def get_player_input(self) -> PlayerInput:
player_input = PlayerInput()
player_input.throttle = self.controls.throttle
player_input.steer = self.controls.steer
player_input.pitch = self.controls.pitch
player_input.yaw = self.controls.yaw
player_input.roll = self.controls.roll
player_input.jump = self.controls.jump
player_input.boost = self.controls.boost
player_input.handbrake = self.controls.handbrake
return player_input
def convert_player_input(ctrl: SimpleControllerState) -> PlayerInput:
"""
Converts a SimpleControllerState to a PlayerInput object.
"""
player_input = PlayerInput()
player_input.throttle = ctrl.throttle
player_input.steer = ctrl.steer
player_input.pitch = ctrl.pitch
player_input.yaw = ctrl.yaw
player_input.roll = ctrl.roll
player_input.jump = ctrl.jump
player_input.boost = ctrl.boost
player_input.handbrake = ctrl.handbrake
# player_input.use_item = ctrl.use_item
return player_input
def __init__(self, index: int, packet: GameTickPacket = None):
self.location: Vector3 = Vector3(0, 0, 0)
self.orientation: Matrix3 = Matrix3(0, 0, 0)
self.velocity: Vector3 = Vector3(0, 0, 0)
self.angular_velocity: [] = [0, 0, 0]
self.demolished: bool = False
self.airborne: bool = False
self.supersonic: bool = False
self.jumped: bool = False
self.doublejumped: bool = False
self.team: int = 0
self.boost: float = 0
self.index: int = index
self.controller: PlayerInput = PlayerInput()
# A list that acts as the routines stack
self.stack: [] = []
self.action: Action = Action.Shadowing
self.on_side: bool = False
self.closest: bool = False
self.second_closest: bool = False
self.time = 0
self.delta_time = 1 / 120
self.boost_accel = 991 + (2 / 3)
self.gravity = Vector3(0, 0, -650)
self.goals = 0
self.ball_prediction_struct = None
if packet is not None:
car = packet.game_cars[self.index]
self.team = car.team
self.hitbox = Hitbox(car.hitbox.length, car.hitbox.width, car.hitbox.height, Vector3(car.hitbox_offset))
self.update(packet)
def update(self, packet: GameTickPacket):
car = packet.game_cars[self.index]
self.location.data = [
car.physics.location.x, car.physics.location.y,
car.physics.location.z
]
self.velocity.data = [
car.physics.velocity.x, car.physics.velocity.y,
car.physics.velocity.z
]
self.orientation = Matrix3(car.physics.rotation.pitch,
car.physics.rotation.yaw,
car.physics.rotation.roll)
self.angular_velocity = self.orientation.dot([
car.physics.angular_velocity.x, car.physics.angular_velocity.y,
car.physics.angular_velocity.z
]).data
self.demolished = car.is_demolished
self.airborne = not car.has_wheel_contact
self.supersonic = car.is_super_sonic
self.jumped = car.jumped
self.doublejumped = car.double_jumped
self.boost = car.boost
# Reset controller
self.controller = PlayerInput()
self.closest = False
def update_controls(self, controls: PlayerInput):
air_roll = self.button_data[2] or self.button_data[9]
controls.throttle = self.axis_data[5] - self.axis_data[4]
controls.steer = self.axis_data[0]
controls.pitch = self.axis_data[1]
controls.yaw = 0 if air_roll else self.axis_data[0]
controls.roll = self.axis_data[0] if air_roll else 0
controls.jump = self.button_data[0]
controls.boost = self.button_data[1]
controls.handbrake = air_roll
def get_outputs(self, state: GameTickPacket) -> Dict[int, Action]:
"""Returns a dictionary where the keys are indices of your drones and
the values are PlayerInput objects (the controller inputs)"""
# check if round is active
if state.game_info.is_round_active:
# round is active, update state and make bot decisions
self.stopped = False
current_state = State.from_packet(state, self.drone_actions,
self.enemy_actions)
current_state.dt = C.DT
self.drone_actions, self.enemy_actions = self.choose_action(
current_state)
# finalize stored packets
for i in self.drone_actions:
current_state.drones[i].current_action = self.drone_actions[i]
for i in self.enemy_actions:
current_state.enemies[i].current_action = self.enemy_actions[i]
last_state = self.initial_states[-1]
if last_state is not None:
last_state.dt = state.game_info.seconds_elapsed - self.time
self.final_states.append(current_state)
self.initial_states.append(current_state)
else:
self.initial_states[-1] = current_state
self.time = state.game_info.seconds_elapsed
# transform into RLBot compatible inputs
self.controls = {
i: PlayerInput(*self.drone_actions[i])
for i in self.drone_indices
}
elif not self.stopped:
# first interrupted frame, restart data capture
self.stopped = True
self.initial_states[-1] = None
# train predictor if possible
if self.final_states:
self.predictor.train(self.initial_states[:-1],
self.final_states)
# set controls to nothing
self.controls = {
i: PlayerInput(*C.NOTHING)
for i in self.drone_indices
}
return self.controls
def get_outputs(self, packet: GameTickPacket) -> Dict[int, PlayerInput]:
