start on new threat types & strategy abstraction
turtlebasket
parent
07ad59a5f1
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9a7c51c907
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- component: {fileID: -2759790757235477429}
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|
- component: {fileID: 4451965530778273955}
|
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|
m_Layer: 0
|
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|
m_Name: RollStabilizedMissileThreat
|
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|
m_TagString: Untagged
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|
m_Icon: {fileID: 0}
|
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|
m_NavMeshLayer: 0
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--- !u!4 &8462434346230391091
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|
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 6438458936967544359}
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|
serializedVersion: 2
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|
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
|
||||||
|
m_LocalPosition: {x: 0, y: 0, z: 0}
|
||||||
|
m_LocalScale: {x: 1, y: 1, z: 1}
|
||||||
|
m_ConstrainProportionsScale: 0
|
||||||
|
m_Children:
|
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|
- {fileID: 585396986125101381}
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- {fileID: 8315564871113561163}
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- {fileID: 9192475791974545516}
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|
m_Father: {fileID: 0}
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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|
--- !u!114 &-2759790757235477429
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|
MonoBehaviour:
|
||||||
|
m_ObjectHideFlags: 0
|
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|
m_CorrespondingSourceObject: {fileID: 0}
|
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 6438458936967544359}
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m_Script: {fileID: 11500000, guid: 16e40584b2154ef4a95c84e85a321999, type: 3}
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|
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_dragAcceleration: {x: 0, y: 0, z: 0}
|
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|
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|
||||||
|
staticConfigFile: base_roll_stabilized_missile.json
|
||||||
|
--- !u!54 &4451965530778273955
|
||||||
|
Rigidbody:
|
||||||
|
m_ObjectHideFlags: 0
|
||||||
|
m_CorrespondingSourceObject: {fileID: 0}
|
||||||
|
m_PrefabInstance: {fileID: 0}
|
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m_PrefabAsset: {fileID: 0}
|
||||||
|
m_GameObject: {fileID: 6438458936967544359}
|
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|
serializedVersion: 4
|
||||||
|
m_Mass: 1
|
||||||
|
m_Drag: 0
|
||||||
|
m_AngularDrag: 0
|
||||||
|
m_CenterOfMass: {x: 0, y: 0, z: 0}
|
||||||
|
m_InertiaTensor: {x: 1, y: 1, z: 1}
|
||||||
|
m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
|
||||||
|
m_IncludeLayers:
|
||||||
|
serializedVersion: 2
|
||||||
|
m_Bits: 0
|
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|
m_ExcludeLayers:
|
||||||
|
serializedVersion: 2
|
||||||
|
m_Bits: 0
|
||||||
|
m_ImplicitCom: 1
|
||||||
|
m_ImplicitTensor: 1
|
||||||
|
m_UseGravity: 0
|
||||||
|
m_IsKinematic: 0
|
||||||
|
m_Interpolate: 0
|
||||||
|
m_Constraints: 0
|
||||||
|
m_CollisionDetection: 0
|
||||||
|
|
@ -128,6 +128,10 @@ public abstract class Agent : MonoBehaviour {
|
||||||
return GetComponent<Rigidbody>().linearVelocity;
|
return GetComponent<Rigidbody>().linearVelocity;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public Vector3 GetAcceleration() {
|
||||||
|
return _acceleration;
|
||||||
|
}
|
||||||
|
|
||||||
public double GetDynamicPressure() {
|
public double GetDynamicPressure() {
|
||||||
var airDensity = Constants.CalculateAirDensityAtAltitude(transform.position.y);
|
var airDensity = Constants.CalculateAirDensityAtAltitude(transform.position.y);
|
||||||
var flowSpeed = GetSpeed();
|
var flowSpeed = GetSpeed();
|
||||||
|
|
|
||||||
|
|
@ -4,115 +4,121 @@ using UnityEngine;
|
||||||
using Newtonsoft.Json;
|
using Newtonsoft.Json;
|
||||||
using Newtonsoft.Json.Converters;
|
using Newtonsoft.Json.Converters;
|
||||||
|
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class SimulationConfig {
|
public class SimulationConfig {
|
||||||
[Header("Simulation Settings")]
|
[Header("Simulation Settings")]
|
||||||
public float timeScale = 0.05f;
|
public float timeScale = 0.05f;
|
||||||
|
|
||||||
[Header("Interceptor Swarm Configurations")]
|
// [Header("Defense Points")]
|
||||||
public List<SwarmConfig> interceptor_swarm_configs = new List<SwarmConfig>();
|
// public SwarmConfig defense_points_config;
|
||||||
|
|
||||||
[Header("Threat Swarm Configurations")]
|
[Header("Interceptor Swarm Configurations")]
|
||||||
public List<SwarmConfig> threat_swarm_configs = new List<SwarmConfig>();
|
public List<SwarmConfig> interceptor_swarm_configs = new List<SwarmConfig>();
|
||||||
|
|
||||||
|
[Header("Threat Swarm Configurations")]
