Add option to override range (single value) for non-uniform range LiDARs

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab

@@ -240,7 +240,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &9115279251508973176
 MonoBehaviour:
@@ -1215,3 +1215,7 @@ MonoBehaviour:
           distanceNoiseStDevBase: 0.02
           distanceNoiseStDevRisePerMeter: 0
           distanceNoiseMean: 0
+        rangeOverride:
+          enable: 0
+          minRange: 0
+          maxRange: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab

@@ -143,7 +143,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &2398431948632788025
 MonoBehaviour:
@@ -1118,6 +1118,10 @@ MonoBehaviour:
           distanceNoiseStDevBase: 0.02
           distanceNoiseStDevRisePerMeter: 0
           distanceNoiseMean: 0
+        rangeOverride:
+          enable: 0
+          minRange: 0
+          maxRange: 0
         highResolutionModeEnabled: 0
 --- !u!1 &8835314765314878244
 GameObject:

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab

@@ -469,7 +469,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &7675420128049466981
 MonoBehaviour:

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab

@@ -372,7 +372,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &1430391258634731476
 MonoBehaviour:

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab

@@ -61,7 +61,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &1429064023790827067
 MonoBehaviour:
@@ -1484,6 +1484,10 @@ MonoBehaviour:
           distanceNoiseStDevBase: 0.02
           distanceNoiseStDevRisePerMeter: 0
           distanceNoiseMean: 0
+        rangeOverride:
+          enable: 0
+          minRange: 0
+          maxRange: 0
 --- !u!1 &6990615171978804803
 GameObject:
   m_ObjectHideFlags: 0

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab

@@ -61,7 +61,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &4572956135196922574
 MonoBehaviour:

Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab

@@ -61,7 +61,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &6422033487030486066
 MonoBehaviour:

Assets/RGLUnityPlugin/Scripts/LidarModels/LidarConfiguration.cs

@@ -14,7 +14,6 @@
 
 using System;
 using UnityEngine;
-using UnityEngine.Serialization;
 
 namespace RGLUnityPlugin
 {
@@ -81,19 +80,9 @@ public virtual Matrix4x4[] GetRayPoses()
         }
 
         /// <summary>
-        /// Returns ranges for the generated rays.
-        /// Ranges are retrieved from lasers description. May be overridden.
+        /// Returns ranges for the generated rays. Must be overridden.
         /// </summary>
-        public virtual Vector2[] GetRayRanges()
-        {
-            Vector2[] rayRanges = new Vector2[PointCloudSize];
-            Vector2[] laserRanges = laserArray.GetLaserRanges();
-            for (int i = 0; i < HorizontalSteps; i++)
-            {
-                Array.Copy(laserRanges, 0, rayRanges, i * laserRanges.Length, laserRanges.Length);
-            }
-            return rayRanges;
-        }
+        public abstract Vector2[] GetRayRanges();
 
         /// <summary>
         /// Returns time offsets for the generated rays.
@@ -160,7 +149,51 @@ protected bool ValidateWithModel(BaseLidarConfiguration gold)
     /// It allows the definition of the lidar with different ranges for each laser (channel).
     /// </summary>
     [Serializable]
-    public class LaserBasedRangeLidarConfiguration : BaseLidarConfiguration { }
+    public class LaserBasedRangeLidarConfiguration : BaseLidarConfiguration
+    {
+        [Serializable]
+        public class RangeOverride
+        {
+            [Tooltip("Flag to enable range overriding (single range (min, max) value for all LiDAR rays will be set)")]
+            public bool enable = false;
+
+            [Tooltip("Minimum range of the sensor")]
+            [Min(0)] public float minRange = 0.0f;
+
+            [Tooltip("Maximum range of the sensor")]
+            [Min(0)] public float maxRange = 0.0f;
+        }
+
+        public RangeOverride rangeOverride = new RangeOverride();
+
+        /// <summary>
+        /// Final form of GetRayRanges that handles range override (single range (min, max) value for all LiDAR rays).
+        /// If range override is disabled, GetRayLaserBasedRanges is called.
+        /// </summary>
+        public sealed override Vector2[] GetRayRanges()
+        {
+            if (rangeOverride.enable)
+            {
+                return new Vector2[1] {new Vector2(rangeOverride.minRange, rangeOverride.maxRange)};
+            }
+
+            return GetRayLaserBasedRanges();
+        }
+
+        /// <summary>
+        /// Ranges are retrieved from lasers description. May be overridden.
+        /// </summary>
+        public virtual Vector2[] GetRayLaserBasedRanges()
+        {
+            Vector2[] rayRanges = new Vector2[PointCloudSize];
+            Vector2[] laserRanges = laserArray.GetLaserRanges();
+            for (int i = 0; i < HorizontalSteps; i++)
+            {
+                Array.Copy(laserRanges, 0, rayRanges, i * laserRanges.Length, laserRanges.Length);
+            }
+            return rayRanges;
+        }
+    }
 
