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>
This commit is contained in:
@@ -6,6 +6,7 @@
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import std/math
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import gun_harness/gun_interface
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import movement_harness/movement_interface
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import movement_harness/gunheat_tracker
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# Inline the gravity engine types and logic here to keep the module self-contained.
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# We re-export nothing from gravity.nim — it's not on the common_libs path.
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@@ -56,6 +57,10 @@ type
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# ── Gravity engine internals ──────────────────────────────────────────────────
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const
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CLR_CYAN = "\e[36m"
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CLR_RST = "\e[0m"
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const
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KBullet = 1500.0
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KWall = 4000.0
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@@ -136,28 +141,33 @@ proc computeForces(eng: GravityEngine, botPos, enemyPos: Vec2, arenaW, arenaH: f
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for ph in eng.phantoms:
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if ph.alive:
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let d = dist(ph.pos, botPos)
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if d < 150.0:
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if d < 250.0:
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hasClose = true
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total = total + normalize(botPos - ph.pos) * (KBullet * (1.0 - d/150.0))
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total = total + normalize(botPos - ph.pos) * (KBullet * (1.0 - d/250.0))
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# Priority 2: wall escape (hard override)
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# Priority 2: wall escape (additive — blends with phantom forces)
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let minW = min(min(botPos.x, arenaW-botPos.x), min(botPos.y, arenaH-botPos.y))
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if minW < VeryClose:
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var ex = 0.0; var ey = 0.0
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if botPos.x < VeryClose: ex = 1.0
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if botPos.x < VeryClose: ex = 1.0
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if arenaW - botPos.x < VeryClose: ex = -1.0
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if botPos.y < VeryClose: ey = 1.0
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if botPos.y < VeryClose: ey = 1.0
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if arenaH - botPos.y < VeryClose: ey = -1.0
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let m = sqrt(ex*ex + ey*ey)
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if m > 0.1: return normalize(vec2(ex,ey)) * 500.0
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let wm = sqrt(ex*ex + ey*ey)
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if wm > 0.1: total = total + normalize(vec2(ex, ey)) * 500.0
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# Priority 3: distance to enemy
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# Priority 3: distance to enemy — symmetric attraction/repulsion around PreferredDist.
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# Linear ramp over ±150px so the transition is smooth, not a hard switch.
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# ponytail: linear ramp, tune rampWidth if distance oscillates
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let de = dist(enemyPos, botPos)
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if not hasClose and de > 100.0:
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if de < PreferredDist:
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total = total + normalize(botPos - enemyPos) * KEnemy
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elif de > PreferredDist + 100.0:
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total = total + normalize(enemyPos - botPos) * (KEnemy * 0.3)
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const rampWidth = 150.0
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let distErr = de - PreferredDist # >0 = too far, <0 = too close
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let t = clamp(distErr / rampWidth, -1.0, 1.0)
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# t > 0 → attract toward enemy; t < 0 → repel away
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let dir = if t >= 0.0: normalize(enemyPos - botPos)
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else: normalize(botPos - enemyPos)
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total = total + dir * (KEnemy * abs(t))
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# Priority 4: weak wall repulsion
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let dL = max(botPos.x, WallMinDist)
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@@ -171,31 +181,67 @@ proc computeForces(eng: GravityEngine, botPos, enemyPos: Vec2, arenaW, arenaH: f
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# ── MovementModule wrapper ────────────────────────────────────────────────────
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type PhantomMeteorModule* = object
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engine: GravityEngine
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engine: GravityEngine
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gunheat: GunheatTracker
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proc initPhantomMeteor*(): PhantomMeteorModule =
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PhantomMeteorModule(engine: initEngine())
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PhantomMeteorModule(engine: initEngine(), gunheat: initGunheatTracker())
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proc resetRound*(m: var PhantomMeteorModule) =
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## Clear per-round transients (phantoms, waves, energy baseline), keep histogram.
