@drawtonomy/sdk 0.4.0 → 0.5.0

package/dist/exporter/opendrive.js

@@ -0,0 +1,565 @@
+// OpenDRIVE 1.8 (.xodr) exporter — emits a road network from a snapshot.
+// No external library dependencies.
+//
+// Design (Phase 1):
+// - Each lane is emitted as an independent <road> (junctions are out of scope)
+// - Reference line is the midpoints of the left/right boundary samples
+// - Each segment is a <line> geometry; lane width is a per-sample <width>
+// - Lane connectivity (next/prev) is written into <link>
+// - Coordinate frame: canvas (x right, y down) → ENU (x right, y up); y is flipped
+import { computeCenterlineWithWidth } from './laneCenterline';
+import { escapeXml, fmt, pxToEnuX, pxToEnuY, pxToMeter } from './units';
+/** O(1) shape lookup by id. */
+function buildShapeMap(shapes) {
+    const map = new Map();
+    for (const s of shapes)
+        map.set(s.id, s);
+    return map;
+}
+/**
+ * Build the centerline + width samples for a lane from its two boundaries.
+ * If pointOverrides is provided, those point ids are read from the override
+ * map instead of from the shape map (used for boundary alignment snapping).
+ */
+function buildRoadGeometry(shapeMap, lane, pointOverrides) {
+    const leftId = lane.props.leftBoundaryId;
+    const rightId = lane.props.rightBoundaryId;
+    if (!leftId || !rightId)
+        return null;
+    const left = shapeMap.get(leftId);
+    const right = shapeMap.get(rightId);
+    if (!left || !right)
+        return null;
+    const leftPts = collectPoints(shapeMap, left.props.pointIds, lane.props.invertLeft, pointOverrides);
+    const rightPts = collectPoints(shapeMap, right.props.pointIds, lane.props.invertRight, pointOverrides);
+    if (leftPts.length < 2 || rightPts.length < 2)
+        return null;
+    const samples = computeCenterlineWithWidth(leftPts, rightPts);
+    if (samples.length < 2)
+        return null;
+    const odrSamples = samples.map((s) => ({
+        x: pxToEnuX(s.x),
+        y: pxToEnuY(s.y),
+        width: pxToMeter(s.width),
+        s: pxToMeter(s.s),
+    }));
+    const length = odrSamples[odrSamples.length - 1].s;
+    return { laneId: lane.id, samples, odrSamples, length };
+}
+function collectPoints(shapeMap, pointIds, invert, pointOverrides) {
+    const ids = invert ? [...pointIds].reverse() : pointIds;
+    const pts = [];
+    for (const id of ids) {
+        const ov = pointOverrides.get(id);
+        if (ov) {
+            pts.push({ x: ov.x, y: ov.y });
+            continue;
+        }
+        const p = shapeMap.get(id);
+        if (p)
+            pts.push({ x: p.x, y: p.y });
+    }
+    return pts;
+}
+/**
+ * Snap together boundary endpoints of connected lanes by clustering nearby
+ * points and using the centroid as the canonical position.
+ *
+ * Two lanes that "look" connected on the canvas may actually own separate
+ * point shapes whose coordinates drift by a few pixels. The road exporter
+ * would then emit a small visible gap between them in the player. This
+ * routine collects the boundary endpoints of lanes that participate in a
+ * next/prev relationship and snaps clusters within epsilonPx onto a single
+ * representative position.
+ */
+function buildBoundaryAlignmentOverrides(shapeMap, lanes, epsilonPx = 30) {
+    const endpoints = [];
+    const laneIds = new Set(lanes.map((l) => l.id));
+    const collectEndpoints = (lane, side) => {
+        for (const sideKey of ['leftBoundaryId', 'rightBoundaryId']) {
+            const lsId = lane.props[sideKey];
+            if (!lsId)
+                continue;
+            const ls = shapeMap.get(lsId);
+            if (!ls)
+                continue;
+            const invert = sideKey === 'leftBoundaryId' ? lane.props.invertLeft : lane.props.invertRight;
+            const ids = invert ? [...ls.props.pointIds].reverse() : ls.props.pointIds;
+            if (ids.length === 0)
+                continue;
+            const pid = side === 'start' ? ids[0] : ids[ids.length - 1];
+            const pt = shapeMap.get(pid);
+            if (!pt)
+                continue;
+            endpoints.push({ pointId: pid, x: pt.x, y: pt.y });
+        }
+    };
+    // Restrict to lanes that participate in a next/prev relationship.
