SirStone
a50c0125d5
New engine movements/strafe.nim, selected by TR_MOVEMENT=strafe (default stays tfil, byte-identical — test_tfil_commit_env.nim's 30 checks still pass). Design (the owner's): - AXIS = incoming bullet's direction when a bullet is in flight, else the perpendicular of the enemy bearing. The body heading is kept inside a band (TR_STRAFE_BAND, default 20 deg) around the perpendicular LINE; it turns only when outside the band, and never turns to face a movement target. - Candidate tiles on the perpendicular line through our position, both forward and backward, within TR_STRAFE_REACH px, with a perpendicular jitter of +/- TR_STRAFE_SPREAD tiles. A tile is acceptable when its path max heat is <= PathDangerThreshold, the SAME safety rule TFIL uses. - Move by SIGN only: setForward(+/-MaxSpeed>). Dwell is re-picked after a random number of ticks in [TR_STRAFE_DWELL_MIN, TR_STRAFE_DWELL_MAX], on arrival, or on a serious threat spike. - Heat machinery is REUSED from the shipped mover, not re-implemented: the exported heatDecay()/bulletMagScale() (j105 time-indexed model) and the PillarHotness/PillarRadiance globals (j106 pillar-free default). The heat shape is overridable via TR_STRAFE_CORRIDOR_HEAT/WALL_HOTNESS/WALL_RADIANCE (defaults = the shipped TFIL field). - GUI overlay: strafe line, threat axis, candidate tiles (safe/unsafe), chosen target, sign-coloured movement ray, and the heading band. Gates (offline, recorded DrussGT fixture, 20026 ticks): - A TILE AVAILABILITY: shipped heat field -> a safe tile exists on only 36.6% of picks (63.4% fall back to the least-hot tile); the ring retune (corridor 5, wall 10/5) raises it to 91.9%. - B PREDICTABILITY: reversal-interval entropy 5.84 bits vs TFIL 5.09; direction entropy 1.00 both; long-lag autocorrelation ~0 for both (no periodic component). Fewer reversals (710 vs 1453) and more full-speed ticks. measurements: common_libs/tests/measure_strafe_gates.nim Also registers TR_STRAFE_* in the boot env report (ModularBot_garage/src/ env_report.nim) and wires the engine into ModularBot.nim (hold -> strafe, ram trigger -> rammer).
741 lines
32 KiB
Nim
741 lines
32 KiB
Nim
## STRAFE — body pinned perpendicular to the threat; reversals by SIGN FLIP.
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##
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## ── The idea (the owner's design) ───────────────────────────────────────────
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## TFIL changes its left<->right direction by TURNING the body. Job j85 measured
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## the cost of that turn: the speed at the reversal tick drops to ~0.6 px/tick
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## (from ~6.4), takes 7-8 ticks to recover, and the hit rate on reversal ticks
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## is 1.40x baseline (peaking 1.84x at 6-10 ticks) — the shipped mover also has
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## the LOWEST mean speed of the arms tested (4.69 vs 5.37 px/tick).
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##
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## In Tank Royale the backward speed EQUALS the forward speed (measured
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## +8.000 / -8.000 over 75,518 ticks), so a reversal is free if it is done by
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## flipping the sign of `setForward` instead of turning the hull around. STRAFE
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## exploits exactly that:
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##
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## * keep the BODY pinned ~perpendicular to the threat (`threat axis` below),
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## so "move left" and "move right" are both along the body axis;
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## * pick a random safe tile on the perpendicular line (forward or backward)
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## and move to it with `setForward(±8)`;
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## * NEVER turn to face a movement target — the only turns are small
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## corrections that keep the heading inside a band around the perpendicular.
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##
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## Bonus physics: the bot is a 36 px square. Projected width is 36 px side-on
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## or head-on but 50.9 px at 45 degrees, so staying near 90 degrees avoids the
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## worst orientation (up to 29% smaller target).
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##
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## ── Threat axis (point 1 of the spec) ───────────────────────────────────────
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## When a bullet is in flight the axis is the INCOMING BULLET's direction: a
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## bullet comes from where the enemy WAS when it fired, which at long range
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## differs from its current position by 100+ px. When the sky is clear the axis
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## falls back to the PERPENDICULAR of the enemy bearing.
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##
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## ── Heading band, not an exact pin (point 2) ────────────────────────────────
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## The body heading is kept inside `TR_STRAFE_BAND` degrees of the perpendicular
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## line (`lineDir`); the band offset is re-randomised on every pick so the
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## heading is not a constant. Only turns when OUTSIDE the band, and turns the
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## short way (the folded deviation is in [-90, 90]).
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##
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## ── Candidate tiles (point 3) ───────────────────────────────────────────────
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## Tiles on the perpendicular line through the current position, both forward
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## and backward, within `TR_STRAFE_REACH` px, inside the arena, with a small
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## PERPENDICULAR JITTER of `±TR_STRAFE_SPREAD` tiles (the owner's "spread a
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## little"). A tile is acceptable when the max heat ON THE STRAIGHT-LINE PATH
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## from the bot is <= `PathDangerThreshold` (10.0) — the SAME safety rule TFIL
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## uses. The heat field itself is the SHIPPED TFIL field (jobs j105/j106: the
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## time-indexed bullet model + the pillar-free default) — see the reuse note
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## below.
