vehicle-path2 2.0.0 → 2.1.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/core/index.d.ts +1 -0
- package/dist/core/snapshot.d.ts +39 -0
- package/dist/core.cjs +1 -1
- package/dist/core.js +52 -33
- package/dist/index-D8o0W80x.js +732 -0
- package/dist/index-DfPg-M5u.cjs +1 -0
- package/dist/vehicle-path.cjs +1 -1
- package/dist/vehicle-path.js +31 -730
- package/package.json +1 -1
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@@ -0,0 +1,732 @@
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function y(t, e) {
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const s = e.x - t.x, n = e.y - t.y;
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return Math.sqrt(s * s + n * n);
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}
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function w(t, e) {
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const s = e.x - t.x, n = e.y - t.y, i = Math.sqrt(s * s + n * n);
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return i === 0 ? { x: 0, y: 0 } : { x: s / i, y: n / i };
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}
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function k(t, e) {
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return e * (t === "proportional-40" ? 0.4 : 0.5522);
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}
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function q(t, e, s, n = !1, i) {
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const { maxWheelbase: c, tangentMode: o } = s;
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let r;
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i?.fromOffset !== void 0 ? r = V(t, i.fromOffset, i.fromIsPercentage ?? !1) : r = t.end;
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let a;
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i?.toOffset !== void 0 ? a = V(e, i.toOffset, i.toIsPercentage ?? !1) : a = e.start;
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const l = w(t.start, t.end), f = n ? {
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// Transition with flip: kurva dimulai dari P (baseP0 - wheelbase in line direction)
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x: r.x - l.x * c,
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y: r.y - l.y * c
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} : r, g = w(t.start, t.end), d = w(e.start, e.end), h = y(f, a), p = k(o, h), u = n ? { x: f.x - g.x * p, y: f.y - g.y * p } : { x: f.x + g.x * p, y: f.y + g.y * p }, v = {
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x: a.x - d.x * p,
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y: a.y - d.y * p
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};
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return { p0: f, p1: u, p2: v, p3: a };
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}
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function K(t, e) {
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return {
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x: t.start.x + (t.end.x - t.start.x) * e,
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y: t.start.y + (t.end.y - t.start.y) * e
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};
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}
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function V(t, e, s) {
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const n = y(t.start, t.end);
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let i;
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return s ? i = e : i = n > 0 ? e / n : 0, i = Math.max(0, Math.min(1, i)), K(t, i);
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}
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function T(t, e) {
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const { p0: s, p1: n, p2: i, p3: c } = t, o = 1 - e, r = o * o, a = r * o, l = e * e, f = l * e;
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return {
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x: a * s.x + 3 * r * e * n.x + 3 * o * l * i.x + f * c.x,
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y: a * s.y + 3 * r * e * n.y + 3 * o * l * i.y + f * c.y
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};
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}
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function ne(t, e, s = 10) {
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return y(t, e) <= s;
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}
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function N(t, e = 100) {
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const s = [{ t: 0, distance: 0 }];
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let n = t.p0, i = 0;
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for (let c = 1; c <= e; c++) {
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const o = c / e, r = T(t, o);
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i += y(n, r), s.push({ t: o, distance: i }), n = r;
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}
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return s;
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}
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function F(t, e) {
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if (e <= 0) return 0;
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const s = t[t.length - 1].distance;
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if (e >= s) return 1;
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let n = 0, i = t.length - 1;
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for (; n < i - 1; ) {
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const f = Math.floor((n + i) / 2);
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t[f].distance < e ? n = f : i = f;
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}
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const c = t[n].distance, o = t[i].distance, r = t[n].t, a = t[i].t;
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if (o === c) return r;