|
||||||
|
public List<SwarmConfig> threat_swarm_configs = new List<SwarmConfig>();
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class DynamicConfig {
|
public class DynamicConfig {
|
||||||
public LaunchConfig launch_config;
|
public LaunchConfig launch_config;
|
||||||
public SensorConfig sensor_config;
|
public SensorConfig sensor_config;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class SwarmConfig {
|
public class SwarmConfig {
|
||||||
public int num_agents;
|
public int num_agents;
|
||||||
public AgentConfig agent_config;
|
public AgentConfig agent_config;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class AgentConfig {
|
public class AgentConfig {
|
||||||
public InterceptorType interceptor_type;
|
public InterceptorType interceptor_type;
|
||||||
public ThreatType threat_type;
|
public ThreatType threat_type;
|
||||||
public InitialState initial_state;
|
public InitialState initial_state;
|
||||||
public StandardDeviation standard_deviation;
|
public StandardDeviation standard_deviation;
|
||||||
public DynamicConfig dynamic_config;
|
public DynamicConfig dynamic_config;
|
||||||
public PlottingConfig plotting_config;
|
public PlottingConfig plotting_config;
|
||||||
public SubmunitionsConfig submunitions_config;
|
public SubmunitionsConfig submunitions_config;
|
||||||
|
|
||||||
public static AgentConfig FromSubmunitionAgentConfig(SubmunitionAgentConfig submunitionConfig) {
|
public static AgentConfig FromSubmunitionAgentConfig(SubmunitionAgentConfig submunitionConfig) {
|
||||||
return new AgentConfig {
|
return new AgentConfig {
|
||||||
interceptor_type = submunitionConfig.interceptor_type,
|
interceptor_type = submunitionConfig.interceptor_type,
|
||||||
initial_state = submunitionConfig.initial_state,
|
initial_state = submunitionConfig.initial_state,
|
||||||
standard_deviation = submunitionConfig.standard_deviation,
|
standard_deviation = submunitionConfig.standard_deviation,
|
||||||
dynamic_config = submunitionConfig.dynamic_config,
|
dynamic_config = submunitionConfig.dynamic_config,
|
||||||
plotting_config = submunitionConfig.plotting_config,
|
plotting_config = submunitionConfig.plotting_config,
|
||||||
// Set other fields as needed, using default values if not present in SubmunitionAgentConfig
|
// Set other fields as needed, using default values if not present in SubmunitionAgentConfig
|
||||||
threat_type = ThreatType.DRONE, // Or another default value
|
threat_type = ThreatType.DRONE, // Or another default value
|
||||||
submunitions_config = null // Or a default value if needed
|
submunitions_config = null // Or a default value if needed
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class InitialState {
|
public class InitialState {
|
||||||
public Vector3 position;
|
public Vector3 position;
|
||||||
public Vector3 rotation;
|
public Vector3 rotation;
|
||||||
public Vector3 velocity;
|
public Vector3 velocity;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class StandardDeviation {
|
public class StandardDeviation {
|
||||||
public Vector3 position;
|
public Vector3 position;
|
||||||
public Vector3 velocity;
|
public Vector3 velocity;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class LaunchConfig {
|
public class LaunchConfig {
|
||||||
public float launch_time;
|
public float launch_time;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class PlottingConfig {
|
public class PlottingConfig {
|
||||||
public ConfigColor color;
|
public ConfigColor color;
|
||||||
public LineStyle linestyle;
|
public LineStyle linestyle;
|
||||||
public Marker marker;
|
public Marker marker;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class SubmunitionsConfig {
|
public class SubmunitionsConfig {
|
||||||
public int num_submunitions;
|
public int num_submunitions;
|
||||||
public LaunchConfig launch_config;
|
public LaunchConfig launch_config;
|
||||||
public SubmunitionAgentConfig agent_config;
|
public SubmunitionAgentConfig agent_config;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class SubmunitionAgentConfig {
|
public class SubmunitionAgentConfig {
|
||||||
public InterceptorType interceptor_type;
|
public InterceptorType interceptor_type;
|
||||||
public InitialState initial_state;
|
public InitialState initial_state;
|
||||||
public StandardDeviation standard_deviation;
|
public StandardDeviation standard_deviation;
|
||||||
public DynamicConfig dynamic_config;
|
public DynamicConfig dynamic_config;
|
||||||
public PlottingConfig plotting_config;
|
public PlottingConfig plotting_config;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class SensorConfig {
|
public class SensorConfig {
|
||||||
public SensorType type;
|
public SensorType type;
|
||||||
public float frequency;
|
public float frequency;
|
||||||
}
|
}
|
||||||
|
|
||||||
[Serializable]
|
[Serializable]
|
||||||
public class TargetConfig {
|
public class TargetConfig {
|
||||||
public ThreatType threat_type;
|
public ThreatType threat_type;
|
||||||
public InitialState initial_state;
|
public InitialState initial_state;
|
||||||
public PlottingConfig plotting_config;
|
public PlottingConfig plotting_config;
|
||||||
public string prefabName;
