def execute(self, bot):
self.is_dribbling = True
car = bot.info.my_car
ball = bot.info.ball
ball_landing = predict.next_ball_landing(bot)
ball_to_goal = bot.info.enemy_goal - ball.pos
# Decide on target pos and speed
target = ball_landing.data["obj"].pos - self.offset_bias * normalize(ball_to_goal)
dist = norm(target - bot.info.my_car.pos)
speed = 1400 if ball_landing.time == 0 else dist / ball_landing.time
# Do a flick?
car_to_ball = ball.pos - car.pos
dist = norm(car_to_ball)
if dist <= self.required_distance_to_ball_for_flick:
self.flick_timer += 0.016666
if self.flick_timer > self.wait_before_flick:
bot.plan = DodgePlan(bot.info.enemy_goal) # use flick_init_jump_duration?
else:
self.flick_timer = 0
# dodge on far distances
if dist > 2450 and speed > 1410:
ctt_n = normalize(target - car.pos)
vtt = dot(bot.info.my_car.vel, ctt_n) / dot(ctt_n, ctt_n)
if vtt > 750:
bot.plan = DodgePlan(target)
controls = bot.drive.go_towards_point(bot, target, target_vel=speed, slide=False, boost=False, can_keep_speed=False, can_dodge=True, wall_offset_allowed=0)
bot.controls = controls
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, target, bot.renderer.pink())
def go_towards_point(self,
bot,
point: vec3,
target_vel=1430,
slide=False,
boost=False,
can_keep_speed=True,
can_dodge=True,
wall_offset_allowed=130) -> SimpleControllerState:
REQUIRED_ANG_FOR_SLIDE = 1.65
REQUIRED_VELF_FOR_DODGE = 1100
car = bot.info.my_car
# Dodge is finished
if self.dodge is not None and self.dodge.finished:
self.dodge = None
self.last_dodge_end_time = bot.info.current_game_time
# Continue dodge
if self.dodge is not None:
self.dodge.target = point
self.dodge.execute(bot)
return self.dodge.controls
# Begin recovery
if not car.on_ground:
bot.plan = RecoverPlan()
return self.controls
# Get down from wall by choosing a point close to ground
if not is_near_wall(point, wall_offset_allowed) and angle_between(
car.up(), vec3(0, 0, 1)) > math.pi * 0.31:
point = lerp(xy(car.pos), xy(point), 0.5)
# If the car is in a goal, avoid goal posts
self.avoid_goal_post(bot, point)
car_to_point = point - car.pos
# The vector from the car to the point in local coordinates:
# point_local[X]: how far in front of my car
# point_local[Y]: how far to the left of my car
# point_local[Z]: how far above my car
point_local = dot(point - car.pos, car.theta)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local[Y], point_local[X])
dist = norm(point_local)
vel_f = proj_onto_size(car.vel, car.forward())
vel_towards_point = proj_onto_size(car.vel, car_to_point)
# Start dodge
if can_dodge and abs(angle) <= 0.02 and vel_towards_point > REQUIRED_VELF_FOR_DODGE\
and dist > vel_towards_point + 500 + 700 and bot.info.current_game_time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = DodgePlan(point)
# Is in turn radius deadzone?
tr = turn_radius(abs(vel_f + 50)) # small bias
tr_side = sign(angle)
tr_center_local = vec3(0, tr * tr_side, 0)
point_is_in_turn_radius_deadzone = norm(point_local -
tr_center_local) < tr
# Draw turn radius deadzone
if car.on_ground and bot.do_rendering:
tr_center_world = car.pos + dot(car.theta, tr_center_local)
tr_center_world_2 = car.pos + dot(car.theta, -1 * tr_center_local)
render.draw_circle(bot, tr_center_world, car.up(), tr, 22)
render.draw_circle(bot, tr_center_world_2, car.up(), tr, 22)
if point_is_in_turn_radius_deadzone:
# Hard turn
self.controls.steer = sign(angle)
self.controls.boost = False
self.controls.throttle = 0 if vel_f > 150 else 0.1
if point_local[X] < 25:
# Brake or go backwards when the point is really close but not in front of us
self.controls.throttle = clip((25 - point_local[X]) * -.5, 0,
-0.6)
self.controls.steer = 0
if vel_f > 300:
self.controls.handbrake = True
else:
# Should drop speed or just keep up the speed?
if can_keep_speed and target_vel < vel_towards_point:
target_vel = vel_towards_point
else:
# Small lerp adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Turn and maybe slide
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
if slide and abs(angle) > REQUIRED_ANG_FOR_SLIDE:
self.controls.handbrake = True
self.controls.steer = sign(angle)
else:
self.controls.handbrake = False
# Overshoot target vel for quick adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Find appropriate throttle/boost
if vel_towards_point < target_vel:
self.controls.throttle = 1
if boost and vel_towards_point + 25 < target_vel and target_vel > 1400 \
and not self.controls.handbrake and is_heading_towards(angle, dist):
self.controls.boost = True
else:
self.controls.boost = False
else:
vel_delta = target_vel - vel_towards_point
self.controls.throttle = clip(0.2 + vel_delta / 500, 0, -1)
self.controls.boost = False
if self.controls.handbrake:
self.controls.throttle = min(0.4, self.controls.throttle)
# Saved if something outside calls start_dodge() in the meantime
self.last_point = point
return self.controls
def start_dodge(self):
if self.dodge is None:
self.dodge = DodgePlan(self.last_point)
class DriveController:
def __init__(self):
self.controls = SimpleControllerState()
self.dodge = None
self.last_point = None
self.last_dodge_end_time = 0
self.dodge_cooldown = 0.26
self.recovery = None
def start_dodge(self):
if self.dodge is None:
self.dodge = DodgePlan(self.last_point)
def go_towards_point(self,
bot,
point: vec3,
target_vel=1430,
slide=False,
boost=False,
can_keep_speed=True,
can_dodge=True,
wall_offset_allowed=130) -> SimpleControllerState:
REQUIRED_ANG_FOR_SLIDE = 1.65
REQUIRED_VELF_FOR_DODGE = 1100
car = bot.info.my_car
# Dodge is finished
if self.dodge is not None and self.dodge.finished:
self.dodge = None
self.last_dodge_end_time = bot.info.current_game_time
# Continue dodge
if self.dodge is not None:
self.dodge.target = point
self.dodge.execute(bot)
return self.dodge.controls
# Begin recovery
if not car.on_ground:
bot.plan = RecoverPlan()
return self.controls
# Get down from wall by choosing a point close to ground
if not is_near_wall(point, wall_offset_allowed) and angle_between(
car.up(), vec3(0, 0, 1)) > math.pi * 0.31:
point = lerp(xy(car.pos), xy(point), 0.5)
# If the car is in a goal, avoid goal posts
self.avoid_goal_post(bot, point)
car_to_point = point - car.pos
# The vector from the car to the point in local coordinates:
# point_local[X]: how far in front of my car
# point_local[Y]: how far to the left of my car
# point_local[Z]: how far above my car
point_local = dot(point - car.pos, car.theta)
# Angle to point in local xy plane and other stuff
angle = math.atan2(point_local[Y], point_local[X])
dist = norm(point_local)
vel_f = proj_onto_size(car.vel, car.forward())
vel_towards_point = proj_onto_size(car.vel, car_to_point)
# Start dodge
if can_dodge and abs(angle) <= 0.02 and vel_towards_point > REQUIRED_VELF_FOR_DODGE\
and dist > vel_towards_point + 500 + 700 and bot.info.current_game_time > self.last_dodge_end_time + self.dodge_cooldown:
self.dodge = DodgePlan(point)
