Assignment system overhaul to fix many bugs

Assets/Scripts/Agent.cs

@@ -33,12 +33,12 @@ public abstract class Agent : MonoBehaviour {
   protected StaticConfig _staticConfig;
 
   // Define delegates
-  public delegate void AgentHitEventHandler(Agent agent);
+  public delegate void InterceptHitEventHandler(Interceptor interceptor, Threat target);
-  public delegate void AgentMissEventHandler(Agent agent);
+  public delegate void InterceptMissEventHandler(Interceptor interceptor, Threat target);
 
   // Define events
-  public event AgentHitEventHandler OnAgentHit;
+  public event InterceptHitEventHandler OnInterceptHit;
-  public event AgentMissEventHandler OnAgentMiss;
+  public event InterceptMissEventHandler OnInterceptMiss;
 
   public void SetFlightPhase(FlightPhase flightPhase) {
     Debug.Log(
@@ -105,16 +105,24 @@ public abstract class Agent : MonoBehaviour {
   }
 
   // Mark the agent as having hit the target or been hit.
-  public void MarkAsHit() {
+  public void HandleInterceptHit() {
     _isHit = true;
-    OnAgentHit?.Invoke(this);
+    if (this is Interceptor interceptor && _target is Threat threat) {
+      OnInterceptHit?.Invoke(interceptor, threat);
+    } else if (this is Threat threatAgent && _target is Interceptor interceptorTarget) {
+      OnInterceptHit?.Invoke(interceptorTarget, threatAgent);
+    }
     TerminateAgent();
   }
 
-  public void MarkAsMiss() {
+  public void HandleInterceptMiss() {
     _isMiss = true;
     if (_target != null) {
-      OnAgentMiss?.Invoke(this);
+      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();

Assets/Scripts/Assignment/Assignment.cs

@@ -1,6 +1,9 @@
 using System;
 using System.Collections.Generic;
+using System.Collections.Immutable;
 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 {
@@ -8,39 +11,30 @@ public interface IAssignment {
   // The first element corresponds to the interceptor index, and the second element
   // corresponds to the threat index.
   public struct AssignmentItem {
-    public int InterceptorIndex;
+    public Interceptor Interceptor;
-    public int ThreatIndex;
+    public Threat Threat;
 
-    public AssignmentItem(int missileIndex, int threatIndex) {
+    public AssignmentItem(Interceptor interceptor, Threat threat) {
-      InterceptorIndex = missileIndex;
+      Interceptor = interceptor;
-      ThreatIndex = threatIndex;
+      Threat = threat;
     }
   }
 
   // A list containing the interceptor-target assignments.
 
   // Assign a target to each interceptor that has not been assigned a target yet.
-  public abstract IEnumerable<AssignmentItem> Assign(List<Agent> missiles, List<Agent> targets);
+  [Pure]
+  public abstract IEnumerable<AssignmentItem> Assign(in IReadOnlyList<Interceptor> interceptors, in IReadOnlyList<ThreatData> threatTable);
 
   // Get the list of assignable interceptor indices.
-  protected static List<int> GetAssignableInterceptorIndices(List<Agent> missiles) {
+  [Pure]
-    List<int> assignableInterceptorIndices = new List<int>();
+  protected static List<Interceptor> GetAssignableInterceptors(in IReadOnlyList<Interceptor> interceptors) {
-    for (int missileIndex = 0; missileIndex < missiles.Count; missileIndex++) {
+    return interceptors.Where(interceptor => interceptor.IsAssignable()).ToList();
-      if (missiles[missileIndex].IsAssignable()) {
-        assignableInterceptorIndices.Add(missileIndex);
-      }
-    }
-    return assignableInterceptorIndices;
   }
 
-  // Get the list of active target indices.
+  // Get the list of active threats.
-  protected static List<int> GetActiveThreatIndices(List<Agent> threats) {
+  [Pure]
-    List<int> activeThreatIndices = new List<int>();
+  protected static List<ThreatData> GetActiveThreats(in IReadOnlyList<ThreatData> threats) {
-    for (int threatIndex = 0; threatIndex < threats.Count; threatIndex++) {
+    return threats.Where(t => t.Status != ThreatStatus.DESTROYED).ToList();
-      if (!threats[threatIndex].IsHit()) {
-        activeThreatIndices.Add(threatIndex);
-      }
-    }
-    return activeThreatIndices;
   }
 }

