611 lines
22 KiB
C#
611 lines
22 KiB
C#
using System.Diagnostics;
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using ThreatSource.Simulation;
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using ThreatSource.Utils;
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using System.Reflection;
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namespace ThreatSource.Missile
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{
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/// <summary>
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/// 导弹基类，实现了导弹的基本功能和状态管理
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/// </summary>
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/// <remarks>
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/// 该类提供了导弹的核心功能：
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/// - 运动状态计算和更新
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/// - 制导系统管理
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/// - 发动机控制
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/// - 自毁和爆炸处理
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/// - 状态监控和事件处理
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/// 所有具体的导弹类型都继承自此基类
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/// </remarks>
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public class BaseMissile : SimulationElement, IMissile
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{
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/// <summary>
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/// 获取导弹的当前飞行时间
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/// </summary>
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/// <value>飞行时间，单位：秒</value>
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/// <remarks>
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/// 从发射时刻开始计时
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/// 用于控制导弹的生命周期
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/// </remarks>
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public double FlightTime { get; protected set; }
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/// <summary>
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/// 获取导弹的当前飞行距离
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/// </summary>
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/// <value>飞行距离，单位：米</value>
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/// <remarks>
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/// 从发射点到当前位置的累计飞行距离
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/// 用于判断是否超出最大射程
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/// </remarks>
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public double FlightDistance { get; protected set; }
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/// <summary>
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/// 获取发动机的当前燃烧时间
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/// </summary>
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/// <value>发动机燃烧时间，单位：秒</value>
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/// <remarks>
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/// 发动机工作的累计时间
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/// 用于控制推力变化和燃料消耗
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/// </remarks>
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public double EngineBurnTime { get; protected set; }
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/// <summary>
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/// 获取导弹是否处于制导状态
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/// </summary>
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/// <value>true表示导弹当前在制导，false表示导弹处于非制导状态</value>
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/// <remarks>
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/// 影响导弹的运动学计算方法
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/// 制导状态下使用制导律计算加速度
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/// 非制导状态下使用弹道方程计算运动
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/// </remarks>
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public bool IsGuidance { get; protected set; }
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/// <summary>
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/// 获取或设置导弹失去制导的持续时间
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/// </summary>
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/// <value>失去制导的时间，单位：秒</value>
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/// <remarks>
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/// 用于判断是否需要触发自毁
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/// 超过阈值时可能导致导弹自毁
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/// </remarks>
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protected double LostGuidanceTime { get; set; } = 0;
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/// <summary>
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/// 获取或设置导弹的最后已知速度向量
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/// </summary>
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/// <value>三维速度向量</value>
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/// <remarks>
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/// 用于在失去制导时保持导弹的运动状态
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/// 作为弹道计算的参考数据
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/// </remarks>
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protected Vector3D LastKnownVelocity = Vector3D.Zero;
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/// <summary>
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/// 获取或设置导弹的制导加速度
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/// </summary>
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/// <value>三维加速度向量，单位：米/秒²</value>
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/// <remarks>
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/// 由制导系统计算得出的期望加速度
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/// 用于修正导弹的飞行路径
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/// </remarks>
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protected Vector3D GuidanceAcceleration { get; set; } = Vector3D.Zero;
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/// <summary>
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/// 获取或设置导弹的推力加速度
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/// </summary>
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/// <value>三维加速度向量，单位：米/秒²</value>
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/// <remarks>
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/// 由发动机产生的推进加速度
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/// 影响导弹的速度变化
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/// </remarks>
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protected Vector3D ThrustAcceleration { get; set; }
