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Merge branch 'feature/feature-gl' into dev

# Conflicts:
#	package-lock.json
#	src/views/workManagement/manualRunProjectDetail.vue
#	vue.config.js
guolei 1 year ago
parent
2a33a33efa 83a1339af4
commit
7e240a67bb
36 changed files with 8866 additions and 19 deletions
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  1. 1 1
      package.json
  2. 3 0
      public/css/font-awesome.min.css
  3. 0 0
      public/css/notyf.min.css
  4. BIN
      public/glb/car.glb
  5. 5 0
      public/hdr/050.hdr
  6. 5 0
      public/hdr/christmas-sky.hdr
  7. 5 0
      public/hdr/index8.hdr
  8. BIN
      public/hdr/robot_background.hdr
  9. 58 0
      public/index.html
  10. 236 0
      public/js/InfiniteGridHelper.js
  11. 47 0
      public/js/controls.js
  12. 12 0
      public/js/dat.gui.min.js
  13. 2555 0
      public/js/libOpenDrive.js
  14. BIN
      public/js/libOpenDrive.wasm
  15. 0 0
      public/js/notyf.min.js
  16. 6 0
      public/js/orbitcontrols.min.js
  17. 1 0
      public/js/three.min.js
  18. 2784 0
      public/map/mine3.xodr
  19. 898 0
      public/map/mine4.xodr
  20. 236 0
      src/InfiniteGridHelper.js
  21. 19 1
      src/api/workManagement.js
  22. 12 0
      src/axios/filter.js
  23. 1 0
      src/components/HelloWorld.vue
  24. 1 1
      src/main.js
  25. 147 0
      src/mixin/workManagement/getStdMapMixin.js
  26. 868 0
      src/mixin/workManagement/openDriveMixin.js
  27. 0 1
      src/router/filter.js
  28. 10 1
      src/router/workManagement.js
  29. 1 2
      src/views/modelLibrary/vehicleConfigurationDetail.vue
  30. 6 5
      src/views/sceneLibrary/components/editor.vue
  31. 4 4
      src/views/workManagement/autoRunProjectDetail.vue
  32. 131 0
      src/views/workManagement/components/openDriver.vue
  33. 175 0
      src/views/workManagement/components/pathDialog.vue
  34. 353 0
      src/views/workManagement/components/simulationTable.vue
  35. 283 0
      src/views/workManagement/multimodeSimulation.vue
  36. 3 3
      vue.config.js

+ 1 - 1
package.json
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@@ -90,4 +90,4 @@
 
     "> 1%",
 
     "last 2 versions"
 
   ]
 
-}
 
+}

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public/hdr/050.hdr


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+ 58 - 0
public/index.html
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@@ -5,14 +5,72 @@
 
     <meta http-equiv="X-UA-Compatible" content="IE=edge">
 
     <meta name="viewport" content="width=device-width,initial-scale=1.0">
 
     <link rel="icon" href="<%= BASE_URL %>favicon.ico">
 
+	<link rel="stylesheet" href="./css/notyf.min.css">
 
+	<link rel="stylesheet" href="./css/font-awesome.min.css">
 
     <!-- <title><%= htmlWebpackPlugin.options.title %></title> -->
 
     <title>云仿真测试系统</title>
 
+	<script src="./js/dat.gui.min.js"></script>
 
+	<script src="./js/libOpenDrive.js"></script>
 
+	<script src="./js/notyf.min.js"></script>
 
+	<script id="idVertexShader" type="x-shader/x-vertex">
 
+	    attribute vec4 id;
 
+	    varying vec4 vId;
 
+	
+	    void main() { 
+	        vId = id;
 
+	        gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );
 
+	    }
 
+	</script>
 
+	
+	<script id="idFragmentShader" type="x-shader/x-vertex">
 
+	    varying vec4 vId;
 
+	    
+	    void main() {
 
+	        gl_FragColor = vId;
 
+	    }
 
+	</script>
 
+	
+	<script id="xyzVertexShader" type="x-shader/x-vertex">
 
+	    varying vec3 vXYZ;
 
+	
+	    void main() { 
+	        vXYZ = position;
 
+	        gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );
 
+	    }
 
+	</script>
 
+	
+	<script id="xyzFragmentShader" type="x-shader/x-vertex">
 
+	    varying vec3 vXYZ;
 
+	    
+	    void main() {
 
+	        gl_FragColor = vec4(vXYZ, 1.0);
 
+	    }
 
+	</script>
 
+	
+	<script id="stVertexShader" type="x-shader/x-vertex">
 
+	    attribute vec2 st;
 
+	    varying vec2 vST;
 
+	
+	    void main() { 
+	        vST = st;
 
+	        gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );
 
+	    }
 
+	</script>
 
+	
+	<script id="stFragmentShader" type="x-shader/x-vertex">
 
+	    varying vec2 vST;
 
+	    
+	    void main() {
 
+	        gl_FragColor = vec4(vST.x, vST.y, 0.0, 1.0);
 
+	    }
 
+	</script>
 
   </head>
 
   <body>
 
     <noscript>
 
       <strong>We're sorry but 仿真云平台 doesn't work properly without JavaScript enabled. Please enable it to continue.</strong>
 
     </noscript>
 
     <div id="app"></div>
 
+	<script src="./js/controls.js"></script>
 
     <!-- built files will be auto injected -->
 
   </body>
 
 </html>

+ 236 - 0
public/js/InfiniteGridHelper.js
View File 

@@ -0,0 +1,236 @@
 
+// Author: Fyrestar https://mevedia.com (https://github.com/Fyrestar/THREE.InfiniteGridHelper)
 
+
 
+THREE.InfiniteGridHelper = function InfiniteGridHelper( size1, size2, color, distance, axes = 'xzy' ) {
 
+
 
+	color = color || new THREE.Color( 'white' );
 
+	size1 = size1 || 10;
 
+	size2 = size2 || 100;
 
+
 
+	distance = distance || 8000;
 
+
 
+
 
+
 
+	const planeAxes = axes.substr( 0, 2 );
 
+
 
+	const geometry = new THREE.PlaneBufferGeometry( 2, 2, 1, 1 );
 
+
 
+	const material = new THREE.ShaderMaterial( {
 
+
 
+		side: THREE.DoubleSide,
 
+
 
+		uniforms: {
 
+			uSize1: {
 
+				value: size1
 
+			},
 
+			uSize2: {
 
+				value: size2
 
+			},
 
+			uColor: {
 
+				value: color
 
+			},
 
+			uDistance: {
 
+				value: distance
 
+			}
 
+		},
 
+		transparent: true,
 
+		vertexShader: `
 
+           
+           varying vec3 worldPosition;
 
+		   
+           uniform float uDistance;
 
+           
+           void main() {
 
+           
+                vec3 pos = position.${axes} * uDistance;
 
+                pos.${planeAxes} += cameraPosition.${planeAxes};
 
+                
+                worldPosition = pos;
 
+                
+                gl_Position = projectionMatrix * modelViewMatrix * vec4(pos, 1.0);
 
+           
+           }
 
+           `,
 
+
 
+
 
+		fragmentShader: `
 
+           
+           varying vec3 worldPosition;
 
+           
+           uniform float uSize1;
 
+           uniform float uSize2;
 
+           uniform vec3 uColor;
 
+           uniform float uDistance;
 
+            
+            
+            
+            float getGrid(float size) {
 
+            
+                vec2 r = worldPosition.${planeAxes} / size;
 
+                
+                
+                vec2 grid = abs(fract(r - 0.5) - 0.5) / fwidth(r);
 
+                float line = min(grid.x, grid.y);
 
+                
+            
+                return 1.0 - min(line, 1.0);
 
+            }
 
+            
+           void main() {
 
+           
+                
+                  float d = 1.0 - min(distance(cameraPosition.${planeAxes}, worldPosition.${planeAxes}) / uDistance, 1.0);
 
+                
+                  float g1 = getGrid(uSize1);
 
+                  float g2 = getGrid(uSize2);
 
+                  
+                  
+                  gl_FragColor = vec4(uColor.rgb, mix(g2, g1, g1) * pow(d, 3.0));
 
+                  gl_FragColor.a = mix(0.5 * gl_FragColor.a, gl_FragColor.a, g2);
 
+                
+                  if ( gl_FragColor.a <= 0.0 ) discard;
 
+                
+           
+           }
 
+           
+           `,
 
+
 
+		extensions: {
 
+			derivatives: true
 
+		}
 
+
 
+	} );
 
+
 
+
 
+	THREE.Mesh.call( this, geometry, material );
 
+
 
+	this.frustumCulled = false;
 
+
 
+};
 
+
 
+THREE.InfiniteGridHelper.prototype = {
 
+	...THREE.Mesh.prototype,
 
+	...THREE.Object3D.prototype,
 
+	...THREE.EventDispatcher.prototype
 
+};
 
+
 
+if ( parseInt( THREE.REVISION ) > 126 ) {
 
+
 
+	class InfiniteGridHelper extends THREE.Mesh {
 
+
 
+		constructor ( size1, size2, color, distance, axes = 'xzy' ) {
 
+
 
+
 
+			color = color || new THREE.Color( 'white' );
 
+			size1 = size1 || 10;
 
+			size2 = size2 || 100;
 
+
 
+			distance = distance || 8000;
 
+
 
+
 
+
 
+			const planeAxes = axes.substr( 0, 2 );
 
+
 
+			const geometry = new THREE.PlaneBufferGeometry( 2, 2, 1, 1 );
 
+
 
+			const material = new THREE.ShaderMaterial( {
 
+
 
+				side: THREE.DoubleSide,
 
+
 
+				uniforms: {
 
+					uSize1: {
 
+						value: size1
 
+					},
 
+					uSize2: {
 
+						value: size2
 
+					},
 
+					uColor: {
 
+						value: color
 
+					},
 
+					uDistance: {
 
+						value: distance
 
+					}
 
+				},
 
+				transparent: true,
 
+				vertexShader: `
 
+           
+           varying vec3 worldPosition;
 
+		   
+           uniform float uDistance;
 
+           
+           void main() {
 
+           
+                vec3 pos = position.${axes} * uDistance;
 
+                pos.${planeAxes} += cameraPosition.${planeAxes};
 
+                
+                worldPosition = pos;
 
+                
+                gl_Position = projectionMatrix * modelViewMatrix * vec4(pos, 1.0);
 
+           
+           }
 
+           `,
 
+
 
+
 
+				fragmentShader: `
 
+           
+           varying vec3 worldPosition;
 
+           
+           uniform float uSize1;
 
+           uniform float uSize2;
 
+           uniform vec3 uColor;
 
+           uniform float uDistance;
 
+            
+            
+            
+            float getGrid(float size) {
 
+            
+                vec2 r = worldPosition.${planeAxes} / size;
 
+                
+                
+                vec2 grid = abs(fract(r - 0.5) - 0.5) / fwidth(r);
 
+                float line = min(grid.x, grid.y);
 
+                
+            
+                return 1.0 - min(line, 1.0);
 
+            }
 
+            
+           void main() {
 
+           
+                
+                  float d = 1.0 - min(distance(cameraPosition.${planeAxes}, worldPosition.${planeAxes}) / uDistance, 1.0);
 
+                
+                  float g1 = getGrid(uSize1);
 
+                  float g2 = getGrid(uSize2);
 
+                  
+                  
+                  gl_FragColor = vec4(uColor.rgb, mix(g2, g1, g1) * pow(d, 3.0));
 
+                  gl_FragColor.a = mix(0.5 * gl_FragColor.a, gl_FragColor.a, g2);
 
+                
+                  if ( gl_FragColor.a <= 0.0 ) discard;
 
+                
+           
+           }
 
+           
+           `,
 
+
 
+				extensions: {
 
+					derivatives: true
 
+				}
 
+
 
+			} );
 
+
 
+			super( geometry, material );
 
+
 
+			this.frustumCulled = false;
 
+
 
+		}
 
+
 
+	}
 
+	
+	Object.assign( InfiniteGridHelper.prototype, THREE.InfiniteGridHelper.prototype );
 
+
 
+	THREE.InfiniteGridHelper = InfiniteGridHelper;
 
+
 
+}
 
+
 
+module.exports.InfiniteGridHelper = THREE.InfiniteGridHelper
 
+// module.exports.InfiniteGridHelper  =THREE.InfiniteGridHelper;

+ 47 - 0
public/js/controls.js
View File 

@@ -0,0 +1,47 @@
 
+var PARAMS = {
 
+    load_file : () => { document.getElementById('xodr_file_input').click(); },
 
+    resolution : 0.02,
 
+    ref_line : true,
 
+    roadmarks : true,
 
+    wireframe : false,
 
+    spotlight : true,
 
+    fitView : () => { fitViewToObj(refline_lines); },
 
+    lateralProfile : true,
 
+    laneHeight : true,
 
+    reload_map : () => { reloadOdrMap(); },
 
+    view_mode : 'Default',
 
+};
 
+
 
+// const gui = new dat.GUI();
 
+// gui.add(PARAMS, 'load_file').name('📁 打开.xodr');
 
+// gui.add(PARAMS, 'resolution', { 低 : 1.0, 中等 : 0.3, 高 : 0.02 }).name('📏  细节级别').onChange((val) => {
 
+//     loadOdrMap(true, false);
 
+// });
 
+// gui.add(PARAMS, 'spotlight').name("🔦 开启聚光灯");
 
+// gui.add(PARAMS, 'fitView').name("⟲ 复位摄像机");
 
+
 
+// var gui_view_folder = gui.addFolder('查看');
 
+// gui_view_folder.add(PARAMS, 'view_mode', { '默认' : 'Default', '轮廓' : 'Outlines' }).name("查看模式").onChange((val) => {
 
+//     if (val == 'Default') {
 
+//         road_network_mesh.visible = true;
 
+//         roadmarks_mesh.visible = PARAMS.roadmarks;
 
+//     } else if (val == 'Outlines') {
 
+//         road_network_mesh.visible = false;
 
+//         roadmarks_mesh.visible = false;
 
+//     }
 
+// });
 
+// gui_view_folder.add(PARAMS, 'ref_line').name("参考线").onChange((val) => {
 
+//     refline_lines.visible = val;
 
+// });
 
+// gui_view_folder.add(PARAMS, 'roadmarks').name("路面标线").onChange((val) => {
 
+//     roadmarks_mesh.visible = val;
 
+//     roadmark_outline_lines.visible = val;
 
+// });
 
+// gui_view_folder.add(PARAMS, 'wireframe').name("显示线框").onChange((val) => {
 
+//     road_network_material.wireframe = val;
 
+// });
 
+
 
+// var gui_attributes_folder = gui.addFolder('加载属性');
 
+// gui_attributes_folder.add(PARAMS, 'lateralProfile').name("横向分布");
 
+// gui_attributes_folder.add(PARAMS, 'laneHeight').name("车道高度");
 
+// gui_attributes_folder.add(PARAMS, 'reload_map').name("重新加载地图");

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+ 12 - 0
public/js/dat.gui.min.js


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+ 2555 - 0
public/js/libOpenDrive.js


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+ 0 - 0
public/js/notyf.min.js


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+ 6 - 0
public/js/orbitcontrols.min.js


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+ 1 - 0
public/js/three.min.js


