716 lines
26 KiB
C#
716 lines
26 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Threading;
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using System.Linq;
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using System.Diagnostics;
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using ThreatSource.Missile;
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using ThreatSource.Simulation;
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using ThreatSource.Utils;
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using ThreatSource.Jamming;
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using ThreatSource.Sensor;
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using ThreatSource.Target;
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using ThreatSource.Guidance;
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using ThreatSource.Indicator;
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namespace ThreatSource.Tools.MissileSimulation
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{
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/// <summary>
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/// 综合导弹模拟器 - 支持6种不同类型的导弹模拟
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/// </summary>
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public class ComprehensiveMissileSimulator
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{
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// 定义仿真结束事件
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public event EventHandler? SimulationEnded;
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private readonly ISimulationManager simulationManager;
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private readonly Dictionary<string, SimulationElement> missiles;
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private readonly Dictionary<string, SimulationElement> targets;
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private readonly Dictionary<string, SimulationElement> sensors;
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private Dictionary<string, bool> missileActiveStatus;
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private readonly double timeStep = 0.01; // 时间步长，单位：秒
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/// <summary>
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/// 初始化综合导弹模拟器
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/// </summary>
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public ComprehensiveMissileSimulator()
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{
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simulationManager = new SimulationManager();
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missiles = new Dictionary<string, SimulationElement>();
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targets = new Dictionary<string, SimulationElement>();
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sensors = new Dictionary<string, SimulationElement>();
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missileActiveStatus = new Dictionary<string, bool>();
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InitializeSimulation();
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}
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/// <summary>
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/// 初始化仿真环境
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/// </summary>
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private void InitializeSimulation()
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{
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// 添加目标（坦克）
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AddTarget("Tank_1", new Vector3D(0, 0, 0));
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// 添加各种类型的导弹
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AddLaserSemiActiveMissile();
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AddLaserBeamRiderMissile();
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AddTerminalSensitiveMissile();
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AddInfraredCommandMissile();
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AddInfraredImagingMissile();
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AddMillimeterWaveMissile();
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// 添加各种传感器和指示器
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AddSensorsAndDesignators();
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// 初始化所有导弹的激活状态为false
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foreach (var missile in missiles.Keys)
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{
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missileActiveStatus[missile] = false;
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missiles[missile].Activate(); // 激活导弹，但不会更新状态
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}
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}
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/// <summary>
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/// 添加目标
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/// </summary>
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private void AddTarget(string targetId, Vector3D position)
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{
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var target = new Tank(targetId, position, 0, simulationManager)
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{
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Position = position
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};
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targets[targetId] = target;
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simulationManager.RegisterEntity(targetId, target);
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target.Activate(); // 添加这行，激活目标
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Console.WriteLine($"添加目标 {targetId}，位置：{position}");
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}
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/// <summary>
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/// 添加激光半主动制导导弹
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/// </summary>
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private void AddLaserSemiActiveMissile()
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{
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var properties = new MissileProperties
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{
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Id = "LSGM_1",
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Mass = 50,
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ExplosionRadius = 5,
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MaxSpeed = 800,
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MaxFlightTime = 10,
