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guolei 1 年之前
父節點
7e50f749bd
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874b72e58c
共有 19 個文件被更改，包括 6711 次插入 和 33 次删除
分割檢視 顯示文件統計
  1. 1 1
      package.json
  2. 3 0
      public/css/font-awesome.min.css
  3. 0 0
      public/css/notyf.min.css
  4. 二進制
      public/glb/car.glb
  5. 5 0
      public/hdr/050.hdr
  6. 5 0
      public/hdr/christmas-sky.hdr
  7. 二進制
      public/hdr/robot_background.hdr
  8. 58 0
      public/index.html
  9. 47 0
      public/js/controls.js
  10. 12 0
      public/js/dat.gui.min.js
  11. 2555 0
      public/js/libOpenDrive.js
  12. 二進制
      public/js/libOpenDrive.wasm
  13. 0 0
      public/js/notyf.min.js
  14. 6 0
      public/js/orbitcontrols.min.js
  15. 2784 0
      public/map/mine3.xodr
  16. 12 13
      src/axios/filter.js
  17. 20 14
      src/views/workManagement/multimodeSimulation.vue
  18. 1198 0
      src/views/workManagement/openDriver.vue
  19. 5 5
      vue.config.js

+ 1 - 1
package.json
查看文件 

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

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+ 3 - 0
public/css/font-awesome.min.css


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


二進制
public/glb/car.glb
查看文件


文件差異過大導致無法顯示
+ 5 - 0
public/hdr/050.hdr


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+ 5 - 0
public/hdr/christmas-sky.hdr


二進制
public/hdr/robot_background.hdr
查看文件


+ 58 - 0
public/index.html
查看文件 

@@ -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>

+ 47 - 0
public/js/controls.js
查看文件 

@@ -0,0 +1,47 @@
 
+var PARAMS = {
 
+    load_file : () => { document.getElementById('xodr_file_input').click(); },
 
+    resolution : 0.3,
 
+    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");

文件差異過大導致無法顯示
+ 12 - 0
public/js/dat.gui.min.js


文件差異過大導致無法顯示
+ 2555 - 0
public/js/libOpenDrive.js


二進制
public/js/libOpenDrive.wasm
查看文件


文件差異過大導致無法顯示
+ 0 - 0
public/js/notyf.min.js


文件差異過大導致無法顯示
+ 6 - 0
public/js/orbitcontrols.min.js


+ 2784 - 0
public/map/mine3.xodr
查看文件 

@@ -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">
 
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+            </geometry>
 
+            <geometry s="1.4853981633974485e+02" x="3.4999999781418217e+02" y="1.0000000437151138e+02" hdg="-1.5707963267986234e+00" length="1.5707963267948966e+02">
 
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+            <geometry s="3.0561944901923448e+02" x="4.4999999781418217e+02" y="1.0000000437064206e+02" hdg="1.5707963267948948e+00" length="1.5000000000000000e+02">
 
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+            <geometry s="7.6269908169872417e+02" x="5.4999999781343695e+02" y="1.0000000874196708e+02" hdg="-1.5707963268035909e+00" length="1.5707963267948966e+02">
 
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+            </geometry>
 
+        </planView>
 
+        <elevationProfile>
 
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+        <lateralProfile>
 
+        </lateralProfile>
 
+        <lanes>
 
+            <laneSection s="0.0000000000000000e+00">
 
+                <left>
 
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+                        </link>
 
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+                    </lane>
 
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+        </lanes>
 
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+        </objects>
 
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+                <center>
 
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+                        </link>
 
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+                </center>
 
+            </laneSection>
 
+        </lanes>
 
+        <objects>
 
+        </objects>
 
+        <signals>
 
+        </signals>
 
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+        </surface>
 
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+            <laneLink from="-1" to="-1"/>
 
+        </connection>
 
+        <connection id="9" incomingRoad="175" connectingRoad="205" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+        </connection>
 
+        <connection id="10" incomingRoad="175" connectingRoad="208" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+        </connection>
 
+        <connection id="11" incomingRoad="175" connectingRoad="211" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+        </connection>
 
+    </junction>
 
+    <junction name="" id="6">
 
+        <connection id="0" incomingRoad="244" connectingRoad="253" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+            <laneLink from="-2" to="-2"/>
 
+        </connection>
 
+        <connection id="1" incomingRoad="244" connectingRoad="256" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+        </connection>
 
+        <connection id="2" incomingRoad="159" connectingRoad="220" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+            <laneLink from="-2" to="-2"/>
 
+        </connection>
 
+        <connection id="3" incomingRoad="159" connectingRoad="259" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+        </connection>
 
+        <connection id="4" incomingRoad="175" connectingRoad="262" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+            <laneLink from="-2" to="-2"/>
 
+        </connection>
 
+        <connection id="5" incomingRoad="175" connectingRoad="229" contactPoint="start">
 
+            <laneLink from="-1" to="-1"/>
 
+        </connection>
 
+    </junction>
 
+    <junction name="" id="2">
 
+        <connection id="0" incomingRoad="131" connectingRoad="233" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+        </connection>
 
+        <connection id="1" incomingRoad="142" connectingRoad="236" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+        </connection>
 
+    </junction>
 
+    <junction name="" id="3">
 
+        <connection id="0" incomingRoad="133" connectingRoad="247" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+        </connection>
 
+        <connection id="1" incomingRoad="238" connectingRoad="250" contactPoint="start">
 
+            <laneLink from="1" to="-1"/>
 
+            <laneLink from="2" to="-2"/>
 
+        </connection>
 
+    </junction>
 
+</OpenDRIVE>

+ 12 - 13
src/axios/filter.js
查看文件 

@@ -75,19 +75,18 @@ axios.interceptors.request.use(function (config) {
 
 });
 
 // 添加响应拦截器
 
 axios.interceptors.response.use(function (response) {
 
-	console.log(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
 
-		})
 
