def __init__(self, name, team, index):
super().__init__(name, team, index)
self.info = GameInfo(index, team)
self.last_turn = 0
self.controls = SimpleControllerState()
self.controls.throttle = 1
self.controls.boost = 1
def initialize_agent(self):
#self.gui = GUI() #Paul has a nice GUI that allows for drawing paths, creating and moving/editing events
self.info = GameInfo(self.index, self.team)
team = 0
if self.team == 1:
team = -1
else:
team = 1
self.action_state = ''
self.frames = 0
self.yeet_start = time.time()
self.yeet_kick_off = KickoffAgent('eat ass', self.info.team,
self.info.index)
self.last_frame = False
self.flip_idx = 0
self.lock = threading.Lock()
self.fps = 60
self.jump_frames = 0
self.kick = True
self.car_locations = [
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4)
]
def __init__(self, name, team, index):
self.index = index
self.info = GameInfo(index, team)
self.team = team
self.controls = SimpleControllerState()
self.action = None
self.last_time = 0.0
self.dt = 1.0 / 120.0
self.goals = 0
self.timer = 0.0
self.kickoff_pos = None
self.state = None
self.target = None
self.target_speed = 1800
self.drift = False
#bot parameters
self.target_range = 200
self.low_boost = 25
self.max_ball_dist = 4000
self.def_extra_dist = 800
self.turn_c_quality = 20
self.min_target_s = 1000
self.dodge_dist = 400
self.RLwindow = [0]*4
def __init__(self, game_interface: GameInterface):
super().__init__()
self.game_interface = game_interface
self.game_info = GameInfo(0, 0)
self.renderer = self.game_interface.renderer
self.drones_per_ring = 8
def __init__(self, name, team, index):
self.index = index
self.info = GameInfo(index, team)
self.controls = SimpleControllerState()
self.timer = 0.0
self.action = None
def __init__(
self,
agent,
bot_container,
model1_path=None,
model2_path=None,
save_path=None,
mode=0,
render=False,
):
"""
AgentModule.
agent: The agent that this is running on
model1_path: Path to load model to be trained from. Defaults to making a new one.
model2_path: Path to load model to be learned from (Used for transfer learning only).
save_path: Path to save the model being trained (Used only when mode is not 0). Defaults to not saving.
mode: 0 - Just playing the game.
1 - Real time learning from human teacher (Rendering should be enabled).
2 - Transfer learning from model specified in model2.
render: Boolean, forced rendering when mode = 1
"""
self.training_history = [[], []]
self.count = 1
self.ticks_per_update = 60 * 60 #~60 seconds
self.save_path = save_path
model2_bot_num = 0
self.flags = {
"render": render or mode == 1,
"train": mode == 1,
"transfer": mode == 2
}
if self.flags["train"] and self.flags["transfer"]:
raise Exception("Both train and transfer flags cannot be true.")
self.info = GameInfo(agent.index, agent.team)
self.bots = bot_container(agent)
self.ui = TrainingUI(self.bots)
self.model = ModelBox(self.bots.num_bots(), agent.index, agent.team)
self.controls = SimpleControllerState()
self.reader = None
if self.flags["train"] or self.flags["transfer"]:
from keyboard_interface import reader
self.reader = reader
self.reader.set_bot_num(self.bots.num_bots())
if model1_path != None:
self.model.load(model1_path)
if self.flags["transfer"]:
self.model2 = ModelBox(model2_bot_num, agent.index, agent.team)
if model2_path != None:
self.model2.load(model2_path)
self.paused = True
def initialize_agent(self):
self.info = GameInfo(self.index, self.team, self.get_field_info())
self.controls = SimpleControllerState()
self.phase = None
self.targets = []
self.guides = []
self.active_pads = []
self.plan_pads = []
def initialize_agent(self):
self.model = self.get_model()
self.input_formatter = self.create_input_formatter()
self.output_formatter = self.create_output_formatter()
self.model.load_state_dict(self.torch.load(self.get_file_path()))
# initialize kickoff
self.info = GameInfo(self.index, self.team, self.get_field_info())
class Paul(BaseAgent):
def initialize_agent(self):
#self.gui = GUI() #Paul has a nice GUI that allows for drawing paths, creating and moving/editing events
self.info = GameInfo(self.index, self.team)
team = 0
if self.team == 1:
team = -1
else:
team = 1
self.action_state = ''
self.frames = 0
self.yeet_start = time.time()
self.yeet_kick_off = KickoffAgent('eat ass', self.info.team,
self.info.index)
self.last_frame = False
self.flip_idx = 0
self.lock = threading.Lock()
self.fps = 60
self.jump_frames = 0
self.kick = True
self.car_locations = [
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4),
Queue(maxsize=4)
]
#self.orange_kickoff_hierarchy = [[2048, -2560, 0], [-2048, -2560, 0], [256, -3840, 0], [-256, -3840, 0]]
def get_output(self, packet):
self.info.read_packet(packet)
game = self.convert_packet_to_v3(
packet
) #Paul is a V3 Bot, a rework of preprocessing would be needed to re-optimize it
self.frames = self.frames + 1
self.renderer.begin_rendering()
self.renderer.draw_string_2d(50, 50, 5, 5,
str(time.time() - self.yeet_start),
self.renderer.red())
self.renderer.end_rendering()
self.fps = self.frames / (time.time() - self.yeet_start)
output = Bot.Process(self, game, packet, self.info, self.lock)
controls = self.convert_output_to_v4(output)
if (packet.game_info.is_kickoff_pause):
controls = self.yeet_kick_off.get_output(
packet, self.frames / (time.time() - self.yeet_start))
self.last_frame = True
return controls
else:
self.kick = True
self.yeet_kick_off = KickoffAgent('eat ass', self.info.team,
self.info.index)
return controls
def is_hot_reload_enabled(self):
return False
class Agent(BaseAgent):
def __init__(self, name, team, index):
self.info = GameInfo(index, team)
self.controls = SimpleControllerState()
self.action = None
self.counter = 0
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
if self.action == None or self.action.finished or self.counter == 400:
target_pos = vec3(
random.uniform(-3000, 3000),
random.uniform(-2000, 2000),
25
)
target_speed = random.uniform(500, 2000)
self.action = Drive(self.info.my_car, target_pos, target_speed)
self.counter = 0
r = 200
self.renderer.begin_rendering()
purple = self.renderer.create_color(255, 230, 30, 230)
self.renderer.draw_line_3d(self.action.target_pos - r * vec3(1, 0, 0),
self.action.target_pos + r * vec3(1, 0, 0),
purple)
self.renderer.draw_line_3d(self.action.target_pos - r * vec3(0, 1, 0),
self.action.target_pos + r * vec3(0, 1, 0),
purple)
self.renderer.draw_line_3d(self.action.target_pos - r * vec3(0, 0, 1),
self.action.target_pos + r * vec3(0, 0, 1),
purple)
self.renderer.end_rendering()
if controller.L1:
self.controls = controller.get_output()
else:
self.counter += 1
if (self.counter % 10) == 0:
print(f"current speed: {norm(self.info.my_car.vel):4.4f}, \
