519 lines
21 KiB
C#
519 lines
21 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.PathPlanning;
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namespace NavisworksTransport.PathPlanning
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{
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/// <summary>
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/// 网格地图生成器
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/// 负责将BIM模型转换为路径规划可用的网格地图
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/// </summary>
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public class GridMapGenerator
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{
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private readonly CategoryAttributeManager _categoryManager;
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/// <summary>
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/// 构造函数
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/// </summary>
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public GridMapGenerator()
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{
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_categoryManager = new CategoryAttributeManager();
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}
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/// <summary>
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/// 从BIM模型生成网格地图
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/// </summary>
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/// <param name="document">Navisworks文档</param>
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/// <param name="bounds">规划区域边界</param>
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/// <param name="cellSize">网格单元格大小（米）</param>
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/// <param name="vehicleRadius">车辆半径（用于障碍物膨胀）</param>
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/// <returns>生成的网格地图</returns>
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public GridMap GenerateFromBIM(Document document, BoundingBox3D bounds, double cellSize = 0.5, double vehicleRadius = 1.0)
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{
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try
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{
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// 获取单位转换系数，将米转换为模型单位
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double metersToModelUnits = GetMetersToModelUnitsConversionFactor();
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double cellSizeInModelUnits = cellSize * metersToModelUnits;
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double vehicleRadiusInModelUnits = vehicleRadius * metersToModelUnits;
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LogManager.Info($"开始生成网格地图: 边界={bounds}");
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LogManager.Info($"单元格大小: {cellSize}m = {cellSizeInModelUnits:F2}模型单位");
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LogManager.Info($"车辆半径: {vehicleRadius}m = {vehicleRadiusInModelUnits:F2}模型单位");
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LogManager.Info($"模型单位: {Application.ActiveDocument.Units}, 转换系数: {metersToModelUnits}");
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// 创建基础网格地图（使用模型单位）
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var gridMap = new GridMap(bounds, cellSizeInModelUnits);
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LogManager.Info($"创建网格地图: {gridMap.Width}x{gridMap.Height} = {gridMap.Width * gridMap.Height}个单元格");
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// 获取规划区域内的所有模型项
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var modelItems = GetModelItemsInBounds(document, bounds);
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LogManager.Info($"在规划区域内找到 {modelItems.Count} 个模型项");
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// 识别障碍物
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var obstacles = GetObstacleItems(modelItems);
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LogManager.Info($"识别出 {obstacles.Count} 个障碍物");
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// 标记障碍物单元格
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MarkObstacleCells(gridMap, obstacles);
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// 应用车辆尺寸膨胀（使用模型单位）
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if (vehicleRadiusInModelUnits > 0)
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{
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ApplyVehicleInflation(gridMap, vehicleRadiusInModelUnits);
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LogManager.Info($"已应用车辆膨胀，半径={vehicleRadius}m = {vehicleRadiusInModelUnits:F2}模型单位");
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}
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// 识别和标记特殊区域（门、通道等）
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MarkSpecialAreas(gridMap, modelItems);
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LogManager.Info($"网格地图生成完成: {gridMap.GetStatistics()}");
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return gridMap;
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}
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catch (Exception ex)
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{
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LogManager.Error($"生成网格地图时发生错误: {ex.Message}");
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throw new AutoPathPlanningException($"网格地图生成失败: {ex.Message}", ex);
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}
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}
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/// <summary>
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/// 获取指定边界内的所有模型项
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/// </summary>
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/// <param name="document">Navisworks文档</param>
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/// <param name="bounds">边界框</param>
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/// <returns>模型项列表</returns>
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private List<ModelItem> GetModelItemsInBounds(Document document, BoundingBox3D bounds)
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{
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var modelItems = new List<ModelItem>();
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try
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{
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// 遍历所有模型的根项
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foreach (var model in document.Models)
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{
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if (model.RootItem != null)
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{
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// 递归查找边界内的模型项
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CollectItemsInBounds(model.RootItem, bounds, modelItems);
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}
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}
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}
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catch (Exception ex)
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{
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LogManager.Warning($"获取模型项时发生错误: {ex.Message}");
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}
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return modelItems;
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}
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/// <summary>
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/// 递归收集边界内的模型项
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/// </summary>
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/// <param name="item">当前模型项</param>
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/// <param name="bounds">边界框</param>
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/// <param name="result">结果列表</param>
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private void CollectItemsInBounds(ModelItem item, BoundingBox3D bounds, List<ModelItem> result)
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{
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try
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{
