refactor: 移除隐藏 Math.Max 回退，改为显式验证或数值 epsilon
GaussianPuffDispersion: - BurstChargeKg ≤ 0 → 抛异常，不再用 Math.Max(0.01, ...) 掩护 - Phase3 扩散距离 x ≤ 0 → 跳过，不再用 Math.Max(1f, ...) - Opacity/SizeMultiplier → 除零改为显式判 0 - 缓存 _initialRadius 避免重复 Pow 计算 CloudExpansionModel: - BurstChargeKg ≤ 0 → 抛异常 - Phase3 x ≤ 0 → 直接返回 Phase2 末半径 - RoundsNeeded: s ≤ 0 → 返回 1 DefensePlanner: - yLanes>1 判定已在上一行，去掉冗余 Math.Max(1, ...) InterceptCalculator: - 保留 +0.001f epsilon（确保 ts>0），但不作为隐藏回退 - 改用显式加偏移替代 Math.Max(0.001f, ...) DetectionCalculator.SpreadRadius: accuracy<0 → 抛异常 RouteGeometry: arcLength<0 → 钳位为 0（显式 if） 保留 10 处合法 Math.Max（取两值中较大者或几何钳位）
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@ -8,15 +8,21 @@ namespace CounterDrone.Core.Algorithms
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{
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private readonly AmmunitionSpec _ammo;
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private readonly CombatScene _env;
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private readonly float _initialRadius;
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public CloudExpansionModel(AmmunitionSpec ammo, CombatScene env)
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{
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_ammo = ammo;
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_env = env;
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var w = (float)ammo.BurstChargeKg;
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if (w <= 0)
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throw new ArgumentException($"BurstChargeKg 必须 > 0，实际: {w}", nameof(ammo));
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_initialRadius = 3.3f * (float)Math.Pow(w, 0.32);
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}
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/// <summary>Phase 1 爆轰初始半径 (m)</summary>
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public float InitialRadius => 3.3f * (float)Math.Pow(Math.Max(0.01, (float)_ammo.BurstChargeKg), 0.32f);
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public float InitialRadius => _initialRadius;
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/// <summary>Phase 2 结束时的有效半径</summary>
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public float TurbulentRadius => RadiusAt(Phase2Duration);
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@ -29,21 +35,22 @@ namespace CounterDrone.Core.Algorithms
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/// <summary>指定时刻湍流膨胀半径 R(t) = R₀ + k√t</summary>
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public float RadiusAt(float elapsedSeconds)
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{
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if (elapsedSeconds <= 0) return InitialRadius;
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if (elapsedSeconds <= 0) return _initialRadius;
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float p2 = Phase2Duration;
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bool inPhase3 = elapsedSeconds > p2;
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if (!inPhase3)
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return InitialRadius + TurbulentExpansionK * (float)Math.Sqrt(elapsedSeconds);
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return _initialRadius + TurbulentExpansionK * (float)Math.Sqrt(elapsedSeconds);
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// Phase 3: 高斯扩散
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float windSpeed = (float)_env.WindSpeed;
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float x = Math.Max(1f, windSpeed * (elapsedSeconds - p2));
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float x = windSpeed * (elapsedSeconds - p2);
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if (x <= 0) return _initialRadius + TurbulentExpansionK * (float)Math.Sqrt(p2);
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var cls = Kinematics.GetStabilityClass((WeatherType)_env.WeatherType, windSpeed);
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float sY = Kinematics.SigmaY(cls, x);
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float sZ = Kinematics.SigmaZ(cls, x);
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float peakC = Kinematics.GaussianPeakConcentration((float)_ammo.SourceStrength, sY, sZ);
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float effConc = (float)_ammo.EffectiveConcentration;
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float rPhase2 = InitialRadius + TurbulentExpansionK * (float)Math.Sqrt(p2);
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float rPhase2 = _initialRadius + TurbulentExpansionK * (float)Math.Sqrt(p2);
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if (peakC <= effConc) return rPhase2;
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float sigma = (sY + sZ) / 2f;
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return rPhase2 + sigma * (float)Math.Sqrt(2f * Math.Log(peakC / effConc));
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@ -54,26 +61,25 @@ namespace CounterDrone.Core.Algorithms
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{
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float r = RadiusAt(elapsedSeconds);
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float volume = (4f / 3f) * (float)Math.PI * r * r * r;
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return volume > 0.001f ? (float)_ammo.SourceStrength / volume : (float)_ammo.CoreDensity;
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if (volume <= 0.001f) return (float)_ammo.CoreDensity;
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return (float)_ammo.SourceStrength / volume;
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}
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/// <summary>覆盖指定距离需要的云团数量</summary>
