def utility_score(self, bot) -> float: car = bot.info.my_car ball = bot.info.ball my_hit_time = predict.time_till_reach_ball(car, ball) ball_soon = predict.ball_predict(bot, min(my_hit_time, 1.0)) close_to_ball_01 = clip01(1.0 - norm(car.pos - ball_soon.pos) / 3500) ** 0.5 # FIXME Not great reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, ball)) xy_ball_to_goal = xy(bot.info.opp_goal.pos - reachable_ball.pos) xy_car_to_ball = xy(reachable_ball.pos - bot.info.my_car.pos) in_position_01 = ease_out(clip01(dot(xy_ball_to_goal, xy_car_to_ball)), 0.5) # Chase ball right after kickoff. High right after kickoff kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3) * float(bot.info.my_car.objective == Objective.UNKNOWN) obj_bonus = { Objective.UNKNOWN: 1, Objective.GO_FOR_IT: 1, Objective.FOLLOW_UP: 0, Objective.ROTATING: 0, Objective.SOLO: 1, }[bot.info.my_car.objective] return clip01(close_to_ball_01 * in_position_01 + kickoff_bias01) * obj_bonus
def utility(self, bot) -> float: if self.temp_utility_desire_boost > 0: self.temp_utility_desire_boost = max( 0, self.temp_utility_desire_boost - bot.info.dt) elif self.temp_utility_desire_boost < 0: self.temp_utility_desire_boost = min( 0, self.temp_utility_desire_boost + bot.info.dt) ball_soon = predict.ball_predict(bot, 1) arena_length2 = bot.info.team_sign * Field.LENGTH / 2 own_half_01 = clip01( remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y)) reachable_ball = predict.ball_predict( bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball)) self.ball_to_goal_right = bot.info.enemy_goal_right - reachable_ball.pos self.ball_to_goal_left = bot.info.enemy_goal_left - reachable_ball.pos self.aim_cone = AimCone(self.ball_to_goal_right, self.ball_to_goal_left) car_to_ball = reachable_ball.pos - bot.info.my_car.pos in_position = self.aim_cone.contains_direction(car_to_ball) # Chase ball right after kickoff. High right after kickoff kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3) return clip01(own_half_01 + 0.1 * in_position + self.temp_utility_desire_boost + kickoff_bias01)
def any_touch(self, bot, time: float, dodge_hit: bool = True): ball_soon = ball_predict(bot, time) car_to_ball = ball_soon.pos - bot.info.my_car.pos return self.towards(bot, ball_soon.pos + car_to_ball, time, dodge_hit) or SimpleControllerState()
def towards(self, bot, target: Vec3, time: float, allowed_uncertainty: float = 0.3, dodge_hit: bool = True): ball_soon = ball_predict(bot, time) ball_soon_to_target_dir = normalize(target - ball_soon.pos) right = dot(axis_to_rotation(Vec3(z=allowed_uncertainty)), ball_soon_to_target_dir) left = dot(axis_to_rotation(Vec3(z=-allowed_uncertainty)), ball_soon_to_target_dir) aim_cone = AimCone(right, left) aim_cone.draw(ball_soon.pos, r=0, g=0) return self.with_aiming(bot, aim_cone, time, dodge_hit)
def utility(self, bot) -> float: team_sign = bot.info.team_sign length = team_sign * Field.LENGTH / 2 ball_own_half_01 = clip01( remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y)) reachable_ball = predict.ball_predict( bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball)) car_to_ball = reachable_ball.pos - bot.info.my_car.pos in_position = self.aim_cone.contains_direction(car_to_ball, math.pi / 8) return ball_own_half_01 * in_position
def utility_score(self, bot) -> float: team_sign = bot.info.team_sign length = team_sign * Field.LENGTH2 ball_own_half_01 = clip01(remap(-length, length, -0.8, 1.8, bot.info.ball.pos.y)) reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball)) car_to_ball = reachable_ball.pos - bot.info.my_car.pos in_position = self.aim_cone.contains_direction(car_to_ball, math.pi / 8) obj_bonus = { Objective.UNKNOWN: 1, Objective.GO_FOR_IT: 1, Objective.FOLLOW_UP: 0, Objective.ROTATING: 0, Objective.SOLO: 1.0, }[bot.info.my_car.objective] return ball_own_half_01 * in_position * obj_bonus
