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You task is to responds of any question about someone, the task is very help the users where the error is, and doing after the code to fix that error
You need these context to make the task :

#pragma once
#include "../Framework.h"

namespace RLGSC {
	// https://github.com/AechPro/rocket-league-gym-sim/blob/main/rlgym_sim/utils/common_values.py
	namespace CommonValues {
		// Could just use RocketSim's RLConst but I'll just copy to stay faithful

		constexpr float
			SIDE_WALL_X = 4096,
			BACK_WALL_Y = 5120,
			CEILING_Z = 2044,
			BACK_NET_Y = 6000,

			GOAL_HEIGHT = 642.775,
			GRAVITY_Z = -650.0,
			BOOST_CONSUMED_PER_SECOND = 100.0 / 3.0;

		constexpr Vec
			ORANGE_GOAL_CENTER = Vec( 0, BACK_WALL_Y, GOAL_HEIGHT / 2 ),
			BLUE_GOAL_CENTER = Vec( 0, -BACK_WALL_Y, GOAL_HEIGHT / 2 ),

			// Often more useful than center
			ORANGE_GOAL_BACK = Vec( 0, BACK_NET_Y, GOAL_HEIGHT / 2 ),
			BLUE_GOAL_BACK = Vec( 0, -BACK_NET_Y, GOAL_HEIGHT / 2);

		constexpr float
			BALL_RADIUS = 92.75, // :nerd::point_up: "erm it is actually 91.25"

			BALL_MAX_SPEED = 6000,
			CAR_MAX_SPEED = 2300,
			SUPERSONIC_THRESHOLD = 2200,
			CAR_MAX_ANG_VEL = 5.5,

			BLUE_TEAM = 0,
			ORANGE_TEAM = 1,
			NUM_ACTIONS = 8;

		constexpr int BOOST_LOCATIONS_AMOUNT = 34;
		constexpr Vec BOOST_LOCATIONS[BOOST_LOCATIONS_AMOUNT] = {
				{0.f, -4240.0, 70.0},
				{-1792.0, -4184.0, 70.0},
				{1792.0, -4184.0, 70.0},
				{-3072.0, -4096.0, 73.0},
				{3072.0, -4096.0, 73.0},
				{-940.0, -3308.0, 70.0},
				{940.0, -3308.0, 70.0},
				{0.0, -2816.0, 70.0},
				{-3584.0, -2484.0, 70.0},
				{3584.0, -2484.0, 70.0},
				{-1788.0, -2300.0, 70.0},
				{1788.0, -2300.0, 70.0},
				{-2048.0, -1036.0, 70.0},
				{0.0, -1024.0, 70.0},
				{2048.0, -1036.0, 70.0},
				{-3584.0, 0.0, 73.0},
				{-1024.0, 0.0, 70.0},
				{1024.0, 0.0, 70.0},
				{3584.0, 0.0, 73.0},
				{-2048.0, 1036.0, 70.0},
				{0.0, 1024.0, 70.0},
				{2048.0, 1036.0, 70.0},
				{-1788.0, 2300.0, 70.0},
				{1788.0, 2300.0, 70.0},
				{-3584.0, 2484.0, 70.0},
				{3584.0, 2484.0, 70.0},
				{0.0, 2816.0, 70.0},
				{-940.0, 3310.0, 70.0},
				{940.0, 3308.0, 70.0},
				{-3072.0, 4096.0, 73.0},
				{3072.0, 4096.0, 73.0},
				{-1792.0, 4184.0, 70.0},
				{1792.0, 4184.0, 70.0},
				{0.0, 4240.0, 70.0}
		};
	}
}

#pragma once
#include "PlayerData.h"
#include "../CommonValues.h"

namespace RLGSC {
	struct ScoreLine {
		int teamGoals[2] = { 0,0 };

		int operator[](size_t index) const {
			return teamGoals[index];
		}

		int& operator[](size_t index) {
			return teamGoals[index];
		}
	};

	// https://github.com/AechPro/rocket-league-gym-sim/blob/main/rlgym_sim/utils/gamestates/game_state.py
	struct GameState {
		float deltaTime = 0; // Time that has passed since last update

		ScoreLine scoreLine;
		int lastTouchCarID = -1;
		std::vector<PlayerData> players;

		BallState ballState;
		PhysObj ball, ballInv;

		std::array<bool, CommonValues::BOOST_LOCATIONS_AMOUNT> boostPads;
		std::array<bool, CommonValues::BOOST_LOCATIONS_AMOUNT> boostPadsInv;

		std::array<float, CommonValues::BOOST_LOCATIONS_AMOUNT> boostPadTimers;
		std::array<float, CommonValues::BOOST_LOCATIONS_AMOUNT> boostPadTimersInv;

