def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
comms = self.get_matchcomms()
self.grader.set_match_comms(comms)
return GameState(
ball=BallState(physics=Physics(location=Vector3(0, 0, 92.75),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(
self.car_start_x, 3000, 0),
rotation=Rotator(0, -pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=0)
},
boosts={i: BoostState(0)
for i in range(34)},
)
def reset(self):
ball_start = Vec3(
x=random.randint(-1365, 1365),
y=random.randint(-1280, -1200),
z=random.randint(50, 100),
)
ball_end = Vec3(
x=random.randint(-800, 800),
y=random.randint(-5125, -5120),
z=random.randint(50, 100),
)
ball_speed = (ball_end-ball_start).normalized() * random.randint(1600, 1800)
car_start = Vec3(
x=random.randint(-440, 440),
y=random.randint(-5560, -5120),
z=50,
)
car_rot = Rotator(
pitch=0,
yaw=math.pi/2 + (random.random()-0.5)*math.pi/6,
roll=0,
)
self.set_game_state(GameState(
ball=BallState(physics=Physics(
location=ball_start.to_vector3(),
velocity=ball_speed.to_vector3(),
)),
cars={0: CarState(physics=Physics(
location=car_start.to_vector3(),
rotation=car_rot,
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)
),
boost_amount=random.randint(60, 90),
)},
game_info=GameInfoState(
game_speed=self.speed
)
))
def checkState(self):
if self.state.expired:
self.state.reset(
) #If our state has expired, reset it and choose the next available state
car = CarState(boost_amount=100,
physics=Physics(velocity=vector3(0, 0, 0),
angular_velocity=vector3(0, 0, 0),
location=vector3(400, 3000, 20),
rotation=Rotator(0, math.pi / 2,
0)))
ball = BallState(physics=Physics(location=vector3(-3000, 1000, 94),
velocity=vector3(1500, 0, 0)))
game = GameState(ball=ball, cars={self.index: car})
self.set_game_state(game)
flag = True
for item in self.states:
if item.available() == True:
self.state = item
flag = False
if flag: #If no states are available do this:
self.state = wait()
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
self.grader.graders[1].max_duration_seconds = 5
return GameState(
game_info=GameInfoState(game_speed=1),
ball=BallState(
physics=Physics(location=Vector3(rng.uniform(-500, 500),
rng.uniform(-500, 500), 94),
velocity=Vector3(0, rng.uniform(-300, 500),
rng.uniform(0, 600)),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=Vector3(
rng.uniform(-100, -90), -2200, 25),
rotation=Rotator(0, pi / 2, 0),
velocity=Vector3(0, 1000, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=80),
1:
CarState(physics=Physics(
location=Vector3(10000, 10000, 10000)))
},
)
def initialize_agent(self):
random_position = Vector3(random.uniform(-3000, 3000),
random.uniform(-4000, 4000), 18)
random_velocity = Vector3(random.uniform(-1000, 1000),
random.uniform(-1000, 1000), 0)
random_rotation = Rotator(0, random.uniform(-math.pi, math.pi), 0)
car_physics = Physics(location=random_position,
velocity=random_velocity,
rotation=random_rotation,
angular_velocity=Vector3(0, 0, 0))
boost = random.uniform(0, 50)
car_state = CarState(boost_amount=boost, physics=car_physics)
game_state = GameState(cars={self.index: car_state})
self.set_game_state(game_state)
self.initialization_time = self.info.time
self.action.reset_status()
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
car_pos = Vector3(0, 2500, 25)
ball_pos = Vector3(rng.uniform(-200, 200), rng.uniform(0, -1500), 100)
ball_state = BallState(
Physics(location=ball_pos,
velocity=Vector3(0, -1250, 0),
angular_velocity=Vector3(0, 0, 0)))
car_state = CarState(boost_amount=87,
jumped=True,
double_jumped=True,
physics=Physics(location=car_pos,
rotation=Rotator(0, -pi / 2, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0,
0)))
enemy_car = CarState(physics=Physics(
location=Vector3(10000, 10000, 10000)))
game_state = GameState(ball=ball_state,
cars={
0: car_state,
1: enemy_car
})
return game_state
def set_state_test(self, game_tick_packet: GameTickPacket):
my_car = game_tick_packet.game_cars[self.index]
car_location = my_car.physics.location
car_state = CarState()
if math.fabs(car_location.x) > 2000 and car_location.z < 100:
car_state = CarState(Physics(velocity=Vector3(z=500,
x=-car_location.x *
.5),
rotation=Rotator(math.pi / 2, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=87)
ball_phys = game_tick_packet.game_ball.physics
ball_state = BallState()
if ball_phys.location.z < 500:
ball_state = BallState(
Physics(location=Vector3(0, 0, 800),
velocity=Vector3(0, 0, 1000)))
if math.fabs(car_location.x) > 1000:
boost_states = {i: BoostState(1.0) for i in range(34)}
else:
boost_states = {i: BoostState(0.0) for i in range(34)}
game_info_state = GameInfoState(
world_gravity_z=-(ball_phys.location.z - 1200), game_speed=0.5)
game_state = GameState(ball=ball_state,
cars={self.index: car_state},
boosts=boost_states,
game_info=game_info_state)
self.set_game_state(game_state)
def reset_state(self):
# If car is moving backwards, set it on the front goal, and vice versa
if self.throttle_list[self.throttle_index] <= 0:
speed_multiplier = 1
else:
speed_multiplier = -1
car_state = CarState(
boost_amount=100,
physics=Physics(
velocity=Vector3(0, 10000 * speed_multiplier, 0),
location=Vector3(x=0, y=0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
)
# Setting the run start time
self.reset_time = 0
ball_state = BallState(Physics(location=Vector3(z=3000)))
game_state = GameState(ball=ball_state, cars={self.index: car_state})
self.set_game_state(game_state)
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
minboost = self.boost if self.minboost is None else self.minboost
maxboost = self.boost if self.maxboost is None else self.maxboost
return GameState(
ball=BallState(physics=Physics(
location=Vector3(self.ball_x, self.ball_y, self.ball_z),
velocity=Vector3(self.ball_vx, self.ball_vy, self.ball_vz),
angular_velocity=Vector3(self.ball_sx, self.ball_sy,
self.ball_sz))),
cars={
0:
CarState(physics=Physics(location=Vector3(
self.car_x, self.car_y, self.car_z),
rotation=Rotator(0, self.car_spin, 0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False,
boost_amount=rng.uniform(minboost, maxboost))
},
boosts={i: BoostState(0)
for i in range(34)}, # Is this needed.
