@esengine/pathfinding 1.0.1 → 1.0.2

package/dist/pathfinding.js

@@ -0,0 +1,556 @@
+/**
+ * @esengine/pathfinding v1.0.2
+ * 高性能寻路算法库 - 支持A*、广度优先等算法，适用于Cocos Creator、Laya等游戏引擎
+ * 
+ * @author yhh
+ * @license MIT
+ */
+(function (global, factory) {
+    typeof exports === 'object' && typeof module !== 'undefined' ? factory(exports) :
+    typeof define === 'function' && define.amd ? define(['exports'], factory) :
+    (global = typeof globalThis !== 'undefined' ? globalThis : global || self, factory(global.Pathfinding = {}));
+})(this, (function (exports) { 'use strict';
+
+    var Vector2Utils = (function () {
+        function Vector2Utils() {
+        }
+        Vector2Utils.equals = function (a, b) {
+            if (a.equals) {
+                return a.equals(b);
+            }
+            return a.x === b.x && a.y === b.y;
+        };
+        Vector2Utils.create = function (x, y) {
+            return { x: x, y: y };
+        };
+        Vector2Utils.clone = function (vector) {
+            return { x: vector.x, y: vector.y };
+        };
+        Vector2Utils.add = function (a, b) {
+            return { x: a.x + b.x, y: a.y + b.y };
+        };
+        Vector2Utils.manhattanDistance = function (a, b) {
+            return Math.abs(a.x - b.x) + Math.abs(a.y - b.y);
+        };
+        Vector2Utils.distance = function (a, b) {
+            var dx = a.x - b.x;
+            var dy = a.y - b.y;
+            return Math.sqrt(dx * dx + dy * dy);
+        };
+        Vector2Utils.toHash = function (vector) {
+            var x = (vector.x + this.MAX_COORD) | 0;
+            var y = (vector.y + this.MAX_COORD) | 0;
+            return (x << 16) | y;
+        };
+        Vector2Utils.toKey = function (vector) {
+            return "".concat(vector.x, ",").concat(vector.y);
+        };
+        Vector2Utils.fromHash = function (hash) {
+            var x = (hash >> 16) - this.MAX_COORD;
+            var y = (hash & 0xFFFF) - this.MAX_COORD;
+            return { x: x, y: y };
+        };
+        Vector2Utils.HASH_MULTIPLIER = 73856093;
+        Vector2Utils.MAX_COORD = 32767;
+        return Vector2Utils;
+    }());
+
+    var PriorityQueue = (function () {
+        function PriorityQueue() {
+            this._heap = [];
+            this._size = 0;
+        }
+        Object.defineProperty(PriorityQueue.prototype, "size", {
+            get: function () {
+                return this._size;
+            },
+            enumerable: false,
+            configurable: true
+        });
+        Object.defineProperty(PriorityQueue.prototype, "isEmpty", {
+            get: function () {
+                return this._size === 0;
+            },
+            enumerable: false,
+            configurable: true
+        });
+        PriorityQueue.prototype.clear = function () {
+            this._heap.length = 0;
+            this._size = 0;
+        };
+        PriorityQueue.prototype.enqueue = function (item) {
+            this._heap[this._size] = item;
+            this._bubbleUp(this._size);
+            this._size++;
+        };
+        PriorityQueue.prototype.dequeue = function () {
+            if (this._size === 0) {
+                return undefined;
+            }
+            var result = this._heap[0];
+            this._size--;
+            if (this._size > 0) {
+                this._heap[0] = this._heap[this._size];
+                this._bubbleDown(0);
+            }
+            return result;
+        };
+        PriorityQueue.prototype.peek = function () {
+            return this._size > 0 ? this._heap[0] : undefined;
+        };
+        PriorityQueue.prototype._bubbleUp = function (index) {
+            while (index > 0) {
+                var parentIndex = Math.floor((index - 1) / 2);
+                if (this._heap[index].priority >= this._heap[parentIndex].priority) {
+                    break;
+                }
+                this._swap(index, parentIndex);
+                index = parentIndex;
+            }
+        };
+        PriorityQueue.prototype._bubbleDown = function (index) {
+            while (true) {
+                var minIndex = index;
+                var leftChild = 2 * index + 1;
+                var rightChild = 2 * index + 2;
+                if (leftChild < this._size &&
+                    this._heap[leftChild].priority < this._heap[minIndex].priority) {
+                    minIndex = leftChild;
+                }
+                if (rightChild < this._size &&
+                    this._heap[rightChild].priority < this._heap[minIndex].priority) {
+                    minIndex = rightChild;
+                }
+                if (minIndex === index) {
+                    break;
+                }
+                this._swap(index, minIndex);
+                index = minIndex;
+            }
+        };
+        PriorityQueue.prototype._swap = function (i, j) {
+            var temp = this._heap[i];
+            this._heap[i] = this._heap[j];
+            this._heap[j] = temp;
+        };
+        return PriorityQueue;
+    }());
+
+    var __spreadArray = (globalThis && globalThis.__spreadArray) || function (to, from, pack) {
+        if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {
+            if (ar || !(i in from)) {
+                if (!ar) ar = Array.prototype.slice.call(from, 0, i);
+                ar[i] = from[i];
+            }
+        }
+        return to.concat(ar || Array.prototype.slice.call(from));
+    };
+    var AStarNode = (function () {
+        function AStarNode(node, gCost, hCost, parent) {
+            if (gCost === void 0) { gCost = 0; }
+            if (hCost === void 0) { hCost = 0; }
+            if (parent === void 0) { parent = null; }
+            this.priority = 0;
+            this.gCost = 0;
+            this.hCost = 0;
+            this.parent = null;
+            this.hash = 0;
+            this.node = node;
+            this.gCost = gCost;
+            this.hCost = hCost;
+            this.priority = gCost + hCost;
+            this.parent = parent;
+            this.hash = Vector2Utils.toHash(node);
+        }
+        AStarNode.prototype.updateCosts = function (gCost, hCost, parent) {
+            if (parent === void 0) { parent = null; }
+            this.gCost = gCost;
+            this.hCost = hCost;
+            this.priority = gCost + hCost;
+            this.parent = parent;
+        };
+        AStarNode.prototype.updateNode = function (node, gCost, hCost, parent) {
+            if (gCost === void 0) { gCost = 0; }
+            if (hCost === void 0) { hCost = 0; }
+            if (parent === void 0) { parent = null; }
+            this.node = node;
+            this.gCost = gCost;
+            this.hCost = hCost;
+            this.priority = gCost + hCost;
+            this.parent = parent;
+            this.hash = Vector2Utils.toHash(node);
+        };
+        AStarNode.prototype.reset = function () {
+            this.node = null;
+            this.priority = 0;
+            this.gCost = 0;
+            this.hCost = 0;
+            this.parent = null;
+            this.hash = 0;
+        };
+        return AStarNode;
+    }());
+    var AStarPathfinder = (function () {
+        function AStarPathfinder() {
+        }
+        AStarPathfinder._getNode = function (node, gCost, hCost, parent) {
+            if (gCost === void 0) { gCost = 0; }
+            if (hCost === void 0) { hCost = 0; }
+            if (parent === void 0) { parent = null; }
+            var astarNode = this._nodePool.pop();
+            if (!astarNode) {
+                astarNode = new AStarNode(node, gCost, hCost, parent);
+            }
+            else {
+                astarNode.updateNode(node, gCost, hCost, parent);
+            }
+            return astarNode;
+        };
+        AStarPathfinder._recycleNode = function (node) {
+            if (this._nodePool.length < 1000) {
+                node.reset();
+                this._nodePool.push(node);
+            }
+        };
+        AStarPathfinder.search = function (graph, start, goal) {
+            var openSet = new PriorityQueue();
+            var closedSet = new Set();
+            var openSetMap = new Map();
+            var startHash = Vector2Utils.toHash(start);
+            var goalHash = Vector2Utils.toHash(goal);
+            if (startHash === goalHash) {
+                return { found: true, goalNode: this._getNode(start, 0, 0) };
+            }
+            var startNode = this._getNode(start, 0, graph.heuristic(start, goal));
+            openSet.enqueue(startNode);
+            openSetMap.set(startHash, startNode);
+            var goalNode;
+            while (!openSet.isEmpty) {
+                var current = openSet.dequeue();
+                var currentHash = current.hash;
+                openSetMap.delete(currentHash);
+                if (currentHash === goalHash) {
+                    goalNode = current;
+                    break;
+                }
+                closedSet.add(currentHash);
+                for (var _i = 0, _a = graph.getNeighbors(current.node); _i < _a.length; _i++) {
+                    var neighbor = _a[_i];
+                    var neighborHash = Vector2Utils.toHash(neighbor);
+                    if (closedSet.has(neighborHash)) {
+                        continue;
+                    }
+                    var tentativeGScore = current.gCost + graph.cost(current.node, neighbor);
+                    var existingNode = openSetMap.get(neighborHash);
+                    if (existingNode) {
+                        if (tentativeGScore < existingNode.gCost) {
+                            var hCost = existingNode.hCost;
+                            existingNode.updateCosts(tentativeGScore, hCost, current);
+                        }
+                    }
+                    else {
+                        var hCost = graph.heuristic(neighbor, goal);
+                        var neighborNode = this._getNode(neighbor, tentativeGScore, hCost, current);
+                        openSet.enqueue(neighborNode);
+                        openSetMap.set(neighborHash, neighborNode);
+                    }
+                }
+                if (current !== goalNode) {
+                    this._recycleNode(current);
+                }
+            }
+            while (!openSet.isEmpty) {
+                var node = openSet.dequeue();
+                if (node !== goalNode) {
+                    this._recycleNode(node);
+                }
+            }
+            return { found: !!goalNode, goalNode: goalNode };
+        };
+        AStarPathfinder.searchPath = function (graph, start, goal) {
+            var result = this.search(graph, start, goal);
+            if (!result.found || !result.goalNode) {
+                return [];
+            }
+            return this.reconstructPathFromNode(result.goalNode, start);
+        };
+        AStarPathfinder.reconstructPathFromNode = function (goalNode, start) {
+            this._tempPath.length = 0;
+            var current = goalNode;
+            var startHash = Vector2Utils.toHash(start);
+            while (current) {
+                this._tempPath.unshift(current.node);
+                var currentHash = current.hash;
+                var parent_1 = current.parent;
+                if (currentHash !== startHash) {
+                    this._recycleNode(current);
+                }
+                current = parent_1;
+            }
+            return __spreadArray([], this._tempPath, true);
+        };
+        AStarPathfinder.hasPath = function (graph, start, goal) {
+            var result = this.search(graph, start, goal);
+            if (result.goalNode) {
+                this._recycleNode(result.goalNode);
+            }
+            return result.found;
+        };
+        AStarPathfinder.clearPool = function () {
+            this._nodePool.length = 0;
+            this._tempPath.length = 0;
+        };
+        AStarPathfinder.getPoolStats = function () {
+            return {
+                poolSize: this._nodePool.length,
+                maxPoolSize: 1000
+            };
+        };
+        AStarPathfinder._nodePool = [];
+        AStarPathfinder._tempPath = [];
+        return AStarPathfinder;
+    }());
+
+    var AstarGridGraph = (function () {
+        function AstarGridGraph(width, height) {
+            this.dirs = [
+                Vector2Utils.create(1, 0),
+                Vector2Utils.create(0, -1),
+                Vector2Utils.create(-1, 0),
+                Vector2Utils.create(0, 1)
+            ];
+            this.walls = [];
+            this.weightedNodes = [];
+            this.defaultWeight = 1;
+            this.weightedNodeWeight = 5;
+            this._neighbors = new Array(4);
+            this._wallsSet = new Set();
+            this._weightedNodesSet = new Set();
+            this._wallsDirty = true;
+            this._weightedNodesDirty = true;
+            this._width = width;
+            this._height = height;
+        }
+        AstarGridGraph.prototype.addWall = function (wall) {
+            this.walls.push(wall);
+            this._wallsDirty = true;
+        };
+        AstarGridGraph.prototype.addWalls = function (walls) {
+            var _a;
+            (_a = this.walls).push.apply(_a, walls);
+            this._wallsDirty = true;
+        };
+        AstarGridGraph.prototype.clearWalls = function () {
+            this.walls.length = 0;
+            this._wallsSet.clear();
+            this._wallsDirty = false;
+        };
+        AstarGridGraph.prototype.addWeightedNode = function (node) {
+            this.weightedNodes.push(node);
+            this._weightedNodesDirty = true;
+        };
+        AstarGridGraph.prototype.addWeightedNodes = function (nodes) {
+            var _a;
+            (_a = this.weightedNodes).push.apply(_a, nodes);
+            this._weightedNodesDirty = true;
+        };
+        AstarGridGraph.prototype.clearWeightedNodes = function () {
+            this.weightedNodes.length = 0;
+            this._weightedNodesSet.clear();
+            this._weightedNodesDirty = false;
+        };
+        AstarGridGraph.prototype._updateHashSets = function () {
+            if (this._wallsDirty) {
+                this._wallsSet.clear();
+                for (var _i = 0, _a = this.walls; _i < _a.length; _i++) {
+                    var wall = _a[_i];
+                    this._wallsSet.add(Vector2Utils.toHash(wall));
+                }
+                this._wallsDirty = false;
+            }
+            if (this._weightedNodesDirty) {
+                this._weightedNodesSet.clear();
+                for (var _b = 0, _c = this.weightedNodes; _b < _c.length; _b++) {
+                    var node = _c[_b];
+                    this._weightedNodesSet.add(Vector2Utils.toHash(node));
+                }
+                this._weightedNodesDirty = false;
+            }
+        };
+        AstarGridGraph.prototype.isNodeInBounds = function (node) {
+            return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;
+        };
+        AstarGridGraph.prototype.isNodePassable = function (node) {
+            this._updateHashSets();
+            return !this._wallsSet.has(Vector2Utils.toHash(node));
+        };
+        AstarGridGraph.prototype.search = function (start, goal) {
+            return AStarPathfinder.hasPath(this, start, goal);
+        };
+        AstarGridGraph.prototype.searchPath = function (start, goal) {
+            return AStarPathfinder.searchPath(this, start, goal);
+        };
+        AstarGridGraph.prototype.getNeighbors = function (node) {
+            this._neighbors.length = 0;
+            for (var _i = 0, _a = this.dirs; _i < _a.length; _i++) {
+                var dir = _a[_i];
+                var next = Vector2Utils.add(node, dir);
+                if (this.isNodeInBounds(next) && this.isNodePassable(next)) {
+                    this._neighbors.push(next);
+                }
+            }
+            return this._neighbors;
+        };
+        AstarGridGraph.prototype.cost = function (from, to) {
+            this._updateHashSets();
+            return this._weightedNodesSet.has(Vector2Utils.toHash(to)) ? this.weightedNodeWeight : this.defaultWeight;
+        };
+        AstarGridGraph.prototype.heuristic = function (node, goal) {
+            return Vector2Utils.manhattanDistance(node, goal);
+        };
+        AstarGridGraph.prototype.getStats = function () {
+            this._updateHashSets();
+            return {
+                walls: this.walls.length,
+                weightedNodes: this.weightedNodes.length,
+                gridSize: "".concat(this._width, "x").concat(this._height),
+                wallsSetSize: this._wallsSet.size,
+                weightedNodesSetSize: this._weightedNodesSet.size
+            };
+        };
+        return AstarGridGraph;
+    }());
+
+    var BreadthFirstPathfinder = (function () {
+        function BreadthFirstPathfinder() {
+        }
+        BreadthFirstPathfinder.search = function (graph, start, goal, cameFrom) {
+            var frontier = [];
+            var visited = new Set();
+            var pathMap = cameFrom || new Map();
+            var startHash = Vector2Utils.toHash(start);
+            var goalHash = Vector2Utils.toHash(goal);
+            if (startHash === goalHash) {
+                return true;
+            }
+            frontier.push(start);
+            visited.add(startHash);
+            while (frontier.length > 0) {
+                var current = frontier.shift();
+                var currentHash = Vector2Utils.toHash(current);
+                if (currentHash === goalHash) {
+                    return true;
+                }
+                for (var _i = 0, _a = graph.getNeighbors(current); _i < _a.length; _i++) {
+                    var neighbor = _a[_i];
+                    var neighborHash = Vector2Utils.toHash(neighbor);
+                    if (visited.has(neighborHash)) {
+                        continue;
+                    }
+                    visited.add(neighborHash);
+                    pathMap.set(neighborHash, current);
+                    frontier.push(neighbor);
+                }
+            }
+            return false;
+        };
+        BreadthFirstPathfinder.searchPath = function (graph, start, goal) {
+            var cameFrom = new Map();
+            if (this.search(graph, start, goal, cameFrom)) {
+                return this.reconstructPath(cameFrom, start, goal);
+            }
+            return [];
+        };
+        BreadthFirstPathfinder.reconstructPath = function (cameFrom, start, goal) {
+            var path = [];
+            var current = goal;
+            var startHash = Vector2Utils.toHash(start);
+            while (Vector2Utils.toHash(current) !== startHash) {
+                path.unshift(current);
+                var currentHash = Vector2Utils.toHash(current);
+                var parent_1 = cameFrom.get(currentHash);
+                if (!parent_1)
+                    break;
+                current = parent_1;
+            }
+            path.unshift(start);
+            return path;
+        };
+        return BreadthFirstPathfinder;
+    }());
+
+    var UnweightedGraph = (function () {
+        function UnweightedGraph() {
+            this.edges = new Map();
+        }
+        UnweightedGraph.prototype.addEdgesForNode = function (node, neighbors) {
+            this.edges.set(node, neighbors);
+            return this;
+        };
+        UnweightedGraph.prototype.getNeighbors = function (node) {
+            return this.edges.get(node) || [];
+        };
+        return UnweightedGraph;
+    }());
+
+    var UnweightedGridGraph = (function () {
+        function UnweightedGridGraph(width, height, allowDiagonalSearch) {
+            if (allowDiagonalSearch === void 0) { allowDiagonalSearch = false; }
+            this.walls = [];
+            this._neighbors = [];
+            this._width = width;
+            this._height = height;
+            this._dirs = allowDiagonalSearch ? UnweightedGridGraph.COMPASS_DIRS : UnweightedGridGraph.CARDINAL_DIRS;
+        }
+        UnweightedGridGraph.prototype.isNodeInBounds = function (node) {
+            return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;
+        };
+        UnweightedGridGraph.prototype.isNodePassable = function (node) {
+            return !this.walls.find(function (wall) { return Vector2Utils.equals(wall, node); });
+        };
+        UnweightedGridGraph.prototype.getNeighbors = function (node) {
+            this._neighbors.length = 0;
+            for (var _i = 0, _a = this._dirs; _i < _a.length; _i++) {
+                var dir = _a[_i];
+                var next = Vector2Utils.add(node, dir);
+                if (this.isNodeInBounds(next) && this.isNodePassable(next)) {
+                    this._neighbors.push(next);
+                }
+            }
+            return this._neighbors;
+        };
+        UnweightedGridGraph.prototype.searchPath = function (start, goal) {
+            return BreadthFirstPathfinder.searchPath(this, start, goal);
+        };
+        UnweightedGridGraph.prototype.hasPath = function (start, goal) {
+            return BreadthFirstPathfinder.search(this, start, goal);
+        };
+        UnweightedGridGraph.CARDINAL_DIRS = [
+            Vector2Utils.create(1, 0),
+            Vector2Utils.create(0, -1),
+            Vector2Utils.create(-1, 0),
+            Vector2Utils.create(0, 1)
+        ];
+        UnweightedGridGraph.COMPASS_DIRS = [
+            Vector2Utils.create(1, 0),
+            Vector2Utils.create(1, -1),
+            Vector2Utils.create(0, -1),
+            Vector2Utils.create(-1, -1),
+            Vector2Utils.create(-1, 0),
+            Vector2Utils.create(-1, 1),
+            Vector2Utils.create(0, 1),
+            Vector2Utils.create(1, 1),
+        ];
+        return UnweightedGridGraph;
+    }());
+
+    exports.AStarPathfinder = AStarPathfinder;
+    exports.AstarGridGraph = AstarGridGraph;
+    exports.BreadthFirstPathfinder = BreadthFirstPathfinder;
+    exports.PriorityQueue = PriorityQueue;
+    exports.UnweightedGraph = UnweightedGraph;
+    exports.UnweightedGridGraph = UnweightedGridGraph;
+    exports.Vector2Utils = Vector2Utils;
+
+}));
+//# sourceMappingURL=pathfinding.js.map

package/dist/pathfinding.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"pathfinding.js","sources":["../bin/Types/IVector2.js","../bin/Utils/PriorityQueue.js","../bin/AI/Pathfinding/AStar/AStarPathfinder.js","../bin/AI/Pathfinding/AStar/AstarGridGraph.js","../bin/AI/Pathfinding/BreadthFirst/BreadthFirstPathfinder.js","../bin/AI/Pathfinding/BreadthFirst/UnweightedGraph.js","../bin/AI/Pathfinding/BreadthFirst/UnweightedGridGraph.js"],"sourcesContent":["var Vector2Utils = (function () {\n    function Vector2Utils() {\n    }\n    Vector2Utils.equals = function (a, b) {\n        if (a.equals) {\n            return a.equals(b);\n        }\n        return a.x === b.x && a.y === b.y;\n    };\n    Vector2Utils.create = function (x, y) {\n        return { x: x, y: y };\n    };\n    Vector2Utils.clone = function (vector) {\n        return { x: vector.x, y: vector.y };\n    };\n    Vector2Utils.add = function (a, b) {\n        return { x: a.x + b.x, y: a.y + b.y };\n    };\n    Vector2Utils.manhattanDistance = function (a, b) {\n        return Math.abs(a.x - b.x) + Math.abs(a.y - b.y);\n    };\n    Vector2Utils.distance = function (a, b) {\n        var dx = a.x - b.x;\n        var dy = a.y - b.y;\n        return Math.sqrt(dx * dx + dy * dy);\n    };\n    Vector2Utils.toHash = function (vector) {\n        var x = (vector.x + this.MAX_COORD) | 0;\n        var y = (vector.y + this.MAX_COORD) | 0;\n        return (x << 16) | y;\n    };\n    Vector2Utils.toKey = function (vector) {\n        return \"\".concat(vector.x, \",\").concat(vector.y);\n    };\n    Vector2Utils.fromHash = function (hash) {\n        var x = (hash >> 16) - this.MAX_COORD;\n        var y = (hash & 0xFFFF) - this.MAX_COORD;\n        return { x: x, y: y };\n    };\n    Vector2Utils.HASH_MULTIPLIER = 73856093;\n    Vector2Utils.MAX_COORD = 32767;\n    return Vector2Utils;\n}());\nexport { Vector2Utils };\n","var PriorityQueue = (function () {\n    function PriorityQueue() {\n        this._heap = [];\n        this._size = 0;\n    }\n    Object.defineProperty(PriorityQueue.prototype, \"size\", {\n        get: function () {\n            return this._size;\n        },\n        enumerable: false,\n        configurable: true\n    });\n    Object.defineProperty(PriorityQueue.prototype, \"isEmpty\", {\n        get: function () {\n            return this._size === 0;\n        },\n        enumerable: false,\n        configurable: true\n    });\n    PriorityQueue.prototype.clear = function () {\n        this._heap.length = 0;\n        this._size = 0;\n    };\n    PriorityQueue.prototype.enqueue = function (item) {\n        this._heap[this._size] = item;\n        this._bubbleUp(this._size);\n        this._size++;\n    };\n    PriorityQueue.prototype.dequeue = function () {\n        if (this._size === 0) {\n            return undefined;\n        }\n        var result = this._heap[0];\n        this._size--;\n        if (this._size > 0) {\n            this._heap[0] = this._heap[this._size];\n            this._bubbleDown(0);\n        }\n        return result;\n    };\n    PriorityQueue.prototype.peek = function () {\n        return this._size > 0 ? this._heap[0] : undefined;\n    };\n    PriorityQueue.prototype._bubbleUp = function (index) {\n        while (index > 0) {\n            var parentIndex = Math.floor((index - 1) / 2);\n            if (this._heap[index].priority >= this._heap[parentIndex].priority) {\n                break;\n            }\n            this._swap(index, parentIndex);\n            index = parentIndex;\n        }\n    };\n    PriorityQueue.prototype._bubbleDown = function (index) {\n        while (true) {\n            var minIndex = index;\n            var leftChild = 2 * index + 1;\n            var rightChild = 2 * index + 2;\n            if (leftChild < this._size &&\n                this._heap[leftChild].priority < this._heap[minIndex].priority) {\n                minIndex = leftChild;\n            }\n            if (rightChild < this._size &&\n                this._heap[rightChild].priority < this._heap[minIndex].priority) {\n                minIndex = rightChild;\n            }\n            if (minIndex === index) {\n                break;\n            }\n            this._swap(index, minIndex);\n            index = minIndex;\n        }\n    };\n    PriorityQueue.prototype._swap = function (i, j) {\n        var temp = this._heap[i];\n        this._heap[i] = this._heap[j];\n        this._heap[j] = temp;\n    };\n    return PriorityQueue;\n}());\nexport { PriorityQueue };\n","var __spreadArray = (this && this.