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@@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public abstract class Agent : MonoBehaviour { + public enum FlightPhase { INITIALIZED, READY, BOOST, MIDCOURSE, TERMINAL, TERMINATED } + + [SerializeField] + private FlightPhase _flightPhase = FlightPhase.INITIALIZED; + + [SerializeField] + protected Vector3 _velocity; + + [SerializeField] + protected Vector3 _acceleration; + + [SerializeField] + protected Vector3 _dragAcceleration; + + [SerializeField] + protected Agent _target; + protected bool _isHit = false; + protected bool _isMiss = false; + + protected AgentConfig _agentConfig; + + protected double _timeSinceLaunch = 0; + protected double _timeInPhase = 0; + + [SerializeField] + public string staticConfigFile = "generic_static_config.json"; + + protected StaticConfig _staticConfig; + + // Define delegates + public delegate void InterceptHitEventHandler(Interceptor interceptor, Threat target); + public delegate void InterceptMissEventHandler(Interceptor interceptor, Threat target); + + // Define events + public event InterceptHitEventHandler OnInterceptHit; + public event InterceptMissEventHandler OnInterceptMiss; + + public void SetFlightPhase(FlightPhase flightPhase) { + Debug.Log( + $"Setting flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}"); + _timeInPhase = 0; + _flightPhase = flightPhase; + } + + public FlightPhase GetFlightPhase() { + return _flightPhase; + } + + public bool HasLaunched() { + return (_flightPhase != FlightPhase.INITIALIZED) && (_flightPhase != FlightPhase.READY); + } + + public bool HasTerminated() { + return _flightPhase == FlightPhase.TERMINATED; + } + + public virtual void SetAgentConfig(AgentConfig config) { + _agentConfig = config; + } + + public virtual bool IsAssignable() { + return true; + } + + public virtual void AssignTarget(Agent target) { + _target = target; + } + + public Agent GetAssignedTarget() { + return _target; + } + + public bool HasAssignedTarget() { + return _target != null; + } + + public void CheckTargetHit() { + if (HasAssignedTarget() && _target.IsHit()) { + UnassignTarget(); + } + } + + public virtual void UnassignTarget() { + _target = null; + } + + // Return whether the agent has hit or been hit. + public bool IsHit() { + return _isHit; + } + + public void TerminateAgent() { + _flightPhase = FlightPhase.TERMINATED; + transform.position = new Vector3(0, 0, 0); + gameObject.SetActive(false); + } + + // Mark the agent as having hit the target or been hit. + public void HandleInterceptHit(Agent otherAgent) { + _isHit = true; + if (this is Interceptor interceptor && otherAgent is Threat threat) { + OnInterceptHit?.Invoke(interceptor, threat); + } else if (this is Threat threatAgent && otherAgent is Interceptor interceptorTarget) { + OnInterceptHit?.Invoke(interceptorTarget, threatAgent); + } + TerminateAgent(); + } + + public void HandleInterceptMiss() { + if (_target != null) { + if (this is Interceptor interceptor && _target is Threat threat) { + OnInterceptMiss?.Invoke(interceptor, threat); + } else if (this is Threat threatAgent && _target is Interceptor interceptorTarget) { + OnInterceptMiss?.Invoke(interceptorTarget, threatAgent); + } + _target = null; + } + TerminateAgent(); + } + + public double GetSpeed() { + return GetComponent().linearVelocity.magnitude; + } + + public Vector3 GetVelocity() { + return GetComponent().linearVelocity; + } + + public double GetDynamicPressure() { + var airDensity = Constants.CalculateAirDensityAtAltitude(transform.position.y); + var flowSpeed = GetSpeed(); + return 0.5 * airDensity * (flowSpeed * flowSpeed); + } + + protected abstract void UpdateReady(double deltaTime); + protected abstract void UpdateBoost(double deltaTime); + protected abstract void UpdateMidCourse(double deltaTime); + + protected virtual void Awake() { + _staticConfig = ConfigLoader.LoadStaticConfig(staticConfigFile); + GetComponent().mass = _staticConfig.bodyConfig.mass; + } + + // Start is called before the first frame update + protected virtual void Start() { + _flightPhase = FlightPhase.READY; + } + + // Update is called once per frame + protected virtual void FixedUpdate() { + _timeSinceLaunch += Time.fixedDeltaTime; + _timeInPhase += Time.fixedDeltaTime; + + var launch_time = _agentConfig.dynamic_config.launch_config.launch_time; + var boost_time = launch_time + _staticConfig.boostConfig.boostTime; + double elapsedSimulationTime = SimManager.Instance.GetElapsedSimulationTime(); + + if (_flightPhase == FlightPhase.TERMINATED) { + return; + } + + if (elapsedSimulationTime >= launch_time && _flightPhase == FlightPhase.READY) { + SetFlightPhase(FlightPhase.BOOST); + } + if (_timeSinceLaunch > boost_time && _flightPhase == FlightPhase.BOOST) { + SetFlightPhase(FlightPhase.MIDCOURSE); + } + AlignWithVelocity(); + switch (_flightPhase) { + case FlightPhase.INITIALIZED: + break; + case FlightPhase.READY: + UpdateReady(Time.fixedDeltaTime); + break; + case FlightPhase.BOOST: + UpdateBoost(Time.fixedDeltaTime); + break; + case FlightPhase.MIDCOURSE: + case FlightPhase.TERMINAL: + UpdateMidCourse(Time.fixedDeltaTime); + break; + case FlightPhase.TERMINATED: + break; + } + + _velocity = GetComponent().linearVelocity; + _acceleration = + GetComponent().GetAccumulatedForce() / GetComponent().mass; + } + + protected virtual void AlignWithVelocity() { + Vector3 velocity = GetVelocity(); + if (velocity.magnitude > 0.1f) // Only align if we have significant velocity + { + // Create a rotation with forward along velocity and up along world up + Quaternion targetRotation = Quaternion.LookRotation(velocity, Vector3.up); + + // Smoothly rotate towards the target rotation + transform.rotation = + Quaternion.RotateTowards(transform.rotation, targetRotation, 1000f * Time.deltaTime); + } + } +} diff --git a/coverage/editmode/Assets/Scripts/Agent.cs.meta b/coverage/editmode/Assets/Scripts/Agent.cs.meta new file mode 100644 index 0000000..d676234 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Agent.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a86fc0084ee738845a451b91dd4960d9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Assignment.meta b/coverage/editmode/Assets/Scripts/Assignment.meta new file mode 100644 index 0000000..cf2e9ad --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 06e870818cf329e49a0d0c5a0d024f21 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Assignment/Assignment.cs b/coverage/editmode/Assets/Scripts/Assignment/Assignment.cs new file mode 100644 index 0000000..2e65c77 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment/Assignment.cs @@ -0,0 +1,40 @@ +using System; +using System.Collections.Generic; +using System.Collections; +using UnityEngine; +using System.Linq; +using System.Diagnostics.Contracts; + +// The assignment class is an interface for assigning a threat to each interceptor. +public interface IAssignment { + // Assignment item type. + // The first element corresponds to the interceptor index, and the second element + // corresponds to the threat index. + public struct AssignmentItem { + public Interceptor Interceptor; + public Threat Threat; + + public AssignmentItem(Interceptor interceptor, Threat threat) { + Interceptor = interceptor; + Threat = threat; + } + } + + // A list containing the interceptor-target assignments. + + // Assign a target to each interceptor that has not been assigned a target yet. + [Pure] + public abstract IEnumerable Assign(in IReadOnlyList interceptors, in IReadOnlyList threatTable); + + // Get the list of assignable interceptor indices. + [Pure] + protected static List GetAssignableInterceptors(in IReadOnlyList interceptors) { + return interceptors.Where(interceptor => interceptor.IsAssignable()).ToList(); + } + + // Get the list of active threats. + [Pure] + protected static List GetActiveThreats(in IReadOnlyList threats) { + return threats.Where(t => t.Status != ThreatStatus.DESTROYED).ToList(); + } +} diff --git a/coverage/editmode/Assets/Scripts/Assignment/Assignment.cs.meta b/coverage/editmode/Assets/Scripts/Assignment/Assignment.cs.meta new file mode 100644 index 0000000..46462e8 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment/Assignment.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 95c1ee01149331443bb91460f4d1e3a2 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Assignment/RoundRobinAssignment.cs b/coverage/editmode/Assets/Scripts/Assignment/RoundRobinAssignment.cs new file mode 100644 index 0000000..2a35d39 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment/RoundRobinAssignment.cs @@ -0,0 +1,43 @@ +using System.Collections.Generic; +using System.Linq; +using UnityEngine; +using System.Diagnostics.Contracts; +// The round-robin assignment class assigns interceptors to the targets in a +// round-robin order using the new paradigm. +public class RoundRobinAssignment : IAssignment { + // Previous target index that was assigned. + private int prevTargetIndex = -1; + + // Assign a target to each interceptor that has not been assigned a target yet. + [Pure] + public IEnumerable Assign(in IReadOnlyList interceptors, in IReadOnlyList targets) { + List assignments = new List(); + + // Get the list of interceptors that are available for assignment. + List assignableInterceptors = IAssignment.GetAssignableInterceptors(interceptors); + if (assignableInterceptors.Count == 0) { + return assignments; + } + + // Get the list of active threats that need to be addressed. + List activeThreats = IAssignment.GetActiveThreats(targets); + if (activeThreats.Count == 0) { + return assignments; + } + + // Perform round-robin assignment. + foreach (Interceptor interceptor in assignableInterceptors) { + // Determine the next target index in a round-robin fashion. + int nextTargetIndex = (prevTargetIndex + 1) % activeThreats.Count; + ThreatData selectedThreat = activeThreats[nextTargetIndex]; + + // Assign the interceptor to the selected threat. + assignments.Add(new IAssignment.AssignmentItem(interceptor, selectedThreat.Threat)); + + // Update the previous target index. + prevTargetIndex = nextTargetIndex; + } + + return assignments; + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Assignment/RoundRobinAssignment.cs.meta b/coverage/editmode/Assets/Scripts/Assignment/RoundRobinAssignment.cs.meta new file mode 100644 index 0000000..0b83ded --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment/RoundRobinAssignment.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f668f6d7413495c4093550e492ce36bd +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Assignment/ThreatAssignment.cs b/coverage/editmode/Assets/Scripts/Assignment/ThreatAssignment.cs new file mode 100644 index 0000000..f0d16dd --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment/ThreatAssignment.cs @@ -0,0 +1,79 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using Unity.VisualScripting; +using UnityEngine; +using System.Diagnostics.Contracts; +// The threat assignment class assigns interceptors to the targets based +// on the threat level of the targets. +public class ThreatAssignment : IAssignment { + // Assign a target to each interceptor that has not been assigned a target yet. + [Pure] + public IEnumerable Assign(in IReadOnlyList interceptors, in IReadOnlyList targets) { + List assignments = new List(); + + List assignableInterceptors = IAssignment.GetAssignableInterceptors(interceptors); + if (assignableInterceptors.Count == 0) { + Debug.LogWarning("No assignable interceptors found"); + return assignments; + } + + List activeThreats = IAssignment.GetActiveThreats(targets); + if (activeThreats.Count == 0) { + Debug.LogWarning("No active threats found"); + return assignments; + } + + Vector3 positionToDefend = Vector3.zero; + List threatInfos = + CalculateThreatLevels(activeThreats, positionToDefend); + + // Sort ThreatInfo first by ThreatData.Status (UNASSIGNED first, then ASSIGNED) + // Within each group, order by ThreatLevel descending + threatInfos = threatInfos.OrderByDescending(t => t.ThreatData.Status == ThreatStatus.UNASSIGNED) + .ThenByDescending(t => t.ThreatLevel) + .ToList(); + + var assignableInterceptorsEnumerator = assignableInterceptors.GetEnumerator(); + if (assignableInterceptorsEnumerator.MoveNext()) // Move to the first element + { + foreach (ThreatInfo threatInfo in threatInfos) { + assignments.Add(new IAssignment.AssignmentItem(assignableInterceptorsEnumerator.Current, threatInfo.ThreatData.Threat)); + if (!assignableInterceptorsEnumerator.MoveNext()) { + break; + } + } + } + return assignments; + } + + + private List CalculateThreatLevels(List threatTable, + Vector3 defensePosition) { + List threatInfos = new List(); + + foreach (ThreatData threatData in threatTable) { + Threat threat = threatData.Threat; + float distanceToMean = Vector3.Distance(threat.transform.position, defensePosition); + float velocityMagnitude = threat.GetVelocity().magnitude; + + // Calculate threat level based on proximity and velocity + float threatLevel = (1 / distanceToMean) * velocityMagnitude; + + threatInfos.Add(new ThreatInfo(threatData, threatLevel)); + } + + // Sort threats in descending order + return threatInfos.OrderByDescending(t => t.ThreatLevel).ToList(); + } + + private class ThreatInfo { + public ThreatData ThreatData { get; } + public float ThreatLevel { get; } + + public ThreatInfo(ThreatData threatData, float threatLevel) { + ThreatData = threatData; + ThreatLevel = threatLevel; + } + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Assignment/ThreatAssignment.cs.meta b/coverage/editmode/Assets/Scripts/Assignment/ThreatAssignment.cs.meta new file mode 100644 index 0000000..7e5a47b --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Assignment/ThreatAssignment.