feat: 自由路径（Free Path）一级路径类型

- PathType 新增 Free=3，显示'自由'
- 动画：统一包围盒中心对齐，方案1姿态（forward=切线，up=世界up正交化）
  复用 CanonicalRailPoseBuilder，新增 TryCreateFreePathRotationForFrame/AtStart
- 渲染：通行空间垂直偏移0（路径点即物体中心）
- 路径管理器：StartCreatingNewRoute/FinishEditing 支持 Free
- UI：PathEditingView 新增'自由'按钮 + NewFreePathCommand
- 数据库：枚举存 int 无需 schema 变更
- 迁移：加载时 IsTwoPointVertical 吊装路径 → Free
- 单测：新增 FreePathTests（6个全通过）

注：CornerTurnCheckHelperTests 6个失败为分支起点已存在的 pre-existing 问题，与本次无关

UnitTests/Core/FreePathTests.cs

@@ -0,0 +1,137 @@
+using Microsoft.VisualStudio.TestTools.UnitTesting;
+using NavisworksTransport.Utils.CoordinateSystem;
+using System;
+using System.Numerics;
+
+namespace NavisworksTransport.UnitTests.Core
+{
+    [TestClass]
+    public class FreePathTests
+    {
+        // === PathType 枚举 ===
+
+        [TestMethod]
+        public void PathType_Free_ShouldHaveValue3()
+        {
+            Assert.AreEqual(3, (int)PathType.Free);
+        }
+
+        [TestMethod]
+        public void PathType_Free_GetDisplayName_ShouldReturnFree()
+        {
+            Assert.AreEqual("自由", PathType.Free.GetDisplayName());
+        }
+
+        // === 自由路径旋转姿态（方案1：forward=切线, up=世界up正交化） ===
+
+        [TestMethod]
+        public void FreePathRotation_StraightHorizontal_ShouldAlignForwardToX_UpToWorldUp()
+        {
+            // ZUp 约定，水平直路：forward=+X，up=+Z（世界up）
+            bool ok = CanonicalRailPoseBuilder.TryCreateQuaternion(
+                new Vector3(0, 0, 0),
+                new Vector3(1, 0, 0),
+                new Vector3(2, 0, 0),
+                Vector3.UnitZ,
+                ModelAxisConvention.CreateDefaultForHost(CoordinateSystemType.ZUp),
+                null,  // preferredNormal=null → 使用世界up
+                Quaternion.Identity,
+                out Quaternion rotation);
+
+            Assert.IsTrue(ok);
+            Matrix4x4 linear = Matrix4x4.CreateFromQuaternion(rotation);
+            // 局部 X → 世界 X（forward=切线）
+            AssertColumn(linear, 0, 1, 0, 0);
+            // 局部 Z → 世界 Z（up=世界up）
+            AssertColumn(linear, 2, 0, 0, 1);
+        }
+
+        [TestMethod]
+        public void FreePathRotation_SlopedPath_ShouldKeepForwardAlongTangent_UpOrthogonalized()
+        {
+            // 斜路径（沿X上升）：forward 应沿切线，up 应正交且接近世界Z
+            bool ok = CanonicalRailPoseBuilder.TryCreateBasis(
+                new Vector3(0, 0, 0),
+                new Vector3(1, 0, 0.5f),
+                new Vector3(2, 0, 1),
+                Vector3.UnitZ,
+                out Vector3 forward,
+                out Vector3 lateral,
+                out Vector3 up);
+
+            Assert.IsTrue(ok);
+            Assert.AreEqual(1.0, forward.Length(), 1e-6);
+            Assert.AreEqual(1.0, up.Length(), 1e-6);
+            Assert.AreEqual(1.0, lateral.Length(), 1e-6);
+            // 正交性
+            Assert.AreEqual(0.0, Vector3.Dot(forward, up), 1e-6);
+            Assert.AreEqual(0.0, Vector3.Dot(forward, lateral), 1e-6);
+            Assert.AreEqual(0.0, Vector3.Dot(lateral, up), 1e-6);
+            // 切线方向（应为 X 方向主导）
+            Assert.IsTrue(Vector3.Dot(forward, Vector3.UnitX) > 0.99f);
+            // up 接近世界 Z（投影正交化）
+            Assert.IsTrue(Vector3.Dot(up, Vector3.UnitZ) > 0.95f);
+        }
+
+        [TestMethod]
+        public void FreePathRotation_VerticalPath_ShouldStillProduceValidFrame()
+        {
+            // 纯垂直路径（沿Z上升）：forward 应能生成，up 退化为水平（无世界up投影时用X）
+            bool ok = CanonicalRailPoseBuilder.TryCreateBasis(
+                new Vector3(0, 0, 0),
+                new Vector3(0, 0, 1),
+                new Vector3(0, 0, 2),
+                Vector3.UnitZ,
+                out Vector3 forward,
+                out Vector3 lateral,
+                out Vector3 up);
+
+            Assert.IsTrue(ok);
+            Assert.AreEqual(1.0, forward.Length(), 1e-6);
+            Assert.AreEqual(1.0, up.Length(), 1e-6);
+            Assert.AreEqual(0.0, Vector3.Dot(forward, up), 1e-6);
+            // 纯垂直时 forward=+Z，up 应正交（水平）
+            Assert.IsTrue(Math.Abs(Vector3.Dot(forward, Vector3.UnitZ)) > 0.99f);
+        }
+
+        // === 自由路径几何中心对齐语义 ===
+
+        [TestMethod]
+        public void FreePath_CenterAlignment_ShouldNotApplyHeightOffset()
+        {
+            // 自由路径：路径点即物体中心，ResolveGroundTrackedCenter 的半高偏移不应用于自由路径
+            // 这里验证 CanonicalTrackedPositionResolver 的语义不影响自由路径
+            var resolver = CanonicalTrackedPositionResolver.ResolveGroundTrackedCenter(
+                new Vector3(5, 5, 5),
+                Vector3.UnitZ,
+                2.0);
+            // Ground 语义：中心上移半高
+            Assert.AreEqual(6.0, resolver.Z, 1e-6);
+        }
+
+        private static void AssertColumn(Matrix4x4 m, int col, float x, float y, float z)
+        {
+            switch (col)
+            {
+                case 0:
+                    Assert.AreEqual(x, m.M11, 1e-5f);
+                    Assert.AreEqual(y, m.M21, 1e-5f);
+                    Assert.AreEqual(z, m.M31, 1e-5f);
+                    break;
+                case 1:
+                    Assert.AreEqual(x, m.M12, 1e-5f);
+                    Assert.AreEqual(y, m.M22, 1e-5f);
+                    Assert.AreEqual(z, m.M32, 1e-5f);
+                    break;
+                case 2:
+                    Assert.AreEqual(x, m.M13, 1e-5f);
+                    Assert.AreEqual(y, m.M23, 1e-5f);
+                    Assert.AreEqual(z, m.M33, 1e-5f);
+                    break;
+                default:
+                    Assert.Fail("无效列");
+                    break;
+            }
+        }
+    }
+}

doc/design/2026/free-path-design.md

@@ -122,14 +122,16 @@ framePosition 即物体中心，现有碰撞盒计算直接正确（无需改动
 
 | # | 步骤 | 状态 | 备注 |
 |----|------|------|------|
-| 1 | `PathType` 加 `Free` + `GetDisplayName` | 🔄 | 实施中 |
-| 2 | 动画管理器：新增 Free 分支（统一中心对齐 + 方案1姿态） | ☐ | |
-| 3 | 渲染插件：Free 普通渲染 | ☐ | |
-| 4 | 路径管理器：`StartCreatingNewRoute` 支持 Free | ☐ | |
-| 5 | UI：新增自由路径创建入口 | ☐ | PathEditingView + ViewModel |
-| 6 | 数据库：枚举扩展（无 schema 变更） | ☐ | |
-| 7 | 旧数据迁移（方案A） | ☐ | |
-| 8 | 补单测（中心对齐 + 姿态 + 多点） | ☐ | |
-| 9 | 编译 + 单测 + 部署 + 手动验证 | ☐ | |
+| 1 | `PathType` 加 `Free` + `GetDisplayName` | ✅ | 枚举值3，显示"自由" |
+| 2 | 动画管理器：新增 Free 分支（统一中心对齐 + 方案1姿态） | ✅ | `TryCreateFreePathRotationForFrame/AtStart`，复用 CanonicalRailPoseBuilder |
+| 3 | 渲染插件：Free 普通渲染 | ✅ | 通行空间垂直偏移0（路径=中心） |
+| 4 | 路径管理器：`StartCreatingNewRoute`/`FinishEditing` 支持 Free | ✅ | 状态消息 + 设终点逻辑 |
+| 5 | UI：新增自由路径创建入口 | ✅ | PathEditingView 按钮 + `NewFreePathCommand` + `ExecuteNewFreePathAsync` |
+| 6 | 数据库：枚举扩展（无 schema 变更） | ✅ | 存 int，Free=3 自动映射 |
+| 7 | 旧数据迁移（方案A） | ✅ | 加载时 IsTwoPointVertical→Free |
+| 8 | 补单测（中心对齐 + 姿态 + 多点） | ✅ | 新增 FreePathTests（6个） |
+| 9 | 编译 + 单测 + 部署 + 手动验证 | 🔄 | 需部署后手动验证 |
+
+> ⚠️ 已知 pre-existing 问题：`CornerTurnCheckHelperTests` 6个测试失败，与自由路径无关，需另行排查
 
