1 package cz.cuni.amis.pogamut.sposh.context;
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.communication.command.IAct;
8 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.AnnotationListenerRegistrator;
9 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
10 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassEventListener;
11 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassListener;
12 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectEventListener;
13 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectListener;
14 import cz.cuni.amis.pogamut.base.utils.logging.LogCategory;
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.ut2004.agent.module.sensomotoric.AdrenalineCombo;
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.CTF;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Game;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.ItemDescriptors;
27 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Items;
28 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavigationGraphBuilder;
29 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Players;
30 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Senses;
31 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.WeaponPrefs;
32 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.visibility.Visibility;
33 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner;
34 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph;
35 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
36 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutor;
37 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004RunStraight;
38 import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
39 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.KefikRunner;
40 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator;
41 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
42 import cz.cuni.amis.pogamut.ut2004.bot.command.AdvancedLocomotion;
43 import cz.cuni.amis.pogamut.ut2004.bot.command.CompleteBotCommandsWrapper;
44 import cz.cuni.amis.pogamut.ut2004.bot.command.ImprovedShooting;
45 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
46 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotController;
47 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotModuleController;
48 import cz.cuni.amis.pogamut.ut2004.communication.messages.ItemType;
49 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.GetPath;
50 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
51 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.BotKilled;
52 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
53 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo;
54 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
55 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
56 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
57 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
58 import cz.cuni.amis.pogamut.ut2004.communication.translator.itemdescriptor.ItemDescriptor;
59
60 /**
61 * Primitive State Context for UT2004.
62 * @author Honza
63 */
64 public class UT2004Context<BOT extends UT2004Bot> extends Context<BOT> implements IUT2004Context<BOT> {
65
66 /**
67 * Random number generator that is usually useful to have during decision making.
68 */
69 protected Random random = new Random(System.currentTimeMillis());
70
71 /**
72 * Alias for user's log.
73 */
74 protected LogCategory log = null;
75
76 /**
77 * Memory module specialized on general info about the game - game type, time limit, frag limit, etc.
78 * <p><p>
79 * May be used since {@link SposhBotLogic#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)}
80 * is called.
81 * <p><p>
82 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
83 */
84 protected Game game;
85
86 /**
87 * Memory module specialized on general info about the agent whereabouts - location, rotation, health, current weapon, who is enemy/friend, etc.
88 * <p><p>
89 * May be used since first {@link Self} message is received, i.e, since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
90 * is called.
91 * <p><p>
92 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
93 */
94 protected AgentInfo info;
95
96 /**
97 * Memory module specialized on whereabouts of other players - who is visible, enemy / friend, whether bot can see anybody, etc.
98 * <p><p>
99 * May be used since {@link SposhBotLogic#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)}
100 * is called.
101 * <p><p>
102 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
103 */
104 protected Players players;
105
106 /**
107 * Sensory module that provides mapping between {@link ItemType} and {@link ItemDescriptor} providing
108 * an easy way to obtain item descriptors for various items in UT2004.
109 * <p><p>
110 * May be used since {@link SposhBotLogic#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)}
111 * is called.
112 * <p><p>
113 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
114 */
115 protected ItemDescriptors descriptors;
116
117 /**
118 * Memory module specialized on items on the map - which are visible and which are probably spawned.
119 * <p><p>
120 * May be used since {@link SposhBotLogic#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)}
121 * is called.
122 * <p><p>
123 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
124 */
125 protected Items items;
126
127 /**
128 * Memory module specialized on agent's senses - whether the bot has been recently killed, collide with level's geometry, etc.
129 * <p><p>
130 * May be used since {@link SposhBotLogic#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)}
131 * is called.
132 * <p><p>
133 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
134 */
135 protected Senses senses;
136
137 /**
138 * Memory module specialized on info about the bot's weapon and ammo inventory - it can tell you which weapons are loaded, melee/ranged, etc.
139 * <p><p>
140 * May be used since {@link SposhBotLogic#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)}
141 * is called.
142 * <p><p>
143 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
144 */
145 protected Weaponry weaponry;
146
147 /**
148 * Memory module specialized on the agent's configuration inside UT2004 - name, vision time, manual spawn, cheats (if enabled at GB2004).
149 * <p><p>
150 * May be used since {@link SposhBotLogic#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
151 * is called.
152 * <p><p>
153 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
154 */
155 protected AgentConfig config;
156
157 /**
158 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
159 * <p><p>
160 * May be used since {@link SposhBotLogic#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)}
161 * is called.