)
def rotator_from_dir(dir: Vector3):
yaw = math.atan(dir.y / dir.x)
pitch = math.asin(dir.z / magnitude(dir))
if dir.x < 0:
yaw = (yaw + math.pi) % (2 * math.pi)
return Rotator(pitch, yaw, 0)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.game.read_game_information(packet, self.get_rigid_body_tick(),
self.get_field_info())
self.controls = SimpleControllerState()
next_state = self.state
if self.state == State.RESET:
self.timer = 0.0
# put the car in the middle of the field
car_state = CarState(physics=Physics(location=Vector3(0, 0, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(
0, 0, 0)),
jumped=False,
double_jumped=False)
theta = random.uniform(0, 6.28)
pos = Vector3(sin(theta) * 1000.0, cos(theta) * 1000.0, 100.0)
# put the ball somewhere out of the way
ball_state = BallState(
physics=Physics(location=pos,
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.action = Dodge(self.game.my_car)
self.action.duration = 0.1
self.action.direction = vec2(self.game.ball.location)
next_state = State.RUNNING
if self.state == State.RUNNING:
self.action.step(self.game.time_delta)
self.controls = self.action.controls
print(self.controls.jump)
if self.timer > self.timeout:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
#Original Code
my_car = packet.game_cars[self.index]
ball_location = Vector2(packet.game_ball.physics.location.x,
packet.game_ball.physics.location.y)
car_location = Vector2(my_car.physics.location.x,
my_car.physics.location.y)
car_direction = get_car_facing_vector(my_car)
car_to_ball = ball_location - car_location
#update class data
self.car.update(packet.game_cars[self.index])
self.ball.update(packet.game_ball)
self.CoordinateSystems.update(self.car, self.ball)
self.BallController.update(packet.game_ball)
self.ball.x = packet.game_ball.physics.location.x
self.ball.y = packet.game_ball.physics.location.y
self.ball.z = packet.game_ball.physics.location.z
# t = packet.game_info.seconds_elapsed
#print(packet.game_cars[self.index])
carBallAngle = getAngle(
packet.game_ball.physics.location.x - self.car.x,
packet.game_ball.physics.location.z - self.car.z, 0, 0)
# print('z:', self.car.z, 'vz:', self.car.vz, 'y:', self.car.y, 'vy:', self.car.vy, 'x:', self.car.x, 'vx:', self.car.vx, 'pitch:', self.car.pitch, 'roll: ', self.car.roll, 'yaw:', self.car.yaw)
#fixing pitch since RL uses euler angles
pi = math.pi
p = float(self.car.pitch)
r = float(self.car.roll)
y = float(self.car.yaw)
curang = float(getXZangle(p, r, y))
# print('actual pitchL', actualPitch[0])
#Create desired and current vectors [x, z, theta, vx, vz, omegay]
# self.current = np.matrix([self.car.z, self.car.x, actualPitch, self.car.vz, self.car.vx, self.car.wy])
# self.desired = np.matrix([800, self.car.x, math.pi/4, self.car.vz, self.car.vx, self.car.wy])
self.current = np.matrix([curang, self.car.wy])
self.desired1 = np.matrix([-1 * float(carBallAngle[0]), 0])
self.desired2 = self.desired1 #np.matrix([-2, 0])
#calculate Adesired
As = 900 #uu/s2
Ag = np.matrix([0, -650])
theta = carBallAngle
Adesired = np.matrix([(As * math.cos(theta)), (As * math.sin(theta))])
Aa = Adesired - Ag
Ax = float(Aa.item(0))
Az = float(Aa.item(1))
Ax2 = math.pow(Ax, 2)
Az2 = math.pow(Az, 2)
A = (math.sqrt(Ax2 + Az2))
boostPercent = A / 991.666 * 100
boostPercent = max(min(boostPercent, 100), 0)
thetaActual = getAngle(Aa.item(0), Aa.item(1), 0, 0)
# print('Theta actual:', thetaActual, 'Aactual: ', Aa, 'boost percent: ', boostPercent)
thetaDesired = np.matrix([-1 * float(thetaActual), 0])
#Quaternion stuff
q0 = Quaternion(axis=[1., 0., 0.], radians=self.car.roll)
q1 = Quaternion(axis=[0., 1., 0.], radians=self.car.pitch)
q2 = Quaternion(axis=[0., 0., 1.], radians=-1 * self.car.yaw)
q3 = q0 * q1 * q2
xprime = q3.rotate([1, 0, 0])
qcar = q3.rotate([1., 0., 0.])
# print('xprime: ', xprime, 'q3:', q3)
#get point vectors for car and ball
ux = np.array([1., 0., 0.])
uy = np.array([0., 1., 0.])
uz = np.array([0., 0., 1.])
Pb = np.array([
packet.game_ball.physics.location.x,
packet.game_ball.physics.location.y,
packet.game_ball.physics.location.z
])
Pc = np.array([
self.car.x, self.car.y, self.car.z
]) #negate z because z axis for car is pointed downwards
Pbc = np.subtract(Pb,
Pc) #Get vector to ball from car in car coordinates
xyz = np.cross(
ux,
Pbc) #xyz of quaternion is rotation between Pbc and unit x vector
w = math.sqrt(1 * (
(Pbc.item(0)**2) + (Pbc.item(1)**2) +
(Pbc.item(2)**2))) + np.dot(ux, Pbc) #scalr of quaternion
qbcworld = Quaternion(w=w, x=xyz.item(0), y=xyz.item(1), z=xyz.item(2))
eulerAngles = toEulerAngle(
qbcworld.unit) #convert quaternion to euler angles
#getting quaternion describing car orientation
qw2c = Quaternion(w=0,
x=self.car.roll,
y=self.car.pitch,
z=self.car.yaw)
# Pcar = qw2c.unit.rotate(ux)
q0 = Quaternion(axis=[1., 0., 0.], radians=self.car.roll)
q1 = Quaternion(axis=[0., 1., 0.], radians=self.car.pitch)
q2 = Quaternion(axis=[0., 0., -1.], radians=self.car.yaw)
q3 = q0.unit * q1.unit * q2.unit
Pcar = q3.unit.rotate(ux)
# print('pcar', xprime, 'pitch', self.car.pitch)
xyzCar = np.cross(
ux,
Pcar) #xyz of quaternion is rotation between Pbc and unit x vector
wCar = math.sqrt(1 * (
(Pcar.item(0)**2) + (Pcar.item(1)**2) +
(Pcar.item(2)**2))) + np.dot(ux, Pcar) #scalr of quaternion
qcarworld = Quaternion(w=wCar,
x=xyzCar.item(0),
y=xyzCar.item(1),
z=xyzCar.item(2))
#Angular Velocity Inputs to the control algorithm
omegades = np.matrix([0, 0, 0])
omegacur = self.CoordinateSystems.w_car
#get current position of trajectory
time = packet.game_info.seconds_elapsed
Pdes, Vdes = self.Trajectory.circularTrajectory(1000, .5, time,
1500) #A, w, t, height
# Pdes = np.array([self.ball.x, self.ball.y, self.ball.z])
# Vdes = np.array([self.ball.vx, self.ball.vy, self.ball.vz])
#CONTROL SYSTEM ALGORITHMS
#get acceleration vector
Pcur = np.array([self.car.x, self.car.y, self.car.z])
Vcur = np.array([self.car.vx, self.car.vy, self.car.vz])
acc, accMagnitude = getAccelerationVector(Pdes, Pcur, Vdes, Vcur)
accfix = np.array([-1 * acc.item(0), acc.item(1), acc.item(2)])
boostPercent = accMagnitude / 991.666 * 100
boostPercent = max(min(boostPercent, 100), 0)
# print('acc:', acc, 'accmag', accMagnitude)
Qworld_to_acceleration_vector = self.CoordinateSystems.createQuaternion_world_at_car(
accfix)
torques = getTorques(self.CoordinateSystems.Qworld_to_car,
Qworld_to_acceleration_vector, omegades, omegacur)
#True Proportionanl navigation
#Send Data to feedbackcontroller
#self.car.printVals();
if (self.counter.count < self.counter.lap1):
self.fbController.pitchControl(thetaDesired, self.current)
#try only controlling z velocity
# self.fbController.pitchControl(self.car.z, self.car.x, self.car.pitch, self.car.vz, self.car.vx, self.car.wz, self.car.z, self.car.x, self.car.pitch, self.car.vz, self.car.vx, self.car.wz)
self.counter.increment()
if (self.counter.count >= self.counter.lap1) and (self.counter.count <
self.counter.lap2):
self.fbController.pitchControl(thetaDesired, self.current)
# self.fbController.pitchControl(0, 0, 0, 10, 0, 0, self.car.z, self.car.x, self.car.pitch, self.car.vz, self.car.vx, self.car.wz)
self.counter.increment()
if (self.counter.count >= self.counter.lap2):
self.counter.reset()
#Setting Controller state from values in controller
#boost value
# self.controller_state.boost = self.boostCounter.boost(60)
# self.controller_state.boost = 1
self.controller_state.boost = self.boostCounter.boost(boostPercent)
#
# #roll, pitch, yaw values
self.controller_state.pitch = max(min(torques.item(1), 1), -1)
self.controller_state.roll = max(min(torques.item(0), 1), -1)
self.controller_state.yaw = -1 * max(
min(torques.item(2), 1), -1
) #changes in rotations about coordinate system cause z axis changes
# self.controller_state.pitch = 0
# self.controller_state.roll = 0
# self.controller_state.yaw = 0 #changes in rotations about coordinate system cause z axis changes
# self.controller_state.pitch = 0.0#max(min(torques.item(1), 1), -1) #self.fbController.pitchPercent
# self.controller_state.roll = 0.0#max(min(torques.item(0), 1), -1)
# self.controller_state.yaw = 1#max(min(torques.item(2), 1), -1)
#Make car jump if its on the floor
if (packet.game_cars[self.index].has_wheel_contact):
self.controller_state.jump = True
else:
self.controller_state.jump = False
#Contol ball for testing functions
x, y, z, vi = self.BallController.bounce(500, 500, 300, 1500)
Vt = self.BallController.rotateAboutZ(np.matrix([0, 0, 0]),
math.pi / 10)
p = np.array([-1000, -1000, 100])
v = np.array([800, 0, 1500])
ballpos, ballvel = self.BallController.projectileMotion(p, v)
# vx = self.BallController.oscillateX(-1500, 0, 1000)
vx = Vt.item(0)
vy = Vt.item(1)
# vz = 0
#Set ball and car states to set game state for testing
ball_state1 = BallState(
Physics(location=Vector3(x, y, z), velocity=Vector3(0, 0, vi)))
ball_state2 = BallState(
Physics(location=Vector3(ballpos[0], ballpos[1], ballpos[2]),
velocity=Vector3(ballvel[0], ballvel[1], ballvel[2])))
# ball_state = BallState(Physics(velocity = Vector3(vx, vy, 1)))
# ,
# car_state = CarState(jumped=True, double_jumped=False, boost_amount=0,
# physics=Physics(location = Vector3(-1000, 0, 500),velocity=Vector3(0, 0, 0), rotation = Rotator(pitch = eulerAngles.item(1), yaw = eulerAngles.item(2), roll = eulerAngles.item(0))))
car_state = CarState(jumped=True,
double_jumped=False,
boost_amount=1,
physics=Physics(
location=Vector3(-500, -1500, 500),
velocity=Vector3(0, 0, 0),
rotation=Rotator(pitch=math.pi / 1.9,
yaw=0.1,
roll=0),
angular_velocity=Vector3(0, 0, 0)))
# car_state2 = CarState(jumped=True, double_jumped=False, boost_amount=0,
# physics=Physics(location = Vector3(00, 0, 500),velocity=Vector3(0, 0, 0)))
#Pointed down car state for maximum initial error
# car_state = CarState(jumped=True, double_jumped=False, boost_amount=1,
# physics=Physics(location = Vector3(500, 0, 500),velocity=Vector3(0, 0, 1100), rotation = Rotator(yaw = math.pi/2, pitch = -1*math.pi/2, roll = math.pi/2)))
if (self.BallController.release == 0):
game_state = GameState(ball=ball_state2,
cars={self.index: car_state})
self.set_game_state(game_state)
# game_state = GameState(ball = ball_state)#, cars = {self.index: car_state})
# self.set_game_state(game_state)
#PREDICTIONS
#torque coefficients
T_r = 36.07956616966136
# torque coefficient for roll
T_p = 12.14599781908070
# torque coefficient for pitch
T_y = 8.91962804287785
# torque coefficient for yaw
#boost vector in car coordinates
boostVector = np.array([self.controller_state.boost * 991.666, 0, 0])
#Get values at tk and tk - 1
self.t0 = self.t1
self.t1 = packet.game_info.seconds_elapsed
self.p0 = self.p1 #position vector at initial time
self.p1 = self.car.position #position vector at tk+1
self.v0 = self.v1 #velocity at prior frame
self.v1 = self.car.velocity
self.q0 = self.q1 #Orientation at prior frame
self.q1 = self.CoordinateSystems.Qworld_to_car.conjugate.normalised
self.w0 = self.w1 #angular velocity at prior frame
self.w1 = self.car.angular_velocity
self.a0 = self.a1 #accelreation vector at prior frame
self.a1 = self.CoordinateSystems.toWorldCoordinates(boostVector)
self.T0 = self.T1 #Torque vector at prior frame
self.T1 = np.array([
self.controller_state.roll * T_r,
self.controller_state.pitch * T_p,
self.controller_state.yaw * -1 * T_y
])
aavg = (self.a1 + self.a0) / 2
vavg = (self.v1 + self.v0 / 2)
predictedp1, predictedv1 = Predictions.predict(self.p0, self.v0,
self.q0, self.w0, aavg,
self.T0, self.t0,
self.t1)
errorv = (predictedv1 - self.v1)**2
errorp = (predictedp1 - self.p1)**2
# print("error^2 v:", errorv, "error^2 p:", errorp)
# print("z actual:", self.car.z, "z predicted:", predictedp1[2])
self.data.add(self.v1[0], predictedv1[0], errorv[0], self.t1)
#PLOTTING
if (self.plotTime0 == None):
self.plotTime0 = packet.game_info.seconds_elapsed
else:
self.plotTime1 = packet.game_info.seconds_elapsed
if (self.plotTime1 != None):
if ((self.plotTime1 - self.plotTime0) > 10):
# self.plotData(self.data)
None
#RENDERING
# self.renderer.begin_rendering()
#
# #helpful vectors for rendering
# car = np.array([self.car.x, self.car.y, self.car.z]).flatten()
# ball = np.array([self.ball.x, self.ball.y, self.ball.z]).flatten()
# origin = np.array([0,0,0])
# #World coordinate system
# self.renderer.draw_line_3d(np.array([0,0,0]), np.array([500,0,0]), self.renderer.red())
# self.renderer.draw_line_3d(np.array([0,0,0]), np.array([0,500,0]), self.renderer.green())
# self.renderer.draw_line_3d(np.array([0,0,0]), np.array([0,0,500]), self.renderer.blue())
#
# #Car coordinate system
# headingx = 100*self.CoordinateSystems.toWorldCoordinates(np.array([1,0,0])) #multiply by 100 to make line longer
# headingy = 100*self.CoordinateSystems.toWorldCoordinates(np.array([0,1,0]))
# headingz = 100*self.CoordinateSystems.toWorldCoordinates(np.array([0,0,1]))
# self.renderer.draw_line_3d(np.array([self.car.x, self.car.y, self.car.z]), np.array([self.car.x + headingx.item(0), self.car.y + headingx.item(1), self.car.z + headingx.item(2)]), self.renderer.red())
# self.renderer.draw_line_3d(np.array([self.car.x, self.car.y, self.car.z]), np.array([self.car.x + headingy.item(0), self.car.y + headingy.item(1), self.car.z + headingy.item(2)]), self.renderer.green())
# self.renderer.draw_line_3d(np.array([self.car.x, self.car.y, self.car.z]), np.array([self.car.x + headingz.item(0), self.car.y + headingz.item(1), self.car.z + headingz.item(2)]), self.renderer.blue())
#
# #Car direction vector on world coordinate system
# self.renderer.draw_line_3d(np.array([0,0,0]), np.array([headingx.item(0), headingx.item(1), headingx.item(2)]), self.renderer.red())
# self.renderer.draw_line_3d(np.array([0,0,0]), np.array([headingy.item(0), headingy.item(1), headingy.item(2)]), self.renderer.green())
# self.renderer.draw_line_3d(np.array([0,0,0]), np.array([headingz.item(0), headingz.item(1), headingz.item(2)]), self.renderer.blue())
#
# #Draw position of ball after converting from Pball_car to Pball_world
# # desired = np.array(self.CoordinateSystems.getVectorToBall_world()).flatten()
# # self.renderer.draw_line_3d(car, car + desired, self.renderer.yellow())
#
# #Car to ball vector
#
# # self.renderer.draw_rect_3d(car+desired, 100, 100, 0, self.renderer.teal())
#
# #Acceleration vector
# a = np.array([accfix.item(0), -1*accfix.item(1),-1*accfix.item(2)])
# self.renderer.draw_line_3d(car, car + a/10, self.renderer.pink())
#
# #trajectory vector
# self.renderer.draw_line_3d(origin, Pdes, self.renderer.orange())
#
# #error rectangles velocities
# self.renderer.draw_rect_2d(10,10,int(errorv[0]**(1/2)), 50, True, self.renderer.cyan())
# self.renderer.draw_rect_2d(10,60,int(errorv[1]**(1/2)), 50, True, self.renderer.cyan())
# self.renderer.draw_rect_2d(10,110,int(errorv[2]**(1/2)), 50, True, self.renderer.cyan())
# #text for velocity errors
# self.renderer.draw_string_2d(10, 10, 1, 1, "X velocity Error: " + str(errorv[0]**(1/2)), self.renderer.white())
# self.renderer.draw_string_2d(10, 60, 1, 1, "Y velocity Error: " + str(errorv[1]**(1/2)), self.renderer.white())
# self.renderer.draw_string_2d(10, 110, 1, 1, "Z velocity Error: " + str(errorv[2]**(1/2)), self.renderer.white())
# #positions
# self.renderer.draw_rect_2d(10,160,int(errorp[0]**(1/2)), 50, True, self.renderer.red())
# self.renderer.draw_rect_2d(10,210,int(errorp[1]**(1/2)), 50, True, self.renderer.red())
# self.renderer.draw_rect_2d(10,260,int(errorp[2]**(1/2)), 50, True, self.renderer.red())
#
# self.renderer.draw_string_2d(10, 160, 1, 1, 'X position Error: ' + str(errorp[0]**(1/2)), self.renderer.white())
# self.renderer.draw_string_2d(10, 210, 1, 1, "Y position Error: " + str(errorp[1]**(1/2)), self.renderer.white())
# self.renderer.draw_string_2d(10, 260, 1, 1, "Z position Error: " + str(errorp[2]**(1/2)), self.renderer.white())
#
# self.renderer.end_rendering()
#printing
# print('wx:', self.car.wx, 'wy:', self.car.wy, 'wz:', self.car.wz)
return self.controller_state
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
#Setting up data...
