def align(self, bot, target_rot: Mat33) -> SimpleControllerState:
car = bot.info.my_car
local_forward = dot(target_rot.col(0), car.rot)
local_up = dot(target_rot.col(2), car.rot)
local_ang_vel = dot(car.ang_vel, car.rot)
pitch_ang = math.atan2(-local_forward.z, local_forward.x)
pitch_ang_vel = local_ang_vel.y
yaw_ang = math.atan2(-local_forward.y, local_forward.x)
yaw_ang_vel = -local_ang_vel.z
roll_ang = math.atan2(-local_up.y, local_up.z)
roll_ang_vel = local_ang_vel.x
forwards_dot = dot(target_rot.col(0), car.forward)
roll_scale = forwards_dot**2 if forwards_dot > 0.85 else 0
self.controls.pitch = clip(-3.3 * pitch_ang + 0.8 * pitch_ang_vel, -1,
1)
self.controls.yaw = clip(-3.3 * yaw_ang + 0.9 * yaw_ang_vel, -1, 1)
self.controls.roll = clip(-3 * roll_ang + 0.5 * roll_ang_vel, -1,
1) * roll_scale
self.controls.throttle = 1
return self.controls
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 __init__(self,
index=-1,
name="Unknown",
team=0,
pos=Vec3(),
vel=Vec3(),
ang_vel=Vec3(),
rot=Mat33(),
time=0.0):
self.id = index
self.name = name
self.team = team
self.pos = pos
self.vel = vel
self.rot = rot
self.ang_vel = ang_vel
self.time = time
self.is_demolished = False
self.jumped = False
self.double_jumped = False
self.on_ground = True
self.supersonic = False
self.last_expected_time_till_reach_ball = 3
self.last_input = SimpleControllerState()
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 __init__(self,
index=-1,
name="Unknown",
team=0,
pos=Vec3(),
vel=Vec3(),
ang_vel=Vec3(),
rot=Mat33(),
time=0.0):
self.id = index
self.name = name
self.team = team
self.team_sign = -1 if team == 0 else 1
self.pos = pos
self.vel = vel
self.rot = rot
self.ang_vel = ang_vel
self.time = time
self.is_demolished = False
self.jumped = False
self.double_jumped = False
self.on_ground = True
self.supersonic = False
self.last_quick_chat = None
self.last_expected_time_till_reach_ball = 3
self.last_input = SimpleControllerState()
# Analytic info
self.effective_pos = pos # A point a bit in front of them
self.objective = Objective.UNKNOWN
self.possession = 0
self.onsite = False
self.reach_ball_time = 0
self.last_ball_touch = 0.0