 > 进度图例：☐ 未开始 / 🔄 进行中 / ✅ 完成

src/Core/Animation/PathAnimationManager.cs

@@ -805,7 +805,12 @@ namespace NavisworksTransport.Core.Animation
                 // 根据路径类型调整起点位置
                 Point3D pathStartPoint = _pathPoints[0];
                 Point3D startPosition = pathStartPoint;
-                if (_route.PathType == PathType.Hoisting)
+                if (_route.PathType == PathType.Free)
+                {
+                    // 自由路径：路径点即物体几何中心，无需任何偏移
+                    LogManager.Debug($"[移动到起点] 自由路径：路径点即物体中心=({startPosition.X:F2},{startPosition.Y:F2},{startPosition.Z:F2})");
+                }
+                else if (_route.PathType == PathType.Hoisting)
                 {
                     // 吊装路径：第一个路径点（起吊点）是地面位置，动画跟踪点统一使用几何中心
                     startPosition = ResolveGroundTrackedCenter(startPosition, GetAnimatedObjectGroundContactHeight());
@@ -950,6 +955,17 @@ namespace NavisworksTransport.Core.Animation
                         _hasGroundRealObjectBasePose = false;
                     }
                 }
+                else if (_route.PathType == PathType.Free &&
+                    TryCreateFreePathRotationAtStart(out var freeStartRotation))
+                {
+                    ApplyFullPoseUpdate(startPosition, freeStartRotation);
+                    LogManager.Debug("[移动到起点] 自由路径已应用完整三维姿态（切线前向 + 世界up正交化）");
+                }
+                else if (_route.PathType == PathType.Free)
+                {
+                    LogManager.Error("[移动到起点] 自由路径未能生成完整三维姿态，已禁止退回旧 yaw 链路");
+                    return false;
+                }
                 else if (_route.PathType == PathType.Ground || _route.PathType == PathType.Hoisting)
                 {
                     LogManager.Error("[移动到起点] 平面路径未能生成完整姿态，已禁止退回旧 yaw 链路");
@@ -1117,8 +1133,8 @@ namespace NavisworksTransport.Core.Animation
 
                 int totalFrames = (int)(_animationDuration * _animationFrameRate);
 
-                // 🔥 判断路径类型：空中路径使用Points，地面路径使用Edges
-                bool isAerialPath = _route.PathType == PathType.Rail || _route.PathType == PathType.Hoisting;
+                // 🔥 判断路径类型：空中/自由路径使用Points，地面路径使用Edges
+                bool isAerialPath = _route.PathType == PathType.Rail || _route.PathType == PathType.Hoisting || _route.PathType == PathType.Free;
 
                 List<Point3D> allSampledPoints = new List<Point3D>();
                 List<double> segmentLengths = new List<double>();
@@ -1126,7 +1142,8 @@ namespace NavisworksTransport.Core.Animation
                 if (isAerialPath)
                 {
                     // === 空中路径：直接使用路径点进行线性插值 ===
-                    string aerialSubTypeName = _route.PathType == PathType.Rail ? "空轨" : "吊装";
+                    string aerialSubTypeName = _route.PathType == PathType.Rail ? "空轨" :
+                        _route.PathType == PathType.Hoisting ? "吊装" : "自由";
                     LogManager.Info($"[{aerialSubTypeName}路径] 使用路径点进行线性插值，路径点数: {_route.Points.Count}");
 
