增加了激光驾束导弹和激光驾束仪, 精调了激光驾束算法; 重构导弹引导逻辑, 将引导和轨迹计算分开.
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.gitignore
vendored
53
.gitignore
vendored
@ -1,51 +1,2 @@
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# 构建结果
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[Bb]in/
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[Oo]bj/
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[Ll]ib/
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# Visual Studio 文件
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.vs/
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*.user
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*.userosscache
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*.suo
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*.userprefs
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# 编译文件
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*.dll
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*.exe
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*.pdb
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# 日志文件
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*.log
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# 临时文件
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[Tt]emp/
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[Tt]mp/
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# 缓存文件
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*.cache
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*.bak
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# 测试结果
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[Tt]est[Rr]esult*/
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[Bb]uild[Ll]og.*
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# NuGet包
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*.nupkg
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**/packages/*
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!**/packages/build/
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# Visual Studio Code 设置
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.vscode/
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# Rider 设置
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.idea/
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# 操作系统文件
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.DS_Store
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Thumbs.db
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# 其他
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*.swp
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*.*~
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project.lock.json
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build/
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.vscode/
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105
DesignMissile.md
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105
DesignMissile.md
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@ -0,0 +1,105 @@
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# 实体设计
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在仿真环境中，每个实体（如导弹）有几类参数：
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1. 固有属性参数：如弹长、弹径、质量,最大速度、最大飞行距离、发动机推力等
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2. 运行时状态参数：如当前位置、速度、朝向、加速度,接收的辐射能量、导引头视野中目标角度等
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为了设计一个结构清晰的实体类，我们采用组合模式和接口分离原则。这样可以将不同类型的参数和状态分开管理，同时保持良好的扩展性。
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## 基础接口
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首先，我们定义几个基础接口来表示不同类型的参数：
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```csharp
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public interface IProperties
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{
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double Length { get; }
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double Diameter { get; }
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double Mass { get; }
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}
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public interface IState
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{
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Vector3 Position { get; set; }
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Vector3 Velocity { get; set; }
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Vector3 Acceleration { get; set; }
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double Heading { get; set; }
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double ReceivedRadiation { get; set; }
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double TargetDeviation { get; set; }
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}
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```
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## 实现类
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然后，我们为每个接口创建实现类：
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public class MissileProperties : IProperties
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{
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public double Length { get; }
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public double Diameter { get; }
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public double Mass { get; }
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}
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public class MissileState : IState
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{
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public Vector3 Position { get; set; }
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public Vector3 Velocity { get; set; }
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public Vector3 Acceleration { get; set; }
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public double Heading { get; set; }
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public double ReceivedRadiation { get; set; }
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public double TargetDeviation { get; set; }
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}
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## 导弹实体类
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接下来，我们创建一个导弹实体类，它将实现上述接口：
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```csharp
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public class Missile : IProperties, IState
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{
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public MissileProperties Properties { get; set; }
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public MissileState State { get; set; }
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public Missile()
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{
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Properties = new MissileProperties();
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State = new MissileState();
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}
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// 其他方法，如更新状态、执行导航等
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public void Update(double deltaTime)
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{
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// 更新运行时状态和导引参数
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}
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public void Navigate()
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{
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// 执行导航逻辑
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}
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}
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```
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## 设计优点
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1. 清晰的结构：每种类型的参数或状态都有自己的接口和实现类，使得结构非常清晰。
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2. 高度的模块化：可以轻松地替换或修改某一类参数，而不影响其他部分。
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3. 易于扩展：如果需要添加新的参数类型，只需创建新的接口和实现类，然后在 Missile 类中添加相应的属性。
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4. 符合单一职责原则：每个类都只负责一种类型的参数。
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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。
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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。
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## 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
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1. 使用PID控制器：
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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。
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2. 非线性增益：
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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。
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3. 低通滤波：
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对计算出的加速度进行低通滤波，以减少高频振荡。
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4. 预测控制：
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基于当前状态预测未来的位置，提前做出调整。
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BIN
Models/.DS_Store
vendored
Normal file
BIN
Models/.DS_Store
vendored
Normal file
Binary file not shown.
93
Models/BasicGuidanceSystem.cs
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93
Models/BasicGuidanceSystem.cs
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using System;
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namespace ActiveProtect.Models
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{
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public class BasicGuidanceSystem : IGuidanceSystem
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{
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public bool HasGuidance { get; protected set; }
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protected double ProportionalNavigationCoefficient { get; set; }
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protected Vector3D Position { get; set; }
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protected Vector3D Velocity { get; set; }
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protected Vector3D GuidanceCommand { get; set; }
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public BasicGuidanceSystem(double proportionalNavigationCoefficient)
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{
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ProportionalNavigationCoefficient = proportionalNavigationCoefficient;
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HasGuidance = false;
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GuidanceCommand = Vector3D.Zero;
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Position = Vector3D.Zero;
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Velocity = Vector3D.Zero;
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}
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public virtual void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity)
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{
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Position = missilePosition;
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Velocity = missileVelocity;
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}
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public Vector3D GetGuidanceCommand()
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{
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return GuidanceCommand;
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}
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protected virtual void CalculateGuidanceCommand(double deltaTime)
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{
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// 基础制导系统不计算制导指令
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// 派生类应该重写这个方法来实现特定的制导逻辑
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}
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protected Vector3D CalculateProportionalNavigation(Vector3D missilePosition, Vector3D missileVelocity, Vector3D targetPosition, Vector3D targetVelocity)
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{
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// 预测时间（可以根据实际情况调整）
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double predictionTime = 2.0;
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// 预测目标位置
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Vector3D predictedTargetPosition = targetPosition + targetVelocity * predictionTime;
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Vector3D r = predictedTargetPosition - missilePosition;
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Vector3D v = targetVelocity - missileVelocity;
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Vector3D LOS = r.Normalize();
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Vector3D LOSRate = (v - (LOS * Vector3D.DotProduct(v, LOS))) / r.Magnitude();
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Vector3D acceleration = Vector3D.CrossProduct(Vector3D.CrossProduct(LOS, LOSRate), missileVelocity.Normalize()) * ProportionalNavigationCoefficient * missileVelocity.Magnitude();
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// 添加调试输出
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Console.WriteLine($"PN Calculation: r = {r}, v = {v}, LOS = {LOS}, LOSRate = {LOSRate}, Acceleration = {acceleration}");
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return acceleration;
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}
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public static (Vector3D newPosition, Vector3D newVelocity) RungeKutta4(double deltaTime, Vector3D position, Vector3D velocity, Vector3D acceleration)
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{
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// 定义一个局部函数来计算加速度
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Vector3D AccelerationFunction(Vector3D pos, Vector3D vel)
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{
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// 这里可以添加更复杂的加速度计算，比如考虑空气阻力等
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return acceleration;
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}
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// 第一步
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Vector3D k1v = AccelerationFunction(position, velocity) * deltaTime;
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Vector3D k1r = velocity * deltaTime;
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// 第二步
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Vector3D k2v = AccelerationFunction(position + k1r * 0.5, velocity + k1v * 0.5) * deltaTime;
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Vector3D k2r = (velocity + k1v * 0.5) * deltaTime;
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// 第三步
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Vector3D k3v = AccelerationFunction(position + k2r * 0.5, velocity + k2v * 0.5) * deltaTime;
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Vector3D k3r = (velocity + k2v * 0.5) * deltaTime;
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// 第四步
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Vector3D k4v = AccelerationFunction(position + k3r, velocity + k3v) * deltaTime;
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Vector3D k4r = (velocity + k3v) * deltaTime;
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// 计算新的位置和速度
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Vector3D newPosition = position + (k1r + k2r * 2 + k3r * 2 + k4r) / 6;
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Vector3D newVelocity = velocity + (k1v + k2v * 2 + k3v * 2 + k4v) / 6;
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return (newPosition, newVelocity);
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}
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}
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}
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@ -7,6 +7,12 @@ namespace ActiveProtect.Models
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/// </summary>
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public class Vector3D(double x, double y, double z)
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{
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// 添加静态单位向量属性
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public static Vector3D UnitX => new(1, 0, 0);
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public static Vector3D UnitY => new(0, 1, 0);
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public static Vector3D UnitZ => new(0, 0, 1);
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public static Vector3D Zero => new(0, 0, 0);
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/// <summary>
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/// X 坐标
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/// </summary>
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@ -33,10 +39,6 @@ namespace ActiveProtect.Models
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return Math.Sqrt(Math.Pow(v1.X - v2.X, 2) + Math.Pow(v1.Y - v2.Y, 2) + Math.Pow(v1.Z - v2.Z, 2));
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}
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/// <summary>
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/// 零向量
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/// </summary>
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public static Vector3D Zero => new(0, 0, 0);
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/// <summary>
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/// 将向量转换为字符串表示
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return new Vector3D(a.X / scalar, a.Y / scalar, a.Z / scalar);
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}
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/// <summary>
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/// 向量反向
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/// </summary>
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public static Vector3D operator -(Vector3D a)
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{
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return new Vector3D(-a.X, -a.Y, -a.Z);
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}
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/// <summary>
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/// 计算向量的模长
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/// </summary>
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@ -250,4 +260,18 @@ namespace ActiveProtect.Models
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return new Orientation(yaw, pitch, 0);
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}
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}
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public struct Vector2D
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{
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public double X { get; set; }
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public double Y { get; set; }
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public Vector2D(double x, double y)
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{
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X = x;
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Y = y;
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}
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public static Vector2D Zero => new(0, 0);
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}
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}
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9
Models/IGuidanceSystem.cs
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9
Models/IGuidanceSystem.cs
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namespace ActiveProtect.Models
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{
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public interface IGuidanceSystem
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{
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bool HasGuidance { get; }
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void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity);
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Vector3D GetGuidanceCommand();
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}
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}
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161
Models/LaserBeamRider.cs
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161
Models/LaserBeamRider.cs
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using ActiveProtect.SimulationEnvironment;
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using System;
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namespace ActiveProtect.Models
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{
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public class LaserBeamRider : SimulationElement
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{
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// 激光功率（瓦特）
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public double LaserPower { get; private set; }
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// 激光发散角（毫弧度）
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public double BeamDivergence { get; private set; } = 0.0;
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// 控制场直径（米）
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public double ControlFieldDiameter { get; private set; }
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// 激光方向
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public Vector3D LaserDirection { get; private set; }
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// 最大导引距离（米）
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public double MaxGuidanceDistance { get; private set; }
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// 激光束是否开启
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public bool IsBeamOn { get; private set; }
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// 导弹
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public string MissileId { get; private set; }
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// 目标
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public string TargetId { get; private set; }
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public LaserBeamRider(string id, string missileId, string targetId, LaserBeamRiderConfig config, ISimulationManager simulationManager)
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: base(id, config.InitialPosition, new Orientation(0, 0, 0), simulationManager)
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{
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LaserPower = config.LaserPower;
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ControlFieldDiameter = config.ControlFieldDiameter;
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LaserDirection = Vector3D.Zero;
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MaxGuidanceDistance = config.MaxGuidanceDistance;
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IsActive = false; // 初始状态为非激活
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IsBeamOn = false;
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MissileId = missileId;
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TargetId = targetId;
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SimulationManager = simulationManager;
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}
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public override void Update(double deltaTime)
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{
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if (!IsActive) return;
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||||
|
||||
if (IsBeamOn)
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{
|
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// 更新驾束仪的激光指向
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Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position;
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LaserDirection = (targetPosition - Position).Normalize();
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Console.WriteLine($"激光驾束仪 {Id} 更新激光指向: {LaserDirection}");
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|
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PublishLaserBeamUpdateEvent();
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}
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}
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||||
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/// <summary>
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/// 激活激光驾束仪
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/// </summary>
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||||
public override void Activate()
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{
|
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if (!IsActive)
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{
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IsActive = true;
|
||||
Console.WriteLine($"激光驾束仪 {Id} 已激活");
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}
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base.Activate();
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}
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||||
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||||
/// <summary>
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||||
/// 停用激光驾束仪
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||||
/// </summary>
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||||
public override void Deactivate()
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||||
{
|
||||
if (IsActive)
|
||||
{
|
||||
IsActive = false;
|
||||
if (IsBeamOn)
|
||||
{
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StopBeamIllumination();
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}
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Console.WriteLine($"激光驾束仪 {Id} 已停用");
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}
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base.Deactivate();
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}
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||||
public void StartBeamIllumination()
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{
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if (IsBeamOn) return;
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||||
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||||
if (SimulationManager.GetEntityById(TargetId) is ILaserIlluminatable target)
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{
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LaserDirection = (target.Position - Position).Normalize();
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IsBeamOn = true;
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PublishLaserBeamStartEvent();
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}
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}
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||||
public void StopBeamIllumination()
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{
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if (!IsBeamOn) return;
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||||
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||||
IsBeamOn = false;
|
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LaserDirection = Vector3D.Zero;
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PublishLaserBeamStopEvent();
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}
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||||
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||||
/// <summary>
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||||
/// 发布激光束开始事件
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||||
/// </summary>
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||||
private void PublishLaserBeamStartEvent()
|
||||
{
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PublishEvent(new LaserBeamStartEvent
|
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{
|
||||
SourcePosition = Position,
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||||
LaserDirection = LaserDirection,
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LaserPower = LaserPower
|
||||
});
|
||||
}
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||||
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||||
private void PublishLaserBeamStopEvent()
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||||
{
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||||
PublishEvent(new LaserBeamStopEvent
|
||||
{
|
||||
SourcePosition = Position,
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LaserDirection = LaserDirection,
|
||||
LaserPower = LaserPower
|
||||
});
|
||||
}
|
||||
|
||||
private void PublishLaserBeamUpdateEvent()
|
||||
{
|
||||
PublishEvent(new LaserBeamUpdateEvent
|
||||
{
|
||||
SourcePosition = Position,
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||||
LaserDirection = LaserDirection,
|
||||
LaserPower = LaserPower
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
public override string GetStatus()
|
||||
{
|
||||
return $"激光驾束仪 {Id}:\n" +
|
||||
$" 位置: {Position}\n" +
|
||||
$" 方向: {LaserDirection}\n" +
|
||||
$" 激活状态: {(IsActive ? "激活" : "未激活")}\n" +
|
||||
$" 激光功率: {LaserPower} W\n" +
|
||||
$" 发散角: {BeamDivergence} rad\n" +
|
||||
$" 控制场直径: {ControlFieldDiameter} m\n" +
|
||||
$" 最大导引距离: {MaxGuidanceDistance} m\n" +
|
||||
$" 激光束状态: {(IsBeamOn ? "开启" : "关闭")}";
|
||||
}
|
||||
}
|
||||
}
|
||||
185
Models/LaserBeamRiderGuidanceSystem.cs
Normal file
185
Models/LaserBeamRiderGuidanceSystem.cs
Normal file
@ -0,0 +1,185 @@
|
||||
using System;
|
||||
|
||||
namespace ActiveProtect.Models
|
||||
{
|
||||
public class LaserBeamRiderGuidanceSystem : BasicGuidanceSystem
|
||||
{
|
||||
private Vector3D LaserSourcePosition { get; set; }
|
||||
private Vector3D LaserDirection { get; set; }
|
||||
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 Vector3D LastError = Vector3D.Zero;
|
||||
|
||||
public Vector3D LastGuidanceCommand { get; private set; }
|
||||
|
||||
private Vector3D IntegralError = Vector3D.Zero;
|
||||
|
||||
|
||||
public LaserBeamRiderGuidanceSystem(double proportionalNavigationCoefficient)
|
||||
: base(proportionalNavigationCoefficient)
|
||||
{
|
||||
LaserSourcePosition = Vector3D.Zero;
|
||||
LaserDirection = Vector3D.Zero;
|
||||
LaserPower = 0;
|
||||
HasGuidance = false;
|
||||
LastGuidanceCommand = Vector3D.Zero;
|
||||
}
|
||||
|
||||
public void UpdateLaserBeamRider(Vector3D sourcePosition, Vector3D direction)
|
||||
{
|
||||
LaserSourcePosition = sourcePosition;
|
||||
LaserDirection = direction.Normalize();
|
||||
}
|
||||
|
||||
public void ActivateLaserBeam()
|
||||
{
|
||||
HasGuidance = true;
|
||||
}
|
||||
|
||||
public void DeactivateLaserBeam()
|
||||
{
|
||||
HasGuidance = false;
|
||||
}
|
||||
|
||||
public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity)
|
||||
{
|
||||
base.Update(deltaTime, missilePosition, missileVelocity);
|
||||
|
||||
UpdateGuidanceStatus();
|
||||
|
||||
if (HasGuidance)
|
||||
{
|
||||
CalculateGuidanceCommand(deltaTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
GuidanceCommand = Vector3D.Zero;
|
||||
}
|
||||
|
||||
Console.WriteLine($"Missile Position: {Position}, Velocity: {Velocity}, Has Guidance: {HasGuidance}");
|
||||
}
|
||||
|
||||
private void UpdateGuidanceStatus()
|
||||
{
|
||||
// 计算导弹到激光束的最短距离
|
||||
Vector3D shortestDistanceVector = CalculateShortestDistanceToLaserBeam();
|
||||
double shortestDistance = shortestDistanceVector.Magnitude();
|
||||
|
||||
// 检查导弹是否在控制场内
|
||||
if (shortestDistance > ControlFieldDiameter / 2)
|
||||
{
|
||||
HasGuidance = false;
|
||||
Console.WriteLine($"激光驾束引导系统: 失去引导, 原因: 超出控制场范围, 距离: {shortestDistance}");
|
||||
return;
|
||||
}
|
||||
|
||||
//Console.WriteLine($"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);
|
||||
double powerDensity = LaserPower / beamArea;
|
||||
double receivedPower = powerDensity * (Math.PI * Math.Pow(DetectorDiameter / 2, 2));
|
||||
|
||||
if(HasGuidance = receivedPower >= MinDetectablePower)
|
||||
{
|
||||
HasGuidance = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
HasGuidance = false;
|
||||
Console.WriteLine($"激光驾束引导系统: 失去引导, 原因: 接收到的激光功率低于最小可探测功率,{LaserPower:E} W/{receivedPower:E} W");
|
||||
}
|
||||
}
|
||||
|
||||
protected override void CalculateGuidanceCommand(double deltaTime)
|
||||
{
|
||||
if (!HasGuidance)
|
||||
{
|
||||
GuidanceCommand = Vector3D.Zero;
|
||||
return;
|
||||
}
|
||||
|
||||
// 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
|
||||
|
||||
// 计算误差
|
||||
Vector3D error = shortestDistanceVector;
|
||||
|
||||
// 积分项
|
||||
IntegralError += error * deltaTime;
|
||||
|
||||
// 微分项
|
||||
Vector3D derivativeError = (error - LastError) / deltaTime;
|
||||
|
||||
// 计算PID输出
|
||||
Vector3D pidOutput = error * Kp + IntegralError * Ki + derivativeError * Kd;
|
||||
|
||||
// 非线性增益
|
||||
double distance = shortestDistanceVector.Magnitude();
|
||||
double nonLinearGain = Math.Tanh(distance / Kc);
|
||||
|
||||
// 计算横向加速度
|
||||
Vector3D lateralAcceleration = pidOutput * nonLinearGain;
|
||||
|
||||
// 限制最大加速度
|
||||
double maxAcceleration = 30; // 稍微增加最大加速度
|
||||
if (lateralAcceleration.Magnitude() > maxAcceleration)
|
||||
{
|
||||
lateralAcceleration = lateralAcceleration.Normalize() * maxAcceleration;
|
||||
}
|
||||
|
||||
// 计算前向加速度
|
||||
Vector3D forwardDirection = LaserDirection;
|
||||
Vector3D currentDirection = Velocity.Normalize();
|
||||
Vector3D rotationAxis = Vector3D.CrossProduct(currentDirection, forwardDirection);
|
||||
double rotationAngle = Math.Acos(Vector3D.DotProduct(currentDirection, forwardDirection));
|
||||
Vector3D forwardAcceleration = Vector3D.CrossProduct(rotationAxis, Velocity) * rotationAngle * ProportionalNavigationCoefficient;
|
||||
|
||||
// 合并横向和前向加速度
|
||||
GuidanceCommand = lateralAcceleration + forwardAcceleration;
|
||||
|
||||
// 低通滤波
|
||||
const double alpha = 0.2;
|
||||
GuidanceCommand = GuidanceCommand * alpha + LastGuidanceCommand * (1 - alpha);
|
||||
|
||||
// 更新上一次的误差和制导命令
|
||||
LastError = error;
|
||||
LastGuidanceCommand = GuidanceCommand;
|
||||
|
||||
Console.WriteLine($"Guidance Command: {GuidanceCommand.Magnitude()}, Lateral Error: {shortestDistanceVector.Magnitude()}, Lateral Acceleration: {lateralAcceleration.Magnitude()}, Forward Acceleration: {forwardAcceleration.Magnitude()}");
|
||||
}
|
||||
|
||||
public override string ToString()
|
||||
{
|
||||
return $"LaserBeamRiderGuidanceSystem: HasGuidance={HasGuidance}, LaserSourcePosition={LaserSourcePosition}, LaserDirection={LaserDirection}, GuidanceCommand={GuidanceCommand}";
|
||||
}
|
||||
|
||||
private Vector3D CalculateShortestDistanceToLaserBeam()
|
||||
{
|
||||
// 计算导弹到激光源的向量
|
||||
Vector3D missileToSource = LaserSourcePosition - Position;
|
||||
|
||||
// 计算导弹在激光方向上的投影长度
|
||||
double projectionLength = Vector3D.DotProduct(missileToSource, LaserDirection);
|
||||
|
||||
// 计算激光束上最接近导弹的点
|
||||
Vector3D closestPointOnBeam = LaserSourcePosition - LaserDirection * projectionLength;
|
||||
|
||||
// 计算导弹到激光束最近点的向量（即最短距离向量）
|
||||
Vector3D shortestDistanceVector = closestPointOnBeam - Position;
|
||||
|
||||
return shortestDistanceVector;
|
||||
}
|
||||
}
|
||||
}
|
||||
81
Models/LaserBeamRiderMissile.cs
Normal file
81
Models/LaserBeamRiderMissile.cs
Normal file
@ -0,0 +1,81 @@
|
||||
using ActiveProtect.SimulationEnvironment;
|
||||
using System;
|
||||
using System.Formats.Tar;
|
||||
|
||||
namespace ActiveProtect.Models
|
||||
{
|
||||
public class LaserBeamRiderMissile : MissileBase
|
||||
{
|
||||
private LaserBeamRiderGuidanceSystem LaserBeamRiderGuidanceSystem;
|
||||
|
||||
|
||||
public LaserBeamRiderMissile(string id, string targetId, MissileConfig missileConfig, ISimulationManager simulationManager)
|
||||
: base(id, missileConfig, simulationManager)
|
||||
{
|
||||
LaserBeamRiderGuidanceSystem = new LaserBeamRiderGuidanceSystem(missileConfig.ProportionalNavigationCoefficient);
|
||||
TargetId = targetId;
|
||||
}
|
||||
|
||||
protected override Vector3D GetGuidanceCommand()
|
||||
{
|
||||
return LaserBeamRiderGuidanceSystem.GetGuidanceCommand();
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
private void OnLaserBeamUpdate(LaserBeamUpdateEvent evt)
|
||||
{
|
||||
LaserBeamRiderGuidanceSystem.UpdateLaserBeamRider(evt.SourcePosition, evt.LaserDirection);
|
||||
LaserBeamRiderGuidanceSystem.LaserPower = evt.LaserPower;
|
||||
}
|
||||
|
||||
public override void Update(double deltaTime)
|
||||
{
|
||||
if (LaserBeamRiderGuidanceSystem.HasGuidance)
|
||||
{
|
||||
LaserBeamRiderGuidanceSystem.Update(deltaTime, Position, Velocity);
|
||||
this.HasGuidance = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
this.HasGuidance = false;
|
||||
}
|
||||
|
||||
base.Update(deltaTime);
|
||||
}
|
||||
|
||||
public override string GetStatus()
|
||||
{
|
||||
string baseStatus = base.GetStatus().Replace("导弹", "激光驾束制导导弹");
|
||||
string additionalStatus = $"\n 激光引导: {(LaserBeamRiderGuidanceSystem.HasGuidance ? "有效" : "无效")}";
|
||||
return baseStatus + additionalStatus;
|
||||
}
|
||||
|
||||
public override void Activate()
|
||||
{
|
||||
base.Activate();
|
||||
SimulationManager.SubscribeToEvent<LaserBeamStartEvent>(OnLaserBeamStart);
|
||||
SimulationManager.SubscribeToEvent<LaserBeamStopEvent>(OnLaserBeamStop);
|
||||
SimulationManager.SubscribeToEvent<LaserBeamUpdateEvent>(OnLaserBeamUpdate);
|
||||
}
|
||||
|
||||
public override void Deactivate()
|
||||
{
|
||||
base.Deactivate();
|
||||
SimulationManager.UnsubscribeFromEvent<LaserBeamStartEvent>(OnLaserBeamStart);
|
||||
SimulationManager.UnsubscribeFromEvent<LaserBeamStopEvent>(OnLaserBeamStop);
|
||||
SimulationManager.UnsubscribeFromEvent<LaserBeamUpdateEvent>(OnLaserBeamUpdate);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -174,18 +174,22 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 激活激光指示器
|
||||
/// </summary>
|
||||
public void ActivateLaser()
|
||||
public override void Activate()
|
||||
{
|
||||
IsActive = true;
|
||||
IsJammed = false;
|
||||
Console.WriteLine($"激光目标指示器 {Id} 已激活");
|
||||
UpdateIllumination();
|
||||
if (!IsActive)
|
||||
{
|
||||
IsActive = true;
|
||||
IsJammed = false;
|
||||
Console.WriteLine($"激光目标指示器 {Id} 已激活");
|
||||
UpdateIllumination();
|
||||
}
|
||||
base.Activate();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停用激光指示器
|
||||
/// </summary>
|
||||
public void DeactivateLaser()
|
||||
public override void Deactivate()
|
||||
{
|
||||
if (IsActive)
|
||||
{
|
||||
@ -193,6 +197,7 @@ namespace ActiveProtect.Models
|
||||
StopIllumination();
|
||||
Console.WriteLine($"激光目标指示器 {Id} 已停用");
|
||||
}
|
||||
base.Deactivate();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -200,10 +205,13 @@ namespace ActiveProtect.Models
|
||||
/// </summary>
|
||||
private void PublishIlluminationEvent()
|
||||
{
|
||||
PublishEvent(new LaserIlluminationEvent
|
||||
var evt = new LaserIlluminationEvent
|
||||
{
|
||||
TargetId = TargetId
|
||||
});
|
||||
TargetId = TargetId,
|
||||
SenderId = Id
|
||||
};
|
||||
PublishEvent(evt);
|
||||
Console.WriteLine($"激光指示器 {Id} 发布激光照射事件, 目标ID: {TargetId}");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -211,10 +219,13 @@ namespace ActiveProtect.Models
|
||||
/// </summary>
|
||||
private void PublishIlluminationStopEvent()
|
||||
{
|
||||
PublishEvent(new LaserIlluminationStopEvent
|
||||
var evt = new LaserIlluminationStopEvent
|
||||
{
|
||||
TargetId = TargetId
|
||||
});
|
||||
TargetId = TargetId,
|
||||
SenderId = Id
|
||||
};
|
||||
PublishEvent(evt);
|
||||
Console.WriteLine($"激光指示器 {Id} 发布激光照射停止事件, 目标ID: {TargetId}");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -225,7 +236,6 @@ namespace ActiveProtect.Models
|
||||
{
|
||||
if (evt.DeactivatedEntityId == TargetId || evt.DeactivatedEntityId == MissileId)
|
||||
{
|
||||
DeactivateLaser();
|
||||
Deactivate();
|
||||
}
|
||||
}
|
||||
@ -239,6 +249,7 @@ namespace ActiveProtect.Models
|
||||
return $"激光目标指示器 {Id}:\n" +
|
||||
$" 位置: {Position}\n" +
|
||||
$" 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" +
|
||||
$" 干扰状态: {(IsJammed ? "被干扰" : "正常")}\n" +
|
||||
|
||||
@ -173,10 +173,20 @@ namespace ActiveProtect.Models
|
||||
$" 冷却时间: {jammingCooldown:F2}/{maxJammingCooldown:F2}";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 激活激光干扰器
|
||||
/// </summary>
|
||||
public override void Activate()
|
||||
{
|
||||
base.Activate();
|
||||
SimulationManager.SubscribeToEvent<LaserWarnerAlarmEvent>(OnLaserWarnerAlarmEvent);
|
||||
SimulationManager.SubscribeToEvent<LaserWarnerAlarmStopEvent>(OnLaserWarnerAlarmStopEvent);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停用激光干扰器
|
||||
/// </summary>
|
||||
protected override void Deactivate()
|
||||
public override void Deactivate()
|
||||
{
|
||||
base.Deactivate();
|
||||
SimulationManager.UnsubscribeFromEvent<LaserWarnerAlarmEvent>(OnLaserWarnerAlarmEvent);
|
||||
|
||||
161
Models/LaserSemiActiveGuidanceSystem.cs
Normal file
161
Models/LaserSemiActiveGuidanceSystem.cs
Normal file
@ -0,0 +1,161 @@
|
||||
using System;
|
||||
|
||||
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 Vector3D TargetPosition { get; set; }
|
||||
private Vector3D TargetVelocity { get; set; }
|
||||
private Vector3D LaserDesignatorPosition { get; set; }
|
||||
private double FlightTime { get; set; }
|
||||
|
||||
public LaserSemiActiveGuidanceSystem(double proportionalNavigationCoefficient, Vector3D initialMissilePosition, Vector3D initialTargetPosition, Vector3D initialTargetVelocity)
|
||||
: base(proportionalNavigationCoefficient)
|
||||
{
|
||||
Position = initialMissilePosition;
|
||||
TargetPosition = initialTargetPosition;
|
||||
TargetVelocity = initialTargetVelocity;
|
||||
LaserDesignatorPosition = Vector3D.Zero;
|
||||
FlightTime = 0;
|
||||
}
|
||||
|
||||
public void SetTargetIllumination(bool isIlluminated)
|
||||
{
|
||||
IsTargetIlluminated = isIlluminated;
|
||||
}
|
||||
|
||||
public void SetTargetPosition(Vector3D position)
|
||||
{
|
||||
TargetPosition = position;
|
||||
}
|
||||
|
||||
public void SetLaserDesignatorPosition(Vector3D position)
|
||||
{
|
||||
LaserDesignatorPosition = position;
|
||||
}
|
||||
|
||||
public override void Update(double deltaTime, Vector3D missilePosition, Vector3D missileVelocity)
|
||||
{
|
||||
base.Update(deltaTime, missilePosition, missileVelocity);
|
||||
|
||||
Position = missilePosition;
|
||||
Velocity = missileVelocity;
|
||||
FlightTime += deltaTime;
|
||||
|
||||
UpdateGuidanceStatus();
|
||||
if (HasGuidance)
|
||||
{
|
||||
CalculateGuidanceCommand(deltaTime);
|
||||
}
|
||||
else
|
||||
{
|
||||
GuidanceCommand = Vector3D.Zero;
|
||||
}
|
||||
|
||||
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));
|
||||
|
||||
// 计算探测器接收到的功率比例
|
||||
double detectorArea = Math.PI * Math.Pow(DetectorDiameter / 2, 2);
|
||||
double illuminatedArea = Math.PI * Math.Pow(distanceToMissile * Math.Tan(FieldOfViewAngle / 2), 2);
|
||||
double powerRatio = Math.Min(1, detectorArea / illuminatedArea);
|
||||
|
||||
// 计算聚焦后的功率密度增加
|
||||
double focusedArea = Math.PI * Math.Pow(FocusedSpotDiameter / 2, 2);
|
||||
double focusingFactor = detectorArea / focusedArea;
|
||||
|
||||
// 计算最终接收到的功率
|
||||
double finalReceivedPower = receivedPower * powerRatio * focusingFactor;
|
||||
|
||||
return finalReceivedPower;
|
||||
}
|
||||
|
||||
protected override void CalculateGuidanceCommand(double deltaTime)
|
||||
{
|
||||
if (!HasGuidance)
|
||||
{
|
||||
GuidanceCommand = Vector3D.Zero;
|
||||
return;
|
||||
}
|
||||
|
||||
// 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;
|
||||
|
||||
// 限制最大加速度
|
||||
double maxAcceleration = 1000; // 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()
|
||||
{
|
||||
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($" 接收到的激光功率: {CalculateReceivedLaserPower():E} W");
|
||||
Console.WriteLine($" 锁定阈值: {LockThreshold:E} W");
|
||||
Console.WriteLine();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -6,78 +6,49 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 激光半主动制导导弹类，继承自基础导弹类
|
||||
/// </summary>
|
||||
public class LaserSemiActiveGuidedMissile : Missile
|
||||
public class LaserSemiActiveGuidedMissile : MissileBase
|
||||
{
|
||||
/// <summary>
|
||||
/// 激光锁定距离（米）
|
||||
/// </summary>
|
||||
private const double LaserLockDistance = 1500;
|
||||
|
||||
private LaserSemiActiveGuidanceSystem LaserGuidanceSystem;
|
||||
private string LaserDesignatorId;
|
||||
/// <summary>
|
||||
/// 构造函数
|
||||
/// </summary>
|
||||
/// <param name="id">导弹ID</param>
|
||||
/// <param name="laserDesignatorId">激光指示器ID</param>
|
||||
/// <param name="missileConfig">导弹配置</param>
|
||||
/// <param name="simulationManager">仿真管理器</param>
|
||||
public LaserSemiActiveGuidedMissile(
|
||||
string id,
|
||||
MissileConfig missileConfig,
|
||||
string laserDesignatorId,
|
||||
ISimulationManager simulationManager)
|
||||
: base(id, missileConfig, simulationManager)
|
||||
{
|
||||
Type = MissileType.LaserSemiActiveGuidance;
|
||||
Vector3D initialTargetPosition = simulationManager.GetEntityById($"Tank_{missileConfig.TargetIndex + 1}").Position;
|
||||
Vector3D initialTargetVelocity = simulationManager.GetEntityById($"Tank_{missileConfig.TargetIndex + 1}").Velocity;
|
||||
LaserGuidanceSystem = new LaserSemiActiveGuidanceSystem(
|
||||
missileConfig.ProportionalNavigationCoefficient,
|
||||
missileConfig.InitialPosition,
|
||||
initialTargetPosition,
|
||||
initialTargetVelocity
|
||||
);
|
||||
LaserDesignatorId = laserDesignatorId;
|
||||
|
||||
// 订阅事件
|
||||
simulationManager.SubscribeToEvent<LaserIlluminationEvent>(OnLaserIllumination);
|
||||
simulationManager.SubscribeToEvent<LaserIlluminationStopEvent>(OnLaserIlluminationStop);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新导弹的制导状态
|
||||
/// </summary>
|
||||
protected override void UpdateGuidanceStatus()
|
||||
{
|
||||
bool previousHasGuidance = HasGuidance;
|
||||
|
||||
if (SimulationManager.GetEntityById(TargetId) is ILaserIlluminatable target)
|
||||
{
|
||||
bool isIlluminated = target.IsIlluminated;
|
||||
bool isWithinRange = DistanceToTarget <= LaserLockDistance;
|
||||
HasGuidance = isIlluminated && isWithinRange;
|
||||
|
||||
Console.WriteLine($"激光半主动制导导弹 {Id} 状态更新:");
