342 lines
14 KiB
C#
342 lines
14 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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/// <summary>
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/// 表示仿真中的导弹
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/// </summary>
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public class Missile : SimulationElement
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{
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/// <summary>
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/// 导弹类型
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/// </summary>
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public MissileType Type { get; protected set; }
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/// <summary>
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/// 导弹飞行的各个阶段
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/// </summary>
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public enum FlightStage
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{
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Launch, // 发射阶段
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Acceleration, // 加速阶段
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Cruise, // 巡航阶段
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TerminalGuidance, // 终端制导阶段
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Attack, // 攻击阶段
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Explosion // 爆炸阶段
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}
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public double Speed { get; protected set; }
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public double MaxSpeed { get; protected set; }
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public string TargetId { get; protected set; }
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public double MaxFlightTime { get; protected set; }
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public double MaxFlightDistance { get; protected set; }
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public double FlightTime { get; protected set; }
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public double FlightDistance { get; protected set; }
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public double DistanceToTarget { get; protected set; }
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public MissileDistanceParams DistanceParams { get; protected set; }
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public FlightStageConfig StageConfig { get; protected set; }
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public FlightStage CurrentStage { get; protected set; }
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public bool IsActive { get; protected set; }
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protected Vector3D Velocity;
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private Vector3D LastTargetPosition;
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private const double N = 3; // 比例导引系数
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public double ThrustAcceleration { get; protected set; }
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public double EngineBurnTime { get; protected set; }
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public double MaxEngineBurnTime { get; protected set; }
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public double MaxAcceleration { get; protected set; } = 100; // m/s^2
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public double ProportionalNavigationCoefficient { get; set; }
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public bool IsGuidanceLost { get; protected set; } = false;
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protected double LostGuidanceTime { get; set; } = 0;
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protected const double MaxLostGuidanceTime = 1.0; // 1秒后自毁
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public Missile(string id, MissileConfig missileConfig, ISimulationManager simulationManager)
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: base(id, missileConfig.InitialPosition, missileConfig.InitialOrientation, simulationManager)
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{
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Speed = missileConfig.InitialSpeed;
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MaxSpeed = missileConfig.MaxSpeed;
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MaxFlightTime = missileConfig.MaxFlightTime;
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MaxFlightDistance = missileConfig.MaxFlightDistance;
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DistanceParams = missileConfig.DistanceParams;
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StageConfig = missileConfig.StageConfig;
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IsActive = true;
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FlightTime = 0;
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FlightDistance = 0;
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SimulationManager = simulationManager;
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ThrustAcceleration = missileConfig.ThrustAcceleration;
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EngineBurnTime = 0;
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MaxEngineBurnTime = missileConfig.MaxEngineBurnTime;
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MaxAcceleration = missileConfig.MaxAcceleration;
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ProportionalNavigationCoefficient = missileConfig.ProportionalNavigationCoefficient;
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TargetId = $"Tank_{missileConfig.TargetIndex + 1}";
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Vector3D horizontalDirection = new Vector3D(Orientation.ToVector().X, 0, Orientation.ToVector().Z).Normalize();
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Velocity = horizontalDirection * missileConfig.InitialSpeed;
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// 设置初始阶段
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CurrentStage = StageConfig.EnableLaunch ? FlightStage.Launch :
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StageConfig.EnableAcceleration ? FlightStage.Acceleration :
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StageConfig.EnableCruise ? FlightStage.Cruise :
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StageConfig.EnableTerminalGuidance ? FlightStage.TerminalGuidance :
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StageConfig.EnableAttack ? FlightStage.Attack : FlightStage.Cruise;
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Console.WriteLine($"导弹 {Id} 的初始阶: {CurrentStage}");
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LastTargetPosition = Position; // 初始化 LastTargetPosition
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// 订阅相关事件
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simulationManager.SubscribeToEvent<LaserIlluminationEvent>(OnLaserIllumination);
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simulationManager.SubscribeToEvent<LaserIlluminationStopEvent>(OnLaserIlluminationStop);
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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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// 更新发动机燃烧时间
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UpdateEngineBurnTime(deltaTime);
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// 使用 RK4 方法更新导弹状态
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Vector3D k1, k2, k3, k4;
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Vector3D v1, v2, v3, v4;
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(k1, v1) = CalculateDerivatives(Position, Velocity, deltaTime);
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(k2, v2) = CalculateDerivatives(Position + k1 * (deltaTime / 2), Velocity + v1 * (deltaTime / 2), deltaTime / 2);
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(k3, v3) = CalculateDerivatives(Position + k2 * (deltaTime / 2), Velocity + v2 * (deltaTime / 2), deltaTime / 2);
