Revert "Fix lane change for lanes with different numbers of waypoints"

This reverts commit 2d0bafb.
lgsvl · Oct 28, 2019 · 336ce3a · 336ce3a
1 parent bcdcab6
commit 336ce3a
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Showing 3 changed files with 13 additions and 40 deletions.
diff --git a/Assets/Scripts/Controllers/NPCController.cs b/Assets/Scripts/Controllers/NPCController.cs
@@ -574,7 +574,7 @@ private void ResetData()
         isRightTurn = false;
         isWaitingToDodge = false;
         isDodge = false;
-        laneChange = true;
+        laneChange = false;
         isStopLight = false;
         isStopSign = false;
         hasReachedStopSign = false;
@@ -887,7 +887,6 @@ public void SetLaneData(List<Vector3> data)
     private void SetChangeLaneData(List<Vector3> data)
     {
         laneData = new List<Vector3>(data);
-        currentIndex = SimulatorManager.Instance.MapManager.GetLaneNextIndex(transform.position, currentMapLane);
         currentTarget = laneData[currentIndex];
         isDodge = false; // ???
     }
@@ -975,7 +974,6 @@ private void EvaluateTarget()
             {
                 currentIndex++;
                 currentTarget = laneData[currentIndex];
-                Coroutines[(int)CoroutineID.DelayChangeLane] = FixedUpdateManager.StartCoroutine(DelayChangeLane());
             }
             else
             {
@@ -995,6 +993,7 @@ private void GetNextLane()
             normalSpeed = RandomGenerator.NextFloat(laneSpeedLimit - 3 + aggression, laneSpeedLimit + 1 + aggression);
             SetLaneData(currentMapLane.mapWorldPositions);
             SetTurnSignal();
+            Coroutines[(int)CoroutineID.DelayChangeLane] = FixedUpdateManager.StartCoroutine(DelayChangeLane());
         }
         else // issue getting new waypoints so despawn
         {
@@ -1007,8 +1006,8 @@ private IEnumerator DelayChangeLane()
     {
         if (Control == ControlType.Waypoints) yield break;
         if (!currentMapLane.isTrafficLane) yield break;
-        if (RandomGenerator.Next(5) == 1) yield break;
-        if (!laneChange) yield break;
+        if (RandomGenerator.Next(3) == 1) yield break;
+        if (!(laneChange)) yield break;
 
         if (currentMapLane.leftLaneForward != null)
         {
@@ -1023,7 +1022,7 @@ private IEnumerator DelayChangeLane()
             SetNPCTurnSignal();
         }
 
-        yield return FixedUpdateManager.WaitForFixedSeconds(RandomGenerator.NextFloat(1f, 3f));
+        yield return FixedUpdateManager.WaitForFixedSeconds(RandomGenerator.NextFloat(0f, 2f));
 
         if (currentIndex >= laneData.Count - 2)
         {

diff --git a/Assets/Scripts/Managers/MapManager.cs b/Assets/Scripts/Managers/MapManager.cs
@@ -72,29 +72,6 @@ public MapLane GetClosestLane(Vector3 position)
         return result;
     }
 
-    public int GetLaneNextIndex(Vector3 position, MapLane lane)
-    {
-        float minDist = float.PositiveInfinity;
-        int index = -1;
-
-        for (int i = 0; i < lane.mapWorldPositions.Count - 1; i++)
-        {
-            var p0 = lane.mapWorldPositions[i];
-            var p1 = lane.mapWorldPositions[i + 1];
-
-            var p = Utility.ClosetPointOnSegment(p0, p1, position);
-
-            float d = Vector3.SqrMagnitude(position - p);
-            if (d < minDist)
-            {
-                minDist = d;
-                index = i + 1;
-            }
-        }
-
-        return index;
-    }
-
     // api
     public void GetPointOnLane(Vector3 point, out Vector3 position, out Quaternion rotation)
     {

diff --git a/Assets/Scripts/Map/MapLaneSection.cs b/Assets/Scripts/Map/MapLaneSection.cs
@@ -43,7 +43,7 @@ public void SetLaneData()
                 lane.leftBoundType = LaneBoundaryType.DOTTED_WHITE;
                 lane.rightBoundType = LaneBoundaryType.DOTTED_WHITE;
 
-                var laneIdx = lane.mapWorldPositions.Count - 1; // index to compute vector from lane to otherLane and distance between those two lanes
+                var idx = 1; // index to compute vector from lane to otherLane and distance between those two lanes
                 var laneDir = (lane.mapWorldPositions[1] - lane.mapWorldPositions[0]).normalized;
                 var minDistLeft = 50f;
                 var minDistRight = 50f;
@@ -58,25 +58,20 @@ public void SetLaneData()
                     var otherLane = lanes[j];
                     if (lane == otherLane) continue;
 
-                    var otherIdx = otherLane.mapWorldPositions.Count - 1;
                     // Check if these two lanes have same directions by check the dist between 1st pos in lane and (the 1st and last pos in otherLane).
                     var isSameDirection = true;
-                    var laneDirection = (lane.mapWorldPositions[laneIdx] - lane.mapWorldPositions[0]).normalized;
-                    var otherLaneDirection = (otherLane.mapWorldPositions[otherIdx] - otherLane.mapWorldPositions[0]).normalized;
+                    var laneDirection = (lane.mapWorldPositions[lane.mapWorldPositions.Count-1] - lane.mapWorldPositions[0]).normalized;
+                    var otherLaneDirection = (otherLane.mapWorldPositions[otherLane.mapWorldPositions.Count-1] - otherLane.mapWorldPositions[0]).normalized;
                     if (Vector3.Dot(laneDirection, otherLaneDirection) < 0)
                     {
                         isSameDirection = false;
                     }
 
-                    var cross = Vector3.Cross(laneDir, (otherLane.mapWorldPositions[otherIdx] - lane.mapWorldPositions[laneIdx]).normalized).y;
-                    var dist = Mathf.RoundToInt(Vector3.Distance(lane.mapWorldPositions[laneIdx], otherLane.mapWorldPositions[otherIdx]));
-                    if (dist <= 1)
-                    {
-                        dist = Mathf.RoundToInt(Vector3.Distance(lane.mapWorldPositions[0], otherLane.mapWorldPositions[0]));
-                    }
-
                     if (isSameDirection) // same direction
                     {
+                        var cross = Vector3.Cross(laneDir, (otherLane.mapWorldPositions[idx] - lane.mapWorldPositions[idx]).normalized).y;
+                        var dist = Mathf.RoundToInt(Vector3.Distance(lane.mapWorldPositions[idx], otherLane.mapWorldPositions[idx]));
+
                         if (cross < 0) // otherLane is left of lane
                         {
                             if (dist < minDistLeft) // closest lane left of lane is otherLane
@@ -102,6 +97,8 @@ public void SetLaneData()
                     else // opposite direction
                     {
                         isOneWay = false;
+                        var cross = Vector3.Cross(laneDir, (otherLane.mapWorldPositions[otherLane.mapWorldPositions.Count - 1 - idx] - lane.mapWorldPositions[idx]).normalized).y;
+                        var dist = Mathf.RoundToInt(Vector3.Distance(lane.mapWorldPositions[idx], otherLane.mapWorldPositions[otherLane.mapWorldPositions.Count - 1 - idx]));
 
                         if (cross < 0) // otherLane is left of lane
                         {