def step(self, dt):
car = self.car
target = ground(self.target)
car_speed = norm(car.velocity)
time_left = (ground_distance(car, target) -
self.finish_distance) / max(car_speed + 500, 1400)
forward_speed = dot(car.forward(), car.velocity)
if self.driving and car.on_ground:
self.action.target_pos = target
self._time_on_ground += dt
# check if it's a good idea to dodge, wavedash or halfflip
if (self._time_on_ground > 0.2 and car.position[2] < 200
and angle_to(car, target, forward_speed < 0) < 0.1):
# if going forward, use a dodge or a wavedash
if forward_speed > 0:
use_boost_instead = self.waste_boost and car.boost > 20
if car_speed > 1200 and not use_boost_instead:
if time_left > self.DODGE_DURATION:
dodge = Dodge(car)
dodge.duration = 0.05
dodge.direction = vec2(direction(car, target))
self.action = dodge
self.driving = False
elif time_left > self.WAVEDASH_DURATION:
wavedash = Wavedash(car)
wavedash.direction = vec2(direction(car, target))
self.action = wavedash
self.driving = False
# if going backwards, use a halfflip
elif time_left > self.HALFFLIP_DURATION and car_speed > 800:
self.action = HalfFlip(car, self.waste_boost
and time_left > 3)
self.driving = False
self.action.step(dt)
self.controls = self.action.controls
# make sure we're not boosting airborne
if self.driving and not car.on_ground:
self.controls.boost = False
# make sure we're not stuck turtling
if not car.on_ground:
self.controls.throttle = 1
if self.action.finished and not self.driving:
self.driving = True
self._time_on_ground = 0
self.action = self.drive
self.drive.backwards = False
if ground_distance(car,
target) < self.finish_distance and self.driving:
self.finished = True
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(0, 0, 18),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(
0, 0, 0)),
jumped=False,
double_jumped=False)
theta = random.uniform(0, 6.28)
pos = Vector3(sin(theta) * 1000.0, cos(theta) * 1000.0, 100.0)
# put the ball somewhere out of the way
ball_state = BallState(
physics=Physics(location=pos,
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.action = Wavedash(self.game.my_car)
self.action.direction = vec2(self.game.ball.location)
next_state = State.RUNNING
if self.state == State.RUNNING:
self.action.step(self.game.time_delta)
self.controls = self.action.controls
if self.timer > self.timeout:
next_state = State.RESET
self.timer += self.game.time_delta
self.state = next_state
return self.controls
class WaveDashing(baseState):
def __init__(self, agent, targVec):
baseState.__init__(self, agent)
self.action = Wavedash(agent.game.my_car)
self.action.direction = vec2(targVec[0], targVec[1])
def update(self):
self.action.step(self.agent.deltaTime)
if self.action.finished:
self.active = False
return self.action.controls
def step(self, dt):
car = self.car
target = ground(self.target)
car_vel = norm(car.velocity)
time_left = (distance(car, target) - self.finish_distance) / max(car_vel + 500, 1400)
vf = dot(car.forward(), car.velocity)
if self.driving and car.on_ground:
self.action.target_pos = target
self._time_on_ground += dt
if self._time_on_ground > 0.2 and car.position[2] < 200 and angle_to(car, target, vf < 0) < 0.1:
if vf > 0:
if car_vel > 1000 and (not self.waste_boost or car.boost < 10):
if time_left > self.dodge_duration:
dodge = Dodge(car)
dodge.duration = 0.05
dodge.direction = vec2(direction(car, target))
self.action = dodge
self.driving = False
elif time_left > self.wavedash_duration:
wavedash = Wavedash(car)
wavedash.direction = vec2(direction(car, target))
self.action = wavedash
self.driving = False
elif time_left > self.halflip_duration and car_vel > 800:
self.action = HalfFlip(car, self.waste_boost and time_left > 3)
self.driving = False
self.action.step(dt)
self.controls = self.action.controls
if self.driving and not car.on_ground:
self.controls.boost = False
if self.action.finished and not self.driving:
self.driving = True
self._time_on_ground = 0
self.action = self.drive
self.drive.backwards = False
if distance(car, target) < self.finish_distance and self.driving:
self.finished = True
if not self.waste_boost and car.boost < 70:
self.controls.boost = 0
def __init__(self, agent, targVec):
baseState.__init__(self, agent)
self.action = Wavedash(agent.game.my_car)
self.action.direction = vec2(targVec[0], targVec[1])