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const l = (e - c) / (o - c);
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return r + l * (a - r);
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}
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function se(t) {
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return t[t.length - 1].distance;
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}
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function G(t, e = 100) {
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let s = 0, n = t.p0;
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for (let i = 1; i <= e; i++) {
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const c = i / e, o = T(t, c);
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s += y(n, o), n = o;
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}
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return s;
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}
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function E(t, e, s, n, i) {
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const c = y(t.start, t.end), o = c - i;
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if (o <= 0)
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return c;
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let r;
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if (e === void 0)
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r = n;
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else if (s)
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r = e;
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else {
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const a = Math.max(0, Math.min(e, o));
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return i + a;
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}
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return i + r * o;
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}
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function W(t, e, s, n, i) {
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const o = y(t.start, t.end) - i;
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if (o <= 0)
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return 0;
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let r;
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if (e === void 0)
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r = n;
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else if (s)
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r = e;
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else
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return Math.max(0, Math.min(e, o));
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return r * o;
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}
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function I(t, e, s) {
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const n = /* @__PURE__ */ new Map(), i = /* @__PURE__ */ new Map(), c = /* @__PURE__ */ new Map();
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for (const o of t)
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i.set(o.id, o), c.set(o.id, y(o.start, o.end)), n.set(o.id, []);
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for (let o = 0; o < e.length; o++) {
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const r = e[o], a = i.get(r.fromLineId), l = i.get(r.toLineId);
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if (!a || !l) continue;
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const f = E(a, r.fromOffset, r.fromIsPercentage, 1, s.maxWheelbase), g = W(l, r.toOffset, r.toIsPercentage, 0, s.maxWheelbase), d = q(
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a,
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l,
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s,
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!1,
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// willFlip is always false now
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{
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fromOffset: f,
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fromIsPercentage: !1,
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// Already resolved to absolute
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toOffset: g,
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toIsPercentage: !1
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// Already resolved to absolute
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}
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), h = G(d), p = {
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curveIndex: o,
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fromLineId: r.fromLineId,
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toLineId: r.toLineId,
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fromOffset: f,
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toOffset: g,
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curveLength: h
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};
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n.get(r.fromLineId).push(p);
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}
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return { adjacency: n, lines: i, lineLengths: c };
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}
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function z(t, e) {
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return t.curveCount !== e.curveCount ? t.curveCount - e.curveCount : t.totalDistance - e.totalDistance;
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}
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function Q(t, e, s, n, i = !1) {
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const { adjacency: c, lines: o, lineLengths: r } = t;
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if (!o.get(s)) return null;
