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feat(ModularBot): melee targeting — multi-enemy tracker, per-enemy gun fitness, radar auto-switch

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Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Davide Cappellini
2026-09-20 12:25:10 +02:00
parent 30d00ba163
commit ab473c6b68
9 changed files with 375 additions and 174 deletions
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ModularBot_garage/src/ModularBot.nim
+232 -146
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@@ -1,12 +1,13 @@
## ModularBot — plugin gun architecture tracer bullet. ## ModularBot — plugin gun architecture tracer bullet.
## Guns: HeadOnGun (0), LinearGun (1), TsetlinGun (2), CircularGun (3), GFGun (4), PatternMatcherGun (5), AntiSurferGun (6), WallBounceGun (7), AccelGun (8), StopShotGun (9), DisplacementGun (10), AveragedLeadGun (11), DecayGFGun (12) via GunHarness. ## Guns: HeadOnGun (0), LinearGun (1), TsetlinGun (2), CircularGun (3), GFGun (4), PatternMatcherGun (5), AntiSurferGun (6), WallBounceGun (7), AccelGun (8), StopShotGun (9), DisplacementGun (10), AveragedLeadGun (11), DecayGFGun (12) via GunHarness.
## Radar: RadarLockModule via radar harness. ## Radar: RadarLockModule (1v1) / MeleeScanModule (2+ enemies), auto-switched per tick.
## Movement: OscillatorModule (perpendicular strafing). ## Movement: OscillatorModule (perpendicular strafing).
import std/[math, os, strformat] import std/[math, os, strformat, tables]
import robocode_tankroyale_botapi import robocode_tankroyale_botapi
import radar_harness/radar_interface import radar_harness/radar_interface
import radars/radar_lock_module import radars/radar_lock_module
import radars/melee_scan
import gun_harness/gun_interface import gun_harness/gun_interface
import gun_harness/virtual_bullets as vb import gun_harness/virtual_bullets as vb
import gun_harness/selector import gun_harness/selector
@@ -27,6 +28,8 @@ import guns/knn_gun
import movements/phantom_meteor import movements/phantom_meteor
import movement_harness/virtual_bodies as mvb import movement_harness/virtual_bodies as mvb
import movement_harness/bullet_shadows import movement_harness/bullet_shadows
import targeting/enemy_tracker
import targeting/target_selector
const botJsonPath = currentSourcePath().parentDir / "ModularBot.json" const botJsonPath = currentSourcePath().parentDir / "ModularBot.json"
const DebugVBullets = false const DebugVBullets = false
@@ -48,6 +51,10 @@ type
enemyBearing: float enemyBearing: float
lastState: WorldState lastState: WorldState
radar: RadarLockModule radar: RadarLockModule
meleeScan: MeleeScanModule
enemyCount: int
initialEnemyCount: int
radarMode: int # 0 = lock, 1 = melee
tracker: VirtualTracker tracker: VirtualTracker
headOn: HeadOnGun headOn: HeadOnGun
linear: LinearGun linear: LinearGun
@@ -69,12 +76,16 @@ type
virtualMiss: int virtualMiss: int
tick: int tick: int
currentGun: int currentGun: int
currentTargetId: int
targetSwitchTick: int
enemyTracker: EnemyTracker
proc printConfig(bot: ModularBot, changed: string = "") = proc printConfig(bot: ModularBot, changed: string = "") =
let gunName = GunNames[bot.currentGun] let gunName = GunNames[bot.currentGun]
let gunColor = if changed == "gun" or changed == "all": CLR_CHANGE else: CLR_RST 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 radarColor = if changed == "radar" or changed == "all": CLR_CHANGE else: CLR_RST
echo CLR_ROUND & "[config]" & CLR_RST & " " & gunColor & "gun=" & gunName & CLR_RST & " | " & CLR_MOVE & "move=phantom_meteor" & CLR_RST & " | " & radarColor & "radar=radar_lock" & CLR_RST let radarName = if bot.radarMode == 0: "radar_lock" else: "melee_scan"
echo CLR_ROUND & "[config]" & CLR_RST & " " & gunColor & "gun=" & gunName & CLR_RST & " | " & CLR_MOVE & "move=phantom_meteor" & CLR_RST & " | " & radarColor & "radar=" & radarName & CLR_RST & " | enemies=" & $bot.enemyTracker.allAlive().len & " target=#" & $bot.currentTargetId
proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): WorldState = proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): WorldState =
WorldState( WorldState(
@@ -95,142 +106,8 @@ proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): Worl
) )
method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) = method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
bot.enemyBearing = directionTo(getX(), getY(), e.x, e.y) bot.enemyTracker.update(e.scannedBotId, e.x, e.y, e.direction, e.speed, e.energy, bot.tick)
bot.hasContact = true bot.hasContact = true
bot.lastState = bot.buildState(e.x, e.y, e.speed, e.direction, e.energy)
# Collect predictions for all power bins from all guns
var headsUp: array[len(PowerBins), GunPrediction]
var linPreds: array[len(PowerBins), GunPrediction]
var tmPreds: array[len(PowerBins), GunPrediction]
var circPreds: array[len(PowerBins), GunPrediction]
var gfPreds: array[len(PowerBins), GunPrediction]
var pmPreds: array[len(PowerBins), GunPrediction]
var asPreds: array[len(PowerBins), GunPrediction]
var wbPreds: array[len(PowerBins), GunPrediction]
var acPreds: array[len(PowerBins), GunPrediction]
var ssPreds: array[len(PowerBins), GunPrediction]
var dsPreds: array[len(PowerBins), GunPrediction]
var alPreds: array[len(PowerBins), GunPrediction]
var dgPreds: array[len(PowerBins), GunPrediction]
var knnPreds: array[len(PowerBins), GunPrediction]
for i in 0..<len(PowerBins):
headsUp[i] = bot.headOn.predict(bot.lastState, bulletSpeed(PowerBins[i]))
linPreds[i] = bot.linear.predict(bot.lastState, bulletSpeed(PowerBins[i]))
tmPreds[i] = bot.tsetlin.predict(bot.lastState, bulletSpeed(PowerBins[i]))
circPreds[i] = bot.circular.predict(bot.lastState, bulletSpeed(PowerBins[i]))
gfPreds[i] = bot.guessFactor.predict(bot.lastState, bulletSpeed(PowerBins[i]))
pmPreds[i] = bot.patternMatcher.predict(bot.lastState, bulletSpeed(PowerBins[i]))
asPreds[i] = bot.antiSurfer.predict(bot.lastState, bulletSpeed(PowerBins[i]))
wbPreds[i] = bot.wallBounce.predict(bot.lastState, bulletSpeed(PowerBins[i]))
acPreds[i] = bot.accelGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
ssPreds[i] = bot.stopShot.predict(bot.lastState, bulletSpeed(PowerBins[i]))
dsPreds[i] = bot.displace.predict(bot.lastState, bulletSpeed(PowerBins[i]))
alPreds[i] = bot.avgLead.predict(bot.lastState, bulletSpeed(PowerBins[i]))
dgPreds[i] = bot.decayGF.predict(bot.lastState, bulletSpeed(PowerBins[i]))
knnPreds[i] = bot.knnGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
bot.tracker.spawnBullets(0, headsUp, bot.lastState)
bot.tracker.spawnBullets(1, linPreds, bot.lastState)
# Skip TM virtual bullets during warmup so cold predictions don't hurt its fitness window
if bot.tsetlin.isWarmedUp():
bot.tracker.spawnBullets(2, tmPreds, bot.lastState)
bot.tracker.spawnBullets(3, circPreds, bot.lastState)
bot.tracker.spawnBullets(4, gfPreds, bot.lastState)
bot.tracker.spawnBullets(5, pmPreds, bot.lastState)
bot.tracker.spawnBullets(6, asPreds, bot.lastState)
bot.tracker.spawnBullets(7, wbPreds, bot.lastState)
bot.tracker.spawnBullets(8, acPreds, bot.lastState)
bot.tracker.spawnBullets(9, ssPreds, bot.lastState)
bot.tracker.spawnBullets(10, dsPreds, bot.lastState)
bot.tracker.spawnBullets(11, alPreds, bot.lastState)
bot.tracker.spawnBullets(12, dgPreds, bot.lastState)
bot.tracker.spawnBullets(13, knnPreds, bot.lastState)
# Resolve bullets that have travelled far enough
let st = bot.lastState
bot.tracker.tickBullets(st, proc(gunId: GunId, binIdx: int, fe: FeedbackEvent) =
case gunId
of 0: bot.headOn.onResult(fe)
of 1: bot.linear.onResult(fe)
of 2: bot.tsetlin.onResult(fe)
of 3:
bot.circular.onResult(fe)
when DebugCircular:
let ax = st.enemyX
let ay = st.enemyY
echo fmt"[circ-vb] predicted=({fe.prediction.x:.0f},{fe.prediction.y:.0f}) actual=({ax:.0f},{ay:.0f}) miss={fe.missDistance:.1f}px hit={fe.hit}"
of 4: bot.guessFactor.onResult(fe)
of 5: bot.patternMatcher.onResult(fe)
of 6: bot.antiSurfer.onResult(fe)
of 7: bot.wallBounce.onResult(fe)
of 8: bot.accelGun.onResult(fe)
of 9: bot.stopShot.onResult(fe)
of 10: bot.displace.onResult(fe)
of 11: bot.avgLead.onResult(fe)
of 12: bot.decayGF.onResult(fe)
of 13: bot.knnGun.onResult(fe)
else: discard
if fe.hit: inc bot.virtualHits else: inc bot.virtualMiss
when DebugVBullets:
let total = bot.virtualHits + bot.virtualMiss
let pct = if total > 0: bot.virtualHits.float / total.float * 100.0 else: 0.0
echo fmt"[vbullet] gun={gunId} bin={binIdx} miss={fe.missDistance:.1f}px hit={fe.hit} | total hits={bot.virtualHits}/{total} ({pct:.1f}%)"
)
# Gun selection + fire
let (selectedGun, _, power) = selectShot(bot.tracker)
# Log gun switch + update turret/bullet colors
if selectedGun != bot.currentGun:
bot.currentGun = selectedGun
bot.printConfig("gun")
case selectedGun
of 0: setTurretColor("#FF3333"); setBulletColor("#FF6666") # HeadOn: warm red
of 1: setTurretColor("#3366FF"); setBulletColor("#6699FF") # Linear: electric blue
