diff --git a/Editor/Autoware/ADASGoCurbEditor.cs b/Editor/Autoware/ADASGoCurbEditor.cs index f4d0cfe..450af70 100644 --- a/Editor/Autoware/ADASGoCurbEditor.cs +++ b/Editor/Autoware/ADASGoCurbEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/ADASGoLaneEditor.cs b/Editor/Autoware/ADASGoLaneEditor.cs index 2cee28c..08c7826 100644 --- a/Editor/Autoware/ADASGoLaneEditor.cs +++ b/Editor/Autoware/ADASGoLaneEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -37,6 +37,7 @@ protected override void OnEnable() base.OnEnable(); bLane = serializedObject.FindProperty(GetMemberName((ADASGoLane t) => t.bLane)); fLane = serializedObject.FindProperty(GetMemberName((ADASGoLane t) => t.fLane)); + Target.OnEditorEnable(); } protected override void AfterDefaultInspectorDraw() diff --git a/Editor/Autoware/ADASGoLineEditor.cs b/Editor/Autoware/ADASGoLineEditor.cs index b0d683e..e47c08f 100644 --- a/Editor/Autoware/ADASGoLineEditor.cs +++ b/Editor/Autoware/ADASGoLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/ADASGoRoadEdgeEditor.cs b/Editor/Autoware/ADASGoRoadEdgeEditor.cs index db78f45..7e3cb85 100644 --- a/Editor/Autoware/ADASGoRoadEdgeEditor.cs +++ b/Editor/Autoware/ADASGoRoadEdgeEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/ADASGoSlicesLaneEditor.cs b/Editor/Autoware/ADASGoSlicesLaneEditor.cs index ba93afc..fb2a8e1 100644 --- a/Editor/Autoware/ADASGoSlicesLaneEditor.cs +++ b/Editor/Autoware/ADASGoSlicesLaneEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -36,6 +36,12 @@ protected override void OnEnable() base.OnEnable(); bLane = serializedObject.FindProperty(GetMemberName((ADASGoSlicesLane t) => t.bLane)); fLane = serializedObject.FindProperty(GetMemberName((ADASGoSlicesLane t) => t.fLane)); + (Target as ADASGoSlicesLane).OnEnableEditor(); + } + protected override void BeforeDefaultInspectorDraw() + { + base.BeforeDefaultInspectorDraw(); + DrawBFLane(); } private void DrawBFLane() { diff --git a/Editor/Autoware/ADASGoSlicesRoadEdgeEditor.cs b/Editor/Autoware/ADASGoSlicesRoadEdgeEditor.cs index 36a22ec..f9b5af8 100644 --- a/Editor/Autoware/ADASGoSlicesRoadEdgeEditor.cs +++ b/Editor/Autoware/ADASGoSlicesRoadEdgeEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/ADASGoSlicesStopLineEditor.cs b/Editor/Autoware/ADASGoSlicesStopLineEditor.cs index ada7305..dc37770 100644 --- a/Editor/Autoware/ADASGoSlicesStopLineEditor.cs +++ b/Editor/Autoware/ADASGoSlicesStopLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/ADASGoSlicesWhiteLineEditor.cs b/Editor/Autoware/ADASGoSlicesWhiteLineEditor.cs index e79dbe8..d5e8373 100644 --- a/Editor/Autoware/ADASGoSlicesWhiteLineEditor.cs +++ b/Editor/Autoware/ADASGoSlicesWhiteLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -25,6 +25,11 @@ namespace AutoCore.MapToolbox.Editor.Autoware [CustomEditor(typeof(ADASGoSlicesWhiteLine))] class ADASGoSlicesWhiteLineEditor : BrokenLineRendererEditor { + protected override void OnEnable() + { + base.OnEnable(); + (Target as ADASGoSlicesWhiteLine).OnEnableEditor(); + } public override void OnInspectorGUI() { (target as ADASGoSlicesWhiteLine).UpdateRenderer(); diff --git a/Editor/Autoware/ADASGoStopLineEditor.cs b/Editor/Autoware/ADASGoStopLineEditor.cs index 7353353..69b0e8f 100644 --- a/Editor/Autoware/ADASGoStopLineEditor.cs +++ b/Editor/Autoware/ADASGoStopLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -19,10 +19,18 @@ using AutoCore.MapToolbox.Autoware; using UnityEditor; +using UnityEngine; namespace AutoCore.MapToolbox.Editor.Autoware { [CanEditMultipleObjects] [CustomEditor(typeof(ADASGoStopLine))] - class ADASGoStopLineEditor : ADASGoLineEditor { } + class ADASGoStopLineEditor : ADASGoLineEditor + { + public override void OnInspectorGUI() + { + base.OnInspectorGUI(); + ADASGoStopLine.ShowLinkedSignal = GUILayout.Toggle(ADASGoStopLine.ShowLinkedSignal, "Linked Signal"); + } + } } \ No newline at end of file diff --git a/Editor/Autoware/ADASGoWhiteLineEditor.cs b/Editor/Autoware/ADASGoWhiteLineEditor.cs index 83aebd6..035d9a5 100644 --- a/Editor/Autoware/ADASGoWhiteLineEditor.cs +++ b/Editor/Autoware/ADASGoWhiteLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/AutowareADASMapEditor.cs b/Editor/Autoware/AutowareADASMapEditor.cs index 7f92d61..af3d2bd 100644 --- a/Editor/Autoware/AutowareADASMapEditor.cs +++ b/Editor/Autoware/AutowareADASMapEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/CollectionADASGoLaneEditor.cs b/Editor/Autoware/CollectionADASGoLaneEditor.cs index e43c590..cdfc34d 100644 --- a/Editor/Autoware/CollectionADASGoLaneEditor.cs +++ b/Editor/Autoware/CollectionADASGoLaneEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -34,6 +34,11 @@ public override void OnInspectorGUI() { (target as CollectionADASLane).AddLane(SceneView.lastActiveSceneView.pivot); } + GUI.color = Color.white; + if (GUILayout.Button("Find Ref")) + { + (target as CollectionADASLane).FindRef(); + } } } } \ No newline at end of file diff --git a/Editor/Autoware/CollectionADASGoRoadEdgeEditor.cs b/Editor/Autoware/CollectionADASGoRoadEdgeEditor.cs index f4f9660..53452d1 100644 --- a/Editor/Autoware/CollectionADASGoRoadEdgeEditor.cs +++ b/Editor/Autoware/CollectionADASGoRoadEdgeEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/CollectionADASGoSignalEditor.cs b/Editor/Autoware/CollectionADASGoSignalEditor.cs index 1b589fc..7e5709f 100644 --- a/Editor/Autoware/CollectionADASGoSignalEditor.cs +++ b/Editor/Autoware/CollectionADASGoSignalEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/CollectionADASGoStopLineEditor.cs b/Editor/Autoware/CollectionADASGoStopLineEditor.cs index 8af59c3..1c8a535 100644 --- a/Editor/Autoware/CollectionADASGoStopLineEditor.cs +++ b/Editor/Autoware/CollectionADASGoStopLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/CollectionADASGoWhiteLineEditor.cs b/Editor/Autoware/CollectionADASGoWhiteLineEditor.cs index de33266..07c8cbf 100644 --- a/Editor/Autoware/CollectionADASGoWhiteLineEditor.cs +++ b/Editor/Autoware/CollectionADASGoWhiteLineEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Autoware/Const.cs b/Editor/Autoware/Const.cs index 9de3d12..c72ad24 100644 --- a/Editor/Autoware/Const.cs +++ b/Editor/Autoware/Const.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/BrokenLineRendererEditor.cs b/Editor/BrokenLineRendererEditor.cs index 39702bd..b45c333 100644 --- a/Editor/BrokenLineRendererEditor.cs +++ b/Editor/BrokenLineRendererEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -34,8 +34,8 @@ protected override void OnEnable() protected override void BeforeDefaultInspectorDraw() { base.BeforeDefaultInspectorDraw(); - Target.From = EditorGUILayout.Vector3Field(GetMemberName((BrokenLineRenderer t) => t.From), Target.From); - Target.To = EditorGUILayout.Vector3Field(GetMemberName((BrokenLineRenderer t) => t.To), Target.To); + Target.LocalFrom = EditorGUILayout.Vector3Field(GetMemberName((BrokenLineRenderer t) => t.LocalFrom), Target.LocalFrom); + Target.LocalTo = EditorGUILayout.Vector3Field(GetMemberName((BrokenLineRenderer t) => t.LocalTo), Target.LocalTo); } protected override void AfterDefaultInspectorDraw() { @@ -50,8 +50,20 @@ protected override void AfterDefaultInspectorDraw() protected virtual void OnSceneGUI() { Tools.current = Tool.None; - Target.From = Handles.PositionHandle(Target.From, Quaternion.identity); - Target.To = Handles.PositionHandle(Target.To, Quaternion.identity); + var oldFrom = Target.From; + var oldTo = Target.To; + var newFrom = Handles.PositionHandle(oldFrom, Quaternion.identity); + var newTo = Handles.PositionHandle(oldTo, Quaternion.identity); + if (newFrom != oldFrom) + { + Target.From = newFrom; + Repaint(); + } + else if (newTo != oldTo) + { + Target.To = newTo; + Repaint(); + } } } } \ No newline at end of file diff --git a/Editor/Editor.cs b/Editor/Editor.cs index 6e4f248..f64e7b6 100644 --- a/Editor/Editor.cs +++ b/Editor/Editor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/LineSegmentEditor.cs b/Editor/LineSegmentEditor.cs index 35e6286..d6d079b 100644 --- a/Editor/LineSegmentEditor.cs +++ b/Editor/LineSegmentEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -26,7 +26,8 @@ namespace AutoCore.MapToolbox.Editor [CanEditMultipleObjects] class LineSegmentEditor : SiblingChildEditor where T : LineSegment { - bool BezierEditing { get; set; } = false; + static bool ArrowDisplay { get; set; } + bool Subdivision { get; set; } = false; Vector3 StartTangent { get; set; } Vector3 EndTangent { get; set; } protected override void AfterDefaultInspectorDraw() @@ -34,9 +35,9 @@ protected override void AfterDefaultInspectorDraw() base.AfterDefaultInspectorDraw(); if (Targets != null && Targets.Length == 1) { - Target.From = EditorGUILayout.Vector3Field(GetMemberName((T t) => t.From), Target.From); - Target.To = EditorGUILayout.Vector3Field(GetMemberName((T t) => t.To), Target.To); - if (BezierEditing) + Target.LocalFrom = EditorGUILayout.Vector3Field(GetMemberName((T t) => t.LocalFrom), Target.LocalFrom); + Target.LocalTo = EditorGUILayout.Vector3Field(GetMemberName((T t) => t.LocalTo), Target.LocalTo); + if (Subdivision) { StartTangent = EditorGUILayout.Vector3Field(GetMemberName((LineSegmentEditor t) => t.StartTangent), StartTangent); EndTangent = EditorGUILayout.Vector3Field(GetMemberName((LineSegmentEditor t) => t.EndTangent), EndTangent); @@ -51,7 +52,7 @@ public override void OnInspectorGUI() if (Targets.Length == 1) { InspectorGUIAddButton(); - BezierEditorGUI(); + SubdivisionEditorGUI(); } else { @@ -66,33 +67,43 @@ public override void OnInspectorGUI() } } InspectorGUIRemoveButton(); + ArrowDisplay = GUILayout.Toggle(ArrowDisplay, "Direction Arrow"); } - private void BezierEditorGUI() + private void SubdivisionEditorGUI() { - if (BezierEditing) + if (Subdivision) { GUILayout.BeginHorizontal(); GUI.color = Color.yellow; - if (GUILayout.Button("Apply")) + if (GUILayout.Button("Normal way")) { - BezierEditing = false; - Target.ApplyBezierPoints(Handles.MakeBezierPoints(Target.from, Target.to, StartTangent, EndTangent, (int)(Target.from - Target.to).magnitude * 10)); + Subdivision = false; + Target.Subdivision(StartTangent, EndTangent, 1); + } + else if (GUILayout.Button("High Way")) + { + Subdivision = false; + Target.Subdivision(StartTangent, EndTangent, 5); } GUI.color = Color.white; if (GUILayout.Button("Cancel")) { - BezierEditing = false; + Subdivision = false; } GUILayout.EndHorizontal(); } else { - if (GUILayout.Button("Bezier Edit")) + if (GUILayout.Button("Subdivision")) + { + Subdivision = true; + StartTangent = Target.From + (Target.To - Target.From) / 4; + EndTangent = Target.From + 3 * (Target.To - Target.From) / 4; + } + else if (GUILayout.Button("Auto Subdivision")) { - BezierEditing = true; - StartTangent = Target.from + (Target.to - Target.from) / 4; - EndTangent = Target.from + 3 * (Target.to - Target.from) / 4; + Target.AutoSubdivision(); } } } @@ -100,18 +111,45 @@ private void BezierEditorGUI() protected virtual void OnSceneGUI() { Tools.current = Tool.None; - if (BezierEditing) + if (Subdivision) { - StartTangent = Handles.PositionHandle(StartTangent, Quaternion.identity); - EndTangent = Handles.PositionHandle(EndTangent, Quaternion.identity); - Handles.DrawBezier(Target.from, Target.to, StartTangent, EndTangent, Color.green, null, (Target.from - Target.to).magnitude / 10); + var oldStartTangent = StartTangent; + var oldEndTangent = EndTangent; + var newStartTangent = Handles.PositionHandle(StartTangent, Quaternion.identity); + var newEndTangent = Handles.PositionHandle(EndTangent, Quaternion.identity); + if (oldStartTangent != newStartTangent) + { + StartTangent = newStartTangent; + Repaint(); + } + else if (oldEndTangent != newEndTangent) + { + EndTangent = newEndTangent; + Repaint(); + } + Handles.DrawBezier(Target.From, Target.To, StartTangent, EndTangent, Color.green, null, (Target.From - Target.To).magnitude / 10); } else { - Handles.color = Color.cyan; - Handles.ArrowHandleCap(0, Target.From, Quaternion.FromToRotation(Vector3.forward, Target.To - Target.From), (Target.To - Target.From).magnitude, EventType.Repaint); - Target.From = Handles.PositionHandle(Target.From, Quaternion.identity); - Target.To = Handles.PositionHandle(Target.To, Quaternion.identity); + if (ArrowDisplay) + { + Handles.color = Color.cyan; + Handles.ArrowHandleCap(0, Target.From, Quaternion.FromToRotation(Vector3.forward, Target.To - Target.From), (Target.To - Target.From).magnitude, EventType.Repaint); + } + var oldFrom = Target.From; + var oldTo = Target.To; + var newFrom = Handles.PositionHandle(oldFrom, Quaternion.identity); + var newTo = Handles.PositionHandle(oldTo, Quaternion.identity); + if (newFrom != oldFrom) + { + Target.From = newFrom; + Repaint(); + } + else if (newTo != oldTo) + { + Target.To = newTo; + Repaint(); + } } } } diff --git a/Editor/PCL/IntensitySampleRangeEditor.cs b/Editor/PCL/IntensitySampleRangeEditor.cs index c488321..01ad94e 100644 --- a/Editor/PCL/IntensitySampleRangeEditor.cs +++ b/Editor/PCL/IntensitySampleRangeEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/PCL/NativePluginEditorDebug.cs b/Editor/PCL/NativePluginEditorDebug.cs index daecc73..250b0b4 100644 --- a/Editor/PCL/NativePluginEditorDebug.cs +++ b/Editor/PCL/NativePluginEditorDebug.