Sim_Unity_Biao/GuidanceSwitcher.cs at main · Aoalas/Sim_Unity_Biao · GitHub

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using UnityEngine;

public enum GuidanceMode
{
    None,                // 无算法
    PID_Pursuit,         // PID 算法
    APN_ProportionalNav, // PN 比例导引
    Predict              // 预测算法
}

public class GuidanceSwitcher : MonoBehaviour
{
    [Header("模式选择")]
    public GuidanceMode currentMode;

    [Header("算法脚本引用")]
    public DartController pidController;
    public DartController_APN pnController;
    public DartController_Predictive predictController;

    void OnValidate()
    {
        SwitchAlgorithm();
    }

    void Update()
    {
        SwitchAlgorithm();
    }

    void SwitchAlgorithm()
    {
        if (pidController == null || pnController == null || predictController == null) return;

        switch (currentMode)
        {
            case GuidanceMode.None:

                pidController.enabled = false;
                pnController.enabled = false;
                predictController.enabled = false;
                break;

            case GuidanceMode.PID_Pursuit:
                pidController.enabled = true;
                pnController.enabled = false;
                predictController.enabled = false;
                break;

            case GuidanceMode.APN_ProportionalNav:
                pidController.enabled = false;
                pnController.enabled = true;
                predictController.enabled = false;
                break;

            case GuidanceMode.Predict:
                pidController.enabled = false;
                pnController.enabled = false;
                predictController.enabled = true;
                break;
        }
    }
}