def utility_score(self, bot) -> float:
if self.temp_utility_desire_boost > 0:
self.temp_utility_desire_boost = max(0, self.temp_utility_desire_boost - bot.info.dt)
elif self.temp_utility_desire_boost < 0:
self.temp_utility_desire_boost = min(0, self.temp_utility_desire_boost + bot.info.dt)
car = bot.info.my_car
ball_soon = predict.ball_predict(bot, 1)
arena_length2 = bot.info.team_sign * Field.LENGTH2
own_half_01 = clip01(remap(arena_length2, -arena_length2, 0.0, 1.1, ball_soon.pos.y))
close_to_ball01 = clip01(1.0 - norm(car.pos - ball_soon.pos) / 3500) ** 0.5
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.opp_goal.right_post - reachable_ball.pos
self.ball_to_goal_left = bot.info.opp_goal.left_post - 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)
# Chase ball right after kickoff. High right after kickoff
kickoff_bias01 = max(0, 1 - bot.info.time_since_last_kickoff * 0.3) * float(bot.info.my_car.objective == Objective.UNKNOWN)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.2,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: -0.2,
}[bot.info.my_car.objective]
return clip01(close_to_ball01 * own_half_01 + 0.1 * in_position + self.temp_utility_desire_boost + kickoff_bias01) + obj_bonus
def utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = car.pos - ball.pos
bouncing_b = ball.pos.z > 130 or abs(ball.vel.z) > 300
if not bouncing_b:
return 0
dist_01 = clip01(1 - norm(car_to_ball) / 3000)
head_dir = lerp(Vec3(0, 0, 1), car.forward, 0.1)
ang = angle_between(head_dir, car_to_ball)
ang_01 = clip01(1 - ang / (math.pi / 2))
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.2,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: 0,
}[car.objective]
return clip01(0.6 * ang_01 + 0.4 * dist_01
# - 0.3 * bot.analyzer.team_mate_has_ball_01
+ self.is_dribbling * self.extra_utility_bias +
obj_bonus)
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] / 800)
dist_to_ball01 = clip01(norm(car.pos - bot.info.ball.pos) / Field.LENGTH2)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0,
Objective.FOLLOW_UP: 0.1,
Objective.ROTATE_BACK_OR_DEF: 0.3,
}[car.objective]
return 0.9 * team_committed01 * dist_to_ball01 * no_defence01 + obj_bonus
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:
# On site
own_goal = bot.info.goals[car.team]
ball_to_goal = own_goal.pos - ball.pos
car_to_ball = ball.pos - car.pos
car.onsite = dot(ball_to_goal, car_to_ball) < 0.1
# Reach ball time
car.reach_ball_time = predict.time_till_reach_ball(car, ball)
reach01 = clip01((5 - car.reach_ball_time) / 5)
# Possession
point_in_front = car.pos + car.vel * 0.6
ball_point_dist = norm(ball.pos - point_in_front)
dist01 = 1500 / (1500 + ball_point_dist) # Halves every 1500 uu of dist
car_to_ball = bot.info.ball.pos - car.pos
car_to_ball_unit = normalize(car_to_ball)
in_front01 = dot(car.forward, car_to_ball_unit)
car.possession = dist01 * in_front01 * reach01 * 3
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
for car in bot.info.cars:
car.last_objective = car.objective
car.objective = Objective.UNKNOWN
thirdman_index, _ = argmin(bot.info.team_cars, lambda ally: norm(ally.pos - bot.info.own_goal.pos))
attacker, attacker_score = argmax(bot.info.team_cars,
lambda ally: ((0.09 if ally.last_objective == Objective.GO_FOR_IT else 0)
+ ally.boost / 490
- (0.21 if ally.index == thirdman_index else 0)
- (0.4 if not ally.onsite else 0)
+ ally.possession * (10_000 - ally.team_sign * ally.pos.y) / 20_000)**2)
attacker.objective = Objective.GO_FOR_IT
follower_expected_pos = (ball.pos + bot.info.own_goal.pos) * 0.5
follower, follower_score = argmin([ally for ally in bot.info.team_cars if ally.objective == Objective.UNKNOWN],
lambda ally: (-500 if ally.last_objective == Objective.FOLLOW_UP else 0)
- ally.boost * 2
+ (1100 if ally.index == thirdman_index else 0)
+ (200 if not ally.onsite else 0)
+ norm(ally.pos - follower_expected_pos))
follower.objective = Objective.FOLLOW_UP
for car in bot.info.team_cars:
if car.objective == Objective.UNKNOWN:
car.objective = Objective.ROTATE_BACK_OR_DEF
def utility(self, bot) -> float:
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 utility(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
car_to_ball = car.pos - ball.pos
bouncing_b = ball.pos.z > 130 or abs(ball.vel.z) > 300
if not bouncing_b:
return 0
dist_01 = clip01(1 - norm(car_to_ball) / 3000)
head_dir = lerp(Vec3(0, 0, 1), car.forward, 0.1)
ang = angle_between(head_dir, car_to_ball)
ang_01 = clip01(1 - ang / (math.pi / 2))
return clip01(0.6 * ang_01 + 0.4 * dist_01
# - 0.3 * bot.analyzer.team_mate_has_ball_01
+ self.is_dribbling * self.extra_utility_bias)
def utility(self, bot) -> float:
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 utility_score(self, bot) -> float:
car = bot.info.my_car
ball = bot.info.ball
half_way = lerp(bot.info.own_goal.pos, ball.pos, 0.5)
_, missing_center_guy01 = argmin(bot.info.team_cars, lambda mate: 1.0 - clip01(norm(mate.pos - half_way) / 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,
Objective.GO_FOR_IT: 0,
Objective.FOLLOW_UP: 0.23,
Objective.ROTATE_BACK_OR_DEF: 0,
}[car.objective]
return attack_in_front * ball_in_front * missing_center_guy01 + obj_bonus
def utility_score(self, bot) -> float:
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)
obj_bonus = {
Objective.UNKNOWN: 0,
Objective.GO_FOR_IT: 0.15,
Objective.FOLLOW_UP: 0,
Objective.ROTATE_BACK_OR_DEF: 0.0,
}[bot.info.my_car.objective]
return ball_own_half_01 * in_position + obj_bonus
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