public static void OnRoadEdge(SideRoadEdge edge) { if (edge == null) return; if (edge.side == SideRoadEdgeSide.Driver) { lastLeftEdge = edge; } else { lastRightEdge = edge; } }
public static LinePath GetEdgeLine(SideRoadEdge edge) { if (edge == null || !edge.isValid || Math.Abs(edge.curbDistance) < TahoeParams.T/2.0 + 0.1) { return null; } LinePath ret = new LinePath(); Coordinates pt1 = new Coordinates(2, 0).Rotate(edge.curbHeading) + new Coordinates(0, edge.curbDistance); Coordinates pt2 = new Coordinates(10 + TahoeParams.FL, 0).Rotate(edge.curbHeading) + new Coordinates(0, edge.curbDistance); ret.Add(pt1); ret.Add(pt2); return ret; }