Merge pull request #19 from PisterLab/better-configs

Better sim configs, performance optimizations, and time throttling for guaranteed physics update rate

Assets/Scripts/SimManager.cs

@@ -154,7 +154,7 @@ void Start() {
 
   public void SetTimeScale(float timeScale) {
     Time.timeScale = timeScale;
-    Time.maximumDeltaTime = Time.timeScale * 0.05f;
+    Time.maximumDeltaTime = Time.fixedDeltaTime * 3;
 
     // Time.fixedDeltaTime is set in the simulator.json
   }
@@ -171,8 +171,8 @@ public void PauseSimulation() {
   }
 
   public void ResumeSimulation() {
-    SetTimeScale(simulationConfig.timeScale);
     Time.fixedDeltaTime = (float)(1.0f / simulatorConfig.physicsUpdateRate);
+    SetTimeScale(simulationConfig.timeScale);
     _isSimulationPaused = false;
   }
 

Assets/Scripts/Threats/FixedWingThreat.cs

@@ -8,10 +8,12 @@ public class FixedWingThreat : Threat {
 
   private Vector3 _accelerationInput;
   private double _elapsedTime = 0;
+  private Rigidbody _rigidbody;
 
   // Start is called before the first frame update
   protected override void Start() {
     base.Start();
+    _rigidbody = GetComponent<Rigidbody>();
   }
 
   // Update is called once per frame
@@ -37,7 +39,7 @@ protected override void UpdateMidCourse(double deltaTime) {
       if (_elapsedTime >= sensorUpdatePeriod) {
         // TODO: Implement guidance filter to estimate state from sensor output
         // For now, we'll use the threat's actual state
-        _sensorOutput = GetComponent<Sensor>().SenseWaypoint(_currentWaypoint);
+        _sensorOutput = _sensor.SenseWaypoint(_currentWaypoint);
         _elapsedTime = 0;
       }
 
@@ -53,7 +55,7 @@ protected override void UpdateMidCourse(double deltaTime) {
 
     // Calculate and set the total acceleration
     Vector3 acceleration = CalculateAcceleration(accelerationInput);
-    GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
+    _rigidbody.AddForce(acceleration, ForceMode.Acceleration);
   }
 
   private void UpdateWaypointAndPower() {
@@ -70,7 +72,15 @@ private Vector3 CalculateAccelerationInput(SensorOutput sensorOutput) {
 
     // Implement (Augmented) Proportional Navigation guidance law
     Vector3 accelerationInput = Vector3.zero;
-
+    // Cache the transform and velocity to avoid repeated calls to GetTransform
+    // which can be costly at these large scales
+    Transform currentTransform = transform;
+    Vector3 transformRight = currentTransform.right;
+    Vector3 transformUp = currentTransform.up;
+    Vector3 transformForward = currentTransform.forward;
+    Vector3 transformPosition = currentTransform.position;
+    Vector3 transformVelocity = GetVelocity();
+    float transformSpeed = transformVelocity.magnitude;
     // Extract relevant information from sensor output
     float losRateAz = sensorOutput.velocity.azimuth;
     float losRateEl = sensorOutput.velocity.elevation;
@@ -99,21 +109,21 @@ private Vector3 CalculateAccelerationInput(SensorOutput sensorOutput) {
     float accAz = N * turnFactor * losRateAz;
     float accEl = N * turnFactor * losRateEl;
     // Convert acceleration inputs to craft body frame
-    accelerationInput = transform.right * accAz + transform.up * accEl;
+    accelerationInput = transformRight * accAz + transformUp * accEl;
 
     // Clamp the normal acceleration input to the maximum normal acceleration
     float maxNormalAcceleration = CalculateMaxNormalAcceleration();
     accelerationInput = Vector3.ClampMagnitude(accelerationInput, maxNormalAcceleration);
 
     // Avoid the ground when close to the surface and too low on the glideslope
-    float altitude = GetPosition().y;
-    float sinkRate = -GetVelocity().y;  // Sink rate is opposite to climb rate
+    float altitude = transformPosition.y;
+    float sinkRate = -transformVelocity.y;  // Sink rate is opposite to climb rate
     float distanceToTarget = sensorOutput.position.range;
     float groundProximityThreshold =
-        Mathf.Abs(GetVelocity().y) * 5f;  // Adjust threshold as necessary
-    if (sinkRate > 0 && altitude / sinkRate < distanceToTarget / GetSpeed()) {
+        Mathf.Abs(transformVelocity.y) * 5f;  // Adjust threshold as necessary
+    if (sinkRate > 0 && altitude / sinkRate < distanceToTarget / transformSpeed) {
       // Evade upward normal to the velocity
-      Vector3 upwardsDirection = Vector3.Cross(transform.forward, transform.right);
+      Vector3 upwardsDirection = Vector3.Cross(transformForward, transformRight);
 
