using System;
using System.Collections.Generic;
using System.Linq;
using Autodesk.Navisworks.Api;
using Autodesk.Navisworks.Api.Plugins;
using NavisworksTransport.Utils;

namespace NavisworksTransport
{
    /// <summary>
    /// 路径可视化模式枚举
    /// </summary>
    public enum PathVisualizationMode
    {
        /// <summary>
        /// 标准连线模式 - 圆柱形连线
        /// </summary>
        StandardLine,

        /// <summary>
        /// 车辆通行空间模式 - 矩形通道
        /// </summary>
        VehicleSpace
    }

    /// <summary>
    /// 网格点类型枚举
    /// </summary>
    public enum GridPointType
    {
        /// <summary>
        /// 球形
        /// </summary>
        Sphere,

        /// <summary>
        /// 正方形
        /// </summary>
        Rectangle,

        /// <summary>
        /// 圆
        /// </summary>
        Circle
    }


    /// <summary>
    /// 渲染颜色类型枚举
    /// </summary>
    public enum RenderColorType
    {
        /// <summary>
        /// 路径起点颜色（绿色）
        /// </summary>
        StartPoint,

        /// <summary>
        /// 路径终点颜色（红色）
        /// </summary>
        EndPoint,

        /// <summary>
        /// 路径中间点颜色（洋红色）
        /// </summary>
        WayPoint,

        /// <summary>
        /// 连线颜色（橙色）
        /// </summary>
        Line,

        /// <summary>
        /// 车辆通行空间颜色（淡蓝色亚克力）
        /// </summary>
        VehicleSpace,

        /// <summary>
        /// 预览点颜色（白色）
        /// </summary>
        PreviewPoint,

        /// <summary>
        /// 预览连线颜色（灰色）
        /// </summary>
        PreviewLine,

        /// <summary>
        /// 未到达终点颜色（深红色）
        /// </summary>
        UnreachedEndPoint,

        /// <summary>
        /// 网格通道颜色（绿色）
        /// </summary>
        GridChannel,

        /// <summary>
        /// 网格障碍物颜色（灰色）
        /// </summary>
        GridObstacle,

        /// <summary>
        /// 网格未知区域颜色（红色）
        /// </summary>
        GridUnknown
    }

    /// <summary>
    /// 渲染样式，包含颜色和透明度
    /// </summary>
    public struct RenderStyle
    {
        /// <summary>
        /// 颜色
        /// </summary>
        public Color Color { get; }

        /// <summary>
        /// 透明度 (0.0 = 完全透明, 1.0 = 完全不透明)
        /// </summary>
        public double Alpha { get; }

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="color">颜色</param>
        /// <param name="alpha">透明度</param>
        public RenderStyle(Color color, double alpha)
        {
            Color = color;
            Alpha = alpha;
        }

        public override string ToString()
        {
            return $"RenderStyle[Color={Color}, Alpha={Alpha:F2}]";
        }
    }

    /// <summary>
    /// 车辆通行空间标记，用于渲染车辆通道空间
    /// </summary>
    public class VehicleSpaceMarker
    {
        /// <summary>
        /// 通道起点
        /// </summary>
        public Point3D StartPoint { get; set; }

        /// <summary>
        /// 通道终点
        /// </summary>
        public Point3D EndPoint { get; set; }

        /// <summary>
        /// 通道宽度（车辆长宽最大值+2倍安全间隙）
        /// </summary>
        public double Width { get; set; }

        /// <summary>
        /// 通道高度（车辆高度+安全间隙）
        /// </summary>
        public double Height { get; set; }

        /// <summary>
        /// 通道颜色
        /// </summary>
        public Color Color { get; set; }

        /// <summary>
        /// 透明度（0.0-1.0，默认0.5即50%透明）
        /// </summary>
        public double Alpha { get; set; } = 0.5;

        /// <summary>
        /// 起点在路径中的索引
        /// </summary>
        public int FromIndex { get; set; }

        /// <summary>
        /// 终点在路径中的索引
        /// </summary>
        public int ToIndex { get; set; }

        public override string ToString()
        {
            return $"VehicleSpaceMarker[{FromIndex}->{ToIndex}, 宽度={Width:F2}m, 高度={Height:F2}m, 透明度={Alpha:F1}]";
        }
    }

    /// <summary>
    /// 连线标记，用于渲染路径点之间的连接线
    /// </summary>
    public class LineMarker
    {
        /// <summary>
        /// 连线起点
        /// </summary>
        public Point3D StartPoint { get; set; }

        /// <summary>
        /// 连线终点
        /// </summary>
        public Point3D EndPoint { get; set; }

        /// <summary>
        /// 连线颜色
        /// </summary>
        public Color Color { get; set; }

        /// <summary>
        /// 连线半径
        /// </summary>
        public double Radius { get; set; }

        /// <summary>
        /// 起点在路径中的索引
        /// </summary>
        public int FromIndex { get; set; }

        /// <summary>
        /// 终点在路径中的索引
        /// </summary>
        public int ToIndex { get; set; }

        /// <summary>
        /// 路径段类型
        /// </summary>
        public PathSegmentType SegmentType { get; set; } = PathSegmentType.Straight;

        /// <summary>
        /// 圆弧轨迹数据（仅当SegmentType=Arc时有效）
        /// </summary>
        public ArcTrajectory Trajectory { get; set; }

        /// <summary>
        /// 采样点列表（用于圆弧段的多段圆柱体渲染）
        /// </summary>
        public List<Point3D> SampledPoints { get; set; }

        public override string ToString()
        {
            return $"LineMarker[{FromIndex}->{ToIndex}, 类型={SegmentType}, 起点=({StartPoint.X:F2},{StartPoint.Y:F2},{StartPoint.Z:F2}), 终点=({EndPoint.X:F2},{EndPoint.Y:F2},{EndPoint.Z:F2})]";
        }
    }

    /// <summary>
    /// 路径可视化数据，包含一个完整路径的所有可视化元素
    /// </summary>
    public class PathVisualization
    {
        /// <summary>
        /// 路径唯一标识
        /// </summary>
        public string PathId { get; set; }

        /// <summary>
        /// 路径数据引用
        /// </summary>
        public PathRoute PathRoute { get; set; }

        /// <summary>
        /// 点标记集合
        /// </summary>
        public List<CircleMarker> PointMarkers { get; set; }

        /// <summary>
        /// 连线标记集合（已废弃，保留用于兼容）
        /// </summary>
        [Obsolete("使用ControlLineMarkers或PathLineMarkers代替")]
        public List<LineMarker> LineMarkers { get; set; }

        /// <summary>
        /// 控制点连线集合（用户意图，半透明）
        /// </summary>
        public List<LineMarker> ControlLineMarkers { get; set; }

        /// <summary>
        /// 路径连线集合（真实路径，不透明）
        /// </summary>
        public List<LineMarker> PathLineMarkers { get; set; }

        /// <summary>
        /// 切点标记集合
        /// </summary>
        public List<SquareMarker> TangentMarkers { get; set; }

        /// <summary>
        /// 车辆通行空间标记集合
        /// </summary>
        public List<VehicleSpaceMarker> VehicleSpaceMarkers { get; set; }

        /// <summary>
        /// 是否显示控制点可视化（用户意图）
        /// </summary>
        public bool ShowControlVisualization { get; set; } = true;

        /// <summary>
        /// 最后更新时间
        /// </summary>
        public DateTime LastUpdated { get; set; }

        /// <summary>
        /// 构造函数
        /// </summary>
        public PathVisualization()
        {
            PointMarkers = new List<CircleMarker>();
            LineMarkers = new List<LineMarker>();
            ControlLineMarkers = new List<LineMarker>();
            PathLineMarkers = new List<LineMarker>();
            TangentMarkers = new List<SquareMarker>();
            VehicleSpaceMarkers = new List<VehicleSpaceMarker>();
            LastUpdated = DateTime.Now;
        }

        public override string ToString()
        {
            return $"PathVisualization[PathId={PathId}, 点数={PointMarkers.Count}, 控制连线={ControlLineMarkers.Count}, 路径连线={PathLineMarkers.Count}]";
        }
    }
    /// <summary>
    /// 路径点圆形标记渲染插件
    /// 使用Graphics.Circle在3D空间绘制圆形标记
    /// </summary>
    [Plugin("PathPointRenderPlugin", "NavisworksTransport", DisplayName = "路径点圆形标记渲染器")]
    public class PathPointRenderPlugin : RenderPlugin
    {
        private readonly object _lockObject = new object();
        private Dictionary<string, PathVisualization> _pathVisualizations = new Dictionary<string, PathVisualization>();
        private bool _isEnabled = true;

