843 lines
31 KiB
C#
843 lines
31 KiB
C#
using ThreatSource.Simulation;
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using ThreatSource.Utils;
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using ThreatSource.Sensor;
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using ThreatSource.Target;
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namespace ThreatSource.Missile
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{
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/// <summary>
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/// 末敏子弹类，实现了多传感器融合的末端制导功能
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/// </summary>
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/// <remarks>
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/// 该类提供了末敏子弹的核心功能：
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/// - 多传感器融合（红外、毫米波、激光）
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/// - 螺旋扫描搜索
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/// - 自主目标识别
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/// - 末端精确制导
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/// 通过多种传感器的协同工作实现对目标的精确打击
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/// </remarks>
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public class TerminalSensitiveSubmunition : BaseMissile
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{
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/// <summary>
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/// 子弹飞行阶段枚举
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/// </summary>
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/// <remarks>
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/// 定义了子弹飞行的八个主要阶段：
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/// - Separation：分离阶段，从母弹分离
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/// - Deceleration：减速阶段，调整速度
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/// - ParachuteDeployment：降落伞打开阶段，稳定下降
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/// - StableScan：稳定扫描阶段，稳定下降
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/// - Detection：目标探测阶段，搜索确定目标
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/// - Attack：攻击阶段，末端制导
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/// - Explode：爆炸阶段，命中目标
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/// - SelfDestruct：自毁阶段，触发自毁
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/// </remarks>
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private enum SubmunitionStage
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{
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Separation, // 分离阶段
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Deceleration, // 减速阶段
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ParachuteDeployment, // 降落伞打开阶段
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StableScan, // 稳定扫描阶段
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Detection, // 目标探测阶段
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Attack, // 攻击阶段
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Explode, // 爆炸阶段
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SelfDestruct // 自毁阶段
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}
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/// <summary>
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/// 获取或设置当前飞行阶段
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/// </summary>
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/// <remarks>
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/// 用于控制子弹在不同阶段的行为
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/// 影响传感器工作模式和制导方式
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/// </remarks>
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private SubmunitionStage currentStage;
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/// <summary>
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/// 螺旋扫描旋转速度，单位：弧度/秒
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/// </summary>
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/// <remarks>
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/// 定义了螺旋扫描时的旋转角速度
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/// 4转/秒 = 8π弧度/秒
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/// </remarks>
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private const double SpiralRotationSpeed = 8 * Math.PI;
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/// <summary>
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/// 减速阶段末速，单位：米/秒
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/// </summary>
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/// <remarks>
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/// 定义了减速阶段的垂直下降速度
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/// </remarks>
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private const double DecelerationEndSpeed = 40;
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/// <summary>
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/// 垂直下降速度，单位：米/秒
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/// </summary>
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/// <remarks>
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/// 定义了扫描和攻击阶段的垂直下降速度
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/// </remarks>
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private const double VerticalDeclineSpeed = 10;
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/// <summary>
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/// 扫描角度，单位：弧度
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/// </summary>
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/// <remarks>
