feat(*): Add default bot code

2026-07-13 03:03:43 +00:00 · 2023-09-25 20:37:02 +01:00
parent a5ac72216b
commit d12d42f114
11 changed files with 448 additions and 0 deletions
@@ -0,0 +1,83 @@
+import math
+import numpy as np
+from typing import Any, List
+from rlgym_compat import common_values
+from rlgym_compat import PlayerData, GameState, PhysicsObject
+
+
+class AdvancedObs:
+    POS_STD = 2300
+    ANG_STD = math.pi
+
+    def __init__(self):
+        super().__init__()
+
+    def reset(self, initial_state: GameState):
+        pass
+
+    def build_obs(self, player: PlayerData, state: GameState, previous_action: np.ndarray) -> Any:
+
+        if player.team_num == common_values.ORANGE_TEAM:
+            inverted = True
+            ball = state.inverted_ball
+            pads = state.inverted_boost_pads
+        else:
+            inverted = False
+            ball = state.ball
+            pads = state.boost_pads
+
+        obs = [ball.position / self.POS_STD,
+               ball.linear_velocity / self.POS_STD,
+               ball.angular_velocity / self.ANG_STD,
+               previous_action,
+               pads]
+
+        player_car = self._add_player_to_obs(obs, player, ball, inverted)
+
+        allies = []
+        enemies = []
+
+        for other in state.players:
+            if other.car_id == player.car_id:
+                continue
+
+            if other.team_num == player.team_num:
+                team_obs = allies
+            else:
+                team_obs = enemies
+
+            other_car = self._add_player_to_obs(team_obs, other, ball, inverted)
+
+            # Extra info
+            team_obs.extend([
+                (other_car.position - player_car.position) / self.POS_STD,
+                (other_car.linear_velocity - player_car.linear_velocity) / self.POS_STD
+            ])
+
+        obs.extend(allies)
+        obs.extend(enemies)
+        return np.concatenate(obs)
+
+    def _add_player_to_obs(self, obs: List, player: PlayerData, ball: PhysicsObject, inverted: bool):
+        if inverted:
+            player_car = player.inverted_car_data
+        else:
+            player_car = player.car_data
+
+        rel_pos = ball.position - player_car.position
+        rel_vel = ball.linear_velocity - player_car.linear_velocity
+
+        obs.extend([
+            rel_pos / self.POS_STD,
+            rel_vel / self.POS_STD,
+            player_car.position / self.POS_STD,
+            player_car.forward(),
+            player_car.up(),
+            player_car.linear_velocity / self.POS_STD,
+            player_car.angular_velocity / self.ANG_STD,
+            [player.boost_amount,
+             int(player.on_ground),
+             int(player.has_flip),
+             int(player.is_demoed)]])
+
+        return player_car