def input(self):
controller_input = SimpleControllerState()
theta = self.current_state.rot.yaw
correction_vector = self.target_state.pos - self.current_state.pos
facing_vector = Vec3(cos(theta), sin(theta), 0)
car_to_target = (self.target_state.pos - self.current_state.pos).normalize()
#Rotated to the car's reference frame on the ground.
rel_correction_vector = Vec3((correction_vector.x*cos(theta)) + (correction_vector.y * sin(theta)),
(-(correction_vector.x*sin(theta))) + (correction_vector.y * cos(theta)),
0)
if self.can_reverse and facing_vector.dot(car_to_target) < - 0.5:
correction_angle = atan2(rel_correction_vector.y, rel_correction_vector.x)
controller_input.throttle = - 1.0
if abs(correction_angle) > 1.25:
controller_input.handbrake = 1
controller_input.steer = cap_magnitude(-5*correction_angle, 1)
else:
correction_angle = atan2(rel_correction_vector.y, rel_correction_vector.x)
controller_input.throttle = 1.0
if abs(correction_angle) > 1.25:
controller_input.handbrake = 1
controller_input.steer = cap_magnitude(5*correction_angle, 1)
return controller_input
def resolve(self, prev_status, car, packet: GameTickPacket):
point = self.pointFunc(car, packet)
car_location = Vec3(car.physics.location.x, car.physics.location.y)
car_direction = rlmath.get_car_facing_vector(car)
yaw_velocity = car.physics.angular_velocity.x
car_velocity = Vec3(car.physics.velocity.x, car.physics.velocity.y)
car_to_point = point - car_location
steer_correction_radians = rlmath.fix_ang(
car_direction.ang_to_flat(car_to_point) + yaw_velocity * 0.2)
velocity_correction_radians = car_velocity.ang_to_flat(car_to_point)
controller = SimpleControllerState()
if abs(steer_correction_radians) > 0.5:
controller.handbrake = True
else:
return (SUCCESS, self.parent, None)
if steer_correction_radians > 0:
controller.steer = 1
elif steer_correction_radians < 0:
controller.steer = -1
controller.throttle = 0.3
# In these cases we want to brake instead
if car_velocity.length() > 500:
controller.throttle = 0
return (ACTION, self, controller)
def controller(self, agent, angle):
controller_state = SimpleControllerState()
steer_value = steer(angle)
controller_state.steer = steer_value
controller_state.throttle = 1
controller_state.handbrake = True
if self.level == PowerSlideLevel.NORMAL:
balance_threshold = 0.25 * abs(
agent.me.angular_velocity.data[2])**2 + 0.05
if balance_threshold * -1 <= angle <= balance_threshold:
controller_state.handbrake = False
controller_state.boost = True
if abs(agent.me.angular_velocity.data[2]) >= 0.15:
controller_state.steer = sign(
agent.me.angular_velocity.data[2]) * -1
else:
controller_state.steer = 0
elif self.level == PowerSlideLevel.U_TURN:
if abs(angle) < 1.15:
controller_state.steer = steer_value * -1
controller_state.throttle = -1
controller_state.handbrake = False
controller_state.boost = False
if abs(angle) < 0.15:
controller_state.steer = 0
return controller_state
def CeilingRushController(
agent, target_object1,
target_object2): #target_object es un objeto tipo obj
controller_state = SimpleControllerState()
'''if distance2D(agent.me,agent.pointA)<distance2D(agent.me,agent.pointB) and agent.me.location.data[2]>2800:
target_object = target_object2
location = agent.pointB.local_location
angle_to_target = math.atan2(location.data[1],location.data[0])
else:
target_object = target_object1
location = agent.pointA.local_location
angle_to_target = math.atan2(location.data[1],location.data[0])'''
target_object = target_object1
location = agent.pointA.local_location
angle_to_target = math.atan2(location.data[1], location.data[0])
draw_debug(agent, agent.renderer, target_object.location.data)
angle_velocity = math.atan2(agent.me.velocity.data[1],
agent.me.velocity.data[1])
#draw_debug(agent.renderer,target_object.location.data)
current_speed = velocity2D(agent.me)
#steering
if abs(angle_to_target) < math.pi / 4:
controller_state.handbrake = False
elif abs(angle_to_target) < math.pi and abs(angle_to_target) > math.pi / 2:
controller_state.handbrake = True
if agent.me.location.data[2] < 1800:
controller_state.steer = sign(angle_to_target) * min(
1, abs(2 * angle_to_target))
else:
controller_state.steer = 0
#throttle
controller_state.throttle = 1