|
public string prefabName;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Enums
|
// Enums
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
public enum InterceptorType { HYDRA_70, MICROMISSILE }
|
public enum InterceptorType { HYDRA_70, MICROMISSILE }
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
public enum ThreatType { DRONE, MISSILE }
|
public enum ThreatType {
|
||||||
|
DRONE,
|
||||||
|
FIXED_WING_MISSILE,
|
||||||
|
ROLL_STABILIZED_MISSILE
|
||||||
|
} // Add ballistic later -michael
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
public enum ConfigColor { BLUE, GREEN, RED }
|
public enum ConfigColor { BLUE, GREEN, RED }
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,28 @@
|
||||||
|
using UnityEngine;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Static targetable point to defend
|
||||||
|
/// </summary>
|
||||||
|
public class DefendPoint : Agent {
|
||||||
|
// Currently just initializes to the origin
|
||||||
|
public DefendPoint() {
|
||||||
|
// Set the initial state
|
||||||
|
this.transform.position = Vector3.zero;
|
||||||
|
}
|
||||||
|
|
||||||
|
protected override void FixedUpdate() {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
protected override void UpdateBoost(double deltaTime) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
protected override void UpdateMidCourse(double deltaTime) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
protected override void UpdateReady(double deltaTime) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,2 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 7eed014a152a65043be19cd044faa5d2
|
||||||
|
|
@ -75,7 +75,6 @@ public class SimManager : MonoBehaviour {
|
||||||
StartSimulation();
|
StartSimulation();
|
||||||
ResumeSimulation();
|
ResumeSimulation();
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void SetTimeScale(float timeScale) {
|
public void SetTimeScale(float timeScale) {
|
||||||
|
|
@ -197,9 +196,10 @@ public class SimManager : MonoBehaviour {
|
||||||
/// <param name="config">Configuration settings for the interceptor.</param>
|
/// <param name="config">Configuration settings for the interceptor.</param>
|
||||||
/// <returns>The created Interceptor instance, or null if creation failed.</returns>
|
/// <returns>The created Interceptor instance, or null if creation failed.</returns>
|
||||||
public Interceptor CreateInterceptor(AgentConfig config) {
|
public Interceptor CreateInterceptor(AgentConfig config) {
|
||||||
string prefabName = config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70",
|
string prefabName =
|
||||||
InterceptorType.MICROMISSILE => "Micromissile",
|
config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70",
|
||||||
_ => "Hydra70" };
|
InterceptorType.MICROMISSILE => "Micromissile",
|
||||||
|
_ => "Hydra70" };
|
||||||
|
|
||||||
GameObject missileObject = CreateAgent(config, prefabName);
|
GameObject missileObject = CreateAgent(config, prefabName);
|
||||||
if (missileObject == null)
|
if (missileObject == null)
|
||||||
|
|
@ -231,7 +231,8 @@ public class SimManager : MonoBehaviour {
|
||||||
/// <returns>The created Threat instance, or null if creation failed.</returns>
|
/// <returns>The created Threat instance, or null if creation failed.</returns>
|
||||||
private Threat CreateThreat(AgentConfig config) {
|
private Threat CreateThreat(AgentConfig config) {
|
||||||
string prefabName = config.threat_type switch {
|
string prefabName = config.threat_type switch {
|
||||||
ThreatType.DRONE => "Drone", ThreatType.MISSILE => "MissileThreat",
|
ThreatType.DRONE => "Drone", ThreatType.FIXED_WING_MISSILE => "FixedWingMissileThreat",
|
||||||
|
ThreatType.ROLL_STABILIZED_MISSILE => "RollStabilizedMissileThreat",
|
||||||
_ => throw new System.ArgumentException($"Unsupported threat type: {config.threat_type}")
|
_ => throw new System.ArgumentException($"Unsupported threat type: {config.threat_type}")
|
||||||
};
|
};
|
||||||
GameObject threatObject = CreateAgent(config, prefabName);
|
GameObject threatObject = CreateAgent(config, prefabName);
|
||||||
|
|
|
||||||
|
|
@ -2,7 +2,7 @@ using System.Collections;
|
||||||
using System.Collections.Generic;
|
using System.Collections.Generic;
|
||||||
using UnityEngine;
|
using UnityEngine;
|
||||||
|
|
||||||
public class DroneTarget : Threat {
|
public class DroneThreat : Threat {
|
||||||
// Start is called before the first frame update
|
// Start is called before the first frame update
|
||||||
protected override void Start() {
|
protected override void Start() {
|
||||||
base.Start();
|
base.Start();
|
||||||
|
|
@ -0,0 +1,41 @@
|
||||||
|
using System.Collections;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using UnityEngine;
|
||||||
|
|
||||||
|
public class FixedWingMissileThreat : Threat {
|
||||||
|
protected override void UpdateBoost(double deltaTime) {
|
||||||
|
throw new System.NotImplementedException();
|
||||||
|
}
|
||||||
|
|
||||||
|
protected override void UpdateMidCourse(double deltaTime) {
|
||||||
|
throw new System.NotImplementedException();
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Strategy for moving the Threat in a straight path towards its target.
