633 lines
25 KiB
C#
633 lines
25 KiB
C#
using System;
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using Autodesk.Navisworks.Api;
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namespace NavisworksTransport.Utils
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{
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/// <summary>
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/// ModelItem变换辅助工具
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/// 提供临时移动和恢复物体位置的通用方法
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/// </summary>
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public static class ModelItemTransformHelper
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{
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/// <summary>
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/// 临时移动物体到指定位置
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/// </summary>
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/// <param name="item">要移动的物体</param>
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/// <param name="targetPosition">目标位置（物体中心）</param>
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/// <returns>用于恢复的偏移向量</returns>
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public static Vector3D MoveItemToPosition(ModelItem item, Point3D targetPosition)
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{
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var doc = Application.ActiveDocument;
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var modelItems = new ModelItemCollection { item };
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// 计算当前中心位置
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var currentBounds = item.BoundingBox();
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var currentPos = new Point3D(
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(currentBounds.Min.X + currentBounds.Max.X) / 2,
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(currentBounds.Min.Y + currentBounds.Max.Y) / 2,
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(currentBounds.Min.Z + currentBounds.Max.Z) / 2
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);
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// 计算偏移
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var offset = new Vector3D(
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targetPosition.X - currentPos.X,
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targetPosition.Y - currentPos.Y,
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targetPosition.Z - currentPos.Z
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);
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// 应用变换
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var transform = Transform3D.CreateTranslation(offset);
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doc.Models.OverridePermanentTransform(modelItems, transform, false);
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return offset;
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}
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/// <summary>
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/// 从Transform3D中提取Yaw角度（绕Z轴旋转，单位：弧度）
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/// </summary>
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/// <param name="transform">变换矩阵</param>
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/// <returns>Yaw角度（弧度）</returns>
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public static double GetYawFromTransform(Transform3D transform)
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{
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if (transform == null) return 0.0;
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try
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{
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var components = transform.Factor();
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return GetYawFromRotation(components.Rotation);
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}
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catch (Exception)
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{
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return 0.0;
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}
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}
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/// <summary>
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/// 从 Rotation3D 中提取 XY 平面的 yaw 角（弧度）。
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/// </summary>
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public static double GetYawFromRotation(Rotation3D rotation)
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{
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if (rotation == null)
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{
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return 0.0;
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}
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try
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{
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var rotationResult = rotation.ToAxisAndAngle();
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double angle = rotationResult.Angle;
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double ux = rotationResult.Axis.X;
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double uy = rotationResult.Axis.Y;
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double uz = rotationResult.Axis.Z;
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double cos = Math.Cos(angle);
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double sin = Math.Sin(angle);
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double vx = cos + ux * ux * (1 - cos);
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double vy = uz * sin + ux * uy * (1 - cos);
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return Math.Atan2(vy, vx);
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}
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catch (Exception)
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{
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return 0.0;
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}
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}
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/// <summary>
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/// 获取变换后局部 X 轴在世界坐标中的方向，通常可作为物体主朝向。
