def aim_to(agent, to, plus=0):
car = agent.car
car_direction = get_car_facing_vector(car)
magnitude = Vector3(car.pos - to).magnitude()
steer_correction = car_direction.correction_to(to.to_2d() - car.pos.to_2d())
z_correction = Vector3(car.pos - to).angle('z')
draw_text(agent, str(math.degrees(z_correction)), 100)
steer_correction *= -5
steer_correction += plus
# aerial
if to.z - car.pos.z > 500 and car.boost > 50 and agent.car_status != 'dribble':
if math.degrees(z_correction) > 10 and to.z - car.pos.z > 500:
# jump if still on ground
if car.pos.z < 17.1:
agent.jumps.append(1)
print(car.pos.x, car.pos.y)
# enable boost
agent.controller_state.boost = True
# sigmoid and correct
agent.controller_state.pitch = cap_num((z_correction-car.rotation.pitch)+0.9, -1, 1)
# if close to going to fly stop boost
elif math.degrees(z_correction) > 4:
agent.controller_state.boost = False
# Drift if needs to steer much
if abs(steer_correction) > 7:
agent.controller_state.handbrake = True
agent.controller_state.steer = cap_num(steer_correction, -1, 1)
def decide_car_status(agent, packet):
car = agent.car
ball = agent.ball
car_to_ball_vector = Vector3(ball.pos - car.pos)
ball_car_magnitude_2d = car_to_ball_vector.to_2d().magnitude()
ball_location = Vector3(packet.game_ball.physics.location)
# decide car status if none
if agent.car_status == 'none':
if car.team and ((ball_location.y > 1000) or predict_ball_own_goal(agent)):
agent.car_status = 'clear_ball'
elif not car.team and ((ball_location.y < -1000) or predict_ball_own_goal(agent)):
agent.car_status = 'clear_ball'
elif car.team == (car.pos.y-ball_location.y > 0):
agent.car_status = 'kick_ball'
# if ball in air and close. dribble
if agent.ball.pos.z > 1000 and ball_car_magnitude_2d < 2000:
agent.car_status = 'dribble'
kick_ball.ball_prediction = 0
elif car.boost < 50: agent.car_status = 'get_boost'
else: agent.car_status = 'clear_ball'
# if kickoff. Car status kick ball
if packet.game_info.is_kickoff_pause:
agent.car_status = 'kickoff'
agent.jumps = []
def get_ideal_car_location(agent, packet, ball_location=0):
if ball_location == 0: ball_location = kick_ball.ball_prediction.pos
car = agent.car
car_to_ball_vector = Vector3(ball_location) - Vector3(car.pos)
car_to_ball_magnitude = car_to_ball_vector.magnitude()
goal = Vector3(get_opponents_goal(agent))
# If not in right line with ball and goal Go there.
ball_to_goal_vector = goal - ball_location
ball_to_goal_unit_vector = ball_to_goal_vector.unit_vector()
distance_ball_and_car_needed = kick_ball.get_distance_ball_car_needed(
agent, packet, ball_to_goal_unit_vector)
ideal_car_location_relative = ball_to_goal_unit_vector.multiply(
distance_ball_and_car_needed)
ideal_car_location = ideal_car_location_relative + ball_location
# if distance bigger than -500 inverse ideal and not in corners. And kick ball via wall
if distance_ball_and_car_needed > -1000 and abs(
ideal_car_location.y) < 4000:
distance_ball_and_car_needed = kick_ball.ideal_location_away
ideal_car_location_relative = ball_to_goal_unit_vector.multiply(
distance_ball_and_car_needed)
ideal_car_location_relative.y *= -1
ideal_car_location = ideal_car_location_relative + ball_location
else:
ideal_car_location_relative = ball_to_goal_unit_vector.multiply(
distance_ball_and_car_needed)
ideal_car_location = ideal_car_location_relative + ball_location
return ideal_car_location
def from_file(cls, f):
