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| author | Jean Fabre-Monplaisir <jean-isaac-fm@live.fr> | 2015-02-02 01:51:17 +0100 |
|---|---|---|
| committer | Jean Fabre-Monplaisir <jean-isaac-fm@live.fr> | 2015-02-02 01:51:17 +0100 |
| commit | 3824e47b6b6274b614cfd63098f506ccd356b25a (patch) | |
| tree | 35d9d689a87c86677f4367031bcadd72ef5aacf1 | |
| parent | 582e13dcafe9a33c8d04b469bb7efafc0f6b7687 (diff) | |
| download | Robotique-Projet-3824e47b6b6274b614cfd63098f506ccd356b25a.tar.gz Robotique-Projet-3824e47b6b6274b614cfd63098f506ccd356b25a.zip | |
line collisions
| -rw-r--r-- | problem.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/problem.cpp b/problem.cpp index a4c6aca..985ff26 100644 --- a/problem.cpp +++ b/problem.cpp @@ -28,6 +28,8 @@ bool hilare_a_mvt::intersects(const obstacle &o) const { hilare_a_param *p = from.param; vec pos_init = from.pos(); vec pos_init_trolley = from.pos_trolley(); + if (from.intersects(o)) return true; + if (to.intersects(o)) return true; if(is_arc){ double r_min = min((pos_init - center).norm()-(p->r_c_car), @@ -61,8 +63,7 @@ bool hilare_a_mvt::intersects(const obstacle &o) const { theta2 = canon_angle(theta1,theta2); angular_sector sector = angular_sector(circarc(circle(center,r_min), theta1, theta2), circarc(circle(center,r_max), theta1, theta2)); if (sector.dist(o.c.c)<=o.c.r)return true; - if (from.intersects(o)) return true; - if (to.intersects(o)) return true; + return false; } |