// - add corners to rotation-dependent buffers

// - fix rotation handle and line segment on reshape

​

let obstacle, agent;

let inflateSlider;

let inflatedRegionCheck, offsetEdgesCheck;

​

function setup() {

  createCanvas(400, 400);

  inflateSlider = createSlider(0, 32);

  inflateSlider.position(10, 10);

  inflateSlider.size(80);

  offsetEdgesCheck = createCheckbox();

  offsetEdgesCheck.position(10, 25);

  inflatedRegionCheck = createCheckbox();

  inflatedRegionCheck.position(30, 25);

  agentOffsetEdgeCheck = createCheckbox();

  agentOffsetEdgeCheck.position(50, 25);

  const handleRadius = 10;

  obstacle = new Obstacle([

    {x: 150, y: 50},

    {x: 300, y: 50},

    {x: 300, y: 350},

    {x: 250, y: 350},

    {x: 250, y: 100},

    {x: 150, y: 100},

  ], handleRadius);

  agent = new Agent([

    {x: 50, y: 300},

    {x: 90, y: 300},

    {x: 70, y: 340},

  ], handleRadius);

}

​

function draw() {

  const inflate = inflateSlider.value();

​

  background(220);

  obstacle.draw(inflate, inflatedRegionCheck.checked(), offsetEdgesCheck.checked());

  // Draw agent-rotation-dependent buffer

  // for each obstacle

  //   for each edge

  //     for each agent vertex

  //       represent vertex in frame defined by edge (rotate)

  //     get furthest points in local frame y

  const segmentDiffs = [];

  const n = obstacle.points.length;

​

  for (let idx = 0; idx < n; idx++) {

​

    const curr = obstacle.points[idx].position;

    const next = obstacle.points[(idx + 1) % n].position;

    const segmentAngle = p5.Vector.sub(next, curr).heading();

    const newPoints = agent.points.map(p => p.position.copy().rotate(segmentAngle));

    const minY = min(newPoints.map(p => p.y));

    const maxY = max(newPoints.map(p => p.y));

    segmentDiffs.push(abs(maxY - minY));

  }

  if (agentOffsetEdgeCheck.checked()) {

    const ps = obstacle.points.map(p => p.position);

    drawInflatedRegion(ps, segmentDiffs);

  }

  agent.draw();

}

​

function mousePressed() {

  obstacle.handleMousePressed();

  agent.handleMousePressed();

}

​

function mouseReleased() {

  obstacle.handleMouseReleased();

  agent.handleMouseReleased();

}

​

​

​

​