__spreadArray) || function (to, from, pack) {\n    if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\n        if (ar || !(i in from)) {\n            if (!ar) ar = Array.prototype.slice.call(from, 0, i);\n            ar[i] = from[i];\n        }\n    }\n    return to.concat(ar || Array.prototype.slice.call(from));\n};\nimport { Vector2Utils } from '../../../Types/IVector2';\nimport { PriorityQueue } from '../../../Utils/PriorityQueue';\nvar AStarNode = (function () {\n    function AStarNode(node, gCost, hCost, parent) {\n        if (gCost === void 0) { gCost = 0; }\n        if (hCost === void 0) { hCost = 0; }\n        if (parent === void 0) { parent = null; }\n        this.priority = 0;\n        this.gCost = 0;\n        this.hCost = 0;\n        this.parent = null;\n        this.hash = 0;\n        this.node = node;\n        this.gCost = gCost;\n        this.hCost = hCost;\n        this.priority = gCost + hCost;\n        this.parent = parent;\n        this.hash = Vector2Utils.toHash(node);\n    }\n    AStarNode.prototype.updateCosts = function (gCost, hCost, parent) {\n        if (parent === void 0) { parent = null; }\n        this.gCost = gCost;\n        this.hCost = hCost;\n        this.priority = gCost + hCost;\n        this.parent = parent;\n    };\n    AStarNode.prototype.updateNode = function (node, gCost, hCost, parent) {\n        if (gCost === void 0) { gCost = 0; }\n        if (hCost === void 0) { hCost = 0; }\n        if (parent === void 0) { parent = null; }\n        this.node = node;\n        this.gCost = gCost;\n        this.hCost = hCost;\n        this.priority = gCost + hCost;\n        this.parent = parent;\n        this.hash = Vector2Utils.toHash(node);\n    };\n    AStarNode.prototype.reset = function () {\n        this.node = null;\n        this.priority = 0;\n        this.gCost = 0;\n        this.hCost = 0;\n        this.parent = null;\n        this.hash = 0;\n    };\n    return AStarNode;\n}());\nvar AStarPathfinder = (function () {\n    function AStarPathfinder() {\n    }\n    AStarPathfinder._getNode = function (node, gCost, hCost, parent) {\n        if (gCost === void 0) { gCost = 0; }\n        if (hCost === void 0) { hCost = 0; }\n        if (parent === void 0) { parent = null; }\n        var astarNode = this._nodePool.pop();\n        if (!astarNode) {\n            astarNode = new AStarNode(node, gCost, hCost, parent);\n        }\n        else {\n            astarNode.updateNode(node, gCost, hCost, parent);\n        }\n        return astarNode;\n    };\n    AStarPathfinder._recycleNode = function (node) {\n        if (this._nodePool.length < 1000) {\n            node.reset();\n            this._nodePool.push(node);\n        }\n    };\n    AStarPathfinder.search = function (graph, start, goal) {\n        var openSet = new PriorityQueue();\n        var closedSet = new Set();\n        var openSetMap = new Map();\n        var startHash = Vector2Utils.toHash(start);\n        var goalHash = Vector2Utils.toHash(goal);\n        if (startHash === goalHash) {\n            return { found: true, goalNode: this._getNode(start, 0, 0) };\n        }\n        var startNode = this._getNode(start, 0, graph.heuristic(start, goal));\n        openSet.enqueue(startNode);\n        openSetMap.set(startHash, startNode);\n        var goalNode;\n        while (!openSet.isEmpty) {\n            var current = openSet.dequeue();\n            var currentHash = current.hash;\n            openSetMap.delete(currentHash);\n            if (currentHash === goalHash) {\n                goalNode = current;\n                break;\n            }\n            closedSet.add(currentHash);\n            for (var _i = 0, _a = graph.getNeighbors(current.node); _i < _a.length; _i++) {\n                var neighbor = _a[_i];\n                var neighborHash = Vector2Utils.toHash(neighbor);\n                if (closedSet.has(neighborHash)) {\n                    continue;\n                }\n                var tentativeGScore = current.gCost + graph.cost(current.node, neighbor);\n                var existingNode = openSetMap.get(neighborHash);\n                if (existingNode) {\n                    if (tentativeGScore < existingNode.gCost) {\n                        var hCost = existingNode.hCost;\n                        existingNode.updateCosts(tentativeGScore, hCost, current);\n                    }\n                }\n                else {\n                    var hCost = graph.heuristic(neighbor, goal);\n                    var neighborNode = this._getNode(neighbor, tentativeGScore, hCost, current);\n                    openSet.enqueue(neighborNode);\n                    openSetMap.set(neighborHash, neighborNode);\n                }\n            }\n            if (current !== goalNode) {\n                this._recycleNode(current);\n            }\n        }\n        while (!openSet.isEmpty) {\n            var node = openSet.dequeue();\n            if (node !== goalNode) {\n                this._recycleNode(node);\n            }\n        }\n        return { found: !!goalNode, goalNode: goalNode };\n    };\n    AStarPathfinder.searchPath = function (graph, start, goal) {\n        var result = this.search(graph, start, goal);\n        if (!result.found || !result.goalNode) {\n            return [];\n        }\n        return this.reconstructPathFromNode(result.goalNode, start);\n    };\n    AStarPathfinder.reconstructPathFromNode = function (goalNode, start) {\n        this._tempPath.length = 0;\n        var current = goalNode;\n        var startHash = Vector2Utils.toHash(start);\n        while (current) {\n            this._tempPath.unshift(current.node);\n            var currentHash = current.hash;\n            var parent_1 = current.parent;\n            if (currentHash !== startHash) {\n                this._recycleNode(current);\n            }\n            current = parent_1;\n        }\n        return __spreadArray([], this._tempPath, true);\n    };\n    AStarPathfinder.hasPath = function (graph, start, goal) {\n        var result = this.search(graph, start, goal);\n        if (result.goalNode) {\n            this._recycleNode(result.goalNode);\n        }\n        return result.found;\n    };\n    AStarPathfinder.clearPool = function () {\n        this._nodePool.length = 0;\n        this._tempPath.length = 0;\n    };\n    AStarPathfinder.getPoolStats = function () {\n        return {\n            poolSize: this._nodePool.length,\n            maxPoolSize: 1000\n        };\n    };\n    AStarPathfinder._nodePool = [];\n    AStarPathfinder._tempPath = [];\n    return AStarPathfinder;\n}());\nexport { AStarPathfinder };\n","import { Vector2Utils } from '../../../Types/IVector2';\nimport { AStarPathfinder } from './AStarPathfinder';\nvar AstarGridGraph = (function () {\n    function AstarGridGraph(width, height) {\n        this.dirs = [\n            Vector2Utils.create(1, 0),\n            Vector2Utils.create(0, -1),\n            Vector2Utils.create(-1, 0),\n            Vector2Utils.create(0, 1)\n        ];\n        this.walls = [];\n        this.weightedNodes = [];\n        this.defaultWeight = 1;\n        this.weightedNodeWeight = 5;\n        this._neighbors = new Array(4);\n        this._wallsSet = new Set();\n        this._weightedNodesSet = new Set();\n        this._wallsDirty = true;\n        this._weightedNodesDirty = true;\n        this._width = width;\n        this._height = height;\n    }\n    AstarGridGraph.prototype.addWall = function (wall) {\n        this.walls.push(wall);\n        this._wallsDirty = true;\n    };\n    AstarGridGraph.prototype.addWalls = function (walls) {\n        var _a;\n        (_a = this.walls).push.apply(_a, walls);\n        this._wallsDirty = true;\n    };\n    AstarGridGraph.prototype.clearWalls = function () {\n        this.walls.length = 0;\n        this._wallsSet.clear();\n        this._wallsDirty = false;\n    };\n    AstarGridGraph.prototype.addWeightedNode = function (node) {\n        this.weightedNodes.push(node);\n        this._weightedNodesDirty = true;\n    };\n    AstarGridGraph.prototype.addWeightedNodes = function (nodes) {\n        var _a;\n        (_a = this.weightedNodes).push.apply(_a, nodes);\n        this._weightedNodesDirty = true;\n    };\n    AstarGridGraph.prototype.clearWeightedNodes = function () {\n        this.weightedNodes.length = 0;\n        this._weightedNodesSet.clear();\n        this._weightedNodesDirty = false;\n    };\n    AstarGridGraph.prototype._updateHashSets = function () {\n        if (this._wallsDirty) {\n            this._wallsSet.clear();\n            for (var _i = 0, _a = this.walls; _i < _a.length; _i++) {\n                var wall = _a[_i];\n                this._wallsSet.add(Vector2Utils.toHash(wall));\n            }\n            this._wallsDirty = false;\n        }\n        if (this._weightedNodesDirty) {\n            this._weightedNodesSet.clear();\n            for (var _b = 0, _c = this.weightedNodes; _b < _c.length; _b++) {\n                var node = _c[_b];\n                this._weightedNodesSet.add(Vector2Utils.toHash(node));\n            }\n            this._weightedNodesDirty = false;\n        }\n    };\n    AstarGridGraph.prototype.isNodeInBounds = function (node) {\n        return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;\n    };\n    AstarGridGraph.prototype.isNodePassable = function (node) {\n        this._updateHashSets();\n        return !this._wallsSet.has(Vector2Utils.toHash(node));\n    };\n    AstarGridGraph.prototype.search = function (start, goal) {\n        return AStarPathfinder.hasPath(this, start, goal);\n    };\n    AstarGridGraph.prototype.searchPath = function (start, goal) {\n        return AStarPathfinder.searchPath(this, start, goal);\n    };\n    AstarGridGraph.prototype.getNeighbors = function (node) {\n        this._neighbors.length = 0;\n        for (var _i = 0, _a = this.dirs; _i < _a.length; _i++) {\n            var dir = _a[_i];\n            var next = Vector2Utils.add(node, dir);\n            if (this.isNodeInBounds(next) && this.isNodePassable(next)) {\n                this._neighbors.push(next);\n            }\n        }\n        return this._neighbors;\n    };\n    AstarGridGraph.prototype.cost = function (from, to) {\n        this._updateHashSets();\n        return this._weightedNodesSet.has(Vector2Utils.toHash(to)) ? this.weightedNodeWeight : this.defaultWeight;\n    };\n    AstarGridGraph.prototype.heuristic = function (node, goal) {\n        return Vector2Utils.manhattanDistance(node, goal);\n    };\n    AstarGridGraph.prototype.getStats = function () {\n        