Robots

Tutorial (PyRa2 Files)

This was originally created by mjpieters (see PyRA2 on Sourceforge) but was edited with notes from Firebeetle (as indicated by the bold text).

Robot Arena 2 bot file format.

This document describes the contents of a Robot Arena 2 bot save file. The
format described is based on examination of files included with RA2, and of
export files created with RA2. The format should be correct for file format
versions 1.07 and 1.12. Note files saved form RA 1.07 don't include several
sections, parsers should take this into account when reading.

File consists of newline (0xA0 0x0A) seperated data entries, with some binary data
for the images inserted.

- Data types:

<int>     Integer value
<float>   Floating point
<bool>    either 'true; or 'false'
<str>     ASCII string
'Text'    String literal
<binary>  Binary data of fixed length. Read full length, then continue reading
          by line; a binary field is nut terminated with a newline.

In this specification, an entry starting with a '+' is a line description.
Entries starting with '*' are optional lines, only present when a certain
condition is met. If a '~' is appended, the entry consists of 1 or more lines
(0 or more for optional entries). For clarity, some optional sections have been
indented under their condition line, and their lines are marked with '+'; often
because they contain conditional lines themselves.

Line descriptions consist of a line specification, followed by a ; and a
description.

 

 

- File layout:

  Every bot file contains the following sections, all described below. These
  sections are not explicetly delimited, sections start directly following
  the last datum of the preceding section.

  - Header
  - Components
  - 3D model of bot with buckling points
  - Forward heading
  - Controllers
  - Controller-Component Bindings
 
  - Header:

    + <str>; Botfile export version number, formated as major.minor
    + 'Name:' <str>; Name of bot
    + 'Class:' <int>; Weight class (0: light, 1: medium, 2: heavy, 19658784: none)

For real, it makes your weight class say "None".


    + <int>; wether or not to apply a default texture when choosing armour
             (0/1 instead of a boolean..) *WARNING* Not present in 1.07!
    + <bool>; snapshot present.
    * <binary>; Uncompressed Targa32 format snapshot, 128x128 (if previous
                line is 'true'). Length: 18 + 4 * 128 * 128 bytes. *NOTE*:
                Alpha channel is all set to 0. When exporting, set all alpha
                to 255.

  - Components:

    + <int>; Number of components for this bot -important if you're changing numbers of components.

    Components are what makes the bot. The first component is the 'Chassis',
    the body of the bot. When loading, components should be numbered in the
    order they are read starting at 0; any entry that refers to specific
    components uses this number. The chassis is thus number 0.
   
    All other components are defined in .gmf files, which contain a complete
    3D model with attachment points defined (to mount other components *on*
    or where you attach this component onto the parent component).
   
    Note that there is are translation and a rotation lines on the one hand,
    and a angle and height line on the other. These positions are stacked,
    first the component is rotated, then translated, then it is rotated by the
    specified angle around the Z axis, and then it is translated along the Z
    axis by height.

    For every component, there are the following entries:

      + <int>; Id of parent component this item is mounted on (-1 for no
              mounting)
      + <int>; Mount point on component
      + <int>; Mount point on parent component
      + <float> <float> <float>; translation (x y z)
      + <float> <float> <float> <float>; rotation of component (w x y z)
                                         (quaternion)
      + <float> <float>; angle (radians) and height, both for the Z axis.
      + <str>; Component class like Weapon, ControlBoard, etc
      + <str>; the .txt part Component datafile path (defaults are in Components.cfz)
      *~ 0 or more lines component configuration; dependant on component
         class, see section on particular component class below. Burst motor and smart zone stuff

  - 3D model of bot with 'buckling' points

    In RA2 you destroy bots; the game does this by dividing the triangular
    faces that make up the sides and top of the 3D model of the bot into
    many more, adding points to construct the vertices and faces. Every
    hit then will shift these 'buckling' points down and in, causing the sides
    of the robot to buckle.
   
    Calculating the placements of these points, randomizing their place so the
    crushed model doesn't look too symetrical, and the subsequent
    recalculations on every hit must be somewhat timeconsuming for RA2, so it
    saves a copy of this (partly) crushed model when it can, back to the bot
    file.
   
