def shooting(agent):
""""Method that gives the output for the shooting strategy"""
ball = agent.info.ball
car = agent.info.my_car
target = shooting_target(agent)
agent.drive.target = target
distance = distance_2d(car.position, target)
vf = velocity_forward(car)
dodge_overshoot = distance < (abs(vf) + 500) * 1.5
agent.drive.speed = get_speed(agent, target)
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.defending:
agent.step = Step.Defending
elif should_dodge(agent):
agent.step = Step.Dodge
agent.dodge = Dodge(car)
agent.dodge.duration = 0.1
agent.dodge.target = ball.position
elif agent.ball_bouncing and not (abs(ball.velocity[2]) < 100
and sign(agent.team) * ball.velocity[1] < 0) and get_bounce(agent) is not None:
agent.step = Step.Catching
agent.drive.target = ball.position
agent.drive.speed = 1399
elif vf < -900 and (not dodge_overshoot or distance < 600):
agent.step = Step.HalfFlip
agent.halfflip = HalfFlip(car)
elif not dodge_overshoot and car.position[2] < 80 and \
(agent.drive.speed > abs(vf) + 300 and 1200 < abs(vf) < 2000 and car.boost <= 25):
# Dodge towards the target for speed
agent.step = Step.Dodge
agent.dodge = Dodge(car)
agent.dodge.duration = 0.1
agent.dodge.target = target
def step(self, dt):
car = self.car
target = ground(self.target)
car_speed = norm(car.velocity)
time_left = (ground_distance(car, target) -
self.finish_distance) / max(car_speed + 500, 1400)
forward_speed = dot(car.forward(), car.velocity)
if self.driving and car.on_ground:
self.action.target_pos = target
self._time_on_ground += dt
# check if it's a good idea to dodge, wavedash or halfflip
if (self._time_on_ground > 0.2 and car.position[2] < 200
and angle_to(car, target, forward_speed < 0) < 0.1):
# if going forward, use a dodge or a wavedash
if forward_speed > 0:
use_boost_instead = self.waste_boost and car.boost > 20
if car_speed > 1200 and not use_boost_instead:
if time_left > self.DODGE_DURATION:
dodge = Dodge(car)
dodge.duration = 0.05
dodge.direction = vec2(direction(car, target))
self.action = dodge
self.driving = False
elif time_left > self.WAVEDASH_DURATION:
wavedash = Wavedash(car)
wavedash.direction = vec2(direction(car, target))
self.action = wavedash
self.driving = False
# if going backwards, use a halfflip
elif time_left > self.HALFFLIP_DURATION and car_speed > 800:
self.action = HalfFlip(car, self.waste_boost
and time_left > 3)
self.driving = False
self.action.step(dt)
self.controls = self.action.controls
# make sure we're not boosting airborne
if self.driving and not car.on_ground:
self.controls.boost = False
# make sure we're not stuck turtling
if not car.on_ground:
self.controls.throttle = 1
if self.action.finished and not self.driving:
self.driving = True
self._time_on_ground = 0
self.action = self.drive
self.drive.backwards = False
if ground_distance(car,
target) < self.finish_distance and self.driving:
self.finished = True
def defending(agent):
""""Method that gives output for the defending strategy"""
target = defending_target(agent)
agent.drive.target = target
distance = distance_2d(agent.info.my_car.position, target)
vf = velocity_forward(agent.info.my_car)
dodge_overshoot = distance < (abs(vf) + 500) * 1.5
agent.drive.speed = get_speed(agent, target)
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
t = time.time()
can_dodge, simulated_duration, simulated_target = agent.simulate()
# print(time.time() - t)
if can_dodge:
agent.dodge = Dodge(agent.info.my_car)
agent.turn = AerialTurn(agent.info.my_car)
agent.dodge.duration = simulated_duration - 0.1
agent.dodge.target = simulated_target
agent.dodge.preorientation = look_at(simulated_target, vec3(0, 0, 1))
agent.timer = 0
agent.step = Step.Dodge
if not agent.should_defend():
agent.step = Step.Shooting
elif vf < -900 and (not dodge_overshoot or distance < 600):
agent.step = Step.HalfFlip
agent.halfflip = HalfFlip(agent.info.my_car)
elif not dodge_overshoot and agent.info.my_car.position[2] < 80 and \
(agent.drive.speed > abs(vf) + 300 and 1200 < abs(vf) < 2000 and agent.info.my_car.boost <= 25):
# Dodge towards the target for speed
agent.step = Step.Dodge
agent.dodge = Dodge(agent.info.my_car)
agent.dodge.duration = 0.1
agent.dodge.target = target
def step(self, dt):
if self.phase == 0:
self.controls.throttle = 1
self.controls.boost = 1
if ground_distance(self.car, self.info.ball) < 2950:
print("entering phase 1")
self.phase = 1
if self.phase == 1:
self.dodge.step(dt)
self.controls = self.dodge.controls
if self.dodge.finished and self.car.on_ground:
print("entering phase 2")
self.phase = 2
self.dodge = Dodge(self.car)
self.dodge.duration = 0.18
self.dodge.direction = direction(self.car.position,
self.info.ball.position)
if self.phase == 2:
self.drive.step(dt)
self.controls = self.drive.controls
if distance(self.car, self.info.ball) < 850:
print("entering phase 3")
self.phase = 3
if self.phase == 3:
self.dodge.step(dt)
self.controls = self.dodge.controls
self.finished = self.info.ball.position[0] != 0 and self.dodge.finished
def defending(agent):
""""Method that gives output for the defending strategy"""
target = defending_target(agent)
agent.drive.target = target
distance = distance_2d(agent.info.my_car.location, target)
vf = velocity_forward(agent.info.my_car)
dodge_overshoot = distance < (abs(vf) + 500) * 1.5
agent.drive.speed = get_speed(agent, target)
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if can_dodge(agent, target):
agent.step = Step.Dodge
agent.dodge = Dodge(agent.info.my_car)
agent.dodge.duration = 0.1
agent.dodge.target = target
if not agent.defending:
agent.step = (Step.Catching if agent.ball_bouncing else Step.Shooting)
elif vf < -900 and (not dodge_overshoot or distance < 600):
agent.step = Step.HalfFlip
agent.halfflip = HalfFlip(agent.info.my_car)
elif not dodge_overshoot and agent.info.my_car.location[2] < 80 and\
(agent.drive.speed > abs(vf) + 300 and 1200 < abs(vf) < 2000 and agent.info.my_car.boost <= 25):
# Dodge towards the target for speed
agent.step = Step.Dodge
agent.dodge = Dodge(agent.info.my_car)
agent.dodge.duration = 0.1
agent.dodge.target = target
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)))
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
if self.timer > self.timeout:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
class CarryAndFlick(Maneuver):
"""
Carry the ball on roof, and flick it if an opponent is close or
if fast enough and facing the target.
"""
def __init__(self, car: Car, info: GameInfo, target: vec3):
super().__init__(car)
self.target = target
self.info = info
self.carry = Carry(car, info.ball, target)
self.flick = Dodge(car)
self.flick.duration = 0.15
self.flick.target = target
self.flicking = False
def interruptible(self) -> bool:
return not self.flicking
def step(self, dt):
if not self.flicking:
self.carry.step(dt)
self.controls = self.carry.controls
self.finished = self.carry.finished
car = self.car
ball = self.info.ball
# check if it's a good idea to flick
dir_to_target = ground_direction(car, self.target)
if (
distance(car, ball) < 150
and ground_distance(car, ball) < 100
and dot(car.forward(), dir_to_target) > 0.7
and norm(car.velocity) > clamp(distance(car, self.target) / 3, 1000, 1700)
and dot(dir_to_target, ground_direction(car, ball)) > 0.9
):
self.flicking = True
# flick if opponent is close
for opponent in self.info.get_opponents():
if (
distance(opponent.position + opponent.velocity, car) < max(300.0, norm(opponent.velocity) * 0.5)
and dot(opponent.velocity, direction(opponent, self.info.ball)) > 0.5
):
if distance(car.position, self.info.ball.position) < 200:
self.flicking = True
else:
self.finished = True
else:
self.flick.step(dt)
self.controls = self.flick.controls
self.finished = self.flick.finished
def render(self, draw: DrawingTool):
if not self.flicking:
self.carry.render(draw)
def initialize_agent(self):
"""Initializing all parameters which require the field info"""
self.my_goal = Goal(self.team, self.get_field_info())
self.their_goal = Goal(1 - self.team, self.get_field_info())
init_boostpads(self)
"""Setting all the mechanics to not none"""
self.drive = Drive(self.info.my_car)
self.dodge = Dodge(self.info.my_car)
self.halfflip = HalfFlip(self.info.my_car)
def dodge_simulation(end_condition=None,
car=None,
hitbox_class=None,
dodge=None,
ball=None,
game_info=None,
boost=True):
'''
Simulates an RLU dodge until the dodge ends, or one of pass_condition or fail_condtion are met.
pass_condition means that the dodge does what we wanted. Returns True and the RLU car state at the end
fail_condition returns (False, None), meaning the dodge doesn't achieve the desired result.
'''
#Copy everything we need and set constants
time = 0
dt = 1 / 60
car_copy = RLU_Car(car)
dodge_copy = RLU_Dodge(car_copy)
if dodge.target != None:
dodge_copy.target = dodge.target
if dodge.direction != None:
dodge_copy.direction = dodge.direction
if dodge.preorientation != None:
dodge_copy.preorientation = dodge.preorientation
if dodge.duration != None:
dodge_copy.duration = dodge.duration
else:
dodge_copy.duration = 0
#Make sure there's time between the jump and the dodge so that we don't just keep holding jump
if dodge.delay != None:
dodge_copy.delay = dodge.delay
else:
dodge_copy.delay = max(dodge_copy.duration + 2 * dt, 0.05)
#Adjust for non-octane hitboxes
box = update_hitbox(car_copy, hitbox_class)
#Loop until we hit end_condition or the dodge is over.
while not end_condition(time, box, ball, game_info.team_sign):
#Update simulations and adjust hitbox again
time += dt
dodge_copy.step(dt)
controls = dodge_copy.controls
if boost:
controls.boost = 1
car_copy.step(controls, dt)
box = update_hitbox(car_copy, hitbox_class)
if dodge_copy.finished:
#If the dodge never triggers condition, give up and move on
#TODO: give up sooner to save computation time
return Simulation()
return Simulation(ball_contact=True, car=car_copy, box=box, time=time)
def __init__(self, car: Car, info: GameInfo, target: vec3):
super().__init__(car)
self.target = target
self.info = info
self.carry = Carry(car, info.ball, target)
self.flick = Dodge(car)
self.flick.duration = 0.15
self.flick.target = target
self.flicking = False
def __init__(self, car: Car, info: GameInfo):
super().__init__(car)
self.info = info
self.drive = Drive(car)
self.drive.target_speed = 2300
self.dodge = Dodge(car)
self.dodge.duration = 0.1
self.dodge.direction = normalize(info.their_goal)
self.phase = 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
self.set_gamestate_straight_moving()
# self.set_gamestate_angled_stationary()
# self.set_gamestate_straight_moving_towards()
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.drive = Drive(self.game.my_car)
self.drive.target, self.drive.speed = self.game.ball.location, 2300
next_state = State.DRIVING
if self.state == State.DRIVING:
self.drive.target = self.game.ball.location
self.drive.step(self.game.time_delta)
self.controls = self.drive.controls
can_dodge, simulated_duration, simulated_target = self.simulate()
if can_dodge:
self.dodge = Dodge(self.game.my_car)
self.turn = AerialTurn(self.game.my_car)
print("============")
print(simulated_duration)
self.dodge.duration = simulated_duration - 0.1
self.dodge.target = simulated_target
self.timer = 0
next_state = State.DODGING
if self.state == State.DODGING:
self.dodge.step(self.game.time_delta)
self.controls = self.dodge.controls
if self.game.time == packet.game_ball.latest_touch.time_seconds:
print(self.timer)
if self.dodge.finished and self.game.my_car.on_ground:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
class HalfFlip:
"""
"""
def __init__(self, car: Car, use_boost=False):
self.car = car
self.use_boost = use_boost
self.controls = Input()
self.dodge = Dodge(car)
self.dodge.jump_duration = 0.12
self.dodge.direction = vec2(car.forward() * (-1))
self.s = 0.95 * sgn(
dot(self.car.angular_velocity, self.car.up()) + 0.01)
self.timer = 0.0
self.finished = False
def interruptible(self) -> bool:
return False
def step(self, dt):
boost_delay = 0.4
stall_start = 0.50
stall_end = 0.70
timeout = 2.0
self.dodge.step(dt)
self.controls = self.dodge.controls
if stall_start < self.timer < stall_end:
self.controls.roll = 0.0
self.controls.pitch = -1.0
self.controls.yaw = 0.0
if self.timer > stall_end:
self.controls.roll = self.s
self.controls.pitch = -1.0
self.controls.yaw = self.s
if self.use_boost and self.timer > boost_delay:
self.controls.boost = 1
else:
self.controls.boost = 0
self.timer += dt
self.finished = (self.timer > timeout) or (self.car.on_ground
and self.timer > 0.5)
def step(self, dt):
car = self.car
target = ground(self.target)
car_vel = norm(car.velocity)
time_left = (distance(car, target) - self.finish_distance) / max(car_vel + 500, 1400)
vf = dot(car.forward(), car.velocity)
if self.driving and car.on_ground:
self.action.target_pos = target
self._time_on_ground += dt
if self._time_on_ground > 0.2 and car.position[2] < 200 and angle_to(car, target, vf < 0) < 0.1:
if vf > 0:
if car_vel > 1000 and (not self.waste_boost or car.boost < 10):
if time_left > self.dodge_duration:
dodge = Dodge(car)
dodge.duration = 0.05
dodge.direction = vec2(direction(car, target))
self.action = dodge
self.driving = False
elif time_left > self.wavedash_duration:
wavedash = Wavedash(car)
wavedash.direction = vec2(direction(car, target))
self.action = wavedash
self.driving = False
elif time_left > self.halflip_duration and car_vel > 800:
self.action = HalfFlip(car, self.waste_boost and time_left > 3)
self.driving = False
self.action.step(dt)
self.controls = self.action.controls
if self.driving and not car.on_ground:
self.controls.boost = False
if self.action.finished and not self.driving:
self.driving = True
self._time_on_ground = 0
self.action = self.drive
self.drive.backwards = False
if distance(car, target) < self.finish_distance and self.driving:
self.finished = True
if not self.waste_boost and car.boost < 70:
self.controls.boost = 0
def simulate(self):
ball_prediction = self.get_ball_prediction_struct()
duration_estimate = math.floor(
get_time_at_height(self.game.ball.location[2], 0.2) * 10) / 10
for i in range(6):
car = Car(self.game.my_car)
ball = Ball(self.game.ball)
batmobile = obb()
batmobile.half_width = vec3(64.4098892211914, 42.335182189941406,
14.697200775146484)
batmobile.center = car.location + dot(car.rotation,
vec3(9.01, 0, 12.09))
batmobile.orientation = car.rotation
dodge = Dodge(car)
dodge.duration = duration_estimate + i / 60
dodge.target = ball.location
for j in range(round(60 * dodge.duration)):
dodge.target = ball.location
dodge.step(1 / 60)
car.step(dodge.controls, 1 / 60)
prediction_slice = ball_prediction.slices[j]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
dodge.target = ball_location
batmobile.center = car.location + dot(car.rotation,
vec3(9.01, 0, 12.09))
batmobile.orientation = car.rotation
if intersect(sphere(ball_location, 93.15), batmobile) and abs(
ball_location[2] - car.location[2]
) < 25 and car.location[2] < ball_location[2]:
return True, j / 60, ball_location
return False, None, None
class DiagonalKickoff(Maneuver):
'''Dodge forward once to get there faster.'''
def __init__(self, car: Car, info: GameInfo):
super().__init__(car)
self.info = info
self.drive = Drive(car)
self.drive.target_speed = 2300
self.dodge = Dodge(car)
self.dodge.duration = 0.1
self.dodge.direction = normalize(info.their_goal)
self.phase = 0
def step(self, dt):
if self.phase == 0:
self.controls.throttle = 1
self.controls.boost = 1
if ground_distance(self.car, self.info.ball) < 2950:
print("entering phase 1")
self.phase = 1
if self.phase == 1:
self.dodge.step(dt)
self.controls = self.dodge.controls
if self.dodge.finished and self.car.on_ground:
print("entering phase 2")
self.phase = 2
self.dodge = Dodge(self.car)
self.dodge.duration = 0.18
self.dodge.direction = direction(self.car.position,
self.info.ball.position)
if self.phase == 2:
self.drive.step(dt)
self.controls = self.drive.controls
if distance(self.car, self.info.ball) < 850:
print("entering phase 3")
self.phase = 3
if self.phase == 3:
self.dodge.step(dt)
self.controls = self.dodge.controls
self.finished = self.info.ball.position[0] != 0 and self.dodge.finished
def render(self, draw: DrawingTool):
pass
def __init__(self, car: Car, use_boost=False):
self.car = car
self.use_boost = use_boost
self.controls = Input()
self.dodge = Dodge(car)
self.dodge.duration = 0.12
self.dodge.direction = vec2(car.forward() * (-1))
self.s = 0.95 * sgn(
dot(self.car.angular_velocity, self.car.up()) + 0.01)
self.timer = 0.0
self.finished = False
def setup_first_dodge(agent, duration, delay, target, preorientation):
agent.dodge = Dodge(agent.info.my_car)
agent.turn = AerialTurn(agent.info.my_car)
agent.dodge.duration = duration
agent.dodge.delay = delay
agent.dodge.target = target
agent.dodge.preorientation = preorientation
agent.timer = 0.0
agent.step = Step.Dodge_1
class Hypebot(BaseAgent):
"""Main bot class"""
def __init__(self, name, team, index):
"""Initializing all parameters of the bot"""
super().__init__(name, team, index)
Game.set_mode("soccar")
self.info = Game(index, team)
self.team = team
self.index = index
self.drive = None
self.dodge = None
self.halfflip = None
self.controls = SimpleControllerState()
self.kickoff = False
self.prev_kickoff = False
self.in_front_off_ball = False
self.conceding = False
self.kickoff_Start = None
self.step = Step.Shooting
self.time = 0
self.my_goal = None
self.their_goal = None
self.teammates = []
self.has_to_go = False
self.closest_to_ball = False
self.defending = False
self.set_state = False
self.ball_prediction_np = []
def initialize_agent(self):
"""Initializing all parameters which require the field info"""
self.my_goal = Goal(self.team, self.get_field_info())
self.their_goal = Goal(1 - self.team, self.get_field_info())
init_boostpads(self)
"""Setting all the mechanics to not none"""
self.drive = Drive(self.info.my_car)
self.dodge = Dodge(self.info.my_car)
self.halfflip = HalfFlip(self.info.my_car)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
"""The main method which receives the packets and outputs the controls"""
self.info.read_game_information(packet, self.get_field_info())
self.in_front_off_ball = in_front_off_ball(self.info.my_car.position,
self.info.ball.position,
self.my_goal.center)
update_boostpads(self, packet)
self.closest_to_ball = self.closest_to_the_ball()
self.predict()
self.time += self.info.time_delta
if self.time > 5 and self.set_state:
ball_state = BallState(Physics(location=Vector3(0, 5250, 250)))
game_state = GameState(ball=ball_state)
self.set_state = False
self.set_game_state(game_state)
dtype = [('physics', [('location', '<f4', 3),
('rotation', [('pitch', '<f4'), ('yaw', '<f4'),
('roll', '<f4')]),
('velocity', '<f4', 3),
('angular_velocity', '<f4', 3)]),
('game_seconds', '<f4')]
self.ball_prediction_np = np.ctypeslib.as_array(
self.get_ball_prediction_struct().slices).view(
dtype)[:self.get_ball_prediction_struct().num_slices]
self.teammates = []
for i in range(self.info.num_cars):
if self.info.cars[i].team == self.team and i != self.index:
self.teammates.append(i)
self.time = packet.game_info.seconds_elapsed
# self.handle_match_comms()
self.prev_kickoff = self.kickoff
self.kickoff = packet.game_info.is_kickoff_pause and distance_2d(
self.info.ball.position, vec3(0, 0, 0)) < 100
if self.kickoff and not self.prev_kickoff:
# if not self.close_to_kickoff_spawn():
# return
if len(self.teammates) > 0:
if self.closest_to_ball:
init_kickoff(self)
self.has_to_go = True
else:
self.drive.target = get_closest_big_pad(self).location
self.drive.speed = 1399
else:
init_kickoff(self)
self.has_to_go = True
if (self.kickoff or self.step == "Dodge2") and self.has_to_go:
kick_off(self)
elif self.kickoff and not self.has_to_go:
self.drive.step(self.info.time_delta)
self.controls = self.drive.controls
else:
if self.has_to_go:
self.has_to_go = False
self.get_controls()
self.render_string(self.step.name)
# Make sure there is no variance in kickoff setups
if not packet.game_info.is_round_active:
self.controls.steer = 0
return self.controls
def predict(self):
"""Method which uses ball prediction to fill in future data"""
self.bounces = []
self.ball_bouncing = False
ball_prediction = self.get_ball_prediction_struct()
if ball_prediction is not None:
prev_ang_velocity = normalize(self.info.ball.angular_velocity)
for i in range(ball_prediction.num_slices):
prediction_slice = ball_prediction.slices[i]
physics = prediction_slice.physics
if physics.location.y * sign(self.team) > 5120:
self.conceding = True
if physics.location.z > 180:
self.ball_bouncing = True
continue
current_ang_velocity = normalize(
vec3(physics.angular_velocity.x,
physics.angular_velocity.y,
physics.angular_velocity.z))
if physics.location.z < 125 and prev_ang_velocity != current_ang_velocity:
self.bounces.append(
(vec3(physics.location.x, physics.location.y,
physics.location.z),
prediction_slice.game_seconds - self.time))
if len(self.bounces) > 15:
return
prev_ang_velocity = current_ang_velocity
def closest_to_the_ball(self):
dist_to_ball = math.inf
for i in range(len(self.teammates)):
teammate_car = self.info.cars[self.teammates[i]]
if distance_2d(teammate_car.position,
get_intersect(self, teammate_car)) < dist_to_ball:
dist_to_ball = distance_2d(teammate_car.position,
get_intersect(self, teammate_car))
return distance_2d(self.info.my_car.position,
get_intersect(self,
self.info.my_car)) <= dist_to_ball
def get_controls(self):
"""Decides what strategy to uses and gives corresponding output"""
if self.step == Step.Steer or self.step == Step.Dodge_2 or self.step == Step.Dodge_1 or self.step == Step.Drive:
print("GETCONTROLS")
# self.time = 0
# self.set_state = True
self.step = Step.Shooting
if self.step == Step.Shooting:
target = get_intersect(self, self.info.my_car)
self.drive.target = target
self.drive.step(self.info.time_delta)
self.controls = self.drive.controls
t = time.time()
can_dodge, simulated_duration, simulated_target = self.simulate(
self.their_goal.center)
# print(time.time() - t)
if can_dodge:
self.dodge = Dodge(self.info.my_car)
self.turn = AerialTurn(self.info.my_car)
self.dodge.duration = simulated_duration - 0.1
self.dodge.direction = vec2(self.their_goal.center -
simulated_target)
target = vec3(vec2(self.their_goal.center)) + vec3(
0, 0, jeroens_magic_number * simulated_target[2])
self.dodge.preorientation = look_at(target - simulated_target,
vec3(0, 0, 1))
self.step = Step.Dodge
if self.should_defend():
self.step = Step.Defending
elif not self.closest_to_ball or self.in_front_off_ball:
self.step = Step.Rotating
elif should_halfflip(self, target):
self.step = Step.HalfFlip
self.halfflip = HalfFlip(self.info.my_car)
elif should_dodge(self, target):
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.target = target
self.dodge.duration = 0.1
elif self.step == Step.Rotating:
target = 0.5 * (self.info.ball.position -
self.my_goal.center) + self.my_goal.center
self.drive.target = target
self.drive.speed = 1410
self.drive.step(self.info.time_delta)
self.controls = self.drive.controls
in_position = not not_back(self.info.my_car.position,
self.info.ball.position,
self.my_goal.center)
faster = self.closest_to_ball and in_position
if len(self.teammates) == 0 and in_position:
self.step = Step.Shooting
elif len(self.teammates) == 1:
teammate = self.info.cars[self.teammates[0]].position
teammate_out_location = not_back(teammate,
self.info.ball.position,
self.my_goal.center)
if teammate_out_location or faster:
self.step = Step.Shooting
elif len(self.teammates) == 2:
teammate1 = self.info.cars[self.teammates[0]].position
teammate2 = self.info.cars[self.teammates[0]].position
teammate1_out_location = not_back(teammate1,
self.info.ball.position,
self.my_goal.center)
teammate2_out_location = not_back(teammate2,
self.info.ball.position,
self.my_goal.center)
if teammate1_out_location and teammate2_out_location:
self.step = Step.Shooting
elif (teammate1_out_location
or teammate2_out_location) and faster or faster:
self.step = Step.Shooting
if self.should_defend():
self.step = Step.Defending
elif should_halfflip(self, target):
self.step = Step.HalfFlip
self.halfflip = HalfFlip(self.info.my_car)
elif should_dodge(self, target):
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.target = target
self.dodge.duration = 0.1
elif self.step == Step.Defending:
defending(self)
elif self.step == Step.Dodge or self.step == Step.HalfFlip:
halfflipping = self.step == Step.HalfFlip
if halfflipping:
self.halfflip.step(self.info.time_delta)
else:
self.dodge.step(self.info.time_delta)
if (self.halfflip.finished if halfflipping else
self.dodge.finished) and self.info.my_car.on_ground:
self.step = Step.Shooting
else:
self.controls = (self.halfflip.controls
if halfflipping else self.dodge.controls)
if not halfflipping:
self.controls.boost = False
self.controls.throttle = velocity_2d(
self.info.my_car.velocity) < 500
def handle_match_comms(self):
try:
msg = self.matchcomms.incoming_broadcast.get_nowait()
except Empty:
return
if handle_set_attributes_message(
msg, self, allowed_keys=['kickoff', 'prev_kickoff']):
reply_to(self.matchcomms, msg)
else:
self.logger.debug('Unhandled message: {msg}')
def render_string(self, string):
"""Rendering method mainly used to show the current state"""
self.renderer.begin_rendering('The State')
if self.step == Step.Dodge_1:
self.renderer.draw_line_3d(self.info.my_car.position,
self.dodge.target,
self.renderer.black())
self.renderer.draw_line_3d(self.info.my_car.position,
self.drive.target, self.renderer.blue())
if self.index == 0:
self.renderer.draw_string_2d(20, 20, 3, 3, string,
self.renderer.red())
else:
self.renderer.draw_string_2d(20, 520, 3, 3, string,
self.renderer.red())
self.renderer.end_rendering()
