Progress

So you calculate wall-smoothed MEA without wall collisions? Interesting!

My intuitive guess about Escape angles is this:

naive MEA >= accel/decel-accurate naive MEA >= Wall-smoothed MEA ignoring wall collision >= Perfect implementation of Robocode physics Wall-smoothing MEA

(ignoring bot bounding box issues of course...)

So the tack you take is that the difference between those last two is too small to worry about the extra processing overhead of really getting it perfectly implemented? Or, (equivalent outcome, not equivalent motivations) that the last one is just too iffy to really get properly right, so settle for the second to last one?

This is good news for me! Maybe I can stop dashing my head against a stone here, and move on to getting the Wave Surfing happening finally! :)