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 8e9829915a9eb41409ea03fb46910432 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Config.meta b/coverage/editmode/Assets/Scripts/Config.meta new file mode 100644 index 0000000..dab3e1c --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 068fab6561d36f445b1d765a9d3af005 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Config/ConfigLoader.cs b/coverage/editmode/Assets/Scripts/Config/ConfigLoader.cs new file mode 100644 index 0000000..33a1acf --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config/ConfigLoader.cs @@ -0,0 +1,168 @@ +using System.IO; +using UnityEngine; +using UnityEngine.Networking; +using Newtonsoft.Json; + +public static class ConfigLoader { + + private static string LoadFromStreamingAssets(string relativePath) + { + string filePath = Path.Combine(Application.streamingAssetsPath, relativePath); + + #if UNITY_STANDALONE_OSX || UNITY_EDITOR_OSX || UNITY_STANDALONE_LINUX || UNITY_EDITOR_LINUX || UNITY_IOS + if (!filePath.StartsWith("file://")) + { + filePath = "file://" + filePath; + } + #endif + + UnityWebRequest www = UnityWebRequest.Get(filePath); + www.SendWebRequest(); + + // Wait for the request to complete + while (!www.isDone) + { + // You might want to yield return null here if this is called from a coroutine + } + + if (www.result != UnityWebRequest.Result.Success) + { + Debug.LogError($"Error loading file at {filePath}: {www.error}"); + return null; + } + + return www.downloadHandler.text; + } + + public static SimulationConfig LoadSimulationConfig(string configFileName) + { + string relativePath = Path.Combine("Configs", configFileName); + string fileContent = LoadFromStreamingAssets(relativePath); + + if (string.IsNullOrEmpty(fileContent)) + { + Debug.LogError($"Failed to load SimulationConfig from {relativePath}"); + return null; + } + + return JsonConvert.DeserializeObject(fileContent, new JsonSerializerSettings + { + Converters = { new Newtonsoft.Json.Converters.StringEnumConverter() } + }); + } + + public static StaticConfig LoadStaticConfig(string configFileName) + { + string relativePath = Path.Combine("Configs/Models", configFileName); + string fileContent = LoadFromStreamingAssets(relativePath); + + if (string.IsNullOrEmpty(fileContent)) + { + Debug.LogError($"Failed to load StaticConfig from {relativePath}"); + return null; + } + + return JsonConvert.DeserializeObject(fileContent, new JsonSerializerSettings + { + Converters = { new Newtonsoft.Json.Converters.StringEnumConverter() } + }); + } + + public static void PrintSimulationConfig(SimulationConfig config) + { + if (config == null) + { + Debug.Log("SimulationConfig is null"); + return; + } + + Debug.Log("SimulationConfig:"); + Debug.Log($"Time Scale: {config.timeScale}"); + + Debug.Log("Interceptor Swarm Configurations:"); + for (int i = 0; i < config.interceptor_swarm_configs.Count; i++) + { + PrintSwarmConfig(config.interceptor_swarm_configs[i], $"Interceptor Swarm {i + 1}"); + } + + Debug.Log("Threat Swarm Configurations:"); + for (int i = 0; i < config.threat_swarm_configs.Count; i++) + { + PrintSwarmConfig(config.threat_swarm_configs[i], $"Threat Swarm {i + 1}"); + } + } + + private static void PrintSwarmConfig(SwarmConfig swarmConfig, string swarmName) + { + Debug.Log($"{swarmName}:"); + Debug.Log($" Number of Agents: {swarmConfig.num_agents}"); + PrintAgentConfig(swarmConfig.agent_config); + } + + private static void PrintAgentConfig(AgentConfig agentConfig) + { + Debug.Log(" Agent Configuration:"); + Debug.Log($" Interceptor Type: {agentConfig.interceptor_type}"); + Debug.Log($" Threat Type: {agentConfig.threat_type}"); + PrintInitialState(agentConfig.initial_state); + PrintStandardDeviation(agentConfig.standard_deviation); + PrintDynamicConfig(agentConfig.dynamic_config); + PrintPlottingConfig(agentConfig.plotting_config); + PrintSubmunitionsConfig(agentConfig.submunitions_config); + } + + private static void PrintInitialState(InitialState initialState) + { + Debug.Log(" Initial State:"); + Debug.Log($" Position: {initialState.position}"); + Debug.Log($" Rotation: {initialState.rotation}"); + Debug.Log($" Velocity: {initialState.velocity}"); + } + + private static void PrintStandardDeviation(StandardDeviation standardDeviation) + { + Debug.Log(" Standard Deviation:"); + Debug.Log($" Position: {standardDeviation.position}"); + Debug.Log($" Velocity: {standardDeviation.velocity}"); + } + + private static void PrintDynamicConfig(DynamicConfig dynamicConfig) + { + Debug.Log(" Dynamic Configuration:"); + Debug.Log($" Launch Time: {dynamicConfig.launch_config.launch_time}"); + Debug.Log($" Sensor Type: {dynamicConfig.sensor_config.type}"); + Debug.Log($" Sensor Frequency: {dynamicConfig.sensor_config.frequency}"); + } + + private static void PrintPlottingConfig(PlottingConfig plottingConfig) + { + Debug.Log(" Plotting Configuration:"); + Debug.Log($" Color: {plottingConfig.color}"); + Debug.Log($" Line Style: {plottingConfig.linestyle}"); + Debug.Log($" Marker: {plottingConfig.marker}"); + } + + private static void PrintSubmunitionsConfig(SubmunitionsConfig submunitionsConfig) + { + if (submunitionsConfig == null) + { + Debug.Log(" Submunitions Configuration: None"); + return; + } + + Debug.Log(" Submunitions Configuration:"); + Debug.Log($" Number of Submunitions: {submunitionsConfig.num_submunitions}"); + Debug.Log($" Launch Time: {submunitionsConfig.launch_config.launch_time}"); + PrintSubmunitionAgentConfig(submunitionsConfig.agent_config); + } + + private static void PrintSubmunitionAgentConfig(SubmunitionAgentConfig agentConfig) + { + Debug.Log(" Submunition Agent Configuration:"); + Debug.Log($" Interceptor Type: {agentConfig.interceptor_type}"); + PrintInitialState(agentConfig.initial_state); + PrintStandardDeviation(agentConfig.standard_deviation); + PrintDynamicConfig(agentConfig.dynamic_config); + PrintPlottingConfig(agentConfig.plotting_config); + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Config/ConfigLoader.cs.meta b/coverage/editmode/Assets/Scripts/Config/ConfigLoader.cs.meta new file mode 100644 index 0000000..2141bd2 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config/ConfigLoader.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: da3b9eead33b94a4f8df7a4af7a79d49 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Config/SimulationConfig.cs b/coverage/editmode/Assets/Scripts/Config/SimulationConfig.cs new file mode 100644 index 0000000..114cd0a --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config/SimulationConfig.cs @@ -0,0 +1,123 @@ +using System; +using System.Collections.Generic; +using UnityEngine; +using Newtonsoft.Json; +using Newtonsoft.Json.Converters; + + +[Serializable] +public class SimulationConfig { + [Header("Simulation Settings")] + public float timeScale = 0.05f; + + [Header("Interceptor Swarm Configurations")] + public List interceptor_swarm_configs = new List(); + + [Header("Threat Swarm Configurations")] + public List threat_swarm_configs = new List(); +} + +[Serializable] +public class DynamicConfig { + public LaunchConfig launch_config; + public SensorConfig sensor_config; +} + + [Serializable] +public class SwarmConfig { + public int num_agents; + public AgentConfig agent_config; +} + +[Serializable] +public class AgentConfig { + public InterceptorType interceptor_type; + public ThreatType threat_type; + public InitialState initial_state; + public StandardDeviation standard_deviation; + public DynamicConfig dynamic_config; + public PlottingConfig plotting_config; + public SubmunitionsConfig submunitions_config; + + public static AgentConfig FromSubmunitionAgentConfig(SubmunitionAgentConfig submunitionConfig) { + return new AgentConfig { + interceptor_type = submunitionConfig.interceptor_type, + initial_state = submunitionConfig.initial_state, + standard_deviation = submunitionConfig.standard_deviation, + dynamic_config = submunitionConfig.dynamic_config, + plotting_config = submunitionConfig.plotting_config, + // Set other fields as needed, using default values if not present in SubmunitionAgentConfig + threat_type = ThreatType.DRONE, // Or another default value + submunitions_config = null // Or a default value if needed + }; + } +} + +[Serializable] +public class InitialState { + public Vector3 position; + public Vector3 rotation; + public Vector3 velocity; +} + +[Serializable] +public class StandardDeviation { + public Vector3 position; + public Vector3 velocity; +} + +[Serializable] +public class LaunchConfig { + public float launch_time; +} + +[Serializable] +public class PlottingConfig { + public ConfigColor color; + public LineStyle linestyle; + public Marker marker; +} + +[Serializable] +public class SubmunitionsConfig { + public int num_submunitions; + public LaunchConfig launch_config; + public SubmunitionAgentConfig agent_config; +} + +[Serializable] +public class SubmunitionAgentConfig { + public InterceptorType interceptor_type; + public InitialState initial_state; + public StandardDeviation standard_deviation; + public DynamicConfig dynamic_config; + public PlottingConfig plotting_config; +} + +[Serializable] +public class SensorConfig { + public SensorType type; + public float frequency; +} + +[Serializable] +public class TargetConfig { + public ThreatType threat_type; + public InitialState initial_state; + public PlottingConfig plotting_config; + public string prefabName; +} + +// Enums +[JsonConverter(typeof(StringEnumConverter))] +public enum InterceptorType { HYDRA_70, MICROMISSILE } +[JsonConverter(typeof(StringEnumConverter))] +public enum ThreatType { DRONE, ANTISHIP_MISSILE } +[JsonConverter(typeof(StringEnumConverter))] +public enum ConfigColor { BLUE, GREEN, RED } +[JsonConverter(typeof(StringEnumConverter))] +public enum LineStyle { DOTTED, SOLID } +[JsonConverter(typeof(StringEnumConverter))] +public enum Marker { TRIANGLE_UP, TRIANGLE_DOWN, SQUARE } +[JsonConverter(typeof(StringEnumConverter))] +public enum SensorType { IDEAL } \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Config/SimulationConfig.cs.meta b/coverage/editmode/Assets/Scripts/Config/SimulationConfig.cs.meta new file mode 100644 index 0000000..dfcbcf1 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config/SimulationConfig.