修复部分墙和柱子检测不到的问题

NavisworksTransport.UnitTests.csproj

@@ -79,6 +79,12 @@
       <HintPath>packages\RoyT.AStar.3.0.2\lib\netstandard2.0\Roy-T.AStar.dll</HintPath>
       <Private>True</Private>
     </Reference>
+
+    <!-- geometry4Sharp for 3D geometry operations -->
+    <Reference Include="geometry4Sharp">
+      <HintPath>packages\geometry4Sharp.1.0.0\lib\net462\geometry4Sharp.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
   </ItemGroup>
 
   <ItemGroup>
@@ -88,6 +94,9 @@
     <!-- A*算法问题检测测试 -->
     <Compile Include="NavisworksTransport.UnitTests\AStarDebuggingTest.cs" />
 
+    <!-- 空间哈希网格测试 -->
+    <Compile Include="UnitTests\Core\Spatial\SpatialHashGridTest.cs" />
+
     <!-- 测试辅助类 -->
     <Compile Include="UnitTests\TestHelpers\TestViewModel.cs" />
 

src/Core/Animation/PathAnimationManager.cs

@@ -446,7 +446,8 @@ namespace NavisworksTransport.Core.Animation
                         boundingBoxSize.Y * boundingBoxSize.Y +
                         boundingBoxSize.Z * boundingBoxSize.Z
                     );
-                    searchRadiusInModelUnits = objectDiagonal / 2 + _detectionGap;
+                    //空间查询半径，不能设置太小，否则会漏掉周围的对象
+                    searchRadiusInModelUnits = objectDiagonal  + _detectionGap;
 
                     LogManager.Info($"空间查询半径: {searchRadiusInModelUnits:F2} 模型单位");
                 }

src/Core/Spatial/SpatialHashGrid.cs

@@ -60,32 +60,65 @@ namespace NavisworksTransport.Core.Spatial
         }
 
         /// <summary>
-        /// 插入对象到空间哈希网格
+        /// 插入对象到空间哈希网格（边界框版本）
+        /// 对象将被插入到其边界框覆盖的所有格子中
         /// </summary>
         /// <param name="item">要插入的对象</param>
-        /// <param name="position">对象的3D位置</param>
-        public void Insert(T item, Vector3d position)
+        /// <param name="boundsMin">边界框最小点</param>
+        /// <param name="boundsMax">边界框最大点</param>
+        public void Insert(T item, Vector3d boundsMin, Vector3d boundsMax)
         {
-            var gridCell = _indexer.ToGrid(position);
+            // 计算边界框覆盖的格子范围
+            var minGridCell = _indexer.ToGrid(boundsMin);
+            var maxGridCell = _indexer.ToGrid(boundsMax);
 
-            if (!_grid.TryGetValue(gridCell, out var cellList))
+            // 遍历边界框覆盖的所有格子
+            for (int x = minGridCell.x; x <= maxGridCell.x; x++)
             {
-                cellList = new List<T>();
-                _grid[gridCell] = cellList;
-            }
+                for (int y = minGridCell.y; y <= maxGridCell.y; y++)
+                {
+                    for (int z = minGridCell.z; z <= maxGridCell.z; z++)
+                    {
+                        var gridCell = new Vector3i(x, y, z);
 
-            cellList.Add(item);
+                        if (!_grid.TryGetValue(gridCell, out var cellList))
+                        {
+                            cellList = new List<T>();
+                            _grid[gridCell] = cellList;
+                        }
+
+                        cellList.Add(item);
+                    }
+                }
+            }
         }
 
+        
+
+        /// <summary>
+        /// 插入对象到空间哈希网格（使用 Navisworks BoundingBox3D）
+        /// 对象将被插入到其边界框覆盖的所有格子中
+        /// </summary>
+        /// <param name="item">要插入的对象</param>
+        /// <param name="bounds">Navisworks 边界框</param>
+        public void Insert(T item, Autodesk.Navisworks.Api.BoundingBox3D bounds)
+        {
+            var boundsMin = new Vector3d(bounds.Min.X, bounds.Min.Y, bounds.Min.Z);
+            var boundsMax = new Vector3d(bounds.Max.X, bounds.Max.Y, bounds.Max.Z);
+            Insert(item, boundsMin, boundsMax);
+        }
+
+        
+
         /// <summary>
         /// 批量插入对象
         /// </summary>
-        /// <param name="items">对象和位置的键值对</param>
-        public void InsertRange(IEnumerable<KeyValuePair<T, Vector3d>> items)
+        /// <param name="items">对象和边界框的键值对</param>
+        public void InsertRange(IEnumerable<KeyValuePair<T, (Vector3d min, Vector3d max)>> items)
         {
             foreach (var kvp in items)
             {
-                Insert(kvp.Key, kvp.Value);
+                Insert(kvp.Key, kvp.Value.min, kvp.Value.max);
             }
         }
 
@@ -105,11 +138,12 @@ namespace NavisworksTransport.Core.Spatial
 
         /// <summary>
         /// 范围查询：查找指定位置附近指定半径内的所有对象
+        /// 注意：由于对象可能被插入到多个格子中，使用 HashSet 自动去重
         /// </summary>
         /// <param name="center">查询中心位置</param>
         /// <param name="radius">查询半径（模型单位）</param>
         /// <param name="distanceFunc">可选的距离计算函数（用于精确过滤）</param>
-        /// <returns>范围内的对象列表（去重）</returns>
+        /// <returns>范围内的对象列表（自动去重）</returns>
         public List<T> FindInRadius(
             Vector3d center,
             double radius,

src/Core/Spatial/SpatialIndexManager.cs

@@ -104,7 +104,7 @@ namespace NavisworksTransport.Core.Spatial
                 {
                     try
                     {
-                        // 获取包围盒中心作为对象位置
+                        // 获取包围盒
                         var bbox = item.BoundingBox();
                         var center = new Vector3d(
                             (bbox.Min.X + bbox.Max.X) / 2.0,
@@ -112,10 +112,10 @@ namespace NavisworksTransport.Core.Spatial
                             (bbox.Min.Z + bbox.Max.Z) / 2.0
                         );
 
-                        // 插入到空间索引
-                        _globalSpatialIndex.Insert(item, center);
+                        // 使用边界框插入到空间索引（支持大型对象覆盖多个格子）
+                        _globalSpatialIndex.Insert(item, bbox);
 
-                        // 缓存位置
+                        // 缓存位置（用于快速查询）
                         _objectPositions[item] = center;
 
                         indexedCount++;