249 lines
12 KiB
C#
249 lines
12 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text.Json;
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using CounterDrone.Core.Algorithms;
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using CounterDrone.Core.Models;
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using CounterDrone.Core.Services;
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using SQLite;
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namespace CounterDrone.Core.Simulation
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{
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/// <summary>仿真引擎 — 纯执行器，接收发射计划按时间表执行</summary>
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public class SimulationEngine
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{
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private readonly IScenarioService _scenarioService;
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private readonly FrameDataStore _frameStore;
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private readonly IDamageModel _damageModel;
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private readonly IPathProvider _paths;
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public SimulationState State { get; private set; } = SimulationState.Idle;
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public int FrameIndex { get; private set; }
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public float SimulationTime { get; private set; }
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public float TimeScale { get; set; } = 1f;
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private float _tickInterval;
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public IReadOnlyList<DroneEntity> Drones => _drones;
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public IReadOnlyList<CloudEntity> Clouds => _clouds;
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public IReadOnlyList<MunitionEntity> Munitions => _munitions;
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public IReadOnlyList<SimEvent> Events => _allEvents;
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public event Action<MunitionEntity> OnMunitionLaunched;
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public event Action<CloudEntity> OnCloudGenerated;
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public event Action<DroneEntity> OnDroneDestroyed;
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public event Action<DroneEntity> OnDroneReachedTarget;
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public event Action<DroneEntity, ControlZoneEntity> OnZoneIntruded;
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public event Action OnSimulationEnded;
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private List<DroneEntity> _drones = new();
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private List<PlatformEntity> _platforms = new();
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private List<MunitionEntity> _munitions = new();
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private List<CloudEntity> _clouds = new();
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private List<ControlZoneEntity> _zones = new();
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private CombatScene _scene = new();
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private float _disperseHeight;
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private AmmunitionSpec _ammoSpec = new();
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private int _tickRate = 20;
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private readonly List<FireEvent> _fireSchedule = new();
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private int _nextFireIndex;
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private readonly List<SimEvent> _allEvents = new();
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private SQLiteConnection _frameDb = null!;
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private string _taskId = string.Empty;
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private int _entityCounter;
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public SimulationEngine(IScenarioService scenarioService, FrameDataStore frameStore,
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IDamageModel damageModel, IPathProvider paths)
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{
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_scenarioService = scenarioService;
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_frameStore = frameStore;
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_damageModel = damageModel;
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_paths = paths;
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}
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public void SetFireSchedule(List<FireEvent> schedule)
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{
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_fireSchedule.Clear();
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_fireSchedule.AddRange(schedule.OrderBy(f => f.FireTime));
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_nextFireIndex = 0;
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}
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public void Initialize(string taskId)
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{
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_taskId = taskId;
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var config = _scenarioService.GetTaskDetail(taskId);
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if (config == null) throw new InvalidOperationException("Task not found");
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_scene = config.Scene;
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_disperseHeight = (float)config.Cloud.DisperseHeight;
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_tickRate = config.Task.TickRate;
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_tickInterval = 1.0f / _tickRate;
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using (var ammoDb = new SQLiteConnection(_paths.GetMainDbPath()))
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_ammoSpec = ammoDb.Table<AmmunitionSpec>()
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.FirstOrDefault(a => a.AerosolType == config.Cloud.AerosolType)
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?? DefaultAmmunition.GetByType((AerosolType)config.Cloud.AerosolType);
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_drones.Clear();
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foreach (var target in config.Targets)
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{
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var mode = (FormationMode)config.Route.FormationMode;
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var spacing = (float)config.Route.FormationSpacing;
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for (int i = 0; i < target.Quantity; i++)
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_drones.Add(new DroneEntity($"drone_{++_entityCounter}", target.GroupId,
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target, config.Waypoints, i, spacing, mode));
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}
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_platforms.Clear();
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foreach (var equip in config.Equipment)
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if (equip.EquipmentRole != (int)EquipmentRole.Detection)
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for (int i = 0; i < equip.Quantity; i++)
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_platforms.Add(new PlatformEntity($"plat_{++_entityCounter}", equip));
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_zones.Clear();
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foreach (var z in config.ControlZones)
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_zones.Add(new ControlZoneEntity(z.Id, z.Name, z.VerticesJson,
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(float)z.MinAltitude, (float)z.MaxAltitude));
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_munitions.Clear();
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_clouds.Clear();
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_allEvents.Clear();
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FrameIndex = 0;
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SimulationTime = 0;
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_entityCounter = 0;
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_nextFireIndex = 0;
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_frameDb = _frameStore.CreateOrOpen(_taskId);
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State = SimulationState.Running;
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}
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public SimulationFrameResult Tick(float deltaTime)
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{
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if (State != SimulationState.Running)
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return new SimulationFrameResult { State = State, FrameIndex = FrameIndex, SimulationTime = SimulationTime };
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var scaledDt = deltaTime * TimeScale;
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SimulationTime += scaledDt;
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FrameIndex++;
