diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index f122afd..711ebb2 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -2,10 +2,12 @@ use std::cmp::min;
 
 use macroquad::prelude::*;
 use parry2d::math::Pose;
+use parry2d::math::Pose2;
 use parry2d::math::Rot2;
 use parry2d::math::Vec2;
 use parry2d::query::contact;
 use parry2d::shape::Ball;
+use parry2d::shape::Segment;
 use parry2d::shape::Shape;
 
 const VIEW_DIST: f32 = 80.0;
@@ -44,10 +46,10 @@ impl Robot {
     }
 
     fn detect<'a>(&self, things: impl Iterator<Item = (&'a Pose, &'a dyn Shape)>) -> Option<f32> {
-        let collider = Ball::new(BOT_RADIUS);
+        let collider = Segment::new(self.pose.translation, self.view_end());
         things
-            .map(|thing| contact(&self.pose, &collider, thing.0, thing.1, 0.0).unwrap()).flatten()
-            .map(|contactl| contactl.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
+            .map(|thing| contact(&Pose2::IDENTITY, &collider, thing.0, thing.1, 0.0).unwrap()).flatten()
+            .map(|contact| contact.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
     }
 }
 
@@ -80,9 +82,10 @@ async fn main() {
 
     let mut robots = Vec::new();
     robots.push(Robot::new(Vec2 { x: 100.0, y: 100.0 }));
+    robots.push(Robot::new(Vec2 { x: 140.0, y: 100.0 }));
 
     let mut food = Vec::new();
-    food.push(Food::new(Vec2 { x: 100.0, y: 100.0 }));
+    food.push(Food::new(Vec2 { x: 160.0, y: 100.0 }));
 
     loop {
         clear_background(LIGHTGRAY);