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road_base.py
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road_base.py
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# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTIBILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
import bpy
from pyclothoids import Clothoid
from mathutils import Vector, Matrix
from math import pi, ceil
import os
import sys
import imp
dir = os.path.dirname(bpy.data.filepath)
if not dir in sys.path:
sys.path.append(dir)
# Below this, import all the other python scripts in this project.
# Reload if the module python script has changed.
import helper
imp.reload(helper)
import properties
imp.reload(properties)
from properties import *
import geometry
imp.reload(geometry)
from geometry import *
## =========================== Road definition classes =================================
class PR_OT_road(bpy.types.Operator):
bl_idname = 'pr.road'
bl_label = 'Road'
bl_description = 'Create road mesh'
bl_options = {'REGISTER', 'UNDO'}
snap_filter = 'OpenDRIVE'
geometry = DSC_geometry_line()
params = {}
geometry_solver: bpy.props.StringProperty(
name='Geometry solver',
description='Solver used to determine geometry parameters.',
options={'HIDDEN'},
default='default')
#Define the two param dictionaries. These decide how the road will be constructed.
def init_state(self):
self.params_input = {
'point_start': Vector((0.0,0.0,0.0)),
'point_end': Vector((100.0,0.0,0.0)),
'heading_start': 0,
'heading_end': 0,
'curvature_start': 2,
'curvature_end': 0,
'slope_start': 0,
'slope_end': 0,
'connected_start': False,
'connected_end': False,
'design_speed': 130.0,
}
self.params_snap = {
'id_obj': None,
'point': Vector((0.0,0.0,0.0)),
'type': 'cp_none',
'heading': 0,
'curvature': 0,
'slope': 0,
}
def create_3d_object(self, context):
'''
Create the Blender road object
'''
if len(context.scene.road_properties.lanes) == 0:
context.scene.road_properties.init()
valid, mesh_road, matrix_world, materials = self.update_params_get_mesh(context)
if not valid:
return None
else:
# Create road object
id_obj = helper.get_new_id_opendrive(context)
mesh_road.name = str(id_obj)
obj = bpy.data.objects.new(mesh_road.name, mesh_road)
obj.matrix_world = matrix_world
helper.link_object_opendrive(context, obj)
# Assign materials
helper.assign_road_materials(obj)
for idx in range(len(obj.data.polygons)):
if idx in materials['road_mark_white']:
obj.data.polygons[idx].material_index = \
helper.get_material_index(obj, 'road_mark_white')
elif idx in materials['grass']:
obj.data.polygons[idx].material_index = \
helper.get_material_index(obj, 'grass')
elif idx in materials['road_mark_yellow']:
obj.data.polygons[idx].material_index = \
helper.get_material_index(obj, 'road_mark_yellow')
else:
obj.data.polygons[idx].material_index = \
helper.get_material_index(obj, 'road_asphalt')
# Remove double vertices from road lanes and lane lines to simplify mesh
helper.remove_duplicate_vertices(context, obj)
# Make it active for the user to see what he created last
helper.select_activate_object(context, obj)
# Convert the ngons to tris and quads to get a defined surface for elevated roads
helper.triangulate_quad_mesh(obj)
# Metadata
obj['dsc_category'] = 'OpenDRIVE'
obj['dsc_type'] = 'road'
# Number lanes which split to the left side at road end
obj['road_split_lane_idx'] = self.params['road_split_lane_idx']
# Remember connecting points for road snapping
if self.params['road_split_type'] == 'start':
obj['cp_start_l'], obj['cp_start_r'] = self.get_split_cps('start')
obj['cp_end_l'], obj['cp_end_r']= self.geometry.params['point_end'], self.geometry.params['point_end']
elif self.params['road_split_type'] == 'end':
obj['cp_start_l'], obj['cp_start_r'] = self.geometry.params['point_start'], self.geometry.params['point_start']
obj['cp_end_l'], obj['cp_end_r']= self.get_split_cps('end')
else:
