825 lines
30 KiB
C#
825 lines
30 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using Autodesk.Navisworks.Api;
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using NavisworksTransport.Utils;
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using NavisworksTransport;
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namespace NavisworksTransport.PathPlanning
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{
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/// <summary>
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/// 网格地图数据结构
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/// 用于将BIM模型转换为路径规划算法可使用的2D网格表示
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/// </summary>
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public class GridMap
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{
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/// <summary>
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/// 网格宽度（单元格数量）
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/// </summary>
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public int Width { get; set; }
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/// <summary>
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/// 网格高度（单元格数量）
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/// </summary>
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public int Height { get; set; }
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/// <summary>
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/// 每个网格单元格的实际尺寸（米）
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/// </summary>
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public double CellSize { get; set; }
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/// <summary>
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/// 网格原点（世界坐标系）
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/// </summary>
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public Point3D Origin { get; set; }
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/// <summary>
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/// 网格边界框（世界坐标系）
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/// </summary>
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public BoundingBox3D Bounds { get; set; }
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/// <summary>
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/// 路径规划的起点（用于Z坐标插值）
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/// </summary>
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public Point3D PlanningStartPoint { get; set; }
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/// <summary>
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/// 路径规划的终点（用于Z坐标插值）
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/// </summary>
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public Point3D PlanningEndPoint { get; set; }
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/// <summary>
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/// 是否已设置规划起点和终点
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/// </summary>
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public bool HasPlanningPoints { get; set; }
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/// <summary>
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/// 通道模型项集合（用于高度检测）
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/// 包含所有可通行的建筑结构：楼板、走廊、过道等
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/// 注意：楼板类通道的高度计算应使用顶面（车辆行驶面）
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/// </summary>
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public IEnumerable<ModelItem> ChannelItems { get; set; }
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/// <summary>
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/// 通道高度检测器
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/// </summary>
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public ChannelHeightDetector HeightDetector { get; set; }
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/// <summary>
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/// 坡度分析器
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/// </summary>
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public SlopeAnalyzer SlopeAnalyzer { get; set; }
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/// <summary>
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/// 是否启用精确高度计算（网格构建时禁用以提升性能）
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/// </summary>
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public bool EnablePreciseHeightCalculation { get; set; } = false;
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/// <summary>
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/// 网格单元格数组 [x, y]
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/// </summary>
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public GridCell[,] Cells { get; set; }
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="bounds">世界坐标边界框</param>
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/// <param name="cellSize">网格单元格大小</param>
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public GridMap(BoundingBox3D bounds, double cellSize)
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{
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if (cellSize <= 0)
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throw new ArgumentException("网格单元格大小必须大于0", nameof(cellSize));
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Bounds = bounds ?? throw new ArgumentNullException(nameof(bounds));
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CellSize = cellSize;
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// 计算网格尺寸
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double worldWidth = bounds.Max.X - bounds.Min.X;
