## actions.nim — map raw network output to Tank Royale bot commands.

import arraymancer
import std/math
import ./controllers

func sigmoid(x: float): float = 1.0 / (1.0 + exp(-x))

type
  BotActions* = object
    targetSpeed*:  float
    turnRate*:     float
    gunTurnRate*:  float
    shouldFire*:   bool
    firePower*:    float
    gotoX*:        float
    gotoY*:        float
    aimToX*:       float
    aimToY*:       float

proc mapActions*(rawActions: Tensor[float32],
                 gunHeat: float,
                 arenaWidth, arenaHeight: float,
                 botX, botY, direction, speed, gunDirection: float,
                 enemyX, enemyY: float): BotActions =
  ## rawActions: [6] tensor from actorForward.
  ## Dims 0–1: goto x/y offset from enemy, 2–3: aimTo x/y offset from enemy,
  ## 4: fire decision, 5: fire power.
  ## Enemy-centred mapping: tanh gives [-1,1]; scale by arena/4 (goto) and
  ## arena/8 (aimTo) so zero-init defaults the bot toward the enemy.
  let gotoX  = clamp(enemyX + tanh(rawActions[0].float) * arenaWidth  * 0.25, 0.0, arenaWidth)
  let gotoY  = clamp(enemyY + tanh(rawActions[1].float) * arenaHeight * 0.25, 0.0, arenaHeight)
  let aimToX = clamp(enemyX + tanh(rawActions[2].float) * arenaWidth  * 0.125, 0.0, arenaWidth)
  let aimToY = clamp(enemyY + tanh(rawActions[3].float) * arenaHeight * 0.125, 0.0, arenaHeight)
  let fireDec = tanh(rawActions[4].float)
  let fp      = sigmoid(rawActions[5].float) * 2.9 + 0.1

  let (ts, tr) = gotoTick(gotoX, gotoY, botX, botY, direction, speed)
  let gtr      = aimToTick(aimToX, aimToY, botX, botY, gunDirection)

  result.gotoX       = gotoX
  result.gotoY       = gotoY
  result.aimToX      = aimToX
  result.aimToY      = aimToY
  result.targetSpeed = ts
  result.turnRate    = tr
  result.gunTurnRate = gtr
  result.shouldFire  = fireDec >= 0.0 and gunHeat <= 0.0
  result.firePower   = fp