/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:55:54 $ $Revision: 1.6 $ $Source: /cvsroot/simbad/src/simbad/demo/BaseDemo.java,v $
 */
package org.myrobotlab.mapper.demo;

import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import org.myrobotlab.mapper.sim.Agent;
import org.myrobotlab.mapper.sim.Arch;
import org.myrobotlab.mapper.sim.Box;
import org.myrobotlab.mapper.sim.CameraSensor;
import org.myrobotlab.mapper.sim.RangeSensorBelt;
import org.myrobotlab.mapper.sim.RobotFactory;
import org.myrobotlab.mapper.sim.Wall;

/**
 * A Basic demo with camera sensor, sonars and bumpers. The robot wanders and
 * stops when it collides.
 * 
 */
public class BaseDemo extends Demo {

  public class Robot extends Agent {
    RangeSensorBelt sonars;
    CameraSensor camera;

    public Robot(Vector3d position, String name) {
      super(position, name);
      // Add sensors
      camera = RobotFactory.addCameraSensor(this);
      RobotFactory.addBumperBeltSensor(this);
      // Add sonars and get corresponding object.
      sonars = RobotFactory.addSonarBeltSensor(this);

    }

    /** Initialize Agent's Behavior */
    @Override
    public void initBehavior() {
      // nothing particular in this case
    }

    /** Perform one step of Agent's Behavior */
    @Override
    public void performBehavior() {

      // progress at 0.5 m/s
      setTranslationalVelocity(0.5);
      // frequently change orientation
      if ((getCounter() % 100) == 0)
        setRotationalVelocity(Math.PI / 2 * (0.5 - Math.random()));

      // print front sonar every 100 frames
      if (getCounter() % 100 == 0)
        System.out.println("Sonar num 0  = " + sonars.getMeasurement(0));

    }
  }

  public BaseDemo() {
    light1IsOn = true;
    light2IsOn = false;
    Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
    w1.rotate90(1);
    add(w1);
    Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
    w2.rotate90(1);
    add(w2);
    Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
    add(w3);
    Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
    add(w4);
    Box b1 = new Box(new Vector3d(-3, 0, -3), new Vector3f(1, 1, 1), this);
    add(b1);
    add(new Arch(new Vector3d(3, 0, -3), this));
    add(new Robot(new Vector3d(0, 0, 0), "robot 1"));

  }
}