def clear(self,packet):
#get vector of ball from the cone of own net
ideal_shot = self.ball.location.flat() - Vec3(0,-8000,0) if self.bot_car.team==0 else self.ball.location.flat() - Vec3(0,8000,0)
#find a future position based off the distance from the ball, using the current location as a backup
future_location = self.ball.location
future_velocity = self.ball.velocity
#continue any strike after checking it
if self.current_strike is not None and self.bot_car.stable:
if check_strike(packet, self.ball_prediction, self.current_strike):
self.active_sequence, strike_controls, strike_location, strike_time = execute_strike(packet,self.bot_car,self.current_strike,self.foes)
self.controls = strike_controls
#drive out of goal > priority
in_goal = self.bot_car.location.within(self.goal_corners[self.bot_car.team][0],self.goal_corners[self.bot_car.team][1])
post0_ang = self.collision_posts[self.bot_car.team][0].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
std_ang_to_target = self.current_strike.slice_location.__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.collision_posts[self.bot_car.team][1].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < std_ang_to_target < post1_ang
if not between_posts and in_goal:
target_location = Vec3(0,(2*self.team-1)*5000,0)
self.controls.throttle = 1
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
self.renderer.draw_rect_3d(strike_location, 8, 8, True, self.renderer.red(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, strike_location, self.renderer.white())
self.renderer.draw_string_2d(20,20,3,3,f"throttle: {self.controls.throttle}",self.renderer.white())
return
else:
self.current_strike = None
#try to find strikes
if self.ball.velocity.length()!=0 and self.current_strike is None:
strikes = find_strikes(packet,self.ball_prediction,self.bot_car,ideal_shot)
for strike in strikes:
if strike.strike_type==strike_types.simple_linear:
#linear
if (strike.slice_location - Vec3(0,5500*(self.bot_car.team*2-1),0)).ang_to(self.bot_car.orientation.forward) < 2.2:
#if linear strike is not a massive angle from the goal
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif strike.strike_type==strike_types.linear_jump:
#long jump
if (strike.slice_location - Vec3(0,5500*(self.bot_car.team*2-1),0)).ang_to(self.bot_car.orientation.forward) < 2:
#if linear strike is not a massive angle from the goal
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif strike.strike_type==strike_types.linear_dblj:
#double jump
if (strike.slice_location - Vec3(0,5500*(self.bot_car.team*2-1),0)).ang_to(self.bot_car.orientation.forward) < 2:
#if linear strike is not a massive angle from the goal
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
#execute straight away if one was chosen:
#execute
if self.current_strike is not None:
#drive out of goal > priority
in_goal = self.bot_car.location.within(self.goal_corners[self.bot_car.team][0],self.goal_corners[self.bot_car.team][1])
post0_ang = self.collision_posts[self.bot_car.team][0].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
std_ang_to_target = self.current_strike.slice_location.__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.collision_posts[self.bot_car.team][1].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < std_ang_to_target < post1_ang
if not between_posts and in_goal:
target_location = Vec3(0,(2*self.team-1)*5000,0)
self.controls.throttle = 1
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
#execute
self.active_sequence, strike_controls, strike_location, strike_time = execute_strike(packet,self.bot_car,self.current_strike,self.foes)
self.controls = strike_controls
self.renderer.draw_rect_3d(strike_location, 8, 8, True, self.renderer.red(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, strike_location, self.renderer.white())
self.renderer.draw_string_2d(20,20,3,3,f"throttle: {self.controls.throttle}",self.renderer.white())
return
#position for a better shot
future_location, future_velocity = Vec3(self.ball.location), Vec3(self.ball.velocity)
future_slice = find_slice_at_time(self.ball_prediction,packet.game_info.seconds_elapsed + 2)
if future_slice is not None:
future_location = Vec3(future_slice.physics.location)
future_velocity = Vec3(future_slice.physics.velocity)
self.renderer.draw_line_3d(self.ball.location, future_location, self.renderer.cyan())
target_location = self.point_in_field(future_location.flat()+ideal_shot.rescale(-500))
#drive out of goal > priority
in_goal = self.bot_car.location.within(self.goal_corners[self.bot_car.team][0],self.goal_corners[self.bot_car.team][1])
post0_ang = self.collision_posts[self.bot_car.team][0].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
std_ang_to_target = target_location.__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.collision_posts[self.bot_car.team][1].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < std_ang_to_target < post1_ang
if not between_posts and in_goal:
target_location = Vec3(0,(2*self.team-1)*5000,0)
self.controls.throttle = 1
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
self.controls.throttle = 1.0
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
def defend(self,packet):
#get the vector of the ball to where it will hit the goal (
ball_to_goal = self.ball.velocity.flat()
if ball_to_goal.length()!=0:
ball_to_goal = ball_to_goal.rescale(((5120-abs(self.ball.location.y))/abs(ball_to_goal.y)))
#target 2/3 way between ball and goal
target_location = self.ball.location + ball_to_goal/1.5
#get vector of ball from the cone of own net
ideal_shot = self.ball.location.flat() - Vec3(0,-8000,0) if self.bot_car.team==0 else self.ball.location.flat() - Vec3(0,8000,0)
#ideal shot is to corner if on other side of ball
going_to_overtake_ball = (self.bot_car.location-Vec3(0,6000*(2*self.bot_car.team-1),0)).scalar_proj(self.ball.location-Vec3(0,6000*(2*self.bot_car.team-1),0))+100 > Vec3(0,6000*(2*self.bot_car.team-1),0).dist(self.ball.location)
if going_to_overtake_ball:
ideal_shot = Vec3(math.copysign(4096,(ball_to_goal+self.ball.location).x),(self.team*2-1)*5120,0) - self.ball.location
#continue any strike after checking it
if self.current_strike is not None:
if check_strike(packet,self.ball_prediction,self.current_strike):
#otherwise, continue on strike
self.active_sequence, strike_controls, strike_location, strike_time = execute_strike(packet,self.bot_car,self.current_strike,self.foes,defence=True)
self.controls = strike_controls
self.renderer.draw_rect_3d(strike_location, 8, 8, True, self.renderer.red(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, strike_location, self.renderer.white())
self.renderer.draw_string_2d(20,20,3,3,f"throttle: {self.controls.throttle}",self.renderer.white())
#drive out of goal > priority
in_goal = self.bot_car.location.within(self.goal_corners[self.bot_car.team][0],self.goal_corners[self.bot_car.team][1])
post0_ang = self.collision_posts[self.bot_car.team][0].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
std_ang_to_target = strike_location.__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.collision_posts[self.bot_car.team][1].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < std_ang_to_target < post1_ang
if not between_posts and in_goal:
target_location = Vec3(0,(2*self.team-1)*5000,0)
self.controls.throttle = 1
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
return
else:
self.current_strike = None
#try to find strikes
if self.ball.velocity.length()!=0 and self.current_strike is None and self.bot_car.stable:
strikes = find_strikes(packet,self.ball_prediction,self.bot_car,ideal_shot,defence=True)
for strike in strikes:
if strike.strike_type==strike_types.simple_linear:
#linear, will check if line to strike location goes into net
post0_ang = self.posts[self.bot_car.team][0].__sub__(self.ball.location).flat().ang_to(Vec3(1,0,0))
car_slice_ang = (strike.slice_location - self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.posts[self.bot_car.team][1].__sub__(self.ball.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < car_slice_ang < post1_ang
if abs(self.bot_car.location.y)>abs(self.ball.location.y):
#clear if on correct side
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif all(abs(ally.location.y-(1-ally.team*2)*6000) < abs(self.bot_car.location.y-(1-ally.team*2)*6000) or abs(ally.location.x)>2500 for ally in self.allies) and not between_posts:
#clear to corner
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif strike.strike_type==strike_types.linear_jump or strike.strike_type==strike_types.linear_dblj:
#linear, will check if line to strike location goes into net
post0_ang = self.posts[self.bot_car.team][0].__sub__(self.ball.location).flat().ang_to(Vec3(1,0,0))
car_slice_ang = (strike.slice_location - self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.posts[self.bot_car.team][1].__sub__(self.ball.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < car_slice_ang < post1_ang
if abs(self.bot_car.location.y)>abs(self.ball.location.y):
#clear if on correct side
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif all(abs(ally.location.y-(1-ally.team*2)*6000) < abs(self.bot_car.location.y-(1-ally.team*2)*6000) or abs(ally.location.x)>2500 for ally in self.allies) and not between_posts:
#clear to corner
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
#execute straight away
if self.current_strike is not None:
self.active_sequence, strike_controls, strike_location, strike_time = execute_strike(packet,self.bot_car,self.current_strike,self.foes,defence=True)
self.controls = strike_controls
self.renderer.draw_rect_3d(strike_location, 8, 8, True, self.renderer.red(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, strike_location, self.renderer.white())
self.renderer.draw_string_2d(20,20,3,3,f"throttle: {self.controls.throttle}",self.renderer.white())
#drive out of goal > priority
in_goal = self.bot_car.location.within(self.goal_corners[self.bot_car.team][0],self.goal_corners[self.bot_car.team][1])
post0_ang = self.collision_posts[self.bot_car.team][0].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
std_ang_to_target = strike_location.__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
post1_ang = self.collision_posts[self.bot_car.team][1].__sub__(self.bot_car.location).flat().ang_to(Vec3(1,0,0))
between_posts = post0_ang < std_ang_to_target < post1_ang
if not between_posts and in_goal:
target_location = Vec3(0,(2*self.team-1)*5000,0)
self.controls.throttle = 1
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
return
"""
keep the rest for now, esp for defence
"""
#changed to if car is further from goal than ball
if Vec3(0,6000*(2*self.bot_car.team-1),0).dist(self.bot_car.location) > Vec3(0,6000*(2*self.bot_car.team-1),0).dist(self.ball.location)-100:
offset = self.bot_car.vec_to_ball.flat().cross(Vec3(0,0,1)).normalized()
if offset.y>0 and self.ball.velocity.y <0 or offset.y<0 and self.ball.velocity.y >0:
offset = -offset
target_location = target_location + 150*offset
self.controls.throttle=1.0
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
#Drive to the point, using atan to slow when close to the point (judged by d/v)
est_time = -1
try:
est_time = self.bot_car.location.dist(target_location) / self.bot_car.velocity.flat().scalar_proj((target_location - self.bot_car.location).flat())
except:
stub="catch div 0"
self.controls.throttle = (2*math.atan(est_time)/math.pi)*1.2-0.2 if est_time>0 else 1
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return
def shoot(self,packet):
#get vector of ball to the back of other net
ideal_shot = Vec3(0,6000,0) - self.ball.location.flat() if self.bot_car.team==0 else Vec3(0,-6000,0) - self.ball.location.flat()
#continue any strike after checking it
if self.current_strike is not None:
if check_strike(packet, self.ball_prediction, self.current_strike):
self.active_sequence, strike_controls, strike_location, strike_time = execute_strike(packet,self.bot_car,self.current_strike,self.foes)
self.controls = strike_controls
self.renderer.draw_rect_3d(strike_location, 8, 8, True, self.renderer.red(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, strike_location, self.renderer.white())
self.renderer.draw_string_2d(20,20,3,3,f"throttle: {self.controls.throttle}",self.renderer.white())
return
else:
self.current_strike = None
#try to find strikes
if self.ball.velocity.length()!=0 and self.current_strike is None and self.bot_car.stable:
strikes = find_strikes(packet, self.ball_prediction, self.bot_car, ideal_shot)
for strike in strikes:
if strike.strike_type==strike_types.simple_linear:
#linear
if (Vec3(0,6000*(1-self.bot_car.team*2),0) - strike.slice_location).ang_to(self.bot_car.orientation.forward) < 2:
#if linear strike is not a massive angle from the goal
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif strike.strike_type==strike_types.linear_jump:
#long jump
if (Vec3(0,6000*(1-self.bot_car.team*2-1),0) - strike.slice_location).ang_to(self.bot_car.orientation.forward) < 2:
#if linear strike is not a massive angle from the goal
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
elif strike.strike_type==strike_types.linear_dblj:
#double jump
if (Vec3(0,6000*(1-self.bot_car.team*2-1),0) - strike.slice_location).ang_to(self.bot_car.orientation.forward) < 2:
#if linear strike is not a massive angle from the goal
if self.current_strike is not None:
self.current_strike = strike if strike.slice_time<self.current_strike.slice_time else self.current_strike
else:
self.current_strike = strike
#execute straight away if one was chosen
if self.current_strike is not None:
self.active_sequence, strike_controls, strike_location, strike_time = execute_strike(packet,self.bot_car,self.current_strike,self.foes)
self.controls = strike_controls
self.renderer.draw_rect_3d(strike_location, 8, 8, True, self.renderer.red(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, strike_location, self.renderer.white())
self.renderer.draw_string_2d(20,20,3,3,f"throttle: {self.controls.throttle}",self.renderer.white())
return
#position to get a shot on the ball
future_location, future_velocity = Vec3(self.ball.location), Vec3(self.ball.velocity)
future_slice = find_slice_at_time(self.ball_prediction,packet.game_info.seconds_elapsed + 2)
if future_slice is not None:
future_location = Vec3(future_slice.physics.location)
future_velocity = Vec3(future_slice.physics.velocity)
self.renderer.draw_line_3d(self.ball.location, future_location, self.renderer.cyan())
target_location = self.point_in_field(future_location.flat()+ideal_shot.rescale(-500))
self.controls.throttle = 1.0
self.steer_toward(self.bot_car, target_location)
self.renderer.draw_rect_3d(target_location, 8, 8, True, self.renderer.cyan(), centered=True)
self.renderer.draw_line_3d(self.bot_car.location, target_location, self.renderer.white())
return