├── .gitignore ├── LICENSE ├── PreviewGifs ├── preview1.gif ├── preview2.gif └── preview3.gif ├── ProportionalNavDemo ├── .vscode │ └── settings.json ├── Assets │ ├── Explosion.prefab │ ├── Explosion.prefab.meta │ ├── MIssile.prefab │ ├── MIssile.prefab.meta │ ├── Materials.meta │ ├── Materials │ │ ├── Explosion Material.mat │ │ ├── Explosion Material.mat.meta │ │ ├── Trail 1.mat │ │ ├── Trail 1.mat.meta │ │ ├── Trail.mat │ │ └── Trail.mat.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── SampleScene.unity │ │ └── SampleScene.unity.meta │ ├── Scripts.meta │ └── Scripts │ │ ├── DummyController.cs │ │ ├── DummyController.cs.meta │ │ ├── Explosion.cs │ │ ├── Explosion.cs.meta │ │ ├── Missile.cs │ │ ├── Missile.cs.meta │ │ ├── MissileSpawner.cs │ │ └── MissileSpawner.cs.meta ├── Packages │ ├── manifest.json │ └── packages-lock.json ├── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── PackageManagerSettings.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ ├── VersionControlSettings.asset │ └── XRSettings.asset └── UserSettings │ ├── EditorUserSettings.asset │ └── Search.settings └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | **/[Ll]ibrary/ 6 | **/[Tt]emp/ 7 | **/[Oo]bj/ 8 | **/[Bb]uild/ 9 | **/[Bb]uilds/ 10 | **/[Ll]ogs/ 11 | **/[Mm]emoryCaptures/ 12 | 13 | # Asset meta data should only be ignored when the corresponding asset is also ignored 14 | **!/[Aa]ssets/**/*.meta 15 | 16 | # Uncomment this line if you wish to ignore the asset store tools plugin 17 | # /[Aa]ssets/AssetStoreTools* 18 | 19 | # Autogenerated Jetbrains Rider plugin 20 | [Aa]ssets/Plugins/Editor/JetBrains* 21 | 22 | # Visual Studio cache directory 23 | **/.vs/ 24 | 25 | # Gradle cache directory 26 | .gradle/ 27 | 28 | # Autogenerated VS/MD/Consulo solution and project files 29 | ExportedObj/ 30 | .consulo/ 31 | *.csproj 32 | *.unityproj 33 | *.sln 34 | *.suo 35 | *.tmp 36 | *.user 37 | *.userprefs 38 | *.pidb 39 | *.booproj 40 | *.svd 41 | *.pdb 42 | *.mdb 43 | *.opendb 44 | *.VC.db 45 | 46 | # Unity3D generated meta files 47 | *.pidb.meta 48 | *.pdb.meta 49 | *.mdb.meta 50 | 51 | # Unity3D generated file on crash reports 52 | sysinfo.txt 53 | 54 | # Builds 55 | *.apk 56 | *.unitypackage 57 | 58 | # Crashlytics generated file 59 | crashlytics-build.properties 60 | 61 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2021 Woreira 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /PreviewGifs/preview1.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Woreira/Unity-Proportional-Navigation-Collection/c12df63dff54edd5e14785f4e59031db6abfcda5/PreviewGifs/preview1.gif -------------------------------------------------------------------------------- /PreviewGifs/preview2.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Woreira/Unity-Proportional-Navigation-Collection/c12df63dff54edd5e14785f4e59031db6abfcda5/PreviewGifs/preview2.gif 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-------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5cf415f21009595478e9ba2aae538f74 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/DummyController.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | //Controls the dummy along a list of waypoints 6 | public class DummyController : MonoBehaviour{ 7 | 8 | public float turnRate, speed, minWaypointDist; 9 | public List waypoints = new List(); 10 | 11 | private int currentWaypointIndex; 12 | private Rigidbody rb; 13 | 14 | private void OnDrawGizmos(){ 15 | if(waypoints.Count == 0) return; 16 | for(int i = 0; i < waypoints.Count; i++){ 17 | Gizmos.DrawWireSphere(waypoints[i].position, 1f); 18 | if(i != 0){ 19 | Gizmos.DrawLine(waypoints[i].position, waypoints[i-1].position); 20 | }else{ 21 | Gizmos.DrawLine(transform.position, waypoints[i].position); 22 | } 23 | } 24 | } 25 | 26 | private void Awake(){ 27 | rb = GetComponent(); 28 | } 29 | 30 | private void Start(){ 31 | currentWaypointIndex = 0; 32 | } 33 | 34 | private void Update(){ 35 | Steer(); 36 | CheckIfCloseToWaypoint(); 37 | } 38 | 39 | private void Steer(){ 40 | var target_rotation = Quaternion.LookRotation(waypoints[currentWaypointIndex].position - transform.position); 41 | transform.rotation = Quaternion.RotateTowards(transform.rotation, target_rotation, turnRate*Time.deltaTime); 42 | rb.velocity = transform.forward * speed; 43 | } 44 | 45 | private void CheckIfCloseToWaypoint(){ 46 | if(Vector3.Distance(transform.position, waypoints[currentWaypointIndex].position) < minWaypointDist){ 47 | currentWaypointIndex++; 48 | if(currentWaypointIndex >= waypoints.Count){ 49 | currentWaypointIndex = 0; 50 | } 51 | } 52 | } 53 | 54 | 55 | } 56 | -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/DummyController.