feat: 贴合地面功能 + 通行空间尺寸准确化 + UI修复 (0.16.0)

贴合地面：点选物体表面自动贴地+搜索最小截面对齐路径 - AlignToGroundMinCrossSectionYawSearcher 搜索yaw - ComposeHostCorrection 扣除CAD yaw+pathYaw避免重复旋转 - ComputeGroundLiftForCorrection 实测底边算lift 通行空间尺寸：实际旋转物体到X轴方向测AABB再转回 - MeasureXAlignedAabbAndSetCache 自动调整和贴合地面共用 - ObjectRotationCorrection setter 清空缓存修复手动改角度不同步 UI：调整物体窗口按钮区改Grid布局真正居中版本号 0.15.8 -> 0.16.0
2026-06-26 09:17:46 +08:00 · 2026-06-26 09:17:46 +08:00 · 105061bade
commit 105061bade
parent 3cb5d8d423
4 changed files with 132 additions and 80 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -1,5 +1,33 @@
 # NavisworksTransport 变更日志

+## [0.16.0] - 2026-06-26
+
+### ✨ 新功能
+
+- **贴合地面**：在"调整物体"窗口中新增"贴合地面"按钮，点选物体表面后自动旋转使该面贴地，并绕垂直轴搜索最小截面对齐路径方向。
+  - 新增 `AlignToGroundMinCrossSectionYawSearcher`：在贴地旋转（固定俯仰/翻滚）基础上绕宿主 Up 搜索 yaw，使物体在路径方向的截面投影面积最小（粗搜 5° + 细搜 1°）
+  - 复用 `ObjectPassageProjectionOptimizer.ProjectExtent` 的 AABB 投影公式
+  - 搜索完成后用 `ComposeHostCorrection` 将绝对贴地姿态转为相对于 baseline 的 host 欧拉修正，扣除 CAD 自带 yaw + pathYaw，避免确认/动画时重复旋转
+  - `HostQuaternionToCanonical` 用相似变换 `R_canon = M⁻¹·R_host·M` 做坐标系转换
+  - `ComputeGroundLiftForCorrection`：与自动调整同方法实测底边算 lift，测量后用新 correction+lift 完整重建使物体停留在贴地等价姿态
+
+### 🐛 Bug 修复
+
+- **自动调整/贴合地面后通行空间尺寸准确化**：
+  - 路径斜向时世界 AABB 的 X/Y/Z 不对应沿路径/垂直路径/高度，纯数学旋转 AABB 也会膨胀
+  - 改为用 Navisworks API 实际旋转物体到 X 轴方向测 AABB，再转回来，获取准确的沿路径/垂直路径/高度尺寸
+  - 提取 `MeasureXAlignedAabbAndSetCache` 辅助方法，自动调整和贴合地面共用
+- **自动调整后手动改角度尺寸不同步**：`ObjectRotationCorrection` setter 清空 `_autoAabbSx/Sy/Sz` 缓存，手动改角度走 `CalculateRotatedDimensions` 重新计算；自动调整/贴合地面直接设字段不经过 setter，缓存不受影响
+- **ObjectPassageProjectionOptimizer 初始候选缺失**：`OptimizeWithEvaluator` 初始化 `bestScore=Invalid` 从不评估 correction=Zero，当 baseline 已对齐路径时随机采样必然替换它。改为评估 Zero 作为初始候选
+- **ZUp 测试语义修正**：`LocalEulerRotationCorrection` 的 Y=up 轴、Z=non-up 轴，ZUp 下绕 Z(up) 转应传 YDegrees，4 个旧测试在 ZUp 下把 ZDegrees 当字面 Z 轴已修正
+- **AliasTreeTests 编译错误**：`SetAlias` 调用补全缺失的 alias 参数；4 个旧格式兼容测试改为期望抛 FormatException（`FromKey` 已按"不向后兼容"原则移除旧格式支持）
+
+### 🔧 改进
+
+- **"调整物体"窗口按钮区布局**：改为 Grid 布局，6 个按钮用固定间距列隔开，所有按钮显式 `Margin="0"` 覆盖 Style 的 Margin，真正居中
+- **`CanonicalQuaternionToHostEulerCorrection` 加 hostType 参数重载**：去除全局 `CoordinateSystemManager` 依赖，便于单测
+- 新增 `AlignToGroundMinCrossSectionYawSearcherTests`（12 个单测）覆盖平地/倾斜/CAD歪斜/垂直退化/立方体/增量链闭环等场景
+
 ## [0.15.8] - 2026-06-09

 ### ✨ 新功能
--- a/VERSION.md
+++ b/VERSION.md
@ -1,3 +1,3 @@
 # 版本号

-0.15.8
+0.16.0
--- a/src/UI/WPF/ViewModels/AnimationControlViewModel.cs
+++ b/src/UI/WPF/ViewModels/AnimationControlViewModel.cs
@ -813,6 +813,12 @@ namespace NavisworksTransport.UI.WPF.ViewModels
            {
                if (SetProperty(ref _objectRotationCorrection, value))
                {
+                    // 手动改角度时清空自动调整/贴合地面的缓存尺寸，
+                    // 让 UpdatePassageSpaceVisualization 走 CalculateRotatedDimensions 重新计算。
+                    // 贴地/自动调整直接设字段不经过 setter，不受影响。
+                    _autoAabbSx = null;
+                    _autoAabbSy = null;
+                    _autoAabbSz = null;
                    // 角度修正值改变时，更新物体朝向和通行空间
                    UpdateObjectRotation();
                }
@ -2219,8 +2225,15 @@ namespace NavisworksTransport.UI.WPF.ViewModels
                        _pathAnimationManager?.ApplyObjectStartPlacementRequest(placementRequest);
                        ObjectRotationCorrection = placementRequest.RotationCorrection;
                    }
-                    if (dialog.AutoAdjustAabbSizes.HasValue)
-                        (_autoAabbSx, _autoAabbSy, _autoAabbSz) = dialog.AutoAdjustAabbSizes.Value;
+                    if (isAutoAdjusted)
+                    {
+                        // 自动调整确认后用X轴对齐实测AABB设置尺寸，
+                        // dialog.AutoAdjustAabbSizes 是世界AABB的X/Y/Z，路径斜向时不准。
+                        var aabbAdapter = CoordinateSystemManager.Instance.CreateHostAdapter();
+                        var aabbDoc = Autodesk.Navisworks.Api.Application.ActiveDocument;
+                        var aabbItems = new ModelItemCollection { SelectedAnimatedObject };
+                        MeasureXAlignedAabbAndSetCache(SelectedAnimatedObject, aabbItems, aabbAdapter, aabbDoc);
+                    }

                    string liftSummary = enableGroundLift
                        ? $", 上下偏移={_objectGroundLiftHeightInMeters:F3}m"
@ -2268,6 +2281,62 @@ namespace NavisworksTransport.UI.WPF.ViewModels
            ApplyAlignToGround(faceNormal);
        }

+        /// <summary>
+        /// 实际旋转物体到X轴方向测AABB，获取沿路径/垂直路径/高度的准确尺寸，再转回来。
+        /// 路径斜向时世界AABB的X/Y/Z不对应语义尺寸，必须实际旋转物体用Navisworks API测量。
+        /// 设置 _autoAabbSx=沿路径, _autoAabbSy=高度, _autoAabbSz=垂直路径。
+        /// </summary>
+        private void MeasureXAlignedAabbAndSetCache(ModelItem item, ModelItemCollection modelItems,
+            HostCoordinateAdapter adapter, Autodesk.Navisworks.Api.Document doc)
+        {
+            if (CurrentPathRoute?.Points == null || CurrentPathRoute.Points.Count < 2) return;
+
+            var pathStart = CurrentPathRoute.Points[0];
+            var pathStartVec = new Vector3((float)pathStart.X, (float)pathStart.Y, (float)pathStart.Z);
+            Vector3 pathFwd = Vector3.Zero;
+            for (int i = 1; i < CurrentPathRoute.Points.Count; i++)
+            {
+                var p = CurrentPathRoute.Points[i];
+                var c = new Vector3((float)p.X, (float)p.Y, (float)p.Z) - pathStartVec;
+                if (c.LengthSquared() > 1e-8f) { pathFwd = c; break; }
+            }
+            if (pathFwd.LengthSquared() <= 1e-8f) return;
+
+            Vector3 hostUp = adapter.HostUpVector3;
+            Vector3 pathFwdH = pathFwd - hostUp * Vector3.Dot(pathFwd, hostUp);
+            if (pathFwdH.LengthSquared() <= 1e-8f) return;
+            pathFwdH = Vector3.Normalize(pathFwdH);
+
+            Vector3 horizontalPerpX = Vector3.Normalize(Vector3.Cross(hostUp, Vector3.UnitX));
+            float angleToX = (float)Math.Atan2(
+                Vector3.Dot(pathFwdH, horizontalPerpX),
+                Vector3.Dot(pathFwdH, Vector3.UnitX));
+
+            // 实际旋转物体到X轴方向，测AABB，再转回来
+            Quaternion yawToX = Quaternion.CreateFromAxisAngle(hostUp, -angleToX);
+            var rotateToX = Transform3D.CreateTranslation(new Vector3D(0, 0, 0)).Factor();
+            rotateToX.Rotation = new Rotation3D(yawToX.X, yawToX.Y, yawToX.Z, yawToX.W);
+            doc.Models.OverridePermanentTransform(modelItems, rotateToX.Combine(), false);
+
+            BoundingBox3D xAlignedBounds = item.BoundingBox();
+            int upIndex = adapter.HostUpAxisIndex;
+            _autoAabbSx = xAlignedBounds.Max.X - xAlignedBounds.Min.X;
+            _autoAabbSy = upIndex == 1 ? xAlignedBounds.Max.Y - xAlignedBounds.Min.Y : xAlignedBounds.Max.Z - xAlignedBounds.Min.Z;
+            _autoAabbSz = upIndex == 1 ? xAlignedBounds.Max.Z - xAlignedBounds.Min.Z : xAlignedBounds.Max.Y - xAlignedBounds.Min.Y;
+
+            // 转回来
+            Quaternion yawBack = Quaternion.CreateFromAxisAngle(hostUp, angleToX);
+            var rotateBack = Transform3D.CreateTranslation(new Vector3D(0, 0, 0)).Factor();
+            rotateBack.Rotation = new Rotation3D(yawBack.X, yawBack.Y, yawBack.Z, yawBack.W);
+            doc.Models.OverridePermanentTransform(modelItems, rotateBack.Combine(), false);
+
+            double unitsToMeters = UnitsConverter.GetUnitsToMetersConversionFactor();
+            LogManager.Debug(
+                $"[X轴对齐AABB] 沿路径={_autoAabbSx * unitsToMeters:F2}m, " +
+                $"垂直路径={_autoAabbSz * unitsToMeters:F2}m, " +
+                $"高度={_autoAabbSy * unitsToMeters:F2}m, angleToX={angleToX * 180.0 / Math.PI:F1}°");
+        }
+
        private void ApplyAlignToGround(Vector3 faceNormal)
        {
            var item = UseVirtualObject
@ -2418,57 +2487,10 @@ namespace NavisworksTransport.UI.WPF.ViewModels
                _pathAnimationManager.SetObjectStartVerticalLiftDirect(_objectGroundLiftHeightInMeters);

                // 物体已在最终贴地姿态（ComputeGroundLiftForCorrection 重建完成）。
-                // 路径可能斜向，直接测ABB投影偏大。实际旋转物体到X轴方向测AABB，
-                // 再转回来——必须用Navisworks API实际旋转才能获取准确AABB。
-                if (hasSearchedExtents && CurrentPathRoute.Points.Count >= 2)
+                // 路径可能斜向，实际旋转物体到X轴方向测AABB获取准确语义尺寸。
+                if (hasSearchedExtents)
                {
-                    var pathStart = CurrentPathRoute.Points[0];
-                    var pathStartVec = new Vector3((float)pathStart.X, (float)pathStart.Y, (float)pathStart.Z);
-                    Vector3 pathFwd = Vector3.Zero;
-                    for (int i = 1; i < CurrentPathRoute.Points.Count; i++)
-                    {
-                        var p = CurrentPathRoute.Points[i];
-                        var c = new Vector3((float)p.X, (float)p.Y, (float)p.Z) - pathStartVec;
-                        if (c.LengthSquared() > 1e-8f) { pathFwd = c; break; }
-                    }
-                    if (pathFwd.LengthSquared() > 1e-8f)
-                    {
-                        Vector3 hostUp = adapter.HostUpVector3;
-                        Vector3 pathFwdH = pathFwd - hostUp * Vector3.Dot(pathFwd, hostUp);
-                        if (pathFwdH.LengthSquared() > 1e-8f)
-                        {
-                            pathFwdH = Vector3.Normalize(pathFwdH);
-                            Vector3 horizontalPerpX = Vector3.Normalize(Vector3.Cross(hostUp, Vector3.UnitX));
-                            float angleToX = (float)Math.Atan2(
-                                Vector3.Dot(pathFwdH, horizontalPerpX),
-                                Vector3.Dot(pathFwdH, Vector3.UnitX));
-
-                            // 实际旋转物体到X轴方向，测AABB，再转回来
-                            // angleToX 是路径相对X轴的夹角，需要转 -angleToX 让路径对齐X
-                            Quaternion yawToX = Quaternion.CreateFromAxisAngle(hostUp, -angleToX);
-                            var rotateToX = Transform3D.CreateTranslation(new Vector3D(0, 0, 0)).Factor();
-                            rotateToX.Rotation = new Rotation3D(yawToX.X, yawToX.Y, yawToX.Z, yawToX.W);
-                            doc.Models.OverridePermanentTransform(modelItems, rotateToX.Combine(), false);
-
-                            BoundingBox3D xAlignedBounds = item.BoundingBox();
-                            int upIndex = adapter.HostUpAxisIndex;
-                            _autoAabbSx = xAlignedBounds.Max.X - xAlignedBounds.Min.X;
-                            _autoAabbSy = upIndex == 1 ? xAlignedBounds.Max.Y - xAlignedBounds.Min.Y : xAlignedBounds.Max.Z - xAlignedBounds.Min.Z;
-                            _autoAabbSz = upIndex == 1 ? xAlignedBounds.Max.Z - xAlignedBounds.Min.Z : xAlignedBounds.Max.Y - xAlignedBounds.Min.Y;
-
-                            // 转回来
-                            Quaternion yawBack = Quaternion.CreateFromAxisAngle(hostUp, angleToX);
-                            var rotateBack = Transform3D.CreateTranslation(new Vector3D(0, 0, 0)).Factor();
-                            rotateBack.Rotation = new Rotation3D(yawBack.X, yawBack.Y, yawBack.Z, yawBack.W);
-                            doc.Models.OverridePermanentTransform(modelItems, rotateBack.Combine(), false);
-
-                            double unitsToMeters = UnitsConverter.GetUnitsToMetersConversionFactor();
-                            LogManager.Debug(
-                                $"[贴合地面] X轴对齐AABB(实测): 沿路径={_autoAabbSx * unitsToMeters:F2}m, " +
-                                $"垂直路径={_autoAabbSz * unitsToMeters:F2}m, " +
-                                $"高度={_autoAabbSy * unitsToMeters:F2}m, angleToX={angleToX * 180.0 / Math.PI:F1}°");
-                        }
-                    }
+                    MeasureXAlignedAabbAndSetCache(item, modelItems, adapter, doc);
                }
            }

