Fix readme, add footer

visualize_log.py should auto-locate log files on both Windows and Mac systems

.github/workflows/build.yaml

@@ -9,6 +9,8 @@ on:
   pull_request:
     branches:
       - release
+  schedule:
+    - cron: '0 2 * * *'  # Run at 2 AM UTC every day
 
 jobs:
   buildForAllSupportedPlatforms:
@@ -41,6 +43,9 @@ jobs:
           buildName: micromissiles-${{ github.ref_name }}-${{ matrix.targetPlatform }}
           versioning: Semantic
           targetPlatform: ${{ matrix.targetPlatform }}
+      - name: Copy Tools Directory
+        run: |
+          sudo cp -r Tools/ build/${{ matrix.targetPlatform }}/
       - if: matrix.targetPlatform == 'StandaloneWindows64'
         run: cd build/${{ matrix.targetPlatform }} && sudo zip -r ../build-${{ matrix.targetPlatform }}.zip * && cd -
       - if: matrix.targetPlatform == 'StandaloneWindows64'

.github/workflows/docs.yaml

@@ -0,0 +1,47 @@
+# .github/workflows/docs.yaml
+name: Deploy Documentation
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  workflow_dispatch:  # Allows manual triggering
+
+permissions:
+  contents: write
+  pages: write
+  id-token: write
+
+jobs:
+  build-deploy:
+    permissions:
+      contents: write
+      pages: write
+      id-token: write
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'  # Use Node.js 18
+
+      - name: Install dependencies
+        run: npm ci
+
+      - name: Build documentation
+        run: npm run docs:build
+
+      - name: Deploy Documentation
+        uses: peaceiris/actions-gh-pages@v4
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/.vitepress/dist
+          allow_empty_commit: true
+          keep_files: true
+          force_orphan: false

.github/workflows/release.md

@@ -1,27 +0,0 @@
-# micromissiles-unity
-
-## Build ${{ github.ref }}
-
-## Instructions
-
-Download and extract the archive corresponding to your platform (Windows or Mac) from the binaries listed below.
-
-## Windows
-
-1. Download the zip file for Windows: `micromissiles-${{ github.ref }}-windows_x86_64.zip`.
-2. Unzip the zip file. The zip file should contain a single directory called `micromissiles-${{ github.ref }}-windows_x86_64`.
-3. Run `micromissiles-<version>-StandaloneWindows64.exe`.
-
-## Mac
-
-1. Download the zip file for Darwin: `micromissiles-${{ github.ref }}-darwin.zip`.
-2. Unzip the zip file. The zip file should contain a single app file.
-3. Change the permission of the app file recursively by running:
-   ```bash
-   chmod -R +x micromissiles-<version>-StandaloneOSX.app
-   ```
-4. Open the app file.
-5. If you get a warning that Apple cannot check the application for malicious software:
-     * Open `System Preferences`.
-     * Navigate to `Privacy & Security`.
-     * Click on `Open Anyway` to bypass Apple's developer check.

.github/workflows/release.yaml

@@ -18,14 +18,19 @@ jobs:
           ref: ${{ github.event.workflow_run.head_branch }}
           fetch-depth: 0
           lfs: false
+      - name: Get latest tag
+        id: get_latest_tag
+        run: |
+          latest_tag=$(git describe --tags --abbrev=0)
+          echo "LATEST_TAG=${latest_tag}" >> $GITHUB_OUTPUT
       - name: Create release
         id: create_release
         uses: actions/create-release@v1
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:
-          tag_name: ${{ github.event.workflow_run.head_branch }}
-          release_name: ${{ github.event.workflow_run.head_branch }}
+          tag_name: ${{ steps.get_latest_tag.outputs.LATEST_TAG }}
+          release_name: ${{ steps.get_latest_tag.outputs.LATEST_TAG }}
           body_path: RELEASE.md
           draft: false
           prerelease: false

.github/workflows/test.yaml

@@ -0,0 +1,69 @@
+# .github/workflows/test.yaml
+name: Test
+
+on:
+    schedule:
+      - cron: '0 2 * * *'  # Runs at 2 AM UTC every day
+    pull_request:
+      branches:
+        - master
+    workflow_dispatch:
+
+jobs:
+  testAllModes:
+    name: Test in ${{ matrix.testMode }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        testMode:
+          - playmode
+          - editmode
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true
+
+      - uses: actions/cache@v4
+        with:
+          path: ${{ matrix.projectPath }}/Library
+          key: Library-${{ matrix.projectPath }}
+          restore-keys: |
+            Library-
+
+      - uses: game-ci/unity-test-runner@v4
+        id: tests
+        env:
+          UNITY_LICENSE: ${{ secrets.UNITY_LICENSE }}
+          UNITY_EMAIL: ${{ secrets.UNITY_EMAIL }}
+          UNITY_PASSWORD: ${{ secrets.UNITY_PASSWORD }}
+        with:
+          projectPath: ${{ matrix.projectPath }}
+          testMode: ${{ matrix.testMode }}
+          artifactsPath: ${{ matrix.testMode }}-artifacts
+          githubToken: ${{ secrets.GITHUB_TOKEN }}
+          checkName: ${{ matrix.testMode }} Test Results
+          coverageOptions: 'generateAdditionalMetrics;generateHtmlReport;generateBadgeReport;assemblyFilters:+bamlab.*'
+
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: Test results for ${{ matrix.testMode }}
+          path: ${{ steps.tests.outputs.artifactsPath }}
+
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: Coverage results for ${{ matrix.testMode }}
+          path: ${{ steps.tests.outputs.coveragePath }}
+
+      - name: Deploy Coverage Report
+        if: always()
+        uses: peaceiris/actions-gh-pages@v4
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ${{ steps.tests.outputs.coveragePath }}
+          destination_dir: coverage/${{ matrix.testMode }}
+          allow_empty_commit: true
+          keep_files: true
+          force_orphan: false

.gitignore

@@ -80,4 +80,6 @@ crashlytics-build.properties
 .vsconfig
 
 # Telemetry Logs
-Telemetry/Logs/
+Telemetry/Logs/
+
+node_modules/

Assets/Materials/DroneTargetMat.mat

@@ -98,6 +98,7 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
     - _AlphaClip: 0
     - _AlphaToMask: 0
     - _Blend: 0
@@ -135,8 +136,8 @@ Material:
     - _WorkflowMode: 1
     - _ZWrite: 1
     m_Colors:
-    - _BaseColor: {r: 1, g: 0, b: 0, a: 1}
-    - _Color: {r: 1, g: 0, b: 0, a: 1}
+    - _BaseColor: {r: 0.6679245, g: 0, b: 0, a: 1}
+    - _Color: {r: 0.66792446, g: 0, b: 0, a: 1}
     - _EmissionColor: {r: 0.9622642, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.5, g: 0.5, b: 0.5, a: 0.5}
   m_BuildTextureStacks: []

Assets/RP/URP Pipepline Asset.asset

@@ -109,7 +109,7 @@ MonoBehaviour:
   m_PrefilterDebugKeywords: 1
   m_PrefilterWriteRenderingLayers: 1
   m_PrefilterHDROutput: 1
-  m_PrefilterAlphaOutput: 0
+  m_PrefilterAlphaOutput: 1
   m_PrefilterSSAODepthNormals: 1
   m_PrefilterSSAOSourceDepthLow: 1
   m_PrefilterSSAOSourceDepthMedium: 1

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   m_overflowMode: 0
   m_linkedTextComponent: {fileID: 0}
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   m_enableKerning: 1
+  m_ActiveFontFeatures: 6e72656b
   m_enableExtraPadding: 0
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 1
   m_isCullingEnabled: 0
@@ -3022,15 +3069,17 @@ MonoBehaviour:
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 1
+  m_TextWrappingMode: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 0
   m_linkedTextComponent: {fileID: 0}
   parentLinkedComponent: {fileID: 0}
   m_enableKerning: 1
+  m_ActiveFontFeatures: 6e72656b
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 0
   m_isCullingEnabled: 0
@@ -3068,6 +3117,9 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3268,15 +3320,17 @@ MonoBehaviour:
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 1
+  m_TextWrappingMode: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 0
   m_linkedTextComponent: {fileID: 0}
   parentLinkedComponent: {fileID: 0}
   m_enableKerning: 1
+  m_ActiveFontFeatures: 6e72656b
   m_enableExtraPadding: 0
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 1
   m_isCullingEnabled: 0
@@ -3410,6 +3464,51 @@ CanvasRenderer:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1071150555}
   m_CullTransparentMesh: 1
+--- !u!1 &1134242713
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1134242715}
+  - component: {fileID: 1134242714}
+  m_Layer: 0
+  m_Name: IADS
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &1134242714
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1134242713}
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+  m_Script: {fileID: 11500000, guid: a5899f1049cf3d64e8c06c1db772c879, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  _threatTable: []
+--- !u!4 &1134242715
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
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+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
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+  m_Children: []
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+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1254435375
 GameObject:
   m_ObjectHideFlags: 0
@@ -3478,6 +3577,9 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3599,6 +3701,9 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3732,15 +3837,17 @@ MonoBehaviour:
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 1
+  m_TextWrappingMode: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 0
   m_linkedTextComponent: {fileID: 0}
   parentLinkedComponent: {fileID: 0}
   m_enableKerning: 1
+  m_ActiveFontFeatures: 6e72656b
   m_enableExtraPadding: 0
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 0
   m_isCullingEnabled: 0
@@ -3778,6 +3885,9 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4207,15 +4317,17 @@ MonoBehaviour:
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 1
+  m_TextWrappingMode: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 0
   m_linkedTextComponent: {fileID: 0}
   parentLinkedComponent: {fileID: 0}
   m_enableKerning: 1
+  m_ActiveFontFeatures: 6e72656b
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 1
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@@ -4389,6 +4501,9 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4611,15 +4726,17 @@ MonoBehaviour:
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 1
+  m_TextWrappingMode: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 0
   m_linkedTextComponent: {fileID: 0}
   parentLinkedComponent: {fileID: 0}
   m_enableKerning: 1
+  m_ActiveFontFeatures: 6e72656b
   m_enableExtraPadding: 0
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 0
   m_isCullingEnabled: 0
@@ -4657,6 +4774,9 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
+  m_SmallMeshCulling: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4858,15 +4978,17 @@ MonoBehaviour:
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 1
+  m_TextWrappingMode: 1
   m_wordWrappingRatios: 0.4
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   parentLinkedComponent: {fileID: 0}
   m_enableKerning: 1
+  m_ActiveFontFeatures: 00000000
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   m_isRichText: 1
+  m_EmojiFallbackSupport: 1
   m_parseCtrlCharacters: 1
   m_isOrthographic: 1
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@@ -5461,3 +5583,4 @@ SceneRoots:
   - {fileID: 566761699}
   - {fileID: 50643634}
   - {fileID: 396716026}
+  - {fileID: 1134242715}

Assets/Scripts/Agent.cs

@@ -33,16 +33,16 @@ public abstract class Agent : MonoBehaviour {
   protected StaticConfig _staticConfig;
 
   // Define delegates
-  public delegate void AgentHitEventHandler(Agent agent);
-  public delegate void AgentMissEventHandler(Agent agent);
+  public delegate void InterceptHitEventHandler(Interceptor interceptor, Threat target);
+  public delegate void InterceptMissEventHandler(Interceptor interceptor, Threat target);
 
