def estimate_time(car: Car, target, dd=1) -> float:
turning_radius = 1 / Drive.max_turning_curvature(norm(car.velocity) + 500)
turning = angle_between(car.forward() * dd, direction(
car, target)) * turning_radius / 1800
if turning < 0.5: turning = 0
dist = ground_distance(car, target) - 200
if dist < 0: return turning
speed = dot(car.velocity, car.forward())
time = 0
result = None
if car.boost > 0 and dd > 0:
boost_time = car.boost / 33.33
result = BOOST.simulate_until_limit(speed,
distance_limit=dist,
time_limit=boost_time)
dist -= result.distance_traveled
time += result.time_passed
speed = result.speed_reached
if dist > 0 and speed < 1410:
result = THROTTLE.simulate_until_limit(speed, distance_limit=dist)
dist -= result.distance_traveled
time += result.time_passed
speed = result.speed_reached
if result is None or not result.distance_limit_reached:
time += dist / speed
return time * 1.05 + turning
def determine_max_speed(self, local_target):
low = 100
high = 2200
if self.kickoff:
return high
for i in range(5):
mid = (low + high) / 2
radius = (1 / RLUDrive.max_turning_curvature(mid))
local_circle = vec3(0, copysign(radius, local_target[1]), 0)
dist = norm(local_circle - xy(local_target))
if dist < radius:
high = mid
else:
low = mid
return high
def align(car: Car, target: vec3, direction: vec3):
turnAngleAmount = math.acos(dot(car.forward(), direction))
rotateToZeroAngle = -atan2(direction)
posOffset = rotate2(target - car.position, rotateToZeroAngle)
towardsZeroVector = rotate2(car.forward(), rotateToZeroAngle)
turnDirection = math.copysign(1, -towardsZeroVector[1])
turnRadius = 1 / RLUDrive.max_turning_curvature(norm(car.velocity))
ANGLETERM = 10
ANGULARTERM = -0.3
CORRECTIONTERM = 1 / 40
angleP = turnDirection * min(2, ANGLETERM * turnAngleAmount)
angleD = ANGULARTERM * car.angular_velocity[2]
finalOffset = posOffset[1] + turnDirection * turnRadius / .85 * (
1 - math.cos(turnAngleAmount))
offsetCorrection = CORRECTIONTERM * finalOffset
return min(1, max(-1, angleP + angleD + offsetCorrection))