feat(SNNBot): physics-based input encoding for lead generalization

Replace (bearing, velDir, speed) with (relVelDir, speed, distance).
Raw bearing is irrelevant to lead offset — the correction depends on
how the target crosses the line of fire, not where it is. This lets
exemplars from one position generalize to all positions with similar
geometry.

SNNBot_garage/src/SNNBot.nim

@@ -1,6 +1,6 @@
 # SNNBot — SNN core + aiming loop prototype (issue #152).
 # 80-input population-coded → 12 LIF hidden → polar-coded (sin/cos) output decoded via atan2.
-# Inputs: bearing [0-35], velocity direction [36-71], speed [72-79].
+# Inputs: relVelDir [0-35], speed [36-38], distance thermometer [39-46]. Raw bearing removed (irrelevant to lead).
 # No movement, no firing. SuperSpike three-factor rule on all weights (issue #158).
 # Binary reservoir alternative toggled via USE_RESERVOIR const (issue #159).
 #
@@ -333,45 +333,39 @@ method onBulletHit*(bot: SNNBot, e: BulletHitBotEvent) =
 
 # ── Reservoir helpers ─────────────────────────────────────────────────────────
 
-proc toBinaryInput(bearing: float, velDir: float, velSpeed: float, hasVel: bool): BitVec80 =
+proc toBinaryInput(bearing: float, velDir: float, velSpeed: float, distance: float, hasVel: bool): BitVec80 =
-  ## Binary-native encoding using relative velocity direction for cross-round generalization.
+  ## Physics-based encoding for lead generalization (issue #152).
-  ## Bits 0-35: bearing (absolute, for range estimate)
+  ## Raw bearing removed — irrelevant to lead offset.
-  ## Bits 36-71: relative velocity direction = (velDir - bearing) mod 360
+  ## Bits  0-35: relVelDir = (velDir - bearing) normalized to [-180,180), 36 bins × 10°, 5 active (center ± 2 neighbors).
-  ##   This encodes lateral vs. radial motion regardless of which wall Walls is on.
+  ## Bits 36-38: speed level (3 bits, center ± 1 neighbor).
-  ## Bits 72-79: speed bands
+  ## Bits 39-46: distance thermometer, 8 bands of ~125px in [0,1000].
-  ## ponytail: relative-vel encoding; revert to absolute if aimer convergence regresses
+  ## Bits 47-79: unused (sparse is fine for popcount similarity).
+  ## ponytail: physics-based; revert to absolute bearing if convergence regresses
   result = [0'u64, 0'u64]
 
-  # Bearing: bits 0-35 (36 bits, 10° bands)
-  # Activate center band + 2 neighbors on each side = 5 bits
-  let bNorm = (bearing + 180.0) / 10.0  # 0..36
-  let bCenter = int(bNorm) mod 36
-  for offset in -2 .. 2:
-    let idx = (bCenter + offset + 36) mod 36
-    let word = idx div 64
-    let bit = idx mod 64
-    result[word] = result[word] or (1'u64 shl bit)
-
   if hasVel:
-    # Relative velocity direction: (velDir - bearing + 360) mod 360
+    # Relative velocity direction: how the target crosses our line of fire
-    # Encodes lateral/radial motion direction independent of which wall Walls is on
+    var relVelDir = (velDir - bearing)
-    let relVel = ((velDir - bearing) + 360.0) mod 360.0
+    while relVelDir >= 180.0: relVelDir -= 360.0
-    let vNorm = relVel / 10.0
+    while relVelDir < -180.0: relVelDir += 360.0
+    let vNorm = (relVelDir + 180.0) / 10.0  # 0..36
     let vCenter = int(vNorm) mod 36
     for offset in -2 .. 2:
-      let idx = 36 + (vCenter + offset + 36) mod 36
+      let idx = (vCenter + offset + 36) mod 36  # bits 0-35
-      let word = idx div 64
+      result[idx div 64] = result[idx div 64] or (1'u64 shl (idx mod 64))
-      let bit = idx mod 64
-      result[word] = result[word] or (1'u64 shl bit)
 
-    # Speed: bits 72-79 (8 bits, 1 unit/tick bands)
+    # Speed: bits 36-38, center ± 1 neighbor clamped to [0,2]
-    # Activate center + 1 neighbor on each side = 3 bits
+    let sCenter = clamp(int(velSpeed), 0, 2)
-    let sCenter = clamp(int(velSpeed), 0, 7)
     for offset in -1 .. 1:
-      let idx = 72 + clamp(sCenter + offset, 0, 7)
+      let idx = 36 + clamp(sCenter + offset, 0, 2)
-      let word = idx div 64
+      result[idx div 64] = result[idx div 64] or (1'u64 shl (idx mod 64))
-      let bit = idx mod 64
+
-      result[word] = result[word] or (1'u64 shl bit)
+  # Distance thermometer: bits 39-46, 8 bands of ~125px over [0,1000]
+  # All bits up to the current band set (inclusive)
+  let band = clamp(int(distance / 125.0), 0, 7)
+  for b in 0 .. band:
+    let idx = 39 + b
+    result[idx div 64] = result[idx div 64] or (1'u64 shl (idx mod 64))
 
 # ── Main loop ─────────────────────────────────────────────────────────────────
 
@@ -396,7 +390,7 @@ method run*(bot: SNNBot) =
       let absBearing = bot.enemyBearing
       bot.lastRelBearing = normalizeRelativeAngle(absBearing - gunDir)
       when USE_RESERVOIR:
-        let binInput = toBinaryInput(absBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
+        let binInput = toBinaryInput(absBearing, bot.velDirDeg, bot.velSpeed, bot.enemyDist, bot.hasLastPos)
         let aimOffset = bot.res.forward(binInput)   # lead correction offset or -999.0 sentinel
         bot.lastBinInput     = binInput
         bot.lastDecideGunDir = gunDir

SNNBot_garage/src/reservoir.nim

@@ -5,7 +5,7 @@ import std/[bitops, math]
 const
   INPUT_BITS* = 80
   WORDS_IN*   = 2       # 80 bits → 2 × uint64 (128 bits, only 80 used)
-  MAX_K*      = 128
+  MAX_K*      = 64
   MIN_SIM*    = 3
 
 type