public void Run(GoslingAgent agent)
{
var carToTarget = target - agent.Me.Location;
var distanceRemaining = carToTarget.Flatten().Length();
agent.Line(target - new Vector3(0, 0, 500), target + new Vector3(0, 0, 500), Color.FromRgb(255, 0, 255));
Vector3 finalTarget;
if (vector.HasValue)
{
// See comments for adjustment in JumpShot or Aerial for explanation
var sideOfVector =
Utils.Sign(Vector3.Dot(Vector3.Cross(vector.Value, Vector3.UnitZ), carToTarget));
var carToTargetPerp = Vector3.Normalize(Vector3.Cross(carToTarget, new Vector3(0, 0, sideOfVector)));
var adjustment = carToTarget.Angle(vector.Value) * distanceRemaining / 3.14f;
finalTarget = target + (carToTargetPerp * adjustment);
}
else
{
finalTarget = target;
}
// Some adjustment to the final target to ensure it's inside the field and we don't try to drive through any
// goalposts to reach it
if (Math.Abs(agent.Me.Location.Y) > 5150)
{
finalTarget.X = Utils.Cap(finalTarget.X, -750, 750);
}
var localTarget = agent.Me.Local(finalTarget - agent.Me.Location);
var(_, angleY, _) = Utils.DefaultPd(agent, localTarget, direction);
Utils.DefaultThrottle(agent, 2300, direction);
agent.Controller.Boost = false;
agent.Controller.Handbrake = Math.Abs(angleY) > 2.3 || agent.Controller.Handbrake;
var velocity = 1 + agent.Me.Velocity.Length();
if (distanceRemaining < 350)
{
agent.Pop();
}
else if (Math.Abs(angleY) < 0.05 && velocity > 600 && velocity < 2150 &&
distanceRemaining / velocity > 2)
{
agent.Push(new Flip(localTarget));
}
else if (Math.Abs(angleY) > 2.8 && velocity < 200)
{
agent.Push(new Flip(localTarget, cancel: true));
}
else if (agent.Me.Airborne)
{
agent.Push(new Recovery(target));
}
}
public void Run(GoslingAgent agent)
{
var carToBall = agent.Ball.Physics.Location - agent.Me.Location;
var distance = carToBall.Length();
carToBall = Vector3.Normalize(carToBall);
var ballToTarget = Vector3.Normalize(target - agent.Ball.Physics.Location);
var relativeVelocity = Vector3.Dot(carToBall, agent.Me.Velocity - agent.Ball.Physics.Velocity);
float eta;
if (relativeVelocity != 0)
{
eta = Utils.Cap(distance / Utils.Cap(relativeVelocity, 400, 2300), 0, 1.5f);
}
else
{
eta = 1.5f;
}
// If we are approaching the ball from the wrong side the car will try to only hit the very edge of the ball
var leftVector = Vector3.Cross(carToBall, Vector3.UnitZ);
var rightVector = Vector3.Cross(carToBall, -Vector3.UnitZ);
var targetVector = Vector3.Clamp(-ballToTarget, leftVector, rightVector);
var finalTarget = agent.Ball.Physics.Location + (targetVector * (distance / 2));
// Some adjustment to the final target to ensure we don't try to dirve through any goalposts to reach it
if (Math.Abs(agent.Me.Location.Y) > 5150)
{
finalTarget.X = Utils.Cap(finalTarget.X, -750, 750);
}
agent.Line(finalTarget - new Vector3(0, 0, 100), finalTarget + new Vector3(0, 0, 100), Colors.White);
var(_, angleY, _) = Utils.DefaultPd(agent, agent.Me.Local(finalTarget - agent.Me.Location));
Utils.DefaultThrottle(agent,
distance > 1600
? 2300
: 2300 - Utils.Cap(1600 * Math.Abs(angleY), 0, 2050)
);
agent.Controller.Boost = agent.Me.Airborne || Math.Abs(angleY) > 0.3 ? false : agent.Controller.Boost;
agent.Controller.Handbrake = Math.Abs(angleY) > 2.3 || agent.Controller.Handbrake;
if (Math.Abs(angleY) < 0.05 && (eta < 0.45 || distance < 150))
{
agent.Pop();
agent.Push(new Flip(agent.Me.Local(carToBall)));
}
}
public void Run(GoslingAgent agent)
{
var carToBoost = boost.Location - agent.Me.Location;
var distanceRemaining = carToBoost.Flatten().Length();