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const l = r.get(s), f = i ? n / 100 * l : n, g = [], d = /* @__PURE__ */ new Map(), h = (u, v) => `${u}:${Math.round(v)}`;
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if (e.lineId === s && f >= e.offset) {
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const u = f - e.offset;
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return {
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segments: [{
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type: "line",
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lineId: e.lineId,
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startOffset: e.offset,
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endOffset: f,
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length: u
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}],
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totalDistance: u,
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curveCount: 0
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};
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}
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const p = c.get(e.lineId) || [];
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for (const u of p) {
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if (u.fromOffset < e.offset) continue;
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const v = u.fromOffset - e.offset, x = v + u.curveLength, L = {
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type: "line",
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lineId: e.lineId,
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startOffset: e.offset,
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endOffset: u.fromOffset,
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length: v
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}, m = {
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type: "curve",
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curveIndex: u.curveIndex,
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startOffset: 0,
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endOffset: u.curveLength,
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length: u.curveLength
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};
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g.push({
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lineId: u.toLineId,
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entryOffset: u.toOffset,
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totalDistance: x,
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curveCount: 1,
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path: [L, m]
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});
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}
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for (g.sort(z); g.length > 0; ) {
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const u = g.shift(), v = h(u.lineId, u.entryOffset), x = d.get(v);
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if (x !== void 0 && (x.curveCount < u.curveCount || x.curveCount === u.curveCount && x.distance <= u.totalDistance))
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continue;
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if (d.set(v, { curveCount: u.curveCount, distance: u.totalDistance }), u.lineId === s) {
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const m = Math.abs(f - u.entryOffset);
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if (f >= u.entryOffset) {
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const C = {
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type: "line",
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lineId: s,
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startOffset: u.entryOffset,
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endOffset: f,
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length: m
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};
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return {
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segments: [...u.path, C],
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totalDistance: u.totalDistance + m,
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curveCount: u.curveCount
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};
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}
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}
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const L = c.get(u.lineId) || [];
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for (const m of L) {
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if (m.fromOffset < u.entryOffset) continue;
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const C = m.fromOffset - u.entryOffset, b = u.totalDistance + C + m.curveLength, P = u.curveCount + 1, B = h(m.toLineId, m.toOffset), D = d.get(B);
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if (D !== void 0 && (D.curveCount < P || D.curveCount === P && D.distance <= b))
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continue;
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const j = {
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type: "line",
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lineId: u.lineId,
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startOffset: u.entryOffset,
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endOffset: m.fromOffset,
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length: C
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}, $ = {
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type: "curve",
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curveIndex: m.curveIndex,
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startOffset: 0,
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endOffset: m.curveLength,
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length: m.curveLength
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};
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g.push({
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lineId: m.toLineId,
