pol.add(new Vector2D(c.getTargetLocation()).add(new Vector2D(-0.5, 0.5)));
pol.add(new Vector2D(c.getTargetLocation()).add(new Vector2D(-0.5, -0.5)));
pol.add(new Vector2D(c.getTargetLocation()).add(new Vector2D(0.5, -0.5)));
g.setStroke(new BasicStroke(5));
g.drawPolygon(this.getPolygonInVisualization(pol).toPol());
g.setStroke(new BasicStroke(2));
g.setColor(Color.red);
c.getTrace().forEach(v ->
{Vector2D a = this.getPointInVisualization(v);