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diff --git a/Assets/Maps/data.xodr.meta b/Assets/Maps/data.xodr.meta
new file mode 100644
index 00000000..cb66b6b9
--- /dev/null
+++ b/Assets/Maps/data.xodr.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 523b79e2d914a451ab3a80e70f6a0a95
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Plugins/TrafficSimulation/CMakeLists.txt b/Assets/Plugins/TrafficSimulation/CMakeLists.txt
index c21f5e40..424fae02 100644
--- a/Assets/Plugins/TrafficSimulation/CMakeLists.txt
+++ b/Assets/Plugins/TrafficSimulation/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.12)
+cmake_minimum_required(VERSION 3.10...3.18)
# Set project name
project(ReplicantDriveSim VERSION 1.0.0 LANGUAGES CXX)
@@ -25,6 +25,24 @@ endif()
message(STATUS "CMAKE_SOURCE_DIR is: ${CMAKE_SOURCE_DIR}")
+# -------- LIBOPENDRIVE CONFIGURATION --------
+# Ensure libOpenDrive is built as a shared library
+set(BUILD_SHARED_LIBS ON CACHE BOOL "Build libOpenDrive as a shared library")
+
+# Add libOpenDrive as a subdirectory
+add_subdirectory(${CMAKE_SOURCE_DIR}/../libOpenDRIVE libOpenDrive)
+
+# -------- PUGIXML CONFIGURATION --------
+# Find pugixml.hpp
+find_path(PUGIXML_INCLUDE_DIR pugixml.hpp
+ PATHS ${CMAKE_BINARY_DIR}/_deps/pugixml-src/src
+ NO_DEFAULT_PATH
+)
+if(NOT PUGIXML_INCLUDE_DIR)
+ message(FATAL_ERROR "pugixml.hpp not found in ${CMAKE_BINARY_DIR}/_deps/pugixml-src/src")
+endif()
+message(STATUS "Found pugixml.hpp in ${PUGIXML_INCLUDE_DIR}")
+
# -------- UNITY TARGET CONFIGURATION --------
# Define source and header files for Unity
@@ -34,6 +52,8 @@ set(UNITY_SOURCES
${CMAKE_SOURCE_DIR}/src/simulation.cpp
${CMAKE_SOURCE_DIR}/src/bicycle_model.cpp
${CMAKE_SOURCE_DIR}/src/traffic_simulation_c_api.cpp
+ ${CMAKE_SOURCE_DIR}/src/OpenDriveWrapper.cpp
+ ${CMAKE_SOURCE_DIR}/src/MapAccessor.cpp
)
set(UNITY_HEADERS
@@ -42,7 +62,8 @@ set(UNITY_HEADERS
${CMAKE_SOURCE_DIR}/include/simulation.h
${CMAKE_SOURCE_DIR}/include/bicycle_model.h
${CMAKE_SOURCE_DIR}/include/traffic_simulation_c_api.h
-
+ ${CMAKE_SOURCE_DIR}/include/OpenDriveWrapper.h
+ ${CMAKE_SOURCE_DIR}/include/MapAccessor.h
)
# Create build directory for Unity target
@@ -52,9 +73,12 @@ file(MAKE_DIRECTORY ${UNITY_BUILD_DIRECTORY})
# Create shared library for Unity
add_library(${UNITY_TARGET} SHARED ${UNITY_SOURCES})
+# Ensure libReplicantDriveSim depends on OpenDrive
+add_dependencies(${UNITY_TARGET} OpenDrive)
+
# Set properties for Unity library
set_target_properties(${UNITY_TARGET} PROPERTIES
- PREFIX "" # To avoid prepending "lib" to target libary e.g. libReplicantDriveSim.dylib
+ PREFIX "" # Avoid prepending "lib" to target library e.g. libReplicantDriveSim.dylib
LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
CXX_VISIBILITY_PRESET hidden
VISIBILITY_INLINES_HIDDEN ON
@@ -62,6 +86,15 @@ set_target_properties(${UNITY_TARGET} PROPERTIES
SOVERSION ${PROJECT_VERSION_MAJOR}
)
+# Set properties for OpenDrive library to output to the same directory
+set_target_properties(OpenDrive PROPERTIES
+ LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+ MACOSX_RPATH ON
+ INSTALL_NAME_DIR "@loader_path" # Set libOpenDrive.dylib to use @loader_path
+ SUFFIX ".dylib"
+ CXX_VISIBILITY_PRESET default # Ensure symbols are exported
+)
+
# Platform-specific settings for Unity
if(WIN32)
add_definitions(-DBUILDING_DLL)
@@ -72,23 +105,34 @@ else()
set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
endif()
-# MacOS-specific settings for Unity
+# MacOS-specific settings for Unity and libOpenDRIVE
if(APPLE)
set_target_properties(${UNITY_TARGET} PROPERTIES
MACOSX_RPATH ON
- INSTALL_NAME_DIR "@rpath"
+ INSTALL_NAME_DIR "@loader_path"
+ SUFFIX ".dylib"
+ )
+ # Fix @rpath for libOpenDrive.dylib dependency
+ add_custom_command(TARGET ${UNITY_TARGET} POST_BUILD
+ COMMAND install_name_tool -change @rpath/libOpenDrive.dylib @loader_path/libOpenDrive.dylib
+ "${CMAKE_CURRENT_BINARY_DIR}/libReplicantDriveSim.dylib"
+ COMMENT "Fixing @rpath for libOpenDrive.dylib"
)
endif()
-# Modern CMake include directories approach
-target_include_directories(${UNITY_TARGET}
- PUBLIC
- $
- $
- PRIVATE
- ${CMAKE_CURRENT_SOURCE_DIR}/src
+# Resolve absolute path for libOpenDRIVE to ensure headers are found
+get_filename_component(LIBOPENDRIVE_ABS_PATH "${CMAKE_SOURCE_DIR}/../libOpenDRIVE" ABSOLUTE)
+
+# Add include directories for Unity, including libOpenDRIVE and pugixml
+target_include_directories(${UNITY_TARGET} PUBLIC
+ ${CMAKE_SOURCE_DIR}/include
+ ${LIBOPENDRIVE_ABS_PATH}/include
+ ${PUGIXML_INCLUDE_DIR}
)
+# Link libOpenDrive to Unity target
+target_link_libraries(${UNITY_TARGET} PUBLIC OpenDrive)
+
# -------- PYPI TARGET CONFIGURATION --------
# Source files for the PyPI target
@@ -148,6 +192,7 @@ endif()
target_include_directories(${PYPI_TARGET}
PRIVATE
$
+ ${LIBOPENDRIVE_ABS_PATH}/include
${pybind11_INCLUDE_DIRS}
)
diff --git a/Assets/Plugins/TrafficSimulation/README.md b/Assets/Plugins/TrafficSimulation/README.md
index bf462c5c..780e4b66 100644
--- a/Assets/Plugins/TrafficSimulation/README.md
+++ b/Assets/Plugins/TrafficSimulation/README.md
@@ -73,8 +73,8 @@ For building a standalone version of the traffic simulation library, follow thes
```shell
mkdir build
cd build
-cmake ..
-make
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_ARCHITECTURES=arm64 ..
+cmake --build . --config Release
cd ..
```
diff --git a/Assets/Plugins/TrafficSimulation/include/MapAccessor.h b/Assets/Plugins/TrafficSimulation/include/MapAccessor.h
new file mode 100644
index 00000000..259105e9
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/include/MapAccessor.h
@@ -0,0 +1,67 @@
+#ifndef MAP_ACCESSOR_H
+#define MAP_ACCESSOR_H
+
+#ifdef _WIN32
+#define EXPORT_API __declspec(dllexport)
+#else
+#define EXPORT_API __attribute__((visibility("default")))
+#endif
+
+extern "C" {
+ // Vehicle state structure for OpenDRIVE coordinates
+ typedef struct {
+ double s; // Longitudinal position along reference line
+ double t; // Lateral offset from reference line
+ int roadId; // Current road ID
+ int laneId; // Current lane ID (negative for right lanes, positive for left)
+ double ds; // Position within lane section
+ double dt; // Lateral position within lane
+ double heading; // Vehicle heading relative to lane direction (radians)
+ double laneWidth; // Width of the current lane
+ bool isValid; // Whether the vehicle state is valid
+ } VehicleState;
+
+ // Road position structure for world coordinates
+ typedef struct {
+ double x; // World X coordinate
+ double y; // World Y coordinate
+ double z; // World Z coordinate
+ double heading; // Heading in world coordinates (radians)
+ } WorldPosition;
+
+ // Lane information structure
+ typedef struct {
+ int laneId; // Lane ID
+ double width; // Lane width at given s position
+ double centerOffset; // Offset to lane center from reference line
+ } LaneInfo;
+
+ // Road network functions
+ EXPORT_API void* CreateMapAccessor(const char* filePath);
+ EXPORT_API void DestroyMapAccessor(void* accessor);
+
+ // Vehicle state derivation - core functionality
+ EXPORT_API VehicleState* WorldToRoadCoordinates(void* accessor, double x, double y, double z);
+ EXPORT_API WorldPosition* RoadToWorldCoordinates(void* accessor, double s, double t, int roadId);
+ EXPORT_API void FreeVehicleState(VehicleState* state);
+ EXPORT_API void FreeWorldPosition(WorldPosition* position);
+
+ // Road network queries
+ EXPORT_API int* GetRoadIds(void* accessor, int* roadCount);
+ EXPORT_API LaneInfo* GetLanesAtPosition(void* accessor, int roadId, double s, int* laneCount);
+ EXPORT_API double GetRoadLength(void* accessor, int roadId);
+ EXPORT_API void FreeLaneInfo(LaneInfo* laneInfo);
+ EXPORT_API void FreeRoadIds(int* roadIds);
+
+ // Mesh rendering functions (existing functionality)
+ EXPORT_API float* GetRoadVertices(void* accessor, int* vertexCount);
+ EXPORT_API int* GetRoadIndices(void* accessor, int* indexCount);
+ EXPORT_API void FreeVertices(float* vertices);
+ EXPORT_API void FreeIndices(int* indices);
+
+ // Validation functions
+ EXPORT_API bool IsPositionOnRoad(void* accessor, double x, double y, double z);
+ EXPORT_API double GetClosestRoadDistance(void* accessor, double x, double y, double z);
+}
+
+#endif
\ No newline at end of file
diff --git a/Assets/Plugins/TrafficSimulation/include/MapAccessor.h.meta b/Assets/Plugins/TrafficSimulation/include/MapAccessor.h.meta
new file mode 100644
index 00000000..4b7a24dd
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/include/MapAccessor.h.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 65c21c89773894b39bcae7e589e534d5
\ No newline at end of file
diff --git a/Assets/Plugins/TrafficSimulation/include/OpenDriveWrapper.h b/Assets/Plugins/TrafficSimulation/include/OpenDriveWrapper.h
new file mode 100644
index 00000000..2296e2bd
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/include/OpenDriveWrapper.h
@@ -0,0 +1,26 @@
+#ifndef OPEN_DRIVE_WRAPPER_H
+#define OPEN_DRIVE_WRAPPER_H
+
+#ifdef _WIN32
+#define EXPORT_API __declspec(dllexport)
+#else
+#define EXPORT_API __attribute__((visibility("default")))
+#endif
+
+extern "C" {
+ // Load an OpenDRIVE map from a file path
+ EXPORT_API void* LoadOpenDriveMap(const char* filePath);
+
+ // Get road vertices as an array (returns pointer to float array: [x, y, z, x, y, z, ...])
+ EXPORT_API float* GetRoadVertices(void* map, int* vertexCount);
+
+ // Get road triangle indices as an array (returns pointer to int array: [i0, i1, i2, ...])
+ EXPORT_API int* GetRoadIndices(void* map, int* indexCount);
+
+ // Free the map, vertices, and indices
+ EXPORT_API void FreeOpenDriveMap(void* map);
+ EXPORT_API void FreeVertices(float* vertices);
+ EXPORT_API void FreeIndices(int* indices);
+}
+
+#endif
diff --git a/Assets/Plugins/TrafficSimulation/include/OpenDriveWrapper.h.meta b/Assets/Plugins/TrafficSimulation/include/OpenDriveWrapper.h.meta
new file mode 100644
index 00000000..46fc9902
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/include/OpenDriveWrapper.h.meta
@@ -0,0 +1,27 @@
+fileFormatVersion: 2
+guid: a9d0395f61981402fa5c19b3e4c9d13b
+PluginImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ iconMap: {}
+ executionOrder: {}
+ defineConstraints: []
+ isPreloaded: 0
+ isOverridable: 0
+ isExplicitlyReferenced: 0
+ validateReferences: 1
+ platformData:
+ - first:
+ Any:
+ second:
+ enabled: 1
+ settings: {}
+ - first:
+ Editor: Editor
+ second:
+ enabled: 0
+ settings:
+ DefaultValueInitialized: true
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Plugins/TrafficSimulation/include/traffic.h b/Assets/Plugins/TrafficSimulation/include/traffic.h
index e87f793d..80541ca0 100644
--- a/Assets/Plugins/TrafficSimulation/include/traffic.h
+++ b/Assets/Plugins/TrafficSimulation/include/traffic.h
@@ -10,6 +10,9 @@
#include // for std::shared_ptr
#include
+namespace odr {
+ class OpenDriveMap;
+}
/**
* @brief The Traffic class manages a simulation of multiple vehicles with
@@ -26,6 +29,12 @@ class Traffic {
// Bicycle model to handle more realistic vehicle motion
std::vector vehicle_models;
+ // Pointer to OpenDriveMap for valid spawning
+ odr::OpenDriveMap* map_ = nullptr;
+
+ // Map center offset (libOpenDRIVE centers meshes, but get_xyz returns absolute coords)
+ std::array map_center_offset_ = {0.0, 0.0, 0.0};
+
/**
* @brief Constructs a Traffic object with the specified number of agents.
* @param num_agents Number of agents (vehicles) in the simulation.
@@ -43,6 +52,12 @@ class Traffic {
*/
void sampleAndInitializeAgents();
+ /**
+ * @brief Sets the OpenDRIVE map for the simulation.
+ * @param map Pointer to the OpenDriveMap object.
+ */
+ void setMap(odr::OpenDriveMap* map);
+
/**
* @brief Advances the simulation by one time step, updating agent positions and handling actions.
* @param high_level_actions High-level actions for each agent.
diff --git a/Assets/Plugins/TrafficSimulation/include/traffic_simulation_c_api.h b/Assets/Plugins/TrafficSimulation/include/traffic_simulation_c_api.h
index 66f10b02..32ae6940 100644
--- a/Assets/Plugins/TrafficSimulation/include/traffic_simulation_c_api.h
+++ b/Assets/Plugins/TrafficSimulation/include/traffic_simulation_c_api.h
@@ -73,10 +73,11 @@ EXPORT void Vehicle_setAcceleration(Vehicle* vehicle, float acceleration);
EXPORT void Vehicle_setSensorRange(Vehicle* vehicle, float distance);
// Traffic functions
-EXPORT Traffic* Traffic_create(int num_agents, unsigned seed);
+EXPORT void* Traffic_create(int num_agents, unsigned int seed);
EXPORT void Traffic_destroy(Traffic* traffic);
EXPORT void Traffic_sampleAndInitializeAgents(Traffic* traffic);
+EXPORT void Traffic_assign_map(Traffic* traffic, void* mapAccessor);
EXPORT const char* Traffic_step(Traffic* traffic,
int* high_level_actions,
diff --git a/Assets/Plugins/TrafficSimulation/libReplicantDriveSim.dylib b/Assets/Plugins/TrafficSimulation/libReplicantDriveSim.dylib
deleted file mode 100755
index 22395e98..00000000
Binary files a/Assets/Plugins/TrafficSimulation/libReplicantDriveSim.dylib and /dev/null differ
diff --git a/Assets/Plugins/TrafficSimulation/libReplicantDriveSim.dylib.meta b/Assets/Plugins/TrafficSimulation/libReplicantDriveSim.dylib.meta
deleted file mode 100644
index dac55913..00000000
--- a/Assets/Plugins/TrafficSimulation/libReplicantDriveSim.dylib.meta
+++ /dev/null
@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 19e865670b45b46ce9e553b8800651e5
\ No newline at end of file
diff --git a/Assets/Plugins/TrafficSimulation/src/MapAccessor.cpp b/Assets/Plugins/TrafficSimulation/src/MapAccessor.cpp
new file mode 100644
index 00000000..ee907232
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/src/MapAccessor.cpp
@@ -0,0 +1,483 @@
+#include "MapAccessor.h"
+#include
+#include
+#include
+#include
+#include
+#include
+
+// Internal MapAccessor class wrapping OpenDriveMap
+class MapAccessorInternal {
+public:
+ odr::OpenDriveMap* map;
+
+ MapAccessorInternal(const char* filePath) {
+ map = nullptr;
+ try {
+ if (!filePath || strlen(filePath) == 0) {
+ std::cerr << "MapAccessor: Invalid file path provided" << std::endl;
+ return;
+ }
+ map = new odr::OpenDriveMap(filePath);
+ if (!map) {
+ std::cerr << "MapAccessor: Failed to create OpenDriveMap instance" << std::endl;
+ }
+ } catch (const std::exception& e) {
+ std::cerr << "MapAccessor: Exception loading OpenDRIVE map: " << e.what() << std::endl;
+ map = nullptr;
+ } catch (...) {
+ std::cerr << "MapAccessor: Unknown exception loading OpenDRIVE map" << std::endl;
+ map = nullptr;
+ }
+ }
+
+ ~MapAccessorInternal() {
+ delete map;
+ }
+
+ bool isValid() const {
+ return map != nullptr;
+ }
+};
+
+void* CreateMapAccessor(const char* filePath) {
+ MapAccessorInternal* accessor = new MapAccessorInternal(filePath);
+ if (!accessor->isValid()) {
+ delete accessor;
+ return nullptr;
+ }
+ return accessor;
+}
+
+void DestroyMapAccessor(void* accessor) {
+ if (accessor) {
+ delete static_cast(accessor);
+ }
+}
+
+extern "C" odr::OpenDriveMap* Map_GetInternalMapPtr(void* accessor) {
+ if (!accessor) return nullptr;
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+ return mapAccessor->map;
+}
+
+VehicleState* WorldToRoadCoordinates(void* accessor, double x, double y, double z) {
+ if (!accessor) return nullptr;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+
+ VehicleState* state = new VehicleState();
+ state->isValid = false;
+
+ try {
+ // Create 3D point for world position using brace initialization for std::array
+ odr::Vec3D worldPos{{x, y, z}};
+
+ // Find closest road position
+ double minDistance = std::numeric_limits::max();
+ bool foundValidPosition = false;
+
+ // Get all roads in the map (returns std::vector)
+ const auto& roads = mapAccessor->map->get_roads();
+
+ for (const auto& road : roads) {
+ std::string roadIdStr = road.id;
+ int roadId = 0;
+ try { roadId = std::stoi(roadIdStr); } catch (...) { roadId = -1; }
+
+ // Sample along the road to find closest point
+ double roadLength = road.length;
+ const int samples = 100;
+
+ for (int i = 0; i <= samples; i++) {
+ double s = (double(i) / samples) * roadLength;
+
+ try {
+ // Get road position at s=s, t=0 (reference line)
+ odr::Vec3D heading_vec;
+ odr::Vec3D roadPos = road.get_xyz(s, 0.0, 0.0, &heading_vec);
+
+ // Calculate distance to world position using odr::euclDistance
+ double dist = odr::euclDistance(worldPos, roadPos);
+
+ if (dist < minDistance) {
+ minDistance = dist;
+
+ // Perpendicular right vector
+ odr::Vec3D right_vec{{-heading_vec[1], heading_vec[0], 0.0}};
+
+ // Use odr::sub for vector subtraction
+ odr::Vec3D offset = odr::sub(worldPos, roadPos);
+ double t = offset[0] * right_vec[0] + offset[1] * right_vec[1];
+
+ // Find which lane this position belongs to
+ int laneId = 0;
+ double laneWidth = 3.5; // Default lane width
+
+ try {
+ const auto& laneSection = road.get_lanesection(s);
+
+ // Check right lanes (negative IDs)
+ double cumulativeWidth = 0.0;
+ for (int lid = -1; lid >= -10; lid--) { // Check up to 10 right lanes
+ try {
+ const auto& lane = laneSection.get_lane(lid);
+ double currentLaneWidth = lane.lane_width.get(s - laneSection.s0);
+
+ if (t >= cumulativeWidth && t <= cumulativeWidth + currentLaneWidth) {
+ laneId = lid;
+ laneWidth = currentLaneWidth;
+ break;
+ }
+ cumulativeWidth += currentLaneWidth;
+ } catch (...) {
+ break; // No more lanes
+ }
+ }
+
+ // Check left lanes (positive IDs) if not found in right lanes
+ if (laneId == 0 && t < 0) {
+ cumulativeWidth = 0.0;
+ for (int lid = 1; lid <= 10; lid++) { // Check up to 10 left lanes
+ try {
+ const auto& lane = laneSection.get_lane(lid);
+ double currentLaneWidth = lane.lane_width.get(s - laneSection.s0);
+
+ if (t <= -cumulativeWidth && t >= -(cumulativeWidth + currentLaneWidth)) {
+ laneId = lid;
+ laneWidth = currentLaneWidth;
+ break;
+ }
+ cumulativeWidth += currentLaneWidth;
+ } catch (...) {
+ break; // No more lanes
+ }
+ }
+ }
+ } catch (...) {
+ // Use default values if lane section lookup fails
+ }
+
+ // Update vehicle state
+ state->s = s;
+ state->t = t;
+ state->roadId = roadId;
+ state->laneId = laneId;
+ state->ds = s; // For now, same as s
+ state->dt = t; // For now, same as t
+ state->heading = std::atan2(heading_vec[1], heading_vec[0]);
+ state->laneWidth = laneWidth;
+ state->isValid = true;
+ foundValidPosition = true;
+ }
+ } catch (...) {
+ // Skip invalid positions
+ continue;
+ }
+ }
+ }
+
+ // Accept positions within reasonable distance (10 meters)
+ if (foundValidPosition && minDistance <= 10.0) {
+ state->isValid = true;
+ }
+
+ } catch (const std::exception& e) {
+ std::cerr << "WorldToRoadCoordinates failed: " << e.what() << std::endl;
+ state->isValid = false;
+ }
+
+ return state;
+}
+
+WorldPosition* RoadToWorldCoordinates(void* accessor, double s, double t, int roadId) {
+ if (!accessor) return nullptr;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+
+ WorldPosition* position = new WorldPosition();
+
+ try {
+ const auto& id_to_road = mapAccessor->map->id_to_road;
+ auto roadIter = id_to_road.find(std::to_string(roadId));
+
+ if (roadIter != id_to_road.end()) {
+ const auto& road = roadIter->second;
+
+ // Get world position at road coordinates
+ odr::Vec3D headingVec;
+ odr::Vec3D worldPos = road.get_xyz(s, t, 0.0, &headingVec);
+
+ position->x = worldPos[0];
+ position->y = worldPos[1];
+ position->z = worldPos[2];
+ position->heading = std::atan2(headingVec[1], headingVec[0]);
+ } else {
+ // Invalid road ID
+ position->x = position->y = position->z = position->heading = 0.0;
+ }
+ } catch (const std::exception& e) {
+ std::cerr << "RoadToWorldCoordinates failed: " << e.what() << std::endl;
+ position->x = position->y = position->z = position->heading = 0.0;
+ }
+
+ return position;
+}
+
+int* GetRoadIds(void* accessor, int* roadCount) {
+ if (!accessor) return nullptr;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+
+ try {
+ const auto& roads = mapAccessor->map->get_roads();
+ *roadCount = roads.size();
+
+ int* roadIds = new int[*roadCount];
+ int index = 0;
+
+ for (const auto& road : roads) {
+ try {
+ roadIds[index++] = std::stoi(road.id);
+ } catch (...) {
+ roadIds[index-1] = -1;
+ }
+ }
+
+ return roadIds;
+ } catch (const std::exception& e) {
+ std::cerr << "GetRoadIds failed: " << e.what() << std::endl;
+ *roadCount = 0;
+ return nullptr;
+ }
+}
+
+LaneInfo* GetLanesAtPosition(void* accessor, int roadId, double s, int* laneCount) {
+ if (!accessor) return nullptr;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+
+ try {
+ const auto& id_to_road = mapAccessor->map->id_to_road;
+ auto roadIter = id_to_road.find(std::to_string(roadId));
+
+ if (roadIter == id_to_road.end()) {
+ *laneCount = 0;
+ return nullptr;
+ }
+
+ const auto& road = roadIter->second;
+ const auto& laneSection = road.get_lanesection(s);
+
+ // Count available lanes (both left and right)
+ std::vector lanes;
+
+ // Right lanes (negative IDs)
+ for (int lid = -1; lid >= -10; lid--) {
+ try {
+ const auto& lane = laneSection.get_lane(lid);
+ LaneInfo info;
+ info.laneId = lid;
+ info.width = lane.lane_width.get(s - laneSection.s0);
+
+ // Calculate center offset
+ double cumulativeWidth = 0.0;
+ for (int i = -1; i > lid; i--) {
+ try {
+ const auto& prevLane = laneSection.get_lane(i);
+ cumulativeWidth += prevLane.lane_width.get(s - laneSection.s0);
+ } catch (...) {
+ break;
+ }
+ }
+ info.centerOffset = cumulativeWidth + info.width / 2.0;
+ lanes.push_back(info);
+ } catch (...) {
+ break;
+ }
+ }
+
+ // Left lanes (positive IDs)
+ for (int lid = 1; lid <= 10; lid++) {
+ try {
+ const auto& lane = laneSection.get_lane(lid);
+ LaneInfo info;
+ info.laneId = lid;
+ info.width = lane.lane_width.get(s - laneSection.s0);
+
+ // Calculate center offset
+ double cumulativeWidth = 0.0;
+ for (int i = 1; i < lid; i++) {
+ try {
+ const auto& prevLane = laneSection.get_lane(i);
+ cumulativeWidth += prevLane.lane_width.get(s - laneSection.s0);
+ } catch (...) {
+ break;
+ }
+ }
+ info.centerOffset = -(cumulativeWidth + info.width / 2.0);
+ lanes.push_back(info);
+ } catch (...) {
+ break;
+ }
+ }
+
+ *laneCount = lanes.size();
+ if (*laneCount == 0) return nullptr;
+
+ LaneInfo* result = new LaneInfo[*laneCount];
+ for (int i = 0; i < *laneCount; i++) {
+ result[i] = lanes[i];
+ }
+
+ return result;
+ } catch (const std::exception& e) {
+ std::cerr << "GetLanesAtPosition failed: " << e.what() << std::endl;
+ *laneCount = 0;
+ return nullptr;
+ }
+}
+
+double GetRoadLength(void* accessor, int roadId) {
+ if (!accessor) return 0.0;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return 0.0;
+
+ try {
+ const auto& id_to_road = mapAccessor->map->id_to_road;
+ auto roadIter = id_to_road.find(std::to_string(roadId));
+
+ if (roadIter != id_to_road.end()) {
+ const auto& road = roadIter->second;
+ return road.length;
+ }
+ } catch (const std::exception& e) {
+ std::cerr << "GetRoadLength failed: " << e.what() << std::endl;
+ }
+
+ return 0.0;
+}
+
+bool IsPositionOnRoad(void* accessor, double x, double y, double z) {
+ VehicleState* state = WorldToRoadCoordinates(accessor, x, y, z);
+ if (!state) return false;
+
+ bool isValid = state->isValid;
+ delete state;
+ return isValid;
+}
+
+double GetClosestRoadDistance(void* accessor, double x, double y, double z) {
+ VehicleState* state = WorldToRoadCoordinates(accessor, x, y, z);
+ if (!state) return std::numeric_limits::max();
+
+ // Convert back to world coordinates to calculate distance
+ WorldPosition* roadWorldPos = RoadToWorldCoordinates(accessor, state->s, state->t, state->roadId);
+
+ double distance = std::numeric_limits::max();
+ if (roadWorldPos) {
+ distance = std::sqrt(
+ std::pow(x - roadWorldPos->x, 2) +
+ std::pow(y - roadWorldPos->y, 2) +
+ std::pow(z - roadWorldPos->z, 2)
+ );
+ delete roadWorldPos;
+ }
+
+ delete state;
+ return distance;
+}
+
+// Memory cleanup functions
+void FreeVehicleState(VehicleState* state) {
+ delete state;
+}
+
+void FreeWorldPosition(WorldPosition* position) {
+ delete position;
+}
+
+void FreeLaneInfo(LaneInfo* laneInfo) {
+ delete[] laneInfo;
+}
+
+extern "C" {
+
+void FreeRoadIds(int* roadIds) {
+ delete[] roadIds;
+}
+
+// Mesh rendering functions for Unity integration (Prefixed to avoid conflicts)
+__attribute__((visibility("default")))
+float* Map_GetRoadVertices(void* accessor, int* vertexCount) {
+ if (!accessor) return nullptr;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+
+ try {
+ // Get road network mesh with fine resolution
+ // Note: Using 0.1 epsilon for high quality
+ odr::RoadNetworkMesh mesh = mapAccessor->map->get_road_network_mesh(0.1);
+ auto vertices = mesh.get_mesh().vertices;
+
+ *vertexCount = vertices.size() * 3;
+ float* result = new float[*vertexCount];
+
+ for (size_t i = 0; i < vertices.size(); ++i) {
+ result[i * 3 + 0] = static_cast(vertices[i][0]); // x
+ result[i * 3 + 1] = static_cast(vertices[i][1]); // y
+ result[i * 3 + 2] = static_cast(vertices[i][2]); // z
+ }
+
+ return result;
+ } catch (const std::exception& e) {
+ std::cerr << "Map_GetRoadVertices failed: " << e.what() << std::endl;
+ *vertexCount = 0;
+ return nullptr;
+ }
+}
+
+__attribute__((visibility("default")))
+int* Map_GetRoadIndices(void* accessor, int* indexCount) {
+ if (!accessor) return nullptr;
+
+ MapAccessorInternal* mapAccessor = static_cast(accessor);
+ if (!mapAccessor->isValid()) return nullptr;
+
+ try {
+ odr::RoadNetworkMesh mesh = mapAccessor->map->get_road_network_mesh(0.1);
+ auto indices = mesh.get_mesh().indices; // Using indices, not triangles
+
+ *indexCount = indices.size();
+ int* result = new int[*indexCount];
+
+ for (size_t i = 0; i < indices.size(); ++i) {
+ result[i] = static_cast(indices[i]);
+ }
+
+ return result;
+ } catch (const std::exception& e) {
+ std::cerr << "Map_GetRoadIndices failed: " << e.what() << std::endl;
+ *indexCount = 0;
+ return nullptr;
+ }
+}
+
+__attribute__((visibility("default")))
+void Map_FreeVertices(float* vertices) {
+ delete[] vertices;
+}
+
+__attribute__((visibility("default")))
+void Map_FreeIndices(int* indices) {
+ delete[] indices;
+}
+
+} // extern "C"
diff --git a/Assets/Plugins/TrafficSimulation/src/MapAccessor.cpp.meta b/Assets/Plugins/TrafficSimulation/src/MapAccessor.cpp.meta
new file mode 100644
index 00000000..655e05ed
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/src/MapAccessor.cpp.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: d22d58710327446aabb24d7ee2da3873
\ No newline at end of file
diff --git a/Assets/Plugins/TrafficSimulation/src/OpenDriveWrapper.cpp b/Assets/Plugins/TrafficSimulation/src/OpenDriveWrapper.cpp
new file mode 100644
index 00000000..0cb9f75b
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/src/OpenDriveWrapper.cpp
@@ -0,0 +1,109 @@
+#include "OpenDriveWrapper.h"
+#include
+#include // For debug logging
+#include // For file-based logging
+
+// Log to a file for debugging
+void Log(const std::string& message) {
+ std::ofstream logFile("OpenDriveWrapper.log", std::ios::app);
+ if (logFile.is_open()) {
+ logFile << message << std::endl;
+ logFile.close();
+ }
+ std::cout << message << std::endl; // Also print to console
+}
+
+
+
+void* LoadOpenDriveMap(const char* filePath) {
+ Log("LoadOpenDriveMap called with filePath: " + std::string(filePath));
+ try {
+ odr::OpenDriveMap* map = new odr::OpenDriveMap(filePath);
+ Log("LoadOpenDriveMap succeeded, map pointer: " + std::to_string(reinterpret_cast(map)));
+ return map;
+ } catch (const std::exception& e) {
+ Log("LoadOpenDriveMap failed with exception: " + std::string(e.what()));
+ return nullptr;
+ } catch (...) {
+ Log("LoadOpenDriveMap failed with unknown error");
+ return nullptr;
+ }
+}
+
+float* GetRoadVertices(void* map, int* vertexCount) {
+ Log("GetRoadVertices called with map: " + std::to_string(reinterpret_cast(map)));
+ if (!map) {
+ Log("GetRoadVertices: map is null");
+ return nullptr;
+ }
+ odr::OpenDriveMap* odrMap = static_cast(map);
+
+ try {
+ // Get road network mesh
+ odr::RoadNetworkMesh mesh = odrMap->get_road_network_mesh(0.1 /* epsilon */);
+ auto vertices = mesh.get_mesh().vertices; // Assuming vertices are Vec3D (x, y, z)
+
+ *vertexCount = vertices.size() * 3; // Each vertex has x, y, z
+ float* result = new float[*vertexCount];
+ for (size_t i = 0; i < vertices.size(); ++i) {
+ result[i * 3 + 0] = static_cast(vertices[i][0]); // x
+ result[i * 3 + 1] = static_cast(vertices[i][1]); // y
+ result[i * 3 + 2] = static_cast(vertices[i][2]); // z
+ }
+ Log("GetRoadVertices succeeded, returning vertex array");
+ return result;
+ } catch (const std::exception& e) {
+ Log("GetRoadVertices failed with exception: " + std::string(e.what()));
+ return nullptr;
+ }
+}
+
+int* GetRoadIndices(void* map, int* indexCount) {
+ Log("GetRoadIndices called with map: " + std::to_string(reinterpret_cast(map)));
+ if (!map) {
+ Log("GetRoadIndices: map is null");
+ return nullptr;
+ }
+ odr::OpenDriveMap* odrMap = static_cast(map);
+
+ try {
+ odr::RoadNetworkMesh mesh = odrMap->get_road_network_mesh(0.1 /* epsilon */);
+ auto indices = mesh.get_mesh().indices;
+ Log("GetRoadIndices: index count = " + std::to_string(indices.size()));
+
+ *indexCount = indices.size();
+ int* result = new int[*indexCount];
+ for (size_t i = 0; i < indices.size(); ++i) {
+ result[i] = static_cast(indices[i]);
+ }
+ Log("GetRoadIndices succeeded, returning index array");
+ return result;
+ } catch (const std::exception& e) {
+ Log("GetRoadIndices failed with exception: " + std::string(e.what()));
+ return nullptr;
+ }
+}
+
+void FreeOpenDriveMap(void* map) {
+ Log("FreeOpenDriveMap called with map: " + std::to_string(reinterpret_cast(map)));
+ if (map) {
+ delete static_cast(map);
+ Log("FreeOpenDriveMap: map deleted");
+ }
+}
+
+void FreeVertices(float* vertices) {
+ Log("FreeVertices called");
+ if (vertices) {
+ delete[] vertices;
+ Log("FreeVertices: vertices deleted");
+ }
+}
+
+void FreeIndices(int* indices) {
+ Log("FreeIndices called");
+ if (indices) {
+ delete[] indices;
+ Log("FreeIndices: indices deleted");
+ }
+}
diff --git a/Assets/Plugins/TrafficSimulation/src/OpenDriveWrapper.cpp.meta b/Assets/Plugins/TrafficSimulation/src/OpenDriveWrapper.cpp.meta
new file mode 100644
index 00000000..2d5e267d
--- /dev/null
+++ b/Assets/Plugins/TrafficSimulation/src/OpenDriveWrapper.cpp.meta
@@ -0,0 +1,27 @@
+fileFormatVersion: 2
+guid: 2bb492c28547c40248035f2b59272722
+PluginImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ iconMap: {}
+ executionOrder: {}
+ defineConstraints: []
+ isPreloaded: 0
+ isOverridable: 0
+ isExplicitlyReferenced: 0
+ validateReferences: 1
+ platformData:
+ - first:
+ Any:
+ second:
+ enabled: 1
+ settings: {}
+ - first:
+ Editor: Editor
+ second:
+ enabled: 0
+ settings:
+ DefaultValueInitialized: true
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Plugins/TrafficSimulation/src/traffic.cpp b/Assets/Plugins/TrafficSimulation/src/traffic.cpp
index 46ba06b5..4719ec99 100644
--- a/Assets/Plugins/TrafficSimulation/src/traffic.cpp
+++ b/Assets/Plugins/TrafficSimulation/src/traffic.cpp
@@ -4,6 +4,7 @@
#include // for std::max and std::min
#include
#include
+#include
// Custom clamp function for C++11
@@ -27,10 +28,10 @@ Traffic::Traffic(const int& num_agents, const unsigned& seed) : max_speed_(60.0f
previous_positions.resize(num_agents);
vehicle_models.resize(num_agents);
- // Initialize agents with random positions and attributes
- sampleAndInitializeAgents();
+ // DON'T initialize agents here - wait for map assignment
+ // sampleAndInitializeAgents() will be called from Unity after map is set
- max_speed_ = agents[0].getVehicleMaxSpeed();
+ max_speed_ = 60.0f; // Use default max speed instead of agents[0]
}
/**
@@ -41,33 +42,178 @@ Traffic::~Traffic() {
// No need to delete perceptionModule explicitly; std::unique_ptr handles it
}
+/**
+ * @brief Sets the OpenDRIVE map for the simulation.
+ * @param map Pointer to the OpenDriveMap object.
+ */
+void Traffic::setMap(odr::OpenDriveMap* map) {
+ this->map_ = map;
+ if (this->map_) {
+ // Count roads for debug info
+ int roadCount = this->map_->get_roads().size();
+ std::cout << "SUCCESS: Map assigned to Traffic simulation! Found " << roadCount << " roads. Vehicles will spawn on road geometry." << std::endl;
+ } else {
+ std::cout << "WARNING: Null map assigned to Traffic simulation." << std::endl;
+ }
+}
+
/**
* @brief Samples and initializes agents with random positions and attributes.
*/
+/**
+ * @brief Samples and initializes agents with positions on the road if map is available.
+ */
void Traffic::sampleAndInitializeAgents() {
- for (int i = 0; i < num_agents; ++i) {
+ // Shared initialization lambda
+ auto initAgentBasic = [&](int i) {
agents[i].setId(i);
agents[i].setName("agent_" + std::to_string(i));
agents[i].setWidth(2.0f);
agents[i].setLength(5.0f);
agents[i].setSensorRange(200.0f);
+ };
+
+ if (!map_) {
+ std::cout << "ERROR: No map available! Map was not assigned to Traffic simulation. Spawning agents randomly off-road." << std::endl;
+ for (int i = 0; i < num_agents; ++i) {
+ initAgentBasic(i);
+ float delta = agents[i].getWidth();
+ agents[i].setX(randFloat(-5.0f * delta, 5.0f * delta));
+ agents[i].setY(0.4f);
+ agents[i].setZ(0.0f); // Place at road level instead of 500+ units away
+ agents[i].setVx(0.0f); agents[i].setVy(0.0f); agents[i].setVz(randNormal(25.0f, 2.0f));
+ agents[i].setSteering(clamp(randNormal(0.0f, 1.0f), -static_cast(M_PI)/4.0f, static_cast(M_PI)/4.0f));
+ previous_positions[i] = agents[i];
+ }
+ return;
+ }
- float delta = agents[i].getWidth();
-
- agents[i].setX(randFloat(-5.0f * delta, 5.0f * delta));
- agents[i].setY(0.4f);
- agents[i].setZ(randFloat(500.0f, 100.0f * agents[i].getLength()));
+ std::cout << "Map available. Spawning agents on valid roads..." << std::endl;
- agents[i].setVx(0.0f); // Initial lateral speed
- agents[i].setVy(0.0f); // Initial vertical speed
- agents[i].setVz(randNormal(25.0f, 2.0f)); // Initial longitudinal speed
+ std::vector roads;
+ for (const auto& road : map_->get_roads()) {
+ roads.push_back(&road);
+ }
- agents[i].setSteering(clamp(randNormal(0.0f, 1.0f),
- -static_cast(M_PI) / 4.0f,
- static_cast(M_PI) / 4.0f)); // +/- 35 degrees (in rad)
+ if (roads.empty()) {
+ std::cerr << "Map has no roads! Fallback to random." << std::endl;
+ return;
+ }
- // Initialize previous positions with current positions
- previous_positions[i] = agents[i];
+ std::uniform_int_distribution<> road_dist(0, roads.size() - 1);
+
+ for (int i = 0; i < num_agents; ++i) {
+ initAgentBasic(i);
+
+ bool placed = false;
+ int attempts = 0;
+ const int MAX_ATTEMPTS = 100;
+
+ while (attempts++ < MAX_ATTEMPTS && !placed) {
+ const odr::Road* road = roads[road_dist(generator)];
+ double s = randFloat(0.0f, road->length);
+
+ odr::LaneSection lanesection = road->get_lanesection(s);
+
+ std::vector driving_lane_ids;
+ for (const auto& lane : lanesection.get_lanes()) {
+ if (lane.type == "driving") {
+ driving_lane_ids.push_back(lane.id);
+ }
+ }
+
+ if (driving_lane_ids.empty()) continue;
+
+ std::uniform_int_distribution<> lane_idx_dist(0, driving_lane_ids.size() - 1);
+ int lane_id = driving_lane_ids[lane_idx_dist(generator)];
+
+ // Get actual lane width from OpenDRIVE data
+ const odr::Lane* selected_lane = nullptr;
+ for (const auto& lane : lanesection.get_lanes()) {
+ if (lane.id == lane_id) {
+ selected_lane = &lane;
+ break;
+ }
+ }
+
+ double lane_width = 3.5; // Default fallback width
+ if (selected_lane && !selected_lane->lane_width.empty()) {
+ // Get lane width at position s (evaluate at the current s position)
+ lane_width = selected_lane->lane_width.get(s, 3.5);
+ if (lane_width <= 0) lane_width = 3.5;
+ }
+
+ // Calculate lateral position t to center vehicle in the lane
+ // In OpenDRIVE, lanes are numbered: ...-3, -2, -1, 0, +1, +2, +3...
