feat(movement): dodge timing, wall avoidance, distance control, ram finisher
PhantomMeteor: - Ram finisher: charge at enemy when <200px and their energy <10 - Ram opportunity: charge when <60px and we have >20 energy advantage - Integrated gunheat tracker for 1-2 tick earlier wave detection - Distance control: smooth linear ramp toward preferred engagement distance - Phantom range expanded 150→250px to catch closer threats WaveSurfer: - Wall-aware dodge bin selection: penalize bins leading off-arena - Dodge timing: predict future position 15 ticks ahead for safety - Distance control: radial blend when outside deadband (350±50px) - Wall escape: invert strafe if pushing further into wall, blend toward center ModularBot: - Wired KNN gun (purple/magenta) - Shadows tracked for movement (safer GF prediction) - Bullet lifecycle management (onBulletFired/onBulletHitBot/onBulletHitWall) - Unified phantom_meteor movement (wave_surfer unplugged) - Config logging on round start + gun switch Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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@@ -23,20 +23,22 @@ import guns/stop_shot
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import guns/displacement
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import guns/averaged_lead
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import guns/decay_gf
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import guns/knn_gun
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import movements/phantom_meteor
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import movements/wave_surfer
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import movement_harness/virtual_bodies as mvb
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import movement_harness/bullet_shadows
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const botJsonPath = currentSourcePath().parentDir / "ModularBot.json"
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const DebugVBullets = false
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const DebugCircular = false
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const GunNames = ["HeadOn", "Linear", "Tsetlin", "Circular", "GuessFactor", "Pattern", "AntiSurf", "WallBounce", "Accel", "StopShot", "Displace", "AvgLead", "DecayGF"]
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const GunNames = ["HeadOn", "Linear", "Tsetlin", "Circular", "GuessFactor", "Pattern", "AntiSurf", "WallBounce", "Accel", "StopShot", "Displace", "AvgLead", "DecayGF", "KNN"]
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const
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CLR_GUN = "\e[33m" # yellow
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CLR_MOVE = "\e[36m" # cyan
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CLR_FIRE = "\e[31m" # red
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CLR_RADAR = "\e[32m" # green
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CLR_CHANGE = "\e[32m" # green (highlight for changed module)
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CLR_ROUND = "\e[1;37m" # bold white
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CLR_RST = "\e[0m" # reset
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@@ -60,15 +62,20 @@ type
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displace: DisplacementGun
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avgLead: AveragedLeadGun
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decayGF: DecayGFGun
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knnGun: KNNGun
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mover: PhantomMeteorModule
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waveMover: WaveSurferModule
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movementId: int ## 0=phantom, 1=waveSurf
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moveTracker: VirtualBodyTracker
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virtualHits: int
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virtualMiss: int
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tick: int
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currentGun: int
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proc printConfig(bot: ModularBot, changed: string = "") =
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let gunName = GunNames[bot.currentGun]
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let gunColor = if changed == "gun" or changed == "all": CLR_CHANGE else: CLR_RST
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let radarColor = if changed == "radar" or changed == "all": CLR_CHANGE else: CLR_RST
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echo CLR_ROUND & "[config]" & CLR_RST & " " & gunColor & "gun=" & gunName & CLR_RST & " | " & CLR_MOVE & "move=phantom_meteor" & CLR_RST & " | " & radarColor & "radar=radar_lock" & CLR_RST
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proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): WorldState =
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WorldState(
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enemyX: ex,
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@@ -106,6 +113,7 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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var dsPreds: array[len(PowerBins), GunPrediction]
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var alPreds: array[len(PowerBins), GunPrediction]
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var dgPreds: array[len(PowerBins), GunPrediction]
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var knnPreds: array[len(PowerBins), GunPrediction]
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for i in 0..<len(PowerBins):
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headsUp[i] = bot.headOn.predict(bot.lastState, bulletSpeed(PowerBins[i]))
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linPreds[i] = bot.linear.predict(bot.lastState, bulletSpeed(PowerBins[i]))
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@@ -120,6 +128,7 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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dsPreds[i] = bot.displace.predict(bot.lastState, bulletSpeed(PowerBins[i]))
