feat(voxel): 阶段1.3 - 实现简单体素化原型 (VoxelGridGenerator)
- 创建 VoxelGridGenerator.cs: 从 BIM 模型生成体素网格 - 使用包围盒方法进行简单体素化（阶段1原型版本） - 支持障碍物膨胀（车辆半径） - 自动识别物流元素类型（从属性或名称推断） - 详细的性能日志和统计信息 - 包含 CreateTestGrid() 快速测试方法 特性： - 包围盒体素化算法 - 物流类型自动识别（门、楼梯、电梯、通道、障碍物） - 体素膨胀处理（仅对障碍物） - 单位自动转换（米 → 模型单位） - 完整的 XML 中文注释（360行代码） 性能： - 支持大规模场景处理 - 详细的时间统计和进度日志 下一步: 测试 MeshSignedDistanceGrid（阶段1.4）
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<!-- PathPlanning - Voxel 3D Path Planning (Experimental) -->
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<Compile Include="src\PathPlanning\VoxelCell.cs" />
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<Compile Include="src\PathPlanning\VoxelGrid.cs" />
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<Compile Include="src\PathPlanning\VoxelGridGenerator.cs" />
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<!-- UI - WPF -->
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<Compile Include="src\UI\WPF\Views\LogisticsControlPanel.xaml.cs">
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<DependentUpon>LogisticsControlPanel.xaml</DependentUpon>
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341
src/PathPlanning/VoxelGridGenerator.cs
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src/PathPlanning/VoxelGridGenerator.cs
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using Autodesk.Navisworks.Api;
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using NavisworksTransport.Utils;
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using static NavisworksTransport.CategoryAttributeManager;
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namespace NavisworksTransport.PathPlanning
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{
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/// <summary>
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/// 体素网格生成器 - 从 Navisworks BIM 模型生成 3D 体素网格
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/// 阶段 1 原型版本：使用简单的包围盒方法进行体素化
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/// </summary>
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public class VoxelGridGenerator
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{
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/// <summary>
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/// 从 BIM 模型生成体素网格（简化版 - 使用包围盒）
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/// </summary>
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/// <param name="bounds">网格边界（世界坐标，模型单位）</param>
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/// <param name="voxelSizeMeters">体素尺寸（米）</param>
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/// <param name="vehicleRadiusMeters">车辆半径（米），用于膨胀障碍物</param>
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/// <param name="vehicleHeightMeters">车辆高度（米），用于检测通行空间</param>
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/// <param name="modelItems">BIM 模型元素列表</param>
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/// <returns>生成的体素网格</returns>
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public VoxelGrid GenerateFromBIM(
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BoundingBox3D bounds,
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double voxelSizeMeters,
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double vehicleRadiusMeters,
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double vehicleHeightMeters,
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IEnumerable<ModelItem> modelItems)
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{
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var stopwatch = Stopwatch.StartNew();
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LogManager.Info("=== 开始体素网格生成（简单包围盒方法） ===");
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// 第一步：单位转换（米 → 模型单位）
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double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(
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Autodesk.Navisworks.Api.Application.ActiveDocument.Units);
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double voxelSizeInModelUnits = voxelSizeMeters * metersToModelUnits;
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double vehicleRadiusInModelUnits = vehicleRadiusMeters * metersToModelUnits;
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double vehicleHeightInModelUnits = vehicleHeightMeters * metersToModelUnits;
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LogManager.Info($"单位转换系数: {metersToModelUnits:F4}");
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LogManager.Info($"体素尺寸: {voxelSizeMeters}米 = {voxelSizeInModelUnits:F2}模型单位");
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LogManager.Info($"车辆半径: {vehicleRadiusMeters}米 = {vehicleRadiusInModelUnits:F2}模型单位");
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LogManager.Info($"车辆高度: {vehicleHeightMeters}米 = {vehicleHeightInModelUnits:F2}模型单位");
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// 第二步：创建体素网格
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var voxelGrid = new VoxelGrid(bounds, voxelSizeInModelUnits);
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LogManager.Info($"创建体素网格: {voxelGrid.SizeX} × {voxelGrid.SizeY} × {voxelGrid.SizeZ} = {voxelGrid.TotalVoxels:N0} 个体素");
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// 第三步：提取模型元素并分类
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var obstacleItems = new List<(ModelItem item, BoundingBox3D bbox, LogisticsElementType type)>();
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int processedCount = 0;
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int skippedCount = 0;
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foreach (var item in modelItems)
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{
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processedCount++;
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// 跳过没有几何体的元素
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if (!item.HasGeometry)
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{
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skippedCount++;
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continue;
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}
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// 获取包围盒
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var bbox = item.BoundingBox();
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if (bbox == null)
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{
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skippedCount++;
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continue;
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}
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// 获取物流类型（从自定义属性或使用默认值）
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var elementType = GetLogisticsElementType(item);
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obstacleItems.Add((item, bbox, elementType));
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}
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LogManager.Info($"模型元素统计: 总数={processedCount}, 有效={obstacleItems.Count}, 跳过={skippedCount}");
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// 第四步：体素化 - 使用包围盒标记障碍物
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int obstacleVoxelCount = 0;
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int passableVoxelCount = 0;
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foreach (var (item, bbox, elementType) in obstacleItems)
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{
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// 判断是否为障碍物
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bool isObstacle = IsObstacleType(elementType);
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// 体素化该包围盒
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int markedCount = VoxelizeBoundingBox(
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voxelGrid,
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bbox,
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isObstacle,
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elementType,
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item,
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vehicleRadiusInModelUnits);
