public boolean check() {
final double width = targetState.getRobot().getWidth();
final double height = targetState.getRobot().getHeight();
final Rectangle targetRect =
new Rectangle(
(int) (targetState.getRobot().getX() - width / 2),
(int) (targetState.getRobot().getY() - height / 2),
(int) width,
(int) height);
final LXXPoint bulletPos =
(LXXPoint)
sourceState.project(sourceState.angleTo(targetState.getRobot()), getTraveledDistance());
final boolean contains = targetRect.contains(bulletPos);
if (contains) {
final double bo = LXXUtils.bearingOffset(sourceState, targetState, targetState.getRobot());
final double targetWidth =
LXXUtils.getRobotWidthInRadians(sourceState, targetState.getRobot());
final IntervalDouble currentInterval =
new IntervalDouble(bo - targetWidth / 2, bo + targetWidth / 2);
if (hitBearingOffsetInterval == null) {
hitBearingOffsetInterval = currentInterval;
} else {
hitBearingOffsetInterval.a = min(hitBearingOffsetInterval.a, currentInterval.a);
hitBearingOffsetInterval.b = max(hitBearingOffsetInterval.b, currentInterval.b);
}
}
return contains;
}
