```lua
import pygame
from pygame.locals import *
from OpenGL.GL import *
from OpenGL.GLU import *
import numpy as np
import noise  # For Perlin noise
import ctypes
import pygame.time  # For timing control

# Initialize Pygame and set up OpenGL with anti-aliasing
pygame.init()

# Enable multisample anti-aliasing (4x MSAA)
pygame.display.gl_set_attribute(pygame.GL_MULTISAMPLEBUFFERS, 1)
pygame.display.gl_set_attribute(pygame.GL_MULTISAMPLESAMPLES, 4)

display = (800, 600)
pygame.display.set_mode(display, DOUBLEBUF | OPENGL)
glEnable(GL_DEPTH_TEST)
glEnable(GL_MULTISAMPLE)  # Enable anti-aliasing

# Terrain parameters
terrain_size = 40  # 40x40 grid
physical_size = 19.0  # Physical dimensions from 0 to 19 units
grid_unit = physical_size / (terrain_size - 1)  # ≈ 0.487 units per grid cell

# Generate terrain heightmap using Perlin noise
terrain = np.zeros((terrain_size, terrain_size))
scale = 19.0  # Noise frequency
octaves = 4
persistence = 0.5
lacunarity = 2.0
base = 0  # Seed

for x in range(terrain_size):
    for z in range(terrain_size):
        noise_val = noise.pnoise2(
            x / scale,
            z / scale,
            octaves=octaves,
            persistence=persistence,
            lacunarity=lacunarity,
            repeatx=terrain_size,
            repeaty=terrain_size,
            base=base
        )
        # Map noise from [-1, 1] to [-1, 1] height range
        terrain[x][z] = noise_val

# Calculate height at any (x, z) position with bilinear interpolation
def get_terrain_height(x, z):
    grid_x = x / grid_unit
    grid_z = z / grid_unit
    if grid_x < 0 or grid_x > terrain_size - 1 or grid_z < 0 or grid_z > terrain_size - 1:
        return 0
    i, j = int(grid_x), int(grid_z)
    dx, dz = grid_x - i, grid_z - j
    if i < terrain_size - 1 and j < terrain_size - 1:
        h = (1 - dx) * (1 - dz) * terrain[i][j] + \
            dx * (1 - dz) * terrain[i + 1][j] + \
            (1 - dx) * dz * terrain[i][j + 1] + \
            dx * dz * terrain[i + 1][j + 1]
    elif i == terrain_size - 1 and j < terrain_size - 1:
        h = (1 - dz) * terrain[i][j] + dz * terrain[i][j + 1]
    elif j == terrain_size - 1 and i < terrain_size - 1:
        h = (1 - dx) * terrain[i][j] + dx * terrain[i + 1][j]
    else:
        h = terrain[i][j]
    return h

# Compute vertex normals for smooth lighting
def calculate_vertex_normals():
    normals = np.zeros((terrain_size, terrain_size, 3))
    for x in range(terrain_size):
        for z in range(terrain_size):
            # Partial derivatives for normal calculation
            df_dx = (terrain[min(x + 1, terrain_size - 1)][z] - terrain[max(x - 1, 0)][z]) / (2 * grid_unit if 0 < x < terrain_size - 1 else grid_unit)
            df_dz = (terrain[x][min(z + 1, terrain_size - 1)] - terrain[x][max(z - 1, 0)]) / (2 * grid_unit if 0 < z < terrain_size - 1 else grid_unit)
            normal = np.array([-df_dx, 1, -df_dz])
            norm = np.linalg.norm(normal)
            normals[x][z] = normal / norm if norm != 0 else normal
    return normals

vertex_normals = calculate_vertex_normals()

# Prepare vertex and index data for VBOs
vertices = []
indices = []
for x in range(terrain_size):
    for z in range(terrain_size):
        phys_x = x * grid_unit
        phys_z = z * grid_unit
        y = terrain[x][z]
        n = vertex_normals[x][z]
        vertices.extend([phys_x, y, phys_z, n[0], n[1], n[2]])

for x in range(terrain_size - 1):
    for z in range(terrain_size - 1):
        i = x * terrain_size + z
        indices.extend([i, i + 1, i + terrain_size, i + 1, i + terrain_size + 1, i + terrain_size])

vertices = np.array(vertices, dtype=np.float32)
indices = np.array(indices, dtype=np.uint32)

# Set up VBOs
vbo = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, vbo)
glBufferData(GL_ARRAY_BUFFER, vertices.nbytes, vertices, GL_STATIC_DRAW)

ibo = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ibo)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.nbytes, indices, GL_STATIC_DRAW)

# Tank properties with separate turret angle
tank1 = {"x": 5.0, "z": 5.0, "angle": 0.0, "turret_angle": 0.0, "color": (1, 0, 0)}  # Red
tank2 = {"x": 15.0, "z": 15.0, "angle": 0.0, "turret_angle": 0.0, "color": (0, 0, 1)}  # Blue

# Draw terrain using VBOs
def draw_terrain():
    glColor3f(0, 0.5, 0)  # Set terrain color to green
    glEnableClientState(GL_VERTEX_ARRAY)
    glEnableClientState(GL_NORMAL_ARRAY)
    glBindBuffer(GL_ARRAY_BUFFER, vbo)
    glVertexPointer(3, GL_FLOAT, 24, None)
    glNormalPointer(GL_FLOAT, 24, ctypes.c_void_p(12))
    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ibo)
    glDrawElements(GL_TRIANGLES, len(indices), GL_UNSIGNED_INT, None)
    glDisableClientState(GL_VERTEX_ARRAY)
    glDisableClientState(GL_NORMAL_ARRAY)

# Draw tank with elongated hull, turret, and barrel
def draw_tank(tank):
    tank_y = get_terrain_height(tank["x"], tank["z"]) + 0.5
    glPushMatrix()
    glTranslatef(tank["x"], tank_y, tank["z"])
    glRotatef(tank["angle"], 0, 1, 0)  # Rotate hull

    # Draw hull (elongated rectangle)
    glColor3f(*tank["color"])
    glBegin(GL_QUADS)
    # Front
    glNormal3f(0, 0, 1)
    glVertex3f(-0.5, -0.5, 0.75); glVertex3f(0.5, -0.5, 0.75)
    glVertex3f(0.5, 0.5, 0.75); glVertex3f(-0.5, 0.5, 0.75)
    # Back
    glNormal3f(0, 0, -1)
    glVertex3f(-0.5, -0.5, -0.75); glVertex3f(0.5, -0.5, -0.75)
    glVertex3f(0.5, 0.5, -0.75); glVertex3f(-0.5, 0.5, -0.75)
    # Left
    glNormal3f(-1, 0, 0)
    glVertex3f(-0.5, -0.5, -0.75); glVertex3f(-0.5, -0.5, 0.75)
    glVertex3f(-0.5, 0.5, 0.75); glVertex3f(-0.5, 0.5, -0.75)
    # Right
    glNormal3f(1, 0, 0)
    glVertex3f(0.5, -0.5, -0.75); glVertex3f(0.5, -0.5, 0.75)
    glVertex3f(0.5, 0.5, 0.75); glVertex3f(0.5, 0.5, -0.75)
    # Top
    glNormal3f(0, 1, 0)
    glVertex3f(-0.5, 0.5, -0.75); glVertex3f(0.5, 0.5, -0.75)
    glVertex3f(0.5, 0.5, 0.75); glVertex3f(-0.5, 0.5, 0.75)
    # Bottom
    glNormal3f(0, -1, 0)
    glVertex3f(-0.5, -0.5, -0.75); glVertex3f(0.5, -0.5, -0.75)
    glVertex3f(0.5, -0.5, 0.75); glVertex3f(-0.5, -0.5, 0.75)
    glEnd()

    # Draw turret (cylinder)
    glPushMatrix()
    glTranslatef(0, 0.5, 0)  # Move to top of hull
    glRotatef(tank["turret_angle"], 0, 1, 0)  # Rotate turret
    quadric = gluNewQuadric()
    glColor3f(0.5, 0.5, 0.5)  # Gray color for turret
    glRotatef(90, 1, 0, 0)  # Rotate cylinder to stand vertically
    gluCylinder(quadric, 0.3, 0.3, 0.5, 20, 20)  # Turret cylinder
    glPopMatrix()

    # Draw barrel (thin cylinder)
    glPushMatrix()
    glTranslatef(0, 0.75, 0)  # Position barrel on top of turret
    glRotatef(tank["turret_angle"], 0, 1, 0)  # Rotate with turret
    glColor3f(0.3, 0.3, 0.3)  # Dark gray for barrel
    glTranslatef(0, 0, 0.3)  # Offset to front of turret
    glRotatef(90, 0, 1, 0)  # Rotate to point forward
    gluCylinder(quadric, 0.1, 0.1, 1.0, 10, 10)  # Barrel cylinder
    glPopMatrix()

    glPopMatrix()

# Set up lighting
def setup_lighting():
    glEnable(GL_LIGHTING)
    glEnable(GL_LIGHT0)
    glLightfv(GL_LIGHT0, GL_POSITION, [0, 1, 0, 0])  # Directional light
    glEnable(GL_COLOR_MATERIAL)