+ // Lane 0 is the reference line, positive lanes are to the left, negative to the right
+ double t = 0.0;
+ if (lane_id > 0) {
+ // Left lanes: lane center is at (lane_id - 0.5) * lane_width
+ t = (lane_id - 0.5) * lane_width;
+ } else if (lane_id < 0) {
+ // Right lanes: lane center is at -(abs(lane_id) - 0.5) * lane_width
+ t = -(std::abs(lane_id) - 0.5) * lane_width;
+ }
+
+ odr::Vec3D heading_vec;
+ odr::Vec3D pos;
+ try {
+ pos = road->get_xyz(s, t, 0.0, &heading_vec);
+ } catch (...) {
+ std::cerr << "Error getting position for agent " << i << " at s=" << s << ", t=" << t << std::endl;
+ continue; // Try next attempt
+ }
+
+ // Debug logging
+ std::cout << "Agent " << i << " OpenDRIVE coords: X=" << pos[0]
+ << " Y=" << pos[1] << " Z=" << pos[2] << std::endl;
+
+ // Transform from OpenDRIVE coordinates to Unity coordinates
+ // This transformation MUST match MapAccessorRenderer.cs exactly
+ // OpenDRIVE: X=east, Y=north, Z=up
+ // Unity: X=right, Y=up, Z=forward
+ // MapAccessorRenderer: X->X, Z->Y+offset, -Y->Z
+ float unity_x = pos[0]; // X (east) -> X (right)
+ float unity_y = pos[2] + 0.5f; // Z (up) -> Y (up) + offset
+ float unity_z = -pos[1]; // -Y (north) -> Z (forward)
+
+ std::cout << "Agent " << i << " Unity coords: X=" << unity_x
+ << " Y=" << unity_y << " Z=" << unity_z << std::endl;
+
+ agents[i].setX(unity_x);
+ agents[i].setY(unity_y);
+ agents[i].setZ(unity_z);
+
+ // Transform heading from OpenDRIVE to Unity coordinate system
+ // OpenDRIVE: X=east, Y=north, Z=up
+ // Unity: X=right, Y=up, Z=forward
+ // Transformation: OpenDRIVE X->Unity X, OpenDRIVE Y->Unity -Z
+ double heading = std::atan2(-heading_vec[1], heading_vec[0]);
+
+ // In OpenDRIVE, lane direction is determined by lane properties, not just sign
+ // For proper lane direction, we should check the lane's travel direction
+ // For now, apply the standard convention: negative lane IDs go opposite to reference line
+ if (lane_id < 0) {
+ heading += M_PI;
+ }
+
+ // Normalize heading to [-π, π] range
+ while (heading > M_PI) heading -= 2.0 * M_PI;
+ while (heading < -M_PI) heading += 2.0 * M_PI;
+
+ agents[i].setYaw(heading);
+ agents[i].setSteering(0.0f);
+ agents[i].setVz(10.0f);
+ agents[i].setVx(0.0f); agents[i].setVy(0.0f);
+
+ previous_positions[i] = agents[i];
+ placed = true;
+ }
+
+ if (!placed) {
+ std::cerr << "Failed to place agent " << i << ". Fallback." << std::endl;
+ agents[i].setX(0); agents[i].setY(5); agents[i].setZ(0);
+ }
}
}
@@ -196,10 +342,17 @@ void Traffic::applyActions(Vehicle& vehicle, int high_level_action, const std::v
float acceleration = low_level_action[1];
float braking = low_level_action[2];
- // === STEERING RATE LIMITING ===
- // Real vehicles cannot change steering angle instantaneously
- // Typical maximum steering rate: 30-60 deg/s (0.52-1.05 rad/s)
- constexpr float MAX_STEERING_RATE = 1.0472f; // 60 deg/s in rad/s
+ // === STEERING MAGNITUDE AND RATE LIMITING ===
+ // Real vehicles have physical steering angle limits and realistic steering rates
+
+ // 1. Clamp desired steering to realistic physical limits
+ // Typical passenger car: ±35-45 degrees (±0.61-0.79 radians)
+ constexpr float MAX_STEERING_ANGLE = 0.698f; // 40 degrees in radians
+ desired_steering = clamp(desired_steering, -MAX_STEERING_ANGLE, MAX_STEERING_ANGLE);
+
+ // 2. Apply steering rate limiting for realistic responsiveness
+ // Reduced from 60 deg/s to 30 deg/s for more realistic response
+ constexpr float MAX_STEERING_RATE = 0.5236f; // 30 deg/s in rad/s
float current_steering = vehicle.getSteering();
float steering_change = desired_steering - current_steering;
@@ -211,7 +364,7 @@ void Traffic::applyActions(Vehicle& vehicle, int high_level_action, const std::v
}
float actual_steering = current_steering + steering_change;
- // === END STEERING RATE LIMITING ===
+ // === END STEERING MAGNITUDE AND RATE LIMITING ===
float net_acceleration = 0.0f;
diff --git a/Assets/Plugins/TrafficSimulation/src/traffic_simulation_c_api.cpp b/Assets/Plugins/TrafficSimulation/src/traffic_simulation_c_api.cpp
index a6dc7a9e..e81f2441 100644
--- a/Assets/Plugins/TrafficSimulation/src/traffic_simulation_c_api.cpp
+++ b/Assets/Plugins/TrafficSimulation/src/traffic_simulation_c_api.cpp
@@ -1,17 +1,30 @@
#include "traffic_simulation_c_api.h"
#include "traffic.h"
+#include
#include
#include
#include
#include
+#include
#include
#include
+extern "C" {
+
// Global variables moved from header to avoid ODR violations
static std::ostringstream oss;
-static std::random_device rd;
-static std::mt19937 gen(rd());
-static std::uniform_real_distribution dis(-35.0f * M_PI / 180.0f, 35.0f * M_PI / 180.0f);
+
+// Use lazy initialization to avoid crashes during library loading
+static std::mt19937& getGenerator() {
+ static std::random_device rd;
+ static std::mt19937 gen(rd());
+ return gen;
+}
+
+static std::uniform_real_distribution& getDistribution() {
+ static std::uniform_real_distribution dis(-35.0f * M_PI / 180.0f, 35.0f * M_PI / 180.0f);
+ return dis;
+}
// Thread-local storage for C strings to avoid memory leaks
static thread_local std::vector> string_storage;
@@ -147,8 +160,8 @@ EXPORT void Vehicle_setSensorRange(Vehicle* vehicle, float distance) {
}
// Traffic functions
-EXPORT Traffic* Traffic_create(int num_agents, unsigned seed) {
- return new Traffic(num_agents, seed);
+EXPORT void* Traffic_create(int num_agents, unsigned int seed) {
+ return static_cast(new Traffic(num_agents, seed));
}
EXPORT void Traffic_destroy(Traffic* traffic) {
@@ -159,6 +172,20 @@ EXPORT void Traffic_sampleAndInitializeAgents(Traffic* traffic) {
traffic->sampleAndInitializeAgents();
}
+// Helper to access internal map accessor
+extern "C" odr::OpenDriveMap* Map_GetInternalMapPtr(void* accessor);
+
+EXPORT void Traffic_assign_map(Traffic* traffic, void* mapAccessor) {
+ if (traffic && mapAccessor) {
+ odr::OpenDriveMap* map = Map_GetInternalMapPtr(mapAccessor);
+ if (map) {
+ traffic->setMap(map);
+ } else {
+ std::cerr << "Failed to get internal map pointer from accessor." << std::endl;
+ }
+ }
+}
+
EXPORT const char* Traffic_step(Traffic* traffic,
int* high_level_actions,
int high_level_actions_count,
@@ -324,3 +351,5 @@ EXPORT float Traffic_getMaxVehicleSpeed(Traffic* traffic) {
EXPORT void Traffic_setMaxVehicleSpeed(Traffic* traffic, float max_speed) {
traffic->setMaxVehicleSpeed(max_speed);
}
+
+} // extern "C"
diff --git a/Assets/Plugins/libOpenDRIVE b/Assets/Plugins/libOpenDRIVE
new file mode 160000
index 00000000..82c2dd91
--- /dev/null
+++ b/Assets/Plugins/libOpenDRIVE
@@ -0,0 +1 @@
+Subproject commit 82c2dd918580df120b30673e3484c3c2aaf5aa69
diff --git a/Assets/Plugins/libOpenDRIVE.meta b/Assets/Plugins/libOpenDRIVE.meta
new file mode 100644
index 00000000..d654cb51
--- /dev/null
+++ b/Assets/Plugins/libOpenDRIVE.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5bc9d0867976c400280f4d01c2815022
+folderAsset: yes
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Prefabs/NISSAN-GTR.prefab b/Assets/Prefabs/NISSAN-GTR.prefab
index 2a37eeec..8149f749 100644
--- a/Assets/Prefabs/NISSAN-GTR.prefab
+++ b/Assets/Prefabs/NISSAN-GTR.prefab
@@ -78,7 +78,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: 919132149155446097, guid: 026afbfe2da664d1b8c50dc4348b334e, type: 3}
propertyPath: m_TagString
- value: TrafficAgent
+ value: Vehicle
objectReference: {fileID: 0}
- target: {fileID: 5590324888869176691, guid: 026afbfe2da664d1b8c50dc4348b334e, type: 3}
propertyPath: m_LocalPosition.x
@@ -130,7 +130,7 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
m_BrainParameters:
- VectorObservationSize: 68
+ VectorObservationSize: 8
NumStackedVectorObservations: 1
m_ActionSpec:
m_NumContinuousActions: 3
@@ -157,23 +157,17 @@ MonoBehaviour:
m_GameObject: {fileID: 4109849008543767089}
m_Enabled: 1
m_EditorHideFlags: 0
- m_Script: {fileID: 11500000, guid: 5b50f41092d7c480d8276fdb497fce2b, type: 3}
- m_Name:
- m_EditorClassIdentifier:
- agentParameters:
- maxStep: 0
- hasUpgradedFromAgentParameters: 1
- MaxStep: 2000
- seed: 42
- highLevelActions: 0
- lowLevelActions: []
- debugVisualization: 0
- offRoadPenalty: -0.5
- onRoadReward: 0
- collisionWithOtherAgentPenalty: -1
- medianCrossingPenalty: 0
- penaltyInterval: 0.5
- lastPenaltyTime: 0
+ m_Script: {fileID: 11500000, guid: 5ef4e8f99b5fc4d4ca2a8091e3ef8469, type: 3}
+ m_Name:
+ m_EditorClassIdentifier:
+ maxSpeed: 20
+ maxAngularVelocity: 180
+ rayDistance: 100
+ numRays: 12
+ rayAngleRange: 180
+ detectableLayers:
+ serializedVersion: 2
+ m_Bits: 4294967295
--- !u!114 &8364270819945524939
MonoBehaviour:
m_ObjectHideFlags: 0
diff --git a/Assets/Resources.meta b/Assets/Resources.meta
new file mode 100644
index 00000000..3330afda
--- /dev/null
+++ b/Assets/Resources.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1280792db5e7b4bb7bc78bfeb8093ff2
+folderAsset: yes
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity
index e1461bce..89f8e5ff 100644
--- a/Assets/Scenes/SampleScene.unity
+++ b/Assets/Scenes/SampleScene.unity
@@ -173,63 +173,13 @@ PrefabInstance:
objectReference: {fileID: 2100000, guid: ec961533d5d244a4c9a800d6a162764d, type: 2}
- target: {fileID: 919132149155446097, guid: f2426a4d043694f2ba8f9ffbf8e0244b, type: 3}
propertyPath: m_Name
- value: desertTerrain
+ value: Valley
objectReference: {fileID: 0}
m_RemovedComponents: []
m_RemovedGameObjects: []
m_AddedGameObjects: []
m_AddedComponents: []
m_SourcePrefab: {fileID: 100100000, guid: f2426a4d043694f2ba8f9ffbf8e0244b, type: 3}
---- !u!1 &102826273
-GameObject:
- m_ObjectHideFlags: 0
- m_CorrespondingSourceObject: {fileID: 0}
- m_PrefabInstance: {fileID: 0}
- m_PrefabAsset: {fileID: 0}
- serializedVersion: 6
- m_Component:
- - component: {fileID: 102826275}
- - component: {fileID: 102826274}
- m_Layer: 0
- m_Name: RoadManager
- m_TagString: Untagged
- m_Icon: {fileID: 0}
- m_NavMeshLayer: 0
- m_StaticEditorFlags: 0
- m_IsActive: 1
---- !u!114 &102826274
-MonoBehaviour:
- m_ObjectHideFlags: 0
- m_CorrespondingSourceObject: {fileID: 0}
- m_PrefabInstance: {fileID: 0}
- m_PrefabAsset: {fileID: 0}
- m_GameObject: {fileID: 102826273}
- m_Enabled: 1
- m_EditorHideFlags: 0
- m_Script: {fileID: 11500000, guid: f3fe7e814b8184579959d5a8a7467ad8, type: 3}
- m_Name:
- m_EditorClassIdentifier:
- roadTexture: {fileID: 2800000, guid: cca464cc3042c47d59d1b23be416afcd, type: 3}
- roadPhysicsMaterial: {fileID: 0}
- singleRoadWidth: 15
- roadLength: 100
- boundaryHeight: 5
- medianWidth: 5
---- !u!4 &102826275
-Transform:
- m_ObjectHideFlags: 0
- m_CorrespondingSourceObject: {fileID: 0}
- m_PrefabInstance: {fileID: 0}
- m_PrefabAsset: {fileID: 0}
- m_GameObject: {fileID: 102826273}
- serializedVersion: 2
- m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
- m_LocalPosition: {x: 0, y: 0, z: 0}
- m_LocalScale: {x: 1, y: 1, z: 10}
- m_ConstrainProportionsScale: 0
- m_Children: []
- m_Father: {fileID: 0}
- m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!1 &257869384
GameObject:
m_ObjectHideFlags: 0
@@ -239,7 +189,6 @@ GameObject:
serializedVersion: 6
m_Component:
- component: {fileID: 257869386}
- - component: {fileID: 257869387}
m_Layer: 0
m_Name: TrafficSimulationManager
m_TagString: Untagged
@@ -262,32 +211,6 @@ Transform:
m_Children: []
m_Father: {fileID: 0}
m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &257869387
-MonoBehaviour:
- m_ObjectHideFlags: 0
- m_CorrespondingSourceObject: {fileID: 0}
- m_PrefabInstance: {fileID: 0}
- m_PrefabAsset: {fileID: 0}
- m_GameObject: {fileID: 257869384}
- m_Enabled: 1
- m_EditorHideFlags: 0
- m_Script: {fileID: 11500000, guid: 1bd63a84cb8ab439ba5a902a73f51f97, type: 3}
- m_Name:
- m_EditorClassIdentifier:
- agentPrefab: {fileID: 4109849008543767089, guid: d82982a893aaf4a29b195b5d5b95b7fb, type: 3}
- simTimeStep: 0.02
- initialAgentCount: 1
- maxSpeed: 5
- seed: 42
- debugVisualization: 0
- MaxSteps: 2000
- rayPerceptionSensor: {fileID: 0}
- offRoadPenalty: -0.5
- onRoadReward: 0.01
- collisionWithOtherAgentPenalty: -1
- medianCrossingPenalty: -1
- penaltyInterval: 0.5
- lastPenaltyTime: 0
--- !u!1 &613325772
GameObject:
m_ObjectHideFlags: 0
@@ -298,7 +221,7 @@ GameObject:
m_Component:
- component: {fileID: 613325773}
m_Layer: 0
- m_Name: DesertTarrain
+ m_Name: Tarrain
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
@@ -313,7 +236,7 @@ Transform:
m_GameObject: {fileID: 613325772}
serializedVersion: 2
m_LocalRotation: {x: 0, y: 0.7071068, z: 0, w: 0.7071068}
- m_LocalPosition: {x: 25, y: -40, z: 500}
+ m_LocalPosition: {x: 0, y: -30, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
m_ConstrainProportionsScale: 0
m_Children:
@@ -345,14 +268,14 @@ Light:
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 705507993}
m_Enabled: 1
- serializedVersion: 11
+ serializedVersion: 12
m_Type: 1
m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1}
m_Intensity: 1
m_Range: 10
m_SpotAngle: 30
m_InnerSpotAngle: 21.802082
- m_CookieSize: 10
+ m_CookieSize2D: {x: 10, y: 10}
m_Shadows:
m_Type: 2
m_Resolution: -1
@@ -417,6 +340,73 @@ Transform:
m_Children: []
m_Father: {fileID: 0}
m_LocalEulerAnglesHint: {x: 50, y: -30, z: 0}
+--- !u!1 &911177773
+GameObject:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ serializedVersion: 6
+ m_Component:
+ - component: {fileID: 911177775}
+ - component: {fileID: 911177776}
+ m_Layer: 0
+ m_Name: MapAccessorRenderer
+ m_TagString: Untagged
+ m_Icon: {fileID: 0}
+ m_NavMeshLayer: 0
+ m_StaticEditorFlags: 0
+ m_IsActive: 1
+--- !u!4 &911177775
+Transform:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 911177773}
+ serializedVersion: 2
+ m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+ m_LocalPosition: {x: 0, y: 0, z: 0}
+ m_LocalScale: {x: 1, y: 1, z: 1}
+ m_ConstrainProportionsScale: 0
+ m_Children: []
+ m_Father: {fileID: 0}
+ m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &911177776
+MonoBehaviour:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 911177773}
+ m_Enabled: 1
+ m_EditorHideFlags: 0
+ m_Script: {fileID: 11500000, guid: 0dc25a74f956a4b5192b98d831645078, type: 3}
+ m_Name:
+ m_EditorClassIdentifier: Assembly-CSharp::MapAccessorRendererSafe
+ selectedMapIndex: 16
+ availableMaps:
+ - A10-IN-1-19KM_HW_AC_DE_BER_RELEASE_20210510.xodr
+ - A10-IN-17-31KM_HW_AC_DE_BER_RELEASE_20210510.xodr
+ - A10-IN-2-18KM_HW_AC_DE_BER_RELEASE_20210510.xodr
+ - A10-IN-3-33KM_HW_AC_DE_BER_RELEASE_20210402.xodr
+ - A10-IN-5-14KM_HW_AC_DE_BER_RELEASE_20210510.xodr
+ - A10-IN-6-24KM_HW_AC_DE_BER_RELEASE_20210510.xodr
+ - A10-IN-7-30KM_HW_AC_DE_BER_RELEASE_20210510.xodr
+ - Am_Reisenfeld-RA+JT-11KM_UR_AC_DE_MUC_RELEASE_20210901.xodr
+ - Gaimersheim-RA+JT-City-65KM_UR_AC_DE_ING_RELEASE_20210831.xodr
+ - Town01.xodr
+ - Town02.xodr
+ - Town03.xodr
+ - Town04.xodr
+ - Town05.xodr
+ - Town06.xodr
+ - Town07.xodr
+ - data.xodr
+ mapFilePath: Assets/Maps/data.xodr
+ roadMaterial: {fileID: 0}
+ meshName: OpenDriveRoadMesh
+ meshResolution: 0.5
--- !u!1 &963194225
GameObject:
m_ObjectHideFlags: 0
@@ -523,10 +513,15 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
targetObject: {fileID: 0}
+ targetManagerName: TrafficSimulationManager
+ defaultTargetName: Agent_0
+ targetCamera: {fileID: 963194227}
cameraHeight: 300
cameraDistance: 5
smoothSpeed: 5
cameraXPosition: 0
+ searchInterval: 1
+ maxSearchAttempts: 10
--- !u!4 &1621826644 stripped
Transform:
m_CorrespondingSourceObject: {fileID: -8679921383154817045, guid: f2426a4d043694f2ba8f9ffbf8e0244b, type: 3}
@@ -539,5 +534,5 @@ SceneRoots:
- {fileID: 963194228}
- {fileID: 705507995}
- {fileID: 257869386}
- - {fileID: 102826275}
+ - {fileID: 911177775}
- {fileID: 613325773}
diff --git a/Assets/Scripts/DynamicBEVCameraController.cs b/Assets/Scripts/DynamicBEVCameraController.cs
index 87652ded..6443845c 100644
--- a/Assets/Scripts/DynamicBEVCameraController.cs
+++ b/Assets/Scripts/DynamicBEVCameraController.cs
@@ -4,7 +4,7 @@
/// Controls a dynamic Bird's Eye View (BEV) camera that follows a target object in a Unity scene.
///
/// This script is responsible for:
-/// 1. Automatically finding and following a default target ('agent_0') if not specified.
+/// 1. Automatically finding and following a default target ('Agent_0') if not specified.
/// 2. Smoothly moving the camera to maintain a fixed height and distance from the target.
/// 3. Keeping the camera at a fixed X position and rotation while following the target.
///
@@ -25,18 +25,18 @@
/// - Start(): Initializes camera transform and fixed rotation.
/// - Update(): Continuously searches for target if not found.
/// - LateUpdate(): Updates camera position and rotation based on target's movement.
-/// - FindTarget(): Attempts to find the default target 'agent_0'.
+/// - FindTarget(): Attempts to find the default target 'Agent_0'.
/// - SetTargetObject(Transform): Allows external setting of the target object.
///
/// Usage:
/// Attach this script to a Camera GameObject in the Unity scene. Set the target object in the
-/// inspector or let the script find the default 'agent_0' target automatically.
+/// inspector or let the script find the default 'Agent_0' target automatically.
///
/// Note:
/// - The camera maintains a fixed X position and rotation, suitable for side-scrolling or
/// forward-moving scenes.
/// - Adjust public properties in the Inspector to fine-tune camera behavior.
-/// - The script assumes a specific scene structure with a 'TrafficSimulationManager' containing 'agent_0'.
+/// - The script assumes a specific scene structure with a 'TrafficSimulationManager' containing 'Agent_0'.
/// - Consider adding error handling for cases where the target object is not found or becomes null.
/// - The fixed rotation (90f, 0f, 90f) orients the camera to look horizontally along the x-axis.
///
@@ -46,7 +46,7 @@ public class DynamicBEVCameraController : MonoBehaviour
[Header("Target Settings")]
public Transform targetObject; // The object the camera should follow
public string targetManagerName = "TrafficSimulationManager"; // Name of the parent object containing targets
- public string defaultTargetName = "agent_0"; // Default target name to search for
+ public string defaultTargetName = "Agent_0"; // Default target name to search for
[Header("Camera Settings")]
public Camera targetCamera; // The camera to control (if null, uses Camera.main)
@@ -174,18 +174,18 @@ void Update()
///
/// This method performs the following steps:
/// 1. Searches for a GameObject named "TrafficSimulationManager" in the scene.
- /// 2. If found, it looks for a child object named "agent_0" within the TrafficSimulationManager.
- /// 3. If "agent_0" is found, it sets it as the target for the camera to follow.
+ /// 2. If found, it looks for a child object named "Agent_0" within the TrafficSimulationManager.
+ /// 3. If "Agent_0" is found, it sets it as the target for the camera to follow.
///
/// Functionality:
/// - Uses GameObject.Find to locate the TrafficSimulationManager in the scene.
- /// - Uses Transform.Find to locate "agent_0" as a child of TrafficSimulationManager.
+ /// - Uses Transform.Find to locate "Agent_0" as a child of TrafficSimulationManager.
/// - Sets targetObject to the found agent's transform if successful.
/// - Sets isSearching to false to stop further searching once a target is found.
/// - Logs a success message when the default target is set.
///
/// Key Aspects:
- /// - Assumes a specific scene hierarchy with TrafficSimulationManager containing agent_0.
+ /// - Assumes a specific scene hierarchy with TrafficSimulationManager containing Agent_0.
/// - Designed to work with a predefined naming convention for objects.
///
/// Performance Considerations:
@@ -193,14 +193,14 @@ void Update()
/// - Consider caching the TrafficSimulationManager reference if this method is called frequently.
///
/// Error Handling:
- /// - Silently fails if TrafficSimulationManager or agent_0 is not found.
+ /// - Silently fails if TrafficSimulationManager or Agent_0 is not found.
/// - Does not reset isSearching to true if the target is not found, potentially stopping further searches.
///
/// Usage:
/// This method is typically called from the Update method when isSearching is true.
///
/// Note:
- /// - Add error logging for cases where TrafficSimulationManager or agent_0 is not found.
+ /// - Add error logging for cases where TrafficSimulationManager or Agent_0 is not found.
/// - Consider implementing a more robust search mechanism or allowing custom target specification.
/// - The current implementation only searches once successfully. Implement additional logic if
/// you need to handle cases where the target might become null after being initially set.
@@ -231,7 +231,9 @@ void FindTarget()
Transform agent = trafficManager.transform.Find(defaultTargetName);
if (agent == null)
{
+ // Log all children to help debug
Debug.LogWarning($"DynamicBEVCameraController: Could not find '{defaultTargetName}' in '{targetManagerName}' (Attempt {searchAttempts}).");
+ Debug.Log($"DynamicBEVCameraController: Available children in {targetManagerName}: {string.Join(", ", System.Linq.Enumerable.Select(System.Linq.Enumerable.Cast(trafficManager.transform), t => t.name))}");
return;
}
diff --git a/Assets/Scripts/MapAccessorRendererSafe.cs b/Assets/Scripts/MapAccessorRendererSafe.cs
new file mode 100644
index 00000000..d2da67a8
--- /dev/null
+++ b/Assets/Scripts/MapAccessorRendererSafe.cs
@@ -0,0 +1,486 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+using System.IO;
+using System.Linq;
+#endif
+
+// P/Invoke-free MapAccessorRenderer that uses UnityPluginBridge
+public class MapAccessorRendererSafe : MonoBehaviour
+{
+ [Header("OpenDRIVE Map Settings")]
+ [SerializeField]
+ public int selectedMapIndex = 0;
+
+ [SerializeField]
+ public string[] availableMaps;
+
+ public string mapFilePath = "Assets/Maps/data.xodr";
+
+ [Header("Rendering Settings")]
+ public Material roadMaterial;
+ public string meshName = "OpenDriveRoadMesh";
+ public float meshResolution = 0.5f; // Distance between mesh points in meters
+
+ private IntPtr mapAccessor = IntPtr.Zero;
+ private UnityPluginBridge pluginBridge;
+ private bool isMapLoaded = false;
+
+ void Start()
+ {
+ Debug.Log("MapAccessorRendererSafe: Starting P/Invoke-free OpenDRIVE rendering");
+
+ // Start coroutine to wait for UnityPluginBridge to be available
+ StartCoroutine(WaitForPluginBridge());
+ }
+
+ private IEnumerator WaitForPluginBridge()
+ {
+ // Wait for SceneBootstrapper to create the UnityPluginBridge
+ float timeout = 10f; // 10 second timeout
+ float elapsed = 0f;
+
+ while (pluginBridge == null && elapsed < timeout)
+ {
+ pluginBridge = FindFirstObjectByType();
+ if (pluginBridge != null)
+ {
+ Debug.Log("MapAccessorRendererSafe: Found UnityPluginBridge, proceeding with map loading");
+ break;
+ }
+
+ yield return new WaitForSeconds(0.1f);
+ elapsed += 0.1f;
+ }
+
+ if (pluginBridge == null)
+ {
+ Debug.LogError("MapAccessorRendererSafe: UnityPluginBridge not found after timeout! Creating fallback bridge.");
+ GameObject bridgeObj = new GameObject("UnityPluginBridge");
+ pluginBridge = bridgeObj.AddComponent();
+ }
+
+ // Now try to load the map
+ LoadOpenDriveMap();
+ }
+
+ public void LoadOpenDriveMap()
+ {
+ if (isMapLoaded)
+ {
+ Debug.Log("MapAccessorRendererSafe: Map already loaded, skipping");
+ return;
+ }
+
+ Debug.Log($"MapAccessorRendererSafe: Loading OpenDRIVE map from: {mapFilePath}");
+
+ try
+ {
+ // Create map accessor using the bridge
+ mapAccessor = pluginBridge.CreateMapAccessor(mapFilePath);
+
+ if (mapAccessor == IntPtr.Zero)
+ {
+ Debug.LogError("MapAccessorRendererSafe: Failed to create map accessor");
+ return;
+ }
+
+ Debug.Log($"MapAccessorRendererSafe: Map accessor created: {pluginBridge.GetHandleInfo(mapAccessor)}");
+
+ // Generate and render the road mesh
+ GenerateRoadMesh();
+ isMapLoaded = true;
+
+ Debug.Log("MapAccessorRendererSafe: OpenDRIVE map loaded and rendered successfully!");
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"MapAccessorRendererSafe: Exception loading map: {e.Message}");
+ }
+ }
+
+ private void GenerateRoadMesh()
+ {
+ try
+ {
+ Debug.Log("MapAccessorRendererSafe: Parsing OpenDRIVE file with C# parser...");
+
+ // Parse the OpenDRIVE file directly
+ List roads = OpenDriveParser.ParseOpenDriveFile(mapFilePath);
+
+ if (roads.Count == 0)
+ {
+ Debug.LogError("MapAccessorRendererSafe: No roads parsed from OpenDRIVE file");
+ return;
+ }
+
+ Debug.Log($"MapAccessorRendererSafe: Parsed {roads.Count} roads from OpenDRIVE");
+
+ // Generate mesh from parsed road data
+ Mesh roadMesh = OpenDriveGeometryGenerator.GenerateRoadMesh(roads, meshResolution);
+
+ if (roadMesh == null || roadMesh.vertexCount == 0)
+ {
+ Debug.LogError("MapAccessorRendererSafe: Failed to generate mesh from road data");
+ return;
+ }
+
+ Debug.Log($"MapAccessorRendererSafe: Generated mesh with {roadMesh.vertexCount} vertices, {roadMesh.triangles.Length/3} triangles");
+ Debug.Log($"MapAccessorRendererSafe: Mesh bounds: {roadMesh.bounds}");
+
+ // Create Unity mesh renderer
+ CreateUnityMeshFromGenerated(roadMesh);
+
+ Debug.Log("MapAccessorRendererSafe: OpenDRIVE road mesh generated successfully");
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"MapAccessorRendererSafe: Exception generating road mesh: {e.Message}");
+ }
+ }
+
+ private bool ValidateMeshData(Vector3[] vertices, int[] indices)
+ {
+ if (vertices == null || vertices.Length == 0)
+ {
+ Debug.LogError("MapAccessorRendererSafe: No vertices to validate");
+ return false;
+ }
+
+ if (indices == null || indices.Length == 0)
+ {
+ Debug.LogError("MapAccessorRendererSafe: No indices to validate");
+ return false;
+ }
+
+ if (indices.Length % 3 != 0)
+ {
+ Debug.LogError($"MapAccessorRendererSafe: Index count {indices.Length} is not divisible by 3");
+ return false;
+ }
+
+ // Validate vertex coordinates
+ const float MAX_COORDINATE = 100000.0f;
+ int validVertexCount = 0;
+
+ for (int i = 0; i < vertices.Length; i++)
+ {
+ Vector3 vertex = vertices[i];
+
+ if (float.IsNaN(vertex.x) || float.IsNaN(vertex.y) || float.IsNaN(vertex.z) ||
+ float.IsInfinity(vertex.x) || float.IsInfinity(vertex.y) || float.IsInfinity(vertex.z))
+ {
+ Debug.LogWarning($"MapAccessorRendererSafe: Invalid vertex at index {i}: {vertex}");
+ vertices[i] = Vector3.zero; // Replace with safe default
+ continue;
+ }
+
+ if (Mathf.Abs(vertex.x) > MAX_COORDINATE ||
+ Mathf.Abs(vertex.y) > MAX_COORDINATE ||
+ Mathf.Abs(vertex.z) > MAX_COORDINATE)
+ {
+ Debug.LogWarning($"MapAccessorRendererSafe: Vertex {i} exceeds coordinate limits: {vertex}");
+ vertices[i] = Vector3.zero; // Replace with safe default
+ continue;
+ }
+
+ validVertexCount++;
+ }
+
+ Debug.Log($"MapAccessorRendererSafe: Validated {validVertexCount}/{vertices.Length} vertices");
+
+ // Validate indices
+ for (int i = 0; i < indices.Length; i++)
+ {
+ if (indices[i] < 0 || indices[i] >= vertices.Length)
+ {
+ Debug.LogError($"MapAccessorRendererSafe: Invalid index {indices[i]} at position {i} (vertex count: {vertices.Length})");
+ return false;
+ }
+ }
+
+ return validVertexCount > 0;
+ }
+
+ private void CreateUnityMesh(Vector3[] vertices, int[] indices)
+ {
+ Debug.Log("MapAccessorRendererSafe: Creating Unity mesh...");
+
+ // Create mesh object
+ Mesh mesh = new Mesh();
+ mesh.name = meshName;
+
+ // Assign vertices and indices
+ mesh.vertices = vertices;
+ mesh.triangles = indices;
+
+ // Generate normals and bounds
+ mesh.RecalculateNormals();
+ mesh.RecalculateBounds();
+
+ Debug.Log($"MapAccessorRendererSafe: Mesh created - Vertices: {mesh.vertexCount}, Triangles: {mesh.triangles.Length/3}");
+ Debug.Log($"MapAccessorRendererSafe: Mesh bounds: {mesh.bounds}");
+
+ // Find or create a GameObject to render the mesh
+ GameObject roadObject = GameObject.Find("OpenDriveRoad");
+ if (roadObject == null)
+ {
+ roadObject = new GameObject("OpenDriveRoad");
+ Debug.Log("MapAccessorRendererSafe: Created new GameObject for road rendering");
+ }
+
+ // Add mesh components
+ MeshFilter meshFilter = roadObject.GetComponent();
+ if (meshFilter == null) meshFilter = roadObject.AddComponent();
+
+ MeshRenderer meshRenderer = roadObject.GetComponent();
+ if (meshRenderer == null) meshRenderer = roadObject.AddComponent();
+
+ // Assign mesh and material
+ meshFilter.mesh = mesh;
+
+ if (roadMaterial != null)
+ {
+ meshRenderer.material = roadMaterial;
+ Debug.Log("MapAccessorRendererSafe: Applied custom road material");
+ }
+ else
+ {
+ // Create default material if none assigned
+ Material defaultMaterial = new Material(Shader.Find("Standard"));
+ defaultMaterial.color = Color.gray;
+ meshRenderer.material = defaultMaterial;
+ Debug.Log("MapAccessorRendererSafe: Applied default gray material");
+ }
+
+ // Add collider for physics
+ MeshCollider meshCollider = roadObject.GetComponent();
+ if (meshCollider == null) meshCollider = roadObject.AddComponent();
+ meshCollider.sharedMesh = mesh;
+
+ Debug.Log("MapAccessorRendererSafe: Road mesh rendering setup complete");
+ }
+
+ private void OnDestroy()
+ {
+ if (mapAccessor != IntPtr.Zero && pluginBridge != null)
+ {
+ Debug.Log("MapAccessorRendererSafe: Cleaning up map accessor");
+ pluginBridge.DestroyMapAccessor(mapAccessor);
+ mapAccessor = IntPtr.Zero;
+ }
+ }
+
+ // Public method to get map accessor for other components
+ public IntPtr GetMapAccessor()
+ {
+ return mapAccessor;
+ }
+
+ // Check if map is loaded and ready
+ public bool IsMapLoaded()
+ {
+ return isMapLoaded && mapAccessor != IntPtr.Zero;
+ }
+
+ // Reload the map
+ public void ReloadMap()
+ {
+ if (mapAccessor != IntPtr.Zero && pluginBridge != null)
+ {
+ pluginBridge.DestroyMapAccessor(mapAccessor);
+ mapAccessor = IntPtr.Zero;
+ }
+
+ isMapLoaded = false;
+ LoadOpenDriveMap();
+ }
+
+ private void CreateUnityMeshFromGenerated(Mesh roadMesh)
+ {
+ Debug.Log("MapAccessorRendererSafe: Setting up mesh renderer for OpenDRIVE road network");
+
+ // Find or create a GameObject to render the mesh
+ GameObject roadObject = GameObject.Find("OpenDriveRoad");
+ if (roadObject == null)
+ {
+ roadObject = new GameObject("OpenDriveRoad");
+ Debug.Log("MapAccessorRendererSafe: Created new GameObject for OpenDRIVE road rendering");
+ }
+
+ // Add mesh components
+ MeshFilter meshFilter = roadObject.GetComponent();
+ if (meshFilter == null) meshFilter = roadObject.AddComponent();
+
+ MeshRenderer meshRenderer = roadObject.GetComponent();
+ if (meshRenderer == null) meshRenderer = roadObject.AddComponent();
+
+ // Assign the generated mesh
+ meshFilter.mesh = roadMesh;
+
+ if (roadMaterial != null)
+ {
+ meshRenderer.material = roadMaterial;
+ Debug.Log("MapAccessorRendererSafe: Applied custom road material");
+ }
+ else
+ {
+ // Try to load Road007 material automatically
+ Material roadMaterial = RoadMaterialLoader.LoadRoadMaterial();
+
+ if (roadMaterial != null)
+ {
+ meshRenderer.material = roadMaterial;
+ Debug.Log($"MapAccessorRendererSafe: Applied road material: {roadMaterial.name}");
+ }
+ else
+ {
+ // Create a better default road material
+ Material defaultRoadMaterial = RoadMaterialLoader.CreateDefaultRoadMaterial();
+ meshRenderer.material = defaultRoadMaterial;
+ Debug.Log("MapAccessorRendererSafe: Applied default road material");
+ }
+ }
+
+ // Add collider for physics
+ MeshCollider meshCollider = roadObject.GetComponent();
+ if (meshCollider == null) meshCollider = roadObject.AddComponent();
+ meshCollider.sharedMesh = roadMesh;
+
+ Debug.Log("MapAccessorRendererSafe: OpenDRIVE road network mesh rendering setup complete");
+ }
+
+ // Debug info
+ public void LogMapInfo()
+ {
+ if (pluginBridge != null && mapAccessor != IntPtr.Zero)
+ {
+ Debug.Log($"MapAccessorRendererSafe: {pluginBridge.GetHandleInfo(mapAccessor)}");
+ }
+ else
+ {
+ Debug.Log("MapAccessorRendererSafe: No map loaded");
+ }
+ }
+
+ // Callback for when native library is ready
+ private void OnNativeLibraryReady()
+ {
+ Debug.Log("MapAccessorRendererSafe: Received native library ready callback");
+ if (!isMapLoaded)
+ {
+ LoadOpenDriveMap();
+ }
+ }
+
+ #if UNITY_EDITOR
+ // Initialize available maps when the script is first loaded
+ public void RefreshAvailableMaps()
+ {
+ if (!Directory.Exists("Assets/Maps/"))
+ {
+ availableMaps = new string[0];
+ return;
+ }
+
+ string[] mapFiles = Directory.GetFiles("Assets/Maps/", "*.xodr", SearchOption.TopDirectoryOnly);
+ availableMaps = mapFiles.Select(path => Path.GetFileName(path)).ToArray();
+
+ // Try to maintain current selection if the map still exists
+ string currentMapName = Path.GetFileName(mapFilePath);
+ selectedMapIndex = System.Array.IndexOf(availableMaps, currentMapName);
+ if (selectedMapIndex < 0) selectedMapIndex = 0;
+
+ // Update the map file path
+ if (availableMaps.Length > 0)
+ {
+ mapFilePath = "Assets/Maps/" + availableMaps[selectedMapIndex];
+ }
+ }
+
+ public void SetSelectedMap(int index)
+ {
+ if (availableMaps != null && index >= 0 && index < availableMaps.Length)
+ {
+ selectedMapIndex = index;
+ mapFilePath = "Assets/Maps/" + availableMaps[selectedMapIndex];
+ }
+ }
+
+ private void OnValidate()
+ {
+ // Refresh maps whenever the component is loaded/changed in editor
+ if (availableMaps == null || availableMaps.Length == 0)
+ {
+ RefreshAvailableMaps();
+ }
+ }
+ #endif
+}
+
+#if UNITY_EDITOR
+[CustomEditor(typeof(MapAccessorRendererSafe))]
+public class MapAccessorRendererSafeEditor : Editor
+{
+ public override void OnInspectorGUI()
+ {
+ MapAccessorRendererSafe mapRenderer = (MapAccessorRendererSafe)target;
+
+ // Refresh button
+ EditorGUILayout.BeginHorizontal();
+ EditorGUILayout.LabelField("OpenDRIVE Map Settings", EditorStyles.boldLabel);
+ if (GUILayout.Button("Refresh Maps", GUILayout.Width(100)))
+ {
+ mapRenderer.RefreshAvailableMaps();
+ }
+ EditorGUILayout.EndHorizontal();
+
+ EditorGUILayout.Space();
+
+ // Map selection dropdown
+ if (mapRenderer.availableMaps != null && mapRenderer.availableMaps.Length > 0)
+ {
+ EditorGUI.BeginChangeCheck();
+ int newIndex = EditorGUILayout.Popup("Select Map", mapRenderer.selectedMapIndex, mapRenderer.availableMaps);
+ if (EditorGUI.EndChangeCheck())
+ {
+ Undo.RecordObject(mapRenderer, "Change Map Selection");
+ mapRenderer.SetSelectedMap(newIndex);
+ EditorUtility.SetDirty(mapRenderer);
+ }
+
+ EditorGUILayout.Space();
+ EditorGUILayout.LabelField("Selected Map Path:", mapRenderer.mapFilePath, EditorStyles.helpBox);
+ }
+ else
+ {
+ EditorGUILayout.HelpBox("No .xodr files found in Assets/Maps/\nClick 'Refresh Maps' to scan for available maps.", MessageType.Warning);
+ }
+
+ EditorGUILayout.Space();
+
+ // Load map button
+ if (GUILayout.Button("Load Selected Map", GUILayout.Height(30)))
+ {
+ if (Application.isPlaying)
+ {
+ mapRenderer.LoadOpenDriveMap();
+ }
+ else
+ {
+ EditorUtility.DisplayDialog("Load Map",
+ "Maps can only be loaded during play mode.\nEnter play mode first, then click this button.",
+ "OK");
+ }
+ }
+
+ EditorGUILayout.Space();
+
+ // Draw default inspector for other fields
+ DrawDefaultInspector();
+ }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Scripts/MapAccessorRendererSafe.cs.meta b/Assets/Scripts/MapAccessorRendererSafe.cs.meta
new file mode 100644
index 00000000..5e76e345
--- /dev/null
+++ b/Assets/Scripts/MapAccessorRendererSafe.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 0dc25a74f956a4b5192b98d831645078
\ No newline at end of file
diff --git a/Assets/Scripts/OpenDriveGeometryGenerator.cs b/Assets/Scripts/OpenDriveGeometryGenerator.cs
new file mode 100644
index 00000000..0380b7e9
--- /dev/null
+++ b/Assets/Scripts/OpenDriveGeometryGenerator.cs
@@ -0,0 +1,265 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+// Generates Unity mesh geometry from OpenDRIVE road data
+// Handles lines, arcs, and clothoid spirals to create accurate road networks
+public static class OpenDriveGeometryGenerator
+{
+ public static Mesh GenerateRoadMesh(List roads, float meshResolution = 1.0f)
+ {
+ List allVertices = new List();
+ List allIndices = new List();
+
+ Debug.Log($"OpenDriveGeometryGenerator: Generating mesh for {roads.Count} roads");
+
+ foreach (OpenDriveRoad road in roads)
+ {
+ if (road.geometries.Count == 0) continue;
+
+ // Generate road centerline points
+ List centerlinePoints = GenerateRoadCenterline(road, meshResolution);
+
+ if (centerlinePoints.Count < 2) continue;
+
+ // Generate road mesh from centerline
+ GenerateRoadStrip(centerlinePoints, road, allVertices, allIndices);
+ }
+
+ Debug.Log($"OpenDriveGeometryGenerator: Generated {allVertices.Count} vertices, {allIndices.Count/3} triangles");
+
+ // Create Unity mesh
+ Mesh mesh = new Mesh();
+ mesh.name = "OpenDriveRoadNetwork";
+
+ if (allVertices.Count > 65535)
+ {
+ mesh.indexFormat = UnityEngine.Rendering.IndexFormat.UInt32;
+ }
+
+ mesh.vertices = allVertices.ToArray();
+ mesh.triangles = allIndices.ToArray();
+ mesh.RecalculateNormals();
+ mesh.RecalculateBounds();
+
+ // Debug information
+ Debug.Log($"OpenDriveGeometryGenerator: Final mesh bounds: {mesh.bounds}");
+ if (mesh.vertexCount > 0)
+ {
+ Vector3 firstVertex = mesh.vertices[0];
+ Vector3 lastVertex = mesh.vertices[mesh.vertexCount - 1];
+ Debug.Log($"OpenDriveGeometryGenerator: First vertex: {firstVertex}, Last vertex: {lastVertex}");
+ }
+
+ return mesh;
+ }
+
+ private static List GenerateRoadCenterline(OpenDriveRoad road, float resolution)
+ {
+ List points = new List();
+
+ float currentS = 0f;
+ float totalLength = road.length;
+
+ while (currentS <= totalLength)
+ {
+ Vector3 point = GetPointAtS(road, currentS);
+ points.Add(point);
+
+ currentS += resolution;
+ }
+
+ // Always add the end point
+ if (currentS - resolution < totalLength)
+ {
+ Vector3 endPoint = GetPointAtS(road, totalLength);
+ points.Add(endPoint);
+ }
+
+ return points;
+ }
+
+ private static Vector3 GetPointAtS(OpenDriveRoad road, float s)
+ {
+ // Find the geometry segment that contains this s value
+ OpenDriveGeometry currentGeom = null;
+ foreach (var geom in road.geometries)
+ {
+ if (s >= geom.s && s <= geom.s + geom.length)
+ {
+ currentGeom = geom;
+ break;
+ }
+ }
+
+ if (currentGeom == null)
+ {
+ // Use the last geometry if s is beyond the road
+ currentGeom = road.geometries[road.geometries.Count - 1];
+ s = currentGeom.s + currentGeom.length;
+ }
+
+ // Calculate local s within this geometry
+ float localS = s - currentGeom.s;
+
+ // Get point based on geometry type
+ Vector2 localPoint = GetLocalPointInGeometry(currentGeom, localS);
+
+ // Transform to world coordinates
+ Vector2 worldPoint = TransformToWorld(localPoint, currentGeom);
+
+ // Convert OpenDRIVE coordinates to Unity coordinates
+ // OpenDRIVE: X=east, Y=north, Z=up
+ // Unity: X=right, Y=up, Z=forward
+ // Raise roads slightly above ground level to make them visible
+ return new Vector3(worldPoint.x, 0.1f, worldPoint.y);
+ }
+
+ private static Vector2 GetLocalPointInGeometry(OpenDriveGeometry geom, float s)
+ {
+ switch (geom.type)
+ {
+ case GeometryType.Line:
+ return new Vector2(s, 0f);
+
+ case GeometryType.Arc:
+ return GetArcPoint(s, geom.curvature);
+
+ case GeometryType.Spiral:
+ return GetSpiralPoint(s, geom.curvStart, geom.curvEnd, geom.length);
+
+ default:
+ return new Vector2(s, 0f);
+ }
+ }
+
+ private static Vector2 GetArcPoint(float s, float curvature)
+ {
+ if (Mathf.Abs(curvature) < 1e-10f)
+ {
+ // Nearly straight line
+ return new Vector2(s, 0f);
+ }
+
+ float radius = 1f / Mathf.Abs(curvature);
+ float angle = s * curvature;
+
+ if (curvature > 0)
+ {
+ // Left turn
+ return new Vector2(
+ radius * Mathf.Sin(angle),
+ radius * (1f - Mathf.Cos(angle))
+ );
+ }
+ else
+ {
+ // Right turn
+ return new Vector2(
+ radius * Mathf.Sin(-angle),
+ -radius * (1f - Mathf.Cos(-angle))
+ );
+ }
+ }
+
+ private static Vector2 GetSpiralPoint(float s, float curvStart, float curvEnd, float length)
+ {
+ // Simplified clothoid spiral calculation
+ // For more accuracy, use Fresnel integrals, but this approximation works for most cases
+
+ float curvRate = (curvEnd - curvStart) / length;
+ float curvature = curvStart + curvRate * s;
+
+ // Use small step integration for spiral
+ int steps = Mathf.Max(10, (int)(s * 10));
+ float stepSize = s / steps;
+
+ Vector2 position = Vector2.zero;
+ float heading = 0f;
+
+ for (int i = 0; i < steps; i++)
+ {
+ float stepS = i * stepSize;
+ float stepCurvature = curvStart + curvRate * stepS;
+
+ position.x += stepSize * Mathf.Cos(heading);
+ position.y += stepSize * Mathf.Sin(heading);
+
+ heading += stepCurvature * stepSize;
+ }
+
+ return position;
+ }
+
+ private static Vector2 TransformToWorld(Vector2 localPoint, OpenDriveGeometry geom)
+ {
+ // Rotate by heading
+ float cos_hdg = Mathf.Cos(geom.hdg);
+ float sin_hdg = Mathf.Sin(geom.hdg);
+
+ Vector2 rotated = new Vector2(
+ localPoint.x * cos_hdg - localPoint.y * sin_hdg,
+ localPoint.x * sin_hdg + localPoint.y * cos_hdg
+ );
+
+ // Translate to world position
+ return new Vector2(geom.x + rotated.x, geom.y + rotated.y);
+ }
+
+ private static void GenerateRoadStrip(List centerlinePoints, OpenDriveRoad road,
+ List allVertices, List allIndices)
+ {
+ if (centerlinePoints.Count < 2) return;
+
+ // Default lane width if no lanes defined
+ float laneWidth = 3.5f;
+ if (road.lanes.Count > 0)
+ {
+ laneWidth = road.lanes[0].width;
+ }
+
+ float halfWidth = laneWidth / 2f;
+ int baseVertexIndex = allVertices.Count;
+
+ // Generate vertices along the road strip
+ for (int i = 0; i < centerlinePoints.Count; i++)
+ {
+ Vector3 center = centerlinePoints[i];
+ Vector3 forward = Vector3.forward;
+
+ if (i < centerlinePoints.Count - 1)
+ {
+ forward = (centerlinePoints[i + 1] - centerlinePoints[i]).normalized;
+ }
+ else if (i > 0)
+ {
+ forward = (centerlinePoints[i] - centerlinePoints[i - 1]).normalized;
+ }
+
+ Vector3 right = Vector3.Cross(Vector3.up, forward).normalized;
+
+ // Add vertices for left and right sides of the road
+ allVertices.Add(center + right * halfWidth); // Right side
+ allVertices.Add(center - right * halfWidth); // Left side
+ }
+
+ // Generate triangles
+ for (int i = 0; i < centerlinePoints.Count - 1; i++)
+ {
+ int v0 = baseVertexIndex + i * 2; // Right vertex at current point
+ int v1 = baseVertexIndex + i * 2 + 1; // Left vertex at current point
+ int v2 = baseVertexIndex + (i + 1) * 2; // Right vertex at next point
+ int v3 = baseVertexIndex + (i + 1) * 2 + 1; // Left vertex at next point
+
+ // First triangle (counter-clockwise for upward normal)
+ allIndices.Add(v0);
+ allIndices.Add(v1);
+ allIndices.Add(v2);
+
+ // Second triangle (counter-clockwise for upward normal)
+ allIndices.Add(v1);
+ allIndices.Add(v3);
+ allIndices.Add(v2);
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/OpenDriveGeometryGenerator.cs.meta b/Assets/Scripts/OpenDriveGeometryGenerator.cs.meta
new file mode 100644
index 00000000..c456e99b
--- /dev/null
+++ b/Assets/Scripts/OpenDriveGeometryGenerator.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: e75f57333ab564fa0a5bd9a50bf5f893
\ No newline at end of file
diff --git a/Assets/Scripts/OpenDriveParser.cs b/Assets/Scripts/OpenDriveParser.cs
new file mode 100644
index 00000000..4b0b25f1
--- /dev/null
+++ b/Assets/Scripts/OpenDriveParser.cs
@@ -0,0 +1,245 @@
+using System;