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/// <summary>
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/// 获取或设置导弹的升力加速度
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/// </summary>
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/// <value>三维加速度向量，单位：米/秒²</value>
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/// <remarks>
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/// 由升力产生的加速度
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/// 影响导弹的垂直运动
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/// </remarks>
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protected Vector3D LiftAcceleration { get; set; }
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/// <summary>
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/// 重力加速度（北京标准值）
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/// </summary>
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private static readonly Vector3D GravityAcceleration = new(0, -PhysicalConstants.BeijingGravity, 0);
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/// <summary>
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/// 获取导弹的固定配置参数
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/// </summary>
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/// <value>导弹属性配置对象</value>
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/// <remarks>
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/// 包含导弹的所有基本属性和性能限制
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/// 在导弹创建时设置，运行期间保持不变
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/// </remarks>
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public readonly MissileProperties Properties;
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/// <summary>
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/// 标准导弹三段式飞行阶段
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/// </summary>
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public enum MissileFlightStage
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{
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/// <summary>
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/// 发射阶段
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/// </summary>
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Launch,
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/// <summary>
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/// 巡航阶段
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/// </summary>
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Cruise,
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/// <summary>
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/// 制导阶段
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/// </summary>
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Guidance
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}
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/// <summary>
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/// 当前飞行阶段
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/// </summary>
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protected MissileFlightStage currentStage = MissileFlightStage.Launch;
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/// <summary>
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/// 初始化导弹基类的新实例
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/// </summary>
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/// <param name="missileId">导弹ID</param>
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/// <param name="properties">导弹属性配置</param>
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/// <param name="kinematicState">发射参数</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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/// - 设置性能限制
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/// - 配置运动参数
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/// - 建立仿真管理器关联
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/// </remarks>
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protected BaseMissile(
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string missileId,
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MissileProperties properties,
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KinematicState kinematicState,
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ISimulationManager manager)
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: base(missileId, kinematicState, manager)
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{
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// 设置性能限制
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Properties = properties;
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// 初始化状态
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EngineBurnTime = 0;
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FlightTime = 0;
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FlightDistance = 0;
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IsActive = false;
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IsGuidance = false;
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GuidanceAcceleration = Vector3D.Zero;
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LiftAcceleration = Vector3D.Zero;
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// 计算初始推力加速度
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Vector3D launchDirection = kinematicState.Orientation.ToVector().Normalize();
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ThrustAcceleration = launchDirection * properties.LaunchAcceleration;
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}
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/// <summary>
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/// 判断是否为末敏弹类型
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/// </summary>
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protected bool IsTerminalSensitiveType()
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{
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return Properties.Type == MissileType.TerminalSensitiveSubmunition;
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}
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/// <summary>
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/// 供末敏弹等特殊导弹重写的自定义阶段更新方法
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/// </summary>
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protected virtual void UpdateCustomStages(double deltaTime) { }
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/// <summary>
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/// 更新导弹的状态
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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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/// - 检查导弹是否处于活动状态