    glColorMaterial(GL_FRONT, GL_DIFFUSE)

# Render a viewport for a tank
def render_viewport(tank, viewport_x, viewport_width):
    glViewport(viewport_x, 0, viewport_width, 600)
    glMatrixMode(GL_PROJECTION)
    glLoadIdentity()
    gluPerspective(45, viewport_width / 600, 0.1, 50.0)
    glMatrixMode(GL_MODELVIEW)
    glLoadIdentity()
    tank_y = get_terrain_height(tank["x"], tank["z"]) + 0.5
    camera_offset = 5.0
    camera_x = tank["x"] - camera_offset * np.sin(np.radians(tank["angle"]))
    camera_z = tank["z"] - camera_offset * np.cos(np.radians(tank["angle"]))
    camera_x = max(0, min(physical_size, camera_x))
    camera_z = max(0, min(physical_size, camera_z))
    camera_y = get_terrain_height(camera_x, camera_z) + 3
    gluLookAt(camera_x, camera_y, camera_z, tank["x"], tank_y, tank["z"], 0, 1, 0)
    draw_terrain()
    draw_tank(tank1)
    draw_tank(tank2)

# Initialize lighting
setup_lighting()

# Game loop
desired_speed = 6.0  # Units per second
angular_speed = 90.0  # Degrees per second for hull rotation
turret_angular_speed = 90.0  # Degrees per second for turret rotation
clock = pygame.time.Clock()

while True:
    dt = clock.get_time() / 1000.0  # Time in seconds since last frame
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            pygame.quit()
            quit()

    keys = pygame.key.get_pressed()

    # Tank 1 controls (hull: arrows, turret: Page Up/Down)
    if keys[K_UP]:
        tank1["x"] += desired_speed * np.sin(np.radians(tank1["angle"])) * dt
        tank1["z"] += desired_speed * np.cos(np.radians(tank1["angle"])) * dt
    if keys[K_DOWN]:
        tank1["x"] -= desired_speed * np.sin(np.radians(tank1["angle"])) * dt
        tank1["z"] -= desired_speed * np.cos(np.radians(tank1["angle"])) * dt
    if keys[K_LEFT]:
        tank1["angle"] += angular_speed * dt
        tank1["angle"] %= 360
    if keys[K_RIGHT]:
        tank1["angle"] -= angular_speed * dt
        tank1["angle"] %= 360
    if keys[K_PAGEUP]:
        tank1["turret_angle"] += turret_angular_speed * dt
        tank1["turret_angle"] %= 360
    if keys[K_PAGEDOWN]:
        tank1["turret_angle"] -= turret_angular_speed * dt
        tank1["turret_angle"] %= 360

    # Tank 2 controls (hull: WASD, turret: I/K)
    if keys[K_w]:
        tank2["x"] += desired_speed * np.sin(np.radians(tank2["angle"])) * dt
        tank2["z"] += desired_speed * np.cos(np.radians(tank2["angle"])) * dt
    if keys[K_s]:
        tank2["x"] -= desired_speed * np.sin(np.radians(tank2["angle"])) * dt
        tank2["z"] -= desired_speed * np.cos(np.radians(tank2["angle"])) * dt
    if keys[K_a]:
        tank2["angle"] += angular_speed * dt
        tank2["angle"] %= 360
    if keys[K_d]:
        tank2["angle"] -= angular_speed * dt
        tank2["angle"] %= 360
    if keys[K_i]:
        tank2["turret_angle"] += turret_angular_speed * dt
        tank2["turret_angle"] %= 360
    if keys[K_k]:
        tank2["turret_angle"] -= turret_angular_speed * dt
        tank2["turret_angle"] %= 360

    # Clamp positions
    tank1["x"] = max(0, min(physical_size, tank1["x"]))
    tank1["z"] = max(0, min(physical_size, tank1["z"]))
    tank2["x"] = max(0, min(physical_size, tank2["x"]))
    tank2["z"] = max(0, min(physical_size, tank2["z"]))

    # Render
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
    render_viewport(tank1, 0, 400)  # Left: Tank 1
    render_viewport(tank2, 400, 400)  # Right: Tank 2
    pygame.display.flip()
    clock.tick(60)  # Cap at 60 FPS
```
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