obj['cp_start_l'], obj['cp_start_r'] = self.geometry.params['point_start'], self.geometry.params['point_start']
obj['cp_end_l'], obj['cp_end_r']= self.geometry.params['point_end'], self.geometry.params['point_end']
# A road split needs to create an OpenDRIVE direct junction
obj['road_split_type'] = self.params['road_split_type']
if self.params['road_split_type'] != 'none':
direct_junction_id = helper.get_new_id_opendrive(context)
direct_junction_name = 'direct_junction' + '_' + str(direct_junction_id)
obj_direct_junction = bpy.data.objects.new(direct_junction_name, None)
obj_direct_junction.empty_display_type = 'PLAIN_AXES'
if self.params['road_split_lane_idx'] > self.params['lanes_left_num']:
if self.params['road_split_type'] == 'start':
obj_direct_junction.location = obj['cp_start_r']
else:
obj_direct_junction.location = obj['cp_end_r']
else:
if self.params['road_split_type'] == 'start':
obj_direct_junction.location = obj['cp_start_l']
else:
obj_direct_junction.location = obj['cp_end_l']
# FIXME also add rotation based on road heading and slope
helper.link_object_opendrive(context, obj_direct_junction)
obj_direct_junction['id_xodr'] = direct_junction_id
obj_direct_junction['dsc_category'] = 'OpenDRIVE'
obj_direct_junction['dsc_type'] = 'junction_direct'
if self.params['road_split_type'] == 'start':
obj['id_direct_junction_start'] = direct_junction_id
else:
obj['id_direct_junction_end'] = direct_junction_id
# Set OpenDRIVE custom properties
obj['id_xodr'] = id_obj
obj['geometry'] = self.geometry.params
obj['lanes_left_num'] = self.params['lanes_left_num']
obj['lanes_right_num'] = self.params['lanes_right_num']
obj['lanes_left_types'] = self.params['lanes_left_types']
obj['lanes_right_types'] = self.params['lanes_right_types']
obj['lanes_left_widths'] = self.params['lanes_left_widths']
obj['lanes_left_widths_change'] = self.params['lanes_left_widths_change']
obj['lanes_right_widths'] = self.params['lanes_right_widths']
obj['lanes_right_widths_change'] = self.params['lanes_right_widths_change']
obj['lanes_left_road_mark_types'] = self.params['lanes_left_road_mark_types']
obj['lanes_left_road_mark_weights'] = self.params['lanes_left_road_mark_weights']
obj['lanes_left_road_mark_colors'] = self.params['lanes_left_road_mark_colors']
obj['lanes_right_road_mark_types'] = self.params['lanes_right_road_mark_types']
obj['lanes_right_road_mark_weights'] = self.params['lanes_right_road_mark_weights']
obj['lanes_right_road_mark_colors'] = self.params['lanes_right_road_mark_colors']
obj['lane_center_road_mark_type'] = self.params['lane_center_road_mark_type']
obj['lane_center_road_mark_weight'] = self.params['lane_center_road_mark_weight']
obj['lane_center_road_mark_color'] = self.params['lane_center_road_mark_color']
return obj
def update_params_get_mesh(self, context):
'''
Calculate and return the vertices, edges, faces and parameters to create a road mesh.
'''
# Update parameters based on selected points
self.geometry.update(self.params_input, self.geometry_solver)
if self.geometry.params['valid'] == False:
self.report({'WARNING'}, 'No valid road geometry solution found!')
length_broken_line = context.scene.road_properties.length_broken_line
self.set_lane_params(context.scene.road_properties)
lanes = context.scene.road_properties.lanes
# Get values in t and s direction where the faces of the road start and end
strips_s_boundaries = self.get_strips_s_boundaries(lanes, length_broken_line)
# Calculate meshes for Blender
road_sample_points = self.get_road_sample_points(lanes, strips_s_boundaries)
vertices, edges, faces = self.get_road_vertices_edges_faces(road_sample_points)
materials = self.get_face_materials(lanes, strips_s_boundaries)
# Create blender mesh
mesh = bpy.data.meshes.new('temp_road')
mesh.from_pydata(vertices, edges, faces)
valid = True
return valid, mesh, self.geometry.matrix_world, materials
def set_lane_params(self, road_properties):
'''
Set the lane parameters dictionary for later export.
