[Pogamut-list] RayCasting Bot

[jakub.gemrot]

Re: RayCasting Bot
Hi Cazub!

How are you adding the rays to the bot? Where do you use your new constants?

Here is a Java code you're likely to need to add and tweak into your bot

// this mehthod is called before the agent is launched to the UT
protected void postPrepareAgent() throws PogamutException {
       // first, remove all existing rays
       body.removeAllRaysFromAutoTrace();

       // now add your custom rays

       // LEFT_SENSOR == integer constant you will need to query the sensor
       // new Triple(1, -1, 0) == x-coord pointing straight ahead,
y-coord goes from the left to the right, z-coord goes from down to up
(i think)
       // SENSOR_LENGTH == number, how long it should be
       // false, true == do the full raycasting (advised)
       body.addRayToAutoTrace(LEFT_SENSOR, new Triple(1, -1, 0),
SENSOR_LENGTH, false, true);
       body.addRayToAutoTrace(RIGHT_SENSOR, new Triple(1, 1, 0),
SENSOR_LENGTH, false, true);
       body.addRayToAutoTrace(FRONT_SENSOR, new Triple(1, 0, 0),
SENSOR_LENGTH, false, true);

       // tell the GB2004 you want to do those raycasts automatically
       body.initializer.setAutoTrace(true);
   }


Now - how to query those sensors:


  Trace frontTrace = memory.getAutoTrace(FRONT_SENSOR);

  if (frontTrace.result) {
     // if boolean means it hit something ...

     // now examine the distance to the obstacle in the way of the sensor
     double distance =
Triple.distanceInSpace(memory.getAgentPosition(),
frontTrace.hitLocation);

     // do something cool here ;-)
  }



I believe that you need to tweak postPrepareAgent() to get your new
traces working + next code is showing you how
to examine the trace results.

Last advise - I reccommand you to get those results in the beginning
of the doLogic() to have it as correct as possible.

Cheers, Jakub

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