From 739392ef7b09d3f31541b9ae8606b79142a32a85 Mon Sep 17 00:00:00 2001 From: tian <11429339@qq.com> Date: Wed, 10 Sep 2025 20:08:36 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E5=AF=B9=E9=97=A8?= =?UTF-8?q?=E7=9A=84=E5=A4=84=E7=90=86=EF=BC=8C=E6=94=AF=E6=8C=81=E8=AE=BE?= =?UTF-8?q?=E7=BD=AE=E9=99=90=E5=AE=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Core/PathPlanningManager.cs | 5 +- src/PathPlanning/AutoPathFinder.cs | 15 +- src/PathPlanning/GridMap.cs | 2 +- src/PathPlanning/GridMapGenerator.cs | 332 ++++++++++++++++++++++++--- 4 files changed, 318 insertions(+), 36 deletions(-) diff --git a/src/Core/PathPlanningManager.cs b/src/Core/PathPlanningManager.cs index 35c420c..04fdb64 100644 --- a/src/Core/PathPlanningManager.cs +++ b/src/Core/PathPlanningManager.cs @@ -3276,12 +3276,13 @@ namespace NavisworksTransport string gridTypeName = ""; // 根据网格类型和用户设置确定目标路径和名称 - if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.通道) + if (cell.IsWalkable && (cell.CellType == CategoryAttributeManager.LogisticsElementType.通道 + || cell.CellType == CategoryAttributeManager.LogisticsElementType.门)) { if (_showWalkableGrid) // 检查可通行网格开关 { targetRoute = channelRoute; - gridTypeName = "通道"; + gridTypeName = cell.CellType == CategoryAttributeManager.LogisticsElementType.门 ? "门" : "通道"; channelCells++; } } diff --git a/src/PathPlanning/AutoPathFinder.cs b/src/PathPlanning/AutoPathFinder.cs index 36ce9a4..04a5566 100644 --- a/src/PathPlanning/AutoPathFinder.cs +++ b/src/PathPlanning/AutoPathFinder.cs @@ -1175,6 +1175,13 @@ namespace NavisworksTransport.PathPlanning } } + /// + /// 检查指定点在给定高度约束下是否可通行 + /// + /// 检查点 + /// 网格地图 + /// 车辆高度 + /// 是否可通行 /// /// 检查指定点在给定高度约束下是否可通行 /// @@ -1187,8 +1194,8 @@ namespace NavisworksTransport.PathPlanning try { // 将世界坐标转换为网格坐标 - int gridX = (int)Math.Floor((point.X - gridMap.Bounds.Min.X) / gridMap.CellSize); - int gridY = (int)Math.Floor((point.Y - gridMap.Bounds.Min.Y) / gridMap.CellSize); + int gridX = (int)Math.Round((point.X - gridMap.Bounds.Min.X) / gridMap.CellSize); + int gridY = (int)Math.Round((point.Y - gridMap.Bounds.Min.Y) / gridMap.CellSize); LogManager.Info($"[高度检查] 检查点 ({point.X:F2}, {point.Y:F2}, {point.Z:F2}) -> 网格坐标 ({gridX}, {gridY})"); @@ -1300,8 +1307,8 @@ namespace NavisworksTransport.PathPlanning try { // 将世界坐标转换为网格坐标 - int gridX = (int)Math.Floor((point.X - gridMap.Bounds.Min.X) / gridMap.CellSize); - int gridY = (int)Math.Floor((point.Y - gridMap.Bounds.Min.Y) / gridMap.CellSize); + int gridX = (int)Math.Round((point.X - gridMap.Bounds.Min.X) / gridMap.CellSize); + int gridY = (int)Math.Round((point.Y - gridMap.Bounds.Min.Y) / gridMap.CellSize); // 确保坐标在有效范围内 if (gridX < 0 || gridX >= gridMap.Width || gridY < 0 || gridY >= gridMap.Height) diff --git a/src/PathPlanning/GridMap.cs b/src/PathPlanning/GridMap.cs index 18206ea..e19dab2 100644 --- a/src/PathPlanning/GridMap.cs +++ b/src/PathPlanning/GridMap.cs @@ -181,7 +181,7 @@ namespace NavisworksTransport.PathPlanning double gridX = (worldPosition.X - Origin.X) / CellSize; double gridY = (worldPosition.Y - Origin.Y) / CellSize; - return new GridPoint2D((int)Math.Floor(gridX), (int)Math.Floor(gridY)); + return new GridPoint2D((int)Math.Round(gridX), (int)Math.Round(gridY)); } /// diff --git a/src/PathPlanning/GridMapGenerator.cs b/src/PathPlanning/GridMapGenerator.cs index f8f4b94..0d3963f 100644 --- a/src/PathPlanning/GridMapGenerator.cs +++ b/src/PathPlanning/GridMapGenerator.cs @@ -212,48 +212,53 @@ namespace NavisworksTransport.PathPlanning { try { - LogManager.Info("[包围盒2.5D模式] 开始生成网格地图"); + LogManager.Info("【包围盒2.5D模式】开始生成网格地图"); var startTime = DateTime.Now; // 重要：将米制网格大小转换为模型单位 double metersToModelUnitsConversionFactor = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units); double cellSizeInModelUnits = cellSize * metersToModelUnitsConversionFactor; - LogManager.Info($"[包围盒2.5D模式] 网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})"); + LogManager.Info($"【包围盒2.5D模式】网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})"); // 1. 使用通道构建器构建基础通道覆盖网格 - LogManager.Info("[包围盒2.5D模式] 步骤1: 构建通道覆盖网格"); + LogManager.Info("【包围盒2.5D模式】步骤1: 构建通道覆盖网格"); var channelCoverage = _channelBuilder.BuildChannelCoverage(cellSizeInModelUnits, document); - LogManager.Info($"[包围盒2.5D模式] 通道覆盖构建完成: {channelCoverage.GetStatistics()}"); - LogManager.Info($"[阶段1完成] 通道覆盖网格统计: {channelCoverage.GridMap.GetStatistics()}"); + LogManager.Info($"【包围盒2.5D模式】通道覆盖构建完成: {channelCoverage.GetStatistics()}"); + LogManager.Info($"【阶段1完成】通道覆盖网格统计: {channelCoverage.GridMap.GetStatistics()}"); // 1.5. 使用智能收集策略收集所有通道相关节点 - LogManager.Info("[包围盒2.5D模式] 步骤1.5: 智能收集通道相关节点"); + LogManager.Info("【包围盒2.5D模式】步骤1.5: 智能收集通道相关节点"); // 直接获取所有可通行的物流模型项 var allChannelItems = CategoryAttributeManager.GetAllTraversableLogisticsItems(document); - LogManager.Info($"[包围盒2.5D模式] 直接获取到 {allChannelItems.Count} 个可通行物流元素"); + LogManager.Info($"【包围盒2.5D模式】直接获取到 {allChannelItems.Count} 个可通行物流元素"); // 智能收集通道相关节点（包括父节点、同级节点等） var channelRelatedItems = CollectChannelRelatedItems(allChannelItems.ToList()); - LogManager.Info($"[包围盒2.5D模式] 智能收集到 {channelRelatedItems.Count} 个通道相关节点"); + LogManager.Info($"【包围盒2.5D模式】智能收集到 {channelRelatedItems.Count} 个通道相关节点"); // 2. 