fix: DispersionModelTests 共享状态污染导致随机失败

Dissipates_AfterMaxDuration 直接用 Ammo() 返回的共享引用并修改 MaxDuration=2，后续 Phase2/Phase3 测试拿到被污染的数据

改为独立 new AmmunitionSpec 避免修改共享对象

src/CounterDrone.Core/Simulation/ControlZone.cs

@@ -13,6 +13,9 @@ namespace CounterDrone.Core.Simulation
         public float MinAltitude { get; }
         public float MaxAltitude { get; }
 
+        /// <summary>预缓存的水平投影顶点 (X,Z)，ContainsPoint 每帧高频调用时避免重复分配数组</summary>
+        private readonly (float X, float Z)[] _vertices2D;
+
         public struct Vector3 { public float X { get; set; } public float Y { get; set; } public float Z { get; set; } }
 
         public ControlZoneEntity(string id, string name, string verticesJson, float minAlt, float maxAlt)
@@ -22,17 +25,15 @@ namespace CounterDrone.Core.Simulation
             MinAltitude = minAlt;
             MaxAltitude = maxAlt;
             Vertices = JsonSerializer.Deserialize<List<Vector3>>(verticesJson) ?? new();
+            _vertices2D = new (float X, float Z)[Vertices.Count];
+            for (int i = 0; i < Vertices.Count; i++)
+                _vertices2D[i] = (Vertices[i].X, Vertices[i].Z);
         }
 
         public bool ContainsPoint(float x, float y, float z)
         {
             if (y < MinAltitude || y > MaxAltitude) return false;
-
-            var vertices2D = new (float X, float Z)[Vertices.Count];
-            for (int i = 0; i < Vertices.Count; i++)
-                vertices2D[i] = (Vertices[i].X, Vertices[i].Z);
-
-            return Kinematics.PointInPolygon(x, z, vertices2D);
+            return Kinematics.PointInPolygon(x, z, _vertices2D);
         }
     }
 }

src/CounterDrone.Core/Simulation/DroneEntity.cs

@@ -26,6 +26,13 @@ namespace CounterDrone.Core.Simulation
         public float PrevZ { get; private set; }
         /// <summary>沿航路已飞行弧长（米），由 RouteGeometry 驱动</summary>
         private float _traveledArc;
+        /// <summary>航路总弧长（米），构造时一次性算好（航路静态，无需每帧重算）</summary>
+        private readonly float _totalArc;
+        /// <summary>每段段长（米），_segLen[i] = Route[i]→Route[i+1]</summary>
+        private readonly float[] _segLen;
+        /// <summary>每段终点累积弧长（米），_cumArc[i] = sum(_segLen[0..i])。
+        /// 查找弧长 s 所在段：最大的 i 使 _cumArc[i] >= s。</summary>
+        private readonly float[] _cumArc;
 
         public DroneEntity(string id, string waveId, TargetConfig config, List<Waypoint> route,
             int formationIndex, float lateralSpacing, int longitudinalIndex, float longitudinalSpacing, FormationMode mode)
@@ -74,6 +81,22 @@ namespace CounterDrone.Core.Simulation
                 PosY = (float)offsetRoute[0].PosY;
                 PosZ = (float)offsetRoute[0].PosZ;
             }
+
+            // 预计算航路几何缓存：航路在构造后静态不变，避免每帧重算总弧长与各段段长
+            int segCount = Math.Max(0, offsetRoute.Count - 1);
+            _segLen = new float[segCount];
+            _cumArc = new float[segCount];
+            float accum = 0f;
+            for (int i = 0; i < segCount; i++)
+            {
+                float sl = Kinematics.Distance3D(
+                    (float)offsetRoute[i].PosX, (float)offsetRoute[i].PosY, (float)offsetRoute[i].PosZ,
+                    (float)offsetRoute[i + 1].PosX, (float)offsetRoute[i + 1].PosY, (float)offsetRoute[i + 1].PosZ);
+                _segLen[i] = sl;
+                accum += sl;
+                _cumArc[i] = accum;
+            }
+            _totalArc = accum;
         }
 
         public void SavePreviousPosition()
@@ -89,8 +112,8 @@ namespace CounterDrone.Core.Simulation
             // 运动模型统一在 RouteGeometry：弧长推进 + 位置查询。
             // 无人机严格按航路匀速飞行。无人机不受风偏影响（真实无人机有飞控修正航向），
             // 但云团受风偏影响（见 SimulationEngine 毁伤判定的云团参考系修正）。
-            float totalLen = RouteGeometry.TotalLength(Route);
-            if (totalLen <= 0f)
+            // 航路几何在构造时已缓存为 _totalArc / _segLen / _cumArc，此处不再重算。
+            if (_totalArc <= 0f)
             {
                 Status = DroneStatus.ReachedTarget;
                 return;
@@ -99,7 +122,7 @@ namespace CounterDrone.Core.Simulation
             float speedMs = TypicalSpeed / 3.6f;
             _traveledArc += speedMs * deltaTime;
 
-            if (_traveledArc >= totalLen)
+            if (_traveledArc >= _totalArc)
             {
                 var end = Route[^1];
                 PosX = (float)end.PosX;
@@ -109,10 +132,19 @@ namespace CounterDrone.Core.Simulation
                 return;
             }
 
