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Fix missing direction of ray (#3297) #3298

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@ffgao ffgao commented Feb 8, 2023

🦟 Bug fix

Fixes #3297

Summary

When 'relativeEndPos' and 'relativeStartPos' are close, zero vector will be generated, which will cause the ray to lose its direction forever.

void RayShape::SetLength(double _len)
{
  this->contactLen = _len;

  ignition::math::Vector3d dir = this->relativeEndPos - this->relativeStartPos;
  dir.Normalize();

  this->relativeEndPos = dir * _len + this->relativeStartPos;
}

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

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ffgao commented Jun 2, 2023

Expected behavior:
image

217426318-f8fe26ec-80e8-47b8-aa6b-b213b2a70510

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Rays through models, and never recover
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