def _avoid_goal_post(bot, point):
car = bot.info.my_car
car_to_point = point - car.pos
# Car is not in goal, not adjustment needed
if abs(car.pos.y) < Field.LENGTH / 2:
return
# Car can go straight, not adjustment needed
if car_to_point.x == 0:
return
# Do we need to cross a goal post to get to the point?
goalx = Goal.WIDTH2 - 100
goaly = Field.LENGTH / 2 - 100
t = max((goalx - car.pos.x) / car_to_point.x,
(-goalx - car.pos.x) / car_to_point.x)
# This is the y coordinate when car would hit a goal wall. Is that inside the goal?
crossing_goalx_at_y = abs(car.pos.y + t * car_to_point.y)
if crossing_goalx_at_y > goaly:
# Adjustment is needed
point.x = clip(point.x, -goalx, goalx)
point.y = clip(point.y, -goaly, goaly)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, point, bot.renderer.green())
def solve_PWL(a, b, c):
xp = c / (a + b) if abs(a + b) > 10e-6 else -1
xm = c / (a - b) if abs(a - b) > 10e-6 else 1
if xm <= 0 <= xp:
if abs(xp) < abs(xm):
return clip(xp, 0, 1)
else:
return clip(xm, -1, 0)
else:
if 0 <= xp:
return clip(xp, 0, 1)
if xm <= 0:
return clip(xm, -1, 0)
return 0
def get_boost_pad_convenience_score(self, pad):
if not pad.is_active:
return 0
car_to_pad = pad.pos - self.my_car.pos
angle = angle_between(self.my_car.forward, car_to_pad)
# Pads behind the car is bad
if abs(angle) > 1.3:
return 0
dist = norm(car_to_pad)
dist_score = 1 - clip((abs(dist) / 2500)**2, 0, 1)
angle_score = 1 - clip((abs(angle) / 3), 0, 1)
return dist_score * angle_score * (0.8, 1)[pad.is_big]
def get_goto_point(self, bot, src, point):
point = xy(point)
desired_dir = self.get_center_dir()
desired_dir_inv = -1 * desired_dir
car_pos = xy(src)
point_to_car = car_pos - point
ang_to_desired_dir = angle_between(desired_dir_inv, point_to_car)
ANG_ROUTE_ACCEPTED = math.pi / 4.3
can_go_straight = abs(ang_to_desired_dir) < self.span_size() / 2.0
can_with_route = abs(
ang_to_desired_dir) < self.span_size() / 2.0 + ANG_ROUTE_ACCEPTED
point = point + desired_dir_inv * 50
if can_go_straight:
return point, 1.0
elif can_with_route:
ang_to_right = abs(angle_between(point_to_car,
-1 * self.right_dir))
ang_to_left = abs(angle_between(point_to_car, -1 * self.left_dir))
closest_dir = self.right_dir if ang_to_right < ang_to_left else self.left_dir
goto = curve_from_arrival_dir(car_pos, point, closest_dir)
goto.x = clip(goto.x, -Field.WIDTH / 2, Field.WIDTH / 2)
goto.y = clip(goto.y, -Field.LENGTH / 2, Field.LENGTH / 2)
if bot.do_rendering:
bot.renderer.draw_line_3d(
car_pos, goto,
bot.renderer.create_color(255, 150, 150, 150))
bot.renderer.draw_line_3d(
point, goto, bot.renderer.create_color(255, 150, 150, 150))
# Bezier
rendering.draw_bezier(bot, [car_pos, goto, point])
return goto, 0.5
else:
return None, 1
def step(self, dt) -> SimpleControllerState:
# car = bot.info.my_car
# ball = bot.info.ball
# car_to_ball = ball.pos - car.pos
# dist = norm(car_to_ball)
# ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
# own_goal_to_ball = ball.pos - bot.info.own_goal
# offence = ball.pos.y * bot.info.team_sign < 0
# dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
# dot_own = dot(car_to_ball, own_goal_to_ball)
# right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
# if right_side_of_ball:
# self.go_towards_point(bot, ball.pos)
# else:
# self.go_towards_point(bot, bot.info.own_goal_field)
car = self.car
car_to_point = self.target - car.pos
dist = norm(car_to_point)
point_local = dot(self.target - car.pos, car.rot)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local.y, point_local.x)
