fix(ModularBot): ram loop prevention, dead-target guards, cleaner logging

- 30-tick cooldown after ghost-stuck/timeout ram exit prevents re-entry loop
- enemy_tracker.update() skips dead bots to prevent same-tick scan resurrection
- TFIL graphics cleared when ramming is active movement
- [config] logs: white base with green-highlighted changes only
- [ram:enter] logs trigger reason and key values on false→true transition
- [death] and [target-invalid] logs retained for diagnostics

ModularBot_garage/src/ModularBot.nim

@@ -27,6 +27,7 @@ import guns/decay_gf
 import guns/knn_gun
 import movements/phantom_meteor
 import movements/rammer
+import movements/the_floor_is_lava
 import movement_harness/virtual_bodies as mvb
 import movement_harness/bullet_shadows
 import targeting/enemy_tracker
@@ -71,9 +72,12 @@ type
     avgLead:      AveragedLeadGun
     decayGF:      DecayGFGun
     knnGun:       KNNGun
-    mover:        PhantomMeteorModule
+    mover:        TFILModule
     rammer:       RammerModule
     isRamming:    bool
+    ramStuckTicks:   int
+    ramDurationTicks: int
+    ramCooldownTicks: int
     moveTracker:  VirtualBodyTracker
     virtualHits:  int
     virtualMiss:  int
@@ -82,14 +86,26 @@ type
     currentTargetId: int
     targetSwitchTick: int
     enemyTracker: EnemyTracker
+    prevGun:      int
+    prevRadar:    int
+    prevTarget:   int
 
 proc printConfig(bot: ModularBot, changed: string = "") =
   let gunName   = GunNames[bot.currentGun]
-  let gunColor = if changed == "gun" or changed == "all": CLR_CHANGE else: CLR_RST
-  let radarColor = if changed == "radar" or changed == "all": CLR_CHANGE else: CLR_RST
   let radarName = if bot.radarMode == 0: "radar_lock" else: "melee_scan"
-  let moveName = if bot.isRamming: "rammer" else: "phantom_meteor"
+  let moveName  = if bot.isRamming: "rammer" else: "tfil"
-  echo CLR_ROUND & "[config]" & CLR_RST & " " & gunColor & "gun=" & gunName & CLR_RST & " | " & CLR_MOVE & "move=" & moveName & CLR_RST & " | " & radarColor & "radar=" & radarName & CLR_RST & " | enemies=" & $bot.enemyTracker.allAlive().len & " target=#" & $bot.currentTargetId
+  let gc = if bot.currentGun    != bot.prevGun    or changed == "all": CLR_CHANGE else: ""
+  let rc = if bot.radarMode     != bot.prevRadar  or changed == "all": CLR_CHANGE else: ""
+  let tc = if bot.currentTargetId != bot.prevTarget or changed == "all": CLR_CHANGE else: ""
+  let rst = CLR_RST
+  echo "[config] " & gc & "gun=" & gunName & (if gc != "": rst else: "") &
+       " | move=" & moveName &
+       " | " & rc & "radar=" & radarName & (if rc != "": rst else: "") &
+       " | enemies=" & $bot.enemyTracker.allAlive().len &
+       " target=" & tc & "#" & $bot.currentTargetId & (if tc != "": rst else: "")
+  bot.prevGun    = bot.currentGun
+  bot.prevRadar  = bot.radarMode
+  bot.prevTarget = bot.currentTargetId
 
 proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): WorldState =
   var ei: seq[EnemyInfo]
@@ -128,9 +144,11 @@ method onBulletHitBot*(bot: ModularBot, e: BulletHitBotEvent) =
 
 method onBulletHitWall*(bot: ModularBot, e: BulletHitWallEvent) =
   bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
+  bot.mover.removeBulletNear(e.bullet.x, e.bullet.y)
 
 method onBulletHitBullet*(bot: ModularBot, e: BulletHitBulletEvent) =
   bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
+  bot.mover.removeBulletNear(e.bullet.x, e.bullet.y)
 
 method onHitByBullet*(bot: ModularBot, e: HitByBulletEvent) =
   bot.moveTracker.registerHit(e.bullet.power, e.bullet.direction, getX(), getY())
@@ -147,6 +165,9 @@ method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
   bot.mover.resetRound()
   bot.enemyTracker.resetRound()
   bot.isRamming   = false
+  bot.ramStuckTicks    = 0
+  bot.ramDurationTicks = 0
+  bot.ramCooldownTicks = 0
   bot.hasContact  = false
   bot.tick        = 0
   bot.currentGun  = -1
@@ -171,11 +192,15 @@ method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
   # tracker fitness persists across rounds (rolling window carries over)
 
 method onBotDeath*(bot: ModularBot, e: BotDeathEvent) =
+  echo "[death] victimId=", e.victimId, " wasTarget=", (e.victimId == bot.currentTargetId),
+    " trackerAlive=", (if bot.enemyTracker.enemies.contains(e.victimId): $bot.enemyTracker.enemies[e.victimId].alive else: "notInTracker")
+  echo CLR_MOVE & "[death] victimId=" & $e.victimId & " wasTarget=" & $(e.victimId == bot.currentTargetId) & CLR_RST
   bot.enemyTracker.markDead(e.victimId)
   if bot.enemyCount > 0:
     dec bot.enemyCount
   if e.victimId == bot.currentTargetId:
     bot.isRamming = false
+    bot.currentTargetId = -1
 
 method onGameStarted*(bot: ModularBot, e: GameStartedEventForBot) =
   # minNumberOfParticipants == maxNumberOfParticipants for fixed battles; self is -1
@@ -201,9 +226,18 @@ method run*(bot: ModularBot) =
   while isRunning():
     inc bot.tick
 
-    # Debug: print enemy state on first tick
+    # Ram cooldown countdown
-    if bot.tick == 1:
+    if bot.ramCooldownTicks > 0:
-      echo "[debug] enemyCount=" & $bot.enemyCount & " tracker=" & $bot.enemyTracker.allAlive().len & " radarMode=" & $bot.radarMode
+      dec bot.ramCooldownTicks
+
+    # Safety: reset invalid target before any logic
+    if bot.currentTargetId >= 0:
+      if not bot.enemyTracker.enemies.contains(bot.currentTargetId) or
+         not bot.enemyTracker.enemies[bot.currentTargetId].alive:
+        echo CLR_MOVE & "[target-invalid] id=" & $bot.currentTargetId & " resetting" & CLR_RST
+        bot.currentTargetId = -1
+        bot.isRamming = false
+
 
     if not bot.hasContact:
       setTargetSpeed(0.0)
@@ -212,25 +246,65 @@ method run*(bot: ModularBot) =
       go()
       continue
 
-    # Ram decision — harness decides, not the movement module
+    # --- Target selection (sticky) ---
+    let candidateId = selectTarget(bot.enemyTracker, getX(), getY(), tmClosest)
+    if bot.shouldSwitchTarget(candidateId):
+      if candidateId != bot.currentTargetId:
+        bot.currentTargetId = candidateId
+        bot.targetSwitchTick = bot.tick
+        bot.printConfig("target")
+
+    # --- Refresh target state FIRST, before ram decision ---
+    let tid = bot.currentTargetId
+    if tid >= 0 and bot.enemyTracker.enemies.contains(tid) and
+       bot.enemyTracker.enemies[tid].alive:
+      let tgt = bot.enemyTracker.getEnemy(tid)
+      bot.enemyBearing = directionTo(getX(), getY(), tgt.x, tgt.y)
+      bot.lastState    = bot.buildState(tgt.x, tgt.y, tgt.speed, tgt.heading, tgt.energy)
+
+    # Ram decision — harness decides, not the movement module (uses fresh lastState)
     let ws = bot.lastState
     let ramDist        = hypot(ws.enemyX - ws.selfX, ws.enemyY - ws.selfY)
-    let ramFinisher    = ramDist < 300.0 and ws.enemyEnergy < 20.0 and ws.selfEnergy > ws.enemyEnergy
+    let ramFinisher    = bot.ramCooldownTicks == 0 and ws.enemyEnergy > 0 and ramDist < 300.0 and ws.enemyEnergy < 20.0 and ws.selfEnergy > ws.enemyEnergy
-    let ramOpportunity = ramDist < 80.0  and ws.selfEnergy > ws.enemyEnergy + 10.0
+    let ramOpportunity = bot.ramCooldownTicks == 0 and ws.enemyEnergy > 0 and ramDist < 50.0  and ws.selfEnergy > ws.enemyEnergy + 30.0
-    let ramDesperation = ws.selfEnergy < 5.0 and ws.enemyEnergy < 5.0 and ramDist < 150.0
+    let ramDesperation = bot.ramCooldownTicks == 0 and ws.enemyEnergy > 0 and ws.selfEnergy < 5.0 and ws.enemyEnergy < 5.0 and ramDist < 150.0
-    let shouldRam      = ramFinisher or ramOpportunity or ramDesperation
+    let shouldRam      = bot.currentTargetId >= 0 and
+                         (ramFinisher or ramOpportunity or ramDesperation)
 
