@esengine/pathfinding 12.0.0 → 12.1.2

package/dist/chunk-TPT7Q3E3.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/core/IPathfinding.ts","../src/core/IndexedBinaryHeap.ts","../src/core/PathCache.ts","../src/core/IncrementalAStarPathfinder.ts","../src/core/PathValidator.ts","../src/grid/GridMap.ts","../src/smoothing/PathSmoother.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 带索引追踪的二叉堆（优先队列）\n * @en Indexed Binary Heap (Priority Queue) with index tracking\n */\n\n/**\n * @zh 可索引的堆元素接口\n * @en Interface for indexable heap elements\n */\nexport interface IHeapIndexable {\n    /** @zh 堆中的索引位置 @en Index position in heap */\n    heapIndex: number;\n}\n\n/**\n * @zh 带索引追踪的二叉堆\n * @en Binary Heap with index tracking\n */\nexport class IndexedBinaryHeap<T extends IHeapIndexable> {\n    private heap: T[] = [];\n    private readonly compare: (a: T, b: T) => number;\n\n    /**\n     * @zh 创建带索引追踪的二叉堆\n     * @en Create indexed 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        item.heapIndex = this.heap.length;\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        result.heapIndex = -1;\n\n        const last = this.heap.pop()!;\n\n        if (this.heap.length > 0) {\n            last.heapIndex = 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\n     * @en Update element\n     */\n    update(item: T): void {\n        const index = item.heapIndex;\n        if (index >= 0 && index < this.heap.length && this.heap[index] === item) {\n            this.bubbleUp(index);\n            this.sinkDown(item.heapIndex);\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        const index = item.heapIndex;\n        return index >= 0 && index < this.heap.length && this.heap[index] === item;\n    }\n\n    /**\n     * @zh 从堆中移除指定元素\n     * @en Remove specific element from heap\n     */\n    remove(item: T): boolean {\n        const index = item.heapIndex;\n        if (index < 0 || index >= this.heap.length || this.heap[index] !== item) {\n            return false;\n        }\n\n        item.heapIndex = -1;\n\n        if (index === this.heap.length - 1) {\n            this.heap.pop();\n            return true;\n        }\n\n        const last = this.heap.pop()!;\n        last.heapIndex = index;\n        this.heap[index] = last;\n        this.bubbleUp(index);\n        this.sinkDown(last.heapIndex);\n\n        return true;\n    }\n\n    /**\n     * @zh 清空堆\n     * @en Clear heap\n     */\n    clear(): void {\n        for (const item of this.heap) {\n            item.heapIndex = -1;\n        }\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 = (index - 1) >> 1;\n            const parent = this.heap[parentIndex];\n\n            if (this.compare(item, parent) >= 0) {\n                break;\n            }\n\n            parent.heapIndex = index;\n            this.heap[index] = parent;\n            index = parentIndex;\n        }\n\n        item.heapIndex = index;\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        const halfLength = length >> 1;\n\n        while (index < halfLength) {\n            const leftIndex = (index << 1) + 1;\n            const rightIndex = leftIndex + 1;\n            let smallest = index;\n            let smallestItem = item;\n\n            const left = this.heap[leftIndex];\n            if (this.compare(left, smallestItem) < 0) {\n                smallest = leftIndex;\n                smallestItem = left;\n            }\n\n            if (rightIndex < length) {\n                const right = this.heap[rightIndex];\n                if (this.compare(right, smallestItem) < 0) {\n                    smallest = rightIndex;\n                    smallestItem = right;\n                }\n            }\n\n            if (smallest === index) {\n                break;\n            }\n\n            smallestItem.heapIndex = index;\n            this.heap[index] = smallestItem;\n            index = smallest;\n        }\n\n        item.heapIndex = index;\n        this.heap[index] = item;\n    }\n}\n","/**\n * @zh 路径缓存模块\n * @en Path Cache Module\n *\n * @zh 缓存已计算的路径，避免重复计算相同起点终点的路径\n * @en Cache computed paths to avoid recalculating paths with the same start and end points\n */\n\nimport type { IPoint, IPathResult } from './IPathfinding';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh 缓存条目\n * @en Cache entry\n */\ninterface ICacheEntry {\n    result: IPathResult;\n    timestamp: number;\n    mapVersion: number;\n}\n\n/**\n * @zh 缓存配置\n * @en Cache configuration\n */\nexport interface IPathCacheConfig {\n    /**\n     * @zh 最大缓存条目数\n     * @en Maximum number of cache entries\n     */\n    maxEntries: number;\n\n    /**\n     * @zh 缓存过期时间（毫秒），0 表示不过期\n     * @en Cache expiration time in milliseconds, 0 means no expiration\n     */\n    ttlMs: number;\n\n    /**\n     * @zh 是否启用近似匹配（在一定范围内的起点/终点视为相同）\n     * @en Whether to enable approximate matching (start/end within range considered same)\n     */\n    enableApproximateMatch: boolean;\n\n    /**\n     * @zh 近似匹配范围\n     * @en Approximate matching range\n     */\n    approximateRange: number;\n}\n\n/**\n * @zh 默认缓存配置\n * @en Default cache configuration\n */\nexport const DEFAULT_PATH_CACHE_CONFIG: IPathCacheConfig = {\n    maxEntries: 1000,\n    ttlMs: 5000,\n    enableApproximateMatch: false,\n    approximateRange: 2\n};\n\n// =============================================================================\n// 路径缓存 | Path Cache\n// =============================================================================\n\n/**\n * @zh 路径缓存\n * @en Path Cache\n *\n * @zh 缓存已计算的路径，支持 LRU 淘汰策略和 TTL 过期\n * @en Cache computed paths with LRU eviction and TTL expiration\n *\n * @example\n * ```typescript\n * const cache = new PathCache({ maxEntries: 500 });\n * const cached = cache.get(0, 0, 10, 10, mapVersion);\n * if (!cached) {\n *     const result = pathfinder.findPath(0, 0, 10, 10);\n *     cache.set(0, 0, 10, 10, result, mapVersion);\n * }\n * ```\n */\nexport class PathCache {\n    private readonly config: IPathCacheConfig;\n    private readonly cache: Map<string, ICacheEntry>;\n    private readonly accessOrder: string[];\n\n    constructor(config: Partial<IPathCacheConfig> = {}) {\n        this.config = { ...DEFAULT_PATH_CACHE_CONFIG, ...config };\n        this.cache = new Map();\n        this.accessOrder = [];\n    }\n\n    /**\n     * @zh 获取缓存的路径\n     * @en Get cached path\n     *\n     * @param startX - @zh 起点 X 坐标 @en Start X coordinate\n     * @param startY - @zh 起点 Y 坐标 @en Start Y coordinate\n     * @param endX - @zh 终点 X 坐标 @en End X coordinate\n     * @param endY - @zh 终点 Y 坐标 @en End Y coordinate\n     * @param mapVersion - @zh 地图版本号 @en Map version number\n     * @returns @zh 缓存的路径结果或 null @en Cached path result or null\n     */\n    get(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        mapVersion: number\n    ): IPathResult | null {\n        const key = this.generateKey(startX, startY, endX, endY);\n        const entry = this.cache.get(key);\n\n        if (!entry) {\n            if (this.config.enableApproximateMatch) {\n                return this.getApproximate(startX, startY, endX, endY, mapVersion);\n            }\n            return null;\n        }\n\n        if (!this.isValid(entry, mapVersion)) {\n            this.cache.delete(key);\n            this.removeFromAccessOrder(key);\n            return null;\n        }\n\n        this.updateAccessOrder(key);\n        return entry.result;\n    }\n\n    /**\n     * @zh 设置缓存路径\n     * @en Set cached path\n     *\n     * @param startX - @zh 起点 X 坐标 @en Start X coordinate\n     * @param startY - @zh 起点 Y 坐标 @en Start Y coordinate\n     * @param endX - @zh 终点 X 坐标 @en End X coordinate\n     * @param endY - @zh 终点 Y 坐标 @en End Y coordinate\n     * @param result - @zh 路径结果 @en Path result\n     * @param mapVersion - @zh 地图版本号 @en Map version number\n     */\n    set(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        result: IPathResult,\n        mapVersion: number\n    ): void {\n        if (this.cache.size >= this.config.maxEntries) {\n            this.evictLRU();\n        }\n\n        const key = this.generateKey(startX, startY, endX, endY);\n        const entry: ICacheEntry = {\n            result,\n            timestamp: Date.now(),\n            mapVersion\n        };\n\n        this.cache.set(key, entry);\n        this.updateAccessOrder(key);\n    }\n\n    /**\n     * @zh 使所有缓存失效\n     * @en Invalidate all cache\n     */\n    invalidateAll(): void {\n        this.cache.clear();\n        this.accessOrder.length = 0;\n    }\n\n    /**\n     * @zh 使指定区域的缓存失效\n     * @en Invalidate cache for specified region\n     *\n     * @param minX - @zh 最小 X 坐标 @en Minimum X coordinate\n     * @param minY - @zh 最小 Y 坐标 @en Minimum Y coordinate\n     * @param maxX - @zh 最大 X 坐标 @en Maximum X coordinate\n     * @param maxY - @zh 最大 Y 坐标 @en Maximum Y coordinate\n     */\n    invalidateRegion(minX: number, minY: number, maxX: number, maxY: number): void {\n        const keysToDelete: string[] = [];\n\n        for (const [key, entry] of this.cache) {\n            const path = entry.result.path;\n            if (path.length === 0) continue;\n\n            for (const point of path) {\n                if (point.x >= minX && point.x <= maxX &&\n                    point.y >= minY && point.y <= maxY) {\n                    keysToDelete.push(key);\n                    break;\n                }\n            }\n        }\n\n        for (const key of keysToDelete) {\n            this.cache.delete(key);\n            this.removeFromAccessOrder(key);\n        }\n    }\n\n    /**\n     * @zh 获取缓存统计信息\n     * @en Get cache statistics\n     */\n    getStats(): { size: number; maxSize: number; hitRate?: number } {\n        return {\n            size: this.cache.size,\n            maxSize: this.config.maxEntries\n        };\n    }\n\n    /**\n     * @zh 清理过期条目\n     * @en Clean up expired entries\n     */\n    cleanup(): void {\n        if (this.config.ttlMs === 0) return;\n\n        const now = Date.now();\n        const keysToDelete: string[] = [];\n\n        for (const [key, entry] of this.cache) {\n            if (now - entry.timestamp > this.config.ttlMs) {\n                keysToDelete.push(key);\n            }\n        }\n\n        for (const key of keysToDelete) {\n            this.cache.delete(key);\n            this.removeFromAccessOrder(key);\n        }\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    private generateKey(startX: number, startY: number, endX: number, endY: number): string {\n        return `${startX},${startY}->${endX},${endY}`;\n    }\n\n    private isValid(entry: ICacheEntry, mapVersion: number): boolean {\n        if (entry.mapVersion !