def utility_score(self, bot) -> float:
car = bot.info.my_car
if len(bot.info.teammates) == 0:
team_committed01 = 0
no_defence01 = 1
else:
mates = bot.info.teammates
sum_pos = mates[0].pos + mates[0].vel * 0.5
for mate in mates[1:]:
sum_pos += mate.pos + mate.vel * 0.5
avg_pos = sum_pos / len(mates)
team_committed01 = clip01(
norm(avg_pos - bot.info.own_goal.pos) / Field.LENGTH2)
no_defence01 = clip01(
argmin(mates,
lambda mate: norm(mate.pos - bot.info.own_goal.pos))[1]
/ 1000)
dist_to_ball01 = clip01(
norm(car.pos - bot.info.ball.pos) / Field.LENGTH2)
obj_bonus = {
Objective.UNKNOWN: 1.0,
Objective.GO_FOR_IT: 0,
Objective.FOLLOW_UP: 0,
Objective.ROTATING: 1.0,
Objective.SOLO: 1.0,
}[car.objective]
return 0.85 * team_committed01 * dist_to_ball01 * no_defence01 * obj_bonus
def utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
follow_up_pos = bot.analyzer.ideal_follow_up_pos
_, missing_follow_up_guy01 = argmin(
bot.info.team_cars, lambda mate: 1.0 - clip01(
norm(mate.pos - follow_up_pos) / Field.LENGTH2))
attack_in_front = any(
is_closer_to_goal_than(car.pos, mate.pos, car.team)
for mate in bot.info.teammates
if mate.objective == Objective.GO_FOR_IT)
ball_in_front = is_closer_to_goal_than(car.pos, ball.pos, car.team)
obj_bonus = {
Objective.UNKNOWN: 0.5,
Objective.GO_FOR_IT: 0,
Objective.FOLLOW_UP: 1,
Objective.ROTATING: 0,
Objective.SOLO: 0.9,
}[car.objective]
return attack_in_front * ball_in_front * missing_follow_up_guy01 * bot.info.my_car.onsite * obj_bonus
def project_onto_nearest(pos: Vec3, planes: List[Plane]) -> Vec3:
closest, _ = argmin(planes, lambda p: dist_to_plane(pos, p))
return project_onto_plane(pos, closest)
def update(self, bot):
ball = bot.info.ball
# Find closest foe to ball
self.opp_closest_to_ball, self.opp_closest_to_ball_dist = argmin(bot.info.opponents, lambda opp: norm(opp.pos - ball.pos))
# Possession and on/off-site
self.car_with_possession = None
self.ally_with_possession = None
self.opp_with_possession = None
for car in bot.info.cars:
# Effective position
car.effective_pos = car.pos + xy(car.vel) * 0.8
# On site
car_to_ball = ball.pos - car.pos
car_to_ball_unit = normalize(car_to_ball)
car.onsite = dot(Vec3(y=-car.team_sign), car_to_ball_unit)
# Reach ball time
car.reach_ball_time = predict.time_till_reach_ball(car, ball)
reach01 = 1 - 0.9 * lin_fall(car.reach_ball_time, 4) ** 0.5
# Possession
point_in_front = car.pos + car.vel * 0.5
ball_point_dist = norm(ball.pos - point_in_front)
dist01 = 1000 / (1000 + ball_point_dist) # Halved after 1000 uu of dist, 1/3 at 2000
in_front01 = (dot(car.forward, car_to_ball_unit) + 1) / 2.0
car.possession = dist01 * in_front01 * reach01
if self.car_with_possession is None or car.possession > self.car_with_possession.possession:
self.car_with_possession = car
if car.team == bot.team and (self.ally_with_possession is None or car.possession > self.ally_with_possession.possession):
self.ally_with_possession = car
if car.team != bot.team and (self.opp_with_possession is None or car.possession > self.opp_with_possession.possession):
self.opp_with_possession = car
# Objectives
if len(bot.info.team_cars) == 1:
# No team mates. No roles
bot.info.my_car.objective = bot.info.my_car.last_objective = Objective.SOLO
return
for car in bot.info.cars:
car.last_objective = car.objective
car.objective = Objective.UNKNOWN
attacker, attacker_score = argmax(bot.info.team_cars,
lambda ally: ((1.0 if ally.last_objective == Objective.GO_FOR_IT else 0.73)
* ease_out(0.2 + 0.8 * ally.boost / 100, 2) # 50 boost is 0.85, 0 boost is 0.2
* ally.possession
* ally.got_it_according_to_quick_chat_01(bot.info.time)
* (1.0 if ally.onsite else 0.5)
* (0 if ally.is_demolished else 1)))
attacker.objective = Objective.GO_FOR_IT
self.ideal_follow_up_pos = xy(ball.pos + bot.info.own_goal.pos) * 0.5
follower, follower_score = argmax([ally for ally in bot.info.team_cars if ally.objective == Objective.UNKNOWN],
lambda ally: (1.0 if ally.last_objective == Objective.FOLLOW_UP else 0.73)
* ease_out(0.2 * 0.8 * ally.boost / 100, 2)
* (1 + ally.onsite / 2)
* lin_fall(norm(ally.effective_pos - self.ideal_follow_up_pos), 3000)
* (0 if ally.is_demolished else 1))
if follower is not None:
follower.objective = Objective.FOLLOW_UP
for car in bot.info.team_cars:
if car.objective == Objective.UNKNOWN:
car.objective = Objective.ROTATING