void turnaround(double distance, char opt) {
goCM(distance); //go forward that distance
if (opt == 'p') { //do a point turn
pointTurn(180);
}
else if (opt == 'u') {
circle0(0, 180); //do a half circle for a U-turn
}
else if (opt == 't') {
circle0(THREE_TURN_RADIUS, 60); //first half-sort-of-turn for the three-point turn
reverseCircle0(THREE_TURN_RADIUS, 60);
circle0(THREE_TURN_RADIUS, 65);
}
goCM(distance); //returns back to its original place
}
void circle(double radius) {
circle0(radius, 360); //make a circle with radius radius, and go 360 degrees
}
bool IntrArc2Arc2<Real>::Find ()
{
mQuantity = 0;
Circle2<Real> circle0(mArc0->Center, mArc0->Radius);
Circle2<Real> circle1(mArc1->Center, mArc1->Radius);
IntrCircle2Circle2<Real> intr(circle0, circle1);
if (!intr.Find())
{
// arcs do not intersect
mIntersectionType = IT_EMPTY;
return false;
}
if (intr.GetIntersectionType() == IT_OTHER)
{
// Arcs are cocircular. Determine if they overlap. Let arc0 be
// <A0,A1> and arc1 be <B0,B1>, the points ordered counterclockwise
// around the circle of the arc.
if (mArc1->Contains(mArc0->End0))
{
if (mArc1->Contains(mArc0->End1))
{
// Arc0 inside arc 1, <B0,A0,A1,B1>.
mIntersectionType = IT_OTHER;
mIntersectionArc = *mArc0;
}
else
{
if (mArc0->End0 != mArc1->End1)
{
// Arc0 and arc1 overlap, <B0,A0,B1,A1>.
mIntersectionType = IT_OTHER;
mIntersectionArc.Center = mArc0->Center;
mIntersectionArc.Radius = mArc0->Radius;
mIntersectionArc.End0 = mArc0->End0;
mIntersectionArc.End1 = mArc1->End1;
}
else
{
// Arc0 and arc1 share end point, <B0,A0,B1,A1>, A0 = B1.
mIntersectionType = IT_POINT;
mQuantity = 1;
mPoint[0] = mArc0->End0;
}
}
return true;
}
if (mArc1->Contains(mArc0->End1))
{
if (mArc0->End1 != mArc1->End0)
{
// Arc0 and arc1 overlap, <A0,B0,A1,B1>.
mIntersectionType = IT_OTHER;
mIntersectionArc.Center = mArc0->Center;
mIntersectionArc.Radius = mArc0->Radius;
mIntersectionArc.End0 = mArc1->End0;
mIntersectionArc.End1 = mArc0->End1;
}
else
{
// Arc0 and arc1 share end point, <A0,B0,A1,B1>, B0 = A1.
mIntersectionType = IT_POINT;
mQuantity = 1;
mPoint[0] = mArc1->End0;
}
return true;
}
if (mArc0->Contains(mArc1->End0))
{
// Arc1 inside arc0, <A0,B0,B1,A1>.
mIntersectionType = IT_OTHER;
mIntersectionArc = *mArc1;
return true;
}
else
{
// Arcs do not overlap, <A0,A1,B0,B1>.
mIntersectionType = IT_EMPTY;
return false;
}
}
// Test whether circle-circle intersection points are on the arcs.
for (int i = 0; i < intr.GetQuantity(); ++i)
{
if (mArc0->Contains(intr.GetPoint(i))
&& mArc1->Contains(intr.GetPoint(i)))
{
mPoint[mQuantity++] = intr.GetPoint(i);
}
}
mIntersectionType = (mQuantity > 0 ? IT_POINT : IT_EMPTY);
return mIntersectionType != IT_EMPTY;
}