        // 预览点标记
        private CircleMarker _previewMarker = null;

        // 预览连线标记
        private List<LineMarker> _previewLines = new List<LineMarker>();

        // 当前网格大小（米），用于自适应点大小计算
        private double _currentGridSizeInMeters;

        // 路径可视化模式配置
        private PathVisualizationMode _visualizationMode = PathVisualizationMode.StandardLine;

        // 网格点类型配置
        private GridPointType _gridPointType = GridPointType.Rectangle;

        // 车辆参数（必须通过SetVehicleParameters方法设置）
        private double _vehicleLength;
        private double _vehicleWidth;
        private double _vehicleHeight;
        private double _safetyMargin;

        // 静态实例，用于外部访问
        private static PathPointRenderPlugin _instance;

        /// <summary>
        /// 构造函数
        /// </summary>
        public PathPointRenderPlugin()
        {
            _instance = this;
        }

        /// <summary>
        /// 获取静态实例
        /// </summary>
        public static PathPointRenderPlugin Instance => _instance;

        /// <summary>
        /// 路径可视化模式
        /// </summary>
        public PathVisualizationMode VisualizationMode
        {
            get { return _visualizationMode; }
            set
            {
                _visualizationMode = value;
                // 模式改变时刷新所有普通路径（排除网格）
                RefreshNormalPaths();
            }
        }

        /// <summary>
        /// 网格点类型
        /// </summary>
        public GridPointType GridPointType
        {
            get { return _gridPointType; }
            set
            {
                _gridPointType = value;
                // 类型改变时刷新所有网格路径
                RefreshGridPaths();
            }
        }


        /// <summary>
        /// 是否启用渲染
        /// </summary>
        public bool IsEnabled
        {
            get { return _isEnabled; }
            set
            {
                _isEnabled = value;
                // 触发视图刷新
                if (Application.ActiveDocument?.ActiveView != null)
                {
                    Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.Render);
                }
            }
        }

        /// <summary>
        /// 当前路径总数
        /// </summary>
        public int PathCount
        {
            get
            {
                lock (_lockObject)
                {
                    return _pathVisualizations.Count;
                }
            }
        }

        /// <summary>
        /// 当前点标记总数
        /// </summary>
        public int MarkerCount
        {
            get
            {
                lock (_lockObject)
                {
                    return _pathVisualizations.Values.Sum(v => v.PointMarkers.Count);
                }
            }
        }

        /// <summary>
        /// Navisworks渲染回调方法
        /// </summary>
        /// <param name="view">当前视图</param>
        /// <param name="graphics">图形上下文</param>
        public override void Render(View view, Graphics graphics)
        {
            if (!_isEnabled) return;

            try
            {
                // 快速检查，避免频繁的API调用
                var activeDoc = Application.ActiveDocument;
                if (activeDoc?.Models == null || activeDoc.Models.Count == 0)
                {
                    return; // 静默返回，避免日志泛滥
                }

                // 检查是否有路径或预览点需要渲染
                int pathCount;
                bool hasPreviewPoint;
                lock (_lockObject)
                {
                    pathCount = _pathVisualizations.Count;
                    hasPreviewPoint = _previewMarker != null;
                }

                if (pathCount == 0 && !hasPreviewPoint) return;

                // 使用BeginModelContext确保正确的渲染上下文
                graphics.BeginModelContext();

                lock (_lockObject)
                {
                    // 渲染所有正式路径
                    foreach (var visualization in _pathVisualizations.Values)
                    {
                        // 渲染控制点可视化（用户意图）
                        if (visualization.ShowControlVisualization)
                        {
                            // 渲染所有点标记
                            foreach (var pointMarker in visualization.PointMarkers)
                            {
                                graphics.Color(pointMarker.Color, pointMarker.Alpha);
                                RenderPointMarker(graphics, pointMarker);
                            }

                            // 渲染控制点连线（半透明）
                            foreach (var controlLineMarker in visualization.ControlLineMarkers)
                            {
                                graphics.Color(controlLineMarker.Color, 0.3);  // 30%透明度
                                graphics.Cylinder(controlLineMarker.StartPoint, controlLineMarker.EndPoint, controlLineMarker.Radius);
                            }
                        }

                        // 渲染真实路径可视化（Edges + 切点）
                        // 先渲染切点（在底层）
                        foreach (var tangentMarker in visualization.TangentMarkers)
                        {
                            graphics.Color(tangentMarker.Color, tangentMarker.Alpha);
                            RenderSquareMarker(graphics, tangentMarker);
                        }

                        // 再渲染路径连线（直线段和圆弧段）
                        foreach (var pathLineMarker in visualization.PathLineMarkers)
                        {
                            // 圆弧段使用半透明灰色，直线段使用正常颜色
                            if (pathLineMarker.SegmentType == PathSegmentType.Arc)
                            {
                                graphics.Color(GetRenderColor(RenderColorType.PreviewLine), 0.5);  // 半透明灰色
                            }
                            else
                            {
                                graphics.Color(pathLineMarker.Color, 1.0);  // 不透明
                            }
                            RenderLineMarker(graphics, pathLineMarker);
                        }

                        // 渲染车辆通行空间（矩形通道）
                        foreach (var vehicleSpaceMarker in visualization.VehicleSpaceMarkers)
                        {
                            graphics.Color(vehicleSpaceMarker.Color, vehicleSpaceMarker.Alpha);
                            RenderVehicleSpace(graphics, vehicleSpaceMarker);
                        }
                    }

                    // 渲染预览点（灰色）
                    if (_previewMarker != null && _previewMarker.IsVisible)
                    {
                        graphics.Color(_previewMarker.Color, 0.7); // 使用半透明效果
                        RenderPointMarker(graphics, _previewMarker);
                    }

                    // 渲染预览连线（灰色）
                    if (_previewLines.Count > 0)
                    {
                        foreach (var previewLine in _previewLines)
                        {
                            graphics.Color(previewLine.Color, 0.7); // 使用半透明效果
                            graphics.Cylinder(previewLine.StartPoint, previewLine.EndPoint, previewLine.Radius);
                        }
                    }
                }

                graphics.EndModelContext();
            }
            catch (Exception ex)
            {
                // 渲染异常应该静默处理，避免影响Navisworks主程序
                LogManager.Error($"[渲染异常] {ex.Message}", ex);
                // 不输出堆栈信息，避免日志过量
            }
        }

        #region 新的统一路径可视化接口

        /// <summary>
        /// 渲染完整路径
        /// </summary>
        /// <param name="pathRoute">路径数据</param>
        public void RenderPath(PathRoute pathRoute)
        {
            if (pathRoute == null)
            {
                return;
            }

            try
            {
                var visualization = new PathVisualization
                {
                    PathId = pathRoute.Id,
                    PathRoute = pathRoute
                };

                BuildVisualization(visualization);

                lock (_lockObject)
                {
                    _pathVisualizations[pathRoute.Id] = visualization;
                }

                RequestViewRefresh();
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径渲染] 渲染路径失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 只渲染点标记，不绘制连线（用于自动路径规划的起终点显示）
        /// </summary>
        public void RenderPointOnly(PathRoute pathRoute)
        {
            if (pathRoute == null)
            {
                return;
            }

            try
            {
                // 检查是否是网格可视化路径
                bool isGridVisualization = pathRoute.Id == "grid_visualization_all" ||
                                           pathRoute.Id == "grid_visualization_channel" ||
                                           pathRoute.Id == "grid_visualization_door" ||
                                           pathRoute.Id == "grid_visualization_unknown" ||
                                           pathRoute.Id == "grid_visualization_obstacle";

                var visualization = new PathVisualization
                {
                    PathId = pathRoute.Id,
                    PathRoute = pathRoute
                };

