@esengine/pathfinding 12.1.2 → 13.1.0

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/core/BinaryHeap.ts","../src/core/AStarPathfinder.ts","../src/core/GridPathfinder.ts","../src/core/JPSPathfinder.ts","../src/core/HPAPathfinder.ts","../src/navmesh/NavMesh.ts"],"sourcesContent":["/**\n * @zh 二叉堆（优先队列）\n * @en Binary Heap (Priority Queue)\n *\n * @zh 用于 A* 算法的高效开放列表\n * @en Efficient open list for A* algorithm\n */\nexport class BinaryHeap<T> {\n    private heap: T[] = [];\n    private readonly compare: (a: T, b: T) => number;\n\n    /**\n     * @zh 创建二叉堆\n     * @en Create binary heap\n     *\n     * @param compare - @zh 比较函数，返回负数表示 a < b @en Compare function, returns negative if a < b\n     */\n    constructor(compare: (a: T, b: T) => number) {\n        this.compare = compare;\n    }\n\n    /**\n     * @zh 堆大小\n     * @en Heap size\n     */\n    get size(): number {\n        return this.heap.length;\n    }\n\n    /**\n     * @zh 是否为空\n     * @en Is empty\n     */\n    get isEmpty(): boolean {\n        return this.heap.length === 0;\n    }\n\n    /**\n     * @zh 插入元素\n     * @en Push element\n     */\n    push(item: T): void {\n        this.heap.push(item);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    /**\n     * @zh 弹出最小元素\n     * @en Pop minimum element\n     */\n    pop(): T | undefined {\n        if (this.heap.length === 0) {\n            return undefined;\n        }\n\n        const result = this.heap[0];\n        const last = this.heap.pop()!;\n\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.sinkDown(0);\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 查看最小元素（不移除）\n     * @en Peek minimum element (without removing)\n     */\n    peek(): T | undefined {\n        return this.heap[0];\n    }\n\n    /**\n     * @zh 更新元素（重新排序）\n     * @en Update element (re-sort)\n     */\n    update(item: T): void {\n        const index = this.heap.indexOf(item);\n        if (index !== -1) {\n            this.bubbleUp(index);\n            this.sinkDown(index);\n        }\n    }\n\n    /**\n     * @zh 检查是否包含元素\n     * @en Check if contains element\n     */\n    contains(item: T): boolean {\n        return this.heap.indexOf(item) !== -1;\n    }\n\n    /**\n     * @zh 清空堆\n     * @en Clear heap\n     */\n    clear(): void {\n        this.heap.length = 0;\n    }\n\n    /**\n     * @zh 上浮操作\n     * @en Bubble up operation\n     */\n    private bubbleUp(index: number): void {\n        const item = this.heap[index];\n\n        while (index > 0) {\n            const parentIndex = Math.floor((index - 1) / 2);\n            const parent = this.heap[parentIndex];\n\n            if (this.compare(item, parent) >= 0) {\n                break;\n            }\n\n            this.heap[index] = parent;\n            index = parentIndex;\n        }\n\n        this.heap[index] = item;\n    }\n\n    /**\n     * @zh 下沉操作\n     * @en Sink down operation\n     */\n    private sinkDown(index: number): void {\n        const length = this.heap.length;\n        const item = this.heap[index];\n\n        while (true) {\n            const leftIndex = 2 * index + 1;\n            const rightIndex = 2 * index + 2;\n            let smallest = index;\n\n            if (leftIndex < length && this.compare(this.heap[leftIndex], this.heap[smallest]) < 0) {\n                smallest = leftIndex;\n            }\n\n            if (rightIndex < length && this.compare(this.heap[rightIndex], this.heap[smallest]) < 0) {\n                smallest = rightIndex;\n            }\n\n            if (smallest === index) {\n                break;\n            }\n\n            this.heap[index] = this.heap[smallest];\n            this.heap[smallest] = item;\n            index = smallest;\n        }\n    }\n}\n","/**\n * @zh A* 寻路算法实现\n * @en A* Pathfinding Algorithm Implementation\n */\n\nimport { IndexedBinaryHeap, type IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathfinder,\n    IPathResult,\n    IPathfindingOptions,\n    IPathNode,\n    IPoint\n} from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\n\n// =============================================================================\n// 内部节点类型 | Internal Node Type\n// =============================================================================\n\ninterface AStarNode extends IHeapIndexable {\n    node: IPathNode;\n    g: number;  // Cost from start\n    h: number;  // Heuristic to end\n    f: number;  // Total cost (g + h)\n    parent: AStarNode | null;\n    closed: boolean;\n    opened: boolean;\n    heapIndex: number;  // For IndexedBinaryHeap O(log n) update\n}\n\n// =============================================================================\n// A* 寻路器 | A* Pathfinder\n// =============================================================================\n\n/**\n * @zh A* 寻路器\n * @en A* Pathfinder\n *\n * @zh 使用 A* 算法在地图上查找最短路径\n * @en Uses A* algorithm to find shortest path on a map\n *\n * @example\n * ```typescript\n * const map = new GridMap(width, height);\n * const pathfinder = new AStarPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 10, 10);\n * if (result.found) {\n *     console.log('Path:', result.path);\n * }\n * ```\n */\nexport class AStarPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private nodeCache: Map<string | number, AStarNode> = new Map();\n    private openList: IndexedBinaryHeap<AStarNode>;\n\n    constructor(map: IPathfindingMap) {\n        this.map = map;\n        this.openList = new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f);\n    }\n\n    /**\n     * @zh 查找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // Clear previous state\n        this.clear();\n\n        // Get start and end nodes\n        const startNode = this.map.getNodeAt(startX, startY);\n        const endNode = this.map.getNodeAt(endX, endY);\n\n        // Validate nodes\n        if (!startNode || !endNode) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (!startNode.walkable || !endNode.walkable) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same position\n        if (startNode.id === endNode.id) {\n            return {\n                found: true,\n                path: [startNode.position],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // Initialize start node\n        const start = this.getOrCreateAStarNode(startNode);\n        start.g = 0;\n        start.h = this.map.heuristic(startNode.position, endNode.position) * opts.heuristicWeight;\n        start.f = start.h;\n        start.opened = true;\n\n        this.openList.push(start);\n\n        let nodesSearched = 0;\n        const endPosition = endNode.position;\n\n        // A* main loop\n        while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = this.openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // Found the goal\n            if (current.node.id === endNode.id) {\n                return this.buildPath(current, nodesSearched);\n            }\n\n            // Explore neighbors\n            const neighbors = this.map.getNeighbors(current.node);\n\n            for (const neighborNode of neighbors) {\n                // Skip if not walkable or already closed\n                if (!neighborNode.walkable) {\n                    continue;\n                }\n\n                const neighbor = this.getOrCreateAStarNode(neighborNode);\n\n                if (neighbor.closed) {\n                    continue;\n                }\n\n                // Calculate tentative g score\n                const movementCost = this.map.getMovementCost(current.node, neighborNode);\n                const tentativeG = current.g + movementCost;\n\n                // Check if this path is better\n                if (!neighbor.opened) {\n                    // First time visiting this node\n                    neighbor.g = tentativeG;\n                    neighbor.h = this.map.heuristic(neighborNode.position, endPosition) * opts.heuristicWeight;\n                    neighbor.f = neighbor.g + neighbor.h;\n                    neighbor.parent = current;\n                    neighbor.opened = true;\n                    this.openList.push(neighbor);\n                } else if (tentativeG < neighbor.g) {\n                    // Found a better path\n                    neighbor.g = tentativeG;\n                    neighbor.f = neighbor.g + neighbor.h;\n                    neighbor.parent = current;\n                    this.openList.update(neighbor);\n                }\n            }\n        }\n\n        // No path found\n        return {\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.nodeCache.clear();\n        this.openList.clear();\n    }\n\n    /**\n     * @zh 获取或创建 A* 节点\n     * @en Get or create A* node\n     */\n    private getOrCreateAStarNode(node: IPathNode): AStarNode {\n        let astarNode = this.nodeCache.get(node.id);\n\n        if (!astarNode) {\n            astarNode = {\n                node,\n                g: Infinity,\n                h: 0,\n                f: Infinity,\n                parent: null,\n                closed: false,\n                opened: false,\n                heapIndex: -1\n            };\n            this.nodeCache.set(node.id, astarNode);\n        }\n\n        return astarNode;\n    }\n\n    /**\n     * @zh 构建路径结果\n     * @en Build path result\n     */\n    private buildPath(endNode: AStarNode, nodesSearched: number): IPathResult {\n        const path: IPoint[] = [];\n        let current: AStarNode | null = endNode;\n\n        while (current) {\n            path.push(current.node.position);\n            current = current.parent;\n        }\n\n        path.reverse();\n\n        return {\n            found: true,\n            path,\n            cost: endNode.g,\n            nodesSearched\n        };\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 A* 寻路器\n * @en Create A* pathfinder\n */\nexport function createAStarPathfinder(map: IPathfindingMap): AStarPathfinder {\n    return new AStarPathfinder(map);\n}\n","/**\n * @zh 网格寻路器（统一实现）\n * @en Grid Pathfinder (unified implementation)\n */\n\nimport type { IPathfinder, IPathResult, IPathfindingOptions, IPoint } from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport { GridMap } from '../grid/GridMap';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh 寻路模式\n * @en Pathfinding mode\n */\nexport type GridPathfinderMode = 'standard' | 'fast' | 'bidirectional';\n\n/**\n * @zh 网格寻路器配置\n * @en Grid pathfinder configuration\n */\nexport interface IGridPathfinderConfig {\n    /**\n     * @zh 寻路模式\n     * @en Pathfinding mode\n     *\n     * - standard: 标准A*，适合小地图\n     * - fast: TypedArray优化，适合中大地图\n     * - bidirectional: 双向搜索，适合超大地图\n     */\n    mode?: GridPathfinderMode;\n}\n\n// =============================================================================\n// 常量 | Constants\n// =============================================================================\n\nconst CLOSED_FLAG = 1;\nconst OPENED_FLAG = 2;\nconst BACKWARD_CLOSED = 4;\nconst BACKWARD_OPENED = 8;\n\n// =============================================================================\n// 状态存储 | State Storage\n// =============================================================================\n\nclass GridState {\n    private readonly size: number;\n    readonly width: number;\n\n    private g: Float32Array;\n    private f: Float32Array;\n    private flags: Uint8Array;\n    private parent: Int32Array;\n    private heapIndex: Int32Array;\n    private version: Uint32Array;\n    private currentVersion: number = 1;\n\n    // 双向搜索额外状态\n    private gBack: Float32Array | null = null;\n    private fBack: Float32Array | null = null;\n    private parentBack: Int32Array | null = null;\n    private heapIndexBack: Int32Array | null = null;\n\n    constructor(width: number, height: number, bidirectional: boolean = false) {\n        this.width = width;\n        this.size = width * height;\n\n        this.g = new Float32Array(this.size);\n        this.f = new Float32Array(this.size);\n        this.flags = new Uint8Array(this.size);\n        this.parent = new Int32Array(this.size);\n        this.heapIndex = new Int32Array(this.size);\n        this.version = new Uint32Array(this.size);\n\n        if (bidirectional) {\n            this.gBack = new Float32Array(this.size);\n            this.fBack = new Float32Array(this.size);\n            this.parentBack = new Int32Array(this.size);\n            this.heapIndexBack = new Int32Array(this.size);\n        }\n    }\n\n    reset(): void {\n        this.currentVersion++;\n        if (this.currentVersion > 0xFFFFFFFF) {\n            this.version.fill(0);\n            this.currentVersion = 1;\n        }\n    }\n\n    private isInit(i: number): boolean {\n        return this.version[i] === this.currentVersion;\n    }\n\n    private init(i: number): void {\n        if (!this.isInit(i)) {\n            this.g[i] = Infinity;\n            this.f[i] = Infinity;\n            this.flags[i] = 0;\n            this.parent[i] = -1;\n            this.heapIndex[i] = -1;\n            if (this.gBack) {\n                this.gBack[i] = Infinity;\n                this.fBack![i] = Infinity;\n                this.parentBack![i] = -1;\n                this.heapIndexBack![i] = -1;\n            }\n            this.version[i] = this.currentVersion;\n        }\n    }\n\n    // Forward\n    getG(i: number): number { return this.isInit(i) ? this.g[i] : Infinity; }\n    setG(i: number, v: number): void { this.init(i); this.g[i] = v; }\n    getF(i: number): number { return this.isInit(i) ? this.f[i] : Infinity; }\n    setF(i: number, v: number): void { this.init(i); this.f[i] = v; }\n    getParent(i: number): number { return this.isInit(i) ? this.parent[i] : -1; }\n    setParent(i: number, v: number): void { this.init(i); this.parent[i] = v; }\n    getHeapIndex(i: number): number { return this.isInit(i) ? this.heapIndex[i] : -1; }\n    setHeapIndex(i: number, v: number): void { this.init(i); this.heapIndex[i] = v; }\n    isClosed(i: number): boolean { return this.isInit(i) && (this.flags[i] & CLOSED_FLAG) !== 0; }\n    setClosed(i: number): void { this.init(i); this.flags[i] |= CLOSED_FLAG; }\n    isOpened(i: number): boolean { return this.isInit(i) && (this.flags[i] & OPENED_FLAG) !== 0; }\n    setOpened(i: number): void { this.init(i); this.flags[i] |= OPENED_FLAG; }\n\n    // Backward\n    getGBack(i: number): number { return this.isInit(i) ? this.gBack![i] : Infinity; }\n    setGBack(i: number, v: number): void { this.init(i); this.gBack![i] = v; }\n    getFBack(i: number): number { return this.isInit(i) ? this.fBack![i] : Infinity; }\n    setFBack(i: number, v: number): void { this.init(i); this.fBack![i] = v; }\n    getParentBack(i: number): number { return this.isInit(i) ? this.parentBack![i] : -1; }\n    setParentBack(i: number, v: number): void { this.init(i); this.parentBack![i] = v; }\n    getHeapIndexBack(i: number): number { return this.isInit(i) ? this.heapIndexBack![i] : -1; }\n    setHeapIndexBack(i: number, v: number): void { this.init(i); this.heapIndexBack![i] = v; }\n    isClosedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_CLOSED) !== 0; }\n    setClosedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_CLOSED; }\n    isOpenedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_OPENED) !== 0; }\n    setOpenedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_OPENED; }\n}\n\n// =============================================================================\n// 堆 | Heap\n// =============================================================================\n\nclass GridHeap {\n    private heap: number[] = [];\n    private state: GridState;\n    private isBack: boolean;\n\n    constructor(state: GridState, isBack: boolean = false) {\n        this.state = state;\n        this.isBack = isBack;\n    }\n\n    get size(): number { return this.heap.length; }\n    get isEmpty(): boolean { return this.heap.length === 0; }\n\n    private getF(i: number): number {\n        return this.isBack ? this.state.getFBack(i) : this.state.getF(i);\n    }\n    private getHeapIndex(i: number): number {\n        return this.isBack ? this.state.getHeapIndexBack(i) : this.state.getHeapIndex(i);\n    }\n    private setHeapIndex(i: number, v: number): void {\n        if (this.isBack) this.state.setHeapIndexBack(i, v);\n        else this.state.setHeapIndex(i, v);\n    }\n\n    push(i: number): void {\n        this.setHeapIndex(i, this.heap.length);\n        this.heap.push(i);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    pop(): number {\n        if (this.heap.length === 0) return -1;\n        const result = this.heap[0];\n        this.setHeapIndex(result, -1);\n        const last = this.heap.pop()!;\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.setHeapIndex(last, 0);\n            this.sinkDown(0);\n        }\n        return result;\n    }\n\n    update(i: number): void {\n        const pos = this.getHeapIndex(i);\n        if (pos >= 0 && pos < this.heap.length) {\n            this.bubbleUp(pos);\n            this.sinkDown(this.getHeapIndex(i));\n        }\n    }\n\n    clear(): void { this.heap.length = 0; }\n\n    private bubbleUp(pos: number): void {\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        while (pos > 0) {\n            const pp = (pos - 1) >> 1;\n            const pi = this.heap[pp];\n            if (f >= this.getF(pi)) break;\n            this.heap[pos] = pi;\n            this.setHeapIndex(pi, pos);\n            pos = pp;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n\n    private sinkDown(pos: number): void {\n        const len = this.heap.length;\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        const half = len >> 1;\n        while (pos < half) {\n            const left = (pos << 1) + 1;\n            const right = left + 1;\n            let smallest = pos, smallestF = f;\n            const lf = this.getF(this.heap[left]);\n            if (lf < smallestF) { smallest = left; smallestF = lf; }\n            if (right < len) {\n                const rf = this.getF(this.heap[right]);\n                if (rf < smallestF) smallest = right;\n            }\n            if (smallest === pos) break;\n            const si = this.heap[smallest];\n            this.heap[pos] = si;\n            this.setHeapIndex(si, pos);\n            pos = smallest;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n}\n\n// =============================================================================\n// 网格寻路器 | Grid Pathfinder\n// =============================================================================\n\n/**\n * @zh 网格寻路器\n * @en Grid Pathfinder\n */\nexport class GridPathfinder implements IPathfinder {\n    private readonly map: GridMap;\n    private readonly mode: GridPathfinderMode;\n    private readonly state: GridState;\n    private readonly openList: GridHeap;\n    private readonly openListBack: GridHeap | null;\n\n    constructor(map: GridMap, config?: IGridPathfinderConfig) {\n        this.map = map;\n        this.mode = config?.mode ?? 