tier4 · mackierx111 · Oct 8, 2025 · Sep 1, 2025 · Sep 1, 2025 · Sep 26, 2025
@@ -266543,11 +266543,11 @@ MonoBehaviour:
   _randomTrafficSims:
   - _enableSimulation: 1
     _trafficSimNpcVehiclePrefabs:
-    - {fileID: 1252738011092766975, guid: 6d7d303c5e4defa16b508cece3ef599e, type: 3}
-    - {fileID: 6165415753350049284, guid: a4db0a3241fc6cbcdb523a20abe25ec9, type: 3}
-    - {fileID: 6632081074653058128, guid: 2aab0ce90015ebadfadf702af88b666e, type: 3}
-    - {fileID: 7027408765914110385, guid: 467a68bbdca38cddda59c3c6af539d63, type: 3}
-    - {fileID: 8279803077700154773, guid: cd6e20f712013db92912be3accdca402, type: 3}
+    - {fileID: 2563257946706820547, guid: 6d7d303c5e4defa16b508cece3ef599e, type: 3}
+    - {fileID: -2738266875521181682, guid: a4db0a3241fc6cbcdb523a20abe25ec9, type: 3}
+    - {fileID: 6508327500362848844, guid: cd6e20f712013db92912be3accdca402, type: 3}
+    - {fileID: 8544599814613540701, guid: 2aab0ce90015ebadfadf702af88b666e, type: 3}
+    - {fileID: 8478247347008641927, guid: 467a68bbdca38cddda59c3c6af539d63, type: 3}
     _spawnableTrafficLanes:
     - {fileID: 226374874}
     - {fileID: 1362998551}

@@ -258203,11 +258203,11 @@ MonoBehaviour:
   _randomTrafficSims:
   - _enableSimulation: 1
     _trafficSimNpcVehiclePrefabs:
-    - {fileID: 1252738011092766975, guid: 5c643d7707cd41f77ac0bff3ef39954c, type: 3}
-    - {fileID: 6165415753350049284, guid: 7bab18aca6215d54fa8ee68bb595bec3, type: 3}
-    - {fileID: 6632081074653058128, guid: 9a11b607502a658f1aa503f127d82d2d, type: 3}
-    - {fileID: 7027408765914110385, guid: 378087bf43313d6119ea339dda5147fb, type: 3}
-    - {fileID: 8279803077700154773, guid: 8d82c1af41bf717b5885d6a2769f29c6, type: 3}
+    - {fileID: 2563257946706820547, guid: 5c643d7707cd41f77ac0bff3ef39954c, type: 3}
+    - {fileID: -2738266875521181682, guid: 7bab18aca6215d54fa8ee68bb595bec3, type: 3}
+    - {fileID: 6508327500362848844, guid: 8d82c1af41bf717b5885d6a2769f29c6, type: 3}
+    - {fileID: 8544599814613540701, guid: 9a11b607502a658f1aa503f127d82d2d, type: 3}
+    - {fileID: 8478247347008641927, guid: 378087bf43313d6119ea339dda5147fb, type: 3}
     _spawnableTrafficLanes:
     - {fileID: 1218941626}
     - {fileID: 1289732061}

@@ -29,12 +29,12 @@ public interface ITrafficSimulator
         /// <param name="spawnPoint"></param>
         /// <param name="spawnedVehicle"></param>
         /// <returns>True if spawned, False is failed to spawn.</returns>
-        public bool Spawn(GameObject prefab, NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle spawnedVehicle);
+        public bool Spawn(TrafficSimNpcVehicle prefab, NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle spawnedVehicle);
 
         /// <summary>
         /// Gets random spawn point and NPC prefab.
         /// </summary>
-        public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out GameObject prefab);
+        public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle prefab);
 
         /// <summary>
         /// Increase the traffic simulator spawn priority.

@@ -47,7 +47,7 @@ public class NpcVehicleSpawner
         /// Get random NPC vehicle prefab.
         /// </summary>
         /// <returns>NPC vehicle prefab</returns>
-        public GameObject GetRandomPrefab()
+        public TrafficSimNpcVehicle GetRandomPrefab()
             => _prefabs[Random.Range(0, _prefabs.Length)];
 
         /// <summary>
@@ -57,7 +57,7 @@ public GameObject GetRandomPrefab()
         public NpcVehicleSpawnPoint GetRandomSpawnPoint()
             => _spawnPoints[Random.Range(0, _spawnPoints.Length)];
 
-        GameObject[] _prefabs;
+        TrafficSimNpcVehicle[] _prefabs;
         NpcVehicleSpawnPoint[] _spawnPoints;
         GameObject _NpcVehicleParentsObj;
 
