Rendering and environment improvements

Assets/Scripts/Sensors/IdealSensor.cs

@@ -41,77 +41,7 @@ public class IdealSensor : Sensor
 
         return positionSensorOutput;
     }
-
-    // protected override VelocityOutput SenseVelocity(Agent target)
-    // {
-    //     VelocityOutput velocitySensorOutput = new VelocityOutput();
-
-    //     // Calculate the relative position of the target with respect to the agent
-    //     Vector3 position = _agent.transform.position;
-    //     Vector3 targetPosition = target.transform.position;
-    //     Vector3 targetRelativePosition = targetPosition - position;
-
-    //     // Calculate the relative velocity of the target with respect to the agent
-    //     Vector3 velocity = _agent.GetVelocity();
-    //     Vector3 targetVelocity = target.GetVelocity();
-    //     Vector3 targetRelativeVelocity = targetVelocity - velocity;
-
-    //     // Project the relative velocity vector onto the relative position vector
-    //     Vector3 velocityProjectionOnRelativePosition = Vector3.Project(targetRelativeVelocity, targetRelativePosition);
-
-    //     // Determine the sign of the range rate
-    //     float rangeRateSign = Vector3.Dot(velocityProjectionOnRelativePosition, targetRelativePosition) >= 0 ? 1 : -1;
-
-    //     // Calculate the range rate
-    //     velocitySensorOutput.range = rangeRateSign * velocityProjectionOnRelativePosition.magnitude;
-
-    //     // Project the relative velocity vector onto the sphere passing through the target
-    //     Vector3 velocityProjectionOnAzimuthElevationSphere = targetRelativeVelocity - velocityProjectionOnRelativePosition;
-
-    //     // The target azimuth vector is orthogonal to the relative position vector and
-    //     // points to the starboard of the target along the azimuth-elevation sphere
-    //     Vector3 targetAzimuth = Vector3.Cross(targetRelativePosition, _agent.transform.forward).normalized;
-
-    //     // The target elevation vector is orthogonal to the relative position vector
-    //     // and points upwards from the target along the azimuth-elevation sphere
-    //     Vector3 targetElevation = Vector3.Cross(targetAzimuth, targetRelativePosition).normalized;
-
-    //     // If the relative position vector is parallel to the yaw or pitch axis, the
-    //     // target azimuth vector or the target elevation vector will be undefined
-    //     if (targetAzimuth.magnitude == 0)
-    //     {
-    //         // In this case, we can use the right vector as the azimuth
-    //         targetAzimuth = _agent.transform.right;
-    //         // And recalculate the elevation vector
-    //         targetElevation = Vector3.Cross(targetAzimuth, targetRelativePosition).normalized;
-    //     }
-
-    //     else if (targetElevation.magnitude == 0)
-    //     {
-    //         targetElevation = Vector3.Cross(targetAzimuth, targetRelativePosition);
-    //     }
-
-    //     // Project the relative velocity vector on the azimuth-elevation sphere onto the target azimuth vector
-    //     Vector3 velocityProjectionOnTargetAzimuth = Vector3.Project(velocityProjectionOnAzimuthElevationSphere, targetAzimuth);
-
-    //     // Determine the sign of the azimuth velocity
-    //     float azimuthVelocitySign = Vector3.Dot(velocityProjectionOnTargetAzimuth, targetAzimuth) >= 0 ? 1 : -1;
-
-    //     // Calculate the time derivative of the azimuth to the target
-    //     velocitySensorOutput.azimuth = azimuthVelocitySign * velocityProjectionOnTargetAzimuth.magnitude / targetRelativePosition.magnitude;
-
-    //     // Project the velocity vector on the azimuth-elevation sphere onto the target elevation vector
-    //     Vector3 velocityProjectionOnTargetElevation = velocityProjectionOnAzimuthElevationSphere - velocityProjectionOnTargetAzimuth;
-
-    //     // Determine the sign of the elevation velocity
-    //     float elevationVelocitySign = Vector3.Dot(velocityProjectionOnTargetElevation, targetElevation) >= 0 ? 1 : -1;
-
-    //     // Calculate the time derivative of the elevation to the target
-    //     velocitySensorOutput.elevation = elevationVelocitySign * velocityProjectionOnTargetElevation.magnitude / targetRelativePosition.magnitude;
-
-    //     return velocitySensorOutput;
-    // }
-
+    
     protected override VelocityOutput SenseVelocity(Agent target)
     {
         VelocityOutput velocitySensorOutput = new VelocityOutput();

Assets/Scripts/Sensors/Sensor.cs

@@ -9,10 +9,48 @@ public abstract class Sensor : MonoBehaviour
         _agent = GetComponent<Agent>();
     }
 
+    /// <summary>
+    /// Main sensing method to gather information about a target agent.
+    /// </summary>
+    /// <param name="target">The agent to sense.</param>
+    /// <returns>SensorOutput containing position and velocity data.</returns>
+    /// <remarks>
+    /// Implementers should:
+    /// 1. Call SensePosition to get position data.
+    /// 2. Call SenseVelocity to get velocity data.
+    /// 3. Combine results into a SensorOutput struct.
+    /// </remarks>
     public abstract SensorOutput Sense(Agent target);
 
+    /// <summary>
+    /// Calculates the relative position of the target agent.
+    /// </summary>
+    /// <param name="target">The agent to sense.</param>
+    /// <returns>PositionOutput containing range, azimuth, and elevation.</returns>
+    /// <remarks>
+    /// Implementers should calculate:
+    /// - range: Distance to the target (in unity units).
+    /// - azimuth: Horizontal angle to the target (in degrees).
+    ///   Positive is clockwise from the forward direction.
+    /// - elevation: Vertical angle to the target (in degrees).
+    ///   Positive is above the horizontal plane.
+    /// </remarks>
     protected abstract PositionOutput SensePosition(Agent target);
 
+    /// <summary>
+    /// Calculates the relative velocity of the target agent.
+    /// </summary>
+    /// <param name="target">The agent to sense.</param>
+    /// <returns>VelocityOutput containing range rate, azimuth rate, and elevation rate.</returns>
+    /// <remarks>
+    /// Implementers should calculate:
+    /// - range: Radial velocity (closing speed) in units/second.
+    ///   Positive means the target is moving away.
+    /// - azimuth: Rate of change of azimuth in degrees/second.
+    ///   Positive means the target is moving clockwise.
+    /// - elevation: Rate of change of elevation in degrees/second.
+    ///   Positive means the target is moving upwards.
+    /// </remarks>
     protected abstract VelocityOutput SenseVelocity(Agent target);
 }