yggdrasil75/stupidsimcpp
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another minor feature

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yggdrasil75
2026-02-03 05:44:48 -05:00
parent 9b902cebd7
commit 88ee3732b6
1 changed files with 2 additions and 2 deletions
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4
util/grid/grid3eigen.hpp
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@@ -690,7 +690,7 @@ public:
return removeNode(root_.get());
}
std::vector<std::shared_ptr<NodeData>> findInRadius(const PointType& center, float radius) const {
std::vector<std::shared_ptr<NodeData>> findInRadius(const PointType& center, float radius, int objectid = -1) const {
std::vector<std::shared_ptr<NodeData>> results;
if (!root_) return results;
@@ -714,7 +714,7 @@ public:
if (!pointData->active) continue;
float pointDistSq = (pointData->position - center).squaredNorm();
if (pointDistSq <= radiusSq) {
if (pointDistSq <= radiusSq && (pointData->objectId == objectid || objectid == -1)) {
results.emplace_back(pointData);
}
}