}
bool BicycleCar::drivable(const BicycleCar &bc, double b, double e) const
{
- // assert bc.h() == (b + e) / 2.0
- double a_1 = atan2(bc.y() - this->y(), bc.x() - this->x()) - this->h();
- while (a_1 < -M_PI)
- a_1 += 2 * M_PI;
- while (a_1 > +M_PI)
- a_1 -= 2 * M_PI;
- double h_d = bc.h() - this->h();
- while (h_d < -M_PI)
- h_d += 2 * M_PI;
- while (h_d > +M_PI)
- h_d -= 2 * M_PI;
- double a_2 = 0;
- if (h_d == 0 && (a_1 == 0 || a_2 == M_PI || a_2 == -M_PI)) {
- return true;
- } else if (0 < a_1 && a_1 <= M_PI/2) { // left front
- BicycleCar z(*this); // zone border
- z.h(e);
- h_d = bc.h() - this->h();
- z.rotate(this->ccl().x(), this->ccl().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
- return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
- while (a_2 < -M_PI)
- a_2 += 2 * M_PI;
- while (a_2 > +M_PI)
- a_2 -= 2 * M_PI;
- if (z.h() >= a_2 && a_2 >= this->h())
- return true;
- } else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
- BicycleCar z(*this); // zone border
- z.h(e);
- h_d = bc.h() - this->h();
- z.rotate(this->ccl().x(), this->ccl().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
- return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
- a_2 -= M_PI;
- while (a_2 < -M_PI)
- a_2 += 2 * M_PI;
- while (a_2 > +M_PI)
- a_2 -= 2 * M_PI;
- if (this->h() >= a_2 && a_2 >= z.h())
- return true;
- } else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
- BicycleCar z(*this); // zone border
- z.h(b);
- h_d = bc.h() - this->h();
- z.rotate(this->ccr().x(), this->ccr().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
- return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
- while (a_2 < -M_PI)
- a_2 += 2 * M_PI;
- while (a_2 > +M_PI)
- a_2 -= 2 * M_PI;
- if (this->h() >= a_2 && a_2 >= z.h())
- return true;
- } else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
- BicycleCar z(*this); // zone border
- z.h(b);
- h_d = bc.h() - this->h();
- z.rotate(this->ccr().x(), this->ccr().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
- return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
- a_2 -= M_PI;
- while (a_2 < -M_PI)
- a_2 += 2 * M_PI;
- while (a_2 > +M_PI)
- a_2 -= 2 * M_PI;
- if (z.h() >= a_2 && a_2 >= this->h())
- return true;
- } else {
- // Not happenning, as ``-pi <= a <= pi``.
- }
- return false;
+ // assert bc.h() == (b + e) / 2.0
+ double a_1 = atan2(bc.y() - this->y(), bc.x() - this->x()) - this->h();
+ while (a_1 < -M_PI)
+ a_1 += 2 * M_PI;
+ while (a_1 > +M_PI)
+ a_1 -= 2 * M_PI;
+ double h_d = bc.h() - this->h();
+ while (h_d < -M_PI)
+ h_d += 2 * M_PI;
+ while (h_d > +M_PI)
+ h_d -= 2 * M_PI;
+ double a_2 = 0;
+ if (h_d == 0 && (a_1 == 0 || a_2 == M_PI || a_2 == -M_PI)) {
+ return true;
+ } else if (0 < a_1 && a_1 <= M_PI/2) { // left front
+ BicycleCar z(*this); // zone border
+ z.h(e);
+ h_d = bc.h() - this->h();
+ z.rotate(this->ccl().x(), this->ccl().y(), h_d);
+ // assert z.h() == bc.h()
+ if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ return true;
+ a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (z.h() >= a_2 && a_2 >= this->h())
+ return true;
+ } else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
+ BicycleCar z(*this); // zone border
+ z.h(e);
+ h_d = bc.h() - this->h();
+ z.rotate(this->ccl().x(), this->ccl().y(), h_d);
+ // assert z.h() == bc.h()
+ if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ return true;
+ a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ a_2 -= M_PI;
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (this->h() >= a_2 && a_2 >= z.h())
+ return true;
+ } else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
+ BicycleCar z(*this); // zone border
+ z.h(b);
+ h_d = bc.h() - this->h();
+ z.rotate(this->ccr().x(), this->ccr().y(), h_d);
+ // assert z.h() == bc.h()
+ if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ return true;
+ a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (this->h() >= a_2 && a_2 >= z.h())
+ return true;
+ } else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
+ BicycleCar z(*this); // zone border
+ z.h(b);
+ h_d = bc.h() - this->h();
+ z.rotate(this->ccr().x(), this->ccr().y(), h_d);
+ // assert z.h() == bc.h()
+ if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ return true;
+ a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ a_2 -= M_PI;
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (z.h() >= a_2 && a_2 >= this->h())
+ return true;
+ } else {
+ // Not happenning, as ``-pi <= a <= pi``.