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/// - 更新导弹的运动状态
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/// - 更新计时器和计数器
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/// </remarks>
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public override void Update(double deltaTime)
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{
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if (!IsActive) return;
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// 末敏弹等特殊类型走自定义流程
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if (!IsTerminalSensitiveType())
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{
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// 标准三段式流程
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switch (currentStage)
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{
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case MissileFlightStage.Launch:
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OnLaunchStage(deltaTime);
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break;
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case MissileFlightStage.Cruise:
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OnCruiseStage(deltaTime);
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break;
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case MissileFlightStage.Guidance:
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OnGuidanceStage(deltaTime);
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break;
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}
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}
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// 公共运动学与生命周期管理
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UpdateMotionState(deltaTime);
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if (ShouldSelfDestruct())
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{
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SelfDestruct();
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}
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}
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/// <summary>
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/// 发射阶段默认实现
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/// </summary>
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protected virtual void OnLaunchStage(double deltaTime)
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{
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// 发射阶段不使用制导
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GuidanceAcceleration = Vector3D.Zero;
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// 计算升力加速度。在发射阶段，升力加速度和攻角相关
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LiftAcceleration = LiftModel.CalculateLiftAcceleration(KState.Orientation.Pitch * 180 / Math.PI);
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// 发射阶段结束，进入巡航阶段
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if (FlightTime >= Properties.MaxEngineBurnTime)
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{
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currentStage = MissileFlightStage.Cruise;
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}
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}
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/// <summary>
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/// 巡航阶段默认实现
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/// </summary>
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protected virtual void OnCruiseStage(double deltaTime)
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{
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// 巡航阶段不使用制导
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GuidanceAcceleration = Vector3D.Zero;
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if(KState.Orientation.Pitch > 0)
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{
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KState.Orientation = new Orientation(KState.Orientation.Yaw, -0.01, KState.Orientation.Roll);
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}
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// 计算升力加速度。在巡航阶段，升力加速度与重力加速度抵消
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LiftAcceleration = new Vector3D(0, PhysicalConstants.BeijingGravity, 0);
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// 巡航阶段结束，进入制导阶段
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if (FlightTime >= Properties.MaxEngineBurnTime + Properties.CruiseTime)
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{
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currentStage = MissileFlightStage.Guidance;
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}
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}
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/// <summary>
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/// 制导阶段默认实现
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/// </summary>
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protected virtual void OnGuidanceStage(double deltaTime)
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{
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// 计算升力加速度。在制导阶段，升力加速度和攻角相关；
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LiftAcceleration = LiftModel.CalculateLiftAcceleration(KState.Orientation.Pitch * 180 / Math.PI);
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}
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/// <summary>
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/// 更新导弹的运动状态
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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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/// - 计算包含风影响的合加速度
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/// - 根据制导状态选择运动更新方法
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/// - 更新导弹的位置和速度
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/// </remarks>
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protected virtual void UpdateMotionState(double deltaTime)
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{
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// 检查发动机是否仍在提供推力
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if (ThrustAcceleration != Vector3D.Zero)
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{
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EngineBurnTime += deltaTime; // 累加燃烧时间
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if (EngineBurnTime >= Properties.MaxEngineBurnTime || KState.Speed >= Properties.MaxSpeed)
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{
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string reason = EngineBurnTime >= Properties.MaxEngineBurnTime ?
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$"达到最大燃烧时间({Properties.MaxEngineBurnTime}s)" :
