@esengine/pathfinding 11.0.0 → 12.1.0

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Files changed (15) hide show
  1. package/dist/IIncrementalPathfinding-3qs7e_pO.d.ts +450 -0
  2. package/dist/chunk-GTFFYRZM.js +36 -0
  3. package/dist/chunk-GTFFYRZM.js.map +1 -0
  4. package/dist/chunk-TPT7Q3E3.js +1648 -0
  5. package/dist/chunk-TPT7Q3E3.js.map +1 -0
  6. package/dist/ecs.d.ts +503 -0
  7. package/dist/ecs.js +1033 -0
  8. package/dist/ecs.js.map +1 -0
  9. package/dist/index.d.ts +886 -192
  10. package/dist/index.js +1650 -1066
  11. package/dist/index.js.map +1 -1
  12. package/dist/nodes.d.ts +143 -0
  13. package/dist/nodes.js +1174 -0
  14. package/dist/nodes.js.map +1 -0
  15. package/package.json +25 -9
package/dist/ecs.js.map ADDED
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+ {"version":3,"sources":["../src/ecs/PathfindingAgentComponent.ts","../src/ecs/PathfindingMapComponent.ts","../src/ecs/PathfindingSystem.ts"],"sourcesContent":["/**\n * @zh 寻路代理组件\n * @en Pathfinding Agent Component\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\nimport type { IPoint } from '../core/IPathfinding';\nimport { PathfindingState } from '../core/IIncrementalPathfinding';\n\n// =============================================================================\n// 寻路代理组件 | Pathfinding Agent Component\n// =============================================================================\n\n/**\n * @zh 寻路代理组件\n * @en Pathfinding Agent Component\n *\n * @zh 附加到需要寻路的实体上，管理寻路请求和结果\n * @en Attach to entities that need pathfinding, manages path requests and results\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n * const agent = entity.addComponent(new PathfindingAgentComponent());\n *\n * // Set initial position\n * agent.x = 10;\n * agent.y = 10;\n *\n * // Request path to target\n * agent.requestPathTo(50, 50);\n *\n * // In movement system, follow the path\n * const waypoint = agent.getNextWaypoint();\n * if (waypoint) {\n * // Move towards waypoint\n * // When reached, call agent.advanceWaypoint()\n * }\n * ```\n */\n@ECSComponent('PathfindingAgent')\n@Serializable({ version: 1, typeId: 'PathfindingAgent' })\nexport class PathfindingAgentComponent extends Component {\n // =========================================================================\n // 位置属性 | Position Properties\n // =========================================================================\n\n /**\n * @zh 当前位置 X 坐标\n * @en Current position X coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Position X' })\n x: number = 0;\n\n /**\n * @zh 当前位置 Y 坐标\n * @en Current position Y coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Position Y' })\n y: number = 0;\n\n // =========================================================================\n // 目标属性 | Target Properties\n // =========================================================================\n\n /**\n * @zh 目标位置 X 坐标\n * @en Target position X coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Target X' })\n targetX: number = 0;\n\n /**\n * @zh 目标位置 Y 坐标\n * @en Target position Y coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Target Y' })\n targetY: number = 0;\n\n /**\n * @zh 是否有新的寻路请求待处理\n * @en Whether there is a new path request pending\n */\n hasRequest: boolean = false;\n\n // =========================================================================\n // 配置属性 | Configuration Properties\n // =========================================================================\n\n /**\n * @zh 寻路优先级（数值越小优先级越高）\n * @en Pathfinding priority (lower number = higher priority)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Priority', min: 0, max: 100 })\n priority: number = 50;\n\n /**\n * @zh 每帧最大迭代次数\n * @en Maximum iterations per frame\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Iterations/Frame', min: 10, max: 