ActiveProtect/Models/LaserSemiActiveGuidedMissile.cs

using ActiveProtect.SimulationEnvironment;
using System;

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 : MissileBase
    {
        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)
        {
            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>
        /// 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)
            {
                LaserGuidanceSystem.SetTargetIllumination(true);
            }
        }

        /// <summary>
        /// 处理激光照射停止事件
        /// </summary>
        /// <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)
            {
                LaserGuidanceSystem.SetTargetIllumination(false);
            }
        }

        /// <summary>
        /// 获取导弹状态信息
        /// </summary>
        /// <returns>状态信息字符串</returns>
        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: {(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>
        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();
        }
    }
}