def find_landing_orientation(car: Car) -> Mat33:
# FIXME: This uses a cheap approximation of the walls to find landing orientation
obj = DummyObject(car)
prev_pos = obj.pos
for i in range(100):
predict.fall(obj, 0.1)
# Checking for intersections
for plane in Field.SIDE_WALLS_AND_GROUND:
if intersects_plane(prev_pos, obj.pos, plane):
# Bingo!
fall_dir = normalize(obj.pos - prev_pos)
left = -cross(fall_dir, plane.normal)
forward = -cross(plane.normal, left)
return Mat33.from_columns(forward, left, plane.normal)
prev_pos = obj.pos
# No wall/ground intersections found in fall
# Default to looking in direction of velocity, but upright
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def draw_circle(bot, center: Vec3, normal: Vec3, radius: float, pieces: int):
# Construct the arm that will be rotated
arm = normalize(cross(normal, center)) * radius
angle = 2 * math.pi / pieces
rotation_mat = axis_to_rotation(angle * normalize(normal))
points = [center + arm]
for i in range(pieces):
arm = dot(rotation_mat, arm)
points.append(center + arm)
bot.renderer.draw_polyline_3d(points, bot.renderer.orange())
def circle(self, center: Vec3, normal: Vec3, radius: float, color):
# Construct the arm that will be rotated
pieces = int(radius**0.7) + 5
arm = normalize(vec.cross(normal, center)) * radius
angle = 2 * math.pi / pieces
rotation_mat = axis_to_rotation(angle * normalize(normal))
points = [center + arm]
for i in range(pieces):
arm = dot(rotation_mat, arm)
points.append(center + arm)
self.renderer.draw_polyline_3d(points, color)
def get_closest_dir_in_cone(self, direction, span_offset: float=0):
if self.contains_direction(direction, span_offset):
return normalize(direction)
else:
ang_to_right = abs(angle_between(direction, self.right_dir))
ang_to_left = abs(angle_between(direction, self.left_dir))
return self.right_dir if ang_to_right < ang_to_left else self.left_dir
def exec(self, bot) -> SimpleControllerState:
if bot.info.time > 10 and bot.info.time > self.next_test:
self.next_test = bot.info.time + DURATION
dir = Vec3(random.random() - 0.5,
random.random() - 0.5,
random.random() - 0.5)
self.ball_pos = CAR_POS + normalize(dir) * BALL_OFFSET
bot.set_game_state(
GameState(
ball=BallState(
Physics(location=self.ball_pos.to_desired_vec(),
velocity=ANTI_GRAV.to_desired_vec())),
cars={
bot.index:
CarState(
physics=Physics(location=CAR_POS.to_desired_vec(),
velocity=ANTI_GRAV.to_desired_vec()))
}))
target_rot = looking_in_dir(self.ball_pos - CAR_POS)
return bot.fly.align(bot, target_rot)
def exec(self, bot) -> SimpleControllerState:
ct = bot.info.time - self._start_time
controls = SimpleControllerState()
controls.throttle = 1
car = bot.info.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 find_landing_orientation(car: Car, num_points: int) -> Mat33:
"""
dummy = DummyObject(car)
trajectory = [Vec3(dummy.pos)]
for i in range(0, num_points):
fall(dummy, 0.0333) # Apply physics and let car fall through the air
trajectory.append(Vec3(dummy.pos))
up = dummy.pitch_surface_normal()
if norm(up) > 0.0 and i > 10:
up = normalize(up)
forward = normalize(dummy.vel - dot(dummy.vel, up) * up)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
return Mat33(car.rot)
"""
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def find_landing_orientation(car: Car) -> Mat33:
# FIXME: If we knew the arena's mesh we could test if we are landing on a wall or something
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def find_landing_orientation(car: Car, num_points: int) -> Mat33:
dummy = DummyObject(car)
for i in range(0, num_points):
fall(dummy,
0.0333) # Apply physics and let car fall through the air
if i > 5 and sdf_contains(dummy.pos):
up = normalize(sdf_normal(dummy.pos))
left = cross(normalize(dummy.vel), up)
forward = cross(up, left)
return Mat33.from_columns(forward, left, up)
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
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 stay_at(self, bot, point: Vec3, looking_at: Vec3):
OKAY_DIST = 100
car = bot.info.my_car
car_to_point = point - car.pos
car_to_point_dir = normalize(point - car.pos)
dist = norm(car_to_point)
if dist > OKAY_DIST:
return self.towards_point(bot, point, int(dist * 2))
else:
look_dir = normalize(looking_at - car.pos)
facing_correctly = dot(car.forward, look_dir) > 0.9
if facing_correctly:
return SimpleControllerState()
else:
ctrls = SimpleControllerState()
ctrls.throttle = 0.7 * sign(dot(car.forward, car_to_point_dir))
ctrls.steer = -ctrls.throttle * sign(
dot(car.left, car_to_point_dir))
return ctrls
def sdf_normal(point: Vec3) -> Vec3:
"""
Returns the normalized gradient at the given point. At wall distance 0 this is the arena's surface normal.
"""
# SDF normals https://www.iquilezles.org/www/articles/normalsSDF/normalsSDF.htm
d = 0.0004
return normalize(
Vec3(
sdf_wall_dist(point + Vec3(d, 0, 0)) -
sdf_wall_dist(point - Vec3(d, 0, 0)),
sdf_wall_dist(point + Vec3(0, d, 0)) -
sdf_wall_dist(point - Vec3(0, d, 0)),
sdf_wall_dist(point + Vec3(0, 0, d)) -
sdf_wall_dist(point - Vec3(0, 0, d)),
))
def curve_from_arrival_dir(src: Vec3, target: Vec3, arrival_direction: Vec3, w=1):
"""
Returns a point that is equally far from src and target on the line going through target with the given direction
"""
dir = normalize(arrival_direction)
tx = target.x
ty = target.y
sx = src.x
sy = src.y
dx = dir.x
dy = dir.y
t = - (tx * tx - 2 * tx * sx + ty * ty - 2 * ty * sy + sx * sx + sy * sy) / (2 * (tx * dx + ty * dy - sx * dx - sy * dy))
t = clip(t, -1700, 1700)
return target + w * t * dir
def is_viable(self, car, current_time: float):
up = car.up
T = self.intercept_time - current_time
xf = car.pos + car.vel * T + 0.5 * GRAVITY * T ** 2
vf = car.vel + GRAVITY * T
if self.jumping:
if self.jump_begin_time == -1:
jump_elapsed = 0
else:
jump_elapsed = current_time - 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
# Acceleration from holding jump
vf += up * JUMP_ACCEL * tau
xf += up * JUMP_ACCEL * 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)
delta_x = self.hit_pos - xf
dir = normalize(delta_x)
phi = angle_between(dir, car.forward)
turn_time = 0.7 * (2 * math.sqrt(phi / 9))
tau1 = turn_time * clip(1 - 0.3 / phi, 0.02, 1)
required_acc = (2 * norm(delta_x)) / ((T - tau1) ** 2)
ratio = required_acc / BOOST_ACCEL
tau2 = T - (T - tau1) * math.sqrt(1 - clip01(ratio))
velocity_estimate = vf + BOOST_ACCEL * (tau2 - tau1) * dir
boost_estimate = (tau2 - tau1) * BOOST_PR_SEC
enough_boost = boost_estimate < 0.95 * car.boost
enough_time = abs(ratio) < 0.9
return norm(velocity_estimate) < 0.9 * MAX_SPEED and enough_boost and enough_time
def run(self, bot) -> SimpleControllerState:
self.is_dribbling = True
car = bot.info.my_car
ball = bot.info.ball
ball_landing = predict.next_ball_landing(bot)
ball_to_goal = bot.info.opp_goal.pos - ball.pos
# Decide on target pos and speed
target = ball_landing.data["obj"].pos - self.offset_bias * normalize(
ball_to_goal)
dist = norm(target - bot.info.my_car.pos)