Assets/Scripts/Assignment/RoundRobinAssignment.cs

@@ -1,39 +1,43 @@
-using System;
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
-
+using System.Diagnostics.Contracts;
-// The round-robin assignment class assigns missiles to the targets in a
+// The round-robin assignment class assigns interceptors to the targets in a
-// round-robin order.
+// round-robin order using the new paradigm.
 public class RoundRobinAssignment : IAssignment {
-  // Previous target index that was assigned.
+    // Previous target index that was assigned.
-  private int prevTargetIndex = -1;
+    private int prevTargetIndex = -1;
 
-  // Assign a target to each interceptor that has not been assigned a target yet.
+    // Assign a target to each interceptor that has not been assigned a target yet.
-  public IEnumerable<IAssignment.AssignmentItem> Assign(List<Agent> missiles, List<Agent> targets) {
+    [Pure]
-    List<IAssignment.AssignmentItem> assignments = new List<IAssignment.AssignmentItem>();
+    public IEnumerable<IAssignment.AssignmentItem> Assign(in IReadOnlyList<Interceptor> interceptors, in IReadOnlyList<ThreatData> targets) {
-    List<int> assignableInterceptorIndices = IAssignment.GetAssignableInterceptorIndices(missiles);
+        List<IAssignment.AssignmentItem> assignments = new List<IAssignment.AssignmentItem>();
-    if (assignableInterceptorIndices.Count == 0) {
+
-      return assignments;
+        // Get the list of interceptors that are available for assignment.
+        List<Interceptor> assignableInterceptors = IAssignment.GetAssignableInterceptors(interceptors);
+        if (assignableInterceptors.Count == 0) {
+            return assignments;
+        }
+
+        // Get the list of active threats that need to be addressed.
+        List<ThreatData> 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;
     }
-
-    List<int> activeThreatIndices = IAssignment.GetActiveThreatIndices(targets);
-    if (activeThreatIndices.Count == 0) {
-      return assignments;
-    }
-
-    foreach (int missileIndex in assignableInterceptorIndices) {
-      int nextActiveTargetIndex = activeThreatIndices.FindIndex(index => index > prevTargetIndex);
-
-      if (nextActiveTargetIndex == -1) {
-        nextActiveTargetIndex = 0;
-      }
-
-      int nextTargetIndex = activeThreatIndices[nextActiveTargetIndex];
-      assignments.Add(new IAssignment.AssignmentItem(missileIndex, nextTargetIndex));
-      prevTargetIndex = nextTargetIndex;
-    }
-
-    return assignments;
-  }
 }

Assets/Scripts/Assignment/ThreatAssignment.cs

@@ -3,70 +3,64 @@ using System.Collections.Generic;
 using System.Linq;
 using Unity.VisualScripting;
 using UnityEngine;
-
+using System.Diagnostics.Contracts;
-// The threat assignment class assigns missiles to the targets based
+// 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.
-  public IEnumerable<IAssignment.AssignmentItem> Assign(List<Agent> missiles, List<Agent> targets) {
+  [Pure]
+  public IEnumerable<IAssignment.AssignmentItem> Assign(in IReadOnlyList<Interceptor> interceptors, in IReadOnlyList<ThreatData> targets) {
     List<IAssignment.AssignmentItem> assignments = new List<IAssignment.AssignmentItem>();
 
-    List<int> assignableInterceptorIndices = IAssignment.GetAssignableInterceptorIndices(missiles);
+    List<Interceptor> assignableInterceptors = IAssignment.GetAssignableInterceptors(interceptors);
-    if (assignableInterceptorIndices.Count == 0) {
+    if (assignableInterceptors.Count == 0) {
+      Debug.LogWarning("No assignable interceptors found");
       return assignments;
     }
 
-    List<int> activeThreatIndices = IAssignment.GetActiveThreatIndices(targets);
+    List<ThreatData> activeThreats = IAssignment.GetActiveThreats(targets);
-    if (activeThreatIndices.Count == 0) {
+    if (activeThreats.Count == 0) {
+      Debug.LogWarning("No active threats found");
       return assignments;
     }
 
     Vector3 positionToDefend = Vector3.zero;
     List<ThreatInfo> threatInfos =
-        CalculateThreatLevels(targets, activeThreatIndices, positionToDefend);
+        CalculateThreatLevels(activeThreats, positionToDefend);
 
