from rlbot.agents.base_agent import BaseAgent, SimpleControllerState

from rlbot.utils.structures.game_data_struct import GameTickPacket

import math

import time

def distance(x1, y1, x2, y2):

return math.sqrt((x2 - x1)**2+(y2-y1)**2)

class TutorialBot(BaseAgent):

def __init__(self, name, team, index):

super().__init__(name, team, index)

self.controller = SimpleControllerState

# Constants

self.DODGE_TIME = 0.2

self.DISTANCE_TO_DODGE = 500

# Game values

self.bot_pos = None

self.bot_yaw = None

# Dodging

self.should_dodge = False

self.on_second_jump = False

self.next_dodge_time = 0

def aim(self, target_x, target_y):

angle_between_bot_and_target = math.atan2(target_y - self.bot_pos.y,

target_x - self.bot_pos.x)

angle_front_to_target = angle_between_bot_and_target - self.bot_yaw

# Correct the values

if angle_front_to_target < -math.pi:

angle_front_to_target += 2 * math.pi

if angle_front_to_target > math.pi:

angle_front_to_target -= 2 * math.pi

if angle_front_to_target < math.radians(-10):

# If the target is more than 10 degrees right from the centre, steer left

self.controller.steer = -1

elif angle_front_to_target > math.radians(10):

# If the target is more than 10 degrees left from the centre, steer right

self.controller.steer = 1

else:

# If the target is less than 10 degrees from the centre, steer straight

self.controller.steer = 0

def dodge(self):

if self.should_dodge and time.time() > self.next_dodge_time:

self.controller.jump = True

self.controller.pitch = -1

if self.on_second_jump:

self.on_second_jump = False

self.should_dodge = False

else:

self.on_second_jump = True

self.next_dodge_time = time.time() + self.DODGE_TIME

def get_output(self, packet: GameTickPacket) -> SimpleControllerState:

# Update game data variables

self.bot_yaw = packet.game_cars[self.index].physics.rotation.yaw

self.bot_pos = packet.game_cars[self.index].physics.location

ball_pos = packet.game_ball.physics.location

self.aim(ball_pos.x, ball_pos.y)

self.controller.jump = 0