feat(scenario): multi-agency-sar scenario with vendor-tinted chassis

src/ResQ.Viz.Web/Models/VizFrame.cs

@@ -25,14 +25,21 @@ public record VizFrame(
     MeshVizState? Mesh);
 
 /// <summary>Per-drone visual state in a VizFrame.</summary>
+/// <remarks>
+/// <paramref name="Vendor"/> tags the drone with an integrating agency's
+/// equipment maker (e.g. <c>skydio</c>, <c>autel</c>, <c>anzu</c>) so the
+/// client can render vendor-specific chassis tints in multi-agency scenarios.
+/// Null for scenarios that don't need vendor differentiation.
+/// </remarks>
 public record DroneVizState(
     string Id,
     float[] Pos,
     float[] Rot,
     float[] Vel,
     double Battery,
     string Status,
-    bool Armed);
+    bool Armed,
+    string? Vendor = null);
 
 /// <summary>A hazard zone (fire, flood, etc.).</summary>
 public record HazardVizState(

src/ResQ.Viz.Web/Services/ScenarioService.cs

@@ -24,25 +24,29 @@ namespace ResQ.Viz.Web.Services;
 /// </summary>
 public sealed class ScenarioService
 {
-    private readonly IReadOnlyDictionary<string, IReadOnlyList<(string Id, Vector3 Pos)>> _scenarios;
+    /// <summary>Per-drone scenario entry: launch position and optional vendor tag.</summary>
+    public readonly record struct Entry(string Id, Vector3 Pos, string? Vendor);
+
+    private readonly IReadOnlyDictionary<string, IReadOnlyList<Entry>> _scenarios;
 
     /// <summary>
     /// Initialises the service and loads scenario presets from <paramref name="configuration"/>.
     /// </summary>
     /// <param name="configuration">Application configuration containing the <c>Scenarios</c> section.</param>
     public ScenarioService(IConfiguration configuration)
     {
-        var dict = new Dictionary<string, IReadOnlyList<(string Id, Vector3 Pos)>>(StringComparer.OrdinalIgnoreCase);
+        var dict = new Dictionary<string, IReadOnlyList<Entry>>(StringComparer.OrdinalIgnoreCase);
         var section = configuration.GetSection("Scenarios");
         foreach (var child in section.GetChildren())
         {
-            var entries = new List<(string Id, Vector3 Pos)>();
+            var entries = new List<Entry>();
             foreach (var entry in child.GetChildren())
             {
                 var id = entry["id"] ?? string.Empty;
                 var pos = entry.GetSection("pos").Get<float[]>() ?? Array.Empty<float>();
+                var vendor = entry["vendor"];
                 if (!string.IsNullOrEmpty(id) && pos.Length == 3)
-                    entries.Add((id, new Vector3(pos[0], pos[1], pos[2])));
+                    entries.Add(new Entry(id, new Vector3(pos[0], pos[1], pos[2]), string.IsNullOrWhiteSpace(vendor) ? null : vendor));
             }
             if (entries.Count > 0)
                 dict[child.Key] = entries;
@@ -68,8 +72,8 @@ public bool TryRun(string name, SimulationService sim)
         if (!_scenarios.TryGetValue(name, out var drones))
             return false;
 
-        foreach (var (id, pos) in drones)
-            sim.AddDrone(id, pos);
+        foreach (var entry in drones)
+            sim.AddDrone(entry.Id, entry.Pos, entry.Vendor);
 
         return true;
     }

src/ResQ.Viz.Web/Services/SimulationService.cs

@@ -42,7 +42,8 @@ public record DroneSnapshot(
     float[] Velocity,
     double Battery,
     string Status,
-    bool Armed);
+    bool Armed,
+    string? Vendor = null);
 
 /// <summary>
 /// Background service that owns the <see cref="SimulationWorld"/> and ticks it at ~60 Hz.
@@ -62,6 +63,9 @@ public sealed class SimulationService : BackgroundService
     private int _swarmTick;
     private double _simTime;
 