|
||||||
|
/// </summary>
|
||||||
|
public class DirectPathStrategy : NavigationStrategy {
|
||||||
|
public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
|
||||||
|
List<Interceptor> interceptors, double deltaTime) {
|
||||||
|
throw new System.NotImplementedException();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Strategy for moving the Threat in an S-curve towards a predefined target.
|
||||||
|
/// </summary>
|
||||||
|
public class SlalomStrategy : NavigationStrategy {
|
||||||
|
private float maxAmplitude;
|
||||||
|
private float periodDistance;
|
||||||
|
|
||||||
|
public SlalomStrategy(float maxAmplitude, float periodDistance) {
|
||||||
|
this.maxAmplitude = maxAmplitude;
|
||||||
|
this.periodDistance = periodDistance;
|
||||||
|
}
|
||||||
|
|
||||||
|
public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
|
||||||
|
List<Interceptor> interceptors, double deltaTime) {
|
||||||
|
throw new System.NotImplementedException();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,2 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 4e6c2fbd1e492be448760f5045b13b2e
|
||||||
|
|
@ -1,107 +0,0 @@
|
||||||
using System.Collections;
|
|
||||||
using System.Collections.Generic;
|
|
||||||
using UnityEngine;
|
|
||||||
|
|
||||||
/// <summary>
|
|
||||||
/// Base class for missile targets. Uses same set of flight phases as base Hydra-70.
|
|
||||||
/// </summary>
|
|
||||||
public class MissileThreat : Threat
|
|
||||||
{
|
|
||||||
protected float boostAcceleration = 20;
|
|
||||||
protected float midcourseAcceleration = 5;
|
|
||||||
|
|
||||||
protected override void UpdateReady(double deltaTime)
|
|
||||||
{
|
|
||||||
// if in ready phase, just set to boost phase immediately
|
|
||||||
SetFlightPhase(FlightPhase.BOOST);
|
|
||||||
}
|
|
||||||
|
|
||||||
protected override void UpdateBoost(double deltaTime)
|
|
||||||
{
|
|
||||||
// The interceptor only accelerates along its roll axis (forward in Unity)
|
|
||||||
Vector3 rollAxis = transform.forward;
|
|
||||||
|
|
||||||
// Calculate boost acceleration
|
|
||||||
float boostAcceleration =
|
|
||||||
(float)(_staticConfig.boostConfig.boostAcceleration * Constants.kGravity);
|
|
||||||
Vector3 accelerationInput = boostAcceleration * rollAxis;
|
|
||||||
|
|
||||||
// Calculate the total acceleration
|
|
||||||
Vector3 acceleration = CalculateAcceleration(accelerationInput);
|
|
||||||
|
|
||||||
// Apply the acceleration force
|
|
||||||
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
|
|
||||||
}
|
|
||||||
|
|
||||||
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 Vector3 CalculateAcceleration(Vector3 accelerationInput,
|
|
||||||
bool compensateForGravity = false)
|
|
||||||
{
|
|
||||||
Vector3 gravity = Physics.gravity;
|
|
||||||
if (compensateForGravity)
|
|
||||||
{
|
|
||||||
Vector3 gravityProjection = CalculateGravityProjectionOnPitchAndYaw();
