267 lines
9.6 KiB
C#
267 lines
9.6 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Threading;
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using System.Threading.Tasks;
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using Autodesk.Navisworks.Api;
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using NavisworksTransport.PathPlanning;
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namespace NavisworksTransport.Commands
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{
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/// <summary>
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/// 体素网格 SDF 测试命令
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/// 使用 geometry4Sharp 的 MeshSignedDistanceGrid 进行精确体素化
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/// 用于对比性能：射线投射法 vs 签名距离场法
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/// </summary>
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public class VoxelGridSDFTestCommand : CommandBase
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{
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private readonly Document _document;
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private readonly double _cellSize;
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private readonly int _samplingRate;
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private readonly double _vehicleRadius;
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private readonly double _vehicleHeight;
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public VoxelGridSDFTestCommand(
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Document document,
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double cellSize,
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int samplingRate,
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double vehicleRadius,
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double vehicleHeight)
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: base("VoxelGridSDFTest", "体素网格SDF测试", "使用签名距离场进行精确体素化")
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{
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_document = document ?? throw new ArgumentNullException(nameof(document));
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_cellSize = cellSize;
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_samplingRate = samplingRate;
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_vehicleRadius = vehicleRadius;
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_vehicleHeight = vehicleHeight;
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}
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protected override PathPlanningResult ValidateParameters()
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{
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if (_document == null)
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{
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return PathPlanningResult.ValidationFailure("Navisworks 文档对象为空");
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}
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if (_cellSize <= 0)
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{
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return PathPlanningResult.ValidationFailure("体素大小必须大于0");
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}
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return PathPlanningResult.Success("参数验证通过");
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}
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protected override async Task<PathPlanningResult> ExecuteInternalAsync(CancellationToken cancellationToken)
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{
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try
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{
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LogInfo("=== 开始体素网格 SDF 测试 ===");
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LogInfo($"体素大小: {_cellSize}米");
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LogInfo($"车辆半径: {_vehicleRadius}米");
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LogInfo($"车辆高度: {_vehicleHeight}米");
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LogInfo($"采样率: {_samplingRate}");
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UpdateProgress(5, "正在获取模型空间范围...");
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// 步骤1: 获取整个模型空间的包围盒
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BoundingBox3D spaceBounds = GetSpaceBounds(_document);
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if (spaceBounds == null)
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{
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return PathPlanningResult.Failure("无法获取模型空间范围");
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}
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LogInfo($"空间范围: Min={spaceBounds.Min}, Max={spaceBounds.Max}");
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UpdateProgress(15, "正在收集场景中的所有模型对象...");
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// 步骤2: 收集场景中所有带几何信息的对象
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var allModelItems = GetAllModelItems(_document);
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LogInfo($"场景中共有 {allModelItems.Count} 个带几何信息的模型对象");
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if (allModelItems.Count == 0)
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{
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return PathPlanningResult.Failure("场景中没有找到任何带几何信息的模型对象");
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}
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UpdateProgress(25, "正在使用 MeshSignedDistanceGrid 生成体素网格...");
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// 步骤3: 使用 SDF 方法生成体素网格
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var generator = new VoxelGridGenerator();
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var voxelGrid = generator.GenerateFromBIMWithSDF(
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spaceBounds,
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_cellSize,
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_vehicleRadius,
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_vehicleHeight,
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allModelItems);
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LogInfo($"体素网格生成完成: {voxelGrid.SizeX}×{voxelGrid.SizeY}×{voxelGrid.SizeZ} = {voxelGrid.TotalVoxels} 个体素");
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UpdateProgress(70, "正在统计体素分布...");
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// 步骤4: 统计结果
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var (total, passable, obstacle) = voxelGrid.GetStatistics();
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LogInfo($"体素统计: 总数={total}, 自由空间={passable} ({passable*100.0/total:F1}%), 障碍物={obstacle} ({obstacle*100.0/total:F1}%)");
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UpdateProgress(75, "正在生成可视化数据...");
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// 步骤5: 生成可视化
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var voxelPoints = VoxelGridVisualizer.VisualizeAsPoints(
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voxelGrid,
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samplingRate: _samplingRate,
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showPassableOnly: false
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);
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LogInfo($"生成了 {voxelPoints.Count} 个可视化点（采样率: {_samplingRate}）");
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// 步骤6: 转换为 PathRoute 以便使用现有渲染系统
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var visualRoute = VoxelGridVisualizer.ConvertToPathRoute(
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voxelPoints,
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$"VoxelGrid_SDF_{DateTime.Now:HHmmss}"
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);
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LogInfo($"可视化路径已创建: {visualRoute.Name}");
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UpdateProgress(85, "正在渲染体素网格...");
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// 步骤7: 调用 PathPointRenderPlugin 进行渲染
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var renderPlugin = PathPointRenderPlugin.Instance;
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if (renderPlugin != null)
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{
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// 设置网格大小（体素大小），让渲染器根据体素大小计算球体半径
