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Provides basic Clojure bot loop for chasing the ball
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‎.gitignore

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# https://github.com/takari/maven-wrapper#usage-without-binary-jar
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.mvn/wrapper/maven-wrapper.jar
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##
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## Clojure
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##
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.nrepl-port
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##
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## Bot Project
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##

‎src/main/clojure/net/lambeaux/bots/control.clj

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(ns net.lambeaux.bots.control
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(:import (rlbot ControllerState Bot)))
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(defn create-controller-state
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"Creates a controller state from the raw data."
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[steer throttle pitch yaw roll jump? boost? handbrake? use-item?]
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(reify ControllerState
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(getSteer [this] (float steer))
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(getThrottle [this] (float throttle))
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(getPitch [this] (float pitch))
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(getYaw [this] (float yaw))
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(getRoll [this] (float roll))
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(holdJump [this] jump?)
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(holdBoost [this] boost?)
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(holdHandbrake [this] handbrake?)
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(holdUseItem [this] use-item?)))
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(defn- process-packet
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(:require [clojure.pprint :as pretty])
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(:import (rlbot ControllerState Bot)
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(rlbot.flat GameTickPacket)
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(rlbot.manager BotLoopRenderer)
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(java.awt Color Point)
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(rlbot.vector Vector3)))
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;; ----------------------------------------------------------------------
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;; ### Bot state
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;;
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;; This will get reworked to be less stateful but given the nature of
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;; the program it's necessary for now.
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(def last-game-packet-capture (atom nil))
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(def last-game-map-capture (atom nil))
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(def bot-model-state (atom nil))
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;; ----------------------------------------------------------------------
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;; ### Math
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;;
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;; Building blocks of 3D vector math.
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(comment
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"Be cautious about plugging into these formulae and expecting correct answers,
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especially when programming in C or Java. Math libraries for a programming language
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can do unexpected things if you are not careful. There are three places to be
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especially cautious:
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- The argument for sin(), cos(), tan() is expected in radians.
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- The return value of atan() is in radians.
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- The argument for most math functions is expected to be a double.
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In C, if you supply a float or an int, you won't get a error message,
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just a horribly incorrect answer.
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- There are several versions of 'arc tan' in most C libraries, each for a different range of output values.")
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(defn- sum
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"Adds two vectors together."
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[v1 v2]
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[(+ (first v1) (first v2)) (+ (second v1) (second v2))])
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(defn- sub
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"Subtracts v2 from v1."
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[v1 v2]
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[(- (first v1) (first v2)) (- (second v1) (second v2))])
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(defn- mag
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"Returns the magnitude of a vector."
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[v]
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(Math/sqrt (+ (Math/pow (first v) 2) (Math/pow (second v) 2))))
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(defn- dir
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"Returns the direction of a vector in positive degrees between 0 and 360."
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[v]
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(let [rel-deg (Math/toDegrees (Math/atan2 (second v) (first v)))]
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(if (< rel-deg 0) (+ rel-deg 360) rel-deg)))
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(defn- norm
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"Returns a unit vector pointing in the same direction as the input vector."
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[v]
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(let [m (mag v)] [(/ (first v) m) (/ (second v) m)]))
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(defn- dot
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"Returns the dot product of two vectors."
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([v1 v2]
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(dot (mag v1) (mag v2) (dir v1) (dir v2)))
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([mag1 mag2 angle1 angle2]
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(dot mag1 mag2 (Math/abs ^Double (- angle1 angle2))))
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([mag1 mag2 theta]
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(* mag1 mag2 (Math/cos (Math/toRadians theta)))))
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(defn- parts
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"Returns the component vector of a magnitude and direction."
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[mag dir]
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[(* mag (Math/cos (Math/toRadians dir))) (* mag (Math/sin (Math/toRadians dir)))])
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(defn- matrix-dot
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"An implementation of dot product according to the rules of column matrices."
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[v1 v2]
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(+ (* (first v1) (first v2)) (* (second v1) (second v2))))
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(comment
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;;
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;; Basics
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(sum [1.0 1.0] [2.0 3.0])
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(sub [5.0 5.0] [3.0 4.0])
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(mag [1.0 1.0])
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(dir [1.0 1.0])
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(parts (mag [1.0 1.0]) (dir [1.0 1.0]))
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;;
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;; Unit vectors
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(norm [1.0 1.0])
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(mag (norm [1.0 1.0]))
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;;
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;; Dot product
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(dot [-2.0 -20.0] [5.0 2.0])
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(dot (mag [-2.0 -20.0]) (mag [5.0 2.0]) (dir [-2.0 -20.0]) (dir [5.0 2.0]))
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(dot (mag [-2.0 -20.0]) (mag [5.0 2.0]) (Math/abs (- (dir [-2.0 -20.0]) (dir [5.0 2.0]))))
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(matrix-dot [-2.0 -20.0] [5.0 2.0])
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;;
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;; Dot product - reverse relationship / verification
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(* 20.1 5.38 (Math/cos (Math/toRadians 117.512)))
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(Math/toDegrees
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(Math/acos
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(/ -50.0 (* (mag [-2.0 -20.0])
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(mag [5.0 2.0])))))
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;;
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;; Dot product - fix decimal precision (result should be zero)
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(dot [1.0 1.0] [-1.0 1.0])
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(dot [-1.0 1.0] [1.0 1.0])
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(float (dot [1.0 1.0] [-1.0 1.0]))
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(float (dot [-1.0 1.0] [1.0 1.0]))
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;;
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;; Issues
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(dot (mag [1.0 1.0]) (mag [-1.0 1.0]) (- (dir [1.0 1.0]) (dir [-1.0 1.0])))
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(Math/toRadians -90.0)
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(/ (Math/PI))
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(Math/cos (Math/toRadians 0))
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(Math/toRadians 45)
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;;
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;; Other
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(Math/toDegrees (Math/atan2 1.0 1.0))
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(Math/toDegrees (Math/atan 1.0)))
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;; ----------------------------------------------------------------------
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;; ### Adapters
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;;
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;; Transformers for the bot data model and some standard representations.
