def update(self, packet: GameTickPacket):
self.car_info = packet.game_cars[self.index]
physics = self.car_info.physics
self.position = Vec3(physics.location)
self.velocity = Vec3(physics.velocity)
self.angular_velocity = Vec3(physics.angular_velocity)
self.orientation = Orientation(physics.rotation)
def __init__(self, packet: GameTickPacket = None, phys=None, time=0):
super().__init__()
self.position = Vec3()
self.velocity: Vec3 = Vec3()
self.angular_velocity = Vec3()
self.time = time
self.update(packet, phys)
def update(self, packet=None, phys=None):
if packet is not None:
self.latest_touch = packet.game_ball.latest_touch
phys = packet.game_ball.physics
self.position = Vec3(phys.location)
self.velocity = Vec3(phys.velocity)
self.angular_velocity = Vec3(phys.angular_velocity)
def __init__(self, position: Vec3 = None, velocity: Vec3 = None):
if position is None:
position = Vec3(0)
if velocity is None:
velocity = Vec3(0)
super().__init__(position)
self.velocity = velocity
def __init__(self, team: int, field_info_packet: FieldInfoPacket):
orientation = Orientation(Vec3(0))
orientation.up = Vec3(0, 0, 1)
orientation.right = Vec3(1 if team else -1, 0, 0)
orientation.forward = Vec3(0, -1 if team else 1, 0)
super().__init__(orientation=orientation)
self.boosts = []
self._init_boosts(field_info_packet)
self._init_goals()
def update(self, packet: GameTickPacket = None, phys=None):
if packet is not None:
self.latest_touch = packet.game_ball.latest_touch
phys = packet.game_ball.physics
self.position = Vec3(phys.location)
self.velocity = Vec3(phys.velocity)
self.angular_velocity = Vec3(phys.angular_velocity)
if self.z - self.radius < 2:
self.roll_counter += 1
else:
self.roll_counter = 0
def line_flat(start: Vec3, end: Vec3, color: str = ""):
"""Draw a line in 3D space which is confined to ground level (z=20 units, to
prevent the line being hidden by grass or other ground decorations).
:param start: start location
:param end: end location
:param color: string naming the color
:return: None
"""
renderer.draw_line_3d(start.flat() + flat_z,
end.flat() + flat_z, get_color(color))
def __init__(
self,
position: Vec3 = 0,
velocity: Vec3 = 0,
angular_velocity: Vec3 = 0,
orientation: Orientation = None,
):
super().__init__(position, velocity)
self.angular_velocity = Vec3(angular_velocity)
if orientation is None:
orientation = Orientation(Vec3())
self.orientation = orientation
def init_goals(self):
goal_width = 1786
self.opp_goal_center = Location(5120 * self.forward + Vec3(0, 0, 320))
self.own_goal_center = Location(5120 * self.backward + Vec3(0, 0, 320))
self.own_left_post = Location(
self.own_goal_center + (goal_width / 2) * self.left
)
self.own_right_post = Location(
self.own_goal_center + (goal_width / 2) * self.right
)
self.opp_left_post = Location(
self.opp_goal_center + (goal_width / 2) * self.right
)
self.opp_right_post = Location(
self.opp_goal_center + (goal_width / 2) * self.left
)
def next_bounce(self, game_time: float = 0) -> Ball:
"""Return the first bounce after the specified match time. If there is no bounce
in the predicted ball path, return the last predicted moment.
"""
# Todo: this is worth optimizing (tested)
for i in range(1, self.prediction.num_slices):
dv = Vec3(self.prediction.slices[i].physics.velocity) - Vec3(
self.prediction.slices[i - 1].physics.velocity)
if i + 1 == self.prediction.num_slices or (
self.prediction.slices[i].game_seconds > game_time
and dv.length() > self.bounce_threshold):
ball = Ball(
phys=self.prediction.slices[i].physics,
time=self.prediction.slices[i].game_seconds,
)
ball.dv = dv
return ball
def path(points, line_color="", point_color=""):
if point_color == "":
point_color = line_color
prev_pt = None
h = Vec3(z=20)
for pt in points:
if prev_pt is not None:
line_3d(prev_pt + h, pt + h, line_color)
point(pt, size=10, color=point_color)
prev_pt = pt
def analyze(self, max_ms: float = 2):
stop_ns = perf_counter_ns() + max_ms * 1e6
while self.slices_analyzed < self.prediction.num_slices:
current_slice = self.prediction.slices[self.slices_analyzed]
if self.slices_analyzed > 0:
previous_slice = self.prediction.slices[self.slices_analyzed -
1]
# See if the ball bounced:
if len(self.bounces) < self.max_bounces:
v1 = Vec3(current_slice.physics.velocity)
v2 = Vec3(previous_slice.physics.velocity)
if (v1 - v2).length() > self.bounce_threshold:
self.bounces.append(
(self.slices_analyzed - 1, v1 - v2))
if self.roll_time is None:
if abs(current_slice.physics.velocity.z
) < self.bounce_threshold / 2:
if current_slice.physics.location.z - Ball.radius < 30:
self.roll_time = self.slices_analyzed
self.slices_analyzed += 1
if perf_counter_ns() > stop_ns:
return
def line(this_line: Line, color: str = "", bump_color: str = ""):
if bump_color == "":
bump_color = color
bumps = 0
bump_spd = 5000
length = 20000
height = Vec3(z=20)
start = height + this_line.base_point - this_line.direction * length / 2
end = height + this_line.base_point + this_line.direction * length / 2
line_3d(start, end, color)
for i in range(bumps):
bump_period = length / (bumps * bump_spd)
t = (i + (time.time() / bump_period) % 1) * length / bumps
point(start + t * this_line.direction, size=7, color=bump_color)
def line(line: Line, color: str = "", bump_color: str = ""):
if bump_color == "":
bump_color = color
bumps = 5
bump_spd = 5000
length = 20000
bump_period = length / (bumps * bump_spd)
height = Vec3(z=20)
start = line.pos - line.dir * length / 2 + height
end = line.pos + line.dir * length / 2 + height
line_3d(start, end, color)
for i in range(bumps):
t = (i + (time.time() / bump_period) % 1) * length / bumps
point(start + t * line.dir, size=7, color=bump_color)
def check_prediction(self, packet: GameTickPacket):
"""Check the predicted ball against the actual current one."""
actual_ball_velocity = Vec3(packet.game_ball.physics.velocity)
# Advance to the current game time in our prediction structure:
while self.prediction.slices[self.index_now +
1].game_seconds <= self.game_time:
self.index_now += 1
if self.index_now >= self.prediction.num_slices:
self.valid = False
return
# Make sure we're still close to the reality:
self.valid = (actual_ball_velocity -
self.prediction.slices[self.index_now].physics.velocity
).length() < self.accuracy_threshold_velocity
def steer_to(self, target: Vec3, no_handbrake=False):
halt_sec = 0.15 # How long (estimated) it takes to halt a turn
car = Match.agent_car
if car.forward_speed >= 0:
err = car.yaw_to(target)
else:
err = -car.yaw_to(target + 2 * target.to(car))
if abs(err) < 0.01:
steer = 0
elif abs(err) < 0.05:
steer = copysign(0.2, err)
else:
steer = copysign(1, err)
if car.yaw_rate != 0:
if 0 < err / car.yaw_rate < halt_sec:
steer = -steer
if err / car.yaw_rate > 2 * halt_sec and not no_handbrake:
self.handbrake()
else:
self.handbrake(False)
self.steer(steer)
def ndot(v1: Vec3, v2: Vec3) -> float:
return 0.5 + v1.ndot(v2) / 2
If any other string (or no string) is given, the default `white` will be used.
"""
import time
from typing import List
from rlbot.utils.rendering.rendering_manager import RenderingManager
from vitamins.geometry import Vec3, Line
renderer: RenderingManager = None
colors = {}
white = None
flat_z = Vec3(z=20)
def set_renderer(rd: RenderingManager):
global renderer, white
renderer = rd
def get_color(name: str = ""):
return getattr(renderer, name, renderer.white)()
def line_3d(start: Vec3, end: Vec3, color: str = ""):
"""Draw a 3D line between two locations with the given color.
:param start: start location
def score(self, bot, dir=None):
if dir is None:
dir = bot.field.fwd
self.velocity = dir * 2300
self.position = bot.field.center + 5000 * dir + Vec3(z=500)
self.reset(bot)
def line_flat(vec1: Vec3, vec2: Vec3, color: str = ""):
renderer.draw_line_3d(vec1.flat() + flat_z,
vec2.flat() + flat_z, get_color(color))
def position(self) -> Vec3:
return Vec3(self.x, self.y, self.z)