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/// </summary>
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public static Vector3D GetForwardDirectionFromTransform(Transform3D transform)
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{
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return GetAxisDirectionFromTransform(transform, 0, new Vector3D(1, 0, 0));
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}
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/// <summary>
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/// 获取变换后局部 Z 轴在世界坐标中的方向，可作为构件顶/底面法向。
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/// </summary>
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public static Vector3D GetUpDirectionFromTransform(Transform3D transform)
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{
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return GetAxisDirectionFromTransform(transform, 2, new Vector3D(0, 0, 1));
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}
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/// <summary>
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/// 根据世界轴对齐包围盒和物体变换，估算物体在局部坐标系中的尺寸。
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/// 适用于刚性箱体类对象，用于顶/底面对接点推导。
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/// </summary>
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public static Vector3D EstimateLocalBoxSize(BoundingBox3D bounds, Transform3D transform)
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{
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double halfXWorld = Math.Max(0.0, (bounds.Max.X - bounds.Min.X) / 2.0);
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double halfYWorld = Math.Max(0.0, (bounds.Max.Y - bounds.Min.Y) / 2.0);
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double halfZWorld = Math.Max(0.0, (bounds.Max.Z - bounds.Min.Z) / 2.0);
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if (transform == null)
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{
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return new Vector3D(halfXWorld * 2.0, halfYWorld * 2.0, halfZWorld * 2.0);
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}
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try
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{
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var forward = GetForwardDirectionFromTransform(transform);
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var localY = GetAxisDirectionFromTransform(transform, 1, new Vector3D(0, 1, 0));
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var up = GetUpDirectionFromTransform(transform);
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double[,] matrix =
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{
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{ Math.Abs(forward.X), Math.Abs(localY.X), Math.Abs(up.X) },
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{ Math.Abs(forward.Y), Math.Abs(localY.Y), Math.Abs(up.Y) },
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{ Math.Abs(forward.Z), Math.Abs(localY.Z), Math.Abs(up.Z) }
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};
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double[] worldHalfExtents = { halfXWorld, halfYWorld, halfZWorld };
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double[] localHalfExtents = SolveLinearSystem3x3(matrix, worldHalfExtents);
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return new Vector3D(
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Math.Max(0.0, localHalfExtents[0] * 2.0),
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Math.Max(0.0, localHalfExtents[1] * 2.0),
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Math.Max(0.0, localHalfExtents[2] * 2.0));
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}
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catch (Exception)
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{
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return new Vector3D(halfXWorld * 2.0, halfYWorld * 2.0, halfZWorld * 2.0);
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}
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}
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private static Vector3D GetAxisDirectionFromTransform(Transform3D transform, int axisIndex, Vector3D fallback)
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{
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if (transform == null)
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{
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return fallback;
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}
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try
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{
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var linear = transform.Linear;
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var direction = new Vector3D(
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linear.Get(0, axisIndex),
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linear.Get(1, axisIndex),
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linear.Get(2, axisIndex));
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double lengthSquared = direction.X * direction.X + direction.Y * direction.Y + direction.Z * direction.Z;
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if (lengthSquared < 1e-9)
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{
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return fallback;
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}
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double length = Math.Sqrt(lengthSquared);
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return new Vector3D(direction.X / length, direction.Y / length, direction.Z / length);
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}
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catch (Exception)
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{
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return fallback;
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}
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}
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private static double[] SolveLinearSystem3x3(double[,] matrix, double[] values)
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{
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double determinant =
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matrix[0, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]) -
