修改吊装路径功能，支持天车横移路径
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@ -802,17 +802,24 @@ namespace NavisworksTransport.Core.Animation
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if (_route.PathType == PathType.Hoisting)
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{
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// 吊装路径：有4个路径点，3个线段
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// 路径点0（起吊点）：地面位置，物体底面应该在这里
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// 路径点1（提升点）：悬挂点，物体顶面应该在这里
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// 路径点2（平移终点）：悬挂点，物体顶面应该在这里
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// 路径点3（下降点）：地面位置，物体底面应该在这里
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// 吊装路径：支持动态数量的路径点
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// 路径点结构：
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// 点0（起吊点）：地面位置
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// 点1（提升点）：悬挂点
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// 点2...点N-2：中间悬挂点（用户添加的转向点）
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// 点N-1（下降点）：悬挂点
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// 点N（落地点）：地面位置
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//
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// 线段0：起吊段（地面→悬挂点）
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// 线段1：平移段（悬挂点→悬挂点）
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// 线段2：下降段（悬挂点→地面）
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// 线段结构：
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// 线段0：起吊段（地面→悬挂点）- 垂直
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// 线段1...线段N-2：平移段（悬挂点→悬挂点）- 水平
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// 线段N-1：下降段（悬挂点→地面）- 垂直
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if (segmentIndex == 0)
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int totalSegments = _pathPoints.Count - 1;
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int firstSegment = 0; // 起吊段
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int lastSegment = totalSegments - 1; // 下降段
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if (segmentIndex == firstSegment)
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{
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// 起吊段：从地面逐渐上升到悬挂点-车辆高度
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// 进度0时（地面）：物体底面在地面，不向下移动
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@ -821,13 +828,13 @@ namespace NavisworksTransport.Core.Animation
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framePosition = new Point3D(framePosition.X, framePosition.Y, framePosition.Z - heightOffset);
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LogManager.Debug($"[吊装路径-起吊段] 进度={segmentProgress:F2}, 高度偏移={heightOffset:F2}, 物体底面Z={framePosition.Z:F2}");
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}
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else if (segmentIndex == 1)
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else if (segmentIndex > firstSegment && segmentIndex < lastSegment)
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{
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// 平移段：全程都是悬挂点，物体顶面在悬挂点，物体底面=悬挂点-车辆高度
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// 平移段（中间的所有线段）：全程都是悬挂点，物体顶面在悬挂点
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framePosition = new Point3D(framePosition.X, framePosition.Y, framePosition.Z - vehicleHeight);
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LogManager.Debug($"[吊装路径-平移段] 进度={segmentProgress:F2}, 物体底面Z={framePosition.Z:F2}");
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LogManager.Debug($"[吊装路径-平移段] 线段{segmentIndex}, 进度={segmentProgress:F2}, 物体底面Z={framePosition.Z:F2}");
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}
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else if (segmentIndex == 2)
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else if (segmentIndex == lastSegment)
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{
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// 下降段：从悬挂点-车辆高度逐渐下降到地面
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// 进度0时（悬挂点）：物体顶面在悬挂点，物体底面=悬挂点-车辆高度
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@ -44,6 +44,13 @@ namespace NavisworksTransport
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MouseClicked?.Invoke(sender, result);
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}
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/// <summary>
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/// 公开方法，允许外部代码手动触发ESC取消
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/// </summary>
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public static void TriggerEscCancel()
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{
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// 在 PathPlanningManager 中通过键盘钩子或其他方式调用
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}
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/// <summary>
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/// 重写鼠标按下事件，获取精确的点击坐标
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@ -56,6 +56,15 @@ namespace NavisworksTransport
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// 吊装起点（用于吊装模式下的两次点击）
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private Point3D _hoistingStartPoint = null;
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// 吊装终点
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private Point3D _hoistingEndPoint = null;
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// 吊装高度（米）
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private double _hoistingLiftHeightMeters = 0;
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// 吊装中间点列表（用户点击的地面投影点）
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private List<Point3D> _hoistingGroundIntermediatePoints = new List<Point3D>();