# The miraculous simulate function
# TODO optimize heavily in case I actually need it
# Option one: estimate the time for the current height and look at that ball prediction.
# If its heigher use that unless it gets unreachable and else compare with the lower one.
# If duration_estimate = 0.8 and the ball is moving up there is not sense in even simulating it.
# Might even lower it since the higher the duration estimate the longer the simulation takes.
def simulate(self, global_target=None):
lol = 0
# Initialize the ball prediction
# Estimate the probable duration of the jump and round it down to the floor decimal
ball_prediction = self.get_ball_prediction_struct()
if self.info.my_car.boost < 6:
duration_estimate = math.floor(
get_time_at_height(self.info.ball.position[2]) * 10) / 10
else:
adjacent = norm(
vec2(self.info.my_car.position - self.info.ball.position))
opposite = (self.info.ball.position[2] -
self.info.my_car.position[2])
theta = math.atan(opposite / adjacent)
t = get_time_at_height_boost(self.info.ball.position[2], theta,
self.info.my_car.boost)
duration_estimate = (math.ceil(t * 10) / 10)
# Loop for 6 frames meaning adding 0.1 to the estimated duration. Keeps the time constraint under 0.3s
for i in range(6):
# Copy the car object and reset the values for the hitbox
car = Car(self.info.my_car)
# Create a dodge object on the copied car object
# Direction is from the ball to the enemy goal
# Duration is estimated duration plus the time added by the for loop
# preorientation is the rotation matrix from the ball to the goal
# TODO make it work on both sides
# Test with preorientation. Currently it still picks a low duration at a later time meaning it
# wont do any of the preorientation.
dodge = Dodge(car)
prediction_slice = ball_prediction.slices[round(
60 * (duration_estimate + i / 60))]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
# ball_location = vec3(0, ball_y, ball_z)
dodge.duration = duration_estimate + i / 60
if dodge.duration > 1.4:
break
if global_target is not None:
dodge.direction = vec2(global_target - ball_location)
target = vec3(vec2(global_target)) + vec3(
0, 0, jeroens_magic_number * ball_location[2])
dodge.preorientation = look_at(target - ball_location,
vec3(0, 0, 1))
else:
dodge.target = ball_location
dodge.direction = vec2(ball_location) + vec2(ball_location -
car.position)
dodge.preorientation = look_at(ball_location, vec3(0, 0, 1))
# Loop from now till the end of the duration
fps = 30
for j in range(round(fps * dodge.duration)):
lol = lol + 1
# Get the ball prediction slice at this time and convert the location to RLU vec3
prediction_slice = ball_prediction.slices[round(60 * j / fps)]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
dodge.step(1 / fps)
T = dodge.duration - dodge.timer
if T > 0:
if dodge.timer < 0.2:
dodge.controls.boost = 1
dodge.controls.pitch = 1
else:
xf = car.position + 0.5 * T * T * vec3(
0, 0, -650) + T * car.velocity
delta_x = ball_location - xf
if angle_between(vec2(car.forward()),
dodge.direction) < 0.3:
if norm(delta_x) > 50:
dodge.controls.boost = 1
dodge.controls.throttle = 0.0
else:
dodge.controls.boost = 0
dodge.controls.throttle = clip(
0.5 * (200 / 3) * T * T, 0.0, 1.0)
else:
dodge.controls.boost = 0
dodge.controls.throttle = 0.0
else:
dodge.controls.boost = 0
car.step(dodge.controls, 1 / fps)
succesfull = self.dodge_succesfull(car, ball_location, dodge)
if succesfull is not None:
if succesfull:
return True, j / fps, ball_location
else:
break
return False, None, None
def dodge_succesfull(self, car, ball_location, dodge):
batmobile = obb()
batmobile.half_width = vec3(64.4098892211914, 42.335182189941406,
14.697200775146484)
batmobile.center = car.position + dot(car.orientation,
vec3(9.01, 0, 12.09))
batmobile.orientation = car.orientation
ball = sphere(ball_location, 93.15)
b_local = dot(ball.center - batmobile.center, batmobile.orientation)
closest_local = vec3(
min(max(b_local[0], -batmobile.half_width[0]),
batmobile.half_width[0]),
min(max(b_local[1], -batmobile.half_width[1]),
batmobile.half_width[1]),
min(max(b_local[2], -batmobile.half_width[2]),
batmobile.half_width[2]))
hit_location = dot(batmobile.orientation,
closest_local) + batmobile.center
if norm(hit_location - ball.center) > ball.radius:
return None
# if abs(ball_location[2] - hit_location[2]) < 25 and hit_location[2] < ball_location[2]:
if abs(ball_location[2] - hit_location[2]) < 25:
if closest_local[0] > 35 and -12 < closest_local[2] < 12:
hit_check = True
else:
print("local: ", closest_local)
hit_check = True
else:
hit_check = False
# Seems to work without angle_check. No clue why though
angle_car_simulation = angle_between(car.orientation,
self.info.my_car.orientation)
angle_simulation_target = angle_between(car.orientation,
dodge.preorientation)
angle_check = angle_simulation_target < angle_car_simulation or angle_simulation_target < 0.1
return hit_check
def should_defend(self):
"""Method which returns a boolean regarding whether we should defend or not"""
ball = self.info.ball
car = self.info.my_car
car_to_ball = ball.position - car.position
in_front_of_ball = self.in_front_off_ball
backline_intersect = line_backline_intersect(self.my_goal.center[1],
vec2(car.position),
vec2(car_to_ball))
return (in_front_of_ball
and abs(backline_intersect) < 2000) or self.conceding
def close_to_kickoff_spawn(self):
blue_one = distance_2d(self.info.my_car.position, vec3(
-2048, -2560, 18)) < 10
blue_two = distance_2d(self.info.my_car.position, vec3(
2048, -2560, 18)) < 10
blue_three = distance_2d(self.info.my_car.position,
vec3(-256, -3840, 18)) < 10
blue_four = distance_2d(self.info.my_car.position, vec3(
256, -3840, 18)) < 10
blue_five = distance_2d(self.info.my_car.position, vec3(0, -4608,
18)) < 10
blue = blue_one or blue_two or blue_three or blue_four or blue_five
orange_one = distance_2d(self.info.my_car.position,
vec3(-2048, 2560, 18)) < 10
orange_two = distance_2d(self.info.my_car.position, vec3(
2048, 2560, 18)) < 10
orange_three = distance_2d(self.info.my_car.position,
vec3(-256, 3840, 18)) < 10
orange_four = distance_2d(self.info.my_car.position, vec3(
256, 3840, 18)) < 10
orange_five = distance_2d(self.info.my_car.position, vec3(0, 4608,
18)) < 10
orange = orange_one or orange_two or orange_three or orange_four or orange_five
return orange or blue
def kick_off(agent):
ball = agent.info.ball
car = agent.info.my_car
t = distance_2d(ball.position, car.position) / 2200
batmobile_resting = 18.65
robbies_constant = (ball.position - vec3(0, 0, 92.75 - batmobile_resting) -
car.position - car.velocity * t) * 2 * t**-2
robbies_boost_constant = dot(normalize(xy(
car.forward())), normalize(
xy(robbies_constant))) > (0.3 if car.on_ground else 0.1)
""""Module that performs the kickoffs"""
if agent.kickoffStart == "Diagonal":
if agent.step is Step.Drive:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.drive.finished:
ball_location = ball.position + vec3(
0, -sign(agent.team) * 500, 0)
target = car.position + 250 * normalize(ball_location -
car.position)
agent.drive = Drive(car)
agent.drive.target = target
agent.drive.speed = 2400
agent.step = Step.Drive_1
if agent.step is Step.Drive_1:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.drive.finished:
target = vec3(
dot(
rotation(
math.radians(-sign(agent.info.team) *
sign(car.position[0]) * 60)),
vec2(car.forward())) * 10000)
preorientation = dot(
axis_to_rotation(
vec3(
0, 0,
math.radians(-sign(agent.info.team) *
-sign(car.position[0]) * 30))),
car.orientation)
setup_first_dodge(agent, 0.05, 0.3, target, preorientation)
elif agent.step is Step.Dodge_1:
agent.timer += agent.info.time_delta
if agent.timer > 0.8:
lerp_var = lerp(
normalize(robbies_constant),
normalize(ball.position -
vec3(0, 0, 92.75 - batmobile_resting) -
car.position), 0.8)
agent.turn.target = look_at(lerp_var, vec3(0, 0, 1))
agent.turn.step(agent.info.time_delta)
agent.controls = agent.turn.controls
if car.on_ground:
agent.time = 0
agent.set_state = True
agent.step = Step.Shooting
else:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
agent.controls.boost = robbies_boost_constant
elif agent.kickoffStart == "Center":
if agent.step is Step.Drive:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if agent.drive.finished:
target = vec3(
dot(rotation(math.radians(-65)), vec2(car.forward())) *
10000)
preorientation = dot(
axis_to_rotation(vec3(0, 0, math.radians(45))),
car.orientation)
setup_first_dodge(agent, 0.05, 0.4, target, preorientation)
elif agent.step is Step.Dodge_1:
agent.timer += agent.info.time_delta
if agent.timer > 0.8:
agent.turn.target = look_at(xy(ball.position - car.position),
vec3(0, 0, 1))
agent.turn.step(agent.info.time_delta)
agent.controls = agent.turn.controls
set_steer(agent)
else:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
agent.controls.boost = robbies_boost_constant
elif agent.step is Step.Steer:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if distance_2d(car.position, ball.position) < 800:
agent.step = Step.Dodge_2
agent.dodge = Dodge(car)
agent.dodge.duration = 0.075
agent.dodge.target = ball.position
elif agent.step is Step.Dodge_2:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
if agent.dodge.finished and car.on_ground:
agent.time = 0
agent.set_state = True
