2 files changed, 66 insertions, 34 deletions

diff --git a/src/ch/epfl/maze/physical/stragegies/picker/CyclePicker.java b/src/ch/epfl/maze/physical/stragegies/picker/CyclePicker.java
index e1a969f..efa3794 100644
--- a/src/ch/epfl/maze/physical/stragegies/picker/CyclePicker.java
+++ b/src/ch/epfl/maze/physical/stragegies/picker/CyclePicker.java
@@ -38,4 +38,25 @@ public interface CyclePicker extends BlindPicker {
         return dir;
     }
 
+    /**
+     * Counts the number of rotations to rotates to the given Direction
+     *
+     * @param direction The Direction
+     * @return The number of rotations
+     */
+    default int countRotations(Direction direction) {
+        if (direction == Direction.NONE) return 0;
+        if (this.getStartingDirection() == Direction.NONE) return 0;
+        if (this.getRotationDirection() == Direction.NONE) return 0;
+
+        Direction dir = this.getStartingDirection();
+        int counter = 0;
+        while (dir != direction) {
+            dir = dir.unRelativeDirection(this.getRotationDirection());
+            counter += 1;
+        }
+
+        return counter;
+    }
+
 }
diff --git a/src/ch/epfl/maze/physical/zoo/Bear.java b/src/ch/epfl/maze/physical/zoo/Bear.java
index 11faba5..062ee50 100644
--- a/src/ch/epfl/maze/physical/zoo/Bear.java
+++ b/src/ch/epfl/maze/physical/zoo/Bear.java
@@ -1,6 +1,8 @@
 package ch.epfl.maze.physical.zoo;
 
 import ch.epfl.maze.physical.Animal;
+import ch.epfl.maze.physical.stragegies.picker.CyclePicker;
+import ch.epfl.maze.physical.stragegies.picker.SimplePicker;
 import ch.epfl.maze.util.Direction;
 import ch.epfl.maze.util.Vector2D;
 
@@ -12,11 +14,12 @@ import java.util.Set;
  * @author EPFL
  * @author Pacien TRAN-GIRARD
  */
-public class Bear extends Animal {
+public class Bear extends Animal implements SimplePicker, CyclePicker {
+
+    public static final Direction SMART_PAW = Direction.LEFT;
 
     private Direction favoriteDirection;
-    private Direction currentDirection;
-    private int rightRotationCounter;
+    private int rotationCounter;
 
     /**
      * Constructs a bear with a starting position.
@@ -25,18 +28,9 @@ public class Bear extends Animal {
      */
     public Bear(Vector2D position) {
         super(position);
-        this.favoriteDirection = Direction.NONE;
-        this.currentDirection = Direction.NONE;
-        this.rightRotationCounter = 0;
-    }
 
-    /**
-     * Checks if the Bear is currently trying to bypass an obstacle.
-     *
-     * @return T(The Bear is bypassing an obstacle)
-     */
-    private boolean isBypassingObstacle() {
-        return this.rightRotationCounter != 0;
+        this.favoriteDirection = Direction.NONE;
+        this.rotationCounter = 0;
     }
 
     /**
@@ -44,24 +38,35 @@ public class Bear extends Animal {
      *
      * @return The preferred Direction
      */
-    private Direction getPreferredDir() {
-        return this.isBypassingObstacle() ? this.currentDirection.rotateLeft() : this.favoriteDirection;
+    @Override
+    public Direction getStartingDirection() {
+        if (this.isBypassingObstacle())
+            return this.getDirection().unRelativeDirection(Bear.SMART_PAW);
+        else
+            return this.favoriteDirection;
+    }
+
+    @Override
+    public Direction getRotationDirection() {
+        return Bear.SMART_PAW.reverse();
     }
 
     /**
-     * Finds a currentDirection following the "left paw rule".
+     * Preferably picks the Bear's favorite Direction,
+     * or a Direction following the "paw rule" if bypassing an obstacle,
+     * or any available Direction if the Bear has no preference yet.
      *
-     * @param choices A set of possible directions
-     * @return The currentDirection to take according to the "left paw rule"
+     * @param choices A set of Direction choices
+     * @return The picked Direction
      */
-    private Direction followLeft(Set<Direction> choices) {
-        if (choices.isEmpty()) return Direction.NONE;
-        if (choices.size() == 1) return choices.stream().findAny().get();
-
-        Direction dir = this.getPreferredDir();
-        while (!choices.contains(dir)) dir = dir.rotateRight();
-
-        return dir;
+    @Override
+    public Direction pick(Set<Direction> choices) {
+        if (this.getDirection() == Direction.NONE)
+            return SimplePicker.super.pick(choices);
+        else if (!choices.contains(this.getDirection()) || this.isBypassingObstacle())
+            return CyclePicker.super.pick(choices);
+        else
+            return this.favoriteDirection;
     }
 
     /**
@@ -75,16 +80,13 @@ public class Bear extends Animal {
     @Override
     public Direction move(Set<Direction> choices) {
         if (this.favoriteDirection == Direction.NONE)
-            this.favoriteDirection = choices.stream().findAny().get();
+            this.favoriteDirection = this.getDirection();
 
-        Direction newDirection = this.followLeft(choices);
+        Direction dir = this.pick(choices);
 
-        if (this.currentDirection.reverse() == newDirection) this.rightRotationCounter += 2;
-        else if (this.currentDirection.rotateRight() == newDirection) this.rightRotationCounter += 1;
-        else if (this.currentDirection.rotateLeft() == newDirection) this.rightRotationCounter -= 1;
+        this.rotationCounter += this.countRotations(dir);
 
-        this.currentDirection = newDirection;
-        return this.currentDirection;
+        return dir;
     }
 
     @Override
@@ -92,4 +94,13 @@ public class Bear extends Animal {
         return new Monkey(this.getPosition());
     }
 
+    /**
+     * Checks whether the Bear is currently trying to bypass an obstacle.
+     *
+     * @return T(The Bear is bypassing an obstacle)
+     */
+    private boolean isBypassingObstacle() {
+        return this.rotationCounter != 0;
+    }
+
 }