long MoverGroup::setPoint (MoverPtr mover) {
if (isMember(mover)) {
#ifdef USE_IFACE
if (pointHandle)
theInterface->setPoint(pointHandle, false);
#endif
pointWID = mover->getWatchID();
#ifdef USE_IFACE
theInterface->setPoint(mover->getPartId(), true);
#endif
}
return(NO_ERR);
}
SensorSystemPtr TeamSensorSystem::findBestSpotter (MoverPtr contact, long* status) {
ContactInfoPtr contactInfo = contact->getContactInfo();
if (!contactInfo) {
char s[256];
sprintf(s, "TeamSensorSystem.findBestSpotter: NULL contactInfo for objClass %d partID %d team %d", contact->getObjectClass(), contact->getPartId(), contact->getTeamId());
STOP((s));
}
SensorSystemPtr bestSensor = NULL;
long bestStatus = CONTACT_NONE;
for (long i = 0; i < MAX_SENSORS; i++)
if (contactInfo->sensors[i] != 255) {
SensorSystemPtr sensor = SensorManager->getSensor(i);
if (sensor && sensor->owner && (teamId == sensor->owner->getTeamId())) {
long status = sensor->calcContactStatus(contact);
if (status >= bestStatus) {
bestSensor = sensor;
bestStatus = status;
}
}
}
if (status)
*status = bestStatus;
return(bestSensor);
}
