Changeset 3516 in orxonox.OLD for orxonox/branches/trackManager/src/track_manager.cc

Timestamp:

Mar 12, 2005, 4:00:06 AM (20 years ago)

Author:

bensch

Message:

orxonox/branches/trackManager: now nearest works… this was rather strange
what is important is, that the nearest node is not too far from the center (if there is a 3-fork

File:

• orxonox/branches/trackManager/src/track_manager.cc (modified) (2 diffs)

orxonox/branches/trackManager/src/track_manager.cc

@@ -148 +148 @@
 
   Vector nodeRelCoord = tmpNode->relCoordinate;
-
-  if (nodeRelCoord.z < 0)
-    return 0;
-  else 
-    return 1;
+  float minDist = 100000000;
+  int nodeNumber = 0;
+  for (int i = 0; i < this->childCount; i++)
+    {
+      float dist = (nodeRelCoord - this->children[i]->curve->getNode(4)).len();
+      if (dist < minDist)
+        {
+          minDist = dist;
+          nodeNumber = i;
+        }
+    }
+  PRINTF(3)("PathDecision with nearest algorithm: %d\n", nodeNumber);
+  return nodeNumber;
 }
 
@@ -432 +440 @@
       break;
     case ENEMYKILLED:
-      break;
-    default: // same as LOWEST
-      tmpElem->condFunc = &TrackElement::lowest;
       break;
     }