From eaaac52b256a64a1a349c413ae521e7d9a842f64 Mon Sep 17 00:00:00 2001
From: Yuki Furuta <old.paddy.wd@gmail.com>
Date: Thu, 14 Apr 2022 22:21:27 +0900
Subject: [PATCH] match unity-axis and ros-axis about rays

---
 Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs b/Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs
index d314cde..2a87e29 100644
--- a/Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs
+++ b/Runtime/Scripts/Sensors/LIDAR/ZOLIDAR2D.cs
@@ -154,7 +154,7 @@ protected override void ZOFixedUpdateHzSynchronized() {
             // do raycasts
             // TODO: use batch raycasts like the 3d raycast
             for (int i = 0; i < _rayCount; i++) {
-                Vector3 axis = new Vector3(0, MinAngleDegrees - AngleIncrementDegrees * i, 0);
+                Vector3 axis = new Vector3(0, -1 * MinAngleDegrees - AngleIncrementDegrees * i, 0);
                 Vector3 direction = Quaternion.Euler(axis) * transform.forward;
                 _rays[i] = new Ray(transform.position, direction);
                 _ranges[i] = 0;