npm - @esengine/pathfinding - Versions diffs - 1.0.8 → 2.0.0 - Mend

@esengine/pathfinding 1.0.8 → 2.0.0

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+ {"version":3,"sources":["../src/core/IPathfinding.ts","../src/core/BinaryHeap.ts","../src/core/AStarPathfinder.ts","../src/grid/GridMap.ts","../src/navmesh/NavMesh.ts","../src/smoothing/PathSmoother.ts","../src/nodes/PathfindingNodes.ts"],"sourcesContent":["/**\n * @zh 寻路系统核心接口\n * @en Pathfinding System Core Interfaces\n */\n\n// =============================================================================\n// 基础类型 | Basic Types\n// =============================================================================\n\n/**\n * @zh 2D 坐标点\n * @en 2D coordinate point\n */\nexport interface IPoint {\n readonly x: number;\n readonly y: number;\n}\n\n/**\n * @zh 创建点\n * @en Create a point\n */\nexport function createPoint(x: number, y: number): IPoint {\n return { x, y };\n}\n\n/**\n * @zh 路径节点\n * @en Path node\n */\nexport interface IPathNode {\n /** @zh 节点唯一标识 @en Unique node identifier */\n readonly id: string | number;\n /** @zh 节点位置 @en Node position */\n readonly position: IPoint;\n /** @zh 移动代价 @en Movement cost */\n readonly cost: number;\n /** @zh 是否可通行 @en Is walkable */\n readonly walkable: boolean;\n}\n\n/**\n * @zh 路径结果\n * @en Path result\n */\nexport interface IPathResult {\n /** @zh 是否找到路径 @en Whether path was found */\n readonly found: boolean;\n /** @zh 路径点列表 @en List of path points */\n readonly path: readonly IPoint[];\n /** @zh 路径总代价 @en Total path cost */\n readonly cost: number;\n /** @zh 搜索的节点数 @en Number of nodes searched */\n readonly nodesSearched: number;\n}\n\n/**\n * @zh 空路径结果\n * @en Empty path result\n */\nexport const EMPTY_PATH_RESULT: IPathResult = {\n found: false,\n path: [],\n cost: 0,\n nodesSearched: 0\n};\n\n// =============================================================================\n// 地图接口 | Map Interface\n// =============================================================================\n\n/**\n * @zh 寻路地图接口\n * @en Pathfinding map interface\n */\nexport interface IPathfindingMap {\n /**\n * @zh 获取节点的邻居\n * @en Get neighbors of a node\n */\n getNeighbors(node: IPathNode): IPathNode[];\n\n /**\n * @zh 获取指定位置的节点\n * @en Get node at position\n */\n getNodeAt(x: number, y: number): IPathNode | null;\n\n /**\n * @zh 计算两点间的启发式距离\n * @en Calculate heuristic distance between two points\n */\n heuristic(a: IPoint, b: IPoint): number;\n\n /**\n * @zh 计算两个邻居节点间的移动代价\n * @en Calculate movement cost between two neighbor nodes\n */\n getMovementCost(from: IPathNode, to: IPathNode): number;\n\n /**\n * @zh 检查位置是否可通行\n * @en Check if position is walkable\n */\n isWalkable(x: number, y: number): boolean;\n}\n\n// =============================================================================\n// 启发式函数 | Heuristic Functions\n// =============================================================================\n\n/**\n * @zh 启发式函数类型\n * @en Heuristic function type\n */\nexport type HeuristicFunction = (a: IPoint, b: IPoint) => number;\n\n/**\n * @zh 曼哈顿距离（4方向移动）\n * @en Manhattan distance (4-directional movement)\n */\nexport function manhattanDistance(a: IPoint, b: IPoint): number {\n return Math.abs(a.x - b.x) + Math.abs(a.y - b.y);\n}\n\n/**\n * @zh 欧几里得距离（任意方向移动）\n * @en Euclidean distance (any direction movement)\n */\nexport function euclideanDistance(a: IPoint, b: IPoint): number {\n const dx = a.x - b.x;\n const dy = a.y - b.y;\n return Math.sqrt(dx * dx + dy * dy);\n}\n\n/**\n * @zh 切比雪夫距离（8方向移动）\n * @en Chebyshev distance (8-directional movement)\n */\nexport function chebyshevDistance(a: IPoint, b: IPoint): number {\n return Math.max(Math.abs(a.x - b.x), Math.abs(a.y - b.y));\n}\n\n/**\n * @zh 八角距离（8方向移动，对角线代价为 √2）\n * @en Octile distance (8-directional, diagonal cost √2)\n */\nexport function octileDistance(a: IPoint, b: IPoint): number {\n const dx = Math.abs(a.x - b.x);\n const dy = Math.abs(a.y - b.y);\n const D = 1;\n const D2 = Math.SQRT2;\n return D * (dx + dy) + (D2 - 2 * D) * Math.min(dx, dy);\n}\n\n// =============================================================================\n// 寻路器接口 | Pathfinder Interface\n// =============================================================================\n\n/**\n * @zh 寻路配置\n * @en Pathfinding options\n */\nexport interface IPathfindingOptions {\n /** @zh 最大搜索节点数 @en Maximum nodes to search */\n maxNodes?: number;\n /** @zh 启发式权重 (>1 更快但可能非最优) @en Heuristic weight (>1 faster but may be suboptimal) */\n heuristicWeight?: number;\n /** @zh 是否允许对角移动 @en Allow diagonal movement */\n allowDiagonal?: boolean;\n /** @zh 是否避免穿角 @en Avoid corner cutting */\n avoidCorners?: boolean;\n}\n\n/**\n * @zh 默认寻路配置\n * @en Default pathfinding options\n */\nexport const DEFAULT_PATHFINDING_OPTIONS: Required<IPathfindingOptions> = {\n maxNodes: 10000,\n heuristicWeight: 1.0,\n allowDiagonal: true,\n avoidCorners: true\n};\n\n/**\n * @zh 寻路器接口\n * @en Pathfinder interface\n */\nexport interface IPathfinder {\n /**\n * @zh 查找路径\n * @en Find path\n */\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult;\n\n /**\n * @zh 清理状态（用于重用）\n * @en Clear state (for reuse)\n */\n clear(): void;\n}\n\n// =============================================================================\n// 路径平滑接口 | Path Smoothing Interface\n// =============================================================================\n\n/**\n * @zh 路径平滑器接口\n * @en Path smoother interface\n */\nexport interface IPathSmoother {\n /**\n * @zh 平滑路径\n * @en Smooth path\n */\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[];\n}\n\n/**\n * @zh 视线检测函数类型\n * @en Line of sight check function type\n */\nexport type LineOfSightCheck = (\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap\n) => boolean;\n","/**\n * @zh 二叉堆（优先队列）\n * @en Binary Heap (Priority Queue)\n *\n * @zh 用于 A* 算法的高效开放列表\n * @en Efficient open list for A* algorithm\n */\nexport class BinaryHeap<T> {\n private heap: T[] = [];\n private readonly compare: (a: T, b: T) => number;\n\n /**\n * @zh 创建二叉堆\n * @en Create binary heap\n *\n * @param compare - @zh 比较函数，返回负数表示 a < b @en Compare function, returns negative if a < b\n */\n constructor(compare: (a: T, b: T) => number) {\n this.compare = compare;\n }\n\n /**\n * @zh 堆大小\n * @en Heap size\n */\n get size(): number {\n return this.heap.length;\n }\n\n /**\n * @zh 是否为空\n * @en Is empty\n */\n get isEmpty(): boolean {\n return this.heap.length === 0;\n }\n\n /**\n * @zh 插入元素\n * @en Push element\n */\n push(item: T): void {\n this.heap.push(item);\n this.bubbleUp(this.heap.length - 1);\n }\n\n /**\n * @zh 弹出最小元素\n * @en Pop minimum element\n */\n pop(): T | undefined {\n if (this.heap.length === 0) {\n return undefined;\n }\n\n const result = this.heap[0];\n const last = this.heap.pop()!;\n\n if (this.heap.length > 0) {\n this.heap[0] = last;\n this.sinkDown(0);\n }\n\n return result;\n }\n\n /**\n * @zh 查看最小元素（不移除）\n * @en Peek minimum element (without removing)\n */\n peek(): T | undefined {\n return this.heap[0];\n }\n\n /**\n * @zh 更新元素（重新排序）\n * @en Update element (re-sort)\n */\n update(item: T): void {\n const index = this.heap.indexOf(item);\n if (index !== -1) {\n this.bubbleUp(index);\n this.sinkDown(index);\n }\n }\n\n /**\n * @zh 检查是否包含元素\n * @en Check if contains element\n */\n contains(item: T): boolean {\n return this.heap.indexOf(item) !