From da89105269db75e3b596713b49c7fb8ccab4ed23 Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Sat, 31 Jan 2026 20:12:44 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E5=90=8A=E8=A3=85=E8=B7=AF?=
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---
src/Core/PathPlanningManager.cs | 505 ++++++++++++++----
src/PathPlanning/AerialPathGenerator.cs | 31 +-
src/UI/WPF/ViewModels/PathEditingViewModel.cs | 15 +
3 files changed, 436 insertions(+), 115 deletions(-)
diff --git a/src/Core/PathPlanningManager.cs b/src/Core/PathPlanningManager.cs
index ae55b48..a4895b5 100644
--- a/src/Core/PathPlanningManager.cs
+++ b/src/Core/PathPlanningManager.cs
@@ -1893,12 +1893,135 @@ namespace NavisworksTransport
}
}
+ ///
+ /// 检测两点之间是否为斜线，如果是则插入中间转折点或修正坐标
+ ///
+ /// 路径点列表
+ /// 开始检查的索引
+ /// 是否进行了修改（插入点或修正坐标）
+ private bool InsertIntermediatePointForDiagonal(IList points, int startIndex)
+ {
+ if (points == null || startIndex < 0 || startIndex >= points.Count - 1)
+ {
+ return false;
+ }
+
+ var currentPoint = points[startIndex];
+ var nextPoint = points[startIndex + 1];
+
+ LogManager.Info($"[斜线处理] 检查索引 {startIndex} 和 {startIndex + 1} 之间的连线");
+ LogManager.Info($"[斜线处理] 当前点 [{startIndex}]: {currentPoint.Name}, 位置: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
+ LogManager.Info($"[斜线处理] 下一点 [{startIndex + 1}]: {nextPoint.Name}, 位置: ({nextPoint.Position.X:F2}, {nextPoint.Position.Y:F2}, {nextPoint.Position.Z:F2})");
+
+ double deltaX = Math.Abs(nextPoint.Position.X - currentPoint.Position.X);
+ double deltaY = Math.Abs(nextPoint.Position.Y - currentPoint.Position.Y);
+
+ // 检测斜线（X和Y都变化）
+ bool isDiagonal = deltaX > 0.01 && deltaY > 0.01;
+
+ if (!isDiagonal)
+ {
+ return false;
+ }
+
+ // 区分两种情况：
+ // 1. 真正的斜线：deltaX和deltaY都比较大（>2.0）→ 插入中间点
+ // 2. 微小偏差：其中一个值很小（<0.5）→ 修改下一点坐标，使其与上一点对齐
+
+ if (deltaX > 2.0 && deltaY > 2.0)
+ {
+ // 真正的斜线：插入中间点
+ LogManager.Info($"[斜线处理] 检测到斜线，需要插入中间点 (deltaX={deltaX:F2}, deltaY={deltaY:F2})");
+
+ int intermediateIndex = points.Count > 0 ? points.Count : 1;
+ var intermediatePoint = new PathPoint(
+ new Point3D(
+ nextPoint.Position.X, // 使用新点的X
+ currentPoint.Position.Y, // 保持上一个点的Y
+ currentPoint.Position.Z // 保持吊装高度
+ ),
+ $"路径点{intermediateIndex}",
+ PathPointType.WayPoint);
+ intermediatePoint.Direction = HoistingPointDirection.Longitudinal; // 纵向移动
+
+ int insertPosition = startIndex + 1;
+ points.Insert(insertPosition, intermediatePoint);
+
+ // 更新所有点的索引
+ for (int i = 0; i < points.Count; i++)
+ {
+ points[i].Index = i;
+ }
+
