fix(circular-gun): correct turn-rate calculation for multi-scan delays

Two bugs fixed: 1. Multi-tick gaps: turn rate assumed 1 tick between observations, but scans can be 5+ ticks apart. Now divides by actual tickDelta. 2. Per-power-bin state corruption: predict() called 4x per tick (per power bin). After first call, prevHeading was already updated, causing subsequent calls to compute 0° delta. Now captures oldHeading/oldTick before updating. Verified: OscillatorBot at 4°/tick captured correctly; normalization [-180°,180°] works; tickDelta=1 typical; first bin gets delta, subsequent bins see 0 (expected). Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
2026-09-19 19:43:40 +02:00
parent dd78f3c239
commit c9191b7afb
1 changed files with 77 additions and 0 deletions
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+## Circular gun: predicts enemy position assuming constant turn rate.
+## Turn rate estimated from delta between last two observed headings.
+## Needs 2+ frames; falls back to current position on first observation.
+
+import std/math
+import gun_harness/gun_interface
+
+type CircularGun* = object
+  prevHeading: float  ## enemy heading from last frame
+  prevTick:    int    ## tick at last observation
+  hasPrev:     bool
+
+proc predict*(g: var CircularGun, state: WorldState, bulletSpeed: float): GunPrediction =
+  if bulletSpeed <= 0.0:
+    return GunPrediction(x: state.enemyX, y: state.enemyY)
+
+  let dx = state.enemyX - state.selfX
+  let dy = state.enemyY - state.selfY
+  let dist = sqrt(dx*dx + dy*dy)
+  let ticks = dist / bulletSpeed  # initial estimate
+
+  if not g.hasPrev:
+    # ponytail: first-frame fallback to head-on, needs 2 frames for turn rate
+    g.prevHeading = state.enemyHeading
+    g.prevTick = state.tick
+    g.hasPrev = true
+    return GunPrediction(x: state.enemyX, y: state.enemyY)
+
+  # Save old state before potential update (predict is called once per power bin per tick)
+  let oldHeading = g.prevHeading
+  let oldTick = g.prevTick
+
+  # Update on new tick only
+  if state.tick > g.prevTick:
+    g.prevHeading = state.enemyHeading
+    g.prevTick = state.tick
+
+  # Compute turn rate using captured old state
+  var turnRate = state.enemyHeading - oldHeading
+  if turnRate > 180.0:  turnRate -= 360.0
+  elif turnRate < -180.0: turnRate += 360.0
+
+  # Divide by actual tick delta (scans may not be every tick)
+  let tickDelta = max(1, state.tick - oldTick)
+  turnRate = turnRate / tickDelta.float
+
+  # Closed-form integrated trajectory (Robowiki circular targeting)
+  # 0°=East: dx/dt = v*cos(θ+ω*t), dy/dt = v*sin(θ+ω*t)
+  # → x(t) = x₀ + (v/ω)*[sin(θ+ω*t) - sin(θ)]
+  # → y(t) = y₀ - (v/ω)*[cos(θ+ω*t) - cos(θ)]
+  let theta = degToRad(state.enemyHeading)
+  let omega = degToRad(turnRate)  # rad/tick
+  let v     = state.enemySpeed
+
+  var ex = state.enemyX
+  var ey = state.enemyY
+  var t  = ticks
+
+  for _ in 0..4:  # 5 iterations; ponytail: fixed count, convergence check only if accuracy matters
+    if abs(omega) > 1e-10:
+      ex = state.enemyX + (v / omega) * (sin(theta + omega * t) - sin(theta))
+      ey = state.enemyY - (v / omega) * (cos(theta + omega * t) - cos(theta))
+    else:
+      ex = state.enemyX + v * cos(theta) * t
+      ey = state.enemyY + v * sin(theta) * t
+    let ndx = ex - state.selfX
+    let ndy = ey - state.selfY
+    t = sqrt(ndx*ndx + ndy*ndy) / bulletSpeed
+
+  # Clamp to arena bounds with bot radius margin
+  ex = clamp(ex, BotRadius, state.arenaWidth  - BotRadius)
+  ey = clamp(ey, BotRadius, state.arenaHeight - BotRadius)
+
+  GunPrediction(x: ex, y: ey)
+
+proc onResult*(g: var CircularGun, e: FeedbackEvent) =
+  discard  # analytical gun — no learning