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##
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## ── Move by sign only (point 5) ─────────────────────────────────────────────
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## `speed = MaxSpeed * sign`, where `sign` is +1 when the chosen tile lies along
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## the current heading and -1 when it lies opposite. There is NO turn-to-target
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## anywhere in this mover.
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##
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## ── Randomised dwell (point 6) ──────────────────────────────────────────────
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## The target is re-picked after `rand(TR_STRAFE_DWELL_MIN .. TR_STRAFE_DWELL_MAX)`
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## ticks, on arrival, or immediately when the chosen tile's heat spikes by
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## `DangerReplanThreshold` (a serious threat). This is the PRIMARY anti-pattern
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## defence: a periodic reversal is trivially learnable by DrussGT's pattern gun,
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## so the reversal TIMING is randomised and the offline entropy gate (B) checks
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## it.
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##
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## ── Reuse of the j105/j106 heat machinery ───────────────────────────────────
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## This module does NOT re-implement the time-indexed bullet model. It imports
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## `movements/the_floor_is_lava` and calls its EXPORTED `heatDecay(dt)` and
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## `bulletMagScale(power)`, and reads its exported `PillarHotness` /
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## `PillarRadiance` (0/0 = the shipped pillar-free default) and `TfilHeatTime`
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## (for the debug corridor reach). So `TR_TFIL_HEAT_TIME` / `TR_TFIL_HEAT_TAU` /
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## `TR_TFIL_HEAT_POWER_GAIN` / `TR_TFIL_PILLAR_ON` drive the STRAFE field exactly
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## as they drive TFIL's. The bullet tracking, heat painting and path sampling are
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## copied from the shipped mover (the same pattern `the_floor_is_lava_ring.nim`
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## uses) because the shipped file must stay byte-identical and its private
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## constants are not exported.
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##
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## ── Env knobs (all read at module init) ─────────────────────────────────────
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## TR_MOVEMENT = strafe (selects this engine; default stays tfil)
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## TR_STRAFE_BAND 20.0 heading band half-width (deg)
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## TR_STRAFE_SPREAD 1 perpendicular jitter (tiles, ±)
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## TR_STRAFE_REACH 144.0 along-line reach (px)
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## TR_STRAFE_DWELL_MIN 6 min ticks before a re-pick
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## TR_STRAFE_DWELL_MAX 20 max ticks before a re-pick
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## TR_STRAFE_LOG off presence-based: echo one line per pick
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## TR_STRAFE_CORRIDOR_HEAT 20.0 lava per corridor tile (shipped TFIL value)
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## TR_STRAFE_WALL_HOTNESS 30.0 peak wall radiance (shipped TFIL value)
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## TR_STRAFE_WALL_RADIANCE 10.0 wall radiance falloff (shipped TFIL value)
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##
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## The default `TR_MOVEMENT=tfil` path is untouched; this module is only ever
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## called when the bot explicitly selects `strafe`.
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import std/[math, random, os]
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from std/strutils import parseFloat, parseInt, strip
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import std/strformat
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import gun_harness/gun_interface
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import movement_harness/movement_interface
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import robocode_tankroyale_botapi/graphics
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import robocode_tankroyale_botapi/color
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# j105/j106 reuse: the exported time-indexed heat helpers + pillar globals.
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import movements/the_floor_is_lava
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const GridSize = 36.0
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const MaxSpeed = 8.0
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const BulletCoreRadiusMin = 9.0 ## core radius at power 0.1
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const BulletCoreRadiusMax = 54.0 ## core radius at power 3.0
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const BulletAuraExtMin = 36.0 ## aura extension at power 3.0 (slow)
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const BulletAuraExtMax = 54.0 ## aura extension at power 0.1 (fast)
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const BulletCore = 10.0 ## lava per bullet-overlapping tile (shipped default)
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const BulletAura = 5.0 ## lava for aura ring tiles (shipped default)
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const EnemyCoreRadius = 18.0 ## half of 36px body
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const EnemyAuraRadius = 54.0 ## 18 + 36
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const EnemyCore = 40.0 ## lava per tile overlapping enemy body
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const EnemyAura = 10.0 ## lava per tile in enemy aura ring
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const CorridorHeatDefault = 20.0 ## shipped TFIL corridor heat
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const WallHotnessDefault = 30.0 ## shipped TFIL wall radiance peak
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const WallRadianceDefault = 10.0 ## shipped TFIL wall radiance falloff
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## Heat shape is override-able so the two candidate fields can be compared on
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## one binary (the shipped field vs the ring variant's retune). Default = the
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## SHIPPED TFIL field, so the strafe mover is judged on the same field as the
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## baseline. `TR_STRAFE_CORRIDOR_HEAT` / `TR_STRAFE_WALL_HOTNESS` /
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## `TR_STRAFE_WALL_RADIANCE` are strafe-specific (the ring mover's own field is
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## controlled by its separate `TR_TFIL_*` names).
