import pygame import math import random import sys pygame.init() # 窗口设置 SCREEN_W, SCREEN_H = 1200, 750 PANEL_W = 300 SEA_W, SEA_H = SCREEN_W - PANEL_W, SCREEN_H FPS = 60 # 颜色 C_DEEP = (8, 20, 60) C_SEA1 = (15, 40, 90) C_SEA2 = (25, 60, 120) C_WHITE = (240, 240, 240) C_BLACK = (0, 0, 0) C_RED = (220, 50, 50) C_GREEN = (50, 200, 50) C_YELLOW = (255, 220, 50) C_GRAY = (80, 90, 110) C_LGRAY = (160, 180, 200) C_ORANGE = (255, 150, 30) # 船舶参数 MAX_SPEED = 8.0 # 像素/帧 (~480 px/s @60fps) NOMOTO_K = 0.12 # 回转性指数 NOMOTO_T = 2.0 # 追随性指数 (时间常数) RUDDER_MAX = 35 # 最大舵角 (度) RUDDER_RATE = 2.0 # 舵角变化速率 (度/帧) DRIFT_COEFF = 0.02 # 侧向漂移系数 ROLL_AMPLITUDE = 1.5 # 横摇幅度 (视觉用) # 初始环境 WIND_SPEED = 2.0 # 节 WIND_DIR = 45 # 度 (气象方向，0=北) CURRENT_SPEED = 0.8 CURRENT_DIR = 200 # 随机目标 (雷达用) NUM_RADAR_TARGETS = 5 def draw_ship(surf, pos, heading, scale=1.2): """绘制较逼真的机动船""" length = 35 * scale width = 14 * scale # 船体多边形 (船头向右) points = [ (length, 0), (length*0.5, -width*0.5), (-length*0.6, -width), (-length*0.8, -width*0.4), (-length*0.8, width*0.4), (-length*0.6, width), (length*0.5, width*0.5) ] rad = math.radians(heading) cos_a, sin_a = math.cos(rad), math.sin(rad) rot = [] for x, y in points: rx = x * cos_a - y * sin_a ry = x * sin_a + y * cos_a rot.append((pos[0] + rx, pos[1] - ry)) pygame.draw.polygon(surf, (200, 200, 210), rot) pygame.draw.polygon(surf, (100, 100, 120), rot, 2) # 上层建筑 bridge_pts = [ (length*0.3, -width*0.2), (-length*0.2, -width*0.2), (-length*0.2, width*0.2), (length*0.3, width*0.2) ] rot_b = [] for x, y in bridge_pts: rx = x * cos_a - y * sin_a ry = x * sin_a + y * cos_a rot_b.append((pos[0] + rx, pos[1] - ry)) pygame.draw.polygon(surf, (140, 140, 160), rot_b) def draw_compass_rose(surf, center, heading, radius=55): """绘制航海罗经卡""" pygame.draw.circle(surf, (20, 20, 40), center, radius) pygame.draw.circle(surf, C_WHITE, center, radius, 3) for deg in range(0, 360, 5): rad = math.radians(deg) inner = radius - 6 if deg % 30 == 0 else radius - 3 outer = radius - 1 col = C_RED if deg % 90 == 0 else C_WHITE if deg % 10 == 0: start = (center[0] + inner * math.cos(rad), center[1] - inner * math.sin(rad)) end = (center[0] + outer * math.cos(rad), center[1] - outer * math.sin(rad)) pygame.draw.line(surf, col, start, end, 2) # 指北标记 north_angle = math.radians(0) n_end = (center[0] + (radius-15) * math.cos(north_angle), center[1] - (radius-15) * math.sin(north_angle)) pygame.draw.line(surf, C_RED, center, n_end, 4) font = pygame.font.Font(None, 20) n_text = font.render("N", True, C_RED) surf.blit(n_text, (n_end[0]-5, n_end[1]-10)) # 船首线 rad_h = math.radians(heading) line_end = (center[0] + (radius-15) * math.cos(rad_h), center[1] - (radius-15) * math.sin(rad_h)) pygame.draw.line(surf, C_YELLOW, center, line_end, 4) def draw_circular_gauge(surf, center, value, max_val, label, color, radius=35): """圆形仪表（速度、舵角等）""" rect = pygame.Rect(center[0]-radius, center[1]-radius, radius*2, radius*2) # 背景弧 pygame.draw.arc(surf, C_GRAY, rect, math.radians(135), math.radians(45), 10) # 指示弧 angle_range = 270 start_angle = 135 val_angle = start_angle + (value / max_val) * angle_range if val_angle > 360: val_angle -= 360 pygame.draw.arc(surf, color, rect, math.radians(start_angle), math.radians(val_angle), 10) # 指针 pointer_angle = math.radians(val_angle) pointer_len = radius - 8 end_x = center[0] + pointer_len * math.cos(pointer_angle) end_y = center[1] - pointer_len * math.sin(pointer_angle) pygame.draw.line(surf, color, center, (end_x, end_y), 3) # 标签 font = pygame.font.Font(None, 18) text = font.render(label, True, C_WHITE) surf.blit(text, (center[0]-text.get_width()//2, center[1]+radius-10)) val_str = f"{value:.0f}" if isinstance(value, float) else str(value) val_surf = font.render(val_str, True, C_WHITE) surf.blit(val_surf, (center[0]-val_surf.get_width()//2, center[1]-radius-15)) def draw_radar(surf, center, radius, scan_angle, targets, ship_pos, ship_heading): """雷达PPI显示""" # 背景 pygame.draw.circle(surf, (0, 30, 0), center, radius) pygame.draw.circle(surf, (0, 80, 0), center, radius, 2) # 刻度圆 for r in range(radius//4, radius, radius//4): pygame.draw.circle(surf, (0, 120, 0), center, r, 1) # 扫描线 end_x = center[0] + radius * math.cos(math.radians(scan_angle)) end_y = center[1] - radius * math.sin(math.radians(scan_angle)) pygame.draw.line(surf, (0, 255, 0), center, (end_x, end_y), 2) # 目标回波 (世界坐标转雷达坐标，范围缩放) scale = radius / 300 # 假设雷达范围300像素 for tx, ty in targets: dx = tx - ship_pos[0] dy = ship_pos[1] - ty # 注意Y轴反转 dist = math.hypot(dx, dy) if dist > 300: continue bearing = math.degrees(math.atan2(dy, dx)) - ship_heading rad_b = math.radians(bearing) rx = center[0] + dist * scale * math.cos(rad_b) ry = center[1] - dist * scale * math.sin(rad_b) pygame.draw.circle(surf, (0, 255, 0), (int(rx), int(ry)), 3) def main(): screen = pygame.display.set_mode((SCREEN_W, SCREEN_H)) pygame.display.set_caption("专业航海模拟器 - Marine Simulator Pro") clock = pygame.time.Clock() font_sm = pygame.font.Font(None, 20) font_md = pygame.font.Font(None, 24) # 船只状态 (世界坐标，海图区域左下角为原点，向右向上为正) ship_x = 400.0 ship_y = 400.0 heading = 0.0 # 度，0=东，90=北 speed = 0.0 # 像素/帧 rudder = 0.0 # 舵角 throttle = 0 # 0-10 yaw_rate = 0.0 # 转首角速度 (度/帧) roll_angle = 0.0 # 横摇视觉角度 # 环境 wind_speed = WIND_SPEED wind_dir = WIND_DIR curr_speed = CURRENT_SPEED curr_dir = CURRENT_DIR # 航路点与自动舵 waypoint = None # (x, y) 世界坐标 auto_pilot = False radar_on = True radar_scan = 0.0 # 雷达目标 (随机船只/浮标) targets = [] for _ in range(NUM_RADAR_TARGETS): targets.append((random.uniform(100, 800), random.uniform(100, 700))) # 随机目标运动方向 target_speeds = [(random.uniform(-0.3, 0.3), random.uniform(-0.3, 0.3)) for _ in targets] # 岛屿轮廓 (世界坐标多边形) islands = [ [(200, 200), (250, 180), (300, 220), (280, 280), (220, 270)], [(600, 500), (650, 480), (680, 520), (640, 560), (600, 540)] ] # 浅滩区域 (简单矩形) shoals = [pygame.Rect(100, 500, 100, 80), pygame.Rect(700, 200, 120, 90)] wake = [] running = True while running: dt = clock.tick(FPS) / 1000.0 for event in pygame.event.get(): if event.type == pygame.QUIT: running = False elif event.type == pygame.MOUSEBUTTONDOWN: if event.button == 1: # 左键设置航路点 mx, my = event.pos if mx < SEA_W: # 点击在海图区域 # 屏幕坐标转换为世界坐标（视口中心对齐船） world_x = ship_x + (mx - SEA_W/2) world_y = ship_y + (SEA_H/2 - my) waypoint = (world_x, world_y) elif event.type == pygame.KEYDOWN: if event.key == pygame.K_a: auto_pilot = not auto_pilot elif event.key == pygame.K_r: radar_on = not radar_on # 键盘输入 keys = pygame.key.get_pressed() if keys[pygame.K_UP]: throttle = min(10, throttle + 1) if