+ LogManager.Info($"[斜线处理] 已插入中间点: {intermediatePoint.Name}, 位置: ({intermediatePoint.Position.X:F2}, {intermediatePoint.Position.Y:F2}, {intermediatePoint.Position.Z:F2}) - 方向: 纵向");
+ LogManager.Info($"[斜线处理] 插入位置: 索引 {insertPosition}, 当前路径点总数: {points.Count}");
+
+ return true;
+ }
+ else if (deltaX < 0.5 && deltaY > 0.5)
+ {
+ // X方向微小偏差，Y方向移动：修改下一点坐标，保持X与上一点对齐（垂直线）
+ LogManager.Info($"[斜线处理] 检测到X方向微小偏差 (deltaX={deltaX:F2}, deltaY={deltaY:F2})，修正下一点坐标使其垂直");
+
+ nextPoint.Position = new Point3D(
+ currentPoint.Position.X, // 保持上一个点的X
+ nextPoint.Position.Y, // 保持新点的Y
+ nextPoint.Position.Z); // 保持新点的Z
+
+ LogManager.Info($"[斜线处理] 已修正下一点 {nextPoint.Name} 坐标: ({nextPoint.Position.X:F2}, {nextPoint.Position.Y:F2}, {nextPoint.Position.Z:F2})");
+ return true;
+ }
+ else if (deltaY < 0.5 && deltaX > 0.5)
+ {
+ // Y方向微小偏差，X方向移动：修改下一点坐标，保持Y与上一点对齐（水平线）
+ LogManager.Info($"[斜线处理] 检测到Y方向微小偏差 (deltaX={deltaX:F2}, deltaY={deltaY:F2})，修正下一点坐标使其水平");
+
+ nextPoint.Position = new Point3D(
+ nextPoint.Position.X, // 保持新点的X
+ currentPoint.Position.Y, // 保持上一个点的Y
+ nextPoint.Position.Z); // 保持新点的Z
+
+ LogManager.Info($"[斜线处理] 已修正下一点 {nextPoint.Name} 坐标: ({nextPoint.Position.X:F2}, {nextPoint.Position.Y:F2}, {nextPoint.Position.Z:F2})");
+ return true;
+ }
+ else
+ {
+ // 中等程度的偏差，插入中间点
+ LogManager.Info($"[斜线处理] 检测到中等程度斜线，需要插入中间点 (deltaX={deltaX:F2}, deltaY={deltaY:F2})");
+
+ int intermediateIndex = points.Count > 0 ? points.Count : 1;
+ var intermediatePoint = new PathPoint(
+ new Point3D(
+ nextPoint.Position.X, // 使用新点的X
+ currentPoint.Position.Y, // 保持上一个点的Y
+ currentPoint.Position.Z // 保持吊装高度
+ ),
+ $"路径点{intermediateIndex}",
+ PathPointType.WayPoint);
+ intermediatePoint.Direction = HoistingPointDirection.Longitudinal; // 纵向移动
+
+ int insertPosition = startIndex + 1;
+ points.Insert(insertPosition, intermediatePoint);
+
+ // 更新所有点的索引
+ for (int i = 0; i < points.Count; i++)
+ {
+ points[i].Index = i;
+ }
+
+ LogManager.Info($"[斜线处理] 已插入中间点: {intermediatePoint.Name}, 位置: ({intermediatePoint.Position.X:F2}, {intermediatePoint.Position.Y:F2}, {intermediatePoint.Position.Z:F2}) - 方向: 纵向");
+ LogManager.Info($"[斜线处理] 插入位置: 索引 {insertPosition}, 当前路径点总数: {points.Count}");
+
+ return true;
+ }
+ }
+
///
/// 优化直角转折路径点：出现斜线时插入点，在同一直线上时清除多余点
///
/// 要优化的路径
/// 是否进行了优化
- private bool OptimizeRightAnglePathPoints(PathRoute route)
+ public bool OptimizeRightAnglePathPoints(PathRoute route)
{
if (route == null || route.Points.Count < 2)
{
@@ -1908,79 +2031,96 @@ namespace NavisworksTransport
bool hasChanges = false;
var points = route.Points;
double tolerance = 0.001; // 容差，用于判断是否在同一直线上
+ double smallDeviation = 0.5; // 微小偏差阈值，用于修正坐标
+ double minDistance = 1.0; // 最小距离阈值，小于此距离不删除点
- // 第一步：处理斜线，插入转折点
- for (int i = 0; i < points.Count - 1; i++)
+ // 第一步：处理斜线，插入转折点或修正坐标
+ // 注意：由于可能插入点，需要从后往前遍历或使用while循环
+ int i = 0;
+ while (i < points.Count - 1)
{
- var currentPoint = points[i];
- var nextPoint = points[i + 1];
-
- // 判断是否为斜线（X和Y都不同）
- bool isDiagonal = (Math.Abs(currentPoint.Position.X - nextPoint.Position.X) > tolerance &&
- Math.Abs(currentPoint.Position.Y - nextPoint.Position.Y) > tolerance);
-
- if (isDiagonal)
+ int originalCount = points.Count;
+ if (InsertIntermediatePointForDiagonal(points, i))
{
- // 插入中间转折点
- Point3D intermediatePosition;
- HoistingPointDirection direction;
-
- // 查找提升点的Z坐标作为吊装高度
- double aerialHeight = currentPoint.Position.Z;
- for (int j = 0; j < points.Count; j++)
+ hasChanges = true;
+ // 如果插入了点，points.Count会增加
+ // 新插入的点在位置i+1，继续检查从i开始
+ if (points.Count > originalCount)
{
- if (points[j].Name == "提升点")
- {
- aerialHeight = points[j].Position.Z;
- break;
- }
- }
-
- // 计算距离差
- double deltaX = Math.Abs(nextPoint.Position.X - currentPoint.Position.X);
- double deltaY = Math.Abs(nextPoint.Position.Y - currentPoint.Position.Y);
-
- if (deltaX > deltaY)
- {
- // 纵向移动优先，先移动X
- intermediatePosition = new Point3D(
- nextPoint.Position.X,
- currentPoint.Position.Y,
- aerialHeight);
- direction = HoistingPointDirection.Longitudinal;
+ // 插入了点，继续检查当前索引（因为插入点可能需要进一步优化）
+ LogManager.Debug($"[直角路径优化] 索引{i}处插入了点，继续检查");
}
else
{
- // 横向移动优先，先移动Y
- intermediatePosition = new Point3D(
- currentPoint.Position.X,
- nextPoint.Position.Y,
- aerialHeight);
- direction = HoistingPointDirection.Lateral;
+ // 只修改了坐标，继续下一个点
+ i++;
}
-
- // 创建中间路径点
- var intermediatePoint = new PathPoint(
- intermediatePosition,
- $"中间点_{i + 1}",
- PathPointType.WayPoint);
-
- // 设置方向属性
- intermediatePoint.Direction = direction;
-
- // 插入到两点之间
- points.Insert(i + 1, intermediatePoint);
- hasChanges = true;
-
- LogManager.Debug($"[直角路径优化] 在斜线处插入转折点 {i + 1}: ({intermediatePosition.X:F2}, {intermediatePosition.Y:F2}, {intermediatePosition.Z:F2})");
-
- // 跳过新插入的点
+ }
+ else
+ {
i++;
}
}
- // 第二步：清除在同一直线上的多余点
- for (int i = 1; i < points.Count - 1; i++)
+ // 第二步：处理微小转折（X或Y方向微小偏差）
+ for (i = 1; i < points.Count - 1; i++)
+ {
+ var prevPoint = points[i - 1];
+ var currentPoint = points[i];
+ var nextPoint = points[i + 1];
+
+ // 计算两个方向的偏差
+ double deltaX1 = Math.Abs(currentPoint.Position.X - prevPoint.Position.X);
+ double deltaY1 = Math.Abs(currentPoint.Position.Y - prevPoint.Position.Y);
+ double deltaX2 = Math.Abs(nextPoint.Position.X - currentPoint.Position.X);
