diff --git a/ThreatSource.Tests/src/Indicator/InfraredTrackerTests.cs b/ThreatSource.Tests/src/Indicator/InfraredTrackerTests.cs index 93ce971..9ed2e02 100644 --- a/ThreatSource.Tests/src/Indicator/InfraredTrackerTests.cs +++ b/ThreatSource.Tests/src/Indicator/InfraredTrackerTests.cs @@ -37,11 +37,11 @@ namespace ThreatSource.Tests.Indicator JammingResistanceThreshold = 1e-3 }; - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -53,11 +53,11 @@ namespace ThreatSource.Tests.Indicator }; _tank = new Tank("target1", tankProperties, tankInitialMotion, _simulationManager); _simulationManager.RegisterEntity("target1", _tank); - var trackerInitialMotion = new MotionParameters + var trackerInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; _infraredTracker = new InfraredTracker( @@ -137,11 +137,11 @@ namespace ThreatSource.Tests.Indicator ProportionalNavigationCoefficient = 3 }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(50, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; // 注册一个导弹实体 @@ -206,11 +206,11 @@ namespace ThreatSource.Tests.Indicator Type = MissileType.InfraredCommandGuidance }; - var missileMotion = new MotionParameters + var missileMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var missile = new InfraredCommandGuidedMissile("missile1", missileProperties, missileMotion, _guidanceConfig, _simulationManager); diff --git a/ThreatSource.Tests/src/Indicator/LaserBeamRiderTests.cs b/ThreatSource.Tests/src/Indicator/LaserBeamRiderTests.cs index 9ed37e5..8ba3990 100644 --- a/ThreatSource.Tests/src/Indicator/LaserBeamRiderTests.cs +++ b/ThreatSource.Tests/src/Indicator/LaserBeamRiderTests.cs @@ -28,11 +28,11 @@ namespace ThreatSource.Tests.Indicator MaxGuidanceDistance = 5000 }; - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -44,11 +44,11 @@ namespace ThreatSource.Tests.Indicator }; _tank = new Tank("target1", tankProperties, tankInitialMotion, _simulationManager); - var beamRiderInitialMotion = new MotionParameters + var beamRiderInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; _laserBeamRider = new LaserBeamRider( @@ -121,8 +121,8 @@ namespace ThreatSource.Tests.Indicator _testAdapter.ClearEvents(); // 清除 Activate 产生的事件 // 强制移动目标，以确保 Update 会更新激光方向并发布事件 - var newTargetPosition = _tank.Position + new Vector3D(0, 10, 0); - _tank.Position = newTargetPosition; + var newTargetPosition = _tank.KState.Position + new Vector3D(0, 10, 0); + _tank.KState.Position = newTargetPosition; // Act _laserBeamRider.Update(0.1); diff --git a/ThreatSource.Tests/src/Indicator/LaserDesignatorCodeTests.cs b/ThreatSource.Tests/src/Indicator/LaserDesignatorCodeTests.cs index 3260291..4181960 100644 --- a/ThreatSource.Tests/src/Indicator/LaserDesignatorCodeTests.cs +++ b/ThreatSource.Tests/src/Indicator/LaserDesignatorCodeTests.cs @@ -27,11 +27,11 @@ namespace ThreatSource.Tests.Indicator DivergenceAngle = 0.001 }; - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -45,11 +45,11 @@ namespace ThreatSource.Tests.Indicator _tank = new Tank("target1", tankProperties, tankInitialMotion, _simulationManager); _simulationManager.RegisterEntity("target1", _tank); - var designatorInitialMotion = new MotionParameters + var designatorInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; _laserDesignator = new LaserDesignator( diff --git a/ThreatSource.Tests/src/Indicator/LaserDesignatorTests.cs b/ThreatSource.Tests/src/Indicator/LaserDesignatorTests.cs index 02f6e05..3150b77 100644 --- a/ThreatSource.Tests/src/Indicator/LaserDesignatorTests.cs +++ b/ThreatSource.Tests/src/Indicator/LaserDesignatorTests.cs @@ -30,11 +30,11 @@ namespace ThreatSource.Tests.Indicator Wavelength = 1.06 }; - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -47,11 +47,11 @@ namespace ThreatSource.Tests.Indicator _tank = new Tank("target1", tankProperties, tankInitialMotion, _simulationManager); _simulationManager.RegisterEntity("target1", _tank); - var designatorInitialMotion = new MotionParameters + var designatorInitialMotion = new KinematicState { Position = new Vector3D(0, 100, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; _laserDesignator = new LaserDesignator( diff --git a/ThreatSource.Tests/src/Jamming/InfraredDetectorJammingTests.cs b/ThreatSource.Tests/src/Jamming/InfraredDetectorJammingTests.cs index fc76407..3d3a116 100644 --- a/ThreatSource.Tests/src/Jamming/InfraredDetectorJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/InfraredDetectorJammingTests.cs @@ -26,11 +26,11 @@ namespace ThreatSource.Tests.Jamming _simulationManager.SetSimulationAdapter(_testAdapter); // 创建末敏子弹 - var initialParams = new MotionParameters + var initialParams = new KinematicState { Position = new Vector3D(0, 100, 0), Orientation = new Orientation(0, -Math.PI/2, 0), - InitialSpeed = 100 + Speed = 100 }; var missileProperties = new MissileProperties(); @@ -225,11 +225,11 @@ namespace ThreatSource.Tests.Jamming { // Arrange // 添加一个模拟目标以产生传感器数据 - var targetInitialMotion = new MotionParameters + var targetInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 500), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var targetProperties = new EquipmentProperties { diff --git a/ThreatSource.Tests/src/Jamming/InfraredImagingGuidanceJammingTests.cs b/ThreatSource.Tests/src/Jamming/InfraredImagingGuidanceJammingTests.cs index 23d5af6..345da5e 100644 --- a/ThreatSource.Tests/src/Jamming/InfraredImagingGuidanceJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/InfraredImagingGuidanceJammingTests.cs @@ -43,11 +43,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建并注册目标实体 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), // 修改为100米，与激光指示器一致 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -64,10 +64,10 @@ namespace ThreatSource.Tests.Jamming // 创建导弹对象 var initialPosition = new Vector3D(500, 0, 0); var initialVelocity = new Vector3D(100, 0, 0); - var missileMotion = new MotionParameters + var missileMotion = new KinematicState { Position = initialPosition, - InitialSpeed = initialVelocity.Magnitude() + Speed = initialVelocity.Magnitude() }; missileMotion.Orientation = new Orientation(0, 0, 0); @@ -130,7 +130,7 @@ namespace ThreatSource.Tests.Jamming Assert.IsNotNull(_guidanceSystem); Assert.IsNotNull(_missile); - System.Diagnostics.Debug.WriteLine($"测试开始 - 初始位置: {_missile.Position}, 初始速度: {_missile.Velocity}"); + System.Diagnostics.Debug.WriteLine($"测试开始 - 初始位置: {_missile.KState.Position}, 初始速度: {_missile.KState.Speed}"); // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); diff --git a/ThreatSource.Tests/src/Jamming/InfraredTrackerJammingTests.cs b/ThreatSource.Tests/src/Jamming/InfraredTrackerJammingTests.cs index 55137e1..e29054b 100644 --- a/ThreatSource.Tests/src/Jamming/InfraredTrackerJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/InfraredTrackerJammingTests.cs @@ -35,11 +35,11 @@ namespace ThreatSource.Tests.Jamming }; // 初始化红外测角仪 - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; _infraredTracker = new InfraredTracker( diff --git a/ThreatSource.Tests/src/Jamming/LaserBeamRiderGuidanceJammingTests.cs b/ThreatSource.Tests/src/Jamming/LaserBeamRiderGuidanceJammingTests.cs index b60b4cd..08c99c1 100644 --- a/ThreatSource.Tests/src/Jamming/LaserBeamRiderGuidanceJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/LaserBeamRiderGuidanceJammingTests.cs @@ -55,11 +55,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建并注册目标实体 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -76,10 +76,10 @@ namespace ThreatSource.Tests.Jamming // 创建导弹对象 var initialPosition = new Vector3D(500, 0, 0); var initialVelocity = new Vector3D(100, 0, 0); - var missileMotion = new MotionParameters + var missileMotion = new KinematicState { Position = initialPosition, - InitialSpeed = initialVelocity.Magnitude() + Speed = initialVelocity.Magnitude() }; missileMotion.Orientation = new Orientation(0, 0, 0); @@ -146,7 +146,7 @@ namespace ThreatSource.Tests.Jamming Assert.IsNotNull(_guidanceSystem, "激光驾束引导系统不应为空"); Assert.IsNotNull(_missile, "导弹不应为空"); - System.Diagnostics.Debug.WriteLine($"测试开始 - 初始位置: {_missile.Position}, 初始速度: {_missile.Velocity}"); + System.Diagnostics.Debug.WriteLine($"测试开始 - 初始位置: {_missile.KState.Position}, 初始速度: {_missile.KState.Speed}"); // 更新激光波束参数 _guidanceSystem.UpdateLaserBeamRider( diff --git a/ThreatSource.Tests/src/Jamming/LaserBeamRiderJammingTests.cs b/ThreatSource.Tests/src/Jamming/LaserBeamRiderJammingTests.cs index e7cdeee..da3cbcd 100644 --- a/ThreatSource.Tests/src/Jamming/LaserBeamRiderJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/LaserBeamRiderJammingTests.cs @@ -34,19 +34,19 @@ namespace ThreatSource.Tests.Jamming }; // 初始化激光驾束仪 - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; // 添加一个坦克作为目标，确保激光束能够正确启动 - var targetInitialMotion = new MotionParameters + var targetInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var targetProperties = new EquipmentProperties diff --git a/ThreatSource.Tests/src/Jamming/LaserDecoyTests.cs b/ThreatSource.Tests/src/Jamming/LaserDecoyTests.cs index 17e55cb..c045e63 100644 --- a/ThreatSource.Tests/src/Jamming/LaserDecoyTests.cs +++ b/ThreatSource.Tests/src/Jamming/LaserDecoyTests.cs @@ -62,11 +62,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建并注册真实目标实体 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), // 减小距离，便于锁定 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -87,11 +87,11 @@ namespace ThreatSource.Tests.Jamming } // 创建并注册诱偏源（敌方坦克） - var decoySourceInitialMotion = new MotionParameters + var decoySourceInitialMotion = new KinematicState { Position = new Vector3D(80, 10, 0), // 减小距离，便于锁定 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var decoySourceProperties = new EquipmentProperties @@ -112,11 +112,11 @@ namespace ThreatSource.Tests.Jamming } // 创建导弹对象 - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(10, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 50 + Speed = 50 }; var missileProperties = new MissileProperties @@ -209,11 +209,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建诱偏目标运动参数 - var decoyMotion = new MotionParameters + var decoyMotion = new KinematicState { Position = decoyPosition, Orientation = Orientation.FromVector(decoyDirection), - InitialSpeed = 0 + Speed = 0 }; // 创建诱偏目标 @@ -269,11 +269,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建虚拟激光指示器并注册 - 更靠近目标 - var designatorMotion = new MotionParameters + var designatorMotion = new KinematicState { Position = new Vector3D(10, 0, 10), // 更靠近目标位置 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var designator = new LaserDesignator( @@ -292,8 +292,8 @@ namespace ThreatSource.Tests.Jamming designator?.Activate(); // 直接更新制导系统的激光指示器参数，确保能正确接收激光源 - var targetPosition = _target?.Position ?? Vector3D.Zero; - var designatorPosition = designator?.Position ?? Vector3D.Zero; + var targetPosition = _target?.KState.Position ?? Vector3D.Zero; + var designatorPosition = designator?.KState.Position ?? Vector3D.Zero; var updateLaserDesignatorMethod = typeof(LaserSemiActiveGuidanceSystem).GetMethod("UpdateLaserDesignator", System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance); @@ -330,7 +330,7 @@ namespace ThreatSource.Tests.Jamming Debug.WriteLine($"诱偏源距离目标: {decoyDistance}米，功率: {decoyPower}W"); // 计算诱偏目标位置 - Vector3D decoyPosVector = (_decoySource?.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; + Vector3D decoyPosVector = (_decoySource?.KState.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; // 创建并注册激光诱偏目标 var decoyTarget = CreateAndRegisterLaserDecoy(decoyPosVector, decoyDirection, decoyPower); @@ -405,11 +405,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建虚拟激光指示器并注册 - var designatorMotion = new MotionParameters + var designatorMotion = new KinematicState { Position = new Vector3D(10, 0, 10), // 更靠近目标位置 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var designator = new LaserDesignator( @@ -428,8 +428,8 @@ namespace ThreatSource.Tests.Jamming designator?.Activate(); // 直接更新制导系统的激光指示器参数 - var targetPosition = _target?.Position ?? Vector3D.Zero; - var designatorPosition = designator?.Position ?? Vector3D.Zero; + var targetPosition = _target?.KState.Position ?? Vector3D.Zero; + var designatorPosition = designator?.KState.Position ?? Vector3D.Zero; var updateLaserDesignatorMethod = typeof(LaserSemiActiveGuidanceSystem).GetMethod("UpdateLaserDesignator", System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance); @@ -461,7 +461,7 @@ namespace ThreatSource.Tests.Jamming double decoyPower = 2000; // 远高于真实目标的功率 // 计算诱偏目标位置 - Vector3D decoyPosition = (_decoySource?.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; + Vector3D decoyPosition = (_decoySource?.KState.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; // 创建并注册激光诱偏目标 var decoy = CreateAndRegisterLaserDecoy(decoyPosition, decoyDirection, decoyPower); @@ -530,11 +530,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建虚拟激光指示器并注册 - var designatorMotion = new MotionParameters + var designatorMotion = new KinematicState { Position = new Vector3D(10, 0, 10), // 更靠近目标位置 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var designator = new LaserDesignator( @@ -553,8 +553,8 @@ namespace ThreatSource.Tests.Jamming designator?.Activate(); // 直接更新制导系统的激光指示器参数 - var targetPosition = _target?.Position ?? Vector3D.Zero; - var designatorPosition = designator?.Position ?? Vector3D.Zero; + var targetPosition = _target?.KState.Position ?? Vector3D.Zero; + var designatorPosition = designator?.KState.Position ?? Vector3D.Zero; var updateLaserDesignatorMethod = typeof(LaserSemiActiveGuidanceSystem).GetMethod("UpdateLaserDesignator", System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance); @@ -591,7 +591,7 @@ namespace ThreatSource.Tests.Jamming double decoyLifetime = 2.0; // 短生命周期，2秒 // 计算诱偏目标位置 - Vector3D decoyPosition = (_decoySource?.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; + Vector3D decoyPosition = (_decoySource?.KState.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; // 创建并注册激光诱偏目标 var decoy = CreateAndRegisterLaserDecoy(decoyPosition, decoyDirection, decoyPower, decoyLifetime); @@ -671,15 +671,15 @@ namespace ThreatSource.Tests.Jamming }; // 创建虚拟激光指示器并注册 - var designatorMotion = new MotionParameters + var designatorMotion = new KinematicState { Position = new Vector3D(-1900, 0, 10), // 距离目标2000米 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; // 计算真实指示器到目标的实际距离 - double actualDesignatorDistance = (designatorMotion.Position - (_target?.Position ?? Vector3D.Zero)).Magnitude(); + double actualDesignatorDistance = (designatorMotion.Position - (_target?.KState.Position ?? Vector3D.Zero)).Magnitude(); Debug.WriteLine($"激光指示器到目标的实际距离: {actualDesignatorDistance}米"); Debug.WriteLine($"激光指示器功率: {designatorConfig.Power}W, 发散角: {designatorConfig.DivergenceAngle}弧度"); @@ -699,8 +699,8 @@ namespace ThreatSource.Tests.Jamming designator?.Activate(); // 获取实际目标位置 - var realTargetPosition = _target?.Position ?? Vector3D.Zero; - var designatorPosition = designator?.Position ?? Vector3D.Zero; + var realTargetPosition = _target?.KState.Position ?? Vector3D.Zero; + var designatorPosition = designator?.KState.Position ?? Vector3D.Zero; // 通过反射设置CurrentTargetId字段为target1，确保制导系统能正确识别目标 var targetIdField = typeof(LaserSemiActiveGuidanceSystem).GetField("CurrentTargetId", @@ -749,7 +749,7 @@ namespace ThreatSource.Tests.Jamming Debug.WriteLine($"诱偏源距离目标: {decoyDistance}米，功率: {decoyPower}W"); // 计算诱偏目标位置 - Vector3D decoyPosVector = (_decoySource?.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; + Vector3D decoyPosVector = (_decoySource?.KState.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; // 创建并注册激光诱偏目标 var decoyTarget = CreateAndRegisterLaserDecoy(decoyPosVector, decoyDirection, decoyPower); @@ -769,13 +769,13 @@ namespace ThreatSource.Tests.Jamming Debug.WriteLine($"诱偏目标位置: {decoyPosition}"); // 计算诱偏目标到诱偏源的实际距离 - Vector3D decoySourcePosition = _decoySource?.Position ?? Vector3D.Zero; + Vector3D decoySourcePosition = _decoySource?.KState.Position ?? Vector3D.Zero; double actualDecoyDistance = (decoyPosition - decoySourcePosition).Magnitude(); Debug.WriteLine($"诱偏源位置: {decoySourcePosition}, 诱偏目标实际距离: {actualDecoyDistance}米"); // 计算导弹到真实目标和诱偏目标的距离 - double missileToDReal = (realTargetPosition - (_guidanceSystem?.Position ?? Vector3D.Zero)).Magnitude(); - double missileToDDecoy = (decoyPosition - (_guidanceSystem?.Position ?? Vector3D.Zero)).Magnitude(); + double missileToDReal = (realTargetPosition - (_guidanceSystem?.KState.Position ?? Vector3D.Zero)).Magnitude(); + double missileToDDecoy = (decoyPosition - (_guidanceSystem?.KState.Position ?? Vector3D.Zero)).Magnitude(); Debug.WriteLine($"导弹到真实目标距离: {missileToDReal}米, 导弹到诱偏目标距离: {missileToDDecoy}米"); // 获取诱偏后制导系统识别的目标位置 @@ -802,8 +802,8 @@ namespace ThreatSource.Tests.Jamming } // 计算目标与导弹之间的角度 - Vector3D missileToReal = realTargetPosition - (_guidanceSystem?.Position ?? Vector3D.Zero); - Vector3D missileToDecoy = decoyPosition - (_guidanceSystem?.Position ?? Vector3D.Zero); + Vector3D missileToReal = realTargetPosition - (_guidanceSystem?.KState.Position ?? Vector3D.Zero); + Vector3D missileToDecoy = decoyPosition - (_guidanceSystem?.KState.Position ?? Vector3D.Zero); double angleToReal = Math.Atan2(missileToReal.Y, missileToReal.X) * 180 / Math.PI; double angleToDecoy = Math.Atan2(missileToDecoy.Y, missileToDecoy.X) * 180 / Math.PI; @@ -907,15 +907,15 @@ namespace ThreatSource.Tests.Jamming }; // 创建虚拟激光指示器并注册 - 距离目标2000米 - var designatorMotion = new MotionParameters + var designatorMotion = new KinematicState { Position = new Vector3D(-1900, 0, 10), // 距离目标2000米 Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; // 计算真实指示器到目标的实际距离 - double actualDesignatorDistance = (designatorMotion.Position - (_target?.Position ?? Vector3D.Zero)).Magnitude(); + double actualDesignatorDistance = (designatorMotion.Position - (_target?.KState.Position ?? Vector3D.Zero)).Magnitude(); Debug.WriteLine($"激光指示器到目标的实际距离: {actualDesignatorDistance}米"); Debug.WriteLine($"激光指示器功率: {designatorConfig.Power}W, 发散角: {designatorConfig.DivergenceAngle}弧度"); @@ -935,8 +935,8 @@ namespace ThreatSource.Tests.Jamming designator?.Activate(); // 获取实际目标位置 - var realTargetPosition = _target?.Position ?? Vector3D.Zero; - var designatorPosition = designator?.Position ?? Vector3D.Zero; + var realTargetPosition = _target?.KState.Position ?? Vector3D.Zero; + var designatorPosition = designator?.KState.Position ?? Vector3D.Zero; // 通过反射设置CurrentTargetId字段为target1，确保制导系统能正确识别目标 var targetIdField = typeof(LaserSemiActiveGuidanceSystem).GetField("CurrentTargetId", @@ -1036,7 +1036,7 @@ namespace ThreatSource.Tests.Jamming Debug.WriteLine($"诱偏源距离目标: {decoyDistance}米，功率: {decoyPower}W"); // 计算诱偏目标位置 - Vector3D decoyTestPosition = (_decoySource?.