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-rw-r--r--problem.cpp33
1 files changed, 30 insertions, 3 deletions
diff --git a/problem.cpp b/problem.cpp
index e56b0b3..28ef8fa 100644
--- a/problem.cpp
+++ b/problem.cpp
@@ -8,12 +8,39 @@ using namespace std;
double hilare_a_mvt::length() {
// returns length traveled by the car
- // TODO : two cases
- 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;
}