of 2: setTurretColor("#9933FF"); setBulletColor("#CC66FF") # Tsetlin: violet
of 3: setTurretColor("#33CC33"); setBulletColor("#66FF66") # Circular: emerald
of 4: setTurretColor("#FFCC00"); setBulletColor("#FFE066") # GuessFactor: yellow
of 5: setTurretColor("#FF6600"); setBulletColor("#FF9944") # Pattern: orange
of 6: setTurretColor("#00CCFF"); setBulletColor("#66DDFF") # AntiSurf: cyan
of 7: setTurretColor("#CCCCCC"); setBulletColor("#EEEEEE") # WallBounce: silver/white
of 8: setTurretColor("#FF00FF"); setBulletColor("#FF66FF") # Accel: magenta
of 9: setTurretColor("#990000"); setBulletColor("#CC3333") # StopShot: dark red
of 10: setTurretColor("#006600"); setBulletColor("#009900") # Displace: dark green
of 11: setTurretColor("#996633"); setBulletColor("#CC9966") # AvgLead: brown
of 12: setTurretColor("#008888"); setBulletColor("#00AAAA") # DecayGF: dark cyan
of 13: setTurretColor("#CC00CC"); setBulletColor("#FF44FF") # KNN: purple/magenta
else: discard
let pred = case selectedGun
of 1: bot.linear.predict(bot.lastState, bulletSpeed(power))
of 2: bot.tsetlin.predict(bot.lastState, bulletSpeed(power))
of 3: bot.circular.predict(bot.lastState, bulletSpeed(power))
of 4: bot.guessFactor.predict(bot.lastState, bulletSpeed(power))
of 5: bot.patternMatcher.predict(bot.lastState, bulletSpeed(power))
of 6: bot.antiSurfer.predict(bot.lastState, bulletSpeed(power))
of 7: bot.wallBounce.predict(bot.lastState, bulletSpeed(power))
of 8: bot.accelGun.predict(bot.lastState, bulletSpeed(power))
of 9: bot.stopShot.predict(bot.lastState, bulletSpeed(power))
of 10: bot.displace.predict(bot.lastState, bulletSpeed(power))
of 11: bot.avgLead.predict(bot.lastState, bulletSpeed(power))
of 12: bot.decayGF.predict(bot.lastState, bulletSpeed(power))
of 13: bot.knnGun.predict(bot.lastState, bulletSpeed(power))
else: bot.headOn.predict(bot.lastState, bulletSpeed(power))
let target = aimAngle(getX(), getY(), pred.x, pred.y)
let gunDir = getGunDirection()
let gunHeat = getGunHeat()
let gunDelta = (target - gunDir) mod 360.0
var normDelta = gunDelta
if normDelta > 180.0: normDelta -= 360.0
elif normDelta < -180.0: normDelta += 360.0
if shouldFire(gunDir, target, gunHeat):
discard setFire(power)
# Turn gun toward predicted point every scan
setGunTurnRate(normDelta)
method onBulletFired*(bot: ModularBot, e: BulletFiredEvent) = method onBulletFired*(bot: ModularBot, e: BulletFiredEvent) =
@@ -256,26 +133,66 @@ method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
setAdjustGunForBodyTurn(true) setAdjustGunForBodyTurn(true)
setAdjustRadarForBodyTurn(true) setAdjustRadarForBodyTurn(true)
setAdjustRadarForGunTurn(true) setAdjustRadarForGunTurn(true)
setRadarColor("#004444") # RadarLock: dark teal, faint without alpha
setScanColor("#0D4D4D") # RadarLock scan arc: very dark teal, faint without alpha
setBodyColor("#FF9900") # PhantomMeteor: deep orange/gold setBodyColor("#FF9900") # PhantomMeteor: deep orange/gold
bot.radar.init() bot.radar.init()
bot.mover.resetRound() bot.mover.resetRound()
bot.hasContact = false bot.enemyTracker.resetRound()
bot.tick = 0 bot.hasContact = false
bot.currentGun = -1 bot.tick = 0
bot.currentGun = -1
bot.currentTargetId = -1
bot.targetSwitchTick = 0
# Defensive fallback: if onGameStarted hasn't run, use live enemy count from API
if bot.initialEnemyCount == 0:
bot.initialEnemyCount = getEnemyCount()
bot.enemyCount = bot.initialEnemyCount
# ponytail: default to melee until confirmed 1v1 via scans, avoids stale enemyCount issue
bot.radarMode = 1 # Start in melee_scan; will switch to radar_lock (0) if tracker confirms 1v1
bot.moveTracker.resetRound(getX(), getY(), getDirection(), getSpeed()) bot.moveTracker.resetRound(getX(), getY(), getDirection(), getSpeed())
bot.currentGun = 0 bot.currentGun = 0
# Apply radar colors for initial mode
if bot.radarMode == 0:
setRadarColor("#004444")
setScanColor("#0D4D4D")
else:
setRadarColor("#443300")
setScanColor("#4D3D0D")
bot.printConfig("all") bot.printConfig("all")
# tracker fitness persists across rounds (rolling window carries over) # tracker fitness persists across rounds (rolling window carries over)
method onBotDeath*(bot: ModularBot, e: BotDeathEvent) =
bot.enemyTracker.markDead(e.victimId)
if bot.enemyCount > 0:
dec bot.enemyCount
method onGameStarted*(bot: ModularBot, e: GameStartedEventForBot) = method onGameStarted*(bot: ModularBot, e: GameStartedEventForBot) =
discard # minNumberOfParticipants == maxNumberOfParticipants for fixed battles; self is -1
