Reorganization and many improvements of rendering

more-targets
Daniel Lovell 2024-09-12 10:36:45 -07:00
parent 76b6037ce8
commit 742da94fe9
49 changed files with 1434 additions and 64 deletions

5
.gitignore vendored
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@ -70,3 +70,8 @@ crashlytics-build.properties
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# IDE related files
.vscode/
.vsconfig

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[SerializeField]
protected Agent _target;
protected bool _isHit = false;
protected bool _isMiss = false;
protected DynamicConfig _dynamicConfig;
[SerializeField]
@ -71,10 +72,25 @@ public abstract class Agent : MonoBehaviour
return _isHit;
}
public bool IsMiss() {
return _isMiss;
}
public void TerminateAgent() {
_flightPhase = FlightPhase.TERMINATED;
transform.position = new Vector3(0, 0, 0);
gameObject.SetActive(false);
}
// Mark the agent as having hit the target or been hit.
public void MarkAsHit() {
_isHit = true;
_flightPhase = FlightPhase.TERMINATED;
TerminateAgent();
}
public void MarkAsMiss() {
_isMiss = true;
TerminateAgent();
}
@ -147,7 +163,7 @@ public abstract class Agent : MonoBehaviour
Quaternion targetRotation = Quaternion.LookRotation(velocity, Vector3.up);
// Smoothly rotate towards the target rotation
transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRotation, 100f * Time.deltaTime);
transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRotation, 1000f * Time.deltaTime);
}
}

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@ -0,0 +1,74 @@
using System;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
// The threat assignment class assigns missiles to the targets based
// on the threat level of the targets.
public class ThreatAssignment : Assignment
{
// Assign a target to each missile that has not been assigned a target yet.
public override void Assign(List<Agent> missiles, List<Agent> targets)
{
List<int> assignableMissileIndices = GetAssignableMissileIndices(missiles);
if (assignableMissileIndices.Count == 0)
{
return;
}
List<int> activeTargetIndices = GetActiveTargetIndices(targets);
if (activeTargetIndices.Count == 0)
{
return;
}
Vector3 missilesMeanPosition = CalculateMeanPosition(missiles);
List<ThreatInfo> threatInfos = CalculateThreatLevels(targets, activeTargetIndices, missilesMeanPosition);
foreach (int missileIndex in assignableMissileIndices)
{
if (threatInfos.Count == 0) break;
ThreatInfo highestThreat = threatInfos[0];
missileToTargetAssignments.AddFirst(new AssignmentItem(missileIndex, highestThreat.TargetIndex));
threatInfos.RemoveAt(0);
}
}
private Vector3 CalculateMeanPosition(List<Agent> agents)
{
return agents.Aggregate(Vector3.zero, (sum, agent) => sum + agent.transform.position) / agents.Count;
}
private List<ThreatInfo> CalculateThreatLevels(List<Agent> targets, List<int> activeTargetIndices, Vector3 missilesMeanPosition)
{
List<ThreatInfo> threatInfos = new List<ThreatInfo>();
foreach (int targetIndex in activeTargetIndices)
{
Agent target = targets[targetIndex];
float distanceToMean = Vector3.Distance(target.transform.position, missilesMeanPosition);
float velocityMagnitude = target.GetVelocity().magnitude;
// Calculate threat level based on proximity and velocity
float threatLevel = (1 / distanceToMean) * velocityMagnitude;
threatInfos.Add(new ThreatInfo(targetIndex, threatLevel));
}
// Sort threats in descending order
return threatInfos.OrderByDescending(t => t.ThreatLevel).ToList();
}
private class ThreatInfo
{
public int TargetIndex { get; }
public float ThreatLevel { get; }
public ThreatInfo(int targetIndex, float threatLevel)
{
TargetIndex = targetIndex;
ThreatLevel = threatLevel;
}
}
}

