/*
 * Created on 31 mars 2005
 *
 * TODO To change the template for this generated file go to
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 */
package org.myrobotlab.mapper.demo;

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

import org.myrobotlab.mapper.sim.Agent;
import org.myrobotlab.mapper.sim.Box;
import org.myrobotlab.mapper.sim.CherryAgent;
import org.myrobotlab.mapper.sim.SimpleAgent;

/**
 * This demo show a robot picking cherries. When touched, the cherries are
 * either removed or repaint.
 */
public class PickCherriesDemo extends Demo {
  /** The robot used in the demo. */
  public class Robot extends Agent {

    Color3f yellow = new Color3f(0.9f, 0.7f, 0.1f);

    public Robot(Vector3d position, String name) {
      super(position, name);

    }

    /** Initialize Agent's Behavior */
    @Override
    public void initBehavior() {
      setTranslationalVelocity(0.5);
    }

    /** Perform one step of Agent's Behavior */
    @Override
    public void performBehavior() {
      if (collisionDetected())
        moveToStartPosition();
      if ((getCounter() % 80) == 0) {
        setRotationalVelocity(Math.PI / 2 * (0.5 - Math.random()));
        setTranslationalVelocity(0.5);
      }
      // Test if there is an agent near . */
      if (anOtherAgentIsVeryNear()) {
        SimpleAgent agent = getVeryNearAgent();

        if (agent instanceof CherryAgent) {
          // detach it from te scene graph so it is no more visible.
          agent.detach();
          System.out.println("cherry picked !");
        }
        // or change the color of the agent.
        // ((CherryAgent) agent).setColor(yellow);

      }
    }
  }

  public PickCherriesDemo() {
    showAxis(false);
    setWorldSize(12);
    boxColor = new Color3f(0.6f, 0.5f, .3f);
    // add the four walls
    add(new Box(new Vector3d(-5, 0, 0), new Vector3f(0.1f, 1, 10), this, new Color3f(.8f, 0.2f, 0.2f)));
    add(new Box(new Vector3d(0, 0, -5), new Vector3f(10, 1, 0.1f), this, new Color3f(0.2f, 0.8f, 0.2f)));
    add(new Box(new Vector3d(5, 0, 0), new Vector3f(0.1f, 1, 10), this, new Color3f(0f, 0.2f, 0.8f)));
    add(new Box(new Vector3d(0, 0, 5), new Vector3f(10, 1, 0.1f), this, new Color3f(0.2f, 0.2f, 0.8f)));

    // add the robot
    add(new Robot(new Vector3d(0, 0, 0), "R1"));

    // add cherries randomly .
    for (int n = 0; n < 30; n++) {
      double x = (Math.random() * 10 - 5);
      double z = (Math.random() * 10 - 5);
      add(new CherryAgent(new Vector3d(x, 0, z), "cherry", 0.15f));
    }
  }

}