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

import arraymancer
import std/math

type
  BotActions* = object
    targetSpeed*:  float32
    turnRate*:     float32
    gunTurnRate*:  float32
    shouldFire*:   bool
    firePower*:    float32

proc mapActions*(rawActions: Tensor[float32], currentSpeed: float32, gunHeat: float32): BotActions =
  ## rawActions: [5] tensor from actorForward.
  ## Ranges:
  ##   targetSpeed  ∈ [-8, 8]
  ##   turnRate     ∈ [-(10 - 0.75|v|), (10 - 0.75|v|)]
  ##   gunTurnRate  ∈ [-20, 20]
  ##   firePower    ∈ [0.1, 3.0]
  let r0 = tanh(rawActions[0].float64).float32
  let r1 = tanh(rawActions[1].float64).float32
  let r2 = tanh(rawActions[2].float64).float32
  let r3 = tanh(rawActions[3].float64).float32
  let r4 = rawActions[4]

  result.targetSpeed  = r0 * 8.0'f32
  result.turnRate     = r1 * (10.0'f32 - 0.75'f32 * abs(currentSpeed))
  result.gunTurnRate  = r2 * 20.0'f32
  let fireDecision    = r3
  result.shouldFire   = fireDecision >= 0.0'f32 and gunHeat <= 0.0'f32
  # sigmoid(r4) * 2.9 + 0.1 → [0.1, 3.0]
  result.firePower    = (1.0'f32 / (1.0'f32 + exp(-r4.float64).float32)) * 2.9'f32 + 0.1'f32