-    foreach (int missileIndex in assignableInterceptorIndices) {
+    // Sort ThreatInfo first by ThreatData.Status (UNASSIGNED first, then ASSIGNED)
-      if (missiles[missileIndex].HasAssignedTarget())
+    // Within each group, order by ThreatLevel descending
-        continue;
+    threatInfos = threatInfos.OrderByDescending(t => t.ThreatData.Status == ThreatStatus.UNASSIGNED)
-      if (threatInfos.Count == 0)
+                             .ThenByDescending(t => t.ThreatLevel)
-        break;
+                             .ToList();
     
-      // Find the optimal target for this interceptor based on distance and threat
+    var assignableInterceptorsEnumerator = assignableInterceptors.GetEnumerator();
-      ThreatInfo optimalTarget = null;
+    if (assignableInterceptorsEnumerator.MoveNext()) // Move to the first element
-      float optimalScore = float.MinValue;
+    {
-
+      foreach (ThreatInfo threatInfo in threatInfos) {
-      foreach (ThreatInfo threat in threatInfos) {
+        assignments.Add(new IAssignment.AssignmentItem(assignableInterceptorsEnumerator.Current, threatInfo.ThreatData.Threat));
-        float distance = Vector3.Distance(missiles[missileIndex].transform.position,
+        if (!assignableInterceptorsEnumerator.MoveNext()) {
-                                          targets[threat.TargetIndex].transform.position);
+          break;
-        float score = threat.ThreatLevel / distance;  // Balance threat level with proximity
-
-        if (score > optimalScore) {
-          optimalScore = score;
-          optimalTarget = threat;
         }
       }
-
-      if (optimalTarget != null) {
-        assignments.Add(new IAssignment.AssignmentItem(missileIndex, optimalTarget.TargetIndex));
-        threatInfos.Remove(optimalTarget);
-      }
     }
     return assignments;
   }
 
-  private List<ThreatInfo> CalculateThreatLevels(List<Agent> targets, List<int> activeThreatIndices,
+
-                                                 Vector3 missilesMeanPosition) {
+  private List<ThreatInfo> CalculateThreatLevels(List<ThreatData> threatTable,
+                                                 Vector3 defensePosition) {
     List<ThreatInfo> threatInfos = new List<ThreatInfo>();
 
-    foreach (int targetIndex in activeThreatIndices) {
+    foreach (ThreatData threatData in threatTable) {
-      Agent target = targets[targetIndex];
+      Threat threat = threatData.Threat;
-      float distanceToMean = Vector3.Distance(target.transform.position, missilesMeanPosition);
+      float distanceToMean = Vector3.Distance(threat.transform.position, defensePosition);
-      float velocityMagnitude = target.GetVelocity().magnitude;
+      float velocityMagnitude = threat.GetVelocity().magnitude;
 
       // Calculate threat level based on proximity and velocity
       float threatLevel = (1 / distanceToMean) * velocityMagnitude;
 
-      threatInfos.Add(new ThreatInfo(targetIndex, threatLevel));
+      threatInfos.Add(new ThreatInfo(threatData, threatLevel));
     }
 
     // Sort threats in descending order
@@ -74,11 +68,11 @@ public class ThreatAssignment : IAssignment {
   }
 
   private class ThreatInfo {
-    public int TargetIndex { get; }
+    public ThreatData ThreatData { get; }
     public float ThreatLevel { get; }
 
-    public ThreatInfo(int targetIndex, float threatLevel) {
+    public ThreatInfo(ThreatData threatData, float threatLevel) {
-      TargetIndex = targetIndex;
+      ThreatData = threatData;
       ThreatLevel = threatLevel;
     }
   }

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<Interceptor> _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<Interceptor>(); // Initialize the list
+    }
+}

Assets/Scripts/IADS/ThreatData.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: adc0c5dbdb9dc7d498b50cf9a15c2db5

Assets/Scripts/Interceptor.cs

@@ -74,7 +74,7 @@ public class Interceptor : Agent {
 
   private void OnTriggerEnter(Collider other) {
     if (other.gameObject.name == "Floor") {
-      this.MarkAsMiss();
+      this.HandleInterceptMiss();
     }
     // Check if the collision is with another Agent
     Agent otherAgent = other.gameObject.GetComponentInParent<Agent>();
@@ -87,13 +87,13 @@ public class Interceptor : Agent {
         // Set green for hit
         markerObject.GetComponent<Renderer>().material.color = new Color(0, 1, 0, 0.15f);
         // Mark both this agent and the other agent as hit
-        this.MarkAsHit();
+        this.HandleInterceptHit();
-        otherAgent.MarkAsHit();
+        otherAgent.HandleInterceptHit();
 
       } else {
         // Set red for miss
         markerObject.GetComponent<Renderer>().material.color = new Color(1, 0, 0, 0.15f);
-        this.MarkAsMiss();
+        this.HandleInterceptMiss();
         // otherAgent.MarkAsMiss();
       }
     }

Assets/Scripts/Interceptors/Micromissile.cs

@@ -28,7 +28,7 @@ public class Micromissile : Interceptor {
       // Check whether the threat should be considered a miss
       SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
       if (sensorOutput.velocity.range > 1000f) {
-        this.MarkAsMiss();
+        this.HandleInterceptMiss();
       }
 
       // Calculate the acceleration input

Assets/Scripts/MicromissileAssembly.asmdef

@@ -0,0 +1,16 @@
+{
+    "name": "MicromissileAssembly",
+    "rootNamespace": "",
+    "references": [
+        "GUID:6055be8ebefd69e48b49212b09b47b2f"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

Assets/Scripts/MicromissileAssembly.asmdef.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: af8bba08a36038347823e2f46bdc9857
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/Monitor.cs

@@ -41,7 +41,7 @@ public class SimMonitor : MonoBehaviour
     private void ExportTelemetry()
     {
         float time = (float)SimManager.Instance.GetElapsedSimulationTime();
-        foreach (var agent in SimManager.Instance.GetActiveThreats().Cast<Agent>().Concat(SimManager.Instance.GetActiveInterceptors().Cast<Agent>()))
+        foreach (var agent in SimManager.Instance.GetActiveAgents())
         {
             Vector3 pos = agent.transform.position;
             if(pos == Vector3.zero) {

Assets/Scripts/SimManager.cs

@@ -19,11 +19,15 @@ public class SimManager : MonoBehaviour {
   [SerializeField]
   public SimulationConfig simulationConfig;
 
-  private List<Interceptor> _interceptors = new List<Interceptor>();
+  
   private List<Interceptor> _activeInterceptors = new List<Interceptor>();
-  private List<Threat> _unassignedThreats = new List<Threat>();
+  [SerializeField]
-  private List<Threat> _threats = new List<Threat>();
+  private List<ThreatData> _threatTable = new List<ThreatData>();
-  private List<Threat> _activeThreats = new List<Threat>();
+  private Dictionary<Threat, ThreatData> _threatDataMap = new Dictionary<Threat, ThreatData>();
+
+  private List<Interceptor> _interceptorObjects = new List<Interceptor>();
+  private List<Threat> _threatObjects = new List<Threat>();
+
   private float _elapsedSimulationTime = 0f;
   private float endTime = 100f;  // Set an appropriate end time
   private bool simulationRunning = false;
@@ -47,12 +51,12 @@ public class SimManager : MonoBehaviour {
   }
 
   public List<Threat> GetActiveThreats() {
-    return _activeThreats;
+    return _threatTable.Where(threat => threat.Status != ThreatStatus.DESTROYED).Select(threat => threat.Threat).ToList();
   }
 
   public List<Agent> GetActiveAgents() {
     return _activeInterceptors.ConvertAll(interceptor => interceptor as Agent)
-        .Concat(_activeThreats.ConvertAll(threat => threat as Agent))
+        .Concat(GetActiveThreats().ConvertAll(threat => threat as Agent))
         .ToList();
   }
 
@@ -108,8 +112,6 @@ public class SimManager : MonoBehaviour {
     foreach (var swarmConfig in simulationConfig.interceptor_swarm_configs) {
       for (int i = 0; i < swarmConfig.num_agents; i++) {
         var interceptor = CreateInterceptor(swarmConfig.agent_config);
-        interceptor.OnAgentHit += RegisterInterceptorHit;
-        interceptor.OnAgentMiss += RegisterInterceptorMiss;
       }
     }
 
@@ -118,8 +120,6 @@ public class SimManager : MonoBehaviour {
     foreach (var swarmConfig in simulationConfig.threat_swarm_configs) {
       for (int i = 0; i < swarmConfig.num_agents; i++) {
         var threat = CreateThreat(swarmConfig.agent_config);
-        threat.OnAgentHit += RegisterThreatHit;
-        threat.OnAgentMiss += RegisterThreatMiss;
       }
     }
 
@@ -131,31 +131,35 @@ public class SimManager : MonoBehaviour {
   }
 
   public void AssignInterceptorsToThreats() {
-    AssignInterceptorsToThreats(_interceptors);
+    AssignInterceptorsToThreats(_interceptorObjects);
   }
 
-  public void RegisterInterceptorHit(Agent interceptor) {
+  public void RegisterInterceptorHit(Interceptor interceptor, Threat threat) {
     if (interceptor is Interceptor missileComponent) {
       _activeInterceptors.Remove(missileComponent);
     }
   }
 
-  public void RegisterInterceptorMiss(Agent interceptor) {
+  public void RegisterInterceptorMiss(Interceptor interceptor, Threat threat) {
     if (interceptor is Interceptor missileComponent) {
       _activeInterceptors.Remove(missileComponent);
     }
+    // Remove the interceptor from the threat's assigned interceptors
+    _threatDataMap[threat].RemoveInterceptor(interceptor);
   }
 
-  public void RegisterThreatHit(Agent threat) {
+  public void RegisterThreatHit(Interceptor interceptor, Threat threat) {
-    if (threat is Threat targetComponent) {
+    ThreatData threatData = _threatDataMap[threat];
-      _activeThreats.Remove(targetComponent);
+    threatData.RemoveInterceptor(interceptor);
+    if (threatData != null) {
+      threatData.MarkDestroyed();
     }
   }
 
-  public void RegisterThreatMiss(Agent threat) {
+  public void RegisterThreatMiss(Interceptor interceptor, Threat threat) {
-    if (threat is Threat targetComponent) {
+    Debug.Log($"RegisterThreatMiss: Interceptor {interceptor.name} missed threat {threat.name}");
-      _unassignedThreats.Add(targetComponent);
+    ThreatData threatData = _threatDataMap[threat];
-    }
+    threatData.RemoveInterceptor(interceptor);
   }
 
   /// <summary>
@@ -163,27 +167,34 @@ public class SimManager : MonoBehaviour {
   /// </summary>
   /// <param name="missilesToAssign">The list of missiles to assign.</param>
   public void AssignInterceptorsToThreats(List<Interceptor> missilesToAssign) {
-    // Convert Interceptor and Threat lists to Agent lists
-    List<Agent> missileAgents = new List<Agent>(missilesToAssign.ConvertAll(m => m as Agent));
-    // Convert Threat list to Agent list, excluding already assigned targets
-    List<Agent> targetAgents = _unassignedThreats.ToList<Agent>();
-
     // Perform the assignment
     IEnumerable<IAssignment.AssignmentItem> assignments =
-        _assignmentScheme.Assign(missileAgents, targetAgents);
+        _assignmentScheme.Assign(missilesToAssign, _threatTable);
 
     // Apply the assignments to the missiles
     foreach (var assignment in assignments) {
-      if (assignment.InterceptorIndex < missilesToAssign.Count) {
+        Debug.LogWarning($"Assigning interceptor {assignment.Interceptor} to threat {assignment.Threat}"); 
-        Interceptor interceptor = missilesToAssign[assignment.InterceptorIndex];
+        assignment.Interceptor.AssignTarget(assignment.Threat);
-        Threat threat = _unassignedThreats[assignment.ThreatIndex];
+        _threatDataMap[assignment.Threat].AssignInterceptor(assignment.Interceptor);
-        interceptor.AssignTarget(threat);
+        Debug.Log($"Interceptor {assignment.Interceptor.name} assigned to threat {assignment.Threat.name}");
-        Debug.Log($"Interceptor {interceptor.name} assigned to threat {threat.name}");
+    }
-      }
+
+    // Check if any interceptors were not assigned
+    List<Interceptor> unassignedInterceptors = missilesToAssign.Where(m => !m.HasAssignedTarget()).ToList();
+    
+    if (unassignedInterceptors.Count > 0)
+    {
+        string unassignedIds = string.Join(", ", unassignedInterceptors.Select(m => m.name));
+        int totalInterceptors = missilesToAssign.Count;
+        int assignedInterceptors = totalInterceptors - unassignedInterceptors.Count;
+        
+        Debug.LogWarning($"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}");
     }
-    // TODO this whole function should be optimized
-    _unassignedThreats.RemoveAll(
-        threat => missilesToAssign.Any(interceptor => interceptor.GetAssignedTarget() == threat));
   }
 
   /// <summary>
@@ -196,27 +207,32 @@ public class SimManager : MonoBehaviour {
                                                      InterceptorType.MICROMISSILE => "Micromissile",
                                                      _ => "Hydra70" };
 
-    GameObject missileObject = CreateAgent(config, prefabName);
+    GameObject interceptorObject = CreateAgent(config, prefabName);
-    if (missileObject == null)
+    if (interceptorObject == null)
       return null;
 
     // Interceptor-specific logic
     switch (config.dynamic_config.sensor_config.type) {
       case SensorType.IDEAL:
-        missileObject.AddComponent<IdealSensor>();
+        interceptorObject.AddComponent<IdealSensor>();
         break;
       default:
         Debug.LogError($"Sensor type '{config.dynamic_config.sensor_config.type}' not found.");
         break;
     }
 
-    _interceptors.Add(missileObject.GetComponent<Interceptor>());
+    Interceptor interceptor = interceptorObject.GetComponent<Interceptor>();
-    _activeInterceptors.Add(missileObject.GetComponent<Interceptor>());
+    _interceptorObjects.Add(interceptor);
+    _activeInterceptors.Add(interceptor);
+
+    // Subscribe events
+    interceptor.OnInterceptHit += RegisterInterceptorHit;
+    interceptor.OnInterceptMiss += RegisterInterceptorMiss;
 
     // Assign a unique and simple ID
-    int missileId = _interceptors.Count;
+    int missileId = _interceptorObjects.Count;
-    missileObject.name = $"{config.interceptor_type}_Interceptor_{missileId}";
+    interceptorObject.name = $"{config.interceptor_type}_Interceptor_{missileId}";
-    return missileObject.GetComponent<Interceptor>();
+    return interceptorObject.GetComponent<Interceptor>();
   }
 
   /// <summary>
@@ -233,13 +249,20 @@ public class SimManager : MonoBehaviour {
     if (threatObject == null)
       return null;
 
-    _threats.Add(threatObject.GetComponent<Threat>());
+    Threat threat = threatObject.GetComponent<Threat>();
-    _activeThreats.Add(threatObject.GetComponent<Threat>());
-    _unassignedThreats.Add(threatObject.GetComponent<Threat>());
-
     // Assign a unique and simple ID
-    int targetId = _threats.Count;
+    int targetId = _threatTable.Count;
     threatObject.name = $"{config.threat_type}_Target_{targetId}";
+
+    ThreatData threatData = new ThreatData(threat, threatObject.name);
+    _threatDataMap.Add(threat, threatData);
+    _threatTable.Add(threatData);
+    _threatObjects.Add(threat);
+
+    // Subscribe events
+    threat.OnInterceptHit += RegisterThreatHit;
+    threat.OnInterceptMiss += RegisterThreatMiss;
+
     return threatObject.GetComponent<Threat>();
   }
 
@@ -290,21 +313,24 @@ public class SimManager : MonoBehaviour {
     simulationRunning = IsSimulationRunning();
 
     // Clear existing missiles and targets
-    foreach (var interceptor in _interceptors) {
+    foreach (var interceptor in _interceptorObjects) {
       if (interceptor != null) {
         Destroy(interceptor.gameObject);
       }
     }
 
-    foreach (var threat in _threats) {
+    foreach (var threat in _threatObjects) {
       if (threat != null) {
         Destroy(threat.gameObject);
       }
     }
 
-    _interceptors.Clear();
+    _interceptorObjects.Clear();
-    _threats.Clear();
+    _activeInterceptors.Clear();
-    _unassignedThreats.Clear();
+    _threatObjects.Clear();
+    _threatTable.Clear();
+    
+
 
     StartSimulation();
   }
@@ -312,7 +338,7 @@ public class SimManager : MonoBehaviour {
   void Update() {
     // Check if all missiles have terminated
     bool allInterceptorsTerminated = true;
-    foreach (var interceptor in _interceptors) {
+    foreach (var interceptor in _interceptorObjects) {
       if (interceptor != null && !interceptor.IsHit() && !interceptor.IsMiss()) {
         allInterceptorsTerminated = false;
         break;

