begin populate WIP missile threat + minor logging convienences
turtlebasket
parent
3a0a27c4a7
commit
b31e0312da
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||||||
|
m_CollisionDetection: 0
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
fileFormatVersion: 2
|
||||||
|
guid: a4172237088e66b4190f0126eef67443
|
||||||
|
PrefabImporter:
|
||||||
|
externalObjects: {}
|
||||||
|
userData:
|
||||||
|
assetBundleName:
|
||||||
|
assetBundleVariant:
|
||||||
|
|
@ -42,7 +42,7 @@ public abstract class Agent : MonoBehaviour {
|
||||||
|
|
||||||
public void SetFlightPhase(FlightPhase flightPhase) {
|
public void SetFlightPhase(FlightPhase flightPhase) {
|
||||||
Debug.Log(
|
Debug.Log(
|
||||||
$"Setting flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
|
$"Setting {name} flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
|
||||||
_timeInPhase = 0;
|
_timeInPhase = 0;
|
||||||
_flightPhase = flightPhase;
|
_flightPhase = flightPhase;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -112,7 +112,7 @@ public class TargetConfig {
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
public enum InterceptorType { HYDRA_70, MICROMISSILE }
|
public enum InterceptorType { HYDRA_70, MICROMISSILE }
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
public enum ThreatType { DRONE, ANTISHIP_MISSILE }
|
public enum ThreatType { DRONE, MISSILE }
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
public enum ConfigColor { BLUE, GREEN, RED }
|
public enum ConfigColor { BLUE, GREEN, RED }
|
||||||
[JsonConverter(typeof(StringEnumConverter))]
|
[JsonConverter(typeof(StringEnumConverter))]
|
||||||
|
|
|
||||||
|
|
@ -1,3 +1,4 @@
|
||||||
|
using System;
|
||||||
using System.Collections;
|
using System.Collections;
|
||||||
using System.Collections.Generic;
|
using System.Collections.Generic;
|
||||||
using System.Linq;
|
using System.Linq;
|
||||||
|
|
@ -118,6 +119,10 @@ public class SimManager : MonoBehaviour {
|
||||||
foreach (var swarmConfig in simulationConfig.threat_swarm_configs) {
|
foreach (var swarmConfig in simulationConfig.threat_swarm_configs) {
|
||||||
for (int i = 0; i < swarmConfig.num_agents; i++) {
|
for (int i = 0; i < swarmConfig.num_agents; i++) {
|
||||||
var threat = CreateThreat(swarmConfig.agent_config);
|
var threat = CreateThreat(swarmConfig.agent_config);
|
||||||
|
if (threat == null) {
|
||||||
|
Debug.LogError($"Failed to create threat: {swarmConfig.agent_config}");
|
||||||
|
continue;
|
||||||
|
}
|
||||||
threat.OnAgentHit += RegisterThreatHit;
|
threat.OnAgentHit += RegisterThreatHit;
|
||||||
threat.OnAgentMiss += RegisterThreatMiss;
|
threat.OnAgentMiss += RegisterThreatMiss;
|
||||||
}
|
}
|
||||||
|
|
@ -226,12 +231,14 @@ 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.ANTISHIP_MISSILE => "AntishipMissile",
|
ThreatType.DRONE => "Drone", ThreatType.MISSILE => "MissileThreat",
|
||||||
_ => 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);
|
||||||
if (threatObject == null)
|
if (threatObject == null) {
|
||||||
|
Debug.LogError($"Failed to create threat for {prefabName}.");
|
||||||
return null;
|
return null;
|
||||||
|
}
|
||||||
|
|
||||||
_threats.Add(threatObject.GetComponent<Threat>());
|
_threats.Add(threatObject.GetComponent<Threat>());
|
||||||
_activeThreats.Add(threatObject.GetComponent<Threat>());
|
_activeThreats.Add(threatObject.GetComponent<Threat>());
|
||||||
|
|
|
||||||
|
|
@ -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() {}
|
|
||||||
}
|
|
||||||
|
|
@ -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);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,150 @@
|
||||||
|
{
|
||||||
|
"timeScale": 1,
|
||||||
|
"interceptor_swarm_configs": [
|
||||||
|
{
|
||||||
|
"num_agents": 1,
|
||||||
|
"agent_config": {
|
||||||
|
"interceptor_type": "HYDRA_70",
|
||||||
|
"threat_type": "DRONE",
|
||||||
|
"initial_state": {
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 20,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"rotation": {
|
||||||
|
"x": -45,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"velocity": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 10,
|
||||||
|
"z": 10
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"standard_deviation": {
|
||||||
|
"position": {
|
||||||
|
"x": 10,
|
||||||
|
"y": 0,
|
||||||
|
"z": 10
|
||||||
|
},
|
||||||
|
"velocity": {
|
||||||
|
"x": 5,
|
||||||
|
"y": 0,
|
||||||
|
"z": 1
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"dynamic_config": {
|
||||||
|
"launch_config": {
|
||||||
|
"launch_time": 0
|
||||||
|
},
|
||||||
|
"sensor_config": {
|
||||||
|
"type": "IDEAL",
|
||||||
|
"frequency": 100
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"submunitions_config": {
|
||||||
|
"num_submunitions": 7,
|
||||||
|
"launch_config": {
|
||||||
|
"launch_time": 4
|
||||||
|
},
|
||||||
|
"agent_config": {
|
||||||
|
"interceptor_type": "MICROMISSILE",
|
||||||
|
"initial_state": {
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"rotation": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"velocity": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"standard_deviation": {
|
||||||
|
"position": {
|
||||||
|
"x": 5,
|
||||||
|
"y": 5,
|
||||||
|
"z": 5
|
||||||
|
},
|
||||||
|
"velocity": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"dynamic_config": {
|
||||||
|
"launch_config": {
|
||||||
|
"launch_time": 0
|
||||||
|
},
|
||||||
|
"sensor_config": {
|
||||||
|
"type": "IDEAL",
|
||||||
|
"frequency": 100
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"threat_swarm_configs": [
|
||||||
|
{
|
||||||
|
"num_agents": 7,
|
||||||
|
"agent_config": {
|
||||||
|
"interceptor_type": "HYDRA_70",
|
||||||
|
"threat_type": "MISSILE",
|
||||||
|
"initial_state": {
|
||||||
|
"position": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 600,
|
||||||
|
"z": 6000
|
||||||
|
},
|
||||||
|
"rotation": {
|
||||||
|
"x": 90,
|
||||||
|
"y": 0,
|
||||||
|
"z": 0
|
||||||
|
},
|
||||||
|
"velocity": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": -200
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"standard_deviation": {
|
||||||
|
"position": {
|
||||||
|
"x": 1000,
|
||||||
|
"y": 200,
|
||||||
|
"z": 100
|
||||||
|
},
|
||||||
|
"velocity": {
|
||||||
|
"x": 0,
|
||||||
|
"y": 0,
|
||||||
|
"z": 25
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"dynamic_config": {
|
||||||
|
"launch_config": {
|
||||||
|
"launch_time": 0
|
||||||
|
},
|
||||||
|
"sensor_config": {
|
||||||
|
"type": "IDEAL",
|
||||||
|
"frequency": 0
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"static_config": {
|
||||||
|
|
||||||
|
},
|
||||||
|
"submunitions_config": {
|
||||||
|
"num_submunitions": 0
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue