feat(v3.2): assembly tree + benchmark report + CI/Python/3MF

2026-07-24 11:50:00 +00:00
parent e67b758566
commit efb15ea8f2
4 changed files with 219 additions and 53 deletions
@@ -0,0 +1,134 @@
+#pragma once
+#include "vde/brep/brep.h"
+#include "vde/core/transform.h"
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace vde::brep {
+
+using core::Point3D;
+using core::Vector3D;
+using core::Transform3D;
+
+/**
+ * @brief 装配体节点
+ *
+ * 表示装配体树中的一个节点，可以是零件（含 B-Rep 模型）或子装配体。
+ * 每个节点有局部变换矩阵和名称。
+ *
+ * @ingroup brep
+ */
+struct AssemblyNode {
+    /// 节点名称
+    std::string name;
+
+    /// 局部（相对父节点）变换矩阵
+    Transform3D local_transform = Transform3D::Identity();
+
+    /// 此节点的 B-Rep 模型（零件），可选
+    std::optional<BrepModel> model;
+
+    /// 子节点列表
+    std::vector<std::unique_ptr<AssemblyNode>> children;
+
+    /// 是否是零件节点（有 model）还是子装配体（有 children）
+    [[nodiscard]] bool is_part() const { return model.has_value() && children.empty(); }
+
+    /// 添加子节点
+    AssemblyNode* add_child(std::unique_ptr<AssemblyNode> child) {
+        auto* ptr = child.get();
+        children.push_back(std::move(child));
+        return ptr;
+    }
+
+    /// 添加 B-Rep 零件
+    AssemblyNode* add_part(const std::string& part_name, BrepModel part_model,
+                           const Transform3D& transform = Transform3D::Identity()) {
+        auto node = std::make_unique<AssemblyNode>();
+        node->name = part_name;
+        node->model = std::move(part_model);
+        node->local_transform = transform;
+        return add_child(std::move(node));
+    }
+
+    /// 添加子装配体
+    AssemblyNode* add_subassembly(const std::string& sub_name,
+                                  const Transform3D& transform = Transform3D::Identity()) {
+        auto node = std::make_unique<AssemblyNode>();
+        node->name = sub_name;
+        node->local_transform = transform;
+        return add_child(std::move(node));
+    }
+};
+
+/**
+ * @brief 装配体
+ *
+ * 装配体树的根节点。管理零件和子装配体的层级结构。
+ *
+ * @code{.cpp}
+ * Assembly assembly("robot_arm");
+ * auto* base = assembly.root().add_part("base", make_box(10,10,2));
+ * auto* arm = assembly.root().add_subassembly("arm",
+ *     Transform3D::Translation(0,0,2));
+ * arm->add_part("segment1", make_cylinder(0.5, 8));
+ * @endcode
+ *
+ * @ingroup brep
+ */
+struct Assembly {
+    /// 装配体名称
+    std::string name;
+
+    /// 版本号
+    std::string version = "1.0";
+
+    /// 根节点
+    AssemblyNode root;
+
+    explicit Assembly(const std::string& n) : name(n) { root.name = n; }
+
+    /// 遍历所有零件节点
+    template <typename Visitor>
+    void visit_parts(Visitor&& visitor) const {
+        visit_parts_impl(&root, Transform3D::Identity(),
+                         std::forward<Visitor>(visitor));
+    }
+
+    /// 统计零件总数
+    [[nodiscard]] size_t part_count() const {
+        size_t count = 0;
+        visit_parts([&count](const std::string&, const BrepModel&, const Transform3D&) {
+            ++count;
+        });
+        return count;
+    }
+
+    /// 统计节点总数（含子装配体）
+    [[nodiscard]] size_t node_count() const {
+        return node_count_impl(&root);
+    }
+
+private:
+    template <typename Visitor>
+    void visit_parts_impl(const AssemblyNode* node, const Transform3D& parent_xform,
+                          Visitor&& visitor) const {
+        Transform3D world = parent_xform * node->local_transform;
+        if (node->model.has_value()) {
+            visitor(node->name, *node->model, world);
+        }
+        for (const auto& child : node->children) {
+            visit_parts_impl(child.get(), world, std::forward<Visitor>(visitor));
+        }
+    }
+
+    size_t node_count_impl(const AssemblyNode* node) const {
+        size_t n = 1; // count this node
+        for (const auto& child : node->children)
+            n += node_count_impl(child.get());
+        return n;
+    }
+};
+
+} // namespace vde::brep