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$"达到最大速度({KState.Speed:F2}m/s >= {Properties.MaxSpeed}m/s)";
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Debug.WriteLine($"导弹 {Id}: 发动机推力已于飞行时间 {FlightTime:F2}s 关闭。原因: {reason}");
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ThrustAcceleration = Vector3D.Zero; // 关闭推力
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}
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}
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// 计算包含风影响的合加速度
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Vector3D acceleration = CalculateAcceleration(KState.Velocity);
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if (IsGuidance)
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{
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// 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
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(KState.Position, KState.Velocity) = MotionAlgorithm.RungeKutta4(deltaTime, KState.Position, KState.Velocity, acceleration);
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}
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else
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{
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// 无制导条件下，使用运动学方程更新导弹的位置和速度
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(KState.Position, KState.Velocity) = MotionAlgorithm.CalculateBallisticMotion(KState.Position, KState.Velocity, acceleration, deltaTime);
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}
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// 在制导阶段，导弹指向速度方向（便于搜索跟踪）
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if(currentStage == MissileFlightStage.Guidance)
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{
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KState.Orientation = Orientation.FromVector(KState.Velocity);
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}
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// 限制速度不超过最大速度
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if (KState.Speed > Properties.MaxSpeed)
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{
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KState.Speed = Properties.MaxSpeed;
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}
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// 添加高斯噪声(测试用，用于测试运动中概率的影响)
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// Position = MotionAlgorithm.AddRandomPerturbation(Position);
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// Velocity = MotionAlgorithm.AddRandomPerturbation(Velocity);
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FlightTime += deltaTime;
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FlightDistance += KState.Speed * deltaTime;
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}
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/// <summary>
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/// 计算导弹的合加速度
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/// </summary>
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/// <param name="velocity">当前速度向量</param>
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/// <returns>合加速度向量</returns>
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/// <remarks>
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/// 计算过程：
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/// - 获取当前风速向量
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/// - 计算空气阻力加速度（已考虑风）
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/// - 合成总加速度（制导加速度 + 推力加速度 + 空气阻力加速度 + 重力加速度）
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/// - 限制合加速度不超过最大值
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/// </remarks>
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private Vector3D CalculateAcceleration(Vector3D velocity)
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{
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// 获取当前风速向量
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Vector3D windVector = GetWindVectorFromWeather();
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// 计算空气阻力加速度（考虑风的影响）
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Vector3D dragAcceleration = MotionAlgorithm.CalculateDragAcceleration(velocity, windVector, Properties.Mass);
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// 合成总加速度（制导加速度 + 推力加速度 + 空气阻力加速度 + 升力加速度 + 重力加速度）
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Vector3D totalAcceleration = GuidanceAcceleration + ThrustAcceleration + dragAcceleration + LiftAcceleration + GravityAcceleration;
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Debug.WriteLine($"导弹 {Id} 的加速度: {totalAcceleration}, 制导: {GuidanceAcceleration}, " +
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$"推力: {ThrustAcceleration}, 空阻(含风): {dragAcceleration}, 升力: {LiftAcceleration}, 重力: {GravityAcceleration}");
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if (totalAcceleration.Magnitude() > Properties.MaxAcceleration)
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{
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totalAcceleration = totalAcceleration.Normalize() * Properties.MaxAcceleration;
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}
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return totalAcceleration;
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}
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/// <summary>
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/// 从天气系统获取当前的风速向量
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/// </summary>
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/// <returns>风速向量，单位：米/秒</returns>
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protected Vector3D GetWindVectorFromWeather()
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{
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var weather = SimulationManager.CurrentWeather;
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if (weather == null)
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return Vector3D.Zero;
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return MotionAlgorithm.CalculateWindVector(weather.WindSpeed, weather.WindDirection);
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}
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/// <summary>
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/// 发射导弹
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/// </summary>
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/// <remarks>
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/// 发射过程：
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/// - 开始计时和计数
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/// - 启动发动机
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/// - 初始化运动状态
