Set gravity for ball prediction (#105)

* Set gravity for ball prediction

* Run formatter

* Update ball pred test

* Actually set gravity

* Update build.yml to run tests

* Fix test

* Directly set WorldGravityZ

Author: VirxEC

.github/workflows/build.yml

@@ -19,6 +19,9 @@ jobs:
       with:
         submodules: 'recursive'
 
+    - name: Test
+      run: dotnet test
+
     - name: Build 
       run: dotnet publish -r win-x64
 
@@ -37,6 +40,9 @@ jobs:
       with:
         submodules: 'recursive'
 
+    - name: Test
+      run: dotnet test
+
     - name: Build 
       run: dotnet publish -r linux-x64
 

RLBotCS/Main.cs

@@ -8,7 +8,7 @@
 
 if (args.Length > 0 && args[0] == "--version")
 {
-    Console.WriteLine("RLBotServer v5.beta.6.3");
+    Console.WriteLine("RLBotServer v5.beta.6.4");
     Environment.Exit(0);
 }
 

RLBotCS/ManagerTools/BallPredictor.cs

@@ -56,6 +56,9 @@ public static partial class BallPredictor
     [LibraryImport("rl_ball_sym", EntryPoint = "set_heatseeker_target")]
     private static partial void SetHeatseekerTarget(byte blueGoal);
 
+    [LibraryImport("rl_ball_sym", EntryPoint = "set_gravity")]
+    private static partial void SetGravity(float gravityZ);
+
     [LibraryImport("rl_ball_sym", EntryPoint = "step")]
     private static unsafe partial BallSlice* Step(BallSlice ball, ushort ticks);
 
@@ -122,7 +125,8 @@ public static PredictionMode UpdateMode(MatchConfigurationT matchConfig)
     public static BallPredictionT Generate(
         float currentTime,
         BallInfoT currentBall,
-        (TouchT, uint)? lastTouch
+        (TouchT, uint)? lastTouch,
+        float gravityZ
     )
     {
         BallSlice ball = new()
@@ -165,6 +169,8 @@ public static BallPredictionT Generate(
             }
         }
 
+        SetGravity(gravityZ);
+
         unsafe
         {
             var ballSlices = Step(ball, numSlices);

RLBotCS/ManagerTools/ConfigValidator.cs

@@ -43,7 +43,7 @@ public static bool Validate(MatchConfigurationT config)
                 config.LauncherArg = "";
             }
         }
-        
+
         config.Mutators ??= new();
         config.PlayerConfigurations ??= new();
         config.ScriptConfigurations ??= new();
@@ -139,7 +139,7 @@ List<PlayerConfigurationT> players
                     // Fallback if above fails or user didn't include paints
                     player.Loadout ??= new();
                     player.Loadout.LoadoutPaint ??= new();
-                    
+
                     player.RunCommand = "";
                     player.RootDir = "";
 
@@ -161,7 +161,10 @@ List<PlayerConfigurationT> players
                     break;
             }
 
-            player.SpawnId = player.Variety.Type == PlayerClass.Human ? 0 : $"{player.AgentId}/{player.Team}/{i}".GetHashCode();
+            player.SpawnId =
+                player.Variety.Type == PlayerClass.Human
+                    ? 0
+                    : $"{player.AgentId}/{player.Team}/{i}".GetHashCode();
         }
 
         if (humanCount > 1)

RLBotCS/ManagerTools/MatchStarter.cs

@@ -305,7 +305,7 @@ private void LoadMatch(MatchConfigurationT matchConfig, PlayerSpawner spawner)
                     {
                         spawner.DespawnPlayers(toDespawnIds);
                     }
-                    
+
                     // We can flush C&S despawn commands immediately
                     spawner.Flush();
                 }
@@ -451,7 +451,7 @@ private bool SpawnCars(
         {
             spawner.Flush();
         }
-        
+
         return true;
     }
 

RLBotCS/ManagerTools/PlayerSpawner.cs

@@ -54,14 +54,17 @@ public void SpawnHuman(PlayerConfigurationT config, uint desiredIndex)
             .FirstOrDefault(kp => config.SpawnId == kp.SpawnId);
         if (alreadySpawnedPlayer != null)
         {
-            _gameState.PlayerMapping.QueueIndexChange(alreadySpawnedPlayer.PlayerIndex, desiredIndex);
+            _gameState.PlayerMapping.QueueIndexChange(
+                alreadySpawnedPlayer.PlayerIndex,
+                desiredIndex
+            );
             return;
         }
 
         _gameState.PlayerMapping.AddPendingSpawn(
             new SpawnTracker
             {
-                CommandId = 0, // Human spawning must use command id 0 for reasons in bridge 
+                CommandId = 0, // Human spawning must use command id 0 for reasons in bridge
                 SpawnId = config.SpawnId,
                 DesiredPlayerIndex = desiredIndex,
                 IsBot = false,

RLBotCS/Server/BridgeContext.cs

@@ -44,6 +44,7 @@ MatchStarter matchStarter
     public PerfMonitor PerfMonitor { get; } = new();
 
     public PlayerSpawner GetPlayerSpawner() => new(ref GameState, SpawnCommandQueue);
+
     public void UpdateTimeMutators()
     {
         var mutators = MatchConfig!.Mutators;

RLBotCS/Server/BridgeHandler.cs

@@ -137,7 +137,11 @@ private async Task HandleServer()
                         _context.PerfMonitor.ClearAll();
                 }
 
-                if (_context.MatchStarter.HasSpawnedMap && _context.GameState.MatchPhase == MatchPhase.Paused && _context.SpawnCommandQueue.Count > 0)
+                if (
+                    _context.MatchStarter.HasSpawnedMap
+                    && _context.GameState.MatchPhase == MatchPhase.Paused
+                    && _context.SpawnCommandQueue.Count > 0
+                )
                 {
                     _context.Logger.LogDebug("Sending queued spawning commands");
                     _context.SpawnCommandQueue.Flush();

RLBotCS/Server/BridgeMessage/SetGameState.cs

@@ -13,9 +13,12 @@ public void HandleMessage(BridgeContext context)
         if (GameState.MatchInfo is { } matchInfo)
         {
             if (matchInfo.WorldGravityZ is { } gravity)
+            {
                 context.MatchCommandQueue.AddConsoleCommand(
                     FlatToCommand.MakeGravityCommand(gravity.Val)
                 );
+                context.GameState.WorldGravityZ = gravity.Val;
+            }
 
             if (matchInfo.GameSpeed is { } speed)
                 context.MatchCommandQueue.AddConsoleCommand(
@@ -58,10 +61,7 @@ public void HandleMessage(BridgeContext context)
 
             if (car.BoostAmount is { } boostAmount)
             {
-                context.MatchCommandQueue.AddSetBoostCommand(
-                    (ushort)id,
-                    (int)boostAmount.Val
-                );
+                context.MatchCommandQueue.AddSetBoostCommand((ushort)id, (int)boostAmount.Val);
             }
         }
 

RLBotCS/Server/FlatBuffersServer.cs

@@ -32,7 +32,7 @@ private void AddSession(TcpClient client)
         Thread sessionThread = new(() =>
         {
             _context.Logger.LogDebug("Client {} connected", clientId);
-            
+
             FlatBuffersSession session = new(
                 client,
                 clientId,

RLBotCS/Server/FlatBuffersSession.cs

@@ -74,7 +74,7 @@ class FlatBuffersSession
 
     private readonly FlatBufferBuilder _messageBuilder = new(1 << 10);
 
-    public string ClientName => 
+    public string ClientName =>
         _agentId != ""
             ? $"client {_clientId} (index {string.Join("+", _playerIdPairs.Select(p => p.Index))}, team {_team}, aid {_agentId})"
             : $"client {_clientId} (w/o aid)";
@@ -394,7 +394,7 @@ private async Task HandleInternalMessages()
                             _messageBuilder
                         )
                     );
-                    
+
                     Logger.LogDebug("Reserved agents for {}", ClientName);
 
                     break;

RLBotCS/Server/ServerMessage/DistributeGamePacket.cs

@@ -25,7 +25,8 @@ private static void DistributeBallPrediction(ServerContext context, GamePacketT
         BallPredictionT prediction = BallPredictor.Generate(
             packet.MatchInfo.SecondsElapsed,
             firstBall,
-            lastTouch
+            lastTouch,
+            packet.MatchInfo.WorldGravityZ
         );
 
         foreach (var (writer, _) in context.Sessions.Values)

RLBotCS/lib/rl_ball_sym/librl_ball_sym.a

@@ -31,7 +31,7 @@ public void TestBallPred()
         packet.Balls[12345] = new();
         var gTP = packet.ToFlatBuffers();
 
-        BallPredictor.Generate(1, gTP.Balls[0], null);
+        BallPredictor.Generate(1, gTP.Balls[0], null, -650f);
 
         packet.Balls[12345].Physics = new Physics(
             new Vector3(0, 0, 1.1f * 91.25f),
@@ -41,7 +41,7 @@ public void TestBallPred()
         );
         var gTP2 = packet.ToFlatBuffers();
 
-        var ballPred = BallPredictor.Generate(1, gTP2.Balls[0], null);
+        var ballPred = BallPredictor.Generate(1, gTP2.Balls[0], null, -650f);
 
         int numSlices = 6 * 120;
         Assert.AreEqual(numSlices, ballPred.Slices.Count);
@@ -65,7 +65,7 @@ public void TestBallPred()
             var gTP3 = packet.ToFlatBuffers();
 
             stopWatch.Start();
-            BallPredictor.Generate(1, gTP3.Balls[0], null);
+            BallPredictor.Generate(1, gTP3.Balls[0], null, -650f);
             stopWatch.Stop();
         }
 

RLBotCS/lib/rl_ball_sym/librl_ball_sym.so

@@ -51,7 +51,7 @@ public void TestSpawnProcess()
         Assert.AreEqual(0u, _playerMapping.PlayerIndexFromActorId(111));
         Assert.IsNotNull(index);
         Assert.AreEqual(0u, index);
-        Assert.IsNull(metadata2.SpawnId);
+        Assert.AreEqual(0, metadata2.SpawnId);
         Assert.AreEqual(desiredIndex, _playerMapping.PlayerIndexFromActorId(actorId));
         Assert.IsTrue(!metadata2.IsBot);
         Assert.IsTrue(!metadata2.IsCustomBot);