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entryOffset: m.toOffset,
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totalDistance: b,
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curveCount: P,
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path: [...u.path, j, $]
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});
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}
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g.sort(z);
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}
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return null;
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}
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function A(t, e) {
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const s = Math.sqrt(
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Math.pow(t.end.x - t.start.x, 2) + Math.pow(t.end.y - t.start.y, 2)
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), n = s > 0 ? e / s : 0;
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return {
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x: t.start.x + (t.end.x - t.start.x) * Math.min(1, Math.max(0, n)),
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y: t.start.y + (t.end.y - t.start.y) * Math.min(1, Math.max(0, n))
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};
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}
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function O(t) {
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return Math.sqrt(
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Math.pow(t.end.x - t.start.x, 2) + Math.pow(t.end.y - t.start.y, 2)
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);
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}
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function R(t, e, s) {
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let n = 0;
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for (let i = 0; i < e; i++)
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n += t.segments[i].length;
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return n += s, n;
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}
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function _(t, e) {
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let s = 0;
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for (let n = 0; n < t.segments.length; n++) {
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const i = t.segments[n], c = s + i.length;
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if (e < c)
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return {
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segmentIndex: n,
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segmentDistance: e - s
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};
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if (e === c)
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return n + 1 < t.segments.length ? {
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segmentIndex: n + 1,
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segmentDistance: 0
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} : {
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segmentIndex: n,
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segmentDistance: i.length
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};
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s += i.length;
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}
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return null;
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}
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function ie(t, e, s, n) {
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const c = R(
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t,
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e,
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s
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) + n;
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return _(t, c);
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}
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function H(t, e, s, n) {
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const i = O(n), c = s.length + 1, o = new Array(c);
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o[c - 1] = {
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lineId: t,
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absoluteOffset: e,
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position: A(n, e)
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296
|
+
};
|
|
297
|
+
let r = e;
|
|
298
|
+
for (let a = c - 2; a >= 0; a--)
|
|
299
|
+
r = Math.min(r + s[a], i), o[a] = {
|
|
300
|
+
lineId: t,
|
|
301
|
+
absoluteOffset: r,
|
|
302
|
+
position: A(n, r)
|
|
303
|
+
};
|
|
304
|
+
return o;
|
|
305
|
+
}
|
|
306
|
+
function J(t, e) {
|
|
307
|
+
return {
|
|
308
|
+
...t,
|
|
309
|
+
state: "idle"
|
|
310
|
+
};
|
|
311
|
+
}
|
|
312
|
+
function U(t) {
|
|
313
|
+
return {
|
|
314
|
+
vehicle: t,
|
|
315
|
+
execution: null
|
|
316
|
+
};
|
|
317
|
+
}
|
|
318
|
+
function re(t, e) {
|
|
319
|
+
const s = [], n = /* @__PURE__ */ new Map();
|
|
320
|
+
for (const i of t) {
|
|
321
|
+
if (!e.get(i.lineId)) continue;
|
|
322
|
+
const o = J(i);
|
|
323
|
+
s.push(o);
|
|
324
|
+
const r = U(o);
|
|
325
|
+
n.set(i.id, r);
|
|
326
|
+
}
|
|
327
|
+
return { movingVehicles: s, stateMap: n };
|
|
328
|
+
}
|
|
329
|
+
function M(t, e) {
|
|
330
|
+
return { position: A(t, e), lineId: t.id, absoluteOffset: e };
|
|
331
|
+
}
|
|
332
|
+
function S(t, e) {
|
|
333
|
+
const s = F(t.arcLengthTable, e);
|
|
334
|
+
return { position: T(t.bezier, s) };
|
|
335
|
+
}
|
|
336
|
+
function X(t, e, s, n, i, c, o) {
|
|
337
|
+
const r = s.segments[e.currentSegmentIndex], a = e.segmentDistance + n;
|
|
338
|
+
if (a >= r.length) {
|
|
339
|
+
const f = a - r.length, g = e.currentSegmentIndex + 1;
|
|
340
|
+
if (g >= s.segments.length) {
|
|
341
|
+