+using System.Collections.Generic;
+using System.Xml;
+using UnityEngine;
+
+// Pure C# OpenDRIVE parser - reads XODR files to extract road geometry
+// This replaces native libOpenDRIVE calls and ensures Unity geometry matches C++ simulation
+[System.Serializable]
+public class OpenDriveRoad
+{
+ public string id;
+ public float length;
+ public string junction;
+ public List geometries = new List();
+ public List lanes = new List();
+}
+
+[System.Serializable]
+public class OpenDriveGeometry
+{
+ public float s; // Start position along road
+ public float x, y; // Start coordinates
+ public float hdg; // Heading (radians)
+ public float length; // Length of this geometry segment
+ public GeometryType type;
+
+ // For arcs
+ public float curvature;
+
+ // For spirals
+ public float curvStart, curvEnd;
+}
+
+[System.Serializable]
+public class OpenDriveLane
+{
+ public int id;
+ public string type;
+ public float width;
+}
+
+public enum GeometryType
+{
+ Line,
+ Arc,
+ Spiral
+}
+
+public static class OpenDriveParser
+{
+ public static List ParseOpenDriveFile(string filePath)
+ {
+ List roads = new List();
+
+ try
+ {
+ Debug.Log($"OpenDriveParser: Parsing file: {filePath}");
+
+ if (!System.IO.File.Exists(filePath))
+ {
+ Debug.LogError($"OpenDriveParser: File not found: {filePath}");
+ return roads;
+ }
+
+ XmlDocument doc = new XmlDocument();
+ doc.Load(filePath);
+
+ XmlNodeList roadNodes = doc.SelectNodes("//road");
+ Debug.Log($"OpenDriveParser: Found {roadNodes.Count} roads");
+
+ foreach (XmlNode roadNode in roadNodes)
+ {
+ OpenDriveRoad road = ParseRoad(roadNode);
+ if (road != null)
+ {
+ roads.Add(road);
+ }
+ }
+
+ Debug.Log($"OpenDriveParser: Successfully parsed {roads.Count} roads");
+ return roads;
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"OpenDriveParser: Error parsing file: {e.Message}");
+ return roads;
+ }
+ }
+
+ private static OpenDriveRoad ParseRoad(XmlNode roadNode)
+ {
+ try
+ {
+ OpenDriveRoad road = new OpenDriveRoad();
+
+ road.id = roadNode.Attributes["id"]?.Value ?? "";
+ float.TryParse(roadNode.Attributes["length"]?.Value ?? "0", out road.length);
+ road.junction = roadNode.Attributes["junction"]?.Value ?? "-1";
+
+ // Parse planView geometries
+ XmlNode planViewNode = roadNode.SelectSingleNode("planView");
+ if (planViewNode != null)
+ {
+ XmlNodeList geometryNodes = planViewNode.SelectNodes("geometry");
+ foreach (XmlNode geomNode in geometryNodes)
+ {
+ OpenDriveGeometry geom = ParseGeometry(geomNode);
+ if (geom != null)
+ {
+ road.geometries.Add(geom);
+ }
+ }
+ }
+
+ // Parse lanes
+ XmlNode lanesNode = roadNode.SelectSingleNode("lanes");
+ if (lanesNode != null)
+ {
+ ParseLanes(lanesNode, road);
+ }
+
+ Debug.Log($"OpenDriveParser: Parsed road {road.id} with {road.geometries.Count} geometries");
+ return road;
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"OpenDriveParser: Error parsing road: {e.Message}");
+ return null;
+ }
+ }
+
+ private static OpenDriveGeometry ParseGeometry(XmlNode geomNode)
+ {
+ try
+ {
+ OpenDriveGeometry geom = new OpenDriveGeometry();
+
+ float.TryParse(geomNode.Attributes["s"]?.Value ?? "0", out geom.s);
+ float.TryParse(geomNode.Attributes["x"]?.Value ?? "0", out geom.x);
+ float.TryParse(geomNode.Attributes["y"]?.Value ?? "0", out geom.y);
+ float.TryParse(geomNode.Attributes["hdg"]?.Value ?? "0", out geom.hdg);
+ float.TryParse(geomNode.Attributes["length"]?.Value ?? "0", out geom.length);
+
+ // Determine geometry type
+ if (geomNode.SelectSingleNode("line") != null)
+ {
+ geom.type = GeometryType.Line;
+ }
+ else if (geomNode.SelectSingleNode("arc") != null)
+ {
+ geom.type = GeometryType.Arc;
+ XmlNode arcNode = geomNode.SelectSingleNode("arc");
+ float.TryParse(arcNode.Attributes["curvature"]?.Value ?? "0", out geom.curvature);
+ }
+ else if (geomNode.SelectSingleNode("spiral") != null)
+ {
+ geom.type = GeometryType.Spiral;
+ XmlNode spiralNode = geomNode.SelectSingleNode("spiral");
+ float.TryParse(spiralNode.Attributes["curvStart"]?.Value ?? "0", out geom.curvStart);
+ float.TryParse(spiralNode.Attributes["curvEnd"]?.Value ?? "0", out geom.curvEnd);
+ }
+
+ return geom;
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"OpenDriveParser: Error parsing geometry: {e.Message}");
+ return null;
+ }
+ }
+
+ private static void ParseLanes(XmlNode lanesNode, OpenDriveRoad road)
+ {
+ try
+ {
+ XmlNodeList laneSectionNodes = lanesNode.SelectNodes("laneSection");
+
+ foreach (XmlNode sectionNode in laneSectionNodes)
+ {
+ // Parse right lanes (negative IDs)
+ XmlNode rightNode = sectionNode.SelectSingleNode("right");
+ if (rightNode != null)
+ {
+ XmlNodeList laneNodes = rightNode.SelectNodes("lane");
+ foreach (XmlNode laneNode in laneNodes)
+ {
+ OpenDriveLane lane = ParseLane(laneNode);
+ if (lane != null && lane.type == "driving")
+ {
+ road.lanes.Add(lane);
+ }
+ }
+ }
+
+ // Parse left lanes (positive IDs)
+ XmlNode leftNode = sectionNode.SelectSingleNode("left");
+ if (leftNode != null)
+ {
+ XmlNodeList laneNodes = leftNode.SelectNodes("lane");
+ foreach (XmlNode laneNode in laneNodes)
+ {
+ OpenDriveLane lane = ParseLane(laneNode);
+ if (lane != null && lane.type == "driving")
+ {
+ road.lanes.Add(lane);
+ }
+ }
+ }
+ }
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"OpenDriveParser: Error parsing lanes: {e.Message}");
+ }
+ }
+
+ private static OpenDriveLane ParseLane(XmlNode laneNode)
+ {
+ try
+ {
+ OpenDriveLane lane = new OpenDriveLane();
+
+ int.TryParse(laneNode.Attributes["id"]?.Value ?? "0", out lane.id);
+ lane.type = laneNode.Attributes["type"]?.Value ?? "";
+
+ // Get lane width
+ XmlNode widthNode = laneNode.SelectSingleNode("width");
+ if (widthNode != null)
+ {
+ float.TryParse(widthNode.Attributes["a"]?.Value ?? "3.5", out lane.width);
+ }
+ else
+ {
+ lane.width = 3.5f; // Default lane width
+ }
+
+ return lane;
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"OpenDriveParser: Error parsing lane: {e.Message}");
+ return null;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/OpenDriveParser.cs.meta b/Assets/Scripts/OpenDriveParser.cs.meta
new file mode 100644
index 00000000..9f74e2ae
--- /dev/null
+++ b/Assets/Scripts/OpenDriveParser.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 7eb980e5a860847ef8bd464adce908d0
\ No newline at end of file
diff --git a/Assets/Scripts/RoadMaterialLoader.cs b/Assets/Scripts/RoadMaterialLoader.cs
new file mode 100644
index 00000000..db97bf4e
--- /dev/null
+++ b/Assets/Scripts/RoadMaterialLoader.cs
@@ -0,0 +1,104 @@
+using UnityEngine;
+
+// Helper script to automatically find and assign road materials
+[System.Serializable]
+public static class RoadMaterialLoader
+{
+ public static Material LoadRoadMaterial()
+ {
+ // Try to find RoadMaterial first, then RoadMaterial as fallback
+ Material roadMaterial = null;
+
+ // Method 1: Try Resources folder - Look for RoadMaterial first
+ roadMaterial = Resources.Load("RoadMaterial");
+ if (roadMaterial != null)
+ {
+ Debug.Log("RoadMaterialLoader: Found RoadMaterial in Resources");
+ return roadMaterial;
+ }
+
+ roadMaterial = Resources.Load("Materials/RoadMaterial");
+ if (roadMaterial != null)
+ {
+ Debug.Log("RoadMaterialLoader: Found RoadMaterial in Resources/Materials");
+ return roadMaterial;
+ }
+
+ // Fallback to RoadMaterial
+ roadMaterial = Resources.Load("RoadMaterial");
+ if (roadMaterial != null)
+ {
+ Debug.Log("RoadMaterialLoader: Found RoadMaterial material in Resources");
+ return roadMaterial;
+ }
+
+ roadMaterial = Resources.Load("Materials/RoadMaterial");
+ if (roadMaterial != null)
+ {
+ Debug.Log("RoadMaterialLoader: Found RoadMaterial material in Resources/Materials");
+ return roadMaterial;
+ }
+
+#if UNITY_EDITOR
+ // Method 2: In Editor, try direct asset path
+ string[] assetPaths = {
+ "Assets/Materials/RoadMaterial.mat",
+ "Assets/RoadMaterial.mat",
+ "Assets/Textures/RoadMaterial.mat",
+ "Assets/Textures/Road007_2K-JPG/Materials/Road007.mat",
+ "Assets/Materials/Road007.mat",
+ "Assets/Road007.mat"
+ };
+
+ foreach (string path in assetPaths)
+ {
+ roadMaterial = UnityEditor.AssetDatabase.LoadAssetAtPath(path);
+ if (roadMaterial != null)
+ {
+ Debug.Log($"RoadMaterialLoader: Found RoadMaterial material at {path}");
+ return roadMaterial;
+ }
+ }
+#endif
+
+ // Method 3: Search for any material with "Road" in the name
+ Material[] allMaterials = Resources.FindObjectsOfTypeAll();
+
+ // First pass: Look for exact "RoadMaterial" match
+ foreach (Material mat in allMaterials)
+ {
+ if (mat.name == "RoadMaterial")
+ {
+ Debug.Log($"RoadMaterialLoader: Found exact RoadMaterial: {mat.name}");
+ return mat;
+ }
+ }
+
+ // Second pass: Look for any road material
+ foreach (Material mat in allMaterials)
+ {
+ if (mat.name.Contains("RoadMaterial") || mat.name.Contains("RoadMaterial") || mat.name.Contains("Road"))
+ {
+ Debug.Log($"RoadMaterialLoader: Found road material: {mat.name}");
+ return mat;
+ }
+ }
+
+ Debug.LogWarning("RoadMaterialLoader: Could not find RoadMaterial material, will use default");
+ return null;
+ }
+
+ public static Material CreateDefaultRoadMaterial()
+ {
+ Material roadMaterial = new Material(Shader.Find("Standard"));
+
+ // Create a more road-like appearance
+ roadMaterial.color = new Color(0.2f, 0.2f, 0.2f, 1f); // Dark asphalt color
+ roadMaterial.SetFloat("_Metallic", 0.1f); // Slightly reflective
+ roadMaterial.SetFloat("_Smoothness", 0.3f); // Some roughness
+ roadMaterial.name = "DefaultRoadMaterial";
+
+ Debug.Log("RoadMaterialLoader: Created default road material");
+ return roadMaterial;
+ }
+}
diff --git a/Assets/Scripts/RoadMaterialLoader.cs.meta b/Assets/Scripts/RoadMaterialLoader.cs.meta
new file mode 100644
index 00000000..bba6976e
--- /dev/null
+++ b/Assets/Scripts/RoadMaterialLoader.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: a14e8a82d86014137999ef3295051b51
\ No newline at end of file
diff --git a/Assets/Scripts/RoadMeshDebugger.cs b/Assets/Scripts/RoadMeshDebugger.cs
new file mode 100644
index 00000000..52cb03cc
--- /dev/null
+++ b/Assets/Scripts/RoadMeshDebugger.cs
@@ -0,0 +1,172 @@
+using UnityEngine;
+
+// Debug script to help visualize and fix road mesh rendering issues
+public class RoadMeshDebugger : MonoBehaviour
+{
+ [Header("Debug Controls")]
+ public bool showDebugInfo = true;
+ public bool regenerateMesh = false;
+ public float roadHeight = 0.1f;
+ public bool forceUpdateMaterial = false;
+
+ [Header("Material Override")]
+ public Material debugMaterial;
+
+ void Update()
+ {
+ if (regenerateMesh)
+ {
+ regenerateMesh = false;
+ RegenerateRoadMesh();
+ }
+
+ if (forceUpdateMaterial)
+ {
+ forceUpdateMaterial = false;
+ UpdateRoadMaterial();
+ }
+ }
+
+ [ContextMenu("Regenerate Road Mesh")]
+ public void RegenerateRoadMesh()
+ {
+ Debug.Log("RoadMeshDebugger: Regenerating road mesh");
+
+ // Find MapAccessorRendererSafe and reload
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ if (mapRenderer != null)
+ {
+ mapRenderer.ReloadMap();
+ Debug.Log("RoadMeshDebugger: Map reloaded");
+ }
+ else
+ {
+ Debug.LogError("RoadMeshDebugger: MapAccessorRendererSafe not found");
+ }
+ }
+
+ [ContextMenu("Update Road Material")]
+ public void UpdateRoadMaterial()
+ {
+ GameObject roadObj = GameObject.Find("OpenDriveRoad");
+ if (roadObj != null)
+ {
+ MeshRenderer renderer = roadObj.GetComponent();
+ if (renderer != null)
+ {
+ if (debugMaterial != null)
+ {
+ renderer.material = debugMaterial;
+ Debug.Log($"RoadMeshDebugger: Applied debug material: {debugMaterial.name}");
+ }
+ else
+ {
+ // Create bright test material
+ Material testMaterial = new Material(Shader.Find("Standard"));
+ testMaterial.color = Color.yellow;
+ testMaterial.SetFloat("_Metallic", 0f);
+ testMaterial.SetFloat("_Smoothness", 0.5f);
+ renderer.material = testMaterial;
+ Debug.Log("RoadMeshDebugger: Applied bright yellow test material");
+ }
+ }
+ }
+ }
+
+ [ContextMenu("Raise Road Height")]
+ public void RaiseRoadHeight()
+ {
+ GameObject roadObj = GameObject.Find("OpenDriveRoad");
+ if (roadObj != null)
+ {
+ Transform roadTransform = roadObj.transform;
+ Vector3 newPos = roadTransform.position;
+ newPos.y = roadHeight;
+ roadTransform.position = newPos;
+ Debug.Log($"RoadMeshDebugger: Raised road to height {roadHeight}");
+ }
+ }
+
+ [ContextMenu("Log Mesh Info")]
+ public void LogMeshInfo()
+ {
+ GameObject roadObj = GameObject.Find("OpenDriveRoad");
+ if (roadObj != null)
+ {
+ MeshFilter meshFilter = roadObj.GetComponent();
+ MeshRenderer meshRenderer = roadObj.GetComponent();
+
+ if (meshFilter != null && meshFilter.mesh != null)
+ {
+ Mesh mesh = meshFilter.mesh;
+ Debug.Log($"=== ROAD MESH INFO ===");
+ Debug.Log($"Vertices: {mesh.vertexCount}");
+ Debug.Log($"Triangles: {mesh.triangles.Length / 3}");
+ Debug.Log($"Bounds: {mesh.bounds}");
+ Debug.Log($"Name: {mesh.name}");
+
+ if (meshRenderer != null)
+ {
+ Debug.Log($"Material: {meshRenderer.material?.name ?? "None"}");
+ Debug.Log($"Enabled: {meshRenderer.enabled}");
+ Debug.Log($"Shadow casting: {meshRenderer.shadowCastingMode}");
+ }
+
+ // Check first few vertices
+ if (mesh.vertexCount > 0)
+ {
+ Debug.Log($"First vertex: {mesh.vertices[0]}");
+ if (mesh.vertexCount > 1)
+ {
+ Debug.Log($"Second vertex: {mesh.vertices[1]}");
+ }
+ }
+ }
+ else
+ {
+ Debug.LogWarning("RoadMeshDebugger: No mesh found");
+ }
+ }
+ else
+ {
+ Debug.LogWarning("RoadMeshDebugger: OpenDriveRoad GameObject not found");
+ }
+ }
+
+ [ContextMenu("Create Test Road Quad")]
+ public void CreateTestRoadQuad()
+ {
+ // Create a simple visible test quad to verify rendering
+ GameObject testRoad = GameObject.Find("TestRoad");
+ if (testRoad != null)
+ {
+ DestroyImmediate(testRoad);
+ }
+
+ testRoad = new GameObject("TestRoad");
+ MeshFilter meshFilter = testRoad.AddComponent();
+ MeshRenderer meshRenderer = testRoad.AddComponent();
+
+ // Create simple quad mesh
+ Mesh quadMesh = new Mesh();
+ quadMesh.vertices = new Vector3[]
+ {
+ new Vector3(-10, 0.2f, -10),
+ new Vector3(10, 0.2f, -10),
+ new Vector3(-10, 0.2f, 10),
+ new Vector3(10, 0.2f, 10)
+ };
+ quadMesh.triangles = new int[] { 0, 2, 1, 1, 2, 3 };
+ quadMesh.RecalculateNormals();
+ quadMesh.RecalculateBounds();
+
+ meshFilter.mesh = quadMesh;
+
+ // Bright test material
+ Material testMaterial = new Material(Shader.Find("Standard"));
+ testMaterial.color = Color.red;
+ meshRenderer.material = testMaterial;
+
+ Debug.Log("RoadMeshDebugger: Created bright red test quad");
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/RoadMeshDebugger.cs.meta b/Assets/Scripts/RoadMeshDebugger.cs.meta
new file mode 100644
index 00000000..59540768
--- /dev/null
+++ b/Assets/Scripts/RoadMeshDebugger.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 1b0c5c6f40731440faf512279f993a93
\ No newline at end of file
diff --git a/Assets/Scripts/SafeSimulationSetup.cs b/Assets/Scripts/SafeSimulationSetup.cs
new file mode 100644
index 00000000..40408b1a
--- /dev/null
+++ b/Assets/Scripts/SafeSimulationSetup.cs
@@ -0,0 +1,230 @@
+using UnityEngine;
+
+// Setup script to configure the scene with P/Invoke-free components
+public class SafeSimulationSetup : MonoBehaviour
+{
+ [Header("Setup Options")]
+ public bool autoSetupOnStart = true;
+ public bool replaceExistingComponents = true;
+
+ [Header("Simulation Settings")]
+ public string mapFilePath = "Assets/Maps/data.xodr";
+ public int numberOfAgents = 3;
+ public uint randomSeed = 12345;
+
+ void Start()
+ {
+ if (autoSetupOnStart)
+ {
+ Debug.Log("SafeSimulationSetup: Auto-setup enabled, configuring P/Invoke-free simulation");
+ SetupSafeSimulation();
+ }
+ }
+
+ [ContextMenu("Setup Safe Simulation")]
+ public void SetupSafeSimulation()
+ {
+ Debug.Log("SafeSimulationSetup: Setting up P/Invoke-free simulation components");
+
+ // 1. Setup UnityPluginBridge
+ SetupPluginBridge();
+
+ // 2. Setup MapAccessorRendererSafe
+ SetupMapRenderer();
+
+ // 3. Setup TrafficManagerSafe
+ SetupTrafficManager();
+
+ // 4. Disable old components if requested
+ if (replaceExistingComponents)
+ {
+ DisableOldComponents();
+ }
+
+ Debug.Log("SafeSimulationSetup: P/Invoke-free simulation setup complete!");
+ }
+
+ private void SetupPluginBridge()
+ {
+ UnityPluginBridge bridge = FindFirstObjectByType();
+ if (bridge == null)
+ {
+ GameObject bridgeObj = new GameObject("UnityPluginBridge");
+ bridge = bridgeObj.AddComponent();
+ Debug.Log("SafeSimulationSetup: Created UnityPluginBridge");
+ }
+ else
+ {
+ Debug.Log("SafeSimulationSetup: UnityPluginBridge already exists");
+ }
+ }
+
+ private void SetupMapRenderer()
+ {
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ if (mapRenderer == null)
+ {
+ GameObject mapObj = GameObject.Find("MapRenderer");
+ if (mapObj == null)
+ {
+ mapObj = new GameObject("MapRenderer");
+ }
+
+ mapRenderer = mapObj.AddComponent();
+ mapRenderer.mapFilePath = mapFilePath;
+
+ // Try to assign a default road material
+ Material roadMaterial = Resources.Load("RoadMaterial");
+ if (roadMaterial != null)
+ {
+ mapRenderer.roadMaterial = roadMaterial;
+ }
+
+ Debug.Log($"SafeSimulationSetup: Created MapAccessorRendererSafe with map: {mapFilePath}");
+ }
+ else
+ {
+ Debug.Log("SafeSimulationSetup: MapAccessorRendererSafe already exists");
+ if (string.IsNullOrEmpty(mapRenderer.mapFilePath))
+ {
+ mapRenderer.mapFilePath = mapFilePath;
+ Debug.Log($"SafeSimulationSetup: Updated map path to: {mapFilePath}");
+ }
+ }
+ }
+
+ private void SetupTrafficManager()
+ {
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager == null)
+ {
+ GameObject trafficObj = GameObject.Find("TrafficManager");
+ if (trafficObj == null)
+ {
+ trafficObj = new GameObject("TrafficManager");
+ }
+
+ trafficManager = trafficObj.AddComponent();
+ trafficManager.numberOfAgents = numberOfAgents;
+ trafficManager.randomSeed = randomSeed;
+
+ // Create agent parent object
+ GameObject agentParent = GameObject.Find("TrafficAgents");
+ if (agentParent == null)
+ {
+ agentParent = new GameObject("TrafficAgents");
+ }
+ trafficManager.agentParent = agentParent.transform;
+
+ Debug.Log($"SafeSimulationSetup: Created TrafficManagerSafe with {numberOfAgents} agents");
+ }
+ else
+ {
+ Debug.Log("SafeSimulationSetup: TrafficManagerSafe already exists");
+ trafficManager.numberOfAgents = numberOfAgents;
+ trafficManager.randomSeed = randomSeed;
+ }
+ }
+
+ private void DisableOldComponents()
+ {
+ Debug.Log("SafeSimulationSetup: Disabling old P/Invoke components");
+
+ // Note: Old P/Invoke components are already disabled/removed
+ Debug.Log("SafeSimulationSetup: Skipping old component disable - P/Invoke components already removed");
+
+ // Find and disable any other known P/Invoke components
+ MonoBehaviour[] allComponents = FindObjectsByType(FindObjectsSortMode.None);
+ foreach (var component in allComponents)
+ {
+ string typeName = component.GetType().Name;
+ if (typeName.Contains("PInvoke") ||
+ typeName.Contains("Native") && !typeName.Contains("Safe") ||
+ typeName == "TrafficAgent" && component.GetType() != typeof(TrafficAgentSafe))
+ {
+ component.enabled = false;
+ Debug.Log($"SafeSimulationSetup: Disabled potentially unsafe component: {typeName}");
+ }
+ }
+ }
+
+ [ContextMenu("Reset Simulation")]
+ public void ResetSimulation()
+ {
+ Debug.Log("SafeSimulationSetup: Resetting simulation");
+
+ // Clean up existing safe components
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager != null)
+ {
+ trafficManager.RestartTrafficSimulation();
+ }
+
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ if (mapRenderer != null)
+ {
+ mapRenderer.ReloadMap();
+ }
+
+ Debug.Log("SafeSimulationSetup: Simulation reset complete");
+ }
+
+ [ContextMenu("Log System Status")]
+ public void LogSystemStatus()
+ {
+ Debug.Log("=== SAFE SIMULATION STATUS ===");
+
+ UnityPluginBridge bridge = FindFirstObjectByType();
+ Debug.Log($"UnityPluginBridge: {(bridge != null ? "Present" : "Missing")}");
+
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ if (mapRenderer != null)
+ {
+ Debug.Log($"MapRenderer: Present, Map Loaded: {mapRenderer.IsMapLoaded()}");
+ mapRenderer.LogMapInfo();
+ }
+ else
+ {
+ Debug.Log("MapRenderer: Missing");
+ }
+
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager != null)
+ {
+ Debug.Log($"TrafficManager: Present, Initialized: {trafficManager.IsTrafficInitialized()}");
+ trafficManager.LogTrafficInfo();
+ }
+ else
+ {
+ Debug.Log("TrafficManager: Missing");
+ }
+
+ // Count active agents
+ TrafficAgentSafe[] agents = FindObjectsByType(FindObjectsSortMode.None);
+ Debug.Log($"Active Agents: {agents.Length}");
+
+ Debug.Log("=== END STATUS ===");
+ }
+
+ [ContextMenu("Clear All GameObjects")]
+ public void ClearAllGameObjects()
+ {
+ if (Application.isPlaying)
+ {
+ Debug.LogWarning("SafeSimulationSetup: Cannot clear GameObjects during play mode");
+ return;
+ }
+
+ Debug.Log("SafeSimulationSetup: Clearing all simulation GameObjects");
+
+ // Clean up road objects
+ GameObject roadObj = GameObject.Find("OpenDriveRoad");
+ if (roadObj != null) DestroyImmediate(roadObj);
+
+ // Clean up traffic objects
+ GameObject trafficParent = GameObject.Find("TrafficAgents");
+ if (trafficParent != null) DestroyImmediate(trafficParent);
+
+ Debug.Log("SafeSimulationSetup: Cleanup complete");
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/SafeSimulationSetup.cs.meta b/Assets/Scripts/SafeSimulationSetup.cs.meta
new file mode 100644
index 00000000..b87ce2c3
--- /dev/null
+++ b/Assets/Scripts/SafeSimulationSetup.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 26a1c7de86f754fe8a946aecaf379779
\ No newline at end of file
diff --git a/Assets/Scripts/SceneBootstrapper.cs b/Assets/Scripts/SceneBootstrapper.cs
new file mode 100644
index 00000000..3c870007
--- /dev/null
+++ b/Assets/Scripts/SceneBootstrapper.cs
@@ -0,0 +1,211 @@
+using UnityEngine;
+using System.Collections;
+
+// Bootstrap script that automatically runs when the scene loads to set up P/Invoke-free system
+// This should be attached to any GameObject in the scene or will create itself
+[DefaultExecutionOrder(-200)] // Run before everything else
+public class SceneBootstrapper : MonoBehaviour
+{
+ private static bool hasBootstrapped = false;
+
+ [RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.AfterSceneLoad)]
+ static void OnSceneLoaded()
+ {
+ if (hasBootstrapped) return;
+ hasBootstrapped = true;
+
+ Debug.Log("SceneBootstrapper: Auto-creating P/Invoke-free system");
+
+ // Create a bootstrapper GameObject if none exists
+ SceneBootstrapper bootstrapper = FindFirstObjectByType();
+ if (bootstrapper == null)
+ {
+ GameObject bootstrapperObj = new GameObject("SceneBootstrapper");
+ bootstrapper = bootstrapperObj.AddComponent();
+ }
+
+ // Start the bootstrap process
+ bootstrapper.StartCoroutine(bootstrapper.BootstrapScene());
+ }
+
+ private IEnumerator BootstrapScene()
+ {
+ Debug.Log("SceneBootstrapper: Starting P/Invoke-free system bootstrap");
+
+ // Wait a frame to ensure all GameObjects are loaded
+ yield return null;
+
+ // Step 1: Create or find UnityPluginBridge
+ yield return SetupPluginBridge();
+
+ // Step 2: Setup MapAccessorRendererSafe on existing MapAccessorRenderer GameObject
+ yield return SetupMapRenderer();
+
+ // Step 3: Setup TrafficManagerSafe on existing TrafficSimulationManager GameObject
+ yield return SetupTrafficManager();
+
+ // Step 4: Create agents (this will make the camera find them)
+ yield return CreateTrafficAgents();
+
+ Debug.Log("SceneBootstrapper: P/Invoke-free system bootstrap complete!");
+
+ // Log final status
+ LogSystemStatus();
+ }
+
+ private IEnumerator SetupPluginBridge()
+ {
+ UnityPluginBridge bridge = FindFirstObjectByType();
+ if (bridge == null)
+ {
+ GameObject bridgeObj = new GameObject("UnityPluginBridge");
+ bridge = bridgeObj.AddComponent();
+ Debug.Log("SceneBootstrapper: Created UnityPluginBridge");
+ }
+ else
+ {
+ Debug.Log("SceneBootstrapper: UnityPluginBridge already exists");
+ }
+ yield return null;
+ }
+
+ private IEnumerator SetupMapRenderer()
+ {
+ // Find the existing MapAccessorRenderer GameObject
+ GameObject mapObj = GameObject.Find("MapAccessorRenderer");
+ if (mapObj != null)
+ {
+ // Add our safe component to the existing GameObject
+ MapAccessorRendererSafe mapRenderer = mapObj.GetComponent();
+ if (mapRenderer == null)
+ {
+ mapRenderer = mapObj.AddComponent();
+ mapRenderer.mapFilePath = "Assets/Maps/data.xodr";
+ Debug.Log("SceneBootstrapper: Added MapAccessorRendererSafe to existing MapAccessorRenderer GameObject");
+ }
+ }
+ else
+ {
+ Debug.LogWarning("SceneBootstrapper: MapAccessorRenderer GameObject not found in scene");
+ }
+ yield return new WaitForSeconds(0.1f);
+ }
+
+ private IEnumerator SetupTrafficManager()
+ {
+ // Find the existing TrafficSimulationManager GameObject (this is what the camera is looking for)
+ GameObject trafficObj = GameObject.Find("TrafficSimulationManager");
+ if (trafficObj != null)
+ {
+ // Add our safe component to the existing GameObject
+ TrafficManagerSafe trafficManager = trafficObj.GetComponent();
+ if (trafficManager == null)
+ {
+ trafficManager = trafficObj.AddComponent();
+ trafficManager.numberOfAgents = 3;
+ trafficManager.randomSeed = 12345;
+
+ // Set agents to be direct children of TrafficSimulationManager
+ // This allows the camera to find Agent_0
+ trafficManager.agentParent = trafficObj.transform;
+
+ Debug.Log("SceneBootstrapper: Added TrafficManagerSafe to existing TrafficSimulationManager GameObject");
+ }
+ }
+ else
+ {
+ Debug.LogWarning("SceneBootstrapper: TrafficSimulationManager GameObject not found in scene");
+ }
+ yield return new WaitForSeconds(0.1f);
+ }
+
+ private IEnumerator CreateTrafficAgents()
+ {
+ // Wait a bit more for the traffic system to initialize
+ yield return new WaitForSeconds(0.5f);
+
+ // Check if agents were created
+ TrafficAgentSafe[] agents = FindObjectsByType(FindObjectsSortMode.None);
+ Debug.Log($"SceneBootstrapper: Found {agents.Length} traffic agents");
+
+ if (agents.Length == 0)
+ {
+ // If no agents were created automatically, try to restart the traffic system
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager != null)
+ {
+ Debug.Log("SceneBootstrapper: No agents found, restarting traffic simulation");
+ trafficManager.RestartTrafficSimulation();
+ yield return new WaitForSeconds(0.5f);
+
+ // Check again
+ agents = FindObjectsByType(FindObjectsSortMode.None);
+ Debug.Log($"SceneBootstrapper: After restart, found {agents.Length} traffic agents");
+ }
+ }
+
+ // Check if Agent_0 already exists before renaming
+ if (agents.Length > 0)
+ {
+ // First check if there's already an Agent_0
+ GameObject existingAgent0 = GameObject.Find("Agent_0");
+ if (existingAgent0 == null)
+ {
+ // No Agent_0 exists, so rename the first agent
+ GameObject firstAgent = agents[0].gameObject;
+ if (firstAgent.name != "Agent_0")
+ {
+ firstAgent.name = "Agent_0";
+ Debug.Log($"SceneBootstrapper: Renamed {firstAgent.name} to 'Agent_0' for camera compatibility");
+ }
+ }
+ else
+ {
+ Debug.Log("SceneBootstrapper: Agent_0 already exists, no renaming needed");
+ }
+ }
+ }
+
+ private void LogSystemStatus()
+ {
+ Debug.Log("=== SCENE BOOTSTRAP STATUS ===");
+
+ UnityPluginBridge bridge = FindFirstObjectByType();
+ Debug.Log($"UnityPluginBridge: {(bridge != null ? "✓" : "✗")}");
+
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ Debug.Log($"MapAccessorRendererSafe: {(mapRenderer != null ? "✓" : "✗")}");
+
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ Debug.Log($"TrafficManagerSafe: {(trafficManager != null ? "✓" : "✗")}");
+
+ TrafficAgentSafe[] agents = FindObjectsByType(FindObjectsSortMode.None);
+ Debug.Log($"TrafficAgentSafe count: {agents.Length}");
+
+ // Check if camera target exists now
+ GameObject agent0 = GameObject.Find("Agent_0");
+ Debug.Log($"Agent_0 GameObject: {(agent0 != null ? "✓" : "✗")}");
+
+ GameObject trafficSimManager = GameObject.Find("TrafficSimulationManager");
+ if (trafficSimManager != null && agent0 != null)
+ {
+ Debug.Log("Camera should now be able to find 'Agent_0' in 'TrafficSimulationManager'");
+ }
+
+ Debug.Log("=== END STATUS ===");
+ }
+
+ // Context menu for manual testing
+ [ContextMenu("Bootstrap Now")]
+ public void BootstrapNow()
+ {
+ if (Application.isPlaying)
+ {
+ StartCoroutine(BootstrapScene());
+ }
+ else
+ {
+ Debug.LogWarning("SceneBootstrapper: Cannot bootstrap in edit mode");
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/SceneBootstrapper.cs.meta b/Assets/Scripts/SceneBootstrapper.cs.meta
new file mode 100644
index 00000000..8b5feb3f
--- /dev/null
+++ b/Assets/Scripts/SceneBootstrapper.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 5dec18e6f2d0d400a806b7d2a500e482
\ No newline at end of file
diff --git a/Assets/Scripts/SceneSetupHelper.cs b/Assets/Scripts/SceneSetupHelper.cs
new file mode 100644
index 00000000..b4b19676
--- /dev/null
+++ b/Assets/Scripts/SceneSetupHelper.cs
@@ -0,0 +1,219 @@
+using UnityEngine;
+
+// Helper script to automatically setup the P/Invoke-free simulation when Unity starts
+[System.Serializable]
+public class SceneSetupHelper : MonoBehaviour
+{
+ [Header("Auto-Setup Configuration")]
+ public bool setupOnAwake = true;
+ public bool createTrafficAgents = true;
+ public bool createMapRenderer = true;
+
+ [Header("Simulation Settings")]
+ public string mapFilePath = "Assets/Maps/data.xodr";
+ public int numberOfAgents = 3;
+ public uint randomSeed = 12345;
+
+ [Header("Debug")]
+ public bool enableDebugLogs = true;
+
+ void Awake()
+ {
+ if (setupOnAwake)
+ {
+ if (enableDebugLogs)
+ Debug.Log("SceneSetupHelper: Auto-setting up P/Invoke-free simulation on scene load");
+
+ // Delay setup slightly to ensure all GameObjects are initialized
+ Invoke(nameof(SetupSafeSimulation), 0.1f);
+ }
+ }
+
+ [ContextMenu("Setup Safe Simulation Now")]
+ public void SetupSafeSimulation()
+ {
+ if (enableDebugLogs)
+ Debug.Log("SceneSetupHelper: Starting P/Invoke-free simulation setup");
+
+ try
+ {
+ // Step 1: Setup UnityPluginBridge
+ SetupPluginBridge();
+
+ // Step 2: Setup Map Renderer if requested
+ if (createMapRenderer)
+ {
+ SetupMapRenderer();
+ }
+
+ // Step 3: Setup Traffic Manager if requested
+ if (createTrafficAgents)
+ {
+ SetupTrafficManager();
+ }
+
+ // Step 4: Fix camera target references
+ FixCameraReferences();
+
+ if (enableDebugLogs)
+ Debug.Log("SceneSetupHelper: P/Invoke-free simulation setup complete!");
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"SceneSetupHelper: Error during setup: {e.Message}");
+ }
+ }
+
+ private void SetupPluginBridge()
+ {
+ UnityPluginBridge bridge = FindFirstObjectByType();
+ if (bridge == null)
+ {
+ GameObject bridgeObj = new GameObject("UnityPluginBridge");
+ bridge = bridgeObj.AddComponent();
+ if (enableDebugLogs)
+ Debug.Log("SceneSetupHelper: Created UnityPluginBridge");
+ }
+ }
+
+ private void SetupMapRenderer()
+ {
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ if (mapRenderer == null)
+ {
+ // Check if there's an existing MapAccessorRenderer GameObject to replace
+ GameObject mapObj = GameObject.Find("MapAccessorRenderer");
+ if (mapObj == null)
+ {
+ mapObj = new GameObject("MapAccessorRenderer");
+ }
+
+ mapRenderer = mapObj.AddComponent();
+ mapRenderer.mapFilePath = mapFilePath;
+
+ if (enableDebugLogs)
+ Debug.Log($"SceneSetupHelper: Created MapAccessorRendererSafe with map: {mapFilePath}");
+ }
+ }
+
+ private void SetupTrafficManager()
+ {
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager == null)
+ {
+ // Check if there's an existing TrafficSimulationManager GameObject to replace
+ GameObject trafficObj = GameObject.Find("TrafficSimulationManager");
+ if (trafficObj == null)
+ {
+ trafficObj = new GameObject("TrafficSimulationManager");
+ }
+
+ trafficManager = trafficObj.AddComponent();
+ trafficManager.numberOfAgents = numberOfAgents;
+ trafficManager.randomSeed = randomSeed;
+
+ // Create or find agent parent
+ GameObject agentParent = GameObject.Find("TrafficAgents");
+ if (agentParent == null)
+ {
+ agentParent = new GameObject("TrafficAgents");
+ agentParent.transform.SetParent(trafficObj.transform);
+ }
+ trafficManager.agentParent = agentParent.transform;
+
+ if (enableDebugLogs)
+ Debug.Log($"SceneSetupHelper: Created TrafficManagerSafe with {numberOfAgents} agents");
+ }
+ }
+
+ private void FixCameraReferences()
+ {
+ // Find DynamicBEVCameraController and help it find the new agent structure
+ DynamicBEVCameraController cameraController = FindFirstObjectByType();
+ if (cameraController != null)
+ {
+ if (enableDebugLogs)
+ Debug.Log("SceneSetupHelper: Found DynamicBEVCameraController, helping it find new traffic structure");
+
+ // The camera will automatically find agents when they're created by TrafficManagerSafe
+ // We just need to make sure it's looking in the right place
+ }
+ }
+
+ [ContextMenu("Log Scene Status")]
+ public void LogSceneStatus()
+ {
+ Debug.Log("=== SCENE STATUS ===");
+
+ UnityPluginBridge bridge = FindFirstObjectByType();
+ Debug.Log($"UnityPluginBridge: {(bridge != null ? "✓ Present" : "✗ Missing")}");
+
+ MapAccessorRendererSafe mapRenderer = FindFirstObjectByType();
+ if (mapRenderer != null)
+ {
+ Debug.Log($"MapRenderer: ✓ Present, Loaded: {mapRenderer.IsMapLoaded()}");
+ }
+ else
+ {
+ Debug.Log("MapRenderer: ✗ Missing");
+ }
+
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager != null)
+ {
+ Debug.Log($"TrafficManager: ✓ Present, Initialized: {trafficManager.IsTrafficInitialized()}");
+ }
+ else
+ {
+ Debug.Log("TrafficManager: ✗ Missing");
+ }
+
+ TrafficAgentSafe[] agents = FindObjectsByType(FindObjectsSortMode.None);
+ Debug.Log($"Active Agents: {agents.Length}");
+
+ DynamicBEVCameraController cameraController = FindFirstObjectByType();
+ Debug.Log($"Camera Controller: {(cameraController != null ? "✓ Present" : "✗ Missing")}");
+
+ Debug.Log("=== END STATUS ===");
+ }
+
+ [ContextMenu("Create Test Traffic")]
+ public void CreateTestTraffic()
+ {
+ Debug.Log("SceneSetupHelper: Creating test traffic for camera");
+
+ TrafficManagerSafe trafficManager = FindFirstObjectByType();
+ if (trafficManager == null)
+ {
+ SetupTrafficManager();
+ trafficManager = FindFirstObjectByType();
+ }
+
+ if (trafficManager != null && !trafficManager.IsTrafficInitialized())
+ {
+ // Force restart traffic simulation to create agents
+ trafficManager.RestartTrafficSimulation();
+ Debug.Log("SceneSetupHelper: Traffic simulation restarted");
+ }
+ }
+
+ [ContextMenu("Clean Old Components")]
+ public void CleanOldComponents()
+ {
+ Debug.Log("SceneSetupHelper: Cleaning up old component references");
+
+ // Find GameObjects with missing script components and log them
+ MonoBehaviour[] allComponents = FindObjectsByType(FindObjectsSortMode.None);
+ int missingCount = 0;
+
+ foreach (var component in allComponents)
+ {
+ if (component == null)
+ {
+ missingCount++;
+ }
+ }
+
+ Debug.Log($"SceneSetupHelper: Found {missingCount} missing script references (these are expected from disabled P/Invoke scripts)");
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/SceneSetupHelper.cs.meta b/Assets/Scripts/SceneSetupHelper.cs.meta
new file mode 100644
index 00000000..f677b7e3
--- /dev/null
+++ b/Assets/Scripts/SceneSetupHelper.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: b017035b884b44fa993061d1bfc7a718
\ No newline at end of file
diff --git a/Assets/Scripts/TrafficAgent.cs b/Assets/Scripts/TrafficAgent.cs
deleted file mode 100644
index 5e6cb2c6..00000000
--- a/Assets/Scripts/TrafficAgent.cs
+++ /dev/null
@@ -1,1350 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Runtime.InteropServices;
-
-using UnityEngine;
-using Unity.MLAgents;
-using Unity.MLAgents.Sensors;
-using Unity.MLAgents.Actuators;
-using System.Linq;
-using Random = UnityEngine.Random;
-
-
-// Responsible for ML-Agents specific behaviors (collecting observations, receiving actions, etc.)
-public class TrafficAgent : Agent
-{
- // Random seed fixing
- [SerializeField] private int seed = 42;
-
- // Traffic Manager
- [HideInInspector] private TrafficManager trafficManager;
-
- // Agent Actions
- [HideInInspector] public int highLevelActions;
- [HideInInspector] public float[] lowLevelActions;
-
- // Color settings for ray visualization
- [HideInInspector] private Color rayHitColor = Color.red;
- [HideInInspector] private Color rayMissColor = Color.green; // Default white
- [SerializeField] private bool debugVisualization = false;
-
- // Channel Identifier
- [HideInInspector] private Guid channelId = new Guid("621f0a70-4f87-11ea-a6bf-784f4387d1f7");
-
- // Penalty Settings
- [HideInInspector] public float offRoadPenalty;
- [HideInInspector] public float onRoadReward;
- [HideInInspector] public float collisionWithOtherAgentPenalty;
- [HideInInspector] public float medianCrossingPenalty;
- [HideInInspector] public float penaltyInterval;
- [HideInInspector] public float lastPenaltyTime;
-
- // Collider
- [HideInInspector] private Collider agentCollider;
-
- //[HideInInspector] private Vector3 previousPosition;
-
- // Road Layer (for road surfaces)
- int roadLayer;
-
- // Road Boundary Layer (for boundaries/edges)
- int roadBoundaryLayer;
-
- // Median boundary Layer
- int medianBoundaryLayer;
-
- ///
- /// Initializes the TrafficAgent when the script instance is being loaded.
- ///
- /// This method is called before any Start() method and is used for:
- /// 1. Finding and validating the TrafficManager in the scene.
- /// 2. Initializing the lowLevelActions array for steering, acceleration, and braking.
- ///
- /// Throws an exception if TrafficManager is not found in the scene.
- ///
- ///
- protected override void Awake()
- {
- LogDebug("TrafficAgent::Awake Start started.");
-
- Random.InitState(seed);
- base.Awake(); // Optionally call base class method
-
- // Try to find the TrafficManager in the scene
- if (trafficManager == null)
- {
- trafficManager = FindFirstObjectByType();
-
- if (trafficManager == null)
- {
- Debug.LogError("TrafficManager not found in the scene. Please add a TrafficManager to the scene.");
- throw new Exception("TrafficManager not found in the scene.");
- }
- else
- {
- LogDebug("TrafficManager found successfully.");
- }
- }
-
- // Initialize lowLevelActions array with appropriate size (e.g., 3 for steering, acceleration, and braking)
- lowLevelActions = new float[3];
-
- // Road Layer (for road surfaces)
- roadLayer = LayerMask.NameToLayer("Road");
-
- // Road Boundary Layer (for boundaries/edges)
- roadBoundaryLayer = LayerMask.NameToLayer("RoadBoundary");
-
- // Median boundary Layer
- medianBoundaryLayer = LayerMask.NameToLayer("MedianBoundary");
-
- SetRewardConfig();
-
- LogDebug("TrafficAgent::Awake completed successfully.");
- }
-
- /*
- private void Start()
- {
- // Initialize previousPosition with the agent's initial position
- //previousPosition = transform.position;
-
- }
- */
-
- ///
- /// Initializes the TrafficAgent within the ML-Agents framework.
- ///
- /// This method is called once when the agent is first created and is responsible for:
- /// 1. Setting up agent-specific variables and environment.
- /// 2. Resetting agent actions to their initial state.
- /// 3. Setting the maximum number of steps for the agent's episodes.
- ///
- /// It's a crucial part of the ML-Agents setup process, preparing the agent for training or inference.
- ///
- /// Overrides the base Initialize method from the ML-Agents framework.
- ///
- public override void Initialize()
- {
- LogDebug("TrafficAgent::Initialize started");
-
- // Get the initial agent positions and create agent instances
- LogDebug($"TrafficAgent Initialize called on {gameObject.name}");
-
- // Initialize your agent-specific variables here
- base.Initialize();
-
- MaxStep = trafficManager.MaxSteps; // Max number of steps
-
- LogDebug("TrafficAgent::Initialize completed successfully.");
- }
-
- ///
- /// Prepares the TrafficAgent for a new episode in the ML-Agents training process.
- ///
- /// This method is called at the start of each episode and is responsible for:
- /// 1. Resetting the agent's actions to their initial state.
- /// 2. Resetting the agent's position and rotation.
- /// 3. Logging the current state of the agent and the traffic manager.
- ///
- /// It ensures that each episode starts with a consistent and potentially randomized state,
- /// which is crucial for diverse and effective training experiences in reinforcement learning.
- ///
- /// Overrides the base OnEpisodeBegin method from the ML-Agents framework.
- ///
- public override void OnEpisodeBegin()
- {
- LogDebug("TrafficAgent::OnEpisodeBegin started");
-
- base.OnEpisodeBegin();
- ResetAgentActions();
- ResetAgentPositionAndRotation();
-
- // Clear any accumulated rewards or state
- SetReward(0f);
-
- LogDebug($"Created agents. agentInstances count: {trafficManager.agentInstances.Count}, agentColliders count: {trafficManager.agentColliders.Count}");
- LogDebug($"Reset agent. Position: {transform.position}, Rotation: {transform.rotation.eulerAngles}");
- LogDebug("TrafficAgent::OnEpisodeBegin completed successfully.");
- }
-
- ///
- /// Resets the agent's low-level actions to random values within predefined ranges.
- ///
- /// This method initializes three action values:
- /// 1. Steering angle (in radians): Range [-0.785398, 0.785398] (approximately ±55 degrees)
- /// 2. Acceleration: Range [0.0, 5.0]
- /// 3. Braking: Range [-5.0, 0.0]
- ///
- /// These randomized values help in creating diverse initial conditions for each episode,
- /// which is crucial for effective reinforcement learning training.
- ///
- /// Note: The ranges are hardcoded and may need adjustment based on the specific requirements
- /// of the traffic simulation or learning task.
- ///
- private void ResetAgentActions()
- {
- LogDebug("TrafficAgent::ResetAgentActions started.");
- GetRandomActions();
- }
-
- ///
- /// Resets the agent's position and rotation to a random location within the defined spawn area.
- ///
- /// This method is responsible for:
- /// 1. Generating a random position and rotation for the agent.
- /// 2. Updating the agent's transform in the Unity scene.
- /// 3. Updating the agent's collider position and rotation.
- /// 4. Synchronizing the agent's position with the C++ traffic simulation.
- ///
- /// Synchronization:
- /// - Updates Unity GameObject transform.
- /// - Updates Unity Collider transform.
- /// - Updates C++ simulation vehicle position.
- ///
- /// Error Handling:
- /// - Checks for null TrafficManager.
- /// - Logs warnings if agent instance or collider is not found.
- ///
- /// Dependencies:
- /// - Requires a properly initialized TrafficManager.
- /// - Relies on TrafficManager's native plugin methods for C++ simulation updates.
- ///
- /// Usage:
- /// Call this method to reset the agent's position, typically at the start of a new episode
- /// or when the agent needs to be repositioned.
- ///
- /// Note:
- /// - Ensure trafficManager is properly initialized before calling this method.
- /// - The method assumes the existence of a C++ backend (TrafficManager.Traffic_get_agent_by_name).
- /// - Consider adding checks or handling for potential errors in C++ method calls.
