Cadshape geometry contained in Solid will not be detected by radar.

[ltcstar]

Describe the Bug CadShape geometry contained in Solid node will not be detected by radar. Only the Solid origin position can be detected by radar.

Steps to Reproduce

1. add a solid node, set radarCrossSection to 1, add CadShape to children and select some model to import.
2. add a robot with radar and write suitable controller codes to enable radar and prints radar information to console.
3. add a supervisor robot with controller codes to make the solid node move radially towards and away from radar.
4. radar detects nothing as long as the origin point of Solid is out of range, while the geometry of CadShape is in range.

Expected behavior I've tried to use Solid - Shape - Sphere. The result shows that the Sphere geometry can be detected by radar. The radar can detect something after the origin of Solid is out of range when some part of Sphere is still in range.

It's expected for radar to detect CadShape geometry.

Screenshots CadShape cannot be detected by radar.

Sphere can be detected by radar.

System

• Operating System: Windows 11 Pro, 22H2, 22621.2715
• Graphics Card: NVIDIA GeForce RTX 4060 8 GB

[ShuffleWire]

I would expect that Webots would have to check for all individual vertexes / faces in your shape to determine accurately if it's visible or not, and that would be expensive...

As for collision detection, I stumble on using a bounding object made up of multiple basic built-in shape, and that work way better, in term of computational stability and cost...