set strict safety distance

Don't change with pillar radius
This commit is contained in:
tamasmeszaros 2022-11-08 10:07:33 +01:00
parent 823d28ec4b
commit 4dc0741766

View File

@ -709,7 +709,7 @@ GroundConnection find_pillar_route(Ex policy,
auto [polar, azimuth] = dir_to_spheric(dir);
polar = PI - sm.cfg.bridge_slope;
Vec3d d = spheric_to_dir(polar, azimuth).normalized();
auto sd = radius * sm.cfg.safety_distance_mm / sm.cfg.head_back_radius_mm;
auto sd = sm.cfg.safety_distance_mm; //radius * sm.cfg.safety_distance_mm / sm.cfg.head_back_radius_mm;
double t = beam_mesh_hit(policy, sm.emesh, Beam{endp, d, radius, r2}, sd).distance();
double tmax = std::min(sm.cfg.max_bridge_length_mm, t);
t = 0.;
@ -817,7 +817,7 @@ GroundConnection find_ground_connection(
{
auto hjp = j.pos;
double r = j.r;
auto sd = r * sm.cfg.safety_distance_mm / sm.cfg.head_back_radius_mm;
auto sd = sm.cfg.safety_distance_mm; //r * sm.cfg.safety_distance_mm / sm.cfg.head_back_radius_mm;
double r2 = j.r + (end_r - j.r) / (j.pos.z() - ground_level(sm));
double t = beam_mesh_hit(policy, sm.emesh, Beam{hjp, dir, r, r2}, sd)