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testando_ataque
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@gabrielclemnt
gabrielclemnt committed Jan 19, 2024
1 parent 7714bc0 commit fea7c0e
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Showing 3 changed files with 254 additions and 9 deletions.
107 changes: 101 additions & 6 deletions src/entities/coach/coach.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,60 @@ float distanceToSegment(const QVector2D &point, const QVector2D &segmentStart, c
}
}

QVector2D Coach::findClosestObstacle(const QVector2D& start, const QVector2D& end, const QList<QVector2D>& obstacles) {
QVector2D closestObstacle = QVector2D(getWorldMap()->maxX(), getWorldMap()->maxY());
float minDistance = std::numeric_limits<float>::max(); //rastrear a menor distância encontrada durante a iteração pelos obstáculos

for (const auto& obstacle : obstacles) {
float distance = distanceToSegment(start, end, obstacle);

if (distance <= (ROBOT_RADIUS + BALL_RADIUS) * 2.5f && distance < minDistance) {
closestObstacle = obstacle;
minDistance = distance;
}
}

return closestObstacle;
}

void Coach::avoidObstacle(Player *player) {
QVector2D robotPosition = player->getPosition();
QVector2D ballPosition = getWorldMap()->ballPosition();
const QVector2D targetPoint(4.5f, 0.0f);
//obtém a posição de todos os robôs amarelos
QList<QVector2D> yellowPositions = getYellowPositions();
QVector2D obstaclePosition = QVector2D (getWorldMap()->maxX(),getWorldMap()->maxY()) ;

//todos os robôs amarelos
for (const auto& yellowPosition : yellowPositions) {

if(distanceToSegment(yellowPosition,player->getPosition(),targetPoint) >= ROBOT_DIAMETER * 2){
yellowPositions.removeOne(yellowPosition);
}
}
// filtra os robôs que são obstáculos para o ponto desejado

obstaclePosition = findClosestObstacle(player->getPosition(), targetPoint, yellowPositions);
// spdlog :: info("{}",yellowPositions.length());
if ((distanceToSegment(obstaclePosition, robotPosition, targetPoint) <= (ROBOT_DIAMETER + ROBOT_DIAMETER)) || robotPosition.distanceToPoint(obstaclePosition) <= 0.5f) {
//const QVector2D targetPoint(4.5f, 0.0f);
//calcula a direção para desviar do robô amarelo
// spdlog :: info("testando");
QVector2D avoidanceDirection = (robotPosition - obstaclePosition * 3).normalized(); // ajustar para virar 90º
QVector2D adjustedDirection(-avoidanceDirection.y(), avoidanceDirection.x());
QVector2D newRobotPosition = obstaclePosition + adjustedDirection * (ROBOT_DIAMETER + 3.0F) * 2.0F; //adjustedDirection
//atualiza a posição do robô
player->goTo(newRobotPosition);

//spdlog :: info("({},{})", newRobotPosition.x(), newRobotPosition.y());
}
else{
player->goTo(ballPosition);
// player->stop();
}
player->rotateTo(targetPoint);
}

QList<QVector2D> Coach::getYellowPositions() {
QList<QVector2D> yellowPositions;
for (int i = 0; i < 6; i++) {
Expand Down Expand Up @@ -128,16 +182,22 @@ void Coach::runCoach() {
}

for (quint8 playerId : players.keys()){

if(players.value(playerId).has_value()){

if(playerId == 5){
_gk_control -> setPlayer(players.value(playerId).value());
players.value(playerId).value()->rotateTo(ballPosition);
players.value(playerId).value()->dribble(true);

if(players.value(playerId).value()->getPosition().distanceToPoint(ballPosition)<=(ROBOT_RADIUS + BALL_RADIUS)){ //se a bola tiver dentro da area passa
_gk_control->pass(getPlayer(BLUE, 0).value());
//spdlog :: info("testando");
if(getWorldMap()->isBallInsideOurPenaltyArea(ballPosition)){
players.value(playerId).value()->goTo(ballPosition);

if(players.value(playerId).value()->getPosition().distanceToPoint(ballPosition)<=(ROBOT_RADIUS + BALL_RADIUS)){ //se a bola tiver dentro da area passa
_gk_control->pass(getPlayer(BLUE, 0).value());
//spdlog :: info("testando");

}
}
else {
//defend
Expand All @@ -158,7 +218,7 @@ void Coach::runCoach() {
}

}
if(playerId == 4){
if(playerId == 4){ // defensor blue 4
_dk_control -> setDPlayer(players.value(playerId).value());
players.value(playerId).value()->dribble(true);