agent.Line(
boost.Location - new Vector3(0, 0, 500),
boost.Location + new Vector3(0, 0, 500),
Colors.Lime
);
float adjustment;
Vector3 finalTarget;
float carToTarget;
if (target.HasValue)
{
var vector = Vector3.Normalize(target.Value - boost.Location);
var sideOfVector = Utils.Sign(Vector3.Dot(Vector3.Cross(vector, Vector3.UnitZ), carToBoost));
var carToBoostPerp = Vector3.Normalize(Vector3.Cross(carToBoost, new Vector3(0, 0, sideOfVector)));
adjustment = carToBoost.Angle(vector) * distanceRemaining / 3.14f;
finalTarget = boost.Location + (carToBoostPerp * adjustment);
carToTarget = (target.Value - agent.Me.Location).Length();
}
else
{
adjustment = 9999;
carToTarget = 0;
finalTarget = boost.Location;
}
// Some adjustment to the final target to ensure it's inside the field and we don't try to drive through any
// goalposts to reach it
if (Math.Abs(agent.Me.Location.Y) > 5150)
{
finalTarget.X = Utils.Cap(finalTarget.X, -750, 750);
}
var localTarget = agent.Me.Local(finalTarget - agent.Me.Location);
var(_, angleY, _) = Utils.DefaultPd(agent, localTarget);
Utils.DefaultThrottle(agent, 2300);
agent.Controller.Boost = Math.Abs(angleY) < 0.3 && boost.Large;
agent.Controller.Handbrake = Math.Abs(angleY) > 2.3 || agent.Controller.Handbrake;
var velocity = 1 + agent.Me.Velocity.Length();
if (!boost.Active || agent.Me.Boost >= 99 || distanceRemaining < 350)
{
agent.Pop();
}
else if (agent.Me.Airborne)
{
agent.Push(new Recovery(target));
}
else if (Math.Abs(angleY) < 0.05 && velocity > 600 && velocity < 2150 && distanceRemaining / velocity > 2 ||
adjustment < 90 && carToTarget / velocity > 2.0)
{
agent.Push(new Flip(localTarget));
}
}
public void Run(GoslingAgent agent)
{
var rawTimeRemaining = InterceptTime - agent.Time;
// Capping raw_time_remaining above 0 to prevent division problems
var timeRemaining = Utils.Cap(rawTimeRemaining, 0.001f, 10);
var carToBall = BallLocation - agent.Me.Location;
// Whether we are to the left or right of the shot vector
var sideOfShot = Utils.Sign(Vector3.Dot(Vector3.Cross(shotVector, Vector3.UnitZ), carToBall));
var carToDodgePoint = dodgePoint - agent.Me.Location;
var carToDodgePerp = Vector3.Cross(carToDodgePoint, new Vector3(0, 0, sideOfShot)); // Perpendicular
var distanceRemaining = carToDodgePoint.Length();
var speedRequired = distanceRemaining / timeRemaining;
var accelerationRequired = Utils.Backsolve(dodgePoint, agent.Me, timeRemaining, !jumping ? 0 : 650);
var localAccelerationRequired = agent.Me.Local(accelerationRequired);
// The adjustment causes the car to circle around the dodge point in an effort to line up with the shot
// vector
// The adjustment slowly decreases to 0 as the bot nears the time to jump
var adjustment = carToDodgePoint.Angle(shotVector) * distanceRemaining / 2f; // Size of adjustment
adjustment *= (Utils.Cap(jumpThreshold - (accelerationRequired.Z), 0, jumpThreshold) / jumpThreshold);
// Factoring in how close to jump we are
// We don't adjust the final target if we are already jumping
var finalTarget =
dodgePoint +
(!jumping ? Vector3.Normalize(carToDodgePerp) * adjustment : Vector3.Zero) +
new Vector3(0, 0, 50);
// Ensuring our target isn't too close to the sides of the field, where our car would get messed up by the
// radius of the curves
// Some adjustment to the final target to ensure it's inside the field and we don't try to drive through any
// goalposts to reach it
if (Math.Abs(agent.Me.Location.Y) > 5150)
{
finalTarget.X = Utils.Cap(finalTarget.X, -750, 750);
}