if C1DB.ticks == 0:
while len(C1DB.carLoc) != len(packet.game_cars):
C1DB.carLoc.append(Vec3(0, 0, 0))
C1DB.carVel.append(Vec3(0, 0, 0))
C1DB.carRot.append(Rotator(0, 0, 0))
C1DB.carAVel.append(Vec3(0, 0, 0))
C1DB.carPrevVel.append(Vec3(0, 0, 0))
#reimplement for lag compensation
# else:
# C1DB.deltaTime = time.perf_counter() - C1DB.pastTime
# if C1DB.deltaTime < 0:
# C1DB.deltaTime += 1
C1DB.pastTime = time.perf_counter()
C1DB.ballLoc.covtVecFrom(packet.game_ball.physics.location)
C1DB.ballVel.covtVecFrom(packet.game_ball.physics.velocity)
C1DB.ballRot = packet.game_ball.physics.rotation
C1DB.ballAVel.covtVecFrom(packet.game_ball.physics.angular_velocity)
C1DB.index = self.index
for i in range(0, len(packet.game_cars)):
C1DB.carLoc[i].covtVecFrom(packet.game_cars[i].physics.location)
C1DB.carVel[i].covtVecFrom(packet.game_cars[i].physics.velocity)
C1DB.carRot[i] = packet.game_cars[i].physics.rotation
C1DB.carAVel[i].covtVecFrom(packet.game_cars[i].physics.angular_velocity)
C1DB.CBVec = C1DB.ballLoc - C1DB.carLoc[C1DB.index]
#updating past values
C1DB.myCarPrevLocs[C1DB.ticks%C1DB.memoryTicks] = copy.copy(C1DB.carLoc[C1DB.index])
C1DB.myCarPrevVels[C1DB.ticks%C1DB.memoryTicks] = copy.copy(C1DB.carVel[C1DB.index])
C1DB.myCarPrevRots[C1DB.ticks%C1DB.memoryTicks] = Rotator(C1DB.carRot[C1DB.index].pitch, C1DB.carRot[C1DB.index].yaw, C1DB.carRot[C1DB.index].roll)
C1DB.myCarPrevAVels[C1DB.ticks%C1DB.memoryTicks] = copy.copy(C1DB.carAVel[C1DB.index])
# Setting car kinematic arrays
# car_location = [Vec3(packet.game_cars[0].physics.location.x,
# packet.game_cars[0].physics.location.y,
# packet.game_cars[0].physics.location.z)]
# car_velocity = [Vec3(packet.game_cars[0].physics.velocity.x,
# packet.game_cars[0].physics.velocity.y,
# packet.game_cars[0].physics.velocity.z)]
# car_direction = [get_car_facing_vector(packet.game_cars[0])]
# for i in range(1, packet.num_cars):
# car_location.append(Vec3(packet.game_cars[i].physics.location.x, packet.game_cars[i].physics.location.y,
# packet.game_cars[i].physics.location.z))
# car_velocity.append(Vec3(packet.game_cars[i].physics.velocity.x, packet.game_cars[i].physics.velocity.y,
# packet.game_cars[i].physics.velocity.z))
# car_direction.append(get_car_facing_vector(packet.game_cars[i]))
# C1DB.CBvec = ball_location - car_location[self.index]
#State outputs
if C1DB.debugOut and C1DB.ticks % 40 == 0: # int(1/C1DB.deltaTime)
print("ball location: ")
print(C1DB.ballLoc.x)
print("ball speed: ")
print(C1DB.ballVel.mag3())
print("self index: ")
print(self.index)
print("number of players: ")
print(len(packet.game_cars))
print("car 1's pos: ")
print(C1DB.carLoc[1].x)
print(C1DB.carLoc[1].y)
print(C1DB.carLoc[1].z)
print("car 1's Vel")
print(C1DB.carVel[1].x/60)
print(C1DB.carVel[1].y/60)
print(C1DB.carVel[1].z/60)
print("car 1's Previous Vel")
print(C1DB.carPrevVel[1].x/60)
print(C1DB.carPrevVel[1].y/60)
print(C1DB.carPrevVel[1].z/60)
print()
print("car 0's pos: ")
print(C1DB.carLoc[0].x)
print(C1DB.carLoc[0].y)
print(C1DB.carLoc[0].z)
print("car 0's rot: ")
print(C1DB.carRot[0].pitch)
print(C1DB.carRot[0].yaw)
print(C1DB.carRot[0].roll)
print()
print("delta Time:")
print(C1DB.deltaTime)
print()
# --- AI Start ---
ball_prediction = self.get_ball_prediction_struct()
if ball_prediction is not None:
for i in range(ball_prediction.num_slices - 5, ball_prediction.num_slices):
prediction_slice = ball_prediction.slices[i]
location = prediction_slice.physics.location
# if C1DB.debugOut and C1DB.ticks % int(10*1/C1DB.deltaTime) == 0:
# self.logger.info("At time {}, the ball will be at ({}, {}, {})"
# .format(prediction_slice.game_seconds, location.x, location.y, location.z))
#debugTracks:
if C1DB.debugTrack == 0:
pathFinder(self.controller_state, packet, C1DB, Target(C1DB.ballLoc, 2400, Rotator(0, -math.pi/2, 0), 0))
elif C1DB.debugTrack == 1:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(2180, 3090, 17), 0, Rotator(0, -0.8, 0), 0))
if (C1DB.carLoc[C1DB.index] - Vec3(2180, 3090, 17)).mag3() < C1DB.targetSize:
C1DB.debugTrack = 2
elif C1DB.debugTrack == 2:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(0, 0, 17), 1400, Rotator(0, -2.356, 0), 0))
if (C1DB.carLoc[C1DB.index] - Vec3(0, 0, 17)).mag3() < C1DB.targetSize:
C1DB.debugTrack = 3
elif C1DB.debugTrack == 3:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(-2180, -3090, 17), 700, Rotator(0, -0.8, 0), 0))
if (C1DB.carLoc[C1DB.index] - Vec3(-2180, -3090, 17)).mag3() < C1DB.targetSize:
C1DB.debugTrack = 4
elif C1DB.debugTrack == 4:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(2180, -3090, 17), 1000, Rotator(0, 0.8, 0), 0))
if (C1DB.carLoc[C1DB.index] - Vec3(2180, -3090, 17)).mag3() < C1DB.targetSize:
C1DB.debugTrack = 5
elif C1DB.debugTrack == 5:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(0, 0, 17), 2000, Rotator(0, 2.356, 0), 0))
if (C1DB.carLoc[C1DB.index] - Vec3(0, 0, 17)).mag3() < C1DB.targetSize:
C1DB.debugTrack = 6
elif C1DB.debugTrack == 6:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(-2180, 3090, 17), 1400, Rotator(0, 0.8, 0), 0))
if (C1DB.carLoc[C1DB.index] - Vec3(-2180, 3090, 17)).mag3() < C1DB.targetSize:
C1DB.debugTrack = 1
if C1DB.debugTrack == 7:
if packet.game_cars[0].double_jumped == 1:
C1DB.debugTrack = 8
else:
#controller:
self.controller_state.steer = 0.8
# if C1DB.ticks % 3000 < 2350:
# targetVel = C1DB.ticks % 3000
# else:
# targetVel = 0
targetVel = 2300
self.controller_state.throttle = 1
if C1DB.carVel[C1DB.index].mag2() > targetVel:
self.controller_state.throttle = 0
self.controller_state.boost = 0
elif C1DB.carVel[C1DB.index].mag2() > 0: # 1220
self.controller_state.boost = 1
#analysis:
if packet.game_cars[self.index].physics.location.z < 25:
out = str(C1DB.carVel[C1DB.index].mag2())
denominator = (C1DB.carVel[self.index].x*(C1DB.myCarPrevVels[C1DB.ticks%C1DB.memoryTicks].y - C1DB.myCarPrevVels[(C1DB.ticks-1)%C1DB.memoryTicks].y)/C1DB.deltaTime - C1DB.carVel[self.index].y*(C1DB.myCarPrevVels[C1DB.ticks%C1DB.memoryTicks].x - C1DB.myCarPrevVels[(C1DB.ticks-1)%C1DB.memoryTicks].x)/C1DB.deltaTime)
if(denominator != 0):
out = out + " " + str((C1DB.carVel[self.index].x**2 + C1DB.carVel[self.index].y**2)**(3/2)/ denominator)
else:
out = out + " inf"
# print("car to car: " + str((C1DB.carLoc[0] - C1DB.carLoc[1]).mag2()))
out = out + " " + str(targetVel) + " " + str(C1DB.deltaTime) + "\n"
print(out)
debugOut = open("debug.txt", "a+")
debugOut.write(out)
debugOut.close()
else:
print("too high")