    Another reason RA2 could be saving this data is to remember how badly
    banged up your bot was if the player decided to quit the game while still
    in the middle of a tournament; this will enable RA2 to pick up where it
    had left off when the player continues the tournament.
   
    This section holds that model; it starts with a boolean flag indicating if
    the model is present.
   
    + <bool>; buckle model present *WARNING* Not in version 1.07!
    *~ 3D model data (only of flag is 'true'). See section on 3D data below
       for a full description.

  - Forward Heading

    + <float>; Forward heading of robot, in radians. *WARNING* Not present in
               1.07!

  - Controllers

    Remote control setup.

    + <int>; number of controllers.

    For every controller, there are the following entries:

    | + 'Name:' <str>; Name of control
    | + <int> <int> <int>; Position (x y) on remote and type of controller.
    |                      x and y are 0-2, type is one of:
    |                      1: Analog;  2: Switch;  3: ??;  4: Button
    | + <int>; Number of keyboard/joystick bindings.
    |
    | Keyboard/joystick bindings should be numbered starting at 0.
    | For for each keybinding:
    |
    |   + <int> <int> <int> <int>; keyboard/joystick codes, 3th is scancode.
    |                              (unsure) *WARNING*: 1.07 has only 3 fields!
    |                              Either 1st or 2nd field is not there.

  - Controller-Component Bindings

    + <int>; number of bindings.

    | For each binding:
    |
    | + <int>; Component number
    |
    | + <str>; Action component should take ('Spin Clockwise', etc). This
    |          depends on what the component supports.
    |
    | + <int> <int> <int>; Controller position (x y) and keyboard binding
    |                      number.

- Components

  Bots are constructed from various components, beginning with the chassis.
  Each component category can have optional configuration data, usually 1 line
  The exception is the chassis configuration, which includes the full 3D model,
  and a texture map, plus assorted data points about the chassis. This section
  describes the various component classes and their options.
 
  - Chassis component
 
    The chassis is the main body of the bot, and it's data section is by far
    the largest part in the file. It consists of a number of sections itself:
   
    - Base and top outline geometry, and height.
    - 3D model and textures
    - Bot armouring data
    - Buckling points
   
    Following are descriptions of these sections.
   
    - Geometry
   
      + <int>; bottom plate pointcount (ranges from 0 to 15).
      +~ <int> <int>; pointcount bottom plate points (x y), values range from
                      0-1000
      + <int>; top pointcount (either 0 or equal to bottom pointcount).
      +~ <int> <int>; pointcount top points (x y).
      + <float> <int>; height of chassis and face count. Height ranges from
                       about 0.44 to 1.32. But you can change the height to ANYTHING you want to.
                       
    - 3D model and textures
   
      This section, if it's first line is 'true', contains a full 3D model of
      the chassis, and texture data.
     
      + <bool>; model and textures present.
     
      If 'true':
     
      | +~ 3D model data (see the '3D data' section below).
      | + <bool>; Texture map included (next entry)
      | * <binary>; Uncompressed Targa32 format texturemap, 256x256.
      |             Length: 18 + 4 * 256 * 256 bytes. *NOTE*: Alpha channel
      |             is all set to 0. When exporting, set all alpha to 255.
      | + <bool>; [crap]Flag for unknown section. If set to true, RA expects to be
      |           able to read another section here. *WARNING* This flag is
      |           *not* present in version 1.07 of the file format!
      | *~ Unknown section, present when previous flag is true. No botfiles
      |    included with RA2 use this flag. (Maybe a bumpmap?)
[/crap]

                 Change the "false" you will see after all the texture jargon* to "true" to activate the secret "supershine". Your bot will shine like a shiny hub wheel, but it looks kind of weird on the flat chassis.

