43 lines
1.5 KiB
Nim
43 lines
1.5 KiB
Nim
## Regression test: radar lock must hold on a stationary target.
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## Run: nim c -r tests/test_radar_lock.nim
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import std/[math, strformat]
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import PPO_Bot/enemy_tracker
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template check(cond: bool, msg: string) =
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if not cond:
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quit("FAIL: " & msg, 1)
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# Bot at arena center; stationary enemy due north (same x, higher y).
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# Tank Royale: y increases northward.
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# Radar uses math convention (0°=east, CCW+); north = 90° in that system.
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let botX = 400.0
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let botY = 300.0
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let enemyX = 400.0 # same x → dx = 0
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let enemyY = 500.0 # north of bot → dy > 0
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let trueBearing = 90.0 # north in math convention (0=east, CCW+)
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# Radar starts pointing at the enemy (radarDirection = 90°, due north in math convention).
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var radarDir = 90.0
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var tracker = initEnemyTracker()
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# Prime with contact at the known position
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tracker.update(enemyX, enemyY, 0.0, 0.0, 100.0)
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echo "Tick | radarDir | trueBearing | bearingErr"
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for tick in 1 .. 20:
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let rate = tracker.getRadarTurnRate(botX, botY, 0.0, radarDir)
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radarDir = (radarDir + rate + 360.0) mod 360.0
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# Simulate a successful scan every tick (enemy is stationary)
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tracker.update(enemyX, enemyY, 0.0, 0.0, 100.0)
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# Bearing error: signed difference, wrapped to [-180, 180]
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let err = ((radarDir - trueBearing) + 540.0) mod 360.0 - 180.0
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echo &" {tick:2d} | {radarDir:8.3f}° | {trueBearing:8.3f}° | {err:+.3f}°"
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check abs(err) <= 15.0, &"tick {tick}: radar {radarDir:.1f}° drifted > 15° from target {trueBearing:.1f}°"
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echo "All radar lock tests passed"
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