Steerings

Class ObstacleAvoidanceSteer

java.lang.Object

Steerings.ObstacleAvoidanceSteer

All Implemented Interfaces:

IRaysFlagChanged, ISteering

public class ObstacleAvoidanceSteer
extends Object
implements ISteering, IRaysFlagChanged

A class for providing obstacle avoiding steering via raycasting.

Author:

Marki

Field Summary

Fields

Modifier and Type	Field and Description
protected static String	FRONT
protected static String	LEFT
protected static String	LEFTFRONT
protected static String	RIGHT
protected static String	RIGHTFRONT

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	flagRaysChanged()
ObstacleAvoidanceProperties	getProperties()
javax.vecmath.Vector3d	run(javax.vecmath.Vector3d scaledActualVelocity, RefBoolean wantsToGoFaster, RefBoolean wantsToStop, RefLocation 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

LEFTFRONT

protected static final String LEFTFRONT

See Also:

Constant Field Values

LEFT

protected static final String LEFT

See Also:

Constant Field Values

RIGHTFRONT

protected static final String RIGHTFRONT

See Also:

Constant Field Values

RIGHT

protected static final String RIGHT

See Also:

Constant Field Values

FRONT

protected static final String FRONT

See Also:

Constant Field Values

Constructor Detail

ObstacleAvoidanceSteer

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

Parameters:

bot - - instance (UT2004Bot) of the steered bot.

rayManager - - RaycastingManager 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,
                                  RefLocation focus)

When called, the bot starts steering, when possible, he walks straight, he steers away from obstacles though, when necessary.

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 ObstacleAvoidanceProperties getProperties()