if (o !== void 0 && r.type === "line") {
|
|
342
|
+
const u = i.get(r.lineId), v = r.startOffset + a;
|
|
343
|
+
if (v <= o) {
|
|
344
|
+
const L = M(u, v);
|
|
345
|
+
return {
|
|
346
|
+
axleState: { ...t, ...L },
|
|
347
|
+
execution: { ...e, segmentDistance: a },
|
|
348
|
+
completed: !1
|
|
349
|
+
};
|
|
350
|
+
}
|
|
351
|
+
const x = M(u, o);
|
|
352
|
+
return {
|
|
353
|
+
axleState: { ...t, ...x },
|
|
354
|
+
execution: { ...e, segmentDistance: o - r.startOffset },
|
|
355
|
+
completed: !0
|
|
356
|
+
};
|
|
357
|
+
}
|
|
358
|
+
const p = r.type === "line" ? M(
|
|
359
|
+
i.get(r.lineId),
|
|
360
|
+
r.endOffset
|
|
361
|
+
) : S(
|
|
362
|
+
c.get(r.curveIndex),
|
|
363
|
+
r.length
|
|
364
|
+
);
|
|
365
|
+
return {
|
|
366
|
+
axleState: { ...t, ...p },
|
|
367
|
+
execution: { ...e, segmentDistance: r.length },
|
|
368
|
+
completed: !0
|
|
369
|
+
};
|
|
370
|
+
}
|
|
371
|
+
const d = s.segments[g], h = d.type === "line" ? M(
|
|
372
|
+
i.get(d.lineId),
|
|
373
|
+
d.startOffset + f
|
|
374
|
+
) : S(
|
|
375
|
+
c.get(d.curveIndex),
|
|
376
|
+
f
|
|
377
|
+
);
|
|
378
|
+
return {
|
|
379
|
+
axleState: { ...t, ...h },
|
|
380
|
+
execution: {
|
|
381
|
+
currentSegmentIndex: g,
|
|
382
|
+
segmentDistance: f
|
|
383
|
+
},
|
|
384
|
+
completed: !1
|
|
385
|
+
};
|
|
386
|
+
}
|
|
387
|
+
const l = r.type === "line" ? M(
|
|
388
|
+
i.get(r.lineId),
|
|
389
|
+
r.startOffset + a
|
|
390
|
+
) : S(
|
|
391
|
+
c.get(r.curveIndex),
|
|
392
|
+
a
|
|
393
|
+
);
|
|
394
|
+
return {
|
|
395
|
+
axleState: { ...t, ...l },
|
|
396
|
+
execution: { ...e, segmentDistance: a },
|
|
397
|
+
completed: !1
|
|
398
|
+
};
|
|
399
|
+
}
|
|
400
|
+
function Y(t, e, s, n) {
|
|
401
|
+
const i = /* @__PURE__ */ new Map();
|
|
402
|
+
for (const c of t.segments)
|
|
403
|
+
if (c.type === "curve" && c.curveIndex !== void 0) {
|
|
404
|
+
const o = e[c.curveIndex];
|
|
405
|
+
if (o) {
|
|
406
|
+
const r = s.get(o.fromLineId), a = s.get(o.toLineId);
|
|
407
|
+
if (r && a) {
|
|
408
|
+
const l = E(
|
|
409
|
+
r,
|
|
410
|
+
o.fromOffset,
|
|
411
|
+
o.fromIsPercentage,
|
|
412
|
+
1,
|
|
413
|
+
// Default: 100% = 1.0
|
|
414
|
+
n.maxWheelbase
|
|
415
|
+
), f = W(
|
|
416
|
+
a,
|
|
417
|
+
o.toOffset,
|
|
418
|
+
o.toIsPercentage,
|
|
419
|
+
0,
|
|
420
|
+
n.maxWheelbase
|
|
421
|
+
), g = q(
|
|
422
|
+
r,
|
|
423
|
+
a,
|
|
424
|
+
n,
|
|
425
|
+
!1,
|
|
426
|
+
// willFlip is always false now
|
|
427
|
+
{
|
|
428
|
+
fromOffset: l,
|
|
429
|
+
fromIsPercentage: !1,
|
|
430
|
+
// Already resolved to absolute
|
|
431
|
+
toOffset: f,
|
|
432
|
+
toIsPercentage: !1
|
|
433
|
+
// Already resolved to absolute
|
|
434
|
+
}
|
|
435
|
+
), d = N(g);
|
|
436
|
+
i.set(c.curveIndex, { bezier: g, arcLengthTable: d });
|
|
437
|
+
}
|
|
438
|
+
}
|
|
439
|
+
}
|
|
440
|
+
return i;
|
|
441
|
+
}
|
|
442
|
+
function Z(t, e, s) {
|
|
443
|
+
const { graph: n, linesMap: i, curves: c, config: o } = s, r = i.get(e.targetLineId);
|
|
444
|
+
if (!r) return null;
|
|
445
|
+
const a = t.axleSpacings.reduce((u, v) => u + v, 0), f = O(r) - a;
|
|
446
|
+
if (f <= 0) return null;
|
|
447
|
+
const g = e.isPercentage ? e.targetOffset * f : Math.min(e.targetOffset, f), d = t.axles[t.axles.length - 1], h = Q(
|
|
448
|
+
n,
|
|
449
|
+
{ lineId: d.lineId, offset: d.absoluteOffset },
|
|
450
|
+
e.targetLineId,
|
|
451
|
+
g,
|
|
452
|
+
!1
|
|
453
|
+
);
|
|
454
|
+
if (!h) return null;
|
|
455
|
+
const p = Y(h, c, i, o);
|
|
456
|
+
return { path: h, curveDataMap: p };
|
|
457
|
+
}
|
|
458
|
+
function oe(t, e) {
|
|
459
|
+
const s = t.execution, i = e.vehicleQueues.get(t.vehicle.id)?.[s.currentCommandIndex];
|
|
460
|
+
return i && e.onCommandComplete && e.onCommandComplete({
|
|
461
|
+
vehicleId: t.vehicle.id,
|
|
462
|
+
command: i,
|
|
463
|
+
finalPosition: {
|
|
464
|
+
lineId: t.vehicle.axles[t.vehicle.axles.length - 1].lineId,
|
|
465
|
+
absoluteOffset: t.vehicle.axles[t.vehicle.axles.length - 1].absoluteOffset,
|
|
466
|
+
position: t.vehicle.axles[t.vehicle.axles.length - 1].position
|
|
467
|
+
},
|
|
468
|
+
payload: i.payload
|
|
469
|
+
}), {
|
|
470
|
+
handled: !0,
|
|
471
|
+
vehicle: { ...t.vehicle, state: "waiting" },
|
|
472
|
+
newExecution: s,
|
|
473
|
+
// Keep execution state for resume
|
|
474
|
+
isWaiting: !0
|
|
475
|
+
};
|
|
476
|
+
}
|
|
477
|
+
function ee(t, e, s, n, i, c) {
|
|
478
|
+
let o;
|
|
479
|
+
const r = e[0];
|
|
480
|
+
if (r.currentSegmentIndex < s.segments.length) {
|
|
481
|
+
const l = s.segments[r.currentSegmentIndex];
|
|
482
|
+
if (l.type === "line") {
|
|
483
|
+
const f = i.get(l.lineId);
|
|
484
|
+
f && (o = O(f));
|
|
485
|
+
}
|
|
486
|
+
}
|
|
487
|
+
const a = t.map((l, f) => {
|
|
488
|
+
const g = f === 0 ? o : void 0;
|
|
489
|
+
return X(l, e[f], s, n, i, c, g);
|
|
490
|
+
});
|
|
491
|
+
return {
|
|
492
|
+
axles: a.map((l) => l.axleState),
|
|
493
|
+
axleExecutions: a.map((l) => l.execution),
|
|
494
|
+
arrived: a[0].completed
|
|
495
|
+
// axles[0] = terdepan menentukan arrived
|
|
496
|
+
};
|
|
497
|
+
}
|
|
498
|
+
class ce {
|
|
499
|
+
graph = null;
|
|
500
|
+
linesMap = /* @__PURE__ */ new Map();
|
|
501
|
+
curves = [];
|
|
502
|
+
config;
|
|
503
|
+
constructor(e) {
|
|
504
|
+
this.config = {
|
|
505
|
+
maxWheelbase: e.maxWheelbase,
|
|
506
|
+
tangentMode: e.tangentMode
|
|
507
|
+
};
|
|
508
|
+
}
|
|
509
|
+
// ---------------------------------------------------------------------------
|
|
510
|
+
// Accessors
|
|
511
|
+
// ---------------------------------------------------------------------------
|
|
512
|
+
get movementConfig() {
|
|
513
|
+
return this.config;
|
|
514
|
+
}
|
|
515
|
+
get lines() {
|
|
516
|
+
return Array.from(this.linesMap.values());
|
|
517
|
+
}
|
|
518
|
+
getCurves() {
|
|
519
|
+
return this.curves;
|
|
520
|
+
}
|
|
521
|
+
// ---------------------------------------------------------------------------
|
|
522
|
+
// Scene management
|
|
523
|
+
// ---------------------------------------------------------------------------
|
|
524
|
+
/**
|
|
525
|
+
* Replace the entire scene and rebuild the graph.