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/PCL/PointCloudImporter.cs b/Editor/PCL/PointCloudImporter.cs index 51caddc..09990dc 100644 --- a/Editor/PCL/PointCloudImporter.cs +++ b/Editor/PCL/PointCloudImporter.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -19,6 +19,7 @@ using AutoCore.MapToolbox.PCL; using System.IO; +using UnityEditor; using UnityEditor.Experimental.AssetImporters; using UnityEngine; @@ -42,6 +43,7 @@ public override void OnImportAsset(AssetImportContext ctx) colored.Dispose(); } } + AssetDatabase.Refresh(); } private void SaveMesh(AssetImportContext ctx, Mesh mesh) { diff --git a/Editor/SiblingChildEditor.cs b/Editor/SiblingChildEditor.cs index 7d48e8a..f25857b 100644 --- a/Editor/SiblingChildEditor.cs +++ b/Editor/SiblingChildEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/SiblingParentEditor.cs b/Editor/SiblingParentEditor.cs index 032aa08..234fbd5 100644 --- a/Editor/SiblingParentEditor.cs +++ b/Editor/SiblingParentEditor.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Editor/Utils.cs b/Editor/Utils.cs index 67c9108..f0f4563 100644 --- a/Editor/Utils.cs +++ b/Editor/Utils.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/README.md b/README.md index 7ce69f3..7c3349a 100644 --- a/README.md +++ b/README.md @@ -2,50 +2,23 @@ [![GitHub license](https://img.shields.io/github/license/autocore-ai/AutowareUnityTools.svg)](https://github.com/autocore-ai/AutowareUnityTools) [![GitHub release](https://img.shields.io/github/release/autocore-ai/AutowareUnityTools.svg)](https://github.com/autocore-ai/AutowareUnityTools/releases) -[![Unity version](https://img.shields.io/badge/unity-2019.1%2B-green.svg)](https://unity3d.com/unity/whats-new/2019.1.0) +[![Unity version](https://img.shields.io/badge/unity-2019.3%2B-green.svg)](https://unity3d.com/unity/whats-new/2019.3.0) ## Description This a unity plugin helps user create vector maps for [Autoware](https://github.com/autowarefoundation/autoware) efficiently. -## Features - -* pcd import - * binary pcd - * ✔️ x y z - * ✔️ x y z color - * ✔️ x y z intensity - * ✔️ x y z intensity ring -* vector maps export - * Autoware - * ✔️ lane merge and branch - * ✔️ lane speed - * ✔️ white line - * ✔️ stop line - * ✔️ traffic signal - * ✔️ road edge - * ✔️ curb - -## Roadmap - -* export zone type for Autoware -* add support to Lanelets - ## Requirements - -* [Unity 2019.1](https://store.unity.com/download?ref=personal) -* [Git](https://www.git-scm.com/download/) - -## How to compile - -* Create your new project in Unity 2019.1 -* Add two lines below to Packages/manifest.json dependencies - -``` json -"com.autocore.map-toolbox": "https://github.com/autocore-ai/MapToolbox.git", -"com.nition.unity-octree": "https://github.com/autocore-ai/UnityOctree.git#upm", +* Windows 10 +* [Unity 2019.3.0](https://store.unity.com/download?ref=personal) or above +* [Git](https://www.git-scm.com/download/) with [LFS](https://git-lfs.github.com/) + +## How to use +* Create your new project in Unity 2019.3 +* In unity editor menu bar, click Window -> Package Manager -> ➕ -> Add package from git URL... +* Paste this git URL in text field ``` -## User manual -* please check video. docs will be provided soon. - -[![Watch the video](https://img.youtube.com/vi/WTRHPs8pN04/0.jpg)](https://youtu.be/WTRHPs8pN04) +https://github.com/autocore-ai/MapToolbox.git +``` +* Import PCD by right click in Project Panel and Import New Asset... +* Create new map by right click in Hierarchy, Autoware -> AutowareADASMap \ No newline at end of file diff --git a/Runtime/AssemblyInfo.cs b/Runtime/AssemblyInfo.cs index 9299947..c00506f 100644 --- a/Runtime/AssemblyInfo.cs +++ b/Runtime/AssemblyInfo.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASCollection/CollectionADASLane.cs b/Runtime/Autoware/ADASCollection/CollectionADASLane.cs index b366f02..e74bfe1 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASLane.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASLane.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,6 +17,7 @@ #endregion +using System; using System.Linq; using UnityEngine; @@ -26,24 +27,32 @@ class CollectionADASLane : CollectionADASMapGo { public override void Csv2Go() { - foreach (var group in ADASMapLane.List.GroupBy(_ => _.StartLane)) + foreach (var item in ADASMapLane.List.GroupBy(_ => _.FirstLane)) { - foreach (var item in group.GroupBy(_ => _.FirstLane)) - { - var slices = new GameObject().AddComponent(); - slices.transform.SetParent(transform); - slices.CollectionLane = this; - slices.Lanes = item; - } + var slices = new GameObject().AddComponent(); + slices.transform.SetParent(transform); + slices.CollectionLane = this; + slices.Lanes = item; } foreach (var item in GetComponentsInChildren()) { - item.UpdateRef(); + item.SetRef(); item.UpdateRenderer(); } } + internal void FindRef() + { + foreach (var item in GetComponentsInChildren()) + { + item.From = item.From; + item.To = item.To; + item.OnEnableEditor(); + } + } public override void Go2Csv() { + int id = 1; + Dic = GetComponentsInChildren().ToDictionary(_ => id++); foreach (var item in GetComponentsInChildren()) { item.BuildData(); @@ -62,8 +71,11 @@ public ADASGoLane AddLane(Vector3 position) var go = new GameObject(typeof(ADASGoLane).Name); go.transform.SetParent(slices.transform); var lane = go.AddComponent(); - lane.From = position; - lane.To = position; + lane.LocalFrom = position; + lane.LocalTo = position; +#if UNITY_EDITOR + UnityEditor.Selection.activeGameObject = slices; +#endif return lane; } } diff --git a/Runtime/Autoware/ADASCollection/CollectionADASMapGo.cs b/Runtime/Autoware/ADASCollection/CollectionADASMapGo.cs index d307e72..fb0f7f3 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASMapGo.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASMapGo.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -43,7 +43,7 @@ public virtual void Go2Csv() { } } class CollectionADASMapGo : CollectionADASMapGo, IEnumerable> where T : IADASMapGameObject { - Dictionary Dic { get; set; } = new Dictionary(); + protected Dictionary Dic { get; set; } = new Dictionary(); public T this[int index] { get diff --git a/Runtime/Autoware/ADASCollection/CollectionADASPole.cs b/Runtime/Autoware/ADASCollection/CollectionADASPole.cs index 06eef01..deffc17 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASPole.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASPole.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASCollection/CollectionADASRoadEdge.cs b/Runtime/Autoware/ADASCollection/CollectionADASRoadEdge.cs index 2b6d6de..b5d023d 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASRoadEdge.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASRoadEdge.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -54,7 +54,11 @@ public ADASGoRoadEdge AddRoadEdge(Vector3 position) go.transform.SetParent(slices.transform); go.transform.position = position; var roadEdge = go.AddComponent(); - roadEdge.To = position; + roadEdge.LocalFrom = position; + roadEdge.LocalTo = position; +#if UNITY_EDITOR + UnityEditor.Selection.activeGameObject = slices; +#endif return roadEdge; } } diff --git a/Runtime/Autoware/ADASCollection/CollectionADASRoadSign.cs b/Runtime/Autoware/ADASCollection/CollectionADASRoadSign.cs index 264486a..6ecd3fb 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASRoadSign.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASRoadSign.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASCollection/CollectionADASSignal.cs b/Runtime/Autoware/ADASCollection/CollectionADASSignal.cs index 3cae474..227263d 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASSignal.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASSignal.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASCollection/CollectionADASStopLine.cs b/Runtime/Autoware/ADASCollection/CollectionADASStopLine.cs index d64f5c0..50f7499 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASStopLine.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASStopLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -57,7 +57,11 @@ public ADASGoStopLine AddStopLine(Vector3 position) go.transform.SetParent(slices.transform); go.transform.position = position; var stopLine = go.AddComponent(); - stopLine.To = position; + stopLine.LocalFrom = position; + stopLine.LocalTo = position; +#if UNITY_EDITOR + UnityEditor.Selection.activeGameObject = slices; +#endif return stopLine; } } diff --git a/Runtime/Autoware/ADASCollection/CollectionADASWhiteLine.cs b/Runtime/Autoware/ADASCollection/CollectionADASWhiteLine.cs index 834c3fe..940fa7d 100644 --- a/Runtime/Autoware/ADASCollection/CollectionADASWhiteLine.cs +++ b/Runtime/Autoware/ADASCollection/CollectionADASWhiteLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -54,7 +54,11 @@ public ADASGoWhiteLine AddWhiteLine(Vector3 position) go.transform.SetParent(slices.transform); go.transform.position = position; var whiteLine = go.AddComponent(); - whiteLine.To = position; + whiteLine.LocalFrom = position; + whiteLine.LocalTo = position; +#if UNITY_EDITOR + UnityEditor.Selection.activeGameObject = slices; +#endif return whiteLine; } } diff --git a/Runtime/Autoware/ADASGo/ADASGoArea.cs b/Runtime/Autoware/ADASGo/ADASGoArea.cs index 7423112..c75bc92 100644 --- a/Runtime/Autoware/ADASGo/ADASGoArea.cs +++ b/Runtime/Autoware/ADASGo/ADASGoArea.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoCrossWalk.cs b/Runtime/Autoware/ADASGo/ADASGoCrossWalk.cs index 2698778..dd792f5 100644 --- a/Runtime/Autoware/ADASGo/ADASGoCrossWalk.cs +++ b/Runtime/Autoware/ADASGo/ADASGoCrossWalk.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoCurb.cs b/Runtime/Autoware/ADASGo/ADASGoCurb.cs index b3ed3dd..15e8111 100644 --- a/Runtime/Autoware/ADASGo/ADASGoCurb.cs +++ b/Runtime/Autoware/ADASGo/ADASGoCurb.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoLane.cs b/Runtime/Autoware/ADASGo/ADASGoLane.cs index 0d59a89..fa9e65b 100644 --- a/Runtime/Autoware/ADASGo/ADASGoLane.cs +++ b/Runtime/Autoware/ADASGo/ADASGoLane.