def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
shoot_controls = bot.shoot.with_aiming(
bot, self.aim_cone,
predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
hit_pos = bot.shoot.ball_when_hit.pos
if bot.do_rendering:
self.aim_cone.draw(bot, hit_pos, r=0, g=170, b=255)
if bot.shoot.can_shoot:
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# go home-ish
own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
return bot.drive.towards_point(bot,
own_goal,
target_vel=1460,
slide=True,
boost_min=0,
can_keep_speed=True)
def get_goto_point(self, bot, src, point):
point = xy(point)
desired_dir = self.get_center_dir()
desired_dir_inv = -1 * desired_dir
car_pos = xy(src)
point_to_car = car_pos - point
ang_to_desired_dir = angle_between(desired_dir_inv, point_to_car)
ANG_ROUTE_ACCEPTED = math.pi / 4.3
can_go_straight = abs(ang_to_desired_dir) < self.span_size() / 2.0
can_with_route = abs(
ang_to_desired_dir) < self.span_size() / 2.0 + ANG_ROUTE_ACCEPTED
point = point + desired_dir_inv * 50
if can_go_straight:
return point, 1.0
elif can_with_route:
ang_to_right = abs(angle_between(point_to_car,
-1 * self.right_dir))
ang_to_left = abs(angle_between(point_to_car, -1 * self.left_dir))
closest_dir = self.right_dir if ang_to_right < ang_to_left else self.left_dir
goto = curve_from_arrival_dir(car_pos, point, closest_dir)
goto.x = clip(goto.x, -Field.WIDTH / 2, Field.WIDTH / 2)
goto.y = clip(goto.y, -Field.LENGTH / 2, Field.LENGTH / 2)
if bot.do_rendering:
bot.renderer.draw_line_3d(
car_pos, goto,
bot.renderer.create_color(255, 150, 150, 150))
bot.renderer.draw_line_3d(
point, goto, bot.renderer.create_color(255, 150, 150, 150))
# Bezier
rendering.draw_bezier(bot, [car_pos, goto, point])
return goto, 0.5
else:
return None, 1
def run(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(car, ball))
ball_to_goal_right = bot.info.opp_goal.right_post - reachable_ball.pos
ball_to_goal_left = bot.info.opp_goal.left_post - reachable_ball.pos
aim_cone = AimCone(ball_to_goal_right, ball_to_goal_left)
shoot_controls = bot.shoot.with_aiming(bot, aim_cone, my_hit_time)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.opp_goal.pos)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball)
enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos
if enemy_hit_time < 1.5 * my_hit_time:
if bot.do_rendering:
bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos, bot.renderer.red())
return bot.drive.home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
return bot.drive.towards_point(bot, offset_ball, target_vel=2200, slide=False, boost_min=0)
elif len(bot.info.teammates) == 0 and not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(hit_pos.x) > 900 and not dist < 420:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners in 1s and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point, ball.pos + Vec3(0, bot.info.team_sign * 3000, 0), 0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow())
return bot.drive.towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, can_keep_speed=True, can_dodge=False)
elif bot.shoot.can_shoot:
# Shoot !
if bot.do_rendering:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, r=0, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
else:
# We can't shoot at goal reliably
# How about a shot to the corners then?
corners = [
Vec3(-Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
Vec3(Field.WIDTH2, -bot.info.team_sign * Field.LENGTH2, 0),
]
for corner in corners:
ctrls = bot.shoot.towards(bot, corner, bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
if bot.shoot.using_curve:
rendering.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])
return ctrls
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal.pos - ball.pos))
dot_threat = dot(enemy_to_ball, ball_to_my_goal) # 1 = enemy is in position, -1 = enemy is NOT in position
if car.boost <= 10 and ball.pos.y * bot.info.team_sign < 0 and dot_threat < 0.15:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900
pads = filter_pads(bot, bot.info.big_boost_pads, big_only=not collect_small, enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home-ish
return bot.drive.stay_at(bot, lerp(bot.info.own_goal.pos, ball.pos, 0.2), ball.pos)
def exec(self, bot) -> SimpleControllerState:
car = bot.info.my_car
ball = bot.info.ball
my_hit_time = predict.time_till_reach_ball(car, ball)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, my_hit_time)
if bot.do_rendering:
self.aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0)
hit_pos = bot.shoot.ball_when_hit.pos
dist = norm(car.pos - hit_pos)
closest_enemy, enemy_dist = bot.info.closest_enemy(
0.5 * (hit_pos + ball.pos))
if not bot.shoot.can_shoot and is_closer_to_goal_than(
car.pos, hit_pos, bot.info.team):
# Can't shoot but or at least on the right side: Chase
goal_to_ball = normalize(hit_pos - bot.info.enemy_goal)
offset_ball = hit_pos + goal_to_ball * Ball.RADIUS * 0.9
enemy_hit_time = predict.time_till_reach_ball(closest_enemy, ball)
enemy_hit_pos = predict.ball_predict(bot, enemy_hit_time).pos
if enemy_hit_time < 1.5 * my_hit_time:
self.temp_utility_desire_boost -= bot.info.dt
if bot.do_rendering:
bot.renderer.draw_line_3d(closest_enemy.pos, enemy_hit_pos,
bot.renderer.red())
return bot.drive.go_home(bot)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
offset_ball,
target_vel=2200,
slide=False,
boost_min=0)
elif not bot.shoot.aim_is_ok and hit_pos.y * -bot.info.team_sign > 4250 and abs(
hit_pos.x) > 900 and not dist < 420:
# hit_pos is an enemy corner and we are not close: Avoid enemy corners and just wait
enemy_to_ball = normalize(hit_pos - closest_enemy.pos)
wait_point = hit_pos + enemy_to_ball * enemy_dist # a point 50% closer to the center of the field
wait_point = lerp(wait_point,
ball.pos + Vec3(0, bot.info.team_sign * 3000, 0),
0.5)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point,
bot.renderer.yellow())
return bot.drive.go_towards_point(bot,
wait_point,
norm(car.pos - wait_point),
slide=False,
can_keep_speed=True,
can_dodge=False)
elif not bot.shoot.can_shoot:
enemy_to_ball = normalize(xy(ball.pos - closest_enemy.pos))
ball_to_my_goal = normalize(xy(bot.info.own_goal - ball.pos))
dot_threat = dot(
enemy_to_ball, ball_to_my_goal
) # 1 = enemy is in position, -1 = enemy is NOT in position
if car.boost == 0 and ball.pos.y * bot.info.team_sign < 500 and dot_threat < 0.1:
collect_center = ball.pos.y * bot.info.team_sign <= 0
collect_small = closest_enemy.pos.y * bot.info.team_sign <= 0 or enemy_dist < 900
pads = filter_pads(bot,
bot.info.big_boost_pads,
big_only=not collect_small,
enemy_side=False,
center=collect_center)
bot.maneuver = CollectClosestBoostManeuver(bot, pads)
# return home
return bot.drive.go_home(bot)
else:
# Shoot !
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(
bot, [car.pos, bot.shoot.curve_point, hit_pos])
return shoot_controls
def exec(self, bot):
pred_ball = predict.ball_predict(bot, bot.info.my_car.reach_ball_time)
# On a scale from 0 to 1, how much is this a clear?
clear01 = clip01(
norm(bot.info.opp_goal.pos - pred_ball.pos) / Field.LENGTH)**2
ts = bot.info.team_sign
right = lerp(bot.info.opp_goal.right_post,
Vec3(ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
left = lerp(bot.info.opp_goal.left_post,
Vec3(-ts * Field.WIDTH2, ts * (Field.LENGTH2 + 300), 0),
clear01)
ball_to_right = right - pred_ball.pos
ball_to_left = left - pred_ball.pos
aim_cone = AimCone(ball_to_right, ball_to_left)
shot_ctrls = bot.shoot.with_aiming(bot, aim_cone,
bot.info.my_car.reach_ball_time)
if bot.do_rendering:
if bot.shoot.can_shoot:
aim_cone.draw(bot, bot.shoot.ball_when_hit.pos, b=0, r=0)
if not bot.shoot.can_shoot:
# We can't shoot on target
if len(bot.info.teammates) != 0:
# Consider passing
for mate in bot.info.teammates:
point_in_front_of_mate = lerp(mate.pos,
bot.info.opp_goal.pos, 0.5)
shot_ctrls = bot.shoot.towards(
bot, point_in_front_of_mate,
bot.info.my_car.reach_ball_time)
if bot.shoot.can_shoot:
if bot.do_rendering:
rendering.draw_cross(bot, point_in_front_of_mate,
bot.renderer.green())
return shot_ctrls
# Atba with bias I guess
if bot.do_rendering:
bot.renderer.draw_line_3d(bot.info.my_car.pos, pred_ball.pos,
bot.renderer.red())
return bot.shoot.any_touch(bot, bot.info.my_car.reach_ball_time)
# # We are out of position, start rotating back
# own_goal = lerp(bot.info.own_goal.pos, bot.info.ball.pos, 0.5)
# return bot.drive.towards_point(
# bot,
# own_goal,
# target_vel=1460,
# slide=False,
# boost_min=0,
# can_keep_speed=True
# )
else:
# Shoot!
if bot.shoot.using_curve and bot.do_rendering:
rendering.draw_bezier(bot, [
bot.info.my_car.pos, bot.shoot.curve_point,
bot.shoot.ball_when_hit.pos
])
return shot_ctrls