From e14978c785bbbc984facc644a8d191edce24c75c Mon Sep 17 00:00:00 2001 From: Tian jianyong <11429339@qq.com> Date: Sat, 19 Oct 2024 08:33:31 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E4=BA=86=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E7=BB=93=E6=9E=84,=20=E5=AF=B9=E4=BA=8B=E4=BB=B6=E8=B0=83?= =?UTF-8?q?=E5=BA=A6=E8=BF=9B=E8=A1=8C=E4=BA=86=E4=BC=98=E5=8C=96,=20?= =?UTF-8?q?=E5=AF=B9=E5=AF=BC=E5=BC=B9=E7=9A=84=E5=88=B6=E5=AF=BC=E7=AE=97?= =?UTF-8?q?=E6=B3=95=E8=BF=9B=E8=A1=8C=E4=BA=86=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Models/.DS_Store | Bin 6148 -> 6148 bytes Models/ActiveProtect.code-workspace | 10 + Models/BasicGuidanceSystem.cs | 3 - Models/LaserBeamRider.cs | 52 ++-- Models/LaserBeamRiderGuidanceSystem.cs | 44 +-- Models/LaserBeamRiderMissile.cs | 18 +- Models/LaserDesignator.cs | 138 ++++----- Models/LaserSemiActiveGuidanceSystem.cs | 101 +++---- Models/LaserSemiActiveGuidedMissile.cs | 97 +++---- Models/LaserWarner.cs | 12 +- Models/MissileBase.cs | 273 ++++-------------- Models/MissileStageStrategy.cs | 140 +++++++++ Models/Tank.cs | 35 +-- Program.cs | 14 +- SimulationEnvironment/SimulationConfig.cs | 26 +- SimulationEnvironment/SimulationElement.cs | 18 +- SimulationEnvironment/SimulationEvents.cs | 63 ++-- bin/Debug/net8.0/ActiveProtect.dll | Bin 74752 -> 73216 bytes bin/Debug/net8.0/ActiveProtect.pdb | Bin 38676 -> 37912 bytes .../net8.0/ActiveProtect.AssemblyInfo.cs | 2 +- .../ActiveProtect.AssemblyInfoInputs.cache | 2 +- ...tiveProtect.csproj.CoreCompileInputs.cache | 2 +- obj/Debug/net8.0/ActiveProtect.dll | Bin 74752 -> 73216 bytes obj/Debug/net8.0/ActiveProtect.pdb | Bin 38676 -> 37912 bytes obj/Debug/net8.0/ref/ActiveProtect.dll | Bin 31744 -> 32256 bytes obj/Debug/net8.0/refint/ActiveProtect.dll | Bin 31744 -> 32256 bytes 26 files changed, 471 insertions(+), 579 deletions(-) create mode 100644 Models/ActiveProtect.code-workspace create mode 100644 Models/MissileStageStrategy.cs diff --git a/Models/.DS_Store b/Models/.DS_Store index 7725433565a0e3010ae2e1869ae1de212642d058..1212d97df883ecbfe1d7498f8aa505b13e4ce782 100644 GIT binary patch delta 69 zcmZoMXfc=|#>B`mu~2NHo+2aD#DLwC4MbQb^D`~koWi`AWpe@ZM#jzT9Q+(WMVk|u XzcWwf7qR4E00Kq^2ByscB3qaNmD3R_ delta 134 zcmZoMXfc=|#>B)qu~2NHo+2a5#DLw44=^$^vP|Y-T+YkM5W @@ -118,32 +115,31 @@ namespace ActiveProtect.Models { PublishEvent(new LaserBeamStartEvent { - SourcePosition = Position, - LaserDirection = LaserDirection, - LaserPower = LaserPower - }); - } - - private void PublishLaserBeamStopEvent() - { - PublishEvent(new LaserBeamStopEvent - { - SourcePosition = Position, - LaserDirection = LaserDirection, - LaserPower = LaserPower + LaserBeamRider = this }); } + /// + /// 发布激光束更新事件 + /// private void PublishLaserBeamUpdateEvent() { PublishEvent(new LaserBeamUpdateEvent { - SourcePosition = Position, - LaserDirection = LaserDirection, - LaserPower = LaserPower + LaserBeamRider = this }); } + /// + /// 发布激光束停止事件 + /// + private void PublishLaserBeamStopEvent() + { + PublishEvent(new LaserBeamStopEvent + { + LaserBeamRider = this + }); + } public override string GetStatus() { diff --git a/Models/LaserBeamRiderGuidanceSystem.cs b/Models/LaserBeamRiderGuidanceSystem.cs index ca1d96f..155f984 100644 --- a/Models/LaserBeamRiderGuidanceSystem.cs +++ b/Models/LaserBeamRiderGuidanceSystem.cs @@ -9,7 +9,7 @@ namespace ActiveProtect.Models 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 = 6.0; // 控制场直径（米） + private const double ControlFieldDiameter = 20.0; // 控制场直径（米） private Vector3D LastError = Vector3D.Zero; @@ -28,19 +28,26 @@ namespace ActiveProtect.Models LastGuidanceCommand = Vector3D.Zero; } - public void UpdateLaserBeamRider(Vector3D sourcePosition, Vector3D direction) + public void ActivateLaserBeam(Vector3D sourcePosition, Vector3D direction, double laserPower) { LaserSourcePosition = sourcePosition; LaserDirection = direction.Normalize(); - } - - public void ActivateLaserBeam() - { + LaserPower = laserPower; HasGuidance = true; } - public void DeactivateLaserBeam() + public void UpdateLaserBeamRider(Vector3D sourcePosition, Vector3D direction, double laserPower) { + LaserSourcePosition = sourcePosition; + LaserDirection = direction.Normalize(); + LaserPower = laserPower; + } + + public void DeactivateLaserBeam(Vector3D sourcePosition, Vector3D direction) + { + LaserSourcePosition = Vector3D.Zero; + LaserDirection = Vector3D.Zero; + LaserPower = 0; HasGuidance = false; } @@ -58,8 +65,6 @@ namespace ActiveProtect.Models { GuidanceCommand = Vector3D.Zero; } - - Console.WriteLine($"Missile Position: {Position}, Velocity: {Velocity}, Has Guidance: {HasGuidance}"); } private void UpdateGuidanceStatus() @@ -76,7 +81,7 @@ namespace ActiveProtect.Models return; } - //Console.WriteLine($"激光驾束引导系统: 在控制场内, 距离: {shortestDistance}"); + Console.WriteLine($"激光驾束引导系统: 在控制场内, 距离: {shortestDistance}"); // 计算接收到的激光功率 double beamArea = Math.PI * Math.Pow(ControlFieldDiameter / 2, 2); @@ -103,15 +108,13 @@ namespace ActiveProtect.Models } // 计算导弹到激光束的最短距离 - Vector3D shortestDistanceVector = CalculateShortestDistanceToLaserBeam(); - // PID控制 - double Kp = 30; // 增加比例系数,使系统对误差更敏感，反应更快 - double Ki = 0.05; // 减小积分系数,减少长期误差累积的影响 - double Kd = 5; // 增加微分系数,减少系统的超调量，提高稳定性 - double Kc = 0.5; // 减小非线性增益系数, 控制偏移量, 使得在更小的误差范围内有更大的修正 + double Kp = 30; // 增加比例系数,使系统对误差更敏感，反应更快 30 + double Ki = 0.05; // 减小积分系数,减少长期误差累积的影响 0.05 + double Kd = 5; // 增加微分系数,减少系统的超调量，提高稳定性 5 + double Kc = 0.5; // 减小非线性增益系数, 控制偏移量, 使得在更小的误差范围内有更大的修正 0.5 // 计算误差 Vector3D error = shortestDistanceVector; @@ -133,7 +136,7 @@ namespace ActiveProtect.Models Vector3D lateralAcceleration = pidOutput * nonLinearGain; // 限制最大加速度 - double maxAcceleration = 30; // 稍微增加最大加速度 + double maxAcceleration = 50; // 稍微增加最大加速度 50 if (lateralAcceleration.Magnitude() > maxAcceleration) { lateralAcceleration = lateralAcceleration.Normalize() * maxAcceleration; @@ -157,7 +160,12 @@ namespace ActiveProtect.Models LastError = error; LastGuidanceCommand = GuidanceCommand; - Console.WriteLine($"Guidance Command: {GuidanceCommand.Magnitude()}, Lateral Error: {shortestDistanceVector.Magnitude()}, Lateral Acceleration: {lateralAcceleration.Magnitude()}, Forward Acceleration: {forwardAcceleration.Magnitude()}"); + Console.WriteLine($"Current Position: {Position}"); + Console.WriteLine($"Laser Source Position: {LaserSourcePosition}"); + Console.WriteLine($"Laser Direction: {LaserDirection}"); + Console.WriteLine($"Shortest Distance Vector: {shortestDistanceVector}"); + + //Console.WriteLine($"Guidance Command: {GuidanceCommand.Magnitude()}, Lateral Error: {shortestDistanceVector.Magnitude()}, Lateral Acceleration: {lateralAcceleration.Magnitude()}, Forward Acceleration: {forwardAcceleration.Magnitude()}"); } public override string ToString() diff --git a/Models/LaserBeamRiderMissile.cs b/Models/LaserBeamRiderMissile.cs index d5b52c7..f5dff36 100644 --- a/Models/LaserBeamRiderMissile.cs +++ b/Models/LaserBeamRiderMissile.cs @@ -23,21 +23,17 @@ namespace ActiveProtect.Models private void OnLaserBeamStart(LaserBeamStartEvent evt) { - LaserBeamRiderGuidanceSystem.ActivateLaserBeam(); - LaserBeamRiderGuidanceSystem.UpdateLaserBeamRider(evt.SourcePosition, evt.LaserDirection); - LaserBeamRiderGuidanceSystem.LaserPower = evt.LaserPower; - } - - private void OnLaserBeamStop(LaserBeamStopEvent evt) - { - LaserBeamRiderGuidanceSystem.DeactivateLaserBeam(); - LaserBeamRiderGuidanceSystem.LaserPower = 0; + LaserBeamRiderGuidanceSystem.ActivateLaserBeam(evt.LaserBeamRider.Position, evt.LaserBeamRider.LaserDirection, evt.LaserBeamRider.LaserPower); } private void OnLaserBeamUpdate(LaserBeamUpdateEvent evt) { - LaserBeamRiderGuidanceSystem.UpdateLaserBeamRider(evt.SourcePosition, evt.LaserDirection); - LaserBeamRiderGuidanceSystem.LaserPower = evt.LaserPower; + LaserBeamRiderGuidanceSystem.UpdateLaserBeamRider(evt.LaserBeamRider.Position, evt.LaserBeamRider.LaserDirection, evt.LaserBeamRider.LaserPower); + } + + private void OnLaserBeamStop(LaserBeamStopEvent evt) + { + LaserBeamRiderGuidanceSystem.DeactivateLaserBeam(evt.LaserBeamRider.Position, evt.LaserBeamRider.LaserDirection); } public override void Update(double deltaTime) diff --git a/Models/LaserDesignator.cs b/Models/LaserDesignator.cs index c50fd12..b6b583e 100644 --- a/Models/LaserDesignator.cs +++ b/Models/LaserDesignator.cs @@ -28,15 +28,21 @@ namespace ActiveProtect.Models /// public bool IsJammed { get; private set; } = false; - /// - /// 最大照射范围（米） - /// - public double MaxIlluminationRange { get; private set; } - /// /// 是否正在照射 /// - private bool IsIlluminating { get; set; } = false; + public bool IlluminationOn { get; private set; } = false; + + + /// + /// 激光功率 + /// + public double LaserPower { get; private set; } = 0; + + /// + /// 激光发散角 + /// + public double LaserDivergenceAngle { get; private set; } = 0; /// /// 构造函数 @@ -51,10 +57,10 @@ namespace ActiveProtect.Models { TargetId = targetId; MissileId = missileId; - IsActive = true; - MaxIlluminationRange = config.MaxIlluminationRange; - SimulationManager.SubscribeToEvent(OnLaserJamming); - SimulationManager.SubscribeToEvent(OnEntityDeactivatedEvent); + IsActive = false; + IlluminationOn = false; + LaserPower = config.LaserPower; + LaserDivergenceAngle = config.LaserDivergenceAngle; } /// @@ -65,73 +71,37 @@ namespace ActiveProtect.Models { if (IsActive && !IsJammed) { - UpdateIllumination(); - } - else if (IsIlluminating) - { - StopIllumination(); - } - } - - /// - /// 更新照射状态 - /// - private void UpdateIllumination() - { - if (SimulationManager.GetEntityById(TargetId) is ILaserIlluminatable target) - { - double distanceToTarget = Vector3D.Distance(Position, target.Position); - bool shouldIlluminate = distanceToTarget <= MaxIlluminationRange; - - Console.WriteLine($"激光目标指示器 {Id} 状态更新:"); - Console.WriteLine($" 目标: {TargetId}"); - Console.WriteLine($" 距离目标: {distanceToTarget:F2} m (最大照射范围: {MaxIlluminationRange} m)"); - Console.WriteLine($" 是否应该照射: {shouldIlluminate}"); - Console.WriteLine($" 当前照射状态: {IsIlluminating}"); - - if (shouldIlluminate && !IsIlluminating) + if (IlluminationOn) { - StartIllumination(target); - } - else if (!shouldIlluminate && IsIlluminating) - { - StopIllumination(); - } - } - else - { - Console.WriteLine($"激光目标指示器 {Id} 无法找到目标 {TargetId}"); - if (IsIlluminating) - { - StopIllumination(); + PublishIlluminationUpdateEvent(); } } } /// - /// 开始照射目标 + /// 开始激光照射 /// - /// 目标 - private void StartIllumination(ILaserIlluminatable target) + private void StartLaserIllumination() { - target.Illuminate(); - IsIlluminating = true; - Console.WriteLine($"激光目标指示器 {Id} 开始照射目标 {TargetId}"); - PublishIlluminationEvent(); + if (!IlluminationOn) + { + IlluminationOn = true; + Console.WriteLine($"激光目标指示器 {Id} 开始照射目标 {TargetId}"); + PublishIlluminationStartEvent(); + } } /// - /// 停止照射目标 + /// 停止激光照射 /// - private void StopIllumination() + private void StopLaserIllumination() { - if (SimulationManager.GetEntityById(TargetId) is ILaserIlluminatable target) + if (IlluminationOn) { - target.StopIllumination(); + IlluminationOn = false; + Console.WriteLine($"激光目标指示器 {Id} 停止照射目标 {TargetId}"); + PublishIlluminationStopEvent(); } - IsIlluminating = false; - Console.WriteLine($"激光目标指示器 {Id} 停止照射目标 {TargetId}"); - PublishIlluminationStopEvent(); } /// @@ -156,7 +126,7 @@ namespace ActiveProtect.Models { Console.WriteLine($"激光目标指示器 {Id} 被干扰，停止工作"); IsJammed = true; - StopIllumination(); + StopLaserIllumination(); } } else @@ -181,7 +151,9 @@ namespace ActiveProtect.Models IsActive = true; IsJammed = false; Console.WriteLine($"激光目标指示器 {Id} 已激活"); - UpdateIllumination(); + StartLaserIllumination(); + SimulationManager.SubscribeToEvent(OnLaserJamming); + SimulationManager.SubscribeToEvent(OnEntityDeactivatedEvent); } base.Activate(); } @@ -194,8 +166,10 @@ namespace ActiveProtect.Models if (IsActive) { IsActive = false; - StopIllumination(); + StopLaserIllumination(); Console.WriteLine($"激光目标指示器 {Id} 已停用"); + SimulationManager.UnsubscribeFromEvent(OnLaserJamming); + SimulationManager.UnsubscribeFromEvent(OnEntityDeactivatedEvent); } base.Deactivate(); } @@ -203,15 +177,21 @@ namespace ActiveProtect.Models /// /// 发布激光照射事件 /// - private void PublishIlluminationEvent() + private void PublishIlluminationStartEvent() { - var evt = new LaserIlluminationEvent - { - TargetId = TargetId, - SenderId = Id - }; + var evt = new LaserIlluminationStartEvent { LaserDesignator = this, Target = SimulationManager.GetEntityById(TargetId) as SimulationElement }; PublishEvent(evt); - Console.WriteLine($"激光指示器 {Id} 发布激光照射事件, 目标ID: {TargetId}"); + Console.WriteLine($"激光指示器 {Id} 发布激光照射事件"); + } + + /// + /// 发布激光照射更新事件 + /// + private void PublishIlluminationUpdateEvent() + { + var evt = new LaserIlluminationUpdateEvent { LaserDesignator = this, Target = SimulationManager.GetEntityById(TargetId) as SimulationElement }; + PublishEvent(evt); + Console.WriteLine($"激光指示器 {Id} 发布激光照射更新事件"); } /// @@ -219,13 +199,9 @@ namespace ActiveProtect.Models /// private void PublishIlluminationStopEvent() { - var evt = new LaserIlluminationStopEvent - { - TargetId = TargetId, - SenderId = Id - }; + var evt = new LaserIlluminationStopEvent { LaserDesignator = this, Target = SimulationManager.GetEntityById(TargetId) as SimulationElement }; PublishEvent(evt); - Console.WriteLine($"激光指示器 {Id} 发布激光照射停止事件, 目标ID: {TargetId}"); + Console.WriteLine($"激光指示器 {Id} 发布激光照射停止事件"); } /// @@ -236,7 +212,7 @@ namespace ActiveProtect.Models { if (evt.DeactivatedEntityId == TargetId || evt.DeactivatedEntityId == MissileId) { - Deactivate(); + StopLaserIllumination(); } } @@ -251,9 +227,9 @@ namespace ActiveProtect.Models $" 目标: {TargetId}\n" + $" 导弹: {MissileId}\n" + $" 激活状态: {(IsActive ? "激活" : "未激活")}\n" + - $" 照射状态: {(IsIlluminating ? "正在照射" : "未照射")}\n" + + $" 照射状态: {(IlluminationOn ? "正在照射" : "未照射")}\n" + $" 干扰状态: {(IsJammed ? "被干扰" : "正常")}\n" + - $" 最大照射范围: {MaxIlluminationRange}"; + $" 激光功率: {LaserPower:E} W"; } } } diff --git a/Models/LaserSemiActiveGuidanceSystem.cs b/Models/LaserSemiActiveGuidanceSystem.cs index 32c4d18..e7a040d 100644 --- a/Models/LaserSemiActiveGuidanceSystem.cs +++ b/Models/LaserSemiActiveGuidanceSystem.cs @@ -4,22 +4,17 @@ namespace ActiveProtect.Models { public class LaserSemiActiveGuidanceSystem : BasicGuidanceSystem { - private const double LaserLockDistance = 1500; // 最大锁定距离（米） private const double FieldOfViewAngle = Math.PI / 6; // 30度视场角 private const double DetectorDiameter = 0.1; // 探测器直径（米） private const double FocusedSpotDiameter = 0.003; // 聚焦后光斑直径（米） - private const double LaserEnergy = 0.13; // 激光能量（焦耳） - private const double PulseWidth = 15e-9; // 脉冲宽度（秒） - private const double PulseRepetitionFrequency = 10; // 脉冲重复频率（赫兹） private const double ReflectionCoefficient = 0.2; // 反射系数 private const double LockThreshold = 1e-12; // 锁定阈值（瓦特） - - private bool IsTargetIlluminated { get; set; } + private const double TargetReflectiveArea = 1.0; // 目标有效反射面积（平方米） private Vector3D TargetPosition { get; set; } private Vector3D TargetVelocity { get; set; } private Vector3D LaserDesignatorPosition { get; set; } - private double FlightTime { get; set; } - + private double LaserPower { get; set; } + private double LaserDivergenceAngle { get; set; } public LaserSemiActiveGuidanceSystem(double proportionalNavigationCoefficient, Vector3D initialMissilePosition, Vector3D initialTargetPosition, Vector3D initialTargetVelocity) : base(proportionalNavigationCoefficient) { @@ -27,33 +22,43 @@ namespace ActiveProtect.Models TargetPosition = initialTargetPosition; TargetVelocity = initialTargetVelocity; LaserDesignatorPosition = Vector3D.Zero; - FlightTime = 0; + LaserPower = 0; } - public void SetTargetIllumination(bool isIlluminated) + public void ActivateLaserDesignator(Vector3D sourcePosition, Vector3D targetPosition, Vector3D targetVelocity, double laserPower, double laserDivergenceAngle) { - IsTargetIlluminated = isIlluminated; + HasGuidance = true; + LaserDesignatorPosition = sourcePosition; + TargetPosition = targetPosition; + TargetVelocity = targetVelocity; + LaserPower = laserPower; + LaserDivergenceAngle = laserDivergenceAngle; } - public void SetTargetPosition(Vector3D position) + public void UpdateLaserDesignator(Vector3D sourcePosition, Vector3D targetPosition, Vector3D targetVelocity, double laserPower, double laserDivergenceAngle) { - TargetPosition = position; + LaserDesignatorPosition = sourcePosition; + TargetPosition = targetPosition; + TargetVelocity = targetVelocity; + LaserPower = laserPower; + LaserDivergenceAngle = laserDivergenceAngle; } - public void SetLaserDesignatorPosition(Vector3D position) + public void DeactivateLaserDesignator() { - LaserDesignatorPosition = position; + HasGuidance = false; + LaserDesignatorPosition = Vector3D.Zero; + TargetPosition = Vector3D.Zero; + TargetVelocity = Vector3D.Zero; + LaserPower = 0; + LaserDivergenceAngle = 0; } public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity) { base.Update(deltaTime, missilePosition, missileVelocity); - Position = missilePosition; - Velocity = missileVelocity; - FlightTime += deltaTime; - - UpdateGuidanceStatus(); + HasGuidance = CalculateReceivedLaserPower() > LockThreshold; if (HasGuidance) { CalculateGuidanceCommand(deltaTime); @@ -66,37 +71,25 @@ namespace ActiveProtect.Models PrintGuidanceInfo(); } - private void UpdateGuidanceStatus() - { - if (!IsTargetIlluminated) - { - HasGuidance = false; - return; - } - - double distanceToTarget = (TargetPosition - Position).Magnitude(); - if (distanceToTarget > LaserLockDistance) - { - HasGuidance = false; - return; - } - - double receivedPower = CalculateReceivedLaserPower(); - HasGuidance = receivedPower > LockThreshold; - } - private double CalculateReceivedLaserPower() { double distanceToTarget = (TargetPosition - LaserDesignatorPosition).Magnitude(); double distanceToMissile = (Position - TargetPosition).Magnitude(); - // 计算激光功率（瓦特） - double laserPower = LaserEnergy / PulseWidth; - - // 计算激光能量衰减 - double powerAtTarget = laserPower / (4 * Math.PI * Math.Pow(distanceToTarget, 2)); - double reflectedPower = powerAtTarget * ReflectionCoefficient; - double receivedPower = reflectedPower / (4 * Math.PI * Math.Pow(distanceToMissile, 2)); + // 计算目标处的光斑面积 + double spotAreaAtTarget = Math.PI * Math.Pow(distanceToTarget * Math.Tan(LaserDivergenceAngle), 2); + + // 计算目标处的激光功率密度 + double powerDensityAtTarget = LaserPower / spotAreaAtTarget; + + // 计算从目标反射的总功率 + double reflectedPower = powerDensityAtTarget * TargetReflectiveArea * ReflectionCoefficient; + + // 计算反射光在导弹处的扩散面积（假设漫反射） + double reflectedSpotArea = 2 * Math.PI * Math.Pow(distanceToMissile, 2); + + // 计算导弹接收到的功率 + double receivedPower = reflectedPower / reflectedSpotArea; // 计算探测器接收到的功率比例 double detectorArea = Math.PI * Math.Pow(DetectorDiameter / 2, 2); @@ -122,25 +115,14 @@ namespace ActiveProtect.Models } // 计算比例导引加速度 - Vector3D proportionalNavigation = CalculateProportionalNavigation(Position, Velocity, TargetPosition, TargetVelocity); - - // 计算重力补偿 - Vector3D gravityCompensation = new(0, 9.81, 0); - - // 合并比例导引和重力补偿 - GuidanceCommand = proportionalNavigation + gravityCompensation; + GuidanceCommand = CalculateProportionalNavigation(Position, Velocity, TargetPosition, TargetVelocity); // 限制最大加速度 - double maxAcceleration = 1000; // 根据实际情况调整 + double maxAcceleration = 100; // 根据实际情况调整 if (GuidanceCommand.Magnitude() > maxAcceleration) { GuidanceCommand = GuidanceCommand.Normalize() * maxAcceleration; } - - // 添加调试输出 - // Console.WriteLine($"CalculateGuidanceCommand: Position = {Position}, Velocity = {Velocity}, TargetPosition = {TargetPosition}"); - // Console.WriteLine($"ProportionalNavigation = {proportionalNavigation}, GravityCompensation = {gravityCompensation}"); - // Console.WriteLine($"FinalGuidanceCommand = {GuidanceCommand}"); } private void PrintGuidanceInfo() @@ -150,7 +132,6 @@ namespace ActiveProtect.Models Console.WriteLine($" 速度: {Velocity}"); Console.WriteLine($" 速度大小: {Velocity.Magnitude():F2} m/s"); Console.WriteLine($" 是否有引导: {HasGuidance}"); - Console.WriteLine($" 目标是否被照射: {IsTargetIlluminated}"); Console.WriteLine($" 目标位置: {TargetPosition}"); Console.WriteLine($" 制导指令: {GuidanceCommand}"); Console.WriteLine($" 接收到的激光功率: {CalculateReceivedLaserPower():E} W"); diff --git a/Models/LaserSemiActiveGuidedMissile.cs b/Models/LaserSemiActiveGuidedMissile.cs index ad34936..14de309 100644 --- a/Models/LaserSemiActiveGuidedMissile.cs +++ b/Models/LaserSemiActiveGuidedMissile.cs @@ -10,6 +10,7 @@ namespace ActiveProtect.Models { private LaserSemiActiveGuidanceSystem LaserGuidanceSystem; private string LaserDesignatorId; + /// /// 构造函数 /// @@ -17,11 +18,7 @@ namespace ActiveProtect.Models /// 激光指示器ID /// 导弹配置 /// 仿真管理器 - public LaserSemiActiveGuidedMissile( - string id, - MissileConfig missileConfig, - string laserDesignatorId, - ISimulationManager simulationManager) + public LaserSemiActiveGuidedMissile(string id, MissileConfig missileConfig, string laserDesignatorId, ISimulationManager simulationManager) : base(id, missileConfig, simulationManager) { Vector3D initialTargetPosition = simulationManager.GetEntityById($"Tank_{missileConfig.TargetIndex + 1}").Position; @@ -32,24 +29,27 @@ namespace ActiveProtect.Models