def repulsive_force(point_to_test, point_obstacle, polygon_obs):
distance = point_to_test.find_distance_between_points(point_obstacle)
repulsive_vector = Point(0, 0)
if distance <= REPULSIVE_RANGE:
repulsive_magnitude = (0.5*REPULSIVE_COEFFICIENT)*((1/REPULSIVE_RANGE) + (1/distance))*(1/distance**2)
repulsive_vector.set_x((point_to_test.x - point_obstacle.x) * repulsive_magnitude)
repulsive_vector.set_y((point_to_test.y - point_obstacle.y) * repulsive_magnitude)
return repulsive_vector
def repulsive_force(point_to_test, obs_distance, polygon_centroid, point_obs):
# distance_to_obstacle = point_to_test.find_distance_between_points(point_obstacle)
# distance_to_center = point_to_test.find_distance_between_points(polygon_centroid)
repulsive_vector = Point(0, 0)
# abs_distance = distance_to_center - distance_to_obstacle
# if abs_distance <= REPULSIVE_RANGE:
repulsive_magnitude = REPULSIVE_COEFFICIENT * (1 / (obs_distance**2))
# *(1/abs_distance**2)
vector_magnitude = point_to_test.find_distance_between_points(
polygon_centroid)
repulsive_vector.set_x((point_to_test.x - polygon_centroid.x) *
repulsive_magnitude / vector_magnitude)
repulsive_vector.set_y((point_to_test.y - polygon_centroid.y) *
repulsive_magnitude / vector_magnitude)
return repulsive_vector
def repulsive_force(point_to_test, point_obstacle, polygon_centroid):
distance_to_obstacle = point_to_test.find_distance_between_points(
point_obstacle)
distance_to_center = point_to_test.find_distance_between_points(
polygon_centroid)
repulsive_vector = Point(0, 0)
abs_distance = distance_to_center - distance_to_obstacle
if distance_to_center <= REPULSIVE_RANGE:
repulsive_magnitude = (0.5 * REPULSIVE_COEFFICIENT) * (
1 / (distance_to_center - 3)**2)
# *(1/abs_distance**2)
vector_magnitude = point_to_test.find_distance_between_points(
polygon_centroid)
repulsive_vector.set_x((point_to_test.x - polygon_centroid.x) *
repulsive_magnitude / vector_magnitude)
repulsive_vector.set_y((point_to_test.y - polygon_centroid.y) *
repulsive_magnitude / vector_magnitude)
return repulsive_vector