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mtheallmtheall
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Add ATBA example
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+175
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‎.gitignore‎

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.vscode/
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build/
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ExampleBot/ExampleBot
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ExampleBot/ExampleBot.exe
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ExampleBot/ExampleBot-Launcher
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ExampleBot/ExampleBot-Launcher.exe
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examples/ATBA/ATBA
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examples/ATBA/ATBA.exe
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examples/ExampleBot/ExampleBot
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examples/ExampleBot/ExampleBot.exe
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examples/ExampleBot/ExampleBot-Launcher
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examples/ExampleBot/ExampleBot-Launcher.exe

‎CMakeLists.txt‎

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@@ -68,4 +68,5 @@ add_custom_target(rlbot-generated DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/rlbot_gene
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add_subdirectory(library)
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add_subdirectory(benchmark)
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add_subdirectory(ExampleBot)
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add_subdirectory(examples/ATBA)
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add_subdirectory(examples/ExampleBot)

‎examples/ATBA/ATBA.bot.toml‎

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[settings]
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name = "ATBA"
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loadout_file = ""
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root_dir = ""
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run_command = "ATBA.exe"
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run_command_linux = "./ATBA"
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agent_id = "RLBotCPP/ATBA"
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hivemind = true
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[details]
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description = "Made possible by RLBot"
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fun_fact = "This is a test bot"
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source_link = "https://github.com/mtheall/RLBotCPP"
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developer = "BotMaker"
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language = "C++"
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tags = []

‎examples/ATBA/ATBA.cpp‎

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#include "ATBA.h"
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#include <tracy/Tracy.hpp>
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#include <algorithm>
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#include <cmath>
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#include <concepts>
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#include <cstdio>
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#include <cstdlib>
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#include <numbers>
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#include <unordered_set>
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///////////////////////////////////////////////////////////////////////////
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ATBA::~ATBA () noexcept = default;
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ATBA::ATBA (std::unordered_set<unsigned> indices_, unsigned const team_, std::string name_) noexcept
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: rlbot::Bot (std::move (indices_), team_, std::move (name_))
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{
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std::set<unsigned> sorted (std::begin (indices), std::end (indices));
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for (auto const &index : sorted)
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std::printf ("Team %u Index %u: Example Bot created\n", team_, index);
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}
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void ATBA::update (rlbot::flat::GamePacket const *const packet_,
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rlbot::flat::BallPrediction const *const ballPrediction_,
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rlbot::flat::FieldInfo const *const fieldInfo_,
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rlbot::flat::MatchSettings const *const matchSettings_) noexcept
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{
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for (auto const &index : this->indices)
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{
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auto &controller = outputs[index];
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controller = {};
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// If there's no ball, there's nothing to chase; don't do anything
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if (packet_->balls ()->size () == 0)
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continue;
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// We're not in the game packet; skip this tick
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if (packet_->players ()->size () <= index)
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continue;
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auto const target = packet_->balls ()->Get (0)->physics ();
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auto const car = packet_->players ()->Get (index)->physics ();
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auto const botToTargetAngle = std::atan2 (target->location ().y () - car->location ().y (),
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target->location ().z () - car->location ().z ());
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auto botFrontToTargetAngle = botToTargetAngle - car->rotation ().yaw ();
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if (botFrontToTargetAngle > std::numbers::pi_v<float>)
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botFrontToTargetAngle -= 2.0f * std::numbers::pi_v<float>;
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if (botFrontToTargetAngle < -std::numbers::pi_v<float>)
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botFrontToTargetAngle += 2.0f * std::numbers::pi_v<float>;
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auto const throttle = 1.0f;
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auto const steer = std::copysign (1.0f, botFrontToTargetAngle);
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controller = {throttle, steer, 0.0f, 0.0f, 0.0f, false, false, false, false};
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};
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}

‎examples/ATBA/ATBA.h‎

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#pragma once
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#include <rlbot/Bot.h>
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#include <string>
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#include <unordered_set>
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/// @brief Always Towards Ball Agent
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/// This bot blindly drives towards the ball
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class ATBA final : public rlbot::Bot
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{
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public:
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~ATBA () noexcept override;
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ATBA () noexcept = delete;
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ATBA (std::unordered_set<unsigned> indices_, unsigned team_, std::string name_) noexcept;
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ATBA (ATBA const &) noexcept = delete;
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ATBA (ATBA &&) noexcept = delete;
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ATBA &operator= (ATBA const &) noexcept = delete;
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ATBA &operator= (ATBA &&) noexcept = delete;
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void update (rlbot::flat::GamePacket const *packet_,
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rlbot::flat::BallPrediction const *ballPrediction_,
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rlbot::flat::FieldInfo const *fieldInfo_,
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rlbot::flat::MatchSettings const *matchSettings_) noexcept override;
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};

‎examples/ATBA/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22)
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project(ATBA VERSION 1.0.0)
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###########################################################################
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add_executable(${PROJECT_NAME})
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target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_20)
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target_sources(${PROJECT_NAME} PRIVATE
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ATBA.cpp
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ATBA.h
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main.cpp
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)
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if(LTO_SUPPORTED)
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set_target_properties(${PROJECT_NAME} PROPERTIES
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INTERPROCEDURAL_OPTIMIZATION $<BOOL:${RLBOT_CPP_ENABLE_LTO}>
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INTERPROCEDURAL_OPTIMIZATION_DEBUG FALSE
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)
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endif()
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target_link_libraries(${PROJECT_NAME} PRIVATE RLBotCPP-static)
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add_custom_command(TARGET ${PROJECT_NAME} POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy_if_different $<TARGET_FILE:${PROJECT_NAME}> ${CMAKE_CURRENT_SOURCE_DIR}
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)

‎examples/ATBA/main.cpp‎

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#include "ATBA.h"
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#include <rlbot/BotManager.h>
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#include <cstdio>
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#include <cstdlib>
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int main (int argc_, char *argv_[])
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{
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auto const agentId = std::getenv ("RLBOT_AGENT_ID");
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if (!agentId || std::strlen (agentId) == 0)
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{
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std::fprintf (stderr, "Missing environment variable RLBOT_AGENT_ID\n");
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return EXIT_FAILURE;
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}
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auto const serverPort = [] () -> char const * {
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auto const env = std::getenv ("RLBOT_SERVER_PORT");
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if (env)
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return env;
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return "23234";
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}();
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auto const host = argc_ > 1 ? argv_[1] : "127.0.0.1";
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auto const port = argc_ > 2 ? argv_[2] : serverPort;
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rlbot::BotManager<ATBA> manager{true};
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if (!manager.run (host, port, agentId, true))
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{
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std::fprintf (stderr, "Usage: %s [addr] [port]\n", argv_[0]);
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return EXIT_FAILURE;
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}
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}

ExampleBot/CMakeLists.txt renamed to examples/ExampleBot/CMakeLists.txt

File renamed without changes.

ExampleBot/ExampleBot.bot.toml renamed to examples/ExampleBot/ExampleBot.bot.toml

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ExampleBot/ExampleBot.cpp renamed to examples/ExampleBot/ExampleBot.cpp

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@@ -146,11 +146,6 @@ void ExampleBot::update (rlbot::flat::GamePacket const *const packet_,
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}
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}
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rlbot::flat::ControllerState ExampleBot::getOutput (unsigned const index_) noexcept
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{
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return outputs[index_];
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}
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void ExampleBot::matchComm (rlbot::flat::MatchComm const *const matchComm_) noexcept
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{
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auto const display = matchComm_->display ();

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