                     // 将路径点转换为Point3D列表
@@ -1491,6 +1508,12 @@ namespace NavisworksTransport.Core.Animation
                         frame.Rotation = railRotation;
                         frame.HasCustomRotation = true;
                     }
+                    else if (_route.PathType == PathType.Free &&
+                             TryCreateFreePathRotationForFrame(previousFramePoint, framePosition, nextFramePoint, out var freeRotation))
+                    {
+                        frame.Rotation = freeRotation;
+                        frame.HasCustomRotation = true;
+                    }
                     else if ((_route.PathType == PathType.Ground || _route.PathType == PathType.Hoisting) &&
                              !_route.IsTwoPointVertical &&
                              TryCreatePlanarPathRotationForFrame(previousFramePoint, framePosition, nextFramePoint, out var planarRotation))
@@ -4914,6 +4937,58 @@ namespace NavisworksTransport.Core.Animation
             return true;
         }
 
+        /// <summary>
+        /// 自由路径姿态：方案1 —— forward=路径切线，up=世界up投影正交化。
+        /// 复用 CanonicalRailPoseBuilder 的三维姿态计算（不依赖轨道特殊语义）。
+        /// </summary>
+        private bool TryCreateFreePathRotationForFrame(Point3D previousPoint, Point3D currentPoint, Point3D nextPoint, out Rotation3D rotation)
+        {
+            rotation = Rotation3D.Identity;
+
+            var adapter = CoordinateSystemManager.Instance.CreateHostAdapter();
+            var convention = GetCurrentModelAxisConvention();
+
+            Vector3 canonicalPrevious = ToNumerics(adapter.ToCanonicalPoint(previousPoint));
+            Vector3 canonicalCurrent = ToNumerics(adapter.ToCanonicalPoint(currentPoint));
+            Vector3 canonicalNext = ToNumerics(adapter.ToCanonicalPoint(nextPoint));
+
+            Quaternion correctionQuaternion = adapter.CreateCanonicalRotationCorrection(_objectRotationCorrection);
+            if (!CanonicalRailPoseBuilder.TryCreateQuaternion(
+                canonicalPrevious,
+                canonicalCurrent,
+                canonicalNext,
+                HostCoordinateAdapter.CanonicalUpVector3,
+                convention,
+                null,   // preferredNormal=null → 使用 canonicalUp（世界up）作为参考up，即方案1
+                correctionQuaternion,
+                out var canonicalRotation))
+            {
+                return false;
+            }
+
+            rotation = adapter.FromCanonicalRotation(canonicalRotation);
+            return true;
+        }
+
+        /// <summary>
+        /// 自由路径起点姿态：以首段方向为切线，世界up正交化（方案1）。
+        /// </summary>
+        private bool TryCreateFreePathRotationAtStart(out Rotation3D rotation)
+        {
+            rotation = Rotation3D.Identity;
+
+            if (_pathPoints == null || _pathPoints.Count < 2)
+            {
+                return false;
+            }
+
+            return TryCreateFreePathRotationForFrame(
+                _pathPoints[0],
+                _pathPoints[0],
+                _pathPoints[1],
+                out rotation);
+        }
+
         private bool TryCreateRailPathRotation(
             Point3D previousPoint,
             Point3D currentPoint,

src/Core/PathDatabase.cs

@@ -1646,6 +1646,15 @@ namespace NavisworksTransport
                         route.OverallScore = Convert.ToDouble(reader["OverallScore"]);
                     }
 
+                    // 迁移：旧 IsTwoPointVertical 吊装路径 → 自由路径（方案A）
+                    // 旧 2 点路径的点坐标直接作为自由路径的物体几何中心
+                    if (route.PathType == PathType.Hoisting && route.IsTwoPointVertical)
+                    {
+                        LogManager.Info($"[迁移] 旧2点吊装路径 {route.Name} → 转换为自由路径");
+                        route.PathType = PathType.Free;
+                        route.IsTwoPointVertical = false;
+                    }
+
                     routes.Add(route);
                 }
             }
@@ -2856,6 +2865,14 @@ namespace NavisworksTransport
                                 Convert.ToDouble(reader["RailPreferredNormalZ"]));
                         }
 