+ double deltaY2 = Math.Abs(nextPoint.Position.Y - currentPoint.Position.Y);
+
+ // 检测微小转折：前一段和后一段都有微小偏差，但方向不同
+ // 例如：前一段X变化很小，Y变化较大；后一段X变化较大，Y变化很小
+ bool hasSmallTurn = false;
+
+ // 前一段垂直，后一段水平
+ if (deltaX1 < smallDeviation && deltaY1 > smallDeviation &&
+ deltaY2 < smallDeviation && deltaX2 > smallDeviation)
+ {
+ hasSmallTurn = true;
+ }
+ // 前一段水平，后一段垂直
+ else if (deltaY1 < smallDeviation && deltaX1 > smallDeviation &&
+ deltaX2 < smallDeviation && deltaY2 > smallDeviation)
+ {
+ hasSmallTurn = true;
+ }
+
+ if (hasSmallTurn && currentPoint.Type == PathPointType.WayPoint)
+ {
+ // 修正转折点坐标，使其完全垂直
+ if (deltaX1 < smallDeviation)
+ {
+ // 前一段垂直：调整转折点X与上一点对齐
+ currentPoint.Position = new Point3D(
+ prevPoint.Position.X,
+ currentPoint.Position.Y,
+ currentPoint.Position.Z);
+ LogManager.Debug($"[直角路径优化] 修正微小转折点 {i} X坐标: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
+ hasChanges = true;
+ }
+ else
+ {
+ // 前一段水平：调整转折点Y与上一点对齐
+ currentPoint.Position = new Point3D(
+ currentPoint.Position.X,
+ prevPoint.Position.Y,
+ currentPoint.Position.Z);
+ LogManager.Debug($"[直角路径优化] 修正微小转折点 {i} Y坐标: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
+ hasChanges = true;
+ }
+ }
+ }
+
+ // 第三步：清除在同一直线上的多余点
+ i = 1;
+ while (i < points.Count - 1)
{
var prevPoint = points[i - 1];
var currentPoint = points[i];
@@ -1989,12 +2129,14 @@ namespace NavisworksTransport
// 只删除普通的WayPoint，不删除起点、终点、起吊点、提升点、下降点等特殊点
if (currentPoint.Type != PathPointType.WayPoint)
{
+ i++;
continue;
}
// 额外检查：不删除提升点和下降点（通过名称识别）
if (currentPoint.Name == "提升点" || currentPoint.Name == "下降点")
{
+ i++;
continue;
}
@@ -2006,16 +2148,29 @@ namespace NavisworksTransport
bool isCollinear = sameX || sameY;
+ // 额外检查：中间点到前后两点的距离都大于最小距离
if (isCollinear)
{
- // 删除中间点
- points.RemoveAt(i);
- hasChanges = true;
- LogManager.Debug($"[直角路径优化] 删除共线的多余点 {i}: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
+ double distToPrev = GeometryHelper.CalculatePointDistance(currentPoint.Position, prevPoint.Position);
+ double distToNext = GeometryHelper.CalculatePointDistance(currentPoint.Position, nextPoint.Position);
- // 调整索引，因为删除了一个点
- i--;
+ if (distToPrev > minDistance || distToNext > minDistance)
+ {
+ // 删除中间点
+ points.RemoveAt(i);
+ hasChanges = true;
+ LogManager.Debug($"[直角路径优化] 删除共线的多余点 {i}: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
+
+ // 不调整索引，因为删除了一个点，新位置的点会在下一次循环被检查
+ continue;
+ }
+ else
+ {
+ LogManager.Debug($"[直角路径优化] 跳过距离过近的共线点 {i}: ({currentPoint.Position.X:F2}, {currentPoint.Position.Y:F2}, {currentPoint.Position.Z:F2})");
+ }
}
+
