fix: 自由路径姿态改为平面旋转（只绕垂直轴yaw，不绕前进轴滚动）
用户反馈：自由路径动画起点物体沿前进轴旋转90°（侧滚）， 期望像地面路径一样只转向前进方向、仅绕垂直轴旋转。 根因：TryCreateFreePathRotationForFrame/AtStart 用了 CanonicalRailPoseBuilder（完整三维姿态，forward=3D切线）， 会绕前进轴滚动。改为 CanonicalPlanarPoseBuilder （forward=切线水平投影，up=世界up，只转yaw）。 撤销此前 ShouldPreservePathRotationForFrames 让 Free 保留姿态的改动。 同步更新 FreePathTests 断言（斜路径投影水平、纯垂直无水平方向返回false）。 257 单测全过。
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@ -47,52 +47,36 @@ namespace NavisworksTransport.UnitTests.Core
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}
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[TestMethod]
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public void FreePathRotation_SlopedPath_ShouldKeepForwardAlongTangent_UpOrthogonalized()
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public void FreePathRotation_SlopedPath_ShouldProjectForwardToHorizontal_UpStaysWorldUp()
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{
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// 斜路径（沿X上升）：forward 应沿切线，up 应正交且接近世界Z
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bool ok = CanonicalRailPoseBuilder.TryCreateBasis(
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new Vector3(0, 0, 0),
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new Vector3(1, 0, 0.5f),
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new Vector3(2, 0, 1),
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// 斜路径（沿X上升）：物体只绕垂直轴转 yaw，forward 投影到水平面，up 恒为世界Z（不侧滚）
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bool ok = CanonicalPlanarPoseBuilder.TryCreateQuaternionFromForward(
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new Vector3(2, 0, 1), // 切线（含垂直分量）
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Vector3.UnitZ,
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out Vector3 forward,
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out Vector3 lateral,
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out Vector3 up);
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ModelAxisConvention.CreateDefaultForHost(CoordinateSystemType.ZUp),
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LocalEulerRotationCorrection.Zero,
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out Quaternion rotation);
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Assert.IsTrue(ok);
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Assert.AreEqual(1.0, forward.Length(), 1e-6);
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Assert.AreEqual(1.0, up.Length(), 1e-6);
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Assert.AreEqual(1.0, lateral.Length(), 1e-6);
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// 正交性
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Assert.AreEqual(0.0, Vector3.Dot(forward, up), 1e-6);
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Assert.AreEqual(0.0, Vector3.Dot(forward, lateral), 1e-6);
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Assert.AreEqual(0.0, Vector3.Dot(lateral, up), 1e-6);
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// 切线方向沿X上升（(2,0,1)/√5 ≈ (0.894,0,0.447)，X为主）
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Assert.IsTrue(Vector3.Dot(forward, Vector3.UnitX) > 0.80f);
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// up 为世界Z在 forward 上的投影正交化，随坡度倾斜约26.6°，
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// Dot(up, Z) ≈ cos(26.6°) ≈ 0.894，仍以上方为主
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Assert.IsTrue(Vector3.Dot(up, Vector3.UnitZ) > 0.80f);
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Matrix4x4 linear = Matrix4x4.CreateFromQuaternion(rotation);
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// forward = 切线水平投影 = (1,0,0) → 局部X映射到世界X
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AssertColumn(linear, 0, 1, 0, 0);
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// up = 世界Z（不侧滚，关键：斜路径也不倾斜）
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AssertColumn(linear, 2, 0, 0, 1);
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}
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[TestMethod]
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public void FreePathRotation_VerticalPath_ShouldStillProduceValidFrame()
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public void FreePathRotation_PureVerticalPath_ShouldFail_NoHorizontalDirection()
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{
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// 纯垂直路径（沿Z上升）：forward 应能生成，up 退化为水平（无世界up投影时用X）
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bool ok = CanonicalRailPoseBuilder.TryCreateBasis(
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new Vector3(0, 0, 0),
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new Vector3(0, 0, 1),
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// 纯垂直路径无水平分量，无法确定 yaw，应返回 false（保持当前姿态）
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bool ok = CanonicalPlanarPoseBuilder.TryCreateQuaternionFromForward(
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new Vector3(0, 0, 2),
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Vector3.UnitZ,
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out Vector3 forward,
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out Vector3 lateral,
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out Vector3 up);
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ModelAxisConvention.CreateDefaultForHost(CoordinateSystemType.ZUp),
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LocalEulerRotationCorrection.Zero,
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out _);
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Assert.IsTrue(ok);
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Assert.AreEqual(1.0, forward.Length(), 1e-6);
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Assert.AreEqual(1.0, up.Length(), 1e-6);
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Assert.AreEqual(0.0, Vector3.Dot(forward, up), 1e-6);
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// 纯垂直时 forward=+Z，up 应正交（水平）
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Assert.IsTrue(Math.Abs(Vector3.Dot(forward, Vector3.UnitZ)) > 0.99f);
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Assert.IsFalse(ok);
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}
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// === 自由路径几何中心对齐语义 ===
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@ -4938,8 +4938,9 @@ namespace NavisworksTransport.Core.Animation
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}
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/// <summary>
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/// 自由路径姿态：方案1 —— forward=路径切线，up=世界up投影正交化。
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/// 复用 CanonicalRailPoseBuilder 的三维姿态计算（不依赖轨道特殊语义）。
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/// 自由路径姿态（平面）：像地面路径一样，物体转向前进方向的水平投影，
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/// 但只绕垂直轴（up 轴）旋转（yaw），不绕前进轴滚动。
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/// 复用 CanonicalPlanarPoseBuilder（forward=路径水平投影，up=世界up）。
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/// </summary>
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private bool TryCreateFreePathRotationForFrame(Point3D previousPoint, Point3D currentPoint, Point3D nextPoint, out Rotation3D rotation)
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{
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@ -4952,15 +4953,17 @@ namespace NavisworksTransport.Core.Animation
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Vector3 canonicalCurrent = ToNumerics(adapter.ToCanonicalPoint(currentPoint));
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Vector3 canonicalNext = ToNumerics(adapter.ToCanonicalPoint(nextPoint));
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Quaternion correctionQuaternion = adapter.CreateCanonicalRotationCorrection(_objectRotationCorrection);
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if (!CanonicalRailPoseBuilder.TryCreateQuaternion(
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canonicalPrevious,
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canonicalCurrent,
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canonicalNext,
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Vector3 canonicalForward = canonicalNext - canonicalPrevious;
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if (canonicalForward.LengthSquared() < 1e-6f)
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{
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canonicalForward = canonicalNext - canonicalCurrent;
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}
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if (!CanonicalPlanarPoseBuilder.TryCreateQuaternionFromForward(
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canonicalForward,
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HostCoordinateAdapter.CanonicalUpVector3,
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convention,
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null, // preferredNormal=null → 使用 canonicalUp（世界up）作为参考up，即方案1
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correctionQuaternion,
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_objectRotationCorrection,
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out var canonicalRotation))
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{
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return false;
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@ -4971,7 +4974,7 @@ namespace NavisworksTransport.Core.Animation
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}
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/// <summary>
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/// 自由路径起点姿态：以首段方向为切线，世界up正交化（方案1）。
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/// 自由路径起点姿态：以首段方向水平投影为前向，只绕垂直轴旋转（yaw）。
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/// </summary>
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private bool TryCreateFreePathRotationAtStart(out Rotation3D rotation)
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{
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