tian
0ed714a730
Kinematics: - CalculateLaunchAngle/ParabolicTimeOfFlight/ParabolicShellTime: 移除静默钳位和 45° 回退，输入无效直接抛异常 - 新增 ComputeParabolicRange(v₀,θ,Δy) → (射程,飞行时间) — 正问题 - 新增 ParabolicApex(v₀,θ) → (顶点高度,顶点时间) - ParabolicShellTime 改为委托，不重复实现 MunitionEntity: - launchAngle 必须由方案提供，不再反算 - _flightDuration 用 ComputeParabolicRange 正算 - 删除死代码 CommandFlyTo / 「到达投放点」路径 DefensePlanner: - 地基用 InterceptCalculator 的 shellTime，不再用 ParabolicShellTime 反算 SimulationEngine: - 删除空基「到达投放点」死代码 Tests: 240 通过 (KinematicsTests 38, DefensePlannerTests 36, SimulationEngineTests 12, MunitionEntityTests 3)
457 lines
21 KiB
C#
457 lines
21 KiB
C#
using CounterDrone.Core.Algorithms;
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using CounterDrone.Core.Models;
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using Xunit;
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namespace CounterDrone.Core.Tests
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{
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public class KinematicsTests
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{
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[Fact]
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public void WindToVector_East_CorrectDirection()
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{
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var (x, y, z) = Kinematics.WindToVector(WindDirection.E, 10f);
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Assert.True(x > 9f, "东风 → X 正方向");
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Assert.True(System.Math.Abs(z) < 1f, "东风 → Z 接近 0");
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Assert.Equal(0f, y, 3);
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}
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[Fact]
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public void WindToVector_North_CorrectDirection()
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{
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var (x, y, z) = Kinematics.WindToVector(WindDirection.N, 10f);
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Assert.True(System.Math.Abs(x) < 1f);
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Assert.True(z > 9f, "北风 → Z 正方向");
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}
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[Fact]
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public void CalculateLaunchAngle_ReturnsValidAngle()
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{
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var angle = Kinematics.CalculateLaunchAngle(5000f, 500f, 300f);
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Assert.True(angle > 0);
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Assert.True(angle < System.Math.PI / 2); // < 90°
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}
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[Fact]
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public void Parabolic_45Degree_FlatGround_ReachesExpectedRange()
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{
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// 标准公式：45° 时射程 R = v²/g
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float v0 = 300f, g = 9.81f;
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float expectedR = v0 * v0 / g;
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float angle45 = (float)(System.Math.PI / 4);
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float tof = 2f * v0 * (float)System.Math.Sin(angle45) / g;
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var (x, y, z) = Kinematics.ParabolicPosition(0, 0, 0, angle45, (float)(System.Math.PI / 2), v0, tof);
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Assert.True(System.Math.Abs(x - expectedR) < 1f, $"X={x:F1} expected={expectedR:F1}");
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Assert.True(System.Math.Abs(y) < 1f, $"Y={y:F1} expected=0");
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}
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[Fact]
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public void Parabolic_45Degree_ApexAtHalfTime()
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{
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float v0 = 300f, g = 9.81f;
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float angle45 = (float)(System.Math.PI / 4);
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float tof = 2f * v0 * (float)System.Math.Sin(angle45) / g;
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float halfT = tof / 2f;
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var (_, y, _) = Kinematics.ParabolicPosition(0, 0, 0, angle45, (float)(System.Math.PI / 2), v0, halfT);
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float expectedApex = v0 * v0 * (float)System.Math.Sin(angle45) * (float)System.Math.Sin(angle45) / (2f * g);
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Assert.True(System.Math.Abs(y - expectedApex) < 1f, $"Y apex={y:F1} expected={expectedApex:F1}");
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}
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[Fact]
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public void CalculateLaunchAngle_45Degree_Returns45ForMaxRange()
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{