@@ -66,7 +66,7 @@ public NpcVehicleSpawnPoint GetRandomSpawnPoint()
         /// </summary>
         /// <param name="prefabs">NPC vehicle prefabs to be spawned.</param>
         /// <param name="spawnableLanes">Lanes where vehicles can spawn.</param>
-        public NpcVehicleSpawner(GameObject parentsObj, GameObject[] prefabs, TrafficLane[] spawnableLanes)
+        public NpcVehicleSpawner(GameObject parentsObj, TrafficSimNpcVehicle[] prefabs, TrafficLane[] spawnableLanes)
         {
             this._NpcVehicleParentsObj = parentsObj;
             this._prefabs = prefabs;
@@ -123,7 +123,7 @@ public bool TryGetRandomSpawnablePoint(GameObject prefab, out NpcVehicleSpawnPoi
         /// <param name="prefab">NPC vehicle prefab</param>
         /// <param name="npcVehicleSpawnPoint">Spawn point</param>
         /// <returns>Spawned NPC vehicle.</returns>
-        public TrafficSimNpcVehicle Spawn(GameObject prefab, uint vehicleId, NpcVehicleSpawnPoint npcVehicleSpawnPoint)
+        public TrafficSimNpcVehicle Spawn(TrafficSimNpcVehicle prefab, uint vehicleId, NpcVehicleSpawnPoint npcVehicleSpawnPoint)
         {
             var obj = Object.Instantiate(prefab, npcVehicleSpawnPoint.Position, Quaternion.identity);
             obj.name = obj.name + "_" + vehicleId.ToString();

@@ -22,7 +22,7 @@ public class RandomTrafficSimulatorConfiguration
     {
         public bool EnableSimulation => _enableSimulation;
 
-        public GameObject[] TrafficSimNpcVehiclePrefabs => _trafficSimNpcVehiclePrefabs;
+        public TrafficSimNpcVehicle[] TrafficSimNpcVehiclePrefabs => _trafficSimNpcVehiclePrefabs;
 
         public TrafficLane[] SpawnableTrafficLanes => _spawnableTrafficLanes;
 
@@ -36,7 +36,7 @@ public class RandomTrafficSimulatorConfiguration
 
         [Tooltip("NPCs to be spawned.")]
         [SerializeField]
-        GameObject[] _trafficSimNpcVehiclePrefabs;
+        TrafficSimNpcVehicle[] _trafficSimNpcVehiclePrefabs;
 
         [Tooltip("TrafficLanes where NPC vehicles can spawn.")]
         [SerializeField]
@@ -71,7 +71,7 @@ public class RandomTrafficSimulator : ITrafficSimulator
 
         private int spawnPriority = 0;
 
-        private GameObject nextPrefabToSpawn = null;
+        private TrafficSimNpcVehicle nextPrefabToSpawn = null;
 
         public void IncreasePriority(int priority)
         {
@@ -95,7 +95,7 @@ public bool IsEnabled()
         }
 
         public RandomTrafficSimulator(GameObject parent,
-            GameObject[]
+            TrafficSimNpcVehicle[]
             prefabs,
             TrafficLane[]
             spawnableLanes,
@@ -108,7 +108,7 @@ public RandomTrafficSimulator(GameObject parent,
             npcVehicleSpawner = new NpcVehicleSpawner(parent, prefabs, spawnableLanes);
         }
 
-        public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out GameObject prefab)
+        public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle prefab)
         {
             // NPC prefab is randomly chosen and is fixed until it is spawned. This is due to avoid prefab "bound" race conditions
             // when smaller cars will always be chosen over larger ones while the spawning process checks if the given prefab can be 
@@ -124,7 +124,7 @@ public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out GameObje
             spawnPoint = npcVehicleSpawner.GetRandomSpawnPoint();
         }
 
-        public bool Spawn(GameObject prefab, NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle spawnedVehicle)
+        public bool Spawn(TrafficSimNpcVehicle prefab, NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle spawnedVehicle)
         {
             if (IsMaximumSpawnsNumberReached())
             {

@@ -23,7 +23,7 @@ public struct RouteTrafficSimulatorConfiguration
     {
         public bool EnableSimulation => _enableSimulation;
 
-        public GameObject[] TrafficSimNpcVehiclePrefabs => _trafficSimNpcVehiclePrefabs;
+        public TrafficSimNpcVehicle[] TrafficSimNpcVehiclePrefabs => _trafficSimNpcVehiclePrefabs;
 
         public TrafficLane[] RouteLanes => _routeLanes;
 
@@ -36,7 +36,7 @@ public struct RouteTrafficSimulatorConfiguration
         bool _enableSimulation;
 
         [SerializeField]
-        GameObject[] _trafficSimNpcVehiclePrefabs;
+        TrafficSimNpcVehicle[] _trafficSimNpcVehiclePrefabs;
 