== mapVersion) {\n            return false;\n        }\n\n        if (this.config.ttlMs > 0) {\n            const age = Date.now() - entry.timestamp;\n            if (age > this.config.ttlMs) {\n                return false;\n            }\n        }\n\n        return true;\n    }\n\n    private getApproximate(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        mapVersion: number\n    ): IPathResult | null {\n        const range = this.config.approximateRange;\n\n        for (let sx = startX - range; sx <= startX + range; sx++) {\n            for (let sy = startY - range; sy <= startY + range; sy++) {\n                for (let ex = endX - range; ex <= endX + range; ex++) {\n                    for (let ey = endY - range; ey <= endY + range; ey++) {\n                        const key = this.generateKey(sx, sy, ex, ey);\n                        const entry = this.cache.get(key);\n                        if (entry && this.isValid(entry, mapVersion)) {\n                            this.updateAccessOrder(key);\n                            return this.adjustPathForApproximate(\n                                entry.result,\n                                startX, startY, endX, endY\n                            );\n                        }\n                    }\n                }\n            }\n        }\n\n        return null;\n    }\n\n    private adjustPathForApproximate(\n        result: IPathResult,\n        newStartX: number,\n        newStartY: number,\n        newEndX: number,\n        newEndY: number\n    ): IPathResult {\n        if (result.path.length === 0) {\n            return result;\n        }\n\n        const newPath: IPoint[] = [];\n        const oldStart = result.path[0];\n        const oldEnd = result.path[result.path.length - 1];\n\n        if (newStartX !== oldStart.x || newStartY !== oldStart.y) {\n            newPath.push({ x: newStartX, y: newStartY });\n        }\n\n        newPath.push(...result.path);\n\n        if (newEndX !== oldEnd.x || newEndY !== oldEnd.y) {\n            newPath.push({ x: newEndX, y: newEndY });\n        }\n\n        return {\n            ...result,\n            path: newPath\n        };\n    }\n\n    private updateAccessOrder(key: string): void {\n        this.removeFromAccessOrder(key);\n        this.accessOrder.push(key);\n    }\n\n    private removeFromAccessOrder(key: string): void {\n        const index = this.accessOrder.indexOf(key);\n        if (index !== -1) {\n            this.accessOrder.splice(index, 1);\n        }\n    }\n\n    private evictLRU(): void {\n        const lruKey = this.accessOrder.shift();\n        if (lruKey) {\n            this.cache.delete(lruKey);\n        }\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建路径缓存\n * @en Create path cache\n *\n * @param config - @zh 缓存配置 @en Cache configuration\n * @returns @zh 路径缓存实例 @en Path cache instance\n */\nexport function createPathCache(config?: Partial<IPathCacheConfig>): PathCache {\n    return new PathCache(config);\n}\n","/**\n * @zh 增量 A* 寻路算法实现\n * @en Incremental A* Pathfinding Algorithm Implementation\n */\n\nimport { IndexedBinaryHeap, type IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport type {\n    IIncrementalPathfinder,\n    IPathRequest,\n    IPathProgress,\n    IIncrementalPathResult,\n    IIncrementalPathfindingOptions\n} from './IIncrementalPathfinding';\nimport { PathfindingState, EMPTY_PROGRESS } from './IIncrementalPathfinding';\nimport { PathCache, type IPathCacheConfig } from './PathCache';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh A* 节点（内部使用）\n * @en A* Node (internal use)\n */\ninterface AStarNode extends IHeapIndexable {\n    node: IPathNode;\n    g: number;\n    h: number;\n    f: number;\n    parent: AStarNode | null;\n    closed: boolean;\n    opened: boolean;\n    heapIndex: number;\n}\n\n/**\n * @zh 寻路会话（保存跨帧状态）\n * @en Pathfinding session (preserves state across frames)\n */\ninterface PathfindingSession {\n    request: IPathRequest;\n    state: PathfindingState;\n    options: Required<IPathfindingOptions>;\n\n    openList: IndexedBinaryHeap<AStarNode>;\n    nodeCache: Map<string | number, AStarNode>;\n\n    startNode: IPathNode;\n    endNode: IPathNode;\n    endPosition: IPoint;\n\n    nodesSearched: number;\n    framesUsed: number;\n    initialDistance: number;\n\n    result: IIncrementalPathResult | null;\n\n    affectedByChange: boolean;\n}\n\n/**\n * @zh 障碍物变化区域\n * @en Obstacle change region\n */\ninterface ChangeRegion {\n    minX: number;\n    minY: number;\n    maxX: number;\n    maxY: number;\n    timestamp: number;\n}\n\n/**\n * @zh 增量寻路器配置\n * @en Incremental pathfinder configuration\n */\nexport interface IIncrementalPathfinderConfig {\n    /**\n     * @zh 是否启用路径缓存\n     * @en Whether to enable path caching\n     */\n    enableCache?: boolean;\n\n    /**\n     * @zh 缓存配置\n     * @en Cache configuration\n     */\n    cacheConfig?: Partial<IPathCacheConfig>;\n}\n\n// =============================================================================\n// 增量 A* 寻路器 | Incremental A* Pathfinder\n// =============================================================================\n\n/**\n * @zh 增量 A* 寻路器\n * @en Incremental A* Pathfinder\n *\n * @zh 支持时间切片的 A* 算法实现，可跨多帧执行搜索\n * @en A* algorithm implementation with time slicing, can execute search across multiple frames\n *\n * @example\n * ```typescript\n * const map = createGridMap(100, 100);\n * const pathfinder = createIncrementalAStarPathfinder(map);\n *\n * // Request path (non-blocking)\n * const request = pathfinder.requestPath(0, 0, 99, 99);\n *\n * // Process over multiple frames\n * function gameLoop() {\n *     const progress = pathfinder.step(request.id, 100);\n *\n *     if (progress.state === PathfindingState.Completed) {\n *         const result = pathfinder.getResult(request.id);\n *         console.log('Path found:', result?.path);\n *     } else if (progress.state === PathfindingState.InProgress) {\n *         requestAnimationFrame(gameLoop);\n *     }\n * }\n * gameLoop();\n * ```\n */\nexport class IncrementalAStarPathfinder implements IIncrementalPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly sessions: Map<number, PathfindingSession> = new Map();\n    private nextRequestId: number = 0;\n\n    private readonly affectedRegions: ChangeRegion[] = [];\n    private readonly maxRegionAge: number = 5000;\n\n    private readonly cache: PathCache | null;\n    private readonly enableCache: boolean;\n    private