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fix(PPO_Bot): state vector bearing uses game coords (north=0° CW)

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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Davide Cappellini
2026-08-16 16:40:28 +02:00
parent fd22535f5b
commit bbc9e51166
2 changed files with 18 additions and 5 deletions
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PPO_Bot/state_vector.nim
+1 -1
View File
@@ -61,7 +61,7 @@ proc buildStateVector*(bot: BotStateData; enemy: EnemyTracker): Tensor[float32]
# Relative bearing to enemy (signed, from bot perspective) # Relative bearing to enemy (signed, from bot perspective)
let dx = enemy.current.x - bot.x let dx = enemy.current.x - bot.x
let dy = enemy.current.y - bot.y let dy = enemy.current.y - bot.y
let absDir = (180.0 * arctan2(dy, dx) / PI + 360.0) mod 360.0 let absDir = (180.0 * arctan2(dx, dy) / PI + 360.0) mod 360.0
let relBearing = ((absDir - bot.direction) + 540.0) mod 360.0 - 180.0 let relBearing = ((absDir - bot.direction) + 540.0) mod 360.0 - 180.0
result[16] = float32(relBearing / 180.0) result[16] = float32(relBearing / 180.0)
# Distance to enemy # Distance to enemy
PPO_Bot/tests/test_state.nim
+17 -4
View File
@@ -119,9 +119,9 @@ block testWallDistances:
check abs(sv[21] - 0.875f32) < 0.001f32, "right wall = 0.875" check abs(sv[21] - 0.875f32) < 0.001f32, "right wall = 0.875"
block testRelativeBearing: block testRelativeBearing:
# Bot at (0,0) dir=0°. Enemy at (0,100) → arctan2(100,0)=90° absolute. # Game convention: north=0°, CW. arctan2(dx,dy) used.
# relBearing = (90 - 0 + 540) mod 360 - 180 = 90° # Bot at (0,0) dir=0°. Enemy at (0,100) → due north → absDir=0°.
# normalized = 90 / 180 = 0.5 # relBearing = (0 - 0 + 540) mod 360 - 180 = 0°. normalized = 0/180 = 0.0
var t = initEnemyTracker() var t = initEnemyTracker()
t.update(0.0, 100.0, 0.0, 0.0, 100.0) t.update(0.0, 100.0, 0.0, 0.0, 100.0)
let bot = BotStateData( let bot = BotStateData(
@@ -130,7 +130,20 @@ block testRelativeBearing:
arenaWidth: 800.0, arenaHeight: 600.0, arenaWidth: 800.0, arenaHeight: 600.0,
) )
let sv = buildStateVector(bot, t) let sv = buildStateVector(bot, t)
check abs(sv[16] - 0.5f32) < 0.01f32, "relative bearing = 0.5, got " & $sv[16] check abs(sv[16] - 0.0f32) < 0.01f32, "relative bearing = 0.0 (due north), got " & $sv[16]
block testRelativeBearingEast:
# Enemy at (100,0) → due east → absDir=90°.
# relBearing = (90 - 0 + 540) mod 360 - 180 = 90°. normalized = 90/180 = 0.5
var t = initEnemyTracker()
t.update(100.0, 0.0, 0.0, 0.0, 100.0)
let bot = BotStateData(
x: 0.0, y: 0.0, direction: 0.0, speed: 0.0, energy: 100.0,
gunDirection: 0.0, gunHeat: 0.0,
arenaWidth: 800.0, arenaHeight: 600.0,
)
let sv = buildStateVector(bot, t)
check abs(sv[16] - 0.5f32) < 0.01f32, "relative bearing east = 0.5, got " & $sv[16]
block testHistoryPaddedWhenEmpty: block testHistoryPaddedWhenEmpty:
var t = initEnemyTracker() var t = initEnemyTracker()