def utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
ball_soon = predict.ball_predict(bot, min(my_hit_time, 1.0))
close_to_ball_01 = clip01(1.0 - norm(car.pos - ball_soon.pos) / 3500) ** 0.5 # FIXME Not great
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, ball))
xy_ball_to_goal = xy(bot.info.opp_goal.pos - reachable_ball.pos)
xy_car_to_ball = xy(reachable_ball.pos - bot.info.my_car.pos)
in_position_01 = ease_out(clip01(dot(xy_ball_to_goal, xy_car_to_ball)), 0.5)
# Chase ball right after kickoff. High right after kickoff
kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3) * float(bot.info.my_car.objective == Objective.UNKNOWN)
obj_bonus = {
Objective.UNKNOWN: 1,
Objective.GO_FOR_IT: 1,
Objective.FOLLOW_UP: 0,
Objective.ROTATING: 0,
Objective.SOLO: 1,
}[bot.info.my_car.objective]
return clip01(close_to_ball_01 * in_position_01 + kickoff_bias01) * obj_bonus
def utility(self, bot) -> float:
if self.temp_utility_desire_boost > 0:
self.temp_utility_desire_boost = max(
0, self.temp_utility_desire_boost - bot.info.dt)
elif self.temp_utility_desire_boost < 0:
self.temp_utility_desire_boost = min(
0, self.temp_utility_desire_boost + bot.info.dt)
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * Field.LENGTH / 2
own_half_01 = clip01(
remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
self.ball_to_goal_right = bot.info.enemy_goal_right - reachable_ball.pos
self.ball_to_goal_left = bot.info.enemy_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_right,
self.ball_to_goal_left)
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball)
# Chase ball right after kickoff. High right after kickoff
kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3)
return clip01(own_half_01 + 0.1 * in_position +
self.temp_utility_desire_boost + kickoff_bias01)
def any_touch(self, bot, time: float, dodge_hit: bool = True):
ball_soon = ball_predict(bot, time)
car_to_ball = ball_soon.pos - bot.info.my_car.pos
return self.towards(bot, ball_soon.pos + car_to_ball, time,
dodge_hit) or SimpleControllerState()
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(ball_soon.pos, r=0, g=0)
return self.with_aiming(bot, aim_cone, time, dodge_hit)
def utility(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH / 2
ball_own_half_01 = clip01(
remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball,
math.pi / 8)
return ball_own_half_01 * in_position
def utility_score(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH2
ball_own_half_01 = clip01(remap(-length, length, -0.8, 1.8, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball, math.pi / 8)
obj_bonus = {
Objective.UNKNOWN: 1,
Objective.GO_FOR_IT: 1,
Objective.FOLLOW_UP: 0,
Objective.ROTATING: 0,
Objective.SOLO: 1.0,
}[bot.info.my_car.objective]
return ball_own_half_01 * in_position * obj_bonus
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
hits_goal_prediction = predict.will_ball_hit_goal(bot)
reach_time = clip(predict.time_till_reach_ball(car, ball), 0,
hits_goal_prediction.time - 0.5)
reachable_ball = predict.ball_predict(bot, reach_time)
self.ball_to_goal_right = bot.info.own_goal.right_post - reachable_ball.pos
self.ball_to_goal_left = bot.info.own_goal.left_post - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_left,
self.ball_to_goal_right)
self.aim_cone.draw(reachable_ball.pos, r=200, g=0, b=160)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, reach_time)
if not bot.shoot.can_shoot:
# Go home
return bot.drive.home(bot)
else:
return shoot_controls
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(car, ball))
ball_to_goal_right = bot.info.opp_goal.right_post - reachable_ball.pos
ball_to_goal_left = bot.info.opp_goal.left_post - reachable_ball.pos
aim_cone = AimCone(ball_to_goal_right, ball_to_goal_left)
shoot_controls = bot.shoot.with_aiming(bot, 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:
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:
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:
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)
def exec(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)
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
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.enemy_goal)
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.go_home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
offset_ball,
target_vel=2200,
slide=False,
boost_min=0)
elif 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 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.go_towards_point(bot,
wait_point,
norm(car.pos - wait_point),
slide=False,
can_keep_speed=True,
can_dodge=False)
elif not bot.shoot.can_shoot:
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal - 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 == 0 and ball.pos.y * bot.info.team_sign < 500 and dot_threat < 0.1:
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
return bot.drive.go_home(bot)
else:
# Shoot !
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
def exec(self, bot):
if not self.announced_in_quick_chat:
self.announced_in_quick_chat = True
bot.send_quick_chat(QuickChats.CHAT_EVERYONE, QuickChats.Information_IGotIt)
ct = bot.info.time
car = bot.info.my_car
up = car.up
controls = SimpleControllerState()
# Time remaining till intercept time
T = self.intercept_time - bot.info.time
# Expected future position
xf = car.pos + car.vel * T + 0.5 * GRAVITY * T ** 2
# Expected future velocity
vf = car.vel + GRAVITY * T
# Is set to false while jumping to avoid FeelsBackFlipMan
rotate = True
if self.jumping:
if self.jump_begin_time == -1:
jump_elapsed = 0
self.jump_begin_time = ct
else:
jump_elapsed = ct - self.jump_begin_time
# How much longer we can press jump and still gain upward force
tau = JUMP_MAX_DUR - jump_elapsed
# Add jump pulse
if jump_elapsed == 0:
vf += up * JUMP_SPEED
xf += up * JUMP_SPEED * T
rotate = False
# Acceleration from holding jump
vf += up * JUMP_SPEED * tau
xf += up * JUMP_SPEED * tau * (T - 0.5 * tau)
if self.do_second_jump:
# Impulse from the second jump
vf += up * JUMP_SPEED
xf += up * JUMP_SPEED * (T - tau)
if jump_elapsed < JUMP_MAX_DUR:
controls.jump = True
else:
controls.jump = False
if self.do_second_jump:
if self.jump_pause_counter < 4:
# Do a 4-tick pause between jumps
self.jump_pause_counter += 1
else:
# Time to start second jump
# we do this by resetting our jump counter and pretend and our aerial started in the air
self.jump_begin_time = -1
self.jumping = True
self.do_second_jump = False
else:
# We are done jumping
self.jumping = False
else:
controls.jump = False
delta_pos = self.hit_pos - xf
direction = normalize(delta_pos)
car_to_hit_pos = self.hit_pos - car.pos
dodging = self.dodge_begin_time != -1
if dodging:
controls.jump = True
# We are not pressing jump, so let's align the car
if rotate and not dodging:
if self.do_dodge and norm(car_to_hit_pos) < Ball.RADIUS + 80:
# Start dodge
self.dodge_begin_time = ct
hit_local = dot(car_to_hit_pos, car.rot)
hit_local.z = 0
dodge_direction = normalize(hit_local)
controls.roll = 0
controls.pitch = -dodge_direction.x
controls.yaw = sign(car.rot.get(2, 2)) * direction.y
controls.jump = True
else:
# Adjust orientation
if norm(delta_pos) > 50:
pd = bot.fly.align(bot, looking_in_dir(delta_pos))
else:
if self.target_rot is not None:
pd = bot.fly.align(bot, self.target_rot)
else:
pd = bot.fly.align(bot, looking_in_dir(self.hit_pos - car.pos))
controls.roll = pd.roll
controls.pitch = pd.pitch
controls.yaw = pd.yaw
if not dodging and angle_between(car.forward, direction) < 0.3:
if norm(delta_pos) > 40:
controls.boost = 1
controls.throttle = 0
else:
controls.boost = 0
controls.throttle = clip01(0.5 * THROTTLE_AIR_ACCEL * T ** 2)
else:
controls.boost = 0
controls.throttle = 0
prediction = predict.ball_predict(bot, T)
self.done = T < 0
if norm(self.hit_pos - prediction.pos) > 50:
# Jump shot failed
self.done = True
bot.send_quick_chat(QuickChats.CHAT_EVERYONE, QuickChats.Apologies_Cursing)
if bot.do_rendering:
car_to_hit_dir = normalize(self.hit_pos - car.pos)
color = bot.renderer.pink()
rendering.draw_cross(bot, self.hit_pos, color, arm_length=100)
rendering.draw_circle(bot, lerp(car.pos, self.hit_pos, 0.25), car_to_hit_dir, 40, 12, color)
rendering.draw_circle(bot, lerp(car.pos, self.hit_pos, 0.5), car_to_hit_dir, 40, 12, color)
rendering.draw_circle(bot, lerp(car.pos, self.hit_pos, 0.75), car_to_hit_dir, 40, 12, color)
bot.renderer.draw_line_3d(car.pos, self.hit_pos, color)
return 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/ |
# > 1200 | 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
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))
dot_facing_score_2d = dot(normalize(xy(car_to_ball_soon)), normalize(xy(car.forward)))
vel_towards_ball_soon = proj_onto_size(car.vel, car_to_ball_soon)
is_facing = 0.1 < dot_facing_score
is_facing_2d = 0.3 < dot_facing_score
self.ball_when_hit = ball_soon
if ball_soon.pos.z < 110:
# The ball is on the ground
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) < 400 + Ball.RADIUS and aim_cone.contains_direction(car_to_ball_soon)\
and vel_towards_ball_soon > 300:
bot.drive.start_dodge(bot, towards_ball=True)
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) < 400 + 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, towards_ball=True)
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!
