
You can see here that the ship to the left is moving from straight ahead, but a concave obstacle is in the way. The obstacle is represented by the light blue line. One tricky thing is that we want the ship to stay away from the obstacle by it's radius. So you can see, I had to write an algorithm that would grow a concave obstacle by any arbitrary amount, THIS IS ACTUALLY REALLY HARD! But after a few nights of pulling my hair out I finally figured out how to do it.
Next step is to add the asteroid field to the editor and hook it up with the pathing system so that ships can navigate around the fields.