+    for (const lane of lanes) {
+        const hasNext = (lane.props.next || []).some((id) => laneIds.has(id));
+        const hasPrev = (lane.props.prev || []).some((id) => laneIds.has(id));
+        if (hasNext)
+            collectEndpoints(lane, 'end');
+        if (hasPrev)
+            collectEndpoints(lane, 'start');
+    }
+    // Greedy clustering: group points within epsilon of each other.
+    const clusters = [];
+    const eps2 = epsilonPx * epsilonPx;
+    for (const ep of endpoints) {
+        let placed = false;
+        for (const cluster of clusters) {
+            const c0 = cluster[0];
+            const dx = ep.x - c0.x;
+            const dy = ep.y - c0.y;
+            if (dx * dx + dy * dy <= eps2) {
+                cluster.push(ep);
+                placed = true;
+                break;
+            }
+        }
+        if (!placed)
+            clusters.push([ep]);
+    }
+    // Use each cluster centroid as the snapped position.
+    const overrides = new Map();
+    for (const cluster of clusters) {
+        if (cluster.length < 2)
+            continue; // Solitary points need no snapping.
+        let sx = 0;
+        let sy = 0;
+        for (const ep of cluster) {
+            sx += ep.x;
+            sy += ep.y;
+        }
+        const cx = sx / cluster.length;
+        const cy = sy / cluster.length;
+        for (const ep of cluster) {
+            // Last write wins if the same point id is referenced multiple times.
+            overrides.set(ep.pointId, { x: cx, y: cy });
+        }
+    }
+    return overrides;
+}
+function emitPlanView(geom) {
+    const lines = [];
+    lines.push(`    <planView>`);
+    for (let i = 0; i < geom.odrSamples.length - 1; i++) {
+        const a = geom.odrSamples[i];
+        const b = geom.odrSamples[i + 1];
+        const dx = b.x - a.x;
+        const dy = b.y - a.y;
+        const segLen = Math.hypot(dx, dy);
+        if (segLen < 1e-9)
+            continue;
+        const hdg = Math.atan2(dy, dx);
+        lines.push(`      <geometry s="${fmt(a.s)}" x="${fmt(a.x)}" y="${fmt(a.y)}" hdg="${fmt(hdg)}" length="${fmt(segLen)}">`);
+        lines.push(`        <line/>`);
+        lines.push(`      </geometry>`);
+    }
+    lines.push(`    </planView>`);
+    return lines.join('\n');
+}
+function emitLanes(geom, hasPrev, hasNext) {
+    const lines = [];
+    lines.push(`    <lanes>`);
+    lines.push(`      <laneSection s="0">`);
+    // Left side: id=+1 (OpenDRIVE numbers lanes positively to the left of the reference line).
+    lines.push(`        <left>`);
+    lines.push(`          <lane id="1" type="driving" level="false">`);
+    emitLaneLink(lines, hasPrev, hasNext, 1);
+    emitHalfWidthEntries(geom, lines);
+    lines.push(`            <roadMark sOffset="0" type="solid" weight="standard" color="white" width="0.13"/>`);
+    lines.push(`          </lane>`);
+    lines.push(`        </left>`);
+    // Center reference line.
+    lines.push(`        <center>`);
+    lines.push(`          <lane id="0" type="none" level="false">`);
+    lines.push(`            <link/>`);
+    lines.push(`            <roadMark sOffset="0" type="solid" weight="standard" color="standard" width="0.13"/>`);
+    lines.push(`          </lane>`);
+    lines.push(`        </center>`);
+    // Right side: id=-1.
+    lines.push(`        <right>`);
+    lines.push(`          <lane id="-1" type="driving" level="false">`);
+    emitLaneLink(lines, hasPrev, hasNext, -1);
+    emitHalfWidthEntries(geom, lines);
+    lines.push(`            <roadMark sOffset="0" type="solid" weight="standard" color="white" width="0.13"/>`);
+    lines.push(`          </lane>`);
+    lines.push(`        </right>`);
+    lines.push(`      </laneSection>`);
+    lines.push(`    </lanes>`);
+    return lines.join('\n');
+}
+function emitLaneLink(out, hasPrev, hasNext, laneId) {
+    if (!hasPrev && !hasNext) {
+        out.push(`            <link/>`);
+        return;
+    }
+    out.push(`            <link>`);
+    if (hasPrev) {
+        out.push(`              <predecessor id="${laneId}"/>`);
+    }
+    if (hasNext) {
+        out.push(`              <successor id="${laneId}"/>`);
+    }
+    out.push(`            </link>`);
+}
+function emitHalfWidthEntries(geom, out) {
+    for (let i = 0; i < geom.odrSamples.length - 1; i++) {
+        const s = geom.odrSamples[i].s;
+        const halfA = geom.odrSamples[i].width / 2;
+        const halfB = geom.odrSamples[i + 1].width / 2;
+        const segLen = geom.odrSamples[i + 1].s - s;
+        // Linear fit a + b*ds (c=d=0).
+        const a = halfA;
+        const b = segLen > 1e-9 ? (halfB - halfA) / segLen : 0;
+        out.push(`            <width sOffset="${fmt(s)}" a="${fmt(a)}" b="${fmt(b)}" c="0" d="0"/>`);
+    }
+}
+function emitLink(lane, laneIdToRoadId) {
+    const lines = [];
+    lines.push(`    <link>`);
+    if (lane.props.prev?.[0] && laneIdToRoadId.has(lane.props.prev[0])) {
+        const rid = laneIdToRoadId.get(lane.props.prev[0]);
+        lines.push(`      <predecessor elementType="road" elementId="${rid}" contactPoint="end"/>`);
+    }
+    if (lane.props.next?.[0] && laneIdToRoadId.has(lane.props.next[0])) {
+        const rid = laneIdToRoadId.get(lane.props.next[0]);
+        lines.push(`      <successor elementType="road" elementId="${rid}" contactPoint="start"/>`);
+    }
+    lines.push(`    </link>`);
+    return lines.join('\n');
+}
+function projectToRoad(geom, xG, yG) {
+    let bestS = 0;
+    let bestT = 0;
+    let bestDist = Infinity;
+    let bestHdg = 0;
+    let bestClamped = false;
+    const samples = geom.odrSamples;
+    for (let i = 0; i < samples.length - 1; i++) {
+        const a = samples[i];
+        const b = samples[i + 1];
+        const dx = b.x - a.x;
+        const dy = b.y - a.y;
+        const segLen = Math.hypot(dx, dy);
+        if (segLen < 1e-9)
+            continue;
+        const ux = dx / segLen;
+        const uy = dy / segLen;
+        const px = xG - a.x;
+        const py = yG - a.y;
+        let tNorm = px * ux + py * uy;
+        let clamped = false;
+        if (tNorm < 0) {
+            tNorm = 0;
+            clamped = i === 0;
+        }
+        if (tNorm > segLen) {
+            tNorm = segLen;
+            clamped = i === samples.length - 2;
+        }
+        const projX = a.x + ux * tNorm;
+        const projY = a.y + uy * tNorm;
+        const dist = Math.hypot(xG - projX, yG - projY);
+        if (dist < bestDist) {
+            bestDist = dist;
+            bestS = a.s + tNorm;
+            const nx = -uy;
+            const ny = ux;
+            bestT = px * nx + py * ny;
+            bestHdg = Math.atan2(uy, ux);
+            bestClamped = clamped;
+        }
+    }
+    return { s: bestS, t: bestT, hdg: bestHdg, distance: bestDist, clampedAtEnd: bestClamped };
+}
+function attachShapesToRoads(trafficLights, crosswalks, polygons, laneToGeom, laneIdToRoadId, maxAttachDistanceMeter = 50) {
+    const roadSignals = new Map();
+    const roadObjects = new Map();
+    let signalIdCounter = 1;
+    let objectIdCounter = 1;
+    const roads = [];
+    laneToGeom.forEach((geom, laneId) => {
+        const roadId = laneIdToRoadId.get(laneId);
+        if (roadId !== undefined)
+            roads.push({ laneId, geom, roadId });
+    });
+    for (const tl of trafficLights) {
+        const xG = pxToEnuX(tl.x);
+        const yG = pxToEnuY(tl.y);
+        let best = null;
+        for (const r of roads) {
+            const proj = projectToRoad(r.geom, xG, yG);
+            if (!best || proj.distance < best.proj.distance)
+                best = { roadId: r.roadId, proj };
+        }
+        if (!best || best.proj.distance > maxAttachDistanceMeter)
+            continue;
+        const style = tl.props.style ?? '';
+        const isPed = style.startsWith('pedestrian') || style.includes('ped');
+        // Conventional signal type codes: 1000001 = vehicle, 1000002 = pedestrian.