bot.initialEnemyCount = e.gameSetup.minNumberOfParticipants - 1
proc shouldSwitchTarget(bot: ModularBot, candidateId: int): bool =
## Hysteresis: only switch when there is a clear reason.
if bot.currentTargetId < 0: return true
let cur = bot.enemyTracker.enemies.getOrDefault(bot.currentTargetId)
if not cur.alive: return true
if bot.tick - cur.lastSeenTick >= 20: return true # stale
if bot.tick - bot.targetSwitchTick < 10: return false # cooldown
if candidateId == bot.currentTargetId: return false
let cand = bot.enemyTracker.enemies.getOrDefault(candidateId)
let sx = getX(); let sy = getY()
let curDist = hypot(cur.x - sx, cur.y - sy)
let candDist = hypot(cand.x - sx, cand.y - sy)
if candDist < curDist * 0.7: return true # significantly closer
if cand.energy < 10.0 and cand.energy < getEnergy(): return true # finisher opportunity
return false
method run*(bot: ModularBot) = method run*(bot: ModularBot) =
while isRunning(): while isRunning():
inc bot.tick inc bot.tick
# Debug: print enemy state on first tick
if bot.tick == 1:
echo "[debug] enemyCount=" & $bot.enemyCount & " tracker=" & $bot.enemyTracker.allAlive().len & " radarMode=" & $bot.radarMode
if not bot.hasContact: if not bot.hasContact:
setTargetSpeed(0.0) setTargetSpeed(0.0)
setTurnRate(0.0) setTurnRate(0.0)
@@ -286,9 +203,177 @@ method run*(bot: ModularBot) =
let (spd, tr) = bot.mover.computeMove(bot.lastState) let (spd, tr) = bot.mover.computeMove(bot.lastState)
setTargetSpeed(spd) setTargetSpeed(spd)
setTurnRate(tr) setTurnRate(tr)
setRadarTurnRate(bot.radar.computeScan(bot.lastState))
# Auto-switch radar based on live enemy count from tracker (ground truth from scans)
let liveEnemyCount = bot.enemyTracker.allAlive().len
let targetMode = if liveEnemyCount == 1: 0 else: 1
if targetMode != bot.radarMode:
bot.radarMode = targetMode
if bot.radarMode == 0:
bot.radar.init() # re-lock onto survivor
setRadarColor("#004444")
setScanColor("#0D4D4D")
else:
setRadarColor("#443300")
setScanColor("#4D3D0D")
bot.printConfig("radar")
let radarRate = if bot.radarMode == 0:
bot.radar.computeScan(bot.lastState)
else:
bot.meleeScan.computeScan(bot.lastState)
setRadarTurnRate(radarRate)
go() go()
# --- 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")
# --- 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]
var tmPreds: array[len(PowerBins), GunPrediction]
var circPreds: array[len(PowerBins), GunPrediction]
var gfPreds: array[len(PowerBins), GunPrediction]
var pmPreds: array[len(PowerBins), GunPrediction]
var asPreds: array[len(PowerBins), GunPrediction]
var wbPreds: array[len(PowerBins), GunPrediction]
var acPreds: array[len(PowerBins), GunPrediction]
var ssPreds: array[len(PowerBins), GunPrediction]
var dsPreds: array[len(PowerBins), GunPrediction]
var alPreds: array[len(PowerBins), GunPrediction]
var dgPreds: array[len(PowerBins), GunPrediction]
var knnPreds: array[len(PowerBins), GunPrediction]
for i in 0..<len(PowerBins):
headsUp[i] = bot.headOn.predict(bot.lastState, bulletSpeed(PowerBins[i]))
linPreds[i] = bot.linear.predict(bot.lastState, bulletSpeed(PowerBins[i]))
tmPreds[i] = bot.tsetlin.predict(bot.lastState, bulletSpeed(PowerBins[i]))
circPreds[i] = bot.circular.predict(bot.lastState, bulletSpeed(PowerBins[i]))
gfPreds[i] = bot.guessFactor.predict(bot.lastState, bulletSpeed(PowerBins[i]))
pmPreds[i] = bot.patternMatcher.predict(bot.lastState, bulletSpeed(PowerBins[i]))
asPreds[i] = bot.antiSurfer.predict(bot.lastState, bulletSpeed(PowerBins[i]))
wbPreds[i] = bot.wallBounce.predict(bot.lastState, bulletSpeed(PowerBins[i]))
acPreds[i] = bot.accelGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
ssPreds[i] = bot.stopShot.predict(bot.lastState, bulletSpeed(PowerBins[i]))
dsPreds[i] = bot.displace.predict(bot.lastState, bulletSpeed(PowerBins[i]))
alPreds[i] = bot.avgLead.predict(bot.lastState, bulletSpeed(PowerBins[i]))
dgPreds[i] = bot.decayGF.predict(bot.lastState, bulletSpeed(PowerBins[i]))
