def run(self, drone: CarObject, agent: MyHivemind):
car_to_ball, distance = (agent.ball.location - drone.location).normalize(True)
ball_to_target = (self.target - agent.ball.location).normalize()
relative_velocity = car_to_ball.dot(drone.velocity - agent.ball.velocity)
if relative_velocity != 0.0:
eta = cap(distance / cap(relative_velocity, 400, 2300), 0.0, 1.5)
else:
eta = 1.5
# If we are approaching the ball from the wrong side the car will try to only hit the very edge of the ball
left_vector = car_to_ball.cross((0, 0, 1))
right_vector = car_to_ball.cross((0, 0, -1))
target_vector = -ball_to_target.clamp(left_vector, right_vector)
final_target = agent.ball.location + (target_vector * (distance / 2))
# Some adjustment to the final target to ensure we don't try to drive through any goalposts to reach it
if abs(drone.location[1]) > 5150:
final_target[0] = cap(final_target[0], -750, 750)
agent.line(final_target - Vector3(0, 0, 100), final_target + Vector3(0, 0, 100), [255, 255, 255])
angles = defaultPD(drone, drone.local(final_target - drone.location))
defaultThrottle(drone, 2300 if distance > 1600 else 2300 - cap(1600 * abs(angles[1]), 0, 2050))
drone.controller.boost = False if drone.airborne or abs(angles[1]) > 0.3 else drone.controller.boost
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
if abs(angles[1]) < 0.05 and (eta < 0.45 or distance < 150):
drone.pop()
drone.push(Flip(drone.local(car_to_ball)))
def run(self, drone: CarObject, agent: MyHivemind):
target = agent.ball.location + Vector3(0, 200 * agent.side(), 0)
local_target = drone.local(target - drone.location)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
if local_target.magnitude() < 650:
drone.pop()
drone.push(Flip(drone.local(agent.foe_goal.location - drone.location)))
def run(self, drone: CarObject, agent: MyHivemind):
target = Vector3(0, 3116 * agent.side(), 0)
local_target = drone.local(target - drone.location)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
if local_target.magnitude() < 400:
drone.pop()
drone.push(DiagonalKickoff())
drone.push(Flip(drone.local(agent.ball.location - drone.location)))
def defaultPD(drone: CarObject,
local_target: Vector3,
upside_down=False,
up=None) -> []:
# points the car towards a given local target.
# Direction can be changed to allow the car to steer towards a target while driving backwards
if up is None:
up = drone.local(
Vector3(0, 0, -1) if upside_down else Vector3(
0, 0, 1)) # where "up" is in local coordinates
target_angles = (
math.atan2(local_target[2],
local_target[0]), # angle required to pitch towards target
math.atan2(local_target[1],
local_target[0]), # angle required to yaw towards target
math.atan2(up[1], up[2]) # angle required to roll upright
)
# Once we have the angles we need to rotate, we feed them into PD loops to determining the controller inputs
drone.controller.steer = steerPD(target_angles[1], 0)
drone.controller.pitch = steerPD(target_angles[0],
drone.angular_velocity[1] / 4)
drone.controller.yaw = steerPD(target_angles[1],
-drone.angular_velocity[2] / 4)
drone.controller.roll = steerPD(target_angles[2],
drone.angular_velocity[0] / 4)
# Returns the angles, which can be useful for other purposes
return target_angles
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.duration:
drone.pop()
drone.push(Flip(drone.local(agent.ball.location - drone.location)))
def defaultThrottle(drone: CarObject,
target_speed: float,
direction: float = 1.0) -> float:
# accelerates the car to a desired speed using throttle and boost
car_speed = drone.local(drone.velocity)[0]
t = (target_speed * direction) - car_speed
drone.controller.throttle = cap((t**2) * sign(t) / 1000, -1.0, 1.0)
drone.controller.boost = True if t > 150 and car_speed < 2275 and drone.controller.throttle == 1.0 else False
return car_speed
def run(self, drone: CarObject, agent: MyHivemind):