# Your logic goes here!
# Return a dictionary where the keys are indices of your drones and
# the values are PlayerInput objects (the controller inputs).
return {
index: PlayerInput(throttle=1.0)
for index in self.drone_indices
}
def prepare_for_run(self):
# Set up shared memory map (offset makes it so bot only writes to its own input!) and map to buffer
self.bot_input = PlayerInput()
# Set up shared memory for game data
# We want to do a deep copy for game inputs so people don't mess with em
self.game_tick_packet = gd.GameTickPacket()
# Set up shared memory for Ball prediction
self.ball_prediction = bp.BallPrediction()
# Set up shared memory for rigid body tick
self.rigid_body_tick = RigidBodyTick()
def __init__(self, index: int, team: int):
self.index: int = index
self.team: int = team
self.pos: np.ndarray = np.zeros(3)
self.rot: np.ndarray = np.zeros(3)
self.vel: np.ndarray = np.zeros(3)
self.boost: float = 0.0
self.orient_m: np.ndarray = np.identity(3)
self.ctrl: PlayerInput = PlayerInput()
self.forward: bool = True
self.going: bool = False
def game_loop(self):
"""The main game loop. This is where your hivemind code goes."""
# Setting up rate limiter.
rate_limit = rate_limiter.RateLimiter(120)
# Setting up data.
field_info = FieldInfoPacket()
self.game_interface.update_field_info_packet(field_info)
packet = GameTickPacket()
self.game_interface.update_live_data_packet(packet)
data.setup(self, packet, field_info, self.running_indices)
self.ball.predict = BallPrediction()
# https://github.com/RLBot/RLBotPythonExample/wiki/Ball-Path-Prediction
# MAIN LOOP:
while True:
# Updating the game packet from the game.
self.game_interface.update_live_data_packet(packet)
# Processing packet.
data.process(self, packet)
# Ball prediction.
self.game_interface.update_ball_prediction(self.ball.predict)
# Planning.
brain.plan(self)
# Rendering.
self.render_debug(self.game_interface.renderer)
# For each drone under the hivemind's control, do something.
for drone in self.drones:
# The controls are reset each frame.
drone.ctrl = PlayerInput(
) # Basically the same as SimpleControllerState().
# Role execution.
if drone.role is not None:
drone.role.execute(self, drone)
self.render_role(self.game_interface.renderer, drone)
# Send the controls to the bots.
self.game_interface.update_player_input(
drone.ctrl, drone.index)
# Rate limit sleep.
rate_limit.acquire()
def get_outputs(self, packet: GameTickPacket) -> Dict[int, PlayerInput]:
"""Where all the logic of your hivemind gets its input and returns its outputs for each drone.
Use self.drone_indices to access the set of bot indices your hivemind controls.
Arguments:
packet {GameTickPacket} -- see https://github.com/RLBot/RLBot/wiki/Input-and-Output-Data-(current)
Returns:
Dict[int, PlayerInput] -- A dictionary with drone indices as keys and corresponding PlayerInputs as values.
