bytezen · July 26, 2018 20:19 · Jul 26, 2018
diff --git a/calculate_wall_avoidance.py b/calculate_wall_avoidance.py
@@ -0,0 +1,35 @@
+
+    def calculate_wall_avoidance(self, walls):
+        self.whiskers = util._create_whiskers(self.pos, self.heading)
+
+        #variables for keep track of tallys
+        distance_to_intersection_point = 0
+        distance_to_closest_intersection_point = sys.float_info.max
+
+        closest_wall = None
+
+        force = Vector2()
+        point = Vector2()
+        closest_point = Vector2()
+
+        # for each whisker find the closest wall
+        for whisker in self.whiskers:
+            for wall in self.world.walls:
+                intersects,distance,intersecting_point = util.line_intersection_get_distance_point(Vector2(self.pos),
+                                                                                                   whisker,
+                                                                                                   wall.point1,
+                                                                                                   wall.point2)
+
+                if intersects:
+                    if distance < distance_to_closest_intersection_point:
+                        distance_closest_intersection_point = distance
+                        closest_wall = wall
+                        closest_point = intersecting_point
+
+            # if we found a wall then calculate a steering force based on how far
+            # the whisker penetrated the wall
+            if closest_wall != None:
+                over_shoot = whisker - closest_point
+                force = wall.normal * over_shoot.length() * WALL_REPEL_FORCE
+
+        return force