解决车辆漏检和多检的问题
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@ -2,6 +2,11 @@
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## 功能点
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### [2026/1/6]
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1. [ ] （BUG）虚拟车辆模型每次点击都重建
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2. [ ] （BUG）碰撞结果高亮，应该显示精确检测的结果
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### [2025/12/25]
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1. [x] （功能）对路径上的各点进行坐标编辑
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@ -498,14 +498,12 @@ namespace NavisworksTransport.Core.Animation
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LogManager.Info(spatialIndexManager.GetStatistics());
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double objectDiagonal = Math.Sqrt(
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boundingBoxSize.X * boundingBoxSize.X +
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boundingBoxSize.Y * boundingBoxSize.Y +
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boundingBoxSize.Z * boundingBoxSize.Z
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);
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// 🔥 修改：使用车辆的最大水平尺寸而不是对角线
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// 原因：车辆在通道上水平移动，主要检测侧面碰撞
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double maxHorizontalDimension = Math.Max(boundingBoxSize.X, boundingBoxSize.Y);
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searchRadiusInModelUnits = objectDiagonal + _detectionGap;
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LogManager.Info($"空间查询半径: {searchRadiusInModelUnits:F2} 模型单位");
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searchRadiusInModelUnits = maxHorizontalDimension + _detectionGap;
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LogManager.Info($"空间查询半径: {searchRadiusInModelUnits:F2} 模型单位 (基于最大水平尺寸: {maxHorizontalDimension:F2})");
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}
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// 3. 生成每一帧
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@ -541,6 +539,9 @@ namespace NavisworksTransport.Core.Animation
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double yawRadians = ComputeYawOnPath(i, allSampledPoints, edgeIndex, edgeProgress);
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// 🔥 调试日志：输出framePosition
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LogManager.Debug($"[调试] 帧{i}: framePosition=({framePosition.X:F2},{framePosition.Y:F2},{framePosition.Z:F2})");
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// 创建帧并检测碰撞
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var frame = new AnimationFrame
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{
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@ -552,7 +553,33 @@ namespace NavisworksTransport.Core.Animation
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};
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// 虚拟碰撞检测
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var virtualBoundingBox = CreateVirtualBoundingBox(framePosition, boundingBoxSize, yawRadians);
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// 计算车辆包围盒相对于framePosition的偏移
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var currentVehicleBoundingBox = _animatedObject.BoundingBox();
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var originalCenter = new Point3D(
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(currentVehicleBoundingBox.Min.X + currentVehicleBoundingBox.Max.X) / 2,
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(currentVehicleBoundingBox.Min.Y + currentVehicleBoundingBox.Max.Y) / 2,
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(currentVehicleBoundingBox.Min.Z + currentVehicleBoundingBox.Max.Z) / 2
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);
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// 计算偏移量（当前包围盒中心到framePosition的偏移）
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var offsetX = framePosition.X - originalCenter.X;
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var offsetY = framePosition.Y - originalCenter.Y;
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var offsetZ = framePosition.Z - currentVehicleBoundingBox.Min.Z; // Z方向：framePosition是底面，originalCenter是中心
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// 创建新的包围盒（将当前包围盒移动到framePosition）
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var virtualBoundingBox = new BoundingBox3D(
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new Point3D(
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currentVehicleBoundingBox.Min.X + offsetX,
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currentVehicleBoundingBox.Min.Y + offsetY,
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framePosition.Z // 底面Z坐标
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),
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new Point3D(
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currentVehicleBoundingBox.Max.X + offsetX,
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currentVehicleBoundingBox.Max.Y + offsetY,
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framePosition.Z + (currentVehicleBoundingBox.Max.Z - currentVehicleBoundingBox.Min.Z) // 保持高度
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)
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);
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IEnumerable<ModelItem> nearbyObjects;
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if (manualOverrideActive)
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@ -572,7 +599,19 @@ namespace NavisworksTransport.Core.Animation
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{
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var colliderBox = collider.BoundingBox();
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if (BoundingBoxGeometryUtils.BoundingBoxesIntersectWithTolerance(virtualBoundingBox, colliderBox, _detectionGap))
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// 🔥 调试日志：输出包围盒信息
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bool intersects = BoundingBoxGeometryUtils.BoundingBoxesIntersectWithTolerance(virtualBoundingBox, colliderBox, _detectionGap);
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if (intersects)
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{
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double distanceX = Math.Max(0, Math.Max(virtualBoundingBox.Min.X - colliderBox.Max.X, colliderBox.Min.X - virtualBoundingBox.Max.X));