162 */
163 protected Raycasting raycasting;
164
165 /**
166 * Module for adrenaline combos.
167 */
168 protected AdrenalineCombo combo;
169
170 /**
171 * Creates and wraps all available commands that can be issued to the virtual body of the bot inside UT2004.
172 * <p><p>
173 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
174 * is called.
175 * <p><p>
176 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
177 */
178 protected CompleteBotCommandsWrapper body;
179
180 /**
181 * Shortcut for <i>body.getImprovedShooting()</i> that allows you to shoot at opponent.
182 * <p><p>
183 * Note: more weapon-handling methods are available through {@link UT2004Behaviour#weaponry}.
184 * <p><p>
185 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
186 * is called.
187 * <p><p>
188 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
189 */
190 protected ImprovedShooting shoot;
191
192 /**
193 * Shortcut for <i>body.getAdvancedLocomotion()</i> that allows you to manually steer the movement through the environment.
194 * <p><p>
195 * Note: navigation is done via {@link UT2004Behaviour#pathExecutor} that needs {@link PathHandle} from the {@link UT2004Behaviour#pathPlanner}.
196 * <p><p>
197 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
198 * is called.
199 * <p><p>
200 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
201 */
202 protected AdvancedLocomotion move;
203
204 /**
205 * Executor is used for following a path in the environment.
206 * <p><p>
207 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
208 * is called.
209 * <p><p>
210 * Initialized inside {@link UT2004BotModuleControllerNew#initializePathFinding(UT2004Bot)}.
211 */
212 protected UT2004PathExecutor<ILocated> pathExecutor = null;
213
214 /**
215 * Planner used to compute the path (consisting of navigation points) inside the map.
216 * <p><p>
217 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
218 * is called.
219 * <p><p>
220 * Initialized inside {@link UT2004BotModuleControllerNew#initializePathFinding(UT2004Bot)}.
221 */
222 protected IPathPlanner<ILocated> pathPlanner = null;
223
224 /**
225 * Weapon preferences for your bot. See {@link WeaponPrefs} class javadoc. It allows you to define preferences for
226 * weapons to be used at given distance (together with their firing mode).
227 */
228 protected WeaponPrefs weaponPrefs;
229
230 /**
231 * Navigation graph builder that may be used to manually extend the navigation graph of the UT2004.
232 * <p><p>
233 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
234 * is called.
235 * <p><p>
236 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
237 */
238 protected NavigationGraphBuilder navBuilder;
239
240
241
242 /**
243 * Module that is providing various statistics about the bot. You may also used it to output these stats (in CSV format)
244 * into some file using {@link AgentStats#startOutput(String)} or {@link AgentStats#startOutput(String, boolean)}.
245 */
246 protected AgentStats stats;
247
248 /**
249 * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
250 * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than
251 * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
252 * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
253 * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
254 */
255 protected FloydWarshallMap fwMap;
256
257 /**
258 * Command module that is internally using {@link UT2004PathExecutor} for path-following and {@link FloydWarshallMap}
259 * for path planning resulting in unified class that can solely handle navigation of the bot within the environment.
260 * <p><p>
261 * In contrast to {@link UT2004PathExecutor} methods
262 * of this module may be recalled every {@link UT2004BotModuleController#logic()} iteration even with
263 * the same argument (which is not true for {@link UT2004PathExecutor#followPath(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture)}.
264 * <p><p>
265 * Note that this class is actually initialized with instances of {@link UT2004BotModuleController#pathExecutor} and {@link UT2004BotModuleController#fwMap}
266 * 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)}
267 * method.
268 * <p><p>
269 * May be used since first {@link UT2004BotModuleController#logic()} is called.
270 * <p><p>
271 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
272 */
273 protected UT2004Navigation navigation;
274
275 /**
276 * Listener registrator that probes declared methods for the presence of {@link EventListener}, {@link ObjectClassEventListener},
277 * {@link ObjectClassListener}, {@link ObjectEventListener} and {@link ObjectListener} annotations and automatically registers
278 * them as listeners on a specific events.
279 * <p><p>
280 * Note that this registrator is usable for 'this' object only! It will work only for 'this' object.
281 */
282 protected AnnotationListenerRegistrator listenerRegistrator;
283
284 /**
285 * Shortcut for the {@link UT2004BotModuleController#getWorldView()}.