== -1;\n }\n\n /**\n * @zh 清空堆\n * @en Clear heap\n */\n clear(): void {\n this.heap.length = 0;\n }\n\n /**\n * @zh 上浮操作\n * @en Bubble up operation\n */\n private bubbleUp(index: number): void {\n const item = this.heap[index];\n\n while (index > 0) {\n const parentIndex = Math.floor((index - 1) / 2);\n const parent = this.heap[parentIndex];\n\n if (this.compare(item, parent) >= 0) {\n break;\n }\n\n this.heap[index] = parent;\n index = parentIndex;\n }\n\n this.heap[index] = item;\n }\n\n /**\n * @zh 下沉操作\n * @en Sink down operation\n */\n private sinkDown(index: number): void {\n const length = this.heap.length;\n const item = this.heap[index];\n\n while (true) {\n const leftIndex = 2 * index + 1;\n const rightIndex = 2 * index + 2;\n let smallest = index;\n\n if (leftIndex < length && this.compare(this.heap[leftIndex], this.heap[smallest]) < 0) {\n smallest = leftIndex;\n }\n\n if (rightIndex < length && this.compare(this.heap[rightIndex], this.heap[smallest]) < 0) {\n smallest = rightIndex;\n }\n\n if (smallest === index) {\n break;\n }\n\n this.heap[index] = this.heap[smallest];\n this.heap[smallest] = item;\n index = smallest;\n }\n }\n}\n","/**\n * @zh A* 寻路算法实现\n * @en A* Pathfinding Algorithm Implementation\n */\n\nimport { BinaryHeap } from './BinaryHeap';\nimport type {\n IPathfindingMap,\n IPathfinder,\n IPathResult,\n IPathfindingOptions,\n IPathNode,\n IPoint\n} from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\n\n// =============================================================================\n// 内部节点类型 | Internal Node Type\n// =============================================================================\n\ninterface AStarNode {\n node: IPathNode;\n g: number; // Cost from start\n h: number; // Heuristic to end\n f: number; // Total cost (g + h)\n parent: AStarNode | null;\n closed: boolean;\n opened: boolean;\n}\n\n// =============================================================================\n// A* 寻路器 | A* Pathfinder\n// =============================================================================\n\n/**\n * @zh A* 寻路器\n * @en A* Pathfinder\n *\n * @zh 使用 A* 算法在地图上查找最短路径\n * @en Uses A* algorithm to find shortest path on a map\n *\n * @example\n * ```typescript\n * const map = new GridMap(width, height);\n * const pathfinder = new AStarPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 10, 10);\n * if (result.found) {\n * console.log('Path:', result.path);\n * }\n * ```\n */\nexport class AStarPathfinder implements IPathfinder {\n private readonly map: IPathfindingMap;\n private nodeCache: Map<string | number, AStarNode> = new Map();\n private openList: BinaryHeap<AStarNode>;\n\n constructor(map: IPathfindingMap) {\n this.map = map;\n this.openList = new BinaryHeap<AStarNode>((a, b) => a.f - b.f);\n }\n\n /**\n * @zh 查找路径\n * @en Find path\n */\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n // Clear previous state\n this.clear();\n\n // Get start and end nodes\n const startNode = this.map.getNodeAt(startX, startY);\n const endNode = this.map.getNodeAt(endX, endY);\n\n // Validate nodes\n if (!startNode || !endNode) {\n return EMPTY_PATH_RESULT;\n }\n\n if (!startNode.walkable || !endNode.walkable) {\n return EMPTY_PATH_RESULT;\n }\n\n // Same position\n if (startNode.id === endNode.id) {\n return {\n found: true,\n path: [startNode.position],\n cost: 0,\n nodesSearched: 1\n };\n }\n\n // Initialize start node\n const start = this.getOrCreateAStarNode(startNode);\n start.g = 0;\n start.h = this.map.heuristic(startNode.position, endNode.position) * opts.heuristicWeight;\n start.f = start.h;\n start.opened = true;\n\n this.openList.push(start);\n\n let nodesSearched = 0;\n const endPosition = endNode.position;\n\n // A* main loop\n while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n const current = this.openList.pop()!;\n current.closed = true;\n nodesSearched++;\n\n // Found the goal\n if (current.node.id === endNode.id) {\n return this.buildPath(current, nodesSearched);\n }\n\n // Explore neighbors\n const neighbors = this.map.getNeighbors(current.node);\n\n for (const neighborNode of neighbors) {\n // Skip if not walkable or already closed\n if (!neighborNode.walkable) {\n continue;\n }\n\n const neighbor = this.getOrCreateAStarNode(neighborNode);\n\n if (neighbor.closed) {\n continue;\n }\n\n // Calculate tentative g score\n const movementCost = this.map.getMovementCost(current.node, neighborNode);\n const tentativeG = current.g + movementCost;\n\n // Check if this path is better\n if (!neighbor.opened) {\n // First time visiting this node\n neighbor.g = tentativeG;\n neighbor.h = this.map.heuristic(neighborNode.position, endPosition) * opts.heuristicWeight;\n neighbor.f = neighbor.g + neighbor.h;\n neighbor.parent = current;\n neighbor.opened = true;\n this.openList.push(neighbor);\n } else if (tentativeG < neighbor.g) {\n // Found a better path\n neighbor.g = tentativeG;\n neighbor.f = neighbor.g + neighbor.h;\n neighbor.parent = current;\n this.openList.update(neighbor);\n }\n }\n }\n\n // No path found\n return {\n found: false,\n path: [],\n cost: 0,\n nodesSearched\n };\n }\n\n /**\n * @zh 清理状态\n * @en Clear state\n */\n clear(): void {\n this.nodeCache.clear();\n this.openList.clear();\n }\n\n /**\n * @zh 获取或创建 A* 节点\n * @en Get or create A* node\n */\n private getOrCreateAStarNode(node: IPathNode): AStarNode {\n let astarNode = this.nodeCache.get(node.id);\n\n if (!astarNode) {\n astarNode = {\n node,\n g: Infinity,\n h: 0,\n f: Infinity,\n parent: null,\n closed: false,\n opened: false\n };\n this.nodeCache.set(node.id, astarNode);\n }\n\n return astarNode;\n }\n\n /**\n * @zh 构建路径结果\n * @en Build path result\n */\n private buildPath(endNode: AStarNode, nodesSearched: number): IPathResult {\n const path: IPoint[] = [];\n let current: AStarNode | null = endNode;\n\n while (current) {\n path.unshift(current.node.position);\n current = current.parent;\n }\n\n return {\n found: true,\n path,\n cost: endNode.g,\n nodesSearched\n };\n }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 A* 寻路器\n * @en Create A* pathfinder\n */\nexport function createAStarPathfinder(map: IPathfindingMap): AStarPathfinder {\n return new AStarPathfinder(map);\n}\n","/**\n * @zh 网格地图实现\n * @en Grid Map Implementation\n */\n\nimport type {\n IPathfindingMap,\n IPathNode,\n IPoint,\n HeuristicFunction\n} from '../core/IPathfinding';\nimport { createPoint, octileDistance } from '../core/IPathfinding';\n\n// =============================================================================\n// 网格节点 | Grid Node\n// =============================================================================\n\n/**\n * @zh 网格节点\n * @en Grid node\n */\nexport class GridNode implements IPathNode {\n readonly id: string;\n readonly position: IPoint;\n readonly x: number;\n readonly y: number;\n cost: number;\n walkable: boolean;\n\n constructor(x: number, y: number, walkable: boolean = true, cost: number = 1) {\n this.x = x;\n this.y = y;\n this.id = `${x},${y}`;\n this.position = createPoint(x, y);\n this.walkable = walkable;\n this.cost = cost;\n }\n}\n\n// =============================================================================\n// 移动方向 | Movement Directions\n// =============================================================================\n\n/**\n * @zh 4方向偏移 (上下左右)\n * @en 4-directional offsets (up, down, left, right)\n */\nexport const DIRECTIONS_4 = [\n { dx: 0, dy: -1 }, // Up\n { dx: 1, dy: 0 }, // Right\n { dx: 0, dy: 1 }, // Down\n { dx: -1, dy: 0 } // Left\n] as const;\n\n/**\n * @zh 8方向偏移 (含对角线)\n * @en 8-directional offsets (including diagonals)\n */\nexport const DIRECTIONS_8 = [\n { dx: 0, dy: -1 }, // Up\n { dx: 1, dy: -1 }, // Up-Right\n { dx: 1, dy: 0 }, // Right\n { dx: 1, dy: 1 }, // Down-Right\n { dx: 0, dy: 1 }, // Down\n { dx: -1, dy: 1 }, // Down-Left\n { dx: -1, dy: 0 }, // Left\n { dx: -1, dy: -1 } // Up-Left\n] as const;\n\n// =============================================================================\n// 网格地图配置 | Grid Map Options\n// =============================================================================\n\n/**\n * @zh 网格地图配置\n * @en Grid map options\n */\nexport interface IGridMapOptions {\n /** @zh 是否允许对角移动 @en Allow diagonal movement */\n allowDiagonal?: boolean;\n /** @zh 对角移动代价 @en Diagonal movement cost */\n diagonalCost?: number;\n /** @zh 是否避免穿角 @en Avoid corner cutting */\n avoidCorners?: boolean;\n /** @zh 启发式函数 @en Heuristic function */\n heuristic?: HeuristicFunction;\n}\n\n/**\n * @zh 默认网格地图配置\n * @en Default grid map options\n */\nexport const DEFAULT_GRID_OPTIONS: Required<IGridMapOptions> = {\n allowDiagonal: true,\n diagonalCost: Math.SQRT2,\n avoidCorners: true,\n heuristic: octileDistance\n};\n\n// =============================================================================\n// 网格地图 | Grid Map\n// =============================================================================\n\n/**\n * @zh 网格地图\n * @en Grid Map\n *\n * @zh 基于二维数组的网格地图实现，支持4方向和8方向移动\n * @en Grid map implementation based on 2D array, supports 4 and 8 directional movement\n *\n * @example\n * ```typescript\n * // Create a 10x10 grid\n * const grid = new GridMap(10, 10);\n *\n * // Set some cells as obstacles\n * grid.setWalkable(5, 5, false);\n * grid.setWalkable(5, 6, false);\n *\n * // Use with pathfinder\n * const pathfinder = new AStarPathfinder(grid);\n * const result = pathfinder.findPath(0, 0, 9, 9);\n * ```\n */\nexport class GridMap implements IPathfindingMap {\n readonly width: number;\n readonly height: number;\n private readonly nodes: GridNode[][];\n private readonly options: Required<IGridMapOptions>;\n\n constructor(width: number, height: number, options?: IGridMapOptions) {\n this.width = width;\n this.height = height;\n this.options = { ...DEFAULT_GRID_OPTIONS, ...options };\n this.nodes = this.createNodes();\n }\n\n /**\n * @zh 创建网格节点\n * @en Create grid nodes\n */\n private createNodes(): GridNode[][] {\n const nodes: GridNode[][] = [];\n\n for (let y = 0; y < this.height; y++) {\n nodes[y] = [];\n for (let x = 0; x < this.width; x++) {\n nodes[y][x] = new GridNode(x, y, true, 1);\n }\n }\n\n return nodes;\n }\n\n /**\n * @zh 获取指定位置的节点\n * @en Get node at position\n */\n getNodeAt(x: number, y: number): GridNode | null {\n if (!this.isInBounds(x, y)) {\n return null;\n }\n return this.nodes[y][x];\n }\n\n /**\n * @zh 检查坐标是否在边界内\n * @en Check if coordinates are within bounds\n */\n isInBounds(x: number, y: number): boolean {\n return x >= 0 && x < this.width && y >= 0 && y < this.height;\n }\n\n /**\n * @zh 检查位置是否可通行\n * @en Check if position is walkable\n */\n isWalkable(x: number, y: number): boolean {\n const node = this.getNodeAt(x, y);\n return node !== null && node.walkable;\n }\n\n /**\n * @zh 设置位置是否可通行\n * @en Set position walkability\n */\n setWalkable(x: number, y: number, walkable: boolean): void {\n const node = this.getNodeAt(x, y);\n if (node) {\n node.walkable = walkable;\n }\n }\n\n /**\n * @zh 设置位置的移动代价\n * @en Set movement cost at position\n */\n setCost(x: number, y: number, cost: number): void {\n const node = this.getNodeAt(x, y);\n if (node) {\n node.cost = cost;\n }\n }\n\n /**\n * @zh 获取节点的邻居\n * @en Get neighbors of a node\n */\n getNeighbors(node: IPathNode): GridNode[] {\n const neighbors: GridNode[] = [];\n const { x, y } = node.position;\n const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n for (let i = 0; i < directions.length; i++) {\n const dir = directions[i];\n const nx = x + dir.dx;\n const ny = y + dir.dy;\n\n if (!this.isInBounds(nx, ny)) {\n continue;\n }\n\n const neighbor = this.nodes[ny][nx];\n\n if (!neighbor.walkable) {\n continue;\n }\n\n // Check corner cutting for diagonal movement\n if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n const horizontal = this.getNodeAt(x + dir.dx, y);\n const vertical = this.getNodeAt(x, y + dir.dy);\n\n if (!horizontal?.walkable || !vertical?.walkable) {\n continue;\n }\n }\n\n neighbors.push(neighbor);\n }\n\n return neighbors;\n }\n\n /**\n * @zh 计算启发式距离\n * @en Calculate heuristic distance\n */\n heuristic(a: IPoint, b: IPoint): number {\n return this.options.heuristic(a, b);\n }\n\n /**\n * @zh 计算移动代价\n * @en Calculate movement cost\n */\n getMovementCost(from: IPathNode, to: IPathNode): number {\n const dx = Math.abs(from.position.x - to.position.x);\n const dy = Math.abs(from.position.y - to.position.y);\n\n // Diagonal movement\n if (dx !== 0 && dy !== 0) {\n return to.cost * this.options.diagonalCost;\n }\n\n // Cardinal movement\n return to.cost;\n }\n\n /**\n * @zh 从二维数组加载地图\n * @en Load map from 2D array\n *\n * @param data - @zh 0=可通行，非0=不可通行 @en 0=walkable, non-0=blocked\n */\n loadFromArray(data: number[][]): void {\n for (let y = 0; y < Math.min(data.length, this.height); y++) {\n for (let x = 0; x < Math.min(data[y].length, this.width); x++) {\n this.nodes[y][x].walkable = data[y][x] === 0;\n }\n }\n }\n\n /**\n * @zh 从字符串加载地图\n * @en Load map from string\n *\n * @param str - @zh 地图字符串，'.'=可通行，'#'=障碍 @en Map string, '.'=walkable, '#'=blocked\n */\n loadFromString(str: string): void {\n const lines = str.trim().split('\\n');\n\n for (let y = 0; y < Math.min(lines.length, this.height); y++) {\n const line = lines[y];\n for (let x = 0; x < Math.min(line.length, this.width); x++) {\n this.nodes[y][x].walkable = line[x] !== '#';\n }\n }\n }\n\n /**\n * @zh 导出为字符串\n * @en Export to string\n */\n toString(): string {\n let result = '';\n\n for (let y = 0; y < this.height; y++) {\n for (let x = 0; x < this.width; x++) {\n result += this.nodes[y][x].walkable ? '.' : '#';\n }\n result += '\\n';\n }\n\n return result;\n }\n\n /**\n * @zh 重置所有节点为可通行\n * @en Reset all nodes to walkable\n */\n reset(): void {\n for (let y = 0; y < this.height; y++) {\n for (let x = 0; x < this.width; x++) {\n this.nodes[y][x].walkable = true;\n this.nodes[y][x].cost = 1;\n }\n }\n }\n\n /**\n * @zh 设置矩形区域的通行性\n * @en Set walkability for a rectangle region\n */\n setRectWalkable(\n x: number,\n y: number,\n width: number,\n height: number,\n walkable: boolean\n ): void {\n for (let dy = 0; dy < height; dy++) {\n for (let dx = 0; dx < width; dx++) {\n this.setWalkable(x + dx, y + dy, walkable);\n }\n }\n }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建网格地图\n * @en Create grid map\n */\nexport function createGridMap(\n width: number,\n height: number,\n options?: IGridMapOptions\n): GridMap {\n return new GridMap(width, height, options);\n}\n","/**\n * @zh 导航网格实现\n * @en NavMesh Implementation\n */\n\nimport type {\n IPathfindingMap,\n IPathNode,\n IPoint,\n IPathResult,\n IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 导航多边形 | Navigation Polygon\n// =============================================================================\n\n/**\n * @zh 导航多边形\n * @en Navigation polygon\n */\nexport interface INavPolygon {\n /** @zh 多边形ID @en Polygon ID */\n readonly id: number;\n /** @zh 顶点列表 @en Vertex list */\n readonly vertices: readonly IPoint[];\n /** @zh 中心点 @en Center point */\n readonly center: IPoint;\n /** @zh 邻居多边形ID @en Neighbor polygon IDs */\n readonly neighbors: readonly number[];\n /** @zh 到邻居的共享边 @en Shared edges to neighbors */\n readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/**\n * @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n */\nexport interface IPortal {\n /** @zh 边的左端点 @en Left endpoint of edge */\n readonly left: IPoint;\n /** @zh 边的右端点 @en Right endpoint of edge */\n readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 | NavMesh Node\n// =============================================================================\n\n/**\n * @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n */\nclass NavMeshNode implements IPathNode {\n readonly id: number;\n readonly position: IPoint;\n readonly cost: number;\n readonly walkable: boolean;\n readonly polygon: INavPolygon;\n\n constructor(polygon: INavPolygon) {\n this.id = polygon.id;\n this.position = polygon.center;\n this.cost = 1;\n this.walkable = true;\n this.polygon = polygon;\n }\n}\n\n// =============================================================================\n// 导航网格 | Navigation Mesh\n// =============================================================================\n\n/**\n * @zh 导航网格\n * @en Navigation Mesh\n *\n * @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n *\n * @example\n * ```typescript\n * const navmesh = new NavMesh();\n *\n * // Add polygons\n * navmesh.addPolygon([\n * { x: 0, y: 0 }, { x: 10, y: 0 },\n * { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n *\n * // Build connections\n * navmesh.build();\n *\n * // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n */\nexport class NavMesh implements IPathfindingMap {\n private polygons: Map<number, INavPolygon> = new Map();\n private nodes: Map<number, NavMeshNode> = new Map();\n private nextId = 0;\n\n /**\n * @zh 添加导航多边形\n * @en Add navigation polygon\n *\n * @returns @zh 多边形ID @en Polygon ID\n */\n addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n const id = this.nextId++;\n const center = this.calculateCenter(vertices);\n\n const polygon: INavPolygon = {\n id,\n vertices,\n center,\n neighbors,\n portals: new Map()\n };\n\n this.polygons.set(id, polygon);\n this.nodes.set(id, new NavMeshNode(polygon));\n\n return id;\n }\n\n /**\n * @zh 设置两个多边形之间的连接\n * @en Set connection between two polygons\n */\n setConnection(\n polyA: number,\n polyB: number,\n portal: IPortal\n ): void {\n const polygonA = this.polygons.get(polyA);\n const polygonB = this.polygons.get(polyB);\n\n if (!polygonA || !polygonB) {\n return;\n }\n\n // Update neighbors and portals\n const neighborsA = [...polygonA.neighbors];\n const portalsA = new Map(polygonA.portals);\n\n if (!neighborsA.includes(polyB)) {\n neighborsA.push(polyB);\n }\n portalsA.set(polyB, portal);\n\n this.polygons.set(polyA, {\n ...polygonA,\n neighbors: neighborsA,\n portals: portalsA\n });\n\n // Reverse portal for the other direction\n const reversePortal: IPortal = {\n left: portal.right,\n right: portal.left\n };\n\n const neighborsB = [...polygonB.neighbors];\n const portalsB = new Map(polygonB.portals);\n\n if (!neighborsB.includes(polyA)) {\n neighborsB.push(polyA);\n }\n portalsB.set(polyA, reversePortal);\n\n this.polygons.set(polyB, {\n ...polygonB,\n neighbors: neighborsB,\n portals: portalsB\n });\n }\n\n /**\n * @zh 自动检测并建立相邻多边形的连接\n * @en Auto-detect and build connections between adjacent polygons\n */\n build(): void {\n const polygonList = Array.from(this.polygons.values());\n\n for (let i = 0; i < polygonList.length; i++) {\n for (let j = i + 1; j < polygonList.length; j++) {\n const polyA = polygonList[i];\n const polyB = polygonList[j];\n\n const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n if (sharedEdge) {\n this.setConnection(polyA.id, polyB.id, sharedEdge);\n }\n }\n }\n }\n\n /**\n * @zh 查找两个多边形的共享边\n * @en Find shared edge between two polygons\n */\n private findSharedEdge(\n verticesA: readonly IPoint[],\n verticesB: readonly IPoint[]\n ): IPortal | null {\n const epsilon = 0.0001;\n\n for (let i = 0; i < verticesA.length; i++) {\n const a1 = verticesA[i];\n const a2 = verticesA[(i + 1) % verticesA.length];\n\n for (let j = 0; j < verticesB.length; j++) {\n const b1 = verticesB[j];\n const b2 = verticesB[(j + 1) % verticesB.length];\n\n // Check if edges match (in either direction)\n const match1 =\n Math.abs(a1.x - b2.x) < epsilon &&\n Math.abs(a1.y - b2.y) < epsilon &&\n Math.abs(a2.x - b1.x) < epsilon &&\n Math.abs(a2.y - b1.y) < epsilon;\n\n const match2 =\n Math.abs(a1.x - b1.x) < epsilon &&\n Math.abs(a1.y - b1.y) < epsilon &&\n Math.abs(a2.x - b2.x) < epsilon &&\n Math.abs(a2.y - b2.y) < epsilon;\n\n if (match1 || match2) {\n return {\n left: a1,\n right: a2\n };\n }\n }\n }\n\n return null;\n }\n\n /**\n * @zh 计算多边形中心\n * @en Calculate polygon center\n */\n private calculateCenter(vertices: readonly IPoint[]): IPoint {\n let x = 0;\n let y = 0;\n\n for (const v of vertices) {\n x += v.x;\n y += v.y;\n }\n\n return createPoint(x / vertices.length, y / vertices.length);\n }\n\n /**\n * @zh 查找包含点的多边形\n * @en Find polygon containing point\n */\n findPolygonAt(x: number, y: number): INavPolygon | null {\n for (const polygon of this.polygons.values()) {\n if (this.isPointInPolygon(x, y, polygon.vertices)) {\n return polygon;\n }\n }\n return null;\n }\n\n /**\n * @zh 检查点是否在多边形内\n * @en Check if point is inside polygon\n */\n private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n let inside = false;\n const n = vertices.length;\n\n for (let i = 0, j = n - 1; i < n; j = i++) {\n const xi = vertices[i].x;\n const yi = vertices[i].y;\n const xj = vertices[j].x;\n const yj = vertices[j].y;\n\n if (\n yi > y !== yj > y &&\n x < ((xj - xi) * (y - yi)) / (yj - yi) + xi\n ) {\n inside = !inside;\n }\n }\n\n return inside;\n }\n\n // ==========================================================================\n // IPathfindingMap 接口实现 | IPathfindingMap Interface Implementation\n // ==========================================================================\n\n getNodeAt(x: number, y: number): IPathNode | null {\n const polygon = this.findPolygonAt(x, y);\n return polygon ? this.nodes.get(polygon.id) ?? null : null;\n }\n\n getNeighbors(node: IPathNode): IPathNode[] {\n const navNode = node as NavMeshNode;\n const neighbors: IPathNode[] = [];\n\n for (const neighborId of navNode.polygon.neighbors) {\n const neighbor = this.nodes.get(neighborId);\n if (neighbor) {\n neighbors.push(neighbor);\n }\n }\n\n return neighbors;\n }\n\n heuristic(a: IPoint, b: IPoint): number {\n return euclideanDistance(a, b);\n }\n\n getMovementCost(from: IPathNode, to: IPathNode): number {\n return euclideanDistance(from.position, to.position);\n }\n\n isWalkable(x: number, y: number): boolean {\n return this.findPolygonAt(x, y) !