var localFinalTarget = agent.Me.Local(finalTarget - agent.Me.Location);
// Drawing debug lines to show the dodge point and final target (which differs due to the adjustment)
agent.Line(agent.Me.Location, dodgePoint);
agent.Line(dodgePoint - new Vector3(0, 0, 100), dodgePoint + new Vector3(0, 0, 100), Colors.Red);
agent.Line(finalTarget - new Vector3(0, 0, 100), finalTarget + new Vector3(0, 0, 100), Colors.Lime);
agent.Line(agent.Ball.Physics.Location, agent.Ball.Physics.Location + (shotVector * 300));
// Calling our drive utils to get us going towards the final target
var(_, angleY, _) = Utils.DefaultPd(agent, localFinalTarget, direction);
Utils.DefaultThrottle(agent, speedRequired, direction);
agent.Line(agent.Me.Location, agent.Me.Location + (shotVector * 200), Colors.White);
agent.Controller.Boost = Math.Abs(angleY) > 0.3 || agent.Me.Airborne ? false : agent.Controller.Boost;
agent.Controller.Handbrake = Math.Abs(angleY) > 2.3 && direction == 1 || agent.Controller.Handbrake;
if (!jumping)
{
if (rawTimeRemaining <= 0 ||
(speedRequired - 2300) * timeRemaining > 60 ||
!Utils.ShotValid(agent, this))
{
// If we're out of time or not fast enough to be within 45 units of target at the intercept time, we
// pop
agent.Pop();
if (agent.Me.Airborne)
{
agent.Push(new Recovery());
}
}
else if (localAccelerationRequired.Z > jumpThreshold &&
localAccelerationRequired.Z > localAccelerationRequired.Flatten().Length())
{
// Switch into the jump when the upward acceleration required reaches our threshold, and our lateral
// acceleration is negligible
jumping = true;
}
}
else
{
if (rawTimeRemaining > 0.2 && !Utils.ShotValid(agent, this, 150) ||
rawTimeRemaining <= -0.9 ||
!agent.Me.Airborne && counter > 0)
{
agent.Pop();
agent.Push(new Recovery());
}
else if (counter == 0 && localAccelerationRequired.Z > 0 && rawTimeRemaining > 0.083)
{
// Initial jump to get airborne + we hold the jump button for extra power as required
agent.Controller.Jump = true;
}
else if (counter < 3)
{
// Make sure we aren't jumping for at least 3 frames
agent.Controller.Jump = false;
counter++;
}
else if (rawTimeRemaining <= 0.1 && rawTimeRemaining > -0.9)
{
// Dodge in the direction of the shotVector
agent.Controller.Jump = true;
if (!dodging)
{
var vector = agent.Me.Local(shotVector);
p = Math.Abs(vector.X) * -Utils.Sign(vector.X);
y = Math.Abs(vector.Y) * Utils.Sign(vector.Y) * direction;
dodging = true;
}
// Simulating a deadzone so that the dodge is more natural
agent.Controller.Pitch = Math.Abs(p) > 0.2 ? p : 0;
agent.Controller.Yaw = Math.Abs(y) > 0.3 ? y : 0;
}
}
}
public void Run(GoslingAgent agent)
{
var rawTimeRemaining = InterceptTime - agent.Time;
// Capping rawTimeRemaining above 0 to prevent division problems
var timeRemaining = Utils.Cap(rawTimeRemaining, 0.01f, 10);
var carToBall = BallLocation - agent.Me.Location;
// Whether we are to the left or right of the shot vector
var sideOfShot = Utils.Sign(Vector3.Dot(Vector3.Cross(shotVector, Vector3.UnitZ), carToBall));
var carToIntercept = intercept - agent.Me.Location;
var carToInterceptPerp = Vector3.Cross(carToIntercept, new Vector3(0, 0, sideOfShot)); // Perpendicular
var flatDistanceRemaining = carToIntercept.Flatten().Length();
var speedRequired = flatDistanceRemaining / timeRemaining;
// When still on the ground we pretend gravity doesn't exist, for better or worse
var accelerationRequired = Utils.Backsolve(intercept, agent.Me, timeRemaining, 325);
var localAccelerationRequired = agent.Me.Local(accelerationRequired);