return controller_state
def flyController(self, agent):
controller_state = SimpleControllerState()
location = toLocal(agent.ball, agent.me)
angle_to_target = np.arctan2(location[1], location[0])
location_of_target = toLocal(agent.ball, agent.me)
'''steering'''
if angle_to_target > .1:
controller_state.steer = 1
#controller_state.yaw = 1
controller_state.throttle = 1
if distance2D(agent.ball, agent.me) < 1000:
controller_state.boost = True
elif angle_to_target < -.1:
controller_state.steer = -1
#controller_state.yaw = -1
controller_state.throttle = 1
if distance2D(agent.ball, agent.me) < 1000:
controller_state.boost = True
else:
controller_state.steer = controller_state.yaw = 0
controller_state.throttle = .5
if angle_to_target < .1 and angle_to_target > -.1:
controller_state.boost = True
else:
controller_state.boost = False
#jump
time_difference = time.time() - agent.start
if time_difference > 2.2:
agent.start = time.time()
elif time_difference < .1 and distance2D(
agent.ball, agent.me) < 1000 and agent.ball.location[2] > 100:
controller_state.jump = True
print("jump")
else:
controller_state.jump = False
if agent.ball.location[2] > agent.me.location[
2] and agent.me.rotation[0] < verticalangle2D(
agent.ball.local_location,
agent.me) and agent.me.rotation[1] < angle_to_radians(
0): #change angle, this is wrong
controller_state.pitch = 1 # nose up
elif agent.ball.location[2] < agent.me.location[
2] and agent.me.rotation[0] > verticalangle2D(
agent.ball.local_location,
agent.me) and agent.me.rotation[1] > angle_to_radians(0):
controller_state.pitch = -1 # nose down
#updated code broke this
# if(agent.ball.location[2] > agent.me.location[2]):
# print("ball above car", verticalangle2D(agent.ball.local_location, agent.me)*180/np.pi)
# if(agent.ball.location[2] < agent.me.location[2]):
# print("ball below car", verticalangle2D(agent.ball.local_location, agent.me)*180/np.pi)
return (controller_state)
def diagonal(game_info=None, x_sign=None, persistent=None):
current_state = game_info.me
controls = SimpleControllerState()
#Set which boost we want based on team and side.
if x_sign == -1:
first_boost = 11
else:
first_boost = 10
if game_info.boosts[first_boost].is_active:
#If we haven't taken the small boost yet, drive towards it
controls = GroundTurn(
current_state,
current_state.copy_state(pos=Vec3(0, -1000, 0))).input()
controls.boost = 1
elif abs(current_state.pos.y) > 1100 and current_state.wheel_contact:
controls.jump = 1
controls.boost = 1
elif abs(current_state.pos.y) > 1100 and current_state.pos.z < 40:
controls.jump = 1
controls.boost = 1
elif abs(current_state.pos.y) > 500 and not current_state.double_jumped:
controls = CancelledFastDodge(current_state, Vec3(1, x_sign,
0)).input()
elif abs(current_state.pos.y) > 250 and not current_state.wheel_contact:
if persistent.aerial_turn.action == None:
persistent.aerial_turn.initialize = True
target_rot = Orientation(pitch=pi / 3,
yaw=current_state.rot.yaw,
roll=0)
persistent.aerial_turn.target_orientation = target_rot
else:
controls, persistent = aerial_rotation(game_info.dt, persistent)
controls.boost = 1
controls.steer = x_sign #Turn into the ball
elif abs(current_state.pos.y) > 235:
controls.throttle = 1
controls.boost = 1
controls.steer = x_sign
else:
controls = FrontDodge(current_state).input()
return controls, persistent
def get_output(self,
game_tick_packet: GameTickPacket) -> SimpleControllerState:
seconds = game_tick_packet.game_info.seconds_elapsed
controller_state = SimpleControllerState()
controller_state.steer = 0
controller_state.handbrake = 0
return controller_state
def waitController(agent, target, speed):
controller_state = SimpleControllerState()
loc = toLocal(target, agent.me)
angle_to_target = math.atan2(loc.data[1], loc.data[0])
controller_state.steer = steer(angle_to_target)
current_speed = velocity2D(agent.me)
if current_speed < speed:
controller_state.throttle = 1.0
elif current_speed - 50 > speed:
controller_state.throttle = -1.0
else:
controller_state.throttle = 0
time_diff = time.time() - agent.start
if time_diff > 2.2 and distance2D(target,agent.me) > (velocity2D(agent.me)*2.3) and abs(angle_to_target) < 1 and current_speed < speed:
agent.start = time.time()
