def start(self):
while True:
time.sleep(0.5)
# Update packet
packet: GameTickPacket = self.get_game_tick_packet()
if not packet.game_info.is_round_active:
continue
self.set_game_state(
GameState(game_info=GameInfoState(
world_gravity_z=WORLD_GRAVITY)))
# Renders ball prediction.
ball_prediction: BallPrediction = self.get_ball_prediction_struct()
self.renderer.begin_rendering()
sparse_slices = [
step.physics.location for step in ball_prediction.slices[::10]
]
self.renderer.draw_polyline_3d(sparse_slices, self.renderer.cyan())
self.renderer.end_rendering()
# Places the ball in the air on kickoff.
if packet.game_info.is_kickoff_pause and round(
packet.game_ball.physics.location.z
) != KICKOFF_BALL_HEIGHT:
ball_state = BallState(
Physics(location=Vector3(z=KICKOFF_BALL_HEIGHT),
velocity=Vector3(0, 0, 0)))
self.set_game_state(GameState(ball=ball_state))
def process_choice(self, choice: BotAction):
player_index = self.get_player_index_by_name(choice.data[PLAYER_NAME])
if player_index is not None:
car = self.game_tick_packet.game_cars[player_index]
if choice.action_type == FLIP_CAR:
flipped = get_flipped_orientation(car.physics.rotation)
self.set_game_state(
GameState(
cars={
player_index:
CarState(physics=Physics(
rotation=flipped.to_rotator()))
}))
if choice.action_type == NUDGE_CAR:
car_vel = Vec3(car.physics.velocity)
rand_vec = Vec3(random() - .5, random() - .5, 0).normalized()
nudge_vel = Vector3(car_vel.x + rand_vec.x * 700,
car_vel.y + rand_vec.y * 700,
car_vel.z + 500)
self.set_game_state(
GameState(
cars={
player_index:
CarState(physics=Physics(velocity=nudge_vel))
}))
def reset(self):
game_state = GameState()
self.set_game_state(game_state)
car_state = CarState(
physics(location=Vector3(x=-1000, y=0, z=250),
velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
ball_state = BallState(Physics(location=Vector3(500, 0, None)))
game_state = GameState(ball=ball_state, cars={self.index: car_state})
self.set_game_state(game_state)
def process_choice(self, choice: BotAction):
if choice.action_type == FREEZE:
for i in range(5):
self.set_game_state(
GameState(ball=BallState(physics=Physics(velocity=Vector3(0, 0, 0)))))
sleep(.1)
return
if choice.action_type == NUDGE:
ball_vel = self.game_tick_packet.game_ball.physics.velocity
rand_vec = Vec3(random() - .5, random() - .5, random() - .5).rescale(1000)
self.set_game_state(
GameState(ball=BallState(physics=Physics(velocity=Vector3(rand_vec.x + ball_vel.x, rand_vec.y + ball_vel.y, rand_vec.z + ball_vel.z)))))
return
def reset(self):
game_state = GameState()
self.set_game_state(game_state)
car_state = CarState(jumped=False,
double_jumped=False,
boost_amount=0,
physics=Physics(velocity=Vector3(z=0),
rotation=Rotator(
math.pi / 2, 0, 0),
angular_velocity=Vector3(0, 0,
0)))
ball_state = BallState(Physics(location=Vector3(1000, 0, None)))
game_state = GameState(ball=ball_state, cars={self.index: car_state})
self.set_game_state(game_state)
def make_squares(self, packet, drones, start_time) -> StepResult:
"""
Separates all the bots into two squares, facing each other.