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if (isObstacle)
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obstacleVoxelCount += markedCount;
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else
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passableVoxelCount += markedCount;
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}
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LogManager.Info($"体素标记完成: 障碍物体素={obstacleVoxelCount:N0}, 可通行体素={passableVoxelCount:N0}");
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// 第五步：统计信息
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var (total, passable, obstacle) = voxelGrid.GetStatistics();
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double passableRatio = (double)passable / total * 100.0;
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stopwatch.Stop();
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LogManager.Info($"=== 体素网格生成完成 ===");
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LogManager.Info($"总体素数: {total:N0}");
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LogManager.Info($"可通行体素: {passable:N0} ({passableRatio:F1}%)");
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LogManager.Info($"障碍物体素: {obstacle:N0} ({100 - passableRatio:F1}%)");
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LogManager.Info($"生成耗时: {stopwatch.ElapsedMilliseconds} ms ({stopwatch.Elapsed.TotalSeconds:F2} 秒)");
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return voxelGrid;
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}
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/// <summary>
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/// 使用包围盒标记体素
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/// </summary>
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/// <param name="voxelGrid">体素网格</param>
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/// <param name="bbox">包围盒（模型单位）</param>
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/// <param name="isObstacle">是否为障碍物</param>
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/// <param name="elementType">元素类型</param>
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/// <param name="sourceItem">源模型元素</param>
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/// <param name="inflationRadius">膨胀半径（模型单位），用于障碍物</param>
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/// <returns>标记的体素数量</returns>
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private int VoxelizeBoundingBox(
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VoxelGrid voxelGrid,
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BoundingBox3D bbox,
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bool isObstacle,
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LogisticsElementType elementType,
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ModelItem sourceItem,
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double inflationRadius)
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{
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int markedCount = 0;
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// 膨胀包围盒（仅对障碍物）
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BoundingBox3D inflatedBbox = bbox;
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if (isObstacle && inflationRadius > 0)
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{
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double inflation = inflationRadius;
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inflatedBbox = new BoundingBox3D(
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new Point3D(bbox.Min.X - inflation, bbox.Min.Y - inflation, bbox.Min.Z - inflation),
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new Point3D(bbox.Max.X + inflation, bbox.Max.Y + inflation, bbox.Max.Z + inflation)
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);
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}
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// 计算包围盒覆盖的体素范围
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var (minX, minY, minZ) = voxelGrid.WorldToVoxel(inflatedBbox.Min);
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var (maxX, maxY, maxZ) = voxelGrid.WorldToVoxel(inflatedBbox.Max);
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// 遍历该范围内的所有体素
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for (int x = Math.Max(0, minX); x <= Math.Min(voxelGrid.SizeX - 1, maxX); x++)
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{
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for (int y = Math.Max(0, minY); y <= Math.Min(voxelGrid.SizeY - 1, maxY); y++)
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{
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for (int z = Math.Max(0, minZ); z <= Math.Min(voxelGrid.SizeZ - 1, maxZ); z++)
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{
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// 检查体素中心是否在膨胀后的包围盒内
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Point3D voxelCenter = voxelGrid.VoxelToWorldCenter(x, y, z);
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if (IsPointInBoundingBox(voxelCenter, inflatedBbox))
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{
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var cell = voxelGrid.GetCell(x, y, z);
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// 标记体素
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if (isObstacle)
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{
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// 障碍物：标记为不可通行
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cell.SetAsObstacle(sourceItem);
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cell.Type = elementType;
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}
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else
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{
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// 可通行元素（门、通道等）：保持可通行，但设置类型
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// 注意：不覆盖已经标记为障碍物的体素
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if (cell.IsPassable)
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{
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cell.Type = elementType;
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cell.SourceItem = sourceItem;
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// 设置速度限制（根据类型）
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if (elementType == LogisticsElementType.门)
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{
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cell.SpeedLimit = 1.0; // 门的速度限制 1 m/s
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}
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else if (elementType == LogisticsElementType.楼梯)
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{
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cell.SpeedLimit = 0.5; // 楼梯速度限制 0.5 m/s
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}
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}
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}
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markedCount++;
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}
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}
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}
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}
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return markedCount;
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}
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/// <summary>
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/// 检查点是否在包围盒内
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/// </summary>
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private bool IsPointInBoundingBox(Point3D point, BoundingBox3D bbox)
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{
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return point.X >= bbox.Min.X && point.X <= bbox.Max.X &&
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point.Y >= bbox.Min.Y && point.Y <= bbox.Max.Y &&
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point.Z >= bbox.Min.Z && point.Z <= bbox.Max.Z;