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alPreds[i] = bot.avgLead.predict(bot.lastState, bulletSpeed(PowerBins[i]))
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dgPreds[i] = bot.decayGF.predict(bot.lastState, bulletSpeed(PowerBins[i]))
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knnPreds[i] = bot.knnGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
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bot.tracker.spawnBullets(0, headsUp, bot.lastState)
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bot.tracker.spawnBullets(1, linPreds, bot.lastState)
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@@ -136,6 +145,7 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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bot.tracker.spawnBullets(10, dsPreds, bot.lastState)
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bot.tracker.spawnBullets(11, alPreds, bot.lastState)
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bot.tracker.spawnBullets(12, dgPreds, bot.lastState)
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bot.tracker.spawnBullets(13, knnPreds, bot.lastState)
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# Resolve bullets that have travelled far enough
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let st = bot.lastState
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@@ -159,6 +169,7 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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of 10: bot.displace.onResult(fe)
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of 11: bot.avgLead.onResult(fe)
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of 12: bot.decayGF.onResult(fe)
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of 13: bot.knnGun.onResult(fe)
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else: discard
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if fe.hit: inc bot.virtualHits else: inc bot.virtualMiss
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when DebugVBullets:
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@@ -172,8 +183,8 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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# Log gun switch + update turret/bullet colors
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if selectedGun != bot.currentGun:
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echo CLR_GUN & fmt"[gun] switched: {GunNames[selectedGun]}" & CLR_RST
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bot.currentGun = selectedGun
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bot.printConfig("gun")
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case selectedGun
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of 0: setTurretColor("#FF3333"); setBulletColor("#FF6666") # HeadOn: warm red
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of 1: setTurretColor("#3366FF"); setBulletColor("#6699FF") # Linear: electric blue
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@@ -188,6 +199,7 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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of 10: setTurretColor("#006600"); setBulletColor("#009900") # Displace: dark green
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of 11: setTurretColor("#996633"); setBulletColor("#CC9966") # AvgLead: brown
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of 12: setTurretColor("#008888"); setBulletColor("#00AAAA") # DecayGF: dark cyan
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of 13: setTurretColor("#CC00CC"); setBulletColor("#FF44FF") # KNN: purple/magenta
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else: discard
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let pred = case selectedGun
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@@ -203,6 +215,7 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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of 10: bot.displace.predict(bot.lastState, bulletSpeed(power))
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of 11: bot.avgLead.predict(bot.lastState, bulletSpeed(power))
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of 12: bot.decayGF.predict(bot.lastState, bulletSpeed(power))
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of 13: bot.knnGun.predict(bot.lastState, bulletSpeed(power))
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else: bot.headOn.predict(bot.lastState, bulletSpeed(power))
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let target = aimAngle(getX(), getY(), pred.x, pred.y)
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@@ -220,14 +233,24 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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setGunTurnRate(normDelta)
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method onBulletFired*(bot: ModularBot, e: BulletFiredEvent) =
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bot.moveTracker.shadows.addBullet(e.bullet.x, e.bullet.y,
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degToRad(e.bullet.direction), e.bullet.power)
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method onBulletHitBot*(bot: ModularBot, e: BulletHitBotEvent) =
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bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
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method onBulletHitWall*(bot: ModularBot, e: BulletHitWallEvent) =
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bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
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method onBulletHitBullet*(bot: ModularBot, e: BulletHitBulletEvent) =
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bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
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method onHitByBullet*(bot: ModularBot, e: HitByBulletEvent) =
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bot.moveTracker.registerHit(e.bullet.power, e.bullet.direction, getX(), getY())
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method onRoundEnded*(bot: ModularBot, e: RoundEndedEventForBot) =
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let newId = bot.moveTracker.bestMovement()
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if newId != bot.movementId:
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echo CLR_MOVE & "[move] switching: " & (if newId == 0: "phantom_meteor" else: "wave_surfer") & CLR_RST