   // Define events
-  public event AgentHitEventHandler OnAgentHit;
-  public event AgentMissEventHandler OnAgentMiss;
+  public event InterceptHitEventHandler OnInterceptHit;
+  public event InterceptMissEventHandler OnInterceptMiss;
 
   public void SetFlightPhase(FlightPhase flightPhase) {
     Debug.Log(
-        $"Setting {name} flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
+        $"Setting flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
     _timeInPhase = 0;
     _flightPhase = flightPhase;
   }
@@ -94,10 +94,6 @@ public abstract class Agent : MonoBehaviour {
     return _isHit;
   }
 
-  public bool IsMiss() {
-    return _isMiss;
-  }
-
   public void TerminateAgent() {
     _flightPhase = FlightPhase.TERMINATED;
     transform.position = new Vector3(0, 0, 0);
@@ -105,16 +101,23 @@ public abstract class Agent : MonoBehaviour {
   }
 
   // Mark the agent as having hit the target or been hit.
-  public void MarkAsHit() {
+  public void HandleInterceptHit(Agent otherAgent) {
     _isHit = true;
-    OnAgentHit?.Invoke(this);
+    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 MarkAsMiss() {
-    _isMiss = true;
+  public void HandleInterceptMiss() {
     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();
@@ -128,10 +131,6 @@ public abstract class Agent : MonoBehaviour {
     return GetComponent<Rigidbody>().linearVelocity;
   }
 
-  public Vector3 GetAcceleration() {
-    return _acceleration;
-  }
-
   public double GetDynamicPressure() {
     var airDensity = Constants.CalculateAirDensityAtAltitude(transform.position.y);
     var flowSpeed = GetSpeed();

Assets/Scripts/Assignment/Assignment.cs

@@ -1,6 +1,9 @@
 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 {
@@ -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 int ThreatIndex;
+    public Interceptor Interceptor;
+    public Threat Threat;
 
-    public AssignmentItem(int missileIndex, int threatIndex) {
-      InterceptorIndex = missileIndex;
-      ThreatIndex = threatIndex;
+    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.
-  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) {
-    List<int> assignableInterceptorIndices = new List<int>();
-    for (int missileIndex = 0; missileIndex < missiles.Count; missileIndex++) {
-      if (missiles[missileIndex].IsAssignable()) {
-        assignableInterceptorIndices.Add(missileIndex);
-      }
-    }
-    return assignableInterceptorIndices;
+  [Pure]
+  protected static List<Interceptor> GetAssignableInterceptors(in IReadOnlyList<Interceptor> interceptors) {
+    return interceptors.Where(interceptor => interceptor.IsAssignable()).ToList();
   }
 
-  // Get the list of active target indices.
-  protected static List<int> GetActiveThreatIndices(List<Agent> threats) {
-    List<int> activeThreatIndices = new List<int>();
-    for (int threatIndex = 0; threatIndex < threats.Count; threatIndex++) {
-      if (!threats[threatIndex].IsHit()) {
-        activeThreatIndices.Add(threatIndex);
-      }
-    }
-    return activeThreatIndices;
+  // Get the list of active threats.
+  [Pure]
+  protected static List<ThreatData> GetActiveThreats(in IReadOnlyList<ThreatData> threats) {
+    return threats.Where(t => t.Status != ThreatStatus.DESTROYED).ToList();
   }
 }

Assets/Scripts/Assignment/RoundRobinAssignment.cs

@@ -1,39 +1,43 @@
-using System;
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
-
-// The round-robin assignment class assigns missiles to the targets in a
-// round-robin order.
+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;
+    // Previous target index that was assigned.
+    private int prevTargetIndex = -1;
 
-  // 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) {
-    List<IAssignment.AssignmentItem> assignments = new List<IAssignment.AssignmentItem>();
-    List<int> assignableInterceptorIndices = IAssignment.GetAssignableInterceptorIndices(missiles);
-    if (assignableInterceptorIndices.Count == 0) {
-      return assignments;
+    // Assign a target to each interceptor that has not been assigned a target yet.
+    [Pure]
+    public IEnumerable<IAssignment.AssignmentItem> Assign(in IReadOnlyList<Interceptor> interceptors, in IReadOnlyList<ThreatData> targets) {
+        List<IAssignment.AssignmentItem> assignments = new List<IAssignment.AssignmentItem>();
+
+        // 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;
-
-// The threat assignment class assigns missiles to the targets based
+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.
-  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);
-    if (assignableInterceptorIndices.Count == 0) {
+    List<Interceptor> assignableInterceptors = IAssignment.GetAssignableInterceptors(interceptors);
+    if (assignableInterceptors.Count == 0) {
+      Debug.LogWarning("No assignable interceptors found");
       return assignments;
     }
 
-    List<int> activeThreatIndices = IAssignment.GetActiveThreatIndices(targets);
-    if (activeThreatIndices.Count == 0) {
+    List<ThreatData> activeThreats = IAssignment.GetActiveThreats(targets);
+    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) {
-      if (missiles[missileIndex].HasAssignedTarget())
-        continue;
-      if (threatInfos.Count == 0)
-        break;
-
-      // Find the optimal target for this interceptor based on distance and threat
-      ThreatInfo optimalTarget = null;
-      float optimalScore = float.MinValue;
-
-      foreach (ThreatInfo threat in threatInfos) {
-        float distance = Vector3.Distance(missiles[missileIndex].transform.position,
-                                          targets[threat.TargetIndex].transform.position);
-        float score = threat.ThreatLevel / distance;  // Balance threat level with proximity
-
-        if (score > optimalScore) {
-          optimalScore = score;
-          optimalTarget = threat;
+    // 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;
         }
       }
-
-      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) {
-      Agent target = targets[targetIndex];
-      float distanceToMean = Vector3.Distance(target.transform.position, missilesMeanPosition);
-      float velocityMagnitude = target.GetVelocity().magnitude;
+    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(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) {
-      TargetIndex = targetIndex;
+    public ThreatInfo(ThreatData threatData, float threatLevel) {
+      ThreatData = threatData;
       ThreatLevel = threatLevel;
     }
   }

Assets/Scripts/Config/SimulationConfig.cs

@@ -4,121 +4,115 @@ using UnityEngine;
 using Newtonsoft.Json;
 using Newtonsoft.Json.Converters;
 
+
 [Serializable]
 public class SimulationConfig {
-  [Header("Simulation Settings")]
-  public float timeScale = 0.05f;
+    [Header("Simulation Settings")]
+    public float timeScale = 0.05f;
 
-  // [Header("Defense Points")]
-  // public SwarmConfig defense_points_config;
+    [Header("Interceptor Swarm Configurations")]
+    public List<SwarmConfig> interceptor_swarm_configs = new List<SwarmConfig>();
 
-  [Header("Interceptor Swarm Configurations")]
-  public List<SwarmConfig> interceptor_swarm_configs = new List<SwarmConfig>();
-
-  [Header("Threat Swarm Configurations")]
-  public List<SwarmConfig> threat_swarm_configs = new List<SwarmConfig>();
+    [Header("Threat Swarm Configurations")]
+    public List<SwarmConfig> threat_swarm_configs = new List<SwarmConfig>();
 }
 
 [Serializable]
 public class DynamicConfig {
-  public LaunchConfig launch_config;
-  public SensorConfig sensor_config;
+    public LaunchConfig launch_config;
+    public SensorConfig sensor_config;
 }
 
-[Serializable]
+ [Serializable]
 public class SwarmConfig {
-  public int num_agents;
-  public AgentConfig agent_config;
+    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 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
-    };
-  }
+    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;
+    public Vector3 position;
+    public Vector3 rotation;
+    public Vector3 velocity;
 }
 
 [Serializable]
 public class StandardDeviation {
-  public Vector3 position;
-  public Vector3 velocity;
+    public Vector3 position;
+    public Vector3 velocity;
 }
 
-[Serializable]
+[Serializable]  
 public class LaunchConfig {
-  public float launch_time;
+    public float launch_time;
 }
 
 [Serializable]
 public class PlottingConfig {
-  public ConfigColor color;
-  public LineStyle linestyle;
-  public Marker marker;
+    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;
+    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;
+    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;
+    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;
+    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,
-  FIXED_WING_MISSILE,
-  ROLL_STABILIZED_MISSILE
-}  // Add ballistic later -michael
+public enum ThreatType { DRONE, ANTISHIP_MISSILE }
 [JsonConverter(typeof(StringEnumConverter))]
 public enum ConfigColor { BLUE, GREEN, RED }
 [JsonConverter(typeof(StringEnumConverter))]

Assets/Scripts/DefendPoint.cs

@@ -1,28 +0,0 @@
-using UnityEngine;
-
-/// <summary>
-/// Static targetable point to defend
-/// </summary>
-public class DefendPoint : Agent {
-  // Currently just initializes to the origin
-  public DefendPoint() {
-    // Set the initial state
-    this.transform.position = Vector3.zero;
-  }
-
-  protected override void FixedUpdate() {
-    return;
-  }
-
-  protected override void UpdateBoost(double deltaTime) {
-    return;
-  }
-
-  protected override void UpdateMidCourse(double deltaTime) {
-    return;
-  }
-
-  protected override void UpdateReady(double deltaTime) {
-    return;
-  }
-}

Assets/Scripts/DefendPoint.cs.meta

@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 7eed014a152a65043be19cd044faa5d2

Assets/Scripts/Editor/GenerateCone.cs

@@ -3,6 +3,7 @@ using UnityEditor;
 using System;
 using System.Collections.Generic;
 
+#if UNITY_EDITOR
 public class GenerateCone : EditorWindow {
   private int sides = 16;
   private float baseRadius = 1f;
@@ -139,4 +140,5 @@ public class GenerateCone : EditorWindow {
     }
     return sum / vertices.Count;
   }
-}
+}
+#endif

Assets/Scripts/IADS/IADS.cs

@@ -1,30 +1,146 @@
 using UnityEngine;
-using System.Collections.Generic;
-using System.Collections;
 using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
 
 // Integrated Air Defense System
 public class IADS : MonoBehaviour {
-  public enum TargetStatus { UNASSIGNED, ASSIGNED, HIT, DEGRADED, DESTROYED }
 
-  // Look up threat status by unique threat ID
-  public Dictionary<string, TargetStatus> _targetStatusDictionary;
+  public enum ThreatAssignmentStyle {
+    ONE_TIME,
+    CONTINUOUS
+  }
 
-  private List<Threat> _threats;
+  public static IADS Instance { get; private set; }
+  private IAssignment _assignmentScheme;
+  
+  [SerializeField]
+  private List<ThreatData> _threatTable = new List<ThreatData>();
+  private Dictionary<Threat, ThreatData> _threatDataMap = new Dictionary<Threat, ThreatData>();
 
-  private List<Interceptor> _interceptors;
+  private List<Interceptor> _assignmentQueue = new List<Interceptor>();
 
-  private List<Vessel> _vessels;
+  private void Awake() {
+    if (Instance == null) {
+      Instance = this;
+    } else {
+      Destroy(gameObject);
+    }
 
-  public delegate void RegisterNewThreatDelegate(Threat threat);
-  public event RegisterNewThreatDelegate OnRegisterNewThreat;
+  }
 
