Refactoring the goal detector a bit.

tarehart · tarehart · commit 7b92424411ce · 2020-02-12T22:44:03.000-08:00
diff --git a/src/bot.py b/src/bot.py
@@ -5,10 +5,11 @@
 from rlbot.utils.structures.game_data_struct import GameTickPacket
 from rlbot.utils.structures.quick_chats import QuickChats
 
+from util.goal_detector import find_future_goal
 from util.orientation import Orientation
+from util.sequence import Sequence, ControlStep
 from util.spikes import SpikeWatcher
 from util.vec import Vec3
-from util.sequence import Sequence, ControlStep
 
 
 class MyBot(BaseAgent):
@@ -25,13 +26,13 @@ def get_output(self, packet: GameTickPacket) -> SimpleControllerState:
             return self.active_sequence.tick(packet)
 
         self.spike_watcher.read_packet(packet)
-
         ball_prediction = self.get_ball_prediction_struct()
+
+        # Example of predicting a goal event
         predicted_goal = find_future_goal(ball_prediction)
         goal_text = "No Goal Threats"
-
         if predicted_goal:
-            goal_text = f"Goal in {'%.4s' % str(predicted_goal[1]-packet.game_info.seconds_elapsed)}s"
+            goal_text = f"Goal in {predicted_goal.time - packet.game_info.seconds_elapsed:.2f}s"
 
         ball_location = Vec3(packet.game_ball.physics.location)
         my_car = packet.game_cars[self.index]
@@ -101,13 +102,3 @@ def draw_debug(renderer, text_lines: List[str]):
         renderer.draw_string_2d(50, y, 1, 1, line, renderer.yellow())
         y += 20
     renderer.end_rendering()
-
-
-def find_future_goal(ball_predictions):
-    for i in range(0, ball_predictions.num_slices):
-        # field length(5120) + ball radius(93) = 5213 however that results in false positives
-        if abs(ball_predictions.slices[i].physics.location.y) >= 5235:
-            # returns the position the ball crosses the goal as well as the time it's predicted to occur
-            return [Vec3(ball_predictions.slices[i].physics.location), ball_predictions.slices[i].game_seconds]
-
-    return None
diff --git a/src/util/goal_detector.py b/src/util/goal_detector.py
@@ -0,0 +1,29 @@
+from dataclasses import dataclass
+
+from util.vec import Vec3
+
+# field length(5120) + ball radius(93) = 5213 however that results in false positives
+GOAL_THRESHOLD = 5235
+
+# We will jump this number of frames when looking for a moment where the ball is inside the goal.
+# Big number for efficiency, but not so big that the ball could go in and then back out during that
+# time span. Unit is the number of frames in the ball prediction, and the prediction is at 60 frames per second.
+COARSE_SEARCH_INCREMENT = 20
+
+
+@dataclass
+class FutureGoal:
+    location: Vec3
+    velocity: Vec3
+    time: float
+
+
+def find_future_goal(ball_predictions):
+    for coarse_index in range(0, ball_predictions.num_slices, COARSE_SEARCH_INCREMENT):
+        if abs(ball_predictions.slices[coarse_index].physics.location.y) >= GOAL_THRESHOLD:
+            for j in range(max(0, coarse_index - COARSE_SEARCH_INCREMENT), coarse_index):
+                slice = ball_predictions.slices[j]
+                if abs(slice.physics.location.y) >= GOAL_THRESHOLD:
+                    # returns the position the ball crosses the goal as well as the time it's predicted to occur
+                    return FutureGoal(Vec3(slice.physics.location), Vec3(slice.physics.velocity), slice.game_seconds)
+    return None
diff --git a/src/util/spikes.py b/src/util/spikes.py
@@ -17,7 +17,7 @@ def read_packet(self, packet: GameTickPacket):
             car = packet.game_cars[i]
             car_location = Vec3(car.physics.location)
             distance = car_location.dist(ball_location)
-            if distance < 190:
+            if distance < 195:
                 if distance < closest_distance:
                     closest_candidate = car
                     closest_distance = distance
