def run(self, my_car, packet, agent):
car_location = Vec3(my_car.physics.location)
vertical_vel = my_car.physics.velocity.z
controls = SimpleControllerState()
controls.yaw = steer_toward_target(
my_car, self.target, -my_car.physics.angular_velocity.z / 6)
controls.boost = not (vertical_vel < 0 and car_location.z > 40
and self.tick < 20)
controls.use_item = car_location.dist(
Vec3(packet.game_ball.physics.location
)) < 200 and relative_location(
car_location, Orientation(my_car.physics.rotation),
Vec3(packet.game_ball.physics.location)).z < 75
if self.tick == 0:
controls.jump = True
self.tick = 1
else:
if self.tick <= 10: self.tick += 1
elif my_car.has_wheel_contact: agent.stack.pop()
if vertical_vel < 0 and car_location.z > 40 and self.tick < 20:
self.tick += 1
controls.pitch = 1
if vertical_vel < 0 and car_location.z < 40:
controls.jump = True
controls.pitch = -1
controls.yaw = 0
return controls
def update(self):
if self.agent.me.location[2] < 600:
if self.agent.onSurface or self.agent.me.location[2] < 100:
self.active = False
controller_state = SimpleControllerState()
if self.agent.me.rotation[2] > 0:
controller_state.roll = -1
elif self.agent.me.rotation[2] < 0:
controller_state.roll = 1
if self.agent.me.rotation[0] > self.agent.velAngle:
controller_state.yaw = -1
elif self.agent.me.rotation[0] < self.agent.velAngle:
controller_state.yaw = 1
if self.active:
controller_state.throttle = 1
else:
controller_state.throttle = 0
else:
controller_state = SimpleControllerState()
return controller_state
def exec(self, bot) -> SimpleControllerState:
ct = time.time() - self._start_time
controls = SimpleControllerState()
controls.throttle = 1
car = bot.data.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 frugalController(agent, target, speed):
controller_state = SimpleControllerState()
location = toLocal(target, agent.me)
angle_to_target = math.atan2(location.data[1], location.data[0])
controller_state.steer = steer(angle_to_target)
speed -= ((angle_to_target**2) * 300)
current_speed = velocity1D(agent.me).data[1]
if current_speed < speed:
controller_state.throttle = 1.0
elif current_speed - 50 > speed:
controller_state.throttle = -1.0
else:
controller_state.throttle = 0
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(
target, agent.me) > (velocity2D(agent.me) * 2.3) and abs(
angle_to_target
) < 0.9 and current_speed < speed and current_speed > 220:
agent.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= 0.1 and time_difference <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > 0.15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def exampleController(agent, target_object, target_speed):
location = toLocal(target_object, agent.me)
controller_state = SimpleControllerState()
angle_to_ball = math.atan2(location.data[1], location.data[0])
current_speed = velocity2D(agent.me)
#steering
controller_state.steer = steer(angle_to_ball)
#throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250:
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
#dodging
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(target_object, agent.me) > (
velocity2D(agent.me) * 2.5) and abs(angle_to_ball) < 1.3:
agent.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= 0.1 and time_difference <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > 0.15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def fix_orientation(data: Data, point=None):
controller = SimpleControllerState()
strength = 0.22
ori = data.car.orientation
if point is None and data.car.velocity.flat().length2() != 0:
point = data.car.location + data.car.velocity.flat().rescale(500)
pitch_error = -ori.pitch * strength
controller.pitch = data.agent.pid_pitch.calc(pitch_error)
roll_error = -ori.roll * strength
controller.roll = data.agent.pid_roll.calc(roll_error)
if point is not None:
# yaw rotation can f up the other's so we scale it down until we are more confident about landing on the wheels
car_to_point = point - data.car.location
yaw_error = ori.front.ang_to_flat(car_to_point) * strength * 1.5
land_on_wheels01 = 1 - ori.up.ang_to(UP) / (math.pi * 2)
controller.yaw = data.agent.pid_yaw.calc(yaw_error) * (land_on_wheels01
**6)
# !
controller.throttle = 1
return controller
def input(self):
controller_input = SimpleControllerState()
current_angle_vec = Vec3(cos(self.current_state.rot.yaw), sin(self.current_state.rot.yaw), 0)
goal_angle_vec = Vec3(cos(self.goal_state.rot.yaw), sin(self.goal_state.rot.yaw), 0)
vel_2d = Vec3(self.current_state.vel.x, self.current_state.vel.y, 0)
if (self.current_state.pos - self.goal_state.pos).magnitude() > 400:
#Turn towards target. Hold throttle until we're close enough to start stopping.
controller_input = GroundTurn(self.current_state, self.goal_state).input()
elif vel_2d.magnitude() < 50 and current_angle_vec.dot(goal_angle_vec) < 0:
#If we're moving slowly, but not facing the right way, jump to turn in the air.
