def exec(self, bot):
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = ball.pos - car.pos
ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
own_goal_to_ball = ball.pos - bot.info.own_goal
dist = norm(car_to_ball)
offence = ball.pos.y * bot.info.team_sign < 0
dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
dot_own = dot(car_to_ball, own_goal_to_ball)
right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
if right_side_of_ball:
# Aim cone
dir_to_post_1 = (bot.info.enemy_goal + Vec3(3800, 0, 0)) - bot.info.ball.pos
dir_to_post_2 = (bot.info.enemy_goal + Vec3(-3800, 0, 0)) - bot.info.ball.pos
cone = AimCone(dir_to_post_1, dir_to_post_2)
cone.get_goto_point(bot, car.pos, bot.info.ball.pos)
if bot.do_rendering:
cone.draw(bot, bot.info.ball.pos)
# Chase ball
return bot.drive.go_towards_point(bot, xy(ball.pos), 2000, True, True, can_dodge=dist > 2200)
else:
# Go home
return bot.drive.go_towards_point(bot, bot.info.own_goal_field, 2000, True, True)
def _aerial_rpy(ang_vel_start, ang_vel_next, rot, dt):
"""
:param ang_vel_start: beginning step angular velocity (world coordinates)
:param ang_vel_next: next step angular velocity (world coordinates)
:param rot: orientation matrix
:param dt: time step
:return: Vec3 with roll pitch yaw controls
"""
# car's moment of inertia (spherical symmetry)
J = 10.5
# aerial control torque coefficients
T = Vec3(-400.0, -130.0, 95.0)
# aerial damping torque coefficients
H = Vec3(-50.0, -30.0, -20.0)
# get angular velocities in local coordinates
w0_local = dot(ang_vel_start, rot)
w1_local = dot(ang_vel_next, rot)
# PWL equation coefficients
a = [T[i] * dt / J for i in range(0, 3)]
b = [-w0_local[i] * H[i] * dt / J for i in range(0, 3)]
c = [w1_local[i] - (1 + H[i] * dt / J) * w0_local[i] for i in range(0, 3)]
# RL treats roll damping differently
b[0] = 0
return Vec3(
solve_PWL(a[0], b[0], c[0]),
solve_PWL(a[1], b[1], c[1]),
solve_PWL(a[2], b[2], c[2])
)
def update(self, bot):
ball = bot.info.ball
# Find closest foe to ball
self.opp_closest_to_ball, self.opp_closest_to_ball_dist = argmin(bot.info.opponents, lambda opp: norm(opp.pos - ball.pos))
# Possession and on/off-site
self.car_with_possession = None
self.ally_with_possession = None
self.opp_with_possession = None
for car in bot.info.cars:
# On site
own_goal = bot.info.goals[car.team]
ball_to_goal = own_goal.pos - ball.pos
car_to_ball = ball.pos - car.pos
car.onsite = dot(ball_to_goal, car_to_ball) < 0.1
# Reach ball time
car.reach_ball_time = predict.time_till_reach_ball(car, ball)
reach01 = clip01((5 - car.reach_ball_time) / 5)
# Possession
point_in_front = car.pos + car.vel * 0.6
ball_point_dist = norm(ball.pos - point_in_front)
dist01 = 1500 / (1500 + ball_point_dist) # Halves every 1500 uu of dist
car_to_ball = bot.info.ball.pos - car.pos
car_to_ball_unit = normalize(car_to_ball)
in_front01 = dot(car.forward, car_to_ball_unit)
car.possession = dist01 * in_front01 * reach01 * 3
if self.car_with_possession is None or car.possession > self.car_with_possession.possession:
self.car_with_possession = car
if car.team == bot.team and (self.ally_with_possession is None or car.possession > self.ally_with_possession.possession):
self.ally_with_possession = car
if car.team != bot.team and (self.opp_with_possession is None or car.possession > self.opp_with_possession.possession):
self.opp_with_possession = car
# Objectives
for car in bot.info.cars:
car.last_objective = car.objective
car.objective = Objective.UNKNOWN
thirdman_index, _ = argmin(bot.info.team_cars, lambda ally: norm(ally.pos - bot.info.own_goal.pos))
attacker, attacker_score = argmax(bot.info.team_cars,
lambda ally: ((0.09 if ally.last_objective == Objective.GO_FOR_IT else 0)
+ ally.boost / 490
- (0.21 if ally.index == thirdman_index else 0)
- (0.4 if not ally.onsite else 0)
+ ally.possession * (10_000 - ally.team_sign * ally.pos.y) / 20_000)**2)
attacker.objective = Objective.GO_FOR_IT
follower_expected_pos = (ball.pos + bot.info.own_goal.pos) * 0.5
follower, follower_score = argmin([ally for ally in bot.info.team_cars if ally.objective == Objective.UNKNOWN],