agent.step = Step.Shooting
elif agent.kickoffStart == "offCenter":
if agent.step is Step.Drive:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if distance_2d(car.position, agent.drive.target) < 650:
target = vec3(
dot(
rotation(
math.radians(-sign(agent.info.team) *
-sign(car.position[0]) * 100)),
vec2(car.forward())) * 10000)
preorientation = dot(
axis_to_rotation(
vec3(
0, 0,
math.radians(-sign(agent.info.team) *
sign(car.position[0]) * 30))),
car.orientation)
print("PYTHON: ", agent.info.my_car.position)
print(
"PYTHON: ",
math.radians(-sign(agent.info.team) *
-sign(car.position[0]) * 100))
setup_first_dodge(agent, 0.05, 0.4, target, preorientation)
elif agent.step is Step.Dodge_1:
agent.timer += agent.info.time_delta
if agent.timer > 0.8:
lerp_var = lerp(
normalize(robbies_constant),
normalize(ball.position -
vec3(0, 0, 92.75 - batmobile_resting) -
car.position), 0.25)
agent.turn.target = look_at(lerp_var, vec3(0, 0, 1))
agent.turn.step(agent.info.time_delta)
agent.controls = agent.turn.controls
set_steer(agent)
else:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
agent.controls.boost = robbies_boost_constant
elif agent.step is Step.Steer:
agent.drive.step(agent.info.time_delta)
agent.controls = agent.drive.controls
if distance_2d(ball.position, car.position) < 800:
agent.step = Step.Dodge_2
agent.dodge = Dodge(car)
agent.dodge.duration = 0.075
agent.dodge.target = ball.position
elif agent.step is Step.Dodge_2:
agent.dodge.step(agent.info.time_delta)
agent.controls = agent.dodge.controls
if agent.dodge.finished and car.on_ground:
agent.time = 0
agent.set_state = True
agent.step = Step.Shooting
def get_controls(self):
"""Decides what strategy to uses and gives corresponding output"""
if self.step == Step.Steer or self.step == Step.Dodge_2 or self.step == Step.Dodge_1 or self.step == Step.Drive:
print("GETCONTROLS")
# self.time = 0
# self.set_state = True
self.step = Step.Shooting
if self.step == Step.Shooting:
target = get_intersect(self, self.info.my_car)
self.drive.target = target
self.drive.step(self.info.time_delta)
self.controls = self.drive.controls
t = time.time()
can_dodge, simulated_duration, simulated_target = self.simulate(
self.their_goal.center)
# print(time.time() - t)
if can_dodge:
self.dodge = Dodge(self.info.my_car)
self.turn = AerialTurn(self.info.my_car)
self.dodge.duration = simulated_duration - 0.1
self.dodge.direction = vec2(self.their_goal.center -
simulated_target)
target = vec3(vec2(self.their_goal.center)) + vec3(
0, 0, jeroens_magic_number * simulated_target[2])
self.dodge.preorientation = look_at(target - simulated_target,
vec3(0, 0, 1))
self.step = Step.Dodge
if self.should_defend():
self.step = Step.Defending
elif not self.closest_to_ball or self.in_front_off_ball:
self.step = Step.Rotating
elif should_halfflip(self, target):
self.step = Step.HalfFlip
self.halfflip = HalfFlip(self.info.my_car)
elif should_dodge(self, target):
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.target = target
self.dodge.duration = 0.1
elif self.step == Step.Rotating:
target = 0.5 * (self.info.ball.position -
self.my_goal.center) + self.my_goal.center
self.drive.target = target
self.drive.speed = 1410
self.drive.step(self.info.time_delta)
self.controls = self.drive.controls
in_position = not not_back(self.info.my_car.position,
self.info.ball.position,
self.my_goal.center)
faster = self.closest_to_ball and in_position
if len(self.teammates) == 0 and in_position:
self.step = Step.Shooting
elif len(self.teammates) == 1:
teammate = self.info.cars[self.teammates[0]].position
teammate_out_location = not_back(teammate,
self.info.ball.position,
self.my_goal.center)
if teammate_out_location or faster:
self.step = Step.Shooting
elif len(self.teammates) == 2:
teammate1 = self.info.cars[self.teammates[0]].position
teammate2 = self.info.cars[self.teammates[0]].position
teammate1_out_location = not_back(teammate1,
self.info.ball.position,
self.my_goal.center)
teammate2_out_location = not_back(teammate2,
self.info.ball.position,
self.my_goal.center)
if teammate1_out_location and teammate2_out_location:
self.step = Step.Shooting
elif (teammate1_out_location
or teammate2_out_location) and faster or faster:
self.step = Step.Shooting
if self.should_defend():
self.step = Step.Defending
elif should_halfflip(self, target):
self.step = Step.HalfFlip
self.halfflip = HalfFlip(self.info.my_car)
elif should_dodge(self, target):
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.target = target
self.dodge.duration = 0.1
elif self.step == Step.Defending:
defending(self)
elif self.step == Step.Dodge or self.step == Step.HalfFlip:
halfflipping = self.step == Step.HalfFlip
if halfflipping:
self.halfflip.step(self.info.time_delta)
else:
self.dodge.step(self.info.time_delta)
if (self.halfflip.finished if halfflipping else
self.dodge.finished) and self.info.my_car.on_ground:
self.step = Step.Shooting
else:
self.controls = (self.halfflip.controls
if halfflipping else self.dodge.controls)
if not halfflipping:
self.controls.boost = False
self.controls.throttle = velocity_2d(
self.info.my_car.velocity) < 500
class MyAgent(BaseAgent):
def __init__(self, name, team, index):
super().__init__(name, team, index)
self.game = Game(index, team)
self.name = name
self.controls = SimpleControllerState()
self.timer = 0.0
self.drive = Drive(self.game.my_car)
self.navigator = None
self.dodge = None
self.turn = None
self.state = State.RESET
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
self.set_gamestate_straight_moving()
# self.set_gamestate_angled_stationary()
# self.set_gamestate_straight_moving_towards()
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.drive = Drive(self.game.my_car)
self.drive.target, self.drive.speed = self.game.ball.location, 2300
next_state = State.DRIVING
if self.state == State.DRIVING:
self.drive.target = self.game.ball.location
self.drive.step(self.game.time_delta)
self.controls = self.drive.controls
can_dodge, simulated_duration, simulated_target = self.simulate()
if can_dodge:
self.dodge = Dodge(self.game.my_car)
self.turn = AerialTurn(self.game.my_car)
print("============")
print(simulated_duration)
self.dodge.duration = simulated_duration - 0.1
self.dodge.target = simulated_target
self.timer = 0
next_state = State.DODGING
if self.state == State.DODGING:
self.dodge.step(self.game.time_delta)
self.controls = self.dodge.controls
if self.game.time == packet.game_ball.latest_touch.time_seconds:
print(self.timer)
if self.dodge.finished and self.game.my_car.on_ground:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
def simulate(self):
ball_prediction = self.get_ball_prediction_struct()
duration_estimate = math.floor(
get_time_at_height(self.game.ball.location[2], 0.2) * 10) / 10
for i in range(6):
car = Car(self.game.my_car)
ball = Ball(self.game.ball)
batmobile = obb()
batmobile.half_width = vec3(64.4098892211914, 42.335182189941406,
14.697200775146484)
batmobile.center = car.location + dot(car.rotation,
vec3(9.01, 0, 12.09))
batmobile.orientation = car.rotation
dodge = Dodge(car)
dodge.duration = duration_estimate + i / 60
dodge.target = ball.location
for j in range(round(60 * dodge.duration)):
dodge.target = ball.location
dodge.step(1 / 60)
car.step(dodge.controls, 1 / 60)
prediction_slice = ball_prediction.slices[j]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
dodge.target = ball_location
batmobile.center = car.location + dot(car.rotation,
vec3(9.01, 0, 12.09))
batmobile.orientation = car.rotation
if intersect(sphere(ball_location, 93.15), batmobile) and abs(
ball_location[2] - car.location[2]
) < 25 and car.location[2] < ball_location[2]:
return True, j / 60, ball_location
return False, None, None
def set_gamestate_straight_moving(self):
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(0, -1000, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball in the middle of the field
ball_state = BallState(
physics=Physics(location=Vector3(0, 1500, 93),
velocity=Vector3(0, random.randint(-250, 800),
random.randint(700, 800)),
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}))
def set_gamestate_straight_moving_towards(self):
# put the car in the middle of the field
car_state = CarState(physics=Physics(
location=Vector3(0, 0, 18),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
))
# put the ball in the middle of the field
ball_state = BallState(physics=Physics(
location=Vector3(0, 2500, 93),
velocity=Vector3(0, -250, 700),
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}))
def set_gamestate_angled_stationary(self):
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(-1000, -1500, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 8, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball in the middle of the field
ball_state = BallState(
physics=Physics(location=Vector3(0, 0, 750),
velocity=Vector3(0, 0, 1),
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}))
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
# Update the game values and set the state
self.game.read_game_information(packet, self.get_field_info())
self.controls = SimpleControllerState()
next_state = self.state
# Reset everything
if self.state == State.RESET:
self.timer = 0.0
# self.set_gamestate_straight_moving()
# self.set_gamestate_straight_moving_towards()
self.set_state_stationary_angled()
