private void paintMobileRobot(Graphics g) {
paintDevice(g, model.getRobot().getPlatform());
for (Device sensor : model.getRobot().getSensors()) {
paintDevice(g, sensor);
}
}
/** Invoked when an action occurs. */
@Override
public void actionPerformed(ActionEvent e) {
if (e.getSource() instanceof Environment) {
Environment model = (Environment) e.getSource();
this.obstacles = model.getObstacles();
}
repaint();
}
private void paintDevice(Graphics g, Device d) {
// reads the robot's current position
model.getRobot().readPosition(d.getRobotPosition());
Polygon currentShape = d.getShape();
// draws the shape
Polygon globalShape = new Polygon();
Point2D point = new Point2D.Double();
for (int i = 0; i < currentShape.npoints; i++) {
point.setLocation(currentShape.xpoints[i], currentShape.ypoints[i]);
// calculates the coordinates of the point according to the local position
d.getLocalPosition().rotateAroundAxis(point);
// calculates the coordinates of the point according to the robot position
d.getRobotPosition().rotateAroundAxis(point);
// adds the point to the global shape
globalShape.addPoint((int) Math.round(point.getX()), (int) Math.round(point.getY()));
}
g.setColor(d.getBackgroundColor());
g.fillPolygon(globalShape);
g.setColor(d.getForegroundColor());
g.drawPolygon(globalShape);
}