public override void interactWith(Obstacle obstacle)
{
// Get vertex
Obstacle obstacle2 = obstacle.next_;
// Distance to the vertex
Vector2 vector2Vertex = Vector2.vectorToSegment(obstacle.point_, obstacle2.point_, position_);
// w_phi enables to deal with elliptical forces
float w_phi = 1;
float test = motion_dir_ * Vector2.normalize(vector2Vertex);
if (type_ == 1)
{
//w_phi = lambda_ + (1 - lambda_)*(1+motion_dir_*normalize(vector2Vertex)/2);
w_phi = (float)(Math.Pow(test + 1, lambda_) / Math.Pow(2, lambda_));
}
// Compute force
float exp_term = (radius_ - Vector2.abs(vector2Vertex)) / B_;
Vector2 force = w_phi * A_ * (float)Math.Exp(exp_term) * -1 * Vector2.normalize(vector2Vertex) / m_;
// Body force
if (Vector2.abs(vector2Vertex) < radius_)
{
force += k_ * (radius_ - Vector2.abs(vector2Vertex)) * -1 * Vector2.normalize(vector2Vertex) / m_;
}
acceleration_ += force;
}