-  void Start() {
-    _threats = new List<Threat>();
+  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<Interceptor> interceptors) {
+    _assignmentQueue.AddRange(interceptors);
+  }
+
+  public void RequestThreatAssignment(Interceptor interceptor) {
+    _assignmentQueue.Add(interceptor);
+  }
+
+
+  /// <summary>
+  /// Assigns the specified list of missiles to available targets based on the assignment scheme.
+  /// </summary>
+  /// <param name="missilesToAssign">The list of missiles to assign.</param>
+  public void AssignInterceptorsToThreats(List<Interceptor> missilesToAssign) {
+    // Perform the assignment
+    IEnumerable<IAssignment.AssignmentItem> 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($"Interceptor {assignment.Interceptor.name} assigned to threat {assignment.Threat.name}");
+    }
+
+    // Check if any interceptors were not assigned
+    List<Interceptor> unassignedInterceptors = missilesToAssign.Where(m => !m.HasAssignedTarget()).ToList();
+    
+    if (unassignedInterceptors.Count > 0)
+    {
+        string unassignedIds = string.Join(", ", unassignedInterceptors.Select(m => m.name));
+        int totalInterceptors = missilesToAssign.Count;
+        int assignedInterceptors = totalInterceptors - unassignedInterceptors.Count;
+        
+        Debug.LogWarning($"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}");
+    }
   }
 
   public void RegisterNewThreat(Threat threat) {
-    _threats.Add(threat);
-    OnRegisterNewThreat?.Invoke(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();
+  }
+
 }

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();
-        otherAgent.MarkAsHit();
+        this.HandleInterceptHit(otherAgent);
+        otherAgent.HandleInterceptHit(otherAgent);
 
       } 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/Hydra70.cs

@@ -48,6 +48,6 @@ public class Hydra70 : Interceptor {
         }
         break;
     }
-    SimManager.Instance.AssignInterceptorsToThreats(submunitions);
+    IADS.Instance.RequestThreatAssignment(submunitions);
   }
 }

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/Monitor.cs

@@ -3,70 +3,261 @@ 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 = 0.01f; // 100 Hz
-    private StreamWriter writer;
-    private Coroutine monitorRoutine;
+    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<EventRecord> _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;
-        InitializeFile();
-        monitorRoutine = StartCoroutine(MonitorRoutine());
+        SimManager.Instance.OnNewThreat += RegisterNewThreat;
+        SimManager.Instance.OnNewInterceptor += RegisterNewInterceptor;
     }
 
-    private void InitializeFile()
+    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");
-        string fileName = $"sim_telemetry_{timestamp}.csv";
-        string directory = Application.persistentDataPath + "/Telemetry/Logs/";
-        Directory.CreateDirectory(directory);
-        string path = Path.Combine(directory, fileName);
-        writer = new StreamWriter(path, false);
-        writer.WriteLine("Time,AgentID,AgentX,AgentY,AgentZ,AgentVX,AgentVY,AgentVZ,AgentState,AgentType");
-        Debug.Log($"Monitoring simulation data to {path}");
+        
+        _eventLogPath = Path.Combine(_sessionDirectory, $"sim_events_{timestamp}.csv");
+        
+        // Initialize the event log cache
+        _eventLogCache = new List<EventRecord>();
+
+        _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)
         {
-            ExportTelemetry();
-            yield return new WaitForSeconds(UpdateRate);
+            RecordTelemetry();
+            yield return new WaitForSeconds(_updateRate);
         }
     }
 
-    private void ExportTelemetry()
+    private void RecordTelemetry()
     {
         float time = (float)SimManager.Instance.GetElapsedSimulationTime();
-        foreach (var agent in SimManager.Instance.GetActiveThreats().Cast<Agent>().Concat(SimManager.Instance.GetActiveInterceptors().Cast<Agent>()))
-        {
-            Vector3 pos = agent.transform.position;
-            if(pos == Vector3.zero) {
-                continue;
-            }
-            Vector3 vel = agent.GetComponent<Rigidbody>().linearVelocity;
-            string type = agent is Threat ? "T" : "M";
-            writer.WriteLine($"{time:F2},{agent.name},{pos.x:F2},{pos.y:F2},{pos.z:F2},{vel.x:F2},{vel.y:F2},{vel.z:F2},{(int)agent.GetFlightPhase()},{type}");
+        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];
 
-        writer.Flush();
+            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()
     {
-        writer.Close();
-        StopCoroutine(monitorRoutine);
+        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()
     {
-        if (writer != null)
-        {
-            writer.Close();
-        }
+        CloseLogFiles();
     }
 }

Assets/Scripts/Monitor.cs.meta

@@ -4,7 +4,7 @@ MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
-  executionOrder: 0
+  executionOrder: -5
   icon: {instanceID: 0}
   userData: 
   assetBundleName: 

Assets/Scripts/SimManager.cs

@@ -1,4 +1,3 @@
-using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
@@ -20,21 +19,30 @@ 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>();
-  private List<Threat> _threats = new List<Threat>();
-  private List<Threat> _activeThreats = new List<Threat>();
+
+
+  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;
 
-  private IAssignment _assignmentScheme;
+
 
   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;
+
   /// <summary>
   /// Gets the elapsed simulation time.
   /// </summary>
@@ -48,12 +56,12 @@ public class SimManager : MonoBehaviour {
   }
 
   public List<Threat> GetActiveThreats() {
-    return _activeThreats;
+    return _threatObjects.Where(threat => !threat.IsHit()).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();
   }
 
@@ -75,6 +83,7 @@ public class SimManager : MonoBehaviour {
       StartSimulation();
       ResumeSimulation();
     }
+
   }
 
   public void SetTimeScale(float timeScale) {
@@ -84,8 +93,9 @@ public class SimManager : MonoBehaviour {
   }
 
   public void StartSimulation() {
-    InitializeSimulation();
     OnSimulationStarted?.Invoke();
+    InitializeSimulation();
+    
   }
 
   public void PauseSimulation() {
@@ -103,13 +113,14 @@ public class SimManager : MonoBehaviour {
   }
 
   private void InitializeSimulation() {
+    // Invoke the simulation started event to let listeners
+    // know to invoke their own handler behavior
+    OnSimulationStarted?.Invoke();
     List<Interceptor> missiles = new List<Interceptor>();
     // Create missiles based on config
     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;
+        CreateInterceptor(swarmConfig.agent_config);
       }
     }
 
@@ -117,78 +128,38 @@ public class SimManager : MonoBehaviour {
     // Create targets based on config
     foreach (var swarmConfig in simulationConfig.threat_swarm_configs) {
       for (int i = 0; i < swarmConfig.num_agents; i++) {
-        var threat = CreateThreat(swarmConfig.agent_config);
-        if (threat == null) {
-          Debug.LogError($"Failed to create threat: {swarmConfig.agent_config}");
-          continue;
-        }
-        threat.OnAgentHit += RegisterThreatHit;
-        threat.OnAgentMiss += RegisterThreatMiss;
+        CreateThreat(swarmConfig.agent_config);
       }
     }
 
-    _assignmentScheme = new ThreatAssignment();
-
-    // Invoke the simulation started event to let listeners
-    // know to invoke their own handler behavior
-    OnSimulationStarted?.Invoke();
   }
 
   public void AssignInterceptorsToThreats() {
-    AssignInterceptorsToThreats(_interceptors);
+    IADS.Instance.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);
     }
   }
 
-  public void RegisterThreatHit(Agent threat) {
-    if (threat is Threat targetComponent) {
-      _activeThreats.Remove(targetComponent);
-    }
+  public void RegisterThreatHit(Interceptor interceptor, Threat threat) {
+    // Placeholder
   }
 
-  public void RegisterThreatMiss(Agent threat) {
-    if (threat is Threat targetComponent) {
-      _unassignedThreats.Add(targetComponent);
-    }
+  public void RegisterThreatMiss(Interceptor interceptor, Threat threat) {
+    Debug.Log($"RegisterThreatMiss: Interceptor {interceptor.name} missed threat {threat.name}");
+    // Placeholder
   }
 
-  /// <summary>
-  /// Assigns the specified list of missiles to available targets based on the assignment scheme.
-  /// </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);
-
-    // Apply the assignments to the missiles
-    foreach (var assignment in assignments) {
-      if (assignment.InterceptorIndex < missilesToAssign.Count) {
-        Interceptor interceptor = missilesToAssign[assignment.InterceptorIndex];
-        Threat threat = _unassignedThreats[assignment.ThreatIndex];
-        interceptor.AssignTarget(threat);
-        Debug.Log($"Interceptor {interceptor.name} assigned to threat {threat.name}");
-      }
-    }
-    // TODO this whole function should be optimized
-    _unassignedThreats.RemoveAll(
-        threat => missilesToAssign.Any(interceptor => interceptor.GetAssignedTarget() == threat));
-  }
+  
 
   /// <summary>
   /// Creates a interceptor based on the provided configuration.
@@ -196,32 +167,41 @@ public class SimManager : MonoBehaviour {
   /// <param name="config">Configuration settings for the interceptor.</param>
   /// <returns>The created Interceptor instance, or null if creation failed.</returns>
   public Interceptor CreateInterceptor(AgentConfig config) {
-    string prefabName =
-        config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70",
-                                         InterceptorType.MICROMISSILE => "Micromissile",
-                                         _ => "Hydra70" };
+    string prefabName = config.interceptor_type switch { InterceptorType.HYDRA_70 => "Hydra70",
+                                                     InterceptorType.MICROMISSILE => "Micromissile",
+                                                     _ => "Hydra70" };
 
-    GameObject missileObject = CreateAgent(config, prefabName);
-    if (missileObject == null)
+    GameObject interceptorObject = CreateAgent(config, prefabName);
+    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>());
-    _activeInterceptors.Add(missileObject.GetComponent<Interceptor>());
+    Interceptor interceptor = interceptorObject.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;
-    missileObject.name = $"{config.interceptor_type}_Interceptor_{missileId}";
-    return missileObject.GetComponent<Interceptor>();
+    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<Interceptor>();
   }
 
   /// <summary>
@@ -231,23 +211,28 @@ public class SimManager : MonoBehaviour {
   /// <returns>The created Threat instance, or null if creation failed.</returns>
   private Threat CreateThreat(AgentConfig config) {
     string prefabName = config.threat_type switch {
-      ThreatType.DRONE => "Drone", ThreatType.FIXED_WING_MISSILE => "FixedWingMissileThreat",
-      ThreatType.ROLL_STABILIZED_MISSILE => "RollStabilizedMissileThreat",
+      ThreatType.DRONE => "Drone", ThreatType.ANTISHIP_MISSILE => "AntishipMissile",
       _ => throw new System.ArgumentException($"Unsupported threat type: {config.threat_type}")
     };
     GameObject threatObject = CreateAgent(config, prefabName);
-    if (threatObject == null) {
-      Debug.LogError($"Failed to create threat for {prefabName}.");
+    if (threatObject == null)
       return null;
-    }
-
-    _threats.Add(threatObject.GetComponent<Threat>());
-    _activeThreats.Add(threatObject.GetComponent<Threat>());
-    _unassignedThreats.Add(threatObject.GetComponent<Threat>());
 
+    Threat threat = threatObject.GetComponent<Threat>();
     // Assign a unique and simple ID
-    int targetId = _threats.Count;
+    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<Threat>();
   }
 
@@ -297,22 +282,22 @@ public class SimManager : MonoBehaviour {
     _elapsedSimulationTime = 0f;
     simulationRunning = IsSimulationRunning();
 
-    // Clear existing missiles and targets
-    foreach (var interceptor in _interceptors) {
+    // Clear existing interceptors and threats
+    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();
-    _threats.Clear();
-    _unassignedThreats.Clear();
+    _interceptorObjects.Clear();
+    _activeInterceptors.Clear();
+    _threatObjects.Clear();
 
     StartSimulation();
   }
@@ -320,8 +305,8 @@ public class SimManager : MonoBehaviour {
   void Update() {
     // Check if all missiles have terminated
     bool allInterceptorsTerminated = true;
-    foreach (var interceptor in _interceptors) {
-      if (interceptor != null && !interceptor.IsHit() && !interceptor.IsMiss()) {
+    foreach (var interceptor in _interceptorObjects) {
+      if (interceptor != null && interceptor.GetFlightPhase() != Agent.FlightPhase.TERMINATED) {
         allInterceptorsTerminated = false;
         break;
       }

