Builds the three-phase path through a roundabout, including ring-lane selection and Bézier-based lane-change scheduling.
The roundabout group.
Entry exit and lane index.
Exit exit and lane index.
Lane width in world units, used for lane-change arc length.
Exit configs for all arms of the roundabout.
Approach, inside, and exit point arrays.
Builds the three-phase path through a roundabout, including ring-lane selection and Bézier-based lane-change scheduling.