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 79f1fe138866d6a40b209a4edcf2ee06 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Config/StaticConfig.cs b/coverage/editmode/Assets/Scripts/Config/StaticConfig.cs new file mode 100644 index 0000000..d5b65a6 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config/StaticConfig.cs @@ -0,0 +1,43 @@ +using System; + +[Serializable] +public class StaticConfig { + [Serializable] + public class AccelerationConfig { + public float maxReferenceAcceleration = 300f; + public float referenceSpeed = 1000f; + } + + [Serializable] + public class BoostConfig { + public float boostTime = 0.3f; + public float boostAcceleration = 350f; + } + + [Serializable] + public class LiftDragConfig { + public float liftCoefficient = 0.2f; + public float dragCoefficient = 0.7f; + public float liftDragRatio = 5f; + } + + [Serializable] + public class BodyConfig { + public float mass = 0.37f; + public float crossSectionalArea = 3e-4f; + public float finArea = 6e-4f; + public float bodyArea = 1e-2f; + } + + [Serializable] + public class HitConfig { + public float hitRadius = 1f; + public float killProbability = 0.9f; + } + + public AccelerationConfig accelerationConfig; + public BoostConfig boostConfig; + public LiftDragConfig liftDragConfig; + public BodyConfig bodyConfig; + public HitConfig hitConfig; +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Config/StaticConfig.cs.meta b/coverage/editmode/Assets/Scripts/Config/StaticConfig.cs.meta new file mode 100644 index 0000000..f69093f --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Config/StaticConfig.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 35d9cdcf93cb04b40a7538fc87071e3b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Constants.cs b/coverage/editmode/Assets/Scripts/Constants.cs new file mode 100644 index 0000000..0613edb --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Constants.cs @@ -0,0 +1,17 @@ +using System; + +public static class Constants { + // Constants (these should be defined with appropriate values) + public const double kAirDensity = 1.204; // Sea level air density in kg/m^3 + public const double kAirDensityScaleHeight = 10.4; // Scale height in km + public const double kGravity = 9.80665; // Standard gravity in m/s^2 + public const double kEarthMeanRadius = 6378137; // Earth's mean radius in meters + + public static double CalculateAirDensityAtAltitude(double altitude) { + return kAirDensity * Math.Exp(-altitude / (kAirDensityScaleHeight * 1000)); + } + + public static double CalculateGravityAtAltitude(double altitude) { + return kGravity * Math.Pow(kEarthMeanRadius / (kEarthMeanRadius + altitude), 2); + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Constants.cs.meta b/coverage/editmode/Assets/Scripts/Constants.cs.meta new file mode 100644 index 0000000..8069f03 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Constants.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 52d6188ab9d8da8498db11ceddd027bf +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Editor.meta b/coverage/editmode/Assets/Scripts/Editor.meta new file mode 100644 index 0000000..a70bda4 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Editor.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 91594f3f9a39e6746879216d6dd0d4ec +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Editor/GenerateCone.cs b/coverage/editmode/Assets/Scripts/Editor/GenerateCone.cs new file mode 100644 index 0000000..0758022 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Editor/GenerateCone.cs @@ -0,0 +1,144 @@ +using UnityEngine; +using UnityEditor; +using System; +using System.Collections.Generic; + +#if UNITY_EDITOR +public class GenerateCone : EditorWindow { + private int sides = 16; + private float baseRadius = 1f; + private float height = 2f; + + [MenuItem("GameObject/3D Object/Cone", false, 10)] + static void CreateCone() { + GameObject cone; + GameObject selectedObject = Selection.activeGameObject; + + if (selectedObject != null) { + // Create as child of selected object + cone = new GameObject("Cone"); + cone.transform.SetParent(selectedObject.transform, false); + } else { + // Create as new root object + cone = new GameObject("Cone"); + } + + cone.AddComponent(); + cone.AddComponent(); + Undo.RegisterCreatedObjectUndo(cone, "Create Cone"); + + var window = ScriptableObject.CreateInstance(); + window.GenerateConeObject(cone); + + Selection.activeGameObject = cone; + } + + void GenerateConeObject(GameObject cone) { + Mesh mesh = + CreateConeMesh("ConeMesh", sides, Vector3.zero, Quaternion.identity, baseRadius, height); + + // Save the mesh as an asset + string path = "Assets/Meshes"; + if (!AssetDatabase.IsValidFolder(path)) { + AssetDatabase.CreateFolder("Assets", "Meshes"); + } + string assetPath = AssetDatabase.GenerateUniqueAssetPath(path + "/ConeMesh.asset"); + AssetDatabase.CreateAsset(mesh, assetPath); + AssetDatabase.SaveAssets(); + + // Assign the mesh to the MeshFilter + cone.GetComponent().sharedMesh = mesh; + cone.GetComponent().material = new Material(Shader.Find("Standard")); + } + + Vector2[] GetBasePoints(int vertices, float radius) { + const float TAU = 2f * Mathf.PI; + var pts = new Vector2[vertices]; + var step = TAU / vertices; // angular step between two vertices + for (int i = 0; i < vertices; i++) { + pts[i] = radius * Trig(i * step); // convert polar coordinate to cartesian space + } + return pts; + } + + static Vector2 Trig(float rad) => new Vector2(Mathf.Cos(rad), Mathf.Sin(rad)); + + Vector3[] BuildConeVertices(Vector2[] baseVerts, float coneHeight) { + if (baseVerts == null || baseVerts.Length < 3) + throw new InvalidOperationException("Requires at least 3 base vertices."); + var verts = new Vector3[baseVerts.Length + 1]; + verts[0] = new Vector3(0f, coneHeight, 0f); + for (int i = 0; i < baseVerts.Length; i++) { + verts[i + 1] = new Vector3(baseVerts[i].x, 0f, baseVerts[i].y); + } + return verts; + } + + void ConstructCone(Vector3[] coneVerts, List finalVerts, List triangles) { + if (coneVerts == null || coneVerts.Length < 4) + throw new InvalidOperationException("Requires at least 4 vertices."); + if (finalVerts == null || triangles == null) + throw new ArgumentNullException(); + + finalVerts.Clear(); + triangles.Clear(); + + var rimVertices = coneVerts.Length - 1; + + // Side faces + for (int i = 1; i <= rimVertices; i++) { + int a = i, b = i < rimVertices ? i + 1 : 1; + AddTriangle(coneVerts[0], coneVerts[b], coneVerts[a]); + } + + // Base face + for (int i = 1; i < rimVertices - 1; i++) { + AddTriangle(coneVerts[1], coneVerts[i + 1], coneVerts[i + 2]); + } + + void AddTriangle(Vector3 t1, Vector3 t2, Vector3 t3) { + finalVerts.Add(t1); + finalVerts.Add(t2); + finalVerts.Add(t3); + triangles.Add(finalVerts.Count - 3); + triangles.Add(finalVerts.Count - 2); + triangles.Add(finalVerts.Count - 1); + } + } + Mesh CreateConeMesh(string name, int sides, Vector3 apex, Quaternion rotation, float baseRadius, + float height) { + var baseVerts = GetBasePoints(sides, baseRadius); + var coneVerts = BuildConeVertices(baseVerts, height); + + var verts = new List(); + var tris = new List(); + ConstructCone(coneVerts, verts, tris); + + for (int i = 0; i < verts.Count; i++) { + verts[i] = rotation * (verts[i] - coneVerts[0]); + } + + // Recenter the cone + Vector3 center = CalculateCenter(verts); + for (int i = 0; i < verts.Count; i++) { + verts[i] = verts[i] - center + apex; + } + + Mesh mesh = new Mesh(); + mesh.name = name; + mesh.SetVertices(verts); + mesh.SetTriangles(tris.ToArray(), 0); + mesh.RecalculateNormals(); + + return mesh; + } + + Vector3 CalculateCenter(List vertices) { + Vector3 sum = Vector3.zero; + foreach (Vector3 vert in vertices) { + sum += vert; + } + return sum / vertices.Count; + } +} +#endif \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Editor/GenerateCone.cs.meta b/coverage/editmode/Assets/Scripts/Editor/GenerateCone.cs.meta new file mode 100644 index 0000000..9200270 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Editor/GenerateCone.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 27925dcc8d7b5dd4ab28ed7de5b806a4 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/IADS.meta b/coverage/editmode/Assets/Scripts/IADS.meta new file mode 100644 index 0000000..ff65a33 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9c6197c2ed2c6bc49b0667188a72a29d +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/IADS/IADS.cs b/coverage/editmode/Assets/Scripts/IADS/IADS.cs new file mode 100644 index 0000000..13ac1ff --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS/IADS.cs @@ -0,0 +1,146 @@ +using UnityEngine; +using System; +using System.Collections; +using System.Collections.Generic; +using System.Linq; + +// Integrated Air Defense System +public class IADS : MonoBehaviour { + + public enum ThreatAssignmentStyle { + ONE_TIME, + CONTINUOUS + } + + public static IADS Instance { get; private set; } + private IAssignment _assignmentScheme; + + [SerializeField] + private List _threatTable = new List(); + private Dictionary _threatDataMap = new Dictionary(); + + private List _assignmentQueue = new List(); + + private void Awake() { + if (Instance == null) { + Instance = this; + } else { + Destroy(gameObject); + } + + } + + private void Start() { + SimManager.Instance.OnSimulationEnded += RegisterSimulationEnded; + SimManager.Instance.OnNewThreat += RegisterNewThreat; + SimManager.Instance.OnNewInterceptor += RegisterNewInterceptor; + _assignmentScheme = new ThreatAssignment(); + + } + + public void LateUpdate() { + if (_assignmentQueue.Count > 0) { + AssignInterceptorsToThreats(_assignmentQueue); + _assignmentQueue.Clear(); + } + } + + public void RequestThreatAssignment(List interceptors) { + _assignmentQueue.AddRange(interceptors); + } + + public void RequestThreatAssignment(Interceptor interceptor) { + _assignmentQueue.Add(interceptor); + } + + + /// + /// Assigns the specified list of missiles to available targets based on the assignment scheme. + /// + /// The list of missiles to assign. + public void AssignInterceptorsToThreats(List missilesToAssign) { + // Perform the assignment + IEnumerable assignments = + _assignmentScheme.Assign(missilesToAssign, _threatTable); + + // Apply the assignments to the missiles + foreach (var assignment in assignments) { + assignment.Interceptor.AssignTarget(assignment.Threat); + _threatDataMap[assignment.Threat].AssignInterceptor(assignment.Interceptor); + Debug.Log($"Interceptor {assignment.Interceptor.name} assigned to threat {assignment.Threat.name}"); + } + + // Check if any interceptors were not assigned + List unassignedInterceptors = missilesToAssign.Where(m => !m.HasAssignedTarget()).ToList(); + + if (unassignedInterceptors.Count > 0) + { + string unassignedIds = string.Join(", ", unassignedInterceptors.Select(m => m.name)); + int totalInterceptors = missilesToAssign.Count; + int assignedInterceptors = totalInterceptors - unassignedInterceptors.Count; + + Debug.LogWarning($"Warning: {unassignedInterceptors.Count} out of {totalInterceptors} interceptors were not assigned to any threat. " + + $"Unassigned interceptor IDs: {unassignedIds}. " + + $"Total interceptors: {totalInterceptors}, Assigned: {assignedInterceptors}, Unassigned: {unassignedInterceptors.Count}"); + + // Log information about the assignment scheme + Debug.Log($"Current Assignment Scheme: {_assignmentScheme.GetType().Name}"); + } + } + + public void RegisterNewThreat(Threat threat) { + ThreatData threatData = new ThreatData(threat, threat.gameObject.name); + _threatTable.Add(threatData); + _threatDataMap.Add(threat, threatData); + + // Subscribe to the threat's events + // TODO: If we do not want omniscient IADS, we + // need to model the IADS's sensors here. + threat.OnInterceptHit += RegisterThreatHit; + threat.OnInterceptMiss += RegisterThreatMiss; + } + + public void RegisterNewInterceptor(Interceptor interceptor) { + // Placeholder + interceptor.OnInterceptMiss += RegisterInterceptorMiss; + interceptor.OnInterceptHit += RegisterInterceptorHit; + } + + private void RegisterInterceptorHit(Interceptor interceptor, Threat threat) { + ThreatData threatData = _threatDataMap[threat]; + if (threatData != null) { + threatData.RemoveInterceptor(interceptor); + MarkThreatDestroyed(threatData); + } + } + + private void RegisterInterceptorMiss(Interceptor interceptor, Threat threat) { + // Remove the interceptor from the threat's assigned interceptors + _threatDataMap[threat].RemoveInterceptor(interceptor); + } + private void RegisterThreatHit(Interceptor interceptor, Threat threat) { + ThreatData threatData = _threatDataMap[threat]; + if (threatData != null) { + threatData.RemoveInterceptor(interceptor); + MarkThreatDestroyed(threatData); + } + } + + private void MarkThreatDestroyed(ThreatData threatData) { + if (threatData != null) { + threatData.MarkDestroyed(); + } + } + + private void RegisterThreatMiss(Interceptor interceptor, Threat threat) { + ThreatData threatData = _threatDataMap[threat]; + threatData.RemoveInterceptor(interceptor); + } + + private void RegisterSimulationEnded() { + _threatTable.Clear(); + _threatDataMap.Clear(); + _assignmentQueue.Clear(); + } + +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/IADS/IADS.cs.meta b/coverage/editmode/Assets/Scripts/IADS/IADS.cs.meta new file mode 100644 index 0000000..7a07cbb --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS/IADS.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a5899f1049cf3d64e8c06c1db772c879 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/IADS/ThreatData.cs b/coverage/editmode/Assets/Scripts/IADS/ThreatData.cs new file mode 100644 index 0000000..1cfe9bb --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS/ThreatData.cs @@ -0,0 +1,48 @@ +using System.Collections.Generic; +using UnityEngine; + +[System.Serializable] +public enum ThreatStatus { + UNASSIGNED, + ASSIGNED, + DESTROYED +} +[System.Serializable] +public class ThreatData +{ + public Threat Threat; + [SerializeField] + private ThreatStatus _status; + public ThreatStatus Status { get { return _status; } } + public string ThreatID; + [SerializeField] + private List _assignedInterceptors; // Changed from property to field + + public void AssignInterceptor(Interceptor interceptor) { + if(Status == ThreatStatus.DESTROYED) { + Debug.LogError($"AssignInterceptor: Threat {ThreatID} is destroyed, cannot assign interceptor"); + return; + } + _status = ThreatStatus.ASSIGNED; + _assignedInterceptors.Add(interceptor); + } + + public void RemoveInterceptor(Interceptor interceptor) { + _assignedInterceptors.Remove(interceptor); + if(_assignedInterceptors.Count == 0) { + _status = ThreatStatus.UNASSIGNED; + } + } + + public void MarkDestroyed() { + _status = ThreatStatus.DESTROYED; + } + // Constructor remains the same + public ThreatData(Threat threat, string threatID) + { + Threat = threat; + _status = ThreatStatus.UNASSIGNED; + ThreatID = threatID; + _assignedInterceptors = new List(); // Initialize the list + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/IADS/ThreatData.cs.meta b/coverage/editmode/Assets/Scripts/IADS/ThreatData.cs.meta new file mode 100644 index 0000000..f642190 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS/ThreatData.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: adc0c5dbdb9dc7d498b50cf9a15c2db5 \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/IADS/Vessel.cs b/coverage/editmode/Assets/Scripts/IADS/Vessel.cs new file mode 100644 index 0000000..170f0b3 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS/Vessel.cs @@ -0,0 +1,27 @@ +using UnityEngine; +using System.Collections.Generic; + +public class Vessel : MonoBehaviour { + [SerializeField] + private List missileInventory = new List(); + + public void AddInterceptor(Interceptor interceptor) { + if (interceptor != null) { + missileInventory.Add(interceptor); + } + } + + public void RemoveInterceptor(Interceptor interceptor) { + missileInventory.Remove(interceptor); + } + + public List GetInterceptorInventory() { + return new List(missileInventory); + } + + public int GetInterceptorCount() { + return missileInventory.Count; + } + + // Additional methods can be added here as needed +} diff --git a/coverage/editmode/Assets/Scripts/IADS/Vessel.cs.meta b/coverage/editmode/Assets/Scripts/IADS/Vessel.cs.meta new file mode 100644 index 0000000..3f15eed --- /dev/null +++ b/coverage/editmode/Assets/Scripts/IADS/Vessel.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 607b5f69ae2775c4ab0089839f65fd61 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Interceptor.cs b/coverage/editmode/Assets/Scripts/Interceptor.cs new file mode 100644 index 0000000..d763773 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptor.cs @@ -0,0 +1,157 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Interceptor : Agent { + [SerializeField] + protected bool _showDebugVectors = true; + + // Return whether a target can be assigned to the interceptor. + public override bool IsAssignable() { + bool assignable = !HasLaunched() && !HasAssignedTarget(); + return assignable; + } + + // Assign the given target to the interceptor. + public override void AssignTarget(Agent target) { + base.AssignTarget(target); + } + + // Unassign the target from the interceptor. + public override void UnassignTarget() { + base.UnassignTarget(); + } + + protected override void UpdateReady(double deltaTime) { + Vector3 accelerationInput = Vector3.zero; + Vector3 acceleration = CalculateAcceleration(accelerationInput); + // GetComponent().AddForce(acceleration, ForceMode.Acceleration); + } + + protected override void FixedUpdate() { + base.FixedUpdate(); + if (_showDebugVectors) { + DrawDebugVectors(); + } + } + + 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().AddForce(acceleration, ForceMode.Acceleration); + } + + protected override void UpdateMidCourse(double deltaTime) {} + + 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 + gravity); + float dragAcceleration = -(airDrag + liftInducedDrag); + + // Project the drag acceleration onto the forward direction + Vector3 dragAccelerationAlongRoll = dragAcceleration * transform.forward; + _dragAcceleration = dragAccelerationAlongRoll; + + return accelerationInput + gravity + dragAccelerationAlongRoll; + } + + private void OnTriggerEnter(Collider other) { + if (other.gameObject.name == "Floor") { + this.HandleInterceptMiss(); + } + // Check if the collision is with another Agent + Agent otherAgent = other.gameObject.GetComponentInParent(); + if (otherAgent != null && otherAgent.GetComponent() != null) { + // Check kill probability before marking as hit + float killProbability = _staticConfig.hitConfig.killProbability; + GameObject markerObject = Instantiate(Resources.Load("Prefabs/HitMarkerPrefab"), + transform.position, Quaternion.identity); + if (Random.value <= killProbability) { + // Set green for hit + markerObject.GetComponent().material.color = new Color(0, 1, 0, 0.15f); + // Mark both this agent and the other agent as hit + this.HandleInterceptHit(otherAgent); + otherAgent.HandleInterceptHit(otherAgent); + + } else { + // Set red for miss + markerObject.GetComponent().material.color = new Color(1, 0, 0, 0.15f); + this.HandleInterceptMiss(); + // otherAgent.MarkAsMiss(); + } + } + } + + protected float CalculateMaxAcceleration() { + float maxReferenceAcceleration = + (float)(_staticConfig.accelerationConfig.maxReferenceAcceleration * Constants.kGravity); + float referenceSpeed = _staticConfig.accelerationConfig.referenceSpeed; + return Mathf.Pow(GetComponent().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); + } + + protected virtual void DrawDebugVectors() { + if (_target != null) { + // Line of sight + Debug.DrawLine(transform.position, _target.transform.position, new Color(1, 1, 1, 0.15f)); + + // Velocity vector + Debug.DrawRay(transform.position, GetVelocity() * 0.01f, new Color(0, 0, 1, 0.15f)); + + // Current forward direction + Debug.DrawRay(transform.position, transform.forward * 5f, Color.yellow); + + // Pitch axis (right) + Debug.DrawRay(transform.position, transform.right * 5f, Color.red); + + // Yaw axis (up) + Debug.DrawRay(transform.position, transform.up * 5f, Color.magenta); + } + } +} diff --git a/coverage/editmode/Assets/Scripts/Interceptor.cs.meta b/coverage/editmode/Assets/Scripts/Interceptor.cs.meta new file mode 100644 index 0000000..4097b43 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 932fd95d676a82349ab18bddf929d4bb +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Interceptors.meta b/coverage/editmode/Assets/Scripts/Interceptors.meta new file mode 100644 index 0000000..6257e00 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptors.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 6f05ad8af46b8df4c9720b5deb691295 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Interceptors/Hydra70.cs b/coverage/editmode/Assets/Scripts/Interceptors/Hydra70.cs new file mode 100644 index 0000000..0c00a8a --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptors/Hydra70.cs @@ -0,0 +1,53 @@ +using System.Collections; +using System.Collections.Generic; +using JetBrains.Annotations; +using UnityEngine; + +public class Hydra70 : Interceptor { + private bool _submunitionsLaunched = false; + + protected override void FixedUpdate() { + base.FixedUpdate(); + + // Check if it's time to launch submunitions + if (!_submunitionsLaunched && + (GetFlightPhase() == FlightPhase.MIDCOURSE || GetFlightPhase() == FlightPhase.BOOST) && + SimManager.Instance.GetElapsedSimulationTime() >= + _agentConfig.submunitions_config.launch_config.launch_time) { + SpawnSubmunitions(); + _submunitionsLaunched = true; + } + } + + protected override void UpdateMidCourse(double deltaTime) { + Vector3 accelerationInput = Vector3.zero; + // Calculate and set the total acceleration + Vector3 acceleration = CalculateAcceleration(accelerationInput); + GetComponent().AddForce(acceleration, ForceMode.Acceleration); + } + + protected override void DrawDebugVectors() { + base.DrawDebugVectors(); + if (_acceleration != null) { + Debug.DrawRay(transform.position, _acceleration * 1f, Color.green); + } + } + + public void SpawnSubmunitions() { + List submunitions = new List(); + switch (_agentConfig.submunitions_config.agent_config.interceptor_type) { + case InterceptorType.MICROMISSILE: + for (int i = 0; i < _agentConfig.submunitions_config.num_submunitions; i++) { + AgentConfig convertedConfig = + AgentConfig.FromSubmunitionAgentConfig(_agentConfig.submunitions_config.agent_config); + + convertedConfig.initial_state.position = transform.position; + convertedConfig.initial_state.velocity = GetComponent().linearVelocity; + Interceptor submunition = SimManager.Instance.CreateInterceptor(convertedConfig); + submunitions.Add(submunition); + } + break; + } + IADS.Instance.RequestThreatAssignment(submunitions); + } +} diff --git a/coverage/editmode/Assets/Scripts/Interceptors/Hydra70.cs.meta b/coverage/editmode/Assets/Scripts/Interceptors/Hydra70.cs.meta new file mode 100644 index 0000000..555ebe5 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptors/Hydra70.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 403a04456de34694a8946c6a5084a9cc +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Interceptors/Micromissile.cs b/coverage/editmode/Assets/Scripts/Interceptors/Micromissile.cs new file mode 100644 index 0000000..934a8e7 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptors/Micromissile.cs @@ -0,0 +1,78 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Micromissile : Interceptor { + [SerializeField] + private float _navigationGain = 3f; // Typically 3-5 + + private SensorOutput _sensorOutput; + private Vector3 _accelerationCommand; + private double _elapsedTime = 0; + protected override void UpdateMidCourse(double deltaTime) { + _elapsedTime += deltaTime; + Vector3 accelerationInput = Vector3.zero; + if (HasAssignedTarget()) { + // Update the threat model (assuming we have a threat model) + // TODO: Implement threat model update logic + + // Correct the state of the threat model at the sensor frequency + float sensorUpdatePeriod = 1f / _agentConfig.dynamic_config.sensor_config.frequency; + if (_elapsedTime >= sensorUpdatePeriod) { + // TODO: Implement guidance filter to estimate state from sensor output + // For now, we'll use the threat's actual state + _sensorOutput = GetComponent().Sense(_target); + _elapsedTime = 0; + } + + // Check whether the threat should be considered a miss + SensorOutput sensorOutput = GetComponent().Sense(_target); + if (sensorOutput.velocity.range > 1000f) { + this.HandleInterceptMiss(); + } + + // Calculate the acceleration input + accelerationInput = CalculateAccelerationCommand(_sensorOutput); + } + + // Calculate and set the total acceleration + Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true); + GetComponent().AddForce(acceleration, ForceMode.Acceleration); + } + private Vector3 CalculateAccelerationCommand(SensorOutput sensorOutput) { + // Implement Proportional Navigation guidance law + Vector3 accelerationCommand = Vector3.zero; + + // 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 = transform.right * acc_az + transform.up * acc_el; + + // Clamp the acceleration command to the maximum acceleration + float maxAcceleration = CalculateMaxAcceleration(); + accelerationCommand = Vector3.ClampMagnitude(accelerationCommand, maxAcceleration); + + // Update the stored acceleration command for debugging + _accelerationCommand = accelerationCommand; + return accelerationCommand; + } + + protected override void DrawDebugVectors() { + base.DrawDebugVectors(); + if (_accelerationCommand != null) { + Debug.DrawRay(transform.position, _accelerationCommand * 1f, Color.green); + } + } +} diff --git a/coverage/editmode/Assets/Scripts/Interceptors/Micromissile.cs.meta b/coverage/editmode/Assets/Scripts/Interceptors/Micromissile.cs.meta new file mode 100644 index 0000000..3dbe7b0 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Interceptors/Micromissile.