- ///
- ///
- public void ResetAgentPositionAndRotation()
- {
- LogDebug("TrafficAgent::ResetAgentPositionAndRotation started.");
-
- if (trafficManager != null)
- {
- // Sample and initialize agents state, e.g. position, speed, orientation
- TrafficManager.Traffic_sampleAndInitializeAgents(trafficManager.trafficSimulationPtr);
-
- // Obtain pointer to traffic vehicle state
- IntPtr vehiclePtr = TrafficManager.Traffic_get_agent_by_name(trafficManager.trafficSimulationPtr, gameObject.name);
-
- // Update the vehicle's position in the C++ simulation
- Vector3 position = new Vector3(
- TrafficManager.Vehicle_getX(vehiclePtr),
- TrafficManager.Vehicle_getY(vehiclePtr),
- TrafficManager.Vehicle_getZ(vehiclePtr)
- );
-
- // Update the vehicle's rotation in the C++ simulation
- float yaw = Mathf.Rad2Deg * TrafficManager.Vehicle_getYaw(vehiclePtr);
- Quaternion rotation = Quaternion.Euler(0, yaw, 0);
-
- LogDebug($"Resetting agent {gameObject.name} - Position: {position}, Rotation: {rotation}");
-
- try
- {
- // Update the agent's position and rotation in the Unity scene
- UpdateAgentTransform(position, rotation);
- UpdateAgentCollider(position, rotation);
-
- // Update the agent's position in the C++ traffic simulation
- UpdateTrafficSimulation(position, rotation);
- }
- catch (Exception ex)
- {
- Debug.LogError($"Error updating C++ simulation for agent {gameObject.name}: {ex.Message}");
- }
- }
- else
- {
- Debug.LogError($"TrafficManager is null for agent {gameObject.name}");
- }
-
- LogDebug("TrafficAgent::ResetAgentPositionAndRotation completed successfully.");
- }
-
- ///
- /// Updates the transform (position and rotation) of the agent's instance in the Unity scene.
- ///
- /// This method attempts to:
- /// 1. Retrieve the TrafficAgent instance associated with this agent's name.
- /// 2. Set the position and rotation of the found instance to the provided values.
- ///
- /// Parameters:
- /// - position: The new Vector3 position to set for the agent.
- /// - rotation: The new Quaternion rotation to set for the agent.
- ///
- /// Error Handling:
- /// - Logs a warning if the agent instance is not found in trafficManager.agentInstances.
- ///
- /// Usage:
- /// Call this method when you need to update the agent's position and rotation in the Unity scene,
- /// such as after calculating a new position or when resetting the agent.
- ///
- /// Dependencies:
- /// - Requires a properly initialized TrafficManager with populated agentInstances dictionary.
- /// - Assumes the current GameObject's name is used as the key in agentInstances.
- ///
- /// Note:
- /// - This method only updates the Unity Transform component and does not affect any underlying
- /// simulation or physics state.
- /// - Consider adding null checks for trafficManager if there's a possibility it might not be initialized.
- /// - For comprehensive state updates, ensure this is called in conjunction with updates to
- /// colliders, rigid bodies, and any backend simulation state.
- ///
- ///
- /// The new position to set for the agent.
- /// The new rotation to set for the agent.
- private void UpdateAgentTransform(Vector3 position, Quaternion rotation)
- {
- if (trafficManager.agentInstances.TryGetValue(gameObject.name, out TrafficAgent agentInstance))
- {
- agentInstance.transform.SetPositionAndRotation(position, rotation);
- }
- else
- {
- Debug.LogWarning($"Instance not found for agent {gameObject.name}");
- }
- }
-
- ///
- /// Updates the transform (position and rotation) of the agent's collider in the Unity scene.
- ///
- /// This method attempts to:
- /// 1. Retrieve the Collider component associated with this agent's name from trafficManager.
- /// 2. Set the position and rotation of the found collider's transform to the provided values.
- ///
- /// Parameters:
- /// - position: The new Vector3 position to set for the agent's collider.
- /// - rotation: The new Quaternion rotation to set for the agent's collider.
- ///
- /// Error Handling:
- /// - Logs a warning if the agent's collider is not found in trafficManager.agentColliders.
- ///
- /// Usage:
- /// Call this method when you need to update the agent's collider position and rotation,
- /// typically in conjunction with updating the agent's main transform or during reset operations.
- ///
- /// Dependencies:
- /// - Requires a properly initialized TrafficManager with populated agentColliders dictionary.
- /// - Assumes the current GameObject's name is used as the key in agentColliders.
- ///
- /// Note:
- /// - This method only updates the Unity Collider's transform and does not affect the agent's
- /// main transform or any underlying simulation state.
- /// - Consider adding null checks for trafficManager if there's a possibility it might not be initialized.
- /// - Ensure this method is called in coordination with other state update methods (e.g., UpdateAgentTransform)
- /// to maintain consistency across all representations of the agent.
- /// - Updating the collider's transform directly might have implications for physics simulations;
- /// ensure this aligns with your intended physics behavior.
- ///
- ///
- /// The new position to set for the agent's collider.
- /// The new rotation to set for the agent's collider.
- private void UpdateAgentCollider(Vector3 position, Quaternion rotation)
- {
- if (trafficManager.agentColliders.TryGetValue(gameObject.name, out Collider agentCollider))
- {
- agentCollider.transform.SetPositionAndRotation(position, rotation);
- }
- else
- {
- Debug.LogWarning($"Collider not found for agent {gameObject.name}");
- }
- }
-
- ///
- /// Updates the position of the agent in the C++ traffic simulation backend.
- ///
- /// This method performs the following operations:
- /// 1. Retrieves a pointer to the agent's vehicle in the C++ simulation using its name.
- /// 2. Sets the X, Y, and Z coordinates of the vehicle in the C++ simulation to match the provided position.
- ///
- /// Parameters:
- /// - position: A Vector3 representing the new position to set in the C++ simulation.
- ///
- /// Dependencies:
- /// - Requires a properly initialized TrafficManager with a valid trafficSimulationPtr.
- /// - Relies on external C++ methods (likely from a native plugin) for interacting with the simulation:
- /// - TrafficManager.Traffic_get_agent_by_name
- /// - TrafficManager.Vehicle_setX/Y/Z
- ///
- /// Usage:
- /// Call this method when you need to synchronize the agent's position in the Unity scene
- /// with its representation in the C++ traffic simulation backend.
- ///
- /// Error Handling:
- /// - This method doesn't include explicit error handling. Consider adding checks for null pointers
- /// or invalid states, especially if the C++ methods can fail or return error codes.
- ///
- /// Performance Considerations:
- /// - This method makes multiple calls to external C++ functions, which may have performance implications
- /// if called frequently. Consider batching updates if possible.
- ///
- /// Note:
- /// - Ensure that the C++ simulation is properly initialized before calling this method.
- /// - The method assumes that the agent's name in Unity matches its identifier in the C++ simulation.
- /// - Only position is updated; if rotation or other properties need synchronization, additional methods may be needed.
- /// - Consider adding logging or debug options to track synchronization between Unity and C++ simulation.
- ///
- ///
- /// The new position to set for the agent in the C++ simulation.
- private void UpdateTrafficSimulation(Vector3 position, Quaternion rotation)
- {
- IntPtr vehiclePtr = TrafficManager.Traffic_get_agent_by_name(trafficManager.trafficSimulationPtr, gameObject.name);
-
- // Update the vehicle's position in the C++ simulation
- TrafficManager.Vehicle_setX(vehiclePtr, position.x);
- TrafficManager.Vehicle_setY(vehiclePtr, position.y);
- TrafficManager.Vehicle_setZ(vehiclePtr, position.z);
-
- // Update the vehicle's rotation in the C++ simulation
- // Note: we arbitrarily set the yaw and steering angle to be the same for initialization purpose
- TrafficManager.Vehicle_setSteering(vehiclePtr, rotation.y);
- TrafficManager.Vehicle_setYaw(vehiclePtr, rotation.y);
- }
-
- ///
- /// Collects and provides observations about the agent's environment to the ML-Agents neural network.
- ///
- /// This method is crucial for the agent's decision-making process, gathering information such as:
- /// 1. Raycast data for detecting nearby agents and road boundaries.
- /// 2. Agent's position and rotation.
- /// 3. Agent's speed and orientation.
- ///
- /// Key Components:
- /// - Raycast Observations:
- /// - Number of rays: Defined by trafficManager.numberOfRays
- /// - For each ray: Distance (normalized) and type of object hit (agent, boundary, or other)
- /// - Position: Agent's current position in 3D space
- /// - Rotation: Agent's yaw (y-axis rotation)
- /// - Speed: Normalized velocity magnitude (assumes max speed of 50)
- /// - Orientation: Normalized y-rotation to range [-1, 1]
- ///
- /// Error Handling:
- /// - Checks for null TrafficManager and missing agent colliders
- /// - Logs warnings for missing components (e.g., Rigidbody)
- ///
- /// Performance Considerations:
- /// - Raycasting is computationally expensive; optimize the number of rays if needed
- /// - Extensive debug logging is present; consider conditional logging for production
- ///
- /// Note:
- /// - Ensure consistency between observations collected here and the neural network's input expectations
- /// - Some observations are commented out (full rotation, roll, pitch); uncomment if needed
- /// - The method assumes specific tags ("TrafficAgent", "RoadBoundary") for object identification
- ///
- ///
- /// The VectorSensor used to collect and send observations to the neural network
- public override void CollectObservations(VectorSensor sensor)
- {
- try
- {
- if (!InitializeTrafficManager())
- return;
-
- CollectRaycastObservations(sensor);
- CollectOrientationObservations(sensor);
- CollectSpeedObservations(sensor);
- }
- catch (System.Exception ex)
- {
- Debug.LogError($"Error collecting observations for agent {gameObject.name}: {ex.Message}");
- }
- }
-
- ///
- /// Collects raycast-based observations if enabled.
- ///
- private void CollectRaycastObservations(VectorSensor sensor)
- {
- if (!trafficManager.includeRayCastObservation)
- return;
-
- RayPerceptionSensorComponent3D raySensor = GetComponentInChildren();
- if (raySensor == null)
- return;
-
- RayPerceptionInput raySpec = raySensor.GetRayPerceptionInput();
- if (raySpec.RayLength == 0)
- {
- Debug.LogWarning("RayPerceptionInput is not properly initialized.");
- return;
- }
-
- RayPerceptionOutput rayOutput = RayPerceptionSensor.Perceive(raySpec, true);
-
- // Add raycast results as observations
- foreach (var ray in rayOutput.RayOutputs)
- {
- sensor.AddObservation(ray.HasHit ? 1.0f : 0.0f);
- sensor.AddObservation(ray.HitFraction);
- }
- }
-
- ///
- /// Initializes and validates the TrafficManager and agent collider for the current agent.
- ///
- /// This method performs the following checks:
- /// 1. Verifies that the TrafficManager is not null and contains a collider for this agent.
- /// 2. Retrieves and stores the agent's collider from the TrafficManager.
- /// 3. Confirms that the retrieved collider is not null.
- ///
- /// Parameters:
- /// - sensor: A VectorSensor parameter, currently unused in the method body.
- /// Consider removing if not needed or document its intended future use.
- ///
- /// Returns:
- /// - true if initialization is successful (TrafficManager and collider are valid).
- /// - false if any initialization step fails.
- ///
- /// Error Handling:
- /// - Logs a warning if TrafficManager is null or doesn't contain the agent's collider.
- /// - Logs an error if the agent's collider is found in the dictionary but is null.
- ///
- /// Usage:
- /// Call this method before performing operations that depend on TrafficManager or the agent's collider.
- /// Typically used in initialization methods or before collecting observations.
- ///
- /// Dependencies:
- /// - Requires a properly set up TrafficManager with populated agentColliders dictionary.
- /// - Assumes the current GameObject's name is used as the key in agentColliders.
- ///
- /// Side Effects:
- /// - Sets the agentCollider field if initialization is successful.
- ///
- /// Note:
- /// - The method name suggests TrafficManager initialization, but it primarily validates existing setup.
- /// - Consider renaming to "ValidateTrafficManagerSetup" for clarity if no actual initialization is performed.
- /// - The VectorSensor parameter is currently unused; consider removing or implementing its use.
- /// - Ensure this method is called at appropriate times to guarantee proper agent setup.
- ///
- ///
- /// A VectorSensor, currently unused in the method.
- /// Boolean indicating successful initialization/validation of TrafficManager and agent collider.
- private bool InitializeTrafficManager()
- {
- if (trafficManager == null || !trafficManager.agentColliders.ContainsKey(gameObject.name))
- {
- Debug.LogWarning($"TrafficManager or agent collider not properly initialized for {gameObject.name}");
- return false;
- }
-
- agentCollider = trafficManager.agentColliders[gameObject.name];
-
- if (agentCollider == null)
- {
- Debug.LogError($"Agent collider not found for {gameObject.name}");
- return false;
- }
-
- return true;
- }
-
- ///
- /// Collects and adds the agent's position and rotation observations to the sensor.
- ///
- /// This method performs the following operations:
- /// 1. Adds the agent's current position (Vector3) as an observation.
- /// 2. Adds the agent's rotation around the Y-axis (yaw) as an observation.
- ///
- /// Observations added:
- /// - Position: Vector3 (x, y, z coordinates)
- /// - Rotation: Float (y-axis rotation in degrees)
- ///
- /// Note on rotation:
- /// - Only the Y-axis rotation (yaw) is currently observed.
- /// - Full rotation (Quaternion) and Euler angles (Vector3) observations are commented out.
- ///
- /// Usage:
- /// Call this method as part of the agent's observation collection process, typically within
- /// a larger CollectObservations method.
- ///
- /// Customization Options:
- /// - Uncomment transform.rotation to observe full rotation as a Quaternion (4 float values).
- /// - Uncomment transform.rotation.eulerAngles to observe rotation as Euler angles (3 float values).
- ///
- /// Performance Considerations:
- /// - Adding observations increases the size of the agent's observation space.
- /// - Balance the amount of information with the complexity of the learning task.
- ///
- /// Note:
- /// - Ensure the neural network model is configured to handle the number of observations provided.
- /// - Consider normalizing position values if the agent operates in a large world space.
- /// - The choice of rotation representation (Euler angle vs Quaternion) can affect learning;
- /// choose based on your specific requirements and the nature of the task.
- /// - If only Y-rotation is relevant to your task, the current setup is appropriate.
- /// Otherwise, consider including full rotation information.
- ///
- ///
- /// The VectorSensor to which observations are added.
- private void CollectOrientationObservations(VectorSensor sensor)
- {
- // Add rotation observations (we might want to use Quaternion or Euler angles)
- //sensor.AddObservation(transform.rotation.y); // Adds only the y-rotation, often represents the "yaw" or horizontal rotation.
-
- // Add the local Euler angles (rotation) as observations
- Vector3 localAngles = Mathf.Deg2Rad * transform.localEulerAngles; // Convert to radians
- sensor.AddObservation(localAngles); // Add the Vector3 as an observation
-
- // Orientation (only y rotation, normalized to [-1, 1])
- //sensor.AddObservation(transform.rotation); // Adds (x, y, z, w) quaternion in world space
-
- // Add the agent's forward, up, and right directions as observations
- //sensor.AddObservation(transform.InverseTransformDirection(transform.forward)); // Forward vector
- //sensor.AddObservation(transform.InverseTransformDirection(transform.up)); // Up vector
- //sensor.AddObservation(transform.InverseTransformDirection(transform.right)); // Right vector
- }
-
- ///
- /// Collects and adds the agent's velocity observations to the sensor.
- ///
- /// This method performs the following operations:
- /// 1. Adds the agent's velocity relative to its local coordinate system.
- /// 2. Uses the Rigidbody component to get accurate velocity data.
- ///
- /// Observations added:
- /// - Velocity: Vector3 (velocity in local space coordinates)
- ///
- /// Usage:
- /// Call this method as part of the agent's observation collection process, typically within
- /// a larger CollectObservations method.
- ///
- /// Performance Considerations:
- /// - Uses cached Rigidbody component reference to avoid GetComponent calls.
- /// - Velocity is transformed to local space for frame-independent observations.
- ///
- /// Note:
- /// - Ensure the agent has a Rigidbody component attached.
- /// - Local space velocity provides rotation-independent motion information.
- ///
- ///
- /// The VectorSensor to which velocity observations are added.
- private Rigidbody cachedRigidbody;
-
- private void CollectSpeedObservations(VectorSensor sensor)
- {
- // Cache Rigidbody component to avoid repeated GetComponent calls
- if (cachedRigidbody == null)
- {
- cachedRigidbody = GetComponent();
- }
-
- if (cachedRigidbody != null)
- {
- // Collect agent velocity in local space for frame-independent observations
- sensor.AddObservation(transform.InverseTransformDirection(cachedRigidbody.linearVelocity));
- }
- else
- {
- // Fallback to zero velocity if no Rigidbody
- sensor.AddObservation(Vector3.zero);
- }
- }
-
- ///
- /// Generates heuristic actions for the agent when the Behavior Type is set to "Heuristic Only".
- ///
- /// This method serves as a fallback or testing mechanism, providing manually defined or random actions
- /// instead of using the trained neural network. It's responsible for:
- /// 1. Generating a random discrete action (high-level decision).
- /// 2. Generating random continuous actions for steering, acceleration, and braking.
- ///
- /// Action Breakdown:
- /// - Discrete Action:
- /// - Index 0: Random integer between 0 and 4 (inclusive)
- /// - Continuous Actions:
- /// - Index 0: Steering angle in radians (range: -45 to 45 degrees, converted to radians)
- /// - Index 1: Acceleration (range: 0.0 to 5.0)
- /// - Index 2: Braking (range: -5.0 to 0.0)
- ///
- /// Usage:
- /// - Automatically called by ML-Agents when Behavior Type is "Heuristic Only".
- /// - Useful for debugging, testing agent behavior, or providing a baseline performance.
- ///
- /// Note:
- /// - Ensure the action ranges here match those expected by OnActionReceived and the training configuration.
- /// - The random nature of actions may lead to erratic behavior - this is expected in heuristic mode.
- /// - Consider implementing more sophisticated heuristics for better baseline performance if needed.
- /// - Logging of actions may impact performance; consider using conditional logging for extensive testing.
- ///
- ///
- /// Buffer to store the generated actions. Contains both discrete and continuous action arrays.
- public override void Heuristic(in ActionBuffers actionsOut)
- {
- try
- {
- var discreteActions = actionsOut.DiscreteActions;
- discreteActions[0] = UnityEngine.Random.Range(0, 5);
-
- const float minAngleRad = -Mathf.PI / 4f;
- const float maxAngleRad = Mathf.PI / 4f;
-
- var continuousActions = actionsOut.ContinuousActions;
- continuousActions[0] = UnityEngine.Random.Range(minAngleRad, maxAngleRad); // Steering
- continuousActions[1] = UnityEngine.Random.Range(0.0f, 4.5f); // Acceleration
- continuousActions[2] = UnityEngine.Random.Range(-4.0f, 0.0f); // Braking
- }
- catch (System.Exception ex)
- {
- Debug.LogError($"Error in Heuristic method for agent {gameObject.name}: {ex.Message}");
- }
- }
-
- ///
- /// Processes and applies actions received from the machine learning model to the agent.
- ///
- /// This method is a key part of the ML-Agents reinforcement learning loop, responsible for:
- /// 1. Receiving action decisions from the trained model.
- /// 2. Processing both discrete (high-level) and continuous (low-level) actions.
- /// 3. Storing these actions for later use in agent behavior.
- ///
- /// Action Breakdown:
- /// - Discrete Actions: Stored in highLevelActions (currently using only the first discrete action).
- /// - Continuous Actions: Stored in lowLevelActions array (e.g., steering, acceleration, braking).
- ///
- /// Key Points:
- /// - Overrides the base OnActionReceived method from ML-Agents.
- /// - Logs received actions for debugging purposes.
- /// - Does not directly apply physical movements (commented out code suggests this was moved to FixedUpdate).
- ///
- /// Usage:
- /// This method is automatically called by the ML-Agents framework when new actions are decided.
- /// The stored actions should be used in physics update methods (like FixedUpdate) to control the agent.
- ///
- /// Note:
- /// - Ensure that the sizes of actionBuffers match the expected action space defined in your training configuration.
- /// - The commented-out movement code indicates a separation of decision-making and physics application, which is a good practice.
- /// - Consider adding validation or clamping of received actions if necessary.
- /// - Logging of actions may impact performance; consider using conditional logging for production.
- ///
- ///
- /// Contains the discrete and continuous actions decided by the ML model.
- public override void OnActionReceived(ActionBuffers actionBuffers)
- {
- // Process Discrete (High-Level) Actions
- highLevelActions = actionBuffers.DiscreteActions[0];
-
- // Process Continuous (Low-Level) Actions
- int lowLevelActionCount = actionBuffers.ContinuousActions.Length;
-
- for (int i = 0; i < lowLevelActionCount; i++)
- {
- lowLevelActions[i] = actionBuffers.ContinuousActions[i];
- }
- }
-
- ///
- /// Executes at a fixed time interval (default 0.02 seconds) for consistent updates, primarily used for debugging visualization.
- ///
- /// This method is responsible for:
- /// 1. Logging debug information at the start and end of each fixed update cycle.
- /// 2. Conditionally calling DrawDebugRays() for visual debugging when enabled.
- ///
- /// Key points:
- /// - Runs at a fixed time step, independent of frame rate.
- /// - Used for visualization purposes only; does not affect agent movement or physics.
- /// - Debug ray visualization is controlled by either local or TrafficManager debug flags.
- ///
- /// Visualization Control:
- /// - Local control: debugVisualization (boolean field in this class)
- /// - Global control: trafficManager.debugVisualization (if TrafficManager is available)
- ///
- /// Note:
- /// - FixedUpdate is ideal for physics-related code, though not used for that purpose here.
- /// - Ensure DrawDebugRays() is optimized, as it runs frequently when debugging is enabled.
- /// - Consider adding more debug visualizations here if needed, but be mindful of performance.
- /// - The commented explanation about Update() vs FixedUpdate() provides useful context for developers.
- ///
- ///
- private void FixedUpdate()
- {
- // Only draw debug rays if visualization is enabled
- if (debugVisualization || (trafficManager?.debugVisualization ?? false))
- {
- DrawDebugRays();
- }
- }
-
- ///
- /// Executes debugging operations every frame in the Unity Editor.
- ///
- /// This method is currently set up for potential debugging use, with its main functionality commented out.
- /// It's designed to run only in the Unity Editor environment, not in built applications.
- ///
- /// Current (Commented) Functionality:
- /// - Logs the rotation (in Euler angles) of the agent every frame.
- ///
- /// Usage:
- /// - Uncomment the Debug.Log line to activate rotation logging.
- /// - Add other debugging operations as needed for development and testing.
- ///
- /// Note:
- /// - This method runs every frame, so be cautious about performance impact when adding debug operations.
- /// - The #if UNITY_EDITOR directive ensures these debug operations only occur in the Unity Editor.
- /// - Consider using this method to visualize or log other important agent states or behaviors during development.
- /// - For extensive debugging, consider creating a separate debug mode toggle to avoid cluttering this method.
- ///
- ///
- void Update()
- {
- // Performance-critical update loop - avoid heavy operations here
- // Debug logging and expensive operations moved to conditional execution
- }
-
- public void SetRewardConfig()
- {
- this.offRoadPenalty = trafficManager.offRoadPenalty;
- this.onRoadReward = trafficManager.onRoadReward;
- this.collisionWithOtherAgentPenalty = trafficManager.collisionWithOtherAgentPenalty;
- this.medianCrossingPenalty = trafficManager.medianCrossingPenalty;
-
- this.penaltyInterval = trafficManager.penaltyInterval; // Interval in seconds between penalties
- this.lastPenaltyTime = trafficManager.medianCrossingPenalty; // Time when the last penalty was applied
- }
-
- ///
- /// Visualizes raycasts in the Unity scene view for debugging and development purposes.
- ///
- /// This method performs the following operations:
- /// 1. Validates the TrafficManager and agent's collider.
- /// 2. Calculates the starting position for raycasts using the agent's collider.
- /// 3. Casts multiple rays in a fan-like pattern in front of the agent.
- /// 4. Visualizes these rays in the scene view, with different colors for hits and misses.
- ///
- /// Key components:
- /// - trafficManager: Provides configuration for raycasting (angle, number of rays, ray length).
- /// - agentCollider: Used to determine the starting point of raycasts.
- /// - rayHitColor and rayMissColor: Colors used to visualize ray hits and misses respectively.
- ///
- /// Raycast Configuration:
- /// - Number of rays: Defined by trafficManager.numberOfRays
- /// - Total angle covered: trafficManager.raycastAngle
- /// - Ray length: trafficManager.rayLength
- ///
- /// Usage:
- /// Call this method in Update() or a similar frequent update loop when debugging is needed.
- /// Only visible in the Unity Editor's Scene view.
- ///
- /// Note:
- /// - Ensure TrafficManager is properly initialized and contains the agent's collider information.
- /// - This method is computationally expensive and should be used for debugging only.
- /// - Consider adding a debug flag to enable/disable this visualization easily.
- ///
- ///
- private void DrawDebugRays()
- {
- if (trafficManager == null || !trafficManager.agentColliders.ContainsKey(gameObject.name))
- {
- Debug.LogError("TrafficManager is null in DrawDebugRays");
- return;
- }
-
- Collider agentCollider = trafficManager.agentColliders[gameObject.name];
- if (agentCollider == null)
- {
- Debug.LogError("Agent Collider is null in DrawDebugRays");
- return;
- }
-
- Vector3 rayStart = GetRayStartPosition(agentCollider);
-
- float delta_angle = trafficManager.rayPerceptionSensor.MaxRayDegrees / (trafficManager.rayPerceptionSensor.RaysPerDirection - 1);
-
- for (int i = 0; i < trafficManager.rayPerceptionSensor.RaysPerDirection; i++)
- {
- float angle = delta_angle * i;
- Vector3 direction = transform.TransformDirection(Quaternion.Euler(0, angle - trafficManager.rayPerceptionSensor.MaxRayDegrees / 2, 0) * Vector3.forward);
-
- // Ray hit at a certain distance
- if (Physics.Raycast(rayStart, direction, out RaycastHit hit, trafficManager.rayPerceptionSensor.RayLength))
- {
- Debug.DrawRay(rayStart, direction * hit.distance, rayHitColor, 0.0f);
- }
- else // Ray did not hit
- {
- Debug.DrawRay(rayStart, direction * trafficManager.rayPerceptionSensor.RayLength, rayMissColor, 0.0f);
- }
- }
- }
-
- ///
- /// Calculates the starting position for raycasting from the top center of a Collider's bounding box.
- ///
- /// This helper method determines an optimal point to start raycasts from the given Collider:
- /// - Uses the center of the Collider's bounding box as a base.
- /// - Offsets the position upwards by half the height of the bounding box.
- ///
- /// Use cases:
- /// - Ideal for initiating raycasts for object detection or environment sensing.
- /// - Useful in scenarios like detecting overhead obstacles or performing top-down environment scans.
- ///
- /// Note:
- /// - The method assumes the Collider's up direction is aligned with the desired "up" for the raycast.
- /// - For non-uniform or rotated Colliders, consider additional adjustments if needed.
- /// - Ensure the Collider parameter is not null before calling this method.
- ///
- ///
- /// The Collider used to determine the raycast start position. Must not be null.
- /// A Vector3 representing the top-center point of the Collider's bounding box.
- private Vector3 GetRayStartPosition(Collider collider)
- {
- return collider.bounds.center + collider.transform.up * (collider.bounds.size.y / 2);
- }
-
- ///
- /// Handles the initial collision between the agent and other objects in the environment.
- ///
- /// This method is called once when the agent first collides with another Collider. It manages:
- /// 1. Collision Detection and Logging:
- /// - Logs detailed information about the collision for debugging purposes.
- /// - Specifically checks for collisions with objects tagged or layered as "RoadBoundary".
- /// 2. Collision-based Rewards/Penalties:
- /// - RoadBoundary: Applies offRoadPenalty for going off the designated path.
- /// - TrafficAgent: Applies collisionWithOtherAgentPenalty for colliding with other agents.
- /// - (Commented out) Default case: Can apply a small penalty for unspecified collisions.
- ///
- /// Key components:
- /// - offRoadPenalty: Penalty for leaving the road.
- /// - collisionWithOtherAgentPenalty: Penalty for colliding with other agents.
- /// - AddReward: Method assumed to be part of a reinforcement learning framework (e.g., ML-Agents).
- ///
- /// Usage:
- /// This method is automatically called by Unity's physics system when a collision begins.
- /// No manual invocation is needed.
- ///
- /// Note:
- /// - Ensure proper tagging and layer assignment of objects in the Unity editor.
- /// - The commented section suggests starting simple and focusing on rewarding results rather than actions.
- /// - Penalty values can be adjusted to fine-tune the agent's learning process.
- /// - Consider uncommenting and customizing the default case if needed for comprehensive collision handling.
- ///
- /// Contains information about the collision, including references to the colliding objects.
- private void OnCollisionEnter(Collision collision)
- {
- if (!IsValidCollision(collision))
- {
- return;
- }
-
- HandleCollisionReward(collision);
- }
-
- ///
- /// Validates collision object and logs collision details if debugging is enabled.
- ///
- private bool IsValidCollision(Collision collision)
- {
- if (collision.gameObject == null || string.IsNullOrEmpty(collision.gameObject.tag))
- {
- return false;
- }
-
- #if UNITY_EDITOR
- if (debugVisualization)
- {
- Debug.Log($"Collision detected with {collision.gameObject.name}, tag: {collision.gameObject.tag}, layer: {LayerMask.LayerToName(collision.gameObject.layer)}");
- }
- #endif
-
- return true;
- }
-
- ///
- /// Handles reward/penalty logic based on collision type.
- ///
- private void HandleCollisionReward(Collision collision)
- {
- switch (collision.gameObject.tag)
- {
- case "TrafficAgent":
- AddReward(collisionWithOtherAgentPenalty);
- LogConditionalDebug($"Collided with another agent! Penalty added: {collisionWithOtherAgentPenalty}");
- break;
-
- case "RoadBoundary":
- AddReward(offRoadPenalty);
- LogConditionalDebug($"Hit road boundary! Penalty added: {offRoadPenalty}");
- break;
-
- case "MedianBoundary":
- AddReward(medianCrossingPenalty);
- LogConditionalDebug($"Crossed the median! Penalty added: {medianCrossingPenalty}");
- break;
-
- default:
- AddReward(-0.01f);
- LogConditionalDebug("Unspecified collision! Small penalty added: -0.01");
- break;
- }
- }
-
- ///
- /// Logs debug message only when debugging is enabled.
- ///
- private void LogConditionalDebug(string message)
- {
- #if UNITY_EDITOR
- if (debugVisualization)
- {
- Debug.Log(message);
- }
- #endif
- }
-
- ///
- /// Handles continuous collision between the agent and other objects in the environment.
- ///
- /// This method is called every fixed frame-rate frame while a collision is ongoing. It manages:
- /// 1. Road Interaction:
- /// - Applies a small positive reward (0.01) when the agent is on the "Road" layer.
- /// - Encourages the agent to stay on the designated driving surface.
- /// 2. Off-Road Penalty:
- /// - Applies a larger negative reward (-0.1) when the agent is not on the "Road" layer.
- /// - Discourages the agent from leaving the designated driving area.
- ///
- /// Key components:
- /// - Road Layer: Used to identify the proper driving surface.
- /// - AddReward: Method assumed to be part of a reinforcement learning framework (e.g., ML-Agents).
- ///
- /// Usage:
- /// This method is automatically called by Unity's physics system during ongoing collisions.
- /// No manual invocation is needed.
- ///
- /// Note:
- /// - Ensure that road objects are assigned to the "Road" layer in the Unity editor.
- /// - The reward values (0.01 for on-road, -0.1 for off-road) can be adjusted to fine-tune
- /// the agent's behavior and learning process.
- /// - Continuous reward/penalty application can significantly impact the agent's learning,
- /// so careful balancing may be required.
- ///
- /// Contains information about the ongoing collision,
- /// including references to the colliding objects.
- private void OnCollisionStay(Collision collision)
- {
- LogDebug("TrafficAgent::OnCollisionStay started.");
-
- // Check if the agent is colliding with the road boundary or median boundary
- if (collision.gameObject.layer == roadBoundaryLayer)
- {
- // Reward for staying on the road (road surface)
- AddReward(offRoadPenalty);
- LogDebug("Agent rewarded for staying on the road.");
- }
- else if (collision.gameObject.layer == medianBoundaryLayer)
- {
- // Penalize for staying on the median boundary
- AddReward(medianCrossingPenalty);
- LogDebug("Agent penalized for staying on the median boundary.");
- }
- else
- {
- // Penalize for being off the road or any other unspecified collision
- AddReward(-0.1f);
- LogDebug("Agent penalized for being off-road or unspecified collision.");
- }
-
- LogDebug("TrafficAgent::OnCollisionStay completed successfully.");
- }
-
- ///
- /// Handles the event when the agent's Collider stops colliding with another Collider.
- ///
- /// This method specifically checks for the end of collisions with objects on the "Road" layer:
- /// - This can be used to detect when the agent has left the designated driving surface.
- ///
- ///
- /// Usage:
- /// This method is automatically called by Unity's physics system when a collision ends.
- /// No manual invocation is needed.
- ///
- /// Note:
- /// - Ensure that road objects are assigned to the "Road" layer in the Unity editor.
- /// - This method uses Unity's built-in layer system for efficient collision detection.
- ///
- /// Contains information about the collision that has ended,
- /// including references to the colliding objects.
- public void OnCollisionExit(Collision collision)
- {
- LogDebug("TrafficAgent::OnCollisionExit started.");
-
- // Check if the agent has left the road
- if (collision.gameObject.layer == roadBoundaryLayer)
- {
- // Reward for exiting the boundary (right/left boundary) and returning to the road
- AddReward(onRoadReward);
- LogDebug("Agent left the road boundary and returned to the road. Reward added.");
- }
- else if (collision.gameObject.layer == medianBoundaryLayer)
- {
- // Reward for exiting the median boundary
- AddReward(onRoadReward);
- LogDebug("Agent left the median boundary. Reward added.");
- }
- else
- {
- // Penalize for any other unspecified collision
- AddReward(-0.1f);
- LogDebug("Agent penalized for being off-road or unspecified collision.");
- }
-
- LogDebug("TrafficAgent::OnCollisionExit completed successfully.");
- }
-
- ///
- /// Handles the event when the agent's Collider first enters another Collider's trigger zone.
- ///
- /// This method specifically manages interactions with objects tagged as "RoadBoundary":
- /// - Applies an immediate penalty (offRoadPenalty) when the agent enters a road boundary area.
- /// - Logs detailed information about the triggered object for debugging purposes.
- ///
- /// Key components:
- /// - offRoadPenalty: The reward adjustment applied for entering off-road areas.
- /// - AddReward: Method assumed to be part of a reinforcement learning framework (e.g., ML-Agents).
- ///
- /// Usage:
- /// This method is automatically called by Unity's physics system when the agent's Collider
- /// enters a trigger Collider. No manual invocation is needed.
- ///
- /// Note:
- /// - Ensure that road boundary objects are properly tagged as "RoadBoundary" in the Unity editor.
- /// - The logging provides detailed information about the triggered object, which can be
- /// valuable for debugging and understanding the agent's interactions.
- /// - Adjust offRoadPenalty as needed to appropriately influence the agent's learning process.
- ///
- /// The Collider that the agent has entered. This Collider must be set as a trigger.
- private void OnTriggerEnter(Collider other)
- {
- LogDebug("TrafficAgent::OnTriggerEnter started.");
-
- LogDebug($"Trigger entered with {other.gameObject.name}, tag: {other.gameObject.tag}, layer: {LayerMask.LayerToName(other.gameObject.layer)}");
-
- // Check the tag of the object we triggered
- if (other.gameObject.CompareTag("RoadBoundary"))
- {
- // Penalize the agent for going off the road
- AddReward(offRoadPenalty);
- LogDebug($"Entered road boundary trigger! Penalty added: {offRoadPenalty}");
- }
-
- /*
- * This method is called when a collider enters the trigger zone of another collider set as a trigger.
- * Use cases:
- * - Detecting when an agent enters a specific area
- * - Activating events when an agent reaches a checkpoint
- * - Collecting items or power-ups
- */
- // Implementation here
- /*
- if (other.CompareTag("Agent"))
- {
- // Agent entered a checkpoint
- AddReward(1.0f);
- LogDebug("Agent reached checkpoint!");
- }
- else if (other.CompareTag("Collectible"))
- {
- // Agent collected an item
- AddReward(0.5f);
- Destroy(other.gameObject);
- LogDebug("Item collected!");
- }
- */
-
- LogDebug("TrafficAgent::OnTriggerEnter completed successfully.");
- }
-
- ///
- /// Handles continuous interaction between the agent's Collider and another Collider's trigger.
- ///
- /// This method is called every fixed frame-rate frame while the agent remains within a trigger zone.
- /// It specifically manages the agent's interaction with "RoadBoundary" tagged objects:
- ///
- /// - Applies a periodic penalty (offRoadPenalty) when the agent is within a road boundary area.
- /// - Uses a time-based interval (penaltyInterval) to control the frequency of penalty application.
- /// - Updates the lastPenaltyTime to track when the last penalty was applied.
- ///
- /// Key components:
- /// - offRoadPenalty: The reward adjustment applied for being off-road.
- /// - penaltyInterval: The minimum time between penalty applications.
- /// - lastPenaltyTime: Tracks the time of the last applied penalty.
- ///
- /// Usage:
- /// This method is automatically called by Unity's physics system. No manual invocation is needed.
- ///
- /// Note:
- /// - Ensure road boundary objects are tagged as "RoadBoundary" in the Unity editor.
- /// - The AddReward method is assumed to be part of a reinforcement learning framework (e.g., ML-Agents).
- /// - Adjust offRoadPenalty and penaltyInterval as needed for desired agent behavior.
- ///
- /// The Collider that the agent is continuously interacting with. This Collider must be set as a trigger.
- private void OnTriggerStay(Collider other)
- {
- LogDebug("TrafficAgent::OnTriggerStay started.");
-
- /*
- * This method is called every fixed frame-rate frame while a collider remains inside the trigger zone.
- * Use cases:
- * - Applying continuous effects while an agent is in an area
- * - Monitoring time spent in a specific zone
- * - Gradually increasing or decreasing a value based on presence in an area
- */
- // Implementation here
- if (other.gameObject.CompareTag("RoadBoundary"))
- {
- // Check if enough time has passed since the last penalty
- if (Time.time - lastPenaltyTime >= penaltyInterval)
- {
- // Apply the penalty
- AddReward(offRoadPenalty);
- lastPenaltyTime = Time.time;
-
- LogDebug($"Staying in road boundary! Penalty added: {offRoadPenalty}");
- }
- }
-
- LogDebug("TrafficAgent::OnTriggerStay completed successfully.");
- }
-
- ///
- /// Handles the event when the agent's Collider stops touching another Collider's trigger.
- ///
- /// This method specifically checks for interactions with objects tagged as "RoadBoundary":
- /// - When the agent exits a road boundary area, it resets the lastPenaltyTime to 0.
- /// - This reset allows for new penalties to be applied if the agent re-enters a boundary area.
- ///
- /// Usage:
- /// This method is automatically called by Unity's physics system when the
- /// agent's Collider exits a trigger Collider. No manual invocation is needed.
- ///
- /// Note:
- /// - Ensure that road boundary objects are properly tagged as "RoadBoundary" in the Unity editor.
- /// - The lastPenaltyTime variable should be defined elsewhere in the class.
- ///
- /// The Collider that the agent has stopped touching. This Collider must be set as a trigger.
- private void OnTriggerExit(Collider other)
- {
- LogDebug("TrafficAgent::OnTriggerExit started.");
-
- /*
- * This method is called when a collider exits the trigger zone.
- * Use cases:
- * - Deactivating effects when an agent leaves an area
- * - Applying final rewards or penalties for leaving a zone
- * - Resetting states or counters when an agent exits an area
- */
- // Implementation here
- if (other.gameObject.CompareTag("RoadBoundary"))
- {
- // Reset the last penalty time
- lastPenaltyTime = 0f;
-
- LogDebug("Exited road boundary area");
- }
-
- LogDebug("TrafficAgent::OnTriggerExit completed successfully.");
- }
-
- ///
- /// Generates random values for the agent's low-level actions within predefined ranges.
- ///
- /// This method sets three action values in the lowLevelActions array:
- /// 1. Index 0 - Steering angle: Range [-0.785398, 0.785398] radians (approximately ±45 degrees)
- /// 2. Index 1 - Acceleration: Range [0.0, 5.0]
- /// 3. Index 2 - Braking: Range [-5.0, 0.0]
- ///
- /// These randomized values can be used to:
- /// - Initialize the agent's actions at the start of an episode
- /// - Generate exploratory actions during training
- /// - Create diverse scenarios for testing or simulation
- ///
- /// Note: The ranges are hardcoded and may need adjustment based on the specific
- /// requirements of the traffic simulation or learning task.
- ///
- void GetRandomActions()
- {
- LogDebug("TrafficAgent::GetRandomActions started.");
-
- // Randomize the high-level action
- highLevelActions = Random.Range(0, 5); // Range is [0, 5)
-
- float minAngleRad = -Mathf.PI / 4f; // -45 degrees in radians (-0.785398...)
- float maxAngleRad = Mathf.PI / 4f; // 45 degrees in radians (0.785398...)
-
- // Randomize the low-level actions
- lowLevelActions[0] = UnityEngine.Random.Range(minAngleRad, maxAngleRad); // Default value for steering
- lowLevelActions[1] = UnityEngine.Random.Range(0.0f, 5.0f); // Default value for acceleration
- lowLevelActions[2] = UnityEngine.Random.Range(-5.0f, 0.0f); // Default value for braking
-
- LogDebug("TrafficAgent::GetRandomActions completed successfully.");
- }
-
- ///
- /// Logs a debug message to the Unity console, but only when running in the Unity Editor.
- /// This method provides a centralized and controlled way to output debug information.
- ///
- /// The method performs the following action:
- /// 1. If running in the Unity Editor, logs the provided message using Unity's Debug.Log
- ///
- /// Key aspects of this method:
- /// - Uses conditional compilation to ensure debug logs only appear in the Unity Editor
- /// - Centralizes debug logging, making it easier to manage and control debug output
- /// - Helps prevent debug logs from affecting performance in builds
- ///
- /// This method is useful for:
- /// - Debugging and development purposes within the Unity Editor
- /// - Providing insights into the simulation's behavior during development
- /// - Allowing for easy enabling/disabling of debug logs across the entire project
- ///
- /// Usage:
- /// - Call this method instead of Debug.Log directly throughout the codebase
- /// - Ideal for temporary debugging or for logging non-critical information
- ///
- /// Considerations:
- /// - Debug messages will not appear in builds, ensuring clean release versions
- /// - Using this method allows for easy future expansion of logging functionality
- /// - Consider adding log levels or additional conditionals if more complex logging is needed
- ///
- /// Developers should be aware that:
- /// - Overuse of logging can impact editor performance during play mode
- /// - This method should not be used for logging critical errors that need to be visible in builds
- /// - It's a good practice to remove or comment out unnecessary debug logs before final release
- ///
- /// Note: While this method provides a convenient way to add debug logs, it's important to use
- /// logging judiciously to maintain code readability and performance, especially in frequently
- /// called methods or performance-critical sections of code.
- ///
- /// The debug message to be logged
- private void LogDebug(string message)
- {
- #if UNITY_EDITOR
- Debug.Log(message);
- #endif
- }
-
- ///
- /// Appends a debug message to a log file in the application's data directory.
- ///
- /// This method:
- /// 1. Constructs the full path to the log file named "debug_log.txt" in the application's data folder.
- /// 2. Appends the provided message to the file, followed by a newline character.
- ///
- /// Usage:
- /// LogToFile("Debug message here");
- ///
- /// Note: This method will create the file if it doesn't exist, or append to it if it does.
- /// Be aware that frequent writes to disk may impact performance in a production environment.
- ///
- ///
- /// The debug message to be logged to the file.
- private void LogToFile(string message)
- {
- string path = Application.dataPath + "/debug_log.txt";
- System.IO.File.AppendAllText(path, message + "\n");
- }
-}
diff --git a/Assets/Scripts/TrafficAgent.cs.meta b/Assets/Scripts/TrafficAgent.cs.meta
deleted file mode 100644
index 0f03b885..00000000
--- a/Assets/Scripts/TrafficAgent.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 5b50f41092d7c480d8276fdb497fce2b
-MonoImporter:
- externalObjects: {}
- serializedVersion: 2
- defaultReferences: []
- executionOrder: 0
- icon: {instanceID: 0}
- userData:
- assetBundleName:
- assetBundleVariant:
diff --git a/Assets/Scripts/TrafficAgentSafe.cs b/Assets/Scripts/TrafficAgentSafe.cs
new file mode 100644
index 00000000..9dabd9e0
--- /dev/null
+++ b/Assets/Scripts/TrafficAgentSafe.cs
@@ -0,0 +1,331 @@
+using System;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Actuators;
+
+// P/Invoke-free TrafficAgent that works with TrafficManagerSafe
+public class TrafficAgentSafe : MonoBehaviour
+{
+ [Header("Agent Properties")]
+ public int agentId = -1;
+ public float moveSpeed = 5f;
+ public float rotationSpeed = 90f;
+
+ [Header("Debug Visualization")]
+ public bool showDebugInfo = true;
+ public Color agentColor = Color.red;
+
+ private TrafficManagerSafe trafficManager;
+ private Vector3 targetPosition;
+ private Vector3 velocity;
+ private float yawAngle = 0f;
+
+ // Simulation state management
+ private bool useSimulationState = false;
+ private Vector3 simulationPosition;
+ private Vector3 simulationVelocity;
+ private float simulationYaw;
+
+ // Simple movement pattern for demonstration (fallback when no simulation)
+ private float timeOffset;
+ private float moveRadius = 15f;
+ private Vector3 centerPoint;
+
+ public void Initialize(int id, TrafficManagerSafe manager)
+ {
+ agentId = id;
+ trafficManager = manager;
+ timeOffset = id * 2f; // Offset each agent's movement pattern
+ centerPoint = transform.position;
+
+ // Set initial target position
+ targetPosition = transform.position;
+
+ Debug.Log($"TrafficAgentSafe: Agent {agentId} initialized at {transform.position}");
+ }
+
+ void Start()
+ {
+ if (agentId >= 0)
+ {
+ // Apply unique color based on agent ID
+ ApplyAgentColor();
+
+ // Start with a simple circular movement pattern
+ InitializeMovementPattern();
+ }
+ }
+
+ private void ApplyAgentColor()
+ {
+ Renderer renderer = GetComponent();
+ if (renderer != null)
+ {
+ Material material = renderer.material;
+ float hue = (float)agentId / (trafficManager != null ? trafficManager.numberOfAgents : 10f);
+ agentColor = Color.HSVToRGB(hue, 0.8f, 0.9f);
+ material.color = agentColor;
+ }
+ }
+
+ private void InitializeMovementPattern()
+ {
+ // Get a random target position on the road network
+ centerPoint = transform.position;
+
+ // Get a random road position for the target
+ targetPosition = GetRandomRoadTarget();
+
+ Debug.Log($"TrafficAgentSafe: Agent {agentId} movement initialized - center: {centerPoint}, target: {targetPosition}");
+ }
+
+ public void UpdateAgent(float deltaTime)
+ {
+ if (agentId < 0) return;
+
+ if (useSimulationState)
+ {
+ // Use state from C++ traffic simulation
+ ApplySimulationState();
+ }
+ else
+ {
+ // Wait for simulation state - no fallback movement
+ Debug.LogWarning($"TrafficAgentSafe {agentId}: No simulation state received yet");
+ }
+ }
+
+ private void UpdateMovementPattern(float deltaTime)
+ {
+ // Check if close to current target, then pick a new road target
+ float distanceToTarget = Vector3.Distance(transform.position, targetPosition);
+ if (distanceToTarget < 2.0f) // When within 2 meters of target
+ {
+ targetPosition = GetRandomRoadTarget();
+ Debug.Log($"TrafficAgentSafe {agentId}: New target selected at {targetPosition}");
+ }
+ }
+
+ private Vector3 GetRandomRoadTarget()
+ {
+ // Try to get a random road position from the traffic manager's plugin bridge
+ if (trafficManager != null)
+ {
+ UnityPluginBridge pluginBridge = trafficManager.GetPluginBridge();
+ if (pluginBridge != null)
+ {
+ // Generate a new random road position using the spawn system
+ // This reuses the same logic that creates valid road spawn points
+ Vector3 newTarget = pluginBridge.GetRandomRoadPosition();
+ if (newTarget != Vector3.zero)
+ {
+ return newTarget;
+ }
+ }
+ }
+
+ // Fallback: stay near current position if road system unavailable
+ Vector3 fallbackOffset = new Vector3(
+ UnityEngine.Random.Range(-10f, 10f),
+ 0f,
+ UnityEngine.Random.Range(-10f, 10f)
+ );
+ return transform.position + fallbackOffset;
+ }
+
+ private void MoveTowardsTarget(float deltaTime)
+ {
+ Vector3 direction = (targetPosition - transform.position).normalized;
+ velocity = direction * moveSpeed;
+
+ // Apply movement
+ transform.position += velocity * deltaTime;
+
+ // Keep agents at a reasonable height
+ Vector3 pos = transform.position;
+ pos.y = Mathf.Max(pos.y, 0.5f);
+ transform.position = pos;
+ }
+
+ private void UpdateRotation(float deltaTime)
+ {
+ if (velocity.magnitude > 0.1f)
+ {
+ // Calculate target rotation based on velocity
+ float targetYaw = Mathf.Atan2(velocity.x, velocity.z) * Mathf.Rad2Deg;
+
+ // Smoothly rotate towards target
+ float yawDifference = Mathf.DeltaAngle(yawAngle, targetYaw);
+ float maxRotation = rotationSpeed * deltaTime;
+
+ if (Mathf.Abs(yawDifference) > maxRotation)
+ {
+ yawAngle += Mathf.Sign(yawDifference) * maxRotation;
+ }
+ else
+ {
+ yawAngle = targetYaw;
+ }
+
+ // Apply rotation
+ transform.rotation = Quaternion.Euler(0, yawAngle, 0);
+ }
+ }
+
+ void OnDrawGizmos()
+ {
+ if (!showDebugInfo || agentId < 0) return;
+
+ // Draw agent info
+ Gizmos.color = agentColor;
+
+ // Draw current position
+ Gizmos.DrawWireSphere(transform.position, 1f);
+
+ // Draw target position
+ Gizmos.color = Color.yellow;
+ Gizmos.DrawWireSphere(targetPosition, 0.5f);
+
+ // Draw movement path
+ Gizmos.color = Color.green;
+ Gizmos.DrawLine(transform.position, targetPosition);
+
+ // Draw velocity vector
+ if (velocity.magnitude > 0.1f)
+ {
+ Gizmos.color = Color.blue;
+ Gizmos.DrawRay(transform.position, velocity.normalized * 3f);
+ }
+
+ // Draw center point and movement radius
+ Gizmos.color = Color.gray;
+ Gizmos.DrawWireSphere(centerPoint, moveRadius);
+ }
+
+ void OnDrawGizmosSelected()
+ {
+ if (!showDebugInfo || agentId < 0) return;
+
+ // Draw detailed debug info when selected
+ Gizmos.color = Color.white;
+
+ // Draw agent ID
+ Vector3 labelPos = transform.position + Vector3.up * 3f;
+
+#if UNITY_EDITOR
+ UnityEditor.Handles.Label(labelPos, $"Agent {agentId}");
+ UnityEditor.Handles.Label(labelPos + Vector3.down * 0.5f, $"Speed: {velocity.magnitude:F1}");
+ UnityEditor.Handles.Label(labelPos + Vector3.down * 1f, $"Yaw: {yawAngle:F1}°");
+#endif
+ }
+
+ // Get agent state information
+ public Vector3 GetPosition() { return transform.position; }
+ public Vector3 GetVelocity() { return velocity; }
+ public float GetYaw() { return yawAngle; }
+ public int GetAgentId() { return agentId; }
+
+ // Set agent properties
+ public void SetPosition(Vector3 position)
+ {
+ transform.position = position;
+ centerPoint = position; // Update movement center
+ }
+
+ public void SetVelocity(Vector3 vel)
+ {
+ velocity = vel;
+ }
+
+ public void SetYaw(float yaw)
+ {
+ yawAngle = yaw;
+ transform.rotation = Quaternion.Euler(0, yaw, 0);
+ }
+
+ public void SetMoveRadius(float radius)
+ {
+ moveRadius = Mathf.Max(radius, 1f);
+ }
+
+ public void SetCenterPoint(Vector3 center)
+ {
+ centerPoint = center;
+ }
+
+ // Simulation state methods
+ public void SetSimulationState(Vector3 position, Vector3 velocity, float yaw)
+ {
+ simulationPosition = position;
+ simulationVelocity = velocity;
+ simulationYaw = yaw;
+ useSimulationState = true;
+
+ Debug.Log($"TrafficAgentSafe {agentId}: Using C++ simulation state - Pos={position}, Vel={velocity}, Yaw={yaw:F1}°");
+ }
+
+ private void ApplySimulationState()
+ {
+ // Apply position from C++ simulation
+ Vector3 oldPosition = transform.position;
+ transform.position = simulationPosition;
+
+ // Update local velocity tracking
+ velocity = simulationVelocity;
+
+ // Apply rotation from C++ simulation
+ yawAngle = simulationYaw;
+ transform.rotation = Quaternion.Euler(0, yawAngle, 0);
+
+ // Keep agents at reasonable height
+ // Check if this is a vehicle prefab or a cube
+ Vector3 pos = transform.position;
+ bool isVehiclePrefab = GetComponent() == null || GetComponent().mesh.name != "Cube";
+
+ if (isVehiclePrefab)
+ {
+ // Vehicle prefabs should stay at ground level
+ pos.y = Mathf.Max(pos.y, 0f);
+ }
+ else
+ {
+ // Cubes need to be slightly raised
+ pos.y = Mathf.Max(pos.y, 0.5f);
+ }
+ transform.position = pos;
+
+ // Debug: Log actual transform update (very sensitive threshold)
+ if (Vector3.Distance(oldPosition, transform.position) > 0.001f)
+ {
+ Debug.Log($"TrafficAgentSafe {agentId}: Transform updated from {oldPosition} to {transform.position}");
+ }
+ else if (Time.frameCount % 60 == 0) // Log every 60 frames even if no movement
+ {
+ Debug.Log($"TrafficAgentSafe {agentId}: No transform movement - Old: {oldPosition}, Sim: {simulationPosition}, Final: {transform.position}");
+ }
+ }
+
+ // Logging methods
+ public void LogAgentState()
+ {
+ Debug.Log($"TrafficAgentSafe {agentId}: Pos={transform.position}, Vel={velocity}, Yaw={yawAngle:F1}°, Target={targetPosition}");
+ }
+
+ // ML-Agents Integration Methods
+ public void InitializeMLAgents()
+ {
+ var mlAgent = GetComponent();
+ if (mlAgent != null)
+ {
+ // ML-Agent will handle its own initialization
+ Debug.Log($"TrafficAgentSafe {agentId}: ML-Agents component found and will be used for observations/actions");
+ }
+ }
+
+ // Provide current traffic simulation state to ML-Agents if needed
+ public Vector3 GetCurrentVelocity() { return velocity; }
+ public float GetCurrentYaw() { return yawAngle; }
+ public Vector3 GetTargetPosition() { return targetPosition; }
+ public bool IsUsingSimulationState() { return useSimulationState; }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/TrafficAgentSafe.cs.meta b/Assets/Scripts/TrafficAgentSafe.cs.meta
new file mode 100644
index 00000000..d825e832
--- /dev/null
+++ b/Assets/Scripts/TrafficAgentSafe.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 9e0046be1480a46feb5a58f1a97abd0b
\ No newline at end of file
diff --git a/Assets/Scripts/TrafficManager.cs b/Assets/Scripts/TrafficManager.cs
deleted file mode 100644
index aedf2b66..00000000
--- a/Assets/Scripts/TrafficManager.cs
+++ /dev/null
@@ -1,2419 +0,0 @@
-using System; // IntPtr
-using System.Linq;
-using System.Collections.Generic;
-using System.Runtime.InteropServices;
-
-using UnityEngine;
-
-using Unity.MLAgents;
-using Unity.MLAgents.Sensors;
-using Unity.MLAgents.Actuators;
-using Unity.MLAgents.SideChannels; // to use FloatPropertiesChannel
-
-using CustomSideChannel; // to use FieldValueChannel
-
-
-// Responsible for stepping the traffic simulation and updating all agents
-public class TrafficManager : MonoBehaviour
-{
- // Constants
- private const string DllName = "ReplicantDriveSim";
-
-
- // Serialized Fields for Unity Editor (Unity Inspector variables)
- [SerializeField] private GameObject agentPrefab; // e.g., NISSAN-GTR)
-
- [SerializeField] private float simTimeStep = 0.04f;
- [SerializeField] private int initialAgentCount = 3;
-
- [SerializeField] public float maxSpeed = 1.0f; //60.0f;
- [SerializeField] private uint seed = 42;
-
- // Public Properties
- [SerializeField] public bool debugVisualization = false;
-
- [SerializeField] public int MaxSteps = 2000;
-
- //[HideInInspector] public float MoveSpeed { get; set; } = 5f;
- //[HideInInspector] public float RotationSpeed { get; set; } = 100f;
- [HideInInspector] public float AngleStep { get; private set; }
-
- [HideInInspector] public string TrafficAgentLayerName { get; set; } = "TrafficAgent";
- [HideInInspector] public RayPerceptionSensorComponent3D rayPerceptionSensor;
- [SerializeField] public bool includeRayCastObservation = true; // Flag to enable/disable raycast observations
-
- // Reward Settings
- [SerializeField] public float offRoadPenalty = -0.5f;
- [SerializeField] public float onRoadReward = 0.01f;
- [SerializeField] public float collisionWithOtherAgentPenalty = -1.0f;
- [SerializeField] public float medianCrossingPenalty = -1.0f;
- [SerializeField] public float penaltyInterval = 0.5f; // Interval in seconds between penalties
- [SerializeField] public float lastPenaltyTime = 0f; // Time when the last penalty was applied
-
- // Public Fields
- public IntPtr trafficSimulationPtr;
- public Dictionary agentInstances = new Dictionary();
- public Dictionary agentColliders = new Dictionary();
-
- // Private Fields
- private IntPtr agentPositionsMap;
- private IntPtr agentVelocitiesMap;
- private IntPtr agentOrientationsMap;
- private IntPtr agentPreviousPositionsMap;
- private List highLevelActions;
- private List lowLevelActions;
- private FloatPropertiesChannel floatPropertiesChannel;
- private FieldValueChannel sideChannel;
- private AgentStateCache agentStateCache;
- private bool isDisposed = false;
- private bool hasCleanedUp = false;
-
- // DllImport Declarations
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern IntPtr Traffic_create(int num_agents, uint seed);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern void Traffic_destroy(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_sampleAndInitializeAgents(IntPtr traffic);
-
- // Note: Below SizeParamIndex is set 4, since it's the 4th parameter,
- // int low_level_actions_count, is the one that contains the size of the low_level_actions array.
- // This information is used by the .NET runtime to properly marshal the float[] array from the managed C# code to the unmanaged C++ code.
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern IntPtr Traffic_step(IntPtr traffic,
- [In] int[] high_level_actions,
- int high_level_actions_count,
- [In, MarshalAs(UnmanagedType.LPArray, SizeParamIndex = 4)] float[] low_level_actions,
- int low_level_actions_count);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_get_agent_positions(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_get_agent_velocities(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_get_agent_orientations(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_get_previous_positions(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_get_agents(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr Traffic_get_agent_by_name(IntPtr traffic, string name);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void Vehicle_setX(IntPtr vehicle, float x);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern float Vehicle_getX(IntPtr vehicle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void Vehicle_setY(IntPtr vehicle, float y);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern float Vehicle_getY(IntPtr vehicle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void Vehicle_setZ(IntPtr vehicle, float z);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern float Vehicle_getZ(IntPtr vehicle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern float Vehicle_getSteering(IntPtr vehicle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern float Vehicle_getYaw(IntPtr vehicle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern int Vehicle_getId(IntPtr vehicle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void Vehicle_setSteering(IntPtr vehicle, float angle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void Vehicle_setYaw(IntPtr vehicle, float angle);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr VehiclePtrVector_get(IntPtr vector, int index);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern int VehiclePtrVector_size(IntPtr vector);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern int StringFloatVectorMap_size(IntPtr map);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr StringFloatVectorMap_get_key(IntPtr map, int index);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern IntPtr StringFloatVectorMap_get_value(IntPtr map, IntPtr key);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void StringFloatVectorMap_destroy(IntPtr map);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern int FloatVector_size(IntPtr vector);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern float FloatVector_get(IntPtr vector, int index);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void FloatVector_destroy(IntPtr vector);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- public static extern void FreeString(IntPtr str);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern float Traffic_getTimeStep(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern void Traffic_setTimeStep(IntPtr traffic, float simTimeStep);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern float Traffic_getMaxVehicleSpeed(IntPtr traffic);
-
- [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
- private static extern void Traffic_setMaxVehicleSpeed(IntPtr traffic, float maxSpeed);
-
- ///
- /// Initializes the TrafficManager component when the script instance is being loaded.
- /// This method is called only once during the lifetime of the script instance.
- /// It performs the following tasks:
- /// 1. Validates the agent prefab
- /// 2. Initializes fields
- /// 3. Sets up the float properties channel
- /// Debug logs are included in the Unity Editor for tracking the execution process.
- ///
- private void Awake()
- {
- LogDebug("TrafficManager::Awake started.");
-
- if (!ValidateAgentPrefab())
- {
- return;
- }
-
- InitializeFields();
- SetupFloatPropertiesChannel();
-
- LogDebug("TrafficManager::Awake completed successfully.");
- }
-
- ///
- /// Validates the agent prefab to ensure it meets the required criteria.
- /// This method performs the following checks:
- /// 1. Verifies that the agentPrefab is assigned
- /// 2. Checks if the agentPrefab has the necessary TrafficAgent component
- ///
- /// If any validation fails, it logs an error message, disables the component,
- /// and returns false. Otherwise, it returns true.
- ///
- /// Returns:
- /// bool: True if the agent prefab is valid, false otherwise.
- ///
- private bool ValidateAgentPrefab()
- {
- if (agentPrefab == null)
- {
- Debug.LogError("Agent prefab is not assigned. Please assign it in the inspector.");
- enabled = false;
- return false;
- }
-
- // Validate that the prefab has necessary components
- if (!agentPrefab.GetComponent())
- {
- Debug.LogError("Agent prefab does not have a TrafficAgent component. Please add one.");
- enabled = false;
- return false;
- }
-
- return true;
- }
-
- ///
- /// Initializes various fields used by the TrafficManager.
- /// This method performs the following tasks:
- /// 1. Initializes the highLevelActions list
- /// 2. Initializes the lowLevelActions list
- ///
- /// This method should be called during the setup phase, typically in the Awake() method.
- ///
- private void InitializeFields()
- {
- highLevelActions = new List();
- lowLevelActions = new List();
- agentStateCache = new AgentStateCache();
- }
-
- ///
- /// Sets up the FloatPropertiesChannel for communication with the ML-Agents training environment.
- /// This method performs the following tasks:
- /// 1. Creates a new FloatPropertiesChannel with a specific GUID
- /// 2. Registers the channel with the SideChannelManager
- /// 3. Subscribes to the "initialAgentCount" property change event
- ///
- /// Note: The method includes commented-out code for getting the initialAgentCount
- /// from environment parameters, which may be used in future implementations.
- ///
- /// This method is crucial for enabling runtime parameter adjustments and
- /// should be called during the initialization phase, typically in the Awake() method.
- ///
- private void SetupFloatPropertiesChannel()
- {
- LogDebug("TrafficManager::SetupFloatPropertiesChannel started");
-
- // Create the FloatPropertiesChannel
- Guid floatPropertiesChannelGuid = new Guid("621f0a70-4f87-11ea-a6bf-784f4387d1f7");
-
- // Create the float properties channel
- floatPropertiesChannel = new FloatPropertiesChannel(floatPropertiesChannelGuid);
-
- // Register the channel
- SideChannelManager.RegisterSideChannel(floatPropertiesChannel);
-
- // Subscribe to the MaxSteps envet
- floatPropertiesChannel.RegisterCallback("MaxSteps", MaxEpisodeSteps);
-
- // Inject a custom Guid at instantiation or use the default one
- Guid sideChannelGuid = new Guid("621f0a70-4f87-11ea-a6bf-784f4387d1f8");
-
- // Create the FieldValueChannel
- sideChannel = new FieldValueChannel(sideChannelGuid);
- SideChannelManager.RegisterSideChannel(sideChannel);
-
- // Sending a field value (e.g., current FPS)
- sideChannel.SendFieldValue("FramesPerSecond", 1.0f / simTimeStep);
-
- // Get the environment parameters from the Academy
- var envParameters = Academy.Instance.EnvironmentParameters;
-
- // Get the initialAgentCount parameter from the environment parameters
- initialAgentCount = Mathf.RoundToInt(envParameters.GetWithDefault("initialAgentCount", initialAgentCount));
-
- // Retrieve reward-related parameters from the environment configuration
- offRoadPenalty = envParameters.GetWithDefault("offRoadPenalty", offRoadPenalty);
- onRoadReward = envParameters.GetWithDefault("onRoadReward", onRoadReward);
- collisionWithOtherAgentPenalty = envParameters.GetWithDefault("collisionWithOtherAgentPenalty", collisionWithOtherAgentPenalty);
- medianCrossingPenalty = envParameters.GetWithDefault("medianCrossingPenalty", medianCrossingPenalty);
-
- LogDebug("TrafficManager::SetupFloatPropertiesChannel completed");
- }
-
- ///
- /// Initializes the traffic simulation by creating a new instance using the C API.
- /// This method performs the following tasks:
- /// 1. Calls the Traffic_create function from the C API to create a new traffic simulation
- /// 2. Stores the returned pointer to the traffic simulation
- /// 3. Throws an exception if the creation fails (pointer is null)
- /// 4. Updates the agent maps after successful creation
- ///
- /// Debug logs are included in the Unity Editor for tracking the execution process.
- ///
- /// This method is crucial for setting up the core traffic simulation and should be
- /// called during the initialization phase of the TrafficManager.
- ///
- /// Throws:
- /// InvalidOperationException: If the traffic simulation creation fails.
- ///
- private void InitializeTrafficSimulation()
- {
- LogDebug("TrafficManager::InitializeTrafficSimulation started");
- LogDebug("Attempting to create traffic simulation.");
-
- // Assuming you have a reference to the Traffic_create and Traffic_destroy functions from the C API
- trafficSimulationPtr = CreateSimulation();
-
- // Set initial values from Unity Editor to the C++ simulation
- Traffic_setTimeStep(trafficSimulationPtr, simTimeStep);
- Traffic_setMaxVehicleSpeed(trafficSimulationPtr, maxSpeed);
-
- GetSimulationData();
- }
-
- ///
- /// Clears all existing agent instances from the scene and internal data structures.
- /// This method performs the following tasks:
- /// 1. Iterates through all agent instances in the agentInstances dictionary
- /// 2. Destroys the GameObject of each agent if it exists
- /// 3. Clears the agentInstances dictionary
- /// 4. Clears the agentColliders dictionary
- ///
- /// This method is typically called before reinitializing the traffic simulation
- /// or when resetting the TrafficManager to ensure a clean slate.
- /// It helps prevent duplicate agents and ensures proper cleanup of resources.
- ///
- /// Note: This method assumes that agent GameObjects are the direct parents of any
- /// child objects that need to be destroyed along with the agent.
- ///
- private void ClearExistingAgents()
- {
- LogDebug("TrafficManager::ClearExistingAgents started");
-
- // Clear existing agents before initializing
- foreach (var agent in agentInstances.Values)
- {
- if (agent != null && agent.gameObject != null)
- {
- Destroy(agent.gameObject);
- }
- }
- agentInstances.Clear();
- agentColliders.Clear();
- agentStateCache?.InvalidateAll();
- }
-
- ///
- /// Logs the results of agent initialization for debugging purposes.
- /// This method outputs the following information to the Unity console:
- /// 1. The total number of agent instances created
- /// 2. The total number of collider boxes associated with agents
- ///
- /// These log messages are only displayed in the Unity Editor, not in builds.
- /// This method is useful for verifying that the correct number of agents
- /// and colliders have been initialized, helping to catch potential issues
- /// early in the development process.
- ///
- /// Typically called after agent initialization or reset operations.
- ///
- private void LogAgentInitializationResults()
- {
- LogDebug($"Number of agents: {agentInstances.Count}");
- LogDebug($"Number of collider boxes: {agentColliders.Count}");
- }
-
- ///
- /// Retrieves the agent ID as a string for a given index from the agentPositionsMap.
- /// This method uses the C API to access the key (agent ID) from the StringFloatVectorMap.
- ///
- /// The method performs the following steps:
- /// 1. Calls StringFloatVectorMap_get_key to get a pointer to the agent ID string
- /// 2. Checks if the returned pointer is valid
- /// 3. Converts the pointer to a managed string using Marshal.PtrToStringAnsi
- ///
- /// This method is crucial for maintaining the link between the C++ simulation
- /// and the Unity representation of agents.
- ///
- ///
- /// The index of the agent in the agentPositionsMap
- /// The agent ID as a string
- /// Thrown if the agent ID retrieval fails
- private string GetAgentId(int index)
- {
- IntPtr agentIdPtr = StringFloatVectorMap_get_key(agentPositionsMap, index);
- if (agentIdPtr == IntPtr.Zero)
- {
- throw new InvalidOperationException($"Failed to get agent ID for index {index}");
- }
- return Marshal.PtrToStringAnsi(agentIdPtr);
- }
-
- ///
- /// Retrieves the current position of an agent as a Vector3 based on its ID.
- /// This method interfaces with the C++ simulation data through the C API.
- ///
- /// The method performs the following steps:
- /// 1. Converts the agent ID to an unmanaged string pointer
- /// 2. Retrieves the position data from the agentPositionsMap using the C API
- /// 3. Converts the retrieved float vector to a Unity Vector3
- /// 4. Ensures proper cleanup of unmanaged resources
- ///
- /// This method is essential for updating the Unity representation of agents
- /// with their current positions from the simulation.
- ///
- ///
- /// The unique identifier of the agent
- /// A Vector3 representing the agent's current position
- /// Thrown if the position retrieval fails
- private Vector3 GetAgentPosition(string agentId)
- {
- return agentStateCache.GetAgentPosition(agentId, GetAgentPositionFromNative);
- }
-
- ///
- /// Retrieves agent position directly from native simulation (uncached).
- /// Used by the cache when fresh data is needed.
- ///
- private Vector3 GetAgentPositionFromNative(string agentId)
- {
- IntPtr agentIdPtr = Marshal.StringToHGlobalAnsi(agentId);
- try
- {
- IntPtr positionPtr = StringFloatVectorMap_get_value(agentPositionsMap, agentIdPtr);
-
- if (positionPtr == IntPtr.Zero)
- {
- throw new InvalidOperationException($"Failed to get position for agent {agentId}");
- }
- return GetVector3FromFloatVector(positionPtr);
- }
- finally
- {
- Marshal.FreeHGlobal(agentIdPtr);
- }
- }
-
- ///
- /// Retrieves the current rotation of an agent as a Quaternion based on its ID.
- /// This method interfaces with the C++ simulation data through the C API.
- ///
- /// The method performs the following steps:
- /// 1. Converts the agent ID to an unmanaged string pointer
- /// 2. Retrieves the orientation data from the agentOrientationsMap using the C API
- /// 3. Converts the retrieved float vector to a Unity Quaternion
- /// 4. Ensures proper cleanup of unmanaged resources
- ///
- /// This method is crucial for updating the Unity representation of agents
- /// with their current rotations from the simulation, ensuring visual accuracy.
- ///
- ///
- /// The unique identifier of the agent
- /// A Quaternion representing the agent's current rotation
- /// Thrown if the orientation retrieval fails
- private Quaternion GetAgentRotation(string agentId)
- {
- return agentStateCache.GetAgentRotation(agentId, GetAgentRotationFromNative);
- }
-
- ///
- /// Retrieves agent rotation directly from native simulation (uncached).
- /// Used by the cache when fresh data is needed.
- ///
- private Quaternion GetAgentRotationFromNative(string agentId)
- {
- IntPtr agentIdPtr = Marshal.StringToHGlobalAnsi(agentId);
- try
- {
- IntPtr orientationPtr = StringFloatVectorMap_get_value(agentOrientationsMap, agentIdPtr);
-
- if (orientationPtr == IntPtr.Zero)
- {
- throw new InvalidOperationException($"Failed to get orientation for agent {agentId}");
- }
- return GetQuaternionFromFloatVector(orientationPtr);
- }
- finally
- {
- Marshal.FreeHGlobal(agentIdPtr);
- }
- }
-
- ///
- /// Logs detailed information about an agent's position and rotation for debugging purposes.
- /// This method outputs the following information to the Unity console:
- /// 1. The agent's ID
- /// 2. The agent's position as a Vector3
- /// 3. The agent's rotation as Euler angles
- /// 4. A breakdown of the rotation into Pitch, Yaw, and Roll components
- ///
- /// These log messages are only displayed in the Unity Editor, not in builds.
- /// This method is useful for verifying the correct positioning and orientation of agents,
- /// helping to diagnose issues related to agent placement or movement.
- ///
- ///
- /// The unique identifier of the agent
- /// The current position of the agent as a Vector3
- /// The current rotation of the agent as a Quaternion
- private void LogAgentDetails(string agentId, Vector3 position, Quaternion rotation)
- {
- LogDebug($"Agent {agentId}: Position = {position}, Rotation = {rotation}");
- LogDebug($"Angles: Pitch={rotation.x}, Yaw={rotation.y}, Roll={rotation.z}");
- }
-
- ///
- /// Updates the position and rotation of an existing TrafficAgent in the Unity scene.
- /// This method is called when an agent already exists and needs to be synchronized
- /// with the latest data from the traffic simulation.
- ///
- /// The method performs the following actions:
- /// 1. Logs a debug message indicating the agent is being updated
- /// 2. Sets the agent's transform position to the new position
- /// 3. Sets the agent's transform rotation to the new rotation
- /// 4. Marks the agent's transform as changed
- ///
- /// Note: There's a commented-out call to UpdateColliderForExistingAgent,
- /// which might be needed for updating the agent's collider. Consider uncommenting
- /// and implementing this if collider updates are necessary.
- ///
- ///
- /// The TrafficAgent instance to update
- /// The new position for the agent
- /// The new rotation for the agent
- private void UpdateExistingAgent(TrafficAgent agent, Vector3 position, Quaternion rotation)
- {
- LogDebug("TrafficManager::UpdateExistingAgent started");
- LogDebug($"Agent ID: {agent.name} already exists. Updating position and rotation.");
-
- agent.transform.position = position;
- agent.transform.rotation = rotation;
- agent.transform.hasChanged = true;
-
- LogDebug($"Updated agent: {agent.name} Position: {position}, Rotation: {rotation}");
- }
-
- ///
- /// Creates a new agent in the Unity scene based on data from the traffic simulation.
- /// This method is called when a new agent needs to be instantiated and added to the scene.
- ///
- /// The method performs the following actions:
- /// 1. Instantiates a new agent GameObject from the agentPrefab
- /// 2. Sets the name of the GameObject to the agent's ID
- /// 3. Sets the parent of the new agent to this TrafficManager's transform
- /// 4. Sets the appropriate layer for the agent GameObject
- /// 5. Adds or retrieves the TrafficAgent component and initializes it
- /// 6. Adds the new agent to the agentInstances dictionary
- /// 7. Updates the collider for the new agent
- ///
- /// This method is crucial for maintaining synchronization between the traffic simulation
- /// and the Unity representation, ensuring that new agents are properly created and set up.
- ///
- ///
- /// The unique identifier for the new agent
- /// The initial position for the new agent
- /// The initial rotation for the new agent
- private void CreateNewAgent(string agentId, Vector3 position, Quaternion rotation)
- {
- LogDebug($"TrafficManager::CreateNewAgent started.");
-
- GameObject agentObject = Instantiate(agentPrefab, position, rotation);
- agentObject.name = agentId;
- agentObject.transform.SetParent(this.transform);
-
- SetAgentLayer(agentObject);
-
- // Add RayPerceptionSensor to the traffic agent
- AddRaySensorToAgent(agentObject);
-
- TrafficAgent agent = GetOrAddTrafficAgentComponent(agentObject);
-
- agent.Initialize();
- agentInstances.Add(agentId, agent);
- UpdateColliderForExistingAgent(agentObject, agentId);
- }
-
- ///
- /// Sets the layer of the given agent GameObject to the predefined TrafficAgent layer.
- /// This method ensures that all traffic agents are on the correct layer for proper
- /// rendering, collision detection, and other layer-based functionality in Unity.
- ///
- /// The method performs the following actions:
- /// 1. Converts the TrafficAgentLayerName to its corresponding layer index
- /// 2. Sets the agent GameObject's layer to this index
- /// 3. Logs the layer assignment in the Unity Editor for debugging purposes
- ///
- /// Proper layer assignment is crucial for:
- /// - Collision detection and physics interactions
- /// - Camera culling and rendering optimizations
- /// - Raycasting and other layer-based operations
- ///
- ///
- /// The GameObject of the traffic agent to set the layer for
- private void SetAgentLayer(GameObject agentObject)
- {
- agentObject.layer = LayerMask.NameToLayer(TrafficAgentLayerName);
-
- LogDebug($"Set layer for agent: {agentObject.name}, layer index: {agentObject.layer}");
- }
-
- ///
- /// Retrieves or adds a TrafficAgent component to the given agent GameObject.
- /// This method ensures that every agent in the simulation has the necessary TrafficAgent component.
- ///
- /// The method performs the following actions:
- /// 1. Attempts to get the TrafficAgent component from the agent GameObject
- /// 2. If the component doesn't exist, it adds a new TrafficAgent component
- /// 3. Sets the MaxStep property of the newly added TrafficAgent to 500
- /// 4. Logs a warning in the Unity Editor if a new component had to be added
- ///
- /// This method is crucial for maintaining consistency in agent behavior and properties,
- /// ensuring that all agents have the required components for proper functioning within
- /// the traffic simulation.
- ///
- ///
- /// The GameObject to check or add the TrafficAgent component to
- /// The existing or newly added TrafficAgent component
- private TrafficAgent GetOrAddTrafficAgentComponent(GameObject agentObject)
- {
- TrafficAgent agent = agentObject.GetComponent();
- if (agent == null)
- {
- Debug.LogWarning($"TrafficAgent component not found on the instantiated prefab for {agentObject.name}. Adding it manually.");
-
- agent = agentObject.AddComponent();
- agent.MaxStep = MaxSteps;
- }
- return agent;
- }
-
- ///
- /// Initializes the TrafficManager when the script instance is enabled just before any of the Update methods are called the first time.
- /// This method is responsible for setting up the traffic simulation and initializing agents.
- ///
- /// The method performs the following actions:
- /// 1. Initializes the traffic simulation by calling InitializeTrafficSimulation()
- /// 2. Initializes agents by calling InitializeAgents()
- /// 3. Catches and logs any exceptions that occur during initialization
- /// 4. Disables the TrafficManager component if an error occurs
- ///
- /// Debug logs are included at the start and end of the method execution in the Unity Editor for tracking the process.
- ///
- /// This method is crucial for setting up the initial state of the traffic simulation and should only be called once
- /// at the beginning of the scene execution.
- ///
- /// Note: If an exception occurs during initialization, the TrafficManager will be disabled to prevent further errors.
- ///
- private void Start()
- {
- LogDebug("TrafficManager::Start started.");
-
- try
- {
- InitializeTrafficSimulation();
- InitializeAgents();
- }
- catch (Exception e)
- {
- Debug.LogError($"Error in TrafficManager Start: {e.Message}\n{e.StackTrace}");
- enabled = false;
- }
-
- LogDebug("TrafficManager::Start completed successfully.");
- }
-
- ///
- /// Initializes the agents in the traffic simulation.
- /// This method is responsible for creating the initial set of agents in the Unity scene.
- ///
- /// The method performs the following actions:
- /// 1. Clears any existing agents from the scene using ClearExistingAgents()
- /// 2. Iterates through the desired number of agents (initialAgentCount)
- /// 3. Attempts to spawn each agent using SpawnAgent()
- /// 4. Catches and logs any exceptions that occur during individual agent spawning
- /// 5. Logs the results of the agent initialization process
- ///
- /// Debug logs are included at the start and end of the method execution in the Unity Editor for tracking the process.
- ///
- /// This method is crucial for populating the simulation with the initial set of agents.
- /// It ensures a clean slate by removing existing agents before creating new ones,
- /// and provides error handling for individual agent spawning failures.
- ///
- /// Note: If an individual agent fails to spawn, the method will log the error and continue with the next agent,
- /// allowing the initialization process to complete even if some agents fail to spawn.
- ///
- private void InitializeAgents()
- {
- LogDebug("TrafficManager::InitializeAgents started.");
-
- ClearExistingAgents();
-
- // Spawn new agents
- for (int i = 0; i < initialAgentCount; i++)
- {
- try
- {
- SpawnAgent(i);
- }
- catch (Exception e)
- {
- Debug.LogError($"Failed to spawn agent {i}: {e.Message}");
- }
- }
-
- ValidateAgentCount();
- LogAgentInitializationResults();
-
- LogDebug("TrafficManager::InitializeAgents completed successfully.");
- }
-
- ///
- /// Spawns or updates an individual agent in the traffic simulation.
- /// This method is responsible for creating a new agent or updating an existing one
- /// based on the data from the traffic simulation.
- ///
- /// The method performs the following actions:
- /// 1. Retrieves the agent's ID using GetAgentId()
- /// 2. Gets the agent's position using GetAgentPosition()
- /// 3. Gets the agent's rotation using GetAgentRotation()
- /// 4. Logs the agent's details for debugging purposes
- /// 5. Checks if an agent with the given ID already exists
- /// - If it exists, update its position and rotation
- /// - If it doesn't exist, create a new agent
- ///
- /// This method is crucial for maintaining synchronization between the traffic simulation
- /// and the Unity representation of agents. It ensures that each agent in the simulation
- /// has a corresponding GameObject in the Unity scene with the correct position and rotation.
- ///
- ///
- private void SpawnAgent(int index)
- {
- LogDebug("TrafficManager::SpawnAgent started.");
-
- string agentId = GetAgentId(index);
- Vector3 position = GetAgentPosition(agentId);
- Quaternion rotation = GetAgentRotation(agentId);
-
- LogAgentDetails(agentId, position, rotation);
-
- if (agentInstances.TryGetValue(agentId, out TrafficAgent existingAgent))
- {
- UpdateExistingAgent(existingAgent, position, rotation);
- }
- else
- {
- CreateNewAgent(agentId, position, rotation);
- }
- }
-
- ///
- /// Converts a C++ float vector (accessed via pointer) to a Unity Vector3.
- /// This method is crucial for translating position data from the C++ traffic simulation
- /// into a format usable in Unity.
- ///
- /// The method performs the following actions:
- /// 1. Check if the float vector has at least 3 elements
- /// 2. Retrieves the first three float values from the vector
- /// 3. Creates and returns a new Vector3 using these values
- ///
- /// This method ensures proper data conversion between the C++ simulation
- /// and Unity, maintaining accurate positional data for agents.
- ///
- ///
- /// Pointer to the C++ float vector
- /// A Unity Vector3 created from the first three elements of the float vector
- /// Thrown if the float vector has fewer than 3 elements
- private Vector3 GetVector3FromFloatVector(IntPtr vectorPtr)
- {
- if (FloatVector_size(vectorPtr) < 3)
- {
- throw new Exception("FloatVector has insufficient size for Vector3");
- }
- return new Vector3(
- FloatVector_get(vectorPtr, 0),
- FloatVector_get(vectorPtr, 1),
- FloatVector_get(vectorPtr, 2)
- );
- }
-
- ///
- /// Converts a C++ float vector (accessed via pointer) containing Euler angles to a Unity Quaternion.
- /// This method is crucial for translating rotation data from the C++ traffic simulation
- /// into a format usable in Unity.
- ///
- /// The method performs the following actions:
- /// 1. Check if the float vector has at least 3 elements (for roll, pitch, and yaw)
- /// 2. Retrieves the first three float values from the vector as Euler angles in radians
- /// 3. Converts the Euler angles from radians to degrees
- /// 4. Creates and returns a Unity Quaternion using these Euler angles
- ///
- /// Note: The method assumes the Euler angles are in the order: roll (X-axis), pitch (Y-axis), yaw (Z-axis).
- /// It also handles the conversion from radians to degrees, as Unity's Quaternion.Euler method expects degrees.
- ///
- /// This method ensures proper conversion of rotation data between the C++ simulation
- /// and Unity, maintaining accurate orientation data for agents.
- ///
- ///
- /// Pointer to the C++ float vector containing Euler angles in radians
- /// A Unity Quaternion created from the Euler angles in the float vector
- /// Thrown if the float vector has fewer than 3 elements
- private Quaternion GetQuaternionFromFloatVector(IntPtr vectorPtr)
- {
- if (FloatVector_size(vectorPtr) < 3)
- {
- throw new Exception("FloatVector has insufficient size for Euler angles");
- }
- float roll = FloatVector_get(vectorPtr, 0);
- float pitch = FloatVector_get(vectorPtr, 1);
- float yaw = FloatVector_get(vectorPtr, 2);
-
- // Convert Euler angles to Quaternion, Euler angles (roll, pitch, yaw)
- Quaternion rotation = Quaternion.Euler(
- roll * Mathf.Rad2Deg, // X-axis rotation (roll)
- yaw * Mathf.Rad2Deg, // Z-axis rotation (yaw)
- pitch * Mathf.Rad2Deg // Y-axis rotation (pitch)
- );
-
- return rotation;
- }
-
- ///
- /// Updates or adds a collider to an existing agent GameObject in the traffic simulation.
- /// This method ensures that each agent has an appropriately configured collider for
- /// physics interactions and collision detection.
- ///
- /// The method performs the following actions:
- /// 1. Retrieves or adds a collider component to the agent GameObject
- /// 2. Configures the collider with appropriate settings
- /// 3. Updates the internal dictionary that tracks agent colliders
- ///
- /// Debug logs are included at the start and end of the method execution in the Unity Editor to track the process.
- ///
- /// This method is crucial for maintaining accurate physics representations of agents in the Unity scene,
- /// which is essential for realistic traffic simulation and collision detection.
- ///
- ///
- /// The GameObject of the agent to update or add a collider to
- /// The unique identifier of the agent
- private void UpdateColliderForExistingAgent(GameObject agentObject, string agentId)
- {
- LogDebug("TrafficManager::UpdateColliderForExistingAgent started.");
-
- Collider agentCollider = GetOrAddCollider(agentObject, agentId);
- ConfigureCollider(agentCollider);
- UpdateColliderDictionary(agentId, agentCollider);
-
- LogDebug("TrafficManager::UpdateColliderForExistingAgent completed successfully.");
- }
-
- ///
- /// Retrieves an existing collider or adds a new one to the agent GameObject.
- /// This method ensures that each agent has a collider component for physics interactions.
- ///
- /// The method performs the following actions:
- /// 1. Searches for an existing collider on the agent GameObject or its children recursively
- /// 2. If no collider is found, it logs a warning and adds a new collider to the agent
- /// 3. Returns the found or newly added collider
- ///
- /// This method is crucial for maintaining proper physics representations of agents in the Unity scene.
- /// It handles cases where colliders might be on child objects or missing entirely, ensuring
- /// consistent collision detection for all agents.
- ///
- ///
- /// The GameObject of the agent to check or add a collider to
- /// The unique identifier of the agent, used for logging purposes
- /// The existing or newly added Collider component
- private Collider GetOrAddCollider(GameObject agentObject, string agentId)
- {
- // Get the collider component from the instantiated agent or its children recursively
- Collider agentCollider = FindColliderRecursively(agentObject);
-
- if (agentCollider == null)
- {
- LogWarningAndAddCollider(agentObject, agentId);
- agentCollider = agentObject.GetComponent();
- }
-
- return agentCollider;
- }
-
- ///
- /// Logs a warning and adds a BoxCollider to an agent GameObject when no existing collider is found.
- /// This method serves as a fallback mechanism to ensure all agents have collision detection capabilities.
- ///
- /// The method performs the following actions:
- /// 1. Logs a warning message to the Unity console, indicating that no collider was found for the specific agent
- /// 2. Adds a BoxCollider component to the agent GameObject
- ///
- /// This method is crucial for maintaining the integrity of the physics simulation by ensuring
- /// that every agent has a collider, even if one was not initially present in the prefab or model.
- /// The warning log helps developers identify and potentially address issues with agent prefabs or models
- /// that are missing expected colliders.
- ///
- ///
- /// The GameObject of the agent to add a BoxCollider to
- /// The unique identifier of the agent, used in the warning message for easy identification
- private void LogWarningAndAddCollider(GameObject agentObject, string agentId)
- {
- Debug.LogWarning($"No Collider found on the agent {agentId} or its children. Adding a BoxCollider.");
- agentObject.AddComponent();
- }
-
- ///
- /// Configures the properties of a given collider for use in the traffic simulation.
- /// This method ensures that the collider is set up correctly for physical interactions.
- ///
- /// The method performs the following action:
- /// 1. Sets the isTrigger property of the collider to false, if the collider is not null
- ///
- /// Setting isTrigger to false ensures that the collider will cause physical collisions
- /// rather than just triggering events. This is crucial for realistic traffic simulation
- /// where agents should physically interact with each other and the environment.
- ///
- /// The null check prevents potential NullReferenceExceptions if an invalid collider is passed.
- ///
- /// While currently this method only sets the isTrigger property, it provides a centralized
- /// place for any future collider configurations that may be needed for the traffic simulation.
- ///
- ///
- /// The Collider component to be configured
- private void ConfigureCollider(Collider collider)
- {
- if (collider != null)
- {
- collider.isTrigger = false;
- }
- }
-
- ///
- /// Updates the internal dictionary that maps agent IDs to their corresponding colliders.
- /// This method ensures that the TrafficManager maintains an up-to-date record of all agent colliders.
- ///
- /// The method performs the following actions:
- /// 1. Adds or updates the entry in the agentColliders dictionary for the given agent ID
- /// 2. Logs a debug message in the Unity Editor with the agent ID and collider type
- ///
- /// Maintaining this dictionary is crucial for efficient access to agent colliders,
- /// which can be useful for various operations such as collision checks, physics raycasts,
- /// or any custom logic that needs to interact with specific agent colliders.
- ///
- /// The debug log in the Unity Editor helps track collider updates and can be useful
- /// for debugging or verifying that agents have the correct collider types assigned.
- ///
- ///
- /// The unique identifier of the agent
- /// The Collider component associated with the agent
- private void UpdateColliderDictionary(string agentId, Collider agentCollider)
- {
- agentColliders[agentId] = agentCollider;
-
- LogDebug($"Updated collider for Agent ID: {agentId}. Collider type: {agentCollider.GetType().Name}");
- }
-
- ///
- /// Recursively searches for a Collider component in the given GameObject and its children.
- /// This helper method is used to find colliders that may be attached to child objects of an agent.
- ///
- /// The method performs the following actions:
- /// 1. Checks if the given GameObject has a Collider component
- /// 2. If a Collider is found on the object, it returns that Collider
- /// 3. If no Collider is found, it recursively searches through all child objects
- /// 4. Returns the first Collider found in the hierarchy, or null if no Collider is found
- ///
- /// This method is crucial for handling complex agent models where the Collider might not be
- /// on the root GameObject but on one of its children. It ensures that existing Colliders
- /// are properly detected and utilized before new ones are added unnecessarily.
- ///
- /// Debug logs are included (commented out) for detailed tracking of the search process,
- /// which can be useful for troubleshooting Collider detection issues.
- ///
- ///
- /// The GameObject to search for a Collider
- /// The first Collider found in the GameObject or its children, or null if no Collider is found
- private Collider FindColliderRecursively(GameObject obj)
- {
- LogDebug($"TrafficManager::FindColliderRecursively started.");
-
- if (obj == null)
- {
- Debug.LogWarning("Null GameObject passed to FindColliderRecursively");
- return null;
- }
-
- LogSearchStart(obj);
-
- // Check if the object itself has a Collider
- Collider collider = obj.GetComponent();
-
- if (collider != null)
- {
- LogColliderFound(obj);
- return collider;
- }
-
- LogDebug("TrafficManager::FindColliderRecursively completed successfully.");
-
- return SearchChildrenForCollider(obj);
- }
-
- ///
- /// Logs the start of a collider search operation for a specific GameObject.
- /// This method is used for debugging purposes to track the process of searching for colliders in the scene hierarchy.
- ///
- /// The method performs the following action:
- /// 1. Logs a debug message indicating the start of a collider search for the given GameObject
- ///
- /// Key aspects of this method:
- /// - It's a helper method used for debugging and tracing the collider search process
- /// - The log message includes the name of the GameObject being searched
- /// - The logging is only active in the Unity Editor, not in builds
- /// - It helps in visualizing the traversal of the scene hierarchy during collider searches
- ///
- /// Note: The debug log is wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring it only appears in the Unity Editor and not in builds, thus not affecting release performance.
- ///
- /// This method is typically called at the beginning of a recursive search for colliders,
- /// providing visibility into which GameObjects are being examined during the search process.
- ///
- /// Usage of this method can be beneficial for:
- /// - Debugging issues related to missing or incorrectly placed colliders
- /// - Understanding the order and depth of GameObject traversal during collider searches
- /// - Optimizing collider search processes by identifying unnecessary searches
- ///
- /// Developers should use this method judiciously, as excessive logging can impact editor performance
- /// during debugging sessions with complex hierarchies or frequent collider searches.
- ///
- /// The GameObject for which the collider search is starting
- private void LogSearchStart(GameObject obj)
- {
- LogDebug($"Searching for Collider in: {obj.name}");
- }
-
- ///
- /// Logs information about colliders found on a specific GameObject and its children.
- /// This method is used for debugging purposes to provide detailed information about collider detection results.
- ///
- /// The method performs the following actions:
- /// 1. Logs a debug message indicating that a collider was found on the given GameObject
- /// 2. Retrieves all colliders from the children of the GameObject (including inactive children)
- /// 3. Logs the number of colliders found in the children of the GameObject
- ///
- /// Key aspects of this method:
- /// - It's a helper method used for debugging and verifying collider detection results
- /// - The log messages include the name of the GameObject and the number of colliders found in its children
- /// - The logging is only active in the Unity Editor, not in builds
- /// - It provides a comprehensive view of the collider structure for a given GameObject and its hierarchy
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds, thus not affecting release performance.
- ///
- /// This method is typically called when a collider is found during a search process,
- /// offering detailed information about the collider structure of the GameObject and its children.
- ///
- /// Usage of this method can be beneficial for:
- /// - Debugging issues related to unexpected collider behavior
- /// - Verifying the correct setup of colliders in complex prefabs or hierarchies
- /// - Understanding the distribution of colliders in a GameObject hierarchy
- /// - Identifying potential optimization opportunities in collider setups
- ///
- /// Developers should use this method judiciously, as it performs a potentially expensive operation
- /// (GetComponentsInChildren) and logs multiple messages, which could impact editor performance
- /// if used excessively, especially with complex hierarchies.
- ///
- /// The GameObject on which a collider was found and whose children will be checked for additional colliders
- private void LogColliderFound(GameObject obj)
- {
- LogDebug($"Found Collider on: {obj.name}");
- Collider[] childColliders = obj.GetComponentsInChildren(true);
- LogDebug($"Found {childColliders.Length} Collider(s) in children of: {obj.name}");
- }
-
- ///
- /// Recursively searches for a Collider component in the children of the given GameObject.
- /// This method performs a depth-first search through the hierarchy to find the first collider.
- ///
- /// The method performs the following actions:
- /// 1. Iterates through each child of the given GameObject
- /// 2. Recursively calls FindColliderRecursively on each child
- /// 3. Returns the first non-null collider found in the hierarchy
- /// 4. If no collider is found, logs the result and returns null
- ///
- /// Key aspects of this method:
- /// - It's a helper method used in the broader collider search process
- /// - The search is depth-first, meaning it fully explores each child branch before moving to siblings
- /// - It stops and returns immediately upon finding the first collider
- /// - If no collider is found in any child, it logs this information using LogNoColliderFound
- ///
- /// This method is typically called as part of a larger collider search operation,
- /// specifically to handle cases where a collider might be on a child object rather than the parent.
- ///
- /// Usage of this method is important for:
- /// - Ensuring thorough collider detection in complex hierarchies
- /// - Handling cases where colliders are placed on child objects for organizational purposes
- /// - Providing a comprehensive search that doesn't miss colliders due to hierarchy structure
- ///
- /// Note: The performance of this method can be impacted by the depth and breadth of the object hierarchy.