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m.engine.phantoms = @[]
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m.engine.waves = @[]
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m.engine.prevEnemyEnergy = 100.0
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m.gunheat.resetRound()
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proc computeMove*(m: var PhantomMeteorModule, ws: WorldState): MoveCommand =
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let botPos = vec2(ws.selfX, ws.selfY)
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let enemyPos = vec2(ws.enemyX, ws.enemyY)
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# ── Ram override ─────────────────────────────────────────────────────────────
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let ramDist = dist(botPos, enemyPos)
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let ramFinisher = ramDist < 200.0 and ws.enemyEnergy < 10.0 and ws.selfEnergy > ws.enemyEnergy
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let ramOpportunity = ramDist < 60.0 and ws.selfEnergy > ws.enemyEnergy + 20.0
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if ramFinisher or ramOpportunity:
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let tag = if ramFinisher: "finisher" else: "opportunity"
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echo CLR_CYAN & "[ram:" & tag & "] dist=" & $int(ramDist) &
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" selfE=" & $int(ws.selfEnergy) & " enemyE=" & $int(ws.enemyEnergy) & CLR_RST
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let headingRad = arctan2(enemyPos.y - botPos.y, enemyPos.x - botPos.x)
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let desiredDeg = radToDeg(headingRad)
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var delta = desiredDeg - ws.selfHeading
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while delta > 180.0: delta -= 360.0
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while delta < -180.0: delta += 360.0
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return (speed: 8.0, turnRate: delta.clamp(-10.0, 10.0))
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# Advance simulation
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m.engine.tickPhantoms()
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m.engine.tickWaves(botPos)
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# Fire detection → spawn phantoms + wave
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let (fired, power) = m.engine.detectFire(ws.enemyEnergy)
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if fired:
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let bspeed = 20.0 - 3.0 * power
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m.engine.spawnPhantoms(enemyPos, botPos, bspeed)
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m.engine.spawnWave(enemyPos, botPos, bspeed)
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# Fire detection via gunheat tracker (1-2 ticks earlier than energy drop).
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var spawnedThisTick = false
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for ev in m.gunheat.tick(ws):
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let bspeed = 20.0 - 3.0 * ev.bulletPower
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let evPos = vec2(ev.fireX, ev.fireY)
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case ev.kind
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of wePredicted:
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m.engine.spawnPhantoms(evPos, botPos, bspeed)
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m.engine.spawnWave(evPos, botPos, bspeed)
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spawnedThisTick = true
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of weConfirmed:
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if not spawnedThisTick:
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m.engine.spawnPhantoms(evPos, botPos, bspeed)
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m.engine.spawnWave(evPos, botPos, bspeed)
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spawnedThisTick = true
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# Fallback: energy-drop detection (fires if gunheat tracker missed it).
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if not spawnedThisTick:
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let (fired, power) = m.engine.detectFire(ws.enemyEnergy)
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if fired:
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let bspeed = 20.0 - 3.0 * power
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m.engine.spawnPhantoms(enemyPos, botPos, bspeed)
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m.engine.spawnWave(enemyPos, botPos, bspeed)
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else:
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# Keep prevEnemyEnergy in sync so energy-drop fallback stays coherent.
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discard m.engine.detectFire(ws.enemyEnergy)
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# Compute force vector
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let force = m.engine.computeForces(botPos, enemyPos, ws.arenaWidth, ws.arenaHeight)
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@@ -7,7 +7,12 @@ import std/[math]
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import gun_harness/gun_interface
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import movement_harness/movement_interface
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const WS_BINS = 31
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const WS_BINS = 31
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const WallMargin = 40.0
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const DodgeTicks = 15.0 # approximate ticks to reach dodge position
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const WS_PrefDist = 400.0 # optimal engagement distance
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const WS_DistBand = 50.0 # deadband: pure strafe within ±50px of preferred
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const WS_RadialFrac = 0.35 # radial blend fraction (0=pure strafe, 1=pure radial)
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type
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WSWave = object
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@@ -109,10 +114,25 @@ proc computeMove*(m: var WaveSurferModule, ws: WorldState): MoveCommand =
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let avg = total / float64(WS_BINS)
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if m.bins[curBin] > avg:
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# Find lowest-danger bin
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# Find lowest-danger bin, penalizing positions near walls