     if shouldRam and not bot.isRamming:
       bot.isRamming = true
-      let tag = if ramDesperation: "desperation" elif ramFinisher: "finisher" else: "opportunity"
+      bot.ramStuckTicks    = 0
-      echo CLR_MOVE & "[ram:" & tag & "] dist=" & $int(ramDist) &
+      bot.ramDurationTicks = 0
-           " selfE=" & $int(ws.selfEnergy) & " enemyE=" & $int(ws.enemyEnergy) & CLR_RST
+      if ramFinisher:
-      bot.printConfig("move")
+        echo "[ram:enter] reason=finisher dist=", ramDist.int, " selfEnergy=", ws.selfEnergy.int, " enemyEnergy=", ws.enemyEnergy.int
+      elif ramOpportunity:
+        echo "[ram:enter] reason=opportunity dist=", ramDist.int, " energyAdv=", (ws.selfEnergy - ws.enemyEnergy).int
+      elif ramDesperation:
+        echo "[ram:enter] reason=desperation selfEnergy=", ws.selfEnergy.int
     elif not shouldRam and bot.isRamming:
       bot.isRamming = false
-      bot.printConfig("move")
+
+    if bot.isRamming:
+      inc bot.ramDurationTicks
+      if ramDist < 5.0:
+        inc bot.ramStuckTicks
+      else:
+        bot.ramStuckTicks = 0
+      if bot.ramStuckTicks > 10:
+        bot.isRamming = false
+        bot.currentTargetId  = -1
+        bot.ramStuckTicks    = 0
+        bot.ramDurationTicks = 0
+        bot.ramCooldownTicks = 30
+      elif bot.ramDurationTicks > 60:
+        bot.isRamming = false
+        bot.currentTargetId  = -1
+        bot.ramStuckTicks    = 0
+        bot.ramDurationTicks = 0
+        bot.ramCooldownTicks = 30
 
     let (spd, tr) = if shouldRam:
+      bot.mover.clearGraphics()
       bot.rammer.computeMove(ws)
     else:
       bot.mover.computeMove(ws)
@@ -258,23 +332,9 @@ method run*(bot: ModularBot) =
     setRadarTurnRate(radarRate)
     go()
 
-    # --- Target selection (sticky) --- lock target during ram to prevent dangerous switch
-    if not bot.isRamming:
-      let candidateId = selectTarget(bot.enemyTracker, getX(), getY(), tmClosest)
-      if bot.shouldSwitchTarget(candidateId):
-        if candidateId != bot.currentTargetId:
-          bot.currentTargetId = candidateId
-          bot.targetSwitchTick = bot.tick
-          bot.printConfig("target")
-
     # --- Aim + fire from tracked state (not scan event) ---
-    let tid = bot.currentTargetId
     if tid >= 0 and bot.enemyTracker.enemies.contains(tid) and
        bot.enemyTracker.enemies[tid].alive:
-      let tgt = bot.enemyTracker.getEnemy(tid)
-      bot.enemyBearing = directionTo(getX(), getY(), tgt.x, tgt.y)
-      bot.lastState    = bot.buildState(tgt.x, tgt.y, tgt.speed, tgt.heading, tgt.energy)
-
       # Spawn virtual bullets for all guns
       var headsUp:   array[len(PowerBins), GunPrediction]
       var linPreds:  array[len(PowerBins), GunPrediction]
@@ -361,7 +421,6 @@ method run*(bot: ModularBot) =
       let (selectedGun, _, power) = selectShot(bot.tracker, tid)
       if selectedGun != bot.currentGun:
         bot.currentGun = selectedGun
-        bot.printConfig("gun")
         case selectedGun
         of 0: setTurretColor("#FF3333"); setBulletColor("#FF6666")
         of 1: setTurretColor("#3366FF"); setBulletColor("#6699FF")
@@ -427,7 +486,7 @@ when isMainModule:
     knnGun:      initKNNGun(),
     radar:        RadarLockModule(),
     meleeScan:    initMeleeScan(),
-    mover:        initPhantomMeteor(),
+    mover:        TFILModule(debugGraphics: true),
     rammer:       initRammer(),
     moveTracker:  mvb.initVirtualBodyTracker(1),
     currentGun:   -1,

common_libs/guns/accel_predictor.nim

@@ -17,9 +17,10 @@ type AccelGun* = object
   cachedAccel:    float  ## accel (px/tick²) cached per tick
   cachedTurnRate: float  ## turn rate (deg/tick) cached per tick
   cachedTick:     int
+  debugGraphics*: bool
 
 proc initAccelGun*(): AccelGun =
-  AccelGun()
+  AccelGun(debugGraphics: false)
 
 proc predict*(g: var AccelGun, state: WorldState, bulletSpeed: float): GunPrediction =
   if bulletSpeed <= 0.0:

common_libs/guns/anti_surfer.nim

@@ -21,9 +21,11 @@ type
     waves:            seq[ASWave]
     cachedTick:       int
     cachedWaveStored: bool
+    debugGraphics*:   bool
 
 proc initAntiSurferGun*(): AntiSurferGun =
   result.cachedTick = -1
+  result.debugGraphics = false
   # Same triangular head-on prior as GFGun — cold-start aims head-on.
   let center = (ASBins - 1) div 2  # = 15
   for i in 0..<ASBins:

common_libs/guns/averaged_lead.nim

@@ -12,9 +12,10 @@ type AveragedLeadGun* = object
   wallBounce:     WallBounceGun
   cachedTick:     int
   cachedPred:     GunPrediction  # per-tick cache; ponytail: single cache, extend if multi-power needed
+  debugGraphics*: bool
 
 proc initAveragedLeadGun*(): AveragedLeadGun =
-  AveragedLeadGun(wallBounce: initWallBounceGun())
+  AveragedLeadGun(wallBounce: initWallBounceGun(), debugGraphics: false)
 
 proc predict*(g: var AveragedLeadGun, state: WorldState, bulletSpeed: float): GunPrediction =
   if state.tick == g.cachedTick:

common_libs/guns/circular.nim

@@ -11,6 +11,7 @@ type CircularGun* = object
   hasPrev:        bool
   cachedOmega:    float  ## omega (rad/tick) computed on first call this tick
   cachedTick:     int    ## tick for which cachedOmega was computed
+  debugGraphics*: bool
 
 proc predict*(g: var CircularGun, state: WorldState, bulletSpeed: float): GunPrediction =
   if bulletSpeed <= 0.0:

common_libs/guns/decay_gf.nim

@@ -20,9 +20,11 @@ type
     waves:            seq[DWave]
     cachedTick:       int
     cachedWaveStored: bool
+    debugGraphics*:   bool
 
 proc initDecayGFGun*(): DecayGFGun =
   result.cachedTick = -1
+  result.debugGraphics = false
   let center = (GFBins - 1) div 2
   for i in 0..<GFBins:
     let d = abs(i - center)

common_libs/guns/displacement.nim

@@ -17,6 +17,7 @@ type
     lastTick:       int   # for per-tick cache
     cacheSpeed:     float
     cachePred:      GunPrediction
+    debugGraphics*: bool
 
