728 lines
26 KiB
Python
728 lines
26 KiB
Python
"""
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导航网格序列化器
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处理导航网格的导入导出和版本兼容性
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"""
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import json
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import zlib
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import base64
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from typing import Dict, Any, List, Optional
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from panda3d.core import Point3
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import time
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class NavMeshSerializer:
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"""
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导航网格序列化器
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处理导航网格的导入导出和版本兼容性
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"""
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def __init__(self):
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"""初始化序列化器"""
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self.current_version = "2.0"
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self.supported_versions = ["1.0", "1.1", "2.0"]
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def serialize_navmesh(self, navmesh_manager) -> str:
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"""
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序列化导航网格为字符串
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Args:
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navmesh_manager: 导航网格管理器
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Returns:
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序列化后的字符串
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"""
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try:
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# 构建导航网格数据
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data = self._build_navmesh_data(navmesh_manager)
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# 转换为JSON字符串
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json_str = json.dumps(data, ensure_ascii=False, separators=(',', ':'))
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return json_str
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except Exception as e:
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print(f"序列化导航网格失败: {e}")
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return ""
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def deserialize_navmesh(self, data_str: str, navmesh_manager) -> bool:
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"""
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从字符串反序列化导航网格
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Args:
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data_str: 序列化数据字符串
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navmesh_manager: 导航网格管理器
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Returns:
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是否反序列化成功
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"""
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try:
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# 解析JSON数据
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data = json.loads(data_str)
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# 处理版本兼容性
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data = self._handle_version_compatibility(data)
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# 应用数据到导航网格管理器
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self._apply_navmesh_data(data, navmesh_manager)
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return True
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except Exception as e:
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print(f"反序列化导航网格失败: {e}")
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return False
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def save_navmesh_to_file(self, navmesh_manager, filepath: str,
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compress: bool = False, pretty_print: bool = False) -> bool:
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"""
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保存导航网格到文件
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Args:
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navmesh_manager: 导航网格管理器
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filepath: 文件路径
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compress: 是否压缩
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pretty_print: 是否美化输出
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Returns:
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是否保存成功
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"""
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try:
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# 构建导航网格数据
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data = self._build_navmesh_data(navmesh_manager)
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# 添加保存时间戳
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data['metadata']['saved_at'] = time.strftime("%Y-%m-%d %H:%M:%S")
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# 转换为JSON字符串
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if pretty_print:
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json_str = json.dumps(data, ensure_ascii=False, indent=2)
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else:
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json_str = json.dumps(data, ensure_ascii=False, separators=(',', ':'))
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# 处理压缩
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if compress:
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# 压缩数据
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compressed_data = zlib.compress(json_str.encode('utf-8'))
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encoded_data = base64.b64encode(compressed_data).decode('ascii')
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# 保存压缩数据
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save_data = {
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'version': self.current_version,
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'compressed': True,
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'data': encoded_data
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}
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with open(filepath, 'w', encoding='utf-8') as f:
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json.dump(save_data, f, ensure_ascii=False, indent=2)
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else:
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# 直接保存JSON数据
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with open(filepath, 'w', encoding='utf-8') as f:
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f.write(json_str)
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return True
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except Exception as e:
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print(f"保存导航网格失败: {e}")
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return False
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def load_navmesh_from_file(self, filepath: str, navmesh_manager) -> bool:
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"""
