def get_controls(game_info, sub_state_machine):
controls = SimpleControllerState()
controls = CancelledFastDodge(game_info.me, Vec3(1, 1, 0)).input()
persistent = game_info.persistent
return controls, persistent
def offcenter(game_info=None, x_sign=None, persistent=None):
controller_input = SimpleControllerState()
current_state = game_info.me
ball = game_info.ball
team_sign = game_info.team_sign
ball = game_info.ball
#Set which boost we want based on team and side.
if team_sign == 1:
first_boost = 7
else:
first_boost = 26
if abs(current_state.pos.x) > 150 and abs(current_state.pos.y) > 1100:
#If we're not near the center-line of the field, boost towards the first small boost
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=Vec3(0, -3000, 0))).input()
controller_input.boost = 1
elif abs(current_state.pos.y) > 1500 and current_state.pos.z < 30:
controller_input.jump = 1
controller_input.boost = 1
elif abs(current_state.pos.y) > 1000 and not current_state.double_jumped:
#If we're far away, fast dodge to speed up.
controller_input = CancelledFastDodge(current_state,
Vec3(1, x_sign, 0)).input()
elif abs(current_state.pos.y) > 355 and current_state.double_jumped:
if persistent.aerial_turn.action == None:
persistent.aerial_turn.initialize = True
vector_to_ball = game_info.ball.pos - current_state.pos
yaw_to_ball = atan2(vector_to_ball.y, vector_to_ball.x)
target_rot = Orientation(pitch=pi / 3, yaw=yaw_to_ball, roll=0)
persistent.aerial_turn.target_orientation = target_rot
else:
controller_input, persistent = aerial_rotation(
game_info.dt, persistent)
controller_input.boost = 1
elif abs(current_state.pos.y) > 355:
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=Vec3(0, -team_sign *
100, 0))).input()
else:
controller_input = FrontDodge(current_state).input()
return controller_input, persistent
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 offcenter(game_info, old_game_info, opponent_distance, x_sign, persistent):
controller_input = SimpleControllerState()
current_state = game_info.me
old_state = old_game_info.me
ball_angle = atan2((game_info.ball.pos - current_state.pos).y,
(game_info.ball.pos - current_state.pos).x)
#Offset added to the ball position for our initial steer
offset = Vec3(x_sign * 1200, 0, 0)
first_boost = 7
wobble = Vec3(current_state.omega.x, current_state.omega.y, 0).magnitude()
epsilon = 0.01
if abs(current_state.pos.y) > 3400:
#If we're not near the center-line of the field, boost towards the first small boost
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=game_info.ball.pos + offset)).input()
controller_input.boost = 1
elif abs(current_state.pos.y) > 900 and current_state.wheel_contact:
controller_input.jump = 1
controller_input.boost = 1
elif abs(current_state.pos.y) > 900 and not current_state.double_jumped:
#If we're far away, fast dodge to speed up.
dodge_direction = car_coordinates_2d(
current_state, (game_info.ball.pos - Vec3(x_sign * 2500, 0, 0)) -
current_state.pos)
controller_input = CancelledFastDodge(current_state,
dodge_direction).input()
controller_input.boost = 1
elif abs(current_state.pos.y) < 250:
#If both players are close to the ball, dodge into the ball.
controller_input = AirDodge(Vec3(0, 1, 0),
current_state.jumped_last_frame).input()
controller_input.boost = 1
elif current_state.wheel_contact and wobble < epsilon:
#If we're approaching the ball and stable enough to jump again,
#jump turn into ball to prep for the dodge
if current_state.rot.yaw > ball_angle:
direction = -1
else:
direction = 1
controller_input = JumpTurn(current_state, 0, direction).input()
elif current_state.wheel_contact:
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=game_info.ball.pos)).input()
controller_input.boost = 1
else:
vel_angle = atan2(current_state.vel.y, current_state.vel.x)
target_rot = Orientation(pyr=[0, vel_angle, 0])
controller_input, persistent = aerial_rotation(target_rot,
game_info.dt,
persistent)
controller_input.boost = 1
return controller_input, persistent
def far_back(game_info, old_game_info, opponent_distance, persistent):
controller_input = SimpleControllerState()
current_state = game_info.me
old_state = old_game_info.me
ball_angle = atan2((game_info.ball.pos - current_state.pos).y,
(game_info.ball.pos - current_state.pos).x)
#Set which boost we want based on team.