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(def default-input
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{:steer 0.0
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:throttle 0.0
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:pitch 0.0
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:yaw 0.0
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:roll 0.0
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:jump? false
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:boost? false
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:handbreak? false
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:item? false})
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(def default-model
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;; Won't know index or renderer until bot init but it's still part of the model
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{:player-index nil
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:renderer nil
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:game-maps (list)
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:control-maps (list default-input)})
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(defn- control-map->controller-state [controls]
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(let [{steer :steer
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throttle :throttle
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pitch :pitch
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roll :roll
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yaw :yaw
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jump? :jump?
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boost? :boost?
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handbrake? :handbreak?
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item? :item?} controls]
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(reify ControllerState
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(getSteer [this] (float steer))
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(getThrottle [this] (float throttle))
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(getPitch [this] (float pitch))
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(getRoll [this] (float roll))
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(getYaw [this] (float yaw))
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(holdJump [this] jump?)
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(holdBoost [this] boost?)
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(holdHandbrake [this] handbrake?)
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(holdUseItem [this] item?))))
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(defn- game-packet->game-map
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"Converts the Java packet object to a Clojure map. The x-axis is negated in a
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similar fashion to the example Java bot to align the quadrant system correctly."
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[^GameTickPacket packet]
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(let [ball-location (-> packet .ball .physics .location)
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ball-velocity (-> packet .ball .physics .velocity)
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ball-ang-velocity (-> packet .ball .physics .angularVelocity)
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ball-rotation (-> packet .ball .physics .rotation)
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player-location (-> packet (.players 0) .physics .location)
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player-velocity (-> packet (.players 0) .physics .velocity)
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player-ang-velocity (-> packet (.players 0) .physics .angularVelocity)
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player-rotation (-> packet (.players 0) .physics .rotation)
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expand-vector3 (fn [v3] [(* -1.0 (.x v3)) (.y v3) (.z v3)])]
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{:ball-location (expand-vector3 ball-location)
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:ball-velocity (expand-vector3 ball-velocity)
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:ball-angular-velocity (expand-vector3 ball-ang-velocity)
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:ball-rotation {:pitch (.pitch ball-rotation)
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:roll (.roll ball-rotation)
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:yaw (.yaw ball-rotation)}
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:player-location (expand-vector3 player-location)
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:player-velocity (expand-vector3 player-velocity)
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:player-angular-velocity (expand-vector3 player-ang-velocity)
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:player-rotation {:pitch (.pitch player-rotation)
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:roll (.roll player-rotation)
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:yaw (.yaw player-rotation)}}))
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(defn- game-map->string
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"Creates a data string for printing on the Rocket League UI; helps keep data
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elements from aggressively wrapping and unwrapping as they vary in size."
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[game-map]
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(->> game-map
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(map (fn [[k v]] (str k
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(System/lineSeparator)
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" "
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(print-str v)
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(System/lineSeparator))))
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(reduce str)))
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;; ----------------------------------------------------------------------
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;; ### Core
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;;
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;; Primary bot control logic.
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(comment
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(println (with-out-str (pretty/pprint {:name "steve" :pass "true"})))
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(println (game-map->string {:name "steve" :pass "true"}))
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@last-game-packet-capture
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@last-game-map-capture
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@bot-model-state)
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(defn- with-color
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([color opacity]
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(with-color (.getRed color) (.getGreen color) (.getBlue color) (* 255 opacity)))
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([r g b a]
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(Color. (int r) (int g) (int b) (int a))))
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(defn- draw-line!
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([v1 v2]
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(draw-line! Color/MAGENTA v1 v2))
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([color v1 v2]
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(let [renderer (:renderer @bot-model-state)]
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(when renderer
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(.drawLine3d renderer
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color
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;; re-adjust the x-axis when posting back to the game
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(Vector3. (float (* -1.0 (first v1))) (float (second v1)) (float 50))
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(Vector3. (float (* -1.0 (first v2))) (float (second v2)) (float 50)))))))
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(defn- draw-rect! [color x y w h filled?]
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(let [renderer (:renderer @bot-model-state)]
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(when renderer
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(.drawRectangle2d renderer color (Point. x y) w h filled?))))