+ 2784 - 0
public/map/mine3.xodr
View File 

@@ -0,0 +1,2784 @@
 
+<?xml version="1.0" standalone="yes"?>
 
+<OpenDRIVE>
 
+    <header revMajor="1" revMinor="4" name="" version="1.00" date="Wed Mar 27 14:06:10 2024" north="0.0000000000000000e+00" south="0.0000000000000000e+00" east="0.0000000000000000e+00" west="0.0000000000000000e+00">
 
+    </header>
 
+    <road name="" length="1.0000000000000000e+01" id="7" junction="-1">
 
+        <link>
 
+        </link>
 
+        <planView>
 
+            <geometry s="0.0000000000000000e+00" x="-2.0000000000000000e+01" y="2.0000000000000000e+01" hdg="-1.5707963267998624e+00" length="1.0000000000000000e+01">
 
+                <line/>
 
+            </geometry>
 
+        </planView>
 
+        <elevationProfile>
 
+            <elevation s="0.0000000000000000e+00" a="0.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+        </elevationProfile>
 
+        <lateralProfile>
 
+        </lateralProfile>
 
+        <lanes>
 
+            <laneSection s="0.0000000000000000e+00">
 
+                <left>
 
+                    <lane id="2" type="shoulder" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="5.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="1" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.5000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.3000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </left>
 
+                <center>
 
+                    <lane id="0" type="none" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.3000000000000000e-01" laneChange="both" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </center>
 
+                <right>
 
+                    <lane id="-1" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.5000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.3000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                    <lane id="-2" type="shoulder" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="5.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                </right>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
+        <surface>
 
+        </surface>
 
+    </road>
 
+    <road name="" length="1.1197787143782139e+03" id="131" junction="-1">
 
+        <link>
 
+            <predecessor elementType="junction" elementId="2" />
 
+            <successor elementType="junction" elementId="5" />
 
+        </link>
 
+        <planView>
 
+            <geometry s="0.0000000000000000e+00" x="2.8000000000000000e+02" y="2.0000000000000000e+02" hdg="0.0000000000000000e+00" length="2.0000000000000000e+01">
 
+                <line/>
 
+            </geometry>
 
+            <geometry s="2.0000000000000000e+01" x="2.9999999781449264e+02" y="2.0000000000000000e+02" hdg="-1.2414513861358500e-12" length="7.8539816339744831e+01">
 
+                <arc curvature="-2.0000000000000000e-02"/>
 
+            </geometry>
 
+            <geometry s="9.8539816339744831e+01" x="3.4999999781443057e+02" y="1.4999999999993793e+02" hdg="-1.5707963267998650e+00" length="5.0000000000000000e+01">
 
+                <line/>
 
+            </geometry>
 
+            <geometry s="1.4853981633974485e+02" x="3.4999999781418217e+02" y="1.0000000437151138e+02" hdg="-1.5707963267986234e+00" length="1.5707963267948966e+02">
 
+                <arc curvature="2.0000000000000000e-02"/>
 
+            </geometry>
 
+            <geometry s="3.0561944901923448e+02" x="4.4999999781418217e+02" y="1.0000000437064206e+02" hdg="1.5707963267948948e+00" length="1.5000000000000000e+02">
 
+                <line/>
 
+            </geometry>
 
+            <geometry s="4.5561944901923448e+02" x="4.4999999781492738e+02" y="2.5000000437076622e+02" hdg="1.5707963267936531e+00" length="1.5707963267948966e+02">
 
+                <arc curvature="-2.0000000000000000e-02"/>
 
+            </geometry>
 
+            <geometry s="6.1269908169872417e+02" x="5.4999999781492738e+02" y="2.5000000437014523e+02" hdg="-1.5707963268048326e+00" length="1.5000000000000000e+02">
 
+                <line/>
 
+            </geometry>
 
+            <geometry s="7.6269908169872417e+02" x="5.4999999781343695e+02" y="1.0000000874196708e+02" hdg="-1.5707963268035909e+00" length="1.5707963267948966e+02">
 
+                <arc curvature="2.0000000000000000e-02"/>
 
+            </geometry>
 
+            <geometry s="9.1977871437821386e+02" x="6.4999999781343695e+02" y="1.0000000874060109e+02" hdg="1.5707963267849603e+00" length="1.9999999999999997e+02">
 
+                <line/>
 
+            </geometry>
 
+        </planView>
 
+        <elevationProfile>
 
+            <elevation s="0.0000000000000000e+00" a="0.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+        </elevationProfile>
 
+        <lateralProfile>
 
+        </lateralProfile>
 
+        <lanes>
 
+            <laneSection s="0.0000000000000000e+00">
 
+                <left>
 
+                    <lane id="2" type="shoulder" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="5.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="1" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.5000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.3000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </left>
 
+                <center>
 
+                    <lane id="0" type="none" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.3000000000000000e-01" laneChange="both" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </center>
 
+                <right>
 
+                    <lane id="-1" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.5000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.3000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                    <lane id="-2" type="shoulder" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="5.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                </right>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
+        <surface>
 
+        </surface>
 
+    </road>
 
+    <road name="" length="1.9325957145940458e+02" id="132" junction="-1">
 
+        <link>
 
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public/map/mine4.xodr
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+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.1000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="2" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="2"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="1" type="driving" level="false">
 
+                        <link>
 
+                            <predecessor id="1"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="3.5699999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.2000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </left>
 
+                <center>
 
+                    <lane id="0" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.2000000000000000e-01" laneChange="both" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </center>
 
+                <right>
 
+                    <lane id="-1" type="driving" level="false">
 
+                        <link>
 
+                            <predecessor id="-1"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="3.5699999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.2000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                    <lane id="-2" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="-2"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="-3" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="-3"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <height sOffset="0.0000000000000000e+00" inner="0.0000000000000000e+00" outer="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                </right>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+            <object type="tree" name="VegTree02v13m.flt" id="4" s="6.1400000000000050e+00" t="1.2137900370739581e+01" zOffset="-8.1500000000000039e-01" validLength="0.0000000000000000e+00" orientation="none" length="1.2407999999999999e+01" width="1.2160000000000000e+01" height="1.3888000000000000e+01" hdg="3.1415926535897931e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00">
 
+                <repeat s="6.1400000000000050e+00" length="3.3699999999999996e+01" distance="2.5000000000000000e+01" tStart="1.2137900370739581e+01" tEnd="1.2137900370739581e+01" widthStart="1.2160000000000000e+01" widthEnd="1.2160000000000000e+01" heightStart="1.3888000000000000e+01" heightEnd="1.3888000000000000e+01" zOffsetStart="-8.1500000000000039e-01" zOffsetEnd="-8.1500000000000039e-01" />
 
+            </object>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
+        <surface>
 
+        </surface>
 
+    </road>
 
+    <road name="" length="1.9988707930058549e+01" id="13" junction="-1">
 
+        <link>
 
+            <predecessor elementType="road" elementId="11" contactPoint="end" />
 
+            <successor elementType="road" elementId="12" contactPoint="start" />
 
+        </link>
 
+        <planView>
 
+            <geometry s="0.0000000000000000e+00" x="-1.6999302734091759e+02" y="-3.7998870671392251e+02" hdg="1.5711451567066754e+00" length="1.9988707930058549e+01">
 
+                <line/>
 
+            </geometry>
 
+        </planView>
 
+        <elevationProfile>
 
+            <elevation s="0.0000000000000000e+00" a="0.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+        </elevationProfile>
 
+        <lateralProfile>
 
+        </lateralProfile>
 
+        <lanes>
 
+            <laneSection s="0.0000000000000000e+00">
 
+                <left>
 
+                    <lane id="3" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="3"/>
 
+                            <successor id="3"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.1000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="2" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="2"/>
 
+                            <successor id="2"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="1" type="driving" level="false">
 
+                        <link>
 
+                            <predecessor id="1"/>
 
+                            <successor id="1"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="3.5699999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.2000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </left>
 
+                <center>
 
+                    <lane id="0" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="broken" weight="standard" color="standard" width="1.2000000000000000e-01" laneChange="both" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                </center>
 
+                <right>
 
+                    <lane id="-1" type="driving" level="false">
 
+                        <link>
 
+                            <predecessor id="-1"/>
 
+                            <successor id="-1"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="3.5699999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <roadMark sOffset="0.0000000000000000e+00" type="solid" weight="standard" color="standard" width="1.2000000000000000e-01" laneChange="none" height="1.9999999552965164e-02">
 
+                        </roadMark>
 
+                    </lane>
 
+                    <lane id="-2" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="-2"/>
 
+                            <successor id="-2"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="-3" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="-3"/>
 
+                            <successor id="-3"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <height sOffset="0.0000000000000000e+00" inner="0.0000000000000000e+00" outer="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                </right>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+            <object type="tree" name="VegTree02v13m.flt" id="5" s="8.6401190027677792e+00" t="1.2959100006773735e+01" zOffset="-8.1500000000000039e-01" validLength="0.0000000000000000e+00" orientation="none" length="1.2407999999999999e+01" width="1.2160000000000000e+01" height="1.3888000000000000e+01" hdg="3.1415926535897931e+00" pitch="0.0000000000000000e+00" roll="0.0000000000000000e+00">
 
+            </object>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
+        <surface>
 
+        </surface>
 
+    </road>
 
+    <road name="" length="3.5236943513380709e+01" id="16" junction="2">
 
+        <link>
 
+            <predecessor elementType="road" elementId="11" contactPoint="start" />
 
+            <successor elementType="road" elementId="12" contactPoint="end" />
 
+        </link>
 
+        <planView>
 
+            <geometry s="0.0000000000000000e+00" x="-1.5000000000000000e+02" y="-3.0000000000000000e+02" hdg="3.1415926535897931e+00" length="5.8374993057286417e+00">
 
+                <line/>
 
+            </geometry>
 
+            <geometry s="5.8374993057286417e+00" x="-1.5583749930572864e+02" y="-3.0000000000000000e+02" hdg="3.1415926535897931e+00" length="7.8539816339744855e+00">
 
+                <spiral curvStart="0.0000000000000000e+00" curvEnd="9.9999999999999978e-02"/>
 
+            </geometry>
 
+            <geometry s="1.3691480939703126e+01" x="-1.6357122432090534e+02" y="-3.0101681467760022e+02" hdg="-2.7488935718923102e+00" length="7.8539816339744837e+00">
 
+                <arc curvature="9.9999999999999978e-02"/>
 
+            </geometry>
 
+            <geometry s="2.1545462573677611e+01" x="-1.6898318532239026e+02" y="-3.0642877567907169e+02" hdg="-1.9634954084948619e+00" length="7.8539816339744855e+00">
 
+                 <spiral curvStart="9.9999999999999978e-02" curvEnd="0.0000000000000000e+00"/>
 
+            </geometry>
 
+            <geometry s="2.9399444207652095e+01" x="-1.7000000000000000e+02" y="-3.1416250069427139e+02" hdg="-1.5707963267998624e+00" length="5.8374993057286133e+00">
 
+                <line/>
 
+            </geometry>
 
+        </planView>
 
+        <elevationProfile>
 
+            <elevation s="0.0000000000000000e+00" a="0.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+        </elevationProfile>
 
+        <lateralProfile>
 
+        </lateralProfile>
 
+        <lanes>
 
+            <laneSection s="0.0000000000000000e+00">
 
+                <center>
 
+                    <lane id="0" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                    </lane>
 
+                </center>
 
+                <right>
 
+                    <lane id="-1" type="driving" level="false">
 
+                        <link>
 
+                            <predecessor id="1"/>
 
+                            <successor id="1"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="3.5699999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="-2" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="2"/>
 
+                            <successor id="2"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <height sOffset="0.0000000000000000e+00" inner="0.0000000000000000e+00" outer="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="-3" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="3"/>
 
+                            <successor id="3"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.1000000000000000e+01" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <height sOffset="0.0000000000000000e+00" inner="0.0000000000000000e+00" outer="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                </right>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
+        <surface>
 
+        </surface>
 
+    </road>
 
+    <road name="" length="3.5236943513380680e+01" id="19" junction="2">
 
+        <link>
 
+            <predecessor elementType="road" elementId="12" contactPoint="end" />
 
+            <successor elementType="road" elementId="11" contactPoint="start" />
 
+        </link>
 
+        <planView>
 
+            <geometry s="0.0000000000000000e+00" x="-1.7000000000000000e+02" y="-3.2000000000000000e+02" hdg="1.5707963267948966e+00" length="5.8374993057286133e+00">
 
+                <line/>
 
+            </geometry>
 
+            <geometry s="5.8374993057286133e+00" x="-1.7000000000000000e+02" y="-3.1416250069427139e+02" hdg="1.5707963267948966e+00" length="7.8539816339744855e+00">
 
+                <spiral curvStart="-0.0000000000000000e+00" curvEnd="-9.9999999999999978e-02"/>
 
+            </geometry>
 
+            <geometry s="1.3691480939703098e+01" x="-1.6898318532239975e+02" y="-3.0642877567909466e+02" hdg="1.1780972450974139e+00" length="7.8539816339744837e+00">
 
+                <arc curvature="-9.9999999999999978e-02"/>
 
+            </geometry>
 
+            <geometry s="2.1545462573677582e+01" x="-1.6357122432092828e+02" y="-3.0101681467760977e+02" hdg="3.9269908169996537e-01" length="7.8539816339744855e+00">
 
+                 <spiral curvStart="-9.9999999999999978e-02" curvEnd="-0.0000000000000000e+00"/>
 
+            </geometry>
 
+            <geometry s="2.9399444207652067e+01" x="-1.5583749930572861e+02" y="-3.0000000000000000e+02" hdg="0.0000000000000000e+00" length="5.8374993057286133e+00">
 
+                <line/>
 
+            </geometry>
 
+        </planView>
 
+        <elevationProfile>
 
+            <elevation s="0.0000000000000000e+00" a="0.0000000000000000e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+        </elevationProfile>
 
+        <lateralProfile>
 
+        </lateralProfile>
 
+        <lanes>
 
+            <laneSection s="0.0000000000000000e+00">
 
+                <center>
 
+                    <lane id="0" type="driving" level="false">
 
+                        <link>
 
+                        </link>
 
+                    </lane>
 
+                </center>
 
+                <right>
 
+                    <lane id="-1" type="driving" level="false">
 
+                        <link>
 
+                            <predecessor id="-1"/>
 
+                            <successor id="-1"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="3.5699999999999998e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="-2" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="-2"/>
 
+                            <successor id="-2"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <height sOffset="0.0000000000000000e+00" inner="0.0000000000000000e+00" outer="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                    <lane id="-3" type="border" level="false">
 
+                        <link>
 
+                            <predecessor id="-3"/>
 
+                            <successor id="-3"/>
 
+                        </link>
 
+                        <width sOffset="0.0000000000000000e+00" a="1.6799999999999999e+00" b="0.0000000000000000e+00" c="0.0000000000000000e+00" d="0.0000000000000000e+00"/>
 
+                        <height sOffset="0.0000000000000000e+00" inner="0.0000000000000000e+00" outer="0.0000000000000000e+00"/>
 
+                    </lane>
 
+                </right>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
+        <surface>
 
+        </surface>
 
+    </road>
 
+    <junction name="" id="1">
 
+        <connection id="0" incomingRoad="1" connectingRoad="6" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+            <laneLink from="3" to="-3"/>
 
+        </connection>
 
+        <connection id="1" incomingRoad="2" connectingRoad="9" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+            <laneLink from="-2" to="-2"/>
 
