Steerings

Class WallFollowingSteer

java.lang.Object

Steerings.WallFollowingSteer

All Implemented Interfaces:

IRaysFlagChanged, ISteering

public class WallFollowingSteer
extends Object
implements ISteering, IRaysFlagChanged

A class for providing wall following steering to bots via raycasting.

Author:

Marki

Field Summary

Fields

Modifier and Type	Field and Description
protected static String	NFRONT
protected static String	NLEFT
protected static String	NLEFTFRONT
protected static String	NRIGHT
protected static String	NRIGHTFRONT

Constructor Summary

Constructors

Constructor and Description
WallFollowingSteer(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot, RaycastingManager rayManager)
WallFollowingSteer(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot, RaycastingManager rayManager, SteeringProperties newProperties)

Method Summary

Methods

Modifier and Type	Method and Description
void	flagRaysChanged()
WallFollowingProperties	getProperties()
javax.vecmath.Vector3d	run(javax.vecmath.Vector3d scaledActualVelocity, RefBoolean wantsToGoFaster, RefBoolean wantsToStop, cz.cuni.amis.pogamut.base3d.worldview.object.Location focus) When called, the bot starts steering, when possible, he walks straight, he steers away from obstacles though, when necessary.
void	setProperties(SteeringProperties newProperties) The steering manager will set to the steering his steering properties.

Methods inherited from class java.lang.Object

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

Field Detail

NLEFTFRONT

protected static final String NLEFTFRONT

See Also:

Constant Field Values

NLEFT

protected static final String NLEFT

See Also:

Constant Field Values

NRIGHTFRONT

protected static final String NRIGHTFRONT

See Also:

Constant Field Values

NRIGHT

protected static final String NRIGHT

See Also:

Constant Field Values

NFRONT

protected static final String NFRONT

See Also:

Constant Field Values

Constructor Detail

WallFollowingSteer

public WallFollowingSteer(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot,
                  RaycastingManager rayManager,
                  SteeringProperties newProperties)

Parameters:

bot - Instance of the steered bot.

rayManager - Raycasting manager of the steered bot.

newProperties - Sets the steering properties.

WallFollowingSteer

public WallFollowingSteer(cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot bot,
                  RaycastingManager rayManager)

Parameters:

bot - Instance of the steered bot.

rayManager - Raycasting manager of the steered bot.

Method Detail

flagRaysChanged

public void flagRaysChanged()

Specified by:

flagRaysChanged in interface IRaysFlagChanged

run

public javax.vecmath.Vector3d run(javax.vecmath.Vector3d scaledActualVelocity,
                         RefBoolean wantsToGoFaster,
                         RefBoolean wantsToStop,
                         cz.cuni.amis.pogamut.base3d.worldview.object.Location focus)

When called, the bot starts steering, when possible, he walks straight, he steers away from obstacles though, when necessary. If the isn't a wall, he goes straight forward.

Specified by:

run in interface ISteering

Parameters:

scaledActualVelocity - This is the force of the last velocity, scaled by its weight. The steering can use this vector to create the decelerating force.

wantsToGoFaster - The steering should set this ref parameter, whether is possible to enlarge the velocity (wantsToGoFaster=true), or not.

wantsToStop - If steering want's to stop the agent, he can set this ref parameter to true.

focus - If the wantsToStop is true, steering can set the focus Location, which means the orientation of the stopped agent. (Agent will rotate to this location.)

Returns:

The computed steering force.

setProperties

public void setProperties(SteeringProperties newProperties)

Description copied from interface: ISteering

The steering manager will set to the steering his steering properties. That could be set also many times.

Specified by:

setProperties in interface ISteering

Parameters:

newProperties - the new steering properties

getProperties

public WallFollowingProperties getProperties()