'''
self.params = {'lanes_left_num': road_properties.num_lanes_left,
'lanes_right_num': road_properties.num_lanes_right,
'lanes_left_widths': [],
'lanes_left_widths_change': [],
'lanes_right_widths': [],
'lanes_right_widths_change': [],
'lanes_left_types': [],
'lanes_right_types': [],
'lanes_left_road_mark_types': [],
'lanes_left_road_mark_weights': [],
'lanes_left_road_mark_colors': [],
'lanes_right_road_mark_types': [],
'lanes_right_road_mark_weights': [],
'lanes_right_road_mark_colors': [],
'lane_center_road_mark_type': [],
'lane_center_road_mark_weight': [],
'lane_center_road_mark_color': [],
'road_split_type': road_properties.road_split_type,
'road_split_lane_idx': road_properties.road_split_lane_idx}
for idx, lane in enumerate(road_properties.lanes):
if lane.side == 'left':
self.params['lanes_left_widths'].insert(0, lane.width)
self.params['lanes_left_widths_change'].insert(0, lane.width_change)
self.params['lanes_left_types'].insert(0, lane.type)
self.params['lanes_left_road_mark_types'].insert(0, lane.road_mark_type)
self.params['lanes_left_road_mark_weights'].insert(0, lane.road_mark_weight)
self.params['lanes_left_road_mark_colors'].insert(0, lane.road_mark_color)
elif lane.side == 'right':
self.params['lanes_right_widths'].append(lane.width)
self.params['lanes_right_widths_change'].append(lane.width_change)
self.params['lanes_right_types'].append(lane.type)
self.params['lanes_right_road_mark_types'].append(lane.road_mark_type)
self.params['lanes_right_road_mark_weights'].append(lane.road_mark_weight)
self.params['lanes_right_road_mark_colors'].append(lane.road_mark_color)
else:
# lane.side == 'center'
self.params['lane_center_road_mark_type'] = lane.road_mark_type
self.params['lane_center_road_mark_weight'] = lane.road_mark_weight
self.params['lane_center_road_mark_color'] = lane.road_mark_color
def get_split_cps(self, road_split_type):
'''
Return the two connection points for a split road.
'''
road_split_lane_idx = self.params['road_split_lane_idx']
t_cp_split = self.road_split_lane_idx_to_t(road_split_lane_idx)
if road_split_type == 'start':
t = 0
cp_base = self.geometry.params['point_start']
else:
t = self.geometry.params['length']
cp_base = self.geometry.params['point_end']
# Split
cp_split = self.geometry.matrix_world @ Vector(self.geometry.sample_cross_section(
t, [t_cp_split])[0][0])
# Check which part of the split contains the center lane, that part
# gets the contact point on the center lane
if t_cp_split < 0:
return cp_base, cp_split
else:
return cp_split, cp_base
def road_split_lane_idx_to_t(self, road_split_lane_idx):
'''
Convert index of first splitting lane to t coordinate of left/right
side of the split lane border. Return 0 if there is no split.
'''
t_cp_split = 0
# Check if there really is a split
if self.params['road_split_type'] != 'none':
# Calculate lane ID from split index
if self.params['lanes_left_num'] > 0:
lane_id_split = -1 * (road_split_lane_idx - self.params['lanes_left_num'])
else:
lane_id_split = -1 * road_split_lane_idx
# Calculate t coordinate of split connecting point
for idx in range(abs(lane_id_split)):
if lane_id_split > 0:
# Do not add lanes with 0 width
if not ((self.params['road_split_type'] == 'start' and
self.params['lanes_left_widths_change'][idx] == 'open') or
(self.params['road_split_type'] == 'end' and \
self.params['lanes_left_widths_change'][idx] == 'close')):
t_cp_split += self.params['lanes_left_widths'][idx]
else:
# Do not add lanes with 0 width
if not ((self.params['road_split_type'] == 'start' and
self.params['lanes_right_widths_change'][idx] == 'open') or
(self.params['road_split_type'] == 'end' and \
self.params['lanes_right_widths_change'][idx] == 'close')):
t_cp_split -= self.params['lanes_right_widths'][idx]
return t_cp_split
def get_width_road_left(self, lanes):
'''
Return the width of the left road side calculated by suming up all
lane widths.
'''
width_road_left = 0
for idx, lane in enumerate(lanes):
if idx == 0:
if lane.road_mark_type != 'none':
# If first lane has a line we need to add half its width
width_line = lane.road_mark_width
if lane.road_mark_type == 'solid_solid' or \
lane.road_mark_type == 'solid_broken' or \
lane.road_mark_type == 'broken_solid':
width_road_left += width_line * 3.0 / 2.0
else:
width_road_left += width_line / 2.0
# Stop when reaching the right side
if lane.side == 'right':
break
if lane.side == 'left':
width_road_left += lane.width
return width_road_left
def get_strips_t_values(self, lanes, s):
'''
Return list of t values of strip borders.
