def step(self, packet: GameTickPacket, drone: Drone, index: int):
# Get centre of small circle.
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
centre = vec3(dot(rotation(direction_angle), vec2(
1, 0))) * self.big_radius
centre[2] = self.height
# Angle for the small circle.
# Wraps nicely around the small circle.
t = self.time_since_start + 2.5
if t > 2 * math.pi: t = 2 * math.pi
angle = (t / 16) * (index % 16 - 8)
angle += (2 * math.pi / 4) * (index // 16) + (math.pi / 4)
target = vec3(dot(rotation(angle), vec2(self.small_radius, 0)))
target += centre
# Hover controls.
drone.hover.up = normalize(drone.position - centre)
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
# If any bot got lost, now they have a chance to recover.
if drone.on_ground:
drone.controls.jump = True
else:
drone.controls.jump = False
def step(self, packet: GameTickPacket, drone: Drone, index: int):
self.finished = (100 + self.big_radius -
self.time_since_start * self.speed) <= 0
# Get centre of small circle.
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
centre = vec3(dot(rotation(direction_angle), vec2(1, 0)))
# Crossing action.
centre *= (self.big_radius - self.time_since_start * self.speed)
centre[2] = self.height
# Angle for the small circle.
angle = (2 * math.pi / 16) * (index % 16)
angle += (2 * math.pi / 4) * (index // 16 - 1)
angle += self.time_since_start * self.spin
target = vec3(dot(rotation(angle), vec2(self.small_radius, 0)))
target += centre
# Different heights.
target[2] += (index // 16 - 2) * self.height_diff
# Hover controls.
drone.hover.up = normalize(drone.position - centre)
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def step(self, dt):
if not self.flicking:
self.carry.step(dt)
self.controls = self.carry.controls
self.finished = self.carry.finished
car = self.car
ball = self.info.ball
# check if it's a good idea to flick
dir_to_target = ground_direction(car, self.target)
if (distance(car, ball) < 150 and ground_distance(car, ball) < 100
and dot(car.forward(), dir_to_target) > 0.7
and norm(car.velocity) > clamp(
distance(car, self.target) / 3, 1000, 1700)
and dot(dir_to_target, ground_direction(car, ball)) > 0.9):
self.flicking = True
# flick if opponent is close
for opponent in self.info.get_opponents():
if (distance(opponent.position + opponent.velocity, car) < max(
300.0,
norm(opponent.velocity) * 0.5)
and dot(opponent.velocity,
direction(opponent, self.info.ball)) > 0.5):
if distance(car.position, self.info.ball.position) < 200:
self.flicking = True
else:
self.finished = True
else:
self.flick.target = self.info.ball.position + self.info.ball.velocity * 0.2
self.flick.step(dt)
self.controls = self.flick.controls
self.finished = self.flick.finished
def tick(self, packet: GameTickPacket) -> bool:
if self.agent.car.on_ground:
self.controller.jump = not self.controller.jump
self.controller.throttle = 1
return True
else:
self.controller.jump = self.agent.car.velocity[2] > 100
self.controller.boost = dot(self.agent.car.forward(), vec3(
0, 0, -1)) * dot(self.agent.car.velocity, vec3(0, 0, -1)) < 0
self.controller.throttle = self.controller.boost and self.agent.car.position[
2] > 150
hitbox = self.agent.car.hitbox()
target = normalize(
flatten(dot(self.agent.car.orientation, hitbox.half_width)))
tmp = vec3(-hitbox.half_width[1], 0, 0)
target = dot(self.agent.car.orientation, tmp) + vec3(
0, 0, -hitbox.half_width[0])
# self.agent.draw.vector(self.agent.car.position, target)
self.agent.reorientML.target_orientation = look_at(
target,
self.direction * self.agent.car.left() if
abs(self.agent.car.velocity[2]) < 20 else self.agent.car.velocity)
self.agent.reorientML.step(1 / self.agent.FPS)
self.controller.yaw = self.agent.reorientML.controls.yaw
self.controller.pitch = self.agent.reorientML.controls.pitch
self.controller.roll = self.agent.reorientML.controls.roll
return True
def align(pos: vec3, ball: Ball, goal: vec3):
return max(
dot(ground_direction(pos, ball), ground_direction(ball, goal)),
dot(ground_direction(pos, ball),
ground_direction(ball, goal + vec3(800, 0, 0))),
dot(ground_direction(pos, ball),
ground_direction(ball, goal - vec3(800, 0, 0))))
def t_nearest(self, pos: vec3) -> float:
t = 0.5
for i in range(6):
r = self.position(t) - pos
dr = self.tangent(t)
if abs(dot(r, normalize(dr))) < 10.0:
break
t -= dot(r, dr) / dot(dr, dr)
return t
def step(self, dt):
if self.jumping:
self.controls = Input()
# first jump for full 0.2 sec
if self.timer <= 0.2:
self.controls.jump = True
# single tick between jumps
elif self.timer <= 0.2 + dt * JUMP_FALSE_TICKS:
self.controls.jump = False
# second jump
else:
self.controls.jump = True
self.jumping = False
self.timer += dt
else:
self.finished = self.intercept.time < self.info.time
if self.car.on_ground:
# manage speed before jump
distance_to_target = ground_distance(self.car.position,
self.intercept.position)
if distance_to_target < MIN_DIST_BEFORE_SPEED_CONTROL:
target_speed = distance_to_target / self.time_for_jump
self.drive.target_speed = -target_speed if self._should_strike_backwards else target_speed
self.drive.step(dt)
self.controls = self.drive.controls
else:
super().step(dt)
# decide when to jump
ground_vel = ground(self.car.velocity)
direction_to_target = ground_direction(self.car.position,
self.intercept.position)
alignment = dot(normalize(ground_vel), direction_to_target)
# check alignment
if alignment >= MIN_ALIGNMENT:
# check that speed is correct
speed_in_direction = dot(ground_vel, direction_to_target)
time_to_target = distance_to_target / speed_in_direction
if self.time_for_jump - ALLOWED_TIME_ERROR <= time_to_target <= self.time_for_jump + ALLOWED_TIME_ERROR:
self.jumping = True
# after jump (when the car is in the air)
else:
# face the ball for some additional height
self.reorient.target_orientation = look_at(
direction(self.car.position, self.info.ball),
vec3(0, 0, 1))
self.reorient.step(dt)
self.controls = self.reorient.controls
def step(self, dt):
recovery_time = 0.0 if (self.target is None) else 0.4
if not self.jump.finished:
self.jump.step(dt)
self.controls = self.jump.controls
else:
if self.counter == 0:
# double jump
if self.target is None:
self.controls.roll = 0
self.controls.pitch = 0
self.controls.yaw = 0
# air dodge
else:
target_local = dot(self.target - self.car.position,
self.car.orientation)
target_local[2] = 0
target_direction = normalize(target_local)
self.controls.roll = 0
self.controls.pitch = -target_direction[0]
self.controls.yaw = clamp11(
sgn(self.car.orientation[2, 2]) * target_direction[1])
if target_local[0] > 0 and dot(self.car.velocity,
self.car.forward()) > 500:
self.controls.pitch = self.controls.pitch * 0.8
self.controls.yaw = clamp11(self.controls.yaw * 5)
elif self.counter == 2:
self.controls.jump = 1
elif self.counter >= 4:
self.controls.roll = 0
self.controls.pitch = 0
self.controls.yaw = 0
self.controls.jump = 0
self.counter += 1
self.state_timer += dt
self.finished = self.jump.finished and self.state_timer > recovery_time and self.counter >= 6
def step(self, dt: float):
self.speed = abs(self.speed)
car_to_target = (self.target - self.car.location)
local_target = dot(car_to_target, self.car.rotation)
angle = atan2(local_target[1], local_target[0])
vel = norm(self.car.velocity)
in_air = (not self.car.on_ground)
on_wall = (self.car.location[2] > 250 and not in_air)
reverse = (cos(angle) < 0 and not (on_wall or in_air or self.kickoff))
get_off_wall = (on_wall and local_target[2] > 450)
if get_off_wall:
car_to_target[2] = -self.car.location[2]
local_target = dot(car_to_target, self.car.rotation)
angle = atan2(local_target[1], local_target[0])
max_speed = self.determine_max_speed(local_target)
self.update_rlu_drive(reverse, max_speed)
self.rlu_drive.step(dt)
self.finished = self.rlu_drive.finished
self.controls = self.rlu_drive.controls
self.controls.handbrake = False
if reverse:
angle = -invert_angle(angle)
if self.power_turn and not on_wall:
angle *= -1
self.controls.handbrake = (vel > 200)
self.controls.steer = cap(angle * 3, -1, 1)
self.controls.boost = False
if not self.controls.handbrake:
self.controls.handbrake = (abs(angle) > radians(70) and vel > 500
and not on_wall)
if self.controls.handbrake:
self.controls.handbrake = (dot(self.car.velocity, car_to_target) >
-150)
if in_air:
self.aerial_turn.target = look_at(xy(car_to_target), vec3(0, 0, 1))
self.aerial_turn.step(dt)
aerial_turn_controls = self.aerial_turn.controls
self.controls.pitch = aerial_turn_controls.pitch
self.controls.yaw = aerial_turn_controls.yaw
self.controls.roll = aerial_turn_controls.roll
self.controls.boost = False
def step(self, packet: GameTickPacket, drone: Drone, index: int):
if drone.position[2] < 25:
drone.since_jumped = 0.0
# Go forward
drone.controls.throttle = 1.0 if abs(
drone.velocity[1]) < 500 else 0.01
# If near half-line
if abs(drone.position[1]) < 200:
drone.controls.jump = True
else:
drone.since_jumped += self.dt
height = 50 + drone.since_jumped * 150
angle = 1.0 + drone.since_jumped * 1.2
if index % 2 == 0: angle += math.pi
rot = rotation(angle)
v = vec3(dot(rot, vec2(1, 0)))
drone.hover.target = v * self.radius
drone.hover.target[2] = height
drone.hover.up = normalize(drone.position)
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def pick_easiest_target(self, car: Car, ball: Ball,
targets: List[vec3]) -> vec3:
to_goal = ground_direction(ball, self.info.their_goal.center)
return max(targets,
key=lambda target: dot(
ground_direction(car, ball) + to_goal * 0.5,
ground_direction(ball, target)))
def simulate_landing(self):
dummy = Car(self.car)
self.trajectory = [vec3(dummy.position)]
self.landing = False
collision_normal: Optional[vec3] = None
dt = 1 / 60
simulation_duration = 0.8
for i in range(int(simulation_duration / dt)):
dummy.step(Input(), dt)
self.trajectory.append(vec3(dummy.position))
collision_sphere = sphere(dummy.position, 50)
collision_ray = Field.collide(collision_sphere)
collision_normal = collision_ray.direction
if (norm(collision_normal) > 0.0
or dummy.position[2] < 0) and i > 20:
self.landing = True
self.landing_pos = dummy.position
break
if self.landing:
u = collision_normal
f = normalize(dummy.velocity - dot(dummy.velocity, u) * u)
l = normalize(cross(u, f))
self.aerial_turn.target = mat3(f[0], l[0], u[0], f[1], l[1], u[1],
f[2], l[2], u[2])
else:
target_direction = normalize(
normalize(self.car.velocity) - vec3(0, 0, 3))