speed = 1400 if ball_landing.time == 0 else dist / ball_landing.time
# Do a flick?
car_to_ball = ball.pos - car.pos
dist = norm(car_to_ball)
enemy, enemy_dist = bot.info.closest_enemy(ball.pos)
if dist <= self.required_distance_to_ball_for_flick:
self.flick_timer += bot.info.dt
if self.flick_timer > self.wait_before_flick and enemy_dist < 900:
bot.maneuver = DodgeManeuver(
bot,
bot.info.opp_goal.pos) # use flick_init_jump_duration?
else:
self.flick_timer = 0
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, target, bot.renderer.pink())
return bot.drive.towards_point(bot,
target,
target_vel=speed,
slide=False,
can_keep_speed=False,
can_dodge=True,
wall_offset_allowed=0)
def update(self, bot):
ball = bot.info.ball
# Find closest foe to ball
self.opp_closest_to_ball, self.opp_closest_to_ball_dist = argmin(bot.info.opponents, lambda opp: norm(opp.pos - ball.pos))
# Possession and on/off-site
self.car_with_possession = None
self.ally_with_possession = None
self.opp_with_possession = None
for car in bot.info.cars:
# Effective position
car.effective_pos = car.pos + xy(car.vel) * 0.8
# On site
car_to_ball = ball.pos - car.pos
car_to_ball_unit = normalize(car_to_ball)
car.onsite = dot(Vec3(y=-car.team_sign), car_to_ball_unit)
# Reach ball time
car.reach_ball_time = predict.time_till_reach_ball(car, ball)
reach01 = 1 - 0.9 * lin_fall(car.reach_ball_time, 4) ** 0.5
# Possession
point_in_front = car.pos + car.vel * 0.5
ball_point_dist = norm(ball.pos - point_in_front)
dist01 = 1000 / (1000 + ball_point_dist) # Halved after 1000 uu of dist, 1/3 at 2000
in_front01 = (dot(car.forward, car_to_ball_unit) + 1) / 2.0
car.possession = dist01 * in_front01 * reach01
if self.car_with_possession is None or car.possession > self.car_with_possession.possession:
self.car_with_possession = car
if car.team == bot.team and (self.ally_with_possession is None or car.possession > self.ally_with_possession.possession):
self.ally_with_possession = car
if car.team != bot.team and (self.opp_with_possession is None or car.possession > self.opp_with_possession.possession):
self.opp_with_possession = car
# Objectives
if len(bot.info.team_cars) == 1:
# No team mates. No roles
bot.info.my_car.objective = bot.info.my_car.last_objective = Objective.SOLO
return
for car in bot.info.cars:
car.last_objective = car.objective
car.objective = Objective.UNKNOWN
attacker, attacker_score = argmax(bot.info.team_cars,
lambda ally: ((1.0 if ally.last_objective == Objective.GO_FOR_IT else 0.73)
* ease_out(0.2 + 0.8 * ally.boost / 100, 2) # 50 boost is 0.85, 0 boost is 0.2
* ally.possession
* ally.got_it_according_to_quick_chat_01(bot.info.time)
* (1.0 if ally.onsite else 0.5)
* (0 if ally.is_demolished else 1)))
attacker.objective = Objective.GO_FOR_IT
