From 2cb65f6726bbdecdc57b1544fe11fa6c586783dc Mon Sep 17 00:00:00 2001 From: Jean Fabre-Monplaisir Date: Sun, 1 Feb 2015 19:04:55 +0100 Subject: begin detection collision --- problem.cpp | 32 ++++++++++++++++++++++++++++++-- 1 file changed, 30 insertions(+), 2 deletions(-) (limited to 'problem.cpp') 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; } -- cgit v1.2.3