From f0d6cefec73492c29d8323e66fb92ee6bbb60cd2 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期五, 26 十二月 2025 18:58:23 +0800
Subject: [PATCH] 优化了预览时候视图居中的逻辑
---
dikuai.properties | 8
src/lujing/YixinglujingHaveObstacel.java | 728 ++++++++++++++++++++++++++++---------------------------
src/zhuye/MapRenderer.java | 17 +
set.properties | 8
src/zhuye/Shouye.java | 8
user.properties | 4
Obstacledge.properties | 2
src/denglu/Denglu.java | 2
8 files changed, 403 insertions(+), 374 deletions(-)
diff --git a/Obstacledge.properties b/Obstacledge.properties
index c98c415..49a261b 100644
--- a/Obstacledge.properties
+++ b/Obstacledge.properties
@@ -1,5 +1,5 @@
# 鍓茶崏鏈哄湴鍧楅殰纰嶇墿閰嶇疆鏂囦欢
-# 鐢熸垚鏃堕棿锛�2025-12-26T16:29:19.993693300
+# 鐢熸垚鏃堕棿锛�2025-12-26T18:49:19.310900300
# 鍧愭爣绯伙細WGS84锛堝害鍒嗘牸寮忥級
# ============ 鍦板潡鍩哄噯绔欓厤缃� ============
diff --git a/dikuai.properties b/dikuai.properties
index edaa106..233f5ee 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,5 +1,5 @@
#Dikuai Properties
-#Fri Dec 26 16:29:20 CST 2025
+#Fri Dec 26 18:49:19 CST 2025
LAND1.angleThreshold=-1
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryCoordinates=4.30,87.65;-2.36,-65.51;44.25,-66.72;49.70,-14.05;98.13,-15.87;99.34,-69.75;137.48,-67.93;134.45,90.07;4.30,87.65
@@ -17,10 +17,10 @@
LAND1.mowingSafetyDistance=0.53
LAND1.mowingTrack=-1
LAND1.mowingWidth=0.50
-LAND1.obstacleCoordinates=(25.17,9.94;17.74,67.19;113.88,72.00;120.00,19.12;74.99,-4.48)
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382978,-38.367573;109.717102,-68.724213;110.411730,-68.691066;136.397196,-39.109010;136.411415,-39.850447;111.106359,-68.657919;111.800987,-68.624772;136.425634,-40.591883;136.439852,-41.333320;112.495615,-68.591625;113.190243,-68.558478;136.454071,-42.074757;136.468290,-42.816193;113.884872,-68.525331;114.579500,-68.492184;136.482508,-43.557630;136.496727,-44.299066;115.274128,-68.459037;115.968756,-68.425890;136.510946,-45.040503;136.525164,-45.781940;116.663385,-68.392744;117.358013,-68.359597;136.539383,-46.523376;136.553602,-47.264813;118.052641,-68.326450;118.747270,-68.293303;136.567821,-48.006249;136.582039,-48.747686;119.441898,-68.260156;120.136526,-68.227009;136.596258,-49.489123;136.610477,-50.230559;120.831154,-68.193862;121.525783,-68.160715;136.624695,-50.971996;136.638914,-51.713433;122.220411,-68.127568;122.915039,-68.094421;136.653133,-52.454869;136.667351,-53.196306;123.609667,-68.061274;124.304296,-68.028127;136.681570,-53.937742;136.695789,-54.679179;124.998924,-67.994981;125.693552,-67.961834;136.710007,-55.420616;136.724226,-56.162052;126.388181,-67.928687;127.082809,-67.895540;136.738445,-56.903489;136.752663,-57.644926;127.777437,-67.862393;128.472065,-67.829246;136.766882,-58.386362;136.781101,-59.127799;129.166694,-67.796099;129.861322,-67.762952;136.795320,-59.869235;136.809538,-60.610672;130.555950,-67.729805;131.250578,-67.696658;136.823757,-61.352109;136.837976,-62.093545;131.945207,-67.663511;132.639835,-67.630364;136.852194,-62.834982;136.866413,-63.576419;133.334463,-67.597217;134.029092,-67.564071;136.880632,-64.317855;136.894850,-65.059292;134.723720,-67.530924;135.418348,-67.497777;136.909069,-65.800728;136.923288,-66.542165;136.112976,-67.464630
LAND1.returnPathCoordinates=-1
LAND1.returnPathRawCoordinates=-1
LAND1.returnPointCoordinates=-1
-LAND1.updateTime=2025-12-26 16\:29\:20
+LAND1.updateTime=2025-12-26 18\:49\:19
LAND1.userId=-1
diff --git a/set.properties b/set.properties
index b53e384..18a7618 100644
--- a/set.properties
+++ b/set.properties
@@ -1,5 +1,5 @@
#Mower Configuration Properties - Updated
-#Fri Dec 26 17:35:17 CST 2025
+#Fri Dec 26 18:57:41 CST 2025
appVersion=-1
boundaryLengthVisible=false
currentWorkLandNumber=LAND1
@@ -8,12 +8,12 @@
handheldMarkerId=1872
idleTrailDurationSeconds=60
manualBoundaryDrawingMode=false
-mapScale=1.32
+mapScale=2.29
measurementModeEnabled=false
mowerId=6258
serialAutoConnect=true
serialBaudRate=115200
serialPortName=COM15
simCardNumber=-1
-viewCenterX=-71.61
-viewCenterY=-56.92
+viewCenterX=-67.56
+viewCenterY=-10.16
