## actions.nim — map raw network output (4 tanh values) to bot intent fields.
##
## Note on acceleration vs targetSpeed:
##   TankRoyale uses setTargetSpeed(), not setAcceleration().
##   The mapped `acceleration` field is a delta; callers must compute:
##     newTargetSpeed = clamp(currentSpeed + acceleration, -8.0, 8.0)
##   and call setTargetSpeed(newTargetSpeed).

import arraymancer

const ACTION_DIM* = 4

type
  MappedActions* = object
    turnRate*:    float  ## degrees/tick, speed-aware; [-10, 10] at speed 0
    acceleration*: float ## delta speed in [-2, +1]; caller adds to currentSpeed
    gunTurnRate*: float  ## degrees/tick in [-20, 20]
    firePower*:   float  ## 0 = don't fire; (0.1, 3.0] = fire with this power

proc mapActions*(networkOutput: Tensor[float32],
                 currentSpeed: float,
                 gunHeat: float): MappedActions =
  ## networkOutput: [4] tensor of tanh values in [-1, 1].
  let a0 = networkOutput[0].float
  let a1 = networkOutput[1].float
  let a2 = networkOutput[2].float
  let a3 = networkOutput[3].float

  result.turnRate    = a0 * (10.0 - 0.75 * abs(currentSpeed))
  # asymmetric accel: [-1,1] -> [-2, +1] via (value * 1.5 - 0.5)
  result.acceleration = a1 * 1.5 - 0.5
  result.gunTurnRate = a2 * 20.0
  if a3 > 0.0 and gunHeat <= 0.0:
    result.firePower = a3 * 2.9 + 0.1
  else:
    result.firePower = 0.0