def set_drone_states(self, drones: List[Drone]):
# get the length of the path from start to the dragons's head (first bot)
head_t = self.time_since_start / self.duration * self.path.length
for drone in drones:
# offset the other body parts
drone_t = head_t - self.distance_between_body_parts * (
drone.id - drones[0].id)
# if we're not on the path yet, don't do any state setting
if drone_t < 0:
continue
t = self.path.length - drone_t # because Curve.point_at's argument means distance to end
pos = self.path.point_at(t)
pos_ahead = self.path.point_at(t - 500)
pos_behind = self.path.point_at(t + 300)
# figure out the orientation of the body part
facing_direction = direction(pos_behind, pos)
target_left = cross(facing_direction, direction(pos, pos_ahead))
target_up = cross(target_left, facing_direction)
up = drone.up() + target_up * 0.9 + vec3(0, 0, 0.1)
target_orientation = look_at(facing_direction, up)
drone.position = pos_behind
drone.velocity = facing_direction * (self.path.length /
self.duration)
drone.angular_velocity = vec3(
0, 0, 0
) # TODO: setting correct angular velocity could help with replays
drone.orientation = target_orientation
def triangle(self,
pos: vec3,
pointing_dir: vec3,
width=50,
length=50,
up=vec3(0, 0, 1)):
left = pos + cross(pointing_dir, up) * width / 2
right = pos - cross(pointing_dir, up) * width / 2
top = pos + pointing_dir * length
self.cyclic_polyline([left, right, top])
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 simulate_landing(self):
pos = vec3(self.car.position)
vel = vec3(self.car.velocity)
grav = vec3(0, 0, -650)
self.trajectory = [vec3(pos)]
self.landing = False
collision_normal: Optional[vec3] = None
dt = 1 / 60
simulation_duration = 0.8
for i in range(int(simulation_duration / dt)):
pos += vel * dt
vel += grav * dt
if norm(vel) > 2300: vel = normalize(vel) * 2300
self.trajectory.append(vec3(pos))
collision_sphere = sphere(pos, 50)
collision_ray = Field.collide(collision_sphere)
collision_normal = collision_ray.direction
if (norm(collision_normal) > 0.0 or pos[2] < 0) and i > 20:
self.landing = True
self.landing_pos = pos
break
if self.landing:
u = collision_normal
f = normalize(vel - dot(vel, u) * u)
l = normalize(cross(u, f))
self.aerial_turn.target = three_vec3_to_mat3(f, l, u)
else:
target_direction = normalize(
normalize(self.car.velocity) - vec3(0, 0, 3))
self.aerial_turn.target = look_at(target_direction, vec3(0, 0, 1))
def simulate_landing(self):
dummy = Car(self.car)
self.trajectory = [vec3(dummy.position)]
self.landing = False
collision_normal: Optional[vec3] = None
dt = 1 / 60
simulation_duration = 0.8
for i in range(int(simulation_duration / dt)):
dummy.step(Input(), dt)
self.trajectory.append(vec3(dummy.position))
collision_sphere = sphere(dummy.position, 50)
collision_ray = Field.collide(collision_sphere)
collision_normal = collision_ray.direction
if (norm(collision_normal) > 0.0
or dummy.position[2] < 0) and i > 20:
self.landing = True
self.landing_pos = dummy.position
break
if self.landing:
u = collision_normal
f = normalize(dummy.velocity - dot(dummy.velocity, u) * u)
l = normalize(cross(u, f))
self.aerial_turn.target = mat3(f[0], l[0], u[0], f[1], l[1], u[1],
f[2], l[2], u[2])
else:
target_direction = normalize(
normalize(self.car.velocity) - vec3(0, 0, 3))
self.aerial_turn.target = look_at(target_direction, vec3(0, 0, 1))
def set_drone_states(self, drones: List[Drone]):
for drone in drones:
t = self.time_since_start / self.duration * self.curve.length
t -= self.distance_between_body_parts * (drone.id -
self.target_indexes[0])
t = self.curve.length - t
pos = self.curve.point_at(t)
pos_ahead = self.curve.point_at(t - 500)
pos_behind = self.curve.point_at(t + 30)
facing_direction = direction(pos_behind, pos)
target_left = cross(facing_direction, direction(pos, pos_ahead))
target_up = cross(target_left, facing_direction)
up = drone.up() + target_up * 0.9 + vec3(0, 0, 0.1)
target_orientation = look_at(facing_direction, up)
drone.position = pos
drone.velocity = facing_direction * (self.curve.length /
self.duration)
drone.angular_velocity = vec3(0, 0, 0)
drone.orientation = target_orientation
def rotate_by_axis(orientation: Orientation,
original: Vec3,
target: Vec3,
percent=1) -> Rotator:
"""
Updates the given orientation's original direction to the target direction.
