using UnityEngine;

public class Swarming : Nucleus {
    public Neuroid cohesion;
    public Neuroid alignment;
    public Neuroid avoidance;
    public Neuroid boundary;

    public Neuroid output;

    public override Vector3 outputValue { get => output.outputValue; set => output.outputValue = value; }

    public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base(null, "Swarming Nucleus") {
        this.cohesion = new(brain, "Cohesion") { inverse = false };
        perception.SendPositions(this.cohesion, Boid.BoidType);

        this.alignment = new(brain, "Alignment") { average = true };
        perception.SendVelocities(this.alignment, Boid.BoidType);

        this.avoidance = new(brain, "Avoidance") { inverse = true };
        perception.SendPositions(this.avoidance);

        this.boundary = new(brain, "Boundary");
        perception.SendPositions(this.boundary, Boid.BoundaryType);

        this.output = new(brain, "Swarming");
        this.output.GetInputFrom(alignment, sc.alignmentForce);
        this.output.GetInputFrom(cohesion, sc.cohesionForce);
        this.output.GetInputFrom(avoidance, -sc.avoidanceForce);
        this.output.GetInputFrom(boundary, -sc.avoidanceForce);
    }

    public override void AddReceiver(Nucleus receiver) {
        this.output.AddReceiver(receiver);
    }
}