Reorganization and many improvements of rendering

.gitignore

@@ -70,3 +70,8 @@ crashlytics-build.properties
 # Temporary auto-generated Android Assets
 /[Aa]ssets/[Ss]treamingAssets/aa.meta
 /[Aa]ssets/[Ss]treamingAssets/aa/*
+
+# IDE related files
+.vscode/
+.vsconfig
+

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Assets/Materials/MicromissileMat.mat

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-  m_LocalScale: {x: 1000, y: 1000, z: 1000}
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Assets/Scripts/Agent.cs

@@ -25,6 +25,7 @@ public abstract class Agent : MonoBehaviour
     [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);
         }
     }
 

Assets/Scripts/Assignment.meta

@@ -0,0 +1,8 @@
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+folderAsset: yes
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+  userData: 
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Assets/Scripts/Assignment/ThreatAssignment.cs

@@ -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;
+        }
+    }
+}

Assets/Scripts/Assignment/ThreatAssignment.cs.meta

@@ -0,0 +1,11 @@
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+guid: 8e9829915a9eb41409ea03fb46910432
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+  serializedVersion: 2
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Assets/Scripts/Config.meta

@@ -0,0 +1,8 @@
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Assets/Scripts/Editor.meta

@@ -0,0 +1,8 @@
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+  userData: 
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Assets/Scripts/Editor/GenerateCone.cs

@@ -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;
+    }
+}

Assets/Scripts/Editor/GenerateCone.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 27925dcc8d7b5dd4ab28ed7de5b806a4
+MonoImporter:
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Assets/Scripts/Interceptors.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 6f05ad8af46b8df4c9720b5deb691295
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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Assets/Scripts/Interceptors/Micromissile.cs

@@ -30,17 +30,9 @@ public class Micromissile : Missile
 
             // Sense the target
             SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
-
+            if(sensorOutput.velocity.range > 1000f) {
-            // Check whether the target has been hit
+                this.MarkAsMiss();
-            if (_target.IsHit())
+                _target.MarkAsMiss();
-            {
-                float killProbability = _target.GetComponent<Agent>().StaticConfig.hitConfig.killProbability;
-                if (Random.value < killProbability)
-                {
-                    MarkAsHit();
-                    _target.MarkAsHit();
-                    return;
-                }
             }
 
             // 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);

Assets/Scripts/Missile.cs

@@ -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();
+                
             }
         }
     }

Assets/Scripts/Sensors.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8c45dceac2c26594d8ac013a8f72e042
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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Assets/Scripts/SimManager.cs

@@ -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;
                 break;

Assets/Scripts/Targets.meta

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+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 

Assets/SimulationConfigMany.asset

@@ -0,0 +1,109 @@
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+  m_Script: {fileID: 11500000, guid: 79f1fe138866d6a40b209a4edcf2ee06, type: 3}
+  m_Name: SimulationConfigMany
+  m_EditorClassIdentifier: 
+  timeScale: 0.2
+  missile_swarm_configs:
+  - num_agents: 200
+    agent_config:
+      missile_type: 1
+      target_type: 0
+      initial_state:
+        position: {x: 0, y: 50, z: -500}
+        rotation: {x: -45, y: 0, z: 0}
+        velocity: {x: 0, y: 0, z: 10}
+      standard_deviation:
+        position: {x: 10, y: 10, z: 10}
+        velocity: {x: 0, y: 0, z: 0}
+      dynamic_config:
+        launch_config:
+          launch_time: 0
+        sensor_config:
+          type: 0
+          frequency: 0
+      plotting_config:
+        color: {r: 0, g: 0, b: 0, a: 0}
+        linestyle: 0
+        marker: 0
+      submunitions_config:
+        num_submunitions: 0
+        launch_config:
+          launch_time: 0
+        agent_config:
+          missile_type: 0
+          initial_state:
+            position: {x: 0, y: 0, z: 0}
+            rotation: {x: 0, y: 0, z: 0}
+            velocity: {x: 0, y: 0, z: 0}
+          standard_deviation:
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+            velocity: {x: 0, y: 0, z: 0}
+          dynamic_config:
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+            sensor_config:
+              type: 0
+              frequency: 0
+          plotting_config:
+            color: {r: 0, g: 0, b: 0, a: 0}
+            linestyle: 0
+            marker: 0
+          prefabName: 
+      prefabName: Micromissile
+  target_swarm_configs:
+  - num_agents: 200
+    agent_config:
+      missile_type: 0
+      target_type: 0
+      initial_state:
+        position: {x: 0, y: 100, z: 2000}
+        rotation: {x: 90, y: 0, z: 0}
+        velocity: {x: 0, y: 0, z: -150}
+      standard_deviation:
+        position: {x: 500, y: 50, z: 100}
+        velocity: {x: 0, y: 0, z: 50}
+      dynamic_config:
+        launch_config:
+          launch_time: 0
+        sensor_config:
+          type: 0
+          frequency: 0
+      plotting_config:
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+        linestyle: 0
+        marker: 0
+      submunitions_config:
+        num_submunitions: 0
+        launch_config:
+          launch_time: 0
+        agent_config:
+          missile_type: 0
+          initial_state:
+            position: {x: 0, y: 0, z: 0}
+            rotation: {x: 0, y: 0, z: 0}
+            velocity: {x: 0, y: 0, z: 0}
+          standard_deviation:
+            position: {x: 0, y: 0, z: 0}
+            velocity: {x: 0, y: 0, z: 0}
+          dynamic_config:
+            launch_config:
+              launch_time: 0
+            sensor_config:
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+              frequency: 0
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+            linestyle: 0
+            marker: 0
+          prefabName: 
+      prefabName: DroneTarget

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