elif C1DB.debugTrack == 8:
if packet.game_cars[0].double_jumped == 0:
C1DB.debugTrack = 9
elif C1DB.debugTrack == 9:
pathFinder(self.controller_state, packet, C1DB, Target(Vec3(0, 0, 0), 0, Rotator(0, 0, 0), 1))
if (C1DB.carLoc[C1DB.index] - Vec3(0, 0, 0)).mag3() < C1DB.targetSize:
C1DB.testTicks = 0
C1DB.debugTrack = 7
action_display = "temp"
#draws ground path if available
if C1DB.debugVisual == 1:
drawPolarPath(self.renderer, C1DB)
elif C1DB.debugVisual == 2:
drawCirclePath(self.renderer, C1DB)
# draw_debug(self.renderer, packet.game_cars[self.index], packet.game_ball, action_display)
# --- Tick end data management ---
# updates time
C1DB.ticks += 1
if C1DB.ticks == 1000000:
C1DB.ticks = 0
#update path tester
if C1DB.ticks%100 == 99:
C1DB.testTicks += 1
# updates data base
for i in range(0, len(C1DB.carVel)):
C1DB.carPrevVel[i] = copy.copy(C1DB.carVel[i])
C1DB.ballPrevVel = copy.copy(C1DB.ballVel)
C1DB.prevInput = SimpleControllerState(self.controller_state.steer,
self.controller_state.throttle,
self.controller_state.pitch,
self.controller_state.yaw,
self.controller_state.roll,
self.controller_state.jump,
self.controller_state.boost,
self.controller_state.handbrake)
return self.controller_state
def spawn_car_in_showroom(loadout_config: LoadoutConfig, team: int, showcase_type: str, map_name: str,
launcher_prefs: RocketLeagueLauncherPreference):
match_config = MatchConfig()
match_config.game_mode = 'Soccer'
match_config.game_map = map_name
match_config.instant_start = True
match_config.existing_match_behavior = 'Continue And Spawn'
match_config.networking_role = NetworkingRole.none
match_config.enable_state_setting = True
match_config.skip_replays = True
bot_config = PlayerConfig()
bot_config.bot = True
bot_config.rlbot_controlled = True
bot_config.team = team
bot_config.name = "Showroom"
bot_config.loadout_config = loadout_config
match_config.player_configs = [bot_config]
match_config.mutators = MutatorConfig()
match_config.mutators.boost_amount = 'Unlimited'
match_config.mutators.match_length = 'Unlimited'
global sm
if sm is None:
sm = SetupManager()
sm.connect_to_game(launcher_preference=launcher_prefs)
sm.load_match_config(match_config)
sm.start_match()
game_state = GameState(
cars={0: CarState(physics=Physics(
location=Vector3(0, 0, 20),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0)
))},
ball=BallState(physics=Physics(
location=Vector3(0, 0, -100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)
))
)
player_input = PlayerInput()
team_sign = -1 if team == 0 else 1
if showcase_type == "boost":
player_input.boost = True
player_input.steer = 1
game_state.cars[0].physics.location.y = -1140
game_state.cars[0].physics.velocity.x = 2300
game_state.cars[0].physics.angular_velocity.z = 3.5
elif showcase_type == "throttle":
player_input.throttle = 1
player_input.steer = 0.56
game_state.cars[0].physics.location.y = -1140
game_state.cars[0].physics.velocity.x = 1410
game_state.cars[0].physics.angular_velocity.z = 1.5
elif showcase_type == "back-center-kickoff":
game_state.cars[0].physics.location.y = 4608 * team_sign
game_state.cars[0].physics.rotation.yaw = -0.5 * pi * team_sign
elif showcase_type == "goal-explosion":
game_state.cars[0].physics.location.y = -2000 * team_sign
game_state.cars[0].physics.rotation.yaw = -0.5 * pi * team_sign
game_state.cars[0].physics.velocity.y = -2300 * team_sign
game_state.ball.physics.location = Vector3(0, -3500 * team_sign, 93)
sm.game_interface.update_player_input(player_input, 0)
sm.game_interface.set_game_state(game_state)
def r(r_: Rotator) -> Rotator:
return Rotator(r_.pitch, r_.yaw, r_.roll)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.game.read_game_information(packet, self.get_rigid_body_tick(),
self.get_field_info())
self.controls = SimpleControllerState()
next_state = self.state
if self.state == State.RESET:
self.timer = 0.0
# put the car in the middle of the field
car_state = CarState(physics=Physics(
location=Vector3(-2000, 0, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False)
# put the ball somewhere out of the way
ball_state = BallState(
physics=Physics(location=Vector3(0, 5000, 0),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.dodge = Dodge(self.game.my_car)
self.turn = AerialTurn(self.game.my_car)
f = self.game.my_car.forward()
l = self.game.my_car.left()
u = self.game.my_car.up()
# musty flick
if self.counter % 3 == 0:
self.name = "Musty Flick"
self.dodge.duration = 0.2
self.dodge.delay = 0.8
self.dodge.direction = vec2(f)
self.dodge.preorientation = look_at(-0.1 * f - u, -1.0 * u)
# diagonal forward dodge
if self.counter % 3 == 1:
self.name = "Fast Forward Dodge"
self.dodge.duration = 0.15
self.dodge.delay = 0.4
self.dodge.direction = vec2(1.0, 0.0)
self.dodge.preorientation = dot(
axis_to_rotation(vec3(0, 0, 3)), self.game.my_car.rotation)
# diagonal twist
if self.counter % 3 == 2:
self.name = "Air-Roll Dodge hit"
self.dodge.duration = 0.15
self.dodge.delay = 0.5
self.dodge.direction = vec2(f - 0.3 * l)
self.dodge.preorientation = dot(
self.game.my_car.rotation,
axis_to_rotation(vec3(-0.8, -0.4, 0)))
self.counter += 1
next_state = State.RUNNING
if self.state == State.RUNNING:
if self.timer > 1.2:
self.turn.target = look_at(xy(self.game.my_car.velocity),
vec3(0, 0, 1))
self.turn.step(self.game.time_delta)
self.controls = self.turn.controls
else:
self.dodge.step(self.game.time_delta)
self.controls = self.dodge.controls
if self.timer > self.timeout:
next_state = State.RESET
self.game.my_car.last_input.roll = self.controls.roll
self.game.my_car.last_input.pitch = self.controls.pitch
self.game.my_car.last_input.yaw = self.controls.yaw
self.timer += self.game.time_delta
self.state = next_state
if self.name:
self.renderer.begin_rendering()
self.renderer.draw_string_2d(50, 50, 6, 6, self.name,
self.renderer.red())
self.renderer.end_rendering()
return self.controls
def space_x(self):
if self.current_state == 'Reset':
self.controller.jump = 0
self.controller.pitch = 0
self.controller.boost = 0
car_state = CarState(physics=Physics(velocity=V3(0, 0, 0),
rotation=Rotator((math.pi/2) + 0.5, 0, 0),
angular_velocity=V3(0, 0, 0),
location=V3(0, 0, 100)))
game_state = GameState(cars={self.index: car_state})
self.set_game_state(game_state)
self.tR = time.time()
#self.next_state = 'Boost'
elif self.current_state == 'Timeout':
if time.time() > self.tR+self.timeoutR:
self.next_state = 'Jump'
elif self.current_state == 'Jump':
self.sas(math.pi/2) # TODO make math.pi/2 a var?
self.controller.jump = 1
if self.me.rotation.x > (math.pi/2 - 0.05):
self.next_state = 'Boost'
elif self.current_state == 'Boost':
self.sas(math.pi/2)
self.controller.boost = 1
if self.me.pos.z > 800:
self.launch_time = time.time()
self.next_state = 'Falling'
elif self.current_state == 'Falling':
self.sas(math.pi/2)
self.controller.boost = 0
self.time_burn = burn_time(self.me, self.land_height)
if self.time_burn < 0:
self.next_state = 'Suicide_burn'
elif self.current_state == 'Suicide_burn':
self.sas(math.pi/2)
self.controller.boost = 1
if self.me.pos.z < 48+self.land_height:
self.next_state = 'Land'
elif self.current_state == 'Land':
self.sas(math.pi/2)
self.controller.boost = 0
elif self.current_state == 'Idle':
self.controller.jump = 0
self.controller.pitch = 0
self.controller.boost = 0
self.next_state = 'Idle'
self.current_state = self.next_state
def car_stop(self):
self._changed = True
self.car.physics.angular_velocity = Vector3(0, 0, 0)
self.car.physics.velocity = Vector3(0, 0, 0)
self.car.physics.rotation = Rotator(0, None, 0)
def drift_test(self):
"""Runs the drift tests."""
self.tests = 500 # Number of tests.
yaw = np.pi / self.tests # Change in yaw.
test_vel = 1400 # Starting velocity.
if self.active:
# Sets ball position out of bounds so it doesn't interfere.
pos = Vector3(0, 0, 2200)
ball_state = BallState(physics=Physics(location=pos))
# If the number of completed tests is less or equal to the number of tests, run tests.
if self.count <= self.tests:
# Save the previous test and restart timer.
if self.timer > 5.0:
# Converting data to numpy array.
data = np.array(
[self.position, self.velocity, self.rotation])
# Saving data to file. I used absolute location because I was lazy.
np.save(
f'D:/RLBot/ViliamVadocz/TestBot/data/test_{self.count:03}.npy',
data)
self.timer = 0.0
self.count += 1
# Setup next test.
if self.timer == 0.0:
# Sets the car's physics for the next test.
pos = Vector3(2500, -2300, 17.01)
vel = Vector3(0, test_vel, 0)
rot = Rotator(None, np.pi / 2 + yaw * self.count, 0)
ang_vel = Vector3(0, 0, 0)
car_state = {
self.index:
CarState(physics=Physics(location=pos,
velocity=vel,
rotation=rot,
angular_velocity=ang_vel))
}
# Initialises data lists. (Not using numpy arrays here because I'd have to guess the approximate size)
self.position = []
self.velocity = []
self.rotation = []
# Starts collecting data. (comparing to 0.1 here instead of just using else, juse to make sure that the test has restarted.)
elif self.timer > 0.05:
car_state = {self.index: CarState()}
self.position.append(self.agent.pos)
self.velocity.append(self.agent.vel)
self.rotation.append(self.agent.rot)
else:
# End of testing.
self.ctrl.throttle = False
self.ctrl.handbrake = False
car_state = {self.index: CarState()}
# Increments timer.
self.timer += self.dt
# Sets game state.
game_state = GameState(ball=ball_state, cars=car_state)
# I set it multiple times because apparently if you just do it once
# it sometimes doesn't work and it doesn't hurt to set it more than once.
self.set_game_state(game_state)
self.set_game_state(game_state)
self.set_game_state(game_state)
self.set_game_state(game_state)
self.set_game_state(game_state)
def empty():
return SimPhysics(Vec3(0, 0, 0), Vec3(0, 0, 0), Vec3(0, 0, 0),
Rotator(0, 0, 0))
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.game.read_game_information(packet,
self.get_rigid_body_tick(),
self.get_field_info())
self.controls = SimpleControllerState()
next_state = self.state
if self.state == State.RESET:
self.timer = 0.0
b_position = Vector3(random.uniform(-1500, 1500),
random.uniform( 2500, 3500),
random.uniform( 300, 500))
b_velocity = Vector3(random.uniform(-300, 300),
random.uniform(-100, 100),
random.uniform(1000, 1500))
ball_state = BallState(physics=Physics(
location=b_position,
velocity=b_velocity,
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)
))
# this just initializes the car and ball
# to different starting points each time
c_position = Vector3(b_position.x, 0 * random.uniform(-1500, -1000), 25)
#c_position = Vector3(200, -1000, 25)
car_state = CarState(physics=Physics(
location=c_position,
velocity=Vector3(0, 800, 0),
rotation=Rotator(0, 1.6, 0),
angular_velocity=Vector3(0, 0, 0)
), boost_amount=100)
self.set_game_state(GameState(
ball=ball_state,
cars={self.game.id: car_state})
)
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.aerial = Aerial(self.game.my_car)
# self.aerial.up = normalize(vec3(
# random.uniform(-1, 1),
# random.uniform(-1, 1),
# random.uniform(-1, 1)))
self.turn = AerialTurn(self.game.my_car)
# predict where the ball will be
prediction = Ball(self.game.ball)
self.ball_predictions = [vec3(prediction.location)]
for i in range(100):
prediction.step(0.016666)
prediction.step(0.016666)
self.ball_predictions.append(vec3(prediction.location))
# if the ball is in the air
if prediction.location[2] > 500:
self.aerial.target = prediction.location
self.aerial.arrival_time = prediction.time
simulation = self.aerial.simulate()
# # check if we can reach it by an aerial
if norm(simulation.location - self.aerial.target) < 100:
prediction.step(0.016666)
prediction.step(0.016666)
self.aerial.target = prediction.location
self.aerial.arrival_time = prediction.time
self.target_ball = Ball(prediction)
break
next_state = State.RUNNING
if self.state == State.RUNNING:
self.log.write(f"{{\"car\":{self.game.my_car.to_json()},"
f"\"ball\":{self.game.ball.to_json()}}}\n")
self.aerial.step(self.game.time_delta)
self.controls = self.aerial.controls
if self.timer > self.timeout:
next_state = State.RESET
self.aerial = None
self.turn = None
self.timer += self.game.time_delta
self.state = next_state
self.renderer.begin_rendering()
red = self.renderer.create_color(255, 230, 30, 30)
purple = self.renderer.create_color(255, 230, 30, 230)
white = self.renderer.create_color(255, 230, 230, 230)
if self.aerial:
r = 200
x = vec3(r, 0, 0)
y = vec3(0, r, 0)
z = vec3(0, 0, r)
target = self.aerial.target
self.renderer.draw_line_3d(target - x, target + x, purple)
self.renderer.draw_line_3d(target - y, target + y, purple)
self.renderer.draw_line_3d(target - z, target + z, purple)
if self.ball_predictions:
self.renderer.draw_polyline_3d(self.ball_predictions, purple)
self.renderer.end_rendering()
return self.controls
def rotation_to_euler(theta: mat3) -> Rotator:
return Rotator(atan2(theta[2, 0], norm(vec2(theta[0, 0], theta[1, 0]))),
atan2(theta[1, 0], theta[0, 0]),
atan2(-theta[2, 1], theta[2, 2]))
from typing import Dict, Any, Optional, List, Union
from rlbot.matchconfig.match_config import PlayerConfig, Team
from rlbot.utils.game_state_util import GameState, Physics, BallState, Vector3, Rotator, CarState, BoostState
from rlbottraining.common_exercises.common_base_exercises import StrikerExercise, GoalieExercise
from rlbottraining.common_graders.compound_grader import CompoundGrader
from rlbottraining.common_graders.goal_grader import (
PassOnGoalForAllyTeam, StrikerGrader, PassOnBallGoingAwayFromGoal,
GoalieGrader)
from rlbottraining.match_configs import make_empty_match_config
from rlbottraining.rng import SeededRandomNumberGenerator
from rlbot_gui.rlbottrainingpack.math_parser import parse_item
V0 = Vector3(0, 0, 0)
R0 = Rotator(0, pi / 2, 0)
