class Creature {
//** THIS STUFF IS COMING FROM VECTOR3D CLASS**//
  Vector3D loc;
  Vector3D vel;
  Vector3D acc;
  float r;
  
  
  //**FITNESS AND DNA**//
  float fitness;
  DNA genes;
  
  boolean stopped; // understand whether we are stucked.
  int finish;      // what was my finish place
  
  //CONSTRUCTOR
  Creature(Vector3D l, DNA dna, int f) {
  acc = new Vector3D(0.0,0.0,0.0);      // acceleration
  vel = new Vector3D(0.0,0.0,0.0);      // velocity
  loc = l.copy();
  r = 10.0f;
  genes = dna;
  stopped = false;
  finish = f;
 }
 
 
 // **** FITNESS FUNCTION **** //
 // distance = distance from target
 // finish = what order did I finish
 // f(distance, finish) = (1.0f / finish^1.5)*(1.0f / distance^6);
 // a lower finish is rewarded (exponentially) and/or shorter distance to target
   
   void calcFitness() {
     float d = v3d.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;
   }
   
     
   // run in relation to all the obstacle
   // if I am 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())) {
         stopped = true;
       }
     }
     //draw me
     render();
    } 
    
    // EDGES FUNCTION
    boolean borders() {
      if((loc.x() < 0) || (loc.y() < 0) || (loc.y() > width) || (loc.y() > height)) {
          return true;
       } else {
         return false;
       }
    }
    
    // DID I MAKE IT TO THE TARGET** //
    boolean finished() {
      float d = v3d.distance(loc,target);
      if(d< diam/2) {
        stopped = true;
        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);
         
         //Get the steering vector out of our genes in the right spot
         acc.add(genes.getGene(x+y*width/gridscale));
         
         // this is the stuff from vector3D
         acc.mult(maxforce);
         vel.add(acc);
         vel.limit(maxspeed);
         loc.add(vel);
         acc.setXYZ(0,0,0);
      }
    }
    
        
    void render() {
      //draws a triangle rotated in the direction of velocity
      float theta = vel.heading2D() + radians(180);
      if(stopped) fill(255,25); else fill(255);
      noStroke();
      pushMatrix();
      translate(loc.x(),loc.y());
      rotateZ(theta);
      
      fill(255,0,0,1);
      beginShape(TRIANGLES);
      vertex(0,  -r*0.1);
      vertex(-r,  r*0.1);
      vertex(r,   r*0.1);
      endShape(); 
      popMatrix();
    }
    
       
    float getFitness() {
      return fitness;
    }
    
    DNA getGenes() {
      return genes;
    }
    
    boolean stopped() {
      return stopped;
    }
 }