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/// <param name="requiredCoverage">需要覆盖的距离 (m)</param>
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/// <param name="spacing">相邻云团中心间距 (m)，默认=2R(相切)。重叠时由调用方传入更小值。</param>
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public int RoundsNeeded(float requiredCoverage, float? spacing = null)
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{
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float s = spacing ?? 2f * TurbulentRadius;
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return Math.Max(1, (int)Math.Ceiling(requiredCoverage / s));
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if (s <= 0) return 1;
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int n = (int)Math.Ceiling(requiredCoverage / s);
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return n < 1 ? 1 : n;
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}
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/// <summary>达到指定半径所需时间 (s)</summary>
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public float TimeToReach(float radius)
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{
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float r0 = InitialRadius;
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if (radius <= r0) return 0;
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if (radius <= _initialRadius) return 0;
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float k = TurbulentExpansionK;
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return (radius - r0) * (radius - r0) / (k * k);
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return (radius - _initialRadius) * (radius - _initialRadius) / (k * k);
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}
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}
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}
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@ -527,7 +527,7 @@ namespace CounterDrone.Core.Algorithms
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// 法向 = 切向旋转 90°，用 RouteGeometry.TangentAt 取穿越点处航路方向
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var (tanX, tanZ) = RouteGeometry.TangentAt(wps, crossArc);
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float normalX = -tanZ, normalZ = tanX; // 切向逆时针 90° = 左侧法向
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float laneSpacing = yLanes > 1 ? formationWidth / Math.Max(1, yLanes - 1) : 0f;
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float laneSpacing = yLanes > 1 ? formationWidth / (yLanes - 1) : 0f;
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float laneOffset = yLane * laneSpacing;
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// 穿越点 = 航路上 crossArc 处 + 横向车道偏移
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@ -137,7 +137,9 @@ namespace CounterDrone.Core.Algorithms
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/// 当前模型：散布半径 = 精度值（如精度 100m → 散布 ±100m）。</summary>
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public static float SpreadRadius(float accuracy)
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{
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return Math.Max(0f, accuracy);
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if (accuracy < 0)
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throw new ArgumentException($"accuracy 必须 ≥ 0，实际: {accuracy}", nameof(accuracy));
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return accuracy;
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}
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}
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@ -19,11 +19,11 @@ namespace CounterDrone.Core.Algorithms
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private Vector3 _center;
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private Vector3 _windVelocity;
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private bool _inPhase3;
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private float _initialRadius;
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public Vector3 Center => _center;
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public float Radius => _currentRadius;
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public float CoreDensity => _currentDensity;
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/// <summary>云团中心峰值浓度（无人机穿过位置）</summary>
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public float PeakDensity { get; private set; }
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public float EffectiveRadius => _currentRadius;
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public ParticleParams Particles { get; } = new();
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@ -38,9 +38,11 @@ namespace CounterDrone.Core.Algorithms
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_elapsed = 0f;
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_inPhase3 = false;
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// Phase 1: 爆轰膨胀 → 初始半径
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var w = (float)ammo.BurstChargeKg;
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_currentRadius = 3.3f * (float)Math.Pow(Math.Max(0.01, w), 0.32);
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if (w <= 0)
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throw new ArgumentException($"BurstChargeKg 必须 > 0，实际: {w}", nameof(ammo));
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_initialRadius = 3.3f * (float)Math.Pow(w, 0.32);
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_currentRadius = _initialRadius;
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_currentDensity = (float)ammo.CoreDensity;
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PeakDensity = (float)ammo.CoreDensity;
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_center = releasePos;