+ i++;
}
if (hasChanges)
@@ -2045,19 +2200,16 @@ namespace NavisworksTransport
return false;
}
- // 更新路径点位置
- var pointToUpdate = CurrentRoute.Points[_editingPointIndex];
- pointToUpdate.Position = _editingPreviewPoint.Position;
-
- // 吊装路径：自动更新关联点
- UpdateAerialPathRelatedPoints(CurrentRoute, _editingPointIndex);
-
- // 吊装路径：优化路径点（处理斜线和清除多余点）
+ // 吊装路径：调用专用方法处理
if (CurrentRoute.PathType == PathType.Hoisting)
{
- OptimizeRightAnglePathPoints(CurrentRoute);
+ return UpdateHoistingPathPointPosition();
}
+ // 更新路径点位置（非吊装路径）
+ var pointToUpdate = CurrentRoute.Points[_editingPointIndex];
+ pointToUpdate.Position = _editingPreviewPoint.Position;
+
// 核心修复：调用统一更新函数
CurrentRoute.RecalculateAndSaveRoute($"修改路径点 {pointToUpdate.Name} 位置");
@@ -2102,6 +2254,99 @@ namespace NavisworksTransport
}
}
+ ///
+ /// 更新吊装路径点位置（专用方法）
+ ///
+ ///
+ /// 智能处理吊装路径点的坐标更新：
+ /// - 空中路径点（提升点、下降点、中间路径点）：只更新XY坐标，保留原有Z坐标（吊装高度）
+ /// - 地面路径点（起吊点、落地点）：更新完整XYZ坐标
+ ///
+ /// 是否成功更新
+ private bool UpdateHoistingPathPointPosition()
+ {
+ try
+ {
+ if (PathEditState != PathEditState.EditingPoint ||
+ _editingPointIndex == -1 ||
+ _editingPreviewPoint == null ||
+ CurrentRoute == null)
+ {
+ RaiseErrorOccurred("当前不在修改路径点状态或没有预览点");
+ return false;
+ }
+
+ // 更新路径点位置（吊装路径：智能处理Z坐标）
+ var pointToUpdate = CurrentRoute.Points[_editingPointIndex];
+
+ // 空中路径点只更新XY坐标，保持原有吊装高度
+ if (pointToUpdate.Name != "起吊点" && pointToUpdate.Name != "落地点")
+ {
+ double originalZ = pointToUpdate.Position.Z;
+ pointToUpdate.Position = new Point3D(
+ _editingPreviewPoint.Position.X,
+ _editingPreviewPoint.Position.Y,
+ originalZ // 保留原有Z坐标（吊装高度）
+ );
+ LogManager.Info($"[修改吊装路径点] 空中路径点 {pointToUpdate.Name}，保留原有高度: {originalZ:F3}");
+ }
+ else
+ {
+ // 起吊点/落地点使用完整位置
+ pointToUpdate.Position = _editingPreviewPoint.Position;
+ LogManager.Info($"[修改吊装路径点] 地面路径点 {pointToUpdate.Name}，更新完整位置");
+ }
+
+ // 吊装路径：自动更新关联点
+ UpdateAerialPathRelatedPoints(CurrentRoute, _editingPointIndex);
+
+ // 吊装路径：优化路径点（处理斜线和清除多余点）
+ OptimizeRightAnglePathPoints(CurrentRoute);
+
+ // 核心修复：调用统一更新函数
+ CurrentRoute.RecalculateAndSaveRoute($"修改吊装路径点 {pointToUpdate.Name} 位置");
+
+ // 添加历史记录
+ var historyEntry = new PathHistoryEntry(
+ CurrentRoute.Id,
+ PathHistoryOperationType.Edited,
+ CurrentRoute,
+ $"修改吊装路径点 {pointToUpdate.Name} 位置");
+ _historyManager.AddHistoryEntry(historyEntry);
+
+ // 清理修改预览可视化（会自动清除预览并重新渲染正常路径）
+ ClearEditingPreviewVisualization();
+
+ // 清理修改状态
+ ClearEditingState();
+
+ // 切换回查看状态
+ PathEditState = PathEditState.Viewing;
+
+ // 停用ToolPlugin
+ DeactivateToolPlugin();
+
+ // 更新可视化
