10 lines
355 B
Matlab
10 lines
355 B
Matlab
function ret = exitCondition(this, PositionVector, CollisionEvent)
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d = Helper.calculateDistanceFromPointToLine(PositionVector, [0 0 0], [0 1 0]);
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y = PositionVector(2);
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DivergenceAngle = atan(d/abs(y));
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if (y >= 0) && (DivergenceAngle <= this.ExitDivergence) && ~CollisionEvent
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ret = true;
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else
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ret = false;
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end
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end |