1000 })\n maxIterationsPerFrame: number = 100;\n\n /**\n * @zh 是否启用动态重规划\n * @en Whether dynamic replanning is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Dynamic Replan' })\n enableDynamicReplan: boolean = true;\n\n /**\n * @zh 向前探测距离（用于障碍物检测）\n * @en Lookahead distance for obstacle detection\n */\n @Serialize()\n @Property({ type: 'number', label: 'Lookahead Distance', min: 1, max: 20 })\n lookaheadDistance: number = 5;\n\n /**\n * @zh 路径验证间隔（帧数）\n * @en Path validation interval (in frames)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Validation Interval', min: 1, max: 60 })\n validationInterval: number = 10;\n\n // =========================================================================\n // 运行时状态（不序列化）| Runtime State (not serialized)\n // =========================================================================\n\n /**\n * @zh 当前寻路状态\n * @en Current pathfinding state\n */\n state: PathfindingState = PathfindingState.Idle;\n\n /**\n * @zh 当前请求 ID\n * @en Current request ID\n */\n currentRequestId: number = -1;\n\n /**\n * @zh 当前路径点列表\n * @en Current path waypoints\n */\n path: IPoint[] = [];\n\n /**\n * @zh 当前路径索引\n * @en Current path index\n */\n pathIndex: number = 0;\n\n /**\n * @zh 路径总代价\n * @en Total path cost\n */\n pathCost: number = 0;\n\n /**\n * @zh 寻路进度 (0-1)\n * @en Pathfinding progress (0-1)\n */\n progress: number = 0;\n\n /**\n * @zh 上次验证的帧号\n * @en Last validation frame number\n */\n lastValidationFrame: number = 0;\n\n /**\n * @zh 寻路完成回调\n * @en Pathfinding complete callback\n */\n onPathComplete?: (found: boolean, path: readonly IPoint[]) => void;\n\n /**\n * @zh 寻路进度回调\n * @en Pathfinding progress callback\n */\n onPathProgress?: (progress: number) => void;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 请求寻路到目标位置\n * @en Request path to target position\n *\n * @param targetX - @zh 目标 X 坐标 @en Target X coordinate\n * @param targetY - @zh 目标 Y 坐标 @en Target Y coordinate\n */\n requestPathTo(targetX: number, targetY: number): void {\n this.targetX = targetX;\n this.targetY = targetY;\n this.hasRequest = true;\n this.state = PathfindingState.Idle;\n this.progress = 0;\n }\n\n /**\n * @zh 取消当前寻路\n * @en Cancel current pathfinding\n */\n cancelPath(): void {\n this.hasRequest = false;\n this.state = PathfindingState.Cancelled;\n this.path = [];\n this.pathIndex = 0;\n this.progress = 0;\n this.currentRequestId = -1;\n }\n\n /**\n * @zh 获取下一个路径点\n * @en Get next waypoint\n *\n * @returns @zh 下一个路径点或 null @en Next waypoint or null\n */\n getNextWaypoint(): IPoint | null {\n if (this.pathIndex < this.path.length) {\n return this.path[this.pathIndex];\n }\n return null;\n }\n\n /**\n * @zh 前进到下一个路径点\n * @en Advance to next waypoint\n */\n advanceWaypoint(): void {\n if (this.pathIndex < this.path.length) {\n this.pathIndex++;\n }\n }\n\n /**\n * @zh 检查是否到达路径终点\n * @en Check if reached path end\n *\n * @returns @zh 是否到达终点 @en Whether reached end\n */\n isPathComplete(): boolean {\n return this.pathIndex >= this.path.length;\n }\n\n /**\n * @zh 检查是否正在寻路\n * @en Check if pathfinding is in progress\n *\n * @returns @zh 是否正在寻路 @en Whether pathfinding is in progress\n */\n isSearching(): boolean {\n return this.state === PathfindingState.InProgress;\n }\n\n /**\n * @zh 检查是否有有效路径\n * @en Check if has valid path\n *\n * @returns @zh 是否有有效路径 @en Whether has valid path\n */\n hasValidPath(): boolean {\n return this.state === PathfindingState.Completed && this.path.length > 0;\n }\n\n /**\n * @zh 获取剩余路径点数量\n * @en Get remaining waypoint count\n *\n * @returns @zh 剩余路径点数量 @en Remaining waypoint count\n */\n getRemainingWaypointCount(): number {\n return Math.max(0, this.path.length - this.pathIndex);\n }\n\n /**\n * @zh 获取当前路径的总长度\n * @en Get total path length\n *\n * @returns @zh 路径总长度 @en Total path length\n */\n getPathLength(): number {\n return this.path.length;\n }\n\n /**\n * @zh 重置组件状态\n * @en Reset component state\n */\n reset(): void {\n this.state = PathfindingState.Idle;\n this.currentRequestId = -1;\n this.path = [];\n this.pathIndex = 0;\n this.pathCost = 0;\n this.progress = 0;\n this.hasRequest = false;\n this.lastValidationFrame = 0;\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n this.reset();\n this.onPathComplete = undefined;\n this.onPathProgress = undefined;\n }\n}\n","/**\n * @zh 寻路地图组件\n * @en Pathfinding Map Component\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\nimport type { IPathfindingMap, IPathSmoother } from '../core/IPathfinding';\nimport type { IIncrementalPathfinder } from '../core/IIncrementalPathfinding';\n\n// =============================================================================\n// 地图类型 | Map Type\n// =============================================================================\n\n/**\n * @zh 地图类型\n * @en Map type\n */\nexport type PathfindingMapType = 'grid' | 'navmesh';\n\n// =============================================================================\n// 寻路地图组件 | Pathfinding Map Component\n// =============================================================================\n\n/**\n * @zh 寻路地图组件\n * @en Pathfinding Map Component\n *\n * @zh 挂载在场景实体上，持有地图实例和增量寻路器\n * @en Attached to scene entity, holds map instance and incremental pathfinder\n *\n * @example\n * ```typescript\n * const mapEntity = scene.createEntity('PathfindingMap');\n * const mapComp = mapEntity.addComponent(new PathfindingMapComponent());\n *\n * // Configure map\n * mapComp.width = 100;\n * mapComp.height = 100;\n * mapComp.iterationsBudget = 2000;\n *\n * // Map and pathfinder will be initialized by PathfindingSystem\n * ```\n */\n@ECSComponent('PathfindingMap')\n@Serializable({ version: 1, typeId: 'PathfindingMap' })\nexport class PathfindingMapComponent extends Component {\n // =========================================================================\n // 地图配置 | Map Configuration\n // =========================================================================\n\n /**\n * @zh 地图类型\n * @en Map type\n */\n @Serialize()\n @Property({\n type: 'enum',\n label: 'Map Type',\n options: [\n { value: 'grid', label: 'Grid' },\n { value: 'navmesh', label: 'NavMesh' }\n ]\n })\n mapType: PathfindingMapType = 'grid';\n\n /**\n * @zh 网格宽度（仅 grid 类型）\n * @en Grid width (grid type only)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Map Width', min: 1, max: 10000 })\n width: number = 100;\n\n /**\n * @zh 网格高度（仅 grid 类型）\n * @en Grid height (grid type only)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Map Height', min: 1, max: 10000 })\n height: number = 100;\n\n /**\n * @zh 是否允许对角移动\n * @en Whether diagonal movement is allowed\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Allow Diagonal' })\n allowDiagonal: boolean = true;\n\n /**\n * @zh 是否避免穿角\n * @en Whether to avoid corner cutting\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Avoid Corners' })\n avoidCorners: boolean = true;\n\n // =========================================================================\n // 系统配置 | System Configuration\n // =========================================================================\n\n /**\n * @zh 每帧处理的最大代理数\n * @en Maximum agents processed per frame\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Agents/Frame', min: 1, max: 100 })\n maxAgentsPerFrame: number = 10;\n\n /**\n * @zh 每帧总迭代次数预算\n * @en Total iterations budget per frame\n */\n @Serialize()\n @Property({ type: 'number', label: 'Iterations Budget', min: 100, max: 10000 })\n iterationsBudget: number = 1000;\n\n /**\n * @zh 是否启用路径平滑\n * @en Whether path smoothing is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Enable Smoothing' })\n enableSmoothing: boolean = true;\n\n /**\n * @zh 路径平滑类型\n * @en Path