                // 只构建点标记，不构建连线
                BuildPointMarkersOnly(visualization);

                lock (_lockObject)
                {
                    _pathVisualizations[pathRoute.Id] = visualization;
                }

                RequestViewRefresh();
            }
            catch (Exception ex)
            {
                LogManager.Error($"[点标记渲染] 渲染点标记失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 只构建点标记，不构建连线
        /// </summary>
        private void BuildPointMarkersOnly(PathVisualization visualization)
        {
            // 清空现有标记
            visualization.PointMarkers.Clear();
            visualization.LineMarkers.Clear(); // 确保没有连线

            var points = visualization.PathRoute.Points;
            if (points.Count == 0) return;

            // 检查是否是网格可视化路径
            bool isGridVisualization = visualization.PathId == "grid_visualization_all" ||
                                      visualization.PathId == "grid_visualization_channel" ||
                                      visualization.PathId == "grid_visualization_door" ||
                                      visualization.PathId == "grid_visualization_unknown" ||
                                      visualization.PathId == "grid_visualization_obstacle";

            // 按索引排序点
            var sortedPoints = points.OrderBy(p => p.Index).ToList();

            // 只构建点标记，不构建连线
            foreach (var point in sortedPoints)
            {
                var pointMarker = CreatePointMarker(point);
                visualization.PointMarkers.Add(pointMarker);
            }

            visualization.LastUpdated = DateTime.Now;
        }

        /// <summary>
        /// 刷新路径可视化
        /// </summary>
        /// <param name="pathId">路径ID</param>
        public void RefreshPath(string pathId)
        {
            lock (_lockObject)
            {
                if (_pathVisualizations.TryGetValue(pathId, out var visualization))
                {
                    BuildVisualization(visualization);
                    RequestViewRefresh();
                }
            }
        }

        /// <summary>
        /// 设置控制点可视化的显示状态
        /// </summary>
        /// <param name="pathId">路径ID</param>
        /// <param name="show">是否显示</param>
        public void SetControlVisualizationVisibility(string pathId, bool show)
        {
            lock (_lockObject)
            {
                if (_pathVisualizations.TryGetValue(pathId, out var visualization))
                {
                    if (visualization.ShowControlVisualization != show)
                    {
                        visualization.ShowControlVisualization = show;
                        RequestViewRefresh();
                    }
                }
            }
        }

        /// <summary>
        /// 切换控制点可视化的显示状态
        /// </summary>
        /// <param name="pathId">路径ID</param>
        public void ToggleControlVisualization(string pathId)
        {
            lock (_lockObject)
            {
                if (_pathVisualizations.TryGetValue(pathId, out var visualization))
                {
                    visualization.ShowControlVisualization = !visualization.ShowControlVisualization;
                    RequestViewRefresh();
                }
            }
        }

        /// <summary>
        /// 判断是否为网格可视化路径
        /// </summary>
        private bool IsGridVisualizationPath(string pathId)
        {
            return pathId != null && (
                pathId.StartsWith("grid_visualization_") ||
                pathId == "grid_visualization_all" ||
                pathId == "voxel_grid_visualization");  // 体素网格可视化
        }

        /// <summary>
        /// 刷新所有普通路径（排除网格可视化）
        /// </summary>
        private void RefreshNormalPaths()
        {
            lock (_lockObject)
            {
                var normalPathIds = _pathVisualizations.Keys
                    .Where(id => !IsGridVisualizationPath(id))
                    .ToList();

                foreach (var pathId in normalPathIds)
                {
                    if (_pathVisualizations.TryGetValue(pathId, out var visualization))
                    {
                        BuildVisualization(visualization);
                    }
                }

                if (normalPathIds.Count > 0)
                {
                    RequestViewRefresh();
                }
            }
        }

        /// <summary>
        /// 刷新所有网格路径
        /// </summary>
        private void RefreshGridPaths()
        {
            lock (_lockObject)
            {
                var gridPathIds = _pathVisualizations.Keys
                    .Where(id => IsGridVisualizationPath(id))
                    .ToList();

                foreach (var pathId in gridPathIds)
                {
                    if (_pathVisualizations.TryGetValue(pathId, out var visualization))
                    {
                        BuildPointMarkersOnly(visualization);
                    }
                }

                if (gridPathIds.Count > 0)
                {
                    RequestViewRefresh();
                }
            }
        }

        /// <summary>
        /// 移除路径
        /// </summary>
        /// <param name="pathId">路径ID</param>
        public void RemovePath(string pathId)
        {
            lock (_lockObject)
            {
                if (_pathVisualizations.Remove(pathId))
                {
                    RequestViewRefresh();
                }
            }
        }

        /// <summary>
        /// 清空所有路径
        /// </summary>
        public void ClearAllPaths()
        {
            lock (_lockObject)
            {
                var count = _pathVisualizations.Count;
                _pathVisualizations.Clear();
                RequestViewRefresh();
            }
        }

        /// <summary>
        /// 清空路径，但保留指定的路径
        /// </summary>
        /// <param name="excludedPathIds">要保留的路径ID列表</param>
        public void ClearPathsExcept(params string[] excludedPathIds)
        {
            try
            {
                lock (_lockObject)
                {
                    // 防御性编程：处理空参数
                    if (excludedPathIds == null)
                    {
                        excludedPathIds = new string[0];
                    }

                    var excludedSet = new HashSet<string>(excludedPathIds.Where(id => !string.IsNullOrEmpty(id)));
                    var toRemove = _pathVisualizations.Keys.Where(id => !excludedSet.Contains(id)).ToList();

                    // 检查排除的路径是否实际存在
                    var existingExcluded = excludedSet.Where(id => _pathVisualizations.ContainsKey(id)).ToList();
                    var nonExistingExcluded = excludedSet.Where(id => !_pathVisualizations.ContainsKey(id)).ToList();

                    int removedCount = 0;
                    foreach (var pathId in toRemove)
                    {
                        if (_pathVisualizations.Remove(pathId))
                        {
                            removedCount++;
                        }
                    }

                    if (removedCount > 0)
                    {
                        RequestViewRefresh();
                    }
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[选择性清空] 清理路径时发生异常: {ex.Message}", ex);
                // 即使发生异常也不抛出，避免影响主流程
            }
        }

        /// <summary>
        /// 构建路径可视化
        /// </summary>
        /// <param name="visualization">路径可视化对象</param>
        private void BuildVisualization(PathVisualization visualization)
        {
            // 清空现有标记
            visualization.PointMarkers.Clear();
            visualization.LineMarkers.Clear();
            visualization.ControlLineMarkers.Clear();
            visualization.PathLineMarkers.Clear();
            visualization.TangentMarkers.Clear();
            visualization.VehicleSpaceMarkers.Clear();

            var points = visualization.PathRoute.Points;
            if (points.Count == 0) return;

            // 按索引排序点
            var sortedPoints = points.OrderBy(p => p.Index).ToList();

            // 构建点标记（所有控制点）
            foreach (var point in sortedPoints)
            {
                var pointMarker = CreatePointMarker(point);
                visualization.PointMarkers.Add(pointMarker);
            }

            // 构建控制点连线（用户意图，半透明）
            BuildControlLines(visualization, sortedPoints);

            // 构建路径连线（真实路径，不透明，仅当Edges存在时）
            if (visualization.PathRoute.Edges != null && visualization.PathRoute.Edges.Count > 0)
            {
                BuildPathLines(visualization, sortedPoints);
            }
            else if (_visualizationMode == PathVisualizationMode.VehicleSpace)
            {
                // 构建车辆通行空间标记
                for (int i = 0; i < sortedPoints.Count - 1; i++)
                {
                    var currentPoint = sortedPoints[i];
                    var nextPoint = sortedPoints[i + 1];

                    var vehicleSpaceMarker = CreateVehicleSpaceMarker(currentPoint, nextPoint);
                    visualization.VehicleSpaceMarkers.Add(vehicleSpaceMarker);
                }
            }

