wip: 空基Planner修正——投放点后移抵消载具漂移；云团/发射事件用精确时刻
- 空基 GenerateFireEventsAt 投放点后移 driftX = cruiseSpeed * fallTime - MunitionEntity 记录 launchTime + flightDuration → ArrivalTime 精确计算 - 云团 Initialization 用 munition.ArrivalTime 非 SimulationTime - CloudGenerated 事件 OccurredAt 用精确到达时刻 - PlatformEntity 存储 ExactReleaseTime - 修复缺失 else 导致的空基走地基分支
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@ -167,8 +167,6 @@ namespace CounterDrone.Core.Algorithms
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if (toTake <= 0) continue;
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int yLane = currentLane;
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var refEvt = GenerateFireEventsAt(threat, c.Unit, c.AmmoType, ammo, env, 0, yLane, yLanes, formationWidth);
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float unitBaseTime = refEvt[0].FireTime;
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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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@ -177,10 +175,9 @@ 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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int baseRoundInLane = singleNeeded - laneNeeded[currentLane];
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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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foreach (var e in fe)
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{
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e.FireTime = unitBaseTime + (baseRoundInLane + ch) * stagger;
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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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@ -444,17 +441,29 @@ 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 flightDist = Kinematics.Distance3D(
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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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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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float flightTime = flightDist / cruiseSpd;
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float fallTime = Kinematics.AirDropFallTime(releaseAlt, (float)threat.Target.TypicalAltitude);
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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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@ -52,6 +52,14 @@ namespace CounterDrone.Core.Algorithms
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return Math.Max(angleRange, angleHeight);
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}
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/// <summary>弹道飞行时间（秒）</summary>
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public static float ParabolicTimeOfFlight(float range, float launchAngle, float muzzleVelocity)
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{
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float cosAngle = (float)Math.Cos(launchAngle);
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if (cosAngle < 0.001f) return range / Math.Max(1f, muzzleVelocity * 0.7f);
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return range / (muzzleVelocity * cosAngle);
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}
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/// <summary>根据发射参数计算抛物线位置</summary>
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public static (float X, float Y, float Z) ParabolicPosition(
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float startX, float startY, float startZ,
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@ -16,12 +16,15 @@ namespace CounterDrone.Core.Simulation
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public float TargetZ { get; }
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public float ReleaseAltitude { get; }
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public bool HasArrived { get; private set; }
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public float ArrivalTime { get; private set; }
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private readonly float _muzzleVelocity;
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private float _time;
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private readonly float _launchAngle;
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private readonly float _azimuth;
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private readonly float _startX, _startY, _startZ;
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private readonly float _launchTime;
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private float _flightDuration;
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// 空基投放：继承载机速度
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private readonly float _carrierVelX, _carrierVelY, _carrierVelZ;
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@ -32,6 +35,7 @@ namespace CounterDrone.Core.Simulation
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float startX, float startY, float startZ,
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float targetX, float targetY, float targetZ,
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float muzzleVelocity, float releaseAltitude,
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float launchTime,
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float carrierVelX = 0f, float carrierVelY = 0f, float carrierVelZ = 0f)
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{
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Id = id;
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@ -45,6 +49,7 @@ namespace CounterDrone.Core.Simulation
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_carrierVelX = carrierVelX;
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_carrierVelY = carrierVelY;
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_carrierVelZ = carrierVelZ;
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_launchTime = launchTime;
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if (launchMode == PlatformType.GroundBased)
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{
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@ -53,6 +58,11 @@ namespace CounterDrone.Core.Simulation
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var horizontalDist = (float)System.Math.Sqrt(dx * dx + dz * dz);
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_azimuth = horizontalDist > 0.001f ? (float)System.Math.Atan2(dx, dz) : 0;
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_launchAngle = Kinematics.CalculateLaunchAngle(horizontalDist, muzzleVelocity, releaseAltitude);
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_flightDuration = Kinematics.ParabolicTimeOfFlight(horizontalDist, _launchAngle, muzzleVelocity);
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}
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else
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{
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_flightDuration = Kinematics.AirDropFallTime(startY, releaseAltitude);
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}
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}
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@ -74,6 +84,7 @@ namespace CounterDrone.Core.Simulation
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{
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PosY = ReleaseAltitude;
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HasArrived = true;
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ArrivalTime = _launchTime + _flightDuration;
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}
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}
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else
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@ -88,6 +99,7 @@ namespace CounterDrone.Core.Simulation
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{
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PosY = ReleaseAltitude;
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HasArrived = true;
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ArrivalTime = _launchTime + _flightDuration;
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}
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}
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}
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@ -29,6 +29,9 @@ 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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/// <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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// 地基平台
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public float MuzzleVelocity { get; }
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@ -82,7 +85,7 @@ 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)
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public void CommandFlyTo(float targetX, float targetY, float targetZ, float fireTime)
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{
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if (PlatformType != Models.PlatformType.AirBased) return;
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_targetX = targetX;
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@ -93,6 +96,8 @@ namespace CounterDrone.Core.Simulation
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float dz = targetZ - PosZ;
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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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State = PlatformState.FlyingToTarget;
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}
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@ -168,7 +168,7 @@ 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);
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platform.CommandFlyTo(fe.TargetX, platform.ReleaseAltitude, fe.TargetZ, fe.FireTime);
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}
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else if (platform.Ready)
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{
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@ -178,7 +178,8 @@ namespace CounterDrone.Core.Simulation
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platform.PlatformType ?? Models.PlatformType.GroundBased,
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platform.AerosolType ?? Models.AerosolType.InertGas,
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platform.PosX, platform.PosY, platform.PosZ,
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fe.TargetX, fe.TargetY, fe.TargetZ, fe.MuzzleVelocity, _disperseHeight);
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fe.TargetX, fe.TargetY, fe.TargetZ, fe.MuzzleVelocity, _disperseHeight,
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fe.FireTime);
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_munitions.Add(m);
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OnMunitionLaunched?.Invoke(m);
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frameEvents.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = fe.FireTime, SourceId = platform.Id, Description = $"计划发射 {m.Id}" });
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@ -196,10 +197,11 @@ namespace CounterDrone.Core.Simulation
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platform.PosX, platform.PosY, platform.PosZ,
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platform.PosX, _disperseHeight, platform.PosZ,
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0f, _disperseHeight,
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platform.ExactReleaseTime,
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cvx, cvy, cvz);
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_munitions.Add(m);
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OnMunitionLaunched?.Invoke(m);
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frameEvents.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = SimulationTime, SourceId = platform.Id, Description = $"空基投放 {m.Id}" });
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frameEvents.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = platform.ExactReleaseTime, SourceId = platform.Id, Description = $"空基投放 {m.Id}" });
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}
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// 2. 弹药飞行 → 云团生成
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@ -209,12 +211,12 @@ namespace CounterDrone.Core.Simulation
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if (m.HasArrived)
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{
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var disp = AlgorithmFactory.Create<ICloudDispersionModel>();
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disp.Initialize(_ammoSpec, _scene, new Algorithms.Vector3(m.TargetX, m.TargetY, m.TargetZ), SimulationTime);
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var cloud = new CloudEntity($"cloud_{++_entityCounter}", m.AerosolType, disp, SimulationTime);
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disp.Initialize(_ammoSpec, _scene, new Algorithms.Vector3(m.PosX, m.PosY, m.PosZ), m.ArrivalTime);
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var cloud = new CloudEntity($"cloud_{++_entityCounter}", m.AerosolType, disp, m.ArrivalTime);
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_clouds.Add(cloud);
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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 = SimulationTime, Description = "云团生成" });
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frameEvents.Add(new SimEvent { Type = SimEventType.CloudGenerated, OccurredAt = m.ArrivalTime, Description = "云团生成" });
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}
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}
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@ -219,6 +219,7 @@ namespace CounterDrone.Core.Tests
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foreach (var d in eng.Drones)
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msg += $" [{d.Status} hp={d.Hp:F2}]";
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VerifyAndExportReport(eng, eng.Drones[0]);
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System.IO.File.WriteAllText(@"C:\Users\Tellme\Desktop\test_piston.txt", msg);
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Assert.True(launched > 0, msg);
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Assert.True(eng.Drones.All(d => d.Status == DroneStatus.Destroyed), msg);
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}
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@ -319,6 +320,7 @@ namespace CounterDrone.Core.Tests
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var clouds = eng.Events.Count(e => e.Type == SimEventType.CloudGenerated);
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var msg = $"AirBased: launched={launched} clouds={clouds} status={drone.Status} hp={drone.Hp:F2}";
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System.IO.File.WriteAllText(@"C:\Users\Tellme\Desktop\test_air.txt", msg);
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VerifyAndExportReport(eng, drone);
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Assert.True(launched > 0, msg);
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Assert.Equal(DroneStatus.Destroyed, drone.Status);
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@ -14,7 +14,7 @@ namespace CounterDrone.Core.Tests
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AerosolType.InertGas,
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startX: 0, startY: 0, startZ: 0,
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targetX: 5000, targetY: 300, targetZ: 0,
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muzzleVelocity: 500f, releaseAltitude: 300f);
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muzzleVelocity: 500f, releaseAltitude: 300f, launchTime: 0f);
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m.Update(0.05f);
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Assert.False(m.HasArrived, "炮弹不能第一帧就到达");
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@ -28,7 +28,7 @@ namespace CounterDrone.Core.Tests
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AerosolType.InertGas,
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startX: 0, startY: 0, startZ: 0,
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targetX: 5000, targetY: 300, targetZ: 0,
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muzzleVelocity: 500f, releaseAltitude: 300f);
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muzzleVelocity: 500f, releaseAltitude: 300f, launchTime: 0f);
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for (int i = 0; i < 500; i++)
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{
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@ -68,7 +68,7 @@ namespace CounterDrone.Core.Tests
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AerosolType.InertGas,
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startX: 0, startY: 0, startZ: 0,
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targetX: 1000, targetY: 300, targetZ: 0,
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muzzleVelocity: 500f, releaseAltitude: 300f);
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muzzleVelocity: 500f, releaseAltitude: 300f, launchTime: 0f);
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m.Update(1f);
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var dist = System.Math.Sqrt(m.PosX * m.PosX + m.PosZ * m.PosZ);
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@ -82,7 +82,7 @@ namespace CounterDrone.Core.Tests
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AerosolType.InertGas,
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startX: 0, startY: 500, startZ: 0,
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targetX: 1000, targetY: 300, targetZ: 0,
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muzzleVelocity: 0, releaseAltitude: 300f);
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muzzleVelocity: 0, releaseAltitude: 300f, launchTime: 0f);
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// 空基投放：自由落体 500m → 300m = 200m 下落
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// h = 0.5*g*t² → t = sqrt(2*200/9.81) ≈ 6.4s
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