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(k4, v4) = CalculateDerivatives(Position + k3 * deltaTime, Velocity + v3 * deltaTime, deltaTime);
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Position += (k1 + k2 * 2 + k3 * 2 + k4) * (deltaTime / 6);
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Velocity += (v1 + v2 * 2 + v3 * 2 + v4) * (deltaTime / 6);
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// 更新其他状态
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Speed = Velocity.Magnitude();
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if (Speed > MaxSpeed)
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{
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Speed = MaxSpeed;
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Velocity = Velocity.Normalize() * MaxSpeed;
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}
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Orientation = Orientation.FromVector(Velocity);
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FlightTime += deltaTime;
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FlightDistance += Speed * deltaTime;
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UpdateDistanceToTarget(Vector3D.Distance(Position, SimulationManager.GetEntityById(TargetId).Position));
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// 首先检查是否命中目标
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if (CheckHit())
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{
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Explode();
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return;
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}
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// 然后检查是否应该自毁
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if (ShouldSelfDestruct())
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{
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SelfDestruct();
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return;
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}
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// 更新飞行阶段
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UpdateFlightStage();
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if (IsGuidanceLost)
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{
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HandleLostGuidance(deltaTime);
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}
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else
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{
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// 重置失去引导的时间
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LostGuidanceTime = 0;
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}
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// 发布事件示例
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if (CurrentStage == FlightStage.Launch)
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{
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PublishEvent(new MissileFireEvent { TargetId = TargetId });
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}
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}
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private bool CheckHit()
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{
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return DistanceToTarget <= DistanceParams.ExplosionDistance;
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}
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private bool ShouldSelfDestruct()
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{
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return FlightTime >= MaxFlightTime || FlightDistance >= MaxFlightDistance || Position.Y <= 0;
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}
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private void UpdateEngineBurnTime(double deltaTime)
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{
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if (CurrentStage == FlightStage.Acceleration && EngineBurnTime < MaxEngineBurnTime)
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{
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EngineBurnTime += deltaTime;
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}
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}
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private (Vector3D, Vector3D) CalculateDerivatives(Vector3D position, Vector3D velocity, double deltaTime)
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{
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Vector3D targetPosition = SimulationManager.GetEntityById(TargetId).Position;
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Vector3D LOS = targetPosition - position;
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Vector3D LOSRate = (targetPosition - LastTargetPosition) / deltaTime - velocity;
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Vector3D guidanceAcceleration = Vector3D.CrossProduct(Vector3D.CrossProduct(LOS, LOSRate), LOS).Normalize()
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* ProportionalNavigationCoefficient * velocity.Magnitude();
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LastTargetPosition = targetPosition;
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// 添加推力加速度
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Vector3D thrustAcceleration = (CurrentStage == FlightStage.Acceleration && EngineBurnTime < MaxEngineBurnTime)
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? Orientation.ToVector() * ThrustAcceleration
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: Orientation.ToVector() * (ThrustAcceleration * 0.1); // 小的持续推力
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// 添加重力补偿
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Vector3D gravityCompensation = new Vector3D(0, 9.81, 0);
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guidanceAcceleration += gravityCompensation;
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Vector3D totalAcceleration = guidanceAcceleration + thrustAcceleration;
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// 添加重力加速度
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Vector3D gravityAcceleration = new(0, -9.81, 0);
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totalAcceleration += gravityAcceleration;
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// 限制最大加速度
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if (totalAcceleration.Magnitude() > MaxAcceleration)
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{
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totalAcceleration = totalAcceleration.Normalize() * MaxAcceleration;
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}
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return (velocity, totalAcceleration);
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}
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private void UpdateFlightStage()
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{
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switch (CurrentStage)
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{
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case FlightStage.Launch:
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if (StageConfig.EnableAcceleration) CurrentStage = FlightStage.Acceleration;
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else if (StageConfig.EnableCruise) CurrentStage = FlightStage.Cruise;
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else if (StageConfig.EnableTerminalGuidance) CurrentStage = FlightStage.TerminalGuidance;
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else if (StageConfig.EnableAttack) CurrentStage = FlightStage.Attack;
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break;
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case FlightStage.Acceleration:
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if (EngineBurnTime >= MaxEngineBurnTime || Speed >= MaxSpeed * 0.95)
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{