if game_info.team_sign == 1:
first_boost = 7
else:
first_boost = 26
if abs(current_state.pos.y) > 4000:
#Boost to start
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=game_info.ball.pos)).input()
controller_input.boost = 1
elif abs(current_state.pos.y) > 3817:
#Turn to line up the dodge
controller_input = QuickTurn(1, True).input()
elif abs(current_state.pos.y) > 2500 and current_state.wheel_contact:
#Jump to prep for the dodge
controller_input.jump = 1
elif abs(current_state.pos.y) > 3400:
#If we're far away, fast dodge to speed up
dodge_direction = car_coordinates_2d(
current_state,
(game_info.ball.pos - Vec3(0, 0, 0)) - current_state.pos)
controller_input = CancelledFastDodge(current_state,
dodge_direction).input()
elif abs(current_state.pos.y) < 400: # and opponent_distance < 1000:
#Dodge into the ball.
controller_input = AirDodge(Vec3(1, 0, 0),
current_state.jumped_last_frame).input()
elif current_state.wheel_contact and abs(
current_state.pos.y) < 1000: # and opponent_distance < 1000:
#If we're on the ground, close, and the opponent is also close,
#jump and turn towards the ball to prep for the dodge.
if current_state.rot.yaw > ball_angle:
direction = -1
else:
direction = 1
controller_input = JumpTurn(current_state, 0, direction).input()
elif abs(current_state.pos.y) < 375:
#If the opponent is far away and we're close to the ball, take a single jump shot
controller_input.jump = 1
elif current_state.wheel_contact:
#Otherwise if we're on the ground, boost and turn towards the ball
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=game_info.ball.pos)).input()
controller_input.boost = 1
else:
#Otherwise turn towards the ball (this might not actually do anything)
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=game_info.ball.pos)).input()
return controller_input, persistent
def diagonal(game_info, old_game_info, opponent_distance, x_sign, persistent):
controller_input = SimpleControllerState()
current_state = game_info.me
old_state = old_game_info.me
ball_angle = atan2((game_info.ball.pos - current_state.pos).y,
(game_info.ball.pos - current_state.pos).x)
offset = Vec3(x_sign * 1500, -465, 0)
if current_state.rot.yaw > ball_angle:
direction = -1
else:
direction = 1
wobble = Vec3(current_state.omega.x, current_state.omega.y, 0).magnitude()
epsilon = 0.3
#Set which boost we want based on team and side.
if x_sign == -1:
first_boost = 11
else:
first_boost = 10
if abs(current_state.pos.y) > 2440:
#If we haven't taken the small boost yet, drive towards it
controller_input = GroundTurn(
current_state,
current_state.copy_state(pos=game_info.ball.pos + offset)).input()
controller_input.boost = 1
elif abs(current_state.pos.y) > 1100 and current_state.wheel_contact:
controller_input.jump = 1
controller_input.boost = 1
elif abs(current_state.pos.y) > 500:
#If we've taken the boost but are still far away, fast dodge to speed up
dodge_direction = car_coordinates_2d(
current_state, (game_info.ball.pos - Vec3(x_sign * 1000, 0, 0)) -
current_state.pos)
print(atan2(dodge_direction.y, dodge_direction.x))
controller_input = CancelledFastDodge(current_state,
dodge_direction).input()
controller_input.steer = direction
elif abs(current_state.pos.y) < 350:
#If both players are close to the ball, dodge into the ball.
controller_input = AirDodge(
car_coordinates_2d(current_state,
game_info.ball.pos - current_state.pos),
current_state.jumped_last_frame).input()
elif current_state.wheel_contact:
#If we're approaching the ball and the opponent is close,
#jump turn into ball to prep for the dodge
controller_input.steer = direction
elif current_state.wheel_contact and abs(current_state.pos.y) < 520:
controller_input.jump
elif current_state.wheel_contact and wobble < epsilon:
controller_input.handbrake = 1
else:
vel_angle = atan2(current_state.vel.y, current_state.vel.x)
target_rot = Orientation(pyr=[0, vel_angle - x_sign * pi / 4, 0])
controller_input, persistent = aerial_rotation(target_rot,
game_info.dt,
persistent)
controller_input.boost = 1
controller_input.steer = x_sign
return controller_input, persistent