def step(self, packet: GameTickPacket, drone: Drone, index: int):
# Get centre of small circle.
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
centre = vec3(dot(rotation(direction_angle), vec2(
1, 0))) * self.big_radius
centre[2] = self.height
# Angle for the small circle.
# Wraps nicely around the small circle.
t = self.time_since_start + 2.5
if t > 2 * math.pi: t = 2 * math.pi
angle = (t / 16) * (index % 16 - 8)
angle += (2 * math.pi / 4) * (index // 16) + (math.pi / 4)
target = vec3(dot(rotation(angle), vec2(self.small_radius, 0)))
target += centre
# Hover controls.
drone.hover.up = normalize(drone.position - centre)
drone.hover.target = target
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
def step(self, packet: GameTickPacket, drone: Drone, index: int):
self.finished = (100 + self.big_radius -
self.time_since_start * self.speed) <= 0
# Get centre of small circle.
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
centre = vec3(dot(rotation(direction_angle), vec2(1, 0)))
# Crossing action.
centre *= (self.big_radius - self.time_since_start * self.speed)
centre[2] = self.height
# Angle for the small circle.
angle = (2 * math.pi / 16) * (index % 16)
angle += (2 * math.pi / 4) * (index // 16 - 1)
angle += self.time_since_start * self.spin
target = vec3(dot(rotation(angle), vec2(self.small_radius, 0)))
target += centre
# Different heights.
target[2] += (index // 16 - 2) * self.height_diff
# Hover controls.
drone.hover.up = normalize(drone.position - centre)
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def predict_car_drive(self,
index,
time_limit=2.0,
dt=1 / 60) -> List[vec3]:
"""Simple prediction of a driving car assuming no acceleration."""
car = self.cars[index]
time_steps = int(time_limit / dt)
speed = norm(car.velocity)
ang_vel_z = car.angular_velocity[2]
# predict circular path
if ang_vel_z != 0 and car.on_ground:
radius = speed / ang_vel_z
centre = car.position - cross(normalize(xy(car.velocity)),
vec3(0, 0, 1)) * radius
centre_to_car = vec2(car.position - centre)
return [
vec3(dot(rotation(ang_vel_z * dt * i), centre_to_car)) + centre
for i in range(time_steps)
]
# predict straight path
return [
car.position + car.velocity * dt * i for i in range(time_steps)
]
def step(self, packet: GameTickPacket, drone: Drone, index: int):
if drone.position[2] < 25:
drone.since_jumped = 0.0
# Go forward
drone.controls.throttle = 1.0 if abs(
drone.velocity[1]) < 500 else 0.01
# If near half-line
if abs(drone.position[1]) < 200:
drone.controls.jump = True
else:
drone.since_jumped += self.dt
height = 50 + drone.since_jumped * 150
angle = 1.0 + drone.since_jumped * 1.2
if index % 2 == 0: angle += math.pi
rot = rotation(angle)
v = vec3(dot(rot, vec2(1, 0)))
drone.hover.target = v * self.radius
drone.hover.target[2] = height
drone.hover.up = normalize(drone.position)
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = i * math.pi * 2 / len(drones)
rot = rotation(angle)
v = vec3(dot(rot, vec2(1, 0)))
drone.position = v * self.radius + self.center
drone.orientation = look_at(v * -1, vec3(0, 0, 1))
drone.velocity = vec3(0, 0, 0)
drone.angular_velocity = vec3(0, 0, 0)
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = (2 * math.pi / 64) * i
drone.position = vec3(dot(rotation(angle), vec2(self.radius, 0)))
drone.position[2] = self.height
drone.velocity = vec3(0, 0, 0)
drone.orientation = euler_to_rotation(
vec3(math.pi / 2, angle, math.pi))
drone.angular_velocity = vec3(0, 0, 0)
def step(self, packet: GameTickPacket, drone: Drone, index: int):