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 864f4855030b29d44a944391ce02342a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Managers.meta b/coverage/editmode/Assets/Scripts/Managers.meta new file mode 100644 index 0000000..52062cf --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Managers.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 9411e01e9e0fecb45ac53c53b65fa917 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Managers/InputManager.cs b/coverage/editmode/Assets/Scripts/Managers/InputManager.cs new file mode 100644 index 0000000..31d5cf3 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Managers/InputManager.cs @@ -0,0 +1,194 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using System.Linq; + +public class InputManager : MonoBehaviour +{ + + public static InputManager Instance { get; private set; } + + + + public bool mouseActive = true; + [System.Serializable] + public struct CameraPreset + { + public Vector3 position; + public Quaternion rotation; + } + + public bool lockUserInput = false; + + + private void Awake() + { + if (Instance == null) { + Instance = this; + DontDestroyOnLoad(gameObject); + } else { + Destroy(gameObject); + } + } + + // Start is called before the first frame update + void Start() + { + + } + + // Update is called once per frame + void Update() + { + HandleInput(); + } + + + + private void HandleMouseInput() + { + if (Input.GetMouseButton(0)) + { + CameraController.Instance.OrbitCamera(Input.GetAxis("Mouse X"), Input.GetAxis("Mouse Y")); + + } + else if (Input.GetMouseButton(1)) + { + CameraController.Instance.RotateCamera(Input.GetAxis("Mouse X"), Input.GetAxis("Mouse Y")); + } + } + + + private void HandleInput() + { + if (!lockUserInput) + { + HandleLockableInput(); + } + HandleNonLockableInput(); + } + + void HandleScrollWheelInput() + { + if (Input.GetAxis("Mouse ScrollWheel") != 0) + { + CameraController.Instance.ZoomCamera(Input.GetAxis("Mouse ScrollWheel") * 500); + } + } + + void HandleLockableInput() + { + + if(mouseActive) + { + HandleMouseInput(); + } + + if (Input.GetKey(KeyCode.LeftShift)) + { + CameraController.Instance.SetCameraSpeed(CameraController.Instance.GetCameraSpeedMax()); + } + else + { + CameraController.Instance.SetCameraSpeed(CameraController.Instance.GetCameraSpeedNormal()); + } + + // TRANSLATIONAL MOVEMENT + if (Input.GetKey(KeyCode.W) || Input.GetKey(KeyCode.UpArrow)) + { + CameraController.Instance.TranslateCamera(CameraController.TranslationInput.Forward); + } + if (Input.GetKey(KeyCode.A) || Input.GetKey(KeyCode.LeftArrow)) + { + CameraController.Instance.TranslateCamera(CameraController.TranslationInput.Left); + } + if (Input.GetKey(KeyCode.S) || Input.GetKey(KeyCode.DownArrow)) + { + CameraController.Instance.TranslateCamera(CameraController.TranslationInput.Back); + } + if (Input.GetKey(KeyCode.D) || Input.GetKey(KeyCode.RightArrow)) + { + CameraController.Instance.TranslateCamera(CameraController.TranslationInput.Right); + } + if (Input.GetKey(KeyCode.Q)) + { + CameraController.Instance.TranslateCamera(CameraController.TranslationInput.Up); + } + if (Input.GetKey(KeyCode.E)) + { + CameraController.Instance.TranslateCamera(CameraController.TranslationInput.Down); + } + + } + + void HandleNonLockableInput() + { + HandleScrollWheelInput(); + + if(Input.GetKeyDown(KeyCode.Escape)) + { + Application.Quit(); + } + + if (Input.GetKeyDown(KeyCode.C)) + { + + } + + if(Input.GetKeyDown(KeyCode.R)) + { + SimManager.Instance.RestartSimulation(); + } + + if (Input.GetKeyDown(KeyCode.L)) // 'L' for Load + { + UIManager.Instance.ToggleConfigSelectorPanel(); + } + + if (Input.GetKeyDown(KeyCode.Space)) + { + // Pause the time + if (SimManager.Instance.IsSimulationRunning()) { + SimManager.Instance.PauseSimulation(); + } else { + SimManager.Instance.ResumeSimulation(); + } + } + + if (Input.GetKeyDown(KeyCode.P)) + { + CameraController.Instance.SetAutoRotate(!CameraController.Instance.IsAutoRotate()); + } + + if (Input.GetKeyDown(KeyCode.Alpha1)) + { + // ORIGIN + // Set pre-set view 1 + } + + if (Input.GetKeyDown(KeyCode.Alpha2)) + { + // Set pre-set view 2 + + } + + + if (Input.GetKeyDown(KeyCode.Alpha4)) + { + // Set pre-set view 4 + } + + if (Input.GetKeyDown(KeyCode.Alpha5)) + { + // Set pre-set view 5 + } + + if (Input.GetKeyDown(KeyCode.Alpha6)) + { + // Set pre-set view 6 + } + + + } + +} diff --git a/coverage/editmode/Assets/Scripts/Managers/InputManager.cs.meta b/coverage/editmode/Assets/Scripts/Managers/InputManager.cs.meta new file mode 100644 index 0000000..643caa5 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Managers/InputManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 6a028bd12cca23f45a9eeb9fb0c4d1f1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Monitor.cs b/coverage/editmode/Assets/Scripts/Monitor.cs new file mode 100644 index 0000000..9174bad --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Monitor.cs @@ -0,0 +1,263 @@ +using UnityEngine; +using System.Collections; +using System.IO; +using System; +using System.Linq; +using System.Collections.Generic; +using System.Threading; + +public class SimMonitor : MonoBehaviour +{ + private const float _updateRate = 0.1f; // 100 Hz + private string _telemetryBinPath; + private string _eventLogPath; + private Coroutine _monitorRoutine; + + private string _sessionDirectory; + + + private FileStream _telemetryFileStream; + private BinaryWriter _telemetryBinaryWriter; + + [SerializeField] + private List _eventLogCache; + + [System.Serializable] + private class EventRecord + { + public float Time; + public float PositionX; + public float PositionY; + public float PositionZ; + public string EventType; + public string Details; + } + + private void Awake() { + InitializeSessionDirectory(); + } + + private void Start() + { + SimManager.Instance.OnSimulationStarted += RegisterSimulationStarted; + SimManager.Instance.OnSimulationEnded += RegisterSimulationEnded; + SimManager.Instance.OnNewThreat += RegisterNewThreat; + SimManager.Instance.OnNewInterceptor += RegisterNewInterceptor; + } + + private void InitializeSessionDirectory() { + string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss"); + _sessionDirectory = Application.persistentDataPath + $"\\Telemetry\\Logs\\{timestamp}"; + Directory.CreateDirectory(_sessionDirectory); + Debug.Log($"Monitoring simulation logs to {_sessionDirectory}"); + } + + private void InitializeLogFiles() + { + string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss"); + + _eventLogPath = Path.Combine(_sessionDirectory, $"sim_events_{timestamp}.csv"); + + // Initialize the event log cache + _eventLogCache = new List(); + + _telemetryBinPath = Path.Combine(_sessionDirectory, $"sim_telemetry_{timestamp}.bin"); + + // Open the file stream and binary writer for telemetry data + _telemetryFileStream = new FileStream(_telemetryBinPath, FileMode.Create, FileAccess.Write, FileShare.ReadWrite); + _telemetryBinaryWriter = new BinaryWriter(_telemetryFileStream); + + Debug.Log("Log files initialized successfully."); + } + + private void CloseLogFiles() { + if (_telemetryBinaryWriter != null) + { + _telemetryBinaryWriter.Flush(); + _telemetryBinaryWriter.Close(); + _telemetryBinaryWriter = null; + } + + if (_telemetryFileStream != null) + { + _telemetryFileStream.Close(); + _telemetryFileStream = null; + } + + } + + private IEnumerator MonitorRoutine() + { + while (true) + { + RecordTelemetry(); + yield return new WaitForSeconds(_updateRate); + } + } + + private void RecordTelemetry() + { + float time = (float)SimManager.Instance.GetElapsedSimulationTime(); + var agents = SimManager.Instance.GetActiveAgents(); + if(_telemetryBinaryWriter == null) { + Debug.LogWarning("Telemetry binary writer is null"); + return; + } + for (int i = 0; i < agents.Count; i++) + { + var agent = agents[i]; + + if (!agent.gameObject.activeInHierarchy) + continue; + + Vector3 pos = agent.transform.position; + + if (pos == Vector3.zero) + continue; + + Vector3 vel = agent.GetVelocity(); // Ensure GetVelocity() doesn't allocate + + int agentID = agent.GetInstanceID(); + int flightPhase = (int)agent.GetFlightPhase(); + byte agentType = (byte)(agent is Threat ? 0 : 1); + + // Write telemetry data directly to the binary file + _telemetryBinaryWriter.Write(time); + _telemetryBinaryWriter.Write(agentID); + _telemetryBinaryWriter.Write(pos.x); + _telemetryBinaryWriter.Write(pos.y); + _telemetryBinaryWriter.Write(pos.z); + _telemetryBinaryWriter.Write(vel.x); + _telemetryBinaryWriter.Write(vel.y); + _telemetryBinaryWriter.Write(vel.z); + _telemetryBinaryWriter.Write(flightPhase); + _telemetryBinaryWriter.Write(agentType); + } + } + + public void ConvertBinaryTelemetryToCsv(string binaryFilePath, string csvFilePath) + { + try + { + using FileStream fs = new FileStream(binaryFilePath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite); + using BinaryReader reader = new BinaryReader(fs); + using StreamWriter writer = new StreamWriter(csvFilePath, false); + { + // Write CSV header + writer.WriteLine("Time,AgentID,AgentX,AgentY,AgentZ,AgentVX,AgentVY,AgentVZ,AgentState,AgentType"); + + while (reader.BaseStream.Position != reader.BaseStream.Length) + { + float time = reader.ReadSingle(); + int agentID = reader.ReadInt32(); + float posX = reader.ReadSingle(); + float posY = reader.ReadSingle(); + float posZ = reader.ReadSingle(); + float velX = reader.ReadSingle(); + float velY = reader.ReadSingle(); + float velZ = reader.ReadSingle(); + int flightPhase = reader.ReadInt32(); + byte agentTypeByte = reader.ReadByte(); + string agentType = agentTypeByte == 0 ? "T" : "M"; + + // Write the data to CSV + writer.WriteLine($"{time:F2},{agentID},{posX:F2},{posY:F2},{posZ:F2},{velX:F2},{velY:F2},{velZ:F2},{flightPhase},{agentType}"); + } + } + } + catch (IOException e) + { + Debug.LogWarning($"An IO error occurred while converting binary telemetry to CSV: {e.Message}"); + } + } + + private void WriteEventsToFile() + { + using (StreamWriter writer = new StreamWriter(_eventLogPath, false)) + { + // Write CSV header + writer.WriteLine("Time,PositionX,PositionY,PositionZ,Event,Details"); + + foreach (var record in _eventLogCache) + { + writer.WriteLine($"{record.Time:F2},{record.PositionX:F2},{record.PositionY:F2},{record.PositionZ:F2},{record.EventType},{record.Details}"); + } + } + } + + private void RegisterSimulationStarted() + { + InitializeLogFiles(); + _monitorRoutine = StartCoroutine(MonitorRoutine()); + } + + private void RegisterSimulationEnded() + { + StopCoroutine(_monitorRoutine); + CloseLogFiles(); + WriteEventsToFile(); + StartCoroutine(ConvertBinaryTelemetryToCsvCoroutine(_telemetryBinPath, Path.ChangeExtension(_telemetryBinPath, ".csv"))); + } + + private IEnumerator ConvertBinaryTelemetryToCsvCoroutine(string binaryFilePath, string csvFilePath) + { + yield return null; // Wait for the next frame to ensure RecordTelemetry() has finished + ConvertBinaryTelemetryToCsv(binaryFilePath, csvFilePath); + } + + public void RegisterNewThreat(Threat