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,7 +17,9 @@ #endregion +using System; using System.Collections.Generic; +using System.Linq; using UnityEngine; namespace AutoCore.MapToolbox.Autoware @@ -31,50 +33,63 @@ public ADASGoSlicesLane Slices { get { - if (slices) + if (slices == null) { slices = GetComponentInParent(); } return slices; } } - public CollectionADASLane CollectionLane { get; set; } - [HideInInspector] public ADASMapLane.Jct jct; - [HideInInspector] public List bLane; - [HideInInspector] public List fLane; - public int lCnt; - public int lno; - public ADASMapLane.Type laneType; - public int limitVel; - public int refVel; - ADASMapLane data; + CollectionADASLane collectionLane; + public CollectionADASLane CollectionLane + { + set => collectionLane = value; + get + { + if (collectionLane == null) + { + collectionLane = GetComponentInParent().GetComponentInChildren(); + } + return collectionLane; + } + } + public ADASMapLane.Jct jct = ADASMapLane.Jct.NORMAL; + [HideInInspector] public List bLane = new List(); + [HideInInspector] public List fLane = new List(); + public int lCnt = 1; + public int lno = 1; + public ADASMapLane.Type laneType = ADASMapLane.Type.STRAIGHT; + public int limitVel = 20; + public int refVel = 20; public static float tempDist; + public const float minDistance = 0.2f; + public ADASMapLane lane; public ADASMapLane Lane { set { - data = value; - if (data != null) - { - CollectionLane?.Add(data.ID, this); - name = data.ID.ToString(); - from = data.BNode.Point.Position; - to = data.FNode.Point.Position; - jct = data.JCT; - lCnt = data.LCnt; - lno = data.Lno; - laneType = data.LaneType; - limitVel = data.LimitVel; - refVel = data.RefVel; - transform.position = (from + to) / 2; + lane = value; + if (lane != null) + { + CollectionLane?.Add(lane.ID, this); + name = lane.ID.ToString(); + From = lane.BNode.Point.Position; + To = lane.FNode.Point.Position; + jct = lane.JCT; + lCnt = lane.LCnt; + lno = lane.Lno; + laneType = lane.LaneType; + limitVel = lane.LimitVel; + refVel = lane.RefVel; + transform.position = (From + To) / 2; } } get { - if (data == null) + if (lane == null) { - var point = new ADASMapPoint { Position = from }; - data = new ADASMapLane + var point = new ADASMapPoint { Position = From }; + lane = new ADASMapLane { DTLane = new ADASMapDTLane { @@ -85,33 +100,101 @@ public ADASMapLane Lane { Point = point }, + JCT = jct, LCnt = lCnt, Lno = lno, LaneType = laneType, LimitVel = limitVel, RefVel = refVel }; - tempDist += (to - from).magnitude; + tempDist += (To - From).magnitude; if (last != null) { - last.GetComponent().data.FNode = data.BNode; + last.GetComponent().lane.FNode = lane.BNode; } if (next == null) { - data.FNode = new ADASMapNode + lane.FNode = new ADASMapNode { - Point = new ADASMapPoint { Position = to } + Point = new ADASMapPoint { Position = To } }; } } - return data; + return lane; } } + internal void OnEditorEnable() + { + } + internal override void AutoSubdivision() + { + base.AutoSubdivision(); + ADASGoLane refLast = last?.GetComponent(); + if (refLast == null && Slices.bLane.Count > 0) + { + var lastSlices = Slices.bLane.First(); + if (lastSlices != null) + { + var lastLanes = lastSlices.GetComponentsInChildren(); + if (lastLanes.Length > 0) + { + refLast = lastLanes.Last(); + } + } + } + ADASGoLane refNext = next?.GetComponent(); + if (refNext == null && Slices.fLane.Count > 0) + { + var nextSlices = Slices.fLane.First(); + if (nextSlices != null) + { + var nextLanes = nextSlices.GetComponentsInChildren(); + if (nextLanes.Length > 0) + { + refNext = nextLanes.First(); + } + } + } + if (refLast && refNext) + { + Vector3 lastDir = refLast.To - refLast.From; + Vector3 nextDir = refNext.To - refNext.From; + if (MapToolbox.Utils.ClosestPointsOnTwoLines(out Vector3 p1, out Vector3 p2, + refLast.From, lastDir, refNext.From, nextDir)) + { + Subdivision((refLast.To + p1) / 2, (refNext.From + p2) / 2); + } + else + { + Subdivision((refLast.To + refNext.From) / 2, (refLast.To + refNext.From) / 2); + } + } + } + internal void CheckFLanes(IEnumerable flanes) + { + UpdateRef(); + UpdateOutterRef(); + fLane = flanes.Where(_ => _ != null && Vector3.Distance(_.From, To) < minDistance).ToList(); + foreach (var item in fLane) + { + item.From = To; + } + } + internal void CheckBLanes(IEnumerable blanes) + { + UpdateRef(); + UpdateOutterRef(); + bLane = blanes.Where(_ => _ != null && Vector3.Distance(_.To, From) < minDistance).ToList(); + foreach (var item in bLane) + { + item.To = From; + } + } internal void BuildData() { - data = null; - data = Lane; + lane = null; + lane = Lane; } internal void BuildDataRef() { @@ -119,38 +202,38 @@ internal void BuildDataRef() { if (bLane.Count > 0 && bLane[0] != null) { - Lane.BLane = bLane[0].Lane; + lane.BLane = bLane[0].lane; } if (bLane.Count > 1 && bLane[1] != null) { - Lane.BLane2 = bLane[1].Lane; + lane.BLane2 = bLane[1].lane; } if (bLane.Count > 2 && bLane[2] != null) { - Lane.BLane3 = bLane[2].Lane; + lane.BLane3 = bLane[2].lane; } if (bLane.Count > 3 && bLane[3] != null) { - Lane.BLane4 = bLane[3].Lane; + lane.BLane4 = bLane[3].lane; } } if (fLane != null) { if (fLane.Count > 0 && fLane[0] != null) { - Lane.FLane = fLane[0].Lane; + lane.FLane = fLane[0].lane; } if (fLane.Count > 1 && fLane[1] != null) { - Lane.FLane2 = fLane[1].Lane; + lane.FLane2 = fLane[1].lane; } if (fLane.Count > 2 && fLane[2] != null) { - Lane.FLane3 = fLane[2].Lane; + lane.FLane3 = fLane[2].lane; } if (fLane.Count > 3 && fLane[3] != null) { - Lane.FLane4 = fLane[3].Lane; + lane.FLane4 = fLane[3].lane; } } } @@ -195,47 +278,47 @@ public void UpdateOutterRef() } private void OutterLastRef() { - if (last == null && data != null) + if (last == null && lane != null) { bLane = new List(); - if (data.BLane != null) + if (lane.BLane != null) { - bLane.Add(CollectionLane[data.BLane.ID]); + bLane.Add(CollectionLane[lane.BLane.ID]); } - if (data.BLane2 != null) + if (lane.BLane2 != null) { - bLane.Add(CollectionLane[data.BLane2.ID]); + bLane.Add(CollectionLane[lane.BLane2.ID]); } - if (data.BLane3 != null) + if (lane.BLane3 != null) { - bLane.Add(CollectionLane[data.BLane3.ID]); + bLane.Add(CollectionLane[lane.BLane3.ID]); } - if (data.BLane4 != null) + if (lane.BLane4 != null) { - bLane.Add(CollectionLane[data.BLane4.ID]); + bLane.Add(CollectionLane[lane.BLane4.ID]); } } } private void OutterNextRef() { - if (next == null && data != null) + if (next == null && lane != null) { fLane = new List(); - if (data.FLane != null) + if (lane.FLane != null) { - fLane.Add(CollectionLane[data.FLane.ID]); + fLane.Add(CollectionLane[lane.FLane.ID]); } - if (data.FLane2 != null) + if (lane.FLane2 != null) { - fLane.Add(CollectionLane[data.FLane2.ID]); + fLane.Add(CollectionLane[lane.FLane2.ID]); } - if (data.FLane3 != null) + if (lane.FLane3 != null) { - fLane.Add(CollectionLane[data.FLane3.ID]); + fLane.Add(CollectionLane[lane.FLane3.ID]); } - if (data.FLane4 != null) + if (lane.FLane4 != null) { - fLane.Add(CollectionLane[data.FLane4.ID]); + fLane.Add(CollectionLane[lane.FLane4.ID]); } } } diff --git a/Runtime/Autoware/ADASGo/ADASGoLine.cs b/Runtime/Autoware/ADASGo/ADASGoLine.cs index 838a1dd..f125348 100644 --- a/Runtime/Autoware/ADASGo/ADASGoLine.cs +++ b/Runtime/Autoware/ADASGo/ADASGoLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -35,9 +35,9 @@ public ADASMapLine Line data = value; if (data != null) { - from = data.BPoint.Position; - to = data.FPoint.Position; - transform.position = (from + to) / 2; + From = data.BPoint.Position; + To = data.FPoint.Position; + transform.position = (From + To) / 2; } } get @@ -46,7 +46,7 @@ public ADASMapLine Line { data = new ADASMapLine { - BPoint = new ADASMapPoint { Position = from } + BPoint = new ADASMapPoint { Position = From } }; if (last) { @@ -57,7 +57,7 @@ public ADASMapLine Line } if (next == null) { - data.FPoint = new ADASMapPoint { Position = to }; + data.FPoint = new ADASMapPoint { Position = To }; } } return data; diff --git a/Runtime/Autoware/ADASGo/ADASGoPole.cs b/Runtime/Autoware/ADASGo/ADASGoPole.cs index 66aa553..bd844d3 100644 --- a/Runtime/Autoware/ADASGo/ADASGoPole.cs +++ b/Runtime/Autoware/ADASGo/ADASGoPole.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoRoadEdge.cs b/Runtime/Autoware/ADASGo/ADASGoRoadEdge.cs index 00128d8..4ef1531 100644 --- a/Runtime/Autoware/ADASGo/ADASGoRoadEdge.cs +++ b/Runtime/Autoware/ADASGo/ADASGoRoadEdge.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoRoadMark.cs b/Runtime/Autoware/ADASGo/ADASGoRoadMark.cs index 75a1fdc..689088c 100644 --- a/Runtime/Autoware/ADASGo/ADASGoRoadMark.cs +++ b/Runtime/Autoware/ADASGo/ADASGoRoadMark.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoRoadSign.cs b/Runtime/Autoware/ADASGo/ADASGoRoadSign.cs index 931eec5..17f23b6 100644 --- a/Runtime/Autoware/ADASGo/ADASGoRoadSign.cs +++ b/Runtime/Autoware/ADASGo/ADASGoRoadSign.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoSignal.cs b/Runtime/Autoware/ADASGo/ADASGoSignal.cs index e172e48..1a70fc0 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSignal.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSignal.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -72,7 +72,7 @@ public ADASMapSignal Signal }; if (linkLane != null) { - data.LinkLane = linkLane.Lane; + data.LinkLane = linkLane.lane; } } return data; @@ -85,60 +85,31 @@ internal void BuildData() } private void OnDrawGizmos() { - switch (signalType) + Gizmos.color = Color; + Gizmos.matrix = transform.localToWorldMatrix; + Gizmos.DrawFrustum(Vector3.zero, 30, 1, 0.1f, 1); + } + public Color Color + { + get { - case ADASMapSignal.Type.RED: - case ADASMapSignal.Type.RED_LEFT: - Gizmos.color = Color.red; - if (linkLane != null) - { - Gizmos.DrawLine(transform.position, linkLane.transform.position); - } - Gizmos.matrix = transform.localToWorldMatrix; - Gizmos.DrawFrustum(Vector3.zero, 30, 1, 0.1f, 1); - break; - case ADASMapSignal.Type.BLUE: - case ADASMapSignal.Type.BLUE_LEFT: - Gizmos.color = Color.green; - if (linkLane != null) - { - Gizmos.DrawLine(transform.position, linkLane.transform.position); - } - Gizmos.matrix = transform.localToWorldMatrix; - Gizmos.DrawFrustum(Vector3.zero, 30, 1, 0.1f, 1); - break; - case ADASMapSignal.Type.YELLOW: - case ADASMapSignal.Type.YELLOW_LEFT: - Gizmos.color = Color.yellow; - if (linkLane != null) - { - Gizmos.DrawLine(transform.position, linkLane.transform.position); - } - Gizmos.matrix = transform.localToWorldMatrix; - Gizmos.DrawFrustum(Vector3.zero, 30, 1, 0.1f, 1); - break; - case ADASMapSignal.Type.PEDESTRIAN_RED: - Gizmos.color = Color.cyan; - if (linkLane != null) - { - Gizmos.DrawLine(transform.position, linkLane.transform.position); - } - Gizmos.matrix = transform.localToWorldMatrix; - Gizmos.DrawFrustum(Vector3.zero, 30, 1, 0.1f, 1); - break; - case ADASMapSignal.Type.PEDESTRIAN_BLUE: - Gizmos.color = Color.blue; - if (linkLane != null) - { - Gizmos.DrawLine(transform.position, linkLane.transform.position); - } - Gizmos.matrix = transform.localToWorldMatrix; - Gizmos.DrawFrustum(Vector3.zero, 30, 1, 0.1f, 1); - break; - case ADASMapSignal.Type.OTHER: - break; - default: - break; + switch (signalType) + { + case ADASMapSignal.Type.RED: + case ADASMapSignal.Type.RED_LEFT: + case ADASMapSignal.Type.PEDESTRIAN_RED: + return Color.red; + case ADASMapSignal.Type.BLUE: + case ADASMapSignal.Type.BLUE_LEFT: + case ADASMapSignal.Type.PEDESTRIAN_BLUE: + return Color.green; + case ADASMapSignal.Type.YELLOW: + case ADASMapSignal.Type.YELLOW_LEFT: + return Color.yellow; + case ADASMapSignal.Type.OTHER: + default: + return Color.white; + } } } } diff --git a/Runtime/Autoware/ADASGo/ADASGoSlicesCurb.cs b/Runtime/Autoware/ADASGo/ADASGoSlicesCurb.cs index 5008fa6..f807817 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSlicesCurb.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSlicesCurb.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoSlicesLane.cs b/Runtime/Autoware/ADASGo/ADASGoSlicesLane.cs index 4155a9d..93964b4 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSlicesLane.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSlicesLane.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -27,9 +27,88 @@ sealed class ADASGoSlicesLane : BrokenLineRenderer, IADASMapGameObje { public GameObject GameObject => gameObject; public MonoBehaviour MonoBehaviour => this; - [HideInInspector] public List bLane; - [HideInInspector] public List fLane; + [HideInInspector] public List bLane = new List(); + [HideInInspector] public List fLane = new List(); public CollectionADASLane CollectionLane { get; set; } + static HashSet HashSet { get; set; } = new HashSet(); + private void OnEnable() => HashSet.Add(this); + private void OnDisable() => HashSet.Remove(this); + public override Vector3 From + { + get => base.From; + set + { + if (HashSet == null) + { + HashSet = new HashSet(); + } + foreach (var item in HashSet) + { + if (Vector3.Distance(item.To, value) < ADASGoLane.minDistance && item != this) + { + value = item.To; + if (bLane.Count > 0) + { + bLane.RemoveAll(t => t == null); + bLane.RemoveAll(t => t.To != value); + } + if (!bLane.Contains(item)) + { + bLane.Add(item); + } + if (!item.fLane.Contains(this)) + { + item.fLane.Add(this); + } + base.From = value; + return; + } + } + if (bLane.Count > 0) + { + bLane.Clear(); + } + base.From = value; + } + } + public override Vector3 To + { + get => base.To; + set + { + if (HashSet == null) + { + HashSet = new HashSet(); + } + foreach (var item in HashSet) + { + if (Vector3.Distance(item.From, value) < ADASGoLane.minDistance && item != this) + { + value = item.From; + if (fLane.Count > 0) + { + fLane.RemoveAll(t => t == null); + fLane.RemoveAll(t => t.From != value); + } + if (!fLane.Contains(item)) + { + fLane.Add(item); + } + if (!item.bLane.Contains(this)) + { + item.bLane.Add(this); + } + base.To = value; + return; + } + } + if (fLane.Count > 0) + { + fLane.Clear(); + } + base.To = value; + } + } public IEnumerable Lanes { set @@ -44,17 +123,20 @@ public IEnumerable Lanes lane.CollectionLane = CollectionLane; lane.Lane = item; } - foreach (var item in GetComponentsInChildren()) - { - item.UpdateOutterRef(); - } } } - + internal void OnEnableEditor() + { + if (Children != null && Children.Length > 0) + { + Children.First().CheckBLanes(bLane.Select(_ => _.Children.LastOrDefault())); + Children.Last().CheckFLanes(fLane.Select(_ => _.Children.FirstOrDefault())); + } + } internal void BuildData() { ADASGoLane.tempDist = 0; - foreach (var item in GetComponentsInChildren()) + foreach (var item in Children) { item.UpdateRef(); item.BuildData(); @@ -64,43 +146,24 @@ internal void BuildData() public void SetupRenderer() { LineRenderer.startWidth = LineRenderer.endWidth = 0.2f; + LineRenderer.useWorldSpace = false; LineRenderer.textureMode = LineTextureMode.Tile; LineRenderer.sharedMaterial = Resources.Load("MapToolbox/Lane"); } - public void UpdateRef() + public void SetRef() { - var child = GetComponentsInChildren(); - if (child.Length > 0) - { - child.First().UpdateRef(); - child.Last().UpdateRef(); - var target = child[0]; - if (target.bLane != null && target.bLane.Count > 0) - { - foreach (var item in target.bLane) - { - if (item?.Slices) - { - bLane.Add(item.Slices); - } - } - } - target = child[child.Length - 1]; - if (target.fLane != null && target.fLane.Count > 0) - { - foreach (var item in target.fLane) - { - if (item?.Slices) - { - fLane.Add(item.Slices); - } - } - } - } - else + bLane.Clear(); + fLane.Clear(); + if (Children.Length > 0) { - bLane?.Clear(); - fLane?.Clear(); + var target = Children.First(); + target.UpdateRef(); + target.UpdateOutterRef(); + bLane = target.bLane.Select(_ => _.Slices).ToList(); + target = Children.Last(); + target.UpdateRef(); + target.UpdateOutterRef(); + fLane = target.fLane.Select(_ => _.Slices).ToList(); } } } diff --git a/Runtime/Autoware/ADASGo/ADASGoSlicesLine.cs b/Runtime/Autoware/ADASGo/ADASGoSlicesLine.cs index 6787d6d..09aff98 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSlicesLine.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSlicesLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/ADASGoSlicesRoadEdge.cs b/Runtime/Autoware/ADASGo/ADASGoSlicesRoadEdge.cs index 2cb1afa..8a83be0 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSlicesRoadEdge.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSlicesRoadEdge.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -54,6 +54,7 @@ public void SetupRenderer() { LineRenderer.startWidth = LineRenderer.endWidth = 0.2f; LineRenderer.startColor = LineRenderer.endColor = Color.blue; + LineRenderer.useWorldSpace = false; #if UNITY_EDITOR LineRenderer.sharedMaterial = UnityEditor.AssetDatabase.GetBuiltinExtraResource("Sprites-Default.mat"); #endif diff --git a/Runtime/Autoware/ADASGo/ADASGoSlicesStopLine.cs b/Runtime/Autoware/ADASGo/ADASGoSlicesStopLine.cs index 6b61d4a..5dbf9b7 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSlicesStopLine.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSlicesStopLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -61,6 +61,7 @@ public void SetupRenderer() { LineRenderer.startWidth = LineRenderer.endWidth = 0.2f; LineRenderer.startColor = LineRenderer.endColor = Color.red; + LineRenderer.useWorldSpace = false; #if UNITY_EDITOR LineRenderer.sharedMaterial = UnityEditor.AssetDatabase.GetBuiltinExtraResource("Sprites-Default.mat"); #endif diff --git a/Runtime/Autoware/ADASGo/ADASGoSlicesWhiteLine.cs b/Runtime/Autoware/ADASGo/ADASGoSlicesWhiteLine.cs index 8789707..79932c3 100644 --- a/Runtime/Autoware/ADASGo/ADASGoSlicesWhiteLine.cs +++ b/Runtime/Autoware/ADASGo/ADASGoSlicesWhiteLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -60,12 +60,24 @@ public override void BuildData() item.BuildData(); } } + internal void OnEnableEditor() + { + var children = GetComponentsInChildren(); + if (children.Length > 0) + { + LineRenderer.startWidth = children.First().width; + LineRenderer.endWidth = children.Last().width; + LineRenderer.startColor = children.First().color == ADASMapWhiteLine.Color.White ? Color.white : Color.yellow; + LineRenderer.endColor = children.Last().color == ADASMapWhiteLine.Color.White ? Color.white : Color.yellow; + } + } public void SetupRenderer() { LineRenderer.startWidth = startWidth; LineRenderer.endWidth = endWidth; LineRenderer.startColor = startColor; LineRenderer.endColor = endColor; + LineRenderer.useWorldSpace = false; #if UNITY_EDITOR LineRenderer.sharedMaterial = UnityEditor.AssetDatabase.GetBuiltinExtraResource("Sprites-Default.mat"); #endif diff --git a/Runtime/Autoware/ADASGo/ADASGoStopLine.cs b/Runtime/Autoware/ADASGo/ADASGoStopLine.cs index c5bcc78..294baa0 100644 --- a/Runtime/Autoware/ADASGo/ADASGoStopLine.cs +++ b/Runtime/Autoware/ADASGo/ADASGoStopLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,6 +17,9 @@ #endregion +using System.Linq; +using UnityEngine; + namespace AutoCore.MapToolbox.Autoware { class ADASGoStopLine : ADASGoLine @@ -26,8 +29,21 @@ class ADASGoStopLine : ADASGoLine public ADASGoLane linkLane; public CollectionADASSignal CollectionSignal { get; set; } public CollectionADASRoadSign CollectionRoadSign { get; set; } - public CollectionADASLane CollectionLane { get; set; } + CollectionADASLane collectionLane; + public CollectionADASLane CollectionLane + { + set => collectionLane = value; + get + { + if (collectionLane == null) + { + collectionLane = GetComponentInParent().GetComponentInChildren(); + } + return collectionLane; + } + } ADASMapStopLine data; + public static bool ShowLinkedSignal { get; set; } public ADASMapStopLine StopLine { set @@ -67,6 +83,10 @@ public ADASMapStopLine StopLine { data.RoadSign = roadSign.RoadSign; } + if (linkLane) + { + data.LinkLane = linkLane.lane; + } } return data; } @@ -76,6 +96,28 @@ internal override void BuildData() Line = null; StopLine = null; data = StopLine; + if (linkLane == null) + { + linkLane = CollectionLane.First().Value; + float distance = float.MaxValue; + foreach (var item in CollectionLane) + { + var dis = Vector3.Distance(item.Value.transform.position, transform.position); + if (dis < distance) + { + distance = dis; + linkLane = item.Value; + } + } + } + } + private void OnDrawGizmos() + { + if (ShowLinkedSignal && signal) + { + Gizmos.color = signal.Color; + Gizmos.DrawLine(transform.position, signal.transform.position); + } } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASGo/ADASGoWhiteLine.cs b/Runtime/Autoware/ADASGo/ADASGoWhiteLine.cs index f2f4a9d..2e6b8fd 100644 --- a/Runtime/Autoware/ADASGo/ADASGoWhiteLine.cs +++ b/Runtime/Autoware/ADASGo/ADASGoWhiteLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,14 +17,12 @@ #endregion -using UnityEngine; - namespace AutoCore.MapToolbox.Autoware { class ADASGoWhiteLine : ADASGoLine { - [HideInInspector] public ADASMapWhiteLine.Color color; - [HideInInspector] public float width = 0.2f; + public ADASMapWhiteLine.Color color; + public float width = 0.2f; ADASMapWhiteLine data; public ADASMapWhiteLine WhiteLine { @@ -36,6 +34,7 @@ public ADASMapWhiteLine WhiteLine Line = data.Line; name = data.ID.ToString(); width = data.Width; + color = data.COLOR; } } get @@ -58,5 +57,12 @@ internal override void BuildData() WhiteLine = null; data = WhiteLine; } + protected override void DataCopy(LineSegment target) + { + base.DataCopy(target); + var t = target as ADASGoWhiteLine; + color = t.color; + width = t.width; + } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASGo/ADASGoZebraZone.cs b/Runtime/Autoware/ADASGo/ADASGoZebraZone.cs index 5e73135..a683c85 100644 --- a/Runtime/Autoware/ADASGo/ADASGoZebraZone.cs +++ b/Runtime/Autoware/ADASGo/ADASGoZebraZone.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASGo/IADASMapGameObject.cs b/Runtime/Autoware/ADASGo/IADASMapGameObject.cs index 5deccfc..0397a98 100644 --- a/Runtime/Autoware/ADASGo/IADASMapGameObject.cs +++ b/Runtime/Autoware/ADASGo/IADASMapGameObject.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapArea.cs b/Runtime/Autoware/ADASMap/ADASMapArea.cs index 1fb4fff..5bbac42 100644 --- a/Runtime/Autoware/ADASMap/ADASMapArea.cs +++ b/Runtime/Autoware/ADASMap/ADASMapArea.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapBox.cs b/Runtime/Autoware/ADASMap/ADASMapBox.cs index 91f71f3..6c3ef13 100644 --- a/Runtime/Autoware/ADASMap/ADASMapBox.cs +++ b/Runtime/Autoware/ADASMap/ADASMapBox.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapCrossRoad.cs b/Runtime/Autoware/ADASMap/ADASMapCrossRoad.cs index 4aa75c8..31f2c7f 100644 --- a/Runtime/Autoware/ADASMap/ADASMapCrossRoad.cs +++ b/Runtime/Autoware/ADASMap/ADASMapCrossRoad.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapCrossWalk.cs b/Runtime/Autoware/ADASMap/ADASMapCrossWalk.cs index 05f7299..11b7ef9 100644 --- a/Runtime/Autoware/ADASMap/ADASMapCrossWalk.cs +++ b/Runtime/Autoware/ADASMap/ADASMapCrossWalk.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapCurb.cs b/Runtime/Autoware/ADASMap/ADASMapCurb.cs index d887f83..18dd286 100644 --- a/Runtime/Autoware/ADASMap/ADASMapCurb.cs +++ b/Runtime/Autoware/ADASMap/ADASMapCurb.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapCurveMirror.cs b/Runtime/Autoware/ADASMap/ADASMapCurveMirror.cs index 399e5a7..a79e348 100644 --- a/Runtime/Autoware/ADASMap/ADASMapCurveMirror.cs +++ b/Runtime/Autoware/ADASMap/ADASMapCurveMirror.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapDTLane.cs b/Runtime/Autoware/ADASMap/ADASMapDTLane.cs index 36b8254..bd8ce9d 100644 --- a/Runtime/Autoware/ADASMap/ADASMapDTLane.cs +++ b/Runtime/Autoware/ADASMap/ADASMapDTLane.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -47,7 +47,7 @@ public ADASMapPoint Point return point; } } - public override string ToString() => $"{ID},{Dist},{Point.ID},{Dir},{Apara},{R},{Slope},{Cant},{LW},{RW}"; + public override string ToString() => $"{ID},{Dist:0.##},{Point.ID},{Dir},{Apara},{R},{Slope},{Cant},{LW},{RW}"; const string file = "dtlane.csv"; const string header = "DID,Dist,PID,Dir,Apara,r,slope,cant,LW,RW"; public static void ReadCsv(string path) @@ -79,6 +79,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapDriveOnPortion.cs b/Runtime/Autoware/ADASMap/ADASMapDriveOnPortion.cs index a903485..9e61ccb 100644 --- a/Runtime/Autoware/ADASMap/ADASMapDriveOnPortion.cs +++ b/Runtime/Autoware/ADASMap/ADASMapDriveOnPortion.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapElement.cs b/Runtime/Autoware/ADASMap/ADASMapElement.cs index 6b1914c..c8863b2 100644 --- a/Runtime/Autoware/ADASMap/ADASMapElement.cs +++ b/Runtime/Autoware/ADASMap/ADASMapElement.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapFence.cs b/Runtime/Autoware/ADASMap/ADASMapFence.cs index 5fc042d..d3c4037 100644 --- a/Runtime/Autoware/ADASMap/ADASMapFence.cs +++ b/Runtime/Autoware/ADASMap/ADASMapFence.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapGuardRail.cs b/Runtime/Autoware/ADASMap/ADASMapGuardRail.cs index 5a50385..ed5a308 100644 --- a/Runtime/Autoware/ADASMap/ADASMapGuardRail.cs +++ b/Runtime/Autoware/ADASMap/ADASMapGuardRail.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapGutter.cs b/Runtime/Autoware/ADASMap/ADASMapGutter.cs index 54b305f..ffb3629 100644 --- a/Runtime/Autoware/ADASMap/ADASMapGutter.cs +++ b/Runtime/Autoware/ADASMap/ADASMapGutter.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapLane.cs b/Runtime/Autoware/ADASMap/ADASMapLane.cs index d936fa4..df9242d 100644 --- a/Runtime/Autoware/ADASMap/ADASMapLane.cs +++ b/Runtime/Autoware/ADASMap/ADASMapLane.