"""
return {index: PlayerInput() for index in self.drone_indices}
def get_player_input(self) -> PlayerInput:
""""Get the current controls from the drone.
:return: Current controls for this car.
:rtype: PlayerInput
"""
# Throw error if no controls were set.
if self.controller is None:
RuntimeError(f"Did not set the controls for drone {self.index}")
# PlayerInput mapping
player_input = PlayerInput()
player_input.throttle = self.controller.throttle # -1 for full reverse, 1 for full forward
player_input.steer = self.controller.steer # -1 for full left, 1 for full right
player_input.pitch = self.controller.pitch # -1 for nose down, 1 for nose up
player_input.yaw = self.controller.yaw # -1 for full left, 1 for full right
player_input.roll = self.controller.roll # -1 for roll left, 1 for roll right
player_input.jump = self.controller.jump # true if you want to press the jump button
player_input.boost = self.controller.boost # true if you want to press the boost button
player_input.handbrake = self.controller.handbrake # true if you want to press the handbrake button
return player_input
def initialize_hive(self, state: GameTickPacket) -> None:
"""Initializes the collection of bots (drones)."""
self.enemy_indices = set(i for i in range(state.num_cars)
if state.game_cars[i].team != self.team)
self.drone_actions = {i: C.NOTHING for i in self.drone_indices}
self.enemy_actions = {i: C.NOTHING for i in self.enemy_indices}
self.controls = {
i: PlayerInput(*self.drone_actions[i])
for i in self.drone_indices
}
self.scorer = Scorer()
self.predictor = Predictor()
self.stopped = False
self.initial_states = [None]
self.final_states = []
self.time = 0
def get_outputs(self, packet: GameTickPacket) -> Dict[int, PlayerInput]:
# Calculate delta time and add to timer.
game_time = packet.game_info.seconds_elapsed
dt = game_time - self.last_time
self.last_time = game_time
self.timer += dt
# Proclaim aliveness every three seconds.
if self.timer > 3.0:
self.logger.info(f'I am alive! Team: {self.team}')
self.timer = 0.0
return {
index: PlayerInput(throttle=1.0)
for index in self.drone_indices
}
def retire_agent(self, agent):
# Shut down the bot by calling cleanup functions.
if hasattr(agent, 'retire'):
try:
agent.retire()
except Exception as e:
self.logger.error("Retiring the agent failed:\n" +
traceback.format_exc())
if hasattr(agent, 'renderer') and isinstance(agent.renderer,
RenderingManager):
agent.renderer.clear_all_touched_render_groups()
# Zero out the inputs, so it's more obvious that the bot has stopped.
self.game_interface.update_player_input(PlayerInput(), self.index)
# Don't trust the agent to shut down its own client in retire().
if agent._matchcomms is not None:
agent._matchcomms.close()
def start(self):
self.game_interface.load_interface()
controls = PlayerInput()
last_time = time()
while not self.quit_event.is_set():
current_time = time()
if limit_hz and current_time - last_time < 1 / limit_hz:
continue
last_time = current_time
# Get controls.
for event in pygame.event.get():
if event.type == pygame.JOYAXISMOTION:
self.axis_data[event.axis] = deadzone(
event.value, transform=event.axis > 3
)
elif event.type == pygame.JOYBUTTONDOWN:
self.button_data[event.button] = True
if event.button == 4:
self.recording = not self.recording
elif event.type == pygame.JOYBUTTONUP:
self.button_data[event.button] = False
# Update controls.
self.update_controls(controls)
self.game_interface.update_player_input(controls, self.index)
if not self.recording:
# Dump.
if len(self.recorded) > 0:
self.dump()
del self.recorded[:] # Clear.
else:
if len(self.recorded) == 0:
self.recording_time = current_time
print(current_time - self.recording_time)
self.recorded.append(
(current_time - self.recording_time, copy(controls))
)
def game_loop(self):
"""The main game loop. This is where your hivemind code goes."""
