utils.py

import os
import json
from copy import deepcopy
import re
import ast
import numpy as np
from scipy.spatial.transform import Rotation as R
import uuid
import xml.etree.ElementTree as ET

BLOCKPROPERTYPATH=R"Besiege_blocks_markov.json"

FLIP_SENSITIVE_BLOCKS = ["2","46"]
def are_quaternions_similar(q1, angle_threshold=1e-3):
    
    q2 = np.array([0, -0.7071068, 0, 0.7071068])
    # 将四元数转换为旋转对象
    r1 = R.from_quat(q1)
    r2 = R.from_quat(q2)
    
    # 计算两个旋转之间的夹角差异
    relative_rotation = r1.inv() * r2
    angle = relative_rotation.magnitude()
    
    # 如果角度差异小于阈值，则认为两个四元数大致相同
    return angle < angle_threshold
def generate_guid():
    """生成一个唯一的GUID"""
    return str(uuid.uuid4())

def add_rotations(q1, q2):
    """叠加两个旋转四元数"""
    r1 = R.from_quat(q1)  # 从四元数创建旋转对象
    r2 = R.from_quat(q2)  # 从四元数创建旋转对象
    r_combined = r1 * r2  # 叠加旋转
    return r_combined.as_quat()  # 返回四元数 (xyzw 格式)    
def read_txt(path):
    """读取文本文件内容"""
    with open(path, "r", encoding="utf-8") as file:
        return file.read()
    
def write_file(path, content):
    """将内容写入文本文件"""
    with open(path, 'w', encoding='utf-8') as file:
        file.write(content)
def extract_json_from_string(input_string: str,return_raw_str=False):
    if isinstance(input_string,list):
        return input_string
    if os.path.exists(input_string):
        input_content = read_txt(input_string)
    else:
        input_content = deepcopy(input_string)
    match = re.search(r"```json(.*?)```", input_content, re.DOTALL)
    if match:
        json_content = match.group(1).strip()
        try:
            if return_raw_str:
                return json.loads(json_content),json_content
            return json.loads(json_content)
        except json.JSONDecodeError:
            pass

    try:
        if return_raw_str:
            return json.loads(input_content),input_content
        return json.loads(input_content)
    except json.JSONDecodeError:
        try:
            if return_raw_str:
                return json.loads(input_content),input_content
            return ast.literal_eval(input_content)
        except (ValueError, SyntaxError):
            if return_raw_str:
                return None,""
            return None

def get_relative_pos_list(bp_oldpos,ref_p,ref_r,scale=1,decimals=None):
    bp_newpos = []

    if ref_r.shape[0] != 3 or ref_r.shape[1] != 3:
        ref_r = R.from_quat(ref_r).as_matrix()  # 如果是四元数，转换为旋转矩阵

    for point in bp_oldpos:
        point_lp =  ref_p+np.dot(ref_r, point*scale)
        bp_newpos.append(tuple(point_lp))
    bp_newpos = np.array(bp_newpos)#可建造点局部位置

    if decimals!=None:
        bp_newpos = np.round(bp_newpos,decimals=decimals)

    return bp_newpos

def get_bbox(manu_lp,manu_lr,scale,bc_gc,bbox_size,gp,gr):

    if manu_lr.shape[0] != 3 or manu_lr.shape[1] != 3:
        manu_lr = R.from_quat(manu_lr).as_matrix()
    if gr.shape[0] != 3 or gr.shape[1] != 3:
        gr = R.from_quat(gr).as_matrix()

    half_bbox_size = np.array(bbox_size) / 2.0
    bbox_lp = []
    for z in [-1, 1]:
        for x in [-1, 1]:
            for y in [-1, 1]:
                point = (manu_lp+bc_gc) + (x * half_bbox_size[0], y * half_bbox_size[1], z * half_bbox_size[2])
                bc_point = point-manu_lp
                point_lp =  manu_lp+np.dot(manu_lr, bc_point*scale)
                bbox_lp.append(tuple(point_lp))
    bbox_lp = np.array(bbox_lp)#碰撞盒顶点相对位置

    bbox_gp = get_relative_pos_list(bbox_lp,gp,gr,decimals=2)
    return bbox_lp,bbox_gp

def compute_normal_vector(vertices, bp):
    bp = np.round(bp, decimals=3)
    