self.ideal_follow_up_pos = xy(ball.pos + bot.info.own_goal.pos) * 0.5
follower, follower_score = argmax([ally for ally in bot.info.team_cars if ally.objective == Objective.UNKNOWN],
lambda ally: (1.0 if ally.last_objective == Objective.FOLLOW_UP else 0.73)
* ease_out(0.2 * 0.8 * ally.boost / 100, 2)
* (1 + ally.onsite / 2)
* lin_fall(norm(ally.effective_pos - self.ideal_follow_up_pos), 3000)
* (0 if ally.is_demolished else 1))
if follower is not None:
follower.objective = Objective.FOLLOW_UP
for car in bot.info.team_cars:
if car.objective == Objective.UNKNOWN:
car.objective = Objective.ROTATING
def __init__(self, right_most, left_most):
# Right angle and direction
self.right_ang = math.atan2(right_most.y, right_most.x)
self.right_dir = normalize(right_most)
self.left_ang = math.atan2(left_most.y, left_most.x)
self.left_dir = normalize(left_most)
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 __init__(self, right_most, left_most):
self.right_ang = math.atan2(right_most.y, right_most.x)
self.right_dir = normalize(right_most)
self.left_ang = math.atan2(left_most.y, left_most.x)
self.left_dir = normalize(left_most)
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
class Field:
WIDTH = 8192
WIDTH2 = WIDTH / 2
LENGTH = 10240
LENGTH2 = LENGTH / 2
HEIGHT = 2044
ZONE = Zone3d(Vec3(WIDTH2, LENGTH2, 0.0), Vec3(-WIDTH2, -LENGTH2, HEIGHT))
CORNER_WALL_AX_INTERSECT = 8064
GROUND = Plane(Vec3(), Vec3(z=1))
CEILING = Plane(Vec3(z=HEIGHT), Vec3(z=-1))
BLUE_BACKBOARD = Plane(Vec3(y=-LENGTH2), Vec3(y=1))
ORANGE_BACKBOARD = Plane(Vec3(y=LENGTH2), Vec3(y=-1))
LEFT_WALL = Plane(Vec3(x=WIDTH2), Vec3(x=-1)) # Blue POV
RIGHT_WALL = Plane(Vec3(x=-WIDTH2), Vec3(x=1)) # Blue POV
BLUE_RIGHT_CORNER_WALL = Plane(Vec3(y=-CORNER_WALL_AX_INTERSECT),
normalize(Vec3(x=1, y=1)))
BLUE_LEFT_CORNER_WALL = Plane(Vec3(y=-CORNER_WALL_AX_INTERSECT),
normalize(Vec3(x=-1, y=1)))
ORANGE_RIGHT_CORNER_WALL = Plane(Vec3(y=CORNER_WALL_AX_INTERSECT),
normalize(Vec3(x=-1, y=-1)))
ORANGE_LEFT_CORNER_WALL = Plane(Vec3(y=CORNER_WALL_AX_INTERSECT),
normalize(Vec3(x=1, y=-1)))
ALL_WALLS = [
GROUND,
CEILING,
BLUE_BACKBOARD,
ORANGE_BACKBOARD,
LEFT_WALL,
RIGHT_WALL,
BLUE_RIGHT_CORNER_WALL,
BLUE_LEFT_CORNER_WALL,
ORANGE_RIGHT_CORNER_WALL,
ORANGE_LEFT_CORNER_WALL,
]
SIDE_WALLS = [
BLUE_BACKBOARD,
ORANGE_BACKBOARD,
LEFT_WALL,
RIGHT_WALL,
BLUE_RIGHT_CORNER_WALL,
BLUE_LEFT_CORNER_WALL,
ORANGE_RIGHT_CORNER_WALL,
ORANGE_LEFT_CORNER_WALL,
]
SIDE_WALLS_AND_GROUND = [
GROUND,
BLUE_BACKBOARD,
ORANGE_BACKBOARD,
LEFT_WALL,
RIGHT_WALL,
BLUE_RIGHT_CORNER_WALL,
BLUE_LEFT_CORNER_WALL,
ORANGE_RIGHT_CORNER_WALL,
ORANGE_LEFT_CORNER_WALL,
]
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 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