elif time_diff <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_diff >= 0.1 and time_diff <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_diff > 0.15 and time_diff < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def exampleController(agent, target_object,target_speed):
distance = distance2D(agent.me.location,target_object.location)
if distance > 400:
#print("switching to efficient")
agent.state = efficientMover
return efficientMover(agent,target_object,target_speed)
controller_state = SimpleControllerState()
controller_state.handbrake = False
car_direction = get_car_facing_vector(agent.me)
car_to_ball = agent.me.location - target_object.location
steer_correction_radians = steer(car_direction.correction_to(car_to_ball))
current_speed = getVelocity(agent.me.velocity)
#steering
controller_state.steer = steer(steer_correction_radians)
#throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and current_speed < 2250:
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
return controller_state
def exampleController(agent,
target_object): #target_object es un objeto tipo obj
location = target_object.local_location
controller_state = SimpleControllerState()
angle_to_target = math.atan2(location.data[1], location.data[0])
angle_velocity = math.atan2(agent.me.velocity.data[1],
agent.me.velocity.data[1])
#draw_debug(agent.renderer,location.data)
draw_debug(agent, agent.renderer, target_object.location.data)
current_speed = velocity2D(agent.me)
#steering
if abs(angle_to_target) < math.pi / 4:
if agent.me.has_wheel_contact == True:
controller_state.boost = True
controller_state.handbrake = False
else:
controller_state.boost = False
controller_state.handbrake = True
controller_state.steer = sign(angle_to_target) * min(
1, abs(2 * angle_to_target))
controller_state.throttle = 1
#dodging
if abs(angle_to_target) < math.pi / 2 and abs(
angle_velocity) < math.pi / 3:
dodging(agent, target_object, controller_state, angle_to_target)
return controller_state
def frugal_controller(agent, target, speed):
controller_state = SimpleControllerState()
location = return_local_location(target, agent.me)
angle_to_target = math.atan2(location.data[1], location.data[0])
controller_state.steer = steer(angle_to_target)
current_speed = velocity_2d(agent.me)
if current_speed < speed:
controller_state.throttle = 1.0
elif current_speed - 50 > speed:
controller_state.throttle = -1.0
else:
controller_state.throttle = 0
if distance_2d(agent.me.location.data, target) < 250:
controller_state.handbrake = 1
# time_difference = time.time() - agent.start
# if time_difference > 2.2 and distance_2d(target, agent.me) > (velocity_2d(agent.me) * 2.3) and abs(
# angle_to_target) < 1 and current_speed < speed:
# agent.start = time.time()
# elif time_difference <= 0.1:
# controller_state.jump = True
# controller_state.pitch = -1
# elif time_difference >= 0.1 and time_difference <= 0.15:
# controller_state.jump = False
# controller_state.pitch = -1
# elif time_difference > 0.15 and time_difference < 1:
# controller_state.jump = True
# controller_state.yaw = controller_state.steer
# controller_state.pitch = -1
return controller_state
def pid_steer(game_info, target_location, pid: SteerPID):
"""Gives a set of commands to move the car along the ground toward a target location
Attributes:
target_location (Vec3): The local location the car wants to aim for
Returns:
SimpleControllerState: the set of commands to achieve the goal
"""
controller_state = SimpleControllerState()
ball_direction = target_location
angle = -np.arctan2(ball_direction.y, ball_direction.x)
if angle > np.pi:
angle -= 2 * np.pi
elif angle < -np.pi:
angle += 2 * np.pi
# adjust angle
turn_rate = pid.get_steer(angle)
controller_state.throttle = 1
controller_state.steer = turn_rate
controller_state.jump = False
return controller_state
def get_output(self,
game_tick_packet: GameTickPacket) -> SimpleControllerState:
# Get the direction to the ball
car = game_tick_packet.game_cars[self.index]
ball_pos = game_tick_packet.game_ball.physics.location
to_ball_x = ball_pos.x - car.physics.location.x
to_ball_y = ball_pos.y - car.physics.location.y
dist_to_ball = math.sqrt(to_ball_x**2 + to_ball_y**2)
if dist_to_ball == 0: return SimpleControllerState()
