@Override
public void update(double time) {
if (redeployPrey && !anyActivePrey()) {
// There are no prey active, so we have to redeploy
redeployPrey();
}
nest.shape.getClosePrey().update(time, teleported);
CloseObjectIterator i = nest.shape.getClosePrey().iterator();
while (i.hasNext()) {
PhysicalObjectDistance preyDistance = i.next();
Prey nextPrey = (Prey) (preyDistance.getObject());
double distance = nextPrey.getPosition().length();
if (nextPrey.isEnabled() && distance < nestLimit) {
if (distance == 0) {
System.out.println("ERRO--- zero");
}
if (redeployPrey && currentRedeployCounter <= 0) nextPrey.setEnabled(false);
else if (redeployPrey) {
nextPrey.teleportTo(newPreyPosition());
currentRedeployCounter--;
} else nextPrey.teleportTo(newPreyPosition());
numberOfFoodSuccessfullyForaged++;
}
i.updateCurrentDistance(distance);
}
for (Robot robot : robots) {
PreyCarriedSensor sensor = (PreyCarriedSensor) robot.getSensorByType(PreyCarriedSensor.class);
if (sensor.preyCarried() && robot.isInvolvedInCollison()) {
PreyPickerActuator actuator =
(PreyPickerActuator) robot.getActuatorByType(PreyPickerActuator.class);
Prey preyToDrop = actuator.dropPrey();
preyToDrop.teleportTo(newPreyPosition());
}
}
}
private void placePrey(Prey prey) {
prey.teleportTo(newRandomPosition());
}