public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }
Point3D end = new Point3D(ModelFileLoaderConversionsHelper.stringToVector3d(road.getPoints().get(i+1))); Vector3D direction = getDirection(start, end); Vector3D toSide = getPerpendicularVectorOfLength(width, direction); Vector3D directionNext = getDirection(startNext, endNext); Vector3D nextSide = getPerpendicularVectorOfLength(width, directionNext); endRight.sub(end, toSide); addPolygon(appearance, startRight, endRight, endLeft, startLeft);
public SDFWorldLoader(InputStream inputStream, List<String> resourceDirectories) throws FileNotFoundException, JAXBException { jaxbSDFLoader = new JaxbSDFLoader(inputStream, resourceDirectories, null); for (GeneralizedSDFRobotModel generalizedSDFRobotModel : jaxbSDFLoader.getGeneralizedSDFRobotModels()) { String name = generalizedSDFRobotModel.getName(); visuals.put(name, new SDFModelVisual(generalizedSDFRobotModel)); } for (Road road : jaxbSDFLoader.getRoads()) { visuals.put(road.getName(), new SDFRoadVisual(road)); } }