feat(voxel): 阶段1.4 - 测试 geometry4Sharp 的 MeshSignedDistanceGrid
- 创建 MeshSDFTester.cs: 测试 geometry4Sharp 库的可用性和功能 - 实现 Navisworks Triangle3D 到 DMesh3 的转换 - 实现 MeshSignedDistanceGrid (SDF) 计算功能 - 添加库可用性快速测试方法 - 手动构建测试立方体网格 特性（原型版本）： - QuickLibraryTest(): 验证 geometry4Sharp 库是否正常工作 - ConvertToDMesh3(): 将 Navisworks 三角形转换为 DMesh3 格式 - ComputeSDF(): 计算签名距离场（使用 DMeshAABBTree3 加速） - TestFullPipeline(): 完整测试流程（ModelItem → 三角形 → DMesh3 → SDF） - CreateTestCubeMesh(): 手动创建测试立方体 注意： - 这是原型版本，部分 SDF 距离查询 API 需要进一步研究 - 验证了 DMesh3, DMeshAABBTree3, MeshSignedDistanceGrid 基本可用 - 与 GeometryHelper.ExtractTriangles() 集成 下一步: 体素可视化验证（阶段1.5）或根据实际需求调整
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<Compile Include="src\PathPlanning\VoxelCell.cs" />
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<Compile Include="src\PathPlanning\VoxelGrid.cs" />
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<Compile Include="src\PathPlanning\VoxelGridGenerator.cs" />
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<Compile Include="src\PathPlanning\MeshSDFTester.cs" />
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<!-- UI - WPF -->
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<Compile Include="src\UI\WPF\Views\LogisticsControlPanel.xaml.cs">
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376
src/PathPlanning/MeshSDFTester.cs
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src/PathPlanning/MeshSDFTester.cs
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using Autodesk.Navisworks.Api;
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using NavisworksTransport.Utils;
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using g4;
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namespace NavisworksTransport.PathPlanning
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{
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/// <summary>
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/// Mesh SDF 测试器 - 测试 geometry4Sharp 的 MeshSignedDistanceGrid 功能
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/// 阶段 1.4：验证 Navisworks 网格到 DMesh3 的转换和 SDF 计算
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/// 注意：这是原型版本，部分API需要根据实际geometry4Sharp文档调整
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/// </summary>
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public class MeshSDFTester
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{
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/// <summary>
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/// 简单测试：验证 geometry4Sharp 是否可用
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/// </summary>
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public static void QuickLibraryTest()
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{
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LogManager.Info("=== geometry4Sharp 库可用性测试 ===");
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try
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{
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// 测试创建 DMesh3
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var mesh = new DMesh3(MeshComponents.None);
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LogManager.Info($"✅ DMesh3 创建成功");
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// 添加简单的三角形
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int v0 = mesh.AppendVertex(new Vector3d(0, 0, 0));
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int v1 = mesh.AppendVertex(new Vector3d(1, 0, 0));
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int v2 = mesh.AppendVertex(new Vector3d(0, 1, 0));
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int t0 = mesh.AppendTriangle(v0, v1, v2);
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LogManager.Info($"✅ 顶点和三角形添加成功: {mesh.VertexCount} 顶点, {mesh.TriangleCount} 三角形");
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// 测试 AABB 树
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var spatial = new DMeshAABBTree3(mesh, autoBuild: true);
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LogManager.Info($"✅ DMeshAABBTree3 创建成功");
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LogManager.Info("=== geometry4Sharp 库测试通过 ===");
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}
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catch (Exception ex)
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{
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LogManager.Error($"❌ geometry4Sharp 库测试失败: {ex.Message}");
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LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
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}
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}
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/// <summary>
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/// 将 Navisworks 三角形转换为 geometry4Sharp DMesh3
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/// </summary>
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/// <param name="triangles">Navisworks 三角形集合</param>
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/// <returns>DMesh3 对象</returns>
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public static DMesh3 ConvertToDMesh3(List<Triangle3D> triangles)
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{
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var stopwatch = Stopwatch.StartNew();
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LogManager.Info("=== 开始转换 Navisworks 网格到 DMesh3 ===");
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var mesh = new DMesh3(MeshComponents.None); // 不需要法线、颜色等额外组件
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try
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{
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// 第一步：添加所有顶点（使用字典去重）
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var vertexMap = new Dictionary<string, int>();
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int vertexCount = 0;
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foreach (var triangle in triangles)
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{
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AddVertexIfNotExists(mesh, triangle.Point1, vertexMap, ref vertexCount);
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AddVertexIfNotExists(mesh, triangle.Point2, vertexMap, ref vertexCount);
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AddVertexIfNotExists(mesh, triangle.Point3, vertexMap, ref vertexCount);
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}
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LogManager.Info($"顶点添加完成: {mesh.VertexCount} 个顶点");
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// 第二步：添加所有三角形面
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int triangleAddedCount = 0;
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int triangleFailedCount = 0;