+ DrawRouteVisualization(CurrentRoute, isAutoPath: false);
+
+ // 立即保存到数据库
+ SavePathToDatabase(CurrentRoute);
+
+ // 触发路径点列表更新事件
+ RaisePathPointsListUpdated(CurrentRoute, "路径点修改完成");
+
+ RaiseStatusChanged($"吊装路径点 {pointToUpdate.Name} 修改完成", PathPlanningStatusType.Success);
+ LogManager.Info($"吊装路径点修改完成: {pointToUpdate.Name}");
+
+ return true;
+ }
+ catch (Exception ex)
+ {
+ RaiseErrorOccurred($"确认修改吊装路径点失败: {ex.Message}");
+ return false;
+ }
+ }
+
///
/// 取消修改路径点
///
@@ -2454,22 +2699,85 @@ namespace NavisworksTransport
try
{
- // 创建正式的路径点
- var confirmPoint = new PathPoint
+ PathPoint confirmPoint;
+
+ // 吊装路径：使用专门的空中路径点生成逻辑
+ if (CurrentRoute.PathType == PathType.Hoisting)
{
- Name = GeneratePointName(_previewPoint.Type),
- Position = _previewPoint.Position,
- Type = _previewPoint.Type
- };
-
- // 根据保存的插入索引决定添加方式
- if (_previewInsertIndex >= 0 && _previewInsertIndex <= CurrentRoute.Points.Count)
- {
- CurrentRoute.InsertPoint(confirmPoint, _previewInsertIndex);
+ LogManager.Info($"[预览点-吊装路径] 开始创建空中路径点");
+
+ // 获取上一个路径点
+ Point3D previousPoint;
+ int previousPointIndex;
+
+ if (_previewInsertIndex >= 0 && _previewInsertIndex < CurrentRoute.Points.Count)
+ {
+ // 插入模式：上一个点是插入位置前的一个点
+ previousPointIndex = _previewInsertIndex - 1;
+ previousPoint = CurrentRoute.Points[previousPointIndex].Position;
+ LogManager.Info($"[预览点-吊装路径] 插入模式，上一个点索引: {previousPointIndex}, 名称: {CurrentRoute.Points[previousPointIndex].Name}");
+ }
+ else if (CurrentRoute.Points.Count > 0)
+ {
+ // 追加模式：上一个点是最后一个点
+ previousPointIndex = CurrentRoute.Points.Count - 1;
+ previousPoint = CurrentRoute.Points[previousPointIndex].Position;
+ LogManager.Info($"[预览点-吊装路径] 追加模式，上一个点索引: {previousPointIndex}, 名称: {CurrentRoute.Points[previousPointIndex].Name}");
+ }
+ else
+ {
+ LogManager.Error("[预览点-吊装路径] 没有上一个路径点");
+ return null;
+ }
+
+ // 获取吊装高度
+ double liftHeightMeters = CurrentRoute.LiftHeightMeters > 0 ? CurrentRoute.LiftHeightMeters : 3.0;
+
+ // 使用 AerialPathGenerator 生成空中路径点
+ var generator = new AerialPathGenerator();
+ confirmPoint = generator.GenerateSmartHoistingPoint(
+ previousPoint,
+ _previewPoint.Position, // 用户点击的地面位置
+ liftHeightMeters,
+ CurrentRoute.Points.Count > 0 ? CurrentRoute.Points.Count : 1);
+
+ LogManager.Info($"[预览点-吊装路径] 已生成空中路径点: {confirmPoint.Name}, 位置: ({confirmPoint.Position.X:F2}, {confirmPoint.Position.Y:F2}, {confirmPoint.Position.Z:F2})");
+
+ // 插入到正确位置
+ if (_previewInsertIndex >= 0 && _previewInsertIndex <= CurrentRoute.Points.Count)
+ {
+ CurrentRoute.InsertPoint(confirmPoint, _previewInsertIndex);