def as_cls(cls, arg):
if not isinstance(arg, cls):
return cls(*arg)
return arg
class JSONExercise:
boosts: list
description: str
def __init__(self):
self.name = self.description + token_hex(5)
self.match_config = None
def rot_mat_to_rot(theta: mat3) -> Rotator:
pitch = atan2(theta[(2, 0)], norm(rlu_vec2(theta[(0, 0)], theta[(1, 0)])))
yaw = atan2(theta[(1, 0)], theta[(0, 0)])
roll = atan2(-theta[(2, 1)], theta[(2, 2)])
return Rotator(pitch, yaw, roll)
def to_rotator(self) -> Rotator:
return Rotator(self.pitch, self.yaw, self.roll)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.renderer.begin_rendering()
self.game.read_game_information(packet, self.get_rigid_body_tick(),
self.get_field_info())
if self.lastReset + 300 < self.currentTick:
if self.tests > 0:
score = min(300, self.currentTick - self.lastDoneTick)
self.totalScore += score
print(self.tests, score, round(self.totalScore / self.tests,
2))
self.tests += 1
self.lastReset = self.currentTick
self.target = vec3(2 * random() - 1, 2 * random() - 1,
2 * random() - 1)
self.up = orthogonalize(
vec3(2 * random() - 1, 2 * random() - 1, 2 * random() - 1),
self.target)
self.targetOrientation = look_at(self.target, self.up)
car_state = CarState(
physics=Physics(location=Vector3(0, 1000, 17),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(GameState(cars={self.index: car_state}))
self.stage = 0
self.lastDodgeTick = -math.inf
# print("TELEPORT TO GROUND")
return self.controls
else:
car_state = CarState(physics=Physics(location=Vector3(0, 0, 400),
velocity=Vector3(0, 0, 0)))
self.set_game_state(GameState(cars={self.index: car_state}))
if self.stage <= 5:
self.stage += 1
if self.stage == 6:
self.dodgeDirection = normalize(vec2(0, 2 * random() - 1))
self.controls.jump = True #random() > 0.5
if self.controls.jump:
self.lastDodgeTick = self.currentTick
self.controls.roll, self.controls.pitch, self.controls.yaw = self.dodgeDirection[
0], self.dodgeDirection[1], 0
self.stage += 1
return self.controls
else:
self.controls.jump = False
self.packet = packet
self.handleTime()
car = packet.game_cars[self.index]
position = vec3(car.physics.location.x, car.physics.location.y,
car.physics.location.z)
self.renderer.draw_line_3d(car.physics.location,
position + 300 * normalize(self.target),
self.renderer.yellow())
self.renderer.draw_line_3d(car.physics.location,
position + 300 * normalize(self.up),
self.renderer.pink())
carOrientation = rotationToOrientation(car.physics.rotation)
ang = parseVector(car.physics.angular_velocity)
if angle_between(carOrientation,
self.targetOrientation) > 1 / 180 * math.pi:
self.lastDoneTick = self.currentTick
o_rlu = dot(transpose(self.targetOrientation), carOrientation)
w_rlu = dot(transpose(self.targetOrientation), ang)
o = torch.tensor([[o_rlu[i, j] for j in range(3)]
for i in range(3)])[None, :].float().to(device)
w = torch.tensor([w_rlu[i]
for i in range(3)])[None, :].float().to(device)
noPitchTime = max(0,
(self.lastDodgeTick - self.currentTick) / 120 + .95)
dodgeTime = max(0, (self.lastDodgeTick - self.currentTick) / 120 + .65)
if dodgeTime == 0:
self.dodgeDirection = vec2(0, 0)
noPitchTime = torch.tensor([noPitchTime]).float().to(device)
dodgeTime = torch.tensor([dodgeTime]).float().to(device)
dodgeDirection = torch.tensor([
self.dodgeDirection[i] for i in range(2)
])[None, :].float().to(device)
# if self.simulation.o is not None and self.simulation.w is not None:
# print("=====================================")
# print("-------------------------------------")
# print(self.simulation.o, o)
# print(self.simulation.w, w)
# print(self.simulation.noPitchTime, noPitchTime)
# print(self.simulation.dodgeTime, dodgeTime)
# print(self.simulation.dodgeDirection, dodgeDirection)
# self.simulation.step(self.ticksNowPassed / 120)
# print(self.simulation.o, o)
# print(self.simulation.w, w)
# print(self.simulation.noPitchTime, noPitchTime)
# print(self.simulation.dodgeTime, dodgeTime)
# print(self.simulation.dodgeDirection, dodgeDirection)
self.simulation.o = o
self.simulation.w = w
self.simulation.noPitchTime = noPitchTime
self.simulation.dodgeTime = dodgeTime
self.simulation.dodgeDirection = dodgeDirection
if True:
rpy = self.policy(self.simulation.o.permute(0, 2, 1),
self.simulation.w_local(),
self.simulation.noPitchTime,
self.simulation.dodgeTime,
self.simulation.dodgeDirection)[0]
self.controls.roll, self.controls.pitch, self.controls.yaw = rpy
else:
self.reorientML.target_orientation = self.targetOrientation
self.reorientML.step(1 / self.FPS)
self.controls.roll, self.controls.pitch, self.controls.yaw = self.reorientML.controls.roll, self.reorientML.controls.pitch, self.reorientML.controls.yaw
if self.simulation.error()[0].item() < 0.01:
self.frames_done += 1
else:
self.frames_done = 0
if self.frames_done >= 10:
self.finished = True
self.renderer.end_rendering()
return self.controls
def setup_std_kickoff(self, packet):
car_states = {}
rand1 = np.random.random()
for p in range(packet.num_cars):
car = packet.game_cars[p]
if car.team == 0:
if rand1 < 1 / 5:
pos = Vector3(-2048, -2560, 17)
yaw = np.pi * 0.25
elif rand1 < 2 / 5:
pos = Vector3(2048, -2560, 17)
yaw = np.pi * 0.75
elif rand1 < 3 / 5:
pos = Vector3(-256.0, -3840, 17)
yaw = np.pi * 0.5
elif rand1 < 4 / 5:
pos = Vector3(256.0, -3840, 17)
yaw = np.pi * 0.5
elif rand1 < 5 / 5:
pos = Vector3(0.0, -4608, 17)
yaw = np.pi * 0.5
car_state = CarState(boost_amount=33.3,
physics=Physics(location=pos,
rotation=Rotator(yaw=yaw,
pitch=0,
roll=0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(
0, 0, 0)))
car_states[p] = car_state
elif car.team == 1:
if rand1 < 1 / 5:
pos = Vector3(2048, 2560, 17)
yaw = np.pi * -0.75
elif rand1 < 2 / 5:
pos = Vector3(-2048, 2560, 17)
yaw = np.pi * -0.25
elif rand1 < 3 / 5:
pos = Vector3(256.0, 3840, 17)
yaw = np.pi * -0.5
elif rand1 < 4 / 5:
pos = Vector3(-256.0, 3840, 17)
yaw = np.pi * -0.5
elif rand1 < 5 / 5:
pos = Vector3(0.0, 4608, 17)
yaw = np.pi * -0.5
car_state = CarState(boost_amount=33.3,
physics=Physics(location=pos,
rotation=Rotator(yaw=yaw,
pitch=0,
roll=0),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(
0, 0, 0)))
car_states[p] = car_state
if self.horz_ball_var == 'Off':
ball_vel_x = ball_vel_y = 0
elif self.horz_ball_var == 'On':
ball_vel_x = (np.random.random() * 2 - 1) * 500
ball_vel_y = (np.random.random() * 2 - 1) * 300
if self.vert_ball_var == 'Off':
ball_vel_z = -1
ball_pos_z = 93
elif self.vert_ball_var == 'On':
ball_vel_z = np.random.random() * 360 - 460
ball_pos_z = np.random.random() * 200 + 500
self.paused_car_states = car_states
ball_state = BallState(
Physics(location=Vector3(0, 0, ball_pos_z),
velocity=Vector3(ball_vel_x, ball_vel_y, ball_vel_z)))
self.game_state = GameState(ball=ball_state, cars=car_states)
self.set_game_state(self.game_state)
self.prev_time = self.cur_time
self.game_phase = -1
from rlbot.utils.game_state_util import GameState, BallState, CarState, Physics, Vector3, Rotator
BALL = BallState(physics=Physics(location=Vector3(0, 0, 93),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
CARS = {
0:
CarState(physics=Physics(location=Vector3(-2000, -3000, 500),
velocity=Vector3(100, 100, 2300),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
}
