class HalfFlip:
def __init__(self, car):
self.timer = 0
self.car = car
self.direction = vec3(car.forward() * -1)
self.target = self.direction * 1000 + self.car.location
self.aerial_turn = AerialTurn(car)
self.aerial_turn.target = look_at(self.direction, vec3(0, 0, 1))
self.controls = SimpleControllerState()
self.finished = False
def step(self, dt: float):
self.controls = SimpleControllerState()
self.aerial_turn.step(dt)
aerial_turn_controls = self.aerial_turn.controls
if self.timer < 0.7:
self.controls.jump = True
if 0.075 < self.timer < 0.1:
self.controls.jump = False
self.controls.pitch = (-1 if self.timer > 0.425 else 1)
self.controls.roll = aerial_turn_controls.roll
else:
self.controls = aerial_turn_controls
if (self.car.on_ground and self.timer > 0.25) or self.timer > 1.1:
self.finished = True
self.controls.boost = (dot(self.car.forward(), self.direction) > 0.8)
self.timer += dt
class Hover:
"""
PD controller for hovering in the air
"""
P = 1.8
D = 2.5
def __init__(self, car: Car):
self.turn = AerialTurn(car)
self.target: vec3 = None
self.car: Car = car
self.up: vec3 = None
self.controls: Input = Input()
def step(self, dt):
delta_target = self.target - self.car.position
target_direction = normalize(
vec3((delta_target[0]) * self.P - self.car.velocity[0] * self.D,
(delta_target[1]) * self.P - self.car.velocity[1] * self.D,
1000))
self.turn.target = look_at(target_direction, self.up)
self.turn.step(dt)
self.controls = self.turn.controls
self.controls.boost = 0
# tap boost to keep height
if (delta_target[2] - self.car.velocity[2] * 0.5) > 0:
self.controls.boost = 1
class AimDodge(Maneuver):
def __init__(self, car: Car, duration: float, target: vec3):
super().__init__(car)
self.dodge = AirDodge(car, duration, target)
self.turn = AerialTurn(car)
self.turn.target = look_at(direction(car, target), vec3(0, 0, 1))
self.jump = self.dodge.jump
self.target = target
def step(self, dt):
self.dodge.step(dt)
self.controls = self.dodge.controls
self.finished = self.dodge.finished
if not self.dodge.jump.finished and not self.car.on_ground:
target_direction = direction(self.car,
self.target + vec3(0, 0, 100))
up = target_direction * (-1)
up[2] = 1
up = normalize(up)
self.turn.target = look_at(target_direction, up)
self.turn.step(dt)
self.controls.pitch = self.turn.controls.pitch
self.controls.yaw = self.turn.controls.yaw
self.controls.roll = self.turn.controls.roll
def rotate(self, car: Car, target: vec3, dt) -> SimpleControllerState:
# up = vec3(*[self.car.theta[i, 2] for i in range(3)])
target_rotation = look_at(self.target, vec3(0, 0, 1))
action = AerialTurn(car)
action.target = target_rotation
action.step(dt)
controls = action.controls
return controls
def moving_ball_dodge_contact(game_info):
'''
Returns dodge duration and delay so the car can reach contact_height
'''
ball = game_info.ball
contact_height = ball.pos.z - 20
hitbox_class = game_info.me.hitbox_class
car_copy = RLU_Car(game_info.utils_game.my_car)
turn = RLU_AerialTurn(car_copy)
turn.target = roll_away_from_target(ball.pos, pi / 4, game_info)
box = update_hitbox(car_copy, hitbox_class)
time = 0
dt = 1 / 60
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
closest_point = ball_contact[1]
while closest_point[2] < contact_height and not ball_contact[0]:
time += dt
ball = game_info.ball_prediction.state_at_time(game_info.game_time +
time)
turn.step(dt)
contact_height = ball.pos.z - 30
controls = turn.controls
if time <= 0.20:
controls.jump = 1
controls.boost = 1
car_copy.step(controls, dt)
box = update_hitbox(car_copy, hitbox_class)
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
closest_point = ball_contact[1]
if time >= 1.45: #Max dodge time
return None, None, Simulation()
if not ball_contact[0]:
return None, None, Simulation()
if time < 0.2:
duration = time
delay = duration + 2 * dt
else:
duration = 0.2
delay = time
delay -= 0.05 #Window to dodge just before ball contact
return duration, delay, Simulation(ball_contact=True,
car=car_copy,
hitbox=box,
time=time)
class FastRecovery(Maneuver):
'''Boost down and try to land on all four wheels'''
def __init__(self, car: Car):
super().__init__(car)
self.landing = False
self.turn = AerialTurn(self.car)
self.recovery = Recovery(self.car)
def step(self, dt):
self.controls.throttle = 1 # in case we're turtling
if self.landing:
self.recovery.step(dt)
self.controls = self.recovery.controls
else:
landing_pos = self.find_landing_pos()
landing_dir = direction(self.car, landing_pos - vec3(0,0,1000))
self.turn.target = look_at(landing_dir, vec3(0,0,1))
self.turn.step(dt)
self.controls = self.turn.controls
# boost down
if angle_between(self.car.forward(), landing_dir) < 0.8:
self.controls.boost = 1
else:
self.controls.boost = 0
# when nearing landing position, start recovery
if distance(self.car, landing_pos) < clamp(norm(self.car.velocity), 600, 2300):
self.landing = True
self.finished = self.car.on_ground
def find_landing_pos(self, num_points=200, dt=0.0333) -> vec3:
'''Simulate car falling until it hits a plane and return it's final position'''
dummy = Car(self.car)
for i in range(0, num_points):
dummy.step(Input(), dt)
dummy.time += dt
n = Field.collide(sphere(dummy.position, 40)).direction
if norm(n) > 0.0 and i > 10:
return dummy.position
return self.car.position
def render(self, draw):
if self.landing:
self.recovery.render(draw)
class Recovery(Maneuver):
'''
Wrapper for RLU recovery (in AerialTurn).
Not actually used by Botimus, FastRecovery is better.
'''
def __init__(self, car: Car):
super().__init__(car)
self.turn = AerialTurn(car)
self.trajectory = []
def step(self, dt):
self.find_landing_orientation(200)
self.turn.step(dt)
self.controls = self.turn.controls
self.controls.throttle = 1 # in case we're turtling
self.finished = self.car.on_ground
def find_landing_orientation(self, num_points):
f = vec3(0, 0, 0)
l = vec3(0, 0, 0)
u = vec3(0, 0, 0)
dummy = Car(self.car)
self.trajectory = [vec3(dummy.position)]
found = False
for i in range(0, num_points):
dummy.step(Input(), 0.01633)
self.trajectory.append(vec3(dummy.position))
u = Field.collide(sphere(dummy.position, 40)).direction
if norm(u) > 0.0 and i > 40:
f = normalize(dummy.velocity - dot(dummy.velocity, u) * u)
l = normalize(cross(u, f))
found = True
break
if found:
self.turn.target = mat3(f[0], l[0], u[0], f[1], l[1], u[1], f[2],
l[2], u[2])
else:
self.turn.target = self.car.orientation
def render(self, draw: DrawingTool):
draw.color(draw.cyan)
draw.polyline(self.trajectory)
draw.color(draw.green)
draw.vector(self.car.position, facing(self.turn.target) * 200)
draw.color(draw.red)
draw.vector(self.car.position, self.car.forward() * 200)
def stationary_ball_dodge_contact(game_info, contact_height):
'''
Returns dodge duration and delay so the car can reach contact_height
'''
ball = game_info.ball
hitbox_class = game_info.me.hitbox_class
car_copy = RLU_Car(game_info.utils_game.my_car)
turn = RLU_AerialTurn(car_copy)
turn.target = roll_away_from_target(ball.pos, pi / 4, game_info)
box = update_hitbox(car_copy, hitbox_class)
time = 0
dt = 1 / 60
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
intended_contact_point = ball_contact[1]
while intended_contact_point[2] < contact_height and not ball_contact[0]:
time += dt
turn.step(dt)
controls = turn.controls
if time <= 0.20:
controls.jump = 1
controls.boost = 1
car_copy.step(controls, dt)
box = update_hitbox(car_copy, hitbox_class)
ball_contact = has_ball_contact(time, box, ball, game_info.team_sign)
intended_contact_point = ball_contact[1]
if time >= 1.45: #Max dodge time
return None, None, Simulation()
if not ball_contact[0]:
return None, None, Simulation()
if time < 0.2:
duration = time
delay = duration + 2 * dt
else:
duration = 0.2
delay = time
delay -= 0.05 #How long before we hit the ball is acceptable to dodge
return duration, delay, Simulation(ball_contact=True,
car=car_copy,
hitbox=box,
time=time)
class AirHover(Maneuver):
'''
Double jump of the ground and hover in the air at target position.
Currently useless, but maybe future potential for air-dribbling?
'''
P = 1.8
D = 2.5
def __init__(self, car: Car, target: vec3):
super().__init__(car)
self.turn = AerialTurn(car)
self.target = target
self.jump = AirDodge(car, 0.2)
def step(self, dt):
if not self.jump.finished:
self.jump.step(dt)
self.controls = self.jump.controls
return
delta_target = self.target - self.car.position
target_direction = normalize(
vec3((delta_target[0]) * self.P - self.car.velocity[0] * self.D,
(delta_target[1]) * self.P - self.car.velocity[1] * self.D,
1000))
self.turn.target = look_at(target_direction, self.car.up())
self.turn.step(dt)
self.controls = self.turn.controls
self.controls.boost = 0
# tap boost to keep height
if (delta_target[2] - self.car.velocity[2] * 0.5) > 0:
self.controls.boost = 1
# boost so we don't fall while relocating
if dot(self.car.forward(), vec3(0, 0, 1)) < 0.5:
self.controls.boost = 1
class Hover:
def __init__(self, car: Car, info: Game):
self.turn = AerialTurn(car)
self.target = None
self.car: Car = car
self.info: Game = info
self.controls = Input()
self.jump = False
def step(self, dt):
delta_target = self.target - self.car.position
if norm(delta_target) > 500:
delta_target = direction(self.car.position, self.target) * 500
target_direction = delta_target - self.car.velocity + vec3(0, 0, 500)
self.turn.target = look_at(target_direction, direction(self.car.position, vec3(0, 0, 0)))
self.turn.step(dt)
self.controls = self.turn.controls
self.controls.boost = delta_target[2] - self.car.velocity[2] * 0.5 > 0 and self.car.forward()[2] > 0.2
self.controls.throttle = not self.car.on_ground
self.controls.jump = self.car.position[2] < 30 and self.info.time % 1.0 < 0.5
class CustomDrive:
def __init__(self, car):
self.car = car
self.target = vec3(0, 0, 0)
self.speed = 2300
self.controls = SimpleControllerState()
self.finished = False
self.rlu_drive = RLUDrive(self.car)
self.update_rlu_drive()
self.power_turn = True # Handbrake while reversing to turn around quickly
self.aerial_turn = AerialTurn(car)
self.kickoff = False
def step(self, dt: float):
self.speed = abs(self.speed)
car_to_target = (self.target - self.car.location)
local_target = dot(car_to_target, self.car.rotation)
angle = atan2(local_target[1], local_target[0])
vel = norm(self.car.velocity)
in_air = (not self.car.on_ground)
on_wall = (self.car.location[2] > 250 and not in_air)
reverse = (cos(angle) < 0 and not (on_wall or in_air or self.kickoff))
get_off_wall = (on_wall and local_target[2] > 450)
if get_off_wall:
car_to_target[2] = -self.car.location[2]
local_target = dot(car_to_target, self.car.rotation)
angle = atan2(local_target[1], local_target[0])
max_speed = self.determine_max_speed(local_target)
self.update_rlu_drive(reverse, max_speed)
self.rlu_drive.step(dt)
self.finished = self.rlu_drive.finished
self.controls = self.rlu_drive.controls
self.controls.handbrake = False
if reverse:
angle = -invert_angle(angle)
if self.power_turn and not on_wall:
angle *= -1
self.controls.handbrake = (vel > 200)
self.controls.steer = cap(angle * 3, -1, 1)
self.controls.boost = False
if not self.controls.handbrake:
self.controls.handbrake = (abs(angle) > radians(70) and vel > 500
and not on_wall)
if self.controls.handbrake:
self.controls.handbrake = (dot(self.car.velocity, car_to_target) >
-150)
if in_air:
self.aerial_turn.target = look_at(xy(car_to_target), vec3(0, 0, 1))
self.aerial_turn.step(dt)
aerial_turn_controls = self.aerial_turn.controls
self.controls.pitch = aerial_turn_controls.pitch
self.controls.yaw = aerial_turn_controls.yaw
self.controls.roll = aerial_turn_controls.roll
self.controls.boost = False
def update_rlu_drive(self, reverse: bool = False, max_speed: float = 2200):
self.target = self.target
self.rlu_drive.target = self.target
self.rlu_drive.speed = cap(self.speed * (-1 if reverse else 1),
-max_speed, max_speed)
def determine_max_speed(self, local_target):
low = 100
high = 2200
if self.kickoff:
return high
for i in range(5):
mid = (low + high) / 2
radius = (1 / RLUDrive.max_turning_curvature(mid))
local_circle = vec3(0, copysign(radius, local_target[1]), 0)
dist = norm(local_circle - xy(local_target))
if dist < radius:
high = mid
else:
low = mid
return high
class Recovery(Maneuver):
"""Boost down and try to land smoothly"""
def __init__(self, car: Car, jump_when_upside_down=True):
super().__init__(car)
self.jump_when_upside_down = jump_when_upside_down
self.landing = False
self.aerial_turn = AerialTurn(self.car)
self.trajectory: List[vec3] = []
self.landing_pos: Optional[vec3] = None
def interruptible(self) -> bool:
return False
def step(self, dt):
self.simulate_landing()
self.aerial_turn.step(dt)
self.controls = self.aerial_turn.controls
self.controls.boost = angle_between(self.car.forward(), vec3(
0, 0, -1)) < 1.5 and not self.landing
self.controls.throttle = 1 # in case we're turtling
# jump if the car is upside down and has wheel contact
if (self.jump_when_upside_down and self.car.on_ground
and dot(self.car.up(), vec3(0, 0, 1)) < -0.95):
self.controls.jump = True
self.landing = False
else:
self.finished = self.car.on_ground
def simulate_landing(self):
pos = vec3(self.car.position)
vel = vec3(self.car.velocity)
grav = vec3(0, 0, -650)
self.trajectory = [vec3(pos)]
self.landing = False
collision_normal: Optional[vec3] = None
dt = 1 / 60
simulation_duration = 0.8
for i in range(int(simulation_duration / dt)):
pos += vel * dt
vel += grav * dt
if norm(vel) > 2300: vel = normalize(vel) * 2300
self.trajectory.append(vec3(pos))
collision_sphere = sphere(pos, 50)
collision_ray = Field.collide(collision_sphere)
collision_normal = collision_ray.direction
if (norm(collision_normal) > 0.0 or pos[2] < 0) and i > 20:
self.landing = True
self.landing_pos = pos
break
if self.landing:
u = collision_normal
f = normalize(vel - dot(vel, u) * u)
l = normalize(cross(u, f))
self.aerial_turn.target = three_vec3_to_mat3(f, l, u)
else:
target_direction = normalize(
normalize(self.car.velocity) - vec3(0, 0, 3))
self.aerial_turn.target = look_at(target_direction, vec3(0, 0, 1))
def render(self, draw: DrawingTool):
if self.landing:
draw.color(draw.cyan)
draw.polyline(self.trajectory)
if self.landing_pos:
draw.crosshair(self.landing_pos)
draw.color(draw.green)
draw.vector(self.car.position, forward(self.aerial_turn.target) * 200)
draw.color(draw.red)
draw.vector(self.car.position, self.car.forward() * 200)
class Kickoff(Maneuver):
'''The simplest boost and dodge at the end kickoff.'''
def __init__(self, car: Car, info: GameInfo):
super().__init__(car)
self.info = info
target_pos = vec3(0, sgn(info.my_goal.center[1]) * 100, 0)
self.drive = Drive(car, target_pos, 2300)
self.action: Maneuver = self.drive
self.phase = 1
def step(self, dt):
car = self.car
if self.phase == 1:
if norm(car.velocity) > 1300:
self.phase = 2
self.action = AirDodge(car, 0.05, car.position + car.velocity)
if self.phase == 2:
if car.on_ground and self.action.finished:
self.action = self.drive
self.phase = 3
if self.phase == 3:
if distance(car, self.info.ball) < norm(car.velocity) * 0.4:
# detect if an opponent is going for kickoff
is_opponent_going_for_kickoff = False
for opponent in self.info.opponents:
if distance(self.info.ball, opponent) < 1500:
is_opponent_going_for_kickoff = True
if is_opponent_going_for_kickoff:
self.phase = 4
self.action = AirDodge(car, 0.05, self.info.ball.position)
else:
self.phase = "anti-fake-kickoff"
self.action = self.drive
if self.phase == 4:
if self.action.finished:
self.action = AerialTurn(car)
self.phase = 5
if self.phase == 5:
self.action.target = look_at(self.info.my_goal.center,
vec3(0, 0, 1))
self.action.controls.throttle = 1
if car.on_ground:
self.finished = True
# self.phase = 6
# self.action = DodgeShot(car, self.info, self.info.their_goal.center)
if self.phase == 6:
self.finished = self.action.finished
if self.phase == "anti-fake-kickoff":
self.drive.target_pos = vec3(80, 0, 0)
self.finished = self.info.ball.position[1] != 0
self.action.step(dt)
self.controls = self.action.controls
# if not self.dodging and :
# if is_opponent_going_for_kickoff:
# self.action = self.dodge
# self.dodging = True
# else:
# # if not, don't dodge and steer a bit to the side to aim for a top-corner
# self.action.target = self.info.ball.position + vec3(100, 0, 0)
# self.action.step(dt)
# self.controls = self.action.controls
# self.finished = self.info.ball.position[0] != 0
def render(self, draw: DrawingTool):
if hasattr(self.action, "render"):
self.action.render(draw)
from rlutilities.linear_algebra import vec3, axis_to_rotation, look_at from rlutilities.mechanics import AerialTurn from rlutilities.simulation import Car c = Car() c.time = 0.0 c.location = vec3(0, 0, 500) c.velocity = vec3(0, 0, 0) c.angular_velocity = vec3(0.1, -2.0, 1.2) c.rotation = axis_to_rotation(vec3(1.7, -0.5, 0.3)) c.on_ground = False turn = AerialTurn(c) turn.target = look_at(vec3(1, 0, 0), vec3(0, 0, 1)) turn.step(0.0166) print(turn.controls.roll) print(turn.controls.pitch) print(turn.controls.yaw) simulation = turn.simulate() print(simulation.time)
class DoubleJumpStrike(Strike):
def intercept_predicate(self, car, ball):
return 250 < ball.position[2] < 550
def __init__(self, car: Car, info: GameInfo, target=None):
self.drive = Drive(car)
self.aerial_turn = AerialTurn(car)
self.jumping = False
self.time_for_jump = float("inf")
self.timer = 0.0
super().__init__(car, info, target)
def configure(self, intercept: Intercept):
super().configure(intercept)
self.drive.target_pos = ground(intercept.position)
self.time_for_jump = self.double_jump_time_needed(
intercept.position[2])
def interruptible(self) -> bool:
return not self.jumping and super().interruptible()
def step(self, dt):
if self.jumping:
self.controls = Input()
# first jump for full 0.2 sec
if self.timer <= 0.2:
self.controls.jump = True
# single tick between jumps
elif self.timer <= 0.2 + dt * JUMP_FALSE_TICKS:
self.controls.jump = False
# second jump
else:
self.controls.jump = True
self.jumping = False
self.timer += dt
else:
self.finished = self.intercept.time < self.info.time
if self.car.on_ground:
# manage speed before jump
distance_to_target = ground_distance(self.car.position,
self.intercept.position)
if distance_to_target < MIN_DIST_BEFORE_SPEED_CONTROL:
target_speed = distance_to_target / self.time_for_jump
self.drive.target_speed = -target_speed if self._should_strike_backwards else target_speed
self.drive.step(dt)
self.controls = self.drive.controls
else:
super().step(dt)
# decide when to jump
ground_vel = ground(self.car.velocity)
direction_to_target = ground_direction(self.car.position,
self.intercept.position)
alignment = dot(normalize(ground_vel), direction_to_target)
# check alignment
if alignment >= MIN_ALIGNMENT:
# check that speed is correct
speed_in_direction = dot(ground_vel, direction_to_target)
time_to_target = distance_to_target / speed_in_direction
if self.time_for_jump - ALLOWED_TIME_ERROR <= time_to_target <= self.time_for_jump + ALLOWED_TIME_ERROR:
self.jumping = True
# after jump (when the car is in the air)
else:
# face the ball for some additional height
self.aerial_turn.target = look_at(
direction(self.car.position, self.info.ball),
vec3(0, 0, 1))
self.aerial_turn.step(dt)
self.controls = self.aerial_turn.controls
@staticmethod
def double_jump_time_needed(height):
"""Return the time needed for the double jump to reach a given height"""
# polynomial approximation
a = 1.872348977E-8 * height * height * height
b = -1.126747937E-5 * height * height
c = 3.560647225E-3 * height
d = -7.446058499E-3
return a + b + c + d
class Agent(BaseAgent):
def __init__(self, name, team, index):
self.game = Game(index, team)
self.controls = SimpleControllerState()
self.timer = 0.0
self.timeout = 3.0
self.counter = 0
self.turn = None
self.dodge = None
self.name = None
self.state = State.RESET
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.game.read_game_information(packet, self.get_rigid_body_tick(),
self.get_field_info())
self.controls = SimpleControllerState()
next_state = self.state
if self.state == State.RESET:
self.timer = 0.0
# put the car in the middle of the field
car_state = CarState(physics=Physics(
location=Vector3(-2000, 0, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
jumped=False,
double_jumped=False)
# put the ball somewhere out of the way
ball_state = BallState(
physics=Physics(location=Vector3(0, 5000, 0),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.dodge = Dodge(self.game.my_car)
self.turn = AerialTurn(self.game.my_car)
f = self.game.my_car.forward()
l = self.game.my_car.left()
u = self.game.my_car.up()
# musty flick
if self.counter % 3 == 0:
self.name = "Musty Flick"
self.dodge.duration = 0.2
self.dodge.delay = 0.8
self.dodge.direction = vec2(f)
self.dodge.preorientation = look_at(-0.1 * f - u, -1.0 * u)
# diagonal forward dodge
if self.counter % 3 == 1:
self.name = "Fast Forward Dodge"
self.dodge.duration = 0.15
self.dodge.delay = 0.4
self.dodge.direction = vec2(1.0, 0.0)
self.dodge.preorientation = dot(
axis_to_rotation(vec3(0, 0, 3)), self.game.my_car.rotation)
# diagonal twist
if self.counter % 3 == 2:
self.name = "Air-Roll Dodge hit"
self.dodge.duration = 0.15
self.dodge.delay = 0.5
self.dodge.direction = vec2(f - 0.3 * l)
self.dodge.preorientation = dot(
self.game.my_car.rotation,
axis_to_rotation(vec3(-0.8, -0.4, 0)))
self.counter += 1
next_state = State.RUNNING
if self.state == State.RUNNING:
if self.timer > 1.2:
self.turn.target = look_at(xy(self.game.my_car.velocity),
vec3(0, 0, 1))
self.turn.step(self.game.time_delta)
self.controls = self.turn.controls
else:
self.dodge.step(self.game.time_delta)
self.controls = self.dodge.controls
if self.timer > self.timeout:
next_state = State.RESET
self.game.my_car.last_input.roll = self.controls.roll
self.game.my_car.last_input.pitch = self.controls.pitch
self.game.my_car.last_input.yaw = self.controls.yaw
self.timer += self.game.time_delta
self.state = next_state
if self.name:
self.renderer.begin_rendering()
self.renderer.draw_string_2d(50, 50, 6, 6, self.name,
self.renderer.red())
self.renderer.end_rendering()
return self.controls
class Recovery(Maneuver):
"""Boost down and try to land smoothly"""
def __init__(self, car: Car):
super().__init__(car)
self.landing = False
self.aerial_turn = AerialTurn(self.car)
self.trajectory: List[vec3] = []
self.landing_pos: Optional[vec3] = None
def interruptible(self) -> bool:
return False
def step(self, dt):
self.simulate_landing()
self.aerial_turn.step(dt)
self.controls = self.aerial_turn.controls
self.controls.boost = angle_between(self.car.forward(), vec3(
0, 0, -1)) < 1.5 and not self.landing
self.controls.throttle = 1 # in case we're turtling
self.finished = self.car.on_ground
def simulate_landing(self):
dummy = Car(self.car)
self.trajectory = [vec3(dummy.position)]
self.landing = False
collision_normal: Optional[vec3] = None
dt = 1 / 60
simulation_duration = 0.8
for i in range(int(simulation_duration / dt)):
dummy.step(Input(), dt)
self.trajectory.append(vec3(dummy.position))
collision_sphere = sphere(dummy.position, 50)
collision_ray = Field.collide(collision_sphere)
collision_normal = collision_ray.direction
if (norm(collision_normal) > 0.0
or dummy.position[2] < 0) and i > 20:
self.landing = True
self.landing_pos = dummy.position
break
if self.landing:
u = collision_normal
f = normalize(dummy.velocity - dot(dummy.velocity, u) * u)
l = normalize(cross(u, f))
self.aerial_turn.target = mat3(f[0], l[0], u[0], f[1], l[1], u[1],
f[2], l[2], u[2])
else:
target_direction = normalize(
normalize(self.car.velocity) - vec3(0, 0, 3))
self.aerial_turn.target = look_at(target_direction, vec3(0, 0, 1))
def render(self, draw: DrawingTool):
if self.landing:
draw.color(draw.cyan)
draw.polyline(self.trajectory)
if self.landing_pos:
draw.crosshair(self.landing_pos)
draw.color(draw.green)
draw.vector(self.car.position, forward(self.aerial_turn.target) * 200)
draw.color(draw.red)
draw.vector(self.car.position, self.car.forward() * 200)
class Agent(BaseAgent):
def __init__(self, name, team, index):
self.game = Game(index, team)
self.controls = SimpleControllerState()
self.timer = 0.0
self.action = None
random.seed(0)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.game.read_game_information(packet, self.get_rigid_body_tick(),
self.get_field_info())
self.controls = SimpleControllerState()
if not self.action:
self.action = AerialTurn(self.game.my_car)
self.action.eps_phi = 0.01
self.action.eps_omega = 0.02
if self.timer == 0.0:
# randomly generate a proper orthogonal matrix
self.action.target = axis_to_rotation(
vec3(random.uniform(-2, 2), random.uniform(-2, 2),
random.uniform(-2, 2)))
f = vec3(self.action.target[0, 0], self.action.target[1, 0],
self.action.target[2, 0])
position = Vector3(0, 0, 1000)
velocity = Vector3(0, 0, 0)
car_state = CarState(
physics=Physics(location=position, velocity=velocity))
# spawn the ball in front of the desired orientation to visually indicate where we're trying to go
ball_state = BallState(
physics=Physics(location=Vector3(500 * f[0], 500 *
f[1], 500 * f[2] + 1000),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.game.id: car_state}))
self.action.step(self.game.time_delta)
self.controls = self.action.controls
print(self.action.alpha)
self.timer += self.game.time_delta
if self.timer > 2.0:
self.timer = 0.0
error = angle_between(self.game.my_car.rotation, self.action.target)
self.renderer.begin_rendering("path")
red = self.renderer.create_color(255, 230, 30, 30)
self.renderer.draw_string_2d(50, 50, 3, 3,
f"error: {error:.4f} radians", red)
self.renderer.draw_string_2d(50, 100, 3, 3,
f"Roll: {self.controls.roll:+.2f}", red)
self.renderer.draw_string_2d(50, 150, 3, 3,
f"Pitch: {self.controls.pitch:+.2f}", red)
self.renderer.draw_string_2d(50, 200, 3, 3,
f"Yaw: {self.controls.yaw:+.2f}", red)
self.renderer.end_rendering()
return self.controls
