286 lines
9.9 KiB
C#
286 lines
9.9 KiB
C#
using System;
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using ActiveProtect.SimulationEnvironment;
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namespace ActiveProtect.Models
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{
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public class TerminalSensitiveSubmunition : MissileBase
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{
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/// <summary>
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/// 子弹阶段
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/// </summary>
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private enum SubmunitionStage
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{
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Separation,
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Deceleration,
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SpiralScan,
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Attack,
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Explode,
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SelfDestruct
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}
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/// <summary>
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/// 当前阶段
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/// </summary>
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private SubmunitionStage currentStage;
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private const double SpiralRotationSpeed = 8 * Math.PI; // 4 rotations per second
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private const double VerticalDescentSpeed = 10; // 10 m/s
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private const double ScanAngle = 20 * Math.PI / 180; // 20 degrees in radians
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// 减速高度 400米
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private const double DecelerationHeight = 400;
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// 扫描高度 200米
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private const double ScanningHeight = 200;
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// 自毁高度 20米
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private const double SelfDestructHeight = 20;
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// 攻击速度 500 m/s
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private const double AttackSpeed = 500;
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// 检测到目标的时间
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private double? lastDetectionTime = null;
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/// <summary>
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/// 螺旋角度
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/// </summary>
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private double spiralAngle;
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// 检测到目标的角度
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private double detectionAngle;
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// 弹载传感器
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private readonly InfraredDetector infraredDetector;
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private readonly MillimeterWaveRadiometer radiometer;
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private readonly MillimeterWaveAltimeter altimeter;
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private readonly LaserRangefinder rangefinder;
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="config">导弹配置</param>
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/// <param name="manager">模拟管理器</param>
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public TerminalSensitiveSubmunition(MissileConfig config, ISimulationManager manager)
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: base(config, manager)
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{
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currentStage = SubmunitionStage.Separation;
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spiralAngle = 0;
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detectionAngle = 0;
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// 初始化传感器
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infraredDetector = new InfraredDetector(Position, Orientation, 100, 30);
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radiometer = new MillimeterWaveRadiometer(Position, Orientation, 94e9, 1e-6);
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altimeter = new MillimeterWaveAltimeter(this, 1000, 0.1); // 毫米波测高仪，测量精度0.1米
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rangefinder = new LaserRangefinder(Position, Orientation, 1000, 1000);
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}
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/// <summary>
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/// 更新子弹的状态
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/// </summary>
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/// <param name="deltaTime">时间增量</param>
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public override void Update(double deltaTime)
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{
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base.Update(deltaTime);
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// 更新传感器
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infraredDetector.Update(deltaTime);
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radiometer.Update(deltaTime);
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altimeter.Update(deltaTime);
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rangefinder.Update(deltaTime);
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switch (currentStage)
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{
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case SubmunitionStage.Separation:
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UpdateSeparationStage(deltaTime);
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break;
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case SubmunitionStage.Deceleration:
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UpdateDecelerationStage(deltaTime);
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break;
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case SubmunitionStage.SpiralScan:
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UpdateSpiralScanStage(deltaTime);
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break;
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case SubmunitionStage.Attack:
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UpdateAttackStage(deltaTime);
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break;
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case SubmunitionStage.Explode:
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UpdateExplodeStage(deltaTime);
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break;
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case SubmunitionStage.SelfDestruct:
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UpdateSelfDestructStage(deltaTime);
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break;
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}
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}
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/// <summary>
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/// 分离阶段
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/// </summary>
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private void UpdateSeparationStage(double deltaTime)
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{
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// 分离阶段
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Vector3D deceleration = new(0, 9.8, 0);
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Velocity += deceleration * deltaTime;
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Position += Velocity * deltaTime;
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if(!altimeter.IsActive)
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{
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// 激活毫米波测高雷达
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altimeter.Activate();
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}
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// 检查高度是否小于等于减速高度
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if(((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= DecelerationHeight)
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{
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// 如果是，则进入减速阶段
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currentStage = SubmunitionStage.Deceleration;
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}
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}
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/// <summary>
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/// 减速阶段
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/// </summary>
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private void UpdateDecelerationStage(double deltaTime)
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{
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// 减速减旋，垂直速度减小
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Vector3D deceleration = new Vector3D(0, 9.8, 0) - Velocity.Normalize() * 50; // 假设减速度为5m/s^2
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Console.WriteLine($"降落伞打开，减速速度: {deceleration}");
