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Bug in ScanPatternGenerator.cs #105

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Bug in ScanPatternGenerator.cs#105
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@Autumn60
Autumn60
opened on Jan 19, 2024

UnitySensors/Assets/UnitySensors/Editor/LiDAR/ScanPatternGenerator.cs

Lines 174 to 183 in ebc7105

for (int azimuth = 0; azimuth < _azimuthAngleResolution; azimuth++)
{
if (_direction == Direction.CCW) azimuth = _azimuthAngleResolution - 1 - azimuth;
float azimuthAngle = Mathf.Lerp(_minAzimuthAngle, _maxAzimuthAngle, (float)azimuth / _azimuthAngleResolution);
foreach (float zenithAngle in _zenithAngles)
{
scan.scans[index] = Quaternion.Euler(-zenithAngle, azimuthAngle, 0) * Vector3.forward;
index++;
}
}

Loop variables "azimuth" is rewritten in the for statement. (Line 176)
This will cause an error when "_direction" value is set to "Direction.CCW".

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