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e18791b9242d38b44bab713d8f8cb987 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/Explosion.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Explosion : MonoBehaviour{ 6 | private Renderer rdr; 7 | private float a = 1f; 8 | 9 | private void Awake(){ 10 | rdr = GetComponent(); 11 | } 12 | 13 | private void Update(){ 14 | rdr.material.color = SetAlpha(rdr.material.color, a); 15 | a = a - ((1f/0.2f)*Time.deltaTime); 16 | if(a <= 0f){ 17 | Destroy(gameObject); 18 | } 19 | } 20 | 21 | private Color SetAlpha(Color set, float alpha){ 22 | return new Color(set.r, set.g, set.b, alpha); 23 | } 24 | } -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/Explosion.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 94dee51a87b604b43965267501dc9ad4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/Missile.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | public enum Guidance {LineOfSight, Simplified, Quadratic}; 4 | 5 | public class Missile : MonoBehaviour{ 6 | 7 | public GameObject explosionPrefab; 8 | public Guidance guidanceChoosen; 9 | 10 | public Transform target; 11 | public float speed; 12 | public float turnRate; 13 | public float pValue; 14 | 15 | private Rigidbody rb; 16 | private Rigidbody targetRb; 17 | 18 | private System.Action GuidanceLogic; 19 | 20 | void Start(){ 21 | rb = GetComponent(); 22 | 23 | //doing like this to spare the switch call on the fixed update 24 | switch(guidanceChoosen){ 25 | case Guidance.LineOfSight: 26 | GuidanceLogic = () => LOSPN(); 27 | break; 28 | case Guidance.Simplified: 29 | GuidanceLogic = () => SimplifiedPN(); 30 | break; 31 | case Guidance.Quadratic: 32 | GuidanceLogic = () => QuadraticPN(); 33 | break; 34 | } 35 | } 36 | 37 | void FixedUpdate(){ 38 | GuidanceLogic(); 39 | } 40 | 41 | void LOSPN(){ 42 | 43 | float navigationTime = (target.position - transform.position).magnitude / speed; 44 | Vector3 los = (target.position + targetRb.velocity * navigationTime) - transform.position; 45 | 46 | float angle = Vector3.Angle(rb.velocity, los); 47 | Vector3 adjustment = pValue * angle * los.normalized; 48 | 49 | rb.velocity = rb.velocity.normalized * speed; 50 | var target_rotation = Quaternion.LookRotation(adjustment); 51 | transform.rotation = Quaternion.RotateTowards(transform.rotation, target_rotation, turnRate); 52 | 53 | rb.velocity = transform.forward * speed; 54 | } 55 | 56 | void SimplifiedPN(){ 57 | Vector3 los = target.position - transform.position; 58 | 59 | float navigationTime = los.magnitude / speed; 60 | Vector3 targetRelativeInterceptPosition = los + (targetRb.velocity * navigationTime); 61 | 62 | Vector3 desiredHeading = targetRelativeInterceptPosition.normalized; 63 | 64 | targetRelativeInterceptPosition *= pValue; //multiply the relative intercept pos so the missile will lead a bit more 65 | 66 | var target_rotation = Quaternion.LookRotation((target.position + targetRelativeInterceptPosition) - transform.position); 67 | transform.rotation = Quaternion.RotateTowards(transform.rotation, target_rotation, turnRate); 68 | 69 | rb.velocity = transform.forward * speed; 70 | } 71 | 72 | void QuadraticPN(){ 73 | Vector3 direction; 74 | Quaternion target_rotation = Quaternion.identity; 75 | 76 | 77 | if(GetInterceptDirection(transform.position, targetRb.gameObject.transform.position, speed, targetRb.velocity, out direction)){ 78 | target_rotation = Quaternion.LookRotation(direction); 79 | }else{ 80 | //well, I guess we cant intercept then 81 | } 82 | 83 | transform.rotation = Quaternion.RotateTowards(transform.rotation, target_rotation, turnRate*Time.deltaTime); 84 | rb.velocity = transform.forward * speed; 85 | } 86 | 87 | static bool GetInterceptDirection(Vector3 origin, Vector3 targetPosition, float missileSpeed, Vector3 targetVelocity, out Vector3 result){ 88 | 89 | var los = origin - targetPosition; 90 | var distance = los.magnitude; 91 | var alpha = Vector3.Angle(los, targetVelocity) * Mathf.Deg2Rad; 92 | var vt = targetVelocity.magnitude; 93 | var vRatio = vt/missileSpeed; 94 | 95 | //solve the triangle, using cossine law 96 | if(SolveQuadratic(1-(vRatio*vRatio), 2*vRatio*distance*Mathf.Cos(alpha), -distance*distance, out var root1, out var root2) == 0){ 97 | result = Vector3.zero; 98 | return false; //no intercept solution possible! 99 | } 100 | 101 | var interceptVectorMagnitude = Mathf.Max(root1, root2); 102 | var time = interceptVectorMagnitude/missileSpeed; 103 | var estimatedPos = targetPosition + targetVelocity*time; 104 | result = (estimatedPos - origin).normalized; 105 | 106 | return true; 107 | } 108 | 109 | static int SolveQuadratic(float a, float b, float c, out float root1, out float root2){ 110 | 111 | var discriminant = b*b - 4*a*c; 112 | 113 | if(discriminant < 0){ 114 | root1 = Mathf.Infinity; 115 | root2 = -root1; 116 | return 0; 117 | } 118 | 119 | root1 = (-b + Mathf.Sqrt(discriminant))/(2*a); 120 | root2 = (-b - Mathf.Sqrt(discriminant))/(2*a); 121 | 122 | return discriminant > 0 ? 2 : 1; 123 | } 124 | 125 | public void SetTarget(Transform targetT, Rigidbody targetRb){ 126 | target = targetT; 127 | this.targetRb = targetRb; 128 | } 129 | 130 | void OnTriggerEnter(Collider c){ 131 | if(c.gameObject.CompareTag("Dummy")){ 132 | Instantiate(explosionPrefab, transform.position, Quaternion.identity); 133 | Destroy(gameObject); 134 | } 135 | } 136 | 137 | } 138 | -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/Missile.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b88e691b8e484d349a1bb9e7de258425 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /ProportionalNavDemo/Assets/Scripts/MissileSpawner.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class MissileSpawner : MonoBehaviour{ 6 | public GameObject missilePrefab; 7 | public Transform dummyTransform; 8 | public Rigidbody dummyRb; 9 | 10 | private void Update(){ 11 | if(Input.GetKeyDown(KeyCode.Space)){ 12 | var missile = Instantiate(missilePrefab, transform.position, Quaternion.identity); 13 | missile.GetComponent().SetTarget(dummyTransform, dummyRb); 14 | } 15 | } 16 | } -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | {} -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Unity Proportional Navigation Collection 2 | > A Collection of ProNav implementations in Unity 3 | 4 | Proportional Navigation Systems calculate the optimal intercept position, instead of simply pursuing the target head-on, making the missile WAY more accurate and realistic, these are really useful for simulation or vehicular combat games. 5 | 6 | ![](https://github.com/Woreira/Proportional-Navigation-Missile-in-Unity/blob/main/PreviewGifs/preview1.gif) 7 | 8 | 9 | ![](https://github.com/Woreira/Proportional-Navigation-Missile-in-Unity/blob/main/PreviewGifs/preview2.gif) 10 | 11 | ![](https://github.com/Woreira/Proportional-Navigation-Missile-in-Unity/blob/main/PreviewGifs/preview3.gif) 12 | 13 | This project currently contains 3 implementations:
14 | 1. Line of Sight; 15 | 2. Simplified (aka.: time estimation and aim ahead); 16 | 3. Quadratic; 17 | 18 | You can choose what guidance the missile will use via the dropdown on the inspector. 19 | 20 | > If you want to cut straight to the chase, look at [`Missile.cs`](https://github.com/Woreira/Proportional-Navigation-Missile-in-Unity/blob/main/ProportionalNavDemo/Assets/Scripts/Missile.cs) it *should* have everything you need to implement ProNav in your project. 21 | 22 | ## Glossary 23 | 24 | `GuidanceLogic()`: Set on Start and then used on FixedUpdate, can be `LOSPN()`, `SimplifiedPN()`, or `QuadraticPN()`. 25 | 26 | `LOSPN()`: Line Of Sight Proportional Navigation. The missile aims for the future position of the target, taking into account the target's velocity. It calculates the angle between the missile's velocity and the line of sight vector, and then uses the pValue variable to adjust the missile's velocity in the direction of the line of sight vector. 27 | 28 | `SimplifiedPN()`: It is the simplest implementation of PN that I could come up with. It estimates a flight time to target, then uses that to estimate the expected position of the target. 29 | 30 | `QuadraticPN()`: This is the most precise and robust PN. It uses the `GetInterceptDirection(...)` method to solve the interception triangle (via cossine law and quadratics). 31 | 32 | > Quadratic is by far the most accurate guidance system, makes the missile travel in a complete straight line to the intercept point, given that there is a possible intercept point 33 | 34 | `GetInterceptDirection(...)`: Uses `SolveQuadratic(...)` to solve the intercept traingle and outs the direction when possible 35 | 36 | > Note: These methods can also be used to solve for intercept bullets (i.e. firing a bullet at a moving target), hence I preferred to detach then 37 | --------------------------------------------------------------------------------