diff --git a/CLAUDE.md b/CLAUDE.md
index d86598a..c625c43 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -139,6 +139,20 @@ public class PathClickToolPlugin : ToolPlugin { }
- **Modern animation system**: Use Navisworks 2026 native animation components instead of manual Transform manipulation
- **Enhanced APIs**: Take advantage of improved 2026 APIs for collision detection, animation, and model management
+### Serena MCP工具配置
+
+- **Token限制策略**: 所有serena MCP工具调用必须使用`max_answer_chars: 3000`参数
+- **适用工具**: 包括但不限于：
+ - `mcp__serena__search_for_pattern`
+ - `mcp__serena__find_symbol`
+ - `mcp__serena__get_symbols_overview`
+ - `mcp__serena__find_referencing_symbols`
+ - 所有其他支持`max_answer_chars`参数的serena工具
+- **执行原则**:
+ - 优先使用精确搜索而非宽泛搜索以减少token消耗
+ - 分步骤获取信息，避免一次性获取大量内容
+ - 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
+
## API Documentation Search Strategy
### CHM文档搜索最佳实践
diff --git a/src/PathPlanning/AutoPathFinder.cs b/src/PathPlanning/AutoPathFinder.cs
index 1f681d4..de37c2d 100644
--- a/src/PathPlanning/AutoPathFinder.cs
+++ b/src/PathPlanning/AutoPathFinder.cs
@@ -728,7 +728,6 @@ namespace NavisworksTransport.PathPlanning
Math.Abs(optimizedPath[checkIdx+1].Z - optimizedPath[checkIdx].Z) > heightTolerance))
{
canSkip = false;
- LogManager.Debug($"[斜线优化] 不能跳过点{checkIdx}，存在高度变化");
break;
}
}
diff --git a/src/PathPlanning/ChannelBasedGridBuilder.cs b/src/PathPlanning/ChannelBasedGridBuilder.cs
index a0be163..a89f53c 100644
--- a/src/PathPlanning/ChannelBasedGridBuilder.cs
+++ b/src/PathPlanning/ChannelBasedGridBuilder.cs
@@ -216,22 +216,16 @@ namespace NavisworksTransport.PathPlanning
// 计算网格中心点在三角形平面上的精确高度
double gridCenterHeight = GetHeightAtPoint(triangle, worldPos.X, worldPos.Y);
- // 调试日志：打印生成的网格坐标和高度
- LogManager.Debug($"[调试] 生成通道网格: ({gridPos.X}, {gridPos.Y}) 高度: {gridCenterHeight:F2}");
+ // 使用SetCell方法正确创建通道网格并更新统计信息
+ gridMap.SetCell(gridPos, true, 0, CategoryAttributeManager.LogisticsElementType.通道);
- // 直接设置网格属性
- var cell = new GridCell
- {
- IsWalkable = true,
- CellType = CategoryAttributeManager.LogisticsElementType.通道,
- IsInChannel = true,
- PassableHeight = new HeightInterval(),
- ChannelType = ChannelType.Corridor,
- WorldPosition = new Point3D(worldPos.X, worldPos.Y, gridCenterHeight),
- RelatedModelItem = null
- };
- cell.Cost = cell.GetCost();
- gridMap.Cells[gridPos.X, gridPos.Y] = cell;
+ // 然后更新特定的通道属性
+ var updatedCell = gridMap.Cells[gridPos.X, gridPos.Y];
+ updatedCell.WorldPosition = new Point3D(worldPos.X, worldPos.Y, gridCenterHeight);
+ updatedCell.PassableHeight = new HeightInterval();
+ updatedCell.ChannelType = ChannelType.Corridor;
+ updatedCell.RelatedModelItem = null;
+ gridMap.Cells[gridPos.X, gridPos.Y] = updatedCell;
}
}
}
diff --git a/src/PathPlanning/GridMapGenerator.cs b/src/PathPlanning/GridMapGenerator.cs
index 91170e6..73161e0 100644
--- a/src/PathPlanning/GridMapGenerator.cs
+++ b/src/PathPlanning/GridMapGenerator.cs
@@ -120,7 +120,7 @@ namespace NavisworksTransport.PathPlanning
// 2. 直接遍历处理障碍物（包围盒检测） - 使用高性能优化版本
LogManager.Info("【生成网格地图】步骤2: 高性能包围盒遍历处理障碍物");
- ProcessObstaclesWithBoundingBoxOptimized(channelCoverage.GridMap, channelRelatedItems, scanHeightInModelUnits);
+ ProcessObstaclesWithBoundingBox(channelCoverage.GridMap, channelRelatedItems, scanHeightInModelUnits, channelCoverage);
LogManager.Info($"【阶段2完成】障碍物处理后网格统计: {channelCoverage.GridMap.GetStatistics()}");
@@ -1126,11 +1126,11 @@ namespace NavisworksTransport.PathPlanning
/// 使用包围盒遍历方式处理障碍物（高性能优化版）
/// 分离API访问和数值计算，利用并行处理加速纯计算部分
///
- /// Navisworks文档
/// 网格地图
/// 通道模型项列表
/// 扫描高度范围（模型单位）
- private void ProcessObstaclesWithBoundingBoxOptimized(GridMap gridMap, HashSet channelItems, double scanHeightInModelUnits)
+ /// 通道覆盖信息，包含通道边界
+ private void ProcessObstaclesWithBoundingBox(GridMap gridMap, HashSet channelItems, double scanHeightInModelUnits, ChannelCoverage channelCoverage)
{
try
{
@@ -1168,8 +1168,16 @@ namespace NavisworksTransport.PathPlanning
var filterElapsed = (DateTime.Now - filterStart).TotalMilliseconds;
LogManager.Info($"[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");
- // 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
- 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");
+ // 获取通道高度范围信息
+ var channelBounds = channelCoverage.TotalBounds;
+ var channelMinZ = channelBounds.Min.Z;
+ var channelMaxZ = channelBounds.Max.Z;
+ var channelHeightRange = channelMaxZ - channelMinZ;
+ LogManager.Info($"[高性能障碍物处理] 通道高度信息 - 最低点: {channelMinZ:F2}, 最高点: {channelMaxZ:F2}");
+ LogManager.Info($"[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}]");
+
+ // 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
+ 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");
var gridCalcStart = DateTime.Now;
var heightCheckedItems = validItems.AsParallel()
@@ -1188,9 +1196,11 @@ namespace NavisworksTransport.PathPlanning
}
var centerCell = gridMap.Cells[centerGridPos.X, centerGridPos.Y];
- var referenceZ = centerCell.WorldPosition.Z;
- var scanMin = referenceZ;
- var scanMax = referenceZ + scanHeightInModelUnits;
+
+ // 使用通道高度范围计算扫描范围
+ // 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
+ var scanMin = channelMinZ;
+ var scanMax = channelMaxZ + scanHeightInModelUnits;
// 只有与该网格高度范围重叠的几何体才进入处理
bool isInRange = !(bbox.Max.Z < scanMin || bbox.Min.Z > scanMax);