       // Blend between the calculated acceleration input and the upward acceleration
       float blendFactor = 1 - (altitude / groundProximityThreshold);

Assets/Scripts/Threats/Threat.cs

@@ -11,6 +11,8 @@ public abstract class Threat : Agent {
 
   protected SensorOutput _sensorOutput;
 
+  protected Sensor _sensor;
+
   public void SetAttackBehavior(AttackBehavior attackBehavior) {
     _attackBehavior = attackBehavior;
     _target = SimManager.Instance.CreateDummyAgent(attackBehavior.targetPosition,
@@ -41,18 +43,21 @@ public override bool IsAssignable() {
 
   protected override void Start() {
     base.Start();
+    _sensor = GetComponent<Sensor>();
   }
 
   protected override void FixedUpdate() {
     base.FixedUpdate();
   }
 
   protected Vector3 CalculateForwardAcceleration() {
+    Vector3 transformVelocity = GetVelocity();
+
     // Get the target speed for the current power setting
     float targetSpeed = PowerTableLookup(_currentPowerSetting);
 
     // Calculate the current speed
-    float currentSpeed = GetVelocity().magnitude;
+    float currentSpeed = transformVelocity.magnitude;
 
     // Speed error
     float speedError = targetSpeed - currentSpeed;
@@ -69,7 +74,7 @@ protected Vector3 CalculateForwardAcceleration() {
         Mathf.Clamp(desiredAccelerationMagnitude, -maxForwardAcceleration, maxForwardAcceleration);
 
     // Acceleration direction (along current velocity direction)
-    Vector3 accelerationDirection = GetVelocity().normalized;
+    Vector3 accelerationDirection = transformVelocity.normalized;
 
     // Handle zero velocity case
     if (accelerationDirection.magnitude < 0.1f) {
@@ -90,7 +95,7 @@ protected Agent GetClosestInterceptor() {
     float minDistance = float.MaxValue;
     foreach (var interceptor in _interceptors) {
       if (!interceptor.HasTerminated()) {
-        SensorOutput sensorOutput = GetComponent<Sensor>().Sense(interceptor);
+        SensorOutput sensorOutput = _sensor.Sense(interceptor);
         if (sensorOutput.position.range < minDistance) {
           closestInterceptor = interceptor;
           minDistance = sensorOutput.position.range;
@@ -112,32 +117,37 @@ protected bool ShouldEvade() {
 
     float evasionRangeThreshold =
         dynamicAgentConfig.dynamic_config.flight_config.evasionRangeThreshold;
-    SensorOutput sensorOutput = GetComponent<Sensor>().Sense(closestInterceptor);
+    SensorOutput sensorOutput = _sensor.Sense(closestInterceptor);
     return sensorOutput.position.range <= evasionRangeThreshold && sensorOutput.velocity.range < 0;
   }
 
   protected Vector3 EvadeInterceptor(Agent interceptor) {
+    Vector3 transformVelocity = GetVelocity();
+    Vector3 interceptorVelocity = interceptor.GetVelocity();
+    Vector3 transformPosition = GetPosition();
+    Vector3 interceptorPosition = interceptor.GetPosition();
+
     // Set power setting to maximum
     _currentPowerSetting = PowerSetting.MAX;
 
     // Evade the interceptor by changing the velocity to be normal to the interceptor's velocity
-    Vector3 normalVelocity = Vector3.ProjectOnPlane(GetVelocity(), interceptor.GetVelocity());
+    Vector3 normalVelocity = Vector3.ProjectOnPlane(transformVelocity, interceptorVelocity);
     Vector3 normalAccelerationDirection =
-        Vector3.ProjectOnPlane(normalVelocity, GetVelocity()).normalized;
+        Vector3.ProjectOnPlane(normalVelocity, transformVelocity).normalized;
 
