def initialize_agent(self):
"""Initializing all parameters which require the field info"""
self.my_goal = Goal(self.team, self.get_field_info())
self.their_goal = Goal(1 - self.team, self.get_field_info())
init_boostpads(self)
"""Setting all the mechanics to not none"""
self.drive = Drive(self.info.my_car)
self.catching = Drive(self.info.my_car)
self.dodge = Dodge(self.info.my_car)
self.dribble = Dribbling(self.info.my_car, self.info.ball,
self.their_goal)
def set_steer(agent):
if agent.info.my_car.on_ground:
agent.step = Step.Steer
target = agent.info.ball.position
agent.drive = Drive(agent.info.my_car)
agent.drive.target = target
agent.drive.speed = 2400
def init_kickoff(agent):
""""Method that initializes the kickoff"""
if abs(agent.info.my_car.location[0]) < 250:
pad = get_closest_small_pad(agent, vec3(0,
sign(agent.team) * 4608, 18))
target = vec3(pad.location[0], pad.location[1],
pad.location[2]) + sign(agent.team) * vec3(20, 0, 0)
agent.kickoffStart = "Center"
elif abs(agent.info.my_car.location[0]) < 1000:
target = vec3(0.0,
sign(agent.team) * 2816.0,
70.0) + sign(agent.team) * vec3(0, 300, 0)
agent.kickoffStart = "offCenter"
else:
target = agent.info.my_car.location + 300 * agent.info.my_car.forward()
agent.kickoffStart = "Diagonal"
agent.drive = Drive(agent.info.my_car)
agent.drive.target = target
agent.drive.speed = 2400
agent.step = Step.Drive
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
def kick_off(agent):
ball = agent.info.ball
car = agent.info.my_car
t = distance_2d(ball.position, car.position) / 2200
batmobile_resting = 18.65
robbies_constant = (ball.position - vec3(0, 0, 92.75 - batmobile_resting) -
car.position - car.velocity * t) * 2 * t**-2
robbies_boost_constant = dot(normalize(xy(
car.forward())), normalize(
xy(robbies_constant))) > (0.3 if car.on_ground else 0.1)
""""Module that performs the kickoffs"""
if agent.kickoffStart == "Diagonal":
if agent.step is Step.Drive:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.drive.finished:
ball_location = ball.position + vec3(
0, -sign(agent.team) * 500, 0)
target = car.position + 250 * normalize(ball_location -
car.position)
agent.drive = Drive(car)
agent.drive.target = target
agent.drive.speed = 2400
agent.step = Step.Drive_1
if agent.step is Step.Drive_1:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.drive.finished:
target = vec3(
dot(
rotation(
math.radians(-sign(agent.info.team) *
sign(car.position[0]) * 60)),
vec2(car.forward())) * 10000)
preorientation = dot(
axis_to_rotation(
vec3(
0, 0,
math.radians(-sign(agent.info.team) *
-sign(car.position[0]) * 30))),
car.orientation)
setup_first_dodge(agent, 0.05, 0.3, target, preorientation)
elif agent.step is Step.Dodge_1:
agent.timer += agent.info.time_delta
if agent.timer > 0.8:
lerp_var = lerp(
normalize(robbies_constant),
normalize(ball.position -
vec3(0, 0, 92.75 - batmobile_resting) -
car.position), 0.8)
agent.turn.target = look_at(lerp_var, vec3(0, 0, 1))
agent.turn.step(agent.info.time_delta)
agent.controls = agent.turn.controls
if car.on_ground:
agent.time = 0
agent.set_state = True
agent.step = Step.Shooting
else:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
agent.controls.boost = robbies_boost_constant
elif agent.kickoffStart == "Center":
if agent.step is Step.Drive:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.drive.finished:
target = vec3(
dot(rotation(math.radians(-65)), vec2(car.forward())) *
10000)
preorientation = dot(
axis_to_rotation(vec3(0, 0, math.radians(45))),
car.orientation)
setup_first_dodge(agent, 0.05, 0.4, target, preorientation)
elif agent.step is Step.Dodge_1:
agent.timer += agent.info.time_delta
if agent.timer > 0.8:
agent.turn.target = look_at(xy(ball.position - car.position),
vec3(0, 0, 1))
agent.turn.step(agent.info.time_delta)
agent.controls = agent.turn.controls
set_steer(agent)
else:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
agent.controls.boost = robbies_boost_constant
elif agent.step is Step.Steer:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if distance_2d(car.position, ball.position) < 800:
agent.step = Step.Dodge_2
agent.dodge = Dodge(car)
agent.dodge.duration = 0.075
agent.dodge.target = ball.position
elif agent.step is Step.Dodge_2:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
if agent.dodge.finished and car.on_ground:
agent.time = 0
agent.set_state = True
agent.step = Step.Shooting
elif agent.kickoffStart == "offCenter":
if agent.step is Step.Drive:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if distance_2d(car.position, agent.drive.target) < 650:
target = vec3(
dot(
rotation(
math.radians(-sign(agent.info.team) *
-sign(car.position[0]) * 100)),
vec2(car.forward())) * 10000)
preorientation = dot(
axis_to_rotation(
vec3(
0, 0,
math.radians(-sign(agent.info.team) *
sign(car.position[0]) * 30))),
car.orientation)
print("PYTHON: ", agent.info.my_car.position)
print(
"PYTHON: ",
math.radians(-sign(agent.info.team) *
-sign(car.position[0]) * 100))
setup_first_dodge(agent, 0.05, 0.4, target, preorientation)
elif agent.step is Step.Dodge_1:
agent.timer += agent.info.time_delta
if agent.timer > 0.8:
lerp_var = lerp(
normalize(robbies_constant),
normalize(ball.position -
vec3(0, 0, 92.75 - batmobile_resting) -
car.position), 0.25)
agent.turn.target = look_at(lerp_var, vec3(0, 0, 1))
agent.turn.step(agent.info.time_delta)
agent.controls = agent.turn.controls
set_steer(agent)
else:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
agent.controls.boost = robbies_boost_constant
elif agent.step is Step.Steer:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if distance_2d(ball.position, car.position) < 800:
agent.step = Step.Dodge_2
agent.dodge = Dodge(car)
agent.dodge.duration = 0.075
agent.dodge.target = ball.position
elif agent.step is Step.Dodge_2:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
if agent.dodge.finished and car.on_ground:
agent.time = 0
agent.set_state = True
agent.step = Step.Shooting