diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index 0691deb..49603c8 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -1,7 +1,12 @@
+use std::cmp::min;
+
 use macroquad::prelude::*;
 use parry2d::math::Pose;
 use parry2d::math::Rot2;
 use parry2d::math::Vec2;
+use parry2d::query::contact;
+use parry2d::shape::Ball;
+use parry2d::shape::Shape;
 
 const VIEW_DIST: f32 = 80.0;
 const BOT_RADIUS: f32 = 16.0;
@@ -28,11 +33,22 @@ impl Robot {
 
     pub fn draw(&self) {
         let tl = self.pose.translation;
-        let tl2 = self.pose.translation + self.ahead() * VIEW_DIST;
+        let tl2 = self.view_end();
         draw_circle(tl.x, tl.y, BOT_RADIUS, BLACK);
         draw_line(tl.x, tl.y, tl2.x, tl2.y, 2.0, BLUE);
         draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, YELLOW);
     }
+
+    fn view_end(&self) -> Vec2 {
+        self.pose.translation + self.ahead() * VIEW_DIST
+    }
+
+    fn detect(&self, things: &[(&Pose, &dyn Shape)]) -> Option<f32> {
+        let collider = Ball::new(BOT_RADIUS);
+        things.iter()
+            .map(|thing| contact(&self.pose, &collider, thing.0, thing.1, 0.0).unwrap()).flatten()
+            .map(|contactl| contactl.point1.distance(self.pose.translation)).reduce(|x,y| x.min(y))
+    }
 }
 
 #[macroquad::main("Adversarial Foraging Simulator")]