     // Turn away from the interceptor
-    Vector3 relativePosition = interceptor.GetPosition() - GetPosition();
+    Vector3 relativePosition = interceptorPosition - transformPosition;
     if (Vector3.Dot(relativePosition, normalAccelerationDirection) > 0) {
       normalAccelerationDirection *= -1;
     }
 
     // Avoid evading straight down when near the ground
-    float altitude = GetPosition().y;
+    float altitude = transformPosition.y;
     float groundProximityThreshold =
-        Mathf.Abs(GetVelocity().y) * 5f;  // Adjust threshold as necessary
-    if (GetVelocity().y < 0 && altitude < groundProximityThreshold) {
+        Mathf.Abs(transformVelocity.y) * 5f;  // Adjust threshold as necessary
+    if (transformVelocity.y < 0 && altitude < groundProximityThreshold) {
       // Determine evasion direction based on angle to interceptor
-      Vector3 toInterceptor = interceptor.GetPosition() - GetPosition();
+      Vector3 toInterceptor = interceptorPosition - transformPosition;
       Vector3 rightDirection = Vector3.Cross(Vector3.up, transform.forward);
       float angle = Vector3.SignedAngle(transform.forward, toInterceptor, Vector3.up);
 

Assets/Scripts/UI/UIManager.cs

@@ -143,6 +143,13 @@ private void UpdateSwarmPanel() {
   private void UpdateSimTimeText() {
     simTimeText.text =
         "Elapsed Sim Time: " + SimManager.Instance.GetElapsedSimulationTime().ToString("F2");
+    float expectedSimTimeAdvance = Time.unscaledDeltaTime * Time.timeScale;
+    float actualSimTimeAdvance = Time.deltaTime;
+
+    // Allow a small epsilon to account for floating-point precision errors
+    if (actualSimTimeAdvance < expectedSimTimeAdvance - 0.001f) {
+      simTimeText.text += "\nThrottling time to meet physics rate";
+    }
   }
 
   private void UpdateTotalCostText() {

Assets/StreamingAssets/Configs/1_salvo_3_sfrj_30_ascm.json

@@ -26,7 +26,7 @@
         },
         "submunitions_config": {
           "num_submunitions": 12,
-          "dispense_time": 94,
+          "dispense_time": 101,
           "dynamic_agent_config": {
             "agent_model": "micromissile.json",
             "initial_state": {
@@ -38,7 +38,7 @@
               "velocity": { "x": 0, "y": 0, "z": 0 }
             },
             "dynamic_config": {
-              "launch_config": { "launch_time": 95 },
+              "launch_config": { "launch_time": 101 },
               "sensor_config": {
                 "type": "IDEAL",
                 "frequency": 100
@@ -59,7 +59,7 @@
         "agent_model": "ascm.json",
         "attack_behavior": "default_direct_attack.json",
         "initial_state": {
-          "position": { "x": 0, "y": 9000, "z": 120000 },
+          "position": { "x": 0, "y": 9000, "z": 110000 },
           "velocity": { "x": 0, "y": 0, "z": -300 }
         },
         "standard_deviation": {

Assets/StreamingAssets/Configs/1_salvo_4_hydra_10_brahmos.json

@@ -26,7 +26,7 @@
         },
         "submunitions_config": {
           "num_submunitions": 7,
-          "dispense_time": 20,
+          "dispense_time": 30,
           "dynamic_agent_config": {
             "agent_model": "micromissile.json",
             "initial_state": {

Assets/StreamingAssets/Configs/2_salvo_2_hydra_7_quad_3_ucav.json → Assets/StreamingAssets/Configs/2_salvo_4_hydra_7_quad_15_ucav.json

@@ -3,7 +3,7 @@
   "timeScale": 1,
   "interceptor_swarm_configs": [
     {
-      "num_agents": 1,
+      "num_agents": 2,
       "dynamic_agent_config": {
         "agent_model": "hydra70.json",
         "initial_state": {
@@ -53,7 +53,7 @@
       }
     },
     {
-      "num_agents": 1,
+      "num_agents": 2,
       "dynamic_agent_config": {
         "agent_model": "hydra70.json",
         "initial_state": {
@@ -65,7 +65,7 @@
           "velocity": { "x": 5, "y": 0, "z": 1 }
         },
         "dynamic_config": {
-          "launch_config": { "launch_time": 2 },
+          "launch_config": { "launch_time": 4 },
           "sensor_config": {
             "type": "IDEAL",
             "frequency": 100
@@ -76,7 +76,7 @@
         },
         "submunitions_config": {
           "num_submunitions": 7,
-          "dispense_time": 4,
+          "dispense_time": 6,
           "dynamic_agent_config": {
             "agent_model": "micromissile.json",
             "initial_state": {

