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.pathfinding.map.IPFMapView;
7 import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
8 import cz.cuni.amis.pogamut.base.communication.command.IAct;
9 import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
10 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.AnnotationListenerRegistrator;
11 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
12 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassEventListener;
13 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassListener;
14 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectEventListener;
15 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectListener;
16 import cz.cuni.amis.pogamut.base.utils.logging.LogCategory;
17 import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils;
18 import cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView;
19 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
20 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AdrenalineCombo;
21 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AgentConfig;
22 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Raycasting;
23 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Weaponry;
24 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentInfo;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentStats;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.CTF;
27 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Game;
28 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.ItemDescriptors;
29 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Items;
30 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavPoints;
31 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavigationGraphBuilder;
32 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Players;
33 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Senses;
34 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.UT2004AgentInfo;
35 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.UT2004Items;
36 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.WeaponPrefs;
37 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.visibility.Visibility;
38 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner;
39 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph;
40 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
41 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutor;
42 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004RunStraight;
43 import cz.cuni.amis.pogamut.ut2004.agent.navigation.astar.UT2004AStar;
44 import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
45 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.KefikRunner;
46 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator;
47 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
48 import cz.cuni.amis.pogamut.ut2004.bot.command.AdvancedLocomotion;
49 import cz.cuni.amis.pogamut.ut2004.bot.command.CompleteBotCommandsWrapper;
50 import cz.cuni.amis.pogamut.ut2004.bot.command.ImprovedShooting;
51 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
52 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotController;
53 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotModuleController;
54 import cz.cuni.amis.pogamut.ut2004.communication.messages.ItemType;
55 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.GetPath;
56 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
57 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.BotKilled;
58 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
59 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo;
60 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
61 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
62 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
63 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
64 import cz.cuni.amis.pogamut.ut2004.communication.translator.itemdescriptor.ItemDescriptor;
65
66 /**
67 * Primitive State Context for UT2004.
68 * @author Honza
69 */
70 public class UT2004Context<BOT extends UT2004Bot> extends Context<BOT> implements IUT2004Context<BOT> {
71
72 /**
73 * Random number generator that is usually useful to have during decision making.
74 */
75 protected Random random = new Random(System.currentTimeMillis());
76
77 /**
78 * Alias for user's log.
79 */
80 protected LogCategory log = null;
81
82 /**
83 * Memory module specialized on general info about the game - game type, time limit, frag limit, etc.
84 * <p><p>
85 * 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)}
86 * is called.
87 * <p><p>
88 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
89 */
90 protected Game game;
91
92 /**
93 * Memory module specialized on general info about the agent whereabouts - location, rotation, health, current weapon, who is enemy/friend, etc.
94 * <p><p>
95 * 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)}
96 * is called.
97 * <p><p>
98 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
99 */
100 protected AgentInfo info;
101
102 /**
103 * Memory module specialized on whereabouts of other players - who is visible, enemy / friend, whether bot can see anybody, etc.
104 * <p><p>
105 * 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)}
106 * is called.
107 * <p><p>
108 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
109 */
110 protected Players players;
111
112 /**
113 * Sensory module that provides mapping between {@link ItemType} and {@link ItemDescriptor} providing
114 * an easy way to obtain item descriptors for various items in UT2004.
115 * <p><p>
116 * 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)}
117 * is called.
118 * <p><p>
119 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
120 */
121 protected ItemDescriptors descriptors;
122
123 /**
124 * Memory module specialized on items on the map - which are visible and which are probably spawned.
125 * <p><p>
126 * 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)}
127 * is called.
128 * <p><p>
129 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
130 */
131 protected Items items;
132
133 /**
134 * Memory module specialized on agent's senses - whether the bot has been recently killed, collide with level's geometry, etc.
135 * <p><p>
136 * 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)}
137 * is called.
138 * <p><p>
139 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
140 */
141 protected Senses senses;
142
143 /**
144 * Memory module specialized on info about the bot's weapon and ammo inventory - it can tell you which weapons are loaded, melee/ranged, etc.
145 * <p><p>
146 * 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)}
147 * is called.
148 * <p><p>
149 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
150 */
151 protected Weaponry weaponry;
152
153 /**
154 * Memory module specialized on the agent's configuration inside UT2004 - name, vision time, manual spawn, cheats (if enabled at GB2004).
155 * <p><p>
156 * 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)}
157 * is called.
158 * <p><p>
159 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
160 */
161 protected AgentConfig config;
162
163 /**
164 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
165 * <p><p>
166 * 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)}
167 * is called.