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matrix[0, 1] * (matrix[1, 0] * matrix[2, 2] - matrix[1, 2] * matrix[2, 0]) +
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matrix[0, 2] * (matrix[1, 0] * matrix[2, 1] - matrix[1, 1] * matrix[2, 0]);
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if (Math.Abs(determinant) < 1e-9)
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{
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return new[] { values[0], values[1], values[2] };
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}
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double inverseDeterminant = 1.0 / determinant;
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double[,] inverse =
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{
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{
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(matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]) * inverseDeterminant,
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(matrix[0, 2] * matrix[2, 1] - matrix[0, 1] * matrix[2, 2]) * inverseDeterminant,
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(matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1]) * inverseDeterminant
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},
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{
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(matrix[1, 2] * matrix[2, 0] - matrix[1, 0] * matrix[2, 2]) * inverseDeterminant,
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(matrix[0, 0] * matrix[2, 2] - matrix[0, 2] * matrix[2, 0]) * inverseDeterminant,
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(matrix[0, 2] * matrix[1, 0] - matrix[0, 0] * matrix[1, 2]) * inverseDeterminant
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},
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{
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(matrix[1, 0] * matrix[2, 1] - matrix[1, 1] * matrix[2, 0]) * inverseDeterminant,
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(matrix[0, 1] * matrix[2, 0] - matrix[0, 0] * matrix[2, 1]) * inverseDeterminant,
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(matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0]) * inverseDeterminant
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}
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};
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return new[]
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{
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inverse[0, 0] * values[0] + inverse[0, 1] * values[1] + inverse[0, 2] * values[2],
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inverse[1, 0] * values[0] + inverse[1, 1] * values[1] + inverse[1, 2] * values[2],
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inverse[2, 0] * values[0] + inverse[2, 1] * values[1] + inverse[2, 2] * values[2]
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};
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}
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/// <summary>
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/// 恢复物体到原位置
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/// </summary>
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/// <param name="item">要恢复的物体</param>
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/// <param name="originalOffset">原始移动偏移向量</param>
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public static void RestoreItemPosition(ModelItem item, Vector3D originalOffset)
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{
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var doc = Application.ActiveDocument;
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var modelItems = new ModelItemCollection { item };
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// 反向偏移
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var restoreOffset = new Vector3D(-originalOffset.X, -originalOffset.Y, -originalOffset.Z);
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var restoreTransform = Transform3D.CreateTranslation(restoreOffset);
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doc.Models.OverridePermanentTransform(modelItems, restoreTransform, false);
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}
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/// <summary>
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/// 将物体移动到指定位置和朝向（先回到CAD原始位置，再移动）
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/// 适用于碰撞位置还原等场景
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/// </summary>
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/// <param name="item">要移动的物体</param>
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/// <param name="targetPosition">目标位置（地面位置，即包围盒底面）</param>
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/// <param name="targetYaw">目标朝向（弧度，绕Z轴）</param>
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public static void MoveItemToPositionAndYaw(ModelItem item, Point3D targetPosition, double targetYaw)
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{
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var doc = Application.ActiveDocument;
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var modelItems = new ModelItemCollection { item };
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// 🔥 关键：先回到CAD原始位置，确保从已知状态开始计算
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doc.Models.ResetPermanentTransform(modelItems);
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// 获取CAD原始状态
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var originalBounds = item.BoundingBox();
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var originalGroundPos = new Point3D(
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originalBounds.Center.X,
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originalBounds.Center.Y,
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originalBounds.Min.Z
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);
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var originalYaw = GetYawFromTransform(item.Transform);
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// 计算从CAD原始位置到目标位置的增量
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var deltaPos = new Vector3D(
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targetPosition.X - originalGroundPos.X,
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targetPosition.Y - originalGroundPos.Y,