		// Last arena we updated with
		// Can be used to determine current arena from within reward function, for example
		// NOTE: Could be null
		Arena* lastArena = NULL;

		// Last tick count when updated
		uint64_t lastTickCount = 0;

		GameState() = default;
		explicit GameState(Arena* arena) {
			UpdateFromArena(arena);
		}

		const PhysObj& GetBallPhys(bool inverted) const {
			return inverted ? ballInv : ball;
		}

		const auto& GetBoostPads(bool inverted) const {
			return inverted ? boostPadsInv : boostPads;
		}

		void UpdateFromArena(Arena* arena);
	};
}

#include "GameState.h"

#include "../../Math.h"

using namespace RLGSC;

static int boostPadIndexMap[CommonValues::BOOST_LOCATIONS_AMOUNT] = {};
static bool boostPadIndexMapBuilt = false;
static std::mutex boostPadIndexMapMutex = {};
void _BuildBoostPadIndexMap(Arena* arena) {
	constexpr const char* ERROR_PREFIX = "_BuildBoostPadIndexMap(): ";
#ifdef RG_VERBOSE
	RG_LOG("Building boost pad index map...");
#endif

	if (arena->_boostPads.size() != CommonValues::BOOST_LOCATIONS_AMOUNT) {
		RG_ERR_CLOSE(
			ERROR_PREFIX << "Arena boost pad count does not match CommonValues::BOOST_LOCATIONS_AMOUNT " <<
			"(" << arena->_boostPads.size() << "/" << CommonValues::BOOST_LOCATIONS_AMOUNT << ")"
		);
	}
	
	bool found[CommonValues::BOOST_LOCATIONS_AMOUNT] = {};
	for (int i = 0; i < CommonValues::BOOST_LOCATIONS_AMOUNT; i++) {
		Vec targetPos = CommonValues::BOOST_LOCATIONS[i];
		for (int j = 0; j < arena->_boostPads.size(); j++) {
			Vec padPos = arena->_boostPads[j]->config.pos;

			if (padPos.DistSq2D(targetPos) < 10) {
				if (!found[i]) {
					found[i] = true;
					boostPadIndexMap[i] = j;
				} else {
					RG_ERR_CLOSE(
						ERROR_PREFIX << "Matched duplicate boost pad at " << targetPos << "=" << padPos
					);
				}
				break;
			}
		}

		if (!found[i])
			RS_ERR_CLOSE(ERROR_PREFIX << "Failed to find matching pad at " << targetPos);
	}

#ifdef RG_VERBOSE
	RG_LOG(" > Done");
#endif
	boostPadIndexMapBuilt = true;
}

void RLGSC::GameState::UpdateFromArena(Arena* arena) {
	lastArena = arena;
	int tickSkip = RS_MAX(arena->tickCount - lastTickCount, 0);

	deltaTime = tickSkip * (1 / 120.f);

	ballState = arena->ball->GetState();
	ball = PhysObj(ballState);
	ballInv = ball.Invert();

	players.resize(arena->_cars.size());

	auto carItr = arena->_cars.begin();
	for (int i = 0; i < players.size(); i++) {
		auto& player = players[i];
		player.UpdateFromCar(*carItr, arena->tickCount, tickSkip);
		if (player.ballTouchedStep)
			lastTouchCarID = player.carId;

		carItr++;
	}

	if (!boostPadIndexMapBuilt) {
		boostPadIndexMapMutex.lock();
		// Check again? This seems stupid but also makes sense to me
		//	Without this, we could lock as the index map is building, then go build again
		//	I would like to keep the mutex inside the if statement so it is only checked a few times
		if (!boostPadIndexMapBuilt) 
			_BuildBoostPadIndexMap(arena);
		boostPadIndexMapMutex.unlock();
	}

	for (int i = 0; i < CommonValues::BOOST_LOCATIONS_AMOUNT; i++) {
		int idx = boostPadIndexMap[i];
		int invIdx = boostPadIndexMap[CommonValues::BOOST_LOCATIONS_AMOUNT - i - 1];

		auto state = arena->_boostPads[idx]->GetState();
		auto stateInv = arena->_boostPads[invIdx]->GetState();

		boostPads[i] = state.isActive;
		boostPadsInv[i] = stateInv.isActive;

		boostPadTimers[i] = state.cooldown;
		boostPadTimersInv[i] = stateInv.cooldown;
	}