168 */
169 protected Raycasting raycasting;
170
171 /**
172 * Module for adrenaline combos.
173 */
174 protected AdrenalineCombo combo;
175
176 /**
177 * Creates and wraps all available commands that can be issued to the virtual body of the bot inside UT2004.
178 * <p><p>
179 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
180 * is called.
181 * <p><p>
182 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
183 */
184 protected CompleteBotCommandsWrapper body;
185
186 /**
187 * Shortcut for <i>body.getImprovedShooting()</i> that allows you to shoot at opponent.
188 * <p><p>
189 * Note: more weapon-handling methods are available through {@link UT2004Behaviour#weaponry}.
190 * <p><p>
191 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
192 * is called.
193 * <p><p>
194 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
195 */
196 protected ImprovedShooting shoot;
197
198 /**
199 * Shortcut for <i>body.getAdvancedLocomotion()</i> that allows you to manually steer the movement through the environment.
200 * <p><p>
201 * Note: navigation is done via {@link UT2004Behaviour#pathExecutor} that needs {@link PathHandle} from the {@link UT2004Behaviour#pathPlanner}.
202 * <p><p>
203 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
204 * is called.
205 * <p><p>
206 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
207 */
208 protected AdvancedLocomotion move;
209
210 /**
211 * Executor is used for following a path in the environment.
212 * <p><p>
213 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
214 * is called.
215 * <p><p>
216 * Initialized inside {@link UT2004BotModuleControllerNew#initializePathFinding(UT2004Bot)}.
217 */
218 protected UT2004PathExecutor<ILocated> pathExecutor = null;
219
220 /**
221 * Planner used to compute the path (consisting of navigation points) inside the map.
222 * <p><p>
223 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
224 * is called.
225 * <p><p>
226 * Initialized inside {@link UT2004BotModuleControllerNew#initializePathFinding(UT2004Bot)}.
227 */
228 protected IPathPlanner<ILocated> pathPlanner = null;
229
230 /**
231 * Weapon preferences for your bot. See {@link WeaponPrefs} class javadoc. It allows you to define preferences for
232 * weapons to be used at given distance (together with their firing mode).
233 */
234 protected WeaponPrefs weaponPrefs;
235
236 /**
237 * Navigation graph builder that may be used to manually extend the navigation graph of the UT2004.
238 * <p><p>
239 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
240 * is called.
241 * <p><p>
242 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
243 */
244 protected NavigationGraphBuilder navBuilder;
245
246 /**
247 * Module that is providing various statistics about the bot. You may also used it to output these stats (in CSV format)
248 * into some file using {@link AgentStats#startOutput(String)} or {@link AgentStats#startOutput(String, boolean)}.
249 */
250 protected AgentStats stats;
251
252 /**
253 * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
254 * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than
255 * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
256 * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
257 * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
258 */
259 protected FloydWarshallMap fwMap;
260
261 /**
262 * Command module that is internally using {@link UT2004PathExecutor} for path-following and {@link FloydWarshallMap}
263 * for path planning resulting in unified class that can solely handle navigation of the bot within the environment.
264 * <p><p>
265 * In contrast to {@link UT2004PathExecutor} methods
266 * of this module may be recalled every {@link UT2004BotModuleController#logic()} iteration even with
267 * the same argument (which is not true for {@link UT2004PathExecutor#followPath(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture)}.
268 * <p><p>
269 * Note that this class is actually initialized with instances of {@link UT2004BotModuleController#pathExecutor} and {@link UT2004BotModuleController#fwMap}
270 * 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)}
271 * method.
272 * <p><p>
273 * May be used since first {@link UT2004BotModuleController#logic()} is called.
274 * <p><p>
275 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
276 */
277 protected UT2004Navigation navigation;
278
279 /**
280 * Listener registrator that probes declared methods for the presence of {@link EventListener}, {@link ObjectClassEventListener},
281 * {@link ObjectClassListener}, {@link ObjectEventListener} and {@link ObjectListener} annotations and automatically registers
282 * them as listeners on a specific events.
283 * <p><p>
284 * Note that this registrator is usable for 'this' object only! It will work only for 'this' object.
285 */
286 protected AnnotationListenerRegistrator listenerRegistrator;
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 * Navigation helper that is able to get your bot back to the nearest navigation graph so you can use {@link UT2004BotModuleController#navigation}
300 * without fear of catastrophe.
301 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
302 * is called.
303 * <p><p>
304 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
305 */
306 protected UT2004GetBackToNavGraph getBackToNavGraph;
307
308 /**
309 * Navigation helper that can run-straight to some point with stuck detectors.
310 * <p><p>
311 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
312 * is called.