-	}
 
+	// 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)) {

+ 20 - 14
src/views/workManagement/multimodeSimulation.vue
查看文件 

@@ -8,14 +8,16 @@
 
 			</el-select>
 
 		</div>
 
 		<div class="content">
 
-			<div class="map"></div>
 
+			<div class="map">
 
+				<open-drive></open-drive>
 
+			</div>
 
 			<div class="table">
 
 				<div class="table-operate">
 
 					<el-button class="btn" type="primary">添加</el-button>
 
 					<el-button class="btn" type="info">设为仿真视角</el-button>
 
 				</div>
 
 				<el-table class="table-content" ref="multipleTable" :data="tableData" tooltip-effect="dark"
 
-					style="width: 100%" @selection-change="handleSelectionChange">
 
+					style="width: 100%">
 
 					<el-table-column type="selection" width="55">
 
 					</el-table-column>
 
 					<el-table-column label="选择车辆" width="120">
 
@@ -48,9 +50,10 @@
 
 </template>
 
 
 <script>
 
+	import OpenDrive from "@/views/workManagement/openDriver";
 
 	export default {
 
 		name: "MultimodeSimulation", // 工作管理
 
-		components: {},
 
+		components: {OpenDrive},
 
 		data() {
 
 			return {
 
 				options: [{
 
@@ -126,20 +129,18 @@
 
 		height: 36.5rem;
 
 		display: flex;
 
 		flex-direction: row;
 
-
 
-		.map {
 
-			flex: 1;
 
-			background-color: aqua;
 
-		}
 
-
 
-		.table {
 
-			flex: 1;
 
-			background-color: antiquewhite;
 
-		}
 
-
 
 	}
 
 
+	.map {
 
+		flex: 1;
 
+		background-color: aqua;
 
+		position: relative;
 
+	}
 
 
+	.table {
 
+		flex: 1;
 
+		background-color: antiquewhite;
 
+	}
 
 	.table-operate {
 
 		height: 3.1rem;
 
 		display: flex;
 
@@ -164,6 +165,11 @@
 
 		margin: 1rem;
 
 	}
 
 	
+	.open-drive{
 
+		width: 100%;
 
+		height: 100%;
 
+	}
 
+	
 	::v-deep .mini-btn{
 
 		width: 1rem !important;
 
 	}

+ 1198 - 0
src/views/workManagement/openDriver.vue
查看文件 

@@ -0,0 +1,1198 @@
 
+<template>
 
+      <div id="ThreeJS" class="three_div"></div>
 
+</template>
 
+
 
+<script>
 
+	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 default {
 
+		name: "OpenDrive",
 
+		components: {
 
+			// vueQr,
 
+			// glHome,
 
+		},
 
+		data() {
 
+			return {
 
+				position: [
 
+					119.11, 12.65, 0, 107.94, 5.02, 0, 58.54, -6.55, 0, 2.96, -18.14, 0,
 
+					-5.68, -15.92, 0, -15.26, -17.45, 0, -17.59, -16.22, 0, -19.98, -14.53,
 
+					0, -22.03, -12.75, 0, -23.79, -8.2, 0, -26.57, 0.89, 0, -52.05, 100.97,
 
+					0, -47.34, 115.73, 0, -40.4, 122.3, 0, -36.06, 123.67, 0, 23.43, 141.03,
 
+					0, 235.4, 186.38, 0, 247.38, 188.33, 0, 255.22, 187.49, 0, 261.95,
 
+					177.78, 0, 284, 89, 0, 293, 56, 0, 119.11, 12.65, 0,
 
+				],
 
+				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,
 
+				],
 
+				start: function() {},
 
+				startPoint: false,
 
+				carStart: false,
 
+				carmeDownW: 300,
 
+				carmeDownH: 280,
 
+				count: 1,
 
+				isMove: false,
 
+			};
 
+		},
 
+		methods: {
 
+			cleanPoint() {
 
+				//清除打点
 
+				this.startPoint = true;
 
+				this.position = [];
 
+				console.log(this.position);
 
+			},
 
+			pointEnabled() {
 
+				// this.allowAllow = true;
 
+				this.cleanPoint();
 
+			},
 
+		},
 
+		mounted() {
 
+			let that = this;
 
+			let carmeDownW = this.carmeDownW;
 
+			let carmeDownH = this.carmeDownH;
 
+			/* globals */
 
+			//版本问题，打印THREE，发现并没有VertexColors，于是查找资料中才发现把vertexColors: THREE.VertexColors设置为vertexColors: true即可
 
+			THREE.vertexColors = true;
 
+			console.log(1)
 
+			let curvePath = null;
 
+			var ModuleOpenDrive = null;
 
+			var OpenDriveMap = null;
 
+			var refline_lines = null;
 
+			var road_network_mesh = null;
 
+			var roadmarks_mesh = null;
 
+			var lane_outline_lines = null;
 
+			var roadmark_outline_lines = null;
 
+			var ground_grid = null;
 
+			var disposable_objs = [];
 
+			var mouse = new THREE.Vector2();
 
+			var spotlight_info = document.getElementById("spotlight_info");
 
+			//相交车道ID
 
+			var INTERSECTED_LANE_ID = 0xffffffff;
 
+			var INTERSECTED_ROADMARK_ID = 0xffffffff;
 
+			//聚集光是否暂停
 
+			var spotlight_paused = false;
 
+			//鼠标点击的三位坐标
 
+			var mouse3D = [];
 
+			var car3D = null;
 
+			var lights = this.lights;
 
+			var isMove = this.isMove;
 
+			var carStart = this.carStart;
 
+			var wheels = [];
 
+			var line = null;
 
+			const COLORS = {
 
+				road: 1.0,
 
+				roadmark: 1.0,
 
+				road_object: 0.9,
 
+				lane_outline: 0xae52d4,
 
+				roadmark_outline: 0xffffff,
 
+				ref_line: 0x69f0ae,
 
+				background: 0x444444,
 
+				lane_highlight: 0xff3030,
 
+				roadmark_highlight: 0xff0000,
 
+			};
 
+
 
+			//自适应大小
 
+			window.addEventListener("resize", onWindowResize, false);
 
+
 
+			//监听鼠标位置改变
 
+			window.addEventListener("mousemove", onDocumentMouseMove, false);
 
+			window.addEventListener("dblclick", onDocumentMouseDbClick, false);
 
