begin populate WIP missile threat + minor logging convienences

Assets/Scripts/Agent.cs

@@ -42,7 +42,7 @@ public abstract class Agent : MonoBehaviour {
 
   public void SetFlightPhase(FlightPhase flightPhase) {
     Debug.Log(
-        $"Setting flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
+        $"Setting {name} flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
     _timeInPhase = 0;
     _flightPhase = flightPhase;
   }

Assets/Scripts/Config/SimulationConfig.cs

@@ -112,7 +112,7 @@ public class TargetConfig {
 [JsonConverter(typeof(StringEnumConverter))]
 public enum InterceptorType { HYDRA_70, MICROMISSILE }
 [JsonConverter(typeof(StringEnumConverter))]
-public enum ThreatType { DRONE, ANTISHIP_MISSILE }
+public enum ThreatType { DRONE, MISSILE }
 [JsonConverter(typeof(StringEnumConverter))]
 public enum ConfigColor { BLUE, GREEN, RED }
 [JsonConverter(typeof(StringEnumConverter))]

Assets/Scripts/SimManager.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
@@ -118,6 +119,10 @@ public class SimManager : MonoBehaviour {
     foreach (var swarmConfig in simulationConfig.threat_swarm_configs) {
       for (int i = 0; i < swarmConfig.num_agents; i++) {
         var threat = CreateThreat(swarmConfig.agent_config);
+        if (threat == null) {
+          Debug.LogError($"Failed to create threat: {swarmConfig.agent_config}");
+          continue;
+        }
         threat.OnAgentHit += RegisterThreatHit;
         threat.OnAgentMiss += RegisterThreatMiss;
       }
@@ -226,12 +231,14 @@ public class SimManager : MonoBehaviour {
   /// <returns>The created Threat instance, or null if creation failed.</returns>
   private Threat CreateThreat(AgentConfig config) {
     string prefabName = config.threat_type switch {
-      ThreatType.DRONE => "Drone", ThreatType.ANTISHIP_MISSILE => "AntishipMissile",
+      ThreatType.DRONE => "Drone", ThreatType.MISSILE => "MissileThreat",
       _ => throw new System.ArgumentException($"Unsupported threat type: {config.threat_type}")
     };
     GameObject threatObject = CreateAgent(config, prefabName);
-    if (threatObject == null)
+    if (threatObject == null) {
+      Debug.LogError($"Failed to create threat for {prefabName}.");
       return null;
+    }
 
     _threats.Add(threatObject.GetComponent<Threat>());
     _activeThreats.Add(threatObject.GetComponent<Threat>());

Assets/Scripts/Threats/AntishipMissile.cs

@@ -1,11 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class AntishipMissile : MonoBehaviour {
-  // Start is called before the first frame update
-  void Start() {}
-
-  // Update is called once per frame
-  void Update() {}
-}

Assets/Scripts/Threats/MissileThreat.cs

@@ -0,0 +1,107 @@
+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);
+  }
+
+}