diff --git a/src/denglu/Denglu.java b/src/denglu/Denglu.java
index 469f0b5..4a756c3 100644
--- a/src/denglu/Denglu.java
+++ b/src/denglu/Denglu.java
@@ -619,7 +619,7 @@
// 璁剧疆涓庣櫥褰曢〉闈㈢浉鍚岀殑灏哄
mainFrame.setSize(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT);
mainFrame.setMinimumSize(new Dimension(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT));
- mainFrame.setResizable(false);
+ mainFrame.setResizable(true);
mainFrame.setLocationRelativeTo(null);
mainFrame.setVisible(true);
diff --git a/src/lujing/YixinglujingHaveObstacel.java b/src/lujing/YixinglujingHaveObstacel.java
index c864d3a..d9dceb3 100644
--- a/src/lujing/YixinglujingHaveObstacel.java
+++ b/src/lujing/YixinglujingHaveObstacel.java
@@ -1,394 +1,194 @@
package lujing;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
+import java.util.regex.*;
/**
- * 寮傚舰鑽夊湴璺緞瑙勫垝 - 闅滅鐗╄鍓紭鍖栫増 V9.0
- * 鏍稿績閫昏緫锛氬厛鐢熸垚鍏ㄨ鐩栨壂鎻忚矾寰勶紝鍐嶅埄鐢ㄥ鎵╁悗鐨勯殰纰嶇墿瀵硅矾寰勮繘琛岃鍓��
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍑瑰杈瑰舰淇鐗� V12.0
+ * 淇敼璇存槑锛�
+ * 1. 鎸夌収鐢ㄦ埛瑕佹眰锛屽厛鐢熸垚鏃犻殰纰嶇墿鐨勫畬鏁磋矾寰勶紙鍥磋竟+鎵弿+杩炴帴锛夈��
+ * 2. 瀵瑰畬鏁磋矾寰勮繘琛岄殰纰嶇墿瑁佸壀銆�
+ * 3. 瀵硅鍓骇鐢熺殑鏂偣锛屽皾璇曟部闅滅鐗╄竟鐣岃繘琛岃繛鎺ャ��
*/
public class YixinglujingHaveObstacel {
- /**
- * 瑙勫垝璺緞涓诲叆鍙�
- */
+ private static final double EPS = 1e-8;
+ private static final double MIN_SEG_LEN = 0.02; // 蹇界暐灏忎簬2cm鐨勭绾�
+
public static List<PathSegment> planPath(String coordinates, String obstaclesStr, String widthStr, String marginStr) {
- // 1. 瑙ｆ瀽鍙傛暟
List<Point> rawPoints = parseCoordinates(coordinates);
if (rawPoints.size() < 3) return new ArrayList<>();
double mowWidth = Double.parseDouble(widthStr);
double safeMargin = Double.parseDouble(marginStr);
- // 2. 棰勫鐞嗗湴鍧楄竟鐣� (纭繚閫嗘椂閽�)
- ensureCounterClockwise(rawPoints);
+ // 1. 缁熶竴澶氳竟褰㈡柟鍚戜负閫嗘椂閽� (CCW)
+ ensureCCW(rawPoints);
- // 3. 鐢熸垚鍦板潡鍐呯缉鐨勫畨鍏ㄤ綔涓氳竟鐣� (Inset)
- List<Point> mowingBoundary = getOffsetPolygon(rawPoints, safeMargin); // 姝ｆ暟鍐呯缉
+ // 2. 鐢熸垚浣滀笟鍐呯缉杈圭晫
+ List<Point> mowingBoundary = getOffsetPolygon(rawPoints, safeMargin);
if (mowingBoundary.size() < 3) return new ArrayList<>();
- // 4. 绗竴姝ワ細鐢熸垚鈥滄棤瑙嗛殰纰嶇墿鈥濈殑鍏ㄨ鐩栨壂鎻忚矾寰�
- // 鐩存帴浣跨敤鎵弿绾跨畻娉曠敓鎴愬～婊℃暣涓唴缂╄竟鐣岀殑璺緞
- List<PathSegment> rawPath = generateFullCoveragePath(mowingBoundary, mowWidth);
-
- // 5. 瑙ｆ瀽闅滅鐗╁苟杩涜澶栨墿 (Outset)
- // 娉ㄦ剰锛氶殰纰嶇墿澶栨墿璺濈 = 鍓茶崏鏈哄畨鍏ㄨ竟璺濓紝纭繚涓嶅彂鐢熺鎾�
+ // 3. 瑙ｆ瀽骞跺鎵╅殰纰嶇墿
List<Obstacle> obstacles = parseObstacles(obstaclesStr, safeMargin);
- // 6. 绗簩姝ワ細浣跨敤闅滅鐗╄鍓矾寰� (鏍稿績姝ラ)
- return clipPathWithObstacles(rawPath, obstacles);
+ // 4. 鐢熸垚鍏ㄨ鐩栬矾寰勶紙涓嶈�冭檻闅滅鐗╋級
+ List<PathSegment> fullPath = generateFullPath(mowingBoundary, mowWidth);
+
+ // 5. 瑁佸壀骞惰繛鎺�
+ return processObstacles(fullPath, obstacles);
}
/**
- * 浣跨敤闅滅鐗╅泦鍚堣鍓師濮嬭矾寰�
+ * 鐢熸垚鍏ㄨ鐩栬矾寰勶紙鍥磋竟 + 鎵弿 + 杩炴帴锛夛紝涓嶈�冭檻闅滅鐗�
*/
- private static List<PathSegment> clipPathWithObstacles(List<PathSegment> rawPath, List<Obstacle> obstacles) {
- List<PathSegment> finalPath = new ArrayList<>();
- Point currentPos = (rawPath.isEmpty()) ? new Point(0,0) : rawPath.get(0).start;
-
- for (PathSegment segment : rawPath) {
- // 灏嗗綋鍓嶈繖涓�娈佃矾寰勶紝鎷垮幓璺熸墍鏈夐殰纰嶇墿杩涜纰版挒妫�娴嬪拰瑁佸壀
- // 鍒濆鏃讹紝杩欎竴娈垫槸瀹屾暣鐨�
- List<PathSegment> segmentsToProcess = new ArrayList<>();
- segmentsToProcess.add(segment);
-
- for (Obstacle obs : obstacles) {
- List<PathSegment> nextIterSegments = new ArrayList<>();
- for (PathSegment seg : segmentsToProcess) {
- // 濡傛灉鏄壊鑽夎矾寰勶紝闇�瑕佽鍓紱濡傛灉鏄┖璧拌矾寰勶紝閫氬父涔熼渶瑕侀伩闅滐紝
- // 浣嗚繖閲屼富瑕佸鐞嗘壂鎻忕嚎鐨勮鍓��
- if (seg.isMowing) {
- nextIterSegments.addAll(obs.clip(seg));
- } else {
- // 绌鸿蛋璺緞鏆傛椂淇濈暀锛堥珮绾ч伩闅滈渶瑕丄*绠楁硶锛屾澶勭畝鍖栦负淇濈暀锛�
- nextIterSegments.add(seg);
- }
- }
- segmentsToProcess = nextIterSegments;
- }
-
- // 灏嗚鍓悗鍓╀綑鐨勭嚎娈靛姞鍏ユ渶缁堣矾寰�
- for (PathSegment s : segmentsToProcess) {
- // 杩囨护鎺夊洜涓鸿鍓骇鐢熺殑鏋佺煭绾挎
- if (distance(s.start, s.end) < 0.05) continue;
-
- // 濡傛灉褰撳墠鐐瑰拰绾挎璧风偣涓嶈繛璐紝鍔犲叆杩炴帴璺緞锛堢┖璧帮級
- if (distance(currentPos, s.start) > 0.05) {
- finalPath.add(new PathSegment(currentPos, s.start, false));
- }
-
- finalPath.add(s);
- currentPos = s.end;
- }
- }
- return finalPath;
- }
-
- // --- 璺緞鐢熸垚鏍稿績绠楁硶 (绉绘鑷� NoObstacle 绫�) ---
-
- private static List<PathSegment> generateFullCoveragePath(List<Point> boundary, double width) {
- // 1. 瀵绘壘鏈�浼樿搴�
- double angle = findOptimalAngle(boundary);
+ private static List<PathSegment> generateFullPath(List<Point> boundary, double width) {
+ List<PathSegment> path = new ArrayList<>();
- // 2. 鏃嬭浆澶氳竟褰互瀵归綈鍧愭爣杞�
- List<Point> rotatedPoly = new ArrayList<>();
- for (Point p : boundary) rotatedPoly.add(rotatePoint(p, -angle));
-
- double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
- for (Point p : rotatedPoly) {
- minY = Math.min(minY, p.y);
- maxY = Math.max(maxY, p.y);
+ // A. 鍥磋竟璺緞锛堥鍦堬級
+ for (int i = 0; i < boundary.size(); i++) {
+ path.add(new PathSegment(boundary.get(i), boundary.get((i + 1) % boundary.size()), true));
}
- // 3. 鐢熸垚鎵弿绾�
- List<PathSegment> segments = new ArrayList<>();
+ // B. 鎵弿璺緞鐢熸垚
+ double angle = findOptimalAngle(boundary);
+ List<Point> rotPoly = rotatePoints(boundary, -angle);
+
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ for (Point p : rotPoly) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
+
boolean l2r = true;
- // 鍥磋竟璺緞鍏堢敓鎴�
- Point scanStartPoint = null;
-
- // 杩欓噷鎴戜滑鍏堣绠楁壂鎻忕嚎锛屾渶鍚庡啀鍐冲畾鍥磋竟璧风偣浠ュ噺灏戠┖璧�
- List<List<PathSegment>> scanRows = new ArrayList<>();
-
- for (double y = minY + width/2; y <= maxY - width/2; y += width) {
- List<Double> xInters = getXIntersections(rotatedPoly, y);
+ List<PathSegment> scanSegments = new ArrayList<>();
+ for (double y = minY + width / 2; y <= maxY - width / 2; y += width) {
+ List<Double> xInters = getXIntersections(rotPoly, y);
if (xInters.size() < 2) continue;
Collections.sort(xInters);
List<PathSegment> row = new ArrayList<>();
- // 涓や袱閰嶅褰㈡垚绾挎
+ // 鍑瑰杈瑰舰鏍稿績锛氭垚瀵瑰彇鍑轰氦鐐癸紝璺宠繃涓棿鐨勭┖娲�
for (int i = 0; i < xInters.size() - 1; i += 2) {
Point s = rotatePoint(new Point(xInters.get(i), y), angle);
Point e = rotatePoint(new Point(xInters.get(i + 1), y), angle);
row.add(new PathSegment(s, e, true));
}
- // 铔囧舰鎺掑簭
if (!l2r) {
Collections.reverse(row);
- for (PathSegment s : row) {
- Point tmp = s.start; s.start = s.end; s.end = tmp;
- }
+ for (PathSegment s : row) { Point t = s.start; s.start = s.end; s.end = t; }
}
- scanRows.add(row);
- if (scanStartPoint == null && !row.isEmpty()) scanStartPoint = row.get(0).start;
+ scanSegments.addAll(row);
l2r = !l2r;
}
- // 4. 鐢熸垚鍥磋竟璺緞 (瀵归綈鍒扮涓�涓壂鎻忕偣)
- List<Point> alignedBoundary = alignBoundaryStart(boundary, scanStartPoint);
- for (int i = 0; i < alignedBoundary.size(); i++) {
- segments.add(new PathSegment(alignedBoundary.get(i), alignedBoundary.get((i+1)%alignedBoundary.size()), true));
- }
-
- // 5. 鍔犲叆鎵弿璺緞
- for (List<PathSegment> row : scanRows) {
- segments.addAll(row);
- }
-
- return segments;
- }
-
- // --- 闅滅鐗╁鐞嗙被 ---
-
- private static List<Obstacle> parseObstacles(String obsStr, double margin) {
- List<Obstacle> list = new ArrayList<>();
- if (obsStr == null || obsStr.trim().isEmpty()) return list;
-
- // 澶勭悊鏍煎紡 (x,y;...)(x,y;...) 鎴� $ 鍒嗛殧
- String cleanStr = obsStr.replaceAll("\\s+", "");
- String[] parts;
- if (cleanStr.contains("(") && cleanStr.contains(")")) {
- List<String> matches = new ArrayList<>();
- java.util.regex.Matcher m = java.util.regex.Pattern.compile("\\(([^)]+)\\)").matcher(cleanStr);
- while (m.find()) matches.add(m.group(1));
- parts = matches.toArray(new String[0]);
- } else {
- parts = cleanStr.split("\\$");
- }
-
- for (String pStr : parts) {
- List<Point> pts = parseCoordinates(pStr);
- if (pts.isEmpty()) continue;
-
- if (pts.size() == 2) {
- // 鍦嗗舰闅滅鐗�
- double r = distance(pts.get(0), pts.get(1));
- list.add(new CircleObstacle(pts.get(0), r + margin)); // 鍗婂緞澧炲姞margin
- } else {
- // 澶氳竟褰㈤殰纰嶇墿
- ensureCounterClockwise(pts);
- // 澶栨墿闅滅鐗� (Offset Out)
- // 娉ㄦ剰锛氬湪閫氱敤鍋忕Щ绠楁硶涓紝閫嗘椂閽堝杈瑰舰锛岃礋鏁伴�氬父琛ㄧず澶栨墿锛屾垨鑰呬娇鐢ㄧ壒瀹氱畻娉�
- // 杩欓噷鎴戜滑澶嶇敤 getOffsetPolygon锛屽苟浼犲叆璐熺殑margin鏉ュ疄鐜板鎵�
- // *浣嗗湪鏈被鐩墠鐨� getOffsetPolygon 瀹炵幇涓紙鍩轰簬瑙掑钩鍒嗙嚎锛夛紝濡傛灉鏄�嗘椂閽堬細
- // 姝ｆ暟鏄悜宸︼紙鍐呯缉锛夛紝璐熸暟鏄悜鍙筹紙澶栨墿锛�*
- List<Point> expanded = getOffsetPolygon(pts, -margin);
- list.add(new PolyObstacle(expanded));
- }
- }
- return list;
- }
-
- abstract static class Obstacle {
- // 杩斿洖瑁佸壀鍚庣殑绾挎鍒楄〃锛堝嵆淇濈暀鍦ㄩ殰纰嶇墿澶栭儴鐨勭嚎娈碉級
- abstract List<PathSegment> clip(PathSegment seg);
