From 99d26908005f3ea1dfb31ed2514d8311283d3fcc Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Mon, 12 Jan 2026 18:47:19 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=9F=BA=E7=BA=BF=E4=B8=8D?=
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---
 src/PathPlanning/RailGeometryHelper.cs | 85 ++++++++++++++------------
 1 file changed, 47 insertions(+), 38 deletions(-)

diff --git a/src/PathPlanning/RailGeometryHelper.cs b/src/PathPlanning/RailGeometryHelper.cs
index 60c10c6..2eab161 100644
--- a/src/PathPlanning/RailGeometryHelper.cs
+++ b/src/PathPlanning/RailGeometryHelper.cs
@@ -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)