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@ -0,0 +1,157 @@
using UnityEngine;
using UnityEditor;
using System;
using System.Collections.Generic;
public class GenerateCone : EditorWindow
{
private int sides = 16;
private float baseRadius = 1f;
private float height = 2f;
[MenuItem("GameObject/3D Object/Cone", false, 10)]
static void CreateCone()
{
GameObject cone;
GameObject selectedObject = Selection.activeGameObject;
if (selectedObject != null)
{
// Create as child of selected object
cone = new GameObject("Cone");
cone.transform.SetParent(selectedObject.transform, false);
}
else
{
// Create as new root object
cone = new GameObject("Cone");
}
cone.AddComponent<MeshFilter>();
cone.AddComponent<MeshRenderer>();
Undo.RegisterCreatedObjectUndo(cone, "Create Cone");
var window = ScriptableObject.CreateInstance<GenerateCone>();
window.GenerateConeObject(cone);
Selection.activeGameObject = cone;
}
void GenerateConeObject(GameObject cone)
{
Mesh mesh = CreateConeMesh("ConeMesh", sides, Vector3.zero, Quaternion.identity, baseRadius, height);
// Save the mesh as an asset
string path = "Assets/Meshes";
if (!AssetDatabase.IsValidFolder(path))
{
AssetDatabase.CreateFolder("Assets", "Meshes");
}
string assetPath = AssetDatabase.GenerateUniqueAssetPath(path + "/ConeMesh.asset");
AssetDatabase.CreateAsset(mesh, assetPath);
AssetDatabase.SaveAssets();
// Assign the mesh to the MeshFilter
cone.GetComponent<MeshFilter>().sharedMesh = mesh;
cone.GetComponent<MeshRenderer>().material = new Material(Shader.Find("Standard"));
}
Vector2[] GetBasePoints(int vertices, float radius)
{
const float TAU = 2f * Mathf.PI;
var pts = new Vector2[vertices];
var step = TAU / vertices; // angular step between two vertices
for (int i = 0; i < vertices; i++)
{
pts[i] = radius * Trig(i * step); // convert polar coordinate to cartesian space
}
return pts;
}
static Vector2 Trig(float rad) => new Vector2(Mathf.Cos(rad), Mathf.Sin(rad));
Vector3[] BuildConeVertices(Vector2[] baseVerts, float coneHeight)
{
if (baseVerts == null || baseVerts.Length < 3) throw new InvalidOperationException("Requires at least 3 base vertices.");
var verts = new Vector3[baseVerts.Length + 1];
verts[0] = new Vector3(0f, coneHeight, 0f);
for (int i = 0; i < baseVerts.Length; i++)
{
verts[i + 1] = new Vector3(baseVerts[i].x, 0f, baseVerts[i].y);
}
return verts;
}
void ConstructCone(Vector3[] coneVerts, List<Vector3> finalVerts, List<int> triangles)
{
if (coneVerts == null || coneVerts.Length < 4) throw new InvalidOperationException("Requires at least 4 vertices.");
if (finalVerts == null || triangles == null) throw new ArgumentNullException();
finalVerts.Clear();
triangles.Clear();
var rimVertices = coneVerts.Length - 1;
// Side faces
for (int i = 1; i <= rimVertices; i++)
{
int a = i, b = i < rimVertices ? i + 1 : 1;
AddTriangle(coneVerts[0], coneVerts[b], coneVerts[a]);
}
// Base face
for (int i = 1; i < rimVertices - 1; i++)
{
AddTriangle(coneVerts[1], coneVerts[i + 1], coneVerts[i + 2]);
}
void AddTriangle(Vector3 t1, Vector3 t2, Vector3 t3)
{
finalVerts.Add(t1);
finalVerts.Add(t2);
finalVerts.Add(t3);
triangles.Add(finalVerts.Count - 3);
triangles.Add(finalVerts.Count - 2);
triangles.Add(finalVerts.Count - 1);
}
}
Mesh CreateConeMesh(string name, int sides, Vector3 apex, Quaternion rotation, float baseRadius, float height)
{
var baseVerts = GetBasePoints(sides, baseRadius);
var coneVerts = BuildConeVertices(baseVerts, height);
var verts = new List<Vector3>();
var tris = new List<int>();
ConstructCone(coneVerts, verts, tris);
for (int i = 0; i < verts.Count; i++)
{
verts[i] = rotation * (verts[i] - coneVerts[0]);
}
// Recenter the cone
Vector3 center = CalculateCenter(verts);
for (int i = 0; i < verts.Count; i++)
{
verts[i] = verts[i] - center + apex;
}
Mesh mesh = new Mesh();
mesh.name = name;
mesh.SetVertices(verts);
mesh.SetTriangles(tris.ToArray(), 0);
mesh.RecalculateNormals();
return mesh;
}
Vector3 CalculateCenter(List<Vector3> vertices)
{
Vector3 sum = Vector3.zero;
foreach (Vector3 vert in vertices)
{
sum += vert;
}
return sum / vertices.Count;
}
}