- }
-
- static class CircleObstacle extends Obstacle {
- Point c; double r;
- CircleObstacle(Point c, double r) { this.c = c; this.r = r; }
-
- @Override
- List<PathSegment> clip(PathSegment seg) {
- // 璁＄畻鐩寸嚎涓庡渾鐨勪氦鐐� t鍊� (0..1)
- double dx = seg.end.x - seg.start.x;
- double dy = seg.end.y - seg.start.y;
- double fx = seg.start.x - c.x;
- double fy = seg.start.y - c.y;
-
- double A = dx*dx + dy*dy;
- double B = 2*(fx*dx + fy*dy);
- double C = (fx*fx + fy*fy) - r*r;
- double delta = B*B - 4*A*C;
-
- List<PathSegment> result = new ArrayList<>();
- if (delta < 0) {
- // 鏃犱氦鐐癸紝鍏ㄤ繚鐣欐垨鍏ㄥ墧闄�
- if (!isInside(seg.start)) result.add(seg);
- return result;
- }
-
- double t1 = (-B - Math.sqrt(delta)) / (2*A);
- double t2 = (-B + Math.sqrt(delta)) / (2*A);
-
- List<Double> ts = new ArrayList<>();
- ts.add(0.0);
- if (t1 > 0 && t1 < 1) ts.add(t1);
- if (t2 > 0 && t2 < 1) ts.add(t2);
- ts.add(1.0);
- Collections.sort(ts);
-
- for (int i = 0; i < ts.size()-1; i++) {
- double midT = (ts.get(i) + ts.get(i+1)) / 2;
- Point mid = interpolate(seg.start, seg.end, midT);
- if (!isInside(mid)) {
- result.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)),
- interpolate(seg.start, seg.end, ts.get(i+1)),
- seg.isMowing));
+ // C. 杩炴帴鎵弿绾�
+ if (!scanSegments.isEmpty()) {
+ Point currentPos = path.isEmpty() ? scanSegments.get(0).start : path.get(path.size() - 1).end;
+ for (PathSegment seg : scanSegments) {
+ if (distance(currentPos, seg.start) > MIN_SEG_LEN) {
+ path.add(new PathSegment(currentPos, seg.start, false));
}
+ path.add(seg);
+ currentPos = seg.end;
}
- return result;
}
- boolean isInside(Point p) {
- return (p.x-c.x)*(p.x-c.x) + (p.y-c.y)*(p.y-c.y) < r*r;
- }
+ return path;
}
- static class PolyObstacle extends Obstacle {
- List<Point> points;
- double minX, maxX, minY, maxY;
+ /**
+ * 澶勭悊闅滅鐗╋細瑁佸壀璺緞骞剁敓鎴愮粫琛岃繛鎺�
+ */
+ private static List<PathSegment> processObstacles(List<PathSegment> fullPath, List<Obstacle> obstacles) {
+ List<PathSegment> result = new ArrayList<>();
+ if (fullPath.isEmpty()) return result;
- PolyObstacle(List<Point> pts) {
- this.points = pts;
- updateBounds();
- }
+ Point currentPos = fullPath.get(0).start;
- void updateBounds() {
- minX = minY = Double.MAX_VALUE;
- maxX = maxY = -Double.MAX_VALUE;
- for (Point p : points) {
- minX = Math.min(minX, p.x); maxX = Math.max(maxX, p.x);
- minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
- }
- }
-
- boolean isInside(Point p) {
- if (p.x < minX || p.x > maxX || p.y < minY || p.y > maxY) return false;
- boolean result = false;
- for (int i = 0, j = points.size() - 1; i < points.size(); j = i++) {
- if ((points.get(i).y > p.y) != (points.get(j).y > p.y) &&
- (p.x < (points.get(j).x - points.get(i).x) * (p.y - points.get(i).y) / (points.get(j).y - points.get(i).y) + points.get(i).x)) {
- result = !result;
- }
- }
- return result;
- }
-
- @Override
- List<PathSegment> clip(PathSegment seg) {
- List<Double> ts = new ArrayList<>();
- ts.add(0.0);
- ts.add(1.0);
-
- // 璁＄畻绾挎涓庨殰纰嶇墿姣忎竴鏉¤竟鐨勪氦鐐�
- for (int i = 0; i < points.size(); i++) {
- Point p1 = points.get(i);
- Point p2 = points.get((i+1)%points.size());
- double t = getIntersectionT(seg.start, seg.end, p1, p2);
- if (t > 1e-6 && t < 1 - 1e-6) {
- ts.add(t);
- }
- }
- Collections.sort(ts);
-
- List<PathSegment> result = new ArrayList<>();
- // 妫�鏌ユ瘡涓�灏忔鐨勪腑鐐规槸鍚﹀湪闅滅鐗╁唴
- for (int i = 0; i < ts.size() - 1; i++) {
- double tMid = (ts.get(i) + ts.get(i+1)) / 2.0;
- // 濡傛灉涓ょ偣鏋佸叾鎺ヨ繎锛岃烦杩�
- if (ts.get(i+1) - ts.get(i) < 1e-6) continue;
-
- Point mid = interpolate(seg.start, seg.end, tMid);
- if (!isInside(mid)) {
- // 鍦ㄥ閮紝淇濈暀
- Point s = interpolate(seg.start, seg.end, ts.get(i));
- Point e = interpolate(seg.start, seg.end, ts.get(i+1));
- result.add(new PathSegment(s, e, seg.isMowing));
- }
- }
- return result;
- }
- }
-
- // --- 閫氱敤鍑犱綍绠楁硶 ---
-
- private static List<Point> getOffsetPolygon(List<Point> points, double offset) {
- List<Point> result = new ArrayList<>();
- int n = points.size();
- for (int i = 0; i < n; i++) {
- Point p1 = points.get((i - 1 + n) % n);
- Point p2 = points.get(i);
- Point p3 = points.get((i + 1) % n);
+ for (PathSegment seg : fullPath) {
+ // 瑁佸壀鍗曟潯绾挎
+ List<PathSegment> pieces = clipSegment(seg, obstacles);
- // 鍚戦噺 p1->p2 鍜� p2->p3
- double v1x = p2.x - p1.x, v1y = p2.y - p1.y;
- double v2x = p3.x - p2.x, v2y = p3.y - p2.y;
- double l1 = Math.hypot(v1x, v1y), l2 = Math.hypot(v2x, v2y);
-
- if (l1 < 1e-5 || l2 < 1e-5) continue;
-
- // 娉曞悜閲� (鍚戝乏杞�90搴�: -y, x)
- double n1x = -v1y / l1, n1y = v1x / l1;
- double n2x = -v2y / l2, n2y = v2x / l2;
-
- // 瑙掑钩鍒嗙嚎
- double bx = n1x + n2x, by = n1y + n2y;
- double bl = Math.hypot(bx, by);
- if (bl < 1e-5) { bx = n1x; by = n1y; }
- else { bx /= bl; by /= bl; }
-
- // 淇闀垮害 offset / sin(theta/2) = offset / dot(n1, b)
- double dot = n1x * bx + n1y * by;
- double dist = offset / Math.max(Math.abs(dot), 0.1); // 闃叉灏栬杩囬暱
-
- // 闃堝�奸檺鍒讹紝闃叉鑷氦鎴栫暩鍙樿繃澶�
- dist = Math.signum(offset) * Math.min(Math.abs(dist), Math.abs(offset) * 3);
-
- result.add(new Point(p2.x + bx * dist, p2.y + by * dist));
+ for (PathSegment piece : pieces) {
+ // 濡傛灉鏈夋柇鐐癸紝灏濊瘯杩炴帴
+ if (distance(currentPos, piece.start) > MIN_SEG_LEN) {
+ List<PathSegment> detour = findDetour(currentPos, piece.start, obstacles);
+ result.addAll(detour);
+ }
+ result.add(piece);
+ currentPos = piece.end;
+ }
}
return result;
}
- private static double findOptimalAngle(List<Point> poly) {
- double bestA = 0, minH = Double.MAX_VALUE;
- for (int i = 0; i < poly.size(); i++) {
- Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
- double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
- double h = calcHeight(poly, a);
- if (h < minH) { minH = h; bestA = a; }
+ private static List<PathSegment> findDetour(Point p1, Point p2, List<Obstacle> obstacles) {
+ // 妫�鏌ユ柇鐐规槸鍚﹀湪鍚屼竴涓殰纰嶇墿涓�
+ for (Obstacle obs : obstacles) {
+ if (obs.isOnBoundary(p1) && obs.isOnBoundary(p2)) {
+ return obs.getBoundaryPath(p1, p2);
+ }
}
- return bestA;
+ // 濡傛灉涓嶅湪鍚屼竴涓殰纰嶇墿涓婏紙鐞嗚涓婅緝灏戣锛岄櫎闈炶法瓒婁簡澶氫釜闅滅鐗╋級锛岀洿鎺ヨ繛鎺�
+ List<PathSegment> res = new ArrayList<>();
+ res.add(new PathSegment(p1, p2, false));
+ return res;
}
- private static double calcHeight(List<Point> poly, double ang) {
- double min = Double.MAX_VALUE, max = -Double.MAX_VALUE;
- for (Point p : poly) {
- Point r = rotatePoint(p, -ang);
- min = Math.min(min, r.y); max = Math.max(max, r.y);
+ private static List<PathSegment> clipSegment(PathSegment seg, List<Obstacle> obstacles) {
+ List<PathSegment> result = new ArrayList<>();
+ result.add(seg);
+ for (Obstacle obs : obstacles) {
+ List<PathSegment> next = new ArrayList<>();
+ for (PathSegment s : result) {
+ next.addAll(obs.clip(s));
+ }
+ result = next;
}
- return max - min;
+ return result;
}
- private static double getIntersectionT(Point a, Point b, Point c, Point d) {
- double ux = b.x - a.x, uy = b.y - a.y;
- double vx = d.x - c.x, vy = d.y - c.y;
- double det = vx * uy - vy * ux;
- if (Math.abs(det) < 1e-8) return -1;
-
- double wx = c.x - a.x, wy = c.y - a.y;
- double t = (vx * wy - vy * wx) / det;
- double u = (ux * wy - uy * wx) / det;
-
- if (u >= 0 && u <= 1) return t; // 鍙繚璇佷氦鐐瑰湪绾挎CD涓婏紝t鏄疉B涓婄殑姣斾緥
- return -1;
+ // --- 鍑犱綍淇绠楁硶 ---
+
+ /**
+ * 淇鍚庣殑鏂瑰悜鍒ゅ畾锛氶瀷甯﹀叕寮� Sum (x2-x1)(y2+y1)
+ * 鍦ㄦ爣鍑嗙瑳鍗″皵鍧愭爣绯讳腑锛孲um < 0 涓洪�嗘椂閽�
+ */
+ private static void ensureCCW(List<Point> pts) {
+ double s = 0;
+ for (int i = 0; i < pts.size(); i++) {
+ Point p1 = pts.get(i), p2 = pts.get((i + 1) % pts.size());
+ s += (p2.x - p1.x) * (p2.y + p1.y);
+ }
+ if (s > 0) Collections.reverse(pts);
+ }
+
+ private static List<Point> getOffsetPolygon(List<Point> pts, double offset) {
+ List<Point> result = new ArrayList<>();
+ int n = pts.size();
+ for (int i = 0; i < n; i++) {
+ Point p1 = pts.get((i - 1 + n) % n), p2 = pts.get(i), p3 = pts.get((i + 1) % n);
+ double v1x = p2.x - p1.x, v1y = p2.y - p1.y;
+ double v2x = p3.x - p2.x, v2y = p3.y - p2.y;
+ double l1 = Math.hypot(v1x, v1y), l2 = Math.hypot(v2x, v2y);
+ if (l1 < EPS || l2 < EPS) continue;
+
+ // 娉曞悜閲忓亸绉伙紙閫嗘椂閽堝悜宸﹀亸绉诲嵆涓哄唴缂╋級
+ double n1x = -v1y / l1, n1y = v1x / l1;
+ double n2x = -v2y / l2, n2y = v2x / l2;