+			window.addEventListener("click", recordPathPoint, false);
 
+			/* notifactions */
 
+			const notyf = new Notyf({
 
+				duration: 3000,
 
+				position: {
 
+					x: "left",
 
+					y: "bottom"
 
+				},
 
+				types: [{
 
+					type: "info",
 
+					background: "#607d8b",
 
+					icon: false
 
+				}],
 
+			});
 
+
 
+			//创建渲染器
 
+			const 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
 
+			renderer.shadowMap.enabled = true;
 
+			//设置渲染器渲染区域
 
+			renderer.setSize(window.innerWidth, window.innerHeight);
 
+			//渲染
 
+			document.getElementById("ThreeJS").appendChild(renderer.domElement);
 
+
 
+			//创建场景
 
+			const scene = new THREE.Scene();
 
+			//创建透视相机
 
+			const camera = new THREE.PerspectiveCamera(
 
+				75,
 
+				window.innerWidth / window.innerHeight,
 
+				0.1,
 
+				100000
 
+			);
 
+			//让Z轴朝上+
 
+			camera.up.set(0, 0, 1); /* Coordinate system with Z pointing up */
 
+			//创建控制器
 
+			const controls = new OrbitControls(camera, renderer.domElement);
 
+			//const controls = new THREE.OrbControls(camera, renderer.domElement);
 
+			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
 
+				isMove = true;
 
+			});
 
+			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
 
+				isMove = false;
 
+			});
 
+			//controls.autoRotate = true; //开启旋转
 
+			//创建平行光
 
+			let light;
 
+			for (let index = 0; index < lights.length / 2; index++) {
 
+				light = new THREE.DirectionalLight(0xffffff, 0.6);
 
+				light.position.set(lights[2 * index], lights[2 * index + 1], 5);
 
+				scene.add(light);
 
+				//平行光方向指向原点（0，0，0）
 
+				scene.add(light.target);
 
+			}
 
+
 
+			//添加坐标轴辅助器
 
+			const axesHepler = new THREE.AxesHelper(5);
 
+			scene.add(axesHepler);
 
+
 
+			const rgbeLoader = new RGBELoader();
 
+			//加载模型车
 
+			let wheelPhysicalMaterial = new THREE.MeshPhysicalMaterial({
 
+				color: 0xff0000,
 
+				metalness: 1,
 
+				roughness: 0.5,
 
+				transmission: 1,
 
+				transparent: true,
 
+				clearcoatRoughness: 0,
 
+			});
 
+
 
+			let carBodyPhysicalMaterial = new THREE.MeshPhysicalMaterial({
 
+				color: 0xff0000,
 
+				metalness: 1,
 
+				roughness: 0.5,
 
+				clearcoat: 1,
 
+				clearcoatRoughness: 0,
 
+			});
 
+
 
+			let carFrontPhysicalMaterial = new THREE.MeshPhysicalMaterial({
 
+				color: 0xff0000,
 
+				metalness: 1,
 
+				roughness: 0.5,
 
+				clearcoat: 1,
 
+				clearcoatRoughness: 0,
 
+			});
 
+
 
+			let carHoodPhysicalMaterial = new THREE.MeshPhysicalMaterial({
 
+					color: 0xff0000,
 
+					metalness: 1,
 
+					roughness: 0.5,
 
+					clearcoat: 1,
 
+					clearcoatRoughness: 0,
 
+				}),
 
+				carGlassPhysicalMaterial = new THREE.MeshPhysicalMaterial({
 
+					color: 0xffffff,
 
+					metalness: 0,
 
+					roughness: 0,
 
+					transmission: 1,
 
+					transparent: true,
 
+				});
 
+			const gltfLoader = new GLTFLoader().setPath(
 
+				"/"
 
+			);
 
+			// const gltfLoader = new GLTFLoader().setPath(
 
+			//   "@static/"
 
+			// );
 
+			const dracoLoader = new DRACOLoader();
 
+			dracoLoader.setDecoderPath("/gltf/");
 
+			gltfLoader.setDRACOLoader(dracoLoader);
 
+			const wheelNames = ["柱体001", "柱体002", "柱体003", "柱体007"];
 
+			gltfLoader.loadAsync("glb/car.glb").then((gltf) => {
 
+				//映射-折射映射，不设置将不会透明
 
+				car3D = gltf.scene;
 
+				let index = 0;
 
+				gltf.scene.traverse((child) => {
 
+					if (child.isMesh) {
 
+						const wheelNames = ["左后轮毂", "右后轮毂", "前轮毂"];
 
+						// if(!wheelNames.includes(child.name)){
 
+						//   child.visible = false;
 
+						// }
 
+						if (wheelNames.includes(child.name)) {
 
+							child.material = wheelPhysicalMaterial;
 
+							wheels.push(child);
 
+						}
 
+						if (child.name.includes("Mesh002")) {
 
+							child.material = carBodyPhysicalMaterial;
 
+						}
 
+						if (child.name.includes("前脸")) {
 
+							child.material = carFrontPhysicalMaterial;
 
+						}
 
+						if (child.name.includes("引擎盖_1")) {
 
+							child.material = carHoodPhysicalMaterial;
 
+						}
 
+						if (child.name.includes("挡风玻璃")) {
 
+							child.material = carGlassPhysicalMaterial;
 
+						}
 
+					}
 
+					index++;
 
+				});
 
+				gltf.scene.rotation.z = Math.PI;
 
+				gltf.scene.rotation.x = -Math.PI / 2;
 
+				gltf.scene.position.z += 0.05;
 
+				scene.add(gltf.scene);
 
+			});
 
+
 
+			//选择车道线场景
 
+			const lane_picking_scene = new THREE.Scene();
 
+			//车道线场景背景颜色
 
+			lane_picking_scene.background = new THREE.Color(0xffffff);
 
+			//路标场景
 
+			const roadmark_picking_scene = new THREE.Scene();
 
+			//路标场景背景颜色
 
+			roadmark_picking_scene.background = new THREE.Color(0xffffff);
 
+			//坐标场景
 
+			const xyz_scene = new THREE.Scene();
 
+			//坐标场景背景颜色
 
+			xyz_scene.background = new THREE.Color(0xffffff);
 
