From 9f42c6f38168f973600b6866ddf80199dfc3def1 Mon Sep 17 00:00:00 2001 From: tian <11429339@qq.com> Date: Sun, 7 Sep 2025 00:45:45 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=BD=91=E6=A0=BC=E7=82=B9?= =?UTF-8?q?=E5=A4=A7=E5=B0=8F=E4=B8=BA=E8=87=AA=E9=80=82=E5=BA=94?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- NavisworksTransportPlugin.csproj | 2 +- src/Core/PathPlanningManager.cs | 27 +++++++----- src/Core/PathPointRenderPlugin.cs | 34 ++++++++++++--- src/PathPlanning/AutoPathFinder.cs | 19 ++++----- src/PathPlanning/ChannelBasedGridBuilder.cs | 4 +- src/PathPlanning/ChannelHeightDetector.cs | 16 ++++---- src/PathPlanning/GridMap.cs | 41 +++++++++---------- src/PathPlanning/GridMapGenerator.cs | 18 ++++---- .../{Point2D.cs => GridPoint2D.cs} | 28 ++++++------- 9 files changed, 108 insertions(+), 81 deletions(-) rename src/PathPlanning/{Point2D.cs => GridPoint2D.cs} (79%) diff --git a/NavisworksTransportPlugin.csproj b/NavisworksTransportPlugin.csproj index 670764d..b4de73a 100644 --- a/NavisworksTransportPlugin.csproj +++ b/NavisworksTransportPlugin.csproj @@ -149,7 +149,7 @@ - + diff --git a/src/Core/PathPlanningManager.cs b/src/Core/PathPlanningManager.cs index 0331435..6953574 100644 --- a/src/Core/PathPlanningManager.cs +++ b/src/Core/PathPlanningManager.cs @@ -921,18 +921,20 @@ namespace NavisworksTransport throw new Exception($"路径查找失败: {ex.Message}", ex); } - if (pathResult == null || pathResult.PathPoints.Count < 2) + // 1. 检查路径查找是否完全失败 + if (pathResult == null) { - if (pathResult != null && !pathResult.IsComplete) - { - throw new Exception($"路径不完整，只能到达 {pathResult.CompletionPercentage:F1}% 的目标距离"); - } - else - { - throw new Exception("未找到可行路径"); - } + throw new Exception("路径查找失败"); } + // 2. 检查是否找到了可用的路径点（至少2个点才能构成路径） + if (pathResult.PathPoints.Count < 2) + { + throw new Exception("未找到可行路径（起点或终点不可达）"); + } + + // 3. 部分路径也是有效路径，不再抛出异常，继续正常处理 + LogManager.Info($"A*算法找到路径，包含 {pathResult.PathPoints.Count} 个点，完成度: {pathResult.CompletionPercentage:F1}%"); // 6. 创建PathRoute对象 @@ -3124,6 +3126,11 @@ namespace NavisworksTransport return; } + // 设置网格大小以实现自适应点大小 + // gridMap.CellSize是模型单位，需要转换为米 + double gridSizeInMeters = UnitsConverter.ConvertToMeters(gridMap.CellSize); + renderPlugin.SetGridSize(gridSizeInMeters); + // 清除之前的网格可视化 ClearGridVisualization(); @@ -3158,7 +3165,7 @@ namespace NavisworksTransport var cell = gridMap.Cells[x, y]; // 计算网格单元格的世界中心位置 - var gridPos = new NavisworksTransport.PathPlanning.Point2D(x, y); + var gridPos = new NavisworksTransport.PathPlanning.GridPoint2D(x, y); var worldCenter = gridMap.GridToWorld3D(gridPos, cell.WorldPosition.Z); var visualizationPoint = worldCenter; diff --git a/src/Core/PathPointRenderPlugin.cs b/src/Core/PathPointRenderPlugin.cs index 417ef8f..f1569b3 100644 --- a/src/Core/PathPointRenderPlugin.cs +++ b/src/Core/PathPointRenderPlugin.cs @@ -113,6 +113,9 @@ namespace NavisworksTransport // 预览连线标记 private List _previewLines = new List(); + // 当前网格大小（米），用于自适应点大小计算 + private double _currentGridSizeInMeters = 0.5; + // 静态实例，用于外部访问 private static PathPointRenderPlugin _instance; @@ -564,7 +567,7 @@ namespace NavisworksTransport { Center = point.Position, Normal = new Vector3D(0, 0, 1), - Radius = isGridVisualization ? GetRadiusForGridVisualization() : GetRadiusForPointType(point.Type), + Radius = isGridVisualization ? GetRadiusForGridVisualization(_currentGridSizeInMeters) : GetRadiusForPointType(point.Type), Color = isGridVisualization ? gridColor : GetColorForPointType(point.Type), Alpha = 1.0, Filled = true, @@ -578,12 +581,33 @@ namespace NavisworksTransport /// 获取网格可视化小球的半径（比正常路径点小） /// /// 网格可视化半径 - private double GetRadiusForGridVisualization() + private double GetRadiusForGridVisualization(double gridSizeInMeters = 0.5) { - // 网格可视化小球使用0.1米的物理尺寸（原来的一半），比正常路径点更小 - double baseRadiusInMeters = 0.1; + // 实现自适应网格点大小逻辑： + // - 小于0.5米：用网格大小的1/5 + // - 大于等于0.5米：固定使用0.1米 + double radiusInMeters; + if (gridSizeInMeters < 0.5) + { + radiusInMeters = gridSizeInMeters / 5.0; + } + else + { + radiusInMeters = 0.1; + } + double metersToModelUnits = GetMetersToModelUnitsConversionFactor(); - return baseRadiusInMeters * metersToModelUnits; + return radiusInMeters * metersToModelUnits; + } + + /// + /// 设置当前网格大小（米），用于自适应点大小计算 + /// + /// 网格大小（米） + public void SetGridSize(double gridSizeInMeters) + { + _currentGridSizeInMeters = gridSizeInMeters; + LogManager.WriteLog($"[网格点大小] 设置网格大小: {gridSizeInMeters:F2}米"); } /// diff --git a/src/PathPlanning/AutoPathFinder.cs b/src/PathPlanning/AutoPathFinder.cs index f83dfa4..4d6d85d 100644 --- a/src/PathPlanning/AutoPathFinder.cs +++ b/src/PathPlanning/AutoPathFinder.cs @@ -333,7 +333,7 @@ namespace NavisworksTransport.PathPlanning // RoyT.AStar返回的Position是米坐标，需要转换为网格索引 var startGridX = (int)Math.Floor(startNode.Position.X / cellSizeInMeters); var startGridY = (int)Math.Floor(startNode.Position.Y / cellSizeInMeters); - var startGridPos = new Point2D(startGridX, startGridY); + var startGridPos = new GridPoint2D(startGridX, startGridY); var startCell = gridMap.GetCell(startGridPos); var startWorldPos = gridMap.GridToWorld3D(startGridPos, startCell?.WorldPosition.Z ?? 0); LogManager.Info($"[路径转换] 起始节点: A*米坐标({startNode.Position.X:F2}, {startNode.Position.Y:F2}) -> 网格索引({startGridPos.X}, {startGridPos.Y}) -> 世界坐标({startWorldPos.X:F2}, {startWorldPos.Y:F2}, {startWorldPos.Z:F2})"); @@ -347,7 +347,7 @@ namespace NavisworksTransport.PathPlanning // RoyT.AStar返回的Position是米坐标，需要转换为网格索引 var gridX = (int)Math.Floor(edge.End.Position.X / cellSizeInMeters); var gridY = (int)Math.Floor(edge.End.Position.Y / cellSizeInMeters); - var gridPos = new Point2D(gridX, gridY); + var gridPos = new GridPoint2D(gridX, gridY); var cell = gridMap.GetCell(gridPos); var worldPos = gridMap.GridToWorld3D(gridPos, cell?.WorldPosition.Z ?? 