|
|
||||||
accelerationInput -= gravityProjection;
|
|
||||||
}
|
|
||||||
|
|
||||||
float airDrag = CalculateDrag();
|
|
||||||
float liftInducedDrag = CalculateLiftInducedDrag(accelerationInput);
|
|
||||||
float dragAcceleration = -(airDrag + liftInducedDrag);
|
|
||||||
|
|
||||||
// Project the drag acceleration onto the forward direction
|
|
||||||
Vector3 dragAccelerationAlongRoll = dragAcceleration * transform.forward;
|
|
||||||
_dragAcceleration = dragAccelerationAlongRoll;
|
|
||||||
|
|
||||||
return accelerationInput + gravity + dragAccelerationAlongRoll;
|
|
||||||
}
|
|
||||||
|
|
||||||
protected float CalculateMaxAcceleration()
|
|
||||||
{
|
|
||||||
float maxReferenceAcceleration =
|
|
||||||
(float)(_staticConfig.accelerationConfig.maxReferenceAcceleration * Constants.kGravity);
|
|
||||||
float referenceSpeed = _staticConfig.accelerationConfig.referenceSpeed;
|
|
||||||
return Mathf.Pow(GetComponent<Rigidbody>().linearVelocity.magnitude / referenceSpeed, 2) *
|
|
||||||
maxReferenceAcceleration;
|
|
||||||
}
|
|
||||||
|
|
||||||
protected Vector3 CalculateGravityProjectionOnPitchAndYaw()
|
|
||||||
{
|
|
||||||
Vector3 gravity = Physics.gravity;
|
|
||||||
Vector3 pitchAxis = transform.right;
|
|
||||||
Vector3 yawAxis = transform.up;
|
|
||||||
|
|
||||||
// Project the gravity onto the pitch and yaw axes
|
|
||||||
float gravityProjectionPitchCoefficient = Vector3.Dot(gravity, pitchAxis);
|
|
||||||
float gravityProjectionYawCoefficient = Vector3.Dot(gravity, yawAxis);
|
|
||||||
|
|
||||||
// Return the sum of the projections
|
|
||||||
return gravityProjectionPitchCoefficient * pitchAxis +
|
|
||||||
gravityProjectionYawCoefficient * yawAxis;
|
|
||||||
}
|
|
||||||
|
|
||||||
private float CalculateDrag()
|
|
||||||
{
|
|
||||||
float dragCoefficient = _staticConfig.liftDragConfig.dragCoefficient;
|
|
||||||
float crossSectionalArea = _staticConfig.bodyConfig.crossSectionalArea;
|
|
||||||
float mass = _staticConfig.bodyConfig.mass;
|
|
||||||
float dynamicPressure = (float)GetDynamicPressure();
|
|
||||||
float dragForce = dragCoefficient * dynamicPressure * crossSectionalArea;
|
|
||||||
return dragForce / mass;
|
|
||||||
}
|
|
||||||
|
|
||||||
private float CalculateLiftInducedDrag(Vector3 accelerationInput)
|
|
||||||
{
|
|
||||||
float liftAcceleration =
|
|
||||||
(accelerationInput - Vector3.Dot(accelerationInput, transform.up) * transform.up).magnitude;
|
|
||||||
float liftDragRatio = _staticConfig.liftDragConfig.liftDragRatio;
|
|
||||||
return Mathf.Abs(liftAcceleration / liftDragRatio);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
@ -0,0 +1,204 @@
|
||||||
|
using System.Collections;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using UnityEngine;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Base class for missile targets. Uses same set of flight phases as base Hydra-70.