"""
self.squareA = drones[:32]
self.squareB = drones[32:]
spacing = 250
y_offset = 3500
x_offset = 7 * spacing / 2
car_states = {}
for i, drone in enumerate(self.squareA):
car_states[drone.index] = CarState(
Physics(location=Vector3(x_offset - spacing * (i % 8),
-y_offset - spacing * (i // 8), 20),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, np.pi / 2, 0)))
for i, drone in enumerate(self.squareB):
car_states[drone.index] = CarState(
Physics(location=Vector3(-x_offset + spacing * (i % 8),
y_offset + spacing * (i // 8), 20),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, -np.pi / 2, 0)))
self.game_interface.set_game_state(GameState(cars=car_states))
return StepResult(finished=True)
def setup_newround(self, packet):
car_states = {}
yaw, yaw_mir = self.yaw_randomizor()
for p in range(packet.num_cars):
car = packet.game_cars[p]
if car.team == 0:
car_state = CarState(boost_amount=100,
physics=Physics(
location=Vector3(0, -1000, 17),
rotation=Rotator(yaw=yaw,
pitch=0,
roll=0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
car_states[p] = car_state
elif car.team == 1:
car_state = CarState(boost_amount=100,
physics=Physics(
location=Vector3(0, 1000, 17),
rotation=Rotator(yaw=-yaw_mir,
pitch=0,
roll=0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
car_states[p] = car_state
ball_state = BallState(Physics(location=Vector3(0, 0, 93)))
self.game_state = GameState(ball=ball_state, cars=car_states)
self.set_game_state(self.game_state)
self.prev_time = self.cur_time
self.game_phase = -1
def boost_and_turn_test(agent):
agent.state = boost_and_turn()
test_time = time.time() - agent.test_start
if(test_time > 6):
car_state = CarState(
jumped=False,
double_jumped=False,
boost_amount=87,
physics=Physics(location=Vector3(x=-1000,y=2000,z=0),
velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(np.pi, np.pi / 2, np.pi),
angular_velocity=Vector3(x=0, y=0, z=0)))
ball_state = BallState(
physics=Physics(location=Vector3(x=0,y=4000,z=0),
velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(np.pi / 2, 0, 0),
angular_velocity=Vector3(x=0, y=0, z=0)))
game_state = GameState(ball=ball_state, cars={agent.index: car_state})
agent.set_game_state(game_state)
agent.test_start = time.time()
else:
return
def game_state_reset(self):
crot = Rotator(random.uniform(-np.pi, np.pi),
random.uniform(-np.pi, np.pi),
random.uniform(-np.pi, np.pi))
car_state = CarState(physics=Physics(location=Vector3(0, 0, 1000),
velocity=Vector3(0, 0, 0),
rotation=None,
angular_velocity=Vector3(0, 0,
0)),
boost_amount=100)
vel = random.choice([(-1, 0), (1, 0), (0, -1), (0, 1)])
bloc = Vector3(1000 * vel[0] + 200 * vel[1],
1000 * vel[1] + 200 * vel[0], random.choice([500,
1300]))
bvel = Vector3(-12 * vel[0] + 3 * vel[1], -12 * vel[1] + 3 * vel[0], 0)
ball_state = BallState(
physics=Physics(location=bloc,
velocity=bvel,
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.state = GameState(ball=ball_state, cars={self.index: car_state})
return self.state
def execute(self):
car_state = CarState(jumped=False,
double_jumped=False,
boost_amount=87,
physics=Physics(location=rlv3(-1000, -2000, 20),
velocity=rlv3(0, 0, 0),
rotation=rlv3(0, -1, 0),
angular_velocity=rlv3(0, 0, 0)))
ball_state = BallState(
Physics(location=rlv3(1000, 1100, 100),
velocity=rlv3(0, 0, 0),
rotation=rlv3(0, 0, 0),
angular_velocity=rlv3(0, 0, 0)))
game_state = GameState(ball=ball_state,
cars={self.agent.index: car_state})
self.agent.set_game_state(game_state)
self.expired = True
r = 1000
x = [r / 2, -r, -r, r, r, -r / 2]
y = [-r / 2, -r, r, r, -r, -r / 2]
nodes = np.asfortranarray([x, y])
curve = structs.test(nodes, bezier.Curve.from_nodes(nodes))
self.agent.renderer.draw_polyline_3d(curve.get_path_points(),
self.agent.renderer.blue())
self.substate = substates.pick_state(
self, self.agent, self.car, self.ball.location, 2300,
self.hierarchy) # Drive(self.car, target, 2000)
return self.substate.step(1.0 / 60.0)
def set_state_test(self, game_tick_packet: GameTickPacket):
my_car = game_tick_packet.game_cars[self.index]
car_location = my_car.physics.location
car_state = CarState()
if math.fabs(car_location.x) > 2000 and car_location.z < 100:
car_state = CarState(Physics(velocity=Vector3(z=500,
x=-car_location.x *
.5),
rotation=Rotator(math.pi / 2, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=87)
ball_phys = game_tick_packet.game_ball.physics
ball_state = BallState()
if ball_phys.location.z > 500:
ball_state = BallState(Physics(velocity=Vector3(z=-2000)))
if math.fabs(car_location.x) > 1000:
boost_states = {i: BoostState(1.0) for i in range(34)}
else:
boost_states = {i: BoostState(0.0) for i in range(34)}
game_state = GameState(ball=ball_state,
cars={self.index: car_state},
boosts=boost_states)
self.set_game_state(game_state)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(3989.49, 2429.52, 192.53),
velocity=Vector3(-27.470999, -517.66095, -79.101),
angular_velocity=Vector3(4.67741, 1.07971, 3.5994098),
rotation=Rotator(0.8031348, -2.7694106, 0.77092123))),
cars={
0:
CarState(physics=Physics(
location=Vector3(3347.52, 1390.15, 17.05),
velocity=Vector3(-549.081, -1298.891, 0.26099998),
angular_velocity=Vector3(0.0, -4.0999998E-4,
-1.0999999E-4),
rotation=Rotator(-0.016682042, -1.9707818, 0.0)),
jumped=False,
double_jumped=False,
boost_amount=46.0),
1:
CarState(physics=Physics(
location=Vector3(3170.66, 3257.52, 17.01),
velocity=Vector3(1075.281, -1061.281, 0.191),
angular_velocity=Vector3(-4.0999998E-4, 1.0999999E-4,
-0.33201),
rotation=Rotator(-0.00958738, -0.787028, 0.0)),
jumped=False,
double_jumped=False,
boost_amount=0.0)
},
boosts={i: BoostState(0)
for i in range(34)},
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
enemy_goal_center: Vector3 = Vector3(0, 5120 * self.team, 93)
car_spawn_block: utils.Area = utils.RectPrism(Vector3(0, 0, 17), 8000,
8000, 0)
car_loc: Vector3 = car_spawn_block.random_point_inside(rng)
car_facing: Rotator = utils.rotator_from_dir(
sub(enemy_goal_center, car_loc))
relative: Vector3 = sub(enemy_goal_center, car_loc)
#Spawn the ball halfway between us and the enemy goal
ball_loc: Vector3 = add(
car_loc, Vector3(relative.x / 2, relative.y / 2, relative.z / 2))
ball_loc.z = 93
return GameState(
ball=BallState(physics=Physics(location=ball_loc,
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=car_loc,
rotation=car_facing,
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=33),
},
boosts={i: BoostState(0)
for i in range(34)},
)
def interweave(self, packet, drones, start_time) -> StepResult:
"""
Make bots jump alternating such that they jump over each other.
"""
elapsed = packet.game_info.seconds_elapsed - start_time
start = 0
hold = 0.135
buffer = 0.53
car_states = {}
for drone in drones:
# Speed controller
vel = np.linalg.norm(drone.vel * np.array([1, 1, 0]))
drone.ctrl.throttle = 0 if vel > 850 else 1
# jump controller
if (drone.index % 2 == 0):
if start < elapsed < start + hold:
drone.ctrl.jump = True
elif start + 2 * buffer < elapsed < start + 2 * buffer + hold:
drone.ctrl.jump = True
elif start + 4 * buffer < elapsed < start + 4 * buffer + hold:
drone.ctrl.jump = True
elif start + 6 * buffer < elapsed < start + 6 * buffer + hold:
drone.ctrl.jump = True
else:
if start + buffer < elapsed < start + buffer + hold:
drone.ctrl.jump = True
elif start + 3 * buffer < elapsed < start + 3 * buffer + hold:
drone.ctrl.jump = True
elif start + 5 * buffer < elapsed < start + 5 * buffer + hold:
drone.ctrl.jump = True
self.game_interface.set_game_state(GameState(cars=car_states))
return StepResult(finished=elapsed > start + 8 * buffer)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(self.ball_x, self.ball_y, self.ball_z),
velocity=Vector3(self.ball_vx, self.ball_vy, self.ball_vz),
angular_velocity=Vector3(self.ball_sx, self.ball_sy,
self.ball_sz))),
cars={
0:
CarState(physics=Physics(location=Vector3(
self.car_x, self.car_y, self.car_z),
rotation=Rotator(0, self.car_spin, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=100),
1:
CarState(physics=Physics(
location=Vector3(self.car_x, -self.car_y, self.car_z),
rotation=Rotator(0, -self.car_spin, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=100)
},
boosts={i: BoostState(0)
for i in range(34)}, # Is this needed.