keys[pygame.K_DOWN]: throttle = max(0, throttle - 1) if keys[pygame.K_LEFT]: rudder = max(-RUDDER_MAX, rudder - RUDDER_RATE) elif keys[pygame.K_RIGHT]: rudder = min(RUDDER_MAX, rudder + RUDDER_RATE) else: if rudder > 0: rudder = max(0, rudder - RUDDER_RATE*0.5) else: rudder = min(0, rudder + RUDDER_RATE*0.5) # 速度变化 target_spd = (throttle / 10.0) * MAX_SPEED if speed < target_spd: speed += 0.08 else: speed -= 0.03 if throttle == 0 and speed < 0.05: speed = 0 speed = max(0, speed) # 自动舵 PID 控制航向 if auto_pilot and waypoint: dx = waypoint[0] - ship_x dy = waypoint[1] - ship_y target_heading = math.degrees(math.atan2(dy, dx)) heading_error = (target_heading - heading + 360) % 360 if heading_error > 180: heading_error -= 360 rudder_pid = -0.8 * heading_error # 简单P控制 rudder_pid = max(-RUDDER_MAX, min(RUDDER_MAX, rudder_pid)) rudder = rudder_pid else: # 手动舵已在前面设置 pass # 船舶运动模型 (Nomoto 一阶) # r = yaw_rate, δ = rudder yaw_rate += (NOMOTO_K * rudder - yaw_rate) / NOMOTO_T heading = (heading + yaw_rate) % 360 # 侧向漂移 (与 yaw_rate 和风相关) drift_angle = -0.8 * yaw_rate * DRIFT_COEFF # 转向时侧滑 # 风的影响 wind_rad = math.radians(wind_dir) wind_vec = (wind_speed * math.cos(wind_rad), -wind_speed * math.sin(wind_rad)) ship_rad = math.radians(heading) ship_dir = (math.cos(ship_rad), -math.sin(ship_rad)) ship_side = (-ship_dir[1], ship_dir[0]) wind_along = wind_vec[0]*ship_dir[0] + wind_vec[1]*ship_dir[1] wind_cross = wind_vec[0]*ship_side[0] + wind_vec[1]*ship_side[1] speed += wind_along * 0.002 drift_x = wind_cross * DRIFT_COEFF * 2 + drift_angle * ship_side[0] drift_y = wind_cross * DRIFT_COEFF * 2 + drift_angle * ship_side[1] # 流漂移 curr_rad = math.radians(curr_dir) curr_vec = (curr_speed * math.cos(curr_rad), -curr_speed * math.sin(curr_rad)) ship_x += curr_vec[0] * 0.4 ship_y += curr_vec[1] * 0.4 # 位移 ship_x += ship_dir[0] * speed + drift_x ship_y += ship_dir[1] * speed + drift_y # 横摇模拟 roll_angle = math.sin(pygame.time.get_ticks()*0.02) * ROLL_AMPLITUDE * (speed/MAX_SPEED) # 尾迹 wake.append((ship_x, ship_y)) if len(wake) > 300: wake.pop(0) # 移动雷达目标 for i in range(len(targets)): tx, ty = targets[i] vx, vy = target_speeds[i] tx += vx ty += vy if tx < 0 or tx > 1000: target_speeds[i] = (-vx, vy) if ty < 0 or ty > 800: target_speeds[i] = (vx, -vy) targets[i] = (tx, ty) # 雷达扫描角度 radar_scan = (radar_scan + 1.5) % 360 # ---------------- 渲染 ---------------- screen.fill(C_DEEP) # 海图区域 (视口跟随船只) sea_surf = pygame.Surface((SEA_W, SEA_H)) sea_surf.fill(C_SEA1) # 绘制动态波浪条纹 for i in range(0, SEA_H, 15): y_off = i + 4 * math.sin(pygame.time.get_ticks()*0.005 + i*0.1) col = (20 + int(10 * math.sin(i*0.05)), 50 + int(20*math.cos(i*0.1)), 140) pygame.draw.line(sea_surf, col, (0, y_off), (SEA_W, y_off), 1) # 世界坐标 -> 屏幕坐标转换 def world_to_screen(wx, wy): sx = SEA_W/2 + (wx - ship_x) sy = SEA_H/2 - (wy - ship_y) return int(sx), int(sy) # 绘制浅滩 for shoal in shoals: sx, sy = world_to_screen(shoal.x, shoal.y + shoal.height) rect = pygame.Rect(sx, sy, shoal.width, shoal.height) pygame.draw.rect(sea_surf, (30, 70, 130), rect) pygame.draw.rect(sea_surf, C_GRAY, rect, 1) # 绘制岛屿 for island in islands: pts = [world_to_screen(x, y) for (x, y) in island] if len(pts) > 2: pygame.draw.polygon(sea_surf, (34, 139, 34), pts) pygame.draw.polygon(sea_surf, (0, 