统一平台物理模型：去除空基/地基分支

- BuildCandidate 合并 BuildAirBased/GroundBasedCandidate 为单一方法，统一用 MuzzleVelocity
- TryGenerateFireEvents 统一用 InterceptCalculator.Compute，去除 ComputeHorizontal
- 抛物线选解策略：两解逐一验证可行性（距离匹配 + fireTime>0），选最早拦截的解
- 空基 FireUnit 补充 MuzzleVelocity 字段（等于 CruiseSpeed）
- 所有 238 个单元测试通过

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": 80.0, "ReleaseAltitude": 1000.0,
+      "MuzzleVelocity": 80.0, "CruiseSpeed": 80.0, "ReleaseAltitude": 1000.0,
       "AmmoTypes": [0, 1],
       "EORange": 4000.0, "IRRange": 3000.0,
       "MinElevation": -80.0, "MaxElevation": 30.0, "MinDetectAlt": 30.0, "MaxDetectAlt": 15000.0

src/CounterDrone.Core/Algorithms/DefensePlanner.cs

@@ -334,22 +334,14 @@ namespace CounterDrone.Core.Algorithms
             {
                 if (!unit.AmmoTypes.Contains(neededAmmo)) continue;
 
-                if (unit.Type == PlatformType.AirBased)
-                {
-                    var c = BuildAirBasedCandidate(threat, unit, neededAmmo, ammo, ammoEff, expansionTime, mid, midArc, env);
-                    if (c != null) candidates.Add(c);
-                }
-                else
-                {
-                    var c = BuildGroundBasedCandidate(threat, unit, neededAmmo, ammo, ammoEff, expansionTime, mid, midArc, env);
-                    if (c != null) candidates.Add(c);
-                }
+                var c = BuildCandidate(threat, unit, neededAmmo, ammo, ammoEff, expansionTime, mid, midArc, env);
+                if (c != null) candidates.Add(c);
             }
 
             return candidates;
         }
 
-        private InterceptCandidate? BuildGroundBasedCandidate(DroneWave threat,
+        private InterceptCandidate? BuildCandidate(DroneWave threat,
             FireUnit unit, AerosolType ammoType, AmmunitionSpec ammo,
             float effectiveR, float expansionTime,
             Vector3 mid, float midArc, CombatScene env)
@@ -362,55 +354,10 @@ namespace CounterDrone.Core.Algorithms
             float maxRange = unit.MuzzleVelocity * unit.MuzzleVelocity / 9.81f;
             if (dist > maxRange) return null;
 
-            float shellTime = dist / unit.MuzzleVelocity;
-            if (!HasInterceptWindow(threat, midArc, expansionTime, shellTime)) return null;
-
-            float interceptTime = threat.ArrivalTime;
-
-            float avgSpeed = GetDroneSpeedMs(threat);
-            float neededExposure = _damageModel.RequiredExposureSeconds((TargetType)threat.Target.TargetType, (PowerType)threat.Target.PowerType, ammoType);
-            float actualExposure = effectiveR * 2f / avgSpeed;
-            float prob = Math.Min(_config.MaxInterceptProbability, actualExposure / neededExposure);
-
-            return new InterceptCandidate
-            {
-                Unit = unit,
-                AmmoType = ammoType,
-                EarliestInterceptTime = interceptTime,
-                KillProbability = prob,
-            };
-        }
-
-        private InterceptCandidate? BuildAirBasedCandidate(DroneWave threat,
-            FireUnit unit, AerosolType ammoType, AmmunitionSpec ammo,
-            float effectiveR, float expansionTime,
-            Vector3 mid, float midArc, CombatScene env)
-        {
-            if (unit.ReleaseAltitude <= 0 || unit.CruiseSpeed <= 0) return null;
-            float releaseAlt = unit.ReleaseAltitude;
-            float flightDist = Kinematics.Distance3D(
-                unit.Position.X, unit.Position.Y, unit.Position.Z,
-                mid.X, releaseAlt, mid.Z);
-            float flightTime = flightDist / unit.CruiseSpeed;
-            float fallTime = Kinematics.AirDropFallTime(releaseAlt, (float)threat.Target.TypicalAltitude);
-            float deliveryTime = flightTime + fallTime;
-
-            float interceptTime = threat.ArrivalTime;
-            if (deliveryTime > interceptTime) return null;
+            float deliveryTime = dist / unit.MuzzleVelocity;
+            if (deliveryTime > threat.ArrivalTime) return null;
             if (!HasInterceptWindow(threat, midArc, expansionTime, deliveryTime)) return null;
 