 proc predict*(g: var DisplacementGun, state: WorldState, bulletSpeed: float): GunPrediction =
   # Per-tick cache: same tick + same speed => same prediction
@@ -62,4 +63,4 @@ proc onResult*(g: var DisplacementGun, e: FeedbackEvent) =
   discard  # analytical gun — no learning
 
 proc initDisplacementGun*(): DisplacementGun =
-  DisplacementGun(count: 0, head: 0, lastTick: -1)
+  DisplacementGun(count: 0, head: 0, lastTick: -1, debugGraphics: false)

common_libs/guns/guess_factor.nim

@@ -22,9 +22,11 @@ type
     # per-tick cache: store wave only once across multiple power-bin calls
     cachedTick:       int
     cachedWaveStored: bool
+    debugGraphics*:   bool
 
 proc initGFGun*(): GFGun =
   result.cachedTick = -1
+  result.debugGraphics = false
   # Seed with a head-on prior: triangular bump at bin 15 (GF=0).
   # Prevents the cold-start tie-break to GF=-1 (bin 0) that poisons early fitness.
   let center = (GFBins - 1) div 2  # = 15

common_libs/guns/head_on.nim

@@ -4,7 +4,7 @@
 import gun_harness/gun_interface
 
 type HeadOnGun* = object
-  discard
+  debugGraphics*: bool
 
 proc predict*(g: var HeadOnGun, state: WorldState, bulletSpeed: float): GunPrediction =
   GunPrediction(x: state.enemyX, y: state.enemyY)

common_libs/guns/knn_gun.nim

@@ -36,10 +36,12 @@ type
     lastSpeed:          float
     lastDirection:      float        # +1 or -1
     timeSinceDirChange: int
+    debugGraphics*:     bool
 
 proc initKNNGun*(): KNNGun =
   result.cachedTick    = -1
   result.lastDirection = 1.0
+  result.debugGraphics = false
   for i in 0..6:
     result.featMin[i] =  1e18
     result.featMax[i] = -1e18

common_libs/guns/linear.nim

@@ -5,7 +5,7 @@ import std/math
 import gun_harness/gun_interface
 
 type LinearGun* = object
-  discard
+  debugGraphics*: bool
 
 proc predict*(g: var LinearGun, state: WorldState, bulletSpeed: float): GunPrediction =
   let dist = hypot(state.enemyX - state.selfX, state.enemyY - state.selfY)

common_libs/guns/pattern_matcher.nim

@@ -28,6 +28,7 @@ type
     cacheX:         float
     cacheY:         float
     cacheValid:     bool
+    debugGraphics*: bool
 
 # --- circular buffer helpers ---
 

common_libs/guns/stop_shot.nim

@@ -18,8 +18,9 @@ type StopShotGun* = object
   cachedTick:     int
   cachedPredX:    float
   cachedPredY:    float
+  debugGraphics*: bool
 
-proc initStopShotGun*(): StopShotGun = StopShotGun()
+proc initStopShotGun*(): StopShotGun = StopShotGun(debugGraphics: false)
 
 proc predict*(g: var StopShotGun, state: WorldState, bulletSpeed: float): GunPrediction =
   if bulletSpeed <= 0.0:

common_libs/guns/tsetlin.nim

@@ -206,11 +206,13 @@ type
     traces:         array[TM_TRACE_SLOTS, TmTrace]
     traceHead:      int
     shotCount:      int  ## total onResult calls received
+    debugGraphics*: bool
 
 proc initTsetlinGun*(): TsetlinGun =
   # states init at 0 (boundary); one Type I step crosses into Include
   for s in result.net.states.mitems: s = 0'i16
   randomize()
+  result.debugGraphics = false
 
 proc isWarmedUp*(g: TsetlinGun): bool {.inline.} =
   g.bufferCount >= TM_WINDOW_SIZE

common_libs/guns/wall_bounce.nim

@@ -6,9 +6,9 @@ import std/math
 import gun_harness/gun_interface
 
 type WallBounceGun* = object
-  discard
+  debugGraphics*: bool
 
-proc initWallBounceGun*(): WallBounceGun = WallBounceGun()
+proc initWallBounceGun*(): WallBounceGun = WallBounceGun(debugGraphics: false)
 
 proc simulateBounce(ex, ey, heading, speed: float, ticks: int,
                     arenaW, arenaH: float): (float, float) =

common_libs/movements/minimum_risk.nim

@@ -33,9 +33,10 @@ type MinimumRiskModule* = object
   targetX, targetY: float
   ticksSinceCalc:   int
   hasTarget:        bool
+  debugGraphics*:   bool
 
 proc initMinimumRisk*(): MinimumRiskModule =
-  MinimumRiskModule(hasTarget: false, ticksSinceCalc: RecalcInterval)
+  MinimumRiskModule(hasTarget: false, ticksSinceCalc: RecalcInterval, debugGraphics: false)
 
 proc wallRisk(p: Vec2, w, h: float): float {.inline.} =
   ## Linear penalty that ramps up inside WallMargin.

common_libs/movements/oscillator.nim

@@ -17,9 +17,10 @@ type OscillatorModule* = object
   sign:           float  ## +1 or -1, forward/backward relative to perp heading
   elapsed:        int    ## ticks since last reversal
   wallLockout:    int    ## remaining ticks where wall-reversal is suppressed
+  debugGraphics*: bool
 
 proc initOscillator*(): OscillatorModule =
-  OscillatorModule(sign: 1.0, elapsed: 0, wallLockout: 0)
+  OscillatorModule(sign: 1.0, elapsed: 0, wallLockout: 0, debugGraphics: false)
 
 proc computeMove*(m: var OscillatorModule, ws: WorldState): MoveCommand =
   inc m.elapsed

common_libs/movements/phantom_meteor.nim

@@ -146,16 +146,17 @@ proc computeForces(eng: GravityEngine, botPos: Vec2, enemies: openArray[Vec2], a
         hasClose = true
         total = total + normalize(botPos - ph.pos) * (KBullet * (1.0 - d/250.0))
 
-  # Priority 2: wall escape (additive — blends with phantom forces)
+  # Priority 2: wall escape — scales as inverse-square so it dominates bullets near walls
-  let minW = min(min(botPos.x, arenaW-botPos.x), min(botPos.y, arenaH-botPos.y))
-  if minW < VeryClose:
   var ex = 0.0; var ey = 0.0
-    if botPos.x          < VeryClose: ex =  1.0
+  let dLeft  = botPos.x
-    if arenaW - botPos.x < VeryClose: ex = -1.0
+  let dRight = arenaW - botPos.x
-    if botPos.y          < VeryClose: ey =  1.0
+  let dBot   = botPos.y
-    if arenaH - botPos.y < VeryClose: ey = -1.0
+  let dTop   = arenaH - botPos.y
-    let wm = sqrt(ex*ex + ey*ey)
+  if dLeft  < WallMinDist: ex +=  KWall / (dLeft  * dLeft)
-    if wm > 0.1: total = total + normalize(vec2(ex, ey)) * 500.0
+  if dRight < WallMinDist: ex -= KWall / (dRight * dRight)
+  if dBot   < WallMinDist: ey +=  KWall / (dBot   * dBot)
+  if dTop   < WallMinDist: ey -= KWall / (dTop   * dTop)
+  total = total + vec2(ex, ey)
 
   # Priority 3: repulsion from ALL enemies; attraction only toward nearest.
   # ponytail: linear ramp per enemy, attraction only toward nearest to avoid being pulled into a crowd
@@ -181,13 +182,6 @@ proc computeForces(eng: GravityEngine, botPos: Vec2, enemies: openArray[Vec2], a
         # Too far from nearest only → mild attraction
         total = total + normalize(ep - botPos) * (KEnemy * t)
 
-  # Priority 4: weak wall repulsion
-  let dL = max(botPos.x,         WallMinDist)
-  let dR = max(arenaW - botPos.x, WallMinDist)
-  let dB = max(botPos.y,         WallMinDist)
-  let dT = max(arenaH - botPos.y, WallMinDist)
-  total = total + vec2(KWall*0.5/(dL*dL) - KWall*0.5/(dR*dR),
-                       KWall*0.5/(dB*dB) - KWall*0.5/(dT*dT))
   total
 