# Calculate shift direction.
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
direction = vec3(dot(rotation(direction_angle), vec2(1, 0)))
# Shift in one direction.
angle = (2 * math.pi / 64) * index
target = vec3(dot(rotation(angle), vec2(self.start_radius, 0)))
target += direction * (self.end_radius - self.start_radius) * (
self.time_since_start / self.duration)
target[2] = self.height
target = (target + drone.position) / 2
# Hover controls.
drone.hover.up = normalize(drone.position)
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def step(self, packet: GameTickPacket, drone: Drone, index: int):
radius = 1050 + 150 * self.time_since_start
angle = math.pi + self.time_since_start * (math.pi / 5)
angle += (2 * math.pi / 64) * index
target = vec3(dot(rotation(angle), vec2(radius, 0)))
target[2] = self.height
drone.hover.up = normalize(-1 * xy(drone.position))
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def step(self, packet: GameTickPacket, drone: Drone, index: int):
if drone.start_pos is None:
drone.start_pos = drone.position
# spin = (index % 16 - 8) * 0.01 # Unwind helix.
# rotation = axis_to_rotation(vec3(0, 0, spin))
# position_on_circle = normalize(xy(drone.position)) * self.start_radius
# drone.hover.target = dot(rotation, position_on_circle)
# drone.hover.target[2] = drone.start_pos[2]
# drone.hover.step(self.dt)
# drone.controls = drone.hover.controls
current_radius = norm(vec2(drone.position))
desired_angle = (2 * math.pi / 64) * index
current_angle = math.atan2(drone.position[1], drone.position[0])
if current_angle < 0.0:
current_angle += 2 * math.pi # only positive angles
# Expand radius.
if current_radius < self.radius - 150:
direction_angle = (math.pi / 4) + ((math.pi / 2) * (index // 16))
direction = vec3(dot(rotation(direction_angle), vec2(1, 0)))
target = drone.position + direction * 200
target[2] = drone.start_pos[2]
# Get to correct angle.
elif abs(desired_angle - current_angle) > 0.05:
target = vec3(dot(rotation(desired_angle), vec2(self.radius, 0)))
target[2] = drone.start_pos[2]
# Get to correct height.
else:
target = vec3(dot(rotation(desired_angle), vec2(self.radius, 0)))
target[2] = self.height
drone.hover.up = normalize(drone.position)
drone.hover.target = target
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def step(self, packet: GameTickPacket, drones: List[Drone]):
s = int(math.sqrt(len(drones))) # Side length
for i, drone in enumerate(drones):
# Get grid pos.
x = (i // s) - (s - 1) / 2
y = (i % s) - (s - 1) / 2
# Get height from func.
z = 800 + self.func(x, y) # 800 is base height
drone.hover.target = vec3(x * self.spacing, y * self.spacing, z)
rot = rotation(self.rotation_speed * self.time_since_start * 2)
drone.hover.up = vec3(dot(rot, vec2(1, 0)))
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = math.pi / 2
rot = rotation(angle)
v = vec3(dot(rot, vec2(1, 0)))
v[2] = 0.25
if i % 2 == 0:
drone.position = self.center + vec3(
math.floor(i / 2) * 250,
math.floor(i / 2) * -250, 1750)
else:
drone.position = self.center + vec3(
(1 + math.floor(i / 2)) * -250,
(1 + math.floor(i / 2)) * -250, 1750)
print(i, drone.position)
def step(self, packet: GameTickPacket, drone: Drone, index: int):
angle = (2 * math.pi / 64) * index
target = vec3(dot(rotation(angle), vec2(self.radius, 0)))
target[2] = self.height
# 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
def shooting_target(agent):
""""Method that gives the target for the shooting strategy"""
ball = agent.info.ball
car = agent.info.my_car
car_to_ball = ball.location - car.location
backline_intersect = line_backline_intersect(agent.their_goal.center[1],
vec2(car.location),
vec2(car_to_ball))
if abs(backline_intersect) < 700:
goal_to_ball = normalize(car.location - ball.location)
error = 0
else:
# Right of the ball
if -500 > backline_intersect:
target = agent.their_goal.corners[3] + vec3(400, 0, 0)
# Left of the ball
elif backline_intersect > 500:
target = agent.their_goal.corners[2] - vec3(400, 0, 0)
goal_to_ball = normalize(ball.location - target)