|
||||||
|
/// </summary>
|
||||||
|
public class RollStabilizedMissileThreat : Threat {
|
||||||
|
protected float boostAcceleration = 20;
|
||||||
|
protected float midcourseAcceleration = 0;
|
||||||
|
protected float terminalAcceleration = 22;
|
||||||
|
protected float maxAmplitude = 22;
|
||||||
|
|
||||||
|
public RollStabilizedMissileThreat() {
|
||||||
|
strategy = new DirectPathStrategy();
|
||||||
|
}
|
||||||
|
|
||||||
|
protected override void UpdateBoost(double deltaTime) {
|
||||||
|
// The interceptor only accelerates along its roll axis (forward in Unity)
|
||||||
|
Vector3 rollAxis = transform.forward;
|
||||||
|
|
||||||
|
// Calculate boost acceleration
|
||||||
|
float boostAcceleration =
|
||||||
|
(float)(_staticConfig.boostConfig.boostAcceleration * Constants.kGravity);
|
||||||
|
Vector3 accelerationInput = boostAcceleration * rollAxis;
|
||||||
|
|
||||||
|
// Calculate the total acceleration
|
||||||
|
Vector3 acceleration = CalculateAcceleration(accelerationInput);
|
||||||
|
|
||||||
|
// Apply the acceleration force
|
||||||
|
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
|
||||||
|
}
|
||||||
|
|
||||||
|
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 Vector3 CalculateAcceleration(Vector3 accelerationInput,
|
||||||
|
bool compensateForGravity = false) {
|
||||||
|
Vector3 gravity = Physics.gravity;
|
||||||
|
if (compensateForGravity) {
|
||||||
|
Vector3 gravityProjection = CalculateGravityProjectionOnPitchAndYaw();
|
||||||
|
accelerationInput -= gravityProjection;
|
||||||
|
}
|
||||||
|
|
||||||
|
float airDrag = CalculateDrag();
|
||||||
|
float liftInducedDrag = CalculateLiftInducedDrag(accelerationInput);
|
||||||
|
float dragAcceleration = -(airDrag + liftInducedDrag);
|
||||||
|
|
||||||
|
// Project the drag acceleration onto the forward direction
|
||||||
|
Vector3 dragAccelerationAlongRoll = dragAcceleration * transform.forward;
|
||||||
|
_dragAcceleration = dragAccelerationAlongRoll;
|
||||||
|
|
||||||
|
return accelerationInput + gravity + dragAccelerationAlongRoll;
|
||||||
|
}
|
||||||
|
|
||||||
|
protected float CalculateMaxAcceleration() {
|
||||||
|
float maxReferenceAcceleration =
|
||||||
|
(float)(_staticConfig.accelerationConfig.maxReferenceAcceleration * Constants.kGravity);
|
||||||
|
float referenceSpeed = _staticConfig.accelerationConfig.referenceSpeed;
|
||||||
|
return Mathf.Pow(GetComponent<Rigidbody>().linearVelocity.magnitude / referenceSpeed, 2) *
|
||||||
|
maxReferenceAcceleration;
|
||||||
|
}
|
||||||
|
|
||||||
|
protected Vector3 CalculateGravityProjectionOnPitchAndYaw() {
|
||||||
|
Vector3 gravity = Physics.gravity;
|
||||||
|
Vector3 pitchAxis = transform.right;
|
||||||
|
Vector3 yawAxis = transform.up;
|
||||||
|
|
||||||
|
// Project the gravity onto the pitch and yaw axes
|
||||||
|
float gravityProjectionPitchCoefficient = Vector3.Dot(gravity, pitchAxis);
|
||||||
|
float gravityProjectionYawCoefficient = Vector3.Dot(gravity, yawAxis);
|
||||||
|
|
||||||
|
// Return the sum of the projections
|
||||||
|
return gravityProjectionPitchCoefficient * pitchAxis +
|
||||||
|
gravityProjectionYawCoefficient * yawAxis;
|
||||||
|
}
|
||||||
|
|
||||||
|
private float CalculateDrag() {
|
||||||
|
float dragCoefficient = _staticConfig.liftDragConfig.dragCoefficient;
|
||||||
|
float crossSectionalArea = _staticConfig.bodyConfig.crossSectionalArea;
|
||||||
|
float mass = _staticConfig.bodyConfig.mass;
|
||||||
|
float dynamicPressure = (float)GetDynamicPressure();
|
||||||
|
float dragForce = dragCoefficient * dynamicPressure * crossSectionalArea;
|
||||||
|
return dragForce / mass;
|
||||||
|
}
|
||||||
|
|
||||||
|
private float CalculateLiftInducedDrag(Vector3 accelerationInput) {
|
||||||
|
float liftAcceleration =
|
||||||
|
(accelerationInput - Vector3.Dot(accelerationInput, transform.up) * transform.up).magnitude;
|
||||||
|
float liftDragRatio = _staticConfig.liftDragConfig.liftDragRatio;
|
||||||
|
return Mathf.Abs(liftAcceleration / liftDragRatio);
|
||||||
|
}
|
||||||
|
|
||||||
|
// ===========================================================
|
||||||
|
// STRATEGIES
|
||||||
|
// ===========================================================
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Strategy for moving the Threat in a straight path towards its target.
