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.emohawk.agent.module.sensomotoric.Animations;
19 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Emoticons;
20 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Inventory;
21 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Places;
22 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Steering;
23 import cz.cuni.amis.pogamut.sposh.JavaBehaviour;
24 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AgentConfig;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Raycasting;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentInfo;
27 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentStats;
28 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Game;
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.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.Communication;
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.gbcommands.GetPath;
49 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
50 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
51 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo;
52 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
53 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
54 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
55 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
56
57
58 //
59 // 3rd change
60 //
61
62 public class EmohawkBehaviour<BOT extends UT2004Bot> extends JavaBehaviour<BOT> {
63
64 /**
65 * User's log.
66 */
67 protected LogCategory log;
68
69 /**
70 * Random number generator that is usually useful to have during decision making.
71 */
72 protected Random random = new Random(System.currentTimeMillis());
73
74 /**
75 * Memory module specialized on general info about the game - game type, time limit, frag limit, etc.
76 * <p><p>
77 * 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)}
78 * is called.
79 * <p><p>
80 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
81 */
82 protected Game game;
83
84 /**
85 * Memory module specialized on general info about the agent whereabouts - location, rotation, health, current weapon, who is enemy/friend, etc.
86 * <p><p>
87 * 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)}
88 * is called.
89 * <p><p>
90 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
91 */
92 protected AgentInfo info;
93
94 /**
95 * Memory module specialized on whereabouts of other players - who is visible, enemy / friend, whether bot can see anybody, etc.
96 * <p><p>
97 * 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)}
98 * is called.
99 * <p><p>
100 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
101 */
102 protected Players players;
103
104 // /**
105 // * Sensory module that provides mapping between {@link ItemType} and {@link ItemDescriptor} providing
106 // * an easy way to obtain item descriptors for various items in UT2004.
107 // * <p><p>
108 // * 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)}
109 // * is called.
110 // * <p><p>
111 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
112 // */
113 // protected ItemDescriptors descriptors;
114
115 // /**
116 // * Memory module specialized on items on the map - which are visible and which are probably spawned.
117 // * <p><p>
118 // * 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)}
119 // * is called.
120 // * <p><p>
121 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
122 // */
123 // protected Items items;
124
125 /**
126 * Memory module specialized on agent's senses - whether the bot has been recently killed, collide with level's geometry, etc.
127 * <p><p>
128 * 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)}
129 * is called.
130 * <p><p>
131 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
132 */
133 protected Senses senses;
134
135 // /**
136 // * Memory module specialized on info about the bot's weapon and ammo inventory - it can tell you which weapons are loaded, melee/ranged, etc.
137 // * <p><p>
138 // * 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)}
139 // * is called.
140 // * <p><p>
141 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
142 // */
143 // protected Weaponry weaponry;
144
145 /**
146 * Memory module specialized on the agent's configuration inside UT2004 - name, vision time, manual spawn, cheats (if enabled at GB2004).
147 * <p><p>
148 * 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)}
149 * is called.
150 * <p><p>
151 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
152 */
153 protected AgentConfig config;
154
155 /**
156 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
157 * <p><p>
158 * 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)}
159 * is called.
160 * <p><p>
161 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
162 */
163 protected Raycasting raycasting;
164
165 // /**
166 // * Wraps all available commands that can be issued to the virtual body of the bot inside UT2004.
167 // * <p><p>
168 // * May be used since since the first {@link IUT2004BotController#botSpawned(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
169 // * is called.
170 // * <p><p>
171 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
172 // */
173 // protected CompleteBotCommandsWrapper body;
174
175 // /**
176 // * Shortcut for <i>body.getAdvancedShooting()</i> that allows you to shoot at opponent.
177 // * <p><p>
178 // * Note: more weapon-handling methods are available through {@link UT2004BotModuleControllerNew#weaponry}.
179 // * <p><p>
180 // * May be used since since the first {@link IUT2004BotController#botSpawned(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
181 // * is called.
182 // * <p><p>
183 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
184 // */
185 // protected ImprovedShooting shoot;
186
187 /**
188 * This allows you to manually steer the movement through the environment.
189 * <p><p>
190 * Note: navigation is done via {@link UT2004BotModuleControllerNew#pathExecutor} that needs {@link PathHandle} from the {@link UT2004BotModuleControllerNew#pathPlanner}.
191 * <p><p>
192 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
193 * is called.
194 * <p><p>
195 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
196 */
197 protected AdvancedLocomotion move;
198
199 /**
200 * Allows you to speak!
201 */
202 protected Communication comm;
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 UT2004BotModuleController#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 UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
221 */
222 protected IPathPlanner<ILocated> pathPlanner = null;
223
224 // /**
225 // * Navigation graph builder that may be used to manually extend the navigation graph of the UT2004.
226 // * <p><p>
227 // * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
228 // * is called.
229 // * <p><p>
230 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
231 // */
232 // protected NavigationGraphBuilder navBuilder = null;
233
234 /**
235 * Navigation helper that is able to get your bot back to the nearest navigation graph so you can use {@link UT2004BotModuleController#navigation}
236 * without fear of catastrophe.
237 * <p><p>
238 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
239 * is called.
240 * <p><p>
241 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
242 */
243 protected UT2004GetBackToNavGraph getBackToNavGraph;
244
245 /**
246 * Navigation helper that can run-straight to some point with stuck detectors.
247 * <p><p>
248 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
249 * is called.
250 * <p><p>
251 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
252 */
253 protected UT2004RunStraight runStraight;
254
255 /**
256 * Command module that is internally using {@link UT2004PathExecutor} for path-following and {@link FloydWarshallMap}
257 * for path planning resulting in unified class that can solely handle navigation of the bot within the environment.
258 * <p><p>
259 * In contrast to {@link UT2004PathExecutor} methods
260 * of this module may be recalled every {@link UT2004BotModuleController#logic()} iteration even with
261 * the same argument (which is not true for {@link UT2004PathExecutor#followPath(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture)}.
262 * <p><p>
263 * Note that this class is actually initialized with instances of {@link UT2004BotModuleController#pathExecutor} and {@link UT2004BotModuleController#fwMap}
264 * 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)}
265 * method.
266 * <p><p>
267 * May be used since first {@link UT2004BotModuleController#logic()} is called.
268 * <p><p>
269 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
270 */
271 protected UT2004Navigation navigation;
272
273 /**
274 * Listener registrator that probes declared methods for the presence of {@link EventListener}, {@link ObjectClassEventListener},
275 * {@link ObjectClassListener}, {@link ObjectEventListener} and {@link ObjectListener} annotations and automatically registers
276 * them as listeners on a specific events.
277 * <p><p>
278 * Note that this registrator is usable for 'this' object only! It will work only for 'this' object.
279 */
280 protected AnnotationListenerRegistrator listenerRegistrator;
281
282 // /**
283 // * Weapon preferences for your bot. See {@link WeaponPrefs} class javadoc. It allows you to define preferences for
284 // * weapons to be used at given distance (together with their firing mode).
285 // */
286 // protected WeaponPrefs weaponPrefs;
287
288 /**
289 * Shortcut for the {@link UT2004BotModuleController#getWorldView()}.
290 */
291 protected IVisionWorldView world;
292
293 /**
294 * Shortcut for the {@link UT2004BotModuleController#getAct()}.
295 */
296 protected IAct act;
297
298 /**
299 * Module that is providing various statistics about the bot. You may also used it to output these stats (in CSV format)
300 * into some file using {@link AgentStats#startOutput(String)} or {@link AgentStats#startOutput(String, boolean)}.
301 */
302 protected AgentStats stats;
303
304 /**
305 * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
306 * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than
307 * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
308 * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
309 * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
310 */
311 protected FloydWarshallMap fwMap;
312
313 /**
314 * Module for handling animations.