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@ -30,17 +30,9 @@ public class Micromissile : Missile
// Sense the target
SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
// Check whether the target has been hit
if (_target.IsHit())
{
float killProbability = _target.GetComponent<Agent>().StaticConfig.hitConfig.killProbability;
if (Random.value < killProbability)
{
MarkAsHit();
_target.MarkAsHit();
return;
}
if(sensorOutput.velocity.range > 1000f) {
this.MarkAsMiss();
_target.MarkAsMiss();
}
// Calculate the acceleration input
@ -94,10 +86,10 @@ public class Micromissile : Missile
Debug.DrawLine(transform.position, _target.transform.position, Color.white);
// Velocity vector
Debug.DrawRay(transform.position, GetVelocity(), Color.blue);
Debug.DrawRay(transform.position, GetVelocity()*0.01f, Color.blue);
// Acceleration input
Debug.DrawRay(transform.position, _accelerationCommand*1000f, Color.green);
Debug.DrawRay(transform.position, _accelerationCommand*1f, Color.green);
// Current forward direction
Debug.DrawRay(transform.position, transform.forward * 5f, Color.yellow);

View File

@ -79,11 +79,22 @@ public class Missile : Agent
{
// Check kill probability before marking as hit
float killProbability = StaticConfig.hitConfig.killProbability;
GameObject markerObject = Instantiate(Resources.Load<GameObject>("Prefabs/HitMarkerPrefab"), transform.position, Quaternion.identity);
if (Random.value <= killProbability)
{
// Set green for hit
markerObject.GetComponent<Renderer>().material.color = new Color(0, 1, 0, 0.5f);
// Mark both this agent and the other agent as hit
this.MarkAsHit();
otherAgent.MarkAsHit();
}
else {
// Set red for miss
markerObject.GetComponent<Renderer>().material.color = new Color(1, 0, 0, 0.5f);
this.MarkAsMiss();
otherAgent.MarkAsMiss();
}
}
}

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@ -26,7 +26,7 @@ public class SimManager : MonoBehaviour
simulationRunning = true;
}
private void InitializeSimulation()
private void InitializeSimulation()
{
// Create missiles based on config
foreach (var swarmConfig in simulationConfig.missile_swarm_configs)
@ -46,7 +46,7 @@ public class SimManager : MonoBehaviour
}
}
_assignment = new RoundRobinAssignment();
_assignment = new ThreatAssignment();
// Perform initial assignment
AssignMissilesToTargets();
}
@ -191,7 +191,7 @@ public class SimManager : MonoBehaviour
bool allMissilesTerminated = true;
foreach (var missile in missiles)
{
if (missile != null && !missile.IsHit())
if (missile != null && !missile.IsHit() && !missile.IsMiss())
{
allMissilesTerminated = false;
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