// metoda zjistujici nove pokyny pro pohyb robotu ze strategii, zjistuje zdali nepadl gol, updatuje cas a pohybuje scenou
public void Tick()
{
//save actual situation to storage
storage.Ball.Position = From3Dto2D(GameBall.transform.position);
storage.LeftRobots[0].Position = From3Dto2D(BluePlayer1.transform.position);
storage.LeftRobots[1].Position = From3Dto2D(BluePlayer2.transform.position);
storage.LeftRobots[2].Position = From3Dto2D(BluePlayer3.transform.position);
storage.LeftRobots[3].Position = From3Dto2D(BluePlayer4.transform.position);
storage.LeftRobots[4].Position = From3Dto2D(BlueGoal.transform.position);
storage.RightRobots[0].Position = From3Dto2D(RedPlayer1.transform.position);
storage.RightRobots[1].Position = From3Dto2D(RedPlayer2.transform.position);
storage.RightRobots[2].Position = From3Dto2D(RedPlayer3.transform.position);
storage.RightRobots[3].Position = From3Dto2D(RedPlayer4.transform.position);
storage.RightRobots[4].Position = From3Dto2D(RedGoal.transform.position);
//********************* LEFT ****************************
leftStorage.Ball.Position = storage.Ball.Position;
leftStorage.myRobots[0].Position = storage.LeftRobots[0].Position;
leftStorage.myRobots[1].Position = storage.LeftRobots[1].Position;
leftStorage.myRobots[2].Position = storage.LeftRobots[2].Position;
leftStorage.myRobots[3].Position = storage.LeftRobots[3].Position;
leftStorage.myRobots[4].Position = storage.LeftRobots[4].Position;
leftStorage.oppntRobots[0].Position = storage.RightRobots[0].Position;
leftStorage.oppntRobots[1].Position = storage.RightRobots[1].Position;
leftStorage.oppntRobots[2].Position = storage.RightRobots[2].Position;
leftStorage.oppntRobots[3].Position = storage.RightRobots[3].Position;
leftStorage.oppntRobots[4].Position = storage.RightRobots[4].Position;
//********************* RIGHT ****************************
rightStorage.Ball.Position = storage.Ball.Position;
rightStorage.myRobots[0].Position = storage.RightRobots[0].Position;
rightStorage.myRobots[1].Position = storage.RightRobots[1].Position;
rightStorage.myRobots[2].Position = storage.RightRobots[2].Position;
rightStorage.myRobots[3].Position = storage.RightRobots[3].Position;
rightStorage.myRobots[4].Position = storage.RightRobots[4].Position;
rightStorage.oppntRobots[0].Position = storage.LeftRobots[0].Position;
rightStorage.oppntRobots[1].Position = storage.LeftRobots[1].Position;
rightStorage.oppntRobots[2].Position = storage.LeftRobots[2].Position;
rightStorage.oppntRobots[3].Position = storage.LeftRobots[3].Position;
rightStorage.oppntRobots[4].Position = storage.LeftRobots[4].Position;
//volanie funkci TickStrategy z DLL
object[] leftSt = new object[] { leftStorage };
object[] rightSt = new object[] { rightStorage };
MethodTickLeft.Invoke(leftInstance, leftSt);
MethodTickRight.Invoke(rightInstance, rightSt);
// *********** LEFT ***************
//load new situation from storage and move robots
BP1.MoveTo(From2Dto2D(leftStorage.myRobots[0].PositionMove));
BP2.MoveTo(From2Dto2D(leftStorage.myRobots[1].PositionMove));
BP3.MoveTo(From2Dto2D(leftStorage.myRobots[2].PositionMove));
BP4.MoveTo(From2Dto2D(leftStorage.myRobots[3].PositionMove));
BG.MoveTo(From2Dto2D(leftStorage.myRobots[4].PositionMove));
//load boal position to robots
BP1.ballPosition = From2Dto2D(leftStorage.Ball.Position);
BP2.ballPosition = From2Dto2D(leftStorage.Ball.Position);
BP3.ballPosition = From2Dto2D(leftStorage.Ball.Position);
BP4.ballPosition = From2Dto2D(leftStorage.Ball.Position);
BG.ballPosition = From2Dto2D(leftStorage.Ball.Position);
// *********** RIGHT ***************
//load new situation from storage and move robots
RP1.MoveTo(From2Dto2D(rightStorage.myRobots[0].PositionMove));
RP2.MoveTo(From2Dto2D(rightStorage.myRobots[1].PositionMove));
RP3.MoveTo(From2Dto2D(rightStorage.myRobots[2].PositionMove));
RP4.MoveTo(From2Dto2D(rightStorage.myRobots[3].PositionMove));
Vector2D a = new Vector2D(-rightStorage.myRobots[4].PositionMove.X, rightStorage.myRobots[4].PositionMove.Y);
RG.MoveTo(From2Dto2D(rightStorage.myRobots[4].PositionMove));
//load boal position to robots
RP1.ballPosition = From2Dto2D(rightStorage.Ball.Position);
RP2.ballPosition = From2Dto2D(rightStorage.Ball.Position);
RP3.ballPosition = From2Dto2D(rightStorage.Ball.Position);
RP4.ballPosition = From2Dto2D(rightStorage.Ball.Position);
RG.ballPosition = From2Dto2D(rightStorage.Ball.Position);
LogToHolder();
//************ adaptStrategy ***************
//ak uzivatel ma v DLL adapt strategy a chce ho vyuzivat
//left
if (StaticVariable.leftAdaptation == true)
{
List <object> newRules = (List <object>)leftAdaptStrategyMethod.Invoke(leftStrategyAdaptation, new object[] { logHolder, leftInstance });
if (newRules.Count > 0)
{
MethodLeftAdaptStrategy.Invoke(leftInstance, new object[] { newRules });
Debug.Log("Added rules: " + newRules.Count);
}
}
//right
if (StaticVariable.rightAdaptation == true)
{
List <object> newRules = (List <object>)rightAdaptStrategyMethod.Invoke(rightStrategyAdaptation, new object[] { logHolder, rightInstance });
if (newRules.Count > 0)
{
MethodRightAdaptStrategy.Invoke(rightInstance, new object[] { newRules });
Debug.Log("Added rules: " + newRules.Count);
}
}
}