knnPreds[i] = bot.knnGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
bot.tracker.spawnBullets(0, headsUp, bot.lastState, tid)
bot.tracker.spawnBullets(1, linPreds, bot.lastState, tid)
if bot.tsetlin.isWarmedUp():
bot.tracker.spawnBullets(2, tmPreds, bot.lastState, tid)
bot.tracker.spawnBullets(3, circPreds, bot.lastState, tid)
bot.tracker.spawnBullets(4, gfPreds, bot.lastState, tid)
bot.tracker.spawnBullets(5, pmPreds, bot.lastState, tid)
bot.tracker.spawnBullets(6, asPreds, bot.lastState, tid)
bot.tracker.spawnBullets(7, wbPreds, bot.lastState, tid)
bot.tracker.spawnBullets(8, acPreds, bot.lastState, tid)
bot.tracker.spawnBullets(9, ssPreds, bot.lastState, tid)
bot.tracker.spawnBullets(10, dsPreds, bot.lastState, tid)
bot.tracker.spawnBullets(11, alPreds, bot.lastState, tid)
bot.tracker.spawnBullets(12, dgPreds, bot.lastState, tid)
bot.tracker.spawnBullets(13, knnPreds, bot.lastState, tid)
# Build slim enemy table for tickBullets
var enemyPositions: Table[int, tuple[x, y: float, lastSeenTick: int, alive: bool]]
for id, es in bot.enemyTracker.enemies:
enemyPositions[id] = (x: es.x, y: es.y, lastSeenTick: es.lastSeenTick, alive: es.alive)
let st = bot.lastState
bot.tracker.tickBullets(st, enemyPositions, proc(gunId: GunId, binIdx: int, fe: FeedbackEvent) =
case gunId
of 0: bot.headOn.onResult(fe)
of 1: bot.linear.onResult(fe)
of 2: bot.tsetlin.onResult(fe)
of 3:
bot.circular.onResult(fe)
when DebugCircular:
let ax = st.enemyX
let ay = st.enemyY
echo fmt"[circ-vb] predicted=({fe.prediction.x:.0f},{fe.prediction.y:.0f}) actual=({ax:.0f},{ay:.0f}) miss={fe.missDistance:.1f}px hit={fe.hit}"
of 4: bot.guessFactor.onResult(fe)
of 5: bot.patternMatcher.onResult(fe)
of 6: bot.antiSurfer.onResult(fe)
of 7: bot.wallBounce.onResult(fe)
of 8: bot.accelGun.onResult(fe)
of 9: bot.stopShot.onResult(fe)
of 10: bot.displace.onResult(fe)
of 11: bot.avgLead.onResult(fe)
of 12: bot.decayGF.onResult(fe)
of 13: bot.knnGun.onResult(fe)
else: discard
if fe.hit: inc bot.virtualHits else: inc bot.virtualMiss
when DebugVBullets:
let total = bot.virtualHits + bot.virtualMiss
let pct = if total > 0: bot.virtualHits.float / total.float * 100.0 else: 0.0
echo fmt"[vbullet] gun={gunId} bin={binIdx} miss={fe.missDistance:.1f}px hit={fe.hit} | total hits={bot.virtualHits}/{total} ({pct:.1f}%)"
)
# Gun selection + fire
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")
of 2: setTurretColor("#9933FF"); setBulletColor("#CC66FF")
of 3: setTurretColor("#33CC33"); setBulletColor("#66FF66")
of 4: setTurretColor("#FFCC00"); setBulletColor("#FFE066")
of 5: setTurretColor("#FF6600"); setBulletColor("#FF9944")
of 6: setTurretColor("#00CCFF"); setBulletColor("#66DDFF")
of 7: setTurretColor("#CCCCCC"); setBulletColor("#EEEEEE")
of 8: setTurretColor("#FF00FF"); setBulletColor("#FF66FF")
of 9: setTurretColor("#990000"); setBulletColor("#CC3333")
of 10: setTurretColor("#006600"); setBulletColor("#009900")
of 11: setTurretColor("#996633"); setBulletColor("#CC9966")
of 12: setTurretColor("#008888"); setBulletColor("#00AAAA")
of 13: setTurretColor("#CC00CC"); setBulletColor("#FF44FF")
else: discard
let pred = case selectedGun
of 1: bot.linear.predict(bot.lastState, bulletSpeed(power))
of 2: bot.tsetlin.predict(bot.lastState, bulletSpeed(power))
of 3: bot.circular.predict(bot.lastState, bulletSpeed(power))
of 4: bot.guessFactor.predict(bot.lastState, bulletSpeed(power))
of 5: bot.patternMatcher.predict(bot.lastState, bulletSpeed(power))
of 6: bot.antiSurfer.predict(bot.lastState, bulletSpeed(power))
of 7: bot.wallBounce.predict(bot.lastState, bulletSpeed(power))
of 8: bot.accelGun.predict(bot.lastState, bulletSpeed(power))
of 9: bot.stopShot.predict(bot.lastState, bulletSpeed(power))
of 10: bot.displace.predict(bot.lastState, bulletSpeed(power))
of 11: bot.avgLead.predict(bot.lastState, bulletSpeed(power))
of 12: bot.decayGF.predict(bot.lastState, bulletSpeed(power))
of 13: bot.knnGun.predict(bot.lastState, bulletSpeed(power))
