修改激光驾束仪的制导指令发送方法

.cursor/rules/rule-claude-sonnet-37.mdc

@@ -0,0 +1,40 @@
+---
+description: Base Guidelines for Sonnet-3.7 + Cursor Agent
+globs: *,**/*
+alwaysApply: true
+---
+
+# prompts-claude-sonnet-37-rule-claude-sonnet-37.md
+
+
+# ---------------------------------------------------------------
+# DESCRIPTION:
+# this rule helps to better control sonnet-3.7 + cursor. (like doing to much, creating unnecessary new files e.g.).
+# especially the first two rules give the cursor agent already the most important instructions that worked for me.
+# 
+# ❗ ATTENTION:  
+# 1. this does not work so easily for large codebases
+# 2. remove everything from these rules that you do not need
+# 3. also remove this comments
+# ---------------------------------------------------------------
+
+
+# Instructions
+
+1. Always use codebase_search with target_directories="{{ThreatSource/src}}" first to find existing core files
+2. Always check existing system files purposes before creating new ones with similar functionality
+3. Always list the cursor rules youre using
+
+# Optional
+
+- If a prompt or request specifies certain behaviors, languages, or output formats, you must obey them without deviation.
+- Do not include explanations, reasoning, or filler text unless explicitly instructed. Stick strictly to the requested output.
+- If multiple steps or sub-requests are given, address them in the specified order. Provide answers in the exact format or sequence requested.
+- Pay close attention to all stated constraints (e.g., language choice, performance goals, coding style). Do not ignore any requirement or best practice stated.
+- Only produce output relevant to the question or instructions. Do not add features, code, or details beyond what is explicitly asked.
+- Deliver the response in a minimal yet complete form. Avoid unnecessary verbosity and tangential remarks.
+- If the prompt requests a specific output format (e.g., a fenced code block, bullet points, JSON), follow that format exactly.
+- If a prompt includes a pre-seeded answer structure (e.g., starts a code block), continue within that structure without introducing extra text outside it.
+- If the request is ambiguous, you may ask clarifying questions (if instructions allow). Otherwise, state briefly that more information is needed.
+- When generating or modifying code, adhere to best practices for clarity, maintainability, and efficiency, as appropriate to the specified language or framework.
+- Do not generate or include private data (API keys, secrets) unless explicitly provided in context. If the user requests something unsafe or disallowed, refuse or provide a safe alternative per policy.

ThreatSource/data/missiles/laser_beam_rider/hj10.json

@@ -27,8 +27,8 @@
     }
   },
   "LaserBeamRiderGuidanceConfig": {
-    "minDetectablePower": 1e-3,
-    "detectorDiameter": 0.1,
+    "minDetectablePower": 1e-10,
+    "detectorDiameter": 0.03,
     "controlFieldDiameter": 20.0,
     "proportionalGain": 30.0,
     "integralGain": 0.05,

ThreatSource/src/Guidance/LaserBeamRiderGuidanceSystem.cs

@@ -51,9 +51,9 @@ namespace ThreatSource.Guidance
         /// <remarks>
         /// 定义了探测器的灵敏度阈值
         /// 低于此值时无法有效探测
-        /// 典型值为1毫瓦
+        /// 典型值为1e-10瓦
         /// </remarks>
-        private const double MinDetectablePower = 1e-3;
+        private const double MinDetectablePower = 1e-10;
 
         /// <summary>
         /// 探测器直径，单位：米
@@ -61,9 +61,9 @@ namespace ThreatSource.Guidance
         /// <remarks>
         /// 定义了探测器的物理尺寸
         /// 影响系统的接收能力
-        /// 典型值为0.1米
+        /// 典型值为0.03米
         /// </remarks>
-        private const double DetectorDiameter = 0.1;
+        private const double DetectorDiameter = 0.03;
 