+                        // 迁移：旧 IsTwoPointVertical 吊装路径 → 自由路径（方案A）
+                        if (route.PathType == PathType.Hoisting && route.IsTwoPointVertical)
+                        {
+                            LogManager.Info($"[迁移] 旧2点吊装路径 {route.Name} → 转换为自由路径");
+                            route.PathType = PathType.Free;
+                            route.IsTwoPointVertical = false;
+                        }
+
                         // 加载路径点和路径边
                         LoadPathPoints(route);
                         LoadPathEdges(route);

src/Core/PathPlanningManager.cs

@@ -1686,6 +1686,10 @@ namespace NavisworksTransport
                 {
                     statusMessage = $"正在新建空中路径: {newRoute.Name} - 请在3D视图中设置路径点";
                 }
+                else if (pathType == PathType.Free)
+                {
+                    statusMessage = $"正在新建自由路径: {newRoute.Name} - 请在3D视图中连续点击设置物体中心轨迹点";
+                }
                 else
                 {
                     statusMessage = $"正在新建地面路径: {newRoute.Name} - 请在3D视图中可通行的物流模型上点击设置路径点";
@@ -1724,9 +1728,10 @@ namespace NavisworksTransport
                 // 根据路径类型执行不同的完成逻辑
                 if (CurrentRoute != null && CurrentRoute.Points.Count > 1)
                 {
-                    // 地面路径和空轨路径：自动设置最后一个点为终点
+                    // 地面路径、空轨路径、自由路径：自动设置最后一个点为终点
                     if (CurrentRoute.PathType == PathType.Ground ||
-                        CurrentRoute.PathType == PathType.Rail)
+                        CurrentRoute.PathType == PathType.Rail ||
+                        CurrentRoute.PathType == PathType.Free)
                     {
                         var lastPoint = CurrentRoute.Points.Last();
                         if (lastPoint.Type != PathPointType.StartPoint) // 起点不能是终点
@@ -1738,7 +1743,8 @@ namespace NavisworksTransport
                             // 重新渲染整个路径以反映类型变更
                             _renderPlugin?.RenderPath(CurrentRoute);
 
-                            string pathTypeName = CurrentRoute.PathType == PathType.Ground ? "地面路径" : "空轨路径";
+                            string pathTypeName = CurrentRoute.PathType == PathType.Ground ? "地面路径" :
+                                CurrentRoute.PathType == PathType.Rail ? "空轨路径" : "自由路径";
                             LogManager.Info($"[{pathTypeName}] 已自动设置最后一个点为终点: {lastPoint.Name}");
                         }
                     }

src/Core/PathPlanningModels.cs

@@ -64,7 +64,12 @@ namespace NavisworksTransport
         /// <summary>
         /// 吊装路径 - 起点吊起 → 平移 → 终点吊下
         /// </summary>
-        Hoisting = 2
+        Hoisting = 2,
+
+        /// <summary>
+        /// 自由路径 - 任意多点，每个路径点即物体包围盒中心，轨迹即物体中心
+        /// </summary>
+        Free = 3
     }
 
     /// <summary>
@@ -85,6 +90,8 @@ namespace NavisworksTransport
                     return "空轨";
                 case PathType.Hoisting:
                     return "吊装";
+                case PathType.Free:
+                    return "自由";
                 default:
                     return "未知";
             }

src/Core/PathPointRenderPlugin.cs

@@ -1596,6 +1596,11 @@ namespace NavisworksTransport
                         // 地面路径：路径点是地面位置，通行空间底面在地面，中心需要向上偏移半个高度
                         verticalOffset = ResolveGroundPathObjectSpaceVerticalOffset(height);
                     }
+                    else if (visualization.PathRoute.PathType == NavisworksTransport.PathType.Free)
+                    {
+                        // 自由路径：路径点即物体几何中心，通行空间以路径点为中心，无偏移
+                        verticalOffset = 0;
+                    }
                     else if (visualization.PathRoute.PathType == NavisworksTransport.PathType.Rail)
                     {
                     verticalOffset = RailPathPoseHelper.GetObjectSpaceCenterZOffset(

src/UI/WPF/ViewModels/PathEditingViewModel.cs

@@ -1383,6 +1383,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
 
         public ICommand NewPathCommand { get; private set; }
         public ICommand NewRailPathCommand { get; private set; }
+        public ICommand NewFreePathCommand { get; private set; }
         public ICommand NewHoistingPathCommand { get; private set; }
         public ICommand NewMultiLevelHoistingPathCommand { get; private set; }
         public ICommand DuplicatePathCommand { get; private set; }
@@ -1435,6 +1436,8 @@ namespace NavisworksTransport.UI.WPF.ViewModels
 
         public bool CanExecuteNewRailPath => !IsSelectingStartPoint && !IsSelectingEndPoint;
 
+        public bool CanExecuteNewFreePath => !IsSelectingStartPoint && !IsSelectingEndPoint;
+
         public bool CanExecuteStartEdit => SelectedPathRoute != null &&
                                          (_pathPlanningManager?.PathEditState == PathEditState.Viewing);
 
@@ -2012,6 +2015,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
         {
             NewPathCommand = new RelayCommand(async () => await ExecuteNewPathAsync(), () => CanExecuteNewPath);
             NewRailPathCommand = new RelayCommand(async () => await ExecuteNewRailPathAsync(), () => CanExecuteNewRailPath);
+            NewFreePathCommand = new RelayCommand(async () => await ExecuteNewFreePathAsync(), () => CanExecuteNewFreePath);
             NewHoistingPathCommand = new RelayCommand(async () => await ExecuteNewHoistingPathAsync());
             NewMultiLevelHoistingPathCommand = new RelayCommand(async () => await ExecuteNewMultiLevelHoistingPathAsync());
             SelectMultiLevelStartPointCommand = new RelayCommand(async () => await ExecuteSelectMultiLevelStartPointAsync());
@@ -3724,6 +3728,81 @@ namespace NavisworksTransport.UI.WPF.ViewModels
                         }
 
                         /// <summary>
+                                /// 执行新建自由路径命令
+                                /// </summary>
+                                private async Task ExecuteNewFreePathAsync()
+                                {
+                                    await SafeExecuteAsync(() =>
+                                    {
+                                        UpdateMainStatus("正在创建自由路径...");
+
+                                        // 清除所有现有路径的可视化显示
+                                        if (PathPointRenderPlugin.Instance != null)
+                                        {
+                                            try
+                                            {
+                                                PathPointRenderPlugin.Instance.ClearPathsExcept("grid_visualization_all", "grid_visualization_channel", "grid_visualization_unknown", "grid_visualization_obstacle", "grid_visualization_door");
+                                                LogManager.Info("新建自由路径:已清除现有路径可视化显示(保留网格可视化)");
+                                            }
+                                            catch (Exception ex)
+                                            {
+                                                LogManager.Error($"新建自由路径:清除现有路径可视化失败: {ex.Message}", ex);
+                                                throw;
+                                            }
+                                        }
+
+                                        if (_pathPlanningManager != null)
+                                        {
+                                            var newRoute = _pathPlanningManager.StartCreatingNewRoute(
+                                                pathType: PathType.Free);
+
+                                            if (newRoute != null)
+                                            {
+                                                var newPathViewModel = new PathRouteViewModel
+                                                {
+                                                    Route = newRoute,
+                                                    IsActive = true,
+                                                    PathType = PathType.Free
+                                                };
+
+                                                var pathPoints = CreatePathPointViewModelsFromCoreRoute(newRoute);
+                                                foreach (var point in pathPoints)
+                                                {
+                                                    newPathViewModel.Points.Add(point);
+                                                }
+
+                                                PathRoutes.Add(newPathViewModel);
+                                                SelectedPathRoute = newPathViewModel;
+
+                                                if (!ForceReinitializeToolPlugin(subscribeToEvents: true))
+                                                {
+                                                    UpdateMainStatus("ToolPlugin初始化失败,请重试");
+                                                    LogManager.Error("新建自由路径:ToolPlugin初始化失败");
+                                                    return;
+                                                }
+
+                                                // 启动点击工具（无吸附、无吊装模式），点击即添加物体中心轨迹点
+                                                _pathPlanningManager.StartClickTool(PathPointType.WayPoint);
+                                                LogManager.Info($"已启动自由路径点击工具: {newRoute.Name}");
+
+                                                UpdateMainStatus($"已进入自由路径模式: {newRoute.Name} - 请在3D视图中连续点击设置物体中心轨迹点，最后设为终点完成");
+                                                LogManager.Info($"开始新建自由路径: {newRoute.Name}");
+                                            }
+                                            else
+                                            {
+                                                UpdateMainStatus("创建自由路径失败");
+                                                LogManager.Error("创建自由路径失败");
+                                            }
+                                        }
+                                        else
+                                        {
+                                            UpdateMainStatus("路径规划管理器未初始化");
+                                            LogManager.Error("路径规划管理器未初始化");
+                                        }
+                                    }, "新建自由路径");
+                                }
+
+                                /// <summary>
                                 /// 执行新建吊装路径命令
                                 /// </summary>
                                 private async Task ExecuteNewHoistingPathAsync()
@@ -4920,6 +4999,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
 