Assets/Scripts/SimManager.cs.meta

@@ -4,7 +4,7 @@ MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
-  executionOrder: 0
+  executionOrder: 100
   icon: {instanceID: 0}
   userData: 
   assetBundleName: 

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() {}
+}

Assets/Scripts/Threats/DroneTarget.cs

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

Assets/Scripts/Threats/FixedWingMissileThreat.cs

@@ -1,41 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class FixedWingMissileThreat : Threat {
-  protected override void UpdateBoost(double deltaTime) {
-    throw new System.NotImplementedException();
-  }
-
-  protected override void UpdateMidCourse(double deltaTime) {
-    throw new System.NotImplementedException();
-  }
-
-  /// <summary>
-  /// Strategy for moving the Threat in a straight path towards its target.
-  /// </summary>
-  public class DirectPathStrategy : NavigationStrategy {
-    public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
-                                 List<Interceptor> interceptors, double deltaTime) {
-      throw new System.NotImplementedException();
-    }
-  }
-
-  /// <summary>
-  /// Strategy for moving the Threat in an S-curve towards a predefined target.
-  /// </summary>
-  public class SlalomStrategy : NavigationStrategy {
-    private float maxAmplitude;
-    private float periodDistance;
-
-    public SlalomStrategy(float maxAmplitude, float periodDistance) {
-      this.maxAmplitude = maxAmplitude;
-      this.periodDistance = periodDistance;
-    }
-
-    public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
-                                 List<Interceptor> interceptors, double deltaTime) {
-      throw new System.NotImplementedException();
-    }
-  }
-}

Assets/Scripts/Threats/FixedWingMissileThreat.cs.meta

@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 4e6c2fbd1e492be448760f5045b13b2e

Assets/Scripts/Threats/RollStabilizedMissileThreat.cs

@@ -1,204 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-/// <summary>
-/// Base class for missile targets. Uses same set of flight phases as base Hydra-70.
-/// </summary>
-public class RollStabilizedMissileThreat : Threat {
-  protected float boostAcceleration = 20;
-  protected float midcourseAcceleration = 0;
-  protected float terminalAcceleration = 22;
-  protected float maxAmplitude = 22;
-
-  public RollStabilizedMissileThreat() {
-    strategy = new DirectPathStrategy();
-  }
-
-  protected override void UpdateBoost(double deltaTime) {
-    // The interceptor only accelerates along its roll axis (forward in Unity)
-    Vector3 rollAxis = transform.forward;
-
-    // Calculate boost acceleration
-    float boostAcceleration =
-        (float)(_staticConfig.boostConfig.boostAcceleration * Constants.kGravity);
-    Vector3 accelerationInput = boostAcceleration * rollAxis;
-
-    // Calculate the total acceleration
-    Vector3 acceleration = CalculateAcceleration(accelerationInput);
-
-    // Apply the acceleration force
-    GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
-  }
-
-  protected override void UpdateMidCourse(double deltaTime) {
-    Vector3 accelerationInput = Vector3.zero;
-    // Calculate and set the total acceleration
-    Vector3 acceleration = CalculateAcceleration(accelerationInput);
-    GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
-  }
-
-  protected Vector3 CalculateAcceleration(Vector3 accelerationInput,
-                                          bool compensateForGravity = false) {
-    Vector3 gravity = Physics.gravity;
-    if (compensateForGravity) {
-      Vector3 gravityProjection = CalculateGravityProjectionOnPitchAndYaw();
-      accelerationInput -= gravityProjection;
-    }
-
-    float airDrag = CalculateDrag();
-    float liftInducedDrag = CalculateLiftInducedDrag(accelerationInput);
-    float dragAcceleration = -(airDrag + liftInducedDrag);
-
-    // Project the drag acceleration onto the forward direction
-    Vector3 dragAccelerationAlongRoll = dragAcceleration * transform.forward;
-    _dragAcceleration = dragAccelerationAlongRoll;
-
-    return accelerationInput + gravity + dragAccelerationAlongRoll;
-  }
-
-  protected float CalculateMaxAcceleration() {
-    float maxReferenceAcceleration =
-        (float)(_staticConfig.accelerationConfig.maxReferenceAcceleration * Constants.kGravity);
-    float referenceSpeed = _staticConfig.accelerationConfig.referenceSpeed;
-    return Mathf.Pow(GetComponent<Rigidbody>().linearVelocity.magnitude / referenceSpeed, 2) *
-           maxReferenceAcceleration;
-  }
-
-  protected Vector3 CalculateGravityProjectionOnPitchAndYaw() {
-    Vector3 gravity = Physics.gravity;
-    Vector3 pitchAxis = transform.right;
-    Vector3 yawAxis = transform.up;
-
-    // Project the gravity onto the pitch and yaw axes
-    float gravityProjectionPitchCoefficient = Vector3.Dot(gravity, pitchAxis);
-    float gravityProjectionYawCoefficient = Vector3.Dot(gravity, yawAxis);
-
-    // Return the sum of the projections
-    return gravityProjectionPitchCoefficient * pitchAxis +
-           gravityProjectionYawCoefficient * yawAxis;
-  }
-
-  private float CalculateDrag() {
-    float dragCoefficient = _staticConfig.liftDragConfig.dragCoefficient;
-    float crossSectionalArea = _staticConfig.bodyConfig.crossSectionalArea;
-    float mass = _staticConfig.bodyConfig.mass;
-    float dynamicPressure = (float)GetDynamicPressure();
-    float dragForce = dragCoefficient * dynamicPressure * crossSectionalArea;
-    return dragForce / mass;
-  }
-
-  private float CalculateLiftInducedDrag(Vector3 accelerationInput) {
-    float liftAcceleration =
-        (accelerationInput - Vector3.Dot(accelerationInput, transform.up) * transform.up).magnitude;
-    float liftDragRatio = _staticConfig.liftDragConfig.liftDragRatio;
-    return Mathf.Abs(liftAcceleration / liftDragRatio);
-  }
-
-  // ===========================================================
-  // STRATEGIES
-  // ===========================================================
-
-  /// <summary>
-  /// Strategy for moving the Threat in a straight path towards its target.
-  /// </summary>
-  public class DirectPathStrategy : NavigationStrategy {
-    DefendPoint target = new DefendPoint();
-
-    private float _navigationGain = 3f;  // Typically 3-5
-    private SensorOutput _sensorOutput;
-    private Vector3 _accelerationCommand;
-    private double _elapsedTime = 0;
-
-    public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
-                                 List<Interceptor> interceptors, double deltaTime) {
-      RollStabilizedMissileThreat missileThreat = threat as RollStabilizedMissileThreat;
-      if (missileThreat == null) {
-        Debug.LogError("DirectPathStrategy can only be used with RollStabilizedMissileThreat");
-        return;
-      }
-
-      _elapsedTime += deltaTime;
-      Vector3 accelerationInput = Vector3.zero;
-
-      if (target != null) {
-        // Correct the state of the threat model at the sensor frequency
-        float sensorUpdatePeriod =
-            1f / missileThreat._agentConfig.dynamic_config.sensor_config.frequency;
-        if (_elapsedTime >= sensorUpdatePeriod) {
-          _sensorOutput = new SensorOutput();
-          missileThreat.GetComponent<Sensor>().Sense(target);
-          Debug.Log(_sensorOutput.velocity.range);
-          _elapsedTime = 0;
-        }
-
-        // Check whether the threat should be considered a miss
-        SensorOutput sensorOutput = missileThreat.GetComponent<Sensor>().Sense(target);
-        if (sensorOutput.velocity.range > 1000f) {
-          missileThreat.MarkAsMiss();
-        }
-
-        // Calculate the acceleration input
-        accelerationInput = CalculateAccelerationCommand(missileThreat, _sensorOutput);
-      } else {
-        Debug.LogError("DirectPathStrategy requires a target to be set");
-      }
-
-      // Calculate and set the total acceleration
-      Vector3 acceleration =
-          missileThreat.CalculateAcceleration(accelerationInput, compensateForGravity: true);
-      missileThreat.GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
-    }
-
-    private Vector3 CalculateAccelerationCommand(Threat threat, SensorOutput sensorOutput) {
-      RollStabilizedMissileThreat missileThreat = threat as RollStabilizedMissileThreat;
-
-      // Implement Proportional Navigation guidance law
-      Vector3 accelerationCommand;
-
-      // Extract relevant information from sensor output
-      float los_rate_az = sensorOutput.velocity.azimuth;
-      float los_rate_el = sensorOutput.velocity.elevation;
-      float closing_velocity =
-          -sensorOutput.velocity
-               .range;  // Negative because closing velocity is opposite to range rate
-
-      // Navigation gain (adjust as needed)
-      float N = _navigationGain;
-
-      // Calculate acceleration commands in azimuth and elevation planes
-      float acc_az = N * closing_velocity * los_rate_az;
-      float acc_el = N * closing_velocity * los_rate_el;
-
-      // Convert acceleration commands to craft body frame
-      accelerationCommand =
-          missileThreat.transform.right * acc_az + missileThreat.transform.up * acc_el;
-
-      // Clamp the acceleration command to the maximum acceleration
-      float maxAcceleration = missileThreat.CalculateMaxAcceleration();
-      accelerationCommand = Vector3.ClampMagnitude(accelerationCommand, maxAcceleration);
-
-      // Update the stored acceleration command for debugging
-      _accelerationCommand = accelerationCommand;
-      return accelerationCommand;
-    }
-  }
-
-  /// <summary>
-  /// Strategy for moving the Threat in a spiral towards a predefined target.
-  /// </summary>
-  public class SpiralStrategy : NavigationStrategy {
-    private float spiralRadius;
-    private float periodDistance;
-
-    public SpiralStrategy(float spiralRadius, float periodDistance) {
-      this.spiralRadius = spiralRadius;
-      this.periodDistance = periodDistance;
-    }
-
-    public override void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
-                                 List<Interceptor> interceptors, double deltaTime) {
-      throw new System.NotImplementedException();
-    }
-  }
-}

Assets/Scripts/Threats/Threat.cs

@@ -3,29 +3,6 @@ using System.Collections.Generic;
 using UnityEngine;
 
 public abstract class Threat : Agent {
-  /// <summary>
-  /// Strategy for moving the Threat towards a predefined target.
-  /// </summary>
-  public abstract class NavigationStrategy {
-    /// <summary>
-    /// Execute one timestep of the strategy for the given threat and flight phase. Should only
-    /// apply normal forces to the threat. Can also change the threat's flight phase. Should NOT
-    /// manage thrust.
-    /// </summary>
-    /// <param name="threat">Parent Threat object</param>
-    /// <param name="swarmMates">List of other threats in the swarm</param>
-    /// <param name="flightPhase">Current flight phase</param>
-    /// <param name="interceptors">List of active interceptors</param>
-    /// <param name="deltaTime">Timestep</param>
-    public abstract void Execute(Threat threat, List<Threat> swarmMates, FlightPhase flightPhase,
-                                 List<Interceptor> interceptors, double deltaTime);
-  }
-
-  /// <summary>
-  /// Navigation strategy that this threat will use to move towards its target.
-  /// </summary>
-  public NavigationStrategy strategy;
-
   public override bool IsAssignable() {
     return false;
   }
@@ -36,18 +13,5 @@ public abstract class Threat : Agent {
 
   protected override void FixedUpdate() {
     base.FixedUpdate();
-    // NOTE: no swarm-mates for now
-    strategy.Execute(this, new List<Threat>(), GetFlightPhase(),
-                     SimManager.Instance.GetActiveInterceptors(), Time.fixedDeltaTime);
-  }
-
-  /// <summary>
-  /// OVERRIDE: THIS SHOULD NEVER BE CALLED; threats always start in midcourse or (at the very
-  /// earliest) boost phase.
-  /// </summary>
-  /// <param name="deltaTime"></param>
-  /// <exception cref="System.NotImplementedException"></exception>
-  protected override void UpdateReady(double deltaTime) {
-    throw new System.NotImplementedException();
   }
 }

