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 find_landing_orientation(car: Car) -> Mat33:
# FIXME: This uses a cheap approximation of the walls to find landing orientation
obj = DummyObject(car)
prev_pos = obj.pos
for i in range(100):
predict.fall(obj, 0.1)
# Checking for intersections
for plane in Field.SIDE_WALLS_AND_GROUND:
if intersects_plane(prev_pos, obj.pos, plane):
# Bingo!
fall_dir = normalize(obj.pos - prev_pos)
left = -cross(fall_dir, plane.normal)
forward = -cross(plane.normal, left)
return Mat33.from_columns(forward, left, plane.normal)
prev_pos = obj.pos
# No wall/ground intersections found in fall
# Default to looking in direction of velocity, but upright
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def get_goto_point(self, bot, src, point):
point = xy(point)
desired_dir = self.get_center_dir()
desired_dir_inv = -1 * desired_dir
car_pos = xy(src)
point_to_car = car_pos - point
ang_to_desired_dir = angle_between(desired_dir_inv, point_to_car)
ANG_ROUTE_ACCEPTED = math.pi / 4.3
can_go_straight = abs(ang_to_desired_dir) < self.span_size() / 2.0
can_with_route = abs(
ang_to_desired_dir) < self.span_size() / 2.0 + ANG_ROUTE_ACCEPTED
point = point + desired_dir_inv * 50
if can_go_straight:
return point, 1.0
elif can_with_route:
ang_to_right = abs(angle_between(point_to_car,
-1 * self.right_dir))
ang_to_left = abs(angle_between(point_to_car, -1 * self.left_dir))
closest_dir = self.right_dir if ang_to_right < ang_to_left else self.left_dir
goto = curve_from_arrival_dir(car_pos, point, closest_dir)
goto.x = clip(goto.x, -Field.WIDTH / 2, Field.WIDTH / 2)
goto.y = clip(goto.y, -Field.LENGTH / 2, Field.LENGTH / 2)
draw.line(car_pos, goto, draw.color(150, 150, 150))
draw.line(point, goto, draw.color(150, 150, 150))
draw.bezier([car_pos, goto, point], draw.grey())
return goto, 0.5
else:
return None, 1
def find_landing_orientation(car: Car, num_points: int) -> Mat33:
"""
dummy = DummyObject(car)
trajectory = [Vec3(dummy.pos)]
for i in range(0, num_points):
fall(dummy, 0.0333) # Apply physics and let car fall through the air
trajectory.append(Vec3(dummy.pos))
up = dummy.pitch_surface_normal()
if norm(up) > 0.0 and i > 10:
up = normalize(up)
forward = normalize(dummy.vel - dot(dummy.vel, up) * up)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
return Mat33(car.rot)
"""
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def find_landing_orientation(car: Car) -> Mat33:
# FIXME: If we knew the arena's mesh we could test if we are landing on a wall or something
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = car.pos - ball.pos
bouncing_b = ball.pos.z > 130 or abs(ball.vel.z) > 300
if not bouncing_b:
return 0
dist_01 = clip01(1 - norm(car_to_ball) / 3000)
head_dir = lerp(Vec3(0, 0, 1), car.forward, 0.13)
ang = angle_between(head_dir, car_to_ball)
ang_01 = clip01(1 - ang / (math.pi / 2))
xy_speed_delta_01 = lin_fall(norm(xy(car.vel - ball.vel)), 800)
obj_bonus = {
Objective.UNKNOWN: 0.8,
Objective.GO_FOR_IT: 1.0,
Objective.FOLLOW_UP: 0,
Objective.ROTATING: 0,
Objective.SOLO: 1.0,
}[car.objective]
return obj_bonus * clip01(xy_speed_delta_01 * ang_01 * dist_01 +
self.is_dribbling * self.extra_utility_bias)
def find_landing_orientation(car: Car, num_points: int) -> Mat33:
dummy = DummyObject(car)
for i in range(0, num_points):
fall(dummy,
0.0333) # Apply physics and let car fall through the air
if i > 5 and sdf_contains(dummy.pos):
up = normalize(sdf_normal(dummy.pos))
left = cross(normalize(dummy.vel), up)
forward = cross(up, left)
return Mat33.from_columns(forward, left, up)
forward = normalize(xy(
car.vel)) if norm(xy(car.vel)) > 20 else car.forward
up = Vec3(z=1)
left = cross(up, forward)
return Mat33.from_columns(forward, left, up)
def time_till_reach_ball(car, ball):
""" Rough estimate about when we can reach the ball in 2d. """
car_to_ball = xy(ball.pos - car.pos)
dist = norm(car_to_ball) - Ball.RADIUS / 2
vel_c_f = proj_onto_size(car.vel, car_to_ball)
vel_b_f = proj_onto_size(ball.vel, car_to_ball)
vel_c_amp = lerp(vel_c_f, norm(car.vel), 0.58)
vel_f = vel_c_amp - vel_b_f
dist_long_01 = clip01(dist / 10_000.0)
time_normal = dist / max(220, vel_f)
time_long = dist / max(norm(car.vel), 1410)
time = lerp(time_normal, time_long, dist_long_01)
arrive_time = time * 0.85
# Combine slightly with old prediction to negative rapid changes
result = lerp(arrive_time, car.last_expected_time_till_reach_ball, 0.22)
car.last_expected_time_till_reach_ball = arrive_time
return result
def exec(self, bot):
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = ball.pos - car.pos
ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
own_goal_to_ball = ball.pos - bot.info.own_goal
dist = norm(car_to_ball)
offence = ball.pos.y * bot.info.team_sign < 0
dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
dot_own = dot(car_to_ball, own_goal_to_ball)
right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
if right_side_of_ball:
# Aim cone
dir_to_post_1 = (bot.info.enemy_goal +
Vec3(3800, 0, 0)) - bot.info.ball.pos
dir_to_post_2 = (bot.info.enemy_goal +
Vec3(-3800, 0, 0)) - bot.info.ball.pos
cone = AimCone(dir_to_post_1, dir_to_post_2)
cone.get_goto_point(bot, car.pos, bot.info.ball.pos)
if bot.do_rendering:
cone.draw(bot, bot.info.ball.pos)
# Chase ball
return bot.drive.go_towards_point(bot,
xy(ball.pos),
2000,
True,
True,
can_dodge=dist > 2200)
else:
# Go home
return bot.drive.go_towards_point(bot, bot.info.own_goal_field,
2000, True, True)
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 towards_point(self,
bot,
point: Vec3,
target_vel=1430,
slide=False,
boost_min=101,
can_keep_speed=True,
can_dodge=True,
wall_offset_allowed=125) -> SimpleControllerState:
REQUIRED_ANG_FOR_SLIDE = 1.65
REQUIRED_VELF_FOR_DODGE = 1100
car = bot.info.my_car
# Dodge is done
if self.dodge is not None and self.dodge.done:
self.dodge = None
self.last_dodge_end_time = bot.info.time
# Continue dodge
elif self.dodge is not None:
self.dodge.target = point
return self.dodge.exec(bot)
# Begin recovery
if not car.on_ground:
bot.maneuver = RecoveryManeuver()
return self.controls
# Get down from wall by choosing a point close to ground
if not is_near_wall(point, wall_offset_allowed) and angle_between(
car.up, Vec3(0, 0, 1)) > math.pi * 0.31:
point = lerp(xy(car.pos), xy(point), 0.5)
# If the car is in a goal, avoid goal posts
self._avoid_goal_post(bot, point)
car_to_point = point - car.pos
# The vector from the car to the point in local coordinates:
# point_local.x: how far in front of my car
# point_local.y: how far to the left of my car
# point_local.z: how far above my car
point_local = dot(point - car.pos, car.rot)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local.y, point_local.x)
dist = norm(point_local)
vel_f = proj_onto_size(car.vel, car.forward)
vel_towards_point = proj_onto_size(car.vel, car_to_point)
# Start dodge
if can_dodge and abs(angle) <= 0.02 and vel_towards_point > REQUIRED_VELF_FOR_DODGE\
and dist > vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = DodgeManeuver(bot, point)
# Start half-flip
elif can_dodge and abs(angle) >= 3 and vel_towards_point < 0\
and dist > -vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = HalfFlipManeuver(bot,
boost=car.boost > boost_min + 10)
# Is point right behind? Maybe reverse instead
if -100 < point_local.x < 0 and abs(point_local.y) < 50:
#bot.print("Reversing?")
pass
# Is in turn radius deadzone?
tr = turn_radius(abs(vel_f + 50)) # small bias
tr_side = sign(angle)
tr_center_local = Vec3(0, tr * tr_side, 10)
point_is_in_turn_radius_deadzone = norm(point_local -
tr_center_local) < tr
# Draw turn radius deadzone
if car.on_ground and False:
tr_center_world = car.pos + dot(car.rot, tr_center_local)
tr_center_world_2 = car.pos + dot(car.rot, -1 * tr_center_local)
color = draw.orange()
draw.circle(tr_center_world, car.up, tr, color)
draw.circle(tr_center_world_2, car.up, tr, color)
if point_is_in_turn_radius_deadzone:
# Hard turn
self.controls.steer = sign(angle)
self.controls.boost = False
self.controls.throttle = 0 if vel_f > 150 else 0.1
if point_local.x < 110 and point_local.y < 400 and norm(
car.vel) < 300:
# Brake or go backwards when the point is really close but not in front of us
self.controls.throttle = clip(-0.25 + point_local.x / -110.0,
0, -1)
self.controls.steer = -0.5 * sign(angle)
else:
# Should drop speed or just keep up the speed?
if can_keep_speed and target_vel < vel_towards_point:
target_vel = vel_towards_point
else:
# Small lerp adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.1)
# Turn and maybe slide
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
if slide and abs(angle) > REQUIRED_ANG_FOR_SLIDE:
self.controls.handbrake = True
self.controls.steer = sign(angle)
else:
self.controls.handbrake = False
# Overshoot target vel for quick adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Find appropriate throttle/boost
if vel_towards_point < target_vel:
self.controls.throttle = 1
if boost_min < car.boost and vel_towards_point + 80 < target_vel and target_vel > 1400 \
and not self.controls.handbrake and is_heading_towards(angle, dist):
self.controls.boost = True
else:
self.controls.boost = False
else:
vel_delta = target_vel - vel_towards_point
self.controls.throttle = clip(0.2 + vel_delta / 500, 0, -1)
self.controls.boost = False
if self.controls.handbrake:
self.controls.throttle = min(0.4, self.controls.throttle)
# Saved if something outside calls start_dodge() in the meantime
self.last_point = point
return self.controls
def update(self, bot):
ball = bot.info.ball
# Find closest foe to ball
self.opp_closest_to_ball, self.opp_closest_to_ball_dist = argmin(bot.info.opponents, lambda opp: norm(opp.pos - ball.pos))
# Possession and on/off-site
self.car_with_possession = None
self.ally_with_possession = None
self.opp_with_possession = None
for car in bot.info.cars:
# Effective position
car.effective_pos = car.pos + xy(car.vel) * 0.8
# On site
car_to_ball = ball.pos - car.pos
car_to_ball_unit = normalize(car_to_ball)
car.onsite = dot(Vec3(y=-car.team_sign), car_to_ball_unit)
# Reach ball time
car.reach_ball_time = predict.time_till_reach_ball(car, ball)
reach01 = 1 - 0.9 * lin_fall(car.reach_ball_time, 4) ** 0.5
# Possession
point_in_front = car.pos + car.vel * 0.5
ball_point_dist = norm(ball.pos - point_in_front)
dist01 = 1000 / (1000 + ball_point_dist) # Halved after 1000 uu of dist, 1/3 at 2000
in_front01 = (dot(car.forward, car_to_ball_unit) + 1) / 2.0
car.possession = dist01 * in_front01 * reach01
if self.car_with_possession is None or car.possession > self.car_with_possession.possession:
self.car_with_possession = car
if car.team == bot.team and (self.ally_with_possession is None or car.possession > self.ally_with_possession.possession):
self.ally_with_possession = car
if car.team != bot.team and (self.opp_with_possession is None or car.possession > self.opp_with_possession.possession):
self.opp_with_possession = car
# Objectives
if len(bot.info.team_cars) == 1:
# No team mates. No roles
bot.info.my_car.objective = bot.info.my_car.last_objective = Objective.SOLO
return
for car in bot.info.cars:
car.last_objective = car.objective
car.objective = Objective.UNKNOWN
attacker, attacker_score = argmax(bot.info.team_cars,
lambda ally: ((1.0 if ally.last_objective == Objective.GO_FOR_IT else 0.73)
* ease_out(0.2 + 0.8 * ally.boost / 100, 2) # 50 boost is 0.85, 0 boost is 0.2
* ally.possession
* ally.got_it_according_to_quick_chat_01(bot.info.time)
* (1.0 if ally.onsite else 0.5)
* (0 if ally.is_demolished else 1)))
attacker.objective = Objective.GO_FOR_IT
self.ideal_follow_up_pos = xy(ball.pos + bot.info.own_goal.pos) * 0.5
follower, follower_score = argmax([ally for ally in bot.info.team_cars if ally.objective == Objective.UNKNOWN],
lambda ally: (1.0 if ally.last_objective == Objective.FOLLOW_UP else 0.73)
* ease_out(0.2 * 0.8 * ally.boost / 100, 2)
* (1 + ally.onsite / 2)
* lin_fall(norm(ally.effective_pos - self.ideal_follow_up_pos), 3000)
* (0 if ally.is_demolished else 1))
if follower is not None:
follower.objective = Objective.FOLLOW_UP
for car in bot.info.team_cars:
if car.objective == Objective.UNKNOWN:
car.objective = Objective.ROTATING
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