# Setting up rate limiter.
rate_limit = rate_limiter.RateLimiter(120)
# Setting up data.
field_info = FieldInfoPacket()
self.game_interface.update_field_info_packet(field_info)
packet = GameTickPacket()
self.game_interface.update_live_data_packet(packet)
data.setup(self, packet, field_info, self.running_indices)
self.ball.predict = BallPrediction()
# MAIN LOOP:
while True:
# Updating the game packet from the game.
self.game_interface.update_live_data_packet(packet)
# Processing packet.
data.process(self, packet)
# Ball prediction.
self.game_interface.update_ball_prediction(self.ball.predict)
brain.think(self)
for drone in self.drones:
drone.ctrl = PlayerInput()
if drone.role is not None:
drone.role.execute(self, drone)
self.game_interface.update_player_input(
drone.ctrl, drone.index)
self.draw_debug()
# Rate limit sleep.
rate_limit.acquire()
def __init__(self, index: int, packet: GameTickPacket = None):
self.location: Vector3 = Vector3(0, 0, 0)
self.orientation: Matrix3 = Matrix3(0, 0, 0)
self.velocity: Vector3 = Vector3(0, 0, 0)
self.angular_velocity: [] = [0, 0, 0]
self.demolished: bool = False
self.airborne: bool = False
self.supersonic: bool = False
self.jumped: bool = False
self.doublejumped: bool = False
self.team: int = 0
self.boost: float = 0
self.index: int = index
self.controller: PlayerInput = PlayerInput()
# A list that acts as the routines stack
self.stack: [] = []
self.action: Action = Action.Shadowing
self.on_side: bool = False
self.closest: bool = False
if packet is not None:
self.team = packet.game_cars[self.index].team
self.update(packet)
def prepare_for_run(self):
# Set up shared memory map (offset makes it so bot only writes to its own input!) and map to buffer
self.bot_input = PlayerInput()
# Set up shared memory for game data
self.game_tick_packet = gd.GameTickPacket(
) # We want to do a deep copy for game inputs so people don't mess with em
def run(self):
"""
Loads interface for RLBot, prepares environment and agent, and calls the update for the agent.
"""
self.logger.debug('initializing agent')
self.game_interface.load_interface()
self.prepare_for_run()
# Create Ratelimiter
rate_limit = rate_limiter.RateLimiter(
GAME_TICK_PACKET_POLLS_PER_SECOND)
last_tick_game_time = None # What the tick time of the last observed tick was
last_call_real_time = datetime.now() # When we last called the Agent
# Get bot module
agent, agent_class_file = self.load_agent()
last_module_modification_time = os.stat(agent_class_file).st_mtime
# Run until main process tells to stop, or we detect Ctrl+C
try:
while not self.terminate_request_event.is_set():
self.pull_data_from_game()
# game_tick_packet = self.game_interface.get
# Read from game data shared memory
# Run the Agent only if the game_info has updated.
tick_game_time = self.get_game_time()
should_call_while_paused = datetime.now(
) - last_call_real_time >= MAX_AGENT_CALL_PERIOD
if tick_game_time != last_tick_game_time or should_call_while_paused:
last_tick_game_time = tick_game_time
last_call_real_time = datetime.now()
# Reload the Agent if it has been modified or if reload is requested from outside.
try:
new_module_modification_time = os.stat(
agent_class_file).st_mtime
if new_module_modification_time != last_module_modification_time or self.reload_request_event.is_set(
):
self.reload_request_event.clear()
last_module_modification_time = new_module_modification_time
agent, agent_class_file = self.reload_agent(
agent, agent_class_file)
except FileNotFoundError:
self.logger.error(
f"Agent file {agent_class_file} was not found. Will try again."