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从文件加载导航网格
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Args:
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filepath: 文件路径
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navmesh_manager: 导航网格管理器
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Returns:
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是否加载成功
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"""
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try:
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# 读取文件内容
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with open(filepath, 'r', encoding='utf-8') as f:
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content = f.read()
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# 尝试解析为JSON
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try:
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# 首先尝试解析为包装格式（可能包含压缩信息）
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wrapper_data = json.loads(content)
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if isinstance(wrapper_data, dict) and 'compressed' in wrapper_data:
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if wrapper_data.get('compressed', False):
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# 解压缩数据
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encoded_data = wrapper_data['data']
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compressed_data = base64.b64decode(encoded_data.encode('ascii'))
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json_str = zlib.decompress(compressed_data).decode('utf-8')
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data = json.loads(json_str)
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else:
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data = wrapper_data
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else:
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# 直接使用内容
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data = wrapper_data
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except json.JSONDecodeError:
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# 如果不是JSON格式，假设是直接的导航网格数据
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data = json.loads(content)
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# 处理版本兼容性
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data = self._handle_version_compatibility(data)
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# 应用数据到导航网格管理器
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self._apply_navmesh_data(data, navmesh_manager)
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return True
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except Exception as e:
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print(f"加载导航网格失败: {e}")
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return False
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def _build_navmesh_data(self, navmesh_manager) -> Dict[str, Any]:
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"""
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构建导航网格数据
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Args:
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navmesh_manager: 导航网格管理器
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Returns:
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导航网格数据字典
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"""
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# 构建元数据
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metadata = {
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'version': self.current_version,
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'generator': 'EG Navigation Mesh System',
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'created': time.strftime("%Y-%m-%d %H:%M:%S"),
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'polygon_count': len(navmesh_manager.polygons) if navmesh_manager.polygons else 0,
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'obstacle_count': len(navmesh_manager.obstacles) if navmesh_manager.obstacles else 0
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}
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# 添加设置信息
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settings = {
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'cell_size': getattr(navmesh_manager, 'cell_size', 0.5),
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'cell_height': getattr(navmesh_manager, 'cell_height', 0.2),
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'agent_height': getattr(navmesh_manager, 'agent_height', 1.8),
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'agent_radius': getattr(navmesh_manager, 'agent_radius', 0.3),
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'max_slope': getattr(navmesh_manager, 'max_slope', 45.0),
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'max_climb': getattr(navmesh_manager, 'max_climb', 0.2),
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'min_region_area': getattr(navmesh_manager, 'min_region_area', 3),
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'merge_region_area': getattr(navmesh_manager, 'merge_region_area', 20),
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'edge_max_len': getattr(navmesh_manager, 'edge_max_len', 12.0),
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'edge_max_error': getattr(navmesh_manager, 'edge_max_error', 1.3),
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'verts_per_poly': getattr(navmesh_manager, 'verts_per_poly', 6)
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}
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# 构建多边形数据
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polygons = []
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if navmesh_manager.polygons:
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for polygon_id, polygon in navmesh_manager.polygons.items():
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poly_data = {
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'id': polygon_id,
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'vertices': [[v.x, v.y, v.z] for v in polygon.vertices],
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'neighbors': polygon.neighbors,
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'portal_points': {},
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'flags': getattr(polygon, 'flags', 0),
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'area': getattr(polygon, 'area', 0.0)
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}
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# 添加门户点数据
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for neighbor_id, (left_point, right_point) in polygon.portal_points.items():
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poly_data['portal_points'][str(neighbor_id)] = [
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[left_point.x, left_point.y, left_point.z],
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[right_point.x, right_point.y, right_point.z]
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]
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polygons.append(poly_data)
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# 构建障碍物数据
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obstacles = []
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if navmesh_manager.obstacles:
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for obstacle_id, obstacle in navmesh_manager.obstacles.items():