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bot.movementId = newId
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discard
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method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
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setAdjustGunForBodyTurn(true)
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@@ -235,22 +258,15 @@ method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
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setAdjustRadarForGunTurn(true)
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setRadarColor("#004444") # RadarLock: dark teal, faint without alpha
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setScanColor("#0D4D4D") # RadarLock scan arc: very dark teal, faint without alpha
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setBodyColor("#FF9900") # PhantomMeteor: deep orange/gold
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bot.radar.init()
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bot.mover.resetRound()
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bot.hasContact = false
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bot.tick = 0
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bot.currentGun = -1
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bot.moveTracker.resetRound(getX(), getY(), getDirection(), getSpeed())
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if bot.movementId == 0:
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bot.mover.resetRound()
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setBodyColor("#FF9900") # PhantomMeteor: deep orange/gold
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echo CLR_MOVE & "[move] using phantom_meteor" & CLR_RST
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else:
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bot.waveMover.resetRound()
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setBodyColor("#0099FF") # WaveSurfer: blue
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echo CLR_MOVE & "[move] using wave_surfer" & CLR_RST
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echo CLR_GUN & fmt"[gun] starting: {GunNames[0]}" & CLR_RST
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bot.currentGun = 0
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bot.printConfig("all")
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# tracker fitness persists across rounds (rolling window carries over)
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method onGameStarted*(bot: ModularBot, e: GameStartedEventForBot) =
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@@ -267,24 +283,15 @@ method run*(bot: ModularBot) =
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go()
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continue
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# Movement harness: compute all, feed tracker, apply active
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let phantomCmd = bot.mover.computeMove(bot.lastState)
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let waveSurfCmd = bot.waveMover.computeMove(bot.lastState)
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bot.moveTracker.tick(bot.lastState, [phantomCmd, waveSurfCmd])
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let activeId = bot.moveTracker.bestMovement()
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if activeId != bot.movementId:
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bot.movementId = activeId
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echo CLR_MOVE & "[move] switched to: " & (if activeId == 0: "phantom_meteor" else: "wave_surfer") & CLR_RST
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let (spd, tr) = if bot.movementId == 0: phantomCmd else: waveSurfCmd
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let (spd, tr) = bot.mover.computeMove(bot.lastState)
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setTargetSpeed(spd)
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setTurnRate(tr)
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setRadarTurnRate(bot.radar.computeScan(bot.lastState))
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go()
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when isMainModule:
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var bot = ModularBot(
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tracker: vb.initTracker(13), # 0: HeadOn, 1: Linear, 2: Tsetlin, 3: Circular, 4: GuessFactor, 5: Pattern, 6: AntiSurf, 7: WallBounce, 8: Accel, 9: StopShot, 10: Displace, 11: AvgLead, 12: DecayGF
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tracker: vb.initTracker(14), # 0: HeadOn, 1: Linear, 2: Tsetlin, 3: Circular, 4: GuessFactor, 5: Pattern, 6: AntiSurf, 7: WallBounce, 8: Accel, 9: StopShot, 10: Displace, 11: AvgLead, 12: DecayGF, 13: KNN
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headOn: HeadOnGun(),
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linear: LinearGun(),
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circular: CircularGun(),
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@@ -298,10 +305,10 @@ when isMainModule:
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displace: initDisplacementGun(),
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avgLead: initAveragedLeadGun(),
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decayGF: initDecayGFGun(),
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knnGun: initKNNGun(),
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radar: RadarLockModule(),
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mover: initPhantomMeteor(),
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waveMover: initWaveSurfer(),
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moveTracker: mvb.initVirtualBodyTracker(2), # 0=phantom, 1=waveSurf
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moveTracker: mvb.initVirtualBodyTracker(1),
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currentGun: -1,
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)
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start(bot, botJsonPath)
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