-            // 最小距离约束：无人机至少需要飞 vd*(R+expansion+fallTime) 才能被拦截
-            float speedMs = GetDroneSpeedMs(threat);
-            float minArc = threat.DetectArc + speedMs * (_config.ReactionTime + expansionTime + fallTime);
-            float totalArc = RouteGeometry.TotalLength(threat.Waypoints);
-            if (minArc >= totalArc) return null;
-
-            var (icArc, _, _) = InterceptCalculator.ComputeHorizontal(
-                threat.Waypoints, threat.DetectArc, GetDroneSpeedKph(threat),
-                _config.ReactionTime + expansionTime, unit.Position, unit.CruiseSpeed,
-                unit.ReleaseAltitude, (float)threat.Target.TypicalAltitude);
-            if (icArc <= 0) return null;
-
             float avgSpeed = GetDroneSpeedMs(threat);
             float neededExposure = _damageModel.RequiredExposureSeconds((TargetType)threat.Target.TargetType, (PowerType)threat.Target.PowerType, ammoType);
             float actualExposure = effectiveR * 2f / avgSpeed;
@@ -420,7 +367,7 @@ namespace CounterDrone.Core.Algorithms
             {
                 Unit = unit,
                 AmmoType = ammoType,
-                EarliestInterceptTime = interceptTime,
+                EarliestInterceptTime = threat.ArrivalTime,
                 KillProbability = prob,
             };
         }
@@ -494,34 +441,22 @@ namespace CounterDrone.Core.Algorithms
             float typicalSpeed = GetDroneSpeedKph(threat);
             if (typicalSpeed <= 0) return (events, "目标速度无效");
 
-            // 用 InterceptCalculator 计算拦截弧长和发射角
+            // ═══ 拦截弧长 ═══
             var mid = ThreatMidpoint(threat);
             float midArc = RouteGeometry.ArcLengthNearestTo(wps, mid.X, mid.Z);
-            float crossArc;
-            float launchAngle = 0;
-            float interceptShellTime = 0;
-            if (unit.Type == PlatformType.GroundBased)
-            {
-                var (ia, st, la) = InterceptCalculator.Compute(
-                    wps, threat.DetectArc, typicalSpeed,
-                    _config.ReactionTime + expansionTime, unit.Position, unit.MuzzleVelocity);
-                crossArc = (ia > 0 ? ia : midArc) + targetOffset;
-                launchAngle = la;
-                interceptShellTime = st;
-            }
-            else
-            {
-                var (ia, _, la) = InterceptCalculator.ComputeHorizontal(
-                    wps, threat.DetectArc, typicalSpeed,
-                    _config.ReactionTime + expansionTime, unit.Position, unit.CruiseSpeed,
-                    unit.Position.Y, (float)threat.Target.TypicalAltitude);
-                crossArc = ia + targetOffset;
-                launchAngle = la;
-            }
+            var (ia, _, _) = InterceptCalculator.Compute(
+                wps, threat.DetectArc, typicalSpeed,
+                _config.ReactionTime + expansionTime, unit.Position, unit.MuzzleVelocity);
+            float crossArc = (ia > 0 ? ia : 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...）
-            // 编队展开方向：读 RoutePlan.LateralAxis (0=X, 1=Y, 2=Z)
+            // 无人机到达穿越点的时间：基于探测边界，而非航路起点
+            float travelArc = crossArc - threat.DetectArc;
+            if (travelArc < 0) return (events, $"探测边界在拦截点之后（{threat.DetectArc:F0}m≥{crossArc:F0}m）");
+            float txArrival = RouteGeometry.TravelTimeTo(wps, travelArc, typicalSpeed);
+            float recommendedTiming = txArrival - expansionTime;
+            if (recommendedTiming <= 0f) return (events, $"膨胀{expansionTime:F1}s≥到达{txArrival:F1}s");
+
+            // ═══ 编队横向偏移 ═══
             int axis = threat.Route?.LateralAxis ?? 2;
             float laneSpacing = yLanes > 1 ? formationWidth / (yLanes - 1) : 0f;
             float laneOffset = yLane * laneSpacing;
@@ -540,48 +475,38 @@ namespace CounterDrone.Core.Algorithms
             float dx = cloudGenX - unit.Position.X;
             float dz = cloudGenZ - unit.Position.Z;
             float targetDist = (float)Math.Sqrt(dx * dx + dz * dz);
-            float mv = unit.Type == PlatformType.AirBased ? unit.CruiseSpeed : unit.MuzzleVelocity;
+            float mv = unit.MuzzleVelocity;
             if (mv <= 0)
-                throw new InvalidOperationException($"单元 {unit.Id}: 速度={mv} 必须>0");
+                throw new InvalidOperationException($"单元 {unit.Id}: MuzzleVelocity={mv} 必须>0");
             float heightDiff = ty - unit.Position.Y;
-            if (unit.Type == PlatformType.AirBased && heightDiff >= 0)
-                return (events, $"空基单元 {unit.Id}: 平台高度({unit.Position.Y:F0})≤目标高度({ty:F0})，无法重力下落");
 