313 * <p><p>
314 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
315 */
316 protected UT2004RunStraight runStraight;
317
318 /**
319 * Module that provides visibility/cover information for the map.
320 * <p><p>
321 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
322 * is called.
323 * <p><p>
324 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
325 */
326 protected Visibility visibility;
327
328 /**
329 * Module specialized on CTF games. Enabled only for CTF games, check {@link CTF#isEnabled()}.
330 * <p><p>
331 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
332 */
333 protected CTF ctf;
334
335 /**
336 * Module that provides shortcut for getting {@link NavPoint}s out of {@link IWorldView}.
337 * <p><p>
338 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
339 * is called.
340 * <p><p>
341 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
342 */
343 protected NavPoints navPoints;
344
345 /**
346 * Class providing A-Star algorithm over the navpoints as they are present within the {@link IWorldView}.
347 * <p><p>
348 * You may provide custom {@link IPFMapView} over the map in-order to greatly customize the A-Star search.
349 */
350 protected UT2004AStar aStar;
351
352 public UT2004Context(String name, BOT bot) {
353 super(name, bot);
354 log = bot.getLogger().getCategory(UT2004BotController.USER_LOG_CATEGORY_ID);
355 log.setLevel(Level.ALL);
356 }
357
358 /**
359 * Called after the construction of the {@link UT2004Behaviour} before the GameBots2004 greets the bot even before
360 * {@link UT2004Behaviour#prepareBehaviour(UT2004Bot)} method.
361 * <p><p>
362 * <b>NOTE:</b> This is Pogamut's developers reserved method - do not override it and if you do, always use 'super'
363 * to call parent's initializeBehaviour.
364 */
365 protected void initialize() {
366 initializeModules(bot);
367 initializePathFinding(bot);
368 initializeListeners(bot);
369 }
370
371 /**
372 * Initializes {@link UT2004Behaviour#listenerRegistrator} and calls {@link AnnotationListenerRegistrator#addListeners()} method
373 * to probe all declared methods for event-annotation presence.
374 * @param bot
375 */
376 protected void initializeListeners(BOT bot) {
377 listenerRegistrator = new AnnotationListenerRegistrator(this, getWorldView(), bot.getLogger().getCategory("Listeners"));
378 listenerRegistrator.addListeners();
379 }
380
381 /**
382 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner} and {@link UT2004BotModuleControllerNew#pathExecutor}.
383 * If you need different path planner / path executor - override this method and initialize your own modules.
384 * @param bot
385 */
386 protected void initializePathFinding(BOT bot) {
387 pathPlanner = new UT2004AStarPathPlanner(bot);
388 fwMap = new FloydWarshallMap(bot);
389 aStar = new UT2004AStar(bot);
390 pathExecutor =
391 new UT2004PathExecutor<ILocated>(
392 bot,
393 info,
394 move,
395 new LoqueNavigator<ILocated>(bot, info, move, bot.getLog())
396 );
397 getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
398 runStraight = new UT2004RunStraight(bot, info, move);
399 navigation = new UT2004Navigation(bot, pathExecutor, fwMap, getBackToNavGraph, runStraight);
400 }
401
402 /**
403 * Initializes memory/command modules of the bot.
404 *
405 * @param bot
406 */
407 protected void initializeModules(BOT bot) {
408 world = getWorldView();
409 act = getAct();
410
411 game = new Game(bot);
412 navPoints = new NavPoints(bot);
413 players = new Players(bot);
414 descriptors = new ItemDescriptors(bot);
415 config = new AgentConfig(bot);
416 raycasting = new Raycasting(bot);
417 stats = new AgentStats(bot);
418 navBuilder = new NavigationGraphBuilder(bot);
419 info = new UT2004AgentInfo(bot, game);
420 visibility = new Visibility(bot, info);
421 ctf = new CTF(bot, info);
422 weaponry = new Weaponry(bot, descriptors);
423 items = new UT2004Items(bot, info, game, weaponry, null);
424 senses = new Senses(bot, info, players);
425 body = new CompleteBotCommandsWrapper(bot, weaponry, null);
426 shoot = body.getImprovedShooting();
427 move = body.getLocomotion();
428 weaponPrefs = new WeaponPrefs(weaponry, bot);
429 combo = new AdrenalineCombo(bot, info);
430 }
431
432 /**
433 * Called after the behaviour construction to initialize user's data structures.
434 * @param bot
435 */
436 protected void prepareBehaviour(BOT bot) {
437 }
438
439 /**
440 * This method is called whenever {@link InitedMessage} is received. Various agent modules are usable since this
441 * method is called.
