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The Brown-UMBC Reinforcement Learning and Planning (BURLAP) Java code library is for the use and development of single or multi-agent planning and learning algorithms and domains to accompany them. The library uses a highly flexible state/observation representation where you define states with your own Java classes, enabling support for domains that discrete, continuous, relational, or anything else. Planning and learning algorithms range from classic forward search planning to value-function-based stochastic planning and learning algorithms.
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package burlap.domain.singleagent.lunarlander;

import burlap.mdp.core.oo.state.OOState;
import burlap.mdp.core.oo.state.ObjectInstance;
import burlap.visualizer.OOStatePainter;
import burlap.visualizer.ObjectPainter;
import burlap.visualizer.StateRenderLayer;
import burlap.visualizer.Visualizer;

import java.awt.*;
import java.awt.geom.Path2D;
import java.awt.geom.Rectangle2D;


/**
 * Class for creating a 2D visualizer for a {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain} {@link burlap.mdp.core.Domain}.
 * The agent is rendered as a red rectangle, obstacles as black rectangles,
 * and the goal landing pad a blue rectangle. The agent's rectangle will be rotated according to the agent/ship's orientation.
 * @author James MacGlashan
 *
 */
public class LLVisualizer {

    private LLVisualizer() {
        // do nothing
    }

	/**
	 * Returns a {@link burlap.visualizer.Visualizer} for a {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain} using
	 * the generator's current version of the physics parameters for defining
	 * the visualized movement space size and rotation degrees.
	 * @param lld the specific lunar lander domain generator to visualize
	 * @return a {@link burlap.visualizer.Visualizer} for the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain}
	 */
	public static Visualizer getVisualizer(LunarLanderDomain lld){
		
		Visualizer v = new Visualizer(getStateRenderLayer(lld.getPhysParams()));
		return v;
	}

	/**
	 * Returns a {@link burlap.visualizer.Visualizer} a the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain}
	 * using the provided {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain.LLPhysicsParams} to define the
	 * visualized movement space and rotation degrees.
	 * @param physParams the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain.LLPhysicsParams} specifying the visualized movement space of the domain and the rotation degrees
	 * @return a {@link burlap.visualizer.Visualizer} for the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain}
	 */
	public static Visualizer getVisualizer(LunarLanderDomain.LLPhysicsParams physParams){
		Visualizer v = new Visualizer(getStateRenderLayer(physParams));
		return v;
	}

	/**
	 * Returns a {@link burlap.visualizer.StateRenderLayer} a the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain}
	 * using the provided {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain.LLPhysicsParams} to define the
	 * visualized movement space and rotation degrees.
	 * @param physParams the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain.LLPhysicsParams} specifying the visualized movement space of the domain and the rotation degrees
	 * @return a {@link burlap.visualizer.StateRenderLayer} for the {@link burlap.domain.singleagent.lunarlander.LunarLanderDomain}
	 */
	public static StateRenderLayer getStateRenderLayer(LunarLanderDomain.LLPhysicsParams physParams){
		StateRenderLayer slr = new StateRenderLayer();

		OOStatePainter ooStatePainter = new OOStatePainter();
		slr.addStatePainter(ooStatePainter);

		ooStatePainter.addObjectClassPainter(LunarLanderDomain.CLASS_AGENT, new AgentPainter(physParams));
		ooStatePainter.addObjectClassPainter(LunarLanderDomain.CLASS_OBSTACLE, new ObstaclePainter(physParams));
		ooStatePainter.addObjectClassPainter(LunarLanderDomain.CLASS_PAD, new PadPainter(physParams));

		return slr;
	}
	
	
	/**
	 * Object painter for a lunar lander agent class. Rendered as a red rectangle rotated 
	 * @author James MacGlashan
	 *
	 */
	public static class AgentPainter implements ObjectPainter{

		protected LunarLanderDomain.LLPhysicsParams lld;
		
		public AgentPainter(LunarLanderDomain.LLPhysicsParams lld) {
			this.lld = lld;
		}

		@Override
		public void paintObject(Graphics2D g2, OOState s, ObjectInstance ob, float cWidth, float cHeight) {
			
			g2.setColor(Color.red);

			
			
			double width = 30.;
			double height = 40.;
			
			double ox = (Double)ob.get(LunarLanderDomain.VAR_X);
			double oy = (Double)ob.get(LunarLanderDomain.VAR_Y);
			
			double ang = (Double)ob.get(LunarLanderDomain.VAR_ANGLE);
			
			double nx = (ox - lld.getXmin()) / (lld.getXmax() - lld.getXmin());
			double ny = (oy - lld.getYmin()) / (lld.getYmax() - lld.getYmin());
			
			
			double scx = (nx * cWidth);
			double scy = cHeight - (ny * (cHeight));
			