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; + Vector3D decoyTestPosition = (_decoySource?.KState.Position ?? Vector3D.Zero) + decoyDirection * decoyDistance; // 创建并注册激光诱偏目标 var decoyInstance = CreateAndRegisterLaserDecoy(decoyTestPosition, decoyDirection, decoyPower); @@ -1084,13 +1084,13 @@ namespace ThreatSource.Tests.Jamming Debug.WriteLine($"诱偏目标位置: {decoyPosition}"); // 计算诱偏目标到诱偏源的实际距离 - Vector3D decoySourcePosition = _decoySource?.Position ?? Vector3D.Zero; + Vector3D decoySourcePosition = _decoySource?.KState.Position ?? Vector3D.Zero; double actualDecoyDistance = (decoyPosition - decoySourcePosition).Magnitude(); Debug.WriteLine($"诱偏源位置: {decoySourcePosition}, 诱偏目标实际距离: {actualDecoyDistance}米"); // 计算导弹到真实目标和诱偏目标的距离 - double missileToDReal = (realTargetPosition - (_guidanceSystem?.Position ?? Vector3D.Zero)).Magnitude(); - double missileToDDecoy = (decoyPosition - (_guidanceSystem?.Position ?? Vector3D.Zero)).Magnitude(); + double missileToDReal = (realTargetPosition - (_guidanceSystem?.KState.Position ?? Vector3D.Zero)).Magnitude(); + double missileToDDecoy = (decoyPosition - (_guidanceSystem?.KState.Position ?? Vector3D.Zero)).Magnitude(); Debug.WriteLine($"导弹到真实目标距离: {missileToDReal}米, 导弹到诱偏目标距离: {missileToDDecoy}米"); break; diff --git a/ThreatSource.Tests/src/Jamming/LaserDesignatorJammingTests.cs b/ThreatSource.Tests/src/Jamming/LaserDesignatorJammingTests.cs index 731f580..854c7e4 100644 --- a/ThreatSource.Tests/src/Jamming/LaserDesignatorJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/LaserDesignatorJammingTests.cs @@ -33,19 +33,19 @@ namespace ThreatSource.Tests.Jamming }; // 初始化激光指示器 - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; // 创建并注册目标实体 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties { diff --git a/ThreatSource.Tests/src/Jamming/LaserRangefinderJammingTests.cs b/ThreatSource.Tests/src/Jamming/LaserRangefinderJammingTests.cs index b542cbb..f8a3a62 100644 --- a/ThreatSource.Tests/src/Jamming/LaserRangefinderJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/LaserRangefinderJammingTests.cs @@ -26,11 +26,11 @@ namespace ThreatSource.Tests.Jamming _simulationManager.SetSimulationAdapter(_testAdapter); // 创建末敏子弹 - var initialParams = new MotionParameters + var initialParams = new KinematicState { Position = new Vector3D(0, 100, 0), Orientation = new Orientation(0, -Math.PI/2, 0), - InitialSpeed = 100 + Speed = 100 }; var missileProperties = new MissileProperties(); diff --git a/ThreatSource.Tests/src/Jamming/LaserSemiActiveGuidanceJammingTests.cs b/ThreatSource.Tests/src/Jamming/LaserSemiActiveGuidanceJammingTests.cs index a93f24d..c5c1599 100644 --- a/ThreatSource.Tests/src/Jamming/LaserSemiActiveGuidanceJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/LaserSemiActiveGuidanceJammingTests.cs @@ -52,11 +52,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建并注册目标实体 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -71,11 +71,11 @@ namespace ThreatSource.Tests.Jamming _testAdapter.AddTestEntity("target1", _target); // 创建并注册导弹实体 - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(500, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var missileProperties = new MissileProperties @@ -137,8 +137,8 @@ namespace ThreatSource.Tests.Jamming System.Diagnostics.Debug.WriteLine($"测试开始 - 初始位置: {initialPosition}, 初始速度: {initialVelocity}"); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -184,8 +184,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -227,8 +227,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -270,8 +270,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -323,8 +323,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -373,8 +373,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); diff --git a/ThreatSource.Tests/src/Jamming/MillimeterWaveAltimeterJammingTests.cs b/ThreatSource.Tests/src/Jamming/MillimeterWaveAltimeterJammingTests.cs index e6364e0..952c398 100644 --- a/ThreatSource.Tests/src/Jamming/MillimeterWaveAltimeterJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/MillimeterWaveAltimeterJammingTests.cs @@ -26,11 +26,11 @@ namespace ThreatSource.Tests.Jamming _simulationManager.SetSimulationAdapter(_testAdapter); // 创建末敏子弹 - var initialParams = new MotionParameters + var initialParams = new KinematicState { Position = new Vector3D(0, 100, 0), Orientation = new Orientation(0, -Math.PI/2, 0), - InitialSpeed = 100 + Speed = 100 }; var missileProperties = new MissileProperties(); diff --git a/ThreatSource.Tests/src/Jamming/MillimeterWaveGuidanceJammingTests.cs b/ThreatSource.Tests/src/Jamming/MillimeterWaveGuidanceJammingTests.cs index 97faa4c..e953d47 100644 --- a/ThreatSource.Tests/src/Jamming/MillimeterWaveGuidanceJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/MillimeterWaveGuidanceJammingTests.cs @@ -50,11 +50,11 @@ namespace ThreatSource.Tests.Jamming }; // 创建并注册目标实体 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -69,11 +69,11 @@ namespace ThreatSource.Tests.Jamming _testAdapter.AddTestEntity("target1", _target); // 创建并注册导弹实体 - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(500, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var missileProperties = new MissileProperties @@ -133,8 +133,8 @@ namespace ThreatSource.Tests.Jamming System.Diagnostics.Debug.WriteLine($"测试开始 - 初始位置: {initialPosition}, 初始速度: {initialVelocity}"); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -180,8 +180,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -222,8 +222,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -262,8 +262,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -315,8 +315,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); @@ -365,8 +365,8 @@ namespace ThreatSource.Tests.Jamming var initialVelocity = new Vector3D(100, 0, 0); // 更新导弹位置和速度 - _missile.Position = initialPosition; - _missile.Velocity = initialVelocity; + _missile.KState.Position = initialPosition; + _missile.KState.Velocity = initialVelocity; // 更新一次系统，使其跟踪目标 _guidanceSystem.Update(0.1); diff --git a/ThreatSource.Tests/src/Jamming/MillimeterWaveRadiometerJammingTests.cs b/ThreatSource.Tests/src/Jamming/MillimeterWaveRadiometerJammingTests.cs index f68abd3..7d1180d 100644 --- a/ThreatSource.Tests/src/Jamming/MillimeterWaveRadiometerJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/MillimeterWaveRadiometerJammingTests.cs @@ -26,11 +26,11 @@ namespace ThreatSource.Tests.Jamming _simulationManager.SetSimulationAdapter(_testAdapter); // 创建末敏子弹 - var initialParams = new MotionParameters + var initialParams = new KinematicState { Position = new Vector3D(0, 100, 0), Orientation = new Orientation(0, -Math.PI/2, 0), - InitialSpeed = 100 + Speed = 100 }; var missileProperties = new MissileProperties(); @@ -223,11 +223,11 @@ namespace ThreatSource.Tests.Jamming { // Arrange // 添加一个模拟目标以产生传感器数据 - var targetInitialMotion = new MotionParameters + var targetInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 500), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var targetProperties = new EquipmentProperties { diff --git a/ThreatSource.Tests/src/Jamming/SmokeGrenadeTests.cs b/ThreatSource.Tests/src/Jamming/SmokeGrenadeTests.cs index 5903740..7b71b45 100644 --- a/ThreatSource.Tests/src/Jamming/SmokeGrenadeTests.cs +++ b/ThreatSource.Tests/src/Jamming/SmokeGrenadeTests.cs @@ -65,7 +65,7 @@ namespace ThreatSource.Tests.Jamming }; // Act - var smokeGrenade = new SmokeGrenade("test_wall", config, new MotionParameters(), _simulationManager); + var smokeGrenade = new SmokeGrenade("test_wall", config, new KinematicState(), _simulationManager); // Assert Assert.Equal(SmokeScreenType.Wall, config.SmokeType); @@ -90,7 +90,7 @@ namespace ThreatSource.Tests.Jamming }; // Act - var smokeGrenade = new SmokeGrenade("test_cloud", config, new MotionParameters(), _simulationManager); + var smokeGrenade = new SmokeGrenade("test_cloud", config, new KinematicState(), _simulationManager); // Assert Assert.Equal(SmokeScreenType.Cloud, config.SmokeType); @@ -108,7 +108,7 @@ namespace ThreatSource.Tests.Jamming Concentration = 0.2, Duration = 60.0 }; - var smokeGrenade = new SmokeGrenade("test", config, new MotionParameters(), _simulationManager); + var smokeGrenade = new SmokeGrenade("test", config, new KinematicState(), _simulationManager); // Act smokeGrenade.Activate(); @@ -134,7 +134,7 @@ namespace ThreatSource.Tests.Jamming Thickness = 5.0 }; - var motionParams = new MotionParameters + var motionParams = new KinematicState { Position = Vector3D.Zero, Orientation = Orientation.FromVector(Vector3D.UnitZ) // 使用Z轴单位向量设置朝向 @@ -191,7 +191,7 @@ namespace ThreatSource.Tests.Jamming CloudDiameter = 20.0 }; var initialPosition = new Vector3D(0, 0, 0); - var motionParams = new MotionParameters { Position = initialPosition }; + var motionParams = new KinematicState { Position = initialPosition }; var smokeGrenade = new SmokeGrenade("test", config, motionParams, _simulationManager); smokeGrenade.Activate(); @@ -205,8 +205,8 @@ namespace ThreatSource.Tests.Jamming double expectedZ = windSpeed * updateTime * Math.Cos(windDirectionRad); // Assert - Assert.Equal(expectedX, smokeGrenade.Position.X, 2); // 允许2米的误差 - Assert.Equal(expectedZ, smokeGrenade.Position.Z, 2); + Assert.Equal(expectedX, smokeGrenade.KState.Position.X, 2); // 允许2米的误差 + Assert.Equal(expectedZ, smokeGrenade.KState.Position.Z, 2); } [Theory] @@ -229,7 +229,7 @@ namespace ThreatSource.Tests.Jamming }; // 设置烟墙朝向为Z轴正方向 - var motionParams = new MotionParameters + var motionParams = new KinematicState { Position = Vector3D.Zero, Orientation = Orientation.FromVector(Vector3D.UnitZ) // 使用Z轴单位向量设置朝向 @@ -273,7 +273,7 @@ namespace ThreatSource.Tests.Jamming CloudDiameter = 20.0, Thickness = 5.0 }; - var smokeGrenade = new SmokeGrenade("test", config, new MotionParameters(), _simulationManager); + var smokeGrenade = new SmokeGrenade("test", config, new KinematicState(), _simulationManager); smokeGrenade.Activate(); Vector3D observer = new(offsetX, offsetY, -10); @@ -314,7 +314,7 @@ namespace ThreatSource.Tests.Jamming Duration = 60.0 }; - var motionParams = new MotionParameters { Position = smokeCenterPosition }; + var motionParams = new KinematicState { Position = smokeCenterPosition }; var smokeGrenade = new SmokeGrenade("smoke_high_obs_test", config, motionParams, _simulationManager); smokeGrenade.Activate(); diff --git a/ThreatSource.Tests/src/Jamming/TerminalSensitiveSubmunitionJammingTests.cs b/ThreatSource.Tests/src/Jamming/TerminalSensitiveSubmunitionJammingTests.cs index 5ba6aa5..fc06291 100644 --- a/ThreatSource.Tests/src/Jamming/TerminalSensitiveSubmunitionJammingTests.cs +++ b/ThreatSource.Tests/src/Jamming/TerminalSensitiveSubmunitionJammingTests.cs @@ -29,11 +29,11 @@ namespace ThreatSource.Tests.Jamming _simulationManager.SetSimulationAdapter(_testAdapter); // 创建目标 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 100), Orientation = new Orientation(-Math.PI/2, Math.PI/4, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties { @@ -60,11 +60,11 @@ namespace ThreatSource.Tests.Jamming Type = MissileType.TerminalSensitiveSubmunition }; - var submunitionInitialMotion = new MotionParameters + var submunitionInitialMotion = new KinematicState { Position = new Vector3D(20, 150, 0), Orientation = new Orientation(-Math.PI/2, -Math.PI/4, 0), - InitialSpeed = 20 + Speed = 20 }; var submunitionConfig = new TerminalSensitiveSubmunitionConfig @@ -226,11 +226,11 @@ namespace ThreatSource.Tests.Jamming public void TestSubmunitionHitDetection() { // 创建目标 - var tank3InitialMotion = new MotionParameters + var tank3InitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties { @@ -256,11 +256,11 @@ namespace ThreatSource.Tests.Jamming Type = MissileType.TerminalSensitiveSubmunition }; - var submunitionInitialMotion = new MotionParameters + var submunitionInitialMotion = new KinematicState { Position = new Vector3D(0, 6, 0), Orientation = new Orientation(0, -Math.PI/2, 0), - InitialSpeed = 10 + Speed = 10 }; var submunitionConfig = new TerminalSensitiveSubmunitionConfig @@ -292,7 +292,7 @@ namespace ThreatSource.Tests.Jamming tank.Update(0.02); // 计算目标方向 - var direction = tank.Position - submunition.Position; + var direction = tank.KState.Position - submunition.KState.Position; direction = direction.Normalize(); // 计算所需朝向 @@ -302,19 +302,19 @@ namespace ThreatSource.Tests.Jamming 0); // 更新子弹朝向和速度 - submunition.Orientation = targetOrientation; - submunition.Velocity = direction * submunition.Speed; + submunition.KState.Orientation = targetOrientation; + submunition.KState.Velocity = direction * submunition.KState.Speed; // 更新子弹位置 submunition.Update(0.02); // 输出调试信息 Console.WriteLine($"更新 {i}:"); - Console.WriteLine($"子弹位置: {submunition.Position}"); - Console.WriteLine($"目标位置: {tank.Position}"); - Console.WriteLine($"距离: {(tank.Position - submunition.Position).Magnitude()}"); + Console.WriteLine($"子弹位置: {submunition.KState.Position}"); + Console.WriteLine($"目标位置: {tank.KState.Position}"); + Console.WriteLine($"距离: {(tank.KState.Position - submunition.KState.Position).Magnitude()}"); - if ((tank.Position - submunition.Position).Magnitude() < 5) + if ((tank.KState.Position - submunition.KState.Position).Magnitude() < 5) { hasExploded = true; break; @@ -329,11 +329,11 @@ namespace ThreatSource.Tests.Jamming public void TestDecelerationStageJamming() { // 创建目标 - var tank5InitialMotion = new MotionParameters + var tank5InitialMotion = new KinematicState { Position = new Vector3D(100, 0, 100), Orientation = new Orientation(-Math.PI/2, Math.PI/4, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties { @@ -355,11 +355,11 @@ namespace ThreatSource.Tests.Jamming ExplosionRadius = 5 }; - var submunitionInitialMotion = new MotionParameters + var submunitionInitialMotion = new KinematicState { Position = new Vector3D(0, 400, 0), Orientation = new Orientation(-Math.PI/2, -Math.PI/4, 0), - InitialSpeed = 100 + Speed = 100 }; var submunitionConfig = new TerminalSensitiveSubmunitionConfig @@ -439,11 +439,11 @@ namespace ThreatSource.Tests.Jamming public void TestParachuteDeploymentStageJamming() { // 创建目标 - var tank6InitialMotion = new MotionParameters + var tank6InitialMotion = new KinematicState { Position = new Vector3D(100, 0, 100), Orientation = new Orientation(-Math.PI/2, Math.PI/4, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties { @@ -466,11 +466,11 @@ namespace ThreatSource.Tests.Jamming ExplosionRadius = 5 }; - var submunitionInitialMotion = new MotionParameters + var submunitionInitialMotion = new KinematicState { Position = new Vector3D(0, 300, 0), Orientation = new Orientation(0.0, -Math.PI/2, 0.0), // Vertically downwards (-Z along world -Y) - InitialSpeed = 40 // 设置为减速阶段末速度 + Speed = 40 // 设置为减速阶段末速度 }; var submunitionConfig = new TerminalSensitiveSubmunitionConfig @@ -534,7 +534,7 @@ namespace ThreatSource.Tests.Jamming Assert.IsTrue(status.ExtendedProperties["IsSensorsJammed"].ToString() == "True", "子弹状态应该反映传感器受到干扰"); // 记录干扰时的位置 - var jammedPosition = submunition.Position; + var jammedPosition = submunition.KState.Position; // 继续更新一段时间 for (int i = 0; i < 10; i++) @@ -543,7 +543,7 @@ namespace ThreatSource.Tests.Jamming } // 验证在干扰期间的行为 - var currentPosition = submunition.Position; + var currentPosition = submunition.KState.Position; Console.WriteLine($"干扰期间位置变化：从 {jammedPosition} 到 {currentPosition}"); // 清除干扰 @@ -557,7 +557,7 @@ namespace ThreatSource.Tests.Jamming Assert.IsFalse(status.ExtendedProperties["IsSensorsJammed"].ToString() == "True", "子弹状态应该反映传感器恢复正常"); // 验证速度变化 - Assert.IsTrue(submunition.Speed <= 40, "速度应该保持在开伞阶段的限制范围内"); + Assert.IsTrue(submunition.KState.Speed <= 40, "速度应该保持在开伞阶段的限制范围内"); } } } \ No newline at end of file diff --git a/ThreatSource.Tests/src/Missile/BaseMissileTests.cs b/ThreatSource.Tests/src/Missile/BaseMissileTests.cs index a9546f0..f64d281 100644 --- a/ThreatSource.Tests/src/Missile/BaseMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/BaseMissileTests.cs @@ -34,11 +34,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.LaserSemiActiveGuidance }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var laserCodeConfig = new LaserCodeConfig @@ -77,9 +77,9 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(0, 0, 0), _missile.Position); - Assert.Equal(new Orientation(0, 0, 0), _missile.Orientation); - Assert.Equal(100, _missile.Speed); + Assert.Equal(new Vector3D(0, 0, 0), _missile.KState.Position); + Assert.Equal(new Orientation(0, 0, 0), _missile.KState.Orientation); + Assert.Equal(100, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); Assert.Equal(0, _missile.FlightTime); @@ -106,7 +106,7 @@ namespace ThreatSource.Tests.Missile // Arrange _missile.Activate(); _missile.Fire(); - var initialPosition = _missile.Position; + var initialPosition = _missile.KState.Position; var deltaTime = 1.0; // Act @@ -114,8 +114,8 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(deltaTime, _missile.FlightTime); - Assert.Equal(_missile.Speed * deltaTime, _missile.FlightDistance); - Assert.NotEqual(initialPosition, _missile.Position); + Assert.Equal(_missile.KState.Speed * deltaTime, _missile.FlightDistance); + Assert.NotEqual(initialPosition, _missile.KState.Position); } [Fact] @@ -129,7 +129,7 @@ namespace ThreatSource.Tests.Missile _missile.Update(deltaTime); // Assert - Assert.True(_missile.Speed <= _properties.MaxSpeed); + Assert.True(_missile.KState.Speed <= _properties.MaxSpeed); } [Fact] @@ -166,8 +166,8 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Contains(_missile.Id, status); - Assert.Contains(_missile.Position.ToString(), status); - Assert.Contains(_missile.Speed.ToString(), status); + Assert.Contains(_missile.KState.Position.ToString(), status); + Assert.Contains(_missile.KState.Speed.ToString(), status); Assert.Contains(_missile.FlightTime.ToString(), status); Assert.Contains(_missile.FlightDistance.ToString(), status); } @@ -181,10 +181,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(_properties.Type, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); diff --git a/ThreatSource.Tests/src/Missile/InfraredCommandGuidedMissileTests.cs b/ThreatSource.Tests/src/Missile/InfraredCommandGuidedMissileTests.cs index f3bde60..56a7ab9 100644 --- a/ThreatSource.Tests/src/Missile/InfraredCommandGuidedMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/InfraredCommandGuidedMissileTests.cs @@ -39,11 +39,11 @@ namespace ThreatSource.Tests.Missile JammingResistanceThreshold = 1e-3 }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; _missile = new InfraredCommandGuidedMissile( @@ -60,9 +60,9 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(0, 0, 0), _missile.Position); - Assert.Equal(new Orientation(0, 0, 0), _missile.Orientation); - Assert.Equal(100, _missile.Speed); + Assert.Equal(new Vector3D(0, 0, 0), _missile.KState.Position); + Assert.Equal(new Orientation(0, 0, 0), _missile.KState.Orientation); + Assert.Equal(100, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); Assert.Equal(1000, _missile.RadiationPower); // 默认红外辐射功率 @@ -174,10 +174,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(MissileType.InfraredCommandGuidance, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); diff --git a/ThreatSource.Tests/src/Missile/InfraredImagingTerminalGuidedMissileTests.cs b/ThreatSource.Tests/src/Missile/InfraredImagingTerminalGuidedMissileTests.cs index 3c37f2b..caa5aa4 100644 --- a/ThreatSource.Tests/src/Missile/InfraredImagingTerminalGuidedMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/InfraredImagingTerminalGuidedMissileTests.cs @@ -13,7 +13,7 @@ namespace ThreatSource.Tests.Missile private readonly SimulationManager _simulationManager; private readonly InfraredImagingTerminalGuidedMissile _missile; private readonly MissileProperties _properties; - private readonly MotionParameters _initialMotion; + private readonly KinematicState _initialMotion; public InfraredImagingTerminalGuidedMissileTests() { @@ -32,11 +32,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.InfraredImagingTerminalGuidance }; - _initialMotion = new MotionParameters + _initialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var guidanceConfig = new InfraredImagingGuidanceConfig @@ -63,9 +63,9 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(0, 0, 0), _missile.Position); - Assert.Equal(new Orientation(0, 0, 0), _missile.Orientation); - Assert.Equal(100, _missile.Speed); + Assert.Equal(new Vector3D(0, 0, 0), _missile.KState.Position); + Assert.Equal(new Orientation(0, 0, 0), _missile.KState.Orientation); + Assert.Equal(100, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); } @@ -100,11 +100,11 @@ namespace ThreatSource.Tests.Missile } // 7. 