Assets/Tests.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: f034d27b4aab67a47865af3d624c4375
+guid: 5ab47dc725c65cb4cb1fa6948fb0c9a7
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/Tests/SanityTest.cs

@@ -0,0 +1,25 @@
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+using System.Collections;
+
+public class SanityTest
+{
+    [Test]
+    public void SanityTestSimplePasses()
+    {
+        // Use the Assert class to test conditions
+        Assert.Pass("This test passes.");
+    }
+
+    // A UnityTest behaves like a coroutine in Play Mode. In Edit Mode you can use
+    // `yield return null;` to skip a frame.
+    [UnityTest]
+    public IEnumerator SanityTestWithEnumeratorPasses()
+    {
+        // Use the Assert class to test conditions.
+        // Use yield to skip a frame.
+        yield return null;
+        Assert.Pass("This test passes after skipping a frame.");
+    }
+}

Assets/Tests/SanityTest.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: b48cf6e434723a449a49186eeda32d3f

Assets/Tests/Tests.asmdef

@@ -0,0 +1,24 @@
+{
+    "name": "Tests",
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "MicromissileAssembly"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll"
+    ],
+    "autoReferenced": false,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

Assets/Tests/Tests.asmdef.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: d15c92e585e721749b63d85007276dbe
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Tests/ThreatAssignmentTests.cs

