using UnityEngine;

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

    public Neuroid output;

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

    public const int BoundaryType = 1;
    public const int BoidType = 2;

    public Swarming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
        this.cohesion = new(neuroidNet, "Cohesion");
        perception.SendPositions(this.cohesion, 1.0f, BoidType);

        this.alignment = new(neuroidNet, "Alignment") { average = true };
        perception.SendVelocities(this.alignment, 1.0f, BoidType);

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

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

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