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renderPlugin.SetGridSize(_cellSize);
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LogInfo($"已设置体素网格大小: {_cellSize}米");
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renderPlugin.RenderPointOnly(visualRoute);
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LogInfo("✓ 体素网格已成功渲染到3D视图");
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}
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else
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{
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LogWarning("PathPointRenderPlugin 实例不可用，无法渲染体素网格");
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}
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UpdateProgress(95, "正在生成报告...");
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// 步骤8: 生成文本报告
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var report = VoxelGridVisualizer.GenerateVisualizationReport(voxelGrid);
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LogInfo("=== 体素网格 SDF 测试报告 ===");
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LogInfo(report);
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UpdateProgress(100, "体素网格 SDF 测试完成");
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return PathPlanningResult.Success($"体素网格 SDF 测试完成\n\n{report}");
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}
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catch (Exception ex)
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{
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LogError($"体素网格 SDF 测试失败: {ex.Message}", ex);
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return PathPlanningResult.Failure($"体素网格 SDF 测试失败: {ex.Message}", ex);
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}
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}
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#region 私有辅助方法
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/// <summary>
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/// 获取整个模型空间的包围盒
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/// </summary>
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private BoundingBox3D GetSpaceBounds(Document document)
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{
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try
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{
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// 计算所有模型的总包围盒
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LogInfo("正在计算所有模型的总包围盒...");
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return CalculateBoundsFromAllModels(document);
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}
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catch (Exception ex)
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{
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LogError($"获取空间范围失败: {ex.Message}", ex);
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return null;
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}
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}
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/// <summary>
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/// 计算所有模型的总包围盒
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/// </summary>
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private BoundingBox3D CalculateBoundsFromAllModels(Document document)
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{
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BoundingBox3D totalBounds = null;
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foreach (var model in document.Models)
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{
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if (model.RootItem != null)
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{
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var modelBounds = model.RootItem.BoundingBox();
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if (modelBounds != null)
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{
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if (totalBounds == null)
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{
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totalBounds = modelBounds;
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}
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else
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{
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totalBounds = ExpandBounds(totalBounds, modelBounds);
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}
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}
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}
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}
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return totalBounds;
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}
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/// <summary>
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/// 扩展包围盒以包含另一个包围盒
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/// </summary>
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private BoundingBox3D ExpandBounds(BoundingBox3D bounds1, BoundingBox3D bounds2)
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{
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var min = new Point3D(
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Math.Min(bounds1.Min.X, bounds2.Min.X),
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Math.Min(bounds1.Min.Y, bounds2.Min.Y),
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Math.Min(bounds1.Min.Z, bounds2.Min.Z)
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);
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var max = new Point3D(
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Math.Max(bounds1.Max.X, bounds2.Max.X),
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Math.Max(bounds1.Max.Y, bounds2.Max.Y),
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Math.Max(bounds1.Max.Z, bounds2.Max.Z)
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);
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return new BoundingBox3D(min, max);
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}
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/// <summary>
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/// 获取场景中所有带几何信息的模型对象
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/// </summary>
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private List<ModelItem> GetAllModelItems(Document document)
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{
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var items = new List<ModelItem>();
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// 遍历文档中的所有模型
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foreach (var model in document.Models)
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{
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if (model.RootItem != null)
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{
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CollectAllItems(model.RootItem, items);
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}
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}
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return items;
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}
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/// <summary>
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/// 递归收集所有带几何信息的对象
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/// </summary>
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private void CollectAllItems(ModelItem item, List<ModelItem> result)
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{
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// 如果当前对象有几何信息，加入结果
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if (item.HasGeometry)
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{
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result.Add(item);
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}
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// 递归处理所有子对象
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foreach (var child in item.Children)
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{
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CollectAllItems(child, result);
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}
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}
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#endregion
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}
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}
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