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)