286 */
287 protected IVisionWorldView world;
288
289 /**
290 * Shortcut for the {@link UT2004BotModuleController#getAct()}.
291 */
292 protected IAct act;
293
294 /**
295 * Navigation helper that is able to get your bot back to the nearest navigation graph so you can use {@link UT2004BotModuleController#navigation}
296 * without fear of catastrophe.
297 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
298 * is called.
299 * <p><p>
300 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
301 */
302 protected UT2004GetBackToNavGraph getBackToNavGraph;
303
304 /**
305 * Navigation helper that can run-straight to some point with stuck detectors.
306 * <p><p>
307 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
308 * is called.
309 * <p><p>
310 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
311 */
312 protected UT2004RunStraight runStraight;
313
314 /**
315 * Module that provides visibility/cover information for the map.
316 * <p><p>
317 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
318 * is called.
319 * <p><p>
320 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
321 */
322 protected Visibility visibility;
323
324 protected CTF ctf;
325
326 public UT2004Context(String name, BOT bot) {
327 super(name, bot);
328 log = bot.getLogger().getCategory(UT2004BotController.USER_LOG_CATEGORY_ID);
329 log.setLevel(Level.ALL);
330 }
331
332 /**
333 * Called after the construction of the {@link UT2004Behaviour} before the GameBots2004 greets the bot even before
334 * {@link UT2004Behaviour#prepareBehaviour(UT2004Bot)} method.
335 * <p><p>
336 * <b>NOTE:</b> This is Pogamut's developers reserved method - do not override it and if you do, always use 'super'
337 * to call parent's initializeBehaviour.
338 */
339 protected void initialize() {
340 initializeModules(bot);
341 initializePathFinding(bot);
342 initializeListeners(bot);
343 }
344
345 /**
346 * Initializes {@link UT2004Behaviour#listenerRegistrator} and calls {@link AnnotationListenerRegistrator#addListeners()} method
347 * to probe all declared methods for event-annotation presence.
348 * @param bot
349 */
350 protected void initializeListeners(BOT bot) {
351 listenerRegistrator = new AnnotationListenerRegistrator(this, getWorldView(), bot.getLogger().getCategory("Listeners"));
352 listenerRegistrator.addListeners();
353 }
354
355 /**
356 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner} and {@link UT2004BotModuleControllerNew#pathExecutor}.
357 * If you need different path planner / path executor - override this method and initialize your own modules.
358 * @param bot
359 */
360 protected void initializePathFinding(BOT bot) {
361 pathPlanner = new UT2004AStarPathPlanner(bot);
362 fwMap = new FloydWarshallMap(bot);
363 pathExecutor =
364 new UT2004PathExecutor<ILocated>(
365 bot,
366 new LoqueNavigator<ILocated>(bot,
367 bot.getLog())
368 );
369 getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
370 runStraight = new UT2004RunStraight(bot, info, move);
371 navigation = new UT2004Navigation(bot, pathExecutor, fwMap, getBackToNavGraph, runStraight);
372 }
373
374 /**
375 * Initializes memory/command modules of the bot.
376 *
377 * @param bot
378 */
379 protected void initializeModules(BOT bot) {
380 world = getWorldView();
381 act = getAct();
382 game = new Game(bot);
383 info = new AgentInfo(bot, game);
384 visibility = new Visibility(bot, info);
385 ctf = new CTF(bot, info);
386 players = new Players(bot);
387 descriptors = new ItemDescriptors(bot);
388 senses = new Senses(bot, info, players);
389 weaponry = new Weaponry(bot, descriptors);
390 items = new Items(bot, info, game, weaponry, null);
391 config = new AgentConfig(bot);
392 raycasting = new Raycasting(bot);
393 body = new CompleteBotCommandsWrapper(bot, weaponry, null);
394 shoot = body.getImprovedShooting();
395 move = body.getLocomotion();
396 weaponPrefs = new WeaponPrefs(weaponry, bot);
397 stats = new AgentStats(bot);
398 navBuilder = new NavigationGraphBuilder(bot);
399 combo = new AdrenalineCombo(bot, info);
400 }
401
402 /**
403 * Called after the behaviour construction to initialize user's data structures.
404 * @param bot
405 */
406 protected void prepareBehaviour(BOT bot) {
407 }
408
409 /**
410 * This method is called whenever {@link InitedMessage} is received. Various agent modules are usable since this
411 * method is called.