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// 检查当前项的包围盒是否与目标边界相交
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var itemBounds = item.BoundingBox();
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if (itemBounds != null && BoundingBoxIntersects(itemBounds, bounds))
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{
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// 如果有几何信息，添加到结果中
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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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// 递归处理子项
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foreach (var child in item.Children)
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{
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CollectItemsInBounds(child, bounds, result);
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}
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}
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}
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catch (Exception ex)
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{
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LogManager.Warning($"处理模型项 {item.DisplayName} 时发生错误: {ex.Message}");
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}
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}
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/// <summary>
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/// 检查两个包围盒是否相交
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/// </summary>
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/// <param name="box1">包围盒1</param>
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/// <param name="box2">包围盒2</param>
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/// <returns>是否相交</returns>
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private bool BoundingBoxIntersects(BoundingBox3D box1, BoundingBox3D box2)
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{
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return !(box1.Max.X < box2.Min.X || box1.Min.X > box2.Max.X ||
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box1.Max.Y < box2.Min.Y || box1.Min.Y > box2.Max.Y ||
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box1.Max.Z < box2.Min.Z || box1.Min.Z > box2.Max.Z);
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}
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/// <summary>
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/// 从模型项列表中识别障碍物
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/// </summary>
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/// <param name="modelItems">模型项列表</param>
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/// <returns>障碍物列表</returns>
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public List<ModelItem> GetObstacleItems(List<ModelItem> modelItems)
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{
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var obstacles = new List<ModelItem>();
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foreach (var item in modelItems)
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{
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try
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{
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if (IsObstacle(item))
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{
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obstacles.Add(item);
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}
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}
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catch (Exception ex)
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{
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LogManager.Warning($"检查模型项 {item.DisplayName} 是否为障碍物时发生错误: {ex.Message}");
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}
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}
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return obstacles;
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}
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/// <summary>
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/// 获取米转换为模型单位的转换系数
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/// </summary>
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private double GetMetersToModelUnitsConversionFactor()
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{
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try
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{
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var units = Application.ActiveDocument.Units;
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switch (units)
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{
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case Units.Millimeters:
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return 1000.0; // 1米 = 1000毫米
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case Units.Centimeters:
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return 100.0; // 1米 = 100厘米
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case Units.Meters:
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return 1.0; // 1米 = 1米
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case Units.Inches:
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return 39.37; // 1米 = 39.37英寸
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case Units.Feet:
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return 3.281; // 1米 = 3.281英尺
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case Units.Kilometers:
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return 0.001; // 1米 = 0.001公里
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case Units.Micrometers:
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return 1000000.0; // 1米 = 1000000微米
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case Units.Microinches:
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return 39370078.74; // 1米 = 39370078.74微英寸
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case Units.Mils:
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return 39370.08; // 1米 = 39370.08密尔
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case Units.Yards:
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return 1.094; // 1米 = 1.094码
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case Units.Miles:
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return 0.000621; // 1米 = 0.000621英里
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default:
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LogManager.Warning($"未知单位类型: {units}，使用默认米单位");
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return 1.0;
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}
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}
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catch (Exception ex)
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{
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LogManager.Error($"获取单位转换系数失败: {ex.Message}");
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return 1.0;
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}
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}
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/// <summary>
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/// 判断模型项是否为障碍物
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/// </summary>
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/// <param name="item">模型项</param>
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/// <returns>是否为障碍物</returns>
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private bool IsObstacle(ModelItem item)
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{
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try
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{
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// 1. 检查是否已有物流属性标记为障碍物
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var logisticsType = CategoryAttributeManager.GetLogisticsElementType(item);
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if (logisticsType == CategoryAttributeManager.LogisticsElementType.障碍物)
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{
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return true;
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}