         /// <summary>
         /// 控制场直径，单位：米
@@ -71,9 +71,9 @@ namespace ThreatSource.Guidance
         /// <remarks>
         /// 定义了有效制导范围
         /// 超出此范围将失去制导
-        /// 典型值为20米
+        /// 典型值为6米
         /// </remarks>
-        private const double ControlFieldDiameter = 20.0;
+        private const double ControlFieldDiameter = 6.0;
 
         /// <summary>
         /// 上一次的误差向量
@@ -93,6 +93,16 @@ namespace ThreatSource.Guidance
         /// </remarks>
         public Vector3D LastGuidanceAcceleration { get; private set; }
 
+        /// <summary>
+        /// 偏航角偏差
+        /// </summary>
+        public double YawAngleOffset { get; private set; }
+
+        /// <summary>
+        /// 俯仰角偏差
+        /// </summary>
+        public double PitchAngleOffset { get; private set; }
+
         /// <summary>
         /// 积分误差向量
         /// </summary>
@@ -194,6 +204,9 @@ namespace ThreatSource.Guidance
             base.Activate();
             // 在这里订阅事件，确保只订阅一次
             SimulationManager.SubscribeToEvent<LaserJammingEvent>(OnLaserJamming);
+            SimulationManager.SubscribeToEvent<LaserBeamStartEvent>(OnLaserBeamStart);
+            SimulationManager.SubscribeToEvent<LaserBeamUpdateEvent>(OnLaserBeamUpdate);
+            SimulationManager.SubscribeToEvent<LaserBeamStopEvent>(OnLaserBeamStop);
         }
 
         /// <summary>
@@ -204,6 +217,9 @@ namespace ThreatSource.Guidance
             base.Deactivate();
             // 取消订阅事件
             SimulationManager.UnsubscribeFromEvent<LaserJammingEvent>(OnLaserJamming);
+            SimulationManager.UnsubscribeFromEvent<LaserBeamStartEvent>(OnLaserBeamStart);
+            SimulationManager.UnsubscribeFromEvent<LaserBeamUpdateEvent>(OnLaserBeamUpdate);
+            SimulationManager.UnsubscribeFromEvent<LaserBeamStopEvent>(OnLaserBeamStop);
         }
 
         /// <summary>
@@ -426,10 +442,13 @@ namespace ThreatSource.Guidance
 
             Debug.WriteLine($"激光驾束引导系统: 在控制场内, 距离: {shortestDistance}");
 
+            // 计算导弹到激光源的距离
+            Vector3D missileToSource = LaserSourcePosition - Position;
+            double distance = missileToSource.Magnitude();
+
             // 计算接收到的激光功率
-            double beamArea = Math.PI * Math.Pow(config.ControlFieldDiameter / 2, 2);
-            double powerDensity = LaserPower / beamArea;
-            double receivedPower = powerDensity * (Math.PI * Math.Pow(config.DetectorDiameter / 2, 2));
+            double receivedPower = CalculateReceivedLaserPower(distance);
+            Debug.WriteLine($"激光驾束引导系统: 接收到的激光功率: {receivedPower:E} W");
 
             if(receivedPower >= config.MinDetectablePower)
             {
@@ -442,6 +461,35 @@ namespace ThreatSource.Guidance
             }
         }
 
+        /// <summary>
+        /// 计算接收到的激光功率
+        /// </summary>
+        /// <param name="distance">传播距离，单位：米</param>
+        /// <returns>接收到的激光功率，单位：瓦特</returns>
+        /// <remarks>
+        /// 计算过程：
+        /// - 使用距离球面公式计算功率密度
+        /// - 考虑探测器的有效接收面积
+        /// - 可选：考虑大气衰减
+        /// </remarks>
+        private double CalculateReceivedLaserPower(double distance)
+        {
+            // 使用距离球面公式计算功率密度
+            double powerDensity = LaserPower / (4 * Math.PI * Math.Pow(distance, 2));
+
+            // 计算探测器的有效接收面积
+            double detectorArea = Math.PI * Math.Pow(config.DetectorDiameter / 2, 2);
+
+            // 计算接收功率
+            double receivedPower = powerDensity * detectorArea;
+
+            // 考虑大气衰减（可选）
+            // double atmosphericTransmittance = Math.Exp(-attenuationCoefficient * distance);
+            // receivedPower *= atmosphericTransmittance;
+
+            return receivedPower;
+        }
+
         /// <summary>
         /// 计算制导加速度
         /// </summary>
@@ -670,6 +718,9 @@ namespace ThreatSource.Guidance
                 