+            <laneLink from="-3" to="-3"/>
 
+        </connection>
 
+    </junction>
 
+    <junction name="" id="2">
 
+        <connection id="0" incomingRoad="11" connectingRoad="16" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+            <laneLink from="3" to="-3"/>
 
+        </connection>
 
+        <connection id="1" incomingRoad="12" connectingRoad="19" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+            <laneLink from="-2" to="-2"/>
 
+            <laneLink from="-3" to="-3"/>
 
+        </connection>
 
+    </junction>
 
+</OpenDRIVE>

+ 236 - 0
src/InfiniteGridHelper.js
View File 

@@ -0,0 +1,236 @@
 
+// Author: Fyrestar https://mevedia.com (https://github.com/Fyrestar/THREE.InfiniteGridHelper)
 
+import * as THREE from "three";
 
+THREE.InfiniteGridHelper = function InfiniteGridHelper( size1, size2, color, distance, axes = 'xzy' ) {
 
+
 
+	color = color || new THREE.Color( 'white' );
 
+	size1 = size1 || 10;
 
+	size2 = size2 || 100;
 
+
 
+	distance = distance || 8000;
 
+
 
+
 
+
 
+	const planeAxes = axes.substr( 0, 2 );
 
+
 
+	const geometry = new THREE.PlaneBufferGeometry( 2, 2, 1, 1 );
 
+
 
+	const material = new THREE.ShaderMaterial( {
 
+
 
+		side: THREE.DoubleSide,
 
+
 
+		uniforms: {
 
+			uSize1: {
 
+				value: size1
 
+			},
 
+			uSize2: {
 
+				value: size2
 
+			},
 
+			uColor: {
 
+				value: color
 
+			},
 
+			uDistance: {
 
+				value: distance
 
+			}
 
+		},
 
+		transparent: true,
 
+		vertexShader: `
 
+           
+           varying vec3 worldPosition;
 
+		   
+           uniform float uDistance;
 
+           
+           void main() {
 
+           
+                vec3 pos = position.${axes} * uDistance;
 
+                pos.${planeAxes} += cameraPosition.${planeAxes};
 
+                
+                worldPosition = pos;
 
+                
+                gl_Position = projectionMatrix * modelViewMatrix * vec4(pos, 1.0);
 
+           
+           }
 
+           `,
 
+
 
+
 
+		fragmentShader: `
 
+           
+           varying vec3 worldPosition;
 
+           
+           uniform float uSize1;
 
+           uniform float uSize2;
 
+           uniform vec3 uColor;
 
+           uniform float uDistance;
 
+            
+            
+            
+            float getGrid(float size) {
 
+            
+                vec2 r = worldPosition.${planeAxes} / size;
 
+                
+                
+                vec2 grid = abs(fract(r - 0.5) - 0.5) / fwidth(r);
 
+                float line = min(grid.x, grid.y);
 
+                
+            
+                return 1.0 - min(line, 1.0);
 
+            }
 
+            
+           void main() {
 
+           
+                
+                  float d = 1.0 - min(distance(cameraPosition.${planeAxes}, worldPosition.${planeAxes}) / uDistance, 1.0);
 
+                
+                  float g1 = getGrid(uSize1);
 
+                  float g2 = getGrid(uSize2);
 
+                  
+                  
+                  gl_FragColor = vec4(uColor.rgb, mix(g2, g1, g1) * pow(d, 3.0));
 
+                  gl_FragColor.a = mix(0.5 * gl_FragColor.a, gl_FragColor.a, g2);
 
+                
+                  if ( gl_FragColor.a <= 0.0 ) discard;
 
+                
+           
+           }
 
+           
+           `,
 
+
 
+		extensions: {
 
+			derivatives: true
 
+		}
 
+
 
+	} );
 
+
 
+
 
+	THREE.Mesh.call( this, geometry, material );
 
+
 
+	this.frustumCulled = false;
 
+
 
+};
 
+
 
+THREE.InfiniteGridHelper.prototype = {
 
+	...THREE.Mesh.prototype,
 
+	...THREE.Object3D.prototype,
 
+	...THREE.EventDispatcher.prototype
 
+};
 
+
 
+if ( parseInt( THREE.REVISION ) > 126 ) {
 
+
 
+	class InfiniteGridHelper extends THREE.Mesh {
 
+
 
+		constructor ( size1, size2, color, distance, axes = 'xzy' ) {
 
+
 
+
 
+			color = color || new THREE.Color( 'white' );
 
+			size1 = size1 || 10;
 
+			size2 = size2 || 100;
 
+
 
+			distance = distance || 8000;
 
+
 
+
 
+
 
+			const planeAxes = axes.substr( 0, 2 );
 
+
 
+			const geometry = new THREE.PlaneBufferGeometry( 2, 2, 1, 1 );
 
+
 
+			const material = new THREE.ShaderMaterial( {
 
+
 
+				side: THREE.DoubleSide,
 
+
 
+				uniforms: {
 
+					uSize1: {
 
+						value: size1
 
+					},
 
+					uSize2: {
 
+						value: size2
 
+					},
 
+					uColor: {
 
+						value: color
 
+					},
 
+					uDistance: {
 
+						value: distance
 
+					}
 
+				},
 
+				transparent: true,
 
+				vertexShader: `
 
+           
+           varying vec3 worldPosition;
 
+		   
+           uniform float uDistance;
 
+           
+           void main() {
 
+           
+                vec3 pos = position.${axes} * uDistance;
 
+                pos.${planeAxes} += cameraPosition.${planeAxes};
 
+                
+                worldPosition = pos;
 
+                
+                gl_Position = projectionMatrix * modelViewMatrix * vec4(pos, 1.0);
 
+           
+           }
 
+           `,
 
+
 
+
 
+				fragmentShader: `
 
+           
+           varying vec3 worldPosition;
 
+           
+           uniform float uSize1;
 
+           uniform float uSize2;
 
+           uniform vec3 uColor;
 
+           uniform float uDistance;
 
+            
+            
+            
+            float getGrid(float size) {
 
+            
+                vec2 r = worldPosition.${planeAxes} / size;
 
+                
+                
+                vec2 grid = abs(fract(r - 0.5) - 0.5) / fwidth(r);
 
+                float line = min(grid.x, grid.y);
 
+                
+            
+                return 1.0 - min(line, 1.0);
 
+            }
 
+            
+           void main() {
 
+           
+                
+                  float d = 1.0 - min(distance(cameraPosition.${planeAxes}, worldPosition.${planeAxes}) / uDistance, 1.0);
 
+                
+                  float g1 = getGrid(uSize1);
 
+                  float g2 = getGrid(uSize2);
 
+                  
+                  
+                  gl_FragColor = vec4(uColor.rgb, mix(g2, g1, g1) * pow(d, 3.0));
 
+                  gl_FragColor.a = mix(0.5 * gl_FragColor.a, gl_FragColor.a, g2);
 
+                
+                  if ( gl_FragColor.a <= 0.0 ) discard;
 
+                
+           
+           }
 
+           
+           `,
 
+
 
+				extensions: {
 
+					derivatives: true
 
+				}
 
+
 
+			} );
 
+
 
+			super( geometry, material );
 
+
 
+			this.frustumCulled = false;
 
+
 
+		}
 
+
 
+	}
 
+	
+	Object.assign( InfiniteGridHelper.prototype, THREE.InfiniteGridHelper.prototype );
 
+
 
+	THREE.InfiniteGridHelper = InfiniteGridHelper;
 
+
 
+}
 
+
 
+// module.exports.InfiniteGridHelper = THREE.InfiniteGridHelper
 
+// module.exports.InfiniteGridHelper  =THREE.InfiniteGridHelper;

+ 19 - 1
src/api/workManagement.js
View File 

@@ -6,7 +6,7 @@ const selectDropDownByType = basePart + '/simulationProject/selectDropDownByType
 
 const selectDropDownByTypeNew = basePart + '/simulationProject/selectDropDownByTypeNew'; // 标准化测试详情中的下拉列表-new
 
 const selectMaxParallelism = basePart + '/simulationProject/selectMaxParallelism'; // 标准化测试详情中获取人员可用并行数
 
 const updateProjectNowRunState = basePart + '/simulationProject/updateProjectNowRunState'; // 标准化测试详情中修改工作运行状态
 
-
 
+ 
 const selectProject = basePart + '/simulationProject/selectProject'; // 标准化测试列表
 
 const deleteProjectByids = basePart + '/simulationProject/deleteProjectByids'; // 删除标准化测试
 
 const exportProjectReportAndTaskFileById = basePart + '/simulationProject/exportProjectReportAndTaskFileById'; // 导出报告和任务包
 
@@ -29,6 +29,14 @@ const deleteAutomaticProjectByids = basePart + '/simulationProject/deleteAutomat
 
 const deleteAutomaticSubProjectByIds = basePart + '/simulationProject/deleteAutomaticSubProjectByIds'; // 删除自动化测试子任务
 
 const updateAutoProjectNowRunState = basePart + '/simulationProject/updateAutoProjectNowRunState'; // 修改自动化测试子任务状态
 
 
+const carList = basePart + '/simulationProject/selectDropDownByTypeNew'; //多模式仿真获取车辆列表
 
+const mapList = basePart + '/simulationMap/selectAllSimulationMapList'; //多模式仿真获取地图列表
 
+const algorithmList = basePart + '/simulationProject/selectDropDownByTypeNew';//多模式仿真获取算法列表
 
+const mapDetails = basePart + '/simulationMap/getSimulationMap';//多模式仿真获取地图详情
 
+const sceneCarList = basePart + '/simulationProject/getMultiSimulationSceneCarList';//获取记录
 
+const deleteRecord = basePart + '/simulationProject/deleteMultiSimulationSceneCar';//删除记录
 
+const settingsSimulation = basePart + '/simulationProject/setMultiSimulationSceneCarView';//设置仿真视角
 
+const saveOrUpdateSceneCarList = basePart + '/simulationProject/addOrUpdateMultiSimulationSceneCarList';//设置仿真视角
 
 
 export default {
 
     addOrUpdateProject,
 
@@ -42,6 +50,16 @@ export default {
 
     deleteProjectByids,
 
     exportProjectReportAndTaskFileById,
 
     exportProjectTaskFileById,
 
+	
+	
+	carList,
 
+	mapList,
 
+	algorithmList,
 
+	mapDetails,
 
+	sceneCarList,
 
+	deleteRecord,
 
+	settingsSimulation,
 
+	saveOrUpdateSceneCarList,
 
 
     selectProjectDetailsById,
 
     selectProjectTaskList,

+ 12 - 0
src/axios/filter.js
View File 

@@ -78,6 +78,18 @@ axios.interceptors.request.use(function (config) {
 
 });
 
 // 添加响应拦截器
 
 axios.interceptors.response.use(function (response) {
 
+	// if(response.config.url.includes("/simulation/resource/server/menu/getMyMenuTree")){
 
+	// 	response.data.info[3].children.push({
 
+	// 		"id": "d75a9d044eec4dc7b9133256c7e976af",
 
+	// 		"name": "多模式仿真",
 
+	// 		"router": "/multimodeSimulation",
 
+	// 		"icon": null,
 
+	// 		"sort": 3,
 
+	// 		"parentId": "268190b28633425da0744966976c4e22",
 
+	// 		"visible": "1",
 
+	// 		"children": null
 
+	// 	})
 
+	// }
 
     // 对响应数据处理
 
     tryHideFullScreenLoading();
 
     if (response && (response.status == 200)) {

+ 1 - 0
src/components/HelloWorld.vue
View File 

@@ -30,6 +30,7 @@ export default {
 
 </script>
 
 
 <style scoped lang="less">
 
+	
 h3 {
 
   margin: 40px 0 0;
 
 }

+ 1 - 1
src/main.js
View File 

@@ -14,7 +14,7 @@ import "./axios/filter"
 
 import '@/api/index.js'
 
 import '@/lib/autoTrim'
 
 import '@/lib/util.js'
 
-
 
+import './InfiniteGridHelper.js'
 
 Vue.config.productionTip = false;
 
 
 import echarts from 'echarts' // 引入echarts

+ 147 - 0
src/mixin/workManagement/getStdMapMixin.js
View File 

@@ -0,0 +1,147 @@
 
+import * as THREE from "three";
 
+import {
 
+	OrbitControls
 
+} from "three/examples/jsm/controls/OrbitControls";
 
+import {
 
+	RGBELoader
 
+} from "three/examples/jsm/loaders/RGBELoader";
 
+import {
 
+	Reflector
 
+} from "three/examples/jsm/objects/Reflector";
 
+import {
 
+	GLTFLoader
 
+} from "three/examples/jsm/loaders/GLTFLoader";
 
+import {
 
+	DRACOLoader
 
+} from "three/examples/jsm/loaders/DRACOLoader";
 
+import {
 
+	Line2
 
+} from "three/examples/jsm/lines/Line2";
 
+
 
+
 
+export let getStdMapMixin = {
 
+	methods: {
 
+		getStdMapKeys(std_map, delete_map = false) {
 
+			let map_keys = [];
 
+			const map_keys_vec = std_map.keys();
 
+			for (let idx = 0; idx < map_keys_vec.size(); idx++)
 
+				map_keys.push(map_keys_vec.get(idx));
 
+			map_keys_vec.delete();
 
+			if (delete_map) std_map.delete();
 
+			return map_keys;
 
+		},
 
+		getStdMapEntries(std_map) {
 
+			let map_entries = [];
 
+			//key路段索引 ， std_map.get(key)车道编号
 
+			for (let key of this.getStdMapKeys(std_map)) {
 
+				map_entries.push([key, std_map.get(key)]);
 
+			}
 
+			return map_entries;
 
+		},
 
+		getStdVecEntries(std_vec, delete_vec = false, ArrayType = null) {
 
+			//获取道路网格三位坐标点数据
 
+			let entries = ArrayType ?
 