 # ── MovementModule wrapper ────────────────────────────────────────────────────
@@ -195,9 +189,10 @@ proc computeForces(eng: GravityEngine, botPos: Vec2, enemies: openArray[Vec2], a
 type PhantomMeteorModule* = object
   engine:        GravityEngine
   gunheat:       GunheatTracker
+  debugGraphics*: bool
 
 proc initPhantomMeteor*(): PhantomMeteorModule =
-  PhantomMeteorModule(engine: initEngine(), gunheat: initGunheatTracker())
+  PhantomMeteorModule(engine: initEngine(), gunheat: initGunheatTracker(), debugGraphics: false)
 
 proc resetRound*(m: var PhantomMeteorModule) =
   ## Clear per-round transients (phantoms, waves, energy baseline), keep histogram.
@@ -264,8 +259,29 @@ proc computeMove*(m: var PhantomMeteorModule, ws: WorldState): MoveCommand =
   if force.magnitude < 1e-9:
     return (speed: 0.0, turnRate: 0.0)
 
-  # Threat centroid (inverse-distance weighted) for perpendicular direction.
+  # Corner detection: near 2 walls simultaneously → hard escape override.
-  # With 1 enemy this equals the single enemy bearing — identical to prior behavior.
+  # ponytail: WallMinDist threshold reused; increase if bot still traps at higher speeds.
+  let nearL = botPos.x          < WallMinDist
+  let nearR = ws.arenaWidth  - botPos.x < WallMinDist
+  let nearB = botPos.y          < WallMinDist
+  let nearT = ws.arenaHeight - botPos.y < WallMinDist
+  let wallCount = (if nearL: 1 else: 0) + (if nearR: 1 else: 0) +
+                  (if nearB: 1 else: 0) + (if nearT: 1 else: 0)
+  let cornered = wallCount >= 2
+
+  let desiredDeg =
+    if cornered:
+      # Escape direction = inward wall normals averaged; ignore bullet/enemy pulls.
+      # Enemy perp is irrelevant here — any direction away from corner is correct.
+      var escX = 0.0; var escY = 0.0
+      if nearL: escX += 1.0
+      if nearR: escX -= 1.0
+      if nearB: escY += 1.0
+      if nearT: escY -= 1.0
+      let escDir = normalize(vec2(escX, escY))
+      radToDeg(arctan2(escDir.y, escDir.x))
+    else:
+      # Normal open-field: snap to perp that best aligns with force vector.
       var cx = 0.0; var cy = 0.0; var wsum = 0.0
       for ep in enemyVecs:
         let d = max(dist(ep, botPos), 1.0)
@@ -273,14 +289,9 @@ proc computeMove*(m: var PhantomMeteorModule, ws: WorldState): MoveCommand =
         cx += ep.x * w; cy += ep.y * w; wsum += w
       let centroid = if wsum > 1e-9: vec2(cx/wsum, cy/wsum) else: enemyPos
       let centroidBearingRad = arctan2(centroid.y - botPos.y, centroid.x - botPos.x)
-
+      let perpCCW = vec2(-sin(centroidBearingRad),  cos(centroidBearingRad))
-  # Two perpendicular directions to centroid bearing (±90°)
+      let perpCW  = vec2( sin(centroidBearingRad), -cos(centroidBearingRad))
-  let perpCCW = vec2(-sin(centroidBearingRad),  cos(centroidBearingRad))  # +90°
-  let perpCW  = vec2( sin(centroidBearingRad), -cos(centroidBearingRad))  # -90°
-
-  # Pick perpendicular direction that aligns with force vector
       let fn = force.normalize
-  let desiredDeg =
       if fn.x * perpCCW.x + fn.y * perpCCW.y >= fn.x * perpCW.x + fn.y * perpCW.y:
         radToDeg(arctan2(perpCCW.y, perpCCW.x))
       else:

common_libs/movements/rammer.nim

@@ -8,9 +8,9 @@ import movement_harness/movement_interface
 const MaxSpeed* = 8.0
 
 type RammerModule* = object
-  discard
+  debugGraphics*: bool
 
-proc initRammer*(): RammerModule = RammerModule()
+proc initRammer*(): RammerModule = RammerModule(debugGraphics: false)
 
 proc computeMove*(m: var RammerModule, ws: WorldState): MoveCommand =
   let dx = ws.enemyX - ws.selfX

common_libs/movements/random_oscillator.nim

@@ -20,12 +20,13 @@ type RandomOscillatorModule* = object
   nextPeriod:     int    ## random period chosen at last reversal
   wallLockout:    int    ## remaining suppression ticks
   rng:            Rand
+  debugGraphics*: bool
 
 proc initRandomOscillator*(): RandomOscillatorModule =
   var rng = initRand(getTime().toUnix())
   let period = rng.rand(MinPeriod..MaxPeriod)
   RandomOscillatorModule(sign: 1.0, elapsed: 0, nextPeriod: period,
-                         wallLockout: 0, rng: rng)
+                         wallLockout: 0, rng: rng, debugGraphics: false)
 
 proc computeMove*(m: var RandomOscillatorModule, ws: WorldState): MoveCommand =
   inc m.elapsed

common_libs/movements/the_floor_is_lava.nim

@@ -0,0 +1,672 @@
+## TFIL — The Floor Is Lava. Built incrementally.
+
+import std/math
+import std/random
+import gun_harness/gun_interface
+import movement_harness/movement_interface
+import robocode_tankroyale_botapi/graphics
+import robocode_tankroyale_botapi/color
+
+const GridSize = 36.0
+const MaxSpeed = 8.0
+
+const BulletCoreRadiusMin = 9.0   ## core radius at power 0.1
+const BulletCoreRadiusMax = 54.0  ## core radius at power 3.0
+const BulletAuraExtMin    = 36.0  ## aura extension at power 3.0 (slow)
+const BulletAuraExtMax    = 54.0  ## aura extension at power 0.1 (fast)
+
+const BulletCore = 10.0  ## lava accumulation per bullet-overlapping tile
+const BulletAura = 5.0   ## lava accumulation for aura ring tiles
+
+const EnemyCoreRadius = 18.0  ## half of 36px body
+const EnemyAuraRadius = 54.0  ## 18 + 36
+
+const EnemyCore = 40.0  ## lava per tile overlapping enemy body circle
+const EnemyAura = 10.0  ## lava per tile in enemy aura ring
+
+const CorridorHeat = 20.0
+
+const WallHotness  = 30.0
+const WallRadiance = 10.0
+
+const PillarHotness  = 30.0
+const PillarRadiance = 10.0
+
+const CommitTicks           = 15    ## ticks to commit to a dodge point
+const MinCommitTicks        = 5     ## must commit for this many ticks before danger replan allowed
+const DangerReplanThreshold = 25.0  ## replan on serious threats only (bullet core), not corridors/auras
+const CoolestLevels         = 2     ## how many distinct lava values count as "cool"
+const MaxTrackedBullets     = 20    ## hard cap on tracked bullets
+
+proc bulletRadii(power: float): tuple[core, aura: float] =
+  let t = (power - 0.1) / 2.9
+  let core = BulletCoreRadiusMin + t * (BulletCoreRadiusMax - BulletCoreRadiusMin)
+  let auraExt = BulletAuraExtMax - t * (BulletAuraExtMax - BulletAuraExtMin)
+  (core, core + auraExt)
+
+type
+  TrackedBullet = object
+    originX, originY: float
+    x, y:             float
+    velX, velY:       float   ## speed * cos(heading), speed * sin(heading)
+    power:            float
+    alive:            bool
+    age:              int     ## ticks alive; die if > 200
+
+  TFILModule* = object
+    debugGraphics*: bool
+    cols, rows: int
+    marginX, marginY: float
+    arenaWidth, arenaHeight: float
+    lava: seq[float]  # flat row-major, index = row*cols + col
+    bullets:         seq[TrackedBullet]
+    prevEnergy:      seq[tuple[id: int, energy: float]]  # enemy id -> last known energy
+    commitTarget:    tuple[x, y: float]   ## world coords of committed dodge point
+    commitTicks:     int                   ## ticks remaining on commitment
+    commitLava:      float                 ## lava at commit time (for spike detection)
+    blockedTile:     tuple[col, row: int; active: bool]  ## excluded from next pick after danger replan
+    cachedHull:        seq[tuple[x, y: float]]
+    cachedInsideTiles: seq[tuple[col, row: int]]
+    callCount:         int                 ## computeMove call count; 0 = never called
+    lastBotX, lastBotY: float              ## bot position at last call; used to detect position jumps
+    lastTileCol, lastTileRow: int          ## grid tile at last call; used to detect gradual displacement
+
+proc initTFIL*(): TFILModule = TFILModule(debugGraphics: false)
+
+proc removeBulletNear*(m: var TFILModule, x, y: float) =
+  ## Mark the tracked bullet closest to (x,y) within GridSize tolerance as dead.
+  var bestIdx = -1
+  var bestD2  = GridSize * GridSize  # tolerance²
+  for i, b in m.bullets:
+    let d2 = (b.x - x)*(b.x - x) + (b.y - y)*(b.y - y)
+    if d2 < bestD2:
+      bestD2  = d2
+      bestIdx = i
+  if bestIdx >= 0:
+    m.bullets.del(bestIdx)
+
+proc prevEnergyGet(m: TFILModule, id: int): float =
+  for e in m.prevEnergy:
+    if e.id == id: return e.energy
+  100.0
+
+proc prevEnergySet(m: var TFILModule, id: int, energy: float) =
+  for i in 0..<m.prevEnergy.len:
+    if m.prevEnergy[i].id == id:
+      m.prevEnergy[i].energy = energy
+      return
+  m.prevEnergy.add((id: id, energy: energy))
+
+proc clearGraphics*(m: var TFILModule) =
+  ## No-op: the SVG buffer is a module-level global cleared by the framework
+  ## after every go(). Exists so callers can signal "TFIL is inactive this tick".
+  discard
+
+proc resetRound*(m: var TFILModule) =
+  m.bullets           = @[]
+  m.prevEnergy        = @[]
+  m.commitTicks       = 0
+  m.cachedHull        = @[]
+  m.cachedInsideTiles = @[]
+  m.blockedTile       = (col: 0, row: 0, active: false)
+  m.callCount         = 0
+  m.lastBotX          = 0.0
+  m.lastBotY          = 0.0
+  m.lastTileCol       = 0
+  m.lastTileRow       = 0
+
+proc initGrid(m: var TFILModule, arenaWidth, arenaHeight: float) =
+  m.cols = int(arenaWidth  / GridSize)
+  m.rows = int(arenaHeight / GridSize)
+  m.marginX = (arenaWidth  - m.cols.float * GridSize) / 2.0
+  m.marginY = (arenaHeight - m.rows.float * GridSize) / 2.0
+  m.arenaWidth  = arenaWidth
+  m.arenaHeight = arenaHeight
+  m.lava = newSeq[float](m.cols * m.rows)  # all 0.0
+
+proc detectFires(m: var TFILModule, ws: WorldState) =
+  ## Check all enemies for energy drops; spawn a tracked bullet per confirmed fire.
+  for ei in ws.enemies:
+    let prev = m.prevEnergyGet(ei.id)
+    let drop = prev - ei.energy
+    m.prevEnergySet(ei.id, ei.energy)
+    if drop >= 0.09 and drop <= 3.01:
+      let speed   = 20.0 - 3.0 * drop
+      # Linear prediction: aim at where we will be when the bullet arrives
+      let dist        = sqrt((ws.selfX - ei.x)^2 + (ws.selfY - ei.y)^2)
+      let travelTime  = dist / speed
+      let predX = ws.selfX + ws.selfSpeed * cos(ws.selfHeading * PI / 180.0) * travelTime
+      let predY = ws.selfY + ws.selfSpeed * sin(ws.selfHeading * PI / 180.0) * travelTime
+      let heading = arctan2(predY - ei.y, predX - ei.x)
+      if m.bullets.len >= MaxTrackedBullets:
+        m.bullets.del(0)  # ponytail: drop oldest; fine for 20-bullet cap
+      m.bullets.add TrackedBullet(
+        originX: ei.x, originY: ei.y,
+        x: ei.x, y: ei.y,
+        velX: speed * cos(heading),
+        velY: speed * sin(heading),
+        power: drop,
+        alive: true,
+        age: 0)
+
+proc advanceBullets(m: var TFILModule, selfX, selfY: float) =
+  ## Advance positions and reap bullets that are: passed us, out of bounds, or too old.
+  var i = 0
+  while i < m.bullets.len:
+    var b = m.bullets[i]
+    b.x += b.velX
+    b.y += b.velY
+    b.age += 1
+    # Death conditions (any triggers removal):
+    # 1. Passed us (dot < 0, moving away)
+    # 2. Out of arena bounds
+    # 3. Too old (>200 ticks)
+    let dx   = selfX - b.x
+    let dy   = selfY - b.y
+    let dot  = b.velX * dx + b.velY * dy
+    let outOfBounds = b.x < 0.0 or b.x > m.arenaWidth or b.y < 0.0 or b.y > m.arenaHeight
+    if dot < 0.0 or outOfBounds or b.age > 200:
+      b.alive = false
+    m.bullets[i] = b
+    if b.alive: inc i
+    else: m.bullets.del(i)
+
+type CorridorGeom = object
+  dx, dy: float       ## unit heading
+  px, py: float       ## unit perpendicular
+  tMin:   float       ## distance to wall
+  bx, by: float       ## bullet origin
+
+proc corridorGeom(b: TrackedBullet, arenaWidth, arenaHeight: float): CorridorGeom =
+  let speed = sqrt(b.velX * b.velX + b.velY * b.velY)
+  if speed < 0.001: return
+  let dx = b.velX / speed
+  let dy = b.velY / speed
+  var tMin = Inf
+  if dx > 0.0:   tMin = min(tMin, (arenaWidth  - b.x) / dx)
+  elif dx < 0.0: tMin = min(tMin, (0.0          - b.x) / dx)
+  if dy > 0.0:   tMin = min(tMin, (arenaHeight - b.y) / dy)
+  elif dy < 0.0: tMin = min(tMin, (0.0          - b.y) / dy)
+  CorridorGeom(dx: dx, dy: dy, px: -dy, py: dx, tMin: tMin, bx: b.x, by: b.y)
+
+proc lavaAt(m: TFILModule, col, row: int): float =
+  m.lava[row * m.cols + col]
+
+proc tileAt(m: TFILModule, wx, wy: float): tuple[col, row: int] =
+  (col: clamp(int((wx - m.marginX) / GridSize), 0, m.cols - 1),
+   row: clamp(int((wy - m.marginY) / GridSize), 0, m.rows - 1))
+
+proc pointInHull(px, py: float, hull: seq[(float, float)]): bool =
+  var inside = false
+  var j = hull.high
+  for i in 0..hull.high:
+    if ((hull[i][1] > py) != (hull[j][1] > py)) and
+       (px < (hull[j][0] - hull[i][0]) * (py - hull[i][1]) / (hull[j][1] - hull[i][1]) + hull[i][0]):
+      inside = not inside
+    j = i
+  inside
+
+proc computeReachableHull(x0, y0, heading0, speed0,
+                          arenaW, arenaH: float, ticks: int = 50): seq[(float, float)] =
+  ## Simulate `ticks` ticks at various turn rates / target speeds.
+  ## Returns convex hull (gift-wrap) of final positions.
+  const TargetSpeeds = [8.0, 4.0, -4.0, -8.0]
+  const NumRates     = 11
+
+  var pts: seq[(float, float)]
+  pts.add (x0, y0)  # always reachable: stay
+
+  for tSpeed in TargetSpeeds:
+    # Max turn rate at target speed (approximate; actual varies per tick but close enough)
+    let mtr = 10.0 - 0.75 * abs(tSpeed)
+    for ri in 0..<NumRates:
+      let turnRate = if NumRates == 1: 0.0
+                     else: -mtr + (2.0 * mtr / (NumRates - 1).float) * ri.float
+      var x = x0; var y = y0
+      var h = heading0; var spd = speed0
+      for _ in 0..<ticks:
+        # Accelerate toward target
+        if spd < tSpeed:   spd = min(spd + 1.0, tSpeed)
+        elif spd > tSpeed: spd = max(spd - 1.0, tSpeed)
+        spd = clamp(spd, -MaxSpeed, MaxSpeed)
+        # Turn (clamp to current max turn rate)
+        let curMtr = 10.0 - 0.75 * abs(spd)
+        let tr = clamp(turnRate, -curMtr, curMtr)
+        h += tr
+        let hr = h * PI / 180.0
+        x = clamp(x + spd * cos(hr), 0.0, arenaW)
+        y = clamp(y + spd * sin(hr), 0.0, arenaH)
+      pts.add (x, y)
+
+  # Gift-wrap convex hull (O(n²), ~45 points — fine)
+  # Find leftmost point as start
+  var startIdx = 0
+  for i in 1..<pts.len:
+    if pts[i][0] < pts[startIdx][0] or
+       (pts[i][0] == pts[startIdx][0] and pts[i][1] < pts[startIdx][1]):
+      startIdx = i
+
+  var hull: seq[(float, float)]
+  var cur = startIdx
+  while true:
+    hull.add pts[cur]
+    var next = 0
+    for i in 1..<pts.len:
+      if next == cur:
+        next = i
+        continue
+      let ax = pts[next][0] - pts[cur][0]
+      let ay = pts[next][1] - pts[cur][1]
+      let bx = pts[i][0]    - pts[cur][0]
+      let by = pts[i][1]    - pts[cur][1]
+      let cross = ax * by - ay * bx
+      if cross < 0.0:  # i is more counterclockwise
+        next = i
+    cur = next
+    if cur == startIdx: break
+  hull
+
+proc computeMove*(m: var TFILModule, ws: WorldState): MoveCommand =
+  if m.cols == 0:
+    m.initGrid(ws.arenaWidth, ws.arenaHeight)
+
+  # Soft reset: detect gap by position jump (rammer moved us across ticks)
+  # 12px threshold: above single-tick max movement (8px) but catches even short ram gaps
+  let jumpDist = sqrt((ws.selfX - m.lastBotX)^2 + (ws.selfY - m.lastBotY)^2)
+  let jumped = (m.callCount > 0) and (jumpDist > 12.0)
+  if jumped:
+    m.commitTicks       = 0          # force replan — old target invalid
+    m.cachedHull        = @[]        # stale position/heading
+    m.cachedInsideTiles = @[]
+    m.bullets           = @[]        # bullet positions are hopelessly stale
+    m.blockedTile       = (col: 0, row: 0, active: false)
+    # Re-snapshot prevEnergy so energy changes during ramming aren't misread as fires
+    m.prevEnergy = @[]
+    for ei in ws.enemies:
+      m.prevEnergySet(ei.id, ei.energy)
+
+  # Tile-change replan: catches gradual displacement that position threshold misses
+  if (not jumped) and (m.callCount > 0) and (m.commitTicks > 0):
+    let curTileCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
+    let curTileRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
+    if curTileCol != m.lastTileCol or curTileRow != m.lastTileRow:
+      m.commitTicks       = 0
+      m.cachedHull        = @[]
+      m.cachedInsideTiles = @[]
+
+  # Per-tick: advance existing bullets, detect new fires
+  m.advanceBullets(ws.selfX, ws.selfY)
+  m.detectFires(ws)
+
+  # Recompute lava from scratch each tick
+  for i in 0..<m.lava.len: m.lava[i] = 0.0
+  for b in m.bullets:
+    let bx = b.x
+    let by = b.y
+    let (coreR, auraR) = bulletRadii(b.power)
+    let colMin = max(0,        int(floor((bx - auraR - m.marginX) / GridSize)))
+    let colMax = min(m.cols-1, int(floor((bx + auraR - m.marginX) / GridSize)))
+    let rowMin = max(0,        int(floor((by - auraR - m.marginY) / GridSize)))
+    let rowMax = min(m.rows-1, int(floor((by + auraR - m.marginY) / GridSize)))
+    for row in rowMin..rowMax:
+      for col in colMin..colMax:
+        let x0 = m.marginX + col.float * GridSize
+        let y0 = m.marginY + row.float * GridSize
+        let nearX = clamp(bx, x0, x0 + GridSize)
+        let nearY = clamp(by, y0, y0 + GridSize)
+        let dx = nearX - bx
+        let dy = nearY - by
+        let d2 = dx*dx + dy*dy
+        if d2 <= coreR * coreR:
+          m.lava[row * m.cols + col] += BulletCore
+        elif d2 <= auraR * auraR:
+          m.lava[row * m.cols + col] += BulletAura
+
+  # Corridor heat — rotated rectangle from bullet position to arena wall, auraR wide
+  for b in m.bullets:
+    let cg = corridorGeom(b, m.arenaWidth, m.arenaHeight)
+    if cg.tMin == 0.0: continue  # zero-speed bullet, skip
+    let (_, auraR) = bulletRadii(b.power)
+    let wx = cg.bx + cg.dx * cg.tMin
+    let wy = cg.by + cg.dy * cg.tMin
+    # Bounding box of the 4 corners
+    let c0x = cg.bx + cg.px * auraR;  let c0y = cg.by + cg.py * auraR
+    let c1x = cg.bx - cg.px * auraR;  let c1y = cg.by - cg.py * auraR
+    let c2x = wx    - cg.px * auraR;  let c2y = wy    - cg.py * auraR
+    let c3x = wx    + cg.px * auraR;  let c3y = wy    + cg.py * auraR
+    let xMin = min(min(c0x, c1x), min(c2x, c3x))
+    let xMax = max(max(c0x, c1x), max(c2x, c3x))
+    let yMin = min(min(c0y, c1y), min(c2y, c3y))
+    let yMax = max(max(c0y, c1y), max(c2y, c3y))
+    let colMin = max(0,        int(floor((xMin - m.marginX) / GridSize)))
+    let colMax = min(m.cols-1, int(floor((xMax - m.marginX) / GridSize)))
+    let rowMin = max(0,        int(floor((yMin - m.marginY) / GridSize)))
+    let rowMax = min(m.rows-1, int(floor((yMax - m.marginY) / GridSize)))
+    for row in rowMin..rowMax:
+      for col in colMin..colMax:
+        let cx = m.marginX + (col.float + 0.5) * GridSize
+        let cy = m.marginY + (row.float + 0.5) * GridSize
+        # Project tile center onto heading and perpendicular axes
+        let relX = cx - cg.bx
+        let relY = cy - cg.by
+        let along = relX * cg.dx + relY * cg.dy
+        let perp  = relX * cg.px + relY * cg.py
+        if along >= 0.0 and along <= cg.tMin and perp >= -auraR and perp <= auraR:
+          m.lava[row * m.cols + col] += CorridorHeat
+
+  # Enemy heat auras — core (18px) and aura ring (54px), same pattern as bullets
+  for ei in ws.enemies:
+    let ex = ei.x
+    let ey = ei.y
+    let colMin = max(0,        int(floor((ex - EnemyAuraRadius - m.marginX) / GridSize)))
+    let colMax = min(m.cols-1, int(floor((ex + EnemyAuraRadius - m.marginX) / GridSize)))
+    let rowMin = max(0,        int(floor((ey - EnemyAuraRadius - m.marginY) / GridSize)))
+    let rowMax = min(m.rows-1, int(floor((ey + EnemyAuraRadius - m.marginY) / GridSize)))
+    for row in rowMin..rowMax:
+      for col in colMin..colMax:
+        let x0 = m.marginX + col.float * GridSize
+        let y0 = m.marginY + row.float * GridSize
+        let nearX = clamp(ex, x0, x0 + GridSize)
+        let nearY = clamp(ey, y0, y0 + GridSize)
+        let dx = nearX - ex
+        let dy = nearY - ey
+        let d2 = dx*dx + dy*dy
+        if d2 <= EnemyCoreRadius * EnemyCoreRadius:
+          m.lava[row * m.cols + col] += EnemyCore
+        elif d2 <= EnemyAuraRadius * EnemyAuraRadius:
+          m.lava[row * m.cols + col] += EnemyAura
+
+  # Wall radiance heat — additive with bullet heat
+  for row in 0..<m.rows:
+    for col in 0..<m.cols:
+      let heat = max(0.0, WallHotness - col.float             * WallRadiance) +
+                 max(0.0, WallHotness - (m.cols-1-col).float * WallRadiance) +
+                 max(0.0, WallHotness - row.float             * WallRadiance) +
+                 max(0.0, WallHotness - (m.rows-1-row).float * WallRadiance)
+      m.lava[row * m.cols + col] += heat
+
+  # Pillar radiance heat — center 1×1, 1×2, 2×1, or 2×2 depending on grid parity
+  let pc0 = if m.cols mod 2 == 1: m.cols div 2     else: m.cols div 2 - 1
+  let pc1 = m.cols div 2  # same as pc0 when odd, pc0+1 when even
+  let pr0 = if m.rows mod 2 == 1: m.rows div 2     else: m.rows div 2 - 1
+  let pr1 = m.rows div 2
+  for row in 0..<m.rows:
+    for col in 0..<m.cols:
+      var minDist = int.high
+      for pcol in pc0..pc1:
+        for prow in pr0..pr1:
+          let d = max(abs(col - pcol), abs(row - prow))
+          if d < minDist: minDist = d
+      m.lava[row * m.cols + col] += max(0.0, PillarHotness - minDist.float * PillarRadiance)
+
+  if m.debugGraphics:
+    # Compute max lava for heat gradient
+    var maxLava = 0.0
+    for v in m.lava:
+      if v > maxLava: maxLava = v
+
+    # Non-zero tiles: colored border + colored value text (yellow→orange→red)
+    setFont("Arial", 10.0)
+    for row in 0..<m.rows:
+      for col in 0..<m.cols:
+        let val = m.lava[row * m.cols + col]
+        if val == 0.0: continue
+        let t = if maxLava > 0.0: val / maxLava else: 0.0
+        let heatColor = fromRgb(255'u8, uint8(255.0 * (1.0 - t)), 0'u8)
+        let x0 = m.marginX + col.float * GridSize
+        let y0 = m.marginY + row.float * GridSize
+        setStrokeColor(heatColor)
+        setStrokeWidth(1.0)
+        drawRectangle(x0, y0, GridSize, GridSize)
+        setFillColor(heatColor)
+        drawText($int(val), x0 + 12.0, y0 + 22.0)
+
+    # Draw tracked bullet circles
+    setStrokeColor(RED)
+    setStrokeWidth(1.0)
+    setFillColor(RED)
+    for b in m.bullets:
+      let (coreR, auraR) = bulletRadii(b.power)
+      drawCircle(b.x, b.y, coreR)
+      fillCircle(b.x, b.y, 3.0)
+      setStrokeColor(fromHex("#FF8800"))  # orange aura
+      setStrokeWidth(1.0)
+      drawCircle(b.x, b.y, auraR)
+      setStrokeColor(RED)
+      setStrokeWidth(1.0)
+
+    # Danger corridor: rotated rectangle projecting each bullet forward to arena wall
+    setStrokeColor(fromHex("#AAAAAA"))
