public GameState InitializeGameState(rlbot.flat.GameTickPacket gameTickPacket)
{
GameState gameState = new GameState();
gameState.packet = new Packet(gameTickPacket);
gameState.ballPhysics = gameState.packet.Ball.Physics;
if (gameState.packet.Players.Length == 0)
{
return(null);
}
gameState.myCar = new MyCarState(gameState.packet.Players[index]);
gameState.fieldState = new FieldState();
gameState.fieldState.field = GetFieldInfo();
gameState.fieldState.ownGoalLocation = gameState.fieldState.field.Goals[gameState.myCar.player.Team].Location;
gameState.fieldState.oppGoalLocation = gameState.fieldState.field.Goals[Math.Abs(gameState.myCar.player.Team - 1)].Location;
gameState.fieldState.ownGoalLocation.Z = 0;
gameState.fieldState.oppGoalLocation.Z = 0;
gameState.ballPrediction = GetBallPrediction();
gameState.myCar.distanceToOwnGoal = Utils.DistanceBetween(gameState.myCar.player.Physics.Location, gameState.fieldState.ownGoalLocation);
gameState.myCar.distanceToOppGoal = Utils.DistanceBetween(gameState.myCar.player.Physics.Location, gameState.fieldState.oppGoalLocation);
return(gameState);
}
// TODO: Populate extra fields using the bot param.
public Packet(rlbot.flat.GameTickPacket packet, Bot bot, Renderer renderer)
{
PlayerIndex = bot.index;
Renderer = renderer;
Players = new Player[packet.PlayersLength];
for (int i = 0; i < packet.PlayersLength; i++)
{
Players[i] = new Player(packet.Players(i).Value);
}
BoostPadStates = new BoostPadState[packet.BoostPadStatesLength];
for (int i = 0; i < packet.BoostPadStatesLength; i++)
{
BoostPadStates[i] = new BoostPadState(packet.BoostPadStates(i).Value);
}
Ball = new Ball(packet.Ball.Value);
GameInfo = new GameInfo(packet.GameInfo.Value);
Teams = new TeamInfo[packet.TeamsLength];
for (int i = 0; i < packet.TeamsLength; i++)
{
Teams[i] = new TeamInfo(packet.Teams(i).Value);
}
}
private Controller driveToLocation(rlbot.flat.GameTickPacket gameTickPacket, Controller controller, Vector3 location)
{
Vector3 carLocation = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Location.Value);
rlbot.flat.Rotator carRotation = gameTickPacket.Players(this.index).Value.Physics.Value.Rotation.Value;
// Stuck in goal.
if (Math.Abs(carLocation.Y) > 5120)
{
location = new Vector3(Math.Min(800, Math.Max(-800, location.X)), location.Y, location.Z);
}
if (carLocation.Z < 120)
{
double botToLocationAngle = Math.Atan2(location.Y - carLocation.Y, location.X - carLocation.X);
double botFrontToLocationAngle = correctAngle(botToLocationAngle - carRotation.Yaw);
float steer = (float)botFrontToLocationAngle * 2.5F;
controller.Steer = steer;
controller.Boost = (Math.Abs(steer) < 0.12F && gameTickPacket.Players(this.index).Value.HasWheelContact&& !gameTickPacket.Players(this.index).Value.IsSupersonic);
controller.Handbrake = (Math.Abs(steer) > 2.8F && gameTickPacket.Players(this.index).Value.HasWheelContact);
}
else
{
controller.Boost = false;
controller.Handbrake = false;
controller.Steer = carRotation.Roll * 10;
}
controller.Throttle = 1F;
return(controller);
}
private Controller driveToLocationInTime(rlbot.flat.GameTickPacket gameTickPacket, Controller controller, Vector3 location, double time)
{
Vector3 carLocation = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Location.Value);
Vector3 carVelocity = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Velocity.Value);
// Get the default driving controller
controller = driveToLocation(gameTickPacket, controller, location);
// Handling the speed
double distance = getDistance2D(carLocation.X, location.X, carLocation.Y, location.Y);
double targetSpeed = (distance / time);
double currentSpeed = carVelocity.Length();
if (targetSpeed > currentSpeed)
{
controller.Throttle = 1;
controller.Boost = ((targetSpeed > 1410 || targetSpeed > currentSpeed + 800) && carLocation.Z < 30 && Math.Abs(controller.Steer) < 0.5);
}
else
{
controller.Boost = false;
if (targetSpeed < currentSpeed - 400)
{
controller.Throttle = -1;
}
else
{
controller.Throttle = 0;
}
}
return(controller);
}
// Returns a hittable point on the ball.
