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fixed doppler velocity (using the delta v component along the radar and the reflection point instead of the actor)

This commit is contained in:
Shubham Paul 2020-01-28 02:46:05 +05:30 committed by doterop
parent d617db030e
commit 3aae33b10f
2 changed files with 4 additions and 4 deletions
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6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp
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@ -129,7 +129,7 @@ void ARadar::SendLineTraces(float DeltaTime)
const TWeakObjectPtr<AActor> HittedActor = OutHit.Actor;
if (Hitted && HittedActor.Get()) {
const float RelativeVelocity = CalculateRelativeVelocity(OutHit, RadarLocation, ForwardVector);
const float RelativeVelocity = CalculateRelativeVelocity(OutHit, RadarLocation);
const FVector2D AzimuthAndElevation = FMath::GetAzimuthAndElevation (
(EndLocation - RadarLocation).GetSafeNormal() * Range,
@ -148,7 +148,7 @@ void ARadar::SendLineTraces(float DeltaTime)
}
}
float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation, const FVector& ForwardVector)
float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation)
{
constexpr float TO_METERS = 1e-2;
@ -157,7 +157,7 @@ float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector&
const FVector TargetLocation = OutHit.ImpactPoint;
const FVector Direction = (TargetLocation - RadarLocation).GetSafeNormal();
const FVector DeltaVelocity = (TargetVelocity - CurrentVelocity);
const float V = TO_METERS * FVector::DotProduct(DeltaVelocity, ForwardVector);
const float V = TO_METERS * FVector::DotProduct(DeltaVelocity, Direction);
return V;
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.h
View File

@ -68,7 +68,7 @@ private:
void SendLineTraces(float DeltaTime);
float CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation, const FVector& ForwardVector);
float CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation);
FRadarData RadarData;