SirStone
d0750ab020
The default mover painted a 30/10 radiance blob on the arena centre even though the arena has NO physical pillar there, creating a 4x4 tile (144x144 px) exclusion zone over open centre floor. Set PillarHotness/PillarRadiance to 0/0 in the shipped default (matching the ring variant) and add TR_TFIL_PILLAR_ON=1 to restore the old 30/10 field for A/B without a rebuild; registered in env_report. Because the shipped default legitimately changed, the default-path parity golden (fixtures/tfil_commit_default.golden) was regenerated from the NEW default, with an explicit 'deliberate default change' note in the test so a future failure is treated as a real regression. Also register the three env reads job j102 added in common_libs/bitbrain (TR_BITBRAIN_MODE / _DECAY_EVERY / _DECAY_SHIFT), which the env-report guard was failing on. Verification: test_env_report all green; test_tfil_commit_env 30/30.
994 lines
41 KiB
Nim
994 lines
41 KiB
Nim
## TFIL — The Floor Is Lava. Built incrementally.
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import std/math
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import std/random
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import std/os
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import std/strutils except fromHex # `fromHex` would clash with color.fromHex
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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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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 accumulation per bullet-overlapping tile
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const BulletAura = 5.0 ## lava accumulation for aura ring tiles
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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 circle
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const EnemyAura = 10.0 ## lava per tile in enemy aura ring
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const CorridorHeat = 20.0
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const WallHotness = 30.0
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const WallRadiance = 10.0
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## The "virtual centre pillar": heat OUR code paints on the arena centre even
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## though the arena has NO physical pillar there. The shipped default is now
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## OFF (0/0) — the bot must not avoid open centre floor for no reason. Set
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## `TR_TFIL_PILLAR_ON=1` to restore the old 30/10 field for A/B (see
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## `loadTfilPillarEnv`). The ring variant already ships 0/0.
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const
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PillarHotnessOn = 30.0
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PillarRadianceOn = 10.0
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var
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PillarHotness* = 0.0
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PillarRadiance* = 0.0
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const CommitTicks = 15 ## ticks to commit to a dodge point
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const MinCommitTicks = 5 ## must commit for this many ticks before danger replan allowed
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const DangerReplanThreshold = 25.0 ## replan on serious threats only (bullet core), not corridors/auras
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const CoolestLevels = 2 ## how many distinct lava values count as "cool"
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const MaxTrackedBullets = 20 ## hard cap on tracked bullets
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# ── Commit-behaviour knobs (A/B arms) ────────────────────────────────────────
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#
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# The shipped mover cancels its movement commitment whenever OUR tile changes
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# (`ttrSelf`). With GridSize = 36 and speed up to 8 px/tick the bot crosses a
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# tile boundary every ~5 ticks, so the 15-tick commitment is cancelled by the
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# very motion it commands. `ttrOff` honours the commitment (the danger replan
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# stays the safety valve); `ttrEnemy` keys the cancel to the TARGET's tile
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# displacement, which is what the original comment claimed to do.
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#
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# Every default below reproduces the shipped mover byte-for-byte; see the
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# default-path parity guard in `common_libs/tests/test_tfil_commit_env.nim`.
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type
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TfilTileReplan* = enum
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ttrSelf, ttrOff, ttrEnemy
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TfilReplanReason* = enum
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rrNone, rrInit, rrTileSelf, rrTileEnemy, rrDanger, rrExpiry
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proc tileReplanName*(m: TfilTileReplan): string =
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case m
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of ttrSelf: "self"
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of ttrOff: "off"
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of ttrEnemy: "enemy"
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proc reasonName*(r: TfilReplanReason): string =
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case r
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of rrNone: "none"
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of rrInit: "init"
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of rrTileSelf: "tile_self"
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of rrTileEnemy: "tile_enemy"
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of rrDanger: "danger"
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of rrExpiry: "expiry"
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const
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DefaultTfilCommitTicks = CommitTicks ## 15 — the shipped commitment length
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NoRevForwardWeight = 3 ## forward:backward weight ratio (arm C)
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var
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TfilTileReplanMode*: TfilTileReplan = ttrSelf
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TfilCommitTicks*: int = DefaultTfilCommitTicks
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TfilNoRev*: bool = false
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TfilCommitLogPath*: string = ""
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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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proc getEnvBool(name: string, default: bool): bool =
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let s = getEnv(name, "").strip().toLowerAscii()
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if s.len == 0: return default
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s in ["1", "true", "on", "yes"]
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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 loadTfilCommitEnv*() =
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## Read the commit knobs. Called once at module init; the guard test calls it
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## again after `putEnv` so the non-default arms can be exercised in one process.
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case getEnv("TR_TFIL_TILE_REPLAN", "self").strip().toLowerAscii()
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of "off", "none", "never", "0", "false": TfilTileReplanMode = ttrOff
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of "enemy", "target": TfilTileReplanMode = ttrEnemy
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else: TfilTileReplanMode = ttrSelf
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TfilCommitTicks = max(1, getEnvInt("TR_TFIL_COMMIT_TICKS", DefaultTfilCommitTicks))
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TfilNoRev = getEnvBool("TR_TFIL_NO_REV", false)
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TfilCommitLogPath = getEnv("TR_TFIL_COMMIT_LOG", "")
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loadTfilCommitEnv()
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proc loadTfilPillarEnv*() =
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## Read the virtual-centre-pillar knob. OFF by default: the shipped field is
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## the arena with no invented centre hazard. `TR_TFIL_PILLAR_ON=1` restores
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## the pre-change 30/10 field so the two defaults can be A/B-ed offline.
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if getEnvBool("TR_TFIL_PILLAR_ON", false):
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PillarHotness = PillarHotnessOn
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PillarRadiance = PillarRadianceOn
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else:
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PillarHotness = 0.0
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PillarRadiance = 0.0
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loadTfilPillarEnv()
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# ── Time-indexed bullet heat (TR_TFIL_HEAT_TIME=1, default OFF = shipped) ─────
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#
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# WHY: the flat model gives every bullet-overlapping tile the same heat and
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# paints the bullet's corridor all the way to the arena wall, regardless of how
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# far away or how weak the bullet still is. `CorridorHeat` (20) is twice
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# `PathDangerThreshold` (10), so ONE weak far bullet saturates a 108px-wide
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# swath from its nose to the wall, and a path the bullet will not reach until
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# long after the bot has left it is already marked unsafe.
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#
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# WHAT: heat becomes a function of `dt`, the time (ticks) until the bullet
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# REACHES that cell:
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#
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# dt = along / speed # along = distance from the bullet
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# heat = magnitude(power) * decay(dt)
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#
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# * `decay(dt) = exp(-dt / tau)` is a function of TIME, not pixels. A fixed time
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# constant `tau` therefore projects a PIXEL reach of `speed * tau`: a fast
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# bullet's slope is longer, a slow one's shorter — DERIVED from the physics
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# (`speed = 20 - 3*power`), not hand-tuned per power. `tau` = TR_TFIL_HEAT_TAU.
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# * `magnitude(power)` scales the near-end heat with power from DAMAGE, not from
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# hit chance: server damage is `calcBulletDamage = 4p`, linear in p, and
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# `SCORE_PER_BULLET_DAMAGE = 1.0`, so a stronger bullet costs more when it
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# hits. Hit probability is FLAT across power (docs/env_reference.md), so risk
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# does NOT justify power scaling — the COST of the hit does. Floored at 1.0 so
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# a weak bullet's near end is never LESS dangerous than the flat model.
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# Gain = TR_TFIL_HEAT_POWER_GAIN.
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#
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# TIME-INDEXED PLANNER (NOT implemented, by design): because every source is
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# already expressed as `f(dt)`, evaluating a cell at the tick the bot would
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# ARRIVE there is the one-line change `heatDecay(dt - arrivalDelay)` — heat a
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# later bullet's path by that bullet's lead on the bot's own arrival time, so
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# the bot can use the path and leave before the bullet arrives. This is the real
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# fix for the user's second point; the shipped move is unchanged until then.
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var
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TfilHeatTime*: bool = false
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TfilHeatTau*: float = 9.0 ## decay time constant, ticks
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TfilHeatPowerGain*: float = 1.0 ## extra near-end heat at max power (damage proxy)
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proc loadTfilHeatEnv*() =
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## Read the heat-model knobs. Called once at module init; also callable after
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## `putEnv` so one process can A/B both models (the offline ruler does this).
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TfilHeatTime = getEnvBool("TR_TFIL_HEAT_TIME", false)
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TfilHeatTau = max(0.05, getEnvFloat("TR_TFIL_HEAT_TAU", 9.0))
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TfilHeatPowerGain = max(0.0, getEnvFloat("TR_TFIL_HEAT_POWER_GAIN", 1.0))
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loadTfilHeatEnv()
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proc heatDecay*(dt: float): float =
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## Fraction of a bullet's heat still present `dt` ticks before it arrives.
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## Exactly 1.0 when the time model is off, so the default field is
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## bit-identical to the flat model (multiplying any heat by 1.0 is exact).
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if not TfilHeatTime or dt <= 0.0: return 1.0
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exp(-dt / TfilHeatTau)
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proc bulletMagScale*(power: float): float =
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## Near-end heat multiplier from the bullet's DAMAGE (4p, linear in power),
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## floored at 1.0. Exactly 1.0 when the time model is off.
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if not TfilHeatTime: return 1.0
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1.0 + TfilHeatPowerGain * (power / 3.0)
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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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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 ## ticks alive; die if > 200
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TFILModule* = 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] # flat row-major, index = row*cols + col
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bullets: seq[TrackedBullet]
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prevEnergy: seq[tuple[id: int, energy: float]] # enemy id -> last known energy
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commitTarget: tuple[x, y: float] ## world coords of committed dodge point
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commitTicks: int ## ticks remaining on commitment
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commitLava: float ## lava at commit time (for spike detection)
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blockedTile: tuple[col, row: int; active: bool] ## excluded from next pick after danger replan
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cachedHull: seq[tuple[x, y: float]]
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cachedInsideTiles: seq[tuple[col, row: int]]
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callCount: int ## computeMove call count; 0 = never called
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lastBotX, lastBotY: float ## bot position at last call; used to detect position jumps
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lastTileCol, lastTileRow: int ## grid tile at last call; used to detect gradual displacement
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lastEnemyTileCol, lastEnemyTileRow: int ## grid tile of the target at last call (arm D)
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replanReason: TfilReplanReason ## why the last commitment ended (log only)
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lastPickCall: int ## callCount at the last pick (log only)
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picks: int ## number of picks this round (log only)
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proc initTFIL*(): TFILModule = TFILModule(debugGraphics: false)
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proc removeBulletNear*(m: var TFILModule, 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 # tolerance²
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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: TFILModule, 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 TFILModule, 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 TFILModule) =
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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 "TFIL is inactive this tick".
