From 6fca00b28c8932fa9148d65e7449dce8133a9d58 Mon Sep 17 00:00:00 2001 From: Tian jianyong <11429339@qq.com> Date: Thu, 24 Oct 2024 11:56:37 +0800 Subject: [PATCH] =?UTF-8?q?=E7=AE=80=E5=8C=96=E4=BA=86=E5=AF=BC=E5=BC=B9?= =?UTF-8?q?=E5=9F=BA=E7=B1=BB=E8=AE=BE=E8=AE=A1=EF=BC=8C=E5=B0=86=E8=87=AA?= =?UTF-8?q?=E6=AF=81=E5=92=8C=E7=88=86=E7=82=B8=E7=9A=84=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=88=A4=E6=96=AD=EF=BC=8C=E6=94=BE=E5=88=B0=E5=AD=90=E7=B1=BB?= =?UTF-8?q?=E4=B8=AD=E5=A4=84=E7=90=86=E3=80=82=E7=BB=99=E6=89=80=E6=9C=89?= =?UTF-8?q?=E6=96=87=E6=A1=A3=E5=8A=A0=E4=B8=8A=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .cursorignore | 4 + Docs/Design.md | 11 + DesignMissile.md => Docs/DesignMissile.md | 11 - Docs/MissileBase.bak | 620 --------------------- Docs/MissileStageStrategy.bak | 168 ------ Docs/TerminalSensitive.md | 162 ------ Docs/TerminalSensitiveMissile.bak | 347 ------------ Models/BasicGuidanceSystem.cs | 43 +- Models/Common.cs | 24 + Models/LaserBeamRider.cs | 16 +- Models/LaserBeamRiderGuidanceSystem.cs | 67 ++- Models/LaserBeamRiderMissile.cs | 72 ++- Models/LaserDesignator.cs | 3 +- Models/LaserJammer.cs | 4 +- Models/LaserSemiActiveGuidanceSystem.cs | 77 ++- Models/LaserSemiActiveGuidedMissile.cs | 16 +- Models/LaserWarner.cs | 4 +- Models/MissileBase.cs | 140 ++--- Models/Sensors.cs | 19 +- Models/Tank.cs | 5 +- Models/TerminalSensitiveMissile.cs | 35 +- Models/TerminalSensitiveSubmunition.cs | 158 ++++-- Program.cs | 46 +- SimulationEnvironment/SimulationConfig.cs | 173 ++---- SimulationEnvironment/SimulationElement.cs | 4 +- SimulationEnvironment/SimulationEvents.cs | 2 - SimulationEnvironment/SimulationManager.cs | 82 +-- 27 files changed, 615 insertions(+), 1698 deletions(-) create mode 100644 .cursorignore rename DesignMissile.md => Docs/DesignMissile.md (80%) delete mode 100644 Docs/MissileBase.bak delete mode 100644 Docs/MissileStageStrategy.bak delete mode 100644 Docs/TerminalSensitive.md delete mode 100644 Docs/TerminalSensitiveMissile.bak diff --git a/.cursorignore b/.cursorignore new file mode 100644 index 0000000..ea9d4a2 --- /dev/null +++ b/.cursorignore @@ -0,0 +1,4 @@ +# Add directories or file patterns to ignore during indexing (e.g. foo/ or *.csv) +bin/ +obj/ +.DS_Store \ No newline at end of file diff --git a/Docs/Design.md b/Docs/Design.md index d2001ed..32b863d 100644 --- a/Docs/Design.md +++ b/Docs/Design.md @@ -148,3 +148,14 @@ public class FireMissileCommand : ICommand #### 1.3 导弹行为 导弹行为包括导弹的飞行行为、攻击行为、躲避行为、跟踪行为、锁定行为、发射行为、爆炸行为等。 + +## 在激光驾束制导中, 为了实现更平滑的控制，同时将加速度控制在25 m/s²以下，并保持偏移在1.5米以内，我们可以采用以下几种方法 + +1. 使用PID控制器： + PID（比例-积分-微分）控制器可以提供更平滑和精确的控制。它考虑了误差的历史、当前值和变化率。 +2. 非线性增益： + 使用非线性函数来计算增益，使得在接近目标时增益减小，远离目标时增益增大。 +3. 低通滤波： + 对计算出的加速度进行低通滤波，以减少高频振荡。 +4. 预测控制： + 基于当前状态预测未来的位置，提前做出调整。 diff --git a/DesignMissile.md b/Docs/DesignMissile.md similarity index 80% rename from DesignMissile.md rename to Docs/DesignMissile.md index 28c34aa..36b1590 100644 --- a/DesignMissile.md +++ b/Docs/DesignMissile.md @@ -92,14 +92,3 @@ public class Missile : IProperties, IState 4. 符合单一职责原则：每个类都只负责一种类型的参数。 5. 便于测试：可以轻松地为每种参数类型创建模拟对象，便于单元测试。 6. 灵活性：可以为不同类型的导弹创建不同的参数实现，而保持相同的接口。 - -## 在激光驾束制导中, 为了实现更平滑的控制，同时将加速度控制在25 m/s²以下，并保持偏移在1.5米以内，我们可以采用以下几种方法 - -1. 使用PID控制器： - PID（比例-积分-微分）控制器可以提供更平滑和精确的控制。它考虑了误差的历史、当前值和变化率。 -2. 非线性增益： - 使用非线性函数来计算增益，使得在接近目标时增益减小，远离目标时增益增大。 -3. 低通滤波： - 对计算出的加速度进行低通滤波，以减少高频振荡。 -4. 预测控制： - 基于当前状态预测未来的位置，提前做出调整。 diff --git a/Docs/MissileBase.bak b/Docs/MissileBase.bak deleted file mode 100644 index 9cf89c5..0000000 --- a/Docs/MissileBase.bak +++ /dev/null @@ -1,620 +0,0 @@ -using System; -using System.Collections.Generic; -using ActiveProtect.SimulationEnvironment; -using Model; - -namespace ActiveProtect.Models -{ - /// - /// 表示仿真中的导弹 - /// - public class MissileBase : SimulationElement - { - /// - /// 导弹类型 - /// - public MissileType Type { get; protected set; } - - /// - /// 当前速度(米/秒) - /// - public double Speed { get; protected set; } - - /// - /// 最大速度(米/秒) - /// - public double MaxSpeed { get; protected set; } - - /// - /// 目标ID - /// - public string TargetId { get; protected set; } - - /// - /// 最大飞行时间(秒) - /// - public double MaxFlightTime { get; protected set; } - - /// - /// 最大飞行距离(米) - /// - public double MaxFlightDistance { get; protected set; } - - /// - /// 当前飞行时间(秒) - /// - public double FlightTime { get; protected set; } - - /// - /// 当前飞行距离(米) - /// - public double FlightDistance { get; protected set; } - - /// - /// 与目标的距离(米) - /// - public double DistanceToTarget { get; protected set; } - - /// - /// 导弹距离参数 - /// - public MissileDistanceParams DistanceParams { get; protected set; } - - /// - /// 飞行阶段配置 - /// - public FlightStageConfig StageConfig { get; protected set; } - - /// - /// 当前飞行阶段 - /// - public FlightStage InitialStage { get; protected set; } - - /// - /// 上一帧目标位置 - /// - private Vector3D LastTargetPosition; - - /// - /// 比例导引系数 - /// - private const double N = 3; - - /// - /// 推力加速度(米/秒²) - /// - public double ThrustAcceleration { get; protected set; } - - /// - /// 当前发动机燃烧时间(秒) - /// - public double EngineBurnTime { get; protected set; } - - /// - /// 最大发动机燃烧时间(秒) - /// - public double MaxEngineBurnTime { get; protected set; } - - /// - /// 最大加速度(米/秒²) - /// - public double MaxAcceleration { get; protected set; } = 10000; - - /// - /// 比例导引系数 - /// - public double ProportionalNavigationCoefficient { get; set; } - - /// - /// 是否有制导 - /// - public bool HasGuidance { get; protected set; } = false; - - /// - /// 失去制导的时间(秒) - /// - protected double LostGuidanceTime { get; set; } = 0; - - /// - /// 最后已知的速度向量 - /// - protected Vector3D LastKnownVelocity = Vector3D.Zero; - - /// - /// 发射速度(米/秒) - /// - public const double LAUNCH_SPEED = 10; - - /// - /// 发射阶段持续时间(秒) - /// - public const double LAUNCH_DURATION = 0.5; - /// - /// 当前飞行阶段策略 - /// - protected IMissileStageStrategy currentStageStrategy; - /// - /// 飞行阶段策略字典 - /// - private Dictionary stageStrategies; - - /// - /// 导弹质量(千克) - /// - public double Mass { get; protected set; } = 100; - - /// - /// 构造函数 - /// - public MissileBase(string id, MissileConfig missileConfig, ISimulationManager simulationManager) - : base(id, missileConfig.InitialPosition, missileConfig.InitialOrientation, missileConfig.InitialSpeed, simulationManager) - { - // 初始化导弹属性 - Speed = missileConfig.InitialSpeed; - MaxSpeed = missileConfig.MaxSpeed; - MaxFlightTime = missileConfig.MaxFlightTime; - MaxFlightDistance = missileConfig.MaxFlightDistance; - DistanceParams = missileConfig.DistanceParams; - StageConfig = missileConfig.StageConfig; - IsActive = false; - FlightTime = 0; - FlightDistance = 0; - SimulationManager = simulationManager; - ThrustAcceleration = missileConfig.ThrustAcceleration; - EngineBurnTime = 0; - MaxEngineBurnTime = missileConfig.MaxEngineBurnTime; - MaxAcceleration = missileConfig.MaxAcceleration; - ProportionalNavigationCoefficient = missileConfig.ProportionalNavigationCoefficient; - TargetId = $"Tank_{missileConfig.TargetIndex + 1}"; - - // 初始化策略字典 - stageStrategies = new Dictionary - { - { FlightStage.Launch, new LaunchStageStrategy(this) }, - { FlightStage.Acceleration, new AccelerationStageStrategy(this) }, - { FlightStage.Cruise, new CruiseStageStrategy(this) }, - { FlightStage.TerminalGuidance, new TerminalGuidanceStageStrategy(this) }, - { FlightStage.Attack, new AttackStageStrategy(this) } - }; - - // 设置初始阶段 - SetInitialStage(); - - currentStageStrategy = stageStrategies[InitialStage]; - - LastTargetPosition = Vector3D.Zero; - - DistanceToTarget = Vector3D.Distance(Position, SimulationManager.GetEntityById(TargetId).Position); - } - - /// - /// 设置导弹的初始飞行阶段 - /// - private void SetInitialStage() - { - if (StageConfig.EnableLaunch) InitialStage = FlightStage.Launch; - else if (StageConfig.EnableAcceleration) InitialStage = FlightStage.Acceleration; - else if (StageConfig.EnableCruise) InitialStage = FlightStage.Cruise; - else if (StageConfig.EnableTerminalGuidance) InitialStage = FlightStage.TerminalGuidance; - else if (StageConfig.EnableAttack) InitialStage = FlightStage.Attack; - - Console.WriteLine($"导弹 {Id} 的初始阶段: {InitialStage}"); - } - - /// - /// 更新导弹状态 - /// - public override void Update(double deltaTime) - { - if (!IsActive) return; - - if (ShouldSelfDestruct()) - { - SelfDestruct(); - return; - } - - UpdateEngineBurnTime(deltaTime); - - Vector3D guidanceCommand = GetGuidanceCommand(); - - UpdateMotionState(deltaTime, guidanceCommand); - - if (CheckHit()) - { - Explode(); - return; - } - - currentStageStrategy.Update(deltaTime); - } - - protected virtual Vector3D GetGuidanceCommand() - { - throw new NotImplementedException(); - } - - protected virtual void UpdateMotionState(double deltaTime, Vector3D guidanceCommand) - { - - Vector3D acceleration = CalculateAcceleration(Velocity, guidanceCommand); - - // 使用四阶龙格-库塔方法更新导弹的位置和速度 - (Position, Velocity) = BasicGuidanceSystem.RungeKutta4(deltaTime, Position, Velocity, acceleration); - - // 限制速度不超过最大速度 - if (Velocity.Magnitude() > MaxSpeed) - { - Velocity = Velocity.Normalize() * MaxSpeed; - } - - UpdateMotionStatus(deltaTime); - } - - protected virtual void UpdateMotionStatus(double deltaTime) - { - Speed = Velocity.Magnitude(); - Orientation = Orientation.FromVector(Velocity); - FlightTime += deltaTime; - FlightDistance += Speed * deltaTime; - DistanceToTarget = Vector3D.Distance(Position, SimulationManager.GetEntityById(TargetId).Position); - } - /// - /// 计算导弹的加速度 - /// - private Vector3D CalculateAcceleration(Vector3D velocity, Vector3D guidanceCommand) - { - Vector3D thrustAcceleration = Vector3D.Zero; - Vector3D guidanceAcceleration = Vector3D.Zero; - - switch (InitialStage) - { - case FlightStage.Launch: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - break; - case FlightStage.Acceleration: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - guidanceAcceleration = guidanceCommand; - break; - case FlightStage.Cruise: - thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.05); - guidanceAcceleration = guidanceCommand * 1; - break; - case FlightStage.TerminalGuidance: - thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.05); - guidanceAcceleration = guidanceCommand * 1; - break; - case FlightStage.Attack: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration*0.05; - guidanceAcceleration = guidanceCommand * 1; - break; - } - - if (!HasGuidance) - { - if (velocity.Magnitude() > 0) - { - thrustAcceleration = velocity.Normalize() * ThrustAcceleration; - } - else - { - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - } - } - - //计算重力加速度(反坦克导弹一般升力很小, 主要依靠初始发射动能和持续的推力来维持飞行) - //Vector3D gravityCompensation = new(0, 9.81, 0); - Vector3D gravityAcceleration = new(0, -9.81, 0); - - // 计算空气阻力的影响 - Vector3D dragAcceleration = velocity.Normalize() * -1 * CalculateDrag(velocity.Magnitude()) / Mass; - Vector3D totalAcceleration = guidanceAcceleration + thrustAcceleration + gravityAcceleration +dragAcceleration; - //Vector3D totalAcceleration = guidanceAcceleration + thrustAcceleration +dragAcceleration; - - Console.WriteLine($"导弹 {Id} 的加速度: {totalAcceleration}, 制导加速度: {guidanceAcceleration}, 推力加速度: {thrustAcceleration}, 空气阻力加速度: {dragAcceleration}"); - if (totalAcceleration.Magnitude() > MaxAcceleration) - { - totalAcceleration = totalAcceleration.Normalize() * MaxAcceleration; - } - - return totalAcceleration; - } - /// - /// 切换导弹飞行阶段 - /// - public void ChangeStage(FlightStage newStage) - { - if (stageStrategies.TryGetValue(newStage, out var strategy)) - { - if (IsStageEnabled(newStage)) - { - InitialStage = newStage; - currentStageStrategy = strategy; - Console.WriteLine($"导弹 {Id} 切换到 {newStage} 阶段"); - } - else - { - // 如果目标阶段不可用，尝试切换到下一个可用阶段 - TryChangeToNextAvailableStage(newStage); - } - } - else - { - Console.WriteLine($"导弹 {Id} 无法切换到未知阶段 {newStage}"); - } - } - - /// - /// 检查指定飞行阶段是否启用 - /// - private bool IsStageEnabled(FlightStage stage) - { - return stage switch - { - FlightStage.Launch => StageConfig.EnableLaunch, - FlightStage.Acceleration => StageConfig.EnableAcceleration, - FlightStage.Cruise => StageConfig.EnableCruise, - FlightStage.TerminalGuidance => StageConfig.EnableTerminalGuidance, - FlightStage.Attack => StageConfig.EnableAttack, - _ => false - }; - } - - /// - /// 尝试切换到下一个可用的飞行阶段 - /// - private void TryChangeToNextAvailableStage(FlightStage startStage) - { - FlightStage[] stageOrder = new FlightStage[] {FlightStage.Launch, FlightStage.Acceleration, FlightStage.Cruise, FlightStage.TerminalGuidance, FlightStage.Attack}; - int startIndex = Array.IndexOf(stageOrder, startStage); - - for (int i = startIndex + 1; i < stageOrder.Length; i++) - { - if (IsStageEnabled(stageOrder[i])) - { - ChangeStage(stageOrder[i]); - return; - } - } - - // 如果没有可用的下一个阶段，导弹自毁 - Console.WriteLine($"导弹 {Id} 没有可用的下一个阶段，准备自毁"); - SelfDestruct(); - } - - /// - /// 计算空气阻力 - /// - private static double CalculateDrag(double speed) - { - const double dragCoefficient = 0.1; // 减小阻力系数 - const double airDensity = 1.225; // 海平面空气密度，kg/m^3 - const double referenceArea = 0.01; // 减小导弹的参考面积，m^2 - - return 0.5 * dragCoefficient * airDensity * referenceArea * speed * speed; - } - - /// - /// 检查是否命中目标 - /// - protected bool CheckHit() - { - return DistanceToTarget <= DistanceParams.ExplosionDistance; - } - - /// - /// 检查是否应该自毁 - /// - protected bool ShouldSelfDestruct() - { - if (FlightTime >= MaxFlightTime) - { - Console.WriteLine($"导弹 {Id} 超出最大飞行时间 ({FlightTime:F2}/{MaxFlightTime:F2})，准备自毁"); - return true; - } - if (FlightDistance >= MaxFlightDistance) - { - Console.WriteLine($"导弹 {Id} 超出最大飞行距离 ({FlightDistance:F2}/{MaxFlightDistance:F2})，准备自毁"); - return true; - } - if (Position.Y <= -1.0) // 数字略小于0 - { - Console.WriteLine($"导弹 {Id} 高度小于等于0 ({Position.Y:F2})，准备自毁"); - return true; - } - return false; - } - - /// - /// 更新发动机燃烧时间 - /// - private void UpdateEngineBurnTime(double deltaTime) - { - if (InitialStage == FlightStage.Acceleration && EngineBurnTime < MaxEngineBurnTime) - { - EngineBurnTime += deltaTime; - } - } - - /// - /// 计算比例导引加速度 - /// - private Vector3D CalculateProportionalNavigation(Vector3D position) - { - Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; - Vector3D LOS = targetPosition - position; - Vector3D LOSRate = (targetPosition - LastTargetPosition) / FlightTime - Velocity; - LastTargetPosition = targetPosition; - - return Vector3D.CrossProduct(Vector3D.CrossProduct(LOS, LOSRate), LOS).Normalize() - * ProportionalNavigationCoefficient * Velocity.Magnitude(); - } - - /// - /// 导弹爆炸 - /// - public void Explode() - { - Deactivate(); - SimulationManager.HandleTargetHit(TargetId, Id); - Console.WriteLine($"导弹 {Id} 在 {Position} 爆炸，命中目标！"); - } - - /// - /// 导弹自毁 - /// - public void SelfDestruct() - { - if (IsActive) - { - string reason = FlightTime >= MaxFlightTime ? "超出最大飞行时间" : - FlightDistance >= MaxFlightDistance ? "超出最大飞行距离" : - Position.Y <= 0 ? "高度小于等于0" : - !HasGuidance ? "失去引导" : "未知原因"; - - Console.WriteLine($"导弹 {Id} 自毁。原因: {reason}"); - Deactivate(); - } - } - - /// - /// 设置比例导引系数 - /// - public void SetProportionalNavigationCoefficient(double newCoefficient) - { - ProportionalNavigationCoefficient = newCoefficient; - Console.WriteLine($"导弹 {Id} 的比例导引系数已更新为 {newCoefficient}"); - } - - /// - /// 获取导弹状态 - /// - public override string GetStatus() - { - MissileRunningState missileRunningState = GetState(); - return $"导弹 {missileRunningState.Id}:\n" + - $" 位置: {missileRunningState.Position}\n" + - $" 速度: {missileRunningState.Speed:F2} m/s\n" + - $" 速度分量: {missileRunningState.Velocity}\n" + - $" 朝向: {missileRunningState.Orientation}\n" + - $" 当前状态: {missileRunningState.CurrentStage}\n" + - $" 飞行时间: {missileRunningState.FlightTime:F2}/{MaxFlightTime:F2}\n" + - $" 飞行距离: {missileRunningState.FlightDistance:F2}/{MaxFlightDistance:F2}\n" + - $" 距离目标: {missileRunningState.DistanceToTarget:F2}\n" + - $" 发动机工作时间: {missileRunningState.EngineBurnTime:F2}/{MaxEngineBurnTime:F2}\n" + - $" 有引导: {(missileRunningState.HasGuidance ? "是" : "否")}\n" + - $" 失去引导时间: {missileRunningState.LostGuidanceTime:F2}"; - } - - /// - /// 更新导弹的制导状态 - /// - protected virtual void UpdateGuidanceStatus() - { - // 基类中的默认实现 - } - - public MissileRunningState GetState() - { - return new MissileRunningState - { - Id = Id, - Type = Type, - Position = Position, - Velocity = Velocity, - Orientation = Orientation, - Speed = Speed, - TargetId = TargetId, - FlightTime = FlightTime, - FlightDistance = FlightDistance, - DistanceToTarget = DistanceToTarget, - CurrentStage = InitialStage, - HasGuidance = HasGuidance, - LostGuidanceTime = LostGuidanceTime, - EngineBurnTime = EngineBurnTime, - IsActive = IsActive - }; - } - } - - /// - /// 表示导弹的运行状态信息 - /// - public struct MissileRunningState - { - /// - /// 导弹ID - /// - public string Id { get; set; } - - /// - /// 导弹类型 - /// - public MissileType Type { get; set; } - - /// - /// 当前位置 - /// - public Vector3D Position { get; set; } - - /// - /// 当前速度向量 - /// - public Vector3D Velocity { get; set; } - - /// - /// 当前朝向 - /// - public Orientation Orientation { get; set; } - - /// - /// 当前速度(米/秒) - /// - public double Speed { get; set; } - - /// - /// 目标ID - /// - public string TargetId { get; set; } - - /// - /// 当前飞行时间(秒) - /// - public double FlightTime { get; set; } - - /// - /// 当前飞行距离(米) - /// - public double FlightDistance { get; set; } - - /// - /// 与目标的距离(米) - /// - public double DistanceToTarget { get; set; } - - /// - /// 当前飞行阶段 - /// - public FlightStage CurrentStage { get; set; } - - /// - /// 是否有制导 - /// - public bool HasGuidance { get; set; } - - /// - /// 失去制导时间(秒) - /// - public double LostGuidanceTime { get; set; } - - /// - /// 当前发动机燃烧时间(秒) - /// - public double EngineBurnTime { get; set; } - - /// - /// 是否处于活动状态 - /// - public bool IsActive { get; set; } - } -} diff --git a/Docs/MissileStageStrategy.bak b/Docs/MissileStageStrategy.bak deleted file mode 100644 index 5b2a05d..0000000 --- a/Docs/MissileStageStrategy.bak +++ /dev/null @@ -1,168 +0,0 @@ - -using System; - -namespace ActiveProtect.Models -{ - /// - /// 导弹飞行阶段枚举 - /// - public enum FlightStage - { - Launch, // 发射阶段 - Acceleration, // 加速阶段 - Cruise, // 巡航阶段 - TerminalGuidance, // 终端制导阶段 - Attack, // 攻击阶段 - Explosion, // 爆炸阶段 - } - - /// - /// 导弹飞行阶段策略接口 - /// - public interface IMissileStageStrategy - { - void Update(double deltaTime); - } - - /// - /// 发射阶段策略 - /// - public class LaunchStageStrategy : IMissileStageStrategy - { - private readonly MissileBase missile; - private double launchTime = 0; - - public LaunchStageStrategy(MissileBase missile) - { - this.missile = missile; - } - - public void Update(double deltaTime) - { - launchTime += deltaTime; - if (launchTime >= MissileBase.LAUNCH_DURATION || missile.Speed >= missile.MaxSpeed * 0.1) - { - missile.ChangeStage(FlightStage.Acceleration); - } - } - } - - /// - /// - /// 加速阶段策略 - /// - public class AccelerationStageStrategy : IMissileStageStrategy - { - private readonly MissileBase missile; - - public AccelerationStageStrategy(MissileBase missile) - { - this.missile = missile; - } - - public void Update(double deltaTime) - { - if (missile.EngineBurnTime >= missile.MaxEngineBurnTime || missile.Speed >= missile.MaxSpeed) - { - missile.ChangeStage(FlightStage.Cruise); - } - } - } - - /// - /// 巡航阶段策略 - /// - public class CruiseStageStrategy : IMissileStageStrategy - { - private readonly MissileBase missile; - - public CruiseStageStrategy(MissileBase missile) - { - this.missile = missile; - } - - public void Update(double deltaTime) - { - if (missile.DistanceToTarget <= missile.DistanceParams.TerminalGuidanceDistance) - { - missile.ChangeStage(FlightStage.TerminalGuidance); - } - } - } - - /// - /// 终端制导阶段策略 - /// - public class TerminalGuidanceStageStrategy : IMissileStageStrategy - { - private readonly MissileBase missile; - - public TerminalGuidanceStageStrategy(MissileBase missile) - { - this.missile = missile; - } - - public void Update(double deltaTime) - { - if (missile.DistanceToTarget <= missile.DistanceParams.AttackDistance) - { - missile.ChangeStage(FlightStage.Attack); - } - } - } - - /// - /// 攻击阶段策略 - /// - public class AttackStageStrategy : IMissileStageStrategy - { - private readonly MissileBase missile; - - public AttackStageStrategy(MissileBase missile) - { - this.missile = missile; - } - - public void Update(double deltaTime) - { - if (missile.DistanceToTarget <= missile.DistanceParams.ExplosionDistance) - { - missile.Explode(); - } - } - } - - /// - /// 无制导阶段策略 - /// - public class UnguidedStageStrategy : IMissileStageStrategy - { - private readonly MissileBase missile; - - public UnguidedStageStrategy(MissileBase missile) - { - this.missile = missile; - } - - public void Update(double deltaTime) - { - // 检查是否重新获得引导 - if (missile.HasGuidance) - { - Console.WriteLine($"导弹 {missile.Id} 重新获得引导，退出无制导阶段"); - if (missile.DistanceToTarget <= missile.DistanceParams.AttackDistance) - { - missile.ChangeStage(FlightStage.Attack); - } - else if (missile.DistanceToTarget <= missile.DistanceParams.TerminalGuidanceDistance) - { - missile.ChangeStage(FlightStage.TerminalGuidance); - } - else - { - missile.ChangeStage(FlightStage.Cruise); - } - } - } - } -} \ No newline at end of file diff --git a/Docs/TerminalSensitive.md b/Docs/TerminalSensitive.md deleted file mode 100644 index a09659c..0000000 --- a/Docs/TerminalSensitive.md +++ /dev/null @@ -1,162 +0,0 @@ -# 末敏弹仿真设计 - -## 1. 