cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric
Class Raycasting

java.lang.Object
  cz.cuni.amis.pogamut.base.agent.module.AgentModule<AGENT>
      cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule<UT2004Bot>
          cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Raycasting

All Implemented Interfaces:

IComponent

public class Raycasting
extends SensomotoricModule<UT2004Bot>

Support for creating rays used for raycasting (see AutoTraceRay that is being utilized).

It is designed to be initialized inside IUT2004BotController.initializeController(UT2004Bot) method call and may be used since IUT2004BotController.botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage) is called.

Field Summary

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule

act, worldView

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

agent, controller, eventBus, log

Constructor Summary

Raycasting(UT2004Bot bot)

Raycasting(UT2004Bot bot, java.util.logging.Logger log)

Method Summary

protected void	checkIfAllInited() Sets allRaysInitialized flag to true if all rays has been initialized.
protected void	cleanUp() Hook where to perform clean up of data structures of the module.
void	clear() Deletes all previous rays and makes this instance ready for setting up new rays.
java.util.concurrent.Future<AutoTraceRay>	createRay(java.lang.String Id, Vector3d Direction, int Length, boolean FastTrace, boolean FloorCorrection, boolean TraceActors) Initializes ray usind AddRay command and returns future that waits for the first AutoTraceRay message corresponding to this ray.
java.util.concurrent.Future<AutoTraceRay>	createRay(Vector3d Direction, int Length, boolean FastTrace, boolean FloorCorrection, boolean TraceActors) Creates ray with system generated id.
void	endRayInitSequence() Once all rays were initialized using createRay(...) methods, call this method to start listening for response from UT.
Flag<java.lang.Boolean>	getAllRaysInitialized()
AutoTraceRay	getRay(java.lang.String rayID) Returns a ray of specified id.

Methods inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

getComponentId, getLog, getState, initComponentId, isRunning, kill, pause, reset, resume, start, stop, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Raycasting

public Raycasting(UT2004Bot bot)

Raycasting

public Raycasting(UT2004Bot bot,
                  java.util.logging.Logger log)

Method Detail

getAllRaysInitialized

public Flag<java.lang.Boolean> getAllRaysInitialized()

cleanUp

protected void cleanUp()

Description copied from class: AgentModule

Hook where to perform clean up of data structures of the module.

Called from AgentModule.stop(), AgentModule.kill(), AgentModule.reset().

Overrides:

cleanUp in class AgentModule<UT2004Bot>

clear

public void clear()
           throws CommunicationException

Deletes all previous rays and makes this instance ready for setting up new rays.

Throws:

CommunicationException

endRayInitSequence

public void endRayInitSequence()

Once all rays were initialized using createRay(...) methods, call this method to start listening for response from UT.

createRay

public java.util.concurrent.Future<AutoTraceRay> createRay(java.lang.String Id,
                                                           Vector3d Direction,
                                                           int Length,
                                                           boolean FastTrace,
                                                           boolean FloorCorrection,
                                                           boolean TraceActors)
                                                    throws CommunicationException

Initializes ray usind AddRay command and returns future that waits for the first AutoTraceRay message corresponding to this ray.

Parameters:

Id - User set Id of the ray, so the ray can be identified.

Direction - Vector direction of the ray (it will be relative - added to the vector, where the bot is looking, also takes into account angle of the floor the bot is standing on).

Length - Specifies the length of the ray (in UT units).

FastTrace - True if we want to use FastTrace function instead of Trace function (a bit faster but less information provided - just information if we hit something or not).

FloorCorrection - If we should correct ray directions accoring floor normal. Note: Has issue - we can't set set rays up or down when correction is active.

TraceActors - If we want to trace also actors – bots, monsters, players, items. False if we want to trace just level geometry.

Returns:

Throws:

CommunicationException

createRay

public java.util.concurrent.Future<AutoTraceRay> createRay(Vector3d Direction,
                                                           int Length,
                                                           boolean FastTrace,
                                                           boolean FloorCorrection,
                                                           boolean TraceActors)
                                                    throws CommunicationException

Creates ray with system generated id. Note that the ray is not initialized immediately - we have to wait for GB2004 to confirm us. Therefore you will not receive actual instance of AutoTraceRay but its Future. Use method Future.isDone() to check whether the ray was initialized and method Future.get() to obtain the ray instance.

Parameters:

Direction - Vector direction of the ray (it will be relative - added to the vector, where the bot is looking, also takes into account angle of the floor the bot is standing on).

Length - Specifies the length of the ray (in UT units).

FastTrace - True if we want to use FastTrace function instead of Trace function (a bit faster but less information provided - just information if we hit something or not).

FloorCorrection - If we should correct ray directions according floor normal. Note: Has issue - we can't set set rays up or down when correction is active.

TraceActors - If we want to trace also actors, bots, monsters, players, items. False if we want to trace just level geometry.

Returns:

ray's future - use method Future.isDone() to check whether the ray was initialized and method Future.get() to obtain the ray instance

Throws:

cz.cuni.amis.pogamut.base.communication.exceptions.CommunicationException

CommunicationException

getRay

public AutoTraceRay getRay(java.lang.String rayID)

Returns a ray of specified id. If the ray of the specified id does not exist or was not initialized yet then it returns null.

Note that the AutoTraceRay instance is self updating - once obtained you may use it every logic cycle to obtain current readings from the ray.

Parameters:

rayID -

Returns:

checkIfAllInited

protected void checkIfAllInited()

Sets allRaysInitialized flag to true if all rays has been initialized.