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var
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StrafeCorridorHeat* = CorridorHeatDefault
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StrafeWallHotness* = WallHotnessDefault
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StrafeWallRadiance* = WallRadianceDefault
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const PathSampleStep = 18.0 ## ~half a tile
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const PathDangerThreshold = 10.0 ## max lava on path; above this = unsafe
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const DangerReplanThreshold = 25.0 ## serious-threat replan (bullet core)
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const MaxTrackedBullets = 20 ## hard cap on tracked bullets
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# ── Env knobs ────────────────────────────────────────────────────────────────
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proc getEnvFloat(name: string, default: float): float =
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let s = getEnv(name, "")
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if s.len == 0: return default
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try: result = parseFloat(s.strip())
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except ValueError: result = default
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proc getEnvInt(name: string, default: int): int =
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let s = getEnv(name, "")
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if s.len == 0: return default
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try: result = parseInt(s.strip())
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except ValueError: result = default
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const
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DefaultStrafeBand = 20.0
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DefaultStrafeSpread = 1
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DefaultStrafeReach = 144.0
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DefaultStrafeDwellMin = 6
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DefaultStrafeDwellMax = 20
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var
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StrafeBand* = DefaultStrafeBand
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StrafeSpread* = DefaultStrafeSpread
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StrafeReach* = DefaultStrafeReach
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StrafeDwellMin* = DefaultStrafeDwellMin
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StrafeDwellMax* = DefaultStrafeDwellMax
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StrafeLog* = false
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proc loadStrafeHeatEnv*() =
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## Re-read the heat-shape overrides. Exposed so a gate can restore the shipped
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## field after temporarily retuning it on the SAME process.
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StrafeCorridorHeat = getEnvFloat("TR_STRAFE_CORRIDOR_HEAT", CorridorHeatDefault)
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StrafeWallHotness = getEnvFloat("TR_STRAFE_WALL_HOTNESS", WallHotnessDefault)
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StrafeWallRadiance = getEnvFloat("TR_STRAFE_WALL_RADIANCE", WallRadianceDefault)
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proc loadStrafeEnv*() =
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## Read the strafe knobs. Called once at module init; callable again after
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## `putEnv` so a gate script can exercise the arms in one process.
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StrafeBand = max(0.0, min(90.0, getEnvFloat("TR_STRAFE_BAND", DefaultStrafeBand)))
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StrafeSpread = max(0, getEnvInt("TR_STRAFE_SPREAD", DefaultStrafeSpread))
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StrafeReach = max(GridSize, getEnvFloat("TR_STRAFE_REACH", DefaultStrafeReach))
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StrafeDwellMin = max(1, getEnvInt("TR_STRAFE_DWELL_MIN", DefaultStrafeDwellMin))
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StrafeDwellMax = max(StrafeDwellMin, getEnvInt("TR_STRAFE_DWELL_MAX", DefaultStrafeDwellMax))
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StrafeLog = existsEnv("TR_STRAFE_LOG")
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loadStrafeHeatEnv()
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loadStrafeEnv()
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# ── small angle helpers ──────────────────────────────────────────────────────
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proc wrap180(d: float): float {.inline.} =
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result = d
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while result > 180.0: result -= 360.0
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while result < -180.0: result += 360.0
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const DegToRad = PI / 180.0
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# ── module types ─────────────────────────────────────────────────────────────
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type
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TrackedBullet = object
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originX, originY: float
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x, y: float
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velX, velY: float ## speed * cos(heading), speed * sin(heading)
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power: float
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alive: bool
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age: int
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StrafeModule* = object
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debugGraphics*: bool
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cols*, rows*: int
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marginX*, marginY*: float
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arenaWidth*, arenaHeight*: float
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lava: seq[float]
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bullets: seq[TrackedBullet]
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prevEnergy: seq[tuple[id: int, energy: float]]
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# ── decision state ──
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targetX*, targetY*: float ## chosen tile centre (world coords)
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targetValid*: bool
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targetLava: float ## heat at the chosen tile when picked
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dwell*: int ## ticks remaining on the current target
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dir*: float ## commanded sign: +1 forward, -1 backward
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bandOffset: float ## random in [-band, band], re-rolled per pick
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lineDir*: float ## undirected strafe line bearing (deg)
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# ── diagnostics (gate B + GUI) ──
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callCount*: int
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picks*: int
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lastPickCall*: int ## callCount at the last pick (interval source)
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lastCandCount*: int ## candidates generated at the last pick
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lastSafeCount*: int ## of those, path-safe at the last pick
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fallbackPicks*: int ## picks where the safe pool was empty
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reversals*: int ## sign flips of the commanded direction
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lineDirFlips*: int ## times the axis orientation flipped
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lastCmdSign*: float
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lastLineForward: float
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lastBotX, lastBotY: float
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lastTileCol, lastTileRow: int
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proc initStrafe*(): StrafeModule =
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StrafeModule(debugGraphics: false)
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proc removeBulletNear*(m: var StrafeModule, x, y: float) =
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## Mark the tracked bullet closest to (x,y) within GridSize tolerance as dead.
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var bestIdx = -1
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var bestD2 = GridSize * GridSize
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for i, b in m.bullets:
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let d2 = (b.x - x)*(b.x - x) + (b.y - y)*(b.y - y)
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if d2 < bestD2:
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bestD2 = d2
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bestIdx = i
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if bestIdx >= 0:
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m.bullets.del(bestIdx)
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proc prevEnergyGet(m: StrafeModule, id: int): float =
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for e in m.prevEnergy:
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if e.id == id: return e.energy
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100.0
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proc prevEnergySet(m: var StrafeModule, id: int, energy: float) =
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for i in 0..<m.prevEnergy.len:
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if m.prevEnergy[i].id == id:
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m.prevEnergy[i].energy = energy
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return
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m.prevEnergy.add((id: id, energy: energy))
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proc clearGraphics*(m: var StrafeModule) =
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## No-op: the SVG buffer is a module-level global cleared by the framework
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## after every go(). Exists so callers can signal "STRAFE is inactive".
