motion planning environment

I have a plan to arrange what i have leared in motion planning up to the present. I think i'll show some planning methods, like potential field, PRM and RRT. These methods are so common.

Before i show some demo, i think i should build a simple environment for all methods. So i had wrotten a environment which support to read Objects(Robot or Obstacle) in txt file, to show the objects in screen, to build BitMap and C-Space for planning.

Below is my environment demo. The red objects are robots and the blue are obstacles, you can click and drag each one, a event of left-click drag represents translating the click object, the event of right-click drag represents rotating the object, pay attention to the right-click event, because the robot is combined from several polygons, you can local or global rotation.