outline and randomness. Afterfix now tackles if necessary

[fp1415-soccerfun.git] / src / Game / Geometry.icl

diff --git a/src/Game/Geometry.icl b/src/Game/Geometry.icl
index e9b29da..fe22693 100644 (file)
--- a/src/Game/Geometry.icl
+++ b/src/Game/Geometry.icl
@@ -65,12 +65,14 @@ degree                                      :: !Int -> Angle
 degree x                               = rad (toReal x * pi / 180.0)
 
 normalize_radian               :: !Real -> Real
-normalize_radian r
-| r < (~cycle)                 = normalize_radian (r + cycle)
-| r >   cycle                  = normalize_radian (r - cycle)
-| otherwise                            = r
-where
-       cycle                           = 2.0 * pi
+normalize_radian r             = normalize r 100
+where 
+    normalize r 0              = abort "Loop in normalize_radian. Mail p.achten@cs.ru.nl"
+       normalize r n
+       | r < ~pi                       = normalize (r + 2.0*pi) (n-1)
+       | r >  pi                       = normalize (r - 2.0*pi) (n-1)
+       | otherwise                     = r
+  
 
 instance zero           Angle                  where zero                          = Radian zero
 instance +              Angle                  where + (Radian r1)  (Radian r2)    = Radian (normalize_radian (r1 + r2))
@@ -208,6 +210,7 @@ orthogonal a                                        = (a + rad (0.25*pi), a - rad (0.25*pi))
 
 px_bearing                                             :: !base !target -> Angle | toPosition base & toPosition target
 px_bearing base target
+| abs ratio > 1.0                              = Radian zero                           // Corner-cases: d==0 and "large values of 1.0"
 | v.dx >= zero && v.dy >= zero = Radian base_angle                     // 1st quadrant
 | v.dx <= zero && v.dy >= zero = Radian (pi-base_angle)        // 2nd quadrant
 | v.dx <= zero && v.dy <= zero = Radian (base_angle-pi)        // 3rd quadrant
@@ -217,7 +220,8 @@ where
        ptarget                                         = toPosition target
        v                                                       = {dx = ptarget.px - pbase.px, dy = ptarget.py - pbase.py}
        d                                                       = toReal (dist pbase ptarget)
-       base_angle                                      = acos ((toReal (abs v.dx)) / d)
+    ratio                                              = toReal (abs v.dx) / d
+       base_angle                                      = acos ratio
 
 bearing                                                        :: !Angle !base !target -> Angle | toPosition base & toPosition target
 bearing angle base target              = px_bearing base target - angle