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MaxFlightDistance = 5000,
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MaxAcceleration = 400,
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InitialPosition = new Vector3D(2000, 100, 100),
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InitialSpeed = 700,
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InitialOrientation = new Orientation(Math.PI, -0.05, 0),
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ProportionalNavigationCoefficient = 3,
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SelfDestructHeight = 0,
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Type = MissileType.LaserSemiActiveGuidance
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};
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var missile = new LaserSemiActiveGuidedMissile(properties, simulationManager);
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missiles["LSGM_1"] = missile;
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simulationManager.RegisterEntity("LSGM_1", missile);
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Console.WriteLine($"注册激光半主动导弹 LSGM_1");
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}
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/// <summary>
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/// 添加激光驾束制导导弹
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/// </summary>
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private void AddLaserBeamRiderMissile()
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{
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var properties = new MissileProperties
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{
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Id = "LBRM_1",
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Mass = 50,
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ExplosionRadius = 5,
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MaxSpeed = 400,
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MaxFlightTime = 10,
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MaxFlightDistance = 3000,
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MaxAcceleration = 400,
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InitialPosition = new Vector3D(2000, 10, 100),
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InitialSpeed = 300,
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InitialOrientation = new Orientation(Math.PI, 0.0, 0.0),
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ProportionalNavigationCoefficient = 3,
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SelfDestructHeight = 0,
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Type = MissileType.LaserBeamRiderGuidance
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};
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var missile = new LaserBeamRiderMissile(properties, simulationManager);
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missiles["LBRM_1"] = missile;
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simulationManager.RegisterEntity("LBRM_1", missile);
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Console.WriteLine($"注册激光束骑导弹 LBRM_1");
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}
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/// <summary>
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/// 添加末敏弹
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/// </summary>
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private void AddTerminalSensitiveMissile()
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{
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var properties = new MissileProperties
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{
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Id = "TSM_1",
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Mass = 50,
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ExplosionRadius = 5,
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MaxSpeed = 1000,
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MaxFlightTime = 100,
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MaxFlightDistance = 5000,
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MaxAcceleration = 200,
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InitialPosition = new Vector3D(3000, 0, 0),
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InitialSpeed = 800,
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InitialOrientation = new Orientation(Math.PI, 0, 0),
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SelfDestructHeight = 0,
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Type = MissileType.TerminalSensitiveMissile
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};
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var submunitionProperties = new MissileProperties
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{
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MaxSpeed = 2000,
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MaxFlightTime = 60,
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MaxFlightDistance = 2000,
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MaxAcceleration = 300,
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ProportionalNavigationCoefficient = 4,
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Mass = 10,
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ExplosionRadius = 5,
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HitProbability = 0.9,
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SelfDestructHeight = 20,
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Type = MissileType.TerminalSensitiveSubmunition
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};
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var missile = new TerminalSensitiveMissile("Tank_1", properties, submunitionProperties, 1, simulationManager);
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missiles["TSM_1"] = missile;
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simulationManager.RegisterEntity("TSM_1", missile);
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Console.WriteLine($"注册末敏导弹 TSM_1");
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}
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/// <summary>
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/// 添加红外指令制导导弹
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/// </summary>
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private void AddInfraredCommandMissile()
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{
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var properties = new MissileProperties
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{
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Id = "ICGM_1",
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Mass = 50,
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ExplosionRadius = 5,
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MaxSpeed = 400,
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MaxFlightTime = 60,
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MaxFlightDistance = 2100,
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MaxAcceleration = 100,
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InitialPosition = new Vector3D(2000, 10, 100),
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InitialSpeed = 300,
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InitialOrientation = new Orientation(Math.PI, 0.0, 0),
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ProportionalNavigationCoefficient = 3,
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SelfDestructHeight = 0,
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Type = MissileType.InfraredCommandGuidance
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};
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var missile = new InfraredCommandGuidedMissile(properties, simulationManager);
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missiles["ICGM_1"] = missile;
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simulationManager.RegisterEntity("ICGM_1", missile);
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Console.WriteLine($"注册红外指令导弹 ICGM_1");
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}
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/// <summary>
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/// 添加红外成像末制导导弹
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/// </summary>
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private void AddInfraredImagingMissile()
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{
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var properties = new MissileProperties
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{
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Id = "ITGM_1",
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Mass = 50,
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ExplosionRadius = 5,
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MaxSpeed = 400,
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MaxFlightTime = 60,
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MaxFlightDistance = 5000,
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MaxAcceleration = 50,
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InitialPosition = new Vector3D(2000, 20, 100),
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InitialSpeed = 300,
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InitialOrientation = new Orientation(Math.PI, 0.0, 0),
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SelfDestructHeight = 0,
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ProportionalNavigationCoefficient = 3,
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Type = MissileType.InfraredImagingTerminalGuidance
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};
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var missile = new InfraredImagingTerminalGuidedMissile(properties, simulationManager);
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missiles["ITGM_1"] = missile;
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simulationManager.RegisterEntity("ITGM_1", missile);
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Console.WriteLine($"注册红外成像导弹 ITGM_1");
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}
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/// <summary>
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/// 添加毫米波末制导导弹
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/// </summary>
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private void AddMillimeterWaveMissile()
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{
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var properties = new MissileProperties
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{
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Id = "MMWG_1",
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Mass = 50,
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ExplosionRadius = 5,
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MaxSpeed = 400,
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MaxFlightTime = 60,
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MaxFlightDistance = 5000,
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MaxAcceleration = 50,
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InitialPosition = new Vector3D(2000, 200, 100),
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InitialSpeed = 300,
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InitialOrientation = new Orientation(Math.PI, 0.0, 0),
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SelfDestructHeight = 0,
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ProportionalNavigationCoefficient = 3,
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Type = MissileType.MillimeterWaveTerminalGuidance
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};
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var missile = new MillimeterWaveTerminalGuidedMissile(properties, simulationManager);
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missiles["MMWG_1"] = missile;
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simulationManager.RegisterEntity("MMWG_1", missile);
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Console.WriteLine($"注册毫米波导弹 MMWG_1");
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}
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/// <summary>
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/// 添加传感器和指示器
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/// </summary>
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private void AddSensorsAndDesignators()
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{
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// 添加激光目标指示器
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var laserDesignator = new LaserDesignator(
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"LD_1",
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"Tank_1",
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"LSGM_1",
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0,
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new LaserDesignatorConfig
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{
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Id = "LD_1",
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InitialPosition = new Vector3D(2000, 150, 100),
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LaserPower = 1000,
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LaserDivergenceAngle = 0.001
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},
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simulationManager