+				new ArrayType(std_vec.size()) :
 
+				new Array(std_vec.size());
 
+			for (let idx = 0; idx < std_vec.size(); idx++) {
 
+				entries[idx] = std_vec.get(idx);
 
+			}
 
+
 
+			if (delete_vec) std_vec.delete();
 
+			return entries;
 
+		},
 
+		isValid(rgba) {
 
+			return !(rgba[0] == 1 && rgba[1] == 1 && rgba[2] == 1 && rgba[3] == 1);
 
+		},
 
+		encodeUInt32(ui32) {
 
+			let rgba = new Float32Array(4);
 
+			rgba[0] = (Math.trunc(ui32) % 256) / 255;
 
+			rgba[1] = (Math.trunc(ui32 / 256) % 256) / 255;
 
+			rgba[2] = (Math.trunc(ui32 / 256 / 256) % 256) / 255;
 
+			rgba[3] = (Math.trunc(ui32 / 256 / 256 / 256) % 256) / 255;
 
+			return rgba;
 
+		},
 
+		decodeUInt32(rgba) {
 
+			return (
 
+				Math.round(rgba[0] * 255) +
 
+				Math.round(rgba[1] * 255) * 256 +
 
+				Math.round(rgba[2] * 255) * 256 * 256 +
 
+				Math.round(rgba[3] * 255) * 256 * 256 * 256
 
+			);
 
+		},
 
+		applyVertexColors(buffer_attribute, color, offset, count) {
 
+			//buffer_attribute.itemSize颜色宽度
 
+			const colors = new Float32Array(count * buffer_attribute.itemSize);
 
+			for (
 
+				let i = 0; i < count * buffer_attribute.itemSize; i += buffer_attribute.itemSize
 
+			) {
 
+				colors[i] = color.r;
 
+				colors[i + 1] = color.g;
 
+				colors[i + 2] = color.b;
 
+				// colors[i] =0;
 
+				// colors[i + 1] = 0;
 
+				// colors[i + 2] = 255;
 
+			}
 
+			//根据颜色偏移设置改变颜色值
 
+			buffer_attribute.array.set(colors, offset * buffer_attribute.itemSize);
 
+		},
 
+		getTextCanvas(content) {
 
+			var width = 500;
 
+			var height = 500;
 
+			var canvas = document.createElement('canvas');
 
+			canvas.setAttribute("width", width);
 
+			canvas.setAttribute("height", height);
 
+			var ctx = canvas.getContext('2d');
 
+			ctx.width = width;
 
+			ctx.height = height;
 
+			ctx.fillStyle = '#FFFFFF';
 
+			ctx.fillRect(0, 0, width, height);
 
+			ctx.font = '320px Microsoft YaHei';
 
+			ctx.fillStyle = '#000000';
 
+			ctx.textAlign = 'center';
 
+
 
+			ctx.fillText(content, ctx.width / 2, ctx.height / 2 + 50, ctx.width - 20);
 
+
 
+			return canvas;
 
+		},
 
+		get_geometry(odr_meshunion) {
 
+			const geom = new THREE.BufferGeometry();
 
+			geom.setAttribute(
 
+				"position",
 
+				new THREE.Float32BufferAttribute(
 
+					this.getStdVecEntries(odr_meshunion.vertices, true).flat(),
 
+					3
 
+				)
 
+			);
 
+			//获取uv坐标
 
+			geom.setAttribute(
 
+				"st",
 
+				new THREE.Float32BufferAttribute(
 
+					this.getStdVecEntries(odr_meshunion.st_coordinates, true).flat(),
 
+					2
 
+				)
 
+			);
 
+			//设置点颜色
 
+			geom.setAttribute(
 
+				"color",
 
+				new THREE.Float32BufferAttribute(
 
+					new Float32Array(geom.attributes.position.count * 3),
 
+					3
 
+				)
 
+			);
 
+			//设置几何体唯一编号
 
+			geom.setAttribute(
 
+				"id",
 
+				new THREE.Float32BufferAttribute(
 
+					new Float32Array(geom.attributes.position.count * 4),
 
+					4
 
+				)
 
+			);
 
+			// geom.setAttribute('ids', new THREE.Float32BufferAttribute(new Float32Array(geom.attributes.position.count * 4), 4));
 
+			//设置几何体索引数据
 
+			geom.setIndex(this.getStdVecEntries(odr_meshunion.indices, true));
 
+			geom.computeVertexNormals();
 
+			return geom;
 
+		}
 
+	},
 
+}

+ 868 - 0
src/mixin/workManagement/openDriveMixin.js
View File 

@@ -0,0 +1,868 @@
 
+import * as THREE from "three";
 
+import {
 
+	OrbitControls
 
+} from "three/examples/jsm/controls/OrbitControls";
 
+import {
 
+	RGBELoader
 
+} from "three/examples/jsm/loaders/RGBELoader";
 
+import {
 
+	Reflector
 
+} from "three/examples/jsm/objects/Reflector";
 
+import {
 
+	GLTFLoader
 
+} from "three/examples/jsm/loaders/GLTFLoader";
 
+import {
 
+	DRACOLoader
 
+} from "three/examples/jsm/loaders/DRACOLoader";
 
+import {
 
+	Line2
 
+} from "three/examples/jsm/lines/Line2";
 
+// import gsap from "gsap";
 
+// import * as CANNON from "cannon-es";
 
+
 
+import * as echarts from "echarts";
 
+
 
+export let openDriveMixin = {
 
+	data() {
 
+		return {
 
+			ModuleOpenDrive: null,
 
+			OpenDriveMap: null,
 
+			INTERSECTED_LANE_ID: 0xffffffff,
 
+			INTERSECTED_ROADMARK_ID: 0xffffffff,
 
+			refline_material: null,
 
+			lane_outlines_material: null,
 
+			roadmark_outlines_material: null,
 
+			disposable_objs: [],
 
+			id_material: null,
 
+			xyz_material: null,
 
+			st_material: null,
 
+			roadmarks_material: null,
 
+			road_objects_material: null,
 
+			road_network_material: null,
 
+			lane_picking_scene: null,
 
+			roadmark_picking_scene: null,
 
+			xyz_scene: null,
 
+			st_scene: null,
 
+			lane_picking_texture: null,
 
+			roadmark_picking_texture: null,
 
+			xyz_texture: null,
 
+			st_texture: null,
 
+			controls: null,
 
+			ground_grid: null,
 
+			road_network_mesh: null,
 
+			roadmarks_mesh: null,
 
+			road_objects_mesh: null,
 
+			refline_lines: null,
 
+			lane_outline_lines: null,
 
+			roadmark_outline_lines: null,
 
+			COLORS: {
 
+				road: 1.0,
 
+				roadmark: 1.0,
 
+				road_object: 0.9,
 
+				lane_outline: 0x444444,
 
+				roadmark_outline: 0xffffff,
 
+				ref_line: 0x444444,
 
+				background: 0x444444,
 
+				lane_highlight: 0xff3030,
 
+				roadmark_highlight: 0x2F4F4F,
 
+			},
 
+			renderer: null,
 
+			scene: null,
 
+			camera: null,
 
+			light: null,
 
+			lights: [
 
+				-295.65, 117.04, -408.97, -114.11, -272.34, -220.81, 250.93, 194.26,
 
+				338.92, 65.23, -3.58, -16.76,
 
+			],
 
+			startAndEndPoints: {},
 
+			mappingLineId: new Map()
 
+		}
 
+	},
 
+	created() {
 
+
 
+	},
 
+	mounted() {
 
+		this.init();
 
+		// this.loadMap("/map/mine4.xodr");
 
+	},
 
+	methods: {
 
+		drawPoint(point) {
 
+			if (this.startAndEndPoints[point.type]) {
 
+				this.scene.remove(this.startAndEndPoints[point.type].target);
 
+			}
 
+
 
+			const group = new THREE.Group();
 
+			let cricle = new THREE.CircleBufferGeometry(5, 200);
 
+			let metrial;
 
+			if (point.type == "start") {
 
+				metrial = new THREE.MeshBasicMaterial({
 
+					color: 0x00FF00
 
+				})
 
+			} else {
 
+				metrial = new THREE.MeshBasicMaterial({
 
+					color: 0xff0000
 
+				})
 
+			}
 
+			let mesh = new THREE.Mesh(cricle, metrial);
 
+			group.add(mesh);
 
+			let texture = new THREE.CanvasTexture(this.getTextCanvas(point.name));
 
+			let material = new THREE.SpriteMaterial({
 
+				map: texture
 
+			});
 
+			let sprite = new THREE.Sprite(material);
 
+			sprite.position.set(0, 0, 2);
 
+			group.add(sprite);
 
+			group.position.set(point.x - this.OpenDriveMap.x_offs, point.y - this.OpenDriveMap.y_offs, 0.015);
 
+			this.scene.add(group);
 
+			this.startAndEndPoints[point.type] = {
 
+				target: group,
 
+				point: point
 
+			};
 
+		},
 
+		clearPoint() {
 
+			Object.values(this.startAndEndPoints).forEach(value => {
 
+				this.scene.remove(value.target);
 
+			});
 
+			this.startAndEndPoints = {};
 
+		},
 
+		clearMappingId() {
 
+			this.mappingLineId = new Map();
 
+		},
 
+		loadMap(url) {
 
+			libOpenDrive().then((Module) => {
 
+				this.ModuleOpenDrive = Module;
 
+				fetch(url).then(
 
+					(file_data) => {
 
+						file_data.text().then((file_text) => {
 
+							//加载数据文件
 
+							this.loadFile(file_text, false);
 
+						});
 
+					}
 
+				);
 
+			});
 
+		},
 
+		reloadOdrMap() {
 
+			this.clearPoint();
 
+			if (this.OpenDriveMap) this.OpenDriveMap.delete();
 
+			this.OpenDriveMap = new this.ModuleOpenDrive.OpenDriveMap(
 
+				"./data.xodr",
 
+				PARAMS.lateralProfile,
 
+				PARAMS.laneHeight,
 
+				true
 
+			);
 
+			this.loadOdrMap(true, false);
 
+		},
 
+		reloadNewMap(url) {
 
+			this.clearPoint();
 
+			this.clearMappingId();
 
+			fetch(url, {}).then(response => response.blob()).then(blob => {
 
+				const file = new File([blob], "map.xodr", {
 
+					type: "text/plain",
 
+				});
 
+				this.onFileSelect(file);
 
+			})
 
+		},
 
+		onFileSelect(file) {
 
+			let file_reader = new FileReader();
 
+			file_reader.onload = () => {
 
+				this.loadFile(file_reader.result, true);
 
+			};
 
+			file_reader.readAsText(file);
 
+		},
 
+		loadFile(file_text, clear_map) {
 
+			//清除文件系统中保存的文件节点
 
+			if (clear_map) this.ModuleOpenDrive["FS_unlink"]("./data.xodr");
 
+			//将文件数据转为节点保存到文件系统本地指定的文件目录，支持读写
 
+			this.ModuleOpenDrive["FS_createDataFile"](
 
+				".",
 
+				"data.xodr",
 
+				file_text,
 
+				true,
 
+				true
 
+			);
 
+			//OpenDriveMap不为null，则已经打开过，需要删除地图重新尝试打开
 
+			if (this.OpenDriveMap) this.OpenDriveMap.delete();
 
+
 
+			//打开驱动地图
 
+			this.OpenDriveMap = new this.ModuleOpenDrive.OpenDriveMap(
 
+				"./data.xodr",
 
+				PARAMS.lateralProfile,
 
+				PARAMS.laneHeight,
 
+				true
 
+			);
 
+			//this.drawPoint();
 
+			this.loadOdrMap(clear_map);
 
+		},
 
+		loadOdrMap(clear_map = true, fit_view = true) {
 
+			if (clear_map) {
 
+				this.road_network_mesh.userData.odr_road_network_mesh.delete();
 
+				this.scene.remove(
 
+					this.road_network_mesh,
 
+					this.roadmarks_mesh,
 
+					this.road_objects_mesh,
 
+					this.refline_lines,
 
+					this.lane_outline_lines,
 
+					this.roadmark_outline_lines,
 
+					this.ground_grid
 
+				);
 
+				this.lane_picking_scene.remove(...this.lane_picking_scene.children);
 
+				this.roadmark_picking_scene.remove(...this.roadmark_picking_scene.children);
 
+				this.xyz_scene.remove(...this.xyz_scene.children);
 
+				this.st_scene.remove(...this.st_scene.children);
 
+				for (let obj of this.disposable_objs) obj.dispose();
 
+			}
 
+			//web浏览器内置api，精度微秒级，performance.now是浏览器(Web API)提供的方法，不同浏览器获取到的精度不同。Date.now是Javascript内置方法，差异主要在于浏览器遵循的ECMAScript规范。
 
+			const t0 = performance.now();
 
+			//是否清除地图
 
+			/**
 
+			 * 道路中间s方向的线
 
+			 */
 
+			//获取参考线矩形几何体
 
+			const reflines_geom = new THREE.BufferGeometry();
 
+			//获取驱动中参考线数据信息
 
+			const odr_refline_segments = this.OpenDriveMap.get_refline_segments(
 
+				parseFloat(PARAMS.resolution)
 
+			);
 
+			//设置参考线坐标点
 
+			reflines_geom.setAttribute(
 
+				"position",
 
+				new THREE.Float32BufferAttribute(
 
+					this.getStdVecEntries(odr_refline_segments.vertices).flat(),
 
+					3
 
+				)
 
+			);
 
+			//设置参考线坐标点索引
 
+			reflines_geom.setIndex(
 
+				this.getStdVecEntries(odr_refline_segments.indices, true)
 
+			);
 
+			//创建参考线物体
 
+			let refline_lines = new THREE.LineSegments(reflines_geom, this.refline_material);
 
+			this.refline_lines = refline_lines;
 
+			refline_lines.renderOrder = 10;
 
+			//设置是否可见
 
+			refline_lines.visible = PARAMS.ref_line;
 
+			refline_lines.matrixAutoUpdate = false;
 
+			this.disposable_objs.push(reflines_geom);
 
+			//将参考线加入场景中
 
+			this.scene.add(refline_lines);
 
+
 
+			/*
 
+			 *道路面
 
+			 */
 
+			//根据细节级别获取道路网格物体PARAMS.resolution 默认0.3中等级别
 
+			const odr_road_network_mesh = this.OpenDriveMap.get_mesh(
 
+				parseFloat(PARAMS.resolution)
 
+			);
 
+			//获取所有路段的车道（车道id为 -2， -1， 0， 1， 2）
 
+			const odr_lanes_mesh = odr_road_network_mesh.lanes_mesh;
 
+			//收集映射
 
+			for (const [vert_start_idx, lineId] of this.getStdMapEntries(odr_lanes_mesh.lane_start_indices)) {
 
+				const road_id = odr_lanes_mesh.get_road_id(vert_start_idx);
 
+				this.mappingLineId.set(road_id + ":" + lineId, vert_start_idx);
 
+			}
 
+
 
+			//获取所有路段车道点集构建道路物体
 
+			const road_network_geom = this.get_geometry(odr_lanes_mesh);
 
+			//设置道路颜色
 
+			road_network_geom.attributes.color.array.fill(this.COLORS.road);
 
+			//获取所有路段的车道的起始位置索引
 
+			//将索引作为车道开始和结束信息
 
+			for (const [vert_start_idx, _] of this.getStdMapEntries(odr_lanes_mesh.lane_start_indices)) {
 
+				const vert_idx_interval = odr_lanes_mesh.get_idx_interval_lane(vert_start_idx);
 
+				const vert_count = vert_idx_interval[1] - vert_idx_interval[0];
 
+				const vert_start_idx_encoded = this.encodeUInt32(vert_start_idx);
 
+				const attr_arr = new Float32Array(vert_count * 4);
 
+				for (let i = 0; i < vert_count; i++)
 
+					attr_arr.set(
 
+						vert_start_idx_encoded,
 
+						i * 4
 
+					);
 
+				road_network_geom.attributes.id.array.set(
 
+					attr_arr,
 
+					vert_idx_interval[0] * 4
 
+				);
 
+			}
 
+
 
+			this.disposable_objs.push(road_network_geom);
 
+			let road_network_mesh = new THREE.Mesh(
 
+				road_network_geom,
 
+				this.road_network_material
 
+			);
 
+			road_network_mesh.renderOrder = 0;
 
+			road_network_mesh.userData = {
 
+				odr_road_network_mesh
 
+			};
 
+			road_network_mesh.matrixAutoUpdate = false;
 
+			road_network_mesh.visible = !(PARAMS.view_mode == "Outlines");
 
+			this.scene.add(road_network_mesh);
 
+			this.road_network_mesh = road_network_mesh;
 