Assets/Scripts/bamlab.micromissiles.asmdef

@@ -0,0 +1,17 @@
+{
+    "name": "bamlab.micromissiles",
+    "rootNamespace": "",
+    "references": [
+        "GUID:6055be8ebefd69e48b49212b09b47b2f",
+        "GUID:c668b7a00ffe56a498ddb1fc9f96f4e6"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

Assets/Scripts/bamlab.micromissiles.asmdef.meta

@@ -1,6 +1,6 @@
 fileFormatVersion: 2
-guid: a4172237088e66b4190f0126eef67443
-PrefabImporter:
+guid: af8bba08a36038347823e2f46bdc9857
+AssemblyDefinitionImporter:
   externalObjects: {}
   userData: 
   assetBundleName: 

Assets/StreamingAssets/Configs/1_salvo_1_hydra_7_tomahawks.json

@@ -1,146 +0,0 @@
-{
-  "timeScale": 1,
-  "interceptor_swarm_configs": [
-    {
-      "num_agents": 1,
-      "agent_config": {
-        "interceptor_type": "HYDRA_70",
-        "threat_type": "ROLL_STABILIZED_MISSILE",
-        "initial_state": {
-          "position": {
-            "x": 0,
-            "y": 20,
-            "z": 0
-          },
-          "rotation": {
-            "x": -45,
-            "y": 0,
-            "z": 0
-          },
-          "velocity": {
-            "x": 0,
-            "y": 10,
-            "z": 10
-          }
-        },
-        "standard_deviation": {
-          "position": {
-            "x": 10,
-            "y": 0,
-            "z": 10
-          },
-          "velocity": {
-            "x": 5,
-            "y": 0,
-            "z": 1
-          }
-        },
-        "dynamic_config": {
-          "launch_config": {
-            "launch_time": 0
-          },
-          "sensor_config": {
-            "type": "IDEAL",
-            "frequency": 100
-          }
-        },
-        "submunitions_config": {
-          "num_submunitions": 7,
-          "launch_config": {
-            "launch_time": 4
-          },
-          "agent_config": {
-            "interceptor_type": "MICROMISSILE",
-            "initial_state": {
-              "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-              },
-              "rotation": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-              },
-              "velocity": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-              }
-            },
-            "standard_deviation": {
-              "position": {
-                "x": 5,
-                "y": 5,
-                "z": 5
-              },
-              "velocity": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-              }
-            },
-            "dynamic_config": {
-              "launch_config": {
-                "launch_time": 0
-              },
-              "sensor_config": {
-                "type": "IDEAL",
-                "frequency": 100
-              }
-            }
-          }
-        }
-      }
-    }
-  ],
-  "threat_swarm_configs": [
-    {
-      "num_agents": 7,
-      "agent_config": {
-        "threat_type": "ROLL_STABILIZED_MISSILE",
-        "initial_state": {
-          "position": {
-            "x": 0,
-            "y": 600,
-            "z": 6000
-          },
-          "rotation": {
-            "x": 90,
-            "y": 50,
-            "z": 0
-          },
-          "velocity": {
-            "x": 0,
-            "y": 0,
-            "z": -200
-          }
-        },
-        "standard_deviation": {
-          "position": {
-            "x": 1000,
-            "y": 200,
-            "z": 100
-          },
-          "velocity": {
-            "x": 0,
-            "y": 0,
-            "z": 25
-          }
-        },
-        "dynamic_config": {
-          "launch_config": {
-            "launch_time": 0
-          },
-          "sensor_config": {
-            "type": "IDEAL",
-            "frequency": 0
-          }
-        },
-        "submunitions_config": {
-          "num_submunitions": 0
-        }
-      }
-    }
-  ]
-}

Assets/StreamingAssets/Configs/Models/base_roll_stabilized_missile.json

@@ -1,25 +0,0 @@
-{
-    "accelerationConfig": {
-      "maxReferenceAcceleration": 300,
-      "referenceSpeed": 1000
-    },
-    "boostConfig": {
-      "boostTime": 0.3,
-      "boostAcceleration": 350
-    },
-    "liftDragConfig": {
-      "liftCoefficient": 0.2,
-      "dragCoefficient": 0.7,
-      "liftDragRatio": 5
-    },
-    "bodyConfig": {
-      "mass": 0.37,
-      "crossSectionalArea": 0.0003,
-      "finArea": 0.0006,
-      "bodyArea": 0.01
-    },
-    "hitConfig": {
-      "hitRadius": 1,
-      "killProbability": 0.9
-    }
-}

Assets/Tests.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5ab47dc725c65cb4cb1fa6948fb0c9a7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Tests/EditMode.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: c80e4daffe8e47e4b8e151adf0b21a86
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Tests/EditMode/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/EditMode/SanityTest.cs.meta

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

Assets/Tests/EditMode/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/EditMode/ThreatAssignmentTests.cs.meta

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

Assets/Tests/EditMode/bamlab.test.editmode.asmdef

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

Assets/Tests/EditMode/bamlab.test.editmode.asmdef.meta

@@ -1,6 +1,6 @@
 fileFormatVersion: 2
-guid: 9c1ccc1cc7ad8cb4aa0b59a0afd50568
-PrefabImporter:
+guid: d15c92e585e721749b63d85007276dbe
+AssemblyDefinitionImporter:
   externalObjects: {}
   userData: 
   assetBundleName: 

Assets/Tests/PlayMode.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: fb45bee6d70202941a0bab2fe23f0ffb
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Tests/PlayMode/SanityTest.cs

@@ -0,0 +1,25 @@
+using System.Collections;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+public class SanityTest
+{
+    [UnityTest]
+    public IEnumerator SanityCheck()
+    {
+        // Arrange
+        GameObject testObject = new GameObject("TestObject");
+
+        // Act
+        testObject.AddComponent<BoxCollider>();
+
+        // Assert
+        Assert.IsTrue(testObject.GetComponent<BoxCollider>() != null, "BoxCollider should be added to the test object");
+
+        // Clean up
+        Object.Destroy(testObject);
+
+        yield return null;
+    }
+}

Assets/Tests/PlayMode/SanityTest.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 2e04183212e40bf43a2625427494a839

Assets/Tests/PlayMode/bamlab.test.playmode.asmdef

@@ -0,0 +1,22 @@
+{
+    "name": "bamlab.test.playmode",
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "UnityEditor.TestRunner",
+        "bamlab.micromissiles"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll"
+    ],
+    "autoReferenced": false,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

Assets/Tests/PlayMode/bamlab.test.playmode.asmdef.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: e06647a307e3eb742b52b0482094df98
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/UniversalRenderPipelineGlobalSettings.asset

@@ -55,7 +55,18 @@ MonoBehaviour:
       - rid: 162646946419048467
       - rid: 162646946419048468
     m_RuntimeSettings:
-      m_List: []
+      m_List:
+      - rid: 162646946419048448
+      - rid: 162646946419048450
+      - rid: 162646946419048451
+      - rid: 162646946419048453
+      - rid: 162646946419048455
+      - rid: 162646946419048457
+      - rid: 162646946419048458
+      - rid: 162646946419048460
+      - rid: 162646946419048461
+      - rid: 162646946419048465
+      - rid: 162646946419048468
   m_AssetVersion: 8
   m_ObsoleteDefaultVolumeProfile: {fileID: 0}
   m_RenderingLayerNames:

ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json

@@ -1,5 +1,26 @@
 {
     "m_Dictionary": {
-        "m_DictionaryValues": []
+        "m_DictionaryValues": [
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "IncludeAssemblies",
+                "value": "{\"m_Value\":\"bamlab.micromissiles,bamlab.test\"}"
+            },
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "Path",
+                "value": "{\"m_Value\":\"{ProjectPath}\"}"
+            },
+            {
+                "type": "System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "HistoryPath",
+                "value": "{\"m_Value\":\"{ProjectPath}\"}"
+            },
+            {
+                "type": "System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "EnableCodeCoverage",
+                "value": "{\"m_Value\":true}"
+            }
+        ]
     }
 }

ProjectSettings/SceneTemplateSettings.json

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

README.md

@@ -2,6 +2,15 @@
 
 ![Sim Salvo Animation](docs/images/sim_salvo_animation.gif)
 
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/PisterLab/micromissiles-unity/build.yaml?link=https%3A%2F%2Fgithub.com%2FPisterLab%2Fmicromissiles-unity%2Factions%2Fworkflows%2Fbuild.yaml)](https://github.com/PisterLab/micromissiles-unity/actions/workflows/build.yaml)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/PisterLab/micromissiles-unity/test.yaml?label=tests&link=https%3A%2F%2Fgithub.com%2FPisterLab%2Fmicromissiles-unity%2Factions%2Fworkflows%2Ftest.yaml)](https://github.com/PisterLab/micromissiles-unity/actions/workflows/test.yaml)
+[![GitHub Release](https://img.shields.io/github/v/release/PisterLab/micromissiles-unity?link=https%3A%2F%2Fgithub.com%2FPisterLab%2Fmicromissiles-unity%2Freleases%2Flatest)](https://github.com/PisterLab/micromissiles-unity/releases/latest)
+[![Static Badge](https://img.shields.io/badge/%F0%9F%93%93-Documentation-blue?labelColor=white)](https://pisterlab.github.io/micromissiles-unity/)
+
+# Documentation 
+
+Documentation is hosted on the [micromissiles-unity GitHub Pages site](https://pisterlab.github.io/micromissiles-unity/).
+
 # Quick Start
 
 We generate pre-built standalone binaries for Windows and Mac users from the `release` branch. These binaries are intended for non-development users who just want to run the application and modify a few configurations along the way.
@@ -24,91 +33,9 @@ You can find the latest release [here](https://github.com/PisterLab/micromissile
      * Navigate to `Privacy & Security`.
      * Click on `Open Anyway` to bypass Apple's developer check.
 
-# Development
+# Next Steps
 
-This guide will help you set up and run the project in development mode. You'll learn how to install Unity Hub, open the project, and navigate the main scene.
-
-## Table of Contents
-
-- [Prerequisites](#prerequisites)
-- [Installation Steps](#installation-steps)
-  - [1. Install Unity Hub](#1-install-unity-hub)
-  - [2. Clone the Project Repository](#2-clone-the-project-repository)
-  - [3. Launch the Project via Unity Hub](#3-launch-the-project-via-unity-hub)
-  - [4. Open the Main Scene](#4-open-the-main-scene)
-- [Next Steps](#next-steps)
-- [Additional Resources](#additional-resources)
-
-## Prerequisites
-
-- A computer with internet access.
-- Administrative privileges to install software.
-- [Git](https://git-scm.com/downloads) installed on your system (optional, for cloning the repository).
-
-## Installation Steps
-
-### 1. Install Unity Hub
-
-Unity Hub is a desktop application that manages your Unity projects and installations. It simplifies the process of installing different Unity versions and launching projects.
-
-**Steps to Install Unity Hub:**
-
-1. Visit the [Unity Download Page](https://unity3d.com/get-unity/download).
-2. Click on **"Download Unity Hub"**.
-3. Run the downloaded installer and follow the on-screen instructions to complete the installation.
-
-### 2. Clone the Project Repository
-
-Obtain the project source code by cloning the repository from GitHub.
-
-```bash
-git clone https://github.com/PisterLab/micromissiles-unity.git
-```
-Alternatively, you can download the repository as a ZIP file and extract it to a preferred location.
-
-### 3. Launch the Project via Unity Hub
-
-![Unity Hub](docs/images/unity_hub.png)
-
-1. **Open Unity Hub**.
-
-2. **Add the Project to Unity Hub**:
-   - Navigate to the **"Projects"** tab.
-   - Click on the **"ADD"** button.
-   - Browse to the folder where you cloned or extracted the project.
-   - Select the folder containing the `Assets` folder and click on **"Select Folder"**.
-
-3. **Install the Required Unity Version**:
-   - Unity Hub will detect if the project requires a Unity version that is not currently installed.
-   - A notification or warning icon may appear next to the project name.
-   - Click on the notification and select **"Install Unity **[version]**"**.
-   - Unity Hub will download and install the required Unity version automatically.
-
-4. **Open the Project**:
-   - Once the required Unity version is installed, click on the project name in Unity Hub to open it.
-
-### 4. Open the Main Scene
-
-After the project opens in Unity:
-
-1. In the **Project** window (usually located at the bottom), navigate to:
-
-   ```
-   Assets/Scenes/
-   ```
-
-2. Find the main scene file, usually named `MainScene.unity`.
-
-3. Double-click on `MainScene.unity` to open it.
-
-4. The scene will load in the **Scene** view. You can now run the simulation by clicking the **Play** button at the top of the Unity Editor.
-
-## Next Steps
-
-- Familiarize yourself with the [**Keybinds and Controls**](docs/Keybinds_and_Controls.md) to navigate and interact with the simulation.
-- Learn how to configure the simulation settings by reading the [**Simulation Configuration Guide**](docs/Simulation_Config_Guide.md).
-
-## Additional Resources
-
-- [Keybinds and Controls](docs/Keybinds_and_Controls.md)
-- [Simulation Configuration Guide](docs/Simulation_Config_Guide.md)
+- To get started with development, see the [**Development Guide**](https://pisterlab.github.io/micromissiles-unity/Development_Guide.html).
+- Familiarize yourself with the [**Keybinds and Controls**](https://pisterlab.github.io/micromissiles-unity/Keybinds_and_Controls.html) to navigate and interact with the simulation.
+- Learn how to configure the simulation settings by reading the [**Simulation Configuration Guide**](https://pisterlab.github.io/micromissiles-unity/Simulation_Config_Guide.html).
+- Learn how to analyze the simulation logs by reading the [**Simulation Logging Guide**](https://pisterlab.github.io/micromissiles-unity/Simulation_Logging.html).

Telemetry/visualize_telemetry.py

@@ -1,82 +0,0 @@
-import os
-import glob
-import argparse
-import pandas as pd
-import matplotlib.pyplot as plt
-from mpl_toolkits.mplot3d import Axes3D
-import numpy as np
-
-def find_latest_telemetry_file(directory='./Logs/'):
-    list_of_files = glob.glob(os.path.join(directory, 'sim_telemetry_*.csv'))
-    if not list_of_files:
-        print(f"No telemetry files found in {directory}")
-        return None
-    latest_file = max(list_of_files, key=os.path.getctime)
-    print(f"Using latest telemetry file: {latest_file}")
-    return latest_file
-
-def plot_telemetry(file_path):
-    # Read the telemetry CSV file
-    df = pd.read_csv(file_path)
-
-
-    # Create a 3D plot
-    fig = plt.figure(figsize=(12, 8))
-    ax = fig.add_subplot(111, projection='3d')
-
-    # Define colors for different agent types
-    colors = {'T': 'red', 'M': 'blue'}
-
-    # Group data by AgentID
-    for agent_id, agent_data in df.groupby('AgentID'):
-        agent_type = agent_data['AgentType'].iloc[0]
-        color = colors.get(agent_type, 'black')
-        downsampled = agent_data.iloc[::10]
-
-        ax.plot(
-            downsampled['AgentX'],
-            downsampled['AgentZ'],
-            downsampled['AgentY'],
-            color=color,
-            alpha=0.5,
-            linewidth=0.5,
-            label=f"{agent_type}"
-        )
-
-
-    ax.set_xlabel('X (m)')
-    ax.set_ylabel('Z (m)')
-    ax.set_zlabel('Y (m)')
-    
-
-    ax.view_init(elev=20, azim=45)
-
-    # Add a ground plane
-    x_min, x_max = ax.get_xlim()
-    z_min, z_max = ax.get_ylim()
-    xx, zz = np.meshgrid(np.linspace(x_min, x_max, 2), np.linspace(z_min, z_max, 2))
-    yy = np.zeros_like(xx)
-    ax.plot_surface(xx, zz, yy, alpha=0.2, color='green')
-
-    plt.title('Agents Trajectories (X: Right, Z: Forward, Y: Up)')
-    legend = [
-        plt.Line2D([0], [0], color='red', lw=2, label='Threat'),
-        plt.Line2D([0], [0], color='blue', lw=2, label='Interceptor')
-    ]
-    plt.legend(handles=legend)
-    plt.tight_layout()
-    plt.show()
-    
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description='Visualize telemetry data.')
-    parser.add_argument('file', nargs='?', default=None, help='Path to telemetry CSV file.')
-    args = parser.parse_args()
-
-    if args.file:
-        file_path = args.file
-    else:
-        file_path = find_latest_telemetry_file()
-        if file_path is None:
-            exit(1)
-
-    plot_telemetry(file_path)

Tools/visualize_log.py

@@ -0,0 +1,198 @@
+import os
+import glob
+import argparse
+import platform
+import pandas as pd
+import matplotlib.pyplot as plt
+from mpl_toolkits.mplot3d import Axes3D
+import numpy as np
+
+
+
+def get_logs_directory():
+    if platform.system() == "Windows":
+        return os.path.expandvars(r"%USERPROFILE%\AppData\LocalLow\BAMLAB\micromissiles\Telemetry\Logs")
+    elif platform.system() == "Darwin":  # macOS
+        return os.path.expanduser("~/Library/Application Support/BAMLAB/micromissiles/Telemetry/Logs")
+    else:
+        raise NotImplementedError(f"Unsupported platform: {platform.system()}")
+
+def find_latest_file(directory, file_pattern):
+    list_of_files = glob.glob(os.path.join(directory, file_pattern))
+    if not list_of_files:
+        print(f"No files matching '{file_pattern}' found in {directory}")
+        return None
+    latest_file = max(list_of_files, key=os.path.getctime)
+    print(f"Using latest file: {latest_file}")
+    return latest_file
+
+def find_latest_telemetry_file():
+    logs_dir = get_logs_directory()
+    latest_log_dir = max(glob.glob(os.path.join(logs_dir, "*")), key=os.path.getctime)
+    return find_latest_file(latest_log_dir, 'sim_telemetry_*.csv')
+
+def find_latest_event_log():
+    latest_telemetry_file = find_latest_telemetry_file()
+    if latest_telemetry_file:
+        return latest_telemetry_file.replace('sim_telemetry_', 'sim_events_')
+    else:
+        return None
+
+def plot_telemetry(telemetry_file_path, event_file_path):
+    # Read the telemetry CSV file
+    df = pd.read_csv(telemetry_file_path)
+
+    # Read the event CSV file
+    event_df = pd.read_csv(event_file_path)
+
+    # Sanitize the 'Event' column to ensure consistency
+    event_df['Event'] = event_df['Event'].str.upper().str.strip()
+
+    # Debugging: Print unique event types to verify correct parsing
+    unique_events = event_df['Event'].unique()
+    print(f"Unique Events Found: {unique_events}")
+
+    # Create a 3D plot
+    fig = plt.figure(figsize=(14, 10))
+    ax = fig.add_subplot(111, projection='3d')
+
+    # Define colors for different agent types
+    colors = {'T': 'red', 'M': 'blue'}
+
+    # Group data by AgentID
+    agent_types = set()
+    for agent_id, agent_data in df.groupby('AgentID'):
+        agent_type = agent_data['AgentType'].iloc[0]
+        color = colors.get(agent_type, 'black')
+        downsampled = agent_data.iloc[::10]
+
+        ax.plot(
+            downsampled['AgentX'],
+            downsampled['AgentZ'],
+            downsampled['AgentY'],
+            color=color,
+            alpha=0.5,
+            linewidth=0.5,
+            label=f"Agent Type: {agent_type}"  # Optional: More descriptive labels
+        )
+        agent_types.add(agent_type)
+
+    # Define event markers with higher zorder for visibility
+    event_markers = {
+        'HIT': ('o', 'green', 'Hit'),
+        'MISS': ('x', 'red', 'Miss'),
+        'NEW_THREAT': ('^', 'orange', 'New Threat'),
+        'NEW_INTERCEPTOR': ('s', 'blue', 'New Interceptor')
+    }
+
+    # Plot events
+    for event_type, (marker, color, label) in event_markers.items():
+        event_data = event_df[event_df['Event'] == event_type]
+        if not event_data.empty:
+            ax.scatter(
+                event_data['PositionX'],
+                event_data['PositionZ'],
+                event_data['PositionY'],
+                c=color,
+                marker=marker,
+                s=100,  # Increased marker size for better visibility
+                label=label,
+                edgecolors='k',  # Adding black edges for contrast
+                depthshade=True,
+                zorder=5  # Ensure markers are on top
+            )
+
+    # Set labels
+    ax.set_xlabel('X (m)', fontsize=12)
+    ax.set_ylabel('Z (m)', fontsize=12)
+    ax.set_zlabel('Y (m)', fontsize=12)
+
+    # Set view angle for better visualization
+    ax.view_init(elev=20, azim=45)
+
+    # Add a ground plane for reference
+    x_min, x_max = ax.get_xlim()
+    z_min, z_max = ax.get_ylim()
+    xx, zz = np.meshgrid(np.linspace(x_min, x_max, 2), np.linspace(z_min, z_max, 2))
+    yy = np.zeros_like(xx)
+    ax.plot_surface(xx, zz, yy, alpha=0.2, color='green')
+
+    plt.title('Agents Trajectories and Events (X: Right, Z: Forward, Y: Up)', fontsize=14)
+
+    # Optimize legend to prevent overcrowding
+    handles, labels = ax.get_legend_handles_labels()
+    # Remove duplicate labels
+    unique = dict(zip(labels, handles))
+    ax.legend(unique.values(), unique.keys(), loc='upper left', bbox_to_anchor=(1, 1), fontsize=10)
+
+    plt.tight_layout()
+    plt.show()
+
+def print_summary(telemetry_file_path, event_file_path):
+    # Read the telemetry CSV file
+    df = pd.read_csv(telemetry_file_path)
+
+    # Read the event CSV file
+    event_df = pd.read_csv(event_file_path)
+
+    # Sanitize the 'Event' column to ensure consistency
+    event_df['Event'] = event_df['Event'].str.upper().str.strip()
+
+    # Print total number of events
+    total_events = len(event_df)
+    print(f"Total number of events: {total_events}")
+
+    # Print counts of each event type
+    event_counts = event_df['Event'].value_counts()
+    print("\nEvent Counts:")
+    for event_type, count in event_counts.items():
+        print(f"  {event_type}: {count}")
+
+    # Calculate the time duration of the events
+    if 'Time' in event_df.columns:
+        start_time = event_df['Time'].min()
+        end_time = event_df['Time'].max()
+        duration = end_time - start_time
+        print(f"\nTotal duration of events: {duration:.2f} seconds (from {start_time:.2f} to {end_time:.2f})")
+    else:
+        print("\n'Time' column not found in event data.")
+
+
+    if 'Time' in event_df.columns:
+        hits = event_df[event_df['Event'] == 'HIT']
+        misses = event_df[event_df['Event'] == 'MISS']
+
+        if not hits.empty:
+            first_hit_time = hits['Time'].min()
+            last_hit_time = hits['Time'].max()
+            print(f"\nFirst hit at {first_hit_time:.2f} seconds, last hit at {last_hit_time:.2f} seconds")
+        else:
+            print("\nNo hits recorded.")
+
+        if not misses.empty:
+            first_miss_time = misses['Time'].min()
+            last_miss_time = misses['Time'].max()
+            print(f"First miss at {first_miss_time:.2f} seconds, last miss at {last_miss_time:.2f} seconds")
+        else:
+            print("No misses recorded.")
+    else:
+        print("\n'Time' column not found in event data.")
+
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Visualize telemetry data and events.')
+    parser.add_argument('telemetry_file', nargs='?', default=None, help='Path to telemetry CSV file.')
+    parser.add_argument('event_file', nargs='?', default=None, help='Path to event CSV file.')
+    args = parser.parse_args()
+
+    if args.telemetry_file and args.event_file:
+        telemetry_file_path = args.telemetry_file
+        event_file_path = args.event_file
+    else:
+        telemetry_file_path = find_latest_telemetry_file()
+        event_file_path = find_latest_event_log()
+        if telemetry_file_path is None or event_file_path is None:
+            exit(1)
+    print_summary(telemetry_file_path, event_file_path)
+    plot_telemetry(telemetry_file_path, event_file_path)

