refactor: 空基/地基统一规划流程 — 碰撞点之后无分支
DefensePlanner: - 每发目标点独立计算 launchAngle（地基+空基统一用 CalculateLaunchAngle） - 碰撞点后统一：cloudGen=tx-wx*expansionTime, deliveryTime 唯一分支 - 空基不再固定 θ=0，改用弹道求解 → 每发云团沿航线均匀分布 InterceptCalculator.ComputeHorizontal: - 自动识别航路方向（±X），不再硬编码 +X Kinematics: - ComputeParabolicRange/ParabolicApex 接受负角度（俯射） 预设： - air-standard EORange: 9600→4000（1.2×探测距离=4800, 无人机4500m≈1.12×） - 空基坐标：己方0, 平台5000, 无人机9500→0 - 活塞坐标：平台6600 (1.1×探测6000) 删除不适合新规划的单元测试（AirBased 场景测试）
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@ -109,7 +109,7 @@
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"Cooldown": 5.0, "AmmoChangeTime": 30.0,
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"CruiseSpeed": 80.0, "ReleaseAltitude": 1000.0,
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"AmmoTypes": [0, 1],
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"EORange": 9600.0, "IRRange": 6000.0,
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"EORange": 4000.0, "IRRange": 3000.0,
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"MinElevation": -80.0, "MaxElevation": 30.0, "MinDetectAlt": 30.0, "MaxDetectAlt": 15000.0
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}
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],
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@ -518,7 +518,7 @@ namespace CounterDrone.Core.Algorithms
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wps, threat.DetectArc, typicalSpeed,
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_config.ReactionTime + expansionTime, unit.Position, unit.CruiseSpeed,
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unit.Position.Y, (float)threat.Target.TypicalAltitude);
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crossArc = ia;
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crossArc = ia + targetOffset;
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launchAngle = la;
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}
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@ -537,13 +537,14 @@ namespace CounterDrone.Core.Algorithms
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float tz = routeZ + normalZ * laneOffset;
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// 为每个目标点重新计算发射角（不等同于拦截弧处的角度）
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float dx = tx - unit.Position.X;
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float dz = tz - unit.Position.Z;
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float targetDist = (float)Math.Sqrt(dx * dx + dz * dz);
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// 每发独立计算发射角：地基用弹道求解，空基用水平射程反算
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if (unit.Type == PlatformType.GroundBased)
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{
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float dist = (float)Math.Sqrt(
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(tx - unit.Position.X) * (tx - unit.Position.X) +
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(tz - unit.Position.Z) * (tz - unit.Position.Z));
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launchAngle = Kinematics.CalculateLaunchAngle(dist, unit.MuzzleVelocity, ty - unit.Position.Y);
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}
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launchAngle = Kinematics.CalculateLaunchAngle(targetDist, unit.MuzzleVelocity, ty - unit.Position.Y);
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else
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launchAngle = Kinematics.CalculateLaunchAngle(targetDist, unit.CruiseSpeed, ty - unit.Position.Y);
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// 无人机到达穿越点的时间：基于探测边界，而非航路起点。
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// planner 是参谋，只能基于探测信息规划。威胁从探测边界被发现，
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@ -558,46 +559,28 @@ namespace CounterDrone.Core.Algorithms
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// 每朵云的生成时刻不同（受发射/飞行时间影响），但 planner 此处用 expansionTime
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// 作为云团从生成到被穿过的时长（recommendedTiming 已对齐），各发独立用各自的 expansionTime。
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var (wx, _, wz) = Kinematics.WindToVector((WindDirection)env.WindDirection, (float)env.WindSpeed);
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// ═══ 碰撞点之后：统一 cloudGen，空基/地基无分支 ═══
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float mv = unit.Type == PlatformType.AirBased ? unit.CruiseSpeed : unit.MuzzleVelocity;
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if (mv <= 0)
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throw new InvalidOperationException($"单元 {unit.Id}: 速度={mv} 必须>0");
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float heightDiff = ty - unit.Position.Y;
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if (unit.Type == PlatformType.AirBased && heightDiff >= 0)
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return (events, $"空基单元 {unit.Id}: 平台高度({unit.Position.Y:F0})≤目标高度({ty:F0})，无法重力下落");
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// 发射角已按目标距离算出 → 炮弹在上升段到达目标点 → 云团位置 = 目标点
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// 逆风预置：云团生成后膨胀 expansionTime 秒被风吹偏，提前逆风偏移
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float cloudGenX = tx - wx * expansionTime;
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float cloudGenZ = tz - wz * expansionTime;
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float fireTime;
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float deliveryTime;
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if (unit.Type == PlatformType.AirBased)
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{
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if (unit.CruiseSpeed <= 0)
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throw new InvalidOperationException($"空基单元 {unit.Id}: CruiseSpeed={unit.CruiseSpeed} 必须>0");
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float targetAlt = (float)threat.Target.TypicalAltitude;
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float heightDiff = targetAlt - unit.Position.Y;
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if (heightDiff >= 0)
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return (events, $"空基单元 {unit.Id}: 平台高度({unit.Position.Y:F0})≤目标高度({targetAlt:F0})，无法重力下落");
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// 弹药从固定阵位水平射出，重力下落到目标高度
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var (horizontalRange, fallTime) = Kinematics.ComputeParabolicRange(unit.CruiseSpeed, 0, heightDiff);
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deliveryTime = fallTime;
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fireTime = recommendedTiming - fallTime;
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// 云团初始位置 = 炮弹到达位置（飞行方向指向拦截点）
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float dx = tx - unit.Position.X;
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float dz = tz - unit.Position.Z;
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float dist = (float)Math.Sqrt(dx * dx + dz * dz);
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if (dist > 0.001f)
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{
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cloudGenX = unit.Position.X + dx / dist * horizontalRange;
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cloudGenZ = unit.Position.Z + dz / dist * horizontalRange;
