def _generate_path_with_ball_position(self, packet: GameTickPacket,
ball: Vector3) -> List[Vector3]:
car = Vector3(packet.game_cars[self.agent.index].physics.location)
if pathing.in_shooting_cone(car, ball,
-1 * calculations.sign(self.agent.team)):
# Car is in the shooting cone, so make a straight path
self.path = pathing.linear_bezier(car, ball)
else:
# If the direction of the car and the desired ball direction are pointing to different sides of the line
# between the car and the ball, use a quadratic bezier. Else use a cubic bezier.
yaw: float = packet.game_cars[
self.agent.index].physics.rotation.yaw
car_dir: Vector3 = Vector3(math.cos(yaw), math.sin(yaw), 0)
desired_ball_dir: Vector3 = Vector3(
self.agent.game_info.their_goal.center).modified(
z=ball.z) - ball
car_to_ball: Vector3 = ball - car
car_dir_right_of_line: bool = Vector3.dot_product(
car_to_ball, car_dir.modified(y=-car_dir.y)) > 0
ball_dir_right_of_line: bool = Vector3.dot_product(
car_to_ball,
desired_ball_dir.modified(y=-desired_ball_dir.y)) > 0
if car_dir_right_of_line != ball_dir_right_of_line:
# Quadratic bezier curve
# Find intersection of the car direction and the desired ball direction for intermediate point of bezier curve.
intermediate: Vector3 = calculations.line_line_intersection(
car, car + car_dir, ball, desired_ball_dir)
self.path = pathing.quadratic_bezier(car, intermediate, ball)
color = self.agent.renderer.red(
) if self.agent.team else self.agent.renderer.cyan()
self.agent.renderer.draw_line_3d(car, intermediate, color)
self.agent.renderer.draw_line_3d(intermediate, ball, color)
self.agent.renderer.draw_string_3d(car, 1, 1, "P0", color)
self.agent.renderer.draw_string_3d(intermediate, 1, 1, "P1",
color)
self.agent.renderer.draw_string_3d(ball, 1, 1, "P2", color)
else:
# Cubic bezier
# TODO: Implement cubic bezier path. Using linear curve in place of cubic bezier for now.
self.path = pathing.linear_bezier(car, ball)
return self.path
def simple_aim(position: Vector3, yaw: float, target: Vector3) -> float:
"""Bang bang controller for steering."""
pos_to_target: Vector3 = target - position
facing: Vector3 = Vector3(math.cos(yaw), math.sin(yaw), 0)
self_right: Vector3 = Vector3.cross_product(facing, Vector3(0, 0, 1))
if Vector3.dot_product(self_right, pos_to_target) < 0:
return 1.0
else:
return -1.0