	// Update goal scoring
	// If you don't have a GoalScoreCondition then that's not my problem lmao
	if (Math::IsBallScored(ball.pos))
		scoreLine[1 - (int)RS_TEAM_FROM_Y(ball.pos.y)]++;

	lastTickCount = arena->tickCount;
}

#include "PlayerData.h"

namespace RLGSC {
	void PlayerData::UpdateFromCar(Car* car, uint64_t tickCount, int tickSkip) {
		carId = car->id;
		team = car->team;
		CarState newState = car->GetState();

		if (newState.isDemoed && newState.pos.z == -50000) {
			newState.pos = carState.pos;
			newState.vel = carState.vel;
			newState.angVel = carState.angVel;
		}

		carState = newState;

		phys = PhysObj(carState);
		physInv = PhysObj(phys.Invert());

		if (carState.ballHitInfo.isValid) {
			ballTouchedStep = carState.ballHitInfo.tickCountWhenHit >= (tickCount - tickSkip);
			ballTouchedTick = carState.ballHitInfo.tickCountWhenHit == (tickCount - 1);
		} else {
			ballTouchedStep = ballTouchedTick = false;
		}

		hasJump = !carState.hasJumped;
		hasFlip =
			!carState.hasDoubleJumped && !carState.hasFlipped
			&& carState.airTimeSinceJump < RLConst::DOUBLEJUMP_MAX_DELAY;

		boostFraction = carState.boost / 100;
	}
}
#pragma once
#include "../../Framework.h"
#include "PhysObj.h"

namespace RLGSC {
	// https://github.com/AechPro/rocket-league-gym-sim/blob/main/rlgym_sim/utils/gamestates/player_data.py
	struct PlayerData {
		uint32_t carId;
		Team team;

		PhysObj phys, physInv;
		CarState carState;

		// matchAssists: being the passer to a teammate who shot and scored
		// matchBumps: any bump against an opponent, including demos
		int
			matchGoals = 0,
			matchSaves = 0,
			matchAssists = 0,
			matchShots = 0,
			matchShotPasses = 0,
			matchBumps = 0, 
			matchDemos = 0,
			boostPickups = 0;

		bool hasJump;
		bool hasFlip;
		float boostFraction; // From 0 to 1

		bool ballTouchedStep; // True if the player touched the ball during any of tick of the step
		bool ballTouchedTick; // True if the player is touching the ball on the final tick of the step

		void UpdateFromCar(Car* car, uint64_t tickCount, int tickSkip);

		const PhysObj& GetPhys(bool inverted) const {
			return inverted ? physInv : phys;
		}
	};
}
#include "PhysObj.h"

template<typename T>
void _InitPhysObj(RLGSC::PhysObj* obj, const T& rsState) {
	obj->pos = rsState.pos;
	obj->rotMat = rsState.rotMat;
	obj->vel = rsState.vel;
	obj->angVel = rsState.angVel;
}

RLGSC::PhysObj::PhysObj(const BallState& ballState) {
	_InitPhysObj(this, ballState);
}

RLGSC::PhysObj::PhysObj(const CarState& carState) {
	_InitPhysObj(this, carState);
}

RLGSC::PhysObj RLGSC::PhysObj::Invert() const {
	PhysObj result = *this;

	constexpr Vec invVec = Vec(-1, -1, 1);

	result.pos *= invVec;
	for (int i = 0; i < 3; i++)
		result.rotMat[i] *= invVec;
	result.vel *= invVec;
	result.angVel *= invVec;

	return result;
}

RLGSC::PhysObj RLGSC::PhysObj::MirrorX() const {
	PhysObj result = *this;

	result.pos.x *= -1;

	// Thanks Rolv, JPK, and Kaiyo!
	result.rotMat.forward *= Vec(-1,  1,  1);
	result.rotMat.right   *= Vec( 1, -1, -1);
	result.rotMat.up      *= Vec(-1,  1,  1);

	result.vel.x *= -1;
	result.angVel *= Vec(1, -1, -1);

	return result;
}
#pragma once
#include "../../Framework.h"

namespace RLGSC {
	// https://github.com/AechPro/rocket-league-gym-sim/blob/main/rlgym_sim/utils/gamestates/physics_object.py
	struct PhysObj {
		Vec pos;
		RotMat rotMat;
		Vec vel, angVel;

		PhysObj() = default;
		PhysObj(const BallState& ballState);
		PhysObj(const CarState& carState);