start = f.tell()
restTranslate = Vector3(read_float(f), read_float(f), read_float(f))
f.seek(start + 0x30)
invTranslate = Vector3(read_float(f), read_float(f), read_float(f))
val = read_uint32(f)
parentID = (val >> 0x10) & 0xFF
tagID = (val >> 0x18) & 0xFF
f.seek(start + 0x40)
def __init__(self, agent, ball, is_prediction=False):
self.pos = Vector3(ball.physics.location)
self.rotation = ball.physics.rotation
self.velocity = Vector3(ball.physics.velocity)
self.ang_velocity = Vector3(ball.physics.angular_velocity)
if not is_prediction: self.latest_touch = ball.latest_touch
self.prediction = []
if not is_prediction:
prediction = agent.get_ball_prediction_struct()
for num in range(360):
prediction_slice = prediction.slices[num]
self.prediction.append(Ball(agent, prediction_slice, True))
def __init__(self, car):
self.pos = Vector3(car.physics.location)
self.rotation = car.physics.rotation
self.velocity = Vector3(car.physics.velocity)
self.ang_velocity = Vector3(car.physics.angular_velocity)
self.is_demolished = car.is_demolished
self.has_wheel_contact = car.has_wheel_contact
self.is_super_sonic = car.is_super_sonic
self.jumped = car.jumped
self.double_jumped = car.double_jumped
self.name = car.name
self.boost = car.boost
self.score_info = car.score_info
self.team = car.team
def get_opponents_goal(agent):
car = agent.car
field_info = agent.get_field_info()
goal = Vector2(0, 0)
team = 1
if field_info.goals[team].team_num == car.team: team = 0
return Vector3(field_info.goals[team].location)
def get_distance_ball_car_needed(agent, packet, ball_to_goal_unit_vector):
distance_ball_and_car_needed = -kick_ball.ideal_location_away
ball_location = kick_ball.ball_prediction.pos
ideal_car_location_relative = ball_to_goal_unit_vector.multiply(
distance_ball_and_car_needed)
ideal_car_location = ideal_car_location_relative + ball_location
# https://i.imgur.com/UXvb76k.png
if ideal_car_location.x > 4096: # sidewall x
x = abs(4096 - ideal_car_location.x)
y = abs(4096 - ideal_car_location.x) / abs(
ideal_car_location.x -
ball_location.x) * abs(ideal_car_location.y - ball_location.y)
z = abs(4096 - ideal_car_location.x) / abs(
ideal_car_location.x -
ball_location.x) * abs(ideal_car_location.z - ball_location.z)
distance_ball_and_car_needed += Vector3(x, y, z).magnitude() + 400
if ideal_car_location.x < -4096: # sidewall x
x = abs(-4096 - ideal_car_location.x)
y = abs(-4096 - ideal_car_location.x) / abs(
ideal_car_location.x -
ball_location.x) * abs(ideal_car_location.y - ball_location.y)
z = abs(-4096 - ideal_car_location.x) / abs(
ideal_car_location.x -
ball_location.x) * abs(ideal_car_location.z - ball_location.z)
distance_ball_and_car_needed += Vector3(x, y, z).magnitude() + 400
if ideal_car_location.y > 5120: # backwall y
x = abs(5120 - ideal_car_location.y)
y = abs(5120 - ideal_car_location.y) / abs(
ideal_car_location.y -
ball_location.y) * abs(ideal_car_location.x - ball_location.x)
z = abs(5120 - ideal_car_location.y) / abs(
ideal_car_location.y -
ball_location.y) * abs(ideal_car_location.z - ball_location.z)
distance_ball_and_car_needed += Vector3(x, y, z).magnitude() + 400
if ideal_car_location.y < -5120: # backwall y
x = abs(-5120 - ideal_car_location.y)
y = abs(-5120 - ideal_car_location.y) / abs(
ideal_car_location.y -
ball_location.y) * abs(ideal_car_location.x - ball_location.x)
z = abs(-5120 - ideal_car_location.y) / abs(
ideal_car_location.y -
