From 8e73c9b2ec4b4c3ea47729373489a1819c5ab052 Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Tue, 16 Jun 2026 17:25:06 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20InterceptCalculator.ComputeHorizontal?=
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---
data/defaults.json | 2 +-
.../Algorithms/DefensePlanner.cs | 40 +++-----------
.../Algorithms/InterceptCalculator.cs | 40 +++++++++++++-
src/CounterDrone.Core/DefaultScenarios.cs | 2 +-
.../FullPipelineTests.cs | 4 +-
.../InterceptCalculatorAirTests.cs | 54 +++++++++++++++++++
6 files changed, 105 insertions(+), 37 deletions(-)
create mode 100644 test/unit/CounterDrone.Core.Tests/InterceptCalculatorAirTests.cs
diff --git a/data/defaults.json b/data/defaults.json
index d8365be..43fc837 100644
--- a/data/defaults.json
+++ b/data/defaults.json
@@ -107,7 +107,7 @@
"Id": "air-standard", "Name": "[Demo] 标准空基火力单元",
"PlatformType": 0, "GunCount": 1, "ChannelsPerGun": 8, "ChannelInterval": 1.0,
"Cooldown": 5.0, "AmmoChangeTime": 30.0,
- "CruiseSpeed": 55.0, "ReleaseAltitude": 1500.0,
+ "CruiseSpeed": 80.0, "ReleaseAltitude": 1500.0,
"AmmoTypes": [0, 1],
"EORange": 9600.0, "IRRange": 6000.0,
"MinElevation": -80.0, "MaxElevation": 30.0, "MinDetectAlt": 30.0, "MaxDetectAlt": 15000.0
diff --git a/src/CounterDrone.Core/Algorithms/DefensePlanner.cs b/src/CounterDrone.Core/Algorithms/DefensePlanner.cs
index 2c85096..5456b75 100644
--- a/src/CounterDrone.Core/Algorithms/DefensePlanner.cs
+++ b/src/CounterDrone.Core/Algorithms/DefensePlanner.cs
@@ -59,17 +59,7 @@ namespace CounterDrone.Core.Algorithms
// Step 1: 威胁排序
foreach (var t in threats)
{
- // 到达时间 = 从探测点到航路中点的飞行时间
- if (t.Waypoints.Count >= 2)
- {
- var mid = ThreatMidpoint(t);
- float midArc = RouteGeometry.ArcLengthNearestTo(t.Waypoints, mid.X, mid.Z);
- float travelArc = midArc - t.DetectArc;
- float speed = (float)t.Waypoints[0].Speed;
- if (speed <= 0) throw new InvalidOperationException($"威胁 {t.WaveId}: 航路点速度必须 > 0");
- t.ArrivalTime = travelArc > 0 ? travelArc / (speed / 3.6f) : 0;
- }
- else t.ArrivalTime = 0;
+ t.ArrivalTime = t.GetArrivalTime();
t.ThreatIndex = CalcThreatIndex(_config, t.Target);
}
var sorted = threats.OrderByDescending(t => t.Priority).ToList();
@@ -376,13 +366,7 @@ namespace CounterDrone.Core.Algorithms
if (dist > maxRange) return null;
float shellTime = dist / unit.MuzzleVelocity;
-
- // 用 InterceptCalculator 验证存在可行拦截点
- float speedKph = GetDroneSpeedKph(threat);
- var (interceptArc, _) = InterceptCalculator.Compute(
- threat.Waypoints, threat.DetectArc, speedKph,
- _config.ReactionTime + expansionTime, unit.Position, unit.MuzzleVelocity);
- if (interceptArc <= 0) return null;
+ if (!HasInterceptWindow(threat, midArc, expansionTime, shellTime)) return null;
float interceptTime = threat.ArrivalTime;
@@ -413,8 +397,9 @@ namespace CounterDrone.Core.Algorithms
float flightTime = flightDist / unit.CruiseSpeed;
float fallTime = Kinematics.AirDropFallTime(releaseAlt, (float)threat.Target.TypicalAltitude);
float deliveryTime = flightTime + fallTime;
- float interceptTime = threat.ArrivalTime;
+ float interceptTime = threat.ArrivalTime;
+ if (deliveryTime > interceptTime) return null;
if (!HasInterceptWindow(threat, midArc, expansionTime, deliveryTime)) return null;
