From ce596424cfb9b3b680e2255e701f0f32e2a65edd Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Nov 2025 04:16:38 -0800
Subject: [PATCH] Fix steering arc artifacts (#36707)

* fix arc artifacts

* works but how

* also this

* Revert "also this"

This reverts commit e8d5ed9af15568dcb178dd6da7a14d2c6191010e.

* clean up

* nl

* clean up

* more

* print

* print
---
 selfdrive/ui/mici/onroad/torque_bar.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index 1f6dffe87..d7c9f27a9 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,
 
   pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
 
+  # Rotate to start from middle of cap for proper triangulation
+  pts = np.roll(pts, cap_segs, axis=0)
+
   if DEBUG:
     n = len(pts)
     idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec