Replicator::Replicator(WorldObjects& worldObjects, WorldReplicators& replicators, std::string ID, unsigned int category, unsigned int energy) :
    ChargedObject(energy), m_ID(ID), m_category(category), m_Leader(NULL)
{
    if( ( getCounter()++ ) == 0 )
        srand(time(0));

    setPosition( rand() % WORLD_BOUNDARIES_X, rand() % WORLD_BOUNDARIES_Y );
    setRadius( REPLICATOR_BASE_ABSORPTION_RADIUS );

    m_targetMarked = false;


    /** Behaviour Management **/

    /// The blackboard represents the memory and the senses of this Replicator

    m_bt.setBlackboard( new ReplicatorBlackboard(*this, worldObjects, replicators) );

    /// This tree will only have two nodes

    /// I) The first one is going to represent the logic for seeking nearby objects charged with energy

    BT_Node *searchForEnergy = new BT_Node("Search for energy");

    m_bt.add( searchForEnergy );

    /// First we add a service that is going to search for the closest charged object

    searchForEnergy->add( new ReplicatorService_FindClosestObject );

    /** Then we add some conditions to see if we want to go for this object
    *** 1) Do we need more energy ?
    *** 2) Do we have enough energy to move to this object ?
    **/

    searchForEnergy->add( new ReplicatorCheck_LowEnergy );
    searchForEnergy->add( new ReplicatorCheck_TargetReachable );

    /// II) The second node is going to represent the logic for seeking another Replicator of a higher category in case we already
    ///     have enough energy

    BT_Node *searchForHigherReplicators = new BT_Node("Search for higher Replicators");

    m_bt.add( searchForHigherReplicators );

    /// First we add a service that is going to search for a higher Replicator nearby

    searchForHigherReplicators->add( new ReplicatorService_FindHigherReplicator );

    /** Then we add some conditions to see if we want to go after this Replicator
    *** 1) Do we have enough energy to move to this object...
    *** 2) AND Do we have enough energy to download it's data ?
    **/

    searchForEnergy->add( new ReplicatorCheck_CanReachTargetAndDownload );

}