+ LogManager.Info($"[预览点-吊装路径] 已插入到索引 {_previewInsertIndex}");
+ }
+ else
+ {
+ CurrentRoute.AddPoint(confirmPoint);
+ LogManager.Info($"[预览点-吊装路径] 已追加到末尾");
+ }
+
+ // 调用路径优化方法处理斜线、微小转折和共线点
+ OptimizeRightAnglePathPoints(CurrentRoute);
+ LogManager.Info($"[预览点-吊装路径] 路径优化完成，当前路径点数: {CurrentRoute.Points.Count}");
}
else
{
- CurrentRoute.AddPoint(confirmPoint);
+ // 非吊装路径：创建普通路径点
+ confirmPoint = new PathPoint
+ {
+ Name = GeneratePointName(_previewPoint.Type),
+ Position = _previewPoint.Position,
+ Type = _previewPoint.Type
+ };
+
+ // 根据保存的插入索引决定添加方式
+ if (_previewInsertIndex >= 0 && _previewInsertIndex <= CurrentRoute.Points.Count)
+ {
+ CurrentRoute.InsertPoint(confirmPoint, _previewInsertIndex);
+ }
+ else
+ {
+ CurrentRoute.AddPoint(confirmPoint);
+ }
}
// 清除预览状态
@@ -3190,16 +3498,29 @@ namespace NavisworksTransport
if (aerialPoint != null)
{
+ // 保存上一个路径点的索引（用于插入中间点）
+ int previousPointIndex = CurrentRoute.Points.Count - 1;
+ var previousPathPoint = CurrentRoute.Points[previousPointIndex];
+ LogManager.Info($"[吊装模式] 上一个路径点索引: {previousPointIndex}, 名称: {previousPathPoint.Name}, 位置: ({previousPathPoint.Position.X:F2}, {previousPathPoint.Position.Y:F2})");
+
// 记录原始地面点击位置
_hoistingGroundIntermediatePoints.Add(clickedPoint);
LogManager.Debug($"[吊装模式] 已记录地面点击点: ({clickedPoint.X:F2}, {clickedPoint.Y:F2}, {clickedPoint.Z:F2})");
- // 添加到当前路径
+ // 添加空中路径点（临时）
CurrentRoute.AddPoint(aerialPoint);
- LogManager.Info($"[吊装模式] 已添加空中路径点: {aerialPoint.Name} ({aerialPoint.Position.X:F2}, {aerialPoint.Position.Y:F2}, {aerialPoint.Position.Z:F2}) - 方向: {aerialPoint.Direction}");
+ LogManager.Info($"[吊装模式] 已添加空中路径点: {aerialPoint.Name}, 位置: ({aerialPoint.Position.X:F2}, {aerialPoint.Position.Y:F2}), 当前路径点数: {CurrentRoute.Points.Count}");
- // 优化路径点：处理斜线和清除多余点
+ // 调用路径优化方法处理斜线、微小转折和共线点
OptimizeRightAnglePathPoints(CurrentRoute);
+ LogManager.Info($"[吊装模式] 路径优化完成，当前路径点数: {CurrentRoute.Points.Count}");
+ for (int i = 0; i < CurrentRoute.Points.Count; i++)
+ {
+ var p = CurrentRoute.Points[i];
+ LogManager.Info($" [{i}] {p.Name}: ({p.Position.X:F2}, {p.Position.Y:F2}, {p.Position.Z:F2})");
+ }
+
+ LogManager.Info($"[吊装模式] 已添加空中路径点: {aerialPoint.Name} ({aerialPoint.Position.X:F2}, {aerialPoint.Position.Y:F2}, {aerialPoint.Position.Z:F2}) - 方向: {aerialPoint.Direction}");
// 渲染路径
if (_renderPlugin != null)
diff --git a/src/PathPlanning/AerialPathGenerator.cs b/src/PathPlanning/AerialPathGenerator.cs
index accc248..e3fbb2a 100644
--- a/src/PathPlanning/AerialPathGenerator.cs
+++ b/src/PathPlanning/AerialPathGenerator.cs
@@ -106,50 +106,35 @@ namespace NavisworksTransport.PathPlanning