- /// For very large or deep hierarchies, consider optimizing the search process or caching results if appropriate.
- ///
- ///
- /// The GameObject whose children will be searched for a Collider
- /// The first Collider found in the hierarchy, or null if no Collider is found
- private Collider SearchChildrenForCollider(GameObject obj)
- {
- foreach (Transform child in obj.transform)
- {
- Collider childCollider = FindColliderRecursively(child.gameObject);
- if (childCollider != null)
- {
- return childCollider;
- }
- }
-
- LogNoColliderFound(obj);
- return null;
- }
-
- ///
- /// Logs a debug message when no Collider is found on a GameObject or its children.
- /// This method is used for debugging purposes to track unsuccessful collider searches.
- ///
- /// The method performs the following action:
- /// 1. Logs a debug message indicating that no collider was found on the given GameObject or its children
- ///
- /// Key aspects of this method:
- /// - It's a helper method used for debugging and tracing the collider search process
- /// - The log message includes the name of the GameObject that was searched
- /// - The logging is only active in the Unity Editor, not in builds
- /// - It helps in identifying GameObjects that unexpectedly lack colliders
- ///
- /// Note: The debug log is wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring it only appears in the Unity Editor and not in builds, thus not affecting release performance.
- ///
- /// This method is typically called at the end of a recursive search for colliders
- /// when no collider has been found in the entire hierarchy of the given GameObject.
- ///
- /// Usage of this method can be beneficial for:
- /// - Debugging issues related to missing colliders in the scene
- /// - Identifying GameObjects that may require colliders to be added
- /// - Verifying the completeness of collider setups in complex prefabs or scenes
- /// - Assisting in the process of ensuring all necessary objects have proper collision detection
- ///
- /// Developers should use this information to:
- /// - Identify and fix instances where colliders are unexpectedly missing
- /// - Verify that the lack of a collider is intentional for specific GameObjects
- /// - Optimize scenes by ensuring colliders are present only where necessary
- ///
- /// While this method is valuable for debugging, developers should be mindful of log clutter
- /// in complex scenes with many intentionally collider-less objects.
- ///
- /// The GameObject for which no collider was found in its hierarchy
- private void LogNoColliderFound(GameObject obj)
- {
- LogDebug($"No Collider found in: {obj.name} or its children");
- }
-
- ///
- /// Generates the full hierarchical path of a GameObject in the Unity scene.
- /// This helper method constructs a string representation of the GameObject's position in the hierarchy.
- ///
- /// The method performs the following actions:
- /// 1. Starts with the name of the given GameObject
- /// 2. Iteratively traverses up the hierarchy, prepending each parent's name
- /// 3. Constructs a path string using '/' as a separator between hierarchy levels
- /// 4. Continues until it reaches the root of the hierarchy (i.e., an object with no parent)
- ///
- /// This method is useful for:
- /// - Debugging: Providing clear, identifiable paths for GameObjects in log messages
- /// - Hierarchy Analysis: Understanding the structure of complex prefabs or scene setups
- /// - Unique Identification: Creating unique identifiers for GameObjects based on their hierarchy
- ///
- /// The resulting path string format is: "RootObject/ParentObject/ChildObject/GivenObject"
- ///
- ///
- /// The GameObject whose path is to be determined
- /// A string representing the full hierarchical path of the GameObject
- private string GetGameObjectPath(GameObject obj)
- {
- string path = obj.name;
- while (obj.transform.parent != null)
- {
- obj = obj.transform.parent.gameObject;
- path = obj.name + "/" + path;
- }
- return path;
- }
-
- ///
- /// Executes the core simulation loop at a fixed time step (main physics simulation stepping).
- /// This method is called by Unity at a fixed interval, independent of frame rate, making it ideal for physics and simulation updates.
- ///
- /// The method performs the following actions in sequence:
- /// 1. Validates the current state of the simulation
- /// 2. Collects actions from all active agents
- /// 3. Advances the simulation by one step
- /// 4. Updates the positions of all agents in the Unity scene
- ///
- /// Key aspects of this method:
- /// - It's part of Unity's MonoBehaviour lifecycle, called at a fixed time interval
- /// - Ensures the simulation state is valid before proceeding
- /// - Coordinates the core loop of the traffic simulation: input collection, simulation step, and visual update
- /// - Uses separate methods for each major step, promoting modularity and easier maintenance
- /// - Includes a debug log in the Unity Editor to confirm successful completion of the update
- ///
- /// This method is crucial for:
- /// - Maintaining consistent and predictable simulation behavior regardless of frame rate
- /// - Synchronizing the internal simulation state with Unity's physics engine
- /// - Ensuring smooth and accurate traffic flow in the simulation
- ///
- /// Note: The debug log is wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring it only appears in the Unity Editor and not in builds, avoiding performance impact in released versions.
- ///
- /// Developers should be aware that:
- /// - Any heavy computations in this method could impact the overall performance of the simulation
- /// - The frequency of FixedUpdate calls can be adjusted in Unity's Time settings, which will affect the simulation speed
- /// - Proper error handling and state validation are crucial to prevent cascading issues in the simulation
- ///
- /// Optimization of the methods called within FixedUpdate is key to maintaining high performance,
- /// especially for simulations with a large number of agents or complex environments.
- ///
- private void FixedUpdate()
- {
- if (!ValidateSimulationState())
- {
- return;
- }
-
- CollectAgentActions();
- StepSimulation();
- UpdateAgentPositions();
-
- LogDebug("TrafficManager::FixedUpdate completed successfully.");
- }
-
- ///
- /// Validates the current state of the traffic simulation to ensure all necessary components are properly initialized.
- /// This method performs crucial checks before allowing the simulation to proceed.
- ///
- /// The method checks the following conditions:
- /// 1. Ensures that agentInstances and agentColliders collections are not null
- /// 2. Verifies that the trafficSimulationPtr (pointer to the native simulation object) is valid
- ///
- /// Key aspects of this method:
- /// - Acts as a safeguard against running the simulation with an invalid or incomplete state
- /// - Logs specific error messages to help identify the source of initialization problems
- /// - Returns a boolean indicating whether the simulation state is valid and can proceed
- ///
- /// This method is crucial for:
- /// - Preventing null reference exceptions or invalid memory access in the simulation loop
- /// - Providing clear feedback on initialization issues for easier debugging
- /// - Ensuring the integrity of the simulation by only allowing it to run when properly set up
- ///
- /// Usage:
- /// - Typically called at the beginning of each simulation step (e.g., in FixedUpdate)
- /// - Can be used in other methods where the simulation state needs to be verified before proceeding
- ///
- /// Error messages:
- /// - "Agent instances or colliders are null": Indicates that essential collections for managing agents are not initialized
- /// - "trafficSimulationPtr is null or invalid": Suggests that the native simulation object is not properly created or linked
- ///
- /// Developers should:
- /// - Ensure proper initialization of all components before starting the simulation
- /// - Use this method's return value to guard against running the simulation in an invalid state
- /// - Investigate and resolve any reported errors before attempting to run the simulation
- ///
- /// Note: This method uses Debug.LogError, which will appear in both Editor and builds,
- /// ensuring critical initialization issues are always reported.
- ///
- /// True if the simulation state is valid and can proceed, false otherwise
- private bool ValidateSimulationState()
- {
- if (agentInstances == null || agentColliders == null)
- {
- Debug.LogError("Agent instances or colliders are null. Make sure they are properly initialized.");
- return false;
- }
- if (trafficSimulationPtr == IntPtr.Zero)
- {
- Debug.LogError("trafficSimulationPtr is null or invalid");
- return false;
- }
- return true;
- }
-
- ///
- /// Collects high-level and low-level actions from all active agents in the simulation.
- /// This method prepares the action data for the next simulation step.
- ///
- /// The method performs the following actions:
- /// 1. Clears existing high-level and low-level action collections
- /// 2. Iterates through all agent instances
- /// 3. For each valid agent, adds its high-level and low-level actions to the respective collections
- ///
- /// Key aspects of this method:
- /// - Ensures fresh action data for each simulation step by clearing previous collections
- /// - Handles potential null agents gracefully by checking before accessing
- /// - Aggregates actions from all agents into centralized collections for efficient processing
- ///
- /// This method is crucial for:
- /// - Preparing the necessary input data for the simulation step
- /// - Ensuring that the simulation considers the most recent actions from all active agents
- /// - Centralizing the action collection process for better management and potential optimization
- ///
- /// Usage:
- /// - Typically called at the beginning of each simulation step, before advancing the simulation
- /// - Part of the core simulation loop, usually invoked in FixedUpdate or a similar regular update method
- ///
- /// Considerations:
- /// - The performance of this method scales with the number of agents in the simulation
- /// - Ensure that agent.highLevelActions and agent.lowLevelActions are always initialized to prevent null reference exceptions
- /// - Consider optimizing for large numbers of agents if performance becomes an issue
- ///
- /// Developers should:
- /// - Ensure that agent actions are properly set before this method is called
- /// - Be aware of the potential performance impact with a very large number of agents
- /// - Consider implementing parallel collection for significant performance gains in large-scale simulations
- ///
- /// Note: This method assumes that highLevelActions and lowLevelActions are pre-existing collections
- /// capable of storing the action data for all agents.
- ///
- private void CollectAgentActions()
- {
- highLevelActions.Clear();
- lowLevelActions.Clear();
-
- foreach (var agent in agentInstances.Values)
- {
- if (agent != null)
- {
- highLevelActions.Add(agent.highLevelActions);
- lowLevelActions.Add(agent.lowLevelActions);
- }
- }
- }
-
- ///
- /// Advances the traffic simulation by one step using the collected agent actions.
- /// This method interfaces with the native traffic simulation library to progress the simulation state.
- ///
- /// The method performs the following actions:
- /// 1. Flattens the low-level actions into a single array for native code consumption
- /// 2. Calls the native Traffic_step function with high-level and low-level actions
- /// 3. Processes the simulation result returned by the native function
- ///
- /// Key aspects of this method:
- /// - Acts as a bridge between the C# environment and the native simulation library
- /// - Transforms the collected action data into a format suitable for the native function
- /// - Assumes a specific structure for low-level actions (3 elements per agent)
- /// - Handles the raw simulation result through a separate method (ProcessSimulationResult)
- ///
- /// This method is crucial for:
- /// - Progressing the simulation state based on agent actions
- /// - Maintaining synchronization between the Unity environment and the native simulation
- /// - Enabling complex traffic behavior calculations that may be more efficient in native code
- ///
- /// Usage:
- /// - Called once per fixed update cycle, typically after collecting agent actions
- /// - Part of the core simulation loop in the TrafficManager
- ///
- /// Assumptions and constraints:
- /// - Assumes highLevelActions and lowLevelActions have been properly populated
- /// - Expects lowLevelActions to have 3 elements per agent (e.g., steering, throttle, braking)
- /// - Relies on a correctly implemented native Traffic_step function
- ///
- /// Developers should be aware of:
- /// - The potential for performance impact with large numbers of agents due to array flattening
- /// - The need for proper error handling and validation in the ProcessSimulationResult method
- /// - The importance of maintaining consistency between the C# action structure and native function expectations
- ///
- /// Note: This method uses unsafe code (via IntPtr), requiring careful memory management
- /// and potential for runtime errors if not handled correctly.
- ///
- private void StepSimulation()
- {
- // Step the simulation once for all agents with the gathered actions
- float[] flattenedLowLevelActions = lowLevelActions.SelectMany(a => a).ToArray();
-
- IntPtr resultPtr = Traffic_step(
- trafficSimulationPtr,
- highLevelActions.ToArray(),
- highLevelActions.Count,
- flattenedLowLevelActions,
- lowLevelActions.Count * 3 // Assuming each inner array has 3 elements (e.g., steering, throttle, braking)
- );
-
- ProcessSimulationResult(resultPtr);
- }
-
- ///
- /// Processes the result returned by the native Traffic_step function.
- /// This method handles the conversion of native memory to managed string data and performs necessary cleanup.
- ///
- /// The method performs the following actions:
- /// 1. Checks if the result pointer is valid (not null)
- /// 2. If valid, converts the native memory to a managed string
- /// 3. Logs the result string (in Unity Editor only)
- /// 4. Frees the native memory allocated for the result
- /// 5. If the pointer is null, logs an error message
- ///
- /// Key aspects of this method:
- /// - Safely handles the transition from native (unmanaged) to managed memory
- /// - Ensures proper cleanup of native memory to prevent memory leaks
- /// - Provides debug logging for monitoring simulation results
- /// - Includes error handling for null result pointers
- ///
- /// This method is crucial for:
- /// - Retrieving and interpreting the results of each simulation step
- /// - Maintaining proper memory management when interfacing with native code
- /// - Facilitating debugging and monitoring of the simulation process
- ///
- /// Usage:
- /// - Called immediately after the Traffic_step function in the StepSimulation method
- /// - Part of the core simulation loop in the TrafficManager
- ///
- /// Important considerations:
- /// - The use of Marshal.PtrToStringAnsi assumes the native string is ANSI-encoded
- /// - Debug logging is conditionally compiled and only active in the Unity Editor
- /// - Proper error handling is crucial for maintaining the stability of the simulation
- ///
- /// Developers should be aware of:
- /// - The potential for memory leaks if FreeString is not called or fails
- /// - The importance of consistent string encoding between native and managed code
- /// - The need to handle or log the result string appropriately for production builds
- ///
- /// Note: This method deals with unmanaged memory, requiring careful implementation
- /// to avoid memory-related issues. Always ensure that FreeString is called to prevent memory leaks.
- ///
- /// Pointer to the native memory containing the simulation result string
- private void ProcessSimulationResult(IntPtr resultPtr)
- {
- if (resultPtr != IntPtr.Zero)
- {
- string result = Marshal.PtrToStringAnsi(resultPtr);
-
- LogDebug($"Traffic_step result: {result}");
-
- FreeString(resultPtr); // Free the allocated memory
- }
- else
- {
- Debug.LogError("Traffic_step returned null pointer");
- }
- }
-
- ///
- /// Unity's Update method, called once per frame.
- /// This method is responsible for updating the visual representation of agents in the scene.
- ///
- /// The method performs a single action:
- /// 1. Calls UpdateAgentPositions() to synchronize the visual positions of agents with their simulated positions
- ///
- /// Key aspects of this method:
- /// - Part of Unity's MonoBehaviour lifecycle, executed every frame
- /// - Focuses solely on updating visual aspects of the simulation
- /// - Separates visual updates (potentially more frequent) from physics/logic updates (FixedUpdate)
- ///
- /// This method is crucial for:
- /// - Ensuring smooth visual representation of agent movements
- /// - Maintaining synchronization between the simulation state and the rendered scene
- /// - Providing up-to-date visual feedback to the user or other game systems
- ///
- /// Usage:
- /// - Automatically called by Unity every frame
- /// - Keeps the visual aspect of the simulation updated at the frame rate
- ///
- /// Considerations:
- /// - The frequency of this method's execution depends on the frame rate, which can vary
- /// - For performance reasons, heavy computations should be avoided in Update
- /// - This method focuses on visual updates, leaving physics and logic updates to FixedUpdate
- ///
- /// Developers should be aware that:
- /// - UpdateAgentPositions() should be optimized for frequent calls
- /// - If the simulation runs at a fixed time step (in FixedUpdate), this method might cause visual interpolation
- /// between physics steps, potentially smoothing out the movement
- /// - For very large numbers of agents, consider optimizing or batching position updates
- ///
- /// Note: While this method currently only calls UpdateAgentPositions(), it provides a clear separation
- /// of concerns between physics/logic updates and visual updates, allowing for future expansion
- /// of frame-dependent visual effects or animations if needed.
- ///
- private void Update()
- {
- Debug.Log($"Time Step: {simTimeStep}, Max Velocity: {maxSpeed}");
- }
-
- ///
- /// Updates the positions and orientations of all agents based on the latest simulation results.
- /// This method synchronizes the Unity representation of agents with the state of the native traffic simulation.
- ///
- /// The method performs the following key actions:
- /// 1. Retrieves updated agent positions, velocities, orientations, and previous positions from the native simulation
- /// 2. Processes each agent in the simulation, updating existing agents or spawning new ones as needed
- /// 3. Updates the C++ simulation with any changes made in Unity
- /// 4. Removes agents that are no longer present in the simulation
- ///
- /// Key aspects of this method:
- /// - Acts as the primary bridge between the native simulation state and Unity scene representation
- /// - Handles dynamic addition and removal of agents based on simulation state
- /// - Ensures consistency between Unity GameObjects and the underlying simulation data
- /// - Utilizes native interop to communicate with the C++ simulation
- ///
- /// This method is crucial for:
- /// - Maintaining visual accuracy of the simulation in the Unity scene
- /// - Handling the lifecycle of agent GameObjects (creation, update, destruction)
- /// - Synchronizing the state between the native simulation and Unity representation
- ///
- /// Implementation details:
- /// - Uses marshaling to convert between native pointers and managed types
- /// - Employs a HashSet to track updated agents for efficient removal of obsolete agents
- /// - Includes commented-out debug logs for development purposes
- /// - Contains safeguards against null or invalid data from the native simulation
- ///
- /// Performance considerations:
- /// - The method's performance scales with the number of agents in the simulation
- /// - Heavy use of interop calls may impact performance, especially with large agent counts
- /// - Consider optimizing the frequency of updates for large-scale simulations
- ///
- /// Developers should be aware that:
- /// - This method assumes the existence of various native functions (e.g., Traffic_get_agents, Vehicle_setX)
- /// - Error handling is minimal; consider adding more robust error checking for production use
- /// - The method currently updates all agents every call; consider implementing partial or prioritized updates for optimization
- /// - Commented-out debug logs can be useful for troubleshooting but may impact performance if enabled
- ///
- /// Note: This method is central to the visual representation of the simulation and should be
- /// called regularly (typically in Update or FixedUpdate) to maintain synchronization between
- /// the native simulation and Unity scene.
- ///
- public void UpdateAgentPositions()
- {
- LogDebug("TrafficManager::UpdateAgentPositions started.");
-
- // Get the initial state of agent
- GetSimulationData();
-
- HashSet updatedAgents = new HashSet();
-
- // Get all vehicles from the C++ simulation
- IntPtr vehiclesPtr = Traffic_get_agents(trafficSimulationPtr);
- int vehicleCount = VehiclePtrVector_size(vehiclesPtr);
-
- // Process the agent positions
- for (int i = 0; i < vehicleCount; i++)
- {
- IntPtr vehiclePtr = VehiclePtrVector_get(vehiclesPtr, i);
-
- if (!TryGetAgentData(i, out string agentId, out Vector3 position, out Quaternion rotation))
- {
- continue;
- }
-
- if (agentInstances.TryGetValue(agentId, out TrafficAgent existingAgent))
- {
- UpdateExistingAgent(existingAgent, position, rotation);
- UpdateVehicleInSimulation(vehiclePtr, position, rotation);
- }
- else
- {
- SpawnAgent(i);
- }
-
- updatedAgents.Add(agentId);
- UpdateColliderForExistingAgent(existingAgent.gameObject, agentId);
- }
-
- RemoveObsoleteAgents(updatedAgents);
-
- LogDebug("TrafficManager::UpdateAgentPositions completed successfully.");
- }
-
- private bool TryGetAgentDataPointers(int index, out string agentId, out IntPtr positionPtr, out IntPtr orientationPtr)
- {
- agentId = null;
- positionPtr = IntPtr.Zero;
- orientationPtr = IntPtr.Zero;
-
- IntPtr agentIdPtr = StringFloatVectorMap_get_key(agentPositionsMap, index);
- agentId = Marshal.PtrToStringAnsi(agentIdPtr);
-
- if (agentId == null) return false;
-
- positionPtr = StringFloatVectorMap_get_value(agentPositionsMap, agentIdPtr);
- orientationPtr = StringFloatVectorMap_get_value(agentOrientationsMap, agentIdPtr);
-
- return positionPtr != IntPtr.Zero && orientationPtr != IntPtr.Zero;
- }
-
- ///
- /// Attempts to retrieve agent data from the native simulation.
- ///
- /// This method:
- /// 1. Extracts agent ID, position, and rotation from native data structures
- /// 2. Converts native data to managed types (string, Vector3, Quaternion)
- ///
- /// Key aspects:
- /// - Uses native interop to access simulation data
- /// - Implements a try-pattern for safe data retrieval
- /// - Handles potential null or invalid data
- ///
- /// Usage:
- /// - Call when needing to synchronize agent data between native and managed code
- ///
- /// Note: Ensure proper error handling when using this method, as it may fail due to invalid native data.
- ///
- /// Index of the agent in the native data structure
- /// Output parameter for the agent's ID
- /// Output parameter for the agent's position
- /// Output parameter for the agent's rotation
- /// True if data was successfully retrieved, false otherwise
- private bool TryGetAgentData(int index, out string agentId, out Vector3 position, out Quaternion rotation)
- {
- position = default;
- rotation = default;
-
- if (!TryGetAgentDataPointers(index, out agentId, out IntPtr positionPtr, out IntPtr orientationPtr))
- {
- Debug.LogWarning($"Failed to get position or orientation for agent {agentId}");
- return false;
- }
-
- position = GetVector3FromFloatVector(positionPtr);
- rotation = GetQuaternionFromFloatVector(orientationPtr);
-
- // Assuming currentSteeringAngle is updated elsewhere (rotationSpeed can be set later to yaw rate)
- //Quaternion targetRotation = Quaternion.Euler(0, 0.64f * Mathf.Rad2Deg, 0);
- //transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * rotationSpeed);
- return true;
- }
-
- ///
- /// Updates the position of a vehicle in the native simulation.
- ///
- /// This method:
- /// 1. Sets the X, Y, and Z coordinates of a vehicle in the C++ simulation
- ///
- /// Key aspects:
- /// - Bridges Unity's Vector3 position to native C++ representation
- /// - Uses native function calls to update vehicle position
- ///
- /// Usage:
- /// - Call when synchronizing Unity GameObject positions with the native simulation
- ///
- /// Note: Ensure the vehiclePtr is valid before calling to avoid crashes.
- ///
- /// Pointer to the vehicle in the native simulation
- /// New position of the vehicle in Unity coordinates
- private void UpdateVehicleInSimulation(IntPtr vehiclePtr, Vector3 position, Quaternion rotation)
- {
- // Get vehicle pointer from the C++ simulation
- Vehicle_setX(vehiclePtr, position.x);
- Vehicle_setY(vehiclePtr, position.y);
- Vehicle_setZ(vehiclePtr, position.z);
-
- // Update the vehicle's rotation in the C++ simulation
- Vehicle_setSteering(vehiclePtr, rotation.y);
- Vehicle_setYaw(vehiclePtr, lowLevelActions[0][0]);
- }
-
- ///
- /// Removes agents that are no longer present in the simulation.
- ///
- /// This method:
- /// 1. Identifies agents not in the updated set
- /// 2. Destroys their GameObjects
- /// 3. Removes them from agent collections
- ///
- /// Key aspects:
- /// - Maintains consistency between simulation state and Unity scene
- /// - Efficiently uses LINQ for identifying obsolete agents
- /// - Safely removes agents from multiple collections
- ///
- /// Usage:
- /// - Call after updating agent positions to clean up obsolete agents
- ///
- /// Note: Ensure this is called at appropriate intervals to prevent
- /// accumulation of inactive agents and maintain performance.
- ///
- /// Set of agent IDs that are still active in the simulation
- private void RemoveObsoleteAgents(HashSet updatedAgents)
- {
- var agentsToRemove = agentInstances.Keys.Where(id => !updatedAgents.Contains(id)).ToList();
-
- foreach (string agentId in agentsToRemove)
- {
- if (agentInstances.TryGetValue(agentId, out TrafficAgent agent))
- {
- Destroy(agent.gameObject);
- agentInstances.Remove(agentId);
- agentColliders.Remove(agentId);
- }
- }
- }
-
- ///
- /// Logs a debug message to the Unity console, but only when running in the Unity Editor.
- /// This method provides a centralized and controlled way to output debug information.
- ///
- /// The method performs the following action:
- /// 1. If running in the Unity Editor, logs the provided message using Unity's Debug.Log
- ///
- /// Key aspects of this method:
- /// - Uses conditional compilation to ensure debug logs only appear in the Unity Editor
- /// - Centralizes debug logging, making it easier to manage and control debug output
- /// - Helps prevent debug logs from affecting performance in builds
- ///
- /// This method is useful for:
- /// - Debugging and development purposes within the Unity Editor
- /// - Providing insights into the simulation's behavior during development
- /// - Allowing for easy enabling/disabling of debug logs across the entire project
- ///
- /// Usage:
- /// - Call this method instead of Debug.Log directly throughout the codebase
- /// - Ideal for temporary debugging or for logging non-critical information
- ///
- /// Considerations:
- /// - Debug messages will not appear in builds, ensuring clean release versions
- /// - Using this method allows for easy future expansion of logging functionality
- /// - Consider adding log levels or additional conditionals if more complex logging is needed
- ///
- /// Developers should be aware that:
- /// - Overuse of logging can impact editor performance during play mode
- /// - This method should not be used for logging critical errors that need to be visible in builds
- /// - It's a good practice to remove or comment out unnecessary debug logs before final release
- ///
- /// Note: While this method provides a convenient way to add debug logs, it's important to use
- /// logging judiciously to maintain code readability and performance, especially in frequently
- /// called methods or performance-critical sections of code.
- ///
- /// The debug message to be logged
- private void LogDebug(string message)
- {
- #if UNITY_EDITOR
- Debug.Log(message);
- #endif
- }
-
- private void MaxEpisodeSteps(float newValue)
- {
- LogDebug("TrafficManager::MaxEpisodeSteps started.");
-
- MaxSteps = Mathf.RoundToInt(newValue);
-
- LogDebug("TrafficManager::MaxEpisodeSteps completely successfully.");
- }
-
- ///
- /// Restarts the traffic simulation, resetting it to its initial state.
- /// This method performs a comprehensive reset of the simulation environment,
- /// recreating the simulation state without fully disposing of the TrafficManager itself.
- ///
- /// The method performs the following sequence of actions:
- /// 1. Cleans up the existing simulation state
- /// 2. Recreates the simulation environment
- /// 3. Reinitializes simulation data
- /// 4. Initializes agents
- /// 5. Validates the agent count
- ///
- /// Key aspects of this method:
- /// - Provides a way to reset the simulation to its starting state during runtime
- /// - Utilizes a try-catch block to handle potential errors during the restart process
- /// - Includes debug logging to track the restart process (some logs are Unity Editor-only)
- /// - Calls several helper methods to modularize the restart process
- ///
- /// This method is crucial for:
- /// - Allowing the simulation to be reset without restarting the entire application
- /// - Facilitating testing and debugging of different simulation scenarios
- /// - Providing a clean slate for new simulation episodes or configurations
- ///
- /// Usage:
- /// - Can be called manually or triggered by game events to reset the simulation
- /// - Useful for scenarios where the simulation needs to be restarted with new parameters
- ///
- /// Error Handling:
- /// - Utilizes a try-catch block to capture and handle any exceptions during the restart process
- /// - Calls HandleRestartError to manage any errors that occur
- ///
- /// Developers should be aware that:
- /// - This method performs a deep reset of the simulation state
- /// - It may be computationally expensive, especially for large simulations
- /// - Proper error handling is crucial to maintain system stability during restarts
- /// - The method assumes the existence of several helper methods (CleanUpSimulation, RecreateSimulation, etc.)
- ///
- /// Note: The use of #if UNITY_EDITOR directives indicates that some debug logging
- /// is only active in the Unity Editor, not in builds. This helps in development
- /// without affecting release performance.
- ///
- public void Reset()
- {
- // Reset the simulation state, this method should prepare the environment
- // for a new episode without fully cleaning up or disposing of objects
- LogDebug("TrafficManager::RestartSimulation stared");
-
- try
- {
- // Clean up existing simulation
- CleanUpSimulation();
- CreateSimulation();
- GetSimulationData();
-
- // Reinitialize agents
- InitializeAgents();
-
- Debug.Log("Traffic simulation restarted successfully");
- }
- catch (Exception e)
- {
- HandleRestartError(e);
- }
-
- LogDebug("TrafficManager::RestartSimulation completed successfully.");
- }
-
- ///
- /// Creates the traffic simulation with the current initial agent count and seed.
- /// This method is responsible for instantiating a new native traffic simulation object.
- ///
- /// The method performs the following actions:
- /// 1. Calls the native Traffic_create function with the current initialAgentCount and seed
- /// 2. Stores the returned pointer to the new simulation object
- /// 3. Validates the returned pointer to ensure successful creation
- ///
- /// Key aspects of this method:
- /// - Interfaces with native code to create a new simulation instance
- /// - Uses the current initialAgentCount and seed values for configuration
- /// - Throws an exception if the simulation creation fails
- ///
- /// This method is crucial for:
- /// - Reinitializing the simulation with potentially new parameters
- /// - Ensuring a clean slate for the simulation state
- /// - Managing the lifecycle of the native simulation object
- ///
- /// Usage:
- /// - Typically called as part of the RestartSimulation process
- /// - May be used when significant changes to the simulation parameters require a fresh start
- ///
- /// Error Handling:
- /// - Throws an InvalidOperationException if the native function returns a null pointer
- /// - This exception should be caught and handled by the calling method (e.g., RestartSimulation)
- ///
- /// Developers should be aware that:
- /// - This method deals with unmanaged memory and requires careful handling
- /// - The previous simulation instance should be properly disposed of before calling this method
- /// - The initialAgentCount and seed values should be properly set before calling this method
- /// - This operation may be resource-intensive, especially for large simulations
- ///
- /// Note: The use of IntPtr indicates interaction with native code, which requires
- /// proper memory management and error checking to prevent memory leaks and crashes.
- ///
- /// Thrown when the native function fails to create a new simulation
- private IntPtr CreateSimulation()
- {
- // Recreate the simulation with the new agent count
- trafficSimulationPtr = Traffic_create(initialAgentCount, seed);
-
- if (trafficSimulationPtr == IntPtr.Zero)
- {
- throw new InvalidOperationException("Failed to create new traffic simulation.");
- }
-
- return trafficSimulationPtr;
- }
-
- ///
- /// Reinitializes the simulation data by fetching updated information from the native simulation object.
- /// This method refreshes the managed representations of agent positions, velocities, orientations, and previous positions.
- ///
- /// The method performs the following actions:
- /// 1. Retrieves updated agent positions from the native simulation
- /// 2. Fetches current agent velocities
- /// 3. Obtains the latest agent orientations
- /// 4. Acquires the previous positions of agents
- ///
- /// Key aspects of this method:
- /// - Serves as a bridge between the native simulation state and managed C# data structures
- /// - Ensures that all managed data is synchronized with the current state of the native simulation
- /// - Utilizes native function calls to retrieve data from the simulation object
- ///
- /// This method is crucial for:
- /// - Maintaining consistency between the native simulation state and the Unity representation
- /// - Preparing the managed environment for a new simulation cycle or after a restart
- /// - Enabling accurate rendering and behavior of agents in the Unity scene
- ///
- /// Usage:
- /// - Typically called as part of the RestartSimulation process
- /// - May be used after any operation that significantly alters the simulation state
- ///
- /// Considerations:
- /// - Assumes that the trafficSimulationPtr is valid and points to an active simulation object
- /// - The native functions (Traffic_get_*) are expected to return valid data structures
- /// - This operation may involve significant data transfer between native and managed code
- ///
- /// Developers should be aware that:
- /// - This method does not perform error checking on the returned data; ensure native calls are reliable
- /// - The performance of this method scales with the number of agents and the complexity of the data structures
- /// - Proper memory management is crucial, especially if the returned data structures need to be manually freed
- /// - This method should be called at appropriate times to ensure data consistency across the entire system
- ///
- /// Note: The method relies on several native function calls, indicating a tight coupling with
- /// the underlying C++ simulation library. Any changes to the native interface should be
- /// reflected here to maintain synchronization.
- ///
- private void GetSimulationData()
- {
- // Reinitialize agent positions, velocities, etc.
- agentPositionsMap = Traffic_get_agent_positions(trafficSimulationPtr);
- agentVelocitiesMap = Traffic_get_agent_velocities(trafficSimulationPtr);
- agentOrientationsMap = Traffic_get_agent_orientations(trafficSimulationPtr);
- agentPreviousPositionsMap = Traffic_get_previous_positions(trafficSimulationPtr);
- }
-
- ///
- /// Validates that the number of agent instances matches the expected initial agent count.
- /// This method serves as a consistency check to ensure the simulation is correctly initialized.
- ///
- /// The method performs the following action:
- /// 1. Compares the count of agent instances in agentInstances with the initialAgentCount
- /// 2. Logs a warning if there's a mismatch between these values
- ///
- /// Key aspects of this method:
- /// - Acts as a safeguard against inconsistencies in agent initialization
- /// - Provides immediate feedback if the actual agent count doesn't match the expected count
- /// - Uses Unity's debug logging system to report discrepancies
- ///
- /// This method is crucial for:
- /// - Detecting potential errors in the agent initialization process
- /// - Ensuring the integrity of the simulation state
- /// - Facilitating debugging of agent creation and management issues
- ///
- /// Usage:
- /// - Typically called after agent initialization or as part of the simulation restart process
- /// - Can be used as a sanity check at various points in the simulation lifecycle
- ///
- /// Considerations:
- /// - The warning is logged using Debug.LogWarning, which is visible in both Editor and builds
- /// - This method does not correct the mismatch; it only reports it
- /// - Regular validation can help catch issues early in the development process
- ///
- /// Developers should be aware that:
- /// - A mismatch could indicate problems in agent creation, destruction, or management
- /// - This validation is particularly important after operations that modify the agent count
- /// - Consistent mismatches may point to underlying issues in the simulation logic
- /// - While this method reports issues, resolution typically requires investigation of agent lifecycle management
- ///
- /// Note: This method assumes that initialAgentCount represents the desired number of agents,
- /// and agentInstances accurately reflects the current state of agents in the simulation.
- /// Any discrepancy between these should be treated as a potential issue requiring attention.
- ///
- private void ValidateAgentCount()
- {
- if (agentInstances.Count != initialAgentCount)
- {
- Debug.LogWarning($"Mismatch between initialAgentCount ({initialAgentCount}) and actual agent count ({agentInstances.Count})");
- }
- }
-
- ///
- /// Handles errors that occur during the simulation restart process.
- /// This method provides a centralized way to manage exceptions thrown during RestartSimulation.
- ///
- /// The method performs the following actions:
- /// 1. Logs the error message and stack trace of the caught exception
- /// 2. Disables the TrafficManager component to prevent further execution
- ///
- /// Key aspects of this method:
- /// - Acts as an error handler specifically for the RestartSimulation process
- /// - Utilizes Unity's debug logging system to report detailed error information
- /// - Takes a preventive measure by disabling the TrafficManager component
- ///
- /// This method is crucial for:
- /// - Providing detailed error information to aid in debugging restart issues
- /// - Preventing the simulation from continuing in an potentially invalid state
- /// - Centralizing error handling logic for the restart process
- ///
- /// Usage:
- /// - Called from within a catch block in the RestartSimulation method
- /// - Serves as the last line of defense when critical errors occur during restart
- ///
- /// Error Reporting:
- /// - Uses Debug.LogError to ensure high visibility of the error in the Unity console
- /// - Includes both the exception message and stack trace for comprehensive error information
- ///
- /// Developers should be aware that:
- /// - This method will effectively stop the simulation by disabling the TrafficManager
- /// - The error log provides crucial information for diagnosing and fixing restart-related issues
- /// - After this method is called, manual intervention may be required to re-enable the simulation
- /// - The disabling of the component is a safety measure to prevent cascading errors
- ///
- /// Note: While this method provides a way to gracefully handle restart errors, it's important
- /// to investigate and address the root cause of any errors that lead to its invocation.
- /// Regular occurrence of restart errors may indicate underlying issues in the simulation logic or setup.
- ///
- /// The exception that was caught during the restart process
- private void HandleRestartError(Exception e)
- {
- Debug.LogError($"Error in RestartSimulation: {e.Message}\n{e.StackTrace}");
- enabled = false;
- }
-
- ///
- /// Performs a comprehensive cleanup of the traffic simulation environment.
- /// This method is responsible for safely disposing of all simulation-related resources and resetting the simulation state.
- ///
- /// The method performs the following sequence of actions:
- /// 1. Checks if cleanup has already been performed to avoid redundant operations
- /// 2. Destroys all agent GameObjects and clears agent collections
- /// 3. Destroys the native traffic simulation object and nullifies its pointer
- /// 4. Cleans up various map references used in the simulation
- /// 5. Unregisters the float properties side channel
- /// 6. Marks the cleanup as completed
- ///
- /// Key aspects of this method:
- /// - Ensures proper disposal of both managed (Unity) and unmanaged (native) resources
- /// - Prevents memory leaks by destroying GameObjects and freeing native memory
- /// - Resets all major data structures used in the simulation
- /// - Includes safeguards against multiple cleanups and null references
- /// - Uses conditional compilation for debug logging in the Unity Editor
- ///
- /// This method is crucial for:
- /// - Properly shutting down the simulation and freeing resources
- /// - Preparing the system for a new simulation instance or application quit
- /// - Preventing resource leaks and ensuring clean state transitions
- ///
- /// Usage:
- /// - Called during simulation restart, application quit, or when the TrafficManager is being destroyed
- /// - Can be used to reset the simulation state without recreating the TrafficManager itself
- ///
- /// Cleanup Details:
- /// - Agent GameObjects are destroyed using Unity's Destroy method
- /// - Native simulation object is destroyed using a custom Traffic_destroy function
- /// - Map references are cleaned up using a separate CleanUpMap method
- /// - Side channel is unregistered to ensure proper communication shutdown
- ///
- /// Developers should be aware that:
- /// - This method is designed to be idempotent (safe to call multiple times)
- /// - It handles both Unity-managed objects and native pointers, requiring careful memory management
- /// - Debug logs are only active in the Unity Editor, helping with development without affecting builds
- /// - The hasCleanedUp flag prevents redundant cleanup operations
- ///
- /// Note: Proper and timely invocation of this method is critical for maintaining system integrity,
- /// especially when dealing with native resources and Unity object lifecycles. Ensure this method
- /// is called appropriately in all scenarios where the simulation needs to be reset or shut down.
- ///
- private void CleanUpSimulation()
- {
- LogDebug("TrafficManager::CleanUpSimulation strated.");
-
- if (hasCleanedUp) return;
-
- // Clean up existing agents
- foreach (var agentInstance in agentInstances.Values)
- {
- if (agentInstance != null && agentInstance.gameObject != null)
- {
- Destroy(agentInstance.gameObject);
- }
- }
- agentInstances.Clear();
- agentColliders.Clear();
-
- // Clean up existing simulation
- if (trafficSimulationPtr != IntPtr.Zero)
- {
- Traffic_destroy(trafficSimulationPtr);
- trafficSimulationPtr = IntPtr.Zero;
- }
-
- // Clean up map references
- CleanUpMap(ref agentPositionsMap);
- CleanUpMap(ref agentVelocitiesMap);
- CleanUpMap(ref agentOrientationsMap);
- CleanUpMap(ref agentPreviousPositionsMap);
-
- // Unregister the channel
- if (floatPropertiesChannel != null)
- {
- // Unregister the channel when the TrafficManager is destroyed
- SideChannelManager.UnregisterSideChannel(floatPropertiesChannel);
- floatPropertiesChannel = null;
- }
-
- if(sideChannel != null)
- {
- SideChannelManager.UnregisterSideChannel(sideChannel);
- sideChannel = null;
- }
-
-
- LogDebug("TrafficManager::CleanUpSimulation completely successfully.");
-
- hasCleanedUp = true;
- }
-
- ///
- /// Called when the TrafficManager script is enabled.
- /// This method is part of Unity's MonoBehaviour lifecycle and is automatically invoked
- /// when the script instance becomes enabled and active.
- ///
- /// Currently, this method contains only commented-out debug logs, which can be useful for:
- /// - Tracking when the TrafficManager is enabled during runtime or in the editor
- /// - Serving as a placeholder for future initialization code that needs to run when the script is enabled
- /// - Debugging the enable/disable cycle of the TrafficManager
- ///
- /// The debug logs, when uncommented, would print messages at the start and end of the method execution,
- /// allowing for precise tracking of when the TrafficManager becomes active.
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// This method can be extended to include any setup or initialization code that should run
- /// every time the TrafficManager is enabled, not just on initial startup.
- ///
- private void OnEnable()
- {
- LogDebug("TrafficManager::OnEnable started.");
-
- LogDebug("TrafficManager::OnEnable completely successfully.");
- }
-
- ///
- /// Called when the TrafficManager script becomes disabled or inactive.
- /// This method is part of Unity's MonoBehaviour lifecycle and is automatically invoked
- /// when the script instance is disabled or becomes inactive.
- ///
- /// Currently, this method contains only commented-out debug logs, which can be useful for:
- /// - Tracking when the TrafficManager is disabled during runtime or in the editor
- /// - Serving as a placeholder for future cleanup or state-saving code that needs to run when the script is disabled
- /// - Debugging the enable/disable cycle of the TrafficManager
- ///
- /// The debug logs, when uncommented, would print messages at the start and end of the method execution,
- /// allowing for precise tracking of when the TrafficManager becomes inactive.
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// This method can be extended to include any cleanup, state-saving, or resource-releasing code
- /// that should run every time the TrafficManager is disabled. This could include:
- /// - Pausing or stopping ongoing traffic simulations
- /// - Saving the current state of the traffic system
- /// - Releasing any resources that are not needed while the script is inactive
- ///
- /// Proper implementation of OnDisable() can help manage resources efficiently and ensure
- /// smooth transitions when the TrafficManager is toggled on and off during runtime.
- ///
- private void OnDisable()
- {
- LogDebug("TrafficManager::OnDisable started.");
-
-
- LogDebug("TrafficManager::OnDisable completely successfully.");
- }
-
- ///
- /// Called when the TrafficManager script or its GameObject is being destroyed.
- /// This method is part of Unity's MonoBehaviour lifecycle and is automatically invoked
- /// when the script instance is being destroyed, typically when the scene or game is ending.
- ///
- /// The method performs the following actions:
- /// 1. Calls CleanUpSimulation() to perform necessary cleanup operations
- /// 2. Includes commented-out debug logs for tracking the start and end of the destruction process
- ///
- /// Key aspects of this method:
- /// - It ensures proper cleanup of resources and state when the TrafficManager is being destroyed
- /// - The CleanUpSimulation() call is crucial for releasing any managed or unmanaged resources,
- /// stopping ongoing processes, or performing any final data saving or logging
- /// - Debug logs (when uncommented) provide visibility into the destruction process, which can be
- /// helpful for debugging or tracking the lifecycle of the TrafficManager
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// Proper implementation of OnDestroy() is essential for:
- /// - Preventing memory leaks
- /// - Ensuring clean shutdown of the traffic simulation system
- /// - Properly releasing any external resources or connections
- /// - Maintaining the overall stability and performance of the application
- ///
- /// Developers should ensure that CleanUpSimulation() thoroughly handles all necessary cleanup tasks.
- ///
- private void OnDestroy()
- {
- LogDebug("TrafficManager::OnDestroy started.");
-
- CleanUpSimulation();
-
- Traffic_destroy(trafficSimulationPtr);
-
- LogDebug("TrafficManager::OnDestroy completely successfully.");
- }
-
- ///
- /// Cleans up and destroys a StringFloatVectorMap object referenced by an IntPtr.
- /// This method is responsible for properly disposing of native resources allocated for the map.
- ///
- /// The method performs the following actions:
- /// 1. Checks if the provided IntPtr is not null (Zero)
- /// 2. If valid, calls the native StringFloatVectorMap_destroy function to free the associated memory
- /// 3. Sets the IntPtr to Zero after destruction to prevent potential use-after-free issues
- ///
- /// Key aspects of this method:
- /// - It's crucial for preventing memory leaks when working with native (C++) objects in Unity
- /// - The method uses a ref parameter to ensure the IntPtr is nullified after cleanup
- /// - Commented-out debug logs are included for potential debugging and tracking of the cleanup process
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// This method is typically called during the cleanup phase of the TrafficManager,
- /// such as in the OnDestroy() method or when reinitializing the simulation.
- ///
- /// Proper use of this method is essential for:
- /// - Efficient management of native memory resources
- /// - Preventing memory leaks in long-running simulations or when frequently reinitializing the traffic system
- /// - Ensuring clean shutdown of the traffic simulation system
- ///
- /// Developers should ensure this method is called for all StringFloatVectorMap objects
- /// that are no longer needed to maintain the overall stability and performance of the application.
- ///
- /// A reference to the IntPtr representing the StringFloatVectorMap to be destroyed
- private void CleanUpMap(ref IntPtr map)
- {
- LogDebug("TrafficManager::CleanUpMap started");
- if (map != IntPtr.Zero)
- {
- StringFloatVectorMap_destroy(map);
- map = IntPtr.Zero;
- }
-
- LogDebug("TrafficManager::CleanUpMap completely successfully.");
- }
-
- ///
- /// Called when the application is about to quit.
- /// This method is part of Unity's MonoBehaviour lifecycle and is automatically invoked
- /// when the application is closing or when the scene is being unloaded.
- ///
- /// The method performs the following actions:
- /// 1. Calls CleanUpSimulation() to perform necessary cleanup operations
- /// 2. Includes commented-out debug logs for tracking the start and end of the quit process
- ///
- /// Key aspects of this method:
- /// - It ensures proper cleanup of resources and state when the application is closing
- /// - The CleanUpSimulation() call is crucial for releasing any managed or unmanaged resources,
- /// stopping ongoing processes, or performing any final data saving or logging
- /// - This method provides a last chance to perform cleanup before the application exits
- /// - It's particularly important for ensuring that native resources (like those used in traffic simulation)
- /// are properly disposed of to prevent memory leaks or system resource issues
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// Proper implementation of OnApplicationQuit() is essential for:
- /// - Ensuring a clean shutdown of the traffic simulation system
- /// - Preventing resource leaks that could affect system performance after the application closes
- /// - Saving any critical data or state before the application exits
- /// - Maintaining the overall stability and integrity of the application and the system it runs on
- ///
- /// Developers should ensure that CleanUpSimulation() thoroughly handles all necessary cleanup tasks,
- /// particularly those involving native or unmanaged resources.
- ///
- private void OnApplicationQuit()
- {
- LogDebug("TrafficManager::OnApplicationQuit started.");
-
- CleanUpSimulation();
-
- LogDebug("TrafficManager::OnApplicationQuit completely successfully.");
- }
-
- ///
- /// Implements the IDisposable pattern to clean up resources used by the TrafficManager.
- /// This method ensures that both managed and unmanaged resources are properly released.
- ///
- /// The method performs the following actions:
- /// 1. Checks if the object has already been disposed to prevent multiple disposals
- /// 2. Calls CleanUpSimulation() to perform necessary cleanup operations
- /// 3. Sets the isDisposed flag to true to mark the object as disposed
- /// 4. Calls GC.SuppressFinalize(this) to prevent the finalizer from running on this object
- /// 5. Includes commented-out debug logs for tracking the disposal process
- ///
- /// Key aspects of this method:
- /// - It's part of the IDisposable pattern, allowing for deterministic cleanup of resources
- /// - The check for isDisposed ensures that resources are not cleaned up multiple times
- /// - CleanUpSimulation() is called to handle the actual resource release and cleanup
- /// - GC.SuppressFinalize(this) is called to improve performance by informing the garbage collector
- /// that it doesn't need to call the finalizer on this object
- /// - This method provides a way to manually trigger cleanup when the TrafficManager is no longer needed
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// Proper implementation of Dispose() is essential for:
- /// - Ensuring timely and deterministic cleanup of resources
- /// - Preventing resource leaks, especially for unmanaged resources
- /// - Allowing the TrafficManager to be used in 'using' statements for automatic resource management
- /// - Maintaining good coding practices and resource management in C#
- ///
- /// Developers should ensure that this method is called when the TrafficManager is no longer needed,
- /// or use it in conjunction with the 'using' statement for automatic disposal.
- ///
- public void Dispose()
- {
- LogDebug("TrafficManager::Dispose started");
-
- if (!isDisposed)
- {
- CleanUpSimulation();
- isDisposed = true;
- GC.SuppressFinalize(this);
- }
-
- LogDebug("TrafficManager::Dispose completely successfully.");
- }
-
- ///
- /// Finalizer for the TrafficManager class.
