Adding Hoops support to RLViserRenderer and RocketSimEngine

rlgym/rocket_league/common_values.py

@@ -48,6 +48,7 @@
 BLUE_FIELD_BOTTOM_RIGHT = (SIDE_WALL_X, -BACK_WALL_Y, 0)
 
 GOAL_THRESHOLD = 5215.5  # uu, magnitude of y position required for ball to be inside goal
+GOAL_THRESHOLD_Z_HOOPS = 270 # uu, magnitude of z position for ball to be inside net to count as a goal
 
 # Time
 TICKS_PER_SECOND = 120
@@ -131,3 +132,26 @@
     (1792.0, 4184.0, 70.0),
     (0.0, 4240.0, 70.0),
 )
+
+BOOST_LOCATIONS_HOOPS = (
+    (1536.0, -1024.0, 64.0),
+    (-1280.0, -2304.0, 64.0),
+    (0.0, -2816.0, 64.0),
+    (-1536.0, -1024.0, 64.0),
+    (1280.0, -2304.0, 64.0),
+    (-512.0, 512.0, 64.0),
+    (-1536.0, 1024.0, 64.0),
+    (1536.0, 1024.0, 64.0),
+    (1280.0, 2304.0, 64.0),
+    (0.0, 2816.0, 64.0),
+    (512.0, 512.0, 64.0),
+    (512.0, -512.0, 64.0),
+    (-512.0, -512.0, 64.0),
+    (-1280.0, 2304.0, 64.0),
+    (-2176.0, 2944.0, 72.0),
+    (2176.0, -2944.0, 72.0),
+    (-2176.0, -2944.0, 72.0),
+    (-2432.0, 0.0, 72.0),
+    (2432.0, 0.0, 72.0),
+    (2175.99, 2944.0, 72.0),
+)

rlgym/rocket_league/rlviser/rlviser_renderer.py

@@ -5,18 +5,24 @@
 
 from rlgym.api import Renderer
 from rlgym.rocket_league.api import Car, GameState
-from rlgym.rocket_league.common_values import BOOST_LOCATIONS
+from rlgym.rocket_league.common_values import BOOST_LOCATIONS, BOOST_LOCATIONS_HOOPS
 
 
 class RLViserRenderer(Renderer[GameState]):
     """
     A renderer that uses RLViser to render the game state.
     """
 
-    def __init__(self, tick_rate=120/8):
-        rlviser.set_boost_pad_locations(BOOST_LOCATIONS)
+    def __init__(self, tick_rate=120/8, game_mode: rsim.GameMode = rsim.GameMode.SOCCAR):
+        if game_mode == rsim.GameMode.SOCCAR:
+            rlviser.set_boost_pad_locations(BOOST_LOCATIONS)
+        elif game_mode == rsim.GameMode.HOOPS:
+            rlviser.set_boost_pad_locations(BOOST_LOCATIONS_HOOPS)
+        else:
+            raise ValueError("Unknown game mode")
         self.tick_rate = tick_rate
         self.packet_id = 0
+        self.game_mode = game_mode
 
     def render(self, state: GameState, shared_info: Dict[str, Any]) -> Any:
         boost_pad_states = [bool(timer == 0) for timer in state.boost_pad_timers]
@@ -33,7 +39,7 @@ def render(self, state: GameState, shared_info: Dict[str, Any]) -> Any:
             car_data.append((idx + 1, car.team_num, rsim.CarConfig(car.hitbox_type), car_state))
 
         self.packet_id += 1
-        rlviser.render(tick_count=self.packet_id, tick_rate=self.tick_rate, game_mode=rsim.GameMode.SOCCAR,
+        rlviser.render(tick_count=self.packet_id, tick_rate=self.tick_rate, game_mode=self.game_mode,
                        boost_pad_states=boost_pad_states, ball=ball, cars=car_data)
 
     def close(self):

rlgym/rocket_league/sim/rocketsim_engine.py

@@ -5,7 +5,7 @@
 import numpy as np
 from rlgym.api import TransitionEngine, AgentID
 from rlgym.rocket_league.api import Car, GameConfig, GameState, PhysicsObject
-from rlgym.rocket_league.common_values import BOOST_CONSUMPTION_RATE, GRAVITY, GOAL_THRESHOLD
+from rlgym.rocket_league.common_values import BOOST_CONSUMPTION_RATE, GRAVITY, GOAL_THRESHOLD, GOAL_THRESHOLD_Z_HOOPS
 
 
 class RocketSimEngine(TransitionEngine[AgentID, GameState, np.ndarray]):
@@ -40,6 +40,13 @@ def __init__(self, rlbot_delay=True, game_mode: rsim.GameMode = rsim.GameMode.SO
         self._touches: Dict[int, int] = {}
         self._arena = rsim.Arena(game_mode)
         self._arena.set_ball_touch_callback(self._ball_touch_callback)
+        self._game_mode = game_mode
+        if game_mode == rsim.GameMode.SOCCAR:
+            self._GOAL_THRESHOLD = GOAL_THRESHOLD
+        elif game_mode == rsim.GameMode.HOOPS:
+            self._GOAL_THRESHOLD = GOAL_THRESHOLD_Z_HOOPS
+        else:
+            raise ValueError("Unknown game mode")
 
     @property
     def agents(self) -> List[AgentID]:
@@ -149,6 +156,28 @@ def set_state(self, desired_state: GameState, shared_info: Dict[str, Any]) -> Ga
 
         return self._get_state()
 
+    def _get_goal_scored(self, ball_position) -> bool:
+        if self._game_mode == rsim.GameMode.HOOPS:
+            # TODO check a simple box around the hoop before more expensive calcs
+            #   should save a bit of time since ball_z <270 happens really often
+            if ball_position[2] < self._GOAL_THRESHOLD:
+                # Then check if ball is within the hoop's XY circular area
+                SCALE_Y = 0.9
+                OFFSET_Y = 2770.0
+                RADIUS_SQ = 512656 # is 716 * 716 in original code in RocketSim, but hard coded the result
+
+                x = ball_position[0]
+                y = ball_position[1]
+
+                dy = abs(y) * SCALE_Y - OFFSET_Y
+                dist_sq = x * x + dy * dy
+
+                # Ball is in hoop if distance is less than radius
+                return dist_sq < RADIUS_SQ
+            return False
+        else:
+            return abs(ball_position[1]) > self._GOAL_THRESHOLD
+
     def _get_state(self) -> GameState:
         gs = GameState()
         gs.tick_count = self._tick_count
@@ -161,8 +190,7 @@ def _get_state(self) -> GameState:
         gs.ball.angular_velocity = ball_state.ang_vel.as_numpy()
         gs.ball.rotation_mtx = np.ascontiguousarray(ball_state.rot_mat.as_numpy().reshape(3, 3).transpose())
 
-        # Only works for soccar
-        gs.goal_scored = abs(gs.ball.position[1]) > GOAL_THRESHOLD
+        gs.goal_scored = self._get_goal_scored(gs.ball.position)
 
         gs.cars = {}
         for agent_id, rsim_car in self._cars.items():