# self.set_gamestate_angled_stationary()
# self.set_state_stationary()
next_state = State.WAIT
# Wait so everything can settle in, mainly for ball prediction
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
# Initialize the drive mechanic
if self.state == State.INITIALIZE:
self.drive = Drive(self.game.my_car)
self.drive.target = self.game.ball.position
self.drive.speed = 1400
next_state = State.DRIVING
# Start driving towards the target and check whether a dodge is possible, if so initialize the dodge
if self.state == State.DRIVING:
self.drive.target = self.game.ball.position
self.drive.step(self.game.time_delta)
self.controls = self.drive.controls
a = time.time()
target = self.game.my_car.position + 1000000 * (
self.game.ball.position - self.game.my_car.position)
can_dodge, simulated_duration, simulated_target = self.simulate()
print(time.time() - a)
if can_dodge:
self.dodge = Dodge(self.game.my_car)
self.turn = AerialTurn(self.game.my_car)
self.dodge.duration = simulated_duration - 0.1
self.dodge.target = simulated_target
self.dodge.preorientation = look_at(simulated_target,
vec3(0, 0, 1))
self.timer = 0
next_state = State.DODGING
# Perform the dodge
if self.state == State.DODGING:
self.dodge.step(self.game.time_delta)
self.controls = self.dodge.controls
T = self.dodge.duration - self.dodge.timer
if T > 0:
if self.dodge.timer < 0.2:
self.controls.boost = 1
# self.controls.pitch = 1
else:
xf = self.game.my_car.position + 0.5 * T * T * vec3(
0, 0, -650) + T * self.game.my_car.velocity
delta_x = self.game.ball.position - xf
if angle_between(vec2(self.game.my_car.forward()),
self.dodge.direction) < 0.3:
if norm(delta_x) > 50:
self.controls.boost = 1
self.controls.throttle = 0.0
else:
self.controls.boost = 0
self.controls.throttle = clip(
0.5 * (200 / 3) * T * T, 0.0, 1.0)
else:
self.controls.boost = 0
self.controls.throttle = 0.0
else:
self.controls.boost = 0
# Great line
# if self.game.time == packet.game_ball.latest_touch.time_seconds:
# print(self.game.my_car.position)
if self.dodge.finished and self.game.my_car.on_ground:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
def get_controls(self):
"""Decides what strategy to uses and gives corresponding output"""
self.drive.power_turn = False
if self.step is Step.Steer or self.step is Step.Drive:
self.step = Step.Catching
if self.step is Step.Catching:
# Enable power turning for catching, since we don't halfflip
self.drive.power_turn = True
target = get_bounce(self)
if target is None:
self.step = Step.Shooting
else:
self.catching.target = target[0]
self.catching.speed = (distance_2d(self.info.my_car.location,
target[0]) + 50) / target[1]
self.catching.step(self.info.time_delta)
self.controls = self.catching.controls
ball = self.info.ball
car = self.info.my_car
if distance_2d(ball.location, car.location) < 150 and 65 < abs(
ball.location[2] - car.location[2]) < 127:
self.step = Step.Dribbling
self.dribble = Dribbling(self.info.my_car, self.info.ball,
self.their_goal)
if self.defending:
self.step = Step.Defending
ball = self.info.ball
if abs(ball.velocity[2]) < 100 and sign(self.team) * ball.velocity[1] < 0 and sign(self.team) * \
ball.location[1] < 0:
self.step = Step.Shooting
elif self.step is Step.Dribbling:
self.dribble.step()
self.controls = self.dribble.controls
ball = self.info.ball
car = self.info.my_car
bot_to_opponent = self.info.cars[
1 - self.index].location - self.info.my_car.location
local_bot_to_target = dot(bot_to_opponent,
self.info.my_car.rotation)
angle_front_to_target = math.atan2(local_bot_to_target[1],
local_bot_to_target[0])
opponent_is_near = norm(vec2(bot_to_opponent)) < 2000
opponent_is_in_the_way = math.radians(
-10) < angle_front_to_target < math.radians(10)
if not (distance_2d(ball.location, car.location) < 150
and 65 < abs(ball.location[2] - car.location[2]) < 127):
self.step = Step.Catching
if self.defending:
self.step = Step.Defending
if opponent_is_near and opponent_is_in_the_way:
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.duration = 0.25
self.dodge.target = self.their_goal.center
elif self.step is Step.Defending:
defending(self)
elif self.step in [
Step.Dodge, Step.Dodge_1, Step.Dodge_2, Step.HalfFlip
]:
halfflipping = self.step is Step.HalfFlip
if halfflipping:
self.halfflip.step(self.info.time_delta)
else:
self.dodge.step(self.info.time_delta)
if self.halfflip.finished if halfflipping else self.dodge.finished:
self.step = Step.Catching
else:
self.controls = (self.halfflip.controls
if halfflipping else self.dodge.controls)
elif self.step is Step.Shooting:
shooting(self)
def simulate(self, global_target=None):
lol = 0
# Initialize the ball prediction
# Estimate the probable duration of the jump and round it down to the floor decimal
ball_prediction = self.get_ball_prediction_struct()
if self.info.my_car.boost < 6:
duration_estimate = math.floor(
get_time_at_height(self.info.ball.position[2]) * 10) / 10
else:
adjacent = norm(
vec2(self.info.my_car.position - self.info.ball.position))
opposite = (self.info.ball.position[2] -
self.info.my_car.position[2])
theta = math.atan(opposite / adjacent)
t = get_time_at_height_boost(self.info.ball.position[2], theta,
self.info.my_car.boost)
duration_estimate = (math.ceil(t * 10) / 10)
# Loop for 6 frames meaning adding 0.1 to the estimated duration. Keeps the time constraint under 0.3s
for i in range(6):
# Copy the car object and reset the values for the hitbox
car = Car(self.info.my_car)
# Create a dodge object on the copied car object
# Direction is from the ball to the enemy goal
# Duration is estimated duration plus the time added by the for loop
# preorientation is the rotation matrix from the ball to the goal
# TODO make it work on both sides
# Test with preorientation. Currently it still picks a low duration at a later time meaning it
# wont do any of the preorientation.
dodge = Dodge(car)
prediction_slice = ball_prediction.slices[round(
60 * (duration_estimate + i / 60))]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
# ball_location = vec3(0, ball_y, ball_z)
dodge.duration = duration_estimate + i / 60
if dodge.duration > 1.4:
break
if global_target is not None:
dodge.direction = vec2(global_target - ball_location)
target = vec3(vec2(global_target)) + vec3(
0, 0, jeroens_magic_number * ball_location[2])
dodge.preorientation = look_at(target - ball_location,
vec3(0, 0, 1))
else:
dodge.target = ball_location
dodge.direction = vec2(ball_location) + vec2(ball_location -
car.position)
dodge.preorientation = look_at(ball_location, vec3(0, 0, 1))
# Loop from now till the end of the duration
fps = 30
for j in range(round(fps * dodge.duration)):
lol = lol + 1
# Get the ball prediction slice at this time and convert the location to RLU vec3
prediction_slice = ball_prediction.slices[round(60 * j / fps)]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
dodge.step(1 / fps)
T = dodge.duration - dodge.timer
if T > 0:
if dodge.timer < 0.2:
dodge.controls.boost = 1
dodge.controls.pitch = 1
else:
xf = car.position + 0.5 * T * T * vec3(
0, 0, -650) + T * car.velocity
delta_x = ball_location - xf
if angle_between(vec2(car.forward()),
dodge.direction) < 0.3:
if norm(delta_x) > 50:
dodge.controls.boost = 1
dodge.controls.throttle = 0.0
else:
dodge.controls.boost = 0
dodge.controls.throttle = clip(
0.5 * (200 / 3) * T * T, 0.0, 1.0)
else:
dodge.controls.boost = 0
dodge.controls.throttle = 0.0
else:
dodge.controls.boost = 0
car.step(dodge.controls, 1 / fps)
succesfull = self.dodge_succesfull(car, ball_location, dodge)
if succesfull is not None:
if succesfull:
return True, j / fps, ball_location
else:
break
return False, None, None
class Hypebot(BaseAgent):
"""Main bot class"""
def __init__(self, name, team, index):
"""Initializing all parameters of the bot"""
super().__init__(name, team, index)
Game.set_mode("soccar")
self.info = Game(index, team)
self.team = team
self.index = index
self.defending = False
self.conceding = False
self.bounces = []
self.drive = None
self.catching = None
self.dodge = None
self.halfflip = None
self.dribble = None
self.controls = SimpleControllerState()
self.kickoff = False
self.prev_kickoff = False
self.in_front_off_the_ball = False
self.kickoff_Start = None
self.step = Step.Catching
self.time = 0
self.my_goal = None
self.their_goal = None
self.ball_bouncing = False
def initialize_agent(self):
"""Initializing all parameters which require the field info"""
self.my_goal = Goal(self.team, self.get_field_info())
self.their_goal = Goal(1 - self.team, self.get_field_info())
init_boostpads(self)
"""Setting all the mechanics to not none"""
self.drive = Drive(self.info.my_car)
self.catching = Drive(self.info.my_car)
self.dodge = Dodge(self.info.my_car)
self.dribble = Dribbling(self.info.my_car, self.info.ball,
self.their_goal)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
"""The main method which receives the packets and outputs the controls"""
self.time = packet.game_info.seconds_elapsed
self.info.read_game_information(packet, self.get_rigid_body_tick(),
self.get_field_info())
update_boostpads(self, packet)
self.predict()
# self.handle_match_comms()
self.prev_kickoff = self.kickoff
self.kickoff = packet.game_info.is_kickoff_pause and distance_2d(
