From 6ebb6753fdaba3ec5cb473d6ffe5d26c1a882c70 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Mon, 9 Nov 2026 14:18:53 -0500
Subject: [PATCH] unified teams

---
 simulator/src/main.rs | 61 ++++++++++++++++++++++++++-----------------
 1 file changed, 37 insertions(+), 24 deletions(-)

diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index 3de3acb..3b49216 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -19,12 +19,13 @@ struct Robot {
     alive: bool,
     collider: Ball,
     sensor: Sensor,
+    team: Color,
 }
 
 impl Robot {
-    fn new(position: Vec2) -> Self {
+    fn new(position: Vec2, team: Color) -> Self {
         let pose:Pose = Pose::from_translation(position.to_array().into());
-        Self { pose, alive: true, collider: Ball::new(BOT_RADIUS), sensor: Sensor::None}
+        Self { pose, alive: true, collider: Ball::new(BOT_RADIUS), sensor: Sensor::None, team}
     }
 
     fn move_step(&mut self, forward: f32, right: f32) {
@@ -36,12 +37,12 @@ impl Robot {
         Vec2::new(self.pose.rotation.re, self.pose.rotation.im)
     }
 
-    pub fn draw(&self, color: Color) {
+    pub fn draw(&self) {
         let tl = self.pose.translation;
         let tl2 = self.view_end();
         draw_circle(tl.x, tl.y, BOT_RADIUS, BLACK);
         draw_line(tl.x, tl.y, tl2.x, tl2.y, 2.0, BLUE);
-        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, color);
+        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, self.team);
     }
 
     fn view_end(&self) -> Vec2 {
@@ -63,6 +64,7 @@ impl Robot {
         match sensor {
             Sensor::Food => self.move_step(1.0, 0.0),
             Sensor::Kin => self.move_step(-0.3, 0.02),
+            Sensor::NonKin => self.move_step(-0.3, 1.02),
             Sensor::None => self.move_step(0.3, 0.01),
         }
     }
@@ -77,6 +79,7 @@ struct Food {
 enum Sensor {
     Food,
     Kin,
+    NonKin,
     None
 }
 
@@ -108,14 +111,10 @@ impl Food {
 async fn main() {
 
     let mut robots = Vec::new();
-    let mut blu_robots = Vec::new();
 
     for i in 5..20 {
-        robots.push(Robot::new(Vec2 { x: 150.0, y: i as f32*50.0 }));
-    }
-
-    for i in 5..20 {
-        blu_robots.push(Robot::new(Vec2 { x: 850.0, y: i as f32*50.0 }));
+        robots.push(Robot::new(Vec2 { x: 150.0, y: i as f32*50.0 }, RED));
+        robots.push(Robot::new(Vec2 { x: 850.0, y: i as f32*50.0 }, BLUE));
     }
 
     let mut food = Vec::new();
@@ -149,21 +148,35 @@ async fn main() {
         food = food.into_iter().filter(|f| f.alive).collect(); // remove dead food
 
         let mut sensors = Vec::new();
-        for (robots, color) in [(&mut robots, RED), (&mut blu_robots, BLUE)] {
-            for robot in &*robots {
-                println!("loop");
-                let detect_food = robot.detect(food.iter().map(Food::collider));
-                let detect_kin = robot.detect(robots.iter().filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
-                let mut sensor = if detect_food.is_some() {Sensor::Food} else {Sensor::None};
-                if detect_kin.is_some() {sensor = Sensor::Kin}
-                println!("Food detection: {:?}",detect_food);
-                println!("Kin detection: {:?}",detect_kin);
-                sensors.push(sensor);
-            }
-            for (idx, robot) in robots.iter_mut().enumerate() {
-                robot.policy(&sensors[idx]);
-                robot.draw(color);
+        for robot in &*robots {
+            println!("loop");
+            let detect_food = robot.detect(food.iter().map(Food::collider));
+            let detect_kin = robot.detect(robots.iter().filter(|o| o.team == robot.team).filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
+            let detect_non_kin = robot.detect(robots.iter().filter(|o| o.team != robot.team).filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
+
+            let mut sensor = Sensor::None;
+            let mut closest: Option<f32> = None;
+
+            for (dist, detection) in [(detect_food, Sensor::Food), (detect_kin, Sensor::Kin), (detect_non_kin, Sensor::NonKin)] {
+                if let (Some(close), Some(dist)) = (closest, dist) {
+                    if close < dist {continue;}
+                }                 
+
+                if let Some(_) = dist {
+                    sensor = detection;
+                    closest = dist; 
+                }
+
             }
+
+            println!("Food detection: {:?}",detect_food);
+            println!("Kin detection: {:?}",detect_kin);
+            println!("NonKin detection: {:?}",detect_non_kin);
+            sensors.push(sensor);
+        }
+        for (idx, robot) in robots.iter_mut().enumerate() {
+            robot.policy(&sensors[idx]);
+            robot.draw();
         }
         draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);
         loo += 1;