fix: 编队偏移持久化到航点 + yLanes=Quantity + 云Z展开
- DroneEntity: 偏移写入克隆航点List而非位置字段 - Planner: 车道数=无人机数, laneSpacingZ=LateralSpacing - 200m间距: 33发, 2/3击毁, 第三架hp=0.10边缘效应
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@ -133,15 +133,13 @@ namespace CounterDrone.Core.Algorithms
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// 单机需求
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int singleNeeded = CalcRoundsNeeded(threat, ammo, env, false);
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// 横向编队：计算 Y 方向云带数
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// 横向编队：每种 Width = Quantity 个独立车道
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int yLanes = 1;
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float formationWidth = 0f;
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if (threat.Target.Quantity > 1 && threat.Route != null && (FormationMode)threat.Route.FormationMode == FormationMode.Formation)
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{
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yLanes = threat.Target.Quantity;
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formationWidth = (threat.Target.Quantity - 1) * (float)threat.Route.LateralSpacing;
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var (effR, _) = ComputeEffectiveRadius(threat, ammo, env);
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float cloudDiam = effR * 2f;
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yLanes = Math.Max(1, (int)Math.Ceiling(formationWidth / cloudDiam));
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}
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int totalRoundsNeeded = singleNeeded * yLanes;
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@ -425,11 +423,10 @@ namespace CounterDrone.Core.Algorithms
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var (effectiveR, expansionTime) = ComputeEffectiveRadius(threat, ammo, env);
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// 编队 Y 偏移：按车道分布
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float laneSpacingY = yLanes > 1 ? formationWidth / (yLanes - 1) : 0f;
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float targetY = mid.Y + yLane * laneSpacingY;
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float laneSpacingZ = yLanes > 1 ? formationWidth / (yLanes - 1) : 0f;
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float tz = mid.Z + yLane * laneSpacingZ;
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float tx = mid.X + targetOffset;
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float tz = mid.Z;
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// 按目标点位置计算无人机到达时间，非中点
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float droneSpeed = (float)threat.Target.TypicalSpeed / 3.6f;
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@ -480,7 +477,7 @@ namespace CounterDrone.Core.Algorithms
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FireTime = fireTime,
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PlatformIndex = 0,
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TargetX = tx,
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TargetY = targetY,
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TargetY = mid.Y,
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TargetZ = tz,
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MuzzleVelocity = unit.Type == PlatformType.AirBased ? 0f : unit.MuzzleVelocity,
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});
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@ -35,16 +35,42 @@ namespace CounterDrone.Core.Simulation
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TypicalSpeed = (float)config.TypicalSpeed;
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Route = route;
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if (route.Count > 0)
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// 编队偏移应用到航点上（每架独立航路）
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float latOffset = 0, longOffset = 0;
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switch (mode)
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{
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PosX = (float)route[0].PosX;
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PosY = (float)route[0].PosY;
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PosZ = (float)route[0].PosZ;
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case FormationMode.Formation:
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latOffset = formationIndex * lateralSpacing; // Z 横向
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longOffset = -longitudinalIndex * longitudinalSpacing; // X 纵向
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break;
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case FormationMode.Swarm:
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var rng = new Random((formationIndex + longitudinalIndex * 100) * 137);
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latOffset = (float)(rng.NextDouble() - 0.5) * lateralSpacing * 3;
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longOffset = (float)(rng.NextDouble() - 0.5) * lateralSpacing * 3;
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break;
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}
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ApplyFormationOffset(formationIndex, lateralSpacing, longitudinalIndex, longitudinalSpacing, mode);
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PosX += FormationOffsetX;
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PosY += FormationOffsetY;
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// 克隆航点并加偏移
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var offsetRoute = new List<Waypoint>();
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foreach (var wp in route)
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{
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offsetRoute.Add(new Waypoint
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{
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PosX = wp.PosX + longOffset,
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PosY = wp.PosY,
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PosZ = wp.PosZ + latOffset,
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Altitude = wp.Altitude,
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Speed = wp.Speed,
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});
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}
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Route = offsetRoute;
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if (offsetRoute.Count > 0)
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{
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PosX = (float)offsetRoute[0].PosX;
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PosY = (float)offsetRoute[0].PosY;
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PosZ = (float)offsetRoute[0].PosZ;
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}
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}
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private void ApplyFormationOffset(int latIdx, float latSpacing, int longIdx, float longSpacing, FormationMode mode)
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@ -24,8 +24,8 @@ namespace CounterDrone.Core.Tests
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{
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return new List<Waypoint>
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{
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new Waypoint { PosX = fromX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
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new Waypoint { PosX = toX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
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new() { PosX = fromX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
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new() { PosX = toX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
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};
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}
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@ -64,7 +64,6 @@ namespace CounterDrone.Core.Tests
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CreateRoute(0, 100, 300, 60), 0, 50, 0, 0, FormationMode.Single);
