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Clustering working

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This commit is contained in:
Daniel Lovell
2024-09-12 15:44:55 -07:00
parent e42f9e094c
commit 4acc2fd32c
16 changed files with 819 additions and 161 deletions
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65
Assets/Scripts/Interceptors/Hydra70.cs Normal file
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@@ -0,0 +1,65 @@
using System.Collections;
using System.Collections.Generic;
using JetBrains.Annotations;
using UnityEngine;
public class Hydra70 : Missile
{
private Vector3 _acceleration;
private bool _submunitionsLaunched = false;
protected override void Update() {
base.Update();
// Check if it's time to launch submunitions
if (!_submunitionsLaunched && (GetFlightPhase() == FlightPhase.MIDCOURSE || GetFlightPhase() == FlightPhase.BOOST) &&
SimManager.Instance.GetElapsedSimulationTime() >= _agentConfig.submunitions_config.launch_config.launch_time)
{
SpawnSubmunitions();
_submunitionsLaunched = true;
}
}
protected override void UpdateMidCourse(double deltaTime)
{
Vector3 accelerationInput = Vector3.zero;
// Calculate and set the total acceleration
Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true);
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
_acceleration = acceleration;
}
protected override void DrawDebugVectors()
{
base.DrawDebugVectors();
if (_acceleration != null)
{
Debug.DrawRay(transform.position, _acceleration * 1f, Color.green);
}
}
public void SpawnSubmunitions() {
Debug.Log("Spawning submunitions");
// print the callstack
Debug.Log(new System.Diagnostics.StackTrace().ToString());
List<Missile> submunitions = new List<Missile>();
switch(_agentConfig.submunitions_config.agent_config.missile_type) {
case MissileType.MICROMISSILE:
for (int i = 0; i < _agentConfig.submunitions_config.num_submunitions; i++) {
AgentConfig convertedConfig = AgentConfig.FromSubmunitionAgentConfig(_agentConfig.submunitions_config.agent_config);
convertedConfig.initial_state.position = transform.position;
convertedConfig.initial_state.velocity = GetComponent<Rigidbody>().velocity;
Missile submunition = SimManager.Instance.CreateMissile(convertedConfig);
submunitions.Add(submunition);
Debug.Log("Created submunition");
}
break;
}
SimManager.Instance.AssignMissilesToTargets(submunitions);
}
}

11
Assets/Scripts/Interceptors/Hydra70.cs.meta Normal file
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@@ -0,0 +1,11 @@
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MonoImporter:
externalObjects: {}
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defaultReferences: []
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44
Assets/Scripts/Interceptors/Micromissile.cs
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@@ -4,14 +4,15 @@ using UnityEngine;
public class Micromissile : Missile
{
[SerializeField] private float navigationGain = 5f; // Typically 3-5
[SerializeField] private bool _showDebugVectors = true;
[SerializeField] private float _navigationGain = 5f; // Typically 3-5
private Vector3 _previousLOS;
private Vector3 _accelerationCommand;
private float _lastUpdateTime;
private double _elapsedTime = 0;
protected override void UpdateMidCourse(double deltaTime)
{
_elapsedTime += deltaTime;
Vector3 accelerationInput = Vector3.zero;
if (HasAssignedTarget())
{
@@ -19,13 +20,14 @@ public class Micromissile : Missile
// TODO: Implement target model update logic
// Correct the state of the target model at the sensor frequency
float sensorUpdatePeriod = 1f / _dynamicConfig.sensor_config.frequency;
if (_elapsedTime - _sensorUpdateTime >= sensorUpdatePeriod)
float sensorUpdatePeriod = 1f / _agentConfig.dynamic_config.sensor_config.frequency;
if (_elapsedTime - _lastUpdateTime >= sensorUpdatePeriod)
{
// TODO: Implement guidance filter to estimate state from sensor output
// For now, we'll use the target's actual state
// targetModel.SetState(_target.GetState());
_sensorUpdateTime = (float)_elapsedTime;
_lastUpdateTime = (float)_elapsedTime;
_elapsedTime = 0;
}
// Sense the target
@@ -43,11 +45,6 @@ public class Micromissile : Missile
Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true);
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
if (_showDebugVectors)
{
DrawDebugVectors();
}
}
private Vector3 CalculateAccelerationCommand(SensorOutput sensorOutput)
@@ -61,7 +58,7 @@ public class Micromissile : Missile
float closing_velocity = -sensorOutput.velocity.range; // Negative because closing velocity is opposite to range rate
// Navigation gain (adjust as needed)
float N = navigationGain;
float N = _navigationGain;
// Calculate acceleration commands in azimuth and elevation planes
float acc_az = N * closing_velocity * los_rate_az;
@@ -78,27 +75,14 @@ public class Micromissile : Missile
_accelerationCommand = accelerationCommand;
return accelerationCommand;
}
private void DrawDebugVectors()
protected override void DrawDebugVectors()
{
if (_target != null)
base.DrawDebugVectors();
if (_accelerationCommand != null)
{
// Line of sight
Debug.DrawLine(transform.position, _target.transform.position, new Color(1, 1, 1, 0.15f));
// Velocity vector
Debug.DrawRay(transform.position, GetVelocity()*0.01f, new Color(0, 0, 1, 0.15f));
// Acceleration input
Debug.DrawRay(transform.position, _accelerationCommand*1f, Color.green);
// Current forward direction
Debug.DrawRay(transform.position, transform.forward * 5f, Color.yellow);
// Pitch axis (right)
Debug.DrawRay(transform.position, transform.right * 5f, Color.red);
// Yaw axis (up)
Debug.DrawRay(transform.position, transform.up * 5f, Color.magenta);
Debug.DrawRay(transform.position, _accelerationCommand * 1f, Color.green);
}
}
}