% returns 2*num + 1 points on the bumper

function points = getbumperpoints(px, py, heading, by, bw, num)

bx = -num:num;
bx = bx * 0.5 * bw / num;

xx = px + (by/0.0675)*sin(heading) + (bx/0.0675)*sin(heading+pi/2);
yy = py + (by/0.0675)*cos(heading) + (bx/0.0675)*cos(heading+pi/2);

points = [xx' yy'];