protected void drawRobotOverlay(Vector2d robotCenter, double rO, int spacing) {
int ovalSize = (int) (spacing * 2.5);
graphics.setColor(Color.BLACK);
graphics.drawOval(
(int) robotCenter.x - ovalSize / 2,
(int) robotCenter.y - ovalSize / 2,
(int) ovalSize,
(int) ovalSize);
Vector2d robotFront =
new Vector2d(Math.cos(rO) * ovalSize / 2.5, Math.sin(rO) * ovalSize / 2.5);
robotFront.add(robotCenter);
Vector2d robotCenterLeft = new Vector2d(robotCenter);
robotCenterLeft.add(
new Vector2d(10 * Math.cos(rO + Math.PI / 2), 10 * Math.sin(rO + Math.PI / 2)));
Vector2d robotCenterRight = new Vector2d(robotCenter);
robotCenterRight.add(
new Vector2d(10 * Math.cos(rO - Math.PI / 2), 10 * Math.sin(rO - Math.PI / 2)));
graphics.drawPolygon(
new int[] {(int) robotCenterLeft.x, (int) robotCenterRight.x, (int) robotFront.x},
new int[] {(int) robotCenterLeft.y, (int) robotCenterRight.y, (int) robotFront.y},
3);
}
protected void drawRobotWheels(
int column,
int row,
int spacing,
double robotOrientation,
Vector2d robotCenter,
double wheelAngle,
int len) {
int wheelSize = spacing / 5;
Vector2d wheelCenter = new Vector2d(column * spacing, row * spacing);
wheelCenter.rotate(robotOrientation);
wheelCenter.add(robotCenter);
Vector2d posB = new Vector2d(wheelCenter);
Vector2d rot = new Vector2d(len * Math.cos(wheelAngle), len * Math.sin(wheelAngle));
posB.add(rot);
Vector2d guidingLineCenter = new Vector2d(wheelCenter);
rot = new Vector2d(len * Math.cos(robotOrientation), len * Math.sin(robotOrientation));
guidingLineCenter.add(rot);
Vector2d guidingLineLeft = new Vector2d(wheelCenter);
rot =
new Vector2d(
len * Math.cos(robotOrientation + Math.PI / 4),
len * Math.sin(robotOrientation + Math.PI / 4));
guidingLineLeft.add(rot);
Vector2d guidingLineRight = new Vector2d(wheelCenter);
rot =
new Vector2d(
len * Math.cos(robotOrientation - Math.PI / 4),
len * Math.sin(robotOrientation - Math.PI / 4));
guidingLineRight.add(rot);
Graphics2D gx = (Graphics2D) graphics;
// guiding lines
gx.setColor(Color.LIGHT_GRAY);
gx.drawLine(
(int) wheelCenter.x, (int) wheelCenter.y, (int) guidingLineLeft.x, (int) guidingLineLeft.y);
gx.drawLine(
(int) wheelCenter.x,
(int) wheelCenter.y,
(int) guidingLineRight.x,
(int) guidingLineRight.y);
gx.drawLine(
(int) wheelCenter.x,
(int) wheelCenter.y,
(int) guidingLineCenter.x,
(int) guidingLineCenter.y);
// actual line
gx.setStroke(new BasicStroke(2));
gx.setColor(Color.RED);
gx.drawOval(
(int) wheelCenter.x - wheelSize,
(int) wheelCenter.y - wheelSize,
wheelSize * 2,
wheelSize * 2);
gx.drawLine((int) wheelCenter.x, (int) wheelCenter.y, (int) posB.x, (int) posB.y);
gx.setStroke(new BasicStroke());
}