#Decide which way to turn. Make sure we don't have wraparound issues.
goal_x = goal_angle_vec.x
goal_y = goal_angle_vec.y
car_theta = self.current_state.rot.yaw
#Rotated to the car's reference frame on the ground.
rel_vector = Vec3((goal_x*cos(car_theta)) + (goal_y * sin(car_theta)),
(-(goal_x*sin(car_theta))) + (goal_y * cos(car_theta)),
0)
correction_angle = atan2(rel_vector.y, rel_vector.x)
#Jump and turn to reach goal yaw.
if self.current_state.wheel_contact:
controller_input.jump = 1
else:
controller_input.yaw = cap_magnitude(correction_angle, 1)
elif self.current_state.vel.magnitude() > 400:
#TODO: Proportional controller to stop in the right place
controller_input.throttle = -1
else:
#Wiggle to face ball
#Check if the goal is ahead of or behind us, and throttle in that direction
goal_angle = atan2((self.goal_state.pos - self.current_state.pos).y, (self.goal_state.pos - self.current_state.pos).x)
if abs(angle_difference(goal_angle,self.current_state.rot.yaw)) > pi/2:
correction_sign = -1
else:
correction_sign = 1
controller_input.throttle = correction_sign
#Correct as we wiggle so that we face goal_yaw.
if angle_difference(self.goal_state.rot.yaw, self.current_state.rot.yaw) > 0:
angle_sign = 1
else:
angle_sign = -1
controller_input.steer = correction_sign*angle_sign
return controller_input
def waitController(agent, target, speed):
controller_state = SimpleControllerState()
loc = toLocal(target, agent.me)
angle_to_target = math.atan2(loc.data[1], loc.data[0])
controller_state.steer = steer(angle_to_target)
current_speed = velocity2D(agent.me)
if current_speed < speed:
controller_state.throttle = 1.0
elif current_speed - 50 > speed:
controller_state.throttle = -1.0
else:
controller_state.throttle = 0
time_diff = time.time() - agent.start
if time_diff > 2.2 and distance2D(target,agent.me) > (velocity2D(agent.me)*2.3) and abs(angle_to_target) < 1 and current_speed < speed:
agent.start = time.time()
elif time_diff <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_diff >= 0.1 and time_diff <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_diff > 0.15 and time_diff < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def controller(self, agent):
controller_state = SimpleControllerState()
controller_state.pitch = 1
controller_state.throttle = -1
self.time_difference = agent.game_info.seconds_elapsed - self.start
if self.time_difference <= 0.1:
controller_state.jump = True
elif 0.1 <= self.time_difference <= 0.15:
controller_state.jump = False
elif 0.15 <= self.time_difference <= 0.35:
controller_state.jump = True
elif 0.4 <= self.time_difference <= 1.75:
controller_state.pitch = -1
if 1.2 <= self.time_difference:
controller_state.throttle = 1
if 0.575 <= self.time_difference <= 1.2:
controller_state.boost = True
controller_state.roll = 1
if 0.7 <= self.time_difference <= 1.5:
controller_state.yaw = .5
return controller_state
def get_controller_state_from_actions(
action: np.ndarray) -> SimpleControllerState:
controls = action.clip(-1, 1)
controller_state = SimpleControllerState()
controller_state.pitch = controls[0]
controller_state.yaw = controls[1]
controller_state.roll = controls[2]
controller_state.boost = bool(controls[3] >= 0)
return controller_state
def update(self):
if self.agent.onSurface or self.agent.me.location[2] < 100:
self.active = False
controller_state = SimpleControllerState()
# if self.agent.me.rotation[1] > 0:
# controller_state.pitch = 1
#
# elif self.agent.me.rotation[1] < 0:
# controller_state.pitch = -1
if self.agent.me.rotation[2] > 0:
controller_state.roll = -1
elif self.agent.me.rotation[2] < 0:
controller_state.roll = 1
if self.agent.me.rotation[0] > self.agent.velAngle:
controller_state.yaw = -1
elif self.agent.me.rotation[0] < self.agent.velAngle:
controller_state.yaw = 1
# if self.agent.me.avelocity[0] > 2:
# controller_state.yaw = -1
# elif self.agent.me.avelocity[0] < 2:
# controller_state.yaw = 1
#
# if self.agent.me.avelocity[1] > 2:
# controller_state.pitch= 1
# elif self.agent.me.avelocity[1] < 2:
# controller_state.pitch = -1
#
# if self.agent.me.avelocity[2] > 2:
# controller_state.roll = -1
# elif self.agent.me.avelocity[2] < 2:
# controller_state.roll = 1
if self.active:
controller_state.throttle = 1
else:
controller_state.throttle = 0
return controller_state
def exampleController(self, target_object, target_speed):
location = target_object.local_location
controller_state = SimpleControllerState()
angle_to_ball = math.atan2(location.data[1], location.data[0])
current_speed = velocity2D(self.me)
#team
team = sign(self.team)
# if team<=0: #blue
#try to get the ball to orange goal
#else: #orange
#try to get the ball to blue goal
#steering
if angle_to_ball > 0.1:
controller_state.steer = controller_state.yaw = 1
elif angle_to_ball < -0.1:
controller_state.steer = controller_state.yaw = -1
else:
controller_state.steer = controller_state.yaw = 0
#powersliding
if angle_to_ball > 0.8:
controller_state.handbrake = True
elif angle_to_ball < -0.8:
controller_state.handbrake = True
else:
controller_state.handbrake = False
#throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and self.start > 2.2 and current_speed < 2250:
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
#dodging front only
time_difference = time.time() - self.start
if time_difference > 2.2 and distance2D(
target_object.location,
self.me.location) > 1000 and abs(angle_to_ball) < 1.3:
self.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= 0.1 and time_difference <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > 0.15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
return controller_state
def to_simple_controller_state(self):
controls = SimpleControllerState()
controls.throttle = self.throttle
controls.steer = self.steer
controls.yaw = self.yaw
controls.pitch = self.pitch
controls.roll = self.roll
controls.boost = self.boost
controls.jump = self.jump
controls.handbrake = self.handbrake
return controls
def recoveryController(agent, local): #accepts agent, the agent's controller, and a target (in local coordinates)
controller_state = SimpleControllerState()
turn = math.atan2(local.data[1],local.data[0])
up = toLocal(agent.me.location + Vector3([0,0,100]), agent.me)
target = [math.atan2(up.data[1],up.data[2]), math.atan2(local.data[2],local.data[0]), turn] #determining angles each axis must turn
controller_state.steer = steerPD(turn, 0)
controller_state.yaw = steerPD(target[2],-agent.me.rvelocity.data[2]/5)
controller_state.pitch = steerPD(target[1],agent.me.rvelocity.data[1]/5)
controller_state.roll = steerPD(target[0],agent.me.rvelocity.data[0]/5)
return controller_state
def getSensible_thingToCONTROL(magicWariable):
ThisISTHE_controller = SimpleControllerState()
ThisISTHE_controller.throttle = magicWariable[magicWariable[0][0]]
ThisISTHE_controller.steer = magicWariable[magicWariable[0][1]]
ThisISTHE_controller.pitch = magicWariable[magicWariable[0][2]]
ThisISTHE_controller.yaw = magicWariable[magicWariable[0][3]]
ThisISTHE_controller.roll = magicWariable[magicWariable[0][4]]
ThisISTHE_controller.jump = magicWariable[magicWariable[0][5]]
ThisISTHE_controller.boost = magicWariable[magicWariable[0][6]]
ThisISTHE_controller.handbrake = magicWariable[magicWariable[0][7]]
return ThisISTHE_controller
def update(self):
controller_state = SimpleControllerState()
jump = flipHandler(self.agent, self.flip_obj)
if jump:
if self.targetCode == 1:
controller_state.pitch = -1
controller_state.steer = 0
controller_state.throttle = 1
elif self.targetCode == 0:
ball_local = toLocal(self.agent.ball.location, self.agent.me)
ball_angle = math.atan2(ball_local.data[1], ball_local.data[0])
controller_state.jump = True
controller_state.yaw = math.sin(ball_angle)
pitch = -math.cos(ball_angle)
controller_state.pitch = pitch
if pitch > 0:
controller_state.throttle = -1
else:
controller_state.throttle = 1
elif self.targetCode == 2:
controller_state.pitch = 0
controller_state.steer = 0
controller_state.yaw = 0
elif self.targetCode == 3:
controller_state.pitch = 1
controller_state.steer = 0
controller_state.throttle = -1
elif self.targetCode == -1:
controller_state.pitch = 0
controller_state.steer = 0
