用通道的高度范围+车辆高度+安全间隙作为过滤范围。
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CLAUDE.md
14
CLAUDE.md
@ -139,6 +139,20 @@ public class PathClickToolPlugin : ToolPlugin { }
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- **Modern animation system**: Use Navisworks 2026 native animation components instead of manual Transform manipulation
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- **Enhanced APIs**: Take advantage of improved 2026 APIs for collision detection, animation, and model management
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### Serena MCP工具配置
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- **Token限制策略**: 所有serena MCP工具调用必须使用`max_answer_chars: 3000`参数
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- **适用工具**: 包括但不限于：
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- `mcp__serena__search_for_pattern`
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- `mcp__serena__find_symbol`
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- `mcp__serena__get_symbols_overview`
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- `mcp__serena__find_referencing_symbols`
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- 所有其他支持`max_answer_chars`参数的serena工具
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- **执行原则**:
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- 优先使用精确搜索而非宽泛搜索以减少token消耗
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- 分步骤获取信息，避免一次性获取大量内容
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- 如遇到3k限制导致内容截断，应使用更精确的搜索条件重新查询
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## API Documentation Search Strategy
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### CHM文档搜索最佳实践
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@ -728,7 +728,6 @@ namespace NavisworksTransport.PathPlanning
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Math.Abs(optimizedPath[checkIdx+1].Z - optimizedPath[checkIdx].Z) > heightTolerance))
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{
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canSkip = false;
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LogManager.Debug($"[斜线优化] 不能跳过点{checkIdx}，存在高度变化");
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break;
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}
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}
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@ -216,22 +216,16 @@ namespace NavisworksTransport.PathPlanning
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// 计算网格中心点在三角形平面上的精确高度
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double gridCenterHeight = GetHeightAtPoint(triangle, worldPos.X, worldPos.Y);
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// 调试日志：打印生成的网格坐标和高度
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LogManager.Debug($"[调试] 生成通道网格: ({gridPos.X}, {gridPos.Y}) 高度: {gridCenterHeight:F2}");
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// 使用SetCell方法正确创建通道网格并更新统计信息
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gridMap.SetCell(gridPos, true, 0, CategoryAttributeManager.LogisticsElementType.通道);
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// 直接设置网格属性
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var cell = new GridCell
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{
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IsWalkable = true,
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CellType = CategoryAttributeManager.LogisticsElementType.通道,
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IsInChannel = true,
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PassableHeight = new HeightInterval(),
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ChannelType = ChannelType.Corridor,
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WorldPosition = new Point3D(worldPos.X, worldPos.Y, gridCenterHeight),
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RelatedModelItem = null
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};
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cell.Cost = cell.GetCost();
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gridMap.Cells[gridPos.X, gridPos.Y] = cell;
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// 然后更新特定的通道属性
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var updatedCell = gridMap.Cells[gridPos.X, gridPos.Y];
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updatedCell.WorldPosition = new Point3D(worldPos.X, worldPos.Y, gridCenterHeight);
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updatedCell.PassableHeight = new HeightInterval();
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updatedCell.ChannelType = ChannelType.Corridor;
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updatedCell.RelatedModelItem = null;
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gridMap.Cells[gridPos.X, gridPos.Y] = updatedCell;
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}
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}
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}
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@ -120,7 +120,7 @@ namespace NavisworksTransport.PathPlanning
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// 2. 直接遍历处理障碍物（包围盒检测） - 使用高性能优化版本
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LogManager.Info("【生成网格地图】步骤2: 高性能包围盒遍历处理障碍物");
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ProcessObstaclesWithBoundingBoxOptimized(channelCoverage.GridMap, channelRelatedItems, scanHeightInModelUnits);
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ProcessObstaclesWithBoundingBox(channelCoverage.GridMap, channelRelatedItems, scanHeightInModelUnits, channelCoverage);
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LogManager.Info($"【阶段2完成】障碍物处理后网格统计: {channelCoverage.GridMap.GetStatistics()}");
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@ -1126,11 +1126,11 @@ namespace NavisworksTransport.PathPlanning
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/// 使用包围盒遍历方式处理障碍物（高性能优化版）
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/// 分离API访问和数值计算，利用并行处理加速纯计算部分
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/// </summary>
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/// <param name="document">Navisworks文档</param>
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/// <param name="gridMap">网格地图</param>
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/// <param name="channelItems">通道模型项列表</param>
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/// <param name="scanHeightInModelUnits">扫描高度范围（模型单位）</param>
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private void ProcessObstaclesWithBoundingBoxOptimized(GridMap gridMap, HashSet<ModelItem> channelItems, double scanHeightInModelUnits)
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/// <param name="channelCoverage">通道覆盖信息，包含通道边界</param>
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private void ProcessObstaclesWithBoundingBox(GridMap gridMap, HashSet<ModelItem> channelItems, double scanHeightInModelUnits, ChannelCoverage channelCoverage)
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{
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try
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{
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@ -1168,8 +1168,16 @@ namespace NavisworksTransport.PathPlanning
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var filterElapsed = (DateTime.Now - filterStart).TotalMilliseconds;
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LogManager.Info($"[高性能障碍物处理] 阶段3完成: 从缓存中筛选出 {validItems.Count} 个有效项，耗时: {filterElapsed:F1}ms");
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// 阶段4：网格覆盖计算（并行几何计算）- 使用50%CPU核心优化 + 精确高度检查
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LogManager.Info("[高性能障碍物处理] 阶段4: 并行网格覆盖计算 + 精确高度检查");
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// 获取通道高度范围信息
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var channelBounds = channelCoverage.TotalBounds;
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var channelMinZ = channelBounds.Min.Z;
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var channelMaxZ = channelBounds.Max.Z;
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var channelHeightRange = channelMaxZ - channelMinZ;
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LogManager.Info($"[高性能障碍物处理] 通道高度信息 - 最低点: {channelMinZ:F2}, 最高点: {channelMaxZ:F2}");
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LogManager.Info($"[高性能障碍物处理] 通道高度范围: {channelHeightRange:F2}, 加车辆高度后扫描范围: [{channelMinZ:F2}, {channelMaxZ + scanHeightInModelUnits:F2}]");
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// 阶段4：网格覆盖计算（并行几何计算）- 使用50%CPU核心优化 + 基于通道的精确高度检查
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LogManager.Info("[高性能障碍物处理] 阶段4: 并行网格覆盖计算 + 基于通道高度的精确高度检查");
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var gridCalcStart = DateTime.Now;
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var heightCheckedItems = validItems.AsParallel()
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@ -1188,9 +1196,11 @@ namespace NavisworksTransport.PathPlanning
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}
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var centerCell = gridMap.Cells[centerGridPos.X, centerGridPos.Y];
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var referenceZ = centerCell.WorldPosition.Z;
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var scanMin = referenceZ;
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var scanMax = referenceZ + scanHeightInModelUnits;
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// 使用通道高度范围计算扫描范围
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// 扫描范围：从通道最低点开始，到通道最高点+车辆高度+安全间隙
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var scanMin = channelMinZ;
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var scanMax = channelMaxZ + scanHeightInModelUnits;
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// 只有与该网格高度范围重叠的几何体才进入处理
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bool isInRange = !(bbox.Max.Z < scanMin || bbox.Min.Z > scanMax);
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