From 2cb65f6726bbdecdc57b1544fe11fa6c586783dc Mon Sep 17 00:00:00 2001
From: Jean Fabre-Monplaisir <jean-isaac-fm@live.fr>
Date: Sun, 1 Feb 2015 19:04:55 +0100
Subject: begin detection collision

---
 geom.hpp    |  7 +++++--
 problem.cpp | 32 ++++++++++++++++++++++++++++++--
 problem.hpp |  8 ++++++--
 3 files changed, 41 insertions(+), 6 deletions(-)

diff --git a/geom.hpp b/geom.hpp
index cb8d583..e6dee0c 100644
--- a/geom.hpp
+++ b/geom.hpp
@@ -177,16 +177,19 @@ struct angular_sector {
 
 	angular_sector(circarc i, circarc o) : inner(i), outer(o) {
 		assert(i.c.c == o.c.c);
+		assert(i.theta1 == o.theta1);
+		assert(i.theta2 == o.theta2);
+		
 	}
     bool is_in_sector(vec p) const{
-	//TODO
+        
 	return false;
     }
 
     double dist(vec p) const{
 	if (is_in_sector(p)) return 0;
 	//TODO
-	return 29 ;
+	return 42 ;
     }
 };
 /* vim: set ts=4 sw=4 tw=0 noet :*/
diff --git a/problem.cpp b/problem.cpp
index 25061c5..fb7670b 100644
--- a/problem.cpp
+++ b/problem.cpp
@@ -8,11 +8,39 @@ using namespace std;
 
 double hilare_a_mvt::length() {
 	// returns length traveled by the car
-	return domega * (center - from.pos()).norm();
+    if (is_arc)	return domega * (center - from.pos()).norm();
+    return ds ;
+}
+
+bool hilare_a::intersects(const obstacle &o) const {
+    
+    if((pos()-o.c.c).norm() < o.c.r + param->r_c_car)return true ;
+    if((pos_trolley()-o.c.c).norm() < o.c.r + param->r_c_trolley)return true ;
+    if(segment(pos(),pos_trolley()).dist(o.c.c) < o.c.r)return true ;
+    return false ;
 }
 
 bool hilare_a_mvt::intersects(const obstacle &o) const {
-	// TODO
+    hilare_a_param *p = from.param;
+    vec pos_init = from.pos();
+    vec pos_init_trolley = from.pos_trolley();
+    if(is_arc){
+	double r_min =
+	    min((pos_init - center).norm()-(p->r_c_car),
+		(pos_init_trolley - center).norm()-(p->r_c_trolley));
+	double r_max =
+	    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;
+    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;
+    
+    }
 	return false;
 }
 
diff --git a/problem.hpp b/problem.hpp
index a41e47a..3fc3054 100644
--- a/problem.hpp
+++ b/problem.hpp
@@ -30,6 +30,9 @@ struct hilare_a {	// System A
 	vec pos_trolley() const {
 		return pos() + param->l * dir_trolley();
 	}
+
+    	bool intersects(const obstacle &o) const;	// intersects an obstacle ?
+
 };
 
 struct problem {
@@ -63,9 +66,10 @@ struct hilare_a_mvt {
 	double ds;					// longueur par
 
 	double length();			// length of a movement
+    
+	bool intersects(const obstacle &o) const;	// intersects an obstacle ?
 
-	bool intersects(const obstacle& o) const;	// intersects an obstacle ?
-	bool intersects(const problem &p) const;	// intersects any obstacle on the map ?
+    	bool intersects(const problem &p) const;	// intersects any obstacle on the map ?
 };
 
 struct solution {
-- 
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