		// Rotate 180 degrees around Z axis, scales everything by (-1, -1, 1)
		PhysObj Invert() const;

		// Mirror along X axis
		PhysObj MirrorX() const;
	};
}
#include "Math.h"

bool RLGSC::Math::IsBallScored(Vec pos) {
	return abs(pos.y) > RLConst::SOCCAR_GOAL_SCORE_BASE_THRESHOLD_Y + RLConst::BALL_COLLISION_RADIUS_SOCCAR;
}

Vec RLGSC::Math::RandVec(Vec min, Vec max) {
	return Vec(
		::Math::RandFloat(min.x, max.x),
		::Math::RandFloat(min.y, max.y),
		::Math::RandFloat(min.z, max.z)
	);
}
#pragma once
#include "Framework.h"

namespace RLGSC {
	namespace Math {
		bool IsBallScored(Vec pos);
		Vec RandVec(Vec min, Vec max);
	}
}
#pragma once
#include "../../Framework.h"
namespace RLGSC {
	struct Quat {
		float w, x, y, z;

		Quat() {
			w = x = y = z = 1;
		}

		Quat(float w, float x, float y, float z) :
			w(w), x(x), y(y), z(z) {
		}

		Quat(const btQuaternion& bulletQuat) :
			w(bulletQuat.w()), x(bulletQuat.x()), y(bulletQuat.y()), z(bulletQuat.z()) {
		}

		static Quat FromRotMat(const RotMat& rotMat);
		RotMat ToRotMat() const;

		explicit operator btQuaternion() const {
			return btQuaternion(x, y, z, w);
		}
	};
}
#include "Quat.h"

namespace RLGSC {
	Quat Quat::FromRotMat(const RotMat& rotMat) {
		btQuaternion quat;
		((btMatrix3x3)rotMat).getRotation(quat);
		return Quat(quat);
	}

	RotMat Quat::ToRotMat() const {
		btMatrix3x3 rotMat;
		rotMat.setRotation((btQuaternion)*this);
		return rotMat;
	}
}
#pragma once
#include "../../Framework.h"

namespace RLGSC {
	struct Action {
		float
			throttle, steer,
			pitch, yaw, roll,
			jump, boost, handbrake;
		constexpr static size_t ELEM_AMOUNT = 8;

		Action() = default;

		Action(const CarControls& controls) {
			throttle = controls.throttle;
			steer = controls.steer;
			pitch = controls.pitch;
			yaw = controls.yaw;
			roll = controls.roll;
			jump = controls.jump;
			boost = controls.boost;
			handbrake = controls.handbrake;
		}

		Action(
			float throttle, float steer,
			float pitch, float yaw, float roll,
			float jump, float boost, float handbrake
		) : throttle(throttle), steer(steer), 
			pitch(pitch), yaw(yaw), roll(roll),
			jump(jump), boost(boost), handbrake(handbrake) {
		}

		explicit operator CarControls() const {
			CarControls result = {};
			result.throttle = throttle;
			result.steer = steer;
			result.pitch = pitch;
			result.yaw = yaw;
			result.roll = roll;

			result.boost = boost == 1;
			result.jump = jump == 1;
			result.handbrake = handbrake == 1;
			return result;
		}

		float* begin() { return &throttle; }
		float* end() { return &handbrake + 1; }

		const float* begin() const { return &throttle; }
		const float* end() const { return &handbrake + 1; }

		float operator[](size_t index) const {
			assert(index < ELEM_AMOUNT);
			return begin()[index];
		}

		float& operator[](size_t index) {
			assert(index < ELEM_AMOUNT);
			return begin()[index];
		}

		friend std::ostream& operator<<(std::ostream& stream, const Action& action) {
			stream << "[";
			for (int i = 0; i < Action::ELEM_AMOUNT; i++) {
				if (i != 0)
					stream << ", ";
				stream << action[i];
			}
			stream << "]";
			return stream;
		}
	};

	typedef std::vector<Action> ActionSet;
}

-----------------------------
Some code example :
-----------------------------
#include "DefaultOBSPadded.h"

RLGSC::FList RLGSC::DefaultOBSPadded::BuildOBS(const PlayerData& player, const GameState& state, const Action& prevAction) {
	FList result = {};

	bool inv = player.team == Team::ORANGE;

	auto& ball = state.GetBallPhys(inv);
	auto& pads = state.GetBoostPads(inv);

	result += ball.pos * posCoef;
	result += ball.vel * velCoef;
	result += ball.angVel * angVelCoef;

	for (int i = 0; i < prevAction.ELEM_AMOUNT; i++)
		result += prevAction[i];

	for (int i = 0; i < CommonValues::BOOST_LOCATIONS_AMOUNT; i++)
		result += (float)pads[i];