+    // Per-drone metadata that isn't in the SDK's SimulatedDrone. Keyed by drone id.
+    private readonly Dictionary<string, string> _droneVendors = new(StringComparer.Ordinal);
+
     /// <summary>Broadcast a viz frame every N simulation ticks (60 Hz / 6 = 10 Hz).</summary>
     private const int BroadcastEveryNTicks = 6;
 
@@ -89,12 +93,24 @@ public SimulationService(IHubContext<VizHub> hubContext, VizFrameBuilder frameBu
     /// <summary>Adds a drone to the simulation world at the specified start position.</summary>
     /// <param name="id">Unique drone identifier.</param>
     /// <param name="position">World-space launch position.</param>
-    public void AddDrone(string id, Vector3 position)
+    public void AddDrone(string id, Vector3 position) => AddDrone(id, position, vendor: null);
+
+    /// <summary>
+    /// Adds a drone to the simulation world with an optional vendor tag.
+    /// </summary>
+    /// <param name="id">Unique drone identifier.</param>
+    /// <param name="position">World-space launch position.</param>
+    /// <param name="vendor">Optional integrating-agency vendor tag (e.g. <c>skydio</c>).</param>
+    public void AddDrone(string id, Vector3 position, string? vendor)
     {
         lock (_lock)
         {
             _world.AddDrone(id, position);
-            _logger.LogInformation("Drone {DroneId} added at ({X}, {Y}, {Z}).", id, position.X, position.Y, position.Z);
+            if (!string.IsNullOrEmpty(vendor))
+            {
+                _droneVendors[id] = vendor;
+            }
+            _logger.LogInformation("Drone {DroneId} added at ({X}, {Y}, {Z}) vendor={Vendor}.", id, position.X, position.Y, position.Z, vendor ?? "none");
         }
     }
 
@@ -165,6 +181,7 @@ public void Reset()
             _simTime = 0;
             _tickCount = 0;
             _swarmTick = 0;
+            _droneVendors.Clear();
             _logger.LogInformation("Simulation reset.");
         }
     }
@@ -187,7 +204,8 @@ public IReadOnlyList<DroneSnapshot> GetSnapshot()
                     Velocity: [state.Velocity.X, state.Velocity.Y, state.Velocity.Z],
                     Battery: state.BatteryPercent,
                     Status: d.FlightModel.HasLanded ? "landed" : "flying",
-                    Armed: !d.FlightModel.HasLanded);
+                    Armed: !d.FlightModel.HasLanded,
+                    Vendor: _droneVendors.TryGetValue(d.Id, out var v) ? v : null);
             }).ToList();
         }
     }

src/ResQ.Viz.Web/Services/VizFrameBuilder.cs

@@ -90,7 +90,7 @@ public VizFrameBuilder()
     public VizFrame Build(IReadOnlyList<DroneSnapshot> drones, double simTime)
     {
         var droneStates = drones
-            .Select(d => new DroneVizState(d.Id, d.Position, d.Rotation, d.Velocity, d.Battery, d.Status, d.Armed))
+            .Select(d => new DroneVizState(d.Id, d.Position, d.Rotation, d.Velocity, d.Battery, d.Status, d.Armed, d.Vendor))
             .ToList();
 
