def __init__(self, bot):
if bot.team == 0:
# blue
self.aim_cone = AimCone(.8 * math.pi, .2 * math.pi)
else:
# orange
self.aim_cone = AimCone(-.1 * math.pi, -.9 * math.pi)
def execute(self, bot):
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = ball.pos - car.pos
ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
own_goal_to_ball = ball.pos - bot.info.own_goal
dist = norm(car_to_ball)
offence = ball.pos.y * bot.info.team_sign < 0
dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
dot_own = dot(car_to_ball, own_goal_to_ball)
right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
if right_side_of_ball:
# Aim cone
dir_to_post_1 = (bot.info.enemy_goal + Vec3(3800, 0, 0)) - bot.info.ball.pos
dir_to_post_2 = (bot.info.enemy_goal + Vec3(-3800, 0, 0)) - bot.info.ball.pos
cone = AimCone(dir_to_post_1, dir_to_post_2)
cone.get_goto_point(bot, car.pos, bot.info.ball.pos)
if bot.do_rendering:
cone.draw(bot, bot.info.ball.pos)
# Chase ball
bot.controls = bot.drive.go_towards_point(bot, xy(ball.pos), 2000, True, True, can_dodge=dist > 2200)
else:
# Go home
bot.controls = bot.drive.go_towards_point(bot, bot.info.own_goal_field, 2000, True, True)
def utility(self, bot):
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)
return clip01(own_half_01 + 0.1 * in_position)
def execute(self, bot):
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 = self.own_goal_right - reachable_ball.pos
self.ball_to_goal_left = self.own_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_left, self.ball_to_goal_right)
self.aim_cone.draw(bot, 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
bot.controls = bot.drive.go_home(bot)
else:
bot.controls = shoot_controls