def exampleController(agent, target_object, target_speed): location = toLocal(target_object, agent.me) controller_state = SimpleControllerState() angle_to_ball = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(agent.me) #steering controller_state.steer = steer(angle_to_ball) #throttle if target_speed > current_speed: controller_state.throttle = 1.0 if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250: controller_state.boost = True elif target_speed < current_speed: controller_state.throttle = 0 #dodging time_difference = time.time() - agent.start if time_difference > 2.2 and distance2D(target_object, agent.me) > ( velocity2D(agent.me) * 2.5) and abs(angle_to_ball) < 1.3: agent.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = controller_state.steer controller_state.pitch = -1 return controller_state
def exec(self, bot) -> SimpleControllerState: ct = time.time() - self._start_time controls = SimpleControllerState() controls.throttle = 1 car = bot.data.my_car # Target is allowed to be a function that takes bot as a parameter. Check what it is if callable(self.target): target = self.target(bot) else: target = self.target # To boost or not to boost, that is the question car_to_target = target - car.pos vel_p = proj_onto_size(car.vel, car_to_target) angle = angle_between(car_to_target, car.forward()) controls.boost = self.boost and angle < self._boost_ang_req and vel_p < self._max_speed # States of dodge (note reversed order) # Land on ground if ct >= self._t_finishing: self._almost_finished = True if car.on_ground: self.done = True else: bot.maneuver = RecoveryManeuver(bot) self.done = True return controls elif ct >= self._t_second_unjump: # Stop pressing jump and rotate and wait for flip is done pass elif ct >= self._t_aim: if ct >= self._t_second_jump: controls.jump = 1 # Direction, yaw, pitch, roll if self.target is None: controls.roll = 0 controls.pitch = -1 controls.yaw = 0 else: target_local = dot(car_to_target, car.rot) target_local.z = 0 direction = normalize(target_local) controls.roll = 0 controls.pitch = -direction.x controls.yaw = sign(car.rot.get(2, 2)) * direction.y # Stop pressing jump elif ct >= self._t_first_unjump: pass # First jump else: controls.jump = 1 return controls
def get_output(self, packet: GameTickPacket) -> Optional[SimpleControllerState]: controller = SimpleControllerState() bot = PhysicsObject(packet.game_cars[self.agent.index].physics) if packet.game_info.seconds_elapsed > self.next_dodge_time: controller.jump = True # Calculate pitch and roll based on target and bot position # Correct yaw from (0 to pi to -pi to 0), to (0 to 2pi). # Then rotate circle by pi/2 degrees. Then flip circle vertically. yaw = bot.rotation.z if yaw < 0: yaw += 2 * math.pi yaw -= math.pi / 2 if yaw < 0: yaw += 2 * math.pi yaw = 2 * math.pi - yaw direction_to_target = (self.target - bot.location).normalised() angle_to_target = math.atan2(direction_to_target.y, direction_to_target.x) angle = angle_to_target - yaw controller.pitch = -math.cos(angle) controller.roll = math.sin(angle) if self.on_second_jump: return None else: self.on_second_jump = True self.next_dodge_time = packet.game_info.seconds_elapsed + self.dodge_time else: controller.jump = False return controller
def run(self, my_car, packet, agent): car_location = Vec3(my_car.physics.location) vertical_vel = my_car.physics.velocity.z controls = SimpleControllerState() controls.yaw = steer_toward_target( my_car, self.target, -my_car.physics.angular_velocity.z / 6) controls.boost = not (vertical_vel < 0 and car_location.z > 40 and self.tick < 20) controls.use_item = car_location.dist( Vec3(packet.game_ball.physics.location )) < 200 and relative_location( car_location, Orientation(my_car.physics.rotation), Vec3(packet.game_ball.physics.location)).z < 75 if self.tick == 0: controls.jump = True self.tick = 1 else: if self.tick <= 10: self.tick += 1 elif my_car.has_wheel_contact: agent.stack.pop() if vertical_vel < 0 and car_location.z > 40 and self.tick < 20: self.tick += 1 controls.pitch = 1 if vertical_vel < 0 and car_location.z < 40: controls.jump = True controls.pitch = -1 controls.yaw = 0 return controls