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targetPosition.Z - originalGroundPos.Z
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);
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double deltaYaw = targetYaw - originalYaw;
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// 应用增量变换
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Transform3D transform;
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if (Math.Abs(deltaYaw) > 0.001)
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{
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// 有旋转：需要补偿绕原点旋转带来的位置偏移
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double cos = Math.Cos(deltaYaw);
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double sin = Math.Sin(deltaYaw);
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double rotatedX = originalGroundPos.X * cos - originalGroundPos.Y * sin;
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double rotatedY = originalGroundPos.X * sin + originalGroundPos.Y * cos;
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var compensatedTranslation = new Vector3D(
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targetPosition.X - rotatedX,
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targetPosition.Y - rotatedY,
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deltaPos.Z
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);
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var identity = Transform3D.CreateTranslation(new Vector3D(0, 0, 0));
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var components = identity.Factor();
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components.Rotation = new Rotation3D(new UnitVector3D(0, 0, 1), deltaYaw);
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components.Translation = compensatedTranslation;
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transform = components.Combine();
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}
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else
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{
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// 纯平移
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transform = Transform3D.CreateTranslation(deltaPos);
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}
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doc.Models.OverridePermanentTransform(modelItems, transform, false);
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}
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/// <summary>
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/// 将物体移动到指定位置和完整三维朝向（先回到CAD原始位置，再移动）
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/// </summary>
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public static void MoveItemToPositionAndRotation(ModelItem item, Point3D targetPosition, Rotation3D targetRotation)
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{
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ApplyAbsoluteTransform(item, targetPosition, targetRotation, preserveCurrentScale: false);
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}
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/// <summary>
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/// 将物体移动到指定位置和完整三维朝向，同时保留当前缩放。
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/// </summary>
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public static void MoveItemToPositionAndRotationWithCurrentScale(ModelItem item, Point3D targetPosition, Rotation3D targetRotation)
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{
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ApplyAbsoluteTransform(item, targetPosition, targetRotation, preserveCurrentScale: true);
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}
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private static void ApplyAbsoluteTransform(ModelItem item, Point3D targetPosition, Rotation3D targetRotation, bool preserveCurrentScale)
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{
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var doc = Application.ActiveDocument;
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var modelItems = new ModelItemCollection { item };
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Vector3D currentScale = new Vector3D(1, 1, 1);
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if (preserveCurrentScale)
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{
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var currentComponents = item.Transform.Factor();
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currentScale = currentComponents.Scale;
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}
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doc.Models.ResetPermanentTransform(modelItems);
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var originalBounds = item.BoundingBox();
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var originalGroundPos = new Point3D(
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originalBounds.Center.X,
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originalBounds.Center.Y,
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originalBounds.Min.Z
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);
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var rotationTransform = new Transform3D(targetRotation);
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var linear = rotationTransform.Linear;
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var rotatedGroundPos = new Point3D(
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linear.Get(0, 0) * originalGroundPos.X + linear.Get(0, 1) * originalGroundPos.Y + linear.Get(0, 2) * originalGroundPos.Z,
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linear.Get(1, 0) * originalGroundPos.X + linear.Get(1, 1) * originalGroundPos.Y + linear.Get(1, 2) * originalGroundPos.Z,
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linear.Get(2, 0) * originalGroundPos.X + linear.Get(2, 1) * originalGroundPos.Y + linear.Get(2, 2) * originalGroundPos.Z
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);
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var translation = new Vector3D(
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targetPosition.X - rotatedGroundPos.X,
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targetPosition.Y - rotatedGroundPos.Y,
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targetPosition.Z - rotatedGroundPos.Z
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);