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foreach (var triangle in triangles)
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{
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try
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{
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int v1 = GetVertexIndex(triangle.Point1, vertexMap);
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int v2 = GetVertexIndex(triangle.Point2, vertexMap);
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int v3 = GetVertexIndex(triangle.Point3, vertexMap);
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if (v1 >= 0 && v2 >= 0 && v3 >= 0 && v1 != v2 && v2 != v3 && v1 != v3)
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{
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int tid = mesh.AppendTriangle(v1, v2, v3);
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if (tid >= 0)
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{
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triangleAddedCount++;
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}
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else
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{
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triangleFailedCount++;
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}
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}
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else
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{
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triangleFailedCount++;
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}
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}
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catch (Exception ex)
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{
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triangleFailedCount++;
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LogManager.Debug($"添加三角形失败: {ex.Message}");
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}
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}
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LogManager.Info($"三角形添加完成: 成功={triangleAddedCount}, 失败={triangleFailedCount}");
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// 第三步：网格验证和修复
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if (!mesh.IsClosed())
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{
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LogManager.Warning("网格不闭合，可能影响 SDF 计算准确性");
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}
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// 计算边界框
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var bounds = mesh.CachedBounds;
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LogManager.Info($"网格边界: Min=({bounds.Min.x:F2}, {bounds.Min.y:F2}, {bounds.Min.z:F2}), " +
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$"Max=({bounds.Max.x:F2}, {bounds.Max.y:F2}, {bounds.Max.z:F2})");
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stopwatch.Stop();
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LogManager.Info($"=== DMesh3 转换完成 ===");
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LogManager.Info($"转换耗时: {stopwatch.ElapsedMilliseconds} ms ({stopwatch.Elapsed.TotalSeconds:F2} 秒)");
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LogManager.Info($"网格统计: 顶点={mesh.VertexCount}, 三角形={mesh.TriangleCount}, 边={mesh.EdgeCount}");
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}
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catch (Exception ex)
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{
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LogManager.Error($"转换到 DMesh3 失败: {ex.Message}");
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LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
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}
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return mesh;
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}
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/// <summary>
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/// 添加顶点（如果不存在）
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/// </summary>
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private static void AddVertexIfNotExists(DMesh3 mesh, Point3D point, Dictionary<string, int> vertexMap, ref int vertexCount)
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{
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string key = GetVertexKey(point);
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if (!vertexMap.ContainsKey(key))
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{
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int vid = mesh.AppendVertex(new Vector3d(point.X, point.Y, point.Z));
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vertexMap[key] = vid;
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vertexCount++;
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}
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}
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/// <summary>
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/// 获取顶点索引
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/// </summary>
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private static int GetVertexIndex(Point3D point, Dictionary<string, int> vertexMap)
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{
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string key = GetVertexKey(point);
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return vertexMap.TryGetValue(key, out int index) ? index : -1;
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}
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/// <summary>
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/// 生成顶点键（用于去重）
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/// </summary>
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private static string GetVertexKey(Point3D point, double tolerance = 0.0001)
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{
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// 使用较高精度避免过度合并
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return $"{Math.Round(point.X / tolerance) * tolerance:F6}," +
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$"{Math.Round(point.Y / tolerance) * tolerance:F6}," +
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$"{Math.Round(point.Z / tolerance) * tolerance:F6}";
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}
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/// <summary>
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/// 计算签名距离场（Signed Distance Field）
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/// </summary>
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/// <param name="mesh">DMesh3 网格</param>
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/// <param name="cellSize">网格单元尺寸（模型单位）</param>
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/// <returns>MeshSignedDistanceGrid 对象</returns>
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public static MeshSignedDistanceGrid ComputeSDF(DMesh3 mesh, double cellSize)
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{
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var stopwatch = Stopwatch.StartNew();
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LogManager.Info("=== 开始计算签名距离场 (SDF) ===");
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MeshSignedDistanceGrid sdf = null;
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try
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{
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// 获取网格边界
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var bounds = mesh.CachedBounds;
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LogManager.Info($"网格边界: {bounds.Min} ~ {bounds.Max}");
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LogManager.Info($"网格尺寸: {bounds.Width:F2} × {bounds.Height:F2} × {bounds.Depth:F2} 模型单位");
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// 计算网格分辨率
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int nx = (int)Math.Ceiling(bounds.Width / cellSize);
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int ny = (int)Math.Ceiling(bounds.Height / cellSize);
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int nz = (int)Math.Ceiling(bounds.Depth / cellSize);
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LogManager.Info($"SDF 网格分辨率: {nx} × {ny} × {nz} = {nx * ny * nz:N0} 个单元");
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LogManager.Info($"单元尺寸: {cellSize:F4} 模型单位");
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// 创建 DMeshAABBTree3（空间索引树，加速距离查询）
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LogManager.Info("构建 AABB 树...");
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var spatialStopwatch = Stopwatch.StartNew();
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var spatial = new DMeshAABBTree3(mesh, autoBuild: true);
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spatialStopwatch.Stop();
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LogManager.Info($"AABB 树构建完成: {spatialStopwatch.ElapsedMilliseconds} ms");
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// 计算 SDF
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LogManager.Info("开始计算距离场...");
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sdf = new MeshSignedDistanceGrid(mesh, cellSize, spatial);
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sdf.Compute();
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stopwatch.Stop();
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LogManager.Info($"=== SDF 计算完成 ===");
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LogManager.Info($"计算耗时: {stopwatch.ElapsedMilliseconds} ms ({stopwatch.Elapsed.TotalSeconds:F2} 秒)");
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// 统计距离场信息
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AnalyzeSDF(sdf);
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}
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catch (Exception ex)
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{
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LogManager.Error($"计算 SDF 失败: {ex.Message}");
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LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
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}
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return sdf;
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}
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/// <summary>
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/// 分析 SDF 统计信息（简化版本）
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/// </summary>
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private static void AnalyzeSDF(MeshSignedDistanceGrid sdf)
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{
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try
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{
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var dims = sdf.Dimensions;
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LogManager.Info($"SDF 维度: {dims.x} × {dims.y} × {dims.z}");
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LogManager.Info("SDF 创建成功，具体距离查询API需要进一步研究");
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}
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catch (Exception ex)
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{
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LogManager.Warning($"分析 SDF 失败: {ex.Message}");
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}
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}
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/// <summary>
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/// 完整测试流程：从 ModelItem 到 SDF
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/// </summary>
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/// <param name="modelItem">Navisworks 模型元素</param>
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/// <param name="cellSize">SDF 网格单元尺寸（模型单位）</param>
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/// <returns>MeshSignedDistanceGrid 对象</returns>
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public static MeshSignedDistanceGrid TestFullPipeline(ModelItem modelItem, double cellSize)
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{
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var stopwatch = Stopwatch.StartNew();
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LogManager.Info("=== 开始完整 SDF 测试流程 ===");
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LogManager.Info($"模型元素: {modelItem.DisplayName}");
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LogManager.Info($"SDF 单元尺寸: {cellSize:F4} 模型单位");
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MeshSignedDistanceGrid sdf = null;
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try
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{
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// 步骤 1：提取三角形
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LogManager.Info("[步骤 1/3] 提取三角形网格...");
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var triangles = GeometryHelper.ExtractTriangles(modelItem);
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if (triangles.Count == 0)
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{
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LogManager.Error("未提取到三角形数据");
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return null;
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}
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LogManager.Info($"提取到 {triangles.Count} 个三角形");
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// 步骤 2：转换为 DMesh3
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LogManager.Info("[步骤 2/3] 转换到 DMesh3 格式...");
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var mesh = ConvertToDMesh3(triangles);
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if (mesh.TriangleCount == 0)
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{
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LogManager.Error("DMesh3 网格为空");
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return null;
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}
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LogManager.Info($"DMesh3: {mesh.VertexCount} 顶点, {mesh.TriangleCount} 三角形");
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// 步骤 3：计算 SDF
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LogManager.Info("[步骤 3/3] 计算签名距离场...");
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sdf = ComputeSDF(mesh, cellSize);
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if (sdf == null)
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{
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LogManager.Error("SDF 计算失败");
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return null;
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}
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stopwatch.Stop();
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LogManager.Info($"=== 完整测试流程完成 ===");
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LogManager.Info($"总耗时: {stopwatch.ElapsedMilliseconds} ms ({stopwatch.Elapsed.TotalSeconds:F2} 秒)");
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// 验证 SDF 正确性
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VerifySDFCorrectness(sdf, mesh);
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}
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catch (Exception ex)
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{
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LogManager.Error($"完整测试流程失败: {ex.Message}");
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LogManager.Error($"堆栈跟踪: {ex.StackTrace}");
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}
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return sdf;
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}
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/// <summary>
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/// 验证 SDF 正确性（简化版本）
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/// </summary>
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private static void VerifySDFCorrectness(MeshSignedDistanceGrid sdf, DMesh3 mesh)
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{
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LogManager.Info("=== 验证 SDF 正确性（简化版本） ===");
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try
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{
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var bounds = mesh.CachedBounds;
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LogManager.Info($"网格边界: {bounds}");
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LogManager.Info("✅ SDF 创建成功，距离查询API需要进一步研究");
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}
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catch (Exception ex)
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{
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LogManager.Error($"SDF 验证失败: {ex.Message}");
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}
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}
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/// <summary>
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/// 创建简单测试网格（手动构建立方体）
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/// </summary>
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/// <param name="size">立方体尺寸</param>
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/// <returns>DMesh3 立方体网格</returns>
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public static DMesh3 CreateTestCubeMesh(double size = 1.0)
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{
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LogManager.Info($"创建测试立方体网格: 尺寸={size}");
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var mesh = new DMesh3(MeshComponents.None);
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// 手动创建立方体的8个顶点
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double h = size / 2.0;
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int v0 = mesh.AppendVertex(new Vector3d(-h, -h, -h));
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int v1 = mesh.AppendVertex(new Vector3d(h, -h, -h));
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int v2 = mesh.AppendVertex(new Vector3d(h, h, -h));
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int v3 = mesh.AppendVertex(new Vector3d(-h, h, -h));
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int v4 = mesh.AppendVertex(new Vector3d(-h, -h, h));
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int v5 = mesh.AppendVertex(new Vector3d(h, -h, h));
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int v6 = mesh.AppendVertex(new Vector3d(h, h, h));
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int v7 = mesh.AppendVertex(new Vector3d(-h, h, h));
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// 12个三角形（每个面2个三角形）
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mesh.AppendTriangle(v0, v2, v1); // 底面
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mesh.AppendTriangle(v0, v3, v2);
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mesh.AppendTriangle(v4, v5, v6); // 顶面
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mesh.AppendTriangle(v4, v6, v7);
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mesh.AppendTriangle(v0, v1, v5); // 前面
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mesh.AppendTriangle(v0, v5, v4);
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mesh.AppendTriangle(v2, v3, v7); // 后面
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mesh.AppendTriangle(v2, v7, v6);
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mesh.AppendTriangle(v0, v4, v7); // 左面
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mesh.AppendTriangle(v0, v7, v3);
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mesh.AppendTriangle(v1, v2, v6); // 右面
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mesh.AppendTriangle(v1, v6, v5);
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LogManager.Info($"测试网格: {mesh.VertexCount} 顶点, {mesh.TriangleCount} 三角形");
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return mesh;
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}
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}
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}
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