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// 2. 基于属性名称的启发式识别
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var displayName = item.DisplayName?.ToLower() ?? "";
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var className = item.ClassName?.ToLower() ?? "";
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// 首先检查可通行区域关键词 - 如果是可通行区域，直接返回false
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string[] traversableKeywords = { "asphalt", "沥青", "road", "道路", "path", "路径", "floor", "地面", "ground", "通道", "channel" };
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if (traversableKeywords.Any(keyword => displayName.Contains(keyword) || className.Contains(keyword)))
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{
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return false; // 明确标识为可通行区域
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}
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// 常见障碍物关键词
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string[] obstacleKeywords = { "墙", "wall", "柱", "column", "梁", "beam", "板", "slab", "栏杆", "railing" };
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if (obstacleKeywords.Any(keyword => displayName.Contains(keyword) || className.Contains(keyword)))
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{
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return true;
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}
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// 3. 基于几何特征的启发式识别 - 仅在没有明确名称信息时使用
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// 如果没有物流属性且名称不明确，保守处理：默认为可通行
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return false; // 改为默认可通行，避免过度识别障碍物
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}
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catch (Exception ex)
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{
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LogManager.Warning($"判断障碍物时发生错误: {ex.Message}");
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}
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return false; // 出错时默认为可通行
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}
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/// <summary>
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/// 基于几何特征判断是否可能是障碍物
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/// </summary>
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/// <param name="boundingBox">包围盒</param>
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/// <returns>是否可能是障碍物</returns>
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private bool IsLikelyObstacleByGeometry(BoundingBox3D boundingBox)
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{
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try
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{
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double width = boundingBox.Max.X - boundingBox.Min.X;
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double height = boundingBox.Max.Y - boundingBox.Min.Y;
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double depth = boundingBox.Max.Z - boundingBox.Min.Z;
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// 忽略过小的对象
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if (width < 0.1 && height < 0.1)
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return false;
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// 判断是否为墙体（薄且高）
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if ((width < 0.5 && height > 1.0 && depth > 2.0) ||
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(height < 0.5 && width > 1.0 && depth > 2.0))
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{
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return true;
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}
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// 判断是否为柱子（相对较小但较高）
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if (width < 1.0 && height < 1.0 && depth > 2.0)
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{
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return true;
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}
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// 判断是否为大型结构元素
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if ((width > 10.0 || height > 10.0) && depth > 0.5)
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{
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return true;
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}
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}
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catch (Exception ex)
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{
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LogManager.Warning($"基于几何特征判断障碍物时发生错误: {ex.Message}");
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}
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return false;
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}
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/// <summary>
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/// 在网格地图中标记障碍物单元格
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/// </summary>
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/// <param name="gridMap">网格地图</param>
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/// <param name="obstacles">障碍物列表</param>
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private void MarkObstacleCells(GridMap gridMap, List<ModelItem> obstacles)
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{
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int markedCells = 0;
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foreach (var obstacle in obstacles)
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{
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try
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{
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var boundingBox = obstacle.BoundingBox();
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if (boundingBox == null) continue;
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// 将障碍物包围盒投影到网格
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var minGrid = gridMap.WorldToGrid(boundingBox.Min);
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var maxGrid = gridMap.WorldToGrid(boundingBox.Max);
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// 标记相交的网格单元格为障碍物
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for (int x = Math.Max(0, minGrid.X); x <= Math.Min(gridMap.Width - 1, maxGrid.X); x++)
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{
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for (int y = Math.Max(0, minGrid.Y); y <= Math.Min(gridMap.Height - 1, maxGrid.Y); y++)
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{
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var gridPos = new Point2D(x, y);
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gridMap.SetCell(gridPos, false, double.MaxValue, ElementType.Obstacle);
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markedCells++;
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}
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}
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}
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catch (Exception ex)
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{
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LogManager.Warning($"标记障碍物 {obstacle.DisplayName} 时发生错误: {ex.Message}");
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}
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}
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LogManager.Info($"已标记 {markedCells} 个网格单元格为障碍物");
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}
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/// <summary>
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/// 应用车辆尺寸膨胀
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/// 在障碍物周围扩展不可通行区域，考虑车辆尺寸
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/// </summary>
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/// <param name="gridMap">网格地图</param>
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/// <param name="vehicleRadius">车辆半径</param>
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public void ApplyVehicleInflation(GridMap gridMap, double vehicleRadius)
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{
