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#ifndef __STAGE_HPP__
#define __STAGE_HPP__
#include <fstream>
#include <iostream>
#include <NR_Utils.hpp>
#include <Hyperneat/Utils/Vector.hpp>
namespace hn = hyperneat;
class Stage {
public:
int load(const std::string& fileName);
void update();
void drawOn(sf::RenderWindow& surface) const;
private:
class CheckPoint {
public:
void calculateSegment(const CheckPoint& prev);
sf::VertexArray _line = sf::VertexArray(sf::Lines);
double _value = 0.0;
double _segment = 0.0;
b2Body* _body = nullptr;
};
b2World _world = { { 0.0f, 0.0f } };
ContactListener _listener;
hn::Vector<sf::VertexArray> _walls;
hn::Vector<b2Body*> _wallBodies;
hn::Vector<b2AABB> _traps;
hn::Vector<sf::RectangleShape> _trapRects;
hn::Vector<CheckPoint> _checkPoints;
sf::CircleShape _factory = sf::CircleShape(AGENT_RAD + 2, AGENT_RES);
friend class App;
friend class Agent;
};
#endif // __STAGE_HPP__
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