bool ofTurtle::leftIsClear(int pixels, ofImage & walls)
{
leftCheckDist=pixels;
ofPoint ps=pos+bearing.ortho().unit()*w/2-bearing.unit()*h/2;
return sensorIsClear(ps, pixels, walls,270);
}
bool ofTurtle::frontIsClear(int pixels, ofImage & walls)
{
frontCheckDist=pixels;
return sensorIsClear(pos, pixels+(2+3/8)*pixPerInch/2, walls);
}
bool ofTurtle::rightIsClear(int pixels, ofImage & walls)
{
ofPoint ps=pos-bearing.ortho().unit()*w/2-bearing.unit()*w/2;
return sensorIsClear(ps, pixels, walls,90);
}
bool ofTurtle::frontIsClear(int pixels, ofImage & walls)
{
return sensorIsClear(pos, pixels, walls);
}
bool ofTurtle::frontLeftIsClear(int pixels, ofImage & walls)
{
ofPoint ps=pos+bearing.ortho().unit()*w/2;
return sensorIsClear(ps, pixels, walls);
}