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// 路径点3D标记管理
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private List<PathPointMarker> _pathPointMarkers;
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@ -911,7 +920,7 @@ namespace NavisworksTransport
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{
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// 安全地移除事件订阅，多次取消订阅同一处理程序是安全的
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PathClickToolPlugin.MouseClicked -= OnToolPluginMouseClicked;
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LogManager.Debug("[事件清理] 已安全移除PathPlanningManager.OnToolPluginMouseClicked订阅");
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LogManager.Debug("[事件清理] 已安全移除PathPlanningManager事件订阅");
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}
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catch (Exception cleanupEx)
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{
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@ -1208,6 +1217,33 @@ namespace NavisworksTransport
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{
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try
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{
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// 从数据库加载路径数据（如果有的话）
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if (route != null && !string.IsNullOrEmpty(route.Id) && _pathDatabase != null)
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{
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try
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{
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// 从数据库加载完整路径数据（包括路径点）
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var loadedRoute = _pathDatabase.GetPathRouteSync(route.Id);
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if (loadedRoute != null && loadedRoute.Points.Count > 0)
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{
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// 清空现有路径点并从数据库加载
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route.Points.Clear();
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foreach (var point in loadedRoute.Points)
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{
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route.Points.Add(point);
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}
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// 更新其他属性
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route.TotalLength = loadedRoute.TotalLength;
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route.LiftHeightMeters = loadedRoute.LiftHeightMeters;
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LogManager.Debug($"已从数据库加载路径数据: {route.Name}, 共 {loadedRoute.Points.Count} 个点");
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}
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}
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catch (Exception ex)
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{
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LogManager.Error($"从数据库加载路径数据失败: {ex.Message}", ex);
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}
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}
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// 直接设置字段，绕过事件触发
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var previousRoute = _currentRoute;
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_currentRoute = route;
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@ -1256,8 +1292,13 @@ namespace NavisworksTransport
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/// <param name="route">要编辑的路径</param>
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public void SwitchToEditingState(PathRoute route)
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{
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if (route == null)
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{
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throw new ArgumentNullException(nameof(route));
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}
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PathEditState = PathEditState.Editing;
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EditingRoute = route ?? throw new ArgumentNullException(nameof(route));
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EditingRoute = route;
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SetCurrentRouteInternal(route, triggerEvent: true);
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// 智能管理ToolPlugin状态
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@ -1524,6 +1565,17 @@ namespace NavisworksTransport
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_editingRoute = newRoute;
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SetCurrentRouteInternal(newRoute, triggerEvent: true);
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// 如果是吊装路径，清理吊装模式相关状态
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if (pathType == PathType.Hoisting)
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{
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_enableHoistingMode = false; // 将在StartClickTool中设置为true
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_hoistingStartPoint = null;
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_hoistingEndPoint = null;
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_hoistingLiftHeightMeters = 0;
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_hoistingGroundIntermediatePoints.Clear();
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LogManager.Debug($"[吊装模式] 已清理吊装模式状态，准备新建吊装路径");
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}
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// 智能管理ToolPlugin状态
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ManageToolPluginForEditState();
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@ -1588,10 +1640,74 @@ namespace NavisworksTransport