0); @@ -445,7 +445,7 @@ namespace NavisworksTransport.PathPlanning /// 终点网格坐标 /// 网格地图 /// 是否畅通 - private bool IsDirectGridPathClear(Point2D start, Point2D end, GridMap gridMap) + private bool IsDirectGridPathClear(GridPoint2D start, GridPoint2D end, GridMap gridMap) { // 使用Bresenham直线算法 int x0 = start.X, y0 = start.Y; @@ -462,7 +462,7 @@ namespace NavisworksTransport.PathPlanning while (true) { // 检查当前网格单元格是否可通行 - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(x, y); if (!gridMap.IsValidGridPosition(gridPos) || !gridMap.IsWalkable(gridPos)) { return false; @@ -524,10 +524,10 @@ namespace NavisworksTransport.PathPlanning for (int i = 1; i < path.Count - 1; i++) { - var v1 = new Point2D( + var v1 = new GridPoint2D( (int)(path[i].X - path[i - 1].X), (int)(path[i].Y - path[i - 1].Y)); - var v2 = new Point2D( + var v2 = new GridPoint2D( (int)(path[i + 1].X - path[i].X), (int)(path[i + 1].Y - path[i].Y)); @@ -590,15 +590,12 @@ namespace NavisworksTransport.PathPlanning { var correctedPoint = new Point3D(originalPoint.X, originalPoint.Y, preciseHeight); correctedPath.Add(correctedPoint); - correctedCount++; - - LogManager.Info($"[高度校正] 点{i}: ({originalPoint.X:F2}, {originalPoint.Y:F2}) 高度校正: {originalPoint.Z:F2} -> {preciseHeight:F2} (使用通道顶面)"); + correctedCount++; } else { // 高度已经正确，无需校正 correctedPath.Add(originalPoint); - LogManager.Debug($"[高度校正] 点{i}: ({originalPoint.X:F2}, {originalPoint.Y:F2}) 高度无需校正: {originalPoint.Z:F2}"); } } catch (Exception ex) @@ -882,7 +879,7 @@ namespace NavisworksTransport.PathPlanning var lastNode = astarPath.Edges.Last().End; var actualEndGridX = (int)Math.Floor(lastNode.Position.X / cellSizeInMeters); var actualEndGridY = (int)Math.Floor(lastNode.Position.Y / cellSizeInMeters); - var actualEndGrid = new Point2D(actualEndGridX, actualEndGridY); + var actualEndGrid = new GridPoint2D(actualEndGridX, actualEndGridY); var actualEndCell = gridMap.GetCell(actualEndGrid); var actualEndWorld = gridMap.GridToWorld3D(actualEndGrid, actualEndCell?.WorldPosition.Z ?? 0); diff --git a/src/PathPlanning/ChannelBasedGridBuilder.cs b/src/PathPlanning/ChannelBasedGridBuilder.cs index c25720b..93b0367 100644 --- a/src/PathPlanning/ChannelBasedGridBuilder.cs +++ b/src/PathPlanning/ChannelBasedGridBuilder.cs @@ -226,7 +226,7 @@ namespace NavisworksTransport.PathPlanning { for (int y = minGrid.Y; y <= maxGrid.Y; y++) { - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(x, y); if (gridMap.IsValidGridPosition(gridPos)) { var worldPos = gridMap.GridToWorld3D(gridPos, 0); // 2D检测，Z坐标不重要 @@ -248,7 +248,7 @@ namespace NavisworksTransport.PathPlanning /// 网格地图 /// 网格位置 /// 关联的模型物品 - private void SetCellAsChannel(GridMap gridMap, Point2D gridPos, ModelItem relatedItem) + private void SetCellAsChannel(GridMap gridMap, GridPoint2D gridPos, ModelItem relatedItem) { // 使用GridMap提供的方法设置通道单元格 gridMap.SetCellAsChannel(gridPos, ChannelType.Corridor, relatedItem); diff --git a/src/PathPlanning/ChannelHeightDetector.cs b/src/PathPlanning/ChannelHeightDetector.cs index 54c9657..1e29740 100644 --- a/src/PathPlanning/ChannelHeightDetector.cs +++ b/src/PathPlanning/ChannelHeightDetector.cs @@ -121,7 +121,7 @@ namespace NavisworksTransport.PathPlanning { // 🔥 关键修改：返回通道顶面高度而不是底面高度 var topHeight = cachedInfo.CeilingHeight; - LogManager.Info($"[高度检测] 使用缓存的顶面高度信息: {topHeight:F2}"); + //LogManager.Info($"[高度检测] 使用缓存的顶面高度信息: {topHeight:F2}"); return topHeight; } @@ -133,7 +133,7 @@ namespace NavisworksTransport.PathPlanning // 🔥 关键修改：返回通道顶面高度（楼板表面，车辆行驶面） var topHeight = heightInfo.CeilingHeight; - LogManager.Info($"[高度检测] 计算得到通道顶面高度: {topHeight:F2}"); + //LogManager.Info($"[高度检测] 计算得到通道顶面高度: {topHeight:F2}"); return topHeight; } @@ -459,7 +459,7 @@ namespace NavisworksTransport.PathPlanning } // 将3D世界坐标投影到屏幕坐标 - if (TryProjectWorldToScreen(position, activeView, out Point2D screenPoint)) + if (TryProjectWorldToScreen(position, activeView, out GridPoint2D screenPoint)) { // 检查屏幕坐标是否在视图范围内 if (screenPoint.X >= 0 && screenPoint.X < activeView.Width && @@ -510,16 +510,16 @@ namespace NavisworksTransport.PathPlanning /// /// 将3D世界坐标投影到屏幕坐标 /// - private bool TryProjectWorldToScreen(Point3D worldPoint, View view, out Point2D screenPoint) + private bool TryProjectWorldToScreen(Point3D worldPoint, View view, out GridPoint2D screenPoint) { - screenPoint = new Point2D(0, 0); + screenPoint = new GridPoint2D(0, 0); try { // 使用Navisworks View API的ProjectPoint方法进行精确投影 var projectionResult = view.ProjectPoint(worldPoint, false, false); if (projectionResult != null) { - screenPoint = new Point2D((int)projectionResult.X, (int)projectionResult.Y); + screenPoint = new GridPoint2D((int)projectionResult.X, (int)projectionResult.Y); LogManager.Debug($"[投影] 3D世界坐标 ({worldPoint.X:F2}, {worldPoint.Y:F2}, {worldPoint.Z:F2}) 投影到屏幕坐标 ({projectionResult.X:F1}, {projectionResult.Y:F1})"); return true; } @@ -620,7 +620,7 @@ namespace NavisworksTransport.PathPlanning var testPoint = new Point3D(position.X, position.Y, testHeight); // 将3D点投影到屏幕 - if (TryProjectWorldToScreen(testPoint, activeView, out Point2D screenPoint)) + if (TryProjectWorldToScreen(testPoint, activeView, out GridPoint2D screenPoint)) { // 检查屏幕坐标是否在视图范围内 if (screenPoint.X >= 0 && screenPoint.X < activeView.Width && @@ -762,7 +762,7 @@ namespace NavisworksTransport.PathPlanning foreach (var samplePoint in samplePoints) { - if (TryProjectWorldToScreen(samplePoint, activeView, out Point2D screenPoint)) + if (TryProjectWorldToScreen(samplePoint, activeView, out GridPoint2D screenPoint)) { if (screenPoint.X >= 0 && screenPoint.X < activeView.Width && screenPoint.Y >= 0 && screenPoint.Y < activeView.Height) diff --git a/src/PathPlanning/GridMap.cs b/src/PathPlanning/GridMap.cs index 2c83f30..18206ea 100644 --- a/src/PathPlanning/GridMap.cs +++ b/src/PathPlanning/GridMap.cs @@ -154,8 +154,7 @@ namespace NavisworksTransport.PathPlanning for (int y = 0; y < Height; y++) { // 只计算2D世界坐标，Z坐标将在有规划点信息后单独设置 - var world2D = GridToWorld2D(new Point2D(x, y)); - var worldPos = new Point3D(world2D.X, world2D.Y, 0); // Z坐标暂时设为0 + var worldPos = GridToWorld2D(new GridPoint2D(x, y)); // 直接使用返回的Point3D，Z=0 var cell = new GridCell { @@ -177,12 +176,12 @@ namespace NavisworksTransport.PathPlanning /// /// 世界坐标点 /// 网格坐标（可能超出边界） - public Point2D WorldToGrid(Point3D worldPosition) + public GridPoint2D WorldToGrid(Point3D worldPosition) { double gridX = (worldPosition.X - Origin.X) / CellSize; double gridY = (worldPosition.Y - Origin.Y) / CellSize; - return new Point2D((int)Math.Floor(gridX), (int)Math.Floor(gridY)); + return new GridPoint2D((int)Math.Floor(gridX), (int)Math.Floor(gridY)); } /// @@ -190,12 +189,12 @@ namespace NavisworksTransport.PathPlanning /// /// 网格坐标 /// 世界2D坐标点 - public Point2D GridToWorld2D(Point2D gridPosition) + public Point3D GridToWorld2D(GridPoint2D gridPosition) { double worldX = Origin.X + (gridPosition.X + 0.5) * CellSize; double worldY = Origin.Y + (gridPosition.Y + 0.5) * CellSize; - return new Point2D((int)worldX, (int)worldY); + return new Point3D(worldX, worldY, 0); // Z设为0，调用者可以替换 } /// @@ -204,7 +203,7 @@ namespace NavisworksTransport.PathPlanning /// 网格坐标 /// Z坐标值 /// 世界3D坐标点 - public Point3D GridToWorld3D(Point2D gridPosition, double z) + public Point3D GridToWorld3D(GridPoint2D gridPosition, double z) { var world2D = GridToWorld2D(gridPosition); return new Point3D(world2D.X, world2D.Y, z); @@ -261,7 +260,7 @@ namespace NavisworksTransport.PathPlanning for (int y = 0; y < Height; y++) { var cell = Cells[x, y]; - var world2D = GridToWorld2D(new Point2D(x, y)); + var world2D = GridToWorld2D(new GridPoint2D(x, y)); double interpolatedZ = CalculateInterpolatedZ(world2D.X, world2D.Y); // 更新单元格的WorldPosition.Z坐标 @@ -278,7 +277,7 @@ namespace NavisworksTransport.PathPlanning /// /// 网格坐标 /// 是否有效 - public bool IsValidGridPosition(Point2D gridPosition) + public bool IsValidGridPosition(GridPoint2D gridPosition) { return gridPosition.X >= 0 && gridPosition.X < Width && gridPosition.Y >= 0 && gridPosition.Y < Height; @@ -289,7 +288,7 @@ namespace NavisworksTransport.PathPlanning /// /// 网格坐标 /// 是否可通行 - public bool IsWalkable(Point2D gridPosition) + public bool IsWalkable(GridPoint2D gridPosition) { if (!IsValidGridPosition(gridPosition)) return false; @@ -304,7 +303,7 @@ namespace NavisworksTransport.PathPlanning /// 是否可通行 /// 遍历成本 /// 单元格类型 - public void SetCell(Point2D gridPosition, bool isWalkable, double cost, CategoryAttributeManager.LogisticsElementType cellType) + public void SetCell(GridPoint2D gridPosition, bool isWalkable, double cost, CategoryAttributeManager.LogisticsElementType cellType) { if (!IsValidGridPosition(gridPosition)) return; @@ -343,7 +342,7 @@ namespace NavisworksTransport.PathPlanning /// 网格坐标 /// 通道类型 /// 关联的模型物品 - public void SetCellAsChannel(Point2D gridPosition, ChannelType channelType = ChannelType.Corridor, ModelItem relatedItem = null) + public void SetCellAsChannel(GridPoint2D gridPosition, ChannelType channelType = ChannelType.Corridor, ModelItem relatedItem = null) { if (!IsValidGridPosition(gridPosition)) return; @@ -369,7 +368,7 @@ namespace NavisworksTransport.PathPlanning /// /// 网格坐标 /// 高度区间 - public void AddPassableHeight(Point2D gridPosition, HeightInterval heightInterval) + public void AddPassableHeight(GridPoint2D gridPosition, HeightInterval heightInterval) { if (!IsValidGridPosition(gridPosition)) return; @@ -389,7 +388,7 @@ namespace NavisworksTransport.PathPlanning /// 网格坐标 /// 检查的高度 /// 是否可通行 - public bool IsPassableAtHeight(Point2D gridPosition, double height) + public bool IsPassableAtHeight(GridPoint2D gridPosition, double height) { if (!IsValidGridPosition(gridPosition)) return false; @@ -410,9 +409,9 @@ namespace NavisworksTransport.PathPlanning /// 获取所有通道类型的网格单元 /// /// 通道网格单元列表 - public List<(Point2D Position, GridCell Cell)> GetChannelCells() + public List<(GridPoint2D Position, GridCell Cell)> GetChannelCells() { - var channelCells = new List<(Point2D Position, GridCell Cell)>(); + var channelCells = new List<(GridPoint2D Position, GridCell Cell)>(); for (int x = 0; x < Width; x++) { @@ -421,7 +420,7 @@ namespace NavisworksTransport.PathPlanning var cell = Cells[x, y]; if (cell.IsInChannel || cell.CellType == CategoryAttributeManager.LogisticsElementType.通道) { - channelCells.Add((new Point2D(x, y), cell)); + channelCells.Add((new GridPoint2D(x, y), cell)); } } } @@ -506,7 +505,7 @@ namespace NavisworksTransport.PathPlanning /// /// 网格坐标 /// 单元格信息 - public GridCell? GetCell(Point2D gridPosition) + public GridCell? GetCell(GridPoint2D gridPosition) { if (!IsValidGridPosition(gridPosition)) return null; @@ -623,17 +622,17 @@ namespace NavisworksTransport.PathPlanning var stats = $"=== 网格统计详细信息 ===\n"; stats += $"网格尺寸: {Width}x{Height} (总计 {Width * Height} 个单元格)\n"; - stats += $"总体分布: 可通行 {totalWalkable} 个, 不可通行 {totalNonWalkable} 个\n\n"; + stats += $"总体分布: 可通行 {totalWalkable} 个, 不可通行 {totalNonWalkable} 个\n"; stats += $"【可通行单元格详细统计】\n"; stats += $" 楼板: {walkable_楼板}, 通道: {walkable_通道}, 走廊: {walkable_走廊}\n"; stats += $" 门: {walkable_门}, 装卸区: {walkable_装卸区}, 停车位: {walkable_停车位}\n"; - stats += $" 楼梯: {walkable_楼梯}, 电梯: {walkable_电梯}, 其他: {walkable_Other}\n\n"; + stats += $" 楼梯: {walkable_楼梯}, 电梯: {walkable_电梯}, 其他: {walkable_Other}\n"; stats += $"【不可通行单元格详细统计】\n"; stats += $" Unknown/空洞: {nonWalkable_Unknown}, 障碍物: {nonWalkable_障碍物}\n"; stats += $" 不可通行楼板: {nonWalkable_楼板}, 不可通行门: {nonWalkable_门}\n"; - stats += $" 不可通行通道: {nonWalkable_通道}, 其他不可通行: {nonWalkable_Other}\n\n"; + stats += $" 不可通行通道: {nonWalkable_通道}, 其他不可通行: {nonWalkable_Other}\n"; stats += $"内存使用: {GetMemoryUsage() / 1024.0:F1} KB"; diff --git a/src/PathPlanning/GridMapGenerator.cs b/src/PathPlanning/GridMapGenerator.cs index 45ed44e..cd7d272 100644 --- a/src/PathPlanning/GridMapGenerator.cs +++ b/src/PathPlanning/GridMapGenerator.cs @@ -309,7 +309,7 @@ namespace NavisworksTransport.PathPlanning if (cell.CellType == CategoryAttributeManager.LogisticsElementType.通道 && cell.IsInChannel) { // 使用网格的实际Z坐标 - var worldPos = gridMap.GridToWorld3D(new Point2D(x, y), cell.WorldPosition.Z); + var worldPos = gridMap.GridToWorld3D(new GridPoint2D(x, y), cell.WorldPosition.Z); // 重要修复：使用通道顶面作为垂直扫描的起点，而不是底面 // 从通道构建器的日志可知通道总边界MaxZ = 38.8，这是正确的扫描起点 @@ -402,7 +402,7 @@ namespace NavisworksTransport.PathPlanning { // 通道区域有足够净空高度，设置为可通行 // 🔥 关键修复：使用SetCell方法正确更新网格统计 - var gridPos = new Point2D(gridX, gridY); + var gridPos = new GridPoint2D(gridX, gridY); gridMap.SetCell(gridPos, true, 1.0, CategoryAttributeManager.LogisticsElementType.通道); // 设置世界坐标和高度信息 @@ -415,7 +415,7 @@ namespace NavisworksTransport.PathPlanning else { // 通道区域但净空高度不足，标记为不可通行但保持通道类型 - var gridPos = new Point2D(gridX, gridY); + var gridPos = new GridPoint2D(gridX, gridY); gridMap.SetCell(gridPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.通道); // 设置世界坐标和高度信息 @@ -758,7 +758,7 @@ namespace NavisworksTransport.PathPlanning /// /// 标记大型障碍物的边界轮廓，而不是完全填充 /// - private void MarkLargeObstacleBoundary(GridMap gridMap, Point2D minGrid, Point2D maxGrid, + private void MarkLargeObstacleBoundary(GridMap gridMap, GridPoint2D minGrid, GridPoint2D maxGrid, ref int newlyMarkedCells, ref int totalMarkedCells) { try @@ -772,7 +772,7 @@ namespace NavisworksTransport.PathPlanning // 上边界 for (int y = Math.Max(0, minGrid.Y); y <= Math.Min(gridMap.Height - 1, Math.Min(maxGrid.Y, minGrid.Y + boundaryThickness - 1)); y++) { - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(x, y); if (gridMap.IsWalkable(gridPos)) { gridMap.SetCell(gridPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.障碍物); @@ -784,7 +784,7 @@ namespace NavisworksTransport.PathPlanning // 下边界 for (int y = Math.Max(0, Math.Max(minGrid.Y, maxGrid.Y - boundaryThickness + 1)); y <= Math.Min(gridMap.Height - 1, maxGrid.Y); y++) { - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(x, y); if (gridMap.IsWalkable(gridPos)) { gridMap.SetCell(gridPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.障碍物); @@ -800,7 +800,7 @@ namespace NavisworksTransport.PathPlanning // 左边界 for (int x = Math.Max(0, minGrid.X); x <= Math.Min(gridMap.Width - 1, Math.Min(maxGrid.X, minGrid.X + boundaryThickness - 1)); x++) { - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(x, y); if (gridMap.IsWalkable(gridPos)) { gridMap.SetCell(gridPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.障碍物); @@ -812,7 +812,7 @@ namespace NavisworksTransport.PathPlanning // 右边界 for (int x = Math.Max(0, Math.Max(minGrid.X, maxGrid.X - boundaryThickness + 1)); x <= Math.Min(gridMap.Width - 1, maxGrid.X); x++) { - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(x, y); if (gridMap.IsWalkable(gridPos)) { gridMap.SetCell(gridPos, false, double.MaxValue, CategoryAttributeManager.LogisticsElementType.