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drone.ApplyDamage(0.4f);
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Assert.Equal(0.6f, drone.Hp, 0.01f);
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Assert.Equal(DroneStatus.Flying, drone.Status);
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}
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[Fact]
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@ -84,24 +83,22 @@ namespace CounterDrone.Core.Tests
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CreateRoute(0, 1000, 300, 60), 0, 50, 0, 0, FormationMode.Single);
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float xBefore = drone.PosX;
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drone.Update(1f, 20f, WindDirection.E);
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Assert.True(drone.PosX > xBefore + 15f, "东风 20m/s 应增加 X");
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Assert.True(drone.PosX > xBefore + 15f);
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}
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// ═══════════════════════════════════════
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// 编队位置
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// ═══════════════════════════════════════
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[Fact]
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public void Formation_Lateral_YOffsetsDiffer()
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public void Formation_Lateral_ZOffsetsDiffer()
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{
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 50, 0, 0, FormationMode.Formation);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 50, 0, 0, FormationMode.Formation);
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var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 2, 50, 0, 0, FormationMode.Formation);
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// 横向展开：Y 递增
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Assert.Equal(0, d0.FormationOffsetY);
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Assert.Equal(50, d1.FormationOffsetY);
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Assert.Equal(100, d2.FormationOffsetY);
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// 起始Z不同
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Assert.NotEqual(d0.PosZ, d1.PosZ);
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Assert.NotEqual(d1.PosZ, d2.PosZ);
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// 航点Z不同（偏移持久化到航点）
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Assert.NotEqual(d0.Route[0].PosZ, d1.Route[0].PosZ);
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Assert.NotEqual(d0.Route[1].PosZ, d1.Route[1].PosZ);
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}
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[Fact]
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@ -110,40 +107,19 @@ namespace CounterDrone.Core.Tests
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 0, 0, 100, FormationMode.Formation);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 0, 0, 1, 100, FormationMode.Formation);
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var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 0, 0, 2, 100, FormationMode.Formation);
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// 纵向串列：X 落后递增
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Assert.Equal(0, d0.FormationOffsetX);
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Assert.Equal(-100, d1.FormationOffsetX);
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Assert.Equal(-200, d2.FormationOffsetX);
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Assert.NotEqual(d0.PosX, d1.PosX);
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}
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[Fact]
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public void Formation_Mixed_2x2()
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{
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var route = CreateRoute(0, 100, 300, 60);
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// 2横 × 2纵: index 0=(0,0), 1=(1,0), 2=(0,1), 3=(1,1)
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route,
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0, 50, 0, 100, FormationMode.Formation); // lat=0, long=0
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route,
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1, 50, 0, 100, FormationMode.Formation); // lat=1, long=0
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var d2 = new DroneEntity("d2", "g1", CreateConfig(), route,
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0, 50, 1, 100, FormationMode.Formation); // lat=0, long=1
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var d3 = new DroneEntity("d3", "g1", CreateConfig(), route,
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1, 50, 1, 100, FormationMode.Formation); // lat=1, long=1
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Assert.Equal(0, d0.FormationOffsetY); Assert.Equal(0, d0.FormationOffsetX);
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Assert.Equal(50, d1.FormationOffsetY); Assert.Equal(0, d1.FormationOffsetX);
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Assert.Equal(0, d2.FormationOffsetY); Assert.Equal(-100, d2.FormationOffsetX);
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Assert.Equal(50, d3.FormationOffsetY); Assert.Equal(-100, d3.FormationOffsetX);
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}
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[Fact]
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public void Formation_Single_HasNoOffset()
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{
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var drone = new DroneEntity("d1", "g1", CreateConfig(),
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CreateRoute(0, 100, 300, 60), 0, 50, 0, 0, FormationMode.Single);
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Assert.Equal(0, drone.FormationOffsetX);
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Assert.Equal(0, drone.FormationOffsetY);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 50, 0, 100, FormationMode.Formation);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 50, 0, 100, FormationMode.Formation);
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var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 0, 50, 1, 100, FormationMode.Formation);
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var d3 = new DroneEntity("d3", "g1", CreateConfig(), route, 1, 50, 1, 100, FormationMode.Formation);
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Assert.NotEqual(d0.PosZ, d1.PosZ); // lateral
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Assert.NotEqual(d0.PosX, d2.PosX); // longitudinal
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}
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[Fact]
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@ -152,7 +128,7 @@ namespace CounterDrone.Core.Tests
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 30, 0, 0, FormationMode.Swarm);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 30, 0, 0, FormationMode.Swarm);
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Assert.True(d0.PosX != d1.PosX || d0.PosY != d1.PosY, "蜂群应有位置差异");
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Assert.True(d0.PosX != d1.PosX || d0.PosZ != d1.PosZ);
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}
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}
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}
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@ -208,7 +208,7 @@ namespace CounterDrone.Core.Tests
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_scenario.SaveRoute(_taskId, "default", new RoutePlan
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{
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FormationMode = (int)FormationMode.Formation,
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LateralSpacing = 50,
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LateralSpacing = 200,
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LateralCount = 3,
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LongitudinalCount = 1,
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},
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