'fast';\n        const isBidir = this.mode === 'bidirectional';\n        this.state = new GridState(map.width, map.height, isBidir);\n        this.openList = new GridHeap(this.state, false);\n        this.openListBack = isBidir ? new GridHeap(this.state, true) : null;\n    }\n\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        if (this.mode === 'bidirectional') {\n            return this.findPathBidirectional(startX, startY, endX, endY, options);\n        }\n        return this.findPathUnidirectional(startX, startY, endX, endY, options);\n    }\n\n    private findPathUnidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const h0 = this.map.heuristic({ x: startX, y: startY }, { x: endX, y: endY }) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, h0);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while (!this.openList.isEmpty && searched < maxNodes) {\n            const cur = this.openList.pop();\n            this.state.setClosed(cur);\n            searched++;\n\n            if (cur === endIdx) {\n                return this.buildPath(startIdx, endIdx, searched);\n            }\n\n            const cx = cur % width, cy = (cur / width) | 0;\n            const curG = this.state.getG(cur);\n\n            for (let d = 0; d < dirCount; d++) {\n                const nx = cx + dx[d], ny = cy + dy[d];\n                if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n\n                const neighbor = nodes[ny][nx];\n                if (!neighbor.walkable) continue;\n\n                if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                    if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                }\n\n                const ni = ny * width + nx;\n                if (this.state.isClosed(ni)) continue;\n\n                const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                const tentG = curG + cost;\n\n                if (!this.state.isOpened(ni)) {\n                    const h = this.map.heuristic({ x: nx, y: ny }, { x: endX, y: endY }) * hw;\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.state.setOpened(ni);\n                    this.openList.push(ni);\n                } else if (tentG < this.state.getG(ni)) {\n                    const h = this.state.getF(ni) - this.state.getG(ni);\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.openList.update(ni);\n                }\n            }\n        }\n\n        return { found: false, path: [], cost: 0, nodesSearched: searched };\n    }\n\n    private findPathBidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack!.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const startPos = { x: startX, y: startY };\n        const endPos = { x: endX, y: endY };\n\n        // Init forward\n        const hf = this.map.heuristic(startPos, endPos) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, hf);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        // Init backward\n        const hb = this.map.heuristic(endPos, startPos) * hw;\n        this.state.setGBack(endIdx, 0);\n        this.state.setFBack(endIdx, hb);\n        this.state.setOpenedBack(endIdx);\n        this.openListBack!.push(endIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        let meetIdx = -1, bestCost = Infinity;\n\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while ((!this.openList.isEmpty || !this.openListBack!.isEmpty) && searched < maxNodes) {\n            // Forward\n            if (!this.openList.isEmpty) {\n                const cur = this.openList.pop();\n                this.state.setClosed(cur);\n                searched++;\n\n                const curG = this.state.getG(cur);\n                if (this.state.isClosedBack(cur)) {\n                    const total = curG + this.state.getGBack(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosed(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpened(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, endPos) * hw;\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.state.setOpened(ni);\n                        this.openList.push(ni);\n                    } else if (tentG < this.state.getG(ni)) {\n                        const h = this.state.getF(ni) - this.state.getG(ni);\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.openList.update(ni);\n                    }\n                }\n            }\n\n            // Backward\n            if (!this.openListBack!.isEmpty) {\n                const cur = this.openListBack!.pop();\n                this.state.setClosedBack(cur);\n                searched++;\n\n                const curG = this.state.getGBack(cur);\n                if (this.state.isClosed(cur)) {\n                    const total = curG + this.state.getG(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosedBack(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpenedBack(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, startPos) * hw;\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.state.setOpenedBack(ni);\n                        this.openListBack!.push(ni);\n                    } else if (tentG < this.state.getGBack(ni)) {\n                        const h = this.state.getFBack(ni) - this.state.getGBack(ni);\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.openListBack!.update(ni);\n                    }\n                }\n            }\n        }\n\n        if (meetIdx === -1) {\n            return { found: false, path: [], cost: 0, nodesSearched: searched };\n        }\n\n        return this.buildPathBidirectional(startIdx, endIdx, meetIdx, searched);\n    }\n\n    private validate(startX: number, startY: number, endX: number, endY: number): boolean {\n        const { width, height } = this.map;\n        if (startX < 0 || startX >= width || startY < 0 || startY >= height) return false;\n        if (endX < 0 || endX >= width || endY < 0 || endY >= height) return false;\n        return this.map.isWalkable(startX, startY) && this.map.isWalkable(endX, endY);\n    }\n\n    private buildPath(startIdx: number, endIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n        let cur = endIdx;\n        while (cur !== -1) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = cur === startIdx ? -1 : this.state.getParent(cur);\n        }\n        path.reverse();\n        return { found: true, path, cost: this.state.getG(endIdx), nodesSearched: searched };\n    }\n\n    private buildPathBidirectional(startIdx: number, endIdx: number, meetIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n\n        // Forward path\n        let cur = meetIdx;\n        while (cur !== -1 && cur !== startIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParent(cur);\n        }\n        path.push({ x: startIdx % w, y: (startIdx / w) | 0 });\n        path.reverse();\n\n        // Backward path\n        cur = this.state.getParentBack(meetIdx);\n        while (cur !== -1 && cur !== endIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParentBack(cur);\n        }\n        if (meetIdx !== endIdx) {\n            path.push({ x: endIdx % w, y: (endIdx / w) | 0 });\n        }\n\n        const cost = this.state.getG(meetIdx) + this.state.getGBack(meetIdx);\n        return { found: true, path, cost, nodesSearched: searched };\n    }\n\n    clear(): void {\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack?.clear();\n    }\n}\n\n/**\n * @zh 创建网格寻路器\n * @en Create grid pathfinder\n */\nexport function createGridPathfinder(map: GridMap, config?: IGridPathfinderConfig): GridPathfinder {\n    return new GridPathfinder(map, config);\n}\n","/**\n * @zh JPS (Jump Point Search) 寻路算法实现\n * @en JPS (Jump Point Search) Pathfinding Algorithm Implementation\n *\n * @zh JPS 是 A* 的优化版本，通过跳跃点剪枝大幅提升开放地形的搜索效率\n * @en JPS is an optimized version of A* that significantly improves search efficiency on open terrain through jump point pruning\n */\n\nimport { BinaryHeap } from './BinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfinder,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh JPS 节点\n * @en JPS Node\n */\ninterface JPSNode {\n    x: number;\n    y: number;\n    g: number;\n    h: number;\n    f: number;\n    parent: JPSNode | null;\n    closed: boolean;\n}\n\n// =============================================================================\n// JPS 寻路器 | JPS Pathfinder\n// =============================================================================\n\n/**\n * @zh JPS 寻路器\n * @en JPS Pathfinder\n *\n * @zh 适用于均匀代价网格地图，在开放地形上比标准 A* 快 10-100 倍\n * @en Suitable for uniform cost grid maps, 10-100x faster than standard A* on open terrain\n *\n * @example\n * ```typescript\n * const map = createGridMap(100, 100);\n * const pathfinder = new JPSPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 99, 99);\n * ```\n */\nexport class JPSPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly width: number;\n    private readonly height: number;\n\n    private openList: BinaryHeap<JPSNode>;\n    private nodeGrid: (JPSNode | null)[][];\n\n    constructor(map: IPathfindingMap) {\n        this.map = map;\n\n        // 获取地图尺寸\n        const bounds = this.getMapBounds();\n        this.width = bounds.width;\n        this.height = bounds.height;\n\n        this.openList = new BinaryHeap<JPSNode>((a, b) => a.f - b.f);\n        this.nodeGrid = [];\n    }\n\n    /**\n     * @zh 寻找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: Partial<IPathfindingOptions>\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // 验证起点和终点\n        if (!this.map.isWalkable(startX, startY) || !this.map.isWalkable(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // 相同位置\n        if (startX === endX && startY === endY) {\n            return {\n                found: true,\n                path: [{ x: startX, y: startY }],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // 初始化\n        this.initGrid();\n        this.openList.clear();\n\n        const startNode = this.getOrCreateNode(startX, startY);\n        startNode.g = 0;\n        startNode.h = this.heuristic(startX, startY, endX, endY) * opts.heuristicWeight;\n        startNode.f = startNode.h;\n        this.openList.push(startNode);\n\n        let nodesSearched = 0;\n\n        while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = this.openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // 到达终点\n            if (current.x === endX && current.y === endY) {\n                return {\n                    found: true,\n                    path: this.buildPath(current),\n                    cost: current.g,\n                    nodesSearched\n                };\n            }\n\n            // 查找跳跃点\n            this.identifySuccessors(current, endX, endY, opts);\n        }\n\n        return {\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.openList.clear();\n        this.nodeGrid = [];\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    /**\n     * @zh 获取地图边界\n     * @en Get map bounds\n     */\n    private getMapBounds(): { width: number; height: number } {\n        // 尝试从地图获取尺寸\n        const mapAny = this.map as any;\n        if (typeof mapAny.width === 'number' && typeof mapAny.height === 'number') {\n            return { width: mapAny.width, height: mapAny.height };\n        }\n        // 默认尺寸\n        return { width: 1000, height: 1000 };\n    }\n\n    /**\n     * @zh 初始化节点网格\n     * @en Initialize node grid\n     */\n    private initGrid(): void {\n        this.nodeGrid = [];\n        for (let i = 0; i < this.width; i++) {\n            this.nodeGrid[i] = [];\n        }\n    }\n\n    /**\n     * @zh 获取或创建节点\n     * @en Get or create node\n     */\n    private getOrCreateNode(x: number, y: number): JPSNode {\n        // Bounds check to ensure valid array indices\n        const xi = x | 0;\n        const yi = y | 0;\n        if (xi < 0 || xi >= this.width || yi < 0 || yi >= this.height) {\n            throw new Error('[JPSPathfinder] Invalid grid coordinates');\n        }\n        if (!this.nodeGrid[xi]) {\n            this.nodeGrid[xi] = [];\n        }\n        if (!this.nodeGrid[xi][yi]) {\n            this.nodeGrid[xi][yi] = {\n                x: xi,\n                y: yi,\n                g: Infinity,\n                h: 0,\n                f: Infinity,\n                parent: null,\n                closed: false\n            };\n        }\n        return this.nodeGrid[xi][yi]!;\n    }\n\n    /**\n     * @zh 启发式函数（八方向距离）\n     * @en Heuristic function (octile distance)\n     */\n    private heuristic(x1: number, y1: number, x2: number, y2: number): number {\n        const dx = Math.abs(x1 - x2);\n        const dy = Math.abs(y1 - y2);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n\n    /**\n     * @zh 识别后继节点（跳跃点）\n     * @en Identify successors (jump points)\n     */\n    private identifySuccessors(\n        node: JPSNode,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): void {\n        const neighbors = this.findNeighbors(node);\n\n        for (const neighbor of neighbors) {\n            const jumpPoint = this.jump(\n                neighbor.x,\n                neighbor.y,\n                node.x,\n                node.y,\n                endX,\n                endY\n            );\n\n            if (jumpPoint) {\n                const jx = jumpPoint.x;\n                const jy = jumpPoint.y;\n\n                const jpNode = this.getOrCreateNode(jx, jy);\n                if (jpNode.closed) continue;\n\n                const dx = Math.abs(jx - node.x);\n                const dy = Math.abs(jy - node.y);\n                const distance = Math.sqrt(dx * dx + dy * dy);\n                const tentativeG = node.g + distance;\n\n                if (tentativeG < jpNode.g) {\n                    jpNode.g = tentativeG;\n                    jpNode.h = this.heuristic(jx, jy, endX, endY) * opts.heuristicWeight;\n                    jpNode.f = jpNode.g + jpNode.h;\n                    jpNode.parent = node;\n\n                    if (!this.openList.contains(jpNode)) {\n                        this.openList.push(jpNode);\n                    } else {\n                        this.openList.update(jpNode);\n                    }\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找邻居（根据父节点方向剪枝）\n     * @en Find neighbors (pruned based on parent direction)\n     */\n    private findNeighbors(node: JPSNode): IPoint[] {\n        const { x, y, parent } = node;\n        const neighbors: IPoint[] = [];\n\n        // 无父节点，返回所有可通行邻居\n        if (!parent) {\n            for (let dx = -1; dx <= 1; dx++) {\n                for (let dy = -1; dy <= 1; dy++) {\n                    if (dx === 0 && dy === 0) continue;\n                    const nx = x + dx;\n                    const ny = y + dy;\n                    if (this.isWalkableAt(nx, ny)) {\n                        // 对角线移动检查\n                        if (dx !== 0 && dy !== 0) {\n                            if (this.isWalkableAt(x + dx, y) || this.isWalkableAt(x, y + dy)) {\n                                neighbors.push({ x: nx, y: ny });\n                            }\n                        } else {\n                            neighbors.push({ x: nx, y: ny });\n                        }\n                    }\n                }\n            }\n            return neighbors;\n        }\n\n        // 有父节点，根据方向剪枝\n        const dx = Math.sign(x - parent.x);\n        const dy = Math.sign(y - parent.y);\n\n        // 对角线移动\n        if (dx !== 0 && dy !== 0) {\n            // 自然邻居\n            if (this.isWalkableAt(x, y + dy)) {\n                neighbors.push({ x, y: y + dy });\n            }\n            if (this.isWalkableAt(x + dx, y)) {\n                neighbors.push({ x: x + dx, y });\n            }\n            if (this.isWalkableAt(x, y + dy) || this.isWalkableAt(x + dx, y)) {\n                if (this.isWalkableAt(x + dx, y + dy)) {\n                    neighbors.push({ x: x + dx, y: y + dy });\n                }\n            }\n\n            // 强制邻居\n            if (!this.isWalkableAt(x - dx, y) && this.isWalkableAt(x, y + dy)) {\n                if (this.isWalkableAt(x - dx, y + dy)) {\n                    neighbors.push({ x: x - dx, y: y + dy });\n                }\n            }\n            if (!this.isWalkableAt(x, y - dy) && this.isWalkableAt(x + dx, y)) {\n                if (this.isWalkableAt(x + dx, y - dy)) {\n                    neighbors.push({ x: x + dx, y: y - dy });\n                }\n            }\n        }\n        // 水平移动\n        else if (dx !== 0) {\n            if (this.isWalkableAt(x + dx, y)) {\n                neighbors.push({ x: x + dx, y });\n\n                // 强制邻居\n                if (!this.isWalkableAt(x, y + 1) && this.isWalkableAt(x + dx, y + 1)) {\n                    neighbors.push({ x: x + dx, y: y + 1 });\n                }\n                if (!this.isWalkableAt(x, y - 1) && this.isWalkableAt(x + dx, y - 1)) {\n                    neighbors.push({ x: x + dx, y: y - 1 });\n                }\n            }\n        }\n        // 垂直移动\n        else if (dy !== 0) {\n            if (this.isWalkableAt(x, y + dy)) {\n                neighbors.push({ x, y: y + dy });\n\n                // 强制邻居\n                if (!this.isWalkableAt(x + 1, y) && this.isWalkableAt(x + 1, y + dy)) {\n                    neighbors.push({ x: x + 1, y: y + dy });\n                }\n                if (!this.isWalkableAt(x - 1, y) && this.isWalkableAt(x - 1, y + dy)) {\n                    neighbors.push({ x: x - 1, y: y + dy });\n                }\n            }\n        }\n\n        return neighbors;\n    }\n\n    /**\n     * @zh 跳跃函数（迭代版本，避免递归开销）\n     * @en Jump function (iterative version to avoid recursion overhead)\n     */\n    private jump(\n        startX: number,\n        startY: number,\n        px: number,\n        py: number,\n        endX: number,\n        endY: number\n    ): IPoint | null {\n        const dx = startX - px;\n        const dy = startY - py;\n\n        let x = startX;\n        let y = startY;\n\n        while (true) {\n            if (!this.isWalkableAt(x, y)) {\n                return null;\n            }\n\n            if (x === endX && y === endY) {\n                return { x, y };\n            }\n\n            if (dx !