def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(location=Vector3(0, 4400, 100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(
900 * rng.n11(), 3000, 0),
rotation=Rotator(0, pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=0)
},
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
m = 1
f = rng.choice([-1, 1])
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)
return GameState(ball=ball_state, cars={0: car_state})
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
self.grader.graders[1].max_duration_seconds = 2
return GameState(
game_info=GameInfoState(game_speed=1),
ball=BallState(physics=Physics(
location=Vector3(rng.uniform(-100, 100), -500, 800),
velocity=Vector3(rng.uniform(-100, 100), -1500, 900), #
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(
rng.uniform(-300, 300), -3000, 17),
rotation=Rotator(0, pi * -0.5, 0),
velocity=Vector3(0, -1500, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=60)
},
)
def set_gamestate_angled_stationary(self):
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(-1000, -1500, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 8, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball in the middle of the field
ball_state = BallState(
physics=Physics(location=Vector3(0, 0, 750),
velocity=Vector3(0, 0, 1),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
def set_state_1(self):
car_state = CarState(physics=Physics(
location=Vector3(0, -2000, 18),
velocity=Vector3(0, 500, 0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
boost_amount=100)
# put the ball in the middle of the field
ball_state = BallState(physics=Physics(
location=Vector3(0, 0, 400),
velocity=Vector3(0, 0, 450),
angular_velocity=Vector3(0, 0, 0),
))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
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(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(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)
},
)
def setCarState(self):
game_state = GameState()
self.set_game_state(game_state)
car_state = CarState(boost_amount=100,
physics=Physics(location=Vector3(x=-1800,
y=0,
z=550),
velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(
math.pi / 2, 0, 0),
angular_velocity=Vector3(0, 0,
0)))
ball_state = BallState(
Physics(location=Vector3(1000, 0, 800),
velocity=Vector3(x=0, y=0, z=0)))
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:
return GameState(
ball=BallState(physics=Physics(location=Vector3(0, 0, 100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(0, 2000, 0),
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)
},
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(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(self.car_pitch, self.car_spin,
self.car_roll),
velocity=Vector3(self.car_vx, self.car_vy, self.car_vz),
angular_velocity=Vector3(0.01, 0, 0)),
boost_amount=self.boost)
},
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(
ball=BallState(physics=Physics(
# location=Vector3(1000 * rng.n11(), rng.uniform(0, 1500), 100),
location=Vector3(rng.uniform(-1000, 1000),
rng.uniform(-1000, 1000), 100),
velocity=Vector3(rng.uniform(-1000, 1000),
rng.uniform(-1000, 1000), 1000),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(0, -2500, 18),
rotation=Rotator(0, pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=87),
},
)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
rng = random
car_physics = Physics()
car_physics.rotation = Rotator(math.sinh(rng.uniform(-1, 1)),
rng.uniform(-math.pi, math.pi),
rng.uniform(-math.pi, math.pi))
car_physics.location = Vector3(0, 0, 800)
velocity = (rng.normalvariate(0, 1) for _ in range(3))
norm = sum(x**2 for x in velocity)**0.5
car_physics.angular_velocity = Vector3(*(x / norm * 5.5
for x in velocity))
ball_state = BallState(physics=Physics(velocity=Vector3(0, 0, 20),
location=Vector3(500, 0, 800)))
return GameState(cars={0: CarState(physics=car_physics)},
ball=ball_state)
def hide_ball(self, packet, drones, start_time) -> StepResult:
"""
Places the ball above the roof of the arena to keep it out of the way.
"""
self.game_interface.set_game_state(GameState(ball=BallState(physics=Physics(
location=Vector3(0, 0, 3000),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))))
return StepResult(finished=True)
def do_logic(self, packet: GameTickPacket):
if packet.game_info.is_kickoff_pause: # TODO: and not isinstance(self.scheduler.current_action, Kickoff)
self.scheduler.clear()
# self.scheduler.push(Kickoff()) # TODO: create kickoff action :keggw:
# if self.scheduler.is_empty():
# valid = False
# x = 0
# y = 0
# while not valid:
# x = randint(-4096, 4096)
# y = randint(-5120, 5120)
# max_x = 4096 - 1152
# max_y = 5120 - 1152
# valid = abs(x) < max_x and abs(y) < max_y
# tmp_target = Vec3(x, y, 0)
# target = CarDriveTarget(tmp_target, self.field.FLOOR[0])
# self.scheduler.push(GroundDriveTowardsFixedAnyState(self.scheduler, self.field,
# self.my_car, target))
if self.scheduler.is_empty():
t_1 = packet.game_ball.physics.location
target: CarDriveTarget = CarDriveTarget(Vec3(300, 300, 300),
self.field.FLOOR[0])
# print(target.loc)
# self.scheduler.push(CarDrive(self.scheduler, self.field, self.my_car, target, is_filler=True))
time.sleep(3)
ball_state = BallState(physics=Physics(
location=Vector3(0, 0, 1000)))
rr = Vec3(rand(), rand(), rand()) * math.pi
rav = Vec3(rand(), rand(), rand()).normalized() * rand() * 5.5
# angular_velocity=Vector3(rav.x, rav.y, rav.z),
car_state = CarState(
physics=Physics(location=Vector3(0, -500, 1000),
rotation=Rotator(rr.x, rr.y, rr.z)))
game_state = GameState(ball=ball_state,
cars={self.index: car_state})
self.set_game_state(game_state)
rotation = Rotator(0, np.pi / 2, 0)
self.scheduler.push(
AerialTest(self.scheduler, self.field, self.my_car,
Orientation(rotation)))
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
if self.horz_ball_var == 'Off':
ball_vel_x = ball_vel_y = 0
elif self.horz_ball_var == 'On':
ball_vel_x = (np.random.random() * 2 - 1) * 500
ball_vel_y = (np.random.random() * 2 - 1) * 300
if self.vert_ball_var == 'Off':
ball_vel_z = -1
ball_pos_z = 93
elif self.vert_ball_var == 'On':
ball_vel_z = np.random.random() * 360 - 460
ball_pos_z = np.random.random() * 200 + 500
self.paused_car_states = car_states
ball_state = BallState(
Physics(location=Vector3(0, 0, ball_pos_z),
velocity=Vector3(ball_vel_x, ball_vel_y, ball_vel_z)))
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 reset(self):
#RESET TRAINING ATTRIBUTES AFTER EACH GENOME
ball_state = BallState(
Physics(velocity=Vector3(0, 0, 0),
location=Vector3(self.pos, 5000, 3000),
angular_velocity=Vector3(0, 0, 0)))
car_state = CarState(jumped=False,
double_jumped=False,
boost_amount=33,
physics=Physics(velocity=Vector3(0, 0, 0),
rotation=Rotator(45, 90, 0),
location=Vector3(0.0, -4608, 500),
angular_velocity=Vector3(0, 0,
0)))
game_info_state = GameInfoState(game_speed=1)
game_state = GameState(ball=ball_state,
cars={self.index: car_state},
game_info=game_info_state)
self.set_game_state(game_state)
def reset(self, training_name=None):
""" Resets the training without changing any of the random values. """
if (not training_name):
training_name = self.training_name
car_state = CarState(physics=Physics(velocity=self.car_vel,
rotation=self.car_rot,
location=self.car_loc),
boost_amount=self.car_boost)
ball_state = BallState(
Physics(velocity=self.ball_vel,
location=self.ball_loc,
angular_velocity=self.ball_av))
self.game_state = GameState(ball=ball_state,
cars={self.car.index: car_state})
self.car.set_game_state(self.game_state)
def parse_ball(ball: Json) -> BallState:
return BallState(physics=Physics(
location=Vector3(
x=ball['StartLocationX'],
y=ball['StartLocationY'],
z=ball['StartLocationZ'],
),
velocity=parse_ball_vel(ball),
angular_velocity=Vector3(0, 0, 0),
))
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
car_pos = Vector3(0, 2500, 25)
ball_pos = Vector3(0, 2000, 100)
ball_state = BallState(
Physics(location=ball_pos, velocity=Vector3(0, -1300, 0)))
car_state = CarState(boost_amount=0,
jumped=True,
double_jumped=True,
physics=Physics(location=car_pos,
velocity=Vector3(0, -1000, 0),
rotation=Rotator(0, -pi / 2, 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(self.ball_start_x + rng.uniform(-30, 30), self.ball_start_y, self.ball_start_z),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0: CarState(
physics=Physics(
location=Vector3(self.car_start_x, self.car_start_y, 0),
rotation=Rotator(0, self.car_angle, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=100)
},
boosts={1: BoostState(100)},
)
def reset(self):
"""Resets game data after each genome"""
ball_state = BallState(
Physics(velocity=Vector3(0, 0, 0),
location=Vector3(self.pos, 5000, 3000),
angular_velocity=Vector3(0, 0, 0)))
car_state = CarState(jumped=False,
double_jumped=False,
boost_amount=33,
physics=Physics(velocity=Vector3(0, 0, 0),
rotation=Rotator(45, 90, 0),
location=Vector3(0.0, -4608, 500),
angular_velocity=Vector3(0, 0,
0)))
game_info_state = GameInfoState(game_speed=1)
game_state = GameState(ball=ball_state,
cars={self.index: car_state},
game_info=game_info_state)
self.set_game_state(game_state)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
car_pos = Vector3(3500 * rng.n11(), rng.uniform(0, -4000), 25)
ball_pos = Vector3(car_pos.x, car_pos.y + 500, 500)
return GameState(
ball=BallState(physics=Physics(location=ball_pos,
velocity=Vector3(0, 0, 500),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=car_pos,
rotation=Rotator(0, pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=87),
1:
CarState(physics=Physics(
location=Vector3(10000, 10000, 10000)))
},
)
def set_gamestate_straight_moving(self):
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(0, -1000, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball in the middle of the field
ball_state = BallState(
physics=Physics(location=Vector3(0, 1500, 93),
velocity=Vector3(0, random.randint(-250, 800),
random.randint(700, 800)),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
def test_process(self, game_tick_packet: GameTickPacket):
self.car_physics = Physics(velocity=Vector3(0, 0, 10))
self.ball_state = BallState(physics=Physics(
velocity=Vector3(0, 0, 10), location=Vector3(0, 0, 800)))
chrono = self.info.time - self.initialization_time
if chrono > self.timeout or self.mechanic.finished and chrono > 0.04:
log_message = "Finished" if self.mechanic.finished else "Timed out"
log_message = log_message + ". Took " + str(chrono) + " Seconds."