def frugalController(agent, target, speed): controller_state = SimpleControllerState() location = toLocal(target, agent.me) angle_to_target = math.atan2(location.data[1], location.data[0]) controller_state.steer = steer(angle_to_target) speed -= ((angle_to_target**2) * 300) current_speed = velocity1D(agent.me).data[1] if current_speed < speed: controller_state.throttle = 1.0 elif current_speed - 50 > speed: controller_state.throttle = -1.0 else: controller_state.throttle = 0 time_difference = time.time() - agent.start if time_difference > 2.2 and distance2D( target, agent.me) > (velocity2D(agent.me) * 2.3) and abs( angle_to_target ) < 0.9 and current_speed < speed and current_speed > 220: agent.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = controller_state.steer controller_state.pitch = -1 return controller_state
def waitController(agent, target, speed): controller_state = SimpleControllerState() loc = toLocal(target, agent.me) angle_to_target = math.atan2(loc.data[1], loc.data[0]) controller_state.steer = steer(angle_to_target) current_speed = velocity2D(agent.me) if current_speed < speed: controller_state.throttle = 1.0 elif current_speed - 50 > speed: controller_state.throttle = -1.0 else: controller_state.throttle = 0 time_diff = time.time() - agent.start if time_diff > 2.2 and distance2D(target,agent.me) > (velocity2D(agent.me)*2.3) and abs(angle_to_target) < 1 and current_speed < speed: agent.start = time.time() elif time_diff <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_diff >= 0.1 and time_diff <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_diff > 0.15 and time_diff < 1: controller_state.jump = True controller_state.yaw = controller_state.steer controller_state.pitch = -1 return controller_state
def setHalfFlip(self): #_time = self.time #if _time - self.flipTimer >= 1.9: controls = [] timers = [] control_1 = SimpleControllerState() control_1.throttle = -1 control_1.jump = True controls.append(control_1) timers.append(0.125) controls.append(SimpleControllerState()) timers.append(self.fakeDeltaTime * 4) control_3 = SimpleControllerState() control_3.throttle = -1 control_3.pitch = 1 control_3.jump = True controls.append(control_3) timers.append(self.fakeDeltaTime * 4) control_4 = SimpleControllerState() control_4.throttle = -1 control_4.pitch = -1 control_4.roll = -.1 #control_4.jump = True controls.append(control_4) timers.append(0.5) self.activeState = Divine_Mandate(self, controls, timers) self.flipTimer = self.time
def controller(self, agent): controller_state = SimpleControllerState() controller_state.pitch = 1 controller_state.throttle = -1 self.time_difference = agent.game_info.seconds_elapsed - self.start if self.time_difference <= 0.1: controller_state.jump = True elif 0.1 <= self.time_difference <= 0.15: controller_state.jump = False elif 0.15 <= self.time_difference <= 0.35: controller_state.jump = True elif 0.4 <= self.time_difference <= 1.75: controller_state.pitch = -1 if 1.2 <= self.time_difference: controller_state.throttle = 1 if 0.575 <= self.time_difference <= 1.2: controller_state.boost = True controller_state.roll = 1 if 0.7 <= self.time_difference <= 1.5: controller_state.yaw = .5 return controller_state
def flyController(self, agent): controller_state = SimpleControllerState() location = toLocal(agent.ball, agent.me) angle_to_target = np.arctan2(location[1], location[0]) location_of_target = toLocal(agent.ball, agent.me) '''steering''' if angle_to_target > .1: controller_state.steer = 1 #controller_state.yaw = 1 controller_state.throttle = 1 if distance2D(agent.ball, agent.me) < 1000: controller_state.boost = True elif angle_to_target < -.1: controller_state.steer = -1 #controller_state.yaw = -1 controller_state.throttle = 1 if distance2D(agent.ball, agent.me) < 1000: controller_state.boost = True else: controller_state.steer = controller_state.yaw = 0 controller_state.throttle = .5 if angle_to_target < .1 and angle_to_target > -.1: controller_state.boost = True else: controller_state.boost = False #jump time_difference = time.time() - agent.start if time_difference > 2.2: agent.start = time.time() elif time_difference < .1 and distance2D( agent.ball, agent.me) < 1000 and agent.ball.location[2] > 100: controller_state.jump = True print("jump") else: controller_state.jump = False if agent.ball.location[2] > agent.me.location[ 2] and agent.me.rotation[0] < verticalangle2D( agent.ball.local_location, agent.me) and agent.me.rotation[1] < angle_to_radians( 0): #change angle, this is wrong controller_state.pitch = 1 # nose up elif agent.ball.location[2] < agent.me.location[ 2] and agent.me.rotation[0] > verticalangle2D( agent.ball.local_location, agent.me) and agent.me.rotation[1] > angle_to_radians(0): controller_state.pitch = -1 # nose down #updated code broke this # if(agent.ball.location[2] > agent.me.location[2]): # print("ball above car", verticalangle2D(agent.ball.local_location, agent.me)*180/np.pi) # if(agent.ball.location[2] < agent.me.location[2]): # print("ball below car", verticalangle2D(agent.ball.local_location, agent.me)*180/np.pi) return (controller_state)