|
|
526
|
+
*/
|
|
527
|
+
setScene(e, s) {
|
|
528
|
+
this.linesMap.clear();
|
|
529
|
+
for (const n of e)
|
|
530
|
+
this.linesMap.set(n.id, n);
|
|
531
|
+
this.curves = s, this.graph = I(e, s, this.config);
|
|
532
|
+
}
|
|
533
|
+
/**
|
|
534
|
+
* Add a single line. Returns false if a line with the same ID already exists.
|
|
535
|
+
*/
|
|
536
|
+
addLine(e) {
|
|
537
|
+
return this.linesMap.has(e.id) ? !1 : (this.linesMap.set(e.id, e), this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config), !0);
|
|
538
|
+
}
|
|
539
|
+
/**
|
|
540
|
+
* Update start and/or end coordinates of an existing line.
|
|
541
|
+
*/
|
|
542
|
+
updateLine(e, s) {
|
|
543
|
+
const n = this.linesMap.get(e);
|
|
544
|
+
return n ? (s.start && (n.start = s.start), s.end && (n.end = s.end), this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config), !0) : !1;
|
|
545
|
+
}
|
|
546
|
+
/**
|
|
547
|
+
* Update a single endpoint ('start' or 'end') of a line.
|
|
548
|
+
*/
|
|
549
|
+
updateLineEndpoint(e, s, n) {
|
|
550
|
+
return this.updateLine(e, { [s]: n });
|
|
551
|
+
}
|
|
552
|
+
/**
|
|
553
|
+
* Rename a line ID and cascade the change to all connected curves.
|
|
554
|
+
*/
|
|
555
|
+
renameLine(e, s) {
|
|
556
|
+
const n = s.trim();
|
|
557
|
+
if (!n) return { success: !1, error: "Name cannot be empty" };
|
|
558
|
+
if (n === e) return { success: !0 };
|
|
559
|
+
if (this.linesMap.has(n)) return { success: !1, error: `"${n}" already exists` };
|
|
560
|
+
const i = this.linesMap.get(e);
|
|
561
|
+
if (!i) return { success: !1, error: `Line "${e}" not found` };
|
|
562
|
+
i.id = n, this.linesMap.delete(e), this.linesMap.set(n, i);
|
|
563
|
+
for (const c of this.curves)
|
|
564
|
+
c.fromLineId === e && (c.fromLineId = n), c.toLineId === e && (c.toLineId = n);
|
|
565
|
+
return this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config), { success: !0 };
|
|
566
|
+
}
|
|
567
|
+
/**
|
|
568
|
+
* Remove a line and all curves connected to it.
|
|
569
|
+
*/
|
|
570
|
+
removeLine(e) {
|
|
571
|
+
return this.linesMap.has(e) ? (this.linesMap.delete(e), this.curves = this.curves.filter((s) => s.fromLineId !== e && s.toLineId !== e), this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config), !0) : !1;
|
|
572
|
+
}
|
|
573
|
+
/**
|
|
574
|
+
* Add a directional curve (connection) from one line to another.
