protected override void OnStart()
{
var visualMesh = sonarLink.GetComponentInChildren <MeshFilter>();
sensorStartOffset = (visualMesh == null) ? 0f : visualMesh.sharedMesh.bounds.max.y;
// Create a new sensing area
var meshCollider = gameObject.AddComponent <MeshCollider>();
float sensorMeshOffset = 0;
Mesh mesh = null;
if (geometry.Equals("sphere"))
{
mesh = ProceduralMesh.CreateSphere((float)radius);
sensorMeshOffset = (float)radius;
}
else
{
mesh = ProceduralMesh.CreateCone((float)radius, 0, (float)rangeMax, 10);
sensorMeshOffset = (float)rangeMax / 2;
}
TranslateDetectionArea(mesh, 0.0005f + sensorStartOffset + sensorMeshOffset);
meshCollider.sharedMesh = mesh;
meshCollider.convex = true;
meshCollider.isTrigger = true;
ResolveSensingArea(meshCollider);
// const MeshColliderCookingOptions cookingOptions
// = MeshColliderCookingOptions.EnableMeshCleaning|MeshColliderCookingOptions.WeldColocatedVertices;
// meshCollider.cookingOptions = cookingOptions;
// meshCollider.hideFlags |= HideFlags.NotEditable;
var sonar = sonarStamped.Sonar;
sonar.Frame = deviceName;
sonar.Radius = radius;
sonar.RangeMin = rangeMin;
sonar.RangeMax = rangeMax;
}
protected override void OnStart()
{
var visualMesh = sonarLink.GetComponentInChildren <MeshFilter>();
sensorStartOffset = (visualMesh == null) ? 0f : visualMesh.sharedMesh.bounds.max.y;
// Create a new sensing area
var meshCollider = gameObject.AddComponent <MeshCollider>();
float sensorMeshOffset = 0;
Mesh mesh = null;
if (geometry.Equals("sphere"))
{
mesh = ProceduralMesh.CreateSphere((float)radius);
sensorMeshOffset = (float)radius;
}
else
{
mesh = ProceduralMesh.CreateCone((float)radius, 0, (float)rangeMax, 10);
sensorMeshOffset = (float)rangeMax / 2;
}
TranslateDetectionArea(mesh, 0.0001f + sensorStartOffset + sensorMeshOffset + (float)rangeMin);
meshCollider.sharedMesh = mesh;
meshCollider.convex = true;
meshCollider.isTrigger = true;
ResolveSensingArea(meshCollider.sharedMesh);
var sonar = sonarStamped.Sonar;
sonar.Frame = deviceName;
sonar.Radius = radius;
sonar.RangeMin = rangeMin;
sonar.RangeMax = rangeMax;
}