== null;\n }\n\n // ==========================================================================\n // 寻路 | Pathfinding\n // ==========================================================================\n\n /**\n * @zh 在导航网格上寻路\n * @en Find path on navigation mesh\n */\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n const startPolygon = this.findPolygonAt(startX, startY);\n const endPolygon = this.findPolygonAt(endX, endY);\n\n if (!startPolygon || !endPolygon) {\n return EMPTY_PATH_RESULT;\n }\n\n // Same polygon\n if (startPolygon.id === endPolygon.id) {\n return {\n found: true,\n path: [createPoint(startX, startY), createPoint(endX, endY)],\n cost: euclideanDistance(\n createPoint(startX, startY),\n createPoint(endX, endY)\n ),\n nodesSearched: 1\n };\n }\n\n // A* on polygon graph\n const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n if (!polygonPath.found) {\n return EMPTY_PATH_RESULT;\n }\n\n // Convert polygon path to point path using funnel algorithm\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n const pointPath = this.funnelPath(start, end, polygonPath.polygons);\n\n return {\n found: true,\n path: pointPath,\n cost: this.calculatePathLength(pointPath),\n nodesSearched: polygonPath.nodesSearched\n };\n }\n\n /**\n * @zh 在多边形图上寻路\n * @en Find path on polygon graph\n */\n private findPolygonPath(\n start: INavPolygon,\n end: INavPolygon,\n opts: Required<IPathfindingOptions>\n ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n interface AStarState {\n polygon: INavPolygon;\n g: number;\n f: number;\n parent: AStarState | null;\n }\n\n const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n const closed = new Set<number>();\n const states = new Map<number, AStarState>();\n\n const startState: AStarState = {\n polygon: start,\n g: 0,\n f: euclideanDistance(start.center, end.center) * opts.heuristicWeight,\n parent: null\n };\n\n states.set(start.id, startState);\n openList.push(startState);\n\n let nodesSearched = 0;\n\n while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n const current = openList.pop()!;\n nodesSearched++;\n\n if (current.polygon.id === end.id) {\n // Reconstruct path\n const path: INavPolygon[] = [];\n let state: AStarState | null = current;\n\n while (state) {\n path.unshift(state.polygon);\n state = state.parent;\n }\n\n return { found: true, polygons: path, nodesSearched };\n }\n\n closed.add(current.polygon.id);\n\n for (const neighborId of current.polygon.neighbors) {\n if (closed.has(neighborId)) {\n continue;\n }\n\n const neighborPolygon = this.polygons.get(neighborId);\n if (!neighborPolygon) {\n continue;\n }\n\n const g = current.g + euclideanDistance(\n current.polygon.center,\n neighborPolygon.center\n );\n\n let neighborState = states.get(neighborId);\n\n if (!neighborState) {\n neighborState = {\n polygon: neighborPolygon,\n g,\n f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n parent: current\n };\n states.set(neighborId, neighborState);\n openList.push(neighborState);\n } else if (g < neighborState.g) {\n neighborState.g = g;\n neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n neighborState.parent = current;\n openList.update(neighborState);\n }\n }\n }\n\n return { found: false, polygons: [], nodesSearched };\n }\n\n /**\n * @zh 使用漏斗算法优化路径\n * @en Optimize path using funnel algorithm\n */\n private funnelPath(\n start: IPoint,\n end: IPoint,\n polygons: INavPolygon[]\n ): IPoint[] {\n if (polygons.length <= 1) {\n return [start, end];\n }\n\n // Collect portals\n const portals: IPortal[] = [];\n\n for (let i = 0; i < polygons.length - 1; i++) {\n const portal = polygons[i].portals.get(polygons[i + 1].id);\n if (portal) {\n portals.push(portal);\n }\n }\n\n if (portals.length === 0) {\n return [start, end];\n }\n\n // Simple string pulling algorithm\n const path: IPoint[] = [start];\n\n let apex = start;\n let leftIndex = 0;\n let rightIndex = 0;\n let left = portals[0].left;\n let right = portals[0].right;\n\n for (let i = 1; i <= portals.length; i++) {\n const nextLeft = i < portals.length ? portals[i].left : end;\n const nextRight = i < portals.length ? portals[i].right : end;\n\n // Update right\n if (this.triArea2(apex, right, nextRight) <= 0) {\n if (apex === right || this.triArea2(apex, left, nextRight) > 0) {\n right = nextRight;\n rightIndex = i;\n } else {\n path.push(left);\n apex = left;\n leftIndex = rightIndex = leftIndex;\n left = right = apex;\n i = leftIndex;\n continue;\n }\n }\n\n // Update left\n if (this.triArea2(apex, left, nextLeft) >= 0) {\n if (apex === left || this.triArea2(apex, right, nextLeft) < 0) {\n left = nextLeft;\n leftIndex = i;\n } else {\n path.push(right);\n apex = right;\n leftIndex = rightIndex = rightIndex;\n left = right = apex;\n i = rightIndex;\n continue;\n }\n }\n }\n\n path.push(end);\n\n return path;\n }\n\n /**\n * @zh 计算三角形面积的两倍（用于判断点的相对位置）\n * @en Calculate twice the triangle area (for point relative position)\n */\n private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n return (c.x - a.x) * (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n }\n\n /**\n * @zh 计算路径总长度\n * @en Calculate total path length\n */\n private calculatePathLength(path: readonly IPoint[]): number {\n let length = 0;\n\n for (let i = 1; i < path.length; i++) {\n length += euclideanDistance(path[i - 1], path[i]);\n }\n\n return length;\n }\n\n /**\n * @zh 清空导航网格\n * @en Clear navigation mesh\n */\n clear(): void {\n this.polygons.clear();\n this.nodes.clear();\n this.nextId = 0;\n }\n\n /**\n * @zh 获取所有多边形\n * @en Get all polygons\n */\n getPolygons(): INavPolygon[] {\n return Array.from(this.polygons.values());\n }\n\n /**\n * @zh 获取多边形数量\n * @en Get polygon count\n */\n get polygonCount(): number {\n return this.polygons.size;\n }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建导航网格\n * @en Create navigation mesh\n */\nexport function createNavMesh(): NavMesh {\n return new NavMesh();\n}\n","/**\n * @zh 路径平滑算法\n * @en Path Smoothing Algorithms\n */\n\nimport type {\n IPathfindingMap,\n IPathSmoother,\n IPoint\n} from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 视线检测 | Line of Sight\n// =============================================================================\n\n/**\n * @zh 使用 Bresenham 算法检测视线\n * @en Line of sight check using Bresenham algorithm\n */\nexport function bresenhamLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap\n): boolean {\n // Round to grid coordinates\n let ix1 = Math.floor(x1);\n let iy1 = Math.floor(y1);\n const ix2 = Math.floor(x2);\n const iy2 = Math.floor(y2);\n\n const dx = Math.abs(ix2 - ix1);\n const dy = Math.abs(iy2 - iy1);\n\n const sx = ix1 < ix2 ? 1 : -1;\n const sy = iy1 < iy2 ? 1 : -1;\n\n let err = dx - dy;\n\n while (true) {\n if (!map.isWalkable(ix1, iy1)) {\n return false;\n }\n\n if (ix1 === ix2 && iy1 === iy2) {\n break;\n }\n\n const e2 = 2 * err;\n\n if (e2 > -dy) {\n err -= dy;\n ix1 += sx;\n }\n\n if (e2 < dx) {\n err += dx;\n iy1 += sy;\n }\n }\n\n return true;\n}\n\n/**\n * @zh 使用射线投射检测视线（更精确）\n * @en Line of sight check using ray casting (more precise)\n */\nexport function raycastLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap,\n stepSize: number = 0.5\n): boolean {\n const dx = x2 - x1;\n const dy = y2 - y1;\n const distance = Math.sqrt(dx * dx + dy * dy);\n\n if (distance === 0) {\n return map.isWalkable(Math.floor(x1), Math.floor(y1));\n }\n\n const steps = Math.ceil(distance / stepSize);\n const stepX = dx / steps;\n const stepY = dy / steps;\n\n let x = x1;\n let y = y1;\n\n for (let i = 0; i <= steps; i++) {\n if (!map.isWalkable(Math.floor(x), Math.floor(y))) {\n return false;\n }\n x += stepX;\n y += stepY;\n }\n\n return true;\n}\n\n// =============================================================================\n// 路径简化器（拐点移除）| Path Simplifier (Waypoint Removal)\n// =============================================================================\n\n/**\n * @zh 路径简化器 - 移除不必要的拐点\n * @en Path Simplifier - Removes unnecessary waypoints\n *\n * @zh 使用视线检测移除可以直接到达的中间点\n * @en Uses line of sight to remove intermediate points that can be reached directly\n */\nexport class LineOfSightSmoother implements IPathSmoother {\n private readonly lineOfSight: typeof bresenhamLineOfSight;\n\n constructor(lineOfSight: typeof bresenhamLineOfSight = bresenhamLineOfSight) {\n this.lineOfSight = lineOfSight;\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n if (path.length <= 2) {\n return [...path];\n }\n\n const result: IPoint[] = [path[0]];\n let current = 0;\n\n while (current < path.length - 1) {\n // Find the furthest point we can see from current\n let furthest = current + 1;\n\n for (let i = path.length - 1; i > current + 1; i--) {\n if (this.lineOfSight(\n path[current].x,\n path[current].y,\n path[i].x,\n path[i].y,\n map\n )) {\n furthest = i;\n break;\n }\n }\n\n result.push(path[furthest]);\n current = furthest;\n }\n\n return result;\n }\n}\n\n// =============================================================================\n// 曲线平滑器 | Curve Smoother\n// =============================================================================\n\n/**\n * @zh Catmull-Rom 样条曲线平滑\n * @en Catmull-Rom spline smoothing\n */\nexport class CatmullRomSmoother implements IPathSmoother {\n private readonly segments: number;\n private readonly tension: number;\n\n /**\n * @param segments - @zh 每段之间的插值点数 @en Number of interpolation points per segment\n * @param tension - @zh 张力 (0-1) @en Tension (0-1)\n */\n constructor(segments: number = 5, tension: number = 0.5) {\n this.segments = segments;\n this.tension = tension;\n }\n\n smooth(path: readonly IPoint[], _map: IPathfindingMap): IPoint[] {\n if (path.length <= 2) {\n return [...path];\n }\n\n const result: IPoint[] = [];\n\n // Add phantom points at the ends\n const points = [\n path[0],\n ...path,\n path[path.length - 1]\n ];\n\n for (let i = 1; i < points.length - 2; i++) {\n const p0 = points[i - 1];\n const p1 = points[i];\n const p2 = points[i + 1];\n const p3 = points[i + 2];\n\n for (let j = 0; j < this.segments; j++) {\n const t = j / this.segments;\n const point = this.interpolate(p0, p1, p2, p3, t);\n result.push(point);\n }\n }\n\n // Add final point\n result.push(path[path.length - 1]);\n\n return result;\n }\n\n /**\n * @zh Catmull-Rom 插值\n * @en Catmull-Rom interpolation\n */\n private interpolate(\n p0: IPoint,\n p1: IPoint,\n p2: IPoint,\n p3: IPoint,\n t: number\n ): IPoint {\n const t2 = t * t;\n const t3 = t2 * t;\n\n const tension = this.tension;\n\n const x =\n 0.5 *\n ((2 * p1.x) +\n (-p0.x + p2.x) * t * tension +\n (2 * p0.x - 5 * p1.x + 4 * p2.x - p3.x) * t2 * tension +\n (-p0.x + 3 * p1.x - 3 * p2.x + p3.x) * t3 * tension);\n\n const y =\n 0.5 *\n ((2 * p1.y) +\n (-p0.y + p2.y) * t * tension +\n (2 * p0.y - 5 * p1.y + 4 * p2.y - p3.y) * t2 * tension +\n (-p0.y + 3 * p1.y - 3 * p2.y + p3.y) * t3 * tension);\n\n return createPoint(x, y);\n }\n}\n\n// =============================================================================\n// 组合平滑器 | Combined Smoother\n// =============================================================================\n\n/**\n * @zh 组合路径平滑器\n * @en Combined path smoother\n *\n * @zh 先简化路径，再用曲线平滑\n * @en First simplify path, then smooth with curves\n */\nexport class CombinedSmoother implements IPathSmoother {\n private readonly simplifier: LineOfSightSmoother;\n private readonly curveSmoother: CatmullRomSmoother;\n\n constructor(curveSegments: number = 5, tension: number = 0.5) {\n this.simplifier = new LineOfSightSmoother();\n this.curveSmoother = new CatmullRomSmoother(curveSegments, tension);\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n // First simplify\n const simplified = this.simplifier.smooth(path, map);\n\n // Then curve smooth\n return this.curveSmoother.smooth(simplified, map);\n }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Functions\n// =============================================================================\n\n/**\n * @zh 创建视线平滑器\n * @en Create line of sight smoother\n */\nexport function createLineOfSightSmoother(\n lineOfSight?: typeof bresenhamLineOfSight\n): LineOfSightSmoother {\n return new LineOfSightSmoother(lineOfSight);\n}\n\n/**\n * @zh 创建曲线平滑器\n * @en Create curve smoother\n */\nexport function createCatmullRomSmoother(\n segments?: number,\n tension?: number\n): CatmullRomSmoother {\n return new CatmullRomSmoother(segments, tension);\n}\n\n/**\n * @zh 创建组合平滑器\n * @en Create combined smoother\n */\nexport function createCombinedSmoother(\n curveSegments?: number,\n tension?: number\n): CombinedSmoother {\n return new CombinedSmoother(curveSegments, tension);\n}\n","/**\n * @zh 寻路系统蓝图节点\n * @en Pathfinding System Blueprint Nodes\n */\n\nimport type { BlueprintNodeTemplate, BlueprintNode, INodeExecutor, ExecutionResult } from '@esengine/blueprint';\nimport type { IPathResult, IPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 执行上下文接口 | Execution Context Interface\n// =============================================================================\n\ninterface PathfindingContext {\n evaluateInput(nodeId: string, pinName: string, defaultValue?: unknown): unknown;\n setOutputs(nodeId: string, outputs: Record<string, unknown>): void;\n findPath(startX: number, startY: number, endX: number, endY: number): IPathResult;\n findPathSmooth(startX: number, startY: number, endX: number, endY: number): IPathResult;\n isWalkable(x: number, y: number): boolean;\n getPathDistance(path: IPoint[]): number;\n}\n\n// =============================================================================\n// FindPath 节点 | FindPath Node\n// =============================================================================\n\nexport const FindPathTemplate: BlueprintNodeTemplate = {\n type: 'FindPath',\n title: 'Find Path',\n category: 'custom',\n description: 'Find path from start to end / 从起点到终点寻路',\n keywords: ['path', 'pathfinding', 'astar', 'navigate', 'route'],\n menuPath: ['Pathfinding', 'Find Path'],\n inputs: [\n { name: 'exec', displayName: '', type: 'exec' },\n { name: 'startX', displayName: 'Start X', type: 'float' },\n { name: 'startY', displayName: 'Start Y', type: 'float' },\n { name: 'endX', displayName: 'End X', type: 'float' },\n { name: 'endY', displayName: 'End Y', type: 'float' }\n ],\n outputs: [\n { name: 'exec', displayName: '', type: 'exec' },\n { name: 'found', displayName: 'Found', type: 'bool' },\n { name: 'path', displayName: 'Path', type: 'array' },\n { name: 'cost', displayName: 'Cost', type: 'float' }\n ],\n color: '#4caf50'\n};\n\nexport class FindPathExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const startX = ctx.evaluateInput(node.id, 'startX', 0) as number;\n const startY = ctx.evaluateInput(node.id, 'startY', 0) as number;\n const endX = ctx.evaluateInput(node.id, 'endX', 0) as number;\n const endY = ctx.evaluateInput(node.id, 'endY', 0) as number;\n\n const result = ctx.findPath(startX, startY, endX, endY);\n\n return {\n outputs: {\n found: result.found,\n path: result.path,\n cost: result.cost\n },\n nextExec: 'exec'\n };\n }\n}\n\n// =============================================================================\n// FindPathSmooth 节点 | FindPathSmooth