/// <summary>
/// Set position from world coordinates in the Unity coordinate system.
/// </summary>
public static void SetWorldPosition(int openDriveIndex, Vector3 position, Vector3 rotationEuler)
{
Vector3 odrPos = GetOpenDrivePosition(position);
Vector3 odrRot = GetOpenDriveRotation(rotationEuler);
RoadManagerLibraryCS.SetWorldPosition(openDriveIndex, odrPos.x, odrPos.y, odrPos.z, odrRot.x, odrRot.y, odrRot.z);
}
/// <summary>
/// Set position from world coordinates in the Unity coordinate system.
/// </summary>
public static void SetWorldPosition(int openDriveIndex, Vector3 position)
{
Vector3 odrPos = GetOpenDrivePosition(position);
RoadManagerLibraryCS.SetWorldXYHPosition(openDriveIndex, odrPos.x, odrPos.y, 0);
RoadManagerLibraryCS.GetPositionData(openDriveIndex, ref tmpPosData);
RoadManagerLibraryCS.SetLanePosition(openDriveIndex, tmpPosData.roadId, tmpPosData.laneId, tmpPosData.laneOffset, tmpPosData.s, true);
}
/// <summary>
/// Sets the given transform to match the position and rotation of the road user with handle index.
/// </summary>
/// <param name="openDriveIndex"></param>
/// <param name="gameObjTransform">Transform of the road user game object.</param>
public static void AlignGameObjectToHandle(int openDriveIndex, GameObject go)
{
RoadManagerLibraryCS.GetPositionData(openDriveIndex, ref tmpPosData);
Vector3 pos = GetUnityPosition(tmpPosData);
Quaternion rot = GetUnityRotation(tmpPosData);
go.transform.SetPositionAndRotation(pos, rot);
}
public static void GetLaneInfo(int openDriveIndex, float lookAheadDistance, ref RoadLaneInfoUnityCoordinates laneInfo, int lookAheadMode)
{
RoadManagerLibraryCS.GetLaneInfo(openDriveIndex, lookAheadDistance, ref tmpLaneInfo, lookAheadMode);
laneInfo.position = GetUnityPosition(tmpLaneInfo.pos[0], tmpLaneInfo.pos[1], tmpLaneInfo.pos[2]);
laneInfo.rotation = GetUnityRotation(tmpLaneInfo.heading, tmpLaneInfo.pitch, tmpLaneInfo.roll);
laneInfo.curvature = tmpLaneInfo.curvature;
laneInfo.speedLimit = tmpLaneInfo.speed_limit;
laneInfo.width = tmpLaneInfo.width;
}
/// <summary>
/// Returns the world position and rotation of the road user with handle index.
/// </summary>
/// <param name="openDriveIndex"></param>
/// <returns></returns>
public static WorldPose GetWorldPose(int openDriveIndex)
{
WorldPose pose = new WorldPose();
RoadManagerLibraryCS.GetPositionData(openDriveIndex, ref tmpPosData);
pose.position = GetUnityPosition(tmpPosData);
pose.rotation = GetUnityRotation(tmpPosData);
return(pose);
}
public static void GetOpenDrivePositionDataUnityCoordinates(int openDriveIndex, ref OpenDrivePositionDataUnityCoordinates unityPosData)
{
RoadManagerLibraryCS.GetPositionData(openDriveIndex, ref tmpPosData);
unityPosData.position = GetUnityPosition(tmpPosData);
unityPosData.rotation = GetUnityRotation(tmpPosData);
unityPosData.hRelative = tmpPosData.hRelative;
unityPosData.laneId = tmpPosData.laneId;
unityPosData.laneOffset = tmpPosData.laneOffset;
