def setup_2s_kickoff(agent: MyHivemind):
x_pos = [round(drone.location.x) for drone in agent.drones]
x_pos.extend([round(friend.location.x) for friend in agent.friends])
if sorted(x_pos) == [-2048, 2048]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -2048:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 2048:
drone.push(Shadow())
drone.action = Action.Shadowing
elif sorted(x_pos) == [-256, 256]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -256:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 256:
drone.push(Shadow())
drone.action = Action.Shadowing
elif -2048 in x_pos or 2048 in x_pos:
for drone in agent.drones:
if round(abs(drone.location.x)) == 2048:
drone.push(KickOff())
drone.action = Action.Going
else:
drone.push(Shadow())
drone.action = Action.Shadowing
elif -256 in x_pos or 256 in x_pos:
for drone in agent.drones:
if round(abs(drone.location.x)) == 256:
drone.push(KickOff())
drone.action = Action.Going
else:
drone.push(Shadow())
drone.action = Action.Shadowing
def setup_3s_kickoff(agent: MyHivemind):
x_pos = [round(drone.location.x) for drone in agent.drones]
x_pos.extend([round(friend.location.x) for friend in agent.friends])
if sorted(x_pos) in [[-2048, -256, 2048], [-2048, 0, 2048],
[-2048, 256, 2048]]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -2048:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 2048:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
else:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
elif sorted(x_pos) == [-256, 0, 256]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -256:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 256:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
else:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
elif -2048 in x_pos or 2048 in x_pos:
for drone in agent.drones:
if round(abs(drone.location.x)) == 2048:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * -256:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
elif round(drone.location.x) == 0:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
else:
if 0 in x_pos:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
else:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
def run(self, drone: CarObject, agent: MyHivemind):
target = agent.ball.location + Vector3(0, 200 * agent.side(), 0)
local_target = drone.local(target - drone.location)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
if local_target.magnitude() < 650:
drone.pop()
drone.push(Flip(drone.local(agent.foe_goal.location - drone.location)))
def push_shot(drone: CarObject, agent: MyHivemind):
left = Vector3(4200 * -agent.side(),
agent.ball.location.y + (1000 * -agent.side()), 0)
right = Vector3(4200 * agent.side(),
agent.ball.location.y + (1000 * -agent.side()), 0)
targets = {
"goal": (agent.foe_goal.left_post, agent.foe_goal.right_post),
"upfield": (left, right)
}
shots = find_hits(drone, agent, targets)
if len(shots["goal"]) > 0:
drone.clear()
drone.push(shots["goal"][0])
drone.action = Action.Going
elif len(shots["upfield"]) > 0:
drone.clear()
drone.push(shots["upfield"][0])
drone.action = Action.Going
def run(self, drone: CarObject, agent: MyHivemind):
target = Vector3(0, 3116 * agent.side(), 0)
local_target = drone.local(target - drone.location)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
if local_target.magnitude() < 400:
drone.pop()
drone.push(DiagonalKickoff())
drone.push(Flip(drone.local(agent.ball.location - drone.location)))
def push_shot(drone: CarObject, agent: MyHivemind):
left = Vector3(4200 * -agent.side(), agent.side() * 5120, 0)
right = Vector3(4200 * agent.side(), agent.side() * 5120, 0)
targets = {"goal": (agent.foe_goal.left_post, agent.foe_goal.right_post)}
if not agent.conceding:
drones = copy(agent.drones)
drones.remove(drone)
team = agent.friends + drones
for teammate in team:
a = teammate.location
b = teammate.location + 2000 * teammate.forward
local_a = drone.local(a)
angle_a = math.atan2(local_a.y, local_a.x)
if angle_a > 0:
targets["teammate" + str(team.index(teammate))] = (b, a)
else:
targets["teammate" + str(team.index(teammate))] = (a, b)
targets["upfield"] = (left, right)
shots = find_hits(drone, agent, targets)
if len(shots["goal"]) > 0:
drone.clear()
drone.push(shots["goal"][0])
drone.action = Action.Going
elif shots.get("teammate0") is not None and len(
shots.get("teammate0")) > 0:
drone.clear()
drone.push(shots["teammate0"][0])
drone.action = Action.Going
elif shots.get("teammate1") is not None and len(
shots.get("teammate1")) > 0:
drone.clear()
drone.push(shots["teammate1"][0])
drone.action = Action.Going
elif len(shots["upfield"]) > 0:
drone.clear()
drone.push(shots["upfield"][0])
drone.action = Action.Going