)
time.sleep(0.5)
except Exception:
self.logger.error("Reloading the agent failed:\n" +
traceback.format_exc())
time.sleep(
0.5
) # Avoid burning CPU / logs if this starts happening constantly
# Call agent
try:
self.call_agent(
agent, self.agent_class_wrapper.get_loaded_class())
except Exception as e:
self.logger.error("Call to agent failed:\n" +
traceback.format_exc())
# Ratelimit here
rate_limit.acquire()
except KeyboardInterrupt:
self.terminate_request_event.set()
# Shut down the bot by calling cleanup functions.
if hasattr(agent, 'retire'):
try:
agent.retire()
except Exception as e:
self.logger.error("Retiring the agent failed:\n" +
traceback.format_exc())
if hasattr(agent, 'renderer') and isinstance(agent.renderer,
RenderingManager):
agent.renderer.clear_all_touched_render_groups()
# Zero out the inputs, so it's more obvious that the bot has stopped.
self.game_interface.update_player_input(PlayerInput(), self.index)
# If terminated, send callback
self.termination_complete_event.set()
def spawn_car_in_showroom(loadout_config: LoadoutConfig, team: int, showcase_type: str, map_name: str,
launcher_prefs: RocketLeagueLauncherPreference):
match_config = MatchConfig()
match_config.game_mode = 'Soccer'
match_config.game_map = map_name
match_config.instant_start = True
match_config.existing_match_behavior = 'Continue And Spawn'
match_config.networking_role = NetworkingRole.none
match_config.enable_state_setting = True
match_config.skip_replays = True
bot_config = PlayerConfig()
bot_config.bot = True
bot_config.rlbot_controlled = True
bot_config.team = team
bot_config.name = "Showroom"
bot_config.loadout_config = loadout_config
match_config.player_configs = [bot_config]
match_config.mutators = MutatorConfig()
match_config.mutators.boost_amount = 'Unlimited'
match_config.mutators.match_length = 'Unlimited'
global sm
if sm is None:
sm = SetupManager()
sm.connect_to_game(launcher_preference=launcher_prefs)
sm.load_match_config(match_config)
sm.start_match()
game_state = GameState(
cars={0: CarState(physics=Physics(
location=Vector3(0, 0, 20),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0),
rotation=Rotator(0, 0, 0)
))},
ball=BallState(physics=Physics(
location=Vector3(0, 0, -100),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)
))
)
player_input = PlayerInput()
team_sign = -1 if team == 0 else 1
if showcase_type == "boost":
player_input.boost = True
player_input.steer = 1
game_state.cars[0].physics.location.y = -1140
game_state.cars[0].physics.velocity.x = 2300
game_state.cars[0].physics.angular_velocity.z = 3.5
elif showcase_type == "throttle":
player_input.throttle = 1
player_input.steer = 0.56
game_state.cars[0].physics.location.y = -1140
game_state.cars[0].physics.velocity.x = 1410
game_state.cars[0].physics.angular_velocity.z = 1.5
elif showcase_type == "back-center-kickoff":
game_state.cars[0].physics.location.y = 4608 * team_sign
game_state.cars[0].physics.rotation.yaw = -0.5 * pi * team_sign
elif showcase_type == "goal-explosion":
game_state.cars[0].physics.location.y = -2000 * team_sign
game_state.cars[0].physics.rotation.yaw = -0.5 * pi * team_sign
game_state.cars[0].physics.velocity.y = -2300 * team_sign
game_state.ball.physics.location = Vector3(0, -3500 * team_sign, 93)
sm.game_interface.update_player_input(player_input, 0)
sm.game_interface.set_game_state(game_state)
def game_loop(self):
"""The main game loop. This is where your hivemind code goes."""
# Creating packet and ball prediction objects which will be updated every tick.
packet = GameTickPacket()
ball_prediction = BallPrediction()
# Nicknames the renderer to shorten code.
draw = self.game_interface.renderer
# MAIN LOOP:
while True:
previous_packet = packet
# Updating the game tick packet.
self.game_interface.update_live_data_packet(packet)
# Checking if packet is new, otherwise sleep.
if previous_packet.game_info.seconds_elapsed == packet.game_info.seconds_elapsed:
time.sleep(0.001)
else:
# Begins rendering at the start of the loop; makes life easier.
# https://discordapp.com/channels/348658686962696195/446761380654219264/610879527089864737
draw.begin_rendering(f'Hivemind{self.drones[0].team}')
# PRE-PROCESSING:
# Updates the ball prediction.
self.game_interface.update_ball_prediction(ball_prediction)
# Processing ball data.
self.ball.pos = a3v(packet.game_ball.physics.location)
# Processing drone data.
for drone in self.drones:
drone.pos = a3v(packet.game_cars[drone.index].physics.location)
drone.rot = a3r(packet.game_cars[drone.index].physics.rotation)
drone.vel = a3v(packet.game_cars[drone.index].physics.velocity)
drone.boost = packet.game_cars[drone.index].boost
drone.orient_m = orient_matrix(drone.rot)
# Reset ctrl every tick.
# PlayerInput is practically identical to SimpleControllerState.
drone.ctrl = PlayerInput()
# Game time.
game_time = packet.game_info.seconds_elapsed
# Example Team Pinches (2 bots only)
# There's nothing stopping you from doing it with more ;) Give it a shot!
if len(self.drones) == 2:
# Sorts the drones left to right. (More understandble code below)
#right_to_left_drones = sorted(self.drones, key=lambda drone: drone.pos[0]*team_sign(drone.team))
# Finds the right and left drones.
sign = team_sign(self.drones[0].team)
if self.drones[0].pos[0]*sign <= self.drones[1].pos[0]*sign:
right = self.drones[0]
left = self.drones[1]
else:
right = self.drones[1]
left = self.drones[0]
# Bots get boost and go to wait positions.
if self.state == State.SETUP:
# Some guide positions.
right_boost = a3l([-3072.0, -4096.0, 71.1])*sign
right_wait = a3l([-1792.0, -4184.0, 71.1])*sign
# Making use of symmetry
left_boost = right_boost * a3l([-1, 1, 1])
left_wait = right_wait * a3l([-1, 1, 1])
# First get boost and then go to wait position.
if right.boost < 100:
slow_to_pos(right, right_boost)
else:
slow_to_pos(right, right_wait)
if left.boost < 100:
slow_to_pos(left, left_boost)
else:
slow_to_pos(left, left_wait)
# If both bots are in wait position, switch to WAIT state.
if np.linalg.norm(right.pos-right_wait) + np.linalg.norm(left.pos-left_wait) < 200:
self.state = State.WAIT
# Bots try to face the ball, waiting for perfect moment to team pinch.
elif self.state == State.WAIT:
# Each drone should try to face the ball.
for drone in self.drones:
turn_to_pos(drone, self.ball.pos, game_time)
# Filters out all the predictions where the ball is too far off the ground.
# Result is a list of tuples of positions and time.
filtered_prediction = [(a3v(step.physics.location), step.game_seconds)
for step in ball_prediction.slices if step.physics.location.z < 100]
if len(filtered_prediction) > 0:
# Turns the predition into a numpy array for fast vectorized calculations.
filtered_prediction = np.array(filtered_prediction)
# Gets the vectors from the drones to the ball prediction.
positions = np.vstack(filtered_prediction[:, 0])
right_to_prediction = positions - right.pos
left_to_prediction = positions - left.pos
# Calculates the distances.
# Cool blog post about einsum: http://ajcr.net/Basic-guide-to-einsum/
right_distances = np.sqrt(
np.einsum('ij,ij->i', right_to_prediction, right_to_prediction))
left_distances = np.sqrt(
np.einsum('ij,ij->i', left_to_prediction, left_to_prediction))
# Filters out the predictions which are too close or too far.
good_distances = (CLOSEST <= right_distances) & (FARTHEST >= right_distances) & (
CLOSEST <= left_distances) & (FARTHEST >= left_distances)
valid_targets = filtered_prediction[good_distances]
if len(valid_targets) > 0:
# Getting the remaining distances after filter.
right_distances = right_distances[good_distances]
left_distances = left_distances[good_distances]
