new bounding box - kinematics

web/js/kinematics.js

@@ -245,64 +245,20 @@ function forward(theta1, theta2) {
  */
 function armsCrossed(theta1, theta2) {
   const { d2, l1 } = ARM;
-  const { BOX_HALF_W, BOX_Y_MIN, BOX_Y_MAX } = LIMITS;
+  const { ELBOW_BOX_X_INNER, ELBOW_BOX_Y_MAX } = LIMITS;
 
-  const m1x = -d2, m1y = 0;
-  const m2x = d2, m2y = 0;
-  
   const e1x = -d2 + l1 * Math.cos(theta1);
   const e1y = l1 * Math.sin(theta1);
   const e2x = +d2 + l1 * Math.cos(theta2);
   const e2y = l1 * Math.sin(theta2);
 
-  // Helper: line segment (x1,y1)->(x2,y2) intersects AABB (minX,maxX,minY,maxY)
+  // E1 (left motor) should not cross to the right side (X > -ELBOW_BOX_X_INNER) if it's low (Y < ELBOW_BOX_Y_MAX)
-  function lineIntersectsBox(x1, y1, x2, y2, minX, maxX, minY, maxY) {
+  if (e1y < ELBOW_BOX_Y_MAX && e1x > -ELBOW_BOX_X_INNER) return true;
-    if (Math.max(x1, x2) < minX || Math.min(x1, x2) > maxX) return false;
-    if (Math.max(y1, y2) < minY || Math.min(y1, y2) > maxY) return false;
-
-    // Check if line crosses the box
-    const outcodes = (x, y) => {
-      let code = 0;
-      if (x < minX) code |= 1; else if (x > maxX) code |= 2;
-      if (y < minY) code |= 4; else if (y > maxY) code |= 8;
-      return code;
-    };
-    
-    let c1 = outcodes(x1, y1);
-    let c2 = outcodes(x2, y2);
-    if ((c1 & c2) !== 0) return false; // Both endpoints share an outside zone
-    if (c1 === 0 || c2 === 0) return true; // One endpoint is inside
-
-    // Detailed check: find intersection points with box boundaries
-    const m = (y2 - y1) / (x2 - x1);
-    const b = y1 - m * x1;
-    
-    // Check Left/Right edges
-    if (x1 !== x2) {
-      let yLeft = m * minX + b;
-      if (yLeft >= minY && yLeft <= maxY) return true;
-      let yRight = m * maxX + b;
-      if (yRight >= minY && yRight <= maxY) return true;
-    }
-    // Check Top/Bottom edges
-    if (y1 !== y2) {
-      let xBottom = (minY - b) / m;
-      if (xBottom >= minX && xBottom <= maxX) return true;
-      let xTop = (maxY - b) / m;
-      if (xTop >= minX && xTop <= maxX) return true;
-    }
-    return false;
-  }
-
-  // Motors are at Y=0, so they are inside BOX_Y_MIN=-10. Start the collision box above the motors.
-  const cross1 = lineIntersectsBox(m1x, m1y, e1x, e1y, -BOX_HALF_W, BOX_HALF_W, 15, BOX_Y_MAX);
-  const cross2 = lineIntersectsBox(m2x, m2y, e2x, e2y, -BOX_HALF_W, BOX_HALF_W, 15, BOX_Y_MAX);
   
-  // Also check if elbows went rogue (e.g. wrapped entirely around the wrong side)
+  // E2 (right motor) should not cross to the left side (X < ELBOW_BOX_X_INNER) if it's low (Y < ELBOW_BOX_Y_MAX)
-  const e1_rogue = e1x > BOX_HALF_W && e1y < BOX_Y_MAX;
+  if (e2y < ELBOW_BOX_Y_MAX && e2x < ELBOW_BOX_X_INNER) return true;
-  const e2_rogue = e2x < -BOX_HALF_W && e2y < BOX_Y_MAX;
 
-  return cross1 || cross2 || e1_rogue || e2_rogue;
+  return false;
 }
 
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