+ }
+ return false;
}
double BicycleCar::iradi() const
{
- return this->mtr() - this->w() / 2;
+ return this->mtr() - this->w() / 2;
}
double BicycleCar::ofradi() const
{
- return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->df(), 2));
+ return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->df(), 2));
}
double BicycleCar::orradi() const
{
- return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->dr(), 2));
+ return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->dr(), 2));
}
double BicycleCar::perfect_parking_slot_len() const
{
- // see Simon R. Blackburn *The Geometry of Perfect Parking*
- // see https://www.ma.rhul.ac.uk/SRBparking
- double r = this->ctc() / 2;
- double l = this->wb();
- double k = this->df() - this->wb();
- double w = this->w();
- return
- this->l()
- + sqrt(
- (r*r - l*l)
- + pow(l + k, 2)
- - pow(sqrt(r*r - l*l) - w, 2)
- )
- - l
- - k
- ;
+ // see Simon R. Blackburn *The Geometry of Perfect Parking*
+ // see https://www.ma.rhul.ac.uk/SRBparking
+ double r = this->ctc() / 2;
+ double l = this->wb();
+ double k = this->df() - this->wb();
+ double w = this->w();
+ return
+ this->l()
+ + sqrt(
+ (r*r - l*l)
+ + pow(l + k, 2)
+ - pow(sqrt(r*r - l*l) - w, 2)
+ )
+ - l
+ - k
+ ;
}
void BicycleCar::set_max_steer()
{
- this->st(atan(this->wb() / this->mtr()));
+ this->st(atan(this->wb() / this->mtr()));
}
// car frame
double BicycleCar::lfx() const
{
- double lfx = this->x();
- lfx += (this->w() / 2) * cos(this->h() + M_PI / 2);
- lfx += this->df() * cos(this->h());
- lfx += this->sd() * cos(this->h());
- return lfx;
+ double lfx = this->x();
+ lfx += (this->w() / 2) * cos(this->h() + M_PI / 2);
+ lfx += this->df() * cos(this->h());
+ lfx += this->sd() * cos(this->h());
+ return lfx;
}
double BicycleCar::lfy() const
{
- double lfy = this->y();
- lfy += (this->w() / 2) * sin(this->h() + M_PI / 2);
- lfy += this->df() * sin(this->h());
- lfy += this->sd() * sin(this->h());
- return lfy;
+ double lfy = this->y();
+ lfy += (this->w() / 2) * sin(this->h() + M_PI / 2);
+ lfy += this->df() * sin(this->h());
+ lfy += this->sd() * sin(this->h());
+ return lfy;
}
double BicycleCar::lrx() const
{
- double lrx = this->x();
- lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
- lrx += -this->dr() * cos(this->h());
- lrx += -this->sd() * cos(this->h());
- return lrx;
+ double lrx = this->x();
+ lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
+ lrx += -this->dr() * cos(this->h());
+ lrx += -this->sd() * cos(this->h());
+ return lrx;
}
double BicycleCar::lry() const
{
- double lry = this->y();
- lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
- lry += -this->dr() * sin(this->h());
- lry += -this->sd() * sin(this->h());
- return lry;
+ double lry = this->y();
+ lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
+ lry += -this->dr() * sin(this->h());
+ lry += -this->sd() * sin(this->h());
+ return lry;
}
double BicycleCar::rrx() const
{
- double rrx = this->x();
- rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
- rrx += -this->dr() * cos(this->h());
- rrx += -this->sd() * cos(this->h());
- return rrx;
+ double rrx = this->x();
+ rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
+ rrx += -this->dr() * cos(this->h());
+ rrx += -this->sd() * cos(this->h());