float avgSpeed = GetDroneSpeedMs(threat);
@@ -500,22 +485,11 @@ namespace CounterDrone.Core.Algorithms
float typicalSpeed = GetDroneSpeedKph(threat);
if (typicalSpeed <= 0) return (events, "目标速度无效");
- // 用 InterceptCalculator 计算拦截弧长（替换硬编码中点）
+ // 航路感知布局：穿越点弧长 = 航路中点弧长 + 沿航路偏移
+ // targetOffset 现在是沿航路切向的弧长偏移（不再是 X 分量），支持任意方向航路
var mid = ThreatMidpoint(threat);
float midArc = RouteGeometry.ArcLengthNearestTo(wps, mid.X, mid.Z);
- float crossArc;
- if (unit.Type == PlatformType.GroundBased)
- {
- var (ia, _) = InterceptCalculator.Compute(
- wps, threat.DetectArc, typicalSpeed,
- _config.ReactionTime + expansionTime, unit.Position, unit.MuzzleVelocity);
- if (ia <= 0) return (events, $"拦截点计算失败");
- crossArc = ia;
- }
- else
- {
- crossArc = midArc + targetOffset;
- }
+ float crossArc = midArc + targetOffset;
// 编队横向偏移：按车道分布在航路法向上，与 DroneEntity 编队偏移一致（起点展开）。
// DroneEntity: latOffset = formationIndex * lateralSpacing（0/50/100...）
diff --git a/src/CounterDrone.Core/Algorithms/InterceptCalculator.cs b/src/CounterDrone.Core/Algorithms/InterceptCalculator.cs
index 1afbb0a..ed8581b 100644
--- a/src/CounterDrone.Core/Algorithms/InterceptCalculator.cs
+++ b/src/CounterDrone.Core/Algorithms/InterceptCalculator.cs
@@ -7,6 +7,43 @@ namespace CounterDrone.Core.Algorithms
/// 拦截点计算——炮弹抛物线与无人机直线的联立方程求解
public static class InterceptCalculator
{
+ /// 空基拦截：平抛(θ=0°)，下落时间固定。
+ /// 方程: (A-d)/vd = R + tf + |A - vp*tf - ux|/vp, tf = √(2Δy/g)
+ public static (float InterceptArc, float FlightTime) ComputeHorizontal(
+ IReadOnlyList route, float detectArc, float droneSpeedKmh,
+ float reactionTime, Vector3 platformPos, float cruiseSpeed,
+ float releaseAlt, float targetAlt)
+ {
+ if (route == null || route.Count < 2 || droneSpeedKmh <= 0 || cruiseSpeed <= 0)
+ return (0, 0);
+
+ float totalArc = RouteGeometry.TotalLength(route);
+ if (detectArc >= totalArc) return (0, 0);
+
+ float vd = droneSpeedKmh / 3.6f;
+ float tf = releaseAlt > targetAlt ? MathF.Sqrt(2f * (releaseAlt - targetAlt) / 9.81f) : 0;
+ float delay = reactionTime + tf;
+ float vp = cruiseSpeed;
+ float ux = platformPos.X;
+ float d = detectArc;
+ float vp_tf = vp * tf;
+
+ // 情况1: A >= ux + vp*tf（拦截点在释放点前方，平台向前飞）
+ if (vp > vd)
+ {
+ float A1 = (delay - tf - ux / vp) * vd * vp / (vp - vd);
+ if (A1 >= ux + vp_tf && A1 > d && A1 <= totalArc)
+ return (A1, (A1 - d) / vd - delay);
+ }
+
+ // 情况2: A < ux + vp*tf（拦截点在释放点后方，平台向后飞）
+ float A2 = (delay + ux / vp + tf) * vd * vp / (vp + vd);
+ if (A2 < ux + vp_tf && A2 > d && A2 <= totalArc)
+ return (A2, (A2 - d) / vd - delay);
+
+ return (0, 0);
+ }
+
/// 求解拦截弧长：D² + (Δy + ½g·ts²)² = vs²·ts²，ts = (A-d)/vd - R
public static (float InterceptArc, float ShellTime) Compute(
IReadOnlyList route, float detectArc, float droneSpeedKmh,
@@ -43,7 +80,8 @@ namespace CounterDrone.Core.Algorithms
if (fLo >= float.MaxValue - 1) return (0, 0);
// 步进搜索下降段
- float step = Math.Max(1f, (totalArc - lo) / 100f);
+ float step = (totalArc - lo) / 100f;
+ if (step < 0.001f) step = 0.001f;
float hi = lo + step;
float fHi = 0;
while (hi <= totalArc)
diff --git a/src/CounterDrone.Core/DefaultScenarios.cs b/src/CounterDrone.Core/DefaultScenarios.cs
index 51f26f0..a917a63 100644
--- a/src/CounterDrone.Core/DefaultScenarios.cs