# dist = norm(point_local)
# Flip is finished
# if self.flip is not None and self.flip.finished:
# self.flip = None
# self.last_flip_end_time = self.info.time
# # Continue flip
# elif self.flip is not None:
# return self.flip.step(dt)
# time_since_last_flip = self.info.time - self.last_flip_end_time
# if dist > 2000 and abs(angle) <= 0.02 and time_since_last_flip > 3:
# self.flip = Flip(self.bot)
# return self.flip.step(dt)
# Boost?
if norm(car.vel) < 2200 and abs(angle) <= 0.02:
self.controls.boost = True
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
self.controls.throttle = 1.0
if self.info.time - self.start_time > 0.25:
self.finished = True
return self.controls
def rotation_to_axis(rot: Mat33) -> Vec3:
ang = math.acos(clip(0.5 * (tr(rot) - 1.0), -1.0, 1.0))
# For small angles, prefer series expansion to division by sin(theta) ~ 0
if abs(ang) < 0.00001:
scale = 0.5 + ang * ang / 12.0
else:
scale = 0.5 * ang / math.sin(ang)
return Vec3(
rot.get(2, 1) - rot.get(1, 2),
rot.get(0, 2) - rot.get(2, 0),
rot.get(1, 0) - rot.get(0, 1)) * scale
def curve_from_arrival_dir(src: Vec3, target: Vec3, arrival_direction: Vec3, w=1):
"""
Returns a point that is equally far from src and target on the line going through target with the given direction
"""
dir = normalize(arrival_direction)
tx = target.x
ty = target.y
sx = src.x
sy = src.y
dx = dir.x
dy = dir.y
t = - (tx * tx - 2 * tx * sx + ty * ty - 2 * ty * sy + sx * sx + sy * sy) / (2 * (tx * dx + ty * dy - sx * dx - sy * dy))
t = clip(t, -1700, 1700)
return target + w * t * dir
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 towards_point(self,
bot,
point: Vec3,
target_vel=1430,
slide=False,
boost_min=101,
can_keep_speed=True,
can_dodge=True,
wall_offset_allowed=125) -> SimpleControllerState:
REQUIRED_ANG_FOR_SLIDE = 1.65
REQUIRED_VELF_FOR_DODGE = 1100
car = bot.info.my_car
# Dodge is done
if self.dodge is not None and self.dodge.done:
self.dodge = None
self.last_dodge_end_time = bot.info.time
# Continue dodge
elif self.dodge is not None:
self.dodge.target = point
return self.dodge.exec(bot)
# Begin recovery
if not car.on_ground:
bot.maneuver = RecoveryManeuver(bot)
return self.controls
# Get down from wall by choosing a point close to ground
if not is_near_wall(point, wall_offset_allowed) and angle_between(
car.up, Vec3(0, 0, 1)) > math.pi * 0.31:
point = lerp(xy(car.pos), xy(point), 0.5)
# If the car is in a goal, avoid goal posts
self._avoid_goal_post(bot, point)
car_to_point = point - car.pos
# The vector from the car to the point in local coordinates:
# point_local.x: how far in front of my car
# point_local.y: how far to the left of my car
# point_local.z: how far above my car
point_local = dot(point - car.pos, car.rot)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local.y, point_local.x)
dist = norm(point_local)
vel_f = proj_onto_size(car.vel, car.forward)
vel_towards_point = proj_onto_size(car.vel, car_to_point)
# Start dodge
if can_dodge and abs(angle) <= 0.02 and vel_towards_point > REQUIRED_VELF_FOR_DODGE\
and dist > vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = DodgeManeuver(bot, point)
# Start half-flip
elif can_dodge and abs(angle) >= 3 and vel_towards_point < 50\
and dist > -vel_towards_point + 500 + 900 and bot.info.time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = HalfFlipManeuver(bot,
boost=car.boost > boost_min + 10)
# Is point right behind? Maybe reverse instead
if -100 < point_local.x < 0 and abs(point_local.y) < 50:
#bot.print("Reversing?")