Node\n// =============================================================================\n\nexport const FindPathSmoothTemplate: BlueprintNodeTemplate = {\n type: 'FindPathSmooth',\n title: 'Find Path (Smooth)',\n category: 'custom',\n description: 'Find path with smoothing / 寻路并平滑路径',\n keywords: ['path', 'pathfinding', 'smooth', 'navigate'],\n menuPath: ['Pathfinding', 'Find Path (Smooth)'],\n inputs: [\n { name: 'exec', displayName: '', type: 'exec' },\n { name: 'startX', displayName: 'Start X', type: 'float' },\n { name: 'startY', displayName: 'Start Y', type: 'float' },\n { name: 'endX', displayName: 'End X', type: 'float' },\n { name: 'endY', displayName: 'End Y', type: 'float' }\n ],\n outputs: [\n { name: 'exec', displayName: '', type: 'exec' },\n { name: 'found', displayName: 'Found', type: 'bool' },\n { name: 'path', displayName: 'Path', type: 'array' },\n { name: 'cost', displayName: 'Cost', type: 'float' }\n ],\n color: '#4caf50'\n};\n\nexport class FindPathSmoothExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const startX = ctx.evaluateInput(node.id, 'startX', 0) as number;\n const startY = ctx.evaluateInput(node.id, 'startY', 0) as number;\n const endX = ctx.evaluateInput(node.id, 'endX', 0) as number;\n const endY = ctx.evaluateInput(node.id, 'endY', 0) as number;\n\n const result = ctx.findPathSmooth(startX, startY, endX, endY);\n\n return {\n outputs: {\n found: result.found,\n path: result.path,\n cost: result.cost\n },\n nextExec: 'exec'\n };\n }\n}\n\n// =============================================================================\n// IsWalkable 节点 | IsWalkable Node\n// =============================================================================\n\nexport const IsWalkableTemplate: BlueprintNodeTemplate = {\n type: 'IsWalkable',\n title: 'Is Walkable',\n category: 'custom',\n description: 'Check if position is walkable / 检查位置是否可通行',\n keywords: ['walkable', 'obstacle', 'blocked', 'terrain'],\n menuPath: ['Pathfinding', 'Is Walkable'],\n isPure: true,\n inputs: [\n { name: 'x', displayName: 'X', type: 'float' },\n { name: 'y', displayName: 'Y', type: 'float' }\n ],\n outputs: [\n { name: 'walkable', displayName: 'Walkable', type: 'bool' }\n ],\n color: '#4caf50'\n};\n\nexport class IsWalkableExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const x = ctx.evaluateInput(node.id, 'x', 0) as number;\n const y = ctx.evaluateInput(node.id, 'y', 0) as number;\n\n const walkable = ctx.isWalkable(x, y);\n\n return { outputs: { walkable } };\n }\n}\n\n// =============================================================================\n// GetPathLength 节点 | GetPathLength Node\n// =============================================================================\n\nexport const GetPathLengthTemplate: BlueprintNodeTemplate = {\n type: 'GetPathLength',\n title: 'Get Path Length',\n category: 'custom',\n description: 'Get the number of points in path / 获取路径点数量',\n keywords: ['path', 'length', 'count', 'waypoints'],\n menuPath: ['Pathfinding', 'Get Path Length'],\n isPure: true,\n inputs: [\n { name: 'path', displayName: 'Path', type: 'array' }\n ],\n outputs: [\n { name: 'length', displayName: 'Length', type: 'int' }\n ],\n color: '#4caf50'\n};\n\nexport class GetPathLengthExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const path = ctx.evaluateInput(node.id, 'path', []) as IPoint[];\n\n return { outputs: { length: path.length } };\n }\n}\n\n// =============================================================================\n// GetPathDistance 节点 | GetPathDistance Node\n// =============================================================================\n\nexport const GetPathDistanceTemplate: BlueprintNodeTemplate = {\n type: 'GetPathDistance',\n title: 'Get Path Distance',\n category: 'custom',\n description: 'Get total path distance / 获取路径总距离',\n keywords: ['path', 'distance', 'length', 'travel'],\n menuPath: ['Pathfinding', 'Get Path Distance'],\n isPure: true,\n inputs: [\n { name: 'path', displayName: 'Path', type: 'array' }\n ],\n outputs: [\n { name: 'distance', displayName: 'Distance', type: 'float' }\n ],\n color: '#4caf50'\n};\n\nexport class GetPathDistanceExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const path = ctx.evaluateInput(node.id, 'path', []) as IPoint[];\n\n const distance = ctx.getPathDistance(path);\n\n return { outputs: { distance } };\n }\n}\n\n// =============================================================================\n// GetPathPoint 节点 | GetPathPoint Node\n// =============================================================================\n\nexport const GetPathPointTemplate: BlueprintNodeTemplate = {\n type: 'GetPathPoint',\n title: 'Get Path Point',\n category: 'custom',\n description: 'Get point at index in path / 获取路径中指定索引的点',\n keywords: ['path', 'point', 'waypoint', 'index'],\n menuPath: ['Pathfinding', 'Get Path Point'],\n isPure: true,\n inputs: [\n { name: 'path', displayName: 'Path', type: 'array' },\n { name: 'index', displayName: 'Index', type: 'int' }\n ],\n outputs: [\n { name: 'x', displayName: 'X', type: 'float' },\n { name: 'y', displayName: 'Y', type: 'float' },\n { name: 'valid', displayName: 'Valid', type: 'bool' }\n ],\n color: '#4caf50'\n};\n\nexport class GetPathPointExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const path = ctx.evaluateInput(node.id, 'path', []) as IPoint[];\n const index = ctx.evaluateInput(node.id, 'index', 0) as number;\n\n if (index >= 0 && index < path.length) {\n return {\n outputs: {\n x: path[index].x,\n y: path[index].y,\n valid: true\n }\n };\n }\n\n return {\n outputs: {\n x: 0,\n y: 0,\n valid: false\n }\n };\n }\n}\n\n// =============================================================================\n// MoveAlongPath 节点 | MoveAlongPath Node\n// =============================================================================\n\nexport const MoveAlongPathTemplate: BlueprintNodeTemplate = {\n type: 'MoveAlongPath',\n title: 'Move Along Path',\n category: 'custom',\n description: 'Get position along path at progress / 获取路径上指定进度的位置',\n keywords: ['path', 'move', 'lerp', 'progress', 'interpolate'],\n menuPath: ['Pathfinding', 'Move Along Path'],\n isPure: true,\n inputs: [\n { name: 'path', displayName: 'Path', type: 'array' },\n { name: 'progress', displayName: 'Progress (0-1)', type: 'float' }\n ],\n outputs: [\n { name: 'x', displayName: 'X', type: 'float' },\n { name: 'y', displayName: 'Y', type: 'float' }\n ],\n color: '#4caf50'\n};\n\nexport class MoveAlongPathExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext;\n const path = ctx.evaluateInput(node.id, 'path', []) as IPoint[];\n let progress = ctx.evaluateInput(node.id, 'progress', 0) as number;\n\n if (path.length === 0) {\n return { outputs: { x: 0, y: 0 } };\n }\n\n if (path.length === 1) {\n return { outputs: { x: path[0].x, y: path[0].y } };\n }\n\n // Clamp progress\n progress = Math.max(0, Math.min(1, progress));\n\n // Calculate total distance\n let totalDistance = 0;\n const segmentDistances: number[] = [];\n\n for (let i = 1; i < path.length; i++) {\n const dx = path[i].x - path[i - 1].x;\n const dy = path[i].y - path[i - 1].y;\n const dist = Math.sqrt(dx * dx + dy * dy);\n segmentDistances.push(dist);\n totalDistance += dist;\n }\n\n if (totalDistance === 0) {\n return { outputs: { x: path[0].x, y: path[0].y } };\n }\n\n // Find the segment and position\n const targetDistance = progress * totalDistance;\n let