         return new VizFrame(

src/ResQ.Viz.Web/appsettings.json

@@ -61,6 +61,20 @@
       { "id": "sar-lead",  "pos": [  0.0, 20.0,   0.0] },
       { "id": "sar-scout", "pos": [ 30.0, 25.0,  30.0] },
       { "id": "sar-relay", "pos": [-30.0, 18.0, -30.0] }
+    ],
+    "multi-agency-sar": [
+      { "id": "skydio-1", "pos": [-80.0, 20.0, -60.0], "vendor": "skydio" },
+      { "id": "skydio-2", "pos": [-60.0, 22.0, -40.0], "vendor": "skydio" },
+      { "id": "skydio-3", "pos": [-70.0, 18.0, -20.0], "vendor": "skydio" },
+      { "id": "skydio-4", "pos": [-90.0, 24.0, -40.0], "vendor": "skydio" },
+      { "id": "autel-1",  "pos": [ 70.0, 20.0, -60.0], "vendor": "autel"  },
+      { "id": "autel-2",  "pos": [ 90.0, 22.0, -40.0], "vendor": "autel"  },
+      { "id": "autel-3",  "pos": [ 80.0, 18.0, -20.0], "vendor": "autel"  },
+      { "id": "autel-4",  "pos": [ 60.0, 24.0, -40.0], "vendor": "autel"  },
+      { "id": "anzu-1",   "pos": [-10.0, 28.0,  40.0], "vendor": "anzu"   },
+      { "id": "anzu-2",   "pos": [ 10.0, 26.0,  60.0], "vendor": "anzu"   },
+      { "id": "anzu-3",   "pos": [ 30.0, 24.0,  40.0], "vendor": "anzu"   },
+      { "id": "anzu-4",   "pos": [-30.0, 30.0,  50.0], "vendor": "anzu"   }
     ]
   }
 }

src/ResQ.Viz.Web/client/drones.ts

@@ -30,6 +30,17 @@ function lerpAlpha(dt: number): number {
 const BODY_COLOR      = 0x161b22;
 const ARM_COLOR       = 0x21262d;
 
+/**
+ * Chassis top-plate tint per integrating-agency vendor. Subtle — keeps the
+ * silhouette consistent while giving a visible agency signature in
+ * multi-agency scenarios. Unmapped/absent vendor falls back to BODY_COLOR.
+ */
+const VENDOR_COLORS: Record<string, number> = {
+    skydio: 0x2b3a55,  // cool steel-blue
+    autel:  0x5a2a30,  // deep oxblood
+    anzu:   0x2a4a36,  // dark forest
+};
+
 /** Detection range in world metres — matches appsettings DetectionRangeMeters. */
 const DETECTION_RANGE_M = 35;
 
@@ -222,7 +233,8 @@ export class DroneManager {
 
     private _add(d: DroneState): void {
         const color = STATUS_COLORS[d.status ?? ''] ?? DEFAULT_COLOR;
-        const { group, led, ring, rotors, label } = this._buildQuadrotor(color, d.id);
+        const bodyColor = d.vendor ? (VENDOR_COLORS[d.vendor] ?? BODY_COLOR) : BODY_COLOR;
+        const { group, led, ring, rotors, label } = this._buildQuadrotor(color, d.id, bodyColor);
 
         const startPos = new THREE.Vector3(d.pos[0], d.pos[1], d.pos[2]);
         group.position.copy(startPos);
@@ -258,13 +270,13 @@ export class DroneManager {
         this._drones.set(d.id, entry);
     }
 
-    private _buildQuadrotor(statusColor: number, droneId: string): QuadrotorMesh {
+    private _buildQuadrotor(statusColor: number, droneId: string, bodyColor: number = BODY_COLOR): QuadrotorMesh {
         const group = new THREE.Group();
 
         // ── Central body ──────────────────────────────────────────────────────
         const topPlate = new THREE.Mesh(
             new THREE.BoxGeometry(3.8, 0.35, 3.8),
-            new THREE.MeshStandardMaterial({ color: BODY_COLOR, metalness: 0.1, roughness: 0.75 }),
+            new THREE.MeshStandardMaterial({ color: bodyColor, metalness: 0.1, roughness: 0.75 }),
         );
         topPlate.position.y = 0.3;
         topPlate.castShadow = true;

src/ResQ.Viz.Web/client/types.ts

@@ -15,6 +15,12 @@ export interface DroneState {
     status?: string;
     battery?: number;
     armed?: boolean;
+    /**
+     * Optional vendor tag identifying the integrating agency's equipment maker
+     * (e.g. "skydio", "autel", "anzu"). Used for chassis-tint differentiation
+     * in multi-agency scenarios.
+     */
+    vendor?: string;
 }
 
 export function isDroneReady(d: DroneState | undefined): d is DroneState & { pos: [number,number,number]; rot: [number,number,number,number]; vel: [number,number,number] } {