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/// 定义了螺旋扫描的锥角
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/// 30度 = π/6弧度
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/// </remarks>
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public const double ScanAngle = 30 * Math.PI / 180;
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/// <summary>
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/// 开伞高度，单位：米
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/// </summary>
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/// <remarks>
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/// 打开降落伞的高度阈值
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/// 影响降落伞打开阶段的触发时机
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/// </remarks>
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private const double ParachuteDeploymentHeight = 400;
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/// <summary>
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/// 减速加速度，单位：米/秒²
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/// </summary>
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/// <remarks>
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/// 减速阶段的减速度大小
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/// 影响速度调整的快慢
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/// </remarks>
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private const double DecelerationAcceleration = 50;
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/// <summary>
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/// 稳定扫描高度，单位：米
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/// </summary>
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/// <remarks>
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/// 开始螺旋扫描的高度阈值
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/// 影响扫描阶段的触发时机
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/// </remarks>
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private const double StableScanHeight = 200;
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/// <summary>
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/// 目标探测距离，单位：米
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/// </summary>
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/// <remarks>
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/// 目标探测的距离阈值
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/// 影响目标探测阶段的触发时机
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/// </remarks>
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private const double TargetDetectionDistance = 150;
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/// <summary>
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/// 自毁高度，单位：米
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/// </summary>
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/// <remarks>
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/// 触发自毁的高度阈值
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/// 保证子弹不会危及友方
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/// </remarks>
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private const double SelfDestructHeight = 20;
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/// <summary>
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/// 攻击速度，单位：米/秒
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/// </summary>
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/// <remarks>
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/// 攻击阶段的期望速度
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/// 影响末端制导的精度
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/// </remarks>
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private double AttackSpeed = 200;
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/// <summary>
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/// 是否已经探测到目标
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/// </summary>
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private bool isTargetDetected = false;
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/// <summary>
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/// 第一次探测到目标时记录的目标方位角
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/// </summary>
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private double? firstDetectionAngle = null;
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/// <summary>
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/// 获取或设置最后一次检测到目标的时间
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/// </summary>
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private double? lastDetectionTime = null;
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/// <summary>
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/// 获取或设置螺旋扫描的当前角度
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/// </summary>
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/// <remarks>
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/// 用于控制螺旋扫描的方向
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/// 影响传感器的指向
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/// </remarks>
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private double spiralAngle;
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/// <summary>
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/// 扫描方向向量
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/// </summary>
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/// <remarks>
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/// 表示传感器的当前指向
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/// 用于目标探测和跟踪
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/// </remarks>
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private Vector3D scanDirection;
