From 1813c9831d09fdf21d30e209ac5a3af0a834ddd2 Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Fri, 16 Jan 2026 21:06:20 +0800
Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E7=BD=91=E6=A0=BC=E5=8F=AF?=
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---
NavisworksTransportPlugin.csproj | 1 +
src/Core/GridVisualization.cs | 111 ++++++++++++++++++++++
src/Core/PathPlanningManager.cs | 114 +++++++---------------
src/Core/PathPointRenderPlugin.cs | 153 ++++++++++++++++++++++++++++++
4 files changed, 301 insertions(+), 78 deletions(-)
create mode 100644 src/Core/GridVisualization.cs
diff --git a/NavisworksTransportPlugin.csproj b/NavisworksTransportPlugin.csproj
index ab979e2..1098c34 100644
--- a/NavisworksTransportPlugin.csproj
+++ b/NavisworksTransportPlugin.csproj
@@ -113,6 +113,7 @@
+
diff --git a/src/Core/GridVisualization.cs b/src/Core/GridVisualization.cs
new file mode 100644
index 0000000..dd167a0
--- /dev/null
+++ b/src/Core/GridVisualization.cs
@@ -0,0 +1,111 @@
+using System.Collections.Generic;
+using Autodesk.Navisworks.Api;
+
+namespace NavisworksTransport
+{
+ ///
+ /// 网格可视化类型（仅用于网格可视化，不用于数据模型）
+ ///
+ public enum GridVisualizationType
+ {
+ ///
+ /// 可通行通道（绿色）
+ ///
+ Walkable,
+
+ ///
+ /// 障碍物（灰色）
+ ///
+ Obstacle,
+
+ ///
+ /// 未知区域（红色）
+ ///
+ Unknown,
+
+ ///
+ /// 门（半透明绿色）
+ ///
+ Door
+ }
+
+ ///
+ /// 网格可视化标记点
+ ///
+ public class GridMarker
+ {
+ ///
+ /// 3D 位置
+ ///
+ public Point3D Position { get; set; }
+
+ ///
+ /// 网格可视化类型（可通行性）
+ ///
+ public GridVisualizationType CellType { get; set; }
+
+ ///
+ /// 网格坐标 X
+ ///
+ public int GridX { get; set; }
+
+ ///
+ /// 网格坐标 Y
+ ///
+ public int GridY { get; set; }
+
+ ///
+ /// 高度层 Z 坐标
+ ///
+ public double LayerZ { get; set; }
+
+ public GridMarker() { }
+
+ public GridMarker(Point3D position, GridVisualizationType cellType, int gridX, int gridY, double layerZ)
+ {
+ Position = position;
+ CellType = cellType;
+ GridX = gridX;
+ GridY = gridY;
+ LayerZ = layerZ;
+ }
+ }
+
+ ///
+ /// 网格可视化集合
+ ///
+ public class GridVisualization
+ {
+ ///
+ /// 可视化 ID
+ ///
+ public string Id { get; set; }
+
+ ///
+ /// 可通行的网格标记（绿色）
+ ///
+ public List Walkable { get; } = new List();
+
+ ///
+ /// 障碍物网格标记（灰色）
+ ///
+ public List Obstacle { get; } = new List();
+
+ ///
+ /// 未知区域网格标记（红色）
+ ///
+ public List Unknown { get; } = new List();
+
+ ///
+ /// 门网格标记（半透明绿色）
+ ///
+ public List Door { get; } = new List();
+
+ public GridVisualization() { }
+
+ public GridVisualization(string id)
+ {
+ Id = id;
+ }
+ }
+}
diff --git a/src/Core/PathPlanningManager.cs b/src/Core/PathPlanningManager.cs
index c36db7f..fe238fd 100644
--- a/src/Core/PathPlanningManager.cs
+++ b/src/Core/PathPlanningManager.cs
@@ -3678,26 +3678,8 @@ namespace NavisworksTransport
// 清除之前的网格可视化
ClearGridVisualization();
- // 创建四种独立的网格可视化路径
- var channelRoute = new PathRoute("GridVisualization_Channel")
- {
- Id = "grid_visualization_channel"
- };
-
- var unknownRoute = new PathRoute("GridVisualization_Unknown")
- {
- Id = "grid_visualization_unknown"
- };
-
- var obstacleRoute = new PathRoute("GridVisualization_Obstacle")
- {
- Id = "grid_visualization_obstacle"
- };
-
- var doorRoute = new PathRoute("GridVisualization_Door")
- {
- Id = "grid_visualization_door"
- };
+ // 创建网格可视化集合
+ var gridVis = new GridVisualization("grid_visualization");
// 统计变量
int channelCells = 0;
@@ -3729,8 +3711,7 @@ namespace NavisworksTransport
{
double layerZ = layer.Z;
- PathRoute targetRoute = null;
- string gridTypeName = "";
+ GridVisualizationType? cellType = null;
// 仅根据 layer.IsWalkable 决定渲染
if (layer.IsWalkable)
@@ -3740,8 +3721,7 @@ namespace NavisworksTransport
{
if (_showDoorGrid)
{
- targetRoute = doorRoute;
- gridTypeName = "门";
+ cellType = GridVisualizationType.Door;
doorCells++;
}
}
@@ -3750,8 +3730,7 @@ namespace NavisworksTransport
// 其他可通行类型统一为通道样式（绿色）
if (_showWalkableGrid)
{
- targetRoute = channelRoute;
- gridTypeName = "通道";
+ cellType = GridVisualizationType.Walkable;
channelCells++;
}
}
@@ -3761,27 +3740,33 @@ namespace NavisworksTransport
// 不可通行层 - 渲染为障碍物（灰色）
if (_showObstacleGrid)
{
- targetRoute = obstacleRoute;
- gridTypeName = "障碍";
+ cellType = GridVisualizationType.Obstacle;
obstacleCells++;
}
}
- // 创建该层的可视化点
- if (targetRoute != null)
+ // 创建该层的可视化标记
+ if (cellType.HasValue)
{
var gridCenter = new Point3D(centerX, centerY, layerZ);
+ var marker = new GridMarker(gridCenter, cellType.Value, x, y, layerZ);
- var gridPoint = new PathPoint
+ // 根据类型添加到对应列表
+ switch (cellType.Value)
{
- Position = gridCenter,
- Name = $"网格_{gridTypeName}({x},{y})_Z{layerZ:F2}",
- Type = PathPointType.WayPoint,
- Index = totalVisualized,
- Notes = $"GridType:{cell.CellType}, LayerZ={layerZ:F2}, IsWalkable={layer.IsWalkable}"
- };
-
- targetRoute.Points.Add(gridPoint);
+ case GridVisualizationType.Walkable:
+ gridVis.Walkable.Add(marker);
+ break;
+ case GridVisualizationType.Obstacle:
+ gridVis.Obstacle.Add(marker);
+ break;
+ case GridVisualizationType.Unknown:
+ gridVis.Unknown.Add(marker);
+ break;
+ case GridVisualizationType.Door:
+ gridVis.Door.Add(marker);
+ break;
+ }
totalVisualized++;
}
}
@@ -3792,15 +3777,8 @@ namespace NavisworksTransport
if (_showUnknownGrid)
{
var gridCenter = new Point3D(centerX, centerY, gridCorner.Z);
- var gridPoint = new PathPoint
- {
- Position = gridCenter,
- Name = $"网格_空洞({x},{y})",
- Type = PathPointType.WayPoint,
- Index = totalVisualized,
- Notes = $"GridType:Unknown, NoLayers"
- };
- unknownRoute.Points.Add(gridPoint);
+ var marker = new GridMarker(gridCenter, GridVisualizationType.Unknown, x, y, gridCorner.Z);
+ gridVis.Unknown.Add(marker);
unknownCells++;
totalVisualized++;
}
@@ -3808,30 +3786,8 @@ namespace NavisworksTransport
}
}
- // 分别渲染四种类型的网格点
- if (channelRoute.Points.Count > 0)
- {
- renderPlugin.RenderPointOnly(channelRoute);
- LogManager.Info($"[网格可视化] 渲染可通行网格层: {channelRoute.Points.Count} 个（绿色）");
- }
-
- if (doorRoute.Points.Count > 0)
- {
- renderPlugin.RenderPointOnly(doorRoute);
- LogManager.Info($"[网格可视化] 渲染门网格层: {doorRoute.Points.Count} 个（50%透明绿色）");
- }
-
- if (unknownRoute.Points.Count > 0)
- {
- renderPlugin.RenderPointOnly(unknownRoute);
- LogManager.Info($"[网格可视化] 渲染Unknown网格: {unknownRoute.Points.Count} 个（红色，调试用）");
- }
-
- if (obstacleRoute.Points.Count > 0)
- {
- renderPlugin.RenderPointOnly(obstacleRoute);
- LogManager.Info($"[网格可视化] 渲染障碍物网格层: {obstacleRoute.Points.Count} 个（灰色）");
- }
+ // 使用新的专门渲染方法（类型安全）
+ renderPlugin.RenderGridVisualization(gridVis);
// 输出统计信息
LogManager.Info($"[网格可视化] 可视化完成：");
@@ -3864,12 +3820,14 @@ namespace NavisworksTransport
var renderPlugin = PathPointRenderPlugin.Instance;
if (renderPlugin != null)
{
- // 清除所有网格可视化路径（包括旧的和新的）
- renderPlugin.RemovePath("grid_visualization_all"); // 旧的单一路径
- renderPlugin.RemovePath("grid_visualization_channel"); // 新的通道路径
- renderPlugin.RemovePath("grid_visualization_unknown"); // 新的Unknown路径
- renderPlugin.RemovePath("grid_visualization_obstacle"); // 新的障碍物路径
- renderPlugin.RemovePath("grid_visualization_door"); // 新的门路径
+ // 清除所有网格可视化（使用新的 ID 命名）
+ renderPlugin.RemovePath("grid_visualization_walkable"); // 可通行的网格
+ renderPlugin.RemovePath("grid_visualization_obstacle"); // 障碍物网格
+ renderPlugin.RemovePath("grid_visualization_unknown"); // 未知区域网格
+ renderPlugin.RemovePath("grid_visualization_door"); // 门网格
+ // 清除旧的网格可视化 ID（向后兼容）
+ renderPlugin.RemovePath("grid_visualization_all");
+ renderPlugin.RemovePath("grid_visualization_channel");
LogManager.Info("[网格可视化] 网格可视化已清除");
}
else
diff --git a/src/Core/PathPointRenderPlugin.cs b/src/Core/PathPointRenderPlugin.cs
index f6cbdc5..53d0547 100644
--- a/src/Core/PathPointRenderPlugin.cs
+++ b/src/Core/PathPointRenderPlugin.cs
@@ -699,6 +699,159 @@ namespace NavisworksTransport
}
}
+ ///
+ /// 清除网格可视化
+ ///
+ public void ClearGridVisualization()
+ {
+ try
+ {
+ lock (_lockObject)
+ {
+ // 清除所有网格可视化
+ RemovePath("grid_visualization_walkable");
+ RemovePath("grid_visualization_obstacle");
+ RemovePath("grid_visualization_unknown");
+ RemovePath("grid_visualization_door");
+ // 清除旧的网格可视化 ID（向后兼容）
+ RemovePath("grid_visualization_all");
+ RemovePath("grid_visualization_channel");
+ }
+
+ RequestViewRefresh();
+ }
+ catch (Exception ex)
+ {
+ LogManager.Error($"[网格可视化] 清除网格可视化失败: {ex.Message}", ex);
+ }
+ }
+
+ ///
+ /// 渲染网格可视化（使用专门的 GridMarker 类型）
+ ///
+ /// 网格可视化对象
+ public void RenderGridVisualization(GridVisualization gridVis)
+ {
+ if (gridVis == null)
+ {
+ LogManager.Warning("[网格可视化] GridVisualization 对象为 null，无法渲染");
+ return;
+ }
+
+ try
+ {
+ // 清除之前的网格可视化
+ ClearGridVisualization();
+
+ // 渲染可通行的网格点（绿色）
+ if (gridVis.Walkable.Count > 0)
+ {
+ RenderGridMarkers("grid_visualization_walkable", gridVis.Walkable, GridVisualizationType.Walkable);
+ LogManager.Info($"[网格可视化] 渲染可通行网格标记: {gridVis.Walkable.Count} 个（绿色）");
+ }
+
+ // 渲染障碍物网格点（灰色）
+ if (gridVis.Obstacle.Count > 0)
+ {
+ RenderGridMarkers("grid_visualization_obstacle", gridVis.Obstacle, GridVisualizationType.Obstacle);
+ LogManager.Info($"[网格可视化] 渲染障碍物网格标记: {gridVis.Obstacle.Count} 个（灰色）");
+ }
+
+ // 渲染未知区域网格点（红色）
+ if (gridVis.Unknown.Count > 0)
+ {
+ RenderGridMarkers("grid_visualization_unknown", gridVis.Unknown, GridVisualizationType.Unknown);
+ LogManager.Info($"[网格可视化] 渲染未知网格标记: {gridVis.Unknown.Count} 个（红色）");
+ }
+
+ // 渲染门网格点（半透明绿色）
+ if (gridVis.Door.Count > 0)
+ {
+ RenderGridMarkers("grid_visualization_door", gridVis.Door, GridVisualizationType.Door);
+ LogManager.Info($"[网格可视化] 渲染门网格标记: {gridVis.Door.Count} 个（半透明绿色）");
+ }
+
+ RequestViewRefresh();
+ }
+ catch (Exception ex)
+ {
+ LogManager.Error($"[网格可视化] 渲染失败: {ex.Message}", ex);
+ }
+ }
+
+ ///
+ /// 渲染一组网格标记
+ ///
+ /// 路径 ID
+ /// 网格标记列表
+ /// 网格可视化类型
+ private void RenderGridMarkers(string pathId, List markers, GridVisualizationType cellType)
+ {
+ if (markers == null || markers.Count == 0)
+ {
+ return;
+ }
+
+ var visualization = new PathVisualization
+ {
+ PathId = pathId,
+ PathRoute = null // 网格可视化不使用 PathRoute
+ };
+
+ // 创建点标记
+ foreach (var marker in markers)
+ {
+ var pointMarker = CreateGridMarker(marker);
+ visualization.PointMarkers.Add(pointMarker);
+ }
+
+ lock (_lockObject)
+ {
+ _pathVisualizations[pathId] = visualization;
+ }
+ }
+
+ ///
+ /// 创建网格标记（类型安全，无需字符串匹配）
+ ///
+ /// 网格标记
+ /// 圆点标记对象
+ private CircleMarker CreateGridMarker(GridMarker marker)
+ {
+ // 根据网格可视化类型确定颜色和透明度
+ RenderStyle style = new RenderStyle(Color.White, 1.0);
+ switch (marker.CellType)
+ {
+ case GridVisualizationType.Walkable:
+ style = GetRenderStyle(RenderStyleName.GridChannel);
+ break;
+ case GridVisualizationType.Obstacle:
+ style = GetRenderStyle(RenderStyleName.GridObstacle);
+ break;
+ case GridVisualizationType.Unknown:
+ style = GetRenderStyle(RenderStyleName.GridUnknown);
+ break;
+ case GridVisualizationType.Door:
+ // 门使用50%透明度
+ style = new RenderStyle(GetRenderStyle(RenderStyleName.GridChannel).Color, 0.5);
+ break;
+ }
+
+ return new CircleMarker
+ {
+ Center = marker.Position,
+ Normal = new Vector3D(0, 0, 1),
+ Radius = GetRadiusForGridVisualization(),
+ Color = style.Color,
+ Alpha = style.Alpha,
+ Filled = true,
+ PointType = PathPointType.WayPoint,
+ GridPointType = _gridPointType,
+ SequenceNumber = 0,
+ CreatedTime = DateTime.Now
+ };
+ }
+
///
/// 只构建点标记，不构建连线
///