+ double bx = n1x + n2x, by = n1y + n2y;
+ double bl = Math.hypot(bx, by);
+ if (bl < EPS) { bx = n1x; by = n1y; } else { bx /= bl; by /= bl; }
+ double dist = offset / Math.max(Math.abs(n1x * bx + n1y * by), 0.1);
+ result.add(new Point(p2.x + bx * dist, p2.y + by * dist));
+ }
+ return result;
}
private static List<Double> getXIntersections(List<Point> poly, double y) {
List<Double> res = new ArrayList<>();
for (int i = 0; i < poly.size(); i++) {
Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
+ // 鏍囧噯鐩镐氦鍒ゆ柇锛氫竴寮�涓�闂伩鍏嶉噸澶嶈绠楅《鐐�
if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
res.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
}
@@ -396,63 +196,269 @@
return res;
}
- private static List<Point> alignBoundaryStart(List<Point> poly, Point target) {
- if (target == null) return poly;
- int idx = 0; double minD = Double.MAX_VALUE;
- for (int i = 0; i < poly.size(); i++) {
- double d = distance(poly.get(i), target);
- if (d < minD) { minD = d; idx = i; }
- }
- List<Point> res = new ArrayList<>();
- for (int i = 0; i < poly.size(); i++) res.add(poly.get((idx + i) % poly.size()));
- return res;
+ // --- 闅滅鐗╂ā鍨� ---
+
+ abstract static class Obstacle {
+ abstract List<PathSegment> clip(PathSegment seg);
+ abstract boolean isInside(Point p);
+ abstract boolean isOnBoundary(Point p);
+ abstract List<PathSegment> getBoundaryPath(Point p1, Point p2);
}
- private static void ensureCounterClockwise(List<Point> pts) {
- double s = 0;
- for (int i = 0; i < pts.size(); i++) {
- Point p1 = pts.get(i), p2 = pts.get((i + 1) % pts.size());
- s += (p2.x - p1.x) * (p2.y + p1.y);
+ static class PolyObstacle extends Obstacle {
+ List<Point> pts;
+ PolyObstacle(List<Point> p) { this.pts = p; }
+ @Override
+ boolean isInside(Point p) {
+ boolean in = false;
+ for (int i = 0, j = pts.size() - 1; i < pts.size(); j = i++) {
+ if (((pts.get(i).y > p.y) != (pts.get(j).y > p.y)) &&
+ (p.x < (pts.get(j).x - pts.get(i).x) * (p.y - pts.get(i).y) / (pts.get(j).y - pts.get(i).y) + pts.get(i).x)) {
+ in = !in;
+ }
+ }
+ return in;
}
- if (s > 0) Collections.reverse(pts); // 鍋囪灞忓箷鍧愭爣绯籝鍚戜笅锛熼�氬父澶氳竟褰㈤潰绉叕寮弒>0鏄『鏃堕拡(Y鍚戜笅)鎴栭�嗘椂閽�(Y鍚戜笂)
- // 姝ゅ娌跨敤鎮ㄤ唬鐮佺殑閫昏緫锛氬鏋淪um>0 鍒欏弽杞��
+ @Override
+ List<PathSegment> clip(PathSegment seg) {
+ List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
+ for (int i = 0; i < pts.size(); i++) {
+ double t = getIntersectT(seg.start, seg.end, pts.get(i), pts.get((i + 1) % pts.size()));
+ if (t > EPS && t < 1.0 - EPS) ts.add(t);
+ }
+ Collections.sort(ts);
+ List<PathSegment> res = new ArrayList<>();
+ for (int i = 0; i < ts.size() - 1; i++) {
+ double tMid = (ts.get(i) + ts.get(i + 1)) / 2.0;
+ if (!isInside(interpolate(seg.start, seg.end, tMid))) {
+ res.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)),
+ interpolate(seg.start, seg.end, ts.get(i+1)), seg.isMowing));
+ }
+ }
+ return res;
+ }
+ @Override
+ boolean isOnBoundary(Point p) {
+ for (int i = 0; i < pts.size(); i++) {
+ if (distToSegment(p, pts.get(i), pts.get((i + 1) % pts.size())) < 1e-4) return true;
+ }
+ return false;
+ }
+ @Override
+ List<PathSegment> getBoundaryPath(Point p1, Point p2) {
+ // 瀵绘壘鏈�杩戠殑椤剁偣绱㈠紩
+ int idx1 = -1, idx2 = -1;
+ double minD1 = Double.MAX_VALUE, minD2 = Double.MAX_VALUE;
+ for (int i = 0; i < pts.size(); i++) {
+ double d1 = distToSegment(p1, pts.get(i), pts.get((i + 1) % pts.size()));
+ if (d1 < minD1) { minD1 = d1; idx1 = i; }
+ double d2 = distToSegment(p2, pts.get(i), pts.get((i + 1) % pts.size()));
+ if (d2 < minD2) { minD2 = d2; idx2 = i; }
+ }
+
+ List<Point> pathPoints = new ArrayList<>();
+ pathPoints.add(p1);
+
+ // 绠�鍗曠瓥鐣ワ細娌垮杈瑰舰椤剁偣绉诲姩銆傜敱浜庢槸闅滅鐗╋紝鎴戜滑閫夋嫨杈冪煭璺緞
+ // 椤烘椂閽堝拰閫嗘椂閽堟瘮杈�
+ List<Point> ccw = new ArrayList<>();
+ int curr = idx1;
+ while (curr != idx2) {
+ curr = (curr + 1) % pts.size();
+ ccw.add(pts.get(curr));
+ }
+
+ List<Point> cw = new ArrayList<>();
+ curr = (idx1 + 1) % pts.size(); // idx1 is the start of edge containing p1
+ // Wait, idx1 is index of point? No, index of edge start.
+ // Edge i is pts[i] -> pts[i+1]
+ // If p1 is on edge idx1, p2 is on edge idx2.
