public void Init(Intension intension, Perception perception, FishBody body)
        {
            this.motorControllers.Clear();

            var focusser = perception.GetFocuser();

            var normal = body.modelData.Normal;
            var left   = body.modelData.Left;
            var dir    = focusser.target.obj.obj.Position - body.modelData.GeometryCenter;

            var motorType = focusser.motorPreference.MaxValue.type;

            if (motorType == Focusser.MotorPreference.Type.MoveForward)
            {
                if (this.smc == null)
                {
                    this.smc    = new SwimMC();
                    this.curves = this.smc.ActivationData.ToAnimationCurves();
                }
                if (focusser.target.obj != null)
                {
                    this.smc.UpdateSpeed(focusser.target.obj.distance);
                }
                this.motorControllers.Add(this.smc);
            }
            else if (motorType == Focusser.MotorPreference.Type.TurnLeft)
            {
                if (this.tlmc == null)
                {
                    this.tlmc   = new TurnLeftMC();
                    this.curves = this.tlmc.ActivationData.ToAnimationCurves();
                }
                var angle = this.GetAngleInFish(dir, normal, left);
                this.tlmc.UpdateAngle(angle);
                this.motorControllers.Add(this.tlmc);

                this.smc?.UpdateSpeed(0);
            }
            else if (motorType == Focusser.MotorPreference.Type.TurnRight)
            {
                if (this.trmc == null)
                {
                    this.trmc   = new TurnRightMC();
                    this.curves = this.trmc.ActivationData.ToAnimationCurves();
                }
                var angle = this.GetAngleInFish(dir, normal, left);
                this.trmc.UpdateAngle(angle);
                this.motorControllers.Add(this.trmc);

                this.smc?.UpdateSpeed(0);
            }


            var balance = new BalanceMC();

            balance.UpdateBalance(left, normal);
            this.motorControllers.Add(balance);
        }
 protected void InitActivations()
 {
     this.smc = new SwimMC();
     this.lmc = new TurnLeftMC();
     this.rmc = new TurnRightMC();
 }