threat) { + RegisterNewAgent(threat, "NEW_THREAT"); + } + + public void RegisterNewInterceptor(Interceptor interceptor) { + RegisterNewAgent(interceptor, "NEW_INTERCEPTOR"); + interceptor.OnInterceptMiss += RegisterInterceptorMiss; + interceptor.OnInterceptHit += RegisterInterceptorHit; + } + + private void RegisterNewAgent(Agent agent, string eventType) + { + float time = (float)SimManager.Instance.GetElapsedSimulationTime(); + Vector3 pos = agent.transform.position; + var record = new EventRecord + { + Time = time, + PositionX = pos.x, + PositionY = pos.y, + PositionZ = pos.z, + EventType = eventType, + Details = agent.name + }; + _eventLogCache.Add(record); + } + + public void RegisterInterceptorHit(Interceptor interceptor, Threat threat) { + RegisterInterceptEvent(interceptor, threat, true); + } + + public void RegisterInterceptorMiss(Interceptor interceptor, Threat threat) { + RegisterInterceptEvent(interceptor, threat, false); + } + + public void RegisterInterceptEvent(Interceptor interceptor, Threat threat, bool hit) + { + float time = (float)SimManager.Instance.GetElapsedSimulationTime(); + Vector3 pos = interceptor.transform.position; + string eventType = hit ? "HIT" : "MISS"; + var record = new EventRecord + { + Time = time, + PositionX = pos.x, + PositionY = pos.y, + PositionZ = pos.z, + EventType = eventType, + Details = $"{interceptor.name} and {threat.name}" + }; + _eventLogCache.Add(record); + } + + private void OnDestroy() + { + CloseLogFiles(); + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Monitor.cs.meta b/coverage/editmode/Assets/Scripts/Monitor.cs.meta new file mode 100644 index 0000000..edcc466 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Monitor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: d822a6be5cb96f54ca63228eeb5ebf23 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: -5 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Sensors.meta b/coverage/editmode/Assets/Scripts/Sensors.meta new file mode 100644 index 0000000..b6d12ed --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Sensors.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 8c45dceac2c26594d8ac013a8f72e042 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Sensors/IdealSensor.cs b/coverage/editmode/Assets/Scripts/Sensors/IdealSensor.cs new file mode 100644 index 0000000..177f9f4 --- /dev/null +++ b/coverage/editmode/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().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; + } +} diff --git a/coverage/editmode/Assets/Scripts/Sensors/IdealSensor.cs.meta b/coverage/editmode/Assets/Scripts/Sensors/IdealSensor.cs.meta new file mode 100644 index 0000000..03dc9c7 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Sensors/IdealSensor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f9b285afc8c96ee4f9ca22836fd105d0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Sensors/Sensor.cs b/coverage/editmode/Assets/Scripts/Sensors/Sensor.cs new file mode 100644 index 0000000..9fa06c9 --- /dev/null +++ b/coverage/editmode/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(); + } + + /// + /// Main sensing method to gather information about a target agent. + /// + /// The agent to sense. + /// SensorOutput containing position and velocity data. + /// + /// Implementers should: + /// 1. Call SensePosition to get position data. + /// 2. Call SenseVelocity to get velocity data. + /// 3. Combine results into a SensorOutput struct. + /// + public abstract SensorOutput Sense(Agent target); + + /// + /// Calculates the relative position of the target agent. + /// + /// The agent to sense. + /// PositionOutput containing range, azimuth, and elevation. + /// + /// 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. + /// + protected abstract PositionOutput SensePosition(Agent target); + + /// + /// Calculates the relative velocity of the target agent. + /// + /// The agent to sense. + /// VelocityOutput containing range rate, azimuth rate, and elevation rate. + /// + /// 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. + /// + 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; +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Sensors/Sensor.cs.meta b/coverage/editmode/Assets/Scripts/Sensors/Sensor.cs.meta new file mode 100644 index 0000000..06f668a --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Sensors/Sensor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 285bc14e5585a804b9bc44b10b8c3cb1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/SimManager.cs b/coverage/editmode/Assets/Scripts/SimManager.cs new file mode 100644 index 0000000..0559cd5 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/SimManager.cs @@ -0,0 +1,326 @@ +using System.Collections; +using System.Collections.Generic; +using System.Linq; +using UnityEngine; + +/// +/// Manages the simulation by handling missiles, targets, and their assignments. +/// Implements the Singleton pattern to ensure only one instance exists. +/// +public class SimManager : MonoBehaviour { + /// + /// Singleton instance of SimManager. + /// + public static SimManager Instance { get; private set; } + + /// + /// Configuration settings for the simulation. + /// + [SerializeField] + public SimulationConfig simulationConfig; + + + private List _activeInterceptors = new List(); + + + private List _interceptorObjects = new List(); + private List _threatObjects = new List(); + + private float _elapsedSimulationTime = 0f; + private float endTime = 100f; // Set an appropriate end time + private bool simulationRunning = false; + + + + public delegate void SimulationEventHandler(); + public event SimulationEventHandler OnSimulationEnded; + public event SimulationEventHandler OnSimulationStarted; + + public delegate void NewThreatEventHandler(Threat threat); + public event NewThreatEventHandler OnNewThreat; + + + public delegate void NewInterceptorEventHandler(Interceptor interceptor); + public event NewInterceptorEventHandler OnNewInterceptor; + + /// + /// Gets the elapsed simulation time. + /// + /// The elapsed time in seconds. + public double GetElapsedSimulationTime() { + return _elapsedSimulationTime; + } + + public List GetActiveInterceptors() { + return _activeInterceptors; + } + + public List GetActiveThreats() { + return _threatObjects.Where(threat => !threat.IsHit()).ToList(); + } + + public List GetActiveAgents() { + return _activeInterceptors.ConvertAll(interceptor => interceptor as Agent) + .Concat(GetActiveThreats().ConvertAll(threat => threat as Agent)) + .ToList(); + } + + void Awake() { + // Ensure only one instance of SimManager exists + if (Instance == null) { + Instance = this; + DontDestroyOnLoad(gameObject); + } else { + Destroy(gameObject); + } + simulationConfig = ConfigLoader.LoadSimulationConfig("1_salvo_1_hydra_7_drones.json"); + Debug.Log(simulationConfig); + } + + void Start() { + // Slow down time by simulationConfig.timeScale + if (Instance == this) { + StartSimulation(); + ResumeSimulation(); + } + + } + + public void SetTimeScale(float timeScale) { + Time.timeScale = timeScale; + Time.fixedDeltaTime = Time.timeScale * 0.02f; + Time.maximumDeltaTime = Time.timeScale * 0.15f; + } + + public void StartSimulation() { + OnSimulationStarted?.Invoke(); + InitializeSimulation(); + + } + + public void PauseSimulation() { + SetTimeScale(0); + simulationRunning = false; + } + + public void ResumeSimulation() { + SetTimeScale(simulationConfig.timeScale); + simulationRunning = true; + } + + public bool IsSimulationRunning() { + return simulationRunning; + } + + private void InitializeSimulation() { + // Invoke the simulation started event to let listeners + // know to invoke their own handler behavior + OnSimulationStarted?.Invoke(); + List missiles = new List(); + // Create missiles based on config + foreach (var swarmConfig in simulationConfig.interceptor_swarm_configs) { + for (int i = 0; i < swarmConfig.num_agents; i++) { + CreateInterceptor(swarmConfig.agent_config); + } + } + + List targets = new List(); + // Create targets based on config + foreach (var swarmConfig in simulationConfig.threat_swarm_configs) { + for (int i = 0; i < swarmConfig.num_agents; i++) { + CreateThreat(swarmConfig.agent_config); + } + } + + } + + public void AssignInterceptorsToThreats() { + IADS.Instance.AssignInterceptorsToThreats(_interceptorObjects); + } + + public void RegisterInterceptorHit(Interceptor interceptor, Threat threat) { + if (interceptor is Interceptor missileComponent) { + _activeInterceptors.Remove(missileComponent); + } + } + + public void RegisterInterceptorMiss(Interceptor interceptor, Threat threat) { + if (interceptor is Interceptor missileComponent) { + _activeInterceptors.Remove(missileComponent); + } + } + + public void RegisterThreatHit(Interceptor interceptor, Threat threat) { + // Placeholder + } + + public void RegisterThreatMiss(Interceptor interceptor, Threat threat) { + Debug.Log($"RegisterThreatMiss: Interceptor {interceptor.name} missed threat {threat.name}"); + // Placeholder + } + + + + /// + /// Creates a interceptor based on the provided configuration. + /// + /// Configuration settings for the interceptor. + /// The created Interceptor instance, or null if creation failed. + public Interceptor CreateInterceptor(AgentConfig config) { + string prefabName = config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70", + InterceptorType.MICROMISSILE => "Micromissile", + _ => "Hydra70" }; + + GameObject interceptorObject = CreateAgent(config, prefabName); + if (interceptorObject == null) + return null; + + // Interceptor-specific logic + switch (config.dynamic_config.sensor_config.type) { + case SensorType.IDEAL: + interceptorObject.AddComponent(); + break; + default: + Debug.LogError($"Sensor type '{config.dynamic_config.sensor_config.type}' not found."); + break; + } + + Interceptor interceptor = interceptorObject.GetComponent(); + _interceptorObjects.Add(interceptor); + _activeInterceptors.Add(interceptor); + + + // Subscribe events + interceptor.OnInterceptHit += RegisterInterceptorHit; + interceptor.OnInterceptMiss += RegisterInterceptorMiss; + + // Assign a unique and simple ID + int interceptorId = _interceptorObjects.Count; + interceptorObject.name = $"{config.interceptor_type}_Interceptor_{interceptorId}"; + + // Let listeners know a new interceptor has been created + OnNewInterceptor?.Invoke(interceptor); + + return interceptorObject.GetComponent(); + } + + /// + /// Creates a threat based on the provided configuration. + /// + /// Configuration settings for the threat. + /// The created Threat instance, or null if creation failed. + private Threat CreateThreat(AgentConfig config) { + string prefabName = config.threat_type switch { + ThreatType.DRONE => "Drone", ThreatType.ANTISHIP_MISSILE => "AntishipMissile", + _ => throw new System.ArgumentException($"Unsupported threat type: {config.threat_type}") + }; + GameObject threatObject = CreateAgent(config, prefabName); + if (threatObject == null) + return null; + + Threat threat = threatObject.GetComponent(); + // Assign a unique and simple ID + int targetId = _threatObjects.Count; + threatObject.name = $"{config.threat_type}_Target_{targetId}"; + + ThreatData threatData = new ThreatData(threat, threatObject.name); + _threatObjects.Add(threat); + + // Subscribe events + threat.OnInterceptHit += RegisterThreatHit; + threat.OnInterceptMiss += RegisterThreatMiss; + + // Let listeners know a new threat has been created + OnNewThreat?.Invoke(threat); + + return threatObject.GetComponent(); + } + + /// + /// Creates an agent (interceptor or threat) based on the provided configuration and prefab name. + /// + /// Configuration settings for the agent. + /// Name of the prefab to instantiate. + /// The created GameObject instance, or null if creation failed. + public GameObject CreateAgent(AgentConfig config, string prefabName) { + GameObject prefab = Resources.Load($"Prefabs/{prefabName}"); + if (prefab == null) { + Debug.LogError($"Prefab '{prefabName}' not found in Resources/Prefabs folder."); + return null; + } + + Vector3 noiseOffset = Utilities.GenerateRandomNoise(config.standard_deviation.position); + Vector3 noisyPosition = config.initial_state.position + noiseOffset; + + GameObject