315 */
316 protected Animations animations;
317
318 /**
319 * Module for handling emoticons.
320 */
321 protected Emoticons emoticons;
322
323 /**
324 * High-level description of the map.
325 */
326 protected Places places;
327
328 /**
329 * High-level access to steering library.
330 */
331 protected Steering steering;
332
333 /**
334 * High-level access to inventory and items.
335 */
336 protected Inventory inventory;
337
338 public EmohawkBehaviour(String name, BOT bot) {
339 super(name, bot);
340 log = bot.getLogger().getCategory(UT2004BotController.USER_LOG_CATEGORY_ID);
341 log.setLevel(Level.ALL);
342 }
343
344 /**
345 * Called after the behaviour construction to initialize user's data structures.
346 * @param bot
347 */
348 protected void prepareBehaviour(BOT bot) {
349 }
350
351 /**
352 * This method is called whenever {@link InitedMessage} is received. Various agent modules are usable since this
353 * method is called.
354 *
355 * @param gameInfo
356 * @param config
357 * @param init
358 * @param self
359 */
360 public void botInitialized(GameInfo info, ConfigChange config, InitedMessage init) {
361 }
362
363 /**
364 * This method is called only once whenever first batch of information what the bot can see is received.
365 * <i><i>
366 * It is sort of "first-logic-method" where you may issue commands for the first time and handle everything
367 * else in bot's logic then. It eliminates the need to have 'boolean firstLogic' field inside your bot.
368 * <p><p>
369 * Note that this method has advantage over the {@link IUT2004BotController#botInitialized(GameInfo, ConfigChange, InitedMessage)}
370 * that you already have {@link Self} object.
371 *
372 * @param gameInfo
373 * @param config
374 * @param init
375 * @param self
376 */
377 public void botFirstSpawned(GameInfo gameInfo, ConfigChange config, InitedMessage init, Self self) {
378 }
379
380 public void initializeBehaviour(BOT bot) {
381 world = getWorldView();
382 act = getAct();
383 initializeModules(bot);
384 initializePathFinding(bot);
385 initializeListeners(bot);
386 }
387
388 /**
389 * Initializes {@link UT2004BotModuleControllerNew#listenerRegistrator} and calls {@link AnnotationListenerRegistrator#addListeners()} method
390 * to probe all declared methods for event-annotation presence.
391 * @param bot
392 */
393 protected void initializeListeners(BOT bot) {
394 listenerRegistrator = new AnnotationListenerRegistrator(this, getWorldView(), bot.getLogger().getCategory("Listeners"));
395 listenerRegistrator.addListeners();
396 }
397
398 /**
399 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner}, {@link UT2004BotModuleController#fwMap} and {@link UT2004BotModuleControllerNew#pathExecutor}.
400 * If you need different path planner / path executor - override this method and initialize your own modules.
401 * @param bot
402 */
403 protected void initializePathFinding(BOT bot) {
404 pathPlanner = new UT2004AStarPathPlanner(bot);
405 fwMap = new FloydWarshallMap(bot);
406 pathExecutor =
407 new UT2004PathExecutor<ILocated>(
408 bot,
409 new LoqueNavigator<ILocated>(bot,
410 bot.getLog())
411 );
412
413 // add stuck detectors that watch over the path-following, if it (heuristicly) finds out that the bot has stuck somewhere,
414 // it reports an appropriate path event and the path executor will stop following the path which in turn allows
415 // us to issue another follow-path command in the right time
416 pathExecutor.addStuckDetector(new UT2004TimeStuckDetector(bot, 3000, 100000)); // if the bot does not move for 3 seconds, considered that it is stuck
417 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
418 pathExecutor.addStuckDetector(new UT2004DistanceStuckDetector(bot)); // watch over distances to target
419
420 getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
421 runStraight = new UT2004RunStraight(bot, info, move);
422 navigation = new UT2004Navigation(bot, pathExecutor, fwMap, getBackToNavGraph, runStraight);
423 }
424
425 /**
426 * Initializes memory/command modules of the bot.
427 *
428 * @param bot
429 */
430 protected void initializeModules(BOT bot) {
431 game = new Game(bot);
432 info = new AgentInfo(bot, game);
433 players = new Players(bot);
434 // descriptors = new ItemDescriptors(bot);
435 // weaponry = new Weaponry(bot, descriptors);
436 // items = new Items(bot, info, game, weaponry, null);
437 senses = new Senses(bot, info, players);
438 config = new AgentConfig(bot);
439 raycasting = new Raycasting(bot);
440 // shoot = body.getImprovedShooting();
441 move = new AdvancedLocomotion(getBot(), getBot().getLogger().getCategory("Move"));
442 comm = new Communication(getBot(), getBot().getLogger().getCategory("Communicaton"));
443 // navBuilder = new NavigationGraphBuilder(bot);
444 stats = new AgentStats(bot);
445 animations = new Animations(bot);
446 emoticons = new Emoticons(bot);
447 places = new Places(bot);
448 steering = new Steering(bot);
449 inventory = new Inventory(bot);
450 // weaponPrefs = new WeaponPrefs(weaponry, bot);
451 }
452
453 public void finishBehaviourInitialization() {
454 // if (navBuilder.isUsed()) {
455 // log.info("Navigation graph has been altered by 'navBuilder', triggering recomputation of Floyd-Warshall path matrix...");
456 // Level oldLevel = fwMap.getLog().getLevel();
457 // fwMap.getLog().setLevel(Level.FINER);
458 // fwMap.refreshPathMatrix();
459 // fwMap.getLog().setLevel(oldLevel);
460 // }
461 }
462
463 public IAct getAct() {
464 return act;
465 }
466
467 public IVisionWorldView getWorldView() {
468 return getBot().getWorldView();
469 }
470
471 public LogCategory getLog() {
472 return log;
473 }
474
475 public Random getRandom() {
476 return random;
477 }
478
479 public Game getGame() {
480 return game;
481 }
482
483 public AgentInfo getInfo() {
484 return info;
485 }
486
487 public Players getPlayers() {
488 return players;
489 }
490
491 public Senses getBotSenses() {
492 return senses;
493 }
494
495 public AgentConfig getConfig() {
496 return config;
497 }
498
499 public Raycasting getRaycasting() {
500 return raycasting;
501 }
502
503 public AdvancedLocomotion getMove() {
504 return move;
505 }
506
507 public Communication getComm() {
508 return comm;
509 }
510
511 public UT2004PathExecutor<ILocated> getPathExecutor() {
512 return pathExecutor;
513 }
514
515 public IPathPlanner<ILocated> getPathPlanner() {
516 return pathPlanner;
517 }
518
519 public UT2004GetBackToNavGraph getGetBackToNavGraph() {
520 return getBackToNavGraph;
521 }
522
523 public UT2004RunStraight getRunStraight() {
524 return runStraight;
525 }
526
527 public UT2004Navigation getNavigation() {
528 return navigation;
529 }
530
531 public AnnotationListenerRegistrator getListenerRegistrator() {
532 return listenerRegistrator;
533 }
534
535 public IVisionWorldView getWorld() {
536 return world;
537 }
538
539 public AgentStats getStats() {
540 return stats;
541 }
542
543 public FloydWarshallMap getFwMap() {
544 return fwMap;
545 }
546
547 public Animations getAnimations() {
548 return animations;
549 }
550
551 public Emoticons getEmoticons() {
552 return emoticons;
553 }
554
555 public Places getPlaces() {
556 return places;
557 }
558
559 public Steering getSteering() {
560 return steering;
561 }
562
563 public Inventory getInventory() {
564 return inventory;
565 }
566
567 }