def exec(self, bot) -> SimpleControllerState:
ct = bot.info.time - self._start_time
controls = SimpleControllerState()
controls.throttle = 1
car = bot.info.my_car
# Target is allowed to be a function that takes bot as a parameter. Check what it is
if callable(self.target):
target = self.target(bot)
else:
target = self.target
# To boost or not to boost, that is the question
car_to_target = target - car.pos
vel_p = proj_onto_size(car.vel, car_to_target)
angle = angle_between(car_to_target, car.forward)
controls.boost = self.boost and angle < self._boost_ang_req and vel_p < self._max_speed
# States of dodge (note reversed order)
# Land on ground
if ct >= self._t_finishing:
self._almost_finished = True
if car.on_ground:
self.done = True
else:
bot.maneuver = RecoveryManeuver(bot)
self.done = True
return controls
elif ct >= self._t_second_unjump:
# Stop pressing jump and rotate and wait for flip is done
pass
elif ct >= self._t_aim:
if ct >= self._t_second_jump:
controls.jump = 1
# Direction, yaw, pitch, roll
if self.target is None:
controls.roll = 0
controls.pitch = -1
controls.yaw = 0
else:
target_local = dot(car_to_target, car.rot)
target_local.z = 0
direction = normalize(target_local)
controls.roll = 0
controls.pitch = -direction.x
controls.yaw = sign(car.rot.get(2, 2)) * direction.y
# Stop pressing jump
elif ct >= self._t_first_unjump:
pass
# First jump
else:
controls.jump = 1
return controls
def utility(self, bot) -> float:
team_sign = bot.info.team_sign
ball = bot.info.ball
ball_to_goal = bot.info.own_goal - ball.pos
too_close = norm(ball_to_goal) < Field.GOAL_WIDTH / 2 + Ball.RADIUS
hits_goal_prediction = predict.will_ball_hit_goal(bot)
hits_goal = hits_goal_prediction.happens and sign(
ball.vel.y) == team_sign and hits_goal_prediction.time < 3
return hits_goal or too_close
def stay_at(self, bot, point: Vec3, looking_at: Vec3):
OKAY_DIST = 100
car = bot.info.my_car
car_to_point = point - car.pos
car_to_point_dir = normalize(point - car.pos)
dist = norm(car_to_point)
if dist > OKAY_DIST:
return self.towards_point(bot, point, int(dist * 2))
else:
look_dir = normalize(looking_at - car.pos)
facing_correctly = dot(car.forward, look_dir) > 0.9
if facing_correctly:
return SimpleControllerState()
else:
ctrls = SimpleControllerState()
ctrls.throttle = 0.7 * sign(dot(car.forward, car_to_point_dir))
ctrls.steer = -ctrls.throttle * sign(
dot(car.left, car_to_point_dir))
return ctrls
def exec(self, bot) -> SimpleControllerState:
DODGE_DIST = 250
MIDDLE_OFFSET = 430
# Since ball is at (0,0) we don't we a car_to_ball variable like we do so many other places
car = bot.info.my_car
dist = norm(car.pos)
vel_p = -proj_onto_size(car.vel, car.pos)
point = Vec3(0, bot.info.team_sign * (dist / 2.6 - MIDDLE_OFFSET), 0)
speed = 2300
opp_dist = norm(bot.info.opponents[0].pos)
opp_does_kick = opp_dist < dist + 600
# Opponent is not going for kickoff, so we slow down a bit
if not opp_does_kick:
speed = 2210
point = Vec3(0, bot.info.team_sign * (dist / 2.05 - MIDDLE_OFFSET),
0)
point += Vec3(35 * sign(car.pos.x), 0, 0)
