new SINR threshold comms CBF constraint

@miSim/updateAdjacency.m

@@ -6,16 +6,38 @@ function obj = updateAdjacency(obj)
         obj (1, 1) {mustBeA(obj, "miSim")};
     end
 
-    % Initialize assuming only self-connections
-    A = true(size(obj.agents, 1));
+    nAgents = size(obj.agents, 1);
 
-    % Check lower triangle off-diagonal connections
-    for ii = 2:size(A, 1)
-        for jj = 1:(ii - 1)
-            % Check that agents are not out of range
-            if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) > min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])
-                A(ii, jj) = false; % comm range violation
-                continue;
+    % Initialize assuming all agents are connected
+    A = true(nAgents);
+
+    if ~obj.useSinrComms
+        % Fixed-radius model: pair connected iff separation is within the
+        % smaller of the two comms radii.
+        for ii = 2:nAgents
+            for jj = 1:(ii - 1)
+                if norm(obj.agents{ii}.pos - obj.agents{jj}.pos) > min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])
+                    A(ii, jj) = false; % comm range violation
+                    continue;
+                end
+            end
+        end
+    else
+        % SINR model: pair (ii, jj) connected iff the lower-index agent (jj)
+        % receives the higher-index agent's (ii) signal above the SINR
+        % threshold, with interference from all other agents at the receiver.
+        gammaLin = 10^(obj.sinrThreshold / 10); % dB threshold -> linear
+        positions = zeros(nAgents, 3);
+        for kk = 1:nAgents
+            positions(kk, :) = obj.agents{kk}.pos;
+        end
+        for ii = 2:nAgents
+            for jj = 1:(ii - 1)
+                sinr = obj.sinrLink(positions, jj, ii); % receiver jj, transmitter ii
+                if sinr < gammaLin
+                    A(ii, jj) = false; % SINR below threshold
+                    continue;
+                end
             end
         end
     end