to_ball_x /= dist_to_ball
to_ball_y /= dist_to_ball
# How is the car aligned with the direction to the ball?
yaw = float(car.physics.rotation.yaw)
car_left_x = -math.sin(yaw)
car_left_y = math.cos(yaw)
dot_product = to_ball_x * car_left_x + to_ball_y * car_left_y
# Act on the information above.
controller_state = SimpleControllerState()
controller_state.throttle = 1.0
controller_state.steer = min(
1, max(-1, self.steering_coefficient * dot_product))
controller_state.boost = abs(dot_product) < .1
controller_state.handbrake = abs(dot_product) > .9
return controller_state
def frugalController(agent, target, speed):
controller_state = SimpleControllerState()
location = toLocal(target, agent.me)
angle_to_target = math.atan2(location.data[1], location.data[0])
controller_state.steer = steer(angle_to_target)
speed -= ((angle_to_target**2) * 300)
current_speed = velocity1D(agent.me).data[1]
if current_speed < speed:
controller_state.throttle = 1.0
elif current_speed - 50 > speed:
controller_state.throttle = -1.0
else:
controller_state.throttle = 0
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(
target, agent.me) > (velocity2D(agent.me) * 2.3) and abs(
angle_to_target
) < 0.9 and current_speed < speed and current_speed > 220:
agent.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= 0.1 and time_difference <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > 0.15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def go_nuts(gi: GameInfo) -> Sequence:
ball_location = Vec3(gi.packet.game_ball.physics.location)
if gi.car.location.flat().dist(ball_location.flat()) > 2000:
# We're far away from the ball, let's try to lead it a little bit
ball_prediction = gi.bot.get_ball_prediction_struct() # This can predict bounces, etc
ball_in_future_location = Vec3(find_slice_at_time(ball_prediction, gi.packet.game_info.seconds_elapsed + 2).physics.location)
target_location = ball_in_future_location.flat() + (ball_in_future_location.flat() - Vec3(gi.field.opponent_goal.location)).rescale(2200).flat()
with Renderer(gi.bot.renderer) as r:
r.draw_line_3d(ball_location, target_location, r.cyan())
else:
target_location = ball_location + (ball_location - Vec3(gi.field.opponent_goal.location)).rescale(100)
# Draw some things to help understand what the bot is thinking
with Renderer(gi.bot.renderer) as r:
r.draw_line_3d(gi.car.location, target_location, r.white())
r.draw_string_3d(gi.car.location, 1, 1, f'Speed: {gi.car.velocity.length():.1f}', r.white())
r.draw_rect_3d(target_location, 8, 8, True, r.cyan(), centered=True)
controls = SimpleControllerState()
controls.steer = gi.car.steer_toward_target(target_location)
controls.throttle = 1.0
controls.boost = abs(controls.steer) < 0.2 and gi.car.velocity.length() < 2000
# controls.handbrake = abs(controls.steer) > 0.99 and gi.car.location.dist(ball_location) > 1000
return Sequence([SingleStep(controls)])
def deltaC(
info: Info, target: Vector3, jt
): # this controller takes a vector containing the required acceleration to reach a target, and then gets the car there
c = SimpleControllerState()
target_local = info.car_matrix.dot(target)
if info.car.has_wheel_contact: # if on the ground
if jt + 1.5 > info.game_time: # if we haven't jumped in the last 1.5 seconds
c.jump = True
else:
c.jump = False
jt = info.game_time
else:
c.steer, c.yaw, c.pitch, c.roll, error = default_pd(info, target_local, True)
if target.length > 25: # stops boosting when "close enough"
c.boost = True
if error > 0.9: # don't boost if we're not facing the right way
c.boost = False
tsj = info.game_time - jt # time since jump
if tsj < 0.215:
c.jump = True
elif tsj < 0.25:
c.jump = False
elif (
tsj >= 0.25 and tsj < 0.27 and target.z > 560
): # considers a double-jump if we still need to go up a lot
c.jump = True
c.boost = False
c.yaw = c.pitch = c.roll = 0
else:
c.jump = False
c.throttle = 1
return c, jt
def action_goto(self, my_car, car_location, target_location):
controller = SimpleControllerState()
if target_location is None:
return controller
car_to_target = target_location - car_location
# Find the direction of our car using the Orientation class
car_orientation = Orientation(my_car.physics.rotation)
car_direction = car_orientation.forward
steer_correction_radians = find_correction(car_direction,
car_to_target)
if steer_correction_radians > 0:
# Positive radians in the unit circle is a turn to the left.
turn = -1.0 # Negative value for a turn to the left.
self.action_display = "turn left"
else:
turn = 1.0
self.action_display = "turn right"
controller.throttle = 1.0
controller.steer = turn
controller.boost = True
return controller
def input(self):
controller_input = SimpleControllerState()
current_angle_vec = Vec3(cos(self.current_state.rot.yaw), sin(self.current_state.rot.yaw), 0)
goal_angle_vec = Vec3(cos(self.goal_state.rot.yaw), sin(self.goal_state.rot.yaw), 0)
vel_2d = Vec3(self.current_state.vel.x, self.current_state.vel.y, 0)
if (self.current_state.pos - self.goal_state.pos).magnitude() > 400:
#Turn towards target. Hold throttle until we're close enough to start stopping.
controller_input = GroundTurn(self.current_state, self.goal_state).input()
elif vel_2d.magnitude() < 50 and current_angle_vec.dot(goal_angle_vec) < 0:
#If we're moving slowly, but not facing the right way, jump to turn in the air.
#Decide which way to turn. Make sure we don't have wraparound issues.
goal_x = goal_angle_vec.x
goal_y = goal_angle_vec.y
car_theta = self.current_state.rot.yaw
#Rotated to the car's reference frame on the ground.
rel_vector = Vec3((goal_x*cos(car_theta)) + (goal_y * sin(car_theta)),
(-(goal_x*sin(car_theta))) + (goal_y * cos(car_theta)),
0)
correction_angle = atan2(rel_vector.y, rel_vector.x)
#Jump and turn to reach goal yaw.
if self.current_state.wheel_contact:
controller_input.jump = 1
else:
controller_input.yaw = cap_magnitude(correction_angle, 1)
elif self.current_state.vel.magnitude() > 400:
#TODO: Proportional controller to stop in the right place
controller_input.throttle = -1
else:
#Wiggle to face ball
#Check if the goal is ahead of or behind us, and throttle in that direction
goal_angle = atan2((self.goal_state.pos - self.current_state.pos).y, (self.goal_state.pos - self.current_state.pos).x)
if abs(angle_difference(goal_angle,self.current_state.rot.yaw)) > pi/2:
correction_sign = -1
else:
correction_sign = 1
controller_input.throttle = correction_sign
#Correct as we wiggle so that we face goal_yaw.
