Diff: Map/Obstacles/Obs_circle.cpp

Revision:

109:53918ba98306

Child:

123:55e5e9acc541

diff -r 6a38cc0765f5 -r 53918ba98306 Map/Obstacles/Obs_circle.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map/Obstacles/Obs_circle.cpp	Tue May 05 16:35:53 2015 +0000
@@ -0,0 +1,27 @@
+#include "Obs_circle.h"
+
+Obs_circle::Obs_circle(float robotRadius, float x, float y, float size):Obstacle(robotRadius)
+{
+    this->x = x;
+    this->y = y;
+    this->size2 = size*size;
+}
+
+int Obs_circle::height(float x, float y)
+{
+    float d = (x-this->x)*(x-this->x) + (y-this->y)*(y-this->y);
+    if(d <= size2) // On est dans le cercle
+    {
+        return 32000; // Interdit
+    }
+    else if(bigShape && d <= size2+robotRadius*robotRadius) // On est dans le grand cercle
+    {
+        if(!smoothBigShape)
+            return 32000; // Interdit
+        else
+        {
+            return 32000; // Interdit
+        }
+    }
+    return 0;
+}