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double distanceY = Math.Max(0, Math.Max(virtualBoundingBox.Min.Y - colliderBox.Max.Y, colliderBox.Min.Y - virtualBoundingBox.Max.Y));
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double distanceZ = Math.Max(0, Math.Max(virtualBoundingBox.Min.Z - colliderBox.Max.Z, colliderBox.Min.Z - virtualBoundingBox.Max.Z));
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double minDistance = Math.Max(distanceX, Math.Max(distanceY, distanceZ));
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LogManager.Debug($"[碰撞检测] 帧{i}: 车辆包围盒=[({virtualBoundingBox.Min.X:F2},{virtualBoundingBox.Min.Y:F2},{virtualBoundingBox.Min.Z:F2})-({virtualBoundingBox.Max.X:F2},{virtualBoundingBox.Max.Y:F2},{virtualBoundingBox.Max.Z:F2})], 物体={collider.DisplayName}, 包围盒=[({colliderBox.Min.X:F2},{colliderBox.Min.Y:F2},{colliderBox.Min.Z:F2})-({colliderBox.Max.X:F2},{colliderBox.Max.Y:F2},{colliderBox.Max.Z:F2})], 最小距离={minDistance:F3}m, 检测间隙={_detectionGap:F3}m");
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}
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if (intersects)
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{
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var collisionResult = new CollisionResult
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{
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@ -801,81 +840,6 @@ namespace NavisworksTransport.Core.Animation
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return new Vector3D(cross.X, cross.Y, cross.Z).Normalize();
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}
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/// <summary>
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/// 创建虚拟包围盒（用于碰撞检测），考虑旋转
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/// </summary>
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private BoundingBox3D CreateVirtualBoundingBox(Point3D position, Vector3D size, double yawRadians = 0.0)
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{
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// 如果没有旋转，返回简单的轴对齐包围盒
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if (Math.Abs(yawRadians) < 1e-6)
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{
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return new BoundingBox3D(
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new Point3D(
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position.X - size.X / 2,
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position.Y - size.Y / 2,
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position.Z
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),
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new Point3D(
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position.X + size.X / 2,
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position.Y + size.Y / 2,
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position.Z + size.Z
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)
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);
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}
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// 有旋转：计算旋转后的轴对齐包围盒
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// 1. 定义物体包围盒的4个底面角点（相对于中心）
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double halfX = size.X / 2;
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double halfY = size.Y / 2;
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var corners = new[]
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{
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new { x = -halfX, y = -halfY },
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new { x = halfX, y = -halfY },
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new { x = halfX, y = halfY },
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new { x = -halfX, y = halfY }
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};
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// 2. 旋转这些角点
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double cos = Math.Cos(yawRadians);
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double sin = Math.Sin(yawRadians);
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double minX = double.MaxValue;
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double maxX = double.MinValue;
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double minY = double.MaxValue;
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double maxY = double.MinValue;
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foreach (var corner in corners)
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{
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// 旋转公式：x' = x*cos - y*sin, y' = x*sin + y*cos
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double rotatedX = corner.x * cos - corner.y * sin;
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double rotatedY = corner.x * sin + corner.y * cos;
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minX = Math.Min(minX, rotatedX);
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maxX = Math.Max(maxX, rotatedX);
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minY = Math.Min(minY, rotatedY);
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maxY = Math.Max(maxY, rotatedY);
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}
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// 3. 创建包含所有旋转后角点的轴对齐包围盒
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return new BoundingBox3D(
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new Point3D(
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position.X + minX,
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position.Y + minY,
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position.Z
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),
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new Point3D(
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position.X + maxX,
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position.Y + maxY,
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position.Z + size.Z
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)
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);
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}
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/// <summary>
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/// 开始播放动画
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/// </summary>
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@ -888,7 +852,6 @@ namespace NavisworksTransport.Core.Animation
