feat(ModularBot): virtual body movement selector — wave-based scoring replaces EMA damage

Implements VirtualBodyTracker (wave-based hit/miss scoring) instead of EMA damage accumulation. Movement switching now happens every tick, not every 3 rounds. Also refactors radar colors to dark teal (#004444/#0D4D4D) for faint visibility.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

ModularBot_garage/src/ModularBot.nim

@@ -25,6 +25,7 @@ import guns/averaged_lead
 import guns/decay_gf
 import movements/phantom_meteor
 import movements/wave_surfer
+import movement_harness/virtual_bodies as mvb
 
 const botJsonPath = currentSourcePath().parentDir / "ModularBot.json"
 const DebugVBullets = false
@@ -54,10 +55,7 @@ type
     mover:        PhantomMeteorModule
     waveMover:    WaveSurferModule
     movementId:   int    ## 0=phantom, 1=waveSurf
-    dmgPhantom:   float  ## rolling damage taken under phantom
-    dmgWaveSurf:  float  ## rolling damage taken under waveSurf
-    roundDmg:     float  ## damage this round
-    roundCount:   int
+    moveTracker:  VirtualBodyTracker
     virtualHits:  int
     virtualMiss:  int
     tick:         int
@@ -215,35 +213,25 @@ method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
 
 
 method onHitByBullet*(bot: ModularBot, e: HitByBulletEvent) =
-  bot.roundDmg += e.damage
+  bot.moveTracker.registerHit(e.bullet.power, e.bullet.direction, getX(), getY())
 
 method onRoundEnded*(bot: ModularBot, e: RoundEndedEventForBot) =
-  # Accumulate damage into active movement bucket (exponential decay, α=0.5)
-  # ponytail: simple EMA; switch to longer window if thrashing becomes a problem
-  let decay = 0.5
-  if bot.movementId == 0:
-    bot.dmgPhantom  = decay * bot.dmgPhantom  + (1.0 - decay) * bot.roundDmg
-  else:
-    bot.dmgWaveSurf = decay * bot.dmgWaveSurf + (1.0 - decay) * bot.roundDmg
-  echo "[move] round dmg=", bot.roundDmg, " phantom_ema=", bot.dmgPhantom, " wave_ema=", bot.dmgWaveSurf
+  let newId = bot.moveTracker.bestMovement()
+  if newId != bot.movementId:
+    echo "[move] switching: ", (if newId == 0: "phantom_meteor" else: "wave_surfer")
+    bot.movementId = newId
 
 method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
   setAdjustGunForBodyTurn(true)
   setAdjustRadarForBodyTurn(true)
   setAdjustRadarForGunTurn(true)
-  setRadarColor("#00CCCC")  # RadarLock: cyan/teal
-  setScanColor("#33FFFF")   # RadarLock scan arc: bright teal
+  setRadarColor("#004444")  # RadarLock: dark teal, faint without alpha
+  setScanColor("#0D4D4D")   # RadarLock scan arc: very dark teal, faint without alpha
   bot.radar.init()
   bot.hasContact = false
   bot.tick       = 0
   bot.currentGun = -1
-  bot.roundDmg   = 0.0
-  inc bot.roundCount
-
-  # Every 3 rounds: switch to lower-damage movement (probe every 3rd round)
-  # ponytail: simple 3-round probe; add hysteresis if switching thrashes
-  if bot.roundCount > 2:
-    bot.movementId = if bot.dmgPhantom <= bot.dmgWaveSurf: 0 else: 1
+  bot.moveTracker.resetRound(getX(), getY(), getDirection(), getSpeed())
 
   if bot.movementId == 0:
     bot.mover.resetRound()
@@ -271,10 +259,15 @@ method run*(bot: ModularBot) =
       go()
       continue
 
-    # Movement harness: dispatch to active mover
-    let (spd, tr) =
-      if bot.movementId == 0: bot.mover.computeMove(bot.lastState)
-      else: bot.waveMover.computeMove(bot.lastState)
+    # Movement harness: compute all, feed tracker, apply active
+    let phantomCmd  = bot.mover.computeMove(bot.lastState)
+    let waveSurfCmd = bot.waveMover.computeMove(bot.lastState)
+    bot.moveTracker.tick(bot.lastState, [phantomCmd, waveSurfCmd])
+    let activeId = bot.moveTracker.bestMovement()
+    if activeId != bot.movementId:
+      bot.movementId = activeId
+      echo "[move] switched to: ", (if activeId == 0: "phantom_meteor" else: "wave_surfer")
+    let (spd, tr) = if bot.movementId == 0: phantomCmd else: waveSurfCmd
     setTargetSpeed(spd)
     setTurnRate(tr)
 
@@ -297,9 +290,10 @@ when isMainModule:
     displace:    initDisplacementGun(),
     avgLead:     initAveragedLeadGun(),
     decayGF:     initDecayGFGun(),
-    radar:      RadarLockModule(),
-    mover:      initPhantomMeteor(),
-    waveMover:  initWaveSurfer(),
-    currentGun: -1,
+    radar:        RadarLockModule(),
+    mover:        initPhantomMeteor(),
+    waveMover:    initWaveSurfer(),
+    moveTracker:  mvb.initVirtualBodyTracker(2),  # 0=phantom, 1=waveSurf
+    currentGun:   -1,
   )
   start(bot, botJsonPath)