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):
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 arrive_on_time(position: Vector3, velocity: Vector3, target: Vector3,
time_taken: float) -> SimpleControllerState:
to_target = target - position
distance = to_target.magnitude()
average_speed = distance / (time_taken + 0.0000001)
current_speed = velocity.magnitude()
target_speed = (1 -
SPEED_MATCH) * current_speed + SPEED_MATCH * average_speed
controller = SimpleControllerState()
if current_speed < target_speed:
controller.throttle = 1
controller.boost = target_speed > 1410
else:
controller.boost = False
if current_speed - target_speed > 75:
controller.throttle = -1
else:
controller.throttle = 0
if current_speed < 100:
controller.throttle = 0.2
return 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 setHalfFlip(self):
#_time = self.time
#if _time - self.flipTimer >= 1.9:
controls = []
timers = []
control_1 = SimpleControllerState()
control_1.throttle = -1
control_1.jump = True
controls.append(control_1)
timers.append(0.125)
controls.append(SimpleControllerState())
timers.append(self.fakeDeltaTime * 4)
control_3 = SimpleControllerState()
control_3.throttle = -1
control_3.pitch = 1
control_3.jump = True
controls.append(control_3)
timers.append(self.fakeDeltaTime * 4)
control_4 = SimpleControllerState()
control_4.throttle = -1
control_4.pitch = -1
control_4.roll = -.1
#control_4.jump = True
controls.append(control_4)
timers.append(0.5)
self.activeState = Divine_Mandate(self, controls, timers)
self.flipTimer = self.time
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 go_to_and_stop(data: Data, point, boost=True, slide=True):
controller_state = SimpleControllerState()
car_to_point = point - data.car.location
point_rel = data.car.relative_location(point)
dist = car_to_point.length()
steer_correction_radians = point_rel.ang()
set_normal_steering_and_slide(controller_state, steer_correction_radians,
dist, slide)
vel_f = data.car.velocity.proj_onto_size(data.car.orientation.front)
ex_brake_dist = (vel_f**2) / 2800
if dist > ex_brake_dist * 1.05:
controller_state.throttle = 1
if dist > ex_brake_dist * 1.5 and boost:
if not data.car.is_on_wall and not controller_state.handbrake and data.car.velocity.length(
) < 2000:
if is_heading_towards2(steer_correction_radians,
car_to_point.length()):
if data.car.orientation.up.ang_to(UP) < math.pi * 0.3:
controller_state.boost = True
elif dist < ex_brake_dist:
controller_state.throttle = -1
return controller_state
def go_towards_point_with_timing(data: Data,
point: Vec3,
eta: float,
slide=False,
alpha=1.25):
controller_state = SimpleControllerState()
car_to_point = point - data.car.location
point_rel = data.car.relative_location(point)
steer_correction_radians = point_rel.ang()
dist = car_to_point.length()
set_normal_steering_and_slide(controller_state, steer_correction_radians,
dist, slide)
vel_f = data.car.velocity.proj_onto(car_to_point).length()
avg_vel_f = dist / eta
target_vel_f = rlmath.lerp(vel_f, avg_vel_f, alpha)
if vel_f < target_vel_f:
controller_state.throttle = 1.0
# boost?
if target_vel_f > 1410:
if not data.car.is_on_wall and not controller_state.handbrake and data.car.velocity.length(
) < 2000:
if is_heading_towards2(steer_correction_radians, dist):
if data.car.orientation.up.ang_to(UP) < math.pi * 0.3:
controller_state.boost = True
elif (vel_f - target_vel_f) > 80:
controller_state.throttle = -0.6
elif (vel_f - target_vel_f) > 100:
controller_state.throttle = -1.0
return controller_state
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 follow_ball_on_ground(gi: GameInfo) -> Sequence:
ball_loc = Vec3(gi.packet.game_ball.physics.location)
ball_loc_flat = ball_loc.flat()
ball_vel_flat = Vec3(gi.packet.game_ball.physics.velocity).flat()
ball_ground_speed = ball_vel_flat.length()
ideal_position = ball_loc_flat
controls = SimpleControllerState(
steer=gi.car.steer_toward_target(ideal_position)
)
car_ground_speed = gi.car.velocity.flat().length()
car_to_ball_dist = gi.car.location.flat().dist(ball_loc_flat)
if car_to_ball_dist > 800:
controls.throttle = 1.0
controls.boost = abs(controls.steer) < 0.2 and car_ground_speed < 2300
else:
if car_ground_speed - ball_ground_speed > 525 and car_to_ball_dist < 500:
controls.throttle = min(max((ball_ground_speed - car_ground_speed) / 3600, -1.0), 0)
controls.boost = False
else:
controls.throttle = min(max((ball_ground_speed - car_ground_speed) / 525, 0), 1.0)
controls.boost = ball_ground_speed - car_ground_speed > 992
if gi.car.location.flat().dist(ball_loc_flat) > 92.75 and ball_loc.z < 200:
controls.throttle = min(1.0, controls.throttle + 0.1)
return Sequence([SingleStep(controls)])
def update(self):
if self.agent.me.location[2] < 600:
if self.agent.onSurface or self.agent.me.location[2] < 100:
self.active = False
controller_state = SimpleControllerState()
if self.agent.me.rotation[2] > 0:
controller_state.roll = -1
elif self.agent.me.rotation[2] < 0:
controller_state.roll = 1
if self.agent.me.rotation[0] > self.agent.velAngle:
controller_state.yaw = -1
elif self.agent.me.rotation[0] < self.agent.velAngle:
controller_state.yaw = 1
if self.active:
controller_state.throttle = 1
else:
controller_state.throttle = 0
else:
controller_state = SimpleControllerState()
return controller_state
def controller(self, agent):
controller_state = SimpleControllerState()
controller_state.pitch = 1
controller_state.throttle = -1
self.time_difference = agent.game_info.seconds_elapsed - self.start
if self.time_difference <= 0.1:
controller_state.jump = True
elif 0.1 <= self.time_difference <= 0.15:
controller_state.jump = False
elif 0.15 <= self.time_difference <= 0.35:
controller_state.jump = True
elif 0.4 <= self.time_difference <= 1.75:
controller_state.pitch = -1
if 1.2 <= self.time_difference:
controller_state.throttle = 1
if 0.575 <= self.time_difference <= 1.2:
controller_state.boost = True
controller_state.roll = 1
if 0.7 <= self.time_difference <= 1.5:
controller_state.yaw = .5
return controller_state
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 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 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 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 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 exampleController(self, target_object, target_speed):
location = target_object.local_location
controller_state = SimpleControllerState()
angle_to_ball = math.atan2(location.data[1], location.data[0])
current_speed = velocity2D(self.me)
#team
team = sign(self.team)
# if team<=0: #blue
#try to get the ball to orange goal
#else: #orange
#try to get the ball to blue goal
#steering
if angle_to_ball > 0.1:
controller_state.steer = controller_state.yaw = 1
elif angle_to_ball < -0.1:
controller_state.steer = controller_state.yaw = -1
else:
controller_state.steer = controller_state.yaw = 0
#powersliding
if angle_to_ball > 0.8:
controller_state.handbrake = True
elif angle_to_ball < -0.8:
controller_state.handbrake = True
else:
controller_state.handbrake = False
#throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and self.start > 2.2 and current_speed < 2250:
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
#dodging front only
time_difference = time.time() - self.start
if time_difference > 2.2 and distance2D(
target_object.location,
self.me.location) > 1000 and abs(angle_to_ball) < 1.3:
self.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 calcController(agent, target_object, target_speed):
goal_local = toLocal([0, -sign(agent.team)*FIELD_LENGTH/2, 100], agent.me)
goal_angle = math.atan2(goal_local.data[1], goal_local.data[0])
loc = toLocal(target_object, agent.me)
controller_state = SimpleControllerState()
angle_to_targ = math.atan2(loc.data[1],loc.data[0])
current_speed = velocity2D(agent.me)
distance = distance2D(target_object, agent.me)
#steering
controller_state.steer = steer(angle_to_targ)
r = radius(current_speed)
slowdown = (Vector3([0,sign(target_object.data[0])*(r+40),0])-loc.flatten()).magnitude() / cap(r*1.5,1,1200)
target_speed = cap(current_speed*slowdown,0,current_speed)
# throttle
if agent.ball.location.data[0] == 0 and agent.ball.location.data[1] == 0:
controller_state.throttle, controller_state.boost = 1, True
else:
controller_state.throttle, controller_state.boost = throttle(target_speed,current_speed)
#dodging
time_diff = time.time() - agent.start
if (time_diff > 2.2 and distance <= 150) or (time_diff > 4 and distance >= 1000) and not kickoff(agent):
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 = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
if not dodging(agent) and not agent.me.grounded:
target = agent.me.velocity.normalize()
targ_local = to_local(target.scale(500), agent.me)
return recoveryController(agent, targ_local)
return controller_state
def shotController(self, agent):
controller_state = SimpleControllerState()
goal_location = toLocal(
[0, -sign(agent.team) * FIELD_LENGTH / 2, 0],
agent.me) #100 is arbitrary since math is in 2D still
goal_angle = np.arctan2(goal_location[1], goal_location[0])
#print(goal_angle * 180 / np.pi)
location = toLocal(agent.ball, agent.me)
angle_to_target = np.arctan2(location[1], location[0])
target_speed = velocity2D(
agent.ball) + (distance2D(agent.ball, agent.me) / 1.5)
current_speed = velocity2D(agent.me)
#steering
if angle_to_target > .1:
controller_state.steer = controller_state.yaw = 1
elif angle_to_target < -.1:
controller_state.steer = controller_state.yaw = -1
else:
controller_state.steer = controller_state.yaw = 0
#throttle
if angle_to_target >= 1.4:
target_speed -= 1400
else:
if (target_speed > 1400 and target_speed > current_speed
and agent.start > 2.2 and current_speed < 2250):
controller_state.boost = True
if target_speed > current_speed:
controller_state.throttle = 1.0
elif target_speed < current_speed:
controller_state.throttle = 1
#dodging
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(agent.ball, agent.me) <= 270:
agent.start = time.time()
elif time_difference <= .1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= .1 and time_difference <= .15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > .15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
return controller_state
def follow_controller(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)
pitch = agent.me.location.data[0] % math.pi
roll = agent.me.location.data[2] % math.pi
# Turn dem wheels
controller_state.steer = cap(angle_to_ball * 5, -1, 1)
print(velocity2D(agent.me))
if abs(angle_to_ball) > (math.pi / 3.):
controller_state.handbrake = True
else:
controller_state.handbrake = False
# throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250 and abs(
angle_to_ball) < (math.pi / 3.):
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
# doging
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(
target_object,
agent.me) > 1000 and abs(angle_to_ball) < 1.3 and velocity2D(
agent.me) > 1200:
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
# print("target: " + str(target_speed) + ", current: " + str(current_speed))
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 exec(self, bot) -> SimpleControllerState:
ct = time.time() - self._start_time
controls = SimpleControllerState()
controls.throttle = 1
car = bot.data.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 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 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 reach_point_with_timing_and_vel(data: Data,
point: Vec3,
eta: float,
vel_d: float,
slide=False):
controller_state = SimpleControllerState()
car_to_point = point.flat() - data.car.location
point_rel = data.car.relative_location(point)
steer_correction_radians = point_rel.ang()
dist = car_to_point.length()
set_normal_steering_and_slide(controller_state, steer_correction_radians,
dist, slide)
vel_f = data.car.velocity.proj_onto(car_to_point).length()
acc_f = -2 * (2 * vel_f * eta + eta * vel_d - 3 * dist) / (eta * eta)
if abs(steer_correction_radians) > 1:
acc_f = acc_f * steer_correction_radians * steer_correction_radians
force = acc_f / (1410 - vel_f)
controller_state.throttle = min(max(-1, force), 1)
# boost?
if force > 1:
if not data.car.is_on_wall and not controller_state.handbrake and data.car.velocity.length(
) < 2000:
if is_heading_towards2(steer_correction_radians, dist):
if data.car.orientation.up.ang_to(UP) < math.pi * 0.3:
controller_state.boost = True
return controller_state
def fix_orientation(data: Data, point=None):
controller = SimpleControllerState()
strength = 0.22
ori = data.car.orientation
if point is None and data.car.velocity.flat().length2() != 0:
point = data.car.location + data.car.velocity.flat().rescale(500)
pitch_error = -ori.pitch * strength
controller.pitch = data.agent.pid_pitch.calc(pitch_error)
roll_error = -ori.roll * strength
controller.roll = data.agent.pid_roll.calc(roll_error)
if point is not None:
# yaw rotation can f up the other's so we scale it down until we are more confident about landing on the wheels
car_to_point = point - data.car.location
yaw_error = ori.front.ang_to_flat(car_to_point) * strength * 1.5
land_on_wheels01 = 1 - ori.up.ang_to(UP) / (math.pi * 2)
controller.yaw = data.agent.pid_yaw.calc(yaw_error) * (land_on_wheels01
**6)
# !
controller.throttle = 1
return controller
def calcController(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)
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 = -1.0
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 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
