def calculate_controller_state(self, request):
ball_location = Vector2(request.ball.location.x,
request.ball.location.y)
my_car = request.players[request.player_index]
car_location = Vector2(my_car.location.x, my_car.location.y)
car_direction = get_car_facing_vector(my_car)
car_to_ball = ball_location - car_location
steer_correction_radians = car_direction.correction_to(car_to_ball)
steer_magnitude = abs(steer_correction_radians)
if steer_correction_radians > 0:
# Positive radians in the unit circle is a turn to the left.
turn = -1.0 # Negative value for a turn to the left.
else:
turn = 1.0
controls = game_data_pb2.ControllerState()
controls.throttle = 1
controls.steer = turn if steer_magnitude > math.pi / 12 else turn * .2
controls.boost = 1 if steer_magnitude < math.pi / 12 else 0
controls.handbrake = 1 if steer_magnitude > math.pi / 2 else 0
return controls
def GetControllerState(self, request, context):
try:
if request.player_index < len(request.players):
return self.calculate_controller_state(request)
except Exception as e:
print('Exception running bot: ' + str(e))
pass
return game_data_pb2.ControllerState(
) # Return neutral input because we failed.
def calculate_controller_state(self, request):
controller_state = game_data_pb2.ControllerState()
player = request.players[request.player_index]
ball_x = request.ball.location.x
ball_y = request.ball.location.y
player_y = player.location.y
player_x = player.location.x
player_nose_y = math.cos(player.rotation.pitch) * math.cos(
player.rotation.yaw)
player_nose_x = math.cos(player.rotation.pitch) * math.sin(
player.rotation.yaw)
# Need to handle atan2(0,0) case, aka straight up or down, eventually
player_front_direction_in_radians = math.atan2(player_nose_y,
player_nose_x)
relative_angle_to_ball_in_radians = math.atan2((ball_x - player_x),
(ball_y - player_y))
if (not (abs(player_front_direction_in_radians -
relative_angle_to_ball_in_radians) < math.pi)):
# Add 2pi to negative values
if (player_front_direction_in_radians < 0):
player_front_direction_in_radians += 2 * math.pi
if (relative_angle_to_ball_in_radians < 0):
relative_angle_to_ball_in_radians += 2 * math.pi
if (relative_angle_to_ball_in_radians >
player_front_direction_in_radians):
controller_state.steer = -1
else:
controller_state.steer = 1
controller_state.throttle = 1
return controller_state