|
|
575
|
+
*/
|
|
576
|
+
addCurve(e) {
|
|
577
|
+
this.curves.push(e), this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config);
|
|
578
|
+
}
|
|
579
|
+
/**
|
|
580
|
+
* Update a curve by index. Returns false if index is out of bounds.
|
|
581
|
+
*/
|
|
582
|
+
updateCurve(e, s) {
|
|
583
|
+
return e < 0 || e >= this.curves.length ? !1 : (this.curves[e] = { ...this.curves[e], ...s }, this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config), !0);
|
|
584
|
+
}
|
|
585
|
+
/**
|
|
586
|
+
* Remove a curve by index. Returns false if index is out of bounds.
|
|
587
|
+
*/
|
|
588
|
+
removeCurve(e) {
|
|
589
|
+
return e < 0 || e >= this.curves.length ? !1 : (this.curves.splice(e, 1), this.graph = I(Array.from(this.linesMap.values()), this.curves, this.config), !0);
|
|
590
|
+
}
|
|
591
|
+
// ---------------------------------------------------------------------------
|
|
592
|
+
// Vehicle operations
|
|
593
|
+
// ---------------------------------------------------------------------------
|
|
594
|
+
/**
|
|
595
|
+
* Initialize a vehicle's N-axle position on a line.
|
|
596
|
+
*
|
|
597
|
+
* @param lineId - The line to place the vehicle on
|
|
598
|
+
* @param rearOffset - Absolute distance offset untuk axle paling belakang
|
|
599
|
+
* @param axleSpacings - Jarak antar axle berurutan (N-1 nilai untuk N axle)
|
|
600
|
+
* @returns Initial VehiclePathState, or null if lineId does not exist
|
|
601
|
+
*/
|
|
602
|
+
initializeVehicle(e, s, n) {
|
|
603
|
+
const i = this.linesMap.get(e);
|
|
604
|
+
if (!i) return null;
|
|
605
|
+
const c = n.reduce((l, f) => l + f, 0), o = O(i), r = Math.min(s, o - c);
|
|
606
|
+
return {
|
|
607
|
+
axles: H(e, r, n, i).map((l) => ({ lineId: l.lineId, offset: l.absoluteOffset, position: l.position })),
|
|
608
|
+
axleSpacings: n
|
|
609
|
+
};
|
|
610
|
+
}
|
|
611
|
+
/**
|
|
612
|
+
* Prepare a path from the vehicle's current position to a target.
|
|
613
|
+
*
|
|
614
|
+
* Must be called before moveVehicle(). Returns null if no path exists.
|
|
615
|
+
*
|
|
616
|
+
* @param vehicleState - Current vehicle state (from initializeVehicle or previous tick)
|
|
617
|
+
* @param targetLineId - ID of the target line
|
|
618
|
+
* @param targetOffset - Position on the target line
|
|
619
|
+
* @param isPercentage - If true, targetOffset is 0-1 fraction; if false, absolute distance
|
|
620
|
+
*/
|
|
621
|
+
preparePath(e, s, n, i = !1) {
|
|
622
|
+
if (!this.graph) return null;
|
|
623
|
+
const c = e.axleSpacings.reduce((h, p) => h + p, 0), o = e.axles[e.axles.length - 1], r = {
|
|
624
|
+
lineId: o.lineId,
|
|
625
|
+
offset: o.offset,
|
|
626
|
+
axles: e.axles.map((h) => ({
|
|
627
|
+
lineId: h.lineId,
|
|
628
|
+
position: h.position,
|
|
629
|
+
absoluteOffset: h.offset
|
|
630
|
+
})),
|
|
631
|
+
axleSpacings: e.axleSpacings
|
|
632
|
+
}, a = Z(r, {
|
|
633
|
+
targetLineId: s,
|
|
634
|
+
targetOffset: n,
|
|
635
|
+
isPercentage: i
|
|
636
|
+
}, {
|
|
637
|
+
graph: this.graph,
|
|
638
|
+
linesMap: this.linesMap,
|
|
639
|
+
curves: this.curves,
|
|
640
|
+
config: this.config
|
|
641
|
+
});
|
|
642
|
+
if (!a) return null;
|
|
643
|
+
let l = n;
|
|
644
|
+
const f = this.linesMap.get(s);
|
|
645
|
+
if (f) {
|
|
646
|
+
const h = Math.max(0, O(f) - c);
|
|
647
|
+
l = i ? n * h : Math.min(n, h);
|
|
648
|
+
}
|
|
649
|
+
let g = 0;
|
|
650
|
+
const d = [
|
|
651
|
+
{ segmentIndex: 0, segmentDistance: c }
|
|
652
|
+
// axles[0] = front
|
|
653
|
+
];
|
|
654
|
+
for (let h = 0; h < e.axleSpacings.length; h++)
|
|
655
|
+
g += e.axleSpacings[h], d.push({ segmentIndex: 0, segmentDistance: c - g });
|
|
656
|
+
return {
|
|
657
|
+
path: a.path,
|
|
658
|
+
curveDataMap: a.curveDataMap,
|
|
659
|
+
axleExecutions: d,
|
|
660
|
+
targetLineId: s,
|
|
661
|
+
targetOffset: l
|
|
662
|
+
};
|
|
663
|
+
}
|
|
664
|
+
/**
|
|
665
|
+
* Advance a vehicle by `distance` along its prepared path.