desired speed: {self.action.target_speed:4.4f}")
self.action.step(0.01666)
self.controls = self.action.controls
return self.controls
def update(self,
master=None,
agent=None,
car=None,
target=None,
speed=None):
self.master = master
self.agent = agent
self.car = car
self.target = target
self.speed = speed
self.Ginfo = GameInfo(agent.index, agent.team)
def __init__(self, name, team, index):
self.index = index
self.info = GameInfo(index, team)
self.controls = SimpleControllerState()
self.skip = False
self.timer = 0.0
self.action = None
self.car_predictions = []
self.ball_predictions = []
self.csign = 1;
self.bsign = 1;
class ATBA(BaseAgent):
def initialize_agent(self):
self.info = GameInfo(self.index, self.team)
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
return SimpleControllerState()
def atba_fast(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
return self.drive_controls(self.info.ball.pos, target_speed=Speed.fast)
def atba_normal(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
return self.drive_controls(self.info.ball.pos, target_speed=Speed.normal)
def atba_slow(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
return self.drive_controls(self.info.ball.pos, target_speed=Speed.slow)
def atba_wait(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
return self.drive_controls(self.info.ball.pos, target_speed=Speed.stop)
def drive_controls(self, target, target_speed):
self.action = self.action = Drive(self.info.my_car, target_pos = target, target_speed=target_speed)
self.action.step(1/60)
return self.action.controls
def __init__(self,
master=None,
agent=None,
car=None,
target=None,
speed=None):
self.name = 'RECOVER'
self.master = master
self.agent = agent
self.car = car
self.target = target
self.speed = speed
self.controls = SimpleControllerState()
self.expired = False
self.Ginfo = GameInfo(agent.index, agent.team)
class KickoffAgent():
def __init__(self, name, team, index):
#This runs once before the bot starts up
self.controller_state = SimpleControllerState()
self.info = GameInfo(index, team)
self.state = 'init'
self.team = team
def get_output(self, packet: GameTickPacket, fps) -> SimpleControllerState:
self.info.read_packet(packet)
if (self.state == 'init'):
self.hit = Kickoff(info=self.info, fps=fps)
self.state = 'run'
#creating a basis for the field
return self.hit.execute(self.info, fps).to_simple_controller_state()
class Snek(BaseAgent):
def __init__(self, name, team, index):
super().__init__(name, team, index)
self.info = GameInfo(index, team)
self.last_turn = 0
self.controls = SimpleControllerState()
self.controls.throttle = 1
self.controls.boost = 1
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
halfpi = math.pi / 2
car = self.info.my_car
ball = self.info.ball
delta_local = dot(ball.pos - car.pos, car.theta)
ang = math.atan2(delta_local[1], delta_local[0])
car_state = CarState(boost_amount=100)
if ang > math.pi / 2 and self.last_turn + TURN_COOLDOWN < time.time():
self.last_turn = time.time()
m = axis_rotation(vec3(0, 0, halfpi))
nvel = dot(m, car.vel)
nyaw = packet.game_cars[self.index].physics.rotation.yaw + halfpi
car_state.physics = Physics(velocity=Vector3(
nvel[0], nvel[1], nvel[2]),
rotation=Rotator(pitch=0,
roll=0,
yaw=nyaw))
if -ang > math.pi / 2 and self.last_turn + TURN_COOLDOWN < time.time():
self.last_turn = time.time()
m = axis_rotation(vec3(0, 0, -halfpi))
nvel = dot(m, car.vel)
nyaw = packet.game_cars[self.index].physics.rotation.yaw - halfpi
car_state.physics = Physics(velocity=Vector3(
nvel[0], nvel[1], nvel[2]),
rotation=Rotator(pitch=0,
roll=0,
yaw=nyaw))
game_state = GameState(cars={self.index: car_state})
self.set_game_state(game_state)
return self.controls
def __init__(self, name, team, index):
super().__init__(name, team, index)
self.controls = SimpleControllerState()
self.info = GameInfo(self.index, self.team)
self.t_index = 0
self.standby_position = vec3(0, 0, 300)
self.direction = vec3(0, 0, 1)
self.state = self.KICKOFF
self.shoot_time = 0
