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[Escape] Check for escaping targets - #148
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daniellovell
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Should have approved this with comments originally, sorry.
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[All] Implement fully hierarchical defense strategy * [Agent] Add agent-related interfaces and base implementations (#95) * [Interceptor/Threat] Add interceptor and threat interfaces (#96) * [Algorithm] Add algorithm interfaces and base implementations (#97) * [Movements] Implement all aerial and ground-based movements (#99) * [Gemini] Disable Gemini pull request summary (#142) * [Sensor] Add sensor interface and ideal sensor implementation (#100) * [Chore] Clean up private properties (#101) * [Evasion] Implement evasion behaviors (#102) * [Agent] Add agent-related interfaces and base implementations (#95) * [Interceptor/Threat] Add interceptor and threat interfaces (#96) * [Algorithm] Add algorithm interfaces and base implementations (#97) * [Movements] Implement all aerial and ground-based movements (#99) * [Sensor] Add sensor interface and ideal sensor implementation (#100) * [Chore] Clean up private properties (#101) * [Evasion] Implement evasion behaviors (#102) * [Attack Behavior] Implement direct attack behavior (#103) * [Controller] Add controller interface and implementations (#105) * [Predictor/Planner] Clean up predictor and planner classes (#108) * [Clustering] Change clustering algorithms to act on hierarchical objects (#111) * [Utils] Clean up coordinates classes and tests (#112) * [Assignment] Refactor assignment algorithms (#113) * [Accessor] Use init accessor for read-only fields (#116) * [Interceptors/Threats] Add Legacy prefix to existing interceptor and threat class names (#121) * [Interceptors/Threats] Implement all interceptor and threat types (#122) * [Proto/Configs] Add launcher types to proto definition and simulation configs (#123) * [IADS] Clean up IADS and simulation manager (#124) * [UI] Remove swarm status dialog and tactical panel (#125) * [All] Remove all legacy code (#127) * [Prefabs] Add prefabs for launchers (#128) * [Release] Adjust minimum distance in proximity release (#129) * [Configs] Add simulation configuration with 2 launchers (#130) * [Simulation] Destroy terminated game objects (#132) * [UI] Draw gizmos for agents (#133) * [UI] Fix summary text label sizes (#134) * [Clustering] Implement recursive clustering within hierarchy (#139) * [UI] Clean up UI scripts (#140) * [Reassignment] Assign new targets to excess interceptors (#141) * [Evasion] Fix threat evasion of interceptors (#143) * [Reassignment] Use capacity remaining to reassign interceptors (#144) * [Agent] Add IsPursuable property (#145) * [Reassignment] Implement threat reassignment (#146) * [Escape] Add escape detectors (#147) * [Escape] Check for escaping targets (#148) * [Movement] Fix missile movement to avoid the ground (#149) * [Reassignment] Fix relaunching multiple carrier interceptors (#150) * [Unity] Fix serializable fields and references (#152) * [Docs] Update docs with hierarchical strategy (#153) * [Utils] Sample from normal distribution (#154) * [Proto] Add run configuration proto (#155) * [Visualization] Fix visualizing simulation monitor logs (#157) * [Tools] Build standalone player (#158) * [Manager] Add run manager to handle run configurations (#159) * [Tools] Refactor common simulation-related constants and utilities (#160) * [Tools] Add metric and aggregator classes (#161) * [Tools] Process the aggregated logs of a simulation run (#162) * [Docs] Update documentation with run configuration and logging (#163) * [Tests] Remove unused Rigidbody variables from unit tests (#166) * [Agent] Add target model API in Agent interface (#167) * [Logging] Emit more detailed events (#168) * [Metrics] Consider only missile interceptors in metrics (#169) * [Logging] Remove logging from CP-SAT solver (#171) * [Tools] Add script to animate telemetry log (#172) * [Docs] Remove unnecessary docs image files (#174) * [Interceptor] Rename IsPursuable to IsPursuer (#175) * [UI] Reimplement tactical panel (#176) * [UI] Add camera to follow and rotate around interceptors or threats (#177) * [Configs] Add configuration for 5 swarms and 1000 UCAVs (#179) * [Agent] Cache the agent transform (#180) * [Agent] Clean up finding relative transformations (#181) * [Configs] Exclude 5_swarms_1000_ucav configuration from CI (#182) * [Agents] Fix collisions with terminated agents (#184) * [Controls] Implement vector proportional navigation (#186) * [Reassignment] Find subhierarchicals with at least one active target (#187)
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This PR uses the previously implemented escape detectors to implement escape detection on the interceptors. When an interceptor detects that its target is escaping, the interceptor reports the escaping target up the hierarchy (target reassignment) and, if no other targets remain for the interceptor, the interceptor requests a new target from the parent interceptor.
Carrier interceptors use a geometric escape detector since they must release prior to reaching their target cluster centroid, and missile interceptors use a time-based escape detector.
Another change in this PR is that interceptors that miss their targets are not destroyed, so that they can circle back to try to intercept their targets again.