== 0 && dy !== 0) {\n                if ((this.isWalkableAt(x - dx, y + dy) && !this.isWalkableAt(x - dx, y)) ||\n                    (this.isWalkableAt(x + dx, y - dy) && !this.isWalkableAt(x, y - dy))) {\n                    return { x, y };\n                }\n\n                if (this.jumpStraight(x + dx, y, dx, 0, endX, endY) ||\n                    this.jumpStraight(x, y + dy, 0, dy, endX, endY)) {\n                    return { x, y };\n                }\n\n                if (!this.isWalkableAt(x + dx, y) && !this.isWalkableAt(x, y + dy)) {\n                    return null;\n                }\n            } else if (dx !== 0) {\n                if ((this.isWalkableAt(x + dx, y + 1) && !this.isWalkableAt(x, y + 1)) ||\n                    (this.isWalkableAt(x + dx, y - 1) && !this.isWalkableAt(x, y - 1))) {\n                    return { x, y };\n                }\n            } else if (dy !== 0) {\n                if ((this.isWalkableAt(x + 1, y + dy) && !this.isWalkableAt(x + 1, y)) ||\n                    (this.isWalkableAt(x - 1, y + dy) && !this.isWalkableAt(x - 1, y))) {\n                    return { x, y };\n                }\n            }\n\n            x += dx;\n            y += dy;\n        }\n    }\n\n    /**\n     * @zh 直线跳跃（水平或垂直方向）\n     * @en Straight jump (horizontal or vertical direction)\n     */\n    private jumpStraight(\n        startX: number,\n        startY: number,\n        dx: number,\n        dy: number,\n        endX: number,\n        endY: number\n    ): boolean {\n        let x = startX;\n        let y = startY;\n\n        while (true) {\n            if (!this.isWalkableAt(x, y)) {\n                return false;\n            }\n\n            if (x === endX && y === endY) {\n                return true;\n            }\n\n            if (dx !== 0) {\n                if ((this.isWalkableAt(x + dx, y + 1) && !this.isWalkableAt(x, y + 1)) ||\n                    (this.isWalkableAt(x + dx, y - 1) && !this.isWalkableAt(x, y - 1))) {\n                    return true;\n                }\n            } else if (dy !== 0) {\n                if ((this.isWalkableAt(x + 1, y + dy) && !this.isWalkableAt(x + 1, y)) ||\n                    (this.isWalkableAt(x - 1, y + dy) && !this.isWalkableAt(x - 1, y))) {\n                    return true;\n                }\n            }\n\n            x += dx;\n            y += dy;\n        }\n    }\n\n    /**\n     * @zh 检查位置是否可通行\n     * @en Check if position is walkable\n     */\n    private isWalkableAt(x: number, y: number): boolean {\n        if (x < 0 || x >= this.width || y < 0 || y >= this.height) {\n            return false;\n        }\n        return this.map.isWalkable(x, y);\n    }\n\n    /**\n     * @zh 构建路径\n     * @en Build path\n     */\n    private buildPath(endNode: JPSNode): IPoint[] {\n        const path: IPoint[] = [];\n        let current: JPSNode | null = endNode;\n\n        while (current) {\n            path.unshift({ x: current.x, y: current.y });\n            current = current.parent;\n        }\n\n        // 插值跳跃点之间的路径\n        return this.interpolatePath(path);\n    }\n\n    /**\n     * @zh 插值路径（在跳跃点之间填充中间点）\n     * @en Interpolate path (fill intermediate points between jump points)\n     */\n    private interpolatePath(jumpPoints: IPoint[]): IPoint[] {\n        if (jumpPoints.length < 2) {\n            return jumpPoints;\n        }\n\n        const path: IPoint[] = [jumpPoints[0]];\n\n        for (let i = 1; i < jumpPoints.length; i++) {\n            const prev = jumpPoints[i - 1];\n            const curr = jumpPoints[i];\n\n            const dx = curr.x - prev.x;\n            const dy = curr.y - prev.y;\n            const steps = Math.max(Math.abs(dx), Math.abs(dy));\n\n            const stepX = dx === 0 ? 0 : dx / Math.abs(dx);\n            const stepY = dy === 0 ? 0 : dy / Math.abs(dy);\n\n            let x = prev.x;\n            let y = prev.y;\n\n            for (let j = 0; j < steps; j++) {\n                // 优先对角移动\n                if (x !== curr.x && y !== curr.y) {\n                    x += stepX;\n                    y += stepY;\n                } else if (x !== curr.x) {\n                    x += stepX;\n                } else if (y !== curr.y) {\n                    y += stepY;\n                }\n\n                if (x !== prev.x || y !== prev.y) {\n                    path.push({ x, y });\n                }\n            }\n        }\n\n        return path;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 JPS 寻路器\n * @en Create JPS pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @returns @zh JPS 寻路器实例 @en JPS pathfinder instance\n */\nexport function createJPSPathfinder(map: IPathfindingMap): JPSPathfinder {\n    return new JPSPathfinder(map);\n}\n","/**\n * @zh HPA* (Hierarchical Pathfinding A*) 寻路算法实现\n * @en HPA* (Hierarchical Pathfinding A*) Pathfinding Algorithm Implementation\n *\n * @zh HPA* 是一种分层寻路算法，适用于超大地图 (1000x1000+)\n * @en HPA* is a hierarchical pathfinding algorithm suitable for very large maps (1000x1000+)\n *\n * @zh 工作原理：\n * 1. 将地图划分为集群 (clusters)\n * 2. 在集群边界检测入口点 (entrances)\n * 3. 构建抽象图 (abstract graph) 连接入口点\n * 4. 先在抽象图上寻路，再细化为详细路径\n *\n * @en How it works:\n * 1. Divide map into clusters\n * 2. Detect entrances at cluster boundaries\n * 3. Build abstract graph connecting entrances\n * 4. First find path on abstract graph, then refine to detailed path\n */\n\nimport { BinaryHeap } from './BinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPoint,\n    IPathResult,\n    IPathfinder,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\nimport { AStarPathfinder } from './AStarPathfinder';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh HPA* 配置\n * @en HPA* Configuration\n */\nexport interface IHPAConfig {\n    /**\n     * @zh 集群大小（边长）\n     * @en Cluster size (side length)\n     */\n    clusterSize: number;\n\n    /**\n     * @zh 最大入口宽度（超过此宽度会拆分为多个入口）\n     * @en Maximum entrance width (entrances wider than this will be split)\n     */\n    maxEntranceWidth: number;\n\n    /**\n     * @zh 是否启用内部路径缓存\n     * @en Whether to enable internal path caching\n     */\n    cacheInternalPaths: boolean;\n}\n\n/**\n * @zh 默认 HPA* 配置\n * @en Default HPA* configuration\n */\nexport const DEFAULT_HPA_CONFIG: IHPAConfig = {\n    clusterSize: 10,\n    maxEntranceWidth: 6,\n    cacheInternalPaths: true\n};\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh 集群\n * @en Cluster\n */\ninterface Cluster {\n    id: number;\n    x: number;\n    y: number;\n    width: number;\n    height: number;\n    entrances: Entrance[];\n}\n\n/**\n * @zh 入口（集群之间的连接点）\n * @en Entrance (connection point between clusters)\n */\ninterface Entrance {\n    id: number;\n    cluster1Id: number;\n    cluster2Id: number;\n    point1: IPoint;\n    point2: IPoint;\n    center: IPoint;\n}\n\n/**\n * @zh 抽象节点\n * @en Abstract node\n */\ninterface AbstractNode {\n    id: number;\n    position: IPoint;\n    clusterId: number;\n    entranceId: number;\n    edges: AbstractEdge[];\n}\n\n/**\n * @zh 抽象边\n * @en Abstract edge\n */\ninterface AbstractEdge {\n    targetNodeId: number;\n    cost: number;\n    isInterEdge: boolean;\n}\n\n/**\n * @zh A* 搜索节点\n * @en A* search node\n */\ninterface SearchNode {\n    abstractNode: AbstractNode;\n    g: number;\n    h: number;\n    f: number;\n    parent: SearchNode | null;\n}\n\n// =============================================================================\n// HPA* 寻路器 | HPA* Pathfinder\n// =============================================================================\n\n/**\n * @zh HPA* 寻路器\n * @en HPA* Pathfinder\n *\n * @zh 适用于超大地图的分层寻路算法\n * @en Hierarchical pathfinding algorithm for very large maps\n *\n * @example\n * ```typescript\n * const map = createGridMap(1000, 1000);\n * const pathfinder = new HPAPathfinder(map, { clusterSize: 20 });\n *\n * // Preprocess (do once after map changes)\n * pathfinder.preprocess();\n *\n * // Find path\n * const result = pathfinder.findPath(0, 0, 999, 999);\n * ```\n */\nexport class HPAPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly config: IHPAConfig;\n    private readonly width: number;\n    private readonly height: number;\n\n    private clusters: Cluster[] = [];\n    private entrances: Entrance[] = [];\n    private abstractNodes: Map<number, AbstractNode> = new Map();\n    private clusterGrid: (Cluster | null)[][] = [];\n\n    private nextEntranceId: number = 0;\n    private nextNodeId: number = 0;\n\n    private internalPathCache: Map<string, IPoint[]> = new Map();\n    private localPathfinder: AStarPathfinder;\n\n    private preprocessed: boolean = false;\n\n    constructor(map: IPathfindingMap, config?: Partial<IHPAConfig>) {\n        this.map = map;\n        this.config = { ...DEFAULT_HPA_CONFIG, ...config };\n\n        const bounds = this.getMapBounds();\n        this.width = bounds.width;\n        this.height = bounds.height;\n\n        this.localPathfinder = new AStarPathfinder(map);\n    }\n\n    /**\n     * @zh 预处理地图（构建抽象图）\n     * @en Preprocess map (build abstract graph)\n     *\n     * @zh 在地图变化后需要重新调用\n     * @en Need to call again after map changes\n     */\n    preprocess(): void {\n        this.clusters = [];\n        this.entrances = [];\n        this.abstractNodes.clear();\n        this.clusterGrid = [];\n        this.internalPathCache.clear();\n        this.nextEntranceId = 0;\n        this.nextNodeId = 0;\n\n        this.buildClusters();\n        this.findEntrances();\n        this.buildAbstractGraph();\n\n        this.preprocessed = true;\n    }\n\n    /**\n     * @zh 寻找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: Partial<IPathfindingOptions>\n    ): IPathResult {\n        if (!this.preprocessed) {\n            this.preprocess();\n        }\n\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        if (!this.map.isWalkable(startX, startY) || !this.map.isWalkable(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (startX === endX && startY === endY) {\n            return {\n                found: true,\n                path: [{ x: startX, y: startY }],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        const startCluster = this.getClusterAt(startX, startY);\n        const endCluster = this.getClusterAt(endX, endY);\n\n        if (!startCluster || !endCluster) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (startCluster.id === endCluster.id) {\n            return this.findLocalPath(startX, startY, endX, endY, opts);\n        }\n\n        const startNodes = this.insertTemporaryNode(startX, startY, startCluster);\n        const endNodes = this.insertTemporaryNode(endX, endY, endCluster);\n\n        const abstractPath = this.searchAbstractGraph(startNodes, endNodes, opts);\n\n        this.removeTemporaryNodes(startNodes);\n        this.removeTemporaryNodes(endNodes);\n\n        if (!abstractPath || abstractPath.length === 0) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        return this.refinePath(abstractPath, startX, startY, endX, endY, opts);\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.clusters = [];\n        this.entrances = [];\n        this.abstractNodes.clear();\n        this.clusterGrid = [];\n        this.internalPathCache.clear();\n        this.preprocessed = false;\n    }\n\n    /**\n     * @zh 通知地图区域变化\n     * @en Notify map region change\n     */\n    notifyRegionChange(minX: number, minY: number, maxX: number, maxY: number): void {\n        this.preprocessed = false;\n        this.internalPathCache.clear();\n    }\n\n    /**\n     * @zh 获取预处理统计信息\n     * @en Get preprocessing statistics\n     */\n    getStats(): {\n        clusters: number;\n        entrances: number;\n        abstractNodes: number;\n        cacheSize: number;\n    } {\n        return {\n            clusters: this.clusters.length,\n            entrances: this.entrances.length,\n            abstractNodes: this.abstractNodes.size,\n            cacheSize: this.internalPathCache.size\n        };\n    }\n\n    // =========================================================================\n    // 预处理方法 | Preprocessing Methods\n    // =========================================================================\n\n    private getMapBounds(): { width: number; height: number } {\n        const mapAny = this.map as any;\n        if (typeof mapAny.width === 'number' && typeof mapAny.height === 'number') {\n            return { width: mapAny.width, height: mapAny.height };\n        }\n        return { width: 1000, height: 1000 };\n    }\n\n    private buildClusters(): void {\n        const clusterSize = this.config.clusterSize;\n        const clustersX = Math.ceil(this.width / clusterSize);\n        const clustersY = Math.ceil(this.height / clusterSize);\n\n        this.clusterGrid = [];\n        for (let x = 0; x < clustersX; x++) {\n            this.clusterGrid[x] = [];\n        }\n\n        let clusterId = 0;\n        for (let cy = 0; cy < clustersY; cy++) {\n            for (let cx = 0; cx < clustersX; cx++) {\n                const cluster: Cluster = {\n                    id: clusterId++,\n                    x: cx * clusterSize,\n                    y: cy * clusterSize,\n                    width: Math.min(clusterSize, this.width - cx * clusterSize),\n                    height: Math.min(clusterSize, this.height - cy * clusterSize),\n                    entrances: []\n                };\n                this.clusters.push(cluster);\n                this.clusterGrid[cx][cy] = cluster;\n            }\n        }\n    }\n\n    private findEntrances(): void {\n        const clusterSize = this.config.clusterSize;\n        const clustersX = Math.ceil(this.width / clusterSize);\n        const clustersY = Math.ceil(this.height / clusterSize);\n\n        for (let cy = 0; cy < clustersY; cy++) {\n            for (let cx = 0; cx < clustersX; cx++) {\n                const cluster = this.clusterGrid[cx][cy];\n                if (!cluster) continue;\n\n                if (cx < clustersX - 1) {\n                    const rightCluster = this.clusterGrid[cx + 1]?.[cy];\n                    if (rightCluster) {\n                        this.findEntrancesBetween(cluster, rightCluster, 'horizontal');\n                    }\n                }\n\n                if (cy < clustersY - 1) {\n                    const bottomCluster = this.clusterGrid[cx]?.[cy + 1];\n                    if (bottomCluster) {\n                        this.findEntrancesBetween(cluster, bottomCluster, 'vertical');\n                    }\n                }\n            }\n        }\n    }\n\n    private findEntrancesBetween(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        direction: 'horizontal' | 'vertical'\n    ): void {\n        const maxWidth = this.config.maxEntranceWidth;\n        let entranceStart: number | null = null;\n        let entranceLength = 0;\n\n        if (direction === 'horizontal') {\n            const x1 = cluster1.x + cluster1.width - 1;\n            const x2 = cluster2.x;\n            const startY = Math.max(cluster1.y, cluster2.y);\n            const endY = Math.min(cluster1.y + cluster1.height, cluster2.y + cluster2.height);\n\n            for (let y = startY; y < endY; y++) {\n                const walkable1 = this.map.isWalkable(x1, y);\n                const walkable2 = this.map.isWalkable(x2, y);\n\n                if (walkable1 && walkable2) {\n                    if (entranceStart === null) {\n                        entranceStart = y;\n                        entranceLength = 1;\n                    } else {\n                        entranceLength++;\n                    }\n\n                    if (entranceLength >= maxWidth || y === endY - 1) {\n                        this.createEntrance(cluster1, cluster2, x1, x2, entranceStart, entranceStart + entranceLength - 1, 'horizontal');\n                        entranceStart = null;\n                        entranceLength = 0;\n                    }\n                } else if (entranceStart !== null) {\n                    this.createEntrance(cluster1, cluster2, x1, x2, entranceStart, entranceStart + entranceLength - 1, 'horizontal');\n                    entranceStart = null;\n                    entranceLength = 0;\n                }\n            }\n        } else {\n            const y1 = cluster1.y + cluster1.height - 1;\n            const y2 = cluster2.y;\n            const startX = Math.max(cluster1.x, cluster2.x);\n            const endX = Math.min(cluster1.x + cluster1.width, cluster2.x + cluster2.width);\n\n            for (let x = startX; x < endX; x++) {\n                const walkable1 = this.map.isWalkable(x, y1);\n                const walkable2 = this.map.isWalkable(x, y2);\n\n                if (walkable1 && walkable2) {\n                    if (entranceStart === null) {\n                        entranceStart = x;\n                        entranceLength = 1;\n                    } else {\n                        entranceLength++;\n                    }\n\n                    if (entranceLength >= maxWidth || x === endX - 1) {\n                        this.createEntrance(cluster1, cluster2, entranceStart, entranceStart + entranceLength - 1, y1, y2, 'vertical');\n                        entranceStart = null;\n                        entranceLength = 0;\n                    }\n                } else if (entranceStart !