agentObject = + Instantiate(prefab, noisyPosition, Quaternion.Euler(config.initial_state.rotation)); + + Rigidbody agentRigidbody = agentObject.GetComponent(); + Vector3 velocityNoise = Utilities.GenerateRandomNoise(config.standard_deviation.velocity); + Vector3 noisyVelocity = config.initial_state.velocity + velocityNoise; + agentRigidbody.linearVelocity = noisyVelocity; + + agentObject.GetComponent().SetAgentConfig(config); + + return agentObject; + } + + public void LoadNewConfig(string configFileName) { + simulationConfig = ConfigLoader.LoadSimulationConfig(configFileName); + if (simulationConfig != null) { + Debug.Log($"Loaded new configuration: {configFileName}"); + RestartSimulation(); + } else { + Debug.LogError($"Failed to load configuration: {configFileName}"); + } + } + + public void RestartSimulation() { + OnSimulationEnded?.Invoke(); + Debug.Log("Simulation ended"); + // Reset simulation time + _elapsedSimulationTime = 0f; + simulationRunning = IsSimulationRunning(); + + // Clear existing interceptors and threats + foreach (var interceptor in _interceptorObjects) { + if (interceptor != null) { + Destroy(interceptor.gameObject); + } + } + + foreach (var threat in _threatObjects) { + if (threat != null) { + Destroy(threat.gameObject); + } + } + + _interceptorObjects.Clear(); + _activeInterceptors.Clear(); + _threatObjects.Clear(); + + StartSimulation(); + } + + void Update() { + // Check if all missiles have terminated + bool allInterceptorsTerminated = true; + foreach (var interceptor in _interceptorObjects) { + if (interceptor != null && interceptor.GetFlightPhase() != Agent.FlightPhase.TERMINATED) { + allInterceptorsTerminated = false; + break; + } + } + // If all missiles have terminated, restart the simulation + if (allInterceptorsTerminated) { + RestartSimulation(); + } + + if (simulationRunning && _elapsedSimulationTime < endTime) { + _elapsedSimulationTime += Time.deltaTime; + } else if (_elapsedSimulationTime >= endTime) { + simulationRunning = false; + Debug.Log("Simulation completed."); + } + } +} diff --git a/coverage/editmode/Assets/Scripts/SimManager.cs.meta b/coverage/editmode/Assets/Scripts/SimManager.cs.meta new file mode 100644 index 0000000..5f75a53 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/SimManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 84f2990fd69b0284ca96912cbe968b62 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 100 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Threats.meta b/coverage/editmode/Assets/Scripts/Threats.meta new file mode 100644 index 0000000..d3f1b0b --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 2342a881813cdd645962533af3f6f755 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Threats/AntishipMissile.cs b/coverage/editmode/Assets/Scripts/Threats/AntishipMissile.cs new file mode 100644 index 0000000..e5cecf7 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats/AntishipMissile.cs @@ -0,0 +1,11 @@ +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() {} +} diff --git a/coverage/editmode/Assets/Scripts/Threats/AntishipMissile.cs.meta b/coverage/editmode/Assets/Scripts/Threats/AntishipMissile.cs.meta new file mode 100644 index 0000000..510412f --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats/AntishipMissile.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 16e40584b2154ef4a95c84e85a321999 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Threats/DroneTarget.cs b/coverage/editmode/Assets/Scripts/Threats/DroneTarget.cs new file mode 100644 index 0000000..a754fd7 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats/DroneTarget.cs @@ -0,0 +1,21 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class DroneTarget : Threat { + // Start is called before the first frame update + protected override void Start() { + base.Start(); + } + + // Update is called once per frame + protected override void FixedUpdate() { + base.FixedUpdate(); + } + + protected override void UpdateReady(double deltaTime) {} + + protected override void UpdateBoost(double deltaTime) {} + + protected override void UpdateMidCourse(double deltaTime) {} +} diff --git a/coverage/editmode/Assets/Scripts/Threats/DroneTarget.cs.meta b/coverage/editmode/Assets/Scripts/Threats/DroneTarget.cs.meta new file mode 100644 index 0000000..5ca8af3 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats/DroneTarget.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: f532f6ee629e87643b7b75a50e83083f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/Threats/Threat.cs b/coverage/editmode/Assets/Scripts/Threats/Threat.cs new file mode 100644 index 0000000..2bb3b0b --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats/Threat.cs @@ -0,0 +1,17 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public abstract class Threat : Agent { + public override bool IsAssignable() { + return false; + } + + protected override void Start() { + base.Start(); + } + + protected override void FixedUpdate() { + base.FixedUpdate(); + } +} \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/Threats/Threat.cs.meta b/coverage/editmode/Assets/Scripts/Threats/Threat.cs.meta new file mode 100644 index 0000000..a48f037 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/Threats/Threat.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ad412917d9c68a144b3124e83ca083c1 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI.meta b/coverage/editmode/Assets/Scripts/UI.meta new file mode 100644 index 0000000..146c7c1 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c17270294c7dd6d45b8731a468423a83 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI/CameraController.cs b/coverage/editmode/Assets/Scripts/UI/CameraController.cs new file mode 100644 index 0000000..e851f19 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/CameraController.cs @@ -0,0 +1,490 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class CameraController : MonoBehaviour +{ + #region Singleton + + /// + /// Singleton instance of the CameraController. + /// + public static CameraController Instance { get; private set; } + + #endregion + + #region Camera Settings + + /// + /// Determines if mouse input is active for camera control. + /// + public bool mouseActive = true; + + /// + /// Locks user input for camera control. + /// + public bool lockUserInput = false; + + /// + /// Normal speed of camera movement. + /// + [SerializeField] private float _cameraSpeedNormal = 100.0f; + + /// + /// Maximum speed of camera movement. + /// + [SerializeField] private float _cameraSpeedMax = 1000.0f; + + /// + /// Current speed of camera movement. + /// + private float _cameraSpeed; + + /// + /// Horizontal rotation speed. + /// + public float _speedH = 2.0f; + + /// + /// Vertical rotation speed. + /// + public float _speedV = 2.0f; + + /// + /// Current yaw angle of the camera. + /// + private float _yaw = 0.0f; + + /// + /// Current pitch angle of the camera. + /// + private float _pitch = 0.0f; + + #endregion + + #region Orbit Settings + + /// + /// Determines if the camera should auto-rotate. + /// + public bool _autoRotate = false; + + /// + /// Threat transform for orbit rotation. + /// + public Transform target; + + /// + /// Distance from the camera to the orbit target. + /// + [SerializeField] private float _orbitDistance = 5.0f; + + /// + /// Horizontal orbit rotation speed. + /// + [SerializeField] private float _orbitXSpeed = 120.0f; + + /// + /// Vertical orbit rotation speed. + /// + [SerializeField] private float _orbitYSpeed = 120.0f; + + /// + /// Speed of camera zoom. + /// + [SerializeField] private float _zoomSpeed = 500.0f; + + /// + /// Minimum vertical angle limit for orbit. + /// + public float orbitYMinLimit = -20f; + + /// + /// Maximum vertical angle limit for orbit. + /// + public float orbitYMaxLimit = 80f; + + /// + /// Minimum distance for orbit. + /// + private float _orbitDistanceMin = 10f; + + /// + /// Maximum distance for orbit. + /// + [SerializeField] + private float _orbitDistanceMax = 20000f; + + /// + /// Current horizontal orbit angle. + /// + private float _orbitX = 0.0f; + + /// + /// Current vertical orbit angle. + /// + private float _orbitY = 0.0f; + + #endregion + + #region Rendering + + /// + /// Renderer for the orbit target. + /// + public Renderer targetRenderer; + + /// + /// Renderer for the floor. + /// + public Renderer floorRenderer; + + /// + /// Alpha value for material transparency. + /// + public float matAlpha; + + #endregion + + #region Autoplay Settings + + /// + /// Speed of camera movement during autoplay. + /// + public float autoplayCamSpeed = 2f; + + /// + /// Duration of horizontal auto-rotation. + /// + public float xAutoRotateTime = 5f; + + /// + /// Duration of vertical auto-rotation. + /// + public float yAutoRotateTime = 5f; + + /// + /// Coroutine for autoplay functionality. + /// + private Coroutine autoplayRoutine; + + #endregion + + #region Camera Presets + + /// + /// Represents a preset camera position and rotation. + /// + [System.Serializable] + public struct CameraPreset + { + public Vector3 position; + public Quaternion rotation; + } + + /// + /// Preset camera position for key 4. + /// + CameraPreset fourPos = new CameraPreset(); + + /// + /// Preset camera position for key 5. + /// + CameraPreset fivePos = new CameraPreset(); + + /// + /// Preset camera position for key 6. + /// + CameraPreset sixPos = new CameraPreset(); + + #endregion + + #region Movement + + /// + /// Mapping of translation inputs to movement vectors. + /// + private Dictionary _translationInputToVectorMap; + + /// + /// Forward movement vector. + /// + Vector3 wVector = Vector3.forward; + + /// + /// Left movement vector. + /// + Vector3 aVector = Vector3.left; + + /// + /// Backward movement vector. + /// + Vector3 sVector = Vector3.back; + + /// + /// Right movement vector. + /// + Vector3 dVector = Vector3.right; + + /// + /// Angle between forward vector and camera direction. + /// + public float forwardToCameraAngle; + + #endregion + + void SetCameraRotation(Quaternion rotation) + { + transform.rotation = rotation; + _pitch = rotation.eulerAngles.x; + _yaw = rotation.eulerAngles.y; + } + + public void SetCameraSpeed(float speed) + { + _cameraSpeed = speed; + } + + public float GetCameraSpeedMax() + { + return _cameraSpeedMax; + } + + public float GetCameraSpeedNormal() + { + return _cameraSpeedNormal; + } + + public bool IsAutoRotate() + { + return _autoRotate; + } + + public void SetAutoRotate(bool autoRotate) + { + if (autoRotate && !