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fix(adversaries): repair four of the five sparring bots

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The user suspected these were bugged. They were, and the verdicts are not
uniform - three genuinely broken, one merely sloppy, one fine:

- WaveSurfer: GENUINELY BUGGED, worst of the five. (a) The enemy velocity
  decomposition was sin/cos SWAPPED - enemyVx used sin and enemyVy used cos,
  while Tank Royale is 0 deg = East, CCW+, so it must be cos for X and sin for
  Y. Its linear-prediction gun was aiming at a reflected position. (b) The wall
  escape flipped strafeDir on EVERY tick the bot was inside the wall margin,
  so instead of turning away it flip-flopped in place: measured standing still
  (speed < 0.5) for 96.2% of ticks with a longest continuous standstill of 1398
  ticks. Fixed with a hysteretic wall-escape selection plus a corner escape,
  dead enemyLastDir removed, and per-round state reset.
  AFTER, measured through the booter: rest 12.3%, mean speed 6.69, full speed
  79.7%, longest zero run 18, perpendicular 0.845 / radial 0.012 - it now
  actually strafes. Gun sanity: lead error 1.0 px vs 106 px for head-on on a
  constant-velocity target; lead gun 45.8% hits vs 29.3% for head-on.
- PatternMover: GENUINELY BUGGED. Real deadlock - it decremented its step
  counter by the REQUESTED amount while issuing setTargetSpeed(8), so against a
  wall the counter never reached 0, advanceStep never ran and it was stuck
  forever (309-tick standstill). Now counts down by ACTUAL distance/turn with a
  STALL_LIMIT watchdog and steers toward the arena centre. Standstill 309 -> 19
  ticks; full-speed ticks 10.0% -> 28.4%.
- OscillatorBot: GENUINELY BUGGED, milder. No wall handling at all, so it
  ground along walls 53.4% of ticks and could pin in a corner. Added wall
  steering that preserves the fixed 25-tick reversal cadence. Wall-band 53.4%
  -> 18.6%, mean wall distance 72 -> 119.
- RandomMover: merely sloppy, not broken. Its turn intent saturated against the
  speed-dependent limit (18.4% of moving ticks clamped) and the fire gate was a
  very loose 10 deg. Now clamps to calcMaxTurnRate and fires within 3 deg.
  Saturation 18.4% -> 3.9%.
- SittingDuck: FINE. Speed 0 for 100% of ticks, zero shots. Left untouched -
  it is a duck by design.

Adds test_wavesurfer_velocity.nim, a direct assertion that the decomposition is
cos/sin and explicitly NOT the swapped form (7 cases).

KNOWN ISSUE, not fixed: RandomMover/PatternMover/WaveSurfer import
tankroyale_botapi 1.0.1 and intermittently SIGSEGV in
tankroyale_botapi/event_queue.nim:89 addEvent, freezing the bot for the rest of
the battle. It reproduces on old and new code and never occurs for SittingDuck/
OscillatorBot, which import robocode_tankroyale_botapi 1.0.7. Migrating the
three to 1.0.7 would likely fix it and is worth doing - it is a real
reliability risk for these as sparring partners.
This commit is contained in:
Davide Cappellini
2026-09-21 08:21:47 +02:00
parent e6653199bb
commit c214abcfa8
9 changed files with 206 additions and 36 deletions
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common_libs/test_framework/adversaries/WaveSurfer/out/WaveSurfer
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common_libs/test_framework/adversaries/WaveSurfer/src/WaveSurfer.nim
+75 -19
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@@ -12,15 +12,24 @@ const
WALL_MARGIN = 60.0
STRAFE_SPEED = 8.0
BULLET_SPEED = 20.0 - 3.0 * 2.0 # for fire power 2.0
WALL_HYST = 0.05 # dot-product hysteresis for wall escape
type WaveSurfer = ref object of Bot
strafeDir: float # +1 or -1
strafeDir: float # +1 or -1
lastEnemyEnergy: float
enemyX, enemyY: float
enemyX, enemyY: float
enemyVx, enemyVy: float
enemyDir: float
enemySpeed: float
enemyLastDir: float
enemyDir: float
enemySpeed: float
stuckTicks: int # consecutive ticks stopped while touching a wall
proc enemyVelocity*(direction, speed: float): tuple[vx, vy: float] =
## World velocity of a bot from its (heading, signed speed).
## Tank Royale convention: 0 degrees is EAST and angles increase
## counter-clockwise, so vx = cos(heading)*speed and vy = sin(heading)*speed
## (the opposite of classic Robocode).
(vx: cos(degToRad(direction)) * speed,
vy: sin(degToRad(direction)) * speed)
method onRoundStarted*(bot: WaveSurfer, e: RoundStartedEvent) =
setAdjustGunForBodyTurn(true)
@@ -30,6 +39,11 @@ method onRoundStarted*(bot: WaveSurfer, e: RoundStartedEvent) =
bot.lastEnemyEnergy = 100.0
bot.enemyX = 0.0
bot.enemyY = 0.0
bot.enemyVx = 0.0
bot.enemyVy = 0.0
bot.enemyDir = 0.0
bot.enemySpeed = 0.0
bot.stuckTicks = 0
method onScannedBot*(bot: WaveSurfer, e: ScannedBotEvent) =
# Detect bullet fire: enemy energy dropped by 0.1..3.0
@@ -44,8 +58,9 @@ method onScannedBot*(bot: WaveSurfer, e: ScannedBotEvent) =
bot.enemyY = e.y
bot.enemyDir = e.direction
bot.enemySpeed = e.speed
bot.enemyVx = sin(degToRad(e.direction)) * e.speed
bot.enemyVy = cos(degToRad(e.direction)) * e.speed
let v = enemyVelocity(e.direction, e.speed)
bot.enemyVx = v.vx
bot.enemyVy = v.vy
# Linear prediction: estimate where enemy will be when bullet arrives
let dx = e.x - getX()
@@ -64,10 +79,37 @@ method run*(bot: WaveSurfer) =
while isRunning():
setRadarTurnRate(45.0)
# Strafe perpendicular to enemy
if bot.enemyX != 0.0 or bot.enemyY != 0.0:
let toEnemy = directionTo(getX(), getY(), bot.enemyX, bot.enemyY)
let perpDir = toEnemy + 90.0 * bot.strafeDir
let x = getX()
let y = getY()
let arenaW = getArenaWidth().float
let arenaH = getArenaHeight().float
let dl = x
let dr = arenaW - x
let db = y
let dt = arenaH - y
let nearest = min(min(dl, dr), min(db, dt))
# Detect a pin. Tank Royale stops a bot dead on wall contact (no sliding),
# so in a corner both perpendicular options push into one of the two walls.
if abs(getSpeed()) < 0.5 and nearest < WALL_MARGIN:
inc bot.stuckTicks
else:
bot.stuckTicks = 0
var toEnemy = getDirection()
let haveEnemy = bot.enemyX != 0.0 or bot.enemyY != 0.0
if haveEnemy:
toEnemy = directionTo(x, y, bot.enemyX, bot.enemyY)
if bot.stuckTicks > 3:
# Pinned (usually a corner): head straight for the arena centre until
# moving again, then resume the perpendicular strafe.
let escapeDir = directionTo(x, y, arenaW * 0.5, arenaH * 0.5)
let delta = normalizeRelativeAngle(escapeDir - getDirection())
setTurnRate(delta.clamp(-MAX_TURN_RATE, MAX_TURN_RATE))
elif haveEnemy:
# Strafe perpendicular to enemy
let perpDir = toEnemy + 90.0 * bot.strafeDir
let bodyDelta = normalizeRelativeAngle(perpDir - getDirection())
setTurnRate(bodyDelta.clamp(-MAX_TURN_RATE, MAX_TURN_RATE))
else:
@@ -75,14 +117,28 @@ method run*(bot: WaveSurfer) =
setTargetSpeed(STRAFE_SPEED)
# Reverse near walls
let x = getX()
let y = getY()
let arenaW = getArenaWidth().float
let arenaH = getArenaHeight().float
if x < WALL_MARGIN or x > arenaW - WALL_MARGIN or
y < WALL_MARGIN or y > arenaH - WALL_MARGIN:
bot.strafeDir *= -1.0
# Wall escape. Instead of a per-tick flip (which jitters in place) the
# strafe sign is *selected* every tick to point the perpendicular heading
# away from the nearest wall. It only changes when the other option is
# clearly better (hysteresis), so it cannot chatter; and because it is
# re-asserted each tick it also overrides a fire-triggered reversal that
# would otherwise drive the bot back into the wall.
if nearest < WALL_MARGIN and bot.stuckTicks <= 3:
# Outward wall normal (points from the arena towards that wall).
var nx = 0.0
var ny = 0.0
if nearest == dl: nx = -1.0
elif nearest == dr: nx = 1.0
elif nearest == db: ny = -1.0
else: ny = 1.0
# Pick the strafe sign whose perpendicular heading escapes the wall
# (smallest component along the outward normal).
let candA = toEnemy + 90.0 * bot.strafeDir
let candB = toEnemy - 90.0 * bot.strafeDir
let dotA = cos(degToRad(candA)) * nx + sin(degToRad(candA)) * ny
let dotB = cos(degToRad(candB)) * nx + sin(degToRad(candB)) * ny
if dotA > dotB + WALL_HYST:
bot.strafeDir *= -1.0
go()