直接遍历处理障碍物（包围盒检测） - 使用高性能优化版本 - LogManager.Info("[包围盒2.5D模式] 步骤2: 高性能包围盒遍历处理障碍物"); + LogManager.Info("【包围盒2.5D模式】步骤2: 高性能包围盒遍历处理障碍物"); double scanHeight = vehicleHeight + safetyMargin; // 扫描高度 = 车辆高度 + 安全间隙 ProcessObstaclesWithBoundingBoxOptimized(document, channelCoverage.GridMap, channelRelatedItems, scanHeight); - LogManager.Info($"[阶段2完成] 障碍物处理后网格统计: {channelCoverage.GridMap.GetStatistics()}"); + LogManager.Info($"【阶段2完成】障碍物处理后网格统计: {channelCoverage.GridMap.GetStatistics()}"); + + // 2.5. 单独处理门元素，设置为可通行 + LogManager.Info("【包围盒2.5D模式】步骤2.5: 处理门元素"); + ProcessDoorElements(channelCoverage.GridMap, allChannelItems); + LogManager.Info($"【阶段2.5完成】门元素处理后网格统计: {channelCoverage.GridMap.GetStatistics()}"); // 3. 应用车辆尺寸膨胀（如果需要） if (vehicleRadius > 0 || safetyMargin > 0) { - LogManager.Info("[包围盒2.5D模式] 步骤3: 应用车辆膨胀"); + LogManager.Info("【包围盒2.5D模式】步骤3: 应用车辆膨胀"); double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units); double totalInflationRadius = (vehicleRadius + safetyMargin) * metersToModelUnits; ApplyVehicleInflation(channelCoverage.GridMap, totalInflationRadius); - LogManager.Info($"[包围盒2.5D模式] 车辆膨胀完成，膨胀半径: {totalInflationRadius:F2}模型单位"); - LogManager.Info($"[阶段3完成] 车辆膨胀后网格统计: {channelCoverage.GridMap.GetStatistics()}"); + LogManager.Info($"【包围盒2.5D模式】车辆膨胀完成，膨胀半径: {totalInflationRadius:F2}模型单位"); + LogManager.Info($"【阶段3完成】车辆膨胀后网格统计: {channelCoverage.GridMap.GetStatistics()}"); } // 注意：边界膨胀已集成到车辆膨胀中，无需单独处理 @@ -273,26 +278,125 @@ namespace NavisworksTransport.PathPlanning if (channelRelatedItems != null && channelRelatedItems.Any()) { channelCoverage.GridMap.ChannelItems = channelRelatedItems.ToList(); - LogManager.Info($"[包围盒2.5D模式] 已将 {channelRelatedItems.Count} 个通道数据设置到GridMap中"); + LogManager.Info($"【包围盒2.5D模式】已将 {channelRelatedItems.Count} 个通道数据设置到GridMap中"); } else if (channelCoverage.ChannelItems != null && channelCoverage.ChannelItems.Any()) { channelCoverage.GridMap.ChannelItems = new List(channelCoverage.ChannelItems); - LogManager.Info($"[包围盒2.5D模式] 已将 {channelCoverage.ChannelItems.Count} 个通道数据设置到GridMap中"); + LogManager.Info($"【包围盒2.5D模式】已将 {channelCoverage.ChannelItems.Count} 个通道数据设置到GridMap中"); } var elapsed = (DateTime.Now - startTime).TotalMilliseconds; - LogManager.Info($"[包围盒2.5D模式] 网格地图生成完成: {channelCoverage.GridMap.GetStatistics()}"); - LogManager.Info($"[包围盒2.5D模式] 总耗时: {elapsed:F1}ms"); + LogManager.Info($"【包围盒2.5D模式】网格地图生成完成: {channelCoverage.GridMap.GetStatistics()}"); + LogManager.Info($"【包围盒2.5D模式】总耗时: {elapsed:F1}ms"); return channelCoverage.GridMap; } catch (Exception ex) { - LogManager.Error($"[包围盒2.5D模式] 生成失败: {ex.Message}"); + LogManager.Error($"【包围盒2.5D模式】生成失败: {ex.Message}"); return null; } } + /// + /// 处理门元素，将其设置为可通行网格 + /// + private void ProcessDoorElements(GridMap gridMap, ICollection allChannelItems) + { + try + { + // 过滤出门类型的元素 + var doorItems = FilterDoorItems(allChannelItems); + LogManager.Info($"【门元素处理】找到 {doorItems.Count} 个门元素"); + + if (!doorItems.Any()) + { + LogManager.Info("【门元素处理】没有找到门元素，跳过处理"); + return; + } + + int processedCount = 0; + int skippedCount = 0; + foreach (var doorItem in doorItems) + { + try + { + // 获取门元素的包围盒 + var bbox = doorItem.BoundingBox(); + if (bbox == null) + { + LogManager.Debug($"【门元素处理】门元素无有效包围盒，跳过: {doorItem.DisplayName}"); + skippedCount++; + continue; + } + + // 使用限宽计算门的实际开口区域 + var coveredCells = CalculateDoorOpeningCoverage(doorItem, bbox, gridMap); + + if (!coveredCells.Any()) + { + LogManager.Warning($"【门元素处理】门元素 {doorItem.DisplayName} 无法计算有效开口区域，跳过处理"); + skippedCount++; + continue; + } + + // 设置开口区域的网格为可通行的门类型 + foreach (var (x, y) in coveredCells) + { + var gridPos = new GridPoint2D(x, y); + // 使用现有的SetCell方法，让它自动计算门的权重（1.2） + gridMap.SetCell(gridPos, true, 0, CategoryAttributeManager.LogisticsElementType.门); + } + + processedCount++; + LogManager.Debug($"【门元素处理】已处理门元素: {doorItem.DisplayName}，开口区域覆盖网格数量: {coveredCells.Count}"); + } + catch (Exception ex) + { + LogManager.Error($"【门元素处理】处理门元素失败: {doorItem.DisplayName}, 错误: {ex.Message}"); + skippedCount++; + } + } + + LogManager.Info($"【门元素处理】完成，已处理 {processedCount} 个门元素，跳过 {skippedCount} 个"); + } + catch (Exception ex) + { + LogManager.Error($"【门元素处理】处理失败: {ex.Message}"); + } + } + + /// + /// 从物流元素集合中过滤出门类型的元素 + /// + private List FilterDoorItems(ICollection items) + { + var doorItems = new List(); + + if (items == null || !items.Any()) + { + return doorItems; + } + + foreach (var item in items) + { + try + { + var logisticsType = CategoryAttributeManager.GetLogisticsElementType(item); + if (logisticsType == CategoryAttributeManager.LogisticsElementType.门) + { + doorItems.Add(item); + } + } + catch (Exception ex) + { + LogManager.Debug($"【门元素过滤】获取物流类型失败: {item.DisplayName}, 错误: {ex.Message}"); + } + } + + return doorItems; + } + /// /// 生成网格点坐标用于垂直扫描 /// @@ -362,6 +466,11 @@ namespace NavisworksTransport.PathPlanning } } + /// + /// 将高度区间信息集成到网格地图中 + /// + /// 网格地图 + /// 高度区间数据 /// /// 将高度区间信息集成到网格地图中 /// @@ -379,8 +488,8 @@ namespace NavisworksTransport.PathPlanning var intervals = kvp.Value; // 将世界坐标转换为网格坐标 - int gridX = (int)Math.Floor((point.X - gridMap.Bounds.Min.X) / gridMap.CellSize); - int gridY = (int)Math.Floor((point.Y - gridMap.Bounds.Min.Y) / gridMap.CellSize); + int gridX = (int)Math.Round((point.X - gridMap.Bounds.Min.X) / gridMap.CellSize); + int gridY = (int)Math.Round((point.Y - gridMap.Bounds.Min.Y) / gridMap.CellSize); // 确保坐标在有效范围内 if (gridX >= 0 && gridX < gridMap.Width && gridY >= 0 && gridY < gridMap.Height) @@ -548,7 +657,7 @@ namespace NavisworksTransport.PathPlanning { var stopwatch = System.Diagnostics.Stopwatch.StartNew(); - LogManager.Info($"[高效膨胀] 使用距离变换算法，网格大小: {gridMap.Width}x{gridMap.Height}"); + LogManager.Info($"【高效膨胀】使用距离变换算法，网格大小: {gridMap.Width}x{gridMap.Height}"); // 创建距离矩阵 var distanceMap = new int[gridMap.Width, gridMap.Height]; @@ -583,9 +692,9 @@ namespace NavisworksTransport.PathPlanning } } - LogManager.Info($"[统一膨胀] 膨胀源点统计 - 障碍物: {obstacleCount}, Unknown: {unknownCount}"); + LogManager.Info($"【统一膨胀】膨胀源点统计 - 障碍物: {obstacleCount}, Unknown: {unknownCount}"); - LogManager.Info($"[高效膨胀] 距离矩阵初始化完成，耗时: {stopwatch.ElapsedMilliseconds}ms"); + LogManager.Info($"【高效膨胀】距离矩阵初始化完成，耗时: {stopwatch.ElapsedMilliseconds}ms"); // 正向扫描（从左上到右下） for (int x = 0; x < gridMap.Width; x++) @@ -628,7 +737,7 @@ namespace NavisworksTransport.PathPlanning } } - LogManager.Info($"[高效膨胀] 正向扫描完成，耗时: {stopwatch.ElapsedMilliseconds}ms"); + LogManager.Info($"【高效膨胀】正向扫描完成，耗时: {stopwatch.ElapsedMilliseconds}ms"); // 反向扫描（从右下到左上） for (int x = gridMap.Width - 1; x >= 0; x--) @@ -671,15 +780,16 @@ namespace NavisworksTransport.PathPlanning } } - LogManager.Info($"[高效膨胀] 反向扫描完成，耗时: {stopwatch.ElapsedMilliseconds}ms"); + LogManager.Info($"【高效膨胀】反向扫描完成，耗时: {stopwatch.ElapsedMilliseconds}ms"); // 应用膨胀结果 int inflatedCells = 0; int processedCells = 0; int totalCells = gridMap.Width * gridMap.Height; int skippedCells = 0; + int protectedDoorCells = 0; - LogManager.Info($"[高效膨胀] 开始应用膨胀结果，总单元格数: {totalCells}"); + LogManager.Info($"【高效膨胀】开始应用膨胀结果，总单元格数: {totalCells}"); try { @@ -693,21 +803,31 @@ namespace NavisworksTransport.PathPlanning if (processedCells % 500000 == 0) { double progress = (double)processedCells / totalCells * 100; - LogManager.Info($"[高效膨胀] 应用进度: {progress:F1}% ({processedCells}/{totalCells})"); + LogManager.Info($"【高效膨胀】应用进度: {progress:F1}% ({processedCells}/{totalCells})"); } var gridPos = new GridPoint2D(x, y); + var cell = gridMap.Cells[x, y]; // 只有满足以下所有条件才进行膨胀： // 1. 当前位置原本是可通行的 // 2. 距离值不是无穷大（有有效的距离计算） // 3. 距离小于等于膨胀半径 // 4. 距离值大于0（不是原始障碍物） + // 5. 不是门类型（门保护） if (gridMap.IsWalkable(gridPos) && distanceMap[x, y] != int.MaxValue && distanceMap[x, y] > 0 && distanceMap[x, y] <= inflationRadius) { + // 门元素保护：跳过门类型的网格，不将其膨胀为障碍物 + if (cell.CellType == CategoryAttributeManager.LogisticsElementType.门) + { + protectedDoorCells++; + // 跳过门网格，保持其可通行状态 + continue; + } + gridMap.SetCell(gridPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.障碍物); inflatedCells++; } @@ -720,7 +840,7 @@ namespace NavisworksTransport.PathPlanning } catch (Exception ex) { - LogManager.Error($"[高效膨胀] 应用膨胀结果时发生错误: {ex.Message}，已处理{processedCells}/{totalCells}个单元格"); + LogManager.Error($"【高效膨胀】应用膨胀结果时发生错误: {ex.Message}，已处理{processedCells}/{totalCells}个单元格"); throw; } @@ -728,7 +848,7 @@ namespace NavisworksTransport.PathPlanning int boundaryInflatedCells = ApplyBoundaryInflationPost(gridMap, inflationRadius); stopwatch.Stop(); - LogManager.Info($"[高效膨胀] 车辆膨胀完成: 膨胀半径={inflationRadius}格, 新增障碍物={inflatedCells}个, 边界膨胀={boundaryInflatedCells}个, 跳过={skippedCells}个, 总耗时={stopwatch.ElapsedMilliseconds}ms"); + LogManager.Info($"【高效膨胀】车辆膨胀完成: 膨胀半径={inflationRadius}格, 新增障碍物={inflatedCells}个, 边界膨胀={boundaryInflatedCells}个, 跳过={skippedCells}个, 保护门网格={protectedDoorCells}个, 总耗时={stopwatch.ElapsedMilliseconds}ms"); } /// @@ -1171,6 +1291,160 @@ namespace NavisworksTransport.PathPlanning return coveredCells; } + /// + /// 计算门开口区域在网格上覆盖的单元坐标（考虑限宽） + /// + /// 门模型项 + /// 门的包围盒 + /// 网格地图 + /// 开口区域覆盖的网格单元坐标列表 + private List<(int x, int y)> CalculateDoorOpeningCoverage(ModelItem doorItem, BoundingBox3D bbox, GridMap gridMap) + { + var coveredCells = new List<(int x, int y)>(); + + try + { + // 1. 获取门的限宽属性 + string widthLimitStr = CategoryAttributeManager.GetLogisticsPropertyValue(doorItem, CategoryAttributeManager.LogisticsProperties.WIDTH_LIMIT); + + if (string.IsNullOrEmpty(widthLimitStr)) + { + LogManager.Warning($"【门开口计算】门元素 {doorItem.DisplayName} 没有设置限宽属性，跳过处理"); + return coveredCells; + } + + // 2. 解析限宽属性值（支持带单位的格式） + double limitWidthMeters = ParseWidthLimitValue(widthLimitStr); + + if (limitWidthMeters <= 0) + { + LogManager.Warning($"【门开口计算】门元素 {doorItem.DisplayName} 限宽属性解析失败: {widthLimitStr}"); + return coveredCells; + } + + // 3. 转换限宽到模型单位 + double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units); + double limitWidthInModelUnits = limitWidthMeters * metersToModelUnits; + + // 4. 分析门的方向：哪个数大，哪个就是门的宽度 + double width = bbox.Max.X - bbox.Min.X; // X方向宽度 + double depth = bbox.Max.Y - bbox.Min.Y; // Y方向深度 + double doorWidth = Math.Max(width, depth); // 门宽（较大的那个方向） + bool isDoorWidthInXDirection = width > depth; // 门宽是否在X方向 + + LogManager.Debug($"【门开口计算】{doorItem.DisplayName} - 尺寸: {width:F2}x{depth:F2}, 门宽: {doorWidth:F2}, 门宽方向: {(isDoorWidthInXDirection ? "X" : "Y")}, 限宽: {limitWidthMeters}m"); + + // 5. 限宽约束：限宽不能超过门宽 + double effectiveWidth = Math.Min(limitWidthInModelUnits, doorWidth); + + if (limitWidthInModelUnits > doorWidth) + { + LogManager.Info($"【门开口计算】{doorItem.DisplayName} 限宽({limitWidthMeters}m)超过门宽({doorWidth / metersToModelUnits:F2}m)，按门宽处理"); + } + + // 6. 直接计算开口区域坐标范围 + double minX, maxX, minY, maxY; + + if (isDoorWidthInXDirection) + { + // 门宽在X方向：在X方向应用限宽，Y方向保持完整 + double centerX = (bbox.Min.X + bbox.Max.X) / 2; + double halfWidth = effectiveWidth / 2; + minX = centerX - halfWidth; + maxX = centerX + halfWidth; + minY = bbox.Min.Y; + maxY = bbox.Max.Y; + } + else + { + // 门宽在Y方向：在Y方向应用限宽，X方向保持完整 + double centerY = (bbox.Min.Y + bbox.Max.Y) / 2; + double halfWidth = effectiveWidth / 2; + minX = bbox.Min.X; + maxX = bbox.Max.X; + minY = centerY - halfWidth; + maxY = centerY + halfWidth; + } + + LogManager.Debug($"【门开口计算】{doorItem.DisplayName} 开口区域坐标: [{minX:F2},{minY:F2}]-[{maxX:F2},{maxY:F2}]"); + + // 7. 将开口区域坐标直接转换为网格坐标 + var minGridPos = gridMap.WorldToGrid(new Point3D(minX, minY, 0)); + var maxGridPos = gridMap.WorldToGrid(new Point3D(maxX, maxY, 0)); + + // 确保坐标在有效范围内 + int gridMinX = Math.Max(0, Math.Min(minGridPos.X, maxGridPos.X)); + int gridMinY = Math.Max(0, Math.Min(minGridPos.Y, maxGridPos.Y)); + int gridMaxX = Math.Min(gridMap.Width - 1, Math.Max(minGridPos.X, maxGridPos.X)); + int gridMaxY = Math.Min(gridMap.Height - 1, Math.Max(minGridPos.Y, maxGridPos.Y)); + + // 确保至少有1个网格可通行 + if (gridMinX >= gridMaxX) + { + int centerX = (gridMinX + gridMaxX) / 2; + gridMinX = Math.Max(0, centerX); + gridMaxX = Math.Min(gridMap.Width - 1, centerX); + } + if (gridMinY >= gridMaxY) + { + int centerY = (gridMinY + gridMaxY) / 2; + gridMinY = Math.Max(0, centerY); + gridMaxY = Math.Min(gridMap.Height - 1, centerY); + } + + // 8. 生成覆盖的网格单元列表 + for (int x = gridMinX; x <= gridMaxX; x++) + { + for (int y = gridMinY; y <= gridMaxY; y++) + { + coveredCells.Add((x, y)); + } + } + + LogManager.Info($"【门开口计算】{doorItem.DisplayName} 成功处理 - 门宽: {doorWidth / metersToModelUnits:F2}m, 限宽: {limitWidthMeters}m, 开口覆盖: {coveredCells.Count}个网格 (范围: [{gridMinX},{gridMinY}]-[{gridMaxX},{gridMaxY}])"); + } + catch (Exception ex) + { + LogManager.Error($"【门开口计算】计算失败: {doorItem.DisplayName}, 错误: {ex.Message}"); + // 出错时返回空列表，不影响其他门的处理 + } + + return coveredCells; + } + + /// + /// 解析限宽属性值，支持带单位的字符串（如 "3.00 m"） + /// + /// 限宽属性字符串 + /// 解析出的数值（米），-1表示解析失败 + private double ParseWidthLimitValue(string widthLimitStr) + { + if (string.IsNullOrEmpty(widthLimitStr)) + return -1; + + try + { + // 移除单位后缀和多余空格 + string cleanValue = widthLimitStr.Trim() + .Replace(" m", "") // 移除 " m" + .Replace("m", "") // 移除 "m" + .Replace(" ", ""); // 移除所有空格 + + if (double.TryParse(cleanValue, out double value) && value > 0) + { + return value; + } + + LogManager.Debug($"【限宽解析】无法解析数值: '{widthLimitStr}' -> '{cleanValue}'"); + return -1; + } + catch (Exception ex) + { + LogManager.Debug($"【限宽解析】解析异常: '{widthLimitStr}', 错误: {ex.Message}"); + return -1; + } + } + /// /// 检查包围盒是否在扫描高度范围内 ///