+			const st_scene = new THREE.Scene();
 
+			st_scene.background = new THREE.Color(0xffffff);
 
+
 
+			//创建渲染器
 
+			const lane_picking_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			const roadmark_picking_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			const xyz_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			const st_texture = new THREE.WebGLRenderTarget(1, 1, {
 
+				type: THREE.FloatType,
 
+			});
 
+			//获取顶点着色器
 
+			const idVertexShader =
 
+				document.getElementById("idVertexShader").textContent;
 
+			console.log(idVertexShader)
 
+			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
 
+			const refline_material = new THREE.LineBasicMaterial({
 
+				color: COLORS.ref_line,
 
+				//color: 0x0000ff,
 
+			});
 
+
 
+			const road_network_material = new THREE.MeshPhongMaterial({
 
+				//vertexColors: THREE.VertexColors,
 
+				//版本问题，打印THREE，发现并没有VertexColors，于是查找资料中才发现把vertexColors: THREE.VertexColors设置为vertexColors: true即可
 
+				vertexColors: THREE.VertexColors,
 
+				wireframe: PARAMS.wireframe, //显示现况
 
+				shininess: 20.0,
 
+				transparent: true,
 
+				opacity: 0.4,
 
+			});
 
+
 
+			//道路线
 
+			const lane_outlines_material = new THREE.LineBasicMaterial({
 
+				color: COLORS.lane_outline,
 
+			});
 
+
 
+			//外侧线
 
+			const roadmark_outlines_material = new THREE.LineBasicMaterial({
 
+				color: COLORS.roadmark_outline,
 
+			});
 
+			const id_material = new THREE.ShaderMaterial({
 
+				vertexShader: idVertexShader,
 
+				fragmentShader: idFragmentShader,
 
+			});
 
+			const xyz_material = new THREE.ShaderMaterial({
 
+				vertexShader: xyzVertexShader,
 
+				fragmentShader: xyzFragmentShader,
 
+			});
 
+			const st_material = new THREE.ShaderMaterial({
 
+				vertexShader: stVertexShader,
 
+				fragmentShader: stFragmentShader,
 
+			});
 
+			const roadmarks_material = new THREE.MeshBasicMaterial({
 
+				vertexColors: THREE.VertexColors,
 
+			});
 
+			const road_objects_material = new THREE.MeshBasicMaterial({
 
+				vertexColors: THREE.VertexColors,
 
+				side: THREE.DoubleSide,
 
+				wireframe: true,
 
+			});
 
+
 
+			/* load WASM + odr map */
 
+			libOpenDrive().then((Module) => {
 
+				ModuleOpenDrive = Module;
 
+				fetch("/map/mine3.xodr").then(
 
+					(file_data) => {
 
+						file_data.text().then((file_text) => {
 
+							//加载数据文件
 
+							loadFile(file_text, false);
 
+						});
 
+					}
 
+				);
 
+			});
 
+
 
+			function onFileSelect(file) {
 
+				let file_reader = new FileReader();
 
+				file_reader.onload = () => {
 
+					loadFile(file_reader.result, true);
 
+				};
 
+				file_reader.readAsText(file);
 
+			}
 
+
 
+			function loadFile(file_text, clear_map) {
 
+				//清除文件系统中保存的文件节点
 
+				if (clear_map) 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
 
+				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 (OpenDriveMap) OpenDriveMap.delete();
 
+
 
+				//打开驱动地图
 
+				OpenDriveMap = new ModuleOpenDrive.OpenDriveMap(
 
+					"./data.xodr",
 
+					PARAMS.lateralProfile,
 
+					PARAMS.laneHeight,
 
+					true
 
+				);
 
+				loadOdrMap(clear_map);
 
+			}
 
+
 
+			function reloadOdrMap() {
 
+				if (OpenDriveMap) OpenDriveMap.delete();
 
+				OpenDriveMap = new ModuleOpenDrive.OpenDriveMap(
 
+					"./data.xodr",
 
+					PARAMS.lateralProfile,
 
+					PARAMS.laneHeight,
 
+					true
 
+				);
 
+				loadOdrMap(true, false);
 
+			}
 
+
 
+			function loadOdrMap(clear_map = true, fit_view = true) {
 
+				//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
 
+				if (clear_map) {
 
+					road_network_mesh.userData.odr_road_network_mesh.delete();
 
+					scene.remove(
 
+						road_network_mesh,
 
+						roadmarks_mesh,
 
+						road_objects_mesh,
 
+						refline_lines,
 
+						lane_outline_lines,
 
+						roadmark_outline_lines,
 
+						ground_grid
 
+					);
 
+					lane_picking_scene.remove(...lane_picking_scene.children);
 
+					roadmark_picking_scene.remove(...roadmark_picking_scene.children);
 
+					xyz_scene.remove(...xyz_scene.children);
 
+					st_scene.remove(...st_scene.children);
 
+					for (let obj of disposable_objs) obj.dispose();
 
+				}
 
+
 
+				/**
 
+				 * 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 = OpenDriveMap.get_refline_segments(
 
+					parseFloat(PARAMS.resolution)
 
+				);
 
+				//设置参考线坐标点
 
+				reflines_geom.setAttribute(
 
+					"position",
 
+					new THREE.Float32BufferAttribute(
 
+						getStdVecEntries(odr_refline_segments.vertices).flat(),
 
+						3
 
+					)
 
+				);
 
+				//设置参考线坐标点索引
 
+				reflines_geom.setIndex(
 
+					getStdVecEntries(odr_refline_segments.indices, true)
 
+				);
 
+				//创建参考线物体
 
+				refline_lines = new THREE.LineSegments(reflines_geom, refline_material);
 
+				refline_lines.renderOrder = 10;
 
+				//设置是否可见
 
+				refline_lines.visible = PARAMS.ref_line;
 
+				refline_lines.matrixAutoUpdate = false;
 
+				disposable_objs.push(reflines_geom);
 
+				//将参考线加入场景中
 
+				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 = 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;
 
+				//获取所有路段车道点集构建道路物体
 
+				const road_network_geom = get_geometry(odr_lanes_mesh);
 