|
||||||
|
/// </summary>
|
||||||
|
public class DirectPathStrategy : NavigationStrategy {
|
||||||
|
DefendPoint target = new DefendPoint();
|
||||||
|
|
||||||
|
private float _navigationGain = 3f; // Typically 3-5
|
||||||
|
private SensorOutput _sensorOutput;
|
||||||
|
private Vector3 _accelerationCommand;
|
||||||
|
private double _elapsedTime = 0;
|
||||||
|
|
||||||
|
public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
|
||||||
|
List<Interceptor> interceptors, double deltaTime) {
|
||||||
|
RollStabilizedMissileThreat missileThreat = threat as RollStabilizedMissileThreat;
|
||||||
|
if (missileThreat == null) {
|
||||||
|
Debug.LogError("DirectPathStrategy can only be used with RollStabilizedMissileThreat");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
_elapsedTime += deltaTime;
|
||||||
|
Vector3 accelerationInput = Vector3.zero;
|
||||||
|
|
||||||
|
if (target != null) {
|
||||||
|
// Correct the state of the threat model at the sensor frequency
|
||||||
|
float sensorUpdatePeriod =
|
||||||
|
1f / missileThreat._agentConfig.dynamic_config.sensor_config.frequency;
|
||||||
|
if (_elapsedTime >= sensorUpdatePeriod) {
|
||||||
|
_sensorOutput = new SensorOutput();
|
||||||
|
missileThreat.GetComponent<Sensor>().Sense(target);
|
||||||
|
Debug.Log(_sensorOutput.velocity.range);
|
||||||
|
_elapsedTime = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check whether the threat should be considered a miss
|
||||||
|
SensorOutput sensorOutput = missileThreat.GetComponent<Sensor>().Sense(target);
|
||||||
|
if (sensorOutput.velocity.range > 1000f) {
|
||||||
|
missileThreat.MarkAsMiss();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Calculate the acceleration input
|
||||||
|
accelerationInput = CalculateAccelerationCommand(missileThreat, _sensorOutput);
|
||||||
|
} else {
|
||||||
|
Debug.LogError("DirectPathStrategy requires a target to be set");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Calculate and set the total acceleration
|
||||||
|
Vector3 acceleration =
|
||||||
|
missileThreat.CalculateAcceleration(accelerationInput, compensateForGravity: true);
|
||||||
|
missileThreat.GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
|
||||||
|
}
|
||||||
|
|
||||||
|
private Vector3 CalculateAccelerationCommand(Threat threat, SensorOutput sensorOutput) {
|
||||||
|
RollStabilizedMissileThreat missileThreat = threat as RollStabilizedMissileThreat;
|
||||||
|
|
||||||
|
// Implement Proportional Navigation guidance law
|
||||||
|
Vector3 accelerationCommand;
|
||||||
|
|
||||||
|
// 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 =
|
||||||
|
missileThreat.transform.right * acc_az + missileThreat.transform.up * acc_el;
|
||||||
|
|
||||||
|
// Clamp the acceleration command to the maximum acceleration
|
||||||
|
float maxAcceleration = missileThreat.CalculateMaxAcceleration();
|
||||||
|
accelerationCommand = Vector3.ClampMagnitude(accelerationCommand, maxAcceleration);
|
||||||
|
|
||||||
|
// Update the stored acceleration command for debugging
|
||||||
|
_accelerationCommand = accelerationCommand;
|
||||||
|
return accelerationCommand;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Strategy for moving the Threat in a spiral towards a predefined target.
|
||||||
|
/// </summary>
|
||||||
|
public class SpiralStrategy : NavigationStrategy {
|
||||||
|
private float spiralRadius;
|
||||||
|
private float periodDistance;
|
||||||
|
|
||||||
|
public SpiralStrategy(float spiralRadius, float periodDistance) {
|
||||||
|
this.spiralRadius = spiralRadius;
|
||||||
|
this.periodDistance = periodDistance;
|
||||||
|
}
|
||||||
|
|
||||||
|
public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
|
||||||
|
List<Interceptor> interceptors, double deltaTime) {
|
||||||
|
throw new System.NotImplementedException();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,8 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 0d798867791c1444b985d8807b144572
|
||||||
|
folderAsset: yes
|
||||||
|
DefaultImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -3,6 +3,29 @@ using System.Collections.Generic;
|
||||||
using UnityEngine;
|
using UnityEngine;
|
||||||
|
|
||||||
public abstract class Threat : Agent {
|
public abstract class Threat : Agent {
|
||||||
|
/// <summary>
|
||||||
|
/// Strategy for moving the Threat towards a predefined target.
|
||||||
|
/// </summary>
|
||||||
|
public abstract class NavigationStrategy {
|
||||||
|
/// <summary>
|
||||||
|
/// Execute one timestep of the strategy for the given threat and flight phase. Should only
|
||||||
|
/// apply normal forces to the threat. Can also change the threat's flight phase. Should NOT
|
||||||
|
/// manage thrust.