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);
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sensors["LD_1"] = laserDesignator;
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simulationManager.RegisterEntity("LD_1", laserDesignator);
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Console.WriteLine("注册激光目标指示器 LD_1");
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// 添加激光驾束仪
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var laserBeamRider = new LaserBeamRider(
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"LBR_1",
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"LBRM_1",
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"Tank_1",
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0,
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new LaserBeamRiderConfig
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{
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Id = "LBR_1",
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InitialPosition = new Vector3D(2000, 10, 100),
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LaserPower = 1000,
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ControlFieldDiameter = 6
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},
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simulationManager
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);
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sensors["LBR_1"] = laserBeamRider;
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simulationManager.RegisterEntity("LBR_1", laserBeamRider);
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Console.WriteLine("注册激光驾束仪 LBR_1");
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// 添加红外测角仪
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var infraredTracker = new InfraredTracker(
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"IT_1",
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"Tank_1",
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new InfraredTrackerConfig
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{
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Id = "IT_1",
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InitialPosition = new Vector3D(2000, 0, 100),
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InitialOrientation = new Orientation(Math.PI, 0, 0),
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MaxTrackingRange = 10000,
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FieldOfView = Math.PI / 4,
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AngleMeasurementAccuracy = 0.0005,
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UpdateFrequency = 100
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},
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simulationManager
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);
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sensors["IT_1"] = infraredTracker;
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simulationManager.RegisterEntity("IT_1", infraredTracker);
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Console.WriteLine("注册红外测角仪 IT_1");
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}
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/// <summary>
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/// 选择要激活的导弹
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/// </summary>
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public void SelectMissile(string missileId)
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{
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if (!missiles.ContainsKey(missileId))
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{
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Console.WriteLine($"错误：找不到导弹 {missileId}");
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return;
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}
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// 先停用所有导弹和传感器
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foreach (var id in missiles.Keys)
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{
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missileActiveStatus[id] = false;
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missiles[id].Deactivate();
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}
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foreach (var sensor in sensors.Values)
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{
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sensor.Deactivate();
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}
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// 激活选中的导弹
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missileActiveStatus[missileId] = true;
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missiles[missileId].Activate();
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Console.WriteLine($"已选择导弹：{missileId}");
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// 确保所有目标都处于激活状态
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foreach (var target in targets.Values)
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{
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target.Activate();
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Console.WriteLine($"确保目标 {target.Id} 处于激活状态");
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}
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// 激活相关的传感器和指示器
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ActivateRelatedSensors(missileId);
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// 打印所有注册的组件
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PrintSimulationRegisteredComponents();
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}
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/// <summary>
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/// 激活与导弹相关的传感器和指示器
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/// </summary>
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private void ActivateRelatedSensors(string missileId)
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{
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// 根据导弹类型激活相应的传感器
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switch (missileId)
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{
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case "LSGM_1": // 激光半主动制导导弹
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if (sensors.ContainsKey("LD_1"))
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{
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sensors["LD_1"].Activate();
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}
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break;
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case "LBRM_1": // 激光驾束制导导弹
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if (sensors.ContainsKey("LBR_1"))
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{
