1 package cz.cuni.amis.pogamut.ut2004.bot.impl;
2
3 import java.util.Random;
4 import java.util.logging.Level;
5
6 import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
7 import cz.cuni.amis.pogamut.base.agent.navigation.PathExecutorState;
8 import cz.cuni.amis.pogamut.base.communication.command.IAct;
9 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.AnnotationListenerRegistrator;
10 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
11 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassEventListener;
12 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassListener;
13 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectEventListener;
14 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectListener;
15 import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils;
16 import cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView;
17 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
18 import cz.cuni.amis.pogamut.unreal.agent.navigation.IUnrealPathExecutor;
19 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AgentConfig;
20 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Raycasting;
21 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Weaponry;
22 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentInfo;
23 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentStats;
24 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Game;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.ItemDescriptors;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Items;
27 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavigationGraphBuilder;
28 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Players;
29 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Senses;
30 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.WeaponPrefs;
31 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner;
32 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph;
33 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
34 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutor;
35 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004RunStraight;
36 import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
37 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.KefikRunner;
38 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator;
39 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004DistanceStuckDetector;
40 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004PositionStuckDetector;
41 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004TimeStuckDetector;
42 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
43 import cz.cuni.amis.pogamut.ut2004.bot.command.AdvancedLocomotion;
44 import cz.cuni.amis.pogamut.ut2004.bot.command.CompleteBotCommandsWrapper;
45 import cz.cuni.amis.pogamut.ut2004.bot.command.ImprovedShooting;
46 import cz.cuni.amis.pogamut.ut2004.communication.messages.ItemType;
47 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.GetPath;
48 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
49 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
50 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
51 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
52 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
53 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
54 import cz.cuni.amis.pogamut.ut2004.communication.translator.itemdescriptor.ItemDescriptor;
55
56 /**
57 * The most advanced controller that is available. This controller contains all useful modules pre-instantiated.
58 *
59 * @author Jimmy
60 *
61 * @param <BOT>
62 */
63 public class UT2004BotModuleController<BOT extends UT2004Bot> extends UT2004BotLogicController<BOT> {
64
65 /**
66 * Random number generator that is usually useful to have during decision making.
67 */
68 protected Random random = new Random(System.currentTimeMillis());
69
70 /**
71 * Command module that is internally using {@link UT2004PathExecutor} for path-following and {@link FloydWarshallMap}
72 * for path planning resulting in unified class that can solely handle navigation of the bot within the environment.
73 * <p><p>
74 * In contrast to {@link UT2004PathExecutor} methods
75 * of this module may be recalled every {@link UT2004BotModuleController#logic()} iteration even with
76 * the same argument (which is not true for {@link UT2004PathExecutor#followPath(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture)}.
77 * <p><p>
78 * Note that this class is actually initialized with instances of {@link UT2004BotModuleController#pathExecutor} and {@link UT2004BotModuleController#fwMap}
79 * so you must take care if using add/remove stuck detectors or reinitilize this property to your liking (you can do that in {@link UT2004BotModuleController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
80 * method.
81 * <p><p>
82 * May be used since first {@link UT2004BotModuleController#logic()} is called.
83 * <p><p>
84 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
85 */
86 protected UT2004Navigation navigation;
87
88 /**
89 * Memory module specialized on general info about the game - game type, time limit, frag limit, etc.
90 * <p><p>
91 * May be used since {@link 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)}
92 * is called.
93 * <p><p>
94 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
95 */
96 protected Game game;
97
98 /**
99 * Memory module specialized on general info about the agent whereabouts - location, rotation, health, current weapon, who is enemy/friend, etc.
100 * <p><p>
101 * May be used since first {@link Self} message is received, i.e, since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
102 * is called.
103 * <p><p>
104 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
105 */
106 protected AgentInfo info;
107
108 /**
109 * Memory module specialized on whereabouts of other players - who is visible, enemy / friend, whether bot can see anybody, etc.