末敏弹的结构和原理 - -### 1.1 末敏弹的结构 - - 末敏弹是一种远程投放，顶部攻击目标的弹药，其结构包括母弹、子弹、战斗部、导引头。 - -### 1.2 末敏弹的制导系统 - - 末敏弹的制导系统包括毫米波雷达和红外两部分。 - -### 1.3 末敏弹的运行阶段 - - 末敏弹的运行阶段包括发射阶段、分离阶段、减速阶段、螺旋扫描阶段、攻击阶段、自毁阶段等。 - -## 2. 末敏弹的仿真 - -### 2.1 运动仿真 - - 运动仿真包括母弹和子弹的运行过程和运动规律，按运行阶段进行仿真。 - -### 2.2 导引头仿真 - - 导引头仿真包括导引头的工作原理、搜索、锁定、攻击过程。 - -## 3. 运动仿真 - -### 3.1 发射阶段 - - 行为：母弹发射 - 参数： - 发射位置：距离目标 20 公里 - 发射角度：俯仰角和方位角，需要根据目标的坐标计算，暂定 45 度 - 发射速度：1000 米/秒 - -### 3.2 分离阶段 - - 动作：子母弹分离 - 参数： - 分离高度：1000 米 - 分离距离：与目标水平距离 1000 米 - -### 3.3 减速阶段 - - 动作：开伞、减速减旋、稳态扫描 - 参数： - 减速高度：400 米 - 减速距离：与目标水平距离 300 米 - -### 3.4 螺旋扫描阶段 - - 动作：螺旋扫描 - 参数： - 扫描高度：200 米 - 扫描距离：与目标水平距离小于 100 米 - 扫描角度：30 度 - 扫描线视场角：15 度 - 扫描速度：2 圈/秒 - 下降速度：10 米/秒 - -### 3.5 攻击阶段 - - 动作：攻击目标 - 参数： - 攻击高度：小于 200 米，扫描发现目标之后的 0.5 秒 - 攻击距离：与目标水平距离小于 100 米 - 攻击速度：2000 米/秒 - -### 3.6 自毁阶段 - - 动作：自毁 - 参数： - 自毁高度：20 米 - 自毁条件：扫描未发现目标 - -## 4. 导引头仿真 - -### 4.1 毫米波雷达 - - 毫米波雷达的仿真包括雷达的参数模型和行为模型。 - -#### 4.1.1 参数模型 - - 波长：3毫米 - 频率：94GHz - 脉冲宽度：100ns - 脉冲重复频率：10kHz - 天线增益：30dB - 噪声系数：5dB - 信噪比阈值：100dB - -#### 4.1.2 行为模型 - - 测高：到达 20 米，发出自毁信号 - -### 4.2 红外导引头 - - 红外导引头的仿真包括红外导引头的参数模型和行为模型。 - -#### 4.2.1 参数模型 - - 波长：3-5 微米 - 模数：单模、多模 - 信噪比阈值：100dB - -#### 4.2.2 行为模型 - - 探测目标：探测到目标，发出攻击信号 - -## 5. 干扰方式 - - 干扰方式包括烟幕干扰、毫米波补偿 - -### 5.1 烟幕干扰 - - 坦克顶部烟幕弹装置，发射烟幕弹，形成烟幕，干扰毫米波雷达和红外导引头。 - -### 5.2 毫米波补偿 - - 坦克顶部毫米波干扰机，发射毫米波补偿信号，干扰末敏弹毫米波雷达。 - -## 6. 仿真模型设计思路 - -基于上述末敏弹的仿真设计，我们可以设计一个末敏弹仿真模型，主要思路如下： - -1. 类结构设计： - - 创建一个 `TerminalSensitiveMissile` 类，继承自 `MissileBase`。 - - 创建 `MillimeterWaveRadar` 和 `InfraredSeeker` 类来模拟导引头。 - -2. 飞行阶段管理： - - 定义一个枚举 `TerminalSensitiveStage` 来表示末敏弹的不同飞行阶段。 - - 实现一个状态机来管理这些阶段的转换。 - -3. 运动模型： - - 为每个飞行阶段实现特定的运动模型。 - - 使用物理公式计算弹道，考虑重力、空气阻力等因素。 - -4. 导引头模拟： - - 实现毫米波雷达和红外导引头的探测逻辑。 - - 模拟信号处理、目标识别和跟踪。 - -5. 目标交互： - - 实现与目标（如坦克）的交互逻辑。 - - 模拟目标探测、锁定和攻击过程。 - -6. 环境交互： - - 考虑环境因素对末敏弹性能的影响，如天气条件。 - -7. 干扰模拟： - - 实现烟幕干扰和毫米波补偿等干扰方式的影响。 - -8. 参数配置： - - 设计一个灵活的参数配置系统，允许调整各种性能参数。 - -9. 数据记录和分析： - - 实现数据记录功能，用于后续分析和可视化。 - -10. 集成到仿真系统： - - 确保末敏弹模型能够与整个仿真系统无缝集成。 - -这个设计应该能够全面模拟末敏弹的行为，包括其复杂的飞行阶段和导引系统。实现时，我们需要逐步完善每个组件，并进行充分的测试和调整。 diff --git a/Docs/TerminalSensitiveMissile.bak b/Docs/TerminalSensitiveMissile.bak deleted file mode 100644 index 3cf9aa9..0000000 --- a/Docs/TerminalSensitiveMissile.bak +++ /dev/null @@ -1,347 +0,0 @@ -using System; -using System.Collections.Generic; -using ActiveProtect.SimulationEnvironment; - -namespace ActiveProtect.Models -{ - public class TerminalSensitiveMissile : MissileBase - { - // 定义末敏弹工作阶段的枚举 - private enum TerminalSensitiveStage - { - Launch, // 发射阶段 - Separation, // 分离阶段 - Deceleration, // 减速阶段 - SpiralScan, // 螺旋扫描阶段 - Attack, // 攻击阶段 - SelfDestruct // 自毁阶段 - } - - // 当前工作阶段 - private TerminalSensitiveStage currentWorkingStage; - - // 阶段策略字典，用于存储不同阶段的更新策略 - private Dictionary> stageStrategies; - - // 螺旋扫描相关参数 - private double spiralAngle; - private const double SpiralRotationSpeed = 4 * Math.PI; // 2 rotations per second - private const double VerticalDescentSpeed = 10; // 10 m/s - private const double ScanAngle = 30 * Math.PI / 180; // 30 degrees in radians - - // 各阶段的距离和高度参数 - private const double SeparationDistance = 1000; // 分离距离 1000米 - private const double SeparationHeight = 1000; // 分离高度 1000米 - private const double DecelerationHeight = 400; // 减速高度 400米 - private const double ScanningHeight = 200; // 扫描高度 200米 - private const double SelfDestructHeight = 20; // 自毁高度 20米 - - // 扫描和目标检测相关参数 - private Vector3D lastScanDirection; - private bool targetDetected; - private double detectionAngle; - - // 目标位置和分离位置 - private Vector3D TargetPosition; - private Vector3D SeparationPosition; - - // 制导指令 - public Vector3D GuidanceCommand { get; private set; } - - // 传感器 - private InfraredDetector infraredDetector; - private MillimeterWaveRadiometer radiometer; - private MillimeterWaveAltimeter altimeter; - private LaserRangefinder rangefinder; - - // 构造函数 - public TerminalSensitiveMissile(string id, MissileConfig missileConfig, string targetId, ISimulationManager simulationManager) - : base(id, missileConfig, simulationManager) - { - // 初始化参数 - spiralAngle = 0; - lastScanDirection = Vector3D.Zero; - targetDetected = false; - detectionAngle = 0; - GuidanceCommand = Vector3D.Zero; - - // 获取目标位置 - TargetPosition = SimulationManager.GetEntityById(targetId).Position; - - // 计算分离位置 - SeparationPosition = CalculatePointOnTrajectory(Position, TargetPosition, SeparationDistance, SeparationHeight); - - // 初始化阶段策略字典 - stageStrategies = new Dictionary> - { - { TerminalSensitiveStage.Launch, UpdateLaunchStage }, - { TerminalSensitiveStage.Separation, UpdateSeparationStage }, - { TerminalSensitiveStage.Deceleration, UpdateDecelerationStage }, - { TerminalSensitiveStage.SpiralScan, UpdateSpiralScanStage }, - { TerminalSensitiveStage.Attack, UpdateAttackStage }, - { TerminalSensitiveStage.SelfDestruct, UpdateSelfDestructStage } - }; - - // 设置初始阶段 - currentWorkingStage = TerminalSensitiveStage.Launch; - - // 初始化传感器 - infraredDetector = new InfraredDetector(Position, Orientation, 1000, 30); - radiometer = new MillimeterWaveRadiometer(Position, Orientation, 94e9, 1e-6); - altimeter = new MillimeterWaveAltimeter(Position, Orientation, 1000, 0.1); - rangefinder = new LaserRangefinder(Position, Orientation, 5000, 1000); - } - - // 更新方法，每帧调用 - public override void Update(double deltaTime) - { - if (!IsActive) return; - - if (ShouldSelfDestruct()) - { - SelfDestruct(); - return; - } - - Console.WriteLine($"末敏弹 {Id} 当前位置: {Position}"); - Console.WriteLine($"末敏弹 {Id} 分离位置: {SeparationPosition}"); - - // 更新传感器 - infraredDetector.Update(deltaTime); - radiometer.Update(deltaTime); - altimeter.Update(deltaTime); - rangefinder.Update(deltaTime); - - // 使用当前阶段的策略更新导弹状态 - if (stageStrategies.TryGetValue(currentWorkingStage, out var updateStrategy)) - { - updateStrategy(deltaTime); - } - } - - // 发射阶段更新方法 - private void UpdateLaunchStage(double deltaTime) - { - // 无动力抛物线飞行 - ApplyGravity(deltaTime); - - base.UpdateMotionState(deltaTime, GuidanceCommand); - - if (Vector3D.Distance(Position, SeparationPosition) <= 200) - { - currentWorkingStage = TerminalSensitiveStage.Separation; - } - } - - // 分离阶段更新方法 - private void UpdateSeparationStage(double deltaTime) - { - Console.WriteLine($"末敏弹 {Id} 进入分离"); - - // 根据速度大小调整制导指令 - switch(Velocity.Magnitude()) - { - case >= 200: - GuidanceCommand = new Vector3D(400, -400, 0); - break; - case >= 100: - GuidanceCommand = new Vector3D(30, -30, 0); - break; - case >= 50: - GuidanceCommand = new Vector3D(20, -20, 0); - break; - case >= 20: - GuidanceCommand = new Vector3D(5, -10, 0); - break; - default: - GuidanceCommand = new Vector3D(0, -10, 0); - break; - } - base.UpdateMotionState(deltaTime, GuidanceCommand); - - if (Position.Y <= DecelerationHeight) - { - currentWorkingStage = TerminalSensitiveStage.Deceleration; - } - } - - // 减速阶段更新方法 - private void UpdateDecelerationStage(double deltaTime) - { - Console.WriteLine($"末敏弹 {Id} 进入减速"); - // 减速下降 - Velocity = new Vector3D(0, -VerticalDescentSpeed, 0); - Position += Velocity * deltaTime; - - if (Position.Y <= ScanningHeight) - { - currentWorkingStage = TerminalSensitiveStage.SpiralScan; - } - } - - // 螺旋扫描阶段更新方法 - private void UpdateSpiralScanStage(double deltaTime) - { - Console.WriteLine($"末敏弹 {Id} 进入螺旋扫描"); - - spiralAngle += SpiralRotationSpeed * deltaTime; - - // 计算水平速度分量 - double horizontalSpeed = VerticalDescentSpeed * Math.Tan(ScanAngle); - Vector3D horizontalVelocity = new Vector3D( - Math.Cos(spiralAngle) * horizontalSpeed, - 0, - Math.Sin(spiralAngle) * horizontalSpeed - ); - - // 更新速度 - Velocity = new Vector3D(horizontalVelocity.X, -VerticalDescentSpeed, horizontalVelocity.Z); - - // 计算扫描方向 - Vector3D scanDirection = new Vector3D( - Math.Cos(spiralAngle) * Math.Sin(ScanAngle), - -Math.Cos(ScanAngle), - Math.Sin(spiralAngle) * Math.Sin(ScanAngle) - ); - - if (DetectTarget(scanDirection)) - { - if (!targetDetected) - { - targetDetected = true; - detectionAngle = spiralAngle; - } - else if (Math.Abs(spiralAngle - detectionAngle) < 0.1) // 允许一定的误差 - { - currentWorkingStage = TerminalSensitiveStage.Attack; - } - } - - lastScanDirection = scanDirection; - - if (Position.Y <= SelfDestructHeight) - { - currentWorkingStage = TerminalSensitiveStage.SelfDestruct; - } - } - - // 攻击阶段更新方法 - private void UpdateAttackStage(double deltaTime) - { - // 攻击逻辑 - Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; - Vector3D direction = (targetPosition - Position).Normalize(); - Velocity = direction * MaxSpeed; - - if (Vector3D.Distance(Position, targetPosition) < 1) - { - Explode(); - } - } - - // 自毁阶段更新方法 - private void UpdateSelfDestructStage(double deltaTime) - { - // 实现自毁逻辑 - Explode(); - } - - // 目标检测方法 - private bool DetectTarget(Vector3D scanDirection) - { - Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; - Vector3D toTarget = (targetPosition - Position).Normalize(); - - // 检查目标是否在扫描线上 - return Vector3D.DotProduct(scanDirection, toTarget) > Math.Cos(0.5 * Math.PI / 180); // 允许0.5度的误差 - } - - // 应用重力 - private void ApplyGravity(double deltaTime) - { - GuidanceCommand = new Vector3D(0, -9.81, 0); - } - - // 获取导弹状态 - public override string GetStatus() - { - string baseStatus = base.GetStatus().Replace("导弹", "末敏弹"); - string additionalStatus = $"\n 扫描阶段: {(currentWorkingStage == TerminalSensitiveStage.SpiralScan ? "有效" : "无效")} \n"; - return baseStatus + additionalStatus; - } - - // 激活导弹 - public override void Activate() - { - base.Activate(); - // 可以在这里添加订阅事件的代码 - } - - // 停用导弹 - public override void Deactivate() - { - base.Deactivate(); - // 可以在这里添加取消订阅事件的代码 - } - - // 静态方法：计算发射参数 - public static (double angle, double distance) CalculateLaunchParameters(double initialVelocity, double targetHeight, double targetDistance) - { - double g = 9.8; // 重力加速度 - double v = initialVelocity; - double y = targetHeight; - double x = targetDistance; - - // 计算发射角度（弧度） - double angle = Math.Atan((v * v + Math.Sqrt(Math.Pow(v, 4) - g * (g * x * x + 2 * y * v * v))) / (g * x)); - - // 计算水平飞行距离 - double t = x / (v * Math.Cos(angle)); - double totalDistance = v * Math.Cos(angle) * t; - - return (angle, totalDistance); - } - - // 静态方法：计算发射位置 - public static Vector3D CalculateLaunchPosition(Vector3D knownPoint, Vector3D