else: bot.headOn.predict(bot.lastState, bulletSpeed(power))
let aimTarget = aimAngle(getX(), getY(), pred.x, pred.y)
let gunDir = getGunDirection()
let gunHeat = getGunHeat()
let gunDelta = (aimTarget - gunDir) mod 360.0
var normDelta = gunDelta
if normDelta > 180.0: normDelta -= 360.0
elif normDelta < -180.0: normDelta += 360.0
if shouldFire(gunDir, aimTarget, gunHeat):
discard setFire(power)
setGunTurnRate(normDelta)
when isMainModule: when isMainModule:
var bot = ModularBot( var bot = ModularBot(
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 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
@@ -307,6 +392,7 @@ when isMainModule:
decayGF: initDecayGFGun(), decayGF: initDecayGFGun(),
knnGun: initKNNGun(), knnGun: initKNNGun(),
radar: RadarLockModule(), radar: RadarLockModule(),
meleeScan: initMeleeScan(),
mover: initPhantomMeteor(), mover: initPhantomMeteor(),
moveTracker: mvb.initVirtualBodyTracker(1), moveTracker: mvb.initVirtualBodyTracker(1),
currentGun: -1, currentGun: -1,
common_libs/gun_harness/selector.nim
+4 -3
View File
@@ -19,8 +19,9 @@ proc shouldFire*(currentGunDir, targetAngle, gunHeat: float): bool =
elif delta < -180.0: delta += 360.0 elif delta < -180.0: delta += 360.0
abs(delta) <= AimThresholdDeg and gunHeat <= 0.0 abs(delta) <= AimThresholdDeg and gunHeat <= 0.0
proc selectShot*(t: VirtualTracker): (GunId, int, float) = proc selectShot*(t: VirtualTracker, targetId: int = -1): (GunId, int, float) =
## Returns (gunId, powerBinIdx, power) — the shot to take this tick. ## Returns (gunId, powerBinIdx, power) — the shot to take this tick.
let gunId = t.bestGun() ## Pass targetId to pick the best gun for that specific enemy.
let (binIdx, power) = t.bestPower(gunId) let gunId = t.bestGun(targetId)
let (binIdx, power) = t.bestPower(gunId, targetId)
result = (gunId, binIdx, power) result = (gunId, binIdx, power)
common_libs/gun_harness/virtual_bullets.nim
+66 -25
View File
@@ -4,6 +4,7 @@
## Calls onResult() on the owning gun when a bullet resolves. ## Calls onResult() on the owning gun when a bullet resolves.
import std/math import std/math
import std/tables
import gun_interface import gun_interface
const const
@@ -19,6 +20,7 @@ type
VirtualBullet* = object VirtualBullet* = object
gunId*: GunId gunId*: GunId
powerBin*: int ## index into PowerBins powerBin*: int ## index into PowerBins
targetId*: int ## enemy bot ID this bullet was aimed at
fireX*, fireY*: float fireX*, fireY*: float
aimX*, aimY*: float ## predicted target (absolute) aimX*, aimY*: float ## predicted target (absolute)
bulletSpeed*: float bulletSpeed*: float
@@ -36,12 +38,13 @@ type
bins*: array[len(PowerBins), FitnessWindow] bins*: array[len(PowerBins), FitnessWindow]
VirtualTracker* = object VirtualTracker* = object
bullets*: array[MaxBullets, VirtualBullet] bullets*: array[MaxBullets, VirtualBullet]
head*: int ## ring buffer head head*: int ## ring buffer head
fitness*: seq[GunFitness] ## indexed by GunId numGuns*: int
fitness*: Table[int, seq[GunFitness]] ## keyed by enemy bot ID, indexed by GunId
proc initTracker*(numGuns: int): VirtualTracker = proc initTracker*(numGuns: int): VirtualTracker =
result.fitness = newSeq[GunFitness](numGuns) result.numGuns = numGuns
proc hitRate*(fw: FitnessWindow): float = proc hitRate*(fw: FitnessWindow): float =
## Returns fraction of hits in the rolling window. 0.0 when no data. ## Returns fraction of hits in the rolling window. 0.0 when no data.
@@ -58,8 +61,11 @@ proc record(fw: var FitnessWindow, hit: bool) =
proc spawnBullets*(t: var VirtualTracker, gunId: GunId, proc spawnBullets*(t: var VirtualTracker, gunId: GunId,
predictions: array[len(PowerBins), GunPrediction], predictions: array[len(PowerBins), GunPrediction],
state: WorldState) = state: WorldState, targetId: int) =
## Call once per gun per tick with predictions for all power bins. ## Call once per gun per tick with predictions for all power bins.
