From 1cf1ecbc75c6d14b40efb3161e7db0b8b64f7de2 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期三, 17 十二月 2025 12:05:27 +0800
Subject: [PATCH] 新增有障碍物的路径规划算法和优化没有障碍物的路径算法
---
src/zhuye/MapRenderer.java | 11 +++++++----
1 files changed, 7 insertions(+), 4 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 8406d2b..e36d3c3 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -346,14 +346,11 @@
boolean hasPlannedPath = currentPlannedPath != null && currentPlannedPath.size() >= 2;
boolean hasObstacles = currentObstacles != null && !currentObstacles.isEmpty();
+ // 缁樺埗鍦板潡杈圭晫锛堝簳灞傦級
if (hasBoundary) {
drawCurrentBoundary(g2d);
}
- if (hasObstacles) {
- Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName);
- }
-
yulanzhangaiwu.renderPreview(g2d, scale);
if (!circleSampleMarkers.isEmpty()) {
@@ -366,10 +363,16 @@
adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);
+ // 缁樺埗瀵艰埅璺緞锛堜腑灞傦級
if (hasPlannedPath) {
drawCurrentPlannedPath(g2d);
}
+ // 缁樺埗闅滅鐗╋紙椤跺眰锛屾樉绀哄湪鍦板潡鍜屽鑸矾寰勪笂鏂癸級
+ if (hasObstacles) {
+ Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName);
+ }
+
if (boundaryPointsVisible && hasBoundary) {
double markerScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
pointandnumber.drawBoundaryPoints(
--
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