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double worldHeight = bounds.Max.Y - bounds.Min.Y;
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Width = (int)Math.Ceiling(worldWidth / cellSize);
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Height = (int)Math.Ceiling(worldHeight / cellSize);
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// 检查网格大小是否超出限制
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const int MAX_GRID_SIZE = 10000; // 最大10000x10000网格
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const long MAX_TOTAL_CELLS = 50000000; // 最大5000万个单元格
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if (Width > MAX_GRID_SIZE || Height > MAX_GRID_SIZE)
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{
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throw new ArgumentException($"网格尺寸过大: {Width}x{Height}，最大允许{MAX_GRID_SIZE}x{MAX_GRID_SIZE}。请增加网格单元格大小或减小搜索区域。");
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}
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long totalCells = (long)Width * Height;
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if (totalCells > MAX_TOTAL_CELLS)
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{
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throw new ArgumentException($"网格单元格总数过多: {totalCells:N0}，最大允许{MAX_TOTAL_CELLS:N0}。请增加网格单元格大小或减小搜索区域。");
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}
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// 设置原点为边界框的最小点
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Origin = bounds.Min;
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// 初始化网格单元格
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Cells = new GridCell[Width, Height];
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InitializeCells();
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// 初始化高度计算组件
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InitializeHeightCalculation();
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}
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/// <summary>
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/// 初始化高度计算组件
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/// </summary>
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private void InitializeHeightCalculation()
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{
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try
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{
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HeightDetector = new ChannelHeightDetector();
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SlopeAnalyzer = new SlopeAnalyzer();
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LogManager.Info("[网格地图] 高度计算组件初始化完成");
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}
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catch (Exception ex)
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{
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LogManager.Warning($"[网格地图] 初始化高度计算组件失败: {ex.Message}");
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EnablePreciseHeightCalculation = false;
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}
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}
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/// <summary>
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/// 初始化所有网格单元格为默认状态
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/// </summary>
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private void InitializeCells()
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{
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for (int x = 0; x < Width; x++)
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{
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for (int y = 0; y < Height; y++)
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{
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// 计算2D世界坐标，并设置合理的初始Z坐标（使用地面高度而不是0）
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var worldPos2D = GridToWorld2D(new GridPoint2D(x, y));
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// 使用边界框最小Z值（地面高度）作为Unknown网格的初始高度
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var worldPos = new Point3D(worldPos2D.X, worldPos2D.Y, Bounds.Min.Z);
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var cell = new GridCell
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{
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IsWalkable = false,
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CellType = CategoryAttributeManager.LogisticsElementType.Unknown, // 修改：默认为未知/空洞类型
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IsInChannel = false,
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PassableHeight = new HeightInterval(),
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ChannelType = ChannelType.Other,
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WorldPosition = worldPos
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};
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cell.Cost = cell.GetCost(); // 使用GetCost方法计算成本
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Cells[x, y] = cell;
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}
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}
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}
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/// <summary>
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/// 世界坐标转换为网格坐标
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/// </summary>
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/// <param name="worldPosition">世界坐标点</param>
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/// <returns>网格坐标（可能超出边界）</returns>
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public GridPoint2D WorldToGrid(Point3D worldPosition)
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{
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double gridX = (worldPosition.X - Origin.X) / CellSize;
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double gridY = (worldPosition.Y - Origin.Y) / CellSize;
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return new GridPoint2D((int)Math.Floor(gridX), (int)Math.Floor(gridY));
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}
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/// <summary>
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/// 将网格坐标转换为世界2D坐标（纯坐标转换，不涉及Z坐标计算）
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <returns>世界2D坐标点（网格左下角）</returns>
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public Point3D GridToWorld2D(GridPoint2D gridPosition)
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{
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double worldX = Origin.X + gridPosition.X * CellSize;
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double worldY = Origin.Y + gridPosition.Y * CellSize;
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return new Point3D(worldX, worldY, 0); // Z设为0，调用者可以替换
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}
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/// <summary>
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/// 将网格坐标转换为世界3D坐标（需要显式提供Z坐标）
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <param name="z">Z坐标值</param>
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/// <returns>世界3D坐标点</returns>
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public Point3D GridToWorld3D(GridPoint2D gridPosition)
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{
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var world2D = GridToWorld2D(gridPosition);
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var cell = Cells[gridPosition.X, gridPosition.Y];
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return new Point3D(world2D.X, world2D.Y, cell.WorldPosition.Z);
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}
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/// <summary>
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/// 检查网格坐标是否在有效范围内
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <returns>是否有效</returns>
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public bool IsValidGridPosition(GridPoint2D gridPosition)
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{
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return gridPosition.X >= 0 && gridPosition.X < Width &&
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gridPosition.Y >= 0 && gridPosition.Y < Height;
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}
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/// <summary>
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/// 检查指定网格位置是否可通行
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <returns>是否可通行</returns>
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public bool IsWalkable(GridPoint2D gridPosition)
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{
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if (!IsValidGridPosition(gridPosition))
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return false;
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return Cells[gridPosition.X, gridPosition.Y].IsWalkable;
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}
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/// <summary>
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/// 设置网格单元格的属性
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <param name="isWalkable">是否可通行</param>
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/// <param name="cost">遍历成本</param>
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/// <param name="cellType">单元格类型</param>
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public void SetCell(GridPoint2D gridPosition, bool isWalkable, double cost, CategoryAttributeManager.LogisticsElementType cellType)
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{
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if (!IsValidGridPosition(gridPosition))
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return;
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var worldPos = GridToWorld3D(gridPosition);
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var cell = new GridCell
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{
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IsWalkable = isWalkable,
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CellType = cellType,
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IsInChannel = cellType == CategoryAttributeManager.LogisticsElementType.通道,
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PassableHeight = new HeightInterval(),
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ChannelType = cellType == CategoryAttributeManager.LogisticsElementType.通道 ? ChannelType.Corridor : ChannelType.Other,
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WorldPosition = worldPos
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};
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// 🔥 关键验证：确保Unknown和障碍物类型永远不可通行
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if (cellType == CategoryAttributeManager.LogisticsElementType.Unknown ||
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cellType == CategoryAttributeManager.LogisticsElementType.障碍物)
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{
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cell.IsWalkable = false;
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cell.Cost = double.MaxValue;
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}