return None
elif ball_soon.pos.z < 600 and ball_soon.vel.z <= 0:
# Ball is on ground soon. Is it worth waiting? TODO if aim is bad, do a slow curve - or delete case?
pass
# ---------------------------------------
# Ball is in the air, or going in the air
if 200 < ball_soon.pos.z < 1400 and aim_cone.contains_direction(car_to_ball_soon) and is_facing_2d:
# Can we hit it if we make jump shot or aerial shot?
vel_f = proj_onto_size(car.vel, xy(car_to_ball_soon))
aerial = ball_soon.pos.z > 750
if vel_f > 400: # Some forward momentum is required
flat_dist = norm(xy(car_to_ball_soon))
# This range should be good https://www.desmos.com/calculator/bx9imtiqi5
good_height = 0.3 * ball_soon.pos.z < flat_dist < 4 * ball_soon.pos.z
if good_height:
# Alternative ball positions
alternatives = [
(ball_predict(bot, time * 0.8), time * 0.8),
(ball_predict(bot, time * 0.9), time * 0.9),
(ball_soon, time),
(ball_predict(bot, time * 1.1), time * 1.1),
(ball_predict(bot, time * 1.2), time * 1.2)
]
for alt_ball, alt_time in alternatives:
potential_small_jump_shot = JumpShotManeuver(bot, alt_ball.pos, bot.info.time + alt_time, do_second_jump=aerial)
jump_shot_viable = potential_small_jump_shot.is_viable(car, bot.info.time)
if jump_shot_viable:
self.can_shoot = True
self.aim_is_ok = True
bot.maneuver = potential_small_jump_shot
return bot.maneuver.exec(bot)
self.ball_is_flying = True
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.go_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.go_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 exec(self, bot):
pred_ball = predict.ball_predict(bot, bot.info.my_car.reach_ball_time)
# On a scale from 0 to 1, how much is this a clear?
clear01 = clip01(
norm(bot.info.opp_goal.pos - pred_ball.pos) / Field.LENGTH)**2
ts = bot.info.team_sign
right = lerp(bot.info.opp_goal.right_post,
Vec3(ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
left = lerp(bot.info.opp_goal.left_post,
Vec3(-ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
ball_to_right = right - pred_ball.pos
ball_to_left = left - pred_ball.pos
aim_cone = AimCone(ball_to_right, ball_to_left)
shot_ctrls = bot.shoot.with_aiming(bot, aim_cone,
bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
aim_cone.draw(bot.shoot.ball_when_hit.pos, b=0, r=0)
if not bot.shoot.can_shoot:
# We can't shoot on target
if len(bot.info.teammates) != 0:
# Consider passing
for mate in bot.info.teammates:
point_in_front_of_mate = lerp(mate.pos,
bot.info.opp_goal.pos, 0.5)
shot_ctrls = bot.shoot.towards(
bot, point_in_front_of_mate,
bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
draw.cross(point_in_front_of_mate, draw.green())
return shot_ctrls
# Atba with bias I guess
draw.line(bot.info.my_car.pos, pred_ball.pos, bot.renderer.red())
return bot.shoot.any_touch(bot, bot.info.my_car.reach_ball_time)
# # We are out of position, start rotating back
# own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
# return bot.drive.towards_point(
# bot,
# own_goal,
# target_vel=1460,
# slide=False,
# boost_min=0,
# can_keep_speed=True
# )
else:
# Shoot!
if bot.shoot.using_curve:
draw.bezier([
bot.info.my_car.pos, bot.shoot.curve_point,
bot.shoot.ball_when_hit.pos
])
return shot_ctrls
