Fixed to target assignment, 3 salvo hydra70 config

Assets/Materials/MicromissileMat.mat

@@ -106,7 +106,7 @@ Material:
     - _Parallax: 0.02
     - _QueueOffset: 0
     - _ReceiveShadows: 1
-    - _Smoothness: 0.556
+    - _Smoothness: 0.33
     - _SmoothnessTextureChannel: 0
     - _SpecularHighlights: 1
     - _SrcBlend: 1

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;
     }
@@ -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];
+            // Find the optimal target for this missile based on distance and threat
-            assignments.Add(new IAssignment.AssignmentItem(missileIndex, highestThreat.TargetIndex));
+            ThreatInfo optimalTarget = null;
-            threatInfos.RemoveAt(0);
+            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 List<Target> _unassignedTargets = new List<Target>();
-    private HashSet<Target> _targets = new HashSet<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)

Assets/SimulationConfigHydra70.asset

@@ -12,19 +12,42 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 79f1fe138866d6a40b209a4edcf2ee06, type: 3}
   m_Name: SimulationConfigHydra70
   m_EditorClassIdentifier: 
-  timeScale: 0.2
+  timeScale: 1
   missile_swarm_configs:
-  - num_agents: 20
+  - num_agents: 10
     agent_config:
       missile_type: 0
       target_type: 0
       initial_state:
-        position: {x: 0, y: 10, z: 0}
+        position: {x: 0, y: 20, z: 0}
         rotation: {x: -45, y: 0, z: 0}
         velocity: {x: 0, y: 10, z: 10}
       standard_deviation:
-        position: {x: 10, y: 10, z: 10}
+        position: {x: 10, y: 0, z: 10}
-        velocity: {x: 5, y: 0, z: 5}
+        velocity: {x: 5, y: 0, z: 1}
+      dynamic_config:
+        launch_config:
+          launch_time: 0
+        sensor_config:
+          type: 0
+          frequency: 1000
+      plotting_config:
+        color: {r: 0, g: 0, b: 0, a: 0}
+        linestyle: 0
+        marker: 0
+      submunitions_config:
+        num_submunitions: 7
+        launch_config:
+          launch_time: 2
+        agent_config:
+          missile_type: 1
+          initial_state:
+            position: {x: -276.48438, y: 585.0613, z: 640.66565}
+            rotation: {x: 0, y: 0, z: 0}
+            velocity: {x: -115.62746, y: 195.53085, z: 266.85275}
+          standard_deviation:
+            position: {x: 5, y: 5, z: 5}
+            velocity: {x: 0, y: 0, z: 0}
           dynamic_config:
             launch_config:
               launch_time: 0
@@ -35,16 +58,81 @@ MonoBehaviour:
             color: {r: 0, g: 0, b: 0, a: 0}
             linestyle: 0
             marker: 0
+  - num_agents: 10
+    agent_config:
+      missile_type: 0
+      target_type: 0
+      initial_state:
+        position: {x: 200, y: 20, z: 0}
+        rotation: {x: -60, y: 0, z: 0}
+        velocity: {x: 0, y: 10, z: 12}
+      standard_deviation:
+        position: {x: 10, y: 0, z: 10}
+        velocity: {x: 5, y: 0, z: 1}
+      dynamic_config:
+        launch_config:
+          launch_time: 10
+        sensor_config:
+          type: 0
+          frequency: 1000
+      plotting_config:
+        color: {r: 0, g: 0, b: 0, a: 0}
+        linestyle: 0
+        marker: 0
       submunitions_config:
         num_submunitions: 7
         launch_config:
-          launch_time: 1.5
+          launch_time: 12
         agent_config:
           missile_type: 1
           initial_state:
-            position: {x: -38.074936, y: 286.19226, z: 293.8709}
+            position: {x: -142.09969, y: 732.03265, z: 973.45154}
             rotation: {x: 0, y: 0, z: 0}
-            velocity: {x: -20.437624, y: 181.02332, z: 193.21309}
+            velocity: {x: -127.14329, y: 235.90274, z: 367.02448}
+          standard_deviation:
+            position: {x: 5, y: 5, z: 5}
+            velocity: {x: 0, y: 0, z: 0}
+          dynamic_config:
+            launch_config:
+              launch_time: 0
+            sensor_config:
+              type: 0
+              frequency: 1
+          plotting_config:
+            color: {r: 0, g: 0, b: 0, a: 0}
+            linestyle: 0
+            marker: 0
+  - num_agents: 10
+    agent_config:
+      missile_type: 0
+      target_type: 0
+      initial_state:
+        position: {x: -100, y: 20, z: 0}
+        rotation: {x: -45, y: 0, z: 0}
+        velocity: {x: 0, y: 10, z: 10}
+      standard_deviation:
+        position: {x: 10, y: 0, z: 10}
+        velocity: {x: 5, y: 0, z: 3}
+      dynamic_config:
+        launch_config:
+          launch_time: 20
+        sensor_config:
+          type: 0
+          frequency: 1000
+      plotting_config:
+        color: {r: 0, g: 0, b: 0, a: 0}
+        linestyle: 0
+        marker: 0
+      submunitions_config:
+        num_submunitions: 7
+        launch_config:
+          launch_time: 23
+        agent_config:
+          missile_type: 1
+          initial_state:
+            position: {x: -117.94113, y: 473.32446, z: 1092.305}
+            rotation: {x: 0, y: 0, z: 0}
+            velocity: {x: -5.810343, y: 133.54488, z: 394.63327}
           standard_deviation:
             position: {x: 5, y: 5, z: 5}
             velocity: {x: 0, y: 0, z: 0}
@@ -64,12 +152,12 @@ MonoBehaviour:
       missile_type: 0
       target_type: 0
       initial_state:
-        position: {x: 0, y: 400, z: 3000}
+        position: {x: 0, y: 600, z: 6000}
         rotation: {x: 90, y: 0, z: 0}
-        velocity: {x: 0, y: 0, z: -150}
+        velocity: {x: 0, y: 0, z: -50}
       standard_deviation:
-        position: {x: 500, y: 200, z: 100}
+        position: {x: 1000, y: 200, z: 100}
-        velocity: {x: 0, y: 0, z: 50}
+        velocity: {x: 0, y: 0, z: 25}
       dynamic_config:
         launch_config:
           launch_time: 0