From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 14 Sep 2021 11:01:26 +0000 (+0200)
Subject: Fix drive in slot end condition
X-Git-Tag: v0.7.0~5
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/6f57d7992a8c256710cab85800e39483b5bbd8fa

Fix drive in slot end condition
---

diff --git a/src/pslot.cc b/src/pslot.cc
index fe6c377..4753d91 100644
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -229,7 +229,12 @@ ParkingSlot::drive_in_slot(BicycleCar c)
 			path.push_back(c);
 			return path;
 		}
-		if (c.h() < this->h()) {
+		double sx = c.x() + 10.0 * cos(this->h());
+		double sy = c.y() + 10.0 * sin(this->h());
+		double cx = c.x() + 10.0 * cos(c.h());
+		double cy = c.y() + 10.0 * sin(c.h());
+		if (Point(cx, cy).on_right_side_of(
+				Line(Point(c.x(), c.y()), Point(sx, sy)))) {
 			return std::vector<BicycleCar>();
 		}
 		c.next();