/*
* File name: RescueBrain.java (package eas.users.wsc2012.rescuer)
* Author(s): aifb
* Java version: 6.0
* Generation date: 30.03.2012 (14:07:03)
*
* (c) This file and the EAS (Easy Agent Simulation) framework containing it
* is protected by Creative Commons by-nc-sa license. Any altered or
* further developed versions of this file have to meet the agreements
* stated by the license conditions.
*
* In a nutshell
* -------------
* You are free:
* - to Share -- to copy, distribute and transmit the work
* - to Remix -- to adapt the work
*
* Under the following conditions:
* - Attribution -- You must attribute the work in the manner specified by the
* author or licensor (but not in any way that suggests that they endorse
* you or your use of the work).
* - Noncommercial -- You may not use this work for commercial purposes.
* - Share Alike -- If you alter, transform, or build upon this work, you may
* distribute the resulting work only under the same or a similar license to
* this one.
*
* + Detailed license conditions (Germany):
* http://creativecommons.org/licenses/by-nc-sa/3.0/de/
* + Detailed license conditions (unported):
* http://creativecommons.org/licenses/by-nc-sa/3.0/deed.en
*
* This header must be placed in the beginning of any version of this file.
*/
package eas.users.demos.wsc2012.rescuer;
import eas.math.geometry.Vector2D;
import eas.simulation.Wink;
import eas.simulation.brain.AbstractBrain;
/**
* @author aifb
*
*/
public class RescueBrain extends AbstractBrain<AbstractDesasterAgent> {
/**
*
*/
private static final long serialVersionUID = 2293834314809356023L;
public RescueBrain(AbstractDesasterAgent brainsBody) {
super(brainsBody);
}
@Override
public void decideAndReact(Wink simTime) {
// super.step(simTime);
RescuerContinousEnv env = (RescuerContinousEnv) this.getMyBody().getEnvironment();
Vector2D pos = new Vector2D(env.getAgentPosition(this.getMyBody().id()));
Vector2D gradient = env.getGradientAtCoordinate(pos);
gradient.mult(0.2);
pos.translate(gradient);
env.setAgentPosition(this.getMyBody().id(), pos);
if (simTime.getLastTick() == 0) {
env.setWheelErrorLeft(this.getMyBody().id(), this.getMyBody().getRand().nextDouble(), 0);
env.setWheelSpeedLeft(this.getMyBody().id(), 0.5);
env.setWheelSpeedRight(this.getMyBody().id(), 0.5);
}
if (!env.differentialDriveForward(this.getMyBody().id())) {
env.simulateAccident(360, 0.5, this.getMyBody().getRand(), this.getMyBody().id());
}
}
}