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(defn- draw-string! [st color x y scale-x scale-y]
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(let [renderer (:renderer @bot-model-state)]
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(when renderer
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(.drawString2d renderer st color (Point. x y) scale-x scale-y))))
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(defn- correction-angle
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"Returns the number of radians v-in needs to be rotated by
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in order to line up with v-goal."
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[v-in v-goal]
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(let [r-in (Math/atan2 (second v-in) (first v-in))
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r-goal (Math/atan2 (second v-goal) (first v-goal))]
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(if
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(<= (Math/abs (- r-in r-goal)) Math/PI)
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(- r-goal r-in)
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(let [r-in-pos (if (< r-in 0)
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(+ r-in (* Math/PI 2))
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r-in)
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r-goal-pos (if (< r-goal 0)
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(+ r-goal (* Math/PI 2))
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r-goal)]
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(- r-goal-pos r-in-pos)))))
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(defn- nose-vector [game-map]
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(let [player-rotation (:player-rotation game-map)
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{pitch :pitch roll :roll yaw :yaw} player-rotation]
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[(* -1 (Math/cos pitch) (Math/cos yaw))
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(* (Math/cos pitch) (Math/sin yaw))
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(Math/sin pitch)]))
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(defn- drive-to-ball [game-map throttle]
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(let [{ball-location :ball-location
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player-location :player-location} game-map
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car-to-ball (sub ball-location player-location)
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car-direction (nose-vector game-map)
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correction (correction-angle car-direction car-to-ball)]
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{:control-maps (list (conj default-input
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[:throttle throttle]
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[:steer (if (> correction 0) -1.0 1.0)]))}))
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(defn- drive-forward [throttle]
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{:control-maps (list (conj default-input
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[:throttle throttle]))})
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(defn- drive-nowhere []
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{:control-maps (list default-input)})
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(defn- next-bot-model
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"This is the core update function for a Clojure bot that maps
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game packets to controller inputs frame-by-frame."
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[game-packet]
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(create-controller-state 0.0, 1.0, 0.0, 0.0, 0.0, false, false, false, false))
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game packets to controller inputs frame-by-frame. It is modeled
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as a reduce operation of (bot-state, packet) -> (bot-state) and
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lays the foundation for expressing bots as values."
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[bot-model game-map]
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;; Draw quadrants.
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(draw-line! Color/BLUE [0 0] [0 5000])
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(draw-line! Color/BLUE [0 0] [5000 0])
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(draw-line! Color/RED [0 0] [0 -5000])
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(draw-line! Color/RED [0 0] [-5000 0])
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;; Draw target and nose.
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(draw-line! Color/MAGENTA
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(:ball-location game-map)
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(:player-location game-map))
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(draw-line! Color/CYAN
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(:player-location game-map)
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(->> game-map
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nose-vector
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(repeat 150)
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(into (list (:player-location game-map)))
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(reduce sum)))
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;; Draw live game data.
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(draw-rect! (with-color Color/BLACK 0.75) 5 25 700 350 true)
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(draw-string! (game-map->string game-map) Color/WHITE 10 40 1 1)
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;; Standard processing, the value of the last function is returned.
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(drive-nowhere)
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(drive-forward 0.5)
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(drive-to-ball game-map 0.5))
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(defn create-bot
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"Creates the actual bot impl that will be ticked every frame."
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"Entry point for a Clojure bot (see BotServerImpl). Builds the bot and sets initial
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state.
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Creates the actual bot impl that will be ticked every frame. The (reify) function
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allows Clojure to return an implementation of a Java interface. Also handles some
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state management for the bot which allows the core tick function logic (next-bot-model)
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to remain stateless."
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[player-index]
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(reify Bot
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(getIndex [this] (do (println "Fetching index") player-index))
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(processInput [this packet] (process-packet packet))
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(retire [this] (println (str "Retiring sample bot " player-index)))))
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(getIndex [this] (println (str "Fetching index " player-index)) player-index)
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(retire [this] (println (str "Retiring sample bot " player-index)))
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(processInput [this packet]
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;; Define initial conditions. Done in the game loop in case of hot reload which
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;; resets namespace vars.
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(when (nil? @bot-model-state)
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(swap! bot-model-state
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(constantly (merge default-model {:player-index player-index
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:renderer (BotLoopRenderer/forBotLoop this)}))))
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;; Compute some values we need to reuse.
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(let [game-map (game-packet->game-map packet)
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bot-model (next-bot-model @bot-model-state game-map)]
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;; Record the game packet / map on every hot reload (side-effect).
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(if (nil? @last-game-packet-capture) (swap! last-game-packet-capture (constantly packet)))
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(if (nil? @last-game-map-capture) (swap! last-game-map-capture (constantly game-map)))
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;; Record the new bot model for next time (side-effect).
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(swap! bot-model-state
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(constantly (merge default-model bot-model {:player-index player-index
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:renderer (BotLoopRenderer/forBotLoop this)})))
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;; Return the latest controller state.
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(-> bot-model
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:control-maps
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first
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control-map->controller-state)))))

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