## Lazily creates fitness entry for targetId on first spawn.
if targetId notin t.fitness:
t.fitness[targetId] = newSeq[GunFitness](t.numGuns)
for binIdx in 0..<len(PowerBins): for binIdx in 0..<len(PowerBins):
let power = PowerBins[binIdx] let power = PowerBins[binIdx]
let speed = bulletSpeed(power) let speed = bulletSpeed(power)
@@ -69,6 +75,7 @@ proc spawnBullets*(t: var VirtualTracker, gunId: GunId,
t.bullets[slot] = VirtualBullet( t.bullets[slot] = VirtualBullet(
gunId: gunId, gunId: gunId,
powerBin: binIdx, powerBin: binIdx,
targetId: targetId,
fireX: state.selfX, fireX: state.selfX,
fireY: state.selfY, fireY: state.selfY,
aimX: pred.x, aimX: pred.x,
@@ -80,17 +87,32 @@ proc spawnBullets*(t: var VirtualTracker, gunId: GunId,
) )
t.head = (t.head + 1) mod MaxBullets t.head = (t.head + 1) mod MaxBullets
const StaleTicks* = 20 ## discard bullet if target not seen within this many ticks
proc tickBullets*(t: var VirtualTracker, state: WorldState, proc tickBullets*(t: var VirtualTracker, state: WorldState,
enemies: Table[int, tuple[x, y: float, lastSeenTick: int, alive: bool]],
onResolved: proc(gunId: GunId, binIdx: int, e: FeedbackEvent)) = onResolved: proc(gunId: GunId, binIdx: int, e: FeedbackEvent)) =
## Advance all active bullets one tick. Resolve when bullet reaches target distance. ## Advance all active bullets one tick. Resolve when bullet reaches target distance.
## Uses per-target enemy position from enemies table for accurate miss distance.
## Discards bullet without scoring if target is dead or stale (> StaleTicks).
for i in 0..<MaxBullets: for i in 0..<MaxBullets:
var b = addr t.bullets[i] var b = addr t.bullets[i]
if not b.active: continue if not b.active: continue
b.travelDist += b.bulletSpeed b.travelDist += b.bulletSpeed
if b.travelDist < b.fireDist: continue if b.travelDist < b.fireDist: continue
# Resolved: compute miss distance against current enemy position # Resolved: look up the correct enemy position
# Direction from fire point to aim point var ex, ey: float
if b.targetId in enemies:
let e = enemies[b.targetId]
if not e.alive or (state.tick - e.lastSeenTick) > StaleTicks:
b.active = false
continue
ex = e.x; ey = e.y
else:
# No data for this target — fall back to selected enemy in state
ex = state.enemyX; ey = state.enemyY
let dx = b.aimX - b.fireX let dx = b.aimX - b.fireX
let dy = b.aimY - b.fireY let dy = b.aimY - b.fireY
let dist = hypot(dx, dy) let dist = hypot(dx, dy)
@@ -98,15 +120,16 @@ proc tickBullets*(t: var VirtualTracker, state: WorldState,
if dist < 1e-6: (b.aimX, b.aimY) if dist < 1e-6: (b.aimX, b.aimY)
else: (b.fireX + dx / dist * b.travelDist, else: (b.fireX + dx / dist * b.travelDist,
b.fireY + dy / dist * b.travelDist) b.fireY + dy / dist * b.travelDist)
let missDist = hypot(bx - state.enemyX, by - state.enemyY) let missDist = hypot(bx - ex, by - ey)
let hit = missDist < BotRadius let hit = missDist < BotRadius
t.fitness[b.gunId].bins[b.powerBin].record(hit) if b.targetId in t.fitness:
t.fitness[b.targetId][b.gunId].bins[b.powerBin].record(hit)
let fe = FeedbackEvent( let fe = FeedbackEvent(
prediction: GunPrediction(x: b.aimX, y: b.aimY), prediction: GunPrediction(x: b.aimX, y: b.aimY),
actualX: state.enemyX, actualX: ex,
actualY: state.enemyY, actualY: ey,
bulletPower: PowerBins[b.powerBin], bulletPower: PowerBins[b.powerBin],
missDistance: missDist, missDistance: missDist,
hit: hit, hit: hit,
@@ -114,41 +137,59 @@ proc tickBullets*(t: var VirtualTracker, state: WorldState,
onResolved(b.gunId, b.powerBin, fe) onResolved(b.gunId, b.powerBin, fe)
b.active = false b.active = false
proc bestPower*(t: VirtualTracker, gunId: GunId): (int, float) = proc fitnessFor(t: VirtualTracker, targetId: int): seq[GunFitness] =
## Returns fitness seq for targetId, or merges all enemies as fallback.
## ponytail: merge is O(enemies*guns*bins), fine for small counts
if targetId >= 0 and targetId in t.fitness:
return t.fitness[targetId]
# Aggregate across all enemies
result = newSeq[GunFitness](t.numGuns)
for perEnemy in t.fitness.values:
for gunId in 0..<t.numGuns:
for binIdx in 0..<len(PowerBins):
let src = perEnemy[gunId].bins[binIdx]
var dst = addr result[gunId].bins[binIdx]
for k in 0..<min(src.count, WindowSize):
dst[].record(src.hits[k])
proc bestPower*(t: VirtualTracker, gunId: GunId, targetId: int = -1): (int, float) =
## Returns (binIdx, power) with highest power that has >= MinHitRate. ## Returns (binIdx, power) with highest power that has >= MinHitRate.
## Falls back to lowest power bin if nothing qualifies yet. ## Falls back to lowest power bin if nothing qualifies yet.
## Uses per-enemy fitness when targetId >= 0 and data exists; else aggregate.
let fit = t.fitnessFor(targetId)
result = (0, PowerBins[0]) result = (0, PowerBins[0])
for binIdx in countdown(len(PowerBins) - 1, 0): for binIdx in countdown(len(PowerBins) - 1, 0):
let rate = t.fitness[gunId].bins[binIdx].hitRate() let rate = fit[gunId].bins[binIdx].hitRate()
if rate >= MinHitRate or t.fitness[gunId].bins[binIdx].count == 0: if rate >= MinHitRate or fit[gunId].bins[binIdx].count == 0:
return (binIdx, PowerBins[binIdx]) return (binIdx, PowerBins[binIdx])
proc bestGun*(t: VirtualTracker): GunId = proc bestGun*(t: VirtualTracker, targetId: int = -1): GunId =
## Pick gun with highest hit rate across all power bins. ## Pick gun with highest hit rate across all power bins.
## Guns with fewer than MinObsBeforeCompete observations across all bins are ## Guns with fewer than MinObsBeforeCompete observations are skipped
## skipped unless every gun is below threshold (then fall back to best of all). ## unless every gun is below threshold (then fall back to best of all).