              *There are two sets of jargon in the file- the preview pic and the skin. The skin, or texture jargon as I called it, is the second and longer one.


      |   
      | The following lines describe what portions of the texture map are
      | being used to 'dress' the 3D model; these values presumably are used
      | by the painter module of the RA2 bot editor.
      |
      | + <int>; number of face groups (made up of multiple 3D triangles, one
      |          face group for each robot side, includes top and bottom)
      |
      |   For every face group:
      |  
      |   + <int>; number of points
      |   +~ <float> <float>; (x y) coordinates on the texture map, all points
      |                       together make a precise indication of what
      |                       portion of the image is being used for this
      |                       group.
      |                      
      | Face groups are numbered, starting at 0, later entries refer to these
      | numbers.
      |                      
      | + <int>; number of groups again
      | +~ <int> <int> <int> <int> <int>; For each group: group index, x1 y1,
      |                                   x2 y2. These are bounding boxes,
      |                                   squares on the texture map that fit
      |                                   completely around each texture map
      |                                   area described above.
      |                                  
      | + <int>; number of face entries
      | +~ <int> <int> <int> <int>; groupindex and 3 pointindexes; specifies
      |                             what faces (formed by the indicated
      |                             points) form a given group.
      |
      | The following lines specify what points form the top corners of the
      | bot; this data is used to track what points to move in unison when
      | receiving damage. Every corner has always 3 points associated with it,
      | each for one of the faces that join there.
      |
      | + <int>; Number of corner entries.
      | +~ <int> '3' <int> <int> <int>; corner number, number of points (3),
      |                                 then that number of point indexes
      |                                 (from the model data specified earlier).

    - Bot armour data
   
      The next set of lines tell RA what kind of armour is used, how hard the
      armour is and how heavy that is (see also the 'Robot weight' section).
     
      Note that Robots created with the RA bot editor, use the following table
      for material harness, but that the computer-controlled bots often have a
      higher armour hardness specified. The stock AI has DS steel, titanium, plastic, and of course aluminum.
      
                Armour type     Weight  Hardness
                0 (Plastic)     8       80
                1 (Aluminium)   12      100
                     1 (DS Aluminum) 12      200
                2 (Steel)       20      175
                3 (Titanium)    16      150
     
      + <int> <int> '0' <int> '0'; Armour type, weight per square unit surface
                                   area, a zero (unused field?), armour
                                   hardness, another zero (unused field?).


                                 
      The following line holds numbers that seem to directly relate to the
      armour type; they are constant for a given armour type when creating a
      bot in the RA2 bot workshop; the values can be picked from the following
      table:
     
CUSTOM ARMOR SHINE=====

Ever notice how titanium is kind of bluish and plastic shines a bit yellow?

Default values for the armors

                Type    Line values
                0 Plastic       0.2669 0.2669 0.19975 0.85 80
                1 Aluminum      0.19975 0.19975 0.19975 0.85 20
                2  Steel     0.3332 0.30005 0.30005 0.85 10
                3 Titanium      0.40035 0.4998 0.63325 0.85 60

You will see five numbers right after your armor strength and stuff. Here they are. Doing a search in the bot file for "200" or whatever your armor strength is is a good way to quickly find these numbers.

              <RED>   <GREEN>   <BLUE>   <0.85, no effect>   <FOCUS>

The red, green, and blue values can be set as high as you want; they control the color and intensity of your armor shine. The focus is whether the shine lights up a whole panel or is focused in one spot of reflection.
                
      Computer controlled bots however, often have different values. One
      guess is how well the different types of armour can withstand different
      types of damage; weapons have both piercing and concussion capabilities
      for example.
Heh, it's right here- Another possibility is that these values specify material
      properties such as shininess and specular highlight color.
     
      * <float> <float> <float> <float> <int>; Armour data (unsure). This line
                                               is only present when the 3D
                                               model is present in the file.

 

  - Buckling points
 
    As described in the '3D model of bot with buckling points' section, RA2
    adds points to the faces of the bot model to allow those faces to buckle
    under damage. This section specifies where those points are, with starting
    coordinates and point indexes (every point occurs multiple times as part
    of multiple faces coming together at that point). This data can then be
    used to move these points in unison when damage occurs.
   
    *WARNING* This section is not present in version 1.07!
   
