def prepare_kickoff(self, packet: GameTickPacket) -> None:
bot_pos = Vector3(packet.game_cars[self.agent.index].physics.location)
# Centre kickoff
if abs(bot_pos.x) < 250:
pad = self.get_closest_small_pad(bot_pos).location
first_target: vec3 = vec3(
pad.x, pad.y,
pad.z) - vec3(0, 250, 0) * (1 if self.agent.team else -1)
second_target: vec3 = vec3(0, 850,
0) * (1 if self.agent.team else -1)
self.kickoff_steps = [
Drive(self.agent.game_info.my_car, first_target, 2400),
AirDodge(self.agent.game_info.my_car, 0.075, vec3(0, 0, 0)),
Drive(self.agent.game_info.my_car, second_target, 2400),
AirDodge(self.agent.game_info.my_car, 0.075, vec3(0, 0, 0))
]
# Off-centre kickoff
elif abs(bot_pos.x) < 1000:
target: vec3 = normalize(self.agent.game_info.my_car.pos) * 500
self.kickoff_steps = [
Drive(
self.agent.game_info.my_car,
vec3(self.agent.game_info.my_car.pos[0],
3477 * (1 if self.agent.team else -1), 0), 2400),
AirDodge(self.agent.game_info.my_car, 0.075, vec3(0, 0, 0)),
Drive(self.agent.game_info.my_car, target, 2400),
AirDodge(self.agent.game_info.my_car, 0.075, vec3(0, 0, 0))
]
# Diagonal kickoff
else:
pad = self.get_closest_small_pad(bot_pos).location
car_to_pad: vec3 = vec3(pad.x, pad.y,
pad.z) - self.agent.game_info.my_car.pos
first_target: vec3 = self.agent.game_info.my_car.pos + 1.425 * car_to_pad
second_target: vec3 = vec3(0, 150,
0) * (1 if self.agent.team else -1)
third_target: vec3 = normalize(
self.agent.game_info.my_car.pos) * 850
self.kickoff_steps = [
Drive(self.agent.game_info.my_car, first_target, 2300),
AirDodge(self.agent.game_info.my_car, 0.035, second_target),
Drive(self.agent.game_info.my_car, third_target, 2400),
AirDodge(self.agent.game_info.my_car, 0.1, vec3(0, 0, 0))
]
def predict(self):
self.bounces = []
ball_prediction = self.get_ball_prediction_struct()
for i in range(ball_prediction.num_slices):
location = vec3(ball_prediction.slices[i].physics.location.x,
ball_prediction.slices[i].physics.location.y,
ball_prediction.slices[i].physics.location.z)
prev_ang_vel = ball_prediction.slices[i -
1].physics.angular_velocity
prev_normalized_ang_vel = normalize(
vec3(prev_ang_vel.x, prev_ang_vel.y, prev_ang_vel.z))
current_ang_vel = ball_prediction.slices[
i].physics.angular_velocity
current_normalized_ang_vel = normalize(
vec3(current_ang_vel.x, current_ang_vel.y, current_ang_vel.z))
if prev_normalized_ang_vel != current_normalized_ang_vel and location[
2] < 125:
self.bounces.append((location, i * 1 / 60))
def shooting_target(agent):
ball = agent.info.ball
car = agent.info.my_car
car_to_ball = ball.pos - car.pos
backline_intersect = line_backline_intersect(
agent.info.their_goal.center[1], vec2(car.pos), vec2(car_to_ball))
if -500 < backline_intersect < 500:
goal_to_ball = normalize(car.pos - ball.pos)
error = cap(distance_2d(ball.pos, car.pos) / 1000, 0, 1)
else:
# Right of the ball
if -500 > backline_intersect:
target = agent.info.their_goal.corners[3] + vec3(400, 0, 0)
# Left of the ball
elif 500 < backline_intersect:
target = agent.info.their_goal.corners[2] - vec3(400, 0, 0)
goal_to_ball = normalize(ball.pos - target)
goal_to_car = normalize(car.pos - target)
difference = goal_to_ball - goal_to_car
error = cap(abs(difference[0]) + abs(difference[1]), 1, 10)
goal_to_ball_2d = vec2(goal_to_ball[0], goal_to_ball[1])
test_vector_2d = dot(rotation(0.5 * math.pi), goal_to_ball_2d)
test_vector = vec3(test_vector_2d[0], test_vector_2d[1], 0)
distance = cap((40 + distance_2d(ball.pos, car.pos) * (error**2)) / 1.8, 0,
4000)
location = ball.pos + vec3(
(goal_to_ball[0] * distance), goal_to_ball[1] * distance, 0)
# this adjusts the target based on the ball velocity perpendicular to the direction we're trying to hit it
multiplier = cap(distance_2d(car.pos, location) / 1500, 0, 2)
distance_modifier = cap(
dot(test_vector, ball.vel) * multiplier, -1000, 1000)
modified_vector = vec3(test_vector[0] * distance_modifier,
test_vector[1] * distance_modifier, 0)
location += modified_vector
# another target adjustment that applies if the ball is close to the wall
extra = 3850 - abs(location[0])
if extra < 0:
location[0] = cap(location[0], -3850, 3850)
location[1] = location[1] + (-sign(agent.team) * cap(extra, -800, 800))
return location
def pathplan(self):
car = self.info.my_car
k = 50 #number of guides on path
p0_ = car.pos
p1_ = car.pos + car.vel * 2 #compensation for velocity