self.aerial_turn.target = look_at(target_direction, vec3(0, 0, 1))
def simulate_landing(self):
pos = vec3(self.car.position)
vel = vec3(self.car.velocity)
grav = vec3(0, 0, -650)
self.trajectory = [vec3(pos)]
self.landing = False
collision_normal: Optional[vec3] = None
dt = 1 / 60
simulation_duration = 0.8
for i in range(int(simulation_duration / dt)):
pos += vel * dt
vel += grav * dt
if norm(vel) > 2300: vel = normalize(vel) * 2300
self.trajectory.append(vec3(pos))
collision_sphere = sphere(pos, 50)
collision_ray = Field.collide(collision_sphere)
collision_normal = collision_ray.direction
if (norm(collision_normal) > 0.0 or pos[2] < 0) and i > 20:
self.landing = True
self.landing_pos = pos
break
if self.landing:
u = collision_normal
f = normalize(vel - dot(vel, u) * u)
l = normalize(cross(u, f))
self.aerial_turn.target = three_vec3_to_mat3(f, l, u)
else:
target_direction = normalize(
normalize(self.car.velocity) - vec3(0, 0, 3))
self.aerial_turn.target = look_at(target_direction, vec3(0, 0, 1))
def step(self, dt):
car = self.car
target = ground(self.target)
car_speed = norm(car.velocity)
time_left = (ground_distance(car, target) -
self.finish_distance) / max(car_speed + 500, 1400)
forward_speed = dot(car.forward(), car.velocity)
if self.driving and car.on_ground:
self.action.target_pos = target
self._time_on_ground += dt
# check if it's a good idea to dodge, wavedash or halfflip
if (self._time_on_ground > 0.2 and car.position[2] < 200
and angle_to(car, target, forward_speed < 0) < 0.1):
# if going forward, use a dodge or a wavedash
if forward_speed > 0:
use_boost_instead = self.waste_boost and car.boost > 20
if car_speed > 1200 and not use_boost_instead:
if time_left > self.DODGE_DURATION:
dodge = Dodge(car)
dodge.duration = 0.05
dodge.direction = vec2(direction(car, target))
self.action = dodge
self.driving = False
elif time_left > self.WAVEDASH_DURATION:
wavedash = Wavedash(car)
wavedash.direction = vec2(direction(car, target))
self.action = wavedash
self.driving = False
# if going backwards, use a halfflip
elif time_left > self.HALFFLIP_DURATION and car_speed > 800:
self.action = HalfFlip(car, self.waste_boost
and time_left > 3)
self.driving = False
self.action.step(dt)
self.controls = self.action.controls
# make sure we're not boosting airborne
if self.driving and not car.on_ground:
self.controls.boost = False
# make sure we're not stuck turtling
if not car.on_ground:
self.controls.throttle = 1
if self.action.finished and not self.driving:
self.driving = True
self._time_on_ground = 0
self.action = self.drive
self.drive.backwards = False
if ground_distance(car,
target) < self.finish_distance and self.driving:
self.finished = True
def nearest_point(box, point, local=False):
'''
Takes in an RLU oriented bounding box (obb) object and an RLU vec3.
Returns an RLU vec3 for the closest point on box to point.
local = True returns the vec3 in box's local coordinates
'''
point_local = dot(point - box.center, box.orientation)
closest_point_local = vec3(
min(max(point_local[0], -box.half_width[0]), box.half_width[0]),
min(max(point_local[1], -box.half_width[1]), box.half_width[1]),
min(max(point_local[2], -box.half_width[2]), box.half_width[2]))
if local:
return closest_point_local
return dot(box.orientation, closest_point_local) + box.center
def predict_car_drive(self,
index,
time_limit=2.0,
dt=1 / 60) -> List[vec3]:
"""Simple prediction of a driving car assuming no acceleration."""