			
			
			double tl = -width/2.;
			double tr = width/2.;
			double tb = -height/2.;
			double tt = height/2.;
			
			
			//ang = Math.PI / 4.;
			
			double cosang = Math.cos(-ang);
			double sinang = Math.sin(-ang);
			
			//top left
			double x0 = (tl * cosang) - (tt * sinang);
			double y0 = (tt * cosang) + (tl * sinang);

			//top right
			double x1 = (tr * cosang) - (tt * sinang);
			double y1 = (tt * cosang) + (tr * sinang);

			//bottom right
			double x2 = (tr * cosang) - (tb * sinang);
			double y2 = (tb * cosang) + (tr * sinang);

			//bottom left
			double x3 = (tl * cosang) - (tb * sinang);
			double y3 = (tb * cosang) + (tl * sinang);
			
			
			double ty0 = -y0;
			double ty1 = -y1;
			double ty2 = -y2;
			double ty3 = -y3;
			
			
			double sx0 = x0 + scx;
			double sy0 = ty0 + scy;
			
			double sx1 = x1 + scx;
			double sy1 = ty1 + scy;
			
			double sx2 = x2 + scx;
			double sy2 = ty2 + scy;
			
			double sx3 = x3 + scx;
			double sy3 = ty3 + scy;
			
			
			Path2D.Double mypath = new Path2D.Double();
			mypath.moveTo(sx0, sy0);
			mypath.lineTo(sx1, sy1);
			mypath.lineTo(sx2, sy2);
			mypath.lineTo(sx3, sy3);
			mypath.lineTo(sx0, sy0);
			mypath.closePath();
			
			g2.fill(mypath);
			
			
			
		}
		
		
		
	}
	
	/**
	 * Object painter for obstacles of a lunar lander domain, rendered as black rectangles.
	 * @author James MacGlashan
	 *
	 */
	public static class ObstaclePainter implements ObjectPainter{

		protected LunarLanderDomain.LLPhysicsParams lld;
		
		public ObstaclePainter(LunarLanderDomain.LLPhysicsParams lld) {
			this.lld = lld;
		}

		@Override
		public void paintObject(Graphics2D g2, OOState s, ObjectInstance ob,
				float cWidth, float cHeight) {
			
			g2.setColor(Color.black);
			
			double ol = (Double)ob.get(LunarLanderDomain.VAR_LEFT);
			double or = (Double)ob.get(LunarLanderDomain.VAR_RIGHT);
			double obb = (Double)ob.get(LunarLanderDomain.VAR_BOTTOM);
			double ot = (Double)ob.get(LunarLanderDomain.VAR_TOP);
			
			double ow = or - ol;
			double oh = ot - obb;
			
			double xr = lld.getXmax() - lld.getXmin();
			double yr = lld.getYmax() - lld.getYmin();
			
			double nl = (ol - lld.getXmin()) / xr;
			double nt = (ot - lld.getYmin()) / yr;
			
			double nw = ow/xr;
			double nh = oh/yr;
			
			double sx = nl*cWidth;
			double sy = cHeight - (nt*cHeight);
			
			double sw = nw*cWidth;
			double sh = nh*cHeight;
			
			g2.fill(new Rectangle2D.Double(sx, sy, sw, sh));
			
			
		}
		
		
	}
	
	
	
	/**
	 * Object painter for landing pads of a lunar lander domain, rendered as blue rectangles.
	 * @author James MacGlashan
	 *
	 */
	public static class PadPainter implements ObjectPainter{

		protected LunarLanderDomain.LLPhysicsParams lld;
		
		public PadPainter(LunarLanderDomain.LLPhysicsParams lld) {
			this.lld = lld;
		}

		@Override
		public void paintObject(Graphics2D g2, OOState s, ObjectInstance ob,
				float cWidth, float cHeight) {
			
			g2.setColor(Color.blue);
			
			double ol = (Double)ob.get(LunarLanderDomain.VAR_LEFT);
			double or = (Double)ob.get(LunarLanderDomain.VAR_RIGHT);
			double obb = (Double)ob.get(LunarLanderDomain.VAR_BOTTOM);
			double ot = (Double)ob.get(LunarLanderDomain.VAR_TOP);
			
			double ow = or - ol;
			double oh = ot - obb;
			
			double xr = lld.getXmax() - lld.getXmin();
			double yr = lld.getYmax() - lld.getYmin();
			
			double nl = (ol - lld.getXmin()) / xr;
			double nt = (ot - lld.getYmin()) / yr;
			
			double nw = ow/xr;
			double nh = oh/yr;
			
			double sx = nl*cWidth;
			double sy = cHeight - (nt*cHeight);
			
			double sw = nw*cWidth;
			double sh = nh*cHeight;
			
			g2.fill(new Rectangle2D.Double(sx, sy, sw, sh));
			
			
		}
		
		
	}
	
}