// Because all of these tests were written assuming open drive coordinates, but our geometry is in
// Unity coordinates, rather than re-write all the test cases, we just convert from OpenDRIVE to Unity here
static Geometry ConstructGeometryFromOpenDriveCoordinates(
GeometryKind geometryKind, float headingDegrees, float length, float sAbsolute, float x, float z,
ArcData arcData = default, SpiralData spiralData = default,
Poly3Data poly3Data = default, ParamPoly3Data paramPoly3Data = default)
{
var pose = OpenDriveMapElementFactory.FromOpenDriveGlobalToUnity(math.radians(headingDegrees), x, z);
return(ConstructGeometry(geometryKind, pose, length, sAbsolute,
arcData, spiralData, poly3Data, paramPoly3Data));
}
static Geometry ConstructGeometry(
GeometryKind geometryKind, RigidTransform pose, float length, float sAbsolute,
ArcData arcData = default, SpiralData spiralData = default,
Poly3Data poly3Data = default, ParamPoly3Data paramPoly3Data = default)
{
return(new Geometry()
{
length = length,
sRoad = sAbsolute,
startPose = pose,
geometryKind = geometryKind,
arcData = arcData,
spiralData = spiralData,
poly3Data = poly3Data,
paramPoly3Data = paramPoly3Data
});
}
// Because all of these tests were written assuming open drive coordinates, but our geometry is in
// Unity coordinates, rather than re-write all the test cases, we just convert from OpenDRIVE to Unity here
static Geometry ConstructGeometryFromOpenDriveCoordinates(
float headingDegrees, float length, float sAbsolute, float x, float z,
GeometryKind geometryKind, ArcData arcData = default, SpiralData spiralData = default,
Poly3Data poly3Data = default, ParamPoly3Data paramPoly3Data = default)
{
var pose = OpenDriveMapElementFactory.FromOpenDriveGlobalToUnity(math.radians(headingDegrees), x, z);
return(new Geometry()
{
length = length,
sRoad = sAbsolute,
startPose = pose,
geometryKind = geometryKind,
arcData = arcData,
spiralData = spiralData,
poly3Data = poly3Data,
paramPoly3Data = paramPoly3Data
});
}
