/*!
*/
int
Circle2D::intersection( const Circle2D & circle,
Vector2D * sol1,
Vector2D * sol2 ) const
{
double rel_x = circle.center().x - this->center().x;
double rel_y = circle.center().y - this->center().y;
double center_dist2 = rel_x * rel_x + rel_y * rel_y;
double center_dist = std::sqrt( center_dist2 );
if ( center_dist < std::fabs( this->radius() - circle.radius() )
|| this->radius() + circle.radius() < center_dist )
{
return 0;
}
//std::cerr << "must exist intersection C1: " << this->center() << this->radius()
// << " C2: " << circle.center() << circle.radius()
// << std::endl;
// line that passes through the intersection points
Line2D line( -2.0 * rel_x,
-2.0 * rel_y,
circle.center().r2()
- circle.radius() * circle.radius()
- this->center().r2()
+ this->radius() * this->radius() );
return this->intersection( line, sol1, sol2 );
}
// ==================================================================================
Vector2D TacticTransferObject::AvoidtoEnterCircle(Circle2D Ci, Vector2D pnt, Vector2D finPOS)
{
// Avoided=false;
Segment2D S(pnt,finPOS);
if(Ci.HasIntersection(S) || Ci.contains(pnt) || Ci.contains(finPOS))
{
// qDebug() << " HAS INTERSECTION WITH CIRCLE !! DO NOT ENTER THIS CIRCLE PLEASE !!!";
// qDebug() << " HAS INTERSECTION WITH CIRCLE ( " << Ci.center().x << "," << Ci.center().y << " ) , Radius : " << Ci.radius() ;
Vector2D c2r = pnt - Ci.center() ;
Vector2D c2f = finPOS - Ci.center() ;
c2r.setLength(Ci.radius()+50);
AngleDeg angle=c2r.dir() - c2f.dir();
//double ang=c2r.dir().radian() - c2f.dir().radian();
if (angle.radian() > M_PI) angle -= AngleDeg(M_PI) *= 2;
if (angle.radian() < -M_PI) angle += AngleDeg(M_PI) *= 2;
//if (ang > M_PI) ang -= 2 * M_PI;
//if (ang < -M_PI) ang += 2 * M_PI;
//qDebug() << "c2r DIRECTION = " << c2r.dir().degree() << "c2f DIRECTION = " << c2f.dir().degree() << " ANGLE = " << angle.degree() << " ANG =" << ang*57.32;
int div=int(Ci.radius()/50);
// qDebug() << "div = " << div ;
angle=angle/=min(div,6);
angle=c2r.dir() - angle;
c2r.setDir(angle);// c2f.dir()));
Vector2D p = Ci.center() + c2r ;
// Avoided=true;
// qDebug() << " Avoided point is : (" << finPOS.x << "," <<finPOS.y << ") & Corrected is : ("<<
// p.x << "," << p.y << ")" ;
return p;
}
else
{
return finPOS;
}
}