smoothing type\n */\n @Serialize()\n @Property({\n type: 'enum',\n label: 'Smoothing Type',\n options: [\n { value: 'los', label: 'Line of Sight' },\n { value: 'catmullrom', label: 'Catmull-Rom' },\n { value: 'combined', label: 'Combined' }\n ]\n })\n smoothingType: 'los' | 'catmullrom' | 'combined' = 'los';\n\n // =========================================================================\n // 缓存配置 | Cache Configuration\n // =========================================================================\n\n /**\n * @zh 是否启用路径缓存\n * @en Whether path caching is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Enable Cache' })\n enableCache: boolean = true;\n\n /**\n * @zh 缓存最大条目数\n * @en Maximum cache entries\n */\n @Serialize()\n @Property({ type: 'number', label: 'Cache Size', min: 100, max: 10000 })\n cacheMaxEntries: number = 1000;\n\n /**\n * @zh 缓存过期时间（毫秒），0 表示不过期\n * @en Cache TTL in milliseconds, 0 means no expiration\n */\n @Serialize()\n @Property({ type: 'number', label: 'Cache TTL (ms)', min: 0, max: 60000 })\n cacheTtlMs: number = 5000;\n\n // =========================================================================\n // 调试配置 | Debug Configuration\n // =========================================================================\n\n /**\n * @zh 是否显示调试信息\n * @en Whether to show debug info\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Debug Mode' })\n debugMode: boolean = false;\n\n /**\n * @zh 是否显示网格\n * @en Whether to show grid\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Show Grid' })\n showGrid: boolean = false;\n\n /**\n * @zh 是否显示路径\n * @en Whether to show paths\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Show Paths' })\n showPaths: boolean = false;\n\n // =========================================================================\n // 运行时实例（不序列化）| Runtime Instances (not serialized)\n // =========================================================================\n\n /**\n * @zh 地图实例\n * @en Map instance\n */\n map: IPathfindingMap | null = null;\n\n /**\n * @zh 增量寻路器实例\n * @en Incremental pathfinder instance\n */\n pathfinder: IIncrementalPathfinder | null = null;\n\n /**\n * @zh 路径平滑器实例\n * @en Path smoother instance\n */\n smoother: IPathSmoother | null = null;\n\n /**\n * @zh 是否已初始化\n * @en Whether initialized\n */\n initialized: boolean = false;\n\n // =========================================================================\n // 统计信息 | Statistics\n // =========================================================================\n\n /**\n * @zh 当前活跃请求数\n * @en Current active request count\n */\n activeRequests: number = 0;\n\n /**\n * @zh 本帧使用的迭代次数\n * @en Iterations used this frame\n */\n iterationsUsedThisFrame: number = 0;\n\n /**\n * @zh 本帧处理的代理数\n * @en Agents processed this frame\n */\n agentsProcessedThisFrame: number = 0;\n\n /**\n * @zh 缓存命中次数\n * @en Cache hit count\n */\n cacheHits: number = 0;\n\n /**\n * @zh 缓存未命中次数\n * @en Cache miss count\n */\n cacheMisses: number = 0;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 设置网格单元格是否可通行\n * @en Set grid cell walkability\n *\n * @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @param walkable - @zh 是否可通行 @en Is walkable\n */\n setWalkable(x: number, y: number, walkable: boolean): void {\n if (this.map && 'setWalkable' in this.map) {\n (this.map as { setWalkable(x: number, y: number, walkable: boolean): void })\n .setWalkable(x, y, walkable);\n\n if (this.pathfinder) {\n this.pathfinder.notifyObstacleChange(x - 1, y - 1, x + 1, y + 1);\n }\n }\n }\n\n /**\n * @zh 设置矩形区域是否可通行\n * @en Set rectangular area walkability\n *\n * @param x - @zh 起始 X @en Start X\n * @param y - @zh 起始 Y @en Start Y\n * @param width - @zh 宽度 @en Width\n * @param height - @zh 高度 @en Height\n * @param walkable - @zh 是否可通行 @en Is walkable\n */\n setRectWalkable(\n x: number,\n y: number,\n rectWidth: number,\n rectHeight: number,\n walkable: boolean\n ): void {\n if (this.map && 'setRectWalkable' in this.map) {\n (this.map as { setRectWalkable(x: number, y: number, w: number, h: number, walkable: boolean): void })\n .setRectWalkable(x, y, rectWidth, rectHeight, walkable);\n\n if (this.pathfinder) {\n this.pathfinder.notifyObstacleChange(\n x - 1,\n y - 1,\n x + rectWidth + 1,\n y + rectHeight + 1\n );\n }\n }\n }\n\n /**\n * @zh 检查位置是否可通行\n * @en Check if position is walkable\n *\n * @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @returns @zh 是否可通行 @en Is walkable\n */\n isWalkable(x: number, y: number): boolean {\n return this.map?.isWalkable(x, y) ?? false;\n }\n\n /**\n * @zh 重置统计信息\n * @en Reset statistics\n */\n resetStats(): void {\n this.iterationsUsedThisFrame = 0;\n this.agentsProcessedThisFrame = 0;\n }\n\n /**\n * @zh 获取剩余迭代预算\n * @en Get remaining iteration budget\n *\n * @returns @zh 剩余预算 @en Remaining budget\n */\n getRemainingBudget(): number {\n return Math.max(0, this.iterationsBudget - this.iterationsUsedThisFrame);\n }\n\n /**\n * @zh 获取缓存统计信息\n * @en Get cache statistics\n *\n * @returns @zh 缓存统计 @en Cache statistics\n */\n getCacheStats(): { enabled: boolean; hits: number; misses: number; hitRate: number } {\n const pathfinderWithCache = this.pathfinder as { getCacheStats?: () => { hits: number; misses: number; hitRate: number } };\n if (pathfinderWithCache?.getCacheStats) {\n const stats = pathfinderWithCache.getCacheStats();\n this.cacheHits = stats.hits;\n this.cacheMisses = stats.misses;\n return {\n enabled: this.enableCache,\n hits: stats.hits,\n misses: stats.misses,\n hitRate: stats.hitRate\n };\n }\n return {\n enabled: this.enableCache,\n hits: this.cacheHits,\n misses: this.cacheMisses,\n hitRate: this.cacheHits + this.cacheMisses > 0\n ? this.cacheHits / (this.cacheHits + this.cacheMisses)\n : 0\n };\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n if (this.pathfinder) {\n this.pathfinder.clear();\n }\n\n this.map = null;\n this.pathfinder = null;\n this.smoother = null;\n this.initialized = false;\n }\n}\n","/**\n * @zh 寻路系统\n * @en Pathfinding System\n */\n\nimport {\n EntitySystem,\n Matcher,\n ECSSystem,\n type Entity\n} from '@esengine/ecs-framework';\nimport { PathfindingAgentComponent } from './PathfindingAgentComponent';\nimport { PathfindingMapComponent } from './PathfindingMapComponent';\nimport { PathfindingState } from '../core/IIncrementalPathfinding';\nimport type { IIncrementalPathfinder, IPathProgress } from '../core/IIncrementalPathfinding';\nimport { IncrementalAStarPathfinder } from '../core/IncrementalAStarPathfinder';\nimport { GridMap } from '../grid/GridMap';\nimport { LineOfSightSmoother, CatmullRomSmoother, CombinedSmoother } from '../smoothing/PathSmoother';\nimport { PathValidator } from '../core/PathValidator';\n\n// =============================================================================\n// 代理队列项 | Agent Queue Item\n// =============================================================================\n\n/**\n * @zh 代理队列项\n * @en Agent queue item\n */\ninterface AgentQueueItem {\n entity: Entity;\n component: PathfindingAgentComponent;\n}\n\n// =============================================================================\n// 寻路系统 | Pathfinding System\n// =============================================================================\n\n/**\n * @zh 寻路系统\n * @en Pathfinding System\n *\n * @zh 处理所有 PathfindingAgentComponent，支持时间切片和动态重规划\n * @en Processes all PathfindingAgentComponents, supports time slicing and dynamic replanning\n *\n * @example\n * ```typescript\n * // Add system to scene\n * scene.addSystem(new PathfindingSystem());\n *\n * // Create map entity\n * const mapEntity = scene.createEntity('Map');\n * mapEntity.addComponent(new PathfindingMapComponent());\n *\n * // Create