def step(self, packet: GameTickPacket, drone: Drone, index: int):
self.finished = True
drone.since_jumped = None
drone.start_pos = None
drone.sort_phase = 0
def step(self, packet: GameTickPacket, drone: Drone, index: int):
if drone.start_pos is None:
drone.start_pos = drone.position
drone.sort_phase = 1
# Finish if all have been sorted.
if index == 0:
# Initially set finished to True.
self.finished = True
if drone.sort_phase != 3:
# Will be set to False if any is not in phase 3.
self.finished = False
# It's my time!
if self.time_since_start > 0.5 + index * self.delay:
desired_angle = (2 * math.pi / 64) * index
# current_radius = norm(vec2(drone.position))
current_angle = math.atan2(drone.position[1], drone.position[0])
if current_angle < 0.0:
current_angle += 2 * math.pi # only positive angles
# Rotate to correct angle.
if drone.sort_phase == 1:
# if index in range(64)[::8]: print(index, current_angle, desired_angle)
if abs(current_angle - desired_angle) < 0.1:
drone.sort_phase = 2
target = dot(rotation(current_angle + 0.4),
vec2(self.radius - 400, 0))
target = vec3(target)
target[2] = self.height + (180 * index // 16)
# Height and final corrections.
elif drone.sort_phase == 2:
target = vec3(
dot(rotation(desired_angle), vec2(self.radius, 0)))
target[2] = self.height
if norm(drone.position - target) < 200:
drone.sort_phase = 3
target[2] = (4 * drone.position[2] + self.height) / 5
elif drone.sort_phase == 3:
target = vec3(
dot(rotation(desired_angle), vec2(self.radius, 0)))
target[2] = self.height
else:
# Stay in place.
target = drone.start_pos
# Hover controls
drone.hover.target = target
drone.hover.up = normalize(drone.position)
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
# If any bot got lost, now they have a chance to recover.
if drone.on_ground:
drone.controls.jump = True
else:
drone.controls.jump = False