== null) {\n                    this.createEntrance(cluster1, cluster2, entranceStart, entranceStart + entranceLength - 1, y1, y2, 'vertical');\n                    entranceStart = null;\n                    entranceLength = 0;\n                }\n            }\n        }\n    }\n\n    private createEntrance(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        coord1Start: number,\n        coord1End: number,\n        coord2Start: number,\n        coord2End: number,\n        direction: 'horizontal' | 'vertical'\n    ): void {\n        let point1: IPoint;\n        let point2: IPoint;\n        let center: IPoint;\n\n        if (direction === 'horizontal') {\n            const midY = Math.floor((coord1Start + coord1End) / 2);\n            point1 = { x: coord1Start, y: midY };\n            point2 = { x: coord2Start, y: midY };\n            center = { x: coord1Start, y: midY };\n        } else {\n            const midX = Math.floor((coord1Start + coord1End) / 2);\n            point1 = { x: midX, y: coord2Start };\n            point2 = { x: midX, y: coord2End };\n            center = { x: midX, y: coord2Start };\n        }\n\n        const entrance: Entrance = {\n            id: this.nextEntranceId++,\n            cluster1Id: cluster1.id,\n            cluster2Id: cluster2.id,\n            point1,\n            point2,\n            center\n        };\n\n        this.entrances.push(entrance);\n        cluster1.entrances.push(entrance);\n        cluster2.entrances.push(entrance);\n    }\n\n    private buildAbstractGraph(): void {\n        for (const entrance of this.entrances) {\n            const node1 = this.createAbstractNode(entrance.point1, entrance.cluster1Id, entrance.id);\n            const node2 = this.createAbstractNode(entrance.point2, entrance.cluster2Id, entrance.id);\n\n            node1.edges.push({ targetNodeId: node2.id, cost: 1, isInterEdge: true });\n            node2.edges.push({ targetNodeId: node1.id, cost: 1, isInterEdge: true });\n        }\n\n        for (const cluster of this.clusters) {\n            this.connectIntraClusterNodes(cluster);\n        }\n    }\n\n    private createAbstractNode(position: IPoint, clusterId: number, entranceId: number): AbstractNode {\n        const node: AbstractNode = {\n            id: this.nextNodeId++,\n            position,\n            clusterId,\n            entranceId,\n            edges: []\n        };\n        this.abstractNodes.set(node.id, node);\n        return node;\n    }\n\n    private connectIntraClusterNodes(cluster: Cluster): void {\n        const nodesInCluster: AbstractNode[] = [];\n\n        for (const node of this.abstractNodes.values()) {\n            if (node.clusterId === cluster.id) {\n                nodesInCluster.push(node);\n            }\n        }\n\n        for (let i = 0; i < nodesInCluster.length; i++) {\n            for (let j = i + 1; j < nodesInCluster.length; j++) {\n                const node1 = nodesInCluster[i];\n                const node2 = nodesInCluster[j];\n\n                const cost = this.heuristic(node1.position, node2.position);\n                node1.edges.push({ targetNodeId: node2.id, cost, isInterEdge: false });\n                node2.edges.push({ targetNodeId: node1.id, cost, isInterEdge: false });\n            }\n        }\n    }\n\n    // =========================================================================\n    // 搜索方法 | Search Methods\n    // =========================================================================\n\n    private getClusterAt(x: number, y: number): Cluster | null {\n        const clusterSize = this.config.clusterSize;\n        const cx = Math.floor(x / clusterSize);\n        const cy = Math.floor(y / clusterSize);\n        return this.clusterGrid[cx]?.[cy] ?? null;\n    }\n\n    private insertTemporaryNode(\n        x: number,\n        y: number,\n        cluster: Cluster\n    ): AbstractNode[] {\n        const tempNodes: AbstractNode[] = [];\n        const tempNode = this.createAbstractNode({ x, y }, cluster.id, -1);\n        tempNodes.push(tempNode);\n\n        for (const node of this.abstractNodes.values()) {\n            if (node.clusterId === cluster.id && node.id !== tempNode.id) {\n                const cost = this.heuristic({ x, y }, node.position);\n                tempNode.edges.push({ targetNodeId: node.id, cost, isInterEdge: false });\n                node.edges.push({ targetNodeId: tempNode.id, cost, isInterEdge: false });\n            }\n        }\n\n        return tempNodes;\n    }\n\n    private removeTemporaryNodes(nodes: AbstractNode[]): void {\n        for (const node of nodes) {\n            for (const edge of node.edges) {\n                const targetNode = this.abstractNodes.get(edge.targetNodeId);\n                if (targetNode) {\n                    targetNode.edges = targetNode.edges.filter(e => e.targetNodeId !== node.id);\n                }\n            }\n            this.abstractNodes.delete(node.id);\n        }\n    }\n\n    private searchAbstractGraph(\n        startNodes: AbstractNode[],\n        endNodes: AbstractNode[],\n        opts: Required<IPathfindingOptions>\n    ): AbstractNode[] | null {\n        if (startNodes.length === 0 || endNodes.length === 0) {\n            return null;\n        }\n\n        const endNodeIds = new Set(endNodes.map(n => n.id));\n        const openList = new BinaryHeap<SearchNode>((a, b) => a.f - b.f);\n        const closedSet = new Set<number>();\n\n        for (const startNode of startNodes) {\n            const h = this.heuristic(startNode.position, endNodes[0].position);\n            openList.push({\n                abstractNode: startNode,\n                g: 0,\n                h: h * opts.heuristicWeight,\n                f: h * opts.heuristicWeight,\n                parent: null\n            });\n        }\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            nodesSearched++;\n\n            if (endNodeIds.has(current.abstractNode.id)) {\n                return this.reconstructAbstractPath(current);\n            }\n\n            if (closedSet.has(current.abstractNode.id)) {\n                continue;\n            }\n            closedSet.add(current.abstractNode.id);\n\n            for (const edge of current.abstractNode.edges) {\n                if (closedSet.has(edge.targetNodeId)) {\n                    continue;\n                }\n\n                const neighbor = this.abstractNodes.get(edge.targetNodeId);\n                if (!neighbor) continue;\n\n                const tentativeG = current.g + edge.cost;\n                const h = this.heuristic(neighbor.position, endNodes[0].position) * opts.heuristicWeight;\n\n                openList.push({\n                    abstractNode: neighbor,\n                    g: tentativeG,\n                    h,\n                    f: tentativeG + h,\n                    parent: current\n                });\n            }\n        }\n\n        return null;\n    }\n\n    private reconstructAbstractPath(endNode: SearchNode): AbstractNode[] {\n        const path: AbstractNode[] = [];\n        let current: SearchNode | null = endNode;\n\n        while (current) {\n            path.unshift(current.abstractNode);\n            current = current.parent;\n        }\n\n        return path;\n    }\n\n    private refinePath(\n        abstractPath: AbstractNode[],\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): IPathResult {\n        const fullPath: IPoint[] = [];\n        let totalCost = 0;\n        let nodesSearched = abstractPath.length;\n\n        let currentX = startX;\n        let currentY = startY;\n\n        for (let i = 0; i < abstractPath.length; i++) {\n            const node = abstractPath[i];\n            const targetX = i === abstractPath.length - 1 ? endX : node.position.x;\n            const targetY = i === abstractPath.length - 1 ? endY : node.position.y;\n\n            if (currentX !== targetX || currentY !== targetY) {\n                const segment = this.localPathfinder.findPath(currentX, currentY, targetX, targetY, opts);\n\n                if (!segment.found) {\n                    if (fullPath.length > 0) {\n                        return {\n                            found: true,\n                            path: fullPath,\n                            cost: totalCost,\n                            nodesSearched\n                        };\n                    }\n                    return EMPTY_PATH_RESULT;\n                }\n\n                for (let j = fullPath.length === 0 ? 0 : 1; j < segment.path.length; j++) {\n                    fullPath.push(segment.path[j]);\n                }\n\n                totalCost += segment.cost;\n                nodesSearched += segment.nodesSearched;\n            }\n\n            currentX = targetX;\n            currentY = targetY;\n        }\n\n        if (currentX !== endX || currentY !== endY) {\n            const finalSegment = this.localPathfinder.findPath(currentX, currentY, endX, endY, opts);\n            if (finalSegment.found) {\n                for (let j = 1; j < finalSegment.path.length; j++) {\n                    fullPath.push(finalSegment.path[j]);\n                }\n                totalCost += finalSegment.cost;\n                nodesSearched += finalSegment.nodesSearched;\n            }\n        }\n\n        return {\n            found: fullPath.length > 0,\n            path: fullPath,\n            cost: totalCost,\n            nodesSearched\n        };\n    }\n\n    // =========================================================================\n    // 辅助方法 | Helper Methods\n    // =========================================================================\n\n    private findLocalPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): IPathResult {\n        return this.localPathfinder.findPath(startX, startY, endX, endY, opts);\n    }\n\n    private findInternalPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        cluster: Cluster\n    ): IPoint[] | null {\n        const cacheKey = `${cluster.id}:${startX},${startY}->${endX},${endY}`;\n\n        if (this.config.cacheInternalPaths) {\n            const cached = this.internalPathCache.get(cacheKey);\n            if (cached) {\n                return cached;\n            }\n        }\n\n        const result = this.localPathfinder.findPath(startX, startY, endX, endY);\n\n        if (result.found && this.config.cacheInternalPaths) {\n            this.internalPathCache.set(cacheKey, [...result.path]);\n        }\n\n        return result.found ? [...result.path] : null;\n    }\n\n    private calculatePathCost(path: IPoint[]): number {\n        let cost = 0;\n        for (let i = 1; i < path.length; i++) {\n            const dx = Math.abs(path[i].x - path[i - 1].x);\n            const dy = Math.abs(path[i].y - path[i - 1].y);\n            cost += dx !== 0 && dy !== 0 ? Math.SQRT2 : 1;\n        }\n        return cost;\n    }\n\n    private heuristic(a: IPoint, b: IPoint): number {\n        const dx = Math.abs(a.x - b.x);\n        const dy = Math.abs(a.y - b.y);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 HPA* 寻路器\n * @en Create HPA* pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @param config - @zh HPA* 配置 @en HPA* configuration\n * @returns @zh HPA* 寻路器实例 @en HPA* pathfinder instance\n */\nexport function createHPAPathfinder(\n    map: IPathfindingMap,\n    config?: Partial<IHPAConfig>\n): HPAPathfinder {\n    return new HPAPathfinder(map, config);\n}\n","/**\n * @zh 导航网格实现\n * @en NavMesh Implementation\n */\n\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 导航多边形 | Navigation Polygon\n// =============================================================================\n\n/**\n * @zh 导航多边形\n * @en Navigation polygon\n */\nexport interface INavPolygon {\n    /** @zh 多边形ID @en Polygon ID */\n    readonly id: number;\n    /** @zh 顶点列表 @en Vertex list */\n    readonly vertices: readonly IPoint[];\n    /** @zh 中心点 @en Center point */\n    readonly center: IPoint;\n    /** @zh 邻居多边形ID @en Neighbor polygon IDs */\n    readonly neighbors: readonly number[];\n    /** @zh 到邻居的共享边 @en Shared edges to neighbors */\n    readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/**\n * @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n */\nexport interface IPortal {\n    /** @zh 边的左端点 @en Left endpoint of edge */\n    readonly left: IPoint;\n    /** @zh 边的右端点 @en Right endpoint of edge */\n    readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 | NavMesh Node\n// =============================================================================\n\n/**\n * @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n */\nclass NavMeshNode implements IPathNode {\n    readonly id: number;\n    readonly position: IPoint;\n    readonly cost: number;\n    readonly walkable: boolean;\n    readonly polygon: INavPolygon;\n\n    constructor(polygon: INavPolygon) {\n        this.id = polygon.id;\n        this.position = polygon.center;\n        this.cost = 1;\n        this.walkable = true;\n        this.polygon = polygon;\n    }\n}\n\n// =============================================================================\n// 导航网格 | Navigation Mesh\n// =============================================================================\n\n/**\n * @zh 导航网格\n * @en Navigation Mesh\n *\n * @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n *\n * @example\n * ```typescript\n * const navmesh = new NavMesh();\n *\n * // Add polygons\n * navmesh.addPolygon([\n *     { x: 0, y: 0 }, { x: 10, y: 0 },\n *     { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n *\n * // Build connections\n * navmesh.build();\n *\n * // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n */\nexport class NavMesh implements IPathfindingMap {\n    private polygons: Map<number, INavPolygon> = new Map();\n    private nodes: Map<number, NavMeshNode> = new Map();\n    private nextId = 0;\n\n    /**\n     * @zh 添加导航多边形\n     * @en Add navigation polygon\n     *\n     * @returns @zh 多边形ID @en Polygon ID\n     */\n    addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n        const id = this.nextId++;\n        const center = this.calculateCenter(vertices);\n\n        const polygon: INavPolygon = {\n            id,\n            vertices,\n            center,\n            neighbors,\n            portals: new Map()\n        };\n\n        this.polygons.set(id, polygon);\n        this.nodes.set(id, new NavMeshNode(polygon));\n\n        return id;\n    }\n\n    /**\n     * @zh 设置两个多边形之间的连接\n     * @en Set connection between two polygons\n     */\n    setConnection(\n        polyA: number,\n        polyB: number,\n        portal: IPortal\n    ): void {\n        const polygonA = this.polygons.get(polyA);\n        const polygonB = this.polygons.get(polyB);\n\n        if (!polygonA || !polygonB) {\n            return;\n        }\n\n        // Update neighbors and portals\n        const neighborsA = [...polygonA.neighbors];\n        const portalsA = new Map(polygonA.portals);\n\n        if (!neighborsA.includes(polyB)) {\n            neighborsA.push(polyB);\n        }\n        portalsA.set(polyB, portal);\n\n        this.polygons.set(polyA, {\n            ...polygonA,\n            neighbors: neighborsA,\n            portals: portalsA\n        });\n\n        // Reverse portal for the other direction\n        const reversePortal: IPortal = {\n            left: portal.right,\n            right: portal.left\n        };\n\n        const neighborsB = [...polygonB.neighbors];\n        const portalsB = new Map(polygonB.portals);\n\n        if (!neighborsB.includes(polyA)) {\n            neighborsB.push(polyA);\n        }\n        portalsB.set(polyA, reversePortal);\n\n        this.polygons.set(polyB, {\n            ...polygonB,\n            neighbors: neighborsB,\n            portals: portalsB\n        });\n    }\n\n    /**\n     * @zh 自动检测并建立相邻多边形的连接\n     * @en Auto-detect and build connections between adjacent polygons\n     */\n    build(): void {\n        const polygonList = Array.from(this.polygons.values());\n\n        for (let i = 0; i < polygonList.length; i++) {\n            for (let j = i + 1; j < polygonList.length; j++) {\n                const polyA = polygonList[i];\n                const polyB = polygonList[j];\n\n                const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n                if (sharedEdge) {\n                    this.setConnection(polyA.id, polyB.id, sharedEdge);\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找两个多边形的共享边\n     * @en Find shared edge between two polygons\n     */\n    private findSharedEdge(\n        verticesA: readonly IPoint[],\n        verticesB: readonly IPoint[]\n    ): IPortal | null {\n        const epsilon = 0.0001;\n\n        for (let i = 0; i < verticesA.length; i++) {\n            const a1 = verticesA[i];\n            const a2 = verticesA[(i + 1) % verticesA.length];\n\n            for (let j = 0; j < verticesB.length; j++) {\n                const b1 = verticesB[j];\n                const b2 = verticesB[(j + 1) % verticesB.length];\n\n                // Check if edges match (in either direction)\n                const match1 =\n                    Math.abs(a1.x - b2.x) < epsilon &&\n                    Math.abs(a1.y - b2.y) < epsilon &&\n                    Math.abs(a2.x - b1.x) < epsilon &&\n                    Math.abs(a2.y - b1.y) < epsilon;\n\n                const match2 =\n                    Math.abs(a1.x - b1.x) < epsilon &&\n                    Math.abs(a1.y - b1.y) < epsilon &&\n                    Math.abs(a2.x - b2.x) < epsilon &&\n                    Math.abs(a2.y - b2.y) < epsilon;\n\n                if (match1 || match2) {\n                    return {\n                        left: a1,\n                        right: a2\n                    };\n                }\n            }\n        }\n\n        return null;\n    }\n\n    /**\n     * @zh 计算多边形中心\n     * @en Calculate polygon center\n     */\n    private calculateCenter(vertices: readonly IPoint[]): IPoint {\n        let x = 0;\n        let y = 0;\n\n        for (const v of vertices) {\n            x += v.x;\n            y += v.y;\n        }\n\n        return createPoint(x / vertices.length, y / vertices.length);\n    }\n\n    /**\n     * @zh 查找包含点的多边形\n     * @en Find polygon containing point\n     */\n    findPolygonAt(x: number, y: number): INavPolygon | null {\n        for (const polygon of this.polygons.values()) {\n            if (this.isPointInPolygon(x, y, polygon.vertices)) {\n                return polygon;\n            }\n        }\n        return null;\n    }\n\n    /**\n     * @zh 检查点是否在多边形内\n     * @en Check if point is inside polygon\n     */\n    private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n        let inside = false;\n        const n = vertices.length;\n\n        for (let i = 0, j = n - 1; i < n; j = i++) {\n            const xi = vertices[i].x;\n            const yi = vertices[i].y;\n            const xj = vertices[j].x;\n            const yj = vertices[j].y;\n\n            if (\n                yi > y !== yj > y &&\n                x < ((xj - xi) * (y - yi)) / (yj - yi) + xi\n            ) {\n                inside = !inside;\n            }\n        }\n\n        return inside;\n    }\n\n    // ==========================================================================\n    // IPathfindingMap 接口实现 | IPathfindingMap Interface Implementation\n    // ==========================================================================\n\n    getNodeAt(x: number, y: number): IPathNode | null {\n        const polygon = this.findPolygonAt(x, y);\n        return polygon ? this.nodes.get(polygon.id) ?? null : null;\n    }\n\n    getNeighbors(node: IPathNode): IPathNode[] {\n        const navNode = node as NavMeshNode;\n        const neighbors: IPathNode[] = [];\n\n        for (const neighborId of navNode.polygon.neighbors) {\n            const neighbor = this.nodes.get(neighborId);\n            if (neighbor) {\n                neighbors.push(neighbor);\n            }\n        }\n\n        return neighbors;\n    }\n\n    heuristic(a: IPoint, b: IPoint): number {\n        return euclideanDistance(a, b);\n    }\n\n    getMovementCost(from: IPathNode, to: IPathNode): number {\n        return euclideanDistance(from.position, to.position);\n    }\n\n    isWalkable(x: number, y: number): boolean {\n        return this.findPolygonAt(x, y) !== null;\n    }\n\n    // ==========================================================================\n    // 寻路 | Pathfinding\n    // ==========================================================================\n\n    /**\n     * @zh 在导航网格上寻路\n     * @en Find path on navigation mesh\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        const startPolygon = this.findPolygonAt(startX, startY);\n        const endPolygon = this.findPolygonAt(endX, endY);\n\n        if (!startPolygon || !endPolygon) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same polygon\n        if (startPolygon.id === endPolygon.id) {\n            return {\n                found: true,\n                path: [createPoint(startX, startY), createPoint(endX, endY)],\n                cost: euclideanDistance(\n                    createPoint(startX, startY),\n                    createPoint(endX, endY)\n                ),\n                nodesSearched: 1\n            };\n        }\n\n        // A* on polygon graph\n        const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n        if (!polygonPath.found) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Convert polygon path to point path using funnel algorithm\n        const start = createPoint(startX, startY);\n        const end = createPoint(endX, endY);\n        const pointPath = this.funnelPath(start, end, polygonPath.polygons);\n\n        return {\n            found: true,\n            path: pointPath,\n            cost: this.calculatePathLength(pointPath),\n            nodesSearched: polygonPath.nodesSearched\n        };\n    }\n\n    /**\n     * @zh 在多边形图上寻路\n     * @en Find path on polygon graph\n     */\n    private findPolygonPath(\n        start: INavPolygon,\n        end: INavPolygon,\n        opts: Required<IPathfindingOptions>\n    ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n        interface AStarState {\n            polygon: INavPolygon;\n            g: number;\n            f: number;\n            parent: AStarState | null;\n        }\n\n        const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n        const closed = new Set<number>();\n        const states = new Map<number, AStarState>();\n\n        const startState: AStarState = {\n            polygon: start,\n            g: 0,\n            f: euclideanDistance(start.center, end.center) * opts.heuristicWeight,\n            parent: null\n        };\n\n        states.set(start.id, startState);\n        openList.push(startState);\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            nodesSearched++;\n\n            if (current.polygon.id === end.id) {\n                // Reconstruct path\n                const path: INavPolygon[] = [];\n                let state: AStarState | null = current;\n\n                while (state) {\n                    path.unshift(state.polygon);\n                    state = state.parent;\n                }\n\n                return { found: true, polygons: path, nodesSearched };\n            }\n\n            closed.add(current.polygon.id);\n\n            for (const neighborId of current.polygon.neighbors) {\n                if (closed.has(neighborId)) {\n                    continue;\n                }\n\n                const neighborPolygon = this.polygons.get(neighborId);\n                if (!neighborPolygon) {\n                    continue;\n                }\n\n                const g = current.g + euclideanDistance(\n                    current.polygon.center,\n                    neighborPolygon.center\n                );\n\n                let neighborState = states.get(neighborId);\n\n                if (!neighborState) {\n                    neighborState = {\n                        polygon: neighborPolygon,\n                        g,\n                        f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n                        parent: current\n                    };\n                    states.set(neighborId, neighborState);\n                    openList.push(neighborState);\n                } else if (g < neighborState.g) {\n                    neighborState.g = g;\n                    neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n                    neighborState.parent = current;\n                    openList.update(neighborState);\n                }\n            }\n        }\n\n        return { found: false, polygons: [], nodesSearched };\n    }\n\n    /**\n     * @zh 使用漏斗算法优化路径\n     * @en Optimize path using funnel algorithm\n     */\n    private funnelPath(\n        start: IPoint,\n        end: IPoint,\n        polygons: INavPolygon[]\n    ): IPoint[] {\n        if (polygons.length <= 1) {\n            return [start, end];\n        }\n\n        // Collect portals\n        const portals: IPortal[] = [];\n\n        for (let i = 0; i < polygons.length - 1; i++) {\n            const portal = polygons[i].portals.get(polygons[i + 1].id);\n            if (portal) {\n                portals.push(portal);\n            }\n        }\n\n        if (portals.length === 0) {\n            return [start, end];\n        }\n\n        // Simple string pulling algorithm\n        const path: IPoint[] = [start];\n\n        let apex = start;\n        let leftIndex = 0;\n        let rightIndex = 0;\n        let left = portals[0].left;\n        let right = portals[0].right;\n\n        for (let i = 1; i <= portals.length; i++) {\n            const nextLeft = i < portals.length ? portals[i].left : end;\n            const nextRight = i < portals.length ? portals[i].right : end;\n\n            // Update right\n            if (this.triArea2(apex, right, nextRight) <= 0) {\n                if (apex === right || this.triArea2(apex, left, nextRight) > 0) {\n                    right = nextRight;\n                    rightIndex = i;\n                } else {\n                    path.push(left);\n                    apex = left;\n                    leftIndex = rightIndex = leftIndex;\n                    left = right = apex;\n                    i = leftIndex;\n                    continue;\n                }\n            }\n\n            // Update left\n            if (this.triArea2(apex, left, nextLeft) >= 0) {\n                if (apex === left || this.triArea2(apex, right, nextLeft) < 0) {\n                    left = nextLeft;\n                    leftIndex = i;\n                } else {\n                    path.push(right);\n                    apex = right;\n                    leftIndex = rightIndex = rightIndex;\n                    left = right = apex;\n                    i = rightIndex;\n                    continue;\n                }\n            }\n        }\n\n        path.push(end);\n\n        return path;\n    }\n\n    /**\n     * @zh 计算三角形面积的两倍（用于判断点的相对位置）\n     * @en Calculate twice the triangle area (for point relative position)\n     */\n    private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n        return (c.x - a.x) * (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n    }\n\n    /**\n     * @zh 计算路径总长度\n     * @en Calculate total path length\n     */\n    private calculatePathLength(path: readonly IPoint[]): number {\n        let length = 0;\n\n        for (let i = 1; i < path.length; i++) {\n            length += euclideanDistance(path[i - 1], path[i]);\n        }\n\n        return length;\n    }\n\n    /**\n     * @zh 清空导航网格\n     * @en Clear navigation mesh\n     */\n    clear(): void {\n        this.polygons.clear();\n        this.nodes.clear();\n        this.nextId = 0;\n    }\n\n    /**\n     * @zh 获取所有多边形\n     * @en Get all polygons\n     */\n    getPolygons(): INavPolygon[] {\n        return Array.from(this.polygons.values());\n    }\n\n    /**\n     * @zh 获取多边形数量\n     * @en Get polygon count\n     */\n    get polygonCount(): number {\n        return this.polygons.size;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建导航网格\n * @en Create navigation mesh\n */\nexport function createNavMesh(): NavMesh {\n    return new 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+{"version":3,"sources":["../src/core/BinaryHeap.ts","../src/core/AStarPathfinder.ts","../src/core/GridPathfinder.ts","../src/core/JPSPathfinder.ts","../src/core/HPAPathfinder.ts","../src/navmesh/NavMesh.ts"],"sourcesContent":["/**\n * @zh 二叉堆（优先队列）\n * @en Binary Heap (Priority Queue)\n *\n * @zh 用于 A* 算法的高效开放列表\n * @en Efficient open list for A* algorithm\n */\nexport class BinaryHeap<T> {\n    private heap: T[] = [];\n    private readonly compare: (a: T, b: T) => number;\n\n    /**\n     * @zh 创建二叉堆\n     * @en Create binary heap\n     *\n     * @param compare - @zh 比较函数，返回负数表示 a < b @en Compare function, returns negative if a < b\n     */\n    constructor(compare: (a: T, b: T) => number) {\n        this.compare = compare;\n    }\n\n    /**\n     * @zh 堆大小\n     * @en Heap size\n     */\n    get size(): number {\n        return this.heap.length;\n    }\n\n    /**\n     * @zh 是否为空\n     * @en Is empty\n     */\n    get isEmpty(): boolean {\n        return this.heap.length === 0;\n    }\n\n    /**\n     * @zh 插入元素\n     * @en Push element\n     */\n    push(item: T): void {\n        this.heap.push(item);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    /**\n     * @zh 弹出最小元素\n     * @en Pop minimum element\n     */\n    pop(): T | undefined {\n        if (this.heap.length === 0) {\n            return undefined;\n        }\n\n        const result = this.heap[0];\n        const last = this.heap.pop()!;\n\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.sinkDown(0);\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 查看最小元素（不移除）\n     * @en Peek minimum element (without removing)\n     */\n    peek(): T | undefined {\n        return this.heap[0];\n    }\n\n    /**\n     * @zh 更新元素（重新排序）\n     * @en Update element (re-sort)\n     */\n    update(item: T): void {\n        const index = this.heap.indexOf(item);\n        if (index !== -1) {\n            this.bubbleUp(index);\n            this.sinkDown(index);\n        }\n    }\n\n    /**\n     * @zh 检查是否包含元素\n     * @en Check if contains element\n     */\n    contains(item: T): boolean {\n        return this.heap.indexOf(item) !== -1;\n    }\n\n    /**\n     * @zh 清空堆\n     * @en Clear heap\n     */\n    clear(): void {\n        this.heap.length = 0;\n    }\n\n    /**\n     * @zh 上浮操作\n     * @en Bubble up operation\n     */\n    private bubbleUp(index: number): void {\n        const item = this.heap[index];\n\n        while (index > 0) {\n            const parentIndex = Math.floor((index - 1) / 2);\n            const parent = this.heap[parentIndex];\n\n            if (this.compare(item, parent) >= 0) {\n                break;\n            }\n\n            this.heap[index] = parent;\n            index = parentIndex;\n        }\n\n        this.heap[index] = item;\n    }\n\n    /**\n     * @zh 下沉操作\n     * @en Sink down operation\n     */\n    private sinkDown(index: number): void {\n        const length = this.heap.length;\n        const item = this.heap[index];\n\n        while (true) {\n            const leftIndex = 2 * index + 1;\n            const rightIndex = 2 * index + 2;\n            let smallest = index;\n\n            if (leftIndex < length && this.compare(this.heap[leftIndex], this.heap[smallest]) < 0) {\n                smallest = leftIndex;\n            }\n\n            if (rightIndex < length && this.compare(this.heap[rightIndex], this.heap[smallest]) < 0) {\n                smallest = rightIndex;\n            }\n\n            if (smallest === index) {\n                break;\n            }\n\n            this.heap[index] = this.heap[smallest];\n            this.heap[smallest] = item;\n            index = smallest;\n        }\n    }\n}\n","/**\n * @zh A* 寻路算法实现\n * @en A* Pathfinding Algorithm Implementation\n */\n\nimport { IndexedBinaryHeap, type IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathfinder,\n    IPathResult,\n    IPathfindingOptions,\n    IPathNode,\n    IPoint\n} from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\n\n// =============================================================================\n// 内部节点类型 | Internal Node Type\n// =============================================================================\n\ninterface AStarNode extends IHeapIndexable {\n    node: IPathNode;\n    g: number;  // Cost from start\n    h: number;  // Heuristic to end\n    f: number;  // Total cost (g + h)\n    parent: AStarNode | null;\n    closed: boolean;\n    opened: boolean;\n    heapIndex: number;  // For IndexedBinaryHeap O(log n) update\n}\n\n// =============================================================================\n// A* 寻路器 | A* Pathfinder\n// =============================================================================\n\n/**\n * @zh A* 寻路器\n * @en A* Pathfinder\n *\n * @zh 使用 A* 算法在地图上查找最短路径\n * @en Uses A* algorithm to find shortest path on a map\n *\n * @example\n * ```typescript\n * const map = new GridMap(width, height);\n * const pathfinder = new AStarPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 10, 10);\n * if (result.found) {\n *     console.log('Path:', result.path);\n * }\n * ```\n */\nexport class AStarPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private nodeCache: Map<string | number, AStarNode> = new Map();\n    private openList: IndexedBinaryHeap<AStarNode>;\n\n    constructor(map: IPathfindingMap) {\n        this.map = map;\n        this.openList = new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f);\n    }\n\n    /**\n     * @zh 查找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // Clear previous state\n        this.clear();\n\n        // Get start and end nodes\n        const startNode = this.map.getNodeAt(startX, startY);\n        const endNode = this.map.getNodeAt(endX, endY);\n\n        // Validate nodes\n        if (!startNode || !endNode) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (!startNode.walkable || !endNode.walkable) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same position\n        if (startNode.id === endNode.id) {\n            return {\n                found: true,\n                path: [startNode.position],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // Initialize start node\n        const start = this.getOrCreateAStarNode(startNode);\n        start.g = 0;\n        start.h = this.map.heuristic(startNode.position, endNode.position) * opts.heuristicWeight;\n        start.f = start.h;\n        start.opened = true;\n\n        this.openList.push(start);\n\n        let nodesSearched = 0;\n        const endPosition = endNode.position;\n\n        // A* main loop\n        while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = this.openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // Found the goal\n            if (current.node.id === endNode.id) {\n                return this.buildPath(current, nodesSearched);\n            }\n\n            // Explore neighbors\n            const neighbors = this.map.getNeighbors(current.node);\n\n            for (const neighborNode of neighbors) {\n                // Skip if not walkable or already closed\n                if (!neighborNode.walkable) {\n                    continue;\n                }\n\n                const neighbor = this.getOrCreateAStarNode(neighborNode);\n\n                if (neighbor.closed) {\n                    continue;\n                }\n\n                // Calculate tentative g score\n                const movementCost = this.map.getMovementCost(current.node, neighborNode);\n                const tentativeG = current.g + movementCost;\n\n                // Check if this path is better\n                if (!neighbor.opened) {\n                    // First time visiting this node\n                    neighbor.g = tentativeG;\n                    neighbor.h = this.map.heuristic(neighborNode.position, endPosition) * opts.heuristicWeight;\n                    neighbor.f = neighbor.g + neighbor.h;\n                    neighbor.parent = current;\n                    neighbor.opened = true;\n                    this.openList.push(neighbor);\n                } else if (tentativeG < neighbor.g) {\n                    // Found a better path\n                    neighbor.g = tentativeG;\n                    neighbor.f = neighbor.g + neighbor.h;\n                    neighbor.parent = current;\n                    this.openList.update(neighbor);\n                }\n            }\n        }\n\n        // No path found\n        return {\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.nodeCache.clear();\n        this.openList.clear();\n    }\n\n    /**\n     * @zh 获取或创建 A* 节点\n     * @en Get or create A* node\n     */\n    private getOrCreateAStarNode(node: IPathNode): AStarNode {\n        let astarNode = this.nodeCache.get(node.id);\n\n        if (!astarNode) {\n            astarNode = {\n                node,\n                g: Infinity,\n                h: 0,\n                f: Infinity,\n                parent: null,\n                closed: false,\n                opened: false,\n                heapIndex: -1\n            };\n            this.nodeCache.set(node.id, astarNode);\n        }\n\n        return astarNode;\n    }\n\n    /**\n     * @zh 构建路径结果\n     * @en Build path result\n     */\n    private buildPath(endNode: AStarNode, nodesSearched: number): IPathResult {\n        const path: IPoint[] = [];\n        let current: AStarNode | null = endNode;\n\n        while (current) {\n            path.push(current.node.position);\n            current = current.parent;\n        }\n\n        path.reverse();\n\n        return {\n            found: true,\n            path,\n            cost: endNode.g,\n            nodesSearched\n        };\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 A* 寻路器\n * @en Create A* pathfinder\n */\nexport function createAStarPathfinder(map: IPathfindingMap): AStarPathfinder {\n    return new AStarPathfinder(map);\n}\n","/**\n * @zh 网格寻路器（统一实现）\n * @en Grid Pathfinder (unified implementation)\n */\n\nimport type { IPathfinder, IPathResult, IPathfindingOptions, IPoint } from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport { GridMap } from '../grid/GridMap';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh 寻路模式\n * @en Pathfinding mode\n */\nexport type GridPathfinderMode = 'standard' | 'fast' | 'bidirectional';\n\n/**\n * @zh 网格寻路器配置\n * @en Grid pathfinder configuration\n */\nexport interface IGridPathfinderConfig {\n    /**\n     * @zh 寻路模式\n     * @en Pathfinding mode\n     *\n     * - standard: 标准A*，适合小地图\n     * - fast: TypedArray优化，适合中大地图\n     * - bidirectional: 双向搜索，适合超大地图\n     */\n    mode?: GridPathfinderMode;\n}\n\n// =============================================================================\n// 常量 | Constants\n// =============================================================================\n\nconst CLOSED_FLAG = 1;\nconst OPENED_FLAG = 2;\nconst BACKWARD_CLOSED = 4;\nconst BACKWARD_OPENED = 8;\n\n// =============================================================================\n// 状态存储 | State Storage\n// =============================================================================\n\nclass GridState {\n    private readonly size: number;\n    readonly width: number;\n\n    private g: Float32Array;\n    private f: Float32Array;\n    private flags: Uint8Array;\n    private parent: Int32Array;\n    private heapIndex: Int32Array;\n    private version: Uint32Array;\n    private currentVersion: number = 1;\n\n    // 双向搜索额外状态\n    private gBack: Float32Array | null = null;\n    private fBack: Float32Array | null = null;\n    private parentBack: Int32Array | null = null;\n    private heapIndexBack: Int32Array | null = null;\n\n    constructor(width: number, height: number, bidirectional: boolean = false) {\n        this.width = width;\n        this.size = width * height;\n\n        this.g = new Float32Array(this.size);\n        this.f = new Float32Array(this.size);\n        this.flags = new Uint8Array(this.size);\n        this.parent = new Int32Array(this.size);\n        this.heapIndex = new Int32Array(this.size);\n        this.version = new Uint32Array(this.size);\n\n        if (bidirectional) {\n            this.gBack = new Float32Array(this.size);\n            this.fBack = new Float32Array(this.size);\n            this.parentBack = new Int32Array(this.size);\n            this.heapIndexBack = new Int32Array(this.size);\n        }\n    }\n\n    reset(): void {\n        this.currentVersion++;\n        if (this.currentVersion > 0xFFFFFFFF) {\n            this.version.fill(0);\n            this.currentVersion = 1;\n        }\n    }\n\n    private isInit(i: number): boolean {\n        return this.version[i] === this.currentVersion;\n    }\n\n    private init(i: number): void {\n        if (!this.isInit(i)) {\n            this.g[i] = Infinity;\n            this.f[i] = Infinity;\n            this.flags[i] = 0;\n            this.parent[i] = -1;\n            this.heapIndex[i] = -1;\n            if (this.gBack) {\n                this.gBack[i] = Infinity;\n                this.fBack![i] = Infinity;\n                this.parentBack![i] = -1;\n                this.heapIndexBack![i] = -1;\n            }\n            this.version[i] = this.currentVersion;\n        }\n    }\n\n    // Forward\n    getG(i: number): number { return this.isInit(i) ? this.g[i] : Infinity; }\n    setG(i: number, v: number): void { this.init(i); this.g[i] = v; }\n    getF(i: number): number { return this.isInit(i) ? this.f[i] : Infinity; }\n    setF(i: number, v: number): void { this.init(i); this.f[i] = v; }\n    getParent(i: number): number { return this.isInit(i) ? this.parent[i] : -1; }\n    setParent(i: number, v: number): void { this.init(i); this.parent[i] = v; }\n    getHeapIndex(i: number): number { return this.isInit(i) ? this.heapIndex[i] : -1; }\n    setHeapIndex(i: number, v: number): void { this.init(i); this.heapIndex[i] = v; }\n    isClosed(i: number): boolean { return this.isInit(i) && (this.flags[i] & CLOSED_FLAG) !== 0; }\n    setClosed(i: number): void { this.init(i); this.flags[i] |= CLOSED_FLAG; }\n    isOpened(i: number): boolean { return this.isInit(i) && (this.flags[i] & OPENED_FLAG) !== 0; }\n    setOpened(i: number): void { this.init(i); this.flags[i] |= OPENED_FLAG; }\n\n    // Backward\n    getGBack(i: number): number { return this.isInit(i) ? this.gBack![i] : Infinity; }\n    setGBack(i: number, v: number): void { this.init(i); this.gBack![i] = v; }\n    getFBack(i: number): number { return this.isInit(i) ? this.fBack![i] : Infinity; }\n    setFBack(i: number, v: number): void { this.init(i); this.fBack![i] = v; }\n    getParentBack(i: number): number { return this.isInit(i) ? this.parentBack![i] : -1; }\n    setParentBack(i: number, v: number): void { this.init(i); this.parentBack![i] = v; }\n    getHeapIndexBack(i: number): number { return this.isInit(i) ? this.heapIndexBack![i] : -1; }\n    setHeapIndexBack(i: number, v: number): void { this.init(i); this.heapIndexBack![i] = v; }\n    isClosedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_CLOSED) !== 0; }\n    setClosedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_CLOSED; }\n    isOpenedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_OPENED) !== 0; }\n    setOpenedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_OPENED; }\n}\n\n// =============================================================================\n// 堆 | Heap\n// =============================================================================\n\nclass GridHeap {\n    private heap: number[] = [];\n    private state: GridState;\n    private isBack: boolean;\n\n    constructor(state: GridState, isBack: boolean = false) {\n        this.state = state;\n        this.isBack = isBack;\n    }\n\n    get size(): number { return this.heap.length; }\n    get isEmpty(): boolean { return this.heap.length === 0; }\n\n    private getF(i: number): number {\n        return this.isBack ? this.state.getFBack(i) : this.state.getF(i);\n    }\n    private getHeapIndex(i: number): number {\n        return this.isBack ? this.state.getHeapIndexBack(i) : this.state.getHeapIndex(i);\n    }\n    private setHeapIndex(i: number, v: number): void {\n        if (this.isBack) this.state.setHeapIndexBack(i, v);\n        else this.state.setHeapIndex(i, v);\n    }\n\n    push(i: number): void {\n        this.setHeapIndex(i, this.heap.length);\n        this.heap.push(i);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    pop(): number {\n        if (this.heap.length === 0) return -1;\n        const result = this.heap[0];\n        this.setHeapIndex(result, -1);\n        const last = this.heap.pop()!;\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.setHeapIndex(last, 0);\n            this.sinkDown(0);\n        }\n        return result;\n    }\n\n    update(i: number): void {\n        const pos = this.getHeapIndex(i);\n        if (pos >= 0 && pos < this.heap.length) {\n            this.bubbleUp(pos);\n            this.sinkDown(this.getHeapIndex(i));\n        }\n    }\n\n    clear(): void { this.heap.length = 0; }\n\n    private bubbleUp(pos: number): void {\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        while (pos > 0) {\n            const pp = (pos - 1) >> 1;\n            const pi = this.heap[pp];\n            if (f >= this.getF(pi)) break;\n            this.heap[pos] = pi;\n            this.setHeapIndex(pi, pos);\n            pos = pp;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n\n    private sinkDown(pos: number): void {\n        const len = this.heap.length;\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        const half = len >> 1;\n        while (pos < half) {\n            const left = (pos << 1) + 1;\n            const right = left + 1;\n            let smallest = pos, smallestF = f;\n            const lf = this.getF(this.heap[left]);\n            if (lf < smallestF) { smallest = left; smallestF = lf; }\n            if (right < len) {\n                const rf = this.getF(this.heap[right]);\n                if (rf < smallestF) smallest = right;\n            }\n            if (smallest === pos) break;\n            const si = this.heap[smallest];\n            this.heap[pos] = si;\n            this.setHeapIndex(si, pos);\n            pos = smallest;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n}\n\n// =============================================================================\n// 网格寻路器 | Grid Pathfinder\n// =============================================================================\n\n/**\n * @zh 网格寻路器\n * @en Grid Pathfinder\n */\nexport class GridPathfinder implements IPathfinder {\n    private readonly map: GridMap;\n    private readonly mode: GridPathfinderMode;\n    private readonly state: GridState;\n    private readonly openList: GridHeap;\n    private readonly openListBack: GridHeap | null;\n\n    constructor(map: GridMap, config?: IGridPathfinderConfig) {\n        this.map = map;\n        this.mode = config?.mode ?? 'fast';\n        const isBidir = this.mode === 'bidirectional';\n        this.state = new GridState(map.width, map.height, isBidir);\n        this.openList = new GridHeap(this.state, false);\n        this.openListBack = isBidir ? new GridHeap(this.state, true) : null;\n    }\n\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        if (this.mode === 'bidirectional') {\n            return this.findPathBidirectional(startX, startY, endX, endY, options);\n        }\n        return this.findPathUnidirectional(startX, startY, endX, endY, options);\n    }\n\n    private findPathUnidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const h0 = this.map.heuristic({ x: startX, y: startY }, { x: endX, y: endY }) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, h0);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while (!this.openList.isEmpty && searched < maxNodes) {\n            const cur = this.openList.pop();\n            this.state.setClosed(cur);\n            searched++;\n\n            if (cur === endIdx) {\n                return this.buildPath(startIdx, endIdx, searched);\n            }\n\n            const cx = cur % width, cy = (cur / width) | 0;\n            const curG = this.state.getG(cur);\n\n            for (let d = 0; d < dirCount; d++) {\n                const nx = cx + dx[d], ny = cy + dy[d];\n                if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n\n                const neighbor = nodes[ny][nx];\n                if (!neighbor.walkable) continue;\n\n                if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                    if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                }\n\n                const ni = ny * width + nx;\n                if (this.state.isClosed(ni)) continue;\n\n                const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                const tentG = curG + cost;\n\n                if (!this.state.isOpened(ni)) {\n                    const h = this.map.heuristic({ x: nx, y: ny }, { x: endX, y: endY }) * hw;\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.state.setOpened(ni);\n                    this.openList.push(ni);\n                } else if (tentG < this.state.getG(ni)) {\n                    const h = this.state.getF(ni) - this.state.getG(ni);\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.openList.update(ni);\n                }\n            }\n        }\n\n        return { found: false, path: [], cost: 0, nodesSearched: searched };\n    }\n\n    private findPathBidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack!.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const startPos = { x: startX, y: startY };\n        const endPos = { x: endX, y: endY };\n\n        // Init forward\n        const hf = this.map.heuristic(startPos, endPos) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, hf);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        // Init backward\n        const hb = this.map.heuristic(endPos, startPos) * hw;\n        this.state.setGBack(endIdx, 0);\n        this.state.setFBack(endIdx, hb);\n        this.state.setOpenedBack(endIdx);\n        this.openListBack!.push(endIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        let meetIdx = -1, bestCost = Infinity;\n\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while ((!this.openList.isEmpty || !this.openListBack!.isEmpty) && searched < maxNodes) {\n            // Forward\n            if (!this.openList.isEmpty) {\n                const cur = this.openList.pop();\n                this.state.setClosed(cur);\n                searched++;\n\n                const curG = this.state.getG(cur);\n                if (this.state.isClosedBack(cur)) {\n                    const total = curG + this.state.getGBack(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosed(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpened(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, endPos) * hw;\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.state.setOpened(ni);\n                        this.openList.push(ni);\n                    } else if (tentG < this.state.getG(ni)) {\n                        const h = this.state.getF(ni) - this.state.getG(ni);\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.openList.update(ni);\n                    }\n                }\n            }\n\n            // Backward\n            if (!this.openListBack!.isEmpty) {\n                const cur = this.openListBack!.pop();\n                this.state.setClosedBack(cur);\n                searched++;\n\n                const curG = this.state.getGBack(cur);\n                if (this.state.isClosed(cur)) {\n                    const total = curG + this.state.getG(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosedBack(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpenedBack(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, startPos) * hw;\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.state.setOpenedBack(ni);\n                        this.openListBack!.push(ni);\n                    } else if (tentG < this.state.getGBack(ni)) {\n                        const h = this.state.getFBack(ni) - this.state.getGBack(ni);\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.openListBack!.update(ni);\n                    }\n                }\n            }\n        }\n\n        if (meetIdx === -1) {\n            return { found: false, path: [], cost: 0, nodesSearched: searched };\n        }\n\n        return this.buildPathBidirectional(startIdx, endIdx, meetIdx, searched);\n    }\n\n    private validate(startX: number, startY: number, endX: number, endY: number): boolean {\n        const { width, height } = this.map;\n        if (startX < 0 || startX >= width || startY < 0 || startY >= height) return false;\n        if (endX < 0 || endX >= width || endY < 0 || endY >= height) return false;\n        return this.map.isWalkable(startX, startY) && this.map.isWalkable(endX, endY);\n    }\n\n    private buildPath(startIdx: number, endIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n        let cur = endIdx;\n        while (cur !== -1) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = cur === startIdx ? -1 : this.state.getParent(cur);\n        }\n        path.reverse();\n        return { found: true, path, cost: this.state.getG(endIdx), nodesSearched: searched };\n    }\n\n    private buildPathBidirectional(startIdx: number, endIdx: number, meetIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n\n        // Forward path\n        let cur = meetIdx;\n        while (cur !== -1 && cur !== startIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParent(cur);\n        }\n        path.push({ x: startIdx % w, y: (startIdx / w) | 0 });\n        path.reverse();\n\n        // Backward path\n        cur = this.state.getParentBack(meetIdx);\n        while (cur !== -1 && cur !== endIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParentBack(cur);\n        }\n        if (meetIdx !