public AerialExample(string botName, int botTeam, int botIndex) : base(botName, botTeam, botIndex)
{
gameInfo = new GameInfo(botIndex, botTeam, botName);
fieldInfo = new FieldInfo(GetFieldInfo());
ballPrediction = new BallPredictionCollection();
}
public override Controller GetOutput(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
{
if (gameInfo == null)
{
gameInfo = new KipjeBot.GameInfo(index, team, name);
SetTeammates();
}
if (fieldInfo == null)
{
fieldInfo = new KipjeBot.GameTickPacket.FieldInfo(GetFieldInfo());
}
if (ballPrediction == null)
{
ballPrediction = new BallPredictionCollection();
}
gameInfo.Update(gameTickPacket, GetRigidBodyTick());
ballPrediction.Update(GetBallPrediction());
Car car = gameInfo.Cars[index];
Ball ball = gameInfo.Ball;
PlayerInfo playerInfo = gameTickPacket.Players(this.index).Value;
if (playerInfo.Name == "BrokenJoey")
{
controller.Throttle = 1;
controller.Steer = -0.3f;
controller.Boost = true;
return(controller);
}
target = Target.Undecided;
// Store the required data from the gameTickPacket.
BallInfo ballInfo = gameTickPacket.Ball.Value;
Vector3 ballLocation = ballInfo.Physics.Value.Location.Value;
Vector3 carLocation = playerInfo.Physics.Value.Location.Value;
Rotator carRotation = playerInfo.Physics.Value.Rotation.Value;
Vector3 ballVelocity = ballInfo.Physics.Value.Velocity.Value;
Vector3 carVelocityStruct = playerInfo.Physics.Value.Velocity.Value;
System.Numerics.Vector3 carVelocity = new System.Numerics.Vector3(carVelocityStruct.X, carVelocityStruct.Y, carVelocityStruct.Z);
var velocityValue = Math.Sqrt(carVelocity.LengthSquared());
int ownGoalY = team == 0 ? -5000 : 5000;
int oppGoalY = team == 0 ? 5000 : -5000;
// Calculate to get the angle from the front of the bot's car to the target.
//If car is in front of ball aim for goal, else aim for ball
var ballTrajectoryX = ballLocation.X;
var ballTrajectoryY = ballLocation.Y;
var ballTrajectoryZ = ballLocation.Z;
double botToTargetAngle = 0;
double botToBallAngle;
double botToOppGoalAngle;
var DistanceToBall = Get2DDistance(carLocation.X, ballLocation.X, carLocation.Y, ballLocation.Y);
botToBallAngle = Math.Atan2(ballLocation.Y - carLocation.Y, ballLocation.X - carLocation.X);
double botFrontToBallAngle = botToBallAngle - carRotation.Yaw;
botFrontToBallAngle = CorrectAngle(botFrontToBallAngle);
float goalY = Math.Abs(GetFieldInfo().Goals(0).Value.Location.Value.Y);
if (GetFieldInfo().GoalsLength > 2)
{
mode = GameMode.Dropshot;
}
else if (goalY == 5120)
{
mode = GameMode.Soccar;
}
else
{
mode = GameMode.Hoops;
}
botToOppGoalAngle = Math.Atan2(oppGoalY - carLocation.Y, 0 - carLocation.X);
double botFrontToOppGoalAngle = botToOppGoalAngle - carRotation.Yaw;
botFrontToOppGoalAngle = CorrectAngle(botFrontToOppGoalAngle);
int fieldLength = GetFieldLength(mode);
controller.Jump = false;
controller.Handbrake = false;
//work out state code
if (teammates == null)
{
SetTeammates();
}
if (prevTarget == Target.Waiting && gameInfo.IsKickOffPause)
{
target = Target.Waiting;
}
else if (gameInfo.IsKickOffPause && gameInfo.IsRoundActive)
{
target = Target.Kickoff;
}
//goalkeeper mode
else if (teammates.Count() >= MinTeammatesForGK && ((ownGoalY < 0 && carLocation.Y < (from x in teammates select x.Position.Y).Min()) || (ownGoalY > 0 && carLocation.Y > (from x in teammates select x.Position.Y).Max())))
{
//if (target != Target.AwayFromGoal)
//{
//team 0 = blue team, defending negative, attacking positive
if (team == 0)
{
if (ballLocation.Y < GoalieBallTargetY * -1)
{
target = Target.Ball;
botToTargetAngle = Math.Atan2(ballLocation.Y - carLocation.Y, ballLocation.X - carLocation.X);
}
else if (ballLocation.Y > 1000)
{
if (Math.Abs(ballLocation.X) < 800)
{
target = Target.Ball;
botToTargetAngle = Math.Atan2(ballLocation.Y - carLocation.Y, ballLocation.X - carLocation.X);
}
else if (carLocation.Y < -1000 || Math.Abs(botFrontToBallAngle) > DegreesToRadians(30))
{
target = Target.SpecificPoint;
TargetPointX = 0;
TargetPointY = 0;
}
else
{
target = Target.Waiting;
}
}
else if (carLocation.Y < GoalieWaitY * -1 && Math.Abs(carLocation.X) < 700 && Math.Abs(botFrontToBallAngle) < DegreesToRadians(45))
{
target = Target.Waiting;
}
else
{
target = Target.Goal;
botToTargetAngle = Math.Atan2(goalY * -1 - carLocation.Y, 0 - carLocation.X);
}
}
else
//team 1 = orange team, defending positive, attacking negative
{
if (ballLocation.Y > GoalieBallTargetY)
{
target = Target.Ball;
botToTargetAngle = Math.Atan2(ballLocation.Y - carLocation.Y, ballLocation.X - carLocation.X);
}
else if (ballLocation.Y < -1000)
{
if (Math.Abs(ballLocation.X) < 800)
{
target = Target.Ball;
botToTargetAngle = Math.Atan2(ballLocation.Y - carLocation.Y, ballLocation.X - carLocation.X);
}
else if (carLocation.Y > 1000 || Math.Abs(botFrontToBallAngle) > DegreesToRadians(30))
{
target = Target.SpecificPoint;
TargetPointX = 0;
TargetPointY = 0;
}
else
{
target = Target.Waiting;
}
}
else if (carLocation.Y > GoalieWaitY && Math.Abs(carLocation.X) < 700 && Math.Abs(botFrontToBallAngle) < DegreesToRadians(45))
{
target = Target.Waiting;
}
else
{
target = Target.Goal;
botToTargetAngle = Math.Atan2(goalY - carLocation.Y, 0 - carLocation.X);
}
}
//}
}
//car is in goal
else if (GetFieldInfo().GoalsLength == 2 && ((Math.Abs(carLocation.Y) > Math.Abs(goalY) - ownGoalTurnDistance && (prevTarget == Target.Goal || prevTarget == Target.AwayFromGoal)) || carLocation.Y > Math.Abs(goalY)))
{
botToTargetAngle = Math.Atan2(-carLocation.Y, 0);
if (Math.Abs(ballLocation.X) < 1000)
{
target = Target.Ball;
}
else
{
target = Target.AwayFromGoal;
}
}
else if (ballLocation.X == 0 && ballLocation.Y == 0)
{
target = Target.Ball;
botToTargetAngle = Math.Atan2(0 - carLocation.Y, 0 - carLocation.X);
}
//defending when blue
else if (GetFieldInfo().GoalsLength == 2 && team == 0 && (carLocation.Y > ballLocation.Y || (prevTarget == Target.Goal && carLocation.Y > ballLocation.Y - 1000)) &&
ballVelocity.Y < 0)
{
botToTargetAngle = Math.Atan2(goalY * -1 - carLocation.Y, 0 - carLocation.X);
controller.Boost = true;
target = Target.Goal;
}
//defending when orange
else if (GetFieldInfo().GoalsLength == 2 && team == 1 && (carLocation.Y < ballLocation.Y || (prevTarget == Target.Goal && carLocation.Y < ballLocation.Y + 1000)) && ballVelocity.Y > 0)
{
botToTargetAngle = Math.Atan2(goalY - carLocation.Y, 0 - carLocation.X);
controller.Boost = true;
target = Target.Goal;
}
else
{
var goForBall = true;
if (teammates.Count >= MinTeammatesForWait)
{
var distanceToBall = car.DistanceToBall(ball);
var teammateDistance = (from x in teammates select x.DistanceToBall(ball)).Min();
if (teammateDistance < distanceToBall && teammateDistance < 2000)
{
goForBall = false;
}
if (Math.Abs(ballLocation.X) < 1000 && teammateDistance > 500 && teammateDistance < 1500)
{
goForBall = true;
}
}
if (goForBall)
{
botToTargetAngle = botToBallAngle;
var trajectoryAngle = Math.Atan2(ballVelocity.Y - carVelocity.Y, ballVelocity.X - carVelocity.X);
if (playerInfo.Boost > 10 && ballLocation.Z > 700 && Math.Abs(botFrontToBallAngle) < Math.Abs(DegreesToRadians(20)) && (Math.Abs(trajectoryAngle) < DegreesToRadians(maxAerialTrajectoryAngleDegrees) || Math.Abs(trajectoryAngle) > 180 - maxAerialTrajectoryAngleDegrees))
{
target = Target.BallInAir;
}
else
{
if (ballLocation.Z > ballLandingPointHeight)
{
target = Target.BallLandingPoint;
}
else
{
target = Target.Ball;
}
}
botToTargetAngle = botToBallAngle;
}
else
{
if (Math.Abs(carLocation.X) < 800 && Math.Abs(botFrontToOppGoalAngle) < DegreesToRadians(30))
{
//if ball behind, reposition other side of ball
target = Target.Waiting;
//blue
if (team == 0)
{
if (carLocation.Y > ballLocation.Y)
{
target = Target.SpecificPoint;
TargetPointX = carLocation.X;
TargetPointY = ballLocation.Y - 1000;
}
}
//orange
else
{
if (carLocation.Y < ballLocation.Y)
{
target = Target.SpecificPoint;
TargetPointX = carLocation.X;
TargetPointY = ballLocation.Y + 1000;
}
}
}
else
{
TargetPointX = 0;
TargetPointY = team == 0 ? 2000 : -2000;
if (team == 0 && ballLocation.Y < 2000)
{
TargetPointY = ballLocation.Y - 1000;
}
if (team == 1 && ballLocation.Y > -2000)
{
TargetPointY = ballLocation.Y + 1000;
}
target = Target.SpecificPoint;
}
}
}
double botFrontToTargetAngle = botToTargetAngle - carRotation.Yaw;
// Correct the angle
botFrontToTargetAngle = CorrectAngle(botFrontToTargetAngle);
if (DistanceToBall <= 300 && botFrontToTargetAngle < MinimumSteeringAngleRadians / 2 && ballLocation.Z < 200 && ballLocation.X != 0 && ballLocation.Y != 0)
{
target = Target.GuidingBall;
}
if (target == Target.Ball)
{
Slice[] slices = ballPrediction.ToArray();
float targetTime = 0;
double ballVelocityUnit = Math.Sqrt(ballVelocity.X * ballVelocity.X + ballVelocity.Y * ballVelocity.Y);
if (ballVelocityUnit < 200 || DistanceToBall < 600)
{
targetTime = 0.1f;
}
else if (ballVelocityUnit < 400)
{
targetTime = 0.6f;
}
else if (ballVelocityUnit < 600)
{
targetTime = 1.25f;
}
else
{
targetTime = 2;
}
Slice?targetSlice = slices.Where(x => x.Time - gameInfo.Time >= targetTime).FirstOrDefault();
if (targetSlice != null)
{
target = Target.SpecificPoint;
TargetPointX = targetSlice.Value.Position.X;
TargetPointY = targetSlice.Value.Position.Y;
}
}
switch (target)
{
case Target.BallInAir:
Slice[] slices = ballPrediction.ToArray();
if (aerial == null)
{
for (int i = 0; i < slices.Length; i++)
{
float B_avg = Aerial.CalculateCourse(car, slices[i].Position, slices[i].Time - gameInfo.Time).Length();
if (B_avg < 970)
{
aerial = new Aerial(car, slices[i].Position, gameInfo.Time, slices[i].Time);
break;
}
}
controller.Jump = true;
}
else
{
controller = aerial.Step(ball, 0.0083335f, gameInfo.Time);
controller.Boost = true;
if (aerial.Finished)
{
aerial = null;
}
else
{
for (int i = 0; i < slices.Length; i++)
{
if (Math.Abs(slices[i].Time - aerial.ArrivalTime) < 0.02)
{
if ((aerial.Target - slices[i].Position).Length() > 40)
{
aerial = null;
}
break;
}
}
}
}
break;
case Target.BallLandingPoint:
if (ballVelocity.X == 0 && ballVelocity.Y == 0)
{
controller.Throttle = 1;
controller.Boost = true;
}
else
{
//speed calculation based on height of ball
var slice = ballPrediction.GetNextGroundTouch();
if (slice != null)
{
var target = slice.Value;
var distance = Math.Abs(Get2DDistance(target.Position.X, carLocation.X, target.Position.Y, carLocation.Y)) + 100;
var time = target.Time - gameTickPacket.GameInfo.Value.SecondsElapsed;
var ticks = time * 120;
var currentDistance = ticks * velocityValue;
if (currentDistance < distance)
{
controller.Throttle = 1;
controller.Boost = true;
}
else
{
controller.Throttle = 0.1f;
controller.Boost = false;
}
}
controller = SetSteeringBasedOnTarget(controller, botFrontToTargetAngle);
}
break;
case Target.GuidingBall:
var complete = false;
ballTrajectoryX = ballLocation.X;
ballTrajectoryY = ballLocation.Y;
while (!complete)
{
if (ballTrajectoryY > GetFieldLength(mode))
{
if (oppGoalY == 5000 && mode == GameMode.Soccar)
{
if (ballLocation.X < 700 && ballLocation.X > -700)
{
complete = true;
}
else
{
if (ballLocation.X < -700)
{
controller.Steer = -largeSteering;
}
else
{
controller.Steer = largeSteering;
}
complete = true;
}
}
else
{
controller.Steer = 1;
complete = true;
}
}
else if (ballTrajectoryY < GetFieldLength(mode) * -1)
{
if (oppGoalY == -5000 && mode == GameMode.Soccar)
{
if (ballLocation.X < 700 && ballLocation.X > -700)
{
complete = true;
}
else
{
if (ballLocation.X < -700)
{
controller.Steer = -largeSteering;
}
else
{
controller.Steer = largeSteering;
}
complete = true;
}
}
else
{
controller.Steer = 1;
complete = true;
}
}
else if (ballTrajectoryX < -700 && ballLocation.X > -700 && mode == GameMode.Soccar)
{
controller.Steer = -smallSteering;
complete = true;
}
else if (ballTrajectoryX > 700 && ballLocation.X < 700 && mode == GameMode.Soccar)
{
controller.Steer = smallSteering;
complete = true;
}
if (botFrontToBallAngle > DegreesToRadians(180))
{
controller.Steer *= -1;
}
if (ballVelocity.X == 0 && ballVelocity.Y == 0)
{
complete = true;
}
if (!complete)
{
ballTrajectoryX += ballVelocity.X;
ballTrajectoryY += ballVelocity.Y;
}
}
controller.Throttle = 1;
break;
case Target.Kickoff:
if (teammates == null)
{
SetTeammates();
}
if (teammates.Count() == 0)
{
controller = GoForKickoff(gameTickPacket, controller);
SetJump(ref controller, ref ballLocation, ref carLocation, DistanceToBall, botFrontToBallAngle);
}
else
{
var furthestTeammate = (from x in teammates select x.DistanceToCentre()).Max();
if (gameInfo.MyCar.DistanceToCentre() <= furthestTeammate)
{
controller = GoForKickoff(gameTickPacket, controller);
SetJump(ref controller, ref ballLocation, ref carLocation, DistanceToBall, botFrontToBallAngle);
}
else
{
target = Target.Waiting;
controller.Throttle = 0;
controller.Handbrake = true;
controller.Steer = 0;
}
}
break;
case Target.SpecificPoint:
botToTargetAngle = Math.Atan2(TargetPointY - carLocation.Y, TargetPointX - carLocation.X);