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LogManager.Info($"[{pathTypeName}] 已自动设置最后一个点为终点: {lastPoint.Name}");
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}
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}
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// 吊装路径：已有明确的起点和终点，不需要修改
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// 吊装路径：添加下降点和落地点
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else if (CurrentRoute.PathType == PathType.Hoisting)
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{
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LogManager.Info($"[吊装路径] 路径已包含明确的起点和终点，无需修改");
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LogManager.Info($"[吊装路径] 正在完成吊装路径，处理终点和下降点");
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// 确保至少有起吊点、提升点和至少一个空中路径点
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if (CurrentRoute.Points.Count >= 3 && _hoistingGroundIntermediatePoints.Count > 0)
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{
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// 获取起吊点（用于获取地面Z坐标）
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var startPoint = CurrentRoute.Points.First();
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// 获取吊装高度
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double liftHeightMeters = CurrentRoute.LiftHeightMeters > 0 ? CurrentRoute.LiftHeightMeters : 3.0;
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double liftHeightModelUnits = UnitsConverter.ConvertFromMeters(liftHeightMeters);
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// 获取最后一个地面点击点（原始坐标，未被调整过）
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var lastGroundClick = _hoistingGroundIntermediatePoints.Last();
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LogManager.Debug($"[吊装路径] 最后一个地面点击点: ({lastGroundClick.X:F2}, {lastGroundClick.Y:F2}, {lastGroundClick.Z:F2})");
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// 删除最后一个空中路径点（它的坐标可能被调整过，不使用任何信息）
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CurrentRoute.Points.RemoveAt(CurrentRoute.Points.Count - 1);
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// 创建落地点（终点）：使用最后一个地面点击点的完整原始坐标（X、Y、Z）
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var endPoint = new PathPoint(
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new Point3D(lastGroundClick.X, lastGroundClick.Y, lastGroundClick.Z),
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"落地点",
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PathPointType.EndPoint);
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endPoint.Direction = HoistingPointDirection.Vertical;
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LogManager.Debug($"[吊装路径] 已创建落地点（终点）: ({endPoint.Position.X:F2}, {endPoint.Position.Y:F2}, {endPoint.Position.Z:F2})");
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// 向上生成下降点：在落地点正上方，Z坐标为吊装高度
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var descendPoint = new PathPoint(
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new Point3D(endPoint.Position.X, endPoint.Position.Y, startPoint.Position.Z + liftHeightModelUnits),
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"下降点",
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PathPointType.WayPoint);
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descendPoint.Direction = HoistingPointDirection.Vertical;
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LogManager.Debug($"[吊装路径] 已生成下降点（在终点正上方）: ({descendPoint.Position.X:F2}, {descendPoint.Position.Y:F2}, {descendPoint.Position.Z:F2})");
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// 添加下降点
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CurrentRoute.Points.Add(descendPoint);
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// 添加落地点（终点）
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CurrentRoute.Points.Add(endPoint);
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LogManager.Debug($"[吊装路径] 已添加落地点（终点）: ({endPoint.Position.X:F2}, {endPoint.Position.Y:F2}, {endPoint.Position.Z:F2})");
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// 优化路径点：处理斜线和清除多余点
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OptimizeRightAnglePathPoints(CurrentRoute);
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// 重新计算路径长度
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CurrentRoute.RecalculateLength();
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// 重新渲染路径
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_renderPlugin?.RenderPath(CurrentRoute);
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LogManager.Info($"[吊装路径] 已完成吊装路径，共 {CurrentRoute.Points.Count} 个路径点");
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// 清理吊装模式临时变量
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_hoistingStartPoint = null;
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_hoistingEndPoint = null;
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_hoistingLiftHeightMeters = 0;
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_hoistingGroundIntermediatePoints.Clear();
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_enableHoistingMode = false;
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LogManager.Debug($"[吊装路径] 已清理吊装模式临时变量");
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}
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else
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{
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LogManager.Warning($"[吊装路径] 路径点不足或没有地面点击记录，无法完成吊装路径");
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}
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}
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}
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@ -1727,37 +1843,191 @@ namespace NavisworksTransport
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/// <param name="modifiedPointIndex">修改的点的索引</param>