if angle_difference(self.goal_state.rot.yaw, self.current_state.rot.yaw) > 0:
angle_sign = 1
else:
angle_sign = -1
controller_input.steer = correction_sign*angle_sign
return controller_input
def exampleController(agent, target_object, target_speed):
location = toLocal(target_object, agent.me)
controller_state = SimpleControllerState()
angle_to_ball = math.atan2(location.data[1], location.data[0])
current_speed = velocity2D(agent.me)
#steering
controller_state.steer = steer(angle_to_ball)
#throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250:
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
#dodging
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(target_object, agent.me) > (
velocity2D(agent.me) * 2.5) and abs(angle_to_ball) < 1.3:
agent.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= 0.1 and time_difference <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > 0.15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def get_output(self, game_tick_packet: GameTickPacket) -> SimpleControllerState:
controller_state = SimpleControllerState()
controller_state.throttle = 1
controller_state.boost = True
controller_state.steer = -1 if int(game_tick_packet.game_info.seconds_elapsed) % 2 == 0 else 1
self.renderer.draw_line_3d((0, 0, 50), (0, 0, 2000), self.renderer.orange())
return controller_state
def get_output(self,
game_tick_packet: GameTickPacket) -> SimpleControllerState:
controller_state = SimpleControllerState()
if not game_tick_packet.game_info.is_round_active:
return controller_state
ball_location = Vector2(game_tick_packet.game_ball.physics.location.x,
game_tick_packet.game_ball.physics.location.y)
my_car = game_tick_packet.game_cars[self.index]
car_location = Vector2(my_car.physics.location.x,
my_car.physics.location.y)
car_direction = get_car_facing_vector(my_car)
car_to_ball = ball_location - car_location
steer_correction_radians = car_direction.correction_to(car_to_ball)
if steer_correction_radians > 0:
# Positive radians in the unit circle is a turn to the left.
turn = -1.0 # Negative value for a turn to the left.
else:
turn = 1.0
if self.flip_turning:
turn *= -1.0
if turn == -1.0 and self.test_quickchat:
self.send_quick_chat(QuickChats.CHAT_EVERYONE,
QuickChats.Information_IGotIt)
if self.test_rendering:
self.do_rendering_test(game_tick_packet, my_car)
if self.test_dropshot:
self.do_dropshot_tile_test(game_tick_packet)
if self.test_state:
self.set_state_test(game_tick_packet)
if self.test_ball_prediction:
self.render_ball_prediction()
if self.test_physics_tick:
self.do_physics_tick_test(game_tick_packet)
controller_state.throttle = 1.0
controller_state.steer = turn
return self.convert_output_to_v4([
1.0, # throttle
turn, # steer
0.0, # pitch
0.0, # yaw
0.0, # roll
0, # jump
0, # boost
0 # handbrake
])
def move_towards_point(self, my_car, point, boost: bool) -> SimpleControllerState:
# Set the final controls based off of above decision making
controls = SimpleControllerState()
controls.steer = steer_toward_target(my_car, point)
controls.throttle = 1.0
if boost:
controls.boost = True
return controls
def input(self):
controller_input = SimpleControllerState()
controller_input.throttle = 1
if self.boost == 1:
controller_input.boost = 1
controller_input.handbrake = 1
controller_input.steer = self.direction
return controller_input
def hermite_update(fieldstate):
spline_pos, spline_d = h_spline.get(
fieldstate.elapsed_time() - spline_start, spline_scale)
goal_position = spline_pos
error_vector = goal_position - fieldstate.car_location()
correction_angle = fieldstate.car_facing_vector().correction_to(
error_vector)
goal_velocity = spline_d
goal_angle = fieldstate.car_facing_vector().correction_to(spline_d)
output = SimpleControllerState()
#velocity PID
vel_pid_out = vel_pid.update(goal_velocity.length(),
fieldstate.car_velocity().length(),
fieldstate.delta_time())
position_pid_out = position_pid.update(error_vector.length(), 0,
fieldstate.delta_time())
output.throttle = clamp(vel_pid_out + position_pid_out, 1.0, -1.0)
#heading PID
heading_pid_out = heading_pid.update(-goal_angle * sign(output.throttle),
0, fieldstate.delta_time())
heading_abs_pid_out = heading_abs_pid.update(
-correction_angle * sign(output.throttle), 0, fieldstate.delta_time())
output.steer = clamp(heading_pid_out + heading_abs_pid_out, 1.0, -1.0)