110 * <p><p>
111 * May be used since {@link 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)}
112 * is called.
113 * <p><p>
114 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
115 */
116 protected Players players;
117
118 /**
119 * Sensory module that provides mapping between {@link ItemType} and {@link ItemDescriptor} providing
120 * an easy way to obtain item descriptors for various items in UT2004.
121 * <p><p>
122 * May be used since {@link 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)}
123 * is called.
124 * <p><p>
125 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
126 */
127 protected ItemDescriptors descriptors;
128
129 /**
130 * Memory module specialized on items on the map - which are visible and which are probably spawned.
131 * <p><p>
132 * May be used since {@link 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)}
133 * is called.
134 * <p><p>
135 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
136 */
137 protected Items items;
138
139 /**
140 * Memory module specialized on agent's senses - whether the bot has been recently killed, collide with level's geometry, etc.
141 * <p><p>
142 * May be used since {@link 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)}
143 * is called.
144 * <p><p>
145 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
146 */
147 protected Senses senses;
148
149 /**
150 * Memory module specialized on info about the bot's weapon and ammo inventory - it can tell you which weapons are loaded, melee/ranged, etc.
151 * <p><p>
152 * May be used since {@link 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)}
153 * is called.
154 * <p><p>
155 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
156 */
157 protected Weaponry weaponry;
158
159 /**
160 * Memory module specialized on the agent's configuration inside UT2004 - name, vision time, manual spawn, cheats (if enabled at GB2004).
161 * <p><p>
162 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
163 * is called.
164 * <p><p>
165 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
166 */
167 protected AgentConfig config;
168
169 /**
170 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
171 * <p><p>
172 * May be used since {@link 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)}
173 * is called.
174 * <p><p>
175 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
176 */
177 protected Raycasting raycasting;
178
179 /**
180 * Wraps all available commands that can be issued to the virtual body of the bot inside UT2004.
181 * <p><p>
182 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
183 * is called.
184 * <p><p>
185 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
186 */
187 protected CompleteBotCommandsWrapper body;
188
189 /**
190 * Shortcut for <i>body.getAdvancedShooting()</i> that allows you to shoot at opponent.
191 * <p><p>
192 * Note: more weapon-handling methods are available through {@link UT2004BotModuleControllerNew#weaponry}.
193 * <p><p>
194 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
195 * is called.
196 * <p><p>
197 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
198 */
199 protected ImprovedShooting shoot;
200
201 /**
202 * Shortcut for <i>body.getAdvancedLocomotion()</i> that allows you to manually steer the movement through the environment.
203 * <p><p>
204 * Note: navigation is done via {@link UT2004BotModuleControllerNew#pathExecutor} that needs {@link PathHandle} from the {@link UT2004BotModuleControllerNew#pathPlanner}.
205 * <p><p>
206 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
207 * is called.
208 * <p><p>
209 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
210 */
211 protected AdvancedLocomotion move;
212
213 /**
214 * Executor is used for following a path in the environment.
215 * <p><p>
216 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
217 * is called.
218 * <p><p>
219 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
220 * <p><p>
221 * {@link UT2004PathExecutor#addStuckDetector(cz.cuni.amis.pogamut.base.agent.navigation.IStuckDetector)} is initialized with default stuck detectors:
222 * {@link UT2004TimeStuckDetector}, {@link UT2004PositionStuckDetector}, {@link UT2004DistanceStuckDetector}.
223 * <p><p>
224 * If one of stuck detectors (heuristicly) finds out that the bot has stuck somewhere,
225 * it reports it back to {@link UT2004PathExecutor} and the path executor will stop following the path switching
226 * itself to {@link PathExecutorState#STUCK}, which in turn allows us to issue another follow-path command in the right time.
227 */
228 protected UT2004PathExecutor<ILocated> pathExecutor = null;
229
230 /**
231 * Planner used to compute the path (consisting of navigation points) inside the map.
232 * <p><p>
233 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
234 * is called.
