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);
}
void TeamSensorSystem::removeSensor (SensorSystemPtr sensor) {
sensor->clearContacts();
long index = sensor->getMasterIndex();
sensor->setMasterIndex(-1);
sensors[index] = NULL;
if (index < (numSensors - 1)) {
sensors[index] = sensors[numSensors - 1];
sensors[index]->setMasterIndex(index);
sensors[numSensors - 1] = NULL;
}
numSensors--;
}
void TeamSensorSystem::removeSensor(SensorSystemPtr sensor)
{
sensor->clearContacts();
int32_t index = sensor->getMasterIndex();
sensor->setMasterIndex(-1);
sensors[index] = nullptr;
if(index < (numSensors - 1))
{
sensors[index] = sensors[numSensors - 1];
sensors[index]->setMasterIndex(index);
sensors[numSensors - 1] = nullptr;
}
numSensors--;
}
void SensorSystemManager::removeTeamSensor (long teamId, SensorSystemPtr sensor) {
if (teamId == -1)
return;
teamSensors[teamId]->removeSensor(sensor);
sensor->setMaster(NULL);
}
void TeamSensorSystem::addSensor(SensorSystemPtr sensor)
{
if(numSensors == MAX_SENSORS_PER_TEAM)
Fatal(0, " TeamSensorSystem.addSensor: too many sensors ");
sensor->setMasterIndex(numSensors);
sensors[numSensors++] = sensor;
}
void SensorSystemManager::removeTeamSensor(int32_t teamId, SensorSystemPtr sensor)
{
if(teamId == -1)
return;
teamSensors[teamId]->removeSensor(sensor);
sensor->setMaster(nullptr);
}
void SensorSystemManager::addTeamSensor (long teamId, SensorSystemPtr sensor)
{
if ((teamId > -1) && (teamId < Team::numTeams))
{
teamSensors[teamId]->addSensor(sensor);
sensor->setMaster(teamSensors[teamId]);
}
}