SirStone
cdde60d79f
- Add gotoTick/aimToTick controller functions (#25) - Update network dims: actor 5→6, state 42→44 (#26) - Rewrite mapActions for 6-dim command space (#27) - Delete stale weight files (shape mismatch) - Fix existing tests for new signatures Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
25 lines
1.2 KiB
Nim
25 lines
1.2 KiB
Nim
## Pure tick-level controllers for goto(x,y) and aimTo(x,y).
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## No bot object needed — all inputs are explicit parameters.
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import tankroyale_botapi
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proc gotoTick*(targetX, targetY, botX, botY, direction, speed: float): (float, float) =
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## Returns (targetSpeed, turnRate) to drive toward (targetX, targetY).
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## Selects forward or reverse automatically based on bearing.
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let bearing = normalizeRelativeAngle(directionTo(botX, botY, targetX, targetY) - direction)
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let (dirSign, effBearing) =
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if abs(bearing) > 90.0:
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(-1.0, normalizeRelativeAngle(bearing + 180.0))
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else:
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(1.0, bearing)
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let dist = distanceTo(botX, botY, targetX, targetY)
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let maxTurn = calcMaxTurnRate(speed)
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let turnRate = effBearing.clamp(-maxTurn, maxTurn)
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let rawSpeed = getNewTargetSpeed(MAX_SPEED, abs(speed), dist)
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(dirSign * rawSpeed, turnRate)
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proc aimToTick*(targetX, targetY, botX, botY, gunDirection: float): float =
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## Returns gunTurnRate (clamped to ±MAX_GUN_TURN_RATE) to rotate gun toward target.
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let bearing = normalizeRelativeAngle(directionTo(botX, botY, targetX, targetY) - gunDirection)
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bearing.clamp(-MAX_GUN_TURN_RATE, MAX_GUN_TURN_RATE)
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