+
 
+			/**
 
+			 * 选中被选中的车道进行离屏渲染
 
+			 */
 
+			const lane_picking_mesh = new THREE.Mesh(road_network_geom, this.id_material);
 
+			lane_picking_mesh.matrixAutoUpdate = false;
 
+			this.lane_picking_scene.add(lane_picking_mesh);
 
+
 
+			/* xyz coords road network mesh */
 
+			let xyz_mesh = new THREE.Mesh(road_network_geom, this.xyz_material);
 
+			xyz_mesh.matrixAutoUpdate = false;
 
+			this.xyz_scene.add(xyz_mesh);
 
+
 
+			/* st coords road network mesh */
 
+			const st_mesh = new THREE.Mesh(road_network_geom, this.st_material);
 
+			st_mesh.matrixAutoUpdate = false;
 
+			this.st_scene.add(st_mesh);
 
+
 
+			/**
 
+			 * 车道线宽度区域填充，由于车道线有宽度，宽度区域颜色填充
 
+			 */
 
+			const odr_roadmarks_mesh = odr_road_network_mesh.roadmarks_mesh;
 
+			const roadmarks_geom = this.get_geometry(odr_roadmarks_mesh);
 
+			roadmarks_geom.attributes.color.array.fill(this.COLORS.roadmark);
 
+			for (const [vert_start_idx, _] of this.getStdMapEntries(odr_roadmarks_mesh
 
+					.roadmark_type_start_indices)) {
 
+				const vert_idx_interval =
 
+					odr_roadmarks_mesh.get_idx_interval_roadmark(vert_start_idx);
 
+				const vert_count = vert_idx_interval[1] - vert_idx_interval[0];
 
+				const vert_start_idx_encoded = this.encodeUInt32(vert_start_idx);
 
+				const attr_arr = new Float32Array(vert_count * 4);
 
+				for (let i = 0; i < vert_count; i++)
 
+					attr_arr.set(
 
+						vert_start_idx_encoded, //数组
 
+						i * 4 //偏移量,每次偏移step：数组大小
 
+					);
 
+				roadmarks_geom.attributes.id.array.set(
 
+					attr_arr,
 
+					vert_idx_interval[0] * 4
 
+				);
 
+			}
 
+			this.disposable_objs.push(roadmarks_geom);
 
+
 
+			/* roadmarks mesh */
 
+			let roadmarks_mesh = new THREE.Mesh(roadmarks_geom, this.roadmarks_material);
 
+			this.roadmarks_mesh = roadmarks_mesh;
 
+			roadmarks_mesh.matrixAutoUpdate = false;
 
+			roadmarks_mesh.visible = !(PARAMS.view_mode == "Outlines") && PARAMS.roadmarks;
 
+			this.scene.add(roadmarks_mesh);
 
+
 
+			//离屏渲染车道线宽度区域
 
+			const roadmark_picking_mesh = new THREE.Mesh(roadmarks_geom, this.id_material);
 
+			roadmark_picking_mesh.matrixAutoUpdate = false;
 
+			this.roadmark_picking_scene.add(roadmark_picking_mesh);
 
+
 
+			/* road objects geometry */
 
+			const odr_road_objects_mesh = odr_road_network_mesh.road_objects_mesh;
 
+			const road_objects_geom = this.get_geometry(odr_road_objects_mesh);
 
+			road_objects_geom.attributes.color.array.fill(this.COLORS.road_object);
 
+			for (const [vert_start_idx, _] of this.getStdMapEntries(
 
+					odr_road_objects_mesh.road_object_start_indices
 
+				)) {
 
+				const vert_idx_interval =
 
+					odr_roadmarks_mesh.get_idx_interval_roadmark(vert_start_idx);
 
+				const vert_count = vert_idx_interval[1] - vert_idx_interval[0];
 
+				const vert_start_idx_encoded = this.encodeUInt32(vert_start_idx);
 
+				const attr_arr = new Float32Array(vert_count * 4);
 
+				for (let i = 0; i < vert_count; i++)
 
+					attr_arr.set(vert_start_idx_encoded, i * 4);
 
+				roadmarks_geom.attributes.id.array.set(
 
+					attr_arr,
 
+					vert_idx_interval[0] * 4
 
+				);
 
+			}
 
+			this.disposable_objs.push(road_objects_geom);
 
+
 
+			/* road objects mesh */
 
+			let road_objects_mesh = new THREE.Mesh(
 
+				road_objects_geom,
 
+				this.road_objects_material
 
+			);
 
+			this.road_objects_mesh = road_objects_mesh;
 
+			road_objects_mesh.matrixAutoUpdate = false;
 
+			this.scene.add(road_objects_mesh);
 
+
 
+			/**
 
+			 * 车道轮廓线
 
+			 * 道路轮廓线包含车道线，由于每条车道线有宽度，车道轮廓线即为车道线的中心线
 
+			 * id为0的车道轮廓线和参考线s重合
 
+			 */
 
+			const lane_outlines_geom = new THREE.BufferGeometry();
 
+			lane_outlines_geom.setAttribute(
 
+				"position",
 
+				road_network_geom.attributes.position
 
+			);
 
+			lane_outlines_geom.setIndex(
 
+				this.getStdVecEntries(odr_lanes_mesh.get_lane_outline_indices(), true)
 
+			);
 
+			let lane_outline_lines = new THREE.LineSegments(
 
+				lane_outlines_geom,
 
+				this.lane_outlines_material
 
+			);
 
+			this.lane_outline_lines = lane_outline_lines;
 
+			lane_outline_lines.renderOrder = 9;
 
+			this.disposable_objs.push(lane_outlines_geom);
 
+			this.scene.add(lane_outline_lines);
 
+
 
+			/**
 
+			 * 道路轮廓线
 
+			 */
 
+			const roadmark_outlines_geom = new THREE.BufferGeometry();
 
+			roadmark_outlines_geom.setAttribute(
 
+				"position",
 
+				roadmarks_geom.attributes.position
 
+			);
 
+			roadmark_outlines_geom.setIndex(
 
+				this.getStdVecEntries(
 
+					odr_roadmarks_mesh.get_roadmark_outline_indices(),
 
+					true
 
+				)
 
+			);
 
+			let roadmark_outline_lines = new THREE.LineSegments(
 
+				roadmark_outlines_geom,
 
+				this.roadmark_outlines_material
 
+			);
 
+			this.roadmark_outline_lines = roadmark_outline_lines;
 
+			roadmark_outline_lines.renderOrder = 8;
 
+			roadmark_outline_lines.matrixAutoUpdate = false;
 
+			this.disposable_objs.push(roadmark_outlines_geom);
 
+			roadmark_outline_lines.visible = PARAMS.roadmarks;
 
+			this.scene.add(roadmark_outline_lines);
 
+
 
+			/* fit view and camera */
 
+			const bbox_reflines = new THREE.Box3().setFromObject(refline_lines);
 
+			const max_diag_dist = bbox_reflines.min.distanceTo(bbox_reflines.max);
 
+			this.camera.far = max_diag_dist * 1.5;
 
+			//controls.autoRotate = fit_view;
 
+
 
+			this.camera.position.set(0, 0, max_diag_dist / 3);
 
+			// if (fit_view) {
 
+			// 	this.camera.position.set(0, 0, 50);
 
+			// 	// fitViewToBbox(bbox_reflines);
 
+			// 	//fitViewToBbox(bbox_reflines);
 
+			// }
 
+
 
+			/**
 
+			 * 网格
 
+			 */
 
+			let bbox_center_pt = new THREE.Vector3();
 
+			bbox_reflines.getCenter(bbox_center_pt);
 
+			let ground_grid = new THREE.GridHelper(
 
+				max_diag_dist * 6,
 
+				max_diag_dist / 10,
 
+				0x2f4f4f,
 
+				0x2f4f4f
 
+			);
 
+			// console.log(THREE.InfiniteGridHelper)
 
+			// let ground_grid = THREE.InfiniteGridHelper(10, 10, new THREE.Color(0x2f4f4f), 500);
 
+			this.ground_grid = ground_grid;
 
+			ground_grid.geometry.rotateX(Math.PI / 2);
 
+			ground_grid.position.set(
 
+				bbox_center_pt.x,
 
+				bbox_center_pt.y,
 
+				bbox_reflines.min.z - 0.1
 
+			);
 
+			this.disposable_objs.push(ground_grid.geometry);
 
+			this.scene.add(ground_grid);
 
+
 
+			// const rgbeLoader = new RGBELoader();
 
+			// rgbeLoader.loadAsync("hdr/index8.hdr").then((loader) => {
 
+			// 	loader.needsUpdate = true;
 
+			// 	loader.mapping = THREE.EquirectangularRefractionMapping;
 
+			// 	loader.encoding = THREE.RGBEEncoding; //设置编码属性的值
 
+			// 	loader.mapping = THREE.EquirectangularRefractionMapping;
 
+			// 	loader.minFilter = THREE.NearestFilter; //当一个纹素覆盖小于一个像素时，贴图将如何采样
 
+			// 	loader.magFilter = THREE.NearestFilter; //当一个纹素覆盖大于一个像素时，贴图将如何采样
 
+			// 	loader.flipY = true; //翻转图像的Y轴以匹配WebGL纹理坐标空间
 
+			// 	// this.scene.background = new THREE.Color(0x2F4F4F);
 
+			// 	const sphereGeometry = new THREE.SphereBufferGeometry(max_diag_dist, 100, 100);
 
+			// 	const sphereMetrial = new THREE.MeshBasicMaterial({
 
+			// 		color: 0xffffff,
 
+			// 		map: loader,
 
+			// 	});
 
+			// 	const sphereMesh = new THREE.Mesh(sphereGeometry, sphereMetrial);
 
+			// 	sphereMesh.geometry.scale(1, 1, -1);
 
+			// 	sphereMesh.rotation.x = Math.PI / 2;
 
+			// 	this.scene.add(sphereMesh);
 
+			// });
 
+			// this.scene.environment = new THREE.Color(0x2F4F4F);
 
+
 
+			/**
 
+			 * 灯光
 
+			 */
 
+			this.light.position.set(
 
+				bbox_reflines.min.x,
 
+				bbox_reflines.min.y,
 
+				bbox_reflines.max.z + max_diag_dist
 
+			);
 
+			this.light.target.position.set(
 
+				bbox_center_pt.x,
 
+				bbox_center_pt.y,
 
+				bbox_center_pt.z
 
+			);
 
+			this.light.position.needsUpdate = true;
 
+			this.light.target.position.needsUpdate = true;
 
+			this.light.target.updateMatrixWorld();
 
+
 
+			// const t1 = performance.now();
 
+			// console.log(
 
+			// 	"Heap size: " + this.ModuleOpenDrive.HEAP8.length / 1024 / 1024 + " mb"
 
+			// );
 
+
 
+
 
+			//删除数据冗余，避免造成内存泄漏
 
+			odr_roadmarks_mesh.delete();
 
+			odr_lanes_mesh.delete();
 
+			this.animate();
 
+		},
 
+		initThreeJs() {
 
+			// THREE.vertexColors = true;
 
+			//创建渲染器
 
+			this.renderer = new THREE.WebGLRenderer({
 
+				antialias: true, //抗锯齿，防失真
 
+				sortObjects: false, //定义渲染器是否应对对象进行排序
 
+				//对数深度缓冲区,防止模型闪烁
 
+				logarithmicdepthbuffer: true,
 
+			});
 
+			//开启投影阴影
 
+			this.renderer.shadowMap.enabled = true;
 
+			//设置渲染器渲染区域
 
+			this.renderer.setSize(window.innerWidth, window.innerHeight);
 
+			//渲染
 
+			document.getElementById("ThreeJS").appendChild(this.renderer.domElement);
 
+			//创建场景
 
+			this.scene = new THREE.Scene();
 
+			//创建透视相机
 
+			this.camera = new THREE.PerspectiveCamera(
 
+				100,
 
+				window.innerWidth / window.innerHeight,
 
+				0.1,
 
+				100000
 
+			);
 
+			//让Z轴朝上+
 
+			this.camera.up.set(0, 0, 1);
 
+
 
+			//创建控制器
 
+			this.controls = new OrbitControls(this.camera, this.renderer.domElement);
 
+			//const controls = new THREE.OrbControls(camera, renderer.domElement);
 
+			// this.controls.addEventListener("start", () => {
 
+			// 	/**
 
+			// 	 * 拖动开始停止开启聚集光和停止旋转
 
+			// 	 */
 
+			// 	spotlight_paused = true; //聚集光暂停
 
+			// 	//controls.autoRotate = false; //是否旋转
 
+			// });
 
+			// this.controls.addEventListener("end", () => {
 
+			// 	//拖动结束聚集光关闭并且开启旋转
 
+			// 	spotlight_paused = false; //聚集光开始
 
+			// 	//将其设为true，以自动围绕目标旋转。请注意，如果它被启用，你必须在你的动画循环里调用
 
+			// 	// controls.autoRotate = true;//开启旋转
 
+			// });
 
+			// controls.autoRotate = true; //开启旋转
 
+			//创建平行光
 
+			this.light;
 
+			for (let index = 0; index < this.lights.length / 2; index++) {
 
+				this.light = new THREE.DirectionalLight(0xffffff, 0.6);
 
+				this.light.position.set(this.lights[2 * index], this.lights[2 * index + 1], 5);
 
+				this.scene.add(this.light);
 
+				//平行光方向指向原点（0，0，0）
 
+				this.scene.add(this.light.target);
 
+			}
 
+
 
+			window.addEventListener("resize", this.onWindowResize, false);
 
+		},
 
+		initOffscreen() {
 
+			//选择车道线场景
 
+			this.lane_picking_scene = new THREE.Scene();
 
+			//车道线场景背景颜色
 
+			this.lane_picking_scene.background = new THREE.Color(0xffffff);
 
+			//路标场景
 
+			this.roadmark_picking_scene = new THREE.Scene();
 
+			//路标场景背景颜色
 
+			this.roadmark_picking_scene.background = new THREE.Color(0xffffff);
 
+			//坐标场景
 
+			this.xyz_scene = new THREE.Scene();
 
+			//坐标场景背景颜色
 
+			this.xyz_scene.background = new THREE.Color(0xffffff);
 
+			this.st_scene = new THREE.Scene();
 
+			this.st_scene.background = new THREE.Color(0xffffff);
 
+
 
+			//创建渲染器
 
+			this.lane_picking_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			this.roadmark_picking_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			this.xyz_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			this.st_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+
 
+		},
 
+		initMaterial() {
 
+			//获取顶点着色器
 
+			const idVertexShader =
 
+				document.getElementById("idVertexShader").textContent;
 
+			const idFragmentShader =
 
+				document.getElementById("idFragmentShader").textContent;
 
+			const xyzVertexShader =
 
+				document.getElementById("xyzVertexShader").textContent;
 
+			const xyzFragmentShader =
 
+				document.getElementById("xyzFragmentShader").textContent;
 
+			const stVertexShader =
 
+				document.getElementById("stVertexShader").textContent;
 
+			const stFragmentShader =
 
+				document.getElementById("stFragmentShader").textContent;
 
+
 
+			//设置车道中轴线颜色
 
+			this.refline_material = new THREE.LineBasicMaterial({
 
+				color: this.COLORS.ref_line,
 
+				//color: 0x0000ff,
 
+			});
 
+
 
+			//道路线
 
+			this.lane_outlines_material = new THREE.LineBasicMaterial({
 
+				color: this.COLORS.lane_outline,
 
+			});
 
