class creature 
{
  float fitness;
  
  genome genotype;
  int minGenes=25;
  int maxGenes=30;
  int maxRepeat=3;
  int maxNodes=500;
//  int amount=int(random(minGenes,maxGenes));    
  int amount=15;
  
  position rootNode;  
  
  lattice phenotype;
  int nodeAmount=0;  
  float cohesionDistance=30;
  float minDistance=15;
  float collisionDistance=12;    
  
  position lastP;
  position p;
  float distanceTravelled=0;
  
  boolean allTypes=false;
  creature(position startPos)
  {
    rootNode=new position(startPos);
    genotype=new genome(amount,this);
    phenotype=new lattice(nodeAmount,this);    
    buildCreature(rootNode,phenotype,genotype,maxNodes);    

    phenotype.update();    
    p=new position(phenotype.averagePos);
    lastP=new position(p);
    distanceTravelled=0;  
    allTypes=checkCompletion();      
    tagGenome();    
  }
  creature(creature c)
  {
    fitness=0;
    rootNode=new position(c.rootNode);
    minGenes=c.minGenes;
    maxGenes=c.maxGenes;
    maxNodes=c.maxNodes;
    maxRepeat=c.maxRepeat;
    amount=c.amount;
    nodeAmount=c.nodeAmount;
    cohesionDistance=c.cohesionDistance;
    collisionDistance=c.collisionDistance;  
    minDistance=c.minDistance;    
    
    genotype=new genome(c.genotype,this);
    phenotype=new lattice(nodeAmount,this);
    //rebuild();
    //phenotype=new lattice(c.nodeAmount,this);    
    buildCreature(rootNode,phenotype,genotype,maxNodes);    

    phenotype.update();    
    p=new position(phenotype.averagePos);
    lastP=new position(p);
    distanceTravelled=0;    
    allTypes=checkCompletion();
    tagGenome();
  }
  creature(position startPos,genome g)
  {
    rootNode=new position(startPos);
    genotype=new genome(g,this);
    phenotype=new lattice(nodeAmount,this);    
    buildCreature(rootNode,phenotype,genotype,maxNodes);    

    phenotype.update();    
    p=new position(phenotype.averagePos);
    lastP=new position(p);
    distanceTravelled=0;    
    allTypes=checkCompletion();    
    tagGenome();    
  }  
  void update(position l)
  {
    lastP=new position(p);      
    phenotype.update(l);
    p=new position(phenotype.averagePos);  
    distanceTravelled+=dist(lastP,p);
  }
  boolean checkCompletion()
  {
    return phenotype.allTypes();
  }
  boolean checkStability()
  {
    return phenotype.stable;
  }
  float currentSize()
  {
    return phenotype.mostDistant;
  }
  void export(String filename)
  {
    String list[]=split(genotype.strainKey);
    saveStrings(filename,list);
  }
  void rebuild()
  {
    genotype.clearTags();
    phenotype=new lattice(nodeAmount,this);    
    buildCreature(rootNode,phenotype,genotype,maxNodes);    
    phenotype.update();        
    p=phenotype.averagePos;    
    lastP=new position(p);    
    distanceTravelled=0;    
    tagGenome();
  }
  void mutate()
  {
    if(random(100)>50)
      for(int m=0;m<8;m++)    
        genotype.mutateMorph();
    else
      for(int m=0;m<8;m++)
        genotype.mutateNS();    
  }
  void tagGenome()
  {
    for(int p=0;p<phenotype.nodes.length;p++)
    {
      for(int g=0;g<genotype.strain.length;g++)
      {
        if(phenotype.nodes[p].g.id==genotype.strain[g].id)
          genotype.strain[g].usedInPhenotype=true;
      }
    }
  }
}