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id="407">407</span> <span id="408">408</span> <span id="409">409</span> <span id="410">410</span> <span id="411">411</span> <span id="412">412</span> <span id="413">413</span> <span id="414">414</span> <span id="415">415</span> <span id="416">416</span> <span id="417">417</span> <span id="418">418</span> <span id="419">419</span> <span id="420">420</span> <span id="421">421</span> <span id="422">422</span> <span id="423">423</span> <span id="424">424</span> <span id="425">425</span> <span id="426">426</span> <span id="427">427</span> <span id="428">428</span> <span id="429">429</span> <span id="430">430</span> <span id="431">431</span> <span id="432">432</span> <span id="433">433</span> </pre><pre class="rust"><code><span class="kw">use</span> <span class="ident">std::collections</span>::{<span class="ident">BTreeMap</span>, <span class="ident">HashMap</span>, <span class="ident">HashSet</span>}; <span class="kw">use</span> <span class="ident">anyhow::Result</span>; <span class="kw">use</span> <span class="ident">lyon_geom::math::F64Point</span>; <span class="kw">use</span> <span class="ident">lyon_geom</span>::{<span class="ident">CubicBezierSegment</span>, <span class="ident">QuadraticBezierSegment</span>}; <span class="kw">use</span> <span class="ident">geom</span>::{<span class="ident">Angle</span>, <span class="ident">Distance</span>, <span class="ident">PolyLine</span>, <span class="ident">Pt2D</span>}; <span class="kw">use</span> <span class="kw">crate</span>::{<span class="ident">Intersection</span>, <span class="ident">Lane</span>, <span class="ident">LaneID</span>, <span class="ident">LaneType</span>, <span class="ident">Map</span>, <span class="ident">RoadID</span>, <span class="ident">Turn</span>, <span class="ident">TurnID</span>, <span class="ident">TurnType</span>}; <span class="doccomment">/// Generate all driving and walking turns at an intersection, accounting for OSM turn restrictions.</span> <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">make_all_turns</span>(<span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, <span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>) -> <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">raw_turns</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> <span class="op">=</span> <span class="ident">Vec::new</span>(); <span class="ident">raw_turns</span>.<span class="ident">extend</span>(<span class="ident">make_vehicle_turns</span>(<span class="ident">i</span>, <span class="ident">map</span>)); <span class="ident">raw_turns</span>.<span class="ident">extend</span>(<span class="ident"><span class="kw">crate</span>::make::walking_turns::filter_turns</span>( <span class="ident"><span class="kw">crate</span>::make::walking_turns::make_walking_turns</span>(<span class="ident">map</span>, <span class="ident">i</span>), <span class="ident">map</span>, <span class="ident">i</span>, )); <span class="kw">let</span> <span class="ident">unique_turns</span> <span class="op">=</span> <span class="ident">ensure_unique</span>(<span class="ident">raw_turns</span>); <span class="comment">// Never allow turns that go against road-level turn restrictions; that upstream OSM data is</span> <span class="comment">// usually not extremely broken.</span> <span class="kw">let</span> <span class="ident">all_turns</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> <span class="op">=</span> <span class="ident">unique_turns</span> .<span class="ident">into_iter</span>() .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">permitted_by_road</span>(<span class="ident">i</span>, <span class="ident">map</span>)) .<span class="ident">collect</span>(); <span class="comment">// Try to use turn lane tags...</span> <span class="kw">let</span> <span class="ident">filtered_turns</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> <span class="op">=</span> <span class="ident">all_turns</span> .<span class="ident">clone</span>() .<span class="ident">into_iter</span>() .<span class="ident">filter</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">permitted_by_lane</span>(<span class="ident">map</span>)) .<span class="ident">collect</span>(); <span class="comment">// And remove merging left or right turns. If we wanted to remove the "lane-changing at</span> <span class="comment">// intersections" behavior, we could do this for TurnType::Straight too.</span> <span class="kw">let</span> <span class="ident">filtered_turns</span> <span class="op">=</span> <span class="ident">remove_merging_turns</span>(<span class="ident">map</span>, <span class="ident">filtered_turns</span>, <span class="ident">TurnType::Right</span>); <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">filtered_turns</span> <span class="op">=</span> <span class="ident">remove_merging_turns</span>(<span class="ident">map</span>, <span class="ident">filtered_turns</span>, <span class="ident">TurnType::Left</span>); <span class="kw">if</span> <span class="ident">i</span>.<span class="ident">merged</span> { <span class="ident">filtered_turns</span>.<span class="ident">retain</span>(<span class="op">|</span><span class="ident">turn</span><span class="op">|</span> { <span class="kw">if</span> <span class="ident">turn</span>.<span class="ident">turn_type</span> <span class="op">==</span> <span class="ident">TurnType::UTurn</span> { <span class="kw">let</span> <span class="ident">src_lane</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">src</span>); <span class="comment">// U-turns at divided highways are sometimes legal (and a common movement --</span> <span class="comment">// https://www.openstreetmap.org/way/361443212), so let OSM turn:lanes override.