--- a/doc/kishna.tex	Tue Dec 09 02:26:42 2008 +0000
+++ b/doc/kishna.tex	Tue Dec 09 02:33:59 2008 +0000
@@ -3,6 +3,7 @@
 \usepackage[utf8]{inputenc}
 \usepackage[english]{babel}
 \usepackage{amsmath}
+\usepackage[pdftex]{graphicx}
 \usepackage{listings} % For listing code
 
 % Fancy headers
@@ -241,9 +242,14 @@
 before the collision and consider a 3x3 array of pixels which has the
 collision point in the middle of it. Then, do sort of an bredth-first
 search from the previous point to get all the empty pixels. Take the
-vectors from the collision point to the empty point and sum these
+vectors from the collision point to the empty points and sum these
 vectors. The resulting vector will point approximately along the
-normal. % Picture would explain this a lot. 
+normal. Picture \ref{algo} explains this a lot. In the middle of the pictured we have zoomed to the point in which the collision has happened. The red arrow is the sum of the black arrows and thus it is our approximation for the normal.
+
+\begin{figure}[!ht]
+ \centering \includegraphics[width=\textwidth]{normaali_algo.png}
+ \caption{Visualizing the algorithm for approximating the normal. \label{algo}}
+\end{figure}
 
 \subsection{Physics}
 

Binary file doc/normaali_algo.png has changed