if self.target is not None:
if self.target_local:
local_target = self.target
else:
local_target = drone.local((self.target - drone.location).flatten())
else:
local_target = drone.local(drone.velocity.flatten())
defaultPD(drone, local_target)
drone.controller.throttle = 1
t = (-drone.velocity.z - (
drone.velocity.z ** 2 + 2 * -650 * -(max(drone.location.z - 17.01, 0.01))) ** 0.5) / -650
if self.target is not None:
robbies_constant = (self.target.normalize() * t * 2200 - drone.velocity * t) * 2 * t ** -2
else:
robbies_constant = (drone.velocity.normalize() * t * 2200 - drone.velocity * t) * 2 * t ** -2
agent.line(drone.location, robbies_constant, color=[255, 255, 255])
robbies_boost_constant = drone.forward.normalize().dot(robbies_constant.normalize()) > 0.5
drone.controller.boost = robbies_boost_constant and self.boost and not drone.supersonic
if not drone.airborne:
drone.pop()
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):
target = agent.friend_goal.location + (agent.ball.location - agent.friend_goal.location) / 2
car_to_target = target - drone.location
distance_remaining = car_to_target.flatten().magnitude()
agent.line(target - Vector3(0, 0, 500), target + Vector3(0, 0, 500), [255, 0, 255])
if self.vector is not None:
# See commends for adjustment in jump_shot or aerial for explanation
side_of_vector = sign(self.vector.cross((0, 0, 1)).dot(car_to_target))
car_to_target_perp = car_to_target.cross((0, 0, side_of_vector)).normalize()
adjustment = car_to_target.angle(self.vector) * distance_remaining / 3.14
final_target = target + (car_to_target_perp * adjustment)
else:
final_target = target
# Some adjustment to the final target to ensure it's inside the field and
# we don't try to drive 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, self.direction)
defaultThrottle(drone, 2300, self.direction)
drone.controller.boost = False
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
velocity = 1 + drone.velocity.magnitude()
if distance_remaining < 350:
drone.pop()
elif abs(angles[1]) < 0.05 and 600 < velocity < 2150 and distance_remaining / velocity > 2.0:
drone.push(Flip(local_target))
# TODO Halfflip
# elif abs(angles[1]) > 2.8 and velocity < 200:
# agent.push(flip(local_target, True))
elif drone.airborne:
drone.push(Recovery(target))
def push_shot(drone: CarObject, agent: MyHivemind):
left = Vector3(4200 * -agent.side(), agent.side() * 5120, 0)
right = Vector3(4200 * agent.side(), agent.side() * 5120, 0)
targets = {"goal": (agent.foe_goal.left_post, agent.foe_goal.right_post)}
if not agent.conceding:
drones = copy(agent.drones)
drones.remove(drone)
team = agent.friends + drones
for teammate in team:
a = teammate.location
b = teammate.location + 2000 * teammate.forward
local_a = drone.local(a)
angle_a = math.atan2(local_a.y, local_a.x)
if angle_a > 0:
targets["teammate" + str(team.index(teammate))] = (b, a)
else:
targets["teammate" + str(team.index(teammate))] = (a, b)
targets["upfield"] = (left, right)
shots = find_hits(drone, agent, targets)
if len(shots["goal"]) > 0:
drone.clear()
drone.push(shots["goal"][0])
drone.action = Action.Going
elif shots.get("teammate0") is not None and len(
shots.get("teammate0")) > 0:
drone.clear()
drone.push(shots["teammate0"][0])
drone.action = Action.Going
elif shots.get("teammate1") is not None and len(
shots.get("teammate1")) > 0:
drone.clear()
drone.push(shots["teammate1"][0])
drone.action = Action.Going
elif len(shots["upfield"]) > 0:
drone.clear()
drone.push(shots["upfield"][0])
drone.action = Action.Going
def run(self, drone: CarObject, agent: MyHivemind):
raw_time_remaining = self.intercept_time - agent.time
# Capping raw_time_remaining above 0 to prevent division problems
time_remaining = cap(raw_time_remaining, 0.01, 10.0)
car_to_ball = self.ball_location - drone.location
# whether we are to the left or right of the shot vector
side_of_shot = sign(self.shot_vector.cross((0, 0, 1)).dot(car_to_ball))