+        const sigType = isPed ? '1000002' : '1000001';
+        const heightM = pxToMeter(tl.props.h);
+        const widthM = pxToMeter(tl.props.w);
+        const list = roadSignals.get(best.roadId) ?? [];
+        list.push({
+            id: signalIdCounter++,
+            s: best.proj.s,
+            t: best.proj.t,
+            zOffset: isPed ? 1.5 : 4.5,
+            height: heightM,
+            width: widthM,
+            name: style,
+            type: sigType,
+            subtype: '-1',
+            dynamic: 'yes',
+            orientation: best.proj.t >= 0 ? '+' : '-',
+        });
+        roadSignals.set(best.roadId, list);
+    }
+    for (const cw of crosswalks) {
+        const rotDeg = cw.rotation || 0;
+        const rotRad = (rotDeg * Math.PI) / 180;
+        const cosR = Math.cos(rotRad);
+        const sinR = Math.sin(rotRad);
+        const cxLocal = (cw.props.startX + cw.props.endX) / 2;
+        const cyLocal = (cw.props.startY + cw.props.endY) / 2;
+        const cxGlobal = cw.x + cxLocal;
+        const cyGlobal = cw.y + cyLocal;
+        const xG = pxToEnuX(cxGlobal);
+        const yG = pxToEnuY(cyGlobal);
+        let best = null;
+        for (const r of roads) {
+            const proj = projectToRoad(r.geom, xG, yG);
+            if (!best || proj.distance < best.proj.distance)
+                best = { roadId: r.roadId, proj };
+        }
+        if (!best || best.proj.distance > maxAttachDistanceMeter)
+            continue;
+        const dxLocal = cw.props.endX - cw.props.startX;
+        const dyLocal = cw.props.endY - cw.props.startY;
+        const lengthM = pxToMeter(Math.hypot(dxLocal, dyLocal));
+        const widthM = pxToMeter(cw.props.crosswalkWidth);
+        // Apply shape rotation to the local axis to obtain the global axis.
+        const dxPx = dxLocal * cosR - dyLocal * sinR;
+        const dyPx = dxLocal * sinR + dyLocal * cosR;
+        const cwEnuHdg = Math.atan2(-dyPx, dxPx);
+        let relativeHdg = cwEnuHdg - best.proj.hdg;
+        while (relativeHdg > Math.PI)
+            relativeHdg -= 2 * Math.PI;
+        while (relativeHdg < -Math.PI)
+            relativeHdg += 2 * Math.PI;
+        const list = roadObjects.get(best.roadId) ?? [];
+        // The OpenDRIVE crosswalk object renders perpendicular to the road when
+        // hdg = π/2 (verified empirically on east-west and north-south roads).
+        // Crosswalks are by convention placed across the road, so we always emit
+        // π/2 regardless of the user-drawn axis direction.