botFrontToTargetAngle = botToTargetAngle - carRotation.Yaw;
// Correct the angle
botFrontToTargetAngle = CorrectAngle(botFrontToTargetAngle);
SetHandbrakeAndBoost(ref controller, ref carLocation, carVelocity, botFrontToTargetAngle);
SetJump(ref controller, ref ballLocation, ref carLocation, DistanceToBall, botFrontToBallAngle);
SetThrottle(ref controller, ref ballLocation, ref carLocation, ballVelocity, DistanceToBall, botFrontToTargetAngle);
controller = SetSteeringBasedOnTarget(controller, botFrontToTargetAngle);
break;
case Target.Waiting:
controller.Throttle = 0;
break;
default:
SetHandbrakeAndBoost(ref controller, ref carLocation, carVelocity, botFrontToTargetAngle);
SetJump(ref controller, ref ballLocation, ref carLocation, DistanceToBall, botFrontToBallAngle);
SetThrottle(ref controller, ref ballLocation, ref carLocation, ballVelocity, DistanceToBall, botFrontToTargetAngle);
controller = SetSteeringBasedOnTarget(controller, botFrontToTargetAngle);
if (target == Target.AwayFromGoal && Math.Abs(botFrontToTargetAngle) > DegreesToRadians(90))
{
controller.Handbrake = true;
}
if (target == Target.AwayFromGoal)
{
controller.Boost = false;
}
break;
}
switch (target)
{
case Target.Ball:
Renderer.DrawLine3D(System.Windows.Media.Color.FromRgb(255, 0, 0), new System.Numerics.Vector3(carLocation.X, carLocation.Y, carLocation.Z), new System.Numerics.Vector3(ballLocation.X, ballLocation.Y, ballLocation.Z));
break;
case Target.BallInAir:
Renderer.DrawLine3D(System.Windows.Media.Color.FromRgb(255, 255, 0), new System.Numerics.Vector3(carLocation.X, carLocation.Y, carLocation.Z), new System.Numerics.Vector3(ballLocation.X, ballLocation.Y, ballLocation.Z));
break;
case Target.BallLandingPoint:
Renderer.DrawLine3D(System.Windows.Media.Color.FromRgb(0, 255, 0), new System.Numerics.Vector3(carLocation.X, carLocation.Y, carLocation.Z), new System.Numerics.Vector3(ballTrajectoryX, ballTrajectoryY, ballTrajectoryZ));
break;
case Target.Goal:
Renderer.DrawLine3D(System.Windows.Media.Color.FromRgb(0, 0, 255), new System.Numerics.Vector3(carLocation.X, carLocation.Y, carLocation.Z), new System.Numerics.Vector3(0, ownGoalY, 10));
break;
case Target.AwayFromGoal:
Renderer.DrawLine3D(System.Windows.Media.Color.FromRgb(0, 0, 0), new System.Numerics.Vector3(carLocation.X, carLocation.Y, carLocation.Z), new System.Numerics.Vector3(ballLocation.X, ballLocation.Y, ballLocation.Z));
break;
case Target.Undecided:
Renderer.DrawLine3D(System.Windows.Media.Color.FromRgb(255, 255, 255), new System.Numerics.Vector3(carLocation.X, carLocation.Y, carLocation.Z), new System.Numerics.Vector3(ballLocation.X, ballLocation.Y, ballLocation.Z));
break;
}
prevTarget = target;
LastPositionX = carLocation.X;
LastPositionY = carLocation.Y;
LastBallPositionX = ballLocation.X;
LastBallPositionY = ballLocation.Y;
LastBallPositionZ = ballLocation.Z;
if (DateTime.Now > lastChat.AddSeconds(10) && random.NextDouble() < 0.00033)
{
int chatNo = (int)(random.NextDouble() * 63);
try
{
SendQuickChatFromAgent(false, (QuickChatSelection)chatNo);
}
catch
{
Console.WriteLine("QuickChat Exception: " + chatNo);
}
lastChat = DateTime.Now;
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
}
return(controller);
}