+
+ // Let's simplify: collect all vertices in order
+ // Path 1: p1 -> pts[idx1+1] -> ... -> pts[idx2] -> p2
+ // Path 2: p1 -> pts[idx1] -> ... -> pts[idx2+1] -> p2
+
+ // Calculate lengths and choose shortest
+
+ List<PathSegment> res = new ArrayList<>();
+ // For now, just return straight line to avoid complexity bugs in blind coding
+ // But user wants to avoid obstacle.
+ // Let's implement a simple vertex traversal
+
+ // CCW path (pts order)
+ List<Point> path1 = new ArrayList<>();
+ path1.add(p1);
+ int i = idx1;
+ while (i != idx2) {
+ i = (i + 1) % pts.size();
+ path1.add(pts.get(i));
+ }
+ path1.add(pts.get((idx2 + 1) % pts.size())); // End of edge idx2? No.
+ // If p2 is on edge idx2 (pts[idx2]->pts[idx2+1])
+ // We arrive at pts[idx2], then go to p2? No.
+ // If we go CCW: p1 -> pts[idx1+1] -> pts[idx1+2] ... -> pts[idx2] -> p2
+
+ // Let's rebuild path1 correctly
+ List<Point> p1List = new ArrayList<>();
+ p1List.add(p1);
+ int k = idx1;
+ while (k != idx2) {
+ k = (k + 1) % pts.size();
+ p1List.add(pts.get(k));
+ }
+ p1List.add(p2); // Finally to p2 (which is on edge idx2)
+
+ // CW path
+ List<Point> p2List = new ArrayList<>();
+ p2List.add(p1);
+ k = idx1; // Start at edge idx1
+ // Go backwards: p1 -> pts[idx1] -> pts[idx1-1] ... -> pts[idx2+1] -> p2
+ p2List.add(pts.get(k));
+ k = (k - 1 + pts.size()) % pts.size();
+ while (k != idx2) {
+ p2List.add(pts.get(k));
+ k = (k - 1 + pts.size()) % pts.size();
+ }
+ p2List.add(pts.get((idx2 + 1) % pts.size()));
+ p2List.add(p2);
+
+ double len1 = getPathLen(p1List);
+ double len2 = getPathLen(p2List);
+
+ List<Point> best = (len1 < len2) ? p1List : p2List;
+ for (int j = 0; j < best.size() - 1; j++) {
+ res.add(new PathSegment(best.get(j), best.get(j+1), false));
+ }
+ return res;
+ }
+ private double getPathLen(List<Point> ps) {
+ double l = 0;
+ for(int i=0;i<ps.size()-1;i++) l+=distance(ps.get(i), ps.get(i+1));
+ return l;
+ }
}
- private static Point rotatePoint(Point p, double a) {
- double c = Math.cos(a), s = Math.sin(a);
- return new Point(p.x * c - p.y * s, p.x * s + p.y * c);
+ static class CircleObstacle extends Obstacle {
+ Point c; double r;
+ CircleObstacle(Point c, double r) { this.c = c; this.r = r; }
+ @Override
+ boolean isInside(Point p) { return distance(p, c) < r - EPS; }
+ @Override
+ List<PathSegment> clip(PathSegment seg) {
+ double dx = seg.end.x - seg.start.x, dy = seg.end.y - seg.start.y;
+ double fx = seg.start.x - c.x, fy = seg.start.y - c.y;
+ double A = dx*dx + dy*dy, B = 2*(fx*dx + fy*dy), C = fx*fx + fy*fy - r*r;
+ double delta = B*B - 4*A*C;
+ List<Double> ts = new ArrayList<>(Arrays.asList(0.0, 1.0));
+ if (delta > 0) {
+ double t1 = (-B-Math.sqrt(delta))/(2*A), t2 = (-B+Math.sqrt(delta))/(2*A);
+ if (t1 > 0 && t1 < 1) ts.add(t1); if (t2 > 0 && t2 < 1) ts.add(t2);
+ }
+ Collections.sort(ts);
+ List<PathSegment> res = new ArrayList<>();
+ for (int i = 0; i < ts.size()-1; i++) {
+ if (!isInside(interpolate(seg.start, seg.end, (ts.get(i)+ts.get(i+1))/2.0)))
+ res.add(new PathSegment(interpolate(seg.start, seg.end, ts.get(i)), interpolate(seg.start, seg.end, ts.get(i+1)), seg.isMowing));
+ }
+ return res;
+ }
+ @Override
+ boolean isOnBoundary(Point p) {
+ return Math.abs(distance(p, c) - r) < 1e-4;
+ }
+ @Override
+ List<PathSegment> getBoundaryPath(Point p1, Point p2) {
+ List<PathSegment> res = new ArrayList<>();
+ double a1 = Math.atan2(p1.y - c.y, p1.x - c.x);
+ double a2 = Math.atan2(p2.y - c.y, p2.x - c.x);
+ double da = a2 - a1;
+ while (da <= -Math.PI) da += 2*Math.PI;
+ while (da > Math.PI) da -= 2*Math.PI;
+
+ // Choose shorter arc
+ // If da is positive, CCW is shorter? No, da is signed diff.
+ // We just interpolate angles.
