SampleApp.MainForm.GetObstacle C# (CSharp) Method

        private Point GetObstacle(Point Start, Bitmap Map, int Inc, int AngleOffset)
        {
            Point p = new Point(Start.X, Start.Y);

            double rad = ((Angle + 90 + AngleOffset) * Math.PI) / 180;
            int IncX = 0;
            int IncY = 0;
            int Offset = 0;

            while ((p.X + IncX >= 0) && (p.X + IncX < Map.Width) && (p.Y + IncY >= 0) && (p.Y + IncY < Map.Height))
            {
                if ((Map.GetPixel(p.X + IncX, p.Y + IncY).R == 0) && (Map.GetPixel(p.X + IncX, p.Y + IncY).G == 0) && (Map.GetPixel(p.X + IncX, p.Y + IncY).B == 0))
                    break;
                Offset += Inc;
                IncX = Convert.ToInt32(Offset * Math.Cos(rad));
                IncY = Convert.ToInt32(Offset * Math.Sin(rad));
            }
            p.X += IncX;
            p.Y += IncY;

            return p;
        }