    # 计算每个维度的最小和最大坐标值
    min_coords = np.min(vertices, axis=0)
    max_coords = np.max(vertices, axis=0)
    
    # 初始化法向量
    normal = np.zeros(3)
    # epsilon = 5e-4  # 容差范围，还算严格
    epsilon = 0.005  # 容差范围
    
    # 检查点是否在x方向的面上
    if abs(bp[0] - min_coords[0]) < epsilon:
        normal = np.array([-1, 0, 0])  # 左面法向量
    elif abs(bp[0] - max_coords[0]) < epsilon:
        normal = np.array([1, 0, 0])   # 右面法向量
    # 检查y方向
    elif abs(bp[1] - min_coords[1]) < epsilon:
        normal = np.array([0, -1, 0])  # 下面法向量
    elif abs(bp[1] - max_coords[1]) < epsilon:
        normal = np.array([0, 1, 0])   # 上面法向量
    # 检查z方向
    elif abs(bp[2] - min_coords[2]) < epsilon:
        normal = np.array([0, 0, -1])  # 后面法向量
    elif abs(bp[2] - max_coords[2]) < epsilon:
        normal = np.array([0, 0, 1])  # 前面法向量
    else:
        raise ValueError("点不在长方体的任何一个面上")
    
    return normal

def get_mybuildingpoints(bc_bp,manu_lp,manu_lr,gp,gr,bc_gc,bbox_size,scale=1):

    bp_ori = np.array(bc_bp)
    bp_lp = get_relative_pos_list(bp_ori,manu_lp,manu_lr,scale=scale)
    bp_gp = get_relative_pos_list(bp_lp,gp,gr,decimals=2)
    bbox_lp,bbox_gp = get_bbox(manu_lp,manu_lr,scale,bc_gc,bbox_size,gp,gr)

    my_building_points = bp_gp.copy()
    my_building_points_buildrotation=[]
    # print(f"bp_gp:{bp_gp}")

    for i in range(len(my_building_points)):
        # print(f"bp_lp:{bp_lp[i]}")
        # print(f"bbox_lp:{bbox_lp}")
        normal_vector_l = compute_normal_vector(bbox_lp,bp_lp[i])
        rotated_initvec = np.array([0,0,1])
        building_points_rot_quat = rotation_quaternion(rotated_initvec,normal_vector_l)
        my_building_points_buildrotation.append(building_points_rot_quat) #这个是对的
    my_building_points_buildrotation = np.array(my_building_points_buildrotation)

    return my_building_points,my_building_points_buildrotation

def rotation_quaternion(v_from, v_to):
    """计算从 v_from 到 v_to 的旋转四元数 (xyzw 格式)"""
    v_from = v_from / np.linalg.norm(v_from)  # 单位化
    v_to = v_to / np.linalg.norm(v_to)        # 单位化

    # 计算旋转轴和旋转角
    cross = np.cross(v_from, v_to)
    dot = np.dot(v_from, v_to)
    
    if np.allclose(cross, 0) and np.allclose(dot, 1):
        return np.array([0, 0, 0, 1])  # 无需旋转
    elif np.allclose(cross, 0) and np.allclose(dot, -1):
        # 特殊情况：v_from 和 v_to 反方向
        # 选择一个垂直于 v_from 的轴作为旋转轴
        if np.isclose(v_from[0], 0) and np.isclose(v_from[1], 0):
            axis = np.array([0, 1, 0])  # 如果 v_from 在 z 轴上，选择 y 轴作为旋转轴
        else:
            axis = np.cross(v_from, np.array([0, 1, 0]))  # 选择垂直于 v_from 和 y 轴的向量
        axis = axis / np.linalg.norm(axis)
        angle = np.pi
    else:
        angle = np.arccos(dot)
        axis = cross / np.linalg.norm(cross)

    # 生成四元数
    q = R.from_rotvec(axis * angle).as_quat()  # xyzw格式
    return q

def format_json(input_json):
    try:
        new_clean_json=[]
        for json_info in input_json:
            new_clean_dict={}
            if int(json_info["id"]) not in [7,9]:
                new_clean_dict["id"]=str(json_info["id"])
                new_clean_dict["order_id"]=int(json_info["order_id"])
                new_clean_dict["parent"]=int(json_info["parent"])
                new_clean_dict["bp_id"]=int(json_info["bp_id"])
            else:
                new_clean_dict["id"]=str(json_info["id"])
                new_clean_dict["order_id"]=int(json_info["order_id"])
                new_clean_dict["parent_a"]=int(json_info["parent_a"])
                new_clean_dict["bp_id_a"]=int(json_info["bp_id_a"])
                new_clean_dict["parent_b"]=int(json_info["parent_b"])
                new_clean_dict["bp_id_b"]=int(json_info["bp_id_b"])
            new_clean_json.append(new_clean_dict)
        return new_clean_json                
    except:
        return input_json

def convert_to_numpy(data):
    no_globalrt = True
    for info in data:
        if "GlobalPosition" in info:
            info["GlobalPosition"] = np.array(info["GlobalPosition"])
            info["GlobalRotation"] = np.array(info["GlobalRotation"])
            no_globalrt = False
        else:

            keys_to_convert = ["corners", "building_center", "scale","manu_lr","manu_lp","bp_lr"]
            for key in keys_to_convert:
                if key in info:
                    info[key] = np.array(info[key])

    new_data = [{"GlobalPosition":np.array([0,5.05,0]),"GlobalRotation":np.array([0,0,0,1])}]
    if no_globalrt:
        new_data.extend(data)
        return new_data

    return data  # 返回原始数据

def get_3d_from_llm(block_sizes, input_info, gp, gr, log=False):
    info = deepcopy(input_info)
    for block in info:
        order_id = int(block["order_id"])
        block_id = str(block["id"])
        
        # Handle scale
        if "scale" not in block:
            block["scale"] = np.array([1,1,1])
        else:
            print(f"警告！{order_id}改变了scale！使用初始值")
            block["scale"] = np.array([1,1,1])

        # Handle rotations
        if "bp_lr" not in block:
            if "manu_lr" not in block:
                block["bp_lr"] = np.array([0,0,0,1])
            elif "manu_lr" in block and str(block.get("parent", "")) not in ("-1", ""):
                print(f"警告！{order_id}有manu_lr但不是根节点！旋转使用初始值")
                block["bp_lr"] = np.array([0,0,0,1])
                block.pop("manu_lr", None)

        block_info = block_sizes[block_id]
        parent = int(block.get("parent", -1))

        # Handle parent cases
        if parent == -1:
            if block_id not in ("0","7", "9"):
                print("警告！发现了非起始方块的无父节点块")
            
            if block_id in ("7", "9"):
                parent_a, parent_b = int(block["parent_a"]), int(block["parent_b"])
                bp_id_a, bp_id_b = int(block["bp_id_a"]), int(block["bp_id_b"])
                block["bp_lr"] = np.array([0,0,0,1])
                block["manu_lr"] = add_rotations(
                    info[parent_a]["my_building_points_buildrotation"][bp_id_a],
                    block["bp_lr"]
                )
                block["manu_lp_a"] = info[parent_a]["my_building_points"][bp_id_a] - gp
                block["manu_lp_b"] = info[parent_b]["my_building_points"][bp_id_b] - gp
            else:
                if "manu_lr" not in block:
                    block["manu_lr"] = np.array([0,0,0,1])
                    block["manu_lp"] = np.array([0,0,0])
                else:
                    print("警告！发现了某个方块的manu_lr和manu_lp")
                    if block["manu_lr"].shape != (3, 3):
                        block["manu_lr"] = R.from_matrix(block["manu_lr"]).as_quat()
        else:
            try:
                bp_id = int(block["bp_id"])
                parent_rot = info[parent]["my_building_points_buildrotation"][bp_id]
                block["manu_lr"] = add_rotations(parent_rot, block["bp_lr"])
                block["manu_lp"] = info[parent]["my_building_points"][bp_id] - gp
            except Exception:
                print(f"警告！parent:{parent},order_id{order_id}的my_building_points或my_building_points_buildrotation不存在")
                # print(info[parent])
                pass

        if block_id not in ("7", "9"):
            if block_id in FLIP_SENSITIVE_BLOCKS:
                block["flip"] = are_quaternions_similar(block["manu_lr"])

            bc_bp = block_info['bc_bp']
            bc_gc = block_info['bc_gc']
            bbox_size = block_info['bbox_size']
            
            if block_id == "30":
                bc_gc = [0,0,0.5]
                bbox_size = [1,1,1]