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sensors["LBR_1"].Activate();
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}
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break;
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case "ICGM_1": // 红外指令制导导弹
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case "ITGM_1": // 红外成像末制导导弹
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if (sensors.ContainsKey("IT_1"))
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{
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sensors["IT_1"].Activate();
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}
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break;
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case "TSM_1": // 末敏弹
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case "MMWG_1": // 毫米波末制导导弹
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// 这些导弹使用自身的传感器系统
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break;
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}
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}
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/// <summary>
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/// 应用干扰
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/// </summary>
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public void ApplyJamming(JammingType type, double power, double duration, Vector3D position)
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{
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var jammingParams = new JammingParameters
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{
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Type = type,
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Power = power,
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Duration = duration,
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Direction = new Vector3D(1, 0, 0)
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};
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foreach (var missile in missiles.Values)
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{
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if (missile is BaseMissile actualMissile)
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{
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// 获取导弹内部的传感器
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var infraredDetector = actualMissile.GetType().GetField("infraredDetector", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as InfraredDetector;
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var radiometer = actualMissile.GetType().GetField("radiometer", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as MillimeterWaveRadiometer;
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var rangefinder = actualMissile.GetType().GetField("rangefinder", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as LaserRangefinder;
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var altimeter = actualMissile.GetType().GetField("altimeter", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as MillimeterWaveAltimeter;
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switch (type)
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{
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case JammingType.Infrared:
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infraredDetector?.ApplyJamming(jammingParams);
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break;
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case JammingType.MillimeterWave:
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radiometer?.ApplyJamming(jammingParams);
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altimeter?.ApplyJamming(jammingParams);
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break;
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case JammingType.Laser:
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rangefinder?.ApplyJamming(jammingParams);
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break;
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}
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}
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}
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}
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/// <summary>
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/// 清除干扰
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/// </summary>
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public void ClearJamming(JammingType type)
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{
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var jammingParams = new JammingParameters
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{
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Type = type,
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Power = 0,
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Duration = 0,
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Direction = new Vector3D(1, 0, 0)
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};
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foreach (var missile in missiles.Values)
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{
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if (missile is BaseMissile actualMissile)
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{
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// 获取导弹内部的传感器
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var infraredDetector = actualMissile.GetType().GetField("infraredDetector", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as InfraredDetector;
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var radiometer = actualMissile.GetType().GetField("radiometer", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as MillimeterWaveRadiometer;
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var rangefinder = actualMissile.GetType().GetField("rangefinder", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as LaserRangefinder;
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var altimeter = actualMissile.GetType().GetField("altimeter", System.Reflection.BindingFlags.NonPublic | System.Reflection.BindingFlags.Instance)?.GetValue(actualMissile) as MillimeterWaveAltimeter;
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switch (type)
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{
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case JammingType.Infrared:
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infraredDetector?.ClearJamming(type);
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break;
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case JammingType.MillimeterWave:
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radiometer?.ClearJamming(type);
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altimeter?.ClearJamming(type);
