def render(self, screen):
"""Renders this scene on the given target
Arguments:
screen {pygame.Surface} -- Pygame surface where the scene should be drawn
"""
# Create clip matrix to be passed to the root-level objects, so they can be drawn
camera_matrix = self.camera.get_camera_matrix()
projection_matrix = self.camera.get_projection_matrix()
clip_matrix = camera_matrix * projection_matrix
# Render all root-level objects
for obj in self.objects:
#makes objects only being rendered if their in front of the camre
heading = obj.position - self.camera.position
dot = Vector3.dot(heading, self.camera.forward())
if dot > 4:
obj.render(screen, clip_matrix)
def run(packet, fieldstate):
global is_spline, state
#Early start control
if fieldstate.elapsed_time() < 8:
return SimpleControllerState()
#The following logic was written at 2 am by a programmer that just wants to be done with this project
#It's horrible, and I'm sorry.
if (not is_spline) or h_spline.finished(
fieldstate.elapsed_time() - spline_start, spline_scale):
is_spline = False
controller = SimpleControllerState()
aim_vector = fieldstate.goal_pos() - fieldstate.ball_location()
#persue ball if close
car_to_ball = fieldstate.ball_location() - fieldstate.car_location()
print(car_to_ball.length())
if Vector3.dot(fieldstate.car_velocity(), car_to_ball.normalize()) >= (
0.4 * fieldstate.car_velocity().length()) and (Vector3.dot(
aim_vector, car_to_ball) >= -0.2):
correction = -fieldstate.car_facing_vector().correction_to(
car_to_ball)
controller.steer = 5 * correction
controller.throttle = clamp(
0.3 + Vector3.dot(fieldstate.car_facing_vector(), car_to_ball),
1.0, -1.0)
if car_to_ball.length() < 500: controller.boost = True
if car_to_ball.length() < 500: controller.jump = True
#print("SUPER ATTACK")
return controller
if car_to_ball.length() < 2500 or (not fieldstate.car_in_field()):
#if on wrong side, run away and try to reposition
#if on right side, gfi
if Vector3.dot(aim_vector, car_to_ball) <= 0:
#run away to reposition
target_pos = fieldstate.ball_location() - (5000 * sign(
Vector3.dot(aim_vector, Vector3.j())) * Vector3.j())
set_target(fieldstate,
v_clamp(target_pos, Vector3(4096, 5140),
Vector3(-4096, -5140)),
fieldstate.ball_location() - target_pos,
time_scale=(1.0 / 1.0))
#print("RETREAT")
return SimpleControllerState()
else:
correction = -fieldstate.car_facing_vector().correction_to(
car_to_ball)
controller.steer = 5 * correction
if (Vector3.dot(fieldstate.car_velocity().normalize(),
car_to_ball.normalize()) <=
0.7) and (fieldstate.car_velocity().length() > 250):
controller.handbrake = True
controller.throttle = clamp(
0.2 +
Vector3.dot(fieldstate.car_facing_vector(), car_to_ball),
1.0, -1.0)
if car_to_ball.length() < 500: controller.boost = True
if car_to_ball.length() < 450: controller.jump = True
#print("ATTACK")
return controller
#set setpoint if far away
set_target(fieldstate,
v_clamp(
fieldstate.ball_location() -
(1000 * sign(Vector3.dot(aim_vector, Vector3.j())) *
Vector3.j()), Vector3(4096,
5140), Vector3(-4096, -5140)),
aim_vector,
time_scale=(1.0 / 2.0))
#print("PATH")
else:
return hermite_update(fieldstate)
return SimpleControllerState()