## Uses per-enemy fitness when targetId >= 0 and data exists; else aggregate.
## ponytail: O(n*bins), fine for small gun counts ## ponytail: O(n*bins), fine for small gun counts
proc bestAmong(t: VirtualTracker, requireMin: bool): GunId = let fit = t.fitnessFor(targetId)
proc bestAmong(fit: seq[GunFitness], requireMin: bool): GunId =
var bestRate = -1.0 var bestRate = -1.0
result = 0 result = 0
for gunId in 0..<t.fitness.len: for gunId in 0..<fit.len:
var maxCount = 0 var maxCount = 0
for binIdx in 0..<len(PowerBins): for binIdx in 0..<len(PowerBins):
maxCount = max(maxCount, t.fitness[gunId].bins[binIdx].count) maxCount = max(maxCount, fit[gunId].bins[binIdx].count)
if requireMin and maxCount < MinObsBeforeCompete: continue if requireMin and maxCount < MinObsBeforeCompete: continue
for binIdx in 0..<len(PowerBins): for binIdx in 0..<len(PowerBins):
let r = t.fitness[gunId].bins[binIdx].hitRate() let r = fit[gunId].bins[binIdx].hitRate()
if r > bestRate: if r > bestRate:
bestRate = r bestRate = r
result = gunId result = gunId
# Try gated selection first; fall back to ungated if nothing qualifies
var anyQualifies = false var anyQualifies = false
for gunId in 0..<t.fitness.len: for gunId in 0..<fit.len:
for binIdx in 0..<len(PowerBins): for binIdx in 0..<len(PowerBins):
if t.fitness[gunId].bins[binIdx].count >= MinObsBeforeCompete: if fit[gunId].bins[binIdx].count >= MinObsBeforeCompete:
anyQualifies = true anyQualifies = true
break break
if anyQualifies: break if anyQualifies: break
result = if anyQualifies: t.bestAmong(true) else: t.bestAmong(false) result = if anyQualifies: fit.bestAmong(true) else: fit.bestAmong(false)
common_libs/targeting/enemy_tracker.nim
+54
View File
@@ -0,0 +1,54 @@
## Per-enemy state table. Keyed by bot ID.
## Tank Royale: 0° = East.
import std/tables
import std/math
type
EnemyState* = object
id*: int
x*, y*: float
heading*: float ## degrees
speed*: float
energy*: float
lastSeenTick*: int
alive*: bool
EnemyTracker* = object
enemies*: Table[int, EnemyState]
proc update*(et: var EnemyTracker, botId: int, x, y, heading, speed, energy: float, tick: int) =
et.enemies[botId] = EnemyState(id: botId, x: x, y: y, heading: heading,
speed: speed, energy: energy,
lastSeenTick: tick, alive: true)
proc markDead*(et: var EnemyTracker, botId: int) =
if botId in et.enemies:
et.enemies[botId].alive = false
proc resetRound*(et: var EnemyTracker) =
et.enemies.clear()
proc getEnemy*(et: EnemyTracker, botId: int): EnemyState =
et.enemies[botId]
proc allAlive*(et: EnemyTracker): seq[EnemyState] =
for s in et.enemies.values:
if s.alive: result.add(s)
proc closestTo*(et: EnemyTracker, x, y: float): EnemyState =
var bestDist = Inf
for s in et.enemies.values:
if not s.alive: continue
let d = hypot(s.x - x, s.y - y)
if d < bestDist:
bestDist = d
result = s
proc weakest*(et: EnemyTracker): EnemyState =
var bestEnergy = Inf
for s in et.enemies.values:
if not s.alive: continue
if s.energy < bestEnergy:
bestEnergy = s.energy
result = s
common_libs/targeting/target_selector.nim
+19
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@@ -0,0 +1,19 @@
## Target selector: picks which enemy to aim at.
import enemy_tracker
type TargetMode* = enum
tmClosest, ## nearest enemy
tmWeakest, ## lowest energy (finisher)
tmBestGun ## future — alias to closest for now
proc selectTarget*(et: EnemyTracker, selfX, selfY: float,
mode: TargetMode = tmClosest): int =
## Returns enemy bot ID. Falls back to 1v1 naturally when 1 alive.
let alive = et.allAlive()
if alive.len == 0: return -1
if alive.len == 1: return alive[0].id
let chosen = case mode
of tmWeakest: et.weakest()
else: et.closestTo(selfX, selfY) # tmClosest + tmBestGun
result = chosen.id
common_libs/test_framework/adversaries/PatternMover/PatternMover
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common_libs/test_framework/adversaries/RandomMover/RandomMover
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common_libs/test_framework/adversaries/WaveSurfer/WaveSurfer
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