+ return rrx;
}
double BicycleCar::rry() const
{
- double rry = this->y();
- rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
- rry += -this->dr() * sin(this->h());
- rry += -this->sd() * sin(this->h());
- return rry;
+ double rry = this->y();
+ rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
+ rry += -this->dr() * sin(this->h());
+ rry += -this->sd() * sin(this->h());
+ return rry;
}
double BicycleCar::rfx() const
{
- double rfx = this->x();
- rfx += (this->w() / 2) * cos(this->h() - M_PI / 2);
- rfx += this->df() * cos(this->h());
- rfx += this->sd() * cos(this->h());
- return rfx;
+ double rfx = this->x();
+ rfx += (this->w() / 2) * cos(this->h() - M_PI / 2);
+ rfx += this->df() * cos(this->h());
+ rfx += this->sd() * cos(this->h());
+ return rfx;
}
double BicycleCar::rfy() const
{
- double rfy = this->y();
- rfy += (this->w() / 2) * sin(this->h() - M_PI / 2);
- rfy += this->df() * sin(this->h());
- rfy += this->sd() * sin(this->h());
- return rfy;
+ double rfy = this->y();
+ rfy += (this->w() / 2) * sin(this->h() - M_PI / 2);
+ rfy += this->df() * sin(this->h());
+ rfy += this->sd() * sin(this->h());
+ return rfy;
}
double BicycleCar::ralx() const
{
- double lrx = this->x();
- lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
- return lrx;
+ double lrx = this->x();
+ lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
+ return lrx;
}
double BicycleCar::raly() const
{
- double lry = this->y();
- lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
- return lry;
+ double lry = this->y();
+ lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
+ return lry;
}
double BicycleCar::rarx() const
{
- double rrx = this->x();
- rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
- return rrx;
+ double rrx = this->x();
+ rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
+ return rrx;
}
double BicycleCar::rary() const
{
- double rry = this->y();
- rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
- return rry;
+ double rry = this->y();
+ rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
+ return rry;
}
BicycleCar BicycleCar::ccl() const
{
- BicycleCar bc;
- bc.x(this->x() + this->mtr() * cos(this->h() + M_PI / 2));
- bc.y(this->y() + this->mtr() * sin(this->h() + M_PI / 2));
- bc.h(this->h());
- return bc;
+ BicycleCar bc;
+ bc.x(this->x() + this->mtr() * cos(this->h() + M_PI / 2));
+ bc.y(this->y() + this->mtr() * sin(this->h() + M_PI / 2));
+ bc.h(this->h());
+ return bc;
}
BicycleCar BicycleCar::ccr() const
{
- BicycleCar bc;
- bc.x(this->x() + this->mtr() * cos(this->h() - M_PI / 2));
- bc.y(this->y() + this->mtr() * sin(this->h() - M_PI / 2));
- bc.h(this->h());
- return bc;
+ BicycleCar bc;
+ bc.x(this->x() + this->mtr() * cos(this->h() - M_PI / 2));
+ bc.y(this->y() + this->mtr() * sin(this->h() - M_PI / 2));
+ bc.h(this->h());
+ return bc;
}
// moving
void BicycleCar::next()
{
- this->x(this->x() + this->sp() * cos(this->h()));
- this->y(this->y() + this->sp() * sin(this->h()));
- this->h(this->h() + this->sp() / this->wb() * tan(this->st()));
+ this->x(this->x() + this->sp() * cos(this->h()));
+ this->y(this->y() + this->sp() * sin(this->h()));
+ this->h(this->h() + this->sp() / this->wb() * tan(this->st()));
}
void BicycleCar::rotate(double cx, double cy, double angl)