accumulatedDistance = 0;\n\n for (let i = 0; i < segmentDistances.length; i++) {\n const segmentDist = segmentDistances[i];\n\n if (accumulatedDistance + segmentDist >= targetDistance) {\n const segmentProgress = (targetDistance - accumulatedDistance) / segmentDist;\n const x = path[i].x + (path[i + 1].x - path[i].x) * segmentProgress;\n const y = path[i].y + (path[i + 1].y - path[i].y) * segmentProgress;\n return { outputs: { x, y } };\n }\n\n accumulatedDistance += segmentDist;\n }\n\n // Return last point\n const last = path[path.length - 1];\n return { outputs: { x: last.x, y: last.y } };\n }\n}\n\n// =============================================================================\n// HasLineOfSight 节点 | HasLineOfSight Node\n// =============================================================================\n\nexport const HasLineOfSightTemplate: BlueprintNodeTemplate = {\n type: 'HasLineOfSight',\n title: 'Has Line of Sight',\n category: 'custom',\n description: 'Check if there is a clear line between two points / 检查两点之间是否有清晰的视线',\n keywords: ['line', 'sight', 'los', 'visibility', 'raycast'],\n menuPath: ['Pathfinding', 'Has Line of Sight'],\n isPure: true,\n inputs: [\n { name: 'startX', displayName: 'Start X', type: 'float' },\n { name: 'startY', displayName: 'Start Y', type: 'float' },\n { name: 'endX', displayName: 'End X', type: 'float' },\n { name: 'endY', displayName: 'End Y', type: 'float' }\n ],\n outputs: [\n { name: 'hasLOS', displayName: 'Has LOS', type: 'bool' }\n ],\n color: '#4caf50'\n};\n\nexport class HasLineOfSightExecutor implements INodeExecutor {\n execute(node: BlueprintNode, context: unknown): ExecutionResult {\n const ctx = context as PathfindingContext & {\n hasLineOfSight?(x1: number, y1: number, x2: number, y2: number): boolean;\n };\n\n const startX = ctx.evaluateInput(node.id, 'startX', 0) as number;\n const startY = ctx.evaluateInput(node.id, 'startY', 0) as number;\n const endX = ctx.evaluateInput(node.id, 'endX', 0) as number;\n const endY = ctx.evaluateInput(node.id, 'endY', 0) as number;\n\n const hasLOS = ctx.hasLineOfSight?.(startX, startY, endX, endY) ?? true;\n\n return { outputs: { hasLOS } };\n }\n}\n\n// =============================================================================\n// 节点定义集合 | Node Definition Collection\n// =============================================================================\n\nexport const PathfindingNodeDefinitions = {\n templates: [\n FindPathTemplate,\n FindPathSmoothTemplate,\n IsWalkableTemplate,\n GetPathLengthTemplate,\n GetPathDistanceTemplate,\n GetPathPointTemplate,\n MoveAlongPathTemplate,\n HasLineOfSightTemplate\n ],\n executors: new Map<string, INodeExecutor>([\n ['FindPath', new FindPathExecutor()],\n ['FindPathSmooth', new FindPathSmoothExecutor()],\n ['IsWalkable', new IsWalkableExecutor()],\n ['GetPathLength', new GetPathLengthExecutor()],\n ['GetPathDistance', new GetPathDistanceExecutor()],\n ['GetPathPoint', new GetPathPointExecutor()],\n ['MoveAlongPath', new MoveAlongPathExecutor()],\n ['HasLineOfSight', new HasLineOfSightExecutor()]\n 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package/module.json ADDED Viewed

@@ -0,0 +1,24 @@
+{
+    "id": "pathfinding",
+    "name": "@esengine/pathfinding",
+    "globalKey": "pathfinding",
+    "displayName": "Pathfinding",
+    "description": "寻路系统，提供 A*、网格地图、导航网格和路径平滑 | Pathfinding system with A*, grid map, NavMesh and path smoothing",
+    "version": "1.0.0",
+    "category": "AI",
+    "icon": "Route",
+    "tags": ["pathfinding", "navigation", "astar", "navmesh", "ai"],
+    "isCore": false,
+    "defaultEnabled": true,
+    "isEngineModule": true,
+    "canContainContent": false,
+    "platforms": ["web", "desktop", "mobile"],
+    "dependencies": ["core", "math", "blueprint"],
+    "exports": {
+        "components": ["PathfindingAgentComponent"],
+        "systems": ["PathfindingSystem"]
+    },
+    "requiresWasm": false,
+    "outputPath": "dist/index.js",
+    "pluginExport": "PathfindingPlugin"
+}

package/package.json CHANGED Viewed

@@ -1,70 +1,61 @@
-{
-  "name": "@esengine/pathfinding",
-  "version": "1.0.8",
-  "description": "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",
-  "main": "dist/pathfinding.cjs",
-  "module": "dist/pathfinding.mjs",
-  "types": "dist/pathfinding.d.ts",
-  "exports": {
-    ".": {
-      "import": "./dist/pathfinding.mjs",
-      "default": "./dist/pathfinding.cjs"
-    }
-  },
-  "files": [
-    "dist/**/*",
-    "README.md",
-    "LICENSE"
-  ],
-  "keywords": [
-    "pathfinding",
-    "astar",
-    "a-star",
-    "algorithm",
-    "game",
-    "cocos",
-    "laya",
-    "typescript",
-    "navigation",
-    "grid"
-  ],
-  "directories": {
-    "lib": "lib"
-  },
-  "scripts": {
-    "test": "jest",
-    "test:watch": "jest --watch",
-    "test:coverage": "jest --coverage",
-    "test:mocha": "mocha --recursive --reporter tap --growl",
-    "type-check": "tsc --noEmit",
-    "lint": "npm run eslint",
-    "eslint": "eslint src --ext .ts",
-    "clean": "rimraf bin dist",
-    "build:ts": "tsc",
-    "prebuild": "npm run clean",
-    "build": "npm run build:ts && rollup -c",
-    "build:watch": "tsc --watch",
-    "rebuild": "npm run clean && npm run build",
-    "dev": "npm run build:ts && rollup -c --watch",
-    "ci": "npm run type-check && npm run test && npm run build",
-    "prepublishOnly": "npm run ci",
-    "publish:patch": "npm version patch && npm run build && npm publish"
-  },
-  "author": "yhh",
-  "license": "MIT",
-  "devDependencies": {
-    "@rollup/plugin-commonjs": "^28.0.3",
-    "@rollup/plugin-node-resolve": "^16.0.1",
-    "@types/jest": "^29.5.12",
-    "@typescript-eslint/eslint-plugin": "^6.0.0",
-    "@typescript-eslint/parser": "^6.0.0",
-    "eslint": "^8.0.0",
-    "jest": "^29.7.0",
-    "ts-jest": "^29.1.2",
-    "rimraf": "^5.0.0",
-    "rollup": "^4.42.0",
-    "rollup-plugin-dts": "^6.2.1",
-    "typedoc": "^0.25.13",
-    "typescript": "^5.4.5"
-  }
-}
+{
+  "name": "@esengine/pathfinding",
+  "version": "2.0.0",
+  "description": "寻路系统 | Pathfinding System - A*, Grid, NavMesh",
+  "type": "module",
+  "main": "./dist/index.js",
+  "module": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "exports": {
+    ".": {
+      "import": "./dist/index.js",
+      "types": "./dist/index.d.ts"
+    }
+  },
+  "files": [
+    "dist",
+    "module.json"
+  ],
+  "devDependencies": {
+    "tsup": "^8.0.0",
+    "typescript": "^5.8.0",
+    "vitest": "^2.1.9",
+    "@esengine/ecs-framework": "2.5.0",
+    "@esengine/ecs-framework-math": "1.0.5",
+    "@esengine/blueprint": "2.0.0"
+  },
+  "peerDependencies": {
+    "@esengine/ecs-framework": "2.5.0",
+    "@esengine/ecs-framework-math": "1.0.5",
+    "@esengine/blueprint": "2.0.0"
+  },
+  "publishConfig": {
+    "access": "public",
+    "registry": "https://registry.npmjs.org/"
+  },
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/esengine/esengine.git",
+    "directory": "packages/framework/pathfinding"
+  },
+  "keywords": [
+    "ecs",
+    "pathfinding",
+    "astar",
+    "a-star",
+    "navmesh",
+    "navigation",
+    "game-ai",
+    "cocos",
+    "laya",
+    "esengine"
+  ],
+  "scripts": {
+    "build": "tsup",
+    "build:watch": "tsup --watch",
+    "type-check": "tsc --noEmit",
+    "test": "vitest run",
+    "test:watch": "vitest",
+    "clean": "rimraf dist"
+  }
+}