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);
}
/// <summary>
/// Converts a flatbuffers rotator to a System.Numerics quaternion.
/// </summary>
/// <param name="rotator">The flatbuffers rotator</param>
/// <returns>Returns a System.Numerics quaternion.</returns>
public static Quaternion ToQuaternion(this rlbot.flat.Rotator rotator)
{
Quaternion roll = Quaternion.CreateFromYawPitchRoll(0, -rotator.Roll, 0);
Quaternion pitch = Quaternion.CreateFromYawPitchRoll(-rotator.Pitch, 0, 0);
Quaternion yaw = Quaternion.CreateFromYawPitchRoll(0, 0, rotator.Yaw);
return(Quaternion.Multiply(yaw, Quaternion.Multiply(pitch, roll)));
}
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 static Rotation ToRotation(rlbot.flat.Rotator rotator)
{
return(new Rotation(rotator.Yaw, rotator.Pitch, rotator.Roll));
}
