/*
 * 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: 2005/04/25 17:58:17 $
 *  $Revision: 1.2 $ 
 * $Source: /cvsroot/simbad/src/simbad/demo/PushBallsDemo.java,v $
 */
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.BallAgent;
import org.myrobotlab.mapper.sim.Box;
import org.myrobotlab.mapper.sim.SimpleAgent;

/**
 * Shows a robot pushing balls. This demo shows simple physical interactions
 * between agents.
 */
public class PushBallsDemo extends Demo {

  public class Robot extends Agent {

    public Robot(Vector3d position, String name) {
      super(position, name);
      // RobotFactory.addCameraSensor(this);
    }

    public void contactWith(SimpleAgent a) {
      // System.out.println(getName()+" interacts with "+a.getName());
    }

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

    /** Perform one step of Agent's Behavior */
    @Override
    public void performBehavior() {
      // if (collisionDetected()&& (! interactionDetected()))
      // moveToStartPosition();
      if ((getCounter() % 80) == 0) {
        setRotationalVelocity(Math.PI / 2 * (0.5 - Math.random()));
        setTranslationalVelocity(0.5);
      }

    }
  }

  public PushBallsDemo() {
    showAxis(false);
    setUsePhysics(true);
    setWorldSize(12);
    boxColor = new Color3f(0.6f, 0.5f, .3f);

    add(new Box(new Vector3d(-5, 0, 0), new Vector3f(0.1f, 1, 10), this));
    add(new Box(new Vector3d(0, 0, -5), new Vector3f(10, 1, 0.1f), this));
    add(new Box(new Vector3d(5, 0, 0), new Vector3f(0.1f, 1, 10), this));
    add(new Box(new Vector3d(0, 0, 5), new Vector3f(10, 1, 0.1f), this));

    add(new Robot(new Vector3d(0, 0, 0), "Maradonna"));
    // Set up the ball agents
    int n = 1;

    Color3f c;
    for (int x = -n; x <= n; x++) {
      for (int z = -n; z <= n; z++) {
        if (!((x == 0) && (z == 0))) {
          c = new Color3f(x / (float) n, 0.3f, z / (float) n);
          add(new BallAgent(new Vector3d(x, 0, z), "ball", c, 0.25f, 0.25f));
        }
      }
    }

  }
}