末制导阶段 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(500, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties { @@ -162,10 +162,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(MissileType.InfraredImagingTerminalGuidance, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); @@ -195,9 +195,9 @@ namespace ThreatSource.Tests.Missile _missile.Fire(); // Assert - Assert.Equal(_initialMotion.InitialSpeed, _missile.Speed); - Assert.Equal(_initialMotion.Position, _missile.Position); - Assert.Equal(_initialMotion.Orientation, _missile.Orientation); + Assert.Equal(_initialMotion.Speed, _missile.KState.Speed); + Assert.Equal(_initialMotion.Position, _missile.KState.Position); + Assert.Equal(_initialMotion.Orientation, _missile.KState.Orientation); } } } \ No newline at end of file diff --git a/ThreatSource.Tests/src/Missile/LaserBeamRiderMissileTests.cs b/ThreatSource.Tests/src/Missile/LaserBeamRiderMissileTests.cs index 28bae6d..4d5e18c 100644 --- a/ThreatSource.Tests/src/Missile/LaserBeamRiderMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/LaserBeamRiderMissileTests.cs @@ -33,11 +33,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.LaserBeamRiderGuidance }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var laserCodeConfig = new LaserCodeConfig @@ -71,9 +71,9 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(0, 0, 0), _missile.Position); - Assert.Equal(new Orientation(0, 0, 0), _missile.Orientation); - Assert.Equal(100, _missile.Speed); + Assert.Equal(new Vector3D(0, 0, 0), _missile.KState.Position); + Assert.Equal(new Orientation(0, 0, 0), _missile.KState.Orientation); + Assert.Equal(100, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); } @@ -152,10 +152,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(MissileType.LaserBeamRiderGuidance, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); diff --git a/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileCodeTests.cs b/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileCodeTests.cs index 7557577..9c6e120 100644 --- a/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileCodeTests.cs +++ b/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileCodeTests.cs @@ -38,22 +38,22 @@ namespace ThreatSource.Tests.Missile Type = MissileType.LaserSemiActiveGuidance }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; // 创建并注册模拟的激光指示器，位置在导弹后方100米处 _laserDesignator = new MockLaserDesignator("laser1", _simulationManager); - _laserDesignator.Position = new Vector3D(-100, 0, 0); + _laserDesignator.KState.Position = new Vector3D(-100, 0, 0); _laserDesignator.config.Power = 100; // 设置足够高的激光功率 _testAdapter.AddTestEntity("laser1", _laserDesignator); // 创建并注册模拟的目标，位置在导弹前方1000米处 _target = new MockTarget("target1", _simulationManager); - _target.Position = new Vector3D(1000, 0, 0); + _target.KState.Position = new Vector3D(1000, 0, 0); _testAdapter.AddTestEntity("target1", _target); var laserCodeConfig = new LaserCodeConfig @@ -97,11 +97,11 @@ namespace ThreatSource.Tests.Missile Power = 100, DivergenceAngle = 0.001, Wavelength = 1.06 - }, new MotionParameters + }, new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }, simulationManager) { // 不需要额外设置属性，因为基类构造函数已经设置了 @@ -112,11 +112,11 @@ namespace ThreatSource.Tests.Missile private class MockTarget : Tank { public MockTarget(string id, ISimulationManager simulationManager) - : base(id, new EquipmentProperties(), new MotionParameters + : base(id, new EquipmentProperties(), new KinematicState { Position = new Vector3D(1000, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 0 + Speed = 0 }, simulationManager) { // 不需要额外设置属性，因为基类构造函数已经设置了 @@ -234,8 +234,8 @@ namespace ThreatSource.Tests.Missile _missile.Update(0.1); // Move past launch stage // 设置激光指示器和目标位置，确保在视场角内 - _laserDesignator.Position = new Vector3D(-100, 0, 0); - _target.Position = new Vector3D(1000, 0, 0); + _laserDesignator.KState.Position = new Vector3D(-100, 0, 0); + _target.KState.Position = new Vector3D(1000, 0, 0); _laserDesignator.config.Power = 100; // 设置足够高的激光功率 // Act - Send illumination with disabled code @@ -276,8 +276,8 @@ namespace ThreatSource.Tests.Missile _missile.Update(0.1); // Move past launch stage // 设置激光指示器和目标位置，确保在视场角内 - _laserDesignator.Position = new Vector3D(-100, 0, 0); - _target.Position = new Vector3D(1000, 0, 0); + _laserDesignator.KState.Position = new Vector3D(-100, 0, 0); + _target.KState.Position = new Vector3D(1000, 0, 0); _laserDesignator.config.Power = 100; // 设置足够高的激光功率 // First enable guidance with matching code diff --git a/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileTests.cs b/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileTests.cs index 55a6e87..e6cf852 100644 --- a/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/LaserSemiActiveGuidedMissileTests.cs @@ -32,11 +32,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.LaserSemiActiveGuidance }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var laserCodeConfig = new LaserCodeConfig @@ -75,9 +75,9 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(0, 0, 0), _missile.Position); - Assert.Equal(new Orientation(0, 0, 0), _missile.Orientation); - Assert.Equal(100, _missile.Speed); + Assert.Equal(new Vector3D(0, 0, 0), _missile.KState.Position); + Assert.Equal(new Orientation(0, 0, 0), _missile.KState.Orientation); + Assert.Equal(100, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); } @@ -156,10 +156,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(MissileType.LaserSemiActiveGuidance, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); diff --git a/ThreatSource.Tests/src/Missile/MillimeterWaveTerminalGuidedMissileTests.cs b/ThreatSource.Tests/src/Missile/MillimeterWaveTerminalGuidedMissileTests.cs index a885cb5..e442c15 100644 --- a/ThreatSource.Tests/src/Missile/MillimeterWaveTerminalGuidedMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/MillimeterWaveTerminalGuidedMissileTests.cs @@ -34,11 +34,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.MillimeterWaveTerminalGuidance }; - var missileInitialMotion = new MotionParameters + var missileInitialMotion = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 100 + Speed = 100 }; var guidanceConfig = new MillimeterWaveGuidanceConfig @@ -63,9 +63,9 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(0, 0, 0), _missile.Position); - Assert.Equal(new Orientation(0, 0, 0), _missile.Orientation); - Assert.Equal(100, _missile.Speed); + Assert.Equal(new Vector3D(0, 0, 0), _missile.KState.Position); + Assert.Equal(new Orientation(0, 0, 0), _missile.KState.Orientation); + Assert.Equal(100, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); } @@ -116,10 +116,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(MissileType.MillimeterWaveTerminalGuidance, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); diff --git a/ThreatSource.Tests/src/Missile/TerminalSensitiveMissileTests.cs b/ThreatSource.Tests/src/Missile/TerminalSensitiveMissileTests.cs index 151ad21..6324aee 100644 --- a/ThreatSource.Tests/src/Missile/TerminalSensitiveMissileTests.cs +++ b/ThreatSource.Tests/src/Missile/TerminalSensitiveMissileTests.cs @@ -17,7 +17,7 @@ namespace ThreatSource.Tests.Missile private readonly MissileProperties _properties; private readonly MissileProperties _submunitionProperties; private readonly Tank _tank; - private readonly MotionParameters _missileInitialMotion; + private readonly KinematicState _missileInitialMotion; public TerminalSensitiveMissileTests(ITestOutputHelper output) { @@ -27,11 +27,11 @@ namespace ThreatSource.Tests.Missile _simulationManager.SetSimulationAdapter(_testAdapter); // 先创建并注册目标 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 100), Orientation = new Orientation(-Math.PI/2, Math.PI/4, 0), // 目标朝向45度 (原Yaw=PI/4) - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -64,11 +64,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.TerminalSensitiveMissile }; - _missileInitialMotion = new MotionParameters + _missileInitialMotion = new KinematicState { Position = new Vector3D(3000, 0, 100), Orientation = new Orientation(Math.PI/2, 0.0, 0.0), // 原Yaw=PI - InitialSpeed = 800 + Speed = 800 }; _submunitionProperties = new MissileProperties @@ -109,8 +109,8 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1", _missile.Id); - Assert.Equal(new Vector3D(3000, 0, 100), _missile.Position); - Assert.Equal(800, _missile.Speed); + Assert.Equal(new Vector3D(3000, 0, 100), _missile.KState.Position); + Assert.Equal(800, _missile.KState.Speed); Assert.False(_missile.IsActive); Assert.False(_missile.IsGuidance); } @@ -126,13 +126,13 @@ namespace ThreatSource.Tests.Missile var publishedEvents = _testAdapter.GetPublishedEvents(); bool submunitionsRegistered = false; double totalTime = 0; - Vector3D lastPosition = _missile.Position; + Vector3D lastPosition = _missile.KState.Position; _output.WriteLine("\n开始测试导弹分离："); - _output.WriteLine($"初始位置：{_missile.Position}"); - _output.WriteLine($"初始速度：{_missile.Velocity}，大小：{_missile.Velocity.Magnitude():F1}米/秒"); - _output.WriteLine($"目标位置：{_tank.Position}"); - Vector3D separationPoint = Vector3D.PointOnLine(_tank.Position, _missile.Position, 1000) + new Vector3D(0, 1000, 0); + _output.WriteLine($"初始位置：{_missile.KState.Position}"); + _output.WriteLine($"初始速度：{_missile.KState.Velocity}，大小：{_missile.KState.Velocity.Magnitude():F1}米/秒"); + _output.WriteLine($"目标位置：{_tank.KState.Position}"); + Vector3D separationPoint = Vector3D.PointOnLine(_tank.KState.Position, _missile.KState.Position, 1000) + new Vector3D(0, 1000, 0); _output.WriteLine($"分离点：{separationPoint}"); _output.WriteLine($"制导状态：{_missile.IsGuidance}"); _output.WriteLine("-------------------"); @@ -146,12 +146,12 @@ namespace ThreatSource.Tests.Missile // 每一步都输出状态 _output.WriteLine($"\n时间：{totalTime:F1}秒"); - _output.WriteLine($"位置：({_missile.Position.X:F1}, {_missile.Position.Y:F1}, {_missile.Position.Z:F1})"); - _output.WriteLine($"速度：{_missile.Velocity.Magnitude():F1}米/秒"); - _output.WriteLine($"速度方向：({_missile.Velocity.X:F1}, {_missile.Velocity.Y:F1}, {_missile.Velocity.Z:F1})"); + _output.WriteLine($"位置：({_missile.KState.Position.X:F1}, {_missile.KState.Position.Y:F1}, {_missile.KState.Position.Z:F1})"); + _output.WriteLine($"速度：{_missile.KState.Velocity.Magnitude():F1}米/秒"); + _output.WriteLine($"速度方向：({_missile.KState.Velocity.X:F1}, {_missile.KState.Velocity.Y:F1}, {_missile.KState.Velocity.Z:F1})"); _output.WriteLine($"制导状态：{_missile.IsGuidance}"); - _output.WriteLine($"距离分离点：{(separationPoint - _missile.Position).Magnitude():F1}米"); - lastPosition = _missile.Position; + _output.WriteLine($"距离分离点：{(separationPoint - _missile.KState.Position).Magnitude():F1}米"); + lastPosition = _missile.KState.Position; // 检查是否有子弹被注册 var entities = _simulationManager.GetAllEntities(); @@ -160,7 +160,7 @@ namespace ThreatSource.Tests.Missile if (submunitionsRegistered) { _output.WriteLine($"\n分离发生在时间：{totalTime:F1}秒"); - _output.WriteLine($"分离位置：{_missile.Position}"); + _output.WriteLine($"分离位置：{_missile.KState.Position}"); break; } } @@ -213,10 +213,10 @@ namespace ThreatSource.Tests.Missile // Assert Assert.Equal(_missile.Id, state.Id); Assert.Equal(MissileType.TerminalSensitiveMissile, state.ExtendedProperties["Type"]); - Assert.Equal(_missile.Position, state.Position); - Assert.Equal(_missile.Velocity, state.ExtendedProperties["Velocity"]); - Assert.Equal(_missile.Orientation, state.Orientation); - Assert.Equal(_missile.Speed, state.Speed); + Assert.Equal(_missile.KState.Position, state.KState.Position); + Assert.Equal(_missile.KState.Velocity, state.KState.Velocity); + Assert.Equal(_missile.KState.Orientation, state.KState.Orientation); + Assert.Equal(_missile.KState.Speed, state.KState.Speed); Assert.Equal(_missile.FlightTime, state.ExtendedProperties["FlightTime"]); Assert.Equal(_missile.FlightDistance, state.ExtendedProperties["FlightDistance"]); Assert.Equal(_missile.IsGuidance, state.ExtendedProperties["IsGuidance"]); diff --git a/ThreatSource.Tests/src/Missile/TerminalSensitiveSubmunitionTests.cs b/ThreatSource.Tests/src/Missile/TerminalSensitiveSubmunitionTests.cs index 89e11cc..05162c9 100644 --- a/ThreatSource.Tests/src/Missile/TerminalSensitiveSubmunitionTests.cs +++ b/ThreatSource.Tests/src/Missile/TerminalSensitiveSubmunitionTests.cs @@ -17,7 +17,7 @@ namespace ThreatSource.Tests.Missile private readonly MissileProperties _properties; private readonly Tank _tank; private readonly ITestOutputHelper _output; - private readonly MotionParameters _submunitionInitialMotion; + private readonly KinematicState _submunitionInitialMotion; public TerminalSensitiveSubmunitionTests(ITestOutputHelper output) { @@ -27,11 +27,11 @@ namespace ThreatSource.Tests.Missile _simulationManager.SetSimulationAdapter(_testAdapter); // 先创建并注册目标 - var tankInitialMotion = new MotionParameters + var tankInitialMotion = new KinematicState { Position = new Vector3D(100, 0, 100), // 目标位置 Orientation = new Orientation(-Math.PI/2, Math.PI/4, 0), // 目标朝向45度 (Original Yaw=PI/4) - InitialSpeed = 0 + Speed = 0 }; var tankProperties = new EquipmentProperties @@ -63,11 +63,11 @@ namespace ThreatSource.Tests.Missile Type = MissileType.TerminalSensitiveMissile }; - _submunitionInitialMotion = new MotionParameters + _submunitionInitialMotion = new KinematicState { Position = new Vector3D(1100, 400, 100), // 在目标前方1000米，高度400米 Orientation = new Orientation(-Math.PI/2, -Math.PI/4, 0), // 向下45度 (Original Pitch=-PI/4, Yaw=0) - InitialSpeed = 200 + Speed = 200 }; var submunitionConfig = new TerminalSensitiveSubmunitionConfig @@ -92,8 +92,8 @@ namespace ThreatSource.Tests.Missile public void Constructor_InitializesPropertiesCorrectly() { Assert.Equal("missile1_Sub_0", _submunition.Id); - Assert.Equal(_submunitionInitialMotion.Position, _submunition.Position); - Assert.Equal(_submunitionInitialMotion.InitialSpeed, _submunition.Speed); + Assert.Equal(_submunitionInitialMotion.Position, _submunition.KState.Position); + Assert.Equal(_submunitionInitialMotion.Speed, _submunition.KState.Speed); Assert.False(_submunition.IsActive); Assert.False(_submunition.IsGuidance); } @@ -104,14 +104,14 @@ namespace ThreatSource.Tests.Missile // Arrange _submunition.Fire(); _submunition.Activate(); - var initialPosition = _submunition.Position; + var initialPosition = _submunition.KState.Position; // Act _submunition.Update(0.1); // Assert Assert.True(_submunition.IsActive); - Assert.NotEqual(initialPosition, _submunition.Position); + Assert.NotEqual(initialPosition, _submunition.KState.Position); } [Fact] @@ -120,7 +120,7 @@ namespace ThreatSource.Tests.Missile // Arrange _submunition.Fire(); _submunition.Activate(); - var initialSpeed = _submunition.Speed; + var initialSpeed = _submunition.KState.Speed; // Act - 等待进入减速阶段 for (double time = 0; time < 2.0; time += 0.1) @@ -129,7 +129,7 @@ namespace ThreatSource.Tests.Missile } // Assert - Assert.True(_submunition.Speed < initialSpeed); + Assert.True(_submunition.KState.Speed < initialSpeed); } /* // 注释掉此测试，因为它涉及复杂的扫描探测逻辑，难以在单元测试中精确模拟 @@ -179,10 +179,10 @@ namespace ThreatSource.Tests.Missile { // Arrange // 设置子弹位置为原点 - _submunition.Position = new Vector3D(0, 0, 0); + _submunition.KState.Position = new Vector3D(0, 0, 0); // 设置目标位置为 (100, 0, 0)，即正东方向 - _tank.Position = new Vector3D(100, 0, 0); + _tank.KState.Position = new Vector3D(100, 0, 0); // 设置扫描角度为 90 度（正北为 0 度，顺时针），即向东 double spiralAngle = 90 * Math.PI / 180; // 转换为弧度 @@ -202,7 +202,7 @@ namespace ThreatSource.Tests.Missile ); // 计算目标方向 - Vector3D toTarget = (_tank.Position - _submunition.Position).Normalize(); + Vector3D toTarget = (_tank.KState.Position - _submunition.KState.Position).Normalize(); // 计算水平面上的目标方向 Vector3D horizontalTargetDirection = new Vector3D( @@ -241,7 +241,7 @@ namespace ThreatSource.Tests.Missile // 输出调试信息 _output.WriteLine($"原始扫描角度: {spiralAngle * 180 / Math.PI:F2}°"); - _output.WriteLine($"目标位置: {_tank.Position}"); + _output.WriteLine($"目标位置: {_tank.KState.Position}"); _output.WriteLine($"水平扫描方向: {horizontalScanDirection}"); _output.WriteLine($"水平目标方向: {horizontalTargetDirection}"); _output.WriteLine($"水平面夹角: {horizontalAngle:F2}°"); @@ -263,11 +263,11 @@ namespace ThreatSource.Tests.Missile { // 设置目标位置 var targetPosition = new Vector3D(targetX, targetY, targetZ); - _tank.Position = targetPosition; + _tank.KState.Position = targetPosition; // 设置子弹位置 var submunitionPosition = new Vector3D(submunitionX, submunitionY, submunitionZ); - _submunition.Position = submunitionPosition; + _submunition.KState.Position = submunitionPosition; // 计算从子弹到目标的向量 var toTarget = (targetPosition - submunitionPosition).Normalize(); @@ -329,16 +329,16 @@ namespace ThreatSource.Tests.Missile bool detectedAtLeastOnce = false; double radius = 50; // 扫描半径 double subHeight = 100; // 子弹高度 - _submunition.Position = new Vector3D(0, subHeight, 0); + _submunition.KState.Position = new Vector3D(0, subHeight, 0); for (int angleDeg = 0; angleDeg < 360; angleDeg += 10) { double angleRad = angleDeg * Math.PI / 180; var targetPosition = new Vector3D(radius * Math.Cos(angleRad), 0, radius * Math.Sin(angleRad)); - _tank.Position = targetPosition; + _tank.KState.Position = targetPosition; // 使用反射设置 scanDirection 指向目标 - var toTarget = (targetPosition - _submunition.Position).Normalize(); + var toTarget = (targetPosition - _submunition.KState.Position).Normalize(); var field = typeof(TerminalSensitiveSubmunition) .GetField("scanDirection", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance); diff --git a/ThreatSource.Tests/src/Simulation/TestSimulationAdapter.cs b/ThreatSource.Tests/src/Simulation/TestSimulationAdapter.cs index a150aba..f7a1fe9 100644 --- a/ThreatSource.Tests/src/Simulation/TestSimulationAdapter.cs +++ b/ThreatSource.Tests/src/Simulation/TestSimulationAdapter.cs @@ -258,7 +258,7 @@ namespace ThreatSource.Tests.Simulation internal class MockSimulationElement : SimulationElement { public MockSimulationElement(string id) - : base(id, new MotionParameters(), null!) + : base(id, new KinematicState(), null!) { } diff --git a/ThreatSource.Tests/src/Target/TankTests.cs b/ThreatSource.Tests/src/Target/TankTests.cs index faeed9a..2327b2e 100644 --- a/ThreatSource.Tests/src/Target/TankTests.cs +++ b/ThreatSource.Tests/src/Target/TankTests.cs @@ -18,11 +18,11 @@ namespace ThreatSource.Tests.Target _simulationManager = new SimulationManager(); // 创建初始运动参数 - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(100, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 10 + Speed = 10 }; // 使用默认值初始化 @@ -34,11 +34,11 @@ namespace ThreatSource.Tests.Target public void Constructor_InitializesPropertiesCorrectly() { // Arrange & Act - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(200, 0, 0), Orientation = new Orientation(0, 0, 0), - InitialSpeed = 10 + Speed = 10 }; var tankProperties = new EquipmentProperties @@ -52,24 +52,24 @@ namespace ThreatSource.Tests.Target // Assert Assert.IsNotNull(tank); Assert.AreEqual("tank2", tank.Id); - Assert.IsNotNull(tank.Position); - Assert.IsNotNull(tank.Velocity); + Assert.IsNotNull(tank.KState.Position); + Assert.IsNotNull(tank.KState.Velocity); } [TestMethod] public void Update_UpdatesPositionBasedOnVelocity() { // Arrange - var initialPosition = _tank.Position; + var initialPosition = _tank.KState.Position; var deltaTime = 1.0f; // Act _tank.Update(deltaTime); // Assert - Assert.AreEqual(initialPosition.X + _tank.Velocity.X * deltaTime, _tank.Position.X); - Assert.AreEqual(initialPosition.Y + _tank.Velocity.Y * deltaTime, _tank.Position.Y); - Assert.AreEqual(initialPosition.Z + _tank.Velocity.Z * deltaTime, _tank.Position.Z); + Assert.AreEqual(initialPosition.X + _tank.KState.Velocity.X * deltaTime, _tank.KState.Position.X); + Assert.AreEqual(initialPosition.Y + _tank.KState.Velocity.Y * deltaTime, _tank.KState.Position.Y); + Assert.AreEqual(initialPosition.Z + _tank.KState.Velocity.Z * deltaTime, _tank.KState.Position.Z); } [TestMethod] diff --git a/ThreatSource/src/Data/ThreatSourceFactory.cs b/ThreatSource/src/Data/ThreatSourceFactory.cs index 28132c3..84aa417 100644 --- a/ThreatSource/src/Data/ThreatSourceFactory.cs +++ b/ThreatSource/src/Data/ThreatSourceFactory.cs @@ -35,7 +35,7 @@ namespace ThreatSource.Data /// 导弹型号 /// 发射参数 /// 导弹实例 - public BaseMissile CreateMissile(string missileId, string missileModel, string targetId, MotionParameters launchParams) + public BaseMissile CreateMissile(string missileId, string missileModel, string targetId, KinematicState launchParams) { var data = _dataManager.GetMissile(missileModel); @@ -133,7 +133,7 @@ namespace ThreatSource.Data /// 导弹ID /// 初始运动参数 /// 指示器实例 - public BaseIndicator CreateIndicator(string indicatorId, string indicatorModel, string targetId, string missileId, MotionParameters motionParameters) + public BaseIndicator CreateIndicator(string indicatorId, string indicatorModel, string targetId, string missileId, KinematicState motionParameters) { var data = _dataManager.GetIndicator(indicatorModel); @@ -173,7 +173,7 @@ namespace ThreatSource.Data /// 目标型号 /// 初始运动参数 /// 目标实例 - public SimulationElement CreateTarget(string targetId, string targetModel, MotionParameters motionParameters) + public SimulationElement CreateTarget(string targetId, string targetModel, KinematicState motionParameters) { var data = _dataManager.GetTarget(targetModel); @@ -227,7 +227,7 @@ namespace ThreatSource.Data /// 初始运动参数 /// 干扰源ID /// 干扰机实例 - public IJammer CreateJammer(string jammerId, string jammerModel, MotionParameters motionParameters, string sourceId) + public IJammer CreateJammer(string jammerId, string jammerModel, KinematicState motionParameters, string sourceId) { var data = _dataManager.GetJammer(jammerModel); return data.Type switch diff --git a/ThreatSource/src/Equipment/APC.cs b/ThreatSource/src/Equipment/APC.cs index d5e24e0..f010daf 100644 --- a/ThreatSource/src/Equipment/APC.cs +++ b/ThreatSource/src/Equipment/APC.cs @@ -24,7 +24,7 @@ namespace ThreatSource.Equipment /// 构造函数设置装甲运输车的初始状态： /// - 调用基类构造函数初始化基本属性 /// - public APC(string id, EquipmentProperties equipmentProperties, MotionParameters motionParameters, ISimulationManager simulationManager) + public APC(string id, EquipmentProperties equipmentProperties, KinematicState motionParameters, ISimulationManager simulationManager) : base(id, equipmentProperties, motionParameters, simulationManager) { } diff --git a/ThreatSource/src/Equipment/BaseEquipment.cs b/ThreatSource/src/Equipment/BaseEquipment.cs index 3e479cf..b1f3889 100644 --- a/ThreatSource/src/Equipment/BaseEquipment.cs +++ b/ThreatSource/src/Equipment/BaseEquipment.cs @@ -46,7 +46,7 @@ namespace ThreatSource.Equipment /// - 设置初始位置和速度 /// - 生命值初始化为100 /// - protected BaseEquipment(string id, EquipmentProperties equipmentProperties, MotionParameters motionParameters, ISimulationManager simulationManager) + protected BaseEquipment(string id, EquipmentProperties equipmentProperties, KinematicState motionParameters, ISimulationManager simulationManager) : base(id, motionParameters, simulationManager) { Properties = equipmentProperties; @@ -60,7 +60,7 @@ namespace ThreatSource.Equipment public double[,] GetCurrentThermalPattern() { // 根据当前速度判断是否在运动 - bool isMoving = Velocity.Magnitude() > 0.1; // 速度大于0.1米/秒认为在运动 + bool isMoving = KState.Velocity.Magnitude() > 0.1; // 速度大于0.1米/秒认为在运动 return Properties.ThermalPattern.GetPattern(isMoving); } @@ -76,7 +76,7 @@ namespace ThreatSource.Equipment public override void Update(double deltaTime) { // 更新目标的位置 - Position += Velocity * deltaTime; + KState.Position += KState.Velocity * deltaTime; } /// diff --git a/ThreatSource/src/Equipment/Helicopter.cs b/ThreatSource/src/Equipment/Helicopter.cs index 2deea43..5677600 100644 --- a/ThreatSource/src/Equipment/Helicopter.cs +++ b/ThreatSource/src/Equipment/Helicopter.cs @@ -23,7 +23,7 @@ namespace ThreatSource.Equipment /// 构造函数设置直升机的初始状态： /// - 调用基类构造函数初始化基本属性 /// - public Helicopter(string id, EquipmentProperties equipmentProperties, MotionParameters motionParameters, ISimulationManager simulationManager) + public Helicopter(string id, EquipmentProperties equipmentProperties, KinematicState motionParameters, ISimulationManager simulationManager) : base(id, equipmentProperties, motionParameters, simulationManager) { } diff --git a/ThreatSource/src/Equipment/Tank.cs b/ThreatSource/src/Equipment/Tank.cs index 85e613b..493f43e 100644 --- a/ThreatSource/src/Equipment/Tank.cs +++ b/ThreatSource/src/Equipment/Tank.cs @@ -26,7 +26,7 @@ namespace ThreatSource.Equipment /// 构造函数设置坦克的初始状态： /// - 调用基类构造函数初始化基本属性 /// - public Tank(string id, EquipmentProperties equipmentProperties, MotionParameters motionParameters, ISimulationManager simulationManager) + public Tank(string id, EquipmentProperties equipmentProperties, KinematicState motionParameters, ISimulationManager simulationManager) : base(id, equipmentProperties, motionParameters, simulationManager) { } diff --git a/ThreatSource/src/Guidance/BaseGuidanceSystem.cs b/ThreatSource/src/Guidance/BaseGuidanceSystem.cs index 221fb38..4e549bc 100644 --- a/ThreatSource/src/Guidance/BaseGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/BaseGuidanceSystem.cs @@ -112,14 +112,12 @@ namespace ThreatSource.Guidance /// - 初始化干扰处理 /// public BaseGuidanceSystem(string id, string missileId, double maxAcceleration, double proportionalNavigationCoefficient, ISimulationManager simulationManager) - : base(id, new MotionParameters(), simulationManager) + : base(id, new KinematicState(), simulationManager) { MissileId = missileId; if (SimulationManager.GetEntityById(MissileId) is BaseMissile missile) { - Position = missile.Position; - Orientation = missile.Orientation; - Velocity = missile.Velocity; + KState = missile.KState; } HasGuidance = false; @@ -129,7 +127,7 @@ namespace ThreatSource.Guidance // 初始化干扰处理组件 _jammingComponent = new JammableComponent( - positionProvider: () => base.Position + positionProvider: () => base.KState.Position ); // Subscribe to the events instead @@ -185,9 +183,7 @@ namespace ThreatSource.Guidance { if (SimulationManager.GetEntityById(MissileId) is BaseMissile missile) { - Position = missile.Position; - Orientation = missile.Orientation; - Velocity = missile.Velocity; + KState = missile.KState; } // 更新干扰状态 _jammingComponent.UpdateJammingStatus(deltaTime); diff --git a/ThreatSource/src/Guidance/InfraredCommandGuidanceSystem.cs b/ThreatSource/src/Guidance/InfraredCommandGuidanceSystem.cs index 93a78a9..8442355 100644 --- a/ThreatSource/src/Guidance/InfraredCommandGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/InfraredCommandGuidanceSystem.cs @@ -184,7 +184,7 @@ namespace ThreatSource.Guidance Vector3D currentDesiredDirection = (LastTrackerToTargetVector - LastTrackerToMissileVector).Normalize(); - Vector3D currentDirection = Velocity.Normalize(); + Vector3D currentDirection = KState.Velocity.Normalize(); if (LastDesiredDirection != null && deltaTime > 0) { @@ -200,7 +200,7 @@ namespace ThreatSource.Guidance Vector3D desiredDirectionWithLead = (currentDesiredDirection + leadDirection * turnRate * LeadTimeFactor).Normalize(); Vector3D turnAxis = Vector3D.CrossProduct(currentDirection, desiredDirectionWithLead).Normalize(); double turnAngle = Vector3D.AngleBetween(currentDirection, desiredDirectionWithLead); - double accelerationMagnitude = ProportionalNavigationCoefficient * turnAngle * Velocity.Magnitude(); + double accelerationMagnitude = ProportionalNavigationCoefficient * turnAngle * KState.Speed; GuidanceAcceleration = Vector3D.CrossProduct(turnAxis, currentDirection) * accelerationMagnitude; if (GuidanceAcceleration.Magnitude() > MaxAcceleration) diff --git a/ThreatSource/src/Guidance/InfraredImageGenerator.cs b/ThreatSource/src/Guidance/InfraredImageGenerator.cs index 7321434..13b9708 100644 --- a/ThreatSource/src/Guidance/InfraredImageGenerator.cs +++ b/ThreatSource/src/Guidance/InfraredImageGenerator.cs @@ -189,7 +189,7 @@ namespace ThreatSource.Guidance // 确保 config 和 RadiationTemperature 存在 if (smoke.IsActive ==false || smoke.config == null || !smoke.config.IsObscuring || smoke.config.RadiationTemperature <= 0) continue; - Vector3D toSmoke = smoke.Position - missilePosition; + Vector3D toSmoke = smoke.KState.Position - missilePosition; double distance = toSmoke.Magnitude(); // 粗略检查烟幕是否在前方视野内 @@ -200,7 +200,7 @@ namespace ThreatSource.Guidance double smokeIntensity = SMOKE_TEMPERATURE_FACTOR * Math.Pow(smoke.config.RadiationTemperature, 4); // 投影烟幕中心 - var (angleX, angleY) = ProjectToImagePlane(smoke.Position, missilePosition); + var (angleX, angleY) = ProjectToImagePlane(smoke.KState.Position, missilePosition); var (smokeCenterX, smokeCenterY) = AngleToPixel(angleX, angleY); // 检查投影中心是否大致在图像内 (允许部分超出) @@ -218,7 +218,7 @@ namespace ThreatSource.Guidance case SmokeScreenType.Wall: // 墙状烟幕，考虑其朝向 // 获取烟幕墙朝向（法线方向）与视线方向的夹角 - Vector3D smokeForward = smoke.Orientation.ToVector().Normalize(); // 烟幕墙的朝向（法线方向） + Vector3D smokeForward = smoke.KState.Orientation.ToVector().Normalize(); // 烟幕墙的朝向（法线方向） double angleToViewLine = Math.Acos(Math.Abs(Vector3D.DotProduct(smokeForward, forward))); // 计算墙在视线方向的有效投影尺寸 @@ -302,7 +302,7 @@ namespace ThreatSource.Guidance public InfraredImage GenerateImage(BaseEquipment target, Vector3D missilePosition, double smokeAttenuation, ISimulationManager simulationManager) { // 更新视线坐标系 - UpdateLineOfSightFrame(missilePosition, target.Position); + UpdateLineOfSightFrame(missilePosition, target.KState.Position); // 创建并初始化烟幕强度图层 (-1表示无烟幕) double[,] smokeIntensityLayer = new double[imageHeight, imageWidth]; @@ -333,11 +333,11 @@ namespace ThreatSource.Guidance // --- 结束新增 --- // 计算目标中心投影 - var (angleX, angleY) = ProjectToImagePlane(target.Position, missilePosition); + var (angleX, angleY) = ProjectToImagePlane(target.KState.Position, missilePosition); var (centerX, centerY) = AngleToPixel(angleX, angleY); // 计算目标尺寸 - double distance = (target.Position - missilePosition).Magnitude(); + double distance = (target.KState.Position - missilePosition).Magnitude(); double targetLengthAngle = Math.Atan2(target.Properties.Length, distance); double targetWidthAngle = Math.Atan2(target.Properties.Width, distance); diff --git a/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs b/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs index 0f5f77a..d2f2d77 100644 --- a/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs @@ -224,7 +224,7 @@ namespace ThreatSource.Guidance base.Update(deltaTime); if (!IsBlockingJammed) { - if (TryDetectAndIdentifyTarget(Position, Velocity, deltaTime, out Vector3D currentTargetPosition)) + if (TryDetectAndIdentifyTarget(KState.Position, KState.Velocity, deltaTime, out Vector3D currentTargetPosition)) { targetLostTimer = 0; // 重置丢失计时器 Vector3D? currentTargetVelocity = null; // Initialize as nullable @@ -237,8 +237,8 @@ namespace ThreatSource.Guidance GuidanceAcceleration = MotionAlgorithm.CalculateProportionalNavigation( ProportionalNavigationCoefficient, - Position, - Velocity, + KState.Position, + KState.Velocity, currentTargetPosition, // Non-nullable from out parameter currentTargetVelocity ?? Vector3D.Zero // Provide default if null ); @@ -374,7 +374,7 @@ namespace ThreatSource.Guidance { if (element is BaseEquipment target) { - Vector3D toTarget = target.Position - missilePosition; + Vector3D toTarget = target.KState.Position - missilePosition; double distance = toTarget.Magnitude(); // 检查距离条件 @@ -393,7 +393,7 @@ namespace ThreatSource.Guidance } // 实时计算当前目标到导弹之间的烟幕透过率 - double liveSmokeTransmittance = CalculateLiveSmokeTransmittance(missilePosition, target.Position); + double liveSmokeTransmittance = CalculateLiveSmokeTransmittance(missilePosition, target.KState.Position); // 生成红外图像 var image = imageGenerator.GenerateImage(target, missilePosition, liveSmokeTransmittance, SimulationManager); @@ -407,7 +407,7 @@ namespace ThreatSource.Guidance { if (distance < minDistance) { - targetPosition = target.Position; + targetPosition = target.KState.Position; minDistance = distance; foundTarget = true; // 切换到跟踪模式 @@ -423,7 +423,7 @@ namespace ThreatSource.Guidance { if (distance < minDistance) { - targetPosition = target.Position; + targetPosition = target.KState.Position; minDistance = distance; foundTarget = true; @@ -442,7 +442,7 @@ namespace ThreatSource.Guidance lockConfirmationTimer = 0; if (distance < minDistance) { - targetPosition = target.Position; + targetPosition = target.KState.Position; minDistance = distance; foundTarget = true; } @@ -458,7 +458,7 @@ namespace ThreatSource.Guidance // 锁定模式：只进行位置跟踪，不做类型识别 if (distance < minDistance) { - targetPosition = target.Position; + targetPosition = target.KState.Position; minDistance = distance; foundTarget = true; } @@ -492,8 +492,8 @@ namespace ThreatSource.Guidance } const double ObscurationThreshold = 0.8; // 80%遮挡视为完全遮挡 - Vector3D targetCenter = target.Position; - Orientation targetOrient = target.Orientation; + Vector3D targetCenter = target.KState.Position; + Orientation targetOrient = target.KState.Orientation; Vector3D targetDims = new Vector3D(target.Properties.Width, target.Properties.Height, target.Properties.Length); foreach (var smoke in smokeGrenades) @@ -514,7 +514,7 @@ namespace ThreatSource.Guidance // 使用ObscurationUtils计算烟幕对目标的遮挡比例 double overlapRatio = ObscurationUtils.CalculateProjectedOverlapRatio( observerPosition, // 观察者位置（导弹） - smoke.Position, smokeDims, smoke.Orientation, // 烟幕数据（前景） + smoke.KState.Position, smokeDims, smoke.KState.Orientation, // 烟幕数据（前景） targetCenter, targetDims, targetOrient // 目标数据（背景） ); diff --git a/ThreatSource/src/Guidance/LaserBeamRiderGuidanceSystem.cs b/ThreatSource/src/Guidance/LaserBeamRiderGuidanceSystem.cs index 1fa6fa7..d0f601a 100644 --- a/ThreatSource/src/Guidance/LaserBeamRiderGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/LaserBeamRiderGuidanceSystem.cs @@ -407,7 +407,7 @@ namespace ThreatSource.Guidance Debug.WriteLine($"激光驾束引导系统: 在控制场内, 距离: {shortestDistance}"); - Vector3D missileToSource = LaserSourcePosition - Position; + Vector3D missileToSource = LaserSourcePosition - KState.Position; double distance = missileToSource.Magnitude(); double receivedPower = CalculateReceivedLaserPower(distance); @@ -511,10 +511,10 @@ namespace ThreatSource.Guidance } Vector3D forwardDirection = LaserDirection; - Vector3D currentDirection = Velocity.Normalize(); + Vector3D currentDirection = KState.Velocity.Normalize(); Vector3D rotationAxis = Vector3D.CrossProduct(currentDirection, forwardDirection); double rotationAngle = Math.Acos(Vector3D.DotProduct(currentDirection, forwardDirection)); - Vector3D forwardAcceleration = Vector3D.CrossProduct(rotationAxis, Velocity) * rotationAngle * ProportionalNavigationCoefficient; + Vector3D forwardAcceleration = Vector3D.CrossProduct(rotationAxis, KState.Velocity) * rotationAngle * ProportionalNavigationCoefficient; GuidanceAcceleration = lateralAcceleration + forwardAcceleration; GuidanceAcceleration = GuidanceAcceleration * config.LowPassFilterCoefficient + @@ -618,10 +618,10 @@ namespace ThreatSource.Guidance return Vector3D.Zero; } - Vector3D missileToSource = LaserSourcePosition - Position; + Vector3D missileToSource = LaserSourcePosition - KState.Position; double projectionLength = Vector3D.DotProduct(missileToSource, LaserDirection); Vector3D closestPointOnBeam = LaserSourcePosition - LaserDirection * projectionLength; - Vector3D shortestDistanceVector = closestPointOnBeam - Position; + Vector3D shortestDistanceVector = closestPointOnBeam - KState.Position; return shortestDistanceVector; } diff --git a/ThreatSource/src/Guidance/LaserSemiActiveGuidanceSystem.cs b/ThreatSource/src/Guidance/LaserSemiActiveGuidanceSystem.cs index 39dc13e..1828c17 100644 --- a/ThreatSource/src/Guidance/LaserSemiActiveGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/LaserSemiActiveGuidanceSystem.cs @@ -312,7 +312,7 @@ namespace ThreatSource.Guidance // 添加激光目标 if (!laserTargets.Any(t => t.Target.Id == decoyTarget.Id)) { - laserTargets.Add((decoyTarget, decoyTarget.Position, decoySource)); + laserTargets.Add((decoyTarget, decoyTarget.KState.Position, decoySource)); Console.WriteLine($"[LASER_SEMI_ACTIVE] 诱偏目标添加到激光目标列表。当前激光目标数量: {laserTargets.Count}"); } } @@ -443,13 +443,13 @@ namespace ThreatSource.Guidance if (target.Target is LaserDecoy decoy) { // 计算接收功率 - receivedPower = CalculateReceivedPower(target.Source.Position, target.SpotPosition, decoy.config.Power, decoy.config.DivergenceAngle); + receivedPower = CalculateReceivedPower(target.Source.KState.Position, target.SpotPosition, decoy.config.Power, decoy.config.DivergenceAngle); Console.WriteLine($"处理激光信号: 诱偏目标接收功率={receivedPower:E}W, 诱偏目标ID: {target.Target.Id}, 诱偏目标位置: {target.SpotPosition}"); } else if (target.Source is LaserDesignator laserDesignator) { // 计算接收功率 - receivedPower = CalculateReceivedPower(target.Source.Position, target.SpotPosition, laserDesignator.config.Power, laserDesignator.config.DivergenceAngle); + receivedPower = CalculateReceivedPower(target.Source.KState.Position, target.SpotPosition, laserDesignator.config.Power, laserDesignator.config.DivergenceAngle); Console.WriteLine($"处理激光信号: 真实目标接收功率={receivedPower:E}W, 真实目标ID: {target.Target.Id}, 真实目标位置: {target.SpotPosition}"); } @@ -519,9 +519,9 @@ namespace ThreatSource.Guidance double totalPowerReflectedByTarget = powerDensityOnTargetSurface * config.TargetReflectiveArea * config.ReflectionCoefficient; // --- 路径2: 目标 (target) 到导弹 (missile) --- - double distanceTargetToMissile = (targetPos - Position).Magnitude(); + double distanceTargetToMissile = (targetPos - KState.Position).Magnitude(); if (distanceTargetToMissile < 1e-9) distanceTargetToMissile = 1e-9; // 防止除零 - double smokeTransmittance_T2M = CalculateLiveSmokeTransmittanceForPath(targetPos, Position); + double smokeTransmittance_T2M = CalculateLiveSmokeTransmittanceForPath(targetPos, KState.Position); double atmTransmittance_T2M = 1.0; if (SimulationManager.CurrentWeather != null) { @@ -558,10 +558,10 @@ namespace ThreatSource.Guidance private double CalculateAngleDeviation(Vector3D targetPos) { // 计算目标方向 - Vector3D targetDirection = (targetPos - Position).Normalize(); + Vector3D targetDirection = (targetPos - KState.Position).Normalize(); // 计算当前导弹朝向 - Vector3D missileDirection = Velocity.Normalize(); + Vector3D missileDirection = KState.Velocity.Normalize(); // 计算夹角 double dotProduct = Vector3D.DotProduct(targetDirection, missileDirection); @@ -590,10 +590,10 @@ namespace ThreatSource.Guidance } // No cast needed, just use TargetPosition directly - Vector3D idealDirection = (TargetPosition - Position).Normalize(); + Vector3D idealDirection = (TargetPosition - KState.Position).Normalize(); // 计算当前导弹前向方向 - Vector3D currentDirection = Velocity.Normalize(); + Vector3D currentDirection = KState.Velocity.Normalize(); // 计算右向量和上向量 Vector3D right = Vector3D.CrossProduct(Vector3D.UnitY, currentDirection).Normalize(); @@ -637,7 +637,7 @@ namespace ThreatSource.Guidance protected void CalculateGuidanceAcceleration(double deltaTime) { // 获取当前导弹指向方向 - Vector3D currentDirection = Velocity.Normalize(); + Vector3D currentDirection = KState.Velocity.Normalize(); // 使用四象限探测器获取修正后的目标方向 Vector3D targetDirection = quadrantDetector.GetTargetDirection(currentDirection, SpotOffsetSensitivity); @@ -655,7 +655,7 @@ namespace ThreatSource.Guidance } // 计算新的制导加速度，与速度垂直 - Vector3D newGuidanceAcceleration = guidanceDirection * ProportionalNavigationCoefficient * Velocity.Magnitude(); + Vector3D newGuidanceAcceleration = guidanceDirection * ProportionalNavigationCoefficient * KState.Velocity.Magnitude(); // 限制最大加速度 double maxAcceleration = MaxAcceleration; diff --git a/ThreatSource/src/Guidance/MillimeterWaveGuidanceSystem.cs b/ThreatSource/src/Guidance/MillimeterWaveGuidanceSystem.cs index c36f18b..3b4099f 100644 --- a/ThreatSource/src/Guidance/MillimeterWaveGuidanceSystem.cs +++ b/ThreatSource/src/Guidance/MillimeterWaveGuidanceSystem.cs @@ -471,7 +471,7 @@ namespace ThreatSource.Guidance // 更新扫描参数 UpdateConicalScan(deltaTime); - if (TryDetectAndTrackTarget(Position, Velocity, deltaTime, out Vector3D currentTargetPosition)) + if (TryDetectAndTrackTarget(KState.Position, KState.Velocity, deltaTime, out Vector3D currentTargetPosition)) { targetLostTimer = 0; Vector3D? currentTargetVelocity = null; @@ -485,8 +485,8 @@ namespace ThreatSource.Guidance GuidanceAcceleration = MotionAlgorithm.CalculateProportionalNavigation( ProportionalNavigationCoefficient, - Position, - Velocity, + KState.Position, + KState.Velocity, currentTargetPosition, currentTargetVelocity ?? Vector3D.Zero ); @@ -545,12 +545,12 @@ namespace ThreatSource.Guidance { if (element is BaseEquipment target && target.Id != MissileId && target.IsActive) { - Vector3D toTarget = target.Position - missilePosition; + Vector3D toTarget = target.KState.Position - missilePosition; double distance = toTarget.Magnitude(); if (distance <= config.MaxDetectionRange && distance > 0) { - double liveSmokeTransmittance = CalculateLiveSmokeTransmittance(missilePosition, target.Position); + double liveSmokeTransmittance = CalculateLiveSmokeTransmittance(missilePosition, target.KState.Position); double snr_dB = CalculateSNR(distance, target.Properties.RadarCrossSection, liveSmokeTransmittance); if (currentMode == WorkMode.Search) @@ -559,7 +559,7 @@ namespace ThreatSource.Guidance { if (distance < minDistance) { - targetPosition = target.Position; + targetPosition = target.KState.Position; minDistance = distance; foundTarget = true; currentSNR_dB = snr_dB; @@ -572,7 +572,7 @@ namespace ThreatSource.Guidance if (LastTargetPosition != null) { double proximityThreshold = (target.Properties.Length > 0) ? target.Properties.Length * 5.0 : 100.0; - isPotentiallyTrackedTarget = Vector3D.Distance(target.Position, LastTargetPosition) < proximityThreshold; + isPotentiallyTrackedTarget = Vector3D.Distance(target.KState.Position, LastTargetPosition) < proximityThreshold; } if (IsTargetInBeam(missileVelocity, toTarget) && isPotentiallyTrackedTarget) @@ -582,7 +582,7 @@ namespace ThreatSource.Guidance if (snr_dB >= requiredSNR_dB) { - targetPosition = target.Position; + targetPosition = target.KState.Position; foundTarget = true; currentSNR_dB = snr_dB; break; diff --git a/ThreatSource/src/Indicator/BaseIndicator.cs b/ThreatSource/src/Indicator/BaseIndicator.cs index 0e6909c..3d8fcf5 100644 --- a/ThreatSource/src/Indicator/BaseIndicator.cs +++ b/ThreatSource/src/Indicator/BaseIndicator.cs @@ -94,11 +94,11 @@ namespace ThreatSource.Indicator /// - 初始化基本属性 /// - 初始化干扰处理组件 /// - protected BaseIndicator(string id, MotionParameters motionParameters, ISimulationManager manager) + protected BaseIndicator(string id, KinematicState motionParameters, ISimulationManager manager) : base(id, motionParameters, manager) { _jammingComponent = new JammableComponent( - positionProvider: () => base.Position + positionProvider: () => base.KState.Position ); _jammingComponent.JammingApplied += HandleJammingApplied; @@ -273,8 +273,8 @@ namespace ThreatSource.Indicator // 仅当目标被看到 (未遮挡) 且目标有效时，才更新最后已知状态 if (!currentlyObscured && currentTarget != null) { - _lastKnownTargetPosition = currentTarget.Position; - _lastKnownTargetOrientation = currentTarget.Orientation; + _lastKnownTargetPosition = currentTarget.KState.Position; + _lastKnownTargetOrientation = currentTarget.KState.Orientation; } } @@ -308,9 +308,9 @@ namespace ThreatSource.Indicator } // 4. 准备计算所需数据 - Vector3D observerPos = Position; - Vector3D targetCenter = targetFound.Position; - Orientation targetOrient = targetFound.Orientation; + Vector3D observerPos = KState.Position; + Vector3D targetCenter = targetFound.KState.Position; + Orientation targetOrient = targetFound.KState.Orientation; Vector3D targetDims = new(targetFound.Properties.Width, targetFound.Properties.Height, targetFound.Properties.Length); // 5. 遍历烟幕检查遮挡 @@ -323,8 +323,8 @@ namespace ThreatSource.Indicator try { - Vector3D smokeCenter = smokeGrenade.Position; - Orientation smokeOrient = smokeGrenade.Orientation; + Vector3D smokeCenter = smokeGrenade.KState.Position; + Orientation smokeOrient = smokeGrenade.KState.Orientation; Vector3D smokeDims; if (smokeGrenade.config.SmokeType == SmokeScreenType.Cloud) diff --git a/ThreatSource/src/Indicator/InfraredTracker.cs b/ThreatSource/src/Indicator/InfraredTracker.cs index c1630ad..7d2fa48 100644 --- a/ThreatSource/src/Indicator/InfraredTracker.cs +++ b/ThreatSource/src/Indicator/InfraredTracker.cs @@ -72,7 +72,7 @@ namespace ThreatSource.Indicator /// - 配置工作参数 /// - 设置初始状态 /// - public InfraredTracker(string id, string targetId, InfraredTrackerConfig config, MotionParameters motionParameters, ISimulationManager manager) + public InfraredTracker(string id, string targetId, InfraredTrackerConfig config, KinematicState motionParameters, ISimulationManager manager) : base(id, motionParameters, manager) { TargetId = targetId; @@ -157,21 +157,21 @@ namespace ThreatSource.Indicator StopTracking(); return; } - currentTargetPosition = targetElement.Position; + currentTargetPosition = targetElement.KState.Position; } IsTracking = true; // 计算导弹到测角仪的距离 - double distanceToMissile = Vector3D.Distance(Position, missileElement.Position); + double distanceToMissile = Vector3D.Distance(KState.Position, missileElement.KState.Position); // 检查导弹是否在跟踪范围内 if (distanceToMissile <= config.MaxTrackingRange) { // 计算测角仪到导弹的向量 - Vector3D trackerToMissile = missileElement.Position - Position; + Vector3D trackerToMissile = missileElement.KState.Position - KState.Position; // 计算测角仪到目标的向量 (使用确定的目标位置) - Vector3D trackerToTarget = currentTargetPosition - Position; + Vector3D trackerToTarget = currentTargetPosition - KState.Position; // 发送制导指令事件 PublishGuidanceCommandEvent(missileElement.Id, trackerToMissile, trackerToTarget, Id); diff --git a/ThreatSource/src/Indicator/LaserBeamRider.cs b/ThreatSource/src/Indicator/LaserBeamRider.cs index 240625a..a1a8c0a 100644 --- a/ThreatSource/src/Indicator/LaserBeamRider.cs +++ b/ThreatSource/src/Indicator/LaserBeamRider.cs @@ -73,7 +73,7 @@ namespace ThreatSource.Indicator /// 导弹ID /// 目标ID /// 配置参数 - /// 初始运动参数 + /// 初始运动参数 /// 仿真管理器实例 /// /// 构造过程： @@ -82,11 +82,11 @@ namespace ThreatSource.Indicator /// - 配置制导范围 /// - 建立目标关联 /// - public LaserBeamRider(string id, string targetId, string missileId, LaserBeamRiderConfig config, MotionParameters motionParameters, ISimulationManager simulationManager) - : base(id, motionParameters, simulationManager) + public LaserBeamRider(string id, string targetId, string missileId, LaserBeamRiderConfig config, KinematicState kinematicState, ISimulationManager simulationManager) + : base(id, kinematicState, simulationManager) { this.config = config; - LaserDirection = Orientation.ToVector(); + LaserDirection = KState.Orientation.ToVector(); IsBeamOn = false; MissileId = missileId; TargetId = targetId; @@ -133,8 +133,8 @@ namespace ThreatSource.Indicator { if (TargetId != null && SimulationManager.GetEntityById(TargetId) is SimulationElement target) { - Vector3D targetPosition = target.Position; - Vector3D newDirection = (targetPosition - Position).Normalize(); + Vector3D targetPosition = target.KState.Position; + Vector3D newDirection = (targetPosition - KState.Position).Normalize(); if ((newDirection - LaserDirection).MagnitudeSquared() > 1e-9) { LaserDirection = newDirection; @@ -235,7 +235,7 @@ namespace ThreatSource.Indicator { if (TargetId != null && SimulationManager.GetEntityById(TargetId) is SimulationElement target) { - LaserDirection = (target.Position - Position).Normalize(); + LaserDirection = (target.KState.Position - KState.Position).Normalize(); IsBeamOn = true; PublishLaserBeamEvent(); } diff --git a/ThreatSource/src/Indicator/LaserDesignator.cs b/ThreatSource/src/Indicator/LaserDesignator.cs index 5d8bfde..9bff800 100644 --- a/ThreatSource/src/Indicator/LaserDesignator.cs +++ b/ThreatSource/src/Indicator/LaserDesignator.cs @@ -68,7 +68,7 @@ namespace ThreatSource.Indicator /// 目标ID /// 导弹ID /// 配置参数 - /// 初始运动参数 + /// 初始运动参数 /// 仿真管理器实例 /// /// 构造过程： @@ -77,8 +77,8 @@ namespace ThreatSource.Indicator /// - 配置激光参数 /// - 设置初始状态 /// - public LaserDesignator(string id, string targetId, string missileId, LaserDesignatorConfig config, MotionParameters motionParameters, ISimulationManager simulationManager) - : base(id, motionParameters, simulationManager) + public LaserDesignator(string id, string targetId, string missileId, LaserDesignatorConfig config, KinematicState kinematicState, ISimulationManager simulationManager) + : base(id, kinematicState, simulationManager) { TargetId = targetId; MissileId = missileId; @@ -129,15 +129,15 @@ namespace ThreatSource.Indicator { if (SimulationManager.GetEntityById(TargetId) is SimulationElement target) { - Vector3D direction = (target.Position - Position).Normalize(); + Vector3D direction = (target.KState.Position - KState.Position).Normalize(); if (direction.MagnitudeSquared() < 1e-9) return; double yaw = Math.PI + Math.Atan2(direction.Z, direction.X); double pitch = -Math.Asin(direction.Y); - Orientation = new Orientation(yaw, pitch, 0); - _lastKnownTargetPosition = target.Position; + KState.Orientation = new Orientation(yaw, pitch, 0); + _lastKnownTargetPosition = target.KState.Position; - Console.WriteLine($"激光指示器 {Id} 更新朝向: {Orientation}, _lastKnownTargetPosition: {_lastKnownTargetPosition}"); + Console.WriteLine($"激光指示器 {Id} 更新朝向: {KState.Orientation}, _lastKnownTargetPosition: {_lastKnownTargetPosition}"); } } } diff --git a/ThreatSource/src/Jammer/BaseJammer.cs b/ThreatSource/src/Jammer/BaseJammer.cs index 3e695b4..bc60eff 100644 --- a/ThreatSource/src/Jammer/BaseJammer.cs +++ b/ThreatSource/src/Jammer/BaseJammer.cs @@ -39,10 +39,10 @@ namespace ThreatSource.Jammer /// 初始化干扰器基类的新实例 /// /// 干扰器ID - /// 初始运动参数 + /// 初始运动参数 /// 仿真管理器实例 - protected BaseJammer(string id, MotionParameters motionParameters, ISimulationManager manager) - : base(id, motionParameters, manager) + protected BaseJammer(string id, KinematicState kinematicState, ISimulationManager manager) + : base(id, kinematicState, manager) { State = JammerState.Idle; IsJamming = false; diff --git a/ThreatSource/src/Jammer/InfraredJammer.cs b/ThreatSource/src/Jammer/InfraredJammer.cs index d175321..c444dcc 100644 --- a/ThreatSource/src/Jammer/InfraredJammer.cs +++ b/ThreatSource/src/Jammer/InfraredJammer.cs @@ -27,7 +27,7 @@ namespace ThreatSource.Jammer /// 红外干扰器配置 /// 初始运动参数 /// 仿真管理器实例 - public InfraredJammer(string id, InfraredJammerConfig config, MotionParameters motionParameters, ISimulationManager manager) + public InfraredJammer(string id, InfraredJammerConfig config, KinematicState motionParameters, ISimulationManager manager) : base(id, motionParameters, manager) { this.config = config; @@ -44,8 +44,8 @@ namespace ThreatSource.Jammer JammerId = Id, Power = config.Power, Wavelength = config.Wavelength, - Direction = Orientation.ToVector(), - SourcePosition = Position, + Direction = KState.Orientation.ToVector(), + SourcePosition = KState.Position, AngleRange = config.AngleRange, Mode = config.Mode, Duration = config.Duration, @@ -61,7 +61,7 @@ namespace ThreatSource.Jammer base.UpdateJamming(deltaTime); // 更新位置 - Position += Velocity * deltaTime; + KState.Position += KState.Velocity * deltaTime; // 更新干扰事件 if (CurrentParameters != null) diff --git a/ThreatSource/src/Jammer/LaserDecoy.cs b/ThreatSource/src/Jammer/LaserDecoy.cs index 1a93274..5fa859a 100644 --- a/ThreatSource/src/Jammer/LaserDecoy.cs +++ b/ThreatSource/src/Jammer/LaserDecoy.cs @@ -34,7 +34,7 @@ namespace ThreatSource.Jammer /// 运动参数 /// 干扰源ID /// 仿真管理器 - public LaserDecoy(string id, LaserDecoyConfig config, MotionParameters motionParameters, string sourceId, ISimulationManager simulationManager) + public LaserDecoy(string id, LaserDecoyConfig config, KinematicState motionParameters, string sourceId, ISimulationManager simulationManager) : base(id, motionParameters, simulationManager) { this.config = config; @@ -47,7 +47,7 @@ namespace ThreatSource.Jammer protected override JammingParameters CreateJammingParameters() { SimulationElement source = SimulationManager.GetEntityById(SourceId) as SimulationElement ?? throw new Exception("诱偏源不存在"); - Vector3D sourcePosition = source.Position; + Vector3D sourcePosition = source.KState.Position; return new JammingParameters { @@ -58,8 +58,8 @@ namespace ThreatSource.Jammer Power = config.Power, Wavelength = config.Wavelength, SourcePosition = sourcePosition, - Direction = Orientation.ToVector(), - DecoyPosition = Position, + Direction = source.KState.Orientation.ToVector(), + DecoyPosition = KState.Position, AngleRange = config.DivergenceAngle, Duration = config.Duration, ReflectiveArea = config.ReflectiveArea, @@ -75,7 +75,7 @@ namespace ThreatSource.Jammer { base.UpdateJamming(deltaTime); // 更新诱偏目标的位置 - Position += Velocity * deltaTime; + KState.Position += KState.Velocity * deltaTime; if (CurrentParameters != null) { diff --git