View difference between Paste ID: GJZj7EQa and QH4PRVdM

 Vector2D edgeAvoidance(Agent &agent, const std::vector<Edge>& edges)
 {
     int ClosestEdge = -1;
 
     /* What you'd want to do here is iterate through a series of
     *  lines connected to the agent ("feelers"; denoted 'flr') and check to see
     *  if they intersect with an edge in the list. Do this and find the closest
     *  edge for each of them. Once found, we will calculate the steering force
     *  AWAY from said edge.*/
 
     ...
 
   // for all the "feelers": flr, also iterate through all the edges: curEdge
   {
 
     if (ClosestEdge >=0)
     {
-      Vector2D OverShoot = agent.feelers[flr] - (*curEdge)->getPosition();
+      Vector2D OverShoot = agent.feelers[flr] - (*curEdge).normal();
 
       /* Create a force in the direction of the edge's normal, with a
       *  magnitude of the overshoot*/
       SteeringForce = edges[ClosestEdge].normal() * OverShoot.length();
     }
 
   }
   return SteeringForce;
 }