</span> <span class="kw">if</span> <span class="ident">src_lane</span> .<span class="ident">get_lane_level_turn_restrictions</span>(<span class="ident">map</span>.<span class="ident">get_r</span>(<span class="ident">src_lane</span>.<span class="ident">id</span>.<span class="ident">road</span>), <span class="bool-val">false</span>) .<span class="ident">map</span>(<span class="op">|</span><span class="ident">set</span><span class="op">|</span> <span class="op">!</span><span class="ident">set</span>.<span class="ident">contains</span>(<span class="kw-2">&</span><span class="ident">TurnType::UTurn</span>)) .<span class="ident">unwrap_or</span>(<span class="bool-val">true</span>) { <span class="macro">warn!</span>(<span class="string">"Removing u-turn from merged intersection: {}"</span>, <span class="ident">turn</span>.<span class="ident">id</span>); <span class="bool-val">false</span> } <span class="kw">else</span> { <span class="bool-val">true</span> } } <span class="kw">else</span> { <span class="bool-val">true</span> } }); } <span class="comment">// But then see how all of that filtering affects lane connectivity.</span> <span class="kw">match</span> <span class="ident">verify_vehicle_connectivity</span>(<span class="kw-2">&</span><span class="ident">filtered_turns</span>, <span class="ident">i</span>, <span class="ident">map</span>) { <span class="prelude-val">Ok</span>(()) => <span class="ident">filtered_turns</span>, <span class="prelude-val">Err</span>(<span class="ident">err</span>) => { <span class="macro">warn!</span>(<span class="string">"Not filtering turns. {}"</span>, <span class="ident">err</span>); <span class="ident">all_turns</span> } } } <span class="kw">fn</span> <span class="ident">ensure_unique</span>(<span class="ident">turns</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span>) -> <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">ids</span> <span class="op">=</span> <span class="ident">HashSet::new</span>(); <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">keep</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> <span class="op">=</span> <span class="ident">Vec::new</span>(); <span class="kw">for</span> <span class="ident">t</span> <span class="kw">in</span> <span class="ident">turns</span>.<span class="ident">into_iter</span>() { <span class="kw">if</span> <span class="ident">ids</span>.<span class="ident">contains</span>(<span class="kw-2">&</span><span class="ident">t</span>.<span class="ident">id</span>) { <span class="comment">// TODO This was once an assertion, but disabled for</span> <span class="comment">// https://github.com/a-b-street/abstreet/issues/84. A crosswalk gets created twice</span> <span class="comment">// and deduplicated here. Not sure why it was double-created in the first place.</span> <span class="macro">warn!</span>(<span class="string">"Duplicate turns {}!"</span>, <span class="ident">t</span>.<span class="ident">id</span>); } <span class="kw">else</span> { <span class="ident">ids</span>.<span class="ident">insert</span>(<span class="ident">t</span>.<span class="ident">id</span>); <span class="ident">keep</span>.<span class="ident">push</span>(<span class="ident">t</span>); } } <span class="ident">keep</span> } <span class="doccomment">/// Ideally, we want every incoming lane to lead to at least one lane of the same type, and every</span> <span class="doccomment">/// outgoing lane to be reachable by at least one lane of the same type. But if it's a bus or bike</span> <span class="doccomment">/// lane, settle for being connected to anything -- even just a driving lane. There's naturally</span> <span class="doccomment">/// places where these dedicated lanes start and end.</span> <span class="doccomment">///</span> <span class="doccomment">/// Why is this definition strict for driving lanes connected to other driving lanes? See</span> <span class="doccomment">/// https://www.openstreetmap.org/node/491979474 for a motivating example. When a dedicated bike</span> <span class="doccomment">/// path crosses a road with turn restrictions marked on a segment before the intersection, the</span> <span class="doccomment">/// turn restrictions _probably_ indicate the vehicle movements allowed further on, and _don't_</span> <span class="doccomment">/// describe the turns between the road and the trail.</span> <span class="kw">pub</span> <span class="kw">fn</span> <span class="ident">verify_vehicle_connectivity</span>(<span class="ident">turns</span>: <span class="kw-2">&</span>[<span class="ident">Turn</span>], <span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) -> <span class="prelude-ty">Result</span><span class="op"><</span>()<span class="op">></span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">incoming_missing</span>: <span class="ident">HashSet</span><span class="op"><</span><span class="ident">LaneID</span><span class="op">></span> <span class="op">=</span> <span class="ident">HashSet::new</span>(); <span class="kw">for</span> <span class="ident">l</span> <span class="kw">in</span> <span class="kw-2">&</span><span class="ident">i</span>.<span class="ident">incoming_lanes</span> { <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">lane_type</span>.<span class="ident">is_for_moving_vehicles</span>() { <span class="ident">incoming_missing</span>.