def run_hivemind(agent: MyHivemind):
agent.debug_stack()
if agent.kickoff_flag and all(
len(drone.stack) < 1 for drone in agent.drones):
if len(agent.friends + agent.drones) == 3:
setup_3s_kickoff(agent)
elif len(agent.friends + agent.drones) == 2:
setup_2s_kickoff(agent)
else:
setup_other_kickoff(agent)
elif not agent.kickoff_flag:
for drone in agent.drones:
drones = copy(agent.drones)
drones.remove(drone)
team = agent.friends + drones
if len(drone.stack) < 1 or drone.action == Action.Shadowing:
if drone.on_side and drone.closest or agent.conceding:
push_shot(drone, agent)
if len(drone.stack) < 1:
if drone.action == Action.Going:
if any(teammate.on_side for teammate in team):
drone.push(
GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
else:
drone.push(Shadow(agent.ball.location))
drone.action = Action.Shadowing
elif drone.action == Action.Shadowing:
drone.push(Shadow(agent.ball.location))
drone.action = Action.Shadowing
elif drone.action == Action.Boost:
drone.push(Shadow(agent.ball.location))
drone.action = Action.Shadowing
def run(self, drone: CarObject, agent: MyHivemind):
# An example of pushing routines to the stack:
agent.line(Vector3(0, 0, 50), 2000 * self.vector.flatten(), color=[255, 0, 0])
agent.line(Vector3(0, 0, 50), 2000 * drone.forward.flatten(), color=[0, 255, 0])
robbies_constant = (self.vector * 1.5 * 2200 - drone.velocity * 1.5) * 2 * 1.5 ** -2
robbies_boost_constant = drone.forward.flatten().normalize().dot(robbies_constant.flatten().normalize()) > (
0.3 if not drone.airborne else 0.1)
drone.controller.boost = robbies_boost_constant and self.boost and not drone.supersonic
if self.time == -1:
elapsed = 0
self.time = agent.time
else:
elapsed = agent.time - self.time
if elapsed < self.delay:
if elapsed < self.duration:
drone.controller.jump = True
else:
drone.controller.jump = False
self.counter += 1
defaultPD(drone, self.preorientation)
elif elapsed >= self.delay and self.counter < 3:
drone.controller.jump = False
defaultPD(drone, self.preorientation)
self.counter += 1
elif elapsed < self.delay + 0.05:
drone.controller.jump = True
defaultPD(drone, self.vector)
else:
drone.pop()
drone.push(Recovery(boost=self.boost, time=agent.time))
def run(self, drone: CarObject, agent: MyHivemind):
car_to_ball, distance = (agent.ball.location - drone.location).normalize(True)
ball_to_target = (self.target - agent.ball.location).normalize()
relative_velocity = car_to_ball.dot(drone.velocity - agent.ball.velocity)
if relative_velocity != 0.0:
eta = cap(distance / cap(relative_velocity, 400, 2300), 0.0, 1.5)
else:
eta = 1.5
# If we are approaching the ball from the wrong side the car will try to only hit the very edge of the ball
left_vector = car_to_ball.cross((0, 0, 1))
right_vector = car_to_ball.cross((0, 0, -1))
target_vector = -ball_to_target.clamp(left_vector, right_vector)
final_target = agent.ball.location + (target_vector * (distance / 2))
# Some adjustment to the final target to ensure we don't try to drive through any goalposts to reach it
if abs(drone.location[1]) > 5150:
final_target[0] = cap(final_target[0], -750, 750)
agent.line(final_target - Vector3(0, 0, 100), final_target + Vector3(0, 0, 100), [255, 255, 255])
angles = defaultPD(drone, drone.local(final_target - drone.location))
defaultThrottle(drone, 2300 if distance > 1600 else 2300 - cap(1600 * abs(angles[1]), 0, 2050))
drone.controller.boost = False if drone.airborne or abs(angles[1]) > 0.3 else drone.controller.boost
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
if abs(angles[1]) < 0.05 and (eta < 0.45 or distance < 150):
drone.pop()
drone.push(Flip(drone.local(car_to_ball)))
def run_1v1(agent: MyHivemind):
agent.debug_stack()
drone = agent.drones[0]
if agent.kickoff_flag and len(drone.stack) < 1:
if abs(drone.location.x) < 250:
drone.push(CenterKickoff())
drone.action = Action.Going
elif abs(drone.location.x) < 1000:
drone.push(OffCenterKickoff())
drone.action = Action.Going
else:
drone.push(DiagonalKickoff())
drone.action = Action.Going
elif not agent.kickoff_flag:
on_side = (drone.location - agent.friend_goal.location).magnitude() < (
agent.ball.location - agent.friend_goal.location).magnitude()
if len(drone.stack) < 1:
if drone.action == Action.Going:
if on_side and (drone.location -
agent.ball.location).magnitude() < 2000:
push_shot(drone, agent)
if len(drone.stack) < 1:
drone.push(Shadow(agent.ball.location))
drone.action = Action.Shadowing
elif drone.action == Action.Shadowing:
push_shot(drone, agent)
if len(drone.stack) < 1:
drone.push(Shadow(agent.ball.location))
drone.action = Action.Shadowing
def setup_2s_kickoff(agent: MyHivemind):
x_pos = [round(drone.location.x) for drone in agent.drones]
x_pos.extend([round(friend.location.x) for friend in agent.friends])
if sorted(x_pos) == [-2048, 2048]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -2048:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 2048:
drone.push(Shadow())
drone.action = Action.Shadowing
elif sorted(x_pos) == [-256, 256]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -256:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 256:
drone.push(Shadow())
drone.action = Action.Shadowing
elif -2048 in x_pos or 2048 in x_pos:
for drone in agent.drones:
if round(abs(drone.location.x)) == 2048:
drone.push(KickOff())
drone.action = Action.Going
else:
drone.push(Shadow())
drone.action = Action.Shadowing
elif -256 in x_pos or 256 in x_pos:
for drone in agent.drones:
if round(abs(drone.location.x)) == 256:
drone.push(KickOff())
drone.action = Action.Going
else:
drone.push(Shadow())
drone.action = Action.Shadowing
def run_1v1(agent: MyHivemind):
agent.debug_stack()
drone: CarObject = agent.drones[0]
if agent.kickoff_flag and len(drone.stack) < 1:
drone.push(KickOff())
drone.action = Action.Going
elif not agent.kickoff_flag:
if len(drone.stack) < 1 or drone.action == Action.Shadowing:
if drone.on_side or agent.conceding:
shot = find_shot(drone, (agent.foe_goal.left_post, agent.foe_goal.right_post))
if shot is not None:
shot = find_shot(drone, (agent.foe_goal.left_post, agent.foe_goal.right_post))
if shot is not None:
drone.push(shot)
drone.action = Action.Going
else:
my_shot = find_any_shot(drone)
enemy_shot = find_any_shot(agent.foes[0])
if my_shot is not None:
if enemy_shot is None:
drone.push(my_shot)
drone.action = Action.Going
elif my_shot.intercept_time < enemy_shot.intercept_time or agent.desperate:
drone.push(my_shot)
drone.action = Action.Going
if len(drone.stack) < 1:
drone.push(Shadow())
drone.action = Action.Shadowing
def setup_3s_kickoff(agent: MyHivemind):
x_pos = [round(drone.location.x) for drone in agent.drones]
x_pos.extend([round(friend.location.x) for friend in agent.friends])
if sorted(x_pos) in [[-2048, -256, 2048], [-2048, 0, 2048],
[-2048, 256, 2048]]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -2048:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 2048:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
else:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
elif sorted(x_pos) == [-256, 0, 256]:
for drone in agent.drones:
if round(drone.location.x) == agent.side() * -256:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * 256:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
else:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
elif -2048 in x_pos or 2048 in x_pos:
for drone in agent.drones:
if round(abs(drone.location.x)) == 2048:
drone.push(KickOff())
drone.action = Action.Going
elif round(drone.location.x) == agent.side() * -256:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
elif round(drone.location.x) == 0:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
else:
if 0 in x_pos:
target = agent.friend_goal.location + 2 * (
agent.ball.location - agent.friend_goal.location) / 3
drone.push(Goto(target))
drone.action = Action.Cheating
else:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
def shot_valid(agent: MyHivemind,
shot: Union[AerialShot, JumpShot, Aerial],
threshold: float = 45) -> bool:
# Returns True if the ball is still where the shot anticipates it to be
# First finds the two closest slices in the ball prediction to shot's intercept_time
# threshold controls the tolerance we allow the ball to be off by
slices = agent.get_ball_prediction_struct().slices
soonest = 0
latest = len(slices) - 1
while len(slices[soonest:latest + 1]) > 2:
midpoint = (soonest + latest) // 2
if slices[midpoint].game_seconds > shot.intercept_time:
latest = midpoint
else:
soonest = midpoint
# preparing to interpolate between the selected slices
dt = slices[latest].game_seconds - slices[soonest].game_seconds
time_from_soonest = shot.intercept_time - slices[soonest].game_seconds
slopes = (Vector3(slices[latest].physics.location) -
Vector3(slices[soonest].physics.location)) * (1 / dt)
# Determining exactly where the ball will be at the given shot's intercept_time
predicted_ball_location = Vector3(
slices[soonest].physics.location) + (slopes * time_from_soonest)
# Comparing predicted location with where the shot expects the ball to be
return (shot.ball_location -
predicted_ball_location).magnitude() < threshold
def run(self, drone: CarObject, agent: MyHivemind):
target = agent.ball.location + Vector3(0, 200 * agent.side(), 0)
local_target = drone.local(target - drone.location)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
if local_target.magnitude() < 650:
drone.pop()
drone.push(Flip(drone.local(agent.foe_goal.location - drone.location)))
def push_shot(drone: CarObject, agent: MyHivemind):
left = Vector3(4200 * -agent.side(),
agent.ball.location.y + (1000 * -agent.side()), 0)
right = Vector3(4200 * agent.side(),
agent.ball.location.y + (1000 * -agent.side()), 0)
targets = {
"goal": (agent.foe_goal.left_post, agent.foe_goal.right_post),
"upfield": (left, right)
}
shots = find_hits(drone, agent, targets)
if len(shots["goal"]) > 0:
drone.clear()
drone.push(shots["goal"][0])
drone.action = Action.Going
elif len(shots["upfield"]) > 0:
drone.clear()
drone.push(shots["upfield"][0])
drone.action = Action.Going
def run(self, drone: CarObject, agent: MyHivemind):
target = Vector3(0, 3116 * agent.side(), 0)
local_target = drone.local(target - drone.location)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
if local_target.magnitude() < 400:
drone.pop()
drone.push(DiagonalKickoff())
drone.push(Flip(drone.local(agent.ball.location - drone.location)))
def run_hivemind(agent: MyHivemind):
agent.debug_stack()
if agent.kickoff_flag and all(len(drone.stack) < 1 for drone in agent.drones):
if len(agent.friends + agent.drones) == 3:
setup_3s_kickoff(agent)
elif len(agent.friends + agent.drones) == 2:
setup_2s_kickoff(agent)
else:
setup_other_kickoff(agent)
elif not agent.kickoff_flag:
for drone in agent.drones:
drones = copy(agent.drones)
drones.remove(drone)
team = agent.friends + drones
empty_stack = len(drone.stack) < 1 and drone.on_side and drone.closest
should_go = (
drone.action == Action.Shadowing) and drone.on_side and drone.closest
conceding = (agent.conceding and not any(teammate.on_side for teammate in team)) or (
agent.conceding and drone.on_side and drone.closest)
cheating = drone.action == Action.Cheating
if empty_stack or should_go or conceding or cheating:
if empty_stack or drone.stack[0].__class__.__name__ not in ["GroundShot", "JumpShot", "DoubleJump"]:
shot = find_any_shot(drone)
if shot is not None:
drone.push(shot)
drone.action = Action.Going
if len(drone.stack) < 1:
if drone.action == Action.Going:
if any(teammate.on_side for teammate in team) and drone.boost < 66:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
else:
drone.push(Shadow())
drone.action = Action.Shadowing
elif drone.action == Action.Shadowing:
if all(teammate.on_side for teammate in team) and drone.boost < 66:
drone.push(GotoBoost(closest_boost(agent, drone.location)))
drone.action = Action.Boost
else:
drone.push(Shadow())
drone.action = Action.Shadowing
elif drone.action == Action.Boost:
drone.push(Shadow())
drone.action = Action.Shadowing
def run(self, drone: CarObject, agent: MyHivemind):
if self.boost is None:
drone.pop()
return
car_to_boost = self.boost.location - drone.location
distance_remaining = car_to_boost.flatten().magnitude()
agent.line(self.boost.location - Vector3(0, 0, 500), self.boost.location + Vector3(0, 0, 500), [0, 255, 0])
if self.target is not None:
vector = (self.target - self.boost.location).normalize()
side_of_vector = sign(vector.cross((0, 0, 1)).dot(car_to_boost))
car_to_boost_perp = car_to_boost.cross((0, 0, side_of_vector)).normalize()
adjustment = car_to_boost.angle2D(vector) * distance_remaining / 3.14
final_target = self.boost.location + (car_to_boost_perp * adjustment)
car_to_target = (self.target - drone.location).magnitude()
else:
adjustment = 9999
car_to_target = 0
final_target = self.boost.location
# Some adjustment to the final target to ensure it's inside the field and
# we don't try to dirve through any goalposts to reach it
if abs(drone.location[1]) > 5150:
final_target[0] = cap(final_target[0], -750, 750)
local_target = drone.local(final_target - drone.location)
angles = defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
drone.controller.boost = self.boost.large if abs(angles[1]) < 0.3 else False
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
velocity = 1 + drone.velocity.magnitude()
if not self.boost.active or drone.boost >= 99.0 or distance_remaining < 350:
drone.pop()
elif drone.airborne:
drone.push(Recovery(self.target))
elif abs(angles[1]) < 0.05 and 600 < velocity < 2150 and (
distance_remaining / velocity > 2.0 or (adjustment < 90 and car_to_target / velocity > 2.0)):
drone.push(Flip(local_target))
def run_1v1(agent: MyHivemind):
agent.debug_stack()
drone = agent.drones[0]
if agent.kickoff_flag and len(drone.stack) < 1:
if abs(drone.location.x) < 250:
drone.push(CenterKickoff())
drone.action = Action.Going
elif abs(drone.location.x) < 1000:
drone.push(OffCenterKickoff())
drone.action = Action.Going
else:
drone.push(DiagonalKickoff())
drone.action = Action.Going
elif not agent.kickoff_flag:
if len(drone.stack) < 1 or drone.action == Action.Shadowing:
if drone.on_side or agent.conceding:
push_shot(drone, agent)
if len(drone.stack) < 1:
drone.push(Shadow(agent.ball.location))
drone.action = Action.Shadowing
def run(self, drone: CarObject, agent: MyHivemind):
if self.target is not None:
if self.target_local:
local_target = self.target
else:
local_target = drone.local((self.target - drone.location).flatten())
else:
local_target = drone.local(drone.velocity.flatten())
defaultPD(drone, local_target)
drone.controller.throttle = 1
t = (-drone.velocity.z - (
drone.velocity.z ** 2 + 2 * -650 * -(max(drone.location.z - 17.01, 0.01))) ** 0.5) / -650
if self.target is not None:
robbies_constant = (self.target.normalize() * t * 2200 - drone.velocity * t) * 2 * t ** -2
else:
robbies_constant = (drone.velocity.normalize() * t * 2200 - drone.velocity * t) * 2 * t ** -2
agent.line(drone.location, robbies_constant, color=[255, 255, 255])
robbies_boost_constant = drone.forward.normalize().dot(robbies_constant.normalize()) > 0.5
drone.controller.boost = robbies_boost_constant and self.boost and not drone.supersonic
if not drone.airborne:
drone.pop()
def run(self, drone: CarObject, agent: MyHivemind):
target = agent.friend_goal.location + (agent.ball.location - agent.friend_goal.location) / 2
car_to_target = target - drone.location
distance_remaining = car_to_target.flatten().magnitude()
agent.line(target - Vector3(0, 0, 500), target + Vector3(0, 0, 500), [255, 0, 255])
if self.vector is not None:
# See commends for adjustment in jump_shot or aerial for explanation
side_of_vector = sign(self.vector.cross((0, 0, 1)).dot(car_to_target))
car_to_target_perp = car_to_target.cross((0, 0, side_of_vector)).normalize()
adjustment = car_to_target.angle(self.vector) * distance_remaining / 3.14
final_target = target + (car_to_target_perp * adjustment)
else:
final_target = target
# Some adjustment to the final target to ensure it's inside the field and
# we don't try to drive through any goalposts to reach it
if abs(drone.location[1]) > 5150:
final_target[0] = cap(final_target[0], -750, 750)
local_target = drone.local(final_target - drone.location)
angles = defaultPD(drone, local_target, self.direction)
defaultThrottle(drone, 2300, self.direction)
drone.controller.boost = False
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
velocity = 1 + drone.velocity.magnitude()
if distance_remaining < 350:
drone.pop()
elif abs(angles[1]) < 0.05 and 600 < velocity < 2150 and distance_remaining / velocity > 2.0:
drone.push(Flip(local_target))
# TODO Halfflip
# elif abs(angles[1]) > 2.8 and velocity < 200:
# agent.push(flip(local_target, True))
elif drone.airborne:
drone.push(Recovery(target))
def push_shot(drone: CarObject, agent: MyHivemind):
left = Vector3(4200 * -agent.side(), agent.side() * 5120, 0)
right = Vector3(4200 * agent.side(), agent.side() * 5120, 0)
targets = {"goal": (agent.foe_goal.left_post, agent.foe_goal.right_post)}
if not agent.conceding:
drones = copy(agent.drones)
drones.remove(drone)
team = agent.friends + drones
for teammate in team:
a = teammate.location
b = teammate.location + 2000 * teammate.forward
local_a = drone.local(a)
angle_a = math.atan2(local_a.y, local_a.x)
if angle_a > 0:
targets["teammate" + str(team.index(teammate))] = (b, a)
else:
targets["teammate" + str(team.index(teammate))] = (a, b)
targets["upfield"] = (left, right)
shots = find_hits(drone, agent, targets)
if len(shots["goal"]) > 0:
drone.clear()
drone.push(shots["goal"][0])
drone.action = Action.Going
elif shots.get("teammate0") is not None and len(
shots.get("teammate0")) > 0:
drone.clear()
drone.push(shots["teammate0"][0])
drone.action = Action.Going
elif shots.get("teammate1") is not None and len(
shots.get("teammate1")) > 0:
drone.clear()
drone.push(shots["teammate1"][0])
drone.action = Action.Going
elif len(shots["upfield"]) > 0:
drone.clear()
drone.push(shots["upfield"][0])
drone.action = Action.Going
def run_test(agent: MyHivemind):
agent.debug_stack()
next_state = agent.test_state
if agent.test_state == TestState.Reset:
agent.test_time = agent.time
b_position = RLBot3(random.uniform(-1500, 1500),
random.uniform(2500, 3500),
random.uniform(300, 500))
b_velocity = RLBot3(random.uniform(-300,
300), random.uniform(-100, 100),
random.uniform(900, 1000))
ball_state = BallState(
physics=Physics(location=b_position,
velocity=b_velocity,
rotation=Rotator(0, 0, 0),
angular_velocity=RLBot3(0, 0, 0)))
# this just initializes the car and ball
# to different starting points each time
c_position = RLBot3(b_position.x, 0 * random.uniform(-1500, -1000), 25)
# c_position = Vector3(200, -1000, 25)
car_state = CarState(physics=Physics(location=c_position,
velocity=RLBot3(0, 800, 0),
rotation=Rotator(0, 1.6, 0),
angular_velocity=RLBot3(0, 0, 0)),
boost_amount=100)
agent.set_game_state(
GameState(ball=ball_state, cars={agent.drones[0].index:
car_state}))
next_state = TestState.Wait
elif agent.test_state == TestState.Wait:
if agent.time - agent.test_time > 0.2:
next_state = TestState.Init
elif agent.test_state == TestState.Init:
push_shot(agent.drones[0], agent)
next_state = TestState.Running
elif agent.test_state == TestState.Running:
if agent.time - agent.test_time > 5:
next_state = TestState.Reset
agent.drones[0].clear()
agent.test_state = next_state
def find_hits(drone: CarObject, agent: MyHivemind, targets):
# find_hits takes a dict of (left,right) target pairs and finds routines that could hit the ball
# between those target pairs
# find_hits is only meant for routines that require a defined intercept time/place in the future
# find_hits should not be called more than once in a given tick,
# as it has the potential to use an entire tick to calculate
# Example Useage:
# targets = {"goal":(opponent_left_post,opponent_right_post), "anywhere_but_my_net":(my_right_post,my_left_post)}
# hits = find_hits(agent,targets)
# print(hits)
# >{"goal":[a ton of jump and aerial routines,in order from soonest to latest],
# "anywhere_but_my_net":[more routines and stuff]}
hits = {name: [] for name in targets}
struct = agent.get_ball_prediction_struct()
# Begin looking at slices 0.25s into the future
# The number of slices
i = 15
while i < struct.num_slices:
# Gather some data about the slice
intercept_time = struct.slices[i].game_seconds
time_remaining = intercept_time - agent.time
if time_remaining > 0:
ball_location = Vector3(struct.slices[i].physics.location)
ball_velocity = Vector3(
struct.slices[i].physics.velocity).magnitude()
if abs(ball_location[1]) > 5250:
break # abandon search if ball is scored at/after this point
# determine the next slice we will look at, based on ball velocity (slower ball needs fewer slices)
i += 15 - cap(int(ball_velocity // 150), 0, 13)
car_to_ball = ball_location - drone.location
# Adding a True to a vector's normalize will have it also return the magnitude of the vector
direction, distance = car_to_ball.normalize(True)
# How far the car must turn in order to face the ball, for forward and reverse
forward_angle = direction.angle(drone.forward)
backward_angle = math.pi - forward_angle
# Accounting for the average time it takes to turn and face the ball
# Backward is slightly longer as typically the car is moving forward and takes time to slow down
forward_time = time_remaining - (forward_angle * 0.318)
backward_time = time_remaining - (backward_angle * 0.418)
# If the car only had to drive in a straight line, we ensure it has enough time to reach the ball
# (a few assumptions are made)
forward_flag = forward_time > 0.0 and (
distance * 1.05 / forward_time) < (
2290 if drone.boost > distance / 100 else 1400)
backward_flag = distance < 1500 and backward_time > 0.0 and (
distance * 1.05 / backward_time) < 1200
# Provided everything checks out, we begin to look at the target pairs
if forward_flag or backward_flag:
for pair in targets:
# First we correct the target coordinates to account for the ball's radius
# If swapped == True, the shot isn't possible because the ball wouldn't fit between the targets
left, right, swapped = post_correction(
ball_location, targets[pair][0], targets[pair][1])
if not swapped:
# Now we find the best direction to hit the ball in order to land it between the target points
left_vector = (left - ball_location).normalize()
right_vector = (right - ball_location).normalize()
best_shot_vector = direction.clamp(
left_vector, right_vector)
# Check to make sure our approach is inside the field
if in_field(ball_location - (200 * best_shot_vector),
1):
# The slope represents how close the car is to the chosen vector, higher = better
# A slope of 1.0 would mean the car is 45 degrees off
slope = find_slope(best_shot_vector, car_to_ball)
if forward_flag:
if ball_location[2] <= 300 and slope > 0.0:
hits[pair].append(
JumpShot(ball_location, intercept_time,
best_shot_vector, slope))
if 300 < ball_location[
2] < 600 and slope > 1.0 and (
ball_location[2] -
250) * 0.14 > drone.boost:
hits[pair].append(
AerialShot(ball_location,
intercept_time,
best_shot_vector))
elif backward_flag and ball_location[
2] <= 280 and slope > 0.25:
hits[pair].append(
JumpShot(ball_location, intercept_time,
best_shot_vector, slope, -1))
return hits
def run(self, drone: CarObject, agent: MyHivemind):
raw_time_remaining = self.intercept_time - agent.time
# Capping raw_time_remaining above 0 to prevent division problems
time_remaining = cap(raw_time_remaining, 0.01, 10.0)
car_to_ball = self.ball_location - drone.location
# whether we are to the left or right of the shot vector
side_of_shot = sign(self.shot_vector.cross((0, 0, 1)).dot(car_to_ball))
car_to_intercept = self.intercept - drone.location
car_to_intercept_perp = car_to_intercept.cross((0, 0, side_of_shot)) # perpendicular
distance_remaining = car_to_intercept.flatten().magnitude()
speed_required = distance_remaining / time_remaining
# When still on the ground we pretend gravity doesn't exist, for better or worse
acceleration_required = backsolve(self.intercept, drone, time_remaining, 0 if self.jump_time == 0 else 325)
local_acceleration_required = drone.local(acceleration_required)
# The adjustment causes the car to circle around the dodge point in an effort to line up with the shot vector
# The adjustment slowly decreases to 0 as the bot nears the time to jump
adjustment = car_to_intercept.angle(self.shot_vector) * distance_remaining / 1.57 # size of adjustment
adjustment *= (cap(self.jump_threshold - (acceleration_required[2]), 0.0,
self.jump_threshold) / self.jump_threshold) # factoring in how close to jump we are
# we don't adjust the final target if we are already jumping
final_target = self.intercept + ((car_to_intercept_perp.normalize() * adjustment) if self.jump_time == 0 else 0)
# Some extra adjustment to the final target to ensure it's inside the field and
# we don't try to drive through any goalposts to reach it
if abs(drone.location[1] > 5150):
final_target[0] = cap(final_target[0], -750, 750)
local_final_target = drone.local(final_target - drone.location)
# drawing debug lines to show the dodge point and final target (which differs due to the adjustment)
agent.line(drone.location, self.intercept)
agent.line(self.intercept - Vector3(0, 0, 100), self.intercept + Vector3(0, 0, 100), [255, 0, 0])
agent.line(final_target - Vector3(0, 0, 100), final_target + Vector3(0, 0, 100), [0, 255, 0])
angles = defaultPD(drone, local_final_target)
if self.jump_time == 0:
defaultThrottle(drone, speed_required)
drone.controller.boost = False if abs(angles[1]) > 0.3 or drone.airborne else drone.controller.boost
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
if acceleration_required[2] > self.jump_threshold:
# Switch into the jump when the upward acceleration required reaches our threshold,
# hopefully we have aligned already...
self.jump_time = agent.time
else:
time_since_jump = agent.time - self.jump_time
# While airborne we boost if we're within 30 degrees of our local acceleration requirement
if drone.airborne and local_acceleration_required.magnitude() * time_remaining > 100:
angles = defaultPD(drone, local_acceleration_required)
if abs(angles[0]) + abs(angles[1]) < 0.5:
drone.controller.boost = True
if self.counter == 0 and (time_since_jump <= 0.2 and local_acceleration_required[2] > 0):
# hold the jump button up to 0.2 seconds to get the most acceleration from the first jump
drone.controller.jump = True
elif time_since_jump > 0.2 and self.counter < 3:
# Release the jump button for 3 ticks
drone.controller.jump = False
self.counter += 1
elif local_acceleration_required[2] > 300 and self.counter == 3:
# the acceleration from the second jump is instant, so we only do it for 1 frame
drone.controller.jump = True
drone.controller.pitch = 0
drone.controller.yaw = 0
drone.controller.roll = 0
self.counter += 1
if raw_time_remaining < -0.25 or not shot_valid(agent, self):
drone.pop()
drone.push(Recovery())
def run(self, drone: CarObject, agent: MyHivemind):
raw_time_remaining = self.intercept_time - agent.time
# Capping raw_time_remaining above 0 to prevent division problems
time_remaining = cap(raw_time_remaining, 0.001, 10.0)
car_to_ball = self.ball_location - drone.location
# whether we are to the left or right of the shot vector
side_of_shot = sign(self.shot_vector.cross((0, 0, 1)).dot(car_to_ball))
car_to_dodge_point = self.dodge_point - drone.location
car_to_dodge_perp = car_to_dodge_point.cross((0, 0, side_of_shot)) # perpendicular
distance_remaining = car_to_dodge_point.magnitude()
speed_required = distance_remaining / time_remaining
acceleration_required = backsolve(self.dodge_point, drone, time_remaining, 0 if not self.jumping else 650)
local_acceleration_required = drone.local(acceleration_required)
# The adjustment causes the car to circle around the dodge point in an effort to line up with the shot vector
# The adjustment slowly decreases to 0 as the bot nears the time to jump
adjustment = car_to_dodge_point.angle(self.shot_vector) * distance_remaining / 2.0 # size of adjustment
adjustment *= (cap(self.jump_threshold - (acceleration_required[2]), 0.0,
self.jump_threshold) / self.jump_threshold) # factoring in how close to jump we are
# we don't adjust the final target if we are already jumping
final_target = self.dodge_point + (
(car_to_dodge_perp.normalize() * adjustment) if not self.jumping else 0) + Vector3(0, 0, 50)
# Ensuring our target isn't too close to the sides of the field,
# where our car would get messed up by the radius of the curves
# Some adjustment to the final target to ensure it's inside the field and
# we don't try to dirve through any goalposts to reach it
if abs(drone.location[1]) > 5150:
final_target[0] = cap(final_target[0], -750, 750)
local_final_target = drone.local(final_target - drone.location)
# drawing debug lines to show the dodge point and final target (which differs due to the adjustment)
agent.line(drone.location, self.dodge_point)
agent.line(self.dodge_point - Vector3(0, 0, 100), self.dodge_point + Vector3(0, 0, 100), [255, 0, 0])
agent.line(final_target - Vector3(0, 0, 100), final_target + Vector3(0, 0, 100), [0, 255, 0])
# Calling our drive utils to get us going towards the final target
angles = defaultPD(drone, local_final_target, self.direction)
defaultThrottle(drone, speed_required, self.direction)
agent.line(drone.location, drone.location + (self.shot_vector * 200), [255, 255, 255])
drone.controller.boost = False if abs(angles[1]) > 0.3 or drone.airborne else drone.controller.boost
drone.controller.handbrake = True if abs(
angles[1]) > 2.3 and self.direction == 1 else drone.controller.handbrake
if not self.jumping:
if raw_time_remaining <= 0.0 or (speed_required - 2300) * time_remaining > 45 or not shot_valid(agent,
self):
# If we're out of time or not fast enough to be within 45 units of target at the intercept time, we pop
drone.pop()
if drone.airborne:
drone.push(Recovery())
elif local_acceleration_required[2] > self.jump_threshold \
and local_acceleration_required[2] > local_acceleration_required.flatten().magnitude():
# Switch into the jump when the upward acceleration required reaches our threshold,
# and our lateral acceleration is negligible
self.jumping = True
else:
if (raw_time_remaining > 0.2 and not shot_valid(agent, self, 150)) or raw_time_remaining <= -0.9 or (
not drone.airborne and self.counter > 0):
drone.pop()
drone.push(Recovery())
elif self.counter == 0 and local_acceleration_required[2] > 0.0 and raw_time_remaining > 0.083:
# Initial jump to get airborne + we hold the jump button for extra power as required
drone.controller.jump = True
elif self.counter < 3:
# make sure we aren't jumping for at least 3 frames
drone.controller.jump = False
self.counter += 1
elif 0.1 >= raw_time_remaining > -0.9:
# dodge in the direction of the shot_vector
drone.controller.jump = True
if not self.dodging:
vector = drone.local(self.shot_vector)
self.p = abs(vector[0]) * -sign(vector[0])
self.y = abs(vector[1]) * sign(vector[1]) * self.direction
self.dodging = True
# simulating a deadzone so that the dodge is more natural
drone.controller.pitch = self.p if abs(self.p) > 0.2 else 0
drone.controller.yaw = self.y if abs(self.y) > 0.3 else 0