self.info.ball.location, vec3(0, 0, 0)) < 100
self.defending = self.should_defending()
if self.kickoff and not self.prev_kickoff:
# if not self.close_to_kickoff_spawn():
# return
init_kickoff(self)
self.prev_kickoff = True
self.drive.kickoff = True
elif self.kickoff or self.step is Step.Dodge_2:
kick_off(self)
self.drive.kickoff = True
else:
self.drive.kickoff = False
self.get_controls()
self.render_string(self.step.name)
# Make sure there is no variance in kickoff setups
if not packet.game_info.is_round_active:
self.controls.steer = 0
return self.controls
def predict(self):
"""Method which uses ball prediction to fill in future data"""
self.bounces = []
self.ball_bouncing = False
ball_prediction = self.get_ball_prediction_struct()
if ball_prediction is not None:
prev_ang_velocity = normalize(self.info.ball.angular_velocity)
for i in range(ball_prediction.num_slices):
prediction_slice = ball_prediction.slices[i]
physics = prediction_slice.physics
if physics.location.y * sign(self.team) > 5120:
self.conceding = True
if physics.location.z > 180:
self.ball_bouncing = True
continue
current_ang_velocity = normalize(
vec3(physics.angular_velocity.x,
physics.angular_velocity.y,
physics.angular_velocity.z))
if physics.location.z < 125 and prev_ang_velocity != current_ang_velocity:
self.bounces.append(
(vec3(physics.location.x, physics.location.y,
physics.location.z),
prediction_slice.game_seconds - self.time))
if len(self.bounces) > 15: return
prev_ang_velocity = current_ang_velocity
def get_controls(self):
"""Decides what strategy to uses and gives corresponding output"""
self.drive.power_turn = False
if self.step is Step.Steer or self.step is Step.Drive:
self.step = Step.Catching
if self.step is Step.Catching:
# Enable power turning for catching, since we don't halfflip
self.drive.power_turn = True
target = get_bounce(self)
if target is None:
self.step = Step.Shooting
else:
self.catching.target = target[0]
self.catching.speed = (distance_2d(self.info.my_car.location,
target[0]) + 50) / target[1]
self.catching.step(self.info.time_delta)
self.controls = self.catching.controls
ball = self.info.ball
car = self.info.my_car
if distance_2d(ball.location, car.location) < 150 and 65 < abs(
ball.location[2] - car.location[2]) < 127:
self.step = Step.Dribbling
self.dribble = Dribbling(self.info.my_car, self.info.ball,
self.their_goal)
if self.defending:
self.step = Step.Defending
ball = self.info.ball
if abs(ball.velocity[2]) < 100 and sign(self.team) * ball.velocity[1] < 0 and sign(self.team) * \
ball.location[1] < 0:
self.step = Step.Shooting
elif self.step is Step.Dribbling:
self.dribble.step()
self.controls = self.dribble.controls
ball = self.info.ball
car = self.info.my_car
bot_to_opponent = self.info.cars[
1 - self.index].location - self.info.my_car.location
local_bot_to_target = dot(bot_to_opponent,
self.info.my_car.rotation)
angle_front_to_target = math.atan2(local_bot_to_target[1],
local_bot_to_target[0])
opponent_is_near = norm(vec2(bot_to_opponent)) < 2000
opponent_is_in_the_way = math.radians(
-10) < angle_front_to_target < math.radians(10)
if not (distance_2d(ball.location, car.location) < 150
and 65 < abs(ball.location[2] - car.location[2]) < 127):
self.step = Step.Catching
if self.defending:
self.step = Step.Defending
if opponent_is_near and opponent_is_in_the_way:
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.duration = 0.25
self.dodge.target = self.their_goal.center
elif self.step is Step.Defending:
defending(self)
elif self.step in [
Step.Dodge, Step.Dodge_1, Step.Dodge_2, Step.HalfFlip
]:
halfflipping = self.step is Step.HalfFlip
if halfflipping:
self.halfflip.step(self.info.time_delta)
else:
self.dodge.step(self.info.time_delta)
if self.halfflip.finished if halfflipping else self.dodge.finished:
self.step = Step.Catching
else:
self.controls = (self.halfflip.controls
if halfflipping else self.dodge.controls)
elif self.step is Step.Shooting:
shooting(self)
def handle_match_comms(self):
try:
msg = self.matchcomms.incoming_broadcast.get_nowait()
except Empty:
return
if handle_set_attributes_message(
msg, self, allowed_keys=['kickoff', 'prev_kickoff']):
reply_to(self.matchcomms, msg)
else:
self.logger.debug('Unhandled message: {msg}')
def render_string(self, string):
"""Rendering method mainly used to show the current state"""
self.renderer.begin_rendering('The State')
if self.step is Step.Dodge_1:
self.renderer.draw_line_3d(self.info.my_car.location,
self.dodge.target,
self.renderer.black())
self.renderer.draw_line_3d(self.info.my_car.location,
self.drive.target, self.renderer.blue())
if self.kickoff_Start is None:
self.renderer.draw_string_2d(20, 20, 3, 3, string,
self.renderer.red())
else:
self.renderer.draw_string_2d(20, 20, 3, 3,
string + " " + self.kickoff_Start,
self.renderer.red())
self.renderer.end_rendering()
def should_defending(self):
return False # Don't.
"""Method which returns a boolean regarding whether we should defend or not"""
ball = self.info.ball
car = self.info.my_car
our_goal = self.my_goal.center
car_to_ball = ball.location - car.location
in_front_of_ball = distance_2d(ball.location, our_goal) < distance_2d(
car.location, our_goal)
backline_intersect = line_backline_intersect(self.my_goal.center[1],
vec2(car.location),
vec2(car_to_ball))
return (in_front_of_ball
and abs(backline_intersect) < 2000) or self.conceding
def close_to_kickoff_spawn(self):
blue_one = distance_2d(self.info.my_car.location, vec3(
-2048, -2560, 18)) < 10
blue_two = distance_2d(self.info.my_car.location, vec3(
2048, -2560, 18)) < 10
blue_three = distance_2d(self.info.my_car.location,
vec3(-256, -3840, 18)) < 10
blue_four = distance_2d(self.info.my_car.location, vec3(
256, -3840, 18)) < 10
blue_five = distance_2d(self.info.my_car.location, vec3(0, -4608,
18)) < 10
blue = blue_one or blue_two or blue_three or blue_four or blue_five
orange_one = distance_2d(self.info.my_car.location,
vec3(-2048, 2560, 18)) < 10
orange_two = distance_2d(self.info.my_car.location, vec3(
2048, 2560, 18)) < 10
orange_three = distance_2d(self.info.my_car.location,
vec3(-256, 3840, 18)) < 10
orange_four = distance_2d(self.info.my_car.location, vec3(
256, 3840, 18)) < 10
orange_five = distance_2d(self.info.my_car.location, vec3(0, 4608,
18)) < 10
orange = orange_one or orange_two or orange_three or orange_four or orange_five
return orange or blue
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
class MyAgent(BaseAgent):
def __init__(self, name, team, index):
super().__init__(name, team, index)
Game.set_mode("soccar")
self.game = Game(index, team)
self.name = name
self.controls = SimpleControllerState()
self.timer = 0.0
self.drive = Drive(self.game.my_car)
self.dodge = None
self.turn = None
self.state = State.RESET
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
# Update the game values and set the state
self.game.read_game_information(packet, self.get_field_info())
self.controls = SimpleControllerState()
next_state = self.state
# Reset everything
if self.state == State.RESET:
self.timer = 0.0
# self.set_gamestate_straight_moving()
# self.set_gamestate_straight_moving_towards()
self.set_state_stationary_angled()
# self.set_gamestate_angled_stationary()
# self.set_state_stationary()
next_state = State.WAIT
# Wait so everything can settle in, mainly for ball prediction
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
# Initialize the drive mechanic
if self.state == State.INITIALIZE:
self.drive = Drive(self.game.my_car)
self.drive.target = self.game.ball.position
self.drive.speed = 1400
next_state = State.DRIVING
# Start driving towards the target and check whether a dodge is possible, if so initialize the dodge
if self.state == State.DRIVING:
self.drive.target = self.game.ball.position
self.drive.step(self.game.time_delta)
self.controls = self.drive.controls
a = time.time()
target = self.game.my_car.position + 1000000 * (
self.game.ball.position - self.game.my_car.position)
can_dodge, simulated_duration, simulated_target = self.simulate()
print(time.time() - a)
if can_dodge:
self.dodge = Dodge(self.game.my_car)
self.turn = AerialTurn(self.game.my_car)
self.dodge.duration = simulated_duration - 0.1
self.dodge.target = simulated_target
self.dodge.preorientation = look_at(simulated_target,
vec3(0, 0, 1))
self.timer = 0
next_state = State.DODGING
# Perform the dodge
if self.state == State.DODGING:
self.dodge.step(self.game.time_delta)
self.controls = self.dodge.controls
T = self.dodge.duration - self.dodge.timer
if T > 0:
if self.dodge.timer < 0.2:
self.controls.boost = 1
# self.controls.pitch = 1
else:
xf = self.game.my_car.position + 0.5 * T * T * vec3(
0, 0, -650) + T * self.game.my_car.velocity
delta_x = self.game.ball.position - xf
if angle_between(vec2(self.game.my_car.forward()),
self.dodge.direction) < 0.3:
if norm(delta_x) > 50:
self.controls.boost = 1
self.controls.throttle = 0.0
else:
self.controls.boost = 0
self.controls.throttle = clip(
0.5 * (200 / 3) * T * T, 0.0, 1.0)
else:
self.controls.boost = 0
self.controls.throttle = 0.0
else:
self.controls.boost = 0
# Great line
# if self.game.time == packet.game_ball.latest_touch.time_seconds:
# print(self.game.my_car.position)
if self.dodge.finished and self.game.my_car.on_ground:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