# fi.write("{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{}\n".format(
# fieldstate.elapsed_time(),
# error_vector.length() * sign(Vector3.dot(error_vector, fieldstate.car_facing_vector().normalize())),
# goal_position.x,
# goal_position.y,
# fieldstate.car_location().x,
# fieldstate.car_location().y,
# goal_velocity.length(),
# fieldstate.car_velocity().length(),
# math.atan2(spline_d.y, spline_d.x),
# math.atan2(fieldstate.car_facing_vector().y, fieldstate.car_facing_vector().x),
# vel_pid_out,
# position_pid_out,
# heading_pid_out,
# heading_abs_pid_out,
# output.throttle,
# output.steer
# ))
if goal_velocity.length() > 1400:
output.boost = True
return output
def ground_controller(game_info, target_location):
"""Gives a set of commands to move the car along the ground toward a target location
Attributes:
target_location (Vec3): The local location the car wants to aim for
Returns:
SimpleControllerState: the set of commands to achieve the goal
"""
controller_state = SimpleControllerState()
ball_direction = target_location
distance = target_location.flat().length()
angle = -math.atan2(ball_direction.y, ball_direction.x)
if angle > math.pi:
angle -= 2*math.pi
elif angle < -math.pi:
angle += 2*math.pi
speed = 0.0
turn_rate = 0.0
r1 = 250
r2 = 1000
# adjust angle
if angle > 0.02:
turn_rate = -1.0
elif angle < -0.02:
turn_rate = 1.0
else:
turn_rate = 0
if distance <= r1:
# if toward ball move forward
if abs(angle) < math.pi / 4:
speed = 1.0
else:
# if not toward ball reverse, flips turn rate to adjust
turn_rate = turn_rate * -1.0
speed = -1.0
# if far away, move at full speed forward
elif distance >= r2:
speed = 1.0
if game_info.me.velocity.length() < 2250:
controller_state.boost = True
# if mid range, adjust forward
else:
# adjust speed
if game_info.me.velocity.length() < 2250:
controller_state.boost = True
if abs(angle) < math.pi / 2:
speed = 1.0
else:
speed = 0.5
controller_state.throttle = speed
controller_state.steer = turn_rate
controller_state.jump = False
return controller_state
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
bot = PhysicsObject(packet.game_cars[self.agent.index].physics)
steer = steering.simple_aim(bot.location, bot.rotation.z, self.target)
controller = SimpleControllerState()
controller.steer = steer
controller.throttle = 1
return controller
def get_controls(game_info, sub_state_machine):
controls = SimpleControllerState()
controls.throttle = 1
controls.boost = 1
controls.steer = -1
persistent = game_info.persistent
return controls, persistent
def to_simple_controller_state(self):
controls = SimpleControllerState()
controls.throttle = self.throttle
controls.steer = self.steer
controls.yaw = self.yaw
controls.pitch = self.pitch
controls.roll = self.roll
controls.boost = self.boost
controls.jump = self.jump
controls.handbrake = self.handbrake
return controls
def get_controls(game_info, sub_state_machine):
controls = SimpleControllerState()
persistent = game_info.persistent
persistent.aerial_turn.action.step(game_info.dt)
controls = persistent.aerial_turn.action.controls
controls.boost = 1
controls.steer = 1
return controls, persistent
def goto(target_location, target_speed, my_car, agent, packet):
car_speed = Vec3(my_car.physics.velocity).length()
distance = Vec3(my_car.physics.location).flat().dist(
target_location.flat())
angle = Orientation(
my_car.physics.rotation).forward.ang_to(target_location -
Vec3(my_car.physics.location))
controls = SimpleControllerState()
controls.steer = steer_toward_target(my_car, target_location, 0)
controls.yaw = steer_toward_target(my_car, target_location,
-my_car.physics.angular_velocity.z / 6)
controls.throttle = cap(target_speed - car_speed, -1, 1)
controls.boost = (target_speed > 1410
and abs(target_speed - car_speed) > 20 and angle < 0.3)
controls.handbrake = angle > 2.3
controls.jump = (1 if my_car.physics.location.y >= 0 else -1) == (
1 if agent.team == 1 else -1
) and abs(
my_car.physics.location.y) > 5000 and my_car.physics.location.z > 200
controls.use_item = Vec3(my_car.physics.location).dist(
Vec3(packet.game_ball.physics.location)) < 200 and relative_location(
Vec3(my_car.physics.location), Orientation(
my_car.physics.rotation),
Vec3(packet.game_ball.physics.location)).z < 75
if (abs(target_speed - car_speed) > 20 and angle < 0.3 and
distance > 600) and ((target_speed > 1410 and my_car.boost == 0)
or 700 < car_speed < 800):
agent.stack.append(wavedash(target_location))
return controls
