def total_potential_force(att_vector, rep_vector):
total_vector = Point(att_vector.x + rep_vector.x, att_vector.y + att_vector.y)
return total_vector
def potential_get_path(polygon, point_start, point_goal, polygon_centroid):
path = [Point(point_start.x, point_start.y)]
point_current = Point(point_start.x, point_start.y)
step = 0
while point_current.find_distance_between_points(point_goal) >= TARGET_RANGE and step <= TOTAL_STEP:
att_vector = attraction_force(point_current, point_goal)
point_obstacle = closest_point_to_obstacle(point_current, polygon)
# point_obstacle.plot_point()
print('current \npoint obstacle\nattraction\nrepulsive')
point_current.show_value()
point_obstacle.show_value()
# print(point_current.find_distance_between_points(point_obstacle))
if point_current.find_distance_between_points(point_obstacle) <= REPULSIVE_RANGE:
rep_vector = repulsive_force(point_current, point_obstacle, polygon_centroid)
else:
rep_vector = Point(0, 0)
att_vector.show_value()
rep_vector.show_value()
total_vector = total_potential_force(att_vector, rep_vector)
# force_point = po
# point_current.plot_line_between_two_point()
# point_current.show_value()
