def exec(self, bot):
goal_to_ball = bot.info.ball.pos - bot.info.own_goal.pos
goal_to_car = bot.info.my_car.pos - bot.info.own_goal.pos
car_prj = proj_onto(goal_to_car, goal_to_ball)
target = lerp(bot.info.own_goal.pos + car_prj,
lerp(bot.info.ball.pos, bot.info.opp_goal.pos, 0.4),
0.08)
if bot.do_rendering:
bot.renderer.draw_line_3d(bot.info.my_car.pos, target,
bot.renderer.purple())
speed = max(
(norm(bot.info.my_car.pos - bot.info.ball.pos) - 900) * 0.6, 100)
return bot.drive.towards_point(
bot,
target,
target_vel=speed,
slide=True,
boost_min=0,
can_keep_speed=norm(bot.info.my_car.pos - bot.info.ball.pos) >
3000,
can_dodge=True,
wall_offset_allowed=125)
def exec(self, bot) -> SimpleControllerState:
car = bot.info.my_car
shoot_controls = bot.shoot.with_aiming(
bot, self.aim_cone,
predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
hit_pos = bot.shoot.ball_when_hit.pos
if bot.do_rendering:
self.aim_cone.draw(bot, hit_pos, r=0, g=170, b=255)
if bot.shoot.can_shoot:
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# go home-ish
own_goal = lerp(bot.info.own_goal, bot.info.ball.pos, 0.5)
return bot.drive.go_towards_point(bot,
own_goal,
target_vel=1460,
slide=True,
boost_min=0,
can_keep_speed=True)
def utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = car.pos - ball.pos
bouncing_b = ball.pos.z > 130 or abs(ball.vel.z) > 300
if not bouncing_b:
return 0
dist_01 = clip01(1 - norm(car_to_ball) / 3000)
head_dir = lerp(Vec3(0, 0, 1), car.forward, 0.1)
ang = angle_between(head_dir, car_to_ball)
ang_01 = clip01(1 - ang / (math.pi / 2))
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.2,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: 0,
}[car.objective]
return clip01(0.6 * ang_01 + 0.4 * dist_01
# - 0.3 * bot.analyzer.team_mate_has_ball_01
+ self.is_dribbling * self.extra_utility_bias +
obj_bonus)
def time_till_reach_ball(car, ball):
""" Rough estimate about when we can reach the ball in 2d. """
car_to_ball = xy(ball.pos - car.pos)
dist = norm(car_to_ball) - Ball.RADIUS / 2
vel_c_f = proj_onto_size(car.vel, car_to_ball)
vel_b_f = proj_onto_size(ball.vel, car_to_ball)
vel_c_amp = lerp(vel_c_f, norm(car.vel), 0.58)
vel_f = vel_c_amp - vel_b_f
dist_long_01 = clip01(dist / 10_000.0)
time_normal = dist / max(220, vel_f)
time_long = dist / max(norm(car.vel), 1410)
time = lerp(time_normal, time_long, dist_long_01)
arrive_time = time * 0.95
# Combine slightly with old prediction to negative rapid changes
result = lerp(arrive_time, car.last_expected_time_till_reach_ball, 0.22)
car.last_expected_time_till_reach_ball = arrive_time
return result
def approach_defensively(self, bot) -> SimpleControllerState:
car = bot.data.my_car
ball = bot.data.ball
goal = Vec3(y=5400 * bot.data.team_sign)
self.target = lerp(ball.pos, goal, 0.8)
self.target_vel = norm(self.target - car.pos)
return super().exec(bot)
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
half_way = lerp(bot.info.own_goal.pos, ball.pos, 0.5)
dist_ball = norm(car.pos - ball.pos)
return bot.drive.towards_point(
bot,
half_way,
target_vel=dist_ball * 0.3,
slide=dist_ball > 1500,
can_dodge=False
)
def utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
half_way = lerp(bot.info.own_goal.pos, ball.pos, 0.5)
_, missing_center_guy01 = argmin(bot.info.team_cars, lambda mate: 1.0 - clip01(norm(mate.pos - half_way) / Field.LENGTH2))
attack_in_front = any(is_closer_to_goal_than(car.pos, mate.pos, car.team) for mate in bot.info.teammates if mate.objective == Objective.GO_FOR_IT)
