// Pathfinding w/ Genetic Algorithms
// Daniel Shiffman <http://www.shiffman.net>

// Creature class -- this is just like our Boid / Particle class
// the only difference is that it has DNA & fitness

class Creature {

  //*ALL THE STUFF WE HAD BEFORE*//
  Vector3D loc;
  Vector3D vel;
  Vector3D acc;
  float r;
  float recordDist;
  Man aMan;
  //**FITNESS AND DNA**//
  float fitness;
  DNA genes;

  boolean stopped;  //am I stuck?
  int finish;       //what was my finish? (first, second, etc. . . )

  //constructor
  Creature(Vector3D l, DNA dna, int f) {
    acc = new Vector3D(0.0,0.0,0.0);
    vel = new Vector3D(0.0,0.0,0.0);
    loc = l.copy();
    r = 4.0f;
    genes = dna;
    stopped = false;
    finish = f;
    recordDist = width;
aMan = new Man();
  }

  //***FITNESS FUNCTION*****//
  // distance = distance from target
  // finish = what order did i finish (first, second, etc. . .)
  // f(distance,finish) =   (1.0f / finish^1.5) * (1.0f / distance^6);
  // a lower finish is rewarded (exponentially) and/or shorter distance to target (exponetially)
  void calcFitness() {
    float d = recordDist; //Vector3D.distance(loc,target);
    if (d < diam/2) {
      d = 1.0f;
    }
    //reward finishing faster and getting closer
    fitness = (1.0f / pow(finish,1.5f)) * (1.0f / (pow(d,6)));
  }

  void setFinish(int f) {
    finish = f;
    //print(finish + " ");
  }

  //Run in relation to all the obstacles
  //If I'm stuck, don't bother updating or checking for intersection
  void run(ArrayList o) {
    if (!stopped) {
      update();
      //if I hit an edge or an obstacle
      if ((borders()) || (obstacles(o))) {
        
        float rolldice =random(0,100);
        if (rolldice < 10){ //this number is percentage of if they stop or not
          stopped = true;//if this is false they roam all over--------------------------note from jody
          }
      }
    } else {
      float throwdice = random (0,100);
      if (throwdice < 5){//this number is pecentage of time they change color
        stopped =false;
        
      }
      
    }
    //draw me!
    render();
  }

  //*DID I HIT AN EDGE??*//
 boolean borders() {
    if ((loc.x < 0) || (loc.y < 0) || (loc.x > width) || (loc.y > height)) {
      return true;
   } 
   else {
     return false;
   }
  }

  //**DID I MAKE IT TO THE TARGET??*//
  boolean finished() {
    /*
    float d = dist(loc.x,loc.y,target.r.x,target.r.y);
    if (d < recordDist) recordDist = d;
    //if ( d < diam/2) {
    if (target.contains(loc)) {// THIS IS WHERE IT ASKS IF IT'S TOUCHING THE TARGET
      stopped = true;
      return true;
    }*/
    return false;
    
    
  }

  //**DID I HIT AN OBSTACLE?**//
  boolean obstacles(ArrayList o) {
    for (int i = 0; i < o.size(); i++) {
      Obstacle obs = (Obstacle) o.get(i);
      if (obs.contains(loc)) {
        return true;
      }
    }
    return false;
  }

  void update() {
    if (!finished()) {
      //where are we?  Our location will tell us what steering vector to look up in our DNA;
      int x = (int) loc.x/gridscale;
      int y = (int) loc.y/gridscale;
      x = constrain(x,0,width/gridscale-1);  //make sure we are not off the edge
      y = constrain(y,0,height/gridscale-1); //make sure we are not off the edge

      //Get the steering vector out of our genes in the right spot
      acc.add(genes.getGene(x+y*width/gridscale));

      //this is all the same stuff we've done before
      acc.mult(maxforce);
      vel.add(acc);
      vel.limit(maxspeed);
      loc.add(vel);
      acc.setXYZ(0,0,0);
    }
  }

  void render() {
    smooth();
    int r = 255;
    int g  = 0;
    int b = 0;
    if (stopped){
      //c = color(255); //here is hwere they would disappear--could they the man change color  here?
      g=255;
      b=255;
    }
   // else fill(255,75);
    noStroke();
    pushMatrix();
    translate( loc.x, loc.y); 
    aMan.render( r,g,b );
    //println("draw at: "+ loc.x + " / " +loc.y);
    popMatrix();
    //rect(loc.x,loc.y,10,10);  
   
  }

  float getFitness() {
    return fitness;
  }

  DNA getGenes() {
    return genes;
  }

  boolean stopped() {
    return stopped;
  }

}