障碍物); @@ -1013,7 +1013,7 @@ namespace NavisworksTransport.PathPlanning LogManager.Info($"[高效膨胀] 应用进度: {progress:F1}% ({processedCells}/{totalCells})"); } - var gridPos = new Point2D(x, y); + var gridPos = new GridPoint2D(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 diff --git a/src/PathPlanning/Point2D.cs b/src/PathPlanning/GridPoint2D.cs similarity index 79% rename from src/PathPlanning/Point2D.cs rename to src/PathPlanning/GridPoint2D.cs index 50b4f2f..81ec953 100644 --- a/src/PathPlanning/Point2D.cs +++ b/src/PathPlanning/GridPoint2D.cs @@ -6,7 +6,7 @@ namespace NavisworksTransport.PathPlanning /// 2D坐标点结构体 /// 用于网格坐标系统 /// - public struct Point2D + public struct GridPoint2D { /// /// X坐标 @@ -23,7 +23,7 @@ namespace NavisworksTransport.PathPlanning /// /// X坐标 /// Y坐标 - public Point2D(int x, int y) + public GridPoint2D(int x, int y) { X = x; Y = y; @@ -34,7 +34,7 @@ namespace NavisworksTransport.PathPlanning /// /// 另一个点 /// 距离 - public double DistanceTo(Point2D other) + public double DistanceTo(GridPoint2D other) { double dx = other.X - X; double dy = other.Y - Y; @@ -46,7 +46,7 @@ namespace NavisworksTransport.PathPlanning /// /// 另一个点 /// 曼哈顿距离 - public int ManhattanDistanceTo(Point2D other) + public int ManhattanDistanceTo(GridPoint2D other) { return Math.Abs(other.X - X) + Math.Abs(other.Y - Y); } @@ -67,7 +67,7 @@ namespace NavisworksTransport.PathPlanning /// 是否相等 public override bool Equals(object obj) { - if (obj is Point2D other) + if (obj is GridPoint2D other) { return X == other.X && Y == other.Y; } @@ -95,7 +95,7 @@ namespace NavisworksTransport.PathPlanning /// 左操作数 /// 右操作数 /// 是否相等 - public static bool operator ==(Point2D left, Point2D right) + public static bool operator ==(GridPoint2D left, GridPoint2D right) { return left.Equals(right); } @@ -106,7 +106,7 @@ namespace NavisworksTransport.PathPlanning /// 左操作数 /// 右操作数 /// 是否不相等 - public static bool operator !=(Point2D left, Point2D right) + public static bool operator !=(GridPoint2D left, GridPoint2D right) { return !left.Equals(right); } @@ -117,9 +117,9 @@ namespace NavisworksTransport.PathPlanning /// 左操作数 /// 右操作数 /// 相加结果 - public static Point2D operator +(Point2D left, Point2D right) + public static GridPoint2D operator +(GridPoint2D left, GridPoint2D right) { - return new Point2D(left.X + right.X, left.Y + right.Y); + return new GridPoint2D(left.X + right.X, left.Y + right.Y); } /// @@ -128,24 +128,24 @@ namespace NavisworksTransport.PathPlanning /// 左操作数 /// 右操作数 /// 相减结果 - public static Point2D operator -(Point2D left, Point2D right) + public static GridPoint2D operator -(GridPoint2D left, GridPoint2D right) { - return new Point2D(left.X - right.X, left.Y - right.Y); + return new GridPoint2D(left.X - right.X, left.Y - right.Y); } /// /// 零点常量 /// - public static readonly Point2D Zero = new Point2D(0, 0); + public static readonly GridPoint2D Zero = new GridPoint2D(0, 0); /// /// 单位X向量 /// - public static readonly Point2D UnitX = new Point2D(1, 0); + public static readonly GridPoint2D UnitX = new GridPoint2D(1, 0); /// /// 单位Y向量 /// - public static readonly Point2D UnitY = new Point2D(0, 1); + public static readonly GridPoint2D UnitY = new GridPoint2D(0, 1); } } \ No newline at end of file