def getPolyCSpace(self, polygon):
segments = []
obs = self.polygon.copy()
rob = polygon.copy()
for i in obs.segments:
segments.append((i.copy(), i.normalAngle("left"),"o"))
for j in rob.segments:
segments.append((j.copy(), j.normalAngle("right"),"r"))
sorted_segments = sorted(segments, key= itemgetter(1))
if sorted_segments[0][2] == "o":
sorted_segments[0][0].reverse()
for i in xrange(1, len(sorted_segments)):
if sorted_segments[i][2] == "o":
print sorted_segments[i][0]
sorted_segments[i][0].reverse()
sorted_segments[i][0].move(sorted_segments[i-1][0].p2)
vertices =[]
for s in sorted_segments:
vertices.append(s[0].p1.toTuple())
tempPoly = Polygon(self.polygon.window, vertices)
delta = self.findDelta(tempPoly)
tempPoly.moveDelta(delta[0],delta[1])
return tempPoly
