def draw(self, env, color=(1, 0, 0, .5)):
if self._path is None: return
#self._handle = draw_edge(env, self.v1.q, self.v2.q, color=color)
for q1, q2 in pairs(self.configs()):
self._handles.append(draw_edge(env, q1, q2, color=color))
def draw(self, env, color=(1, 0, 0, .5)):
self.node_handle = draw_node(env, self.config, color=color)
if self.parent is not None:
self.edge_handle = draw_edge(env, self.config, self.parent.config, color=color)