+				//设置道路颜色
 
+				road_network_geom.attributes.color.array.fill(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 getStdMapEntries(
 
+						odr_lanes_mesh.lane_start_indices
 
+					)) {
 
+					//根据起始位置索引获取车道信息
 
+					const vert_idx_interval =
 
+						odr_lanes_mesh.get_idx_interval_lane(vert_start_idx);
 
+					//结束索引减去起始索引的长度就是该路段该车道的长度
 
+					const vert_count = vert_idx_interval[1] - vert_idx_interval[0];
 
+					//索引数据压缩
 
+					const vert_start_idx_encoded = 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, //存入的数据集合，批量存入，底层会打散
 
+							i * 4 //数组起始索引位置
 
+						);
 
+
 
+					road_network_geom.attributes.id.array.set(
 
+						attr_arr,
 
+						vert_idx_interval[0] * 4
 
+					);
 
+				}
 
+
 
+				disposable_objs.push(road_network_geom);
 
+				road_network_mesh = new THREE.Mesh(
 
+					road_network_geom,
 
+					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");
 
+				scene.add(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, id_material);
 
+				lane_picking_mesh.matrixAutoUpdate = false;
 
+				lane_picking_scene.add(lane_picking_mesh);
 
+
 
+				/* xyz coords road network mesh */
 
+				const xyz_mesh = new THREE.Mesh(road_network_geom, xyz_material);
 
+				xyz_mesh.matrixAutoUpdate = false;
 
+				xyz_scene.add(xyz_mesh);
 
+
 
+				/* st coords road network mesh */
 
+				const st_mesh = new THREE.Mesh(road_network_geom, st_material);
 
+				st_mesh.matrixAutoUpdate = false;
 
+				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 = get_geometry(odr_roadmarks_mesh);
 
+				roadmarks_geom.attributes.color.array.fill(COLORS.roadmark);
 
+				for (const [vert_start_idx, _] of 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 = 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
 
+					);
 
+				}
 
+				disposable_objs.push(roadmarks_geom);
 
+
 
+				/* roadmarks mesh */
 
+				roadmarks_mesh = new THREE.Mesh(roadmarks_geom, roadmarks_material);
 
+				roadmarks_mesh.matrixAutoUpdate = false;
 
+				roadmarks_mesh.visible = !(PARAMS.view_mode == "Outlines") && PARAMS.roadmarks;
 
+				scene.add(roadmarks_mesh);
 
+
 
+				//离屏渲染车道线宽度区域
 
+				const roadmark_picking_mesh = new THREE.Mesh(roadmarks_geom, id_material);
 
+				roadmark_picking_mesh.matrixAutoUpdate = false;
 
+				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 = get_geometry(odr_road_objects_mesh);
 
+				road_objects_geom.attributes.color.array.fill(COLORS.road_object);
 
+				for (const [vert_start_idx, _] of 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 = 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
 
+					);
 
+				}
 
+				disposable_objs.push(road_objects_geom);
 
+
 
+				/* road objects mesh */
 
+				let road_objects_mesh = new THREE.Mesh(
 
+					road_objects_geom,
 
+					road_objects_material
 
+				);
 
+				road_objects_mesh.matrixAutoUpdate = false;
 
+				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(
 
+					getStdVecEntries(odr_lanes_mesh.get_lane_outline_indices(), true)
 
+				);
 
+				lane_outline_lines = new THREE.LineSegments(
 
+					lane_outlines_geom,
 
+					lane_outlines_material
 
+				);
 
+				lane_outline_lines.renderOrder = 9;
 
+				disposable_objs.push(lane_outlines_geom);
 
+				//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(
 
+					getStdVecEntries(
 
+						odr_roadmarks_mesh.get_roadmark_outline_indices(),
 
+						true
 
+					)
 
+				);
 
+				roadmark_outline_lines = new THREE.LineSegments(
 
+					roadmark_outlines_geom,
 
+					roadmark_outlines_material
 
+				);
 
+				roadmark_outline_lines.renderOrder = 8;
 
+				roadmark_outline_lines.matrixAutoUpdate = false;
 
+				disposable_objs.push(roadmark_outlines_geom);
 
+				roadmark_outline_lines.visible = PARAMS.roadmarks;
 
+				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);
 
+				camera.far = max_diag_dist * 1.5;
 
+				//controls.autoRotate = fit_view;
 
+
 
+				if (fit_view) {
 
+					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);
 
+				ground_grid = new THREE.GridHelper(
 
+					max_diag_dist,
 
+					max_diag_dist / 10,
 
+					0x2f2f2f,
 
+					0x2f2f2f
 
+				);
 
+				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
 
+				);
 
+				disposable_objs.push(ground_grid.geometry);
 
+				scene.add(ground_grid);
 
+
 
+				const rgbeLoader = new RGBELoader();
 
+				rgbeLoader.loadAsync("hdr/christmas-sky.hdr").then((loader) => {
 
+					loader.mapping = THREE.EquirectangularRefractionMapping;
 
+					const sphereGeometry = new THREE.SphereBufferGeometry(1000);
 
+					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;
 
+					scene.add(sphereMesh);
 
+				});
 
+
 
+				/**
 
+				 * 灯光
 
+				 */
 
+				light.position.set(
 
+					bbox_reflines.min.x,
 
+					bbox_reflines.min.y,
 
+					bbox_reflines.max.z + max_diag_dist
 
+				);
 
+				light.target.position.set(
 
+					bbox_center_pt.x,
 
+					bbox_center_pt.y,
 
+					bbox_center_pt.z
 
+				);
 
+				light.position.needsUpdate = true;
 
+				light.target.position.needsUpdate = true;
 
+				light.target.updateMatrixWorld();
 
+
 
+				const t1 = performance.now();
 
+				console.log(
 
+					"Heap size: " + 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();
 
+				animate();
 
+			}
 
+
 
+			// 创建clock
 
+			const clock = new THREE.Clock();
 
+			const positionMap = new Map();
 
+
 
+			function 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(function() {
 
+					requestAnimationFrame(animate);
 
+				}, 1000 / 30);
 
