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fix(rammer): rewrite heading logic — correct forward/backward steering toward enemy

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This commit is contained in:
Davide Cappellini
2026-09-20 13:43:35 +02:00
parent 7657699531
commit 1f8574db1d
1 changed files with 17 additions and 13 deletions
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common_libs/movements/rammer.nim
+17 -13
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@@ -13,19 +13,23 @@ type RammerModule* = object
proc initRammer*(): RammerModule = RammerModule() proc initRammer*(): RammerModule = RammerModule()
proc computeMove*(m: var RammerModule, ws: WorldState): MoveCommand = proc computeMove*(m: var RammerModule, ws: WorldState): MoveCommand =
let enemyBearing = arctan2(ws.enemyY - ws.selfY, ws.enemyX - ws.selfX) * (180.0 / PI) let dx = ws.enemyX - ws.selfX
let dy = ws.enemyY - ws.selfY
# Tank Royale: 0° = East, cos for X, sin for Y
let targetBearing = arctan2(dy, dx) * 180.0 / PI
# Delta from current heading to enemy bearing # Angle we need to turn (relative to current heading)
var delta = enemyBearing - ws.selfHeading var delta = targetBearing - ws.selfHeading
while delta > 180.0: delta -= 360.0 # Normalize to -180..180
while delta > 180.0: delta -= 360.0
while delta < -180.0: delta += 360.0 while delta < -180.0: delta += 360.0
# If enemy is behind (|delta| > 90°), reverse to avoid U-turn # Drive forward or backward — whichever requires less turning
let (speed, turnDelta) = if abs(delta) <= 90.0:
if abs(delta) <= 90.0: # Forward: turn toward enemy, full speed ahead
(MaxSpeed, delta) (speed: MaxSpeed, turnRate: delta.clamp(-10.0, 10.0))
else: else:
let backDelta = if delta > 0.0: delta - 180.0 else: delta + 180.0 # Backward: reverse toward enemy
(-MaxSpeed, backDelta) # Flip delta by 180° to get the reverse heading
var revDelta = delta + (if delta > 0.0: -180.0 else: 180.0)
(speed: speed, turnRate: turnDelta.clamp(-10.0, 10.0)) (speed: -MaxSpeed, turnRate: revDelta.clamp(-10.0, 10.0))