Team::Team(Stage* stage, const Team& team)
: QObject(stage),
color_(team.color()),
goals_(team.goals()),
yellowCards_(team.yellowCards()),
redCards_(team.redCards())
{
stage_ = stage;
for(int i=0; i<team.size(); i++){
Robot* r = new Robot( *(team.at(i)) );
r->setTeam(this);
r->setStage(stage);
this->push_back(r);
}
}
void Controller2::step() {
CXBOXController* controller = new CXBOXController(id);
qreal sx = 0.0, sy = 0.0, dx = 0.0, dy = 0.0, sBoost = 1.0, aBoostAng = 1.0;
qint32 dribSign = 1;
if(controller->IsConnected()){
//rotation
qreal t_dx = controller->ThumbRX();
qreal t_dy = controller->ThumbRY();
if(t_dx * t_dx + t_dy * t_dy < .05) {
t_dx = 0;
t_dy = 0;
}
if(controller->ButtonPressed(XINPUT_GAMEPAD_RIGHT_THUMB)) {
aBoostAng = 5.0;
} else {
aBoostAng = 1.0;
}
move->setSpeedAngular(-t_dx * 5);
//steer->setRate(0.06 * aBoostAng);
//movement
sx = controller->ThumbLX();
sy = controller->ThumbLY();
// dead zone
if(sx * sx + sy * sy < .05) {
sx = 0;
sy = 0;
}
//direcionais
if(controller->ButtonPressed(XINPUT_GAMEPAD_DPAD_DOWN)) {
sx = 0;
sy = -1;
}
if(controller->ButtonPressed(XINPUT_GAMEPAD_DPAD_UP)) {
sx = 0;
sy = 1;
}
if(controller->ButtonPressed(XINPUT_GAMEPAD_DPAD_LEFT)) {
sx = -1;
sy = 0;
}
if(controller->ButtonPressed(XINPUT_GAMEPAD_DPAD_RIGHT)) {
sx = 1;
sy = 0;
}
if(controller->ButtonPressed(XINPUT_GAMEPAD_LEFT_THUMB)) {
sBoost = 10.0;
} else {
sBoost = 1.0;
}
//steer->setAll(sx * sBoost * speed, sy * sBoost * speed, dx, dy);
qreal theta = robot()->orientation();
qreal ssx = sx * cos(theta) - sy * sin(theta);
qreal ssy = sx * sin(theta) + sy * cos(theta);
//steer->setAll(ssx * sBoost * speed, ssy * sBoost * speed, dx, dy);
move->setSpeeds(ssy * sBoost * speed, - ssx * sBoost * speed);
//dribbler
if(controller->ButtonPressed(XINPUT_GAMEPAD_LEFT_SHOULDER)) {
dribSign = -1;
} else {
dribSign = 1;
}
robot()->dribble(dribSign * controller->TriggerL());
//kicker
if(controller->ButtonPressed(XINPUT_GAMEPAD_RIGHT_SHOULDER)) {
robot()->kick(controller->TriggerR());
} else {
robot()->kick(0.0);
}
//steer->step();
//blocker
if(controller->ButtonPressed(XINPUT_GAMEPAD_A)) {
bl->step();
}
else if(controller->ButtonPressed(XINPUT_GAMEPAD_B)) {
Team* team = robot()->team();
int id = robot()->id();
id++;
id%=team->size();
this->setRobot(team->at(id));
}
//goalkeeper
else if(controller->ButtonPressed(XINPUT_GAMEPAD_X)) {
gk->step();
}
//zickler
else if(controller->ButtonPressed(XINPUT_GAMEPAD_Y)) {
zk->step();
}
else if(controller->ButtonPressed(XINPUT_GAMEPAD_START)) {
kt->setPoint(*(robot()->enemyGoal()));
kt->step();
}
else if(controller->ButtonPressed(XINPUT_GAMEPAD_BACK)) {
at->step();
}
else
move->step();
}
}
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++;
}
}
}