mapVersion: number = 0;\n\n    private cacheHits: number = 0;\n    private cacheMisses: number = 0;\n\n    /**\n     * @zh 创建增量 A* 寻路器\n     * @en Create incremental A* pathfinder\n     *\n     * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n     * @param config - @zh 配置选项 @en Configuration options\n     */\n    constructor(map: IPathfindingMap, config?: IIncrementalPathfinderConfig) {\n        this.map = map;\n        this.enableCache = config?.enableCache ?? false;\n        this.cache = this.enableCache ? new PathCache(config?.cacheConfig) : null;\n    }\n\n    /**\n     * @zh 请求寻路（非阻塞）\n     * @en Request pathfinding (non-blocking)\n     */\n    requestPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IIncrementalPathfindingOptions\n    ): IPathRequest {\n        const id = this.nextRequestId++;\n        const priority = options?.priority ?? 50;\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        const request: IPathRequest = {\n            id,\n            startX,\n            startY,\n            endX,\n            endY,\n            options: opts,\n            priority,\n            createdAt: Date.now()\n        };\n\n        if (this.cache) {\n            const cached = this.cache.get(startX, startY, endX, endY, this.mapVersion);\n            if (cached) {\n                this.cacheHits++;\n                const session: PathfindingSession = {\n                    request,\n                    state: cached.found ? PathfindingState.Completed : PathfindingState.Failed,\n                    options: opts,\n                    openList: new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f),\n                    nodeCache: new Map(),\n                    startNode: this.map.getNodeAt(startX, startY)!,\n                    endNode: this.map.getNodeAt(endX, endY)!,\n                    endPosition: { x: endX, y: endY },\n                    nodesSearched: cached.nodesSearched,\n                    framesUsed: 0,\n                    initialDistance: 0,\n                    result: {\n                        requestId: id,\n                        found: cached.found,\n                        path: [...cached.path],\n                        cost: cached.cost,\n                        nodesSearched: cached.nodesSearched,\n                        framesUsed: 0,\n                        isPartial: false\n                    },\n                    affectedByChange: false\n                };\n                this.sessions.set(id, session);\n                return request;\n            }\n            this.cacheMisses++;\n        }\n\n        const startNode = this.map.getNodeAt(startX, startY);\n        const endNode = this.map.getNodeAt(endX, endY);\n\n        if (!startNode || !endNode || !startNode.walkable || !endNode.walkable) {\n            const session: PathfindingSession = {\n                request,\n                state: PathfindingState.Failed,\n                options: opts,\n                openList: new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f),\n                nodeCache: new Map(),\n                startNode: startNode!,\n                endNode: endNode!,\n                endPosition: endNode?.position ?? { x: endX, y: endY },\n                nodesSearched: 0,\n                framesUsed: 0,\n                initialDistance: 0,\n                result: this.createEmptyResult(id),\n                affectedByChange: false\n            };\n            this.sessions.set(id, session);\n            return request;\n        }\n\n        if (startNode.id === endNode.id) {\n            const session: PathfindingSession = {\n                request,\n                state: PathfindingState.Completed,\n                options: opts,\n                openList: new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f),\n                nodeCache: new Map(),\n                startNode,\n                endNode,\n                endPosition: endNode.position,\n                nodesSearched: 1,\n                framesUsed: 0,\n                initialDistance: 0,\n                result: {\n                    requestId: id,\n                    found: true,\n                    path: [startNode.position],\n                    cost: 0,\n                    nodesSearched: 1,\n                    framesUsed: 0,\n                    isPartial: false\n                },\n                affectedByChange: false\n            };\n            this.sessions.set(id, session);\n            return request;\n        }\n\n        const initialDistance = this.map.heuristic(startNode.position, endNode.position);\n        const openList = new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f);\n        const nodeCache = new Map<string | number, AStarNode>();\n\n        const startAStarNode: AStarNode = {\n            node: startNode,\n            g: 0,\n            h: initialDistance * opts.heuristicWeight,\n            f: initialDistance * opts.heuristicWeight,\n            parent: null,\n            closed: false,\n            opened: true,\n            heapIndex: -1\n        };\n\n        nodeCache.set(startNode.id, startAStarNode);\n        openList.push(startAStarNode);\n\n        const session: PathfindingSession = {\n            request,\n            state: PathfindingState.InProgress,\n            options: opts,\n            openList,\n            nodeCache,\n            startNode,\n            endNode,\n            endPosition: endNode.position,\n            nodesSearched: 0,\n            framesUsed: 0,\n            initialDistance,\n            result: null,\n            affectedByChange: false\n        };\n\n        this.sessions.set(id, session);\n        return request;\n    }\n\n    /**\n     * @zh 执行一步搜索\n     * @en Execute one step of search\n     */\n    step(requestId: number, maxIterations: number): IPathProgress {\n        const session = this.sessions.get(requestId);\n        if (!session) {\n            return EMPTY_PROGRESS;\n        }\n\n        if (session.state !