protected override void Initialize()
{
Controller = GetComponentInParent <IAgentController>();
activeRT = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Linear)
{
dimension = TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear
};
activeRT.Create();
Camera = GetComponentInChildren <Camera>();
Camera.targetTexture = activeRT;
Camera.fieldOfView = FieldOfView;
Camera.nearClipPlane = MinDistance;
Camera.farClipPlane = MaxDistance;
Camera.gameObject.GetComponent <HDAdditionalCameraData>().hasPersistentHistory = true;
passId = new ShaderTagId("SimulatorSegmentationPass");
SegmentationCamera.fieldOfView = FieldOfView;
SegmentationCamera.nearClipPlane = MinDistance;
SegmentationCamera.farClipPlane = DetectionRange;
SegmentationCamera.gameObject.GetComponent <HDAdditionalCameraData>().customRender += OnSegmentationRender;
SegmentationCamera.gameObject.GetComponent <HDAdditionalCameraData>().hasPersistentHistory = true;
renderTarget = SensorRenderTarget.Create2D(Width, Height, GraphicsFormat.R8G8B8A8_UNorm);
SegmentationCamera.targetTexture = renderTarget;
minX = new ComputeBuffer(256, sizeof(uint));
maxX = new ComputeBuffer(256, sizeof(uint));
minY = new ComputeBuffer(256, sizeof(uint));
maxY = new ComputeBuffer(256, sizeof(uint));
AAWireBoxes = gameObject.AddComponent <AAWireBox>();
AAWireBoxes.Camera = Camera;
AAWireBoxes.IgnoreUpdates = true;
}
void Start()
{
activeRT = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Linear)
{
dimension = UnityEngine.Rendering.TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear
};
activeRT.Create();
Camera = GetComponentInChildren <Camera>();
Camera.targetTexture = activeRT;
Camera.fieldOfView = FieldOfView;
Camera.nearClipPlane = MinDistance;
Camera.farClipPlane = MaxDistance;
SolidAABox = gameObject.AddComponent <AAWireBox>();
SolidAABox.Camera = Camera;
}
private void Start()
{
activeRT = new RenderTexture(Width, Height, 24, RenderTextureFormat.ARGB32, RenderTextureReadWrite.Linear)
{
dimension = UnityEngine.Rendering.TextureDimension.Tex2D,
antiAliasing = 1,
useMipMap = false,
useDynamicScale = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Bilinear
};
activeRT.Create();
Camera = GetComponentInChildren <Camera>();
Camera.targetTexture = activeRT;
Camera.fieldOfView = FieldOfView;
Camera.nearClipPlane = MinDistance;
Camera.farClipPlane = MaxDistance;
AAWireBoxes = gameObject.AddComponent <AAWireBox>();
AAWireBoxes.Camera = Camera;
nextSend = Time.time + 1.0f / Frequency;
var radHFOV = 2 * Mathf.Atan(Mathf.Tan(Camera.fieldOfView * Mathf.Deg2Rad / 2) * Camera.aspect);
degHFOV = Mathf.Rad2Deg * radHFOV;
BoxCollider camBoxCollider = cameraRangeTrigger.GetComponent <BoxCollider>();
camBoxCollider.center = new Vector3(0, 0, DetectionRange / 2f);
camBoxCollider.size = new Vector3(2 * Mathf.Tan(radHFOV / 2) * DetectionRange, 3f, DetectionRange);
cameraRangeTrigger.SetCallbacks(OnCollider, OnCollider, OnColliderExit);
}