self.guides = []
if len(self.targets) == 1:
p2_ = self.targets[0]
for i in range(k):
self.guides.append(bezier(p0_, p1_, p2_, p2_, (i / k)))
else:
p2_ = self.targets[0] + normalize(
self.targets[0] - self.targets[1]
) * 100 #number not final, adjusts curve so that car ends up facing next target
p3_ = self.targets[0]
for i in range(k):
self.guides.append(bezier(p0_, p1_, p2_, p3_, (i / k)))
def __init__(self, anchor, normal):
self.anchor = anchor
self.normal = normalize(normal)
self.offset_anchor = anchor + DropshotBall.RADIUS * self.normal
def kick_off(agent):
if agent.kickoffStart == "Diagonal_Scrub":
if agent.step == "Drive":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if agent.drive.finished:
agent.step = "Dodge1"
# target = agent.info.ball.pos
target = normalize(z0(agent.info.my_car.forward())) * 1000
agent.dodge = AirDodge(agent.info.my_car, 0.075, target)
elif agent.step == "Dodge1":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
if agent.dodge.finished:
agent.step = "Steer"
target = agent.info.ball.pos
agent.drive = Drive(agent.info.my_car, target, 1399)
elif agent.step == "Steer":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if agent.info.my_car.on_ground:
agent.drive.target_speed = 2400
if distance_2d(agent.info.ball.pos, agent.info.my_car.pos) < 750:
agent.step = "Dodge2"
agent.dodge = AirDodge(agent.info.my_car, 0.075,
agent.info.ball.pos)
elif agent.step == "Dodge2":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
if agent.dodge.finished and agent.info.my_car.on_ground:
agent.step = "Catching"
elif agent.kickoffStart == "Diagonal":
if agent.step == "Drive":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if distance_2d(agent.info.ball.pos, agent.info.my_car.pos) < 850:
agent.step = "Dodge"
agent.dodge = AirDodge(agent.info.my_car, 0.075,
agent.info.ball.pos)
elif agent.step == "Dodge":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
if agent.dodge.finished and agent.info.my_car.on_ground:
agent.step = "Catching"
elif agent.kickoffStart == "Center":
if agent.step == "Drive":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if agent.drive.finished:
agent.step = "Dodge1"
agent.dodge = AirDodge(agent.info.my_car, 0.075,
agent.info.ball.pos)
elif agent.step == "Dodge1":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
agent.controls.boost = 0
if agent.dodge.finished and agent.info.my_car.on_ground:
agent.step = "Steer"
target = agent.info.ball.pos + sign(agent.team) * vec3(
0, 850, 0)
agent.drive = Drive(agent.info.my_car, target, 2400)
elif agent.step == "Steer":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if agent.drive.finished:
agent.step = "Dodge2"
agent.dodge = AirDodge(agent.info.my_car, 0.075,
agent.info.ball.pos)
elif agent.step == "Dodge2":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
if agent.dodge.finished and agent.info.my_car.on_ground:
agent.step = "Catching"
elif agent.kickoffStart == "offCenter":
if agent.step == "Drive":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if agent.info.my_car.boost < 15 or agent.drive.finished:
agent.step = "Dodge1"
agent.dodge = AirDodge(agent.info.my_car, 0.075,
agent.info.ball.pos)
elif agent.step == "Dodge1":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
agent.controls.boost = 0
if agent.dodge.finished and agent.info.my_car.on_ground:
agent.step = "Steer"
target = agent.info.ball.pos
agent.drive = Drive(agent.info.my_car, target, 2400)
elif agent.step == "Steer":
agent.drive.step(agent.FPS)
agent.controls = agent.drive.controls
if distance_2d(agent.info.ball.pos, agent.info.my_car.pos) < 850:
agent.step = "Dodge2"
agent.dodge = AirDodge(agent.info.my_car, 0.075,
agent.info.ball.pos)
elif agent.step == "Dodge2":
agent.dodge.step(agent.FPS)
agent.controls = agent.dodge.controls
if agent.dodge.finished and agent.info.my_car.on_ground:
agent.step = "Catching"
def ground_direction(source, target) -> vec3:
return normalize(ground(target) - ground(source))
def direction(source, target) -> vec3:
return normalize(loc(target) - loc(source))
def get_bounce(agent):
for i in range(len(agent.bounces)):
goal_to_ball = normalize(z0(agent.bounces[i][0] - agent.info.their_goal.center))
target = agent.bounces[i][0] + 40 * goal_to_ball
if is_reachable(agent, target, agent.bounces[i][1]):
return [target, agent.bounces[i][1]]