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/// <summary>
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/// 获取扫描方向向量
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/// </summary>
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/// <remarks>
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/// 表示传感器的当前指向
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/// 用于目标探测和跟踪
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/// </remarks>
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public Vector3D ScanDirection => scanDirection;
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/// <summary>
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/// 目标ID
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/// </summary>
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/// <remarks>
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/// 记录目标的唯一标识符
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/// 用于目标识别和跟踪
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/// </remarks>
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public string TargetId { get; }
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/// <summary>
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/// 红外探测器实例
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/// </summary>
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/// <remarks>
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/// 用于探测目标的红外辐射
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/// 提供目标方位信息
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/// </remarks>
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private readonly InfraredDetector infraredDetector;
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/// <summary>
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/// 毫米波辐射计实例
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/// </summary>
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/// <remarks>
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/// 用于探测目标的毫米波辐射
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/// 提供目标特征信息
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/// </remarks>
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private readonly MillimeterWaveRadiometer radiometer;
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/// <summary>
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/// 毫米波测高仪实例
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/// </summary>
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/// <remarks>
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/// 用于测量对地高度
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/// 控制飞行阶段转换
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/// </remarks>
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private readonly MillimeterWaveAltimeter altimeter;
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/// <summary>
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/// 激光测距仪实例
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/// </summary>
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/// <remarks>
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/// 用于精确测量目标距离
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/// 提供攻击阶段的制导信息
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/// </remarks>
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private readonly LaserRangefinder rangefinder;
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/// <summary>
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/// 初始化末敏子弹的新实例
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/// </summary>
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/// <param name="targetId">目标ID</param>
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/// <param name="properties">子弹配置参数</param>
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/// <param name="manager">仿真管理器实例</param>
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/// <remarks>
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/// 构造过程：
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/// - 初始化基本属性
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/// - 创建传感器系统
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/// - 配置传感器参数
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/// - 设置初始状态
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/// </remarks>
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public TerminalSensitiveSubmunition(string targetId, MissileProperties properties, ISimulationManager manager)
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: base(properties, manager)
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{
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TargetId = targetId;
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currentStage = SubmunitionStage.Separation;
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spiralAngle = 0;
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// 初始化扫描方向为正北
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scanDirection = new Vector3D(0, 0, 1).Normalize();
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// 初始化传感器
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infraredDetector = new InfraredDetector(this, 500, InfraredBand.Short, 2.5); // 红外探测器，探测距离 500 米，近红外，视场角1度
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radiometer = new MillimeterWaveRadiometer(this, 500, MillimeterWaveBand.Band3, 2.5); // 毫米波辐射计，探测距离500米，工作波段3mm，扫描视场角1度
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altimeter = new MillimeterWaveAltimeter(this, 1000, MillimeterWaveBand.Band8, 0.5, 25); // 毫米波测高仪，测量精度0.5米