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="threat">Parent Threat object</param>
|
||||||
|
/// <param name="swarmMates">List of other threats in the swarm</param>
|
||||||
|
/// <param name="flightPhase">Current flight phase</param>
|
||||||
|
/// <param name="interceptors">List of active interceptors</param>
|
||||||
|
/// <param name="deltaTime">Timestep</param>
|
||||||
|
public abstract void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
|
||||||
|
List<Interceptor> interceptors, double deltaTime);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Navigation strategy that this threat will use to move towards its target.
|
||||||
|
/// </summary>
|
||||||
|
public NavigationStrategy strategy;
|
||||||
|
|
||||||
public override bool IsAssignable() {
|
public override bool IsAssignable() {
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
@ -13,5 +36,18 @@ public abstract class Threat : Agent {
|
||||||
|
|
||||||
protected override void FixedUpdate() {
|
protected override void FixedUpdate() {
|
||||||
base.FixedUpdate();
|
base.FixedUpdate();
|
||||||
|
// NOTE: no swarm-mates for now
|
||||||
|
strategy.Execute(this, new List<Threat>(), GetFlightPhase(),
|
||||||
|
SimManager.Instance.GetActiveInterceptors(), Time.fixedDeltaTime);
|
||||||
|
}
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// OVERRIDE: THIS SHOULD NEVER BE CALLED; threats always start in midcourse or (at the very
|
||||||
|
/// earliest) boost phase.
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="deltaTime"></param>
|
||||||
|
/// <exception cref="System.NotImplementedException"></exception>
|
||||||
|
protected override void UpdateReady(double deltaTime) {
|
||||||
|
throw new System.NotImplementedException();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -5,7 +5,7 @@
|
||||||
"num_agents": 1,
|
"num_agents": 1,
|
||||||
"agent_config": {
|
"agent_config": {
|
||||||
"interceptor_type": "HYDRA_70",
|
"interceptor_type": "HYDRA_70",
|
||||||
"threat_type": "DRONE",
|
"threat_type": "ROLL_STABILIZED_MISSILE",
|
||||||
"initial_state": {
|
"initial_state": {
|
||||||
"position": {
|
"position": {
|
||||||
"x": 0,
|
"x": 0,
|
||||||
|
|
@ -98,8 +98,7 @@
|
||||||
{
|
{
|
||||||
"num_agents": 7,
|
"num_agents": 7,
|
||||||
"agent_config": {
|
"agent_config": {
|
||||||
"interceptor_type": "HYDRA_70",
|
"threat_type": "ROLL_STABILIZED_MISSILE",
|
||||||
"threat_type": "MISSILE",
|
|
||||||
"initial_state": {
|
"initial_state": {
|
||||||
"position": {
|
"position": {
|
||||||
"x": 0,
|
"x": 0,
|
||||||
|
|
@ -108,7 +107,7 @@
|
||||||
},
|
},
|
||||||
"rotation": {
|
"rotation": {
|
||||||
"x": 90,
|
"x": 90,
|
||||||
"y": 0,
|
"y": 50,
|
||||||
"z": 0
|
"z": 0
|
||||||
},
|
},
|
||||||
"velocity": {
|
"velocity": {
|
||||||
|
|
@ -137,9 +136,6 @@
|
||||||
"type": "IDEAL",
|
"type": "IDEAL",
|
||||||
"frequency": 0
|
"frequency": 0
|
||||||
}
|
}
|
||||||
},
|
|
||||||
"static_config": {
|
|
||||||
|
|
||||||
},
|
},
|
||||||
"submunitions_config": {
|
"submunitions_config": {
|
||||||
"num_submunitions": 0
|
"num_submunitions": 0
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 22c1e00f13b5ec6468892b8c6df37933
|
||||||
|
DefaultImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -0,0 +1,25 @@
|
||||||
|
{
|
||||||
|
"accelerationConfig": {
|
||||||
|
"maxReferenceAcceleration": 300,
|
||||||
|
"referenceSpeed": 1000
|
||||||
|
},
|
||||||
|
"boostConfig": {
|
||||||
|
"boostTime": 0.3,
|
||||||
|
"boostAcceleration": 350
|
||||||
|
},
|
||||||
|
"liftDragConfig": {
|
||||||
|
"liftCoefficient": 0.2,
|
||||||
|
"dragCoefficient": 0.7,
|
||||||
|
"liftDragRatio": 5
|
||||||
|
},
|
||||||
|
"bodyConfig": {
|
||||||
|
"mass": 0.37,
|
||||||
|
"crossSectionalArea": 0.0003,
|
||||||
|
"finArea": 0.0006,
|
||||||
|
"bodyArea": 0.01
|
||||||
|
},
|
||||||
|
"hitConfig": {
|
||||||
|
"hitRadius": 1,
|
||||||
|
"killProbability": 0.9
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 72573475cbd372d4dbb25291cc6545b0
|
||||||
|
DefaultImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
Loading…
Reference in New Issue