public Rectangle2D.Double layout(
CompositeFigure compositeFigure, Point2D.Double anchor, Point2D.Double lead) {
Rectangle2D.Double bounds = null;
for (Figure child : compositeFigure.getChildren()) {
Locator locator = getLocator(child);
Rectangle2D.Double r;
if (locator == null) {
r = child.getBounds();
} else {
Point2D.Double p = locator.locate(compositeFigure, child);
Dimension2DDouble d = child.getPreferredSize();
r = new Rectangle2D.Double(p.x, p.y, d.width, d.height);
}
child.willChange();
child.setBounds(
new Point2D.Double(r.getMinX(), r.getMinY()),
new Point2D.Double(r.getMaxX(), r.getMaxY()));
child.changed();
if (!r.isEmpty()) {
if (bounds == null) {
bounds = r;
} else {
bounds.add(r);
}
}
}
return (bounds == null) ? new Rectangle2D.Double() : bounds;
}
// robot reference point is the origin
public CSpace(Polygon robot, PolygonMap map) {
Rectangle2D.Double worldRect = map.getWorldRect();
constructor(
robot, worldRect.getMinX(), worldRect.getMinY(), worldRect.getMaxX(), worldRect.getMaxY());
for (PolygonObstacle obstacle : map.getObstacles()) {
addObstacle(obstacle);
}
}
public CSpace(Polygon robot, Rectangle2D.Double worldRect) {
constructor(
robot, worldRect.getMinX(), worldRect.getMinY(), worldRect.getMaxX(), worldRect.getMaxY());
}