• Reinhard Biegel's avatar
    fix(World_OSI): Extend SensorView filter area to include all touching objects · 3f5ffd6f
    Reinhard Biegel authored
    The method ApplySectorFilter() is used for pre-filtering an
    osi3::SensorView.  It adds a margin of half a objects' diagonal to the
    sensor range to also include objects which are just touching the cone,
    but have their bounding box center outside the cone.
    As it turns out, using the bounding box center as reference was wrong.
    Instead, the osi3::MovingObject reference point has to be taken into
    account (center of rear axle). Thus, the margin is increased to the full
    diagnal of the object. This covers all cases where the rear axle center
    is inside of the objects' bounding box.