+				// 获取总共耗时
 
+				const time = clock.getElapsedTime();
 
+				let t = time % 80;
 
+				t /= 80;
 
+				if (that.startPoint == false && that.carStart == true) {
 
+					//轮毂旋转
 
+					if (wheels.length > 0) {
 
+						let wheel;
 
+						for (let index = 0; index < wheels.length; index++) {
 
+							wheel = wheels[index];
 
+							let position = positionMap.get(index);
 
+							if (position == null) {
 
+								//先记录车轮的原始位置
 
+								position = wheel.position;
 
+								positionMap.set(index, wheel.position);
 
+							}
 
+							//将车轮放置原点
 
+							wheel.geometry.center();
 
+							//让车在原点进行旋转
 
+							wheel.rotateZ((60 / 360) * Math.PI);
 
+							//根据车子的初始位置进行复位
 
+							wheel.position.set(position.x, position.y, position.z);
 
+						}
 
+					}
 
+
 
+					// 通过point设置模型dd位置
 
+					const point = curvePath.getPointAt(t);
 
+					// 获取点的切线
 
+					const tangent = curvePath.getTangentAt(t);
 
+					const lookAt = tangent.add(point);
 
+				}
 
+
 
+				controls.update();
 
+
 
+				camera.setViewOffset(
 
+					renderer.domElement.width, //画布的宽度
 
+					renderer.domElement.height, //画布的高度
 
+					(renderer.domElement.width / 2) | 0, //画布坐标系中，相机的x坐标位置
 
+					(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
 
+				renderer.setRenderTarget(lane_picking_texture);
 
+				renderer.render(lane_picking_scene, camera);
 
+
 
+				renderer.setRenderTarget(roadmark_picking_texture);
 
+				renderer.render(roadmark_picking_scene, camera);
 
+
 
+				renderer.setRenderTarget(xyz_texture);
 
+				renderer.render(xyz_scene, camera);
 
+
 
+				renderer.setRenderTarget(st_texture);
 
+				renderer.render(st_scene, camera);
 
+
 
+				const lane_id_pixel_buffer = new Float32Array(4);
 
+				//拾取颜色
 
+				//console.log(mouse.x, window.innerHeight - mouse.y)
 
+				renderer.readRenderTargetPixels(
 
+					lane_picking_texture,
 
+					0, //相机截图左上角为坐标原点，相对于截图左上角而言的渲染起始点x坐标
 
+					0, //相机截图左上角为坐标原点，相对于截图左上角而言的渲染起始点y坐标
 
+					1, //渲染宽度范围
 
+					1, //渲染高度范围
 
+					lane_id_pixel_buffer
 
+				);
 
+				const roadmark_id_pixel_buffer = new Float32Array(4);
 
+				renderer.readRenderTargetPixels(
 
+					roadmark_picking_texture,
 
+					0,
 
+					0,
 
+					1,
 
+					1,
 
+					roadmark_id_pixel_buffer
 
+				);
 
+				const xyz_pixel_buffer = new Float32Array(4);
 
+				renderer.readRenderTargetPixels(
 
+					xyz_texture,
 
+					0,
 
+					0,
 
+					1,
 
+					1,
 
+					xyz_pixel_buffer
 
+				);
 
+				//记录webgl坐标
 
+				mouse3D[0] = xyz_pixel_buffer[0];
 
+				mouse3D[1] = xyz_pixel_buffer[1];
 
+				mouse3D[2] = xyz_pixel_buffer[2];
 
+				xyz_pixel_buffer[0] += OpenDriveMap.x_offs;
 
+				xyz_pixel_buffer[1] += OpenDriveMap.y_offs;
 
+				const st_pixel_buffer = new Float32Array(4);
 
+				renderer.readRenderTargetPixels(
 
+					st_texture,
 
+					0,
 
+					0,
 
+					1,
 
+					1,
 
+					st_pixel_buffer
 
+				);
 
+
 
+				camera.clearViewOffset();
 
+				renderer.setRenderTarget(null);
 
+				/**
 
+				 * 选中车道离屏渲染
 
+				 */
 
+
 
+				if (isValid(lane_id_pixel_buffer)) {
 
+					//根据颜色值解码成车道ID
 
+					const decoded_lane_id = decodeUInt32(lane_id_pixel_buffer);
 
+					//自定义数据中获取所有车段中的所有车道数据
 
+					const odr_lanes_mesh =
 
+						road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+					//本次选中的区域车道ID是否和上次一样
 
+					if (INTERSECTED_LANE_ID != decoded_lane_id) {
 
+						//当前是否是初始化状态，如果不是则进行初始化，防止重复初始化
 
+						if (INTERSECTED_LANE_ID != 0xffffffff) {
 
+							//根据车道ID索引获取车道信息
 
+							road_network_mesh.geometry.attributes.color.array.fill(
 
+								COLORS.road
 
+							);
 
+						}
 
+
 
+						//保存选中车道ID
 
+						INTERSECTED_LANE_ID = decoded_lane_id;
 
+						//根据车道ID获取车道信息
 
+						const lane_vert_idx_interval =
 
+							odr_lanes_mesh.get_idx_interval_lane(INTERSECTED_LANE_ID);
 
+						//获取该车道长度
 
+						const vert_count =
 
+							lane_vert_idx_interval[1] - lane_vert_idx_interval[0];
 
+						//修改离屏渲染场景中该车道的背景颜色
 
+						applyVertexColors(
 
+							road_network_mesh.geometry.attributes.color,
 
+							new THREE.Color(COLORS.lane_highlight),
 
+							lane_vert_idx_interval[0],
 
+							vert_count
 
+						);
 
+						//手动更新颜色值
 
+						road_network_mesh.geometry.attributes.color.needsUpdate = true;
 
+					}
 
+					//使用过后删除数据冗余，避免造成内存泄漏
 
+					odr_lanes_mesh.delete();
 
+				} else {
 
+					if (INTERSECTED_LANE_ID != 0xffffffff) {
 
+						const odr_lanes_mesh =
 
+							road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+						const lane_vert_idx_interval =
 
+							odr_lanes_mesh.get_idx_interval_lane(INTERSECTED_LANE_ID);
 
