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micromissiles-unity
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start on new threat types & strategy abstraction

more-targets
turtlebasket 2024-09-29 15:52:09 -07:00
parent 07ad59a5f1
commit 9a7c51c907
22 changed files with 824 additions and 196 deletions
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40
Assets/Resources/Prefabs/MissileThreat.prefab → Assets/Resources/Prefabs/FixedWingMissileThreat.prefab
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0
Assets/Resources/Prefabs/MissileThreat.prefab.meta → Assets/Resources/Prefabs/RollStabilizedMissileThreat.prefab.meta
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4
Assets/Scripts/Agent.cs
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@ -128,6 +128,10 @@ public abstract class Agent : MonoBehaviour {
return GetComponent<Rigidbody>().linearVelocity;
}
public Vector3 GetAcceleration() {
return _acceleration;
}
public double GetDynamicPressure() {
var airDensity = Constants.CalculateAirDensityAtAltitude(transform.position.y);
var flowSpeed = GetSpeed();

10
Assets/Scripts/Config/SimulationConfig.cs
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@ -4,12 +4,14 @@ using UnityEngine;
using Newtonsoft.Json;
using Newtonsoft.Json.Converters;
[Serializable]
public class SimulationConfig {
[Header("Simulation Settings")]
public float timeScale = 0.05f;
// [Header("Defense Points")]
// public SwarmConfig defense_points_config;
[Header("Interceptor Swarm Configurations")]
public List<SwarmConfig> interceptor_swarm_configs = new List<SwarmConfig>();
@ -112,7 +114,11 @@ public class TargetConfig {
[JsonConverter(typeof(StringEnumConverter))]
public enum InterceptorType { HYDRA_70, MICROMISSILE }
[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))]
public enum ConfigColor { BLUE, GREEN, RED }
[JsonConverter(typeof(StringEnumConverter))]

28
Assets/Scripts/DefendPoint.cs Normal file
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@ -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;
}
}

2
Assets/Scripts/DefendPoint.cs.meta Normal file
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7
Assets/Scripts/SimManager.cs
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@ -75,7 +75,6 @@ public class SimManager : MonoBehaviour {
StartSimulation();
ResumeSimulation();
}
}
public void SetTimeScale(float timeScale) {
@ -197,7 +196,8 @@ public class SimManager : MonoBehaviour {
/// <param name="config">Configuration settings for the interceptor.</param>
/// <returns>The created Interceptor instance, or null if creation failed.</returns>
public Interceptor CreateInterceptor(AgentConfig config) {
string prefabName = config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70",
string prefabName =
config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70",
InterceptorType.MICROMISSILE => "Micromissile",
_ => "Hydra70" };
@ -231,7 +231,8 @@ public class SimManager : MonoBehaviour {
/// <returns>The created Threat instance, or null if creation failed.</returns>
private Threat CreateThreat(AgentConfig config) {
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}")
};
GameObject threatObject = CreateAgent(config, prefabName);

2
Assets/Scripts/Threats/DroneTarget.cs → Assets/Scripts/Threats/DroneThreat.cs
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@ -2,7 +2,7 @@ using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class DroneTarget : Threat {
public class DroneThreat : Threat {
// Start is called before the first frame update
protected override void Start() {
base.Start();

0
Assets/Scripts/Threats/DroneTarget.cs.meta → Assets/Scripts/Threats/DroneThreat.cs.meta
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41
Assets/Scripts/Threats/FixedWingMissileThreat.cs Normal file
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@ -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();
}
}
}

2
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107
Assets/Scripts/Threats/MissileThreat.cs
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@ -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);
}
}

204
Assets/Scripts/Threats/RollStabilizedMissileThreat.cs Normal file
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@ -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
Assets/Scripts/Threats/MissileThreat.cs.meta → Assets/Scripts/Threats/RollStabilizedMissileThreat.cs.meta
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8
Assets/Scripts/Threats/Strategies.meta Normal file
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@ -0,0 +1,8 @@
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36
Assets/Scripts/Threats/Threat.cs
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@ -3,6 +3,29 @@ using System.Collections.Generic;
using UnityEngine;
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() {
return false;
}
@ -13,5 +36,18 @@ public abstract class Threat : Agent {
protected override void 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();
}
}

10
Assets/StreamingAssets/Configs/1_salvo_1_hydra_7_tomahawks.json
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@ -5,7 +5,7 @@
"num_agents": 1,
"agent_config": {
"interceptor_type": "HYDRA_70",
"threat_type": "DRONE",
"threat_type": "ROLL_STABILIZED_MISSILE",
"initial_state": {
"position": {
"x": 0,
@ -98,8 +98,7 @@
{
"num_agents": 7,
"agent_config": {
"interceptor_type": "HYDRA_70",
"threat_type": "MISSILE",
"threat_type": "ROLL_STABILIZED_MISSILE",
"initial_state": {
"position": {
"x": 0,
@ -108,7 +107,7 @@
},
"rotation": {
"x": 90,
"y": 0,
"y": 50,
"z": 0
},
"velocity": {
@ -137,9 +136,6 @@
"type": "IDEAL",
"frequency": 0
}
},
"static_config": {
},
"submunitions_config": {
"num_submunitions": 0

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Assets/StreamingAssets/Configs/Models/base_roll_stabilized_missile.json Normal file
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{
"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
}
}

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Assets/StreamingAssets/Configs/Models/base_roll_stabilized_missile.json.meta Normal file
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