fix: 空基投放点不被传送到终点——插值位置保留在投放点
- PlatformEntity 投放条件触发时不设置PosX=targetX，保留插值位置 - 空基FireEvent.TargetX=云位，platform飞向云位，距目标driftDist时投放 - planner恢复laneBaseTime+stagger覆盖，保证云位连续间距均匀 - CommandFlyTo接收disperseHeight计算driftDist
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@ -147,6 +147,8 @@ namespace CounterDrone.Core.Algorithms
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// 逐单元分配：每个单元锁定一个 Y 车道
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float spacing = 2f * turbulentRadius;
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int[] laneNeeded = new int[yLanes];
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float[] laneBaseTime = new float[yLanes];
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bool[] laneBaseSet = new bool[yLanes];
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for (int l = 0; l < yLanes; l++) laneNeeded[l] = singleNeeded;
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int currentLane = 0;
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int roundsCollected = 0;
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@ -167,6 +169,14 @@ namespace CounterDrone.Core.Algorithms
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if (toTake <= 0) continue;
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int yLane = currentLane;
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var mid = ThreatMidpoint(threat);
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// 车道第一个单元设基准时间，后续单元以此为准保证间距均匀
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if (!laneBaseSet[yLane])
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{
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var refEvt = GenerateFireEventsAt(threat, c.Unit, c.AmmoType, ammo, env, 0, yLane, yLanes, formationWidth);
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laneBaseTime[yLane] = refEvt[0].FireTime;
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laneBaseSet[yLane] = true;
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}
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float stagger = Kinematics.CloudCoverInterval(turbulentRadius * 2f, (float)threat.Target.TypicalSpeed, c.Unit.ChannelInterval);
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var fevents = new List<FireEvent>();
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@ -175,9 +185,11 @@ namespace CounterDrone.Core.Algorithms
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{
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float offset = (eventIdx - (totalRoundsNeeded - 1) / 2f) * spacing;
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var fe = GenerateFireEventsAt(threat, c.Unit, c.AmmoType, ammo, env, offset, yLane, yLanes, formationWidth);
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// 不覆盖 FireTime：GenerateFireEventsAt 已按偏移位置 + 单元飞行时间精确计算
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int baseRoundInLane = singleNeeded - laneNeeded[currentLane];
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foreach (var e in fe)
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{
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e.FireTime = laneBaseTime[yLane] + (baseRoundInLane + ch) * stagger;
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e.TargetX = mid.X + offset;
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e.PlatformIndex = unitIdx * c.Unit.TotalChannels + ch;
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}
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fevents.AddRange(fe);
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@ -394,7 +406,7 @@ namespace CounterDrone.Core.Algorithms
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{
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float avgSpeed = (float)threat.Target.TypicalSpeed / 3.6f;
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var (effectiveR, _, _) = ComputeEffectiveRadius(threat, ammo, env);
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float spacing = effectiveR * 1.5f;
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float spacing = 2f * effectiveR;
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float actualCoverage = spacing * (rounds - 1) + 2f * effectiveR;
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float actualExposure = actualCoverage / avgSpeed;
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@ -441,29 +453,21 @@ namespace CounterDrone.Core.Algorithms
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float fireTime;
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if (unit.Type == PlatformType.AirBased)
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{
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if (unit.ReleaseAltitude <= 0 || unit.CruiseSpeed <= 0)
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throw new InvalidOperationException($"空基单元 {unit.Id}: ReleaseAltitude={unit.ReleaseAltitude}, CruiseSpeed={unit.CruiseSpeed} 必须>0");
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float releaseAlt = unit.ReleaseAltitude;
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float cruiseSpd = unit.CruiseSpeed;
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float fallTime = Kinematics.AirDropFallTime(releaseAlt, (float)threat.Target.TypicalAltitude);
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// 投放点后移以抵消载具航速导致的漂移
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float flightDistToCloud = Kinematics.Distance3D(
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// 载具飞向云端方向，漂移距离 = 巡航速度 × 落体时间
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float driftDist = cruiseSpd * fallTime;
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float distToCloud = Kinematics.Distance3D(
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unit.Position.X, unit.Position.Y, unit.Position.Z,
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tx, releaseAlt, tz);
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float flightTimeToCloud = flightDistToCloud / cruiseSpd;
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// 载具飞行方向单位向量
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float dirX = (tx - unit.Position.X) / Math.Max(1f, flightDistToCloud);
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float dirZ = (tz - unit.Position.Z) / Math.Max(1f, flightDistToCloud);
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float driftX = cruiseSpd * fallTime * dirX;
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float driftZ = cruiseSpd * fallTime * dirZ;
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float releaseX = tx - driftX;
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float releaseZ = tz - driftZ;
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float flightDist = Kinematics.Distance3D(
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unit.Position.X, unit.Position.Y, unit.Position.Z,
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releaseX, releaseAlt, releaseZ);
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// 投放点间距 = 总距离 - 漂移，投后弹药滑翔至预期云位
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float flightDist = Math.Max(0f, distToCloud - driftDist);
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float flightTime = flightDist / cruiseSpd;
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fireTime = recommendedTiming - flightTime - fallTime;
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tx = releaseX; tz = releaseZ;
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}
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else