	FList selfOBS = {};
	AddPlayerToOBS(selfOBS, player, inv);
	result += selfOBS;
	int playerObsSize = selfOBS.size();

	FList2 teammates = {}, opponents = {};

	for (auto& otherPlayer : state.players) {
		if (otherPlayer.carId == player.carId)
			continue;

		FList playerObs = {};
		AddPlayerToOBS(
			playerObs,
			otherPlayer,
			inv
		);
		((otherPlayer.team == player.team) ? teammates : opponents).push_back(playerObs);
	}

	if (teammates.size() > maxPlayers - 1)
		RG_ERR_CLOSE("DefaultOBSPadded: Too many teammates for OBS, maximum is " << (maxPlayers - 1));
	
	if (opponents.size() > maxPlayers)
		RG_ERR_CLOSE("DefaultOBSPadded: Too many opponents for OBS, maximum is " << maxPlayers);

	for (int i = 0; i < 2; i++) {
		auto& playerList = i ? teammates : opponents;
		int targetCount = i ? maxPlayers - 1 : maxPlayers;

		while (playerList.size() < targetCount) {
			FList pad = FList(playerObsSize);
			playerList.push_back(pad);
		}
	}

	// Shuffle both lists
	std::shuffle(teammates.begin(), teammates.end(), ::Math::GetRandEngine());
	std::shuffle(opponents.begin(), opponents.end(), ::Math::GetRandEngine());

	for (auto& teammate : teammates)
		result += teammate;
	for (auto& opponent : opponents)
		result += opponent;

	return result;
}
#pragma once
#include "DefaultOBS.h"

namespace RLGSC {
	// Verion of DefaultOBS that supports a varying number of players (i.e. 1v1, 2v2, 3v3, etc.)
	// Maximum player count can be however high you want
	// Opponent and teammate slots are randomly shuffled to prevent slot bias
	class DefaultOBSPadded : public DefaultOBS {
	public:

		int maxPlayers;

		DefaultOBSPadded(
			int maxPlayers,
			Vec posCoef = Vec(1 / CommonValues::SIDE_WALL_X, 1 / CommonValues::BACK_WALL_Y, 1 / CommonValues::CEILING_Z),
			float velCoef = 1 / CommonValues::CAR_MAX_SPEED,
			float angVelCoef = 1 / CommonValues::CAR_MAX_ANG_VEL
		) : DefaultOBS(posCoef, velCoef, angVelCoef), maxPlayers(maxPlayers) {

		}

		virtual FList BuildOBS(const PlayerData& player, const GameState& state, const Action& prevAction);
	};
}

-----------------------------------
reward example
-----------------------------------
// reward height touch
class ArkansReward : public RewardFunction {
public:
    virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
        float heightReward = 0.0f;
        if (player.ballTouchedStep && !player.carState.isOnGround && player.carState.pos[2] >= 256.0f) {
            heightReward += (log1p(player.carState.pos[2] - 256.0f) / CommonValues::CEILING_Z - CommonValues::BALL_RADIUS);
        }

        return heightReward;
    }
};

// reward the bot for being on the wall
class PlayerOnWallReward : public RewardFunction {
public:
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		return player.carState.isOnGround && player.phys.pos.z > 300;
	};
};

// reward the player for having speed towards the ball mid-air
class AerialReward : public RewardFunction {
public:
	int BALL_MIN_HEIGHT = 300;
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) override {

		Vec dirToBall = (state.ball.pos - player.phys.pos).Normalized();

		float distance = player.carState.pos.Dist(state.ball.pos) - CommonValues::BALL_RADIUS;
		float distanceReward = exp(-0.5 * distance / CommonValues::CAR_MAX_SPEED);

		float speedTowardBall = player.phys.vel.Dot(dirToBall);
		float speedReward = speedTowardBall / CommonValues::CAR_MAX_SPEED;

		if (speedTowardBall < 0) {
			return 0.0f;
		}
		if (player.carState.isOnGround) {
			return 0.0f;
		}
		if (state.ballState.pos.z < BALL_MIN_HEIGHT) {
			return 0.0f;
		}
		float reward = (speedReward * distanceReward);

		if (player.carState.hasDoubleJumped)
			reward += 0.1f; // Double jump bonus

		return reward;
	}
};

