def __init__(self, bot):
if bot.team == 0:
# blue
self.aim_cone = AimCone(.8 * math.pi, .2 * math.pi)
else:
# orange
self.aim_cone = AimCone(-.1 * math.pi, -.9 * math.pi)
def execute(self, bot):
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = ball.pos - car.pos
ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
own_goal_to_ball = ball.pos - bot.info.own_goal
dist = norm(car_to_ball)
offence = ball.pos[Y] * bot.info.team_sign < 0
dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
dot_own = dot(car_to_ball, own_goal_to_ball)
right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
if right_side_of_ball:
# Aim cone
dir_to_post_1 = (bot.info.enemy_goal + vec3(3800, 0, 0)) - bot.info.ball.pos
dir_to_post_2 = (bot.info.enemy_goal + vec3(-3800, 0, 0)) - bot.info.ball.pos
cone = AimCone(dir_to_post_1, dir_to_post_2)
cone.get_goto_point(bot, car.pos, bot.info.ball.pos)
if bot.do_rendering:
cone.draw(bot, bot.info.ball.pos)
# Chase ball
bot.controls = bot.drive.go_towards_point(bot, xy(ball.pos), 2000, True, True, can_dodge=dist > 2200)
else:
# Go home
bot.controls = bot.drive.go_towards_point(bot, bot.info.own_goal_field, 2000, True, True)
def utility(self, bot):
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * FIELD_LENGTH / 2
own_half_01 = clip01(remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos[Y]))
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
self.ball_to_goal_right = bot.info.enemy_goal_right - reachable_ball.pos
self.ball_to_goal_left = bot.info.enemy_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_right, self.ball_to_goal_left)
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball)
return clip01(own_half_01 + 0.1 * in_position)
class ClearBall:
def __init__(self, bot):
if bot.team == 0:
# blue
self.aim_cone = AimCone(.8 * math.pi, .2 * math.pi)
else:
# orange
self.aim_cone = AimCone(-.1 * math.pi, -.9 * math.pi)
def utility(self, bot):
team_sign = bot.info.team_sign
length = team_sign * Field.LENGTH / 2
ball_own_half_01 = clip01(
remap(-length, length, -0.2, 1.2, bot.info.ball.pos.y))
reachable_ball = predict.ball_predict(
bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball,
math.pi / 8)
return ball_own_half_01 * in_position
def execute(self, bot):
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:
bot.controls = shoot_controls
if bot.shoot.using_curve and bot.do_rendering:
render.draw_bezier(bot,
[car.pos, bot.shoot.curve_point, hit_pos])
else:
# go home-ish
own_goal = lerp(bot.info.own_goal, bot.info.ball.pos, 0.5)
bot.controls = bot.drive.go_towards_point(bot,
own_goal,
target_vel=1460,
slide=True,
boost=True,
can_keep_speed=True)
class SaveGoal:
def __init__(self, bot):
team_sign = bot.info.team_sign
self.own_goal_right = Vec3(-820 * team_sign, 5120 * team_sign, 0)
self.own_goal_left = Vec3(820 * team_sign, 5120 * team_sign, 0)
self.aim_cone = None
self.ball_to_goal_right = None
self.ball_to_goal_left = None
def utility(self, bot):
team_sign = bot.info.team_sign
ball = bot.info.ball
ball_to_goal = bot.info.own_goal - ball.pos
too_close = norm(ball_to_goal) < Field.GOAL_WIDTH / 2 + Ball.RADIUS
hits_goal_prediction = predict.will_ball_hit_goal(bot)
hits_goal = hits_goal_prediction.happens and sign(
ball.vel.y) == team_sign and hits_goal_prediction.time < 3
return hits_goal or too_close
def execute(self, bot):
car = bot.info.my_car
ball = bot.info.ball
hits_goal_prediction = predict.will_ball_hit_goal(bot)
reach_time = clip(predict.time_till_reach_ball(car, ball), 0,
hits_goal_prediction.time - 0.5)
reachable_ball = predict.ball_predict(bot, reach_time)
self.ball_to_goal_right = self.own_goal_right - reachable_ball.pos
self.ball_to_goal_left = self.own_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_left,
self.ball_to_goal_right)
self.aim_cone.draw(bot, reachable_ball.pos, r=200, g=0, b=160)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, reach_time)
if not bot.shoot.can_shoot:
# Go home
bot.controls = bot.drive.go_home(bot)
else:
bot.controls = shoot_controls
def execute(self, bot):
car = bot.info.my_car
ball = bot.info.ball
hits_goal_prediction = predict.will_ball_hit_goal(bot)
reach_time = clip(predict.time_till_reach_ball(car, ball), 0, hits_goal_prediction.time - 0.5)
reachable_ball = predict.ball_predict(bot, reach_time)
self.ball_to_goal_right = self.own_goal_right - reachable_ball.pos
self.ball_to_goal_left = self.own_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_left, self.ball_to_goal_right)
self.aim_cone.draw(bot, reachable_ball.pos, r=200, g=0, b=160)
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, reach_time)
if not bot.shoot.can_shoot:
# Go home
bot.controls = bot.drive.go_home(bot)
else:
bot.controls = shoot_controls
def execute(self, bot):
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = ball.pos - car.pos
ball_to_enemy_goal = bot.info.enemy_goal - ball.pos
own_goal_to_ball = ball.pos - bot.info.own_goal
dist = norm(car_to_ball)
offence = ball.pos.y * bot.info.team_sign < 0
dot_enemy = dot(car_to_ball, ball_to_enemy_goal)
dot_own = dot(car_to_ball, own_goal_to_ball)
right_side_of_ball = dot_enemy > 0 if offence else dot_own > 0
if right_side_of_ball:
# Aim cone
dir_to_post_1 = (bot.info.enemy_goal + Vec3(3800, 0, 0)) - bot.info.ball.pos
dir_to_post_2 = (bot.info.enemy_goal + Vec3(-3800, 0, 0)) - bot.info.ball.pos
cone = AimCone(dir_to_post_1, dir_to_post_2)
cone.get_goto_point(bot, car.pos, bot.info.ball.pos)
if bot.do_rendering:
cone.draw(bot, bot.info.ball.pos)
# Chase ball
bot.controls = bot.drive.go_towards_point(bot, xy(ball.pos), 2000, True, True, can_dodge=dist > 2200)
else:
# Go home
bot.controls = bot.drive.go_towards_point(bot, bot.info.own_goal_field, 2000, True, True)
class ShootAtGoal:
def __init__(self):
self.aim_cone = None
self.ball_to_goal_right = None
self.ball_to_goal_left = None
def utility(self, bot):
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * FIELD_LENGTH / 2
own_half_01 = clip01(remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos[Y]))
reachable_ball = predict.ball_predict(bot, predict.time_till_reach_ball(bot.info.my_car, bot.info.ball))
self.ball_to_goal_right = bot.info.enemy_goal_right - reachable_ball.pos
self.ball_to_goal_left = bot.info.enemy_goal_left - reachable_ball.pos
self.aim_cone = AimCone(self.ball_to_goal_right, self.ball_to_goal_left)
car_to_ball = reachable_ball.pos - bot.info.my_car.pos
in_position = self.aim_cone.contains_direction(car_to_ball)
return clip01(own_half_01 + 0.1 * in_position)
def execute(self, bot):
car = bot.info.my_car
ball = bot.info.ball
shoot_controls = bot.shoot.with_aiming(bot, self.aim_cone, predict.time_till_reach_ball(car, ball))
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
bot.controls = bot.drive.go_towards_point(bot, offset_ball, target_vel=2200, slide=False, boost=True)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, offset_ball, bot.renderer.yellow())
elif not bot.shoot.aim_is_ok and hit_pos[Y] * -bot.info.team_sign > 4350 and abs(hit_pos[X]) > 900 and not dist < 450:
# 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)
bot.controls = bot.drive.go_towards_point(bot, wait_point, norm(car.pos - wait_point), slide=False, boost=False, can_keep_speed=True, can_dodge=False)
if bot.do_rendering:
bot.renderer.draw_line_3d(car.pos, wait_point, bot.renderer.yellow())
elif not bot.shoot.can_shoot:
# return home
bot.controls = bot.drive.go_home(bot)
else:
# Shoot !
bot.controls = shoot_controls
if bot.shoot.using_curve and bot.do_rendering:
render.draw_bezier(bot, [car.pos, bot.shoot.curve_point, hit_pos])