def set_kickoff_maneuvers(self, drones: List[Drone]):
nearest_drone = min(
drones,
key=lambda drone: ground_distance(drone.car, self.info.ball))
nearest_drone.maneuver = kickoffs.choose_kickoff(
self.info, nearest_drone.car)
self.drone_going_for_ball = nearest_drone
self.boost_reservations.clear()
corner_drones = [
drone for drone in drones if abs(drone.car.position[0]) > 2000
]
if len(corner_drones) > 1:
other_corner_drone = next(drone for drone in corner_drones
if drone is not nearest_drone)
nearest_pad = min(
self.info.large_boost_pads,
key=lambda pad: distance(other_corner_drone.car, pad))
other_corner_drone.maneuver = HalfFlipPickup(
other_corner_drone.car, nearest_pad)
self.boost_reservations[other_corner_drone] = nearest_pad
self.defending_drone = max(
drones,
key=lambda drone: ground_distance(drone.car, self.info.ball))
self.defending_drone.maneuver = DriveBackwardsToGoal(
self.defending_drone.car, self.info)
for drone in drones:
if drone not in corner_drones + [self.defending_drone
] + [self.drone_going_for_ball]:
self.send_drone_for_boost(drone)
def choose_maneuver(info: GameInfo, my_car: Car):
ball = info.ball
teammates = info.get_teammates(my_car)
my_team = [my_car] + teammates
their_goal = ground(info.their_goal.center)
my_goal = ground(info.my_goal.center)
# recovery
if not my_car.on_ground:
return Recovery(my_car)
# kickoff
if ball.position[0] == 0 and ball.position[1] == 0:
# if I'm nearest to the ball, go for kickoff
if min(my_team, key=lambda car: distance(car, ball)) is my_car:
return kickoffs.choose_kickoff(info, my_car)
if my_car.boost < 20:
return Refuel(my_car, info)
info.predict_ball()
my_intercept = Intercept(my_car, info.ball_predictions)
teammates_intercepts = [
Intercept(mate, info.ball_predictions) for mate in teammates
]
our_intercepts = teammates_intercepts + [my_intercept]
good_intercepts = [
i for i in our_intercepts
if align(i.car.position, i.ball, their_goal) > 0.0
]
if good_intercepts:
best_intercept = min(good_intercepts,
key=lambda intercept: intercept.time)
else:
best_intercept = min(our_intercepts,
key=lambda i: distance(i.car, my_goal))
if best_intercept is my_intercept:
# if not completely out of position, go for a shot
if (align(my_intercept.car.position, my_intercept.ball, their_goal) > 0
or ground_distance(my_intercept, my_goal) > 6000):
return offense.any_shot(info, my_intercept.car, their_goal,
my_intercept)
# otherwise try to clear
else:
return defense.any_clear(info, my_intercept.car)
# if I'm nearest to goal, stay far back
if min(my_team, key=lambda car: distance(car, my_goal)) is my_car:
return GeneralDefense(my_car, info, my_intercept.position, 7000)
# otherwise get into position
return GeneralDefense(my_car, info, my_intercept.position, 4000)
def choose_maneuver(info: GameInfo, my_car: Car):
ball = info.ball
their_goal = ground(info.their_goal.center)
my_goal = ground(info.my_goal.center)
opponents = info.get_opponents()
# recovery
if not my_car.on_ground:
return Recovery(my_car)
# kickoff
if ball.position[0] == 0 and ball.position[1] == 0:
return kickoffs.choose_kickoff(info, my_car)
info.predict_ball()
my_intercept = Intercept(my_car, info.ball_predictions)
their_intercepts = [
Intercept(opponent, info.ball_predictions) for opponent in opponents
]
their_intercept = min(their_intercepts, key=lambda i: i.time)
opponent = their_intercept.car
banned_boostpads = {
pad
for pad in info.large_boost_pads
if abs(pad.position[1] -
their_goal[1]) < abs(my_intercept.position[1] - their_goal[1])
or abs(pad.position[0] - my_car.position[0]) > 6000
}
# if ball is in a dangerous position, clear it
if (ground_distance(my_intercept, my_goal) < 3000
and (abs(my_intercept.position[0]) < 2000
or abs(my_intercept.position[1]) < 4500)
and my_car.position[2] < 300):
if align(my_car.position, my_intercept.ball, their_goal) > 0.5:
return offense.any_shot(info,
my_intercept.car,
their_goal,
my_intercept,
allow_dribble=True)
return defense.any_clear(info, my_intercept.car)
# if I'm low on boost and the ball is not near my goal, go for boost
if my_car.boost < 10 and ground_distance(my_intercept, their_goal) > 3000:
refuel = Refuel(my_car, info, forbidden_pads=banned_boostpads)
if refuel.pad: return refuel
ball_in_their_half = abs(my_intercept.position[1] - their_goal[1]) < 3000
shadow_distance = 4000 if ball_in_their_half else 6000
# if they can hit the ball sooner than me and they aren't out of position, wait in defense
if (their_intercept.time < my_intercept.time
and align(opponent.position, their_intercept.ball,
my_goal) > -0.1 + opponent.boost / 100
and ground_distance(opponent, their_intercept) > 300
and dot(opponent.velocity,
ground_direction(their_intercept, my_goal)) > 0):
return GeneralDefense(my_car,
info,
my_intercept.position,
shadow_distance,
force_nearest=ball_in_their_half)
# if not completely out of position, go for a shot
if (align(my_car.position, my_intercept.ball, their_goal) > -0.5
or ground_distance(my_intercept, their_goal) < 2000
or ground_distance(opponent, their_intercept) < 300):
if my_car.position[2] < 300:
shot = offense.any_shot(info,
my_intercept.car,
their_goal,
my_intercept,
allow_dribble=True)
if (not isinstance(shot, Strike)
or shot.intercept.time < their_intercept.time
or abs(shot.intercept.position[0]) < 3500):
return shot
if my_car.boost < 30:
refuel = Refuel(my_car, info, forbidden_pads=banned_boostpads)
if refuel.pad: return refuel
# fallback
return GeneralDefense(my_car,
info,
my_intercept.position,
shadow_distance,
force_nearest=ball_in_their_half)