def rotate(self, car: Car, target: vec3, dt) -> SimpleControllerState:
# up = vec3(*[self.car.theta[i, 2] for i in range(3)])
target_rotation = look_at(self.target, vec3(0, 0, 1))
action = AerialTurn(car)
action.target = target_rotation
action.step(dt)
controls = action.controls
return controls
def moving_ball_dodge_contact(game_info):
'''
Returns dodge duration and delay so the car can reach contact_height
'''
ball = game_info.ball
contact_height = ball.pos.z - 20
hitbox_class = game_info.me.hitbox_class
car_copy = RLU_Car(game_info.utils_game.my_car)
turn = RLU_AerialTurn(car_copy)
turn.target = roll_away_from_target(ball.pos, pi / 4, game_info)
box = update_hitbox(car_copy, hitbox_class)
time = 0
dt = 1 / 60
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
closest_point = ball_contact[1]
while closest_point[2] < contact_height and not ball_contact[0]:
time += dt
ball = game_info.ball_prediction.state_at_time(game_info.game_time +
time)
turn.step(dt)
contact_height = ball.pos.z - 30
controls = turn.controls
if time <= 0.20:
controls.jump = 1
controls.boost = 1
car_copy.step(controls, dt)
box = update_hitbox(car_copy, hitbox_class)
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
closest_point = ball_contact[1]
if time >= 1.45: #Max dodge time
return None, None, Simulation()
if not ball_contact[0]:
return None, None, Simulation()
if time < 0.2:
duration = time
delay = duration + 2 * dt
else:
duration = 0.2
delay = time
delay -= 0.05 #Window to dodge just before ball contact
return duration, delay, Simulation(ball_contact=True,
car=car_copy,
hitbox=box,
time=time)
def stationary_ball_dodge_contact(game_info, contact_height):
'''
Returns dodge duration and delay so the car can reach contact_height
'''
ball = game_info.ball
hitbox_class = game_info.me.hitbox_class
car_copy = RLU_Car(game_info.utils_game.my_car)
turn = RLU_AerialTurn(car_copy)
turn.target = roll_away_from_target(ball.pos, pi / 4, game_info)
box = update_hitbox(car_copy, hitbox_class)
time = 0
dt = 1 / 60
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
intended_contact_point = ball_contact[1]
while intended_contact_point[2] < contact_height and not ball_contact[0]:
time += dt
turn.step(dt)
controls = turn.controls
if time <= 0.20:
controls.jump = 1
controls.boost = 1
car_copy.step(controls, dt)
box = update_hitbox(car_copy, hitbox_class)
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
intended_contact_point = ball_contact[1]
if time >= 1.45: #Max dodge time
return None, None, Simulation()
if not ball_contact[0]:
return None, None, Simulation()
if time < 0.2:
duration = time
delay = duration + 2 * dt
else:
duration = 0.2
delay = time
delay -= 0.05 #How long before we hit the ball is acceptable to dodge
return duration, delay, Simulation(ball_contact=True,
car=car_copy,
hitbox=box,
time=time)
from rlutilities.linear_algebra import vec3, axis_to_rotation, look_at from rlutilities.mechanics import AerialTurn from rlutilities.simulation import Car c = Car() c.time = 0.0 c.location = vec3(0, 0, 500) c.velocity = vec3(0, 0, 0) c.angular_velocity = vec3(0.1, -2.0, 1.2) c.rotation = axis_to_rotation(vec3(1.7, -0.5, 0.3)) c.on_ground = False turn = AerialTurn(c) turn.target = look_at(vec3(1, 0, 0), vec3(0, 0, 1)) turn.step(0.0166) print(turn.controls.roll) print(turn.controls.pitch) print(turn.controls.yaw) simulation = turn.simulate() print(simulation.time)