velocity) - { - double g = 9.8; // 重力加速度 - double x = knownPoint.X; - double y = knownPoint.Y; - double vx = velocity.X; - double vy = velocity.Y; - - // 计算时间 t - double t = (-vy - Math.Sqrt(vy * vy + 2 * g * y)) / -g; - - // 计算发射点的 x 坐标 - double launchX = x - vx * t; - - // 发射点的 y 和 z 坐标为 0 - return new Vector3D(launchX, 0, 0); - } - - // 静态方法：计算轨迹上的点 - public static Vector3D CalculatePointOnTrajectory(Vector3D launchPosition, Vector3D targetPosition, double distanceFromTarget, double height) - { - // 确保发射位置和目标位置的y坐标为0 - launchPosition = new Vector3D(launchPosition.X, 0, launchPosition.Z); - targetPosition = new Vector3D(targetPosition.X, 0, targetPosition.Z); - - // 计算发射方向向量 - Vector3D direction = targetPosition - launchPosition; - - // 计算总距离 - double totalDistance = direction.Magnitude(); - - // 归一化方向向量 - direction = direction.Normalize(); - - // 计算所需点的位置 - Vector3D pointOnTrajectory = targetPosition - direction * distanceFromTarget; - - // 返回结果，y坐标设置为指定的高度 - return new Vector3D(pointOnTrajectory.X, height, pointOnTrajectory.Z); - } - } -} diff --git a/Models/BasicGuidanceSystem.cs b/Models/BasicGuidanceSystem.cs index 824c107..96d8d94 100644 --- a/Models/BasicGuidanceSystem.cs +++ b/Models/BasicGuidanceSystem.cs @@ -2,12 +2,19 @@ using System; namespace ActiveProtect.Models { - public interface IGuidanceSystem + /// + /// 制导系统接口 + /// + public interface IGuidanceSystem { bool HasGuidance { get; } void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity); Vector3D GetGuidanceAcceleration(); } + + /// + /// 基础制导系统 + /// public class BasicGuidanceSystem : IGuidanceSystem { public bool HasGuidance { get; protected set; } @@ -23,17 +30,31 @@ namespace ActiveProtect.Models Velocity = Vector3D.Zero; } + /// + /// 更新制导系统 + /// + /// 时间步长 + /// 导弹位置 + /// 导弹速度 public virtual void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity) { Position = missilePosition; Velocity = missileVelocity; } + /// + /// 获取制导加速度 + /// + /// 制导加速度 public Vector3D GetGuidanceAcceleration() { return GuidanceAcceleration; } + /// + /// 计算制导加速度 + /// + /// 时间步长 protected virtual void CalculateGuidanceAcceleration(double deltaTime) { // 基础制导系统不计算制导指令 @@ -43,12 +64,13 @@ namespace ActiveProtect.Models /// /// 计算比例导引加速度 /// + /// 比例导引系数 /// 导弹位置 /// 导弹速度 /// 目标位置 /// 目标速度 /// 比例导引加速度 - protected Vector3D CalculateProportionalNavigation(double proportionalNavigationCoefficient, Vector3D missilePosition, Vector3D missileVelocity, Vector3D targetPosition, Vector3D targetVelocity) + protected static Vector3D CalculateProportionalNavigation(double proportionalNavigationCoefficient, Vector3D missilePosition, Vector3D missileVelocity, Vector3D targetPosition, Vector3D targetVelocity) { // 预测时间（预测目标前进方向该时间后到达的位置，可以调整） double predictionTime = 0.01; @@ -67,6 +89,14 @@ namespace ActiveProtect.Models return acceleration; } + /// + /// 四阶龙格库塔法计算导弹运动状态 + /// + /// 时间步长 + /// 导弹位置 + /// 导弹速度 + /// 导弹加速度 + /// 新的位置和速度 public static (Vector3D newPosition, Vector3D newVelocity) RungeKutta4(double deltaTime, Vector3D position, Vector3D velocity, Vector3D acceleration) { // 定义一个局部函数来计算加速度 @@ -98,5 +128,14 @@ namespace ActiveProtect.Models return (newPosition, newVelocity); } + + /// + /// 获取制导系统状态 + /// + /// 制导系统状态 + public virtual string GetStatus() + { + return $"BasicGuidanceSystem: HasGuidance={HasGuidance}, Position={Position}, Velocity={Velocity}, GuidanceAcceleration={GuidanceAcceleration}"; + } } } diff --git a/Models/Common.cs b/Models/Common.cs index f519e2a..a2aaef0 100644 --- a/Models/Common.cs +++ b/Models/Common.cs @@ -99,16 +99,25 @@ namespace ActiveProtect.Models return new Vector3D(-a.X, -a.Y, -a.Z); } + /// + /// 向量相等运算符重载 + /// public static bool operator ==(Vector3D left, Vector3D right) { return left.X == right.X && left.Y == right.Y && left.Z == right.Z; } + /// + /// 向量不相等运算符重载 + /// public static bool operator !=(Vector3D left, Vector3D right) { return !(left == right); } + /// + /// 判断两个向量是否相等 + /// public override bool Equals(object? obj) { if (obj is Vector3D other) @@ -118,6 +127,10 @@ namespace ActiveProtect.Models return false; } + /// + /// 获取向量的哈希码 + /// + /// 向量的哈希码 public override int GetHashCode() { return HashCode.Combine(X, Y, Z); @@ -320,17 +333,28 @@ namespace ActiveProtect.Models } } + /// + /// 表示二维空间中的向量 + /// public struct Vector2D { public double X { get; set; } public double Y { get; set; } + /// + /// 构造函数 + /// + /// X坐标 + /// Y坐标 public Vector2D(double x, double y) { X = x; Y = y; } + /// + /// 零向量 + /// public static Vector2D Zero => new Vector2D(0, 0); } } diff --git a/Models/LaserBeamRider.cs b/Models/LaserBeamRider.cs index ce4cf9a..86c455f 100644 --- a/Models/LaserBeamRider.cs +++ b/Models/LaserBeamRider.cs @@ -40,9 +40,13 @@ namespace ActiveProtect.Models IsBeamOn = false; MissileId = missileId; TargetId = targetId; - SimulationManager = simulationManager; + base.SimulationManager = simulationManager; } + /// + /// 更新激光驾束仪 + /// + /// 时间步长 public override void Update(double deltaTime) { if (IsActive && IsBeamOn) @@ -88,6 +92,9 @@ namespace ActiveProtect.Models base.Deactivate(); } + /// + /// 开启激光束照射 + /// public void StartBeamIllumination() { if (!IsBeamOn) @@ -98,6 +105,9 @@ namespace ActiveProtect.Models } } + /// + /// 停止激光束照射 + /// public void StopBeamIllumination() { if (IsBeamOn) @@ -141,6 +151,10 @@ namespace ActiveProtect.Models }); } + /// + /// 获取激光驾束仪状态 + /// + /// 激光驾束仪状态 public override string GetStatus() { return $"激光驾束仪 {Id}:\n" + diff --git a/Models/LaserBeamRiderGuidanceSystem.cs b/Models/LaserBeamRiderGuidanceSystem.cs index b3a44e9..08566a8 100644 --- a/Models/LaserBeamRiderGuidanceSystem.cs +++ b/Models/LaserBeamRiderGuidanceSystem.cs @@ -2,26 +2,59 @@ using System; namespace ActiveProtect.Models { + /// + /// 激光驾束制导系统 + /// public class LaserBeamRiderGuidanceSystem : BasicGuidanceSystem { + /// + /// 激光源位置 + /// private Vector3D LaserSourcePosition { get; set; } + + /// + /// 激光方向 + /// private Vector3D LaserDirection { get; set; } + + /// + /// 激光功率 + /// public double LaserPower { get; set; } + private const double MinDetectablePower = 1e-3; // 假设最小可探测功率为1毫瓦 private const double DetectorDiameter = 0.1; // 假设探测器直径为10厘米 private const double ControlFieldDiameter = 20.0; // 控制场直径（米） + /// + /// 上一次的误差 + /// private Vector3D LastError = Vector3D.Zero; + /// + /// 上一次的制导加速度 + /// public Vector3D LastGuidanceAcceleration { get; private set; } + /// + /// 积分误差 + /// private Vector3D IntegralError = Vector3D.Zero; + /// + /// 比例导引系数 + /// private double ProportionalNavigationCoefficient { get; set; } + /// + /// 激光照射是否开启 + /// private bool LaserIlluminationOn { get; set; } + /// + /// 构造函数 + /// public LaserBeamRiderGuidanceSystem() { LaserSourcePosition = Vector3D.Zero; @@ -32,6 +65,12 @@ namespace ActiveProtect.Models ProportionalNavigationCoefficient = 3; } + /// + /// 更新激光驾束仪 + /// + /// 激光源位置 + /// 激光方向 + /// 激光功率 public void UpdateLaserBeamRider(Vector3D sourcePosition, Vector3D direction, double laserPower) { LaserIlluminationOn = true; @@ -40,7 +79,10 @@ namespace ActiveProtect.Models LaserPower = laserPower; } - public void DeactivateLaserBeam(Vector3D sourcePosition, Vector3D direction) + /// + /// 关闭激光照射 + /// + public void DeactivateLaserBeam() { LaserSourcePosition = Vector3D.Zero; LaserDirection = Vector3D.Zero; @@ -48,6 +90,12 @@ namespace ActiveProtect.Models HasGuidance = false; } + /// + /// 更新制导系统 + /// + /// 时间步长 + /// 导弹位置 + /// 导弹速度 public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity) { base.Update(deltaTime, missilePosition, missileVelocity); @@ -70,6 +118,9 @@ namespace ActiveProtect.Models } } + /// + /// 更新制导状态 + /// private void UpdateGuidanceStatus() { // 计算导弹到激光束的最短距离 @@ -102,6 +153,10 @@ namespace ActiveProtect.Models } } + /// + /// 计算制导加速度 + /// + /// 时间步长 protected override void CalculateGuidanceAcceleration(double deltaTime) { if (!HasGuidance) @@ -171,11 +226,19 @@ namespace ActiveProtect.Models //Console.WriteLine($"Guidance Command: {GuidanceCommand.Magnitude()}, Lateral Error: {shortestDistanceVector.Magnitude()}, Lateral Acceleration: {lateralAcceleration.Magnitude()}, Forward Acceleration: {forwardAcceleration.Magnitude()}"); } - public override string ToString() + /// + /// 获取制导系统状态 + /// + /// 制导系统状态 + public override string GetStatus() { return $"LaserBeamRiderGuidanceSystem: HasGuidance={HasGuidance}, LaserSourcePosition={LaserSourcePosition}, LaserDirection={LaserDirection}, GuidanceAcceleration={GuidanceAcceleration}"; } + /// + /// 计算导弹到激光束的最短距离 + /// + /// 最短距离向量 private Vector3D CalculateShortestDistanceToLaserBeam() { // 计算导弹到激光源的向量 diff --git a/Models/LaserBeamRiderMissile.cs b/Models/LaserBeamRiderMissile.cs index 69594de..d99c80e 100644 --- a/Models/LaserBeamRiderMissile.cs +++ b/Models/LaserBeamRiderMissile.cs @@ -14,19 +14,33 @@ namespace ActiveProtect.Models Explode, // 爆炸阶段 SelfDestruct // 自毁阶段 } + + /// + /// 当前阶段 + /// private LBRM_Stage currentStage; - private LaserBeamRiderGuidanceSystem LaserBeamRiderGuidanceSystem; - private MissileConfig missileConfig; + /// + /// 激光驾束制导系统 + /// + private readonly LaserBeamRiderGuidanceSystem LaserBeamRiderGuidanceSystem; - public LaserBeamRiderMissile(string id, MissileConfig missileConfig, ISimulationManager simulationManager) - : base(id, missileConfig, simulationManager) + /// + /// 构造函数 + /// + /// 导弹配置 + /// 模拟管理器 + public LaserBeamRiderMissile(MissileConfig config, ISimulationManager manager) + : base(config, manager) { LaserBeamRiderGuidanceSystem = new LaserBeamRiderGuidanceSystem(); currentStage = LBRM_Stage.Launch; - this.missileConfig = missileConfig; } + /// + /// 激光束开启事件 + /// + /// 激光束开启事件 private void OnLaserBeamStart(LaserBeamStartEvent evt) { if (evt?.LaserBeamRider != null) @@ -35,6 +49,10 @@ namespace ActiveProtect.Models } } + /// + /// 激光束更新事件 + /// + /// 激光束更新事件 private void OnLaserBeamUpdate(LaserBeamUpdateEvent evt) { if (evt?.LaserBeamRider != null) @@ -43,14 +61,22 @@ namespace ActiveProtect.Models } } + /// + /// 激光束停止事件 + /// + /// 激光束停止事件 private void OnLaserBeamStop(LaserBeamStopEvent evt) { if (evt?.LaserBeamRider != null) { - LaserBeamRiderGuidanceSystem?.DeactivateLaserBeam(evt.LaserBeamRider.Position, evt.LaserBeamRider.LaserDirection); + LaserBeamRiderGuidanceSystem?.DeactivateLaserBeam(); } } + /// + /// 更新导弹 + /// + /// 时间步长 public override void Update(double deltaTime) { switch (currentStage) @@ -65,13 +91,17 @@ namespace ActiveProtect.Models UpdateExplodeStage(deltaTime); break; case LBRM_Stage.SelfDestruct: - SelfDestruct(); + UpdateSelfDestructStage(deltaTime); break; } base.Update(deltaTime); } + /// + /// 更新发射阶段 + /// + /// 时间步长 private void UpdateLaunchStage(double deltaTime) { // 发射阶段 @@ -82,29 +112,49 @@ namespace ActiveProtect.Models } } + /// + /// 更新巡航阶段 + /// + /// 时间步长 private void UpdateCruiseStage(double deltaTime) { // 巡航阶段 LaserBeamRiderGuidanceSystem.Update(deltaTime, Position, Velocity); GuidanceAcceleration = LaserBeamRiderGuidanceSystem.GetGuidanceAcceleration(); - if (DistanceToTarget <= missileConfig.DistanceParams.ExplosionDistance) + if (DistanceToTarget <= ExplosionRadius) { currentStage = LBRM_Stage.Explode; } + if(ShouldSelfDestruct()) + { + currentStage = LBRM_Stage.SelfDestruct; + } } + /// + /// 更新爆炸阶段 + /// + /// 时间步长 private void UpdateExplodeStage(double deltaTime) { // 爆炸阶段 Explode(); } + /// + /// 更新自毁阶段 + /// + /// 时间步长 private void UpdateSelfDestructStage(double deltaTime) { // 自毁阶段 SelfDestruct(); } + /// + /// 获取导弹状态 + /// + /// 导弹状态 public override string GetStatus() { string baseStatus = base.GetStatus().Replace("导弹", "激光驾束制导导弹"); @@ -112,6 +162,9 @@ namespace ActiveProtect.Models return baseStatus + additionalStatus; } + /// + /// 激活导弹 + /// public override void Activate() { base.Activate(); @@ -120,6 +173,9 @@ namespace ActiveProtect.Models SimulationManager.SubscribeToEvent(OnLaserBeamUpdate); } + /// + /// 关闭导弹 + /// public override void Deactivate() { base.Deactivate(); diff --git a/Models/LaserDesignator.cs b/Models/LaserDesignator.cs index 7cfea86..1fbe6c2 100644 --- a/Models/LaserDesignator.cs +++ b/Models/LaserDesignator.cs @@ -112,8 +112,7 @@ namespace ActiveProtect.Models { if (evt.TargetId == TargetId) { - var tank = SimulationManager.GetEntityById(TargetId) as Tank; - if (tank != null) + if (SimulationManager.GetEntityById(TargetId) is Tank tank) { double distanceToTarget = Vector3D.Distance(Position, tank.Position); double jammingEffectiveness = 20 * Math.Log10(evt.JammingPower) - 20 * Math.Log10(distanceToTarget) - 20 * Math.Log10(4 * Math.PI); diff --git a/Models/LaserJammer.cs b/Models/LaserJammer.cs index c92edaf..2674088 100644 --- a/Models/LaserJammer.cs +++ b/Models/LaserJammer.cs @@ -67,8 +67,8 @@ namespace ActiveProtect.Models maxJammingPower = config.MaxJammingPower; initialJammingPower = config.InitialJammingPower; powerIncreaseRate = config.PowerIncreaseRate; - SimulationManager.SubscribeToEvent(OnLaserWarnerAlarmEvent); - SimulationManager.SubscribeToEvent(OnLaserWarnerAlarmStopEvent); + base.SimulationManager.SubscribeToEvent(OnLaserWarnerAlarmEvent); + base.SimulationManager.SubscribeToEvent(OnLaserWarnerAlarmStopEvent); } /// diff --git a/Models/LaserSemiActiveGuidanceSystem.cs b/Models/LaserSemiActiveGuidanceSystem.cs index 15a9b95..d58705f 100644 --- a/Models/LaserSemiActiveGuidanceSystem.cs +++ b/Models/LaserSemiActiveGuidanceSystem.cs @@ -2,6 +2,9 @@ using System; namespace ActiveProtect.Models { + /// + /// 激光半主动制导系统 + /// public class LaserSemiActiveGuidanceSystem : BasicGuidanceSystem { private const double FieldOfViewAngle = Math.PI / 6; // 30度视场角 @@ -10,16 +13,46 @@ namespace ActiveProtect.Models private const double ReflectionCoefficient = 0.2; // 反射系数 private const double LockThreshold = 1e-12; // 锁定阈值（瓦特） private const double TargetReflectiveArea = 1.0; // 目标有效反射面积（平方米） + + /// + /// 目标位置 + /// private Vector3D TargetPosition { get; set; } + + /// + /// 目标速度 + /// private Vector3D TargetVelocity { get; set; } + + /// + /// 激光照射是否开启 + /// private bool LaserIlluminationOn { get; set; } + + /// + /// 激光指示器位置 + /// private Vector3D LaserDesignatorPosition { get; set; } + + /// + /// 激光功率 + /// private double LaserPower { get; set; } + + /// + /// 激光发散角 + /// private double LaserDivergenceAngle { get; set; } + /// + /// 比例导航系数 + /// private double ProportionalNavigationCoefficient { get; set; } + /// + /// 构造函数 + /// public LaserSemiActiveGuidanceSystem() { TargetPosition = Vector3D.Zero; @@ -30,6 +63,14 @@ namespace ActiveProtect.Models ProportionalNavigationCoefficient = 4; } + /// + /// 更新激光指示器 + /// + /// 激光源位置 + /// 目标位置 + /// 目标速度 + /// 激光功率 + /// 激光发散角 public void UpdateLaserDesignator(Vector3D sourcePosition, Vector3D targetPosition, Vector3D targetVelocity, double laserPower, double laserDivergenceAngle) { LaserIlluminationOn = true; @@ -40,6 +81,9 @@ namespace ActiveProtect.Models LaserDivergenceAngle = laserDivergenceAngle; } + /// + /// 关闭激光照射 + /// public void DeactivateLaserDesignator() { LaserIlluminationOn = false; @@ -50,6 +94,12 @@ namespace ActiveProtect.Models LaserDivergenceAngle = 0; } + /// + /// 更新制导系统 + /// + /// 时间步长 + /// 导弹位置 + /// 导弹速度 public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity) { base.Update(deltaTime, missilePosition, missileVelocity); @@ -69,10 +119,12 @@ namespace ActiveProtect.Models { GuidanceAcceleration = Vector3D.Zero; } - - PrintGuidanceInfo(); } + /// + /// 计算接收到的激光功率 + /// + /// 接收到的激光功率 private double CalculateReceivedLaserPower() { double distanceDesignatorToTarget = (LaserDesignatorPosition - TargetPosition).Magnitude(); @@ -108,9 +160,12 @@ namespace ActiveProtect.Models return finalReceivedPower; } + /// + /// 计算制导加速度 + /// + /// 时间步长 protected override void CalculateGuidanceAcceleration(double deltaTime) { - Console.WriteLine($"激光半主动导弹引导加速度计算: 位置: {Position}, 速度: {Velocity}, 目标位置: {TargetPosition}, 目标速度: {TargetVelocity}"); // 计算比例导引加速度 GuidanceAcceleration = CalculateProportionalNavigation(ProportionalNavigationCoefficient, Position, Velocity, TargetPosition, TargetVelocity); @@ -122,18 +177,12 @@ namespace ActiveProtect.Models } } - private void PrintGuidanceInfo() + /// + /// 获取制导系统状态 + /// + public override string GetStatus() { - Console.WriteLine($"激光半主动导弹引导信息:"); - Console.WriteLine($" 位置: {Position}"); - Console.WriteLine($" 速度: {Velocity}"); - Console.WriteLine($" 速度大小: {Velocity.Magnitude():F2} m/s"); - Console.WriteLine($" 是否有引导: {HasGuidance}"); - Console.WriteLine($" 目标位置: {TargetPosition}"); - Console.WriteLine($" 制导加速度: {GuidanceAcceleration}"); - Console.WriteLine($" 接收到的激光功率: {CalculateReceivedLaserPower():E} W"); - Console.WriteLine($" 锁定阈值: {LockThreshold:E} W"); - Console.WriteLine(); + return base.GetStatus() + $" 接收到的激光功率: {CalculateReceivedLaserPower():E} W 锁定阈值: {LockThreshold:E} W"; } } } diff --git a/Models/LaserSemiActiveGuidedMissile.cs b/Models/LaserSemiActiveGuidedMissile.cs index 6d726a9..04ca18f 100644 --- a/Models/LaserSemiActiveGuidedMissile.cs +++ b/Models/LaserSemiActiveGuidedMissile.cs @@ -18,25 +18,22 @@ namespace ActiveProtect.Models Explode, // 爆炸阶段 SelfDestruct // 自毁阶段 } - private LSAGM_Stage currentStage; private LaserSemiActiveGuidanceSystem LaserGuidanceSystem; public string LaserDesignatorId { get; set; } = ""; - private MissileConfig missileConfig; /// /// 构造函数 /// /// 导弹ID /// 激光指示器ID - /// 导弹配置 + /// 导弹配置 /// 仿真管理器 - public LaserSemiActiveGuidedMissile(string id, MissileConfig missileConfig, ISimulationManager simulationManager) - : base(id, missileConfig, simulationManager) + public LaserSemiActiveGuidedMissile(MissileConfig config, ISimulationManager manager) + : base(config, manager) { LaserGuidanceSystem = new LaserSemiActiveGuidanceSystem(); currentStage = LSAGM_Stage.Launch; - this.missileConfig = missileConfig; } /// @@ -141,10 +138,15 @@ namespace ActiveProtect.Models { LaserGuidanceSystem.Update(deltaTime, Position, Velocity); GuidanceAcceleration = LaserGuidanceSystem.GetGuidanceAcceleration(); - if (DistanceToTarget <= missileConfig.DistanceParams.ExplosionDistance) + Console.WriteLine($"导弹ID: {Id}, 距离目标: {DistanceToTarget}, 爆炸半径: {ExplosionRadius}"); + if (DistanceToTarget <= ExplosionRadius) { currentStage = LSAGM_Stage.Explode; } + if(ShouldSelfDestruct()) + { + currentStage = LSAGM_Stage.SelfDestruct; + } } private void UpdateExplodeStage(double deltaTime) diff --git a/Models/LaserWarner.cs b/Models/LaserWarner.cs index 2582e4f..2e6cfe2 100644 --- a/Models/LaserWarner.cs +++ b/Models/LaserWarner.cs @@ -43,8 +43,8 @@ namespace ActiveProtect.Models MonitoredEntityId = monitoredEntityId; IsAlarming = false; alarmDuration = config.AlarmDuration; - SimulationManager.SubscribeToEvent(OnLaserIlluminationStart); - SimulationManager.SubscribeToEvent(OnLaserIlluminationStop); + base.SimulationManager.SubscribeToEvent(OnLaserIlluminationStart); + base.SimulationManager.SubscribeToEvent(OnLaserIlluminationStop); } /// diff --git a/Models/MissileBase.cs b/Models/MissileBase.cs index 67ee32e..6eceee6 100644 --- a/Models/MissileBase.cs +++ b/Models/MissileBase.cs @@ -56,9 +56,9 @@ namespace ActiveProtect.Models public double DistanceToTarget { get; protected set; } /// - /// 导弹距离参数 + /// 爆炸半径(米) /// - public MissileDistanceParams DistanceParams { get; protected set; } + public double ExplosionRadius { get; protected set; } /// /// 上一帧目标位置 @@ -130,54 +130,55 @@ namespace ActiveProtect.Models /// protected Vector3D ThrustAcceleration { get; set; } + protected readonly MissileConfig MissileConfig; + /// /// 构造函数 /// - public MissileBase(string id, MissileConfig missileConfig, ISimulationManager simulationManager) - : base(id, missileConfig.InitialPosition, missileConfig.InitialOrientation, missileConfig.InitialSpeed, simulationManager) + public MissileBase(MissileConfig config, ISimulationManager manager) + : base(config.Id, config.InitialPosition, config.InitialOrientation, config.InitialSpeed, manager) { - // 初始化导弹属性 - Speed = missileConfig.InitialSpeed; - MaxSpeed = missileConfig.MaxSpeed; - MaxFlightTime = missileConfig.MaxFlightTime; - MaxFlightDistance = missileConfig.MaxFlightDistance; - DistanceParams = missileConfig.DistanceParams; + MissileConfig = config; + SimulationManager = manager; + InitializeFromConfig(); + IsActive = false; FlightTime = 0; FlightDistance = 0; - SimulationManager = simulationManager; - LaunchAcceleration = missileConfig.LaunchAcceleration; EngineBurnTime = 0; - MaxEngineBurnTime = missileConfig.MaxEngineBurnTime; - MaxAcceleration = missileConfig.MaxAcceleration; - ProportionalNavigationCoefficient = missileConfig.ProportionalNavigationCoefficient; - TargetId = $"Tank_{missileConfig.TargetIndex + 1}"; GuidanceAcceleration = Vector3D.Zero; ThrustAcceleration = Vector3D.Zero; LastTargetPosition = Vector3D.Zero; + TargetId = $"Tank_{config.TargetIndex + 1}"; DistanceToTarget = Vector3D.Distance(Position, SimulationManager.GetEntityById(TargetId).Position); } + /// + /// 从配置初始化导弹 + /// + private void InitializeFromConfig() + { + // 初始化导弹属性 + Speed = MissileConfig.InitialSpeed; + MaxSpeed = MissileConfig.MaxSpeed; + MaxFlightTime = MissileConfig.MaxFlightTime; + MaxFlightDistance = MissileConfig.MaxFlightDistance; + ExplosionRadius = MissileConfig.ExplosionRadius; + LaunchAcceleration = MissileConfig.LaunchAcceleration; + MaxEngineBurnTime = MissileConfig.MaxEngineBurnTime; + MaxAcceleration = MissileConfig.MaxAcceleration; + ProportionalNavigationCoefficient = MissileConfig.ProportionalNavigationCoefficient; + } + /// /// 更新导弹状态 /// public override void Update(double deltaTime) { - if (!IsActive) return; - - if (ShouldSelfDestruct()) + if (IsActive) { - SelfDestruct(); - return; - } - - - UpdateMotionState(deltaTime); - - if (CheckHit()) - { - Explode(); - return; + // 更新导弹运动状态 + UpdateMotionState(deltaTime); } } @@ -209,53 +210,10 @@ namespace ActiveProtect.Models /// private Vector3D CalculateAcceleration(Vector3D velocity) { - // Vector3D thrustAcceleration = Vector3D.Zero; - // Vector3D guidanceAcceleration = Vector3D.Zero; - - // switch (CurrentStage) - // { - // case FlightStage.Launch: - // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - // break; - // case FlightStage.Acceleration: - // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - // guidanceAcceleration = guidanceCommand; - // break; - // case FlightStage.Cruise: - // thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.05); - // guidanceAcceleration = guidanceCommand * 1; - // break; - // case FlightStage.TerminalGuidance: - // thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.05); - // guidanceAcceleration = guidanceCommand * 1; - // break; - // case FlightStage.Attack: - // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration*0.05; - // guidanceAcceleration = guidanceCommand * 1; - // break; - // } - - // if (!HasGuidance) - // { - // if (velocity.Magnitude() > 0) - // { - // ThrustAcceleration = LaunchAcceleration * velocity.Normalize(); - // } - // else - // { - // ThrustAcceleration = LaunchAcceleration * velocity.Normalize(); - // } - // } - - //计算重力加速度(反坦克导弹一般升力很小, 主要依靠初始发射动能和持续的推力来维持飞行) - //Vector3D gravityCompensation = new(0, 9.81, 0); - //Vector3D gravityAcceleration = new(0, -9.81, 0); - // 计算空气阻力的影响 Vector3D dragAcceleration = velocity.Normalize() * -1 * CalculateDrag(velocity.Magnitude()) / Mass; - //Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + gravityAcceleration +dragAcceleration; - //Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + dragAcceleration; - Vector3D totalAcceleration = GuidanceAcceleration; + + Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + dragAcceleration; Console.WriteLine($"导弹 {Id} 的加速度: {totalAcceleration}, 制导加速度: {GuidanceAcceleration}, 推力加速度: {ThrustAcceleration}, 空气阻力加速度: {dragAcceleration}"); if (totalAcceleration.Magnitude() > MaxAcceleration) @@ -278,14 +236,6 @@ namespace ActiveProtect.Models return 0.5 * dragCoefficient * airDensity * referenceArea * speed * speed; } - /// - /// 检查是否命中目标 - /// - protected bool CheckHit() - { - return DistanceToTarget <= DistanceParams.ExplosionDistance; - } - /// /// 检查是否应该自毁 /// @@ -320,20 +270,6 @@ namespace ActiveProtect.Models // } // } - /// - /// 计算比例导引加速度 - /// - // private Vector3D CalculateProportionalNavigation(Vector3D position) - // { - // Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; - // Vector3D LOS = targetPosition - position; - // Vector3D LOSRate = (targetPosition - LastTargetPosition) / FlightTime - Velocity; - // LastTargetPosition = targetPosition; - - // return Vector3D.CrossProduct(Vector3D.CrossProduct(LOS, LOSRate), LOS).Normalize() - // * ProportionalNavigationCoefficient * Velocity.Magnitude(); - // } - /// /// 导弹爆炸 /// @@ -375,7 +311,7 @@ namespace ActiveProtect.Models /// public override string GetStatus() { - MissileRunningState missileRunningState = GetState(); + MissileRunningState missileRunningState = GetRunningState(); return $"导弹 {missileRunningState.Id}:\n" + $" 位置: {missileRunningState.Position}\n" + $" 速度: {missileRunningState.Speed:F2} m/s\n" + @@ -397,7 +333,7 @@ namespace ActiveProtect.Models // 基类中的默认实现 } - public MissileRunningState GetState() + public MissileRunningState GetRunningState() { return new MissileRunningState { @@ -411,7 +347,6 @@ namespace ActiveProtect.Models FlightTime = FlightTime, FlightDistance = FlightDistance, DistanceToTarget = DistanceToTarget, - //CurrentStage = CurrentStage, HasGuidance = HasGuidance, LostGuidanceTime = LostGuidanceTime, EngineBurnTime = EngineBurnTime, @@ -475,11 +410,6 @@ namespace ActiveProtect.Models /// public double DistanceToTarget { get; set; } - /// - /// 当前飞行阶段 - /// - //public FlightStage CurrentStage { get; set; } - /// /// 是否有制导 /// diff --git a/Models/Sensors.cs b/Models/Sensors.cs index efc2b4b..3d5c50d 100644 --- a/Models/Sensors.cs +++ b/Models/Sensors.cs @@ -200,6 +200,10 @@ namespace ActiveProtect.Models /// public class MillimeterWaveAltimeter : Sensor { + private double currentAltitude; + + private TerminalSensitiveSubmunition submunition; + /// /// 最大测量高度 /// @@ -217,11 +221,13 @@ namespace ActiveProtect.Models /// 测高雷达的朝向 /// 最大测量高度 /// 测量精度 - public MillimeterWaveAltimeter(Vector3D position, Orientation orientation, double maxAltitude, double accuracy) - : base(position, orientation) + public MillimeterWaveAltimeter(TerminalSensitiveSubmunition submunition, double maxAltitude, double accuracy) + : base(submunition.Position, submunition.Orientation) { MaxAltitude = maxAltitude; Accuracy = accuracy; + currentAltitude = 0; + this.submunition = submunition; } /// @@ -230,7 +236,8 @@ namespace ActiveProtect.Models /// 自上次更新以来的时间间隔 public override void Update(double deltaTime) { - // 实现毫米波测高雷达的更新逻辑 + // 更新当前高度，考虑测量精度 + currentAltitude = submunition.Position.Y + Accuracy * new Random().NextDouble(); } /// @@ -240,7 +247,11 @@ namespace ActiveProtect.Models public override SensorData GetSensorData() { // 返回毫米波测高雷达的数据 - return new AltimeterSensorData(); + AltimeterSensorData altimeterSensorData = new AltimeterSensorData + { + Altitude = currentAltitude + }; + return altimeterSensorData; } } diff --git a/Models/Tank.cs b/Models/Tank.cs index fb7fc86..df9e432 100644 --- a/Models/Tank.cs +++ b/Models/Tank.cs @@ -31,11 +31,10 @@ namespace ActiveProtect.Models /// /// 构造函数 /// - /// 坦克ID /// 坦克配置 /// 仿真管理器 - public Tank(string id, TankConfig tankConfig, ISimulationManager simulationManager) - : base(id, tankConfig.InitialPosition, tankConfig.InitialOrientation, tankConfig.InitialSpeed, simulationManager) + public Tank(TankConfig tankConfig, ISimulationManager simulationManager) + : base(tankConfig.Id, tankConfig.InitialPosition, tankConfig.InitialOrientation, tankConfig.InitialSpeed, simulationManager) { Speed = tankConfig.InitialSpeed; MaxSpeed = tankConfig.MaxSpeed; diff --git a/Models/TerminalSensitiveMissile.cs b/Models/TerminalSensitiveMissile.cs index e0770ab..b133cca 100644 --- a/Models/TerminalSensitiveMissile.cs +++ b/Models/TerminalSensitiveMissile.cs @@ -8,37 +8,32 @@ namespace ActiveProtect.Models { // 分离高度 1000米，默认 1000 米 private const double SeparationHeight = 1000; - // 分离点距离目标水平距离，默认 1000 米 private const double SeparationDistance = 1000; - // 分离时距离分离点的距离阈值，默认 50米 private const double SeparationRange = 50; - // 分离时距目标距离阈值，默认 1400 米 private const double SeparationTargetDistance = 1400; - // 子弹数量， 155 口径母弹，默认 2 个 private const int SubmunitionCount = 1; - // 子弹数组 private TerminalSensitiveSubmunition[] submunitions; - // 分离点位置 - private Vector3D separationPoint; + private readonly Vector3D separationPoint; - public MissileConfig missileConfig { get; set; } - - public TerminalSensitiveMissile(string id, MissileConfig missileConfig, ISimulationManager simulationManager) - : base(id, missileConfig, simulationManager) + public TerminalSensitiveMissile(MissileConfig config, ISimulationManager manager) + : base(config, manager) { submunitions = new TerminalSensitiveSubmunition[SubmunitionCount]; - this.missileConfig = missileConfig; - + //计算分离点坐标，高度为SeparationHeight，距离目标的距离为SeparationDistance - separationPoint = Vector3D.PointOnLine(SimulationManager.GetEntityById(TargetId).Position, Position, SeparationDistance) + new Vector3D(0, SeparationHeight, 0); + separationPoint = Vector3D.PointOnLine(base.SimulationManager.GetEntityById(TargetId).Position, base.Position, SeparationDistance) + new Vector3D(0, SeparationHeight, 0); } + /// + /// 更新导弹 + /// + /// 时间步长 public override void Update(double deltaTime) { base.Update(deltaTime); @@ -73,9 +68,10 @@ namespace ActiveProtect.Models Vector3D directionToTarget = (targetPosition - this.Position).Normalize(); Orientation orientationToTarget = Orientation.FromVector(directionToTarget); - submunitions[i] = new TerminalSensitiveSubmunition($"{Id}_Sub_{i}", + submunitions[i] = new TerminalSensitiveSubmunition( new MissileConfig { + Id = $"{Id}_Sub_{i}", InitialPosition = this.Position, InitialOrientation = orientationToTarget, // 设置为朝向目标的方向 InitialSpeed = 200, // 子弹初始速度 @@ -84,8 +80,9 @@ namespace ActiveProtect.Models MaxFlightTime = 50, MaxFlightDistance = 1000, MaxAcceleration = 50, - ProportionalNavigationCoefficient = 0.1, - Mass = 10 + ProportionalNavigationCoefficient = 3, + Mass = 10, + ExplosionRadius = 10 }, SimulationManager); @@ -97,6 +94,10 @@ namespace ActiveProtect.Models IsActive = false; } + /// + /// 获取导弹状态 + /// + /// 导弹状态 public override string GetStatus() { return $"{base.GetStatus()}\n母弹, 分离点: {separationPoint}"; diff --git a/Models/TerminalSensitiveSubmunition.cs b/Models/TerminalSensitiveSubmunition.cs index 08e7883..dda2cd5 100644 --- a/Models/TerminalSensitiveSubmunition.cs +++ b/Models/TerminalSensitiveSubmunition.cs @@ -5,18 +5,25 @@ namespace ActiveProtect.Models { public class TerminalSensitiveSubmunition : MissileBase { + /// + /// 子弹阶段 + /// private enum SubmunitionStage { Separation, Deceleration, SpiralScan, Attack, + Explode, SelfDestruct } + /// + /// 当前阶段 + /// private SubmunitionStage currentStage; - private double spiralAngle; - private const double SpiralRotationSpeed = 4 * Math.PI; // 2 rotations per second + + private const double SpiralRotationSpeed = 8 * Math.PI; // 4 rotations per second private const double VerticalDescentSpeed = 10; // 10 m/s private const double ScanAngle = 20 * Math.PI / 180; // 20 degrees in radians @@ -29,37 +36,50 @@ namespace ActiveProtect.Models // 自毁高度 20米 private const double SelfDestructHeight = 20; - private const double AttackSpeed = 200; + // 攻击速度 500 m/s + private const double AttackSpeed = 500; - private Vector3D lastScanDirection; + // 是否检测到目标 private bool targetDetected; + + /// + /// 螺旋角度 + /// + private double spiralAngle; + + // 