402985adbf
While the asset is losing hull, target what is pressing IT — ranked by distance to the asset minus credit for closing on it — instead of what is nearest to us. Trigger and ranking both read the live hull (pos+0x154), so nothing is inferred. DEFEND engaged 1.9 s after the asset's first hit and held 54% of a 330 s run. It did NOT measurably save the asset: over the window two runs share, the policies are equal to within noise (t=239: 23218 vs 23038). Two reasons, both recorded rather than papered over: the runs are not comparable past that window (spawn timing differs and the hostile count GREW 134->166 in one, fell 147->118 in the other), and the real bottleneck is lethality — the guns are on for 12% of combat frames because the target is outside the 9 deg cone the rest of the time. Also corrects a single-run claim in the previous commit: the asset is NOT reliably safe for the first ~170 s. A second run had first damage at t=70 s. The stage does not replay identically; only 'the loss is slow' survives. Fixes a fatal bug the new mode exposed: DEFEND flies at the asset, which sits inside the friendly formation, and the first escort run went hull 1500 -> DEAD in one tick at 2026 units/s, 0.6 s from a friendly destroyer that avoidance thought it would clear by 365 units — the ship's radius is 2000. Keep-out applied only to hostile turrets. Every entity above BIG_RADIUS now gets its own radius + 800 of physical keep-out with braking inside it, whatever its faction.
463 lines
20 KiB
Python
463 lines
20 KiB
Python
#!/usr/bin/env python3
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"""A pilot that tries to stay alive, not just to shoot.
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Every earlier loop flew a straight pursuit and was shot down; the trace from
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ctrl_probe.py shows why — 1500 hull points gone in twelve seconds while sitting
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in a turret's line of fire, with no reaction of any kind. Three measured facts
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make a reaction possible:
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* **Hull is `position + 0x154`** — at spawn it equals the unit definition's own
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`HP` (1500 for the Delta Saber), it steps down 30/60/90 per hit, and it goes
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negative at death. So damage is observable *as it happens*, not inferred.
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* **`RT` accelerates and `LT` brakes**, and the setting persists: measured
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ground speed went 488 → 1510 under RT, 488 → 174 under LT and then *stayed*
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near 130 with the sticks neutral. (The older note "RT is not the throttle" was
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drawn from a value-scan for a speed field, not from measuring the speed.)
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* **`RB` fires** (autopilot-memory-driven.md).
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So the loop is a state machine on damage rather than a pure pursuit:
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ENGAGE chase and shoot the nearest hostile fighter
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DEFEND the escorted asset is being attacked — go kill what is attacking IT
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EVADE entered the moment the hull drops — turn away from the threats,
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full throttle, jink; leave only after several quiet seconds
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RETIRE hull below a floor: break for the friendly capital ship, which the
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mission's own hint says is where you resupply
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Turrets are treated as threats to be *kept at a distance*, not as targets: the
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objective is the invading fighters, and the turret is what killed every previous
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run.
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**Why DEFEND exists, and why it is not simply "always guard the asset".** Stage
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02 is an escort: a 240 s run ended in GAME OVER with our own hull at 1500/1500
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because the ACROPOLIS sank while the pilot chased the nearest fighter 2 km away.
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But the measurement in docs/re/mission-escort-state.md says the asset is *not*
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in danger early — it sat at a full 25000 for the first ~170 s and then lost
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~600 HP/min, i.e. ~40 minutes to sink from full. So permanently orbiting it
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would throw away most of the mission for nothing. The policy that fits the
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measurement is: **fight freely until the asset is actually being hurt, then
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switch to killing its attackers specifically.** Both the trigger and the target
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choice are read live — every entity's hull is `position + 0x154`, confirmed for
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seven classes, so "is the asset losing hull" and "which hostiles are closing on
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it" are both observable rather than inferred.
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Usage: pilot.py <config.json> [seconds] [--dry]
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"""
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import json
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import math
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import os
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import struct
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import sys
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import time
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from collections import deque
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import numpy as np
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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import gmem # noqa: E402
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import navigator # noqa: E402
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from navigator import ang, norm # noqa: E402
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from flight_probe import Pad # noqa: E402
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HULL_OFF = 0x154 # confirmed: == definition HP at spawn, falls when hit
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SHIELD_OFF = 0x430 # candidate: == definition Shield MaxValue at spawn
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DEF_HP = 0x054 # unit-struct-runtime.md
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# Stage 02's protected asset. Named rather than derived: "the biggest friendly"
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# picks the f105 cruiser (30000 HP > the Acropolis's 25000), and "the friendly
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# with the most HP" picks it too, so neither rule finds the right ship. The
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# per-stage asset is mission script, not a property of the entity, so it is
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# configuration here — override with $SYLPH_ASSET for another stage.
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ASSET_NAME = os.environ.get("SYLPH_ASSET", "Acropolis")
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class Pilot:
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KP, KD = 2.2, 0.45
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FIRE_CONE = math.radians(9)
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FIRE_RANGE = 5000.0
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TURRET_KEEPOUT = 2500.0 # ...and stay this far from things that shoot back
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EVADE_QUIET = 5.0 # seconds without damage before re-engaging
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RETIRE_FRAC = 0.30 # hull fraction that sends us home
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HZ = 8.0
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# --- escort ---
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ASSET_GUARD = 9000.0 # hostiles this close to the asset count as its attackers
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ASSET_QUIET = 20.0 # s of no asset damage before dropping out of DEFEND
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ASSET_ALERT = 0.5 # HP of asset damage that counts as "under attack"
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ASSET_STANDOFF = 3500.0 # loiter this far out when guarding with no target
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HULL_CLEARANCE = 800.0 # clearance ON TOP of a capital ship's own radius
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CLOSING_WEIGHT = 4.0 # s of closing-rate credit when ranking attackers
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MY_RANGE_WEIGHT = 0.35 # how much our own distance discounts a target
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def __init__(self, W, pad, dry=False, log=sys.stdout):
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self.W = W
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self.pad = pad
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self.dry = dry
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self.log = log
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# closest-point-of-approach avoidance is navigator.py's, reused as-is
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self.av = navigator.Navigator(W, pad, dry=True, log=log)
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self.prevM = None
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self.firing = False
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self.throttle = 0 # -1 brake, 0 coast, +1 accelerate
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self.mode = "ENGAGE"
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self.hp_hist = deque(maxlen=64)
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self.hp0 = None
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self.last_hit = -1e9
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self.threat_dir = None
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# escort bookkeeping
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self.def_hp = {} # def_va -> definition HP
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for va in W.defs:
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self.def_hp[va] = self.f32(gmem.va_to_off(va) + DEF_HP)
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self.asset_hist = deque(maxlen=64)
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self.asset_hp0 = None
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self.asset_last_hit = -1e9
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def f32(self, off):
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b = os.pread(self.W.fd, 4, off)
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if len(b) < 4:
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return float("nan")
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return struct.unpack(">f", b)[0]
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# ---------------------------------------------------------------- escort
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def asset(self, ents):
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"""The protected ship, and its live hull — same anchor as everyone's."""
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for off, nm, p, v, r in ents:
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if ASSET_NAME in nm:
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hull = self.f32(off + HULL_OFF)
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return off, nm, p, v, r, hull
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return None
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def asset_attackers(self, hos, a_p):
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"""Hostile fighters near the asset, ranked by how hard they press it.
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Ranking is distance to the asset *minus* credit for closing on it, so a
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fighter 4 km out and running in outranks one sitting at 2 km drifting
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away. Turrets and hulls are excluded for the same reason as everywhere
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else: they are not killable objectives, they are keep-out zones.
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"""
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out = []
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for off, nm, p, v, r, hard in hos:
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if hard:
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continue
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rel = a_p - p
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d = float(np.linalg.norm(rel))
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if d > self.ASSET_GUARD:
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continue
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closing = float(np.dot(norm(rel), v)) # +ve = moving at the asset
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out.append((d - self.CLOSING_WEIGHT * max(closing, 0.0), off, nm, p, v, d))
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out.sort(key=lambda e: e[0])
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return out
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# ------------------------------------------------------------ own state
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def own(self, off):
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b = os.pread(self.W.fd, 8, off + HULL_OFF)
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hull = struct.unpack_from(">f", b, 0)[0] if len(b) >= 4 else float("nan")
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b2 = os.pread(self.W.fd, 4, off + SHIELD_OFF)
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shield = struct.unpack(">f", b2)[0] if len(b2) == 4 else float("nan")
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return hull, shield
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def set_throttle(self, want):
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"""RT / LT are a persistent setting, so only send the change."""
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if want == self.throttle or self.dry:
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return
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self.pad.trig("RT", 1.0 if want > 0 else 0.0)
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self.pad.trig("LT", 1.0 if want < 0 else 0.0)
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self.throttle = want
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# -------------------------------------------------------------- targets
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def hostiles(self, ents, me_off):
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out = []
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for off, nm, p, v, r in ents:
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if off == me_off or navigator.faction(nm) != "ADAN":
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continue
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out.append((off, nm, p, v, r, "Turret" in nm or r >= navigator.Navigator.BIG_RADIUS))
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return out
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def pick(self, me_p, me_v, fwd, hos):
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"""Nearest *fighter*, weighted by how far off the nose it is."""
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speed = max(float(np.linalg.norm(me_v)), 1.0)
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best, bestscore = None, 1e18
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for off, nm, p, v, r, hard in hos:
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if hard:
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continue # turrets and hulls are not the objective
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rel = p - me_p
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d = float(np.linalg.norm(rel))
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if d < 1e-3:
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continue
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lead = p + v * (d / max(speed, 300.0))
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theta = ang(lead - me_p, fwd)
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score = d * (1.0 + 3.0 * (theta / math.pi) ** 2)
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if score < bestscore:
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best, bestscore = (off, nm, lead, lead - me_p, d), score
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return best
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def threat_vector(self, me_p, hos):
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"""Where the danger is: inverse-square weighted direction to shooters."""
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acc = np.zeros(3)
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for off, nm, p, v, r, hard in hos:
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rel = p - me_p
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d = float(np.linalg.norm(rel))
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if d < 1.0 or d > 8000.0:
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continue
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w = (1500.0 / d) ** 2 * (3.0 if hard else 1.0)
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acc += norm(rel) * w
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return norm(acc) if np.linalg.norm(acc) > 1e-6 else None
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def friendly_base(self, ents, me_off):
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"""The biggest friendly — the carrier the briefing says to resupply at."""
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best = None
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for off, nm, p, v, r in ents:
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if off == me_off or navigator.faction(nm) != "TCAF":
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continue
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if best is None or r > best[4]:
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best = (off, nm, p, v, r)
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return best
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# ------------------------------------------------------------ steering
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def sticks(self, want, M, w):
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fwd = M[self.W.fwd_row] * self.W.fwd_sign
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right = M[(self.W.fwd_row + 1) % 3]
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up = np.cross(fwd, right)
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ex, ey, ez = (float(np.dot(want, right)), float(np.dot(want, up)),
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float(np.dot(want, fwd)))
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yaw = math.atan2(ex, ez if abs(ez) > 1e-3 else 1e-3)
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pitch = math.atan2(ey, ez if abs(ez) > 1e-3 else 1e-3)
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if ez < 0: # target behind: commit to a full turn
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yaw = math.copysign(math.pi / 2, ex if ex else 1.0)
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sx = max(-1.0, min(1.0, self.KP * yaw - self.KD * float(np.dot(w, up))))
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sy = max(-1.0, min(1.0, -(self.KP * pitch - self.KD * float(np.dot(w, right)))))
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return sx, sy, yaw, pitch
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# ---------------------------------------------------------------- step
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def step(self, t, dt):
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ents = self.W.sample(t)
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me = next((e for e in ents if "Player" in e[1]), None)
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if me is None:
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return None
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me_off, me_nm, me_p, me_v, me_r = me
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M = self.W.rot(me_off)
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if M is None:
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return "no-orientation"
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fwd = M[self.W.fwd_row] * self.W.fwd_sign
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right = M[(self.W.fwd_row + 1) % 3]
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up = np.cross(fwd, right)
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speed = float(np.linalg.norm(me_v))
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hull, shield = self.own(me_off)
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if self.hp0 is None and math.isfinite(hull) and hull > 0:
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self.hp0 = hull
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self.hp_hist.append((t, hull))
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# damage over the last ~2 s; the hull only ever falls, so any drop is a hit
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recent = [h for (ts, h) in self.hp_hist if t - ts <= 2.0]
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dmg = (max(recent) - hull) if recent else 0.0
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if dmg > 0.5:
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self.last_hit = t
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if hull <= 0:
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return "DEAD"
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# body angular velocity, for the damping term
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w = np.zeros(3)
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if self.prevM is not None and dt > 1e-3:
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D = self.prevM @ M.T
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w = np.array([D[2, 1] - D[1, 2], D[0, 2] - D[2, 0], D[1, 0] - D[0, 1]]) / (2 * dt)
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self.prevM = M
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hos = self.hostiles(ents, me_off)
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self.threat_dir = self.threat_vector(me_p, hos)
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frac = hull / self.hp0 if self.hp0 else 1.0
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# ---- the escorted asset, read exactly like our own hull
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ast = self.asset(ents)
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a_frac, a_dmg = 1.0, 0.0
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if ast is not None:
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a_hull = ast[5]
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if self.asset_hp0 is None and math.isfinite(a_hull) and a_hull > 0:
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self.asset_hp0 = a_hull
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self.asset_hist.append((t, a_hull))
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recent = [h for (ts, h) in self.asset_hist if t - ts <= 4.0]
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a_dmg = (max(recent) - a_hull) if recent else 0.0
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if a_dmg > self.ASSET_ALERT:
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self.asset_last_hit = t
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a_frac = a_hull / self.asset_hp0 if self.asset_hp0 else 1.0
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# ---- mode. Our own survival still outranks the escort: a dead pilot
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# defends nothing, and RETIRE/EVADE are what stopped us being shot down.
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if frac <= self.RETIRE_FRAC:
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self.mode = "RETIRE"
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elif t - self.last_hit < self.EVADE_QUIET:
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self.mode = "EVADE"
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elif ast is not None and t - self.asset_last_hit < self.ASSET_QUIET:
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self.mode = "DEFEND"
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else:
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self.mode = "ENGAGE"
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tgt = self.pick(me_p, me_v, fwd, hos)
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push, worst = self.av.avoidance(me_p, me_v, me_r, ents, me_off)
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if self.mode == "EVADE":
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# Away from the guns, plus a jink so a straight escape line is not
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# itself an easy solution for whatever is shooting.
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away = -self.threat_dir if self.threat_dir is not None else fwd
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jink = right * math.sin(t * 1.7) * 0.5 + up * math.cos(t * 2.3) * 0.35
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want = norm(away + jink)
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self.set_throttle(+1)
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fire = False
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elif self.mode == "DEFEND":
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# Kill what is hitting the ship, not what is nearest to us. Among
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# the asset's attackers prefer the one pressing it hardest, with a
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# modest discount for being closer to us so the loop does not fly
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# past three targets to reach a marginally worse fourth.
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atk = self.asset_attackers(hos, ast[2])
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best = None
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for score, off, nm, p, v, d_a in atk:
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d_me = float(np.linalg.norm(p - me_p))
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total = score + self.MY_RANGE_WEIGHT * d_me
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if best is None or total < best[0]:
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best = (total, off, nm, p, v, d_me)
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if best is not None:
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_, off, nm, p, v, d_me = best
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speed_ref = max(speed, 300.0)
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lead = p + v * (d_me / speed_ref)
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tgt = (off, nm, lead, lead - me_p, d_me)
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want = norm(tgt[3])
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self.set_throttle(+1 if d_me > 2500.0 else 0)
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else:
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# Nothing on it right now: hold station near the ship instead of
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# wandering off, so the next wave is met at the asset.
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rel = ast[2] - me_p
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d = float(np.linalg.norm(rel))
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want = (norm(rel) if d > ast[4] + self.ASSET_STANDOFF
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else norm(np.cross(rel, up)))
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self.set_throttle(+1 if d > ast[4] + self.ASSET_STANDOFF else 0)
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fire = True
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elif self.mode == "RETIRE":
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base = self.friendly_base(ents, me_off)
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if base is not None:
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rel = base[2] - me_p
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d = float(np.linalg.norm(rel))
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want = norm(rel) if d > base[4] + 400.0 else norm(np.cross(rel, up))
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else:
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want = -self.threat_dir if self.threat_dir is not None else fwd
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self.set_throttle(+1)
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fire = False
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else:
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# Straight lead pursuit and fly *through*. An earlier version orbited
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# once inside a standoff radius and braked while doing it: it then
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# circled one attacker for 40 s at ~700 m, at 60-100 units/s, never
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# inside the firing cone. Overshooting and re-acquiring is better
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# than a stall in the middle of a battle; collision avoidance already
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# keeps a fighter-sized margin.
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want = norm(tgt[3]) if tgt else fwd
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if tgt and tgt[4] > 2500.0:
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self.set_throttle(+1)
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elif tgt and tgt[4] < 500.0 and speed > 900.0:
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self.set_throttle(-1)
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else:
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self.set_throttle(0)
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fire = True
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# a turret inside its keep-out radius outranks the target
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for off, nm, p, v, r, hard in hos:
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if not hard:
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continue
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d = float(np.linalg.norm(p - me_p))
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if d < self.TURRET_KEEPOUT:
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want = norm(want + norm(me_p - p) * (2.0 * (1.0 - d / self.TURRET_KEEPOUT)))
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break
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# A capital ship is a wall, whatever its faction. DEFEND flies at the
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# asset — which sits in the middle of the friendly formation — and the
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# first escort run ended with hull 1500 -> DEAD in a single tick at
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# 2026 units/s, 0.6 s from a friendly destroyer that the avoidance
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# thought it would clear by 365 units. A destroyer's own radius is
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# 2000. Closest-point-of-approach with a fighter-sized margin cannot
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# keep us out of something that big, so give every large entity a hard
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# physical keep-out scaled by ITS radius and brake inside it.
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for off, nm, p, v, r in ents:
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if off == me_off or r < navigator.Navigator.BIG_RADIUS:
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continue
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rel = me_p - p
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d = float(np.linalg.norm(rel))
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keep = r + self.HULL_CLEARANCE
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if d < keep:
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want = norm(want + norm(rel) * (2.5 * (1.0 - d / keep)))
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if speed > 900.0:
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self.set_throttle(-1)
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break
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pn = float(np.linalg.norm(push))
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if pn > 1e-6:
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want = norm(want + push * (3.0 if pn > 0.6 else 1.5))
|
|
|
|
sx, sy, yaw, pitch = self.sticks(want, M, w)
|
|
# The firing gate has to be measured against the TARGET, not against the
|
|
# commanded direction: `want` carries the avoidance and keep-out terms,
|
|
# so gating on it means the guns stay cold exactly when the loop is
|
|
# manoeuvring — which is most of a dogfight.
|
|
aim = self.sticks(norm(tgt[3]), M, w)[2:] if tgt else (math.pi, math.pi)
|
|
aim_ok = abs(aim[0]) < self.FIRE_CONE and abs(aim[1]) < self.FIRE_CONE
|
|
fire = bool(fire and tgt and aim_ok and tgt[4] < self.FIRE_RANGE and pn < 1.2)
|
|
|
|
if not self.dry:
|
|
self.pad.axis("LX", sx)
|
|
self.pad.axis("LY", sy)
|
|
if fire != self.firing:
|
|
(self.pad.press if fire else self.pad.release)("RB")
|
|
self.firing = fire
|
|
|
|
msg = (f"{self.mode:<7} hull={hull:6.0f} shd={shield:6.0f} spd={speed:6.0f} "
|
|
f"thr={self.throttle:+d} yaw={math.degrees(yaw):+6.1f} "
|
|
f"pit={math.degrees(pitch):+6.1f} aim={math.degrees(aim[0]):+6.1f}"
|
|
f"/{math.degrees(aim[1]):+6.1f} fire={int(fire)}")
|
|
if ast is not None:
|
|
msg += f" ast={a_frac*100:5.1f}%"
|
|
if a_dmg > self.ASSET_ALERT:
|
|
msg += f" ASSET-HIT -{a_dmg:.0f}"
|
|
if dmg > 0.5:
|
|
msg += f" HIT -{dmg:.0f}"
|
|
if tgt:
|
|
msg += f" tgt={tgt[1][3:24]:<21} d={tgt[4]:6.0f}"
|
|
if worst:
|
|
msg += f" | AVOID {worst[1][3:18]} miss={worst[3]:5.0f} t={worst[4]:4.1f}"
|
|
return msg
|
|
|
|
def run(self, secs):
|
|
self.W.scan()
|
|
t0 = time.time()
|
|
last, last_scan = t0, 0.0
|
|
hostiles0 = None
|
|
while time.time() - t0 < secs:
|
|
t = time.time()
|
|
if t - last_scan > 5.0:
|
|
ents = self.W.scan()
|
|
last_scan = t
|
|
n_ad = sum(1 for _, va in ents
|
|
if navigator.faction(self.W.defs[va]) == "ADAN")
|
|
if hostiles0 is None:
|
|
hostiles0 = n_ad
|
|
print(f"[{t-t0:6.1f}] scan: {len(ents)} entities, {n_ad} ADAN "
|
|
f"(start {hostiles0})", file=self.log, flush=True)
|
|
msg = self.step(t, t - last)
|
|
last = t
|
|
if msg is None:
|
|
print(f"[{t-t0:6.1f}] player object gone — stopping",
|
|
file=self.log, flush=True)
|
|
break
|
|
print(f"[{t-t0:6.1f}] {msg}", file=self.log, flush=True)
|
|
if msg == "DEAD":
|
|
break
|
|
time.sleep(max(0.0, 1.0 / self.HZ - (time.time() - t)))
|
|
if not self.dry:
|
|
self.pad.reset()
|
|
print(f"# flew {time.time()-t0:.0f}s", file=self.log, flush=True)
|
|
|
|
|
|
def main():
|
|
cfg = json.load(open(sys.argv[1]))
|
|
secs = float(sys.argv[2]) if len(sys.argv) > 2 else 180.0
|
|
W = navigator.World(cfg)
|
|
Pilot(W, Pad(), dry="--dry" in sys.argv).run(secs)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|