car_to_intercept = self.intercept - drone.location
car_to_intercept_perp = car_to_intercept.cross((0, 0, side_of_shot)) # perpendicular
distance_remaining = car_to_intercept.flatten().magnitude()
speed_required = distance_remaining / time_remaining
# When still on the ground we pretend gravity doesn't exist, for better or worse
acceleration_required = backsolve(self.intercept, drone, time_remaining, 0 if self.jump_time == 0 else 325)
local_acceleration_required = drone.local(acceleration_required)
# The adjustment causes the car to circle around the dodge point in an effort to line up with the shot vector
# The adjustment slowly decreases to 0 as the bot nears the time to jump
adjustment = car_to_intercept.angle(self.shot_vector) * distance_remaining / 1.57 # size of adjustment
adjustment *= (cap(self.jump_threshold - (acceleration_required[2]), 0.0,
self.jump_threshold) / self.jump_threshold) # factoring in how close to jump we are
# we don't adjust the final target if we are already jumping
final_target = self.intercept + ((car_to_intercept_perp.normalize() * adjustment) if self.jump_time == 0 else 0)
# Some extra adjustment to the final target to ensure it's inside the field and
# we don't try to drive through any goalposts to reach it
if abs(drone.location[1] > 5150):
final_target[0] = cap(final_target[0], -750, 750)
local_final_target = drone.local(final_target - drone.location)
# drawing debug lines to show the dodge point and final target (which differs due to the adjustment)
agent.line(drone.location, self.intercept)
agent.line(self.intercept - Vector3(0, 0, 100), self.intercept + Vector3(0, 0, 100), [255, 0, 0])
agent.line(final_target - Vector3(0, 0, 100), final_target + Vector3(0, 0, 100), [0, 255, 0])
angles = defaultPD(drone, local_final_target)
if self.jump_time == 0:
defaultThrottle(drone, speed_required)
drone.controller.boost = False if abs(angles[1]) > 0.3 or drone.airborne else drone.controller.boost
drone.controller.handbrake = True if abs(angles[1]) > 2.3 else drone.controller.handbrake
if acceleration_required[2] > self.jump_threshold:
# Switch into the jump when the upward acceleration required reaches our threshold,
# hopefully we have aligned already...
self.jump_time = agent.time
else:
time_since_jump = agent.time - self.jump_time
# While airborne we boost if we're within 30 degrees of our local acceleration requirement
if drone.airborne and local_acceleration_required.magnitude() * time_remaining > 100:
angles = defaultPD(drone, local_acceleration_required)
if abs(angles[0]) + abs(angles[1]) < 0.5:
drone.controller.boost = True
if self.counter == 0 and (time_since_jump <= 0.2 and local_acceleration_required[2] > 0):
# hold the jump button up to 0.2 seconds to get the most acceleration from the first jump
drone.controller.jump = True
elif time_since_jump > 0.2 and self.counter < 3:
# Release the jump button for 3 ticks
drone.controller.jump = False
self.counter += 1
elif local_acceleration_required[2] > 300 and self.counter == 3:
# the acceleration from the second jump is instant, so we only do it for 1 frame
drone.controller.jump = True
drone.controller.pitch = 0
drone.controller.yaw = 0
drone.controller.roll = 0
self.counter += 1
if raw_time_remaining < -0.25 or not shot_valid(agent, self):
drone.pop()
drone.push(Recovery())
def run(self, drone: CarObject, agent: MyHivemind):
raw_time_remaining = self.intercept_time - agent.time
# Capping raw_time_remaining above 0 to prevent division problems
time_remaining = cap(raw_time_remaining, 0.001, 10.0)
car_to_ball = self.ball_location - drone.location
# whether we are to the left or right of the shot vector
side_of_shot = sign(self.shot_vector.cross((0, 0, 1)).dot(car_to_ball))
car_to_dodge_point = self.dodge_point - drone.location
car_to_dodge_perp = car_to_dodge_point.cross((0, 0, side_of_shot)) # perpendicular