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if (StageConfig.EnableCruise) CurrentStage = FlightStage.Cruise;
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else if (StageConfig.EnableTerminalGuidance) CurrentStage = FlightStage.TerminalGuidance;
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else if (StageConfig.EnableAttack) CurrentStage = FlightStage.Attack;
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}
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break;
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case FlightStage.Cruise:
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if (StageConfig.EnableTerminalGuidance && DistanceToTarget <= DistanceParams.TerminalGuidanceDistance)
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CurrentStage = FlightStage.TerminalGuidance;
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else if (StageConfig.EnableAttack && DistanceToTarget <= DistanceParams.AttackDistance)
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CurrentStage = FlightStage.Attack;
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break;
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case FlightStage.TerminalGuidance:
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if (StageConfig.EnableAttack && DistanceToTarget <= DistanceParams.AttackDistance)
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CurrentStage = FlightStage.Attack;
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break;
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case FlightStage.Attack:
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if (DistanceToTarget <= DistanceParams.ExplosionDistance)
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Explode();
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break;
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}
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}
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public void UpdateDistanceToTarget(double distance)
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{
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DistanceToTarget = distance;
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}
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public void Explode()
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{
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IsActive = false;
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SimulationManager.HandleTargetHit(TargetId, Id);
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Console.WriteLine($"导弹 {Id} 在 {Position} 爆炸，命中目标！");
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}
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public void SelfDestruct()
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{
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IsActive = false;
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string reason = FlightTime >= MaxFlightTime ? "超出最大飞行时间" :
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FlightDistance >= MaxFlightDistance ? "超出最大飞行距" :
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Position.Y <= 0 ? "高度小于等于0" :
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IsGuidanceLost ? "失去引导" : "未知原因";
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Console.WriteLine($"导弹 {Id} 自毁。原因: {reason}");
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}
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public override string GetStatus()
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{
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return $"导弹 {Id}:\n" +
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$" 位置: {Position}\n" +
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$" 速度: {Speed:F2} m/s\n" +
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$" 当前阶段: {CurrentStage}\n" +
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$" 飞行时间: {FlightTime:F2}/{MaxFlightTime:F2}\n" +
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$" 飞行距离: {FlightDistance:F2}/{MaxFlightDistance:F2}\n" +
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$" 距离目标: {DistanceToTarget:F2}\n" +
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$" 发动机工作时间: {EngineBurnTime:F2}/{MaxEngineBurnTime:F2}\n" +
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$" 失去引导: {(IsGuidanceLost ? "是" : "否")}\n" +
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$" 失去引导时间: {LostGuidanceTime:F2}/{MaxLostGuidanceTime:F2}";
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}
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public void SetProportionalNavigationCoefficient(double newCoefficient)
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{
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ProportionalNavigationCoefficient = newCoefficient;
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Console.WriteLine($"导弹 {Id} 的比例导引系数已更新为 {newCoefficient}");
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}
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protected virtual void LoseGuidance()
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{
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if (!IsGuidanceLost)
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{
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Console.WriteLine($"导弹 {Id} 失去引导");
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IsGuidanceLost = true;
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}
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}
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protected virtual void HandleLostGuidance(double deltaTime)
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{
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LostGuidanceTime += deltaTime;
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if (LostGuidanceTime >= MaxLostGuidanceTime)
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{
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Console.WriteLine($"导弹 {Id} 失去引导超过 {MaxLostGuidanceTime} 秒，自毁");
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SelfDestruct();
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}
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}
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private void OnLaserIllumination(LaserIlluminationEvent evt)
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{
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if (evt.TargetId == TargetId)
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{
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Console.WriteLine($"导弹 {Id} 检测到目标 {TargetId} 被激光照射");
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RegainGuidance();
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}
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}
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private void OnLaserIlluminationStop(LaserIlluminationStopEvent evt)
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{
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if (evt.TargetId == TargetId)
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{
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Console.WriteLine($"导弹 {Id} 检测到目标 {TargetId} 激光照射停止");
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LoseGuidance();
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}
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}
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protected virtual void RegainGuidance()
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{
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if (IsGuidanceLost)
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{
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Console.WriteLine($"导弹 {Id} 重新获得引导");
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IsGuidanceLost = false;
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LostGuidanceTime = 0;
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}
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}
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}
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} |