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// 给定 v=300，最大射程 R=v²/g≈9174，需要角度=45°
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float v0 = 300f, g = 9.81f;
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float maxR = v0 * v0 / g;
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float angle = Kinematics.CalculateLaunchAngle(maxR, v0, 0f);
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float expected = (float)(System.Math.PI / 4);
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Assert.True(System.Math.Abs(angle - expected) < 0.01f, $"angle={angle*180/System.Math.PI:F2}° expected=45°");
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}
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[Fact]
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public void ParabolicShellTime_45Degree_MatchesStandardFormula()
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{
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float v0 = 300f, g = 9.81f;
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float R = v0 * v0 / g; // 最大射程
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float time = Kinematics.ParabolicShellTime(R, 0f, v0);
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float angle45 = (float)(System.Math.PI / 4);
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float expectedTof = 2f * v0 * (float)System.Math.Sin(angle45) / g;
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Assert.True(System.Math.Abs(time - expectedTof) < 0.5f, $"time={time:F3} expected={expectedTof:F3}");
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}
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[Fact]
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public void ParabolicShellTime_MatchesTimeOfFlight()
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{
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float R = 5000f, v0 = 800f, H = 500f;
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float time = Kinematics.ParabolicShellTime(R, H, v0);
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float angle = Kinematics.CalculateLaunchAngle(R, v0, H);
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float tof = Kinematics.ParabolicTimeOfFlight(R, angle, v0);
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Assert.True(System.Math.Abs(time - tof) < 0.5f, $"ParabolicShellTime={time:F3} ParabolicTimeOfFlight={tof:F3}");
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}
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[Fact]
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public void Parabolic_RealScenario_5000mRange_500mHeight()
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{
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// 实际场景：单元(5000,0,50) → 目标(10000,500,0)
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float dx = 5000f, dz = -50f;
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float R = (float)System.Math.Sqrt(dx * dx + dz * dz); // ~5000.25
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float H = 500f, v0 = 800f;
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float angle = Kinematics.CalculateLaunchAngle(R, v0, H);
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float time = Kinematics.ParabolicShellTime(R, H, v0);
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float azimuth = (float)System.Math.Atan2(dx, dz);
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var (x, y, z) = Kinematics.ParabolicPosition(5000, 0, 50, angle, azimuth, v0, time);
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Assert.True(System.Math.Abs(x - 10000) < 10f, $"X={x:F1} 应≈10000");
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Assert.True(System.Math.Abs(y - 500) < 10f, $"Y={y:F1} 应≈500");
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Assert.True(System.Math.Abs(z - 0) < 10f, $"Z={z:F1} 应≈0");
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}
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[Fact]
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public void CalculateLaunchAngle_CloseRange_UsesHeightConstraint()
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{
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// 近距离，高度约束应主导
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var angle = Kinematics.CalculateLaunchAngle(1000f, 300f, 300f);
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Assert.True(angle > 0.05f, "近距离也有合理发射角");
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}
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[Fact]
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public void ParabolicPosition_T0_IsAtStart()
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{
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var (x, y, z) = Kinematics.ParabolicPosition(0, 0, 0, 0.5f, 0, 500f, 0);
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Assert.Equal(0f, x, 1);
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Assert.Equal(0f, y, 1);
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Assert.Equal(0f, z, 1);
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}
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// ═══════════════════════════════════════════════
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// 输入验证：非法参数必须抛出异常
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// ═══════════════════════════════════════════════
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[Fact]
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public void CalculateLaunchAngle_ThrowsOnInvalidInputs()
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{
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Assert.Throws<ArgumentException>(() => Kinematics.CalculateLaunchAngle(0, 300, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.CalculateLaunchAngle(-1, 300, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.CalculateLaunchAngle(5000, 0, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.CalculateLaunchAngle(5000, -10, 0));
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}
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[Fact]
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public void CalculateLaunchAngle_ThrowsOnUnreachableTarget()
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{
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// 300m/s 初速不可能击中 10000m 外 5000m 高的目标
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Assert.Throws<ArgumentException>(() => Kinematics.CalculateLaunchAngle(10000f, 300f, 5000f));
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}
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[Fact]
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public void ParabolicShellTime_ThrowsOnInvalidInputs()
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{
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicShellTime(0, 0, 300));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicShellTime(5000, 0, 0));
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}
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[Fact]
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public void ParabolicShellTime_ThrowsOnUnreachableTarget()
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{
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicShellTime(10000f, 5000f, 300f));
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}
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[Fact]
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public void ParabolicTimeOfFlight_ThrowsOnInvalidInputs()
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{
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicTimeOfFlight(0, 0.5f, 300));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicTimeOfFlight(-1, 0.5f, 300));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicTimeOfFlight(5000, 0.5f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicTimeOfFlight(5000, 0.5f, -10));
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}
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[Fact]
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public void ComputeParabolicRange_ThrowsOnInvalidInputs()
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{
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(0, 0.5f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(-10, 0.5f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, -0.1f, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, (float)System.Math.PI / 2, 0));
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300, (float)System.Math.PI, 0));
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}
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[Fact]
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public void ComputeParabolicRange_ThrowsOnUnreachableHeight()
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{
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// 300m/s 45° 不可能达到 5000m 高度的目标
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float angle45 = (float)(System.Math.PI / 4);
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Assert.Throws<ArgumentException>(() => Kinematics.ComputeParabolicRange(300f, angle45, 5000f));
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}
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// ═══════════════════════════════════════════════
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// 顶点计算
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// ═══════════════════════════════════════════════
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[Fact]
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public void ParabolicApex_45Degree_MatchesStandardFormula()
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{
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float v0 = 300f, g = 9.81f;
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float angle45 = (float)(System.Math.PI / 4);
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float expectedH = v0 * v0 * (float)System.Math.Sin(angle45) * (float)System.Math.Sin(angle45) / (2f * g);
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float expectedT = v0 * (float)System.Math.Sin(angle45) / g;
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var (apexH, apexT) = Kinematics.ParabolicApex(v0, angle45);
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Assert.True(System.Math.Abs(apexH - expectedH) < 0.1f, $"H={apexH:F2} expected={expectedH:F2}");
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Assert.True(System.Math.Abs(apexT - expectedT) < 0.001f, $"T={apexT:F4} expected={expectedT:F4}");
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}
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[Fact]