+						road_network_mesh.geometry.attributes.color.array.fill(COLORS.road);
 
+						road_network_mesh.geometry.attributes.color.needsUpdate = true;
 
+						odr_lanes_mesh.delete();
 
+						INTERSECTED_LANE_ID = 0xffffffff;
 
+					}
 
+				}
 
+
 
+				if (isValid(roadmark_id_pixel_buffer)) {
 
+					//获取
 
+					const decoded_roadmark_id = decodeUInt32(roadmark_id_pixel_buffer);
 
+					const odr_roadmarks_mesh =
 
+						road_network_mesh.userData.odr_road_network_mesh.roadmarks_mesh;
 
+					if (INTERSECTED_ROADMARK_ID != decoded_roadmark_id) {
 
+						if (INTERSECTED_ROADMARK_ID != 0xffffffff) {
 
+							const prev_roadmark_vert_idx_interval =
 
+								odr_roadmarks_mesh.get_idx_interval_roadmark(
 
+									INTERSECTED_ROADMARK_ID
 
+								);
 
+							roadmarks_mesh.geometry.attributes.color.array.fill(
 
+								COLORS.roadmark,
 
+								prev_roadmark_vert_idx_interval[0] * 3,
 
+								prev_roadmark_vert_idx_interval[1] * 3
 
+							);
 
+						}
 
+						INTERSECTED_ROADMARK_ID = decoded_roadmark_id;
 
+						const roadmark_vert_idx_interval =
 
+							odr_roadmarks_mesh.get_idx_interval_roadmark(
 
+								INTERSECTED_ROADMARK_ID
 
+							);
 
+						const vert_count =
 
+							roadmark_vert_idx_interval[1] - roadmark_vert_idx_interval[0];
 
+						applyVertexColors(
 
+							roadmarks_mesh.geometry.attributes.color,
 
+							new THREE.Color(COLORS.roadmark_highlight),
 
+							roadmark_vert_idx_interval[0],
 
+							vert_count
 
+						);
 
+						roadmarks_mesh.geometry.attributes.color.needsUpdate = true;
 
+					}
 
+					odr_roadmarks_mesh.delete();
 
+				} else {
 
+					if (INTERSECTED_ROADMARK_ID != 0xffffffff) {
 
+						const odr_roadmarks_mesh =
 
+							road_network_mesh.userData.odr_road_network_mesh.roadmarks_mesh;
 
+						const roadmark_vert_idx_interval =
 
+							odr_roadmarks_mesh.get_idx_interval_lane(INTERSECTED_ROADMARK_ID);
 
+						roadmarks_mesh.geometry.attributes.color.array.fill(
 
+							COLORS.roadmark,
 
+							roadmark_vert_idx_interval[0] * 3,
 
+							roadmark_vert_idx_interval[1] * 3
 
+						);
 
+						roadmarks_mesh.geometry.attributes.color.needsUpdate = true;
 
+						INTERSECTED_ROADMARK_ID = 0xffffffff;
 
+						odr_roadmarks_mesh.delete();
 
+					}
 
+				}
 
+
 
+				if (INTERSECTED_LANE_ID != 0xffffffff) {
 
+					const odr_lanes_mesh =
 
+						road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+					const road_id = odr_lanes_mesh.get_road_id(INTERSECTED_LANE_ID);
 
+					const lanesec_s0 = odr_lanes_mesh.get_lanesec_s0(INTERSECTED_LANE_ID);
 
+					const lane_id = odr_lanes_mesh.get_lane_id(INTERSECTED_LANE_ID);
 
+					const lane_type = OpenDriveMap.roads
 
+						.get(road_id)
 
+						.s_to_lanesection.get(lanesec_s0)
 
+						.id_to_lane.get(lane_id).type;
 
+					odr_lanes_mesh.delete();
 
+				}
 
+				renderer.render(scene, camera);
 
+			}
 
+
 
+			//集合体
 
+			function get_geometry(odr_meshunion) {
 
+				const geom = new THREE.BufferGeometry();
 
+				geom.setAttribute(
 
+					"position",
 
+					new THREE.Float32BufferAttribute(
 
+						getStdVecEntries(odr_meshunion.vertices, true).flat(),
 
+						3
 
+					)
 
+				);
 
+				//获取uv坐标
 
+				geom.setAttribute(
 
+					"st",
 
+					new THREE.Float32BufferAttribute(
 
+						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(getStdVecEntries(odr_meshunion.indices, true));
 
+				geom.computeVertexNormals();
 
+				return geom;
 
+			}
 
+
 
+			//切换照相机视角
 
+			function fitViewToBbox(bbox, restrict_zoom = true) {
 
+				let center_pt = new THREE.Vector3();
 
+				//返回盒子的中心点
 
+				bbox.getCenter(center_pt);
 
+
 
+				const l2xy =
 
+					0.5 *
 
+					Math.sqrt(
 
+						Math.pow(bbox.max.x - bbox.min.x, 2.0) +
 
+						Math.pow(bbox.max.y - bbox.min.y, 2)
 
+					);
 
+				const fov2r = camera.fov * 0.5 * (Math.PI / 180.0);
 
+				const dz = l2xy / Math.tan(fov2r);
 
+
 
+				camera.position.set(bbox.min.x, center_pt.y, bbox.max.z + dz);
 
+				controls.target.set(center_pt.x, center_pt.y, center_pt.z);
 
+				if (restrict_zoom)
 
+					controls.maxDistance = center_pt.distanceTo(bbox.max) * 1.2;
 
+				controls.update();
 
+			}
 
+
 
+			function fitViewToObj(obj) {
 
+				const bbox = new THREE.Box3().setFromObject(obj);
 
+				fitViewToBbox(bbox);
 
+			}
 
+
 
+			//改变颜色
 
+			function 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);
 
+			}
 
+
 
+			function 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;
 
+			}
 
+
 
+			function getStdMapEntries(std_map) {
 
+				let map_entries = [];
 
+				//key路段索引 ， std_map.get(key)车道编号
 
+				for (let key of getStdMapKeys(std_map)) {
 
+					map_entries.push([key, std_map.get(key)]);
 