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,7 +17,6 @@ #endregion -using System; using System.Linq; namespace AutoCore.MapToolbox.Autoware @@ -39,7 +38,7 @@ public enum Jct : int RIGHT_MERGING = 4, COMPOSITION = 5 } - public Jct JCT { get; private set; } + public Jct JCT { get; set; } public int BLID2 { get; set; } public int BLID3 { get; set; } public int BLID4 { get; set; } @@ -211,23 +210,20 @@ public ADASMapNode FNode return fnode; } } - public ADASMapLane StartLane { get; set; } - public ADASMapLane EndLane { get; set; } public ADASMapLane FirstLane { get; set; } - public ADASMapLane FinalLane { get; set; } - bool IsStartLane() + bool EdgeOrCross() { if (JCT > Jct.NORMAL || BLID == 0) { return true; } - if (BLID2 != 0 || BLID3 != 0 || BLID4 != 0) + if (BLID2 > 0 || BLID3 > 0 || BLID4 > 0) { return true; } if (Dic.TryGetValue(BLID, out ADASMapLane value)) { - return value.FLID2 > 0 || value.FLID3 > 0 || value.FLID4 > 0 || value.JCT > 0; + return value.FLID2 > 0 || value.FLID3 > 0 || value.FLID4 > 0 || value.JCT > Jct.NORMAL; } else { @@ -236,13 +232,12 @@ bool IsStartLane() } bool IsFirstLane() { - if (IsStartLane()) + if (EdgeOrCross()) { return true; } return BLane.ID != ID - 1; } - ADASMapLane GetStartLane() => IsStartLane() ? this : BLane.GetStartLane(); ADASMapLane GetFirstLane() => IsFirstLane() ? this : BLane.GetFirstLane(); #endregion public override string ToString() => $"{ID},{DTLane.ID},{(BLane != null ? BLane.ID : 0)},{(FLane != null ? FLane.ID : 0)},{BNode.ID},{FNode.ID},{(int)JCT},{(BLane2 != null ? BLane2.ID : 0)},{(BLane3 != null ? BLane3.ID : 0)},{(BLane4 != null ? BLane4.ID : 0)},{(FLane2 != null ? FLane2.ID : 0)},{(FLane3 != null ? FLane3.ID : 0)},{(FLane4 != null ? FLane4.ID : 0)},{ClossID},{Span},{LCnt},{Lno},{(int)LaneType},{LimitVel},{RefVel},{RoadSecID},{(int)LaneChgFG}"; @@ -284,25 +279,8 @@ public static void ReadCsv(string path) } foreach (var item in List) { - item.StartLane = item.GetStartLane(); item.FirstLane = item.GetFirstLane(); } - foreach (var item in List.GroupBy(_ => _.StartLane)) - { - var endLane = Dic[item.Max(_ => _.ID)]; - foreach (var lane in item) - { - lane.EndLane = endLane; - } - } - foreach (var item in List.GroupBy(_ => _.FirstLane)) - { - var finalLane = Dic[item.Max(_ => _.ID)]; - foreach (var lane in item) - { - lane.FinalLane = finalLane; - } - } } } public static void WriteCsv(string path) @@ -310,6 +288,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapLine.cs b/Runtime/Autoware/ADASMap/ADASMapLine.cs index b6d5fd4..cc74a9b 100644 --- a/Runtime/Autoware/ADASMap/ADASMapLine.cs +++ b/Runtime/Autoware/ADASMap/ADASMapLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -82,9 +82,7 @@ public ADASMapLine FLine } } public ADASMapLine FirstLine { get; set; } - public ADASMapLine FinalLine { get; set; } - private ADASMapLine GetFirstLine() => BLID == 0 ? this : BLine.GetFirstLine(); - private ADASMapLine GetFinalLine() => FLID == 0 ? this : FLine.GetFinalLine(); + private ADASMapLine GetFirstLine() => BLID == 0 ? this : BLine?.GetFirstLine(); public override string ToString() => $"{ID},{BPoint.ID},{FPoint.ID},{(BLine != null ? BLine.ID : 0)},{(FLine != null ? FLine.ID : 0)}"; const string file = "line.csv"; const string header = "LID,BPID,FPID,BLID,FLID"; @@ -122,7 +120,6 @@ public static void ReadCsv(string path) foreach (var item in List) { item.FirstLine = item.GetFirstLine(); - item.FinalLine = item.GetFinalLine(); } } } @@ -131,6 +128,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapNode.cs b/Runtime/Autoware/ADASMap/ADASMapNode.cs index 386652d..a7e762e 100644 --- a/Runtime/Autoware/ADASMap/ADASMapNode.cs +++ b/Runtime/Autoware/ADASMap/ADASMapNode.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -63,6 +63,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapPoint.cs b/Runtime/Autoware/ADASMap/ADASMapPoint.cs index f6f6640..3e51d30 100644 --- a/Runtime/Autoware/ADASMap/ADASMapPoint.cs +++ b/Runtime/Autoware/ADASMap/ADASMapPoint.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -45,7 +45,7 @@ public Vector3 Position } } #endregion - public override string ToString() => $"{ID},{B},{L},{H},{Bx},{Ly},{ReF},{MCODE1},{MCODE2},{MCODE3}"; + public override string ToString() => $"{ID},{B},{L},{H:0.##},{Bx:0.##},{Ly:0.##},{ReF},{MCODE1},{MCODE2},{MCODE3}"; const string file = "point.csv"; const string header = "PID,B,L,H,Bx,Ly,ReF,MCODE1,MCODE2,MCODE3"; public static void ReadCsv(string path) @@ -77,6 +77,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapPole.cs b/Runtime/Autoware/ADASMap/ADASMapPole.cs index fa6a517..216db25 100644 --- a/Runtime/Autoware/ADASMap/ADASMapPole.cs +++ b/Runtime/Autoware/ADASMap/ADASMapPole.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapRailCrossing.cs b/Runtime/Autoware/ADASMap/ADASMapRailCrossing.cs index 27133e2..0d9b582 100644 --- a/Runtime/Autoware/ADASMap/ADASMapRailCrossing.cs +++ b/Runtime/Autoware/ADASMap/ADASMapRailCrossing.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapRoadEdge.cs b/Runtime/Autoware/ADASMap/ADASMapRoadEdge.cs index cf274ae..1ec319b 100644 --- a/Runtime/Autoware/ADASMap/ADASMapRoadEdge.cs +++ b/Runtime/Autoware/ADASMap/ADASMapRoadEdge.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -76,6 +76,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapRoadMark.cs b/Runtime/Autoware/ADASMap/ADASMapRoadMark.cs index 7afece0..8fd8149 100644 --- a/Runtime/Autoware/ADASMap/ADASMapRoadMark.cs +++ b/Runtime/Autoware/ADASMap/ADASMapRoadMark.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapRoadPole.cs b/Runtime/Autoware/ADASMap/ADASMapRoadPole.cs index 1ef24d9..87c18f3 100644 --- a/Runtime/Autoware/ADASMap/ADASMapRoadPole.cs +++ b/Runtime/Autoware/ADASMap/ADASMapRoadPole.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapRoadSign.cs b/Runtime/Autoware/ADASMap/ADASMapRoadSign.cs index 41a0ba2..530784b 100644 --- a/Runtime/Autoware/ADASMap/ADASMapRoadSign.cs +++ b/Runtime/Autoware/ADASMap/ADASMapRoadSign.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapSideStrip.cs b/Runtime/Autoware/ADASMap/ADASMapSideStrip.cs index 0fc8844..983ffbb 100644 --- a/Runtime/Autoware/ADASMap/ADASMapSideStrip.cs +++ b/Runtime/Autoware/ADASMap/ADASMapSideStrip.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapSideWalk.cs b/Runtime/Autoware/ADASMap/ADASMapSideWalk.cs index a4b3bcb..76e57c4 100644 --- a/Runtime/Autoware/ADASMap/ADASMapSideWalk.cs +++ b/Runtime/Autoware/ADASMap/ADASMapSideWalk.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapSignal.cs b/Runtime/Autoware/ADASMap/ADASMapSignal.cs index 93aad33..e7e0aa4 100644 --- a/Runtime/Autoware/ADASMap/ADASMapSignal.cs +++ b/Runtime/Autoware/ADASMap/ADASMapSignal.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -105,6 +105,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapStopLine.cs b/Runtime/Autoware/ADASMap/ADASMapStopLine.cs index 4e3549d..db26b26 100644 --- a/Runtime/Autoware/ADASMap/ADASMapStopLine.cs +++ b/Runtime/Autoware/ADASMap/ADASMapStopLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -106,6 +106,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapStreetLight.cs b/Runtime/Autoware/ADASMap/ADASMapStreetLight.cs index 7b6b566..80fe676 100644 --- a/Runtime/Autoware/ADASMap/ADASMapStreetLight.cs +++ b/Runtime/Autoware/ADASMap/ADASMapStreetLight.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapUtilityPole.cs b/Runtime/Autoware/ADASMap/ADASMapUtilityPole.cs index c128ad8..6247b33 100644 --- a/Runtime/Autoware/ADASMap/ADASMapUtilityPole.cs +++ b/Runtime/Autoware/ADASMap/ADASMapUtilityPole.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapVector.cs b/Runtime/Autoware/ADASMap/ADASMapVector.cs index 46d0c13..3d385ee 100644 --- a/Runtime/Autoware/ADASMap/ADASMapVector.cs +++ b/Runtime/Autoware/ADASMap/ADASMapVector.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -49,7 +49,7 @@ public Quaternion Rotation Hang = value.eulerAngles.y; } } - public override string ToString() => $"{ID},{Point.ID},{Hang},{Vang}"; + public override string ToString() => $"{ID},{Point.ID},{Hang:0.##},{Vang:0.##}"; const string file = "vector.csv"; const string header = "VID,PID,Hang,Vang"; public static void ReadCsv(string path) @@ -75,6 +75,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapWall.cs b/Runtime/Autoware/ADASMap/ADASMapWall.cs index 34c7c61..7ac117d 100644 --- a/Runtime/Autoware/ADASMap/ADASMapWall.cs +++ b/Runtime/Autoware/ADASMap/ADASMapWall.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapWayArea.cs b/Runtime/Autoware/ADASMap/ADASMapWayArea.cs index 250ccff..c7970cf 100644 --- a/Runtime/Autoware/ADASMap/ADASMapWayArea.cs +++ b/Runtime/Autoware/ADASMap/ADASMapWayArea.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/ADASMap/ADASMapWhiteLine.cs b/Runtime/Autoware/ADASMap/ADASMapWhiteLine.cs index 214cf3a..509cff7 100644 --- a/Runtime/Autoware/ADASMap/ADASMapWhiteLine.cs +++ b/Runtime/Autoware/ADASMap/ADASMapWhiteLine.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -93,6 +93,7 @@ public static void WriteCsv(string path) ReIndex(); Utils.CleanOrCreateNew(path, file, header); Utils.AppendData(path, file, List.Select(_ => _.ToString())); + Utils.RemoveEmpty(path, file); } } } \ No newline at end of file diff --git a/Runtime/Autoware/ADASMap/ADASMapZebraZone.cs b/Runtime/Autoware/ADASMap/ADASMapZebraZone.cs index 4c66d83..140f5b4 100644 --- a/Runtime/Autoware/ADASMap/ADASMapZebraZone.cs +++ b/Runtime/Autoware/ADASMap/ADASMapZebraZone.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/AutowareADASMap.cs b/Runtime/Autoware/AutowareADASMap.cs index e86f313..0df591d 100644 --- a/Runtime/Autoware/AutowareADASMap.cs +++ b/Runtime/Autoware/AutowareADASMap.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/Autoware/Utils.cs b/Runtime/Autoware/Utils.cs index 608d54d..cf1d62f 100644 --- a/Runtime/Autoware/Utils.cs +++ b/Runtime/Autoware/Utils.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -25,6 +25,17 @@ namespace AutoCore.MapToolbox.Autoware { static class Utils { + public static void RemoveEmpty(string folder, string fileName) + { + string file = Path.Combine(folder, fileName); + if (File.Exists(file)) + { + if (File.ReadAllLines(file).Length <= 1) + { + File.Delete(file); + } + } + } public static void CleanOrCreateNew(string folder, string fileName, string header) { string file = Path.Combine(folder, fileName); diff --git a/Runtime/BrokenLineRenderer.cs b/Runtime/BrokenLineRenderer.cs index 4415e96..af9f6fa 100644 --- a/Runtime/BrokenLineRenderer.cs +++ b/Runtime/BrokenLineRenderer.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,7 +17,6 @@ #endregion -using System; using System.Linq; using UnityEngine; @@ -39,29 +38,40 @@ public LineRenderer LineRenderer return lineRenderer; } } - T[] children; - T[] Children + public T[] Children { get { - if (children == null) + if (children == null || children.Length == 0) { children = GetComponentsInChildren(); } return children; } } - public Vector3 From + public virtual Vector3 LocalFrom + { + set => Children.First().LocalFrom = value; + get => Children.First().LocalFrom; + } + + public virtual Vector3 LocalTo + { + set => Children.Last().LocalTo = value; + get => Children.Last().LocalTo; + } + + public virtual Vector3 From { - set => Children.First().From = value; - get => Children.First().From; + set => LocalFrom = transform.InverseTransformPoint(value); + get => transform.TransformPoint(LocalFrom); } - public Vector3 To + public virtual Vector3 To { - set => Children.Last().To = value; - get => Children.Last().To; + set => LocalTo = transform.InverseTransformPoint(value); + get => transform.TransformPoint(LocalTo); } public virtual void UpdateRenderer() @@ -70,8 +80,8 @@ public virtual void UpdateRenderer() if (children.Length > 0) { LineRenderer.positionCount = children.Length + 1; - LineRenderer.SetPositions(children.Select(_ => _.From).ToArray()); - LineRenderer.SetPosition(children.Length, children.Last().To); + LineRenderer.SetPositions(children.Select(_ => _.LocalFrom).ToArray()); + LineRenderer.SetPosition(children.Length, children.Last().LocalTo); } else { @@ -83,9 +93,9 @@ internal void Reverse() { foreach (var item in Children) { - var to = item.to; - item.to = item.from; - item.from = to; + var localTo = item.localTo; + item.localTo = item.localFrom; + item.localFrom = localTo; item.transform.SetAsFirstSibling(); } UpdateRenderer(); diff --git a/Runtime/LineSegment.cs b/Runtime/LineSegment.cs index db66d0c..a4d0f87 100644 --- a/Runtime/LineSegment.cs +++ b/Runtime/LineSegment.