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rather from its actual location. This is practical because it prevents you from accidentally detecting collisions with objects that are too close to the Camera to be visible, but it s important to take it into account. Once you ve called the pick method to fill your RayIntersection with data, you can read off all sorts of valuable data. Not only does it tell you the distance to the intersection, but it will tell you which Node you ve collided with and even the texture coordinates at the point where you ve hit. You can also get the coordinates of the normal vector at the point, which will help if you want to calculate how an object should bounce off another object. The following simple code sample illustrates the use of RayIntersection and pick() to see whether there is an object directly in the line of sight of the Camera and how far away it is. This additional method can be added to the DemoCanvas class of the Tour of the World example. This just prints the information to the console when you write a real application you can decide precisely how to apply the information gathered from the RayIntersection. /** * A little method to see how close the nearest * object is that the camera sees. */ public void getIntersection() { // create an empty RayIntersection object // to store the intersection data RayIntersection ri = new RayIntersection(); // pick the first element of my world that // is in my camera's viewing range if(myWorld.pick(-1, 0.5f, 0.5f, myCamera, ri)) { System.out.println("intersection at distance " + ri.getDistance()); } else { System.out.println("no intersection"); } }

In Hand Following mode, JohnNXT centers the head and then swings it left, center, right, center, and so on continuously, while staying still in place. When the Ultrasonic Sensor detects your hand, the robot will drive towards you, going straight or turning according to the actual position of the head. If the hand is really near, the robot will drive away from you.

Figure 10-11. Form for encrypting a string 10. Add the encryption implementation for the click event of the m_Encrypt button, as shown in Listing 10-5.

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The M3G API allows you to send rendering hints to the Graphics3D object. These hints largely concern whether you d like to sacrifice computing performance in exchange for beautifying the image, and in what ways. They re hints in that the virtual machine is at liberty to ignore your recommendations at will, but are helpful for choosing your preferred quality on platforms that have image beautification features available. These hits (antialiasing, dithering, true color) are described in the Graphics3D class. They re set when the Graphics3D instance is bound to its rendering target.

Listing 10-5. Adding the m_Encrypt Click Event using using using using System; System.Collections.Generic; System.Text; System.Windows.Forms;

In this mode, you can control the arms position with sound pulses for example, clapping your hands. When entering this mode, JohnNXT measures the ambient noise (so please keep silent for a short while) and folds its arms; then he waits for sharp sounds, which represent the commands you can give him: One sound: The arms are folded Two sounds: The arms are unfolded a bit, so they are vertical Three sounds: The arms are completely unfolded, but the hands are still closed Four sounds: The hands are open Five sounds: The wrists are rotated Try clapping your hands and observe the text shown on the NXT screen: with every clap, a new arm state is chosen. If you stop clapping, the arms are moved into the state whose name is shown on the display. For example, consider starting with folded arms; clap two times and the arms are unfolded a bit; three claps unfold the arms, keeping the hands closed; and five claps (the maximum number) cause the hands to open and the wrists to rotate. A single clap brings the arms to their folded position again. So, you can go from every state to another. Notice that you must produce the sound sequence with a constant timing, otherwise the robot won t behave as you would desire. For example, if you want to open the robot s hands starting from the state where the arms are folded, you must clap your hands five times. If you start clapping at a certain rate, but either the Sound Sensor fails to detect a clap, or you slow down the clapping rate too much, the robot will assume that the sequence is finished, and it

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