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);
}
}
VisualisationPanel.java 文件源码
java
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项目:AI-RRT-Motion-Planning
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