// The adjustment causes the car to circle around the dodge point in an effort to line up with the shot vector
// The adjustment slowly decreases to 0 as the bot nears the time to jump
var adjustment = carToIntercept.Angle(shotVector) * flatDistanceRemaining / 1.57f; // Size of adjustment
// Factoring in how close to jump we are
adjustment *= Utils.Cap(jumpThreshold - accelerationRequired.Z, 0, jumpThreshold) / jumpThreshold;
// We don't adjust the final target if we are already jumping
var finalTarget = intercept + (
jumpTime == 0
? Vector3.Normalize(carToInterceptPerp) * adjustment
: Vector3.Zero
);
// Some adjustment to the final target to ensure it's inside the field and we don't try to drive through any
// goalposts to reach it
if (Math.Abs(agent.Me.Location.Y) > 5150)
{
finalTarget.X = Utils.Cap(finalTarget.X, -750, 750);
}
var localTarget = agent.Me.Local(finalTarget - agent.Me.Location);
// Drawing debug lines to show the dodge point and final target (which differs due to the adjustment)
agent.Line(agent.Me.Location, intercept);
agent.Line(intercept - new Vector3(0, 0, 100), intercept + new Vector3(0, 0, 100), Colors.Red);
agent.Line(finalTarget - new Vector3(0, 0, 100), finalTarget + new Vector3(0, 0, 100), Colors.Lime);
var(angleX, angleY, _) = Utils.DefaultPd(agent, localTarget);
float timeSinceJump;
if (jumpTime == 0)
{
Utils.DefaultThrottle(agent, speedRequired);
agent.Controller.Boost = Math.Abs(angleY) > 0.3 || agent.Me.Airborne ? false : agent.Controller.Boost;
agent.Controller.Handbrake = Math.Abs(angleY) > 2.3 || agent.Controller.Handbrake;
var velocityRequired = carToIntercept / timeRemaining;
var velAbs = velocityRequired.Abs();
var goodSlope = velocityRequired.Z / Utils.Cap(velAbs.X + velAbs.Y, 1, 10000) > 0.15;
var dot = Vector3.Dot(
Vector3.Normalize(agent.Me.Velocity.Flatten()),
Vector3.Normalize(accelerationRequired.Flatten())
);
if (goodSlope && localAccelerationRequired.Z > jumpThreshold && dot > 0.8)
{
// Switch into the jump when the upward acceleration required reaches our threshold, hopefully we
// have aligned already...
jumpTime = agent.Time;
}
}
else
{
timeSinceJump = agent.Time - jumpTime;
// While airborne we boost if we're within 30 degrees of our local acceleration requirement
if (agent.Me.Airborne && localAccelerationRequired.Length() * timeRemaining > 90)
{
(angleX, angleY, _) = Utils.DefaultPd(agent, localAccelerationRequired);
if (Math.Abs(angleX) + Math.Abs(angleY) < 0.45)
{
agent.Controller.Boost = true;
}
}
else
{
finalTarget -= new Vector3(0, 0, 45);
var localFinalTarget = agent.Me.Local(finalTarget - agent.Me.Location);
(angleX, angleY, _) = Utils.DefaultPd(agent, localFinalTarget);
}
if (counter == 0 && (timeSinceJump <= 0.2 && localAccelerationRequired.Z > 0))
{
// Hold the jump button up to 0.2 seconds to get the most acceleration from the first jump
agent.Controller.Jump = true;
}
else if (timeSinceJump > 0.2 && counter < 3)
{
// Release the jump button for 3 ticks
agent.Controller.Jump = false;
agent.Controller.Pitch = 0;
agent.Controller.Yaw = 0;
agent.Controller.Roll = 0;
counter++;
}
else if (localAccelerationRequired.Z > 300 && counter == 3)
{
// The acceleration from the second jump is instant, so we only do it for 1 frame
agent.Controller.Jump = true;
agent.Controller.Pitch = 0;
agent.Controller.Yaw = 0;
agent.Controller.Roll = 0;
counter++;
}
}
if (rawTimeRemaining < -0.25)
{
agent.Pop();
agent.Push(new Recovery());
}
if (!Utils.ShotValid(agent, this, 90))
{
agent.Pop();
}
}