todos_funcioando

gabrielclemnt · Jan 19, 2024 · f00e2ef · f00e2ef
1 parent fea7c0e
commit f00e2ef
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Showing 3 changed files with 64 additions and 21 deletions.
diff --git a/src/entities/coach/coach.cpp b/src/entities/coach/coach.cpp
@@ -265,22 +265,25 @@ void Coach::runCoach() {
             players.value(playerId).value()->dribble(true);
 
 
-            if(ballPosition.x() == 0 && ballPosition.y() == 0){
+            if(ballPosition.x() == 0.0f && ballPosition.y() == 0.0f){
 
-                _ak_control->inicial();
+               _ak_control->inicial(getPlayer(BLUE, 0).value());
 
             }
 
-            if(ballPosition.x()< 0 && ballPosition.x() < 1.7)
-
-            players.value(playerId).value()-> goTo(ballPosition);
+            if(ballPosition.x() < 0.0f && ballPosition.x() > -1.7f){
 
+            _ak_control->attackd(getPlayer(BLUE, 1).value(),getPlayer(BLUE, 2).value());
             }
 
+            if(ballPosition.x() > 0.0f){
 
+                const QVector2D pontoMeia(-0.9f, 0.0f);
+                players.value(playerId).value()->goTo(pontoMeia);
 
+            }
 
-
+            }
 
 
         }

diff --git a/src/entities/player/ak_control.cpp b/src/entities/player/ak_control.cpp
@@ -108,55 +108,95 @@ void ak_control::attack2(Player *Player3){
 
 }
 
-void ak_control ::inicial(){
+void ak_control ::inicial(Player *player0){
 
      if(_aPlayer != nullptr){
         QVector2D ballPosition = _worldMap->ballPosition();
 
          if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) * 8){
-             _aPlayer->goTo(ballPosition);
+            _aPlayer->rotateTo(ballPosition);
+            _aPlayer->goTo(ballPosition);
+            _aPlayer->kick(4,false);
          }
 
          if(_aPlayer->getPosition().distanceToPoint(ballPosition) <= (ROBOT_RADIUS + BALL_RADIUS)){
-             _aPlayer->kick(6.0f, false);
+             QVector2D ballPosition = _worldMap->ballPosition();
+             QVector2D playerBLUE0Position = player0 -> getPosition();
+
+             QVector2D targetDirection = playerBLUE0Position - ballPosition; //calcula a direção da bola até o alvo
+             _aPlayer->rotateTo(playerBLUE0Position);
+
+             float playerOrientation = _aPlayer->getOrientation();
+
+             float targetDirectionAngle = atan2(targetDirection.y(), targetDirection.x());
+
+             if(_aPlayer->getPosition().distanceToPoint(ballPosition) <= (ROBOT_RADIUS + BALL_RADIUS) &&  abs(playerOrientation - targetDirectionAngle) < 0.02){
+                 // Chuta a bola
+                 _aPlayer->kick(4,false);
+             }
          }
 
     }
 
 }
 
-void ak_control::attack3(Player *Player3){
+void ak_control::attackd(Player *Player1, Player *Player2){
 
     if(_aPlayer != nullptr){
         QVector2D ballPosition = _worldMap->ballPosition();
         _aPlayer->dribble(true);
 
-        if(ballPosition.x() > 0.0f && ballPosition.y() <= 0.0){
+        if(ballPosition.x() < 0.0f && ballPosition.x() >= -1.7f && ballPosition.y() <= 3.0f && ballPosition.y() >= 0.0f){
 
-            _aPlayer->rotateTo(ballPosition);
 
-            if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) *6){
+            if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) *20){
                 _aPlayer->goTo(ballPosition);
+                _aPlayer->rotateTo(ballPosition);
             }
 
             if(_aPlayer->getPosition().distanceToPoint(ballPosition)<= (ROBOT_RADIUS + BALL_RADIUS)){
-                QVector2D ballPosition = _worldMap->ballPosition();
-                const QVector2D golposition(4.4f,-0.4f);
 
-                QVector2D targetDirection = golposition - ballPosition; //calcula a direção da bola até o alvo
-                _aPlayer->rotateTo(golposition);
+                QVector2D playerBLUE1Position = Player1 -> getPosition();
+
+                QVector2D targetDirection = playerBLUE1Position  - ballPosition; //calcula a direção da bola até o alvo
+                _aPlayer->rotateTo(playerBLUE1Position );
 
                 float playerOrientation = _aPlayer->getOrientation();
 
                 float targetDirectionAngle = atan2(targetDirection.y(), targetDirection.x());
 
                 if(_aPlayer->getPosition().distanceToPoint(ballPosition) <= (ROBOT_RADIUS + BALL_RADIUS) &&  abs(playerOrientation - targetDirectionAngle) < 0.02){
                     // Chuta a bola
-                    _aPlayer->kick(6,false);
+                    _aPlayer->kick(5,false);
                 }
             }
         }
 
+        if(ballPosition.x() < 0.0f && ballPosition.x() >= -1.7f && ballPosition.y() < 0.0f && ballPosition.y() >= -3.0f){
+
+
+            if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) *20){
+                _aPlayer->goTo(ballPosition);
+                _aPlayer->rotateTo(ballPosition);
+            }
+
+            if(_aPlayer->getPosition().distanceToPoint(ballPosition)<= (ROBOT_RADIUS + BALL_RADIUS)){
+
+                QVector2D playerBLUE2Position = Player2 -> getPosition();
+
+                QVector2D targetDirection = playerBLUE2Position  - ballPosition; //calcula a direção da bola até o alvo
+                _aPlayer->rotateTo(playerBLUE2Position );
+
+                float playerOrientation = _aPlayer->getOrientation();
+
+                float targetDirectionAngle = atan2(targetDirection.y(), targetDirection.x());
+
+                if(_aPlayer->getPosition().distanceToPoint(ballPosition) <= (ROBOT_RADIUS + BALL_RADIUS) &&  abs(playerOrientation - targetDirectionAngle) < 0.02){
+                    // Chuta a bola
+                    _aPlayer->kick(5,false);
+                }
+            }
+        }
     }
 
 }

diff --git a/src/entities/player/ak_control.h b/src/entities/player/ak_control.h
@@ -21,9 +21,9 @@ class ak_control
     void attack1(Player *player3);
     void attack2(Player *player3);
     void attack3(Player *player3);
-    void attackd();
-    void attacka();
-    void inicial();
+    void attackd(Player *player1, Player *player2);
+    //void attacka(Player *player2);
+    void inicial(Player *player0);
 
 
     //talvez implemente desvio