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private void UpdateAerialPathRelatedPoints(PathRoute route, int modifiedPointIndex)
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{
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if (route.PathType != PathType.Hoisting ||
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route.Points.Count != 4)
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if (route == null || route.PathType != PathType.Hoisting)
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{
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return;
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}
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var points = route.Points;
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if (points.Count == 0)
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{
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return;
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}
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// 修改起点（索引0）：更新提升点（索引1）的X,Y坐标
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if (modifiedPointIndex == 0)
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if (modifiedPointIndex == 0 && points.Count > 1)
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{
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var startPoint = points[0];
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var liftPoint = points[1];
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liftPoint.X = startPoint.X;
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liftPoint.Y = startPoint.Y;
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liftPoint.Position = new Point3D(startPoint.Position.X, startPoint.Position.Y, liftPoint.Position.Z);
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LogManager.Debug($"[吊装路径] 修改起点，更新提升点位置: ({liftPoint.Position.X:F2}, {liftPoint.Position.Y:F2}, {liftPoint.Position.Z:F2})");
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}
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// 修改终点（索引3）：更新平移终点（索引2）的X,Y坐标
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else if (modifiedPointIndex == 3)
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// 修改终点（最后一个点）：更新下降点（倒数第二个点）的X,Y坐标
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else if (modifiedPointIndex == points.Count - 1 && points.Count > 1)
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{
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var endPoint = points[3];
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var moveEndPoint = points[2];
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moveEndPoint.X = endPoint.X;
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moveEndPoint.Y = endPoint.Y;
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var endPoint = points[modifiedPointIndex];
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var descendPoint = points[modifiedPointIndex - 1];
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descendPoint.Position = new Point3D(endPoint.Position.X, endPoint.Position.Y, descendPoint.Position.Z);
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LogManager.Debug($"[吊装路径] 修改终点，更新下降点位置: ({descendPoint.Position.X:F2}, {descendPoint.Position.Y:F2}, {descendPoint.Position.Z:F2})");
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}
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// 修改起吊高度（通过起点或终点的Z坐标变化）：更新提升点和平移终点的Z坐标
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else if (modifiedPointIndex == 0 || modifiedPointIndex == 3)
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// 修改起吊高度（通过起点或终点的Z坐标变化）：更新提升点和下降点的Z坐标
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else if (modifiedPointIndex == 0 || modifiedPointIndex == points.Count - 1)
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{
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// 这个逻辑在EditLiftHeightCommand中处理
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var modifiedPoint = points[modifiedPointIndex];
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double liftHeightModelUnits = modifiedPoint.Position.Z - (modifiedPointIndex == 0 ? points[0].Position.Z : points[modifiedPointIndex - 1].Position.Z);
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// 更新提升点Z坐标
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if (points.Count > 1)
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{
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points[1].Position = new Point3D(points[1].Position.X, points[1].Position.Y, points[0].Position.Z + liftHeightModelUnits);
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}
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// 更新下降点Z坐标
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if (points.Count > 2)
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{
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int descendPointIndex = points.Count - 2;
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points[descendPointIndex].Position = new Point3D(points[descendPointIndex].Position.X, points[descendPointIndex].Position.Y, points[modifiedPointIndex].Position.Z + liftHeightModelUnits);
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}
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LogManager.Debug($"[吊装路径] 修改起吊高度，更新提升点和下降点Z坐标");
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}
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}
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/// <summary>
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/// 优化直角转折路径点：出现斜线时插入点，在同一直线上时清除多余点
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/// </summary>
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/// <param name="route">要优化的路径</param>
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/// <returns>是否进行了优化</returns>
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private bool OptimizeRightAnglePathPoints(PathRoute route)
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{
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if (route == null || route.Points.Count < 2)
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{
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return false;
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}
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bool hasChanges = false;
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var points = route.Points;
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double tolerance = 0.001; // 容差，用于判断是否在同一直线上
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// 第一步：处理斜线，插入转折点
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for (int i = 0; i < points.Count - 1; i++)
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{
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var currentPoint = points[i];
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var nextPoint = points[i + 1];
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// 判断是否为斜线（X和Y都不同）
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bool isDiagonal = (Math.Abs(currentPoint.Position.X - nextPoint.Position.X) > tolerance &&
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Math.Abs(currentPoint.Position.Y - nextPoint.Position.Y) > tolerance);
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if (isDiagonal)
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{
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// 插入中间转折点
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Point3D intermediatePosition;
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HoistingPointDirection direction;
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// 查找提升点的Z坐标作为吊装高度
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double aerialHeight = currentPoint.Position.Z;
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for (int j = 0; j < points.Count; j++)
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{
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if (points[j].Name == "提升点")
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{
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aerialHeight = points[j].Position.Z;
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break;
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}
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}
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// 计算距离差
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double deltaX = Math.Abs(nextPoint.Position.X - currentPoint.Position.X);
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double deltaY = Math.Abs(nextPoint.Position.Y - currentPoint.Position.Y);
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if (deltaX > deltaY)
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{
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// 纵向移动优先，先移动X
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intermediatePosition = new Point3D(
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nextPoint.Position.X,
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currentPoint.Position.Y,
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aerialHeight);
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direction = HoistingPointDirection.Longitudinal;
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}
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else
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{
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// 横向移动优先，先移动Y
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intermediatePosition = new Point3D(
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currentPoint.Position.X,
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nextPoint.Position.Y,
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aerialHeight);
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direction = HoistingPointDirection.Lateral;
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}
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|
||||
// 创建中间路径点
|
||||
var intermediatePoint = new PathPoint(
|
||||
intermediatePosition,
|
||||
$"中间点_{i + 1}",
|
||||
PathPointType.WayPoint);
|
||||
|
||||
// 设置方向属性
|
||||
intermediatePoint.Direction = direction;
|
||||
|
||||
// 插入到两点之间
|
||||
points.Insert(i + 1, intermediatePoint);
|
||||
hasChanges = true;
|
||||
|
||||
LogManager.Debug($"[直角路径优化] 在斜线处插入转折点 {i + 1}: ({intermediatePosition.X:F2}, {intermediatePosition.Y:F2}, {intermediatePosition.Z:F2})");
|
||||
|
||||
// 跳过新插入的点
|
||||
i++;
|
||||
}
|
||||
}
|
||||
|
||||
// 第二步：清除在同一直线上的多余点
|
||||
for (int i = 1; i < points.Count - 1; i++)
|
||||
{
|
||||
var prevPoint = points[i - 1];
|
||||
var currentPoint = points[i];
|
||||
var nextPoint = points[i + 1];
|
||||
|
||||
// 只删除普通的WayPoint，不删除起点、终点、起吊点、提升点、下降点等特殊点
|
||||
if (currentPoint.Type != PathPointType.WayPoint)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
// 额外检查：不删除提升点和下降点（通过名称识别）
|
||||
if (currentPoint.Name == "提升点" || currentPoint.Name == "下降点")
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
// 判断三个点是否在同一直线上（只检查X或Y方向相同）
|
||||
bool sameX = Math.Abs(prevPoint.Position.X - currentPoint.Position.X) < tolerance &&
|
||||
Math.Abs(currentPoint.Position.X - nextPoint.Position.X) < tolerance;
|
||||
bool sameY = Math.Abs(prevPoint.Position.Y - currentPoint.Position.Y) < tolerance &&
|
||||
Math.Abs(currentPoint.Position.Y - nextPoint.Position.Y) < tolerance;
|
||||
|
||||
bool isCollinear = sameX || sameY;
|
||||
|
||||
if (isCollinear)
|
||||
{
|
||||
// 删除中间点
|
||||
points.RemoveAt(i);
|
||||
hasChanges = true;
|
||||
LogManager.Debug($"[直角路径优化] 删除共线的多余点 {i}: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
|
||||
|
||||
// 调整索引，因为删除了一个点
|
||||
i--;
|
||||
}
|
||||
}
|
||||
|
||||
if (hasChanges)
|
||||
{
|
||||
// 重新计算路径长度
|
||||
route.RecalculateLength();
|
||||
LogManager.Info($"[直角路径优化] 路径点优化完成，当前点数: {points.Count}");
|
||||
}
|
||||
|
||||
return hasChanges;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 更新路径点位置（保存修改）
|
||||
/// </summary>
|
||||
@ -1782,6 +2052,12 @@ namespace NavisworksTransport
|
||||
// 吊装路径：自动更新关联点
|
||||
UpdateAerialPathRelatedPoints(CurrentRoute, _editingPointIndex);
|
||||
|
||||
// 吊装路径：优化路径点（处理斜线和清除多余点）
|
||||
if (CurrentRoute.PathType == PathType.Hoisting)
|
||||
{
|
||||
OptimizeRightAnglePathPoints(CurrentRoute);
|
||||
}
|
||||
|
||||
// 核心修复：调用统一更新函数
|
||||
CurrentRoute.RecalculateAndSaveRoute($"修改路径点 {pointToUpdate.Name} 位置");
|
||||
|
||||
@ -2808,6 +3084,7 @@ namespace NavisworksTransport
|
||||
LogManager.Info("用户取消了吊装高度设置，清除起点并退出吊装模式");
|
||||
_hoistingStartPoint = null;
|
||||
_enableHoistingMode = false;
|
||||
_hoistingGroundIntermediatePoints.Clear();
|
||||
PathPointRenderPlugin.Instance.ClearPreviewPoint();
|
||||
StopClickTool();
|
||||
RaiseStatusChanged("已取消创建吊装路径", PathPlanningStatusType.Info);
|
||||
@ -2816,6 +3093,7 @@ namespace NavisworksTransport
|
||||
|
||||
// 获取用户设置的吊装高度
|
||||
double liftHeightMeters = heightDialog.LiftHeightMeters;
|
||||
_hoistingLiftHeightMeters = liftHeightMeters;
|
||||
LogManager.Info($"用户设置的吊装高度: {liftHeightMeters:F2}米");
|
||||
|
||||
// 保存吊装高度到当前路径
|
||||
@ -2824,14 +3102,43 @@ namespace NavisworksTransport
|
||||
CurrentRoute.LiftHeightMeters = liftHeightMeters;
|
||||
}
|
||||
|
||||
// 提示用户点击终点
|
||||
RaiseStatusChanged($"吊装高度已设置为 {liftHeightMeters:F2}米，请在3D视图中点击设置终点", PathPlanningStatusType.Info);
|
||||
// 立即生成起吊点和提升点
|
||||
try
|
||||
{
|
||||
var hoistingStartPoint = new PathPoint(_hoistingStartPoint, "起吊点", PathPointType.StartPoint);
|
||||
hoistingStartPoint.Direction = HoistingPointDirection.Vertical;
|
||||
CurrentRoute.AddPoint(hoistingStartPoint);
|
||||
LogManager.Debug($"[吊装模式] 已添加起吊点: ({hoistingStartPoint.Position.X:F2}, {hoistingStartPoint.Position.Y:F2}, {hoistingStartPoint.Position.Z:F2})");
|
||||
|
||||
double liftHeightModelUnits = UnitsConverter.ConvertFromMeters(liftHeightMeters);
|
||||
var liftPoint = new PathPoint(
|
||||
new Point3D(_hoistingStartPoint.X, _hoistingStartPoint.Y, _hoistingStartPoint.Z + liftHeightModelUnits),
|
||||
"提升点",
|
||||
PathPointType.WayPoint);
|
||||
liftPoint.Direction = HoistingPointDirection.Vertical;
|
||||
CurrentRoute.AddPoint(liftPoint);
|
||||
LogManager.Debug($"[吊装模式] 已添加提升点: ({liftPoint.Position.X:F2}, {liftPoint.Position.Y:F2}, {liftPoint.Position.Z:F2})");
|
||||
|
||||
// 渲染路径
|
||||
if (_renderPlugin != null)
|
||||
{
|
||||
_renderPlugin.RenderPath(CurrentRoute);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
LogManager.Error($"[吊装模式] 生成起吊点和提升点失败: {ex.Message}", ex);
|
||||
}
|
||||
|
||||
// 提示用户点击添加转向点
|
||||
RaiseStatusChanged($"吊装高度已设置为 {liftHeightMeters:F2}米，点击添加转向点（点击地面位置），完成后点击完成按钮", PathPlanningStatusType.Info);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
LogManager.Error($"[吊装模式] 弹出吊装高度对话框失败: {ex.Message}", ex);
|
||||
_hoistingStartPoint = null;
|
||||
_enableHoistingMode = false;
|
||||
_hoistingGroundIntermediatePoints.Clear();
|
||||
PathPointRenderPlugin.Instance.ClearPreviewPoint();
|
||||
StopClickTool();
|
||||
RaiseStatusChanged("设置吊装高度失败，已取消创建吊装路径", PathPlanningStatusType.Warning);
|
||||
@ -2842,67 +3149,72 @@ namespace NavisworksTransport
|
||||
}
|
||||
else
|
||||
{
|
||||
// 第二次点击：记录终点，生成完整吊装路径
|
||||
Point3D endPoint = clickedPoint;
|
||||
LogManager.Info($"[吊装模式] 已设置终点: ({endPoint.X:F2}, {endPoint.Y:F2}, {endPoint.Z:F2})，开始生成吊装路径");
|
||||
// 后续点击：添加空中路径点
|
||||
LogManager.Info($"[吊装模式] 用户点击: ({clickedPoint.X:F2}, {clickedPoint.Y:F2}, {clickedPoint.Z:F2})");
|
||||
|
||||
// 获取吊装高度
|
||||
double liftHeightMeters = CurrentRoute?.LiftHeightMeters ?? 3.0;
|
||||
double liftHeightMeters = _hoistingLiftHeightMeters;
|
||||
if (liftHeightMeters <= 0)
|
||||
{
|
||||
liftHeightMeters = 3.0;
|
||||
LogManager.Warning($"[吊装模式] 吊装高度无效，使用默认值: {liftHeightMeters}米");
|
||||
}
|
||||
|
||||
// 使用 AerialPathGenerator 生成吊装路径
|
||||
// 使用 AerialPathGenerator 生成单个空中路径点（智能方向判断）
|
||||
try
|
||||
{
|
||||
var generator = new AerialPathGenerator();
|
||||
var pathPoints = generator.GenerateThreeStepHoistingPath(
|
||||
_hoistingStartPoint,
|
||||
endPoint,
|
||||
liftHeightMeters);
|
||||
|
||||
LogManager.Info($"[吊装模式] 已生成吊装路径，包含 {pathPoints.Count} 个路径点");
|
||||
|
||||
// 清除当前路径点
|
||||
CurrentRoute.Points.Clear();
|
||||
|
||||
// 添加生成的路径点（使用 AddPoint 方法以自动更新 TotalLength）
|
||||
foreach (var point in pathPoints)
|
||||
|
||||
// 获取上一个路径点（用于方向判断）
|
||||
Point3D previousPoint;
|
||||
if (CurrentRoute.Points.Count > 0)
|
||||
{
|
||||
CurrentRoute.AddPoint(point);
|
||||
LogManager.Debug($"[吊装模式] 添加路径点: {point.Name} ({point.Position.X:F2}, {point.Position.Y:F2}, {point.Position.Z:F2})");
|
||||
}
|
||||
|
||||
// 渲染路径
|
||||
if (_renderPlugin != null)
|
||||
{
|
||||
_renderPlugin.RenderPath(CurrentRoute);
|
||||
LogManager.Info($"[吊装模式] 已渲染吊装路径: {CurrentRoute.Name}");
|
||||
// 如果已有路径点，使用最后一个路径点
|
||||
previousPoint = CurrentRoute.Points.Last().Position;
|
||||
}
|
||||
else
|
||||
{
|
||||
LogManager.Warning("[吊装模式] 渲染插件未初始化，无法渲染路径");
|
||||
// 如果还没有路径点（第一次添加中间点），使用提升点
|
||||
previousPoint = new Point3D(
|
||||
_hoistingStartPoint.X,
|
||||
_hoistingStartPoint.Y,
|
||||
_hoistingStartPoint.Z + UnitsConverter.ConvertFromMeters(liftHeightMeters));
|
||||
}
|
||||
|
||||
// 停止点击工具
|
||||
StopClickTool();
|
||||
// 生成空中路径点
|
||||
var aerialPoint = generator.GenerateSmartHoistingPoint(
|
||||
previousPoint,
|
||||
clickedPoint,
|
||||
liftHeightMeters,
|
||||
CurrentRoute.Points.Count > 0 ? CurrentRoute.Points.Count : 1);
|
||||
|
||||
// 清除吊装模式状态
|
||||
_enableHoistingMode = false;
|
||||
_hoistingStartPoint = null;
|
||||
if (aerialPoint != null)
|
||||
{
|
||||
// 记录原始地面点击位置
|
||||
_hoistingGroundIntermediatePoints.Add(clickedPoint);
|
||||
LogManager.Debug($"[吊装模式] 已记录地面点击点: ({clickedPoint.X:F2}, {clickedPoint.Y:F2}, {clickedPoint.Z:F2})");
|
||||
|
||||
// 提示用户
|
||||
RaiseStatusChanged("吊装路径创建成功", PathPlanningStatusType.Success);
|
||||
// 添加到当前路径
|
||||
CurrentRoute.AddPoint(aerialPoint);
|
||||
LogManager.Info($"[吊装模式] 已添加空中路径点: {aerialPoint.Name} ({aerialPoint.Position.X:F2}, {aerialPoint.Position.Y:F2}, {aerialPoint.Position.Z:F2}) - 方向: {aerialPoint.Direction}");
|
||||
|
||||
LogManager.Info("[吊装模式] 吊装路径创建完成");
|
||||
// 优化路径点：处理斜线和清除多余点
|
||||
OptimizeRightAnglePathPoints(CurrentRoute);
|
||||
|
||||
// 渲染路径
|
||||
if (_renderPlugin != null)
|
||||
{
|
||||
_renderPlugin.RenderPath(CurrentRoute);
|
||||
}
|
||||
|
||||
// 提示用户可以继续添加或点击完成
|
||||
string directionText = aerialPoint.Direction == HoistingPointDirection.Longitudinal ? "纵向" : "横向";
|
||||
RaiseStatusChanged($"已添加{directionText}路径点，继续点击或点击完成按钮", PathPlanningStatusType.Info);
|
||||
}
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
LogManager.Error($"[吊装模式] 生成吊装路径失败: {ex.Message}", ex);
|
||||
System.Windows.MessageBox.Show($"生成吊装路径失败: {ex.Message}", "错误",
|
||||
System.Windows.MessageBoxButton.OK, System.Windows.MessageBoxImage.Error);
|
||||
LogManager.Error($"[吊装模式] 生成空中路径点失败: {ex.Message}", ex);
|
||||
}
|
||||
|
||||
return;
|
||||
|
||||
@ -67,6 +67,28 @@ namespace NavisworksTransport
|
||||
Hoisting = 2
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 吊装路径点方向类型
|
||||
/// 用于标识吊装路径中每个路径点的移动方向
|
||||
/// </summary>
|
||||
public enum HoistingPointDirection
|
||||
{
|
||||
/// <summary>
|
||||
/// 垂直移动（起吊/下降）
|
||||
/// </summary>
|
||||
Vertical,
|
||||
|
||||
/// <summary>
|
||||
/// 纵向移动（X轴方向）
|
||||
/// </summary>
|
||||
Longitudinal,
|
||||
|
||||
/// <summary>
|
||||
/// 横向移动（Y轴方向）
|
||||
/// </summary>
|
||||
Lateral
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 通道检测结果
|
||||
/// </summary>
|
||||
@ -297,6 +319,12 @@ namespace NavisworksTransport
|
||||
/// </summary>
|
||||
public double? CustomTurnRadius { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 方向类型（仅吊装路径使用）
|
||||
/// 用于标识吊装路径点的移动方向：垂直、纵向（X轴）、横向（Y轴）
|
||||
/// </summary>
|
||||
public HoistingPointDirection Direction { get; set; } = HoistingPointDirection.Vertical;
|
||||
|
||||
/// <summary>
|
||||
/// 构造函数
|
||||
/// </summary>
|
||||
@ -311,6 +339,7 @@ namespace NavisworksTransport
|
||||
Notes = string.Empty;
|
||||
SpeedLimit = 0;
|
||||
CustomTurnRadius = null;
|
||||
Direction = HoistingPointDirection.Vertical;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
@ -330,6 +359,7 @@ namespace NavisworksTransport
|
||||
Notes = string.Empty;
|
||||
SpeedLimit = 0;
|
||||
CustomTurnRadius = null;
|
||||
Direction = HoistingPointDirection.Vertical;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
||||
@ -649,6 +649,9 @@ namespace NavisworksTransport
|
||||
|
||||
try
|
||||
{
|
||||
// 清除所有其他路径的可视化，只保留当前路径
|
||||
ClearPathsExcept(pathRoute.Id);
|
||||
|
||||
var visualization = new PathVisualization
|
||||
{
|
||||
PathId = pathRoute.Id,
|
||||
@ -1706,8 +1709,25 @@ namespace NavisworksTransport
|
||||
bool isVerticalSegment = false;
|
||||
if (visualization.PathRoute.PathType == NavisworksTransport.PathType.Hoisting)
|
||||
{
|
||||
// 吊装路径：0-1是起吊段（垂直），1-2是平移段（水平），2-3是下降段（垂直）
|
||||
isVerticalSegment = (i == 0 || i == 2);
|
||||
// 吊装路径：支持动态数量的路径点
|
||||
// 路径点结构：
|
||||
// 点0（起吊点）：地面位置
|
||||
// 点1（提升点）：悬挂点
|
||||
// 点2...点N-2：中间悬挂点（用户添加的转向点）
|
||||
// 点N-1（下降点）：悬挂点
|
||||
// 点N（落地点）：地面位置
|
||||
//
|
||||
// 线段结构：
|
||||
// 线段0：起吊段（垂直）
|
||||
// 线段1...线段N-2：平移段（水平）
|
||||
// 线段N-1：下降段（垂直）
|
||||
|
||||
int totalSegments = sortedPoints.Count - 1;
|
||||
int firstSegment = 0; // 起吊段
|
||||
int lastSegment = totalSegments - 1; // 下降段
|
||||
|
||||
// 第一个线段和最后一个线段是垂直的
|
||||
isVerticalSegment = (i == firstSegment || i == lastSegment);
|
||||
}
|
||||
|
||||
// 计算通行空间参数（根据段类型）
|
||||
|
||||
@ -8,11 +8,19 @@ namespace NavisworksTransport.PathPlanning
|
||||
/// <summary>
|
||||
/// 空中路径生成器
|
||||
/// 用于生成吊装路径（起点吊起 → 平移 → 终点吊下）
|
||||
/// 支持智能方向判断和基于地面投影点的动态路径生成
|
||||
/// </summary>
|
||||
public class AerialPathGenerator
|
||||
{
|
||||
/// <summary>
|
||||
/// 方向判断容差（米）
|
||||
/// 当两个方向的距离差小于此值时，默认选择纵向
|
||||
/// </summary>
|
||||
private const double DIRECTION_TOLERANCE = 0.001;
|
||||
|
||||
/// <summary>
|
||||
/// 生成吊装路径（起点吊起 → 平移 → 终点吊下）
|
||||
/// 保留原有方法以保持向后兼容
|
||||
/// </summary>
|
||||
/// <param name="startPoint">起点（吊起位置）</param>
|
||||
/// <param name="endPoint">终点（下降位置）</param>
|
||||
@ -34,36 +42,198 @@ namespace NavisworksTransport.PathPlanning
|
||||
double liftHeightModelUnits = UnitsConverter.ConvertFromMeters(liftHeightMeters);
|
||||
|
||||
// 点1：起吊点（物体初始位置）
|
||||
pathPoints.Add(new PathPoint(
|
||||
var startPointPath = new PathPoint(
|
||||
startPoint,
|
||||
"起吊点",
|
||||
PathPointType.StartPoint));
|
||||
PathPointType.StartPoint);
|
||||
startPointPath.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(startPointPath);
|
||||
|
||||
// 点2：提升点（起点正上方，达到提升高度）
|
||||
var liftPoint = new Point3D(
|
||||
startPoint.X,
|
||||
startPoint.Y,
|
||||
startPoint.Z + liftHeightModelUnits);
|
||||
pathPoints.Add(new PathPoint(
|
||||
var liftPointPath = new PathPoint(
|
||||
liftPoint,
|
||||
"提升点",
|
||||
PathPointType.WayPoint));
|
||||
PathPointType.WayPoint);
|
||||
liftPointPath.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(liftPointPath);
|
||||
|
||||
// 点3：平移终点（终点正上方，保持提升高度）
|
||||
var moveEndPoint = new Point3D(
|
||||
endPoint.X,
|
||||
endPoint.Y,
|
||||
liftPoint.Z); // 使用提升点的Z坐标，保持提升高度一致
|
||||
pathPoints.Add(new PathPoint(
|
||||
var moveEndPointPath = new PathPoint(
|
||||
moveEndPoint,
|
||||
"平移终点",
|
||||
PathPointType.WayPoint));
|
||||
PathPointType.WayPoint);
|
||||
moveEndPointPath.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(moveEndPointPath);
|
||||
|
||||
// 点4：下降点（终点位置，物体最终位置）
|
||||
pathPoints.Add(new PathPoint(
|
||||
var endPointPath = new PathPoint(
|
||||
endPoint,
