50 lines
1.9 KiB
Nim
50 lines
1.9 KiB
Nim
## actions.nim — map raw network output to Tank Royale bot commands.
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import arraymancer
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import std/math
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import ./controllers
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func sigmoid(x: float): float = 1.0 / (1.0 + exp(-x))
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type
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BotActions* = object
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targetSpeed*: float
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turnRate*: float
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gunTurnRate*: float
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shouldFire*: bool
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firePower*: float
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gotoX*: float
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gotoY*: float
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aimToX*: float
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aimToY*: float
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proc mapActions*(rawActions: Tensor[float32],
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gunHeat: float,
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arenaWidth, arenaHeight: float,
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botX, botY, direction, speed, gunDirection: float,
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enemyX, enemyY: float): BotActions =
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## rawActions: [6] tensor from actorForward.
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## Dims 0–1: goto x/y offset from enemy, 2–3: aimTo x/y offset from enemy,
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## 4: fire decision, 5: fire power.
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## Enemy-centred mapping: tanh gives [-1,1]; scale by arena/4 (goto) and
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## arena/8 (aimTo) so zero-init defaults the bot toward the enemy.
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let gotoX = clamp(enemyX + tanh(rawActions[0].float) * arenaWidth * 0.25, 0.0, arenaWidth)
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let gotoY = clamp(enemyY + tanh(rawActions[1].float) * arenaHeight * 0.25, 0.0, arenaHeight)
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let aimToX = clamp(enemyX + tanh(rawActions[2].float) * arenaWidth * 0.125, 0.0, arenaWidth)
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let aimToY = clamp(enemyY + tanh(rawActions[3].float) * arenaHeight * 0.125, 0.0, arenaHeight)
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let fireDec = tanh(rawActions[4].float)
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let fp = sigmoid(rawActions[5].float) * 2.9 + 0.1
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let (ts, tr) = gotoTick(gotoX, gotoY, botX, botY, direction, speed)
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let gtr = aimToTick(aimToX, aimToY, botX, botY, gunDirection)
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result.gotoX = gotoX
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result.gotoY = gotoY
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result.aimToX = aimToX
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result.aimToY = aimToY
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result.targetSpeed = ts
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result.turnRate = tr
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result.gunTurnRate = gtr
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result.shouldFire = fireDec >= 0.0 and gunHeat <= 0.0
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result.firePower = fp
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