self.logger.info(self.mechanic.__class__.__name__ + ": " +
log_message)
self.initialize_agent()
self.set_game_state(
GameState(cars={self.index: CarState(physics=self.car_physics)},
ball=self.ball_state))
def set_gamestate_straight_moving_towards(self):
# put the car in the middle of the field
car_state = CarState(physics=Physics(
location=Vector3(0, 0, 18),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
))
# put the ball in the middle of the field
ball_state = BallState(physics=Physics(
location=Vector3(0, 2500, 93),
velocity=Vector3(0, -250, 700),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
def __init__(self):
#define all different car states here
self.carStateBasic = CarState(boost_amount=100,
physics=Physics(
location=Vector3(0, 0, 17.01),
velocity=Vector3(0, 0, 0),
rotation=Rotator(pitch=0,
yaw=0,
roll=0),
angular_velocity=Vector3(0, 0, 0)))
def get_output(self, packet: GameTickPacket):
current_time = packet.game_info.seconds_elapsed % (
self.delay + self.recording[-1][0])
# State-set and wait.
if current_time < self.delay:
if current_time < self.delay / 10:
car_state = CarState(
boost_amount=100,
physics=Physics(
location=Vector3(0, -4500, 18),
velocity=Vector3(0, 0, -100),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
)
ball_state = BallState(
Physics(
location=Vector3(0, 4500, 92.75),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
))
game_state = GameState(ball=ball_state,
cars={self.index: car_state})
self.set_game_state(game_state)
return self.convert_output_to_v4([0] * 8)
current_time -= self.delay
# Render.
self.renderer.begin_rendering()
self.renderer.draw_string_2d(
20,
20,
4,
4,
str(round(current_time, 3)),
self.renderer.white(),
)
self.renderer.end_rendering()
# Controls.
return self.find_controls(current_time)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
return GameState(ball=BallState(physics=Physics(
location=as_cls(Vector3,
parse_item(rng, self.ball.get("location", V0))),
velocity=as_cls(Vector3,
parse_item(rng, self.ball.get("velocity", V0))),
angular_velocity=as_cls(
Vector3, parse_item(rng, self.ball.get("angular_velocity",
V0))),
rotation=as_cls(Rotator,
parse_item(rng, self.ball.get("rotation", R0))),
)),
cars={
i: CarState(physics=Physics(
location=as_cls(
Vector3,
parse_item(rng, car.get("location", V0))),
velocity=as_cls(
Vector3,
parse_item(rng, car.get("velocity", V0))),
angular_velocity=as_cls(
Vector3,
parse_item(
rng, car.get("angular_velocity",
V0))),
rotation=as_cls(
Rotator,
parse_item(rng, car.get("rotation", R0))),
),
jumped=parse_item(
rng, car.get("jumped", False)),
double_jumped=parse_item(
rng,
car.get("double_jumped", False)),
boost_amount=parse_item(
rng, car.get("boost_amount", 0)))
for i, car in enumerate(self.cars)
},
boosts={
i: BoostState(parse_item(rng, v))
for i, v in enumerate(self.boosts)
})
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(self.car_pitch, self.car_spin,
self.car_roll),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=100)
},
boosts={i: BoostState(0)
for i in range(34)}, # Is this needed.
)
def initialize_agent(self):
if not hasattr(self, 'car_physics'):
self.car_physics = Physics()
self.car_physics.rotation = Rotator(
random.uniform(-math.pi / 2, math.pi / 2),
random.uniform(-math.pi, math.pi),
random.uniform(-math.pi, math.pi))
self.car_physics.location = Vector3(random.uniform(-1000, 1000),
random.uniform(-1000, 1000),
random.uniform(50, 1400))
self.car_physics.angular_velocity = Vector3(random.uniform(-5, 5),
random.uniform(-5, 5),
random.uniform(-5, 5))
self.ball_state = BallState(physics=Physics(
velocity=Vector3(0, 0, 20), location=Vector3(0, 0, 800)))
self.initialization_time = self.info.time
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
car_state = CarState(
boost_amount=100,
physics=Physics(
location=Vector3(-2000+500*rng.n11(), -4250, 20),
velocity=Vector3(1400, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)
)
)
ball_state = BallState(
Physics(
location=Vector3(-1700, -4000, 100),
velocity=Vector3(1500+500*rng.n11(), 150+50*rng.n11(), 0)
)
)
game_state = GameState(ball=ball_state, cars={0: car_state})
return game_state