void AutoRetaliate::step(){
Team* team = this->team_;
Goal* myGoal = team->goal();
if(player_[0]->robot()->isActive())
{
player_[0]->step();
}
/*else
{
map<qreal, Robot*> robotsCloseToGoal = stage()->getClosestPlayersToPoint(team, team->goal()->x(), team->goal()->y());
map<qreal, Robot*>::iterator goalIter = robotsCloseToGoal.begin();
for(int j=0; j<robotsCloseToGoal.size(); j++){
Robot* r = goalIter.first;
}
for(int i=0; i<team->size(); i++)
{
if(team->at(i)->isActive())
{
player_[0]->setRobot(team->at(i));
player_[0]->step();
break;
}
}
}*/
if(myGoal->width()>0){
Goal* goal = this->team()->goal();
cover1->setX(goal->x());
cover1->setY(goal->y() + goal->width()/3);
cover2->setX(goal->x());
cover2->setY(goal->y() - goal->width()/3);
cover3->setX(goal->x());
cover3->setY(goal->y());
//usei team->enemyTeam()->at(0), mas tanto faz pq o enemy eh associada dinamicamente ao robo
for(int i = 3; i < this->team()->size(); i++){
Object* p;
if(i==3)
p = cover1;
else if(i==4)
p = cover2;
else
p = cover3;
((Defender*)player_[i])->setCover(p);
}
init = true;
}
if(init){
Stage* stage = this->stage_;
Ball* ball = stage->ball();
map<qreal, Robot*> close = stage->getClosestPlayersToBallThatCanKick(team);
map<int, Robot*> ids;
map<qreal, Robot*> enemys = stage->getClosestPlayersToPointThatCanKick(team->enemyTeam(), (Point*)team->goal());
//Attacker e Blocker
int i=0;
map<qreal, Robot*>::iterator it1 = close.begin();
for(int j=0; j<close.size(); j++){
if((*it1).second->id() == player_[0]->robot()->id()){
it1++;
continue;
}
Robot* robot = (*it1).second;
if(i == 0){
player_[1]->setRobot(robot);
player_[1]->step();
}
else if(i == 1){
player_[2]->setRobot(robot);
player_[2]->step();
}
else
ids[robot->id()] = robot;
i++;
it1++;
}
//Defenders enemys
map<qreal, Robot*>::iterator it3 = enemys.begin();
//Defenders
map<int, Robot*>::iterator it2 = ids.begin();
for(int i=3; i<team->size() && it2!=ids.end(); i++){
player_[i]->setRobot((*it2).second);
if(it3!=enemys.end() && (*it3).second != NULL){
((Defender*)player_[i])->setEnemy((*it3).second);
it3++;
}
else{
((Defender*)player_[i])->setEnemy(ball);
((Defender*)player_[i])->reset();
}
player_[i]->step();
it2++;
}
}
}