Assets/StreamingAssets/Configs/3_salvo_2_sfrj_5_fateh110b.json → Assets/StreamingAssets/Configs/3_salvo_6_sfrj_50_fateh110b.json

@@ -8,7 +8,7 @@
         "agent_model": "sfrj.json",
         "initial_state": {
           "position": { "x": 0, "y": 20, "z": 0 },
-          "velocity": { "x": 0, "y": 300, "z": 200 }
+          "velocity": { "x": 0, "y": 450, "z": 180 }
         },
         "standard_deviation": {
           "position": { "x": 5, "y": 0, "z": 5 },
@@ -25,8 +25,8 @@
           }
         },
         "submunitions_config": {
-          "num_submunitions": 7,
-          "dispense_time": 14,
+          "num_submunitions": 12,
+          "dispense_time": 34,
           "dynamic_agent_config": {
             "agent_model": "micromissile.json",
             "initial_state": {
@@ -57,14 +57,14 @@
         "agent_model": "sfrj.json",
         "initial_state": {
           "position": { "x": 0, "y": 20, "z": 0 },
-          "velocity": { "x": 0, "y": 300, "z": 200 }
+          "velocity": { "x": 0, "y": 400, "z": 200 }
         },
         "standard_deviation": {
           "position": { "x": 5, "y": 0, "z": 5 },
           "velocity": { "x": 5, "y": 20, "z": 20 }
         },
         "dynamic_config": {
-          "launch_config": { "launch_time": 1 },
+          "launch_config": { "launch_time": 8 },
           "sensor_config": {
             "type": "IDEAL",
             "frequency": 100
@@ -74,8 +74,8 @@
           }
         },
         "submunitions_config": {
-          "num_submunitions": 7,
-          "dispense_time": 15,
+          "num_submunitions": 12,
+          "dispense_time": 36,
           "dynamic_agent_config": {
             "agent_model": "micromissile.json",
             "initial_state": {
@@ -106,14 +106,14 @@
         "agent_model": "sfrj.json",
         "initial_state": {
           "position": { "x": 0, "y": 20, "z": 0 },
-          "velocity": { "x": 0, "y": 300, "z": 200 }
+          "velocity": { "x": 0, "y": 440, "z": 280 }
         },
         "standard_deviation": {
           "position": { "x": 5, "y": 0, "z": 5 },
           "velocity": { "x": 5, "y": 20, "z": 20 }
         },
         "dynamic_config": {
-          "launch_config": { "launch_time": 4 },
+          "launch_config": { "launch_time": 22 },
           "sensor_config": {
             "type": "IDEAL",
             "frequency": 100
@@ -123,8 +123,8 @@
           }
         },
         "submunitions_config": {
-          "num_submunitions": 7,
-          "dispense_time": 16,
+          "num_submunitions": 12,
+          "dispense_time": 40,
           "dynamic_agent_config": {
             "agent_model": "micromissile.json",
             "initial_state": {
@@ -152,16 +152,16 @@
   ],
   "threat_swarm_configs": [
     {
-      "num_agents": 5,
+      "num_agents": 50,
       "dynamic_agent_config": {
         "agent_model": "fateh110b.json",
         "attack_behavior": "fateh110b_direct_attack.json",
         "initial_state": {
-          "position": { "x": 0, "y": 80000, "z": 80000 },
+          "position": { "x": 0, "y": 100000, "z": 100000 },
           "velocity": { "x": 0, "y": -2317, "z": -2317 }
         },
         "standard_deviation": {
-          "position": { "x": 3000, "y": 10, "z": 100 },
+          "position": { "x": 3000, "y": 1000, "z": 1000 },
           "velocity": { "x": 0, "y": 0, "z": 25 }
         },
         "dynamic_config": {

Assets/StreamingAssets/simulator.json

@@ -3,6 +3,6 @@
     "enableEventLogging": true,
     "enableMissileTrailEffect": false,
     "enableExplosionEffect": false,
-    "physicsUpdateRate": 100,
+    "physicsUpdateRate": 500,
     "persistentFlightTrails": true
 }