initialTargetPosition, initialTargetVelocity ); - LaserDesignatorId = laserDesignatorId; - - // 订阅事件 - simulationManager.SubscribeToEvent(OnLaserIllumination); - simulationManager.SubscribeToEvent(OnLaserIlluminationStop); + LaserDesignatorId = laserDesignatorId; } /// /// 处理激光照射事件 /// /// 激光照射事件 - private void OnLaserIllumination(LaserIlluminationEvent evt) + private void OnLaserIlluminationStart(LaserIlluminationStartEvent evt) { - Console.WriteLine($"激光半主动导弹 {Id} 接收到激光照射事件, 目标ID: {evt.TargetId}"); - if (evt.TargetId == TargetId) - { - LaserGuidanceSystem.SetTargetIllumination(true); - } + LaserGuidanceSystem.ActivateLaserDesignator(evt.LaserDesignator.Position, evt.Target.Position, evt.Target.Velocity, + evt.LaserDesignator.LaserPower, evt.LaserDesignator.LaserDivergenceAngle); + } + + /// + /// 处理激光照射更新事件 + /// + /// 激光照射更新事件 + private void OnLaserIlluminationUpdate(LaserIlluminationUpdateEvent evt) + { + LaserGuidanceSystem.UpdateLaserDesignator(evt.LaserDesignator.Position, evt.Target.Position, evt.Target.Velocity, + evt.LaserDesignator.LaserPower, evt.LaserDesignator.LaserDivergenceAngle); } /// @@ -58,11 +58,7 @@ namespace ActiveProtect.Models /// 激光照射停止事件 private void OnLaserIlluminationStop(LaserIlluminationStopEvent evt) { - Console.WriteLine($"激光半主动导弹 {Id} 接收到激光照射停止事件, 目标ID: {evt.TargetId}"); - if (evt.TargetId == TargetId) - { - LaserGuidanceSystem.SetTargetIllumination(false); - } + LaserGuidanceSystem.DeactivateLaserDesignator(); } /// @@ -82,7 +78,8 @@ namespace ActiveProtect.Models public override void Activate() { base.Activate(); - SimulationManager.SubscribeToEvent(OnLaserIllumination); + SimulationManager.SubscribeToEvent(OnLaserIlluminationStart); + SimulationManager.SubscribeToEvent(OnLaserIlluminationUpdate); SimulationManager.SubscribeToEvent(OnLaserIlluminationStop); } @@ -92,55 +89,29 @@ namespace ActiveProtect.Models public override void Deactivate() { base.Deactivate(); - SimulationManager.UnsubscribeFromEvent(OnLaserIllumination); + SimulationManager.UnsubscribeFromEvent(OnLaserIlluminationStart); + SimulationManager.UnsubscribeFromEvent(OnLaserIlluminationUpdate); SimulationManager.UnsubscribeFromEvent(OnLaserIlluminationStop); } public override void Update(double deltaTime) { - // base.Update(deltaTime); - - // 获取目标和激光指示器的位置 - Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position; - Vector3D laserDesignatorPosition = SimulationManager.GetEntityById(LaserDesignatorId).Position; - - // 更新制导系统 - LaserGuidanceSystem.SetTargetPosition(targetPosition); - LaserGuidanceSystem.SetLaserDesignatorPosition(laserDesignatorPosition); - LaserGuidanceSystem.Update(deltaTime, Position, Velocity); - + if (LaserGuidanceSystem.HasGuidance) + { + LaserGuidanceSystem.Update(deltaTime, Position, Velocity); + this.HasGuidance = true; + } + else + { + this.HasGuidance = false; + } base.Update(deltaTime); - - // Vector3D guidanceCommand = LaserGuidanceSystem.GetGuidanceCommand(); - - // // 应用重力 - // Vector3D gravity = new Vector3D(0, -9.8, 0); - - // // 计算总加速度 - // Vector3D totalAcceleration = guidanceCommand + gravity; - - // // 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, totalAcceleration); - - // // 限制速度不超过最大速度 - // if (Velocity.Magnitude() > MaxSpeed) - // { - // Velocity = Velocity.Normalize() * MaxSpeed; - // } - - // // 更新其他状态 - // Speed = Velocity.Magnitude(); - // Orientation = Orientation.FromVector(Velocity); - // FlightTime += deltaTime; - // FlightDistance += Speed * deltaTime; - // DistanceToTarget = Vector3D.Distance(Position, targetPosition); - - // // 添加调试输出 - // Console.WriteLine($"Missile Update: Position = {Position}, Velocity = {Velocity}, Acceleration = {totalAcceleration}, TargetPosition = {targetPosition}"); - - // currentStage.Update(deltaTime); } + /// + /// 获取制导命令 + /// + /// 制导命令 protected override Vector3D GetGuidanceCommand() { return LaserGuidanceSystem.GetGuidanceCommand(); diff --git a/Models/LaserWarner.cs b/Models/LaserWarner.cs index a0d64ac..3399136 100644 --- a/Models/LaserWarner.cs +++ b/Models/LaserWarner.cs @@ -43,7 +43,7 @@ namespace ActiveProtect.Models MonitoredEntityId = monitoredEntityId; IsAlarming = false; alarmDuration = config.AlarmDuration; - SimulationManager.SubscribeToEvent(OnLaserIllumination); + SimulationManager.SubscribeToEvent(OnLaserIlluminationStart); SimulationManager.SubscribeToEvent(OnLaserIlluminationStop); } @@ -76,9 +76,9 @@ namespace ActiveProtect.Models /// 处理激光照射事件 /// /// 激光照射事件 - private void OnLaserIllumination(LaserIlluminationEvent evt) + private void OnLaserIlluminationStart(LaserIlluminationStartEvent evt) { - if (evt.TargetId == MonitoredEntityId) + if (evt.Target.Id == MonitoredEntityId) { TriggerAlarm(); } @@ -90,7 +90,7 @@ namespace ActiveProtect.Models /// 激光照射停止事件 private void OnLaserIlluminationStop(LaserIlluminationStopEvent evt) { - if (evt.TargetId == MonitoredEntityId) + if (evt.Target.Id == MonitoredEntityId) { StopAlarm(); } @@ -142,7 +142,7 @@ namespace ActiveProtect.Models public override void Activate() { base.Activate(); - SimulationManager.SubscribeToEvent(OnLaserIllumination); + SimulationManager.SubscribeToEvent(OnLaserIlluminationStart); SimulationManager.SubscribeToEvent(OnLaserIlluminationStop); } @@ -152,7 +152,7 @@ namespace ActiveProtect.Models public override void