def __init__(self, car: Car, ball_predictions, predicate: callable = None):
self.ball: Ball = None
self.is_viable = True
#find the first reachable ball slice that also meets the predicate
test_car = Car(car)
test_aerial = Aerial(car)
for ball in ball_predictions:
test_aerial.target = ball.position
test_aerial.arrival_time = ball.time
# fake our car state :D
dir_to_target = ground_direction(test_car.position, test_aerial.target)
test_car.velocity = dir_to_target * max(norm(test_car.velocity), 1200)
test_car.orientation = look_at(dir_to_target, vec3(0,0,1))
if test_aerial.is_viable() and (predicate is None or predicate(car, ball)):
self.ball = ball
break
#if no slice is found, use the last one
if self.ball is None:
self.ball = ball_predictions[-1]
self.is_viable = False
self.time = self.ball.time
self.ground_pos = ground(self.ball.position)
self.position = self.ball.position
from rlutilities.linear_algebra import vec3, vec2, mat3, mat2
from rlutilities.mechanics import Dodge
from rlutilities.simulation import Car
c = Car()
c.time = 0.0
c.position = vec3(1509.38, -686.19, 17.01)
c.velocity = vec3(-183.501, 1398., 8.321)
c.angular_velocity = vec3(0, 0, 0)
c.orientation = mat3(-0.130158, -0.991493, -0.00117062,
0.991447, -0.130163, 0.00948812,
-0.00955977, 0.0000743404, 0.999954)
c.on_ground = True
c.jumped = False
c.double_jumped = False
c.jump_timer = -1.0
c.dodge_timer = -1.0
dodge = Dodge(c)
dodge.direction = vec2(-230.03, 463.42)
dodge.jump_duration = 0.1333
dodge.delay = 0.35
f = open("dodge_simulation.csv", "w")
for i in range(300):
dodge.step(0.008333)
print(c.time, dodge.controls.jump, dodge.controls.pitch, dodge.controls.yaw)
c.step(dodge.controls, 0.008333)
f.write(f"{c.time}, {c.position[0]}, {c.position[1]}, {c.position[2]}, "
