def utility_score(self, bot) -> float:
if self.temp_utility_desire_boost > 0:
self.temp_utility_desire_boost = max(0, self.temp_utility_desire_boost - bot.info.dt)
elif self.temp_utility_desire_boost < 0:
self.temp_utility_desire_boost = min(0, self.temp_utility_desire_boost + bot.info.dt)
car = bot.info.my_car
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * Field.LENGTH2
own_half_01 = clip01(remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y))
close_to_ball01 = clip01(1.0 - norm(car.pos - ball_soon.pos) / 3500) ** 0.5
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
self.ball_to_goal_right = bot.info.opp_goal.right_post - reachable_ball.pos
self.ball_to_goal_left = bot.info.opp_goal.left_post - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_right, self.ball_to_goal_left)
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball)
# Chase ball right after kickoff. High right after kickoff
kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3) * float(bot.info.my_car.objective == Objective.UNKNOWN)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.2,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: -0.2,
}[bot.info.my_car.objective]
return clip01(close_to_ball01 * own_half_01 + 0.1 * in_position + self.temp_utility_desire_boost + kickoff_bias01) + obj_bonus
def exec(self, bot) -> SimpleControllerState:
car = bot.info.my_car
shoot_controls = bot.shoot.with_aiming(
bot, self.aim_cone,
predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
hit_pos = bot.shoot.ball_when_hit.pos
if bot.do_rendering:
self.aim_cone.draw(bot, hit_pos, r=0, g=170, b=255)
if bot.shoot.can_shoot:
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# go home-ish
own_goal = lerp(bot.info.own_goal, bot.info.ball.pos, 0.5)
return bot.drive.go_towards_point(bot,
own_goal,
target_vel=1460,
slide=True,
boost_min=0,
can_keep_speed=True)
def update(self, bot):
ball = bot.info.ball
# Find closest foe to ball
self.opp_closest_to_ball, self.opp_closest_to_ball_dist = argmin(bot.info.opponents, lambda opp: norm(opp.pos - ball.pos))
# Possession and on/off-site
self.car_with_possession = None
self.ally_with_possession = None
self.opp_with_possession = None
for car in bot.info.cars:
# On site
own_goal = bot.info.goals[car.team]
ball_to_goal = own_goal.pos - ball.pos
car_to_ball = ball.pos - car.pos
car.onsite = dot(ball_to_goal, car_to_ball) < 0.1
# Reach ball time
car.reach_ball_time = predict.time_till_reach_ball(car, ball)
reach01 = clip01((5 - car.reach_ball_time) / 5)
# Possession
point_in_front = car.pos + car.vel * 0.6
ball_point_dist = norm(ball.pos - point_in_front)
dist01 = 1500 / (1500 + ball_point_dist) # Halves every 1500 uu of dist
car_to_ball = bot.info.ball.pos - car.pos
car_to_ball_unit = normalize(car_to_ball)
in_front01 = dot(car.forward, car_to_ball_unit)
car.possession = dist01 * in_front01 * reach01 * 3
if self.car_with_possession is None or car.possession > self.car_with_possession.possession:
self.car_with_possession = car
if car.team == bot.team and (self.ally_with_possession is None or car.possession > self.ally_with_possession.possession):
self.ally_with_possession = car
if car.team != bot.team and (self.opp_with_possession is None or car.possession > self.opp_with_possession.possession):
self.opp_with_possession = car
# Objectives
for car in bot.info.cars:
car.last_objective = car.objective
car.objective = Objective.UNKNOWN
thirdman_index, _ = argmin(bot.info.team_cars, lambda ally: norm(ally.pos - bot.info.own_goal.pos))
attacker, attacker_score = argmax(bot.info.team_cars,
lambda ally: ((0.09 if ally.last_objective == Objective.GO_FOR_IT else 0)
+ ally.boost / 490
- (0.21 if ally.index == thirdman_index else 0)
- (0.4 if not ally.onsite else 0)
+ ally.possession * (10_000 - ally.team_sign * ally.pos.y) / 20_000)**2)
attacker.objective = Objective.GO_FOR_IT
follower_expected_pos = (ball.pos + bot.info.own_goal.pos) * 0.5
follower, follower_score = argmin([ally for ally in bot.info.team_cars if ally.objective == Objective.UNKNOWN],
lambda ally: (-500 if ally.last_objective == Objective.FOLLOW_UP else 0)
- ally.boost * 2
+ (1100 if ally.index == thirdman_index else 0)
+ (200 if not ally.onsite else 0)
+ norm(ally.pos - follower_expected_pos))
follower.objective = Objective.FOLLOW_UP
for car in bot.info.team_cars:
if car.objective == Objective.UNKNOWN:
car.objective = Objective.ROTATE_BACK_OR_DEF