            building_points, build_rotation = get_mybuildingpoints(
                bc_bp, block["manu_lp"], block["manu_lr"], gp, gr, 
                bc_gc, bbox_size, scale=block["scale"]
            )
            block["my_building_points"] = building_points
            block["my_building_points_buildrotation"] = build_rotation

            if log:
                print(f"block_id:{block_id}\nscale:{block['scale']}\nbc_gc:{bc_gc}\n"
                      f"bbox_size:{bbox_size}\nmanu_lp:{block['manu_lp']}\n"
                      f"manu_lr:{block['manu_lr']}\nmy_building_points:{building_points}\n"
                      f"my_building_points_buildrotation:{build_rotation}")
    
    return info

def llm2xml_filetree(block_details, block_sizes_path, selected_menu=None):
    with open(block_sizes_path, 'r', encoding='utf-8') as file:
        block_sizes = json.load(file)
    
    global_rt = block_details.pop(0)
    gp, gr_quat = global_rt["GlobalPosition"], global_rt["GlobalRotation"]
    gr_matrix = R.from_quat(gr_quat).as_matrix()

    blocks_to_delete = set() # 使用集合以避免重复添加和快速查找
    blocks_to_delete_feedback = []

    #先对block_details做一个整体格式检查
    linear = {"id","order_id","parent_a", "bp_id_a", "parent_b", "bp_id_b"}
    non_linear = {"id","order_id", "parent", "bp_id"}
    for i, block in enumerate(block_details):
        if not (set(block.keys()) == linear or set(block.keys()) == non_linear):
            blocks_to_delete.add(i)
            blocks_to_delete_feedback.append(
                f"警告：块(orderID {i})结构非法"
            )
            
    order_id_map = {int(b["order_id"]): b for b in block_details} # 方便快速查找父块

    for i,block in enumerate(block_details):
        is_linear = False
        parent_order_a=-1
        parent_order_b=-1

        #检查一下value的格式
        format_error = False
        for k,v in block.items():
            if k =="id": 
               if not isinstance(v,str):
                   if isinstance(v,int):
                        v = str(v)
                   else:
                        format_error = True
                   
            if k in["order_id","parent_a", "bp_id_a", "parent_b", "bp_id_b", "parent", "bp_id"]: 
               if not isinstance(v,int):
                   if isinstance(v,str):
                       try:
                           v = int(v)
                       except:
                            format_error = True
        
        if format_error:
            
            blocks_to_delete.add(i)
            blocks_to_delete_feedback.append(f"警告：order{i}json格式非法")
            continue


        #先检查起始方块：
        if i==0:
            block_type = str(block["id"])
            order_id = int(block["order_id"])
            parent_order = int(block.get("parent", -2))
            bp_id = int(block.get("bp_id", -2))
            if any([block_type!="0",order_id!=0]):
                blocks_to_delete.add(i)
                blocks_to_delete_feedback.append(f"警告：起始方块非法")
                continue
            if any([parent_order!=-1,bp_id!=-1]):
                #起始方块不规范，parent bpid改成-1 -1
                block["parent"]=-1
                block["bp_id"]=-1


        order_id = int(block["order_id"])
        parent_order = int(block.get("parent", -1))
        if parent_order==-1 and order_id!=0:
            is_linear = True
            parent_order_a = int(block.get("parent_a", -1))
            parent_order_b = int(block.get("parent_b", -1))
            parents = [parent_order_a,parent_order_b]
        else:
            parents = [parent_order]
        # 检查1: 父块是否已被标记为非法
        if any(order in blocks_to_delete for order in parents):
            blocks_to_delete.add(order_id)
            blocks_to_delete_feedback.append(f"警告：块(orderID {order_id})的父块(orderID {parent_order})非法，因此也被标记为非法。")
            continue 
        # 检查2: 父块的连接点(bp_id)是否有效
        for i_th_parent,parent_order in enumerate(parents):
            parent_block = order_id_map.get(parent_order)
            if parent_block:
                parent_block_id = str(parent_block["id"])
                if i_th_parent==0:
                    bp_id = int(block.get("bp_id",block.get("bp_id_a",-1)))
                elif i_th_parent==1:
                    bp_id = int(block.get("bp_id_b",-1))
                else:
                    bp_id=-1
                if parent_block_id in block_sizes and bp_id >= len(block_sizes[parent_block_id]["bc_bp"]):
                    blocks_to_delete.add(order_id)
                    blocks_to_delete_feedback.append(f"警告：块(orderID {order_id})的父块(ID {parent_block_id})不存在可建造点{bp_id}。")
                    continue
        
        # 检查3: 双父块（线性块）的特殊处理
        if (not is_linear) and str(block.get("id")) in ["7", "9"]:
            blocks_to_delete.add(order_id)
            blocks_to_delete_feedback.append(f"警告：块(orderID {order_id})是线性块但不存在双parent属性。")
            continue
        elif is_linear and (str(block.get("id")) not in ["7", "9"]):
            blocks_to_delete.add(order_id)
            blocks_to_delete_feedback.append(f"警告：块(orderID {order_id})存在双parent属性但不是线性块。")
            continue
    
    # print(blocks_to_delete_feedback)
    
    if blocks_to_delete:
        # 从 block_details 中过滤掉要删除的块
        block_details = [b for b in block_details if int(b["order_id"]) not in blocks_to_delete]

    # --- 计算 3D 位置并构建 XML 风格列表 ---
    processed_details = get_3d_from_llm(block_sizes, block_details, gp, gr_matrix, log=False)
    # print(block_details)
    xml_block_details = [{"GlobalPosition": gp, "GlobalRotation": gr_quat}]
    for block in processed_details:
        xml_info = {
            "id": block["id"],
            "order_id": block["order_id"],
            "guid": generate_guid()
        }
        
        if str(block["id"]) in ["7", "9"]: # 线性块
            xml_info["Transform"] = {"Position": block["manu_lp_a"], "Rotation": np.array([0,0,0,1]), "Scale": block["scale"]}
            xml_info["end-position"] = block["manu_lp_b"] - block["manu_lp_a"]
        else: # 普通块
            manu_lr = R.from_matrix(block["manu_lr"]).as_quat() if block["manu_lr"].shape == (3, 3) else block["manu_lr"]
            xml_info["Transform"] = {"Position": block["manu_lp"], "Rotation": manu_lr, "Scale": block["scale"]}
            if "flip" in block: # 轮子属性
                xml_info.update({"flip": block["flip"], "auto": True, "autobrake": False})
                if selected_menu and "special_props" in selected_menu:
                    xml_info["WheelDoubleSpeed"] = "WheelDoubleSpeed" in selected_menu["special_props"]

        xml_block_details.append(xml_info)
    
    # print("\n".join(blocks_to_delete_feedback))
    
    return xml_block_details, processed_details, "\n".join(blocks_to_delete_feedback)

def facing(q_in):
    q_z_pos = np.array([0, 0, 0, 1])
    q_z_neg = np.array([0, 1, 0, 0])
    q_x_neg = np.array([0, -0.7071068, 0, 0.7071068])
    q_x_pos = np.array([0, 0.7071068, 0, 0.7071068])
    q_y_pos = np.array([-0.7071068,0, 0,0.7071068])
    q_y_neg = np.array([0.7071068,0, 0,0.7071068])

    angle_threshold = 1e-3
    rots = [q_z_pos,q_z_neg,q_x_neg,q_x_pos,q_y_pos,q_y_neg]
    facing = ["z+","z-","x-","x+","y+","y-"]
    # 将四元数转换为旋转对象
    r1 = R.from_quat(q_in)
    for q2 in range(len(rots)):
        r2 = R.from_quat(rots[q2])
    
        # 计算两个旋转之间的夹角差异
        relative_rotation = r1.inv() * r2
        angle = relative_rotation.magnitude()
    
        # 如果角度差异小于阈值，则认为两个四元数大致相同
        if(angle < angle_threshold):
            return facing[q2]
    
    return "Error!未找到正确方向"

def check_overlap_or_connection(cube1, cube2):
    def get_bounds(vertices):
        x_min = min(v[0] for v in vertices)
        x_max = max(v[0] for v in vertices)
        y_min = min(v[1] for v in vertices)
        y_max = max(v[1] for v in vertices)
        z_min = min(v[2] for v in vertices)
        z_max = max(v[2] for v in vertices)
        return x_min, x_max, y_min, y_max, z_min, z_max

    x1_min, x1_max, y1_min, y1_max, z1_min, z1_max = get_bounds(cube1)
    x2_min, x2_max, y2_min, y2_max, z2_min, z2_max = get_bounds(cube2)

    if x1_max <= x2_min or x2_max <= x1_min:
        return False
    if y1_max <= y2_min or y2_max <= y1_min:
        return False
    if z1_max <= z2_min or z2_max <= z1_min:
        return False

    x_overlap = x1_min < x2_max and x2_min < x1_max
    y_overlap = y1_min < y2_max and y2_min < y1_max
    z_overlap = z1_min < z2_max and z2_min < z1_max

    return x_overlap and y_overlap and z_overlap


def check_overlap(block_details,vis=True,corners_parent_llm_parent=None,
                  language="zh"):

    def overlap_log(id1,id2):
        head1 = "方块order_id"
        head2 = "和方块order_id"
        overlap_head = "重叠"
        return f"{head1} {id1} {head2} {id2} {overlap_head}\n"

    
    overlaps = []
    connections = []
    # 检查每对方块是否重叠
    overlaps_info=""
    # print(len(block_details))
    # print(len(corners_parent_llm_parent))
    for i in range(len(block_details)):
        # print(block_details[i])
        for j in range(i + 1, len(block_details)):
            if "GlobalPosition" in block_details[i] or "GlobalPosition" in block_details[j]:continue
            # if np.all(block_details[i] == 0) or np.all(block_details[j] == 0): continue
            if "corners" in block_details[i] and "corners" in block_details[j]:
                corners1, id1 = (block_details[i]["corners"],i)
                corners2, id2 = (block_details[j]["corners"],j)
            else:
                corners1 = block_details[i]
                id1 = i
                corners2 = block_details[j]
                id2 = j
            
            #print(f"方块order_id {id1} 和方块order_id {id2}")
            results = check_overlap_or_connection(corners1, corners2)
            if results=="connected":
                #print(f"方块order_id {id1} 和方块order_id {id2} 相交")
                connections.append((id1, id2, corners1, corners2))
            elif results:
                if corners_parent_llm_parent !=None:
                    id1_type = str(corners_parent_llm_parent[id1][0])
                    id1_order = str(corners_parent_llm_parent[id1][1])
                    id1_parent_order = str(corners_parent_llm_parent[id1][2])
                    id2_type = str(corners_parent_llm_parent[id2][0])
                    id2_order = str(corners_parent_llm_parent[id2][1])
                    id2_parent_order = str(corners_parent_llm_parent[id2][2])
                    if id1_order==id2_parent_order:
                        if str(id1_type)=="30":#如果1是2的父节点，并且1是容器
                            pass
                        else:
                            
                            overlaps_info+=overlap_log(id1,id2)
                            overlaps.append((id1, id2, corners1, corners2))
                    elif id2_order==id1_parent_order:
                        if str(id2_type)=="30":#如果2是1的父节点，并且2是容器
                            pass
                        else:
                            overlaps_info+=overlap_log(id1,id2)
                            overlaps.append((id1, id2, corners1, corners2))
                    else:
                        overlaps_info+=overlap_log(id1,id2)
                        overlaps.append((id1, id2, corners1, corners2))
                else:
                    overlaps_info+=overlap_log(id1,id2)
                    overlaps.append((id1, id2, corners1, corners2))

    if overlaps:
        # print(f"共发现 {len(overlaps)} 处重叠。")
        found_head = "共发现"
        overlaps_head="处重叠"
        overlaps_info+=f"{found_head} {len(overlaps)} {overlaps_head}\n"
    else:
        # print("没有重叠的方块。")
        overlaps_info+="没有错误"

    if vis:
        # 可视化结果
        pass
    
    #print(overlaps_info)
    return overlaps_info


def llm_feedback_3d(block_sizes, xml_block_details, block_details, autofit_gt=True, overlap_feedback=True, language="zh"):
    with open(block_sizes, 'r', encoding='utf-8') as file:
        block_sizes_content = json.load(file)
        
    gp, gr = xml_block_details[0]["GlobalPosition"], xml_block_details[0]["GlobalRotation"]
    corners_feedback_forquizzer = "块的3D信息:\n"
    corners_feedback_forbuilder = "块的朝向信息:\n"
    corners_parent_llm, corners_parent_llm_parent = [], []
    
    for i, xml_block in enumerate(xml_block_details):
        if "GlobalPosition" in xml_block: continue
        
        block_id, order_id = xml_block["id"], xml_block["order_id"]
        if str(block_id) in ("7", "9"):
            corners_parent_llm_parent.append([block_id, order_id, -1])
            corners_parent_llm.append(np.zeros((8,3)))
            continue

        x_transform = xml_block["Transform"]
        pos, rot, scale = x_transform["Position"], x_transform["Rotation"], x_transform["Scale"]
        # print(pos,rot,scale)
        block_info = block_sizes_content[str(block_id)]
        bbox_lp, bbox_gp = get_bbox(pos, rot, scale, block_info['bc_gc'], block_info['bbox_size'], gp, gr)
        
        corners_parent_llm.append(bbox_gp)
        corners_parent_llm_parent.append([block_id, order_id, block_details[i-1]["parent"]])
        
        facing_dir = facing(rot)
        corners_feedback_forquizzer += f"order_id:{order_id}\n朝向:{facing_dir}\n块近似长方体顶点位置:{bbox_gp.tolist()}\n"
        corners_feedback_forbuilder += f"order_id:{order_id}\n朝向:{facing_dir}"

    # Calculate machine dimensions
    corners_arr = np.vstack([c for c in corners_parent_llm if c.size > 0])
    min_vals, max_vals = corners_arr.min(axis=0), corners_arr.max(axis=0)
    lowest_y, highest_y = min_vals[1], max_vals[1]
    left_x, right_x = min_vals[0], max_vals[0]
    back_z, forward_z = min_vals[2], max_vals[2]
    
    geo_center = np.array([(right_x + left_x)/2, (highest_y + lowest_y)/2, (forward_z + back_z)/2])
    
    if autofit_gt:
        xml_block_details[0]["GlobalPosition"][1] -= (lowest_y - 0.5)
        xml_block_details[0]["GlobalPosition"][0] -= geo_center[0]
        xml_block_details[0]["GlobalPosition"][2] -= geo_center[2]

    env_fail = (highest_y - lowest_y > 9.5) or (right_x - left_x > 17) or (forward_z - back_z > 17)
    height, wide, long = round(highest_y - lowest_y, 2), round(right_x - left_x, 2), round(forward_z - back_z, 2)

    # Validate machine structure
    machine_structure_error = ""
    if "corners" in block_details[1]:
        for i, block in enumerate(block_details):
            if "GlobalPosition" in block or str(block.get("id")) in ("7", "9"): continue
            if not np.allclose(block["corners"], corners_parent_llm[i], atol=1e-2):
                machine_structure_error += (f"order_id为{i}的方块的顶点信息不一致！\n"
                                         f"顶点信息：{block['corners']}\n"
                                         f"建造点相对信息反推的顶点信息：{corners_parent_llm[i]}\n")

    overlap_infos = check_overlap(corners_parent_llm, vis=False, corners_parent_llm_parent=corners_parent_llm_parent, language=language) if overlap_feedback else "重叠检查被屏蔽"

    return (corners_feedback_forquizzer, corners_feedback_forbuilder, env_fail, 
            long, wide, height, machine_structure_error, overlap_infos)

def create_xml(data):
    """要加很多功能，因为加入了大量的新块"""

    machine = ET.Element("Machine", version="1", bsgVersion="1.3", name="ai")

    # 创建 Global 元素
    global_elem = ET.SubElement(machine, "Global")
    global_infos = data.pop(0)
    gp = global_infos["GlobalPosition"]
    gr = global_infos["GlobalRotation"]
    # if gp[1]<1.5:
    #     print("警告，全局高度过低，小于1.5,调整到1.5")
    #     gp[1]=1.5
    position = ET.SubElement(global_elem, "Position", x=str(gp[0]), y=str(gp[1]), z=str(gp[2]))
    rotation = ET.SubElement(global_elem, "Rotation", x=str(gr[0]), y=str(gr[1]), z=str(gr[2]), w=str(gr[3]))

    # 创建 Data 元素
    data_elem = ET.SubElement(machine, "Data")
    string_array = ET.SubElement(data_elem, "StringArray", key="requiredMods")

    # 创建 Blocks 元素
    blocks_elem = ET.SubElement(machine, "Blocks")

    # 遍历 corners 数据并创建 Block 元素
    for info in data:
        
        block_id = info['id']
        
        if info['id']=='18_1':
            block_id ='18'
        
        block = ET.SubElement(blocks_elem, "Block", id=str(block_id), guid=info['guid'])
        transform = ET.SubElement(block, "Transform")
        info_p = info['Transform']['Position']
        position = ET.SubElement(transform, "Position", x=str(info_p[0]), y=str(info_p[1]), z=str(info_p[2]))
        info_r = info['Transform']['Rotation']
        rotation = ET.SubElement(transform, "Rotation", x=str(info_r[0]), y=str(info_r[1]), z=str(info_r[2]), w=str(info_r[3]))
        info_s = info['Transform']['Scale']
        scale = ET.SubElement(transform, "Scale", x=str(info_s[0]), y=str(info_s[1]), z=str(info_s[2]))
        block_data = ET.SubElement(block, "Data")
        if str(info['id'])=="0":
            bmt = ET.SubElement(block_data, "Integer", key="bmt-version")
            bmt.text = "1"
        
        #线性块设置坐标
        if str(info['id'])=="9":
            bmt = ET.SubElement(block_data,"Single",key = "bmt-slider")
            bmt.text = "10"
            bmt = ET.SubElement(block_data,"StringArray",key = "bmt-contract")
            bmt.text = "L"
            bmt = ET.SubElement(block_data,"Boolean",key = "bmt-toggle")
            bmt.text = "False"

        if str(info['id'])=="7" or str(info['id'])=="9":
            start_position = ET.SubElement(block_data,"Vector3",key = "start-position")
            ET.SubElement(start_position, "X").text = str(0)
            ET.SubElement(start_position, "Y").text = str(0)
            ET.SubElement(start_position, "Z").text = str(0)
            end_position = ET.SubElement(block_data,"Vector3",key = "end-position")
            ET.SubElement(end_position, "X").text = str(info['end-position'][0])
            ET.SubElement(end_position, "Y").text = str(info['end-position'][1])
            ET.SubElement(end_position, "Z").text = str(info['end-position'][2])

        
        
        if str(info['id'])=="22":
            bmt = ET.SubElement(block_data, "Integer", key="bmt-version")
            bmt.text = "1"
            bmt = ET.SubElement(block_data,"Single",key = "bmt-speed")
            bmt.text = "1"
            bmt = ET.SubElement(block_data,"Single",key = "bmt-acceleration")
            bmt.text = "Infinity"
            bmt = ET.SubElement(block_data, "Boolean", key="bmt-auto-brake")
            bmt.text = "True"
            bmt = ET.SubElement(block_data, "Boolean", key="flipped")
            bmt.text = "False"
        
        if str(info['id'])=="35":
            bmt = ET.SubElement(block_data,"Single",key = "bmt-mass")
            bmt.text = "3"


        #轮子镜像处理
        if "auto" in info:
            bmt = ET.SubElement(block_data, "Boolean", key="bmt-automatic")
            bmt.text = "True"
            bmt = ET.SubElement(block_data, "Boolean", key="bmt-auto-brake")
            bmt.text = "False"
        if "flip" in info and info["flip"]:
            bmt = ET.SubElement(block_data, "Boolean", key="flipped")
            bmt.text = "True"
        if "WheelDoubleSpeed" in info and info["WheelDoubleSpeed"]:
            bmt = ET.SubElement(block_data, "Single", key="bmt-speed")
            bmt.text = "2"

    # 将 ElementTree 转换为字符串
    tree = ET.ElementTree(machine)
    ET.indent(tree, space="\t", level=0)
    xml_str = ET.tostring(machine, encoding="utf-8", method="xml", xml_declaration=True).decode("utf-8")

    return xml_str

def json_to_xml(input_obj):
    if isinstance(input_obj,str):
        content = extract_json_from_string(input_obj)
    elif isinstance(input_obj,list):
        content = input_obj
    else:
        raise TypeError('Please make sure input type')
    block_details = content
    block_details = convert_to_numpy(block_details)
    
    xml_block_details,block_details,_ = llm2xml_filetree(block_details,
                                                         BLOCKPROPERTYPATH,
                                                         selected_menu=None)
    _,_,_,_,_,_,_,_ = llm_feedback_3d(block_sizes=BLOCKPROPERTYPATH,
                                      xml_block_details=xml_block_details,
                                      block_details = block_details)
    xml_string = create_xml(xml_block_details)
    return xml_string