                 // 更新激光波束参数
                 LaserPower = evt.BeamPower;
+                YawAngleOffset = evt.YawAngleOffset;
+                PitchAngleOffset = evt.PitchAngleOffset;
+
                 LaserIlluminationOn = true;
                 HasGuidance = true;
             }

ThreatSource/src/Indicator/LaserBeamRider.cs

@@ -171,7 +171,11 @@ namespace ThreatSource.Indicator
                     Vector3D targetPosition = target.Position;
                     LaserDirection = (targetPosition - Position).Normalize();
                     Debug.WriteLine($"激光驾束仪 {Id} 更新激光指向: {LaserDirection}");
-                    PublishLaserBeamUpdateEvent();
+                    if (MissileId != null && SimulationManager.GetEntityById(MissileId) is SimulationElement missile)
+                    {
+                        var (yawAngleOffset, pitchAngleOffset) = CalculateAngularDeviation(missile.Position);
+                        PublishLaserBeamUpdateEvent(yawAngleOffset, pitchAngleOffset);
+                    }
                 }
             }
         }
@@ -325,11 +329,13 @@ namespace ThreatSource.Indicator
         /// 通知仿真系统激光波束状态已更新
         /// 包含最新的位置和方向信息
         /// </remarks>
-        private void PublishLaserBeamUpdateEvent()
+        private void PublishLaserBeamUpdateEvent(double yawAngleOffset, double pitchAngleOffset)
         {
             PublishEvent(new LaserBeamUpdateEvent
             {
-                LaserBeamRiderId = Id
+                LaserBeamRiderId = Id,
+                YawAngleOffset = yawAngleOffset,
+                PitchAngleOffset = pitchAngleOffset
             });
         }
 
@@ -434,5 +440,26 @@ namespace ThreatSource.Indicator
                 }
             }
         }
+
+        /// <summary>
+        /// 计算导弹相对于激光轴的角度偏差
+        /// </summary>
+        /// <param name="missilePosition">导弹位置</param>
+        /// <returns>(偏航角偏差, 俯仰角偏差)，单位：弧度</returns>
+        private (double yaw, double pitch) CalculateAngularDeviation(Vector3D missilePosition)
+        {
+            // 计算导弹相对于激光源的位置向量
+            Vector3D relativePosition = missilePosition - Position;
+            Vector3D missileDirection = relativePosition.Normalize();
+
+            // 偏航角：XZ平面内的偏差（绕Y轴的旋转）
+            double yawAngle = Math.Atan2(missileDirection.X, missileDirection.Z) - 
+                             Math.Atan2(LaserDirection.X, LaserDirection.Z);
+
+            // 俯仰角：与XZ平面的夹角（绕X轴的旋转）
+            double pitchAngle = Math.Asin(missileDirection.Y) - Math.Asin(LaserDirection.Y);
+
+            return (yawAngle, pitchAngle);
+        }
     }
 }

ThreatSource/src/Simulation/SimulationEvents.cs

@@ -338,6 +338,22 @@ namespace ThreatSource.Simulation
         /// 用于抗干扰和安全识别
         /// </remarks>
         public LaserCodeConfig? LaserCodeConfig { get; set; }
+
+        /// <summary>
+        /// 设置偏航角偏差
+        /// </summary>
+        /// <remarks>
+        /// 偏航角偏差
+        /// </remarks>
+        public double YawAngleOffset { get; set; }
+
+        /// <summary>
+        /// 设置俯仰角偏差
+        /// </summary>
+        /// <remarks>
+        /// 俯仰角偏差
+        /// </remarks>
+        public double PitchAngleOffset { get; set; }
     }
 
     /// <summary>