@@ -0,0 +1,138 @@
+using NUnit.Framework;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.TestTools;
+using System.Linq;
+
+public class ThreatAssignmentTests
+{
+    [Test]
+    public void Assign_Should_Assign_All_Interceptors_And_Threats()
+    {
+        // Arrange
+        ThreatAssignment threatAssignment = new ThreatAssignment();
+
+        // Create interceptors
+        List<Interceptor> interceptors = new List<Interceptor>
+        {
+            new GameObject("Interceptor 1").AddComponent<Micromissile>(),
+            new GameObject("Interceptor 2").AddComponent<Micromissile>(),
+            new GameObject("Interceptor 3").AddComponent<Micromissile>()
+        };
+
+        // Create threats
+        Threat threat1 = new GameObject("Threat 1").AddComponent<DroneTarget>();
+        Threat threat2 = new GameObject("Threat 2").AddComponent<DroneTarget>();
+        Threat threat3 = new GameObject("Threat 3").AddComponent<DroneTarget>();
+
+        // Add Rigidbody components to threats to set velocities
+        Rigidbody rb1 = threat1.gameObject.AddComponent<Rigidbody>();
+        Rigidbody rb2 = threat2.gameObject.AddComponent<Rigidbody>();
+        Rigidbody rb3 = threat3.gameObject.AddComponent<Rigidbody>();
+
+        // Set positions and velocities
+        threat1.transform.position = Vector3.forward * -20f;
+        threat2.transform.position = Vector3.forward * -20f;
+        threat3.transform.position = Vector3.forward * -20f;
+
+        rb1.linearVelocity = Vector3.forward * 5f;
+        rb2.linearVelocity = Vector3.forward * 10f;
+        rb3.linearVelocity = Vector3.forward * 15f;
+
+        // Create threat data
+        List<ThreatData> threats = new List<ThreatData>
+        {
+            new ThreatData(threat1, "Threat1ID"),
+            new ThreatData(threat2, "Threat2ID"),
+            new ThreatData(threat3, "Threat3ID")
+        };
+
+        // Act
+        IEnumerable<IAssignment.AssignmentItem> assignments = threatAssignment.Assign(interceptors, threats);
+
+        // Assert
+        Assert.AreEqual(3, assignments.Count(), "All interceptors should be assigned");
+        
+        HashSet<Interceptor> assignedInterceptors = new HashSet<Interceptor>();
+        HashSet<Threat> assignedThreats = new HashSet<Threat>();
+
+        foreach (var assignment in assignments)
+        {
+            Assert.IsNotNull(assignment.Interceptor, "Interceptor should not be null");
+            Assert.IsNotNull(assignment.Threat, "Threat should not be null");
+            assignedInterceptors.Add(assignment.Interceptor);
+            assignedThreats.Add(assignment.Threat);
+        }
+
+        Assert.AreEqual(3, assignedInterceptors.Count, "All interceptors should be unique");
+        Assert.AreEqual(3, assignedThreats.Count, "All threats should be assigned");
+
+        // Verify that threats are assigned in order of their threat level (based on velocity and distance)
+        var orderedAssignments = assignments.OrderByDescending(a => a.Threat.GetVelocity().magnitude / Vector3.Distance(a.Threat.transform.position, Vector3.zero)).ToList();
+        Assert.AreEqual(threat3, orderedAssignments[0].Threat, "Highest threat should be assigned first");
+        Assert.AreEqual(threat2, orderedAssignments[1].Threat, "Second highest threat should be assigned second");
+        Assert.AreEqual(threat1, orderedAssignments[2].Threat, "Lowest threat should be assigned last");
+    }
+
+    [Test]
+    public void Assign_Should_Handle_More_Interceptors_Than_Threats()
+    {
+        // Arrange
+        ThreatAssignment threatAssignment = new ThreatAssignment();
+
+        // Create interceptors
+        List<Interceptor> interceptors = new List<Interceptor>
+        {
+            new GameObject("Interceptor 1").AddComponent<Micromissile>(),
+            new GameObject("Interceptor 2").AddComponent<Micromissile>(),
+            new GameObject("Interceptor 3").AddComponent<Micromissile>()
+        };
+
+        // Create threats
+        Threat threat1 = new GameObject("Threat 1").AddComponent<DroneTarget>();
+        Threat threat2 = new GameObject("Threat 2").AddComponent<DroneTarget>();
+
+        // Add Rigidbody components to threats to set velocities
+        Rigidbody rb1 = threat1.gameObject.AddComponent<Rigidbody>();
+        Rigidbody rb2 = threat2.gameObject.AddComponent<Rigidbody>();
+
+        // Set positions and velocities
+        threat1.transform.position = Vector3.up * 10f;
+        threat2.transform.position = Vector3.right * 5f;
+
+        rb1.linearVelocity = Vector3.forward * 10f;
+        rb2.linearVelocity = Vector3.forward * 15f;
+
+        // Create threat data
+        List<ThreatData> threats = new List<ThreatData>
+        {
+            new ThreatData(threat1, "Threat1ID"),
+            new ThreatData(threat2, "Threat2ID")
+        };
+
+        // Act
+        IEnumerable<IAssignment.AssignmentItem> assignments = threatAssignment.Assign(interceptors, threats);
+
+        // Assert
+        Assert.AreEqual(2, assignments.Count(), "All threats should be assigned");
+        
+        HashSet<Interceptor> assignedInterceptors = new HashSet<Interceptor>();
+        HashSet<Threat> assignedThreats = new HashSet<Threat>();
+
+        foreach (var assignment in assignments)
+        {
+            Assert.IsNotNull(assignment.Interceptor, "Interceptor should not be null");
+            Assert.IsNotNull(assignment.Threat, "Threat should not be null");
+            assignedInterceptors.Add(assignment.Interceptor);
+            assignedThreats.Add(assignment.Threat);
+        }
+
+        Assert.AreEqual(2, assignedInterceptors.Count, "Two interceptors should be assigned");
+        Assert.AreEqual(2, assignedThreats.Count, "Both threats should be assigned");
+
+        // Verify that threats are assigned in order of their threat level (based on velocity and distance)
+        var orderedAssignments = assignments.OrderByDescending(a => a.Threat.GetVelocity().magnitude / Vector3.Distance(a.Threat.transform.position, Vector3.zero)).ToList();
+        Assert.AreEqual(threat2, orderedAssignments[0].Threat, "Higher threat should be assigned first");
+        Assert.AreEqual(threat1, orderedAssignments[1].Threat, "Lower threat should be assigned second");
+    }
+}

Assets/Tests/ThreatAssignmentTests.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 7ddf271569a78ee4e995192d4df0ef3f

ProjectSettings/SceneTemplateSettings.json

@@ -61,6 +61,11 @@
             "type": "UnityEngine.PhysicMaterial",
             "defaultInstantiationMode": 0
         },
+        {
+            "userAdded": false,
+            "type": "UnityEngine.PhysicsMaterial",
+            "defaultInstantiationMode": 0
+        },
         {
             "userAdded": false,
             "type": "UnityEngine.PhysicsMaterial2D",