+++ b/src/CounterDrone.Core/DefaultScenarios.cs
@@ -114,7 +114,7 @@ namespace CounterDrone.Core
s.SaveRoute(t.Id, "default", d.Formations.First(f => f.Id == "single").ToRoutePlan(), R("20km-h500", 200, d));
s.SaveDeployment(t.Id, new List
{
- d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 3, 12000, 1000, 0),
+ d.FireUnits.First(f => f.Id == "air-standard").ToEquipmentDeployment(AerosolType.InertGas, 3, 6000, 1000, 0),
});
s.SaveCloudDispersal(t.Id, new CloudDispersal { AerosolType = (int)AerosolType.InertGas, DisperseHeight = 500 });
s.UpdateStep(t.Id, 5);
diff --git a/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs b/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs
index cd3a18e..9f51264 100644
--- a/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs
+++ b/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs
@@ -156,7 +156,9 @@ namespace CounterDrone.Core.Tests
var drone = eng.Drones[0];
var launched = eng.Events.Count(e => e.Type == SimEventType.MunitionLaunched);
Assert.True(launched > 0);
- Assert.True(drone.Hp < 0.1f, $"Hp={drone.Hp:F3} status={drone.Status} events={eng.Events.Count(e => e.Type == SimEventType.MunitionLaunched)} launches");
+ var detail = _scenario.GetTaskDetail(_taskId)!;
+ var report = new ReportGenerator().Generate(detail, eng.Events.ToList(), drone.Status, eng.SimulationTime);
+ Assert.True(drone.Hp < 0.1f, $"Hp={drone.Hp:F3} status={drone.Status}\nReport:\n{report}");
VerifyAndExportReport(eng, drone);
}
diff --git a/test/unit/CounterDrone.Core.Tests/InterceptCalculatorAirTests.cs b/test/unit/CounterDrone.Core.Tests/InterceptCalculatorAirTests.cs
new file mode 100644
index 0000000..d84bc58
--- /dev/null
+++ b/test/unit/CounterDrone.Core.Tests/InterceptCalculatorAirTests.cs
@@ -0,0 +1,54 @@
+using System.Collections.Generic;
+using CounterDrone.Core.Algorithms;
+using CounterDrone.Core.Models;
+using Xunit;
+
+namespace CounterDrone.Core.Tests
+{
+ public class InterceptCalculatorAirTests
+ {
+ private static List R(float x0, float x1, float y, float kph)
+ => new() {
+ new() { PosX = x0, PosY = y, PosZ = 0, Speed = kph },
+ new() { PosX = x1, PosY = y, PosZ = 0, Speed = kph },
+ };
+
+ [Fact]
+ public void Smoke_ReturnsPositive()
+ {
+ // 无人机 200km/h, 0→20km, Y=500
+ // 平台(2000,1000,0), cruise=80, R+exp=35
+ var route = R(0, 20000, 500, 200);
+ var unit = new Vector3(2000, 1000, 0);
+ var (arc, _) = InterceptCalculator.ComputeHorizontal(
+ route, 0, 200, 35, unit, 80, 1000, 500);
+
+ Assert.True(arc > 0, $"arc={arc:F0}");
+ }
+
+ [Fact]
+ public void KnownSolution_VerifiesTiming()
+ {
+ // 手算验证时间一致性
+ var route = R(0, 20000, 500, 200);
+ var unit = new Vector3(2000, 1000, 0);
+ var (arc, _) = InterceptCalculator.ComputeHorizontal(
+ route, 0, 200, 35, unit, 80, 1000, 500);
+
+ if (arc > 0)
+ {
+ float vd = 200f / 3.6f;
+ float tf = MathF.Sqrt(2f * 500f / 9.81f); // ~10.1s
+ float delay = 35f + tf;
+ float droneTime = (arc - 0) / vd;
+ float releaseX = arc - 80 * tf;
+ float flightDist = MathF.Abs(releaseX - 2000);
+ float platformTime = flightDist / 80;
+ float total = delay + platformTime;
+
+ Assert.True(MathF.Abs(droneTime - total) < 1f,
+ $"drone={droneTime:F1} total={total:F1} arc={arc:F0} releaseX={releaseX:F0}");
+ }
+ }
+ }
+}