     /// <summary>
     /// Lidar configuration for uniformly distributed rays along the horizontal axis with a uniform range for all the rays.
@@ -175,7 +208,7 @@ public class UniformRangeLidarConfiguration : BaseLidarConfiguration
         [Tooltip("Maximum range of the sensor")]
         [Min(0)] public float maxRange;
 
-        public override Vector2[] GetRayRanges()
+        public sealed override Vector2[] GetRayRanges()
         {
             return new Vector2[1] {new Vector2(minRange, maxRange)};
         }
@@ -195,9 +228,9 @@ gold is UniformRangeLidarConfiguration goldTyped &&
     /// It contains properties and ray-generating methods specific to this lidar.
     /// </summary>
     [Serializable]
-    public class HesaiAT128LidarConfiguration : BaseLidarConfiguration
+    public class HesaiAT128LidarConfiguration : LaserBasedRangeLidarConfiguration
     {
-        public override Vector2[] GetRayRanges()
+        public override Vector2[] GetRayLaserBasedRanges()
         {
             // All channels fire laser pulses that measure the far field (＞ 7.2 m)
             // Additionally, the NF-enabled channels also fire laser pulses that measure only the near field (0.5 to 7.2 m), at a time other
@@ -234,7 +267,7 @@ public override bool ValidateWithModel(LidarModel model)
     /// It contains properties and ray-generating methods specific to this lidar.
     /// </summary>
     [Serializable]
-    public class HesaiQT128C2XLidarConfiguration : BaseLidarConfiguration
+    public class HesaiQT128C2XLidarConfiguration : LaserBasedRangeLidarConfiguration
     {
         private static int hesaiQT128LasersBankLength = 32;
 
@@ -280,7 +313,7 @@ public override bool ValidateWithModel(LidarModel model)
     /// It contains properties and ray-generating methods specific to this lidar.
     /// </summary>
     [Serializable]
-    public class HesaiPandar128E4XLidarConfiguration : BaseLidarConfiguration
+    public class HesaiPandar128E4XLidarConfiguration : LaserBasedRangeLidarConfiguration
     {
         // High resolution mode changes laser array
         public override LaserArray laserArray

docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md

@@ -139,9 +139,16 @@ horizontal and vertical beam divergence values (as they would be set to 0). Note
         - `Max Random Period` - upper bound of time period in seconds used in random mode
 
     - *Additional options (available for some Lidar Model Preset)*
-        - `Min Range` - minimum range of the sensor (if not avaiable, the range is different for each laser in `Laser Array`)
-        - `Max Range` - maximum range of the sensor (if not avaiable, the range is different for each laser in `Laser Array`)
-        - `High Resolution Mode Enabled` - whether to activate high resolution mode (available for `Hesai Pandar 128E4X` LiDAR model)
+        - Uniform range LiDARs
+            - `Min Range` - minimum range of the sensor
+            - `Max Range` - maximum range of the sensor
+        - Non-uniform range LiDARs
+            - *Range Override Params*:
+                - `Enable` - enable/disable range overriding (if disabled, ranges are determined based on the laser ranges described in `Laser Array`)
+                - `Min Range` - minimum range of the sensor
+                - `Max Range` - maximum range of the sensor
+        - Hesai Pandar 128E4X
+            - `High Resolution Mode Enabled` - whether to activate high resolution mode
 
 #### Output Data
 `LidarSensor` provides public methods to extend this pipeline with additional `RGL` nodes.