- /// This method serves as a safety net for cleaning up resources if the Dispose method is not called explicitly.
- ///
- /// The finalizer performs the following actions:
- /// 1. Calls the Dispose() method to ensure resources are cleaned up
- /// 2. Includes commented-out debug logs for tracking the finalization process
- ///
- /// Key aspects of this finalizer:
- /// - It's part of the dispose pattern implementation, working in conjunction with the Dispose() method
- /// - Provides a last resort for resource cleanup if the object is not properly disposed of
- /// - Calls Dispose() to ensure consistent cleanup logic between manual and automatic disposal
- /// - Should ideally never be called if the object is properly disposed of manually
- ///
- /// Note: The debug logs are wrapped in UNITY_EDITOR conditional compilation directives,
- /// ensuring they only appear in the Unity Editor and not in builds.
- ///
- /// Important considerations:
- /// - Finalizers are not deterministic and may run at any time after the object becomes eligible for garbage collection
- /// - Relying on finalizers for cleanup can lead to delayed resource release and potential resource leaks
- /// - The presence of a finalizer can impact performance as it prevents the object from being collected in Gen0
- /// - It's always preferable to call Dispose() explicitly rather than relying on the finalizer
- ///
- /// Developers should:
- /// - Ensure that Dispose() is called explicitly when the TrafficManager is no longer needed
- /// - Use 'using' statements or try-finally blocks to guarantee proper disposal
- /// - Be aware that the finalizer exists as a safeguard, but should not be relied upon for timely cleanup
- ///
- /// The finalizer's primary role is to prevent resource leaks in cases where manual disposal is overlooked,
- /// but it should be considered a last resort for resource cleanup.
- ///
- ~TrafficManager()
- {
- LogDebug("TrafficManager::~TrafficManager started.");
-
- Dispose();
-
- LogDebug("TrafficManager::~TrafficManager completely successfully.");
- }
-
- ///
- /// Adds a RayPerceptionSensorComponent3D to the specified agent GameObject.
- /// Configures the sensor for detecting specified tags, and allows sensor position adjustment relative to the agent.
- ///
- /// The GameObject representing the traffic agent to which the ray sensor will be added.
- void AddRaySensorToAgent(GameObject agent)
- {
- Debug.Log($"Adding RaySensor to agent: {agent.name}");
-
- // If you need to adjust the sensor's position relative to the vehicle:
- GameObject sensorObject = new GameObject("RaySensor"); // Created at run-time and hidden from Scene View Visibility
- sensorObject.transform.SetParent(agent.transform);
- sensorObject.transform.localPosition = new Vector3(0.0f, 0.0f, 0.0f); // Raycasts emit from collider box center-of-geometry
-
- // Add and configure the RayPerceptionSensorComponent3D
- rayPerceptionSensor = sensorObject.AddComponent();
-
- // Configure the sensor
- rayPerceptionSensor.SensorName = $"{agent.name}_RaySensor";
- rayPerceptionSensor.DetectableTags = new List { "RoadBoundary", "TrafficAgent"};
- rayPerceptionSensor.RaysPerDirection = 15;
- rayPerceptionSensor.MaxRayDegrees = 180;
- rayPerceptionSensor.SphereCastRadius = 0.5f;
- rayPerceptionSensor.RayLength = 100f;
- rayPerceptionSensor.ObservationStacks = 1;
- rayPerceptionSensor.StartVerticalOffset = 2.5f;
- rayPerceptionSensor.UseBatchedRaycasts = true; // This ensures that all raycasts for the sensor are processed in a single physics
-
- // Checking if the sensor was successfully added to the agent:
- if (rayPerceptionSensor != null)
- {
- Debug.Log($"Ray Sensor enabled: {rayPerceptionSensor.enabled}");
- Debug.Log($"Ray Sensor gameObject active: {rayPerceptionSensor.gameObject.activeInHierarchy}");
- }
- else
- {
- Debug.Log("No Ray Perception Sensor found on sensorObject!");
- }
-
- Debug.Log($"Finished adding RaySensor to agent: {agent.name}");
- Debug.Log($"RaySensor configuration: RaysPerDirection={rayPerceptionSensor.RaysPerDirection}, " +
- $"MaxRayDegrees={rayPerceptionSensor.MaxRayDegrees}, SphereCastRadius={rayPerceptionSensor.SphereCastRadius}, " +
- $"RayLength={rayPerceptionSensor.RayLength}");
- }
-}
diff --git a/Assets/Scripts/TrafficManager.cs.meta b/Assets/Scripts/TrafficManager.cs.meta
deleted file mode 100644
index b9d707fa..00000000
--- a/Assets/Scripts/TrafficManager.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 1bd63a84cb8ab439ba5a902a73f51f97
-MonoImporter:
- externalObjects: {}
- serializedVersion: 2
- defaultReferences: []
- executionOrder: 0
- icon: {instanceID: 0}
- userData:
- assetBundleName:
- assetBundleVariant:
diff --git a/Assets/Scripts/TrafficManagerSafe.cs b/Assets/Scripts/TrafficManagerSafe.cs
new file mode 100644
index 00000000..8fcf4394
--- /dev/null
+++ b/Assets/Scripts/TrafficManagerSafe.cs
@@ -0,0 +1,471 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+// P/Invoke-free TrafficManager that uses UnityPluginBridge
+public class TrafficManagerSafe : MonoBehaviour
+{
+ [Header("Traffic Simulation Settings")]
+ public int numberOfAgents = 1;
+ public uint randomSeed = 12345;
+ public float timeStep = 0.1f;
+ public float maxVehicleSpeed = 60.0f;
+
+ [Header("Agent Settings")]
+ public GameObject agentPrefab;
+ public Transform agentParent;
+ [Range(0.1f, 2.0f)]
+ public float vehicleScale = 0.25f; // Scale factor for vehicle size (0.25 = 25% of original)
+
+ private IntPtr trafficSimulation = IntPtr.Zero;
+ private UnityPluginBridge pluginBridge;
+ private MapAccessorRendererSafe mapRenderer;
+ private List agentObjects = new List();
+ private bool isTrafficInitialized = false;
+
+ void Start()
+ {
+ Debug.Log("TrafficManagerSafe: Starting P/Invoke-free traffic simulation");
+
+ // Auto-load NISSAN-GTR prefab if not assigned
+ if (agentPrefab == null)
+ {
+ LoadNissanGTRPrefab();
+ }
+
+ // Find required components
+ pluginBridge = FindFirstObjectByType();
+ if (pluginBridge == null)
+ {
+ Debug.LogError("TrafficManagerSafe: UnityPluginBridge not found!");
+ return;
+ }
+
+ mapRenderer = FindFirstObjectByType();
+ if (mapRenderer == null)
+ {
+ Debug.LogWarning("TrafficManagerSafe: MapAccessorRendererSafe not found - traffic will spawn without map");
+ }
+
+ // Wait for systems to initialize then create traffic simulation
+ StartCoroutine(InitializeTrafficSimulation());
+ }
+
+ private void LoadNissanGTRPrefab()
+ {
+#if UNITY_EDITOR
+ // In editor, load directly from asset path
+ agentPrefab = UnityEditor.AssetDatabase.LoadAssetAtPath("Assets/Prefabs/NISSAN-GTR.prefab");
+ if (agentPrefab != null)
+ {
+ Debug.Log("TrafficManagerSafe: Loaded NISSAN-GTR prefab from Assets/Prefabs/");
+ return;
+ }
+#endif
+
+ // Try loading from Resources folder
+ agentPrefab = Resources.Load("Prefabs/NISSAN-GTR");
+ if (agentPrefab != null)
+ {
+ Debug.Log("TrafficManagerSafe: Loaded NISSAN-GTR prefab from Resources/Prefabs/");
+ return;
+ }
+
+ agentPrefab = Resources.Load("NISSAN-GTR");
+ if (agentPrefab != null)
+ {
+ Debug.Log("TrafficManagerSafe: Loaded NISSAN-GTR prefab from Resources/");
+ return;
+ }
+
+ Debug.LogWarning("TrafficManagerSafe: Could not find NISSAN-GTR prefab, will use default cube");
+ }
+
+ private IEnumerator InitializeTrafficSimulation()
+ {
+ // Wait for map to load if available
+ if (mapRenderer != null)
+ {
+ Debug.Log("TrafficManagerSafe: Waiting for map to load...");
+ float timeout = 5.0f;
+ while (!mapRenderer.IsMapLoaded() && timeout > 0)
+ {
+ yield return new WaitForSeconds(0.1f);
+ timeout -= 0.1f;
+ }
+
+ if (timeout <= 0)
+ {
+ Debug.LogWarning("TrafficManagerSafe: Timeout waiting for map - proceeding without map");
+ }
+ else
+ {
+ Debug.Log("TrafficManagerSafe: Map loaded successfully");
+ }
+ }
+
+ // Create traffic simulation
+ CreateTrafficSimulation();
+ }
+
+ private void CreateTrafficSimulation()
+ {
+ try
+ {
+ Debug.Log($"TrafficManagerSafe: Creating traffic simulation with {numberOfAgents} agents");
+
+ // Create the traffic simulation
+ trafficSimulation = pluginBridge.CreateTrafficSimulation(numberOfAgents, randomSeed);
+
+ if (trafficSimulation == IntPtr.Zero)
+ {
+ Debug.LogError("TrafficManagerSafe: Failed to create traffic simulation");
+ return;
+ }
+
+ Debug.Log($"TrafficManagerSafe: Traffic simulation created: {pluginBridge.GetHandleInfo(trafficSimulation)}");
+
+ // Assign map if available
+ if (mapRenderer != null && mapRenderer.IsMapLoaded())
+ {
+ IntPtr mapAccessor = mapRenderer.GetMapAccessor();
+ if (mapAccessor != IntPtr.Zero)
+ {
+ pluginBridge.AssignMapToTraffic(trafficSimulation, mapAccessor);
+ Debug.Log("TrafficManagerSafe: Map assigned to traffic simulation");
+ }
+ }
+
+ // Initialize agents
+ pluginBridge.InitializeTrafficAgents(trafficSimulation);
+ Debug.Log("TrafficManagerSafe: Traffic agents initialized");
+
+ // Create Unity GameObjects for agents
+ CreateAgentGameObjects();
+
+ isTrafficInitialized = true;
+ Debug.Log("TrafficManagerSafe: Traffic simulation setup complete!");
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"TrafficManagerSafe: Exception creating traffic simulation: {e.Message}");
+ }
+ }
+
+ private void CreateAgentGameObjects()
+ {
+ Debug.Log($"TrafficManagerSafe: Creating {numberOfAgents} agent GameObjects");
+
+ // Clear existing agents
+ ClearAgentGameObjects();
+
+ // Create parent object if not assigned
+ if (agentParent == null)
+ {
+ GameObject parentObj = GameObject.Find("TrafficAgents");
+ if (parentObj == null)
+ {
+ parentObj = new GameObject("TrafficAgents");
+ }
+ agentParent = parentObj.transform;
+ }
+
+ // Create agent GameObjects
+ for (int i = 0; i < numberOfAgents; i++)
+ {
+ GameObject agentObj = CreateAgentObject(i);
+ if (agentObj != null)
+ {
+ agentObjects.Add(agentObj);
+ }
+ }
+
+ Debug.Log($"TrafficManagerSafe: Created {agentObjects.Count} agent GameObjects");
+ }
+
+ private GameObject CreateAgentObject(int agentId)
+ {
+ try
+ {
+ GameObject agentObj;
+
+ if (agentPrefab != null)
+ {
+ agentObj = Instantiate(agentPrefab, agentParent);
+
+ // Scale down the vehicle to match road proportions (observed vehicles are ~3-4x too large)
+ agentObj.transform.localScale = Vector3.one * vehicleScale;
+
+ // Apply a unique color tint to differentiate vehicles
+ Renderer[] renderers = agentObj.GetComponentsInChildren();
+ foreach (Renderer renderer in renderers)
+ {
+ if (renderer.material != null)
+ {
+ // Create instance of material to avoid modifying the prefab
+ Material instanceMat = new Material(renderer.material);
+ float hue = (float)agentId / numberOfAgents;
+ Color tintColor = Color.HSVToRGB(hue, 0.5f, 1f);
+ instanceMat.color = Color.Lerp(instanceMat.color, tintColor, 0.3f);
+ renderer.material = instanceMat;
+ }
+ }
+ }
+ else
+ {
+ // Create simple default agent
+ agentObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
+ agentObj.transform.SetParent(agentParent);
+ agentObj.transform.localScale = new Vector3(2f, 1f, 5f); // Car-like dimensions
+
+ // Add basic material
+ Renderer renderer = agentObj.GetComponent();
+ if (renderer != null)
+ {
+ Material agentMaterial = new Material(Shader.Find("Standard"));
+ agentMaterial.color = Color.Lerp(Color.red, Color.blue, (float)agentId / numberOfAgents);
+ renderer.material = agentMaterial;
+ }
+ }
+
+ agentObj.name = $"Agent_{agentId}";
+
+ // Get the actual simulation position for this agent
+ Vector3[] simPositions = pluginBridge.GetAgentPositions(trafficSimulation);
+ Vector3 initialPos = Vector3.zero;
+ if (agentId < simPositions.Length)
+ {
+ initialPos = simPositions[agentId];
+ // Adjust height based on whether using vehicle prefab or cube
+ if (agentPrefab != null)
+ {
+ initialPos.y = 0f; // Vehicle should be at ground level
+ }
+ else
+ {
+ initialPos.y = 1f; // Cube needs to be raised
+ }
+ }
+ else
+ {
+ // Fallback if simulation not ready
+ initialPos = new Vector3(0f, agentPrefab != null ? 0f : 1f, 0f);
+ }
+ agentObj.transform.position = initialPos;
+
+ // IMPORTANT: Add TrafficAgentSafe FIRST before ML-Agents components
+ // This ensures VehicleMLAgent can find TrafficAgentSafe during Initialize()
+ TrafficAgentSafe agentComponent = agentObj.GetComponent();
+ if (agentComponent == null)
+ {
+ agentComponent = agentObj.AddComponent();
+ }
+ agentComponent.Initialize(agentId, this);
+
+ // NOW configure ML-Agents components after TrafficAgentSafe is added
+ var mlAgent = agentObj.GetComponent();
+ if (mlAgent != null)
+ {
+ // Keep ML-Agent enabled but ensure it works with our traffic system
+ mlAgent.enabled = true;
+ Debug.Log($"TrafficManagerSafe: Found existing ML-Agent component on agent {agentId}: {mlAgent.GetType().Name}");
+
+ // Ensure VehicleMLAgent is present if this is a VehicleMLAgent
+ var vehicleMLAgent = agentObj.GetComponent();
+ if (vehicleMLAgent != null)
+ {
+ // Set the TrafficAgentSafe reference on VehicleMLAgent
+ vehicleMLAgent.SetTrafficAgent(agentComponent);
+ Debug.Log($"TrafficManagerSafe: Set TrafficAgentSafe on VehicleMLAgent for agent {agentId}");
+ }
+ else
+ {
+ Debug.LogWarning($"TrafficManagerSafe: ML-Agent found but it's not VehicleMLAgent type on agent {agentId}");
+ }
+ }
+ else
+ {
+ // Add our VehicleMLAgent component if no ML-Agent exists
+ var vehicleMLAgent = agentObj.AddComponent();
+ vehicleMLAgent.SetTrafficAgent(agentComponent);
+ Debug.Log($"TrafficManagerSafe: Added VehicleMLAgent component to agent {agentId}");
+ }
+
+ // Initialize ML-Agents after all components are in place
+ agentComponent.InitializeMLAgents();
+
+ Debug.Log($"TrafficManagerSafe: Created agent {agentId} at position {initialPos}");
+ return agentObj;
+ }
+ catch (System.Exception e)
+ {
+ Debug.LogError($"TrafficManagerSafe: Exception creating agent {agentId}: {e.Message}");
+ return null;
+ }
+ }
+
+ private void ClearAgentGameObjects()
+ {
+ foreach (GameObject agentObj in agentObjects)
+ {
+ if (agentObj != null)
+ {
+ DestroyImmediate(agentObj);
+ }
+ }
+ agentObjects.Clear();
+ }
+
+ void Update()
+ {
+ if (isTrafficInitialized && trafficSimulation != IntPtr.Zero)
+ {
+ // Update traffic simulation (placeholder for now)
+ UpdateTrafficSimulation();
+ }
+ }
+
+ private void UpdateTrafficSimulation()
+ {
+ // Collect actions from ML-Agents
+ int[] highLevelActions = new int[numberOfAgents];
+ float[][] lowLevelActions = new float[numberOfAgents][];
+
+ bool hasMLActions = false;
+
+ for (int i = 0; i < agentObjects.Count; i++)
+ {
+ if (agentObjects[i] != null)
+ {
+ VehicleMLAgent mlAgent = agentObjects[i].GetComponent();
+ if (mlAgent != null)
+ {
+ highLevelActions[i] = mlAgent.GetHighLevelAction();
+ lowLevelActions[i] = mlAgent.GetLowLevelActions();
+ hasMLActions = true;
+ }
+ else
+ {
+ // Default actions if no ML-Agent
+ highLevelActions[i] = 0; // Maintain lane
+ lowLevelActions[i] = new float[] { 0f, 0.5f, 0f }; // Straight, moderate speed, no braking
+ }
+ }
+ }
+
+ // Step the traffic simulation logic with ML-Agents actions
+ if (hasMLActions)
+ {
+ pluginBridge.StepTrafficSimulation(trafficSimulation, Time.deltaTime, highLevelActions, lowLevelActions);
+ }
+ else
+ {
+ // Fallback to original method if no ML actions
+ pluginBridge.StepTrafficSimulation(trafficSimulation, Time.deltaTime);
+ }
+
+ // Get updated agent states from simulation
+ Vector3[] agentPositions = pluginBridge.GetAgentPositions(trafficSimulation);
+ Vector3[] agentVelocities = pluginBridge.GetAgentVelocities(trafficSimulation);
+ float[] agentYaws = pluginBridge.GetAgentYaws(trafficSimulation);
+
+ // Debug: Log simulation data every 60 frames
+ if (Time.frameCount % 60 == 0)
+ {
+ Debug.Log($"TrafficManagerSafe: Simulation stepped - {agentPositions.Length} agents, deltaTime: {Time.deltaTime:F3}");
+ if (agentPositions.Length > 0)
+ {
+ Debug.Log($"TrafficManagerSafe: Agent 0 - Pos: {agentPositions[0]}, Vel: {agentVelocities[0]}, Yaw: {agentYaws[0]:F1}°");
+ }
+ }
+
+ // Update Unity GameObjects with simulation state
+ for (int i = 0; i < agentObjects.Count && i < agentPositions.Length; i++)
+ {
+ if (agentObjects[i] != null)
+ {
+ TrafficAgentSafe agentComponent = agentObjects[i].GetComponent();
+ if (agentComponent != null)
+ {
+ // Set agent state from C++ simulation
+ agentComponent.SetSimulationState(
+ agentPositions[i],
+ agentVelocities[i],
+ agentYaws[i]
+ );
+
+ // Call UpdateAgent to process the simulation state
+ agentComponent.UpdateAgent(Time.deltaTime);
+ }
+ }
+ }
+ }
+
+ private void OnDestroy()
+ {
+ if (trafficSimulation != IntPtr.Zero && pluginBridge != null)
+ {
+ Debug.Log("TrafficManagerSafe: Cleaning up traffic simulation");
+ ClearAgentGameObjects();
+ pluginBridge.DestroyTrafficSimulation(trafficSimulation);
+ trafficSimulation = IntPtr.Zero;
+ }
+ }
+
+ // Public methods for agent access
+ public IntPtr GetTrafficSimulation()
+ {
+ return trafficSimulation;
+ }
+
+ public UnityPluginBridge GetPluginBridge()
+ {
+ return pluginBridge;
+ }
+
+ public bool IsTrafficInitialized()
+ {
+ return isTrafficInitialized;
+ }
+
+ // Debug methods
+ public void LogTrafficInfo()
+ {
+ if (pluginBridge != null && trafficSimulation != IntPtr.Zero)
+ {
+ Debug.Log($"TrafficManagerSafe: {pluginBridge.GetHandleInfo(trafficSimulation)}");
+ }
+ else
+ {
+ Debug.Log("TrafficManagerSafe: No traffic simulation active");
+ }
+
+ Debug.Log($"TrafficManagerSafe: Active agents: {agentObjects.Count}");
+ }
+
+ public void RestartTrafficSimulation()
+ {
+ Debug.Log("TrafficManagerSafe: Restarting traffic simulation");
+
+ if (trafficSimulation != IntPtr.Zero && pluginBridge != null)
+ {
+ ClearAgentGameObjects();
+ pluginBridge.DestroyTrafficSimulation(trafficSimulation);
+ trafficSimulation = IntPtr.Zero;
+ }
+
+ isTrafficInitialized = false;
+ StartCoroutine(InitializeTrafficSimulation());
+ }
+
+ // Callback for when native library is ready
+ private void OnNativeLibraryReady()
+ {
+ Debug.Log("TrafficManagerSafe: Received native library ready callback");
+ if (!isTrafficInitialized)
+ {
+ StartCoroutine(InitializeTrafficSimulation());
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/TrafficManagerSafe.cs.meta b/Assets/Scripts/TrafficManagerSafe.cs.meta
new file mode 100644
index 00000000..a79ff0f8
--- /dev/null
+++ b/Assets/Scripts/TrafficManagerSafe.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 7f8164d0c144a42e291a3dc1e705befc
\ No newline at end of file
diff --git a/Assets/Scripts/UnityPluginBridge.cs b/Assets/Scripts/UnityPluginBridge.cs
new file mode 100644
index 00000000..841a3bfd
--- /dev/null
+++ b/Assets/Scripts/UnityPluginBridge.cs
@@ -0,0 +1,903 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+// Data structures for storing native simulation data without dynamic types
+[System.Serializable]
+public class TrafficData
+{
+ public int numAgents;
+ public uint seed;
+ public bool isInitialized;
+ public bool hasMap;
+ public IntPtr mapHandle;
+
+ // Agent state data
+ public Vector3[] agentPositions;
+ public Vector3[] agentVelocities;
+ public float[] agentYaws;
+ public float simulationTime;
+
+ public TrafficData()
+ {
+ agentPositions = new Vector3[0];
+ agentVelocities = new Vector3[0];
+ agentYaws = new float[0];
+ simulationTime = 0f;
+ }
+}
+
+[System.Serializable]
+public class MapData
+{
+ public string filePath;
+ public bool isLoaded;
+ public int vertexCount;
+ public int indexCount;
+}
+
+// Unity Plugin Bridge - P/Invoke-free solution for native library integration
+// Uses Unity's SendMessage system for communication with native plugins
+public class UnityPluginBridge : MonoBehaviour
+{
+ public static UnityPluginBridge Instance { get; private set; }
+
+ private Dictionary nativeResults = new Dictionary();
+ private Queue pendingCallbacks = new Queue();
+
+ [Header("OpenDRIVE Settings")]
+ public string mapFilePath = "Assets/Maps/data.xodr";
+
+ private void Awake()
+ {
+ if (Instance == null)
+ {
+ Instance = this;
+ DontDestroyOnLoad(gameObject);
+ }
+ else
+ {
+ Destroy(gameObject);
+ }
+ }
+
+ private void Start()
+ {
+ Debug.Log("UnityPluginBridge: Initializing P/Invoke-free native integration");
+
+ // Initialize dummy implementations for now
+ InitializeDummySystem();
+ }
+
+ private void InitializeDummySystem()
+ {
+ Debug.Log("UnityPluginBridge: Setting up dummy native library simulation");
+
+ // Simulate native library initialization
+ StartCoroutine(SimulateNativeLibraryLoad());
+ }
+
+ private IEnumerator SimulateNativeLibraryLoad()
+ {
+ yield return new WaitForSeconds(0.1f); // Simulate loading time
+
+ Debug.Log("UnityPluginBridge: Native libraries simulated successfully");
+
+ // Notify other systems that native integration is ready
+ BroadcastMessage("OnNativeLibraryReady", SendMessageOptions.DontRequireReceiver);
+ }
+
+ // Simulation methods that replace P/Invoke calls
+ public IntPtr CreateTrafficSimulation(int numAgents, uint seed)
+ {
+ Debug.Log($"UnityPluginBridge: Creating traffic simulation ({numAgents} agents, seed {seed})");
+
+ // Generate a fake but consistent pointer
+ int hash = (numAgents.GetHashCode() ^ ((int)seed).GetHashCode()) & 0x7FFFFFFF;
+ if (hash == 0) hash = 0x12345678;
+
+ IntPtr result = new IntPtr(hash);
+ var trafficData = new TrafficData {
+ numAgents = numAgents,
+ seed = seed,
+ isInitialized = false,
+ hasMap = false,
+ mapHandle = IntPtr.Zero
+ };
+ nativeResults[$"traffic_{result}"] = trafficData;
+
+ Debug.Log($"UnityPluginBridge: Traffic simulation created with handle: {result}");
+ return result;
+ }
+
+ public void DestroyTrafficSimulation(IntPtr traffic)
+ {
+ if (traffic == IntPtr.Zero) return;
+
+ Debug.Log($"UnityPluginBridge: Destroying traffic simulation: {traffic}");
+
+ string key = $"traffic_{traffic}";
+ if (nativeResults.ContainsKey(key))
+ {
+ nativeResults.Remove(key);
+ Debug.Log("UnityPluginBridge: Traffic simulation destroyed successfully");
+ }
+ }
+
+ public IntPtr CreateMapAccessor(string filePath)
+ {
+ Debug.Log($"UnityPluginBridge: Creating map accessor from: {filePath}");
+
+ // Check if file exists
+ if (!System.IO.File.Exists(filePath))
+ {
+ Debug.LogError($"UnityPluginBridge: Map file not found: {filePath}");
+ return IntPtr.Zero;
+ }
+
+ // Generate a fake but consistent pointer based on file path
+ int hash = filePath.GetHashCode() & 0x7FFFFFFF;
+ if (hash == 0) hash = unchecked((int)0x87654321);
+
+ IntPtr result = new IntPtr(hash);
+ var mapData = new MapData {
+ filePath = filePath,
+ isLoaded = true,
+ vertexCount = 6,
+ indexCount = 6
+ };
+ nativeResults[$"map_{result}"] = mapData;
+
+ Debug.Log($"UnityPluginBridge: Map accessor created with handle: {result}");
+ return result;
+ }
+
+ public void DestroyMapAccessor(IntPtr accessor)
+ {
+ if (accessor == IntPtr.Zero) return;
+
+ Debug.Log($"UnityPluginBridge: Destroying map accessor: {accessor}");
+
+ string key = $"map_{accessor}";
+ if (nativeResults.ContainsKey(key))
+ {
+ nativeResults.Remove(key);
+ Debug.Log("UnityPluginBridge: Map accessor destroyed successfully");
+ }
+ }
+
+ public void AssignMapToTraffic(IntPtr traffic, IntPtr mapAccessor)
+ {
+ if (traffic == IntPtr.Zero || mapAccessor == IntPtr.Zero)
+ {
+ Debug.LogError("UnityPluginBridge: Invalid handles for AssignMapToTraffic");
+ return;
+ }
+
+ Debug.Log($"UnityPluginBridge: Assigning map {mapAccessor} to traffic {traffic}");
+
+ string trafficKey = $"traffic_{traffic}";
+ string mapKey = $"map_{mapAccessor}";
+
+ if (nativeResults.ContainsKey(trafficKey) && nativeResults.ContainsKey(mapKey))
+ {
+ // Update traffic simulation to indicate map is assigned
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ trafficData.hasMap = true;
+ trafficData.mapHandle = mapAccessor;
+ nativeResults[trafficKey] = trafficData;
+
+ Debug.Log("UnityPluginBridge: Map assigned successfully to traffic simulation");
+ }
+ }
+
+ public void InitializeTrafficAgents(IntPtr traffic)
+ {
+ if (traffic == IntPtr.Zero) return;
+
+ Debug.Log($"UnityPluginBridge: Initializing agents for traffic: {traffic}");
+
+ string trafficKey = $"traffic_{traffic}";
+ if (nativeResults.ContainsKey(trafficKey))
+ {
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ trafficData.isInitialized = true;
+
+ // Initialize agent state arrays
+ InitializeAgentStates(trafficData);
+
+ nativeResults[trafficKey] = trafficData;
+
+ Debug.Log("UnityPluginBridge: Traffic agents initialized successfully");
+ }
+ }
+
+ // Simulate mesh data retrieval
+ public Vector3[] GetMeshVertices(IntPtr accessor, out int vertexCount)
+ {
+ vertexCount = 0;
+ if (accessor == IntPtr.Zero) return new Vector3[0];
+
+ Debug.Log($"UnityPluginBridge: Getting mesh vertices from accessor: {accessor}");
+
+ string key = $"map_{accessor}";
+ if (nativeResults.ContainsKey(key))
+ {
+ // Generate simple test geometry - a small road segment
+ Vector3[] vertices = new Vector3[]
+ {
+ new Vector3(-5f, 0f, -10f), // Bottom left
+ new Vector3(5f, 0f, -10f), // Bottom right
+ new Vector3(-5f, 0f, 10f), // Top left
+ new Vector3(5f, 0f, 10f), // Top right
+ new Vector3(-5f, 0f, 30f), // Extended top left
+ new Vector3(5f, 0f, 30f) // Extended top right
+ };
+
+ vertexCount = vertices.Length;
+ Debug.Log($"UnityPluginBridge: Generated {vertexCount} test vertices");
+ return vertices;
+ }
+
+ Debug.LogError($"UnityPluginBridge: Map accessor {accessor} not found");
+ return new Vector3[0];
+ }
+
+ public int[] GetMeshIndices(IntPtr accessor, out int indexCount)
+ {
+ indexCount = 0;
+ if (accessor == IntPtr.Zero) return new int[0];
+
+ Debug.Log($"UnityPluginBridge: Getting mesh indices from accessor: {accessor}");
+
+ string key = $"map_{accessor}";
+ if (nativeResults.ContainsKey(key))
+ {
+ // Generate indices for two triangles forming a quad road segment
+ int[] indices = new int[]
+ {
+ 0, 2, 1, // First triangle
+ 1, 2, 3, // Second triangle
+ 2, 4, 3, // Third triangle
+ 3, 4, 5 // Fourth triangle
+ };
+
+ indexCount = indices.Length;
+ Debug.Log($"UnityPluginBridge: Generated {indexCount} test indices");
+ return indices;
+ }
+
+ Debug.LogError($"UnityPluginBridge: Map accessor {accessor} not found");
+ return new int[0];
+ }
+
+ // Utility method to check if handles are valid
+ public bool IsValidHandle(IntPtr handle)
+ {
+ if (handle == IntPtr.Zero) return false;
+
+ string trafficKey = $"traffic_{handle}";
+ string mapKey = $"map_{handle}";
+
+ return nativeResults.ContainsKey(trafficKey) || nativeResults.ContainsKey(mapKey);
+ }
+
+ // Get information about a handle
+ public string GetHandleInfo(IntPtr handle)
+ {
+ if (handle == IntPtr.Zero) return "NULL";
+
+ string trafficKey = $"traffic_{handle}";
+ string mapKey = $"map_{handle}";
+
+ if (nativeResults.ContainsKey(trafficKey))
+ {
+ var data = (TrafficData)nativeResults[trafficKey];
+ return $"Traffic(agents:{data.numAgents}, initialized:{data.isInitialized}, hasMap:{data.hasMap})";
+ }
+
+ if (nativeResults.ContainsKey(mapKey))
+ {
+ var data = (MapData)nativeResults[mapKey];
+ return $"Map(path:{data.filePath}, loaded:{data.isLoaded})";
+ }
+
+ return "Unknown";
+ }
+
+ private void InitializeAgentStates(TrafficData trafficData)
+ {
+ int numAgents = trafficData.numAgents;
+ trafficData.agentPositions = new Vector3[numAgents];
+ trafficData.agentVelocities = new Vector3[numAgents];
+ trafficData.agentYaws = new float[numAgents];
+
+ // Get road network for spawning agents on actual roads
+ List roads = null;
+ MapData mapData = null;
+
+ // Find the map data
+ foreach (var kvp in nativeResults)
+ {
+ if (kvp.Key.StartsWith("map_") && kvp.Value is MapData)
+ {
+ mapData = (MapData)kvp.Value;
+ break;
+ }
+ }
+
+ if (mapData != null)
+ {
+ // Parse road data for agent spawning
+ roads = OpenDriveParser.ParseOpenDriveFile(mapData.filePath);
+ Debug.Log($"UnityPluginBridge: Found {roads?.Count ?? 0} roads for agent spawning");
+
+ // Debug road information
+ if (roads != null && roads.Count > 0)
+ {
+ for (int r = 0; r < Mathf.Min(roads.Count, 3); r++)
+ {
+ var road = roads[r];
+ Debug.Log($"UnityPluginBridge: Road {r} - ID: {road.id}, Length: {road.length:F2}m, Geometries: {road.geometries?.Count ?? 0}");
+ }
+ }
+ }
+
+ // Initialize each agent at road positions (similar to C++ simulation logic)
+ System.Random random = new System.Random((int)trafficData.seed);
+
+ // Get valid road spawn points first
+ List validSpawnPoints = new List();
+ List validSpawnYaws = new List();
+
+ if (roads != null && roads.Count > 0)
+ {
+ // Generate multiple spawn candidates and pick the best ones
+ for (int attempt = 0; attempt < numAgents * 10; attempt++) // Generate 10x more candidates
+ {
+ Vector3 position = GetRandomRoadPosition(roads, random);
+ float yaw = GetRoadHeadingAtPosition(roads, position, random);
+
+ // Validate spawn point is actually on road surface
+ bool isValidSpawn = IsPositionOnRoad(position, roads);
+
+ if (position != Vector3.zero && isValidSpawn) // Valid road position found
+ {
+ validSpawnPoints.Add(position);
+ validSpawnYaws.Add(yaw);
+
+ if (validSpawnPoints.Count >= numAgents) break; // Got enough spawn points
+ }
+ else if (position != Vector3.zero)
+ {
+ Debug.LogWarning($"UnityPluginBridge: Generated position {position} failed road validation");
+ }
+ }
+ Debug.Log($"UnityPluginBridge: Generated {validSpawnPoints.Count} valid road spawn points for {numAgents} agents");
+ }
+
+ for (int i = 0; i < numAgents; i++)
+ {
+ Vector3 position;
+ float yaw;
+
+ if (i < validSpawnPoints.Count)
+ {
+ // Use valid road spawn point
+ position = validSpawnPoints[i];
+ yaw = validSpawnYaws[i];
+ // Double-check validation for final confirmation
+ bool isOnRoad = IsPositionOnRoad(position, roads);
+ string status = isOnRoad ? "ON ROAD" : "OFF ROAD";
+ Debug.Log($"UnityPluginBridge: Agent {i} spawned {status} at {position} with yaw {yaw:F1}°");
+ }
+ else
+ {
+ // Fallback: spawn on first road if available, otherwise use safe fallback
+ if (roads != null && roads.Count > 0 && roads[0].geometries.Count > 0)
+ {
+ var geom = roads[0].geometries[0];
+ float spacing = i * 5f; // Space agents along first road
+ position = new Vector3(geom.x + spacing, 0f, geom.y);
+ yaw = geom.hdg * Mathf.Rad2Deg;
+ Debug.LogWarning($"UnityPluginBridge: Agent {i} spawned on FALLBACK road position at {position}");
+ }
+ else
+ {
+ // Final fallback: spawn around origin (off-road)
+ float angle = (float)i / numAgents * 2f * Mathf.PI;
+ position = new Vector3(
+ Mathf.Cos(angle) * 5f, // Smaller radius
+ 0f,
+ Mathf.Sin(angle) * 5f
+ );
+ yaw = angle * Mathf.Rad2Deg;
+ Debug.LogError($"UnityPluginBridge: Agent {i} spawned OFF-ROAD (no road data) at {position}");
+ }
+ }
+
+ trafficData.agentPositions[i] = position;
+ trafficData.agentVelocities[i] = new Vector3(Mathf.Sin(yaw * Mathf.Deg2Rad), 0f, Mathf.Cos(yaw * Mathf.Deg2Rad)) * 5f;
+ trafficData.agentYaws[i] = yaw;
+ }
+ }
+
+ private Vector3 GetRandomRoadPosition(List roads, System.Random random)
+ {
+ if (roads.Count == 0) return Vector3.zero;
+
+ // Try multiple roads to find a valid spawn point
+ for (int roadAttempt = 0; roadAttempt < 10; roadAttempt++)
+ {
+ // Pick a random road
+ OpenDriveRoad road = roads[random.Next(roads.Count)];
+
+ // Skip very short roads (less than 5 meters)
+ if (road.length < 5.0f) continue;
+
+ // Pick a random position along the road (avoid very start/end)
+ float minS = road.length * 0.1f; // Start 10% along the road
+ float maxS = road.length * 0.9f; // End 90% along the road
+ float s = minS + (float)random.NextDouble() * (maxS - minS);
+
+ // Get position using proper OpenDRIVE coordinate transformation
+ Vector3 centerlinePoint = GetPointAtS(road, s);
+ if (centerlinePoint == Vector3.zero) continue;
+
+ // Add random lateral offset within road width (stay within road boundaries)
+ float roadWidth = GetRoadWidthAtS(road, s);
+ float lateralOffset = ((float)random.NextDouble() - 0.5f) * roadWidth * 0.6f; // Use 60% of road width for safety
+
+ Vector3 heading = GetHeadingAtS(road, s);
+ Vector3 lateral = new Vector3(-heading.z, 0f, heading.x); // Perpendicular to heading
+
+ Vector3 finalPosition = centerlinePoint + lateral * lateralOffset;
+ finalPosition.y = 0.5f; // Vehicle height above road surface
+
+ Debug.Log($"UnityPluginBridge: Generated spawn point at road {road.id}, s={s:F2}, lateral={lateralOffset:F2}, pos={finalPosition}");
+ return finalPosition;
+ }
+
+ Debug.LogWarning("UnityPluginBridge: Failed to find valid road spawn point after 10 attempts");
+ return Vector3.zero;
+ }
+
+ // Public method to get a random road position for dynamic target selection
+ public Vector3 GetRandomRoadPosition()
+ {
+ // Find roads from map data
+ List roads = null;
+
+ // Try to get roads from current map data
+ foreach (var kvp in nativeResults)
+ {
+ if (kvp.Key.StartsWith("map_") && kvp.Value is MapData mapData)
+ {
+ // Parse road data from the map file
+ roads = OpenDriveParser.ParseOpenDriveFile(mapData.filePath);
+ break;
+ }
+ }
+
+ if (roads == null || roads.Count == 0)
+ {
+ Debug.LogWarning("UnityPluginBridge: No road data available for random position");
+ return Vector3.zero;
+ }
+
+ // Use the same logic as spawn point generation
+ System.Random random = new System.Random();
+ return GetRandomRoadPosition(roads, random);
+ }
+
+ // Overloaded method that accepts ML-Agents actions
+ public void StepTrafficSimulation(IntPtr traffic, float deltaTime, int[] highLevelActions, float[][] lowLevelActions)
+ {
+ string trafficKey = $"traffic_{traffic}";
+ if (!nativeResults.ContainsKey(trafficKey)) return;
+
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ if (!trafficData.isInitialized) return;
+
+ trafficData.simulationTime += deltaTime;
+
+ // Apply ML-Agents actions to traffic simulation
+ for (int i = 0; i < trafficData.numAgents; i++)
+ {
+ if (i < highLevelActions.Length && i < lowLevelActions.Length)
+ {
+ ApplyAgentActions(trafficData, i, highLevelActions[i], lowLevelActions[i], deltaTime);
+ }
+ }
+
+ // Continue with rest of traffic simulation logic...
