for n in range(polygon.get_length()):
# line_temp = polygon[n].find_line_point_to_point(polygon[n + 1])
# distance.append(point_test, line_temp)
print(ref_point[n], ref_point[n+1])
point_obstacle = closest_point_to_line(point_test, polygon.poly[ref_point[n]], polygon.poly[ref_point[n + 1]])
if point_test.find_distance_between_points(point_obstacle) < distance:
distance = point_test.find_distance_between_points(point_obstacle)
closest_point_on_obstacle.x = point_obstacle.x
closest_point_on_obstacle.y = point_obstacle.y
return closest_point_on_obstacle
def attraction_force(point_to_test, point_goal):
vector_magnitude = point_to_test.find_distance_between_points(point_goal)
attraction_vector = Point(point_goal.x - point_to_test.x, point_goal.y - point_to_test.y)
attraction_vector.scale_point(ATTRACTION_COEFFICIENT / vector_magnitude)
return attraction_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)