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/// </remarks>
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public virtual void Fire()
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{
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// 子类可以重写此方法来处理发射时的特殊逻辑
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}
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/// <summary>
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/// 检查是否应该自毁
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/// </summary>
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/// <returns>true表示需要自毁，false表示可以继续飞行</returns>
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/// <remarks>
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/// 自毁条件：
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/// - 超出最大飞行时间
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/// - 超出最大飞行距离
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/// - 有制导时：高度低于负爆炸半径（考虑仿真步长）
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/// - 无制导时：高度低于安全阈值
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/// </remarks>
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protected bool ShouldSelfDestruct()
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{
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// 基本条件判断
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if (FlightTime >= Properties.MaxFlightTime
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|| FlightDistance >= Properties.MaxFlightDistance)
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{
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return true;
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}
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// 根据制导状态判断自毁高度
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if (IsGuidance)
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{
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// 有制导时，在负爆炸半径高度自毁（考虑仿真步长）
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return KState.Position.Y <= -Properties.ExplosionRadius;
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}
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else
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{
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// 无制导时，在自毁高度自毁
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return KState.Position.Y <= Properties.SelfDestructHeight;
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}
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}
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/// <summary>
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/// 导弹爆炸
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/// </summary>
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/// <remarks>
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/// 爆炸过程：
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/// - 停止导弹运动
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/// - 触发爆炸效果
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/// - 发布爆炸事件
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/// - 结束导弹任务
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/// </remarks>
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public virtual void Explode()
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{
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OnExplode();
|
||
Deactivate();
|
||
}
|
||
|
||
/// <summary>
|
||
/// 爆炸后处理
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 爆炸后处理：
|
||
/// - 设置导弹状态为非活动
|
||
/// - 触发爆炸事件
|
||
/// </remarks>
|
||
protected virtual void OnExplode()
|
||
{
|
||
// 子类可以重写此方法来处理爆炸时的特殊逻辑
|
||
}
|
||
|
||
/// <summary>
|
||
/// 导弹自毁
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 自毁过程：
|
||
/// - 记录自毁原因
|
||
/// - 停止导弹运动
|
||
/// - 触发自毁效果
|
||
/// - 结束导弹任务
|
||
/// </remarks>
|
||
public void SelfDestruct()
|
||
{
|
||
string reason;
|
||
if (FlightTime >= Properties.MaxFlightTime)
|
||
{
|
||
reason = "超出最大飞行时间";
|
||
}
|
||
else if (FlightDistance >= Properties.MaxFlightDistance)
|
||
{
|
||
reason = "超出最大飞行距离";
|
||
}
|
||
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 && KState.Position.Y <= Properties.SelfDestructHeight)
|
||
{
|
||
reason = "无制导状态下高度低于自毁高度";
|
||
}
|
||
else
|
||
{
|
||
reason = "未知原因触发自毁";
|
||
}
|
||
|
||
Trace.TraceInformation($"导弹 {Id} 自毁。原因: {reason}");
|
||
OnSelfDestruct();
|
||
Deactivate();
|
||
}
|
||
/// <summary>
|
||
/// 自毁后处理
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 自毁后处理：
|
||
/// - 设置导弹状态为非活动
|
||
/// - 触发自毁事件
|
||
/// </remarks>
|
||
protected virtual void OnSelfDestruct()
|
||
{
|
||
// 子类可以重写此方法来处理自毁时的特殊逻辑
|
||
}
|
||
|
||
/// <summary>
|
||
/// 激活导弹
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 激活过程：
|
||
/// - 调用基类激活方法
|
||
/// - 订阅目标命中事件
|
||
/// </remarks>
|
||
public override void Activate()
|
||
{
|
||
base.Activate();
|
||
SimulationManager.SubscribeToEvent<TargetHitEvent>(OnTargetHitEvent);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 停用导弹
|
||
/// </summary>
|
||
/// <remarks>
|
||
/// 停用过程：
|
||
/// - 调用基类停用方法
|
||
/// - 取消订阅目标命中事件
|
||
/// </remarks>
|
||
public override void Deactivate()
|
||
{
|
||
base.Deactivate();
|
||
SimulationManager.UnsubscribeFromEvent<TargetHitEvent>(OnTargetHitEvent);
|
||
}
|
||
|
||
private void OnTargetHitEvent(TargetHitEvent eventData)
|
||
{
|
||
if (eventData.MissileId == Id)
|
||
{
|
||
Explode();
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取导弹状态信息
|
||
/// </summary>
|
||
/// <returns>导弹状态信息</returns>
|
||
/// <remarks>
|
||
/// 返回信息包括：
|
||
/// - 基本状态信息
|
||
/// - 导弹固有属性
|
||
/// - 导弹运行时状态
|
||
/// </remarks>
|
||
public override ElementStatusInfo GetStatusInfo()
|
||
{
|
||
// 获取基础状态信息
|
||
var statusInfo = base.GetStatusInfo();
|
||
|
||
// 使用反射动态添加来自 this.Properties 的导弹固有属性
|
||
if (Properties != null)
|
||
{
|
||
var propertiesType = Properties.GetType();
|
||
var props = propertiesType.GetProperties(BindingFlags.Public | BindingFlags.Instance);
|
||
|
||
foreach (var prop in props)
|
||
{
|
||
if (prop.CanRead)
|
||
{
|
||
object? propValue = prop.GetValue(Properties);
|
||
if (propValue != null)
|
||
{
|
||
statusInfo.ExtendedProperties[prop.Name] = propValue;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
// 添加 BaseMissile 类的运行时状态参数
|
||
statusInfo.ExtendedProperties["FlightTime"] = FlightTime;
|
||
statusInfo.ExtendedProperties["FlightDistance"] = FlightDistance;
|
||
statusInfo.ExtendedProperties["EngineBurnTime"] = EngineBurnTime;
|
||
statusInfo.ExtendedProperties["CurrentStage"] = currentStage.ToString();
|
||
statusInfo.ExtendedProperties["IsGuidance"] = IsGuidance;
|
||
statusInfo.ExtendedProperties["LostGuidanceTime"] = LostGuidanceTime;
|
||
statusInfo.ExtendedProperties["GuidanceAcceleration"] = GuidanceAcceleration;
|
||
|
||
return statusInfo;
|
||
}
|
||
}
|
||
}
|