From 913a3b7409e08fd239a65ff7afabefe95b51865a Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期五, 26 十二月 2025 19:44:23 +0800
Subject: [PATCH] 优化了异形有障碍物算法
---
src/lujing/YixinglujingHaveObstacel.java | 6 +++---
1 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/lujing/YixinglujingHaveObstacel.java b/src/lujing/YixinglujingHaveObstacel.java
index 9993c2f..08ba9ca 100644
--- a/src/lujing/YixinglujingHaveObstacel.java
+++ b/src/lujing/YixinglujingHaveObstacel.java
@@ -65,7 +65,7 @@
*/
private static List<Point> computeWorkingArea(List<Point> boundary, List<Obstacle> obstacles, double margin) {
// 棣栧厛鐢熸垚鍐呯缉杈圭晫
- List<Point> offsetBoundary = offsetPolygon(boundary, -margin);
+ List<Point> offsetBoundary = offsetPolygon(boundary, margin);
if (obstacles.isEmpty()) {
return offsetBoundary;
@@ -127,7 +127,7 @@
for (int pass = 0; pass < borderPasses; pass++) {
double offset = pass * width;
- List<Point> offsetPoly = offsetPolygon(polygon, -offset);
+ List<Point> offsetPoly = offsetPolygon(polygon, offset);
if (offsetPoly.size() < 3) break;
@@ -803,7 +803,7 @@
} else if (points.size() >= 3) {
// 澶氳竟褰㈤殰纰嶇墿
makeCCW(points);
- List<Point> expanded = offsetPolygon(points, margin);
+ List<Point> expanded = offsetPolygon(points, -margin);
obstacles.add(new PolygonalObstacle(expanded));
}
}
--
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