+				}
 
+				return map_entries;
 
+			}
 
+
 
+			function 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;
 
+			}
 
+
 
+			//判断当前拾取颜色是否是道路范围的颜色，否则视为无效拾取
 
+			function isValid(rgba) {
 
+				return !(rgba[0] == 1 && rgba[1] == 1 && rgba[2] == 1 && rgba[3] == 1);
 
+			}
 
+
 
+			//数据压缩
 
+			function 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;
 
+			}
 
+
 
+			//数据还原
 
+			function 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
 
+				);
 
+			}
 
+
 
+			//监听画面变化，更新渲染画面，（自适应的大小）
 
+			function onWindowResize() {
 
+				camera.aspect = window.innerWidth / window.innerHeight;
 
+				camera.updateProjectionMatrix();
 
+				renderer.setSize(window.innerWidth, window.innerHeight);
 
+				renderer.setPixelRatio(window.devicePixelRatio);
 
+			}
 
+
 
+			//记录鼠标位置
 
+			function onDocumentMouseMove(event) {
 
+				event.preventDefault();
 
+				mouse.x = event.clientX;
 
+				mouse.y = event.clientY;
 
+			}
 
+
 
+			//双击切换选中视角
 
+			function onDocumentMouseDbClick(e) {
 
+				//判断是否是初始换状态
 
+				if (INTERSECTED_LANE_ID != 0xffffffff) {
 
+					//获取车道线
 
+					const odr_lanes_mesh =
 
+						road_network_mesh.userData.odr_road_network_mesh.lanes_mesh;
 
+					const lane_vert_idx_interval =
 
+						odr_lanes_mesh.get_idx_interval_lane(INTERSECTED_LANE_ID);
 
+					//根据索引获取坐标
 
+					const vertA = odr_lanes_mesh.vertices.get(lane_vert_idx_interval[0]);
 
+					const vertB = odr_lanes_mesh.vertices.get(
 
+						lane_vert_idx_interval[1] - 1
 
+					);
 
+					odr_lanes_mesh.delete();
 
+					const bbox = new THREE.Box3();
 
+					//flat， 将数组所有元素都降维（一维）
 
+					bbox.setFromArray([vertA, vertB].flat());
 
+					fitViewToBbox(bbox, false);
 
+				}
 
+			}
 
+
 
+			function recordPathPoint(e) {
 
+				if (that.startPoint == true) {
 
+					if (that.count > 1) {
 
+						camera.setViewOffset(
 
+							renderer.domElement.width, //画布的宽度
 
+							renderer.domElement.height, //画布的高度
 
+							mouse.x | 0, //画布坐标系中，相机的x坐标位置
 
+							mouse.y | 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
 
+						);
 
+						renderer.setRenderTarget(xyz_texture);
 
+						renderer.render(xyz_scene, camera);
 
+						const xyz_pixel_buffer = new Float32Array(4);
 
+						renderer.readRenderTargetPixels(
 
+							xyz_texture,
 
+							0,
 
+							0,
 
+							1,
 
+							1,
 
+							xyz_pixel_buffer
 
+						);
 
+						//记录webgl坐标
 
+						mouse3D[0] = xyz_pixel_buffer[0];
 
+						mouse3D[1] = xyz_pixel_buffer[1];
 
+						mouse3D[2] = xyz_pixel_buffer[2];
 
+						camera.clearViewOffset();
 
+						renderer.setRenderTarget(null);
 
+						renderer.render(scene, camera);
 
+						that.position.push(mouse3D[0], mouse3D[1], mouse3D[2]);
 
+						console.log(mouse3D);
 
+						let cricle = new THREE.CircleBufferGeometry(0.5, 200);
 
+						let metrial = new THREE.MeshBasicMaterial({
 
+							color: 0xff0000
 
+						})
 
+						let mesh = new THREE.Mesh(cricle, metrial);
 
+						mesh.position.set(mouse3D[0], mouse3D[1], mouse3D[2] + 0.011)
 
+						scene.add(mesh);
 
+					} else {
 
+						that.count++;
 
+					}
 
+				}
 
+			}
 
+
 
+		},
 
+	};
 
+</script>
 
+<style scoped lang="less">
 
+	.three_div {
 
+		width: 100% !important;
 
+		height: 100% !important;
 
+	}
 
+
 
+	/deep/ canvas {
 
+		width: 100% !important;
 
+		height: 100% !important;
 
+	}
 
+</style>

+ 5 - 5
vue.config.js
查看文件 

@@ -72,12 +72,12 @@ module.exports = {
 
         }
 
     },
 
     devServer: { //跨域
 
-        port: "8082", //端口号
 
+        port: "8002", //端口号
 
         open: true, //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': {
 
-                target: 'http://36.110.106.156', // online-new
 
+                target: 'http://60.205.245.110:7001', // online-new
 
                 changeOrigin: true,
 
                 secure: false, // 如果是https接口，需要配置这个参数
 
                 pathRewrite: {
 
@@ -85,7 +85,7 @@ module.exports = {
 
                 }
 
             },
 
             '/simulation/resource/common': {
 
-                target: 'http://36.110.106.156', // online-new
 
+                target: 'http://60.205.245.110:8001', // online-new
 
                 changeOrigin: true,
 
                 secure: false, // 如果是https接口，需要配置这个参数
 
                 pathRewrite: {
 
@@ -93,7 +93,7 @@ module.exports = {
 
                 }
 
             },
 
             '/simulation/resource/server': {
 
-                target: 'http://36.110.106.156', // online-new
 
+                target: 'http://60.205.245.110:8005', // online-new
 
                 changeOrigin: true,
 
                 secure: false, // 如果是https接口，需要配置这个参数
 
                 pathRewrite: {
 
@@ -101,7 +101,7 @@ module.exports = {
 
                 }
 
             },
 
             '/simulation/resource/video': {
 
-                target: 'http://36.110.106.156', // online-new
 
+                target: 'http://60.205.245.110:8007', // online-new
 
                 changeOrigin: true,
 
                 secure: false, // 如果是https接口，需要配置这个参数
 
                 pathRewrite: {

部分文件因文件數量過多而無法顯示