//Vehicle 2:

// something isn't working properly, but they're still moving like little insect things...

// class Vehicle contains 2 objects of class Motor and 2 of class Sensor, coupled

// the mouse is the nice smell in the world

int worldsize = 500;
int maxv = 8;
float friction = 0.90;
float sniffrange = 30;
Vehicle[] vehicles = new Vehicle[maxv];

void setup() {
  size(worldsize,worldsize);

  stroke(200,200,200); 

rectMode(CENTER_DIAMETER);
  
  for (int i=0;i<maxv;i++) {
    vehicles[i] = new Vehicle();
  }
}

void mousePressed() 
{ 
  setup(); 
} 

void loop() {
  background(0);
  
  for (int i=0;i<maxv;i++) {
    vehicles[i].run();
  }
}

class Motor {
  float speed;
  Vehicle parent;
  int side;
  
  Motor(Vehicle p, int s) {
    parent = p; side = s;
    speed = random(3);
  }
  
  void run() { speed *= friction; }
  
  void render() { 
    stroke(128 + speed*32);
    rect(-4,side,4,1); 
  }
}

class Sensor {
  Vehicle parent;
  int side;
  float sense;
  float force = 1;
  
  Sensor(Vehicle p, int s) {
    parent = p; side = s;
    sense = 0.0;
  }
  
  void run() {
    sense = 100/dist(parent.x+2,parent.y+side,mouseX,mouseY);
  }
  
  void render() { 
    stroke(128 + (force*128),200,200);
    bezier(sense,side,2,side+2,2,side,sense,side+2);    
  }
 }



class Vehicle {
  float x,y;
  float velx,vely;
  float direction;
  Motor m1,m2;
  Sensor s1,s2;
  
  Vehicle() {
    x = random(worldsize);
    y = random(worldsize);
    //direction = random(1000)/1000*PI;
    direction = 0;
    
    m1 = new Motor(this,-4);
    m2 = new Motor(this,4);
    s1 = new Sensor(this,-4);
    s2 = new Sensor(this,4);
  }
  
  void run() {
    x += velx;
    y += vely;
    x = (x + worldsize) % worldsize;
    y = (y + worldsize) % worldsize;
    
    m1.run();
    m2.run();
    s1.run();
    s2.run();
    
    velx = cos(direction)*(m1.speed+m2.speed);
    vely = sin(direction)*(m1.speed+m2.speed);
    
    // sniffer
    float d = dist(mouseX,mouseY,x,y);
    // only sniff in front
    if (velx*(mouseX-x) > 0 && vely*(mouseY-y) > 0) {
      m1.speed += s1.sense;
      m2.speed += s2.sense;
    }
    
    // rotation due to separation of motors
    direction += (m1.speed-m2.speed)*(m1.speed+m2.speed)*0.1;
    
    // small random pertubations
    direction *= 1 + ((random(100)-50)/6000);
    
    render();
  }
  
   void render() {
    push();
    translate(x,y);
    rotate(direction);
    stroke(100);
    rect(0,0,6,2);
    m1.render();
    m2.render();
    s1.render();
    s2.render();
    pop();
  }
  
}