car = self.cars[index]
time_steps = int(time_limit / dt)
speed = norm(car.velocity)
ang_vel_z = car.angular_velocity[2]
# predict circular path
if ang_vel_z != 0 and car.on_ground:
radius = speed / ang_vel_z
centre = car.position - cross(normalize(xy(car.velocity)),
vec3(0, 0, 1)) * radius
centre_to_car = vec2(car.position - centre)
return [
vec3(dot(rotation(ang_vel_z * dt * i), centre_to_car)) + centre
for i in range(time_steps)
]
# predict straight path
return [
car.position + car.velocity * dt * i for i in range(time_steps)
]
def estimate_time(car: Car, target, dd=1) -> float:
turning_radius = 1 / Drive.max_turning_curvature(norm(car.velocity) + 500)
turning = angle_between(car.forward() * dd, direction(
car, target)) * turning_radius / 1800
if turning < 0.5: turning = 0
dist = ground_distance(car, target) - 200
if dist < 0: return turning
speed = dot(car.velocity, car.forward())
time = 0
result = None
if car.boost > 0 and dd > 0:
boost_time = car.boost / 33.33
result = BOOST.simulate_until_limit(speed,
distance_limit=dist,
time_limit=boost_time)
dist -= result.distance_traveled
time += result.time_passed
speed = result.speed_reached
if dist > 0 and speed < 1410:
result = THROTTLE.simulate_until_limit(speed, distance_limit=dist)
dist -= result.distance_traveled
time += result.time_passed
speed = result.speed_reached
if result is None or not result.distance_limit_reached:
time += dist / speed
return time * 1.05 + turning
def shooting_target(agent):
""""Method that gives the target for the shooting strategy"""
ball = agent.info.ball
car = agent.info.my_car
car_to_ball = ball.location - car.location
backline_intersect = line_backline_intersect(agent.their_goal.center[1],
vec2(car.location),
vec2(car_to_ball))
if abs(backline_intersect) < 700:
goal_to_ball = normalize(car.location - ball.location)
error = 0
else:
# Right of the ball
if -500 > backline_intersect:
target = agent.their_goal.corners[3] + vec3(400, 0, 0)
# Left of the ball
elif backline_intersect > 500:
target = agent.their_goal.corners[2] - vec3(400, 0, 0)
goal_to_ball = normalize(ball.location - target)
# Subtract the goal to car vector
difference = goal_to_ball - normalize(car.location - target)
error = cap(abs(difference[0]) + abs(difference[1]), 0, 5)
goal_to_ball_2d = vec2(goal_to_ball[0], goal_to_ball[1])
test_vector_2d = dot(rotation(0.5 * math.pi), goal_to_ball_2d)
test_vector = vec3(test_vector_2d[0], test_vector_2d[1], 0)
distance = cap(
(40 + distance_2d(ball.location, car.location) * (error**2)) / 1.8, 0,
4000)
location = ball.location + vec3(
(goal_to_ball[0] * distance), goal_to_ball[1] * distance, 0)
# this adjusts the target based on the ball velocity perpendicular
# to the direction we're trying to hit it
multiplier = cap(distance_2d(car.location, location) / 1500, 0, 2)
distance_modifier = cap(
dot(test_vector, ball.velocity) * multiplier, -1000, 1000)
location += vec3(test_vector[0] * distance_modifier,
test_vector[1] * distance_modifier, 0)
# another target adjustment that applies if the ball is close to the wall
extra = 3850 - abs(location[0])
if extra < 0:
location[0] = cap(location[0], -3850, 3850)
location[1] = location[1] + (-sign(agent.team) * cap(extra, -800, 800))
return location
def step(self, packet: GameTickPacket, drone: Drone, index: int):
drone.hover.up = normalize(drone.position)
clockwise_rotation = axis_to_rotation(vec3(0, 0, 0.5))
position_on_circle = normalize(xy(drone.position)) * 2000
drone.hover.target = dot(clockwise_rotation, position_on_circle)
drone.hover.target[2] = 1000
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def step(self, dt):
vf = dot(self.car.forward(), self.car.velocity)
if vf > 100:
self.controls.throttle = -1
elif vf < -100:
self.controls.throttle = 1
else:
self.controls.throttle = 0
self.finished = True
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = (2 * math.pi / 64) * i
drone.position = vec3(dot(rotation(angle), vec2(self.radius, 0)))
drone.position[2] = self.height
drone.velocity = vec3(0, 0, 0)
drone.orientation = euler_to_rotation(
vec3(math.pi / 2, angle, math.pi))
drone.angular_velocity = vec3(0, 0, 0)
def step(self, car: Car, target: vec3, dt) -> SimpleControllerState:
self.car = car
self.target = target
local_pos = dot(self.target, self.car.rotation)
local_pos_spherical = spherical(local_pos)
local_omega = dot(self.car.angular_velocity, self.car.rotation)
theta_error = math.sqrt(local_pos_spherical[1]**2 +
local_pos_spherical[2]**2)
omega_error = math.sqrt(local_omega[1]**2 + local_omega[2]**2)
if omega_error < 0.1 and theta_error < 0.1:
self.finished = True
else:
self.finished = False
return self.rotate(car, target, dt)
def get_speed(agent, location):
"""Returns the target speed given a certain location"""
car = agent.info.my_car
local = dot(location - car.location, car.rotation)
angle = cap(math.atan2(local[1], local[0]), -3, 3)
distance = distance_2d(car.location, location)
if distance > 2.5 * velocity_2d(car.velocity):
return 2250
return 2250 - (400 * (angle**2))
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = i * math.pi * 2 / len(drones)
rot = rotation(angle)
v = vec3(dot(rot, vec2(1, 0)))
drone.position = v * self.radius + self.center
drone.orientation = look_at(v * -1, vec3(0, 0, 1))
drone.velocity = vec3(0, 0, 0)
drone.angular_velocity = vec3(0, 0, 0)
def step(self, packet: GameTickPacket, drone: Drone, index: int):
