From d889635c1c9b79a33fe6dad0e77e6b0d36569000 Mon Sep 17 00:00:00 2001 From: tian <11429339@qq.com> Date: Tue, 14 Oct 2025 11:40:04 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E5=AE=9E=E7=8E=B0=E8=87=AA=E5=AE=9A?= =?UTF-8?q?=E4=B9=89=E7=A9=BA=E9=97=B4=E5=93=88=E5=B8=8C=E7=BD=91=E6=A0=BC?= =?UTF-8?q?=20(SpatialHashGrid)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 创建 SpatialHashGrid.cs: 基于 Vector3i 的3D空间哈希表 - 支持对象插入、范围查询、格子查询 - O(1) 平均查询复杂度 - 带精确距离检查的范围查询 - 创建 SpatialIndexManager.cs: 全局空间索引管理器 - 单例模式，所有动画共享 - 构建全局索引（索引所有几何对象） - FindNearbyObjects: 高效范围查询 - 对象位置缓存（避免重复计算包围盒） 技术细节： - 使用 geometry4Sharp (g4) 的 Vector3d, Vector3i - 基于 Dictionary> 实现 - 格子大小可配置（建议设为车辆半径 × 2） 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude --- src/Core/Spatial/SpatialHashGrid.cs | 242 +++++++++++++++++++ src/Core/Spatial/SpatialIndexManager.cs | 293 ++++++++++++++++++++++++ 2 files changed, 535 insertions(+) create mode 100644 src/Core/Spatial/SpatialHashGrid.cs create mode 100644 src/Core/Spatial/SpatialIndexManager.cs diff --git a/src/Core/Spatial/SpatialHashGrid.cs b/src/Core/Spatial/SpatialHashGrid.cs new file mode 100644 index 0000000..415ca40 --- /dev/null +++ b/src/Core/Spatial/SpatialHashGrid.cs @@ -0,0 +1,242 @@ +using System; +using System.Collections.Generic; +using g4; // geometry4Sharp + +namespace NavisworksTransport.Core.Spatial +{ + /// + /// 自定义3D空间哈希网格 + /// 用于高效的空间范围查询，复杂度 O(1) 平均 + /// + /// 存储的对象类型 + public class SpatialHashGrid + { + private readonly Dictionary> _grid; + private readonly double _cellSize; + + /// + /// 创建空间哈希网格 + /// + /// 格子大小（模型单位） + public SpatialHashGrid(double cellSize) + { + if (cellSize <= 0) + throw new ArgumentException("格子大小必须大于0", nameof(cellSize)); + + _cellSize = cellSize; + _grid = new Dictionary>(); + } + + /// + /// 格子大小（模型单位） + /// + public double CellSize => _cellSize; + + /// + /// 格子总数 + /// + public int CellCount => _grid.Count; + + /// + /// 对象总数 + /// + public int ObjectCount + { + get + { + int count = 0; + foreach (var list in _grid.Values) + { + count += list.Count; + } + return count; + } + } + + /// + /// 插入对象到空间哈希网格 + /// + /// 要插入的对象 + /// 对象的3D位置 + public void Insert(T item, Vector3d position) + { + var gridCell = ToGridCoordinates(position); + + if (!_grid.ContainsKey(gridCell)) + { + _grid[gridCell] = new List(); + } + + _grid[gridCell].Add(item); + } + + /// + /// 批量插入对象 + /// + /// 对象和位置的键值对 + public void InsertRange(IEnumerable> items) + { + foreach (var kvp in items) + { + Insert(kvp.Key, kvp.Value); + } + } + + /// + /// 获取指定格子中的所有对象 + /// + /// 格子坐标 + /// 该格子中的对象列表 + public List GetObjectsInCell(Vector3i gridCell) + { + if (_grid.TryGetValue(gridCell, out var list)) + { + return new List(list); // 返回副本，避免外部修改 + } + return new List(); + } + + /// + /// 范围查询：查找指定位置附近指定半径内的所有对象 + /// + /// 查询中心位置 + /// 查询半径（模型单位） + /// 可选的距离计算函数（用于精确过滤） + /// 范围内的对象列表（去重） + public List FindInRadius( + Vector3d center, + double radius, + Func distanceFunc = null) + { + var results = new HashSet(); + + // 计算需要检查的格子范围 + int gridRadius = (int)Math.Ceiling(radius / _cellSize); + var centerGrid = ToGridCoordinates(center); + + // 遍历查询范围内的所有格子 + for (int dx = -gridRadius; dx <= gridRadius; dx++) + { + for (int dy = -gridRadius; dy <= gridRadius; dy++) + { + for (int dz = -gridRadius; dz <= gridRadius; dz++) + { + var gridCell = new Vector3i( + centerGrid.x + dx, + centerGrid.y + dy, + centerGrid.z + dz + ); + + if (_grid.TryGetValue(gridCell, out var cellObjects)) + { + foreach (var obj in cellObjects) + { + // 如果提供了距离函数，进行精确距离检查 + if (distanceFunc != null) + { + double distance = distanceFunc(obj); + if (distance <= radius) + { + results.Add(obj); + } + } + else + { + // 否则直接添加（假设格子内的对象都在范围内） + results.Add(obj); + } + } + } + } + } + } + + return new List(results); + } + + /// + /// 范围查询（带精确距离检查） + /// + /// 查询中心 + /// 查询半径 + /// 获取对象位置的函数 + /// 范围内的对象列表 + public List FindInRadiusExact( + Vector3d center, + double radius, + Func getPositionFunc) + { + if (getPositionFunc == null) + throw new ArgumentNullException(nameof(getPositionFunc)); + + return FindInRadius(center, radius, obj => + { + var objPos = getPositionFunc(obj); + return Vector3d.Distance(center, objPos); + }); + } + + /// + /// 清空所有数据 + /// + public void Clear() + { + _grid.Clear(); + } + + /// + /// 将世界坐标转换为网格坐标 + /// + /// 世界坐标 + /// 网格坐标 + private Vector3i ToGridCoordinates(Vector3d position) + { + return new Vector3i( + (int)Math.Floor(position.x / _cellSize), + (int)Math.Floor(position.y / _cellSize), + (int)Math.Floor(position.z / _cellSize) + ); + } + + /// + /// 获取网格统计信息（用于调试） + /// + /// 统计信息字符串 + public string GetStatistics() + { + int totalObjects = 0; + int maxObjectsPerCell = 0; + int minObjectsPerCell = int.MaxValue; + int emptyCount = 0; + + foreach (var list in _grid.Values) + { + int count = list.Count; + totalObjects += count; + + if (count == 0) + emptyCount++; + + if (count > maxObjectsPerCell) + maxObjectsPerCell = count; + + if (count < minObjectsPerCell && count > 0) + minObjectsPerCell = count; + } + + double avgObjectsPerCell = _grid.Count > 0 ? (double)totalObjects / _grid.Count : 0; + + if (minObjectsPerCell == int.MaxValue) + minObjectsPerCell = 0; + + return $"空间哈希网格统计:\n" + + $" 格子大小: {_cellSize:F2} 模型单位\n" + + $" 总格子数: {_grid.Count}\n" + + $" 总对象数: {totalObjects}\n" + + $" 平均每格对象数: {avgObjectsPerCell:F2}\n" + + $" 最大每格对象数: {maxObjectsPerCell}\n" + + $" 最小每格对象数: {minObjectsPerCell}\n" + + $" 空格子数: {emptyCount}"; + } + } +} diff --git a/src/Core/Spatial/SpatialIndexManager.cs b/src/Core/Spatial/SpatialIndexManager.cs new file mode 100644 index 0000000..f5a5968 --- /dev/null +++ b/src/Core/Spatial/SpatialIndexManager.cs @@ -0,0 +1,293 @@ +using System; +using System.Collections.Generic; +using System.Diagnostics; +using System.Linq; +using Autodesk.Navisworks.Api; +using NavisworksTransport.Utils; +using g4; // geometry4Sharp + +namespace NavisworksTransport.Core.Spatial +{ + /// + /// 全局空间索引管理器 + /// 单例模式，为所有动画提供高效的空间查询服务 + /// + public class SpatialIndexManager + { + private static SpatialIndexManager _instance; + private static readonly object _lockObj = new object(); + + /// + /// 单例实例 + /// + public static SpatialIndexManager Instance + { + get + { + if (_instance == null) + { + lock (_lockObj) + { + if (_instance == null) + { + _instance = new SpatialIndexManager(); + } + } + } + return _instance; + } + } + + private SpatialHashGrid _globalSpatialIndex; + private double _cellSize = 1.0; // 默认格子大小（模型单位） + private bool _isInitialized = false; + private int _indexedObjectCount = 0; + + // 缓存对象位置，避免重复计算 + private readonly Dictionary _objectPositions = new Dictionary(); + + private SpatialIndexManager() + { + } + + /// + /// 空间索引是否已初始化 + /// + public bool IsInitialized => _isInitialized; + + /// + /// 格子大小（模型单位） + /// + public double CellSize => _cellSize; + + /// + /// 已索引的对象数量 + /// + public int IndexedObjectCount => _indexedObjectCount; + + /// + /// 构建全局空间索引 + /// + /// 格子大小（模型单位），建议设置为车辆半径的2倍 + public void BuildGlobalIndex(double cellSizeInModelUnits = 1.0) + { + var sw = Stopwatch.StartNew(); + LogManager.Info("[空间索引] 开始构建全局空间索引"); + LogManager.Info($"[空间索引] 格子大小: {cellSizeInModelUnits:F2} 模型单位"); + + try + { + _cellSize = cellSizeInModelUnits; + + // 1. 获取所有几何对象 + var allItems = Application.ActiveDocument.Models.RootItemDescendantsAndSelf + .Where(item => item.HasGeometry) + .ToList(); + + LogManager.Info($"[空间索引] 找到 {allItems.Count} 个几何对象"); + + if (allItems.Count == 0) + { + LogManager.Warning("[空间索引] 场景中没有几何对象"); + return; + } + + // 2. 创建空间哈希网格 + _globalSpatialIndex = new SpatialHashGrid(cellSizeInModelUnits); + _objectPositions.Clear(); + + // 3. 索引所有对象 + int indexedCount = 0; + int failedCount = 0; + + foreach (var item in allItems) + { + try + { + // 获取包围盒中心作为对象位置 + var bbox = item.BoundingBox(); + var center = new Vector3d( + (bbox.Min.X + bbox.Max.X) / 2.0, + (bbox.Min.Y + bbox.Max.Y) / 2.0, + (bbox.Min.Z + bbox.Max.Z) / 2.0 + ); + + // 插入到空间索引 + _globalSpatialIndex.Insert(item, center); + + // 缓存位置 + _objectPositions[item] = center; + + indexedCount++; + } + catch (Exception ex) + { + LogManager.Warning($"[空间索引] 索引对象失败: {item.DisplayName}, 错误: {ex.Message}"); + failedCount++; + } + } + + _indexedObjectCount = indexedCount; + _isInitialized = true; + + sw.Stop(); + + LogManager.Info("[空间索引] 构建完成"); + LogManager.Info($" - 成功索引: {indexedCount} 个对象"); + LogManager.Info($" - 失败: {failedCount} 个对象"); + LogManager.Info($" - 格子数量: {_globalSpatialIndex.CellCount} 个"); + LogManager.Info($" - 耗时: {sw.ElapsedMilliseconds} ms"); + + // 输出统计信息 + LogManager.Debug("[空间索引] " + _globalSpatialIndex.GetStatistics()); + } + catch (Exception ex) + { + LogManager.Error($"[空间索引] 构建失败: {ex.Message}"); + LogManager.Error($"[空间索引] 堆栈跟踪: {ex.StackTrace}"); + _isInitialized = false; + throw; + } + } + + /// + /// 范围查询：查找指定位置附近的对象 + /// + /// 查询中心位置（Navisworks Point3D） + /// 查询半径（模型单位） + /// 要排除的对象（通常是移动物体本身） + /// 范围内的对象列表 + public List FindNearbyObjects( + Point3D position, + double searchRadiusInModelUnits, + ModelItem excludeObject = null) + { + if (!