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,6 +17,7 @@ #endregion +using System; using System.Linq; using UnityEngine; @@ -37,26 +38,26 @@ public BrokenLineRenderer Parent return parent; } } - [HideInInspector] public Vector3 from; - [HideInInspector] public Vector3 to; - public Vector3 From + [HideInInspector] public Vector3 localFrom; + [HideInInspector] public Vector3 localTo; + public Vector3 LocalFrom { - get => from; + get => localFrom; set { - if (from != value) + if (localFrom != value) { - from = value; + localFrom = value; UpdateRef(); if (last) { - last.GetComponent().to = from; + last.GetComponent().localTo = localFrom; } else { - if (Parent.From != from) + if (Parent.LocalFrom != localFrom) { - Parent.From = from; + Parent.LocalFrom = localFrom; } } Parent.UpdateRenderer(); @@ -64,24 +65,24 @@ public Vector3 From } } - public Vector3 To + public Vector3 LocalTo { - get => to; + get => localTo; set { - if (to != value) + if (localTo != value) { - to = value; + localTo = value; UpdateRef(); if (next) { - next.GetComponent().from = to; + next.GetComponent().localFrom = localTo; } else { - if (Parent.To != to) + if (Parent.LocalTo != localTo) { - Parent.To = to; + Parent.LocalTo = localTo; } } Parent.UpdateRenderer(); @@ -89,10 +90,22 @@ public Vector3 To } } + public virtual Vector3 From + { + set => LocalFrom = transform.parent.InverseTransformPoint(value); + get => transform.parent.TransformPoint(LocalFrom); + } + + public virtual Vector3 To + { + set => LocalTo = transform.parent.InverseTransformPoint(value); + get => transform.parent.TransformPoint(LocalTo); + } + public override void UpdateRef() { base.UpdateRef(); - transform.position = (from + to) / 2; + transform.localPosition = (localFrom + localTo) / 2; } private void OnDestroy() @@ -107,15 +120,16 @@ internal override GameObject AddBefore() var target = base.AddBefore().GetComponent(); if (last == null) { - target.from = 2 * from - to; + target.localFrom = 2 * localFrom - localTo; } else { var temp = last.GetComponent(); - target.from = (temp.from + temp.to) / 2; - temp.to = target.from; + target.localFrom = (temp.localFrom + temp.localTo) / 2; + temp.localTo = target.localFrom; } - target.to = from; + target.localTo = localFrom; + target.DataCopy(this); Parent.UpdateRenderer(); return target.gameObject; } @@ -124,38 +138,68 @@ internal override GameObject AddAfter() var target = base.AddAfter().GetComponent(); if (next == null) { - target.to = 2 * to - from; + target.localTo = 2 * localTo - localFrom; } else { var temp = next.GetComponent(); - target.to = (temp.from + temp.to) / 2; - temp.from = target.to; + target.localTo = (temp.localFrom + temp.localTo) / 2; + temp.localFrom = target.localTo; } - target.from = to; + target.localFrom = localTo; + target.DataCopy(this); Parent.UpdateRenderer(); return target.gameObject; } - internal void ApplyBezierPoints(Vector3[] points) + internal virtual void AutoSubdivision() + { + UpdateRef(); + if (last != null && next != null) + { + var refLast = last.GetComponent>(); + var refNext = next.GetComponent>(); + if (refLast && refNext) + { + Vector3 lastDir = refLast.To - refLast.From; + Vector3 nextDir = refNext.To - refNext.From; + if (Utils.ClosestPointsOnTwoLines(out Vector3 p1, out Vector3 p2, + refLast.From, lastDir, refNext.From, nextDir)) + { + Subdivision((refLast.To + p1) / 2, (refNext.From + p2) / 2); + } + else + { + Subdivision((refLast.To + refNext.From) / 2, (refLast.To + refNext.From) / 2); + } + } + } + } + + internal virtual void Subdivision(Vector3 startTangent, Vector3 endTangent, float distance = 1) + { + ApplySubdivisionPoints(UnityEditor.Handles.MakeBezierPoints(From, To, startTangent, endTangent, (int)(From - To).magnitude * 10), distance); + } + + internal void ApplySubdivisionPoints(Vector3[] points, float distance = 1) { LineSegment current = this; foreach (var point in points) { - if (Vector3.Distance(current.from, point) > 1) + if (Vector3.Distance(current.From, point) > distance) { - Vector3 dest = current.from + (point - current.from).normalized; - current.to = dest; + Vector3 dest = current.From + (point - current.From).normalized * distance; + current.To = dest; var temp = current.AddAfter().GetComponent>(); temp.DataCopy(current); current = temp; - current.from = dest; + current.From = dest; } } current.To = points.Last(); } - protected virtual void DataCopy(LineSegment current) => name = current.name; + protected virtual void DataCopy(LineSegment target) => name = target.name; internal void Merge(T[] targets) { @@ -164,10 +208,11 @@ internal void Merge(T[] targets) var temp = targets.OrderBy(_ => _.Index).ToArray(); var first = temp.First(); var last = temp.Last(); - first.To = last.To; + first.LocalTo = last.LocalTo; + first.next = last.next; if (last.next) { - last.next.GetComponent>().From = first.To; + last.next.GetComponent>().LocalFrom = first.LocalTo; } for (int i = 1; i < temp.Length; i++) { diff --git a/Runtime/PCL/AutoSwitchTopView.cs b/Runtime/PCL/AutoSwitchTopView.cs index cefc28c..872e23f 100644 --- a/Runtime/PCL/AutoSwitchTopView.cs +++ b/Runtime/PCL/AutoSwitchTopView.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/PCL/Const.cs b/Runtime/PCL/Const.cs index 78f8843..daefdeb 100644 --- a/Runtime/PCL/Const.cs +++ b/Runtime/PCL/Const.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -21,7 +21,8 @@ namespace AutoCore.MapToolbox.PCL { public class Const { - public const string nativePlugin = "PCL4Unity"; + public const string unity_debug_plugin = "unity_debug"; + public const string unity_pcl_plugin = "unity_pcl"; public const string IntensityPrecentMin = "IntensityPrecentMin"; public const string IntensityPrecentMax = "IntensityPrecentMax"; } diff --git a/Runtime/PCL/Externs.cs b/Runtime/PCL/Externs.cs index 7c0272d..ccce906 100644 --- a/Runtime/PCL/Externs.cs +++ b/Runtime/PCL/Externs.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/PCL/MinMax.cs b/Runtime/PCL/MinMax.cs index 37a8423..2ad87bb 100644 --- a/Runtime/PCL/MinMax.cs +++ b/Runtime/PCL/MinMax.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/PCL/NativePluginDebug.cs b/Runtime/PCL/NativePluginDebug.cs index db61efe..4d3233b 100644 --- a/Runtime/PCL/NativePluginDebug.cs +++ b/Runtime/PCL/NativePluginDebug.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -27,15 +27,15 @@ public class NativePluginDebug { [UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void UnmanagedFunctionDelegate(IntPtr strPtr); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_debug_plugin)] static extern void SetFunctionDebugLog(IntPtr fp); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_debug_plugin)] static extern void SetFunctionDebugLogWarning(IntPtr fp); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_debug_plugin)] static extern void SetFunctionDebugLogError(IntPtr fp); - static void Log(IntPtr strPtr) => Debug.Log($"{Const.nativePlugin}:{Marshal.PtrToStringAnsi(strPtr)}"); - static void LogWarning(IntPtr strPtr) => Debug.LogWarning($"{Const.nativePlugin}:{Marshal.PtrToStringAnsi(strPtr)}"); - static void LogError(IntPtr strPtr) => Debug.LogError($"{Const.nativePlugin}:{Marshal.PtrToStringAnsi(strPtr)}"); + static void Log(IntPtr strPtr) => Debug.Log($"{Const.unity_debug_plugin}:{Marshal.PtrToStringAnsi(strPtr)}"); + static void LogWarning(IntPtr strPtr) => Debug.LogWarning($"{Const.unity_debug_plugin}:{Marshal.PtrToStringAnsi(strPtr)}"); + static void LogError(IntPtr strPtr) => Debug.LogError($"{Const.unity_debug_plugin}:{Marshal.PtrToStringAnsi(strPtr)}"); [RuntimeInitializeOnLoadMethod] public static void RegisterDebugFunctions() { diff --git a/Runtime/PCL/Plugins/boost_date_time-vc142-mt-x64-1_72.dll b/Runtime/PCL/Plugins/boost_date_time-vc142-mt-x64-1_72.dll new file mode 100644 index 0000000..fbe287a --- /dev/null +++ b/Runtime/PCL/Plugins/boost_date_time-vc142-mt-x64-1_72.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ed255bafe0f84f0dcb5a0426c8948ddb150c4ee0f3793d0c7cb92f3ecc6e896 +size 48640 diff --git a/Runtime/PCL/Plugins/x64/boost_date_time-vc142-mt-x64-1_72.dll.meta b/Runtime/PCL/Plugins/boost_date_time-vc142-mt-x64-1_72.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/boost_date_time-vc142-mt-x64-1_72.dll.meta rename to Runtime/PCL/Plugins/boost_date_time-vc142-mt-x64-1_72.dll.meta diff --git a/Runtime/PCL/Plugins/boost_filesystem-vc142-mt-x64-1_72.dll b/Runtime/PCL/Plugins/boost_filesystem-vc142-mt-x64-1_72.dll new file mode 100644 index 0000000..3796b24 --- /dev/null +++ b/Runtime/PCL/Plugins/boost_filesystem-vc142-mt-x64-1_72.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faab707e814e9dd6be3f4846ee833961fad2b39abd0367568fd9fd98c0c3b3ae +size 112128 diff --git a/Runtime/PCL/Plugins/x64/boost_filesystem-vc142-mt-x64-1_72.dll.meta b/Runtime/PCL/Plugins/boost_filesystem-vc142-mt-x64-1_72.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/boost_filesystem-vc142-mt-x64-1_72.dll.meta rename to Runtime/PCL/Plugins/boost_filesystem-vc142-mt-x64-1_72.dll.meta diff --git a/Runtime/PCL/Plugins/boost_iostreams-vc142-mt-x64-1_72.dll b/Runtime/PCL/Plugins/boost_iostreams-vc142-mt-x64-1_72.dll new file mode 100644 index 0000000..97704d2 --- /dev/null +++ b/Runtime/PCL/Plugins/boost_iostreams-vc142-mt-x64-1_72.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cface3201c354470a0ae32f4ab2509f4014ae0b1d4716df8e67c7fa89b7e89e3 +size 98304 diff --git a/Runtime/PCL/Plugins/x64/boost_iostreams.dll.meta b/Runtime/PCL/Plugins/boost_iostreams-vc142-mt-x64-1_72.dll.meta similarity index 95% rename from Runtime/PCL/Plugins/x64/boost_iostreams.dll.meta rename to Runtime/PCL/Plugins/boost_iostreams-vc142-mt-x64-1_72.dll.meta index c1bc1c5..a9deef8 100644 --- a/Runtime/PCL/Plugins/x64/boost_iostreams.dll.meta +++ b/Runtime/PCL/Plugins/boost_iostreams-vc142-mt-x64-1_72.dll.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: ca0cee42a971fe445ad05d8e17da5a6f +guid: 57ac890699dea2248bab88b80d057f6c PluginImporter: externalObjects: {} serializedVersion: 2 diff --git a/Runtime/PCL/Plugins/boost_thread-vc142-mt-x64-1_72.dll b/Runtime/PCL/Plugins/boost_thread-vc142-mt-x64-1_72.dll new file mode 100644 index 0000000..0cb628b --- /dev/null +++ b/Runtime/PCL/Plugins/boost_thread-vc142-mt-x64-1_72.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7704a43bbe8480968e7523d073b8dfb87ad4a097d0922960a600b236aa4d5856 +size 83456 diff --git a/Runtime/PCL/Plugins/x64/boost_thread-vc142-mt-x64-1_72.dll.meta b/Runtime/PCL/Plugins/boost_thread-vc142-mt-x64-1_72.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/boost_thread-vc142-mt-x64-1_72.dll.meta rename to Runtime/PCL/Plugins/boost_thread-vc142-mt-x64-1_72.dll.meta diff --git a/Runtime/PCL/Plugins/bz2.dll b/Runtime/PCL/Plugins/bz2.dll new file mode 100644 index 0000000..d0c50af --- /dev/null +++ b/Runtime/PCL/Plugins/bz2.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed228af21fd7eadf76508ceca9819b533d96200d0fca0605400edacf06a0b530 +size 75264 diff --git a/Runtime/PCL/Plugins/x64/bz2.dll.meta b/Runtime/PCL/Plugins/bz2.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/bz2.dll.meta rename to Runtime/PCL/Plugins/bz2.dll.meta diff --git a/Runtime/PCL/Plugins/lzma.dll b/Runtime/PCL/Plugins/lzma.dll new file mode 100644 index 0000000..ed57933 --- /dev/null +++ b/Runtime/PCL/Plugins/lzma.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1c8d66d3952f405c339b86348354dea3a49278957bb2de70b8abae071f2d47b +size 152576 diff --git a/Runtime/PCL/Plugins/x64/lzma.dll.meta b/Runtime/PCL/Plugins/lzma.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/lzma.dll.meta rename to Runtime/PCL/Plugins/lzma.dll.meta diff --git a/Runtime/PCL/Plugins/pcl_common_release.dll b/Runtime/PCL/Plugins/pcl_common_release.dll new file mode 100644 index 0000000..b76aea2 --- /dev/null +++ b/Runtime/PCL/Plugins/pcl_common_release.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b71210cddd8e55556cb0d8c10db3f7add7e5e35c03c1a80b9864335eeb8bdeca +size 542720 diff --git a/Runtime/PCL/Plugins/x64/pcl_common_release.dll.meta b/Runtime/PCL/Plugins/pcl_common_release.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/pcl_common_release.dll.meta rename to Runtime/PCL/Plugins/pcl_common_release.dll.meta diff --git a/Runtime/PCL/Plugins/pcl_io_ply_release.dll b/Runtime/PCL/Plugins/pcl_io_ply_release.dll new file mode 100644 index 0000000..3cf4456 --- /dev/null +++ b/Runtime/PCL/Plugins/pcl_io_ply_release.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad90500ab8d6061b2445b5d7ee572b05ffee46fa52f95c411e628e22cec020a7 +size 300544 diff --git a/Runtime/PCL/Plugins/x64/pcl_io_ply_release.dll.meta b/Runtime/PCL/Plugins/pcl_io_ply_release.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/pcl_io_ply_release.dll.meta rename to Runtime/PCL/Plugins/pcl_io_ply_release.dll.meta diff --git a/Runtime/PCL/Plugins/pcl_io_release.dll b/Runtime/PCL/Plugins/pcl_io_release.dll new file mode 100644 index 0000000..b1841c5 --- /dev/null +++ b/Runtime/PCL/Plugins/pcl_io_release.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97a576319deb8dd8ff8c123372ff0e877ad2fad41da3d16df7c75531f3daf91c +size 979968 diff --git a/Runtime/PCL/Plugins/x64/pcl_io_release.dll.meta b/Runtime/PCL/Plugins/pcl_io_release.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/pcl_io_release.dll.meta rename to Runtime/PCL/Plugins/pcl_io_release.dll.meta diff --git a/Runtime/PCL/Plugins/unity_debug.dll b/Runtime/PCL/Plugins/unity_debug.dll new file mode 100644 index 0000000..8e94c7d --- /dev/null +++ b/Runtime/PCL/Plugins/unity_debug.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:853fb17d712ef3414c0a24add94fbc3e548509926170aa17c445750405d986ae +size 39936 diff --git a/Runtime/PCL/Plugins/x64/jpeg62.dll.meta b/Runtime/PCL/Plugins/unity_debug.dll.meta similarity index 95% rename from Runtime/PCL/Plugins/x64/jpeg62.dll.meta rename to Runtime/PCL/Plugins/unity_debug.dll.meta index e0b166a..04a637e 100644 --- a/Runtime/PCL/Plugins/x64/jpeg62.dll.meta +++ b/Runtime/PCL/Plugins/unity_debug.dll.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 5a47638df1afc7144aa1d7a03c4fa18f +guid: a0b62086cc560a7408112b12b1711cde PluginImporter: externalObjects: {} serializedVersion: 2 diff --git a/Runtime/PCL/Plugins/unity_pcl.dll b/Runtime/PCL/Plugins/unity_pcl.dll new file mode 100644 index 0000000..f67f000 --- /dev/null +++ b/Runtime/PCL/Plugins/unity_pcl.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67e9c6e47efbc2126cf3d967d2e730fc3d1c1d120da0adde632c0cc54a6f3c1 +size 386048 diff --git a/Runtime/PCL/Plugins/x64/lz4.dll.meta b/Runtime/PCL/Plugins/unity_pcl.dll.meta similarity index 95% rename from Runtime/PCL/Plugins/x64/lz4.dll.meta rename to Runtime/PCL/Plugins/unity_pcl.dll.meta index e48c79b..9d24440 100644 --- a/Runtime/PCL/Plugins/x64/lz4.dll.meta +++ b/Runtime/PCL/Plugins/unity_pcl.dll.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 827571d6f357ada4cb3fc3b24e29ad12 +guid: cee1c4d9e574cac43aa39970069c2ef9 PluginImporter: externalObjects: {} serializedVersion: 2 diff --git a/Runtime/PCL/Plugins/x64/vcomp140.dll b/Runtime/PCL/Plugins/vcomp140.dll similarity index 100% rename from Runtime/PCL/Plugins/x64/vcomp140.dll rename to Runtime/PCL/Plugins/vcomp140.dll diff --git a/Runtime/PCL/Plugins/x64/vcomp140.dll.meta b/Runtime/PCL/Plugins/vcomp140.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/vcomp140.dll.meta rename to Runtime/PCL/Plugins/vcomp140.dll.meta diff --git a/Runtime/PCL/Plugins/x64/vcruntime140_1.dll b/Runtime/PCL/Plugins/vcruntime140_1.dll similarity index 100% rename from Runtime/PCL/Plugins/x64/vcruntime140_1.dll rename to Runtime/PCL/Plugins/vcruntime140_1.dll diff --git a/Runtime/PCL/Plugins/x64/vcruntime140_1.dll.meta b/Runtime/PCL/Plugins/vcruntime140_1.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/vcruntime140_1.dll.meta rename to Runtime/PCL/Plugins/vcruntime140_1.dll.meta diff --git a/Runtime/PCL/Plugins/x64.meta b/Runtime/PCL/Plugins/x64.meta deleted file mode 100644 index 9905c20..0000000 --- a/Runtime/PCL/Plugins/x64.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 0e39c4a34bb70f1488b2c57f937efa17 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/PCL4Unity.dll b/Runtime/PCL/Plugins/x64/PCL4Unity.dll deleted file mode 100644 index a0ec987..0000000 --- a/Runtime/PCL/Plugins/x64/PCL4Unity.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a3f2c615787ba7ad3ec374a18f4f13fe4b0874d6fadf90f1c416217b9d811ba6 -size 44544 diff --git a/Runtime/PCL/Plugins/x64/PCL4Unity.dll.meta 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assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/boost_date_time-vc142-mt-x64-1_72.dll b/Runtime/PCL/Plugins/x64/boost_date_time-vc142-mt-x64-1_72.dll deleted file mode 100644 index e94c05f..0000000 --- a/Runtime/PCL/Plugins/x64/boost_date_time-vc142-mt-x64-1_72.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:cabe109406f9d7e06d6bf17a655806f00a4d92d203007a4b83c1cce940073fa6 -size 48640 diff --git a/Runtime/PCL/Plugins/x64/boost_filesystem-vc142-mt-x64-1_72.dll b/Runtime/PCL/Plugins/x64/boost_filesystem-vc142-mt-x64-1_72.dll deleted file mode 100644 index 297a4b8..0000000 --- a/Runtime/PCL/Plugins/x64/boost_filesystem-vc142-mt-x64-1_72.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:59d71d69c524bfdcd32a4ab85369d66e26ae82b144cda0f9ed69b4c9ae52dffb -size 112128 diff --git a/Runtime/PCL/Plugins/x64/boost_iostreams.dll b/Runtime/PCL/Plugins/x64/boost_iostreams.dll deleted file mode 100644 index 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a/Runtime/PCL/Plugins/x64/vtkIOImage-8.2.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f8dde5428d2ec5396c548b17cec9bee84a3cb6f518f76f6c8ca244a0a53e311b -size 784384 diff --git a/Runtime/PCL/Plugins/x64/vtkIOImage-8.2.dll.meta b/Runtime/PCL/Plugins/x64/vtkIOImage-8.2.dll.meta deleted file mode 100644 index 1bafc4f..0000000 --- a/Runtime/PCL/Plugins/x64/vtkIOImage-8.2.dll.meta +++ /dev/null @@ -1,52 +0,0 @@ -fileFormatVersion: 2 -guid: e6658dfcb83f76a449836cf28abed84e -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 0 - isOverridable: 1 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 0 - settings: - CPU: x86_64 - DefaultValueInitialized: true - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: OSXUniversal - second: - enabled: 0 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 0 - settings: - CPU: None - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: AnyCPU - userData: - assetBundleName: - assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/vtkIOLegacy-8.2.dll b/Runtime/PCL/Plugins/x64/vtkIOLegacy-8.2.dll deleted file mode 100644 index 6e814b6..0000000 --- a/Runtime/PCL/Plugins/x64/vtkIOLegacy-8.2.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:78e77f2ec9af7e7f775163038bf5284f5f058dba0df17d0c7031c8672a34ec67 -size 462336 diff --git a/Runtime/PCL/Plugins/x64/vtkIOLegacy-8.2.dll.meta b/Runtime/PCL/Plugins/x64/vtkIOLegacy-8.2.dll.meta deleted file mode 100644 index 93b874b..0000000 --- a/Runtime/PCL/Plugins/x64/vtkIOLegacy-8.2.dll.meta +++ /dev/null @@ -1,52 +0,0 @@ -fileFormatVersion: 2 -guid: 7209b6b654b9962419fa51745aa0ae8a -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 0 - isOverridable: 1 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 0 - settings: - CPU: x86_64 - DefaultValueInitialized: true - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: OSXUniversal - second: - enabled: 0 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 0 - settings: - CPU: None - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: AnyCPU - userData: - assetBundleName: - assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/vtkIOPLY-8.2.dll b/Runtime/PCL/Plugins/x64/vtkIOPLY-8.2.dll deleted file mode 100644 index 1594437..0000000 --- a/Runtime/PCL/Plugins/x64/vtkIOPLY-8.2.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4ffa6375d25359f8f7386f5a03b6c832e90133266a2506baf7b0a002f4d80eef -size 84992 diff --git a/Runtime/PCL/Plugins/x64/vtkIOPLY-8.2.dll.meta b/Runtime/PCL/Plugins/x64/vtkIOPLY-8.2.dll.meta deleted file mode 100644 index 82414a0..0000000 --- a/Runtime/PCL/Plugins/x64/vtkIOPLY-8.2.dll.meta +++ /dev/null @@ -1,52 +0,0 @@ -fileFormatVersion: 2 -guid: 14efefb8933e7a640a0c1239dccf1c16 -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 0 - isOverridable: 1 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 0 - settings: - CPU: x86_64 - DefaultValueInitialized: true - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: OSXUniversal - second: - enabled: 0 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 0 - settings: - CPU: None - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: AnyCPU - userData: - assetBundleName: - assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/vtkImagingCore-8.2.dll b/Runtime/PCL/Plugins/x64/vtkImagingCore-8.2.dll deleted file mode 100644 index d9d9148..0000000 --- a/Runtime/PCL/Plugins/x64/vtkImagingCore-8.2.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bd8419eac8d466d4b8d511a281148456d670862f1433ce20ca0d5b6ab591df79 -size 1271808 diff --git a/Runtime/PCL/Plugins/x64/vtkImagingCore-8.2.dll.meta b/Runtime/PCL/Plugins/x64/vtkImagingCore-8.2.dll.meta deleted file mode 100644 index 173b5f2..0000000 --- a/Runtime/PCL/Plugins/x64/vtkImagingCore-8.2.dll.meta +++ /dev/null @@ -1,52 +0,0 @@ -fileFormatVersion: 2 -guid: 9fd71705aec1dfe489e7aabecb397a0d -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 0 - 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a/Runtime/PCL/Plugins/x64/vtkmetaio-8.2.dll.meta b/Runtime/PCL/Plugins/x64/vtkmetaio-8.2.dll.meta deleted file mode 100644 index 850d2ff..0000000 --- a/Runtime/PCL/Plugins/x64/vtkmetaio-8.2.dll.meta +++ /dev/null @@ -1,52 +0,0 @@ -fileFormatVersion: 2 -guid: 33d58578360c4d942864dddf249912fa -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 0 - isOverridable: 1 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 0 - settings: - CPU: x86_64 - DefaultValueInitialized: true - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: OSXUniversal - second: - enabled: 0 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 0 - settings: - CPU: None - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: AnyCPU - userData: - assetBundleName: - assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/vtksys-8.2.dll b/Runtime/PCL/Plugins/x64/vtksys-8.2.dll deleted file mode 100644 index 1ac4bf5..0000000 --- a/Runtime/PCL/Plugins/x64/vtksys-8.2.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:08d367445dcd51b886a2573668341f94c9162d67aaee71c50a543d87218e3f85 -size 292352 diff --git a/Runtime/PCL/Plugins/x64/vtksys-8.2.dll.meta b/Runtime/PCL/Plugins/x64/vtksys-8.2.dll.meta deleted file mode 100644 index a510144..0000000 --- a/Runtime/PCL/Plugins/x64/vtksys-8.2.dll.meta +++ /dev/null @@ -1,52 +0,0 @@ -fileFormatVersion: 2 -guid: 4794ef90db12da242917c544d2b70c15 -PluginImporter: - externalObjects: {} - serializedVersion: 2 - iconMap: {} - executionOrder: {} - defineConstraints: [] - isPreloaded: 0 - isOverridable: 1 - isExplicitlyReferenced: 0 - validateReferences: 1 - platformData: - - first: - Any: - second: - enabled: 1 - settings: {} - - first: - Editor: Editor - second: - enabled: 0 - settings: - CPU: x86_64 - DefaultValueInitialized: true - - first: - Standalone: Linux64 - second: - enabled: 1 - settings: - CPU: x86_64 - - first: - Standalone: OSXUniversal - second: - enabled: 0 - settings: - CPU: x86_64 - - first: - Standalone: Win - second: - enabled: 0 - settings: - CPU: None - - first: - Standalone: Win64 - second: - enabled: 1 - settings: - CPU: AnyCPU - userData: - assetBundleName: - assetBundleVariant: diff --git a/Runtime/PCL/Plugins/x64/zstd.dll b/Runtime/PCL/Plugins/x64/zstd.dll deleted file mode 100644 index b695ab8..0000000 --- a/Runtime/PCL/Plugins/x64/zstd.dll +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ac8e122d983bc17d0ca2c92c1d871bff5d42767d52ee0afb9a8f282be2cfbda7 -size 506368 diff --git a/Runtime/PCL/Plugins/x64/zlib1.dll b/Runtime/PCL/Plugins/zlib1.dll similarity index 100% rename from Runtime/PCL/Plugins/x64/zlib1.dll rename to Runtime/PCL/Plugins/zlib1.dll diff --git a/Runtime/PCL/Plugins/x64/zlib1.dll.meta b/Runtime/PCL/Plugins/zlib1.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/zlib1.dll.meta rename to Runtime/PCL/Plugins/zlib1.dll.meta diff --git a/Runtime/PCL/Plugins/zstd.dll b/Runtime/PCL/Plugins/zstd.dll new file mode 100644 index 0000000..3bc3274 --- /dev/null +++ b/Runtime/PCL/Plugins/zstd.dll @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6a18ca3f022abd3cd78376b304c4207c549941e849f1e68b1c5055333d64312 +size 534528 diff --git a/Runtime/PCL/Plugins/x64/zstd.dll.meta b/Runtime/PCL/Plugins/zstd.dll.meta similarity index 100% rename from Runtime/PCL/Plugins/x64/zstd.dll.meta rename to Runtime/PCL/Plugins/zstd.dll.meta diff --git a/Runtime/PCL/PointCloudReader.cs b/Runtime/PCL/PointCloudReader.cs index 37de1de..75000dc 100644 --- a/Runtime/PCL/PointCloudReader.cs +++ b/Runtime/PCL/PointCloudReader.