'''
t = self.get_width_road_left(lanes)
t_values = []
for idx_lane, lane in enumerate(lanes):
s_norm = s / self.geometry.params['length']
if lane.width_change == 'open':
lane_width_s = (3.0 * s_norm**2 - 2.0 * s_norm**3) * lane.width
elif lane.width_change == 'close':
lane_width_s = (1.0 - 3.0 * s_norm**2 + 2.0 * s_norm**3) * lane.width
else:
lane_width_s = lane.width
# Add lane width for right side of road BEFORE (in t-direction) road mark lines
if lane.side == 'right':
width_left_lines_on_lane = 0.0
if lanes[idx_lane - 1].road_mark_type != 'none':
width_line = lanes[idx_lane - 1].road_mark_width
if lanes[idx_lane - 1].road_mark_type == 'solid_solid' or \
lanes[idx_lane - 1].road_mark_type == 'solid_broken' or \
lanes[idx_lane - 1].road_mark_type == 'broken_solid':
width_left_lines_on_lane = width_line * 3.0 / 2.0
else:
width_left_lines_on_lane = width_line / 2.0
width_right_lines_on_lane = 0.0
if lane.road_mark_type != 'none':
width_line = lane.road_mark_width
if lane.road_mark_type == 'solid_solid' or \
lane.road_mark_type == 'solid_broken' or \
lane.road_mark_type == 'broken_solid':
width_right_lines_on_lane = width_line * 3.0 / 2.0
else:
width_right_lines_on_lane = width_line / 2.0
t -= lane_width_s - width_left_lines_on_lane - width_right_lines_on_lane
# Add road mark lines
if lane.road_mark_type != 'none':
width_line = lane.road_mark_width
if lane.road_mark_type == 'solid_solid' or \
lane.road_mark_type == 'solid_broken' or \
lane.road_mark_type == 'broken_solid':
t_values.append(t)
t_values.append(t - width_line)
t_values.append(t - 2.0 * width_line)
t_values.append(t - 3.0 * width_line)
t = t - 3.0 * width_line
else:
t_values.append(t)
t_values.append(t - width_line)
t -= width_line
else:
t_values.append(t)
# Add lane width for left side of road AFTER (in t-direction) road mark lines
if lane.side == 'left':
width_left_lines_on_lane = 0
if lane.road_mark_type != 'none':
width_line = lane.road_mark_width
if lane.road_mark_type == 'solid_solid' or \
lane.road_mark_type == 'solid_broken' or \
lane.road_mark_type == 'broken_solid':
width_left_lines_on_lane = width_line * 3.0 / 2.0
else:
width_left_lines_on_lane = width_line / 2.0
width_right_lines_on_lane = 0
if lanes[idx_lane + 1].road_mark_type != 'none':
width_line = lanes[idx_lane + 1].road_mark_width
if lanes[idx_lane + 1].road_mark_type == 'solid_solid' or \
lanes[idx_lane + 1].road_mark_type == 'solid_broken' or \
lanes[idx_lane + 1].road_mark_type == 'broken_solid':
width_right_lines_on_lane = width_line * 3.0 / 2.0
else:
width_right_lines_on_lane = width_line / 2.0
t -= lane_width_s - width_left_lines_on_lane - width_right_lines_on_lane
return t_values
def get_strips_s_boundaries(self, lanes, length_broken_line):
'''
Return list of tuples with a line marking toggle flag and a list
with the start and stop values of the faces in each strip.
'''
# Calculate line parameters
# TODO offset must be provided by predecessor road for each marking
length = self.geometry.params['length']
offset = 0.5
if offset < length_broken_line:
offset_first = offset
line_toggle_start = True
else:
offset_first = offset % length_broken_line
line_toggle_start = False
s_values = []
for lane in lanes:
# Calculate broken line parameters
if lane.road_mark_type == 'broken':
num_faces_strip_line = ceil((length \
- (length_broken_line - offset_first)) \
/ length_broken_line)
# Add one extra step for the shorter first piece
if offset_first > 0:
num_faces_strip_line += 1
length_first = min(length, length_broken_line - offset_first)
if num_faces_strip_line > 1:
length_last = length - length_first - (num_faces_strip_line - 2) * length_broken_line
else:
length_last = length_first
else:
num_faces_strip_line = 1
# Go in s direction along lane and calculate the start and stop values
# ASPHALT
if lane.side == 'right':
s_values.append((line_toggle_start, [0, length]))
# ROAD MARK
if lane.road_mark_type != 'none':
s_values_strip = [0]
for idx_face_strip in range(num_faces_strip_line):
# Calculate end points of the faces
s_stop = length
if lane.road_mark_type == 'broken':
if idx_face_strip == 0:
# First piece
s_stop = length_first
elif idx_face_strip > 0 and idx_face_strip + 1 == num_faces_strip_line:
# Last piece and more than one piece
s_stop = length_first + (idx_face_strip - 1) * length_broken_line \
+ length_last
else:
# Middle piece
s_stop = length_first + idx_face_strip * length_broken_line
s_values_strip.append(s_stop)
if lane.road_mark_type == 'solid_solid':
s_values.append((line_toggle_start, s_values_strip))
s_values.append((line_toggle_start, s_values_strip))
s_values.append((line_toggle_start, s_values_strip))
# ASPHALT
if lane.side == 'left':
s_values.append((line_toggle_start, [0, length]))
return s_values
def get_road_sample_points(self, lanes, strips_s_boundaries):
'''
Adaptively sample road in s direction based on local curvature.
'''
length = self.geometry.params['length']
s = 0
strips_t_values = self.get_strips_t_values(lanes, s)
# Obtain first curvature value
xyz_samples, curvature_abs = self.geometry.sample_cross_section(0, strips_t_values)
# We need 2 vectors for each strip to later construct the faces with one
# list per face on each side of each strip
sample_points = [[[]] for _ in range(2 * (len(strips_t_values) - 1))]
t_offset = 0
for idx_t in range(len(strips_t_values) - 1):
sample_points[2 * idx_t][0].append((0, strips_t_values[idx_t], 0))
sample_points[2 * idx_t + 1][0].append((0, strips_t_values[idx_t + 1], 0))
# Concatenate vertices until end of road
idx_boundaries_strips = [0] * len(strips_s_boundaries)
while s < length:
# TODO: Make hardcoded sampling parameters configurable
if curvature_abs == 0:
step = 5
else:
step = max(1, min(5, 0.1 / abs(curvature_abs)))
s += step
if s >= length:
s = length
# Sample next points along road geometry (all t values for current s value)
strips_t_values = self.get_strips_t_values(lanes, s)
xyz_samples, curvature_abs = self.geometry.sample_cross_section(s, strips_t_values)
point_index = -2
while point_index < len(sample_points) - 2:
point_index = point_index + 2
if not sample_points[point_index][0]:
continue
idx_strip = point_index//2
# Get the boundaries of road marking faces for current strip plus left and right
idx_boundaries = [0, 0, 0]
s_boundaries_next = [length, length, length]
# Check if there is a strip left and/or right to take into account
if idx_strip > 0:
idx_boundaries[0] = idx_boundaries_strips[idx_strip - 1]
s_boundaries_next[0] = strips_s_boundaries[idx_strip - 1][1][idx_boundaries[0] + 1]
idx_boundaries[1] = idx_boundaries_strips[idx_strip]
s_boundaries_next[1] = strips_s_boundaries[idx_strip][1][idx_boundaries[1] + 1]
if idx_strip < len(strips_s_boundaries) - 1:
idx_boundaries[2] = idx_boundaries_strips[idx_strip + 1]
s_boundaries_next[2] = strips_s_boundaries[idx_strip + 1][1][idx_boundaries[2] + 1]
# Check if any face boundary is smaller than sample point
smaller, idx_smaller = self.compare_boundaries_with_s(s, s_boundaries_next)
if smaller:
# Find all boundaries in between
while smaller:
# Sample the geometry
t_values = [strips_t_values[idx_strip], strips_t_values[idx_strip + 1]]
xyz_boundary, curvature_abs = self.geometry.sample_cross_section(
s_boundaries_next[idx_smaller], t_values)
if idx_smaller == 0:
# Append left extra point
sample_points[2 * idx_strip][idx_boundaries[1]].append(xyz_boundary[0])
if idx_smaller == 1:
# Append left and right points
sample_points[2 * idx_strip][idx_boundaries[1]].append(xyz_boundary[0])
sample_points[2 * idx_strip + 1][idx_boundaries[1]].append(xyz_boundary[1])
# Start a new list for next face
sample_points[2 * idx_strip].append([xyz_boundary[0]])
sample_points[2 * idx_strip + 1].append([xyz_boundary[1]])
if idx_smaller == 2:
# Append right extra point
sample_points[2 * idx_strip + 1][idx_boundaries[1]].append(xyz_boundary[1])
# Get the next boundary (relative to this strip)
idx_boundaries[idx_smaller] += 1
idx_strip_relative = idx_strip + idx_smaller - 1
s_boundaries_next[idx_smaller] = \
strips_s_boundaries[idx_strip_relative][1][idx_boundaries[idx_smaller] + 1]
# Check again
smaller, idx_smaller = self.compare_boundaries_with_s(s, s_boundaries_next)