+        void relativeHdg;
+        const crosswalkHdg = Math.PI / 2;
+        list.push({
+            id: objectIdCounter++,
+            s: best.proj.s,
+            t: best.proj.t,
+            zOffset: 0,
+            hdg: crosswalkHdg,
+            length: lengthM,
+            width: widthM,
+            height: 0,
+            name: 'crosswalk',
+            type: 'crosswalk',
+            orientation: 'none',
+        });
+        roadObjects.set(best.roadId, list);
+    }
+    // Polygons (e.g. intersection patches) are emitted as <object type="patch">
+    // + <outlines>/<outline>/<cornerLocal>. The centroid is projected onto the
+    // nearest road; vertices are transformed into the road's local (u, v) frame.
+    for (const { shape: poly, vertices } of polygons) {
+        if (vertices.length < 3)
+            continue;
+        let cx = 0;
+        let cy = 0;
+        for (const v of vertices) {
+            cx += v.x;
+            cy += v.y;
+        }
+        cx /= vertices.length;
+        cy /= vertices.length;
+        const xG = pxToEnuX(cx);
+        const yG = pxToEnuY(cy);
+        let best = null;
+        let fallback = null;
+        for (const r of roads) {
+            const proj = projectToRoad(r.geom, xG, yG);
+            if (proj.clampedAtEnd) {
+                if (!fallback || proj.distance < fallback.proj.distance)
+                    fallback = { roadId: r.roadId, proj };
+                continue;
+            }
+            if (!best || proj.distance < best.proj.distance)
+                best = { roadId: r.roadId, proj };
+        }
+        if (!best)
+            best = fallback;
+        if (!best || best.proj.distance > maxAttachDistanceMeter)
+            continue;
+        const cosH = Math.cos(best.proj.hdg);
+        const sinH = Math.sin(best.proj.hdg);
+        const samples = laneToGeom.get([...laneToGeom.keys()].find((k) => laneIdToRoadId.get(k) === best.roadId)).odrSamples;
+        const anchorPoint = best.proj.clampedAtEnd && best.proj.s >= samples[samples.length - 1].s - 1e-6
+            ? samples[samples.length - 1]
+            : samples[0];
+        const anchorEnuX = anchorPoint.x;
+        const anchorEnuY = anchorPoint.y;
+        const anchorS = anchorPoint.s;
+        const outline = [];
+        for (const v of vertices) {
+            const vxG = pxToEnuX(v.x);
+            const vyG = pxToEnuY(v.y);
+            const dx = vxG - anchorEnuX;
+            const dy = vyG - anchorEnuY;
+            const u = dx * cosH + dy * sinH;
+            const vv = -dx * sinH + dy * cosH;
+            outline.push({ u, v: vv });
+        }
+        const list = roadObjects.get(best.roadId) ?? [];
+        const subtype = poly.props.attributes?.subtype;
+        list.push({
+            id: objectIdCounter++,
+            s: anchorS,
+            t: 0,
+            // Lift 5 cm above the road surface to avoid z-fighting where the
+            // patch overlaps multiple roads at z=0.
+            zOffset: 0.05,
+            hdg: 0,
+            length: 0,
+            width: 0,
+            height: 0,
+            name: typeof subtype === 'string' ? subtype : 'polygon',
+            type: 'patch',
+            orientation: 'none',
+            outline,
+        });
+        roadObjects.set(best.roadId, list);
+    }
+    return { roadSignals, roadObjects };
+}
+function emitSignals(signals) {
+    if (!signals.length)
+        return `    <signals/>`;
+    const lines = [];
+    lines.push(`    <signals>`);
+    for (const s of signals) {
+        lines.push(`      <signal id="${s.id}" s="${fmt(s.s)}" t="${fmt(s.t)}" zOffset="${fmt(s.zOffset)}" name="${escapeXml(s.name)}" dynamic="${s.dynamic}" orientation="${s.orientation}" type="${s.type}" subtype="${s.subtype}" country="OpenDRIVE" value="0" height="${fmt(s.height)}" width="${fmt(s.width)}"/>`);
+    }
+    lines.push(`    </signals>`);
+    return lines.join('\n');
+}
+function emitObjects(objects) {
+    if (!objects.length)
+        return `    <objects/>`;
+    const lines = [];
+    lines.push(`    <objects>`);
+    for (const o of objects) {
+        if (o.outline && o.outline.length >= 3) {
+            lines.push(`      <object id="${o.id}" s="${fmt(o.s)}" t="${fmt(o.t)}" zOffset="${fmt(o.zOffset)}" hdg="${fmt(o.hdg)}" name="${escapeXml(o.name)}" type="${o.type}" orientation="${o.orientation}" length="0" width="0" height="0">`);
+            lines.push(`        <outlines>`);
+            lines.push(`          <outline id="0" closed="true">`);
+            o.outline.forEach((p, i) => {
+                // height=0.001 (1 mm) gives the patch a tiny vertical thickness so
+                // its top and bottom faces sit on different z planes (avoids z-fighting).