self.last_pos = self.standby_position
self.last_elapsed_seconds = 0
self.kickoff_timer_edge = False
self.ball_moved = False
self.next_is_super = False
self.doing_super = False
self.hit_pos = vec3(0, 0, 0)
self.standby_initiated = False
def __init__(self, name, team, index):
super().__init__(name, team, index)
from steps.step_handler import StepHandler
from utils.quick_chat_handler import QuickChatHandler
self.quick_chat_handler: QuickChatHandler = QuickChatHandler(self)
self.step_handler: StepHandler = StepHandler(self)
self.game_info: GameInfo = GameInfo(self.index, self.team)
class recover():
def __init__(self,
master=None,
agent=None,
car=None,
target=None,
speed=None):
self.name = 'RECOVER'
self.master = master
self.agent = agent
self.car = car
self.target = target
self.speed = speed
self.controls = SimpleControllerState()
self.expired = False
self.Ginfo = GameInfo(agent.index, agent.team)
def update(self,
master=None,
agent=None,
car=None,
target=None,
speed=None):
self.master = master
self.agent = agent
self.car = car
self.target = target
self.speed = speed
self.Ginfo = GameInfo(agent.index, agent.team)
def available(self):
return not self.car.has_wheel_contact
def step(self, tick):
self.Ginfo.read_packet(self.agent.packet)
action = AerialTurn(self.Ginfo.my_car)
action.step(tick)
action.controls.throttle = 1
self.expired = action.finished
self.expired = self.car.has_wheel_contact
return action.controls
class BaseTestAgent(BaseAgent):
def __init__(self, name, team, index):
super(BaseTestAgent, self).__init__(name, team, index)
self.action = self.create_action()
self.info = GameInfo(index, team)
def get_output(self,
game_tick_packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(game_tick_packet)
self.test_process(game_tick_packet)
return self.action.get_output(self.info)
def create_action(self) -> BaseAction:
raise NotImplementedError
def test_process(self, game_tick_packet: GameTickPacket):
raise NotImplementedError
def initialize_agent(self):
raise NotImplementedError
class TorusChoreography(Choreography):
def __init__(self, game_interface: GameInterface):
super().__init__()
self.game_interface = game_interface
self.game_info = GameInfo(0, 0)
self.renderer = self.game_interface.renderer
self.drones_per_ring = 8
def pre_step(self, packet: GameTickPacket, drones: List[Drone]):
self.game_info.read_packet(packet)
@staticmethod
def get_num_bots():
return 48
def generate_sequence(self, drones):
self.sequence.clear()
if len(drones) == 0:
return
pause_time = 0.2
self.sequence.append(HideBall())
self.sequence.append(LetAllCarsSpawn(self.get_num_bots()))
self.sequence.append(
BlindBehaviorStep(SimpleControllerState(), pause_time))
num_rings = len(drones) // self.drones_per_ring
torus_period = 2 * math.pi / TORUS_RATE
self.sequence.append(
SubGroupOrchestrator(group_list=[
TorusSubChoreography(
self.game_interface, self.game_info, -i * torus_period /
num_rings, drones[i * self.drones_per_ring:(i + 1) *
self.drones_per_ring], 0)
for i in range(0, num_rings)
]))
def tick(self, packet: GameTickPacket) -> StepResult:
if self.game_info is None:
self.game_info = GameInfo(self.index,
packet.game_cars[self.index].team)
self.game_info.read_packet(packet)
if self.aerial is None:
self.aerial = Aerial(
self.game_info.my_car,
vec3(self.target.x, self.target.y, self.target.z),
self.arrival_time)
self.aerial.step(SECONDS_PER_TICK)
controls = SimpleControllerState()
controls.boost = self.aerial.controls.boost
controls.pitch = self.aerial.controls.pitch
controls.yaw = self.aerial.controls.yaw
controls.roll = self.aerial.controls.roll
controls.jump = self.aerial.controls.jump
return StepResult(controls,
packet.game_info.seconds_elapsed > self.arrival_time)
class AerialStep(Step):
"""
This uses the Aerial controller provided by RLUtilities. Thanks chip!
It will take care of jumping off the ground and flying toward the target.
This will only work properly if you call tick repeatedly on the same instance.
"""
def __init__(self, target: Vec3, arrival_time: float, index: int):
self.index = index
self.aerial: Aerial = None
self.game_info: GameInfo = None
self.target = target
self.arrival_time = arrival_time
def tick(self, packet: GameTickPacket) -> StepResult:
if self.game_info is None:
self.game_info = GameInfo(self.index,
packet.game_cars[self.index].team)
self.game_info.read_packet(packet)
if self.aerial is None:
self.aerial = Aerial(
self.game_info.my_car,
vec3(self.target.x, self.target.y, self.target.z),
self.arrival_time)
self.aerial.step(SECONDS_PER_TICK)
controls = SimpleControllerState()
controls.boost = self.aerial.controls.boost
controls.pitch = self.aerial.controls.pitch
controls.yaw = self.aerial.controls.yaw
controls.roll = self.aerial.controls.roll
controls.jump = self.aerial.controls.jump
return StepResult(controls,
packet.game_info.seconds_elapsed > self.arrival_time)
def initialize_agent(self):
self.info: GameInfo = GameInfo(self.index, self.team)
self.controls: SimpleControllerState = SimpleControllerState()
self.maneuver: Maneuver = None
self.time = 0
self.prev_time = 0
self.last_touch_time = 0
self.reset_time = 0
self.ticks = 0
self.draw: DrawingTool = DrawingTool(self.renderer)
self.strategy = SoccarStrategy(self.info)
# variables related to quick chats
self.chat = QuickChatTool(self)
self.last_ball_vel = 0
self.said_gg = False
self.last_time_said_all_yours = 0
self.num_of_our_goals_reacted_to = 0
self.num_of_their_goals_reacted_to = 0
def __init__(self, name, team, index):
super(BaseTestAgent, self).__init__(name, team, index)
self.action = self.create_action()
self.info = GameInfo(index, team)
class Agent(BaseAgent):
def __init__(self, name, team, index):
self.index = index
self.info = GameInfo(index, team)
self.controls = SimpleControllerState()
self.timer = 0.0
self.action = None
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
self.controls = SimpleControllerState()
if self.timer < 0.05:
position = Vector3(random.uniform(-4000, 4000),
random.uniform(-3000, 3000),
random.uniform(500, 2000))
velocity = Vector3(random.uniform(-1500, 1500),
random.uniform(-1500, 1500),
random.uniform(-1000, -500))
rotation = Rotator(random.uniform(-1.5, 1.5),
random.uniform(-1.5, 1.5),
random.uniform(-1.5, 1.5))
angular_velocity = Vector3(random.uniform(-3.0, 3.0),
random.uniform(-3.0, 3.0),
random.uniform(-3.0, 3.0))
car_state = CarState(
physics=Physics(location=position,
velocity=velocity,
rotation=rotation,
angular_velocity=angular_velocity))
self.set_game_state(GameState(cars={self.index: car_state}))
if self.timer > 0.10:
if self.action == None:
self.action = AerialTurn(self.info.my_car)
self.renderer.begin_rendering()
red = self.renderer.create_color(255, 255, 30, 30)
self.renderer.draw_polyline_3d(self.action.trajectory, red)
self.renderer.end_rendering()
self.action.step(1.0 / 60.0)
self.controls = self.action.controls
self.timer += 1.0 / 60.0
if self.action.finished or self.timer > 5.0:
print("target:\n", self.action.target)
print("theta:\n", self.action.car.theta)
print()
self.timer = 0.0
self.action = None
self.timer += 1.0 / 60.0
return self.controls
class BallPredictor:
def __init__(self, index, team):
self.index = index
self.mass_car = 2.4
self.mass_ball = 4.5
self.car = CarModel(index)
self.info = GameInfo(index, team)
def update(packet):
self.info.read_packet(packet)
self.car.update(packet)
def get_path( time, dt ):
path = []
t, path1, path2=self.will_hit( ball, self.car, time )
newvel = self.predict_ball(ball, self.car)
ball = Ball( self.info.ball )
swapped = False
for i in range(int(time/dt)):
ball.step(dt)
path.append(vec3(ball.pos))
if i > t and not swapped:
ball.vel = vec3(newvel[0].item(), newvel[1].item(), newvel[2].item())
swapped = True
return path