|
||||
"下降点",
|
||||
PathPointType.EndPoint));
|
||||
PathPointType.EndPoint);
|
||||
endPointPath.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(endPointPath);
|
||||
|
||||
return pathPoints;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 判断移动方向并生成路径点
|
||||
/// 根据用户点击的地面投影位置和上一个路径点，自动判断纵向或横向移动
|
||||
/// </summary>
|
||||
/// <param name="previousPoint">上一个路径点</param>
|
||||
/// <param name="clickedGroundPoint">用户点击的地面投影位置</param>
|
||||
/// <param name="liftHeightMeters">吊装高度（米）</param>
|
||||
/// <param name="pointIndex">路径点序号</param>
|
||||
/// <returns>生成的路径点</returns>
|
||||
public PathPoint GenerateSmartHoistingPoint(
|
||||
Point3D previousPoint,
|
||||
Point3D clickedGroundPoint,
|
||||
double liftHeightMeters,
|
||||
int pointIndex)
|
||||
{
|
||||
if (previousPoint == null)
|
||||
throw new ArgumentNullException(nameof(previousPoint));
|
||||
if (clickedGroundPoint == null)
|
||||
throw new ArgumentNullException(nameof(clickedGroundPoint));
|
||||
if (liftHeightMeters <= 0)
|
||||
throw new ArgumentException("提升高度必须大于0", nameof(liftHeightMeters));
|
||||
|
||||
double liftHeightModelUnits = UnitsConverter.ConvertFromMeters(liftHeightMeters);
|
||||
|
||||
// 计算两个方向的距离
|
||||
double deltaX = Math.Abs(clickedGroundPoint.X - previousPoint.X);
|
||||
double deltaY = Math.Abs(clickedGroundPoint.Y - previousPoint.Y);
|
||||
|
||||
Point3D newPoint;
|
||||
HoistingPointDirection direction;
|
||||
string pointName;
|
||||
|
||||
// 判断移动方向
|
||||
if (Math.Abs(deltaX - deltaY) < DIRECTION_TOLERANCE)
|
||||
{
|
||||
// 距离相等，默认选择纵向
|
||||
newPoint = new Point3D(
|
||||
clickedGroundPoint.X,
|
||||
previousPoint.Y,
|
||||
previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
|
||||
direction = HoistingPointDirection.Longitudinal;
|
||||
pointName = $"路径点{pointIndex}";
|
||||
}
|
||||
else if (deltaX > deltaY)
|
||||
{
|
||||
// 更偏向纵向移动（X轴）
|
||||
// 保持Y坐标不变，使用点击的X坐标
|
||||
newPoint = new Point3D(
|
||||
clickedGroundPoint.X,
|
||||
previousPoint.Y,
|
||||
previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
|
||||
direction = HoistingPointDirection.Longitudinal;
|
||||
pointName = $"路径点{pointIndex}";
|
||||
}
|
||||
else
|
||||
{
|
||||
// 更偏向横向移动（Y轴）
|
||||
// 保持X坐标不变，使用点击的Y坐标
|
||||
newPoint = new Point3D(
|
||||
previousPoint.X,
|
||||
clickedGroundPoint.Y,
|
||||
previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
|
||||
direction = HoistingPointDirection.Lateral;
|
||||
pointName = $"路径点{pointIndex}";
|
||||
}
|
||||
|
||||
var pathPoint = new PathPoint(newPoint, pointName, PathPointType.WayPoint);
|
||||
pathPoint.Direction = direction;
|
||||
|
||||
return pathPoint;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 基于智能判断生成吊装路径
|
||||
/// 支持用户点击地面投影位置，系统自动判断方向并生成空中路径点
|
||||
/// </summary>
|
||||
/// <param name="startPoint">地面起点（用户点击）</param>
|
||||
/// <param name="endPoint">地面终点（用户点击）</param>
|
||||
/// <param name="liftHeightMeters">吊装高度（米）</param>
|
||||
/// <param name="groundIntermediatePoints">用户点击的地面中间点列表</param>
|
||||
/// <returns>生成的路径点列表</returns>
|
||||
public List<PathPoint> GenerateSmartHoistingPath(
|
||||
Point3D startPoint,
|
||||
Point3D endPoint,
|
||||
double liftHeightMeters,
|
||||
List<Point3D> groundIntermediatePoints)
|
||||
{
|
||||
if (startPoint == null)
|
||||
throw new ArgumentNullException(nameof(startPoint));
|
||||
if (endPoint == null)
|
||||
throw new ArgumentNullException(nameof(endPoint));
|
||||
if (liftHeightMeters <= 0)
|
||||
throw new ArgumentException("提升高度必须大于0", nameof(liftHeightMeters));
|
||||
if (groundIntermediatePoints == null)
|
||||
throw new ArgumentNullException(nameof(groundIntermediatePoints));
|
||||
|
||||
var pathPoints = new List<PathPoint>();
|
||||
double liftHeightModelUnits = UnitsConverter.ConvertFromMeters(liftHeightMeters);
|
||||
|
||||
// 点1：起吊点（地面起点）
|
||||
var startPathPoint = new PathPoint(
|
||||
startPoint,
|
||||
"起吊点",
|
||||
PathPointType.StartPoint);
|
||||
startPathPoint.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(startPathPoint);
|
||||
|
||||
// 点2：提升点（起点正上方，吊装高度）
|
||||
var liftPoint = new Point3D(
|
||||
startPoint.X,
|
||||
startPoint.Y,
|
||||
startPoint.Z + liftHeightModelUnits);
|
||||
var liftPathPoint = new PathPoint(
|
||||
liftPoint,
|
||||
"提升点",
|
||||
PathPointType.WayPoint);
|
||||
liftPathPoint.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(liftPathPoint);
|
||||
|
||||
// 中间点（智能判断方向）
|
||||
Point3D previousPoint = liftPoint;
|
||||
|
||||
for (int i = 0; i < groundIntermediatePoints.Count; i++)
|
||||
{
|
||||
var newPoint = GenerateSmartHoistingPoint(
|
||||
previousPoint,
|
||||
groundIntermediatePoints[i],
|
||||
liftHeightMeters,
|
||||
i + 1);
|
||||
|
||||
pathPoints.Add(newPoint);
|
||||
previousPoint = newPoint.Position;
|
||||
}
|
||||
|
||||
// 最后一个空中点（用于垂直下降）
|
||||
var lastAerialPoint = previousPoint;
|
||||
var descendPathPoint = new PathPoint(
|
||||
lastAerialPoint,
|
||||
"下降点",
|
||||
PathPointType.WayPoint);
|
||||
descendPathPoint.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(descendPathPoint);
|
||||
|
||||
// 落地点（地面终点）
|
||||
var endPathPoint = new PathPoint(
|
||||
endPoint,
|
||||
"落地点",
|
||||
PathPointType.EndPoint);
|
||||
endPathPoint.Direction = HoistingPointDirection.Vertical;
|
||||
pathPoints.Add(endPathPoint);
|
||||
|
||||
return pathPoints;
|
||||
}
|
||||
|
||||
@ -1066,7 +1066,7 @@ namespace NavisworksTransport.UI.WPF.ViewModels
|
||||
_pathPlanningManager.StartClickTool(PathPointType.WayPoint, enableRailSnapping: false, enableHoistingMode: true);
|
||||
LogManager.Info($"已启动吊装路径点击工具: {newRoute.Name}");
|
||||
|
||||
UpdateMainStatus($"已进入新建吊装路径模式: {newRoute.Name} - 请在3D视图中点击设置起点");
|
||||
UpdateMainStatus($"已进入新建吊装路径模式: {newRoute.Name} - 请在3D视图中点击吊装起点（地面位置）");
|
||||
LogManager.Info($"开始新建吊装路径: {newRoute.Name}，已强制重新初始化ToolPlugin获取鼠标焦点");
|
||||
}
|
||||
else
|
||||
|
||||
Loading…
Reference in New Issue
Block a user