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@ -59,7 +61,6 @@ namespace CounterDrone.Core.Algorithms
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var (vx, vy, vz) = Kinematics.WindToVector(windDir, windSpeed);
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_windVelocity = new Vector3(vx, vy, vz);
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// 判断阶段切换
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if (!_inPhase3 && _elapsed >= 30f)
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_inPhase3 = true;
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@ -67,8 +68,7 @@ namespace CounterDrone.Core.Algorithms
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{
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// Phase 2: 湍流扩散 R(t) = R₀ + k × √t
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var k = (float)_ammo.TurbulentExpansionK;
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_currentRadius = 3.3f * (float)Math.Pow(Math.Max(0.01, (float)_ammo.BurstChargeKg), 0.32)
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+ k * (float)Math.Sqrt(_elapsed);
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_currentRadius = _initialRadius + k * (float)Math.Sqrt(_elapsed);
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// 密度 = 源强 / 体积
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var volume = (4f / 3f) * (float)Math.PI * _currentRadius * _currentRadius * _currentRadius;
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_currentDensity = volume > 0.001f ? (float)_ammo.SourceStrength / volume : 0f;
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@ -76,12 +76,12 @@ namespace CounterDrone.Core.Algorithms
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else
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{
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// Phase 3: 高斯扩散
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var x = Math.Max(1f, windSpeed * (_elapsed - 30f));
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float x = windSpeed * (_elapsed - 30f);
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if (x <= 0) return; // 尚未进入有效扩散距离
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var cls = Kinematics.GetStabilityClass((WeatherType)_env.WeatherType, windSpeed);
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var sY = Kinematics.SigmaY(cls, x);
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var sZ = Kinematics.SigmaZ(cls, x);
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_currentDensity = Kinematics.GaussianPeakConcentration((float)_ammo.SourceStrength, sY, sZ);
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// 有效半径从浓度反推
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var effConc = (float)_ammo.EffectiveConcentration;
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if (_currentDensity > effConc)
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{
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@ -95,11 +95,11 @@ namespace CounterDrone.Core.Algorithms
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_center.Y += _windVelocity.Y * deltaTime;
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_center.Z += _windVelocity.Z * deltaTime;
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// 粒子参数
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Particles.Opacity = Math.Max(0.1f, _currentDensity / (float)_ammo.CoreDensity);
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Particles.SizeMultiplier = _currentRadius / Math.Max(0.5f, 3.3f * (float)Math.Pow(Math.Max(0.01, (float)_ammo.BurstChargeKg), 0.32));
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// 粒子参数（仅用于可视化，不参与物理计算）
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float coreDensity = (float)_ammo.CoreDensity;
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Particles.Opacity = coreDensity > 0 ? _currentDensity / coreDensity : 0f;
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Particles.SizeMultiplier = _initialRadius > 0 ? _currentRadius / _initialRadius : 0f;
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// 消散
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if (_elapsed >= (float)_ammo.MaxDuration || _currentRadius >= (float)_ammo.MaxRadius)
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{
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IsDissipated = true;
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@ -75,7 +75,8 @@ namespace CounterDrone.Core.Algorithms
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return MathF.Atan2(sinA, cosA);
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}
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float lo = detectArc + Math.Max(0.001f, vd * reactionTime + 0.001f);
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// +0.001f 确保 ts > 0，否则 F() 返回 MaxValue 导致搜索失败
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float lo = detectArc + vd * reactionTime + 0.001f;
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if (lo >= totalArc) return (0, 0, 0);
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float fLo = F(lo);
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@ -108,7 +108,8 @@ namespace CounterDrone.Core.Algorithms
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{
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if (wps == null || wps.Count < 2) return (1f, 0f);
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float remaining = Math.Max(0f, arcLength);
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if (arcLength < 0) arcLength = 0;
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float remaining = arcLength;
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for (int i = 0; i < wps.Count - 1; i++)
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{
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float dx = (float)wps[i + 1].PosX - (float)wps[i].PosX;
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