import math from rlbot.agents.base_agent import BaseAgent, SimpleControllerState from rlbot.utils.structures.game_data_struct_autocomplete import GameTickPacket from util.orientation import Orientation from util.vec import Vec3 class MyBot(BaseAgent): def initialize_agent(self): # This runs once before the bot starts up self.controller_state = SimpleControllerState() def get_output(self, packet: GameTickPacket) -> SimpleControllerState: ball_location = Vec3(packet.game_ball.physics.location) my_car = packet.game_cars[self.index] car_location = Vec3(my_car.physics.location) car_to_ball = ball_location - car_location # Find the direction of our car using the Orientation class car_orientation = Orientation(my_car.physics.rotation) car_direction = car_orientation.forward steer_correction_radians = find_correction(car_direction, car_to_ball) if steer_correction_radians > 0: # Positive radians in the unit circle is a turn to the left. turn = -1.0 # Negative value for a turn to the left. action_display = "turn left" else: turn = 1.0 action_display = "turn right" self.controller_state.throttle = 1.0 self.controller_state.steer = turn draw_debug(self.renderer, my_car, packet.game_ball, action_display) return self.controller_state def find_correction(current: Vec3, ideal: Vec3) -> float: # Finds the angle from current to ideal vector in the xy-plane. Angle will be between -pi and +pi. # The in-game axes are left handed, so use -x current_in_radians = math.atan2(current.y, -current.x) ideal_in_radians = math.atan2(ideal.y, -ideal.x) diff = ideal_in_radians - current_in_radians # Make sure that diff is between -pi and +pi. if abs(diff) > math.pi: if diff < 0: diff += 2 * math.pi else: diff -= 2 * math.pi return diff def draw_debug(renderer, car, ball, action_display): renderer.begin_rendering() # draw a line from the car to the ball renderer.draw_line_3d(car.physics.location, ball.physics.location, renderer.white()) # print the action that the bot is taking renderer.draw_string_3d(car.physics.location, 2, 2, action_display, renderer.white()) renderer.end_rendering()