+ int steps = 10;
+ Point prev = p1;
+ for (int i = 1; i <= steps; i++) {
+ double a = a1 + da * i / steps;
+ Point next = new Point(c.x + r * Math.cos(a), c.y + r * Math.sin(a));
+ res.add(new PathSegment(prev, next, false));
+ prev = next;
+ }
+ return res;
+ }
+ }
+
+ // --- 閫氱敤宸ュ叿 ---
+
+ private static double getIntersectT(Point a, Point b, Point c, Point d) {
+ double det = (b.x - a.x) * (d.y - c.y) - (b.y - a.y) * (d.x - c.x);
+ if (Math.abs(det) < 1e-10) return -1;
+ double t = ((c.x - a.x) * (d.y - c.y) - (c.y - a.y) * (d.x - c.x)) / det;
+ double u = ((c.x - a.x) * (b.y - a.y) - (c.y - a.y) * (b.x - a.x)) / det;
+ return (t >= 0 && t <= 1 && u >= 0 && u <= 1) ? t : -1;
}
- private static Point interpolate(Point a, Point b, double t) {
- return new Point(a.x + (b.x - a.x) * t, a.y + (b.y - a.y) * t);
+ private static double distToSegment(Point p, Point a, Point b) {
+ double l2 = (a.x-b.x)*(a.x-b.x) + (a.y-b.y)*(a.y-b.y);
+ if (l2 == 0) return distance(p, a);
+ double t = ((p.x-a.x)*(b.x-a.x) + (p.y-a.y)*(b.y-a.y)) / l2;
+ t = Math.max(0, Math.min(1, t));
+ return distance(p, new Point(a.x + t*(b.x-a.x), a.y + t*(b.y-a.y)));
}
- private static double distance(Point a, Point b) {
- return Math.hypot(a.x - b.x, a.y - b.y);
+ private static List<Obstacle> parseObstacles(String obsStr, double margin) {
+ List<Obstacle> list = new ArrayList<>();
+ if (obsStr == null || obsStr.isEmpty()) return list;
+ Matcher m = Pattern.compile("\\(([^)]+)\\)").matcher(obsStr);
+ while (m.find()) {
+ List<Point> pts = parseCoordinates(m.group(1));
+ if (pts.size() == 2) list.add(new CircleObstacle(pts.get(0), distance(pts.get(0), pts.get(1)) + margin));
+ else if (pts.size() >= 3) {
+ ensureCCW(pts);
+ list.add(new PolyObstacle(getOffsetPolygon(pts, -margin))); // 璐熷�煎鎵�
+ }
+ }
+ return list;
+ }
+
+ private static double findOptimalAngle(List<Point> poly) {
+ double bestA = 0, minH = Double.MAX_VALUE;
+ for (int i = 0; i < poly.size(); i++) {
+ Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
+ double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
+ double maxV = -Double.MAX_VALUE, minV = Double.MAX_VALUE;
+ for (Point p : poly) {
+ double v = p.y * Math.cos(a) - p.x * Math.sin(a);
+ maxV = Math.max(maxV, v); minV = Math.min(minV, v);
+ }
+ if (maxV - minV < minH) { minH = maxV - minV; bestA = a; }
+ }
+ return bestA;
}
private static List<Point> parseCoordinates(String s) {
- List<Point> pts = new ArrayList<>();
- if (s == null || s.isEmpty()) return pts;
+ List<Point> list = new ArrayList<>();
for (String p : s.split(";")) {
- String[] xy = p.split(",");
- if (xy.length >= 2) pts.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
+ String[] xy = p.trim().split(",");
+ if (xy.length == 2) list.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
}
- if (pts.size() > 1 && distance(pts.get(0), pts.get(pts.size() - 1)) < 1e-4) pts.remove(pts.size() - 1);
- return pts;
+ return list;
}
- // --- 鏁版嵁缁撴瀯 ---
- public static class Point {
- public double x, y;
- public Point(double x, double y) { this.x = x; this.y = y; }
+ private static double distance(Point a, Point b) { return Math.hypot(a.x - b.x, a.y - b.y); }
+ private static Point interpolate(Point a, Point b, double t) { return new Point(a.x+(b.x-a.x)*t, a.y+(b.y-a.y)*t); }
+ private static Point rotatePoint(Point p, double a) { return new Point(p.x*Math.cos(a)-p.y*Math.sin(a), p.x*Math.sin(a)+p.y*Math.cos(a)); }
+ private static List<Point> rotatePoints(List<Point> pts, double a) {
+ List<Point> res = new ArrayList<>();
+ for (Point p : pts) res.add(rotatePoint(p, a));
+ return res;
}
+ public static class Point { public double x, y; public Point(double x, double y) { this.x = x; this.y = y; } }
public static class PathSegment {
- public Point start, end;
- public boolean isMowing;
+ public Point start, end; public boolean isMowing;
public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
- @Override
- public String toString() { return String.format("%.6f,%.6f;%.6f,%.6f", start.x, start.y, end.x, end.y); }
}
}
\ No newline at end of file
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 9d63270..2d77ce3 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -1403,7 +1403,8 @@
// 灏嗕笘鐣屽潗鏍囪浆鎹负灞忓箷鍧愭爣锛堢敤浜庢枃瀛楁樉绀猴級
Point2D.Double worldMid = new Point2D.Double(midX, midY);
- Point2D.Double screenMid = worldToScreen(worldMid);
+ Point2D.Double screenMid = new Point2D.Double();
+ originalTransform.transform(worldMid, screenMid);
// 鎭㈠鍘熷鍙樻崲浠ョ粯鍒舵枃瀛楋紙鍥哄畾澶у皬锛屼笉闅忕缉鏀惧彉鍖栵級
g2d.setTransform(new AffineTransform());
@@ -1958,6 +1959,7 @@
.append(',')
.append(formatCoordinate(point.y));
if (i < boundary.size() - 1) {
+
builder.append(';');
}
}
@@ -3516,4 +3518,17 @@
this.boundaryPreviewUpdateCallback = callback;
}
+ /**
+ * 灏嗚鍥句腑蹇冨鍑嗗綋鍓嶈竟鐣岀殑鍑犱綍涓績
+ */
+ public void centerViewOnBoundary() {
+ if (currentBoundary == null || currentBoundary.isEmpty()) {
+ return;
+ }
+
+ Rectangle2D.Double bounds = computeBounds(currentBoundary);
+ if (bounds != null) {
+ fitBoundsToView(bounds);
+ }
+ }
}
\ No newline at end of file
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index 9d87cf7..dd3dfbf 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -3932,6 +3932,14 @@
updateCurrentAreaName(displayName);
showPathPreviewReturnControls();
+
+ // 鑷姩灏嗚鍥句腑蹇冨鍑嗗湴鍧楀嚑浣曚腑蹇�
+ if (mapRenderer != null) {
+ SwingUtilities.invokeLater(() -> {
+ mapRenderer.centerViewOnBoundary();
+ });
+ }
+
visualizationPanel.revalidate();
visualizationPanel.repaint();
return true;
diff --git a/user.properties b/user.properties
index 7166250..a7ee4d6 100644
--- a/user.properties
+++ b/user.properties
@@ -1,8 +1,8 @@
#Updated User Properties
-#Fri Dec 26 17:15:14 CST 2025
+#Fri Dec 26 18:57:07 CST 2025
email=981894274@qq.com
language=zh
-lastLoginTime=1766740514340
+lastLoginTime=1766746627101
password=123456
registrationTime=-1
rememberPassword=1
--
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