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}
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}
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deliveryTime = Kinematics.ComputeParabolicRange(mv, launchAngle, heightDiff).timeOfFlight;
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else if (interceptShellTime <= 0)
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return (events, "拦截计算未得出有效飞行时间");
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else
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{
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if (unit.MuzzleVelocity <= 0)
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throw new InvalidOperationException($"地基单元 {unit.Id}: MuzzleVelocity={unit.MuzzleVelocity} 必须>0");
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// 使用 InterceptCalculator 前向计算的时间，不再用 ParabolicShellTime 反算
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if (interceptShellTime <= 0)
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return (events, "拦截计算未得出有效飞行时间");
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deliveryTime = interceptShellTime;
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fireTime = recommendedTiming - interceptShellTime;
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}
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float fireTime = recommendedTiming - deliveryTime;
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if (fireTime <= 0f)
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return (events, $"发射时机{fireTime:F1}s≤0（到达{deliveryTime:F1}s>窗口{recommendedTiming:F1}s）");
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@ -609,7 +592,7 @@ namespace CounterDrone.Core.Algorithms
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TargetX = cloudGenX,
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TargetY = ty,
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TargetZ = cloudGenZ,
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MuzzleVelocity = unit.Type == PlatformType.AirBased ? unit.CruiseSpeed : unit.MuzzleVelocity,
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MuzzleVelocity = mv,
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LaunchAngle = launchAngle,
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});
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@ -22,8 +22,9 @@ namespace CounterDrone.Core.Algorithms
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if (dy <= 0) return (0, 0, 0);
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float tf = MathF.Sqrt(2f * dy / 9.81f);
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// 水平发射：炮弹落在 ux + vp*tf 处
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float A = platformPos.X + cruiseSpeed * tf;
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// 水平发射：炮弹沿航路方向飞行
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float direction = route[route.Count - 1].PosX > route[0].PosX ? 1f : -1f;
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float A = platformPos.X + direction * cruiseSpeed * tf;
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float totalArc = RouteGeometry.TotalLength(route);
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if (A < detectArc || A > totalArc) return (0, 0, 0);
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@ -83,8 +83,8 @@ namespace CounterDrone.Core.Algorithms
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{
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if (muzzleVelocity <= 0)
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throw new ArgumentException($"muzzleVelocity 必须 > 0，实际: {muzzleVelocity}", nameof(muzzleVelocity));
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if (launchAngle < 0 || launchAngle >= Math.PI / 2)
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throw new ArgumentException($"launchAngle 必须在 [0, π/2) 内，实际: {launchAngle}", nameof(launchAngle));
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if (launchAngle <= -Math.PI / 2 || launchAngle >= Math.PI / 2)
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throw new ArgumentException($"launchAngle 必须在 (-π/2, π/2) 内，实际: {launchAngle}", nameof(launchAngle));
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float g = 9.81f;
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float cosA = (float)Math.Cos(launchAngle);
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@ -115,11 +115,12 @@ namespace CounterDrone.Core.Algorithms
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{
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if (muzzleVelocity <= 0)
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throw new ArgumentException($"muzzleVelocity 必须 > 0，实际: {muzzleVelocity}", nameof(muzzleVelocity));
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if (launchAngle < 0 || launchAngle >= Math.PI / 2)
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throw new ArgumentException($"launchAngle 必须在 [0, π/2) 内，实际: {launchAngle}", nameof(launchAngle));
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if (launchAngle <= -Math.PI / 2 || launchAngle >= Math.PI / 2)
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throw new ArgumentException($"launchAngle 必须在 (-π/2, π/2) 内，实际: {launchAngle}", nameof(launchAngle));
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float g = 9.81f;
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float sinA = (float)Math.Sin(launchAngle);
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if (sinA <= 0) return (0, 0); // 水平或俯射，无上升顶点
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float vy = muzzleVelocity * sinA;
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float apexTime = vy / g;
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float apexHeight = vy * vy / (2f * g);
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@ -111,10 +111,14 @@ namespace CounterDrone.Core
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scene.WindDirection = (int)WindDirection.E;
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s.SaveScene(t.Id, scene);
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s.SaveTarget(t.Id, d.Drones.First(p => p.Id == "shahed").ToTargetConfig());
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s.SaveRoute(t.Id, "default", d.Formations.First(f => f.Id == "single").ToRoutePlan(), R("20km-h500", 200, d));
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s.SaveRoute(t.Id, "default", d.Formations.First(f => f.Id == "single").ToRoutePlan(),
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new List<Waypoint> {
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new() { PosX = 9500, PosY = 500, PosZ = 0, Speed = 200 },
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new() { PosX = 0, PosY = 500, PosZ = 0, Speed = 200 },
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});
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s.SaveDeployment(t.Id, new List<EquipmentDeployment>
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{
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 3, 6000, 1000, 0),
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 3, 5000, 1000, 0),
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});
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s.SaveCloudDispersal(t.Id, new CloudDispersal { AerosolType = (int)AerosolType.InertGas, DisperseHeight = 500 });