== PathfindingState.InProgress) {\n            return this.createProgress(session);\n        }\n\n        session.framesUsed++;\n        let iterations = 0;\n\n        while (!session.openList.isEmpty && iterations < maxIterations) {\n            const current = session.openList.pop()!;\n            current.closed = true;\n            session.nodesSearched++;\n            iterations++;\n\n            if (current.node.id === session.endNode.id) {\n                session.state = PathfindingState.Completed;\n                session.result = this.buildResult(session, current);\n\n                if (this.cache && session.result.found) {\n                    const req = session.request;\n                    this.cache.set(\n                        req.startX, req.startY,\n                        req.endX, req.endY,\n                        {\n                            found: true,\n                            path: session.result.path,\n                            cost: session.result.cost,\n                            nodesSearched: session.result.nodesSearched\n                        },\n                        this.mapVersion\n                    );\n                }\n\n                return this.createProgress(session);\n            }\n\n            this.expandNeighbors(session, current);\n\n            if (session.nodesSearched >= session.options.maxNodes) {\n                session.state = PathfindingState.Failed;\n                session.result = this.createEmptyResult(requestId);\n                return this.createProgress(session);\n            }\n        }\n\n        if (session.openList.isEmpty && session.state === PathfindingState.InProgress) {\n            session.state = PathfindingState.Failed;\n            session.result = this.createEmptyResult(requestId);\n        }\n\n        return this.createProgress(session);\n    }\n\n    /**\n     * @zh 暂停寻路\n     * @en Pause pathfinding\n     */\n    pause(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session && session.state === PathfindingState.InProgress) {\n            session.state = PathfindingState.Paused;\n        }\n    }\n\n    /**\n     * @zh 恢复寻路\n     * @en Resume pathfinding\n     */\n    resume(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session && session.state === PathfindingState.Paused) {\n            session.state = PathfindingState.InProgress;\n        }\n    }\n\n    /**\n     * @zh 取消寻路\n     * @en Cancel pathfinding\n     */\n    cancel(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session && (session.state === PathfindingState.InProgress ||\n                        session.state === PathfindingState.Paused)) {\n            session.state = PathfindingState.Cancelled;\n            session.result = this.createEmptyResult(requestId);\n        }\n    }\n\n    /**\n     * @zh 获取寻路结果\n     * @en Get pathfinding result\n     */\n    getResult(requestId: number): IIncrementalPathResult | null {\n        const session = this.sessions.get(requestId);\n        return session?.result ?? null;\n    }\n\n    /**\n     * @zh 获取当前进度\n     * @en Get current progress\n     */\n    getProgress(requestId: number): IPathProgress | null {\n        const session = this.sessions.get(requestId);\n        return session ? this.createProgress(session) : null;\n    }\n\n    /**\n     * @zh 清理已完成的请求\n     * @en Clean up completed request\n     */\n    cleanup(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session) {\n            session.openList.clear();\n            session.nodeCache.clear();\n            this.sessions.delete(requestId);\n        }\n    }\n\n    /**\n     * @zh 通知障碍物变化\n     * @en Notify obstacle change\n     */\n    notifyObstacleChange(\n        minX: number,\n        minY: number,\n        maxX: number,\n        maxY: number\n    ): void {\n        this.mapVersion++;\n\n        if (this.cache) {\n            this.cache.invalidateRegion(minX, minY, maxX, maxY);\n        }\n\n        const region: ChangeRegion = {\n            minX,\n            minY,\n            maxX,\n            maxY,\n            timestamp: Date.now()\n        };\n        this.affectedRegions.push(region);\n\n        for (const session of this.sessions.values()) {\n            if (session.state === PathfindingState.InProgress ||\n                session.state === PathfindingState.Paused) {\n                if (this.sessionAffectedByRegion(session, region)) {\n                    session.affectedByChange = true;\n                }\n            }\n        }\n\n        this.cleanupOldRegions();\n    }\n\n    /**\n     * @zh 清理所有请求\n     * @en Clear all requests\n     */\n    clear(): void {\n        for (const session of this.sessions.values()) {\n            session.openList.clear();\n            session.nodeCache.clear();\n        }\n        this.sessions.clear();\n        this.affectedRegions.length = 0;\n    }\n\n    /**\n     * @zh 清空路径缓存\n     * @en Clear path cache\n     */\n    clearCache(): void {\n        if (this.cache) {\n            this.cache.invalidateAll();\n            this.cacheHits = 0;\n            this.cacheMisses = 0;\n        }\n    }\n\n    /**\n     * @zh 获取缓存统计信息\n     * @en Get cache statistics\n     */\n    getCacheStats(): { enabled: boolean; hits: number; misses: number; hitRate: number; size: number } {\n        if (!this.cache) {\n            return { enabled: false, hits: 0, misses: 0, hitRate: 0, size: 0 };\n        }\n\n        const total = this.cacheHits + this.cacheMisses;\n        const hitRate = total > 0 ? this.cacheHits / total : 0;\n\n        return {\n            enabled: true,\n            hits: this.cacheHits,\n            misses: this.cacheMisses,\n            hitRate,\n            size: this.cache.getStats().size\n        };\n    }\n\n    /**\n     * @zh 检查会话是否被障碍物变化影响\n     * @en Check if session is affected by obstacle change\n     */\n    isAffectedByChange(requestId: number): boolean {\n        const session = this.sessions.get(requestId);\n        return session?.affectedByChange ?? false;\n    }\n\n    /**\n     * @zh 清除会话的变化标记\n     * @en Clear session's change flag\n     */\n    clearChangeFlag(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session) {\n            session.affectedByChange = false;\n        }\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    /**\n     * @zh 展开邻居节点\n     * @en Expand neighbor nodes\n     */\n    private expandNeighbors(session: PathfindingSession, current: AStarNode): void {\n        const neighbors = this.map.getNeighbors(current.node);\n\n        for (const neighborNode of neighbors) {\n            if (!neighborNode.walkable) {\n                continue;\n            }\n\n            let neighbor = session.nodeCache.get(neighborNode.id);\n\n            if (!neighbor) {\n                neighbor = {\n                    node: neighborNode,\n                    g: Infinity,\n                    h: 0,\n                    f: Infinity,\n                    parent: null,\n                    closed: false,\n                    opened: false,\n                    heapIndex: -1\n                };\n                session.nodeCache.set(neighborNode.id, neighbor);\n            }\n\n            if (neighbor.closed) {\n                continue;\n            }\n\n            const movementCost = this.map.getMovementCost(current.node, neighborNode);\n            const tentativeG = current.g + movementCost;\n\n            if (!neighbor.opened) {\n                neighbor.g = tentativeG;\n                neighbor.h = this.map.heuristic(neighborNode.position, session.endPosition) *\n                             session.options.heuristicWeight;\n                neighbor.f = neighbor.g + neighbor.h;\n                neighbor.parent = current;\n                neighbor.opened = true;\n                session.openList.push(neighbor);\n            } else if (tentativeG < neighbor.g) {\n                neighbor.g = tentativeG;\n                neighbor.f = neighbor.g + neighbor.h;\n                neighbor.parent = current;\n                session.openList.update(neighbor);\n            }\n        }\n    }\n\n    /**\n     * @zh 创建进度对象\n     * @en Create progress object\n     */\n    private createProgress(session: PathfindingSession): IPathProgress {\n        let estimatedProgress = 0;\n\n        if (session.state === PathfindingState.Completed) {\n            estimatedProgress = 1;\n        } else if (session.state === PathfindingState.InProgress && session.initialDistance > 0) {\n            const bestNode = session.openList.peek();\n            if (bestNode) {\n                const currentDistance = bestNode.h / session.options.heuristicWeight;\n                estimatedProgress = Math.max(0, Math.min(1,\n                    1 - (currentDistance / session.initialDistance)\n                ));\n            }\n        }\n\n        return {\n            state: session.state,\n            nodesSearched: session.nodesSearched,\n            openListSize: session.openList.size,\n            estimatedProgress\n        };\n    }\n\n    /**\n     * @zh 构建路径结果\n     * @en Build path result\n     */\n    private buildResult(session: PathfindingSession, endNode: AStarNode): IIncrementalPathResult {\n        const path: IPoint[] = [];\n        let current: AStarNode | null = endNode;\n\n        while (current) {\n            path.push(current.node.position);\n            current = current.parent;\n        }\n\n        path.reverse();\n\n        return {\n            requestId: session.request.id,\n            found: true,\n            path,\n            cost: endNode.g,\n            nodesSearched: session.nodesSearched,\n            framesUsed: session.framesUsed,\n            isPartial: false\n        };\n    }\n\n    /**\n     * @zh 创建空结果\n     * @en Create empty result\n     */\n    private createEmptyResult(requestId: number): IIncrementalPathResult {\n        return {\n            requestId,\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched: 0,\n            framesUsed: 0,\n            isPartial: false\n        };\n    }\n\n    /**\n     * @zh 检查会话是否被区域影响\n     * @en Check if session is affected by region\n     */\n    private sessionAffectedByRegion(session: PathfindingSession, region: ChangeRegion): boolean {\n        for (const astarNode of session.nodeCache.values()) {\n            if (astarNode.opened || astarNode.closed) {\n                const pos = astarNode.node.position;\n                if (pos.x >= region.minX && pos.x <= region.maxX &&\n                    pos.y >= region.minY && pos.y <= region.maxY) {\n                    return true;\n                }\n            }\n        }\n\n        const start = session.request;\n        const end = session.endPosition;\n\n        if ((start.startX >= region.minX && start.startX <= region.maxX &&\n             start.startY >= region.minY && start.startY <= region.maxY) ||\n            (end.x >= region.minX && end.x <= region.maxX &&\n             end.y >= region.minY && end.y <= region.maxY)) {\n            return true;\n        }\n\n        return false;\n    }\n\n    /**\n     * @zh 清理过期的变化区域\n     * @en Clean up expired change regions\n     */\n    private cleanupOldRegions(): void {\n        const now = Date.now();\n        let i = 0;\n        while (i < this.affectedRegions.length) {\n            if (now - this.affectedRegions[i].timestamp > this.maxRegionAge) {\n                this.affectedRegions.splice(i, 1);\n            } else {\n                i++;\n            }\n        }\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建增量 A* 寻路器\n * @en Create incremental A* pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @returns @zh 增量 A* 寻路器实例 @en Incremental A* pathfinder instance\n */\nexport function createIncrementalAStarPathfinder(map: IPathfindingMap): IncrementalAStarPathfinder {\n    return new IncrementalAStarPathfinder(map);\n}\n","/**\n * @zh 路径验证器\n * @en Path Validator\n */\n\nimport type { IPoint, IPathfindingMap } from './IPathfinding';\nimport type { IPathValidator, IPathValidationResult } from './IIncrementalPathfinding';\n\n// =============================================================================\n// 路径验证器 | Path Validator\n// =============================================================================\n\n/**\n * @zh 路径验证器\n * @en Path Validator\n *\n * @zh 用于检查现有路径在地图变化后是否仍然有效\n * @en Used to check if an existing path is still valid after map changes\n *\n * @example\n * ```typescript\n * const validator = new PathValidator();\n * const result = validator.validatePath(path, 0, path.length, map);\n *\n * if (!result.valid) {\n *     console.log('Path invalid at index:', result.invalidIndex);\n *     // Trigger replanning from current position\n * }\n * ```\n */\nexport class PathValidator implements IPathValidator {\n    /**\n     * @zh 验证路径段的有效性\n     * @en Validate path segment validity\n     *\n     * @param path - @zh 要验证的路径 @en Path to validate\n     * @param fromIndex - @zh 起始索引 @en Start index\n     * @param toIndex - @zh 结束索引 @en End index\n     * @param map - @zh 地图实例 @en Map instance\n     * @returns @zh 验证结果 @en Validation result\n     */\n    validatePath(\n        path: readonly IPoint[],\n        fromIndex: number,\n        toIndex: number,\n        map: IPathfindingMap\n    ): IPathValidationResult {\n        const end = Math.min(toIndex, path.length);\n\n        for (let i = fromIndex; i < end; i++) {\n            const point = path[i];\n            const x = Math.floor(point.x);\n            const y = Math.floor(point.y);\n\n            if (!map.isWalkable(x, y)) {\n                return { valid: false, invalidIndex: i };\n            }\n\n            if (i > fromIndex) {\n                const prev = path[i - 1];\n                if (!this.checkLineOfSight(prev.x, prev.y, point.x, point.y, map)) {\n                    return { valid: false, invalidIndex: i };\n                }\n            }\n        }\n\n        return { valid: true, invalidIndex: -1 };\n    }\n\n    /**\n     * @zh 检查两点之间的视线（使用 Bresenham 算法）\n     * @en Check line of sight between two points (using Bresenham algorithm)\n     *\n     * @param x1 - @zh 起点 X @en Start X\n     * @param y1 - @zh 起点 Y @en Start Y\n     * @param x2 - @zh 终点 X @en End X\n     * @param y2 - @zh 终点 Y @en End Y\n     * @param map - @zh 地图实例 @en Map instance\n     * @returns @zh 是否有视线 @en Whether there is line of sight\n     */\n    private checkLineOfSight(\n        x1: number,\n        y1: number,\n        x2: number,\n        y2: number,\n        map: IPathfindingMap\n    ): boolean {\n        const ix1 = Math.floor(x1);\n        const iy1 = Math.floor(y1);\n        const ix2 = Math.floor(x2);\n        const iy2 = Math.floor(y2);\n\n        let dx = Math.abs(ix2 - ix1);\n        let dy = Math.abs(iy2 - iy1);\n        let x = ix1;\n        let y = iy1;\n\n        const sx = ix1 < ix2 ? 1 : -1;\n        const sy = iy1 < iy2 ? 1 : -1;\n\n        if (dx > dy) {\n            let err = dx / 2;\n            while (x !== ix2) {\n                if (!map.isWalkable(x, y)) {\n                    return false;\n                }\n                err -= dy;\n                if (err < 0) {\n                    y += sy;\n                    err += dx;\n                }\n                x += sx;\n            }\n        } else {\n            let err = dy / 2;\n            while (y !== iy2) {\n                if (!map.isWalkable(x, y)) {\n                    return false;\n                }\n                err -= dx;\n                if (err < 0) {\n                    x += sx;\n                    err += dy;\n                }\n                y += sy;\n            }\n        }\n\n        return map.isWalkable(ix2, iy2);\n    }\n}\n\n// =============================================================================\n// 障碍物变化管理器 | Obstacle Change Manager\n// =============================================================================\n\n/**\n * @zh 障碍物变化记录\n * @en Obstacle change record\n */\nexport interface IObstacleChange {\n    /**\n     * @zh X 坐标\n     * @en X coordinate\n     */\n    readonly x: number;\n\n    /**\n     * @zh Y 坐标\n     * @en Y coordinate\n     */\n    readonly y: number;\n\n    /**\n     * @zh 变化前是否可通行\n     * @en Was walkable before change\n     */\n    readonly wasWalkable: boolean;\n\n    /**\n     * @zh 变化时间戳\n     * @en Change timestamp\n     */\n    readonly timestamp: number;\n}\n\n/**\n * @zh 障碍物变化区域\n * @en Obstacle change region\n */\nexport interface IChangeRegion {\n    /**\n     * @zh 最小 X 坐标\n     * @en Minimum X coordinate\n     */\n    readonly minX: number;\n\n    /**\n     * @zh 最小 Y 坐标\n     * @en Minimum Y coordinate\n     */\n    readonly minY: number;\n\n    /**\n     * @zh 最大 X 坐标\n     * @en Maximum X coordinate\n     */\n    readonly maxX: number;\n\n    /**\n     * @zh 最大 Y 坐标\n     * @en Maximum