+                lines.push(`            <cornerLocal id="${i}" u="${fmt(p.u)}" v="${fmt(p.v)}" z="0" height="0.001"/>`);
+            });
+            lines.push(`          </outline>`);
+            lines.push(`        </outlines>`);
+            lines.push(`      </object>`);
+        }
+        else {
+            lines.push(`      <object id="${o.id}" s="${fmt(o.s)}" t="${fmt(o.t)}" zOffset="${fmt(o.zOffset)}" hdg="${fmt(o.hdg)}" name="${escapeXml(o.name)}" type="${o.type}" orientation="${o.orientation}" length="${fmt(o.length)}" width="${fmt(o.width)}" height="${fmt(o.height)}"/>`);
+        }
+    }
+    lines.push(`    </objects>`);
+    return lines.join('\n');
+}
+function emitRoad(lane, geom, roadId, laneIdToRoadId, signals, objects) {
+    const speed = lane.props.attributes?.speed_limit;
+    const name = escapeXml(lane.props.attributes?.subtype || 'road');
+    const hasPrev = !!(lane.props.prev?.[0] && laneIdToRoadId.has(lane.props.prev[0]));
+    const hasNext = !!(lane.props.next?.[0] && laneIdToRoadId.has(lane.props.next[0]));
+    const lines = [];
+    lines.push(`  <road name="${name}" length="${fmt(geom.length)}" id="${roadId}" junction="-1">`);
+    lines.push(emitLink(lane, laneIdToRoadId));
+    if (speed) {
+        lines.push(`    <type s="0" type="town">`);
+        lines.push(`      <speed max="${escapeXml(speed)}" unit="km/h"/>`);
+        lines.push(`    </type>`);
+    }
+    lines.push(emitPlanView(geom));
+    lines.push(`    <elevationProfile/>`);
+    lines.push(`    <lateralProfile/>`);
+    lines.push(emitLanes(geom, hasPrev, hasNext));
+    lines.push(emitObjects(objects));
+    lines.push(emitSignals(signals));
+    lines.push(`  </road>`);
+    return lines.join('\n');
+}
+/**
+ * Build an OpenDRIVE 1.8 XML document from a snapshot.
+ */
+export function exportToOpenDrive(snapshot) {
+    const shapes = snapshot.shapes;
+    const shapeMap = buildShapeMap(shapes);
+    const lanes = [];
+    const trafficLights = [];
+    const crosswalks = [];
+    const polygons = [];
+    for (const s of shapes) {
+        if (s.type === 'lane')
+            lanes.push(s);
+        else if (s.type === 'traffic_light')
+            trafficLights.push(s);
+        else if (s.type === 'crosswalk')
+            crosswalks.push(s);
+        else if (s.type === 'polygon') {
+            const poly = s;
+            const vertices = [];
+            for (const pid of poly.props.pointIds) {
+                const p = shapeMap.get(pid);
+                if (p)
+                    vertices.push({ x: p.x, y: p.y });
+            }
+            if (vertices.length >= 3)
+                polygons.push({ shape: poly, vertices });
+        }
+    }
+    // Assign sequential road ids.