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let dodgeDist = ws.selfSpeed * DodgeTicks
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var bestBin = 0
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for j in 1..<WS_BINS:
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if m.bins[j] < m.bins[bestBin]: bestBin = j
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let gfJ = binToGF(j)
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let angleJ = w.bearing + gfJ * maxA
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let futureX = botX + cos(angleJ) * dodgeDist
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let futureY = botY + sin(angleJ) * dodgeDist
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let wallHit = futureX < WallMargin or futureX > ws.arenaWidth - WallMargin or
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futureY < WallMargin or futureY > ws.arenaHeight - WallMargin
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let dangerJ = if wallHit: m.bins[j] * 5.0 else: m.bins[j]
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let gfBest = binToGF(bestBin)
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let angleB = w.bearing + gfBest * maxA
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let futureXB = botX + cos(angleB) * dodgeDist
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let futureYB = botY + sin(angleB) * dodgeDist
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let wallHitB = futureXB < WallMargin or futureXB > ws.arenaWidth - WallMargin or
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futureYB < WallMargin or futureYB > ws.arenaHeight - WallMargin
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let dangerB = if wallHitB: m.bins[bestBin] * 5.0 else: m.bins[bestBin]
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if dangerJ < dangerB: bestBin = j
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let bestGF = binToGF(bestBin)
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# Move in direction of best GF: positive = CCW (orbit left), negative = CW
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m.strafeDir = if bestGF >= curGF: 1.0 else: -1.0
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@@ -120,9 +140,48 @@ proc computeMove*(m: var WaveSurferModule, ws: WorldState): MoveCommand =
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# Perpendicular strafe (same body trick as phantom_meteor)
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let enemyBearingRad = arctan2(enemyY - botY, enemyX - botX)
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# Perpendicular in chosen strafe direction
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let perpAngle =
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var perpAngle =
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if m.strafeDir >= 0.0: enemyBearingRad + PI * 0.5
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else: enemyBearingRad - PI * 0.5
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# Hard wall escape: if near any wall, blend toward arena center
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# ponytail: linear blend, upgrade to override if blending proves too weak
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let nearLeft = botX < WallMargin
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let nearRight = botX > ws.arenaWidth - WallMargin
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let nearBottom = botY < WallMargin
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let nearTop = botY > ws.arenaHeight - WallMargin
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if nearLeft or nearRight or nearBottom or nearTop:
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# Flip strafe if it pushes further into the wall
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let px = cos(perpAngle)
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let py = sin(perpAngle)
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if (nearLeft and px < 0.0) or (nearRight and px > 0.0) or
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(nearBottom and py < 0.0) or (nearTop and py > 0.0):
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m.strafeDir = -m.strafeDir
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perpAngle = if m.strafeDir >= 0.0: enemyBearingRad + PI * 0.5
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else: enemyBearingRad - PI * 0.5
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# Blend 50% toward arena center
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let escapeAngle = arctan2(ws.arenaHeight * 0.5 - botY, ws.arenaWidth * 0.5 - botX)
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let ex = cos(escapeAngle) + cos(perpAngle)
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let ey = sin(escapeAngle) + sin(perpAngle)
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perpAngle = arctan2(ey, ex)
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# Distance control: blend a radial component when outside the deadband.
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# Secondary to bullet dodge — capped at WS_RadialFrac of travel direction.
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# ponytail: linear blend, tune WS_RadialFrac if approach/retreat feels sluggish
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let enemyDist = sqrt((enemyX - botX)^2 + (enemyY - botY)^2)
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let distErr = enemyDist - WS_PrefDist
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let radialFrac =
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if distErr > WS_DistBand: WS_RadialFrac # too far → approach
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elif distErr < -WS_DistBand: -WS_RadialFrac # too close → retreat
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else: 0.0 # deadband → pure strafe
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if abs(radialFrac) > 1e-9:
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# Radial direction: toward enemy (positive) or away (negative)
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let radialAngle = arctan2(enemyY - botY, enemyX - botX) +
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(if radialFrac < 0.0: PI else: 0.0)
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let rx = cos(perpAngle) * (1.0 - abs(radialFrac)) + cos(radialAngle) * abs(radialFrac)
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let ry = sin(perpAngle) * (1.0 - abs(radialFrac)) + sin(radialAngle) * abs(radialFrac)
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perpAngle = arctan2(ry, rx)
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let desiredDeg = radToDeg(perpAngle)
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var delta = desiredDeg - ws.selfHeading
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