|
||||
Console.WriteLine($" 目标 {TargetId} 是否被照射: {isIlluminated}");
|
||||
Console.WriteLine($" 距离目标: {DistanceToTarget:F2} m (最大锁定距离: {LaserLockDistance} m)");
|
||||
Console.WriteLine($" 是否在锁定范围内: {isWithinRange}");
|
||||
Console.WriteLine($" 引导状态: {(HasGuidance ? "有效" : "无效")}");
|
||||
|
||||
if (!HasGuidance && previousHasGuidance)
|
||||
{
|
||||
Console.WriteLine($"激光半主动制导导弹 {Id} 失去引导");
|
||||
LastKnownVelocity = Velocity;
|
||||
}
|
||||
else if (HasGuidance && !previousHasGuidance)
|
||||
{
|
||||
Console.WriteLine($"激光半主动制导导弹 {Id} 获得引导");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
HasGuidance = false;
|
||||
Console.WriteLine($"激光半主动制导导弹 {Id} 无法找到目标 {TargetId}");
|
||||
}
|
||||
|
||||
base.UpdateGuidanceStatus();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 处理激光照射事件
|
||||
/// </summary>
|
||||
/// <param name="evt">激光照射事件</param>
|
||||
private void OnLaserIllumination(LaserIlluminationEvent evt)
|
||||
{
|
||||
Console.WriteLine($"激光半主动导弹 {Id} 接收到激光照射事件, 目标ID: {evt.TargetId}");
|
||||
if (evt.TargetId == TargetId)
|
||||
{
|
||||
Console.WriteLine($"激光半主动制导导弹 {Id} 检测到目标 {TargetId} 被激光照射");
|
||||
UpdateGuidanceStatus();
|
||||
LaserGuidanceSystem.SetTargetIllumination(true);
|
||||
}
|
||||
}
|
||||
|
||||
@ -87,10 +58,10 @@ namespace ActiveProtect.Models
|
||||
/// <param name="evt">激光照射停止事件</param>
|
||||
private void OnLaserIlluminationStop(LaserIlluminationStopEvent evt)
|
||||
{
|
||||
Console.WriteLine($"激光半主动导弹 {Id} 接收到激光照射停止事件, 目标ID: {evt.TargetId}");
|
||||
if (evt.TargetId == TargetId)
|
||||
{
|
||||
Console.WriteLine($"激光半主动制导导弹 {Id} 检测到目标 {TargetId} 激光照射停止");
|
||||
UpdateGuidanceStatus();
|
||||
LaserGuidanceSystem.SetTargetIllumination(false);
|
||||
}
|
||||
}
|
||||
|
||||
@ -101,18 +72,78 @@ namespace ActiveProtect.Models
|
||||
public override string GetStatus()
|
||||
{
|
||||
string baseStatus = base.GetStatus().Replace("导弹", "激光半主动制导导弹");
|
||||
string additionalStatus = $"\n 激光引导: {(HasGuidance ? "有效" : "无效")}";
|
||||
string additionalStatus = $"\n 激光引导: {(LaserGuidanceSystem.HasGuidance ? "有效" : "无效")}";
|
||||
return baseStatus + additionalStatus;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 激活导弹
|
||||
/// </summary>
|
||||
public override void Activate()
|
||||
{
|
||||
base.Activate();
|
||||
SimulationManager.SubscribeToEvent<LaserIlluminationEvent>(OnLaserIllumination);
|
||||
SimulationManager.SubscribeToEvent<LaserIlluminationStopEvent>(OnLaserIlluminationStop);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停用导弹
|
||||
/// </summary>
|
||||
protected override void Deactivate()
|
||||
public override void Deactivate()
|
||||
{
|
||||
base.Deactivate();
|
||||
SimulationManager.UnsubscribeFromEvent<LaserIlluminationEvent>(OnLaserIllumination);
|
||||
SimulationManager.UnsubscribeFromEvent<LaserIlluminationStopEvent>(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);
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
protected override Vector3D GetGuidanceCommand()
|
||||
{
|
||||
return LaserGuidanceSystem.GetGuidanceCommand();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -136,10 +136,20 @@ namespace ActiveProtect.Models
|
||||
$" 警报持续时间: {(IsAlarming ? alarmTimer : 0):F2}/{alarmDuration:F2}";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 激活激光告警器
|
||||
/// </summary>
|
||||
public override void Activate()
|
||||
{
|
||||
base.Activate();
|
||||
SimulationManager.SubscribeToEvent<LaserIlluminationEvent>(OnLaserIllumination);
|
||||
SimulationManager.SubscribeToEvent<LaserIlluminationStopEvent>(OnLaserIlluminationStop);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 停用激光告警器
|
||||
/// </summary>
|
||||
protected override void Deactivate()
|
||||
public override void Deactivate()
|
||||
{
|
||||
base.Deactivate();
|
||||
SimulationManager.UnsubscribeFromEvent<LaserIlluminationEvent>(OnLaserIllumination);
|
||||
|
||||
@ -1,12 +1,13 @@
|
||||
using System;
|
||||
using ActiveProtect.SimulationEnvironment;
|
||||
using Model;
|
||||
|
||||
namespace ActiveProtect.Models
|
||||
{
|
||||
/// <summary>
|
||||
/// 表示仿真中的导弹
|
||||
/// </summary>
|
||||
public class Missile : SimulationElement
|
||||
public class MissileBase : SimulationElement
|
||||
{
|
||||
/// <summary>
|
||||
/// 导弹类型
|
||||
@ -68,11 +69,6 @@ namespace ActiveProtect.Models
|
||||
/// </summary>
|
||||
public FlightStage CurrentStage { get; protected set; }
|
||||
|
||||
/// <summary>
|
||||
/// 导弹速度向量
|
||||
/// </summary>
|
||||
protected Vector3D Velocity;
|
||||
|
||||
/// <summary>
|
||||
/// 上一帧目标位置
|
||||
/// </summary>
|
||||
@ -133,7 +129,7 @@ namespace ActiveProtect.Models
|
||||
/// </summary>
|
||||
public const double LAUNCH_DURATION = 0.5;
|
||||
|
||||
private IMissileStageStrategy currentStage;
|
||||
protected IMissileStageStrategy currentStage;
|
||||
private Dictionary<FlightStage, IMissileStageStrategy> stageStrategies;
|
||||
|
||||
/// <summary>
|
||||
@ -144,7 +140,7 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 构造函数
|
||||
/// </summary>
|
||||
public Missile(string id, MissileConfig missileConfig, ISimulationManager simulationManager)
|
||||
public MissileBase(string id, MissileConfig missileConfig, ISimulationManager simulationManager)
|
||||
: base(id, missileConfig.InitialPosition, missileConfig.InitialOrientation, simulationManager)
|
||||
{
|
||||
// 初始化导弹属性
|
||||
@ -215,24 +211,106 @@ namespace ActiveProtect.Models
|
||||
}
|
||||
|
||||
UpdateEngineBurnTime(deltaTime);
|
||||
(Position, Velocity) = UpdatePositionAndVelocityRK4(deltaTime);
|
||||
|
||||
Speed = Velocity.Magnitude();
|
||||
Orientation = Orientation.FromVector(Velocity);
|
||||
FlightTime += deltaTime;
|
||||
FlightDistance += Speed * deltaTime;
|
||||
DistanceToTarget = Vector3D.Distance(Position, SimulationManager.GetEntityById(TargetId).Position);
|
||||
Vector3D guidanceCommand = GetGuidanceCommand();
|
||||
|
||||
UpdateMotionState(deltaTime, guidanceCommand);
|
||||
|
||||
if (CheckHit())
|
||||
{
|
||||
Explode();
|
||||
return;
|
||||
}
|
||||
|
||||
UpdateGuidanceStatus();
|
||||
|
||||
currentStage.Update(deltaTime);
|
||||
}
|
||||
|
||||
protected virtual Vector3D GetGuidanceCommand()
|
||||
{
|
||||
throw new NotImplementedException();
|
||||
}
|
||||
|
||||
private 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);
|
||||
}
|
||||
/// <summary>
|
||||
/// 计算导弹的加速度
|
||||
/// </summary>
|
||||
private Vector3D CalculateAcceleration(Vector3D velocity, Vector3D guidanceCommand)
|
||||
{
|
||||
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 * 0.1);
|
||||
guidanceAcceleration = guidanceCommand * 1;
|
||||
break;
|
||||
case FlightStage.TerminalGuidance:
|
||||
thrustAcceleration = Orientation.ToVector() * (ThrustAcceleration * 0.2);
|
||||
guidanceAcceleration = guidanceCommand * 1.2;
|
||||
break;
|
||||
case FlightStage.Attack:
|
||||
thrustAcceleration = Orientation.ToVector() * ThrustAcceleration;
|
||||
guidanceAcceleration = guidanceCommand * 1.5;
|
||||
break;
|
||||
}
|
||||
|
||||
if (!HasGuidance)
|
||||
{
|
||||
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;
|
||||
|
||||
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;
|
||||
}
|
||||
/// <summary>
|
||||
/// 切换导弹飞行阶段
|
||||
/// </summary>
|
||||
@ -299,7 +377,7 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 计算导弹的加速度
|
||||
/// </summary>
|
||||
private (Vector3D, Vector3D) CalculateDerivatives(Vector3D position, Vector3D velocity, double deltaTime)
|
||||
private (Vector3D, Vector3D) CalculateDerivatives_RK4(Vector3D position, Vector3D velocity, double deltaTime)
|
||||
{
|
||||
Vector3D guidanceAcceleration = Vector3D.Zero;
|
||||
Vector3D thrustAcceleration = Vector3D.Zero;
|
||||
@ -372,32 +450,32 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 使用 Runge-Kutta 方法更新位置和速度
|
||||
/// </summary>
|
||||
private (Vector3D, Vector3D) UpdatePositionAndVelocityRK4(double deltaTime)
|
||||
{
|
||||
Vector3D k1, k2, k3, k4;
|
||||
Vector3D v1, v2, v3, v4;
|
||||
// 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);
|
||||
// (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);
|
||||
// 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;
|
||||
}
|
||||
// // 限制速度不超过最大速度
|
||||
// if (newVelocity.Magnitude() > MaxSpeed)
|
||||
// {
|
||||
// newVelocity = newVelocity.Normalize() * MaxSpeed;
|
||||
// }
|
||||
|
||||
return (newPosition, newVelocity);
|
||||
}
|
||||
// return (newPosition, newVelocity);
|
||||
// }
|
||||
|
||||
/// <summary>
|
||||
/// 检查是否命中目标
|
||||
/// </summary>
|
||||
private bool CheckHit()
|
||||
protected bool CheckHit()
|
||||
{
|
||||
return DistanceToTarget <= DistanceParams.ExplosionDistance;
|
||||
}
|
||||
@ -405,7 +483,7 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 检查是否应该自毁
|
||||
/// </summary>
|
||||
private bool ShouldSelfDestruct()
|
||||
protected bool ShouldSelfDestruct()
|
||||
{
|
||||
if (FlightTime >= MaxFlightTime)
|
||||
{
|
||||
@ -417,7 +495,7 @@ namespace ActiveProtect.Models
|
||||
Console.WriteLine($"导弹 {Id} 超出最大飞行距离 ({FlightDistance:F2}/{MaxFlightDistance:F2})，准备自毁");
|
||||
return true;
|
||||
}
|
||||
if (Position.Y <= 0)
|
||||
if (Position.Y <= -1.0) // 数字略小于0
|
||||
{
|
||||
Console.WriteLine($"导弹 {Id} 高度小于等于0 ({Position.Y:F2})，准备自毁");
|
||||
return true;
|
||||
@ -491,16 +569,17 @@ namespace ActiveProtect.Models
|
||||
/// </summary>
|
||||
public override string GetStatus()
|
||||
{
|
||||
return $"导弹 {Id}:\n" +
|
||||
$" 位置: {Position}\n" +
|
||||
$" 速度: {Speed:F2} m/s\n" +
|
||||
$" 当前状态: {GetCurrentStateName()}\n" +
|
||||
$" 飞行时间: {FlightTime:F2}/{MaxFlightTime:F2}\n" +
|
||||
$" 飞行距离: {FlightDistance:F2}/{MaxFlightDistance:F2}\n" +
|
||||
$" 距离目标: {DistanceToTarget:F2}\n" +
|
||||
$" 发动机工作时间: {EngineBurnTime:F2}/{MaxEngineBurnTime:F2}\n" +
|
||||
$" 有引导: {(HasGuidance ? "是" : "否")}\n" +
|
||||
$" 失去引导时间: {LostGuidanceTime:F2}";
|
||||
MissileRunningState missileRunningState = GetState();
|
||||
return $"导弹 {missileRunningState.Id}:\n" +
|
||||
$" 位置: {missileRunningState.Position}\n" +
|
||||
$" 速度: {missileRunningState.Speed:F2} m/s\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}";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -511,12 +590,26 @@ namespace ActiveProtect.Models
|
||||
// 基类中的默认实现
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取当前飞行阶段的名称
|
||||
/// </summary>
|
||||
public string GetCurrentStateName()
|
||||
public MissileRunningState GetState()
|
||||
{
|
||||
return currentStage.GetType().Name;
|
||||
return new MissileRunningState
|
||||
{
|
||||
Id = Id,
|
||||
Type = Type,
|
||||
Position = Position,
|
||||
Velocity = Velocity,
|
||||
Orientation = Orientation,
|
||||
Speed = Speed,
|
||||
TargetId = TargetId,
|
||||
FlightTime = FlightTime,
|
||||
FlightDistance = FlightDistance,
|
||||
DistanceToTarget = DistanceToTarget,
|
||||
CurrentStage = CurrentStage,
|
||||
HasGuidance = HasGuidance,
|
||||
LostGuidanceTime = LostGuidanceTime,
|
||||
EngineBurnTime = EngineBurnTime,
|
||||
IsActive = IsActive
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
@ -533,10 +626,10 @@ namespace ActiveProtect.Models
|
||||
/// </summary>
|
||||
public class LaunchStageStrategy : IMissileStageStrategy
|
||||
{
|
||||
private readonly Missile missile;
|
||||
private readonly MissileBase missile;
|
||||
private double launchTime = 0;
|
||||
|
||||
public LaunchStageStrategy(Missile missile)
|
||||
public LaunchStageStrategy(MissileBase missile)
|
||||
{
|
||||
this.missile = missile;
|
||||
}
|
||||
@ -544,7 +637,7 @@ namespace ActiveProtect.Models
|
||||
public void Update(double deltaTime)
|
||||
{
|
||||
launchTime += deltaTime;
|
||||
if (launchTime >= Missile.LAUNCH_DURATION || missile.Speed >= missile.MaxSpeed * 0.1)