docs/.gitignore

@@ -0,0 +1,5 @@
+node_modules/
+package-lock.json
+.vuepress/dist/
+.vitepress/cache/
+.vitepress/dist/

docs/.vitepress/config.mts

@@ -0,0 +1,40 @@
+import { defineConfig } from 'vitepress'
+
+// https://vitepress.dev/reference/site-config
+export default defineConfig({
+  title: "micromissiles-unity",
+  description: "Swarm-on-swarm simulator using micromissiles for point defense",
+  base: '/micromissiles-unity/',
+  themeConfig: {
+    // https://vitepress.dev/reference/default-theme-config
+    nav: [
+      { text: 'Home', link: '/' },
+      { text: 'Documentation', link: '/Keybinds_and_Controls' },
+      { text: 'Development Guide', link: '/Development_Guide' }
+    ],
+
+    sidebar: [
+      {
+        text: 'Documentation',
+        items: [
+          { text: 'Keybinds and Controls', link: '/Keybinds_and_Controls' },
+          { text: 'Simulation Configuration Guide', link: '/Simulation_Config_Guide' },
+          { text: 'Simulation Logging', link: '/Simulation_Logging' },
+          { text: 'Coverage Reports', link: '/coverage/editmode/Report/' },
+          { text: 'Development Guide', link: '/Development_Guide' }
+        ]
+      }
+    ],
+
+    socialLinks: [
+      { icon: 'github', link: 'https://github.com/PisterLab/micromissiles-unity' }
+    ],
+    search: {
+      provider: 'local'
+    },
+    footer: {
+      message: 'Released under the <a href="https://github.com/PisterLab/micromissiles-unity/blob/main/LICENSE">BSD-3-Clause License</a>.',
+      copyright: 'Copyright © 2024-present, The Regents of the University of California (Regents). All Rights Reserved.'
+    }
+  }
+})

docs/Development_Guide.md

@@ -0,0 +1,84 @@
+# Development Guide
+
+This guide will help you set up and run the project in development mode. You'll learn how to install Unity Hub, open the project, and navigate the main scene.
+
+## Table of Contents
+
+- [Prerequisites](#prerequisites)
+- [Installation Steps](#installation-steps)
+  - [1. Install Unity Hub](#1-install-unity-hub)
+  - [2. Clone the Project Repository](#2-clone-the-project-repository)
+  - [3. Launch the Project via Unity Hub](#3-launch-the-project-via-unity-hub)
+  - [4. Open the Main Scene](#4-open-the-main-scene)
+- [Next Steps](#next-steps)
+- [Additional Resources](#additional-resources)
+
+## Prerequisites
+
+- A computer with internet access.
+- Administrative privileges to install software.
+- [Git](https://git-scm.com/downloads) installed on your system (optional, for cloning the repository).
+
+## Installation Steps
+
+### 1. Install Unity Hub
+
+Unity Hub is a desktop application that manages your Unity projects and installations. It simplifies the process of installing different Unity versions and launching projects.
+
+**Steps to Install Unity Hub:**
+
+1. Visit the [Unity Download Page](https://unity3d.com/get-unity/download).
+2. Click on **"Download Unity Hub"**.
+3. Run the downloaded installer and follow the on-screen instructions to complete the installation.
+
+### 2. Clone the Project Repository
+
+Obtain the project source code by cloning the repository from GitHub.
+
+```bash
+git clone https://github.com/PisterLab/micromissiles-unity.git
+```
+Alternatively, you can download the repository as a ZIP file and extract it to a preferred location.
+
+### 3. Launch the Project via Unity Hub
+
+![Unity Hub](./images/unity_hub.png)
+
+1. **Open Unity Hub**.
+
+2. **Add the Project to Unity Hub**:
+   - Navigate to the **"Projects"** tab.
+   - Click on the **"ADD"** button.
+   - Browse to the folder where you cloned or extracted the project.
+   - Select the folder containing the `Assets` folder and click on **"Select Folder"**.
+
+3. **Install the Required Unity Version**:
+   - Unity Hub will detect if the project requires a Unity version that is not currently installed.
+   - A notification or warning icon may appear next to the project name.
+   - Click on the notification and select **"Install Unity **[version]**"**.
+   - Unity Hub will download and install the required Unity version automatically.
+
+4. **Open the Project**:
+   - Once the required Unity version is installed, click on the project name in Unity Hub to open it.
+
+### 4. Open the Main Scene
+
+After the project opens in Unity:
+
+1. In the **Project** window (usually located at the bottom), navigate to:
+
+   ```
+   Assets/Scenes/
+   ```
+
+2. Find the main scene file, usually named `MainScene.unity`.
+
+3. Double-click on `MainScene.unity` to open it.
+
+4. The scene will load in the **Scene** view. You can now run the simulation by clicking the **Play** button at the top of the Unity Editor.
+
+
+## Additional Resources
+
+- [Keybinds and Controls](Keybinds_and_Controls.md)
+- [Simulation Configuration Guide](Simulation_Config_Guide.md)

docs/Markdown_Examples.md

@@ -0,0 +1,85 @@
+# Markdown Extension Examples
+
+This page demonstrates some of the built-in markdown extensions provided by VitePress.
+
+## Syntax Highlighting
+
+VitePress provides Syntax Highlighting powered by [Shiki](https://github.com/shikijs/shiki), with additional features like line-highlighting:
+
+**Input**
+
+````md
+```js{4}
+export default {
+  data () {
+    return {
+      msg: 'Highlighted!'
+    }
+  }
+}
+```
+````
+
+**Output**
+
+```js{4}
+export default {
+  data () {
+    return {
+      msg: 'Highlighted!'
+    }
+  }
+}
+```
+
+## Custom Containers
+
+**Input**
+
+```md
+::: info
+This is an info box.
+:::
+
+::: tip
+This is a tip.
+:::
+
+::: warning
+This is a warning.
+:::
+
+::: danger
+This is a dangerous warning.
+:::
+
+::: details
+This is a details block.
+:::
+```
+
+**Output**
+
+::: info
+This is an info box.
+:::
+
+::: tip
+This is a tip.
+:::
+
+::: warning
+This is a warning.
+:::
+
+::: danger
+This is a dangerous warning.
+:::
+
+::: details
+This is a details block.
+:::
+
+## More
+
+Check out the documentation for the [full list of markdown extensions](https://vitepress.dev/guide/markdown).

docs/Simulation_Config_Guide.md

@@ -9,13 +9,13 @@ The main configuration files you will work with are located in the `Assets/Strea
 - **Simulation Configurations**:
   - **`1_salvo_1_hydra_7_drones.json`**: A simple, barebones example of a simulation configuration featuring a single salvo in a 7-on-7 scenario.
   - **`3_salvo_10_hydra_200_drones.json`**: A more complex example with three salvos, illustrating a 210-on-200 scenario. This demonstrates how to set up multiple salvos within the simulation.
-  - **C# Script**: [`SimulationConfig.cs`](Assets/Scripts/Config/SimulationConfig.cs)
+  - **C# Script**: [`SimulationConfig.cs`](https://github.com/PisterLab/micromissiles-unity/blob/master/Assets/Scripts/Config/StaticConfig.cs)
 
 - **Model Configurations** (found in `Assets/StreamingAssets/Configs/Models/`):
   - **`micromissile.json`**
   - **`hydra70.json`**
   - **`drone.json`**
-  - **C# Script**: [`StaticConfig.cs`](Assets/Scripts/Config/StaticConfig.cs)
+  - **C# Script**: [`StaticConfig.cs`](https://github.com/PisterLab/micromissiles-unity/blob/master/Assets/Scripts/Config/StaticConfig.cs)
 
 ### File Locations
 
@@ -37,7 +37,7 @@ The simulation configurations are defined in JSON files that specify the initial
 
 This is a basic configuration featuring a single salvo with one interceptor type (`HYDRA_70`) and seven threat drones.
 
-```json:Assets/StreamingAssets/Configs/1_salvo_1_hydra_7_drones.json
+```json
 {
   "timeScale": 1,
   "interceptor_swarm_configs": [
@@ -89,7 +89,7 @@ This is a basic configuration featuring a single salvo with one interceptor type
 
 This configuration demonstrates a more complex scenario with three salvos, each launching ten `HYDRA_70` missiles at different times against 200 threat drones. This results in a total of 210 missiles (including submunitions) engaging 200 targets.
 
-```json:Assets/StreamingAssets/Configs/3_salvo_10_hydra_200_drones.json
+```json
 {
   "timeScale": 1,
   "interceptor_swarm_configs": [
@@ -265,7 +265,7 @@ To define a new inte or threat model:
 
 This script defines the data structures used to interpret the JSON simulation configuration files.
 
-[Assets/Scripts/Config/SimulationConfig.cs](../../Assets/Scripts/Config/SimulationConfig.cs)
+[Assets/Scripts/Config/SimulationConfig.cs](https://github.com/PisterLab/micromissiles-unity/blob/master/Assets/Scripts/Config/SimulationConfig.cs)
 
 **Classes**:
 
@@ -281,10 +281,10 @@ This script defines the data structures used to interpret the JSON simulation co
 
 This script defines the classes corresponding to the model configuration JSON structure.
 
-[Assets/Scripts/Config/StaticConfig.cs](../../Assets/Scripts/Config/StaticConfig.cs)
+[Assets/Scripts/Config/StaticConfig.cs](https://github.com/PisterLab/micromissiles-unity/blob/master/Assets/Scripts/Config/StaticConfig.cs)
 
 For example:
-```csharp:Assets/Scripts/Config/StaticConfig.cs
+```csharp
 [Serializable]
 public class StaticConfig {
   [Serializable]
@@ -335,8 +335,8 @@ While the simulation is running, you can load a new Simulation Configuration JSO
 
 For further assistance, refer to the comments and documentation within the code files:
 
-- [`SimManager.cs`](Assets/Scripts/SimManager.cs): Manages simulation state and agent creation.
-- [`InputManager.cs`](Assets/Scripts/Managers/InputManager.cs): Handles user input and interactions.
+- [`SimManager.cs`](https://github.com/PisterLab/micromissiles-unity/blob/master/Assets/Scripts/SimManager.cs): Manages simulation state and agent creation.
+- [`InputManager.cs`](https://github.com/PisterLab/micromissiles-unity/blob/master/Assets/Scripts/Managers/InputManager.cs): Handles user input and interactions.
 
