From 805814616ae7c6c8c526441b3ad64aedd8a3f66f Mon Sep 17 00:00:00 2001 From: tian <11429339@qq.com> Date: Sun, 12 Oct 2025 13:38:57 +0800 Subject: [PATCH] =?UTF-8?q?feat(voxel):=20=E9=98=B6=E6=AE=B51.5=20-=20?= =?UTF-8?q?=E4=BD=93=E7=B4=A0=E7=BD=91=E6=A0=BC=E5=8F=AF=E8=A7=86=E5=8C=96?= =?UTF-8?q?=E9=AA=8C=E8=AF=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 实现内容： - 创建 VoxelGridVisualizer 类，支持多种可视化模式 - VisualizeAsPoints(): 完整网格可视化（支持采样率） - VisualizeSlice(): 单层切片可视化 - VisualizeBoundary(): 障碍物边界可视化 - ConvertToPathRoute(): 转换为 PathRoute 以便集成到现有渲染系统 - QuickVisualizationTest(): 快速测试套件 - GenerateVisualizationReport(): 文本报告生成 设计策略： - 复用现有 PathPointRenderPlugin，而非创建新的 RenderPlugin - 将体素转换为 PathPoint 对象进行渲染 - 使用小球体表示体素，不同颜色区分类型 完成情况： - ✅ 编译通过，无错误 - ✅ 阶段 1 全部 5 个任务完成 (100%) 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude --- NavisworksTransportPlugin.csproj | 1 + src/PathPlanning/VoxelGridVisualizer.cs | 388 ++++++++++++++++++++++++ 2 files changed, 389 insertions(+) create mode 100644 src/PathPlanning/VoxelGridVisualizer.cs diff --git a/NavisworksTransportPlugin.csproj b/NavisworksTransportPlugin.csproj index 91e6054..d2779bd 100644 --- a/NavisworksTransportPlugin.csproj +++ b/NavisworksTransportPlugin.csproj @@ -196,6 +196,7 @@ + diff --git a/src/PathPlanning/VoxelGridVisualizer.cs b/src/PathPlanning/VoxelGridVisualizer.cs new file mode 100644 index 0000000..fb72dae --- /dev/null +++ b/src/PathPlanning/VoxelGridVisualizer.cs @@ -0,0 +1,388 @@ +using System; +using System.Collections.Generic; +using Autodesk.Navisworks.Api; +using NavisworksTransport.Utils; +using static NavisworksTransport.CategoryAttributeManager; + +namespace NavisworksTransport.PathPlanning +{ + /// + /// 体素网格可视化器 - 在 Navisworks 3D 视图中显示体素网格 + /// 阶段 1.5：体素可视化验证 + /// + public class VoxelGridVisualizer + { + /// + /// 可视化体素网格（简化版本 - 使用小球表示体素） + /// + /// 体素网格 + /// 采样率（1=全部显示，2=每隔一个显示，以此类推） + /// 是否只显示可通行体素 + /// 生成的路径点列表，可用于PathPointRenderPlugin渲染 + public static List VisualizeAsPoints( + VoxelGrid voxelGrid, + int samplingRate = 2, + bool showPassableOnly = false) + { + LogManager.Info("=== 开始体素网格可视化 ==="); + LogManager.Info($"网格尺寸: {voxelGrid.SizeX} × {voxelGrid.SizeY} × {voxelGrid.SizeZ}"); + LogManager.Info($"采样率: {samplingRate} (每{samplingRate}个体素显示1个)"); + LogManager.Info($"仅显示可通行: {showPassableOnly}"); + + var points = new List(); + int totalVoxels = 0; + int visualizedVoxels = 0; + + try + { + for (int x = 0; x < voxelGrid.SizeX; x += samplingRate) + { + for (int y = 0; y < voxelGrid.SizeY; y += samplingRate) + { + for (int z = 0; z < voxelGrid.SizeZ; z += samplingRate) + { + totalVoxels++; + + var cell = voxelGrid.GetCell(x, y, z); + if (cell == null) continue; + + // 过滤：如果只显示可通行体素，跳过不可通行的 + if (showPassableOnly && !cell.IsPassable) + continue; + + // 获取体素中心点的世界坐标 + var worldPos = voxelGrid.VoxelToWorldCenter(x, y, z); + + // 创建路径点表示体素 + var point = new PathPoint + { + Index = visualizedVoxels, + Position = worldPos, + Name = GetVoxelDisplayName(cell, x, y, z), + Type = PathPointType.WayPoint, + Notes = $"VoxelType:{cell.Type}" + }; + + points.Add(point); + visualizedVoxels++; + } + } + } + + LogManager.Info($"总体素数: {voxelGrid.TotalVoxels:N0}"); + LogManager.Info($"采样后体素数: {totalVoxels:N0}"); + LogManager.Info($"可视化体素数: {visualizedVoxels:N0}"); + LogManager.Info("=== 体素网格可视化完成 ==="); + } + catch (Exception ex) + { + LogManager.Error($"体素网格可视化失败: {ex.Message}"); + LogManager.Error($"堆栈跟踪: {ex.StackTrace}"); + } + + return points; + } + + /// + /// 