ball_location.y) * abs(ideal_car_location.z - ball_location.z)
distance_ball_and_car_needed += Vector3(x, y, z).magnitude() + 400
return distance_ball_and_car_needed
def wrong_side(agent, packet):
my_car = packet.game_cars[agent.index]
car_location = Vector2(my_car.physics.location.x, my_car.physics.location.y)
car_direction = get_car_facing_vector(my_car)
ball_location = Vector2(packet.game_ball.physics.location.x, packet.game_ball.physics.location.y)
goal = get_own_goal(agent, packet)
difference = abs(difference_angles(Vector3(goal).to_2d().get_angle(), car_location.get_angle()))
# double jump if on ground and straight and going good direction
if agent.jumps == [] and my_car.physics.location.z < 17.1 and difference < 10 and get_xy_speed(agent, packet) > 1000 and my_car.boost > 50: agent.controller_state.boost = True
if agent.jumps == [] and my_car.physics.location.z < 17.1 and difference < 10 and get_xy_speed(agent, packet) > 1000 and not agent.controller_state.boost: double_jump(agent)
aim_to(agent, goal)
agent.controller_state.throttle = 1.0
# if in front of the ball+200 reset car status
if my_car.team == (my_car.physics.location.y-ball_location.y > -2000):
agent.car_status = 'none'
def main(agent, packet):
car = agent.car
ball = agent.ball
car_to_ball_vector = Vector3(ball.pos - car.pos)
ball_car_magnitude_2d = car_to_ball_vector.to_2d().magnitude()
rotated_car_to_ball_vector2 = car_to_ball_vector.to_2d().rotate(
car.rotation.yaw)
throttle = -cap_num(rotated_car_to_ball_vector2.x / 800, -1, 1)
# if ball is far away from ball. or on ground. stop dribbling
if ball_car_magnitude_2d > 2000 or ball.pos.z < 100:
aim_to(agent, ball.pos)
agent.car_status = 'none'
# if ball in air. Try to get under it
if ball.pos.z > 155:
aim_to(agent, ball.pos)
agent.controller_state.throttle = ball_car_magnitude_2d / 200
agent.renderer.draw_string_3d(
car.pos.change('z', 100).get_array(), 2, 2,
str(round(throttle * 100) / 100), white(agent))
#if ball_car_magnitude_2d > 400: agent.controller_state.boost = True
# if ball on top of car
elif ball_car_magnitude_2d < 150:
aim_to(agent, ball.pos)
# difference velocity car and ball
diff = (ball.velocity.to_2d().magnitude() -
car.velocity.to_2d().magnitude()) / 20
agent.controller_state.throttle = cap_num(throttle + diff, -1, 1)
if throttle + diff > 4: agent.controller_state.boost = True
agent.renderer.draw_string_3d(
car.pos.change('z', 100).get_array(), 2, 2,
str(round(throttle * 100) / 100) + ' :: ' +
str(round(diff * 100) / 200), white(agent))
# flip the ball when its about to fall off
if throttle > 0.15:
double_jump(agent)
agent.car_status = 'none'
def main(agent, packet):
if kick_ball.ball_prediction != 0:
ball_location = kick_ball.ball_prediction.pos
else:
ball_location = Vector3(packet.game_ball.physics.location)
kick_ball.prediction_timer = -1
ball = agent.ball
car = agent.car
car_location = car.pos.to_2d()
car_to_ball_vector = Vector3(ball.pos) - Vector3(car.pos)
car_to_ball_magnitude = car_to_ball_vector.magnitude()
car_to_ball_magnitude_2d = car_to_ball_vector.to_2d().magnitude()
car_direction = get_car_facing_vector(car)
goal = get_opponents_goal(agent)
go_to = car_location
plus = 0
# ball prediction
kick_ball.prediction_timer -= 1 / 60
if kick_ball.prediction_timer < -0.1:
agent.car_status = 'none'
kick_ball.in_position = False
time = kick_ball.predict_when_ball_hit(agent)
kick_ball.prediction_timer = time