|
||||
if (launchTime >= MissileBase.LAUNCH_DURATION || missile.Speed >= missile.MaxSpeed * 0.1)
|
||||
{
|
||||
missile.ChangeStage(FlightStage.Acceleration);
|
||||
}
|
||||
@ -554,9 +647,9 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 加速阶段策略
|
||||
/// </summary>
|
||||
public class AccelerationStageStrategy(Missile missile) : IMissileStageStrategy
|
||||
public class AccelerationStageStrategy(MissileBase missile) : IMissileStageStrategy
|
||||
{
|
||||
private readonly Missile missile = missile;
|
||||
private readonly MissileBase missile = missile;
|
||||
|
||||
public void Update(double deltaTime)
|
||||
{
|
||||
@ -570,9 +663,9 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 巡航阶段策略
|
||||
/// </summary>
|
||||
public class CruiseStageStrategy(Missile missile) : IMissileStageStrategy
|
||||
public class CruiseStageStrategy(MissileBase missile) : IMissileStageStrategy
|
||||
{
|
||||
private readonly Missile missile = missile;
|
||||
private readonly MissileBase missile = missile;
|
||||
|
||||
public void Update(double deltaTime)
|
||||
{
|
||||
@ -586,9 +679,9 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 终端制导阶段策略
|
||||
/// </summary>
|
||||
public class TerminalGuidanceStageStrategy(Missile missile) : IMissileStageStrategy
|
||||
public class TerminalGuidanceStageStrategy(MissileBase missile) : IMissileStageStrategy
|
||||
{
|
||||
private readonly Missile missile = missile;
|
||||
private readonly MissileBase missile = missile;
|
||||
|
||||
public void Update(double deltaTime)
|
||||
{
|
||||
@ -602,9 +695,9 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 攻击阶段策略
|
||||
/// </summary>
|
||||
public class AttackStageStrategy(Missile missile) : IMissileStageStrategy
|
||||
public class AttackStageStrategy(MissileBase missile) : IMissileStageStrategy
|
||||
{
|
||||
private readonly Missile missile = missile;
|
||||
private readonly MissileBase missile = missile;
|
||||
|
||||
public void Update(double deltaTime)
|
||||
{
|
||||
@ -618,9 +711,9 @@ namespace ActiveProtect.Models
|
||||
/// <summary>
|
||||
/// 无制导阶段策略
|
||||
/// </summary>
|
||||
public class UnguidedStageStrategy(Missile missile) : IMissileStageStrategy
|
||||
public class UnguidedStageStrategy(MissileBase missile) : IMissileStageStrategy
|
||||
{
|
||||
private readonly Missile missile = missile;
|
||||
private readonly MissileBase missile = missile;
|
||||
|
||||
public void Update(double deltaTime)
|
||||
{
|
||||
@ -643,4 +736,86 @@ namespace ActiveProtect.Models
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 表示导弹的当前状态
|
||||
/// </summary>
|
||||
public struct MissileRunningState
|
||||
{
|
||||
/// <summary>
|
||||
/// 导弹ID
|
||||
/// </summary>
|
||||
public string Id { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 导弹类型
|
||||
/// </summary>
|
||||
public MissileType Type { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前位置
|
||||
/// </summary>
|
||||
public Vector3D Position { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前速度向量
|
||||
/// </summary>
|
||||
public Vector3D Velocity { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前朝向
|
||||
/// </summary>
|
||||
public Orientation Orientation { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前速度(米/秒)
|
||||
/// </summary>
|
||||
public double Speed { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 目标ID
|
||||
/// </summary>
|
||||
public string TargetId { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前飞行时间(秒)
|
||||
/// </summary>
|
||||
public double FlightTime { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前飞行距离(米)
|
||||
/// </summary>
|
||||
public double FlightDistance { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 与目标的距离(米)
|
||||
/// </summary>
|
||||
public double DistanceToTarget { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前飞行阶段
|
||||
/// </summary>
|
||||
public FlightStage CurrentStage { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 是否有制导
|
||||
/// </summary>
|
||||
public bool HasGuidance { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 失去制导时间(秒)
|
||||
/// </summary>
|
||||
public double LostGuidanceTime { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 当前发动机燃烧时间(秒)
|
||||
/// </summary>
|
||||
public double EngineBurnTime { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 是否处于活动状态
|
||||
/// </summary>
|
||||
public bool IsActive { get; set; }
|
||||
}
|
||||
}
|
||||
351
Models/MissileClass.cs
Normal file
351
Models/MissileClass.cs
Normal file
@ -0,0 +1,351 @@
|
||||
using System;
|
||||
|
||||
namespace Model
|
||||
{
|
||||
/// <summary>
|
||||
/// 坦克消息结构
|
||||
/// </summary>
|
||||
public struct TankInfo
|
||||
{
|
||||
/// <summary>
|
||||
/// 坦克编号
|
||||
/// </summary>
|
||||
public int TankID { get; set; }
|
||||
/// <summary>
|
||||
/// 坦克类型编号
|
||||
/// </summary>
|
||||
public int TankType { get; set; }
|
||||
/// <summary>
|
||||
/// 坦克X坐标
|
||||
/// </summary>
|
||||
public double xp { get; set; }
|
||||
/// <summary>
|
||||
/// 坦克Y坐标
|
||||
/// </summary>
|
||||
public double yp { get; set; }
|
||||
/// <summary>
|
||||
/// 坦克Z坐标
|
||||
/// </summary>
|
||||
public double zp { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 烟幕标记
|
||||
/// </summary>
|
||||
public double fYMFlag { get; set; }
|
||||
/// <summary>
|
||||
/// 烟幕SNR
|
||||
/// </summary>
|
||||
public double fYMSNR { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 激光致盲标记,1-导弹；2-制导站；3-两者都不是
|
||||
/// </summary>
|
||||
public double fZMJGFlag { get; set; }
|
||||
/// <summary>
|
||||
/// 致盲能量
|
||||
/// </summary>
|
||||
public double fZMJGPower { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 激光诱骗假目标X坐标
|
||||
/// </summary>
|
||||
public double fFalseX { get; set; }
|
||||
/// <summary>
|
||||
/// 激光诱骗假目标Y坐标
|
||||
/// </summary>
|
||||
public double fFalseY { get; set; }
|
||||
/// <summary>
|
||||
/// 激光诱骗假目标Z坐标
|
||||
/// </summary>
|
||||
public double fFalseZ { get; set; }
|
||||
/// <summary>
|
||||
/// 红外诱骗能量值
|
||||
/// </summary>
|
||||
public double fFalseIRPower { get; set; }
|
||||
/// <summary>
|
||||
/// 激光诱骗能量值
|
||||
/// </summary>
|
||||
public double fFalseJGPower { get; set; }
|
||||
/// <summary>
|
||||
/// 毫米波补偿//1为开启
|
||||
/// </summary>
|
||||
public double fHMBBCFlag { get; set; }
|
||||
/// <summary>
|
||||
/// 毫米波干扰能量
|
||||
/// </summary>
|
||||
public double fHMBGRPower { get; set; }
|
||||
/// <summary>
|
||||
/// 红外干扰能量
|
||||
/// </summary>
|
||||
public double fHWGRPower { get; set; }
|
||||
/// <summary>
|
||||
/// 坦克辐射红外能量
|
||||
/// </summary>
|
||||
public double fTankIRPower { get; set; }
|
||||
/// <summary>
|
||||
/// 坦克辐射激光能量
|
||||
/// </summary>
|
||||
public double fTankJGPower { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 坦克辐射毫米波能量
|
||||
/// </summary>
|
||||
public double fTankHMBPower { get; set; }
|
||||
/// <summary>
|
||||
/// 毫米波补偿特征值//大于导弹补偿成功，末敏弹子弹爆炸
|
||||
/// </summary>
|
||||
public double fFeature { get; set; }
|
||||
|
||||
};
|
||||
|
||||
/// <summary>
|
||||
/// 威胁源初始化信息结构
|
||||
/// </summary>
|
||||
public struct MIniInfo
|
||||
{
|
||||
/// <summary>
|
||||
/// 导弹ID
|
||||
/// </summary>
|
||||
public int nMisID;
|
||||
/// <summary>
|
||||
/// 导弹X坐标
|
||||
/// </summary>
|
||||
public double xm;
|
||||
/// <summary>
|
||||
/// 导弹Y坐标
|
||||
/// </summary>
|
||||
public double ym;
|
||||
/// <summary>
|
||||
/// 导弹Z坐标
|
||||
/// </summary>
|
||||
public double zm;
|
||||
/// <summary>
|
||||
/// 导弹方位角
|
||||
/// </summary>
|
||||
public double psi_m;
|
||||
/// <summary>
|
||||
/// 导弹俯仰角
|
||||
/// </summary>
|
||||
public double theta_m;
|
||||
/// <summary>
|
||||
/// 导弹飞行速度
|
||||
/// </summary>
|
||||
public double vm;
|
||||
/// <summary>
|
||||
/// 坦克X坐标
|
||||
/// </summary>
|
||||
public double xt;
|
||||
/// <summary>
|
||||
/// 坦克Y坐标
|
||||
/// </summary>
|
||||
public double yt;
|
||||
/// <summary>
|
||||
/// 坦克Z坐标
|
||||
/// </summary>
|
||||
public double zt;
|
||||
/// <summary>
|
||||
/// 光斑X坐标
|
||||
/// </summary>
|
||||
public double xd;
|
||||
/// <summary>
|
||||
/// 光斑Y坐标
|
||||
/// </summary>
|
||||
public double yd;
|
||||
/// <summary>
|
||||
/// 光斑Z坐标
|
||||
/// </summary>
|
||||
public double zd;
|
||||
|
||||
};
|
||||
|
||||
/// <summary>
|
||||
/// 威胁源运行信息结构
|
||||
/// </summary>
|
||||
public struct MRunInfo
|
||||
{
|
||||
/// <summary>
|
||||
/// 杀伤半径
|
||||
/// </summary>
|
||||
public double Rx;
|
||||
/// <summary>
|
||||
/// 仿真时间
|
||||
/// </summary>
|
||||
public double fSimTime;
|
||||
/// <summary>
|
||||
/// x坐标
|
||||
/// </summary>
|
||||
public double fMisX;
|
||||
/// <summary>
|
||||
/// y坐标
|
||||
/// </summary>
|
||||
public double fMisY;
|
||||
/// <summary>
|
||||
/// z坐标
|
||||
/// </summary>
|
||||
public double fMisZ;
|
||||
/// <summary>
|
||||
/// 导弹弹道倾角
|
||||
/// </summary>
|
||||
public double fMisDeltCw;
|
||||
/// <summary>
|
||||
/// 滚转角
|
||||
/// </summary>
|
||||
public double fMisRoll;
|
||||
/// <summary>
|
||||
/// 导弹弹道偏角
|
||||
/// </summary>
|
||||
public double fMisPitch;
|
||||
/// <summary>
|
||||
/// 导弹速度
|
||||
/// </summary>
|
||||
public double fMisV;
|
||||
/// <summary>
|
||||
/// 导弹辐射红外能量
|
||||
/// </summary>
|
||||
public double fIRPower;
|
||||
/// <summary>
|
||||
/// 导弹辐射红外波长
|
||||
/// </summary>
|
||||
public double fIRWaveLen;
|
||||
/// <summary>
|
||||
/// 导弹紫外能量
|
||||
/// </summary>
|
||||
public double fUVPower;
|
||||
/// <summary>
|
||||
/// 导弹紫外波长
|
||||
/// </summary>
|
||||
public double fUVWaveLen;
|
||||
/// <summary>
|
||||
/// 导弹激光能量
|
||||
/// </summary>
|
||||
public double fJGPower;
|
||||
// 导弹激光波长
|
||||
public double fJGWaveLen;
|
||||
/// <summary>
|
||||
/// 导弹毫米波能量
|
||||
/// </summary>
|
||||
public double fHMBPower;
|
||||
/// <summary>
|
||||
/// 导弹毫米波波长
|
||||
/// </summary>
|
||||
public double fHMBWaveLen;
|
||||
/// <summary>
|
||||
/// 制导站批号
|
||||
/// </summary>
|
||||
public double nZDZID;
|
||||
/// <summary>
|
||||
/// 架束仪位置x
|
||||
/// </summary>
|
||||
public double fZDZX;
|
||||
/// <summary>
|
||||
/// 架束仪位置Y
|
||||
/// </summary>
|
||||
public double fZDZY;
|
||||
/// <summary>
|
||||
/// 架束仪位置Z
|
||||
/// </summary>
|
||||
public double fZDZZ;
|
||||
/// <summary>
|
||||
/// 制导站辐射激光能量
|
||||
/// </summary>
|
||||
public double fZDZJGPower;
|
||||
/// <summary>
|
||||
/// 制导站辐射激光波长
|
||||
/// </summary>
|
||||
public double fZDZJGWaveLen;
|
||||
/// <summary>
|
||||
/// 编码
|
||||
/// </summary>
|
||||
public double nZDZCode;
|
||||
/// <summary>
|
||||
/// 脉冲重复频率
|
||||
/// </summary>
|
||||
public double fZDZReFre;
|
||||
/// <summary>
|
||||
/// 脉宽
|
||||
/// </summary>
|
||||
public double fZDZPulse;
|
||||
/// <summary>
|
||||
/// 末敏弹状态 1：母弹，2：子弹，3：子弹扫描状态
|
||||
/// </summary>
|
||||
public double nMMDState;
|
||||
/// <summary>
|
||||
/// 子弹数量
|
||||
/// </summary>
|
||||
public double nSubNum;
|
||||
/// <summary>
|
||||
/// 子弹1批号
|
||||
/// </summary>
|
||||
public double nSub1ID;
|
||||
/// <summary>
|
||||
/// 子弹1坐标X
|
||||
/// </summary>
|
||||
public double fSub1X;
|
||||
// 子弹1坐标Y
|
||||
public double fSub1Y;
|
||||
/// <summary>
|
||||
/// 子弹1坐标Z
|
||||
/// </summary>
|
||||
public double fSub1Z;
|
||||
/// <summary>
|
||||
/// 子弹1辐射毫米波能量
|
||||
/// </summary>
|
||||
public double fSub1HMBPower;
|
||||
/// <summary>
|
||||
/// 子弹1辐射毫米波波长
|
||||
/// </summary>
|
||||
public double fSub1HMBWaveLen;
|
||||
/// <summary>
|
||||
/// 子弹1扫描坐标X
|
||||
/// </summary>
|
||||
public double fSub1ScanX;
|
||||
/// <summary>
|
||||
/// 子弹1扫描坐标Y
|
||||
/// </summary>
|
||||
public double fSub1ScanY;
|
||||
/// <summary>
|
||||
/// 子弹1扫描坐标Z
|
||||
/// </summary>
|
||||
public double fSub1ScanZ;
|
||||
/// <summary>
|
||||