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if (vehicleRadius <= 0) return;
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try
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{
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// 计算膨胀半径（网格单元格数）
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int inflationRadius = (int)Math.Ceiling(vehicleRadius / gridMap.CellSize);
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// 创建原始障碍物位置的副本
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var originalObstacles = new bool[gridMap.Width, gridMap.Height];
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for (int x = 0; x < gridMap.Width; x++)
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{
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for (int y = 0; y < gridMap.Height; y++)
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{
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originalObstacles[x, y] = !gridMap.Cells[x, y].IsWalkable;
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}
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}
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int inflatedCells = 0;
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// 对每个原始障碍物应用膨胀
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for (int x = 0; x < gridMap.Width; x++)
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{
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for (int y = 0; y < gridMap.Height; y++)
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{
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if (originalObstacles[x, y])
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{
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// 在障碍物周围膨胀
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for (int dx = -inflationRadius; dx <= inflationRadius; dx++)
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{
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for (int dy = -inflationRadius; dy <= inflationRadius; dy++)
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{
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int newX = x + dx;
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int newY = y + dy;
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if (newX >= 0 && newX < gridMap.Width &&
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newY >= 0 && newY < gridMap.Height)
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{
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// 计算距离
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double distance = Math.Sqrt(dx * dx + dy * dy) * gridMap.CellSize;
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if (distance <= vehicleRadius)
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{
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var gridPos = new Point2D(newX, newY);
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if (gridMap.IsWalkable(gridPos))
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{
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gridMap.SetCell(gridPos, false, double.MaxValue, ElementType.Obstacle);
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inflatedCells++;
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}
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}
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}
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}
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}
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}
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}
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}
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LogManager.Info($"车辆膨胀完成，膨胀半径={inflationRadius}格，新增障碍物单元格={inflatedCells}个");
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}
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catch (Exception ex)
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{
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LogManager.Error($"应用车辆膨胀时发生错误: {ex.Message}");
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throw new AutoPathPlanningException($"车辆膨胀失败: {ex.Message}", ex);
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}
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}
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/// <summary>
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/// 标记特殊区域（门、通道等）
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/// </summary>
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/// <param name="gridMap">网格地图</param>
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/// <param name="modelItems">模型项列表</param>
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private void MarkSpecialAreas(GridMap gridMap, List<ModelItem> modelItems)
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{
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int doorCells = 0;
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int channelCells = 0;
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foreach (var item in modelItems)
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{
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try
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{
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var logisticsType = CategoryAttributeManager.GetLogisticsElementType(item);
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ElementType cellType;
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double cost;
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bool isWalkable = true;
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switch (logisticsType)
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{
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case CategoryAttributeManager.LogisticsElementType.门:
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cellType = ElementType.Door;
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cost = 5.0; // 门的通过成本较高
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doorCells++;
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break;
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case CategoryAttributeManager.LogisticsElementType.通道:
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cellType = ElementType.Channel;
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cost = 0.5; // 通道成本较低，优先选择
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channelCells++;
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break;
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default:
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continue; // 跳过其他类型
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}
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// 应用到网格
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var boundingBox = item.BoundingBox();
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if (boundingBox != null)
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||
{
|
||
MarkCellsInBoundingBox(gridMap, boundingBox, isWalkable, cost, cellType);
|
||
}
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
LogManager.Warning($"标记特殊区域 {item.DisplayName} 时发生错误: {ex.Message}");
|
||
}
|
||
}
|
||
|
||
if (doorCells > 0)
|
||
LogManager.Info($"已标记 {doorCells} 个门单元格");
|
||
if (channelCells > 0)
|
||
LogManager.Info($"已标记 {channelCells} 个通道单元格");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 在指定包围盒内标记网格单元格
|
||
/// </summary>
|
||
/// <param name="gridMap">网格地图</param>
|
||
/// <param name="boundingBox">包围盒</param>
|
||
/// <param name="isWalkable">是否可通行</param>
|
||
/// <param name="cost">通行成本</param>
|
||
/// <param name="cellType">单元格类型</param>
|
||
private void MarkCellsInBoundingBox(GridMap gridMap, BoundingBox3D boundingBox,
|
||
bool isWalkable, double cost, ElementType cellType)
|
||
{
|
||
var minGrid = gridMap.WorldToGrid(boundingBox.Min);
|
||
var maxGrid = gridMap.WorldToGrid(boundingBox.Max);
|
||
|
||
for (int x = Math.Max(0, minGrid.X); x <= Math.Min(gridMap.Width - 1, maxGrid.X); x++)
|
||
{
|
||
for (int y = Math.Max(0, minGrid.Y); y <= Math.Min(gridMap.Height - 1, maxGrid.Y); y++)
|
||
{
|
||
var gridPos = new Point2D(x, y);
|
||
// 只有当前单元格可通行时才更新（不覆盖障碍物）
|
||
if (gridMap.IsWalkable(gridPos))
|
||
{
|
||
gridMap.SetCell(gridPos, isWalkable, cost, cellType);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
} |