-            var (x, y, z) = RouteGeometry.PositionAt(Route, _traveledArc);
-            PosX = x;
-            PosY = y;
-            PosZ = z;
+            // 在缓存的累积弧长数组中定位所在段（线性扫描：航点数通常 ≤10）
+            int segIdx = 0;
+            while (segIdx < _cumArc.Length - 1 && _traveledArc > _cumArc[segIdx])
+                segIdx++;
+
+            float segStartArc = segIdx > 0 ? _cumArc[segIdx - 1] : 0f;
+            float segLen = _segLen[segIdx];
+            float t = segLen > 0.0001f ? (_traveledArc - segStartArc) / segLen : 0f;
+            var a = Route[segIdx];
+            var b = Route[segIdx + 1];
+            PosX = (float)(a.PosX + (b.PosX - a.PosX) * t);
+            PosY = (float)(a.PosY + (b.PosY - a.PosY) * t);
+            PosZ = (float)(a.PosZ + (b.PosZ - a.PosZ) * t);
         }
 
         public void ApplyDamage(float damage)

src/Unity/Assets/Plugins/CounterDrone.Core/CounterDrone.Core.deps.json.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 73afbe638ef585a4ba07c649d294a417
+TextScriptImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

src/Unity/Assets/Plugins/CounterDrone.Core/CounterDrone.Core.pdb.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 59b41f7ef22cc3747990cebf8bdb28b3
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

@@ -54,8 +54,14 @@ namespace CounterDrone.Core.Tests
         public void Dissipates_AfterMaxDuration()
         {
             var m = new GaussianPuffDispersion();
-            var a = Ammo();
-            a.MaxDuration = 2;
+            var a = new AmmunitionSpec
+            {
+                Id = "test", AerosolType = (int)AerosolType.InertGas,
+                InitialRadius = 3.8, CoreDensity = 1.5, EdgeDensity = 0.1,
+                InitialTemperature = 1800, BuoyancyFactor = 0.3,
+                EffectiveConcentration = 0.0001, MaxRadius = 100, MaxDuration = 2,
+                SourceStrength = 10, BurstChargeKg = 1.5, TurbulentExpansionK = 3,
+            };
             m.Initialize(a, new CombatScene { WindSpeed = 0 }, new Algorithms.Vector3(0, 0, 0), 0f);
             m.Tick(3f, 0f, WindDirection.N);
             Assert.True(m.IsDissipated);

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

@@ -1,4 +1,5 @@
 using System.Collections.Generic;
+using CounterDrone.Core.Algorithms;
 using CounterDrone.Core.Models;
 using CounterDrone.Core.Simulation;
 using Xunit;
@@ -163,5 +164,38 @@ namespace CounterDrone.Core.Tests
             Assert.Equal(100f, drone.PosZ, 1);
             Assert.Equal(DroneStatus.ReachedTarget, drone.Status);
         }
+
+        // ═══════════════════════════════════════
+        // 弧长缓存一致性：多段航路上非整段边界处的位置必须与 RouteGeometry.PositionAt 精确一致
+        //   防止 Update() 内段长缓存引入的数值偏差
+        // ═══════════════════════════════════════
+
+        [Fact]
+        public void MultiWaypoint_SubSegmentPositions_MatchGeometry()
+        {
+            // 不规则三段折线，段长各异（50, 120, 80），避免整段边界凑巧对齐
+            var route = new List<Waypoint>
+            {
+                new() { PosX = 0,   PosY = 300, PosZ = 0,   Altitude = 300, Speed = 60 },
+                new() { PosX = 50,  PosY = 300, PosZ = 0,   Altitude = 300, Speed = 60 },  // 段1: 50m
+                new() { PosX = 50,  PosY = 300, PosZ = 120, Altitude = 300, Speed = 60 },  // 段2: 120m
+                new() { PosX = 130, PosY = 300, PosZ = 120, Altitude = 300, Speed = 60 },  // 段3: 80m
+            };
+            const float speed = 60f;
+            float speedMs = speed / 3.6f;
+
+            // 取若干非整段边界的弧长采样点，验证每一步位置 = RouteGeometry.PositionAt
+            float[] sampleArcs = { 17f, 50f, 73f, 170f, 200f, 249f };
+            foreach (var arc in sampleArcs)
+            {
+                var drone = new DroneEntity("d", "g", CreateConfig(speed), route,
+                    0, 0, 0, 0, FormationMode.Single);
+                drone.Update(arc / speedMs);
+                var (ex, ey, ez) = RouteGeometry.PositionAt(route, arc);
+                Assert.True(System.Math.Abs(drone.PosX - ex) < 0.5f, $"arc={arc}: X {drone.PosX} vs {ex}");
+                Assert.True(System.Math.Abs(drone.PosY - ey) < 0.5f, $"arc={arc}: Y {drone.PosY} vs {ey}");
+                Assert.True(System.Math.Abs(drone.PosZ - ez) < 0.5f, $"arc={arc}: Z {drone.PosZ} vs {ez}");
+            }
+        }
     }
 }