controller_state.throttle = 0
controller_state.jump = jump
controller_state.boost = False
if self.flip_obj.flipDone:
self.active = False
return controller_state
def deltaC(agent, target):
c = SimpleControllerState()
target = target # - agent.me.velocity
target_local = toLocal(agent.me.location + target, agent.me)
angle_to_target = math.atan2(target_local.data[1], target_local.data[0])
pitch_to_target = math.atan2(target_local.data[2], target_local.data[0])
if agent.me.grounded:
if agent.jt + 1.5 > time.time():
c.jump = True
else:
c.jump = False
agent.jt = time.time()
else:
c.yaw = steerPD(angle_to_target, -agent.me.rvelocity.data[1] / 4)
c.pitch = steerPD(pitch_to_target, agent.me.rvelocity.data[0] / 4)
if target.magnitude() > 10:
c.boost = True
if abs(pitch_to_target) + abs(angle_to_target) > 0.9:
c.boost = False
else:
top = toLocal([
agent.me.location.data[0], agent.me.location.data[1],
agent.me.location.data[2] + 1000
], agent.me)
roll_to_target = math.atan2(top.data[1], top.data[2])
c.roll = steerPD(roll_to_target, agent.me.rvelocity.data[2] * 0.5)
tsj = time.time() - agent.jt
if tsj < 0.215:
c.jump = True
elif tsj < 0.25:
c.jump = False
elif tsj >= 0.25 and tsj < 0.27 and target.data[2] > 560:
c.jump = True
c.boost = False
c.yaw = 0
c.pitch = 0
c.roll = 0
else:
c.jump = False
return c
def shotController(agent, target_object, target_speed):
goal_local = toLocal([0, -sign(agent.team) * FIELD_LENGTH / 2, 100],
agent.me)
goal_angle = math.atan2(goal_local.data[1], goal_local.data[0])
location = toLocal(target_object, agent.me)
controller_state = SimpleControllerState()
angle_to_target = math.atan2(location.data[1], location.data[0])
current_speed = velocity2D(agent.me)
#steering
controller_state.steer = steer(angle_to_target)
#throttle
if target_speed > 1400 and target_speed > current_speed and agent.start > 2.5 and current_speed < 2250:
controller_state.boost = True
if target_speed > current_speed:
controller_state.throttle = 1.0
elif target_speed < current_speed:
controller_state.throttle = 0
#dodging
time_difference = time.time(
) - agent.start # how long its been since we last dodged
if ballReady(agent) and time_difference > 2.2 and distance2D(
target_object, agent.me) <= 270:
agent.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.yaw = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
elif time_difference >= 0.1 and time_difference <= 0.13:
controller_state.jump = False
controller_state.yaw = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
elif time_difference > 0.13 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
return controller_state
def copy_controls(obj_to: SimpleControllerState,
obj_from: SimpleControllerState):
"""Copies the attribute of one SimpleControlerStates to another"""
obj_to.steer = obj_from.steer
obj_to.throttle = obj_from.throttle
obj_to.pitch = obj_from.pitch
obj_to.yaw = obj_from.yaw
obj_to.roll = obj_from.roll
obj_to.jump = obj_from.jump
obj_to.boost = obj_from.boost
obj_to.handbrake = obj_from.handbrake
obj_to.use_item = obj_from.use_item
def finalize_output(output):
framework_output = SimpleControllerState()
framework_output.throttle = output.throttle
framework_output.steer = output.steer
framework_output.yaw = output.yaw
framework_output.pitch = output.pitch
framework_output.roll = output.roll
framework_output.boost = output.boost
framework_output.handbrake = output.handbrake
framework_output.jump = output.jump
return framework_output
def get(self, data):
c = SimpleControllerState()
c.throttle = max(min(data[0], 1), -1)
c.steer = max(min(data[1], 1), -1)
c.pitch = max(min(data[2], 1), -1)
c.yaw = max(min(data[3], 1), -1)
c.roll = max(min(data[4], 1), -1)
c.jump = data[5]
c.boost = data[6]
c.handbrake = data[7]
c.use_item = data[8]
return c
def update(self):
controller_state = SimpleControllerState()
jump = flipHandler(self.agent, self.flip_obj)
if jump:
if self.targetCode == 1:
controller_state.pitch = -1
controller_state.steer = 0
controller_state.throttle = 1
elif self.targetCode == 0:
#print("How can I flip towards a ball when you don't tell me where it is?!?!?!")