lambda ally: (-500 if ally.last_objective == Objective.FOLLOW_UP else 0)
- ally.boost * 2
+ (1100 if ally.index == thirdman_index else 0)
+ (200 if not ally.onsite else 0)
+ norm(ally.pos - follower_expected_pos))
follower.objective = Objective.FOLLOW_UP
for car in bot.info.team_cars:
if car.objective == Objective.UNKNOWN:
car.objective = Objective.ROTATE_BACK_OR_DEF
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
halfpi = math.pi / 2
car = self.info.my_car
ball = self.info.ball
car_state = CarState()
if ARTIFICIAL_UNLIMITED_BOOST:
car_state.boost_amount = 100
if ball.pos.x == 0 and ball.pos.y == 0:
# Kickoff
self.last_turn_time = time.time()
euler = rotation_to_euler(looking_in_dir(xy(ball.pos - car.pos)))
car_state.physics = Physics(
rotation=Rotator(pitch=euler.x, roll=0, yaw=euler.y))
elif self.last_turn_time + TURN_COOLDOWN < time.time():
turns = [
Turn(car.forward, None),
Turn(car.left, car.up * halfpi),
Turn(-car.left, car.up * -halfpi)
] if not VERTICAL_TURNS else [
Turn(car.forward, None),
Turn(car.left, car.up * halfpi),
Turn(-car.left, car.up * -halfpi),
Turn(car.up * 0.25, car.left * -halfpi),
Turn(-car.up, car.left * halfpi),
]
# In practise, this offset has little impact
ball_pos_with_offset = ball.pos + normalize(
self.info.opp_goal.pos - ball.pos) * -60
delta_n = normalize(ball_pos_with_offset - car.pos)
turn, _ = argmax(turns, lambda turn: dot(turn.dir, delta_n))
if turn.axis is not None:
self.last_turn_time = time.time()
mat = axis_to_rotation(turn.axis)
new_vel = dot(mat, car.vel)
new_rot = dot(mat, car.rot)
euler = rotation_to_euler(new_rot)
car_state.physics = Physics(velocity=Vector3(
new_vel[0], new_vel[1], new_vel[2]),
rotation=Rotator(pitch=euler.x,
roll=0,
yaw=euler.y))
game_state = GameState(cars={self.index: car_state})
self.set_game_state(game_state)
return self.controls
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 towards(self,
bot,
target: Vec3,
time: float,
allowed_uncertainty: float = 0.3,
dodge_hit: bool = True):
ball_soon = ball_predict(bot, time)
ball_soon_to_target_dir = normalize(target - ball_soon.pos)
right = dot(axis_to_rotation(Vec3(z=allowed_uncertainty)),
ball_soon_to_target_dir)
left = dot(axis_to_rotation(Vec3(z=-allowed_uncertainty)),
ball_soon_to_target_dir)
aim_cone = AimCone(right, left)
aim_cone.draw(bot, ball_soon.pos, r=0, g=0)
return self.with_aiming(bot, aim_cone, time, dodge_hit)
def exec(self, bot):
controls = SimpleControllerState()
dt = bot.info.dt
car = bot.info.my_car
relative_rotation = dot(transpose(car.rot), self.target)
geodesic_local = rotation_to_axis(relative_rotation)
# figure out the axis of minimal rotation to target
geodesic_world = dot(car.rot, geodesic_local)
# get the angular acceleration
alpha = Vec3(
self.controller(geodesic_world.x, car.ang_vel.x, dt),
self.controller(geodesic_world.y, car.ang_vel.y, dt),
self.controller(geodesic_world.z, car.ang_vel.z, dt)
)
# reduce the corrections for when the solution is nearly converged
alpha.x = self.q(abs(geodesic_world.x) + abs(car.ang_vel.x)) * alpha.x
alpha.y = self.q(abs(geodesic_world.y) + abs(car.ang_vel.y)) * alpha.y
alpha.z = self.q(abs(geodesic_world.z) + abs(car.ang_vel.z)) * alpha.z
# set the desired next angular velocity
ang_vel_next = car.ang_vel + alpha * dt
# determine the controls that produce that angular velocity
roll_pitch_yaw = AerialTurnManeuver._aerial_rpy(car.ang_vel, ang_vel_next, car.rot, dt)
controls.roll = roll_pitch_yaw.x
controls.pitch = roll_pitch_yaw.y
controls.yaw = roll_pitch_yaw.z
self._timer += dt
if ((norm(car.ang_vel) < self.epsilon_ang_vel and
norm(geodesic_world) < self.epsilon_rotation) or
self._timer >= self.timeout or car.on_ground):
self.done = True
controls.throttle = 1.0
return controls
def exec(self, bot) -> SimpleControllerState:
self.is_dribbling = True
car = bot.info.my_car
ball = bot.info.ball
ball_landing = predict.next_ball_landing(bot)
ball_to_goal = bot.info.enemy_goal - ball.pos
# Decide on target pos and speed
target = ball_landing.data["obj"].pos - self.offset_bias * normalize(
ball_to_goal)
dist = norm(target - bot.info.my_car.pos)
speed = 1400 if ball_landing.time == 0 else dist / ball_landing.time
# Do a flick?
car_to_ball = ball.pos - car.pos
dist = norm(car_to_ball)
if dist <= self.required_distance_to_ball_for_flick:
self.flick_timer += 0.016666
if self.flick_timer > self.wait_before_flick:
bot.maneuver = DodgeManeuver(
bot, bot.info.enemy_goal) # use flick_init_jump_duration?
else:
self.flick_timer = 0
# dodge on far distances
if dist > 2450 and speed > 1410:
ctt_n = normalize(target - car.pos)
vtt = dot(bot.info.my_car.vel, ctt_n) / dot(ctt_n, ctt_n)
if vtt > 750:
bot.maneuver = DodgeManeuver(bot, target)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, target, bot.renderer.pink())
return bot.drive.go_towards_point(bot,
target,
target_vel=speed,
slide=False,
can_keep_speed=False,
can_dodge=True,
wall_offset_allowed=0)
def draw_circle(bot, center: Vec3, normal: Vec3, radius: float, pieces: int):
# Construct the arm that will be rotated
arm = normalize(cross(normal, center)) * radius
angle = 2 * math.pi / pieces
rotation_mat = axis_to_rotation(angle * normalize(normal))
points = [center + arm]
for i in range(pieces):
arm = dot(rotation_mat, arm)
points.append(center + arm)
bot.renderer.draw_polyline_3d(points, bot.renderer.orange())
def step(self, dt) -> SimpleControllerState:
# car = bot.info.my_car
# ball = bot.info.ball
# car_to_ball = ball.pos - car.pos
# dist = norm(car_to_ball)
# ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
# own_goal_to_ball = ball.pos - bot.info.own_goal
# offence = ball.pos.y * bot.info.team_sign < 0
# dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
# dot_own = dot(car_to_ball, own_goal_to_ball)
# right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
# if right_side_of_ball:
# self.go_towards_point(bot, ball.pos)
# else:
# self.go_towards_point(bot, bot.info.own_goal_field)
car = self.car
car_to_point = self.target - car.pos
dist = norm(car_to_point)
point_local = dot(self.target - 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)
# Flip is finished
# if self.flip is not None and self.flip.finished:
# self.flip = None
# self.last_flip_end_time = self.info.time
# # Continue flip
# elif self.flip is not None:
# return self.flip.step(dt)
# time_since_last_flip = self.info.time - self.last_flip_end_time
# if dist > 2000 and abs(angle) <= 0.02 and time_since_last_flip > 3:
# self.flip = Flip(self.bot)
# return self.flip.step(dt)
# Boost?
if norm(car.vel) < 2200 and abs(angle) <= 0.02:
self.controls.boost = True
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
self.controls.throttle = 1.0
if self.info.time - self.start_time > 0.25:
self.finished = True
return self.controls
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:
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
def with_aiming(self,
bot,
aim_cone: AimCone,
time: float,
dodge_hit: bool = True):
# aim: | | | |
# ball | bad | ok | good |
# z pos: | | | |
# -----------+-----------+-----------+-----------+
# too high | give | give | wait/ |
# | up | up | improve |
# -----------+ - - - - - + - - - - - + - - - - - +
# medium | give | improve | aerial |
# | up | aim | |
# -----------+ - - - - - + - - - - - + - - - - - +
# soon on | improve | slow | small |
# ground | aim | curve | jump |
# -----------+ - - - - - + - - - - - + - - - - - +
# on ground | improve | fast | fast |
# | aim?? | curve | straight |
# -----------+ - - - - - + - - - - - + - - - - - +
# FIXME if the ball is not on the ground we treat it as 'soon on ground' in all other cases
self.controls = SimpleControllerState()
self.aim_is_ok = False
self.waits_for_fall = False
self.ball_is_flying = False
self.can_shoot = False
self.using_curve = False
self.curve_point = None
self.ball_when_hit = None
car = bot.info.my_car
ball_soon = ball_predict(bot, time)
car_to_ball_soon = ball_soon.pos - car.pos
dot_facing_score = dot(normalize(car_to_ball_soon),
normalize(car.forward))
vel_towards_ball_soon = proj_onto_size(car.vel, car_to_ball_soon)
is_facing = 0 < dot_facing_score
if ball_soon.pos.z < 110 or (ball_soon.pos.z < 475 and ball_soon.vel.z
<= 0) or True: #FIXME Always true
# The ball is on the ground or soon on the ground
if 275 < ball_soon.pos.z < 475 and aim_cone.contains_direction(
car_to_ball_soon):