# Calculate shift direction.
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
direction = vec3(dot(rotation(direction_angle), vec2(1, 0)))
# Shift in one direction.
angle = (2 * math.pi / 64) * index
target = vec3(dot(rotation(angle), vec2(self.start_radius, 0)))
target += direction * (self.end_radius - self.start_radius) * (
self.time_since_start / self.duration)
target[2] = self.height
target = (target + drone.position) / 2
# Hover controls.
drone.hover.up = normalize(drone.position)
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def estimate_time(car: Car, target, speed, dd=1) -> float:
dist = distance(car, target)
if dist < 100:
return 0
travel = dist / speed
turning = angle_between(car.forward() * dd, direction(car, target)) / math.pi * 2
if turning < 1:
turning **= 2
acceleration = (speed * dd - dot(car.velocity, car.forward())) / 2100 * 0.2 * dd / max(car.boost / 20, 1)
return travel + acceleration + turning * 0.7
def step(self, packet: GameTickPacket, drone: Drone, index: int):
radius = 1050 + 150 * self.time_since_start
angle = math.pi + self.time_since_start * (math.pi / 5)
angle += (2 * math.pi / 64) * index
target = vec3(dot(rotation(angle), vec2(radius, 0)))
target[2] = self.height
drone.hover.up = normalize(-1 * xy(drone.position))
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def should_dodge(agent):
return norm(agent.info.ball.location -
agent.info.my_car.location) < 300 and max(
dot(agent.info.my_car.velocity,
agent.info.ball.location - agent.info.my_car.location),
dot(agent.info.my_car.forward(), agent.info.ball.location -
agent.info.my_car.location)) > 1300 # Go for it!
""""Method that checks if we should dodge"""
car = agent.info.my_car
their_goal = agent.their_goal
close_to_goal = distance_2d(car.location, their_goal.center) < 4000
aiming_for_goal = abs(
line_backline_intersect(their_goal.center[1], vec2(car.location),
vec2(car.forward()))) < 850
bot_to_target = agent.info.ball.location - car.location
local_bot_to_target = dot(bot_to_target, agent.info.my_car.rotation)
angle_front_to_target = math.atan2(local_bot_to_target[1],
local_bot_to_target[0])
close_to_ball = norm(vec2(bot_to_target)) < 750
good_angle = abs(angle_front_to_target) < math.radians(15)
return close_to_ball and close_to_goal and aiming_for_goal and good_angle
def get_output(self, info: Game) -> SimpleControllerState:
ball = info.ball
car = info.my_car
local_coords = dot(ball.location - car.location, car.rotation)
self.controls.steer = math.copysign(1.0, local_coords[1])
# just set the throttle to 1 so the car is always moving forward
self.controls.throttle = 1.0
return self.controls
def toPoint(car: Car, target: vec3):
direction = normalize(target - car.position)
turnAngleAmount = math.acos(
max(-1, min(1, dot(car.forward(), direction))))
rotateToZeroAngle = -atan2(direction)
towardsZeroVector = rotate2(car.forward(), rotateToZeroAngle)
turnDirection = math.copysign(1, -towardsZeroVector[1])
return PID.fromAngle(car, turnAngleAmount * turnDirection)