<span class="ident">insert</span>(<span class="kw-2">*</span><span class="ident">l</span>); } } <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">outgoing_missing</span>: <span class="ident">HashSet</span><span class="op"><</span><span class="ident">LaneID</span><span class="op">></span> <span class="op">=</span> <span class="ident">HashSet::new</span>(); <span class="kw">for</span> <span class="ident">l</span> <span class="kw">in</span> <span class="kw-2">&</span><span class="ident">i</span>.<span class="ident">outgoing_lanes</span> { <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">lane_type</span>.<span class="ident">is_for_moving_vehicles</span>() { <span class="ident">outgoing_missing</span>.<span class="ident">insert</span>(<span class="kw-2">*</span><span class="ident">l</span>); } } <span class="kw">for</span> <span class="ident">turn</span> <span class="kw">in</span> <span class="ident">turns</span> { <span class="kw">let</span> <span class="ident">src_lt</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">src</span>).<span class="ident">lane_type</span>; <span class="kw">let</span> <span class="ident">dst_lt</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">dst</span>).<span class="ident">lane_type</span>; <span class="kw">if</span> <span class="ident">src_lt</span> <span class="op">==</span> <span class="ident">dst_lt</span> { <span class="ident">incoming_missing</span>.<span class="ident">remove</span>(<span class="kw-2">&</span><span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">src</span>); <span class="ident">outgoing_missing</span>.<span class="ident">remove</span>(<span class="kw-2">&</span><span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">dst</span>); } <span class="kw">if</span> <span class="ident">src_lt</span> <span class="op">==</span> <span class="ident">LaneType::Biking</span> <span class="op">|</span><span class="op">|</span> <span class="ident">src_lt</span> <span class="op">==</span> <span class="ident">LaneType::Bus</span> { <span class="ident">incoming_missing</span>.<span class="ident">remove</span>(<span class="kw-2">&</span><span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">src</span>); } <span class="kw">if</span> <span class="ident">dst_lt</span> <span class="op">==</span> <span class="ident">LaneType::Biking</span> <span class="op">|</span><span class="op">|</span> <span class="ident">dst_lt</span> <span class="op">==</span> <span class="ident">LaneType::Bus</span> { <span class="ident">outgoing_missing</span>.<span class="ident">remove</span>(<span class="kw-2">&</span><span class="ident">turn</span>.<span class="ident">id</span>.<span class="ident">dst</span>); } } <span class="kw">if</span> <span class="op">!</span><span class="ident">incoming_missing</span>.<span class="ident">is_empty</span>() <span class="op">|</span><span class="op">|</span> <span class="op">!</span><span class="ident">outgoing_missing</span>.<span class="ident">is_empty</span>() { <span class="macro">bail!</span>( <span class="string">"Turns for {} orphan some lanes. Incoming: {:?}, outgoing: {:?}"</span>, <span class="ident">i</span>.<span class="ident">id</span>, <span class="ident">incoming_missing</span>, <span class="ident">outgoing_missing</span> ); } <span class="prelude-val">Ok</span>(()) } <span class="kw">fn</span> <span class="ident">make_vehicle_turns</span>(<span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>) -> <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">turns</span> <span class="op">=</span> <span class="ident">Vec::new</span>(); <span class="kw">let</span> <span class="ident">expected_turn_types</span> <span class="op">=</span> <span class="ident">expected_turn_types_for_four_way</span>(<span class="ident">i</span>, <span class="ident">map</span>); <span class="comment">// Just generate every possible combination of turns between incoming and outgoing lanes.</span> <span class="kw">let</span> <span class="ident">is_deadend</span> <span class="op">=</span> <span class="ident">i</span>.<span class="ident">roads</span>.<span class="ident">len</span>() <span class="op">==</span> <span class="number">1</span>; <span class="kw">for</span> <span class="ident">src</span> <span class="kw">in</span> <span class="kw-2">&</span><span class="ident">i</span>.<span class="ident">incoming_lanes</span> { <span class="kw">let</span> <span class="ident">src</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">src</span>); <span class="kw">if</span> <span class="op">!</span><span class="ident">src</span>.<span class="ident">lane_type</span>.<span class="ident">is_for_moving_vehicles</span>() { <span class="kw">continue</span>; } <span class="kw">for</span> <span class="ident">dst</span> <span class="kw">in</span> <span class="kw-2">&</span><span class="ident">i</span>.<span class="ident">outgoing_lanes</span> { <span class="kw">let</span> <span class="ident">dst</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_l</span>(<span class="kw-2">*</span><span class="ident">dst</span>); <span class="kw">if</span> <span class="op">!</span><span class="ident">dst</span>.<span class="ident">lane_type</span>.<span class="ident">is_for_moving_vehicles</span>() { <span class="kw">continue</span>; } <span class="comment">// Only allow U-turns at deadends</span> <span class="kw">if</span> <span class="ident">src</span>.<span class="ident">id</span>.<span class="ident">road</span> <span class="op">==</span> <span class="ident">dst</span>.<span class="ident">id</span>.<span class="ident">road</span> <span class="op">&&</span> <span class="op">!