            // 如果路径未完成，添加灰色的原始终点标记
            if (!visualization.PathRoute.IsComplete && visualization.PathRoute.OriginalEndPoint != null)
            {
                var originalEndPoint = visualization.PathRoute.OriginalEndPoint;
                var unreachedStyle = GetRenderStyle(RenderColorType.UnreachedEndPoint);
                var grayEndMarker = new CircleMarker
                {
                    Center = originalEndPoint,
                    Normal = new Vector3D(0, 0, 1),
                    Radius = GetRadiusForPointType(PathPointType.EndPoint),
                    Color = unreachedStyle.Color, // 未到达终点颜色
                    Alpha = unreachedStyle.Alpha, // 透明度，统一管理
                    Filled = true,
                    PointType = PathPointType.EndPoint,
                    SequenceNumber = -1, // 特殊序号表示这是未到达的终点
                    CreatedTime = DateTime.Now
                };
                visualization.PointMarkers.Add(grayEndMarker);
            }

            visualization.LastUpdated = DateTime.Now;
        }

        /// <summary>
        /// 构建控制点连线（用户意图，半透明）
        /// </summary>
        /// <param name="visualization">路径可视化对象</param>
        /// <param name="sortedPoints">排序后的路径点列表</param>
        private void BuildControlLines(PathVisualization visualization, List<PathPoint> sortedPoints)
        {
            // 构建控制点之间的连线（所有相邻控制点）
            for (int i = 0; i < sortedPoints.Count - 1; i++)
            {
                var currentPoint = sortedPoints[i];
                var nextPoint = sortedPoints[i + 1];

                var controlLineMarker = new LineMarker
                {
                    StartPoint = currentPoint.Position,
                    EndPoint = nextPoint.Position,
                    Color = GetRenderColor(RenderColorType.Line),
                    Radius = GetLineRadius() * 0.5,  // 比实际路径细
                    SegmentType = PathSegmentType.Straight,
                    FromIndex = currentPoint.Index,
                    ToIndex = nextPoint.Index
                };
                visualization.ControlLineMarkers.Add(controlLineMarker);
            }
        }

        /// <summary>
        /// 构建路径连线（真实路径，不透明）
        /// </summary>
        /// <param name="visualization">路径可视化对象</param>
        /// <param name="sortedPoints">排序后的路径点列表</param>
        private void BuildPathLines(PathVisualization visualization, List<PathPoint> sortedPoints)
        {
            var edges = visualization.PathRoute.Edges;

            // 1. 收集在路径上的控制点ID
            var onPathPointIds = new HashSet<string>();
            foreach (var edge in edges)
            {
                if (!string.IsNullOrEmpty(edge.StartPointId))
                    onPathPointIds.Add(edge.StartPointId);
                if (!string.IsNullOrEmpty(edge.EndPointId))
                    onPathPointIds.Add(edge.EndPointId);
            }

            // 2. 更新点标记的透明度
            foreach (var pointMarker in visualization.PointMarkers)
            {
                var point = sortedPoints.FirstOrDefault(p => p.Id == pointMarker.PathPoint?.Id);
                if (point != null)
                {
                    bool isOnPath = onPathPointIds.Contains(point.Id);
                    pointMarker.IsOffPath = !isOnPath;
                }
            }

            // 3. 构建路径连线（Edges包含直线段和圆弧段）
            foreach (var edge in edges)
            {
                if (edge.SegmentType == PathSegmentType.Straight)
                {
                    // 直线段：检查SampledPoints是否有效
                    if (edge.SampledPoints != null && edge.SampledPoints.Count >= 2)
                    {
                        var lineMarker = new LineMarker
                        {
                            StartPoint = edge.SampledPoints.First(),
                            EndPoint = edge.SampledPoints.Last(),
                            Color = GetRenderColor(RenderColorType.Line),
                            Radius = GetLineRadius(),
                            SegmentType = PathSegmentType.Straight,
                            SampledPoints = edge.SampledPoints
                        };
                        visualization.PathLineMarkers.Add(lineMarker);
                    }
                }
                else if (edge.SegmentType == PathSegmentType.Arc && edge.Trajectory != null)
                {
                    // 圆弧段：检查Trajectory是否有效
                    var arcMarker = new LineMarker
                    {
                        StartPoint = edge.Trajectory.Ts,
                        EndPoint = edge.Trajectory.Te,
                        Color = GetRenderColor(RenderColorType.Line),
                        Radius = GetLineRadius(),
                        SegmentType = PathSegmentType.Arc,
                        Trajectory = edge.Trajectory,
                        SampledPoints = edge.SampledPoints
                    };
                    visualization.PathLineMarkers.Add(arcMarker);

                    // 添加切点标记
                    AddTangentMarkers(visualization, edge);
                }
            }
        }

        /// <summary>
        /// 添加切点标记
        /// </summary>
        /// <param name="visualization">路径可视化对象</param>
        /// <param name="edge">路径边</param>
        private void AddTangentMarkers(PathVisualization visualization, PathEdge edge)
        {
            if (edge.Trajectory == null) return;

            // 切点颜色与路径点相同
            var tangentColor = GetRenderColor(RenderColorType.WayPoint);

            // 进入切点Ts
            var tsMarker = new SquareMarker
            {
                Center = edge.Trajectory.Ts,
                Normal = new Vector3D(0, 0, 1),
                Size = GetLineRadius() * 1.5,
                Color = tangentColor,
                Alpha = 0.9,
                EdgeId = edge.Id,
                TangentType = TangentPointType.EntryTangent
            };
            visualization.TangentMarkers.Add(tsMarker);

            // 退出切点Te
            var teMarker = new SquareMarker
            {
                Center = edge.Trajectory.Te,
                Normal = new Vector3D(0, 0, 1),
                Size = GetLineRadius() * 1.5,
                Color = tangentColor,
                Alpha = 0.9,
                EdgeId = edge.Id,
                TangentType = TangentPointType.ExitTangent
            };
            visualization.TangentMarkers.Add(teMarker);
        }

        /// <summary>
        /// 创建车辆通行空间标记
        /// </summary>
        /// <param name="fromPoint">起点</param>
        /// <param name="toPoint">终点</param>
        /// <returns>车辆通行空间标记</returns>
        private VehicleSpaceMarker CreateVehicleSpaceMarker(PathPoint fromPoint, PathPoint toPoint)
        {
            // 获取单位转换系数
            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor();

            // 计算车辆通行空间宽度（米）
            double vehicleInflationWidthInMeters = Math.Max(_vehicleLength, _vehicleWidth) + 2 * _safetyMargin;

            // 计算车辆通行空间高度（米）：车辆高度 + 安全间隙
            double vehicleSpaceHeightInMeters = _vehicleHeight + _safetyMargin;

            var style = GetRenderStyle(RenderColorType.VehicleSpace);
            return new VehicleSpaceMarker
            {
                StartPoint = fromPoint.Position,
                EndPoint = toPoint.Position,
                Width = vehicleInflationWidthInMeters * metersToModelUnits,  // 转换为模型单位
                Height = vehicleSpaceHeightInMeters * metersToModelUnits,    // 转换为模型单位
                Color = style.Color, // 车辆通行空间颜色
                Alpha = style.Alpha, // 透明度，统一管理
                FromIndex = fromPoint.Index,
                ToIndex = toPoint.Index
            };
        }

        /// <summary>
        /// 创建点标记
        /// </summary>
        /// <param name="point">路径点</param>
        /// <returns>圆形标记</returns>
        private CircleMarker CreatePointMarker(PathPoint point)
        {
            // 检查是否是网格/体素可视化点（通过名称判断）
            bool isGridVisualization = point.Name.StartsWith("网格(") || point.Name.StartsWith("网格_") ||
                                      point.Name.StartsWith("体素(");  // 体素点