235 * <p><p>
236 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
237 */
238 protected IPathPlanner<ILocated> pathPlanner = null;
239
240 /**
241 * Navigation graph builder that may be used to manually extend the navigation graph of the UT2004.
242 * <p><p>
243 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
244 * is called.
245 * <p><p>
246 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
247 */
248 protected NavigationGraphBuilder navBuilder = null;
249
250 /**
251 * Listener registrator that probes declared methods for the presence of {@link EventListener}, {@link ObjectClassEventListener},
252 * {@link ObjectClassListener}, {@link ObjectEventListener} and {@link ObjectListener} annotations and automatically registers
253 * them as listeners on a specific events.
254 * <p><p>
255 * Note that this registrator is usable for 'this' object only! It will work only for 'this' object.
256 */
257 protected AnnotationListenerRegistrator listenerRegistrator;
258
259 /**
260 * Weapon preferences for your bot. See {@link WeaponPrefs} class javadoc. It allows you to define preferences for
261 * weapons to be used at given distance (together with their firing modes).
262 */
263 protected WeaponPrefs weaponPrefs;
264
265 /**
266 * Shortcut for the {@link UT2004Bot#getWorldView()}.
267 */
268 protected IVisionWorldView world;
269
270 /**
271 * Shortcut for the {@link UT2004Bot#getAct()}.
272 */
273 protected IAct act;
274
275 /**
276 * Module that is providing various statistics about the bot. You may also used it to output these stats (in CSV format)
277 * into some file using {@link AgentStats#startOutput(String)} or {@link AgentStats#startOutput(String, boolean)}.
278 */
279 protected AgentStats stats;
280
281 /**
282 * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
283 * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than
284 * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
285 * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
286 * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
287 */
288 protected FloydWarshallMap fwMap;
289
290 /**
291 * Navigation helper that is able to get your bot back to the nearest navigation graph so you can use {@link UT2004BotModuleController#navigation}
292 * without fear of catastrophe.
293 * <p><p>
294 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
295 * is called.
296 * <p><p>
297 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
298 */
299 protected UT2004GetBackToNavGraph getBackToNavGraph;
300
301 /**
302 * Navigation helper that can run-straight to some point with stuck detectors.
303 * <p><p>
304 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
305 * is called.
306 * <p><p>
307 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
308 */
309 protected UT2004RunStraight runStraight;
310
311 @Override
312 public void initializeController(BOT bot) {
313 super.initializeController(bot);
314 world = getWorldView();
315 act = getAct();
316 initializeModules(bot);
317 initializePathFinding(bot);
318 initializeListeners(bot);
319 }
320
321 /**
322 * Initializes {@link UT2004BotModuleControllerNew#listenerRegistrator} and calls {@link AnnotationListenerRegistrator#addListeners()} method
323 * to probe all declared methods for event-annotation presence.
324 * @param bot
325 */
326 protected void initializeListeners(BOT bot) {
327 listenerRegistrator = new AnnotationListenerRegistrator(this, getWorldView(), bot.getLogger().getCategory("Listeners"));
328 listenerRegistrator.addListeners();
329 }
330
331 /**
332 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner}, {@link UT2004BotModuleController#fwMap} and {@link UT2004BotModuleControllerNew#pathExecutor}.
333 * If you need different path planner / path executor - override this method and initialize your own modules.
334 * @param bot
335 */
336 protected void initializePathFinding(BOT bot) {
337 pathPlanner = new UT2004AStarPathPlanner(bot);
338 fwMap = new FloydWarshallMap(bot);
339 pathExecutor =
340 new UT2004PathExecutor<ILocated>(
341 bot,
342 new LoqueNavigator<ILocated>(bot,
343 new KefikRunner(bot, info, move, bot.getLog()),
344 bot.getLog())
345 );
346
347 // add stuck detectors that watch over the path-following, if it (heuristicly) finds out that the bot has stuck somewhere,
348 // it reports an appropriate path event and the path executor will stop following the path which in turn allows
349 // us to issue another follow-path command in the right time
350 pathExecutor.addStuckDetector(new UT2004TimeStuckDetector(bot, 3000, 100000)); // if the bot does not move for 3 seconds, considered that it is stuck
351 pathExecutor.addStuckDetector(new UT2004PositionStuckDetector(bot)); // watch over the position history of the bot, if the bot does not move sufficiently enough, consider that it is stuck
352 pathExecutor.addStuckDetector(new UT2004DistanceStuckDetector(bot)); // watch over distances to target
353
354 getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
355 runStraight = new UT2004RunStraight(bot, info, move);
356 navigation = new UT2004Navigation(bot, pathExecutor, fwMap, getBackToNavGraph, runStraight);
357 }
358
359 /**
360 * Initializes memory/command modules of the bot.
361 *
362 * @param bot
363 */
364 protected void initializeModules(BOT bot) {
365 game = new Game(bot);
366 info = new AgentInfo(bot, game);
367 players = new Players(bot);
368 descriptors = new ItemDescriptors(bot);
369 weaponry = new Weaponry(bot, descriptors);
370 items = new Items(bot, info, game, weaponry, null);
371 senses = new Senses(bot, info, players);
372 config = new AgentConfig(bot);
373 raycasting = new Raycasting(bot);
374 body = new CompleteBotCommandsWrapper(bot, weaponry, null);
375 shoot = body.getImprovedShooting();
376 move = body.getLocomotion();
377 navBuilder = new NavigationGraphBuilder(bot);
378 stats = new AgentStats(bot);
379 weaponPrefs = new WeaponPrefs(weaponry, bot);
380 }
381
382 @Override
383 public void finishControllerInitialization() {
384 if (navBuilder.isUsed()) {
385 log.info("Navigation graph has been altered by 'navBuilder', triggering recomputation of Floyd-Warshall path matrix...");
386 Level oldLevel = fwMap.getLog().getLevel();
387 fwMap.getLog().setLevel(Level.FINER);
388 fwMap.refreshPathMatrix();
389 fwMap.getLog().setLevel(oldLevel);
390 }
391 }
392
393 //
394 //
395 // MODULE GETTERS
396 //
397 //
398
399 public Random getRandom() {
400 return random;
401 }
402
403 public Game getGame() {
404 return game;
405 }
406
407 public AgentInfo getInfo() {
408 return info;
409 }
410
411 public Players getPlayers() {
412 return players;
413 }
414
415 public ItemDescriptors getDescriptors() {
416 return descriptors;
417 }
418
419 public Items getItems() {
420 return items;
421 }
422
423 public Senses getSenses() {
424 return senses;
425 }
426
427 public Weaponry getWeaponry() {
428 return weaponry;
429 }
430
431 public AgentConfig getConfig() {
432 return config;
433 }
434
435 public Raycasting getRaycasting() {
436 return raycasting;
437 }
438
439 public CompleteBotCommandsWrapper getBody() {
440 return body;
441 }
442
443 public ImprovedShooting getShoot() {
444 return shoot;
445 }
446
447 public AdvancedLocomotion getMove() {
448 return move;
449 }
450
451 public IUnrealPathExecutor<ILocated> getPathExecutor() {
452 return pathExecutor;
453 }
454
455 public IPathPlanner<ILocated> getPathPlanner() {
456 return pathPlanner;
457 }
458
459 public NavigationGraphBuilder getNavBuilder() {
460 return navBuilder;
461 }
462
463 public WeaponPrefs getWeaponPrefs() {
464 return weaponPrefs;
465 }
466
467 public IVisionWorldView getWorld() {
468 return world;
469 }
470
471 public AgentStats getStats() {
472 return stats;
473 }
474
475 public FloydWarshallMap getFwMap() {
476 return fwMap;
477 }
478
479 public UT2004Navigation getNavigation() {
480 return navigation;
481 }
482
483 }