RoadMapPath * Graph::getPath( const Agents::BaseAgent * agent, const BFSM::Goal * goal ) {
// Find the closest visible node to agent position
size_t startID = getClosestVertex( agent->_pos, agent->_radius );
// Find the closest visible node to goal position
Vector2 goalPos = goal->getCentroid();
size_t endID = getClosestVertex( goalPos, agent->_radius );
// Compute the path based on those nodes
RoadMapPath * path = getPath( startID, endID );
if ( path ) {
path->setGoalPos( goal );
}
return path;
}
bool KVFModel::mousePressAction(Point2 pos, double radius)
{
Vertex v = getClosestPin(pos,radius);
if (v == -1)
v = getClosestVertex(pos);
togglePinVertex(v);
return true;
}
AxisSet* Circle::getSeparatingAxes(const Shape* s) const
{
AxisSet *as = new AxisSet();
std::auto_ptr<OrderedPair> closestPoint(s->getClosestVertex(getCentre()));
if (s->isVertex(*closestPoint))
{
std::auto_ptr<OrderedPair> closestPointToVertex(getClosestVertex(*closestPoint));
Vector separatingAxis = Vector(*closestPointToVertex)
- Vector(*closestPoint);
if (!(separatingAxis == Vector(0, 0)))
{
as->add(separatingAxis.Normalise());
}
}
return as;
}