agents\n * const agent = scene.createEntity('Agent');\n * const pathAgent = agent.addComponent(new PathfindingAgentComponent());\n * pathAgent.requestPathTo(50, 50);\n *\n * // System handles pathfinding automatically each frame\n * ```\n */\n@ECSSystem('Pathfinding', { updateOrder: 0 })\nexport class PathfindingSystem extends EntitySystem {\n private mapEntity: Entity | null = null;\n private mapComponent: PathfindingMapComponent | null = null;\n private pathValidator: PathValidator;\n\n private agentQueue: AgentQueueItem[] = [];\n private frameCounter: number = 0;\n\n constructor() {\n super(Matcher.all(PathfindingAgentComponent));\n this.pathValidator = new PathValidator();\n }\n\n /**\n * @zh 系统初始化\n * @en System initialization\n */\n protected onInitialize(): void {\n this.findMapEntity();\n this.initializeMap();\n }\n\n /**\n * @zh 系统激活时调用\n * @en Called when system is enabled\n */\n protected onEnable(): void {\n this.findMapEntity();\n }\n\n /**\n * @zh 处理实体\n * @en Process entities\n */\n protected process(entities: readonly Entity[]): void {\n if (!this.mapComponent?.pathfinder) {\n this.findMapEntity();\n if (!this.mapComponent?.pathfinder) {\n return;\n }\n }\n\n this.frameCounter++;\n this.mapComponent.resetStats();\n\n this.buildAgentQueue(entities);\n\n this.processAgentsWithBudget();\n\n this.validatePaths(entities);\n }\n\n // =========================================================================\n // 私有方法 | Private Methods\n // =========================================================================\n\n /**\n * @zh 查找地图实体\n * @en Find map entity\n */\n private findMapEntity(): void {\n if (!this.scene) return;\n\n const entities = this.scene.entities.findEntitiesWithComponent(PathfindingMapComponent);\n if (entities.length > 0) {\n const entity = entities[0]!;\n const mapComp = entity.getComponent(PathfindingMapComponent);\n if (mapComp) {\n this.mapEntity = entity;\n this.mapComponent = mapComp;\n\n if (!mapComp.initialized) {\n this.initializeMap();\n }\n }\n }\n }\n\n /**\n * @zh 初始化地图\n * @en Initialize map\n */\n private initializeMap(): void {\n if (!this.mapComponent) return;\n if (this.mapComponent.initialized) return;\n\n if (!this.mapComponent.map) {\n if (this.mapComponent.mapType === 'grid') {\n this.mapComponent.map = new GridMap(\n this.mapComponent.width,\n this.mapComponent.height,\n {\n allowDiagonal: this.mapComponent.allowDiagonal,\n avoidCorners: this.mapComponent.avoidCorners\n }\n );\n }\n }\n\n if (!this.mapComponent.pathfinder && this.mapComponent.map) {\n this.mapComponent.pathfinder = new IncrementalAStarPathfinder(\n this.mapComponent.map,\n {\n enableCache: this.mapComponent.enableCache,\n cacheConfig: {\n maxEntries: this.mapComponent.cacheMaxEntries,\n ttlMs: this.mapComponent.cacheTtlMs\n }\n }\n );\n }\n\n if (!this.mapComponent.smoother && this.mapComponent.enableSmoothing) {\n switch (this.mapComponent.smoothingType) {\n case 'catmullrom':\n this.mapComponent.smoother = new CatmullRomSmoother();\n break;\n case 'combined':\n this.mapComponent.smoother = new CombinedSmoother();\n break;\n case 'los':\n default:\n this.mapComponent.smoother = new LineOfSightSmoother();\n break;\n }\n }\n\n this.mapComponent.initialized = true;\n }\n\n /**\n * @zh 构建代理优先级队列\n * @en Build agent priority queue\n */\n private buildAgentQueue(entities: readonly Entity[]): void {\n this.agentQueue.length = 0;\n\n for (const entity of entities) {\n const agent = entity.getComponent(PathfindingAgentComponent);\n if (!agent) continue;\n\n if (!agent.hasRequest &&\n (agent.state === PathfindingState.Idle ||\n agent.state === PathfindingState.Completed ||\n agent.state === PathfindingState.Cancelled)) {\n continue;\n }\n\n this.agentQueue.push({ entity, component: agent });\n }\n\n this.agentQueue.sort((a, b) => a.component.priority - b.component.priority);\n }\n\n /**\n * @zh 使用预算处理代理\n * @en Process agents with budget\n */\n private processAgentsWithBudget(): void {\n const pathfinder = this.mapComponent!.pathfinder!;\n const maxAgents = this.mapComponent!.maxAgentsPerFrame;\n let remainingBudget = this.mapComponent!.iterationsBudget;\n let agentsProcessed = 0;\n\n for (const { component: agent } of this.agentQueue) {\n if (agentsProcessed >= maxAgents || remainingBudget <= 0) {\n break;\n }\n\n if (agent.hasRequest && agent.state === PathfindingState.Idle) {\n this.startNewRequest(agent, pathfinder);\n }\n\n if (agent.state === PathfindingState.InProgress) {\n const iterations = Math.min(\n agent.maxIterationsPerFrame,\n remainingBudget\n );\n\n const progress = pathfinder.step(agent.currentRequestId, iterations);\n this.updateAgentFromProgress(agent, progress, pathfinder);\n\n remainingBudget -= progress.nodesSearched;\n this.mapComponent!.iterationsUsedThisFrame += progress.nodesSearched;\n }\n\n agentsProcessed++;\n }\n\n this.mapComponent!.agentsProcessedThisFrame = agentsProcessed;\n }\n\n /**\n * @zh 启动新的寻路请求\n * @en Start new pathfinding request\n */\n private startNewRequest(\n agent: PathfindingAgentComponent,\n pathfinder: IIncrementalPathfinder\n ): void {\n if (agent.currentRequestId >= 0) {\n pathfinder.cancel(agent.currentRequestId);\n pathfinder.cleanup(agent.currentRequestId);\n }\n\n const request = pathfinder.requestPath(\n agent.x,\n agent.y,\n agent.targetX,\n agent.targetY,\n { priority: agent.priority }\n );\n\n agent.currentRequestId = request.id;\n agent.state = PathfindingState.InProgress;\n agent.hasRequest = false;\n agent.progress = 0;\n agent.path = [];\n agent.pathIndex = 0;\n\n this.mapComponent!.activeRequests++;\n }\n\n /**\n * @zh 从进度更新代理状态\n * @en Update agent state from progress\n */\n private updateAgentFromProgress(\n agent: PathfindingAgentComponent,\n progress: IPathProgress,\n pathfinder: IIncrementalPathfinder\n ): void {\n agent.state = progress.state;\n agent.progress = progress.estimatedProgress;\n\n agent.onPathProgress?.(progress.estimatedProgress);\n\n if (progress.state === PathfindingState.Completed) {\n const result = pathfinder.getResult(agent.currentRequestId);\n if (result && result.found) {\n const smoother = this.mapComponent?.smoother;\n const map = this.mapComponent?.map;\n\n if (smoother && map && this.mapComponent?.enableSmoothing) {\n agent.path = smoother.smooth(result.path, map);\n } else {\n agent.path = [...result.path];\n }\n\n agent.pathIndex = 0;\n agent.pathCost = result.cost;\n\n agent.onPathComplete?.(true, agent.path);\n } else {\n agent.path = [];\n agent.state = PathfindingState.Failed;\n agent.onPathComplete?.(false, []);\n }\n\n pathfinder.cleanup(agent.currentRequestId);\n this.mapComponent!.activeRequests--;\n } else if (progress.state === PathfindingState.Failed) {\n agent.path = [];\n agent.onPathComplete?.(false, []);\n pathfinder.cleanup(agent.currentRequestId);\n this.mapComponent!.activeRequests--;\n }\n }\n\n /**\n * @zh 周期性验证路径有效性\n * @en Periodically validate path validity\n */\n private validatePaths(entities: readonly Entity[]): void {\n const map = this.mapComponent?.map;\n if (!map) return;\n\n for (const entity of entities) {\n const agent = entity.getComponent(PathfindingAgentComponent);\n if (!agent || !agent.enableDynamicReplan) continue;\n if (agent.path.length === 0 || agent.isPathComplete()) continue;\n\n if (this.frameCounter - agent.lastValidationFrame < agent.validationInterval) {\n continue;\n }\n\n agent.lastValidationFrame = this.frameCounter;\n\n const checkEnd = Math.min(\n agent.pathIndex + agent.lookaheadDistance,\n agent.path.length\n );\n\n const result = this.pathValidator.validatePath(\n agent.path,\n agent.pathIndex,\n 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