// reward the player for aerial touches initially and then exponential increase the more it gets.
// idk rolv wrote this
class AerialDistanceReward : public RewardFunction {
public:
	int RampHeight = 256;
	float heightScale;
	float distanceScale;
	float carDistance;
	float ballDistance;
	int currentCarId = 0;
	GameState prevState;
	AerialDistanceReward(float heightScale, float distanceScale) {
		this->heightScale = heightScale;
		this->distanceScale = distanceScale;
	};
	const PlayerData* findCarOnField(const GameState& state, int carID) {
		for (auto& player : state.players)
			if (player.carId == carID)
				return &player;
		return NULL;
	};
	virtual void Reset(const GameState& state) {
		int currentCarId = 0;
		prevState = state;
	};
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		float reward = 0;
		bool isCurrent = (currentCarId != 0 && currentCarId == player.carId);
		if (player.phys.pos.z < RampHeight) {
			if (isCurrent) {
				isCurrent = false;
				currentCarId = 0;
			}
		}
		else if (player.ballTouchedStep && !isCurrent) {
			isCurrent = true;
			ballDistance = 0;
			carDistance = 0;
			reward = heightScale * RS_MAX(player.phys.pos.z + state.ball.pos.z - 2 * RampHeight, 0);
		}
		else if (isCurrent) {
			PlayerData currentCar = *findCarOnField(state, currentCarId);
			int carDistance = carDistance + player.phys.pos.Dist(currentCar.phys.pos);
			int ballDistance = ballDistance + state.ball.pos.Dist(prevState.ball.pos);
			if (player.ballTouchedStep) {
				reward = distanceScale * (carDistance + ballDistance);
				carDistance = 0;
				ballDistance = 0;
			};
		};
		if (isCurrent) {
			currentCarId = player.carId;
		};

		prevState = state;

		return reward / (2 * CommonValues::BACK_WALL_Y);
	};
};
// reward the player for being the closest to the ball and their team having touched the ball last
// ambiguous in 1v1.
class PossessionReward : public RewardFunction {
public:
	float prevTeamTouch = -1.f;
	float stacking = 0;
	PossessionReward(float minDist = 200.f) : minDist(minDist) {};
	virtual void Reset(const GameState& state) {
		prevTeamTouch = -1;
		stacking = 0;
	};
	virtual void PreStep(const GameState& state) {
		for (auto& player : state.players) {
			if (player.ballTouchedStep && !((int)player.team == prevTeamTouch)) {
				prevTeamTouch = (int)player.team;
				stacking = 0;
			}
		}
	}

	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		float reward = 0;
		float distToBall = (player.phys.pos - state.ball.pos).Length();
		if ((int)player.team == prevTeamTouch && distToBall < minDist) {
			for (auto& _player : state.players) {
				if (_player.team != player.team && _player.carId != player.carId) {
					float oppDistBall = (_player.phys.pos - state.ball.pos).Length();
					if (oppDistBall < distToBall) {
						return 0;
					};
				}
			}
			stacking += 1;
			reward += stacking / 10;
		}
		return reward;
	}
private:
	float minDist;
};
// ???? reward player for being closest to the ball on kickoff idk aether6837 wrote this.
class KickoffProximityRewardAllModes : public RewardFunction {
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		if (state.ball.vel.IsZero()) {
			std::vector<float> allyDistances;
			for (auto& _player : state.players) {
				if (_player.team == player.team) {
					float allyDistance = _player.phys.pos.Dist(state.ball.pos);
					allyDistances.push_back(allyDistance);
				};
			};
			std::vector<float> opponentDistances;
			for (auto& _player : state.players) {
				if (_player.team != player.team) {
					float opponentDistance = _player.phys.pos.Dist(state.ball.pos);
					opponentDistances.push_back(opponentDistance);
				};
			};
			if (opponentDistances.empty() && allyDistances.empty() && std::min_element(allyDistances.begin(), allyDistances.end()) < std::min_element(opponentDistances.begin(), opponentDistances.end())) {
				return 1;
			}
			else {
				return -1;
			};
		};
		return 0;
	};
};

// reward player more for picking up big pads than small pads
class PickupBoostReward : public RewardFunction {
public:
	GameState lastState;
	PickupBoostReward(float small = 3.f, float big = 10.f) : small(small), big(big) {};
	virtual void Reset(const GameState& state) {
		lastState = state;
	};
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		float reward = 0;
		for (auto& _player : lastState.players) {
			if (player.carId == _player.carId) {
				float boostDiff = player.boostFraction;
				if (boostDiff > 0) {
					reward += boostDiff * big;
					if (player.boostFraction < 0.98 && _player.boostFraction < 0.88) {
						reward += boostDiff * small;
					}
				}
			}
		}
		lastState = state;
		return reward;
	}

private:
	float big;
	float small;
};

// reward player for goal speed and goal placement
class GoalSpeedAndPlacementReward : public RewardFunction {
public:
	float prevScoreBlue = 0;
	float prevScoreOrange = 0;
	GameState prevStateBlue;
	GameState prevStateOrange;
	float minHeight = CommonValues::BALL_RADIUS + 10;
	float heightReward = 1.75;

	virtual void Reset(const GameState& state) {
		prevScoreBlue = state.scoreLine[0];
		prevScoreOrange = state.scoreLine[1];
		prevStateBlue = state;
		prevStateOrange = state;
	}

	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		if ((int)player.team == 0) {
			float score = state.scoreLine[0];
			if (score > prevScoreBlue) {
				float reward = prevStateBlue.ball.vel.Length() / CommonValues::BALL_MAX_SPEED;
				if (prevStateBlue.ball.pos.z > minHeight) {
					reward = heightReward * reward;
				};
				prevStateBlue = state;
				prevScoreBlue = score;

				return reward;
			};
		} else {
			float score = state.scoreLine[1];
			if (score > prevScoreOrange) {
				float reward = prevStateOrange.ball.vel.Length() / CommonValues::BALL_MAX_SPEED;
				if (prevStateOrange.ball.pos.z > minHeight) {
					reward = heightReward * reward;
				};
				prevStateOrange = state;
				prevScoreOrange = score;

				return reward;
			};
		};
		return 0;
	};
};
// reward player for hitting the ball hard
class TouchBallRewardScaledByHitForce : public RewardFunction {
public:
	int maxHitSpeed = 3000;
	Vec lastBallVel;
	Vec curBallVel;
	virtual void Reset(const GameState& state) {
		lastBallVel = state.ball.vel;
		curBallVel = state.ball.vel;
	};

	virtual void PreStep(const GameState& state) {
		lastBallVel = curBallVel;
		curBallVel = state.ball.vel;
	};

	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		if (player.ballTouchedStep) {
			float BallVelocity = curBallVel.Dist(lastBallVel);
			if (BallVelocity > 500) {
				float reward = BallVelocity / maxHitSpeed;
				return reward;
			};
		};
		return 0.0f;
	};
};
// reward the player for being in the air (opposite of lavafloor)
class InAirReward : public RewardFunction {
public:
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		if (!player.carState.isOnGround) {
			return 1;
		}
		else {
			return 0;
		}
	};
};

// reward the player for dribbling and matching the speed of the ball.
class DribbleReward : public RewardFunction {
public:
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		const float MIN_BALL_HEIGHT = 109.0f;
		const float MAX_BALL_HEIGHT = 180.0f;
		const float MAX_DISTANCE = 197.0f;
		const float SPEED_MATCH_FACTOR = 2.0f;

		if (player.carState.isOnGround && state.ball.pos.z >= MIN_BALL_HEIGHT && state.ball.pos.z <= MAX_BALL_HEIGHT && (player.phys.pos - state.ball.pos).Length() < MAX_DISTANCE) {
			float playerSpeed = player.phys.vel.Length();
			float ballSpeed = state.ball.vel.Length();
			float speedMatchReward = ((playerSpeed / CommonValues::CAR_MAX_SPEED) + SPEED_MATCH_FACTOR * (1.0f - std::abs(playerSpeed - ballSpeed) / (playerSpeed + ballSpeed)));
			return speedMatchReward;
		}
		else {
			return 0.0f;
		}
		return 0.0f;
	};
};

// reward the player for high goal speed, (warning very explosive as it's a high return reward, LOW WEIGHT.)
class GoalSpeedReward : public RewardFunction {
public:
	GoalSpeedReward(float rewardFactor = 0.1f) : rewardFactor(rewardFactor) {};
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		float reward = 0.0f;

		if (state.scoreLine[(int)player.team] > 0) {
			float ballSpeed = state.ball.vel.Length();

			reward += ballSpeed * rewardFactor;
		}

		return reward * 2.0f;
	};
private:
	float rewardFactor;
};

// reward the player for moving fast at the ball
class SpeedTowardBallReward : public RewardFunction {
public:
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		return RS_MAX(0, player.phys.vel.Dot((state.ball.pos - player.phys.pos).Normalized()) / CommonValues::CAR_MAX_SPEED);
	};
};

// reward the player for touching the ball mid air
class JumpTouchReward : public RewardFunction {
public:
	JumpTouchReward(float minHeight = 200.0f, float exp = 1.0f)
		: minHeight(minHeight), exp(exp), div(std::pow(CommonValues::CEILING_Z / 2 - CommonValues::BALL_RADIUS, exp)) {}

	virtual void Reset(const GameState& initialState) override {
		ticksUntilNextReward = 0;
	};

	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) override {
		if (player.ballTouchedStep && player.carState.isOnGround && state.ball.pos.z >= minHeight && ticksUntilNextReward <= 0) {
			ticksUntilNextReward = 149;
			float reward = std::pow(std::min(state.ball.pos.z, CommonValues::CEILING_Z / 2) - CommonValues::BALL_RADIUS, exp) / div;
			if (reward > 0.05) {
				return reward * 100;
			};
		}
		ticksUntilNextReward -= 1;
		return 0.0f;
	};

private:
	float minHeight;
	float exp;
	float div;
	int ticksUntilNextReward = 0;
};

float KPH_TO_VEL(float kph) {
	return kph * (250 / 9);
};

// https://github.com/redd-rl/apollo-bot/blob/main/custom_rewards.py

float norm(Vec vec1) {
	return std::pow((std::pow(vec1.x, 2) + std::pow(vec1.y, 2) + std::pow(vec1.z, 2)), 2);
}

// reward the player for moving fast toward the ball, but only on kickoff state.
class SpeedflipKickoffReward : public RewardFunction {
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		if (state.ball.vel.IsZero() and player.boostFraction < 0.02) {
			return RS_MAX(0, player.phys.vel.Dot((state.ball.pos - player.phys.pos).Normalized()) / CommonValues::CAR_MAX_SPEED);
		};
		return 0;
	};
};

// reward the player for going fast
class LightingMcQueenReward : public RewardFunction {
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		return sqrt(RS_CLAMP(player.phys.vel.Length() / 1800, 0, 1));
	}
};

// Aerial Reward
class TouchAerial : public RewardFunction {
public:
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		constexpr float
  			MAX_HEIGHT = 1400, // most of the way to the ceiling
  			MAX_AIR_TIME = 1.0f; // in seconds
		float reward = RS_MIN(state.ball.pos.z / MAX_HEIGHT, player.carState.airTime / MAX_AIR_TIME); 
        float result = player.ballTouchedStep ? RS_MIN(reward, 1.0f) : 0;
		return result;
	};
};

// punish the bot for being on the ground
class LavaFloorReward : public RewardFunction {
public:
	virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
		return -int(player.carState.isOnGround);
	};
};

class BallCatch : public RewardFunction {
public:
    virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
	Vec dirToBall = (state.ball.pos - player.phys.pos).Normalized();
    float velToBall = player.phys.vel.Dot(dirToBall);
  
    constexpr float MAX_DIST = 3000;
    float distFrac = player.phys.pos.Dist(state.ball.pos) / MAX_DIST;
	return RS_CLAMP((velToBall/2300.f) * (1 - distFrac), 0, 1);
  }
};

class BoostingReward : public RewardFunction {
public:
    virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
        float reward = 0.f;

        // Calculate how well the car is facing the ball
        Vec pos_diff = (state.ball.pos - player.carState.pos).Normalized();
        float facing_ball_factor = player.carState.rotMat.forward.Dot(pos_diff);

        // Define a threshold for "facing the ball"
        const float FACING_THRESHOLD = 0.5f;
        
        if ((player.carState.vel.z > 600 || player.carState.pos.z > 256) && player.carState.rotMat.forward.z > 0 && state.ball.pos.z > 256 && player.boostFraction > 0 && facing_ball_factor > FACING_THRESHOLD && !player.carState.isOnGround) {
            reward += prevAction.boost * facing_ball_factor;
        }

        return reward;
    }
};





so ur task is to add a condition that the ball and the player need to be higher than 512 and 256

class BallCatchSoccar : public RewardFunction {
public:
    virtual float GetReward(const PlayerData& player, const GameState& state, const Action& prevAction) {
	Vec dirToBall = (state.ball.pos - player.phys.pos).Normalized();
    float velToBall = player.phys.vel.Dot(dirToBall);
    
    constexpr float MAX_DIST = 3000;
    float distFrac = player.phys.pos.Dist(state.ball.pos) / MAX_DIST;
	return RS_CLAMP((velToBall/2300.f) * (1 - distFrac), 0, 1);
  }
};