1 package cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric;
2
3 import java.util.HashMap;
4 import java.util.Map;
5 import java.util.UUID;
6 import java.util.Map.Entry;
7 import java.util.concurrent.Future;
8 import java.util.concurrent.TimeUnit;
9 import java.util.logging.Level;
10 import java.util.logging.Logger;
11
12 import javax.vecmath.Vector3d;
13
14 import cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule;
15 import cz.cuni.amis.pogamut.base.communication.exception.CommunicationException;
16 import cz.cuni.amis.pogamut.base.communication.translator.event.IWorldObjectUpdateResult;
17 import cz.cuni.amis.pogamut.base.communication.translator.event.IWorldObjectUpdatedEvent;
18 import cz.cuni.amis.pogamut.base.communication.translator.event.IWorldObjectUpdateResult.Result;
19 import cz.cuni.amis.pogamut.base.communication.translator.event.IWorldObjectUpdateResult.WorldObjectUpdateResult;
20 import cz.cuni.amis.pogamut.base.communication.worldview.object.IWorldObject;
21 import cz.cuni.amis.pogamut.base.communication.worldview.object.WorldObjectFuture;
22 import cz.cuni.amis.pogamut.base.communication.worldview.object.WorldObjectId;
23 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
24 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
25 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.AddRay;
26 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.RemoveRay;
27 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
28 import cz.cuni.amis.utils.flag.Flag;
29
30 /**
31 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
32 * <p><p>
33 * It is designed to be initialized inside {@link IUT2004BotController#initializeController(UT2004Bot)} method call
34 * and 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)}
35 * is called.
36 * @author ik
37 */
38 public class Raycasting extends SensomotoricModule<UT2004Bot> {
39
40 RaycastingUT2004 rayUT2004;
41 RaycastingBSP rayBSP;
42
43 public Flag<Boolean> getAllRaysInitialized() {
44 return rayUT2004.allRaysInitialized;
45 }
46
47 public Raycasting(UT2004Bot bot) {
48 this(bot, null);
49
50 rayUT2004 = new RaycastingUT2004(bot);
51 rayBSP = new RaycastingBSP(bot);
52 }
53
54 public Raycasting(UT2004Bot bot, Logger log) {
55 super(bot, log);
56
57 rayUT2004 = new RaycastingUT2004(bot, log);
58 rayBSP = new RaycastingBSP(bot, log);
59
60 cleanUp();
61 }
62
63 @Override
64 protected void cleanUp() {
65 super.cleanUp();
66 }
67
68 /**
69 * Deletes all previous rays and makes this instance ready for setting up
70 * new rays.
71 */
72 public void clear() throws CommunicationException {
73 rayBSP.clear();
74 rayUT2004.clear();
75 }
76
77 /**
78 * Once all rays were initialized using createRay(...) methods, call this
79 * method to start listening for response from UT.
80 */
81 public void endRayInitSequence() {
82 rayUT2004.endRayInitSequence();
83 }
84
85 /**
86 * Initializes ray usind AddRay command and returns future that waits for
87 * the first AutoTraceRay message corresponding to this ray.
88 * @param Id
89 * User set Id of the ray, so the ray can be identified.
90 *
91 * @param Direction
92 * Vector direction of the ray (it will be relative - added to
93 * the vector, where the bot is looking, also takes into
94 * account angle of the floor the bot is standing on).
95 *
96 * @param Length
97 * Specifies the length of the ray (in UT units).
98 *
99 * @param FastTrace
100 * True if we want to use FastTrace function instead of Trace
101 * function (a bit faster but less information provided - just
102 * information if we hit something or not).
103 *
104 * @param FloorCorrection
105 * 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.
106 *
107 * @param TraceActors
108 * If we want to trace also actors – bots, monsters, players,
109 * items. False if we want to trace just level geometry.
110 *
111 * @return
112 */
113 public Future<AutoTraceRay> createRay(String Id, Vector3d Direction, int Length, boolean FastTrace, boolean FloorCorrection, boolean TraceActors) throws CommunicationException {
114 if (!TraceActors && rayBSP.isUsable()) {
115 return rayBSP.createRay(Id, Direction, Length, FloorCorrection);
116 } else {
117 return rayUT2004.createRay(Id, Direction, Length, FastTrace, FloorCorrection, TraceActors);
118 }
119 }
120
121 /**
122 * Creates ray with system generated id. Note that the ray is not initialized immediately - we have to wait for GB2004 to
123 * confirm us. Therefore you will not receive actual instance of {@link AutoTraceRay} but its {@link Future}.
124 * Use method {@link Future#isDone()} to check whether the ray was initialized and method {@link Future#get()} to obtain the ray instance.
125 *
126 * @param Direction
127 * Vector direction of the ray (it will be relative - added to
128 * the vector, where the bot is looking, also takes into
129 * account angle of the floor the bot is standing on).
130 *
131 * @param Length
132 * Specifies the length of the ray (in UT units).
133 *
134 * @param FastTrace
135 * True if we want to use FastTrace function instead of Trace
136 * function (a bit faster but less information provided - just
137 * information if we hit something or not).
138 *
139 * @param FloorCorrection
140 * 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.
141 *
142 * @param TraceActors
143 * If we want to trace also actors, bots, monsters, players,
144 * items. False if we want to trace just level geometry.
145 *
146 * @return ray's future - use method {@link Future#isDone()} to check whether the ray was initialized and method {@link Future#get()} to obtain the ray instance
147 * @throws cz.cuni.amis.pogamut.base.communication.exceptions.CommunicationException
148 */
149 public Future<AutoTraceRay> createRay(Vector3d Direction, int Length, boolean FastTrace, boolean FloorCorrection, boolean TraceActors) throws CommunicationException {
150 if (!TraceActors && rayBSP.isUsable()) {
151 return rayBSP.createRay(Direction, Length, FloorCorrection);
152 } else {
153 return rayUT2004.createRay(Direction, Length, FastTrace, FloorCorrection, TraceActors);
154 }
155 }
156
157 /**
158 * Returns a ray of specified id. If the ray of the specified id does not exist
159 * or was not initialized yet then it returns null.
160 * <p><p>
161 * Note that the {@link AutoTraceRay} instance is self updating - once obtained you may use it every
162 * logic cycle to obtain current readings from the ray.
163 *
164 * @param rayID
165 * @return
166 */
167 public AutoTraceRay getRay(String rayID) {
168 AutoTraceRay r1 = rayUT2004.getRay(rayID);
169 if(r1 != null) return r1;
170 else return rayBSP.getRay(rayID);
171 }
172
173 /**
174 * Sets {@link Raycasting#allRaysInitialized} flag to true if all rays has been initialized.
175 */
176 protected void checkIfAllInited() {
177 rayUT2004.checkIfAllInited();
178 }
179
180 }
181