class ClearBall(UtilityState):
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 utility_score(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH / 2
ball_own_half_01 = clip01(
remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball,
math.pi / 8)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.15,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: 0.0,
}[bot.info.my_car.objective]
return ball_own_half_01 * in_position + obj_bonus
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
shoot_controls = bot.shoot.with_aiming(
bot, self.aim_cone,
predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
hit_pos = bot.shoot.ball_when_hit.pos
if bot.do_rendering:
self.aim_cone.draw(bot, hit_pos, r=0, g=170, b=255)
if bot.shoot.can_shoot:
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# go home-ish
own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
return bot.drive.towards_point(bot,
own_goal,
target_vel=1460,
slide=True,
boost_min=0,
can_keep_speed=True)
class ClearBall(UtilityState):
def __init__(self, bot):
if bot.team == 0:
# blue
ra = 0.85 * math.pi
la = 0.15 * math.pi
self.aim_cone = AimCone(
Vec3(math.cos(ra), math.sin(ra), 0),
Vec3(math.cos(la), math.sin(la), 0)
)
else:
# orange
ra = -0.15 * math.pi
la = -0.85 * math.pi
self.aim_cone = AimCone(
Vec3(math.cos(ra), math.sin(ra), 0),
Vec3(math.cos(la), math.sin(la), 0)
)
def utility_score(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH2
ball_own_half_01 = clip01(remap(-length, length, -0.8, 1.8, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball, math.pi / 8)
obj_bonus = {
Objective.UNKNOWN: 1,
Objective.GO_FOR_IT: 1,
Objective.FOLLOW_UP: 0,
Objective.ROTATING: 0,
Objective.SOLO: 1.0,
}[bot.info.my_car.objective]
return ball_own_half_01 * in_position * obj_bonus
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
hit_pos = bot.shoot.ball_when_hit.pos
self.aim_cone.draw(hit_pos, r=0, g=170, b=255)
if bot.shoot.can_shoot:
if bot.shoot.using_curve:
draw.bezier([car.pos, bot.shoot.curve_point, hit_pos], draw.color(100, 100, 255))
return shoot_controls
else:
# go home-ish
own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
return bot.drive.towards_point(bot, own_goal, target_vel=1460, slide=True, boost_min=0, can_keep_speed=True)
def towards(self, bot, target: Vec3, time: float, allowed_uncertainty: float = 0.3, dodge_hit: bool = True):
ball_soon = ball_predict(bot, time)
ball_soon_to_target_dir = normalize(target - ball_soon.pos)
right = dot(axis_to_rotation(Vec3(z=allowed_uncertainty)), ball_soon_to_target_dir)
left = dot(axis_to_rotation(Vec3(z=-allowed_uncertainty)), ball_soon_to_target_dir)
aim_cone = AimCone(right, left)
aim_cone.draw(ball_soon.pos, r=0, g=0)
return self.with_aiming(bot, aim_cone, time, dodge_hit)
class SaveGoal(UtilityState):
def __init__(self, bot):
team_sign = bot.info.team_sign
self.aim_cone = None
self.ball_to_goal_right = None
self.ball_to_goal_left = None
def utility_score(self, bot) -> float:
team_sign = bot.info.team_sign
ball = bot.info.ball
ball_to_goal = bot.info.own_goal.pos - ball.pos
too_close = norm(ball_to_goal) < Goal.WIDTH2 + Ball.RADIUS
hits_goal_prediction = predict.will_ball_hit_goal(bot)
hits_goal = hits_goal_prediction.happens and sign(
ball.vel.y) == team_sign and hits_goal_prediction.time < 3
obj_bonus = {
Objective.UNKNOWN: 1,
Objective.GO_FOR_IT: 1,
Objective.FOLLOW_UP: 0,
Objective.ROTATING: 0,
Objective.SOLO: 1,
}[bot.info.my_car.objective]
return float(hits_goal or too_close) * obj_bonus
def run(self, bot) -> SimpleControllerState:
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 = bot.info.own_goal.right_post - reachable_ball.pos
self.ball_to_goal_left = bot.info.own_goal.left_post - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_left,
self.ball_to_goal_right)
if bot.do_rendering:
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
return bot.drive.home(bot)
else:
return shoot_controls
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(car, ball))
ball_to_goal_right = bot.info.opp_goal.right_post - reachable_ball.pos
ball_to_goal_left = bot.info.opp_goal.left_post - reachable_ball.pos
aim_cone = AimCone(ball_to_goal_right, ball_to_goal_left)
shoot_controls = bot.shoot.with_aiming(bot, aim_cone, my_hit_time)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.opp_goal.pos)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball)
enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos
if enemy_hit_time < 1.5 * my_hit_time:
if bot.do_rendering:
bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red())
return bot.drive.home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0)
elif len(bot.info.teammates) == 0 and not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(hit_pos.x) > 900 and not dist < 420:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners in 1s and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow())
return bot.drive.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False)
elif bot.shoot.can_shoot:
# Shoot !
if bot.do_rendering:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# We can't shoot at goal reliably
# How about a shot to the corners then?
corners = [
Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
]
for corner in corners:
ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return ctrls
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - ball.pos))
dot_threat = dot(enemy_to_ball, ball_to_my_goal) # 1 = enemy is in position, -1 = enemy is NOT in position
if car.boost <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900
pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home-ish
return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
class ShootAtGoal(UtilityState):
def __init__(self):
self.aim_cone = None
self.ball_to_goal_right = None
self.ball_to_goal_left = None
self.temp_utility_desire_boost = 0
def utility_score(self, bot) -> float:
if self.temp_utility_desire_boost > 0:
self.temp_utility_desire_boost = max(0, self.temp_utility_desire_boost - bot.info.dt)
elif self.temp_utility_desire_boost < 0:
self.temp_utility_desire_boost = min(0, self.temp_utility_desire_boost + bot.info.dt)
car = bot.info.my_car
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * Field.LENGTH2
own_half_01 = clip01(remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y))
close_to_ball01 = clip01(1.0 - norm(car.pos - ball_soon.pos) / 3500) ** 0.5
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.opp_goal.right_post - reachable_ball.pos
self.ball_to_goal_left = bot.info.opp_goal.left_post - 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)
# Chase ball right after kickoff. High right after kickoff
kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3) * float(bot.info.my_car.objective == Objective.UNKNOWN)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.2,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: -0.2,
}[bot.info.my_car.objective]
return clip01(close_to_ball01 * own_half_01 + 0.1 * in_position + self.temp_utility_desire_boost + kickoff_bias01) + obj_bonus
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, my_hit_time)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.opp_goal.pos)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball)
enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos
if enemy_hit_time < 1.5 * my_hit_time:
self.temp_utility_desire_boost -= bot.info.dt
if bot.do_rendering:
bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red())
return bot.drive.home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0)
elif len(bot.info.teammates) == 0 and not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(hit_pos.x) > 900 and not dist < 420:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners in 1s and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow())
return bot.drive.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False)
elif bot.shoot.can_shoot:
# Shoot !
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# We can't shoot at goal reliably
# How about a shot to the corners then?
corners = [
Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
]
for corner in corners:
ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return ctrls
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - ball.pos))
dot_threat = dot(enemy_to_ball, ball_to_my_goal) # 1 = enemy is in position, -1 = enemy is NOT in position
if car.boost <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900
pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home-ish
return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
def exec(self, bot):
pred_ball = predict.ball_predict(bot, bot.info.my_car.reach_ball_time)
# On a scale from 0 to 1, how much is this a clear?
clear01 = clip01(
norm(bot.info.opp_goal.pos - pred_ball.pos) / Field.LENGTH)**2
ts = bot.info.team_sign
right = lerp(bot.info.opp_goal.right_post,
Vec3(ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
left = lerp(bot.info.opp_goal.left_post,
Vec3(-ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
ball_to_right = right - pred_ball.pos
ball_to_left = left - pred_ball.pos
aim_cone = AimCone(ball_to_right, ball_to_left)
shot_ctrls = bot.shoot.with_aiming(bot, aim_cone,
bot.info.my_car.reach_ball_time)
if bot.do_rendering:
if bot.shoot.can_shoot:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0, r=0)
if not bot.shoot.can_shoot:
# We can't shoot on target
if len(bot.info.teammates) != 0:
# Consider passing
for mate in bot.info.teammates:
point_in_front_of_mate = lerp(mate.pos,
bot.info.opp_goal.pos, 0.5)
shot_ctrls = bot.shoot.towards(
bot, point_in_front_of_mate,
bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
if bot.do_rendering:
rendering.draw_cross(bot, point_in_front_of_mate,
bot.renderer.green())
return shot_ctrls
# Atba with bias I guess
if bot.do_rendering:
bot.renderer.draw_line_3d(bot.info.my_car.pos, pred_ball.pos,
bot.renderer.red())
return bot.shoot.any_touch(bot, bot.info.my_car.reach_ball_time)
# # We are out of position, start rotating back
# own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
# return bot.drive.towards_point(
# bot,
# own_goal,
# target_vel=1460,
# slide=False,
# boost_min=0,
# can_keep_speed=True
# )
else:
# Shoot!
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(bot, [
bot.info.my_car.pos, bot.shoot.curve_point,
bot.shoot.ball_when_hit.pos
])
return shot_ctrls