def get_vis_polygon(self, pos: Vec2, r: float, alpha: float,
thetta: float) -> PolyLine:
n_rays = 10
angles = np.linspace(-thetta + alpha, thetta + alpha, n_rays)
p2s = [
Vec2(r, 0).rotate(angle, degrees=True).add(pos) for angle in angles
]
ps = [pos.copy()]
for p2 in p2s:
p1, pi = self.intersected_segment(pos, p2)
ps.append(pi)
return PolyLine(ps)
def intersected_segment(self, p1: Vec2, p2: Vec2) -> tuple:
ps = [p2.copy()]
for pl in self.obstacles:
ps += pl.intersect_segment(p1, p2)
ps = _sortreduce_by_distance(ps, p1)
return (p1.copy(), ps[0])