ball_local = toLocal(self.agent.ball.location, self.agent.me)
ball_angle = math.atan2(ball_local.data[1], ball_local.data[0])
#print(ball_angle,math.cos(ball_angle))
controller_state.jump = True
controller_state.yaw = math.sin(ball_angle)
pitch = -math.cos(ball_angle) #-abs(math.cos(ball_angle))
controller_state.pitch = pitch
if pitch > 0:
controller_state.throttle = -1
else:
controller_state.throttle = 1
elif self.targetCode == 2:
controller_state.pitch = 0
controller_state.steer = 0
controller_state.yaw = 0
if self.targetCode == 3:
controller_state.pitch = 1
controller_state.steer = 0
controller_state.throttle = -1
controller_state.jump = jump
controller_state.boost = False
#controller_state.throttle = 1
if self.flip_obj.flipDone:
self.active = False
return controller_state
def get_output(self):
output = SimpleControllerState()
output.throttle = self.throttle
output.steer = self.steer
output.pitch = self.pitch
output.yaw = self.yaw
output.roll = self.roll
output.jump = self.jump
output.boost = self.boost
output.handbrake = self.handbrake
return output
def array_to_scs(a):
scs = SimpleControllerState()
scs.throttle = a[0]
scs.steer = a[1]
scs.pitch = a[2]
scs.yaw = a[3]
scs.roll = a[4]
scs.jump = a[5]
scs.boost = a[6]
scs.handbrake = a[7]
return scs
def nn_to_rlbot_controls(nn_controls):
controller_state = SimpleControllerState()
# steering
if nn_controls[0] == 1:
controller_state.steer = -1.0
elif nn_controls[1] == 1:
controller_state.steer = 1.0
else:
controller_state.steer = 0.0
# pitch
if nn_controls[2] == 1:
controller_state.pitch = -1.0
elif nn_controls[3] == 1:
controller_state.pitch = 1.0
else:
controller_state.pitch = 0.0
# throttle
if nn_controls[4] == 1:
controller_state.throttle = 1.0
elif nn_controls[5] == 1:
controller_state.throttle = -1.0
else:
controller_state.throttle = 0.0
controller_state.jump = (nn_controls[6] == 1)
controller_state.boost = (nn_controls[7] == 1)
controller_state.handbrake = (nn_controls[8] == 1)
if controller_state.handbrake:
controller_state.roll = controller_state.steer
controller_state.yaw = 0.0
else:
controller_state.roll = 0.0
controller_state.yaw = controller_state.steer
return controller_state
def calcController(agent, target_object, target_speed):
goal_local = toLocal([0, -sign(agent.team)*FIELD_LENGTH/2, 100], agent.me)
goal_angle = math.atan2(goal_local.data[1], goal_local.data[0])
loc = toLocal(target_object, agent.me)
controller_state = SimpleControllerState()
angle_to_targ = math.atan2(loc.data[1],loc.data[0])
current_speed = velocity2D(agent.me)
distance = distance2D(target_object, agent.me)
#steering
controller_state.steer = steer(angle_to_targ)
r = radius(current_speed)
slowdown = (Vector3([0,sign(target_object.data[0])*(r+40),0])-loc.flatten()).magnitude() / cap(r*1.5,1,1200)
target_speed = cap(current_speed*slowdown,0,current_speed)
# throttle
if agent.ball.location.data[0] == 0 and agent.ball.location.data[1] == 0:
controller_state.throttle, controller_state.boost = 1, True
else:
controller_state.throttle, controller_state.boost = throttle(target_speed,current_speed)
#dodging
time_diff = time.time() - agent.start
if (time_diff > 2.2 and distance <= 150) or (time_diff > 4 and distance >= 1000) and not kickoff(agent):
agent.start = time.time()
elif time_diff <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_diff >= 0.1 and time_diff <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_diff > 0.15 and time_diff < 1:
controller_state.jump = True
controller_state.yaw = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
if not dodging(agent) and not agent.me.grounded:
target = agent.me.velocity.normalize()
targ_local = to_local(target.scale(500), agent.me)
return recoveryController(agent, targ_local)
return controller_state
def shotController(self, agent):
controller_state = SimpleControllerState()
goal_location = toLocal(
[0, -sign(agent.team) * FIELD_LENGTH / 2, 0],
agent.me) #100 is arbitrary since math is in 2D still
goal_angle = np.arctan2(goal_location[1], goal_location[0])
#print(goal_angle * 180 / np.pi)
location = toLocal(agent.ball, agent.me)
angle_to_target = np.arctan2(location[1], location[0])
target_speed = velocity2D(