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Transform3D transform;
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if (preserveCurrentScale)
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{
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var identity = Transform3D.CreateTranslation(new Vector3D(0, 0, 0));
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var components = identity.Factor();
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components.Scale = currentScale;
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components.Rotation = targetRotation;
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components.Translation = translation;
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transform = components.Combine();
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}
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else
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{
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transform = new Transform3D(targetRotation, translation);
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}
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doc.Models.OverridePermanentTransform(modelItems, transform, false);
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}
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/// <summary>
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/// 将物体移动到指定位置和朝向，同时保持缩放比例
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/// 专为虚拟物体设计，避免缩放被覆盖
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/// </summary>
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/// <param name="item">要移动的物体</param>
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/// <param name="targetPosition">目标位置（地面位置）</param>
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/// <param name="targetYaw">目标朝向（弧度）</param>
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/// <param name="scaleX">X方向缩放</param>
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/// <param name="scaleY">Y方向缩放</param>
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/// <param name="scaleZ">Z方向缩放</param>
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public static void MoveItemToPositionAndYawWithScale(ModelItem item, Point3D targetPosition, double targetYaw,
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double scaleX, double scaleY, double scaleZ)
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{
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var doc = Application.ActiveDocument;
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var modelItems = new ModelItemCollection { item };
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// 重置到CAD原始状态
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doc.Models.ResetPermanentTransform(modelItems);
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// 获取CAD原始状态
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var originalBounds = item.BoundingBox();
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var originalGroundPos = new Point3D(
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originalBounds.Center.X,
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originalBounds.Center.Y,
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originalBounds.Min.Z
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);
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var originalYaw = GetYawFromTransform(item.Transform);
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// 计算从CAD原始位置到目标位置的增量
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var deltaPos = new Vector3D(
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targetPosition.X - originalGroundPos.X,
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targetPosition.Y - originalGroundPos.Y,
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targetPosition.Z - originalGroundPos.Z
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);
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double deltaYaw = targetYaw - originalYaw;
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// 构建变换组件
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var identity = Transform3D.CreateTranslation(new Vector3D(0, 0, 0));
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var components = identity.Factor();
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// 应用缩放
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components.Scale = new Vector3D(scaleX, scaleY, scaleZ);
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// 应用旋转
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if (Math.Abs(deltaYaw) > 0.001)
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{
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components.Rotation = new Rotation3D(new UnitVector3D(0, 0, 1), deltaYaw);
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}
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// 计算平移（考虑旋转带来的位置偏移）
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if (Math.Abs(deltaYaw) > 0.001)
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{
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double cos = Math.Cos(deltaYaw);
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double sin = Math.Sin(deltaYaw);
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double rotatedX = originalGroundPos.X * cos - originalGroundPos.Y * sin;
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double rotatedY = originalGroundPos.X * sin + originalGroundPos.Y * cos;
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components.Translation = new Vector3D(
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targetPosition.X - rotatedX,
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targetPosition.Y - rotatedY,
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deltaPos.Z
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);
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}
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else
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{
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components.Translation = deltaPos;
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}
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// 应用组合变换
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Transform3D transform = components.Combine();
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doc.Models.OverridePermanentTransform(modelItems, transform, false);
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}