    + <int>; pointcount
   
      For every point:
     
      + <float> <float> <float>; Starting coordinates of point.
      + <int>; indexcount
      +~ <int>; indexcount number of lines with index of buckling point in
                new 3D model with these points added.

  - Other component classes

    - BurstMotor
 
      BurstMotors are motors that quickly rotate from their start to their end
      angle when triggered, then rotate back again. The BurstMotor class takes
      one extra configuration line:
   
      + <float> <float>; start and stop angles (radians)

These two numbers come right after the .txt part in the component placement. This is how you make 180 degree burst motors.
      
      The stop angle is relative to the start angle. Note: the start angle is
      dependant on what mountpoint is being used; mounting a burst motor on
      it's head attachmentpoint will give you a different starting angle. The
      axis is kept level, so if an attachmentpoint will rotate the motor by
      1/4 turn, the axis starting point is moved 1/4 turn back.
     
    - SmartZone
   
      This is a hidden component (not available for custom bot builds) that
      define a zone for the computer AI to receive events for. The component
      takes 1 extra line of configuration:
     
      + <string>; smartzone name
     
    All other component classes do not expect extra parameters.

- 3D data

  Some sections include 3d model data. Model data consists of a header line
  specifying total data points, a line specifying the number of models in the
  section, and for each model, a line giving quantities of data for that model,
  a line with the text 'RAW', and the model data itself, which consists of
  points information and indexes used to create faces.
 
  Point information consists of normal vectors (x, y and z), texture indices
  (a, b) and the points themselves (x, y and z values); all values are
  floating point numbers. Vector and point coordinates range from 0 to 1.1.
  Texture indices range from 0.0 to 1.0, tying points to coordinates on a
  texture map. A left-handed coordinate system is used; +X is left, +Y is
  away from the camera, and +Z is up.
 
  First all the normals are specified, then all the texture coordinates, then
  all the points. When reading, group the first normal with the first texture
  coordinate and point, and store these under index 0. Keep grouping normal
  vectors, texture coordinates and points and incrementing the index, until all
  points have been read.
 
  Then read all index values, and use every three to make a face from the
  points indicated by the index values. So if the first three index lines
  read (2, 1, 3), use points 2, 1, and 3 to make a 3D face, making sure to
  use the included normal vector for each point to ensure smooth surfaces
  where needed, and the texture coordinates to apply a texture map to the
  model. Faces are specified in a counter-clockwise direction.
 
  + '274' <int> <int> <int>; total pointcount, total indexcount, total
                             facecount. (unsure if the value '274' could
                             ever be anything else.)
  + '1'; Number of models (always one)
 
  Per model in this section:
 
    + <int> <int> <int> '0'; indexcount facecount pointcount, and a 0;
                             (unsure, all models so far seen have the 0,
                             possibly color vertice count?)
    + 'RAW'; Marker for the raw model data
    +~ <float> <float> <float>; pointount lines with normal vectors (x y z)
    +~ <float> <float>; pointcount lines with texture coordinate (x y).
    +~ <float> <float> <float>; pointcount lines with points (x y z)
    +~ <int>; indexcount lines with each a face index.

- Robot weight

  Robots are divided into classes by weight according to the following table:
 
        Class           Kg
        Lightweight     < 250
        Medium          250-400
        Heavy           > 400
       
  Weight is the total sum of all component weights, plus the weight of the
  chassis. Chassis weight is calculated with a simple formula based on the
  surface area of the 3d model faces times the armour weight per square
  'unit'. The unit choosen is the same as the 3D unit size; a 3d face
  with an area of 1 square unit using steel armouring, weighs 20 Kg.
 
  Armour weight is listed in the bot file, and varies with the armour type
  choosen. Here is the table:
 
        Type ID Armour type     Kg per sq. unit
        0       Plastic         8
        1       Aluminium       12
        2       Steel           20
        3       Titatium        16

  Note that some of the AI robots have had their classification manually
  adjusted downwards; 'Mud Runner', for example weighs 418.6 Kg, but is still
  listed in the Medium class. 5 other bots also had their class adjusted,
  although none exceed their class as much as Mud Runner does.