VisualisationPanel.java 文件源码

java
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项目:AI-RRT-Motion-Planning 作者:
public void paintState(Graphics2D g2, ASVConfig s) {
    if (s == null) {
        return;
    }
    Path2D.Float path = new Path2D.Float();

    List<Point2D> points = s.getASVPositions();
    Point2D p = points.get(0);
    path.moveTo(p.getX(), p.getY());
    for (int i = 1; i < points.size(); i++) {
        p = points.get(i);
        path.lineTo(p.getX(), p.getY());
    }
    path.transform(transform);
    g2.draw(path);
    if (animating || !displayingSolution) {
        p = transform.transform(points.get(0), null);
        Color color = g2.getColor();
        Stroke stroke = g2.getStroke();
        g2.setColor(Color.BLACK);
        g2.setStroke(new BasicStroke(1));
        g2.draw(new Ellipse2D.Double(p.getX() - 4, p.getY() - 4, 8, 8));
        g2.setColor(color);
        g2.setStroke(stroke);
    }
}
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