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break;
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case JammingType.Laser:
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rangefinder?.ClearJamming(type);
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break;
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}
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}
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}
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}
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/// <summary>
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/// 开始模拟
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/// </summary>
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public void Start()
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{
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Console.WriteLine("开始综合导弹模拟...");
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// 确保所有激活的导弹和传感器都处于正确状态
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foreach (var missile in missiles.Values)
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{
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if (missileActiveStatus[missile.Id])
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{
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missile.Activate();
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}
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}
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// 确保所有目标都处于激活状态
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foreach (var target in targets.Values)
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{
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target.Activate();
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Console.WriteLine($"激活目标：{target.Id}");
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}
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// 打印仿真开始前的组件状态
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|
PrintSimulationRegisteredComponents();
|
|
|
|
// 启动仿真系统
|
|
simulationManager.StartSimulation(timeStep);
|
|
|
|
while (simulationManager.State == SimulationState.Running)
|
|
{
|
|
// 让仿真管理器统一处理所有实体的更新
|
|
simulationManager.Update(timeStep);
|
|
|
|
// 检查是否还有活跃的导弹
|
|
var activeMissiles = simulationManager.GetEntitiesByType<BaseMissile>()
|
|
.Where(m => m.IsActive);
|
|
|
|
if (!activeMissiles.Any())
|
|
{
|
|
simulationManager.StopSimulation();
|
|
SimulationEnded?.Invoke(this, EventArgs.Empty);
|
|
ResetSimulation();
|
|
break;
|
|
}
|
|
|
|
// 打印状态
|
|
PrintSimulationStatus();
|
|
|
|
Thread.Sleep((int)(timeStep * 1000));
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 打印仿真状态
|
|
/// </summary>
|
|
private void PrintSimulationStatus()
|
|
{
|
|
// 打印所有活跃导弹的状态
|
|
var activeMissiles = simulationManager.GetEntitiesByType<BaseMissile>()
|
|
.Where(m => m.IsActive);
|
|
|
|
foreach (var missile in activeMissiles)
|
|
{
|
|
Console.WriteLine("\n========== 导弹状态 ==========");
|
|
Console.WriteLine(missile.GetStatus());
|
|
}
|
|
|
|
// 打印目标状态
|
|
foreach (var target in targets.Values)
|
|
{
|
|
Console.WriteLine("\n========== 目标状态 ==========");
|
|
Console.WriteLine($"目标ID: {target.Id}");
|
|
Console.WriteLine($"位置: {target.Position}");
|
|
if (target is Tank tank)
|
|
{
|
|
Console.WriteLine($"朝向: {tank.Orientation}");
|
|
}
|
|
}
|
|
|
|
// 打印激活的传感器状态
|
|
foreach (var sensor in sensors.Values.Where(s => s.IsActive))
|
|
{
|
|
Console.WriteLine("\n========== 传感器状态 ==========");
|
|
Console.WriteLine(sensor.GetStatus());
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// 停止模拟
|
|
/// </summary>
|
|
public void Stop()
|
|
{
|
|
simulationManager.StopSimulation();
|
|
Console.WriteLine("模拟结束");
|
|
}
|
|
|
|
/// <summary>
|
|
/// 暂停模拟
|
|
/// </summary>
|
|
public void Pause()
|
|
{
|
|
simulationManager.PauseSimulation();
|
|
Console.WriteLine("模拟暂停");
|
|
}
|
|
|
|
/// <summary>
|
|
/// 恢复模拟
|
|
/// </summary>
|
|
public void Resume()
|
|
{
|
|
simulationManager.ResumeSimulation();
|
|
Console.WriteLine("模拟恢复");
|
|
}
|
|
|
|
/// <summary>
|
|
/// 重置仿真状态
|
|
/// </summary>
|
|
public void ResetSimulation()
|
|
{
|
|
// 获取所有活跃的导弹
|
|
var activeMissiles = simulationManager.GetEntitiesByType<BaseMissile>();
|
|
foreach (var missile in activeMissiles)
|
|
{
|
|
// 获取导弹的初始属性
|
|
var properties = missile.GetType().GetField("properties",
|
|
System.Reflection.BindingFlags.NonPublic |
|
|
System.Reflection.BindingFlags.Instance)?.GetValue(missile) as MissileProperties;
|
|
|
|
if (properties != null)
|
|
{
|
|
// 重置导弹位置和状态
|
|
missile.Position = properties.InitialPosition;
|
|
missile.Velocity = Vector3D.Zero;
|
|
}
|
|
missile.Deactivate();
|
|
}
|
|
|
|
// 重置所有传感器状态
|
|
var activeSensors = simulationManager.GetEntitiesByType<SimulationElement>()
|
|
.Where(e => sensors.ContainsValue(e));
|
|
foreach (var sensor in activeSensors)
|
|
{
|
|
sensor.Deactivate();
|
|
}
|
|
|
|
// 重置所有目标状态
|
|
var activeTargets = simulationManager.GetEntitiesByType<Tank>();
|
|
foreach (var target in activeTargets)
|
|
{
|
|
var initialPosition = target.Position;
|
|
target.Deactivate();
|
|
target.Position = initialPosition;
|
|
target.Activate();
|
|
}
|
|
|
|
// 重置导弹激活状态
|
|
missileActiveStatus.Clear();
|
|
foreach (var missile in missiles.Values)
|
|
{
|
|
missileActiveStatus[missile.Id] = false;
|
|
}
|
|
|
|
Console.WriteLine("仿真状态已重置");
|
|
}
|
|
|
|
/// <summary>
|
|
/// 打印所有注册到仿真管理器中的组件
|
|
/// </summary>
|
|
public void PrintSimulationRegisteredComponents()
|
|
{
|
|
Console.WriteLine("\n========== 仿真管理器中的注册组件 ==========");
|
|
var allEntities = simulationManager.GetAllEntities();
|
|
foreach (var entity in allEntities)
|
|
{
|
|
if (entity is SimulationElement simElement)
|
|
{
|
|
Console.WriteLine($"{simElement.Id} ({entity.GetType().Name})");
|
|
}
|
|
else
|
|
{
|
|
Console.WriteLine($"未知组件 ({entity.GetType().Name})");
|
|
}
|
|
}
|
|
Console.WriteLine($"总计: {allEntities.Count()} 个组件");
|
|
}
|
|
|
|
/// <summary>
|
|
/// 获取当前活动的传感器列表
|
|
/// </summary>
|
|
public (string Id, string Name, bool IsActive)[] GetActiveSensors()
|
|
{
|
|
return sensors.Select(s => (
|
|
s.Value.Id,
|
|
GetSensorDisplayName(s.Value),
|
|
s.Value.IsActive
|
|
)).ToArray();
|
|
}
|
|
|
|
/// <summary>
|
|
/// 获取传感器的显示名称
|
|
/// </summary>
|
|
private string GetSensorDisplayName(SimulationElement sensor)
|
|
{
|
|
return sensor switch
|
|
{
|
|
LaserDesignator _ => "激光目标指示器",
|
|
LaserBeamRider _ => "激光驾束仪",
|
|
InfraredTracker _ => "红外测角仪",
|
|
_ => sensor.Id
|
|
};
|
|
}
|
|
|
|
/// <summary>
|
|
/// 切换传感器的激活状态
|
|
/// </summary>
|
|
public void ToggleSensor(string sensorId)
|
|
{
|
|
if (sensors.TryGetValue(sensorId, out var sensor))
|
|
{
|
|
if (sensor.IsActive)
|
|
sensor.Deactivate();
|
|
else
|
|
sensor.Activate();
|
|
|
|
Console.WriteLine($"传感器 {GetSensorDisplayName(sensor)} 已{(sensor.IsActive ? "激活" : "停用")}");
|
|
}
|
|
}
|
|
}
|
|
} |