tian
d889635c1c
- 创建 SpatialHashGrid.cs: 基于 Vector3i 的3D空间哈希表 - 支持对象插入、范围查询、格子查询 - O(1) 平均查询复杂度 - 带精确距离检查的范围查询 - 创建 SpatialIndexManager.cs: 全局空间索引管理器 - 单例模式，所有动画共享 - 构建全局索引（索引所有几何对象） - FindNearbyObjects: 高效范围查询 - 对象位置缓存（避免重复计算包围盒） 技术细节： - 使用 geometry4Sharp (g4) 的 Vector3d, Vector3i - 基于 Dictionary<Vector3i, List<ModelItem>> 实现 - 格子大小可配置（建议设为车辆半径 × 2） 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
294 lines
10 KiB
C#
294 lines
10 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using Autodesk.Navisworks.Api;
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using NavisworksTransport.Utils;
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using g4; // geometry4Sharp
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namespace NavisworksTransport.Core.Spatial
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{
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/// <summary>
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/// 全局空间索引管理器
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/// 单例模式，为所有动画提供高效的空间查询服务
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/// </summary>
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public class SpatialIndexManager
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{
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private static SpatialIndexManager _instance;
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private static readonly object _lockObj = new object();
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/// <summary>
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/// 单例实例
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/// </summary>
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public static SpatialIndexManager Instance
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{
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get
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{
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if (_instance == null)
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{
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lock (_lockObj)
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{
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if (_instance == null)
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{
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_instance = new SpatialIndexManager();
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}
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}
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}
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return _instance;
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}
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}
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private SpatialHashGrid<ModelItem> _globalSpatialIndex;
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private double _cellSize = 1.0; // 默认格子大小（模型单位）
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private bool _isInitialized = false;
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private int _indexedObjectCount = 0;
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// 缓存对象位置，避免重复计算
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private readonly Dictionary<ModelItem, Vector3d> _objectPositions = new Dictionary<ModelItem, Vector3d>();
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private SpatialIndexManager()
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{
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}
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/// <summary>
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/// 空间索引是否已初始化
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/// </summary>
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public bool IsInitialized => _isInitialized;
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/// <summary>
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/// 格子大小（模型单位）
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/// </summary>
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public double CellSize => _cellSize;
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/// <summary>
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/// 已索引的对象数量
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/// </summary>
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public int IndexedObjectCount => _indexedObjectCount;
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/// <summary>
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/// 构建全局空间索引
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/// </summary>
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/// <param name="cellSizeInModelUnits">格子大小（模型单位），建议设置为车辆半径的2倍</param>
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public void BuildGlobalIndex(double cellSizeInModelUnits = 1.0)
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{
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var sw = Stopwatch.StartNew();
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LogManager.Info("[空间索引] 开始构建全局空间索引");
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LogManager.Info($"[空间索引] 格子大小: {cellSizeInModelUnits:F2} 模型单位");
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try
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{
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_cellSize = cellSizeInModelUnits;
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// 1. 获取所有几何对象
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var allItems = Application.ActiveDocument.Models.RootItemDescendantsAndSelf
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.Where(item => item.HasGeometry)
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.ToList();
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LogManager.Info($"[空间索引] 找到 {allItems.Count} 个几何对象");
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if (allItems.Count == 0)
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{
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LogManager.Warning("[空间索引] 场景中没有几何对象");
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return;
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}
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// 2. 创建空间哈希网格
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_globalSpatialIndex = new SpatialHashGrid<ModelItem>(cellSizeInModelUnits);
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_objectPositions.Clear();
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// 3. 索引所有对象
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int indexedCount = 0;
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int failedCount = 0;
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foreach (var item in allItems)
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{
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try
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{
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// 获取包围盒中心作为对象位置
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var bbox = item.BoundingBox();
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var center = new Vector3d(
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(bbox.Min.X + bbox.Max.X) / 2.0,
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(bbox.Min.Y + bbox.Max.Y) / 2.0,
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(bbox.Min.Z + bbox.Max.Z) / 2.0
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);
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// 插入到空间索引
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_globalSpatialIndex.Insert(item, center);
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// 缓存位置
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_objectPositions[item] = center;
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indexedCount++;
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}
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catch (Exception ex)
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{
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LogManager.Warning($"[空间索引] 索引对象失败: {item.DisplayName}, 错误: {ex.Message}");
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failedCount++;
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}
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}
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_indexedObjectCount = indexedCount;
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_isInitialized = true;
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sw.Stop();
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LogManager.Info("[空间索引] 构建完成");
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LogManager.Info($" - 成功索引: {indexedCount} 个对象");
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LogManager.Info($" - 失败: {failedCount} 个对象");
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LogManager.Info($" - 格子数量: {_globalSpatialIndex.CellCount} 个");
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LogManager.Info($" - 耗时: {sw.ElapsedMilliseconds} ms");
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// 输出统计信息
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LogManager.Debug("[空间索引] " + _globalSpatialIndex.GetStatistics());
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}
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catch (Exception ex)
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{
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LogManager.Error($"[空间索引] 构建失败: {ex.Message}");
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LogManager.Error($"[空间索引] 堆栈跟踪: {ex.StackTrace}");