         [Tooltip("Route to follow. The first element also acts as a spawn lane.")]
         [SerializeField]
@@ -66,7 +66,7 @@ public class RouteTrafficSimulator : ITrafficSimulator
         private NpcVehicleSpawner npcVehicleSpawner;
         private int currentSpawnNumber = 0;
         private int spawnPriority = 0;
-        private GameObject nextPrefabToSpawn = null;
+        private TrafficSimNpcVehicle nextPrefabToSpawn = null;
 
         public void IncreasePriority(int priority)
         {
@@ -90,7 +90,7 @@ public bool IsEnabled()
         }
 
         public RouteTrafficSimulator(GameObject parent,
-            GameObject[] npcPrefabs,
+            TrafficSimNpcVehicle[] npcPrefabs,
             TrafficLane[] npcRoute,
             NpcVehicleSimulator vehicleSimulator,
             int maxSpawns = 0)
@@ -102,7 +102,7 @@ public RouteTrafficSimulator(GameObject parent,
             npcVehicleSpawner = new NpcVehicleSpawner(parent, npcPrefabs, spawnableLane);
         }
 
-        public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out GameObject prefab)
+        public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle prefab)
         {
             // NPC prefab is randomly chosen and is fixed until it is spawned. This is due to avoid prefab "bound" race conditions
             // when smaller cars will always be chosen over larger ones while the spawning process checks if the given prefab can be 
@@ -118,7 +118,7 @@ public void GetRandomSpawnInfo(out NpcVehicleSpawnPoint spawnPoint, out GameObje
             spawnPoint = npcVehicleSpawner.GetRandomSpawnPoint();
         }
 
-        public bool Spawn(GameObject prefab, NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle spawnedVehicle)
+        public bool Spawn(TrafficSimNpcVehicle prefab, NpcVehicleSpawnPoint spawnPoint, out TrafficSimNpcVehicle spawnedVehicle)
         {
             if (IsMaximumSpawnsNumberReached())
             {

@@ -62,7 +62,7 @@ public class TrafficSimulator : MonoBehaviour
         [SerializeField] RouteTrafficSimulatorConfiguration[] _routeTrafficSims;
         [SerializeField] NpcVehicleSimulator _npcVehicleSimulator;
         List<ITrafficSimulator> _trafficSimulatorNodes;
-        Dictionary<NpcVehicleSpawnPoint, Dictionary<ITrafficSimulator, GameObject>> _spawnLanes;
+        Dictionary<NpcVehicleSpawnPoint, Dictionary<ITrafficSimulator, TrafficSimNpcVehicle>> _spawnLanes;
         List<TrafficSimNpcVehicle> _trafficSimNpcVehicleList;
 
         bool _isTrafficIntersectionInitialized = false;     // TODO: Consider how to reset the traffic simulator without having flags.
@@ -97,7 +97,7 @@ public void Initialize()
 
             Random.InitState(_seed);
 
-            _spawnLanes = new Dictionary<NpcVehicleSpawnPoint, Dictionary<ITrafficSimulator, GameObject>>();
+            _spawnLanes = new Dictionary<NpcVehicleSpawnPoint, Dictionary<ITrafficSimulator, TrafficSimNpcVehicle>>();
 
             _npcVehicleSimulator = new NpcVehicleSimulator(_vehicleConfig, _obstacleLayerMask, _groundLayerMask, _maxVehicleCount, _egoVehicle);
 
@@ -169,7 +169,7 @@ public void OnFixedUpdate()
                 }
                 else
                 {
-                    var tsims = new Dictionary<ITrafficSimulator, GameObject>();
+                    var tsims = new Dictionary<ITrafficSimulator, TrafficSimNpcVehicle>();
                     tsims.Add(trafficSimulator, prefab);
                     _spawnLanes.Add(spawnPoint, tsims);
                 }
@@ -192,7 +192,7 @@ public void OnFixedUpdate()
                     var tsimAndPrefab = spawnLoc.Value.First();
                     var trafficSim = tsimAndPrefab.Key;
                     var prefab = tsimAndPrefab.Value;
-                    if (!NpcVehicleSpawner.IsSpawnable(prefab.GetComponent<TrafficSimNpcVehicle>().NpcVehicle.Bounds, spawnLoc.Key))
+                    if (!NpcVehicleSpawner.IsSpawnable(prefab.NpcVehicle.Bounds, spawnLoc.Key))
                         continue;
                     var spawned = trafficSim.Spawn(prefab, spawnLoc.Key, out spawnedVehicle);
                 }
@@ -201,7 +201,7 @@ public void OnFixedUpdate()
                     var priorityTrafficSimList = spawnLoc.Value.OrderByDescending(x => x.Key.GetCurrentPriority());
                     var priorityTrafficSimGo = priorityTrafficSimList.First();
                     var prefab = priorityTrafficSimGo.Value;
-                    if (!NpcVehicleSpawner.IsSpawnable(prefab.GetComponent<TrafficSimNpcVehicle>().NpcVehicle.Bounds, spawnLoc.Key))
+                    if (!NpcVehicleSpawner.IsSpawnable(prefab.NpcVehicle.Bounds, spawnLoc.Key))
                     {
                         continue;
                     }