def run(self, bot) -> SimpleControllerState: car = bot.info.my_car ball = bot.info.ball hits_goal_prediction = predict.will_ball_hit_goal(bot) reach_time = clip(predict.time_till_reach_ball(car, ball), 0, hits_goal_prediction.time - 0.5) reachable_ball = predict.ball_predict(bot, reach_time) self.ball_to_goal_right = bot.info.own_goal.right_post - reachable_ball.pos self.ball_to_goal_left = bot.info.own_goal.left_post - reachable_ball.pos self.aim_cone = AimCone(self.ball_to_goal_left, self.ball_to_goal_right) self.aim_cone.draw(reachable_ball.pos, r=200, g=0, b=160) shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, reach_time) if not bot.shoot.can_shoot: # Go home return bot.drive.home(bot) else: return shoot_controls
def run(self, bot) -> SimpleControllerState: car = bot.info.my_car ball = bot.info.ball my_hit_time = predict.time_till_reach_ball(car, ball) reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(car, ball)) ball_to_goal_right = bot.info.opp_goal.right_post - reachable_ball.pos ball_to_goal_left = bot.info.opp_goal.left_post - reachable_ball.pos aim_cone = AimCone(ball_to_goal_right, ball_to_goal_left) shoot_controls = bot.shoot.with_aiming(bot, aim_cone, my_hit_time) hit_pos = bot.shoot.ball_when_hit.pos dist = norm(car.pos - hit_pos) closest_enemy, enemy_dist = bot.info.closest_enemy(0.5 * (hit_pos + ball.pos)) if not bot.shoot.can_shoot and is_closer_to_goal_than(car.pos, hit_pos, bot.info.team): # Can't shoot but or at least on the right side: Chase goal_to_ball = normalize(hit_pos - bot.info.opp_goal.pos) offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9 enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball) enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos if enemy_hit_time < 1.5 * my_hit_time: if bot.do_rendering: bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red()) return bot.drive.home(bot) if bot.do_rendering: bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow()) return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0) elif len(bot.info.teammates) == 0 and not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(hit_pos.x) > 900 and not dist < 420: # hit_pos is an enemy corner and we are not close: Avoid enemy corners in 1s and just wait enemy_to_ball = normalize(hit_pos - closest_enemy.pos) wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5) if bot.do_rendering: bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow()) return bot.drive.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False) elif bot.shoot.can_shoot: # Shoot ! if bot.do_rendering: aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0) if bot.shoot.using_curve: rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos]) return shoot_controls else: # We can't shoot at goal reliably # How about a shot to the corners then? corners = [ Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0), Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0), ] for corner in corners: ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time) if bot.shoot.can_shoot: aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0) if bot.shoot.using_curve: rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos]) return ctrls enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos)) ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - ball.pos)) dot_threat = dot(enemy_to_ball, ball_to_my_goal) # 1 = enemy is in position, -1 = enemy is NOT in position if car.boost <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15: collect_center = ball.pos.y * bot.info.team_sign <= 0 collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900 pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False, center=collect_center) bot.maneuver = CollectClosestBoostManeuver(bot, pads) # return home-ish return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
def exec(self, bot) -> SimpleControllerState: car = bot.info.my_car ball = bot.info.ball my_hit_time = predict.time_till_reach_ball(car, ball) shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, my_hit_time) if bot.do_rendering: self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0) hit_pos = bot.shoot.ball_when_hit.pos dist = norm(car.pos - hit_pos) closest_enemy, enemy_dist = bot.info.closest_enemy( 0.5 * (hit_pos + ball.pos)) if not bot.shoot.can_shoot and is_closer_to_goal_than( car.pos, hit_pos, bot.info.team): # Can't shoot but or at least on the right side: Chase goal_to_ball = normalize(hit_pos - bot.info.enemy_goal) offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9 enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball) enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos if enemy_hit_time < 1.5 * my_hit_time: self.temp_utility_desire_boost -= bot.info.dt if bot.do_rendering: bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red()) return bot.drive.go_home(bot) if bot.do_rendering: bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow()) return bot.drive.go_towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0) elif not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs( hit_pos.x) > 900 and not dist < 420: # hit_pos is an enemy corner and we are not close: Avoid enemy corners and just wait enemy_to_ball = normalize(hit_pos - closest_enemy.pos) wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5) if bot.do_rendering: bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow()) return bot.drive.go_towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False) elif not bot.shoot.can_shoot: enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos)) ball_to_my_goal = normalize(xy(bot.info.own_goal - ball.pos)) dot_threat = dot( enemy_to_ball, ball_to_my_goal ) # 1 = enemy is in position, -1 = enemy is NOT in position if car.boost == 0 and ball.pos.y * bot.info.team_sign < 500 and dot_threat < 0.1: collect_center = ball.pos.y * bot.info.team_sign <= 0 collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900 pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False, center=collect_center) bot.maneuver = CollectClosestBoostManeuver(bot, pads) # return home return bot.drive.go_home(bot) else: # Shoot ! if bot.shoot.using_curve and bot.do_rendering: rendering.draw_bezier( bot, [car.pos, bot.shoot.curve_point, hit_pos]) return shoot_controls
def exec(self, bot): if not self.announced_in_quick_chat: self.announced_in_quick_chat = True bot.send_quick_chat(QuickChats.CHAT_EVERYONE, QuickChats.Information_IGotIt) ct = bot.info.time car = bot.info.my_car up = car.up controls = SimpleControllerState() # Time remaining till intercept time T = self.intercept_time - bot.info.time # Expected future position xf = car.pos + car.vel * T + 0.5 * GRAVITY * T ** 2 # Expected future velocity vf = car.vel + GRAVITY * T # Is set to false while jumping to avoid FeelsBackFlipMan rotate = True if self.jumping: if self.jump_begin_time == -1: jump_elapsed = 0 self.jump_begin_time = ct else: jump_elapsed = ct - self.jump_begin_time # How much longer we can press jump and still gain upward force tau = JUMP_MAX_DUR - jump_elapsed # Add jump pulse if jump_elapsed == 0: vf += up * JUMP_SPEED xf += up * JUMP_SPEED * T rotate = False # Acceleration from holding jump vf += up * JUMP_SPEED * tau xf += up * JUMP_SPEED * tau * (T - 0.5 * tau) if self.do_second_jump: # Impulse from the second jump vf += up * JUMP_SPEED xf += up * JUMP_SPEED * (T - tau) if jump_elapsed < JUMP_MAX_DUR: controls.jump = True else: controls.jump = False if self.do_second_jump: if self.jump_pause_counter < 4: # Do a 4-tick pause between jumps self.jump_pause_counter += 1 else: # Time to start second jump # we do this by resetting our jump counter and pretend and our aerial started in the air self.jump_begin_time = -1 self.jumping = True self.do_second_jump = False else: # We are done jumping self.jumping = False else: controls.jump = False delta_pos = self.hit_pos - xf direction = normalize(delta_pos) car_to_hit_pos = self.hit_pos - car.pos dodging = self.dodge_begin_time != -1 if dodging: controls.jump = True # We are not pressing jump, so let's align the car if rotate and not dodging: if self.do_dodge and norm(car_to_hit_pos) < Ball.RADIUS + 80: # Start dodge self.dodge_begin_time = ct hit_local = dot(car_to_hit_pos, car.rot) hit_local.z = 0 dodge_direction = normalize(hit_local) controls.roll = 0 controls.pitch = -dodge_direction.x controls.yaw = sign(car.rot.get(2, 2)) * direction.y controls.jump = True else: # Adjust orientation if norm(delta_pos) > 50: pd = bot.fly.align(bot, looking_in_dir(delta_pos)) else: if self.target_rot is not None: pd = bot.fly.align(bot, self.target_rot) else: pd = bot.fly.align(bot, looking_in_dir(self.hit_pos - car.pos)) controls.roll = pd.roll controls.pitch = pd.pitch controls.yaw = pd.yaw if not dodging and angle_between(car.forward, direction) < 0.3: if norm(delta_pos) > 40: controls.boost = 1 controls.throttle = 0 else: controls.boost = 0 controls.throttle = clip01(0.5 * THROTTLE_AIR_ACCEL * T ** 2) else: controls.boost = 0 controls.throttle = 0 prediction = predict.ball_predict(bot, T) self.done = T < 0 if norm(self.hit_pos - prediction.pos) > 50: # Jump shot failed self.done = True bot.send_quick_chat(QuickChats.CHAT_EVERYONE, QuickChats.Apologies_Cursing) if bot.do_rendering: car_to_hit_dir = normalize(self.hit_pos - car.pos) color = bot.renderer.pink() rendering.draw_cross(bot, self.hit_pos, color, arm_length=100) rendering.draw_circle(bot, lerp(car.pos, self.hit_pos, 0.25), car_to_hit_dir, 40, 12, color) rendering.draw_circle(bot, lerp(car.pos, self.hit_pos, 0.5), car_to_hit_dir, 40, 12, color) rendering.draw_circle(bot, lerp(car.pos, self.hit_pos, 0.75), car_to_hit_dir, 40, 12, color) bot.renderer.draw_line_3d(car.pos, self.hit_pos, color) return controls
def with_aiming(self, bot, aim_cone: AimCone, time: float, dodge_hit: bool = True): # aim: | | | | # ball | bad | ok | good | # z pos: | | | | # -----------+-----------+-----------+-----------+ # too high | give | give | wait/ | # > 1200 | up | up | improve | # -----------+ - - - - - + - - - - - + - - - - - + # medium | give | improve | aerial | # | up | aim | | # -----------+ - - - - - + - - - - - + - - - - - + # soon on | improve | slow | small | # ground | aim | curve | jump | # -----------+ - - - - - + - - - - - + - - - - - + # on ground | improve | fast | fast | # | aim?? | curve | straight | # -----------+ - - - - - + - - - - - + - - - - - + # FIXME if the ball is not on the ground we treat it as 'soon on ground' in all other cases self.controls = SimpleControllerState() self.aim_is_ok = False self.waits_for_fall = False self.ball_is_flying = False self.can_shoot = False self.using_curve = False self.curve_point = None car = bot.info.my_car ball_soon = ball_predict(bot, time) car_to_ball_soon = ball_soon.pos - car.pos dot_facing_score = dot(normalize(car_to_ball_soon), normalize(car.forward)) dot_facing_score_2d = dot(normalize(xy(car_to_ball_soon)), normalize(xy(car.forward))) vel_towards_ball_soon = proj_onto_size(car.vel, car_to_ball_soon) is_facing = 0.1 < dot_facing_score is_facing_2d = 0.3 < dot_facing_score self.ball_when_hit = ball_soon if ball_soon.pos.z < 110: # The ball is on the ground if 110 < ball_soon.pos.z: # and ball_soon.vel.z <= 0: # The ball is slightly in the air, lets wait just a bit more self.waits_for_fall = True ball_landing = next_ball_landing(bot, ball_soon, size=100) time = time + ball_landing.time ball_soon = ball_predict(bot, time) car_to_ball_soon = ball_soon.pos - car.pos self.ball_when_hit = ball_soon # The ball is on the ground, are we in position for a shot? if aim_cone.contains_direction(car_to_ball_soon) and is_facing: # Straight shot self.aim_is_ok = True self.can_shoot = True if norm(car_to_ball_soon) < 400 + Ball.RADIUS and aim_cone.contains_direction(car_to_ball_soon)\ and vel_towards_ball_soon > 300: bot.drive.start_dodge(bot, towards_ball=True) offset_point = xy(ball_soon.pos) - 50 * aim_cone.get_center_dir() speed = self._determine_speed(norm(car_to_ball_soon), time) self.controls = bot.drive.towards_point(bot, offset_point, target_vel=speed, slide=True, boost_min=0, can_keep_speed=False) return self.controls elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 5): # Curve shot self.aim_is_ok = True self.using_curve = True self.can_shoot = True offset_point = xy(ball_soon.pos) - 50 * aim_cone.get_center_dir() closest_dir = aim_cone.get_closest_dir_in_cone(car_to_ball_soon) self.curve_point = curve_from_arrival_dir(car.pos, offset_point, closest_dir) self.curve_point.x = clip(self.curve_point.x, -Field.WIDTH / 2, Field.WIDTH / 2) self.curve_point.y = clip(self.curve_point.y, -Field.LENGTH / 2, Field.LENGTH / 2) if dodge_hit and norm(car_to_ball_soon) < 400 + Ball.RADIUS and angle_between(car.forward, car_to_ball_soon) < 0.5\ and aim_cone.contains_direction(car_to_ball_soon) and vel_towards_ball_soon > 300: bot.drive.start_dodge(bot, towards_ball=True) speed = self._determine_speed(norm(car_to_ball_soon), time) self.controls = bot.drive.towards_point(bot, self.curve_point, target_vel=speed, slide=True, boost_min=0, can_keep_speed=False) return self.controls else: # We are NOT in position! return None elif ball_soon.pos.z < 600 and ball_soon.vel.z <= 0: # Ball is on ground soon. Is it worth waiting? TODO if aim is bad, do a slow curve - or delete case? pass # --------------------------------------- # Ball is in the air, or going in the air if 200 < ball_soon.pos.z < 1400 and aim_cone.contains_direction(car_to_ball_soon) and is_facing_2d: # Can we hit it if we make jump shot or aerial shot? vel_f = proj_onto_size(car.vel, xy(car_to_ball_soon)) aerial = ball_soon.pos.z > 750 if vel_f > 400: # Some forward momentum is required flat_dist = norm(xy(car_to_ball_soon)) # This range should be good https://www.desmos.com/calculator/bx9imtiqi5 good_height = 0.3 * ball_soon.pos.z < flat_dist < 4 * ball_soon.pos.z if good_height: # Alternative ball positions alternatives = [ (ball_predict(bot, time * 0.8), time * 0.8), (ball_predict(bot, time * 0.9), time * 0.9), (ball_soon, time), (ball_predict(bot, time * 1.1), time * 1.1), (ball_predict(bot, time * 1.2), time * 1.2) ] for alt_ball, alt_time in alternatives: potential_small_jump_shot = JumpShotManeuver(bot, alt_ball.pos, bot.info.time + alt_time, do_second_jump=aerial) jump_shot_viable = potential_small_jump_shot.is_viable(car, bot.info.time) if jump_shot_viable: self.can_shoot = True self.aim_is_ok = True bot.maneuver = potential_small_jump_shot return bot.maneuver.exec(bot) self.ball_is_flying = True return self.controls
def with_aiming(self, bot, aim_cone: AimCone, time: float, dodge_hit: bool = True): # aim: | | | | # ball | bad | ok | good | # z pos: | | | | # -----------+-----------+-----------+-----------+ # too high | give | give | wait/ | # | up | up | improve | # -----------+ - - - - - + - - - - - + - - - - - + # medium | give | improve | aerial | # | up | aim | | # -----------+ - - - - - + - - - - - + - - - - - + # soon on | improve | slow | small | # ground | aim | curve | jump | # -----------+ - - - - - + - - - - - + - - - - - + # on ground | improve | fast | fast | # | aim?? | curve | straight | # -----------+ - - - - - + - - - - - + - - - - - + # FIXME if the ball is not on the ground we treat it as 'soon on ground' in all other cases self.controls = SimpleControllerState() self.aim_is_ok = False self.waits_for_fall = False self.ball_is_flying = False self.can_shoot = False self.using_curve = False self.curve_point = None self.ball_when_hit = None car = bot.info.my_car ball_soon = ball_predict(bot, time) car_to_ball_soon = ball_soon.pos - car.pos dot_facing_score = dot(normalize(car_to_ball_soon), normalize(car.forward)) vel_towards_ball_soon = proj_onto_size(car.vel, car_to_ball_soon) is_facing = 0 < dot_facing_score if ball_soon.pos.z < 110 or (ball_soon.pos.z < 475 and ball_soon.vel.z <= 0) or True: #FIXME Always true # The ball is on the ground or soon on the ground if 275 < ball_soon.pos.z < 475 and aim_cone.contains_direction( car_to_ball_soon): # Can we hit it if we make a small jump? vel_f = proj_onto_size(car.vel, xy(car_to_ball_soon)) car_expected_pos = car.pos + car.vel * time ball_soon_flat = xy(ball_soon.pos) diff = norm(car_expected_pos - ball_soon_flat) ball_in_front = dot(ball_soon.pos - car_expected_pos, car.vel) > 0 if bot.do_rendering: bot.renderer.draw_line_3d(car.pos, car_expected_pos, bot.renderer.lime()) bot.renderer.draw_rect_3d(car_expected_pos, 12, 12, True, bot.renderer.lime()) if vel_f > 400: if diff < 150 and ball_in_front: bot.maneuver = SmallJumpManeuver( bot, lambda b: b.info.ball.pos) if 110 < ball_soon.pos.z: # and ball_soon.vel.z <= 0: # The ball is slightly in the air, lets wait just a bit more self.waits_for_fall = True ball_landing = next_ball_landing(bot, ball_soon, size=100) time = time + ball_landing.time ball_soon = ball_predict(bot, time) car_to_ball_soon = ball_soon.pos - car.pos self.ball_when_hit = ball_soon # The ball is on the ground, are we in position for a shot? if aim_cone.contains_direction(car_to_ball_soon) and is_facing: # Straight shot self.aim_is_ok = True self.can_shoot = True if norm(car_to_ball_soon) < 240 + Ball.RADIUS and aim_cone.contains_direction(car_to_ball_soon)\ and vel_towards_ball_soon > 300: bot.drive.start_dodge(bot) offset_point = xy( ball_soon.pos) - 50 * aim_cone.get_center_dir() speed = self.determine_speed(norm(car_to_ball_soon), time) self.controls = bot.drive.go_towards_point( bot, offset_point, target_vel=speed, slide=True, boost_min=0, can_keep_speed=False) return self.controls elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 5): # Curve shot self.aim_is_ok = True self.using_curve = True self.can_shoot = True offset_point = xy( ball_soon.pos) - 50 * aim_cone.get_center_dir() closest_dir = aim_cone.get_closest_dir_in_cone( car_to_ball_soon) self.curve_point = curve_from_arrival_dir( car.pos, offset_point, closest_dir) self.curve_point.x = clip(self.curve_point.x, -Field.WIDTH / 2, Field.WIDTH / 2) self.curve_point.y = clip(self.curve_point.y, -Field.LENGTH / 2, Field.LENGTH / 2) if dodge_hit and norm(car_to_ball_soon) < 240 + Ball.RADIUS and angle_between(car.forward, car_to_ball_soon) < 0.5\ and aim_cone.contains_direction(car_to_ball_soon) and vel_towards_ball_soon > 300: bot.drive.start_dodge(bot) speed = self.determine_speed(norm(car_to_ball_soon), time) self.controls = bot.drive.go_towards_point( bot, self.curve_point, target_vel=speed, slide=True, boost_min=0, can_keep_speed=False) return self.controls else: # We are NOT in position! self.aim_is_ok = False pass else: if aim_cone.contains_direction(car_to_ball_soon): self.waits_for_fall = True self.aim_is_ok = True #self.can_shoot = False pass # Allow small aerial (wait if ball is too high) elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 4): self.ball_is_flying = True pass # Aim is ok, but ball is in the air
def exec(self, bot): pred_ball = predict.ball_predict(bot, bot.info.my_car.reach_ball_time) # On a scale from 0 to 1, how much is this a clear? clear01 = clip01( norm(bot.info.opp_goal.pos - pred_ball.pos) / Field.LENGTH)**2 ts = bot.info.team_sign right = lerp(bot.info.opp_goal.right_post, Vec3(ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0), clear01) left = lerp(bot.info.opp_goal.left_post, Vec3(-ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0), clear01) ball_to_right = right - pred_ball.pos ball_to_left = left - pred_ball.pos aim_cone = AimCone(ball_to_right, ball_to_left) shot_ctrls = bot.shoot.with_aiming(bot, aim_cone, bot.info.my_car.reach_ball_time) if bot.shoot.can_shoot: aim_cone.draw(bot.shoot.ball_when_hit.pos, b=0, r=0) if not bot.shoot.can_shoot: # We can't shoot on target if len(bot.info.teammates) != 0: # Consider passing for mate in bot.info.teammates: point_in_front_of_mate = lerp(mate.pos, bot.info.opp_goal.pos, 0.5) shot_ctrls = bot.shoot.towards( bot, point_in_front_of_mate, bot.info.my_car.reach_ball_time) if bot.shoot.can_shoot: draw.cross(point_in_front_of_mate, draw.green()) return shot_ctrls # Atba with bias I guess draw.line(bot.info.my_car.pos, pred_ball.pos, bot.renderer.red()) return bot.shoot.any_touch(bot, bot.info.my_car.reach_ball_time) # # We are out of position, start rotating back # own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5) # return bot.drive.towards_point( # bot, # own_goal, # target_vel=1460, # slide=False, # boost_min=0, # can_keep_speed=True # ) else: # Shoot! if bot.shoot.using_curve: draw.bezier([ bot.info.my_car.pos, bot.shoot.curve_point, bot.shoot.ball_when_hit.pos ]) return shot_ctrls