# Write back indices to global array (only left strip to avoid cross interference!)
if idx_strip > 0:
idx_boundaries_strips[idx_strip - 1] = idx_boundaries[0]
# Now there is no boundary in between anymore so append the samples
sample_points[2 * idx_strip][idx_boundaries[1]].append(xyz_samples[idx_strip])
sample_points[2 * idx_strip + 1][idx_boundaries[1]].append(xyz_samples[idx_strip + 1])
return sample_points
def compare_boundaries_with_s(self, s, s_boundaries_next):
'''
Return True if any boundary is smaller than s, also return the index
to the boundary.
'''
smaller = False
idx_sorted = sorted(range(len(s_boundaries_next)), key=s_boundaries_next.__getitem__)
if s_boundaries_next[idx_sorted[0]] < s:
smaller = True
return smaller, idx_sorted[0]
def get_road_vertices_edges_faces(self, road_sample_points):
'''
generate mesh from samplepoints
'''
vertices = []
edges = []
faces = []
idx_vertex = 0
point_index = 0
while point_index < len(road_sample_points):
for idx_face_strip in range(len(road_sample_points[point_index])):
# ignore empty samplepoints, it may be none type line or any thing that doesn't need to build a mesh
if not road_sample_points[point_index][0]:
continue
samples_right = road_sample_points[point_index + 1][idx_face_strip]
samples_left = road_sample_points[point_index][idx_face_strip]
num_vertices = len(samples_left) + len(samples_right)
vertices += samples_right + samples_left[::-1]
edges += [[idx_vertex + n, idx_vertex + n + 1] for n in range(num_vertices - 1)] \
+ [[idx_vertex + num_vertices - 1, idx_vertex]]
faces += [[idx_vertex + n for n in range(num_vertices)]]
idx_vertex += num_vertices
point_index = point_index + 2
return vertices, edges, faces
def get_strip_to_lane_mapping(self, lanes):
'''
Return list of lane indices for strip indices.
'''
strip_to_lane = []
strip_is_road_mark = []
for idx_lane, lane in enumerate(lanes):
if lane.side == 'left':
if lane.road_mark_type != 'none':
if lane.road_mark_type == 'solid' or \
lane.road_mark_type == 'broken':
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(True)
else:
# Double line
strip_to_lane.append(idx_lane)
strip_to_lane.append(idx_lane)
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(True)
strip_is_road_mark.append(False)
strip_is_road_mark.append(True)
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(False)
elif lane.side == 'center':
if lane.road_mark_type != 'none':
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(True)
else:
# lane.side == 'right'
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(False)
if lane.road_mark_type != 'none':
if lane.road_mark_type == 'solid' or \
lane.road_mark_type == 'broken':
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(True)
else:
# Double line
strip_to_lane.append(idx_lane)
strip_to_lane.append(idx_lane)
strip_to_lane.append(idx_lane)
strip_is_road_mark.append(True)
strip_is_road_mark.append(False)
strip_is_road_mark.append(True)
return strip_to_lane, strip_is_road_mark
def get_road_mark_material(self, color):
'''
Return material name for road mark color.
'''
mapping_color_material = {
'white': 'road_mark_white',
'yellow': 'road_mark_yellow',
}
return mapping_color_material[color]
def get_face_materials(self, lanes, strips_s_boundaries):
'''
Return dictionary with index of faces for each material.
