root/src/BRAINSFramework/Agent.cs

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        private IBehavior _rootBehavior;
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        private IBehavior _rootBehavior;
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        private LocomotionController _motionController;
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        private LocomotionController _motionController;
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        /// <summary>



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        /// Gets or sets the Feelers on the agent.



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        /// </summary>



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        public List<Feeler> Feelers { get; set; }
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        public List<Feeler> Feelers { get; set; }



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        /// <summary>



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        /// Gets or sets the name of the Agent



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        /// </summary>



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        public string Name { get; set; }
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        public string Name { get; set; }



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        public int NextID
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        private int NextID



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        {
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        {



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            get
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            get



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            {
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            {


...
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            }
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            }



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        }
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        }



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        /// <summary>



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        /// Gets the cells the agent is in



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        /// </summary>



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        /// <remarks>Current implementation only supports 1</remarks>



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        public List<GridCell> CellsIAmIn { get; set; }
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        public List<GridCell> CellsIAmIn { get; set; }



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        /// <summary>
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        /// <summary>



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        /// The position of the Actor
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        /// The position of the Actor



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        /// </summary>
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        /// </summary>



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        public Vector2 Position { get; set; }
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        public Vector2 Position { get; set; }



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        /// <summary>



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        /// Gets or sets the previous position of the agent



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        /// </summary>



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        public Vector2 PreviousPosition{ get; set; }
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        public Vector2 PreviousPosition{ get; set; }



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        /// <summary>
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        /// <summary>


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            Feelers.Add(new Feeler(new Vector2(x, y),length,this));
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            Feelers.Add(new Feeler(new Vector2(x, y),length,this));



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        }
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        }



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        /// <summary>



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        /// Update the agent every frame. 



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        /// </summary>



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        /// <param name="gameTime">The time elapsed since the last update</param>



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        public virtual void Update(GameTime gameTime)
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        public virtual void Update(GameTime gameTime)



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        {
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        {



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            if (RootBehavior != null &&
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            if (RootBehavior != null &&


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        /// Every time an actor changes its position, it remembers all map's nodes
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        /// Every time an actor changes its position, it remembers all map's nodes



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        /// he is in.
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        /// he is in.



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        /// </summary>
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        /// </summary>



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        public void UpdateLocationData()
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        private void UpdateLocationData()



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        {
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        {



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            // 1. remove itself from all previous AINodes
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            // 1. remove itself from all previous AINodes



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            for (int index = 0; index < CellsIAmIn.Count; index++)
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            for (int index = 0; index < CellsIAmIn.Count; index++)


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            int indexY = (int)yComponent;
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            int indexY = (int)yComponent;



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            indexX = indexX % map.Cols;
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            indexX = indexX % map.Cols;



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            indexY = indexY % map.Rows;
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            indexY = indexY % map.Rows;



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            map = GetGridAtPosition(Position);
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            map = ParentWorld.Map.ClusterGrid.GetGridAtPosition(Position);



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            if (map != null)
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            if (map != null)



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            {
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            {



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                GridCell desiredNode = map.GetCell(indexX, indexY);
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                GridCell desiredNode = map.GetCell(indexX, indexY);


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                Console.Write("");
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                Console.Write("");



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            }
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            }



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        }
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        }



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        public Grid GetGridAtPosition(Vector2 position)



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        {



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            foreach (var item in ParentWorld.Map.ClusterGrid.Grids)



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            {



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                if (



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                    (position.X > item.Position.X && position.X < (item.Position.X + item.Width)) &&



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                    (position.Y > item.Position.Y && position.Y < (item.Position.Y + item.Height))



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                    )



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                {



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                    return item;



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                }



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            }



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            return null;



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        }



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        /// <summary>
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        /// <summary>



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        /// Loads a Behavior from a file
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        /// Loads a Behavior from a file



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        /// </summary>
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        /// </summary>