/* * v_Closest_va.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.util.Vec2;import EDU.gatech.cc.is.util.Units;/** * Finds the closest in a list of Vec2s.  Assumes the * vectors point egocentrically to the objects, so that * the closest one has the shortest r value. * <P> * For detailed information on how to configure behaviors, see the * <A HREF="../clay/docs/index.html">Clay page</A>. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public class v_Closest_va extends NodeVec2	{	/**	Turns debugging on or off.	*/	public static final boolean DEBUG = Node.DEBUG;	private NodeVec2Array	embedded1;	/**	Instantiate a v_Closest_va node.	@param im1 NodeVec2, the embedded node that generates a list		of items to scan.	*/	public v_Closest_va(NodeVec2Array im1)		{		if (DEBUG) System.out.println("v_Closest_va: instantiated.");		embedded1 = im1;		}	Vec2	last_val = new Vec2();	long	lasttime = 0;	/**	Return a Vec2 representing the closest object, or 0,0 if	none are visible.	@param timestamp long, only get new information if timestamp > than last call                or timestamp == -1.	@return the vector.	*/	public Vec2 Value(long timestamp)		{		double	tempmag;		if ((timestamp > lasttime)||(timestamp == -1))			{			/*--- reset the timestamp ---*/			if (timestamp > 0) lasttime = timestamp;			/*--- reset output ---*/			last_val.setr(0);			/*--- get the list of obstacles ---*/			Vec2[] objs = embedded1.Value(timestamp);			/*--- consider each obstacle ---*/			double closest = 99999999;			for(int i = 0; i<objs.length; i++)				{				if (objs[i].r < closest)					{					closest = objs[i].r;					last_val = objs[i];					}				}			if (DEBUG) System.out.println("v_Closest_va.Value: "+				objs.length+" things to see "+				"output "+				last_val);			}		return (new Vec2(last_val.x, last_val.y));		}        }