|
|
666
|
+
*
|
|
667
|
+
* Call this every tick. The returned `state` and `execution` replace the
|
|
668
|
+
* previous values. When `arrived` is true, the vehicle has reached the target.
|
|
669
|
+
*
|
|
670
|
+
* @param state - Current vehicle state
|
|
671
|
+
* @param execution - Current path execution (from preparePath or previous tick)
|
|
672
|
+
* @param distance - Distance to advance this tick (speed × deltaTime)
|
|
673
|
+
*/
|
|
674
|
+
moveVehicle(e, s, n) {
|
|
675
|
+
const i = e.axles.map((r) => ({
|
|
676
|
+
lineId: r.lineId,
|
|
677
|
+
position: r.position,
|
|
678
|
+
absoluteOffset: r.offset
|
|
679
|
+
})), c = s.axleExecutions.map((r) => ({
|
|
680
|
+
currentSegmentIndex: r.segmentIndex,
|
|
681
|
+
segmentDistance: r.segmentDistance
|
|
682
|
+
})), o = ee(i, c, s.path, n, this.linesMap, s.curveDataMap);
|
|
683
|
+
return {
|
|
684
|
+
state: {
|
|
685
|
+
axles: o.axles.map((r) => ({ lineId: r.lineId, offset: r.absoluteOffset, position: r.position })),
|
|
686
|
+
axleSpacings: e.axleSpacings
|
|
687
|
+
},
|
|
688
|
+
execution: {
|
|
689
|
+
...s,
|
|
690
|
+
axleExecutions: o.axleExecutions.map((r) => ({
|
|
691
|
+
segmentIndex: r.currentSegmentIndex,
|
|
692
|
+
segmentDistance: r.segmentDistance
|
|
693
|
+
}))
|
|
694
|
+
},
|
|
695
|
+
arrived: o.arrived
|
|
696
|
+
};
|
|
697
|
+
}
|
|
698
|
+
}
|
|
699
|
+
export {
|
|
700
|
+
w as A,
|
|
701
|
+
Z as B,
|
|
702
|
+
E as C,
|
|
703
|
+
W as D,
|
|
704
|
+
X as E,
|
|
705
|
+
ce as P,
|
|
706
|
+
_ as a,
|
|
707
|
+
N as b,
|
|
708
|
+
I as c,
|
|
709
|
+
G as d,
|
|
710
|
+
ie as e,
|
|
711
|
+
H as f,
|
|
712
|
+
S as g,
|
|
713
|
+
M as h,
|
|
714
|
+
k as i,
|
|
715
|
+
q as j,
|
|
716
|
+
U as k,
|
|
717
|
+
y as l,
|
|
718
|
+
F as m,
|
|
719
|
+
Q as n,
|
|
720
|
+
se as o,
|
|
721
|
+
R as p,
|
|
722
|
+
O as q,
|
|
723
|
+
T as r,
|
|
724
|
+
K as s,
|
|
725
|
+
V as t,
|
|
726
|
+
A as u,
|
|
727
|
+
oe as v,
|
|
728
|
+
re as w,
|
|
729
|
+
J as x,
|
|
730
|
+
ne as y,
|
|
731
|
+
ee as z
|
|
732
|
+
};
|