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obs_data = {
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'id': obstacle_id,
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'position': [
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obstacle['position'].x,
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obstacle['position'].y,
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obstacle['position'].z
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],
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'radius': obstacle['radius'],
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'height': obstacle['height'],
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'type': obstacle.get('type', 'cylinder')
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}
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obstacles.append(obs_data)
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# 构建完整数据结构
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data = {
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'metadata': metadata,
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'settings': settings,
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'polygons': polygons,
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'obstacles': obstacles
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}
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return data
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def _handle_version_compatibility(self, data: Dict[str, Any]) -> Dict[str, Any]:
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"""
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处理版本兼容性
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Args:
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data: 导航网格数据
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Returns:
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处理后的数据
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"""
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if 'metadata' not in data or 'version' not in data['metadata']:
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# 假设是旧版本数据
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data = self._upgrade_from_version_1_0(data)
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version = data['metadata']['version']
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# 根据版本进行升级
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if version == "1.0":
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data = self._upgrade_from_version_1_0(data)
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elif version == "1.1":
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data = self._upgrade_from_version_1_1(data)
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# 版本2.0不需要升级
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return data
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def _upgrade_from_version_1_0(self, data: Dict[str, Any]) -> Dict[str, Any]:
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"""
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从版本1.0升级
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Args:
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data: 版本1.0的数据
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Returns:
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升级后的数据
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"""
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# 添加缺失的字段
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if 'metadata' not in data:
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data['metadata'] = {}
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data['metadata']['version'] = self.current_version
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# 确保所有必需字段存在
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if 'settings' not in data:
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data['settings'] = {}
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# 设置默认值
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default_settings = {
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'cell_size': 0.5,
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'cell_height': 0.2,
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'agent_height': 1.8,
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'agent_radius': 0.3,
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'max_slope': 45.0,
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'max_climb': 0.2,
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'min_region_area': 3,
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'merge_region_area': 20,
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'edge_max_len': 12.0,
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'edge_max_error': 1.3,
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'verts_per_poly': 6
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}
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for key, value in default_settings.items():
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if key not in data['settings']:
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data['settings'][key] = value
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return data
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def _upgrade_from_version_1_1(self, data: Dict[str, Any]) -> Dict[str, Any]:
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"""
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从版本1.1升级
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Args:
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data: 版本1.1的数据
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Returns:
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升级后的数据
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"""
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# 版本1.1到2.0的升级
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data['metadata']['version'] = self.current_version
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return data
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def _apply_navmesh_data(self, data: Dict[str, Any], navmesh_manager):
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"""
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应用导航网格数据到管理器
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Args:
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data: 导航网格数据
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navmesh_manager: 导航网格管理器
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"""
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from ..core.navmesh_manager import NavMeshPolygon
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# 清除现有数据
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navmesh_manager.polygons.clear()
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navmesh_manager.obstacles.clear()
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# 应用设置
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if 'settings' in data:
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settings = data['settings']
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for key, value in settings.items():
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if hasattr(navmesh_manager, key):
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setattr(navmesh_manager, key, value)
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# 解析多边形
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if 'polygons' in data:
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for poly_data in data['polygons']:
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polygon_id = poly_data['id']
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vertices = [Point3(v[0], v[1], v[2]) for v in poly_data['vertices']]
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polygon = NavMeshPolygon(polygon_id, vertices)
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# 添加邻居信息
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if 'neighbors' in poly_data:
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for neighbor_id in poly_data['neighbors']:
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polygon.add_neighbor(neighbor_id)
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# 添加门户点信息
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if 'portal_points' in poly_data:
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for neighbor_id, portal_data in poly_data['portal_points'].items():
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left_point = Point3(portal_data[0][0], portal_data[0][1], portal_data[0][2])
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right_point = Point3(portal_data[1][0], portal_data[1][1], portal_data[1][2])
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polygon.set_portal_points(int(neighbor_id), left_point, right_point)
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# 设置标志位
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if 'flags' in poly_data:
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polygon.flags = poly_data['flags']
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# 设置面积
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if 'area' in poly_data:
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polygon.area = poly_data['area']
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navmesh_manager.polygons[polygon_id] = polygon
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# 解析障碍物
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if 'obstacles' in data:
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for obs_data in data['obstacles']:
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obstacle_id = obs_data['id']
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navmesh_manager.obstacles[obstacle_id] = {
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'position': Point3(obs_data['position'][0], obs_data['position'][1], obs_data['position'][2]),
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'radius': obs_data['radius'],
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'height': obs_data['height'],
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'type': obs_data.get('type', 'cylinder')
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}
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# 更新统计信息
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navmesh_manager._update_stats()
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# 更新空间哈希
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navmesh_manager._update_spatial_hash()
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def export_to_standard_format(self, navmesh_manager, filepath: str,
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format_type: str = 'obj') -> bool:
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"""
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导出为标准格式
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Args:
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navmesh_manager: 导航网格管理器
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filepath: 导出文件路径
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format_type: 导出格式 ('obj', 'ply')
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Returns:
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是否导出成功
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"""
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try:
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if format_type.lower() == 'obj':
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return self._export_to_obj(navmesh_manager, filepath)
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elif format_type.lower() == 'ply':
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return self._export_to_ply(navmesh_manager, filepath)
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else:
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print(f"不支持的导出格式: {format_type}")
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return False
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except Exception as e:
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print(f"导出为标准格式失败: {e}")
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return False
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def _export_to_obj(self, navmesh_manager, filepath: str) -> bool:
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"""
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导出为OBJ格式
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Args:
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navmesh_manager: 导航网格管理器
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filepath: 导出文件路径
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Returns:
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是否导出成功
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"""
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try:
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with open(filepath, 'w', encoding='utf-8') as f:
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f.write("# Navigation Mesh Export\n")
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f.write(f"# Generated by EG Navigation Mesh System\n")
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f.write(f"# Polygons: {len(navmesh_manager.polygons)}\n\n")
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# 写入顶点
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vertex_index = 1
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vertex_mapping = {} # 旧顶点索引到新顶点索引的映射
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for polygon_id, polygon in navmesh_manager.polygons.items():
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for vertex in polygon.vertices:
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vertex_key = (vertex.x, vertex.y, vertex.z)
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if vertex_key not in vertex_mapping:
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f.write(f"v {vertex.x} {vertex.y} {vertex.z}\n")
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vertex_mapping[vertex_key] = vertex_index
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vertex_index += 1
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f.write("\n")
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# 写入面
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for polygon_id, polygon in navmesh_manager.polygons.items():
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f.write(f"g polygon_{polygon_id}\n")
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face_vertices = []
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for vertex in polygon.vertices:
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vertex_key = (vertex.x, vertex.y, vertex.z)
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face_vertices.append(str(vertex_mapping[vertex_key]))
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f.write(f"f {' '.join(face_vertices)}\n\n")
