Definitions for world-2

• Radiation type hierarchy
• Lamps
• Vehicles

;; 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 three lamps.  Each radiates visible light, and each has an
;; infrared sensor attached to its "filament" via an inhibitory
;; connection.  The lamps are yellow in the simulation view.

(define-lamp lamp-1
  (:position 0 -1.5)
  (:color 1.0 1.0 0.0)
  (:sensor s1
    (:radiation-type infrared)
    (:non-directional? T)
    (:sensitivity 10.0))
  (:radiator r1
    (:radiation-type visible-light)
    (:decay-factor 0.05)
    (:brightness 2.0))
  (:brain
   (n1 (:inputs ())
       (:threshold 0)
       (:inhibitors (s1)))
   (r1 (:inputs (n1)))))

(define-lamp lamp-2
  (:position 1.5 1.5)
  (:color 1.0 1.0 0.0)
  (:sensor s1
    (:radiation-type infrared)
    (:non-directional? T)
    (:sensitivity 10.0))
  (:radiator r1
    (:radiation-type visible-light)
    (:brightness 2.0)
    (:decay-factor 0.05))
  (:brain
   (n1 (:inputs ())
       (:threshold 0)
       (:inhibitors (s1)))
   (r1 (:inputs (n1)))))

(define-lamp lamp-3
  (:position -1.5 1.5)
  (:color 1.0 1.0 0.0)
  (:sensor s1
    (:radiation-type infrared)
    (:non-directional? T)
    (:sensitivity 10.0))
  (:radiator r1
    (:radiation-type visible-light)
    (:brightness 2.0)
    (:decay-factor 0.05))
  (:brain
   (n1 (:inputs ())
       (:threshold 0)
       (:inhibitors (s1)))
   (r1 (:inputs (n1)))))



;; The two vehicles are identical.  They are attracted to visible
;; light and have motors that radiate in low infrared. 

(define-vehicle simple-light-seeker-1
  (:position 3.0 3.0)
  (:orientation 180)
  (: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 0.18))
  (:motor m2
    (:position left)
    (:decay-factor 0.18))
  (:radiator r1
    (:radiation-type low-infrared)
    (:decay-factor 1.0))
  (:brain
   (r1 (:inputs (m1 m2)))
   (m1 (:inputs (s2)))
   (m2 (:inputs (s1)))))

(define-vehicle simple-light-seeker-2
  (:position 2.0 3.0)
  (:orientation 180)
  (:max-speed 15)
  (:color 1.0 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 0.18))
  (:motor m2
    (:position left)
    (:decay-factor 0.18))
  (:radiator r1
    (:radiation-type low-infrared)
    (:decay-factor 1.0))
  (:brain
   (r1 (:inputs (m1 m2)))
   (m1 (:inputs (s2)))
   (m2 (:inputs (s1)))))