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/// <summary>
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/// 物体状态快照，用于保存和恢复
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/// </summary>
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public class ObjectStateSnapshot
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{
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public Point3D Position { get; set; }
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public double YawRadians { get; set; }
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public Transform3D Transform { get; set; }
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}
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/// <summary>
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/// 保存物体当前状态
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/// 注意：YawRadians 通过当前位置计算，因为 Transform 返回的是CAD原始值
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/// </summary>
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public static ObjectStateSnapshot SaveObjectState(ModelItem item, double? currentYaw = null)
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{
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if (item == null) return null;
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var bounds = item.BoundingBox();
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// 🔥 关键：如果提供了当前朝向（如 PathAnimationManager._currentYaw），使用它
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// 否则从 Transform 获取（但这可能不是实际朝向）
|
||
double yaw;
|
||
if (currentYaw.HasValue)
|
||
{
|
||
yaw = currentYaw.Value;
|
||
}
|
||
else
|
||
{
|
||
// 尝试通过包围盒方向计算（如果物体有几何特征）
|
||
yaw = GetYawFromTransform(item.Transform);
|
||
LogManager.Debug($"[SaveObjectState] 未提供当前朝向，使用Transform: {yaw * 180 / Math.PI:F2}°");
|
||
}
|
||
|
||
return new ObjectStateSnapshot
|
||
{
|
||
Position = new Point3D(bounds.Center.X, bounds.Center.Y, bounds.Min.Z),
|
||
YawRadians = yaw,
|
||
Transform = item.Transform
|
||
};
|
||
}
|
||
|
||
/// <summary>
|
||
/// 从状态快照恢复物体位置和朝向（标准版本，会重置缩放）
|
||
/// </summary>
|
||
public static void RestoreObjectState(ModelItem item, ObjectStateSnapshot state)
|
||
{
|
||
RestoreObjectStateInternal(item, state, preserveScale: false);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 从状态快照恢复物体位置和朝向（保留缩放版本，用于虚拟物体）
|
||
/// </summary>
|
||
public static void RestoreObjectStateWithScale(ModelItem item, ObjectStateSnapshot state)
|
||
{
|
||
RestoreObjectStateInternal(item, state, preserveScale: true);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 从状态快照恢复物体位置的内部实现
|
||
/// </summary>
|
||
private static void RestoreObjectStateInternal(ModelItem item, ObjectStateSnapshot state, bool preserveScale)
|
||
{
|
||
if (item == null || state == null) return;
|
||
|
||
var doc = Application.ActiveDocument;
|
||
var modelItems = new ModelItemCollection { item };
|
||
|
||
// 1. 先回到CAD原始位置
|
||
doc.Models.ResetPermanentTransform(modelItems);
|
||
|
||
// 2. 从CAD原始位置移动到保存的位置
|
||
// 获取CAD原始状态
|
||
var originalBounds = item.BoundingBox();
|
||
var originalGroundPos = new Point3D(
|
||
originalBounds.Center.X,
|
||
originalBounds.Center.Y,
|
||
originalBounds.Min.Z
|
||
);
|
||
var originalYaw = GetYawFromTransform(item.Transform);
|
||
|
||
// 计算到保存位置的增量
|
||
var deltaPos = new Vector3D(
|
||
state.Position.X - originalGroundPos.X,
|
||
state.Position.Y - originalGroundPos.Y,
|
||
state.Position.Z - originalGroundPos.Z
|
||
);
|
||
double deltaYaw = state.YawRadians - originalYaw;
|
||
|
||
// 应用增量变换
|
||
Transform3D transform;
|
||
if (Math.Abs(deltaYaw) > 0.001)
|
||
{
|
||
double cos = Math.Cos(deltaYaw);
|
||
double sin = Math.Sin(deltaYaw);
|
||
double rotatedX = originalGroundPos.X * cos - originalGroundPos.Y * sin;
|
||
double rotatedY = originalGroundPos.X * sin + originalGroundPos.Y * cos;
|
||
|
||
var compensatedTranslation = new Vector3D(
|
||
state.Position.X - rotatedX,
|
||
state.Position.Y - rotatedY,
|
||
deltaPos.Z
|
||
);
|
||
|
||
var identity = Transform3D.CreateTranslation(new Vector3D(0, 0, 0));
|
||
var components = identity.Factor();
|
||
components.Rotation = new Rotation3D(new UnitVector3D(0, 0, 1), deltaYaw);
|
||
components.Translation = compensatedTranslation;
|
||
transform = components.Combine();
|
||
}
|
||
else
|
||
{
|
||
transform = Transform3D.CreateTranslation(deltaPos);
|
||
}
|
||
|
||
doc.Models.OverridePermanentTransform(modelItems, transform, false);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 将物体移动到指定位置和朝向，同时保持当前缩放（专为虚拟物体设计）
|
||
/// </summary>
|
||
public static void MoveItemToPositionAndYawWithCurrentScale(ModelItem item, Point3D targetPosition, double targetYaw)
|
||
{
|
||
var doc = Application.ActiveDocument;
|
||
var modelItems = new ModelItemCollection { item };
|
||
|
||
// 获取当前变换中的缩放
|
||
var currentTransform = item.Transform;
|
||
var currentComponents = currentTransform.Factor();
|
||
var currentScale = currentComponents.Scale;
|
||
|
||
// 重置到CAD原始状态
|
||
doc.Models.ResetPermanentTransform(modelItems);
|
||
|
||
// 获取CAD原始状态
|
||
var originalBounds = item.BoundingBox();
|
||
var originalGroundPos = new Point3D(
|
||
originalBounds.Center.X,
|
||
originalBounds.Center.Y,
|
||
originalBounds.Min.Z
|
||
);
|
||
var originalYaw = GetYawFromTransform(item.Transform);
|
||
|
||
// 计算从CAD原始位置到目标位置的增量
|
||
var deltaPos = new Vector3D(
|
||
targetPosition.X - originalGroundPos.X,
|
||
targetPosition.Y - originalGroundPos.Y,
|
||
targetPosition.Z - originalGroundPos.Z
|
||
);
|
||
double deltaYaw = targetYaw - originalYaw;
|
||
|
||
// 构建变换组件，保留原有缩放
|
||
var identity = Transform3D.CreateTranslation(new Vector3D(0, 0, 0));
|
||
var components = identity.Factor();
|
||
components.Scale = currentScale; // 保留当前缩放
|
||
|
||
if (Math.Abs(deltaYaw) > 0.001)
|
||
{
|
||
components.Rotation = new Rotation3D(new UnitVector3D(0, 0, 1), deltaYaw);
|
||
}
|
||
|
||
// 计算平移（考虑旋转带来的位置偏移）
|
||
if (Math.Abs(deltaYaw) > 0.001)
|
||
{
|
||
double cos = Math.Cos(deltaYaw);
|
||
double sin = Math.Sin(deltaYaw);
|
||
double rotatedX = originalGroundPos.X * cos - originalGroundPos.Y * sin;
|
||
double rotatedY = originalGroundPos.X * sin + originalGroundPos.Y * cos;
|
||
|
||
components.Translation = new Vector3D(
|
||
targetPosition.X - rotatedX,
|
||
targetPosition.Y - rotatedY,
|
||
deltaPos.Z
|
||
);
|
||
}
|
||
else
|
||
{
|
||
components.Translation = deltaPos;
|
||
}
|
||
|
||
// 应用组合变换
|
||
Transform3D transform = components.Combine();
|
||
doc.Models.OverridePermanentTransform(modelItems, transform, false);
|
||
}
|
||
}
|
||
}
|