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rangefinder = new LaserRangefinder(this, 500, 1.06, 100, 0.5); // 激光测距仪，测量距离500米，波长1.06µm，测量频率100Hz，测量精度0.5米
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}
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/// <summary>
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/// 更新子弹状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
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/// 更新过程：
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/// - 更新所有传感器
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/// - 根据当前阶段更新状态
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/// - 处理阶段转换
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/// - 调用基类更新
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/// </remarks>
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public override void Update(double deltaTime)
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{
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base.Update(deltaTime);
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// 更新传感器
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infraredDetector.Update(deltaTime);
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radiometer.Update(deltaTime);
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altimeter.Update(deltaTime);
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rangefinder.Update(deltaTime);
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switch (currentStage)
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{
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case SubmunitionStage.Separation:
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UpdateSeparationStage(deltaTime);
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break;
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case SubmunitionStage.Deceleration:
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UpdateDecelerationStage(deltaTime);
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break;
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case SubmunitionStage.ParachuteDeployment:
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UpdateParachuteDeploymentStage(deltaTime);
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break;
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case SubmunitionStage.StableScan:
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UpdateStableScanStage(deltaTime);
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break;
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case SubmunitionStage.Detection:
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UpdateDetectionStage(deltaTime);
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break;
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case SubmunitionStage.Attack:
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UpdateAttackStage(deltaTime);
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break;
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case SubmunitionStage.Explode:
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UpdateExplodeStage(deltaTime);
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break;
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case SubmunitionStage.SelfDestruct:
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UpdateSelfDestructStage(deltaTime);
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break;
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}
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}
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/// <summary>
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/// 更新分离阶段状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
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/// 分离阶段处理：
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/// - 施加重力加速度
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/// - 更新位置和速度
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/// - 分离阶段结束，进入减速阶段
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/// </remarks>
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private void UpdateSeparationStage(double deltaTime)
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{
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// 分离阶段
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Vector3D deceleration = new(0, 9.8, 0);
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Velocity += deceleration * deltaTime;
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Position += Velocity * deltaTime;
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// 分离阶段结束，进入减速阶段
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currentStage = SubmunitionStage.Deceleration;
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}
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/// <summary>
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/// 更新减速阶段状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
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/// 减速阶段处理：
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/// - 启用制导控制
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/// - 计算减速加速度
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/// - 更新速度和位置
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/// - 检查高度条件
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/// - 如果高度小于等于开伞高度，则进入降落伞打开阶段
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/// </remarks>
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private void UpdateDecelerationStage(double deltaTime)
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{
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IsGuidance = true;
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if(!altimeter.IsActive)
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{
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// 激活毫米波测高雷达
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altimeter.Activate();
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}
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// 减速减旋，垂直速度减小
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Vector3D deceleration = - Velocity.Normalize() * DecelerationAcceleration;
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Velocity += deceleration * deltaTime;
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if (Velocity.Magnitude() <= DecelerationEndSpeed)
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{
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Velocity = new Vector3D(0, -DecelerationEndSpeed, 0);
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GuidanceAcceleration = Vector3D.Zero;
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}
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if(IsSensorsJammed())
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{
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// 如果传感器受到干扰，则高度计无法工作
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Console.WriteLine("减速阶段：传感器受到干扰，无法进行高度测量");
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return;
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}
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// 检查高度是否小于等于开伞高度
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if(((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= ParachuteDeploymentHeight)
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{
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// 如果是，则进入降落伞打开阶段
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currentStage = SubmunitionStage.ParachuteDeployment;
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}
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}
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/// <summary>
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/// 更新降落伞打开阶段状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
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/// 降落伞打开阶段处理：
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/// - 打开降落伞
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/// - 降落伞减速和稳定
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/// - 调整姿态准备扫描
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/// - 激活测高雷达开始工作（第二次测高）
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/// - 在200米高度进入扫描阶段
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/// - 此时子弹速度 10 米/秒
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/// </remarks>
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private void UpdateParachuteDeploymentStage(double deltaTime)
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{
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if (Velocity.Magnitude() <= VerticalDeclineSpeed)
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{
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Velocity = new Vector3D(0, -VerticalDeclineSpeed, 0);
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GuidanceAcceleration = Vector3D.Zero;
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}
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if(IsSensorsJammed())
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{
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// 如果传感器受到干扰，则高度计无法工作
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Console.WriteLine("开伞阶段：传感器受到干扰，无法进行高度测量");
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return;
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}
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if (((AltimeterSensorData)altimeter.GetSensorData()).Altitude <= StableScanHeight)
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{
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currentStage = SubmunitionStage.StableScan;
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}
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}
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/// <summary>
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/// 更新稳定扫描阶段状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
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/// 扫描阶段处理：
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/// - 激活传感器系统
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/// - 执行螺旋扫描
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/// - 处理目标探测
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/// - 检查目标确认条件
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/// </remarks>
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private void UpdateStableScanStage(double deltaTime)
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{
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if(!rangefinder.IsActive)
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{
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// 激活激光测距仪
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rangefinder.Activate();
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}
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// 检查传感器干扰状态
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if (IsSensorsJammed())
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{
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Console.WriteLine("稳定扫描阶段：传感器受到干扰，无法进行距离测量");
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return;
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}
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// 更新螺旋角度（顺时针旋转，标准方位角）
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spiralAngle = (spiralAngle + SpiralRotationSpeed * deltaTime); // 顺时针角度增加
