def step(self, packet: GameTickPacket) -> SimpleControllerState:
local = self.agent.rotation_matrix.dot(
self.agent.impact - Vector3(self.agent.car.physics.location))
steer_correction_radians = math.atan2(local.y, local.x)
wrap_yaw = (self.allow_yaw_wrap
and abs(steer_correction_radians) > math.pi * 0.75
and self.pitch and self.yaw)
controller: SimpleControllerState = SimpleControllerState()
if self.roll:
controller.roll = clamp11(self.agent.car.physics.rotation.roll *
-3 + self.agent.rotation_velocity.x *
(10**10 if wrap_yaw else 0.3))
if abs(self.agent.car.physics.rotation.roll) < 1.5 or not self.roll:
if self.pitch:
controller.pitch = clamp11(
(self.agent.car.physics.rotation.pitch - math.pi
if wrap_yaw else self.agent.car.physics.rotation.pitch) *
-4 + self.agent.rotation_velocity.y * 0.8)
if self.yaw:
yaw = (invert_angle(steer_correction_radians)
if wrap_yaw else steer_correction_radians)
controller.yaw = clamp11(yaw * 3.75 -
self.agent.rotation_velocity.z * 0.95)
controller.throttle = 0.03 # Don't turtle.
controller.jump = False
if not self.finished:
self.finished = self.agent.car.has_wheel_contact
return controller
def step(self, packet: GameTickPacket) -> SimpleControllerState:
wrap_yaw = (self.allow_yaw_wrap and abs(self.agent.steer_correction_radians) > math.pi * 0.75 and self.pitch and self.yaw)
controller: SimpleControllerState = SimpleControllerState()
if self.roll: controller.roll = clamp11(self.agent.car.physics.rotation.roll * -3 + self.rotation_velocity.x * 0.3)
if abs(self.agent.car.physics.rotation.roll) < 1.5 or not self.roll:
if self.pitch:
controller.pitch = clamp11((self.agent.car.physics.rotation.pitch - math.pi if wrap_yaw else self.agent.car.physics.rotation.pitch) * -4 + self.rotation_velocity.y * 0.8)
if self.yaw:
yaw = invert_angle(self.agent.steer_correction_radians) if wrap_yaw else self.agent.steer_correction_radians
controller.yaw = clamp11(yaw * 3.75 - self.rotation_velocity.z * 0.95)
return controller
def dodge(self, angle: float, rotation_velocity: Vector3, multiply = 1):
self.controller.yaw = 0
if self.car.has_wheel_contact and not self.dodging:
self.dodge_angle = angle
self.dodging = True
self.controller.jump = True
self.controller.pitch = -sign(math.cos(self.dodge_angle))
self.next_dodge_time = self.time + 0.25
else:
if self.time > self.next_dodge_time:
self.controller.jump = True
if self.car.has_wheel_contact or self.time > self.next_dodge_time + 1.5: self.dodging = False
if self.time < self.next_dodge_time + 0.5:
self.controller.roll = clamp11(math.sin(self.dodge_angle) * multiply)
self.controller.pitch = clamp11(-math.cos(self.dodge_angle))
elif self.time < self.next_dodge_time + 1:
self.controller.roll = 0
self.controller.pitch = 0
else:
recover(self, rotation_velocity, yaw = (self.car.physics.location.z > 1000))
def recover(
self,
rotation_velocity: Vector3,
roll=True,
pitch=True,
yaw=True,
allow_yaw_wrap: bool = True,
):
wrap_yaw = (
allow_yaw_wrap
and abs(self.steer_correction_radians) > math.pi * 0.75
and pitch
and yaw
)
if roll:
self.controller.roll = clamp11(
self.car.physics.rotation.roll * -3 + rotation_velocity.x * 0.3
)
if abs(self.car.physics.rotation.roll) < 1.5 or not roll:
if pitch:
self.controller.pitch = clamp11(
(
self.car.physics.rotation.pitch - math.pi
if wrap_yaw
else self.car.physics.rotation.pitch
)
* -4
+ rotation_velocity.y * 0.8
)
if yaw:
self.controller.yaw = clamp11(
(
invert_angle(self.steer_correction_radians)
if wrap_yaw
else self.steer_correction_radians
)
* 3.75
- rotation_velocity.z * 0.95
)