## State vector builder — produces 42-float normalized tensor for PPO policy.
## No bot API imports; takes plain BotState + EnemyTracker structs.

import std/math
import arraymancer
import ./enemy_tracker

type
  BotStateData* = object
    ## Plain data mirror of the bot's observable state.
    x*, y*: float64
    direction*: float64
    speed*: float64
    energy*: float64
    gunDirection*: float64
    gunHeat*: float64
    arenaWidth*, arenaHeight*: float64

proc buildStateVector*(bot: BotStateData; enemy: EnemyTracker): Tensor[float32] =
  ## Build the 42-float normalized state tensor.
  ## All values clipped to roughly [-1, 1] via division by physical maxima.
  result = zeros[float32](42)

  let aW = bot.arenaWidth
  let aH = bot.arenaHeight
  let diag = sqrt(aW * aW + aH * aH)  # ≈ 1700 for 1200×800
  let wallMax = max(aW, aH)

  # --- Current tick: own bot (indices 0-6) ---
  result[0] = float32(bot.x / aW)
  result[1] = float32(bot.y / aH)
  result[2] = float32(bot.direction / 360.0)
  result[3] = float32(bot.speed / 8.0)
  result[4] = float32(bot.energy / 100.0)
  result[5] = float32(bot.gunDirection / 360.0)
  result[6] = float32(bot.gunHeat / 1.8)

  # --- Current tick: enemy (indices 7-13) ---
  if enemy.hasContact:
    result[7]  = float32(enemy.current.x / aW)
    result[8]  = float32(enemy.current.y / aH)
    result[9]  = float32(enemy.current.direction / 360.0)
    result[10] = float32(enemy.current.speed / 8.0)
    result[11] = float32(enemy.current.energy / 100.0)
    result[12] = float32(if enemy.current.hasFired: 1.0 else: 0.0)
    result[13] = float32(enemy.current.lastFirePower / 3.0)
  # else: remain 0.0

  # --- Derived features (indices 14-21) ---
  if enemy.hasContact:
    # Enemy acceleration (speed delta from last history entry)
    # Max delta is ±8 (stopped ↔ full speed); divide by 8 to normalize
    if enemy.historyCount >= 1:
      result[14] = float32((enemy.current.speed - enemy.history[0].speed) / 8.0)
    # Enemy turn rate (direction delta from last history entry, normalized to [-1,1])
    # Divide by 180 (max possible relative rotation) rather than 10 (max body turn rate)
    # ponytail: /180 covers all cases; use /10 if you want sensitivity to small turns
    if enemy.historyCount >= 1:
      let dirDelta = ((enemy.current.direction - enemy.history[0].direction) + 540.0) mod 360.0 - 180.0
      result[15] = float32(dirDelta / 180.0)
    # Relative bearing to enemy (signed, from bot perspective)
    let dx = enemy.current.x - bot.x
    let dy = enemy.current.y - bot.y
    let absDir = (180.0 * arctan2(dx, dy) / PI + 360.0) mod 360.0
    let relBearing = ((absDir - bot.direction) + 540.0) mod 360.0 - 180.0
    result[16] = float32(relBearing / 180.0)
    # Distance to enemy
    let dist = sqrt(dx * dx + dy * dy)
    result[17] = float32(dist / diag)

  # Wall distances (indices 18-21): top, bottom, left, right
  # top = distance from bot to top wall (y=aH), bottom = distance to bottom (y=0)
  # left = distance to left (x=0), right = distance to right (x=aW)
  result[18] = float32((aH - bot.y) / wallMax)  # top
  result[19] = float32(bot.y / wallMax)           # bottom
  result[20] = float32(bot.x / wallMax)           # left
  result[21] = float32((aW - bot.x) / wallMax)   # right

  # --- History: 5 ticks × 4 floats = 20 floats (indices 22-41) ---
  for i in 0 ..< 5:
    let base = 22 + i * 4
    if i < enemy.historyCount:
      result[base + 0] = float32(enemy.history[i].x / aW)
      result[base + 1] = float32(enemy.history[i].y / aH)
      result[base + 2] = float32(enemy.history[i].direction / 360.0)
      result[base + 3] = float32(enemy.history[i].speed / 8.0)
    # else: remain 0.0 (pad)