Fixed to target assignment, 3 salvo hydra70 config

Assets/Scripts/Agent.cs

@@ -65,6 +65,10 @@ public abstract class Agent : MonoBehaviour
         _target = target;
     }
 
+    public Agent GetAssignedTarget() {
+        return _target;
+    }
+
     public bool HasAssignedTarget() {
         return _target != null;
     }
@@ -90,7 +94,7 @@ public abstract class Agent : MonoBehaviour
     }
 
     public void TerminateAgent() {
-                _flightPhase = FlightPhase.TERMINATED;
+        _flightPhase = FlightPhase.TERMINATED;
         transform.position = new Vector3(0, 0, 0);
         gameObject.SetActive(false);
     }
@@ -103,6 +107,10 @@ public abstract class Agent : MonoBehaviour
 
     public void MarkAsMiss() {
         _isMiss = true;
+        if(_target != null) {
+            SimManager.Instance.RegisterTargetMiss(_target as Target);
+            _target = null;
+        }
         TerminateAgent();
     }
 

Assets/Scripts/Assignment/ThreatAssignment.cs

@@ -34,9 +34,27 @@ public class ThreatAssignment : IAssignment
             if (missiles[missileIndex].HasAssignedTarget()) continue;
             if (threatInfos.Count == 0) break;
 
-            ThreatInfo highestThreat = threatInfos[0];
-            assignments.Add(new IAssignment.AssignmentItem(missileIndex, highestThreat.TargetIndex));
-            threatInfos.RemoveAt(0);
+            // Find the optimal target for this missile based on distance and threat
+            ThreatInfo optimalTarget = null;
+            float optimalScore = float.MinValue;
+
+            foreach (ThreatInfo threat in threatInfos)
+            {
+                float distance = Vector3.Distance(missiles[missileIndex].transform.position, targets[threat.TargetIndex].transform.position);
+                float score = threat.ThreatLevel / distance; // Balance threat level with proximity
+
+                if (score > optimalScore)
+                {
+                    optimalScore = score;
+                    optimalTarget = threat;
+                }
+            }
+
+            if (optimalTarget != null)
+            {
+                assignments.Add(new IAssignment.AssignmentItem(missileIndex, optimalTarget.TargetIndex));
+                threatInfos.Remove(optimalTarget);
+            }
         }
         return assignments;
     }

Assets/Scripts/Interceptors/Micromissile.cs

@@ -4,7 +4,7 @@ using UnityEngine;
 
 public class Micromissile : Missile
 {
-    [SerializeField] private float _navigationGain = 3f; // Typically 3-5
+    [SerializeField] private float _navigationGain = 5f; // Typically 3-5
 
     private SensorOutput _sensorOutput;
     private Vector3 _accelerationCommand;
@@ -32,7 +32,6 @@ public class Micromissile : Missile
             SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
             if(sensorOutput.velocity.range > 1000f) {
                 this.MarkAsMiss();
-                _target.MarkAsMiss();
             }
 
             // Calculate the acceleration input

Assets/Scripts/Missile.cs

@@ -29,7 +29,7 @@ public class Missile : Agent
     protected override void UpdateReady(double deltaTime) {
         Vector3 accelerationInput = Vector3.zero;
         Vector3 acceleration = CalculateAcceleration(accelerationInput);
-        GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
+        //GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
     }
 
     protected override void Update() {

Assets/Scripts/SimManager.cs

@@ -15,8 +15,8 @@ public class SimManager : MonoBehaviour
 
     
     private List<Missile> _missiles = new List<Missile>();
-    private HashSet<Target> _unassignedTargets = new HashSet<Target>();
-    private HashSet<Target> _targets = new HashSet<Target>();
+    private List<Target> _unassignedTargets = new List<Target>();
+    private List<Target> _targets = new List<Target>();
     private float _elapsedSimulationTime = 0f;
     private float endTime = 100f; // Set an appropriate end time
     private bool simulationRunning = false;
@@ -83,6 +83,10 @@ public class SimManager : MonoBehaviour
         AssignMissilesToTargets(_missiles);
     }
 
+    public void RegisterTargetMiss(Target target) {
+        _unassignedTargets.Add(target);
+    }
+
     public void AssignMissilesToTargets(List<Missile> missilesToAssign)
     {
         
@@ -100,12 +104,14 @@ public class SimManager : MonoBehaviour
             if (assignment.MissileIndex < missilesToAssign.Count)
             {
                 Missile missile = missilesToAssign[assignment.MissileIndex];
-                Target target = _targets.ElementAt(assignment.TargetIndex);
+                Target target = _unassignedTargets[assignment.TargetIndex];
                 missile.AssignTarget(target);
                 Debug.Log($"Missile {missile.name} assigned to target {target.name}");
-                _unassignedTargets.Remove(target);
+                
             }
         }
+        // TODO this whole function should be optimized
+        _unassignedTargets.RemoveAll(target => missilesToAssign.Any(missile => missile.GetAssignedTarget() == target));
     }
 
     public Missile CreateMissile(AgentConfig config)