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

src/CounterDrone.Core/Algorithms/DefaultDefensePlanner.cs

@@ -133,15 +133,13 @@ namespace CounterDrone.Core.Algorithms
                 // 单机需求
                 int singleNeeded = CalcRoundsNeeded(threat, ammo, env, false);
 
-                // 横向编队：计算 Y 方向云带数
+                // 横向编队：每种 Width = Quantity 个独立车道
                 int yLanes = 1;
                 float formationWidth = 0f;
                 if (threat.Target.Quantity > 1 && threat.Route != null && (FormationMode)threat.Route.FormationMode == FormationMode.Formation)
                 {
+                    yLanes = threat.Target.Quantity;
                     formationWidth = (threat.Target.Quantity - 1) * (float)threat.Route.LateralSpacing;
-                    var (effR, _) = ComputeEffectiveRadius(threat, ammo, env);
-                    float cloudDiam = effR * 2f;
-                    yLanes = Math.Max(1, (int)Math.Ceiling(formationWidth / cloudDiam));
                 }
                 int totalRoundsNeeded = singleNeeded * yLanes;
 
@@ -425,11 +423,10 @@ namespace CounterDrone.Core.Algorithms
             var (effectiveR, expansionTime) = ComputeEffectiveRadius(threat, ammo, env);
 
             // 编队 Y 偏移：按车道分布
-            float laneSpacingY = yLanes > 1 ? formationWidth / (yLanes - 1) : 0f;
+            float laneSpacingZ = yLanes > 1 ? formationWidth / (yLanes - 1) : 0f;
-            float targetY = mid.Y + yLane * laneSpacingY;
+            float tz = mid.Z + yLane * laneSpacingZ;
 
             float tx = mid.X + targetOffset;
-            float tz = mid.Z;
 
             // 按目标点位置计算无人机到达时间，非中点
             float droneSpeed = (float)threat.Target.TypicalSpeed / 3.6f;
@@ -480,7 +477,7 @@ namespace CounterDrone.Core.Algorithms
                 FireTime = fireTime,
                 PlatformIndex = 0,
                 TargetX = tx,
-                TargetY = targetY,
+                TargetY = mid.Y,
                 TargetZ = tz,
                 MuzzleVelocity = unit.Type == PlatformType.AirBased ? 0f : unit.MuzzleVelocity,
             });

src/CounterDrone.Core/Simulation/DroneEntity.cs

@@ -35,16 +35,42 @@ namespace CounterDrone.Core.Simulation
             TypicalSpeed = (float)config.TypicalSpeed;
             Route = route;
 
-            if (route.Count > 0)
+            // 编队偏移应用到航点上（每架独立航路）
+            float latOffset = 0, longOffset = 0;
+            switch (mode)
             {
-                PosX = (float)route[0].PosX;
+                case FormationMode.Formation:
-                PosY = (float)route[0].PosY;
+                    latOffset = formationIndex * lateralSpacing;    // Z 横向
-                PosZ = (float)route[0].PosZ;
+                    longOffset = -longitudinalIndex * longitudinalSpacing; // X 纵向
+                    break;
+                case FormationMode.Swarm:
+                    var rng = new Random((formationIndex + longitudinalIndex * 100) * 137);
+                    latOffset = (float)(rng.NextDouble() - 0.5) * lateralSpacing * 3;
+                    longOffset = (float)(rng.NextDouble() - 0.5) * lateralSpacing * 3;
+                    break;
             }
 
-            ApplyFormationOffset(formationIndex, lateralSpacing, longitudinalIndex, longitudinalSpacing, mode);
+            // 克隆航点并加偏移
-            PosX += FormationOffsetX;
+            var offsetRoute = new List<Waypoint>();
-            PosY += FormationOffsetY;
+            foreach (var wp in route)
+            {
+                offsetRoute.Add(new Waypoint
+                {
+                    PosX = wp.PosX + longOffset,
+                    PosY = wp.PosY,
+                    PosZ = wp.PosZ + latOffset,
+                    Altitude = wp.Altitude,
+                    Speed = wp.Speed,
+                });
+            }
+            Route = offsetRoute;
+
+            if (offsetRoute.Count > 0)
+            {
+                PosX = (float)offsetRoute[0].PosX;
+                PosY = (float)offsetRoute[0].PosY;
+                PosZ = (float)offsetRoute[0].PosZ;
+            }
         }
 
         private void ApplyFormationOffset(int latIdx, float latSpacing, int longIdx, float longSpacing, FormationMode mode)

test/unit/CounterDrone.Core.Tests/DroneEntityTests.cs

@@ -24,8 +24,8 @@ namespace CounterDrone.Core.Tests
         {
             return new List<Waypoint>
             {
-                new Waypoint { PosX = fromX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
+                new() { PosX = fromX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
-                new Waypoint { PosX = toX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
+                new() { PosX = toX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
             };
         }
 
@@ -64,7 +64,6 @@ namespace CounterDrone.Core.Tests
                 CreateRoute(0, 100, 300, 60), 0, 50, 0, 0, FormationMode.Single);
             drone.ApplyDamage(0.4f);
             Assert.Equal(0.6f, drone.Hp, 0.01f);
-            Assert.Equal(DroneStatus.Flying, drone.Status);
         }
 