</span><span class="ident">is_deadend</span> { <span class="kw">continue</span>; } <span class="comment">// Can't go between light rail and normal roads</span> <span class="kw">if</span> <span class="ident">src</span>.<span class="ident">is_light_rail</span>() <span class="op">!</span><span class="op">=</span> <span class="ident">dst</span>.<span class="ident">is_light_rail</span>() { <span class="kw">continue</span>; } <span class="kw">if</span> <span class="ident">src</span>.<span class="ident">last_pt</span>() <span class="op">==</span> <span class="ident">dst</span>.<span class="ident">first_pt</span>() { <span class="macro">warn!</span>( <span class="string">"No turn from {} to {}; the endpoints are the same"</span>, <span class="ident">src</span>.<span class="ident">id</span>, <span class="ident">dst</span>.<span class="ident">id</span> ); <span class="kw">continue</span>; } <span class="kw">let</span> <span class="ident">from_angle</span> <span class="op">=</span> <span class="ident">src</span>.<span class="ident">last_line</span>().<span class="ident">angle</span>(); <span class="kw">let</span> <span class="ident">to_angle</span> <span class="op">=</span> <span class="ident">dst</span>.<span class="ident">first_line</span>().<span class="ident">angle</span>(); <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">turn_type</span> <span class="op">=</span> <span class="ident">turn_type_from_angles</span>(<span class="ident">from_angle</span>, <span class="ident">to_angle</span>); <span class="kw">if</span> <span class="ident">turn_type</span> <span class="op">==</span> <span class="ident">TurnType::UTurn</span> { <span class="comment">// Lots of false positives when classifying these just based on angles. So also</span> <span class="comment">// require the road names to match.</span> <span class="kw">if</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="ident">src</span>.<span class="ident">id</span>).<span class="ident">get_name</span>(<span class="prelude-val">None</span>) <span class="op">!</span><span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="ident">dst</span>.<span class="ident">id</span>).<span class="ident">get_name</span>(<span class="prelude-val">None</span>) { <span class="comment">// Distinguish really sharp lefts/rights based on clockwiseness</span> <span class="kw">if</span> <span class="ident">from_angle</span>.<span class="ident">simple_shortest_rotation_towards</span>(<span class="ident">to_angle</span>) <span class="op"><</span> <span class="number">0.0</span> { <span class="ident">turn_type</span> <span class="op">=</span> <span class="ident">TurnType::Right</span>; } <span class="kw">else</span> { <span class="ident">turn_type</span> <span class="op">=</span> <span class="ident">TurnType::Left</span>; } } <span class="comment">// Some service roads wind up very short. Allowing u-turns there causes vehicles to</span> <span class="comment">// gridlock pretty much instantly, because they occupy two intersections during the</span> <span class="comment">// attempted movement.</span> <span class="kw">if</span> <span class="ident">is_deadend</span> <span class="op">&&</span> <span class="ident">src</span>.<span class="ident">length</span>() <span class="op"><</span> <span class="ident">Distance::meters</span>(<span class="number">7.0</span>) { <span class="macro">warn!</span>(<span class="string">"Skipping U-turn at tiny deadend on {}"</span>, <span class="ident">src</span>.<span class="ident">id</span>); <span class="kw">continue</span>; } } <span class="kw">else</span> <span class="kw">if</span> <span class="kw">let</span> <span class="prelude-val">Some</span>(<span class="ident">expected_type</span>) <span class="op">=</span> <span class="ident">expected_turn_types</span> .<span class="ident">as_ref</span>() .<span class="ident">and_then</span>(<span class="op">|</span><span class="ident">e</span><span class="op">|</span> <span class="ident">e</span>.<span class="ident">get</span>(<span class="kw-2">&</span>(<span class="ident">src</span>.<span class="ident">id</span>.<span class="ident">road</span>, <span class="ident">dst</span>.<span class="ident">id</span>.<span class="ident">road</span>))) { <span class="comment">// At some 4-way intersections, roads meet at strange angles, throwing off</span> <span class="comment">// turn_type_from_angles. Correct it based on relative ordering.</span> <span class="kw">if</span> <span class="ident">turn_type</span> <span class="op">!</span><span class="op">=</span> <span class="kw-2">*</span><span class="ident">expected_type</span> { <span class="macro">warn!</span>( <span class="string">"Turn from {} to {} looks like {:?} by angle, but is {:?} by ordering"</span>, <span class="ident">src</span>.<span class="ident">id</span>.<span class="ident">road</span>, <span class="ident">dst</span>.<span class="ident">id</span>.<span class="ident">road</span>, <span class="ident">turn_type</span>, <span class="ident">expected_type</span> ); <span class="ident">turn_type</span> <span class="op">=</span> <span class="kw-2">*</span><span class="ident">expected_type</span>; } } <span class="kw">let</span> <span class="ident">geom</span> <span class="op">=</span> <span class="ident">curvey_turn</span>(<span class="ident">src</span>, <span class="ident">dst</span>, <span class="ident">i</span>) .<span class="ident">unwrap_or_else</span>(<span class="op">|</span><span class="kw">_</span><span class="op">|</span> <span class="ident">PolyLine::must_new</span>(<span class="macro">vec!