deploy: 54c7e5fbc7

coverage/playmode/Assets/Scripts/Interceptors/Hydra70.cs

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+using System.Collections;
+using System.Collections.Generic;
+using JetBrains.Annotations;
+using UnityEngine;
+
+public class Hydra70 : Interceptor {
+  private bool _submunitionsLaunched = false;
+
+  protected override void FixedUpdate() {
+    base.FixedUpdate();
+
+    // 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);
+    GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
+  }
+
+  protected override void DrawDebugVectors() {
+    base.DrawDebugVectors();
+    if (_acceleration != null) {
+      Debug.DrawRay(transform.position, _acceleration * 1f, Color.green);
+    }
+  }
+
+  public void SpawnSubmunitions() {
+    List<Interceptor> submunitions = new List<Interceptor>();
+    switch (_agentConfig.submunitions_config.agent_config.interceptor_type) {
+      case InterceptorType.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>().linearVelocity;
+          Interceptor submunition = SimManager.Instance.CreateInterceptor(convertedConfig);
+          submunitions.Add(submunition);
+        }
+        break;
+    }
+    IADS.Instance.RequestThreatAssignment(submunitions);
+  }
+}

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coverage/playmode/Assets/Scripts/Interceptors/Micromissile.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Micromissile : Interceptor {
+  [SerializeField]
+  private float _navigationGain = 3f;  // Typically 3-5
+
+  private SensorOutput _sensorOutput;
+  private Vector3 _accelerationCommand;
+  private double _elapsedTime = 0;
+  protected override void UpdateMidCourse(double deltaTime) {
+    _elapsedTime += deltaTime;
+    Vector3 accelerationInput = Vector3.zero;
+    if (HasAssignedTarget()) {
+      // Update the threat model (assuming we have a threat model)
+      // TODO: Implement threat model update logic
+
+      // Correct the state of the threat model at the sensor frequency
+      float sensorUpdatePeriod = 1f / _agentConfig.dynamic_config.sensor_config.frequency;
+      if (_elapsedTime >= sensorUpdatePeriod) {
+        // TODO: Implement guidance filter to estimate state from sensor output
+        // For now, we'll use the threat's actual state
+        _sensorOutput = GetComponent<Sensor>().Sense(_target);
+        _elapsedTime = 0;
+      }
+
+      // Check whether the threat should be considered a miss
+      SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
+      if (sensorOutput.velocity.range > 1000f) {
+        this.HandleInterceptMiss();
+      }
+
+      // 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);
+  }
+  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 craft 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;
+  }
+
+  protected override void DrawDebugVectors() {
+    base.DrawDebugVectors();
+    if (_accelerationCommand != null) {
+      Debug.DrawRay(transform.position, _accelerationCommand * 1f, Color.green);
+    }
+  }
+}

coverage/playmode/Assets/Scripts/Interceptors/Micromissile.cs.meta

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