if (liftHeightMeters <= 0)
throw new ArgumentException("提升高度必须大于0", nameof(liftHeightMeters));
- double liftHeightModelUnits = UnitsConverter.ConvertFromMeters(liftHeightMeters);
-
// 计算两个方向的距离
double deltaX = Math.Abs(clickedGroundPoint.X - previousPoint.X);
double deltaY = Math.Abs(clickedGroundPoint.Y - previousPoint.Y);
- Point3D newPoint;
- HoistingPointDirection direction;
- string pointName;
+ // 直接使用地面点的完整XY值，不调整位置
+ Point3D newPoint = new Point3D(
+ clickedGroundPoint.X,
+ clickedGroundPoint.Y,
+ previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
- // 判断移动方向
+ // 判断移动方向（仅用于记录，不影响位置）
+ HoistingPointDirection direction;
if (Math.Abs(deltaX - deltaY) < DIRECTION_TOLERANCE)
{
// 距离相等，默认选择纵向
- newPoint = new Point3D(
- clickedGroundPoint.X,
- previousPoint.Y,
- previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
direction = HoistingPointDirection.Longitudinal;
- pointName = $"路径点{pointIndex}";
}
else if (deltaX > deltaY)
{
// 更偏向纵向移动（X轴）
- // 保持Y坐标不变，使用点击的X坐标
- newPoint = new Point3D(
- clickedGroundPoint.X,
- previousPoint.Y,
- previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
direction = HoistingPointDirection.Longitudinal;
- pointName = $"路径点{pointIndex}";
}
else
{
// 更偏向横向移动（Y轴）
- // 保持X坐标不变，使用点击的Y坐标
- newPoint = new Point3D(
- previousPoint.X,
- clickedGroundPoint.Y,
- previousPoint.Z); // 使用上一个路径点的Z坐标（保持吊装高度）
direction = HoistingPointDirection.Lateral;
- pointName = $"路径点{pointIndex}";
}
+ string pointName = $"路径点{pointIndex}";
var pathPoint = new PathPoint(newPoint, pointName, PathPointType.WayPoint);
pathPoint.Direction = direction;
diff --git a/src/UI/WPF/ViewModels/PathEditingViewModel.cs b/src/UI/WPF/ViewModels/PathEditingViewModel.cs
index abc2768..7d7abb5 100644
--- a/src/UI/WPF/ViewModels/PathEditingViewModel.cs
+++ b/src/UI/WPF/ViewModels/PathEditingViewModel.cs
@@ -1911,10 +1911,25 @@ namespace NavisworksTransport.UI.WPF.ViewModels
LogManager.Info($"终点被删除，上一个路径点 {prevPoint.Name} 已设为新的终点");
}
+ // 吊装路径：禁止删除关键点（提升点、下降点）
+ if (coreRoute.PathType == PathType.Hoisting &&
+ (corePoint.Name == "提升点" || corePoint.Name == "下降点"))
+ {
+ LogManager.Warning($"不能删除吊装路径的关键点: {corePoint.Name}");
+ UpdateMainStatus($"❌ 无法删除：{corePoint.Name} 是吊装路径的关键点");
+ return;
+ }
+
// 删除Core数据
coreRoute.Points.Remove(corePoint);
LogManager.Info($"已从Core数据删除路径点: {corePoint.Name}");
+ // 吊装路径：优化路径点（处理斜线和清除多余点）
+ if (coreRoute.PathType == PathType.Hoisting)
+ {
+ _pathPlanningManager?.OptimizeRightAnglePathPoints(coreRoute);
+ }
+
// 调用PathPlanningManager的3D删除方法
_pathPlanningManager.RemovePathPoint(corePoint);