def get_step( self, p1, p2 ):
#Really bad Approximation
distance = self.distance( p1, p2 )
slopes = (p2 - p1)/distance
return slopes
def get_impact_point( self, loc ):
step = self.get_step( self.car_pos, loc )
current = self.car_pos
while self.point_in_car( current ):
current = current + step
return current
def point_in_car( self, point ):
point = point - self.car_pos
point = self.rotate_axis(point, -self.car_rot[0], 0)
point = self.rotate_axis(point, -self.car_rot[1], 1)
point = self.rotate_axis(point, -self.car_rot[2], 2)
between = []
for i in range(3):
between.append( -self.car_dims[i].item()/2 < point[i].item() and point[i].item() < self.car_dims[i].item()/2 )
return between[0] and between[1] and between[2]
def rotate_axis( self, x, rotation, axis ):
x = x.unsqueeze(0)
if axis == 0:
r_x = rotation
R_x = np.array([[1, 0, 0],
[0, r_x.cos(), -1*r_x.sin()],
[0, r_x.sin(), r_x.cos()]])
x = np.dot( x, R_x )
if axis == 1:
r_y = rotation
R_y = np.array([[r_y.cos(), 0, r_y.sin()],
[0, 1, 0],
[-1*r_y.sin(), 0, r_y.cos()]])
x = np.dot(x, R_y)
if axis == 2:
r_z = rotation
R_z = np.array([[r_z.cos(), -1*r_z.sin(), 0],
[r_z.sin(), r_z.cos(), 0],
[0, 0, 1]])
x = np.dot(x, R_z)
return x[0]
def distance( self, p1, p2 ):
return np.sum( (p1 - p2)**2 )**0.5
def predict_ball(self, ball_info, player_info):
ball_pos, ball_vel, ball_avel = self.parse_ball_info( ball_info )
self.car_pos, self.car_vel, self.car_rot, self.car_avel = player_info.pos, player_info.vel, player_info.rot, player_info.avel
impact_pos = self.get_impact_point( ball_pos )
impact_step_dir = self.get_step( impact_pos, ball_pos )
# This will not be accurate at all!
magnitude = self.distance(self.car_vel * self.mass_car, ball_vel * self.mass_ball)
J = impact_step_dir * magnitude
# This will be more accurate
J_final = J #+ self.impulse_correction
return ball_vel + J_final/self.mass_ball
def parse_ball_info(self, ball):
ball_pos = np.array([ball.pos[0],
ball.pos[1],
ball.pos[2]])
ball_vel = np.array([ball.vel[0],
ball.vel[1],
ball.vel[2]])
ball_avel = np.array([ball.omega[0],
ball.omega[1],
ball.omega[2]])
return ball_pos, ball_vel, ball_avel
def __init__(self, index, team):
self.index = index
self.mass_car = 2.4
self.mass_ball = 4.5
self.car = CarModel(index)
self.info = GameInfo(index, team)
def __init__(self, name, team, index):
#This runs once before the bot starts up
self.controller_state = SimpleControllerState()
self.info = GameInfo(index, team)
self.state = 'init'
self.team = team
class Agent(BaseAgent):
def __init__(self, name, team, index):
self.index = index
self.info = GameInfo(index, team)
self.controls = SimpleControllerState()
self.timer = 0.0
self.timeout = 3.0
self.action = None
self.state = State.RESET
def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
self.info.read_packet(packet)
self.controls = SimpleControllerState()
next_state = self.state
if self.state == State.RESET:
self.timer = 0.0
# put the car in the middle of the field
car_state = CarState(
physics=Physics(location=Vector3(0, 0, 20),
velocity=Vector3(1000, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
# put the ball somewhere out of the way
ball_state = BallState(
physics=Physics(location=Vector3(0, -3000, 100),
velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)))
self.set_game_state(
GameState(ball=ball_state, cars={self.index: car_state}))
next_state = State.WAIT
if self.state == State.WAIT:
if self.timer > 0.2:
next_state = State.INITIALIZE
if self.state == State.INITIALIZE:
self.action = HalfFlip(self.info.my_car)
next_state = State.RUNNING
if self.state == State.RUNNING:
self.action.step(0.01666)
self.controls = self.action.controls
if self.timer > self.timeout:
next_state = State.RESET
self.timer += 0.01666
self.state = next_state
return self.controls