/*
 * 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: 2005/08/07 12:24:56 $
 * $Revision: 1.4 $
 * $Source: /cvsroot/simbad/src/simbad/demo/KheperaDemo.java,v $
 */
package org.myrobotlab.mapper.demo;

import javax.vecmath.Color3f;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import org.myrobotlab.mapper.sim.Box;
import org.myrobotlab.mapper.sim.KheperaRobot;

/**
 * A Khepera Robot demo.
 * 
 **/
public class KheperaDemo extends Demo {

  // derive from class KheperaRobot instead of class Agent
  public class Robot extends KheperaRobot {
    public Robot(Vector3d position, String name) {
      super(position, name);
    }

    /** Initialize Agent's Behavior */
    @Override
    public void initBehavior() {
    }

    /** Perform one step of Agent's Behavior */
    @Override
    public void performBehavior() {
      setWheelsVelocity(0.01, 0.01);
      if (collisionDetected())
        moveToStartPosition();
    }

  }

  public KheperaDemo() {
    setWorldSize(1f);
    boxColor = new Color3f(0.6f, 0.5f, .3f);

    add(new Box(new Vector3d(0, 0, -0.07), new Vector3f(0.10f, 0.03f, 0.055f), this));

    add(new Box(new Vector3d(0.2, 0, 0), new Vector3f(0.055f, 0.1f, 0.055f), this));

    // Add a robot.
    add(new Robot(new Vector3d(0, 0, 0), "khepera"));

  }
}