442 *
443 * @param gameInfo
444 * @param config
445 * @param init
446 * @param self
447 */
448 public void botInitialized(GameInfo info, ConfigChange config, InitedMessage init) {
449 }
450
451 /**
452 * This method is called only once whenever first batch of information what the bot can see is received.
453 * <i><i>
454 * It is sort of "first-logic-method" where you may issue commands for the first time and handle everything
455 * else in bot's logic then. It eliminates the need to have 'boolean firstLogic' field inside your bot.
456 * <p><p>
457 * Note that this method has advantage over the {@link IUT2004BotController#botInitialized(GameInfo, ConfigChange, InitedMessage)}
458 * that you already have {@link Self} object.
459 *
460 * @param gameInfo
461 * @param config
462 * @param init
463 * @param self
464 */
465 public void botSpawned(GameInfo gameInfo, ConfigChange config, InitedMessage init, Self self) {
466 }
467
468 /**
469 * Called after {@link UT2004Behaviour#botFirstSpawn(GameInfo, ConfigChange, InitedMessage, Self)} as a hook for Pogamut's core developers
470 * to finalize initialization of various modules.
471 * <p><p>
472 * <b>NOTE:</b> This is Pogamut's developers reserved method - do not override it and if you do, always use 'super'
473 * to call parent's finishControllerInitialization.
474 */
475 public void finishInitialization() {
476 if (navBuilder.isUsed()) {
477 log.info("Navigation graph has been altered by 'navBuilder', triggering recomputation of Floyd-Warshall path matrix...");
478 Level oldLevel = fwMap.getLog().getLevel();
479 fwMap.getLog().setLevel(Level.FINER);
480 fwMap.refreshPathMatrix();
481 fwMap.getLog().setLevel(oldLevel);
482
483 aStar.mapChanged();
484 }
485 }
486
487 /**
488 * This method is called before the SPOSH iteration is invoked. You may clear previous-state variables here.
489 */
490 public void logicIteration() {
491 }
492
493 /**
494 * Called whenever the bot gets killed inside the game.
495 *
496 * @param event
497 */
498 public void botKilled(BotKilled event) {
499 }
500
501 public IVisionWorldView getWorldView() {
502 return bot.getWorldView();
503 }
504
505 public IAct getAct() {
506 return bot.getAct();
507 }
508
509 public CompleteBotCommandsWrapper getBody() {
510 return body;
511 }
512
513 public Random getRandom() {
514 return random;
515 }
516
517 public LogCategory getLog() {
518 return log;
519 }
520
521 public UT2004AStar getAStar() {
522 return aStar;
523 }
524
525 public Game getGame() {
526 return game;
527 }
528
529 public AgentInfo getInfo() {
530 return info;
531 }
532
533 public Players getPlayers() {
534 return players;
535 }
536
537 public ItemDescriptors getDescriptors() {
538 return descriptors;
539 }
540
541 public Items getItems() {
542 return items;
543 }
544
545 public Senses getSenses() {
546 return senses;
547 }
548
549 public Weaponry getWeaponry() {
550 return weaponry;
551 }
552
553 public AgentConfig getConfig() {
554 return config;
555 }
556
557 public Raycasting getRaycasting() {
558 return raycasting;
559 }
560
561 public ImprovedShooting getShoot() {
562 return shoot;
563 }
564
565 public AdvancedLocomotion getMove() {
566 return move;
567 }
568
569 public UT2004PathExecutor<ILocated> getPathExecutor() {
570 return pathExecutor;
571 }
572
573 public IPathPlanner<ILocated> getPathPlanner() {
574 return pathPlanner;
575 }
576
577 public WeaponPrefs getWeaponPrefs() {
578 return weaponPrefs;
579 }
580
581 public NavigationGraphBuilder getNavBuilder() {
582 return navBuilder;
583 }
584
585 public AgentStats getStats() {
586 return stats;
587 }
588
589 public FloydWarshallMap getFwMap() {
590 return fwMap;
591 }
592
593 public UT2004Navigation getNavigation() {
594 return navigation;
595 }
596
597 public AnnotationListenerRegistrator getListenerRegistrator() {
598 return listenerRegistrator;
599 }
600
601 public IVisionWorldView getWorld() {
602 return world;
603 }
604
605 public UT2004GetBackToNavGraph getBackToNavGraph() {
606 return getBackToNavGraph;
607 }
608
609 public CTF getCtf() {
610 return ctf;
611 }
612
613 public Visibility getVisibility() {
614 return visibility;
615 }
616
617 public AdrenalineCombo getCombo() {
618 return combo;
619 }
620
621 }