loscheck v2

    def loscheck(self, target_pos):
        canSee = True
        for obj in self.world.objs:
            #is the obj.pos + obj.radius in the line between self.pos and target_pos
                #return True

            #find closest point on line (self.pos to target_pos) to obj.pos

            A = self.pos
            B = target_pos
            P = obj.pos

            AB = B - A

            if AB.lengthSq() == 0: #I'm me, ofc I can see myself.
                return False

            AP = P - A

            AB_sq = float(AB.lengthSq())

            AP_dot_AB = float(AP.dot(AB))

            if (AP_dot_AB > 0.0) and (AP_dot_AB < 1.0):
                #d = dist from A to closest point to P along line AB
                d = AP_dot_AB / AB_sq

                #D = nearest point on line AB to P
                D = A + AB*d

                DP = P - D

                #is this point inside of the obj radius
                if (DP.length() < obj.radius):
                    if canSee:
                        canSee = False

        return canSee