#include "rrtnode.h"
-#define HMIN 0 // horizontal
-#define HMAX 26 // horizontal
-#define VMIN -5.3 // vertical
-#define VMAX 5.5 // vertical
+#define HMIN -20 // horizontal
+#define HMAX 20 // horizontal
+#define VMIN -5 // vertical
+#define VMAX 30 // vertical
// OpenGL window size
-#define SCREEN_WIDTH 500
-#define SCREEN_HEIGHT 1500
+#define SCREEN_WIDTH 1000
+#define SCREEN_HEIGHT 1000
#define GLPLWSCALE (1.0 / ((VMAX) - (VMIN)))
#define GLPLHSCALE (1.0 / ((HMAX) - (HMIN)))
+#define GLVERTEX(n) ((n)->x() * GLPLWSCALE), ((n)->y() * GLPLHSCALE)
+
RRTNode *sa1();
+RRTNode *sa2(float bx, float by, float br);
#endif