)
def reset_state(self, keep_speed=False):
# We may want to keep the speed if we run out of field
if keep_speed:
car_state = CarState(
boost_amount=0,
physics=Physics(
location=Vector3(x=0, y=0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
)
else:
car_state = CarState(
boost_amount=0,
physics=Physics(
velocity=Vector3(0, 0, 0),
location=Vector3(x=0, y=0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
)
# Setting the run start time
self.reset_time = self.packet.game_info.seconds_elapsed
ball_state = BallState(Physics(location=Vector3(z=3000)))
game_state = GameState(ball=ball_state, cars={self.index: car_state})
self.set_game_state(game_state)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
num_players = self.match_config.num_players
assert num_players == len(
self.spawns
), 'Number of players does not match the number of spawns.'
car_states = {}
for index in range(num_players):
car_states[index] = CarState(
boost_amount=33,
physics=Physics(location=self.spawns[index].pos,
velocity=Vector3(0, 0, 0),
rotation=self.spawns[index].rot,
angular_velocity=Vector3(0, 0, 0)))
ball_state = BallState(
Physics(location=Vector3(0, 0, 93),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
# game_state = GameState(ball=ball_state, cars=car_states, console_commands=['Set WorldInfo TimeDilation 0.5'])
game_state = GameState(
ball=ball_state,
cars=car_states,
console_commands=['Set WorldInfo TimeDilation 1'],
boosts={i: BoostState(0)
for i in range(34)})
return game_state
def new_play(self, packet):
# Check for the round being active - otherwise we might start a play during the goal reset time
if packet.game_info.is_round_active:
# Announce to the world what we're doing
self.status = "New Play!"
print("New Play!")
# Increment player rotation to keep things mixed up
self.player_rotation += 1
# Reset the boosts so that they're not collected
for boost in self.boosts:
boost.reset()
self.play_state = 0
self.state_timer = self.time
countdown_cars = {}
# Determine the spawn locations to be used
attackers = attacker_spawns(self.half)
defenders = defender_spawns(not self.half)
# Assign the players to spawn locations
for player in self.players:
if player.team == self.half:
countdown_cars[player.index] = attackers.pop(self.player_rotation % len(attackers))
else:
countdown_cars[player.index] = defenders.pop(self.player_rotation % len(defenders))
# This will be used to hold the cars in place during countdown
self.countdown_state = GameState(ball=ball_spawn(self.half), cars=countdown_cars)
self.set_game_state(self.countdown_state)
else:
# If the round isn't active, we set this flag and keep trying to make a new play until we can
self.need_new_play = True
def execute(self):
if self._changed:
self.agent.set_game_state(
GameState(ball=self.ball,
cars={self.agent.index: self.car},
game_info=self.gameinfo))
self.begin()
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
car_pos = Vector3(5000, 0, 0)
ball_pos = Vector3(0, 0, 1900)
ball_vel = Vector3(0, 0, 0)
ball_ang_vel = Vector3(0, 0, 0)
ball_state = BallState(
Physics(location=ball_pos,
velocity=ball_vel,
angular_velocity=ball_ang_vel))
car_state = CarState(boost_amount=100,
jumped=False,
double_jumped=False,
physics=Physics(location=car_pos,
rotation=Rotator(0, 0, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0,
0)))
enemy_car = CarState(physics=Physics(
location=Vector3(10000, 10000, 10000)))
game_state = GameState(ball=ball_state,
cars={
0: car_state,
1: enemy_car
})
return game_state
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(-2104.1099,5025.9497,164.47),
velocity=Vector3(299.101,-154.431,253.47101),
angular_velocity=Vector3(-2.68911,3.7743099,3.09181),
rotation=Rotator(0.34274882,0.6972901,-0.25080585))),
cars={
0: CarState(
physics=Physics(
location=Vector3(-2593.05,4884.88,16.69),
velocity=Vector3(422.621,48.641,6.8209996),
angular_velocity=Vector3(0.015109999,-0.03071,0.79331),
rotation=Rotator(-0.01840777,0.086669914,0.0010546118)),
jumped=False,
double_jumped=False,
boost_amount=96.0),
1: CarState(
physics=Physics(
location=Vector3(-2882.72,4746.54,469.69998),
velocity=Vector3(1246.9609,294.511,-619.78094),
angular_velocity=Vector3(-4.97911,-2.27091,0.54881),
rotation=Rotator(-0.5048714,0.48617604,-0.14611167)),
jumped=True,
double_jumped=True,
boost_amount=0.0)
},
boosts={i: BoostState(0) for i in range(34)},
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
num_players = self.match_config.num_players
assert num_players == len(
self.spawns
), 'Number of players does not match the number of spawns.'
car_states = {}
for index, player in enumerate(self.match_config.player_configs):
assert (player.team == 0) == (index < len(self.blue_spawns)), \
f"Blue/Orange players in match_config don't match the Blue/Orange spawns: Expected {len(self.blue_spawns)} blue player_configs, followed by {len(self.orange_spawns)} orange ones."
car_states[index] = CarState(
boost_amount=33,
physics=Physics(location=self.spawns[index].pos,
velocity=Vector3(0, 0, 0),
rotation=self.spawns[index].rot,
angular_velocity=Vector3(0, 0, 0)))
ball_state = BallState(
Physics(location=Vector3(0, 0, 93),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
game_state = GameState(ball=ball_state, cars=car_states)
return game_state
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(2490.8398, -3985.97, 276.15),
velocity=Vector3(-609.27094, 1042.121, -371.301),
angular_velocity=Vector3(-1.61381, 5.77801, -0.10161),
rotation=Rotator(-0.38013962, 1.32488, 0.3973969))),
cars={
0:
CarState(physics=Physics(
location=Vector3(2425.29, -4639.4097, 199.39),
velocity=Vector3(-797.49097, -249.651, -15.901),
angular_velocity=Vector3(-3.03761, -4.13571, 1.9794099),
rotation=Rotator(-0.199801, -1.6142272, -2.3683705)),
jumped=True,
double_jumped=True,
boost_amount=100.0),
1:
CarState(physics=Physics(
location=Vector3(2463.5999, -1264.83, 17.01),
velocity=Vector3(-597.831, -1213.0409, 0.23099999),
angular_velocity=Vector3(1.0999999E-4, 1.0999999E-4,
2.23661),
rotation=Rotator(-0.00958738, -1.9631119, 0.0)),
jumped=False,
double_jumped=False,
boost_amount=100.0)
},
boosts={i: BoostState(0)
for i in range(34)},
)
def shoot_ball(self):
ball_state = BallState(
Physics(location=Vector3(2500, -4500, 100),
velocity=Vector3(0, 1000, 1500),
angular_velocity=Vector3(0, -10, 0)))
game_state = GameState(ball=ball_state)
self.set_game_state(game_state)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(
Physics(location=Vector3(0, 5000, 100),
velocity=Vector3(0, 2000, 500))),
cars={
0:
CarState(boost_amount=95,
jumped=True,
double_jumped=True,
physics=Physics(
location=Vector3(200, -5400, 100),
rotation=Rotator(0, 3, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
)),
1:
CarState(boost_amount=95,
jumped=True,
double_jumped=True,
physics=Physics(
location=Vector3(-200, -5400, 100),
rotation=Rotator(0, 3, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
)),
},
# game_info=GameInfoState(game_speed=0.1),
)
def initialize_agent(self):
m = -1 if self.team else 1
f = -1 if self.flip else 1
if self.diagonal:
car_physics = Physics(
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, (45 + m * 90) / 180 * math.pi, 0),
angular_velocity=Vector3(0, 0, 0),
location=Vector3(f * m * 2048, m * -2560, 17.148628))
ball_physics = Physics(location=Vector3(0, 0, 92.739998),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))
car_state = CarState(jumped=False,
double_jumped=False,
boost_amount=34,
physics=car_physics)
ball_state = BallState(physics=ball_physics)
game_state = GameState(ball=ball_state, cars={self.index: car_state})
self.set_game_state(game_state)
self.initialization_time = self.info.time
self.action.reset_status()
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
# location=Vector3(self.ball_x + rng.uniform(-10, 10), self.ball_y + rng.uniform(-10, 10), self.ball_z),
location=Vector3(self.ball_x +
rng.uniform(-500, 500), self.ball_y +
rng.uniform(-500, 500), self.ball_z),
velocity=Vector3(self.ball_vx +
rng.uniform(-500, 500), self.ball_vy +
rng.uniform(-500, 500), self.ball_vz),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(
physics=Physics(
# location=Vector3(self.car_start_x + rng.uniform(-1500, 1500), self.car_start_y, 0),
location=Vector3(self.car_x, self.car_y, 17),
rotation=Rotator(0, self.car_spin, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=100)
},
boosts={i: BoostState(0)
for i in range(34)}, # Is this needed.
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
vel_mul = rng.uniform(1.5, 2.0)
return GameState(
ball=BallState(physics=Physics(
location=Vector3(0, -1500, 100),
velocity=Vector3(vel_mul * 350 * rng.uniform(-1, 1), vel_mul * -2000, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
# Striker
0: CarState(
physics=Physics(
location=Vector3(0, 0, 15),
rotation=Rotator(0, -pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=100),
# Goalie
1: CarState(
physics=Physics(
location=Vector3(0, -5000, 15),
rotation=Rotator(0, rng.uniform(-.1, .1), 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=True,
double_jumped=True,
boost_amount=100),
},
boosts={i: BoostState(0) for i in range(34)},
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
location=Vector3(1437.9,4074.5999,290.43),
velocity=Vector3(481.481,1407.231,-1633.341),
angular_velocity=Vector3(5.54691,-1.9003099,-1.27281),
rotation=Rotator(0.04343083,-0.69824886,-2.1147842))),
cars={
0: CarState(
physics=Physics(
location=Vector3(947.70996,810.54,17.05),
velocity=Vector3(620.66095,959.18097,0.27099997),
angular_velocity=Vector3(-4.0999998E-4,0.0,0.0),
rotation=Rotator(-0.016682042,0.9965123,0.0)),
jumped=False,
double_jumped=False,
boost_amount=0.0),
1: CarState(
physics=Physics(
location=Vector3(-373.35,949.32996,43.309998),
velocity=Vector3(115.690994,1242.251,340.411),
angular_velocity=Vector3(-0.30971,0.02471,0.08900999),
rotation=Rotator(-0.014668691,1.4870985,9.58738E-5)),
jumped=True,
double_jumped=False,
boost_amount=0.0)
},
boosts={i: BoostState(0) for i in range(34)},
)
def aerialATBA_test(agent):
agent.state = aerialATBA()
test_time = time.time() - agent.test_start
if(test_time > 20):
car_state = CarState(
jumped=False,
double_jumped=False,
boost_amount=87,
physics=Physics(location=Vector3(x=0,y=3000,z=0),
velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(np.pi, np.pi / 2, np.pi),
angular_velocity=Vector3(x=0, y=0, z=0)))
ball_state = BallState(
physics=Physics(location=Vector3(x=0,y=0,z=500),
velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(np.pi / 2, 0, 0),
angular_velocity=Vector3(x=0, y=0, z=0)))
game_state = GameState(ball=ball_state, cars={agent.index: car_state})
agent.set_game_state(game_state)
agent.test_start = time.time()
# else:
# ball_state = BallState(
# physics=Physics(location=Vector3(x=0,y=0,z=500),
# velocity=Vector3(x=0, y=0, z=0),
# rotation=Rotator(np.pi / 2, 0, 0),
# angular_velocity=Vector3(x=0, y=0, z=0)))
# game_state = GameState(ball=ball_state)
# agent.set_game_state(game_state)
return