# Subtract the goal to car vector
difference = goal_to_ball - normalize(car.location - target)
error = cap(abs(difference[0]) + abs(difference[1]), 0, 5)
goal_to_ball_2d = vec2(goal_to_ball[0], goal_to_ball[1])
test_vector_2d = dot(rotation(0.5 * math.pi), goal_to_ball_2d)
test_vector = vec3(test_vector_2d[0], test_vector_2d[1], 0)
distance = cap(
(40 + distance_2d(ball.location, car.location) * (error**2)) / 1.8, 0,
4000)
location = ball.location + vec3(
(goal_to_ball[0] * distance), goal_to_ball[1] * distance, 0)
# this adjusts the target based on the ball velocity perpendicular
# to the direction we're trying to hit it
multiplier = cap(distance_2d(car.location, location) / 1500, 0, 2)
distance_modifier = cap(
dot(test_vector, ball.velocity) * multiplier, -1000, 1000)
location += vec3(test_vector[0] * distance_modifier,
test_vector[1] * distance_modifier, 0)
# another target adjustment that applies if the ball is close to the wall
extra = 3850 - abs(location[0])
if extra < 0:
location[0] = cap(location[0], -3850, 3850)
location[1] = location[1] + (-sign(agent.team) * cap(extra, -800, 800))
return location
def step(self, packet: GameTickPacket, drones: List[Drone]):
for drone in drones:
drone.hover.up = normalize(drone.position)
for i, layer in enumerate(self.layers):
if drone.id in layer:
# Calculate radius
if self.time_since_start < self.radius_shrink_start:
radius = 2000
elif self.time_since_start < self.radius_shrink_start + self.radius_shrink_duration:
diff = 2000 - self.radii[i]
radius = 2000 - diff * (
(self.time_since_start - self.radius_shrink_start)
/ self.radius_shrink_duration)
else:
radius = self.radii[i]
# Calculate xy position
if self.time_since_start > self.recirculation_start:
a = layer.index(drone.id)
angle = a * math.pi * 2 / len(layer)
rot = rotation(angle)
pos_xy = vec3(dot(rot, vec2(1, 0)))
else:
pos_xy = xy(drone.position)
# Combine xy and radius
drone.hover.target = normalize(pos_xy) * radius
# Get height
if self.time_since_start < self.separation_duration:
diff = 1000 - self.heights[i]
height = 1000 - diff * (self.time_since_start /
self.separation_duration)
else:
height = self.heights[i]
drone.hover.target[2] = height
break
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
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
def step(self, packet: GameTickPacket, drone: Drone, index: int):
if drone.since_jumped is None:
# Control throttle start and jump.
if self.time_since_start > self.delay * (index % 16):
# Speed controller.
drone.controls.throttle = 1.0 if max(abs(
drone.velocity[0]), abs(drone.velocity[1])) < 500 else 0.03
# If near half-line
if norm(vec3(0, 0, 0) - drone.position) < 700:
drone.since_jumped = 0.0
drone.controls.jump = True
# Create helix after jump.
else:
# Increment timer.
drone.since_jumped += self.dt
# HEIGHT
if drone.since_jumped < 11:
height = 150 + drone.since_jumped * 150 # speed of rise
elif drone.since_jumped < 20:
height = 1800 - (drone.since_jumped - 11) * 150
else:
height = 450 + (drone.since_jumped - 16) * 30
height = min(height, 600)
# RADIUS
if drone.since_jumped < 11:
radius = 500
elif drone.since_jumped < 15:
radius = 500 - (drone.since_jumped - 10) * 50
elif drone.since_jumped < 17:
radius = 300
elif drone.since_jumped < 20:
radius = 300 + (drone.since_jumped - 17) * 100
else:
radius = 400 + drone.since_jumped**3 / 10
radius = min(radius, 2000)
# ANGLE
if drone.since_jumped < 11:
angle = drone.since_jumped * 0.4 # rotation speed
elif drone.since_jumped < 20:
angle = (11 * 0.4) + (drone.since_jumped - 11) * 0.6
else:
angle = (11 * 0.4) + (9 *
0.6) + (drone.since_jumped - 20) * 0.3
# Offset angle.
angle += (index // 16) * (math.pi / 2)
# Set hover target and controller.
rot = rotation(angle)
v = vec3(dot(rot, vec2(1, 0)))
drone.hover.target = v * radius
drone.hover.target[2] = height
drone.hover.up = normalize(drone.position)
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
if drone.since_jumped < 0.05:
drone.controls.jump = True
drone.controls.boost = False
