From 4a49b775a1b0dcc341b47e591ab8cdee63aa81f3 Mon Sep 17 00:00:00 2001
From: rakadu1 <rakadu1@bajajauto.co.in>
Date: Tue, 9 Sep 2025 11:47:56 +0530
Subject: [PATCH] Ego Car vehicle  fix.

---
 steps/src/drawUtils.js      | 28 ++++++++++++----------------
 steps/src/p5/radarSketch.js |  3 ++-
 2 files changed, 14 insertions(+), 17 deletions(-)

diff --git a/steps/src/drawUtils.js b/steps/src/drawUtils.js
index 2919e56..17e3bc4 100644
--- a/steps/src/drawUtils.js
+++ b/steps/src/drawUtils.js
@@ -656,25 +656,21 @@ export function drawCovarianceEllipse(
  * Draws a simple representation of the ego vehicle at the origin (0,0).
  * @param {p5.Graphics} b - The p5.Graphics buffer to draw on.
  */
-function drawEgoVehicle(p, b) {
-  // Determine car color based on the current theme for better visibility.
+export function drawEgoVehicle(p, plotScales) {
   const isDark = document.documentElement.classList.contains("dark");
-  const carColor = isDark ? p.color(200, 200, 220) : p.color(100, 100, 110);
+  const carColor = isDark ? p.color(150, 150, 220) : p.color(150, 150, 220);
   
-  b.push(); // Start a new drawing state
-
-  // Set drawing properties for the car body
-  b.fill(carColor);
-  b.noStroke();
-  b.rectMode(p.CENTER); // Draw rectangles from their center point
+  p.push();
+  p.fill(carColor);
+  p.noStroke();
+  p.rectMode(p.CENTER);
 
-  // The car's dimensions in meters (width x length)
-  const carWidthMeters = 2;
-  const carLengthMeters = 4.5;
+  const carWidthMeters = 1.5;
+  const carLengthMeters = 3.5;
   
-  // These dimensions are in "radar space", not pixels.
-  // The buffer's existing scaling will handle the conversion automatically.
-  b.rect(0, 0, carWidthMeters, carLengthMeters, 0.5); // Main body with rounded corners
+  const carWidthPixels = carWidthMeters * plotScales.plotScaleX;
+  const carLengthPixels = carLengthMeters * plotScales.plotScaleY;
 
-  b.pop(); // Restore original drawing state
+  p.rect(0, -10, carWidthPixels, carLengthPixels, 5);
+  p.pop();
 }
\ No newline at end of file
diff --git a/steps/src/p5/radarSketch.js b/steps/src/p5/radarSketch.js
index 22a62bd..c84d6c4 100644
--- a/steps/src/p5/radarSketch.js
+++ b/steps/src/p5/radarSketch.js
@@ -19,6 +19,7 @@ import {
   drawPointCloud,
   // Import drawing utility functions
   drawTrajectories,
+  drawEgoVehicle,
   drawTrackMarkers,
   snrColors,
   handleCloseUpDisplay,
@@ -88,7 +89,7 @@ export const radarSketch = function (p) {
     calculatePlotScales();
     // Draw coordinate axes
     drawAxes(p, plotScales);
-
+    drawEgoVehicle(p, plotScales)
     // Get current frame data
     const frameData = appState.vizData.radarFrames[appState.currentFrame];
     if (frameData) {