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else
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{
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// 优先使用传入的cost参数，如果为默认值则用GetCost
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cell.Cost = (cost == double.MaxValue || cost == 0) ? cell.GetCost() : cost;
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}
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Cells[gridPosition.X, gridPosition.Y] = cell;
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}
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/// <summary>
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/// 检查指定位置在指定高度是否可通行
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <param name="height">检查的高度</param>
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/// <returns>是否可通行</returns>
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public bool IsPassableAtHeight(GridPoint2D gridPosition, double height)
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{
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if (!IsValidGridPosition(gridPosition))
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return false;
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var cell = Cells[gridPosition.X, gridPosition.Y];
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if (!cell.IsWalkable)
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return false;
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// 检查是否有任何高度区间包含指定高度
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return (cell.PassableHeight.MaxZ - cell.PassableHeight.MinZ) >= height;
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}
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/// <summary>
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/// 获取所有通道类型的网格单元
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/// </summary>
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/// <returns>通道网格单元列表</returns>
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public List<(GridPoint2D Position, GridCell Cell)> GetChannelCells()
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{
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var channelCells = new List<(GridPoint2D Position, GridCell Cell)>();
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for (int x = 0; x < Width; x++)
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{
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for (int y = 0; y < Height; y++)
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{
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var cell = Cells[x, y];
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if (cell.IsInChannel || cell.CellType == CategoryAttributeManager.LogisticsElementType.通道)
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{
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channelCells.Add((new GridPoint2D(x, y), cell));
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}
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}
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}
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return channelCells;
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}
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/// <summary>
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/// 设置通道模型项集合（用于精确高度计算）
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/// </summary>
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/// <param name="channelItems">通道模型项集合</param>
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public void SetChannelItems(IEnumerable<ModelItem> channelItems)
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{
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try
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{
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ChannelItems = channelItems?.ToList() ?? new List<ModelItem>();
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LogManager.Info($"[网格地图] 设置通道模型项: {(ChannelItems?.Count() ?? 0)} 个通道");
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// 网格构建阶段不启用精确高度计算，仅存储通道数据供后续使用
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LogManager.Info("[网格地图] 精确高度计算在网格构建时已禁用，将在路径校正时使用");
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}
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catch (Exception ex)
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{
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LogManager.Error($"[网格地图] 设置通道模型项时发生错误: {ex.Message}");
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ChannelItems = new List<ModelItem>();
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EnablePreciseHeightCalculation = false;
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}
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}
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/// <summary>
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/// 切换高度计算模式
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/// </summary>
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/// <param name="enablePrecise">是否启用精确计算</param>
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public void SetHeightCalculationMode(bool enablePrecise)
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{
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EnablePreciseHeightCalculation = enablePrecise && ChannelItems?.Any() == true;
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LogManager.Info($"[网格地图] 高度计算模式: {(EnablePreciseHeightCalculation ? "精确模式" : "传统模式")}");
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}
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/// <summary>
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/// 清除高度计算缓存
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/// </summary>