+
 
+			//外侧线
 
+			this.roadmark_outlines_material = new THREE.LineBasicMaterial({
 
+				color: this.COLORS.roadmark_outline,
 
+			});
 
+			this.id_material = new THREE.ShaderMaterial({
 
+				vertexShader: idVertexShader,
 
+				fragmentShader: idFragmentShader,
 
+			});
 
+			this.xyz_material = new THREE.ShaderMaterial({
 
+				vertexShader: xyzVertexShader,
 
+				fragmentShader: xyzFragmentShader,
 
+			});
 
+			this.st_material = new THREE.ShaderMaterial({
 
+				vertexShader: stVertexShader,
 
+				fragmentShader: stFragmentShader,
 
+			});
 
+			this.roadmarks_material = new THREE.MeshBasicMaterial({
 
+				vertexColors: true,
 
+			});
 
+			this.road_objects_material = new THREE.MeshBasicMaterial({
 
+				vertexColors: true,
 
+				side: THREE.DoubleSide,
 
+				wireframe: true,
 
+			});
 
+
 
+			this.road_network_material = new THREE.MeshPhongMaterial({
 
+				vertexColors: THREE.VertexColors,
 
+				wireframe: PARAMS.wireframe, //显示现况
 
+				shininess: 20.0,
 
+				transparent: true,
 
+				opacity: 0.4,
 
+			});
 
+		},
 
+		animate() {
 
+			//控制电脑帧频，防止刷屏过快导致的页面刷3D数据刷新过快 控制每秒30次
 
+			setTimeout(() => {
 
+				window.requestAnimationFrame(this.animate);
 
+			}, 1000 / 30);
 
+			this.controls.update();
 
+			this.camera.setViewOffset(
 
+				this.renderer.domElement.width, //画布的宽度
 
+				this.renderer.domElement.height, //画布的高度
 
+				(this.renderer.domElement.width / 2) | 0, //画布坐标系中，相机的x坐标位置
 
+				(this.renderer.domElement.height / 2) | 0, //画布坐标系中，相机的y坐标位置
 
+				1, //副相机的宽度
 
+				1 //副相机的高度
 
+			);
 
+			//离屏渲染
 
+			this.renderer.setRenderTarget(this.lane_picking_texture);
 
+			this.renderer.render(this.lane_picking_scene, this.camera);
 
+
 
+			this.renderer.setRenderTarget(this.roadmark_picking_texture);
 
+			this.renderer.render(this.roadmark_picking_scene, this.camera);
 
+
 
+			this.renderer.setRenderTarget(this.xyz_texture);
 
+			this.renderer.render(this.xyz_scene, this.camera);
 
+
 
+			this.renderer.setRenderTarget(this.st_texture);
 
+			this.renderer.render(this.st_scene, this.camera);
 
+
 
+			const lane_id_pixel_buffer = new Float32Array(4);
 
+			this.renderer.readRenderTargetPixels(
 
+				this.lane_picking_texture,
 
+				0,
 
+				0,
 
+				1,
 
+				1,
 
+				this.lane_id_pixel_buffer
 
+			);
 
+			const roadmark_id_pixel_buffer = new Float32Array(4);
 
+			this.renderer.readRenderTargetPixels(
 
+				this.roadmark_picking_texture,
 
+				0,
 
+				0,
 
+				1,
 
+				1,
 
+				this.roadmark_id_pixel_buffer
 
+			);
 
+			const xyz_pixel_buffer = new Float32Array(4);
 
+			this.renderer.readRenderTargetPixels(
 
+				this.xyz_texture,
 
+				0,
 
+				0,
 
+				1,
 
+				1,
 
+				this.xyz_pixel_buffer
 
+			);
 
+			xyz_pixel_buffer[0] += this.OpenDriveMap.x_offs;
 
+			xyz_pixel_buffer[1] += this.OpenDriveMap.y_offs;
 
+			const st_pixel_buffer = new Float32Array(4);
 
+			this.renderer.readRenderTargetPixels(
 
+				this.st_texture,
 
+				0,
 
+				0,
 
+				1,
 
+				1,
 
+				this.st_pixel_buffer
 
+			);
 
+
 
+			this.camera.clearViewOffset();
 
+			this.renderer.setRenderTarget(null);
 
+
 
+			if (this.isValid(lane_id_pixel_buffer) && false) {
 
+				const decoded_lane_id = this.decodeUInt32(lane_id_pixel_buffer);
 
+				const odr_lanes_mesh =
 
+					this.road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+				if (this.INTERSECTED_LANE_ID != decoded_lane_id) {
 
+					if (this.INTERSECTED_LANE_ID != 0xffffffff) {
 
+						this.road_network_mesh.geometry.attributes.color.array.fill(
 
+							this.COLORS.road
 
+						);
 
+					}
 
+
 
+					this.INTERSECTED_LANE_ID = decoded_lane_id;
 
+					const lane_vert_idx_interval =
 
+						odr_lanes_mesh.get_idx_interval_lane(this.INTERSECTED_LANE_ID);
 
+					const vert_count =
 
+						lane_vert_idx_interval[1] - lane_vert_idx_interval[0];
 
+					this.applyVertexColors(
 
+						this.road_network_mesh.geometry.attributes.color,
 
+						new THREE.Color(this.COLORS.lane_highlight),
 
+						lane_vert_idx_interval[0],
 
+						vert_count
 
+					);
 
+					this.road_network_mesh.geometry.attributes.color.needsUpdate = true;
 
+				}
 
+				odr_lanes_mesh.delete();
 
+			} else {
 
+				if (this.INTERSECTED_LANE_ID != 0xffffffff) {
 
+					const odr_lanes_mesh =
 
+						this.road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+					const lane_vert_idx_interval =
 
+						odr_lanes_mesh.get_idx_interval_lane(this.INTERSECTED_LANE_ID);
 
+					this.road_network_mesh.geometry.attributes.color.array.fill(this.COLORS.road);
 
+					this.road_network_mesh.geometry.attributes.color.needsUpdate = true;
 
+					odr_lanes_mesh.delete();
 
+					this.INTERSECTED_LANE_ID = 0xffffffff;
 
+				}
 
+			}
 
+
 
+			if (this.isValid(roadmark_id_pixel_buffer)) {
 
+				//获取
 
+				const decoded_roadmark_id = this.decodeUInt32(roadmark_id_pixel_buffer);
 
+				const odr_roadmarks_mesh =
 
+					this.road_network_mesh.userData.odr_road_network_mesh.roadmarks_mesh;
 
+				if (this.INTERSECTED_ROADMARK_ID != decoded_roadmark_id) {
 
+					if (this.INTERSECTED_ROADMARK_ID != 0xffffffff) {
 
+						const prev_roadmark_vert_idx_interval =
 
+							odr_roadmarks_mesh.get_idx_interval_roadmark(
 
+								this.INTERSECTED_ROADMARK_ID
 
+							);
 
+						this.roadmarks_mesh.geometry.attributes.color.array.fill(
 
+							this.COLORS.roadmark,
 
+							prev_roadmark_vert_idx_interval[0] * 3,
 
+							prev_roadmark_vert_idx_interval[1] * 3
 
+						);
 
+					}
 
+					this.INTERSECTED_ROADMARK_ID = decoded_roadmark_id;
 
+					const roadmark_vert_idx_interval =
 
+						odr_roadmarks_mesh.get_idx_interval_roadmark(
 
+							this.INTERSECTED_ROADMARK_ID
 
+						);
 
+					const vert_count =
 
+						roadmark_vert_idx_interval[1] - roadmark_vert_idx_interval[0];
 
+					this.applyVertexColors(
 
+						this.roadmarks_mesh.geometry.attributes.color,
 
+						new THREE.Color(this.COLORS.roadmark_highlight),
 
+						roadmark_vert_idx_interval[0],
 
+						vert_count
 
+					);
 
+					this.roadmarks_mesh.geometry.attributes.color.needsUpdate = true;
 
+				}
 
+				odr_roadmarks_mesh.delete();
 
+			} else {
 
+				if (this.INTERSECTED_ROADMARK_ID != 0xffffffff) {
 
+					const odr_roadmarks_mesh =
 
+						this.road_network_mesh.userData.odr_road_network_mesh.roadmarks_mesh;
 
+					const roadmark_vert_idx_interval =
 
+						odr_roadmarks_mesh.get_idx_interval_lane(this.INTERSECTED_ROADMARK_ID);
 
+					this.roadmarks_mesh.geometry.attributes.color.array.fill(
 
+						this.COLORS.roadmark,
 
+						roadmark_vert_idx_interval[0] * 3,
 
+						roadmark_vert_idx_interval[1] * 3
 
+					);
 
+					this.roadmarks_mesh.geometry.attributes.color.needsUpdate = true;
 
+					this.INTERSECTED_ROADMARK_ID = 0xffffffff;
 
+					odr_roadmarks_mesh.delete();
 
+				}
 
+			}
 
+
 
+			if (this.INTERSECTED_LANE_ID != 0xffffffff) {
 
+				const odr_lanes_mesh =
 
+					this.road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+				const road_id = odr_lanes_mesh.get_road_id(this.INTERSECTED_LANE_ID);
 
+				const lanesec_s0 = odr_lanes_mesh.get_lanesec_s0(this.INTERSECTED_LANE_ID);
 
+				const lane_id = odr_lanes_mesh.get_lane_id(this.INTERSECTED_LANE_ID);
 
+				const lane_type = this.OpenDriveMap.roads
 
+					.get(road_id)
 
+					.s_to_lanesection.get(lanesec_s0)
 
+					.id_to_lane.get(lane_id).type;
 
+				odr_lanes_mesh.delete();
 
+			}
 
+			this.renderer.render(this.scene, this.camera);
 
+		},
 
+		fillColorLine(roadId, lineId) {
 
+			lineId = this.mappingLineId.get(roadId + ":" + lineId);
 
+			const odr_lanes_mesh = this.road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+			const lane_vert_idx_interval = odr_lanes_mesh.get_idx_interval_lane(lineId);
 
+			const vert_count = (lane_vert_idx_interval[1] - lane_vert_idx_interval[0]);
 
+			this.applyVertexColors(this.road_network_mesh.geometry.attributes.color, new THREE.Color(this.COLORS
 
+					.lane_highlight),
 
+				lane_vert_idx_interval[0], vert_count);
 
+			this.road_network_mesh.geometry.attributes.color.needsUpdate = true;
 
+			odr_lanes_mesh.delete();
 
+		},
 
+		clearColorLine(roadId, lineId) {
 
+			lineId = this.mappingLineId.get(roadId + ":" + lineId);
 
+			const odr_lanes_mesh = this.road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+			const lane_vert_idx_interval = odr_lanes_mesh.get_idx_interval_lane(lineId);
 
+			const vert_count = (lane_vert_idx_interval[1] - lane_vert_idx_interval[0]);
 
+			this.road_network_mesh.geometry.attributes.color.array.fill(
 
+				this.COLORS.road
 
+			);
 
+			this.road_network_mesh.geometry.attributes.color.needsUpdate = true;
 
+			odr_lanes_mesh.delete();
 
+		},
 
+		onWindowResize() {
 
+			this.camera.aspect = window.innerWidth / window.innerHeight;
 
+			this.camera.updateProjectionMatrix();
 
+			this.renderer.setSize(window.innerWidth, window.innerHeight);
 
+			this.renderer.setPixelRatio(window.devicePixelRatio);
 
+		},
 
+		init() {
 
+			this.initThreeJs();
 
+			this.initOffscreen();
 
+			this.initMaterial();
 
+		}
 
+	}
 
+}

+ 0 - 1
src/router/filter.js
View File 

@@ -11,7 +11,6 @@ Router.prototype.push = function push(location) {
 
 
 // http://localhost:8082/?code=1&ticket=1
 
 router.beforeEach(async (to, from, next) => {
 
-
 
     let {
 
         code,
 
         ticket

+ 10 - 1
src/router/workManagement.js
View File 

@@ -49,7 +49,16 @@ export default [{
 
         },
 
         component: () => import("@/views/workManagement/manualRunProjectDetail")
 
     },
 
-
 
+	{
 
+	    path: "/multimodeSimulation",
 
+	    name: "multimodeSimulation",
 
+	    meta: {
 
+	        tabname: "场景编辑",
 
+	        menuKind: "workManagement",
 
+	        login: true
 
+	    },
 
+	    component: () => import("@/views/workManagement/multimodeSimulation")
 
+	},
 
     {
 
         path: "/autoRunProjectList",
 
         name: "autoRunProjectList",

+ 1 - 2
src/views/modelLibrary/vehicleConfigurationDetail.vue
View File 

@@ -203,7 +203,6 @@
 
                     @controlsEnabled="controlsEnabled"
 
                     @loadingDone="loadingDone"
 
                 ></three-sensor>
 
-
 
                 <div v-show="configBox" class="conditions">
 
                     <el-form
 
                         ref="formA"
 
@@ -1165,4 +1164,4 @@ export default {
 
         }
 
     }
 
 }
 
-</style>
 
+</style>

+ 6 - 5
src/views/sceneLibrary/components/editor.vue
View File 

@@ -54,16 +54,17 @@ export default {
 
     },
 
     watch: {
 
         content(newVal, oldVal) {
 
-            if (newVal && newVal != oldVal) {
 
+            if (newVal && newVal !== oldVal) {
 
                 this.html = `<pre><code>${newVal}</code></pre>`;
 
 
                 this.$nextTick(() => {
 
                     SlateTransforms.setNodes(
 
                         this.editor,
 
-                        { language: "python" },
 
-                        {
 
-                            type: "code",
 
-                        }
 
+                        // todo python渲染太慢了
 
+                        // { language: "python" },
 
+                        // {
 
+                        //     type: "code",
 
+                        // }
 
                     );
 
                 });
 
             }

+ 4 - 4
src/views/workManagement/autoRunProjectDetail.vue
View File 

@@ -106,7 +106,7 @@
 
                     </div>
 
                 </div> -->
 
                 <div class="tip">(最多可用资源：{{ maxCount }})</div>
 
-                <div class="tip">(最小是5，最大是600)</div>
 
+                <div class="tip">(最小是5，最大是3600)</div>
 
             </div>
 
         </el-form>
 
 
@@ -141,7 +141,7 @@ let validateNum = (rule, value, callback) => {
 
 };
 
 let validateNumA = (rule, value, callback) => {
 
     !/^(\d+)$/.test(value) && callback(new Error(rule.message));
 
-    if (+value < 5 || +value > 600) callback(new Error(rule.message));
 
+    if (+value < 5 || +value > 3600) callback(new Error(rule.message));
 
     callback();
 
 };
 
 let validateNumB = (rule, value, callback) => {
 
@@ -203,7 +203,7 @@ export default {
 
                     { required: true, message: "请输入", trigger: "blur" },
 
                     {
 
                         validator: validateNumA,
 
-                        message: "请输入不小于5且不大于600的正整数",
 
+                        message: "请输入不小于5且不大于3600的正整数",
 
                         trigger: ["blur"],
 
                     },
 
                 ],
 
@@ -514,4 +514,4 @@ export default {
 
     padding-top: 30px;
 
     text-align: center;
 
 }
 
-</style>
 
+</style>

+ 131 - 0
src/views/workManagement/components/openDriver.vue
View File 

@@ -0,0 +1,131 @@
 
+<template>
 
+	<div id="ThreeJS" class="three_div"></div>
 
+</template>
 
+
 
+
 
+<script>
 
+	import {
 
+		getStdMapMixin
 
+	} from "@/mixin/workManagement/getStdMapMixin.js"
 
+	import {
 
+		openDriveMixin
 
+	} from "@/mixin/workManagement/openDriveMixin.js"
 
+
 
+
 
+	export default {
 
+		name: "OpenDrive",
 
+		mixins: [getStdMapMixin, openDriveMixin],
 
+		components: {
 
+			// vueQr,
 
+			// glHome,
 
+		},
 
+		data() {
 
+			return {
 
+				isLoaded: false,
 
+				lineArr:[],
 
+				startPointJson: {},
 
+				endPointJson: {},
 
+				timer: ''
 
+			};
 
+		},
 
+		props: {
 
+			mapId: {
 
+				type: String,
 
+				default: () => ""
 
+			},
 
+			startPoint: {
 
+				type: Object,
 
+				default: () => {}
 
+			},
 
+			endPoint: {
 
+				type: Object,
 
+				default: () => {}
 
+			},
 
+			sections: {
 
+				type: Array,
 
+				default: () =>[]
 
+			}
 
+		},
 
+		methods: {
 
+			changeMap(fileUrl) {
 
+				this.onFileSelect(fileUrl);
 
+			},
 
+			getMapDetails(mapId) {
 
+				
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.mapDetails,
 
+					data: {
 
+						mapId
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200) {
 
+						if(this.isLoaded == true){
 
+							this.reloadNewMap(res.info.mapPath);
 
+						}else{
 
+							this.loadMap(res.info.mapPath);
 
+							this.isLoaded = true;
 
+						}
 
+						
+					}
 
+				})
 
+			},
 
+			reloadMap(){
 
+				this.reloadOdrMap();
 
+				this.initData();
 
+			},
 
+			initData(){
 
+				// this.startPoint = {};
 
+				// this.endPoint = {};
 
+				// this.sections = [];
 
+			}
 
+		},
 
+		mounted() {
 
+		},
 
+		updated() {
 
+
 
+		},
 
+		watch: {
 
+			mapId: {
 
+				handler(newVal, oldVal) {
 
+					this.getMapDetails(newVal);
 
+				}
 
+			},
 
+			startPoint: {
 
+				handler(newVal, oldVal) {
 
+					this.drawPoint(newVal);
 
+				}
 
+			},
 
+			endPoint: {
 
+				handler(newVal, oldVal) {
 
+					this.drawPoint(newVal);
 
+				}
 
+			},
 
+			sections: {
 
+				handler(newVal, oldVal) {
 
+					if(this.lineArr && this.lineArr.length > 0){
 
+						this.lineArr.forEach((elem, index) => {
 
+							this.clearColorLine(elem.roadId, elem.laneId);
 
+						})
 
+						//this.clearPoint();
 
+					}
 
+					newVal.forEach((elem, index) => {
 
+						this.fillColorLine(elem.roadId, elem.laneId);
 
+					})
 
+					this.lineArr = newVal;
 
+				}
 
+			}
 
+		}
 
+	};
 
+</script>
 
+<style scoped lang="less">
 
+	.three_div {
 
+		width: 100% !important;
 
+		height: 100% !important;
 
+	}
 
+
 
+	/deep/ canvas {
 
+		width: 100% !important;
 
+		height: 100% !important;
 
+	}
 
+</style>

+ 175 - 0
src/views/workManagement/components/pathDialog.vue
View File 

@@ -0,0 +1,175 @@
 
+<template>
 
+	<el-dialog title="选择轨迹" :visible.sync="open" width="25%" :before-close="onClose" :modal="false"
 
+		:close-on-click-modal="false">
 
+		<el-form ref="form" :model="selectRecord" label-width="100px" size="mini">
 
+			<el-form-item label="选择轨迹">
 
+				<el-select v-model="dataParams.pathId" @change="switchTrack">
 
+					<el-option v-for="item in trackList" :key="item.id" :label="getPathName(item.pathSort)"
 
+						:value="item.id">
 
+					</el-option>
 
+				</el-select>
 
+			</el-form-item>
 
+			<el-form-item label="轨迹起点">
 
+				<el-select v-model="dataParams.pathStartJson" value-key="name" @change="switchStartPoint">
 
+					<el-option v-for="(item, index) in selectTrack.startPoints" :key="index" :label="item.name"
 
+						:value="item" :disabled="checkOption(selectTrack.id, item.name, 'start')">
 
+					</el-option>
 
+				</el-select>
 
+			</el-form-item>
 
+			<el-form-item label="轨迹终点">
 
+				<el-select v-model="dataParams.pathEndJson" value-key="name" @change="switchEndPoint">
 
+					<el-option v-for="(item, index) in selectTrack.endPoints" :key="index" :label="item.name"
 
+						:value="item" :disabled="checkOption(selectTrack.id, item.name, 'end')">
 
+					</el-option>
 
+				</el-select>
 
+			</el-form-item>
 
+			<el-form-item label="车辆朝向">
 
+				<el-input v-model="dataParams.pathStartJson.h" disabled></el-input>
 
+			</el-form-item>
 
+		</el-form>
 
+		<span slot="footer" class="dialog-footer">
 
+			<el-button @click="onClose">取 消</el-button>
 
+			<el-button type="primary" @click="onSubmit">确 定</el-button>
 
+		</span>
 
+	</el-dialog>
 
+</template>
 
+
 
+<script>
 
+	export default {
 
+		name: "PathDialog",
 
+		components: {
 
+			// vueQr,
 
+			// glHome,
 
+		},
 
+		data() {
 
+			return {
 
+				selectRecord: {
 
+					pathStartJson: {
 
+
 
+					}
 
+				},
 
+				trackList: [],
 
+				selectTrack: {},
 
+				dataParams: {
 
+					pathId: "",
 
+					pathStartJson: {},
 
+					pathEndJson: {}
 
+				},
 
+				preStartPointName: "",
 
+				preEndPointName: ""
 
+			};
 
+		},
 
+		props: {
 
+			open: {
 
+				type: Boolean,
 
+				default: _ => false
 
+			},
 
+			params: {
 
+				type: Object,
 
+				default: _ => {}
 
+			}
 
+
 
+		},
 
+		computed: {
 
+			getPathName() {
 
+				return id => "轨迹" + id;
 
+			}
 
+		},
 
+		methods: {
 
+			checkOption(pathId, pointName, type) {
 
+				if (!this.dataParams.selectedPoints[pathId]) {
 
+					return false;
 
+				}
 
+
 
+				if (!this.dataParams.selectedPoints[pathId][type]) {
 
+					return false;
 
+				}
 
+				return this.dataParams.selectedPoints[pathId][type].includes(pointName);
 
+			},
 
+			isEmptyJson(obj) {
 
+				return Object.keys(obj).length === 0;
 
+			},
 
+			getMapDetails(mapId) {
 
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.mapDetails,
 
+					data: {
 
+						mapId
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200 && res.info) {
 
+						console.log(res.info.path)
 
+						this.trackList = res.info.path;
 
+						this.switchTrack(this.params.pathId);
 
+					}
 
+				})
 
+			},
 
+			switchTrack(id) {
 
+				let isFirst = this.isEmptyJson(this.selectTrack);
 
+				this.trackList.forEach((elem, index) => {
 
+					if (elem.id == id) {
 
+						this.selectTrack = elem;
 
+					}
 
+				});
 
+				if (!isFirst) {
 
+					this.dataParams.pathStartJson = {};
 
+					this.dataParams.pathEndJson = {};
 
+				}
 
+				this.changeMap();
 
+
 
+			},
 
+			switchStartPoint(newVal) {
 
+				console.log(this.selectTrack)
 
+				let pointNames = this.dataParams.selectedPoints[this.selectTrack.id]["start"];
 
+				let searchIndex = pointNames.indexOf(this.preStartPointName);
 
+				if (searchIndex != -1) {
 
+					pointNames.splice(searchIndex, 1);
 
+				}
 
+				pointNames.push(newVal.name)
 
+				this.preStartPointName = newVal.name;
 
+				this.changeMap();
 
+			},
 
+			switchEndPoint(newVal) {
 
+				let pointNames = this.dataParams.selectedPoints[this.selectTrack.id]["end"];
 
+				let searchIndex = pointNames.indexOf(this.preEndPointName);
 
+				if (searchIndex != -1) {
 
+					pointNames.splice(searchIndex, 1);
 
+				}
 
+				pointNames.push(newVal.name)
 
+				this.preEndPointName = newVal.name;
 
+				this.changeMap();
 
+			},
 
+			changeMap() {
 
+				let data = Object.assign({}, this.dataParams, {
 
+					sections: this.selectTrack.sections
 
+				})
 
+				data.pathStartJson.type = "start";
 
+				data.pathEndJson.type = "end";
 
+				this.$emit("change", data);
 
+			},
 
+			onClose() {
 
+				this.$emit("onClose");
 
+			},
 
+			onSubmit() {
 
+				this.$emit("onSubmit", Object.assign({}, this.dataParams, {
 
+					sections: this.selectTrack.sections,
 
+					pathSort: this.selectTrack.pathSort
 
+				}));
 
+			}
 
+		},
 
+		watch: {
 
+			params: {
 
+				handler(newVal, oldVal) {
 
+					this.selectTrack = {},
 
+						this.dataParams = JSON.parse(JSON.stringify(newVal));
 
+					this.preStartPointName = this.dataParams.pathStartJson.name;
 
+					this.preEndPointName = this.dataParams.pathEndJson.name;
 
+					this.getMapDetails(newVal.mapId);
 
+				}
 
+			}
 
+		}
 
+	}
 
+</script>
 
+
 
+<style>
 
+</style>

+ 353 - 0
src/views/workManagement/components/simulationTable.vue
View File 

@@ -0,0 +1,353 @@
 
+<template>
 
+	<div class="container">
 
+		<div class="table-operate">
 
+			<el-button class="btn" type="primary" @click="add">添加</el-button>
 
+			<el-button class="btn" type="info" @click="settingsSimulation">设为仿真视角</el-button>
 
+		</div>
 
+		<el-table class="table-content" ref="multipleTable" :data="tableData" tooltip-effect="dark" style="width: 100%">
 
+			<el-table-column label="序号">
 
+				<template slot-scope="scope">
 
+					<el-radio v-model="currentFactor" :label="getRowIndex(scope.$index)"
 
+						@change="changeRowIndex(scope.row)"></el-radio>
 
+				</template>
 
+			</el-table-column>
 
+			<el-table-column label="选择车辆">
 
+				<template slot-scope="scope">
 
+					<el-select v-model="scope.row.carId" class="algorithm-select">
 
+						<el-option v-for="item in carList" :key="item.code" :label="item.name" :value="item.code">
 
+						</el-option>
 
+					</el-select>
 
+				</template>
 
+			</el-table-column>
 
+			<el-table-column label="选择算法">
 
+				<template slot-scope="scope">
 
+					<el-select v-model="scope.row.algorithmId" class="algorithm-select">
 
+						<el-option v-for="item in algorithmList" :key="item.code" :label="item.name" :value="item.code">
 
+						</el-option>
 
+					</el-select>
 
+				</template>
 
+			</el-table-column>
 
+			<el-table-column label="选择轨迹">
 
+				<template slot-scope="scope">
 
+					<div @click="showDialog(scope.row)" class="path-text">{{getSelectPathText(scope.row)}}</div>
 
+				</template>
 
+			</el-table-column>
 
+			<el-table-column label="操作">
 
+				<template slot-scope="scope">
 
+					<el-button class="delete-btn" size="mini-btn" type="danger"
 
+						@click="deleteRecord(scope.row)">删除</el-button>
 
+				</template>
 
+			</el-table-column>
 
+		</el-table>
 
+	</div>
 
+</template>
 
+
 
+<script>
 
+	export default {
 
+		name: "SimulationTable",
 
+		components: {
 
+			// vueQr,
 
+			// glHome,
 
+		},
 
+		data() {
 
+			return {
 
+				currentFactor: "",
 
+				tableData: [],
 
+				carList: [],
 
+				algorithmList: [],
 
+				selectRow: {},
 
+				showRow: {},
 
+				notSaved: [],
 
+				contentHasSave: false,
 
+				mockData: {
 
+					"sceneId": "",
 
+					"carId": "",
 
+					"carName": "",
 
+					"sceneCarId": "",
 
+					"algorithmId": "",
 
+					"algorithmType": 0,
 
+					"pathId": "",
 
+					"pathStart": {},
 
+					"pathEnd": {}
 
+				},
 
+				defaultData: {
 
+					"newType": "new",
 
+					"newUuid": "",
 
+					"id": "",
 
+					"sceneId": "",
 
+					"carId": "",
 
+					"algorithmId": "",
 
+					"algorithmType": 0,
 
+					"pathId": "",
 
+					"sceneCarId": null,
 
+					"pathStartJson": {
 
+
 
+					},
 
+					"pathEndJson": {}
 
+				},
 
+				collectPointsSelected: {}
 
+			};
 
+		},
 
+		props: {
 
+			sceneId: {
 
+				type: String,
 
+				default: _ => ""
 
+			}
 
+		},
 
+		computed: {
 
+			getSelectPathText(row) {
 
+				return (row) => "轨迹" + row.pathSort + " (" + row.pathStartJson.name + "," + row.pathEndJson.name + ")";
 
+			}
 
+		},
 
+		mounted() {
 
+			this.getCarList();
 
+			this.getAlgorithmList();
 
+			this.getSceneCarList();
 
+		},
 
+		methods: {
 
+			add() {
 
+				let newRow = JSON.parse(JSON.stringify(this.defaultData));
 
+				newRow.newUuid = this.getUUID();
 
+				this.tableData.push(newRow);
 
+				this.notSaved.push(newRow);
 
+
 
+			},
 
+			updateRow(data) {
 
+				this.showRow.pathId = data.pathId;
 
+				this.showRow.pathStartJson = data.pathStartJson;
 
+				this.showRow.pathEndJson = data.pathEndJson;
 
+				this.showRow.pathSort = data.pathSort;
 
+			},
 
+			getRowIndex(rowIndex) {
 
+				return rowIndex + 1;
 
+			},
 
+			changeRowIndex(row) {
 
+				this.selectRow = row;
 
+				this.$emit("changeRow", row);
 
+			},
 
+			showDialog(row) {
 
+				this.showRow = row;
 
+				this.collectSelectedPoints(this.tableData);
 
+				let data = {
 
+					pathId: row.pathId,
 
+					pathStartJson: row.pathStartJson,
 
+					pathEndJson: row.pathEndJson,
 
+					selectedPoints: this.collectPointsSelected
 
+				};
 
+				this.$emit("openDialog", data);
 
+			},
 
+			getSceneCarList() {
 
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.sceneCarList,
 
+					data: {
 
+						"sceneId": this.sceneId,
 
+						"pageNum": "1",
 
+						"pageSize": 999999
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200) {
 
+						this.tableData = res.info.list;
 
+					}
 
+				})
 
+			},
 
+			getCarList() {
 
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.carList,
 
+					data: {
 
+						"dropDownType": "2",
 
+						"algorithmType": "1"
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200) {
 
+						this.carList = [...res.info[0].dropDownList[0].children, ...res.info[0]
 