可视化体素网格的切片（指定Z高度） + /// + /// 体素网格 + /// Z方向索引（高度层） + /// 生成的路径点列表 + public static List VisualizeSlice(VoxelGrid voxelGrid, int zIndex) + { + LogManager.Info($"=== 可视化体素网格切片 (Z={zIndex}) ==="); + + var points = new List(); + int visualizedCount = 0; + + try + { + if (!voxelGrid.IsValidIndex(0, 0, zIndex)) + { + LogManager.Warning($"无效的 Z 索引: {zIndex}，有效范围: 0 ~ {voxelGrid.SizeZ - 1}"); + return points; + } + + for (int x = 0; x < voxelGrid.SizeX; x++) + { + for (int y = 0; y < voxelGrid.SizeY; y++) + { + var cell = voxelGrid.GetCell(x, y, zIndex); + if (cell == null) continue; + + // 获取体素中心点的世界坐标 + var worldPos = voxelGrid.VoxelToWorldCenter(x, y, zIndex); + + // 创建路径点表示体素 + var point = new PathPoint + { + Index = visualizedCount, + Position = worldPos, + Name = GetVoxelDisplayName(cell, x, y, zIndex), + Type = PathPointType.WayPoint, + Notes = $"VoxelType:{cell.Type}" + }; + + points.Add(point); + visualizedCount++; + } + } + + LogManager.Info($"切片 Z={zIndex} 可视化体素数: {visualizedCount:N0}"); + LogManager.Info("=== 切片可视化完成 ==="); + } + catch (Exception ex) + { + LogManager.Error($"切片可视化失败: {ex.Message}"); + LogManager.Error($"堆栈跟踪: {ex.StackTrace}"); + } + + return points; + } + + /// + /// 可视化体素网格的边界（只显示障碍物表面） + /// + /// 体素网格 + /// 生成的路径点列表 + public static List VisualizeBoundary(VoxelGrid voxelGrid) + { + LogManager.Info("=== 可视化体素网格边界（障碍物表面） ==="); + + var points = new List(); + int visualizedCount = 0; + + try + { + for (int x = 0; x < voxelGrid.SizeX; x++) + { + for (int y = 0; y < voxelGrid.SizeY; y++) + { + for (int z = 0; z < voxelGrid.SizeZ; z++) + { + var cell = voxelGrid.GetCell(x, y, z); + if (cell == null || cell.IsPassable) continue; + + // 检查是否是边界体素（至少有一个相邻体素是可通行的） + if (IsBoundaryVoxel(voxelGrid, x, y, z)) + { + var worldPos = voxelGrid.VoxelToWorldCenter(x, y, z); + + var point = new PathPoint + { + Index = visualizedCount, + Position = worldPos, + Name = GetVoxelDisplayName(cell, x, y, z), + Type = PathPointType.WayPoint, + Notes = $"VoxelType:{cell.Type},Boundary:true" + }; + + points.Add(point); + visualizedCount++; + } + } + } + } + + LogManager.Info($"边界体素数: {visualizedCount:N0}"); + LogManager.Info("=== 边界可视化完成 ==="); + } + catch (Exception ex) + { + LogManager.Error($"边界可视化失败: {ex.Message}"); + LogManager.Error($"堆栈跟踪: {ex.StackTrace}"); + } + + return points; + } + + /// + /// 判断体素是否为边界体素 + /// + private static bool IsBoundaryVoxel(VoxelGrid voxelGrid, int x, int y, int z) + { + // 获取 6 邻域 + var neighbors = voxelGrid.GetNeighbors6(x, y, z); + + // 如果至少有一个邻居是可通行的，则当前体素是边界 + foreach (var (nx, ny, nz) in neighbors) + { + if (voxelGrid.IsPassable(nx, ny, nz)) + { + return true; + } + } + + return false; + } + + /// + /// 获取体素显示名称 + /// + private static string GetVoxelDisplayName(VoxelCell cell, int x, int y, int z) + { + string typeStr = cell.IsPassable ? "通行" : "障碍"; + return $"体素({x},{y},{z})-{typeStr}-{cell.Type}"; + } + + /// + /// 将体素列表转换为 PathRoute，以便使用 PathPointRenderPlugin 渲染 + /// + /// 体素点列表 + /// 路径名称 + /// PathRoute 对象 + public static PathRoute ConvertToPathRoute(List voxelPoints, string routeName = "体素网格可视化") + { + var route = new PathRoute + { + Id = $"voxel_visualization_{Guid.NewGuid():N}", + Name = routeName, + Points = voxelPoints, + IsComplete = true, + CreatedTime = DateTime.Now + }; + + return route; + } + + /// + /// 快速可视化测试 + /// + /// 体素网格 + public static void QuickVisualizationTest(VoxelGrid voxelGrid) + { + LogManager.Info("=== 开始快速可视化测试 ==="); + + try + { + // 统计信息 + var (total, passable, obstacle) = voxelGrid.GetStatistics(); + LogManager.Info($"体素统计: 总数={total:N0}, 可通行={passable:N0}, 障碍={obstacle:N0}"); + + // 测试1：可视化底层切片（Z=0） + LogManager.Info("[测试 1] 可视化底层切片 (Z=0)"); + var slicePoints = VisualizeSlice(voxelGrid, 0); + LogManager.Info($"底层切片点数: {slicePoints.Count}"); + + // 测试2：可视化中间层切片（Z=中间） + int midZ = voxelGrid.SizeZ / 2; + LogManager.Info($"[测试 2] 可视化中间层切片 (Z={midZ})"); + var midSlicePoints = VisualizeSlice(voxelGrid, midZ); + LogManager.Info($"中间层切片点数: {midSlicePoints.Count}"); + + // 测试3：可视化边界 + LogManager.Info("[测试 3] 可视化边界（障碍物表面）"); + var boundaryPoints = VisualizeBoundary(voxelGrid); + LogManager.Info($"边界点数: {boundaryPoints.Count}"); + + // 测试4：采样可视化（每隔2个体素显示1个） + LogManager.Info("[测试 4] 采样可视化（采样率=2）"); + var sampledPoints = VisualizeAsPoints(voxelGrid, 2, false); + LogManager.Info($"采样点数: {sampledPoints.Count}"); + + LogManager.Info("=== 快速可视化测试完成 ==="); + LogManager.Info("提示：使用 PathPointRenderPlugin 渲染这些点"); + } + catch (Exception ex) + { + LogManager.Error($"快速可视化测试失败: {ex.Message}"); + LogManager.Error($"堆栈跟踪: {ex.StackTrace}"); + } + } + + /// + /// 生成可视化报告（文本格式） + /// + /// 体素网格 + /// 报告文本 + public static string GenerateVisualizationReport(VoxelGrid voxelGrid) + { + var report = new System.Text.StringBuilder(); + + report.AppendLine("================================"); + report.AppendLine(" 体素网格可视化报告"); + report.AppendLine("================================"); + report.AppendLine(); + + // 基本信息 + report.AppendLine("【基本信息】"); + report.AppendLine($"网格尺寸: {voxelGrid.SizeX} × {voxelGrid.SizeY} × {voxelGrid.SizeZ}"); + report.AppendLine($"体素尺寸: {voxelGrid.VoxelSize:F4} 模型单位"); + report.AppendLine($"总体素数: {voxelGrid.TotalVoxels:N0}"); + report.AppendLine($"网格边界: {voxelGrid.Bounds.Min} ~ {voxelGrid.Bounds.Max}"); + report.AppendLine(); + + // 统计信息 + var (total, passable, obstacle) = voxelGrid.GetStatistics(); + double passableRatio = (double)passable / total * 100.0; + double obstacleRatio = (double)obstacle / total * 100.0; + + report.AppendLine("【统计信息】"); + report.AppendLine($"总体素数: {total:N0}"); + report.AppendLine($"可通行体素: {passable:N0} ({passableRatio:F1}%)"); + report.AppendLine($"障碍物体素: {obstacle:N0} ({obstacleRatio:F1}%)"); + report.AppendLine(); + + // 类型分布 + report.AppendLine("【体素类型分布】"); + var typeDistribution = AnalyzeTypeDistribution(voxelGrid); + foreach (var kvp in typeDistribution) + { + double ratio = (double)kvp.Value / total * 100.0; + report.AppendLine($" {kvp.Key}: {kvp.Value:N0} ({ratio:F1}%)"); + } + report.AppendLine(); + + // 可视化建议 + report.AppendLine("【可视化建议】"); + if (total > 1000000) + { + report.AppendLine(" ⚠️ 体素数量很大，建议使用采样率 >= 5"); + report.AppendLine(" 或者只可视化边界/切片"); + } + else if (total > 100000) + { + report.AppendLine(" ⚠️ 体素数量较大，建议使用采样率 >= 3"); + } + else + { + report.AppendLine(" ✅ 体素数量适中，可以使用采样率 1-2"); + } + report.AppendLine(); + + report.AppendLine("================================"); + + return report.ToString(); + } + + /// + /// 分析体素类型分布 + /// + private static Dictionary AnalyzeTypeDistribution(VoxelGrid voxelGrid) + { + var distribution = new Dictionary(); + + for (int x = 0; x < voxelGrid.SizeX; x++) + { + for (int y = 0; y < voxelGrid.SizeY; y++) + { + for (int z = 0; z < voxelGrid.SizeZ; z++) + { + var cell = voxelGrid.GetCell(x, y, z); + if (cell == null) continue; + + if (!distribution.ContainsKey(cell.Type)) + { + distribution[cell.Type] = 0; + } + + distribution[cell.Type]++; + } + } + } + + return distribution; + } + } +}