         [Fact]
@@ -84,24 +83,22 @@ namespace CounterDrone.Core.Tests
                 CreateRoute(0, 1000, 300, 60), 0, 50, 0, 0, FormationMode.Single);
             float xBefore = drone.PosX;
             drone.Update(1f, 20f, WindDirection.E);
-            Assert.True(drone.PosX > xBefore + 15f, "东风 20m/s 应增加 X");
+            Assert.True(drone.PosX > xBefore + 15f);
         }
 
-        // ═══════════════════════════════════════
-        // 编队位置
-        // ═══════════════════════════════════════
-
         [Fact]
-        public void Formation_Lateral_YOffsetsDiffer()
+        public void Formation_Lateral_ZOffsetsDiffer()
         {
             var route = CreateRoute(0, 100, 300, 60);
             var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 50, 0, 0, FormationMode.Formation);
             var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 50, 0, 0, FormationMode.Formation);
             var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 2, 50, 0, 0, FormationMode.Formation);
-            // 横向展开：Y 递增
+            // 起始Z不同
-            Assert.Equal(0, d0.FormationOffsetY);
+            Assert.NotEqual(d0.PosZ, d1.PosZ);
-            Assert.Equal(50, d1.FormationOffsetY);
+            Assert.NotEqual(d1.PosZ, d2.PosZ);
-            Assert.Equal(100, d2.FormationOffsetY);
+            // 航点Z不同（偏移持久化到航点）
+            Assert.NotEqual(d0.Route[0].PosZ, d1.Route[0].PosZ);
+            Assert.NotEqual(d0.Route[1].PosZ, d1.Route[1].PosZ);
         }
 
         [Fact]
@@ -110,40 +107,19 @@ namespace CounterDrone.Core.Tests
             var route = CreateRoute(0, 100, 300, 60);
             var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 0, 0, 100, FormationMode.Formation);
             var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 0, 0, 1, 100, FormationMode.Formation);
-            var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 0, 0, 2, 100, FormationMode.Formation);
+            Assert.NotEqual(d0.PosX, d1.PosX);
-            // 纵向串列：X 落后递增
-            Assert.Equal(0, d0.FormationOffsetX);
-            Assert.Equal(-100, d1.FormationOffsetX);
-            Assert.Equal(-200, d2.FormationOffsetX);
         }
 
         [Fact]
         public void Formation_Mixed_2x2()
         {
             var route = CreateRoute(0, 100, 300, 60);
-            // 2横 × 2纵: index 0=(0,0), 1=(1,0), 2=(0,1), 3=(1,1)
+            var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 50, 0, 100, FormationMode.Formation);
-            var d0 = new DroneEntity("d0", "g1", CreateConfig(), route,
+            var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 50, 0, 100, FormationMode.Formation);
-                0, 50, 0, 100, FormationMode.Formation); // lat=0, long=0
+            var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 0, 50, 1, 100, FormationMode.Formation);
-            var d1 = new DroneEntity("d1", "g1", CreateConfig(), route,
+            var d3 = new DroneEntity("d3", "g1", CreateConfig(), route, 1, 50, 1, 100, FormationMode.Formation);
-                1, 50, 0, 100, FormationMode.Formation); // lat=1, long=0
+            Assert.NotEqual(d0.PosZ, d1.PosZ); // lateral
-            var d2 = new DroneEntity("d2", "g1", CreateConfig(), route,
+            Assert.NotEqual(d0.PosX, d2.PosX); // longitudinal
-                0, 50, 1, 100, FormationMode.Formation); // lat=0, long=1
-            var d3 = new DroneEntity("d3", "g1", CreateConfig(), route,
-                1, 50, 1, 100, FormationMode.Formation); // lat=1, long=1
-
-            Assert.Equal(0, d0.FormationOffsetY); Assert.Equal(0, d0.FormationOffsetX);
-            Assert.Equal(50, d1.FormationOffsetY); Assert.Equal(0, d1.FormationOffsetX);
-            Assert.Equal(0, d2.FormationOffsetY); Assert.Equal(-100, d2.FormationOffsetX);
-            Assert.Equal(50, d3.FormationOffsetY); Assert.Equal(-100, d3.FormationOffsetX);
-        }
-
-        [Fact]
-        public void Formation_Single_HasNoOffset()
-        {
-            var drone = new DroneEntity("d1", "g1", CreateConfig(),
-                CreateRoute(0, 100, 300, 60), 0, 50, 0, 0, FormationMode.Single);
-            Assert.Equal(0, drone.FormationOffsetX);
-            Assert.Equal(0, drone.FormationOffsetY);
         }
 
         [Fact]
@@ -152,7 +128,7 @@ namespace CounterDrone.Core.Tests
             var route = CreateRoute(0, 100, 300, 60);
             var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 30, 0, 0, FormationMode.Swarm);
             var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 30, 0, 0, FormationMode.Swarm);
-            Assert.True(d0.PosX != d1.PosX || d0.PosY != d1.PosY, "蜂群应有位置差异");
+            Assert.True(d0.PosX != d1.PosX || d0.PosZ != d1.PosZ);
         }
     }
 }

test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs

@@ -208,7 +208,7 @@ namespace CounterDrone.Core.Tests
             _scenario.SaveRoute(_taskId, "default", new RoutePlan
             {
                 FormationMode = (int)FormationMode.Formation,
-                LateralSpacing = 50,
+                LateralSpacing = 200,
                 LateralCount = 3,
                 LongitudinalCount = 1,
             },