distance_remaining = car_to_dodge_point.magnitude()
speed_required = distance_remaining / time_remaining
acceleration_required = backsolve(self.dodge_point, drone, time_remaining, 0 if not self.jumping else 650)
local_acceleration_required = drone.local(acceleration_required)
# The adjustment causes the car to circle around the dodge point in an effort to line up with the shot vector
# The adjustment slowly decreases to 0 as the bot nears the time to jump
adjustment = car_to_dodge_point.angle(self.shot_vector) * distance_remaining / 2.0 # size of adjustment
adjustment *= (cap(self.jump_threshold - (acceleration_required[2]), 0.0,
self.jump_threshold) / self.jump_threshold) # factoring in how close to jump we are
# we don't adjust the final target if we are already jumping
final_target = self.dodge_point + (
(car_to_dodge_perp.normalize() * adjustment) if not self.jumping else 0) + Vector3(0, 0, 50)
# Ensuring our target isn't too close to the sides of the field,
# where our car would get messed up by the radius of the curves
# 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_final_target = drone.local(final_target - drone.location)
# drawing debug lines to show the dodge point and final target (which differs due to the adjustment)
agent.line(drone.location, self.dodge_point)
agent.line(self.dodge_point - Vector3(0, 0, 100), self.dodge_point + Vector3(0, 0, 100), [255, 0, 0])
agent.line(final_target - Vector3(0, 0, 100), final_target + Vector3(0, 0, 100), [0, 255, 0])
# Calling our drive utils to get us going towards the final target
angles = defaultPD(drone, local_final_target, self.direction)
defaultThrottle(drone, speed_required, self.direction)
agent.line(drone.location, drone.location + (self.shot_vector * 200), [255, 255, 255])
drone.controller.boost = False if abs(angles[1]) > 0.3 or drone.airborne else drone.controller.boost
drone.controller.handbrake = True if abs(
angles[1]) > 2.3 and self.direction == 1 else drone.controller.handbrake
if not self.jumping:
if raw_time_remaining <= 0.0 or (speed_required - 2300) * time_remaining > 45 or not shot_valid(agent,
self):
# If we're out of time or not fast enough to be within 45 units of target at the intercept time, we pop
drone.pop()
if drone.airborne:
drone.push(Recovery())
elif local_acceleration_required[2] > self.jump_threshold \
and local_acceleration_required[2] > local_acceleration_required.flatten().magnitude():
# Switch into the jump when the upward acceleration required reaches our threshold,
# and our lateral acceleration is negligible
self.jumping = True
else:
if (raw_time_remaining > 0.2 and not shot_valid(agent, self, 150)) or raw_time_remaining <= -0.9 or (
not drone.airborne and self.counter > 0):
drone.pop()
drone.push(Recovery())
elif self.counter == 0 and local_acceleration_required[2] > 0.0 and raw_time_remaining > 0.083:
# Initial jump to get airborne + we hold the jump button for extra power as required
drone.controller.jump = True
elif self.counter < 3:
# make sure we aren't jumping for at least 3 frames
drone.controller.jump = False
self.counter += 1
elif 0.1 >= raw_time_remaining > -0.9:
# dodge in the direction of the shot_vector
drone.controller.jump = True
if not self.dodging:
vector = drone.local(self.shot_vector)
self.p = abs(vector[0]) * -sign(vector[0])
self.y = abs(vector[1]) * sign(vector[1]) * self.direction
self.dodging = True
# simulating a deadzone so that the dodge is more natural
drone.controller.pitch = self.p if abs(self.p) > 0.2 else 0
drone.controller.yaw = self.y if abs(self.y) > 0.3 else 0
def run(self, drone: CarObject, agent: MyHivemind):
relative_target = agent.ball.location - drone.location
local_target = drone.local(relative_target)
defaultPD(drone, local_target)
defaultThrottle(drone, 2300)
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))
