Reorganization and many improvements of rendering

Assets/Scripts/Interceptors/Micromissile.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Micromissile : Missile
+{
+    [SerializeField] private float navigationGain = 10f; // Typically 3-5
+    [SerializeField] private bool _showDebugVectors = true;
+
+    private Vector3 _previousLOS;
+    private Vector3 _accelerationCommand;
+    private float _lastUpdateTime;
+    protected override void UpdateMidCourse(double deltaTime)
+    {
+        Vector3 accelerationInput = Vector3.zero;
+        if (HasAssignedTarget())
+        {
+            // Update the target model (assuming we have a target model)
+            // 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)
+            {
+                // 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;
+            }
+
+            // Sense the target
+            SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
+            if(sensorOutput.velocity.range > 1000f) {
+                this.MarkAsMiss();
+                _target.MarkAsMiss();
+            }
+
+            // Calculate the acceleration input
+            accelerationInput = CalculateAccelerationCommand(sensorOutput);
+        }
+
+        // Calculate and set the total acceleration
+        Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true);
+        GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
+
+        if (_showDebugVectors)
+        {
+            DrawDebugVectors();
+        }
+
+
+    }
+    private Vector3 CalculateAccelerationCommand(SensorOutput sensorOutput)
+    {
+        // Implement Proportional Navigation guidance law
+        Vector3 accelerationCommand = Vector3.zero;
+
+        // Extract relevant information from sensor output
+        float los_rate_az = sensorOutput.velocity.azimuth;
+        float los_rate_el = sensorOutput.velocity.elevation;
+        float closing_velocity = -sensorOutput.velocity.range; // Negative because closing velocity is opposite to range rate
+
+        // Navigation gain (adjust as needed)
+        float N = navigationGain;
+
+        // Calculate acceleration commands in azimuth and elevation planes
+        float acc_az = N * closing_velocity * los_rate_az;
+        float acc_el = N * closing_velocity * los_rate_el;
+
+        // Convert acceleration commands to missile body frame
+        accelerationCommand = transform.right * acc_az + transform.up * acc_el;
+
+        // Clamp the acceleration command to the maximum acceleration
+        float maxAcceleration = CalculateMaxAcceleration();
+        accelerationCommand = Vector3.ClampMagnitude(accelerationCommand, maxAcceleration);
+
+        // Update the stored acceleration command for debugging
+        _accelerationCommand = accelerationCommand;
+        return accelerationCommand;
+    }
+    private void DrawDebugVectors()
+    {
+        if (_target != null)
+        {
+            // Line of sight
+            Debug.DrawLine(transform.position, _target.transform.position, Color.white);
+
+            // Velocity vector
+            Debug.DrawRay(transform.position, GetVelocity()*0.01f, Color.blue);
+
+            // 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);
+        }
+    }
+}

Assets/Scripts/Interceptors/Micromissile.cs.meta

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