]
"""
position, rotation = self.__bezier.get_end()
if cartes_tang:
rotation = rotation * Vector((0, 0, -1)) * Curve.__NODE_DIR_LEN_COEF * self.get_length()
return position, rotation
def get_length(self):
"""Get length of the curve.
:return: curve length
:rtype: float
"""
return self.__length
def get_index(self):
"""Gets curve index.
:return: curve index
:rtype: int
"""
return self.__index
def get_ui_name(self):
"""Gets UI name of the curve.
:return: ui name
:rtype: str
"""
return self.__tmp_ui_name
def get_output_node_index(self):
"""Gets output node index.
:return: node index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_end_node_i
def get_input_node_index(self):
"""Gets input node index.
:return: node index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_start_node_i
def get_output_lane_index(self):
"""Gets output lane index.
:return: lane index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_end_lane_i
def get_input_lane_index(self):
"""Gets input lane index.
:return: lane index if it's properly set; -1 otherwise
:rtype: int
"""
return self.__tmp_start_lane_i
def get_leads_to_nodes(self):
"""Gets current leads to nodes flag value from the curve.
:return: current leads to nodes flag
:rtype: int
"""
return self.__leads_to_nodes
def get_next_prev_curves(self, next_curves):
"""Returns list of next or previus curves depending on parameter.
:param next_curves: True for next curves; False for prev curves
:type next_curves: bool
:return: list of next/previous curves
:rtype: list[Curve]
"""
if next_curves:
return self.__tmp_next_curves
else:
return self.__tmp_prev_curves
def get_all_next_prev_curves(self, next_curves, all_next_prev=None, depth=5):
"""Gets all next or previous curves to given depth. Default 5.
:param next_curves: True for next curves; False for previous curves
:type next_curves: bool
:param all_next_prev: dictionary of already found next/prev curves where key is curve index and value is the curve object itself
:type all_next_prev: dict[int, Curve]
:param depth: depth of searching for common curve (taken from PIP exporter
:type depth: int
:return: all next/prev curves
:rtype: dict[int, Curve]
"""
depth -= 1
if depth <= 0:
return all_next_prev
if all_next_prev is None:
all_next_prev = {}
for next_prev in self.get_next_prev_curves(next_curves):
if next_prev.get_index() not in all_next_prev:
all_next_prev[next_prev.get_index()] = next_prev
all_next_prev = next_prev.get_all_next_prev_curves(next_curves, all_next_prev, depth)
return all_next_prev
def get_closest_point(self, point, iterations=_PL_consts.CURVE_CLOSEST_POINT_ITER):
"""Get's closest point on the curve to given point.
NOTE: length of the curve must be already calculated.
:param point: point to which closest curve point will be calculated
:type point: mathutils.Vector
:param iterations: number of iterastion for halving algorithm
:type iterations: int
:return: curve position coeficient of the closest point (0.0 - 1.0)
:rtype: float
"""
curve_p1, curve_t1 = self.get_start()
curve_p2, curve_t2 = self.get_end()
interval = (0, 0.5, 1)
while iterations > 0:
curr_p = _curve_utils.smooth_curve(curve_p1, curve_t1, curve_p2, curve_t2, interval[0])
p1_distance = _math_utils.get_distance(curr_p, point)
curr_p = _curve_utils.smooth_curve(curve_p1, curve_t1, curve_p2, curve_t2, interval[2])
p3_distance = _math_utils.get_distance(curr_p, point)
if p1_distance < p3_distance:
interval = (interval[0], (interval[0] + interval[1]) / 2, interval[1])
else:
interval = (interval[1], (interval[1] + interval[2]) / 2, interval[2])
iterations -= 1
return interval[1]
def is_inbound(self):
"""Returns true if this curve is starting curve.
:return: True if curve is inbound; False otherwise
:rtype: bool
"""
return self.__tmp_start_lane_i != -1 and self.__tmp_start_node_i != -1
def is_valid(self):
"""Returns true if curve is valid.
NOTE: make sure calc_leads_to_nodes_forward is called before,
because without calculated leads to nodes we don't know if it's valid or not
:return: True if curve is valid; False otherwise
:rtype: bool
"""
return self.__leads_to_nodes > 0
def calc_leads_to_nodes_forward(self, ancestor_leads_to_nodes, already_visited=None):
"""Calculate leads to nodes recursive in forward direction.
NOTE: this should be called only on input nodes once before get_as_section call
:param ancestor_leads_to_nodes: all ancestors curves leads to nodes flags
:type ancestor_leads_to_nodes: int
:param already_visited: curves indices dictionary of already visited curves by this recursion
:type already_visited: dict[int, int]
:return: it's own calculated leads to nodes flag (used in recursion)
:rtype: int
"""
if already_visited is None:
already_visited = {}
# make sure to add self to already visited
already_visited[self.__index] = 1
end_mask = _PL_consts.PNLF.END_NODE_MASK | _PL_consts.PNLF.END_LANE_MASK
start_mask = _PL_consts.PNLF.START_NODE_MASK | _PL_consts.PNLF.START_LANE_MASK
self.__leads_to_nodes |= ancestor_leads_to_nodes & start_mask
if self.__tmp_start_lane_i >= 0 and self.__tmp_start_node_i >= 0:
self.__leads_to_nodes |= 1 << (self.__tmp_start_node_i + _PL_consts.PNLF.START_NODE_SHIFT)
self.__leads_to_nodes |= 1 << (self.__tmp_start_lane_i + _PL_consts.PNLF.START_LANE_SHIFT)
if self.__tmp_end_lane_i >= 0 and self.__tmp_end_node_i >= 0:
self.__leads_to_nodes |= 1 << (self.__tmp_end_node_i + _PL_consts.PNLF.END_NODE_SHIFT)
self.__leads_to_nodes |= 1 << (self.__tmp_end_lane_i + _PL_consts.PNLF.END_LANE_SHIFT)
# recursively calculate leads to nodes and collect flag values on all middle nodes
for next_c in self.__tmp_next_curves:
# stop following the path if next curve was already visited
if next_c.get_index() not in already_visited:
child_c_leads_to_nodes = next_c.calc_leads_to_nodes_forward(self.__leads_to_nodes, already_visited)
self.__leads_to_nodes |= child_c_leads_to_nodes & end_mask
else: # as next curve was already visited pickup leads to nodes directly from it
self.__leads_to_nodes |= next_c.get_leads_to_nodes() & end_mask
return self.__leads_to_nodes
def get_as_section(self):
"""Get curve information represented with SectionData structure class.
:return: packed curve as section data
:rtype: io_scs_tools.internals.structure.SectionData
"""
__EMPTY_LINE__ = ("", "")
section = _SectionData("Curve")
section.props.append(("Index", self.__index))
section.props.append(("#", "start locator: %r" % self.__tmp_ui_name))
section.props.append(("Name", self.__name))
section.props.append(__EMPTY_LINE__)
section.props.append(("Flags", self.__flags))
section.props.append(__EMPTY_LINE__)
section.props.append(("LeadsToNodes", self.__leads_to_nodes))
if self.__traffic_rule is not None and self.__traffic_rule != "":
section.props.append(__EMPTY_LINE__)
section.props.append(("TrafficRule", self.__traffic_rule))
if self.__sempahore_id is not None and self.__sempahore_id != -1:
section.props.append(__EMPTY_LINE__)
section.props.append(("SemaphoreID", self.__sempahore_id))
section.props.append(__EMPTY_LINE__)
section.props.append(("NextCurves", ["ii", tuple(self.__next_curves)]))
section.props.append(("PrevCurves", ["ii", tuple(self.__prev_curves)]))
section.props.append(__EMPTY_LINE__)
section.props.append(("Length", ["&", (self.__length,)]))
section.props.append(__EMPTY_LINE__)
section.sections.append(self.__bezier.get_as_section())
return section