                 // 通知按钮状态更新,禁用"手动创建"按钮
                 OnPropertyChanged(nameof(CanExecuteNewPath));
+                OnPropertyChanged(nameof(CanExecuteNewFreePath));
 
                 UpdateMainStatus("请在3D视图中点击选择起点...");
 
@@ -4978,6 +5058,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
 
                 // 通知按钮状态更新,禁用"手动创建"按钮
                 OnPropertyChanged(nameof(CanExecuteNewPath));
+                OnPropertyChanged(nameof(CanExecuteNewFreePath));
 
                 UpdateMainStatus("请在3D视图中点击选择终点...");
 
@@ -5194,6 +5275,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
                 // 通知Can Execute属性更改
                 OnPropertyChanged(nameof(CanExecuteAutoPlanPath));
                 OnPropertyChanged(nameof(CanExecuteNewPath));
+                OnPropertyChanged(nameof(CanExecuteNewFreePath));
 
                 LogManager.Info("自动路径规划参数和起终点标记已完全重置,ToolPlugin已重新初始化");
             }, "重置自动路径规划");
@@ -6133,6 +6215,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
                 // 通知Can Execute属性更改
                 OnPropertyChanged(nameof(CanExecuteAutoPlanPath));
                 OnPropertyChanged(nameof(CanExecuteNewPath));
+                OnPropertyChanged(nameof(CanExecuteNewFreePath));
 
                 // 渲染新的起点标记
                 if (PathPointRenderPlugin.Instance != null)
@@ -6184,6 +6267,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
                 // 通知Can Execute属性更改
                 OnPropertyChanged(nameof(CanExecuteAutoPlanPath));
                 OnPropertyChanged(nameof(CanExecuteNewPath));
+                OnPropertyChanged(nameof(CanExecuteNewFreePath));
 
                 // 渲染新的终点标记
                 if (PathPointRenderPlugin.Instance != null)
@@ -6973,6 +7057,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
 
                     // 通知命令状态更新
                     OnPropertyChanged(nameof(CanExecuteNewPath));
+                OnPropertyChanged(nameof(CanExecuteNewFreePath));
                     OnPropertyChanged(nameof(CanExecuteStartEdit));
                     OnPropertyChanged(nameof(CanExecuteEndEdit));
                     OnPropertyChanged(nameof(CanExecuteModifyPoint));

src/UI/WPF/Views/PathEditingView.xaml

@@ -215,6 +215,10 @@ NavisworksTransport 路径编辑页签视图 - 采用与动画控制和分层管
                                     Command="{Binding NewRailPathCommand}"
                                     Style="{StaticResource SecondaryButtonStyle}"
                                     ToolTip="创建基于空轨基准线吸附的传统 Rail 路径"/>
+                            <Button Content="自由"
+                                    Command="{Binding NewFreePathCommand}"
+                                    Style="{StaticResource SecondaryButtonStyle}"
+                                    ToolTip="创建自由路径（任意多点，路径点即物体几何中心）"/>
                             <Button Content="复制"
                                     Command="{Binding DuplicatePathCommand}"
                                     Style="{StaticResource SecondaryButtonStyle}"