+    const laneIdToRoadId = new Map();
+    lanes.forEach((lane, i) => laneIdToRoadId.set(lane.id, i + 1));
+    const dateStr = new Date().toISOString();
+    const lines = [];
+    lines.push(`<?xml version="1.0" encoding="UTF-8"?>`);
+    lines.push(`<OpenDRIVE>`);
+    lines.push(`  <header revMajor="1" revMinor="8" name="drawtonomy" version="1.0" date="${dateStr}" north="0" south="0" east="0" west="0" vendor="drawtonomy"/>`);
+    const pointOverrides = buildBoundaryAlignmentOverrides(shapeMap, lanes);
+    const laneToGeom = new Map();
+    for (const lane of lanes) {
+        const geom = buildRoadGeometry(shapeMap, lane, pointOverrides);
+        if (geom)
+            laneToGeom.set(lane.id, geom);
+    }
+    const { roadSignals, roadObjects } = attachShapesToRoads(trafficLights, crosswalks, polygons, laneToGeom, laneIdToRoadId);
+    for (const lane of lanes) {
+        const geom = laneToGeom.get(lane.id);
+        if (!geom)
+            continue;
+        const roadId = laneIdToRoadId.get(lane.id);
+        const signals = roadSignals.get(roadId) ?? [];
+        const objects = roadObjects.get(roadId) ?? [];
+        lines.push(emitRoad(lane, geom, roadId, laneIdToRoadId, signals, objects));
+    }
+    lines.push(`</OpenDRIVE>`);
+    return lines.join('\n');
+}
+//# sourceMappingURL=opendrive.js.map

package/dist/exporter/opendrive.js.map

@@ -0,0 +1 @@
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package/dist/exporter/openscenario.d.ts

@@ -0,0 +1,30 @@
+import type { DrawtonomySnapshot } from '../types';
+/**
+ * Hook for callers that want to override pedestrian / category resolution
+ * (e.g. when their host knows about custom templates not bundled with the
+ * SDK).
+ */
+export interface TemplateResolver {
+    /** Normalize a template id, applying any legacy rewrites. */
+    resolveTemplateId?: (templateId: string) => string;
+    /** True if the resolved id refers to a pedestrian template. */
+    isPedestrianTemplate?: (templateId: string) => boolean;
+}
+/**
+ * Map a vehicle template id to an OpenSCENARIO vehicleCategory.
+ * Spec values: car, van, truck, trailer, semitrailer, bus, motorbike, bicycle, train, tram.
+ */
+export declare function templateIdToVehicleCategory(templateId: string, resolver?: TemplateResolver): string;
+export interface OpenScenarioExportOptions {
+    /** Filename of the paired .xodr (referenced by <LogicFile>). Empty if absent. */
+    xodrFilename?: string;
+    /** Scenario name. */
+    scenarioName?: string;
+    /** Optional template resolver hook. */
+    templateResolver?: TemplateResolver;
+}
+/**
+ * Build an OpenSCENARIO 1.3 XML document from a snapshot.
+ */
+export declare function exportToOpenScenario(snapshot: DrawtonomySnapshot, options?: OpenScenarioExportOptions): string;
+//# sourceMappingURL=openscenario.d.ts.map

package/dist/exporter/openscenario.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"openscenario.d.ts","sourceRoot":"","sources":["../../src/exporter/openscenario.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAEV,kBAAkB,EAInB,MAAM,UAAU,CAAA;AAgBjB;;;;GAIG;AACH,MAAM,WAAW,gBAAgB;IAC/B,6DAA6D;IAC7D,iBAAiB,CAAC,EAAE,CAAC,UAAU,EAAE,MAAM,KAAK,MAAM,CAAA;IAClD,+DAA+D;IAC/D,oBAAoB,CAAC,EAAE,CAAC,UAAU,EAAE,MAAM,KAAK,OAAO,CAAA;CACvD;AAWD;;;GAGG;AACH,wBAAgB,2BAA2B,CACzC,UAAU,EAAE,MAAM,EAClB,QAAQ,CAAC,EAAE,gBAAgB,GAC1B,MAAM,CAoBR;AA+MD,MAAM,WAAW,yBAAyB;IACxC,iFAAiF;IACjF,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,qBAAqB;IACrB,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,uCAAuC;IACvC,gBAAgB,CAAC,EAAE,gBAAgB,CAAA;CACpC;AAuID;;GAEG;AACH,wBAAgB,oBAAoB,CAClC,QAAQ,EAAE,kBAAkB,EAC5B,OAAO,GAAE,yBAA8B,GACtC,MAAM,CA8DR"}