_isInitialized) + { + throw new InvalidOperationException( + "[空间索引] 空间索引未初始化，请先调用 BuildGlobalIndex()"); + } + + var sw = Stopwatch.StartNew(); + + try + { + // 转换为 geometry4Sharp 的 Vector3d + var centerVec = new Vector3d(position.X, position.Y, position.Z); + + // 使用空间哈希网格进行范围查询（带精确距离检查） + var nearbyObjects = _globalSpatialIndex.FindInRadiusExact( + centerVec, + searchRadiusInModelUnits, + getPositionFunc: item => + { + // 从缓存中获取对象位置 + if (_objectPositions.TryGetValue(item, out var pos)) + { + return pos; + } + + // 缓存未命中，重新计算（理论上不应该发生） + var bbox = item.BoundingBox(); + return new Vector3d( + (bbox.Min.X + bbox.Max.X) / 2.0, + (bbox.Min.Y + bbox.Max.Y) / 2.0, + (bbox.Min.Z + bbox.Max.Z) / 2.0 + ); + } + ); + + // 排除指定对象 + if (excludeObject != null) + { + nearbyObjects = nearbyObjects.Where(obj => !obj.Equals(excludeObject)).ToList(); + } + + sw.Stop(); + + LogManager.Debug($"[空间索引] 范围查询完成: " + + $"位置=({position.X:F2}, {position.Y:F2}, {position.Z:F2}), " + + $"半径={searchRadiusInModelUnits:F2}, " + + $"结果={nearbyObjects.Count} 个对象, " + + $"耗时={sw.Elapsed.TotalMilliseconds:F2}ms"); + + return nearbyObjects; + } + catch (Exception ex) + { + LogManager.Error($"[空间索引] 范围查询失败: {ex.Message}"); + throw; + } + } + + /// + /// 范围查询（带排除列表） + /// + /// 查询中心位置 + /// 查询半径 + /// 要排除的对象列表 + /// 范围内的对象列表 + public List FindNearbyObjects( + Point3D position, + double searchRadiusInModelUnits, + IEnumerable excludeObjects) + { + var results = FindNearbyObjects(position, searchRadiusInModelUnits, excludeObject: null); + + if (excludeObjects != null) + { + var excludeSet = new HashSet(excludeObjects); + results = results.Where(obj => !excludeSet.Contains(obj)).ToList(); + } + + return results; + } + + /// + /// 获取对象的缓存位置 + /// + /// 模型对象 + /// 对象的3D位置（Vector3d） + public Vector3d? GetObjectPosition(ModelItem item) + { + if (_objectPositions.TryGetValue(item, out var pos)) + { + return pos; + } + return null; + } + + /// + /// 清除空间索引 + /// + public void Clear() + { + LogManager.Info("[空间索引] 清除空间索引"); + + _globalSpatialIndex?.Clear(); + _objectPositions.Clear(); + _isInitialized = false; + _indexedObjectCount = 0; + + LogManager.Info("[空间索引] 空间索引已清除"); + } + + /// + /// 获取空间索引统计信息 + /// + /// 统计信息字符串 + public string GetStatistics() + { + if (!_isInitialized) + { + return "[空间索引] 未初始化"; + } + + return $"[空间索引] 统计信息:\n" + + $" - 已索引对象: {_indexedObjectCount} 个\n" + + $" - 格子大小: {_cellSize:F2} 模型单位\n" + + $" - 格子数量: {_globalSpatialIndex.CellCount} 个\n" + + $"{_globalSpatialIndex.GetStatistics()}"; + } + } +}