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use crate::raw::RestrictionType;
use crate::{Intersection, Lane, LaneID, Map, Turn, TurnID, TurnType};
use abstutil::Timer;
use geom::{Distance, PolyLine, Pt2D};
use nbez::{Bez3o, BezCurve, Point2d};
use std::collections::{BTreeSet, HashMap, HashSet};
pub fn make_all_turns(map: &Map, i: &Intersection, timer: &mut Timer) -> Vec<Turn> {
assert!(!i.is_border());
let mut raw_turns: Vec<Turn> = Vec::new();
raw_turns.extend(make_vehicle_turns(i, map, timer));
raw_turns.extend(crate::make::walking_turns::make_walking_turns(
map, i, timer,
));
let unique_turns = ensure_unique(raw_turns);
let mut final_turns: Vec<Turn> = Vec::new();
let mut filtered_turns: HashMap<LaneID, Vec<Turn>> = HashMap::new();
for turn in unique_turns {
if !does_turn_pass_restrictions(&turn, i, map) {
continue;
}
if is_turn_allowed(&turn, map) {
final_turns.push(turn);
} else {
filtered_turns
.entry(turn.id.src)
.or_insert_with(Vec::new)
.push(turn);
}
}
let mut incoming_missing: HashSet<LaneID> = HashSet::new();
for l in &i.incoming_lanes {
if map.get_l(*l).lane_type.supports_any_movement() {
incoming_missing.insert(*l);
}
}
for t in &final_turns {
incoming_missing.remove(&t.id.src);
}
for (l, turns) in filtered_turns {
if incoming_missing.contains(&l) {
let dst_r = map.get_l(turns[0].id.dst).parent;
let single_group: Vec<Turn> =
if turns.iter().all(|t| map.get_l(t.id.dst).parent == dst_r) {
turns.clone()
} else {
turns
.iter()
.filter(|t| t.turn_type == TurnType::Straight)
.cloned()
.collect()
};
if !single_group.is_empty() {
let best = single_group
.into_iter()
.min_by_key(|t| lc_penalty(t, map))
.unwrap();
final_turns.push(best);
timer.note(format!(
"Restricted lane-changing on approach to turn lanes at {}",
l
));
} else {
timer.warn(format!(
"Turn restrictions broke {} outbound, so restoring turns",
l
));
final_turns.extend(turns);
}
incoming_missing.remove(&l);
}
}
let mut outgoing_missing: HashSet<LaneID> = HashSet::new();
for l in &i.outgoing_lanes {
if map.get_l(*l).lane_type.supports_any_movement() {
outgoing_missing.insert(*l);
}
}
for t in &final_turns {
outgoing_missing.remove(&t.id.dst);
}
if !incoming_missing.is_empty() || !outgoing_missing.is_empty() {
timer.warn(format!(
"Turns for {} orphan some lanes. Incoming: {:?}, outgoing: {:?}",
i.id, incoming_missing, outgoing_missing
));
}
final_turns
}
fn ensure_unique(turns: Vec<Turn>) -> Vec<Turn> {
let mut ids = HashSet::new();
let mut keep: Vec<Turn> = Vec::new();
for t in turns.into_iter() {
if ids.contains(&t.id) {
println!("Duplicate turns {}!", t.id);
} else {
ids.insert(t.id);
keep.push(t);
}
}
keep
}
fn is_turn_allowed(turn: &Turn, map: &Map) -> bool {
if let Some(mut types) = map
.get_l(turn.id.src)
.get_turn_restrictions(map.get_parent(turn.id.src))
{
types.any(|turn_type| turn_type == turn.turn_type)
} else {
true
}
}
fn does_turn_pass_restrictions(turn: &Turn, i: &Intersection, map: &Map) -> bool {
if turn.between_sidewalks() {
return true;
}
let src = map.get_parent(turn.id.src);
let dst = map.get_l(turn.id.dst).parent;
for (restriction, to) in &src.turn_restrictions {
if !i.roads.contains(to) {
continue;
}
match restriction {
RestrictionType::BanTurns => {
if dst == *to {
return false;
}
}
RestrictionType::OnlyAllowTurns => {
if dst != *to {
return false;
}
}
}
}
true
}
fn make_vehicle_turns(i: &Intersection, map: &Map, timer: &mut Timer) -> Vec<Turn> {
let mut turns = Vec::new();
let is_deadend = i.roads.len() == 1;
for src in &i.incoming_lanes {
let src = map.get_l(*src);
if !src.lane_type.is_for_moving_vehicles() {
continue;
}
for dst in &i.outgoing_lanes {
let dst = map.get_l(*dst);
if !dst.lane_type.is_for_moving_vehicles() {
continue;
}
if src.parent == dst.parent && !is_deadend {
continue;
}
if src.is_light_rail() != dst.is_light_rail() {
continue;
}
if src.last_pt() == dst.first_pt() {
timer.warn(format!(
"No turn from {} to {}; the endpoints are the same",
src.id, dst.id
));
continue;
}
let turn_type =
TurnType::from_angles(src.last_line().angle(), dst.first_line().angle());
let geom = if turn_type == TurnType::Straight {
PolyLine::must_new(vec![src.last_pt(), dst.first_pt()])
} else {
curvey_turn(src, dst)
.unwrap_or_else(|_| PolyLine::must_new(vec![src.last_pt(), dst.first_pt()]))
};
turns.push(Turn {
id: TurnID {
parent: i.id,
src: src.id,
dst: dst.id,
},
turn_type,
other_crosswalk_ids: BTreeSet::new(),
geom,
});
}
}
turns
}
fn curvey_turn(src: &Lane, dst: &Lane) -> Result<PolyLine, String> {
let src_line = src.last_line();
let dst_line = dst.first_line().reverse();
let curve = Bez3o::new(
to_pt(src.last_pt()),
to_pt(src_line.unbounded_dist_along(src_line.length() + Distance::meters(5.0))),
to_pt(dst_line.unbounded_dist_along(dst_line.length() + Distance::meters(5.0))),
to_pt(dst.first_pt()),
);
let pieces = 5;
let mut curve: Vec<Pt2D> = (0..=pieces)
.map(|i| {
from_pt(
curve
.interp(1.0 / f64::from(pieces) * f64::from(i))
.unwrap(),
)
})
.collect();
curve.dedup();
PolyLine::new(curve)
}
fn to_pt(pt: Pt2D) -> Point2d<f64> {
Point2d::new(pt.x(), pt.y())
}
fn from_pt(pt: Point2d<f64>) -> Pt2D {
Pt2D::new(pt.x, pt.y)
}
fn lc_penalty(t: &Turn, map: &Map) -> isize {
let from = map.get_l(t.id.src);
let to = map.get_l(t.id.dst);
let from_idx = {
let mut cnt = 0;
let r = map.get_r(from.parent);
for (l, lt) in r.children(r.get_dir(from.id)) {
if from.lane_type != *lt {
continue;
}
cnt += 1;
if from.id == *l {
break;
}
}
cnt
};
let to_idx = {
let mut cnt = 0;
let r = map.get_r(to.parent);
for (l, lt) in r.children(r.get_dir(to.id)) {
if to.lane_type != *lt {
continue;
}
cnt += 1;
if to.id == *l {
break;
}
}
cnt
};
((from_idx as isize) - (to_idx as isize)).abs()
}