private Vector3 getHitPoint(rlbot.flat.GameTickPacket gameTickPacket, rlbot.flat.BallPrediction prediction)
{
Vector3 carLocation = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Location.Value);
double u = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Velocity.Value).Length();
// Estimate the maximum velocity.
double maxV = Math.Max(1410, Math.Min(2300, u + 150 * gameTickPacket.Players(this.index).Value.Boost));
for (int i = 0; i < prediction.SlicesLength; i++)
{
Vector3 point = fromFramework(prediction.Slices(i).Value.Physics.Value.Location.Value);
double s = Vector3.Distance(point, carLocation) - 92.75;
double t = (double)i / 60D;
double v = 2D * (s / t) - u;
double a = (Math.Pow(v, 2) - Math.Pow(u, 2)) / (2 * s);
if (v <= maxV && a < 1700) // Approximate max acceleration.
{
renderPrediction(prediction, 0, i, System.Windows.Media.Color.FromRgb(255, 255, 255));
return(point);
}
}
return(fromFramework(prediction.Slices(0).Value.Physics.Value.Location.Value));
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
gamePad.Update();
Controller controller = GamePad.GenerateControlsDefault(gamePad);
return(controller);
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
gameInfo.Update(gameTickPacket, GetRigidBodyTick());
ballPrediction.Update(GetBallPrediction());
if (timeout > 5)
{
GameState gamestate = new GameState();
gamestate.BallState.PhysicsState.Location = new DesiredVector3(RandomFloat(-3000, 3000), 2000, 100);
gamestate.BallState.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
gamestate.BallState.PhysicsState.Velocity = new DesiredVector3(RandomFloat(2000, 2000), RandomFloat(1000, 2000), RandomFloat(1500, 1600));
CarState carstate = new CarState();
carstate.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Velocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Location = new DesiredVector3(0, 0, 17);
carstate.PhysicsState.Rotation = new DesiredRotator(0, (float)(Math.PI / 2), 0);
gamestate.SetCarState(index, carstate);
SetGameState(gamestate);
timeout = 0;
aerial = null;
}
timeout += gameInfo.DeltaTime;
Controller controller = new Controller();
Car car = gameInfo.Cars[index];
Ball ball = gameInfo.Ball;
Slice[] slices = ballPrediction.ToArray();
if (timeout > 0.3)
{
if (aerial == null)
{
aerial = Aerial.FindAerialOpportunity(car, slices, gameInfo.Time, settings);
}
else
{
controller = aerial.Step(ball, 0.016667f, gameInfo.Time);
Renderer.DrawLine3D(Colors.Red, car.Position, aerial.Target);
if (aerial.Finished)
{
aerial = null;
}
else
{
aerial.UpdateAerialTarget(slices, gameInfo.Time);
}
}
}
return(controller);
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
// We process the gameTickPacket and convert it to our own internal data structure.
Packet packet = new Packet(gameTickPacket, this, Renderer);
_decisionMaker.Tick(packet);
return(_skillManager.Tick(packet));
}
public static Ball ParseFromGamePacket(rlbot.flat.GameTickPacket packet)
{
rlbot.flat.BallInfo info = packet.Ball.GetValueOrDefault();
rlbot.flat.Physics physics = info.Physics.Value;
return(new Ball()
{
Location = Conversion.ToVector3(physics.Location.GetValueOrDefault()),
Rotation = Conversion.ToRotation(physics.Rotation.GetValueOrDefault()),
Velocity = Conversion.ToVector3(physics.Velocity.GetValueOrDefault()),
AngularVelocity = Conversion.ToVector3(physics.AngularVelocity.GetValueOrDefault()),
});
}
private Boolean hasTeammate(rlbot.flat.GameTickPacket gameTickPacket)
{
for (int i = 0; i < gameTickPacket.PlayersLength; i++)
{
if (i == this.index)
{
continue; // This is Atlas!
}
if (gameTickPacket.Players(i).Value.Team == this.team)
{
return(true);
}
}
return(false); // No teammate.
}
/// <summary>
/// Updates the GameInfo to reflect the new GameTickPacket and RigidBodyTick.
/// </summary>
/// <param name="packet">The GameTickPacket object.</param>
/// <param name="rigidBodyTick">The RigidBodyTick object.</param>
public void Update(rlbot.flat.GameTickPacket packet, rlbot.flat.RigidBodyTick rigidBodyTick)
{
Update(packet);
if (rigidBodyTick.Ball.HasValue)
{
Ball.Update(rigidBodyTick.Ball.Value);
}
for (int i = 0; i < packet.PlayersLength; i++)
{
if (rigidBodyTick.Players(i).HasValue)
{
Cars[i].Update(rigidBodyTick.Players(i).Value, DeltaTime);
}
}
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
gameInfo.Update(gameTickPacket);
if (timeout > 5)
{
KickOffStruct k = kickOffFrontCorner;
GameState gamestate = new GameState();
gamestate.BallState.PhysicsState.Location = new DesiredVector3(0, 0, 100);
gamestate.BallState.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
gamestate.BallState.PhysicsState.Velocity = new DesiredVector3(0, 0, 0);
CarState carstate = new CarState();
carstate.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Velocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Location = new DesiredVector3(new Vector3(k.Position, 17));
carstate.PhysicsState.Rotation = new DesiredRotator(0, k.Yaw, 0);
carstate.Boost = 33;
gamestate.SetCarState(index, carstate);
SetGameState(gamestate);
timeout = 0;
kickoff = null;
}
timeout += gameInfo.DeltaTime;
Controller controller = new Controller();
if (timeout > 2)
{
if (kickoff == null)
{
kickoff = new KickOff(gameInfo.Cars[index]);
}
controller = kickoff.Step(0.0166667f);
}
return(controller);
}
private Vector3?getClosestBoost(rlbot.flat.GameTickPacket gameTickPacket, Vector3 carLocation)
{
Vector3?closest = null;
double closestDistance = 0;
for (int i = 0; i < gameTickPacket.BoostPadStatesLength; i++)
{
rlbot.flat.BoostPadState boostPadState = (rlbot.flat.BoostPadState)gameTickPacket.BoostPadStates(i);
rlbot.flat.BoostPad boostPosition = (rlbot.flat.BoostPad)GetFieldInfo().BoostPads(i);
double boostDistance = getDistance2D(carLocation.X, boostPosition.Location.Value.X, carLocation.Y, boostPosition.Location.Value.Y);
if (boostPadState.IsActive && boostPosition.IsFullBoost && (closest == null || closestDistance > boostDistance))
{
closestDistance = boostDistance;
closest = fromFramework((rlbot.flat.Vector3)boostPosition.Location);
}
}
return(closest);
}
// private Vector3 getBounceLocation(rlbot.flat.BallPrediction prediction)
//{
// for (int i = 0; i < prediction.SlicesLength; i++)
// {
// Vector3 point = fromFramework(prediction.Slices(i).Value.Physics.Value.Location.Value);
// if (point.Z < 125)
// {
// renderPrediction(prediction, 0, i, System.Windows.Media.Color.FromRgb(255, 0, 255));
// return point;
// }
// }
// return fromFramework(prediction.Slices(0).Value.Physics.Value.Location.Value);
// }
//private Vector3 getHitPoint(rlbot.flat.GameTickPacket gameTickPacket, rlbot.flat.BallPrediction prediction)
//{
// Vector3 carLocation = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Location.Value);
// double u = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Velocity.Value).Length();
// // Estimate the maximum velocity.
// double maxV = Math.Max(1410, Math.Min(2300, u + 150 * gameTickPacket.Players(this.index).Value.Boost));
// for (int i = 0; i < prediction.SlicesLength; i++)
// {
// Vector3 point = fromFramework(prediction.Slices(i).Value.Physics.Value.Location.Value);
// double s = Vector3.Distance(point, carLocation) - 92.75;
// double t = (double)i / 60D;
// double v = 2D * (s / t) - u;
// double a = (Math.Pow(v, 2) - Math.Pow(u, 2)) / (2 * s);
// if (v <= maxV && a < 1700) // Approximate max acceleration.
// {
// renderPrediction(prediction, 0, i, System.Windows.Media.Color.FromRgb(255, 255, 255));
// return point;
// }
// }
// return fromFramework(prediction.Slices(0).Value.Physics.Value.Location.Value);
//}
private Vector3?getClosestBoost(rlbot.flat.GameTickPacket gameTickPacket, Vector3 carLocation)
{
Vector3?closest = null;
double closestDistance = 0;
for (int i = 0; i < gameTickPacket.BoostPadStatesLength; i++)
{
rlbot.flat.BoostPadState boostPadState = (rlbot.flat.BoostPadState)gameTickPacket.BoostPadStates(i);
Vector3 boostPosition = GetFieldInfo().BoostPads[i].Location;
double boostDistance = Utils.getDistance2D(carLocation.X, boostPosition.X, carLocation.Y, boostPosition.Y);
if (boostPadState.IsActive && /*boostPosition.IsFullBoost && */ (closest == null || closestDistance > boostDistance))
{
closestDistance = boostDistance;
closest = boostPosition;
}
}
return(closest);
}
/// <summary>
/// Updates the GameInfo to reflect the new GameTickPacket.
/// </summary>
/// <param name="packet">The GameTickPacket object.</param>
public void Update(rlbot.flat.GameTickPacket packet)
{
if (packet.GameInfo.HasValue)
{
DeltaTime = packet.GameInfo.Value.SecondsElapsed - Time;
Time = packet.GameInfo.Value.SecondsElapsed;
IsRoundActive = packet.GameInfo.Value.IsRoundActive;
if (IsKickOffPause == false && packet.GameInfo.Value.IsKickoffPause == true)
{
KickOffStarted(new EventArgs());
}
IsKickOffPause = packet.GameInfo.Value.IsKickoffPause;
}
if (packet.Ball.HasValue)
{
Ball.Update(packet.Ball.Value);
}
if (Cars == null || Cars.Length != packet.PlayersLength)
{
Cars = new Car[packet.PlayersLength];
}
for (int i = 0; i < packet.PlayersLength; i++)
{
if (Cars[i] == null)
{
Cars[i] = new Car();
}
if (packet.Players(i).HasValue)
{
Cars[i].Update(packet.Players(i).Value, DeltaTime);
}
}
MyCar = Cars[index];
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket, int index)
{
// We process the gameTickPacket and convert it to our own internal data structure.
Packet packet = new Packet(gameTickPacket);
// Get the data required to drive to the ball.
Vector3 ballLocation = packet.Ball.Physics.Location;
Vector3 carLocation = packet.Players[index].Physics.Location;
Orientation carRotation = packet.Players[index].Physics.Rotation;
// Find where the ball is relative to us.
Vector3 ballRelativeLocation = Orientation.RelativeLocation(carLocation, ballLocation, carRotation);
// Decide which way to steer in order to get to the ball.
// If the ball is to our left, we steer left. Otherwise we steer right.
float steer;
if (ballRelativeLocation.Y > 0)
{
steer = 1;
}
else
{
steer = -1;
}
// Examples of rendering in the game
object p = Renderer.DrawString3D("Ball", Colors.Black, ballLocation, 3, 3);
Renderer.DrawString3D(steer > 0 ? "Right" : "Left", Colors.Aqua, carLocation, 3, 3);
Renderer.DrawLine3D(Colors.Red, carLocation, ballLocation);
// This controller will contain all the inputs that we want the bot to perform.
return(new Controller
{
// Set the throttle to 1 so the bot can move.
Throttle = 1,
Steer = steer
});
}
private rlbot.flat.PlayerInfo?getTeammate(rlbot.flat.GameTickPacket gameTickPacket, Vector3 carLocation)
{
rlbot.flat.PlayerInfo?closest = null;
Vector3 ballLocation = fromFramework(gameTickPacket.Ball.Value.Physics.Value.Location.Value);
double closestDistance = 0;
for (int i = 0; i < gameTickPacket.PlayersLength; i++)
{
if (i == this.index)
{
continue; // This is Atlas!
}
Vector3 teammateLocation = fromFramework(gameTickPacket.Players(i).Value.Physics.Value.Location.Value);
double distance = getDistance2D(ballLocation.X, teammateLocation.X, ballLocation.Y, teammateLocation.Y);
if (gameTickPacket.Players(i).Value.Team == this.team && (closest == null || closestDistance > distance))
{
closest = (rlbot.flat.PlayerInfo)gameTickPacket.Players(i);
closestDistance = distance;
}
}
return(closest);
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
// We process the gameTickPacket and convert it to our own internal data structure.
Packet packet = new Packet(gameTickPacket);
Vector3 ballLocation = packet.Ball.Physics.Location;
Vector3 carLocation = packet.Players[index].Physics.Location;
Orientation carRotation = packet.Players[index].Physics.Rotation;
Vector3 ballRelativeLocation = Orientation.RelativeLocation(carLocation, ballLocation, carRotation);
float steer;
if (ballRelativeLocation.Y > 0)
{
steer = 1;
}
else
{
steer = -1;
}
// Examples of rendering in the game
Renderer.DrawString3D("Ball", Colors.Black, ballLocation, 3, 3);
Renderer.DrawString3D(steer > 0 ? "Right" : "Left", Colors.Aqua, carLocation, 3, 3);
Renderer.DrawLine3D(Colors.Red, carLocation, ballLocation);
count++;
if (count > 120)
{
if (toggle)
{
move = new Move(BlueprintCreator.waveDash());
}
else
{
move = new Move(BlueprintCreator.waveDash());
}
move.start();
toggle = !toggle;
count = 0;
}
Input input = move.get();
if (input.frame != -1)
{
return(new Controller {
Throttle = 0,
Pitch = input.pitch,
Roll = input.roll,
Jump = input.jump,
Yaw = input.yaw,
Steer = input.stear
});
}
float throttle = 1;
if (toggle)
{
throttle = 1;
}
return(new Controller {
Throttle = throttle,
Steer = 0
});
}
// Tells us whether the bot is eligible to perform a dodge or not.
private Boolean canDodge(rlbot.flat.GameTickPacket gameTickPacket)
{
return(dodgeWatch.ElapsedMilliseconds >= 2000 && gameTickPacket.Players(this.index).Value.HasWheelContact);
}
// Tells us whether the bot is dodging or not.
private Boolean isDodging(rlbot.flat.GameTickPacket gameTickPacket)
{
return(dodgeWatch.ElapsedMilliseconds <= (gameTickPacket.Players(this.index).Value.HasWheelContact ? 600 : 1000));
}
public override Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
// This controller object will be returned at the end of the method.
// This controller will contain all the inputs that we want the bot to perform.
Controller controller = new Controller();
// Wrap gameTickPacket retrieving in a try-catch so that the bot doesn't crash whenever a value isn't present.
// A value may not be present if it was not sent.
// These are nullables so trying to get them when they're null will cause errors, therefore we wrap in try-catch.
try
{
// Start printing for this frame.
Console.Write(this.index + ": ");
// Store the required data from the gameTickPacket.
Vector3 ballLocation = fromFramework(gameTickPacket.Ball.Value.Physics.Value.Location.Value);
Vector3 ballVelocity = fromFramework(gameTickPacket.Ball.Value.Physics.Value.Velocity.Value);
Vector3 carLocation = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Location.Value);
Vector3 carVelocity = fromFramework(gameTickPacket.Players(this.index).Value.Physics.Value.Velocity.Value);
rlbot.flat.Rotator carRotation = gameTickPacket.Players(this.index).Value.Physics.Value.Rotation.Value;
Boolean wheelContact = gameTickPacket.Players(this.index).Value.HasWheelContact;
int team = gameTickPacket.Players(this.index).Value.Team;
// Wildfire?
Boolean teammate = hasTeammate(gameTickPacket);
rlbot.flat.PlayerInfo?wildfire = getTeammate(gameTickPacket, carLocation);
double wildfireDistanceBall = (teammate ? getDistance2D(((rlbot.flat.PlayerInfo)wildfire).Physics.Value.Location.Value.X, ballLocation.X, ((rlbot.flat.PlayerInfo)wildfire).Physics.Value.Location.Value.Y, ballLocation.Y) : Double.MaxValue);
// Quick-chat.
int goalsScored = gameTickPacket.Players(this.index).Value.ScoreInfo.Value.Goals;
if (goalsScored > this.goals)
{
SendQuickChatFromAgent(false, rlbot.flat.QuickChatSelection.Compliments_NiceOne);
Task.Delay(750).ContinueWith(t => SendQuickChatFromAgent(false, rlbot.flat.QuickChatSelection.Compliments_Thanks));
Task.Delay(1500).ContinueWith(t => SendQuickChatFromAgent(false, rlbot.flat.QuickChatSelection.Apologies_NoProblem));
}
this.goals = goalsScored;
// Get the ball prediction data.
rlbot.flat.BallPrediction prediction = GetBallPrediction();
// Determine which way we are shooting (positive = blue, negative = orange).
int teamSign = (team == 0 ? 1 : -1);
Boolean wrongSide = carLocation.Y * teamSign > ballLocation.Y * teamSign;
// Determine where the goals are.
Vector3 enemyGoal = new Vector3(0F, 5120F * teamSign, 0F);
Vector3 homeGoal = new Vector3(0F, -5120F * teamSign, 0F);
// Make a dodge boolean, this'll come in handy later.
Boolean dodge = false;
// Calculate the distance from the car to the ball.
var distanceToBall = getDistance2D(carLocation.X, ballLocation.X, carLocation.Y, ballLocation.Y);
Console.Write((int)distanceToBall + " = ball distance");
// The earliest point we can hit the ball on its predicted path.
Vector3 hitPoint = getHitPoint(gameTickPacket, prediction);
// Kickoff.
Boolean kickoff = (ballLocation.X == 0 && ballLocation.Y == 0 && ballVelocity.X == 0 && ballVelocity.Y == 0 && ballVelocity.Z == 0);
if (kickoff)
{
activeState = "Kickoff";
if (wildfireDistanceBall < distanceToBall && Math.Abs(carLocation.Y) > 3000)
{
controller.Throttle = Math.Sign(Math.Abs(carLocation.Y) - 5120);
controller.Boost = false;
controller.Handbrake = false;
}
else
{
Vector3 targetLocation = new Vector3(0, Math.Abs(carLocation.Y) > 3600 ? carLocation.Y + teamSign * 900 : 0, 0);
controller = driveToLocation(gameTickPacket, controller, targetLocation);
controller.Boost = true;
controller.Handbrake = false;
dodge = Math.Abs(controller.Steer) < 0.4F && distanceToBall < (carLocation.X == 0 ? 3000 : 2850);
}
}
else if (Math.Abs(ballLocation.X) > 1800 && wildfireDistanceBall < distanceToBall - 800 && teamSign * ballLocation.Y > 1000 && teammate)
{
// Recieve the pass!
activeState = "Lurking";
Vector3 targetLocation = new Vector3(-ballLocation.X / 3, enemyGoal.Y - (enemyGoal.Y - ballLocation.Y) * 2, 0);
controller = driveToLocation(gameTickPacket, controller, targetLocation);
dodge = (distanceToBall > 3500 && !gameTickPacket.Players(this.index).Value.IsSupersonic&& gameTickPacket.Players(this.index).Value.Boost < 10);
}
else
{
Boolean grabBoost = (distanceToBall > (teammate ? 2750 : 3750) && gameTickPacket.Players(this.index).Value.Boost < 40 && !wrongSide);
Vector3?boost = (grabBoost ? getClosestBoost(gameTickPacket, carLocation) : null);
if (boost != null)
{
//Grab boost
activeState = "Boost";
controller = driveToLocation(gameTickPacket, controller, (Vector3)boost);
controller.Boost = (Vector3.Distance((Vector3)boost, carLocation) > 2000);
}
else if (ballLocation.Z < (distanceToBall < 400 ? 140 : 250))
{
// Defending.
double defendingThreshold = (teammate ? 2.5D : 3.25D);
double ballAngle = correctAngle(Math.Atan2(ballLocation.Y - carLocation.Y, ballLocation.X - carLocation.X) - carRotation.Yaw);
double enemyGoalAngle = correctAngle(Math.Atan2(enemyGoal.Y - carLocation.Y, enemyGoal.X - carLocation.X) - carRotation.Yaw);
if (Math.Abs(ballAngle) + Math.Abs(enemyGoalAngle) > defendingThreshold && (Math.Abs(ballVelocity.Y) < 1200 || wrongSide) && distanceToBall > 800)
{
activeState = "Defending";
controller = driveToLocation(gameTickPacket, controller, getDistance2D(carLocation, homeGoal) < 1250 || teamSign * carLocation.Y < -5120 ? ballLocation : homeGoal);
dodge = Math.Abs(controller.Steer) < 0.2F && teamSign * carLocation.Y > -3000 && (gameTickPacket.Players(this.index).Value.Boost < 10 || !wrongSide);
controller.Boost = (controller.Boost && wrongSide);
}
else
{
// Attacking.
activeState = "Attacking";
// Get the target location so we can shoot the ball towards the opponent's goal.
double distance = getDistance2D(hitPoint, carLocation);
Vector3 carToHitPoint = Vector3.Subtract(hitPoint, carLocation);
double offset = Math.Max(0, Math.Min(0.28, 0.03 * Math.Abs(carToHitPoint.Y) / Math.Abs(carToHitPoint.X)));
Console.Write(", " + (float)offset + " = offset");
Vector3 goalToHitPoint = Vector3.Subtract(enemyGoal, hitPoint);
Vector3 targetLocation = Vector3.Add(hitPoint, Vector3.Multiply(Vector3.Normalize(goalToHitPoint), (float)-(92.75 + distance * offset)));
Renderer.DrawLine3D(Color.FromRgb(100, 255, 200), hitPoint, targetLocation);
Renderer.DrawLine3D(Color.FromRgb(100, 255, 200), carLocation, targetLocation);
Renderer.DrawLine3D(Color.FromRgb(100, 255, 200), carLocation, hitPoint);
controller = driveToLocation(gameTickPacket, controller, targetLocation);
// Two conditions for dodging when attacking:
// 1: to get closer to the ball.
// 2: to hit the ball.
dodge = false;
if (Math.Abs(controller.Steer) < 0.2F && gameTickPacket.Players(this.index).Value.Boost < 10)
{
if (distanceToBall > 2400 && !gameTickPacket.Players(this.index).Value.IsSupersonic)
{
dodge = true;
}
else if (distanceToBall < 380 && ballLocation.Z < 180 && Math.Abs(ballAngle - enemyGoalAngle) < 0.4 && ballVelocity.Length() > 1500 && Math.Abs(ballAngle) < 0.3)
{
// Towards the ball.
dodge = true;
controller.Steer = (float)ballAngle;
}
}
}
}
else
{
// Catching the ball.
activeState = "Catching";
// Determine the time the ball will take to touch the ground
double u = ballVelocity.Z;
double a = -650;
double s = -(ballLocation.Z - 92.75);
double time = (-u - Math.Sqrt(Math.Pow(u, 2) + 2 * a * s)) / a;
Console.Write(", " + (float)time + " = time");
Vector3 bounceLocation = getBounceLocation(prediction);
// Add an offset so we dribble towards the enemy goal.
Vector3 bounceOffset = Vector3.Multiply(Vector3.Normalize(Vector3.Subtract(enemyGoal, bounceLocation)), -60);
bounceLocation = Vector3.Add(bounceLocation, bounceOffset);
controller = driveToLocationInTime(gameTickPacket, controller, bounceLocation, time);
if (time < 3.2 && getDistance2D(bounceLocation, carLocation) < 180 && Math.Abs(bounceLocation.X) < 800 && Math.Abs(bounceLocation.Y) > 4850 && teamSign * carVelocity.Y >= 0)
{
// Jump when the ball is near the goal.
dodge = false;
controller.Jump = DateTimeOffset.Now.ToUnixTimeMilliseconds() % 500 > 100;
}
else
{
dodge = gameTickPacket.Players(this.index).Value.Boost < 1 && getDistance2D(bounceLocation, carLocation) > 2900;
}
}
}
Console.Write(", " + (float)controller.Throttle + " = throttle");
Console.Write(", " + (float)controller.Steer + " = steer");
// Land on wheels.
if (carLocation.Z > 200 && !isDodging(gameTickPacket))
{
activeState = "Recovery";
float proportion = 0.8F;
controller.Roll = (float)carRotation.Roll * -proportion;
controller.Pitch = (float)carRotation.Pitch * -proportion;
controller.Boost = false;
}
// Handles dodging.
Console.Write(", " + (dodgeWatch.ElapsedMilliseconds / 1000F) + "s dodge");
if (isDodging(gameTickPacket))
{
// Get the controller required for the dodge.
/** activeState = "Dodge"; */
controller = getDodgeOutput(controller, controller.Steer);
}
else if (dodge && canDodge(gameTickPacket) && wheelContact)
{
// Begin a new dodge.
dodgeWatch.Restart();
}
// Render the active state.
Renderer.DrawString3D(activeState, (team == 0 ? Color.FromRgb(0, 191, 255) : Color.FromRgb(255, 165, 0)), carLocation, 2, 2);
// End the line printed this frame.
Console.WriteLine();
}
catch (Exception e)
{
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
}
return(clampControlValues(controller));
}
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 Controller GetOutput(rlbot.flat.GameTickPacket gameTickPacket)
{
gameInfo.Update(gameTickPacket, GetRigidBodyTick());
ballPrediction.Update(GetBallPrediction());
Controller controller = new Controller();
if (timeout > 6)
{
double angle = random.NextDouble() * Math.PI * 2;
GameState gamestate = new GameState();
gamestate.BallState.PhysicsState.Location = new DesiredVector3(700 * (float)Math.Cos(angle), 700 * (float)Math.Sin(angle), 100);
gamestate.BallState.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
gamestate.BallState.PhysicsState.Velocity = new DesiredVector3(300 * (float)Math.Cos(angle), 300 * (float)Math.Sin(angle), 1500);
CarState carstate = new CarState();
carstate.PhysicsState.AngularVelocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Velocity = new DesiredVector3(0, 0, 0);
carstate.PhysicsState.Location = new DesiredVector3(0, 0, 17);
carstate.PhysicsState.Rotation = new DesiredRotator(0, (float)(Math.PI / 2), 0);
gamestate.SetCarState(index, carstate);
SetGameState(gamestate);
timeout = 0;
flipReset = null;
recovery = null;
recoveryState = false;
}
Car car = gameInfo.Cars[index];
Slice[] slices = ballPrediction.ToArray();
if (timeout > 0.3)
{
if (flipReset == null)
{
for (int i = 0; i < slices.Length; i++)
{
if (slices[i].Velocity.Z < 100)
{
Vector3 A = FlipReset.CalculateCourse(car, slices[i].Position, slices[i].Time - gameInfo.Time);
if (A.Length() < 800 && A.Length() > 700)
{
flipReset = new FlipReset(car, slices[i].Position, gameInfo.Time, slices[i].Time);
}
}
}
}
if (flipReset != null && !recoveryState)
{
controller = flipReset.Step(gameInfo.Ball, 1f / 60f, gameInfo.Time);
Car c = new Car(car);
Vector3 lastpoint = c.Position;
for (int i = 0; i < ((flipReset.ArrivalTime - gameInfo.Time) / (5f / 60f)); i++)
{
c.Simulate(new Controller(), 5f / 60f);
Renderer.DrawLine3D(Colors.White, c.Position, lastpoint);
lastpoint = c.Position;
}
if (flipReset.Finished)
{
controller.Roll = 0;
controller.Pitch = -1;
controller.Yaw = 0;
controller.Jump = true;
recoveryState = true;
recovery = new Recovery(car);
}
}
else if (recovery != null)
{
controller = recovery.Step(1f / 60f);
}
}
timeout += gameInfo.DeltaTime;
return(controller);
}
