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修改基线不贴合的问题

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tian 2026-01-12 18:47:19 +08:00
parent 9ae4acdb03
commit 99d2690800
1 changed files with 47 additions and 38 deletions
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85
src/PathPlanning/RailGeometryHelper.cs
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@ -523,55 +523,64 @@ namespace NavisworksTransport.PathPlanning
LogManager.Info($"[空轨] 下表面轴索引: {downAxisIndex}, 方向: ({downAxisVector.X:F3}, {downAxisVector.Y:F3}, {downAxisVector.Z:F3})");
// 计算下表面偏移（使用投影范围的 minZ）
var downOffsetZ = obb.ProjectedMinZ;
// 计算下表面偏移（使用半长度）
var downHalfLength = obb.GetAxisLength(downAxisIndex) / 2;
var downOffset = downAxisVector * downHalfLength;
LogManager.Info($"[空轨] 下表面偏移（投影 minZ）: {downOffsetZ:F3}");
LogManager.Info($"[空轨] 下表面偏移向量: ({downOffset.X:F3}, {downOffset.Y:F3}, {downOffset.Z:F3})");
// 在主轴坐标系中，起点和终点的下表面位置
// 起点：Axis0 = minX, Axis1 = 0, Axis2 = minZ
// 终点：Axis0 = maxX, Axis1 = 0, Axis2 = minZ
var axis0Min = -obb.GetAxisLength(0) / 2;
var axis0Max = obb.GetAxisLength(0) / 2;
// 将主轴坐标系中的下表面点转换回世界坐标系
var obbAxes = obb.Axes;
var startProjected = new Point3D(
axis0Min,
0,
downOffsetZ
);
var endProjected = new Point3D(
axis0Max,
0,
downOffsetZ
);
LogManager.Info($"[空轨] 主轴坐标系起点: ({startProjected.X:F2}, {startProjected.Y:F2}, {startProjected.Z:F2})");
LogManager.Info($"[空轨] 主轴坐标系终点: ({endProjected.X:F2}, {endProjected.Y:F2}, {endProjected.Z:F2})");
var startCenter = new Point3D(
center.X + startProjected.X * obbAxes[0].X + startProjected.Y * obbAxes[1].X + startProjected.Z * obbAxes[2].X,
center.Y + startProjected.X * obbAxes[0].Y + startProjected.Y * obbAxes[1].Y + startProjected.Z * obbAxes[2].Y,
center.Z + startProjected.X * obbAxes[0].Z + startProjected.Y * obbAxes[1].Z + startProjected.Z * obbAxes[2].Z
);
var endCenter = new Point3D(
center.X + endProjected.X * obbAxes[0].X + endProjected.Y * obbAxes[1].X + endProjected.Z * obbAxes[2].X,
center.Y + endProjected.X * obbAxes[0].Y + endProjected.Y * obbAxes[1].Y + endProjected.Z * obbAxes[2].Y,
center.Z + endProjected.X * obbAxes[0].Z + endProjected.Y * obbAxes[1].Z + endProjected.Z * obbAxes[2].Z
);
// 中心线起点和终点
var startCenter = center - direction * (axisLength / 2) + downOffset;
var endCenter = center + direction * (axisLength / 2) + downOffset;
LogManager.Info($"[空轨] 中心线起点: ({startCenter.X:F2}, {startCenter.Y:F2}, {startCenter.Z:F2})");
LogManager.Info($"[空轨] 中心线终点: ({endCenter.X:F2}, {endCenter.Y:F2}, {endCenter.Z:F2})");
// 4. 沿中心线采样
var aabb = railModel.BoundingBox();
var baseline = SampleLine(startCenter, endCenter, samplingInterval);
LogManager.Info($"[空轨] OBB 方法完成，生成 {baseline.Count} 个采样点");
// 5. 使用射线投射获取下表面的精确高度（处理不平整的下表面）
var triangles = GeometryHelper.ExtractTriangles(new[] { railModel });
var bottomTriangles = FilterBottomTriangles(triangles);
if (bottomTriangles.Count > 0)
{
var adjustedBaseline = new List<Point3D>();
int successCount = 0;
foreach (var point in baseline)
{
try
{
double bottomZ = GetBottomHeightByRaycast(
point,
bottomTriangles,
aabb.Min.Z);
if (bottomZ > aabb.Min.Z - 1000)
{
adjustedBaseline.Add(new Point3D(point.X, point.Y, bottomZ));
successCount++;
}
}
catch (Exception ex)
{
LogManager.Warning($"[空轨] 射线投射失败: {ex.Message}");
adjustedBaseline.Add(point); // 使用原始点作为后备
}
}
LogManager.Info($"[空轨] 射线投射调整: {successCount}/{baseline.Count} 个点已调整");
if (adjustedBaseline.Count >= 2)
{
return adjustedBaseline;
}
}
return baseline;
}
catch (Exception ex)