+    setStrokeWidth(1.0)
+    for b in m.bullets:
+      let (_, auraR) = bulletRadii(b.power)
+      let cg = corridorGeom(b, m.arenaWidth, m.arenaHeight)
+      if cg.tMin == 0.0: continue
+      let wx = cg.bx + cg.dx * cg.tMin
+      let wy = cg.by + cg.dy * cg.tMin
+      let corners: seq[(float, float)] = @[
+        (cg.bx + cg.px * auraR, cg.by + cg.py * auraR),
+        (cg.bx - cg.px * auraR, cg.by - cg.py * auraR),
+        (wx    - cg.px * auraR, wy    - cg.py * auraR),
+        (wx    + cg.px * auraR, wy    + cg.py * auraR),
+      ]
+      drawPolygon(corners)
+
+    # Enemy core (cyan) and aura (green)
+    setStrokeColor(fromHex("#00FFFF"))  # cyan core
+    setStrokeWidth(1.5)
+    for ei in ws.enemies:
+      drawCircle(ei.x, ei.y, EnemyCoreRadius)
+    setStrokeColor(fromHex("#00CC00"))  # green aura
+    setStrokeWidth(1.0)
+    for ei in ws.enemies:
+      drawCircle(ei.x, ei.y, EnemyAuraRadius)
+
+  # ── Tile-based Dodge System ───────────────────────────────────────────────────
+  let botCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
+  let botRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
+
+  # Hull + inside-tiles: only recompute on replan tick (commitTicks == 0)
+  type TileRef = tuple[col, row: int]
+  if m.commitTicks == 0:
+    let hull = computeReachableHull(ws.selfX, ws.selfY, ws.selfHeading, ws.selfSpeed,
+                                    m.arenaWidth, m.arenaHeight, 50)
+    # store as named-field seq to match cachedHull type
+    m.cachedHull = @[]
+    for p in hull: m.cachedHull.add (x: p[0], y: p[1])
+    m.cachedInsideTiles = @[]
+    if hull.len >= 3:
+      for row in 0..<m.rows:
+        for col in 0..<m.cols:
+          let cx = m.marginX + (col.float + 0.5) * GridSize
+          let cy = m.marginY + (row.float + 0.5) * GridSize
+          if pointInHull(cx, cy, hull):
+            m.cachedInsideTiles.add (col: col, row: row)
+
+  let insideTiles = m.cachedInsideTiles
+
+  # Find the CoolestLevels distinct lava values among inside-hull tiles
+  var distinctVals: seq[float]
+  for t in insideTiles:
+    let v = m.lavaAt(t.col, t.row)
+    var found = false
+    for dv in distinctVals:
+      if dv == v: found = true; break
+    if not found: distinctVals.add v
+  # Sort ascending (insertion sort — small N)
+  for i in 1..<distinctVals.len:
+    let key = distinctVals[i]
+    var j = i - 1
+    while j >= 0 and distinctVals[j] > key:
+      distinctVals[j + 1] = distinctVals[j]
+      dec j
+    distinctVals[j + 1] = key
+
+  # Collect tiles matching the CoolestLevels coolest distinct values
+  var coolTiles: seq[TileRef]
+  let numLevels = min(CoolestLevels, distinctVals.len)
+  for t in insideTiles:
+    let v = m.lavaAt(t.col, t.row)
+    for li in 0..<numLevels:
+      if v == distinctVals[li]:
+        coolTiles.add t
+        break
+
+  # Score each cool tile by MAX lava on the straight-line path from bot.
+  # A single hot tile on the path (corridor, bullet core, enemy aura) makes the whole path unsafe.
+  const PathSampleStep    = 18.0   # ~half a tile
+  const PathDangerThreshold = 10.0 # max lava on path; above this = unsafe
+  type ScoredTile = tuple[col, row: int; pathMaxHeat: float]
+  var scoredTiles: seq[ScoredTile]
+  for t in coolTiles:
+    let tx = m.marginX + (t.col.float + 0.5) * GridSize
+    let ty = m.marginY + (t.row.float + 0.5) * GridSize
+    let ddx = tx - ws.selfX
+    let ddy = ty - ws.selfY
+    let lineDist = sqrt(ddx*ddx + ddy*ddy)
+    var pathMaxHeat = 0.0
+    if lineDist > 0.1:
+      let steps = max(1, int(lineDist / PathSampleStep))
+      for si in 0..steps:
+        let frac = si.float / steps.float
+        let sx = ws.selfX + ddx * frac
+        let sy = ws.selfY + ddy * frac
+        let (sc, sr) = m.tileAt(sx, sy)
+        pathMaxHeat = max(pathMaxHeat, m.lavaAt(sc, sr))
+    scoredTiles.add (col: t.col, row: t.row, pathMaxHeat: pathMaxHeat)
+
+  # Sort by pathMaxHeat ascending (insertion sort — small N)
+  for i in 1..<scoredTiles.len:
+    let key = scoredTiles[i]
+    var j = i - 1
+    while j >= 0 and scoredTiles[j].pathMaxHeat > key.pathMaxHeat:
+      scoredTiles[j + 1] = scoredTiles[j]
+      dec j
+    scoredTiles[j + 1] = key
+
+  # Absolute threshold filter: safe = path max lava <= PathDangerThreshold.
+  # Fallback: if everything is hot, keep the 2 coolest paths anyway.
+  var safeTiles:    seq[ScoredTile]
+  var blockedTiles: seq[ScoredTile]
+  for t in scoredTiles:
+    if t.pathMaxHeat <= PathDangerThreshold: safeTiles.add t
+    else:                                    blockedTiles.add t
+  if safeTiles.len < 2:
+    # Fallback: promote the least-hot blocked tiles until we have 2
+    # ponytail: O(n) scan on already-sorted seq — fine for small N
+    let needed = 2 - safeTiles.len
+    let promote = min(needed, blockedTiles.len)
+    for i in 0..<promote:
+      safeTiles.add blockedTiles[i]
+    blockedTiles = blockedTiles[promote ..< blockedTiles.len]
+
+  # Commitment logic
+  if m.commitTicks > 0:
+    # Only allow danger replan after MinCommitTicks have elapsed
+    let ticksElapsed = CommitTicks - m.commitTicks
+    if ticksElapsed >= MinCommitTicks:
+      let (cc, cr) = m.tileAt(m.commitTarget.x, m.commitTarget.y)
+      let curLava = m.lavaAt(cc, cr)
+      if curLava > m.commitLava + DangerReplanThreshold:
+        # Mark committed tile blocked so we don't re-pick it
+        m.blockedTile = (col: cc, row: cr, active: true)
+        m.commitTicks = 0  # replan
+      else:
+        dec m.commitTicks
+    else:
+      dec m.commitTicks
+
+  if m.commitTicks == 0 and safeTiles.len > 0:
+    # Filter out the blocked tile from candidates
+    var candidates: seq[ScoredTile]
+    for t in safeTiles:
+      if m.blockedTile.active and t.col == m.blockedTile.col and t.row == m.blockedTile.row:
+        continue
+      candidates.add t
+    if candidates.len == 0: candidates = safeTiles  # all blocked → ignore block
+    let chosen = rand(candidates.high)
+    let ct = candidates[chosen]
+    m.commitTarget = (x: m.marginX + (ct.col.float + 0.5) * GridSize,
+                      y: m.marginY + (ct.row.float + 0.5) * GridSize)
+    m.commitTicks  = CommitTicks
+    m.commitLava   = m.lavaAt(ct.col, ct.row)
+    m.blockedTile.active = false  # clear after successful pick
+
+  if m.debugGraphics:
+    # Reachable hull perimeter (darker blue)
+    if m.cachedHull.len >= 3:
+      let hullPairs: seq[(float, float)] = block:
+        var s: seq[(float, float)]
+        for p in m.cachedHull: s.add (p.x, p.y)
+        s
+      setStrokeColor(fromHex("#336699"))
+      setStrokeWidth(1.0)
+      drawPolygon(hullPairs)
+
+    # Dim (dark cyan) for path-blocked cool tiles
+    setStrokeColor(fromHex("#006666"))
+    setStrokeWidth(1.0)
+    for t in blockedTiles:
+      let x0 = m.marginX + t.col.float * GridSize
+      let y0 = m.marginY + t.row.float * GridSize
+      drawRectangle(x0, y0, GridSize, GridSize)
+
+    # Bright cyan borders on safe-to-reach tiles
+    setStrokeColor(fromHex("#00FFFF"))
+    setStrokeWidth(2.0)
+    for t in safeTiles:
+      let x0 = m.marginX + t.col.float * GridSize
+      let y0 = m.marginY + t.row.float * GridSize
+      drawRectangle(x0, y0, GridSize, GridSize)
+
+    # Green on chosen tile
+    let (chosenCol, chosenRow) = m.tileAt(m.commitTarget.x, m.commitTarget.y)
+    let gx0 = m.marginX + chosenCol.float * GridSize
+    let gy0 = m.marginY + chosenRow.float * GridSize
+    setStrokeColor(fromHex("#00FF00"))
+    setStrokeWidth(2.5)
+    drawRectangle(gx0, gy0, GridSize, GridSize)
+
+    # Blue on bot tile
+    let bx0 = m.marginX + botCol.float * GridSize
+    let by0 = m.marginY + botRow.float * GridSize
+    setStrokeColor(fromHex("#0088FF"))
+    setStrokeWidth(2.5)
+    drawRectangle(bx0, by0, GridSize, GridSize)
+
+    # Committed target line
+    setStrokeColor(fromHex("#00FF00"))
+    setStrokeWidth(1.5)
+    drawLine(ws.selfX, ws.selfY, m.commitTarget.x, m.commitTarget.y)
+
+  # Update position snapshot and call counter for next gap detection
+  m.lastBotX    = ws.selfX
+  m.lastBotY    = ws.selfY
+  m.lastTileCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
+  m.lastTileRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
+  m.callCount += 1
+
+  # ── Steering ─────────────────────────────────────────────────────────────────
+  let stepDx = m.commitTarget.x - ws.selfX
+  let stepDy = m.commitTarget.y - ws.selfY
+  let dist2  = stepDx*stepDx + stepDy*stepDy
+  if dist2 < 324.0:  # already at target (18px radius)
+    return (speed: 0.0, turnRate: 0.0)
+
+  let targetBearing = arctan2(stepDy, stepDx) * 180.0 / PI
+  var delta = targetBearing - ws.selfHeading
+  while delta >  180.0: delta -= 360.0
+  while delta < -180.0: delta += 360.0
+
+  let maxTurnRate = 10.0 - 0.75 * abs(ws.selfSpeed)
+  var speed: float
+  var turnRate: float
+  if abs(delta) <= 90.0:
+    speed    = MaxSpeed
+    turnRate = clamp(delta, -maxTurnRate, maxTurnRate)
+  else:
+    let flipped = if delta > 0.0: delta - 180.0 else: delta + 180.0
+    speed    = -MaxSpeed
+    turnRate = clamp(flipped, -maxTurnRate, maxTurnRate)
+
+  result = (speed: speed, turnRate: turnRate)

