void Update()
{
if (data.Count > 0)
{
LaserSliceData lastSlice = data[data.Count - 1];
float lastTimeStamp = lastSlice.Timestamp;
float deltaTime = (Time.time - lastTimeStamp);
int sampleCount = Mathf.FloorToInt(SampleFrequency * deltaTime);
int currIdx = data.Count - 1;
for (int i = 1; i <= sampleCount; i++)
{
LaserSliceData temp;
RenderSlice(Mathf.LerpUnclamped(0, 360, (currIdx + i) / (float)CloudWidth), out temp);
data.Add(temp);
}
}
else
{
LaserSliceData temp;
RenderSlice(0, out temp);
data.Add(temp);
}
//TryComposeTexture();
}
void RenderSlice(float horizontalAngle, out LaserSliceData outSlice)
{
int Channels = 64;
float MaximalVerticalFOV = +0.2f;
float MinimalVerticalFOV = -24.9f;
float MeasurementRange = 120f;
float MeasurementAccuracy = 0.02f;
LaserData[] lasers = new LaserData[Channels];
for (int i = 0; i < Channels; i++)
{
RaycastHit hit;
float dist;
float verticalAngel = -Mathf.Lerp(MaximalVerticalFOV, MinimalVerticalFOV, (i / (float)(NUM_OF_LASERS - 1)));
//Debug.LogFormat("verticalAngel : {0}, Vector: {1}", verticalAngel, Quaternion.Euler(verticalAngel, 0, 0) * Vector3.forward);
Vector3 fwd = transform.TransformDirection(Quaternion.Euler(verticalAngel, horizontalAngle, 0) * Vector3.forward);
if (Physics.Raycast(transform.position, fwd, out hit, MeasurementRange))
{
dist = hit.distance + UnityEngine.Random.Range(-MeasurementAccuracy, MeasurementAccuracy);
dist = Mathf.Clamp(dist, 0, MeasurementRange);
Debug.DrawLine(transform.position, hit.point, Color.green);
Debug.DrawLine(hit.point - Vector3.up * 0.3f, hit.point + Vector3.up * 0.3f, Color.red, 0, false);
Debug.DrawLine(hit.point - Vector3.left * 0.3f, hit.point + Vector3.left * 0.3f, Color.red, 0, false);
Debug.DrawLine(hit.point - Vector3.forward * 0.3f, hit.point + Vector3.forward * 0.3f, Color.red, 0, false);
}
else
{
dist = MeasurementRange;
Debug.DrawRay(transform.position, fwd, Color.gray);
}
//Debug.LogFormat(dist.ToString());
lasers[i] = new LaserData()
{
distance = dist,
};
}
LaserSliceData laserSliceData = new LaserSliceData()
{
RotationalPosition = horizontalAngle,
Timestamp = Time.time,
Lasers = lasers,
};
outSlice = laserSliceData;
}
void RenderSlice(float horizontalAngle, out LaserSliceData outSlice)
{
LaserData[] lasers = new LaserData[Channels];
for (int i = 0; i < Channels; i++)
{
float verticalAngel = -Mathf.Lerp(MinimalVerticalFOV, MaximalVerticalFOV, (i / (float)(Channels - 1)));
RaycastHit hit;
float dist;
Vector3 fwd = transform.TransformDirection(Quaternion.Euler(verticalAngel, horizontalAngle, 0) * Vector3.forward);
if (Physics.Raycast(transform.position, fwd, out hit, MeasurementRange))
{
dist = hit.distance + Random.Range(-MeasurementAccuracy, MeasurementAccuracy);
dist = Mathf.Clamp(dist, 0, MeasurementRange);
Debug.DrawLine(transform.position, hit.point, Color.green);
Debug.DrawLine(hit.point - Vector3.up * 0.3f, hit.point + Vector3.up * 0.3f, Color.red, 0, false);
Debug.DrawLine(hit.point - Vector3.left * 0.3f, hit.point + Vector3.left * 0.3f, Color.red, 0, false);
Debug.DrawLine(hit.point - Vector3.forward * 0.3f, hit.point + Vector3.forward * 0.3f, Color.red, 0, false);
}
else
{
dist = MeasurementRange;
}
lasers[i] = new LaserData()
{
distance = dist,
};
}
LaserSliceData laserSliceData = new LaserSliceData()
{
RotationalPosition = horizontalAngle,
Timestamp = Time.time,
Lasers = lasers,
};
outSlice = laserSliceData;
}