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discard
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proc resetRound*(m: var TFILModule) =
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m.bullets = @[]
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m.prevEnergy = @[]
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m.commitTicks = 0
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m.cachedHull = @[]
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m.cachedInsideTiles = @[]
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m.blockedTile = (col: 0, row: 0, active: false)
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m.callCount = 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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m.lastEnemyTileCol = -1
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m.lastEnemyTileRow = -1
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m.replanReason = rrNone
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m.lastPickCall = 0
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m.picks = 0
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# ── Commit diagnostics (TR_TFIL_COMMIT_LOG, off by default) ──────────────────
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# One JSONL line per computeMove call, used by the A/B to prove the treatment
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# actually bit (decision interval, replan reason, reversal rate, speed).
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var
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tfilLogFile: File
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tfilLogOpen = false
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tfilLogPathOpen = ""
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proc closeTfilCommitLog*() =
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## Close the diagnostics stream. Needed because the log path is a knob: a
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## caller (the A/B, or the guard test) may point it somewhere else mid-process.
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if tfilLogOpen:
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try: tfilLogFile.close()
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except CatchableError: discard
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tfilLogOpen = false
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tfilLogPathOpen = ""
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proc tfilLogWrite(line: string) =
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if TfilCommitLogPath.len == 0: return
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if tfilLogOpen and tfilLogPathOpen != TfilCommitLogPath: closeTfilCommitLog()
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if not tfilLogOpen:
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try:
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tfilLogFile = open(TfilCommitLogPath, fmAppend)
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tfilLogOpen = true
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tfilLogPathOpen = TfilCommitLogPath
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except CatchableError:
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return
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try:
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tfilLogFile.writeLine(line)
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tfilLogFile.flushFile()
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except CatchableError:
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discard
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proc initGrid(m: var TFILModule, 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) # all 0.0
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proc detectFires(m: var TFILModule, ws: WorldState) =
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## Check all enemies for energy drops; spawn a tracked bullet per confirmed fire.
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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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# Linear prediction: aim at where we will be when the bullet arrives
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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 * PI / 180.0) * travelTime
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let predY = ws.selfY + ws.selfSpeed * sin(ws.selfHeading * PI / 180.0) * 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) # ponytail: drop oldest; fine for 20-bullet cap
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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,
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alive: true,
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age: 0)
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proc advanceBullets(m: var TFILModule, selfX, selfY: float) =
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## Advance positions and reap bullets that are: passed us, out of bounds, or too old.
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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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# Death conditions (any triggers removal):
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# 1. Passed us (dot < 0, moving away)
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# 2. Out of arena bounds
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# 3. Too old (>200 ticks)
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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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type CorridorGeom = object
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dx, dy: float ## unit heading
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px, py: float ## unit perpendicular
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tMin: float ## distance to wall
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bx, by: float ## bullet origin
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proc corridorGeom(b: TrackedBullet, arenaWidth, arenaHeight: float): CorridorGeom =
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let speed = sqrt(b.velX * b.velX + b.velY * b.velY)
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if speed < 0.001: return
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let dx = b.velX / speed
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let dy = b.velY / speed
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var tMin = Inf
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if dx > 0.0: tMin = min(tMin, (arenaWidth - b.x) / dx)
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elif dx < 0.0: tMin = min(tMin, (0.0 - b.x) / dx)
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if dy > 0.0: tMin = min(tMin, (arenaHeight - b.y) / dy)
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elif dy < 0.0: tMin = min(tMin, (0.0 - b.y) / dy)
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CorridorGeom(dx: dx, dy: dy, px: -dy, py: dx, tMin: tMin, bx: b.x, by: b.y)
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proc lavaAt(m: TFILModule, col, row: int): float =
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m.lava[row * m.cols + col]
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proc tileAt(m: TFILModule, 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 pointInHull(px, py: float, hull: seq[(float, float)]): bool =
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var inside = false
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var j = hull.high
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for i in 0..hull.high:
|
||
if ((hull[i][1] > py) != (hull[j][1] > py)) and
|
||
(px < (hull[j][0] - hull[i][0]) * (py - hull[i][1]) / (hull[j][1] - hull[i][1]) + hull[i][0]):
|
||
inside = not inside
|
||
j = i
|
||
inside
|
||
|
||
proc computeReachableHull(x0, y0, heading0, speed0,
|
||
arenaW, arenaH: float, ticks: int = 50): seq[(float, float)] =
|
||
## Simulate `ticks` ticks at various turn rates / target speeds.
|
||
## Returns convex hull (gift-wrap) of final positions.
|
||
const TargetSpeeds = [8.0, 4.0, -4.0, -8.0]
|
||
const NumRates = 11
|
||
|
||
var pts: seq[(float, float)]
|
||
pts.add (x0, y0) # always reachable: stay
|
||
|
||
for tSpeed in TargetSpeeds:
|
||
# Max turn rate at target speed (approximate; actual varies per tick but close enough)
|
||
let mtr = 10.0 - 0.75 * abs(tSpeed)
|
||
for ri in 0..<NumRates:
|
||
let turnRate = if NumRates == 1: 0.0
|
||
else: -mtr + (2.0 * mtr / (NumRates - 1).float) * ri.float
|
||
var x = x0; var y = y0
|
||
var h = heading0; var spd = speed0
|
||
for _ in 0..<ticks:
|
||
# Accelerate toward target
|
||
if spd < tSpeed: spd = min(spd + 1.0, tSpeed)
|
||
elif spd > tSpeed: spd = max(spd - 1.0, tSpeed)
|
||
spd = clamp(spd, -MaxSpeed, MaxSpeed)
|
||
# Turn (clamp to current max turn rate)
|
||
let curMtr = 10.0 - 0.75 * abs(spd)
|
||
let tr = clamp(turnRate, -curMtr, curMtr)
|
||
h += tr
|
||
let hr = h * PI / 180.0
|
||
x = clamp(x + spd * cos(hr), 0.0, arenaW)
|
||
y = clamp(y + spd * sin(hr), 0.0, arenaH)
|
||
pts.add (x, y)
|
||
|
||
# Gift-wrap convex hull (O(n²), ~45 points — fine)
|
||
# Find leftmost point as start
|
||
var startIdx = 0
|
||
for i in 1..<pts.len:
|
||
if pts[i][0] < pts[startIdx][0] or
|
||
(pts[i][0] == pts[startIdx][0] and pts[i][1] < pts[startIdx][1]):
|
||
startIdx = i
|
||
|
||
var hull: seq[(float, float)]
|
||
var cur = startIdx
|
||
while true:
|
||
hull.add pts[cur]
|
||
var next = 0
|
||
for i in 1..<pts.len:
|
||
if next == cur:
|
||
next = i
|
||
continue
|
||
let ax = pts[next][0] - pts[cur][0]
|
||
let ay = pts[next][1] - pts[cur][1]
|
||
let bx = pts[i][0] - pts[cur][0]
|
||
let by = pts[i][1] - pts[cur][1]
|
||
let cross = ax * by - ay * bx
|
||
if cross < 0.0: # i is more counterclockwise
|
||
next = i
|
||
cur = next
|
||
if cur == startIdx: break
|
||
hull
|
||
|
||
proc noRevWeights*(dirs: openArray[float], travelDeg: float): seq[int] =
|
||
## Soft no-reversal preference (arm C). `dirs` are candidate directions in
|
||
## degrees (world frame). Forward candidates (<=90 deg off the travel
|
||
## direction) get `NoRevForwardWeight`, every other candidate gets 1.
|
||
## A weight is NEVER 0, so the preference can only down-weight, never filter:
|
||
## the candidate pool can never be emptied by it. When no forward candidate
|
||
## exists the caller falls back to a uniform draw (all weights 1 anyway).
|
||
for d in dirs:
|
||
var a = d - travelDeg
|
||
while a > 180.0: a -= 360.0
|
||
while a < -180.0: a += 360.0
|
||
result.add (if abs(a) <= 90.0: NoRevForwardWeight else: 1)
|
||
|
||
proc computeMove*(m: var TFILModule, ws: WorldState): MoveCommand =
|
||
if m.cols == 0:
|
||
m.initGrid(ws.arenaWidth, ws.arenaHeight)
|
||
|
||
# Soft reset: detect gap by position jump (rammer moved us across ticks)
|
||
# 12px threshold: above single-tick max movement (8px) but catches even short ram gaps
|
||
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.commitTicks = 0 # force replan — old target invalid
|
||
m.cachedHull = @[] # stale position/heading
|
||
m.cachedInsideTiles = @[]
|
||
m.bullets = @[] # bullet positions are hopelessly stale
|
||
m.blockedTile = (col: 0, row: 0, active: false)
|
||
# Re-snapshot prevEnergy so energy changes during ramming aren't misread as fires
|
||
m.prevEnergy = @[]
|
||
for ei in ws.enemies:
|
||
m.prevEnergySet(ei.id, ei.energy)
|
||
|
||
# Tile-change replan — see the knob rationale at the top of the file.
|
||
if (not jumped) and (m.callCount > 0) and (m.commitTicks > 0):
|
||
case TfilTileReplanMode
|
||
of ttrSelf:
|
||
let curTileCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
|
||
let curTileRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
|
||
if curTileCol != m.lastTileCol or curTileRow != m.lastTileRow:
|
||
m.commitTicks = 0
|
||
m.cachedHull = @[]
|
||
m.cachedInsideTiles = @[]
|
||
m.replanReason = rrTileSelf
|
||
of ttrEnemy:
|
||
# The comment's original intent: replan when the TARGET went stale, not
|
||
# when WE moved. Uses the primary enemy's tile displacement.
|
||
if ws.enemies.len > 0 and m.lastEnemyTileCol >= 0:
|
||
let ec = clamp(int((ws.enemies[0].x - m.marginX) / GridSize), 0, m.cols - 1)
|
||
let er = clamp(int((ws.enemies[0].y - m.marginY) / GridSize), 0, m.rows - 1)
|
||
if ec != m.lastEnemyTileCol or er != m.lastEnemyTileRow:
|
||
m.commitTicks = 0
|
||
m.cachedHull = @[]
|
||
m.cachedInsideTiles = @[]
|
||
m.replanReason = rrTileEnemy
|
||
of ttrOff:
|
||
discard # honour the commitment; the danger replan is the safety valve
|
||
|
||
# Per-tick: advance existing bullets, detect new fires
|
||
m.advanceBullets(ws.selfX, ws.selfY)
|
||
m.detectFires(ws)
|
||
|
||
# Recompute lava from scratch each tick
|
||
for i in 0..<m.lava.len: m.lava[i] = 0.0
|
||
for b in m.bullets:
|
||
let bx = b.x
|
||
let by = b.y
|
||
let (coreR, auraR) = bulletRadii(b.power)
|
||
# Time model: project the tile's nearest point onto the bullet heading. When
|
||
# the model is off these factors are exactly 1.0, so heat is unchanged.
|
||
let bSpeed = sqrt(b.velX * b.velX + b.velY * b.velY)
|
||
let bUx = if bSpeed > 0.0: b.velX / bSpeed else: 0.0
|
||
let bUy = if bSpeed > 0.0: b.velY / bSpeed else: 0.0
|
||
let bMag = bulletMagScale(b.power)
|
||
let colMin = max(0, int(floor((bx - auraR - m.marginX) / GridSize)))
|
||
let colMax = min(m.cols-1, int(floor((bx + auraR - m.marginX) / GridSize)))
|
||
let rowMin = max(0, int(floor((by - auraR - m.marginY) / GridSize)))
|
||
let rowMax = min(m.rows-1, int(floor((by + auraR - 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(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)
|
||
|
||
# Corridor heat — rotated rectangle from bullet position to arena wall, auraR wide
|
||
for b in m.bullets:
|
||
let cg = corridorGeom(b, m.arenaWidth, m.arenaHeight)
|
||
if cg.tMin == 0.0: continue # zero-speed bullet, skip
|
||
let (_, auraR) = bulletRadii(b.power)
|
||
# Time model: the corridor gradient is `dt = along / speed` (see the heat
|
||
# block above). Off -> exactly 1.0, so the corridor is the flat shipped one.
|
||
let bSpeed = sqrt(b.velX * b.velX + b.velY * b.velY)
|
||
let bMag = bulletMagScale(b.power)
|
||
let wx = cg.bx + cg.dx * cg.tMin
|
||
let wy = cg.by + cg.dy * cg.tMin
|
||
# Bounding box of the 4 corners
|
||
let c0x = cg.bx + cg.px * auraR; let c0y = cg.by + cg.py * auraR
|
||
let c1x = cg.bx - cg.px * auraR; let c1y = cg.by - cg.py * auraR
|
||
let c2x = wx - cg.px * auraR; let c2y = wy - cg.py * auraR
|
||
let c3x = wx + cg.px * auraR; let c3y = wy + cg.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
|
||
# Project tile center onto heading and perpendicular axes
|
||
let relX = cx - cg.bx
|
||
let relY = cy - cg.by
|
||
let along = relX * cg.dx + relY * cg.dy
|
||
let perp = relX * cg.px + relY * cg.py
|
||
if along >= 0.0 and along <= cg.tMin and perp >= -auraR and perp <= auraR:
|
||
m.lava[row * m.cols + col] += CorridorHeat * bMag *
|
||
heatDecay(along / bSpeed)
|
||
|
||
# Enemy heat auras — core (18px) and aura ring (54px), same pattern as bullets
|
||
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 heat — additive with bullet heat
|
||
for row in 0..<m.rows:
|
||
for col in 0..<m.cols:
|
||
let heat = max(0.0, WallHotness - col.float * WallRadiance) +
|
||
max(0.0, WallHotness - (m.cols-1-col).float * WallRadiance) +
|
||
max(0.0, WallHotness - row.float * WallRadiance) +
|
||
max(0.0, WallHotness - (m.rows-1-row).float * WallRadiance)
|
||
m.lava[row * m.cols + col] += heat
|
||
|
||
# Pillar radiance heat — center 1×1, 1×2, 2×1, or 2×2 depending on grid parity
|
||
let pc0 = if m.cols mod 2 == 1: m.cols div 2 else: m.cols div 2 - 1
|
||
let pc1 = m.cols div 2 # same as pc0 when odd, pc0+1 when even
|
||
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)
|
||
|
||
if m.debugGraphics:
|
||
# Compute max lava for heat gradient
|
||
var maxLava = 0.0
|
||
for v in m.lava:
|
||
if v > maxLava: maxLava = v
|
||
|
||
# Non-zero tiles: colored border + colored value text (yellow→orange→red)
|
||
setFont("Arial", 10.0)
|
||
for row in 0..<m.rows:
|
||
for col in 0..<m.cols:
|
||
let val = m.lava[row * m.cols + col]
|
||
if val == 0.0: continue
|
||
let t = if maxLava > 0.0: val / maxLava else: 0.0
|
||
let heatColor = fromRgb(255'u8, uint8(255.0 * (1.0 - t)), 0'u8)
|
||
let x0 = m.marginX + col.float * GridSize
|
||
let y0 = m.marginY + row.float * GridSize
|
||
setStrokeColor(heatColor)
|
||
setStrokeWidth(1.0)
|
||
drawRectangle(x0, y0, GridSize, GridSize)
|
||
setFillColor(heatColor)
|
||
drawText($int(val), x0 + 12.0, y0 + 22.0)
|
||
|
||
# Draw tracked bullet circles
|
||
setStrokeColor(RED)
|
||
setStrokeWidth(1.0)
|
||
setFillColor(RED)
|
||
for b in m.bullets:
|
||
let (coreR, auraR) = bulletRadii(b.power)
|
||
drawCircle(b.x, b.y, coreR)
|
||
fillCircle(b.x, b.y, 3.0)
|
||
setStrokeColor(fromHex("#FF8800")) # orange aura
|
||
setStrokeWidth(1.0)
|
||
drawCircle(b.x, b.y, auraR)
|
||
setStrokeColor(RED)
|
||
setStrokeWidth(1.0)
|
||
|
||
# Danger corridor: rotated rectangle projecting each bullet forward to arena wall
|
||
setStrokeColor(fromHex("#AAAAAA"))
|
||
setStrokeWidth(1.0)
|
||
for b in m.bullets:
|
||
let (_, auraR) = bulletRadii(b.power)
|
||
let cg = corridorGeom(b, m.arenaWidth, m.arenaHeight)
|
||
if cg.tMin == 0.0: continue
|
||
# When the time model is on, draw only as far as the corridor still blocks
|
||
# (heat > PathDangerThreshold = 10); otherwise the outline would claim a
|
||
# wall-to-wall threat the field no longer has. Off -> reach = cg.tMin.
|
||
var reach = cg.tMin
|
||
if TfilHeatTime:
|
||
let speed = sqrt(b.velX * b.velX + b.velY * b.velY)
|
||
let near = CorridorHeat * bulletMagScale(b.power)
|
||
reach = if speed > 0.0 and near > 10.0:
|
||
min(reach, -TfilHeatTau * ln(10.0 / near) * speed)
|
||
else: 0.0
|
||
let wx = cg.bx + cg.dx * reach
|
||
let wy = cg.by + cg.dy * reach
|
||
let corners: seq[(float, float)] = @[
|
||
(cg.bx + cg.px * auraR, cg.by + cg.py * auraR),
|
||
(cg.bx - cg.px * auraR, cg.by - cg.py * auraR),
|
||
(wx - cg.px * auraR, wy - cg.py * auraR),
|
||
(wx + cg.px * auraR, wy + cg.py * auraR),
|
||
]
|
||
drawPolygon(corners)
|
||
|
||
# Enemy core (cyan) and aura (green)
|
||
setStrokeColor(fromHex("#00FFFF")) # cyan core
|
||
setStrokeWidth(1.5)
|
||
for ei in ws.enemies:
|
||
drawCircle(ei.x, ei.y, EnemyCoreRadius)
|
||
setStrokeColor(fromHex("#00CC00")) # green aura
|
||
setStrokeWidth(1.0)
|
||
for ei in ws.enemies:
|
||
drawCircle(ei.x, ei.y, EnemyAuraRadius)
|
||
|
||
# ── Tile-based Dodge System ───────────────────────────────────────────────────
|
||
let botCol = clamp(int((ws.selfX - m.marginX) / GridSize), 0, m.cols - 1)
|
||
let botRow = clamp(int((ws.selfY - m.marginY) / GridSize), 0, m.rows - 1)
|
||
|
||
# log-only bookkeeping for this tick
|
||
var pickedThisTick = false
|
||
var pickedRev = false
|
||
var pickedInterval = 0
|
||
|
||
# Hull + inside-tiles: only recompute on replan tick (commitTicks == 0)
|
||
type TileRef = tuple[col, row: int]
|
||
if m.commitTicks == 0:
|
||
let hull = computeReachableHull(ws.selfX, ws.selfY, ws.selfHeading, ws.selfSpeed,
|
||
m.arenaWidth, m.arenaHeight, 50)
|
||
# store as named-field seq to match cachedHull type
|
||
m.cachedHull = @[]
|
||
for p in hull: m.cachedHull.add (x: p[0], y: p[1])
|
||
m.cachedInsideTiles = @[]
|
||
if hull.len >= 3:
|
||
for row in 0..<m.rows:
|
||
for col in 0..<m.cols:
|
||
let cx = m.marginX + (col.float + 0.5) * GridSize
|
||
let cy = m.marginY + (row.float + 0.5) * GridSize
|
||
if pointInHull(cx, cy, hull):
|
||
m.cachedInsideTiles.add (col: col, row: row)
|
||
|
||
let insideTiles = m.cachedInsideTiles
|
||
|
||
# Find the CoolestLevels distinct lava values among inside-hull tiles
|
||
var distinctVals: seq[float]
|
||
for t in insideTiles:
|
||
let v = m.lavaAt(t.col, t.row)
|
||
var found = false
|
||
for dv in distinctVals:
|
||
if dv == v: found = true; break
|
||
if not found: distinctVals.add v
|
||
# Sort ascending (insertion sort — small N)
|
||
for i in 1..<distinctVals.len:
|
||
let key = distinctVals[i]
|
||
var j = i - 1
|
||
while j >= 0 and distinctVals[j] > key:
|
||
distinctVals[j + 1] = distinctVals[j]
|
||
dec j
|
||
distinctVals[j + 1] = key
|
||
|
||
# Collect tiles matching the CoolestLevels coolest distinct values
|
||
var coolTiles: seq[TileRef]
|
||
let numLevels = min(CoolestLevels, distinctVals.len)
|
||
for t in insideTiles:
|
||
let v = m.lavaAt(t.col, t.row)
|
||
for li in 0..<numLevels:
|
||
if v == distinctVals[li]:
|
||
coolTiles.add t
|
||
break
|
||
|
||
# Score each cool tile by MAX lava on the straight-line path from bot.
|
||
# A single hot tile on the path (corridor, bullet core, enemy aura) makes the whole path unsafe.
|
||
const PathSampleStep = 18.0 # ~half a tile
|
||
const PathDangerThreshold = 10.0 # max lava on path; above this = unsafe
|
||
type ScoredTile = tuple[col, row: int; pathMaxHeat: float]
|
||
var scoredTiles: seq[ScoredTile]
|
||
for t in coolTiles:
|
||
let tx = m.marginX + (t.col.float + 0.5) * GridSize
|
||
let ty = m.marginY + (t.row.float + 0.5) * GridSize
|
||
let ddx = tx - ws.selfX
|
||
let ddy = ty - ws.selfY
|
||
let lineDist = sqrt(ddx*ddx + ddy*ddy)
|
||
var pathMaxHeat = 0.0
|
||
if lineDist > 0.1:
|
||
let steps = max(1, int(lineDist / PathSampleStep))
|
||
for si in 0..steps:
|
||
let frac = si.float / steps.float
|
||
let sx = ws.selfX + ddx * frac
|
||
let sy = ws.selfY + ddy * frac
|
||
let (sc, sr) = m.tileAt(sx, sy)
|
||
pathMaxHeat = max(pathMaxHeat, m.lavaAt(sc, sr))
|
||
scoredTiles.add (col: t.col, row: t.row, pathMaxHeat: pathMaxHeat)
|
||
|
||
# Sort by pathMaxHeat ascending (insertion sort — small N)
|
||
for i in 1..<scoredTiles.len:
|
||
let key = scoredTiles[i]
|
||
var j = i - 1
|
||
while j >= 0 and scoredTiles[j].pathMaxHeat > key.pathMaxHeat:
|
||
scoredTiles[j + 1] = scoredTiles[j]
|
||
dec j
|
||
scoredTiles[j + 1] = key
|
||
|
||
# Absolute threshold filter: safe = path max lava <= PathDangerThreshold.
|
||
# Fallback: if everything is hot, keep the 2 coolest paths anyway.
|
||
var safeTiles: seq[ScoredTile]
|
||
var blockedTiles: seq[ScoredTile]
|
||
for t in scoredTiles:
|
||
if t.pathMaxHeat <= PathDangerThreshold: safeTiles.add t
|
||
else: blockedTiles.add t
|
||
if safeTiles.len < 2:
|
||
# Fallback: promote the least-hot blocked tiles until we have 2
|
||
# ponytail: O(n) scan on already-sorted seq — fine for small N
|
||
let needed = 2 - safeTiles.len
|
||
let promote = min(needed, blockedTiles.len)
|
||
for i in 0..<promote:
|
||
safeTiles.add blockedTiles[i]
|
||
blockedTiles = blockedTiles[promote ..< blockedTiles.len]
|
||
|
||
# Commitment logic
|
||
if m.commitTicks > 0:
|
||
# Only allow danger replan after MinCommitTicks have elapsed
|
||
let ticksElapsed = TfilCommitTicks - m.commitTicks
|
||
if ticksElapsed >= MinCommitTicks:
|
||
let (cc, cr) = m.tileAt(m.commitTarget.x, m.commitTarget.y)
|
||
let curLava = m.lavaAt(cc, cr)
|
||
if curLava > m.commitLava + DangerReplanThreshold:
|
||
# Mark committed tile blocked so we don't re-pick it
|
||
m.blockedTile = (col: cc, row: cr, active: true)
|
||
m.commitTicks = 0 # replan
|
||
m.replanReason = rrDanger
|
||
else:
|
||
dec m.commitTicks
|
||
if m.commitTicks == 0: m.replanReason = rrExpiry
|
||
else:
|
||
dec m.commitTicks
|
||
if m.commitTicks == 0: m.replanReason = rrExpiry
|
||
|
||
if m.commitTicks == 0 and safeTiles.len > 0:
|
||
# Filter out the blocked tile from candidates
|
||
var candidates: seq[ScoredTile]
|
||
for t in safeTiles:
|
||
if m.blockedTile.active and t.col == m.blockedTile.col and t.row == m.blockedTile.row:
|
||
continue
|
||
candidates.add t
|
||
if candidates.len == 0: candidates = safeTiles # all blocked → ignore block
|
||
let travelDeg = if ws.selfSpeed < -0.01: ws.selfHeading + 180.0
|
||
else: ws.selfHeading
|
||
var chosen = 0
|
||
if TfilNoRev and candidates.len >= 2:
|
||
# Soft no-reversal preference (arm C): down-weight — never filter — tiles
|
||
# that lie >90 deg from the current travel direction.
|
||
var dirs: seq[float]
|
||
for t in candidates:
|
||
let tx = m.marginX + (t.col.float + 0.5) * GridSize
|
||
let ty = m.marginY + (t.row.float + 0.5) * GridSize
|
||
dirs.add arctan2(ty - ws.selfY, tx - ws.selfX) * 180.0 / PI
|
||
let weights = noRevWeights(dirs, travelDeg)
|
||
var total = 0
|
||
var forward = 0
|
||
for w in weights:
|
||
total += w
|
||
if w > 1: inc forward
|
||
if forward == 0:
|
||
# Fallback: no forward tile exists → uniform draw, so the pool can
|
||
# never empty and the pick is identical to the shipped one.
|
||
chosen = rand(candidates.high)
|
||
else:
|
||
let r = rand(total - 1)
|
||
var acc = 0
|
||
chosen = weights.high
|
||
for i in 0..<weights.len:
|
||
acc += weights[i]
|
||
if r < acc:
|
||
chosen = i
|
||
break
|
||
else:
|
||
chosen = rand(candidates.high)
|
||
let ct = candidates[chosen]
|
||
m.commitTarget = (x: m.marginX + (ct.col.float + 0.5) * GridSize,
|
||
y: m.marginY + (ct.row.float + 0.5) * GridSize)
|
||
m.commitTicks = TfilCommitTicks
|
||
m.commitLava = m.lavaAt(ct.col, ct.row)
|
||
m.blockedTile.active = false # clear after successful pick
|
||
|
||
# log-only: reversal test against the travel direction
|
||
var rd = arctan2(m.commitTarget.y - ws.selfY, m.commitTarget.x - ws.selfX) *
|
||
180.0 / PI - travelDeg
|
||
while rd > 180.0: rd -= 360.0
|
||
while rd < -180.0: rd += 360.0
|
||
pickedThisTick = true
|
||
pickedRev = abs(rd) > 90.0
|
||
pickedInterval = m.callCount - m.lastPickCall
|
||
m.lastPickCall = m.callCount
|
||
inc m.picks
|
||
|
||
if m.debugGraphics:
|
||
# Reachable hull perimeter (darker blue)
|
||
if m.cachedHull.len >= 3:
|
||
let hullPairs: seq[(float, float)] = block:
|
||
var s: seq[(float, float)]
|
||
for p in m.cachedHull: s.add (p.x, p.y)
|
||
s
|
||
setStrokeColor(fromHex("#336699"))
|
||
setStrokeWidth(1.0)
|
||
drawPolygon(hullPairs)
|
||
|
||
# Dim (dark cyan) for path-blocked cool tiles
|
||
setStrokeColor(fromHex("#006666"))
|
||
setStrokeWidth(1.0)
|
||
for t in blockedTiles:
|
||
let x0 = m.marginX + t.col.float * GridSize
|
||
let y0 = m.marginY + t.row.float * GridSize
|
||
drawRectangle(x0, y0, GridSize, GridSize)
|
||
|
||
# Bright cyan borders on safe-to-reach tiles
|
||
setStrokeColor(fromHex("#00FFFF"))
|
||
setStrokeWidth(2.0)
|
||
for t in safeTiles:
|
||
let x0 = m.marginX + t.col.float * GridSize
|
||
let y0 = m.marginY + t.row.float * GridSize
|
||
drawRectangle(x0, y0, GridSize, GridSize)
|
||
|
||
# Green on chosen tile
|
||
let (chosenCol, chosenRow) = m.tileAt(m.commitTarget.x, m.commitTarget.y)
|
||
let gx0 = m.marginX + chosenCol.float * GridSize
|
||
let gy0 = m.marginY + chosenRow.float * GridSize
|
||
setStrokeColor(fromHex("#00FF00"))
|
||
setStrokeWidth(2.5)
|
||
drawRectangle(gx0, gy0, GridSize, GridSize)
|
||
|
||
# Blue on bot tile
|
||
let bx0 = m.marginX + botCol.float * GridSize
|
||
let by0 = m.marginY + botRow.float * GridSize
|
||
setStrokeColor(fromHex("#0088FF"))
|
||
setStrokeWidth(2.5)
|
||
drawRectangle(bx0, by0, GridSize, GridSize)
|
||
|
||
# Committed target line
|
||
setStrokeColor(fromHex("#00FF00"))
|
||
setStrokeWidth(1.5)
|
||
drawLine(ws.selfX, ws.selfY, m.commitTarget.x, m.commitTarget.y)
|
||
|
||
# Update position snapshot and call counter for next gap detection
|
||
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)
|
||
if ws.enemies.len > 0:
|
||
m.lastEnemyTileCol = clamp(int((ws.enemies[0].x - m.marginX) / GridSize), 0, m.cols - 1)
|
||
m.lastEnemyTileRow = clamp(int((ws.enemies[0].y - m.marginY) / GridSize), 0, m.rows - 1)
|
||
else:
|
||
m.lastEnemyTileCol = -1
|
||
m.lastEnemyTileRow = -1
|
||
m.callCount += 1
|
||
|
||
if TfilCommitLogPath.len > 0:
|
||
let reason = if pickedThisTick:
|
||
(if m.replanReason == rrNone: rrInit else: m.replanReason)
|
||
else: rrNone
|
||
tfilLogWrite("{\"tick\":" & $ws.tick & ",\"call\":" & $m.callCount &
|
||
",\"sp\":" & $ws.selfSpeed & ",\"ct\":" & $m.commitTicks &
|
||
",\"pick\":" & (if pickedThisTick: "1" else: "0") &
|
||
",\"reason\":\"" & reasonName(reason) & "\",\"rev\":" &
|
||
(if pickedRev: "1" else: "0") & ",\"interval\":" & $pickedInterval &
|
||
",\"picks\":" & $m.picks & "}")
|
||
if pickedThisTick: m.replanReason = rrNone
|
||
|
||
# ── Steering ─────────────────────────────────────────────────────────────────
|
||
let stepDx = m.commitTarget.x - ws.selfX
|
||
let stepDy = m.commitTarget.y - ws.selfY
|
||
let dist2 = stepDx*stepDx + stepDy*stepDy
|
||
if dist2 < 324.0: # already at target (18px radius)
|
||
return (speed: 0.0, turnRate: 0.0)
|
||
|
||
let targetBearing = arctan2(stepDy, stepDx) * 180.0 / PI
|
||
var delta = targetBearing - ws.selfHeading
|
||
while delta > 180.0: delta -= 360.0
|
||
while delta < -180.0: delta += 360.0
|
||
|
||
let maxTurnRate = 10.0 - 0.75 * abs(ws.selfSpeed)
|
||
var speed: float
|
||
var turnRate: float
|
||
if abs(delta) <= 90.0:
|
||
speed = MaxSpeed
|
||
turnRate = clamp(delta, -maxTurnRate, maxTurnRate)
|
||
else:
|
||
let flipped = if delta > 0.0: delta - 180.0 else: delta + 180.0
|
||
speed = -MaxSpeed
|
||
turnRate = clamp(flipped, -maxTurnRate, maxTurnRate)
|
||
|
||
result = (speed: speed, turnRate: turnRate)
|