SirRoboGarage/common_libs/test_framework/adversaries/WaveSurfer/src/WaveSurfer.nim

# WaveSurfer — reactive movement adversary with linear prediction gun.
# Monitors enemy energy drops (bullet fire detection), reverses on detected fire.
# Strafes perpendicular to enemy, reverses near walls.
# Purpose: hardest test enemy — tests TM gun's ability to learn reactive movement.

import std/[math, os]
import robocode_tankroyale_botapi

const botJsonPath = currentSourcePath().parentDir / "WaveSurfer.json"

const
  WALL_MARGIN   = 60.0
  STRAFE_SPEED  = 8.0
  BULLET_SPEED  = 20.0 - 3.0 * 2.0   # for fire power 2.0
  WALL_HYST     = 0.05                # dot-product hysteresis for wall escape

type WaveSurfer = ref object of Bot
  strafeDir:       float   # +1 or -1
  lastEnemyEnergy: float
  enemyX, enemyY:  float
  enemyVx, enemyVy: float
  enemyDir:        float
  enemySpeed:      float
  stuckTicks:      int    # consecutive ticks stopped while touching a wall

proc enemyVelocity*(direction, speed: float): tuple[vx, vy: float] =
  ## World velocity of a bot from its (heading, signed speed).
  ## Tank Royale convention: 0 degrees is EAST and angles increase
  ## counter-clockwise, so vx = cos(heading)*speed and vy = sin(heading)*speed
  ## (the opposite of classic Robocode).
  (vx: cos(degToRad(direction)) * speed,
   vy: sin(degToRad(direction)) * speed)

method onRoundStarted*(bot: WaveSurfer, e: RoundStartedEvent) =
  setAdjustGunForBodyTurn(true)
  setAdjustRadarForBodyTurn(true)
  setAdjustRadarForGunTurn(true)
  bot.strafeDir       = 1.0
  bot.lastEnemyEnergy = 100.0
  bot.enemyX          = 0.0
  bot.enemyY          = 0.0
  bot.enemyVx         = 0.0
  bot.enemyVy         = 0.0
  bot.enemyDir        = 0.0
  bot.enemySpeed      = 0.0
  bot.stuckTicks      = 0

method onScannedBot*(bot: WaveSurfer, e: ScannedBotEvent) =
  # Detect bullet fire: enemy energy dropped by 0.1..3.0
  let energyDrop = bot.lastEnemyEnergy - e.energy
  if energyDrop > 0.1 and energyDrop <= 3.0:
    # Enemy fired — reverse strafe direction immediately
    bot.strafeDir *= -1.0
  bot.lastEnemyEnergy = e.energy

  # Track enemy position and velocity
  bot.enemyX     = e.x
  bot.enemyY     = e.y
  bot.enemyDir   = e.direction
  bot.enemySpeed = e.speed
  let v = enemyVelocity(e.direction, e.speed)
  bot.enemyVx = v.vx
  bot.enemyVy = v.vy

  # Linear prediction: estimate where enemy will be when bullet arrives
  let dx       = e.x - getX()
  let dy       = e.y - getY()
  let dist     = sqrt(dx*dx + dy*dy)
  let tof      = dist / BULLET_SPEED   # ticks of flight
  let predX    = e.x + bot.enemyVx * tof
  let predY    = e.y + bot.enemyVy * tof
  let bearing  = directionTo(getX(), getY(), predX, predY)
  let gunDelta = normalizeRelativeAngle(bearing - getGunDirection())
  setGunTurnRate(gunDelta.clamp(-MAX_GUN_TURN_RATE, MAX_GUN_TURN_RATE))
  if abs(gunDelta) < 5.0 and getGunHeat() <= 0.0:
    discard setFire(2.0)

method run*(bot: WaveSurfer) =
  while isRunning():
    setRadarTurnRate(45.0)

    let x      = getX()
    let y      = getY()
    let arenaW = getArenaWidth().float
    let arenaH = getArenaHeight().float
    let dl     = x
    let dr     = arenaW - x
    let db     = y
    let dt     = arenaH - y
    let nearest = min(min(dl, dr), min(db, dt))

    # Detect a pin.  Tank Royale stops a bot dead on wall contact (no sliding),
    # so in a corner both perpendicular options push into one of the two walls.
    if abs(getSpeed()) < 0.5 and nearest < WALL_MARGIN:
      inc bot.stuckTicks
    else:
      bot.stuckTicks = 0

    var toEnemy = getDirection()
    let haveEnemy = bot.enemyX != 0.0 or bot.enemyY != 0.0
    if haveEnemy:
      toEnemy = directionTo(x, y, bot.enemyX, bot.enemyY)

    if bot.stuckTicks > 3:
      # Pinned (usually a corner): head straight for the arena centre until
      # moving again, then resume the perpendicular strafe.
      let escapeDir = directionTo(x, y, arenaW * 0.5, arenaH * 0.5)
      let delta     = normalizeRelativeAngle(escapeDir - getDirection())
      setTurnRate(delta.clamp(-MAX_TURN_RATE, MAX_TURN_RATE))
    elif haveEnemy:
      # Strafe perpendicular to enemy
      let perpDir   = toEnemy + 90.0 * bot.strafeDir
      let bodyDelta = normalizeRelativeAngle(perpDir - getDirection())
      setTurnRate(bodyDelta.clamp(-MAX_TURN_RATE, MAX_TURN_RATE))
    else:
      setTurnRate(4.0 * bot.strafeDir)

    setTargetSpeed(STRAFE_SPEED)

    # Wall escape.  Instead of a per-tick flip (which jitters in place) the
    # strafe sign is *selected* every tick to point the perpendicular heading
    # away from the nearest wall.  It only changes when the other option is
    # clearly better (hysteresis), so it cannot chatter; and because it is
    # re-asserted each tick it also overrides a fire-triggered reversal that
    # would otherwise drive the bot back into the wall.
    if nearest < WALL_MARGIN and bot.stuckTicks <= 3:
      # Outward wall normal (points from the arena towards that wall).
      var nx = 0.0
      var ny = 0.0
      if nearest == dl:   nx = -1.0
      elif nearest == dr: nx =  1.0
      elif nearest == db: ny = -1.0
      else:               ny =  1.0
      # Pick the strafe sign whose perpendicular heading escapes the wall
      # (smallest component along the outward normal).
      let candA = toEnemy + 90.0 * bot.strafeDir
      let candB = toEnemy - 90.0 * bot.strafeDir
      let dotA  = cos(degToRad(candA)) * nx + sin(degToRad(candA)) * ny
      let dotB  = cos(degToRad(candB)) * nx + sin(degToRad(candB)) * ny
      if dotA > dotB + WALL_HYST:
        bot.strafeDir *= -1.0

    go()

when isMainModule:
  var bot = WaveSurfer(strafeDir: 1.0, lastEnemyEnergy: 100.0)
  start(bot, botJsonPath)