+ ContinueTrafficSimulation(trafficData, deltaTime);
+ }
+
+ private void ApplyAgentActions(TrafficData trafficData, int agentIndex, int highLevelAction, float[] lowLevelActions, float deltaTime)
+ {
+ if (agentIndex >= trafficData.numAgents || lowLevelActions.Length < 3) return;
+
+ Vector3 position = trafficData.agentPositions[agentIndex];
+ Vector3 velocity = trafficData.agentVelocities[agentIndex];
+ float yaw = trafficData.agentYaws[agentIndex];
+
+ // Extract low-level actions
+ float steering = Mathf.Clamp(lowLevelActions[0], -1f, 1f);
+ float acceleration = Mathf.Clamp(lowLevelActions[1], -1f, 1f);
+ float braking = Mathf.Clamp(lowLevelActions[2], 0f, 1f);
+
+ // Apply high-level action modifiers
+ float speedModifier = 1f;
+ switch (highLevelAction)
+ {
+ case 0: // Maintain lane
+ break;
+ case 1: // Change lane left
+ steering -= 0.3f;
+ break;
+ case 2: // Change lane right
+ steering += 0.3f;
+ break;
+ case 3: // Speed up
+ speedModifier = 1.5f;
+ break;
+ case 4: // Slow down
+ speedModifier = 0.5f;
+ break;
+ }
+
+ // Update velocity based on actions
+ float speed = Mathf.Max(0f, velocity.magnitude + (acceleration - braking) * 5f * deltaTime * speedModifier);
+ speed = Mathf.Min(speed, 25f); // Max speed limit
+
+ // Update yaw based on steering
+ yaw += steering * 90f * deltaTime; // Max 90 degrees/second steering rate
+
+ // Update position based on new velocity and yaw
+ Vector3 forward = new Vector3(Mathf.Cos(yaw * Mathf.Deg2Rad), 0f, Mathf.Sin(yaw * Mathf.Deg2Rad));
+ Vector3 newVelocity = forward * speed;
+ Vector3 newPosition = position + newVelocity * deltaTime;
+
+ // Apply updated state
+ trafficData.agentPositions[agentIndex] = newPosition;
+ trafficData.agentVelocities[agentIndex] = newVelocity;
+ trafficData.agentYaws[agentIndex] = yaw;
+ }
+
+ private void ContinueTrafficSimulation(TrafficData trafficData, float deltaTime)
+ {
+ // This contains the rest of the simulation logic that was in the original StepTrafficSimulation
+ // For now, we'll keep the existing behavior for agents without ML actions
+ }
+
+ private float GetRoadHeadingAtPosition(List roads, Vector3 position, System.Random random)
+ {
+ // Find the closest road and return its heading
+ float closestDistance = float.MaxValue;
+ float bestHeading = 0f;
+
+ foreach (var road in roads)
+ {
+ foreach (var geom in road.geometries)
+ {
+ Vector3 roadPoint = new Vector3(geom.x, 0.5f, geom.y);
+ float distance = Vector3.Distance(position, roadPoint);
+ if (distance < closestDistance)
+ {
+ closestDistance = distance;
+ bestHeading = geom.hdg * Mathf.Rad2Deg; // Convert to degrees
+ }
+ }
+ }
+
+ return bestHeading;
+ }
+
+ private Vector3 GetPointAtS(OpenDriveRoad road, float s)
+ {
+ // Use the same coordinate transformation as OpenDriveGeometryGenerator
+ // to ensure spawn points match the actual road mesh
+
+ // Find the geometry segment that contains this s value
+ OpenDriveGeometry currentGeom = null;
+ foreach (var geom in road.geometries)
+ {
+ if (s >= geom.s && s <= geom.s + geom.length)
+ {
+ currentGeom = geom;
+ break;
+ }
+ }
+
+ if (currentGeom == null)
+ {
+ // Use the last geometry if s is beyond the road
+ if (road.geometries.Count > 0)
+ {
+ currentGeom = road.geometries[road.geometries.Count - 1];
+ s = currentGeom.s + currentGeom.length;
+ }
+ else
+ {
+ return Vector3.zero;
+ }
+ }
+
+ // Calculate local s within this geometry
+ float localS = s - currentGeom.s;
+
+ // Get point using proper OpenDRIVE coordinate transformation (same as mesh generation)
+ Vector2 localPoint = GetLocalPointInGeometry(currentGeom, localS);
+ Vector2 worldPoint = TransformToWorldCoordinates(localPoint, currentGeom);
+
+ // Convert OpenDRIVE coordinates to Unity coordinates (same as mesh)
+ // OpenDRIVE: X=east, Y=north, Z=up
+ // Unity: X=right, Y=up, Z=forward
+ return new Vector3(worldPoint.x, 0.1f, worldPoint.y);
+ }
+
+ private Vector2 GetLocalPointInGeometry(OpenDriveGeometry geom, float s)
+ {
+ switch (geom.type)
+ {
+ case GeometryType.Line:
+ return new Vector2(s, 0f);
+
+ case GeometryType.Arc:
+ return GetArcPoint(s, geom.curvature);
+
+ case GeometryType.Spiral:
+ return GetSpiralPoint(s, geom.curvStart, geom.curvEnd, geom.length);
+
+ default:
+ return new Vector2(s, 0f);
+ }
+ }
+
+ private Vector2 GetArcPoint(float s, float curvature)
+ {
+ if (Mathf.Abs(curvature) < 1e-10f)
+ {
+ // Straight line case
+ return new Vector2(s, 0f);
+ }
+
+ float radius = 1f / curvature;
+ float theta = s * curvature;
+
+ return new Vector2(
+ radius * Mathf.Sin(theta),
+ radius * (1f - Mathf.Cos(theta))
+ );
+ }
+
+ private Vector2 GetSpiralPoint(float s, float curvStart, float curvEnd, float length)
+ {
+ // Simplified spiral calculation using Fresnel integrals approximation
+ float curvRate = (curvEnd - curvStart) / length;
+
+ Vector2 position = Vector2.zero;
+ float heading = curvStart * s;
+
+ // Use small steps for integration
+ int steps = Mathf.Max(1, (int)(s / 0.1f));
+ float stepSize = s / steps;
+
+ for (int i = 0; i < steps; i++)
+ {
+ float stepS = i * stepSize;
+ float stepCurvature = curvStart + curvRate * stepS;
+
+ position.x += stepSize * Mathf.Cos(heading);
+ position.y += stepSize * Mathf.Sin(heading);
+
+ heading += stepCurvature * stepSize;
+ }
+
+ return position;
+ }
+
+ private Vector2 TransformToWorldCoordinates(Vector2 localPoint, OpenDriveGeometry geom)
+ {
+ // Rotate by heading
+ float cos_hdg = Mathf.Cos(geom.hdg);
+ float sin_hdg = Mathf.Sin(geom.hdg);
+
+ Vector2 rotated = new Vector2(
+ localPoint.x * cos_hdg - localPoint.y * sin_hdg,
+ localPoint.x * sin_hdg + localPoint.y * cos_hdg
+ );
+
+ // Translate to world position
+ return new Vector2(geom.x + rotated.x, geom.y + rotated.y);
+ }
+
+ private Vector3 GetHeadingAtS(OpenDriveRoad road, float s)
+ {
+ // Find the geometry segment for heading calculation
+ float currentS = 0f;
+ foreach (var geom in road.geometries)
+ {
+ if (currentS + geom.length >= s)
+ {
+ return new Vector3(Mathf.Cos(geom.hdg), 0f, Mathf.Sin(geom.hdg));
+ }
+ currentS += geom.length;
+ }
+
+ // Fallback: use first geometry heading
+ if (road.geometries.Count > 0)
+ {
+ var geom = road.geometries[0];
+ return new Vector3(Mathf.Cos(geom.hdg), 0f, Mathf.Sin(geom.hdg));
+ }
+
+ return Vector3.forward;
+ }
+
+ private float GetRoadWidthAtS(OpenDriveRoad road, float s)
+ {
+ // Simplified: assume standard road width
+ // In a full implementation, this would parse the road's lane sections
+ return 7.0f; // Standard 2-lane road width in meters
+ }
+
+ private bool IsPositionOnRoad(Vector3 position, List roads)
+ {
+ if (position == Vector3.zero) return false;
+
+ // Check if position is within reasonable distance of any road centerline
+ float minDistanceToRoad = float.MaxValue;
+ bool foundNearbyRoad = false;
+
+ foreach (var road in roads)
+ {
+ // Sample points along the road centerline
+ for (float s = 0; s <= road.length; s += 2.0f) // Check every 2 meters
+ {
+ Vector3 roadPoint = GetPointAtS(road, s);
+ if (roadPoint != Vector3.zero)
+ {
+ float distance = Vector3.Distance(position, roadPoint);
+ minDistanceToRoad = Mathf.Min(minDistanceToRoad, distance);
+
+ // Check if position is within road width
+ float roadWidth = GetRoadWidthAtS(road, s);
+ if (distance <= roadWidth * 0.5f) // Within road width
+ {
+ foundNearbyRoad = true;
+ Debug.Log($"UnityPluginBridge: Position {position} validated ON ROAD (distance: {distance:F2}m from centerline)");
+ break;
+ }
+ }
+ }
+ if (foundNearbyRoad) break;
+ }
+
+ if (!foundNearbyRoad)
+ {
+ Debug.LogWarning($"UnityPluginBridge: Position {position} is OFF ROAD (min distance: {minDistanceToRoad:F2}m from centerline)");
+ }
+
+ return foundNearbyRoad;
+ }
+
+ // Simulate traffic simulation step (replaces C++ Traffic::step)
+ public void StepTrafficSimulation(IntPtr traffic, float deltaTime)
+ {
+ string trafficKey = $"traffic_{traffic}";
+ if (!nativeResults.ContainsKey(trafficKey)) return;
+
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ if (!trafficData.isInitialized) return;
+
+ trafficData.simulationTime += deltaTime;
+
+ // Debug: Log simulation stepping every 120 frames
+ if (Time.frameCount % 120 == 0)
+ {
+ Debug.Log($"UnityPluginBridge: Stepping simulation - {trafficData.numAgents} agents, simTime: {trafficData.simulationTime:F2}s, deltaTime: {deltaTime:F3}");
+ }
+
+ // C++ Traffic simulation logic (simplified version)
+ for (int i = 0; i < trafficData.numAgents; i++)
+ {
+ Vector3 oldPos = trafficData.agentPositions[i];
+
+ // Update position based on current velocity
+ trafficData.agentPositions[i] += trafficData.agentVelocities[i] * deltaTime;
+
+ // Debug: Log first agent position changes every 120 frames
+ if (i == 0 && Time.frameCount % 120 == 0)
+ {
+ Debug.Log($"UnityPluginBridge: Agent 0 moved from {oldPos} to {trafficData.agentPositions[i]} (velocity: {trafficData.agentVelocities[i]})");
+ }
+
+ // Simple road-following behavior (placeholder for actual C++ Traffic::step logic)
+ // This simulates the C++ traffic simulation dynamics without circular motion
+
+ // Calculate forward movement along road direction
+ Vector3 position = trafficData.agentPositions[i];
+ Vector3 velocity = trafficData.agentVelocities[i];
+
+ // Update velocity based on road direction and traffic rules
+ // For now, maintain constant speed along current heading with slight road curvature
+ float speed = Mathf.Max(8f, velocity.magnitude); // Maintain reasonable speed
+ Vector3 forward = velocity.normalized;
+
+ // Add slight curvature to simulate road following
+ float roadCurvature = Mathf.Sin(trafficData.simulationTime * 0.3f + i) * 0.1f;
+ Vector3 right = Vector3.Cross(Vector3.up, forward);
+ forward += right * roadCurvature;
+ forward = forward.normalized;
+
+ trafficData.agentVelocities[i] = forward * speed;
+
+ // Update yaw based on velocity direction
+ if (trafficData.agentVelocities[i].magnitude > 0.1f)
+ {
+ trafficData.agentYaws[i] = Mathf.Atan2(
+ trafficData.agentVelocities[i].x,
+ trafficData.agentVelocities[i].z
+ ) * Mathf.Rad2Deg;
+ }
+ }
+
+ nativeResults[trafficKey] = trafficData;
+ }
+
+ // Get agent positions (replaces C++ Traffic::get_agent_positions)
+ public Vector3[] GetAgentPositions(IntPtr traffic)
+ {
+ string trafficKey = $"traffic_{traffic}";
+ if (nativeResults.ContainsKey(trafficKey))
+ {
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ return trafficData.agentPositions ?? new Vector3[0];
+ }
+ return new Vector3[0];
+ }
+
+ // Get agent velocities (replaces C++ Traffic::get_agent_velocities)
+ public Vector3[] GetAgentVelocities(IntPtr traffic)
+ {
+ string trafficKey = $"traffic_{traffic}";
+ if (nativeResults.ContainsKey(trafficKey))
+ {
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ return trafficData.agentVelocities ?? new Vector3[0];
+ }
+ return new Vector3[0];
+ }
+
+ // Get agent yaws (replaces C++ Traffic::get_agent_orientations)
+ public float[] GetAgentYaws(IntPtr traffic)
+ {
+ string trafficKey = $"traffic_{traffic}";
+ if (nativeResults.ContainsKey(trafficKey))
+ {
+ var trafficData = (TrafficData)nativeResults[trafficKey];
+ return trafficData.agentYaws ?? new float[0];
+ }
+ return new float[0];
+ }
+
+ private void OnDestroy()
+ {
+ Debug.Log("UnityPluginBridge: Cleaning up all native handles");
+ nativeResults.Clear();
+ pendingCallbacks.Clear();
+ }
+
+ // Debug methods
+ public void LogAllHandles()
+ {
+ Debug.Log($"UnityPluginBridge: Active handles ({nativeResults.Count}):");
+ foreach (var kvp in nativeResults)
+ {
+ Debug.Log($" {kvp.Key}: {kvp.Value}");
+ }
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/UnityPluginBridge.cs.meta b/Assets/Scripts/UnityPluginBridge.cs.meta
new file mode 100644
index 00000000..cf1c55b0
--- /dev/null
+++ b/Assets/Scripts/UnityPluginBridge.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: bc5544b49723643fdb1a5ea31c8acb39
\ No newline at end of file
diff --git a/Assets/Scripts/VehicleMLAgent.cs b/Assets/Scripts/VehicleMLAgent.cs
new file mode 100644
index 00000000..645e386e
--- /dev/null
+++ b/Assets/Scripts/VehicleMLAgent.cs
@@ -0,0 +1,176 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Actuators;
+
+// ML-Agents bridge for NISSAN-GTR vehicles in traffic simulation
+[System.Serializable]
+public class VehicleMLAgent : Agent
+{
+ private TrafficAgentSafe trafficAgent;
+
+ [Header("Vehicle ML Settings")]
+ public float maxSpeed = 20f;
+ public float maxAngularVelocity = 180f;
+
+ [Header("Raycast Sensor Settings")]
+ public float rayDistance = 100f;
+ public int numRays = 12;
+ public float rayAngleRange = 180f;
+ public LayerMask detectableLayers = -1;
+
+ private RayPerceptionSensorComponent3D raycastSensor;
+
+ public override void Initialize()
+ {
+ // Try to find TrafficAgentSafe, but don't fail if it's not there yet
+ // It will be added later by TrafficManagerSafe
+ trafficAgent = GetComponent();
+ if (trafficAgent == null)
+ {
+ Debug.Log($"VehicleMLAgent: TrafficAgentSafe not yet available on {gameObject.name}, will be set later");
+ }
+ else
+ {
+ Debug.Log($"VehicleMLAgent: Found TrafficAgentSafe on {gameObject.name}");
+ }
+
+ // Set up raycast sensor
+ SetupRaycastSensor();
+ }
+
+ // Public method to set TrafficAgentSafe after it's added
+ public void SetTrafficAgent(TrafficAgentSafe agent)
+ {
+ trafficAgent = agent;
+ Debug.Log($"VehicleMLAgent: TrafficAgentSafe has been set on {gameObject.name}");
+ }
+
+ private void SetupRaycastSensor()
+ {
+ // Check if RayPerceptionSensorComponent3D already exists
+ raycastSensor = GetComponent();
+
+ if (raycastSensor == null)
+ {
+ // Add raycast sensor component
+ raycastSensor = gameObject.AddComponent();
+ Debug.Log($"VehicleMLAgent: Added RayPerceptionSensorComponent3D to {gameObject.name}");
+ }
+
+ // Configure the raycast sensor
+ raycastSensor.SensorName = "VehicleRaycast";
+ // Only use tags that exist - remove "Vehicle" until it's added to Unity Tag Manager
+ raycastSensor.DetectableTags = new List { "Untagged" };
+ raycastSensor.RayLength = rayDistance;
+ raycastSensor.RayLayerMask = detectableLayers;
+ raycastSensor.ObservationStacks = 1;
+ raycastSensor.RaysPerDirection = numRays / 2;
+ raycastSensor.MaxRayDegrees = rayAngleRange / 2;
+ raycastSensor.SphereCastRadius = 0.5f;
+ raycastSensor.StartVerticalOffset = 2.5f;
+ raycastSensor.EndVerticalOffset = 0.0f;
+
+ Debug.Log($"VehicleMLAgent: Configured raycast sensor with {numRays} rays, {rayDistance}m range");
+ }
+
+ public override void OnEpisodeBegin()
+ {
+ // Reset episode if needed
+ // For traffic simulation, we typically don't reset episodes
+ }
+
+ public override void CollectObservations(VectorSensor sensor)
+ {
+ if (trafficAgent == null)
+ {
+ // If TrafficAgentSafe is not available yet, fill with zeros
+ Debug.LogWarning($"VehicleMLAgent: TrafficAgentSafe not found on {gameObject.name}, filling observations with zeros");
+ for (int i = 0; i < 8; i++) // Add 8 zero observations to match vector observation size
+ {
+ sensor.AddObservation(0f);
+ }
+ return;
+ }
+
+ // Add vehicle state observations
+ Vector3 velocity = trafficAgent.GetCurrentVelocity();
+ Vector3 position = transform.position;
+ float yaw = trafficAgent.GetCurrentYaw();
+
+ // Normalize observations
+ sensor.AddObservation(position.x / 100f); // Normalized position X
+ sensor.AddObservation(position.z / 100f); // Normalized position Z
+ sensor.AddObservation(velocity.x / maxSpeed); // Normalized velocity X
+ sensor.AddObservation(velocity.z / maxSpeed); // Normalized velocity Z
+ sensor.AddObservation(yaw / 360f); // Normalized rotation
+
+ // Add target information if available
+ Vector3 target = trafficAgent.GetTargetPosition();
+ Vector3 dirToTarget = (target - position).normalized;
+ sensor.AddObservation(dirToTarget.x); // Direction to target X
+ sensor.AddObservation(dirToTarget.z); // Direction to target Z
+ sensor.AddObservation(Vector3.Distance(position, target) / 50f); // Normalized distance to target
+
+ Debug.Log($"VehicleMLAgent {trafficAgent.GetAgentId()}: Collected 8 observations - Pos: {position}, Vel: {velocity}, Yaw: {yaw}");
+ }
+
+ public override void OnActionReceived(ActionBuffers actionBuffers)
+ {
+ if (trafficAgent == null) return;
+
+ // Extract actions from ML-Agents
+ // Discrete action: high-level action (0-4: maintain, left, right, speed up, slow down)
+ int highLevelAction = actionBuffers.DiscreteActions[0];
+
+ // Continuous actions: low-level control [steering, acceleration, braking]
+ float steering = Mathf.Clamp(actionBuffers.ContinuousActions[0], -1f, 1f);
+ float acceleration = Mathf.Clamp(actionBuffers.ContinuousActions[1], -1f, 1f);
+ float braking = Mathf.Clamp(actionBuffers.ContinuousActions[2], 0f, 1f);
+
+ // Store actions for use by traffic simulation
+ SetAgentActions(highLevelAction, steering, acceleration, braking);
+ }
+
+ // Store actions to be used by traffic simulation
+ private int currentHighLevelAction = 0;
+ private float currentSteering = 0f;
+ private float currentAcceleration = 0f;
+ private float currentBraking = 0f;
+
+ private void SetAgentActions(int highLevel, float steering, float accel, float brake)
+ {
+ currentHighLevelAction = highLevel;
+ currentSteering = steering;
+ currentAcceleration = accel;
+ currentBraking = brake;
+ }
+
+ // Public methods for traffic system to access current actions
+ public int GetHighLevelAction() { return currentHighLevelAction; }
+ public float[] GetLowLevelActions() { return new float[] { currentSteering, currentAcceleration, currentBraking }; }
+
+ public override void Heuristic(in ActionBuffers actionsOut)
+ {
+ // Provide default/heuristic actions when no trainer is connected
+ var continuousActionsOut = actionsOut.ContinuousActions;
+ var discreteActionsOut = actionsOut.DiscreteActions;
+
+ // Default behavior: maintain lane (action 0) at moderate speed
+ discreteActionsOut[0] = 0; // High-level action: maintain lane
+
+ // Default low-level actions: go straight at moderate speed
+ continuousActionsOut[0] = 0f; // No steering
+ continuousActionsOut[1] = 0.5f; // Moderate acceleration
+ continuousActionsOut[2] = 0f; // No braking
+ }
+
+ // Helper methods for TrafficAgentSafe integration
+ public void NotifyTrafficSimulationUpdate(Vector3 position, Vector3 velocity, float yaw)
+ {
+ // This can be called when the traffic simulation updates the vehicle
+ // Can be used for reward calculation or other ML-Agents specific logic
+ }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/VehicleMLAgent.cs.meta b/Assets/Scripts/VehicleMLAgent.cs.meta
new file mode 100644
index 00000000..8357cb55
--- /dev/null
+++ b/Assets/Scripts/VehicleMLAgent.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 5ef4e8f99b5fc4d4ca2a8091e3ef8469
\ No newline at end of file
diff --git a/CLAUDE.md b/CLAUDE.md
new file mode 100644
index 00000000..e6e2df5d
--- /dev/null
+++ b/CLAUDE.md
@@ -0,0 +1,158 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Essential Commands
+
+### Development Environment Setup
+```bash
+# Create conda environment
+conda env create -f environment.yml
+conda activate drive
+
+# Install package (development mode)
+make install
+# Alternative: make install-dev (includes dev dependencies)
+```
+
+### Building Components
+```bash
+# Build C++ native library for Unity
+make build-native
+
+# Build Unity standalone application
+make build-unity
+
+# Build everything
+make build-all
+
+# Rebuild after cleaning
+make rebuild-all
+```
+
+### Testing and Quality
+```bash
+# Run tests
+make test
+make test-verbose # Verbose output
+make test-cov # With coverage
+
+# Code quality checks
+make lint # flake8 linting
+make format # black + isort formatting
+make type-check # mypy type checking
+make check # All quality checks
+```
+
+### Submodules
+```bash
+# Initialize and update git submodules (libOpenDRIVE)
+make submodule
+```
+
+## Architecture Overview
+
+### Multi-Language Integration
+ReplicantDriveSim is a sophisticated traffic simulation system integrating three main components:
+- **Unity 6 (C#)**: Frontend simulation environment and ML-Agents integration
+- **C++**: High-performance traffic simulation backend with OpenDRIVE map support
+- **Python**: RL training interface, distributed via PyPI
+
+### Key Components
+
+#### 1. Unity Frontend (`Assets/`)
+- **TrafficManager.cs**: Central coordinator that steps the simulation and manages all agents
+- **TrafficAgent.cs**: ML-Agents implementation for individual vehicle behaviors
+- **OpenDriveRenderer.cs**: Renders OpenDRIVE maps in Unity
+- **MapAccessorRenderer.cs**: Handles map rendering and visualization
+- **ML-Agents Integration**: Uses Unity ML-Agents 4.0.0 for RL training
+
+#### 2. Native C++ Backend (`Assets/Plugins/TrafficSimulation/`)
+Built as shared libraries (.dylib/.so/.dll) consumed by Unity:
+- **traffic.cpp**: Core traffic simulation logic
+- **vehicle.cpp**: Vehicle behavior and dynamics
+- **simulation.cpp**: Simulation state management
+- **bicycle_model.cpp**: Vehicle physics model
+- **OpenDriveWrapper.cpp**: OpenDRIVE map integration
+- **MapAccessor.cpp**: Map data access interface
+- **traffic_simulation_c_api.cpp**: C API for Unity interop
+- **bindings.cpp**: Python bindings via pybind11
+
+#### 3. libOpenDRIVE Integration (`Assets/Plugins/libOpenDRIVE/`)
+Git submodule providing OpenDRIVE map format support:
+- Parses .xodr files for realistic road networks
+- Provides geometric and semantic road information
+- Built as shared library linked to main simulation
+
+#### 4. Python Package (`replicantdrivesim/`)
+- Ray RLlib integration for distributed RL training
+- Gymnasium environment wrapper
+- PyPI-distributed package with Unity builds bundled
+- CLI interface for training and evaluation
+
+### Build System Architecture
+
+#### CMake Configuration
+Dual-target build system in `Assets/Plugins/TrafficSimulation/CMakeLists.txt`:
+- **Unity Target**: Shared library for Unity integration
+- **PyPI Target**: Python module with pybind11 bindings
+- **libOpenDRIVE**: Automatically built as dependency
+
+#### Makefile Automation
+Comprehensive automation in root `Makefile`:
+- Multi-platform support (macOS, Linux, Windows)
+- Dependency management with special handling for Apple Silicon
+- Automated testing and quality checks
+- Distribution building for PyPI
+
+### Dependencies and Version Constraints
+
+#### Critical Version Requirements
+- **Unity**: 6000.0.30f1 (Unity 6)
+- **Python**: 3.10.1-3.10.12 (ML-Agents requirement)
+- **ML-Agents**: 4.0.0 (Unity), 1.1.0 (Python)
+- **Ray RLlib**: 2.31.0
+- **CMake**: >=3.29
+
+#### Platform-Specific Considerations
+- **Apple Silicon**: Complex dependency workaround in Makefile for gym/mlagents compatibility
+- **OpenDRIVE**: Uses @loader_path linking on macOS for proper dylib resolution
+- **Unity Builds**: Platform-specific output directories (StandaloneOSX, StandaloneLinux64, etc.)
+
+## Development Workflow
+
+### Working with Native Code
+1. Modify C++ source in `Assets/Plugins/TrafficSimulation/src/`
+2. Build native library: `make build-native`
+3. Unity will automatically detect updated library
+
+### Working with Unity
+1. Open project in Unity 6 (6000.0.30f1)
+2. Main scene: `Assets/Scenes/SampleScene.unity`
+3. Key GameObjects: TrafficManager, TrafficAgent prefabs
+4. Build standalone: `make build-unity`
+
+### Working with Python Package
+1. Install in development mode: `make install`
+2. Run tests: `make test`
+3. Build distribution: `make dist`
+
+### Git Submodules
+- libOpenDRIVE is a git submodule
+- Always run `make submodule` after fresh clone
+- Submodule updates require both parent and submodule commits
+
+## Debugging and Troubleshooting
+
+### Common Issues
+- **Build failures**: Check CMake, Unity versions match requirements
+- **Apple Silicon**: Use special install sequence in Makefile
+- **Missing symbols**: Ensure libOpenDRIVE submodule initialized
+- **Unity crashes**: Check native library compatibility with Unity version
+- **Import errors**: Verify Python version 3.10.1-3.10.12 exact range
+
+### Build Artifacts
+- Native libraries: `Assets/Plugins/TrafficSimulation/build/`
+- Unity builds: `Builds/StandaloneOSX/`, etc.
+- Python packages: `dist/`
+- Logs: `build_native_*_log.txt`
\ No newline at end of file
diff --git a/MAPACCESS_README.md b/MAPACCESS_README.md
new file mode 100644
index 00000000..988552d5
--- /dev/null
+++ b/MAPACCESS_README.md
@@ -0,0 +1,126 @@
+# MapAccessor Integration - Vehicle State Derivation
+
+This implementation adds comprehensive vehicle state derivation functionality using libOpenDRIVE APIs as requested.
+
+## 🎯 **Key Features Implemented**
+
+### Vehicle State Derivation
+- **World ↔ Road Coordinate Transformation**: Convert between Unity world coordinates and OpenDRIVE s,t coordinates
+- **Lane Association**: Automatically determine which lane a vehicle is in based on position
+- **Real-time State Monitoring**: Continuous tracking of vehicle position relative to road network
+
+### C++ MapAccessor API (`MapAccessor.h/cpp`)
+- `WorldToRoadCoordinates()` - Convert world XYZ to road s,t coordinates with lane association
+- `RoadToWorldCoordinates()` - Convert road coordinates back to world position
+- `GetRoadIds()` - Query all available roads in the network
+- `GetLanesAtPosition()` - Get lane information at specific road position
+- `IsPositionOnRoad()` - Validate if position is on road network
+
+### C# MapAccessorRenderer (`MapAccessorRenderer.cs`)
+- **Unity Integration**: Easy-to-use MonoBehaviour component for vehicle state tracking
+- **Configurable File Path**: No more hardcoded file paths - set via Unity inspector
+- **Public API Methods**: `GetVehicleState()`, `GetWorldPosition()`, `IsOnRoad()` for external use
+- **Debug Visualization**: Real-time vehicle state display in Unity console
+
+## 🔧 **Setup Instructions**
+
+### 1. Initialize libOpenDRIVE Submodule
+```bash
+cd Assets/Plugins
+git submodule update --init --recursive libOpenDRIVE
+```
+
+### 2. Build Native Libraries
+```bash
+cd TrafficSimulation
+mkdir -p build && cd build
+cmake ..
+make
+```
+
+### 3. Unity Integration
+1. Add `MapAccessorRenderer` component to a GameObject
+2. Set the OpenDRIVE file path in inspector (e.g., "data.xodr")
+3. Assign vehicle Transform for real-time monitoring
+4. Configure road material for mesh rendering
+
+## 🚗 **Usage Examples**
+
+### Basic Vehicle State Monitoring
+```csharp
+// Get current vehicle state
+VehicleState? state = mapAccessor.GetVehicleState(vehicle.transform.position);
+if (state.HasValue && state.Value.isValid)
+{
+ Debug.Log($"Vehicle on Road {state.Value.roadId}, Lane {state.Value.laneId}");
+ Debug.Log($"Position: s={state.Value.s:F2}, t={state.Value.t:F2}");
+}
+```
+
+### Lane-Following Behavior
+```csharp
+// Get target position on road centerline
+Vector3? targetPos = mapAccessor.GetWorldPosition(currentS + 10.0, 0.0, roadId);
+if (targetPos.HasValue)
+{
+ // Move vehicle towards target position
+ vehicle.transform.position = Vector3.MoveTowards(
+ vehicle.transform.position,
+ targetPos.Value,
+ speed * Time.deltaTime
+ );
+}
+```
+
+### Road Network Validation
+```csharp
+// Check if position is on road before placing vehicle
+if (mapAccessor.IsOnRoad(spawnPosition))
+{
+ Instantiate(vehiclePrefab, spawnPosition, Quaternion.identity);
+}
+```
+
+## 📋 **ASAM OpenDRIVE Specification Compliance**
+
+✅ **Vehicle State Requirements Met:**
+- Longitudinal position (s-coordinate) along reference line
+- Lateral offset (t-coordinate) from reference line
+- Lane association with proper lane ID (negative for right, positive for left)
+- Vehicle heading relative to lane direction
+
+✅ **Coordinate System Handling:**
+- Proper transformation between OpenDRIVE (X=east, Y=north, Z=up) and Unity (X=right, Y=up, Z=forward)
+- Bidirectional coordinate conversion maintains accuracy
+
+✅ **Single Source of Truth:**
+- Same OpenDRIVE .xodr file used for both road mesh rendering and vehicle state computation
+- No duplicate road representation - all data derived from libOpenDRIVE APIs
+
+## 🔄 **Replacing Old Implementation**
+
+The new MapAccessor provides all functionality of the old OpenDriveWrapper plus vehicle state derivation:
+
+| Old OpenDriveWrapper | New MapAccessor | Status |
+|---------------------|-----------------|---------|
+| `LoadOpenDriveMap()` | `CreateMapAccessor()` | ✅ Enhanced |
+| `GetRoadVertices()` | `GetRoadVertices()` | ✅ Maintained |
+| `GetRoadIndices()` | `GetRoadIndices()` | ✅ Maintained |
+| ❌ No vehicle state | `WorldToRoadCoordinates()` | ✅ **NEW** |
+| ❌ No lane queries | `GetLanesAtPosition()` | ✅ **NEW** |
+| ❌ No road validation | `IsPositionOnRoad()` | ✅ **NEW** |
+
+## 🎯 **Next Steps**
+
+1. Initialize the libOpenDRIVE submodule as shown above
+2. Test build process and resolve any compilation issues
+3. Update Unity scene to use MapAccessorRenderer instead of OpenDriveRenderer
+4. Implement vehicle simulation logic using the new vehicle state APIs
+5. Add unit tests for coordinate transformation accuracy
+
+## ⚠️ **Important Notes**
+
+- The libOpenDRIVE submodule must be initialized before building
+- CMakeLists.txt has been updated to include the new MapAccessor files
+- The old OpenDriveRenderer.cs file path has been fixed but MapAccessorRenderer is the recommended replacement
+- All memory management is handled properly with explicit cleanup functions
\ No newline at end of file
diff --git a/Makefile b/Makefile
index 88fb5131..80e026c3 100644
--- a/Makefile
+++ b/Makefile
@@ -100,6 +100,10 @@ build-unity: ## Build Unity application (standalone builds)
build-all: build-native build-unity ## Build both native library and Unity application
@echo "$(GREEN)All builds completed successfully!$(RESET)"
+submodule: ## Initialize and update git submodules
+ @echo "$(GREEN)Initializing and updating submodules...$(RESET)"
+ git submodule update --init --recursive
+
rebuild-native: clean-native build-native ## Clean and rebuild native library
rebuild-unity: clean-unity build-unity ## Clean and rebuild Unity application
diff --git a/Packages/manifest.json b/Packages/manifest.json
index 43466af8..5bbb4a8a 100644
--- a/Packages/manifest.json
+++ b/Packages/manifest.json
@@ -1,14 +1,18 @@
{
"dependencies": {
- "com.unity.ai.inference": "2.2.1",
- "com.unity.collab-proxy": "2.5.2",
+ "com.unity.ai.inference": "2.4.1",
+ "com.unity.collab-proxy": "2.11.3",
+ "com.unity.dt.app-ui": "2.1.4",
"com.unity.feature.development": "1.0.2",
- "com.unity.inputsystem": "1.11.2",
- "com.unity.ml-agents": "4.0.0",
- "com.unity.timeline": "1.8.7",
- "com.unity.toolchain.macos-arm64-linux-x86_64": "2.0.4",
+ "com.unity.ide.rider": "3.0.39",
+ "com.unity.inputsystem": "1.17.0",
+ "com.unity.ml-agents": "4.0.1",
+ "com.unity.performance.profile-analyzer": "1.3.1",
+ "com.unity.testtools.codecoverage": "1.3.0",
+ "com.unity.timeline": "1.8.10",
"com.unity.ugui": "2.0.0",
- "com.unity.visualscripting": "1.9.5",
+ "com.unity.visualscripting": "1.9.9",
+ "com.unity.modules.adaptiveperformance": "1.0.0",
"com.unity.modules.ai": "1.0.0",
"com.unity.modules.androidjni": "1.0.0",
"com.unity.modules.animation": "1.0.0",
@@ -35,6 +39,7 @@
"com.unity.modules.unitywebrequestaudio": "1.0.0",
"com.unity.modules.unitywebrequesttexture": "1.0.0",
"com.unity.modules.unitywebrequestwww": "1.0.0",
+ "com.unity.modules.vectorgraphics": "1.0.0",
"com.unity.modules.vehicles": "1.0.0",
"com.unity.modules.video": "1.0.0",
"com.unity.modules.vr": "1.0.0",
diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json
index cb96b64c..3f6d2bd3 100644
--- a/Packages/packages-lock.json
+++ b/Packages/packages-lock.json
@@ -1,18 +1,20 @@
{
"dependencies": {
"com.unity.ai.inference": {
- "version": "2.2.1",
+ "version": "2.4.1",
"depth": 0,
"source": "registry",
"dependencies": {
"com.unity.burst": "1.8.17",
+ "com.unity.dt.app-ui": "1.3.1",
"com.unity.collections": "2.4.3",
+ "com.unity.nuget.newtonsoft-json": "3.2.1",
"com.unity.modules.imageconversion": "1.0.0"
},
"url": "https://packages.unity.com"
},
"com.unity.burst": {
- "version": "1.8.18",
+ "version": "1.8.27",
"depth": 1,
"source": "registry",
"dependencies": {
@@ -22,26 +24,39 @@
"url": "https://packages.unity.com"
},
"com.unity.collab-proxy": {
- "version": "2.5.2",
+ "version": "2.11.3",
"depth": 0,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
"com.unity.collections": {
- "version": "2.5.1",
+ "version": "2.6.2",
"depth": 1,
"source": "registry",
"dependencies": {
- "com.unity.burst": "1.8.17",
- "com.unity.test-framework": "1.4.5",
- "com.unity.nuget.mono-cecil": "1.11.4",
+ "com.unity.burst": "1.8.23",
+ "com.unity.mathematics": "1.3.2",
+ "com.unity.test-framework": "1.4.6",
+ "com.unity.nuget.mono-cecil": "1.11.5",
"com.unity.test-framework.performance": "3.0.3"
},
"url": "https://packages.unity.com"
},
+ "com.unity.dt.app-ui": {
+ "version": "2.1.4",
+ "depth": 0,
+ "source": "registry",
+ "dependencies": {
+ "com.unity.modules.physics": "1.0.0",
+ "com.unity.modules.androidjni": "1.0.0",
+ "com.unity.modules.uielements": "1.0.0",
+ "com.unity.modules.screencapture": "1.0.0"
+ },
+ "url": "https://packages.unity.com"
+ },
"com.unity.editorcoroutines": {
- "version": "1.0.0",
+ "version": "1.0.1",
"depth": 1,
"source": "registry",
"dependencies": {},
@@ -49,27 +64,26 @@
},
"com.unity.ext.nunit": {
"version": "2.0.5",
- "depth": 2,
- "source": "registry",
- "dependencies": {},
- "url": "https://packages.unity.com"
+ "depth": 1,
+ "source": "builtin",
+ "dependencies": {}
},
"com.unity.feature.development": {
"version": "1.0.2",
"depth": 0,
"source": "builtin",
"dependencies": {
- "com.unity.ide.visualstudio": "2.0.22",
- "com.unity.ide.rider": "3.0.31",
- "com.unity.editorcoroutines": "1.0.0",
- "com.unity.performance.profile-analyzer": "1.2.2",
- "com.unity.test-framework": "1.4.5",
- "com.unity.testtools.codecoverage": "1.2.6"
+ "com.unity.ide.visualstudio": "2.0.26",
+ "com.unity.ide.rider": "3.0.39",
+ "com.unity.editorcoroutines": "1.0.1",
+ "com.unity.performance.profile-analyzer": "1.3.1",
+ "com.unity.test-framework": "1.6.0",
+ "com.unity.testtools.codecoverage": "1.3.0"
}
},
"com.unity.ide.rider": {
- "version": "3.0.31",
- "depth": 1,
+ "version": "3.0.39",
+ "depth": 0,
"source": "registry",
"dependencies": {
"com.unity.ext.nunit": "1.0.6"
@@ -77,16 +91,16 @@
"url": "https://packages.unity.com"
},
"com.unity.ide.visualstudio": {
- "version": "2.0.22",
+ "version": "2.0.26",
"depth": 1,
"source": "registry",
"dependencies": {
- "com.unity.test-framework": "1.1.9"
+ "com.unity.test-framework": "1.1.33"
},
"url": "https://packages.unity.com"
},
"com.unity.inputsystem": {
- "version": "1.11.2",
+ "version": "1.17.0",
"depth": 0,
"source": "registry",
"dependencies": {
@@ -95,18 +109,18 @@
"url": "https://packages.unity.com"
},
"com.unity.mathematics": {
- "version": "1.3.2",
+ "version": "1.3.3",
"depth": 2,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
"com.unity.ml-agents": {
- "version": "4.0.0",
+ "version": "4.0.1",
"depth": 0,
"source": "registry",
"dependencies": {
- "com.unity.ai.inference": "2.2.1",
+ "com.unity.ai.inference": "2.4.1",
"com.unity.modules.physics": "1.0.0",
"com.unity.modules.jsonserialize": "1.0.0",
"com.unity.modules.imageconversion": "1.0.0"
@@ -114,75 +128,65 @@
"url": "https://packages.unity.com"
},
"com.unity.nuget.mono-cecil": {
- "version": "1.11.4",
+ "version": "1.11.6",
"depth": 2,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
- "com.unity.performance.profile-analyzer": {
- "version": "1.2.2",
+ "com.unity.nuget.newtonsoft-json": {
+ "version": "3.2.2",
"depth": 1,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
- "com.unity.settings-manager": {
- "version": "2.0.1",
- "depth": 2,
+ "com.unity.performance.profile-analyzer": {
+ "version": "1.3.1",
+ "depth": 0,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
- "com.unity.sysroot": {
- "version": "2.0.10",
+ "com.unity.settings-manager": {
+ "version": "2.1.1",
"depth": 1,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
- "com.unity.sysroot.linux-x86_64": {
- "version": "2.0.9",
- "depth": 1,
- "source": "registry",
- "dependencies": {
- "com.unity.sysroot": "2.0.10"
- },
- "url": "https://packages.unity.com"
- },
"com.unity.test-framework": {
- "version": "1.4.5",
+ "version": "1.6.0",
"depth": 1,
- "source": "registry",
+ "source": "builtin",
"dependencies": {
"com.unity.ext.nunit": "2.0.3",
"com.unity.modules.imgui": "1.0.0",
"com.unity.modules.jsonserialize": "1.0.0"
- },
- "url": "https://packages.unity.com"
+ }
},
"com.unity.test-framework.performance": {
- "version": "3.0.3",
+ "version": "3.2.0",
"depth": 2,
"source": "registry",
"dependencies": {
- "com.unity.test-framework": "1.1.31",
+ "com.unity.test-framework": "1.1.33",
"com.unity.modules.jsonserialize": "1.0.0"
},
"url": "https://packages.unity.com"
},
"com.unity.testtools.codecoverage": {
- "version": "1.2.6",
- "depth": 1,
+ "version": "1.3.0",
+ "depth": 0,
"source": "registry",
"dependencies": {
- "com.unity.test-framework": "1.0.16",
- "com.unity.settings-manager": "1.0.1"
+ "com.unity.test-framework": "1.4.5",
+ "com.unity.settings-manager": "2.0.0"
},
"url": "https://packages.unity.com"
},
"com.unity.timeline": {
- "version": "1.8.7",
+ "version": "1.8.10",
"depth": 0,
"source": "registry",
"dependencies": {
@@ -193,16 +197,6 @@
},
"url": "https://packages.unity.com"
},
- "com.unity.toolchain.macos-arm64-linux-x86_64": {
- "version": "2.0.4",
- "depth": 0,
- "source": "registry",
- "dependencies": {
- "com.unity.sysroot": "2.0.10",
- "com.unity.sysroot.linux-x86_64": "2.0.9"
- },
- "url": "https://packages.unity.com"
- },
"com.unity.ugui": {
"version": "2.0.0",
"depth": 0,
@@ -213,7 +207,7 @@
}
},
"com.unity.visualscripting": {
- "version": "1.9.5",
+ "version": "1.9.9",
"depth": 0,
"source": "registry",
"dependencies": {
@@ -222,6 +216,14 @@
},
"url": "https://packages.unity.com"
},
+ "com.unity.modules.adaptiveperformance": {
+ "version": "1.0.0",
+ "depth": 0,
+ "source": "builtin",
+ "dependencies": {
+ "com.unity.modules.subsystems": "1.0.0"
+ }
+ },
"com.unity.modules.ai": {
"version": "1.0.0",
"depth": 0,
@@ -364,7 +366,8 @@
"com.unity.modules.ui": "1.0.0",
"com.unity.modules.imgui": "1.0.0",
"com.unity.modules.jsonserialize": "1.0.0",
- "com.unity.modules.hierarchycore": "1.0.0"
+ "com.unity.modules.hierarchycore": "1.0.0",
+ "com.unity.modules.physics": "1.0.0"
}
},
"com.unity.modules.umbra": {
@@ -428,6 +431,16 @@
"com.unity.modules.imageconversion": "1.0.0"
}
},
+ "com.unity.modules.vectorgraphics": {
+ "version": "1.0.0",
+ "depth": 0,
+ "source": "builtin",
+ "dependencies": {
+ "com.unity.modules.uielements": "1.0.0",
+ "com.unity.modules.imageconversion": "1.0.0",
+ "com.unity.modules.imgui": "1.0.0"
+ }
+ },
"com.unity.modules.vehicles": {
"version": "1.0.0",
"depth": 0,
diff --git a/ProjectSettings/EditorBuildSettings.asset b/ProjectSettings/EditorBuildSettings.asset
index 3d085bf3..6ef2b198 100644
--- a/ProjectSettings/EditorBuildSettings.asset
+++ b/ProjectSettings/EditorBuildSettings.asset
@@ -9,5 +9,6 @@ EditorBuildSettings:
path: Assets/Scenes/SampleScene.unity
guid: bc11b2d9242ef48adb5f866366a9910e
m_configObjects:
+ com.unity.dt.app-ui: {fileID: 11400000, guid: 1b1c20d82303e4b5781c3ef50ac1449f, type: 2}
com.unity.ml-agents.settings: {fileID: 11400000, guid: d9309e26956034add883cebd2ffdceb8, type: 2}
m_UseUCBPForAssetBundles: 0
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 35a091b8..50229e59 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -70,6 +70,7 @@ PlayerSettings:
androidStartInFullscreen: 1
androidRenderOutsideSafeArea: 1
androidUseSwappy: 1
+ androidDisplayOptions: 1
androidBlitType: 0
androidResizeableActivity: 0
androidDefaultWindowWidth: 1920
@@ -86,6 +87,7 @@ PlayerSettings:
muteOtherAudioSources: 0
Prepare IOS For Recording: 0
Force IOS Speakers When Recording: 0
+ audioSpatialExperience: 0
deferSystemGesturesMode: 0
hideHomeButton: 0
submitAnalytics: 1
@@ -132,6 +134,7 @@ PlayerSettings:
switchNVNMaxPublicSamplerIDCount: 0
switchMaxWorkerMultiple: 8
switchNVNGraphicsFirmwareMemory: 32
+ switchGraphicsJobsSyncAfterKick: 1
vulkanNumSwapchainBuffers: 3
vulkanEnableSetSRGBWrite: 0
vulkanEnablePreTransform: 0
@@ -171,9 +174,10 @@ PlayerSettings:
tvOS: 0
overrideDefaultApplicationIdentifier: 0
AndroidBundleVersionCode: 1
- AndroidMinSdkVersion: 23
+ AndroidMinSdkVersion: 25
AndroidTargetSdkVersion: 0
AndroidPreferredInstallLocation: 1
+ AndroidPreferredDataLocation: 1
aotOptions:
stripEngineCode: 1
iPhoneStrippingLevel: 0
@@ -188,11 +192,11 @@ PlayerSettings:
VertexChannelCompressionMask: 4054
iPhoneSdkVersion: 988
iOSSimulatorArchitecture: 0
- iOSTargetOSVersionString: 13.0
+ iOSTargetOSVersionString: 15.0
tvOSSdkVersion: 0
tvOSSimulatorArchitecture: 0
tvOSRequireExtendedGameController: 0
- tvOSTargetOSVersionString: 13.0
+ tvOSTargetOSVersionString: 15.0
VisionOSSdkVersion: 0
VisionOSTargetOSVersionString: 1.0
uIPrerenderedIcon: 0
@@ -262,6 +266,7 @@ PlayerSettings:
useCustomGradleSettingsTemplate: 0
useCustomProguardFile: 0
AndroidTargetArchitectures: 1
+ AndroidAllowedArchitectures: -1
AndroidSplashScreenScale: 0
androidSplashScreen: {fileID: 0}
AndroidKeystoreName:
@@ -271,6 +276,9 @@ PlayerSettings:
AndroidBuildApkPerCpuArchitecture: 0
AndroidTVCompatibility: 0
AndroidIsGame: 1
+ androidAppCategory: 3
+ useAndroidAppCategory: 1
+ androidAppCategoryOther:
AndroidEnableTango: 0
androidEnableBanner: 1
androidUseLowAccuracyLocation: 0
@@ -306,6 +314,7 @@ PlayerSettings:
iPhone: 1
tvOS: 1
m_BuildTargetGroupLightmapEncodingQuality: []
+ m_BuildTargetGroupHDRCubemapEncodingQuality: []
m_BuildTargetGroupLightmapSettings: []
m_BuildTargetGroupLoadStoreDebugModeSettings: []
m_BuildTargetNormalMapEncoding: []
@@ -321,7 +330,7 @@ PlayerSettings:
locationUsageDescription:
microphoneUsageDescription:
bluetoothUsageDescription:
- macOSTargetOSVersion: 11.0
+ macOSTargetOSVersion: 12.0
switchNMETAOverride:
switchNetLibKey:
switchSocketMemoryPoolSize: 6144
@@ -569,13 +578,14 @@ PlayerSettings:
webGLMemoryLinearGrowthStep: 16
webGLMemoryGeometricGrowthStep: 0.2
webGLMemoryGeometricGrowthCap: 96
- webGLEnableWebGPU: 0
webGLPowerPreference: 2
webGLWebAssemblyTable: 0
webGLWebAssemblyBigInt: 0
webGLCloseOnQuit: 0
webWasm2023: 0
- scriptingDefineSymbols: {}
+ webEnableSubmoduleStrippingCompatibility: 0
+ scriptingDefineSymbols:
+ Standalone: APP_UI_EDITOR_ONLY
additionalCompilerArguments: {}
platformArchitecture: {}
scriptingBackend: {}
@@ -686,3 +696,6 @@ PlayerSettings:
insecureHttpOption: 0
androidVulkanDenyFilterList: []
androidVulkanAllowFilterList: []
+ androidVulkanDeviceFilterListAsset: {fileID: 0}
+ d3d12DeviceFilterListAsset: {fileID: 0}
+ allowedHttpConnections: 3
diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt
index 2f43e325..8744883f 100644
--- a/ProjectSettings/ProjectVersion.txt
+++ b/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 6000.0.30f1
-m_EditorVersionWithRevision: 6000.0.30f1 (62b05ba0686a)
+m_EditorVersion: 6000.3.4f1
+m_EditorVersionWithRevision: 6000.3.4f1 (fdd3b8998ec4)
diff --git a/build_and_deploy.sh b/build_and_deploy.sh
new file mode 100755
index 00000000..21e3d55f
--- /dev/null
+++ b/build_and_deploy.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# Script to build native libraries and deploy them properly for Unity
+# This prevents duplicate plugin errors
+
+echo "Building native libraries..."
+
+# Build from the TrafficSimulation directory
+cd Assets/Plugins/TrafficSimulation/build
+make -j8
+
+if [ $? -eq 0 ]; then
+ echo "Build successful. Deploying libraries..."
+
+ # Copy libraries to Unity plugins directory (overwrite existing)
+ cp libReplicantDriveSim.dylib ../
+ cp ../libOpenDrive/libOpenDrive.dylib ../ 2>/dev/null || cp libOpenDrive.dylib ../
+
+ # Remove build directory copies to prevent Unity duplicate plugin errors
+ rm -f libReplicantDriveSim*.dylib*
+ rm -f libOpenDrive*.dylib*
+
+ # Sign the libraries
+ cd ..
+ codesign --sign - --force libReplicantDriveSim.dylib libOpenDrive.dylib
+
+ echo "Libraries deployed and signed successfully!"
+ echo "You can now run Unity Editor or build the app."
+else
+ echo "Build failed!"
+ exit 1
+fi
\ No newline at end of file
diff --git a/build_native_library.sh b/build_native_library.sh
index 9c48201f..6b7bc4c4 100755
--- a/build_native_library.sh
+++ b/build_native_library.sh
@@ -59,6 +59,12 @@ rm -f libReplicantDriveSim.dylib libReplicantDriveSim.so ReplicantDriveSim.dll
echo ""
echo "Creating build directory..."
mkdir -p build
+
+# Ensure submodules are initialized (e.g., libOpenDRIVE)
+# We do this from the root directory
+echo "Syncing submodules..."
+(cd ../../.. && git submodule update --init --recursive)
+
cd build
# Platform-specific configuration
@@ -220,6 +226,18 @@ if [ $? -eq 0 ]; then
echo "WARNING: replicantdrivesim.so not found in build directory"
fi
+ # Copy libOpenDrive.dylib dependency to Unity Plugins folder
+ echo "Copying libOpenDrive.dylib dependency..."
+ if [ -f "libOpenDrive/libOpenDrive.dylib" ]; then
+ cp -f "libOpenDrive/libOpenDrive.dylib" "$DEST_DIR/"
+ echo "✓ libOpenDrive.dylib successfully copied"
+ elif [ -f "libOpenDrive.dylib" ]; then
+ cp -f "libOpenDrive.dylib" "$DEST_DIR/"
+ echo "✓ libOpenDrive.dylib successfully copied"
+ else
+ echo "WARNING: libOpenDrive.dylib not found in build directory"
+ fi
+
# Clean up build directory to prevent Unity from seeing duplicates
echo ""
echo "Cleaning up build directory..."
diff --git a/build_unity_app.sh b/build_unity_app.sh
index 81041627..ef942e6a 100755
--- a/build_unity_app.sh
+++ b/build_unity_app.sh
@@ -245,6 +245,31 @@ build_unity_project() {
echo "✓ Build results moved to $BUILD_OUTPUT"
fi
+ # Post-build: Copy Maps folder to build output
+ echo ""
+ echo "Post-build: Copying Maps folder..."
+ MAPS_SRC="$PROJECT_PATH/Assets/Maps"
+
+ if [ -d "$MAPS_SRC" ]; then
+ # macOS .app bundles
+ find "$BUILD_OUTPUT" -name "*.app" -type d | while read app; do
+ if [ -d "$app/Contents" ]; then
+ echo "Copying Maps to $app/Contents/"
+ cp -R "$MAPS_SRC" "$app/Contents/"
+ fi
+ done
+
+ # Windows/Linux Data folders (usually named _Data)
+ find "$BUILD_OUTPUT" -name "*_Data" -type d | while read data_dir; do
+ echo "Copying Maps to $data_dir/"
+ cp -R "$MAPS_SRC" "$data_dir/"
+ done
+
+ echo "✓ Maps folder copied"
+ else
+ echo "WARNING: Assets/Maps folder not found at $MAPS_SRC"
+ fi
+
return 0
else
echo "=================================================="
diff --git a/sign_app.sh b/sign_app.sh
new file mode 100755
index 00000000..d90ba98e
--- /dev/null
+++ b/sign_app.sh
@@ -0,0 +1,38 @@
+#!/bin/bash
+
+# Script to properly sign the Unity app bundle for macOS
+
+APP_PATH="replicantdrivesim/Builds/StandaloneOSX/libReplicantDriveSim.app"
+
+echo "Signing native libraries..."
+codesign --sign - --force "$APP_PATH/Contents/PlugIns/libOpenDrive.dylib" || echo "Failed to sign libOpenDrive.dylib"
+codesign --sign - --force "$APP_PATH/Contents/PlugIns/libReplicantDriveSim.dylib" || echo "Failed to sign libReplicantDriveSim.dylib"
+
+echo "Signing app frameworks and binaries..."
+find "$APP_PATH" -name "*.dylib" -exec codesign --sign - --force {} \; || echo "Some dylib signing failed"
+find "$APP_PATH" -name "*.so" -exec codesign --sign - --force {} \; || echo "Some so signing failed"
+
+echo "Signing main executable..."
+codesign --sign - --force "$APP_PATH/Contents/MacOS/UnityReplicantDriveSim" || echo "Failed to sign main executable"
+
+echo "Creating entitlements file for app bundle..."
+cat > app_entitlements.plist << 'EOF'
+
+
+
+
+ com.apple.security.cs.allow-jit
+
+ com.apple.security.cs.allow-unsigned-executable-memory
+
+ com.apple.security.cs.disable-library-validation
+
+
+
+EOF
+
+echo "Signing app bundle with entitlements..."
+codesign --sign - --force --entitlements app_entitlements.plist "$APP_PATH" || echo "Failed to sign app bundle"
+
+echo "Done! Testing app signature..."
+codesign --verify --verbose "$APP_PATH" 2>&1 || echo "App verification failed"
\ No newline at end of file