pass
# Is in turn radius deadzone?
tr = turn_radius(abs(vel_f + 50)) # small bias
tr_side = sign(angle)
tr_center_local = Vec3(0, tr * tr_side, 10)
point_is_in_turn_radius_deadzone = norm(point_local -
tr_center_local) < tr
# Draw turn radius deadzone
if car.on_ground and bot.do_rendering:
tr_center_world = car.pos + dot(car.rot, tr_center_local)
tr_center_world_2 = car.pos + dot(car.rot, -1 * tr_center_local)
rendering.draw_circle(bot, tr_center_world, car.up, tr, 22)
rendering.draw_circle(bot, tr_center_world_2, car.up, tr, 22)
if point_is_in_turn_radius_deadzone:
# Hard turn
self.controls.steer = sign(angle)
self.controls.boost = False
self.controls.throttle = 0 if vel_f > 150 else 0.1
if point_local.x < 110 and point_local.y < 400 and norm(
car.vel) < 300:
# Brake or go backwards when the point is really close but not in front of us
self.controls.throttle = clip(-0.25 + point_local.x / -110.0,
0, -1)
self.controls.steer = -0.5 * sign(angle)
else:
# Should drop speed or just keep up the speed?
if can_keep_speed and target_vel < vel_towards_point:
target_vel = vel_towards_point
else:
# Small lerp adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.1)
# Turn and maybe slide
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
if slide and abs(angle) > REQUIRED_ANG_FOR_SLIDE:
self.controls.handbrake = True
self.controls.steer = sign(angle)
else:
self.controls.handbrake = False
# Overshoot target vel for quick adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Find appropriate throttle/boost
if vel_towards_point < target_vel:
self.controls.throttle = 1
if boost_min < car.boost and vel_towards_point + 80 < target_vel and target_vel > 1400 \
and not self.controls.handbrake and is_heading_towards(angle, dist):
self.controls.boost = True
else:
self.controls.boost = False
else:
vel_delta = target_vel - vel_towards_point
self.controls.throttle = clip(0.2 + vel_delta / 500, 0, -1)
self.controls.boost = False
if self.controls.handbrake:
self.controls.throttle = min(0.4, self.controls.throttle)
# Saved if something outside calls start_dodge() in the meantime
self.last_point = point
return self.controls
def with_aiming(self,
bot,
aim_cone: AimCone,
time: float,
dodge_hit: bool = True):
# aim: | | | |
# ball | bad | ok | good |
# z pos: | | | |
# -----------+-----------+-----------+-----------+
# too high | give | give | wait/ |
# | up | up | improve |
# -----------+ - - - - - + - - - - - + - - - - - +
# medium | give | improve | aerial |
# | up | aim | |
# -----------+ - - - - - + - - - - - + - - - - - +
# soon on | improve | slow | small |
# ground | aim | curve | jump |
# -----------+ - - - - - + - - - - - + - - - - - +
# on ground | improve | fast | fast |
# | aim?? | curve | straight |
# -----------+ - - - - - + - - - - - + - - - - - +
# FIXME if the ball is not on the ground we treat it as 'soon on ground' in all other cases
self.controls = SimpleControllerState()
self.aim_is_ok = False
self.waits_for_fall = False
self.ball_is_flying = False
self.can_shoot = False
self.using_curve = False
self.curve_point = None
self.ball_when_hit = None
car = bot.info.my_car
ball_soon = ball_predict(bot, time)
car_to_ball_soon = ball_soon.pos - car.pos
dot_facing_score = dot(normalize(car_to_ball_soon),
normalize(car.forward))
vel_towards_ball_soon = proj_onto_size(car.vel, car_to_ball_soon)
is_facing = 0 < dot_facing_score
if ball_soon.pos.z < 110 or (ball_soon.pos.z < 475 and ball_soon.vel.z
<= 0) or True: #FIXME Always true
# The ball is on the ground or soon on the ground
if 275 < ball_soon.pos.z < 475 and aim_cone.contains_direction(
car_to_ball_soon):
# Can we hit it if we make a small jump?
vel_f = proj_onto_size(car.vel, xy(car_to_ball_soon))
car_expected_pos = car.pos + car.vel * time
ball_soon_flat = xy(ball_soon.pos)
diff = norm(car_expected_pos - ball_soon_flat)
ball_in_front = dot(ball_soon.pos - car_expected_pos,
car.vel) > 0
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, car_expected_pos,
bot.renderer.lime())
bot.renderer.draw_rect_3d(car_expected_pos, 12, 12, True,
bot.renderer.lime())
if vel_f > 400:
if diff < 150 and ball_in_front:
bot.maneuver = SmallJumpManeuver(
bot, lambda b: b.info.ball.pos)
if 110 < ball_soon.pos.z: # and ball_soon.vel.z <= 0:
# The ball is slightly in the air, lets wait just a bit more
self.waits_for_fall = True
ball_landing = next_ball_landing(bot, ball_soon, size=100)
time = time + ball_landing.time
ball_soon = ball_predict(bot, time)
car_to_ball_soon = ball_soon.pos - car.pos
self.ball_when_hit = ball_soon
# The ball is on the ground, are we in position for a shot?
if aim_cone.contains_direction(car_to_ball_soon) and is_facing:
# Straight shot
self.aim_is_ok = True
self.can_shoot = True
if norm(car_to_ball_soon) < 240 + Ball.RADIUS and aim_cone.contains_direction(car_to_ball_soon)\
and vel_towards_ball_soon > 300:
bot.drive.start_dodge(bot)
offset_point = xy(
ball_soon.pos) - 50 * aim_cone.get_center_dir()
speed = self._determine_speed(norm(car_to_ball_soon), time)
self.controls = bot.drive.towards_point(bot,
offset_point,
target_vel=speed,
slide=True,
boost_min=0,
can_keep_speed=False)
return self.controls
elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 5):
# Curve shot
self.aim_is_ok = True
self.using_curve = True
self.can_shoot = True
offset_point = xy(
ball_soon.pos) - 50 * aim_cone.get_center_dir()
closest_dir = aim_cone.get_closest_dir_in_cone(
car_to_ball_soon)
self.curve_point = curve_from_arrival_dir(
car.pos, offset_point, closest_dir)
self.curve_point.x = clip(self.curve_point.x, -Field.WIDTH / 2,
Field.WIDTH / 2)
self.curve_point.y = clip(self.curve_point.y,
-Field.LENGTH / 2, Field.LENGTH / 2)
if dodge_hit and norm(car_to_ball_soon) < 240 + Ball.RADIUS and angle_between(car.forward, car_to_ball_soon) < 0.5\
and aim_cone.contains_direction(car_to_ball_soon) and vel_towards_ball_soon > 300:
bot.drive.start_dodge(bot)
speed = self._determine_speed(norm(car_to_ball_soon), time)
self.controls = bot.drive.towards_point(bot,
self.curve_point,
target_vel=speed,
slide=True,
boost_min=0,
can_keep_speed=False)
return self.controls
else:
# We are NOT in position!
self.aim_is_ok = False
pass
else:
if aim_cone.contains_direction(car_to_ball_soon):
self.waits_for_fall = True
self.aim_is_ok = True
#self.can_shoot = False
pass # Allow small aerial (wait if ball is too high)
elif aim_cone.contains_direction(car_to_ball_soon, math.pi / 4):
self.ball_is_flying = True
pass # Aim is ok, but ball is in the air
def ball_predict(bot, time: float) -> DummyObject:
""" Returns a DummyObject describing the expected position and velocity of the ball """
path = bot.get_ball_prediction_struct()
t = int(clip(360 * time / 6, 1, path.num_slices)) - 1
return DummyObject(path.slices[t].physics)
