Nguyen Quy Anh
51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
#pragma once
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#include "vector2d.hpp"
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struct Obstacle {
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Vector2d start;
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Vector2d end;
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Obstacle() : start(0, 0), end(0, 0) {}
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Obstacle(Vector2d s, Vector2d e) : start(s), end(e) {}
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// Find the point of the obstacle that is closest to p
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// # 8 ADDs, 6 MULTs, 1 DIV
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Vector2d find_nearest_obstacle_point(Vector2d p) {
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// # 2 ADDs
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Vector2d obstacle_v = end - start;
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// # 4 ADDs, 4 MULTs, 1 DIV
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double projection = (p - start).dot(obstacle_v) / obstacle_v.dot(obstacle_v);
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if (projection < 0.0)
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projection = 0.0;
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else if (projection > 1.0)
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projection = 1.0;
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// # 2 ADDs, 2 MULTs
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return start + obstacle_v * projection;
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}
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};
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struct Board {
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double length, width;
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Obstacle *obstacles; // Array of obstacles, represented as lines on the board
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int n_obstacles; // Number of obstacles
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Board(double l, double w, int n, Obstacle *o) : length(l), width(w), n_obstacles(n + 4) {
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obstacles = new Obstacle[n + 4];
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for (int i = 0; i < n; i++) {
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obstacles[i] = o[i];
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}
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// borders of the board: bottom, right, top, left
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obstacles[n] = Obstacle(Vector2d(0, 0), Vector2d(l, 0));
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obstacles[n + 1] = Obstacle(Vector2d(l, 0), Vector2d(l, w));
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obstacles[n + 2] = Obstacle(Vector2d(l, w), Vector2d(0, w));
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obstacles[n + 3] = Obstacle(Vector2d(0, w), Vector2d(0, 0));
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}
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~Board() { delete[] obstacles; }
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};
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