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_isInitialized = false;
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throw;
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}
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}
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/// <summary>
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/// 范围查询：查找指定位置附近的对象
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/// </summary>
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/// <param name="position">查询中心位置（Navisworks Point3D）</param>
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/// <param name="searchRadiusInModelUnits">查询半径（模型单位）</param>
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/// <param name="excludeObject">要排除的对象（通常是移动物体本身）</param>
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/// <returns>范围内的对象列表</returns>
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public List<ModelItem> FindNearbyObjects(
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Point3D position,
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double searchRadiusInModelUnits,
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ModelItem excludeObject = null)
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{
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if (!_isInitialized)
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{
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throw new InvalidOperationException(
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"[空间索引] 空间索引未初始化，请先调用 BuildGlobalIndex()");
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}
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var sw = Stopwatch.StartNew();
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try
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{
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// 转换为 geometry4Sharp 的 Vector3d
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var centerVec = new Vector3d(position.X, position.Y, position.Z);
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// 使用空间哈希网格进行范围查询（带精确距离检查）
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var nearbyObjects = _globalSpatialIndex.FindInRadiusExact(
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centerVec,
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searchRadiusInModelUnits,
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getPositionFunc: item =>
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{
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// 从缓存中获取对象位置
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if (_objectPositions.TryGetValue(item, out var pos))
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{
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return pos;
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}
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// 缓存未命中，重新计算（理论上不应该发生）
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var bbox = item.BoundingBox();
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return new Vector3d(
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(bbox.Min.X + bbox.Max.X) / 2.0,
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(bbox.Min.Y + bbox.Max.Y) / 2.0,
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(bbox.Min.Z + bbox.Max.Z) / 2.0
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);
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}
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);
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// 排除指定对象
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if (excludeObject != null)
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{
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nearbyObjects = nearbyObjects.Where(obj => !obj.Equals(excludeObject)).ToList();
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}
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sw.Stop();
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LogManager.Debug($"[空间索引] 范围查询完成: " +
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$"位置=({position.X:F2}, {position.Y:F2}, {position.Z:F2}), " +
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$"半径={searchRadiusInModelUnits:F2}, " +
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$"结果={nearbyObjects.Count} 个对象, " +
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$"耗时={sw.Elapsed.TotalMilliseconds:F2}ms");
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return nearbyObjects;
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}
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catch (Exception ex)
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{
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LogManager.Error($"[空间索引] 范围查询失败: {ex.Message}");
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throw;
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}
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}
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/// <summary>
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/// 范围查询（带排除列表）
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/// </summary>
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/// <param name="position">查询中心位置</param>
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/// <param name="searchRadiusInModelUnits">查询半径</param>
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/// <param name="excludeObjects">要排除的对象列表</param>
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/// <returns>范围内的对象列表</returns>
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public List<ModelItem> FindNearbyObjects(
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Point3D position,
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double searchRadiusInModelUnits,
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IEnumerable<ModelItem> excludeObjects)
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{
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var results = FindNearbyObjects(position, searchRadiusInModelUnits, excludeObject: null);
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if (excludeObjects != null)
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{
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var excludeSet = new HashSet<ModelItem>(excludeObjects);
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results = results.Where(obj => !excludeSet.Contains(obj)).ToList();
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}
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return results;
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}
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/// <summary>
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/// 获取对象的缓存位置
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/// </summary>
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/// <param name="item">模型对象</param>
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/// <returns>对象的3D位置（Vector3d）</returns>
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public Vector3d? GetObjectPosition(ModelItem item)
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{
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if (_objectPositions.TryGetValue(item, out var pos))
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{
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return pos;
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}
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return null;
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}
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/// <summary>
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/// 清除空间索引
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/// </summary>
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public void Clear()
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{
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LogManager.Info("[空间索引] 清除空间索引");
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_globalSpatialIndex?.Clear();
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_objectPositions.Clear();
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_isInitialized = false;
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_indexedObjectCount = 0;
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LogManager.Info("[空间索引] 空间索引已清除");
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}
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/// <summary>
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/// 获取空间索引统计信息
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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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if (!_isInitialized)
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{
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return "[空间索引] 未初始化";
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}
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return $"[空间索引] 统计信息:\n" +
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$" - 已索引对象: {_indexedObjectCount} 个\n" +
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$" - 格子大小: {_cellSize:F2} 模型单位\n" +
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$" - 格子数量: {_globalSpatialIndex.CellCount} 个\n" +
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$"{_globalSpatialIndex.GetStatistics()}";
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}
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}
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}
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