def closest_point_to_obstacle(point_test, polygon):
ref_point = []
distance = INITIAL_DISTANCE_VALUE
for n in range(len(polygon) + 1):
ref_point.append(n % len(polygon))
# distance = list
closest_point_on_obstacle = Point(0, 0)
for n in range(len(polygon)):
# line_temp = polygon[n].find_line_point_to_point(polygon[n + 1])
# distance.append(point_test, line_temp)
point_obstacle = closest_point_to_line(point_test, polygon[ref_point[n]], polygon[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 closest_point_to_obstacle(point_test, polygon):
ref_point = []
distance = INITIAL_DISTANCE_VALUE
for n in range(polygon.get_length() + 1):
ref_point.append(n % polygon.get_length())
closest_point_on_obstacle = Point(0, 0)
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
closest_point_on_obstacle.plot_point()
return closest_point_on_obstacle