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public void ParabolicApex_30Degree_Then_ParabolicPosition_AtApexTime_ReturnsApexHeight()
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{
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float v0 = 500f;
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float angle = 30f * (float)(System.Math.PI / 180f);
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var (apexH, apexT) = Kinematics.ParabolicApex(v0, angle);
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// ParabolicPosition 在顶点时刻的高度应 = apexH
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var (_, y, _) = Kinematics.ParabolicPosition(0, 0, 0, angle, 0, v0, apexT);
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Assert.True(System.Math.Abs(y - apexH) < 0.1f, $"y={y:F2} apex={apexH:F2}");
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}
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[Fact]
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public void ParabolicApex_ThrowsOnInvalidInputs()
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{
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float angle = 0.5f;
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(0, angle));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(-10, angle));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(300, -0.1f));
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Assert.Throws<ArgumentException>(() => Kinematics.ParabolicApex(300, (float)System.Math.PI / 2));
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}
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// ═══════════════════════════════════════════════
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// 正问题：给定初速和发射角 → 计算射程和飞行时间
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// ═══════════════════════════════════════════════
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[Fact]
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public void ComputeParabolicRange_FlatGround_MatchesStandardFormula()
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{
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// 45° 平地: R = v²/g, T = 2v·sin45°/g
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float v0 = 300f, g = 9.81f;
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float angle45 = (float)(System.Math.PI / 4);
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float expectedR = v0 * v0 / g;
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float expectedT = 2f * v0 * (float)System.Math.Sin(angle45) / g;
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var (range, time) = Kinematics.ComputeParabolicRange(v0, angle45, 0f);
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Assert.True(System.Math.Abs(range - expectedR) < 1f, $"R={range:F1} expected={expectedR:F1}");
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Assert.True(System.Math.Abs(time - expectedT) < 0.1f, $"T={time:F3} expected={expectedT:F3}");
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}
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[Fact]
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public void ComputeParabolicRange_30Degree_FlatGround()
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{
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float v0 = 500f, g = 9.81f;
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float angle30 = (float)(System.Math.PI / 6);
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// R = v²·sin(2θ)/g, T = 2v·sinθ/g
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float expectedR = v0 * v0 * (float)System.Math.Sin(2 * angle30) / g;
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float expectedT = 2f * v0 * (float)System.Math.Sin(angle30) / g;
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var (range, time) = Kinematics.ComputeParabolicRange(v0, angle30, 0f);
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Assert.True(System.Math.Abs(range - expectedR) < 1f, $"R={range:F1} expected={expectedR:F1}");
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Assert.True(System.Math.Abs(time - expectedT) < 0.1f, $"T={time:F3} expected={expectedT:F3}");
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}
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[Fact]
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public void ComputeParabolicRange_ElevatedTarget_VerifiableByPosition()
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{
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// v₀=800, θ=10°, 目标在发射点上方 500m
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float v0 = 800f, heightDiff = 500f;
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float angle = 10f * (float)System.Math.PI / 180f;
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var (range, time) = Kinematics.ComputeParabolicRange(v0, angle, heightDiff);
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// 用 ParabolicPosition 验证：在 time 时刻应到达 (range, heightDiff)
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var (x, y, z) = Kinematics.ParabolicPosition(0, 0, 0, angle, 0, v0, time);
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// X 方向（azimuth=0 → cos(0) → +Z 方向）
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// 实际水平距离 = sqrt(x²+z²) = z（因为 azimuth=0）
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float actualDist = (float)System.Math.Sqrt(x * x + z * z);
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Assert.True(System.Math.Abs(actualDist - range) < 5f,
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$"水平距离={actualDist:F1} expected={range:F1}");
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Assert.True(System.Math.Abs(y - heightDiff) < 5f,
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$"高度={y:F1} expected={heightDiff:F1}");
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}
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[Fact]
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public void ComputeParabolicRange_DepressedTarget_VerifiableByPosition()
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{
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// v₀=500, θ=5°, 目标在发射点下方 200m
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float v0 = 500f, heightDiff = -200f;
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float angle = 5f * (float)System.Math.PI / 180f;
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var (range, time) = Kinematics.ComputeParabolicRange(v0, angle, heightDiff);
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// 验证到达时间时位置
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var (x, y, z) = Kinematics.ParabolicPosition(0, 0, 0, angle, 0, v0, time);
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float actualDist = (float)System.Math.Sqrt(x * x + z * z);
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Assert.True(System.Math.Abs(actualDist - range) < 5f,
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$"水平距离={actualDist:F1} expected={range:F1}");
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Assert.True(System.Math.Abs(y - heightDiff) < 5f,
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$"高度={y:F1} expected={heightDiff:F1}");
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}
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[Fact]
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public void ComputeParabolicRange_5DegreeLongRange()
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{
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// v₀=800, θ=5°, 水平射程
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float v0 = 800f, g = 9.81f;
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float angle = 5f * (float)System.Math.PI / 180f;
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float cosA = (float)System.Math.Cos(angle);
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float sinA = (float)System.Math.Sin(angle);
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// 平坦地面: R = v²sin(2θ)/g
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float expectedR = v0 * v0 * (float)System.Math.Sin(2 * angle) / g;
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float expectedT = 2f * v0 * sinA / g;
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var (range, time) = Kinematics.ComputeParabolicRange(v0, angle, 0f);
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Assert.True(System.Math.Abs(range - expectedR) < 1f);
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Assert.True(System.Math.Abs(time - expectedT) < 0.1f);
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}
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// ═══════════════════════════════════════════════
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// 往返验证：正问题 → 逆问题 应还原一致
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// ═══════════════════════════════════════════════
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[Fact]
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public void Roundtrip_ComputeRange_Then_CalculateAngle_ReturnsSameAngle()
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{
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float v0 = 500f, hDiff = 100f;
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float originalAngle = 15f * (float)System.Math.PI / 180f;
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// 正问题：给定角度，计算射程
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var (range, _) = Kinematics.ComputeParabolicRange(v0, originalAngle, hDiff);
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// 逆问题：给定射程，反算角度
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float recoveredAngle = Kinematics.CalculateLaunchAngle(range, v0, hDiff);
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float diffDeg = System.Math.Abs(originalAngle - recoveredAngle) * 180f / (float)System.Math.PI;
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Assert.True(diffDeg < 0.1f,
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$"原始={originalAngle * 180 / System.Math.PI:F3}° 还原={recoveredAngle * 180 / System.Math.PI:F3}° 差={diffDeg:F4}°");
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}
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[Fact]
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public void Roundtrip_CalculateAngle_Then_ComputeRange_ReturnsSameRange()
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{
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// 用平地场景：低弹道解在平地也走下行段，往返一致
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float R = 5000f, v0 = 300f, hDiff = 0f;
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float angle = Kinematics.CalculateLaunchAngle(R, v0, hDiff);