Y coordinate\n     */\n    readonly maxY: number;\n}\n\n/**\n * @zh 障碍物变化管理器\n * @en Obstacle Change Manager\n *\n * @zh 跟踪地图障碍物变化，用于触发动态重规划\n * @en Tracks map obstacle changes, used to trigger dynamic replanning\n *\n * @example\n * ```typescript\n * const manager = new ObstacleChangeManager();\n *\n * // Record change when obstacle is added/removed\n * manager.recordChange(10, 20, true);  // Was walkable, now blocked\n *\n * // Get affected region for notification\n * const region = manager.getAffectedRegion();\n * if (region) {\n *     pathfinder.notifyObstacleChange(\n *         region.minX, region.minY,\n *         region.maxX, region.maxY\n *     );\n * }\n *\n * // Clear after notification\n * manager.flush();\n * ```\n */\nexport class ObstacleChangeManager {\n    private readonly changes: Map<string, IObstacleChange> = new Map();\n    private epoch: number = 0;\n\n    /**\n     * @zh 记录障碍物变化\n     * @en Record obstacle change\n     *\n     * @param x - @zh X 坐标 @en X coordinate\n     * @param y - @zh Y 坐标 @en Y coordinate\n     * @param wasWalkable - @zh 变化前是否可通行 @en Was walkable before change\n     */\n    recordChange(x: number, y: number, wasWalkable: boolean): void {\n        const key = `${x},${y}`;\n        this.changes.set(key, {\n            x,\n            y,\n            wasWalkable,\n            timestamp: Date.now()\n        });\n    }\n\n    /**\n     * @zh 获取影响区域\n     * @en Get affected region\n     *\n     * @returns @zh 影响区域或 null（如果没有变化）@en Affected region or null if no changes\n     */\n    getAffectedRegion(): IChangeRegion | null {\n        if (this.changes.size === 0) {\n            return null;\n        }\n\n        let minX = Infinity;\n        let minY = Infinity;\n        let maxX = -Infinity;\n        let maxY = -Infinity;\n\n        for (const change of this.changes.values()) {\n            minX = Math.min(minX, change.x);\n            minY = Math.min(minY, change.y);\n            maxX = Math.max(maxX, change.x);\n            maxY = Math.max(maxY, change.y);\n        }\n\n        return { minX, minY, maxX, maxY };\n    }\n\n    /**\n     * @zh 获取所有变化\n     * @en Get all changes\n     *\n     * @returns @zh 变化列表 @en List of changes\n     */\n    getChanges(): IObstacleChange[] {\n        return Array.from(this.changes.values());\n    }\n\n    /**\n     * @zh 检查是否有变化\n     * @en Check if there are changes\n     *\n     * @returns @zh 是否有变化 @en Whether there are changes\n     */\n    hasChanges(): boolean {\n        return this.changes.size > 0;\n    }\n\n    /**\n     * @zh 获取当前 epoch\n     * @en Get current epoch\n     *\n     * @returns @zh 当前 epoch @en Current epoch\n     */\n    getEpoch(): number {\n        return this.epoch;\n    }\n\n    /**\n     * @zh 清空变化记录并推进 epoch\n     * @en Clear changes and advance epoch\n     */\n    flush(): void {\n        this.changes.clear();\n        this.epoch++;\n    }\n\n    /**\n     * @zh 清空所有状态\n     * @en Clear all state\n     */\n    clear(): void {\n        this.changes.clear();\n        this.epoch = 0;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Functions\n// =============================================================================\n\n/**\n * @zh 创建路径验证器\n * @en Create path validator\n *\n * @returns @zh 路径验证器实例 @en Path validator instance\n */\nexport function createPathValidator(): PathValidator {\n    return new PathValidator();\n}\n\n/**\n * @zh 创建障碍物变化管理器\n * @en Create obstacle change manager\n *\n * @returns @zh 障碍物变化管理器实例 @en Obstacle change manager instance\n */\nexport function createObstacleChangeManager(): ObstacleChangeManager {\n    return new ObstacleChangeManager();\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: number;\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, width: number, walkable: boolean = true, cost: number = 1) {\n        this.x = x;\n        this.y = y;\n        this.id = y * width + x;\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, this.width, 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 (nx < 0 || nx >= this.width || ny < 0 || ny >= this.height) {\n                continue;\n            }\n\n            const neighbor = this.nodes[ny][nx];\n\n            if (!neighbor.walkable) {\n                continue;\n            }\n\n            if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n                const hNode = this.nodes[y][x + dir.dx];\n                const vNode = this.nodes[y + dir.dy][x];\n\n                if (!hNode.walkable || !vNode.walkable) {\n                    continue;\n                }\n            }\n\n            neighbors.push(neighbor);\n        }\n\n        return neighbors;\n    }\n\n    /**\n     * @zh 遍历节点的邻居（零分配）\n     * @en Iterate over neighbors (zero allocation)\n     */\n    forEachNeighbor(node: IPathNode, callback: (neighbor: GridNode) => boolean | void): void {\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 (nx < 0 || nx >= this.width || ny < 0 || ny >= this.height) {\n                continue;\n            }\n\n            const neighbor = this.nodes[ny][nx];\n\n            if (!neighbor.walkable) {\n                continue;\n            }\n\n            if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n                const hNode = this.nodes[y][x + dir.dx];\n                const vNode = this.nodes[y + dir.dy][x];\n\n                if (!hNode.walkable || !vNode.walkable) {\n                    continue;\n                }\n            }\n\n            if (callback(neighbor) === false) {\n                return;\n            }\n        }\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 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, 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