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Fix Lidar output being affected by the gameobject's scale. #210

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Merged
RyodoTanaka merged 1 commit into from
May 5, 2026
Merged

Fix Lidar output being affected by the gameobject's scale. #210

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4 changes: 2 additions & 2 deletions ...ages/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/IUpdateRaycastCommandsJob.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ public struct IUpdateRaycastCommandsJob : IJobParallelFor
[ReadOnly]
public Vector3 origin;
[ReadOnly]
public Matrix4x4 localToWorldMatrix;
public quaternion rotation;
[ReadOnly]
public float maxRange;
[ReadOnly]
Expand All @@ -28,7 +28,7 @@ public struct IUpdateRaycastCommandsJob : IJobParallelFor

public void Execute(int index)
{
raycastCommands[index] = new(origin, localToWorldMatrix * (Vector3)directions[index + indexOffset], queryParameters, maxRange);
raycastCommands[index] = new(origin, math.normalize(math.mul(rotation, directions[index + indexOffset])), queryParameters, maxRange);
}
}
}
4 changes: 2 additions & 2 deletions Packages/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs
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Expand Up @@ -67,7 +67,7 @@ private void SetupJobs()
_updateRaycastCommandsJob = new IUpdateRaycastCommandsJob()
{
origin = _transform.position,
localToWorldMatrix = _transform.localToWorldMatrix,
rotation = _transform.rotation,
maxRange = maxRange,
queryParameters = new() { layerMask = _raycastLayerMask },
directions = _directions,
Expand Down Expand Up @@ -100,7 +100,7 @@ private void SetupJobs()
protected override IEnumerator UpdateSensor()
{
_updateRaycastCommandsJob.origin = _transform.position;
_updateRaycastCommandsJob.localToWorldMatrix = _transform.localToWorldMatrix;
_updateRaycastCommandsJob.rotation = _transform.rotation;

JobHandle updateRaycastCommandsJobHandle = _updateRaycastCommandsJob.Schedule(pointsNum, 1024);
JobHandle updateGaussianNoisesJobHandle = _updateGaussianNoisesJob.Schedule(pointsNum, 1, updateRaycastCommandsJobHandle);
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