kick_ball.ball_prediction = ball.prediction[int(time * 60)]
kick_ball.correction_timer = kick_ball.when_ball_hit_correction(agent)
kick_ball.ball_prediction = ball.prediction[int(
cap_num(kick_ball.prediction_timer * 60, 0, 1e9))]
# a few variables
ball_location = kick_ball.ball_prediction.pos
car_to_ball_vector = Vector3(ball.pos) - Vector3(car.pos)
car_to_ball_magnitude = car_to_ball_vector.magnitude()
car_to_ball_magnitude_2d = car_to_ball_vector.to_2d().magnitude()
ideal_car_location = kick_ball.get_ideal_car_location(
agent, packet, ball_location)
# draw line from ball to ideal car location
Vector3(ball_location).draw_to(agent, ideal_car_location, [0, 100, 0])
# 3D correction timer vs actual prediction
agent.renderer.draw_string_3d(
car.pos.change('z', 100).get_array(), 2, 2, 'corr: ' + str(
round(kick_ball.correction_timer, 2) -
round(kick_ball.prediction_timer, 2)), white(agent))
# draw place where car will hit ball
agent.renderer.draw_string_3d(ball_location.get_array(), 2, 2,
ball_location.string(), white(agent))
ideal_car_to_ball_angle = (ball_location -
ideal_car_location).to_2d().get_angle()
car_to_ball_to_angle = (ball_location - car.pos).to_2d().get_angle()
difference_angle_car_ideal = difference_angles(ideal_car_to_ball_angle,
car_to_ball_to_angle)
if difference_angle_car_ideal > kick_ball.get_angle_for_goal(
agent, packet, ball_location) * 2:
kick_ball.in_position = False
car_inline_bool = abs(
difference_angle_car_ideal) < kick_ball.get_angle_for_goal(
agent, packet, ball_location) * 2
# If car not close enough to ideal and car not close to idealLine. Go there
if Vector2(
ideal_car_location.x - car_location.x,
ideal_car_location.y - car_location.y).magnitude(
) > 1000 and not car_inline_bool and not kick_ball.in_position:
go_to = ideal_car_location
#plus = -difference_angle_car_ideal/(car_to_ball_magnitude/200)
# double jump if on ground and straight and going good direction and far away
far_away_enough = Vector2(
car_location.x - ideal_car_location.x,
car_location.y - ideal_car_location.y).magnitude() > 1000
# draw ideal location
a = [ideal_car_location.x, ideal_car_location.y, 17]
agent.renderer.draw_rect_3d(a, 40, 40, True,
own_color(agent, packet))
# Else head towards the ball
else:
kick_ball.in_position = True
# predict ball location and go there
go_to = ball_location
plus = -difference_angle_car_ideal / (car_to_ball_magnitude / 200)
#if car_to_ball_magnitude_2d > 2000: plus = -difference_angle_car_ideal/40
# boost
too_slow = kick_ball.correction_timer > kick_ball.prediction_timer + 0.01
if car.pos.z < 17.1 and car_inline_bool and too_slow:
agent.controller_state.boost = True
agent.renderer.draw_line_3d(
car.pos.get_array(), ball_location.get_array(),
agent.renderer.create_color(255, 255, 255, 255))
agent.renderer.draw_line_3d(ideal_car_location.get_array(),
ball_location.get_array(),
own_color(agent, packet))
draw_text(agent, 'LR. corr: ' + str(plus), 110)
aim_to(agent, go_to, plus)
# If realy close to ball and good direction Jump
if car_to_ball_magnitude < 200 and abs(
car_direction.correction_to(
Vector2(ball_location.x, ball_location.y) -
car_location)) < 0.1:
double_jump(agent)
agent.controller_state.throttle = 1
if kick_ball.correction_timer + 0.05 < kick_ball.prediction_timer:
agent.controller_state.throttle = 1 - (
kick_ball.prediction_timer - kick_ball.correction_timer -
kick_ball.prediction_timer) / 5
# if me hit the ball stop kicking the ball
if packet.game_ball.latest_touch.player_name == car.name and packet.game_info.seconds_elapsed - packet.game_ball.latest_touch.time_seconds < 1:
agent.car_status = 'none'
kick_ball.ball_prediction = 0
return agent
def from_file(cls, f, out, outmat, mtlname, materials, textures):
version = read_uint32(f)
assert version == 0xA
shaderCount = read_uint8(f)
boneCount = read_uint8(f)
vertGroupCount = read_uint8(f)
meshGroupCount = read_uint8(f)
flags = read_uint32(f)
boundary = Boundary.from_file(f)
vtxgroups = []
for i in range(4):
vtxtype = read_uint8(f)
f.read(3) # padd
vtxcount = read_uint32(f)
vtxgroups.append((vtxtype, vtxcount))
indexCount = read_uint32(f)
lodStarts = [read_uint32(f) for i in range(4)]
assert f.tell() == 88
lodCount = read_uint8(f)
f.seek(0x5C)
shaders = []
for i in range(shaderCount):
name = f.read(0x20).strip(b"\x00")
shaders.append(name.decode("ascii"))
bones = []
for i in range(boneCount):
bone = Bone.from_file(f)
bones.append(bone)
if boneCount == 0:
bone = Bone()
bones.append(bone)
vertexGroups = []
#with open("model.obj", "w") as g:
if True:
for shader in shaders:
print(shader.lower(), shader.lower() in materials)
if shader.lower() in materials:
texpath = materials[shader.lower()]
else:
if shader in textures:
texpath = textures[shader]
elif shader + ".dds" in textures:
texpath = textures[shader + ".dds"]
else:
texpath = "NotFound"
outmat.write("newmtl {0}\n".format(shader))
outmat.write("map_kd {0}\n".format(texpath))
out.write("mtllib {0}\n".format(mtlname))
g = out
print("vert group count", vertGroupCount)
for i in range(vertGroupCount):
group = []
verttype, vertcount = vtxgroups[i]
print(verttype, vertcount)
#assert verttype == 0
if verttype == 0 or verttype == 3:
for i in range(vertcount):
start = f.tell()
vertexpos = Vector3(read_float(f), read_float(f),
read_float(f))
normal = Vector3(read_float(f), read_float(f),
read_float(f))
uv = Vector3(read_float(f), read_float(f), 0.0)
assert f.tell() - start == 0x20
#g.write("v {0} {1} {2}\n".format(vertexpos.x, vertexpos.z, -vertexpos.y))
group.append(Vertex(vertexpos, uv=uv))
elif verttype == 1:
for i in range(vertcount):
start = f.tell()
vertexpos = Vector3(read_float(f), read_float(f),
read_float(f))
normal = Vector3(read_float(f), read_float(f),
read_float(f))
uv = Vector3(read_float(f), read_float(f), 0.0)
f.read(4)
assert f.tell() - start == 0x24
#g.write("v {0} {1} {2}\n".format(vertexpos.x, vertexpos.z, -vertexpos.y))
group.append(Vertex(vertexpos, uv=uv))
elif verttype == 2:
for i in range(vertcount):
start = f.tell()
vertexpos = Vector3(read_float(f), read_float(f),
read_float(f))
normal = Vector3(read_float(f), read_float(f),
read_float(f))
uv = Vector3(read_float(f), read_float(f), 0.0)
f.read(0x30 - 0x20)
assert f.tell() - start == 0x30
#g.write("v {0} {1} {2}\n".format(vertexpos.x, vertexpos.z, -vertexpos.y))
group.append(Vertex(vertexpos, uv=uv))
else:
raise RuntimeError("Unknown vtx type {0}".format(verttype))
pass
vertexGroups.append(group)
indices = []
for i in range(indexCount):
indices.append(read_uint16(f))
meshes = []
index = 0
for i in range(meshGroupCount):
mesh, index = MeshGroupFile.from_file(f, index)
meshes.append(mesh)
vtxGroupOffsets = []
for i in range(vertGroupCount):
if i == 0:
vtxGroupOffsets.append(0)
else:
vtxGroupOffsets.append(len(vertexGroups[i - 1]))
for group in vertexGroups:
for vertex in group:
vertexpos = vertex.pos
uv = vertex.uv
g.write("v {0} {1} {2}\n".format(vertexpos.x, vertexpos.z,
-vertexpos.y))
if uv is not None:
g.write("vt {0} {1}\n".format(uv.x, 1.0 - uv.y))
#meshes.pop(0)
#meshes.pop(0)
vtxOffset = 0
k = 0
drawMesh = 4
out.write("o {0}\n".format(os.path.basename(mtlname)[:-4]))
for mesh in meshes:
#print(mesh.materialid)
out.write("usemtl {0}\n".format(shaders[mesh.materialid]))
mainlod = mesh.lods[0]
print(mesh.vtxGroup, vtxGroupOffsets)
print("Mesh has", mainlod.stripCount, "strips")
"""if k != drawMesh:
vtxOffset += mesh.vertexCount
k += 1
continue"""
if mainlod.stripCount > 0:
v1, v2, v3 = None, None, None
n = 0
for i in range(mainlod.stripStart,
mainlod.stripStart + mainlod.stripCount):
if v1 is None:
v1 = indices[i]
continue
elif v2 is None:
v2 = indices[i]
continue
elif v3 is None:
v3 = indices[i]
else:
v1 = v2
v2 = v3
v3 = indices[i]
offset = vtxGroupOffsets[mesh.vtxGroup]
#offset = 0
if n == 0:
g.write("f {0}/{0} {1}/{1} {2}/{2}\n".format(
v1 + 1 + vtxOffset, v2 + 1 + vtxOffset,
v3 + 1 + vtxOffset))
else:
g.write("f {0}/{0} {1}/{1} {2}/{2}\n".format(
v1 + 1 + vtxOffset,
v3 + 1 + vtxOffset,
v2 + 1 + vtxOffset,
))
n = (n + 1) % 2
print("Mesh has", mainlod.listCount, "lists")
if mainlod.listCount > 0:
for i in range(mainlod.listCount // 3):
v1 = indices[mainlod.listStart + i * 3]
v2 = indices[mainlod.listStart + i * 3 + 1]
v3 = indices[mainlod.listStart + i * 3 + 2]
offset = vtxGroupOffsets[mesh.vtxGroup]
#offset = 0
g.write("f {0}/{0} {1}/{1} {2}/{2}\n".format(
v1 + 1 + vtxOffset, v2 + 1 + vtxOffset,
v3 + 1 + vtxOffset))
vtxOffset += mesh.vertexCount
#if k == 4:
# break
k += 1
def from_file(cls, f):
start = Vector3(read_float(f), read_float(f), read_float(f))
end = Vector3(read_float(f), read_float(f), read_float(f))
return cls(start, end)
def __init__(self, position=Vector3(), rotation=Vector3()):
self.rotation = deepcopy(rotation)
self.position = deepcopy(position)
self.target_rotation = deepcopy(rotation)
self.target_position = deepcopy(position)
from camera import Camera
from vectors import Vector3
DEFAULT_CAMERA_POSITION = Vector3(0,0,-3)
DEFAULT_CAMERA_ROTATION = Vector3(0,0,0)
class ViewController:
def __init__(self):
self.camera = Camera(position=Vector3(0,0,-3))
#self.camera = Camera(position=Vector3(0,0,0))
self.meshes = []
self.bored = False
def reset_camera(self):
self.camera.target_position.x = DEFAULT_CAMERA_POSITION.x
self.camera.target_position.y = DEFAULT_CAMERA_POSITION.y
self.camera.target_position.z = DEFAULT_CAMERA_POSITION.z
self.camera.target_rotation.x = DEFAULT_CAMERA_ROTATION.x
self.camera.target_rotation.y = DEFAULT_CAMERA_ROTATION.y
self.camera.target_rotation.z = DEFAULT_CAMERA_ROTATION.z
def rotate_camera_to(self, x, y):
self.camera.rotate_to(x, y)
def rotate_camera_by(self, x, y):
self.camera.rotate_by(x, y)
def zoom_camera_by(self, z):
self.camera.zoom_by(z)
def get_xy_speed(agent):
car = agent.car
car_xy_velocity = Vector3(car.velocity).to_2d()
car_xy_velocity_magnitude = car_xy_velocity.magnitude()
return car_xy_velocity_magnitude
def __init__(self): self.camera = Camera(position=Vector3(0,0,-3)) #self.camera = Camera(position=Vector3(0,0,0)) self.meshes = [] self.bored = False
def get_own_goal(agent):
car = agent.car
field_info = agent.get_field_info()
team = 0
if field_info.goals[team].team_num != car.team: team = 1
return Vector3(field_info.goals[team].location)