Agent* Env::addAgent(float range, float speed) {
int idAgent = this->agents.size();
Agent *agent = new Agent(idAgent, phy, range/this->W, speed, (EnvAgents*)this);
this->phy->addAgent(idAgent, agent->getPos(), agent->getAngle(), agent->getSize(), agent->getRange()/this->W);
this->agents.insert(pair<long, Agent*>(idAgent, agent));
this->phy->setMaxSpeed(idAgent, speed);
return agent;
}