# Dodge when close to (0, 0) - but only if the opponent also goes for kickoff.
# The dodge itself should happen in about 0.3 seconds
if dist - DODGE_DIST < vel_p * 0.3 and opp_does_kick:
bot.drive.start_dodge(bot)
# Make two dodges when spawning far back
elif dist > 3640 and vel_p > 1200 and not opp_does_kick:
bot.drive.start_dodge(bot)
# Pickup boost when spawning back corner by driving a bit towards the middle boost pad first
elif abs(car.pos.x) > 230 and abs(car.pos.y) > 2880:
# The pads exact location is (0, 2816), but don't have to be exact
point.y = bot.info.team_sign * 2790
self.done = not bot.info.is_kickoff
bot.renderer.draw_line_3d(car.pos, point, bot.renderer.white())
return bot.drive.towards_point(bot,
point,
target_vel=speed,
slide=False,
boost_min=0,
can_dodge=False,
can_keep_speed=False)
def utility_score(self, bot) -> float:
team_sign = bot.info.team_sign
ball = bot.info.ball
ball_to_goal = bot.info.own_goal.pos - ball.pos
too_close = norm(ball_to_goal) < Goal.WIDTH2 + Ball.RADIUS
hits_goal_prediction = predict.will_ball_hit_goal(bot)
hits_goal = hits_goal_prediction.happens and sign(
ball.vel.y) == team_sign and hits_goal_prediction.time < 3
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.2,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: 0.1,
}[bot.info.my_car.objective]
return float(hits_goal or too_close) + obj_bonus
def exec(self, bot) -> SimpleControllerState:
ctrl = super().exec(bot)
ct = time.time() - self._start_time
if ct >= self._t_release_ball:
ctrl.use_item = True
if self._t_second_jump >= ct >= 0:
# Rotate away from target
car = bot.data.my_car
target = Vec3(y=-5440 * bot.data.team_sign)
ball_to_target = target - bot.data.ball.pos
target_local = dot(ball_to_target, car.rot)
target_local.z = 0
direction = normalize(-target_local)
ctrl.roll = 0
ctrl.pitch = -direction.x
ctrl.yaw = sign(car.rot.get(2, 2)) * direction.y
return ctrl
def towards_point(self,
bot,
point: Vec3,
target_vel=1430,
slide=False,
boost_min=101,
can_keep_speed=True,
can_dodge=True,
wall_offset_allowed=125) -> SimpleControllerState:
REQUIRED_ANG_FOR_SLIDE = 1.65
REQUIRED_VELF_FOR_DODGE = 1100
car = bot.info.my_car
# Dodge is done
if self.dodge is not None and self.dodge.done:
self.dodge = None
self.last_dodge_end_time = bot.info.time
# Continue dodge
elif self.dodge is not None:
self.dodge.target = point
return self.dodge.exec(bot)
# Begin recovery
if not car.on_ground:
bot.maneuver = RecoveryManeuver(bot)
return self.controls
# Get down from wall by choosing a point close to ground
if not is_near_wall(point, wall_offset_allowed) and angle_between(
car.up, Vec3(0, 0, 1)) > math.pi * 0.31:
point = lerp(xy(car.pos), xy(point), 0.5)
# If the car is in a goal, avoid goal posts
self._avoid_goal_post(bot, point)
car_to_point = point - car.pos
# The vector from the car to the point in local coordinates:
# point_local.x: how far in front of my car
# point_local.y: how far to the left of my car
# point_local.z: how far above my car
point_local = dot(point - car.pos, car.rot)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local.y, point_local.x)
dist = norm(point_local)
vel_f = proj_onto_size(car.vel, car.forward)
vel_towards_point = proj_onto_size(car.vel, car_to_point)
# Start dodge
if can_dodge and abs(angle) <= 0.02 and vel_towards_point > REQUIRED_VELF_FOR_DODGE\
and dist > vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = DodgeManeuver(bot, point)
# Start half-flip
elif can_dodge and abs(angle) >= 3 and vel_towards_point < 50\
and dist > -vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = HalfFlipManeuver(bot,
boost=car.boost > boost_min + 10)
# Is point right behind? Maybe reverse instead
if -100 < point_local.x < 0 and abs(point_local.y) < 50:
#bot.print("Reversing?")
pass
# Is in turn radius deadzone?
tr = turn_radius(abs(vel_f + 50)) # small bias
tr_side = sign(angle)
tr_center_local = Vec3(0, tr * tr_side, 10)
point_is_in_turn_radius_deadzone = norm(point_local -
tr_center_local) < tr
# Draw turn radius deadzone
if car.on_ground and bot.do_rendering:
tr_center_world = car.pos + dot(car.rot, tr_center_local)
tr_center_world_2 = car.pos + dot(car.rot, -1 * tr_center_local)
rendering.draw_circle(bot, tr_center_world, car.up, tr, 22)
rendering.draw_circle(bot, tr_center_world_2, car.up, tr, 22)
if point_is_in_turn_radius_deadzone:
# Hard turn
self.controls.steer = sign(angle)
self.controls.boost = False
self.controls.throttle = 0 if vel_f > 150 else 0.1
if point_local.x < 110 and point_local.y < 400 and norm(
car.vel) < 300:
# Brake or go backwards when the point is really close but not in front of us
self.controls.throttle = clip(-0.25 + point_local.x / -110.0,
0, -1)
self.controls.steer = -0.5 * sign(angle)
else:
# Should drop speed or just keep up the speed?
if can_keep_speed and target_vel < vel_towards_point:
target_vel = vel_towards_point
else:
# Small lerp adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.1)
# Turn and maybe slide
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
if slide and abs(angle) > REQUIRED_ANG_FOR_SLIDE:
self.controls.handbrake = True
self.controls.steer = sign(angle)
else:
self.controls.handbrake = False
# Overshoot target vel for quick adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Find appropriate throttle/boost
if vel_towards_point < target_vel:
self.controls.throttle = 1
if boost_min < car.boost and vel_towards_point + 80 < target_vel and target_vel > 1400 \
and not self.controls.handbrake and is_heading_towards(angle, dist):
self.controls.boost = True
else:
self.controls.boost = False
else:
vel_delta = target_vel - vel_towards_point
self.controls.throttle = clip(0.2 + vel_delta / 500, 0, -1)
self.controls.boost = False
if self.controls.handbrake:
self.controls.throttle = min(0.4, self.controls.throttle)
# Saved if something outside calls start_dodge() in the meantime
self.last_point = point
return self.controls