settled-reach/server/src/perception/vision_cone.rs

//! Vision cone system (D-015)
//!
//! Modulates raw shadowcast output with direction-dependent sectors:
//! - Forward: full LOS range, full detail (~120 degree arc)
//! - Peripheral: reduced range, dimmer (~90 degrees each side)
//! - Behind: blind (excluded from output)
//!
//! Y-down convention: North = (0, -1)

use crate::bridge::types::{FacingDirection, VisibilitySector};
use crate::perception::shadowcast::VisibilityMap;
use bevy_ecs::prelude::*;

/// Component tracking which direction an entity faces.
/// Updated by the input system when an entity moves.
#[derive(Component, Debug, Clone, Copy, PartialEq, Eq)]
pub struct Facing(pub FacingDirection);

impl Default for Facing {
    fn default() -> Self {
        Facing(FacingDirection::North)
    }
}

/// Vision cone configuration per D-015
pub struct VisionConeConfig {
    /// Maximum vision range for forward sector (in tiles)
    pub forward_range: i32,
    /// Maximum vision range for peripheral sector (shorter than forward)
    pub peripheral_range: i32,
    /// Half-angle of forward cone in radians (~60 degrees = 120 degree arc)
    pub forward_half_angle: f32,
    /// Half-angle of total visible cone in radians (~150 degrees = 300 degree arc)
    /// Tiles beyond this are in the blind spot
    pub visible_half_angle: f32,
}

impl Default for VisionConeConfig {
    fn default() -> Self {
        Self {
            forward_range: 20,
            peripheral_range: 12,
            forward_half_angle: std::f32::consts::FRAC_PI_3, // 60 degrees = 120 degree arc
            visible_half_angle: 5.0 * std::f32::consts::FRAC_PI_6, // 150 degrees = 300 degree arc
        }
    }
}

/// Convert FacingDirection to a unit direction angle in radians (y-down coords).
/// East = 0, South = PI/2, West = PI/-PI, North = -PI/2
fn facing_to_angle(facing: FacingDirection) -> f32 {
    use std::f32::consts::{FRAC_PI_2, FRAC_PI_4, PI};
    match facing {
        FacingDirection::East => 0.0,
        FacingDirection::Southeast => FRAC_PI_4,
        FacingDirection::South => FRAC_PI_2,
        FacingDirection::Southwest => 3.0 * FRAC_PI_4,
        FacingDirection::West => PI,
        FacingDirection::Northwest => -3.0 * FRAC_PI_4,
        FacingDirection::North => -FRAC_PI_2,
        FacingDirection::Northeast => -FRAC_PI_4,
    }
}

/// Derive FacingDirection from a movement delta (dx, dy) in y-down coords
pub fn facing_from_delta(dx: i32, dy: i32) -> FacingDirection {
    match (dx, dy) {
        (0, -1) => FacingDirection::North,
        (0, 1) => FacingDirection::South,
        (1, 0) => FacingDirection::East,
        (-1, 0) => FacingDirection::West,
        (1, -1) => FacingDirection::Northeast,
        (-1, -1) => FacingDirection::Northwest,
        (1, 1) => FacingDirection::Southeast,
        (-1, 1) => FacingDirection::Southwest,
        _ => FacingDirection::North, // default for no movement
    }
}

/// Classify a visible tile into a vision sector based on facing direction.
/// Returns None if the tile falls in the blind spot (behind).
fn classify_tile(
    observer_x: i32,
    observer_y: i32,
    tile_x: i32,
    tile_y: i32,
    facing: FacingDirection,
    config: &VisionConeConfig,
) -> Option<VisibilitySector> {
    // Tile at observer position is always Forward
    if tile_x == observer_x && tile_y == observer_y {
        return Some(VisibilitySector::Forward);
    }

    let dx = (tile_x - observer_x) as f32;
    let dy = (tile_y - observer_y) as f32;

    // Chebyshev distance for range check
    let dist = dx.abs().max(dy.abs()) as i32;

    // Angle from observer to tile (y-down: atan2(dy, dx))
    let tile_angle = dy.atan2(dx);
    let facing_angle = facing_to_angle(facing);

    // Angular difference (wrapped to [-PI, PI])
    let mut diff = tile_angle - facing_angle;
    if diff > std::f32::consts::PI {
        diff -= 2.0 * std::f32::consts::PI;
    }
    if diff < -std::f32::consts::PI {
        diff += 2.0 * std::f32::consts::PI;
    }
    let abs_diff = diff.abs();

    // Check sectors from innermost to outermost
    if abs_diff <= config.forward_half_angle && dist <= config.forward_range {
        Some(VisibilitySector::Forward)
    } else if abs_diff <= config.visible_half_angle && dist <= config.peripheral_range {
        Some(VisibilitySector::Peripheral)
    } else if abs_diff <= config.visible_half_angle && dist <= config.forward_range {
        // Beyond peripheral range but within visible angle and forward range:
        // still visible at reduced quality
        Some(VisibilitySector::Peripheral)
    } else {
        None // Blind spot
    }
}

/// Apply vision cone to a raw shadowcast VisibilityMap.
/// Returns only tiles in Forward or Peripheral sectors, with sector tags.
/// Tiles in the blind spot (behind) are excluded.
pub fn apply_vision_cone(
    fov: &VisibilityMap,
    observer_x: i32,
    observer_y: i32,
    facing: FacingDirection,
    config: &VisionConeConfig,
) -> Vec<(i32, i32, VisibilitySector)> {
    fov.visible_tiles()
        .filter_map(|(x, y)| {
            classify_tile(observer_x, observer_y, x, y, facing, config)
                .map(|sector| (x, y, sector))
        })
        .collect()
}

#[cfg(test)]
mod tests {
    use super::*;

    fn default_config() -> VisionConeConfig {
        VisionConeConfig::default()
    }

    #[test]
    fn observer_position_always_forward() {
        let config = default_config();
        for dir in [
            FacingDirection::North,
            FacingDirection::South,
            FacingDirection::East,
            FacingDirection::West,
        ] {
            let result = classify_tile(5, 5, 5, 5, dir, &config);
            assert_eq!(result, Some(VisibilitySector::Forward));
        }
    }

    #[test]
    fn forward_sector_north() {
        let config = default_config();
        // Facing north, tile directly north should be Forward
        let result = classify_tile(5, 5, 5, 3, FacingDirection::North, &config);
        assert_eq!(result, Some(VisibilitySector::Forward));
    }

    #[test]
    fn peripheral_sector_sides() {
        let config = default_config();
        // Facing north, tile to the east should be Peripheral
        let result = classify_tile(5, 5, 8, 5, FacingDirection::North, &config);
        assert_eq!(result, Some(VisibilitySector::Peripheral));
    }

    #[test]
    fn behind_is_blind() {
        let config = default_config();
        // Facing north, tile directly south should be blind (None)
        let result = classify_tile(5, 5, 5, 10, FacingDirection::North, &config);
        assert_eq!(result, None);
    }

    #[test]
    fn forward_range_limit() {
        let config = default_config();
        // Tile at forward range should be visible
        let result = classify_tile(0, 0, 0, -20, FacingDirection::North, &config);
        assert_eq!(result, Some(VisibilitySector::Forward));
        // Tile beyond forward range should not be (but this would not be in FOV anyway)
    }

    #[test]
    fn peripheral_range_limit() {
        let config = default_config();
        // Tile at distance > peripheral_range but in peripheral angle:
        // should be Peripheral (within forward_range)
        let result = classify_tile(0, 0, 15, 0, FacingDirection::North, &config);
        assert_eq!(result, Some(VisibilitySector::Peripheral));
    }

    #[test]
    fn all_facing_directions_produce_forward() {
        let config = default_config();
        // For each facing direction, the tile directly ahead should be Forward
        let cases = [
            (FacingDirection::North, (0, -3)),
            (FacingDirection::South, (0, 3)),
            (FacingDirection::East, (3, 0)),
            (FacingDirection::West, (-3, 0)),
            (FacingDirection::Northeast, (3, -3)),
            (FacingDirection::Southeast, (3, 3)),
            (FacingDirection::Southwest, (-3, 3)),
            (FacingDirection::Northwest, (-3, -3)),
        ];
        for (dir, (dx, dy)) in cases {
            let result = classify_tile(5, 5, 5 + dx, 5 + dy, dir, &config);
            assert_eq!(
                result,
                Some(VisibilitySector::Forward),
                "Facing {:?}, tile ({}, {}) should be Forward",
                dir,
                5 + dx,
                5 + dy
            );
        }
    }

    #[test]
    fn facing_from_delta_all_directions() {
        assert_eq!(facing_from_delta(0, -1), FacingDirection::North);
        assert_eq!(facing_from_delta(0, 1), FacingDirection::South);
        assert_eq!(facing_from_delta(1, 0), FacingDirection::East);
        assert_eq!(facing_from_delta(-1, 0), FacingDirection::West);
        assert_eq!(facing_from_delta(1, -1), FacingDirection::Northeast);
        assert_eq!(facing_from_delta(-1, -1), FacingDirection::Northwest);
        assert_eq!(facing_from_delta(1, 1), FacingDirection::Southeast);
        assert_eq!(facing_from_delta(-1, 1), FacingDirection::Southwest);
    }

    #[test]
    fn apply_vision_cone_filters_behind() {
        use crate::perception::shadowcast::compute_fov;

        let fov = compute_fov(|_, _| false, 5, 5, 10, 0);
        let config = default_config();
        let cone = apply_vision_cone(&fov, 5, 5, FacingDirection::North, &config);

        // Should have some tiles
        assert!(!cone.is_empty());

        // Tile directly south (same x, far behind) should be in blind spot
        // The blind spot is the 60 degrees directly behind
        let has_direct_south_far = cone.iter().any(|&(x, y, _)| x == 5 && y >= 10);
        assert!(
            !has_direct_south_far,
            "tiles directly behind (same column, far south) should be blind"
        );

        // Origin should be present
        let has_origin = cone.iter().any(|&(x, y, _)| x == 5 && y == 5);
        assert!(has_origin, "observer position should be in cone");

        // Tiles directly north should be Forward
        let north_tiles: Vec<_> = cone
            .iter()
            .filter(|&&(x, _, _)| x == 5)
            .filter(|&&(_, y, _)| y < 5)
            .collect();
        assert!(!north_tiles.is_empty());
        for &&(_, _, sector) in &north_tiles {
            assert_eq!(sector, VisibilitySector::Forward);
        }

        // Fewer tiles behind than in front (asymmetric cone)
        let tiles_north = cone.iter().filter(|&&(_, y, _)| y < 5).count();
        let tiles_south = cone.iter().filter(|&&(_, y, _)| y > 5).count();
        assert!(
            tiles_north > tiles_south,
            "should see more tiles forward (north={}) than behind (south={})",
            tiles_north,
            tiles_south
        );
    }
}