 ---
 

docs/Simulation_Logging.md

@@ -1,12 +1,259 @@
-# Simulation Logging
+# Simulation Logging 
+
+This guide provides instructions on how to access and interpret the simulation logs, how they are structured by the `SimMonitor` class, and how to utilize the provided `visualize_log.py` script to analyze simulation data. Additionally, it offers guidance on creating your own scripts for custom analysis.
+
+## Overview
+
+![Python simulation log visualizer](./images/sim_visualizer.png)
+
+Simulation logs capture detailed telemetry and event data from each simulation run. These logs are essential for debugging, performance analysis, and understanding the behavior of agents within the simulation.
 
 Logs are exported to the `Telemetry/Logs` folder in your operating system's [persistent data path](https://docs.unity3d.com/ScriptReference/Application-persistentDataPath.html).
 
-For example, on Windows, the logs will be exported to 
-`C:\Users\<user>\AppData\LocalLow\BAMLAB\micromissiles\Telemetry`.
+For example, on Windows, the logs are exported to:
 
-On MacOS, the logs will be exported to 
-`~/Library/Application Support/BAMLAB/micromissiles/Telemetry`.
+```
+C:\Users\<user>\AppData\LocalLow\BAMLAB\micromissiles\Telemetry\Logs
+```
+
+On macOS, the logs are exported to:
+
+```
+~/Library/Application Support/BAMLAB/micromissiles/Telemetry/Logs
+```
+
+`visualize_log.py` is an example script provided to help visualize and interpret the simulation logs. It is included in the `Tools` directory of the release download.
 
 
+## Understanding Log Files and Directory Structure
 
+### Log Directory Structure
+
+Simulation logs are organized into timestamped directories within the `Logs` folder. Each simulation run generates a new directory named with the timestamp of the run.
+
+For example:
+
+```
+Telemetry/
+└── Logs/
+    ├── 20241002_101305/
+    │   ├── sim_telemetry_20241002_101311.csv
+    │   ├── sim_events_20241002_101311.csv
+    │   │
+    │   ├── sim_telemetry_20241002_101306.csv
+    │   └── sim_events_20241002_101306.csv
+    ├── 20241002_012122/
+    │   ├── sim_telemetry_20241002_012122.csv
+    │   └── sim_events_20241002_012122.csv
+    └── ...
+```
+
+Each simulation run produces two main CSV files:
+
+- **Telemetry Log (`sim_telemetry_*.csv`)**: Contains detailed state information for each agent at each time step.
+- **Event Log (`sim_events_*.csv`)**: Records significant events such as hits, misses, agent creation, and destruction.
+
+### Log Files Generated by `SimMonitor`
+
+The logging system is managed by the `SimMonitor` class in the simulation codebase.
+
+```csharp
+public class SimMonitor : MonoBehaviour
+{
+    // Responsible for logging simulation data
+    // ...
+}
+```
+
+**Key Responsibilities of `SimMonitor`:**
+
+- Collecting agent state data at each simulation step.
+- Writing telemetry data to `sim_telemetry_*.csv`.
+- Recording significant events to `sim_events_*.csv`.
+- Organizing logs into timestamped directories for each simulation run.
+
+### Telemetry Log Structure
+
+The telemetry log provides a snapshot of the simulation at each time step for every agent. Key columns include:
+
+- **`Time`**: Simulation time at the log entry.
+- **`AgentID`**: Unique identifier for each agent.
+- **`AgentType`**: Type of the agent (e.g., interceptor, threat).
+- **`AgentX`**, **`AgentY`**, **`AgentZ`**: Position coordinates of the agent.
+- **`AgentVelocityX`**, **`AgentVelocityY`**, **`AgentVelocityZ`**: Velocity components.
+- **`AgentStatus`**: Current status of the agent (e.g., active, destroyed).
+
+### Event Log Structure
+
+The event log records significant occurrences within the simulation. Key columns include:
+
+- **`Time`**: Time when the event occurred.
+- **`PositionX`**, **`PositionY`**, **`PositionZ`**: Position where the event occurred.
+- **`EventType`**: Type of event (e.g., `HIT`, `MISS`, `NEW_THREAT`, `NEW_INTERCEPTOR`).
+- **`Details`**: Additional details about the event.
+
+
+## Running the `visualize_log.py` Script
+
+The `visualize_log.py` script helps visualize agent trajectories and significant events in a 3D plot.
+
+### Locating the Script
+
+After downloading and extracting the release package, you can find the script at:
+
+```
+Tools/visualize_log.py
+```
+
+Make sure you have Python 3 installed on your system, along with the required libraries to run the script.
+
+### Required Python Libraries
+
+The script depends on the following Python libraries:
+
+- **`pandas`**
+- **`matplotlib`**
+- **`numpy`**
+
+You can install them using `pip`:
+
+```bash
+pip install pandas matplotlib numpy
+```
+
+### Usage
+
+#### Navigate to the Tools Directory
+
+Open a terminal or command prompt and navigate to the `Tools` directory:
+
+```bash
+cd path/to/Tools/
+```
+
+#### Run the Script
+
+To visualize the most recent simulation logs:
+
+```bash
+python visualize_log.py
+```
+
+**What the Script Does:**
+
+- **Automatically Finds the Latest Logs**: If no arguments are provided, it locates the most recent `sim_telemetry_*.csv` and `sim_events_*.csv` files.
+- **Prints a Summary**: Outputs a summary of events, including total counts and timing of hits and misses.
+- **Generates a 3D Plot**: Displays agent trajectories and marks events such as hits and misses.
+
+#### Specifying Log Files Manually
+
+You can also provide specific file paths as arguments:
+
+```bash
+python visualize_log.py path/to/sim_telemetry_file.csv path/to/sim_events_file.csv
+```
+
+### Example Output
+
+```
+Total number of events: 150
+
+Event Counts:
+  HIT: 120
+  MISS: 30
+
+First hit at 5.00 seconds, last hit at 15.00 seconds
+
+[3D plot window opens showing trajectories and events]
+```
+
+### Interpreting the Plot
+
+The 3D plot displays:
+
+- **Agent Trajectories**: Lines representing the paths of interceptors and threats.
+  - **Colors** indicate agent types (e.g., blue for interceptors, red for threats).
+- **Event Markers**: Symbols marking where events occurred.
+  - **Hits**: Marked with green circles.
+  - **Misses**: Marked with red crosses.
+
+### Adjusting the Visualization
+
+- **View Angle**: You can rotate the 3D plot by clicking and dragging to view the simulation from different perspectives.
+- **Zoom**: Use the scroll wheel to zoom in and out.
+
+## Writing Your Own Scripts
+
+The simulation logs are in CSV format, making them accessible for custom analysis and visualization.
+
+### Getting Started
+
+- **Choose a Programming Language**: Python or MATLAB are recommended for ease-of-use and data analysis capabilities.
+
+For example, using Python and the `pandas` library, you can load the telemetry and event data like this:
+
+```python
+import pandas as pd
+
+telemetry_df = pd.read_csv('path/to/sim_telemetry_*.csv')
+event_df = pd.read_csv('path/to/sim_events_*.csv')
+```
+
+### Visualization
+
+- **2D Plots**: Use `matplotlib` to create time-series plots:
+
+```python
+import matplotlib.pyplot as plt
+
+plt.plot(telemetry_df['Time'], telemetry_df['AgentY'])
+plt.xlabel('Time (s)')
+plt.ylabel('Altitude (m)')
+plt.title('Agent Altitude Over Time')
+plt.show()
+```
+
+- **3D Plots**: Use `mpl_toolkits.mplot3d` for 3D trajectory plots.
+
+### Sample Script: Calculating Miss Distances
+
+```python
+import pandas as pd
+import numpy as np
+
+# Load telemetry and event data
+telemetry_df = pd.read_csv('path/to/sim_telemetry_*.csv')
+event_df = pd.read_csv('path/to/sim_events_*.csv')
+
+# Filter miss events
+miss_events = event_df[event_df['Event'] == 'MISS']
+
+# Calculate miss distances
+miss_distances = []
+for idx, miss in miss_events.iterrows():
+    agent_id = miss['AgentID']
+    time = miss['Time']
+    # Get agent position at the time of miss
+    agent_state = telemetry_df[(telemetry_df['AgentID'] == agent_id) & (telemetry_df['Time'] == time)]
+    if not agent_state.empty:
+        x = agent_state['AgentX'].values[0]
+        y = agent_state['AgentY'].values[0]
+        z = agent_state['AgentZ'].values[0]
+        # Calculate distance to target or predefined point
+        distance = np.sqrt(x**2 + y**2 + z**2)
+        miss_distances.append(distance)
+
+# Output average miss distance
+average_miss_distance = np.mean(miss_distances)
+print(f'Average Miss Distance: {average_miss_distance:.2f} meters')
+```
+
+### Suggestions for Analysis
+
+- **Performance Metrics**: Determine interception success rates, average time to intercept, or hit accuracy.
+- **Behavioral Analysis**: Examine how changes in simulation configurations affect agent behavior.
+- **Batch Processing**: Automate analysis over multiple simulation runs to compare different scenarios.
+
+## Additional Resources
+
+- **Python Documentation**: [pandas](https://pandas.pydata.org/), [matplotlib](https://matplotlib.org/), [NumPy](https://numpy.org/)

docs/index.md

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+---
+# https://vitepress.dev/reference/default-theme-home-page
+layout: home
+
+hero:
+  name: "micromissiles-unity"
+  
+  tagline: "Swarm-on-swarm simulator using micromissiles for point defense"
+  actions:
+    - theme: brand
+      text: Documentation
+      link: /Keybinds_and_Controls
+    - theme: alt
+      text: Development Guide
+      link: /Development_Guide
+
+---
+
+# Quick Start
+
+We generate pre-built standalone binaries for Windows and Mac users from the `release` branch. These binaries are intended for non-development users who just want to run the application and modify a few configurations along the way.
+
+You can find the latest release [here](https://github.com/PisterLab/micromissiles-unity/releases/latest).
+
+## Windows
+
+1. Download the zip file for Windows: `micromissiles-<version>-windows_x86_64.zip`.
+2. Unzip the zip file. The zip file should contain a single directory called `micromissiles-<version>-windows_x86_64`.
+3. In the `micromissiles-<version>-windows_x86_64` directory, run `micromissiles-<version>-StandaloneWindows64.exe`.
+
+## Mac
+
+1. Download the tarball file for Darwin: `micromissiles-<version>-darwin.tar.gz`.
+2. Untar the tarball. The tarball should contain a single directory called `micromissiles-<version>-darwin`.
+3. In the `micromissiles-<version>-darwin` directory, run the app file.
+
+
+# Next Steps
+
+- Familiarize yourself with the [**Keybinds and Controls**](Keybinds_and_Controls.md) to navigate and interact with the simulation.
+- Learn how to configure the simulation settings by reading the [**Simulation Configuration Guide**](Simulation_Config_Guide.md).

package.json

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+{
+  "scripts": {
+    "docs:dev": "vitepress dev docs",
+    "docs:build": "vitepress build docs",
+    "docs:preview": "vitepress preview docs"
+  },
+  "dependencies": {
+    "vue": "^3.x.x",
+    "vitepress": "^1.3.4"
+  }
+}