            // 确定网格点样式（颜色+透明度）
            RenderStyle gridStyle = new RenderStyle(Color.White, 1.0); // 默认样式
            if (isGridVisualization)
            {
                // 根据网格类型确定样式
                if (point.Name.Contains("空洞") || point.Name.Contains("Unknown"))
                {
                    gridStyle = GetRenderStyle(RenderColorType.GridUnknown);
                }
                else if (point.Name.Contains("障碍") || point.Name.Contains("Obstacle"))
                {
                    gridStyle = GetRenderStyle(RenderColorType.GridObstacle);
                }
                else if (point.Name.Contains("通道") || point.Name.Contains("Channel") || point.Name.Contains("开放"))
                {
                    gridStyle = GetRenderStyle(RenderColorType.GridChannel);
                }
                // 也可以通过Notes字段检查
                else if (!string.IsNullOrEmpty(point.Notes) && point.Notes.StartsWith("GridType:"))
                {
                    var gridTypeStr = point.Notes.Substring(9); // 去掉"GridType:"前缀
                    if (gridTypeStr == "Unknown")
                        gridStyle = GetRenderStyle(RenderColorType.GridUnknown);
                    else if (gridTypeStr == "Obstacle")
                        gridStyle = GetRenderStyle(RenderColorType.GridObstacle);
                    else
                        gridStyle = GetRenderStyle(RenderColorType.GridChannel);
                }

                // 门网格点使用50%透明度覆盖默认透明度
                if (point.Name.Contains("门"))
                {
                    gridStyle = new RenderStyle(gridStyle.Color, 0.5);
                }
            }

            return new CircleMarker
            {
                Center = point.Position,
                Normal = new Vector3D(0, 0, 1),
                Radius = isGridVisualization ? GetRadiusForGridVisualization() : GetRadiusForPointType(point.Type),
                Color = isGridVisualization ? gridStyle.Color : GetColorForPointType(point.Type),
                Alpha = isGridVisualization ? gridStyle.Alpha : 1.0,
                Filled = true,
                PointType = point.Type,
                GridPointType = isGridVisualization ? _gridPointType : GridPointType.Sphere, // 网格点使用配置的类型，其他点使用球形
                SequenceNumber = point.Index, // 使用Index而不是任意序号
                CreatedTime = DateTime.Now
            };
        }

        /// <summary>
        /// 获取网格可视化小球的半径（比正常路径点小）
        /// </summary>
        /// <returns>网格可视化半径</returns>
        private double GetRadiusForGridVisualization()
        {
            // 使用标准尺寸的1/5作为网格点尺寸
            double standardRadiusInMeters = GetStandardRadiusInMeters();
            double radiusInMeters = standardRadiusInMeters / 5.0;

            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor();
            return radiusInMeters * metersToModelUnits;
        }

        /// <summary>
        /// 设置当前网格大小（米），用于自适应点大小计算
        /// </summary>
        /// <param name="gridSizeInMeters">网格大小（米）</param>
        public void SetGridSize(double gridSizeInMeters)
        {
            _currentGridSizeInMeters = gridSizeInMeters;
        }

        /// <summary>
        /// 设置车辆参数（从PathPlanningManager同步）
        /// </summary>
        /// <param name="vehicleLength">车辆长度（米）</param>
        /// <param name="vehicleWidth">车辆宽度（米）</param>
        /// <param name="vehicleHeight">车辆高度（米）</param>
        /// <param name="safetyMargin">安全间隙（米）</param>
        public void SetVehicleParameters(double vehicleLength, double vehicleWidth, double vehicleHeight, double safetyMargin)
        {
            _vehicleLength = vehicleLength;
            _vehicleWidth = vehicleWidth;
            _vehicleHeight = vehicleHeight;
            _safetyMargin = safetyMargin;

            // 车辆参数改变时刷新车辆空间模式下的所有普通路径
            if (_visualizationMode == PathVisualizationMode.VehicleSpace)
            {
                RefreshNormalPaths();
            }
        }

        #region 颜色管理

        /// <summary>
        /// 根据颜色类型获取对应的渲染样式（颜色+透明度）
        /// </summary>
        /// <param name="colorType">颜色类型</param>
        /// <returns>对应的渲染样式</returns>
        private RenderStyle GetRenderStyle(RenderColorType colorType)
        {
            switch (colorType)
            {
                case RenderColorType.StartPoint:
                    return new RenderStyle(Color.FromByteRGB(76, 175, 80), 0.9); // Material Green起点，10%透明

                case RenderColorType.EndPoint:
                    return new RenderStyle(Color.FromByteRGB(244, 67, 54), 0.9); // Material Red终点，10%透明

                case RenderColorType.WayPoint:
                    return new RenderStyle(Color.FromByteRGB(33, 150, 243), 0.9); // Material Blue路径点，10%透明

                case RenderColorType.Line:
                    return new RenderStyle(Color.FromByteRGB(255, 152, 0), 0.85); // Material Orange连线，15%透明

                case RenderColorType.VehicleSpace:
                    return new RenderStyle(Color.FromByteRGB(158, 158, 158), 0.4); // Material Grey车辆空间，60%透明

                case RenderColorType.PreviewPoint:
                    return new RenderStyle(Color.White, 0.7); // 白色预览点，30%透明

                case RenderColorType.PreviewLine:
                    return new RenderStyle(Color.FromByteRGB(128, 128, 128), 0.7); // 灰色预览连线，30%透明

                case RenderColorType.UnreachedEndPoint:
                    return new RenderStyle(Color.FromByteRGB(139, 0, 0), 0.7); // 深红色未到达终点，30%透明

                case RenderColorType.GridChannel:
                    return new RenderStyle(Color.FromByteRGB(129, 199, 132), 0.8); // Material Light Green网格通道，20%透明

                case RenderColorType.GridObstacle:
                    return new RenderStyle(Color.FromByteRGB(117, 117, 117), 0.8); // Material Grey网格障碍物，20%透明

                case RenderColorType.GridUnknown:
                    return new RenderStyle(Color.FromByteRGB(255, 112, 67), 0.8); // Material Deep Orange网格未知区域，20%透明

                default:
                    return new RenderStyle(Color.White, 1.0); // 默认白色，完全不透明
            }
        }

        /// <summary>
        /// 根据颜色类型获取对应的颜色（向后兼容方法）
        /// </summary>
        /// <param name="colorType">颜色类型</param>
        /// <returns>对应的颜色</returns>
        private Color GetRenderColor(RenderColorType colorType)
        {
            return GetRenderStyle(colorType).Color;
        }


        #endregion

        /// <summary>
        /// 获取连线半径
        /// </summary>
        /// <returns>连线半径</returns>
        private double GetLineRadius()
        {
            // 获取标准尺寸（起点尺寸）
            double standardRadiusInMeters = GetStandardRadiusInMeters();

            // 连线半径为标准尺寸的40%
            double lineRadiusInMeters = standardRadiusInMeters * 0.4;

            return lineRadiusInMeters * UnitsConverter.GetMetersToUnitsConversionFactor();
        }

        /// <summary>
        /// 添加路径点到指定路径
        /// </summary>
        /// <param name="pathId">路径ID</param>
        /// <param name="newPoint">新的路径点</param>
        /// <param name="insertIndex">插入位置索引，-1表示添加到末尾</param>
        public void AddPointToPath(string pathId, PathPoint newPoint, int insertIndex = -1)
        {
            var visualization = GetPathVisualization(pathId);
            if (visualization == null)
            {
                return;
            }

            try
            {
                var pathRoute = visualization.PathRoute;

                if (insertIndex == -1)
                {
                    // 添加到末尾
                    newPoint.Index = pathRoute.Points.Count;
                    pathRoute.Points.Add(newPoint);
                }
                else
                {
                    // 插入到指定位置
                    pathRoute.Points.Insert(insertIndex, newPoint);
                    // 重新分配所有点的索引
                    ReindexPoints(pathRoute);
                }

                // 重建可视化
                BuildVisualization(visualization);
                RequestViewRefresh();
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径编辑] 添加路径点失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 从指定路径移除路径点
        /// </summary>
        /// <param name="pathId">路径ID</param>
        /// <param name="pointIndex">要移除的点索引</param>
        public void RemovePointFromPath(string pathId, int pointIndex)
        {
            var visualization = GetPathVisualization(pathId);
            if (visualization == null)
            {
                return;
            }

            try
            {
                var pathRoute = visualization.PathRoute;
                var pointToRemove = pathRoute.Points.FirstOrDefault(p => p.Index == pointIndex);

                if (pointToRemove != null)
                {
                    pathRoute.Points.Remove(pointToRemove);
                    // 重新分配索引
                    ReindexPoints(pathRoute);

                    // 重建可视化
                    BuildVisualization(visualization);
                    RequestViewRefresh();
                }
                else
                {
                    LogManager.Warning($"[路径编辑] 未找到索引为 {pointIndex} 的路径点");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径编辑] 移除路径点失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 更新指定路径中的路径点
        /// </summary>
        /// <param name="pathId">路径ID</param>
        /// <param name="pointIndex">要更新的点索引</param>
        /// <param name="updatedPoint">更新后的路径点</param>
        public void UpdatePointInPath(string pathId, int pointIndex, PathPoint updatedPoint)
        {
            var visualization = GetPathVisualization(pathId);
            if (visualization == null)
            {
                return;
            }

            try
            {
                var pathRoute = visualization.PathRoute;
                var existingPoint = pathRoute.Points.FirstOrDefault(p => p.Index == pointIndex);

                if (existingPoint != null)
                {
                    // 保持索引不变
                    updatedPoint.Index = pointIndex;

                    // 替换点
                    var index = pathRoute.Points.IndexOf(existingPoint);
                    pathRoute.Points[index] = updatedPoint;

                    // 重建可视化
                    BuildVisualization(visualization);
                    RequestViewRefresh();
                }
                else
                {
                    LogManager.Warning($"[路径编辑] 未找到索引为 {pointIndex} 的路径点");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径编辑] 更新路径点失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 重新分配路径点索引
        /// </summary>
        /// <param name="pathRoute">路径对象</param>
        private void ReindexPoints(PathRoute pathRoute)
        {
            // 按照当前在List中的位置重新分配连续索引
            for (int i = 0; i < pathRoute.Points.Count; i++)
            {
                pathRoute.Points[i].Index = i;
            }
        }

        /// <summary>
        /// 获取路径可视化对象
        /// </summary>
        /// <param name="pathId">路径ID</param>
        /// <returns>路径可视化对象，如果不存在返回null</returns>
        private PathVisualization GetPathVisualization(string pathId)
        {
            lock (_lockObject)
            {
                _pathVisualizations.TryGetValue(pathId, out var visualization);
                return visualization;
            }
        }

        #endregion

        /// <summary>
        /// 渲染预览点（灰色显示）
        /// </summary>
        /// <param name="previewPoint">预览点对象</param>
        public void RenderPreviewPoint(PathPoint previewPoint)
        {
            try
            {
                if (previewPoint == null)
                {
                    return;
                }

                lock (_lockObject)
                {
                    // 获取适当的半径
                    double radius = GetRadiusForPointType(previewPoint.Type);

                    // 获取预览点样式（颜色+透明度）
                    var previewStyle = GetRenderStyle(RenderColorType.PreviewPoint);

                    // 创建预览点标记
                    _previewMarker = new CircleMarker
                    {
                        Position = previewPoint.Position,
                        Radius = radius,
                        Color = previewStyle.Color,
                        Alpha = previewStyle.Alpha,
                        IsVisible = true,
                        PathPoint = previewPoint
                    };

                    // 请求刷新视图
                    RequestViewRefresh();
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[预览点渲染] 渲染预览点失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 清除预览点
        /// </summary>
        public void ClearPreviewPoint()
        {
            try
            {
                lock (_lockObject)
                {
                    if (_previewMarker != null || _previewLines.Count > 0)
                    {
                        _previewMarker = null;
                        _previewLines.Clear();

                        // 请求刷新视图
                        RequestViewRefresh();
                    }
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[预览点渲染] 清除预览点失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 渲染预览连线
        /// </summary>
        /// <param name="previewPoint">预览点</param>
        /// <param name="pathPoints">当前路径点列表</param>
        public void RenderPreviewLines(PathPoint previewPoint, List<PathPoint> pathPoints)
        {
            try
            {
                if (previewPoint == null || pathPoints == null || pathPoints.Count == 0)
                {
                    return;
                }

                lock (_lockObject)
                {
                    // 清除旧的预览连线
                    _previewLines.Clear();

                    // 找到预览点应该插入的最近线段
                    var nearestSegment = FindNearestLineSegment(previewPoint.Position, pathPoints);

                    if (nearestSegment.HasValue)
                    {
                        var (prevPoint, nextPoint) = nearestSegment.Value;

                        // 创建两条预览连线
                        // 1. 前一个点 -> 预览点
                        var line1 = new LineMarker
                        {
                            StartPoint = prevPoint.Position,
                            EndPoint = previewPoint.Position,
                            Color = GetRenderColor(RenderColorType.PreviewLine), // 预览连线颜色
                            Radius = GetLineRadius() // 使用与正常连线相同的直径
                        };
                        _previewLines.Add(line1);

                        // 2. 预览点 -> 后一个点
                        var line2 = new LineMarker
                        {
                            StartPoint = previewPoint.Position,
                            EndPoint = nextPoint.Position,
                            Color = GetRenderColor(RenderColorType.PreviewLine), // 预览连线颜色
                            Radius = GetLineRadius()
                        };
                        _previewLines.Add(line2);

                    }
                    else
                    {
                        LogManager.Warning("[预览连线渲染] 未找到合适的线段插入预览点");
                    }

                    // 请求刷新视图
                    RequestViewRefresh();
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[预览连线渲染] 渲染预览连线失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 清除预览连线
        /// </summary>
        public void ClearPreviewLines()
        {
            try
            {
                lock (_lockObject)
                {
                    if (_previewLines.Count > 0)
                    {
                        _previewLines.Clear();

                        // 请求刷新视图
                        RequestViewRefresh();
                    }
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[预览连线渲染] 清除预览连线失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 渲染预览路径（用于修改路径点时的预览）
        /// </summary>
        /// <param name="previewRoute">包含预览修改的路径</param>
        public void RenderPreviewPath(PathRoute previewRoute)
        {
            try
            {
                if (previewRoute == null || previewRoute.Points.Count == 0)
                {
                    return;
                }

                lock (_lockObject)
                {
                    // 只清理预览元素，不影响原有路径
                    ClearPreviewPoint();
                    ClearPreviewLines();

                    // 找到预览点及其索引
                    var previewPointIndex = -1;
                    PathPoint previewPoint = null;

                    for (int i = 0; i < previewRoute.Points.Count; i++)
                    {
                        if (previewRoute.Points[i].Name.Contains("_预览"))
                        {
                            previewPointIndex = i;
                            previewPoint = previewRoute.Points[i];
                            break;
                        }
                    }

                    if (previewPoint != null && previewPointIndex >= 0)
                    {
                        // 只渲染预览点
                        RenderPreviewPoint(previewPoint);

                        // 只渲染与预览点相关的连线
                        // 连接前一个点到预览点
                        if (previewPointIndex > 0)
                        {
                            var prevPoint = previewRoute.Points[previewPointIndex - 1];
                            var line1 = new LineMarker
                            {
                                StartPoint = prevPoint.Position,
                                EndPoint = previewPoint.Position,
                                Color = GetRenderColor(RenderColorType.PreviewLine), // 预览连线颜色
                                Radius = GetLineRadius()
                            };
                            _previewLines.Add(line1);
                        }

                        // 连接预览点到下一个点
                        if (previewPointIndex < previewRoute.Points.Count - 1)
                        {
                            var nextPoint = previewRoute.Points[previewPointIndex + 1];
                            var line2 = new LineMarker
                            {
                                StartPoint = previewPoint.Position,
                                EndPoint = nextPoint.Position,
                                Color = GetRenderColor(RenderColorType.PreviewLine), // 预览连线颜色
                                Radius = GetLineRadius()
                            };
                            _previewLines.Add(line2);
                        }
                    }
                    else
                    {
                        LogManager.Warning("[预览路径渲染] 未找到预览点，跳过渲染");
                    }

                    RequestViewRefresh();
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[预览路径渲染] 渲染预览路径失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 清理所有预览渲染
        /// </summary>
        public void ClearPreview()
        {
            try
            {
                lock (_lockObject)
                {
                    // 清理预览点
                    ClearPreviewPoint();

                    // 清理预览连线
                    ClearPreviewLines();

                    RequestViewRefresh();
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[清理预览] 清理预览失败: {ex.Message}", ex);
            }
        }

        #region 私有辅助方法

        /// <returns>标准尺寸（米）</returns>
        /// <summary>
        /// 计算标准尺寸（起点尺寸），其他元素以此为基准按比例计算
        /// </summary>
        /// <returns>标准尺寸（米）</returns>
        private double GetStandardRadiusInMeters()
        {
            // 起点尺寸为网格大小的100%，并限制在合理范围内
            double standardRadius = _currentGridSizeInMeters * 1.0;

            // 边界限制：最小0.1米，最大0.5米
            return Math.Max(0.1, Math.Min(0.5, standardRadius));
        }

        public double GetRadiusForPointType(PathPointType pointType)
        {
            // 获取标准尺寸（起点尺寸）
            double standardRadiusInMeters = GetStandardRadiusInMeters();

            // 根据点类型应用比例系数
            double baseRadiusInMeters;
            if (pointType == PathPointType.WayPoint)
            {
                // 路径点为标准尺寸的80%
                baseRadiusInMeters = standardRadiusInMeters * 0.8;
            }
            else
            {
                // 起点/终点使用标准尺寸（100%）
                baseRadiusInMeters = standardRadiusInMeters * 1.0;
            }

            // 获取真实文档单位转换系数
            double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor();

            // 转换为模型单位
            double radiusInModelUnits = baseRadiusInMeters * metersToModelUnits;

            return radiusInModelUnits;
        }

        /// <summary>
        /// 根据路径点类型获取颜色
        /// </summary>
        public Color GetColorForPointType(PathPointType pointType)
        {
            switch (pointType)
            {
                case PathPointType.StartPoint:
                    return GetRenderColor(RenderColorType.StartPoint); // 起点绿色
                case PathPointType.EndPoint:
                    return GetRenderColor(RenderColorType.EndPoint); // 终点红色
                case PathPointType.WayPoint:
                default:
                    return GetRenderColor(RenderColorType.WayPoint); // 路径中间点洋红色
            }
        }

        /// <summary>
        /// 计算两点间距离
        /// </summary>
        private double CalculateDistance(Point3D point1, Point3D point2)
        {
            var dx = point1.X - point2.X;
            var dy = point1.Y - point2.Y;
            var dz = point1.Z - point2.Z;
            return Math.Sqrt(dx * dx + dy * dy + dz * dz);
        }

        /// <summary>
        /// 渲染车辆通行空间（矩形通道）- 使用Cuboid API简化实现
        /// </summary>
        /// <param name="graphics">图形上下文</param>
        /// <param name="vehicleSpace">车辆通行空间标记</param>
        private void RenderVehicleSpace(Graphics graphics, VehicleSpaceMarker vehicleSpace)
        {
            try
            {
                // 计算通道方向向量
                var direction = new Vector3D(
                    vehicleSpace.EndPoint.X - vehicleSpace.StartPoint.X,
                    vehicleSpace.EndPoint.Y - vehicleSpace.StartPoint.Y,
                    vehicleSpace.EndPoint.Z - vehicleSpace.StartPoint.Z
                );

                // 计算通道长度
                var length = Math.Sqrt(direction.X * direction.X + direction.Y * direction.Y + direction.Z * direction.Z);

                if (length < 0.001) // 避免零长度线段
                    return;

                // 归一化方向向量
                direction = new Vector3D(direction.X / length, direction.Y / length, direction.Z / length);

                // 计算垂直向量（在XY平面内垂直于方向向量）
                var right = new Vector3D(-direction.Y, direction.X, 0);

                // 如果方向向量垂直于XY平面，则使用不同的right向量
                if (Math.Abs(direction.Z) > 0.9)
                {
                    right = new Vector3D(1, 0, 0);
                }

                // 归一化right向量
                var rightLength = Math.Sqrt(right.X * right.X + right.Y * right.Y + right.Z * right.Z);
                if (rightLength > 0.001)
                {
                    right = new Vector3D(right.X / rightLength, right.Y / rightLength, right.Z / rightLength);
                }

                // 计算通道的边界框和向量
                var halfWidth = vehicleSpace.Width / 2.0;

                // 计算立方体原点（起点左下角）
                var origin = new Point3D(
                    vehicleSpace.StartPoint.X - halfWidth * right.X,
                    vehicleSpace.StartPoint.Y - halfWidth * right.Y,
                    vehicleSpace.StartPoint.Z
                );

                // 定义立方体的三个轴向量
                var xVector = new Vector3D(direction.X * length, direction.Y * length, direction.Z * length); // 长度方向
                var yVector = new Vector3D(right.X * vehicleSpace.Width, right.Y * vehicleSpace.Width, right.Z * vehicleSpace.Width); // 宽度方向
                var zVector = new Vector3D(0, 0, vehicleSpace.Height); // 高度方向

                // 设置颜色和透明度
                graphics.Color(vehicleSpace.Color, vehicleSpace.Alpha);

                // 使用Cuboid API渲染长方体通道
                graphics.Cuboid(origin, xVector, yVector, zVector, true);
            }
            catch (Exception ex)
            {
                LogManager.Error($"[车辆空间渲染] 渲染车辆通行空间失败: {ex.Message}", ex);
            }
        }


        /// <summary>
        /// 渲染点标记
        /// </summary>
        /// <param name="graphics">图形上下文</param>
        /// <param name="pointMarker">点标记</param>
        private void RenderPointMarker(Graphics graphics, CircleMarker pointMarker)
        {
            switch (pointMarker.GridPointType)
            {
                case GridPointType.Rectangle:
                    // 渲染立方体
                    RenderCubeMarker(graphics, pointMarker);
                    break;
                case GridPointType.Circle:
                    // 渲染圆
                    RenderCircleMarker(graphics, pointMarker);
                    break;
                case GridPointType.Sphere:
                default:
                    // 渲染球形（默认）
                    graphics.Sphere(pointMarker.Center, pointMarker.Radius);
                    break;
            }
        }

        /// <summary>
        /// 渲染立方体标记
        /// </summary>
        /// <param name="graphics">图形上下文</param>
        /// <param name="pointMarker">点标记</param>
        private void RenderCubeMarker(Graphics graphics, CircleMarker pointMarker)
        {
            // 计算正方形的边长（直径）
            double sideLength = pointMarker.Radius * 2;

            // 定义正方形的两个轴向量（沿X、Y轴）
            var xVector = new Vector3D(sideLength, 0, 0);
            var yVector = new Vector3D(0, sideLength, 0);

            // 计算正方形原点（中心点减去各轴向量的一半）,略微抬高以避免与模型重叠
            var origin = new Point3D(
                pointMarker.Center.X - pointMarker.Radius,
                pointMarker.Center.Y - pointMarker.Radius,
                pointMarker.Center.Z + 0.01
            );

            // 使用Rectangle API渲染正方形
            graphics.Rectangle(origin, xVector, yVector, pointMarker.Filled);
        }

        /// <summary>
        /// 渲染圆形标记
        /// </summary>
        /// <param name="graphics">图形上下文</param>
        /// <param name="pointMarker">点标记</param>
        private void RenderCircleMarker(Graphics graphics, CircleMarker pointMarker)
        {
            // 调整中心点位置，略微抬高以避免与模型重叠
            Point3D adjustCenterPoint = new Point3D(
                pointMarker.Center.X,
                pointMarker.Center.Y,
                pointMarker.Center.Z + 0.01
            );

            // 使用Circle API渲染圆形
            graphics.Circle(adjustCenterPoint, pointMarker.Normal, pointMarker.Radius, true);
        }

        /// <summary>
        /// 渲染方块标记（切点）
        /// </summary>
        /// <param name="graphics">图形上下文</param>
        /// <param name="marker">方块标记</param>
        private void RenderSquareMarker(Graphics graphics, SquareMarker marker)
        {
            // 计算立方体的三个轴向量
            var halfSize = marker.Size / 2.0;
            
            // X轴向量（沿X方向）
            var xVector = new Vector3D(marker.Size, 0, 0);
            
            // Y轴向量（沿Y方向）
            var yVector = new Vector3D(0, marker.Size, 0);
            
            // Z轴向量（沿Z方向，高度很小，形成扁平立方体）
            var zVector = new Vector3D(0, 0, marker.Size * 0.2);
            
            // 计算立方体原点（中心点偏移）
            var origin = new Point3D(
                marker.Center.X - halfSize,
                marker.Center.Y - halfSize,
                marker.Center.Z - zVector.Z / 2
            );
            