# The miraculous simulate function
# TODO optimize heavily in case I actually need it
# Option one: estimate the time for the current height and look at that ball prediction.
# If its heigher use that unless it gets unreachable and else compare with the lower one.
# If duration_estimate = 0.8 and the ball is moving up there is not sense in even simulating it.
# Might even lower it since the higher the duration estimate the longer the simulation takes.
def simulate(self, global_target=None):
lol = 0
# Initialize the ball prediction
# Estimate the probable duration of the jump and round it down to the floor decimal
ball_prediction = self.get_ball_prediction_struct()
if self.game.my_car.boost < 6:
duration_estimate = math.floor(
get_time_at_height(self.game.ball.position[2]) * 10) / 10
else:
adjacent = norm(
vec2(self.game.my_car.position - self.game.ball.position))
opposite = (self.game.ball.position[2] -
self.game.my_car.position[2])
theta = math.atan(opposite / adjacent)
t = get_time_at_height_boost(self.game.ball.position[2], theta,
self.game.my_car.boost)
duration_estimate = (math.ceil(t * 10) / 10)
# Loop for 6 frames meaning adding 0.1 to the estimated duration. Keeps the time constraint under 0.3s
for i in range(6):
# Copy the car object and reset the values for the hitbox
car = Car(self.game.my_car)
# Create a dodge object on the copied car object
# Direction is from the ball to the enemy goal
# Duration is estimated duration plus the time added by the for loop
# preorientation is the rotation matrix from the ball to the goal
# TODO make it work on both sides
# Test with preorientation. Currently it still picks a low duration at a later time meaning it
# wont do any of the preorientation.
dodge = Dodge(car)
prediction_slice = ball_prediction.slices[round(
60 * (duration_estimate + i / 60))]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
# ball_location = vec3(0, ball_y, ball_z)
dodge.duration = duration_estimate + i / 60
if dodge.duration > 1.4:
break
if global_target is not None:
dodge.direction = vec2(global_target - ball_location)
target = vec3(vec2(global_target)) + vec3(
0, 0, jeroens_magic_number * ball_location[2])
dodge.preorientation = look_at(target - ball_location,
vec3(0, 0, 1))
else:
dodge.target = ball_location
dodge.direction = vec2(ball_location) + vec2(ball_location -
car.position)
dodge.preorientation = look_at(ball_location, vec3(0, 0, 1))
# Loop from now till the end of the duration
fps = 30
for j in range(round(fps * dodge.duration)):
lol = lol + 1
# Get the ball prediction slice at this time and convert the location to RLU vec3
prediction_slice = ball_prediction.slices[round(60 * j / fps)]
physics = prediction_slice.physics
ball_location = vec3(physics.location.x, physics.location.y,
physics.location.z)
dodge.step(1 / fps)
T = dodge.duration - dodge.timer
if T > 0:
if dodge.timer < 0.2:
dodge.controls.boost = 1
dodge.controls.pitch = 1
else:
xf = car.position + 0.5 * T * T * vec3(
0, 0, -650) + T * car.velocity
delta_x = ball_location - xf
if angle_between(vec2(car.forward()),
dodge.direction) < 0.3:
if norm(delta_x) > 50:
dodge.controls.boost = 1
dodge.controls.throttle = 0.0
else:
dodge.controls.boost = 0
dodge.controls.throttle = clip(
0.5 * (200 / 3) * T * T, 0.0, 1.0)
else:
dodge.controls.boost = 0
dodge.controls.throttle = 0.0
else:
dodge.controls.boost = 0
car.step(dodge.controls, 1 / fps)
succesfull = self.dodge_succesfull(car, ball_location, dodge)
if succesfull is not None:
if succesfull:
return True, j / fps, ball_location
else:
break
return False, None, None
def dodge_succesfull(self, car, ball_location, dodge):
batmobile = obb()
batmobile.half_width = vec3(64.4098892211914, 42.335182189941406,
14.697200775146484)
batmobile.center = car.position + dot(car.orientation,
vec3(9.01, 0, 12.09))
batmobile.orientation = car.orientation
ball = sphere(ball_location, 93.15)
b_local = dot(ball.center - batmobile.center, batmobile.orientation)
closest_local = vec3(
min(max(b_local[0], -batmobile.half_width[0]),
batmobile.half_width[0]),
min(max(b_local[1], -batmobile.half_width[1]),
batmobile.half_width[1]),
min(max(b_local[2], -batmobile.half_width[2]),
batmobile.half_width[2]))
hit_location = dot(batmobile.orientation,
closest_local) + batmobile.center
if norm(hit_location - ball.center) > ball.radius:
return None
# if abs(ball_location[2] - hit_location[2]) < 25 and hit_location[2] < ball_location[2]:
if abs(ball_location[2] - hit_location[2]) < 25:
if closest_local[0] > 35 and -12 < closest_local[2] < 12:
hit_check = True
else:
print("local: ", closest_local)
hit_check = True
else:
hit_check = False
# Seems to work without angle_check. No clue why though
angle_car_simulation = angle_between(car.orientation,
self.game.my_car.orientation)
angle_simulation_target = angle_between(car.orientation,
dodge.preorientation)
angle_check = angle_simulation_target < angle_car_simulation or angle_simulation_target < 0.1
return hit_check
"""" State setting methods for various situations"""
def set_gamestate_straight_moving(self):
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(0, -1000, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball in the middle of the field
ball_state = BallState(
physics=Physics(location=Vector3(0, 1500, 93),
velocity=Vector3(200, 650, 750),
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}))
def set_gamestate_straight_moving_towards(self):
# 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, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
boost_amount=50)
# put the ball in the middle of the field
ball_state = BallState(physics=Physics(
location=Vector3(0, 2500, 93),
velocity=Vector3(0, -250, 500),
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}))
def set_gamestate_angled_stationary(self):
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(-1000, -2000, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 8, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball in the middle of the field
ball_state = BallState(
physics=Physics(location=Vector3(0, 0, 600),
velocity=Vector3(0, 0, 1),
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}))
def set_state_stationary(self):
# put the car in the middle of the field
car_state = CarState(physics=Physics(
location=Vector3(0, -2500, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
boost_amount=100)
# put the ball in the middle of the field
ball_state = BallState(physics=Physics(
location=Vector3(0, ball_y, ball_z),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
def set_state_stationary_angled(self):
# put the car in the middle of the field
car_state = CarState(physics=Physics(
location=Vector3(0, -2500, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, math.pi / 2, 0),
angular_velocity=Vector3(0, 0, 0),
),
boost_amount=100)
# put the ball in the middle of the field
ball_state = BallState(physics=Physics(
location=Vector3(1500, 0, 93),
velocity=Vector3(0, 0, 750),
angular_velocity=Vector3(0, 0, 0),
))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
def initialize_agent(self):
"""Initializing all parameters which require the field info"""
init_boostpads(self)
self.drive = Drive(self.game.my_car)
self.dodge = Dodge(self.game.my_car)
c.time = 0.0
c.location = vec3(1509.38, -686.19, 17.01)
c.velocity = vec3(-183.501, 1398., 8.321)
c.angular_velocity = vec3(0, 0, 0)
c.rotation = mat3(-0.130158, -0.991493, -0.00117062, 0.991447, -0.130163,
0.00948812, -0.00955977, 0.0000743404, 0.999954)
c.dodge_rotation = mat2(-0.130163, -0.991493, 0.991493, -0.130163)
c.on_ground = True
c.jumped = False
c.double_jumped = False
c.jump_timer = -1.0
c.dodge_timer = -1.0
dodge = Dodge(c)
dodge.direction = vec2(-230.03, 463.42)
dodge.duration = 0.1333
dodge.delay = 0.35
f = open("dodge_simulation.csv", "w")
for i in range(300):
dodge.step(0.008333)
print(c.time, dodge.controls.jump, dodge.controls.pitch,
dodge.controls.yaw)
c.step(dodge.controls, 0.008333)
f.write(
f"{c.time}, {c.location[0]}, {c.location[1]}, {c.location[2]}, "
f"{c.velocity[0]}, {c.velocity[1]}, {c.velocity[2]}, "
f"{c.angular_velocity[0]}, {c.angular_velocity[1]}, {c.angular_velocity[2]}\n"
)