'''
materials = {'asphalt': [], 'road_mark_white': [], 'road_mark_yellow': [], 'grass': []}
idx_face = 0
strip_to_lane, strip_is_road_mark = self.get_strip_to_lane_mapping(lanes)
for idx_strip in range(len(strips_s_boundaries)):
idx_lane = strip_to_lane[idx_strip]
if strip_is_road_mark[idx_strip]:
line_toggle = strips_s_boundaries[idx_strip][0]
num_faces = int(len(strips_s_boundaries[idx_strip][1]) - 1)
material = self.get_road_mark_material(lanes[idx_lane].road_mark_color)
# Step through faces of a road mark strip
for idx in range(num_faces):
# Determine material
if lanes[idx_lane].road_mark_type == 'solid':
materials[material].append(idx_face)
idx_face += 1
elif lanes[idx_lane].road_mark_type == 'broken':
if line_toggle:
materials[material].append(idx_face)
line_toggle = False
else:
materials['asphalt'].append(idx_face)
line_toggle = True
idx_face += 1
elif lanes[idx_lane].road_mark_type == 'solid_solid':
materials[material].append(idx_face)
materials['asphalt'].append(idx_face + 1)
materials[material].append(idx_face + 2)
idx_face += 3
else:
if lanes[idx_lane].type == 'median':
materials['grass'].append(idx_face)
elif lanes[idx_lane].type == 'shoulder':
materials['grass'].append(idx_face)
else:
materials['asphalt'].append(idx_face)
idx_face += 1
return materials
def get_xyz_any_s(self, any_s, any_t):
if ((self.geometry.__class__.__name__ == "DSC_geometry_arc") or (self.geometry.__class__.__name__ == "DSC_geometry_clothoid")):
x_s, y_s, curvature_plan_view, hdg_t = self.geometry.sample_plan_view(any_s)
vector_hdg_t = Vector((1.0, 0.0))
vector_hdg_t.rotate(Matrix.Rotation(hdg_t, 2))
xy = Vector((x_s, y_s)) + (any_t * vector_hdg_t)
xyz = Vector((xy.x, xy.y, 0.0))
elif(self.geometry.__class__.__name__ == "DSC_geometry_line"):
xyz = self.geometry.get_xyz_point_given_st(any_s, any_t)
return xyz
def get_roadside_object_location_and_rotation(self, xyz_samples, edge='left'):
if edge=='left': edge_loc = xyz_samples[int(len(xyz_samples)-len(xyz_samples))]
elif edge=='right': edge_loc = xyz_samples[int(len(xyz_samples)-1)]
center_loc = xyz_samples[int(len(xyz_samples)-(len(xyz_samples)/2))]
normal = Vector(edge_loc) - Vector(center_loc)
normal = normal * 2.0
normal_o = normal.orthogonal()
spawn_point = normal + Vector(center_loc)
rot_angle = Vector((0, 1, 0)).angle(normal)
return spawn_point, rot_angle
def execute(self, context):
'''
Called every time your operator runs
'''
self.init_state()
self.create_3d_object(context)
#length_broken_line = context.scene.road_properties.length_broken_line
#self.set_lane_params(context.scene.road_properties)
#lanes = context.scene.road_properties.lanes
# Get values in t and s direction where the faces of the road start and end
#strips_s_boundaries = self.get_strips_s_boundaries(lanes, length_broken_line)
#for s in strips_s_boundaries[3][1]:
# strips_t_values = self.get_strips_t_values(lanes, s)
# xyz_samples, curvature_abs = self.geometry.sample_cross_section(s, strips_t_values)
# bpy.ops.mesh.primitive_circle_add(location=xyz_samples[0])
# break
# # Calculate meshes for Blender
# road_sample_points = self.get_road_sample_points(lanes, strips_s_boundaries)
# vertex_loc_middle = int(len(road_sample_points[5][0])/2)
# bpy.ops.mesh.primitive_cube_add(location = [road_sample_points[5][0][vertex_loc_middle][1]+5, road_sample_points[5][0][vertex_loc_middle][0], 0])
return {'FINISHED'}
def register():
bpy.utils.register_class(PR_OT_road)
bpy.utils.register_class(PR_enum_lane)
bpy.utils.register_class(PR_road_properties)
# Register property groups
bpy.types.Scene.road_properties = bpy.props.PointerProperty(type=PR_road_properties)
def unregister():
bpy.utils.unregister_class(PR_OT_road)
bpy.utils.unregister_class(PR_enum_lane)
bpy.utils.unregister_class(PR_road_properties)
# Get rid of property groups
del bpy.types.Scene.road_properties
if __name__ == '__main__':
register()