# Can we hit it if we make a small jump?
vel_f = proj_onto_size(car.vel, xy(car_to_ball_soon))
car_expected_pos = car.pos + car.vel * time
ball_soon_flat = xy(ball_soon.pos)
diff = norm(car_expected_pos - ball_soon_flat)
ball_in_front = dot(ball_soon.pos - car_expected_pos,
car.vel) > 0
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, car_expected_pos,
bot.renderer.lime())
bot.renderer.draw_rect_3d(car_expected_pos, 12, 12, True,
bot.renderer.lime())
if vel_f > 400:
if diff < 150 and ball_in_front:
bot.maneuver = SmallJumpManeuver(
bot, lambda b: b.info.ball.pos)
if 110 < ball_soon.pos.z: # and ball_soon.vel.z <= 0:
# The ball is slightly in the air, lets wait just a bit more
self.waits_for_fall = True
ball_landing = next_ball_landing(bot, ball_soon, size=100)
time = time + ball_landing.time
ball_soon = ball_predict(bot, time)
car_to_ball_soon = ball_soon.pos - car.pos
self.ball_when_hit = ball_soon
# The ball is on the ground, are we in position for a shot?
if aim_cone.contains_direction(car_to_ball_soon) and is_facing:
# Straight shot
self.aim_is_ok = True
self.can_shoot = True
if norm(car_to_ball_soon) < 240 + Ball.RADIUS and aim_cone.contains_direction(car_to_ball_soon)\
and vel_towards_ball_soon > 300:
bot.drive.start_dodge(bot)
offset_point = xy(
ball_soon.pos) - 50 * aim_cone.get_center_dir()
speed = self._determine_speed(norm(car_to_ball_soon), time)
self.controls = bot.drive.towards_point(bot,
offset_point,
target_vel=speed,
slide=True,
boost_min=0,
can_keep_speed=False)
return self.controls
elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 5):
# Curve shot
self.aim_is_ok = True
self.using_curve = True
self.can_shoot = True
offset_point = xy(
ball_soon.pos) - 50 * aim_cone.get_center_dir()
closest_dir = aim_cone.get_closest_dir_in_cone(
car_to_ball_soon)
self.curve_point = curve_from_arrival_dir(
car.pos, offset_point, closest_dir)
self.curve_point.x = clip(self.curve_point.x, -Field.WIDTH / 2,
Field.WIDTH / 2)
self.curve_point.y = clip(self.curve_point.y,
-Field.LENGTH / 2, Field.LENGTH / 2)
if dodge_hit and norm(car_to_ball_soon) < 240 + Ball.RADIUS and angle_between(car.forward, car_to_ball_soon) < 0.5\
and aim_cone.contains_direction(car_to_ball_soon) and vel_towards_ball_soon > 300:
bot.drive.start_dodge(bot)
speed = self._determine_speed(norm(car_to_ball_soon), time)
self.controls = bot.drive.towards_point(bot,
self.curve_point,
target_vel=speed,
slide=True,
boost_min=0,
can_keep_speed=False)
return self.controls
else:
# We are NOT in position!
self.aim_is_ok = False
pass
else:
if aim_cone.contains_direction(car_to_ball_soon):
self.waits_for_fall = True
self.aim_is_ok = True
#self.can_shoot = False
pass # Allow small aerial (wait if ball is too high)
elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 4):
self.ball_is_flying = True
pass # Aim is ok, but ball is in the air
def run(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)
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.opp_goal.pos)
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.home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0)
elif len(bot.info.teammates) == 0 and 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 in 1s 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.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False)
elif bot.shoot.can_shoot:
# Shoot !
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# We can't shoot at goal reliably
# How about a shot to the corners then?
corners = [
Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
]
for corner in corners:
ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return ctrls
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - 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 <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15:
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-ish
return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