_autoRotate) { + _autoRotate = true; + autoplayRoutine = StartCoroutine(AutoPlayRoutine()); + } else if (!autoRotate && _autoRotate) { + _autoRotate = false; + StopCoroutine(autoplayRoutine); + } + } + + public static float ClampAngle(float angle, float min, float max) + { + if (angle < -360F) + angle += 360F; + if (angle > 360F) + angle -= 360F; + return Mathf.Clamp(angle, min, max); + } + + private void Awake() + { + if (Instance == null) { + Instance = this; + DontDestroyOnLoad(gameObject); + } else { + Destroy(gameObject); + } + + _translationInputToVectorMap = new Dictionary { + {TranslationInput.Forward, wVector}, + {TranslationInput.Left, aVector}, + {TranslationInput.Back, sVector}, + {TranslationInput.Right, dVector}, + {TranslationInput.Up, Vector3.up}, + {TranslationInput.Down, Vector3.down} + }; + } + + // Start is called before the first frame update + void Start() + { + fourPos.position = new Vector3(0, 0, 0); + fourPos.rotation = Quaternion.Euler(0,0,0); + fivePos.position = new Vector3(0, 0, 0); + fivePos.rotation = Quaternion.Euler(0, 0, 0); + sixPos.position = new Vector3(0, 0, 0); + sixPos.rotation = Quaternion.Euler(0, 0, 0); + + Vector3 angles = transform.eulerAngles; + _orbitX = angles.y; + _orbitY = angles.x; + + UpdateTargetAlpha(); + ResetCameraTarget(); + } + + IEnumerator AutoPlayRoutine() + { + while (true) + { + float elapsedTime = 0f; + while (elapsedTime <= xAutoRotateTime) + { + _orbitX += Time.unscaledDeltaTime * autoplayCamSpeed * _orbitDistance * 0.02f; + UpdateCamPosition(_orbitX, _orbitY); + elapsedTime += Time.unscaledDeltaTime; + yield return null; + } + elapsedTime = 0f; + while (elapsedTime <= yAutoRotateTime) + { + _orbitY -= Time.unscaledDeltaTime * autoplayCamSpeed * _orbitDistance * 0.02f; + UpdateCamPosition(_orbitX, _orbitY); + elapsedTime += Time.unscaledDeltaTime; + yield return null; + } + elapsedTime = 0f; + while (elapsedTime <= xAutoRotateTime) + { + _orbitX -= Time.unscaledDeltaTime * autoplayCamSpeed * _orbitDistance * 0.02f; + UpdateCamPosition(_orbitX, _orbitY); + elapsedTime += Time.unscaledDeltaTime; + yield return null; + } + elapsedTime = 0f; + while (elapsedTime <= yAutoRotateTime) + { + _orbitY += Time.unscaledDeltaTime * autoplayCamSpeed * _orbitDistance * 0.02f; + UpdateCamPosition(_orbitX, _orbitY); + elapsedTime += Time.unscaledDeltaTime; + yield return null; + } + yield return null; + } + + } + void ResetCameraTarget() + { + RaycastHit hit; + if(Physics.Raycast(transform.position, transform.forward, out hit, float.MaxValue, LayerMask.GetMask("Floor"), QueryTriggerInteraction.Ignore)) + { + target.transform.position = hit.point; + _orbitDistance = hit.distance; + Vector3 angles = transform.eulerAngles; + _orbitX = angles.y; + _orbitY = angles.x; + UpdateCamPosition(_orbitX, _orbitY); + } + else + { + target.transform.position = transform.position + (transform.forward * 100); + _orbitDistance = 100; + Vector3 angles = transform.eulerAngles; + _orbitX = angles.y; + _orbitY = angles.x; + //UpdateCamPosition(); + } + } + + public void EnableTargetRenderer(bool enable) { targetRenderer.enabled = enable; } + + public void EnableFloorGridRenderer(bool enable) { floorRenderer.enabled = enable; } + + + public void OrbitCamera(float xOrbit, float yOrbit) { + if (target) + { + _orbitX += xOrbit * _orbitXSpeed * _orbitDistance * 0.02f; + _orbitY -= yOrbit * _orbitYSpeed * _orbitDistance * 0.02f; + + _orbitY = ClampAngle(_orbitY, orbitYMinLimit, orbitYMaxLimit); + UpdateCamPosition(_orbitX, _orbitY); + } + } + + public void RotateCamera(float xRotate, float yRotate) { + _yaw += xRotate * _speedH; + _pitch -= yRotate * _speedV; + transform.eulerAngles = new Vector3(_pitch, _yaw, 0.0f); + } + + private void UpdateCamPosition(float x, float y) + { + Quaternion rotation = Quaternion.Euler(y, x, 0); + RaycastHit hit; + //Debug.DrawLine(target.position, transform.position, Color.red); + if (Physics.Linecast(target.position, transform.position, out hit, ~LayerMask.GetMask("Floor"), QueryTriggerInteraction.Ignore)) + { + _orbitDistance -= hit.distance; + } + Vector3 negDistance = new Vector3(0.0f, 0.0f, -_orbitDistance); + Vector3 position = rotation * negDistance + target.position; + UpdateTargetAlpha(); + + SetCameraRotation(rotation); + transform.position = position; + } + + + public void ZoomCamera(float zoom) + { + _orbitDistance = Mathf.Clamp(_orbitDistance - zoom * _zoomSpeed, _orbitDistanceMin, _orbitDistanceMax); + UpdateCamPosition(_orbitX, _orbitY); + } + + void UpdateTargetAlpha() + { + matAlpha = (_orbitDistance - _orbitDistanceMin) / (_orbitDistanceMax - _orbitDistanceMin); + matAlpha = Mathf.Max(Mathf.Sqrt(matAlpha) - 0.5f, 0); + Color matColor = targetRenderer.material.color; + matColor.a = matAlpha; + targetRenderer.material.color = matColor; + } + + void UpdateDirectionVectors() + { + Vector3 cameraToTarget = target.position - transform.position; + cameraToTarget.y = 0; + forwardToCameraAngle = Vector3.SignedAngle(Vector3.forward, cameraToTarget, Vector3.down); + + if(forwardToCameraAngle >-45f && forwardToCameraAngle <= 45f) + { + _translationInputToVectorMap[TranslationInput.Forward] = Vector3.forward; + _translationInputToVectorMap[TranslationInput.Left] = Vector3.left; + _translationInputToVectorMap[TranslationInput.Back] = Vector3.back; + _translationInputToVectorMap[TranslationInput.Right] = Vector3.right; + } + else if(forwardToCameraAngle > 45f && forwardToCameraAngle <= 135f) + { + _translationInputToVectorMap[TranslationInput.Forward] = Vector3.left; + _translationInputToVectorMap[TranslationInput.Left] = Vector3.back; + _translationInputToVectorMap[TranslationInput.Back] = Vector3.right; + _translationInputToVectorMap[TranslationInput.Right] = Vector3.forward; + } + else if(forwardToCameraAngle > 135f || forwardToCameraAngle <= -135f) + { + _translationInputToVectorMap[TranslationInput.Forward] = Vector3.back; + _translationInputToVectorMap[TranslationInput.Left] = Vector3.right; + _translationInputToVectorMap[TranslationInput.Back] = Vector3.forward; + _translationInputToVectorMap[TranslationInput.Right] = Vector3.left; + } + else if(forwardToCameraAngle > -135f && forwardToCameraAngle <= -45f) + { + _translationInputToVectorMap[TranslationInput.Forward] = Vector3.right; + _translationInputToVectorMap[TranslationInput.Left] = Vector3.forward; + _translationInputToVectorMap[TranslationInput.Back] = Vector3.left; + _translationInputToVectorMap[TranslationInput.Right] = Vector3.back; + } + + } + + public enum TranslationInput { + Forward, + Left, + Back, + Right, + Up, + Down + } + + public void TranslateCamera(TranslationInput input) { + UpdateDirectionVectors(); + target.Translate(_translationInputToVectorMap[input] * Time.unscaledDeltaTime * _cameraSpeed); + UpdateCamPosition(_orbitX, _orbitY); + } + +} diff --git a/coverage/editmode/Assets/Scripts/UI/CameraController.cs.meta b/coverage/editmode/Assets/Scripts/UI/CameraController.cs.meta new file mode 100644 index 0000000..b5d307d --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/CameraController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: b9e222cf9df32df4196f08036d68d740 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI/Dialogs.meta b/coverage/editmode/Assets/Scripts/UI/Dialogs.meta new file mode 100644 index 0000000..e2446ca --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/Dialogs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 27829404610ae9a479fd6f44c6da81ca +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI/Dialogs/AgentStatusDialog.cs b/coverage/editmode/Assets/Scripts/UI/Dialogs/AgentStatusDialog.cs new file mode 100644 index 0000000..6f75d26 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/Dialogs/AgentStatusDialog.cs @@ -0,0 +1,36 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class BotStatusDialog : UIDialog +{ + // Start is called before the first frame update + public override void Start() + { + base.Start(); + + + UISelectableEntry missiles = CreateSelectableEntry(); + missiles.SetTextContent(new List(new string[] { "Interceptors" })); + missiles.SetIsSelectable(false); + + UISelectableEntry submunitions = CreateSelectableEntry(); + submunitions.SetTextContent(new List(new string[] { "Submunitions" })); + submunitions.SetIsSelectable(false); + + UISelectableEntry targets = CreateSelectableEntry(); + targets.SetTextContent(new List(new string[] { "Threats" })); + targets.SetIsSelectable(false); + + SetDialogEntries(new List(new UISelectableEntry[] { missiles, submunitions, targets })); + + AddDialogTab("All", () => { }); + + } + + // Update is called once per frame + void Update() + { + + } +} diff --git a/coverage/editmode/Assets/Scripts/UI/Dialogs/AgentStatusDialog.cs.meta b/coverage/editmode/Assets/Scripts/UI/Dialogs/AgentStatusDialog.cs.meta new file mode 100644 index 0000000..cfa323d --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/Dialogs/AgentStatusDialog.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: a404f59a5c2ba814a9c1ca121b596df9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI/RectTransformExtensions.cs b/coverage/editmode/Assets/Scripts/UI/RectTransformExtensions.cs new file mode 100644 index 0000000..b68ddc5 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/RectTransformExtensions.cs @@ -0,0 +1,23 @@ + using UnityEngine; + public static class RectTransformExtensions + { + public static void SetLeft(this RectTransform rt, float left) + { + rt.offsetMin = new Vector2(left, rt.offsetMin.y); + } + + public static void SetRight(this RectTransform rt, float right) + { + rt.offsetMax = new Vector2(-right, rt.offsetMax.y); + } + + public static void SetTop(this RectTransform rt, float top) + { + rt.offsetMax = new Vector2(rt.offsetMax.x, -top); + } + + public static void SetBottom(this RectTransform rt, float bottom) + { + rt.offsetMin = new Vector2(rt.offsetMin.x, bottom); + } + } \ No newline at end of file diff --git a/coverage/editmode/Assets/Scripts/UI/RectTransformExtensions.cs.meta b/coverage/editmode/Assets/Scripts/UI/RectTransformExtensions.cs.meta new file mode 100644 index 0000000..1d18e42 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/RectTransformExtensions.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c991d4191b4586742a5d8dfc8ece23bb +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI/UIBuildButton.cs b/coverage/editmode/Assets/Scripts/UI/UIBuildButton.cs new file mode 100644 index 0000000..88b4745 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/UIBuildButton.cs @@ -0,0 +1,18 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class UIBuildButton : MonoBehaviour +{ + // Start is called before the first frame update + void Start() + { + + } + + // Update is called once per frame + void Update() + { + + } +} diff --git a/coverage/editmode/Assets/Scripts/UI/UIBuildButton.cs.meta b/coverage/editmode/Assets/Scripts/UI/UIBuildButton.cs.meta new file mode 100644 index 0000000..cd65090 --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/UIBuildButton.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 56ea3cedd2ebcbc42a98ea19ebc61632 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/coverage/editmode/Assets/Scripts/UI/UIDialog.cs b/coverage/editmode/Assets/Scripts/UI/UIDialog.cs new file mode 100644 index 0000000..da53a3c --- /dev/null +++ b/coverage/editmode/Assets/Scripts/UI/UIDialog.cs @@ -0,0 +1,213 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using TMPro; +using System; +using UnityEngine.UI; + +public class UIDialog : MonoBehaviour +{ + [SerializeField] + private string dialogTitle; + + [SerializeField] + private TextMeshProUGUI dialogTitleHandle; + [SerializeField] + private RectTransform contentHandle; + + /// TABS + [SerializeField] + private float tabWidth = 50f; + [SerializeField] + private float tabHeight = 16f; + // List of dialog tabs + private List dialogTabs; + + /// ENTRIES + private List entries; + + private float entryHeight = 20f; + private float entryIndentWidth= 10f; + + private List cleanupPool; + + + private bool isOpen; + + + + + // Start is called before the first frame update + public virtual void Start() + { + dialogTitleHandle.text = dialogTitle; + dialogTitleHandle.font = UIManager.Instance.Font; + isOpen = gameObject.activeSelf; + dialogTabs = new List(); + entries = new List(); + cleanupPool = new List(); + } + + internal RectTransform GetContentHandle() + { + return contentHandle; + } + + public bool IsOpen() + { + return isOpen; + } + + protected virtual void OnEnable() { isOpen = true; } + protected virtual void OnDisable() { isOpen = false; } + + public float GetTabWidth() { return tabWidth; } + public float GetTabHeight() { return tabHeight; } + + /// + /// Returns the height of the dialog title bar + /// + public float GetTitleBarHeight() { return dialogTitleHandle.rectTransform.sizeDelta.y; } + + /// + /// Adds a new tab to the dialog, when clicked it will call the given callback + /// + public void AddDialogTab(string tabName, Action onClick) + { + dialogTabs.Add(AddTabButton(tabName, onClick)); + } + + /// + /// Add the tab button to the right of the existing tabs + /// + private GameObject AddTabButton(string tabName, Action onClick) + { + GameObject tabButton = new GameObject("TabButton", typeof(RectTransform)); + tabButton.transform.SetParent(transform); // worldPositionStays ? + // RectTransform anchors to the right of the content handle + RectTransform rTransform = tabButton.GetComponent(); + rTransform.anchorMin = new Vector2(0, 1); + rTransform.anchorMax = new Vector2(0, 1); + rTransform.pivot = new Vector2(0, 1); + rTransform.sizeDelta = new Vector2(tabWidth, tabHeight); + // Count tabs * tabSize to get the position from the left + rTransform.anchoredPosition = new Vector2(tabWidth * dialogTabs.Count, -(GetTitleBarHeight())); + + // Add the onClick callback to the button + Button button = tabButton.AddComponent