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while (spiralAngle >= 2 * Math.PI)
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{
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spiralAngle -= 2 * Math.PI;
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}
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// 更新扫描方向（标准方位角，顺时针为正）
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scanDirection = new Vector3D(
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Math.Sin(spiralAngle) * Math.Sin(ScanAngle),
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-Math.Cos(ScanAngle),
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Math.Cos(spiralAngle) * Math.Sin(ScanAngle)
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).Normalize();
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// 如果距离小于等于目标探测距离，则进入目标探测阶段
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if (((RangefinderSensorData)rangefinder.GetSensorData()).Distance <= TargetDetectionDistance)
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{
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currentStage = SubmunitionStage.Detection;
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}
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}
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/// <summary>
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/// 更新目标探测阶段状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
|
||
/// 目标探测阶段处理：
|
||
/// - 多传感器协同工作
|
||
/// - 进行目标特征识别
|
||
/// - 执行二次扫描确认
|
||
/// - 为攻击阶段做准备
|
||
/// </remarks>
|
||
private void UpdateDetectionStage(double deltaTime)
|
||
{
|
||
// 激活毫米波辐射计
|
||
if(!radiometer.IsActive)
|
||
{
|
||
radiometer.Activate();
|
||
}
|
||
// 激活红外探测器
|
||
if(!infraredDetector.IsActive)
|
||
{
|
||
infraredDetector.Activate();
|
||
}
|
||
|
||
// 检查传感器干扰状态
|
||
if (IsSensorsJammed())
|
||
{
|
||
Console.WriteLine("探测阶段：传感器受到干扰，无法进行目标探测");
|
||
return;
|
||
}
|
||
|
||
// 更新螺旋角度（顺时针旋转）
|
||
spiralAngle = (spiralAngle + SpiralRotationSpeed * deltaTime); // 顺时针角度增加
|
||
while (spiralAngle >= 2 * Math.PI)
|
||
{
|
||
spiralAngle -= 2 * Math.PI;
|
||
}
|
||
|
||
// 计算扫描方向
|
||
scanDirection = new Vector3D(
|
||
Math.Sin(spiralAngle) * Math.Sin(ScanAngle),
|
||
-Math.Cos(ScanAngle),
|
||
Math.Cos(spiralAngle) * Math.Sin(ScanAngle)
|
||
).Normalize();
|
||
|
||
// 获取传感器数据
|
||
RadiometerSensorData? radiometerData = null;
|
||
InfraredSensorData? infraredData = null;
|
||
|
||
if (radiometer.GetSensorData() is RadiometerSensorData rd)
|
||
{
|
||
radiometerData = rd;
|
||
}
|
||
if (infraredDetector.GetSensorData() is InfraredSensorData id)
|
||
{
|
||
infraredData = id;
|
||
}
|
||
|
||
bool isRadiationDetected = radiometerData?.IsTargetDetected ?? false;
|
||
bool isInfraredDetected = infraredData?.IsTargetDetected ?? false;
|
||
|
||
// 如果还未探测到目标，进行首次探测
|
||
if (!isTargetDetected)
|
||
{
|
||
if (isRadiationDetected || isInfraredDetected)
|
||
{
|
||
// 获取传感器的角度数据
|
||
double? radiometerAngle = radiometerData?.TargetAngle;
|
||
double? infraredAngle = infraredData?.TargetAngle;
|
||
|
||
// 使用有效的角度数据
|
||
if (radiometerAngle.HasValue || infraredAngle.HasValue)
|
||
{
|
||
// 计算目标方位角
|
||
double targetAngle;
|
||
if (radiometerAngle.HasValue && infraredAngle.HasValue)
|
||
{
|
||
targetAngle = (radiometerAngle.Value + infraredAngle.Value) / 2;
|
||
}
|
||
else if (radiometerAngle.HasValue)
|
||
{
|
||
targetAngle = radiometerAngle.Value;
|
||
}
|
||
else
|
||
{
|
||
targetAngle = infraredAngle.Value;
|
||
}
|
||
|
||
// 记录首次探测信息
|
||
isTargetDetected = true;
|
||
lastDetectionTime = FlightTime;
|
||
firstDetectionAngle = targetAngle;
|
||
Console.WriteLine($"[DEBUG] 首次探测到目标，方位角: {firstDetectionAngle.Value * 180 / Math.PI:F2}°");
|
||
}
|
||
}
|
||
}
|
||
else // 已经探测到目标，等待转过一圈进行二次确认
|
||
{
|
||
double timeSinceLastDetection = FlightTime - lastDetectionTime.Value;
|
||
if (timeSinceLastDetection >= 0.75 * 2 * Math.PI / SpiralRotationSpeed) // 转过3/4圈以后
|
||
{
|
||
// 检查当前角度是否接近记录的目标方位角
|
||
double angleDiff = Math.Abs(spiralAngle - firstDetectionAngle.Value);
|
||
// 根据仿真步长和转速计算允许的角度误差
|
||
double allowedError = deltaTime * SpiralRotationSpeed / 2;
|
||
if (angleDiff <= allowedError)
|
||
{
|
||
if (isRadiationDetected || isInfraredDetected)
|
||
{
|
||
// 二次确认成功，进入攻击阶段
|
||
Console.WriteLine($"[DEBUG] 二次确认成功，进入攻击阶段，当前角度: {spiralAngle * 180 / Math.PI:F2}°");
|
||
currentStage = SubmunitionStage.Attack;
|
||
return;
|
||
}
|
||
else
|
||
{
|
||
// 二次确认失败，重新开始扫描
|
||
Console.WriteLine($"[DEBUG] 二次确认失败，重新开始扫描");
|
||
isTargetDetected = false;
|
||
lastDetectionTime = null;
|
||
firstDetectionAngle = null;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
// 检查自毁条件
|
||
if (rangefinder.GetSensorData() is RangefinderSensorData rangefinderData &&
|
||
rangefinderData.Distance <= SelfDestructHeight)
|
||
{
|
||
currentStage = SubmunitionStage.SelfDestruct;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 更新攻击阶段状态
|
||
/// </summary>
|
||
/// <param name="deltaTime">时间步长，单位：秒</param>
|
||
/// <remarks>
|
||
/// 攻击阶段处理：
|
||
/// - 使用记录的攻击角度计算攻击方向
|
||
/// - 使用扫描方向作为攻击方向，弹丸没有传感器，只进行弹道运动
|
||
/// - 更新速度和位置
|
||
/// - 检查命中条件：使用纯几何计算
|
||
/// </remarks>
|
||
private void UpdateAttackStage(double deltaTime)
|
||
{
|
||
// 关闭传感器
|
||
if (radiometer.IsActive)
|
||
{
|
||
radiometer.Deactivate();
|
||
}
|
||
if (infraredDetector.IsActive)
|
||
{
|
||
infraredDetector.Deactivate();
|
||
}
|
||
|
||
// 使用当前的spiralAngle计算攻击方向
|
||
scanDirection = new Vector3D(
|
||
Math.Sin(spiralAngle) * Math.Sin(ScanAngle),
|
||
-Math.Cos(ScanAngle),
|
||
Math.Cos(spiralAngle) * Math.Sin(ScanAngle)
|
||
).Normalize();
|
||
|
||
// 使用 AttackSpeed 设置攻击速度
|
||
Velocity = scanDirection * AttackSpeed;
