chore: rename libs→common_libs, all bot dirs to _garage suffix, fix all path refs

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-08-27 18:18:41 +02:00
parent f8c0c871c6
commit b509195ee9
832 changed files with 4967 additions and 368 deletions
@@ -0,0 +1,49 @@
+## actions.nim — map raw network output to Tank Royale bot commands.
+
+import arraymancer
+import std/math
+import ./controllers
+
+func sigmoid(x: float): float = 1.0 / (1.0 + exp(-x))
+
+type
+  BotActions* = object
+    targetSpeed*:  float
+    turnRate*:     float
+    gunTurnRate*:  float
+    shouldFire*:   bool
+    firePower*:    float
+    gotoX*:        float
+    gotoY*:        float
+    aimToX*:       float
+    aimToY*:       float
+
+proc mapActions*(rawActions: Tensor[float32],
+                 gunHeat: float,
+                 arenaWidth, arenaHeight: float,
+                 botX, botY, direction, speed, gunDirection: float,
+                 enemyX, enemyY: float): BotActions =
+  ## rawActions: [6] tensor from actorForward.
+  ## Dims 0–1: goto x/y offset from enemy, 2–3: aimTo x/y offset from enemy,
+  ## 4: fire decision, 5: fire power.
+  ## Enemy-centred mapping: tanh gives [-1,1]; scale by arena/4 (goto) and
+  ## arena/8 (aimTo) so zero-init defaults the bot toward the enemy.
+  let gotoX  = clamp(enemyX + tanh(rawActions[0].float) * arenaWidth  * 0.25, 0.0, arenaWidth)
+  let gotoY  = clamp(enemyY + tanh(rawActions[1].float) * arenaHeight * 0.25, 0.0, arenaHeight)
+  let aimToX = clamp(enemyX + tanh(rawActions[2].float) * arenaWidth  * 0.125, 0.0, arenaWidth)
+  let aimToY = clamp(enemyY + tanh(rawActions[3].float) * arenaHeight * 0.125, 0.0, arenaHeight)
+  let fireDec = tanh(rawActions[4].float)
+  let fp      = sigmoid(rawActions[5].float) * 2.9 + 0.1
+
+  let (ts, tr) = gotoTick(gotoX, gotoY, botX, botY, direction, speed)
+  let gtr      = aimToTick(aimToX, aimToY, botX, botY, gunDirection)
+
+  result.gotoX       = gotoX
+  result.gotoY       = gotoY
+  result.aimToX      = aimToX
+  result.aimToY      = aimToY
+  result.targetSpeed = ts
+  result.turnRate    = tr
+  result.gunTurnRate = gtr
+  result.shouldFire  = fireDec >= 0.0 and gunHeat <= 0.0
+  result.firePower   = fp