public void AirWallRecovery(GameState gamestate, BotCalculations botCalculations)
{
if (gamestate.myCar.player.Physics.Rotation.Roll > .5)
{
botCalculations.controller.Steer = 1;
botCalculations.controller.Roll = -1;
}
else if (gamestate.myCar.player.Physics.Rotation.Roll < -.5)
{
botCalculations.controller.Steer = -1;
botCalculations.controller.Roll = 1;
}
if (!gamestate.myCar.player.HasWheelContact)
{
if (gamestate.myCar.player.Physics.Rotation.Pitch > .5)
{
botCalculations.controller.Pitch = -1;
}
else if (gamestate.myCar.player.Physics.Rotation.Pitch < -.5)
{
botCalculations.controller.Pitch = 1;
}
float angle = Utils.AngleBetween(Vector3.Zero, gamestate.myCar.player.Physics.Rotation, gamestate.myCar.player.Physics.Velocity);
angle = Utils.Clamp(angle, -1, 1);
botCalculations.controller.Yaw = angle;
}
}
public void ContactBall(GameState gamestate, BotCalculations botCalculations)
{
// Simple Jump.
// Find where the ball is relative to us.
Vector3 ballLocation = gamestate.ballPhysics.Location;
Vector3 ballRelativeLocation = Orientation.RelativeLocation(gamestate.myCar.player.Physics.Location, ballLocation, gamestate.myCar.player.Physics.Rotation);
if (Math.Abs(ballRelativeLocation.X) < 400 &&
Math.Abs(ballRelativeLocation.Y) < 150 &&
ballLocation.Z > 100 && ballLocation.Z < 300)
{
botCalculations.controller.Jump = true;
}
}
public Tactic ChooseTactic(GameState gameState, BotCalculations botCalculations)
{
Vector3 meToBallDirection = Vector3.Normalize(gameState.ballPhysics.Location - gameState.myCar.player.Physics.Location);
Vector3 meToOwnGoalDirection = Vector3.Normalize(gameState.fieldState.ownGoalLocation - gameState.myCar.player.Physics.Location);
if (Vector3.Dot(meToBallDirection, meToOwnGoalDirection) > .95f)
{
return(new Defend());
}
else if (botCalculations.predictedBallLocation.Z > 300)
{
return(new Patience());
}
else
{
return(new Attack());
}
}
public override void DoWork(GameState gameState, BotCalculations botCalculations)
{
// Drive towards safest post.
Vector3 directionToBall = Vector3.Normalize(gameState.ballPhysics.Location - gameState.myCar.player.Physics.Location);
float YDistanceFromGoal = gameState.fieldState.ownGoalLocation.Y - gameState.myCar.player.Physics.Location.Y;
float distanceFactor = YDistanceFromGoal / directionToBall.Y;
Vector3 OwnWallIntersection = directionToBall * distanceFactor;
Vector3 safePosition = gameState.fieldState.ownGoalLocation;
if (OwnWallIntersection.X > 0)
{
safePosition.X -= Utils.GoalPostOffset;
}
else
{
safePosition.X += Utils.GoalPostOffset;
}
float angleToSafePosition = Utils.AngleBetween(gameState.myCar.player.Physics.Location, gameState.myCar.player.Physics.Rotation, safePosition);
botCalculations.primaryTarget = safePosition;
botCalculations.primaryAngle = angleToSafePosition;
if (Math.Abs(angleToSafePosition) < 0.2f)
{
// TODO: don't boost when unnecessary. Both for worthless hits, and lack of urgency?
botCalculations.controller.Boost = true;
}
// Turn to safe position.
botCalculations.controller.Throttle = 1;
botCalculations.controller.Steer = Utils.Clamp(angleToSafePosition * 6.0f, -1, 1);
// Fixups.
AirWallRecovery(gameState, botCalculations);
// Jump.
ContactBall(gameState, botCalculations);
}
public override void DoWork(GameState gameState, BotCalculations botCalculations)
{
Vector3 safePosition = Utils.ProjectLocationTowardsTarget(gameState.fieldState.ownGoalLocation, gameState.fieldState.oppGoalLocation, 150);
float angleToSafePosition = Utils.AngleBetween(gameState.myCar.player.Physics.Location, gameState.myCar.player.Physics.Rotation, safePosition);
botCalculations.primaryTarget = safePosition;
botCalculations.primaryAngle = angleToSafePosition;
if (Math.Abs(angleToSafePosition) > Math.PI * 0.5f)
{
// Reverse to safe position.
botCalculations.controller.Throttle = -1;
float reverseAngle;
if (angleToSafePosition > 0)
{
reverseAngle = (float)Math.PI - angleToSafePosition;
}
else
{
reverseAngle = -(float)Math.PI + angleToSafePosition;
}
botCalculations.controller.Steer = Utils.Clamp(reverseAngle, -1, 1);
}
else
{
// Turn to safe position.
botCalculations.controller.Throttle = 0.2f;
botCalculations.controller.Steer = Utils.Clamp(angleToSafePosition, -1, 1);
}
// Fixups.
AirWallRecovery(gameState, botCalculations);
// Jump.
ContactBall(gameState, botCalculations);
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
// Convert the current frame data into our own structures and helpers.
GameState gameState = InitializeGameState(gameTickPacket);
if (gameState == null)
{
return(new Controller());
}
BotCalculations botCalculations = new BotCalculations
{
controller = new Controller()
};
botCalculations.predictedBallLocation = gameState.GetPredictionLocation();
botCalculations.primaryMechanic = currentMechanic;
// Decide on a tactic and run it.
if (currentMechanic == null)
{
currentTactic = ChooseTactic(gameState, botCalculations);
}
currentTactic.DoWork(gameState, botCalculations);
currentMechanic = botCalculations.primaryMechanic;
// Examples of rendering in the game
Renderer.DrawString3D("Ball", Colors.Black, botCalculations.predictedBallLocation, 3, 3);
if (botCalculations.controller.Steer != 0)
{
Renderer.DrawString3D(botCalculations.controller.Steer > 0 ? "Right" : "Left", Colors.Aqua, gameState.myCar.player.Physics.Location, 3, 3);
}
if (botCalculations.controller.Jump)
{
Renderer.DrawString3D("Jump", Colors.Green, gameState.myCar.player.Physics.Location, 3, 3);
}
Color tacticColor = Colors.Red;
switch (currentTactic.tacticType)
{
case TacticType.Attack:
tacticColor = Colors.Magenta;
break;
case TacticType.Defend:
tacticColor = Colors.Purple;
break;
case TacticType.Patience:
tacticColor = Colors.DarkGreen;
break;
}
Renderer.DrawLine3D(tacticColor, gameState.myCar.player.Physics.Location, botCalculations.primaryTarget);
Renderer.DrawCenteredRectangle3D(tacticColor, botCalculations.primaryTarget, 50, 50, false);
Renderer.DrawCenteredRectangle3D(Colors.LimeGreen, botCalculations.predictedBallLocation, 20, 20, false);
Renderer.DrawString2D(currentTactic.tacticType.ToString(), Colors.WhiteSmoke, new Vector2(), 5, 5);
return(botCalculations.controller);
}
public override void DoWork(GameState gameState, BotCalculations botCalculations)
{
// Get the data required to drive to the ball.
Vector3 ballActualLocation = gameState.ballPhysics.Location;
Vector3 carLocation = gameState.myCar.player.Physics.Location;
Orientation carRotation = gameState.myCar.player.Physics.Rotation;
Vector3 ballLocation = gameState.GetPredictionLocation();
botCalculations.predictedBallLocation = ballLocation;
// Target the side of the ball to shoot at their goal.
Vector3 ballEdgeLocation = Utils.ProjectLocationTowardsTarget(ballLocation, gameState.fieldState.oppGoalLocation, -Utils.BallRadius * 1.25f);
float distanceToBall = Utils.DistanceBetween(carLocation, ballEdgeLocation);
// How far away from the ball should we be aiming?
float glidepathAimAmount = Math.Min(.25f * distanceToBall * distanceToBall / 1000.0f, 800);
float distanceToBallToAim = Utils.BallRadius + glidepathAimAmount;
Vector3 targetLocation = Utils.ProjectLocationTowardsTarget(ballLocation, gameState.fieldState.oppGoalLocation, -distanceToBallToAim);
targetLocation = Utils.ClampToField(targetLocation);
botCalculations.primaryTarget = targetLocation;
// Check the angle to the ball and steer that way.
float angleToBallTarget = Utils.AngleBetween(carLocation, carRotation, targetLocation);
botCalculations.primaryAngle = angleToBallTarget;
// Specify steer strength as less when ball is far. (unnecessary?)
const float minTurnEasingDistance = 300;
const float maxTurnEasingDistance = 1000;
float distanceFactor = Utils.Clamp(distanceToBall, minTurnEasingDistance, maxTurnEasingDistance);
float steerStrength = Utils.Lerp(6.0f, 10, (maxTurnEasingDistance - distanceFactor) / (maxTurnEasingDistance - minTurnEasingDistance));
// Steer stronger when moving fast.
if (gameState.myCar.player.Physics.Velocity.Length() > 1000)
{
steerStrength *= 2;
}
botCalculations.controller.Steer = Utils.Clamp(angleToBallTarget * steerStrength, -1, 1);
if (Math.Abs(angleToBallTarget) < 0.2f)
{
// TODO: don't boost when unnecessary. Both for worthless hits, and lack of urgency?
botCalculations.controller.Boost = true;
}
botCalculations.controller.Throttle = 1;
if (Math.Abs(angleToBallTarget) > 1.6f)
{
botCalculations.controller.Handbrake = true;
}
// TODO: Pass the direction to the ball instead of using steer.
bool shouldDodge = distanceToBall < 400 && ballLocation.Z < 200; // && Math.Abs(angleToBallTarget) < 0.5f;
if (shouldDodge || botCalculations.primaryMechanic != null) // fixup
{
if (botCalculations.primaryMechanic == null)
{
botCalculations.primaryMechanic = new ForwardDodge();
}
bool hasWork = botCalculations.primaryMechanic.Update(gameState, botCalculations.primaryAngle, ref botCalculations.controller);
if (!hasWork)
{
botCalculations.primaryMechanic = null;
}
}
else
{
// Fixups.
AirWallRecovery(gameState, botCalculations);
// Jump.
ContactBall(gameState, botCalculations);
}
}
public abstract void DoWork(GameState gameState, BotCalculations botCalculations);