a/ThreatSource/src/Jammer/LaserJammer.cs b/ThreatSource/src/Jammer/LaserJammer.cs index 564e082..7f86757 100644 --- a/ThreatSource/src/Jammer/LaserJammer.cs +++ b/ThreatSource/src/Jammer/LaserJammer.cs @@ -24,7 +24,7 @@ namespace ThreatSource.Jammer /// 激光干扰器配置 /// 初始运动参数 /// 仿真管理器实例 - public LaserJammer(string id, LaserJammerConfig config, MotionParameters motionParameters, ISimulationManager manager) + public LaserJammer(string id, LaserJammerConfig config, KinematicState motionParameters, ISimulationManager manager) : base(id, motionParameters, manager) { this.config = config; @@ -41,9 +41,9 @@ namespace ThreatSource.Jammer JammerId = Id, Power = config.Power, Wavelength = config.Wavelength, - Direction = Orientation.ToVector(), + Direction = KState.Orientation.ToVector(), AngleRange = config.AngleRange, - SourcePosition = Position, + SourcePosition = KState.Position, Mode = config.Mode, Duration = config.Duration, StartTime = DateTime.UtcNow @@ -58,7 +58,7 @@ namespace ThreatSource.Jammer base.UpdateJamming(deltaTime); // 更新位置 - Position += Velocity * deltaTime; + KState.Position += KState.Velocity * deltaTime; // 更新干扰事件 if (CurrentParameters != null) diff --git a/ThreatSource/src/Jammer/MillimeterWaveCompensationJammer.cs b/ThreatSource/src/Jammer/MillimeterWaveCompensationJammer.cs index d3587b9..154dd0b 100644 --- a/ThreatSource/src/Jammer/MillimeterWaveCompensationJammer.cs +++ b/ThreatSource/src/Jammer/MillimeterWaveCompensationJammer.cs @@ -33,7 +33,7 @@ namespace ThreatSource.Jammer public MillimeterWaveCompensationJammer( string id, MillimeterWaveCompensationJammerConfig config, - MotionParameters motionParameters, + KinematicState motionParameters, ISimulationManager manager) : base(id, motionParameters, manager) { @@ -59,8 +59,8 @@ namespace ThreatSource.Jammer Wavelength = _config.Wavelength, AngleRange = _config.AngleRange, Duration = _config.Duration, - Direction = Orientation.ToVector(), - SourcePosition = Position, + Direction = KState.Orientation.ToVector(), + SourcePosition = KState.Position, StartTime = DateTime.UtcNow }; } @@ -74,7 +74,7 @@ namespace ThreatSource.Jammer base.UpdateJamming(deltaTime); // 更新位置 (如果干扰器是移动的) - Position += Velocity * deltaTime; + KState.Position += KState.Velocity * deltaTime; if (CurrentParameters != null) { diff --git a/ThreatSource/src/Jammer/MillimeterWaveJammer.cs b/ThreatSource/src/Jammer/MillimeterWaveJammer.cs index 2a44c9c..64fa3f3 100644 --- a/ThreatSource/src/Jammer/MillimeterWaveJammer.cs +++ b/ThreatSource/src/Jammer/MillimeterWaveJammer.cs @@ -27,7 +27,7 @@ namespace ThreatSource.Jammer /// 毫米波干扰器配置 /// 初始运动参数 /// 仿真管理器实例 - public MillimeterWaveJammer(string id, MillimeterWaveJammerConfig config, MotionParameters motionParameters, ISimulationManager manager) + public MillimeterWaveJammer(string id, MillimeterWaveJammerConfig config, KinematicState motionParameters, ISimulationManager manager) : base(id, motionParameters, manager) { this.config = config; @@ -44,9 +44,9 @@ namespace ThreatSource.Jammer JammerId = Id, Power = config.Power, Wavelength = config.Wavelength, - Direction = Orientation.ToVector(), + Direction = KState.Orientation.ToVector(), AngleRange = config.AngleRange, - SourcePosition = Position, + SourcePosition = KState.Position, Mode = config.Mode, Duration = config.Duration, StartTime = DateTime.UtcNow @@ -61,7 +61,7 @@ namespace ThreatSource.Jammer base.UpdateJamming(deltaTime); // 更新位置 - Position += Velocity * deltaTime; + KState.Position += KState.Velocity * deltaTime; // 更新干扰事件 if (CurrentParameters != null) diff --git a/ThreatSource/src/Jammer/SmokeGrenade.cs b/ThreatSource/src/Jammer/SmokeGrenade.cs index 07e7451..85b6c43 100644 --- a/ThreatSource/src/Jammer/SmokeGrenade.cs +++ b/ThreatSource/src/Jammer/SmokeGrenade.cs @@ -33,7 +33,7 @@ namespace ThreatSource.Jammer public SmokeGrenade( string id, SmokeGrenadeConfig config, - MotionParameters motionParameters, + KinematicState motionParameters, ISimulationManager simulationManager) : base(id, motionParameters, simulationManager) { @@ -52,8 +52,8 @@ namespace ThreatSource.Jammer Mode = config.Mode, JammerId = Id, Power = 0, // 烟幕不需要功率参数 - Direction = Orientation.ToVector(), - SourcePosition = Position, + Direction = KState.Orientation.ToVector(), + SourcePosition = KState.Position, AngleRange = 180, // 烟幕影响正面 Duration = config.Duration, StartTime = DateTime.UtcNow, @@ -93,7 +93,7 @@ namespace ThreatSource.Jammer ); // 烟雾位置随风移动 - Position += windVector * windSpeed * deltaTime; + KState.Position += windVector * windSpeed * deltaTime; // 计算浓度衰减 double decayRate = Math.Log(2) / config.Duration; @@ -148,7 +148,7 @@ namespace ThreatSource.Jammer if (thickness > 0.1 && config.IsObscuring) { effectiveTransmittance = physicalTransmittance * 1e-3; - Console.WriteLine($"[烟幕透过率计算] 屏蔽型烟幕生效，透射率调整为: {effectiveTransmittance} (物理透射率: {physicalTransmittance})"); + Console.WriteLine($"[烟幕透过率计算] 屏蔽型烟幕生效，透射率调整为: {effectiveTransmittance:F5} (物理透射率: {physicalTransmittance:F5})"); } return effectiveTransmittance; @@ -198,7 +198,7 @@ namespace ThreatSource.Jammer if (!IsActive || !IsJamming || CurrentParameters == null) return 0; // 将射线起点转换到烟幕的局部坐标系（烟幕中心为原点） - Vector3D localOrigin = origin - Position; + Vector3D localOrigin = origin - KState.Position; double currentThickness = CurrentParameters.SmokeThickness ?? config.Thickness; // 当前烟幕高度/厚度 double halfHeight = currentThickness / 2.0; // 半高 @@ -304,7 +304,7 @@ namespace ThreatSource.Jammer // Right -> local X axis // Up -> local Y axis // Forward -> local -Z axis (which is the wall's normal / primary orientation vector) - var (localX, localY, localNegativeZ) = ObscurationUtils.GetOrientationBasisVectors(this.Orientation); + var (localX, localY, localNegativeZ) = ObscurationUtils.GetOrientationBasisVectors(KState.Orientation); // 对于墙状烟幕： // obbAxisX (宽度方向) 对应局部X轴 @@ -320,7 +320,7 @@ namespace ThreatSource.Jammer { if (!IsActive || !IsJamming || CurrentParameters == null) return 0.0; - Vector3D obbCenter_world = Position; + Vector3D obbCenter_world = KState.Position; Vector3D obbDimensions = new( CurrentParameters.SmokeWallWidth ?? config.WallWidth, CurrentParameters.SmokeWallHeight ?? config.WallHeight, diff --git a/ThreatSource/src/MIssile/BaseMissile.cs b/ThreatSource/src/MIssile/BaseMissile.cs index 2c09a3d..4e27e99 100644 --- a/ThreatSource/src/MIssile/BaseMissile.cs +++ b/ThreatSource/src/MIssile/BaseMissile.cs @@ -114,7 +114,7 @@ namespace ThreatSource.Missile /// /// 导弹ID /// 导弹属性配置 - /// 发射参数 + /// 发射参数 /// 仿真管理器实例 /// /// 构造过程： @@ -126,9 +126,9 @@ namespace ThreatSource.Missile protected BaseMissile( string missileId, MissileProperties properties, - MotionParameters motionParameters, + KinematicState kinematicState, ISimulationManager manager) - : base(missileId, motionParameters, manager) + : base(missileId, kinematicState, manager) { // 设置性能限制 Properties = properties; @@ -180,34 +180,31 @@ namespace ThreatSource.Missile protected virtual void UpdateMotionState(double deltaTime) { // 计算包含风影响的合加速度 - Vector3D acceleration = CalculateAcceleration(Velocity); + Vector3D acceleration = CalculateAcceleration(KState.Velocity); if (IsGuidance) { // 制导条件下，使用四阶龙格-库塔方法更新导弹的位置和速度 - (Position, Velocity) = MotionAlgorithm.RungeKutta4(deltaTime, Position, Velocity, acceleration); + (KState.Position, KState.Velocity) = MotionAlgorithm.RungeKutta4(deltaTime, KState.Position, KState.Velocity, acceleration); } else { // 无制导条件下，使用运动学方程更新导弹的位置和速度 - (Position, Velocity) = MotionAlgorithm.CalculateBallisticMotion(Position, Velocity, acceleration, deltaTime); + (KState.Position, KState.Velocity) = MotionAlgorithm.CalculateBallisticMotion(KState.Position, KState.Velocity, acceleration, deltaTime); } // 限制速度不超过最大速度 - if (Velocity.Magnitude() > Properties.MaxSpeed) + if (KState.Speed > Properties.MaxSpeed) { - Velocity = Velocity.Normalize() * Properties.MaxSpeed; + KState.Speed = Properties.MaxSpeed; } - Speed = Velocity.Magnitude(); - Orientation = Orientation.FromVector(Velocity); - // 添加高斯噪声(测试用，用于测试运动中概率的影响) // Position = MotionAlgorithm.AddRandomPerturbation(Position); // Velocity = MotionAlgorithm.AddRandomPerturbation(Velocity); FlightTime += deltaTime; - FlightDistance += Speed * deltaTime; + FlightDistance += KState.Speed * deltaTime; } /// @@ -344,12 +341,12 @@ namespace ThreatSource.Missile if (IsGuidance) { // 有制导时，在负爆炸半径高度自毁（考虑仿真步长） - return Position.Y <= -Properties.ExplosionRadius; + return KState.Position.Y <= -Properties.ExplosionRadius; } else { // 无制导时，在自毁高度自毁 - return Position.Y <= Properties.SelfDestructHeight; + return KState.Position.Y <= Properties.SelfDestructHeight; } } @@ -403,11 +400,11 @@ namespace ThreatSource.Missile { reason = "超出最大飞行距离"; } - else if (IsGuidance && Position.Y <= -Properties.ExplosionRadius) + else if (IsGuidance && KState.Position.Y <= -Properties.ExplosionRadius) { reason = "有制导状态下高度低于负爆炸半径"; } - else if (!IsGuidance && Position.Y <= Properties.SelfDestructHeight) + else if (!IsGuidance && KState.Position.Y <= Properties.SelfDestructHeight) { reason = "无制导状态下高度低于自毁高度"; } @@ -499,7 +496,6 @@ namespace ThreatSource.Missile statusInfo.ExtendedProperties["EngineBurnTime"] = EngineBurnTime; statusInfo.ExtendedProperties["IsGuidance"] = IsGuidance; statusInfo.ExtendedProperties["LostGuidanceTime"] = LostGuidanceTime; - statusInfo.ExtendedProperties["Velocity"] = Velocity; statusInfo.ExtendedProperties["GuidanceAcceleration"] = GuidanceAcceleration; return statusInfo; diff --git a/ThreatSource/src/MIssile/IMissile.cs b/ThreatSource/src/MIssile/IMissile.cs index 268adad..e256882 100644 --- a/ThreatSource/src/MIssile/IMissile.cs +++ b/ThreatSource/src/MIssile/IMissile.cs @@ -75,15 +75,6 @@ namespace ThreatSource.Missile /// public struct MissileRunningState { - /// - /// 获取或设置导弹的唯一标识符 - /// - /// - /// 在仿真系统中必须唯一 - /// 用于标识和追踪特定的导弹 - /// - public string Id { get; set; } - /// /// 获取或设置导弹的类型 /// @@ -93,42 +84,6 @@ namespace ThreatSource.Missile /// public MissileType Type { get; set; } - /// - /// 获取或设置导弹的当前位置 - /// - /// - /// 使用三维向量表示空间位置 - /// 坐标系：右手坐标系，X向右，Y向上，Z向前 - /// - public Vector3D Position { get; set; } - - /// - /// 获取或设置导弹的当前速度向量 - /// - /// - /// 包含速度的大小和方向信息 - /// 单位：米/秒 - /// - public Vector3D Velocity { get; set; } - - /// - /// 获取或设置导弹的当前朝向 - /// - /// - /// 使用欧拉角表示导弹的姿态 - /// 包含偏航角、俯仰角和滚转角 - /// - public Orientation Orientation { get; set; } - - /// - /// 获取或设置导弹的当前速度大小 - /// - /// - /// 单位：米/秒 - /// 表示导弹运动的标量速度 - /// - public double Speed { get; set; } - /// /// 获取或设置导弹的当前飞行时间 /// @@ -176,15 +131,6 @@ namespace ThreatSource.Missile /// public double EngineBurnTime { get; set; } - /// - /// 获取或设置导弹是否处于活动状态 - /// - /// - /// true表示导弹正常工作 - /// false表示导弹已停止工作（销毁或自毁） - /// - public bool IsActive { get; set; } - /// /// 获取或设置导弹的制导加速度 /// diff --git a/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs b/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs index d5d33b8..6d05a97 100644 --- a/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs +++ b/ThreatSource/src/MIssile/InfraredCommandGuidedMissile.cs @@ -89,7 +89,7 @@ namespace ThreatSource.Missile public InfraredCommandGuidedMissile( string missileId, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, InfraredCommandGuidanceConfig guidanceConfig, ISimulationManager manager) : base(missileId, properties, launchParams, manager) diff --git a/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs b/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs index e29cd3e..2b869e8 100644 --- a/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs +++ b/ThreatSource/src/MIssile/InfraredImagingTerminalGuidedMissile.cs @@ -93,7 +93,7 @@ namespace ThreatSource.Missile string missileId, EquipmentType targetType, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, InfraredImagingGuidanceConfig guidanceConfig, ISimulationManager manager) : base(missileId, properties, launchParams, manager) diff --git a/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs b/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs index fd8935f..bcab282 100644 --- a/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs +++ b/ThreatSource/src/MIssile/LaserBeamRiderMissile.cs @@ -71,7 +71,7 @@ namespace ThreatSource.Missile public LaserBeamRiderMissile( string missileId, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, LaserCodeConfig laserCodeConfig, LaserBeamRiderGuidanceSystemConfig guidanceSystemConfig, ISimulationManager manager) @@ -102,7 +102,7 @@ namespace ThreatSource.Missile if (evt?.LaserBeamRiderId != null) { LaserBeamRider laserBeamRider = SimulationManager.GetEntityById(evt.LaserBeamRiderId) as LaserBeamRider ?? throw new Exception("激光驾束仪不存在"); - guidanceSystem?.UpdateLaserBeamRider(laserBeamRider.Position, laserBeamRider.LaserDirection, laserBeamRider.config.Power); + guidanceSystem?.UpdateLaserBeamRider(laserBeamRider.KState.Position, laserBeamRider.LaserDirection, laserBeamRider.config.Power); } } diff --git a/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs b/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs index a8ffe53..42426b4 100644 --- a/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs +++ b/ThreatSource/src/MIssile/LaserSemiActiveGuidedMissile.cs @@ -89,7 +89,7 @@ namespace ThreatSource.Missile public LaserSemiActiveGuidedMissile( string missileId, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, LaserCodeConfig laserCodeConfig, LaserSemiActiveGuidanceConfig guidanceConfig, ISimulationManager manager) diff --git a/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs b/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs index b11e541..6467522 100644 --- a/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs +++ b/ThreatSource/src/MIssile/MillimeterWaveTerminalGuidedMissile.cs @@ -86,7 +86,7 @@ namespace ThreatSource.Missile public MillimeterWaveTerminalGuidedMissile( string missileId, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, MillimeterWaveGuidanceConfig guidanceConfig, ISimulationManager manager) : base(missileId, properties, launchParams, manager) diff --git a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs index fcc13ff..f9b0cea 100644 --- a/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs +++ b/ThreatSource/src/MIssile/TerminalSensitiveMissile.cs @@ -121,7 +121,7 @@ namespace ThreatSource.Missile string missileId, string targetId, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, MissileProperties submunitionProperties, int submunitionCount, TerminalSensitiveSubmunitionConfig submunitionConfig, @@ -136,18 +136,18 @@ namespace ThreatSource.Missile //计算分离点坐标，使用配置中的分离高度和距离 SimulationElement target = SimulationManager.GetEntityById(targetId) as SimulationElement ?? throw new Exception("目标不存在"); - separationPoint = Vector3D.PointOnLine(target.Position, base.Position, config.SeparationDistance) + new Vector3D(0, config.SeparationHeight, 0); + separationPoint = Vector3D.PointOnLine(target.KState.Position, base.KState.Position, config.SeparationDistance) + new Vector3D(0, config.SeparationHeight, 0); //计算导弹发射角度 - (Orientation? launchOrientation, Vector3D? launchVelocity) = MotionAlgorithm.CalculateBestLaunchOrientation(Position, separationPoint, Speed); + (Orientation? launchOrientation, Vector3D? launchVelocity) = MotionAlgorithm.CalculateBestLaunchOrientation(base.KState.Position, separationPoint, base.KState.Speed); if (!launchOrientation.HasValue || launchVelocity is null) { throw new InvalidOperationException("无法计算发射方向"); } else { - Orientation = launchOrientation.Value; - Velocity = launchVelocity; + KState.Orientation = launchOrientation.Value; + KState.Velocity = launchVelocity; } } @@ -232,7 +232,7 @@ namespace ThreatSource.Missile /// private void UpdateCruiseStage(double deltaTime) { - double distanceToSeparationPoint = (separationPoint - Position).Magnitude(); + double distanceToSeparationPoint = (separationPoint - base.KState.Position).Magnitude(); //距离分离点距离小于配置的分离范围，则分离 if (distanceToSeparationPoint <= config.SeparationRange) { @@ -269,7 +269,7 @@ namespace ThreatSource.Missile private void PerformSeparation() { // 获取母弹当前的方向向量 - Vector3D currentDirection = Orientation.ToVector(); + Vector3D currentDirection = KState.Orientation.ToVector(); // 计算水平方向（保持母弹的水平方向分量） Vector3D horizontalDirection = new Vector3D(currentDirection.X, 0, currentDirection.Z).Normalize(); @@ -309,11 +309,11 @@ namespace ThreatSource.Missile MaxEngineBurnTime = submunitionProperties.MaxEngineBurnTime, Type = submunitionProperties.Type }, - new MotionParameters + new KinematicState { - Position = Position, + Position = KState.Position, Orientation = separationOrientation, - InitialSpeed = Velocity.Magnitude(), + Speed = KState.Speed, }, config, SimulationManager diff --git a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs index cf5c98b..bded552 100644 --- a/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs +++ b/ThreatSource/src/MIssile/TerminalSensitiveSubmunition.cs @@ -186,7 +186,7 @@ namespace ThreatSource.Missile string missileId, string targetId, MissileProperties properties, - MotionParameters launchParams, + KinematicState launchParams, TerminalSensitiveSubmunitionConfig submunitionConfig, ISimulationManager manager) : base(missileId, properties, launchParams, manager) @@ -274,8 +274,8 @@ namespace ThreatSource.Missile { // 分离阶段 Vector3D deceleration = new(0, 9.8, 0); - Velocity += deceleration * deltaTime; - Position += Velocity * deltaTime; + KState.Velocity += deceleration * deltaTime; + KState.Position += KState.Velocity * deltaTime; // 分离阶段结束，进入减速阶段 currentStage = SubmunitionStage.Deceleration; @@ -303,13 +303,13 @@ namespace ThreatSource.Missile } // 减速减旋，垂直速度减小 - Vector3D deceleration = - Velocity.Normalize() * config.DecelerationAcceleration; - Velocity += deceleration * deltaTime; + Vector3D deceleration = - KState.Velocity.Normalize() * config.DecelerationAcceleration; + KState.Velocity += deceleration * deltaTime; - if (Velocity.Magnitude() <= config.DecelerationEndSpeed) + if (KState.Speed <= config.DecelerationEndSpeed) { //垂直速度设为减速阶段末速 - Velocity = new Vector3D(Velocity.X, -config.DecelerationEndSpeed, Velocity.Z); + KState.Velocity = new Vector3D(KState.Velocity.X, -config.DecelerationEndSpeed, KState.Velocity.Z); GuidanceAcceleration = Vector3D.Zero; } @@ -321,7 +321,7 @@ namespace ThreatSource.Missile currentStage = SubmunitionStage.ParachuteDeployment; //垂直速度设为减速阶段末速 - Velocity = new Vector3D(Velocity.X, -config.DecelerationEndSpeed, Velocity.Z); + KState.Velocity = new Vector3D(KState.Velocity.X, -config.DecelerationEndSpeed, KState.Velocity.Z); GuidanceAcceleration = Vector3D.Zero; } } @@ -342,25 +342,25 @@ namespace ThreatSource.Missile private void UpdateParachuteDeploymentStage(double deltaTime) { // 计算当前速度与目标速度的差值 - double currentSpeed = Velocity.Magnitude(); + double currentSpeed = KState.Speed; if (currentSpeed > config.VerticalDeclineSpeed) { // 开伞，用较大的减速度快速降低速度 - Vector3D deceleration = -Velocity.Normalize() * config.ParachuteDeceleration; + Vector3D deceleration = -KState.Velocity.Normalize() * config.ParachuteDeceleration; // 更新速度 - Velocity += deceleration * deltaTime; + KState.Velocity += deceleration * deltaTime; // 如果速度低于稳定扫描下降速度，直接设置为稳定扫描下降速度 - if (Velocity.Magnitude() <= config.VerticalDeclineSpeed) + if (KState.Speed <= config.VerticalDeclineSpeed) { - Velocity = new Vector3D(0, -config.VerticalDeclineSpeed, 0); + KState.Velocity = new Vector3D(0, -config.VerticalDeclineSpeed, 0); } } else { // 维持稳定的垂直下降速度 - Velocity = new Vector3D(0, -config.VerticalDeclineSpeed, 0); + KState.Velocity = new Vector3D(0, -config.VerticalDeclineSpeed, 0); } // 清除制导加速度 @@ -561,7 +561,7 @@ namespace ThreatSource.Missile ).Normalize(); // 使用 AttackSpeed 设置攻击速度 - Velocity = scanDirection * config.AttackSpeed; + KState.Velocity = scanDirection * config.AttackSpeed; GuidanceAcceleration = Vector3D.Zero; // 清除任何可能的加速度 } @@ -588,11 +588,11 @@ namespace ThreatSource.Missile double targetWidth = equipment.Properties.Width; // 目标宽度 // 获取目标的朝向向量 - Vector3D targetForward = target.Orientation.ToVector(); + Vector3D targetForward = target.KState.Orientation.ToVector(); Vector3D targetRight = Vector3D.CrossProduct(Vector3D.UnitY, targetForward).Normalize(); // 计算矩形四个顶点的位置 - Vector3D targetPosition = target.Position; + Vector3D targetPosition = target.KState.Position; Vector3D[] vertices = [ // 前后左右四个顶点 @@ -603,7 +603,7 @@ namespace ThreatSource.Missile ]; // 计算目标方位角（弧度值） - Vector3D toTarget = (targetPosition - Position).Normalize(); + Vector3D toTarget = (targetPosition - KState.Position).Normalize(); double targetAzimuth = Math.Atan2(toTarget.X, toTarget.Z); // 修改为 atan2(X, Z) 使正北为0度 if (targetAzimuth < 0) { @@ -614,7 +614,7 @@ namespace ThreatSource.Missile double cosFieldOfView = Math.Cos(fieldOfView * Math.PI / 180); foreach(var vertex in vertices) { - Vector3D toVertex = (vertex - Position).Normalize(); + Vector3D toVertex = (vertex - KState.Position).Normalize(); if(Vector3D.DotProduct(scanDirection, toVertex) > cosFieldOfView) { // 如果目标的任何一个顶点在视场角内，返回目标方位角和目标引用 @@ -675,14 +675,14 @@ namespace ThreatSource.Missile var statusInfo = base.GetStatusInfo(); // 获取目标对象并计算距离 SimulationElement target = SimulationManager.GetEntityById(TargetId) as SimulationElement ?? throw new Exception("目标不存在"); - double distanceToTarget = (target.Position - Position).Magnitude(); + double distanceToTarget = (target.KState.Position - KState.Position).Magnitude(); statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString(); statusInfo.ExtendedProperties["SpiralAngle"] = spiralAngle * 180 / Math.PI; statusInfo.ExtendedProperties["LastDetectionTime"] = lastDetectionTime?.ToString() ?? "null"; statusInfo.ExtendedProperties["FirstDetectionAngle"] = firstDetectionAngle?.ToString() ?? "null"; statusInfo.ExtendedProperties["IsTargetDetected"] = isTargetDetected.ToString(); - statusInfo.ExtendedProperties["TargetPosition"] = target.Position.ToString(); + statusInfo.ExtendedProperties["TargetPosition"] = target.KState.Position.ToString(); statusInfo.ExtendedProperties["DistanceToTarget"] = distanceToTarget.ToString(); statusInfo.ExtendedProperties["IsSensorsJammed"] = IsSensorsJammed().ToString(); diff --git a/ThreatSource/src/Sensor/BaseSensor.cs b/ThreatSource/src/Sensor/BaseSensor.cs index 3d2009a..0f70406 100644 --- a/ThreatSource/src/Sensor/BaseSensor.cs +++ b/ThreatSource/src/Sensor/BaseSensor.cs @@ -84,14 +84,14 @@ namespace ThreatSource.Sensor /// - 初始化工作状态 /// - 创建干扰处理组件 /// - protected BaseSensor(string id, MotionParameters motionParameters, ISimulationManager simulationManager) + protected BaseSensor(string id, KinematicState motionParameters, ISimulationManager simulationManager) : base(id, motionParameters, simulationManager) { IsActive = false; // 初始化干扰处理组件 _jammingComponent = new JammableComponent( - positionProvider: () => Position + positionProvider: () => KState.Position ); // Subscribe to the events instead diff --git a/ThreatSource/src/Sensor/InfraredDetector.cs b/ThreatSource/src/Sensor/InfraredDetector.cs index ce832a7..aadce93 100644 --- a/ThreatSource/src/Sensor/InfraredDetector.cs +++ b/ThreatSource/src/Sensor/InfraredDetector.cs @@ -72,7 +72,7 @@ namespace ThreatSource.Sensor /// - 继承基类位置和姿态 /// public InfraredDetector(string id, TerminalSensitiveSubmunition submunition, InfraredDetectorConfig config, ISimulationManager simulationManager) - : base(id, new MotionParameters(submunition.Position, submunition.Orientation, submunition.Speed), simulationManager) + : base(id, new KinematicState(submunition.KState.Position, submunition.KState.Orientation, submunition.KState.Speed), simulationManager) { this.config = config; this.submunition = submunition; @@ -99,8 +99,8 @@ namespace ThreatSource.Sensor protected override void UpdateSensor(double deltaTime) { // 从子弹更新位置和朝向 - Position = submunition.Position; - Orientation = Orientation.FromVector(submunition.ScanDirection); + KState.Position = submunition.KState.Position; + KState.Orientation = Orientation.FromVector(submunition.ScanDirection); // 实时计算烟幕衰减 double smokeAttenuation = 1.0; // 默认无衰减 @@ -111,13 +111,13 @@ namespace ThreatSource.Sensor if (SimulationManager.GetEntityById(jammerId) is SmokeGrenade smokeGrenade) { // 计算视线目标点 - var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(Position, Orientation.ToVector(), 0); + var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(KState.Position, KState.Orientation.ToVector(), 0); if (targetPointForLos != null) { var wavelength = config.Band == InfraredBand.Long ? 10.0 : 4.0; // 代表性波长 // 计算此烟幕的透射率 - double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(Position, targetPointForLos, wavelength); + double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(KState.Position, targetPointForLos, wavelength); smokeAttenuation *= singleSmokeTransmittance; // 累乘透射率 } } diff --git a/ThreatSource/src/Sensor/LaserRangefinder.cs b/ThreatSource/src/Sensor/LaserRangefinder.cs index 220dfc3..01903d0 100644 --- a/ThreatSource/src/Sensor/LaserRangefinder.cs +++ b/ThreatSource/src/Sensor/LaserRangefinder.cs @@ -75,7 +75,7 @@ namespace ThreatSource.Sensor /// - 初始化工作状态 /// public LaserRangefinder(string id, TerminalSensitiveSubmunition submunition, LaserRangefinderConfig config, ISimulationManager simulationManager) - : base(id, new MotionParameters(submunition.Position, submunition.Orientation, submunition.Speed), simulationManager) + : base(id, new KinematicState(submunition.KState.Position, submunition.KState.Orientation, submunition.KState.Speed), simulationManager) { this.config = config; this.submunition = submunition; @@ -105,8 +105,8 @@ namespace ThreatSource.Sensor protected override void UpdateSensor(double deltaTime) { // 从submunition更新位置和朝向 - Position = submunition.Position; - Orientation = Orientation.FromVector(submunition.ScanDirection); + KState.Position = submunition.KState.Position; + KState.Orientation = Orientation.FromVector(submunition.ScanDirection); // 实时计算烟幕衰减 double smokeAttenuation = 1.0; // 默认无衰减 @@ -117,13 +117,13 @@ namespace ThreatSource.Sensor if (SimulationManager.GetEntityById(jammerId) is SmokeGrenade smokeGrenade) { // 计算视线目标点 (地面交点) - var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(Position, Orientation.ToVector(), 0); + var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(KState.Position, KState.Orientation.ToVector(), 0); if (targetPointForLos != null) { var wavelength = config.Wavelength; // 计算此烟幕的透射率 - double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(Position, targetPointForLos, wavelength); + double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(KState.Position, targetPointForLos, wavelength); smokeAttenuation *= singleSmokeTransmittance; // 累乘透射率 } } @@ -255,14 +255,14 @@ namespace ThreatSource.Sensor private double GetTargetDistance() { // 获取视线目标点 - var targetPoint = MotionAlgorithm.CalculateIntersectionWithGround(Position, Orientation.ToVector(), 0); + var targetPoint = MotionAlgorithm.CalculateIntersectionWithGround(KState.Position, KState.Orientation.ToVector(), 0); if (targetPoint != null) { // 计算到目标点的斜距 - double dx = targetPoint.X - Position.X; - double dy = targetPoint.Y - Position.Y; - double dz = targetPoint.Z - Position.Z; + double dx = targetPoint.X - KState.Position.X; + double dy = targetPoint.Y - KState.Position.Y; + double dz = targetPoint.Z - KState.Position.Z; double calculatedSlantRange = Math.Sqrt(dx * dx + dy * dy + dz * dz); // 确保距离不超过最大探测范围 diff --git a/ThreatSource/src/Sensor/MillimeterWaveAltimeter.cs b/ThreatSource/src/Sensor/MillimeterWaveAltimeter.cs index 5168c93..513e20d 100644 --- a/ThreatSource/src/Sensor/MillimeterWaveAltimeter.cs +++ b/ThreatSource/src/Sensor/MillimeterWaveAltimeter.cs @@ -75,10 +75,10 @@ namespace ThreatSource.Sensor /// - 继承基类位置和姿态 /// public MillimeterWaveAltimeter(string id, TerminalSensitiveSubmunition submunition, MillimeterWaveAltimeterConfig config, ISimulationManager simulationManager) - : base(id, new MotionParameters(submunition.Position, submunition.Orientation, submunition.Speed), simulationManager) + : base(id, new KinematicState(submunition.KState.Position, submunition.KState.Orientation, submunition.KState.Speed), simulationManager) { this.config = config; - currentAltitude = submunition.Position.Y; + currentAltitude = submunition.KState.Position.Y; this.submunition = submunition; sensorData = new AltimeterSensorData(); // 初始化干扰处理 @@ -137,8 +137,8 @@ namespace ThreatSource.Sensor protected override void UpdateSensor(double deltaTime) { // 从submunition更新位置和朝向 - Position = submunition.Position; - Orientation = submunition.Orientation; + KState.Position = submunition.KState.Position; + KState.Orientation = submunition.KState.Orientation; // 实时计算烟幕衰减 double smokeAttenuation = 1.0; // 默认无衰减 @@ -149,7 +149,7 @@ namespace ThreatSource.Sensor if (SimulationManager.GetEntityById(jammerId) is SmokeGrenade smokeGrenade) { // 计算视线目标点 (地面交点) - var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(Position, Orientation.ToVector(), 0); + var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(KState.Position, KState.Orientation.ToVector(), 0); if (targetPointForLos != null) { @@ -160,7 +160,7 @@ namespace ThreatSource.Sensor _ => 0.0 }; // 计算此烟幕的透射率 - double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(Position, targetPointForLos, wavelength); + double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(KState.Position, targetPointForLos, wavelength); smokeAttenuation *= singleSmokeTransmittance; // 累乘透射率 } } @@ -169,7 +169,7 @@ namespace ThreatSource.Sensor if ((!IsJammed || IsJammed && !IsBlockingJammed) && smokeAttenuation > 0.1) { // 更新当前高度，考虑测量精度 - currentAltitude = submunition.Position.Y + (2 * new Random().NextDouble() - 1) * config.MeasurementAccuracy; + currentAltitude = submunition.KState.Position.Y + (2 * new Random().NextDouble() - 1) * config.MeasurementAccuracy; sensorData.Altitude = currentAltitude; } else diff --git a/ThreatSource/src/Sensor/MillimeterWaveRadiometer.cs b/ThreatSource/src/Sensor/MillimeterWaveRadiometer.cs index d259001..e48f7b3 100644 --- a/ThreatSource/src/Sensor/MillimeterWaveRadiometer.cs +++ b/ThreatSource/src/Sensor/MillimeterWaveRadiometer.cs @@ -110,7 +110,7 @@ namespace ThreatSource.Sensor /// - 继承基类位置和姿态 /// public MillimeterWaveRadiometer(string id, TerminalSensitiveSubmunition submunition, MillimeterWaveRadiometerConfig config, ISimulationManager simulationManager) - : base(id, new MotionParameters(submunition.Position, submunition.Orientation, submunition.Speed), simulationManager) + : base(id, new KinematicState(submunition.KState.Position, submunition.KState.Orientation, submunition.KState.Speed), simulationManager) { // 设置设备参数 this.config = config; @@ -150,8 +150,8 @@ namespace ThreatSource.Sensor protected override void UpdateSensor(double deltaTime) { // 从submunition更新位置和朝向 - Position = submunition.Position; - Orientation = Orientation.FromVector(submunition.ScanDirection); + KState.Position = submunition.KState.Position; + KState.Orientation = Orientation.FromVector(submunition.ScanDirection); // 实时计算烟幕衰减 double smokeAttenuation = 1.0; // 默认无衰减 @@ -162,7 +162,7 @@ namespace ThreatSource.Sensor if (SimulationManager.GetEntityById(jammerId) is SmokeGrenade smokeGrenade) { // 计算视线目标点 (地面交点) - var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(Position, Orientation.ToVector(), 0); + var targetPointForLos = MotionAlgorithm.CalculateIntersectionWithGround(KState.Position, KState.Orientation.ToVector(), 0); if (targetPointForLos != null) { @@ -173,7 +173,7 @@ namespace ThreatSource.Sensor _ => 0.0 }; // 计算此烟幕的透射率 - double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(Position, targetPointForLos, wavelength); + double singleSmokeTransmittance = smokeGrenade.GetSmokeTransmittanceOnLine(KState.Position, targetPointForLos, wavelength); smokeAttenuation *= singleSmokeTransmittance; // 累乘透射率 } } diff --git a/ThreatSource/src/Simulation/ElementStatusInfo.cs b/ThreatSource/src/Simulation/ElementStatusInfo.cs index 18e6e9c..fc97016 100644 --- a/ThreatSource/src/Simulation/ElementStatusInfo.cs +++ b/ThreatSource/src/Simulation/ElementStatusInfo.cs @@ -19,21 +19,11 @@ namespace ThreatSource.Simulation /// 仿真元素的类型名称 /// public string ElementType { get; set; } - + /// - /// 仿真元素的当前位置 + /// 仿真元素的运动学状态 /// - public Vector3D Position { get; set; } - - /// - /// 仿真元素的当前朝向 - /// - public Orientation Orientation { get; set; } - - /// - /// 仿真元素的当前速度 - /// - public double Speed { get; set; } + public KinematicState KState { get; set; } /// /// 仿真元素是否处于活动状态 @@ -55,14 +45,13 @@ namespace ThreatSource.Simulation /// public ElementStatusInfo() { - ExtendedProperties = new Dictionary(); + ExtendedProperties = []; Timestamp = DateTime.UtcNow.Ticks; // 初始化非空属性 Id = string.Empty; ElementType = string.Empty; - Position = Vector3D.Zero; - Orientation = new Orientation(); + KState = new KinematicState(); } /// @@ -71,7 +60,7 @@ namespace ThreatSource.Simulation /// 状态的字符串表示 public override string ToString() { - string baseInfo = $"仿真元素 {ElementType} {Id} at {Position}, Orientation: {Orientation}, Active: {IsActive}"; + string baseInfo = $"仿真元素 {ElementType} {Id} at {KState.Position}, Active: {IsActive}"; if (ExtendedProperties.Count > 0) { diff --git a/ThreatSource/src/Simulation/ISimulationElement.cs b/ThreatSource/src/Simulation/ISimulationElement.cs index e1d51d7..12bbc52 100644 --- a/ThreatSource/src/Simulation/ISimulationElement.cs +++ b/ThreatSource/src/Simulation/ISimulationElement.cs @@ -7,7 +7,7 @@ namespace ThreatSource.Simulation /// /// /// 该接口定义了仿真实体的核心功能： - /// - 位置和运动状态管理 + /// - 运动学状态管理 (通过 KinematicState) /// - 生命周期管理（激活/停用） /// - 状态更新机制 /// 所有参与仿真的实体都必须实现此接口 @@ -20,24 +20,14 @@ namespace ThreatSource.Simulation string Id { get; set; } /// - /// 获取或设置仿真元素的当前位置 + /// 获取仿真元素的当前运动学状态，包括位置、速度、朝向等。 /// - Vector3D Position { get; set; } - - /// - /// 获取或设置仿真元素的当前速度向量 - /// - Vector3D Velocity { get; set; } - - /// - /// 获取或设置仿真元素的当前速度大小 - /// - double Speed { get; set; } - - /// - /// 获取或设置仿真元素的当前朝向 - /// - Orientation Orientation { get; set; } + /// + /// 通过此属性可以读取和修改元素的运动学参数。 + /// 例如: element.KState.Position = newPosition; + /// element.KState.Velocity = newVelocity; + /// + KinematicState KState { get; } /// /// 获取仿真元素是否处于活动状态 diff --git a/ThreatSource/src/Simulation/KinematicState.cs b/ThreatSource/src/Simulation/KinematicState.cs new file mode 100644 index 0000000..b1f41f8 --- /dev/null +++ b/ThreatSource/src/Simulation/KinematicState.cs @@ -0,0 +1,170 @@ +using ThreatSource.Utils; + +namespace ThreatSource.Simulation +{ + /// + /// 运动学状态类，定义了仿真元素的运动学状态 + /// + /// + /// 该类用于： + /// - 设置仿真元素的位置和姿态 + /// - 配置速度和目标 + /// 这些参数在实际使用时动态设置，而不是存储在配置文件中 + /// + public class KinematicState + { + private Vector3D _velocity = Vector3D.Zero; + private double _speed = 0.0; + + /// + /// 获取或设置仿真元素的位置 + /// + /// + /// 使用三维向量表示发射位置 + /// 坐标系：右手坐标系，X向右，Y向上，Z向前 (根据项目约定，-Z 为前) + /// + public Vector3D Position { get; set; } + + /// + /// 获取或设置仿真元素的姿态 + /// + /// + /// 使用欧拉角表示姿态 + /// 包含偏航角、俯仰角和滚转角 + /// + public Orientation Orientation { get; set; } + + /// + /// 获取或设置仿真元素的速率（标量） + /// + /// + /// 单位：米/秒。 + /// 当设置此值时： + /// - 如果当前速度向量 (Velocity) 非零，则其方向保持不变，模长更新为新的 Speed。 + /// - 如果当前速度向量为零，则其方向将根据当前的 Orientation 确定。 + /// 当读取此值时，它反映的是当前速度向量 (Velocity) 的模长。 + /// + public double Speed + { + get => _speed; + set + { + _speed = value; + if (_velocity != null && _velocity.MagnitudeSquared() > 1e-9) // 容差，避免浮点问题 + { + // 保持现有方向，更新模长 + _velocity = _velocity.Normalize() * _speed; + } + else + { + // Velocity 是零向量或未初始化，使用 Orientation 确定方向 + Vector3D direction = Orientation.ToVector(); + if (direction.MagnitudeSquared() < 1e-9 && _speed != 0) + { + throw new InvalidOperationException("Cannot set Speed to a non-zero value if Orientation.ToVector() results in a zero vector (e.g. from a zero orientation)."); + } + _velocity = direction.Normalize() * _speed; + } + } + } + + /// + /// 获取或设置仿真元素的速度向量 (Vector3D) + /// + /// + /// 单位：米/秒。 + /// 包含运动的方向和速率。 + /// 当设置此值时，Speed 属性会自动更新为该向量的模长。 + /// + public Vector3D Velocity + { + get => _velocity; + set + { + _velocity = value ?? Vector3D.Zero; //确保 _velocity 不为 null + _speed = _velocity.Magnitude(); + } + } + + /// + /// 初始化仿真元素运动学状态类的新实例 (默认构造函数) + /// + /// + /// 构造过程： + /// - 设置默认的位置（原点） + /// - 设置默认的姿态（零角度） + /// - 设置默认的速度为零 + /// + public KinematicState() + { + Position = Vector3D.Zero; + Orientation = new Orientation(0, 0, 0); + Velocity = Vector3D.Zero; // Setter 会同时更新 Speed + } + + /// + /// 初始化仿真元素运动学状态类的新实例 (使用标量速率) + /// + /// 初始位置 + /// 初始朝向 + /// 初始速率 (标量) + /// + /// 速度向量将根据朝向和速率计算得出。 + /// + public KinematicState(Vector3D position, Orientation orientation, double speed) + { + Position = position; + // 必须先设置 Orientation，因为 Speed 的 setter 可能会依赖它 + // Orientation is a struct, so it cannot be null. + Orientation = orientation; + Speed = speed; // Setter 会计算并设置 Velocity + } + + /// + /// 初始化仿真元素运动学状态类的新实例 (使用速度向量) + /// + /// 初始位置 + /// 初始朝向 + /// 初始速度向量 + public KinematicState(Vector3D position, Orientation orientation, Vector3D velocity) + { + Position = position; + // Orientation is a struct, so it cannot be null. + Orientation = orientation; + Velocity = velocity; // Setter 会同时更新 Speed + } + + /// + /// 初始化仿真元素运动学状态类的新实例 (仅使用位置和速度向量) + /// + /// 初始位置 + /// 初始速度向量 + /// + /// 初始朝向 (Orientation) 将根据提供的速度向量 (velocity) 的方向自动设置。 + /// 如果速度向量为零或其模长接近于零，则朝向将设为默认值 (Yaw:0, Pitch:0, Roll:0)。 + /// 如果需要独立于初始速度方向来指定初始朝向，请使用 MotionParameters(Vector3D, Orientation, Vector3D) 构造函数。 + /// + public KinematicState(Vector3D position, Vector3D velocity) + { + Position = position; + Velocity = velocity; // Setter 会同时更新 Speed + if (velocity != null && velocity.MagnitudeSquared() > 1e-9) + { + Orientation = Orientation.FromVector(velocity.Normalize()); + } + else + { + Orientation = new Orientation(0,0,0); + } + } + + /// + /// 重写ToString方法，返回KinematicState对象的字符串表示 + /// + /// KinematicState对象的字符串表示 + public override string ToString() + { + return $"Position: {Position}, Orientation: {Orientation}, Speed: {Speed:F2}, Velocity: {Velocity}"; + } + } +} \ No newline at end of file diff --git a/ThreatSource/src/Simulation/MissileLaunchParameters.cs b/ThreatSource/src/Simulation/MissileLaunchParameters.cs deleted file mode 100644 index 0ecbff3..0000000 --- a/ThreatSource/src/Simulation/MissileLaunchParameters.cs +++ /dev/null @@ -1,76 +0,0 @@ -using ThreatSource.Utils; - -namespace ThreatSource.Simulation -{ - /// - /// 初始化运动参数类，定义了仿真元素初始化时的运动学参数 - /// - /// - /// 该类用于： - /// - 设置仿真元素的初始位置和姿态 - /// - 配置初始速度和目标 - /// - 提供战术场景相关的参数 - /// 这些参数在实际使用时动态设置，而不是存储在配置文件中 - /// - public class MotionParameters - { - /// - /// 获取或设置仿真元素的初始位置 - /// - /// - /// 使用三维向量表示发射位置 - /// 坐标系：右手坐标系，X向右，Y向上，Z向前 - /// - public Vector3D Position { get; set; } = new Vector3D(0, 0, 0); - - /// - /// 获取或设置仿真元素的初始朝向 - /// - /// - /// 使用欧拉角表示初始姿态 - /// 包含偏航角、俯仰角和滚转角 - /// - public Orientation Orientation { get; set; } = new Orientation(0, 0, 0); - - /// - /// 获取或设置仿真元素的初始速度 - /// - /// - /// 单位：米/秒 - /// 初始运动速度 - /// - public double InitialSpeed { get; set; } - - /// - /// 初始化仿真元素初始化参数类的新实例 - /// - /// - /// 构造过程： - /// - 设置默认的初始位置（原点） - /// - 设置默认的初始朝向（零角度） - /// - 初始化其他参数为默认值 - /// - public MotionParameters() - { - Position = new Vector3D(0, 0, 0); - Orientation = new Orientation(0, 0, 0); - InitialSpeed = 0; - } - - /// - /// 初始化仿真元素运动参数类的新实例 - /// - /// - /// 构造过程： - /// - 设置初始位置 - /// - 设置初始朝向 - /// - 设置初始速度 - /// - public MotionParameters(Vector3D position, Orientation orientation, double initialSpeed) - { - Position = position; - Orientation = orientation; - InitialSpeed = initialSpeed; - } - } -} \ No newline at end of file diff --git a/ThreatSource/src/Simulation/SimulationElement.cs b/ThreatSource/src/Simulation/SimulationElement.cs index 941fb17..beb50f5 100644 --- a/ThreatSource/src/Simulation/SimulationElement.cs +++ b/ThreatSource/src/Simulation/SimulationElement.cs @@ -7,7 +7,7 @@ namespace ThreatSource.Simulation /// /// /// 该类提供了仿真实体的基本功能的默认实现： - /// - 位置和运动状态管理 + /// - 运动学状态管理 (通过 KinematicState) /// - 生命周期管理（激活/停用） /// - 事件发布机制 /// - 状态更新机制 @@ -20,16 +20,7 @@ namespace ThreatSource.Simulation public virtual string Id { get; set; } /// - public virtual Vector3D Position { get; set; } - - /// - public virtual double Speed { get; set; } - - /// - public virtual Vector3D Velocity { get; set; } - - /// - public virtual Orientation Orientation { get; set; } + public virtual KinematicState KState { get; protected set; } /// public virtual bool IsActive { get; protected set; } @@ -47,22 +38,18 @@ namespace ThreatSource.Simulation /// 初始化仿真元素的新实例 /// /// 仿真元素的唯一标识符 - /// 初始运动参数 + /// 初始运动学状态 (现在是 KinematicState) /// 仿真管理器实例 /// /// 构造函数设置实体的初始状态： - /// - 根据ID、位置、朝向和速度初始化实体 - /// - 计算初始速度向量 + /// - 根据ID和 KinematicState 初始化实体 /// - 设置初始状态为未激活 /// - protected SimulationElement(string id, MotionParameters motionParameters, ISimulationManager simulationManager) + protected SimulationElement(string id, KinematicState kinematicState, ISimulationManager simulationManager) { Id = id; - Position = motionParameters.Position; - Orientation = motionParameters.Orientation; - Speed = motionParameters.InitialSpeed; - Velocity = motionParameters.Orientation.ToVector() * motionParameters.InitialSpeed; - this.SimulationManager = simulationManager; + KState = kinematicState; + SimulationManager = simulationManager; IsActive = false; } @@ -72,8 +59,7 @@ namespace ThreatSource.Simulation /// 时间步长，单位：秒 /// /// 抽象方法，需要在派生类中实现具体的更新逻辑： - /// - 更新位置和朝向 - /// - 计算新的速度和加速度 + /// - 更新 KinematicState (位置、速度、朝向等) /// - 处理碰撞和其他物理效果 /// - 触发相关事件 /// @@ -87,8 +73,7 @@ namespace ThreatSource.Simulation /// 返回的字符串包含： /// - 实体类型 /// - 实体ID - /// - 当前位置 - /// - 当前朝向 + /// - 当前 KinematicState (位置、朝向等) /// - 活动状态 /// public virtual string GetStatus() @@ -103,9 +88,7 @@ namespace ThreatSource.Simulation { Id = Id, ElementType = GetType().Name, - Position = Position, - Orientation = Orientation, - Speed = Speed, + KState = KState, IsActive = IsActive }; @@ -124,10 +107,9 @@ namespace ThreatSource.Simulation /// protected void PublishEvent(T evt) where T : SimulationEvent { + ArgumentNullException.ThrowIfNull(evt); evt.SenderId = Id; - evt.Timestamp = DateTime.UtcNow.Ticks; SimulationManager.PublishEvent(evt); - Console.WriteLine($"[仿真元素] 发布事件: 事件类型={evt.GetType().Name}, 发送者ID={evt.SenderId}, 时间戳={evt.Timestamp}"); } /// @@ -136,7 +118,7 @@ namespace ThreatSource.Simulation /// /// 激活操作会： /// - 将IsActive设置为true - /// - 发布实体激活事件 + /// - 发布实体激活事件 (可选, 如果有此设计) /// - 允许实体参与仿真计算 /// public virtual void Activate() @@ -153,7 +135,7 @@ namespace ThreatSource.Simulation /// /// 停用操作会： /// - 将IsActive设置为false - /// - 发布实体停用事件 + /// - 发布实体停用事件 (可选, 如果有此设计) /// - 停止实体参与仿真计算 /// public virtual void Deactivate() diff --git a/ThreatSource/src/Simulation/SimulationManager.cs b/ThreatSource/src/Simulation/SimulationManager.cs index 289ef93..ca03a14 100644 --- a/ThreatSource/src/Simulation/SimulationManager.cs +++ b/ThreatSource/src/Simulation/SimulationManager.cs @@ -185,8 +185,8 @@ namespace ThreatSource.Simulation { foreach (var target in activeTargets) { - double distance = Vector3D.Distance(missile.Position, target.Position); - Console.WriteLine($"导弹 {missile.Id} 和目标 {target.Id} 之间的距离: {distance}"); + double distance = Vector3D.Distance(missile.KState.Position, target.KState.Position); + Console.WriteLine($"导弹 {missile.Id} 和目标 {target.Id} 之间的距离: {distance:F2}"); if (distance <= missile.Properties.ExplosionRadius) { double damage = CalculateMissileDamage(missile); diff --git a/tools/ComprehensiveMissileSimulator.cs b/tools/ComprehensiveMissileSimulator.cs index 0ce3a81..7b76c51 100644 --- a/tools/ComprehensiveMissileSimulator.cs +++ b/tools/ComprehensiveMissileSimulator.cs @@ -189,11 +189,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddTankTarget() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(0, 1.2, 0), Orientation = new Orientation(0.0, 0.0, 0.0), - InitialSpeed = 1.0 + Speed = 1.0 }; string targetId = "Tank_1"; var target = _threatSourceFactory.CreateTarget(targetId, "mbt_001", motionParameters); @@ -207,11 +207,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddLaserDecoy() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(0, 0, 50), Orientation = new Orientation(Math.PI/2, 0.0, 0.0), - InitialSpeed = 0.0 + Speed = 0.0 }; string laserDecoyId = "LDY_1"; var laserDecoy = _threatSourceFactory.CreateJammer(laserDecoyId, "laser_decoy", motionParameters, "Tank_1") as LaserDecoy; @@ -228,11 +228,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddSmokeGrenade() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(50, 5, 0), Orientation = new Orientation(Math.PI/2, 0.0, 0.0), - InitialSpeed = 0.0 + Speed = 0.0 }; string smokeGrenadeId = "SG_1"; var smokeGrenade = _threatSourceFactory.CreateJammer(smokeGrenadeId, "surround", motionParameters, "Tank_1"); @@ -261,11 +261,11 @@ namespace ThreatSource.Tools.MissileSimulation Console.WriteLine($"注册烟幕弹 {smokeGrenadeId}"); } - var motionParametersTop = new MotionParameters + var motionParametersTop = new KinematicState { Position = new Vector3D(0, 10, 0), Orientation = new Orientation(0, Math.PI/2, 0.0), - InitialSpeed = 0.0 + Speed = 0.0 }; smokeGrenadeId = "SG_4"; smokeGrenade = _threatSourceFactory.CreateJammer(smokeGrenadeId, "top", motionParametersTop, "Tank_1"); @@ -282,11 +282,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddLaserSemiActiveMissile() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(2000, 10, 10), Orientation = new Orientation(Math.PI/2, -0.01, 0), - InitialSpeed = 700 + Speed = 700 }; string missileId = "LSGM_1"; var missile = _threatSourceFactory.CreateMissile(missileId, "lsgm_001", "Tank_1", motionParameters); @@ -300,11 +300,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddLaserBeamRiderMissile() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(2000, 10, 10), Orientation = new Orientation(Math.PI/2, -0.01, 0.0), - InitialSpeed = 300 + Speed = 300 }; string missileId = "LBRM_1"; var missile = _threatSourceFactory.CreateMissile(missileId, "hj10", "Tank_1", motionParameters); @@ -318,11 +318,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddTerminalSensitiveMissile() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(3000, 0, 20), Orientation = new Orientation(Math.PI/2, 0.0, 0.0), - InitialSpeed = 800 + Speed = 800 }; string missileId = "TSM_1"; @@ -338,11 +338,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddInfraredCommandMissile() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 20), Orientation = new Orientation(Math.PI/2, 0.01, 0), - InitialSpeed = 300 + Speed = 300 }; string missileId = "ICGM_1"; @@ -357,11 +357,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddInfraredImagingMissile() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(2000, 10, 0), Orientation = new Orientation(Math.PI/2, -0.001, 0), - InitialSpeed = 300 + Speed = 300 }; string missileId = "ITGM_1"; var missile = _threatSourceFactory.CreateMissile(missileId, "itg_001", "Tank_1", motionParameters); @@ -375,11 +375,11 @@ namespace ThreatSource.Tools.MissileSimulation /// private void AddMillimeterWaveMissile() { - var motionParameters = new MotionParameters + var motionParameters = new KinematicState { Position = new Vector3D(2000, 1, 20), Orientation = new Orientation(Math.PI/2, 0.01, 0), - InitialSpeed = 300 + Speed = 300 }; string missileId = "MMWG_1"; var missile = _threatSourceFactory.CreateMissile(missileId, "mmw_001", "Tank_1", motionParameters); @@ -395,11 +395,11 @@ namespace ThreatSource.Tools.MissileSimulation { // 添加激光目标指示器 string laserDesignatorId = "LD_1"; - var laserDesignatorLaunchParams = new MotionParameters + var laserDesignatorLaunchParams = new KinematicState { Position = new Vector3D(2100, 1, 100), Orientation = new Orientation(Math.PI/2, 0.01, 0), - InitialSpeed = 0 + Speed = 0 }; var laserDesignator = _threatSourceFactory.CreateIndicator(laserDesignatorId, "ld_001", "Tank_1", "LSGM_1", laserDesignatorLaunchParams); indicators[laserDesignatorId] = (SimulationElement)laserDesignator; @@ -408,11 +408,11 @@ namespace ThreatSource.Tools.MissileSimulation // 添加激光驾束仪 string laserBeamRiderId = "LBR_1"; - var laserBeamRiderLaunchParams = new MotionParameters + var laserBeamRiderLaunchParams = new KinematicState { Position = new Vector3D(2100, 1, 10), Orientation = new Orientation(Math.PI/2, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var laserBeamRider = _threatSourceFactory.CreateIndicator(laserBeamRiderId, "br_001", "Tank_1", "LBRM_1", laserBeamRiderLaunchParams); indicators[laserBeamRiderId] = (SimulationElement)laserBeamRider; @@ -421,11 +421,11 @@ namespace ThreatSource.Tools.MissileSimulation // 添加红外测角仪 string infraredTrackerId = "IT_1"; - var infraredTrackerLaunchParams = new MotionParameters + var infraredTrackerLaunchParams = new KinematicState { Position = new Vector3D(2100, 1, 0), Orientation = new Orientation(Math.PI/2, 0, 0), - InitialSpeed = 0 + Speed = 0 }; var infraredTracker = _threatSourceFactory.CreateIndicator(infraredTrackerId, "ir_001", "Tank_1", "ITGM_1", infraredTrackerLaunchParams); indicators[infraredTrackerId] = (SimulationElement)infraredTracker; @@ -439,11 +439,11 @@ namespace ThreatSource.Tools.MissileSimulation private void AddJammers() { // 添加激光干扰器 - 指向指示器 - var laserJammerParams = new MotionParameters + var laserJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = CalculateOrientationToEntity(indicators["LD_1"]), // 朝向激光指示器 - InitialSpeed = 0.0 + Speed = 0.0 }; string laserJammerId = "LaserJammer_Designator"; var laserJammer = _threatSourceFactory.CreateJammer(laserJammerId, "laser_blocking", laserJammerParams, "Tank_1"); @@ -455,11 +455,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加激光干扰器 - 指向导弹 - laserJammerParams = new MotionParameters + laserJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = CalculateOrientationToEntity(missiles["LSGM_1"]), // 朝向激光半主动导弹 - InitialSpeed = 0.0 + Speed = 0.0 }; laserJammerId = "LaserJammer_Missile"; laserJammer = _threatSourceFactory.CreateJammer(laserJammerId, "laser_blocking", laserJammerParams, "Tank_1"); @@ -471,11 +471,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加红外干扰器 - 指向指示器 - var irJammerParams = new MotionParameters + var irJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = CalculateOrientationToEntity(indicators["IT_1"]), // 朝向红外指示器 - InitialSpeed = 0.0 + Speed = 0.0 }; string irJammerId = "InfraredJammer_Designator"; var irJammer = _threatSourceFactory.CreateJammer(irJammerId, "infrared_blocking", irJammerParams, "Tank_1"); @@ -487,11 +487,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加红外干扰器 - 指向导弹 - irJammerParams = new MotionParameters + irJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = CalculateOrientationToEntity(missiles["ITGM_1"]), // 朝向红外成像导弹 - InitialSpeed = 0.0 + Speed = 0.0 }; irJammerId = "InfraredJammer_Missile"; irJammer = _threatSourceFactory.CreateJammer(irJammerId, "infrared_blocking", irJammerParams, "Tank_1"); @@ -503,11 +503,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加毫米波干扰器 - 指向导弹 - var mmwJammerParams = new MotionParameters + var mmwJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = CalculateOrientationToEntity(missiles["MMWG_1"]), // 朝向毫米波导弹 - InitialSpeed = 0.0 + Speed = 0.0 }; string mmwJammerId = "MillimeterWaveJammer_Missile"; var mmwJammer = _threatSourceFactory.CreateJammer(mmwJammerId, "mmw_blocking", mmwJammerParams, "Tank_1"); @@ -519,11 +519,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加激光干扰器 - 指向子弹药 - laserJammerParams = new MotionParameters + laserJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上 - InitialSpeed = 0.0 + Speed = 0.0 }; laserJammerId = "LaserJammer_Submunition"; laserJammer = _threatSourceFactory.CreateJammer(laserJammerId, "laser_top_blocking", laserJammerParams, "Tank_1"); @@ -535,11 +535,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加红外干扰器 - 指向子弹药 - irJammerParams = new MotionParameters + irJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上 - InitialSpeed = 0.0 + Speed = 0.0 }; irJammerId = "InfraredJammer_Submunition"; irJammer = _threatSourceFactory.CreateJammer(irJammerId, "infrared_top_blocking", irJammerParams, "Tank_1"); @@ -551,11 +551,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加毫米波干扰器 - 指向子弹药 - mmwJammerParams = new MotionParameters + mmwJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上 - InitialSpeed = 0.0 + Speed = 0.0 }; mmwJammerId = "MillimeterWaveJammer_Submunition"; mmwJammer = _threatSourceFactory.CreateJammer(mmwJammerId, "mmw_top_blocking", mmwJammerParams, "Tank_1"); @@ -567,11 +567,11 @@ namespace ThreatSource.Tools.MissileSimulation } // 添加毫米波补偿干扰器 - 指向导弹 - mmwJammerParams = new MotionParameters + mmwJammerParams = new KinematicState { Position = new Vector3D(0, 0, 0), Orientation = new Orientation(0, Math.PI/2, 0), // 朝向垂直向上 - InitialSpeed = 0.0 + Speed = 0.0 }; string mmwCompensationJammerId = "MillimeterWaveCompensationJammer_Submunition"; var mmwCompensationJammer = _threatSourceFactory.CreateJammer(mmwCompensationJammerId, "mmw_compensation", mmwJammerParams, "Tank_1"); @@ -589,7 +589,7 @@ namespace ThreatSource.Tools.MissileSimulation private Orientation CalculateOrientationToEntity(SimulationElement target) { // 使用CalculateDirectionToTarget获取归一化方向向量 - Vector3D direction = CalculateDirectionToTarget(new Vector3D(0, 0, 0), target.Position); + Vector3D direction = CalculateDirectionToTarget(new Vector3D(0, 0, 0), target.KState.Position); // 创建朝向目标的方向 return Orientation.FromVector(direction); @@ -808,8 +808,8 @@ namespace ThreatSource.Tools.MissileSimulation JammerId = jammerId, SourceId = jammer.Id, Power = 800, // 设置合适功率 - Direction = CalculateDirectionToTarget(jammer.Position, indicator.Position), - SourcePosition = jammer.Position, + Direction = CalculateDirectionToTarget(jammer.KState.Position, indicator.KState.Position), + SourcePosition = jammer.KState.Position, StartTime = DateTime.UtcNow, Duration = 600 // 10分钟 }; @@ -891,8 +891,8 @@ namespace ThreatSource.Tools.MissileSimulation JammerId = jammerId, SourceId = jammer.Id, Power = 1000, // 设置高功率 - Direction = CalculateDirectionToTarget(jammer.Position, missile.Position), - SourcePosition = jammer.Position, + Direction = CalculateDirectionToTarget(jammer.KState.Position, missile.KState.Position), + SourcePosition = jammer.KState.Position, StartTime = DateTime.UtcNow, Duration = 600 // 10分钟 }; @@ -1192,13 +1192,13 @@ namespace ThreatSource.Tools.MissileSimulation // 获取导弹的初始属性 var motionParameters = missile.GetType().GetField("motionParameters", System.Reflection.BindingFlags.NonPublic | - System.Reflection.BindingFlags.Instance)?.GetValue(missile) as MotionParameters; + System.Reflection.BindingFlags.Instance)?.GetValue(missile) as KinematicState; if (motionParameters != null) { // 重置导弹位置和状态 - missile.Position = motionParameters.Position; - missile.Velocity = Vector3D.Zero; + missile.KState.Position = motionParameters.Position; + missile.KState.Velocity = Vector3D.Zero; } missile.Deactivate(); } @@ -1215,9 +1215,9 @@ namespace ThreatSource.Tools.MissileSimulation var activeTargets = simulationManager.GetEntitiesByType(); foreach (var target in activeTargets) { - var initialPosition = target.Position; + var initialPosition = target.KState.Position; target.Deactivate(); - target.Position = initialPosition; + target.KState.Position = initialPosition; target.Activate(); }