Deactivate() { base.Deactivate(); - SimulationManager.UnsubscribeFromEvent(OnLaserIllumination); + SimulationManager.UnsubscribeFromEvent(OnLaserIlluminationStart); SimulationManager.UnsubscribeFromEvent(OnLaserIlluminationStop); } } diff --git a/Models/MissileBase.cs b/Models/MissileBase.cs index 47ae7fc..606e4d9 100644 --- a/Models/MissileBase.cs +++ b/Models/MissileBase.cs @@ -272,16 +272,16 @@ namespace ActiveProtect.Models guidanceAcceleration = guidanceCommand; break; case FlightStage.Cruise: - thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.1); + thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.05); guidanceAcceleration = guidanceCommand * 1; break; case FlightStage.TerminalGuidance: - thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.2); - guidanceAcceleration = guidanceCommand * 1.2; + thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.05); + guidanceAcceleration = guidanceCommand * 1; break; case FlightStage.Attack: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - guidanceAcceleration = guidanceCommand * 1.5; + thrustAcceleration = Orientation.ToVector() * ThrustAcceleration*0.05; + guidanceAcceleration = guidanceCommand * 1; break; } @@ -297,13 +297,16 @@ namespace ActiveProtect.Models } } + //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 + 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}"); - + 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; @@ -377,63 +380,63 @@ namespace ActiveProtect.Models /// /// 计算导弹的加速度 /// - private (Vector3D, Vector3D) CalculateDerivatives_RK4(Vector3D position, Vector3D velocity, double deltaTime) - { - Vector3D guidanceAcceleration = Vector3D.Zero; - Vector3D thrustAcceleration = Vector3D.Zero; + // private (Vector3D, Vector3D) CalculateDerivatives_RK4(Vector3D position, Vector3D velocity, double deltaTime) + // { + // Vector3D guidanceAcceleration = Vector3D.Zero; + // Vector3D thrustAcceleration = Vector3D.Zero; - switch (CurrentStage) - { - case FlightStage.Launch: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - break; - case FlightStage.Acceleration: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - guidanceAcceleration = CalculateProportionalNavigation(position); - break; - case FlightStage.Cruise: - thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.1); - guidanceAcceleration = CalculateProportionalNavigation(position) * 0.5; - break; - case FlightStage.TerminalGuidance: - thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.1); - guidanceAcceleration = CalculateProportionalNavigation(position) * 1.5; - break; - case FlightStage.Attack: - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - guidanceAcceleration = CalculateProportionalNavigation(position) * 2; - break; - } + // switch (CurrentStage) + // { + // case FlightStage.Launch: + // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; + // break; + // case FlightStage.Acceleration: + // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; + // guidanceAcceleration = CalculateProportionalNavigation(position); + // break; + // case FlightStage.Cruise: + // thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.1); + // guidanceAcceleration = CalculateProportionalNavigation(position) * 0.5; + // break; + // case FlightStage.TerminalGuidance: + // thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.1); + // guidanceAcceleration = CalculateProportionalNavigation(position) * 1.5; + // break; + // case FlightStage.Attack: + // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; + // guidanceAcceleration = CalculateProportionalNavigation(position) * 2; + // break; + // } - if (!HasGuidance) - { - guidanceAcceleration = Vector3D.Zero; - if (velocity.Magnitude() > 0) - { - thrustAcceleration = velocity.Normalize() * ThrustAcceleration; - } - else - { - thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; - } - } + // if (!HasGuidance) + // { + // guidanceAcceleration = Vector3D.Zero; + // if (velocity.Magnitude() > 0) + // { + // thrustAcceleration = velocity.Normalize() * ThrustAcceleration; + // } + // else + // { + // thrustAcceleration = Orientation.ToVector() * ThrustAcceleration; + // } + // } - // 计算空气阻力的影响 - Vector3D dragAcceleration = velocity.Normalize() * -1 * CalculateDrag(velocity.Magnitude()) / Mass; + // // 计算空气阻力的影响 + // Vector3D dragAcceleration = velocity.Normalize() * -1 * CalculateDrag(velocity.Magnitude()) / Mass; - // 计算重力加速度 - Vector3D gravityCompensation = new(0, 9.81, 0); - Vector3D gravityAcceleration = new(0, -9.81, 0); + // // 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); - Vector3D totalAcceleration = guidanceAcceleration + thrustAcceleration + gravityCompensation + gravityAcceleration + dragAcceleration; + // Vector3D totalAcceleration = guidanceAcceleration + thrustAcceleration + gravityAcceleration + dragAcceleration; - if (totalAcceleration.Magnitude() > MaxAcceleration) - { - totalAcceleration = totalAcceleration.Normalize() * MaxAcceleration; - } + // if (totalAcceleration.Magnitude() > MaxAcceleration) + // { + // totalAcceleration = totalAcceleration.Normalize() * MaxAcceleration; + // } - return (velocity, totalAcceleration); - } + // return (velocity, totalAcceleration); + // } /// /// 计算空气阻力 @@ -447,31 +450,6 @@ namespace ActiveProtect.Models return 0.5 * dragCoefficient * airDensity * referenceArea * speed * speed; } - /// - /// 使用 Runge-Kutta 方法更新位置和速度 - /// - // private (Vector3D, Vector3D) UpdatePositionAndVelocityRK4(double deltaTime) - // { - // Vector3D k1, k2, k3, k4; - // Vector3D v1, v2, v3, v4; - - // (k1, v1) = CalculateDerivatives(Position, Velocity, deltaTime); - // (k2, v2) = CalculateDerivatives(Position + k1 * (deltaTime / 2), Velocity + v1 * (deltaTime / 2), deltaTime / 2); - // (k3, v3) = CalculateDerivatives(Position + k2 * (deltaTime / 2), Velocity + v2 * (deltaTime / 2), deltaTime / 2); - // (k4, v4) = CalculateDerivatives(Position + k3 * deltaTime, Velocity + v3 * deltaTime, deltaTime); - - // Vector3D newPosition = Position + (k1 + k2 * 2 + k3 * 2 + k4) * (deltaTime / 6); - // Vector3D newVelocity = Velocity + (v1 + v2 * 2 + v3 * 2 + v4) * (deltaTime / 6); - - // // 限制速度不超过最大速度 - // if (newVelocity.Magnitude() > MaxSpeed) - // { - // newVelocity = newVelocity.Normalize() * MaxSpeed; - // } - - // return (newPosition, newVelocity); - // } - /// /// 检查是否命中目标 /// @@ -614,132 +592,7 @@ namespace ActiveProtect.Models } /// - /// 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(MissileBase missile) : IMissileStageStrategy - { - private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy - { - private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy - { - private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy - { - private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy - { - private readonly MissileBase 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); - } - } - } - } - - - /// - /// 表示导弹的当前状态 + /// 表示导弹的运行状态信息 /// public struct MissileRunningState { diff --git a/Models/MissileStageStrategy.cs b/Models/MissileStageStrategy.cs new file mode 100644 index 0000000..ff37567 --- /dev/null +++ b/Models/MissileStageStrategy.cs @@ -0,0 +1,140 @@ + +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(MissileBase missile) : IMissileStageStrategy + { + private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy + { + private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy + { + private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy + { + private readonly MissileBase 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(MissileBase missile) : IMissileStageStrategy + { + private readonly MissileBase missile = missile; + + public void Update(double deltaTime) + { + // 检查是否重新获得引导 + if (missile.HasGuidance) + { + Console.WriteLine($"导弹 {missile.Id} 重新获得引导，退出无制导阶段"); + if (missile.DistanceToTarget <= missile.DistanceParams.AttackDistance) + { + missile.ChangeStage(FlightStage.Attack); + } + else if (missile.DistanceToTarget <= missile.DistanceParams.TerminalGuidanceDistance) + { + missile.ChangeStage(FlightStage.TerminalGuidance); + } + else + { + missile.ChangeStage(FlightStage.Cruise); + } + } + } + } +} \ No newline at end of file diff --git a/Models/Tank.cs b/Models/Tank.cs index 0a099b1..a6e5ad5 100644 --- a/Models/Tank.cs +++ b/Models/Tank.cs @@ -6,7 +6,8 @@ namespace ActiveProtect.Models /// /// 表示仿真中的坦克 /// - public class Tank(string id, TankConfig tankConfig, ISimulationManager simulationManager) : SimulationElement(id, tankConfig.InitialPosition, tankConfig.InitialOrientation, simulationManager), ILaserIlluminatable + public class Tank(string id, TankConfig tankConfig, ISimulationManager simulationManager) + : SimulationElement(id, tankConfig.InitialPosition, tankConfig.InitialOrientation, simulationManager) { /// /// 当前速度(米/秒) @@ -28,11 +29,6 @@ namespace ActiveProtect.Models /// public double CurrentArmor { get; private set; } = tankConfig.MaxArmor; - /// - /// 是否被激光照射 - /// - public bool IsIlluminated { get; private set; } = false; - /// /// 更新坦克状态 /// @@ -74,30 +70,6 @@ namespace ActiveProtect.Models } } - /// - /// 被激光照射 - /// - public void Illuminate() - { - if (!IsIlluminated) - { - IsIlluminated = true; - Console.WriteLine($"坦克 {Id} 被激光照射"); - } - } - - /// - /// 停止激光照射 - /// - public void StopIllumination() - { - if (IsIlluminated) - { - IsIlluminated = false; - Console.WriteLine($"坦克 {Id} 激光照射停止"); - } - } - /// /// 获取坦克状态信息 /// @@ -108,8 +80,7 @@ namespace ActiveProtect.Models $" 位置: {Position}\n" + $" 速度: {Speed:F2}/{MaxSpeed:F2}\n" + $" 装甲: {CurrentArmor:F2}/{MaxArmor:F2}\n" + - $" 状态: {(IsActive ? "活动" : "已销毁")}\n" + - $" 激光照射: {(IsIlluminated ? "是" : "否")}\n"; + $" 状态: {(IsActive ? "活动" : "已销毁")}\n"; } } } diff --git a/Program.cs b/Program.cs index e56a589..815e251 100644 --- a/Program.cs +++ b/Program.cs @@ -46,8 +46,9 @@ namespace ActiveProtect // 配置激光指示器 LaserDesignatorConfig = new LaserDesignatorConfig { - InitialPosition = new Vector3D(500, 150, 100), - MaxIlluminationRange = 1000 + InitialPosition = new Vector3D(2000, 150, 100), + LaserPower = 1e6, + LaserDivergenceAngle = 0.01 }, // 配置激光告警器 LaserWarnerConfig = new LaserWarnerConfig @@ -67,8 +68,7 @@ namespace ActiveProtect { InitialPosition = new Vector3D(2000, 10, 100), LaserPower = 1000, - ControlFieldDiameter = 6, - MaxGuidanceDistance = 5000 + ControlFieldDiameter = 6 }, // 配置导弹 MissileConfigs = @@ -131,7 +131,7 @@ namespace ActiveProtect InitialSpeed = 700, MaxSpeed = 800, TargetIndex = 0, - MaxFlightTime = 10, // 增加最大飞行时间 + MaxFlightTime = 0.5, // 增加最大飞行时间 MaxFlightDistance = 5000, ThrustAcceleration = 50, // 添加推力加速度 MaxEngineBurnTime = 10, @@ -145,7 +145,7 @@ namespace ActiveProtect // 激光驾束制导导弹配置 new() { InitialPosition = new Vector3D(2000, 10, 100), - InitialOrientation = new Orientation(Math.PI, 0.02, 0.0), // 调整初始俯仰角 + InitialOrientation = new Orientation(Math.PI, 0.1, 0.0), // 调整初始俯仰角 InitialSpeed = 300, MaxSpeed = 400, TargetIndex = 0, @@ -155,7 +155,7 @@ namespace ActiveProtect MaxEngineBurnTime = 10, MaxAcceleration = 400, ProportionalNavigationCoefficient = 3, - StageConfig = FlightStageConfig.LaserSemiActiveGuidedMissile, + StageConfig = FlightStageConfig.LaserBeamRiderGuidance, DistanceParams = new MissileDistanceParams(500, 200, 10), Mass = 50, Type = MissileType.LaserBeamRiderGuidance diff --git a/SimulationEnvironment/SimulationConfig.cs b/SimulationEnvironment/SimulationConfig.cs index c718713..80bae84 100644 --- a/SimulationEnvironment/SimulationConfig.cs +++ b/SimulationEnvironment/SimulationConfig.cs @@ -252,9 +252,14 @@ namespace ActiveProtect.SimulationEnvironment public Vector3D InitialPosition { get; set; } /// - /// 最大照射范围(米) + /// 激光功率（瓦特） /// - public double MaxIlluminationRange { get; set; } + public double LaserPower { get; set; } + + /// + /// 激光发散角 + /// + public double LaserDivergenceAngle { get; set; } /// /// 构造函数,设置默认值 @@ -262,7 +267,8 @@ namespace ActiveProtect.SimulationEnvironment public LaserDesignatorConfig() { InitialPosition = new Vector3D(0, 0, 0); - MaxIlluminationRange = 1000; + LaserPower = 0; + LaserDivergenceAngle = 0; } } @@ -300,7 +306,6 @@ namespace ActiveProtect.SimulationEnvironment InitialPosition = new Vector3D(0, 0, 0); LaserPower = 0; ControlFieldDiameter = 0; - MaxGuidanceDistance = 0; } } @@ -338,19 +343,6 @@ namespace ActiveProtect.SimulationEnvironment public double ExplosionDistance { get; set; } = explosionDistance; } - /// - /// 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 - } - /// /// 导弹飞行阶段配置结构 /// diff --git a/SimulationEnvironment/SimulationElement.cs b/SimulationEnvironment/SimulationElement.cs index 19471c2..d0e5dc9 100644 --- a/SimulationEnvironment/SimulationElement.cs +++ b/SimulationEnvironment/SimulationElement.cs @@ -10,33 +10,33 @@ namespace ActiveProtect.SimulationEnvironment /// /// 仿真元素的唯一标识符 /// - public string Id { get; set; } = id; + public virtual string Id { get; set; } = id; /// /// 仿真元素的当前位置 /// - public Vector3D Position { get; set; } = position; + public virtual Vector3D Position { get; set; } = position; /// /// 仿真元素的当前速度 /// - public Vector3D Velocity { get; set; } = Vector3D.Zero; + public virtual Vector3D Velocity { get; set; } = Vector3D.Zero; /// /// 仿真元素的当前朝向 /// - public Orientation Orientation { get; set; } = orientation; + public virtual Orientation Orientation { get; set; } = orientation; + + /// + /// 仿真元素是否处于活动状态 + /// + public virtual bool IsActive { get; protected set; } = true; /// /// 仿真管理器的引用 /// public ISimulationManager SimulationManager { get; set; } = simulationManager; - /// - /// 仿真元素是否处于活动状态 - /// - public bool IsActive { get; protected set; } = true; - /// /// 更新仿真元素的状态 /// diff --git a/SimulationEnvironment/SimulationEvents.cs b/SimulationEnvironment/SimulationEvents.cs index 3160422..a9a5171 100644 --- a/SimulationEnvironment/SimulationEvents.cs +++ b/SimulationEnvironment/SimulationEvents.cs @@ -32,12 +32,28 @@ namespace ActiveProtect.SimulationEnvironment /// /// 激光照射事件 /// - public class LaserIlluminationEvent : SimulationEvent + public class LaserIlluminationStartEvent : SimulationEvent { - /// - /// 目标ID - /// - public string? TargetId { get; set; } + public required LaserDesignator LaserDesignator { get; set; } + public required SimulationElement Target { get; set; } + } + + /// + public class LaserIlluminationUpdateEvent : SimulationEvent + { + public required LaserDesignator LaserDesignator { get; set; } + public required SimulationElement Target { get; set; } + } + + /// + public class LaserIlluminationStopEvent : SimulationEvent + { + public required LaserDesignator LaserDesignator { get; set; } + public required SimulationElement Target { get; set; } } /// @@ -67,16 +83,7 @@ namespace ActiveProtect.SimulationEnvironment public string? DestroyedEntityId { get; set; } } - /// - /// 激光照射停止事件 - /// - public class LaserIlluminationStopEvent : SimulationEvent - { - /// - /// 目标ID - /// - public string? TargetId { get; set; } - } + /// /// 激光告警器警报事件 @@ -128,19 +135,7 @@ namespace ActiveProtect.SimulationEnvironment /// public class LaserBeamStartEvent : SimulationEvent { - public required Vector3D SourcePosition { get; set; } - public required Vector3D LaserDirection { get; set; } - public required double LaserPower { get; set; } - } - - /// - /// 激光停止事件 - /// - public class LaserBeamStopEvent : SimulationEvent - { - public required Vector3D SourcePosition { get; set; } - public required Vector3D LaserDirection { get; set; } - public required double LaserPower { get; set; } + public required LaserBeamRider LaserBeamRider { get; set; } } /// @@ -148,8 +143,14 @@ namespace ActiveProtect.SimulationEnvironment /// public class LaserBeamUpdateEvent : SimulationEvent { - public required Vector3D SourcePosition { get; set; } - public required Vector3D LaserDirection { get; set; } - public required double LaserPower { get; set; } + public required LaserBeamRider LaserBeamRider { get; set; } + 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