larvaworld.lib.util.shapely_aux
===============================

.. py:module:: larvaworld.lib.util.shapely_aux

.. autoapi-nested-parse::

   Methods for managing shapely-based metrics



Functions
---------

.. autoapisummary::

   larvaworld.lib.util.shapely_aux.segments_intersection
   larvaworld.lib.util.shapely_aux.detect_nearest_obstacle


Module Contents
---------------

.. py:function:: segments_intersection(segment_1: tuple[shapely.geometry.Point, shapely.geometry.Point], segment_2: tuple[shapely.geometry.Point, shapely.geometry.Point]) -> shapely.geometry.Point | None

   Compute intersection point of two line segments.

   Determines if two line segments intersect and returns the intersection
   point if they do, using coordinate-based calculation.

   Args:
       segment_1: First segment as (start_point, end_point)
       segment_2: Second segment as (start_point, end_point)

   Returns:
       Intersection Point if segments intersect, None otherwise

   Example:
       >>> from shapely.geometry import Point
       >>> seg1 = (Point(0, 0), Point(2, 2))
       >>> seg2 = (Point(0, 2), Point(2, 0))
       >>> p = segments_intersection(seg1, seg2)
       >>> p  # Point at (1, 1)


.. py:function:: detect_nearest_obstacle(obstacles: list[Any], sensor_ray: tuple[shapely.geometry.Point, shapely.geometry.Point], p0: shapely.geometry.Point) -> tuple[float | None, Any]

   Find nearest obstacle intersected by a sensor ray.

   Checks all obstacle edges for intersections with sensor ray and returns
   the closest obstacle and its distance from the sensor origin point.

   Args:
       obstacles: List of obstacle objects with .edges attribute
       sensor_ray: Ray segment as (start_point, end_point)
       p0: Sensor origin point for distance calculation

   Returns:
       Tuple of (distance, obstacle) where distance is to nearest intersection,
       or (None, None) if no intersections found

   Example:
       >>> from shapely.geometry import Point
       >>> ray = (Point(0, 0), Point(10, 0))
       >>> dist, obs = detect_nearest_obstacle(obstacles, ray, Point(0, 0))