How to build a path-finding and collision-detection model based on Fourier Transform in python?

I need to develop a pathfinding and collision detection model for certain shapes (e.g. square, circle, triangle, etc.) in Python. I really need help with implementing the Fourier Transform to calculate the boundary points of the shapes, thus creating the collision boundaries. I would also appreciate any information on using it to determine the shortest path to the goal while avoiding collisions.<br><br>Thank you very much for your help.