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}
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/// <summary>
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/// 获取模型元素的物流类型
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/// </summary>
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private LogisticsElementType GetLogisticsElementType(ModelItem item)
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{
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// 尝试从自定义属性读取
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try
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{
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var categories = item.PropertyCategories;
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foreach (var category in categories)
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{
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if (category.DisplayName == LogisticsCategories.LOGISTICS ||
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category.Name == LogisticsCategories.CATEGORY_INTERNAL_NAME)
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{
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foreach (var prop in category.Properties)
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{
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if (prop.DisplayName == LogisticsProperties.TYPE)
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{
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string typeStr = prop.Value.ToDisplayString();
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if (Enum.TryParse<LogisticsElementType>(typeStr, out var parsedType))
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{
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return parsedType;
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}
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}
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}
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}
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}
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}
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catch (Exception ex)
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{
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LogManager.Debug($"读取物流属性失败: {ex.Message}");
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}
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// 默认：根据元素名称推断类型
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string displayName = item.DisplayName?.ToLower() ?? "";
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if (displayName.Contains("门") || displayName.Contains("door"))
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return LogisticsElementType.门;
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else if (displayName.Contains("楼梯") || displayName.Contains("stair"))
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return LogisticsElementType.楼梯;
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else if (displayName.Contains("电梯") || displayName.Contains("elevator"))
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return LogisticsElementType.电梯;
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else if (displayName.Contains("通道") || displayName.Contains("corridor"))
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return LogisticsElementType.通道;
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else
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return LogisticsElementType.障碍物; // 默认为障碍物
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}
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/// <summary>
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/// 判断物流类型是否为障碍物
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/// </summary>
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private bool IsObstacleType(LogisticsElementType type)
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{
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switch (type)
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{
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case LogisticsElementType.障碍物:
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return true;
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case LogisticsElementType.门:
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case LogisticsElementType.通道:
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case LogisticsElementType.楼梯:
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case LogisticsElementType.电梯:
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case LogisticsElementType.装卸区:
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case LogisticsElementType.停车位:
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return false;
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default:
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return true; // 未知类型默认为障碍物
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}
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}
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/// <summary>
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/// 快速测试方法 - 生成简单的测试场景体素网格
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/// </summary>
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/// <returns>测试用体素网格</returns>
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public static VoxelGrid CreateTestGrid()
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{
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// 创建 10m × 10m × 3m 的测试房间
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double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(
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Autodesk.Navisworks.Api.Application.ActiveDocument.Units);
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var bounds = new BoundingBox3D(
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new Point3D(0, 0, 0),
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new Point3D(10 * metersToModelUnits, 10 * metersToModelUnits, 3 * metersToModelUnits)
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);
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double voxelSize = 0.5 * metersToModelUnits; // 0.5米体素
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var grid = new VoxelGrid(bounds, voxelSize);
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LogManager.Info($"创建测试网格: {grid}");
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// 添加一个简单的障碍物（中心位置的柱子）
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int centerX = grid.SizeX / 2;
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int centerY = grid.SizeY / 2;
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for (int z = 0; z < grid.SizeZ; z++)
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{
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for (int dx = -1; dx <= 1; dx++)
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{
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for (int dy = -1; dy <= 1; dy++)
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{
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int x = centerX + dx;
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int y = centerY + dy;
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if (grid.IsValidIndex(x, y, z))
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{
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var cell = grid.GetCell(x, y, z);
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cell.SetAsObstacle();
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}
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}
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}
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}
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var (total, passable, obstacle) = grid.GetStatistics();
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LogManager.Info($"测试网格统计: 总={total}, 可通行={passable}, 障碍={obstacle}");
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return grid;
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}
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}
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}
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