检测到目标的角度 private double detectionAngle; - // 添加传感器 - private InfraredDetector infraredDetector; - private MillimeterWaveRadiometer radiometer; - private MillimeterWaveAltimeter altimeter; - private LaserRangefinder rangefinder; + // 弹载传感器 + private readonly InfraredDetector infraredDetector; + private readonly MillimeterWaveRadiometer radiometer; + private readonly MillimeterWaveAltimeter altimeter; + private readonly LaserRangefinder rangefinder; - private MissileConfig missileConfig; - - public TerminalSensitiveSubmunition(string id, MissileConfig missileConfig, ISimulationManager simulationManager) - : base(id, missileConfig, simulationManager) + /// + /// 构造函数 + /// + /// 导弹配置 + /// 模拟管理器 + public TerminalSensitiveSubmunition(MissileConfig config, ISimulationManager manager) + : base(config, manager) { currentStage = SubmunitionStage.Separation; spiralAngle = 0; - lastScanDirection = Vector3D.Zero; targetDetected = false; detectionAngle = 0; - this.missileConfig = missileConfig; // 初始化传感器 - infraredDetector = new InfraredDetector(Position, Orientation, 1000, 30); + infraredDetector = new InfraredDetector(Position, Orientation, 100, 30); radiometer = new MillimeterWaveRadiometer(Position, Orientation, 94e9, 1e-6); - altimeter = new MillimeterWaveAltimeter(Position, Orientation, 1000, 0.1); - rangefinder = new LaserRangefinder(Position, Orientation, 5000, 1000); + altimeter = new MillimeterWaveAltimeter(this, 1000, 0.1); // 毫米波测高仪，测量精度0.1米 + rangefinder = new LaserRangefinder(Position, Orientation, 1000, 1000); } + /// + /// 更新子弹的状态 + /// + /// 时间增量 public override void Update(double deltaTime) { base.Update(deltaTime); @@ -84,53 +104,75 @@ namespace ActiveProtect.Models case SubmunitionStage.Attack: UpdateAttackStage(deltaTime); break; + case SubmunitionStage.Explode: + UpdateExplodeStage(deltaTime); + break; case SubmunitionStage.SelfDestruct: - SelfDestruct(); + UpdateSelfDestructStage(deltaTime); break; } } + /// + /// 分离阶段 + /// private void UpdateSeparationStage(double deltaTime) { - Console.WriteLine("分离阶段"); // 分离阶段 - Vector3D deceleration = new Vector3D(0, 9.8, 0); + Vector3D deceleration = new(0, 9.8, 0); Velocity += deceleration * deltaTime; Position += Velocity * deltaTime; - if (Position.Y <= DecelerationHeight) + if(!altimeter.IsActive) { - currentStage = SubmunitionStage.Deceleration; + // 激活毫米波测高雷达 + altimeter.Activate(); + } + + // 检查高度是否小于等于减速高度 + if(((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= DecelerationHeight) + { + // 如果是，则进入减速阶段 + currentStage = SubmunitionStage.Deceleration; } } + /// + /// 减速阶段 + /// private void UpdateDecelerationStage(double deltaTime) { - Console.WriteLine("减速阶段"); // 减速减旋，垂直速度减小 Vector3D deceleration = new Vector3D(0, 9.8, 0) - Velocity.Normalize() * 50; // 假设减速度为5m/s^2 - Console.WriteLine($"减速速度: {deceleration}"); + Console.WriteLine($"降落伞打开，减速速度: {deceleration}"); Velocity += deceleration * deltaTime; - - if (Velocity.Magnitude() <= VerticalDescentSpeed || Position.Y <= ScanningHeight) + + if (Velocity.Magnitude() <= VerticalDescentSpeed) { Velocity = new Vector3D(0, -VerticalDescentSpeed, 0); - if (Position.Y <= ScanningHeight) - { - currentStage = SubmunitionStage.SpiralScan; - } + } + + if (((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= ScanningHeight) + { + currentStage = SubmunitionStage.SpiralScan; } } + /// + /// 扫描阶段 + /// private void UpdateSpiralScanStage(double deltaTime) { - Console.WriteLine("扫描阶段"); - spiralAngle = spiralAngle % (2 * Math.PI); + GuidanceAcceleration = Vector3D.Zero; + Velocity = new Vector3D(0, -VerticalDescentSpeed, 0); + + // 螺旋扫描 + spiralAngle %= (2 * Math.PI); spiralAngle += SpiralRotationSpeed * deltaTime; // 计算水平速度分量 double horizontalSpeed = VerticalDescentSpeed * Math.Tan(ScanAngle); - Vector3D horizontalVelocity = new Vector3D( + Vector3D horizontalVelocity = new( Math.Cos(spiralAngle) * horizontalSpeed, 0, Math.Sin(spiralAngle) * horizontalSpeed @@ -140,7 +182,7 @@ namespace ActiveProtect.Models Velocity = new Vector3D(horizontalVelocity.X, -VerticalDescentSpeed, horizontalVelocity.Z); // 计算扫描方向 - Vector3D scanDirection = new Vector3D( + Vector3D scanDirection = new( Math.Cos(spiralAngle) * Math.Sin(ScanAngle), -Math.Cos(ScanAngle), Math.Sin(spiralAngle) * Math.Sin(ScanAngle) @@ -148,6 +190,7 @@ namespace ActiveProtect.Models if (DetectTarget(scanDirection)) { + Console.WriteLine("检测到目标"); if (!targetDetected) { targetDetected = true; @@ -159,14 +202,15 @@ namespace ActiveProtect.Models } } - lastScanDirection = scanDirection; - - if (Position.Y <= SelfDestructHeight) + if (((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= SelfDestructHeight) { currentStage = SubmunitionStage.SelfDestruct; } } + /// + /// 攻击阶段 + /// private void UpdateAttackStage(double deltaTime) { Console.WriteLine("攻击阶段"); @@ -174,18 +218,34 @@ namespace ActiveProtect.Models Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; Vector3D direction = (targetPosition - Position).Normalize(); Velocity = direction * AttackSpeed; - - if (Vector3D.Distance(Position, targetPosition) < 5) + Console.WriteLine($"导弹ID: {Id}, 距离目标: {DistanceToTarget}, 爆炸半径: {ExplosionRadius}"); + if (DistanceToTarget <= ExplosionRadius) { - Explode(); + currentStage = SubmunitionStage.Explode; } } + /// + /// 爆炸阶段 + /// + private void UpdateExplodeStage(double deltaTime) + { + Explode(); + } + + /// + /// 自毁阶段 + /// private void UpdateSelfDestructStage(double deltaTime) { SelfDestruct(); } + /// + /// 检测目标 + /// + /// 扫描方向 + /// 是否检测到目标 private bool DetectTarget(Vector3D scanDirection) { Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; @@ -195,6 +255,22 @@ namespace ActiveProtect.Models return Vector3D.DotProduct(scanDirection, toTarget) > Math.Cos(5 * Math.PI / 180); // 允许5度的误差 } + /// + /// 销毁子弹 + /// + public override void Deactivate() + { + base.Deactivate(); + infraredDetector.Deactivate(); + radiometer.Deactivate(); + altimeter.Deactivate(); + rangefinder.Deactivate(); + } + + /// + /// 获取子弹状态 + /// + /// 子弹状态 public override string GetStatus() { return $"{base.GetStatus()}\nSubmunition Stage: {currentStage}\nDetection Angle: {detectionAngle * 180 / Math.PI:F2}°\nSpiral Angle: {spiralAngle * 180 / Math.PI:F2}°\nTarget Detected: {targetDetected}"; diff --git a/Program.cs b/Program.cs index 09b2bf5..d0dcf38 100644 --- a/Program.cs +++ b/Program.cs @@ -3,31 +3,24 @@ using System.Threading; using ActiveProtect.SimulationEnvironment; using ActiveProtect.Models; using Model; -using System.Security.Cryptography.X509Certificates; using System.Collections.Generic; namespace ActiveProtect { + /// + /// 主程序 + /// class Program { static void Main(string[] args) { + // 初始化坦克信息 TankInfo tankinfo = new() { xp = 100, yp = 0, zp = 100 }; - - MIniInfo mIniInfo = new() - { - xm = 1500, - ym = 200, - zm = 100, - psi_m = Math.PI, - theta_m = -0.1, - vm = 0 - }; // 创建仿真配置 var config = new SimulationConfig @@ -35,10 +28,11 @@ namespace ActiveProtect // 配置坦克 TankConfigs = new List { - new TankConfig(tankinfo) + new(tankinfo) { + Id = "Tank_1", InitialOrientation = new Orientation(Math.PI/4, 0, 0), - InitialSpeed = 0, + InitialSpeed = 10, MaxSpeed = 25, MaxArmor = 100, HasLaserWarner = false, @@ -48,6 +42,7 @@ namespace ActiveProtect // 配置激光指示器 LaserDesignatorConfig = new LaserDesignatorConfig { + Id = "LD_1", InitialPosition = new Vector3D(2000, 150, 100), LaserPower = 1e6, LaserDivergenceAngle = 0.01 @@ -55,11 +50,13 @@ namespace ActiveProtect // 配置激光告警器 LaserWarnerConfig = new LaserWarnerConfig { + Id = "LW_1", AlarmDuration = 5.0 }, // 配置激光干扰器 LaserJammerConfig = new LaserJammerConfig { + Id = "LJ_1", MaxJammingCooldown = 5.0, MaxJammingPower = 10000.0, InitialJammingPower = 4000.0, @@ -68,6 +65,7 @@ namespace ActiveProtect // 配置激光驾束仪 LaserBeamRiderConfig = new LaserBeamRiderConfig { + Id = "LBR_1", InitialPosition = new Vector3D(2000, 10, 100), LaserPower = 1000, ControlFieldDiameter = 6 @@ -76,8 +74,8 @@ namespace ActiveProtect MissileConfigs = new List { // 激光半主动制导导弹配置 - new MissileConfig - { + new() { + Id = "LSGM_1", InitialPosition = new Vector3D(2000, 100, 100), InitialOrientation = new Orientation(Math.PI, -0.1, 0), InitialSpeed = 700, @@ -89,14 +87,13 @@ namespace ActiveProtect MaxEngineBurnTime = 10, MaxAcceleration = 400, ProportionalNavigationCoefficient = 3, - StageConfig = FlightStageConfig.LaserSemiActiveGuidedMissile, - DistanceParams = new MissileDistanceParams(500, 200, 20), + ExplosionRadius = 10, Mass = 50, Type = MissileType.LaserSemiActiveGuidance }, // 激光驾束制导导弹配置 - new MissileConfig - { + new() { + Id = "LBRM_1", InitialPosition = new Vector3D(2000, 10, 100), InitialOrientation = new Orientation(Math.PI, 0.0, 0.0), InitialSpeed = 300, @@ -108,14 +105,13 @@ namespace ActiveProtect MaxEngineBurnTime = 10, MaxAcceleration = 400, ProportionalNavigationCoefficient = 3, - StageConfig = FlightStageConfig.LaserBeamRiderGuidance, - DistanceParams = new MissileDistanceParams(500, 200, 10), + ExplosionRadius = 10, Mass = 50, Type = MissileType.LaserBeamRiderGuidance }, // 末敏弹配置 - new MissileConfig - { + new() { + Id = "TSM_1", InitialPosition = new Vector3D(4000, 0, 100), // 发射位置 InitialOrientation = new Orientation(Math.PI, Math.PI/8, 0), // 使用计算得到的发射角度 InitialSpeed = 800, @@ -127,14 +123,12 @@ namespace ActiveProtect MaxEngineBurnTime = 0, MaxAcceleration = 1000, ProportionalNavigationCoefficient = 3, - StageConfig = FlightStageConfig.TerminalSensitiveMissile, - DistanceParams = new MissileDistanceParams(1000, 400, 20), Mass = 50, Type = MissileType.TerminalSensitiveMissile } }, - SimulationTimeStep = 0.05 // 仿真时间步长, 激光驾束制导导弹需要更小的步长，< 0.025s + SimulationTimeStep = 0.025 // 仿真时间步长, 激光驾束制导导弹需要更小的步长，< 0.025s }; // 创建仿真管理器 diff --git a/SimulationEnvironment/SimulationConfig.cs b/SimulationEnvironment/SimulationConfig.cs index 9bbb27f..974870d 100644 --- a/SimulationEnvironment/SimulationConfig.cs +++ b/SimulationEnvironment/SimulationConfig.cs @@ -65,6 +65,11 @@ namespace ActiveProtect.SimulationEnvironment /// public class TankConfig { + /// + /// 坦克ID + /// + public string Id { get; set; } + /// /// 初始位置 /// @@ -106,7 +111,8 @@ namespace ActiveProtect.SimulationEnvironment public TankConfig() { SetDefaultValues(); - + + Id = ""; InitialPosition = new Vector3D(0, 0, 0); InitialOrientation = new Orientation(0, 0, 0); } @@ -114,6 +120,7 @@ namespace ActiveProtect.SimulationEnvironment public TankConfig(TankInfo tankInfo){ SetDefaultValues(); + Id = $"Tank_{tankInfo.TankID}"; InitialPosition = new Vector3D(tankInfo.xp, tankInfo.yp, tankInfo.zp); InitialOrientation = new Orientation(0, 0, 0); } @@ -125,6 +132,13 @@ namespace ActiveProtect.SimulationEnvironment HasLaserWarner = false; HasLaserJammer = false; } + + // 验证方法 + public bool Validate() + { + // 实现验证逻辑 + return true; + } } /// @@ -132,6 +146,11 @@ namespace ActiveProtect.SimulationEnvironment /// public class MissileConfig { + /// + /// 导弹ID + /// + public string Id { get; set; } + /// /// 初始位置 /// @@ -157,6 +176,8 @@ namespace ActiveProtect.SimulationEnvironment /// public int TargetIndex { get; set; } + + /// /// 最大飞行时间(秒) /// @@ -177,16 +198,6 @@ namespace ActiveProtect.SimulationEnvironment /// public double ProportionalNavigationCoefficient { get; set; } - /// - /// 飞行阶段配置 - /// - public FlightStageConfig StageConfig { get; set; } - - /// - /// 距离参数 - /// - public MissileDistanceParams DistanceParams { get; set; } - /// /// 发射推力加速度(米/秒²) /// @@ -202,6 +213,11 @@ namespace ActiveProtect.SimulationEnvironment /// public double Mass { get; set; } + /// + /// 爆炸半径(米) + /// + public double ExplosionRadius { get; set; } + /// /// 导弹类型 /// @@ -214,29 +230,35 @@ namespace ActiveProtect.SimulationEnvironment { SetDefaultValues(); + Id = ""; InitialPosition = new Vector3D(0, 0, 0); InitialOrientation = new Orientation(0, 0, 0); } - + /// + /// 构造函数,根据导弹初始信息初始化导弹配置 + /// + /// 导弹初始信息 public MissileConfig(MIniInfo mIniInfo){ SetDefaultValues(); + Id = $"Missile_{mIniInfo.nMisID}"; InitialPosition = new Vector3D(mIniInfo.xm, mIniInfo.ym, mIniInfo.zm); InitialOrientation = new Orientation(mIniInfo.psi_m, mIniInfo.theta_m, 0); InitialSpeed = mIniInfo.vm; } - + /// + /// 设置默认值 + /// public void SetDefaultValues(){ InitialSpeed = 0; MaxSpeed = 0; TargetIndex = 0; MaxFlightTime = 0; MaxFlightDistance = 0; - StageConfig = FlightStageConfig.StandardMissile; LaunchAcceleration = 0; MaxEngineBurnTime = 0; MaxAcceleration = 0; - DistanceParams = new MissileDistanceParams(0, 0, 0); + ExplosionRadius = 0; ProportionalNavigationCoefficient = 0; Type = MissileType.StandardMissile; } @@ -247,6 +269,11 @@ namespace ActiveProtect.SimulationEnvironment /// public class LaserDesignatorConfig { + /// + /// 激光指示器ID + /// + public string Id { get; set; } + /// /// 初始位置 /// @@ -267,6 +294,7 @@ namespace ActiveProtect.SimulationEnvironment /// public LaserDesignatorConfig() { + Id = ""; InitialPosition = new Vector3D(0, 0, 0); LaserPower = 0; LaserDivergenceAngle = 0; @@ -278,6 +306,11 @@ namespace ActiveProtect.SimulationEnvironment /// public class LaserBeamRiderConfig { + /// + /// 激光驾束仪ID + /// + public string Id { get; set; } + /// /// 初始位置 /// @@ -304,6 +337,7 @@ namespace ActiveProtect.SimulationEnvironment /// public LaserBeamRiderConfig() { + Id = ""; InitialPosition = new Vector3D(0, 0, 0); LaserPower = 0; ControlFieldDiameter = 0; @@ -324,109 +358,17 @@ namespace ActiveProtect.SimulationEnvironment TerminalSensitiveMissile // 末敏弹 } - /// - /// 导弹距离参数结构 - /// - public struct MissileDistanceParams - { - /// - /// 终端制导距离(米) - /// - public double TerminalGuidanceDistance; - /// - /// 攻击距离(米) - /// - public double AttackDistance; - /// - /// 爆炸距离(米) - /// - public double ExplosionDistance; - - public MissileDistanceParams(double terminalGuidanceDistance, double attackDistance, double explosionDistance) - { - TerminalGuidanceDistance = terminalGuidanceDistance; - AttackDistance = attackDistance; - ExplosionDistance = explosionDistance; - } - } - - /// - /// - /// 导弹飞行阶段配置结构 - /// - public struct FlightStageConfig - { - /// - /// 启用发射阶段 - /// - public bool EnableLaunch; - /// - /// 启用加速阶段 - /// - public bool EnableAcceleration; - /// - /// 启用巡航阶段 - /// - public bool EnableCruise; - /// - /// 启用终端制导阶段 - /// - public bool EnableTerminalGuidance; - /// - /// 启用攻击阶段 - /// - public bool EnableAttack; - - /// - /// 标准导弹的预设配置, 所有阶段都启用 - /// - public static FlightStageConfig StandardMissile => new(false, true, false, false, false); - - /// - /// 激光半主动制导导弹的预设配置, 没有加速阶段 - /// - public static FlightStageConfig LaserSemiActiveGuidedMissile => new(true, false, true, true, true); - - /// - /// 激光驾束制导导弹的预设配置，没有巡航阶段 - /// - public static FlightStageConfig LaserBeamRiderGuidance => new(true, true, false, true, true); - - /// - /// 红外指令制导导弹的预设配置，没有巡航阶段 - /// - public static FlightStageConfig InfraredCommandGuidance => new(true, true, false, true, true); - - /// - /// 红外成像末制导导弹的预设配置 - /// - public static FlightStageConfig InfraredImagingTerminalGuidance => new(true, true, true, true, true); - - /// - /// 毫米波末制导导弹的预设配置 - /// - public static FlightStageConfig MillimeterWaveTerminalGuidance => new(true, true, true, true, true); - - /// - /// 末敏弹的预设配置 - /// - public static FlightStageConfig TerminalSensitiveMissile => new(true, true, false, false, true); - - public FlightStageConfig(bool enableLaunch, bool enableAcceleration, bool enableCruise, bool enableTerminalGuidance, bool enableAttack) - { - EnableLaunch = enableLaunch; - EnableAcceleration = enableAcceleration; - EnableCruise = enableCruise; - EnableTerminalGuidance = enableTerminalGuidance; - EnableAttack = enableAttack; - } - } /// /// 激光告警器配置类 /// public class LaserWarnerConfig { + /// + /// 激光告警器ID + /// + public string Id { get; set; } + /// /// 警报持续时间(秒) /// @@ -437,6 +379,7 @@ namespace ActiveProtect.SimulationEnvironment /// public LaserWarnerConfig() { + Id = ""; AlarmDuration = 5.0; // 默认警报持续5秒 } } @@ -446,6 +389,11 @@ namespace ActiveProtect.SimulationEnvironment /// public class LaserJammerConfig { + /// + /// 激光干扰器ID + /// + public string Id { get; set; } + /// /// 最大干扰冷却时间(秒) /// @@ -471,6 +419,7 @@ namespace ActiveProtect.SimulationEnvironment /// public LaserJammerConfig() { + Id = ""; MaxJammingCooldown = 5.0; MaxJammingPower = 10000.0; InitialJammingPower = 4000.0; diff --git a/SimulationEnvironment/SimulationElement.cs b/SimulationEnvironment/SimulationElement.cs index b88ff9c..658a214 100644 --- a/SimulationEnvironment/SimulationElement.cs +++ b/SimulationEnvironment/SimulationElement.cs @@ -36,7 +36,7 @@ namespace ActiveProtect.SimulationEnvironment /// /// 仿真管理器的引用 /// - public ISimulationManager SimulationManager { get; set; } + protected ISimulationManager SimulationManager { get; set; } /// /// 构造函数 @@ -51,7 +51,7 @@ namespace ActiveProtect.SimulationEnvironment Position = position; Orientation = orientation; Velocity = orientation.ToVector() * speed; - SimulationManager = simulationManager; + this.SimulationManager = simulationManager; IsActive = false; } diff --git a/SimulationEnvironment/SimulationEvents.cs b/SimulationEnvironment/SimulationEvents.cs index 3f5e1ee..341e22c 100644 --- a/SimulationEnvironment/SimulationEvents.cs +++ b/SimulationEnvironment/SimulationEvents.cs @@ -98,8 +98,6 @@ namespace ActiveProtect.SimulationEnvironment public string? DestroyedEntityId { get; set; } } - - /// /// 激光告警器警报事件 /// diff --git a/SimulationEnvironment/SimulationManager.cs b/SimulationEnvironment/SimulationManager.cs index c441169..df55161 100644 --- a/SimulationEnvironment/SimulationManager.cs +++ b/SimulationEnvironment/SimulationManager.cs @@ -96,36 +96,36 @@ namespace ActiveProtect.SimulationEnvironment for (int i = 0; i < config.TankConfigs.Count; i++) { var tankConfig = config.TankConfigs[i]; - var tank = new Tank($"Tank_{i + 1}", tankConfig, this); + var tank = new Tank(tankConfig, this); Elements.Add(tank); - // // 为坦克创建激光告警器 - // if (tankConfig.HasLaserWarner) - // { - // var laserWarner = new LaserWarner( - // $"LaserWarner_{tank.Id}", - // tank.Position, - // tank.Orientation, - // this, - // tank.Id, - // config.LaserWarnerConfig - // ); - // Elements.Add(laserWarner); - // } + // 为坦克创建激光告警器 + if (tankConfig.HasLaserWarner) + { + var laserWarner = new LaserWarner( + $"LW_{i}", + tank.Position, + tank.Orientation, + this, + tank.Id, + config.LaserWarnerConfig + ); + Elements.Add(laserWarner); + } - // // 为坦克创建激光干扰机 - // if (tankConfig.HasLaserJammer) - // { - // var laserJammer = new LaserJammer( - // $"LaserJammer_{tank.Id}", - // tank.Position, - // tank.Orientation, - // this, - // tank.Id, - // config.LaserJammerConfig - // ); - // Elements.Add(laserJammer); - // } + // 为坦克创建激光干扰机 + if (tankConfig.HasLaserJammer) + { + var laserJammer = new LaserJammer( + $"LJ_{i}", + tank.Position, + tank.Orientation, + this, + tank.Id, + config.LaserJammerConfig + ); + Elements.Add(laserJammer); + } } @@ -139,16 +139,16 @@ namespace ActiveProtect.SimulationEnvironment switch (missileConfig.Type) { case MissileType.LaserSemiActiveGuidance: - missile = new LaserSemiActiveGuidedMissile($"LSGM_{i + 1}", missileConfig, this); + missile = new LaserSemiActiveGuidedMissile(missileConfig, this); break; case MissileType.LaserBeamRiderGuidance: - missile = new LaserBeamRiderMissile($"LBRM_{i + 1}", missileConfig, this); + missile = new LaserBeamRiderMissile(missileConfig, this); break; case MissileType.TerminalSensitiveMissile: - missile = new TerminalSensitiveMissile($"TSM_{i + 1}", missileConfig, this); + missile = new TerminalSensitiveMissile(missileConfig, this); break; default: - missile = new MissileBase($"M_{i + 1}", missileConfig, this); + missile = new MissileBase(missileConfig, this); break; } @@ -175,7 +175,7 @@ namespace ActiveProtect.SimulationEnvironment var laserBeamRiderConfig = config.LaserBeamRiderConfig; var laserBeamRider = new LaserBeamRider( "LBR_1", - "LBRM_2", + "LBRM_1", "Tank_1", 0, laserBeamRiderConfig, @@ -185,13 +185,13 @@ namespace ActiveProtect.SimulationEnvironment // 激活所有元素 - // ActivateAllElements(); + ActivateAllElements(); // 激活部分元素 - ActivateSomeElements(); + //ActivateSomeElements(); - // 启动激光驾束仪 - //laserBeamRider.StartBeamIllumination(); + // 激光驾束仪开始照射 + laserBeamRider.StartBeamIllumination(); } @@ -209,18 +209,24 @@ namespace ActiveProtect.SimulationEnvironment // 激活坦克 Elements.FindAll(e => e.Id == "Tank_1").ForEach(e => e.Activate()); + // 激活激光告警器 + //Elements.FindAll(e => e.Id == "LW_1").ForEach(e => e.Activate()); + + // 激活激光干扰器 + //Elements.FindAll(e => e.Id == "LJ_1").ForEach(e => e.Activate()); + // 激活激光半主动制导导弹 //Elements.FindAll(e => e.Id == "LSGM_1").ForEach(e => e.Activate()); // 激活激光目标指示器 //Elements.FindAll(e => e.Id == "LD_1").ForEach(e => e.Activate()); // 激活激光驾束制导导弹 - //Elements.FindAll(e => e.Id == "LBRM_2").ForEach(e => e.Activate()); + //Elements.FindAll(e => e.Id == "LBRM_1").ForEach(e => e.Activate()); // 激活激光驾束仪 //Elements.FindAll(e => e.Id == "LBR_1").ForEach(e => e.Activate()); // 激活末敏弹 - Elements.FindAll(e => e.Id == "TSM_3").ForEach(e => e.Activate()); + Elements.FindAll(e => e.Id == "TSM_1").ForEach(e => e.Activate()); } ///