def free_path(p1, p2, view, safe_distance=0):
"""Returns if a path is free to traverse assuming that the view is complete and static"""
for p in view.pedestrians:
safedistsquare = (safe_distance + p.radius) ** 2
if linesegdist2(p1, p2, p.position) <= safedistsquare:
return False
safedistsquare = safe_distance ** 2
for o in view.obstacles:
if line_distance2(p1, p2, o.p1, o.p2) <= safedistsquare:
return False
return True
def free_path_obstacles_only(p1, p2, view, safe_distance=0):
safedistsquare = safe_distance ** 2
for o in view.obstacles:
if line_distance2(p1, p2, o.p1, o.p2) <= safedistsquare:
return False
return True