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throw new InvalidOperationException("请先调用SetupAnimation设置动画参数");
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}
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// 创建 TimeLiner 任务（如果可用且未创建过）
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if (_timeLinerManager != null && _timeLinerManager.IsTimeLinerAvailable)
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{
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@ -214,11 +214,9 @@ namespace NavisworksTransport.Core.Spatial
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if (getPositionFunc == null)
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throw new ArgumentNullException(nameof(getPositionFunc));
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return FindInRadius(center, radius, obj =>
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{
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var objPos = getPositionFunc(obj);
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return center.Distance(objPos);
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});
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// 🔥 修改：不做距离过滤，只返回格子范围内的所有对象
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// 原因：使用中心点距离过滤会漏检包围盒很大的对象（如墙）
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return FindInRadius(center, radius, distanceFunc: null);
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}
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/// <summary>
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@ -99,9 +99,69 @@ namespace NavisworksTransport.Utils
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/// <returns>如果包围盒在容差范围内相交则返回true</returns>
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public static bool BoundingBoxesIntersectWithTolerance(BoundingBox3D box1, BoundingBox3D box2, double tolerance)
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{
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return box1.Min.X <= box2.Max.X + tolerance && box1.Max.X >= box2.Min.X - tolerance &&
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box1.Min.Y <= box2.Max.Y + tolerance && box1.Max.Y >= box2.Min.Y - tolerance &&
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box1.Min.Z <= box2.Max.Z + tolerance && box1.Max.Z >= box2.Min.Z - tolerance;
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// 🔥 修改：计算每个方向的最小距离
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// 只有当所有方向的最小距离都小于检测间隙时，才判定为碰撞
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// 这样可以避免"一个方向相交，另一个方向很远"的情况
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// 计算X方向的最小距离
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double distanceX;
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if (box1.Max.X < box2.Min.X)
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{
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// box1在box2左侧
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distanceX = box2.Min.X - box1.Max.X;
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}
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else if (box2.Max.X < box1.Min.X)
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{
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// box2在box1左侧
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distanceX = box1.Min.X - box2.Max.X;
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}
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else
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{
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// X方向相交
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distanceX = 0;
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}
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// 计算Y方向的最小距离
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double distanceY;
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if (box1.Max.Y < box2.Min.Y)
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{
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// box1在box2下方
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distanceY = box2.Min.Y - box1.Max.Y;
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}
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else if (box2.Max.Y < box1.Min.Y)
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{
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// box2在box1下方
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distanceY = box1.Min.Y - box2.Max.Y;
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}
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else
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{
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// Y方向相交
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distanceY = 0;
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}
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// 计算Z方向的最小距离
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double distanceZ;
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if (box1.Max.Z < box2.Min.Z)
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{
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// box1在box2下方
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distanceZ = box2.Min.Z - box1.Max.Z;
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}
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else if (box2.Max.Z < box1.Min.Z)
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{
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// box2在box1下方
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distanceZ = box1.Min.Z - box2.Max.Z;
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}
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else
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{
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// Z方向相交
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distanceZ = 0;
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}
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// 计算最大距离（最接近的方向）
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double maxDistance = Math.Max(distanceX, Math.Max(distanceY, distanceZ));
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// 只有当最大距离小于检测间隙时，才判定为碰撞
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return maxDistance <= tolerance;
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}
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/// <summary>
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