def choose_maneuver(info: GameInfo, my_car: Car):
ball = info.ball
teammates = info.get_teammates(my_car)
my_team = [my_car] + teammates
their_goal = ground(info.their_goal.center)
my_goal = ground(info.my_goal.center)
# recovery
if not my_car.on_ground:
return Recovery(my_car)
# kickoff
if ball.position[0] == 0 and ball.position[1] == 0:
# if I'm nearest to the ball, go for kickoff
if min(my_team, key=lambda car: distance(car, ball)) is my_car:
return kickoffs.choose_kickoff(info, my_car)
if my_car.boost < 20:
return Refuel(my_car, info)
info.predict_ball()
my_intercept = Intercept(my_car, info.ball_predictions)
teammates_intercepts = [
Intercept(mate, info.ball_predictions) for mate in teammates
]
our_intercepts = teammates_intercepts + [my_intercept]
good_intercepts = [
i for i in our_intercepts
if align(i.car.position, i.ball, their_goal) > 0.0
]
if good_intercepts:
best_intercept = min(good_intercepts,
key=lambda intercept: intercept.time)
else:
best_intercept = min(our_intercepts,
key=lambda i: distance(i.car, my_goal))
if best_intercept is my_intercept:
# if not completely out of position, go for a shot
if (align(my_intercept.car.position, my_intercept.ball, their_goal) > 0
or ground_distance(my_intercept, my_goal) > 6000):
return offense.any_shot(info, my_intercept.car, their_goal,
my_intercept)
# otherwise try to clear
else:
return defense.any_clear(info, my_intercept.car)
# if I'm nearest to goal, stay far back
if min(my_team, key=lambda car: distance(car, my_goal)) is my_car:
return GeneralDefense(my_car, info, my_intercept.position, 7000)
# otherwise get into position
return GeneralDefense(my_car, info, my_intercept.position, 4000)
class BotimusPrime(BaseAgent):
RENDERING = True
def __init__(self, name, team, index):
super().__init__(name, team, index)
self.info: GameInfo = None
self.draw: DrawingTool = None
self.tick_counter = 0
self.last_latest_touch_time = 0
self.maneuver: Optional[Maneuver] = None
self.controls: SimpleControllerState = SimpleControllerState()
def initialize_agent(self):
self.info = GameInfo(self.team)
self.info.set_mode("soccar")
self.draw = DrawingTool(self.renderer, self.team)
def get_output(self, packet: GameTickPacket):
# wait a few ticks after initialization, so we work correctly in rlbottraining
if self.tick_counter < 20:
self.tick_counter += 1
return Input()
self.info.read_packet(packet, self.get_field_info())
# cancel maneuver if a kickoff is happening and current maneuver isn't a kickoff maneuver
if packet.game_info.is_kickoff_pause and not isinstance(
self.maneuver, Kickoff):
self.maneuver = None
# reset maneuver when another car hits the ball
touch = packet.game_ball.latest_touch
if (touch.time_seconds > self.last_latest_touch_time
and touch.player_name != packet.game_cars[self.index].name):
self.last_latest_touch_time = touch.time_seconds
# don't reset when we're dodging, wavedashing or recovering
if self.maneuver and self.maneuver.interruptible():
self.maneuver = None
# choose maneuver
if self.maneuver is None:
if self.RENDERING:
self.draw.clear()
if self.info.get_teammates(self.info.cars[self.index]):
self.maneuver = teamplay_strategy.choose_maneuver(
self.info, self.info.cars[self.index])
else:
self.maneuver = solo_strategy.choose_maneuver(
self.info, self.info.cars[self.index])
# execute maneuver
if self.maneuver is not None:
self.maneuver.step(self.info.time_delta)
self.controls = self.maneuver.controls
if self.RENDERING:
self.draw.group("maneuver")
self.draw.color(self.draw.yellow)
self.draw.string(
self.info.cars[self.index].position + vec3(0, 0, 50),
type(self.maneuver).__name__)
self.maneuver.render(self.draw)
# cancel maneuver when finished
if self.maneuver.finished:
self.maneuver = None
if self.RENDERING:
self.draw.execute()
return self.controls
