public void FindCells()
{
newParameters.CopyTo(parameters);
// Choose a sampler function
Sample sampler = null;
switch (samplingType)
{
case SamplerType.CENTER:
sampler = SampleCenter;
break;
case SamplerType.CORNERS_AVG:
sampler = SampleCornersAvg;
break;
case SamplerType.CORNERS_MIN:
sampler = SampleCornersMin;
break;
case SamplerType.CORNERS_MAX:
sampler = SampleCornersMax;
break;
case SamplerType.MONTE_CARLO:
sampler = SampleMonteCarlo;
break;
}
cells = new GridCell[parameters.xDimension * parameters.yDimension];
Vector3 down = -transform.up;
for (int y = 0; y < parameters.yDimension; y++)
{
for (int x = 0; x < parameters.xDimension; x++)
{
Vector3 rayPos = transform.TransformPoint(GetLocalCellBase(x, y)
+ Vector3.up * parameters.scanHeight);
Vector3 pos;
float height = noHitNoCell ? -1f : 0f;
if (sampler(rayPos, down * parameters.scanHeight, out pos))
{
Vector3 localPos = transform.InverseTransformPoint(pos);
height = localPos.y + parameters.scanHeight * 0.5f;
}
cells[GetIdx(x, y)] = new GridCell(GetIdx(x, y),
parameters.gridType, GetLocalCellBase(x, y) + Vector3.up * height);
}
}
for (int y = 0; y < parameters.yDimension; y++)
{
for (int x = 0; x < parameters.xDimension; x++)
{
RegenerateEdges(x, y);
}
}
}
