/// <summary>
/// Returns true if the ball is still where the shot anticipates it to be.
/// First finds the two closest slices in the ball prediction to shot's intercept_time
/// threshold controls the tolerance we allow the ball to be off by.
/// </summary>
public static bool ShotValid(GoslingAgent agent, IShotRoutine shot, float threshold = 45)
{
var slices = agent.GetBallPrediction().Slices;
int soonest = 0;
int latest = slices.Length - 1;
// Porting note: the original code reads `while len(slices[soonest:latest+1]) > 2`. This seems to be a
// contrived and less efficient way of just checking `while latest + 1 - soonest > 2`.
while (latest + 1 - soonest > 2)
{
int midpoint = (soonest + latest) / 2;
if (slices[midpoint].GameSeconds > shot.InterceptTime)
{
latest = midpoint;
}
else
{
soonest = midpoint;
}
}
// Preparing to interpolate between the selected slices
var dt = slices[latest].GameSeconds - slices[soonest].GameSeconds;
var timeFromSoonest = shot.InterceptTime - slices[soonest].GameSeconds;
var slopes = (slices[latest].Physics.Location - slices[soonest].Physics.Location) * (1 / dt);
// Determining exactly where the ball will be at the given shot's intercept_time
var predictedBallLocation = slices[soonest].Physics.Location + (slopes * timeFromSoonest);
// Comparing predicted location with where the shot expects the ball to be
return((shot.BallLocation - predictedBallLocation).Length() < threshold);
}
public static float DefaultThrottle(GoslingAgent agent, float targetSpeed, float direction = 1)
{
var carSpeed = agent.Me.Local(agent.Me.Velocity).X;
var t = targetSpeed * direction - carSpeed;
agent.Controller.Throttle = Cap((float)Math.Pow(t, 2) * Sign(t) / 1000, -1, 1);
agent.Controller.Boost = t > 150 && carSpeed < 2275 && agent.Controller.Throttle == 1;
return(carSpeed);
}
/// <summary>
/// Points the car towards a given local target.
/// Direction can be changed to allow the car to steer towards a target while driving backwards.
/// </summary>
public static (float, float, float) DefaultPd(GoslingAgent agent, Vector3 localTarget, float direction = 1)
{
localTarget *= direction;
var up = agent.Me.Local(Vector3.UnitZ);
(float, float, float)targetAngles = (
(float)Math.Atan2(localTarget.Z, localTarget.X), // angle required to pitch towards target
(float)Math.Atan2(localTarget.Y, localTarget.X), // angle required to yaw towards target
(float)Math.Atan2(up.Y, up.Z) // angle required to roll upright
);
// Once we have the angles we need to rotate, we feed them into PD loops to determine the controller inputs.
agent.Controller.Steer = SteerPd(targetAngles.Item2, 0) * direction;
agent.Controller.Pitch = SteerPd(targetAngles.Item1, agent.Me.AngularVelocity.Y / 4);
agent.Controller.Yaw = SteerPd(targetAngles.Item2, -agent.Me.AngularVelocity.Z / 4);
agent.Controller.Roll = SteerPd(targetAngles.Item3, agent.Me.AngularVelocity.X / 2);
// Returns the angles, which can be useful for other purposes
return(targetAngles);
}
/// <summary>
/// FindHits takes a dict of (left, right) target pairs and finds routines that could hit the ball between those
/// target pairs.<br/>
/// FindHits is only meant for routines that require a defined intercept time/place in the future.<br/>
/// FindHits should not be called more than once in a given tick, as it has the potential to use an entire tick
/// to calculate.<br/>
/// </summary>
/// <remarks>
/// Porting note: The above note that this method shouldn't be called frequently probably does not apply to C#
/// as it's much faster than Python.
/// </remarks>
/// <example>
/// Example usage:
/// <code>
/// var targets = new Dictionary<string, (Vector3, Vector3)>
/// {
/// {"goal", (opponentLeftPost, opponentRightPost)},
/// {"anywhereButMyNet", (myRightPost, myLeftPost)}
/// }
/// var hits = FindHits(agent, targets);
/// hits == Dictionary<string, List<IRoutine>>
/// {
/// { "goal", List<IRoutine> { a ton of jump and aerial routines, in order from soonest to latest } },
/// { "anywhereButMyNet", List<IRoutine> { more routines and stuff } }
/// }
/// </code>
/// </example>
public static Dictionary <string, List <IRoutine> > FindHits(
GoslingAgent agent,
Dictionary <string, (Vector3, Vector3)> targets