agent.ball) + (distance2D(agent.ball, agent.me) / 1.5)
current_speed = velocity2D(agent.me)
#steering
if angle_to_target > .1:
controller_state.steer = controller_state.yaw = 1
elif angle_to_target < -.1:
controller_state.steer = controller_state.yaw = -1
else:
controller_state.steer = controller_state.yaw = 0
#throttle
if angle_to_target >= 1.4:
target_speed -= 1400
else:
if (target_speed > 1400 and target_speed > current_speed
and agent.start > 2.2 and current_speed < 2250):
controller_state.boost = True
if target_speed > current_speed:
controller_state.throttle = 1.0
elif target_speed < current_speed:
controller_state.throttle = 1
#dodging
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(agent.ball, agent.me) <= 270:
agent.start = time.time()
elif time_difference <= .1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= .1 and time_difference <= .15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > .15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = math.sin(goal_angle)
controller_state.pitch = -abs(math.cos(goal_angle))
return controller_state
def follow_controller(agent, target_object, target_speed):
location = toLocal(target_object, agent.me)
controller_state = SimpleControllerState()
angle_to_ball = math.atan2(location.data[1], location.data[0])
current_speed = velocity2D(agent.me)
pitch = agent.me.location.data[0] % math.pi
roll = agent.me.location.data[2] % math.pi
# Turn dem wheels
controller_state.steer = cap(angle_to_ball * 5, -1, 1)
print(velocity2D(agent.me))
if abs(angle_to_ball) > (math.pi / 3.):
controller_state.handbrake = True
else:
controller_state.handbrake = False
# throttle
if target_speed > current_speed:
controller_state.throttle = 1.0
if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250 and abs(
angle_to_ball) < (math.pi / 3.):
controller_state.boost = True
elif target_speed < current_speed:
controller_state.throttle = 0
# doging
time_difference = time.time() - agent.start
if time_difference > 2.2 and distance2D(
target_object,
agent.me) > 1000 and abs(angle_to_ball) < 1.3 and velocity2D(
agent.me) > 1200:
agent.start = time.time()
elif time_difference <= 0.1:
controller_state.jump = True
controller_state.pitch = -1
elif time_difference >= 0.1 and time_difference <= 0.15:
controller_state.jump = False
controller_state.pitch = -1
elif time_difference > 0.15 and time_difference < 1:
controller_state.jump = True
controller_state.yaw = controller_state.steer
controller_state.pitch = -1
# print("target: " + str(target_speed) + ", current: " + str(current_speed))
return controller_state
def get_controls(game_info, sub_state_machine):
controls = SimpleControllerState()
if game_info.me.rot.yaw > ball_angle:
direction = -1
else:
direction = 1
if game_info.me.wheel_contact:
controls.jump = 1
controls.boost = 1
controls.yaw = direction
persistent = game_info.persistent
return controls, persistent
def goto(target_location, target_speed, my_car, agent, packet):
car_speed = Vec3(my_car.physics.velocity).length()
distance = Vec3(my_car.physics.location).flat().dist(
target_location.flat())
angle = Orientation(
my_car.physics.rotation).forward.ang_to(target_location -
Vec3(my_car.physics.location))
controls = SimpleControllerState()
controls.steer = steer_toward_target(my_car, target_location, 0)
controls.yaw = steer_toward_target(my_car, target_location,
-my_car.physics.angular_velocity.z / 6)
controls.throttle = cap(target_speed - car_speed, -1, 1)
controls.boost = (target_speed > 1410
and abs(target_speed - car_speed) > 20 and angle < 0.3)
controls.handbrake = angle > 2.3
controls.jump = (1 if my_car.physics.location.y >= 0 else -1) == (
1 if agent.team == 1 else -1
) and abs(
my_car.physics.location.y) > 5000 and my_car.physics.location.z > 200
controls.use_item = Vec3(my_car.physics.location).dist(
Vec3(packet.game_ball.physics.location)) < 200 and relative_location(
Vec3(my_car.physics.location), Orientation(
my_car.physics.rotation),
Vec3(packet.game_ball.physics.location)).z < 75
if (abs(target_speed - car_speed) > 20 and angle < 0.3 and
distance > 600) and ((target_speed > 1410 and my_car.boost == 0)
or 700 < car_speed < 800):
agent.stack.append(wavedash(target_location))
return controls