ball_in_front = is_closer_to_goal_than(car.pos, ball.pos, car.team)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0,
Objective.FOLLOW_UP: 0.23,
Objective.ROTATE_BACK_OR_DEF: 0,
}[car.objective]
return attack_in_front * ball_in_front * missing_center_guy01 + obj_bonus
def utility(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = car.pos - ball.pos
bouncing_b = ball.pos.z > 130 or abs(ball.vel.z) > 300
if not bouncing_b:
return 0
dist_01 = clip01(1 - norm(car_to_ball) / 3000)
head_dir = lerp(Vec3(0, 0, 1), car.forward, 0.1)
ang = angle_between(head_dir, car_to_ball)
ang_01 = clip01(1 - ang / (math.pi / 2))
return clip01(0.6 * ang_01 + 0.4 * dist_01
# - 0.3 * bot.analyzer.team_mate_has_ball_01
+ self.is_dribbling * self.extra_utility_bias)
def towards_point(self,
bot,
point: Vec3,
target_vel=1430,
slide=False,
boost_min=101,
can_keep_speed=True,
can_dodge=True,
wall_offset_allowed=125) -> SimpleControllerState:
REQUIRED_ANG_FOR_SLIDE = 1.65
REQUIRED_VELF_FOR_DODGE = 1100
car = bot.info.my_car
# Dodge is done
if self.dodge is not None and self.dodge.done:
self.dodge = None
self.last_dodge_end_time = bot.info.time
# Continue dodge
elif self.dodge is not None:
self.dodge.target = point
return self.dodge.exec(bot)
# Begin recovery
if not car.on_ground:
bot.maneuver = RecoveryManeuver(bot)
return self.controls
# Get down from wall by choosing a point close to ground
if not is_near_wall(point, wall_offset_allowed) and angle_between(
car.up, Vec3(0, 0, 1)) > math.pi * 0.31:
point = lerp(xy(car.pos), xy(point), 0.5)
# If the car is in a goal, avoid goal posts
self._avoid_goal_post(bot, point)
car_to_point = point - car.pos
# The vector from the car to the point in local coordinates:
# point_local.x: how far in front of my car
# point_local.y: how far to the left of my car
# point_local.z: how far above my car
point_local = dot(point - car.pos, car.rot)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local.y, point_local.x)
dist = norm(point_local)
vel_f = proj_onto_size(car.vel, car.forward)
vel_towards_point = proj_onto_size(car.vel, car_to_point)
# Start dodge
if can_dodge and abs(angle) <= 0.02 and vel_towards_point > REQUIRED_VELF_FOR_DODGE\
and dist > vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = DodgeManeuver(bot, point)
# Start half-flip
elif can_dodge and abs(angle) >= 3 and vel_towards_point < 50\
and dist > -vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = HalfFlipManeuver(bot,
boost=car.boost > boost_min + 10)
# Is point right behind? Maybe reverse instead
if -100 < point_local.x < 0 and abs(point_local.y) < 50:
#bot.print("Reversing?")
pass
# Is in turn radius deadzone?
tr = turn_radius(abs(vel_f + 50)) # small bias
tr_side = sign(angle)
tr_center_local = Vec3(0, tr * tr_side, 10)
point_is_in_turn_radius_deadzone = norm(point_local -
tr_center_local) < tr
# Draw turn radius deadzone
if car.on_ground and bot.do_rendering:
tr_center_world = car.pos + dot(car.rot, tr_center_local)
tr_center_world_2 = car.pos + dot(car.rot, -1 * tr_center_local)
rendering.draw_circle(bot, tr_center_world, car.up, tr, 22)
rendering.draw_circle(bot, tr_center_world_2, car.up, tr, 22)
if point_is_in_turn_radius_deadzone:
# Hard turn
self.controls.steer = sign(angle)
self.controls.boost = False
self.controls.throttle = 0 if vel_f > 150 else 0.1
if point_local.x < 110 and point_local.y < 400 and norm(
car.vel) < 300:
# Brake or go backwards when the point is really close but not in front of us
self.controls.throttle = clip(-0.25 + point_local.x / -110.0,
0, -1)
self.controls.steer = -0.5 * sign(angle)
else:
# Should drop speed or just keep up the speed?
if can_keep_speed and target_vel < vel_towards_point:
target_vel = vel_towards_point
else:
# Small lerp adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.1)
# Turn and maybe slide
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
if slide and abs(angle) > REQUIRED_ANG_FOR_SLIDE:
self.controls.handbrake = True
self.controls.steer = sign(angle)
else:
self.controls.handbrake = False
# Overshoot target vel for quick adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Find appropriate throttle/boost
if vel_towards_point < target_vel:
self.controls.throttle = 1
if boost_min < car.boost and vel_towards_point + 80 < target_vel and target_vel > 1400 \
and not self.controls.handbrake and is_heading_towards(angle, dist):
self.controls.boost = True
else:
self.controls.boost = False
else:
vel_delta = target_vel - vel_towards_point
self.controls.throttle = clip(0.2 + vel_delta / 500, 0, -1)
self.controls.boost = False
if self.controls.handbrake:
self.controls.throttle = min(0.4, self.controls.throttle)
# Saved if something outside calls start_dodge() in the meantime
self.last_point = point
return self.controls
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, my_hit_time)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.opp_goal.pos)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball)
enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos
if enemy_hit_time < 1.5 * my_hit_time:
self.temp_utility_desire_boost -= bot.info.dt
if bot.do_rendering:
bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red())
return bot.drive.home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0)
elif len(bot.info.teammates) == 0 and not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(hit_pos.x) > 900 and not dist < 420:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners in 1s and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow())
return bot.drive.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False)
elif bot.shoot.can_shoot:
# Shoot !
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# We can't shoot at goal reliably
# How about a shot to the corners then?
corners = [
Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
]
for corner in corners:
ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return ctrls
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - ball.pos))
dot_threat = dot(enemy_to_ball, ball_to_my_goal) # 1 = enemy is in position, -1 = enemy is NOT in position
if car.boost <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900
pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home-ish
return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
def exec(self, bot):
pred_ball = predict.ball_predict(bot, bot.info.my_car.reach_ball_time)
# On a scale from 0 to 1, how much is this a clear?
clear01 = clip01(
norm(bot.info.opp_goal.pos - pred_ball.pos) / Field.LENGTH)**2
ts = bot.info.team_sign
right = lerp(bot.info.opp_goal.right_post,
Vec3(ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
left = lerp(bot.info.opp_goal.left_post,
Vec3(-ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
ball_to_right = right - pred_ball.pos
ball_to_left = left - pred_ball.pos
aim_cone = AimCone(ball_to_right, ball_to_left)
shot_ctrls = bot.shoot.with_aiming(bot, aim_cone,
bot.info.my_car.reach_ball_time)
if bot.do_rendering:
if bot.shoot.can_shoot:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0, r=0)
if not bot.shoot.can_shoot:
# We can't shoot on target
if len(bot.info.teammates) != 0:
# Consider passing
for mate in bot.info.teammates:
point_in_front_of_mate = lerp(mate.pos,
bot.info.opp_goal.pos, 0.5)
shot_ctrls = bot.shoot.towards(
bot, point_in_front_of_mate,
bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
if bot.do_rendering:
rendering.draw_cross(bot, point_in_front_of_mate,
bot.renderer.green())
return shot_ctrls
# Atba with bias I guess
if bot.do_rendering:
bot.renderer.draw_line_3d(bot.info.my_car.pos, pred_ball.pos,
bot.renderer.red())
return bot.shoot.any_touch(bot, bot.info.my_car.reach_ball_time)
# # We are out of position, start rotating back
# own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
# return bot.drive.towards_point(
# bot,
# own_goal,
# target_vel=1460,
# slide=False,
# boost_min=0,
# can_keep_speed=True
# )
else:
# Shoot!
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(bot, [
bot.info.my_car.pos, bot.shoot.curve_point,
bot.shoot.ball_when_hit.pos
])
return shot_ctrls
def exec(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
shoot_controls = bot.shoot.with_aiming(
bot, self.aim_cone, predict.time_till_reach_ball(car, ball))
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(
0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(
car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.enemy_goal)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
offset_ball,
target_vel=2200,
slide=False,
boost_min=0)
elif not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4350 and abs(
hit_pos.x) > 900 and not dist < 450:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point,
ball.pos + Vec3(0, bot.info.team_sign * 3000, 0),
0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
wait_point,
norm(car.pos - wait_point),
slide=False,
can_keep_speed=True,
can_dodge=False)
elif not bot.shoot.can_shoot:
if car.boost == 0:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0
pads = filter_pads(bot,
bot.info.big_boost_pads,
big_only=not collect_small,
enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home
return bot.drive.go_home(bot)
else:
# Shoot !
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls