修复地面倾斜路径偏移的问题
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UnitTests/Utils/BoundingBoxGeometryUtilsTests.cs
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UnitTests/Utils/BoundingBoxGeometryUtilsTests.cs
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using System;
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using Autodesk.Navisworks.Api;
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using Microsoft.VisualStudio.TestTools.UnitTesting;
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using NavisworksTransport.Utils;
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namespace NavisworksTransport.UnitTests.Utils
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{
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/// <summary>
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/// BoundingBoxGeometryUtils 的单元测试
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/// 重点验证旋转后包围盒中心偏移计算的数学正确性
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/// 使用大尺寸和夸张比例，确保结果清晰可见
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/// </summary>
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[TestClass]
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public class BoundingBoxGeometryUtilsTests
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{
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#region CalculateRotatedBoundingBoxCenterOffset Tests - 大尺寸非对称包围盒
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/// <summary>
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/// X方向超长的长方体（类似长沙发/长桌）绕Z轴旋转90度
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/// 尺寸: 10000 x 100 x 50
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/// 预期: X方向大偏移
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_LongX_Rotate90AroundZ_LargeXOffset()
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{
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// X方向从 -5000 到 +5000（总长10000）
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// Y方向从 -50 到 +50（总长100）
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// Z方向从 -25 到 +25（总长50）
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var bounds = new BoundingBox3D(
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new Point3D(-5000, -50, -25),
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new Point3D(5000, 50, 25));
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// 原中心: (0, 0, 0)
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// 8角点: (±5000, ±50, ±25)
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// 绕Z轴旋转90度 (x'=-y, y'=x):
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// (5000, 50) -> (-50, 5000)
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// (5000, -50) -> (50, 5000)
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// (-5000, 50) -> (-50, -5000)
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// (-5000, -50) -> (50, -5000)
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//
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// 新X范围: [-50, 50]（来自原Y范围）
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// 新Y范围: [-5000, 5000]（来自原X范围）
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// 新中心: (0, 0, 0)
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// 偏移: (0, 0, 0) - 等等，这不应该是0
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// 啊不对，让我重新算：
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// 原中心是 (0, 0, 0)
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// 旋转后各角点分布在 [-50,50]x[-5000,5000]x[-25,25]
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// 新AABB中心仍然是 (0, 0, 0)
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// 所以偏移应该是 0？
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// 等等，问题在于原中心是 (0,0,0)，所以新中心也是 (0,0,0)
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// 我需要测试非对称的，即原中心不在原点的情况
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// 重新设计：让包围盒中心不在原点
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// Min=(-1000, -50, -25), Max=(9000, 50, 25)
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// 中心: (4000, 0, 0)
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bounds = new BoundingBox3D(
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new Point3D(-1000, -50, -25),
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new Point3D(9000, 50, 25));
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var rotation = new Rotation3D(new UnitVector3D(0, 0, 1), Math.PI / 2);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (4000, 0, 0)
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// 8角点相对中心: (-5000,±50,±25), (5000,±50,±25)
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//
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// 旋转90度后:
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// (-5000, 50) -> (-50, -5000)
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// (-5000, -50) -> (50, -5000)
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// (5000, 50) -> (-50, 5000)
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// (5000, -50) -> (50, 5000)
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//
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// 新X范围: [-50, 50]
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// 新Y范围: [-5000, 5000]
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// 新中心: (0, 0, 0)
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// 偏移: (0-4000, 0-0, 0-0) = (-4000, 0, 0)
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Console.WriteLine($"LongX-Rotate90: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
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Assert.AreEqual(-4000, offset.X, 1, "X方向大偏移应为-4000");
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Assert.AreEqual(0, offset.Y, 1, "Y偏移应为0");
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Assert.AreEqual(0, offset.Z, 0.1, "Z偏移应为0");
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}
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/// <summary>
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/// Y方向超长的长方体绕X轴旋转90度
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/// 尺寸: 100 x 10000 x 50
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_LongY_Rotate90AroundX_LargeYOffset()
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{
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// Y方向从 -1000 到 +9000（总长10000，中心在4000）
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// X方向从 -50 到 +50（总长100）
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// Z方向从 -25 到 +25（总长50）
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var bounds = new BoundingBox3D(
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new Point3D(-50, -1000, -25),
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new Point3D(50, 9000, 25));
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// 绕X轴旋转90度 (y'=-z, z'=y)
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var rotation = new Rotation3D(new UnitVector3D(1, 0, 0), Math.PI / 2);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (0, 4000, 0)
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// 8角点相对中心: (±50, -5000, ±25), (±50, 5000, ±25)
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//
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// 旋转90度后:
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// y' = -z, z' = y
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// (50, -5000, 25) -> (50, -25, -5000)
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// (50, -5000, -25) -> (50, 25, -5000)
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// (50, 5000, 25) -> (50, -25, 5000)
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// (50, 5000, -25) -> (50, 25, 5000)
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// (-50, -5000, 25) -> (-50, -25, -5000)
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// (-50, -5000, -25) -> (-50, 25, -5000)
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// (-50, 5000, 25) -> (-50, -25, 5000)
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// (-50, 5000, -25) -> (-50, 25, 5000)
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//
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// 新X范围: [-50, 50]
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// 新Y范围: [-25, 25]
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// 新Z范围: [-5000, 5000]
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// 新中心: (0, 0, 0)
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// 偏移: (0-0, 0-4000, 0-0) = (0, -4000, 0)
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Console.WriteLine($"LongY-Rotate90: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
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Assert.AreEqual(0, offset.X, 1, "X偏移应为0");
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Assert.AreEqual(-4000, offset.Y, 1, "Y方向大偏移应为-4000");
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Assert.AreEqual(0, offset.Z, 0.1, "Z偏移应为0");
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}
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/// <summary>
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/// Z方向超长的长方体绕Y轴旋转90度
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/// 尺寸: 100 x 100 x 10000
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_LongZ_Rotate90AroundY_LargeZOffset()
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{
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// Z方向从 -1000 到 +9000（总长10000，中心在4000）
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// X方向从 -50 到 +50（总长100）
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// Y方向从 -50 到 +50（总长100）
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var bounds = new BoundingBox3D(
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new Point3D(-50, -50, -1000),
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new Point3D(50, 50, 9000));
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// 绕Y轴旋转90度 (z'=x, x'=-z) - 等等，让我确认旋转矩阵
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// 绕Y轴旋转θ: x'=x*cosθ+z*sinθ, z'=-x*sinθ+z*cosθ
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// 90度时: x'=z, z'=-x
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var rotation = new Rotation3D(new UnitVector3D(0, 1, 0), Math.PI / 2);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (0, 0, 4000)
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// 8角点相对中心: (±50,±50,-5000), (±50,±50,5000)
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//
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// 旋转90度后 (x'=z, z'=-x):
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// (50, 50, -5000) -> (-5000, 50, -50)
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// (50, 50, 5000) -> (5000, 50, -50)
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// (-50, 50, -5000) -> (-5000, 50, 50)
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// (-50, 50, 5000) -> (5000, 50, 50)
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// 以及Y=-50的四个点...
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//
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// 新X范围: [-5000, 5000]
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// 新Y范围: [-50, 50]
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// 新Z范围: [-50, 50]
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// 新中心: (0, 0, 0)
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// 偏移: (0-0, 0-0, 0-4000) = (0, 0, -4000)
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Console.WriteLine($"LongZ-Rotate90: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
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Assert.AreEqual(0, offset.X, 1, "X偏移应为0");
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Assert.AreEqual(0, offset.Y, 0.1, "Y偏移应为0");
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Assert.AreEqual(-4000, offset.Z, 1, "Z方向大偏移应为-4000");
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}
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/// <summary>
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/// 三轴都不同比例的长方体绕Z轴旋转45度
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/// 尺寸: 1000 x 200 x 100
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_AsymmetricXYZ_Rotate45AroundZ_MultipleOffsets()
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{
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// X: -500 ~ +500 (中心0，但非对称也可测)
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// Y: -100 ~ +100 (中心0)
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// Z: -50 ~ +50 (中心0)
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// 等等，中心0的话偏移还是0...
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// 改用非中心对称的
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// X: -100 ~ +900 (总长1000，中心400)
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// Y: -80 ~ +120 (总长200，中心20)
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// Z: -30 ~ +70 (总长100，中心20)
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var bounds = new BoundingBox3D(
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new Point3D(-100, -80, -30),
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new Point3D(900, 120, 70));
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// 绕Z轴旋转45度
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var rotation = new Rotation3D(new UnitVector3D(0, 0, 1), Math.PI / 4);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (400, 20, 20)
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//
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// 8角点相对中心:
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// (-500,-100,-50), (500,-100,-50), (-500,100,-50), (500,100,-50)
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// (-500,-100,50), (500,-100,50), (-500,100,50), (500,100,50)
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//
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// 旋转45度后 (x'=(x-y)/√2, y'=(x+y)/√2):
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// (-500,-100) -> (-400/√2, -600/√2) ≈ (-283, -424)
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// (500,-100) -> (600/√2, 400/√2) ≈ (424, 283)
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// (-500,100) -> (-600/√2, -400/√2) ≈ (-424, -283)
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// (500,100) -> (400/√2, 600/√2) ≈ (283, 424)
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//
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// 新X范围: [-424, 424]
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// 新Y范围: [-424, 424]
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// 新中心: (0, 0, 20) - Z不变
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// 偏移: (0-400, 0-20, 20-20) = (-400, -20, 0)
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Console.WriteLine($"Asymmetric-Rotate45: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
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// 允许一定误差（因为手动计算是近似值）
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Assert.IsTrue(Math.Abs(offset.X - (-400)) < 50, $"X偏移应约-400，实际是{offset.X:F1}");
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Assert.IsTrue(Math.Abs(offset.Y - (-20)) < 50, $"Y偏移应约-20，实际是{offset.Y:F1}");
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Assert.AreEqual(0, offset.Z, 0.1, "Z偏移应为0");
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}
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/// <summary>
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/// 实际沙发案例放大版
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/// 模拟沙发: 长2000，宽100，高80，中心偏移
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_BigSofa_Rotate90AroundZ_RealisticCase()
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{
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// 沙发包围盒放大版
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// X: -200 ~ +1800 (总长2000，中心800)
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// Y: -50 ~ +50 (总长100，中心0)
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// Z: 0 ~ +80 (总高80，中心40)
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var bounds = new BoundingBox3D(
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new Point3D(-200, -50, 0),
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new Point3D(1800, 50, 80));
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var rotation = new Rotation3D(new UnitVector3D(0, 0, 1), Math.PI / 2);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (800, 0, 40)
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//
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// 8角点相对中心:
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// (-1000,-50,-40), (1000,-50,-40), (-1000,50,-40), (1000,50,-40)
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// (-1000,-50,40), (1000,-50,40), (-1000,50,40), (1000,50,40)
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//
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// 旋转90度后 (x'=-y, y'=x):
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// (-1000,-50) -> (50, -1000)
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// (1000,-50) -> (50, 1000)
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// (-1000,50) -> (-50, -1000)
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// (1000,50) -> (-50, 1000)
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//
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// 新X范围: [-50, 50]
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// 新Y范围: [-1000, 1000]
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// 新中心: (0, 0, 40) - Z不变
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// 偏移: (0-800, 0-0, 40-40) = (-800, 0, 0)
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Console.WriteLine($"BigSofa-Rotate90: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
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Assert.AreEqual(-800, offset.X, 10, "X方向偏移应为-800");
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Assert.AreEqual(0, offset.Y, 10, "Y偏移应为0");
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Assert.AreEqual(0, offset.Z, 0.1, "Z偏移应为0");
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}
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/// <summary>
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/// X方向超长绕Z轴旋转45度 - 测试非90度旋转
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/// 尺寸: 10000 x 100 x 50
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_LongX_Rotate45AroundZ_DiagonalOffset()
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{
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// X方向从 -1000 到 +9000（总长10000，中心4000）
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// Y方向从 -50 到 +50（总长100）
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var bounds = new BoundingBox3D(
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new Point3D(-1000, -50, -25),
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new Point3D(9000, 50, 25));
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// 绕Z轴旋转45度
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var rotation = new Rotation3D(new UnitVector3D(0, 0, 1), Math.PI / 4);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (4000, 0, 0)
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// 8角点相对中心: (-5000,±50,±25), (5000,±50,±25)
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//
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// 旋转45度后 (x'=(x-y)/√2, y'=(x+y)/√2):
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// (-5000, 50) -> (-5050/√2, -4950/√2) ≈ (-3571, -3500)
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// (-5000, -50) -> (-4950/√2, -5050/√2) ≈ (-3500, -3571)
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// (5000, 50) -> (4950/√2, 5050/√2) ≈ (3500, 3571)
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// (5000, -50) -> (5050/√2, 4950/√2) ≈ (3571, 3500)
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//
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// 新X范围: [-3571, 3571]
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// 新Y范围: [-3571, 3571]
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// 新中心: (0, 0, 0)
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// 偏移: (0-4000, 0-0, 0-0) = (-4000, 0, 0)
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Console.WriteLine($"LongX-Rotate45: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
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// X方向应该有较大负偏移（接近-4000）
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Assert.IsTrue(offset.X < -3500, $"45度旋转后X偏移应小于-3500，实际是{offset.X:F1}");
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Assert.IsTrue(offset.X > -4500, $"45度旋转后X偏移应大于-4500，实际是{offset.X:F1}");
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// Y方向偏移应该很小（因为原Y中心是0）
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Assert.IsTrue(Math.Abs(offset.Y) < 100, $"45度旋转后Y偏移应接近0，实际是{offset.Y:F1}");
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Assert.AreEqual(0, offset.Z, 0.1, "Z偏移应为0");
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}
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/// <summary>
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/// XY方向都非对称的长方体绕Z轴旋转45度 - 测试双向偏移
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/// 尺寸: 8000 x 4000 x 100
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/// </summary>
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[TestMethod]
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public void CalculateRotatedBoundingBoxCenterOffset_XYBothAsymmetric_Rotate45AroundZ_BothOffsets()
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{
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// X方向从 -3000 到 +5000（总长8000，中心2000）
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// Y方向从 -1000 到 +3000（总长4000，中心1000）
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var bounds = new BoundingBox3D(
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new Point3D(-3000, -1000, -50),
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new Point3D(5000, 3000, 50));
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// 绕Z轴旋转45度
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var rotation = new Rotation3D(new UnitVector3D(0, 0, 1), Math.PI / 4);
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var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
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// 原中心: (2000, 1000, 0)
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// 8角点相对中心: (-5000,-2000,±50), (3000,-2000,±50), (-5000,2000,±50), (3000,2000,±50)
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//
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// 旋转45度后:
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// (-5000, -2000) -> (-3000/√2, -7000/√2) ≈ (-2121, -4950)
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// (3000, -2000) -> (5000/√2, 1000/√2) ≈ (3536, 707)
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// (-5000, 2000) -> (-7000/√2, -3000/√2) ≈ (-4950, -2121)
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// (3000, 2000) -> (1000/√2, 5000/√2) ≈ (707, 3536)
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//
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// 新X范围: [-4950, 3536]
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// 新Y范围: [-4950, 3536]
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// 新中心: ((-4950+3536)/2, (-4950+3536)/2, 0) = (-707, -707, 0)
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// 偏移: (-707-2000, -707-1000, 0-0) = (-2707, -1707, 0)
|
||||
|
||||
Console.WriteLine($"XY-Asymmetric-Rotate45: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
|
||||
|
||||
// X方向应该有较大负偏移
|
||||
Assert.IsTrue(offset.X < -2000, $"45度旋转后X偏移应小于-2000，实际是{offset.X:F1}");
|
||||
Assert.IsTrue(offset.X > -3500, $"45度旋转后X偏移应大于-3500，实际是{offset.X:F1}");
|
||||
// Y方向也应该有负偏移，但比X小
|
||||
Assert.IsTrue(offset.Y < -1000, $"45度旋转后Y偏移应小于-1000，实际是{offset.Y:F1}");
|
||||
Assert.IsTrue(offset.Y > -2500, $"45度旋转后Y偏移应大于-2500，实际是{offset.Y:F1}");
|
||||
Assert.AreEqual(0, offset.Z, 0.1, "Z偏移应为0");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 零旋转验证 - 无论什么形状，不旋转偏移都应为0
|
||||
/// </summary>
|
||||
[TestMethod]
|
||||
public void CalculateRotatedBoundingBoxCenterOffset_NoRotation_ZeroOffset()
|
||||
{
|
||||
var bounds = new BoundingBox3D(
|
||||
new Point3D(-1000, -100, -50),
|
||||
new Point3D(9000, 100, 50));
|
||||
|
||||
var rotation = Rotation3D.Identity;
|
||||
|
||||
var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
|
||||
|
||||
Console.WriteLine($"No-Rotation: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
|
||||
|
||||
Assert.AreEqual(0, offset.X, 1e-6, "无旋转时X偏移应为0");
|
||||
Assert.AreEqual(0, offset.Y, 1e-6, "无旋转时Y偏移应为0");
|
||||
Assert.AreEqual(0, offset.Z, 1e-6, "无旋转时Z偏移应为0");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 180度旋转验证 - 包围盒应该不变（只是翻转）
|
||||
/// </summary>
|
||||
[TestMethod]
|
||||
public void CalculateRotatedBoundingBoxCenterOffset_180DegreeRotation_ZeroOffset()
|
||||
{
|
||||
var bounds = new BoundingBox3D(
|
||||
new Point3D(-1000, -100, -50),
|
||||
new Point3D(9000, 100, 50));
|
||||
|
||||
var rotation = new Rotation3D(new UnitVector3D(0, 0, 1), Math.PI);
|
||||
|
||||
var offset = BoundingBoxGeometryUtils.CalculateRotatedBoundingBoxCenterOffset(bounds, rotation);
|
||||
|
||||
Console.WriteLine($"180-Rotation: offset=({offset.X:F1}, {offset.Y:F1}, {offset.Z:F1})");
|
||||
|
||||
Assert.AreEqual(0, offset.X, 1e-6, "180度旋转后X偏移应为0");
|
||||
Assert.AreEqual(0, offset.Y, 1e-6, "180度旋转后Y偏移应为0");
|
||||
Assert.AreEqual(0, offset.Z, 1e-6, "180度旋转后Z偏移应为0");
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
@ -5562,7 +5562,15 @@ namespace NavisworksTransport.Core.Animation
|
||||
|
||||
if (frameData.HasCustomRotation)
|
||||
{
|
||||
UpdateObjectPosition(frameData.Position, frameData.Rotation);
|
||||
// 🔥 Ground路径动画播放：使用 _trackedPosition 计算增量，不重新读取包围盒
|
||||
if (_route?.PathType == PathType.Ground && IsRealObjectMode)
|
||||
{
|
||||
ApplyGroundAnimationFrame(frameData.Position, frameData.Rotation);
|
||||
}
|
||||
else
|
||||
{
|
||||
UpdateObjectPosition(frameData.Position, frameData.Rotation);
