cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric
Class RaycastingBSP

java.lang.Object
  cz.cuni.amis.pogamut.base.agent.module.AgentModule<AGENT>
      cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule<UT2004Bot>
          cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.RaycastingBSP

All Implemented Interfaces:

IComponent

public class RaycastingBSP
extends SensomotoricModule<UT2004Bot>

Field Summary

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.SensomotoricModule

act, worldView

Fields inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

agent, controller, eventBus, log

Constructor Summary

RaycastingBSP(UT2004Bot bot)
Alternative contructor

RaycastingBSP(UT2004Bot bot, Logger log)
Object's contructor

Method Summary

void	clear() Deletes all previous rays and makes this instance ready for setting up new rays.
Future<AutoTraceRay>	createRay(String id, javax.vecmath.Vector3d direction, int length, boolean floorCorrection) This method creates a ray and puts it into worldview
Future<AutoTraceRay>	createRay(javax.vecmath.Vector3d direction, int length, boolean floorCorrection)
boolean	isUsable() Whether we have BSP data for raycasting.
protected void	selfUpdate(Self self) gets all the rays from the hashmap, recomputes them and sends them to world view

Methods inherited from class cz.cuni.amis.pogamut.base.agent.module.AgentModule

cleanUp, getComponentId, getLog, getState, initComponentId, isRunning, kill, pause, reset, resume, start, stop, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

RaycastingBSP

public RaycastingBSP(UT2004Bot bot)

Alternative contructor

Parameters:

bot -

RaycastingBSP

public RaycastingBSP(UT2004Bot bot,
                     Logger log)

Object's contructor

Parameters:

bot -

log -

Method Detail

isUsable

public boolean isUsable()

Whether we have BSP data for raycasting.

Returns:

clear

public void clear()

Deletes all previous rays and makes this instance ready for setting up new rays.

createRay

public Future<AutoTraceRay> createRay(javax.vecmath.Vector3d direction,
                                      int length,
                                      boolean floorCorrection)

createRay

public Future<AutoTraceRay> createRay(String id,
                                      javax.vecmath.Vector3d direction,
                                      int length,
                                      boolean floorCorrection)

This method creates a ray and puts it into worldview

Parameters:

id -

direction -

length -

floorCorrection -

Returns:

selfUpdate

protected void selfUpdate(Self self)

gets all the rays from the hashmap, recomputes them and sends them to world view

Parameters:

self -