RRT* with angular constraints, 2 instance side by side

Because it can be slow, I shown 2 running side by side.
The start and end points are always the same, the start position is pointing up and the end position is pointing 45 degrees to the left.

There is no optimization of the path as yet, it is simply stopping as soon as a viable path between the start and end is found.

A purple path indicates an incomplete path with the last edge having an angle compatible with the required end angle.

A red path is the viable path found between start and end.

This is real time, the code is written in Java.