支持多层可视化，并解决楼梯下高度不足的区域网格可视化的问题
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59ecebebc4
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@ -58,6 +58,7 @@ namespace NavisworksTransport
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private bool _showUnknownGrid = false;
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private bool _showDoorGrid = false;
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private GridMap _currentGridMap = null; // 保存当前网格地图用于刷新
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private double _currentVehicleHeight = 2.0; // 保存当前车辆高度（米）用于网格刷新
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private bool _isPreviewMode = false;
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private int _previewInsertIndex = -1; // 保存预览点应该插入的索引位置
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@ -955,7 +956,7 @@ namespace NavisworksTransport
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if (_showWalkableGrid || _showObstacleGrid || _showUnknownGrid || _showDoorGrid)
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{
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LogManager.Info("开始网格可视化，显示所有可通行网格单元");
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VisualizeGridCells(gridMap);
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VisualizeGridCells(gridMap, vehicleHeight);
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}
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// 3. 获取通道高度数据
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@ -3336,7 +3337,7 @@ namespace NavisworksTransport
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if (_currentGridMap != null && IsAnyGridVisualizationEnabled)
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{
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LogManager.Info("[网格可视化] 使用缓存的网格地图重新渲染");
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VisualizeGridCells(_currentGridMap);
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VisualizeGridCells(_currentGridMap, _currentVehicleHeight);
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}
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else if (_currentGridMap == null)
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{
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@ -3358,7 +3359,8 @@ namespace NavisworksTransport
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/// 在每个可通行网格的中心绘制一个绿色小球
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/// </summary>
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/// <param name="gridMap">要可视化的网格地图</param>
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public void VisualizeGridCells(GridMap gridMap)
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/// <param name="vehicleHeight">车辆高度（米），用于判断层高是否足够</param>
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public void VisualizeGridCells(GridMap gridMap, double vehicleHeight = 2.0)
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{
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if (gridMap == null)
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{
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@ -3368,9 +3370,10 @@ namespace NavisworksTransport
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try
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{
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// 保存当前网格地图用于后续刷新
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// 保存当前网格地图和车辆高度用于后续刷新
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_currentGridMap = gridMap;
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LogManager.Info($"[网格可视化] 开始可视化网格：{gridMap.Width}x{gridMap.Height}");
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_currentVehicleHeight = vehicleHeight;
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LogManager.Info($"[网格可视化] 开始可视化网格：{gridMap.Width}x{gridMap.Height}, 车辆高度：{vehicleHeight}m");
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// 获取渲染插件
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var renderPlugin = PathPointRenderPlugin.Instance;
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@ -3416,6 +3419,15 @@ namespace NavisworksTransport
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int openSpaceCells = 0;
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int doorCells = 0;
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int totalVisualized = 0;
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int multiLayerCells = 0;
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int totalLayersVisualized = 0;
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int heightInsufficientLayers = 0;
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// 获取车辆高度（模型单位）用于判断层高是否足够
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double vehicleHeightInModelUnits = vehicleHeight *
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UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
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LogManager.Info($"[网格可视化] 车辆高度: {vehicleHeight}m = {vehicleHeightInModelUnits:F2}模型单位");
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// 遍历所有网格单元格，根据类型分别收集
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for (int x = 0; x < gridMap.Width; x++)
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@ -3424,79 +3436,168 @@ namespace NavisworksTransport
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{
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var cell = gridMap.Cells[x, y];
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// 计算网格单元格的世界中心位置
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// 计算网格单元格的XY中心位置（Z坐标在多层逻辑中单独处理）
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var gridPos = new NavisworksTransport.PathPlanning.GridPoint2D(x, y);
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var gridCorner = gridMap.GridToWorld3D(gridPos);
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var gridCenter = new Point3D(
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gridCorner.X + gridMap.CellSize / 2,
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gridCorner.Y + gridMap.CellSize / 2,
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gridCorner.Z
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);
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double centerX = gridCorner.X + gridMap.CellSize / 2;
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double centerY = gridCorner.Y + gridMap.CellSize / 2;
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PathRoute targetRoute = null;
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string gridTypeName = "";
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// 检查是否有多个高度层
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if (cell.HeightLayers != null && cell.HeightLayers.Count > 0)
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{
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// 多层逻辑：遍历每一层，根据PassableHeight判断是否可通行
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multiLayerCells++;
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// 根据网格类型和用户设置确定目标路径和名称
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if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.通道)
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{
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if (_showWalkableGrid) // 检查可通行网格开关
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foreach (var layer in cell.HeightLayers)
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{
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targetRoute = channelRoute;
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gridTypeName = "通道";
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channelCells++;
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}
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}
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else if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.门)
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{
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if (_showDoorGrid) // 检查门网格独立开关
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{
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targetRoute = doorRoute;
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gridTypeName = "门";
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doorCells++;
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}
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}
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else if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.楼板)
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{
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if (_showWalkableGrid) // 检查可通行网格开关
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{
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targetRoute = channelRoute; // 开放空间也用绿色显示
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gridTypeName = "开放";
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openSpaceCells++;
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}
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}
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else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.Unknown)
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{
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if (_showUnknownGrid) // 检查未知网格开关
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{
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targetRoute = unknownRoute;
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gridTypeName = "空洞";
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unknownCells++;
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}
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}
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else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.障碍物)
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{
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if (_showObstacleGrid) // 检查障碍物网格开关
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{
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targetRoute = obstacleRoute;
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gridTypeName = "障碍";
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obstacleCells++;
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}
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}
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double layerZ = layer.Z;
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double passableHeight = layer.PassableHeight.GetSpan();
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// 如果有对应的路径，创建并添加网格点
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if (targetRoute != null)
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{
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var gridPoint = new PathPoint
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{
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Position = gridCenter,
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Name = $"网格_{gridTypeName}({x},{y})",
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Type = PathPointType.WayPoint,
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Index = totalVisualized,
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Notes = $"GridType:{cell.CellType}"
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};
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// 判断高度是否足够车辆通行
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bool isHeightSufficient = passableHeight >= vehicleHeightInModelUnits;
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targetRoute.Points.Add(gridPoint);
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totalVisualized++;
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// 调试：输出高度不足的层
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if (!isHeightSufficient && multiLayerCells < 5) // 只输出前5个网格的详情
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{
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LogManager.Debug($"[高度判断] 网格({x},{y}) Layer Z={layerZ:F2}, PassableH={passableHeight:F2}, 车辆H={vehicleHeightInModelUnits:F2}, 高度足够={isHeightSufficient}");
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}
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PathRoute targetRoute = null;
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string gridTypeName = "";
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// 根据高度是否足够和网格类型决定渲染方式
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if (isHeightSufficient)
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{
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// 高度足够 - 按原类型渲染
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if (cell.CellType == CategoryAttributeManager.LogisticsElementType.通道)
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{
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if (_showWalkableGrid)
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{
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targetRoute = channelRoute;
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gridTypeName = "通道";
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channelCells++;
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}
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}
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else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.门)
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{
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if (_showDoorGrid)
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{
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targetRoute = doorRoute;
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gridTypeName = "门";
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doorCells++;
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}
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}
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else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.楼板)
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{
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if (_showWalkableGrid)
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{
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targetRoute = channelRoute;
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gridTypeName = "开放";
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openSpaceCells++;
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}
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}
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}
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else
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{
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// 高度不足 - 渲染为障碍物（灰色）
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if (_showObstacleGrid)
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{
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targetRoute = obstacleRoute;
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gridTypeName = "障碍_高度不足"; // 必须包含"障碍"关键词才能渲染为灰色
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heightInsufficientLayers++;
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}
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}
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// 创建该层的可视化点
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if (targetRoute != null)
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{
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var gridCenter = new Point3D(centerX, centerY, layerZ);
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var gridPoint = new PathPoint
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{
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Position = gridCenter,
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Name = $"网格_{gridTypeName}({x},{y})_Z{layerZ:F2}",
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Type = PathPointType.WayPoint,
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Index = totalVisualized,
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Notes = $"GridType:{cell.CellType}, LayerZ={layerZ:F2}, PassableH={passableHeight:F2}m"
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};
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targetRoute.Points.Add(gridPoint);
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totalVisualized++;
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totalLayersVisualized++;
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}
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}
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}
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else
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{
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// 单层逻辑：保持原有逻辑不变
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var gridCenter = new Point3D(centerX, centerY, gridCorner.Z);
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PathRoute targetRoute = null;
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string gridTypeName = "";
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// 根据网格类型和用户设置确定目标路径和名称
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if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.通道)
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{
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if (_showWalkableGrid)
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{
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targetRoute = channelRoute;
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gridTypeName = "通道";
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channelCells++;
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}
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}
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else if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.门)
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{
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if (_showDoorGrid)
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{
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targetRoute = doorRoute;
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gridTypeName = "门";
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doorCells++;
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}
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}
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else if (cell.IsWalkable && cell.CellType == CategoryAttributeManager.LogisticsElementType.楼板)
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{
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if (_showWalkableGrid)
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{
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targetRoute = channelRoute;
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gridTypeName = "开放";
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openSpaceCells++;
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}
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}
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else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.Unknown)
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{
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if (_showUnknownGrid)
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{
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targetRoute = unknownRoute;
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gridTypeName = "空洞";
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unknownCells++;
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}
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}
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else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.障碍物)
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{
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if (_showObstacleGrid)
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{
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targetRoute = obstacleRoute;
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gridTypeName = "障碍";
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obstacleCells++;
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}
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}
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// 如果有对应的路径，创建并添加网格点
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if (targetRoute != null)
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{
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var gridPoint = new PathPoint
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{
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Position = gridCenter,
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Name = $"网格_{gridTypeName}({x},{y})",
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Type = PathPointType.WayPoint,
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Index = totalVisualized,
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Notes = $"GridType:{cell.CellType}"
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};
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targetRoute.Points.Add(gridPoint);
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totalVisualized++;
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}
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}
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}
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}
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@ -3529,14 +3630,17 @@ namespace NavisworksTransport
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// 输出统计信息
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LogManager.Info($"[网格可视化] 可视化完成：");
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LogManager.Info($" - 总网格单元格数：{gridMap.Width * gridMap.Height}");
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LogManager.Info($" - 多层网格数：{multiLayerCells}");
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LogManager.Info($" - 通道单元格数：{channelCells}");
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LogManager.Info($" - 门单元格数：{doorCells}");
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LogManager.Info($" - 开放空间单元格数：{openSpaceCells}");
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LogManager.Info($" - Unknown单元格数：{unknownCells}");
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LogManager.Info($" - 障碍物单元格数：{obstacleCells}");
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LogManager.Info($" - 高度不足层数：{heightInsufficientLayers}");
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LogManager.Info($" - 已可视化单元格数：{totalVisualized}");
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LogManager.Info($" - 已可视化层数：{totalLayersVisualized}");
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RaiseStatusChanged($"网格可视化完成：显示了 {totalVisualized} 个网格单元 (通道:{channelCells}, 门:{doorCells}[50%透明], Unknown:{unknownCells}, 障碍:{obstacleCells})", PathPlanningStatusType.Success);
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RaiseStatusChanged($"网格可视化完成：显示了 {totalVisualized} 个网格单元 (多层网格:{multiLayerCells}, 通道:{channelCells}, 门:{doorCells}[50%透明], Unknown:{unknownCells}, 障碍:{obstacleCells}, 高度不足:{heightInsufficientLayers})", PathPlanningStatusType.Success);
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}
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catch (Exception ex)
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{
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@ -346,6 +346,7 @@ namespace NavisworksTransport.PathPlanning
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int processedCount = 0;
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int layerCount = 0;
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int stairBottomLayersProcessed = 0;
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for (int x = 0; x < gridMap.Width; x++)
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{
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@ -354,11 +355,47 @@ namespace NavisworksTransport.PathPlanning
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var cell = gridMap.Cells[x, y];
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if (cell.IsWalkable && cell.HeightLayers != null && cell.HeightLayers.Count > 0)
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{
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// 检查是否是楼梯或电梯网格（有多层且包含楼梯/电梯层）
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bool hasStairsOrElevator = cell.HeightLayers.Any(layer =>
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layer.Type == CategoryAttributeManager.LogisticsElementType.楼梯 ||
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layer.Type == CategoryAttributeManager.LogisticsElementType.电梯);
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// 为每个高度层设置PassableHeight
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for (int i = 0; i < cell.HeightLayers.Count; i++)
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{
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var layer = cell.HeightLayers[i];
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layer.PassableHeight = new HeightInterval(0, scanHeightInModelUnits);
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// 特殊处理：楼梯/电梯的第0层（下方通道层）
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if (hasStairsOrElevator && i == 0 && cell.HeightLayers.Count >= 2)
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{
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// Layer 0是楼梯下方的通道层
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// PassableHeight应该是从层顶到上方楼梯底面的距离
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var upperLayer = cell.HeightLayers[1]; // 楼梯层
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double bottomLayerTop = layer.Z; // 下层顶部
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double upperLayerBottom = upperLayer.Z; // 上层底部
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// 计算实际可通行高度
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double actualPassableHeight = upperLayerBottom - bottomLayerTop;
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if (actualPassableHeight > 0)
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{
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layer.PassableHeight = new HeightInterval(0, actualPassableHeight);
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stairBottomLayersProcessed++;
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LogManager.Debug($"【楼梯下方高度】网格({x},{y}) Layer{i} Z={layer.Z:F2}, 上层Z={upperLayer.Z:F2}, PassableHeight={actualPassableHeight:F2}模型单位");
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}
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else
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{
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// 如果计算出负值或0，使用默认值
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layer.PassableHeight = new HeightInterval(0, scanHeightInModelUnits);
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LogManager.Warning($"【楼梯下方高度】网格({x},{y}) Layer{i} 计算高度异常: {actualPassableHeight:F2}，使用默认值");
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}
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}
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else
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{
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// 普通层或楼梯层本身，使用标准扫描高度
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layer.PassableHeight = new HeightInterval(0, scanHeightInModelUnits);
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}
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cell.HeightLayers[i] = layer;
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layerCount++;
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}
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@ -370,6 +407,7 @@ namespace NavisworksTransport.PathPlanning
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}
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LogManager.Info($"【高度约束设置】完成，已处理 {processedCount} 个网格，{layerCount} 个高度层");
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LogManager.Info($"【高度约束设置】其中楼梯/电梯下方层: {stairBottomLayersProcessed} 个（使用实际可通行高度）");
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}
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/// <summary>
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