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Velocity += deceleration * deltaTime;
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if (Velocity.Magnitude() <= VerticalDescentSpeed)
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{
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Velocity = new Vector3D(0, -VerticalDescentSpeed, 0);
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}
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if (((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= ScanningHeight)
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{
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currentStage = SubmunitionStage.SpiralScan;
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}
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}
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/// <summary>
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/// 扫描阶段
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/// </summary>
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private void UpdateSpiralScanStage(double deltaTime)
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{
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GuidanceAcceleration = Vector3D.Zero;
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// 更新螺旋角度
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spiralAngle = (spiralAngle + SpiralRotationSpeed * deltaTime) % (2 * Math.PI);
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// 计算水平速度分量
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double horizontalSpeed = VerticalDescentSpeed * Math.Tan(ScanAngle);
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Vector3D horizontalVelocity = new(
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Math.Cos(spiralAngle) * horizontalSpeed,
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0,
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Math.Sin(spiralAngle) * horizontalSpeed
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);
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// 更新速度
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Velocity = new(horizontalVelocity.X, -VerticalDescentSpeed, horizontalVelocity.Z);
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// 计算扫描方向
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Vector3D scanDirection = new(
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Math.Cos(spiralAngle) * Math.Sin(ScanAngle),
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-Math.Cos(ScanAngle),
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Math.Sin(spiralAngle) * Math.Sin(ScanAngle)
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);
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if (DetectTarget(scanDirection))
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{
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Console.WriteLine("检测到目标");
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double currentTime = SimulationManager.CurrentTime;
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if (lastDetectionTime == null)
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{
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lastDetectionTime = currentTime;
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}
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else
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{
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double timeSinceLastDetection = currentTime - lastDetectionTime.Value;
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// 重新检测到目标的时间大于等于螺旋周期的90%，则二次确认目标
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if (timeSinceLastDetection >= 0.9 * 2 * Math.PI / SpiralRotationSpeed)
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{
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Console.WriteLine($"目标确认，进入攻击阶段。距离上次检测时间：{timeSinceLastDetection:F2}秒");
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currentStage = SubmunitionStage.Attack;
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return;
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}
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}
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}
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// 使用模式匹配简化类型转换
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if (altimeter.GetSensorData() is AltimeterSensorData altimeterData &&
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altimeterData.Altitude <= SelfDestructHeight)
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{
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currentStage = SubmunitionStage.SelfDestruct;
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}
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}
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/// <summary>
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/// 攻击阶段
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/// </summary>
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private void UpdateAttackStage(double deltaTime)
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{
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Console.WriteLine("攻击阶段");
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// 攻击逻辑
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Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position;
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Vector3D direction = (targetPosition - Position).Normalize();
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Velocity = direction * AttackSpeed;
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Console.WriteLine($"导弹ID: {Id}, 距离目标: {DistanceToTarget}, 爆炸半径: {ExplosionRadius}");
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if (DistanceToTarget <= ExplosionRadius)
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{
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currentStage = SubmunitionStage.Explode;
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}
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}
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/// <summary>
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/// 爆炸阶段
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/// </summary>
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private void UpdateExplodeStage(double deltaTime)
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{
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Explode();
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}
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/// <summary>
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/// 自毁阶段
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/// </summary>
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private void UpdateSelfDestructStage(double deltaTime)
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{
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SelfDestruct();
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}
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/// <summary>
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/// 检测目标
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/// </summary>
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/// <param name="scanDirection">扫描方向</param>
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/// <returns>是否检测到目标</returns>
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private bool DetectTarget(Vector3D scanDirection)
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{
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Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position;
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Vector3D toTarget = (targetPosition - Position).Normalize();
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// 检查目标是否在扫描线上
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return Vector3D.DotProduct(scanDirection, toTarget) > Math.Cos(5 * Math.PI / 180); // 允许5度的误差
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}
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/// <summary>
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/// 销毁子弹
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/// </summary>
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public override void Deactivate()
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{
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base.Deactivate();
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infraredDetector.Deactivate();
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radiometer.Deactivate();
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altimeter.Deactivate();
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rangefinder.Deactivate();
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}
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/// <summary>
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/// 获取子弹状态
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/// </summary>
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/// <returns>子弹状态</returns>
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public override string GetStatus()
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{
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return $"{base.GetStatus()}\n运行状态: {currentStage}\n检测角度: {detectionAngle * 180 / Math.PI:F2}°\n螺旋角度: {spiralAngle * 180 / Math.PI:F2}°\n目标检测: {lastDetectionTime != null}";
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}
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}
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}
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