Definitions for world-1

• Radiation type hierarchy
• Lamp 1
• Lamp 2
• Simple light seeker
• Heat seeker
• Non-linear shy light seeker

;; Light is a type of electromagnetic radiation, visible-light
;; and infrared are types of light, low- and high-infrared are
;; types of infrared radiation.

(define-radiation-types
  (light (electromagnetic))
  (visible-light (light))
  (infrared (light))
  (low-infrared (infrared))
  (high-infrared (infrared)))


;; Define two yellow lamps, each radiating visible light.

(define-lamp lamp-1
  (:position 0.0 0.0)
  (:color 1.0 1.0 0.0)
  (:radiator r1
    (:radiation-type visible-light)
    (:decay-factor 0.05)))

(define-lamp lamp-2
  (:position -4.0 -4.0)
  (:color 1.0 1.0 0.0)
  (:radiator r1
    (:radiation-type visible-light)
    (:decay-factor 0.05)))


;; The green vehicle.
;; Homes in on visible light, motors radiate in low infrared.

(define-vehicle simple-light-seeker
  (:position 5.0 5.0)
  (:orientation 0)
  (:max-speed 15)
  (:color 0 1.0 0)
  (:sensor s1
    (:orientation -30)
    (:radiation-type visible-light)
    (:sensitivity 3.0))
  (:sensor s2
    (:orientation 30)
    (:radiation-type visible-light)
    (:sensitivity 3.0))
  (:motor m1
    (:position right)
    (:decay-factor 0.2))
  (:motor m2
    (:position left)
    (:decay-factor 0.2))
  (:radiator r1
    (:radiation-type low-infrared)
    (:decay-factor 1.0))
  (:brain
    (r1 (:inputs (m1 m2)))
    (m1 (:inputs (s2)))
    (m2 (:inputs (s1)))))


;; The red vehicle.
;; Sensors are sensitive to low infrared, motors radiate
;; high infrared (you might say its apparent self-awareness
;; is due to its unawareness).

(define-vehicle heat-seeker
  (:position -7.0 6.0)
  (:orientation 0.0)
  (:max-speed 15.0)
  (:color 1.0 0 0)
  (:sensor s1
    (:orientation -40)
    (:radiation-type low-infrared)
    (:sensitivity 10.0))
  (:sensor s2
    (:orientation 40)
    (:radiation-type low-infrared)
    (:sensitivity 10.0))
  (:motor m1
    (:position right)
    (:decay-factor 0.2))
  (:motor m2
    (:position left)
    (:decay-factor 0.2))
  (:radiator r1
    (:radiation-type high-infrared)
    (:decay-factor 1))
  (:brain
    (m2 (:inputs (s1)))
    (m1 (:inputs (s2)))
    (r1 (:inputs (m1 m2)))))


;; The blue vehicle.
;; Sensors pick up the high infrared radiation generated by
;; the predator's motors.  Motors radiate in low infrared.

(define-vehicle non-linear-shy-seeker
  (:position -2.0 4.0)
  (:orientation 294)
  (:color 0 0 1.0)

  ;; sensors
  (:sensor s1
    (:orientation 30)
    (:radiation-type visible-light)
    (:sensitivity 4.0))
  (:sensor s2
    (:orientation -30)
    (:radiation-type visible-light)
    (:sensitivity 4.0))
  (:sensor s3
    (:orientation 50)
    (:radiation-type high-infrared)
    (:sensitivity 2.0))
  (:sensor s4
    (:orientation -50)
    (:radiation-type high-infrared)
    (:sensitivity 2.0))

  ;; motors
  (:motor m1
    (:position left)
    (:decay-factor 0.1))
  (:motor m2
    (:position right)
    (:decay-factor 0.1))

  (:radiator r1
    (:radiation-type low-infrared)
    (:decay-factor 1.0))

  (:brain
   ;; Light-seeking behavior
   (n1 (:inputs (s1))
       (:inhibitors (n3))
       (:threshold 1))
   (n2 (:inputs (s1))
       (:threshold 1))
   (n3 (:inputs (n2))
       (:threshold 1))

   ;; Predator avoidance behavior
   (n4 (:inputs (s2))
       (:threshold 1))
   (n5 (:inputs (s2))
       (:threshold 1))
   (n6 (:inputs (n5))
       (:inhibitors (n4))
       (:threshold 1))
   
   ;; Connect neurodes as input to motors.
   (m1 (:inputs (n6 s3)))
   (m2 (:inputs (n1 s4)))
   
   ;; Connect motors as input to heat generator.
   (r1 (:inputs (m1 m2)))))