增加车队布局与刚体速度分配基础

2026-08-20 17:43:02 +08:00
parent 0d5539e595
commit fea2265e2d
30 changed files with 404 additions and 121 deletions
@@ -0,0 +1,76 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+
+namespace MyParking.Shared
+{
+    // 编队固定布局快照，车队坐标系原点就是编队参考中心。
+    public sealed class FleetLayout
+    {
+        private readonly ReadOnlyCollection<VehicleLayout> _vehicles;
+
+        public FleetLayout(IReadOnlyList<VehicleLayout> vehicles)
+        {
+            if (vehicles == null)
+            {
+                throw new ArgumentNullException(nameof(vehicles));
+            }
+
+            if (vehicles.Count == 0)
+            {
+                throw new ArgumentException(
+                    "编队布局至少需要包含一辆车。",
+                    nameof(vehicles));
+            }
+
+            var snapshot = new VehicleLayout[vehicles.Count];
+            var vehicleIds = new HashSet<int>();
+
+            for (var index = 0; index < vehicles.Count; index++)
+            {
+                var vehicle = vehicles[index];
+                if (vehicle.VehicleId <= 0)
+                {
+                    throw new ArgumentOutOfRangeException(
+                        nameof(vehicles),
+                        $"第{index}辆车的编号必须大于零。");
+                }
+
+                if (!vehicleIds.Add(vehicle.VehicleId))
+                {
+                    throw new ArgumentException(
+                        $"编队布局包含重复车号{vehicle.VehicleId}。",
+                        nameof(vehicles));
+                }
+
+                NumericGuard.EnsureFinite(
+                    vehicle.PoseInFleet,
+                    $"{nameof(vehicles)}[{index}].{nameof(VehicleLayout.PoseInFleet)}");
+                snapshot[index] = vehicle;
+            }
+
+            _vehicles = Array.AsReadOnly(snapshot);
+        }
+
+        public IReadOnlyList<VehicleLayout> Vehicles => _vehicles;
+
+        public int VehicleCount => _vehicles.Count;
+
+        public bool TryGetVehicle(
+            int vehicleId,
+            out VehicleLayout vehicle)
+        {
+            for (var index = 0; index < _vehicles.Count; index++)
+            {
+                if (_vehicles[index].VehicleId == vehicleId)
+                {
+                    vehicle = _vehicles[index];
+                    return true;
+                }
+            }
+
+            vehicle = default;
+            return false;
+        }
+    }
+}