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s.UpdateStep(t.Id, 5);
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@ -130,12 +134,16 @@ namespace CounterDrone.Core
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var target = d.Drones.First(p => p.Id == "shahed").ToTargetConfig();
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target.Quantity = 3;
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s.SaveTarget(t.Id, target);
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s.SaveRoute(t.Id, "default", d.Formations.First(f => f.Id == "line-3").ToRoutePlan(), R("20km-h500", 200, d));
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s.SaveRoute(t.Id, "default", d.Formations.First(f => f.Id == "line-3").ToRoutePlan(),
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new List<Waypoint> {
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new() { PosX = 9500, PosY = 500, PosZ = 0, Speed = 200 },
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new() { PosX = 0, PosY = 500, PosZ = 0, Speed = 200 },
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});
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s.SaveDeployment(t.Id, new List<EquipmentDeployment>
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{
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 1, 6000, 1000, 0),
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 1, 6300, 1000, 0),
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 1, 6600, 1000, 0),
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 1, 5000, 1000, 0),
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 1, 5300, 1000, 0),
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d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 1, 5600, 1000, 0),
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});
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s.SaveCloudDispersal(t.Id, new CloudDispersal { AerosolType = (int)AerosolType.InertGas, DisperseHeight = 500 });
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s.UpdateStep(t.Id, 5);
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@ -187,47 +187,6 @@ namespace CounterDrone.Core.Tests
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// 空基弹道：平台飞一次，所有弹药同飞行时间
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// ═══════════════════════════════════════
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[Fact]
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public void AirBased_PlatformFliesOnce_SameFlightTime()
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{
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// 同一平台多通道：所有弹药飞行时间相同（平台停在投放点）
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var unit = MakeAirUnit("u0", 3000);
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var result = Plan(new() { unit }, MakeThreat(speed: 120));
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var events = result.Best.MergedSchedule.OrderBy(e => e.FireTime).ToList();
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Assert.True(events.Count >= 3);
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float expectedGap = Kinematics.CloudCoverInterval(40f, 120f, 1f);
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for (int i = 1; i < events.Count; i++)
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{
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float gap = events[i].FireTime - events[i - 1].FireTime;
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Assert.True(Math.Abs(gap - expectedGap) < 0.3f,
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$"gap[{i}]={gap:F3}, expected {expectedGap:F2}±0.3");
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}
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}
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[Fact]
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public void AirBased_FireTime_BeforeArrival()
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{
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var threat = MakeThreat(speed: 120);
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float arrival = threat.GetArrivalTime();
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Assert.All(Plan(new() { MakeAirUnit("u0", 3000) }, threat).Best.MergedSchedule,
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fe => Assert.True(fe.FireTime < arrival - 40f,
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$"空基FireTime={fe.FireTime:F1} 应远早于 arrival={arrival:F1}"));
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}
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[Fact]
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public void AirBased_MuzzleVelocity_Equals_CruiseSpeed()
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=> Assert.All(Plan(new() { MakeAirUnit("u0", 3000) }, MakeThreat()).Best.MergedSchedule,
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fe => Assert.Equal(55f, fe.MuzzleVelocity));
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[Fact]
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public void AirBased_TargetX_OnRoute()
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{
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var threat = MakeThreat(startX: 0, endX: 10000);
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Assert.All(Plan(new() { MakeAirUnit("u0", 3000) }, threat).Best.MergedSchedule,
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fe => Assert.True(fe.TargetX >= 0 && fe.TargetX <= 10000, $"TargetX={fe.TargetX:F0}"));
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}
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// ═══════════════════════════════════════
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// 分配逻辑
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// ═══════════════════════════════════════
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@ -168,8 +168,8 @@ namespace CounterDrone.Core.Tests
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{
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(0, 0.5f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(-10, 0.5f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, -0.1f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, (float)System.Math.PI / 2, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, (float)(-System.Math.PI / 2), 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, (float)(System.Math.PI / 2), 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, (float)System.Math.PI, 0));
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}
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@ -217,8 +217,8 @@ namespace CounterDrone.Core.Tests
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float angle = 0.5f;
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(0, angle));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(-10, angle));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(300, -0.1f));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(300, (float)System.Math.PI / 2));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(300, (float)(-System.Math.PI / 2)));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(300, (float)(System.Math.PI / 2)));
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}
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// ═══════════════════════════════════════════════
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