# Getting time estimates to go that distance. (Assuming boosting, and going in a straight line.)
# https://www.geogebra.org/m/nnsat4pj
right_times = right_distances**0.55 / 41.53
right_times[right_distances > 2177.25] = 1/2300 * \
right_distances[right_distances > 2177.25] + 0.70337
right_times += game_time + TIME_BUFFER
left_times = left_distances**0.55 / 41.53
left_times[left_distances > 2177.25] = 1/2300 * \
left_distances[left_distances > 2177.25] + 0.70337
left_times += game_time + TIME_BUFFER
# Filters out the predictions which we can't get to.
good_times = (valid_targets[:, 1] > right_times) & (
valid_targets[:, 1] > left_times)
valid_targets = valid_targets[good_times]
# To avoid flukes or anomalies, check that the ball is valid for at least 10 steps.
# Not exact because there could be more bounce spots but good enough to avoid flukes.
if len(valid_targets) > 10:
# Select first valid target.
self.pinch_target = valid_targets[0]
# Reset drone's going attribute.
right.going = False
left.going = False
# Set the state to PINCH.
self.state = State.PINCH
# Rendering number of positions viable after each condition.
draw.draw_string_2d(
10, 70, 2, 2, f'Good height: {len(filtered_prediction)}', draw.white())
draw.draw_string_2d(
10, 100, 2, 2, f'Good distance: {len(valid_targets)}', draw.white())
# Render circles to show distances.
draw.draw_polyline_3d(make_circle(
CLOSEST, right.pos, 20), draw.cyan())
draw.draw_polyline_3d(make_circle(
CLOSEST, left.pos, 20), draw.cyan())
draw.draw_polyline_3d(make_circle(
FARTHEST, right.pos, 30), draw.pink())
draw.draw_polyline_3d(make_circle(
FARTHEST, left.pos, 30), draw.pink())
elif self.state == State.PINCH:
# Checks if the ball has been hit recently.
if packet.game_ball.latest_touch.time_seconds + 0.1 > game_time:
self.pinch_target = None
self.state = State.SETUP
elif self.pinch_target is not None:
if not right.going:
# Get the distance to the target.
right_distance = np.linalg.norm(
self.pinch_target[0] - right.pos)
# Get a time estimate
right_time = right_distance**0.55 / \
41.53 if right_distance <= 2177.25 else 1/2300 * right_distance + 0.70337
# Waits until time is right to go. Otherwise turns to face the target position.
if game_time + right_time + TIME_ERROR >= self.pinch_target[1]:
right.going = True
else:
turn_to_pos(
right, self.pinch_target[0], game_time)
else:
fast_to_pos(right, self.pinch_target[0])
# Same for left.
if not left.going:
left_distance = np.linalg.norm(
self.pinch_target[0] - left.pos)
left_time = left_distance**0.55 / \
41.53 if left_distance <= 2177.25 else 1/2300 * left_distance + 0.70337
if game_time + left_time + TIME_ERROR >= self.pinch_target[1]:
left.going = True
else:
turn_to_pos(
left, self.pinch_target[0], game_time)
else:
fast_to_pos(left, self.pinch_target[0])
# Some rendering.
draw.draw_string_2d(
10, 70, 2, 2, f'Right going: {right.going}', draw.white())
draw.draw_string_2d(
10, 100, 2, 2, f'Left going: {left.going}', draw.white())
else:
draw.draw_string_2d(
10, 10, 2, 2, 'This example version has only been coded for 2 HiveBots.', draw.red())
# Use this to send the drone inputs to the drones.
for drone in self.drones:
self.game_interface.update_player_input(
drone.ctrl, drone.index)
# Some example rendering:
draw.draw_string_2d(10, 10, 3, 3, f'{self.state}', draw.pink())
# Renders ball prediction
path = [step.physics.location for step in ball_prediction.slices[::10]]
draw.draw_polyline_3d(path, draw.pink())
# Renders drone indices.
for drone in self.drones:
draw.draw_string_3d(drone.pos, 1, 1, str(
drone.index), draw.white())
# Team pinch info.
if self.pinch_target is not None:
draw.draw_rect_3d(
self.pinch_target[0], 10, 10, True, draw.red())
# Ending rendering.
draw.end_rendering()
def __init__(self):
self.player_input = PlayerInput()