class ClearBall(Choice):
def __init__(self, bot):
if bot.team == 0:
# blue
ra = 0.85 * math.pi
la = 0.15 * math.pi
self.aim_cone = AimCone(Vec3(math.cos(ra), math.sin(ra), 0),
Vec3(math.cos(la), math.sin(la), 0))
else:
# orange
ra = -0.15 * math.pi
la = -0.85 * math.pi
self.aim_cone = AimCone(Vec3(math.cos(ra), math.sin(ra), 0),
Vec3(math.cos(la), math.sin(la), 0))
def utility(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH / 2
ball_own_half_01 = clip01(
remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball,
math.pi / 8)
return ball_own_half_01 * in_position
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)
class ShootAtGoal(Choice):
def __init__(self):
self.aim_cone = None
self.ball_to_goal_right = None
self.ball_to_goal_left = None
self.temp_utility_desire_boost = 0
def utility(self, bot) -> float:
if self.temp_utility_desire_boost > 0:
self.temp_utility_desire_boost = max(
0, self.temp_utility_desire_boost - bot.info.dt)
elif self.temp_utility_desire_boost < 0:
self.temp_utility_desire_boost = min(
0, self.temp_utility_desire_boost + bot.info.dt)
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * Field.LENGTH / 2
own_half_01 = clip01(
remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
self.ball_to_goal_right = bot.info.enemy_goal_right - reachable_ball.pos
self.ball_to_goal_left = bot.info.enemy_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_right,
self.ball_to_goal_left)
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball)
# Chase ball right after kickoff. High right after kickoff
kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3)
return clip01(own_half_01 + 0.1 * in_position +
self.temp_utility_desire_boost + kickoff_bias01)
def exec(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)
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
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.go_home(bot)
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 > 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 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:
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal - 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 == 0 and ball.pos.y * bot.info.team_sign < 500 and dot_threat < 0.1:
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
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