def exampleController(self, target_object, target_speed): location = target_object.local_location controller_state = SimpleControllerState() angle_to_ball = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(self.me) #team team = sign(self.team) # if team<=0: #blue #try to get the ball to orange goal #else: #orange #try to get the ball to blue goal #steering if angle_to_ball > 0.1: controller_state.steer = controller_state.yaw = 1 elif angle_to_ball < -0.1: controller_state.steer = controller_state.yaw = -1 else: controller_state.steer = controller_state.yaw = 0 #powersliding if angle_to_ball > 0.8: controller_state.handbrake = True elif angle_to_ball < -0.8: controller_state.handbrake = True else: controller_state.handbrake = False #throttle if target_speed > current_speed: controller_state.throttle = 1.0 if target_speed > 1400 and self.start > 2.2 and current_speed < 2250: controller_state.boost = True elif target_speed < current_speed: controller_state.throttle = 0 #dodging front only time_difference = time.time() - self.start if time_difference > 2.2 and distance2D( target_object.location, self.me.location) > 1000 and abs(angle_to_ball) < 1.3: self.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = controller_state.steer controller_state.pitch = -1 return controller_state
def update(self): stateController = SimpleControllerState() if not self.firstJump: self.firstJump = True stateController.jump = True self.jumpTimer = time.time() elif self.firstJump and not self.secondJump: if time.time() - self.jumpTimer < self.firstJumpHold: stateController.jump = True elif time.time() - self.jumpTimer > self.firstJumpHold and time.time() - self.jumpTimer < self.firstJumpHold +.05: stateController.boost = True stateController.jump = False else: self.secondJump = True stateController.boost = True self.jumpTimer = time.time() else: if time.time() - self.jumpTimer < self.secondJumpHold: stateController.jump = True stateController.boost = True else: self.active = False self.jump = False #self.agent.activeState = flightSystems(self.agent) if time.time() - self.jumpTimer > 0.15: pitchAngle = math.degrees(self.agent.me.rotation[1]) y_vel = self.agent.me.avelocity[1] pitch = 0 if pitchAngle > 50: if y_vel > -.4: pitch = clamp(1,-1,-1 + abs(y_vel)) elif pitchAngle < 50: if y_vel < .4: pitch = clamp(1,-1,1 - abs(y_vel)) #print(pitchAngle) if y_vel > 1: pitch = -1 elif y_vel < -1: pitch = 1 stateController.pitch = pitch #print(math.degrees(self.agent.me.rotation[1])) return stateController
def diagonal(game_info=None, x_sign=None, persistent=None): current_state = game_info.me controls = SimpleControllerState() #Set which boost we want based on team and side. if x_sign == -1: first_boost = 11 else: first_boost = 10 if game_info.boosts[first_boost].is_active: #If we haven't taken the small boost yet, drive towards it controls = GroundTurn( current_state, current_state.copy_state(pos=Vec3(0, -1000, 0))).input() controls.boost = 1 elif abs(current_state.pos.y) > 1100 and current_state.wheel_contact: controls.jump = 1 controls.boost = 1 elif abs(current_state.pos.y) > 1100 and current_state.pos.z < 40: controls.jump = 1 controls.boost = 1 elif abs(current_state.pos.y) > 500 and not current_state.double_jumped: controls = CancelledFastDodge(current_state, Vec3(1, x_sign, 0)).input() elif abs(current_state.pos.y) > 250 and not current_state.wheel_contact: if persistent.aerial_turn.action == None: persistent.aerial_turn.initialize = True target_rot = Orientation(pitch=pi / 3, yaw=current_state.rot.yaw, roll=0) persistent.aerial_turn.target_orientation = target_rot else: controls, persistent = aerial_rotation(game_info.dt, persistent) controls.boost = 1 controls.steer = x_sign #Turn into the ball elif abs(current_state.pos.y) > 235: controls.throttle = 1 controls.boost = 1 controls.steer = x_sign else: controls = FrontDodge(current_state).input() return controls, persistent
def calcController(agent, target_object, target_speed): goal_local = toLocal([0, -sign(agent.team)*FIELD_LENGTH/2, 100], agent.me) goal_angle = math.atan2(goal_local.data[1], goal_local.data[0]) loc = toLocal(target_object, agent.me) controller_state = SimpleControllerState() angle_to_targ = math.atan2(loc.data[1],loc.data[0]) current_speed = velocity2D(agent.me) distance = distance2D(target_object, agent.me) #steering controller_state.steer = steer(angle_to_targ) r = radius(current_speed) slowdown = (Vector3([0,sign(target_object.data[0])*(r+40),0])-loc.flatten()).magnitude() / cap(r*1.5,1,1200) target_speed = cap(current_speed*slowdown,0,current_speed) # throttle if agent.ball.location.data[0] == 0 and agent.ball.location.data[1] == 0: controller_state.throttle, controller_state.boost = 1, True else: controller_state.throttle, controller_state.boost = throttle(target_speed,current_speed) #dodging time_diff = time.time() - agent.start if (time_diff > 2.2 and distance <= 150) or (time_diff > 4 and distance >= 1000) and not kickoff(agent): agent.start = time.time() elif time_diff <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_diff >= 0.1 and time_diff <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_diff > 0.15 and time_diff < 1: controller_state.jump = True controller_state.yaw = math.sin(goal_angle) controller_state.pitch = -abs(math.cos(goal_angle)) if not dodging(agent) and not agent.me.grounded: target = agent.me.velocity.normalize() targ_local = to_local(target.scale(500), agent.me) return recoveryController(agent, targ_local) return controller_state
def shotController(self, agent): controller_state = SimpleControllerState() goal_location = toLocal( [0, -sign(agent.team) * FIELD_LENGTH / 2, 0], agent.me) #100 is arbitrary since math is in 2D still goal_angle = np.arctan2(goal_location[1], goal_location[0]) #print(goal_angle * 180 / np.pi) location = toLocal(agent.ball, agent.me) angle_to_target = np.arctan2(location[1], location[0]) target_speed = velocity2D( agent.ball) + (distance2D(agent.ball, agent.me) / 1.5) current_speed = velocity2D(agent.me) #steering if angle_to_target > .1: controller_state.steer = controller_state.yaw = 1 elif angle_to_target < -.1: controller_state.steer = controller_state.yaw = -1 else: controller_state.steer = controller_state.yaw = 0 #throttle if angle_to_target >= 1.4: target_speed -= 1400 else: if (target_speed > 1400 and target_speed > current_speed and agent.start > 2.2 and current_speed < 2250): controller_state.boost = True if target_speed > current_speed: controller_state.throttle = 1.0 elif target_speed < current_speed: controller_state.throttle = 1 #dodging time_difference = time.time() - agent.start if time_difference > 2.2 and distance2D(agent.ball, agent.me) <= 270: agent.start = time.time() elif time_difference <= .1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= .1 and time_difference <= .15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > .15 and time_difference < 1: controller_state.jump = True controller_state.yaw = math.sin(goal_angle) controller_state.pitch = -abs(math.cos(goal_angle)) return controller_state
def follow_controller(agent, target_object, target_speed): location = toLocal(target_object, agent.me) controller_state = SimpleControllerState() angle_to_ball = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(agent.me) pitch = agent.me.location.data[0] % math.pi roll = agent.me.location.data[2] % math.pi # Turn dem wheels controller_state.steer = cap(angle_to_ball * 5, -1, 1) print(velocity2D(agent.me)) if abs(angle_to_ball) > (math.pi / 3.): controller_state.handbrake = True else: controller_state.handbrake = False # throttle if target_speed > current_speed: controller_state.throttle = 1.0 if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250 and abs( angle_to_ball) < (math.pi / 3.): controller_state.boost = True elif target_speed < current_speed: controller_state.throttle = 0 # doging time_difference = time.time() - agent.start if time_difference > 2.2 and distance2D( target_object, agent.me) > 1000 and abs(angle_to_ball) < 1.3 and velocity2D( agent.me) > 1200: agent.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = controller_state.steer controller_state.pitch = -1 # print("target: " + str(target_speed) + ", current: " + str(current_speed)) return controller_state
def pid_steer(game_info, target_location, pid: SteerPID): """Gives a set of commands to move the car along the ground toward a target location Attributes: target_location (Vec3): The local location the car wants to aim for Returns: SimpleControllerState: the set of commands to achieve the goal """ controller_state = SimpleControllerState() ball_direction = target_location angle = -np.arctan2(ball_direction.y, ball_direction.x) if angle > np.pi: angle -= 2 * np.pi elif angle < -np.pi: angle += 2 * np.pi # adjust angle turn_rate = pid.get_steer(angle) controller_state.throttle = 1 controller_state.steer = turn_rate controller_state.jump = False return controller_state
def input(self): controller_input = SimpleControllerState() current_angle_vec = Vec3(cos(self.current_state.rot.yaw), sin(self.current_state.rot.yaw), 0) goal_angle_vec = Vec3(cos(self.goal_state.rot.yaw), sin(self.goal_state.rot.yaw), 0) vel_2d = Vec3(self.current_state.vel.x, self.current_state.vel.y, 0) if (self.current_state.pos - self.goal_state.pos).magnitude() > 400: #Turn towards target. Hold throttle until we're close enough to start stopping. controller_input = GroundTurn(self.current_state, self.goal_state).input() elif vel_2d.magnitude() < 50 and current_angle_vec.dot(goal_angle_vec) < 0: #If we're moving slowly, but not facing the right way, jump to turn in the air. #Decide which way to turn. Make sure we don't have wraparound issues. goal_x = goal_angle_vec.x goal_y = goal_angle_vec.y car_theta = self.current_state.rot.yaw #Rotated to the car's reference frame on the ground. rel_vector = Vec3((goal_x*cos(car_theta)) + (goal_y * sin(car_theta)), (-(goal_x*sin(car_theta))) + (goal_y * cos(car_theta)), 0) correction_angle = atan2(rel_vector.y, rel_vector.x) #Jump and turn to reach goal yaw. if self.current_state.wheel_contact: controller_input.jump = 1 else: controller_input.yaw = cap_magnitude(correction_angle, 1) elif self.current_state.vel.magnitude() > 400: #TODO: Proportional controller to stop in the right place controller_input.throttle = -1 else: #Wiggle to face ball #Check if the goal is ahead of or behind us, and throttle in that direction goal_angle = atan2((self.goal_state.pos - self.current_state.pos).y, (self.goal_state.pos - self.current_state.pos).x) if abs(angle_difference(goal_angle,self.current_state.rot.yaw)) > pi/2: correction_sign = -1 else: correction_sign = 1 controller_input.throttle = correction_sign #Correct as we wiggle so that we face goal_yaw. if angle_difference(self.goal_state.rot.yaw, self.current_state.rot.yaw) > 0: angle_sign = 1 else: angle_sign = -1 controller_input.steer = correction_sign*angle_sign return controller_input
def ground_controller(game_info, target_location): """Gives a set of commands to move the car along the ground toward a target location Attributes: target_location (Vec3): The local location the car wants to aim for Returns: SimpleControllerState: the set of commands to achieve the goal """ controller_state = SimpleControllerState() ball_direction = target_location distance = target_location.flat().length() angle = -math.atan2(ball_direction.y, ball_direction.x) if angle > math.pi: angle -= 2*math.pi elif angle < -math.pi: angle += 2*math.pi speed = 0.0 turn_rate = 0.0 r1 = 250 r2 = 1000 # adjust angle if angle > 0.02: turn_rate = -1.0 elif angle < -0.02: turn_rate = 1.0 else: turn_rate = 0 if distance <= r1: # if toward ball move forward if abs(angle) < math.pi / 4: speed = 1.0 else: # if not toward ball reverse, flips turn rate to adjust turn_rate = turn_rate * -1.0 speed = -1.0 # if far away, move at full speed forward elif distance >= r2: speed = 1.0 if game_info.me.velocity.length() < 2250: controller_state.boost = True # if mid range, adjust forward else: # adjust speed if game_info.me.velocity.length() < 2250: controller_state.boost = True if abs(angle) < math.pi / 2: speed = 1.0 else: speed = 0.5 controller_state.throttle = speed controller_state.steer = turn_rate controller_state.jump = False return controller_state
def shotController(agent, target_object, target_speed): goal_local = toLocal([0, -sign(agent.team) * FIELD_LENGTH / 2, 100], agent.me) goal_angle = math.atan2(goal_local.data[1], goal_local.data[0]) location = toLocal(target_object, agent.me) controller_state = SimpleControllerState() angle_to_target = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(agent.me) #steering if angle_to_target > 0.1: controller_state.steer = controller_state.yaw = 1 elif angle_to_target < -0.1: controller_state.steer = controller_state.yaw = -1 else: controller_state.steer = controller_state.yaw = 0 #throttle if angle_to_target >= 1.4: target_speed -= 1400 else: if target_speed > 1400 and target_speed > current_speed and agent.start > 2.2 and current_speed < 2250: controller_state.boost = True if target_speed > current_speed: controller_state.throttle = 1.0 elif target_speed < current_speed: controller_state.throttle = 0 #dodging time_difference = time.time() - agent.start if time_difference > 2.2 and distance2D(target_object, agent.me) <= 270: agent.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = math.sin(goal_angle) controller_state.pitch = -abs(math.cos(goal_angle)) return controller_state
def continue_dodge(self, data): ct = time.time() controller = SimpleControllerState() # target is allowed to be a function that takes data as a parameter. Check what it is if callable(self.target): target = self.target(data) else: target = self.target car_to_point = target - data.car.location vel = data.car.velocity.proj_onto_size(car_to_point) face_ang = car_to_point.ang_to(data.car.orientation.front) controller.boost = self.boost and face_ang < self._boost_ang_req and vel < self._max_speed if ct >= self.last_start_time + self._t_finishing: if data.car.wheel_contact: self.end_dodge() return fix_orientation(data) elif ct >= self.last_start_time + self._t_wait_flip: controller.throttle = 1 elif ct >= self.last_start_time + self._t_second_unjump: controller.throttle = 1 elif ct >= self.last_start_time + self._t_aim: if ct >= self.last_start_time + self._t_second_jump: controller.jump = 1 controller.throttle = 1 car_to_point_u = car_to_point.flat().normalized() car_to_point_rel = car_to_point_u.rotate_2d( -data.car.orientation.front.ang()) controller.pitch = -car_to_point_rel.x controller.yaw = car_to_point_rel.y elif ct >= self.last_start_time + self._t_first_unjump: controller.throttle = 1 elif ct >= self.last_start_time: controller.jump = 1 controller.throttle = 1 return controller
def get_controls(game_info, sub_state_machine): controls = SimpleControllerState() controls.jump = 1 controls.boost = 1 persistent = game_info.persistent return controls, persistent
def simple_front_flip_chain(): first_controller = SimpleControllerState() second_controller = SimpleControllerState() third_controller = SimpleControllerState() first_controller.jump = True first_duration = 0.1 second_controller.jump = False second_controller.pitch = -1 second_duration = 0.1 third_controller.jump = True third_controller.pitch = -1 third_duration = 0.1 return Action_chain([first_controller,second_controller,third_controller],[first_duration,second_duration, third_duration])
def shotController(agent, target_object, target_speed): goal_local = toLocal([0, -sign(agent.team)*FIELD_LENGTH/2, 100], agent.me) goal_angle = math.atan2(goal_local.data[1], goal_local.data[0]) loc = toLocal(target_object, agent.me) controller_state = SimpleControllerState() angle_to_targ = math.atan2(loc.data[1],loc.data[0]) current_speed = velocity2D(agent.me) distance = distance2D(target_object, agent.me) #steering controller_state.steer = steer(angle_to_targ) # throttle if agent.ball.location.data[0] == 0 and agent.ball.location.data[1] == 0: controller_state.throttle, controller_state.boost = 1, True else: controller_state.throttle, controller_state.boost = throttle(target_speed,current_speed) time_diff = time.time() - agent.start #dodging time_diff = time.time() - agent.start if (time_diff > 2.2 and distance <= 270) or (time_diff > 4 and distance >= 1000): agent.start = time.time() elif time_diff <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_diff >= 0.1 and time_diff <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_diff > 0.15 and time_diff < 1: controller_state.jump = True controller_state.yaw = math.sin(goal_angle) controller_state.pitch = -abs(math.cos(goal_angle)) if not dodging(agent) and not agent.me.grounded: target = agent.me.velocity.normalize() targ_local = to_local(target.scale(500), agent.me) return recoveryController(agent, targ_local) return controller_state
def update(self): controller_state = SimpleControllerState() if not self.firstJump: controller_state.throttle = -1 controller_state.jump = True controller_state.pitch = 1 self.firstJump = True self.jumpStart = time.time() return controller_state elif self.firstJump and not self.secondJump: jumpTimer = time.time() - self.jumpStart controller_state.throttle = -1 controller_state.pitch = 1 controller_state.jump = False if jumpTimer < 0.12: controller_state.jump = True if jumpTimer > 0.15: controller_state.jump = True self.jumpStart = time.time() self.secondJump = True return controller_state elif self.firstJump and self.secondJump: timer = time.time() - self.jumpStart if timer < 0.15: controller_state.throttle = -1 controller_state.pitch = 1 else: controller_state.pitch = -1 controller_state.throttle = 1 controller_state.roll = 1 if timer > .8: controller_state.roll = 0 if timer > 1.15: self.active = False return controller_state else: print( "halfFlip else conditional called in update. This should not be happening" )
def input(self): controller_input = SimpleControllerState() #Add a catch to make sure jump_height isn't higher than the max jump height #For now make sure jump_height is zero or higher than the height of the car at rest. #Zero jump height means we just jump on frame 1 if self.jump_height == 0 and self.current_state.wheel_contact: controller_input.jump = 1 #If we're not to jump_height yet, hold jump to jump higher. elif self.current_state.pos.z < self.jump_height: controller_input.jump = 1 #Turn in the right direction. if self.turn_direction == 0: raise AttributeError("turn direction should be 1 or -1") controller_input.yaw = self.turn_direction return controller_input
def shot_controller(agent, target_object, target_speed): #note target location is an obj local_goal_location = toLocal([0, FIELD_LENGTH / 2, 100], agent.car) goal_angle = math.atan2(local_goal_location.data[1], local_goal_location.data[0]) location = toLocal(target_object, agent.car) controller_state = SimpleControllerState() angle_to_target = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(agent.car) #to steer if angle_to_target > 0.1: controller_state.steer = controller_state.yaw = 1 elif angle_to_target < -0.1: controller_state.steer = controller_state.yaw = -1 else: controller_state.steer = controller_state.yaw = 0 #adjust speed if target_speed > current_speed: controller_state.throttle = 1.0 if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250: controller_state.boost = True elif target_speed < current_speed: controller_state.throttle = 0 #techniquing time_diff = time.time() - agent.start #time since last technique if time_diff > 2.2 and distance2D(target_object, agent.car) > 270: agent.start = time.time() elif time_diff <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_diff >= 0.1 and time_diff <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_diff > 0.15 and time_diff < 1: controller_state.jump = True controller_state.yaw = math.sin(goal_angle) controller_state.pitch = -abs(math.cos(goal_angle)) return controller_state
def chase_controller(agent, target_object, target_speed): #note target location is an obj location = toLocal(target_object, agent.car) controller_state = SimpleControllerState() angle_to_ball = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(agent.car) ball_path = agent.get_ball_prediction_struct( ) #next 6 seconds of ball's path print(bal_path[1]) #to steer if angle_to_ball > 0.1: controller_state.steer = controller_state.yaw = 1 elif angle_to_ball < -0.1: controller_state.steer = controller_state.yaw = -1 else: controller_state.steer = controller_state.yaw = 0 #adjust speed if target_speed > current_speed: controller_state.throttle = 1.0 if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250: controller_state.boost = True elif target_speed < current_speed: controller_state.throttle = 0 #techniquing time_diff = time.time() - agent.start #time since last technique if time_diff > 2.2 and distance2D( target_object.location, agent.car.location) > 1000 and abs(angle_to_ball) < 1.3: agent.start = time.time() elif time_diff <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_diff >= 0.1 and time_diff <= 0.15: controller_state.jump = False elif time_diff > 0.15 and time_diff < 1: controller_state.jump = True controller_state.yaw = controller_state.steer controller_state.pitch = -1 return controller_state