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discard
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proc resetRound*(m: var StrafeModule) =
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m.bullets = @[]
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m.prevEnergy = @[]
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m.targetValid = false
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m.targetLava = 0.0
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m.dwell = 0
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m.dir = 1.0
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m.bandOffset = 0.0
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m.lineDir = 0.0
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m.callCount = 0
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m.picks = 0
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m.lastPickCall = 0
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m.lastCandCount = 0
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m.lastSafeCount = 0
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m.fallbackPicks = 0
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m.reversals = 0
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m.lineDirFlips = 0
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m.lastCmdSign = 0.0
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m.lastLineForward = 0.0
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m.lastBotX = 0.0
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m.lastBotY = 0.0
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m.lastTileCol = 0
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m.lastTileRow = 0
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proc initGrid(m: var StrafeModule, arenaWidth, arenaHeight: float) =
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m.cols = int(arenaWidth / GridSize)
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m.rows = int(arenaHeight / GridSize)
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m.marginX = (arenaWidth - m.cols.float * GridSize) / 2.0
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m.marginY = (arenaHeight - m.rows.float * GridSize) / 2.0
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m.arenaWidth = arenaWidth
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m.arenaHeight = arenaHeight
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m.lava = newSeq[float](m.cols * m.rows)
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proc lavaAt(m: StrafeModule, col, row: int): float {.inline.} =
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m.lava[row * m.cols + col]
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proc tileAt(m: StrafeModule, wx, wy: float): tuple[col, row: int] =
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(col: clamp(int((wx - m.marginX) / GridSize), 0, m.cols - 1),
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row: clamp(int((wy - m.marginY) / GridSize), 0, m.rows - 1))
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proc bulletRadii(power: float): tuple[core, aura: float] =
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let t = (power - 0.1) / 2.9
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let core = BulletCoreRadiusMin + t * (BulletCoreRadiusMax - BulletCoreRadiusMin)
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let auraExt = BulletAuraExtMax - t * (BulletAuraExtMax - BulletAuraExtMin)
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(core, core + auraExt)
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# ── bullet tracking (copied from the shipped TFIL mover) ─────────────────────
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proc detectFires(m: var StrafeModule, ws: WorldState) =
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for ei in ws.enemies:
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let prev = m.prevEnergyGet(ei.id)
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let drop = prev - ei.energy
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m.prevEnergySet(ei.id, ei.energy)
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if drop >= 0.09 and drop <= 3.01:
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let speed = 20.0 - 3.0 * drop
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let dist = sqrt((ws.selfX - ei.x)^2 + (ws.selfY - ei.y)^2)
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let travelTime = dist / speed
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let predX = ws.selfX + ws.selfSpeed * cos(ws.selfHeading * DegToRad) * travelTime
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let predY = ws.selfY + ws.selfSpeed * sin(ws.selfHeading * DegToRad) * travelTime
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let heading = arctan2(predY - ei.y, predX - ei.x)
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if m.bullets.len >= MaxTrackedBullets:
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m.bullets.del(0)
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m.bullets.add TrackedBullet(
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originX: ei.x, originY: ei.y,
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x: ei.x, y: ei.y,
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velX: speed * cos(heading),
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velY: speed * sin(heading),
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power: drop, alive: true, age: 0)
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proc advanceBullets(m: var StrafeModule, selfX, selfY: float) =
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var i = 0
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while i < m.bullets.len:
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var b = m.bullets[i]
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b.x += b.velX
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b.y += b.velY
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b.age += 1
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let dx = selfX - b.x
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let dy = selfY - b.y
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let dot = b.velX * dx + b.velY * dy
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let outOfBounds = b.x < 0.0 or b.x > m.arenaWidth or b.y < 0.0 or b.y > m.arenaHeight
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if dot < 0.0 or outOfBounds or b.age > 200:
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b.alive = false
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m.bullets[i] = b
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if b.alive: inc i
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else: m.bullets.del(i)
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# ── heat field (SHIPPED TFIL field; time model + pillar via the import) ──────
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proc buildHeat(m: var StrafeModule, ws: WorldState) =
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for i in 0..<m.lava.len: m.lava[i] = 0.0
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# Bullet cores / auras (j105 time model: heat is a function of time-to-arrive).
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for b in m.bullets:
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let bx = b.x
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let by = b.y
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let (coreR, auraR) = bulletRadii(b.power)
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let bSpeed = sqrt(b.velX * b.velX + b.velY * b.velY)
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let bUx = if bSpeed > 0.0: b.velX / bSpeed else: 0.0
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let bUy = if bSpeed > 0.0: b.velY / bSpeed else: 0.0
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let bMag = bulletMagScale(b.power)
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let colMin = max(0, int(floor((bx - auraR - m.marginX) / GridSize)))
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let colMax = min(m.cols-1, int(floor((bx + auraR - m.marginX) / GridSize)))
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let rowMin = max(0, int(floor((by - auraR - m.marginY) / GridSize)))
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let rowMax = min(m.rows-1, int(floor((by + auraR - m.marginY) / GridSize)))
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|
for row in rowMin..rowMax:
|
|
for col in colMin..colMax:
|
|
let x0 = m.marginX + col.float * GridSize
|
|
let y0 = m.marginY + row.float * GridSize
|
|
let nearX = clamp(bx, x0, x0 + GridSize)
|
|
let nearY = clamp(by, y0, y0 + GridSize)
|
|
let dx = nearX - bx
|
|
let dy = nearY - by
|
|
let d2 = dx*dx + dy*dy
|
|
if d2 <= coreR * coreR:
|
|
let along = dx * bUx + dy * bUy
|
|
m.lava[row * m.cols + col] += BulletCore * bMag * heatDecay(along / bSpeed)
|
|
elif d2 <= auraR * auraR:
|
|
let along = dx * bUx + dy * bUy
|
|
m.lava[row * m.cols + col] += BulletAura * bMag * heatDecay(along / bSpeed)
|
|
|
|
# Corridors (rotated rectangle from the bullet to the wall, auraR wide).
|
|
for b in m.bullets:
|
|
let speed = sqrt(b.velX * b.velX + b.velY * b.velY)
|
|
if speed < 0.001: continue
|
|
let dx = b.velX / speed
|
|
let dy = b.velY / speed
|
|
let px = -dy
|
|
let py = dx
|
|
var tMin = Inf
|
|
if dx > 0.0: tMin = min(tMin, (m.arenaWidth - b.x) / dx)
|
|
elif dx < 0.0: tMin = min(tMin, (0.0 - b.x) / dx)
|
|
if dy > 0.0: tMin = min(tMin, (m.arenaHeight - b.y) / dy)
|
|
elif dy < 0.0: tMin = min(tMin, (0.0 - b.y) / dy)
|
|
if tMin == 0.0: continue
|
|
let (_, auraR) = bulletRadii(b.power)
|
|
let bMag = bulletMagScale(b.power)
|
|
let wx = b.x + dx * tMin
|
|
let wy = b.y + dy * tMin
|
|
let c0x = b.x + px * auraR; let c0y = b.y + py * auraR
|
|
let c1x = b.x - px * auraR; let c1y = b.y - py * auraR
|
|
let c2x = wx - px * auraR; let c2y = wy - py * auraR
|
|
let c3x = wx + px * auraR; let c3y = wy + py * auraR
|
|
let xMin = min(min(c0x, c1x), min(c2x, c3x))
|
|
let xMax = max(max(c0x, c1x), max(c2x, c3x))
|
|
let yMin = min(min(c0y, c1y), min(c2y, c3y))
|
|
let yMax = max(max(c0y, c1y), max(c2y, c3y))
|
|
let colMin = max(0, int(floor((xMin - m.marginX) / GridSize)))
|
|
let colMax = min(m.cols-1, int(floor((xMax - m.marginX) / GridSize)))
|
|
let rowMin = max(0, int(floor((yMin - m.marginY) / GridSize)))
|
|
let rowMax = min(m.rows-1, int(floor((yMax - m.marginY) / GridSize)))
|
|
for row in rowMin..rowMax:
|
|
for col in colMin..colMax:
|
|
let cx = m.marginX + (col.float + 0.5) * GridSize
|
|
let cy = m.marginY + (row.float + 0.5) * GridSize
|
|
let relX = cx - b.x
|
|
let relY = cy - b.y
|
|
let along = relX * dx + relY * dy
|
|
let perp = relX * px + relY * py
|
|
if along >= 0.0 and along <= tMin and perp >= -auraR and perp <= auraR:
|
|
m.lava[row * m.cols + col] += StrafeCorridorHeat * bMag * heatDecay(along / speed)
|
|
|
|
# Enemy auras
|
|
for ei in ws.enemies:
|
|
let ex = ei.x
|
|
let ey = ei.y
|
|
let colMin = max(0, int(floor((ex - EnemyAuraRadius - m.marginX) / GridSize)))
|
|
let colMax = min(m.cols-1, int(floor((ex + EnemyAuraRadius - m.marginX) / GridSize)))
|
|
let rowMin = max(0, int(floor((ey - EnemyAuraRadius - m.marginY) / GridSize)))
|
|
let rowMax = min(m.rows-1, int(floor((ey + EnemyAuraRadius - m.marginY) / GridSize)))
|
|
for row in rowMin..rowMax:
|
|
for col in colMin..colMax:
|
|
let x0 = m.marginX + col.float * GridSize
|
|
let y0 = m.marginY + row.float * GridSize
|
|
let nearX = clamp(ex, x0, x0 + GridSize)
|
|
let nearY = clamp(ey, y0, y0 + GridSize)
|
|
let dx = nearX - ex
|
|
let dy = nearY - ey
|
|
let d2 = dx*dx + dy*dy
|
|
if d2 <= EnemyCoreRadius * EnemyCoreRadius:
|
|
m.lava[row * m.cols + col] += EnemyCore
|
|
elif d2 <= EnemyAuraRadius * EnemyAuraRadius:
|
|
m.lava[row * m.cols + col] += EnemyAura
|
|
|
|
# Wall radiance
|
|
for row in 0..<m.rows:
|
|
for col in 0..<m.cols:
|
|
let heat = max(0.0, StrafeWallHotness - col.float * StrafeWallRadiance) +
|
|
max(0.0, StrafeWallHotness - (m.cols-1-col).float * StrafeWallRadiance) +
|
|
max(0.0, StrafeWallHotness - row.float * StrafeWallRadiance) +
|
|
max(0.0, StrafeWallHotness - (m.rows-1-row).float * StrafeWallRadiance)
|
|
m.lava[row * m.cols + col] += heat
|
|
|
|
# Pillar radiance (imported globals; 0/0 = the shipped pillar-free default).
|
|
let pc0 = if m.cols mod 2 == 1: m.cols div 2 else: m.cols div 2 - 1
|
|
let pc1 = m.cols div 2
|
|
let pr0 = if m.rows mod 2 == 1: m.rows div 2 else: m.rows div 2 - 1
|
|
let pr1 = m.rows div 2
|
|
for row in 0..<m.rows:
|
|
for col in 0..<m.cols:
|
|
var minDist = int.high
|
|
for pcol in pc0..pc1:
|
|
for prow in pr0..pr1:
|
|
let d = max(abs(col - pcol), abs(row - prow))
|
|
if d < minDist: minDist = d
|
|
m.lava[row * m.cols + col] += max(0.0, PillarHotness - minDist.float * PillarRadiance)
|
|
|
|
proc pathMaxHeat(m: StrafeModule, x0, y0, x1, y1: float): float =
|
|
let dx = x1 - x0
|
|
let dy = y1 - y0
|
|
let dist = sqrt(dx*dx + dy*dy)
|
|
if dist < 0.1: return 0.0
|
|
let steps = max(1, int(dist / PathSampleStep))
|
|
for si in 0..steps:
|
|
let f = si.float / steps.float
|
|
let (c, r) = m.tileAt(x0 + dx * f, y0 + dy * f)
|
|
result = max(result, m.lavaAt(c, r))
|
|
|
|
# ── the threat axis ──────────────────────────────────────────────────────────
|
|
|
|
proc threatBearing(m: StrafeModule, ws: WorldState): float =
|
|
## Incoming bullet direction when a bullet is in flight (nearest one), else
|
|
## the enemy bearing.
|
|
var bestD = Inf
|
|
var found = false
|
|
for b in m.bullets:
|
|
let d = hypot(b.x - ws.selfX, b.y - ws.selfY)
|
|
if d < bestD:
|
|
bestD = d
|
|
result = arctan2(b.velY, b.velX) * 180.0 / PI
|
|
found = true
|
|
if found: return result
|
|
if ws.enemyX != 0.0 or ws.enemyY != 0.0:
|
|
return arctan2(ws.enemyY - ws.selfY, ws.enemyX - ws.selfX) * 180.0 / PI
|
|
for ei in ws.enemies:
|
|
return arctan2(ei.y - ws.selfY, ei.x - ws.selfX) * 180.0 / PI
|
|
return 0.0
|
|
|
|
# ── target picking ───────────────────────────────────────────────────────────
|
|
|
|
type
|
|
Cand = object
|
|
col, row: int
|
|
x, y: float
|
|
pathHeat: float
|
|
along: float ## signed offset along the line (+ = forward of lineForward)
|
|
|
|
proc pickTarget(m: var StrafeModule, ws: WorldState, lineForward: float) =
|
|
let ux = cos(lineForward * DegToRad)
|
|
let uy = sin(lineForward * DegToRad)
|
|
let px = -uy
|
|
let py = ux
|
|
let kmax = max(1, int(StrafeReach / GridSize))
|
|
let spread = max(0, StrafeSpread)
|
|
let (bc, br) = m.tileAt(ws.selfX, ws.selfY)
|
|
|
|
var cands: seq[Cand]
|
|
for k in 1..kmax:
|
|
for s in [-1.0, 1.0]:
|
|
let along = s * k.float * GridSize
|
|
for j in -spread..spread:
|
|
let wx = ws.selfX + ux * along + px * (j.float * GridSize)
|
|
let wy = ws.selfY + uy * along + py * (j.float * GridSize)
|
|
if wx < 0.0 or wx >= m.arenaWidth or wy < 0.0 or wy >= m.arenaHeight: continue
|
|
let (c, r) = m.tileAt(wx, wy)
|
|
if c == bc and r == br: continue
|
|
var dup = false
|
|
for e in cands:
|
|
if e.col == c and e.row == r: dup = true; break
|
|
if dup: continue
|
|
let cx = m.marginX + (c.float + 0.5) * GridSize
|
|
let cy = m.marginY + (r.float + 0.5) * GridSize
|
|
cands.add Cand(col: c, row: r, x: cx, y: cy,
|
|
pathHeat: m.pathMaxHeat(ws.selfX, ws.selfY, cx, cy),
|
|
along: along)
|
|
|
|
var safe: seq[Cand]
|
|
for c in cands:
|
|
if c.pathHeat <= PathDangerThreshold: safe.add c
|
|
m.lastCandCount = cands.len
|
|
m.lastSafeCount = safe.len
|
|
|
|
var pool: seq[Cand]
|
|
if safe.len > 0:
|
|
pool = safe
|
|
elif cands.len > 0:
|
|
# Fallback (never freeze): the two coolest tiles on the line, over
|
|
# threshold but still the least dangerous direction to move.
|
|
var sorted = cands
|
|
for i in 1..<sorted.len:
|
|
let key = sorted[i]
|
|
var j = i - 1
|
|
while j >= 0 and sorted[j].pathHeat > key.pathHeat:
|
|
sorted[j + 1] = sorted[j]
|
|
dec j
|
|
sorted[j + 1] = key
|
|
let take = min(2, sorted.len)
|
|
for i in 0..<take: pool.add sorted[i]
|
|
inc m.fallbackPicks
|
|
|
|
if pool.len == 0:
|
|
m.targetValid = false
|
|
return
|
|
|
|
let chosen = rand(pool.high)
|
|
m.targetX = pool[chosen].x
|
|
m.targetY = pool[chosen].y
|
|
m.targetLava = m.lavaAt(pool[chosen].col, pool[chosen].row)
|
|
m.targetValid = true
|
|
|
|
# sign is frozen for the whole dwell: reversal timing == dwell timing.
|
|
let hx = cos(ws.selfHeading * DegToRad)
|
|
let hy = sin(ws.selfHeading * DegToRad)
|
|
let alongDot = (m.targetX - ws.selfX) * hx + (m.targetY - ws.selfY) * hy
|
|
m.dir = if alongDot >= 0.0: 1.0 else: -1.0
|
|
if m.lastCmdSign == 0.0: m.lastCmdSign = m.dir
|
|
|
|
# Randomised dwell + randomisation inside the band (point 2 / point 6).
|
|
m.dwell = rand(StrafeDwellMin..StrafeDwellMax)
|
|
m.bandOffset = rand(2.0 * StrafeBand) - StrafeBand
|
|
m.lastPickCall = m.callCount
|
|
inc m.picks
|
|
|
|
if StrafeLog:
|
|
let reason = if safe.len == 0: "fallback" else: "pick"
|
|
echo fmt"[strafe] {reason} n={cands.len} safe={safe.len} " &
|
|
fmt"along={pool[chosen].along.int} dir={m.dir.int} " &
|
|
fmt"dwell={m.dwell} line={lineForward.int} band={m.bandOffset:.0f}"
|
|
if safe.len == 0:
|
|
echo fmt"[strafe] WARNING: no SAFE tile on the line " &
|
|
fmt"(cands={cands.len}, least-hot={pool[chosen].pathHeat:.1f})"
|
|
|
|
# ── main entry point ─────────────────────────────────────────────────────────
|
|
|
|
proc computeMove*(m: var StrafeModule, ws: WorldState): MoveCommand =
|
|
if m.cols == 0:
|
|
m.initGrid(ws.arenaWidth, ws.arenaHeight)
|
|
|
|
# Soft reset on a position jump (a ram teleport moved us).
|
|
let jumpDist = sqrt((ws.selfX - m.lastBotX)^2 + (ws.selfY - m.lastBotY)^2)
|
|
let jumped = (m.callCount > 0) and (jumpDist > 12.0)
|
|
if jumped:
|
|
m.dwell = 0
|
|
m.targetValid = false
|
|
m.bullets = @[]
|
|
m.prevEnergy = @[]
|
|
for ei in ws.enemies:
|
|
m.prevEnergySet(ei.id, ei.energy)
|
|
|
|
m.advanceBullets(ws.selfX, ws.selfY)
|
|
m.detectFires(ws)
|
|
m.buildHeat(ws)
|
|
|
|
# ── threat axis -> perpendicular line ──
|
|
let threat = m.threatBearing(ws)
|
|
let lineAngle = threat + 90.0
|
|
m.lineDir = lineAngle
|
|
|
|
# Forward orientation = the half of the (undirected) line nearest our heading.
|
|
var lineForward = lineAngle
|
|
let hRel = wrap180(ws.selfHeading - lineAngle)
|
|
if hRel > 90.0 or hRel < -90.0:
|
|
lineForward = lineAngle + 180.0
|
|
if m.picks > 0:
|
|
let fl = abs(wrap180(lineForward - m.lastLineForward))
|
|
if fl > 90.0: inc m.lineDirFlips
|
|
m.lastLineForward = lineForward
|
|
|
|
# ── target (re)pick ──
|
|
var serious = false
|
|
if m.targetValid:
|
|
let (tc, tr) = m.tileAt(m.targetX, m.targetY)
|
|
if m.lavaAt(tc, tr) > m.targetLava + DangerReplanThreshold:
|
|
serious = true
|
|
if hypot(m.targetX - ws.selfX, m.targetY - ws.selfY) < GridSize * 0.75:
|
|
m.dwell = 0
|
|
if (not m.targetValid) or m.dwell <= 0 or serious:
|
|
m.pickTarget(ws, lineForward)
|
|
else:
|
|
dec m.dwell
|
|
|
|
# ── heading band: turn ONLY to stay perpendicular, never to the target ──
|
|
var turnRate = 0.0
|
|
let mtr = 10.0 - 0.75 * abs(ws.selfSpeed)
|
|
let dev = wrap180(ws.selfHeading - lineForward)
|
|
if abs(dev) > StrafeBand:
|
|
let targetHeading = lineForward + m.bandOffset
|
|
turnRate = clamp(wrap180(targetHeading - ws.selfHeading), -mtr, mtr)