== endIdx) {\n            path.push({ x: endIdx % w, y: (endIdx / w) | 0 });\n        }\n\n        const cost = this.state.getG(meetIdx) + this.state.getGBack(meetIdx);\n        return { found: true, path, cost, nodesSearched: searched };\n    }\n\n    clear(): void {\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack?.clear();\n    }\n}\n\n/**\n * @zh 创建网格寻路器\n * @en Create grid pathfinder\n */\nexport function createGridPathfinder(map: GridMap, config?: IGridPathfinderConfig): GridPathfinder {\n    return new GridPathfinder(map, config);\n}\n","/**\n * @zh JPS (Jump Point Search) 寻路算法实现\n * @en JPS (Jump Point Search) Pathfinding Algorithm Implementation\n *\n * @zh JPS 是 A* 的优化版本，通过跳跃点剪枝大幅提升开放地形的搜索效率\n * @en JPS is an optimized version of A* that significantly improves search efficiency on open terrain through jump point pruning\n */\n\nimport { BinaryHeap } from './BinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfinder,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh JPS 节点\n * @en JPS Node\n */\ninterface JPSNode {\n    x: number;\n    y: number;\n    g: number;\n    h: number;\n    f: number;\n    parent: JPSNode | null;\n    closed: boolean;\n}\n\n// =============================================================================\n// JPS 寻路器 | JPS Pathfinder\n// =============================================================================\n\n/**\n * @zh JPS 寻路器\n * @en JPS Pathfinder\n *\n * @zh 适用于均匀代价网格地图，在开放地形上比标准 A* 快 10-100 倍\n * @en Suitable for uniform cost grid maps, 10-100x faster than standard A* on open terrain\n *\n * @example\n * ```typescript\n * const map = createGridMap(100, 100);\n * const pathfinder = new JPSPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 99, 99);\n * ```\n */\nexport class JPSPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly width: number;\n    private readonly height: number;\n\n    private openList: BinaryHeap<JPSNode>;\n    private nodeGrid: (JPSNode | null)[][];\n\n    constructor(map: IPathfindingMap) {\n        this.map = map;\n\n        // 获取地图尺寸\n        const bounds = this.getMapBounds();\n        this.width = bounds.width;\n        this.height = bounds.height;\n\n        this.openList = new BinaryHeap<JPSNode>((a, b) => a.f - b.f);\n        this.nodeGrid = [];\n    }\n\n    /**\n     * @zh 寻找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: Partial<IPathfindingOptions>\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // 验证起点和终点\n        if (!this.map.isWalkable(startX, startY) || !this.map.isWalkable(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // 相同位置\n        if (startX === endX && startY === endY) {\n            return {\n                found: true,\n                path: [{ x: startX, y: startY }],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // 初始化\n        this.initGrid();\n        this.openList.clear();\n\n        const startNode = this.getOrCreateNode(startX, startY);\n        startNode.g = 0;\n        startNode.h = this.heuristic(startX, startY, endX, endY) * opts.heuristicWeight;\n        startNode.f = startNode.h;\n        this.openList.push(startNode);\n\n        let nodesSearched = 0;\n\n        while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = this.openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // 到达终点\n            if (current.x === endX && current.y === endY) {\n                return {\n                    found: true,\n                    path: this.buildPath(current),\n                    cost: current.g,\n                    nodesSearched\n                };\n            }\n\n            // 查找跳跃点\n            this.identifySuccessors(current, endX, endY, opts);\n        }\n\n        return {\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.openList.clear();\n        this.nodeGrid = [];\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    /**\n     * @zh 获取地图边界\n     * @en Get map bounds\n     */\n    private getMapBounds(): { width: number; height: number } {\n        // 尝试从地图获取尺寸\n        const mapAny = this.map as any;\n        if (typeof mapAny.width === 'number' && typeof mapAny.height === 'number') {\n            return { width: mapAny.width, height: mapAny.height };\n        }\n        // 默认尺寸\n        return { width: 1000, height: 1000 };\n    }\n\n    /**\n     * @zh 初始化节点网格\n     * @en Initialize node grid\n     */\n    private initGrid(): void {\n        this.nodeGrid = [];\n        for (let i = 0; i < this.width; i++) {\n            this.nodeGrid[i] = [];\n        }\n    }\n\n    /**\n     * @zh 获取或创建节点\n     * @en Get or create node\n     */\n    private getOrCreateNode(x: number, y: number): JPSNode {\n        // Bounds check to ensure valid array indices\n        const xi = x | 0;\n        const yi = y | 0;\n        if (xi < 0 || xi >= this.width || yi < 0 || yi >= this.height) {\n            throw new Error('[JPSPathfinder] Invalid grid coordinates');\n        }\n        if (!this.nodeGrid[xi]) {\n            this.nodeGrid[xi] = [];\n        }\n        if (!this.nodeGrid[xi][yi]) {\n            this.nodeGrid[xi][yi] = {\n                x: xi,\n                y: yi,\n                g: Infinity,\n                h: 0,\n                f: Infinity,\n                parent: null,\n                closed: false\n            };\n        }\n        return this.nodeGrid[xi][yi]!;\n    }\n\n    /**\n     * @zh 启发式函数（八方向距离）\n     * @en Heuristic function (octile distance)\n     */\n    private heuristic(x1: number, y1: number, x2: number, y2: number): number {\n        const dx = Math.abs(x1 - x2);\n        const dy = Math.abs(y1 - y2);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n\n    /**\n     * @zh 识别后继节点（跳跃点）\n     * @en Identify successors (jump points)\n     */\n    private identifySuccessors(\n        node: JPSNode,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): void {\n        const neighbors = this.findNeighbors(node);\n\n        for (const neighbor of neighbors) {\n            const jumpPoint = this.jump(\n                neighbor.x,\n                neighbor.y,\n                node.x,\n                node.y,\n                endX,\n                endY\n            );\n\n            if (jumpPoint) {\n                const jx = jumpPoint.x;\n                const jy = jumpPoint.y;\n\n                const jpNode = this.getOrCreateNode(jx, jy);\n                if (jpNode.closed) continue;\n\n                const dx = Math.abs(jx - node.x);\n                const dy = Math.abs(jy - node.y);\n                const distance = Math.sqrt(dx * dx + dy * dy);\n                const tentativeG = node.g + distance;\n\n                if (tentativeG < jpNode.g) {\n                    jpNode.g = tentativeG;\n                    jpNode.h = this.heuristic(jx, jy, endX, endY) * opts.heuristicWeight;\n                    jpNode.f = jpNode.g + jpNode.h;\n                    jpNode.parent = node;\n\n                    if (!this.openList.contains(jpNode)) {\n                        this.openList.push(jpNode);\n                    } else {\n                        this.openList.update(jpNode);\n                    }\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找邻居（根据父节点方向剪枝）\n     * @en Find neighbors (pruned based on parent direction)\n     */\n    private findNeighbors(node: JPSNode): IPoint[] {\n        const { x, y, parent } = node;\n        const neighbors: IPoint[] = [];\n\n        // 无父节点，返回所有可通行邻居\n        if (!parent) {\n            for (let dx = -1; dx <= 1; dx++) {\n                for (let dy = -1; dy <= 1; dy++) {\n                    if (dx === 0 && dy === 0) continue;\n                    const nx = x + dx;\n                    const ny = y + dy;\n                    if (this.isWalkableAt(nx, ny)) {\n                        // 对角线移动检查\n                        if (dx !== 0 && dy !== 0) {\n                            if (this.isWalkableAt(x + dx, y) || this.isWalkableAt(x, y + dy)) {\n                                neighbors.push({ x: nx, y: ny });\n                            }\n                        } else {\n                            neighbors.push({ x: nx, y: ny });\n                        }\n                    }\n                }\n            }\n            return neighbors;\n        }\n\n        // 有父节点，根据方向剪枝\n        const dx = Math.sign(x - parent.x);\n        const dy = Math.sign(y - parent.y);\n\n        // 对角线移动\n        if (dx !== 0 && dy !== 0) {\n            // 自然邻居\n            if (this.isWalkableAt(x, y + dy)) {\n                neighbors.push({ x, y: y + dy });\n            }\n            if (this.isWalkableAt(x + dx, y)) {\n                neighbors.push({ x: x + dx, y });\n            }\n            if (this.isWalkableAt(x, y + dy) || this.isWalkableAt(x + dx, y)) {\n                if (this.isWalkableAt(x + dx, y + dy)) {\n                    neighbors.push({ x: x + dx, y: y + dy });\n                }\n            }\n\n            // 强制邻居\n            if (!this.isWalkableAt(x - dx, y) && this.isWalkableAt(x, y + dy)) {\n                if (this.isWalkableAt(x - dx, y + dy)) {\n                    neighbors.push({ x: x - dx, y: y + dy });\n                }\n            }\n            if (!this.isWalkableAt(x, y - dy) && this.isWalkableAt(x + dx, y)) {\n                if (this.isWalkableAt(x + dx, y - dy)) {\n                    neighbors.push({ x: x + dx, y: y - dy });\n                }\n            }\n        }\n        // 水平移动\n        else if (dx !== 0) {\n            if (this.isWalkableAt(x + dx, y)) {\n                neighbors.push({ x: x + dx, y });\n\n                // 强制邻居\n                if (!this.isWalkableAt(x, y + 1) && this.isWalkableAt(x + dx, y + 1)) {\n                    neighbors.push({ x: x + dx, y: y + 1 });\n                }\n                if (!this.isWalkableAt(x, y - 1) && this.isWalkableAt(x + dx, y - 1)) {\n                    neighbors.push({ x: x + dx, y: y - 1 });\n                }\n            }\n        }\n        // 垂直移动\n        else if (dy !== 0) {\n            if (this.isWalkableAt(x, y + dy)) {\n                neighbors.push({ x, y: y + dy });\n\n                // 强制邻居\n                if (!this.isWalkableAt(x + 1, y) && this.isWalkableAt(x + 1, y + dy)) {\n                    neighbors.push({ x: x + 1, y: y + dy });\n                }\n                if (!this.isWalkableAt(x - 1, y) && this.isWalkableAt(x - 1, y + dy)) {\n                    neighbors.push({ x: x - 1, y: y + dy });\n                }\n            }\n        }\n\n        return neighbors;\n    }\n\n    /**\n     * @zh 跳跃函数（迭代版本，避免递归开销）\n     * @en Jump function (iterative version to avoid recursion overhead)\n     */\n    private jump(\n        startX: number,\n        startY: number,\n        px: number,\n        py: number,\n        endX: number,\n        endY: number\n    ): IPoint | null {\n        const dx = startX - px;\n        const dy = startY - py;\n\n        let x = startX;\n        let y = startY;\n\n        while (true) {\n            if (!this.isWalkableAt(x, y)) {\n                return null;\n            }\n\n            if (x === endX && y === endY) {\n                return { x, y };\n            }\n\n            if (dx !== 0 && dy !== 0) {\n                if ((this.isWalkableAt(x - dx, y + dy) && !this.isWalkableAt(x - dx, y)) ||\n                    (this.isWalkableAt(x + dx, y - dy) && !this.isWalkableAt(x, y - dy))) {\n                    return { x, y };\n                }\n\n                if (this.jumpStraight(x + dx, y, dx, 0, endX, endY) ||\n                    this.jumpStraight(x, y + dy, 0, dy, endX, endY)) {\n                    return { x, y };\n                }\n\n                if (!this.isWalkableAt(x + dx, y) && !this.isWalkableAt(x, y + dy)) {\n                    return null;\n                }\n            } else if (dx !== 0) {\n                if ((this.isWalkableAt(x + dx, y + 1) && !this.isWalkableAt(x, y + 1)) ||\n                    (this.isWalkableAt(x + dx, y - 1) && !this.isWalkableAt(x, y - 1))) {\n                    return { x, y };\n                }\n            } else if (dy !== 0) {\n                if ((this.isWalkableAt(x + 1, y + dy) && !this.isWalkableAt(x + 1, y)) ||\n                    (this.isWalkableAt(x - 1, y + dy) && !this.isWalkableAt(x - 1, y))) {\n                    return { x, y };\n                }\n            }\n\n            x += dx;\n            y += dy;\n        }\n    }\n\n    /**\n     * @zh 直线跳跃（水平或垂直方向）\n     * @en Straight jump (horizontal or vertical direction)\n     */\n    private jumpStraight(\n        startX: number,\n        startY: number,\n        dx: number,\n        dy: number,\n        endX: number,\n        endY: number\n    ): boolean {\n        let x = startX;\n        let y = startY;\n\n        while (true) {\n            if (!this.isWalkableAt(x, y)) {\n                return false;\n            }\n\n            if (x === endX && y === endY) {\n                return true;\n            }\n\n            if (dx !== 0) {\n                if ((this.isWalkableAt(x + dx, y + 1) && !this.isWalkableAt(x, y + 1)) ||\n                    (this.isWalkableAt(x + dx, y - 1) && !this.isWalkableAt(x, y - 1))) {\n                    return true;\n                }\n            } else if (dy !== 0) {\n                if ((this.isWalkableAt(x + 1, y + dy) && !this.isWalkableAt(x + 1, y)) ||\n                    (this.isWalkableAt(x - 1, y + dy) && !this.isWalkableAt(x - 1, y))) {\n                    return true;\n                }\n            }\n\n            x += dx;\n            y += dy;\n        }\n    }\n\n    /**\n     * @zh 检查位置是否可通行\n     * @en Check if position is walkable\n     */\n    private isWalkableAt(x: number, y: number): boolean {\n        if (x < 0 || x >= this.width || y < 0 || y >= this.height) {\n            return false;\n        }\n        return this.map.isWalkable(x, y);\n    }\n\n    /**\n     * @zh 构建路径\n     * @en Build path\n     */\n    private buildPath(endNode: JPSNode): IPoint[] {\n        const path: IPoint[] = [];\n        let current: JPSNode | null = endNode;\n\n        while (current) {\n            path.unshift({ x: current.x, y: current.y });\n            current = current.parent;\n        }\n\n        // 插值跳跃点之间的路径\n        return this.interpolatePath(path);\n    }\n\n    /**\n     * @zh 插值路径（在跳跃点之间填充中间点）\n     * @en Interpolate path (fill intermediate points between jump points)\n     */\n    private interpolatePath(jumpPoints: IPoint[]): IPoint[] {\n        if (jumpPoints.length < 2) {\n            return jumpPoints;\n        }\n\n        const path: IPoint[] = [jumpPoints[0]];\n\n        for (let i = 1; i < jumpPoints.length; i++) {\n            const prev = jumpPoints[i - 1];\n            const curr = jumpPoints[i];\n\n            const dx = curr.x - prev.x;\n            const dy = curr.y - prev.y;\n            const steps = Math.max(Math.abs(dx), Math.abs(dy));\n\n            const stepX = dx === 0 ? 0 : dx / Math.abs(dx);\n            const stepY = dy === 0 ? 0 : dy / Math.abs(dy);\n\n            let x = prev.x;\n            let y = prev.y;\n\n            for (let j = 0; j < steps; j++) {\n                // 优先对角移动\n                if (x !== curr.x && y !== curr.y) {\n                    x += stepX;\n                    y += stepY;\n                } else if (x !== curr.x) {\n                    x += stepX;\n                } else if (y !== curr.y) {\n                    y += stepY;\n                }\n\n                if (x !== prev.x || y !== prev.y) {\n                    path.push({ x, y });\n                }\n            }\n        }\n\n        return path;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 JPS 寻路器\n * @en Create JPS pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @returns @zh JPS 寻路器实例 @en JPS pathfinder instance\n */\nexport function createJPSPathfinder(map: IPathfindingMap): JPSPathfinder {\n    return new JPSPathfinder(map);\n}\n","/**\n * @zh HPA* (Hierarchical Pathfinding A*) 寻路算法实现\n * @en HPA* (Hierarchical Pathfinding A*) Pathfinding Algorithm Implementation\n *\n * @zh HPA* 是一种分层寻路算法，适用于超大地图 (1000x1000+)\n * @en HPA* is a hierarchical pathfinding algorithm suitable for very large maps (1000x1000+)\n *\n * @zh 工作原理：\n * 1. 将地图划分为集群 (clusters)\n * 2. 在集群边界检测入口点 (entrances)\n * 3. 构建抽象图 (abstract graph) 连接入口点\n * 4. 先在抽象图上寻路，再细化为详细路径\n *\n * @en How it works:\n * 1. Divide map into clusters\n * 2. Detect entrances at cluster boundaries\n * 3. Build abstract graph connecting entrances\n * 4. First find path on abstract graph, then refine to detailed path\n */\n\nimport { BinaryHeap } from './BinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPoint,\n    IPathResult,\n    IPathfinder,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\nimport { AStarPathfinder } from './AStarPathfinder';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh HPA* 配置\n * @en HPA* Configuration\n */\nexport interface IHPAConfig {\n    /**\n     * @zh 集群大小（边长）\n     * @en Cluster size (side length)\n     */\n    clusterSize: number;\n\n    /**\n     * @zh 最大入口宽度（超过此宽度会拆分为多个入口）\n     * @en Maximum entrance width (entrances wider than this will be split)\n     */\n    maxEntranceWidth: number;\n\n    /**\n     * @zh 是否启用内部路径缓存\n     * @en Whether to enable internal path caching\n     */\n    cacheInternalPaths: boolean;\n}\n\n/**\n * @zh 默认 HPA* 配置\n * @en Default HPA* configuration\n */\nexport const DEFAULT_HPA_CONFIG: IHPAConfig = {\n    clusterSize: 10,\n    maxEntranceWidth: 6,\n    cacheInternalPaths: true\n};\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh 集群\n * @en Cluster\n */\ninterface Cluster {\n    id: number;\n    x: number;\n    y: number;\n    width: number;\n    height: number;\n    entrances: Entrance[];\n}\n\n/**\n * @zh 入口（集群之间的连接点）\n * @en Entrance (connection point between clusters)\n */\ninterface Entrance {\n    id: number;\n    cluster1Id: number;\n    cluster2Id: number;\n    point1: IPoint;\n    point2: IPoint;\n    center: IPoint;\n}\n\n/**\n * @zh 抽象节点\n * @en Abstract node\n */\ninterface AbstractNode {\n    id: number;\n    position: IPoint;\n    clusterId: number;\n    entranceId: number;\n    edges: AbstractEdge[];\n}\n\n/**\n * @zh 抽象边\n * @en Abstract edge\n */\ninterface AbstractEdge {\n    targetNodeId: number;\n    cost: number;\n    isInterEdge: boolean;\n}\n\n/**\n * @zh A* 搜索节点\n * @en A* search node\n */\ninterface SearchNode {\n    abstractNode: AbstractNode;\n    g: number;\n    h: number;\n    f: number;\n    parent: SearchNode | null;\n}\n\n// =============================================================================\n// HPA* 寻路器 | HPA* Pathfinder\n// =============================================================================\n\n/**\n * @zh HPA* 寻路器\n * @en HPA* Pathfinder\n *\n * @zh 适用于超大地图的分层寻路算法\n * @en Hierarchical pathfinding algorithm for very large maps\n *\n * @example\n * ```typescript\n * const map = createGridMap(1000, 1000);\n * const pathfinder = new HPAPathfinder(map, { clusterSize: 20 });\n *\n * // Preprocess (do once after map changes)\n * pathfinder.preprocess();\n *\n * // Find path\n * const result = pathfinder.findPath(0, 0, 999, 999);\n * ```\n */\nexport class HPAPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly config: IHPAConfig;\n    private readonly width: number;\n    private readonly height: number;\n\n    private clusters: Cluster[] = [];\n    private entrances: Entrance[] = [];\n    private abstractNodes: Map<number, AbstractNode> = new Map();\n    private clusterGrid: (Cluster | null)[][] = [];\n\n    private nextEntranceId: number = 0;\n    private nextNodeId: number = 0;\n\n    private internalPathCache: Map<string, IPoint[]> = new Map();\n    private localPathfinder: AStarPathfinder;\n\n    private preprocessed: boolean = false;\n\n    constructor(map: IPathfindingMap, config?: Partial<IHPAConfig>) {\n        this.map = map;\n        this.config = { ...DEFAULT_HPA_CONFIG, ...config };\n\n        