def shotController(agent, target_object, target_speed, goal=None): if goal == None: goal = [0, -sign(agent.team) * FIELD_LENGTH / 2, 100] goal_local = toLocal(goal, agent.me) goal_angle = math.atan2(goal_local.data[1], goal_local.data[0]) location = toLocal(target_object, agent.me) controller_state = SimpleControllerState() angle_to_target = math.atan2(location.data[1], location.data[0]) current_speed = velocity1D(agent.me).data[1] #velocity2D(agent.me) #steering controller_state.steer = steer(angle_to_target) #throttle if target_speed > 1400 and target_speed > current_speed and agent.start > 2.5 and current_speed < 2250 and agent.me.grounded == True: controller_state.boost = True if target_speed > current_speed: controller_state.throttle = 1.0 elif target_speed < current_speed: controller_state.throttle = -1.0 #dodging closing = distance2D(target_object, agent.me) / cap( -dpp(target_object, agent.ball.velocity, agent.me.location, agent.me.velocity), 1, 2300) time_difference = time.time() - agent.start if ballReady( agent) and time_difference > 2.2 and closing <= 0.8 and distance2D( agent.me, target_object) < 200: agent.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = math.sin(goal_angle) controller_state.pitch = -abs(math.cos(goal_angle)) return controller_state
def take_shot_controller(agent, target_object, target_speed): goal_local = toLocation([0, -sign(agent.team) * FIELD_LENGTH / 2, 100]) goal_angle = math.atan2(goal_local.data[1], goal_local.data[0]) pitch = agent.me.location.data[0] % math.pi roll = agent.me.location.data[2] % math.pi location = toLocation(target_object) controller_state = SimpleControllerState() angle_to_target = math.atan2(location.data[1], location.data[0]) current_speed = velocity2D(agent.me) controller_state.steer = cap(angle_to_target * 5, -1, 1) # throttle if target_speed > current_speed: controller_state.throttle = 1.0 if target_speed > 1400 and agent.start > 2.2 and current_speed < 2250: controller_state.boost = True elif target_speed < current_speed: controller_state.throttle = 0 # doging time_difference = time.time() - agent.start if time_difference > 2.2 and abs(angle_to_target) < 1.3 and velocity2D( agent.me) > 1200 and distance2D(target_object, agent.me) < 1000: agent.start = time.time() elif time_difference <= 0.1: controller_state.jump = True controller_state.pitch = -1 elif time_difference >= 0.1 and time_difference <= 0.15: controller_state.jump = False controller_state.pitch = -1 elif time_difference > 0.15 and time_difference < 1: controller_state.jump = True controller_state.yaw = cap(math.sin(goal_angle) / math.pi, -1, 1) controller_state.pitch = -1 # print("target: " + str(target_speed) + ", current: " + str(current_speed)) return controller_state
def goto(target_location, target_speed, my_car, agent, packet): car_speed = Vec3(my_car.physics.velocity).length() distance = Vec3(my_car.physics.location).flat().dist( target_location.flat()) angle = Orientation( my_car.physics.rotation).forward.ang_to(target_location - Vec3(my_car.physics.location)) controls = SimpleControllerState() controls.steer = steer_toward_target(my_car, target_location, 0) controls.yaw = steer_toward_target(my_car, target_location, -my_car.physics.angular_velocity.z / 6) controls.throttle = cap(target_speed - car_speed, -1, 1) controls.boost = (target_speed > 1410 and abs(target_speed - car_speed) > 20 and angle < 0.3) controls.handbrake = angle > 2.3 controls.jump = (1 if my_car.physics.location.y >= 0 else -1) == ( 1 if agent.team == 1 else -1 ) and abs( my_car.physics.location.y) > 5000 and my_car.physics.location.z > 200 controls.use_item = Vec3(my_car.physics.location).dist( Vec3(packet.game_ball.physics.location)) < 200 and relative_location( Vec3(my_car.physics.location), Orientation( my_car.physics.rotation), Vec3(packet.game_ball.physics.location)).z < 75 if (abs(target_speed - car_speed) > 20 and angle < 0.3 and distance > 600) and ((target_speed > 1410 and my_car.boost == 0) or 700 < car_speed < 800): agent.stack.append(wavedash(target_location)) return controls