def __init__(self, car: Car, info: GameInfo, face_target: vec3,
distance_from_target: float):
super().__init__(car)
self.info = info
self.face_target = face_target
dist = min(distance_from_target,
ground_distance(face_target, self.info.my_goal.center) - 50)
target_pos = ground(face_target) + ground_direction(
face_target, self.info.my_goal.center) * dist
near_goal = ground_distance(car, info.my_goal.center) < 3000
side_shift = 400 if near_goal else 2500
points = [
target_pos + vec3(side_shift, 0, 0),
target_pos - vec3(side_shift, 0, 0)
]
target_pos = nearest_point(face_target,
points) if near_goal else farthest_point(
face_target, points)
target_pos = Arena.clamp(target_pos, 500)
self.travel = Travel(car, target_pos)
self.travel.finish_distance = 800 if near_goal else 1500
self.drive = Drive(car)
self.stop = Stop(car)
self.start_time = car.time
self.pad = None
def __init__(self, car: Car, target: vec3 = vec3(0, 0, 0), waste_boost=False):
super().__init__(car)
self.target = Arena.clamp(ground(target), 100)
self.waste_boost = waste_boost
self.finish_distance = 500
self._time_on_ground = 0
self.driving = True
# decide whether to start driving backwards and halfflip later
forward_estimate = estimate_time(car, self.target)
backwards_estimate = estimate_time(car, self.target, -1) + 0.5
backwards = (
dot(car.velocity, car.forward()) < 500
and backwards_estimate < forward_estimate
and (distance(car, self.target) > 3000 or distance(car, self.target) < 300)
and car.position[2] < 200
)
self.drive = Drive(car, self.target, 2300, backwards)
self.action = self.drive
def __init__(self,
car: Car,
info: GameInfo,
face_target: vec3,
distance_from_target: float,
force_nearest=False):
super().__init__(car)
self.info = info
self.face_target = face_target
dist = min(distance_from_target,
ground_distance(face_target, self.info.my_goal.center) - 50)
target_pos = ground(face_target) + ground_direction(
face_target, self.info.my_goal.center) * dist
near_goal = abs(car.position[1] - info.my_goal.center[1]) < 3000
side_shift = 400 if near_goal else 1800
points = target_pos + vec3(side_shift, 0, 0), target_pos - vec3(
side_shift, 0, 0)
if abs(self.car.position.x) > 3000:
force_nearest = True
target_pos = nearest_point(
face_target,
points) if near_goal or force_nearest else farthest_point(
face_target, points)
if abs(face_target[0]) < 1000 or ground_distance(car,
face_target) < 1000:
target_pos = nearest_point(car.position, points)
target_pos = Arena.clamp(target_pos, 500)
self.travel = Travel(car, target_pos)
self.travel.finish_distance = 800 if near_goal else 1500
self.drive = Drive(car)
self.stop = Stop(car)
self.start_time = car.time
self.pad = None
def step(self, dt):
target = self.target_pos
# don't try driving outside the arena
target = Arena.clamp(target, 100)
# smoothly escape goal
if abs(self.car.position[1]) > Arena.size[1] - 50 and abs(
self.car.position.x) < 1000:
target = Arena.clamp(target, 200)
target[0] = abs_clamp(target[0], 700)
if not self.drive_on_walls:
seam_radius = 100 if abs(
self.car.position[1]) > Arena.size[1] - 100 else 200
if self.car.position[2] > seam_radius:
target = ground(self.car)
local_target = local(self.car, target)
if self.backwards:
local_target[0] *= -1
local_target[1] *= -1
# steering
phi = math.atan2(local_target[1], local_target[0])
self.controls.steer = clamp11(3.0 * phi)
# powersliding
self.controls.handbrake = 0
if (abs(phi) > 1.5 and self.car.position[2] < 300
and (ground_distance(self.car, target) < 3500
or abs(self.car.position[0]) > 3500) and
dot(normalize(self.car.velocity), self.car.forward()) > 0.85):
self.controls.handbrake = 1
# forward velocity
vf = dot(self.car.velocity, self.car.forward())
if self.backwards:
vf *= -1
# speed controller
if vf < self.target_speed:
self.controls.throttle = 1.0
if self.target_speed > 1400 and vf < 2250 and self.target_speed - vf > 50:
self.controls.boost = 1
else:
self.controls.boost = 0
else:
if (vf - self.target_speed) > 400: # 75
self.controls.throttle = -1.0
elif (vf - self.target_speed) > 100:
if self.car.up()[2] > 0.85:
self.controls.throttle = 0.0
else:
self.controls.throttle = 0.01
self.controls.boost = 0
# backwards driving
if self.backwards:
self.controls.throttle *= -1
self.controls.steer *= -1
self.controls.boost = 0
self.controls.handbrake = 0
# don't boost if not facing target
if abs(phi) > 0.3:
self.controls.boost = 0
# finish when close
if distance(self.car, self.target_pos) < 100:
self.finished = True