Updated visualization of ORCA lines

src/GUI/UMANSOpenGLWidget.cpp

@@ -543,12 +543,12 @@ void UMANSOpenGLWidget::drawAgentCostCircle(Agent& agent)
 	// - draw ORCA lines, if they exist
 
 	const auto& orcaSolution = agent.GetOrcaSolution();
+	const QColor& orcaColor = orcaSolution.isFeasible ? QColor(0, 0, 0) : QColor(255, 0, 0);
 	for (const auto& line : orcaSolution.orcaLines)
 	{
 		Vector2D dir = line.direction.getnormalized();
 		Vector2D drawLinePoint = agentPos + line.point;
-		addPointsToBuffer({ { drawLinePoint - 5 * dir } }, QColor(0, 0, 0), Target_Agents_Contours, Depth_Agents + 0.2);
-		addPointsToBuffer({ { drawLinePoint + 5 * dir } }, QColor(200, 200, 200), Target_Agents_Contours, Depth_Agents + 0.2);
+		addSegmentsToBuffer({ LineSegment2D(drawLinePoint - 2 * dir, drawLinePoint + 2 * dir) }, orcaColor, Target_Agents_Contours, Depth_Agents + 0.2);
 	}
 }