def utility(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH / 2
ball_own_half_01 = clip01(
remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball,
math.pi / 8)
return ball_own_half_01 * in_position
def utility(self, bot) -> float:
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * Field.LENGTH / 2
own_half_01 = clip01(
remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
self.ball_to_goal_right = bot.info.enemy_goal_right - reachable_ball.pos
self.ball_to_goal_left = bot.info.enemy_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_right,
self.ball_to_goal_left)
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball)
return clip01(own_half_01 + 0.1 * in_position)
def utility_score(self, bot) -> float:
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH / 2
ball_own_half_01 = clip01(
remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball,
math.pi / 8)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.15,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: 0.0,
}[bot.info.my_car.objective]
return ball_own_half_01 * in_position + obj_bonus
def exec(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
hits_goal_prediction = predict.will_ball_hit_goal(bot)
reach_time = clip(predict.time_till_reach_ball(car, ball), 0,
hits_goal_prediction.time - 0.5)
reachable_ball = predict.ball_predict(bot, reach_time)
self.ball_to_goal_right = self.own_goal_right - reachable_ball.pos
self.ball_to_goal_left = self.own_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_left,
self.ball_to_goal_right)
self.aim_cone.draw(bot, reachable_ball.pos, r=200, g=0, b=160)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, reach_time)
if not bot.shoot.can_shoot:
# Go home
return bot.drive.go_home(bot)
else:
return shoot_controls
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, my_hit_time)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.opp_goal.pos)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball)
enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos
if enemy_hit_time < 1.5 * my_hit_time:
self.temp_utility_desire_boost -= bot.info.dt
if bot.do_rendering:
bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red())
return bot.drive.home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0)
elif len(bot.info.teammates) == 0 and not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(hit_pos.x) > 900 and not dist < 420:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners in 1s and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow())
return bot.drive.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False)
elif bot.shoot.can_shoot:
# Shoot !
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# We can't shoot at goal reliably
# How about a shot to the corners then?
corners = [
Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
]
for corner in corners:
ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return ctrls
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - ball.pos))
dot_threat = dot(enemy_to_ball, ball_to_my_goal) # 1 = enemy is in position, -1 = enemy is NOT in position
if car.boost <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900
pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home-ish
return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
def exec(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
shoot_controls = bot.shoot.with_aiming(
bot, self.aim_cone, predict.time_till_reach_ball(car, ball))
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(
0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(
car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.enemy_goal)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
offset_ball,
target_vel=2200,
slide=False,
boost_min=0)
elif not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4350 and abs(
hit_pos.x) > 900 and not dist < 450:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point,
ball.pos + Vec3(0, bot.info.team_sign * 3000, 0),
0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
wait_point,
norm(car.pos - wait_point),
slide=False,
can_keep_speed=True,
can_dodge=False)
elif not bot.shoot.can_shoot:
if car.boost == 0:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0
pads = filter_pads(bot,
bot.info.big_boost_pads,
big_only=not collect_small,
enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home
return bot.drive.go_home(bot)
else:
# Shoot !
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls