Fix issue of lidar rays propagated beyond the walls.
Problem: the raycasting is computed starting from a point at distance min_distance in the sensor coordinate system.
When the car collides with a wall, the distance between the sensor and the wall is lower than min_distance but the ray was erroneously propagated from a point at min_distance, which is beyond the wall.
Solution: the raycasting starts at distance 0. The min_distance of the sensor reading is simply applied after the raycasting, through a clipping operation.
Fix issue of lidar rays propagated beyond the walls.
Problem: the raycasting is computed starting from a point at distance
min_distancein the sensor coordinate system. When the car collides with a wall, the distance between the sensor and the wall is lower thanmin_distancebut the ray was erroneously propagated from a point atmin_distance, which is beyond the wall.Solution: the raycasting starts at distance 0. The
min_distanceof the sensor reading is simply applied after the raycasting, through a clipping operation.