private void export_to_model_angular(LaserDataSceneNode node)
{
float min_angle = m_current_laser_buffer.get_min_angle();
float ang_increment = m_current_laser_buffer.get_resolution() * m_mesh_resolution;
uint num_h_samples = m_current_laser_buffer.get_distance_count();
uint horizontal_count = num_h_samples / m_mesh_resolution;
float vertical_increment = (m_vertical_sampler_max - m_vertical_sampler_min) / m_vertical_sampler_count;
ushort sides = (ushort)horizontal_count;
ushort slices = (ushort)m_vertical_sampler_count;
// crear los vertices
MeshBuffer mbuffer = node.get_mesh_buffer();
uint vert_count = (uint)(sides * slices);
mbuffer.AllocateVertices(vert_count);
m_buffer_index = 0;
float vertical_value = m_vertical_sampler_min;
float angular_value = min_angle;
for (ushort i = 0; i < slices; i++)
{
angular_value = min_angle;
for (ushort j = 0; j < sides; j++)
{
float distance = m_laser_distances[num_h_samples * i + j * m_mesh_resolution];
Vector3D pivot = new Vector3D();
Vector3D normal = new Vector3D();
normal.Z = -(float)Math.Cos(deg_to_rad((double)angular_value));
normal.Y = -(float)Math.Sin(deg_to_rad((double)angular_value));
normal.X = 0;
normal.RotateXYBy(vertical_value, new Vector3D());
//normal.X = (float)Math.Sin(deg_to_rad((double)vertical_value)); ;
pivot.Z = normal.Z * distance;
pivot.Y = normal.Y * distance;
pivot.X = normal.X * distance;
Vertex3D newvertex = new Vertex3D();
newvertex.Position = pivot;
newvertex.Normal = normal;
newvertex.Color = new Color(255, 255, 0, 100);
newvertex.TCoords = new Vector2D(1, 1);
mbuffer.SetVertex(m_buffer_index, newvertex);
m_buffer_index++;
angular_value += ang_increment;
}
vertical_value += vertical_increment;
}
create_model_indices(node, sides, slices);
}