deploy: 54c7e5fbc7

coverage/playmode/Assets/Scripts/Sensors/IdealSensor.cs

@@ -0,0 +1,71 @@
+using UnityEngine;
+
+public class IdealSensor : Sensor {
+  protected override void Start() {
+    base.Start();
+  }
+
+  public override SensorOutput Sense(Agent target) {
+    SensorOutput targetSensorOutput = new SensorOutput();
+
+    // Sense the target's position
+    PositionOutput targetPositionSensorOutput = SensePosition(target);
+    targetSensorOutput.position = targetPositionSensorOutput;
+
+    // Sense the target's velocity
+    VelocityOutput targetVelocitySensorOutput = SenseVelocity(target);
+    targetSensorOutput.velocity = targetVelocitySensorOutput;
+
+    return targetSensorOutput;
+  }
+
+  protected override PositionOutput SensePosition(Agent target) {
+    PositionOutput positionSensorOutput = new PositionOutput();
+
+    // Calculate the relative position of the target
+    Vector3 relativePosition = target.transform.position - transform.position;
+
+    // Calculate the distance (range) to the target
+    positionSensorOutput.range = relativePosition.magnitude;
+
+    // Calculate azimuth (horizontal angle relative to forward)
+    positionSensorOutput.azimuth =
+        Vector3.SignedAngle(transform.forward, relativePosition, transform.up);
+
+    // Calculate elevation (vertical angle relative to forward)
+    Vector3 flatRelativePosition = Vector3.ProjectOnPlane(relativePosition, transform.up);
+    positionSensorOutput.elevation =
+        Vector3.SignedAngle(flatRelativePosition, relativePosition, transform.right);
+
+    return positionSensorOutput;
+  }
+
+  protected override VelocityOutput SenseVelocity(Agent target) {
+    VelocityOutput velocitySensorOutput = new VelocityOutput();
+
+    // Calculate relative position and velocity
+    Vector3 relativePosition = target.transform.position - transform.position;
+    Vector3 relativeVelocity = target.GetVelocity() - GetComponent<Rigidbody>().linearVelocity;
+
+    // Calculate range rate (radial velocity)
+    velocitySensorOutput.range = Vector3.Dot(relativeVelocity, relativePosition.normalized);
+
+    // Project relative velocity onto a plane perpendicular to relative position
+    Vector3 tangentialVelocity =
+        Vector3.ProjectOnPlane(relativeVelocity, relativePosition.normalized);
+
+    // Calculate azimuth rate
+    Vector3 horizontalVelocity = Vector3.ProjectOnPlane(tangentialVelocity, transform.up);
+    velocitySensorOutput.azimuth =
+        Vector3.Dot(horizontalVelocity, transform.right) / relativePosition.magnitude;
+
+    // Calculate elevation rate
+    Vector3 verticalVelocity = Vector3.Project(tangentialVelocity, transform.up);
+    velocitySensorOutput.elevation = verticalVelocity.magnitude / relativePosition.magnitude;
+    if (Vector3.Dot(verticalVelocity, transform.up) < 0) {
+      velocitySensorOutput.elevation *= -1;
+    }
+
+    return velocitySensorOutput;
+  }
+}

coverage/playmode/Assets/Scripts/Sensors/IdealSensor.cs.meta

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coverage/playmode/Assets/Scripts/Sensors/Sensor.cs

@@ -0,0 +1,70 @@
+using UnityEngine;
+
+public abstract class Sensor : MonoBehaviour {
+  protected Agent _agent;
+
+  protected virtual void Start() {
+    _agent = GetComponent<Agent>();
+  }
+
+  /// <summary>
+  /// Main sensing method to gather information about a target agent.
+  /// </summary>
+  /// <param name="target">The agent to sense.</param>
+  /// <returns>SensorOutput containing position and velocity data.</returns>
+  /// <remarks>
+  /// Implementers should:
+  /// 1. Call SensePosition to get position data.
+  /// 2. Call SenseVelocity to get velocity data.
+  /// 3. Combine results into a SensorOutput struct.
+  /// </remarks>
+  public abstract SensorOutput Sense(Agent target);
+
+  /// <summary>
+  /// Calculates the relative position of the target agent.
+  /// </summary>
+  /// <param name="target">The agent to sense.</param>
+  /// <returns>PositionOutput containing range, azimuth, and elevation.</returns>
+  /// <remarks>
+  /// Implementers should calculate:
+  /// - range: Distance to the target (in unity units).
+  /// - azimuth: Horizontal angle to the target (in degrees).
+  ///   Positive is clockwise from the forward direction.
+  /// - elevation: Vertical angle to the target (in degrees).
+  ///   Positive is above the horizontal plane.
+  /// </remarks>
+  protected abstract PositionOutput SensePosition(Agent target);
+
+  /// <summary>
+  /// Calculates the relative velocity of the target agent.
+  /// </summary>
+  /// <param name="target">The agent to sense.</param>
+  /// <returns>VelocityOutput containing range rate, azimuth rate, and elevation rate.</returns>
+  /// <remarks>
+  /// Implementers should calculate:
+  /// - range: Radial velocity (closing speed) in units/second.
+  ///   Positive means the target is moving away.
+  /// - azimuth: Rate of change of azimuth in degrees/second.
+  ///   Positive means the target is moving clockwise.
+  /// - elevation: Rate of change of elevation in degrees/second.
+  ///   Positive means the target is moving upwards.
+  /// </remarks>
+  protected abstract VelocityOutput SenseVelocity(Agent target);
+}
+
+public struct SensorOutput {
+  public PositionOutput position;
+  public VelocityOutput velocity;
+}
+
+public struct PositionOutput {
+  public float range;
+  public float azimuth;
+  public float elevation;
+}
+
+public struct VelocityOutput {
+  public float range;
+  public float azimuth;
+  public float elevation;
+}

coverage/playmode/Assets/Scripts/Sensors/Sensor.cs.meta

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