            // 使用Cuboid API绘制方块
            graphics.Cuboid(origin, xVector, yVector, zVector, true);
        }

        /// <summary>
        /// 渲染连线标记（支持直线段和圆弧段）
        /// </summary>
        /// <param name="graphics">图形上下文</param>
        /// <param name="lineMarker">连线标记</param>
        private void RenderLineMarker(Graphics graphics, LineMarker lineMarker)
        {
            if (lineMarker.SegmentType == PathSegmentType.Arc && 
                lineMarker.SampledPoints != null && 
                lineMarker.SampledPoints.Count >= 2)
            {
                // 圆弧段：多段圆柱体
                for (int i = 0; i < lineMarker.SampledPoints.Count - 1; i++)
                {
                    graphics.Cylinder(lineMarker.SampledPoints[i], lineMarker.SampledPoints[i + 1], lineMarker.Radius);
                }
            }
            else
            {
                // 直线段：单个圆柱体
                graphics.Cylinder(lineMarker.StartPoint, lineMarker.EndPoint, lineMarker.Radius);
            }
        }

        /// <summary>
        /// 请求视图刷新（带防抖机制）
        /// </summary>
        private void RequestViewRefresh()
        {
            try
            {
                // 使用静态变量实现简单的防抖机制
                var now = DateTime.Now;
                if ((now - _lastRefreshTime).TotalMilliseconds < 50) // 最小间隔50ms
                {
                    return; // 忽略过于频繁的刷新请求
                }
                _lastRefreshTime = now;

                if (Application.ActiveDocument?.ActiveView != null)
                {
                    Application.ActiveDocument.ActiveView.RequestDelayedRedraw(ViewRedrawRequests.Render);
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[视图刷新] 失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 找到预览点应该插入的最近线段
        /// </summary>
        /// <param name="previewPosition">预览点位置</param>
        /// <param name="pathPoints">路径点列表</param>
        /// <returns>最近线段的前后两个点，如果找不到则返回null</returns>
        private (PathPoint prevPoint, PathPoint nextPoint)? FindNearestLineSegment(Point3D previewPosition, List<PathPoint> pathPoints)
        {
            if (pathPoints == null || pathPoints.Count < 2)
            {
                return null;
            }

            // 按索引排序路径点
            var sortedPoints = pathPoints.OrderBy(p => p.Index).ToList();

            double minDistance = double.MaxValue;
            (PathPoint prevPoint, PathPoint nextPoint)? nearestSegment = null;

            // 遍历相邻的路径点对，找到距离预览点最近的线段
            for (int i = 0; i < sortedPoints.Count - 1; i++)
            {
                var currentPoint = sortedPoints[i];
                var nextPoint = sortedPoints[i + 1];

                // 计算预览点到线段的距离
                var distance = CalculatePointToLineSegmentDistance(previewPosition, currentPoint.Position, nextPoint.Position);

                if (distance < minDistance)
                {
                    minDistance = distance;
                    nearestSegment = (currentPoint, nextPoint);
                }
            }

            return nearestSegment;
        }

        /// <summary>
        /// 计算点到线段的距离
        /// </summary>
        /// <param name="point">目标点</param>
        /// <param name="lineStart">线段起点</param>
        /// <param name="lineEnd">线段终点</param>
        /// <returns>点到线段的最短距离</returns>
        private double CalculatePointToLineSegmentDistance(Point3D point, Point3D lineStart, Point3D lineEnd)
        {
            // 线段向量
            var lineVector = new Point3D(lineEnd.X - lineStart.X, lineEnd.Y - lineStart.Y, lineEnd.Z - lineStart.Z);

            // 点到线段起点的向量
            var pointVector = new Point3D(point.X - lineStart.X, point.Y - lineStart.Y, point.Z - lineStart.Z);

            // 计算线段长度的平方
            var lineLengthSquared = lineVector.X * lineVector.X + lineVector.Y * lineVector.Y + lineVector.Z * lineVector.Z;

            if (lineLengthSquared == 0)
            {
                // 线段退化为点，返回点到点的距离
                return CalculateDistance(point, lineStart);
            }

            // 计算投影参数t
            var t = (pointVector.X * lineVector.X + pointVector.Y * lineVector.Y + pointVector.Z * lineVector.Z) / lineLengthSquared;

            // 将t限制在[0,1]范围内
            t = Math.Max(0, Math.Min(1, t));

            // 计算线段上最近点
            var closestPoint = new Point3D(
                lineStart.X + t * lineVector.X,
                lineStart.Y + t * lineVector.Y,
                lineStart.Z + t * lineVector.Z
            );

            // 返回点到最近点的距离
            return CalculateDistance(point, closestPoint);
        }

        private static DateTime _lastRefreshTime = DateTime.MinValue;

        #endregion
    }

    /// <summary>
    /// 切点类型枚举
    /// </summary>
    public enum TangentPointType
    {
        /// <summary>
        /// 进入切点（Ts）
        /// </summary>
        EntryTangent,

        /// <summary>
        /// 退出切点（Te）
        /// </summary>
        ExitTangent
    }

    /// <summary>
    /// 方块标记数据结构（用于切点）
    /// </summary>
    public class SquareMarker
    {
        /// <summary>
        /// 中心坐标
        /// </summary>
        public Point3D Center { get; set; }

        /// <summary>
        /// 方块面法向量
        /// </summary>
        public Vector3D Normal { get; set; }

        /// <summary>
        /// 方块边长
        /// </summary>
        public double Size { get; set; }

        /// <summary>
        /// 方块颜色
        /// </summary>
        public Color Color { get; set; }

        /// <summary>
        /// 不透明度 (1.0 = 完全不透明, 0.0 = 完全透明)
        /// </summary>
        public double Alpha { get; set; }

        /// <summary>
        /// 所属边ID
        /// </summary>
        public string EdgeId { get; set; }

        /// <summary>
        /// 切点类型
        /// </summary>
        public TangentPointType TangentType { get; set; }

        public override string ToString()
        {
            return $"SquareMarker[类型={TangentType}, 中心=({Center.X:F2},{Center.Y:F2},{Center.Z:F2}), 边长={Size:F2}]";
        }
    }

    /// <summary>
    /// 圆形标记数据结构
    /// </summary>
    public class CircleMarker
    {
        /// <summary>
        /// 圆心坐标
        /// </summary>
        public Point3D Center { get; set; }

        /// <summary>
        /// 圆面法向量
        /// </summary>
        public Vector3D Normal { get; set; }

        /// <summary>
        /// 圆形半径
        /// </summary>
        public double Radius { get; set; }

        /// <summary>
        /// 圆形颜色
        /// </summary>
        public Color Color { get; set; }

        /// <summary>
        /// 不透明度 (1.0 = 完全不透明, 0.0 = 完全透明)
        /// </summary>
        public double Alpha { get; set; }

        /// <summary>
        /// 是否填充
        /// </summary>
        public bool Filled { get; set; }

        /// <summary>
        /// 路径点类型
        /// </summary>
        public PathPointType PointType { get; set; }

        /// <summary>
        /// 网格点类型
        /// </summary>
        public GridPointType GridPointType { get; set; } = GridPointType.Sphere;

        /// <summary>
        /// 序号
        /// </summary>
        public int SequenceNumber { get; set; }

        /// <summary>
        /// 创建时间
        /// </summary>
        public DateTime CreatedTime { get; set; }
        /// <summary>
        /// 是否可见
        /// </summary>
        public bool IsVisible { get; set; }

        /// <summary>
        /// 是否为不在路径上的控制点（半透明）
        /// </summary>
        public bool IsOffPath { get; set; } = false;

        /// <summary>
        /// 位置（Center的别名，用于预览点兼容性）
        /// </summary>
        public Point3D Position
        {
            get { return Center; }
            set { Center = value; }
        }

        /// <summary>
        /// 关联的路径点对象
        /// </summary>
        public PathPoint PathPoint { get; set; }

        public override string ToString()
        {
            return $"CircleMarker[序号={SequenceNumber}, 类型={PointType}, 中心=({Center.X:F2},{Center.Y:F2},{Center.Z:F2}), 半径={Radius:F2}]";
        }
    }
}