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public void ClearHeightCache()
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{
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try
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{
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HeightDetector?.ClearCache();
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SlopeAnalyzer?.ClearCache();
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LogManager.Info("[网格地图] 高度计算缓存已清除");
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}
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catch (Exception ex)
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{
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LogManager.Warning($"[网格地图] 清除高度缓存时发生错误: {ex.Message}");
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}
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}
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/// <summary>
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/// 获取高度计算统计信息
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/// </summary>
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/// <returns>统计信息字符串</returns>
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public string GetHeightCalculationStats()
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{
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try
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{
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var heightCacheCount = HeightDetector?.GetCacheCount() ?? 0;
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var slopeCacheCount = SlopeAnalyzer?.GetCacheCount() ?? 0;
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var channelCount = ChannelItems?.Count() ?? 0;
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return $"精确计算: {(EnablePreciseHeightCalculation ? "启用" : "禁用")}, " +
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$"通道数: {channelCount}, " +
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$"高度缓存: {heightCacheCount}, " +
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$"坡度缓存: {slopeCacheCount}";
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}
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catch
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{
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return "统计信息获取失败";
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}
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}
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/// <summary>
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/// 获取网格单元格信息
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/// </summary>
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/// <param name="gridPosition">网格坐标</param>
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/// <returns>单元格信息</returns>
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public GridCell? GetCell(GridPoint2D gridPosition)
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{
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if (!IsValidGridPosition(gridPosition))
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return null;
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return Cells[gridPosition.X, gridPosition.Y];
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}
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/// <summary>
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/// 计算网格内存使用量（估算）
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/// </summary>
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/// <returns>内存使用量（字节）</returns>
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public long GetMemoryUsage()
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{
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// GridCell结构体大小估算：bool(1) + double(8) + enum(4) ≈ 16字节
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return Width * Height * 16L;
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}
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/// <summary>
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/// 获取网格统计信息
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/// </summary>
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/// <returns>统计信息字符串</returns>
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public string GetStatistics()
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{
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// 总计数
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int totalWalkable = 0;
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int totalNonWalkable = 0;
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// 按类型统计 - 可通行的
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int walkable_楼板 = 0;
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int walkable_门 = 0;
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int walkable_通道 = 0;
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int walkable_装卸区 = 0;
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int walkable_停车位 = 0;
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int walkable_楼梯 = 0;
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int walkable_电梯 = 0;
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int walkable_走廊 = 0;
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int walkable_Other = 0;
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// 按类型统计 - 不可通行的
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int nonWalkable_Unknown = 0;
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int nonWalkable_障碍物 = 0;
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int nonWalkable_楼板 = 0;
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int nonWalkable_门 = 0;
