message: somehow forgot the most important part, the altered ray cast distance
diff: @@ -76,9 +76,16 @@ class RayCaster {
  const bool cast_from_origin = true) {
  const Ray unit_ray = (point_G - origin).normalized();
  - const Point ray_end = is_clearing_ray
  - ? origin + unit_ray * max_ray_length_m
  - : point_G + unit_ray * truncation_distance;
  + Point ray_end;
  + if (is_clearing_ray) {
  + FloatingPoint ray_length = (point_G - origin).norm();
  + ray_length = std::min(std::max(ray_length - truncation_distance,
  + static_cast<FloatingPoint>(0.0)),
  + max_ray_length_m);
  + ray_end = origin + unit_ray * ray_length;
  + } else {
  + ray_end = point_G + unit_ray * truncation_distance;
  + }
  const Point ray_start = voxel_carving_enabled
  ? origin
  : (point_G - unit_ray * truncation_distance);
  