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/*
* Copyright 2023-2024 The STARS Project Authors
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
@file:Suppress("unused", "MemberVisibilityCanBePrivate")
package tools.aqua.stars.data.av.dataclasses
import kotlin.math.pow
import kotlin.math.sqrt
/**
* Data class for vehicles.
*
* @property id The identifier of the vehicle.
* @property tickData [TickData].
* @property positionOnLane The [Vehicle]'s position in the [Lane].
* @property lane The [Vehicle]'s [Lane].
* @property typeId The type identifier.
* @property vehicleType The [VehicleType].
* @property isEgo Whether this is the own vehicle.
* @property location The [Location] of the vehicle.
* @property forwardVector The current forward vector.
* @property rotation The [Rotation] of the vehicle.
* @property velocity The current velocity in m/s.
* @property acceleration The current acceleration m/s².
* @property angularVelocity The current angular velocity.
*/
data class Vehicle(
override val id: Int,
override val tickData: TickData,
var positionOnLane: Double,
var lane: Lane,
val typeId: String,
val vehicleType: VehicleType,
var isEgo: Boolean,
val location: Location,
val forwardVector: Vector3D,
val rotation: Rotation,
var velocity: Vector3D,
var acceleration: Vector3D,
val angularVelocity: Vector3D,
) : Actor() {
/** Whether the vehicle is of [VehicleType.BICYCLE]. */
val isBicycle: Boolean
get() = vehicleType == VehicleType.BICYCLE
/** Effective velocity in m/s based on the [velocity] vector. */
val effVelocityInMPerS: Double
get() = sqrt(velocity.x.pow(2) + velocity.y.pow(2) + velocity.z.pow(2))
/** Effective velocity in km/h based on [effVelocityInMPerS]. */
val effVelocityInKmPH: Double
get() = this.effVelocityInMPerS * 3.6
/** Effective velocity in miles/hour based on [effVelocityInMPerS]. */
val effVelocityInMPH: Double
get() = this.effVelocityInMPerS * 2.237
/** Effective acceleration in m/s² based on the [acceleration] vector. */
val effAccelerationInMPerSSquared: Double
get() = sqrt(acceleration.x.pow(2) + acceleration.y.pow(2) + acceleration.z.pow(2))
/** SpeedLimit of the road/lane for the current location of this [Vehicle]. */
val applicableSpeedLimit: SpeedLimit?
get() =
this.lane.speedLimits.firstOrNull { speedLimit ->
this.positionOnLane in (speedLimit.fromDistanceFromStart..speedLimit.toDistanceFromStart)
}
override fun clone(newTickData: TickData): Actor =
Vehicle(
id,
newTickData,
positionOnLane,
lane,
typeId,
vehicleType,
isEgo,
location,
forwardVector,
rotation,
velocity,
acceleration,
angularVelocity)
override fun toString(): String =
"Vehicle(id=$id, tickData=${tickData}, positionOnLane=$positionOnLane, lane=${lane.laneId}, road=${lane.road.id})"
override fun equals(other: Any?): Boolean {
if (other is Vehicle) {
return id == other.id &&
tickData.currentTick == other.tickData.currentTick &&
positionOnLane == other.positionOnLane &&
lane.laneId == other.lane.laneId &&
lane.road.id == other.lane.road.id
}
return super.equals(other)
}
}
