def run(self, drone: CarObject, agent: MyHivemind):
if self.time == -1:
elapsed = 0
self.time = agent.time
else:
elapsed = agent.time - self.time
if elapsed < self.delay:
if elapsed < self.duration:
drone.controller.jump = True
else:
drone.controller.jump = False
self.counter += 1
robbies_constant = (self.vector * 1.5 * 2200 - drone.velocity * 1.5) * 2 * 1.5 ** -2
robbies_boost_constant = drone.forward.flatten().normalize().dot(
robbies_constant.flatten().normalize()) > (0.3 if not drone.airborne else 0.1)
drone.controller.boost = robbies_boost_constant and not drone.supersonic
elif elapsed >= self.delay and self.counter < 3:
drone.controller.jump = False
self.counter += 1
elif elapsed < 0.9:
drone.controller.jump = True
defaultPD(drone, self.vector)
drone.controller.pitch = self.pitch
if abs(self.vector[1]) < 0.175:
drone.controller.yaw = self.yaw
drone.controller.roll = 0
else:
drone.pop()
drone.push(Recovery(self.vector, target_local=True))
def run(self, drone: CarObject, agent: MyHivemind):
if self.boost is None:
drone.pop()
return
car_to_boost = self.boost.location - drone.location
distance_remaining = car_to_boost.flatten().magnitude()
agent.line(self.boost.location - Vector3(0, 0, 500), self.boost.location + Vector3(0, 0, 500), [0, 255, 0])
if self.target is not None:
vector = (self.target - self.boost.location).normalize()
side_of_vector = sign(vector.cross((0, 0, 1)).dot(car_to_boost))
car_to_boost_perp = car_to_boost.cross((0, 0, side_of_vector)).normalize()
adjustment = car_to_boost.angle2D(vector) * distance_remaining / 3.14
final_target = self.boost.location + (car_to_boost_perp * adjustment)
car_to_target = (self.target - drone.location).magnitude()
else:
adjustment = 9999
car_to_target = 0
final_target = self.boost.location
# Some adjustment to the final target to ensure it's inside the field and
# we don't try to dirve through any goalposts to reach it
if abs(drone.location[1]) > 5150:
final_target[0] = cap(final_target[0], -750, 750)
local_target = drone.local(final_target - drone.location)
angles = defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
drone.controller.boost = self.boost.large if abs(angles[1]) < 0.3 else False
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
velocity = 1 + drone.velocity.magnitude()
if not self.boost.active or drone.boost >= 99.0 or distance_remaining < 350:
drone.pop()
elif drone.airborne:
drone.push(Recovery(self.target))
elif abs(angles[1]) < 0.05 and 600 < velocity < 2150 and (
distance_remaining / velocity > 2.0 or (adjustment < 90 and car_to_target / velocity > 2.0)):
drone.push(Flip(local_target))
def run(self, drone: CarObject, agent: MyHivemind):
if self.time == -1:
elapsed = 0
self.time = agent.time
else:
elapsed = agent.time - self.time
T = self.intercept_time - agent.time
xf = drone.location + drone.velocity * T + 0.5 * gravity * T ** 2
vf = drone.velocity + gravity * T
if self.jumping:
if self.jump_time == -1:
jump_elapsed = 0
self.jump_time = agent.time
else:
jump_elapsed = agent.time - self.jump_time
tau = jump_max_duration - jump_elapsed
if jump_elapsed == 0:
vf += drone.up * jump_speed
xf += drone.up * jump_speed * T
vf += drone.up * jump_acc * tau
xf += drone.up * jump_acc * tau * (T - 0.5 * tau)
vf += drone.up * jump_speed
xf += drone.up * jump_speed * (T - tau)
if jump_elapsed < jump_max_duration:
drone.controller.jump = True
elif elapsed >= jump_max_duration and self.counter < 3:
drone.controller.jump = False
self.counter += 1
elif elapsed < 0.3:
drone.controller.jump = True
else:
self.jumping = jump_elapsed <= 0.3
else:
drone.controller.jump = 0
delta_x = self.ball_location - xf
direction = delta_x.normalize()
if delta_x.magnitude() > 50:
defaultPD(drone, drone.local(delta_x))
else:
if self.target is not None:
defaultPD(drone, drone.local(self.target))
else:
defaultPD(drone, drone.local(self.ball_location - drone.location))
if jump_max_duration <= elapsed < 0.3 and self.counter == 3:
drone.controller.roll = 0
drone.controller.pitch = 0
drone.controller.yaw = 0
drone.controller.steer = 0
if drone.forward.angle3D(direction) < 0.3:
if delta_x.magnitude() > 50:
drone.controller.boost = 1
drone.controller.throttle = 0
else:
drone.controller.boost = 0
drone.controller.throttle = cap(0.5 * throttle_accel * T ** 2, 0, 1)
else:
drone.controller.boost = 0
drone.controller.throttle = 0
if T <= 0 or not shot_valid(agent, self, threshold=150):
drone.pop()
drone.push(Recovery(agent.friend_goal.location))