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int nonWalkable_通道 = 0;
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int nonWalkable_Other = 0;
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for (int x = 0; x < Width; x++)
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{
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for (int y = 0; y < Height; y++)
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{
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var cell = Cells[x, y];
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if (cell.IsWalkable)
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{
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totalWalkable++;
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switch (cell.CellType)
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{
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case CategoryAttributeManager.LogisticsElementType.楼板:
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walkable_楼板++;
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break;
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case CategoryAttributeManager.LogisticsElementType.门:
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walkable_门++;
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break;
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case CategoryAttributeManager.LogisticsElementType.通道:
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walkable_通道++;
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break;
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case CategoryAttributeManager.LogisticsElementType.装卸区:
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walkable_装卸区++;
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break;
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case CategoryAttributeManager.LogisticsElementType.停车位:
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walkable_停车位++;
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break;
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case CategoryAttributeManager.LogisticsElementType.楼梯:
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walkable_楼梯++;
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break;
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case CategoryAttributeManager.LogisticsElementType.电梯:
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walkable_电梯++;
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break;
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case CategoryAttributeManager.LogisticsElementType.走廊:
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||
walkable_走廊++;
|
||
break;
|
||
default:
|
||
walkable_Other++;
|
||
break;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
totalNonWalkable++;
|
||
switch (cell.CellType)
|
||
{
|
||
case CategoryAttributeManager.LogisticsElementType.Unknown:
|
||
nonWalkable_Unknown++;
|
||
break;
|
||
case CategoryAttributeManager.LogisticsElementType.障碍物:
|
||
nonWalkable_障碍物++;
|
||
break;
|
||
case CategoryAttributeManager.LogisticsElementType.楼板:
|
||
nonWalkable_楼板++;
|
||
break;
|
||
case CategoryAttributeManager.LogisticsElementType.门:
|
||
nonWalkable_门++;
|
||
break;
|
||
case CategoryAttributeManager.LogisticsElementType.通道:
|
||
nonWalkable_通道++;
|
||
break;
|
||
default:
|
||
nonWalkable_Other++;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
var stats = $"=== 网格统计详细信息 ===\n";
|
||
stats += $"网格尺寸: {Width}x{Height} (总计 {Width * Height} 个单元格)\n";
|
||
stats += $"总体分布: 可通行 {totalWalkable} 个, 不可通行 {totalNonWalkable} 个\n";
|
||
|
||
stats += $"【可通行单元格详细统计】\n";
|
||
stats += $" 楼板: {walkable_楼板}, 通道: {walkable_通道}, 走廊: {walkable_走廊}\n";
|
||
stats += $" 门: {walkable_门}, 装卸区: {walkable_装卸区}, 停车位: {walkable_停车位}\n";
|
||
stats += $" 楼梯: {walkable_楼梯}, 电梯: {walkable_电梯}, 其他: {walkable_Other}\n";
|
||
|
||
stats += $"【不可通行单元格详细统计】\n";
|
||
stats += $" Unknown/空洞: {nonWalkable_Unknown}, 障碍物: {nonWalkable_障碍物}\n";
|
||
stats += $" 不可通行楼板: {nonWalkable_楼板}, 不可通行门: {nonWalkable_门}\n";
|
||
stats += $" 不可通行通道: {nonWalkable_通道}, 其他不可通行: {nonWalkable_Other}\n";
|
||
|
||
stats += $"内存使用: {GetMemoryUsage() / 1024.0:F1} KB";
|
||
|
||
return stats;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 网格单元格结构体
|
||
/// 存储单个网格单元格的状态信息
|
||
/// </summary>
|
||
public struct GridCell
|
||
{
|
||
/// <summary>
|
||
/// 是否可通行
|
||
/// </summary>
|
||
public bool IsWalkable { get; set; }
|
||
|
||
/// <summary>
|
||
/// 遍历成本（1.0为标准成本）
|
||
/// </summary>
|
||
public double Cost { get; set; }
|
||
|
||
/// <summary>
|
||
/// 单元格类型
|
||
/// </summary>
|
||
public CategoryAttributeManager.LogisticsElementType CellType { get; set; }
|
||
|
||
/// <summary>
|
||
/// 相关的模型项引用（可选）
|
||
/// </summary>
|
||
public ModelItem RelatedModelItem { get; set; }
|
||
|
||
/// <summary>
|
||
/// 是否在通道内 - A*改进方案新增字段
|
||
/// </summary>
|
||
public bool IsInChannel { get; set; }
|
||
|
||
/// <summary>
|
||
/// 可通行高度区间列表 - 支持2.5D路径规划
|
||
/// </summary>
|
||
public HeightInterval PassableHeight { get; set; }
|
||
|
||
/// <summary>
|
||
/// 通道类型 - 用于区分不同类型的通道
|
||
/// </summary>
|
||
public ChannelType ChannelType { get; set; }
|
||
|
||
/// <summary>
|
||
/// 世界坐标位置 - 用于高度计算和空间查询
|
||
/// </summary>
|
||
public Point3D WorldPosition { get; set; }
|
||
|
||
/// <summary>
|
||
/// 根据物流类型获取通行成本
|
||
/// </summary>
|
||
/// <returns>通行成本</returns>
|
||
public double GetCost()
|
||
{
|
||
if (!IsWalkable)
|
||
return double.MaxValue;
|
||
|
||
switch (CellType)
|
||
{
|
||
case CategoryAttributeManager.LogisticsElementType.通道:
|
||
return 0.5;
|
||
case CategoryAttributeManager.LogisticsElementType.装卸区:
|
||
return 0.8;
|
||
case CategoryAttributeManager.LogisticsElementType.停车位:
|
||
return 0.9;
|
||
case CategoryAttributeManager.LogisticsElementType.楼板:
|
||
return 1.0;
|
||
case CategoryAttributeManager.LogisticsElementType.门:
|
||
return 1.2;
|
||
case CategoryAttributeManager.LogisticsElementType.楼梯:
|
||
return 3.0;
|
||
case CategoryAttributeManager.LogisticsElementType.电梯:
|
||
return 2.0;
|
||
case CategoryAttributeManager.LogisticsElementType.走廊:
|
||
return 0.6;
|
||
case CategoryAttributeManager.LogisticsElementType.Unknown:
|
||
// Unknown类型（空洞）永远不可通行
|
||
return double.MaxValue;
|
||
case CategoryAttributeManager.LogisticsElementType.障碍物:
|
||
// 障碍物永远不可通行
|
||
return double.MaxValue;
|
||
default:
|
||
return 1.0;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 创建障碍物单元格
|
||
/// </summary>
|
||
/// <returns>障碍物单元格</returns>
|
||
public static GridCell CreateObstacle()
|
||
{
|
||
var cell = new GridCell
|
||
{
|
||
IsWalkable = false,
|
||
CellType = CategoryAttributeManager.LogisticsElementType.障碍物,
|
||
IsInChannel = false,
|
||
PassableHeight = new HeightInterval(),
|
||
ChannelType = ChannelType.Other
|
||
};
|
||
cell.Cost = cell.GetCost();
|
||
return cell;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 创建开放空间单元格
|
||
/// </summary>
|
||
/// <returns>开放空间单元格</returns>
|
||
public static GridCell CreateOpenSpace()
|
||
{
|
||
var cell = new GridCell
|
||
{
|
||
IsWalkable = true,
|
||
CellType = CategoryAttributeManager.LogisticsElementType.楼板,
|
||
IsInChannel = false,
|
||
PassableHeight = new HeightInterval(),
|
||
ChannelType = ChannelType.Other
|
||
};
|
||
cell.Cost = cell.GetCost();
|
||
return cell;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 创建门单元格
|
||
/// </summary>
|
||
/// <param name="isOpen">门是否打开</param>
|
||
/// <returns>门单元格</returns>
|
||
public static GridCell CreateDoor(bool isOpen = true)
|
||
{
|
||
var cell = new GridCell
|
||
{
|
||
IsWalkable = isOpen,
|
||
CellType = CategoryAttributeManager.LogisticsElementType.门,
|
||
IsInChannel = isOpen,
|
||
PassableHeight = new HeightInterval(),
|
||
ChannelType = ChannelType.Other
|
||
};
|
||
cell.Cost = cell.GetCost();
|
||
return cell;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 创建通道单元格
|
||
/// </summary>
|
||
/// <param name="channelType">通道类型</param>
|
||
/// <returns>通道单元格</returns>
|
||
public static GridCell CreateChannel(ChannelType channelType = ChannelType.Corridor)
|
||
{
|
||
var cell = new GridCell
|
||
{
|
||
IsWalkable = true,
|
||
CellType = CategoryAttributeManager.LogisticsElementType.通道,
|
||
IsInChannel = true,
|
||
PassableHeight = new HeightInterval(),
|
||
ChannelType = channelType
|
||
};
|
||
cell.Cost = cell.GetCost();
|
||
return cell;
|
||
}
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 高度区间结构体 - 用于2.5D路径规划
|
||
/// 表示某个网格位置的可通行高度范围
|
||
/// </summary>
|
||
public struct HeightInterval
|
||
{
|
||
/// <summary>
|
||
/// 最小高度（米）
|
||
/// </summary>
|
||
public double MinZ { get; set; }
|
||
|
||
/// <summary>
|
||
/// 最大高度（米）
|
||
/// </summary>
|
||
public double MaxZ { get; set; }
|
||
|
||
/// <summary>
|
||
/// 构造函数
|
||
/// </summary>
|
||
/// <param name="minZ">最小高度</param>
|
||
/// <param name="maxZ">最大高度</param>
|
||
public HeightInterval(double minZ, double maxZ)
|
||
{
|
||
MinZ = minZ;
|
||
MaxZ = maxZ;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 检查指定高度是否在此区间内
|
||
/// </summary>
|
||
/// <param name="height">要检查的高度</param>
|
||
/// <returns>是否在区间内</returns>
|
||
public bool Contains(double height)
|
||
{
|
||
return height >= MinZ && height <= MaxZ;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 检查指定高度范围是否与此区间有重叠
|
||
/// </summary>
|
||
/// <param name="minHeight">要检查的最小高度</param>
|
||
/// <param name="maxHeight">要检查的最大高度</param>
|
||
/// <returns>是否有重叠</returns>
|
||
public bool Overlaps(double minHeight, double maxHeight)
|
||
{
|
||
return maxHeight >= MinZ && minHeight <= MaxZ;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取区间的高度跨度
|
||
/// </summary>
|
||
/// <returns>高度跨度</returns>
|
||
public double GetSpan()
|
||
{
|
||
return MaxZ - MinZ;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取区间的中心高度
|
||
/// </summary>
|
||
/// <returns>中心高度</returns>
|
||
public double GetCenter()
|
||
{
|
||
return (MinZ + MaxZ) / 2.0;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 重写ToString方法
|
||
/// </summary>
|
||
/// <returns>字符串表示</returns>
|
||
public override string ToString()
|
||
{
|
||
return $"[{MinZ:F2}m - {MaxZ:F2}m]";
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 通道覆盖信息
|
||
/// 存储通道构建器生成的网格地图和相关数据
|
||
/// </summary>
|
||
public class ChannelCoverage
|
||
{
|
||
/// <summary>
|
||
/// 网格地图
|
||
/// </summary>
|
||
public GridMap GridMap { get; set; }
|
||
|
||
/// <summary>
|
||
/// 通道物品列表
|
||
/// </summary>
|
||
public List<ModelItem> ChannelItems { get; set; } = new List<ModelItem>();
|
||
|
||
/// <summary>
|
||
/// 总边界框
|
||
/// </summary>
|
||
public BoundingBox3D TotalBounds { get; set; }
|
||
|
||
/// <summary>
|
||
/// 获取统计信息
|
||
/// </summary>
|
||
/// <returns>统计信息字符串</returns>
|
||
public string GetStatistics()
|
||
{
|
||
var channelCellCount = 0;
|
||
if (GridMap?.Cells != null)
|
||
{
|
||
for (int x = 0; x < GridMap.Width; x++)
|
||
{
|
||
for (int y = 0; y < GridMap.Height; y++)
|
||
{
|
||
if (GridMap.Cells[x, y].CellType == CategoryAttributeManager.LogisticsElementType.通道)
|
||
{
|
||
channelCellCount++;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
return $"通道覆盖统计: {ChannelItems.Count} 个通道物品, {channelCellCount} 个通道网格单元, " +
|
||
$"网格大小: {GridMap?.Width}x{GridMap?.Height}";
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 自动路径规划异常
|
||
/// </summary>
|
||
public class AutoPathPlanningException : Exception
|
||
{
|
||
public AutoPathPlanningException(string message) : base(message) { }
|
||
public AutoPathPlanningException(string message, Exception innerException) : base(message, innerException) { }
|
||
}
|
||
} |