Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node

Class Node

java.lang.Object

com.marginallyclever.ro3.node.Node

Direct Known Subclasses:

Behavior, BehaviorTreeRunner, Brain, Crab, DHParameter, Environment, HingeJoint, LegLimbic, LimbPlanner, LimbSolver, LinearJoint, MarlinRobot, Material, Motor, NetworkSession, Neuron, Pose, RandomHemisphereTest, Synapse

public class Node
extends Object

Node is the base class for all nodes in the scene tree.

Each Node can have a parent and multiple children, forming a tree-like structure. This class provides several functionalities:

• Nodes have a unique IDs and a name.
• Nodes can be attached or detached from their parents.
• Nodes can be renamed.
• Nodes can be serialized to and from JSON format.
• Nodes can be updated every frame, which is useful for animations or game logic.
• Nodes can be searched by their name or type.
• Nodes can be found by their absolute path in the tree.
• Nodes can be checked if their name is used by a sibling.
• Nodes can be found by their unique ID.
• Nodes can be found by their path, which can be relative or absolute.

This class also provides several events:

• NodeAttachListener: called when a node is attached to a parent.
• NodeDetachListener: called when a node is detached from a parent.
• NodeReadyListener: called when a node is attached and all children are ready.
• NodeRenameListener: called when a node is renamed.

Nodes can be serialized to and from JSON.

Constructor Summary

Constructors

Constructor	Description
Node()
Node(String name)

Method Summary

Modifier and Type	Method	Description
void	addAttachListener(NodeAttachListener listener)
void	addChild(int index, Node child)	Add a child to this node at the given index.
void	addChild(Node child)	Append a child to this node.
void	addDetachListener(NodeDetachListener listener)
void	addReadyListener(NodeReadyListener listener)
void	addRenameListener(NodeRenameListener listener)
Node	findByPath(String path)	Find the node in the tree with the given path.
Node	findChild(String name)	Find the first child of this node with the given name.
Node	findChild(String name, int maxDepth)	Find the first child of this node with the given name.
<T extends Node> T	findFirstChild(Class<T> type)	Find the first child of the given type.
<T extends Node> T	findFirstSibling(Class<T> type)	Find the first sibling of the given type.
<T extends Node> T	findNodeByID(String nodeID, Class<T> type)	Depth-first search for a node with a matching ID and type.
<T extends Node> T	findParent(Class<T> type)	Find the first parent of the given type.
Node	findParent(String name)	Find the first parent with the given name.
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
String	getAbsolutePath()
List<Node>	getChildren()
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
Icon	getIcon()	Set a custom icon for this node.
String	getName()
Node	getParent()
Node	getRootNode()
String	getUniqueID()
boolean	hasParent(Node subject)
boolean	isNameUsedBySibling(String newName)
void	removeAttachListener(NodeAttachListener listener)
void	removeChild(Node child)
void	removeDetachListener(NodeDetachListener listener)
void	removeReadyListener(NodeReadyListener listener)
void	removeRenameListener(NodeRenameListener listener)
void	setName(String name)
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.
void	update(double dt)	Called every frame.
void	witnessProtection()	Everybody in this tree gets a new unique ID.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Node

public Node()

Node

public Node(String name)

Method Details

addChild

public void addChild(Node child)

Append a child to this node.

Parameters:

child - the child to add.

addChild

public void addChild(int index,
 Node child)

Add a child to this node at the given index.

Parameters:

index - the index to add the child at.

child - the child to add.

removeChild

public void removeChild(Node child)

getName

public String getName()

getParent

public Node getParent()

getUniqueID

public String getUniqueID()

Returns:

the unique ID of this node.

setName

public void setName(String name)

Parameters:

name - the new name of this node.

Throws:

IllegalArgumentException - if the new name is already used by a sibling.

getChildren

public List<Node> getChildren()

Returns:

the original list. This is not a copy. This is dangerous!

findParent

public Node findParent(String name)

Find the first parent with the given name.

Parameters:

name - the name to match.

Returns:

the first parent, or null if none found.

findParent

public <T extends Node> T findParent(Class<T> type)

Find the first parent of the given type.

Parameters:

type - the type of node to find

Returns:

the first parent of the given type, or null if none found.

findChild

public Node findChild(String name)

Find the first child of this node with the given name.

Parameters:

name - the name to match.

Returns:

the child, or null if none found.

findChild

public Node findChild(String name,
 int maxDepth)

Find the first child of this node with the given name.

Parameters:

name - the name to match.

maxDepth - the maximum depth to search.

Returns:

the child, or null if none found.

getRootNode

public Node getRootNode()

getAbsolutePath

public String getAbsolutePath()

Returns:

the absolute path to this node.

addAttachListener

public void addAttachListener(NodeAttachListener listener)

removeAttachListener

public void removeAttachListener(NodeAttachListener listener)

addDetachListener

public void addDetachListener(NodeDetachListener listener)

removeDetachListener

public void removeDetachListener(NodeDetachListener listener)

addReadyListener

public void addReadyListener(NodeReadyListener listener)

removeReadyListener

public void removeReadyListener(NodeReadyListener listener)

addRenameListener

public void addRenameListener(NodeRenameListener listener)

removeRenameListener

public void removeRenameListener(NodeRenameListener listener)

update

public void update(double dt)

Called every frame.

Parameters:

dt - the time since the last frame.

getComponents

public void getComponents(List<JPanel> list)

Build a Swing Component that represents this Node.

Parameters:

list - the list to add components to.

isNameUsedBySibling

public boolean isNameUsedBySibling(String newName)

Parameters:

newName - the new name to check

Returns:

true if the new name is already used by a sibling

findFirstChild

public <T extends Node> T findFirstChild(Class<T> type)

Find the first child of the given type. The type must be an exact match - it will not match subclasses.

Type Parameters:

T - the type of node to find

Parameters:

type - the type of node to find

Returns:

the first sibling of the given type, or null if none found.

findFirstSibling

public <T extends Node> T findFirstSibling(Class<T> type)

Find the first sibling of the given type. The type must be an exact match - it will not match subclasses.

Type Parameters:

T - the type of node to find

Parameters:

type - the type of node to find

Returns:

the first sibling of the given type, or null if none found.

toJSON

public org.json.JSONObject toJSON()

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Returns:

the JSON object.

fromJSON

public void fromJSON(org.json.JSONObject from)

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Parameters:

from - the JSON object to read from.

hasParent

public boolean hasParent(Node subject)

Parameters:

subject - the node to search for

Returns:

true if the given node is a parent of this node.

witnessProtection

public void witnessProtection()

Everybody in this tree gets a new unique ID.

findNodeByID

public <T extends Node> T findNodeByID(String nodeID,
 Class<T> type)

Depth-first search for a node with a matching ID and type. Type match can be any subclass.

Type Parameters:

T - the type of node to search for

Parameters:

nodeID - the ID to search for

type - the type of node to search for

Returns:

the first node found with a matching ID and type, or null if none found.

findByPath

public Node findByPath(String path)

Find the node in the tree with the given path.

Parameters:

path - the path to the node. can be relative or absolute. understands ".." to go up one level.

Returns:

the node, or null if none found.

getIcon

public Icon getIcon()

Set a custom icon for this node.

Returns:

the icon, or null if none.