this._updateHashSets();\n        return {\n            walls: this.walls.length,\n            weightedNodes: this.weightedNodes.length,\n            gridSize: \"\".concat(this._width, \"x\").concat(this._height),\n            wallsSetSize: this._wallsSet.size,\n            weightedNodesSetSize: this._weightedNodesSet.size\n        };\n    };\n    return AstarGridGraph;\n}());\nexport { AstarGridGraph };\n","import { Vector2Utils } from '../../../Types/IVector2';\nvar BreadthFirstPathfinder = (function () {\n    function BreadthFirstPathfinder() {\n    }\n    BreadthFirstPathfinder.search = function (graph, start, goal, cameFrom) {\n        var frontier = [];\n        var visited = new Set();\n        var pathMap = cameFrom || new Map();\n        var startHash = Vector2Utils.toHash(start);\n        var goalHash = Vector2Utils.toHash(goal);\n        if (startHash === goalHash) {\n            return true;\n        }\n        frontier.push(start);\n        visited.add(startHash);\n        while (frontier.length > 0) {\n            var current = frontier.shift();\n            var currentHash = Vector2Utils.toHash(current);\n            if (currentHash === goalHash) {\n                return true;\n            }\n            for (var _i = 0, _a = graph.getNeighbors(current); _i < _a.length; _i++) {\n                var neighbor = _a[_i];\n                var neighborHash = Vector2Utils.toHash(neighbor);\n                if (visited.has(neighborHash)) {\n                    continue;\n                }\n                visited.add(neighborHash);\n                pathMap.set(neighborHash, current);\n                frontier.push(neighbor);\n            }\n        }\n        return false;\n    };\n    BreadthFirstPathfinder.searchPath = function (graph, start, goal) {\n        var cameFrom = new Map();\n        if (this.search(graph, start, goal, cameFrom)) {\n            return this.reconstructPath(cameFrom, start, goal);\n        }\n        return [];\n    };\n    BreadthFirstPathfinder.reconstructPath = function (cameFrom, start, goal) {\n        var path = [];\n        var current = goal;\n        var startHash = Vector2Utils.toHash(start);\n        while (Vector2Utils.toHash(current) !== startHash) {\n            path.unshift(current);\n            var currentHash = Vector2Utils.toHash(current);\n            var parent_1 = cameFrom.get(currentHash);\n            if (!parent_1)\n                break;\n            current = parent_1;\n        }\n        path.unshift(start);\n        return path;\n    };\n    return BreadthFirstPathfinder;\n}());\nexport { BreadthFirstPathfinder };\n","var UnweightedGraph = (function () {\n    function UnweightedGraph() {\n        this.edges = new Map();\n    }\n    UnweightedGraph.prototype.addEdgesForNode = function (node, neighbors) {\n        this.edges.set(node, neighbors);\n        return this;\n    };\n    UnweightedGraph.prototype.getNeighbors = function (node) {\n        return this.edges.get(node) || [];\n    };\n    return UnweightedGraph;\n}());\nexport { UnweightedGraph };\n","import { Vector2Utils } from '../../../Types/IVector2';\nimport { BreadthFirstPathfinder } from './BreadthFirstPathfinder';\nvar UnweightedGridGraph = (function () {\n    function UnweightedGridGraph(width, height, allowDiagonalSearch) {\n        if (allowDiagonalSearch === void 0) { allowDiagonalSearch = false; }\n        this.walls = [];\n        this._neighbors = [];\n        this._width = width;\n        this._height = height;\n        this._dirs = allowDiagonalSearch ? UnweightedGridGraph.COMPASS_DIRS : UnweightedGridGraph.CARDINAL_DIRS;\n    }\n    UnweightedGridGraph.prototype.isNodeInBounds = function (node) {\n        return 0 <= node.x && node.x < this._width && 0 <= node.y && node.y < this._height;\n    };\n    UnweightedGridGraph.prototype.isNodePassable = function (node) {\n        return !this.walls.find(function (wall) { return Vector2Utils.equals(wall, node); });\n    };\n    UnweightedGridGraph.prototype.getNeighbors = function (node) {\n        this._neighbors.length = 0;\n        for (var _i = 0, _a = this._dirs; _i < _a.length; _i++) {\n            var dir = _a[_i];\n            var next = Vector2Utils.add(node, dir);\n            if (this.isNodeInBounds(next) && this.isNodePassable(next)) {\n                this._neighbors.push(next);\n            }\n        }\n        return this._neighbors;\n    };\n    UnweightedGridGraph.prototype.searchPath = function (start, goal) {\n        return BreadthFirstPathfinder.searchPath(this, start, goal);\n    };\n    UnweightedGridGraph.prototype.hasPath = function (start, goal) {\n        return BreadthFirstPathfinder.search(this, start, goal);\n    };\n    UnweightedGridGraph.CARDINAL_DIRS = [\n        Vector2Utils.create(1, 0),\n        Vector2Utils.create(0, -1),\n        Vector2Utils.create(-1, 0),\n        Vector2Utils.create(0, 1)\n    ];\n    UnweightedGridGraph.COMPASS_DIRS = [\n        Vector2Utils.create(1, 0),\n        Vector2Utils.create(1, -1),\n        Vector2Utils.create(0, -1),\n        Vector2Utils.create(-1, -1),\n        Vector2Utils.create(-1, 0),\n        Vector2Utils.create(-1, 1),\n        Vector2Utils.create(0, 1),\n        Vector2Utils.create(1, 1),\n    ];\n    return UnweightedGridGraph;\n}());\nexport { UnweightedGridGraph 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