--- a/src/UI/WPF/Views/EditRotationWindow.xaml
+++ b/src/UI/WPF/Views/EditRotationWindow.xaml
@ -2,7 +2,7 @@
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:converters="clr-namespace:NavisworksTransport.UI.WPF.Converters"
-        Title="调整物体" Height="430" Width="470"
+        Title="调整物体" Height="430" Width="480"
        WindowStartupLocation="CenterScreen"
        ResizeMode="NoResize"
        ShowInTaskbar="False"
@ -190,44 +190,46 @@
        </Border>
        
        <!-- 按钮栏 -->
-        <Border Grid.Row="2" Background="#FFF8FBFF" BorderBrush="#FFD4E7FF" BorderThickness="0,1,0,0" Padding="20,12">
-            <StackPanel Orientation="Horizontal" HorizontalAlignment="Center">
-                <Button Content="初始值" 
+        <Border Grid.Row="2" Background="#FFF8FBFF" BorderBrush="#FFD4E7FF" BorderThickness="0,1,0,0" Padding="10,12">
+            <Grid HorizontalAlignment="Center">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="Auto"/>
+                    <ColumnDefinition Width="8"/>
+                    <ColumnDefinition Width="Auto"/>
+                    <ColumnDefinition Width="8"/>
+                    <ColumnDefinition Width="Auto"/>
+                    <ColumnDefinition Width="8"/>
+                    <ColumnDefinition Width="Auto"/>
+                    <ColumnDefinition Width="8"/>
+                    <ColumnDefinition Width="Auto"/>
+                    <ColumnDefinition Width="8"/>
+                    <ColumnDefinition Width="Auto"/>
+                </Grid.ColumnDefinitions>
+                <Button Grid.Column="0" Content="初始值" 
                        Click="OnResetClick" 
                        Style="{StaticResource SecondaryButtonStyle}" 
-                        Width="64" 
-                        Height="32"
-                        Margin="0,0,8,0"/>
-                <Button Content="自动调整"
+                        Width="64" Height="32" Margin="0"/>
+                <Button Grid.Column="2" Content="自动调整"
                        Click="OnAutoAdjustClick"
                        Style="{StaticResource SecondaryButtonStyle}"
-                        Width="64"
-                        Height="32"
-                        Margin="0,0,8,0"/>
-                <Button Content="贴合地面"
+                        Width="64" Height="32" Margin="0"/>
+                <Button Grid.Column="4" Content="贴合地面"
                        Click="OnAlignToGroundClick"
                        Style="{StaticResource SecondaryButtonStyle}"
-                        Width="64"
-                        Height="32"
-                        Margin="0,0,8,0"/>
-                <Button Content="平移" 
+                        Width="64" Height="32" Margin="0"/>
+                <Button Grid.Column="6" Content="平移" 
                        Click="OnTranslateClick" 
                        Style="{StaticResource SecondaryButtonStyle}" 
-                        Width="64" 
-                        Height="32"
-                        Margin="0,0,8,0"/>
-                <Button Content="确认" 
+                        Width="64" Height="32" Margin="0"/>
+                <Button Grid.Column="8" Content="确认" 
                        Click="OnConfirmClick" 
                        Style="{StaticResource ActionButtonStyle}" 
-                        Width="64" 
-                        Height="32"
-                        Margin="0,0,8,0"/>
-                <Button Content="取消" 
+                        Width="64" Height="32" Margin="0"/>
+                <Button Grid.Column="10" Content="取消" 
                        Click="OnCancelClick" 
                        Style="{StaticResource SecondaryButtonStyle}" 
-                        Width="64"
-                        Height="32"/>
-            </StackPanel>
+                        Width="64" Height="32" Margin="0"/>
+            </Grid>
        </Border>
    </Grid>
 </Window>