|
||||
}
|
||||
}
|
||||
else if (_route?.PathType == PathType.Ground || _route?.PathType == PathType.Hoisting)
|
||||
{
|
||||
@ -5575,6 +5583,33 @@ namespace NavisworksTransport.Core.Animation
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 专门用于Ground路径动画帧播放。使用 _trackedPosition 作为当前位置，不重新读取包围盒。
|
||||
/// </summary>
|
||||
private void ApplyGroundAnimationFrame(Point3D targetPosition, Rotation3D targetRotation)
|
||||
{
|
||||
var controlledObject = CurrentControlledObject;
|
||||
if (controlledObject == null) return;
|
||||
|
||||
// 使用 _trackedPosition 作为当前位置（几何中心），不重新读取包围盒
|
||||
Point3D currentPosition = _trackedPosition;
|
||||
Rotation3D currentRotation = _hasTrackedRotation ? _trackedRotation : Rotation3D.Identity;
|
||||
|
||||
// 简单增量变换，不使用包围盒
|
||||
ModelItemTransformHelper.MoveItemIncrementallyToPositionAndRotation(
|
||||
controlledObject,
|
||||
currentPosition,
|
||||
currentRotation,
|
||||
targetPosition,
|
||||
targetRotation);
|
||||
|
||||
// 更新跟踪状态
|
||||
_trackedPosition = targetPosition;
|
||||
_trackedRotation = targetRotation;
|
||||
_hasTrackedRotation = true;
|
||||
_currentYaw = ModelItemTransformHelper.GetYawFromRotation(targetRotation);
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// 更新FPS计数器（DispatcherTimer模式）
|
||||
|
||||
@ -272,5 +272,66 @@ namespace NavisworksTransport.Utils
|
||||
new Point3D(minX, minY, minZ),
|
||||
new Point3D(maxX, maxY, maxZ));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 计算包围盒旋转后，新AABB中心相对于原中心的偏移。
|
||||
/// 这是解决"旋转后BoundingBox中心漂移"问题的核心数学方法。
|
||||
///
|
||||
/// [备注] 此方法仅供参考，当前代码中未使用。保留作为数学工具方法。
|
||||
/// </summary>
|
||||
/// <param name="originalBounds">原始包围盒</param>
|
||||
/// <param name="rotation">旋转（世界坐标系）</param>
|
||||
/// <returns>新AABB中心相对于原中心的偏移量</returns>
|
||||
public static Vector3D CalculateRotatedBoundingBoxCenterOffset(BoundingBox3D originalBounds, Rotation3D rotation)
|
||||
{
|
||||
// 原包围盒中心
|
||||
Point3D originalCenter = new Point3D(
|
||||
(originalBounds.Min.X + originalBounds.Max.X) / 2.0,
|
||||
(originalBounds.Min.Y + originalBounds.Max.Y) / 2.0,
|
||||
(originalBounds.Min.Z + originalBounds.Max.Z) / 2.0);
|
||||
|
||||
// 旋转矩阵
|
||||
var linear = new Transform3D(rotation).Linear;
|
||||
|
||||
// 原始包围盒的8个角点（相对于原中心）
|
||||
var corners = new[]
|
||||
{
|
||||
new Point3D(originalBounds.Min.X - originalCenter.X, originalBounds.Min.Y - originalCenter.Y, originalBounds.Min.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Max.X - originalCenter.X, originalBounds.Min.Y - originalCenter.Y, originalBounds.Min.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Min.X - originalCenter.X, originalBounds.Max.Y - originalCenter.Y, originalBounds.Min.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Max.X - originalCenter.X, originalBounds.Max.Y - originalCenter.Y, originalBounds.Min.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Min.X - originalCenter.X, originalBounds.Min.Y - originalCenter.Y, originalBounds.Max.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Max.X - originalCenter.X, originalBounds.Min.Y - originalCenter.Y, originalBounds.Max.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Min.X - originalCenter.X, originalBounds.Max.Y - originalCenter.Y, originalBounds.Max.Z - originalCenter.Z),
|
||||
new Point3D(originalBounds.Max.X - originalCenter.X, originalBounds.Max.Y - originalCenter.Y, originalBounds.Max.Z - originalCenter.Z)
|
||||
};
|
||||
|
||||
// 计算旋转后的角点，并求新AABB
|
||||
double minX = double.MaxValue, minY = double.MaxValue, minZ = double.MaxValue;
|
||||
double maxX = double.MinValue, maxY = double.MinValue, maxZ = double.MinValue;
|
||||
|
||||
foreach (var corner in corners)
|
||||
{
|
||||
// 应用旋转
|
||||
double rx = linear.Get(0, 0) * corner.X + linear.Get(0, 1) * corner.Y + linear.Get(0, 2) * corner.Z;
|
||||
double ry = linear.Get(1, 0) * corner.X + linear.Get(1, 1) * corner.Y + linear.Get(1, 2) * corner.Z;
|
||||
double rz = linear.Get(2, 0) * corner.X + linear.Get(2, 1) * corner.Y + linear.Get(2, 2) * corner.Z;
|
||||
|
||||
minX = Math.Min(minX, rx);
|
||||
minY = Math.Min(minY, ry);
|
||||
minZ = Math.Min(minZ, rz);
|
||||
maxX = Math.Max(maxX, rx);
|
||||
maxY = Math.Max(maxY, ry);
|
||||
maxZ = Math.Max(maxZ, rz);
|
||||
}
|
||||
|
||||
// 新AABB中心（相对于原中心）
|
||||
Vector3D newCenterOffset = new Vector3D(
|
||||
(minX + maxX) / 2.0,
|
||||
(minY + maxY) / 2.0,
|
||||
(minZ + maxZ) / 2.0);
|
||||
|
||||
return newCenterOffset;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user