{
- double px = this->x();
- double py = this->y();
- px -= cx;
- py -= cy;
- double nx = px * cos(angl) - py * sin(angl);
- double ny = px * sin(angl) + py * cos(angl);
- this->h(this->h() + angl);
- this->x(nx + cx);
- this->y(ny + cy);
+ double px = this->x();
+ double py = this->y();
+ px -= cx;
+ py -= cy;
+ double nx = px * cos(angl) - py * sin(angl);
+ double ny = px * sin(angl) + py * cos(angl);
+ this->h(this->h() + angl);
+ this->x(nx + cx);
+ this->y(ny + cy);
}
BicycleCar::BicycleCar()
{
- // TODO according to mtr_ FIXME
- this->mtr_ = sqrt(
- pow(10.82 / 2, 2)
- - pow(this->wb(), 2)
- )
- - this->w() / 2
- ;
+ // TODO according to mtr_ FIXME
+ this->mtr_ = sqrt(
+ pow(10.82 / 2, 2)
+ - pow(this->wb(), 2)
+ )
+ - this->w() / 2
+ ;
}
std::tuple<bool, unsigned int, unsigned int>
collide(
- std::vector<std::tuple<double, double>> &p1,
- std::vector<std::tuple<double, double>> &p2
+ std::vector<std::tuple<double, double>> &p1,
+ std::vector<std::tuple<double, double>> &p2
)
{
- for (unsigned int i = 0; i < p1.size() - 1; i++) {
- for (unsigned int j = 0; j < p2.size() - 1; j++) {
- auto x = intersect(
- std::get<0>(p1[i]),
- std::get<1>(p1[i]),
- std::get<0>(p1[i + 1]),
- std::get<1>(p1[i + 1]),
- std::get<0>(p2[j]),
- std::get<1>(p2[j]),
- std::get<0>(p2[j + 1]),
- std::get<1>(p2[j + 1])
- );
- if (std::get<0>(x))
- return std::make_tuple(true, i, j);
- }
- }
- return std::make_tuple(false, 0, 0);
+ for (unsigned int i = 0; i < p1.size() - 1; i++) {
+ for (unsigned int j = 0; j < p2.size() - 1; j++) {
+ auto x = intersect(
+ std::get<0>(p1[i]),
+ std::get<1>(p1[i]),
+ std::get<0>(p1[i + 1]),
+ std::get<1>(p1[i + 1]),
+ std::get<0>(p2[j]),
+ std::get<1>(p2[j]),
+ std::get<0>(p2[j + 1]),
+ std::get<1>(p2[j + 1])
+ );
+ if (std::get<0>(x))
+ return std::make_tuple(true, i, j);
+ }
+ }
+ return std::make_tuple(false, 0, 0);
}
bool
inside(double x, double y, std::vector<std::tuple<double, double>> &poly)
{
- unsigned int i = 0;
- unsigned int j = 3;
- bool inside = false;
- for (i = 0; i < 4; i++) {
- if (
- (std::get<1>(poly[i]) > y) != (std::get<1>(poly[j]) > y)
- && (
- x < std::get<0>(poly[i])
- + (std::get<0>(poly[j]) - std::get<0>(poly[i]))
- * (y - std::get<1>(poly[i]))
- / (std::get<1>(poly[j]) - std::get<1>(poly[i]))
- )
- )
- inside = !inside;
- j = i;
- }
- return inside;
+ unsigned int i = 0;
+ unsigned int j = 3;
+ bool inside = false;
+ for (i = 0; i < 4; i++) {
+ if (
+ (std::get<1>(poly[i]) > y) != (std::get<1>(poly[j]) > y)
+ && (
+ x < std::get<0>(poly[i])
+ + (std::get<0>(poly[j]) - std::get<0>(poly[i]))
+ * (y - std::get<1>(poly[i]))
+ / (std::get<1>(poly[j]) - std::get<1>(poly[i]))
+ )
+ )
+ inside = !inside;
+ j = i;
+ }
+ return inside;
}
std::tuple<bool, double, double>
intersect(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3,
- double x4, double y4
+ double x1, double y1,
+ double x2, double y2,
+ double x3, double y3,
+ double x4, double y4
)
{
- double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
- if (deno == 0)
- return std::make_tuple(false, 0, 0);
- double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
- t /= deno;
- double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
- u *= -1;
- u /= deno;
- if (t < 0 || t > 1 || u < 0 || u > 1)