/// 防护手段 1:激光致盲；2：激光诱骗；3：红外干扰；4:红外诱骗；5：毫米波干扰；6：毫米波补偿；7:烟幕防护;8:致盲制导站
|
||||
/// </summary>
|
||||
public double nDisType;
|
||||
/// <summary>
|
||||
/// 0代表失败 1代表成功
|
||||
/// </summary>
|
||||
public double nDisRes;
|
||||
/// <summary>
|
||||
/// 后续进一步处理
|
||||
/// </summary>
|
||||
public double k1;
|
||||
/// <summary>
|
||||
/// 弹道偏角和倾角改变角度当亲步骤数
|
||||
/// </summary>
|
||||
public int Xi;
|
||||
|
||||
public int JG_GR_success;
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 炮弹状态标志，0:正常，1：炸毁目标，2：自爆
|
||||
/// </summary>
|
||||
public int bombFlag;
|
||||
|
||||
|
||||
///// <summary>
|
||||
///// 激光诱骗假目标X坐标
|
||||
///// </summary>
|
||||
//public double fFalseX;
|
||||
///// <summary>
|
||||
///// 激光诱骗假目标Y坐标
|
||||
///// </summary>
|
||||
//public double fFalseY;
|
||||
///// <summary>
|
||||
///// 激光诱骗假目标Z坐标
|
||||
///// </summary>
|
||||
//public double fFalseZ;
|
||||
};
|
||||
|
||||
|
||||
};
|
||||
189
Program.cs
189
Program.cs
@ -2,6 +2,8 @@ using System;
|
||||
using System.Threading;
|
||||
using ActiveProtect.SimulationEnvironment;
|
||||
using ActiveProtect.Models;
|
||||
using Model;
|
||||
using System.Security.Cryptography.X509Certificates;
|
||||
|
||||
namespace ActiveProtect
|
||||
{
|
||||
@ -9,22 +11,44 @@ namespace ActiveProtect
|
||||
{
|
||||
static void Main(string[] args)
|
||||
{
|
||||
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
|
||||
{
|
||||
// 配置坦克
|
||||
TankConfigs =
|
||||
[
|
||||
new() {
|
||||
InitialPosition = new Vector3D(100, 0, 100),
|
||||
InitialOrientation = new Orientation(0, 0, 0),
|
||||
InitialSpeed = 0,
|
||||
new(tankinfo) {
|
||||
InitialOrientation = new Orientation(Math.PI/4, 0, 0),
|
||||
InitialSpeed = 15,
|
||||
MaxSpeed = 20,
|
||||
MaxArmor = 100,
|
||||
HasLaserWarner = false,
|
||||
HasLaserJammer = true
|
||||
}
|
||||
],
|
||||
// 配置激光指示器
|
||||
LaserDesignatorConfig = new LaserDesignatorConfig
|
||||
{
|
||||
InitialPosition = new Vector3D(500, 150, 100),
|
||||
MaxIlluminationRange = 1000
|
||||
},
|
||||
// 配置激光告警器
|
||||
LaserWarnerConfig = new LaserWarnerConfig
|
||||
{
|
||||
@ -38,92 +62,107 @@ namespace ActiveProtect
|
||||
InitialJammingPower = 4000.0,
|
||||
PowerIncreaseRate = 2000.0
|
||||
},
|
||||
// 配置激光驾束仪
|
||||
LaserBeamRiderConfig = new LaserBeamRiderConfig
|
||||
{
|
||||
InitialPosition = new Vector3D(2000, 10, 100),
|
||||
LaserPower = 1000,
|
||||
ControlFieldDiameter = 6,
|
||||
MaxGuidanceDistance = 5000
|
||||
},
|
||||
// 配置导弹
|
||||
MissileConfigs =
|
||||
[
|
||||
// 标准导弹配置
|
||||
new() {
|
||||
InitialPosition = new Vector3D(1500, 200, 100),
|
||||
InitialOrientation = new Orientation(Math.PI, -0.1, 0),
|
||||
InitialSpeed = 0,
|
||||
MaxSpeed = 300,
|
||||
TargetIndex = 0,
|
||||
MaxFlightTime = 0.5,
|
||||
MaxFlightDistance = 3000,
|
||||
ThrustAcceleration = 50,
|
||||
MaxEngineBurnTime = 10,
|
||||
MaxAcceleration = 100,
|
||||
ProportionalNavigationCoefficient = 3,
|
||||
StageConfig = FlightStageConfig.StandardMissile,
|
||||
DistanceParams = new MissileDistanceParams(500, 100, 20),
|
||||
Mass = 50,
|
||||
Type = MissileType.StandardMissile,
|
||||
},
|
||||
// 红外指令制导导弹配置
|
||||
new() {
|
||||
InitialPosition = new Vector3D(2000, 150, 100),
|
||||
InitialOrientation = new Orientation(Math.PI, -0.15, 0),
|
||||
InitialSpeed = 0,
|
||||
MaxSpeed = 300,
|
||||
TargetIndex = 0,
|
||||
MaxFlightTime = 1,
|
||||
MaxFlightDistance = 5000,
|
||||
ThrustAcceleration = 50,
|
||||
MaxEngineBurnTime = 10,
|
||||
MaxAcceleration = 100,
|
||||
ProportionalNavigationCoefficient = 3,
|
||||
StageConfig = FlightStageConfig.InfraredCommandGuidance,
|
||||
DistanceParams = new MissileDistanceParams(500, 100, 20),
|
||||
Mass = 50,
|
||||
Type = MissileType.InfraredCommandGuidance
|
||||
},
|
||||
// 毫米波终端制导导弹配置
|
||||
new() {
|
||||
InitialPosition = new Vector3D(2000, 50, 100),
|
||||
InitialOrientation = new Orientation(Math.PI, -0.05, 0),
|
||||
InitialSpeed = 0,
|
||||
MaxSpeed = 300,
|
||||
TargetIndex = 0,
|
||||
MaxFlightTime = 0.5,
|
||||
MaxFlightDistance = 3000,
|
||||
ThrustAcceleration = 50,
|
||||
MaxEngineBurnTime = 10,
|
||||
MaxAcceleration = 100,
|
||||
ProportionalNavigationCoefficient = 3,
|
||||
StageConfig = FlightStageConfig.MillimeterWaveTerminalGuidance,
|
||||
DistanceParams = new MissileDistanceParams(500, 100, 20),
|
||||
Mass = 50,
|
||||
Type = MissileType.MillimeterWaveTerminalGuidance
|
||||
},
|
||||
// new(mIniInfo) {
|
||||
// MaxSpeed = 300,
|
||||
// TargetIndex = 0,
|
||||
// MaxFlightTime = 0.5,
|
||||
// MaxFlightDistance = 3000,
|
||||
// ThrustAcceleration = 50,
|
||||
// MaxEngineBurnTime = 10,
|
||||
// MaxAcceleration = 100,
|
||||
// ProportionalNavigationCoefficient = 3,
|
||||
// StageConfig = FlightStageConfig.StandardMissile,
|
||||
// DistanceParams = new MissileDistanceParams(500, 100, 20),
|
||||
// Mass = 50,
|
||||
// Type = MissileType.StandardMissile,
|
||||
// },
|
||||
// // 红外指令制导导弹配置
|
||||
// new() {
|
||||
// InitialPosition = new Vector3D(2000, 150, 100),
|
||||
// InitialOrientation = new Orientation(Math.PI, -0.15, 0),
|
||||
// InitialSpeed = 0,
|
||||
// MaxSpeed = 300,
|
||||
// TargetIndex = 0,
|
||||
// MaxFlightTime = 1,
|
||||
// MaxFlightDistance = 5000,
|
||||
// ThrustAcceleration = 50,
|
||||
// MaxEngineBurnTime = 10,
|
||||
// MaxAcceleration = 100,
|
||||
// ProportionalNavigationCoefficient = 3,
|
||||
// StageConfig = FlightStageConfig.InfraredCommandGuidance,
|
||||
// DistanceParams = new MissileDistanceParams(500, 100, 20),
|
||||
// Mass = 50,
|
||||
// Type = MissileType.InfraredCommandGuidance
|
||||
// },
|
||||
// // 毫米波终端制导导弹配置
|
||||
// new() {
|
||||
// InitialPosition = new Vector3D(2000, 50, 100),
|
||||
// InitialOrientation = new Orientation(Math.PI, -0.05, 0),
|
||||
// InitialSpeed = 0,
|
||||
// MaxSpeed = 300,
|
||||
// TargetIndex = 0,
|
||||
// MaxFlightTime = 0.5,
|
||||
// MaxFlightDistance = 3000,
|
||||
// ThrustAcceleration = 50,
|
||||
// MaxEngineBurnTime = 10,
|
||||
// MaxAcceleration = 100,
|
||||
// ProportionalNavigationCoefficient = 3,
|
||||
// StageConfig = FlightStageConfig.MillimeterWaveTerminalGuidance,
|
||||
// DistanceParams = new MissileDistanceParams(500, 100, 20),
|
||||
// Mass = 50,
|
||||
// Type = MissileType.MillimeterWaveTerminalGuidance
|
||||
// },
|
||||
// 激光半主动制导导弹配置
|
||||
new() {
|
||||
InitialPosition = new Vector3D(2000, 150, 100),
|
||||
InitialOrientation = new Orientation(Math.PI, -0.12, 0),
|
||||
InitialSpeed = 700,
|
||||
MaxSpeed = 700,
|
||||
InitialPosition = new Vector3D(2000, 100, 100),
|
||||
InitialOrientation = new Orientation(Math.PI, -0.1, 0), // 调整初始俯仰角
|
||||
InitialSpeed = 700,
|
||||
MaxSpeed = 800,
|
||||
TargetIndex = 0,
|
||||
MaxFlightTime = 10,
|
||||
MaxFlightTime = 10, // 增加最大飞行时间
|
||||
MaxFlightDistance = 5000,
|
||||
ThrustAcceleration = 0,
|
||||
MaxEngineBurnTime = 0,
|
||||
MaxAcceleration = 100,
|
||||
ThrustAcceleration = 50, // 添加推力加速度
|
||||
MaxEngineBurnTime = 10,
|
||||
MaxAcceleration = 400,
|
||||
ProportionalNavigationCoefficient = 3,
|
||||
StageConfig = FlightStageConfig.LaserSemiActiveGuidedMissile,
|
||||
DistanceParams = new MissileDistanceParams(500, 200, 20),
|
||||
Mass = 50,
|
||||
Type = MissileType.LaserSemiActiveGuidance
|
||||
},
|
||||
// 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
|
||||
InitialSpeed = 300,
|
||||
MaxSpeed = 400,
|
||||
TargetIndex = 0,
|
||||
MaxFlightTime = 10, // 增加最大飞行时间
|
||||
MaxFlightDistance = 3000,
|
||||
ThrustAcceleration = 50, // 添加推力加速度
|
||||
MaxEngineBurnTime = 10,
|
||||
MaxAcceleration = 400,
|
||||
ProportionalNavigationCoefficient = 3,
|
||||
StageConfig = FlightStageConfig.LaserSemiActiveGuidedMissile,
|
||||
DistanceParams = new MissileDistanceParams(500, 200, 10),
|
||||
Mass = 50,
|
||||
Type = MissileType.LaserBeamRiderGuidance
|
||||
}
|
||||
],
|
||||
// 配置激光指示器
|
||||
LaserDesignatorConfigs =
|
||||
[
|
||||
new LaserDesignatorConfig
|
||||
{
|
||||
InitialPosition = new Vector3D(500, 150, 100),
|
||||
MaxIlluminationRange = 1000
|
||||
}
|
||||
],
|
||||
SimulationTimeStep = 0.25
|
||||
|
||||
SimulationTimeStep = 0.025
|
||||
};
|
||||
|
||||
// 创建仿真管理器
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
using System.ComponentModel;
|
||||
using ActiveProtect.Models;
|
||||
using Model;
|
||||
|
||||
namespace ActiveProtect.SimulationEnvironment
|
||||
{
|
||||
@ -21,7 +22,12 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// <summary>
|
||||
/// 激光指示器配置列表
|
||||
/// </summary>
|
||||
public List<LaserDesignatorConfig> LaserDesignatorConfigs { get; set; }
|
||||
public LaserDesignatorConfig LaserDesignatorConfig { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 激光驾束仪配置列表
|
||||
/// </summary>
|
||||
public LaserBeamRiderConfig LaserBeamRiderConfig { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 激光告警器配置
|
||||
@ -45,7 +51,8 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
{
|
||||
TankConfigs = [];
|
||||
MissileConfigs = [];
|
||||
LaserDesignatorConfigs = [];
|
||||
LaserDesignatorConfig = new LaserDesignatorConfig();
|
||||
LaserBeamRiderConfig = new LaserBeamRiderConfig();
|
||||
LaserWarnerConfig = new LaserWarnerConfig();
|
||||
LaserJammerConfig = new LaserJammerConfig();
|
||||
SimulationTimeStep = 0.1; // 默认时间步长为0.1秒
|
||||
@ -97,9 +104,26 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// </summary>
|
||||
public TankConfig()
|
||||
{
|
||||
SetDefaultValues();
|
||||
|
||||
InitialPosition = new Vector3D(0, 0, 0);
|
||||
InitialOrientation = new Orientation(0, 0, 0);
|
||||
}
|
||||
|
||||
public TankConfig(TankInfo tankInfo){
|
||||
SetDefaultValues();
|
||||
|
||||
InitialPosition = new Vector3D(tankInfo.xp, tankInfo.yp, tankInfo.zp);
|
||||
InitialOrientation = new Orientation(0, 0, 0);
|
||||
}
|
||||
|
||||
public void SetDefaultValues(){
|
||||
InitialSpeed = 0;
|
||||
MaxSpeed = 0;
|
||||
MaxArmor = 0;
|
||||
HasLaserWarner = false;
|
||||
HasLaserJammer = false;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -187,8 +211,21 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// </summary>
|
||||
public MissileConfig()
|
||||
{
|
||||
SetDefaultValues();
|
||||
|
||||
InitialPosition = new Vector3D(0, 0, 0);
|
||||
InitialOrientation = new Orientation(0, 0, 0);
|
||||
}
|
||||
|
||||
public MissileConfig(MIniInfo mIniInfo){
|
||||
SetDefaultValues();
|
||||
|
||||
InitialPosition = new Vector3D(mIniInfo.xm, mIniInfo.ym, mIniInfo.zm);
|
||||
InitialOrientation = new Orientation(mIniInfo.psi_m, mIniInfo.theta_m, 0);
|
||||
InitialSpeed = mIniInfo.vm;
|
||||
}
|
||||
|
||||
public void SetDefaultValues(){
|
||||
InitialSpeed = 0;
|
||||
MaxSpeed = 0;
|
||||
TargetIndex = 0;
|
||||
@ -229,6 +266,44 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 激光驾束仪配置类
|
||||
/// </summary>
|
||||
public class LaserBeamRiderConfig
|
||||
{
|
||||
/// <summary>
|
||||
/// 初始位置
|
||||
/// </summary>
|
||||
public Vector3D InitialPosition { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 激光功率（瓦特）
|
||||
/// </summary>
|
||||
public double LaserPower { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 控制场直径（米）
|
||||
/// </summary>
|
||||
public double ControlFieldDiameter { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 最大导引距离（米）
|
||||
/// </summary>
|
||||
public double MaxGuidanceDistance { get; set; }
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 构造函数,设置默认值
|
||||
/// </summary>
|
||||
public LaserBeamRiderConfig()
|
||||
{
|
||||
InitialPosition = new Vector3D(0, 0, 0);
|
||||
LaserPower = 0;
|
||||
ControlFieldDiameter = 0;
|
||||
MaxGuidanceDistance = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 导弹类型枚举
|
||||
/// </summary>
|
||||
|
||||
@ -15,7 +15,12 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// <summary>
|
||||
/// 仿真元素的当前位置
|
||||
/// </summary>
|
||||
public Vector3D Position { get; set; } = position;
|
||||
public Vector3D Position { get; set; } = position;
|
||||
|
||||
/// <summary>
|
||||
/// 仿真元素的当前速度
|
||||
/// </summary>
|
||||
public Vector3D Velocity { get; set; } = Vector3D.Zero;
|
||||
|
||||
/// <summary>
|
||||
/// 仿真元素的当前朝向
|
||||
@ -61,7 +66,7 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// <summary>
|
||||
/// 激活仿真元素
|
||||
/// </summary>
|
||||
protected virtual void Activate()
|
||||
public virtual void Activate()
|
||||
{
|
||||
IsActive = true;
|
||||
PublishEvent(new EntityActivatedEvent { ActivatedEntityId = Id });
|
||||
@ -70,7 +75,7 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// <summary>
|
||||
/// 停用仿真元素
|
||||
/// </summary>
|
||||
protected virtual void Deactivate()
|
||||
public virtual void Deactivate()
|
||||
{
|
||||
IsActive = false;
|
||||
PublishEvent(new EntityDeactivatedEvent { DeactivatedEntityId = Id });
|
||||
|
||||
@ -1,3 +1,5 @@
|
||||
using ActiveProtect.Models;
|
||||
|
||||
namespace ActiveProtect.SimulationEnvironment
|
||||
{
|
||||
/// <summary>
|
||||
@ -119,4 +121,35 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// </summary>
|
||||
public string? DeactivatedEntityId { get; set; }
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 激光开始事件
|
||||
/// </summary>
|
||||
public class LaserBeamStartEvent : SimulationEvent
|
||||
{
|
||||
public required Vector3D SourcePosition { get; set; }
|
||||
public required Vector3D LaserDirection { get; set; }
|
||||
public required double LaserPower { get; set; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 激光停止事件
|
||||
/// </summary>
|
||||
public class LaserBeamStopEvent : SimulationEvent
|
||||
{
|
||||
public required Vector3D SourcePosition { get; set; }
|
||||
public required Vector3D LaserDirection { get; set; }
|
||||
public required double LaserPower { get; set; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 激光更新事件
|
||||
/// </summary>
|
||||
public class LaserBeamUpdateEvent : SimulationEvent
|
||||
{
|
||||
public required Vector3D SourcePosition { get; set; }
|
||||
public required Vector3D LaserDirection { get; set; }
|
||||
public required double LaserPower { get; set; }
|
||||
}
|
||||
}
|
||||
|
||||
@ -99,35 +99,37 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
var tank = new Tank($"Tank_{i + 1}", 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(
|
||||
// $"LaserWarner_{tank.Id}",
|
||||
// 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(
|
||||
// $"LaserJammer_{tank.Id}",
|
||||
// tank.Position,
|
||||
// tank.Orientation,
|
||||
// this,
|
||||
// tank.Id,
|
||||
// config.LaserJammerConfig
|
||||
// );
|
||||
// Elements.Add(laserJammer);
|
||||
// }
|
||||
}
|
||||
|
||||
|
||||
|
||||
// 创建导弹
|
||||
for (int i = 0; i < config.MissileConfigs.Count; i++)
|
||||
{
|
||||
@ -140,14 +142,21 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
Console.WriteLine($"警告：导弹配置 {i} 的 MaxFlightTime 无效，已设置为默认值 300 秒");
|
||||
}
|
||||
|
||||
Missile missile = missileConfig.Type switch
|
||||
MissileBase missile = missileConfig.Type switch
|
||||
{
|
||||
MissileType.LaserSemiActiveGuidance => new LaserSemiActiveGuidedMissile(
|
||||
$"LSGM_{i + 1}",
|
||||
missileConfig,
|
||||
"LD_1",
|
||||
this
|
||||
),
|
||||
_ => new Missile(
|
||||
MissileType.LaserBeamRiderGuidance => new LaserBeamRiderMissile(
|
||||
$"LBRM_{i + 1}",
|
||||
"Tank_1",
|
||||
missileConfig,
|
||||
this
|
||||
),
|
||||
_ => new MissileBase(
|
||||
$"NM_{i + 1}",
|
||||
missileConfig,
|
||||
this
|
||||
@ -157,12 +166,41 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
}
|
||||
|
||||
// 创建激光目标指示器
|
||||
for (int i = 0; i < config.LaserDesignatorConfigs.Count; i++)
|
||||
var laserDesignatorConfig = config.LaserDesignatorConfig;
|
||||
var laserDesignator = new LaserDesignator(
|
||||
$"LD_1",
|
||||
"Tank_1",
|
||||
"LSGM_1",
|
||||
laserDesignatorConfig,
|
||||
this
|
||||
);
|
||||
Elements.Add(laserDesignator);
|
||||
|
||||
// 创建激光驾束仪
|
||||
var laserBeamRiderConfig = config.LaserBeamRiderConfig;
|
||||
var laserBeamRider = new LaserBeamRider(
|
||||
"LBR_1",
|
||||
"LBRM_2",
|
||||
"Tank_1",
|
||||
laserBeamRiderConfig,
|
||||
this
|
||||
);
|
||||
Elements.Add(laserBeamRider);
|
||||
|
||||
|
||||
// 激活所有元素
|
||||
ActivateAllElements();
|
||||
|
||||
// 启动激光驾束仪
|
||||
laserBeamRider.StartBeamIllumination();
|
||||
}
|
||||
|
||||
//激活所有元素
|
||||
private void ActivateAllElements()
|
||||
{
|
||||
foreach (var element in Elements)
|
||||
{
|
||||
var laserDesignatorConfig = config.LaserDesignatorConfigs[i];
|
||||
var laserDesignator = new LaserDesignator($"LD_{i + 1}", "Tank_1", "LSGM_4",laserDesignatorConfig, this);
|
||||
Elements.Add(laserDesignator);
|
||||
laserDesignator.ActivateLaser(); // 激活激光目标指示器
|
||||
element.Activate();
|
||||
}
|
||||
}
|
||||
|
||||
@ -172,6 +210,7 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
public void PublishEvent(SimulationEvent evt)
|
||||
{
|
||||
var eventType = evt.GetType();
|
||||
//Console.WriteLine($"发布事件: {eventType.Name}, 发送者: {evt.SenderId}");
|
||||
if (eventHandlers.TryGetValue(eventType, out var handlers))
|
||||
{
|
||||
foreach (var handler in handlers)
|
||||
@ -179,6 +218,10 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
handler.DynamicInvoke(evt);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
Console.WriteLine($"没有找到事件 {eventType.Name} 的处理程序");
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -271,7 +314,7 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
Elements.RemoveAll(e => !e.IsActive);
|
||||
|
||||
// 检查是否所有导弹都结束飞行
|
||||
if (!Elements.Any(e => e is Missile && e.IsActive))
|
||||
if (!Elements.Any(e => e is MissileBase && e.IsActive))
|
||||
{
|
||||
EndSimulation();
|
||||
}
|
||||
@ -314,7 +357,7 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// </summary>
|
||||
public void HandleTargetHit(string targetId, string missileId)
|
||||
{
|
||||
if (GetEntityById(targetId) is Tank tank && GetEntityById(missileId) is Missile missile)
|
||||
if (GetEntityById(targetId) is Tank tank && GetEntityById(missileId) is MissileBase missile)
|
||||
{
|
||||
// 计算导弹造成的伤害
|
||||
double damage = CalculateMissileDamage(missile);
|
||||
@ -330,7 +373,7 @@ namespace ActiveProtect.SimulationEnvironment
|
||||
/// <summary>
|
||||
/// 计算导弹造成的伤害
|
||||
/// </summary>
|
||||
private double CalculateMissileDamage(Missile missile)
|
||||
private double CalculateMissileDamage(MissileBase missile)
|
||||
{
|
||||
// 这里可以根据导弹类型、速度等因素计算伤害
|
||||
// 现在我们简单地返回一个固定值
|
||||
|
||||
BIN
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bin/Debug/net8.0-macos/osx-arm64/System.Data.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Contracts.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Debug.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.DiagnosticSource.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.FileVersionInfo.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.FileVersionInfo.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Process.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.StackTrace.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.StackTrace.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.TextWriterTraceListener.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.TextWriterTraceListener.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Tools.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Tools.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.TraceSource.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.TraceSource.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Tracing.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Diagnostics.Tracing.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Drawing.Primitives.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Drawing.Primitives.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Drawing.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Drawing.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Dynamic.Runtime.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Formats.Asn1.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Formats.Tar.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Globalization.Calendars.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Globalization.Extensions.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Globalization.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.Brotli.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.Brotli.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.FileSystem.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.FileSystem.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.ZipFile.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.ZipFile.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Compression.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.AccessControl.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.AccessControl.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.DriveInfo.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.DriveInfo.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.Primitives.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.Watcher.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.FileSystem.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.IsolatedStorage.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.MemoryMappedFiles.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Pipes.AccessControl.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Pipes.AccessControl.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.Pipes.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.UnmanagedMemoryStream.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.UnmanagedMemoryStream.dll
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bin/Debug/net8.0-macos/osx-arm64/System.IO.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Linq.Expressions.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Linq.Parallel.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Linq.Queryable.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Memory.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Memory.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Http.Json.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Http.Json.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Http.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Http.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.HttpListener.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Mail.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Mail.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.NameResolution.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.NameResolution.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.NetworkInformation.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.NetworkInformation.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Ping.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Ping.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Primitives.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Quic.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Requests.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Security.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.ServicePoint.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.ServicePoint.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Sockets.dll
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bin/Debug/net8.0-macos/osx-arm64/System.Net.Sockets.dll
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