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var (recoveredRange, _) = Kinematics.ComputeParabolicRange(v0, angle, hDiff);
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Assert.True(System.Math.Abs(recoveredRange - R) < 1f,
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$"原始 R={R:F1} 还原 R={recoveredRange:F1}");
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}
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[Fact]
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public void Roundtrip_ElevatedTarget_UsesHighAngleSolution()
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{
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// 靶点高于发射点时，低弹道解在上升段命中，
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// ComputeParabolicRange 取下行段根，因此应选高弹道解才能往返一致
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float R = 5000f, v0 = 800f, hDiff = 500f;
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// 手动取高弹道解（+ 号），而非 CalculateLaunchAngle 的低弹道解
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float a = 0.5f * 9.81f * R * R / (v0 * v0);
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float disc = R * R - 4f * a * (hDiff + a);
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float tanHigh = (R + (float)System.Math.Sqrt(disc)) / (2f * a);
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float highAngle = (float)System.Math.Atan(tanHigh);
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var (recoveredRange, _) = Kinematics.ComputeParabolicRange(v0, highAngle, hDiff);
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Assert.True(System.Math.Abs(recoveredRange - R) < 5f,
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$"高弹道: 原始 R={R:F1} 还原 R={recoveredRange:F1}");
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}
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[Fact]
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public void ComputeParabolicRange_Then_ParabolicPosition_IsOnTrajectory()
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{
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// 验证整条轨迹：多时间点采样，确保 ParabolicPosition 与 ComputeParabolicRange 一致
|
||
float v0 = 400f;
|
||
float angle = 25f * (float)System.Math.PI / 180f;
|
||
float cosA = (float)System.Math.Cos(angle);
|
||
float sinA = (float)System.Math.Sin(angle);
|
||
float g = 9.81f;
|
||
|
||
var (totalRange, totalTime) = Kinematics.ComputeParabolicRange(v0, angle, 0f);
|
||
|
||
// 在 10 个等间隔时间点采样
|
||
for (int i = 0; i <= 10; i++)
|
||
{
|
||
float t = totalTime * i / 10f;
|
||
var (x, y, z) = Kinematics.ParabolicPosition(0, 0, 0, angle, 0, v0, t);
|
||
|
||
float expectedX = 0;
|
||
float expectedZ = v0 * cosA * t;
|
||
float expectedY = v0 * sinA * t - 0.5f * g * t * t;
|
||
|
||
Assert.True(System.Math.Abs(x - expectedX) < 0.1f, $"t={t:F2}: X");
|
||
Assert.True(System.Math.Abs(z - expectedZ) < 0.1f, $"t={t:F2}: Z");
|
||
Assert.True(System.Math.Abs(y - expectedY) < 0.1f, $"t={t:F2}: Y");
|
||
}
|
||
}
|
||
|
||
[Fact]
|
||
public void PointInPolygon_Inside_ReturnsTrue()
|
||
{
|
||
var vertices = new (float X, float Z)[] { (0, 0), (10, 0), (10, 10), (0, 10) };
|
||
Assert.True(Kinematics.PointInPolygon(5, 5, vertices));
|
||
}
|
||
|
||
[Fact]
|
||
public void PointInPolygon_Outside_ReturnsFalse()
|
||
{
|
||
var vertices = new (float X, float Z)[] { (0, 0), (10, 0), (10, 10), (0, 10) };
|
||
Assert.False(Kinematics.PointInPolygon(20, 5, vertices));
|
||
}
|
||
[Fact]
|
||
public void PathInSphere_CenterPass_ReturnsFullDiameter()
|
||
{
|
||
// 无人机穿过球心: 路径长度 = 2R
|
||
float len = DamageAssessment.PathInSphere(0, 0, 0, 40, 0, 0, 20, 0, 0, 20);
|
||
Assert.Equal(40, len, 1);
|
||
}
|
||
|
||
[Fact]
|
||
public void PathInSphere_EdgePass_ReturnsCorrectChord()
|
||
{
|
||
// 从(0)→(40), 球心(30), R=20: 进入t=0.25(x=10), 段尾在球内(t=1,x=40), 路径=30m
|
||
float len = DamageAssessment.PathInSphere(0, 0, 0, 40, 0, 0, 30, 0, 0, 20);
|
||
Assert.True(System.Math.Abs(len - 30f) < 1f, $"len={len:F2}");
|
||
}
|
||
|
||
[Fact]
|
||
public void PathInSphere_Miss_ReturnsZero()
|
||
{
|
||
float len = DamageAssessment.PathInSphere(0, 0, 0, 10, 0, 0, 50, 0, 0, 20);
|
||
Assert.Equal(0, len, 1);
|
||
}
|
||
|
||
[Fact]
|
||
public void PathInSphere_PartialEntry_ReturnsCorrectSegment()
|
||
{
|
||
// 从球外(0)到球内(20), R=20, 球心(30): 进入点在10, 段长=10
|
||
float len = DamageAssessment.PathInSphere(0, 0, 0, 20, 0, 0, 30, 0, 0, 20);
|
||
Assert.True(System.Math.Abs(len - 10f) < 1f, $"len={len:F2}");
|
||
}
|
||
[Fact]
|
||
public void PathInSphere_TwoClouds_AccumulatesCorrectly()
|
||
{
|
||
// 一段经过两个云: (0→100), 云1(20,R20), 云2(80,R20)
|
||
float len1 = DamageAssessment.PathInSphere(0, 0, 0, 100, 0, 0, 20, 0, 0, 20);
|
||
float len2 = DamageAssessment.PathInSphere(0, 0, 0, 100, 0, 0, 80, 0, 0, 20);
|
||
Assert.True(System.Math.Abs(len1 - 40f) < 1f, $"cloud1 len={len1:F2}");
|
||
Assert.True(System.Math.Abs(len2 - 40f) < 1f, $"cloud2 len={len2:F2}");
|
||
}
|
||
[Fact]
|
||
public void PathInSphere_AdjacentClouds_SumCorrectly()
|
||
{
|
||
// 无人机从云1中心(0)到云2中心(40)，两云R=20，间距=40（边碰边）
|
||
// 两个云在段内路径：云1=20m(中心→右边缘), 云2=20m(左边缘→中心)
|
||
float len1 = DamageAssessment.PathInSphere(0, 0, 0, 40, 0, 0, 0, 0, 0, 20);
|
||
float len2 = DamageAssessment.PathInSphere(0, 0, 0, 40, 0, 0, 40, 0, 0, 20);
|
||
float total = len1 + len2;
|
||
Assert.True(System.Math.Abs(total - 40f) < 1f, $"total={total:F2} (cloud1={len1:F2} + cloud2={len2:F2})");
|
||
}
|
||
}
|
||
}
|