|
|
|
|
# ── move by sign only ──
|
|
# Never freeze: if there is no valid target (the rare all-candidates-outside
|
|
# case) keep driving on the last sign. The normal path picks a target every
|
|
# dwell, and the fallback pool is non-empty whenever any candidate tile exists.
|
|
if m.targetValid and m.dir != m.lastCmdSign:
|
|
inc m.reversals
|
|
m.lastCmdSign = m.dir
|
|
result = (speed: MaxSpeed * (if m.dir != 0.0: m.dir else: 1.0), turnRate: turnRate)
|
|
|
|
# ── GUI overlay (the user watches this) ──
|
|
if m.debugGraphics:
|
|
let ux = cos(lineForward * DegToRad)
|
|
let uy = sin(lineForward * DegToRad)
|
|
|
|
# Strafe line across the arena (cyan).
|
|
setStrokeColor(fromHex("#00FFFF"))
|
|
setStrokeWidth(1.0)
|
|
drawLine(ws.selfX - ux * 600.0, ws.selfY - uy * 600.0,
|
|
ws.selfX + ux * 600.0, ws.selfY + uy * 600.0)
|
|
|
|
# Threat axis (enemy/bullet bearing) as a faint grey line through us.
|
|
let tx = cos(threat * DegToRad)
|
|
let ty = sin(threat * DegToRad)
|
|
setStrokeColor(fromHex("#888888"))
|
|
drawLine(ws.selfX - tx * 600.0, ws.selfY - ty * 600.0,
|
|
ws.selfX + tx * 600.0, ws.selfY + ty * 600.0)
|
|
|
|
# Candidate line reach up to kmax tiles: safe tiles bright, unsafe dim.
|
|
let kmax = max(1, int(StrafeReach / GridSize))
|
|
let spread = max(0, StrafeSpread)
|
|
let px = -uy
|
|
let py = ux
|
|
for k in 1..kmax:
|
|
for s in [-1.0, 1.0]:
|
|
let along = s * k.float * GridSize
|
|
for j in -spread..spread:
|
|
let wx = ws.selfX + ux * along + px * (j.float * GridSize)
|
|
let wy = ws.selfY + uy * along + py * (j.float * GridSize)
|
|
if wx < 0.0 or wx >= m.arenaWidth or wy < 0.0 or wy >= m.arenaHeight: continue
|
|
let (c, r) = m.tileAt(wx, wy)
|
|
let x0 = m.marginX + c.float * GridSize
|
|
let y0 = m.marginY + r.float * GridSize
|
|
if m.lavaAt(c, r) <= PathDangerThreshold:
|
|
setStrokeColor(fromHex("#00FF00"))
|
|
setStrokeWidth(1.0)
|
|
else:
|
|
setStrokeColor(fromHex("#804000"))
|
|
setStrokeWidth(1.0)
|
|
drawRectangle(x0, y0, GridSize, GridSize)
|
|
|
|
# Chosen target tile (magenta fill) + the sign-coloured movement ray.
|
|
if m.targetValid:
|
|
let (cc, cr) = m.tileAt(m.targetX, m.targetY)
|
|
let gx0 = m.marginX + cc.float * GridSize
|
|
let gy0 = m.marginY + cr.float * GridSize
|
|
setStrokeColor(fromHex("#FF00FF"))
|
|
setStrokeWidth(2.5)
|
|
drawRectangle(gx0, gy0, GridSize, GridSize)
|
|
setFillColor(fromHex("#FF00FF"))
|
|
fillCircle(m.targetX, m.targetY, 5.0)
|
|
# movement ray: green forward, red backward (the sign flip is the point)
|
|
setStrokeColor(if m.dir >= 0.0: fromHex("#00FF00") else: fromHex("#FF2222"))
|
|
setStrokeWidth(2.0)
|
|
drawLine(ws.selfX, ws.selfY,
|
|
ws.selfX + ux * m.dir * StrafeReach, ws.selfY + uy * m.dir * StrafeReach)
|
|
|
|
# Heading band: the two ±band boundary rays (yellow) around the line.
|
|
setStrokeColor(fromHex("#FFFF00"))
|
|
setStrokeWidth(1.0)
|
|
let bl = (lineForward - StrafeBand) * DegToRad
|
|
let br2 = (lineForward + StrafeBand) * DegToRad
|
|
drawLine(ws.selfX, ws.selfY,
|
|
ws.selfX + cos(bl) * 70.0, ws.selfY + sin(bl) * 70.0)
|
|
drawLine(ws.selfX, ws.selfY,
|
|
ws.selfX + cos(br2) * 70.0, ws.selfY + sin(br2) * 70.0)
|
|
# Current heading ray (blue).
|
|
setStrokeColor(fromHex("#3399FF"))
|
|
setStrokeWidth(2.0)
|
|
drawLine(ws.selfX, ws.selfY,
|
|
ws.selfX + cos(ws.selfHeading * DegToRad) * 60.0,
|
|
ws.selfY + sin(ws.selfHeading * DegToRad) * 60.0)
|
|
|
|
# snapshot for the next call
|
|
m.lastBotX = ws.selfX
|
|
m.lastBotY = ws.selfY
|
|
m.lastTileCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
|
|
m.lastTileRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
|
|
m.callCount += 1
|