GAME_STATE = GameState(ball=BALL, cars=CARS)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
# 100 frames per individual, 10 individuals per generation, 100 generations, or reset before a goal happens
if self.frame == (100 + self.generation * 2) or self.frame == 0 or (
-893 <= packet.game_ball.physics.location.x <= 893
and packet.game_ball.physics.location.y > 5115):
if self.frame != 0:
self.fitness_queue.put(self.percent_progress)
self.frame = 0
self.individual += 1
self.percent_progress = 0.0
# set a random game state so the bot doesn't start memorizing saves
car_state = CarState(
jumped=False,
double_jumped=False,
boost_amount=100,
physics=Physics(velocity=Vector3(x=0, y=0, z=0),
rotation=Rotator(
0,
math.pi * -1.5 + random.uniform(-0.5, 0.5),
0),
angular_velocity=Vector3(0, 0, 0),
location=Vector3(x=random.uniform(-1000, 1000),
y=random.uniform(2000, 4000),
z=0)))
ball_state = BallState(
Physics(location=Vector3(x=random.uniform(-800, 800),
y=random.uniform(-1000, 1000),
z=0),
rotation=Rotator(0, 0, 0),
velocity=Vector3(x=0,
y=random.uniform(1000, 1500),
z=random.uniform(0, 500))))
game_state = GameState(
ball=ball_state,
cars={self.index: car_state},
)
self.set_game_state(game_state)
if self.individual == self.max_individuals:
self.individual = 0
self.generation += 1
# wait for NEAT to have the next network ready
self.network = self.net_queue.get()
# run all code below on every frame
self.frame += 1
ball = packet.game_ball
bot = packet.game_cars[self.index]
# if first frame, record the original ball distance, otherwise try to get best distance to ball
distance = math.sqrt(
(bot.physics.location.x - ball.physics.location.x)**2 +
(bot.physics.location.y - ball.physics.location.y)**2 +
(bot.physics.location.z - ball.physics.location.z)**2)
if self.frame == 10:
self.initial_distance = distance
if self.frame >= 10:
self.percent_progress = max(self.percent_progress,
(self.initial_distance - distance) /
self.initial_distance)
# feature input vector that is used to train our neural network
input = []
input.append(bot.physics.location.x)
input.append(bot.physics.location.y)
input.append(bot.physics.location.z)
#input.append(bot.physics.rotation.pitch)
input.append(bot.physics.rotation.yaw)
#input.append(bot.physics.rotation.roll)
input.append(bot.physics.velocity.x)
input.append(bot.physics.velocity.y)
input.append(bot.physics.velocity.z)
input.append(bot.physics.angular_velocity.x)
input.append(bot.physics.angular_velocity.y)
#input.append(bot.physics.angular_velocity.z)
input.append(bot.boost)
input.append(bot.jumped)
input.append(bot.double_jumped)
input.append(bot.has_wheel_contact)
input.append(ball.physics.location.x)
input.append(ball.physics.location.y)
input.append(ball.physics.location.z)
#input.append(ball.physics.rotation.pitch)
#input.append(ball.physics.rotation.yaw)
#input.append(ball.physics.rotation.roll)
input.append(ball.physics.velocity.x)
input.append(ball.physics.velocity.y)
input.append(ball.physics.velocity.z)
#input.append(ball.physics.angular_velocity.x)
#input.append(ball.physics.angular_velocity.y)
#input.append(ball.physics.angular_velocity.z)
# use self.network (from NEAT) with input to derive a usable output
def sigmoid(x):
if x >= 0:
z = math.e**-x
return 1. / (1. + z)
else:
z = math.e**x
return z / (1. + z)
def activate(x):
return sigmoid(x / 3000) * 2 - 1
output = self.network.activate(input)
self.controller_state.throttle = activate(output[0])
self.controller_state.steer = activate(output[1])
self.controller_state.boost = True if activate(
output[2]) > 0.75 else False
#self.controller_state.pitch = activate(output[2])
#self.controller_state.yaw = activate(output[3])
#self.controller_state.roll = activate(output[4])
#self.controller_state.jump = True if activate(output[5]) > 0.75 else False
#self.controller_state.handbrake = True if activate(output[7]) > 0.75 else False
if self.frame >= 10:
self.renderer.begin_rendering()
self.renderer.draw_string_2d(
20, 20, 2, 2,
"Generation: " + str(self.generation) + " [Bot: " +
str(self.individual) + "/" + str(self.max_individuals - 1) +
" | " + str(self.frame) + " frames]", self.renderer.white())
self.renderer.draw_string_2d(
20, 50, 2, 2, "Best percent progress: " +
str(round(self.percent_progress * 100)) + "%",
self.renderer.white())
self.renderer.draw_string_2d(
20, 80, 2, 2, "Current percent progress: " + str(
round((self.initial_distance - distance) /
self.initial_distance * 100)) + "%",
self.renderer.white())
self.renderer.draw_string_2d(
20, 110, 2, 2, "Steer: " + str(self.controller_state.steer),
self.renderer.white())
self.renderer.draw_string_2d(
20, 140, 2, 2,
"Throttle: " + str(self.controller_state.throttle),
self.renderer.white())
self.renderer.draw_string_2d(
20, 170, 2, 2, "Boost: " + str(self.controller_state.boost),
self.renderer.white())
#self.renderer.draw_string_2d(20,170, 2, 2, "Pitch: " + str(self.controller_state.pitch), self.renderer.white())
#self.renderer.draw_string_2d(20,200, 2, 2, "Yaw: " + str(self.controller_state.yaw), self.renderer.white())
#self.renderer.draw_string_2d(20,230, 2, 2, "Roll: " + str(self.controller_state.roll), self.renderer.white())
#self.renderer.draw_string_2d(20,260, 2, 2, "Powerslide: " + str(self.controller_state.handbrake), self.renderer.white())
#self.renderer.draw_string_2d(20,290, 2, 2, "Jump: " + str(self.controller_state.jump), self.renderer.white())
self.renderer.end_rendering()
#print(self.controller_state.__dict__)
return self.controller_state
def hel_jump(self):
if self.current_state == 'Jump':
self.controller.throttle = 0
self.controller.jump = 1
self.next_state = 'Tilt'
elif self.current_state == 'Tilt':
self.controller.jump = 0
self.controller.handbrake = 1
self.controller.pitch = -0.3
#self.controller.boost = 1
if self.me.rotation.x < -math.pi/6:
self.next_state = 'WaitJump2'
elif self.current_state == 'WaitJump2':
self.controller.pitch = 0
self.controller.boost = 1
if self.me.rotation.x > -0.35:
self.next_state = 'Jump2'
elif self.current_state == 'Jump2':
self.controller.jump = 1
self.second_jump_time = time.time()
self.next_state = 'Boost'
elif self.current_state == 'Boost':
self.controller.boost = 1
if self.me.pos.z > 500:
self.controller.boost = 0
if self.me.rotation.x < (math.pi/2 - 0.5):
self.controller.pitch = 0.2
else:
self.controller.pitch = 0
if time.time() > self.second_jump_time+self.second_timeout:
self.next_state = 'SecondJump'
elif self.current_state == 'SecondJump':
self.controller.boost = 0
self.controller.jump = 1
self.controller.pitch = 1
self.next_state = 'Idle'
elif self.current_state == 'Reset':
self.controller.jump = 0
self.controller.handbrake = 0
self.controller.pitch = 0
self.controller.boost = 0
car_state = CarState(physics=Physics(velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
location=Vector3(0, 0, 16.6)))
game_state = GameState(cars={self.index: car_state})
self.set_game_state(game_state)
self.tR = time.time()
self.next_state = 'Timeout'
elif self.current_state == 'Timeout':
if time.time() > self.tR+self.timeoutR:
self.next_state = 'Jump'
elif self.current_state == 'Idle':
self.controller.jump = 0
self.controller.handbrake = 0
self.controller.pitch = 0
self.controller.boost = 0
self.next_state = 'Idle'
self.current_state = self.next_state