|
||
IsGuidance = false; // 明确声明这是无制导的直线运动
|
||
GuidanceAcceleration = Vector3D.Zero; // 清除任何可能的加速度
|
||
|
||
// 检查命中条件：使用纯几何计算
|
||
SimulationElement target = SimulationManager.GetEntityById(TargetId) as SimulationElement ?? throw new Exception("目标不存在");
|
||
if ((target.Position - Position).Magnitude() <= MissileProperties.ExplosionRadius)
|
||
{
|
||
currentStage = SubmunitionStage.Explode;
|
||
return;
|
||
}
|
||
|
||
// 检查自毁条件
|
||
if (Position.Y <= 0)
|
||
{
|
||
currentStage = SubmunitionStage.SelfDestruct;
|
||
return;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 更新爆炸阶段状态
|
||
/// </summary>
|
||
/// <param name="deltaTime">时间步长，单位：秒</param>
|
||
/// <remarks>
|
||
/// 爆炸阶段处理：
|
||
/// - 触发爆炸效果
|
||
/// - 结束子弹任务
|
||
/// </remarks>
|
||
private void UpdateExplodeStage(double deltaTime)
|
||
{
|
||
Explode();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 更新自毁阶段状态
|
||
/// </summary>
|
||
/// <param name="deltaTime">时间步长，单位：秒</param>
|
||
/// <remarks>
|
||
/// 自毁阶段处理：
|
||
/// - 触发自毁效果
|
||
/// - 结束子弹任务
|
||
/// </remarks>
|
||
private void UpdateSelfDestructStage(double deltaTime)
|
||
{
|
||
SelfDestruct();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 检测目标是否在视场内
|
||
/// </summary>
|
||
/// <param name="fieldOfView">视场角，单位：度</param>
|
||
/// <returns>返回目标方位角。如果目标在视场内返回方位角，否则返回null</returns>
|
||
/// <remarks>
|
||
/// 检测过程：
|
||
/// - 获取目标位置
|
||
/// - 计算目标方向
|
||
/// - 判断是否在视场内
|
||
/// </remarks>
|
||
public double? DetectTarget(double fieldOfView)
|
||
{
|
||
// 获取目标对象
|
||
SimulationElement target = SimulationManager.GetEntityById(TargetId) as SimulationElement ?? throw new Exception("目标不存在");
|
||
|
||
// 获取目标的尺寸属性
|
||
double targetLength = (target as ITarget)?.Length ?? 0; // 目标长度
|
||
double targetWidth = (target as ITarget)?.Width ?? 0; // 目标宽度
|
||
|
||
// 获取目标的朝向向量
|
||
Vector3D targetForward = target.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[] vertices = new Vector3D[4];
|
||
|
||
// 前后左右四个顶点
|
||
vertices[0] = targetPosition + (targetForward * (targetLength/2)) + (targetRight * (targetWidth/2)); // 右前
|
||
vertices[1] = targetPosition + (targetForward * (targetLength/2)) - (targetRight * (targetWidth/2)); // 左前
|
||
vertices[2] = targetPosition - (targetForward * (targetLength/2)) + (targetRight * (targetWidth/2)); // 右后
|
||
vertices[3] = targetPosition - (targetForward * (targetLength/2)) - (targetRight * (targetWidth/2)); // 左后
|
||
|
||
// 计算目标方位角（弧度值）
|
||
Vector3D toTarget = (targetPosition - 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)
|
||
{
|
||
targetAzimuth += 2 * Math.PI; // 转换到 [0, 2π]
|
||
}
|
||
|
||
// 视场检测
|
||
double cosFieldOfView = Math.Cos(fieldOfView * Math.PI / 180);
|
||
foreach(var vertex in vertices)
|
||
{
|
||
Vector3D toVertex = (vertex - 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
|
||
return targetAzimuth;
|
||
}
|
||
}
|
||
|
||
// 如果目标不在视场角内，返回null
|
||
return null;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 激活子弹
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 激活过程：
|
||
/// - 调用基类激活方法
|
||
/// - 订阅目标辐射事件
|
||
/// - 准备传感器系统
|
||
/// </remarks>
|
||
public override void Activate()
|
||
{
|
||
base.Activate();
|
||
SimulationManager.SubscribeToEvent<TankRadiationEvent>(OnTankRadiationEvent);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 停用子弹
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 停用过程：
|
||
/// - 调用基类停用方法
|
||
/// - 停用所有传感器
|
||
/// - 清理制导状态
|
||
/// </remarks>
|
||
public override void Deactivate()
|
||
{
|
||
base.Deactivate();
|
||
infraredDetector.Deactivate();
|
||
radiometer.Deactivate();
|
||
altimeter.Deactivate();
|
||
rangefinder.Deactivate();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 处理坦克辐射事件
|
||
/// </summary>
|
||
/// <param name="evt">坦克辐射事件数据</param>
|
||
/// <remarks>
|
||
/// 处理过程：
|
||
/// - 验证目标ID
|
||
/// - 记录辐射信息
|
||
/// - 更新目标状态
|
||
/// </remarks>
|
||
private void OnTankRadiationEvent(TankRadiationEvent evt)
|
||
{
|
||
if (evt.SenderId == TargetId)
|
||
{
|
||
Console.WriteLine("检测到目标辐射");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取子弹状态信息
|
||
/// </summary>
|
||
/// <returns>包含子弹状态的详细描述</returns>
|
||
/// <remarks>
|
||
/// 返回信息包括：
|
||
/// - 基本状态信息
|
||
/// - 当前飞行阶段
|
||
/// - 扫描和检测状态
|
||
/// - 传感器工作状态
|
||
/// </remarks>
|
||
public override string GetStatus()
|
||
{
|
||
var status = $"{base.GetStatus()}\n" +
|
||
$"运行状态: {currentStage}\n" +
|
||
$"扫描角度: {spiralAngle * 180 / Math.PI:F2}°, 弧度值: {spiralAngle:F6}\n" +
|
||
$"目标检测: {lastDetectionTime != null}";
|
||
|
||
//var status = $"";
|
||
|
||
return status;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 检查传感器是否受到干扰
|
||
/// </summary>
|
||
/// <returns>如果当前阶段的关键传感器都被干扰返回true，否则返回false</returns>
|
||
/// <remarks>
|
||
/// 不同阶段的检查逻辑：
|
||
/// - Deceleration阶段：测高仪被干扰才返回true
|
||
/// - ParachuteDeployment阶段：测高仪被干扰才返回true
|
||
/// - StableScan阶段：激光测距仪被干扰才返回true
|
||
/// - Detection阶段：红外探测器和毫米波辐射计都被干扰才返回true
|
||
/// - Attack阶段：红外探测器和毫米波辐射计都被干扰才返回true
|
||
/// </remarks>
|
||
private bool IsSensorsJammed()
|
||
{
|
||
// 根据当前阶段检查相应传感器的干扰状态
|
||
switch (currentStage)
|
||
{
|
||
case SubmunitionStage.Deceleration:
|
||
// 减速阶段需要测高仪
|
||
return altimeter.IsJammed;
|
||
case SubmunitionStage.ParachuteDeployment:
|
||
// 开伞阶段需要测高仪
|
||
return altimeter.IsJammed;
|
||
case SubmunitionStage.StableScan:
|
||
// 稳定扫描阶段需要激光测距仪
|
||
return rangefinder.IsJammed;
|
||
case SubmunitionStage.Detection:
|
||
// 目标探测阶段需要红外探测器和毫米波辐射计
|
||
return infraredDetector.IsJammed && radiometer.IsJammed;
|
||
case SubmunitionStage.Attack:
|
||
// 攻击阶段需要红外探测器和毫米波辐射计
|
||
return infraredDetector.IsJammed && radiometer.IsJammed;
|
||
default:
|
||
return false;
|
||
}
|
||
}
|
||
}
|
||
}
|