SirStone
2cc2a3bd87
- 30-tick cooldown after ghost-stuck/timeout ram exit prevents re-entry loop - enemy_tracker.update() skips dead bots to prevent same-tick scan resurrection - TFIL graphics cleared when ramming is active movement - [config] logs: white base with green-highlighted changes only - [ram:enter] logs trigger reason and key values on false→true transition - [death] and [target-invalid] logs retained for diagnostics
124 lines
4.3 KiB
Nim
124 lines
4.3 KiB
Nim
## Guess-factor gun: statistical targeting via GF histogram.
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## Bins: 31, ranging GF -1 (max CW escape) to +1 (max CCW escape).
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## Learns from virtual bullet outcomes; caches wave state per-tick.
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import std/[math, strformat]
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import gun_harness/gun_interface
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const
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GFBins = 31
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GFPrior = 0.1
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DebugGF* = false
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type
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Wave = object
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fireX, fireY: float
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fireBearing: float # atan2(enemyY-selfY, enemyX-selfX) at fire tick (rad)
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# mea not stored — recomputed from FeedbackEvent.bulletPower at resolution time
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GFGun* = object
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bins: array[GFBins, float]
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waves: seq[Wave] # pending unresolved waves
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# per-tick cache: store wave only once across multiple power-bin calls
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cachedTick: int
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cachedWaveStored: bool
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debugGraphics*: bool
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proc initGFGun*(): GFGun =
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result.cachedTick = -1
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result.debugGraphics = false
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# Seed with a head-on prior: triangular bump at bin 15 (GF=0).
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# Prevents the cold-start tie-break to GF=-1 (bin 0) that poisons early fitness.
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let center = (GFBins - 1) div 2 # = 15
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for i in 0..<GFBins:
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let d = abs(i - center)
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result.bins[i] = GFPrior + 0.5 / float(1 + d)
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proc gfToIndex(gf: float): int {.inline.} =
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clamp(int(round((gf + 1.0) * 0.5 * float(GFBins - 1))), 0, GFBins - 1)
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proc indexToGF(idx: int): float {.inline.} =
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float(idx) / float(GFBins - 1) * 2.0 - 1.0
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proc peakBin(g: GFGun): int =
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var best = 0
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for i in 1..<GFBins:
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if g.bins[i] > g.bins[best]:
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best = i
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best
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proc predict*(g: var GFGun, state: WorldState, bulletSpeed: float): GunPrediction =
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if bulletSpeed <= 0.0:
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return GunPrediction(x: state.enemyX, y: state.enemyY)
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let dx = state.enemyX - state.selfX
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let dy = state.enemyY - state.selfY
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let dist = sqrt(dx*dx + dy*dy)
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let bearing = arctan2(dy, dx)
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let mea = arcsin(clamp(8.0 / bulletSpeed, -1.0, 1.0))
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# Store one wave per tick regardless of how many power bins call us
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if state.tick != g.cachedTick:
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g.cachedTick = state.tick
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g.cachedWaveStored = false
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if not g.cachedWaveStored:
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g.waves.add Wave(
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fireX: state.selfX,
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fireY: state.selfY,
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fireBearing: bearing,
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)
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g.cachedWaveStored = true
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let peak = g.peakBin()
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let peakGF = indexToGF(peak)
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let gfAngle = bearing + peakGF * mea
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# Aim from self at gfAngle, at current dist (angular targeting)
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let px = state.selfX + cos(gfAngle) * dist
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let py = state.selfY + sin(gfAngle) * dist
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when DebugGF:
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echo fmt"[gf-dbg] predict: peakGF={peakGF:.2f} peakBin={peak} mea={radToDeg(mea):.1f}° aimAngle={radToDeg(gfAngle):.1f}° waves={g.waves.len}"
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GunPrediction(
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x: clamp(px, BotRadius, state.arenaWidth - BotRadius),
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y: clamp(py, BotRadius, state.arenaHeight - BotRadius),
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)
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proc onResult*(g: var GFGun, e: FeedbackEvent) =
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## Called when a virtual bullet resolves. Match the wave by predicted point,
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## compute actual GF, and increment the histogram with a smoothing kernel.
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## We don't have the original wave tick here, so we use the prediction coords
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## to identify and remove the matching wave.
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## ponytail: O(n) scan over waves; waves list stays tiny (< a dozen at a time)
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if g.waves.len == 0:
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return
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# Pop the oldest wave (FIFO matches bullet resolution order)
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let w = g.waves[0]
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g.waves.delete(0)
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# Recompute mea from the actual bullet power (correct per-bin, not the cached first-bin mea)
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let speed = bulletSpeed(e.bulletPower)
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let mea = arcsin(clamp(8.0 / speed, -1.0, 1.0))
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# Compute actual bearing from fire position to where the enemy actually was
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let actualDx = e.actualX - w.fireX
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let actualDy = e.actualY - w.fireY
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let actualBearing = arctan2(actualDy, actualDx)
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var bearingDelta = actualBearing - w.fireBearing
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# Normalize to [-PI, PI]
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while bearingDelta > PI: bearingDelta -= 2.0*PI
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while bearingDelta < -PI: bearingDelta += 2.0*PI
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let gf = if mea > 1e-10: clamp(bearingDelta / mea, -1.0, 1.0) else: 0.0
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let centerIdx = gfToIndex(gf)
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when DebugGF:
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echo fmt"[gf-dbg] onResult: fireBearing={radToDeg(w.fireBearing):.1f}° actualBearing={radToDeg(actualBearing):.1f}° delta={radToDeg(bearingDelta):.1f}° MEA={radToDeg(mea):.1f}° GF={gf:.2f} peakBin={centerIdx}"
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# Triangular smoothing kernel over adjacent bins
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for i in 0..<GFBins:
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let dist = abs(i - centerIdx)
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g.bins[i] += 1.0 / float(1 + dist)
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