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ui: add PATH_OFFSET_Z constant #33802

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ui: add PATH_OFFSET_Z constant #33802

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5 changes: 3 additions & 2 deletions selfdrive/ui/qt/onroad/model.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
constexpr int CLIP_MARGIN = 500;
constexpr float MIN_DRAW_DISTANCE = 10.0;
constexpr float MAX_DRAW_DISTANCE = 100.0;
constexpr float PATH_OFFSET_Z = 1.22;

static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
const auto &line_x = line.getX();
Expand Down Expand Up @@ -53,7 +54,7 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
if (lead_data.getStatus()) {
float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + PATH_OFFSET_Z, &lead_vertices[i]);
}
}
}
Expand Down Expand Up @@ -85,7 +86,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
}
max_idx = get_path_length_idx(model_position, max_distance);
mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
mapLineToPolygon(model_position, 0.9, PATH_OFFSET_Z, &track_vertices, max_idx, false);
}

void ModelRenderer::drawLaneLines(QPainter &painter) {
Expand Down
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