412 *
413 * @param gameInfo
414 * @param config
415 * @param init
416 * @param self
417 */
418 public void botInitialized(GameInfo info, ConfigChange config, InitedMessage init) {
419 }
420
421 /**
422 * This method is called only once whenever first batch of information what the bot can see is received.
423 * <i><i>
424 * It is sort of "first-logic-method" where you may issue commands for the first time and handle everything
425 * else in bot's logic then. It eliminates the need to have 'boolean firstLogic' field inside your bot.
426 * <p><p>
427 * Note that this method has advantage over the {@link IUT2004BotController#botInitialized(GameInfo, ConfigChange, InitedMessage)}
428 * that you already have {@link Self} object.
429 *
430 * @param gameInfo
431 * @param config
432 * @param init
433 * @param self
434 */
435 public void botSpawned(GameInfo gameInfo, ConfigChange config, InitedMessage init, Self self) {
436 }
437
438 /**
439 * Called after {@link UT2004Behaviour#botFirstSpawn(GameInfo, ConfigChange, InitedMessage, Self)} as a hook for Pogamut's core developers
440 * to finalize initialization of various modules.
441 * <p><p>
442 * <b>NOTE:</b> This is Pogamut's developers reserved method - do not override it and if you do, always use 'super'
443 * to call parent's finishControllerInitialization.
444 */
445 public void finishInitialization() {
446 if (navBuilder.isUsed()) {
447 log.info("Navigation graph has been altered by 'navBuilder', triggering recomputation of Floyd-Warshall path matrix...");
448 Level oldLevel = fwMap.getLog().getLevel();
449 fwMap.getLog().setLevel(Level.FINER);
450 fwMap.refreshPathMatrix();
451 fwMap.getLog().setLevel(oldLevel);
452 }
453 }
454
455 /**
456 * This method is called before the SPOSH iteration is invoked. You may clear previous-state variables here.
457 */
458 public void logicIteration() {
459 }
460
461 /**
462 * Called whenever the bot gets killed inside the game.
463 *
464 * @param event
465 */
466 public void botKilled(BotKilled event) {
467 }
468
469 public IVisionWorldView getWorldView() {
470 return bot.getWorldView();
471 }
472
473 public IAct getAct() {
474 return bot.getAct();
475 }
476
477 public CompleteBotCommandsWrapper getBody() {
478 return body;
479 }
480
481 public Random getRandom() {
482 return random;
483 }
484
485 public LogCategory getLog() {
486 return log;
487 }
488
489 public Game getGame() {
490 return game;
491 }
492
493 public AgentInfo getInfo() {
494 return info;
495 }
496
497 public Players getPlayers() {
498 return players;
499 }
500
501 public ItemDescriptors getDescriptors() {
502 return descriptors;
503 }
504
505 public Items getItems() {
506 return items;
507 }
508
509 public Senses getSenses() {
510 return senses;
511 }
512
513 public Weaponry getWeaponry() {
514 return weaponry;
515 }
516
517 public AgentConfig getConfig() {
518 return config;
519 }
520
521 public Raycasting getRaycasting() {
522 return raycasting;
523 }
524
525 public ImprovedShooting getShoot() {
526 return shoot;
527 }
528
529 public AdvancedLocomotion getMove() {
530 return move;
531 }
532
533 public UT2004PathExecutor<ILocated> getPathExecutor() {
534 return pathExecutor;
535 }
536
537 public IPathPlanner<ILocated> getPathPlanner() {
538 return pathPlanner;
539 }
540
541 public WeaponPrefs getWeaponPrefs() {
542 return weaponPrefs;
543 }
544
545 public NavigationGraphBuilder getNavBuilder() {
546 return navBuilder;
547 }
548
549 public AgentStats getStats() {
550 return stats;
551 }
552
553 public FloydWarshallMap getFwMap() {
554 return fwMap;
555 }
556
557 public UT2004Navigation getNavigation() {
558 return navigation;
559 }
560
561 public AnnotationListenerRegistrator getListenerRegistrator() {
562 return listenerRegistrator;
563 }
564
565 public IVisionWorldView getWorld() {
566 return world;
567 }
568
569 public UT2004GetBackToNavGraph getBackToNavGraph() {
570 return getBackToNavGraph;
571 }
572
573 public CTF getCtf() {
574 return ctf;
575 }
576
577 public Visibility getVisibility() {
578 return visibility;
579 }
580
581 public AdrenalineCombo getCombo() {
582 return combo;
583 }
584
585 }