100, 0), pts, 2) # 绘制雷达目标 (小型船只) for tx, ty in targets: sx, sy = world_to_screen(tx, ty) if 0 <= sx < SEA_W and 0 <= sy < SEA_H: pygame.draw.circle(sea_surf, C_ORANGE, (sx, sy), 3) # 绘制航路点 if waypoint: sx, sy = world_to_screen(*waypoint) if 0 <= sx < SEA_W and 0 <= sy < SEA_H: pygame.draw.circle(sea_surf, C_YELLOW, (sx, sy), 6, 2) pygame.draw.line(sea_surf, C_YELLOW, (int(SEA_W/2), int(SEA_H/2)), (sx, sy), 1) # 绘制尾迹 for i, pos in enumerate(wake): alpha = int(150 * (i/len(wake))) col = (200, 220, 255, alpha) sx, sy = world_to_screen(pos[0], pos[1]) if 0 <= sx < SEA_W and 0 <= sy < SEA_H: pygame.draw.circle(sea_surf, (200,220,255), (sx, sy), 2) # 绘制本船 (固定屏幕中央，但船会根据世界位置微调) ship_screen_x, ship_screen_y = int(SEA_W/2), int(SEA_H/2) draw_ship(sea_surf, (ship_screen_x, ship_screen_y), heading) screen.blit(sea_surf, (0, 0)) # ---------------- 右侧仪表板 ---------------- panel_x = SEA_W pygame.draw.rect(screen, (25, 25, 45), (panel_x, 0, PANEL_W, SCREEN_H)) # 标题 title = font_md.render("NAVIGATION PANEL", True, C_WHITE) screen.blit(title, (panel_x + 30, 15)) # 罗经 (上左) compass_center = (panel_x + 80, 140) draw_compass_rose(screen, compass_center, heading) # 速度表 (上右) draw_circular_gauge(screen, (panel_x + 220, 140), speed*60, MAX_SPEED*60, "SPD kn", C_GREEN) # 舵角表 (中左) rudder_norm = (rudder + RUDDER_MAX) / (2*RUDDER_MAX) # 0-1 draw_circular_gauge(screen, (panel_x + 80, 290), rudder_norm, 1.0, "RUDDER", C_YELLOW, 30) # 主机转速 (中右) draw_circular_gauge(screen, (panel_x + 220, 290), throttle, 10, "RPM x100", C_RED, 30) # 风向风速仪 (下左) wind_label = font_sm.render(f"Wind {wind_speed:.0f}kn {wind_dir:.0f}°", True, C_WHITE) screen.blit(wind_label, (panel_x + 20, 420)) # 风向箭头 arrow_center = (panel_x + 80, 480) rad_w = math.radians(wind_dir) arrow_len = 25 end_x = arrow_center[0] + arrow_len * math.sin(rad_w) end_y = arrow_center[1] - arrow_len * math.cos(rad_w) pygame.draw.line(screen, C_LGRAY, arrow_center, (end_x, end_y), 3) pygame.draw.circle(screen, C_LGRAY, arrow_center, 5, 1) # 水深显示 (模拟) depth = 20 + 10 * math.sin(ship_x*0.01) * math.cos(ship_y*0.01) depth_text = font_sm.render(f"Depth {depth:.1f}m", True, C_WHITE) screen.blit(depth_text, (panel_x + 20, 500)) # 雷达 (下中) if radar_on: radar_center = (panel_x + 150, 520) draw_radar(screen, radar_center, 60, radar_scan, targets, (ship_x, ship_y), heading) rad_label = font_sm.render("RADAR ON", True, C_GREEN) else: rad_label = font_sm.render("RADAR OFF", True, C_RED) screen.blit(rad_label, (panel_x + 200, 550)) # 航路点信息 if waypoint: dx = waypoint[0] - ship_x dy = waypoint[1] - ship_y dist = math.hypot(dx, dy) brg = math.degrees(math.atan2(dy, dx)) brg = (brg + 360) % 360 eta = dist / (speed + 0.001) if speed > 0 else 999 info = f"WP: {dist:.0f}px BRG {brg:.1f}° ETA {eta:.1f}s" wp_surf = font_sm.render(info, True, C_YELLOW) screen.blit(wp_surf, (panel_x + 15, 580)) # 自动舵状态 ap_text = "AUTOPILOT ON" if auto_pilot else "MANUAL" ap_surf = font_md.render(ap_text, True, C_GREEN if auto_pilot else C_RED) screen.blit(ap_surf, (panel_x + 80, 620)) # 操作提示 hint = font_sm.render("Arrows: steer | A: auto | R: radar | Click: set WP", True, C_GRAY) screen.blit(hint, (panel_x + 10, SCREEN_H-25)) pygame.display.flip() pygame.quit() sys.exit() if __name__ == "__main__": main()