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 +1,100 @@
+## Enemy tracker — deterministic radar lock + dead reckoning for PPO_Bot.
+## No bot API imports; takes plain floats.
+
+import std/math
+
+type
+  EnemyState* = object
+    x*, y*: float64
+    direction*: float64
+    speed*: float64
+    energy*: float64
+    ticksSinceLastScan*: int
+    hasFired*: bool
+    lastFirePower*: float64
+
+  EnemyTracker* = object
+    current*: EnemyState
+    history*: array[5, tuple[x, y, direction, speed: float64]]  # sliding window
+    historyCount*: int   # valid entries 0-5
+    prevEnergy*: float64
+    hasContact*: bool
+
+proc initEnemyTracker*(): EnemyTracker = discard
+
+proc update*(tracker: var EnemyTracker;
+             scanX, scanY, scanDir, scanSpeed, scanEnergy: float64) =
+  ## Call on ScannedBotEvent. Detects enemy fire from energy delta.
+
+  # Shift history window
+  if tracker.historyCount == 0:
+    # Cold-start: pre-fill all slots with the incoming scan so indices 22-41
+    # are never zero-padded on tick 1. Accel/turn-rate correctly stay 0 (no delta yet).
+    for i in 0 ..< 5:
+      tracker.history[i] = (scanX, scanY, scanDir, scanSpeed)
+    tracker.historyCount = 5
+  else:
+    for i in countdown(min(tracker.historyCount, 4), 1):
+      tracker.history[i] = tracker.history[i - 1]
+    tracker.history[0] = (tracker.current.x, tracker.current.y,
+                           tracker.current.direction, tracker.current.speed)
+    if tracker.historyCount < 5:
+      inc tracker.historyCount
+
+  # Detect firing: energy drop in [0.1, 3.0] means enemy fired
+  let delta = tracker.prevEnergy - scanEnergy
+  if tracker.hasContact and delta >= 0.1 and delta <= 3.0:
+    tracker.current.hasFired = true
+    tracker.current.lastFirePower = delta
+  else:
+    tracker.current.hasFired = false
+
+  tracker.prevEnergy = scanEnergy
+  tracker.current.x = scanX
+  tracker.current.y = scanY
+  tracker.current.direction = scanDir
+  tracker.current.speed = scanSpeed
+  tracker.current.energy = scanEnergy
+  tracker.current.ticksSinceLastScan = 0
+  tracker.hasContact = true
+
+proc deadReckon*(tracker: var EnemyTracker) =
+  ## Call on missed ticks. Predict position from last known velocity.
+  if not tracker.hasContact:
+    return
+  let rad = tracker.current.direction * PI / 180.0
+  tracker.current.x += tracker.current.speed * sin(rad)
+  tracker.current.y += tracker.current.speed * cos(rad)
+  inc tracker.current.ticksSinceLastScan
+
+proc normalizeRelative(angle: float64): float64 {.inline.} =
+  result = angle mod 360.0
+  if result >= 180.0: result -= 360.0
+  elif result < -180.0: result += 360.0
+
+proc getRadarTurnRate*(tracker: var EnemyTracker;
+                       botX, botY, botDirection, radarDirection: float64): float64 =
+  ## Returns radar turn rate (degrees/tick, positive = right).
+  ## Before contact: full 45° sweep.
+  ## After contact: lock with overshoot; widen if stale.
+  if not tracker.hasContact:
+    return 45.0
+
+  if tracker.current.ticksSinceLastScan >= 8:
+    # Lost lock — widen sweep
+    return 45.0
+
+  # Bearing from radar to enemy.
+  # Tank Royale radar directions use standard math convention (0=east, CCW+).
+  # arctan2(dy, dx) gives the standard math angle matching radarDirection units.
+  let dx = tracker.current.x - botX
+  let dy = tracker.current.y - botY
+  let absoluteDir = (180.0 * arctan2(dy, dx) / PI + 360.0) mod 360.0
+  var radarTurn = normalizeRelative(absoluteDir - radarDirection)
+
+  # Width Lock: overshoot proportional to arctan(36 / distance)
+  let distance = sqrt(dx * dx + dy * dy)
+  let extraTurn = min(arctan(36.0 / distance) * 180.0 / PI, 45.0)
+  if radarTurn < 0.0: radarTurn -= extraTurn
+  else:               radarTurn += extraTurn
+  result = radarTurn.clamp(-45.0, 45.0)