LaserScannerLines.gd

extends Spatial

var ray_class = preload("res://Ray.tscn")

var NB_RAYS = 50
var RANGE = 20 #m

func _ready():
	
	var inc = PI / (NB_RAYS - 1)
	
	var angle = -PI/2
	
	for i in range(NB_RAYS):

		var ray = ray_class.instance()
		ray.name = "ray_" + str(i)
		add_child(ray)
		
		ray.transform.origin = Vector3(0,0,0)
		ray.rotate_y(angle)
		
		angle += inc

func draw(ranges):

	if visible:
		for i in range(NB_RAYS):
			var ray = get_child(i)
			#if ranges[i] < 0:
			if ranges[i] == Vector3(0,0,0):
				ray.visible = false
			else:
				ray.visible = true
				#ray.set_distance(ranges[i])
				ray.set_hitpoint(ranges[i])


func laser_scan():
	#get_parent().game_instance.debug_point(global_transform.origin)
	var space_state = get_world().direct_space_state
	var laser_ranges = []
	var laser_hitpoints = []
	
	var inc = PI / (NB_RAYS - 1)
	var angle = -PI/2

	for i in range(NB_RAYS):
		var target = global_transform.basis.xform(global_transform.origin + Vector3(0,0,RANGE).rotated(Vector3(0,1,0), angle))
		var result = space_state.intersect_ray(global_transform.origin, target)
		if result:
			#get_parent().game_instance.debug_point(result.position)
			laser_ranges.append(global_transform.origin.distance_to(result.position))
			laser_hitpoints.append(result.position - global_transform.origin)
		else:
			laser_ranges.append(-1)
			laser_hitpoints.append(Vector3(0,0,0))
			
		angle += inc

	#draw(laser_ranges)
	draw(laser_hitpoints)
	
	return laser_ranges