</span>[<span class="ident">src</span>.<span class="ident">last_pt</span>(), <span class="ident">dst</span>.<span class="ident">first_pt</span>()])); <span class="ident">turns</span>.<span class="ident">push</span>(<span class="ident">Turn</span> { <span class="ident">id</span>: <span class="ident">TurnID</span> { <span class="ident">parent</span>: <span class="ident">i</span>.<span class="ident">id</span>, <span class="ident">src</span>: <span class="ident">src</span>.<span class="ident">id</span>, <span class="ident">dst</span>: <span class="ident">dst</span>.<span class="ident">id</span>, }, <span class="ident">turn_type</span>, <span class="ident">geom</span>, }); } } <span class="ident">turns</span> } <span class="kw">fn</span> <span class="ident">curvey_turn</span>(<span class="ident">src</span>: <span class="kw-2">&</span><span class="ident">Lane</span>, <span class="ident">dst</span>: <span class="kw-2">&</span><span class="ident">Lane</span>, <span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>) -> <span class="prelude-ty">Result</span><span class="op"><</span><span class="ident">PolyLine</span><span class="op">></span> { <span class="kw">fn</span> <span class="ident">to_pt</span>(<span class="ident">pt</span>: <span class="ident">Pt2D</span>) -> <span class="ident">F64Point</span> { <span class="ident">lyon_geom::math::point</span>(<span class="ident">pt</span>.<span class="ident">x</span>(), <span class="ident">pt</span>.<span class="ident">y</span>()) } <span class="kw">fn</span> <span class="ident">from_pt</span>(<span class="ident">pt</span>: <span class="ident">F64Point</span>) -> <span class="ident">Pt2D</span> { <span class="ident">Pt2D::new</span>(<span class="ident">pt</span>.<span class="ident">x</span>, <span class="ident">pt</span>.<span class="ident">y</span>) } <span class="comment">// The control points are straight out/in from the source/destination lanes, so</span> <span class="comment">// that the car exits and enters at the same angle as the road.</span> <span class="kw">let</span> <span class="ident">src_line</span> <span class="op">=</span> <span class="ident">src</span>.<span class="ident">last_line</span>(); <span class="kw">let</span> <span class="ident">dst_line</span> <span class="op">=</span> <span class="ident">dst</span>.<span class="ident">first_line</span>(); <span class="kw">let</span> <span class="ident">src_pt</span> <span class="op">=</span> <span class="ident">src</span>.<span class="ident">last_pt</span>(); <span class="kw">let</span> <span class="ident">dst_pt</span> <span class="op">=</span> <span class="ident">dst</span>.<span class="ident">first_pt</span>(); <span class="kw">let</span> <span class="ident">src_angle</span> <span class="op">=</span> <span class="ident">src_line</span>.<span class="ident">angle</span>(); <span class="kw">let</span> <span class="ident">dst_angle</span> <span class="op">=</span> <span class="ident">dst_line</span>.<span class="ident">angle</span>(); <span class="kw">let</span> <span class="ident">intersection</span> <span class="op">=</span> <span class="ident">src_line</span> .<span class="ident">infinite</span>() .<span class="ident">intersection</span>(<span class="kw-2">&</span><span class="ident">dst_line</span>.<span class="ident">infinite</span>()) .<span class="ident">unwrap_or</span>(<span class="ident">src_pt</span>); <span class="kw">let</span> <span class="ident">curve</span> <span class="op">=</span> <span class="comment">// U-turns and straight turns</span> <span class="kw">if</span> <span class="ident">src_angle</span>.<span class="ident">approx_parallel</span>(<span class="ident">dst_angle</span>, <span class="number">5.0</span>) <span class="comment">// Zero length intersections (this results in PolyLine::new returning none)</span> <span class="op">|</span><span class="op">|</span> <span class="ident">src_pt</span>.<span class="ident">approx_eq</span>(<span class="ident">intersection</span>, <span class="ident">geom::EPSILON_DIST</span>) <span class="op">|</span><span class="op">|</span> <span class="ident">dst_pt</span>.<span class="ident">approx_eq</span>(<span class="ident">intersection</span>, <span class="ident">geom::EPSILON_DIST</span>) <span class="comment">// Weirdly shaped intersections where the lane lines intersect outside the intersection</span> <span class="op">|</span><span class="op">|</span> <span class="op">!</span><span class="ident">i</span>.<span class="ident">polygon</span>.<span class="ident">contains_pt</span>(<span class="ident">intersection</span>) { <span class="comment">// All get a curve scaled to the distance between the points</span> <span class="ident">CubicBezierSegment</span> { <span class="ident">from</span>: <span class="ident">to_pt</span>(<span class="ident">src_pt</span>), <span class="ident">ctrl1</span>: <span class="ident">to_pt</span>(<span class="ident">src_pt</span>.<span class="ident">project_away</span>(<span class="ident">src_pt</span>.<span class="ident">dist_to</span>(<span class="ident">dst_pt</span>) <span class="op">/</span> <span class="number">2.0</span>, <span class="ident">src_angle</span>)), <span class="ident">ctrl2</span>: <span class="ident">to_pt</span>(<span class="ident">dst_pt</span>.<span class="ident">project_away</span>(<span class="ident">src_pt</span>.<span class="ident">dist_to</span>(<span class="ident">dst_pt</span>) <span class="op">/</span> <span class="number">2.0</span>, <span class="ident">dst_angle</span>.