common_libs/movements/wave_surfer.nim

@@ -27,9 +27,10 @@ type
     waves:           seq[WSWave]
     prevEnergy:      float64
     strafeDir:       float64  ## +1.0 or -1.0
+    debugGraphics*:  bool
 
 proc initWaveSurfer*(): WaveSurferModule =
-  var m = WaveSurferModule(prevEnergy: 100.0, strafeDir: 1.0)
+  var m = WaveSurferModule(prevEnergy: 100.0, strafeDir: 1.0, debugGraphics: false)
   for i in 0..<WS_BINS: m.bins[i] = 1.0
   m
 

common_libs/radars/melee_scan.nim

@@ -9,8 +9,9 @@ export radar_interface
 const MaxRadarTurnRate* = 45.0  ## deg/tick — Tank Royale hard limit
 
 type MeleeScanModule* = object
+  debugGraphics*: bool
 
-proc initMeleeScan*(): MeleeScanModule = MeleeScanModule()
+proc initMeleeScan*(): MeleeScanModule = MeleeScanModule(debugGraphics: false)
 
 proc computeScan*(m: MeleeScanModule, state: WorldState): float =
   ## Always spin at max rate — guarantees full arena coverage every 8 ticks.

common_libs/radars/radar_lock_module.nim

@@ -7,6 +7,7 @@ import ../radar_lock/radar_lock as radar_lock_impl
 export radar_interface
 
 type RadarLockModule* = object
+  debugGraphics*: bool
 
 proc computeScan*(m: RadarLockModule, state: WorldState): float =
   ## Returns radar turn rate (deg/tick) to lock onto enemy.

common_libs/targeting/enemy_tracker.nim

@@ -18,6 +18,8 @@ type
     enemies*: Table[int, EnemyState]
 
 proc update*(et: var EnemyTracker, botId: int, x, y, heading, speed, energy: float, tick: int) =
+  if botId in et.enemies and not et.enemies[botId].alive:
+    return  # don't resurrect dead bots
   et.enemies[botId] = EnemyState(id: botId, x: x, y: y, heading: heading,
                                   speed: speed, energy: energy,
                                   lastSeenTick: tick, alive: true)