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{
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@ -29,6 +29,7 @@ namespace CounterDrone.Core.Simulation
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private float _targetX, _targetY, _targetZ;
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private float _flightDistance;
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private float _flownDistance;
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private float _driftDistance;
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/// <summary>空基平台精确投放时刻（计算值）</summary>
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public float ExactReleaseTime => _exactReleaseTime;
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private float _exactReleaseTime;
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@ -69,11 +70,13 @@ namespace CounterDrone.Core.Simulation
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float step = CruiseSpeed * deltaTime;
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_flownDistance += step;
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if (_flownDistance >= _flightDistance || _flightDistance < 0.01f)
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if (_flownDistance >= _flightDistance - _driftDistance - 0.01f || _flightDistance < 0.01f)
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{
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PosX = _targetX;
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PosY = _targetY;
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PosZ = _targetZ;
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// 在投放点（非终点），保留插值位置
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float rt = _flightDistance > 0.01f ? Math.Min(1f, _flownDistance / _flightDistance) : 1f;
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PosX = PatrolX + (_targetX - PatrolX) * rt;
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PosY = PatrolY + (_targetY - PatrolY) * rt;
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PosZ = PatrolZ + (_targetZ - PatrolZ) * rt;
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State = PlatformState.ReadyToRelease;
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return;
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}
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@ -85,7 +88,7 @@ namespace CounterDrone.Core.Simulation
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}
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/// <summary>下令空基平台飞往投放点</summary>
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public void CommandFlyTo(float targetX, float targetY, float targetZ, float fireTime)
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public void CommandFlyTo(float targetX, float targetY, float targetZ, float fireTime, float disperseHeight)
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{
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if (PlatformType != Models.PlatformType.AirBased) return;
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_targetX = targetX;
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@ -97,7 +100,9 @@ namespace CounterDrone.Core.Simulation
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_flightDistance = (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
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_flownDistance = 0;
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float flightTime = CruiseSpeed > 0 ? _flightDistance / CruiseSpeed : 0f;
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_exactReleaseTime = fireTime + flightTime;
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float fallTime = Kinematics.AirDropFallTime(PosY, disperseHeight);
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_driftDistance = CruiseSpeed * fallTime;
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_exactReleaseTime = fireTime + Math.Max(0f, _flightDistance - _driftDistance) / CruiseSpeed;
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State = PlatformState.FlyingToTarget;
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}
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@ -142,9 +142,19 @@ namespace CounterDrone.Core.Simulation
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{
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var result = _planner.Plan(fireUnits, threats, _scene);
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SetFireSchedule(result.Best.MergedSchedule);
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// 诊断：输出 Planner 云团预期位置
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var lines = new List<string> { "idx,fireTime,tx,ty,tz,mv" };
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for (int i = 0; i < _fireSchedule.Count; i++)
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{
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var f = _fireSchedule[i];
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lines.Add($"{i},{f.FireTime:F3},{f.TargetX:F1},{f.TargetY:F1},{f.TargetZ:F1},{f.MuzzleVelocity:F0}");
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}
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System.IO.File.WriteAllLines(@"C:\Users\Tellme\Desktop\planner_targets.csv", lines);
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}
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}
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// 初始化 cloud dump
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System.IO.File.WriteAllText(@"C:\Users\Tellme\Desktop\cloud_actual.csv", "m.id,arrivalTime,px,py,pz,cloud.id,tx,ty,tz\n");
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_frameDb = _frameStore.CreateOrOpen(_taskId);
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State = SimulationState.Running;
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}
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@ -168,7 +178,7 @@ namespace CounterDrone.Core.Simulation
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if (platform.PlatformType == Models.PlatformType.AirBased && platform.Ready)
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{
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platform.CommandFlyTo(fe.TargetX, platform.ReleaseAltitude, fe.TargetZ, fe.FireTime);
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platform.CommandFlyTo(fe.TargetX, platform.ReleaseAltitude, fe.TargetZ, fe.FireTime, _disperseHeight);
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}
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else if (platform.Ready)
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{
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@ -217,6 +227,8 @@ namespace CounterDrone.Core.Simulation
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_munitions.Remove(m);
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OnCloudGenerated?.Invoke(cloud);
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frameEvents.Add(new SimEvent { Type = SimEventType.CloudGenerated, OccurredAt = m.ArrivalTime, Description = "云团生成" });
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System.IO.File.AppendAllText(@"C:\Users\Tellme\Desktop\cloud_actual.csv",
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$"{m.Id},{m.ArrivalTime:F3},{m.PosX:F1},{m.PosY:F1},{m.PosZ:F1},{cloud.Id},{m.TargetX:F1},{m.TargetY:F1},{m.TargetZ:F1}\n");
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}
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}
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