Fix Field-Robotics-Japan#105

Autumn60 · Autumn60 · commit f9442296a27e · 2024-02-06T15:56:51.000+09:00
diff --git a/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs b/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs
@@ -173,8 +173,7 @@ private void GenerateFromSpecification()
             int index = 0;
             for (int azimuth = 0; azimuth < _azimuthAngleResolution; azimuth++)
             {
-                if (_direction == Direction.CCW) azimuth = _azimuthAngleResolution - 1 - azimuth;
-                float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)azimuth / _azimuthAngleResolution);
+                float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)(_direction == Direction.CW ? azimuth : _azimuthAngleResolution - 1 - azimuth) / _azimuthAngleResolution);
                 foreach (float zenithAngle in _zenithAngles)
                 {
                     scan.scans[index] = Quaternion.Euler(-zenithAngle, azimuthAngle, 0) * Vector3.forward;

Original file line number	Diff line number	Diff line change
`@@ -173,8 +173,7 @@ private void GenerateFromSpecification()`
`173`	`173`	`int index = 0;`
`174`	`174`	`for (int azimuth = 0; azimuth < _azimuthAngleResolution; azimuth++)`
`175`	`175`	`{`
`176`		`- if (_direction == Direction.CCW) azimuth = _azimuthAngleResolution - 1 - azimuth;`
`177`		`- float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)azimuth / _azimuthAngleResolution);`
	`176`	`+ float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)(_direction == Direction.CW ? azimuth : _azimuthAngleResolution - 1 - azimuth) / _azimuthAngleResolution);`
`178`	`177`	`foreach (float zenithAngle in _zenithAngles)`
`179`	`178`	`{`
`180`	`179`	`scan.scans[index] = Quaternion.Euler(-zenithAngle, azimuthAngle, 0) * Vector3.forward;`