- return std::make_tuple(false, 0, 0);
- return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
+ double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
+ if (deno == 0)
+ return std::make_tuple(false, 0, 0);
+ double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
+ t /= deno;
+ double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
+ u *= -1;
+ u /= deno;
+ if (t < 0 || t > 1 || u < 0 || u > 1)
+ return std::make_tuple(false, 0, 0);
+ return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
}
std::tuple<bool, double, double, double, double>
intersect(
- double cx, double cy, double r,
- double x1, double y1,
- double x2, double y2
+ double cx, double cy, double r,
+ double x1, double y1,
+ double x2, double y2
) {
- x2 -= cx;
- x1 -= cx;
- y2 -= cy;
- y1 -= cy;
- if (y1 == y2)
- y1 += 0.00001;
- double dx = x2 - x1;
- double dy = y2 - y1;
- double dr = sqrt(dx*dx + dy*dy);
- double D = x1*y2 - x2*y1;
- if (r*r * dr*dr - D*D < 0)
- return std::make_tuple(false, 0, 0, 0, 0);
- // intersection coordinates
- double ix1 = (D*dy + sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
- ix1 += cx;
- double ix2 = (D*dy - sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
- ix2 += cx;
- double iy1 = (-D*dx + std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
- iy1 += cy;
- double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
- iy2 += cy;
- return std::make_tuple(true, ix1, iy1, ix2, iy2);
+ x2 -= cx;
+ x1 -= cx;
+ y2 -= cy;
+ y1 -= cy;
+ if (y1 == y2)
+ y1 += 0.00001;
+ double dx = x2 - x1;
+ double dy = y2 - y1;
+ double dr = sqrt(dx*dx + dy*dy);
+ double D = x1*y2 - x2*y1;
+ if (r*r * dr*dr - D*D < 0)
+ return std::make_tuple(false, 0, 0, 0, 0);
+ // intersection coordinates
+ double ix1 = (D*dy + sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ ix1 += cx;
+ double ix2 = (D*dy - sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ ix2 += cx;
+ double iy1 = (-D*dx + std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ iy1 += cy;
+ double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ iy2 += cy;
+ return std::make_tuple(true, ix1, iy1, ix2, iy2);
}
double
angle_between_three_points(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3
+ double x1, double y1,
+ double x2, double y2,
+ double x3, double y3
) {
- double d1x = x2 - x1;
- double d1y = y2 - y1;
- double d2x = x3 - x2;
- double d2y = y3 - y2;
+ double d1x = x2 - x1;
+ double d1y = y2 - y1;
+ double d2x = x3 - x2;
+ double d2y = y3 - y2;
- double dot = d1x*d2x + d1y*d2y;
- double d1 = sqrt(d1x*d1x + d1y*d1y);
- double d2 = sqrt(d2x*d2x + d2y*d2y);
+ double dot = d1x*d2x + d1y*d2y;
+ double d1 = sqrt(d1x*d1x + d1y*d1y);
+ double d2 = sqrt(d2x*d2x + d2y*d2y);
- double delta = acos(dot / (d1 * d2));
- return std::min(delta, M_PI - delta);
+ double delta = acos(dot / (d1 * d2));
+ return std::min(delta, M_PI - delta);
}
bool
right_side_of_line(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3
+ double x1, double y1,
+ double x2, double y2,
+ double x3, double y3
) {
- if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0)
- return false;
- else
- return true;
+ if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0)
+ return false;
+ else
+ return true;
}
projects / hubacji1 / bcar.git / blobdiff