23 lines
1007 B
C++
23 lines
1007 B
C++
#include "mg_obstacles/permanent_obstacle.hpp"
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#include "mg_obstacles/sdf.hpp"
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namespace mg {
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PermanentObstacle::PermanentObstacle(const Json::Value& json) :
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pos(json.get("x", 1.0).asDouble(), json.get("y", 1.0).asDouble()),
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size(json.get("width", 0.0).asDouble(), json.get("height", 0.0).asDouble()) { }
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double PermanentObstacle::distance(glm::dvec2 position) const {
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return boxSdf(pos + 0.5 * glm::dvec2{ size.x, -size.y }, size * 0.5, position);
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}
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bool PermanentObstacle::contains(glm::dvec2 position, double radius) const {
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return inBoxSdf(pos + 0.5 * glm::dvec2{ size.x, -size.y }, size * 0.5, position, radius);
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}
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double PermanentObstacle::distanceBox(const glm::dvec2 position,
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const glm::dvec2 size,
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const glm::dmat2 rot_mat) const {
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return boxToBox(pos + 0.5 * glm::dvec2{ this->size.x, -this->size.y }, this->size, position, size, rot_mat);
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}
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} |