Expand All @@ -172,13 +232,48 @@ void Coach::runCoach() {


}
if(playerId == 1){
if(playerId == 1){ //atacante lateral superior blue 1
_ak_control -> setAPlayer(players.value(playerId).value());
players.value(playerId).value()->dribble(true);

if(ballPosition.x()<= 0.0f){
_ak_control->atackposition1();
_ak_control->attackposition1();
}
if(ballPosition.x()> 0.0f){
_ak_control->attack1(getPlayer(BLUE, 3).value());
}

}

if(playerId == 2){
_ak_control -> setAPlayer(players.value(playerId).value());
players.value(playerId).value()->dribble(true);

if(ballPosition.x()<= 0.0f){
_ak_control->attackposition2();
}

if(ballPosition.x()> 0.0f){
_ak_control->attack2(getPlayer(BLUE, 3).value());
}

}

if(playerId == 3){

_ak_control -> setAPlayer(players.value(playerId).value());
players.value(playerId).value()->dribble(true);


if(ballPosition.x() == 0 && ballPosition.y() == 0){

_ak_control->inicial();

}

if(ballPosition.x()< 0 && ballPosition.x() < 1.7)

players.value(playerId).value()-> goTo(ballPosition);

}

Expand Down
139 changes: 138 additions & 1 deletion src/entities/player/ak_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ void ak_control::setAPlayer (Player *player)
_aPlayer = player;
}

void ak_control::atackposition1()
void ak_control::attackposition1()
{
if(_aPlayer != nullptr){
QVector2D ballPosition = _worldMap->ballPosition();
Expand All @@ -24,3 +24,140 @@ void ak_control::atackposition1()
_aPlayer->rotateTo(ballPosition);
}
}

void ak_control::attackposition2()
{
if(_aPlayer != nullptr){
QVector2D ballPosition = _worldMap->ballPosition();
const QVector2D pontoCerto(0.2f, -1.7f);
_aPlayer->goTo(pontoCerto);
_aPlayer->rotateTo(ballPosition);
}
}


void ak_control::attack1(Player *Player3){

if(_aPlayer != nullptr){
QVector2D ballPosition = _worldMap->ballPosition();
_aPlayer->dribble(true);

if(ballPosition.x() > 0.0f && ballPosition.y() >= 0.0){

_aPlayer->rotateTo(ballPosition);

if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) *6){
_aPlayer->goTo(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);

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);
}
}
}

}

}

void ak_control::attack2(Player *Player3){

if(_aPlayer != nullptr){
QVector2D ballPosition = _worldMap->ballPosition();
_aPlayer->dribble(true);

if(ballPosition.x() > 0.0f && ballPosition.y() <= 0.0){

_aPlayer->rotateTo(ballPosition);

if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) *6){
_aPlayer->goTo(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);

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);
}
}
}

}

}

void ak_control ::inicial(){

if(_aPlayer != nullptr){
QVector2D ballPosition = _worldMap->ballPosition();

if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) * 8){
_aPlayer->goTo(ballPosition);
}

if(_aPlayer->getPosition().distanceToPoint(ballPosition) <= (ROBOT_RADIUS + BALL_RADIUS)){
_aPlayer->kick(6.0f, false);
}

}

}

void ak_control::attack3(Player *Player3){

if(_aPlayer != nullptr){
QVector2D ballPosition = _worldMap->ballPosition();
_aPlayer->dribble(true);

if(ballPosition.x() > 0.0f && ballPosition.y() <= 0.0){

_aPlayer->rotateTo(ballPosition);

if(_aPlayer->getPosition().distanceToPoint(ballPosition)<(ROBOT_RADIUS + BALL_RADIUS) *6){
_aPlayer->goTo(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);

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);
}
}
}

}

}

17 changes: 15 additions & 2 deletions src/entities/player/ak_control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,12 +11,25 @@

class ak_control
{

public:
ak_control(WorldMap *worldMap);
void setAPlayer(Player *player);

void atackposition1();
void atackposition2();
void attackposition1();
void attackposition2();
void attack1(Player *player3);
void attack2(Player *player3);
void attack3(Player *player3);
void attackd();
void attacka();
void inicial();


//talvez implemente desvio
QList<QVector2D> getYellowPositions();
void avoidObstacle(Player *player);
QVector2D findClosestObstacle(const QVector2D& start, const QVector2D& end, const QList<QVector2D>& obstacles);


private:
Expand Down

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