-            // 每发独立计算发射角，选离无人机更近的命中点（更早拦截）
-            launchAngle = Kinematics.CalculateLaunchAngle(targetDist, mv, heightDiff);
-            var motion = new ParabolicMotion(mv, launchAngle);
-            var times = motion.GetFlightTimes(heightDiff);
-            if (times.Length == 0)
+            // ═══ 抛物线求解：两解逐一验证，选最早摧毁无人机的可行解 ═══
+            var angles = ParabolicMotion.SolveAngles(targetDist, heightDiff, mv);
+            if (!angles.HasValue)
                 return (events, $"目标超出弹道射程: dist={targetDist:F0}m");
-            // 两个解时：远点更靠近无人机（较早拦截），优先选远点
-            float tof = times.Length == 2 ? times[1] : times[0];
-            float range = mv * (float)Math.Cos(launchAngle) * tof;
-
-            // 无人机到达穿越点的时间：基于探测边界，而非航路起点。
-            // planner 是参谋，只能基于探测信息规划。威胁从探测边界被发现，
-            // 飞行时间 = (拦截弧长 - 探测弧长) / 速度。无探测时 DetectArc=0（回退到起点）。
-            float travelArc = crossArc - threat.DetectArc;
-            if (travelArc < 0) return (events, $"探测边界在拦截点之后（{threat.DetectArc:F0}m≥{crossArc:F0}m）");
-            float txArrival = RouteGeometry.TravelTimeTo(wps, travelArc, typicalSpeed);
-            float recommendedTiming = txArrival - expansionTime;
-            if (recommendedTiming <= 0f) return (events, $"膨胀{expansionTime:F1}s≥到达{txArrival:F1}s");
-
-            // cloudGenX/Z 已在上面计算（含风偏），直接使用
-
-            float deliveryTime;
-            if (unit.Type == PlatformType.AirBased)
-                deliveryTime = tof;
-            else if (interceptShellTime <= 0)
-                return (events, "拦截计算未得出有效飞行时间");
-            else
+            float? bestLaunchAngle = null, bestTof = null, bestFireTime = null;
+            foreach (var a in new[] { angles.Value.Item1, angles.Value.Item2 })
             {
-                deliveryTime = interceptShellTime;
-                tof = interceptShellTime;
+                var motion = new ParabolicMotion(mv, a);
+                var ts = motion.GetFlightTimes(heightDiff);
+                foreach (var t in ts)
+                {
+                    float r = mv * (float)Math.Cos(a) * t;
+                    if (Math.Abs(r - targetDist) > 0.5f) continue;
+                    float ft = recommendedTiming - t;
+                    if (ft <= 0f) continue;
+                    // 选最早摧毁（fireTime 最小 → 发射最早 → 拦截最早）
+                    if (!bestFireTime.HasValue || ft < bestFireTime.Value)
+                    {
+                        bestLaunchAngle = a; bestTof = t; bestFireTime = ft;
+                    }
+                }
             }
-            float fireTime = recommendedTiming - deliveryTime;
-
-            if (fireTime <= 0f)
-                return (events, $"发射时机{fireTime:F1}s≤0（到达{deliveryTime:F1}s>窗口{recommendedTiming:F1}s）");
+            if (!bestLaunchAngle.HasValue)
+                return (events, $"所有弹道解均不可行: dist={targetDist:F0}m");
+            float launchAngle = bestLaunchAngle.Value;
+            float tof = bestTof!.Value;
+            float fireTime = bestFireTime!.Value;
 
             events.Add(new FireEvent
             {

src/Unity/Assets/StreamingAssets/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": 80.0, "ReleaseAltitude": 1000.0,
+      "MuzzleVelocity": 80.0, "CruiseSpeed": 80.0, "ReleaseAltitude": 1000.0,
       "AmmoTypes": [0, 1],
       "EORange": 4000.0, "IRRange": 3000.0,
       "MinElevation": -80.0, "MaxElevation": 30.0, "MinDetectAlt": 30.0, "MaxDetectAlt": 15000.0

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

@@ -32,7 +32,7 @@ namespace CounterDrone.Core.Tests
                 Id = id, Type = PlatformType.AirBased,
                 Position = new Vector3(posX, 2500, -2000),
                 GunCount = 1, ChannelsPerGun = 16,
-                CruiseSpeed = 55, ReleaseAltitude = 1500,
+                MuzzleVelocity = 55, CruiseSpeed = 55, ReleaseAltitude = 1500,
                 TotalMunitions = 16, Cooldown = 5f,
                 AmmoTypes = new() { AerosolType.InertGas },
             };
@@ -247,7 +247,7 @@ namespace CounterDrone.Core.Tests
             {
                 Id = "u0", Type = PlatformType.AirBased,
                 Position = new Vector3(100000, 2500, 100000), // 极远
-                GunCount = 1, ChannelsPerGun = 4, CruiseSpeed = 10, ReleaseAltitude = 1500,
+                GunCount = 1, ChannelsPerGun = 4, MuzzleVelocity = 10, CruiseSpeed = 10, ReleaseAltitude = 1500,
                 TotalMunitions = 4, AmmoTypes = new() { AerosolType.InertGas },
             };
             var result = Plan(new() { unit }, MakeThreat());