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -30,30 +30,42 @@ namespace AutoCore.MapToolbox.PCL public unsafe class PointCloudReader : IDisposable { #region native funtion - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern int load([MarshalAs(UnmanagedType.LPStr)]string file); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern uint height(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern uint width(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern byte is_bigendian(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern uint point_step(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern uint row_step(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern byte is_dense(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern IntPtr data_blob(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern ulong size_blob(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern void clear(); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] + static extern bool contains_field([MarshalAs(UnmanagedType.LPStr)]string name); + [DllImport(Const.unity_pcl_plugin)] + static extern bool contains_xyz(); + [DllImport(Const.unity_pcl_plugin)] + static extern bool contains_i(); + [DllImport(Const.unity_pcl_plugin)] + static extern bool contains_rgb(); + [DllImport(Const.unity_pcl_plugin)] + static extern bool contains_rgba(); + [DllImport(Const.unity_pcl_plugin)] static extern ulong load_as_xyzrgba(out IntPtr data); - [DllImport(Const.nativePlugin)] + [DllImport(Const.unity_pcl_plugin)] static extern ulong load_as_xyzi(out IntPtr data); + [DllImport(Const.unity_pcl_plugin)] + static extern ulong load_as_xyz(out IntPtr data); #endregion public NativeArray PointXYZRGBAs { get; set; } public NativeArray PointXYZIs { get; set; } @@ -75,97 +87,135 @@ bool LoadPointCloudFile(string file) } else { - size = load_as_xyzrgba(out IntPtr data_xyzrgb); - if (size > (ulong)(int.MaxValue / sizeof(PointXYZRGBA))) + if (contains_xyz()) { - Debug.LogError($"load failed as breached max points amount {int.MaxValue / sizeof(PointXYZRGBA)} , this file have {size} points ‬!"); - } - else if (size > (ulong)(int.MaxValue / sizeof(PCLPointXYZRGBA))) - { - var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzrgb.ToPointer(), int.MaxValue / sizeof(PCLPointXYZRGBA), Allocator.None); + if (contains_rgb() || contains_rgba()) + { + size = load_as_xyzrgba(out IntPtr data_xyzrgb); + if (size > (ulong)(int.MaxValue / sizeof(PointXYZRGBA))) + { + Debug.LogError($"load failed as breached max points amount {int.MaxValue / sizeof(PointXYZRGBA)} , this file have {size} points ‬!"); + } + else if (size > (ulong)(int.MaxValue / sizeof(PCLPointXYZRGBA))) + { + var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzrgb.ToPointer(), int.MaxValue / sizeof(PCLPointXYZRGBA), Allocator.None); #if ENABLE_UNITY_COLLECTIONS_CHECKS - NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); #endif - var temp_1 = new NativeArray(origin, Allocator.TempJob); - int remain = (int)size - temp_1.Length; - origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(IntPtr.Add(data_xyzrgb, remain * 32).ToPointer(), remain, Allocator.None); + var temp_1 = new NativeArray(origin, Allocator.TempJob); + int remain = (int)size - temp_1.Length; + origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(IntPtr.Add(data_xyzrgb, remain * 32).ToPointer(), remain, Allocator.None); #if ENABLE_UNITY_COLLECTIONS_CHECKS - NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); #endif - var temp_2 = new NativeArray(origin, Allocator.TempJob); - clear(); - var densed_1 = Dense(temp_1); - temp_1.Dispose(); - var densed_2 = Dense(temp_2); - temp_2.Dispose(); - PointXYZRGBAs = new NativeArray((int)size, Allocator.TempJob, NativeArrayOptions.UninitializedMemory); - NativeArray.Copy(densed_1, PointXYZRGBAs, densed_1.Length); - NativeArray.Copy(densed_2, 0, PointXYZRGBAs, densed_1.Length, densed_2.Length); - densed_1.Dispose(); - densed_2.Dispose(); - return true; - } - else if (size > 0) - { - var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzrgb.ToPointer(), (int)size, Allocator.None); + var temp_2 = new NativeArray(origin, Allocator.TempJob); + clear(); + var densed_1 = Dense(temp_1); + temp_1.Dispose(); + var densed_2 = Dense(temp_2); + temp_2.Dispose(); + PointXYZRGBAs = new NativeArray((int)size, Allocator.TempJob, NativeArrayOptions.UninitializedMemory); + NativeArray.Copy(densed_1, PointXYZRGBAs, densed_1.Length); + NativeArray.Copy(densed_2, 0, PointXYZRGBAs, densed_1.Length, densed_2.Length); + densed_1.Dispose(); + densed_2.Dispose(); + return true; + } + else if (size > 0) + { + var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzrgb.ToPointer(), (int)size, Allocator.None); #if ENABLE_UNITY_COLLECTIONS_CHECKS - NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); #endif - var temp = new NativeArray(origin, Allocator.TempJob); - clear(); - PointXYZRGBAs = Dense(temp); - temp.Dispose(); - return true; - } - else - { - size = load_as_xyzi(out IntPtr data_xyzi); - if (size > (ulong)(int.MaxValue / sizeof(PointXYZI))) - { - Debug.LogError($"load failed as breached max points amount {int.MaxValue / sizeof(PointXYZI)} , this file have {size} points ‬!"); + var temp = new NativeArray(origin, Allocator.TempJob); + clear(); + PointXYZRGBAs = Dense(temp); + temp.Dispose(); + return true; + } + else + { + Debug.LogError("load failed as points count zero !"); + } } - else if (size > (ulong)(int.MaxValue / sizeof(PCLPointXYZI))) + else if (contains_i()) { - var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzi.ToPointer(), int.MaxValue / sizeof(PCLPointXYZI), Allocator.None); + size = load_as_xyzi(out IntPtr data_xyzi); + if (size > (ulong)(int.MaxValue / sizeof(PointXYZI))) + { + Debug.LogError($"load failed as breached max points amount {int.MaxValue / sizeof(PointXYZI)} , this file have {size} points ‬!"); + } + else if (size > (ulong)(int.MaxValue / sizeof(PCLPointXYZI))) + { + var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzi.ToPointer(), int.MaxValue / sizeof(PCLPointXYZI), Allocator.None); #if ENABLE_UNITY_COLLECTIONS_CHECKS - NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); #endif - var temp_1 = new NativeArray(origin, Allocator.TempJob); - int remain = (int)size - temp_1.Length; - origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(IntPtr.Add(data_xyzi, remain * 32).ToPointer(), remain, Allocator.None); + var temp_1 = new NativeArray(origin, Allocator.TempJob); + int remain = (int)size - temp_1.Length; + origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(IntPtr.Add(data_xyzi, remain * 32).ToPointer(), remain, Allocator.None); #if ENABLE_UNITY_COLLECTIONS_CHECKS - NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); #endif - var temp_2 = new NativeArray(origin, Allocator.TempJob); - clear(); - var densed_1 = Dense(temp_1); - temp_1.Dispose(); - var densed_2 = Dense(temp_2); - temp_2.Dispose(); - PointXYZIs = new NativeArray((int)size, Allocator.TempJob, NativeArrayOptions.UninitializedMemory); - NativeArray.Copy(densed_1, PointXYZIs, densed_1.Length); - NativeArray.Copy(densed_2, 0, PointXYZIs, densed_1.Length, densed_2.Length); - densed_1.Dispose(); - densed_2.Dispose(); - return true; - } - else if (size > 0) - { - var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzi.ToPointer(), (int)size, Allocator.None); + var temp_2 = new NativeArray(origin, Allocator.TempJob); + clear(); + var densed_1 = Dense(temp_1); + temp_1.Dispose(); + var densed_2 = Dense(temp_2); + temp_2.Dispose(); + PointXYZIs = new NativeArray((int)size, Allocator.TempJob, NativeArrayOptions.UninitializedMemory); + NativeArray.Copy(densed_1, PointXYZIs, densed_1.Length); + NativeArray.Copy(densed_2, 0, PointXYZIs, densed_1.Length, densed_2.Length); + densed_1.Dispose(); + densed_2.Dispose(); + return true; + } + else if (size > 0) + { + var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyzi.ToPointer(), (int)size, Allocator.None); #if ENABLE_UNITY_COLLECTIONS_CHECKS - NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); #endif - var temp = new NativeArray(origin, Allocator.TempJob); - clear(); - PointXYZIs = Dense(temp); - temp.Dispose(); - return true; + var temp = new NativeArray(origin, Allocator.TempJob); + clear(); + PointXYZIs = Dense(temp); + temp.Dispose(); + return true; + } + else + { + Debug.LogError("load failed as points count zero !"); + } } else { - Debug.LogError("load failed as points count zero !"); + size = load_as_xyz(out IntPtr data_xyz); + if (size > (ulong)(int.MaxValue / sizeof(PointXYZRGBA))) + { + Debug.LogError($"load failed as breached max points amount {int.MaxValue / sizeof(PointXYZRGBA)} , this file have {size} points ‬!"); + } + else if (size > 0) + { + var origin = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray(data_xyz.ToPointer(), (int)size, Allocator.None); +#if ENABLE_UNITY_COLLECTIONS_CHECKS + NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref origin, AtomicSafetyHandle.GetTempMemoryHandle()); +#endif + var temp = new NativeArray(origin, Allocator.TempJob); + clear(); + PointXYZRGBAs = Dense(temp); + temp.Dispose(); + return true; + } + else + { + Debug.LogError("load failed as points count zero !"); + } } } + else + { + Debug.LogError("load failed as missing field xyz!"); + } } } else @@ -207,6 +257,23 @@ public void Dispose() } } [BurstCompile] + struct JobDensePointXYZ : IJobParallelFor + { + [ReadOnly] internal NativeArray data_in; + [WriteOnly] internal NativeArray data_out; + public void Execute(int index) => data_out[index] = new PointXYZRGBA { xyz = data_in[index].point.xyz, bgra = Color.white }; + } + public NativeArray Dense(NativeArray raw) + { + var job = new JobDensePointXYZ + { + data_in = raw, + data_out = new NativeArray(raw.Length, Allocator.TempJob, NativeArrayOptions.UninitializedMemory) + }; + job.Schedule(raw.Length, ushort.MaxValue).Complete(); + return job.data_out; + } + [BurstCompile] struct JobDensePointXYZRGBA : IJobParallelFor { [ReadOnly] internal NativeArray data_in; diff --git a/Runtime/PCL/PointTypes.cs b/Runtime/PCL/PointTypes.cs index 0880d63..d9064be 100644 --- a/Runtime/PCL/PointTypes.cs +++ b/Runtime/PCL/PointTypes.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -34,6 +34,10 @@ public struct PCLPointXYZI public float intensity; public uint3 _; } + public struct PCLPointXYZ + { + public float4 point; + } public struct PointXYZRGBA { public Vector3 xyz; diff --git a/Runtime/PCL/Utils.cs b/Runtime/PCL/Utils.cs index 6aa3ac6..e26bb95 100644 --- a/Runtime/PCL/Utils.cs +++ b/Runtime/PCL/Utils.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/SiblingChild.cs b/Runtime/SiblingChild.cs index 363114f..7f49eca 100644 --- a/Runtime/SiblingChild.cs +++ b/Runtime/SiblingChild.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. diff --git a/Runtime/SiblingParent.cs b/Runtime/SiblingParent.cs index 11deb49..0850194 100644 --- a/Runtime/SiblingParent.cs +++ b/Runtime/SiblingParent.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -17,6 +17,7 @@ #endregion +using System; using UnityEngine; namespace AutoCore.MapToolbox diff --git a/Runtime/Utils.cs b/Runtime/Utils.cs index aec03dc..a8c6616 100644 --- a/Runtime/Utils.cs +++ b/Runtime/Utils.cs @@ -1,6 +1,6 @@ #region License /****************************************************************************** -* Copyright 2019 The AutoCore Authors. All Rights Reserved. +* Copyright 2018-2020 The AutoCore Authors. All Rights Reserved. * * Licensed under the GNU Lesser General Public License, Version 3.0 (the "License"); * you may not use this file except in compliance with the License. @@ -23,6 +23,43 @@ namespace AutoCore.MapToolbox { static class Utils { + //http://wiki.unity3d.com/index.php/3d_Math_functions + //Two non-parallel lines which may or may not touch each other have a point on each line which are closest + //to each other. This function finds those two points. If the lines are not parallel, the function + //outputs true, otherwise false. + public static bool ClosestPointsOnTwoLines(out Vector3 closestPointLine1, out Vector3 closestPointLine2, Vector3 linePoint1, Vector3 lineVec1, Vector3 linePoint2, Vector3 lineVec2) + { + + closestPointLine1 = Vector3.zero; + closestPointLine2 = Vector3.zero; + + float a = Vector3.Dot(lineVec1, lineVec1); + float b = Vector3.Dot(lineVec1, lineVec2); + float e = Vector3.Dot(lineVec2, lineVec2); + + float d = a * e - b * b; + + //lines are not parallel + if (d != 0.0f) + { + + Vector3 r = linePoint1 - linePoint2; + float c = Vector3.Dot(lineVec1, r); + float f = Vector3.Dot(lineVec2, r); + + float s = (b * f - c * e) / d; + float t = (a * f - c * b) / d; + + closestPointLine1 = linePoint1 + lineVec1 * s; + closestPointLine2 = linePoint2 + lineVec2 * t; + + return true; + } + else + { + return false; + } + } public static bool AllParentActived(this Component component) { if (component.transform.parent != null) diff --git a/package.json b/package.json index efce447..02aee80 100644 --- a/package.json +++ b/package.json @@ -1,11 +1,11 @@ { "name": "com.autocore.map-toolbox", "displayName": "Autoware Map Toolbox", - "version": "0.0.10-preview.6", + "version": "0.1.0", "unity": "2019.3", "description": "Map tools for Autoware", "dependencies": { - "com.unity.jobs": "0.2.6-preview.13" + "com.unity.jobs": "0.2.7-preview.11" }, "type": "tool" } \ No newline at end of file