# Is in turn radius deadzone?
tr = turn_radius(abs(vel_f + 50)) # small bias
tr_side = sign(angle)
tr_center_local = vec3(0, tr * tr_side, 0)
point_is_in_turn_radius_deadzone = norm(point_local -
tr_center_local) < tr
# Draw turn radius deadzone
if car.on_ground and bot.do_rendering:
tr_center_world = car.pos + dot(car.theta, tr_center_local)
tr_center_world_2 = car.pos + dot(car.theta, -1 * tr_center_local)
render.draw_circle(bot, tr_center_world, car.up(), tr, 22)
render.draw_circle(bot, tr_center_world_2, car.up(), tr, 22)
if point_is_in_turn_radius_deadzone:
# Hard turn
self.controls.steer = sign(angle)
self.controls.boost = False
self.controls.throttle = 0 if vel_f > 150 else 0.1
if point_local[X] < 25:
# Brake or go backwards when the point is really close but not in front of us
self.controls.throttle = clip((25 - point_local[X]) * -.5, 0,
-0.6)
self.controls.steer = 0
if vel_f > 300:
self.controls.handbrake = True
else:
# Should drop speed or just keep up the speed?
if can_keep_speed and target_vel < vel_towards_point:
target_vel = vel_towards_point
else:
# Small lerp adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Turn and maybe slide
self.controls.steer = clip(angle + (2.5 * angle)**3, -1.0, 1.0)
if slide and abs(angle) > REQUIRED_ANG_FOR_SLIDE:
self.controls.handbrake = True
self.controls.steer = sign(angle)
else:
self.controls.handbrake = False
# Overshoot target vel for quick adjustment
target_vel = lerp(vel_towards_point, target_vel, 1.2)
# Find appropriate throttle/boost
if vel_towards_point < target_vel:
self.controls.throttle = 1
if boost and vel_towards_point + 25 < target_vel and target_vel > 1400 \
and not self.controls.handbrake and is_heading_towards(angle, dist):
self.controls.boost = True
else:
self.controls.boost = False
else:
vel_delta = target_vel - vel_towards_point
self.controls.throttle = clip(0.2 + vel_delta / 500, 0, -1)
self.controls.boost = False
if self.controls.handbrake:
self.controls.throttle = min(0.4, self.controls.throttle)
# Saved if something outside calls start_dodge() in the meantime
self.last_point = point
return self.controls
def avoid_goal_post(self, bot, point):
car = bot.info.my_car
car_to_point = point - car.pos
# Car is not in goal, not adjustment needed
if abs(car.pos[Y]) < FIELD_LENGTH / 2:
return
# Car can go straight, not adjustment needed
if car_to_point[X] == 0:
return
# Do we need to cross a goal post to get to the point?
goalx = GOAL_WIDTH / 2 - 100
goaly = FIELD_LENGTH / 2 - 100
t = max((goalx - car.pos[X]) / car_to_point[X],
(-goalx - car.pos[X]) / car_to_point[X])
# This is the y coordinate when car would hit a goal wall. Is that inside the goal?
crossing_goalx_at_y = abs(car.pos[Y] + t * car_to_point[Y])
if crossing_goalx_at_y > goaly:
# Adjustment is needed
point[X] = clip(point[X], -goalx, goalx)
point[Y] = clip(point[Y], -goaly, goaly)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, point, bot.renderer.green())
def go_home(self, bot):
car = bot.info.my_car
home = bot.info.own_goal
target = home
closest_enemy, enemy_dist = bot.info.closest_enemy(bot.info.ball.pos)
car_to_home = home - car.pos
dist = norm(car_to_home)
vel_f_home = proj_onto_size(car.vel, car_to_home)
if vel_f_home * 2 > dist:
target = bot.info.ball.pos
boost = dist > 1500 or enemy_dist < dist
dodge = dist > 1500 or enemy_dist < dist
return self.go_towards_point(bot,
target,
2300,
True,
boost=boost,
can_dodge=dodge)