<span class="ident">opposite</span>())), <span class="ident">to</span>: <span class="ident">to_pt</span>(<span class="ident">dst_pt</span>), } } <span class="kw">else</span> { <span class="comment">// Regular intersections get a quadratic bezier curve</span> <span class="ident">QuadraticBezierSegment</span> { <span class="ident">from</span>: <span class="ident">to_pt</span>(<span class="ident">src_pt</span>), <span class="ident">ctrl</span>: <span class="ident">to_pt</span>(<span class="ident">intersection</span>), <span class="ident">to</span>: <span class="ident">to_pt</span>(<span class="ident">dst_pt</span>), }.<span class="ident">to_cubic</span>() }; <span class="kw">let</span> <span class="ident">pieces</span> <span class="op">=</span> <span class="number">5</span>; <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">curve</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Pt2D</span><span class="op">></span> <span class="op">=</span> (<span class="number">0</span>..<span class="op">=</span><span class="ident">pieces</span>) .<span class="ident">map</span>(<span class="op">|</span><span class="ident">i</span><span class="op">|</span> <span class="ident">from_pt</span>(<span class="ident">curve</span>.<span class="ident">sample</span>(<span class="number">1.0</span> <span class="op">/</span> <span class="ident">f64::from</span>(<span class="ident">pieces</span>) <span class="op">*</span> <span class="ident">f64::from</span>(<span class="ident">i</span>)))) .<span class="ident">collect</span>(); <span class="ident">curve</span>.<span class="ident">dedup</span>(); <span class="ident">PolyLine::new</span>(<span class="ident">curve</span>) } <span class="kw">fn</span> <span class="ident">remove_merging_turns</span>(<span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, <span class="ident">input</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span>, <span class="ident">turn_type</span>: <span class="ident">TurnType</span>) -> <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span> { <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">turns</span> <span class="op">=</span> <span class="ident">Vec::new</span>(); <span class="comment">// Group turns of the specified type by (from, to) road</span> <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">pairs</span>: <span class="ident">BTreeMap</span><span class="op"><</span>(<span class="ident">RoadID</span>, <span class="ident">RoadID</span>), <span class="ident">Vec</span><span class="op"><</span><span class="ident">Turn</span><span class="op">></span><span class="op">></span> <span class="op">=</span> <span class="ident">BTreeMap::new</span>(); <span class="kw">for</span> <span class="ident">t</span> <span class="kw">in</span> <span class="ident">input</span> { <span class="comment">// Only do this for driving lanes</span> <span class="kw">if</span> <span class="op">!</span><span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span>).<span class="ident">is_driving</span>() <span class="op">|</span><span class="op">|</span> <span class="op">!</span><span class="ident">map</span>.<span class="ident">get_l</span>(<span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">dst</span>).<span class="ident">is_driving</span>() { <span class="ident">turns</span>.<span class="ident">push</span>(<span class="ident">t</span>); <span class="kw">continue</span>; } <span class="kw">if</span> <span class="ident">t</span>.<span class="ident">turn_type</span> <span class="op">==</span> <span class="ident">turn_type</span> { <span class="ident">pairs</span> .<span class="ident">entry</span>((<span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span>.<span class="ident">road</span>, <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">dst</span>.<span class="ident">road</span>)) .<span class="ident">or_insert_with</span>(<span class="ident">Vec::new</span>) .<span class="ident">push</span>(<span class="ident">t</span>); } <span class="kw">else</span> { <span class="comment">// Other turn types always pass through</span> <span class="ident">turns</span>.<span class="ident">push</span>(<span class="ident">t</span>); } } <span class="kw">for</span> (<span class="kw">_</span>, <span class="ident">group</span>) <span class="kw">in</span> <span class="ident">pairs</span> { <span class="kw">if</span> <span class="ident">group</span>.<span class="ident">len</span>() <span class="op">==</span> <span class="number">1</span> { <span class="ident">turns</span>.<span class="ident">extend</span>(<span class="ident">group</span>); <span class="kw">continue</span>; } <span class="kw">let</span> <span class="ident">num_src_lanes</span> <span class="op">=</span> <span class="ident">group</span>.<span class="ident">iter</span>().<span class="ident">map</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span>).<span class="ident">collect</span>::<span class="op"><</span><span class="ident">HashSet</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>().<span class="ident">len</span>(); <span class="kw">let</span> <span class="ident">num_dst_lanes</span> <span class="op">=</span> <span class="ident">group</span>.<span class="ident">iter</span>().<span class="ident">map</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">dst</span>).<span class="ident">collect</span>::<span class="op"><</span><span class="ident">HashSet</span><span class="op"><</span><span class="kw">_</span><span class="op">></span><span class="op">></span>().<span class="ident">len</span>(); <span class="comment">// Allow all turns from one to many</span> <span class="kw">if</span> <span class="ident">num_src_lanes</span> <span class="op">==</span> <span class="number">1</span> { <span class="ident">turns</span>.<span class="ident">extend</span>(<span class="ident">group</span>); <span class="kw">continue</span>; } <span class="comment">// If the number of source and destination lanes is the same, match them up in order,</span> <span class="comment">// without any crossing.</span> <span class="kw">if</span> <span class="ident">num_src_lanes</span> <span class="op">==</span> <span class="ident">num_dst_lanes</span> { <span class="comment">// But we want to match things up -- leftmost turn lane leads to leftmost destination.</span> <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">src_lanes_in_order</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">LaneID</span><span class="op">></span> <span class="op">=</span> <span class="ident">group</span>.<span class="ident">iter</span>().<span class="ident">map</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span>).<span class="ident">collect</span>(); <span class="ident">src_lanes_in_order</span>.<span class="ident">sort_by_key</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">dir_and_offset</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="number">1</span>); <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">dst_lanes_in_order</span>: <span class="ident">Vec</span><span class="op"><</span><span class="ident">LaneID</span><span class="op">></span> <span class="op">=</span> <span class="ident">group</span>.<span class="ident">iter</span>().<span class="ident">map</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">dst</span>).<span class="ident">collect</span>(); <span class="ident">dst_lanes_in_order</span>.<span class="ident">sort_by_key</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="ident">dir_and_offset</span>(<span class="kw-2">*</span><span class="ident">l</span>).<span class="number">1</span>); <span class="kw">for</span> <span class="ident">t</span> <span class="kw">in</span> <span class="ident">group</span> { <span class="kw">let</span> <span class="ident">src_order</span> <span class="op">=</span> <span class="ident">src_lanes_in_order</span> .<span class="ident">iter</span>() .<span class="ident">position</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span> <span class="op">==</span> <span class="kw-2">*</span><span class="ident">l</span>) .<span class="ident">unwrap</span>(); <span class="kw">let</span> <span class="ident">dst_order</span> <span class="op">=</span> <span class="ident">dst_lanes_in_order</span> .<span class="ident">iter</span>() .<span class="ident">position</span>(<span class="op">|</span><span class="ident">l</span><span class="op">|</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">dst</span> <span class="op">==</span> <span class="kw-2">*</span><span class="ident">l</span>) .<span class="ident">unwrap</span>(); <span class="kw">if</span> <span class="ident">src_order</span> <span class="op">==</span> <span class="ident">dst_order</span> { <span class="ident">turns</span>.<span class="ident">push</span>(<span class="ident">t</span>); } } <span class="kw">continue</span>; } <span class="comment">// If src < dst and src isn't 1, then one source lane gets to access multiple destination</span> <span class="comment">// lanes. For now, just give up figuring this out, and allow all combinations.</span> <span class="comment">//</span> <span class="comment">// TODO https://wiki.openstreetmap.org/wiki/Relation:connectivity may have hints about a</span> <span class="comment">// better algorithm.</span> <span class="kw">if</span> <span class="ident">num_src_lanes</span> <span class="op"><</span> <span class="ident">num_dst_lanes</span> { <span class="ident">turns</span>.<span class="ident">extend</span>(<span class="ident">group</span>); <span class="kw">continue</span>; } <span class="comment">// If we get here, then multiple source lanes are forced to merge into one destination</span> <span class="comment">// lane.</span> <span class="comment">//</span> <span class="comment">// Just kind of give up on these cases for now, and fall-back to only allowing the leftmost</span> <span class="comment">// or rightmost source lane to make these turns.</span> <span class="comment">//</span> <span class="comment">// That left or rightmost lane can turn into all lanes on the destination road. Tempting to</span> <span class="comment">// remove this, but it may remove some valid U-turn movements (like on Mercer).</span> <span class="kw">let</span> <span class="ident">road</span> <span class="op">=</span> <span class="ident">map</span>.<span class="ident">get_parent</span>(<span class="ident">group</span>[<span class="number">0</span>].<span class="ident">id</span>.<span class="ident">src</span>); <span class="kw">let</span> <span class="ident">src</span> <span class="op">=</span> <span class="kw">if</span> <span class="ident">turn_type</span> <span class="op">==</span> <span class="ident">TurnType::Right</span> { <span class="ident">group</span> .<span class="ident">iter</span>() .<span class="ident">max_by_key</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">road</span>.<span class="ident">dir_and_offset</span>(<span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span>).<span class="number">1</span>) .<span class="ident">unwrap</span>() .<span class="ident">id</span> .<span class="ident">src</span> } <span class="kw">else</span> <span class="kw">if</span> <span class="ident">turn_type</span> <span class="op">==</span> <span class="ident">TurnType::Left</span> { <span class="ident">group</span> .<span class="ident">iter</span>() .<span class="ident">min_by_key</span>(<span class="op">|</span><span class="ident">t</span><span class="op">|</span> <span class="ident">road</span>.<span class="ident">dir_and_offset</span>(<span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span>).<span class="number">1</span>) .<span class="ident">unwrap</span>() .<span class="ident">id</span> .<span class="ident">src</span> } <span class="kw">else</span> { <span class="macro">unreachable!</span>() }; <span class="kw">for</span> <span class="ident">t</span> <span class="kw">in</span> <span class="ident">group</span> { <span class="kw">if</span> <span class="ident">t</span>.<span class="ident">id</span>.<span class="ident">src</span> <span class="op">==</span> <span class="ident">src</span> { <span class="ident">turns</span>.<span class="ident">push</span>(<span class="ident">t</span>); } } } <span class="ident">turns</span> } <span class="kw">fn</span> <span class="ident">turn_type_from_angles</span>(<span class="ident">from</span>: <span class="ident">Angle</span>, <span class="ident">to</span>: <span class="ident">Angle</span>) -> <span class="ident">TurnType</span> { <span class="kw">let</span> <span class="ident">diff</span> <span class="op">=</span> <span class="ident">from</span>.<span class="ident">simple_shortest_rotation_towards</span>(<span class="ident">to</span>); <span class="comment">// This is a pretty arbitrary parameter, but a difference of 30 degrees seems reasonable for</span> <span class="comment">// some observed cases.</span> <span class="kw">if</span> <span class="ident">diff</span>.<span class="ident">abs</span>() <span class="op"><</span> <span class="number">30.0</span> { <span class="ident">TurnType::Straight</span> } <span class="kw">else</span> <span class="kw">if</span> <span class="ident">diff</span>.<span class="ident">abs</span>() <span class="op">></span> <span class="number">135.0</span> { <span class="ident">TurnType::UTurn</span> } <span class="kw">else</span> <span class="kw">if</span> <span class="ident">diff</span> <span class="op"><</span> <span class="number">0.0</span> { <span class="comment">// Clockwise rotation</span> <span class="ident">TurnType::Right</span> } <span class="kw">else</span> { <span class="comment">// Counter-clockwise rotation</span> <span class="ident">TurnType::Left</span> } } <span class="kw">fn</span> <span class="ident">expected_turn_types_for_four_way</span>( <span class="ident">i</span>: <span class="kw-2">&</span><span class="ident">Intersection</span>, <span class="ident">map</span>: <span class="kw-2">&</span><span class="ident">Map</span>, ) -> <span class="prelude-ty">Option</span><span class="op"><</span><span class="ident">HashMap</span><span class="op"><</span>(<span class="ident">RoadID</span>, <span class="ident">RoadID</span>), <span class="ident">TurnType</span><span class="op">></span><span class="op">></span> { <span class="kw">let</span> <span class="ident">roads</span> <span class="op">=</span> <span class="ident">i</span>.<span class="ident">get_sorted_incoming_roads</span>(<span class="ident">map</span>); <span class="kw">if</span> <span class="ident">roads</span>.<span class="ident">len</span>() <span class="op">!</span><span class="op">=</span> <span class="number">4</span> { <span class="kw">return</span> <span class="prelude-val">None</span>; } <span class="comment">// Just based on relative ordering around the intersection, turns (from road, to road, should</span> <span class="comment">// have this type)</span> <span class="kw">let</span> <span class="kw-2">mut</span> <span class="ident">expected_turn_types</span>: <span class="ident">HashMap</span><span class="op"><</span>(<span class="ident">RoadID</span>, <span class="ident">RoadID</span>), <span class="ident">TurnType</span><span class="op">></span> <span class="op">=</span> <span class="ident">HashMap::new</span>(); <span class="kw">for</span> (<span class="ident">offset</span>, <span class="ident">turn_type</span>) <span class="kw">in</span> [ (<span class="number">1</span>, <span class="ident">TurnType::Left</span>), (<span class="number">2</span>, <span class="ident">TurnType::Straight</span>), (<span class="number">3</span>, <span class="ident">TurnType::Right</span>), ] { <span class="kw">for</span> <span class="ident">from_idx</span> <span class="kw">in</span> <span class="number">0</span>..<span class="ident">roads</span>.<span class="ident">len</span>() { <span class="kw">let</span> <span class="ident">to</span> <span class="op">=</span> <span class="kw-2">*</span><span class="ident">abstutil::wraparound_get</span>(<span class="kw-2">&</span><span class="ident">roads</span>, (<span class="ident">from_idx</span> <span class="kw">as</span> <span class="ident">isize</span>) <span class="op">+</span> <span class="ident">offset</span>); <span class="ident">expected_turn_types</span>.<span class="ident">insert</span>((<span class="ident">roads</span>[<span class="ident">from_idx</span>], <span class="ident">to</span>), <span class="ident">turn_type</span>); } } <span class="prelude-val">Some</span>(<span class="ident">expected_turn_types</span>) } </code></pre></div> </section><section id="search" class="content hidden"></section></div></main><div id="rustdoc-vars" data-root-path="../../../" data-current-crate="map_model" data-themes="ayu,dark,light" data-resource-suffix="" data-rustdoc-version="1.59.0 (9d1b2106e 2022-02-23)" ></div> </body></html>