diff options
Diffstat (limited to 'problem.cpp')
| -rw-r--r-- | problem.cpp | 25 |
1 files changed, 23 insertions, 2 deletions
diff --git a/problem.cpp b/problem.cpp index 67287fa..ac4f608 100644 --- a/problem.cpp +++ b/problem.cpp @@ -35,8 +35,29 @@ bool hilare_a_mvt::intersects(const obstacle &o) const { max((pos_init - center).norm()+(p->r_c_car), (pos_init_trolley - center).norm()+(p->r_c_trolley)); //TODO - double theta1 = 0; - double theta2 = 0; + double theta1; + double theta2; + if (domega>=0) { + if(from.phi > 0){ + theta1 = (from.pos()-center).angle(); + theta2 = (to.pos_trolley()-center).angle(); + } + else { + theta1 = (from.pos_trolley()-center).angle(); + theta2 = (to.pos()-center).angle(); + } + } + else { + if(from.phi > 0){ //TODO ?? + theta2 = (from.pos()-center).angle(); + theta1 = (to.pos_trolley()-center).angle(); + } + else { + theta2 = (from.pos_trolley()-center).angle(); + theta1 = (to.pos()-center).angle(); + } + } + 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; |