original should be `orientation.forward` or `orientation.up` or `orientation.right`
"""
angle = angle_between(to_rlu_vec(target), to_rlu_vec(original)) * percent
rotate_axis = cross(to_rlu_vec(target), to_rlu_vec(original))
ortho = normalize(rotate_axis) * -angle
rot_mat_initial: mat3 = orientation.to_rot_mat()
rot_mat_adj = axis_to_rotation(ortho)
rot_mat = dot(rot_mat_adj, rot_mat_initial)
r = rot_mat_to_rot(rot_mat)
# printO(orientation)
# printO(Orientation(r))
return r
def roll_away_from_target(target, theta, game_info):
'''
Returns an orientation mat3 for an air roll shot. Turns directly away from the dodge direction (target) by angle theta
Target can either be RLU vec3, or CowBot Vec3.
'''
starting_forward = game_info.utils_game.my_car.forward()
starting_left = game_info.utils_game.my_car.left()
starting_up = game_info.utils_game.my_car.up()
starting_orientation = mat3(starting_forward[0], starting_left[0],
starting_up[0], starting_forward[1],
starting_left[1], starting_up[1],
starting_forward[2], starting_left[2],
starting_up[2])
if type(target) == vec3:
target = vec3_to_Vec3(target, game_info.team_sign)
car_to_target = Vec3_to_vec3((target - game_info.me.pos).normalize(),
game_info.team_sign)
axis = theta * cross(car_to_target, starting_up)
return dot(axis_to_rotation(axis), starting_orientation)
def step(self, packet: GameTickPacket, drones: List[Drone]):
orbit_t = max(0, self.time_since_start - self.orbit_start_delay)
orbit_rotation = self.starting_orbit_rotation + orbit_t * self.orbit_speed
direction_from_center = dot(
axis_to_rotation(vec3(0, 0, 1) * orbit_rotation), vec3(1, 0, 0))
ring_center = self.orbit_center + direction_from_center * self.orbit_radius
ring_facing_direction = cross(direction_from_center, vec3(0, 0, 1))
for drone in drones:
i = drone.id - drones[0].id
angle = i / len(drones) * pi * 2
pos = ring_center + dot(
vec3(0, 0, 1), axis_to_rotation(
ring_facing_direction * angle)) * self.ring_radius
if pos[2] > self.orbit_center[
2] + self.ring_radius - self.time_since_start * 200:
drone.hover.target = pos
drone.hover.up = ring_facing_direction
drone.hover.step(self.dt)
drone.controls = drone.hover.controls
drone.controls.jump = True
def to_Curve(self, team_sign):
'''
Converts the path to an RLU Curve object that can be followed
'''
control_points = []
#The first arc
direction1 = self.start - self.center1
starting_angle = atan2(direction1.y, direction1.x)
steps = ceil(30 * (self.phi1 / (2 * pi)))
delta = -self.sgn1 * self.phi1 / steps
center1 = Vec3_to_vec3(self.center1, team_sign)
for i in range(1, steps - 2):
angle = starting_angle + delta * i
next_point = center1 + abs(self.radius1) * vec3(
cos(angle), sin(angle), 0)
normal = normalize(next_point - center1)
next_control_point = ControlPoint()
next_control_point.p = next_point
next_control_point.t = cross(normal)
next_control_point.n = normal
control_points.append(next_control_point)
#The line
steps = max(10, ceil(self.length_line / 300))
delta = self.length_line / steps
tangent = Vec3_to_vec3(
(self.transition2 - self.transition1).normalize(), team_sign)
normal = cross(tangent)
for i in range(0, steps + 1):
next_point = Vec3_to_vec3(self.transition1,
team_sign) + delta * tangent * i
next_control_point = ControlPoint()
next_control_point.p = next_point
next_control_point.t = tangent
next_control_point.n = normal
control_points.append(next_control_point)
#The second arc
direction2 = self.transition2 - self.center2
starting_angle = atan2(direction2.y, direction2.x)
steps = ceil(30 * (self.phi2 / (2 * pi)))
delta = -self.sgn2 * self.phi2 / steps
center2 = Vec3_to_vec3(self.center2, team_sign)
for i in range(1, steps + 1):
angle = starting_angle + delta * i
next_point = center2 + abs(self.radius2) * vec3(
cos(angle), sin(angle), 0)
normal = normalize(next_point - center2)
next_control_point = ControlPoint()
next_control_point.p = next_point
next_control_point.t = cross(normal)
next_control_point.n = normal
control_points.append(next_control_point)
curve = Curve(control_points)
self.RLU_curve = curve
self.discretized_path = [
vec3_to_Vec3(point.p, team_sign) for point in control_points
]