+							.dropDownList[1]
 
+							.children
 
+						];
 
+						if (this.carList.length > 0) {
 
+							this.selectCarId = this.carList[0].code;
 
+						}
 
+					}
 
+				})
 
+			},
 
+			collectSelectedPoints(dataList) {
 
+				this.collectPointsSelected = {};
 
+				dataList.forEach((elem, index) => {
 
+					if (elem.pathId) {
 
+						if (!this.collectPointsSelected[elem.pathId]) {
 
+							this.collectPointsSelected[elem.pathId] = {};
 
+						}
 
+						let tarckSelected = this.collectPointsSelected[elem.pathId];
 
+						if (!tarckSelected.start) {
 
+							tarckSelected.start = [];
 
+						}
 
+						tarckSelected.start.push(elem.pathStartJson.name);
 
+						if (!tarckSelected.end) {
 
+							tarckSelected.end = [];
 
+						}
 
+						tarckSelected.end.push(elem.pathEndJson.name);
 
+					}
 
+				})
 
+			},
 
+			deleteRecord(row) {
 
+				this.$confirm('此操作将删除该记录, 是否继续?', '提示', {
 
+					confirmButtonText: '确定',
 
+					cancelButtonText: '取消',
 
+					type: 'warning'
 
+				}).then(() => {
 
+					if (row.newType) {
 
+						this.removeViewTableRecord(row);
 
+					} else {
 
+						this.$axios({
 
+							method: "post",
 
+							url: this.$api.workManagement.deleteRecord,
 
+							data: {
 
+								"sceneCarId": row.id
 
+							}
 
+						}).then((res) => {
 
+							if (res.code == 200) {
 
+								this.removeViewTableRecord(row);
 
+							}
 
+						})
 
+					}
 
+				}).catch(() => {});
 
+			},
 
+			removeViewTableRecord(row) {
 
+				let length = this.tableData.length;
 
+				for (let index = 0; index < length; index++) {
 
+					let elem = this.tableData[index];
 
+					if ((row.newUuid && row.newUuid == elem.newUuid) || (row.id && row.id == elem.id)) {
 
+						this.tableData.splice(index, 1);
 
+						break;
 
+					}
 
+				}
 
+			},
 
+			getAlgorithmList() {
 
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.algorithmList,
 
+					data: {
 
+						"dropDownType": "1",
 
+						"algorithmType": "1"
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200 && res.info) {
 
+						this.algorithmList = [...res.info[0].dropDownList[0].children, ...res.info[0]
 
+							.dropDownList[
 
+								1].children
 
+						];
 
+						if (this.algorithmList.length > 0) {
 
+							this.selectAlgorithmId = this.algorithmList[0].code;
 
+						}
 
+					}
 
+				})
 
+			},
 
+			settingsSimulation() {
 
+				this.$emit("simulationBtnCallBack", this.selectRow);
 
+			},
 
+			saveAll(mapId) {
 
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.saveOrUpdateSceneCarList,
 
+					data: {
 
+						"mapId": mapId,
 
+						"sceneId": this.sceneId,
 
+						"paramList": this.switchModel(this.tableData)
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200) {
 
+						this.$message({
 
+							message: '保存成功',
 
+							type: 'success'
 
+						});
 
+						this.getSceneCarList();
 
+					} else {
 
+						this.$message({
 
+							message: '保存失败',
 
+							type: 'warning'
 
+						});
 
+					}
 
+				})
 
+			},
 
+			switchModel(dataArr) {
 
+				let newDataArr = []
 
+				dataArr.forEach((elem, index) => {
 
+					let data = {
 
+						"sceneId": elem.sceneId,
 
+						"carId": elem.carId,
 
+						"carName": elem.carName,
 
+						"sceneCarId": elem.sceneCarId,
 
+						"algorithmId": elem.algorithmId,
 
+						"algorithmType": elem.algorithmType,
 
+						"pathId": elem.pathId,
 
+						"pathStart": elem.pathStartJson,
 
+						"pathEnd": elem.pathEndJson
 
+					}
 
+					if (elem.newType) {
 
+						data.sceneId = this.sceneId;
 
+						data.sceneCarId = "";
 
+					} else {
 
+						data.sceneCarId = elem.id;
 
+					}
 
+
 
+					newDataArr.push(data);
 
+				})
 
+				return newDataArr;
 
+			},
 
+			S4() {
 
+				return (((1 + Math.random()) * 0x10000) | 0).toString(16).substring(1);
 
+			},
 
+			getUUID() {
 
+				return (this.S4() + this.S4() + "-" + this.S4() + "-" + this.S4() + "-" + this.S4() + "-" + this
 
+					.S4() +
 
+					this.S4() + this.S4());
 
+			}
 
+		}
 
+	}
 
+</script>
 
+
 
+<style lang='less' scoped>
 
+	.container {
 
+		width: 100%;
 
+		height: 100%;
 
+		display: flex;
 
+		flex-direction: column;
 
+	}
 
+
 
+	.table-operate {
 
+		height: 3.1rem;
 
+		display: flex;
 
+		flex-direction: row;
 
+		justify-content: right;
 
+		align-items: center;
 
+	}
 
+
 
+	.btn {
 
+		color: #FFFFFF;
 
+		height: 2.5rem;
 
+		margin: 1rem;
 
+	}
 
+
 
+	.table-content {
 
+		flex: auto;
 
+	}
 
+
 
+	.delete-btn {
 
+		color: #FFFFFF;
 
+		border-radius: 0.5rem;
 
+	}
 
+
 
+	.path-text {
 
+		cursor: pointer;
 
+		font-size: 0.75rem;
 
+	}
 
+
 
+	/deep/ .table-content {
 
+		height: 100%;
 
+		overflow-y: scroll;
 
+	}
 
+	/deep/ .el-input,/deep/ .el-input__inner{
 
+		width: 100px !important;
 
+	}
 
+</style>

+ 283 - 0
src/views/workManagement/multimodeSimulation.vue
View File 

@@ -0,0 +1,283 @@
 
+<template>
 
+	<div class="container">
 
+		<div class="select-map" :class="{'no-interaction': isDisabled}">
 
+			地图选择：
 
+			<el-select class="select-content" v-model="openDrive.mapId" placeholder="请选择">
 
+				<el-option v-for="(item, index) in mapList" :key="item.id" :label="item.mapName" :value="item.id">
 
+				</el-option>
 
+			</el-select>
 
+		</div>
 
+		<div class="content">
 
+			<open-drive class="map" ref="openDrive" :mapId="openDrive.mapId" :startPoint="openDrive.pathStartJson"
 
+				:endPoint="openDrive.pathEndJson" :sections="openDrive.sections"></open-drive>
 
+			<SimulationTable ref="table" @simulationBtnCallBack="settingSimulation" @openDialog="showDialog"
 
+				class="table" :sceneId="sceneId" :class="{'no-interaction': isDisabled}"/>
 
+		</div>
 
+		<div class="operate" :class="{'no-interaction': isDisabled}">
 
+			<el-button @click="saveAll" class="btn" type="primary">保存</el-button>
 
+			<el-button @click="back" class="btn" type="info">返回</el-button>
 
+		</div>
 
+		<PathDialog :open="dialog.dialogOpen" :params="dialog.dialogParam" @onClose="closeDialog"
 
+			@onSubmit="sumbitDialog" @change="changeMap" />
 
+	</div>
 
+</template>
 
+
 
+<script>
 
+	import OpenDrive from "@/views/workManagement/components/openDriver";
 
+	import PathDialog from "@/views/workManagement/components/pathDialog";
 
+	import SimulationTable from "@/views/workManagement/components/simulationTable";
 
+
 
+	export default {
 
+		name: "MultimodeSimulation", // 工作管理
 
+		components: {
 
+			OpenDrive,
 
+			PathDialog,
 
+			SimulationTable
 
+		},
 
+		data() {
 
+			return {
 
+				isDisabled: false,
 
+				mapList: [],
 
+				sceneId: "",
 
+				dialog: {
 
+					dialogParam: {},
 
+					dialogOpen: false
 
+				},
 
+				openDrive: {
 
+					mapId: "",
 
+					pathStartJson: {},
 
+					pathEndJson: {},
 
+					sections: []
 
+				}
 
+			}
 
+
 
+		},
 
+		beforeMount() {
 
+			this.sceneId = this.$route.query.sceneId;
 
+			if(!this.sceneId){
 
+				this.sceneId = "b1e8fb96cf8a41d9a0364d29a9289628";
 
+			}
 
+		},
 
+		mounted() {
 
+			this.getMapList();
 
+		},
 
+		methods: {
 
+			getMapList() {
 
+				this.$axios({
 
+					method: "post",
 
+					url: this.$api.workManagement.mapList,
 
+					data: {
 
+						"pageNum": 0,
 
+						"pageSize": 999999
 
+					}
 
+				}).then((res) => {
 
+					if (res.code == 200) {
 
+						this.mapList = res.info;
 
+						if (this.mapList.length > 0) {
 
+							this.$axios({
 
+								method: "post",
 
+								url: this.$api.workManagement.mapList,
 
+								data: {
 
+									"pageNum": 0,
 
+									"pageSize": 99999
 
+								}
 
+							}).then((res) => {
 
+								if (res.code == 200) {
 
+									this.mapList = res.info;
 
+									if (this.mapList.length > 0) {
 
+										this.openDrive.mapId = this.mapList[0].id;
 
+									}
 
+								}
 
+							})
 
+						}
 
+
 
+					}
 
+				})
 
+			},
 
+			settingSimulation(row) {
 
+				if (row.id == null || row.id == "") {
 
+					this.$message({
 
+						message: '警告哦，请选择一条已保存记录',
 
+						type: 'warning'
 
+					});
 
+					return;
 
+				}
 
+
 
+				this.$confirm('确定设为仿真视角？')
 
+					.then(_ => {
 
+						this.$axios({
 
+							method: "post",
 
+							url: this.$api.workManagement.settingsSimulation,
 
+							data: {
 
+								"sceneCarId": row.id,
 
+							}
 
+						}).then((res) => {
 
+							if(res.code == 200){
 
+								this.$message({
 
+									message: '设为仿真视角成功',
 
+									type: 'success'
 
+								});
 
+							}else{
 
+								this.$message({
 
+									message: '设为仿真视角失败',
 
+									type: 'warning'
 
+								});
 
+							}
 
+						})
 
+					})
 
+					.catch(_ => {});
 
+
 
+			},
 
+			reloadMap() {
 
+				setTimeout(() => {
 
+					this.$refs.openDrive.reloadMap();
 
+				}, 50);
 
+			},
 
+			changeMap(data) {
 
+				this.openDrive = data;
 
+			},
 
+			showDialog(data) {
 
+				this.isDisabled = true;
 
+				this.dialog.dialogOpen = true;
 
+				this.dialog.dialogParam = Object.assign({}, data, {
 
+					mapId: this.openDrive.mapId
 
+				});
 
+			},
 
+			closeDialog() {
 
+				this.dialog.dialogOpen = false;
 
+				this.isDisabled = false;
 
+				this.reloadMap();
 
+			},
 
+			sumbitDialog(data) {
 
+				this.dialog.dialogOpen = false;
 
+				this.isDisabled = false;
 
+				this.$refs.table.updateRow(data);
 
+				this.reloadMap();
 
+			},
 
+			saveAll(){
 
+				this.$refs.table.saveAll(this.openDrive.mapId);
 
+			},
 
+			back(){
 
+				
+				this.$router.go(-1);
 
+			}
 
+		}
 
+	};
 
+</script>
 
+
 
+<style lang='less' scoped>
 
+	*{
 
+		margin: 0;
 
+		padding: 0;
 
+		box-sizing: content-box;
 
+	}
 
+	.mainBox {
 
+		padding-bottom: 0px !important
 
+	}
 
+
 
+	.container {
 
+		/* background-color: rebeccapurple; */
 
+		height: 100%;
 
+		width: 100%;
 
+		display: flex;
 
+		flex-direction: column;
 
+		padding: 0 0.5rem;
 
+	}
 
+
 
+	.select-map {
 
+		font-size: 1rem;
 
+		color: #333333;
 
+		letter-spacing: 0.05rem;
 
+		display: flex;
 
+		align-items: center;
 
+		padding-left: 1rem;
 
+		width: 100%;
 
+		/* padding: 1rem; */
 
+		height: 4rem;
 
+	}
 
+
 
+	.content {
 
+		display: flex;
 
+		flex-direction: row;
 
+		padding: 0.2rem;
 
+		height: 38rem;
 
+	}
 
+
 
+	.operate {
 
+		height: 4rem;
 
+		display: flex;
 
+		justify-content: center;
 
+		align-items: center;
 
+		padding: 0rem;
 
+	}
 
+
 
+
 
+	.block {
 
+		height: auto;
 
+		width: 100%;
 
+		display: flex;
 
+		justify-content: center;
 
+		align-items: center;
 
+	}
 
+
 
+	.map {
 
+		flex: 1.5;
 
+	}
 
+
 
+	.table {
 
+		flex: 1;
 
+		border: 0.05rem solid #DCDCDC;
 
+		margin: 0 0.2rem 0 0.25rem;
 
+	}
 
+
 
+	.btn {
 
+		color: #FFFFFF;
 
+		height: 1.5rem;
 
+		margin: 1rem;
 
+	}
 
+
 
+	.open-drive {
 
+		width: 100%;
 
+		height: 100%;
 
+	}
 
+
 
+	.delete-btn {
 
+		color: #FFFFFF;
 
+		border-radius: 0.5rem;
 
+	}
 
+
 
+	/deep/ div.cell {
 
+		text-align: center;
 
+	}
 
+
 
+	/deep/ th div.cell {
 
+		font-size: .9rem;
 
+		font-weight: bold;
 
+	}
 
+
 
+	.block {
 
+		border: none !important;
 
+	}
 
+
 
+	.el-dialog__wrapper {
 
+		pointer-events: none;
 
+
 
+		/deep/ .el-dialog {
 
+			pointer-events: auto;
 
+		}
 
+	}
 
+
 
+	/deep/ .el-dialog {
 
+		position: absolute !important;
 
+		top: 0 !important;
 
+		right: 10rem !important;
 
+	}
 
+	.no-interaction {
 
+	  pointer-events: none;
 
+	  /* 其他样式，比如背景色、边框等 */
 
+/* 	  background-color: #f0f0f0;
 
+	  border: 1px solid #ccc; */
 
+/* 	  padding: 10px;
 
+	  margin: 10px; */
 
+	}
 
+</style>

+ 3 - 3
vue.config.js
View File 

@@ -24,7 +24,7 @@ module.exports = {
 
     productionSourceMap: false,
 
     chainWebpack: config => {
 
         config
 
-            .entry('./src/main.js')
 
+            .entry(['./src/main'])
 
             .add('babel-polyfill');
 
         config.resolve.symlinks(true); // 修复热更新失效
 
         // 添加别名
 
@@ -72,8 +72,8 @@ module.exports = {
 
         }
 
     },
 
     devServer: { //跨域
 
-        port: "8082", //端口号
 
-        // open: true, //配置自动启动浏览器
 
+        port: "8002", //端口号
 
+        open: false, //配置自动启动浏览器
 
         hot: true,
 
         proxy: { // 配置跨域处理 可以设置多个
 
             '/simulation/oauth': {

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