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var frameEvents = new List<SimEvent>();
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// 1. 按发射计划执行
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while (_nextFireIndex < _fireSchedule.Count && _fireSchedule[_nextFireIndex].FireTime <= SimulationTime)
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{
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var fe = _fireSchedule[_nextFireIndex++];
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var platform = _platforms.Count > fe.PlatformIndex ? _platforms[fe.PlatformIndex] : null;
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if (platform != null && platform.Ready)
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{
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platform.Fire();
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var m = new MunitionEntity($"mun_{++_entityCounter}",
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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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_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 = $"计划发射 {m.Id}" });
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}
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}
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// 2. 弹药飞行 → 云团生成
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foreach (var m in _munitions.ToList())
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{
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m.Update(scaledDt);
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if (m.HasArrived)
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{
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var disp = AlgorithmFactory.Create<ICloudDispersionModel>();
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disp.Initialize(_ammoSpec, _scene, new Algorithms.Vector3(m.TargetX, m.TargetY, m.TargetZ), SimulationTime);
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var cloud = new CloudEntity($"cloud_{++_entityCounter}", m.AerosolType, disp, SimulationTime);
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_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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}
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}
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// 3. 云团演化
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foreach (var c in _clouds.ToList())
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{
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c.Tick(scaledDt, (float)_scene.WindSpeed, (WindDirection)_scene.WindDirection);
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if (c.IsDissipated) _clouds.Remove(c);
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}
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// 4. 毁伤判定
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foreach (var drone in _drones.Where(d => d.Status == DroneStatus.Flying))
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{
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foreach (var cloud in _clouds)
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{
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if (cloud.ContainsPoint(drone.PosX, drone.PosY, drone.PosZ))
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{
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drone.ExposureTime += scaledDt;
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var dmg = _damageModel.CalculateDamage(drone.TargetType, drone.PowerType, cloud.AerosolType, cloud.Dispersion.CoreDensity, drone.ExposureTime, scaledDt);
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drone.ApplyDamage(dmg);
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if (drone.Status == DroneStatus.Destroyed)
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{
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OnDroneDestroyed?.Invoke(drone);
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frameEvents.Add(new SimEvent { Type = SimEventType.DroneDestroyed, OccurredAt = SimulationTime, TargetId = drone.Id, Description = $"无人机 {drone.Id} 被摧毁" });
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}
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}
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}
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}
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// 5. 无人机移动
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foreach (var drone in _drones.Where(d => d.Status == DroneStatus.Flying))
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{
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drone.Update(scaledDt, (float)_scene.WindSpeed, (WindDirection)_scene.WindDirection);
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if (drone.Status == DroneStatus.ReachedTarget)
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{
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OnDroneReachedTarget?.Invoke(drone);
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frameEvents.Add(new SimEvent { Type = SimEventType.DroneReachedTarget, OccurredAt = SimulationTime, SourceId = drone.Id, Description = "到达攻击目标" });
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}
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}
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// 6. 平台冷却
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foreach (var p in _platforms) p.Update(scaledDt);
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// 7. 管控区域
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foreach (var drone in _drones.Where(d => d.Status == DroneStatus.Flying))
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{
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foreach (var zone in _zones)
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{
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if (zone.ContainsPoint(drone.PosX, drone.PosY, drone.PosZ))
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{
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drone.MarkZoneIntruded();
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OnZoneIntruded?.Invoke(drone, zone);
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frameEvents.Add(new SimEvent { Type = SimEventType.ZoneIntruded, OccurredAt = SimulationTime, SourceId = drone.Id, TargetId = zone.Id, Description = $"侵入 {zone.Name}" });
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}
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}
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}
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// 8. 结束判定
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if (_drones.All(d => d.Status != DroneStatus.Flying))
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{
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State = SimulationState.Completed;
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OnSimulationEnded?.Invoke();
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frameEvents.Add(new SimEvent { Type = SimEventType.SimulationEnd, OccurredAt = SimulationTime });
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}
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_allEvents.AddRange(frameEvents);
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var snapshots = CollectSnapshots();
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_frameStore.WriteFrame(_frameDb, _taskId, FrameIndex, SimulationTime, snapshots);
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_frameDb.Commit();
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return new SimulationFrameResult { EntitySnapshots = snapshots, NewEvents = frameEvents, State = State, FrameIndex = FrameIndex, SimulationTime = SimulationTime };
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}
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public void Pause() { if (State == SimulationState.Running) State = SimulationState.Paused; }
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public void Resume() { if (State == SimulationState.Paused) State = SimulationState.Running; }
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public void Stop() { State = SimulationState.Stopped; _frameDb?.Close(); }
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private List<EntitySnapshot> CollectSnapshots()
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{
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var list = new List<EntitySnapshot>();
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foreach (var d in _drones)
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list.Add(new EntitySnapshot { EntityId = d.Id, EntityType = Models.EntityType.Drone, PosX = d.PosX, PosY = d.PosY, PosZ = d.PosZ, StateData = JsonSerializer.Serialize(new { damageStage = (int)_damageModel.GetDamageStage(1 - d.Hp), hp = d.Hp }) });
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foreach (var c in _clouds)
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list.Add(new EntitySnapshot { EntityId = c.Id, EntityType = Models.EntityType.Cloud, PosX = c.Dispersion.Center.X, PosY = c.Dispersion.Center.Y, PosZ = c.Dispersion.Center.Z, StateData = JsonSerializer.Serialize(new { radius = c.Dispersion.Radius, opacity = c.Dispersion.Particles.Opacity, phase = c.Dispersion.Phase }) });
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return list;
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}
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}
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}
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