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return True
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except Exception as e:
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print(f"导出为OBJ格式失败: {e}")
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return False
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def _export_to_ply(self, navmesh_manager, filepath: str) -> bool:
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"""
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导出为PLY格式
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Args:
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navmesh_manager: 导航网格管理器
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filepath: 导出文件路径
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Returns:
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是否导出成功
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"""
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try:
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# 收集所有唯一顶点
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vertices = []
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vertex_mapping = {}
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faces = []
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for polygon_id, polygon in navmesh_manager.polygons.items():
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face_indices = []
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for vertex in polygon.vertices:
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vertex_key = (vertex.x, vertex.y, vertex.z)
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if vertex_key not in vertex_mapping:
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vertex_mapping[vertex_key] = len(vertices)
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vertices.append(vertex)
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face_indices.append(vertex_mapping[vertex_key])
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faces.append(face_indices)
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|
||
# 写入PLY文件
|
||
with open(filepath, 'w', encoding='utf-8') as f:
|
||
# PLY头部
|
||
f.write("ply\n")
|
||
f.write("format ascii 1.0\n")
|
||
f.write(f"element vertex {len(vertices)}\n")
|
||
f.write("property float x\n")
|
||
f.write("property float y\n")
|
||
f.write("property float z\n")
|
||
f.write(f"element face {len(faces)}\n")
|
||
f.write("property list uchar int vertex_indices\n")
|
||
f.write("end_header\n")
|
||
|
||
# 写入顶点
|
||
for vertex in vertices:
|
||
f.write(f"{vertex.x} {vertex.y} {vertex.z}\n")
|
||
|
||
# 写入面
|
||
for face in faces:
|
||
f.write(f"{len(face)} {' '.join(map(str, face))}\n")
|
||
|
||
return True
|
||
|
||
except Exception as e:
|
||
print(f"导出为PLY格式失败: {e}")
|
||
return False
|
||
|
||
def import_from_standard_format(self, filepath: str, navmesh_manager,
|
||
format_type: str = 'obj') -> bool:
|
||
"""
|
||
从标准格式导入
|
||
|
||
Args:
|
||
filepath: 导入文件路径
|
||
navmesh_manager: 导航网格管理器
|
||
format_type: 导入格式 ('obj', 'ply')
|
||
|
||
Returns:
|
||
是否导入成功
|
||
"""
|
||
try:
|
||
if format_type.lower() == 'obj':
|
||
return self._import_from_obj(filepath, navmesh_manager)
|
||
elif format_type.lower() == 'ply':
|
||
return self._import_from_ply(filepath, navmesh_manager)
|
||
else:
|
||
print(f"不支持的导入格式: {format_type}")
|
||
return False
|
||
|
||
except Exception as e:
|
||
print(f"从标准格式导入失败: {e}")
|
||
return False
|
||
|
||
def _import_from_obj(self, filepath: str, navmesh_manager) -> bool:
|
||
"""
|
||
从OBJ格式导入
|
||
|
||
Args:
|
||
filepath: 导入文件路径
|
||
navmesh_manager: 导航网格管理器
|
||
|
||
Returns:
|
||
是否导入成功
|
||
"""
|
||
try:
|
||
vertices = []
|
||
faces = []
|
||
|
||
with open(filepath, 'r', encoding='utf-8') as f:
|
||
for line in f:
|
||
line = line.strip()
|
||
if not line or line.startswith('#'):
|
||
continue
|
||
|
||
parts = line.split()
|
||
if not parts:
|
||
continue
|
||
|
||
if parts[0] == 'v':
|
||
# 顶点
|
||
if len(parts) >= 4:
|
||
x, y, z = float(parts[1]), float(parts[2]), float(parts[3])
|
||
vertices.append(Point3(x, y, z))
|
||
elif parts[0] == 'f':
|
||
# 面
|
||
face_indices = []
|
||
for part in parts[1:]:
|
||
# 处理索引（OBJ格式索引从1开始）
|
||
index = int(part.split('/')[0]) - 1
|
||
face_indices.append(index)
|
||
faces.append(face_indices)
|
||
|
||
# 创建多边形
|
||
navmesh_manager.polygons.clear()
|
||
for i, face_indices in enumerate(faces):
|
||
polygon_vertices = [vertices[idx] for idx in face_indices if 0 <= idx < len(vertices)]
|
||
if len(polygon_vertices) >= 3:
|
||
navmesh_manager.add_polygon(polygon_vertices)
|
||
|
||
return True
|
||
|
||
except Exception as e:
|
||
print(f"从OBJ格式导入失败: {e}")
|
||
return False
|
||
|
||
def _import_from_ply(self, filepath: str, navmesh_manager) -> bool:
|
||
"""
|
||
从PLY格式导入
|
||
|
||
Args:
|
||
filepath: 导入文件路径
|
||
navmesh_manager: 导航网格管理器
|
||
|
||
Returns:
|
||
是否导入成功
|
||
"""
|
||
try:
|
||
vertices = []
|
||
faces = []
|
||
|
||
with open(filepath, 'r', encoding='utf-8') as f:
|
||
lines = f.readlines()
|
||
|
||
# 解析PLY头部
|
||
i = 0
|
||
vertex_count = 0
|
||
face_count = 0
|
||
|
||
while i < len(lines):
|
||
line = lines[i].strip()
|
||
if not line:
|
||
i += 1
|
||
continue
|
||
|
||
if line == "end_header":
|
||
i += 1
|
||
break
|
||
|
||
parts = line.split()
|
||
if len(parts) >= 3 and parts[0] == "element":
|
||
if parts[1] == "vertex":
|
||
vertex_count = int(parts[2])
|
||
elif parts[1] == "face":
|
||
face_count = int(parts[2])
|
||
|
||
i += 1
|
||
|
||
# 读取顶点
|
||
for j in range(vertex_count):
|
||
if i + j < len(lines):
|
||
parts = lines[i + j].strip().split()
|
||
if len(parts) >= 3:
|
||
x, y, z = float(parts[0]), float(parts[1]), float(parts[2])
|
||
vertices.append(Point3(x, y, z))
|
||
|
||
i += vertex_count
|
||
|
||
# 读取面
|
||
for j in range(face_count):
|
||
if i + j < len(lines):
|
||
parts = lines[i + j].strip().split()
|
||
if len(parts) >= 2:
|
||
count = int(parts[0])
|
||
face_indices = [int(idx) for idx in parts[1:1+count]]
|
||
faces.append(face_indices)
|
||
|
||
# 创建多边形
|
||
navmesh_manager.polygons.clear()
|
||
for face_indices in faces:
|
||
polygon_vertices = [vertices[idx] for idx in face_indices if 0 <= idx < len(vertices)]
|
||
if len(polygon_vertices) >= 3:
|
||
navmesh_manager.add_polygon(polygon_vertices)
|
||
|
||
return True
|
||
|
||
except Exception as e:
|
||
print(f"从PLY格式导入失败: {e}")
|
||
return False
|
||
|
||
def get_file_info(self, filepath: str) -> Dict[str, Any]:
|
||
"""
|
||
获取导航网格文件信息
|
||
|
||
Args:
|
||
filepath: 文件路径
|
||
|
||
Returns:
|
||
文件信息字典
|
||
"""
|
||
try:
|
||
info = {
|
||
'filepath': filepath,
|
||
'file_size': 0,
|
||
'version': 'unknown',
|
||
'polygon_count': 0,
|
||
'obstacle_count': 0,
|
||
'compressed': False
|
||
}
|
||
|
||
import os
|
||
info['file_size'] = os.path.getsize(filepath)
|
||
|
||
# 读取文件内容
|
||
with open(filepath, 'r', encoding='utf-8') as f:
|
||
content = f.read(1024) # 只读取前1024个字符
|
||
|
||
# 尝试解析
|
||
try:
|
||
data = json.loads(content)
|
||
if isinstance(data, dict):
|
||
if 'compressed' in data:
|
||
info['compressed'] = data['compressed']
|
||
info['version'] = data.get('version', 'unknown')
|
||
elif 'metadata' in data:
|
||
info['version'] = data['metadata'].get('version', 'unknown')
|
||
info['polygon_count'] = data['metadata'].get('polygon_count', 0)
|
||
info['obstacle_count'] = data['metadata'].get('obstacle_count', 0)
|
||
except json.JSONDecodeError:
|
||
pass
|
||
|
||
return info
|
||
|
||
except Exception as e:
|
||
print(f"获取文件信息失败: {e}")
|
||
return {} |