unityPosData.roadId = tmpPosData.roadId;
unityPosData.s = tmpPosData.s;
}
public static void GetProbeInfo(int openDriveIndex, float lookAheadDistance, ref RoadProbeInfoUnityCoordinates probeInfo, int lookAheadMode, bool inRoadDrivingDirection = false)
{
RoadManagerLibraryCS.GetProbeInfo(openDriveIndex, lookAheadDistance, ref tmpProbeInfo, lookAheadMode, inRoadDrivingDirection);
probeInfo.roadLaneInfo.position = GetUnityPosition(tmpProbeInfo.laneInfo.pos[0], tmpProbeInfo.laneInfo.pos[1], tmpProbeInfo.laneInfo.pos[2]);
probeInfo.roadLaneInfo.rotation = GetUnityRotation(tmpProbeInfo.laneInfo.heading, tmpProbeInfo.laneInfo.pitch, tmpProbeInfo.laneInfo.roll);
probeInfo.roadLaneInfo.curvature = tmpProbeInfo.laneInfo.curvature;
probeInfo.roadLaneInfo.speedLimit = tmpProbeInfo.laneInfo.speed_limit;
probeInfo.roadLaneInfo.width = tmpProbeInfo.laneInfo.width;
probeInfo.relativePosition = GetUnityPosition(tmpProbeInfo.relativePos[0], tmpProbeInfo.relativePos[1], tmpProbeInfo.relativePos[2]);
probeInfo.relativeHeading = tmpProbeInfo.relativeHeading;
}
//public static void GetLaneInfo(int openDriveIndex, float lookAheadDistance, ref RoadLaneInfoUnityCoordinates laneInfo)
//{
// GetLaneInfo(openDriveIndex, lookAheadDistance, ref laneInfo, 0);
//}
//public static void GetLaneInfo(int openDriveIndex, float lookAheadDistance, ref RoadLaneInfoUnityCoordinates laneInfo, int laneId)
//{
// RoadManagerLibraryCS.GetLaneInfo(openDriveIndex, lookAheadDistance, ref tmpLaneInfo);
// laneInfo.position = GetUnityPosition(tmpLaneInfo.pos[0], tmpLaneInfo.pos[1], tmpLaneInfo.pos[2]);
// laneInfo.rotation = GetUnityRotation(tmpLaneInfo.heading, tmpLaneInfo.pitch, tmpLaneInfo.roll);
// if (laneId >= 0)
// laneInfo.curvature = tmpLaneInfo.curvature;
// else
// laneInfo.curvature = -tmpLaneInfo.curvature;
// laneInfo.speedLimit = tmpLaneInfo.speed_limit;
// laneInfo.width = tmpLaneInfo.width;
//}
public static void GetLaneInfo(int openDriveIndex, float lookAheadDistance, ref RoadLaneInfoUnityCoordinates laneInfo, LookAheadMode lookAheadMode = LookAheadMode.LaneCenter, int laneId = 0, bool inRoadDrivingDirection = false)
{
RoadManagerLibraryCS.GetLaneInfo(openDriveIndex, lookAheadDistance, ref tmpLaneInfo, (int)lookAheadMode, inRoadDrivingDirection);
laneInfo.position = GetUnityPosition(tmpLaneInfo.pos[0], tmpLaneInfo.pos[1], tmpLaneInfo.pos[2]);
laneInfo.rotation = GetUnityRotation(tmpLaneInfo.heading, tmpLaneInfo.pitch, tmpLaneInfo.roll);
if (laneId >= 0)
{
laneInfo.curvature = tmpLaneInfo.curvature;
}
else
{
laneInfo.curvature = -tmpLaneInfo.curvature;
}
laneInfo.speedLimit = tmpLaneInfo.speed_limit;
laneInfo.width = tmpLaneInfo.width;
}
/// <summary>
/// Set position from world coordinates in the Unity coordinate system.
/// </summary>
public static void SetWorldPosition(int openDriveIndex, Vector3 position)
{
Vector3 odrPos = GetOpenDrivePosition(position);
RoadManagerLibraryCS.SetWorldXYHPosition(openDriveIndex, odrPos.x, odrPos.y, 0);
}