const bounds = this.getMapBounds();\n        this.width = bounds.width;\n        this.height = bounds.height;\n\n        this.localPathfinder = new AStarPathfinder(map);\n    }\n\n    /**\n     * @zh 预处理地图（构建抽象图）\n     * @en Preprocess map (build abstract graph)\n     *\n     * @zh 在地图变化后需要重新调用\n     * @en Need to call again after map changes\n     */\n    preprocess(): void {\n        this.clusters = [];\n        this.entrances = [];\n        this.abstractNodes.clear();\n        this.clusterGrid = [];\n        this.internalPathCache.clear();\n        this.nextEntranceId = 0;\n        this.nextNodeId = 0;\n\n        this.buildClusters();\n        this.findEntrances();\n        this.buildAbstractGraph();\n\n        this.preprocessed = true;\n    }\n\n    /**\n     * @zh 寻找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: Partial<IPathfindingOptions>\n    ): IPathResult {\n        if (!this.preprocessed) {\n            this.preprocess();\n        }\n\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        if (!this.map.isWalkable(startX, startY) || !this.map.isWalkable(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (startX === endX && startY === endY) {\n            return {\n                found: true,\n                path: [{ x: startX, y: startY }],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        const startCluster = this.getClusterAt(startX, startY);\n        const endCluster = this.getClusterAt(endX, endY);\n\n        if (!startCluster || !endCluster) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (startCluster.id === endCluster.id) {\n            return this.findLocalPath(startX, startY, endX, endY, opts);\n        }\n\n        const startNodes = this.insertTemporaryNode(startX, startY, startCluster);\n        const endNodes = this.insertTemporaryNode(endX, endY, endCluster);\n\n        const abstractPath = this.searchAbstractGraph(startNodes, endNodes, opts);\n\n        this.removeTemporaryNodes(startNodes);\n        this.removeTemporaryNodes(endNodes);\n\n        if (!abstractPath || abstractPath.length === 0) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        return this.refinePath(abstractPath, startX, startY, endX, endY, opts);\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.clusters = [];\n        this.entrances = [];\n        this.abstractNodes.clear();\n        this.clusterGrid = [];\n        this.internalPathCache.clear();\n        this.preprocessed = false;\n    }\n\n    /**\n     * @zh 通知地图区域变化\n     * @en Notify map region change\n     */\n    notifyRegionChange(minX: number, minY: number, maxX: number, maxY: number): void {\n        this.preprocessed = false;\n        this.internalPathCache.clear();\n    }\n\n    /**\n     * @zh 获取预处理统计信息\n     * @en Get preprocessing statistics\n     */\n    getStats(): {\n        clusters: number;\n        entrances: number;\n        abstractNodes: number;\n        cacheSize: number;\n    } {\n        return {\n            clusters: this.clusters.length,\n            entrances: this.entrances.length,\n            abstractNodes: this.abstractNodes.size,\n            cacheSize: this.internalPathCache.size\n        };\n    }\n\n    // =========================================================================\n    // 预处理方法 | Preprocessing Methods\n    // =========================================================================\n\n    private getMapBounds(): { width: number; height: number } {\n        const mapAny = this.map as any;\n        if (typeof mapAny.width === 'number' && typeof mapAny.height === 'number') {\n            return { width: mapAny.width, height: mapAny.height };\n        }\n        return { width: 1000, height: 1000 };\n    }\n\n    private buildClusters(): void {\n        const clusterSize = this.config.clusterSize;\n        const clustersX = Math.ceil(this.width / clusterSize);\n        const clustersY = Math.ceil(this.height / clusterSize);\n\n        this.clusterGrid = [];\n        for (let x = 0; x < clustersX; x++) {\n            this.clusterGrid[x] = [];\n        }\n\n        let clusterId = 0;\n        for (let cy = 0; cy < clustersY; cy++) {\n            for (let cx = 0; cx < clustersX; cx++) {\n                const cluster: Cluster = {\n                    id: clusterId++,\n                    x: cx * clusterSize,\n                    y: cy * clusterSize,\n                    width: Math.min(clusterSize, this.width - cx * clusterSize),\n                    height: Math.min(clusterSize, this.height - cy * clusterSize),\n                    entrances: []\n                };\n                this.clusters.push(cluster);\n                this.clusterGrid[cx][cy] = cluster;\n            }\n        }\n    }\n\n    private findEntrances(): void {\n        const clusterSize = this.config.clusterSize;\n        const clustersX = Math.ceil(this.width / clusterSize);\n        const clustersY = Math.ceil(this.height / clusterSize);\n\n        for (let cy = 0; cy < clustersY; cy++) {\n            for (let cx = 0; cx < clustersX; cx++) {\n                const cluster = this.clusterGrid[cx][cy];\n                if (!cluster) continue;\n\n                if (cx < clustersX - 1) {\n                    const rightCluster = this.clusterGrid[cx + 1]?.[cy];\n                    if (rightCluster) {\n                        this.findEntrancesBetween(cluster, rightCluster, 'horizontal');\n                    }\n                }\n\n                if (cy < clustersY - 1) {\n                    const bottomCluster = this.clusterGrid[cx]?.[cy + 1];\n                    if (bottomCluster) {\n                        this.findEntrancesBetween(cluster, bottomCluster, 'vertical');\n                    }\n                }\n            }\n        }\n    }\n\n    private findEntrancesBetween(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        direction: 'horizontal' | 'vertical'\n    ): void {\n        const maxWidth = this.config.maxEntranceWidth;\n        let entranceStart: number | null = null;\n        let entranceLength = 0;\n\n        if (direction === 'horizontal') {\n            const x1 = cluster1.x + cluster1.width - 1;\n            const x2 = cluster2.x;\n            const startY = Math.max(cluster1.y, cluster2.y);\n            const endY = Math.min(cluster1.y + cluster1.height, cluster2.y + cluster2.height);\n\n            for (let y = startY; y < endY; y++) {\n                const walkable1 = this.map.isWalkable(x1, y);\n                const walkable2 = this.map.isWalkable(x2, y);\n\n                if (walkable1 && walkable2) {\n                    if (entranceStart === null) {\n                        entranceStart = y;\n                        entranceLength = 1;\n                    } else {\n                        entranceLength++;\n                    }\n\n                    if (entranceLength >= maxWidth || y === endY - 1) {\n                        this.createEntrance(cluster1, cluster2, x1, x2, entranceStart, entranceStart + entranceLength - 1, 'horizontal');\n                        entranceStart = null;\n                        entranceLength = 0;\n                    }\n                } else if (entranceStart !== null) {\n                    this.createEntrance(cluster1, cluster2, x1, x2, entranceStart, entranceStart + entranceLength - 1, 'horizontal');\n                    entranceStart = null;\n                    entranceLength = 0;\n                }\n            }\n        } else {\n            const y1 = cluster1.y + cluster1.height - 1;\n            const y2 = cluster2.y;\n            const startX = Math.max(cluster1.x, cluster2.x);\n            const endX = Math.min(cluster1.x + cluster1.width, cluster2.x + cluster2.width);\n\n            for (let x = startX; x < endX; x++) {\n                const walkable1 = this.map.isWalkable(x, y1);\n                const walkable2 = this.map.isWalkable(x, y2);\n\n                if (walkable1 && walkable2) {\n                    if (entranceStart === null) {\n                        entranceStart = x;\n                        entranceLength = 1;\n                    } else {\n                        entranceLength++;\n                    }\n\n                    if (entranceLength >= maxWidth || x === endX - 1) {\n                        this.createEntrance(cluster1, cluster2, entranceStart, entranceStart + entranceLength - 1, y1, y2, 'vertical');\n                        entranceStart = null;\n                        entranceLength = 0;\n                    }\n                } else if (entranceStart !== null) {\n                    this.createEntrance(cluster1, cluster2, entranceStart, entranceStart + entranceLength - 1, y1, y2, 'vertical');\n                    entranceStart = null;\n                    entranceLength = 0;\n                }\n            }\n        }\n    }\n\n    private createEntrance(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        coord1Start: number,\n        coord1End: number,\n        coord2Start: number,\n        coord2End: number,\n        direction: 'horizontal' | 'vertical'\n    ): void {\n        let point1: IPoint;\n        let point2: IPoint;\n        let center: IPoint;\n\n        if (direction === 'horizontal') {\n            const midY = Math.floor((coord1Start + coord1End) / 2);\n            point1 = { x: coord1Start, y: midY };\n            point2 = { x: coord2Start, y: midY };\n            center = { x: coord1Start, y: midY };\n        } else {\n            const midX = Math.floor((coord1Start + coord1End) / 2);\n            point1 = { x: midX, y: coord2Start };\n            point2 = { x: midX, y: coord2End };\n            center = { x: midX, y: coord2Start };\n        }\n\n        const entrance: Entrance = {\n            id: this.nextEntranceId++,\n            cluster1Id: cluster1.id,\n            cluster2Id: cluster2.id,\n            point1,\n            point2,\n            center\n        };\n\n        this.entrances.push(entrance);\n        cluster1.entrances.push(entrance);\n        cluster2.entrances.push(entrance);\n    }\n\n    private buildAbstractGraph(): void {\n        for (const entrance of this.entrances) {\n            const node1 = this.createAbstractNode(entrance.point1, entrance.cluster1Id, entrance.id);\n            const node2 = this.createAbstractNode(entrance.point2, entrance.cluster2Id, entrance.id);\n\n            node1.edges.push({ targetNodeId: node2.id, cost: 1, isInterEdge: true });\n            node2.edges.push({ targetNodeId: node1.id, cost: 1, isInterEdge: true });\n        }\n\n        for (const cluster of this.clusters) {\n            this.connectIntraClusterNodes(cluster);\n        }\n    }\n\n    private createAbstractNode(position: IPoint, clusterId: number, entranceId: number): AbstractNode {\n        const node: AbstractNode = {\n            id: this.nextNodeId++,\n            position,\n            clusterId,\n            entranceId,\n            edges: []\n        };\n        this.abstractNodes.set(node.id, node);\n        return node;\n    }\n\n    private connectIntraClusterNodes(cluster: Cluster): void {\n        const nodesInCluster: AbstractNode[] = [];\n\n        for (const node of this.abstractNodes.values()) {\n            if (node.clusterId === cluster.id) {\n                nodesInCluster.push(node);\n            }\n        }\n\n        for (let i = 0; i < nodesInCluster.length; i++) {\n            for (let j = i + 1; j < nodesInCluster.length; j++) {\n                const node1 = nodesInCluster[i];\n                const node2 = nodesInCluster[j];\n\n                const cost = this.heuristic(node1.position, node2.position);\n                node1.edges.push({ targetNodeId: node2.id, cost, isInterEdge: false });\n                node2.edges.push({ targetNodeId: node1.id, cost, isInterEdge: false });\n            }\n        }\n    }\n\n    // =========================================================================\n    // 搜索方法 | Search Methods\n    // =========================================================================\n\n    private getClusterAt(x: number, y: number): Cluster | null {\n        const clusterSize = this.config.clusterSize;\n        const cx = Math.floor(x / clusterSize);\n        const cy = Math.floor(y / clusterSize);\n        return this.clusterGrid[cx]?.[cy] ?? null;\n    }\n\n    private insertTemporaryNode(\n        x: number,\n        y: number,\n        cluster: Cluster\n    ): AbstractNode[] {\n        const tempNodes: AbstractNode[] = [];\n        const tempNode = this.createAbstractNode({ x, y }, cluster.id, -1);\n        tempNodes.push(tempNode);\n\n        for (const node of this.abstractNodes.values()) {\n            if (node.clusterId === cluster.id && node.id !== tempNode.id) {\n                const cost = this.heuristic({ x, y }, node.position);\n                tempNode.edges.push({ targetNodeId: node.id, cost, isInterEdge: false });\n                node.edges.push({ targetNodeId: tempNode.id, cost, isInterEdge: false });\n            }\n        }\n\n        return tempNodes;\n    }\n\n    private removeTemporaryNodes(nodes: AbstractNode[]): void {\n        for (const node of nodes) {\n            for (const edge of node.edges) {\n                const targetNode = this.abstractNodes.get(edge.targetNodeId);\n                if (targetNode) {\n                    targetNode.edges = targetNode.edges.filter(e => e.targetNodeId !== node.id);\n                }\n            }\n            this.abstractNodes.delete(node.id);\n        }\n    }\n\n    private searchAbstractGraph(\n        startNodes: AbstractNode[],\n        endNodes: AbstractNode[],\n        opts: Required<IPathfindingOptions>\n    ): AbstractNode[] | null {\n        if (startNodes.length === 0 || endNodes.length === 0) {\n            return null;\n        }\n\n        const endNodeIds = new Set(endNodes.map(n => n.id));\n        const openList = new BinaryHeap<SearchNode>((a, b) => a.f - b.f);\n        const closedSet = new Set<number>();\n\n        for (const startNode of startNodes) {\n            const h = this.heuristic(startNode.position, endNodes[0].position);\n            openList.push({\n                abstractNode: startNode,\n                g: 0,\n                h: h * opts.heuristicWeight,\n                f: h * opts.heuristicWeight,\n                parent: null\n            });\n        }\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            nodesSearched++;\n\n            if (endNodeIds.has(current.abstractNode.id)) {\n                return this.reconstructAbstractPath(current);\n            }\n\n            if (closedSet.has(current.abstractNode.id)) {\n                continue;\n            }\n            closedSet.add(current.abstractNode.id);\n\n            for (const edge of current.abstractNode.edges) {\n                if (closedSet.has(edge.targetNodeId)) {\n                    continue;\n                }\n\n                const neighbor = this.abstractNodes.get(edge.targetNodeId);\n                if (!neighbor) continue;\n\n                const tentativeG = current.g + edge.cost;\n                const h = this.heuristic(neighbor.position, endNodes[0].position) * opts.heuristicWeight;\n\n                openList.push({\n                    abstractNode: neighbor,\n                    g: tentativeG,\n                    h,\n                    f: tentativeG + h,\n                    parent: current\n                });\n            }\n        }\n\n        return null;\n    }\n\n    private reconstructAbstractPath(endNode: SearchNode): AbstractNode[] {\n        const path: AbstractNode[] = [];\n        let current: SearchNode | null = endNode;\n\n        while (current) {\n            path.unshift(current.abstractNode);\n            current = current.parent;\n        }\n\n        return path;\n    }\n\n    private refinePath(\n        abstractPath: AbstractNode[],\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): IPathResult {\n        const fullPath: IPoint[] = [];\n        let totalCost = 0;\n        let nodesSearched = abstractPath.length;\n\n        let currentX = startX;\n        let currentY = startY;\n\n        for (let i = 0; i < abstractPath.length; i++) {\n            const node = abstractPath[i];\n            const targetX = i === abstractPath.length - 1 ? endX : node.position.x;\n            const targetY = i === abstractPath.length - 1 ? endY : node.position.y;\n\n            if (currentX !== targetX || currentY !== targetY) {\n                const segment = this.localPathfinder.findPath(currentX, currentY, targetX, targetY, opts);\n\n                if (!segment.found) {\n                    if (fullPath.length > 0) {\n                        return {\n                            found: true,\n                            path: fullPath,\n                            cost: totalCost,\n                            nodesSearched\n                        };\n                    }\n                    return EMPTY_PATH_RESULT;\n                }\n\n                for (let j = fullPath.length === 0 ? 0 : 1; j < segment.path.length; j++) {\n                    fullPath.push(segment.path[j]);\n                }\n\n                totalCost += segment.cost;\n                nodesSearched += segment.nodesSearched;\n            }\n\n            currentX = targetX;\n            currentY = targetY;\n        }\n\n        if (currentX !== endX || currentY !== endY) {\n            const finalSegment = this.localPathfinder.findPath(currentX, currentY, endX, endY, opts);\n            if (finalSegment.found) {\n                for (let j = 1; j < finalSegment.path.length; j++) {\n                    fullPath.push(finalSegment.path[j]);\n                }\n                totalCost += finalSegment.cost;\n                nodesSearched += finalSegment.nodesSearched;\n            }\n        }\n\n        return {\n            found: fullPath.length > 0,\n            path: fullPath,\n            cost: totalCost,\n            nodesSearched\n        };\n    }\n\n    // =========================================================================\n    // 辅助方法 | Helper Methods\n    // =========================================================================\n\n    private findLocalPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): IPathResult {\n        return this.localPathfinder.findPath(startX, startY, endX, endY, opts);\n    }\n\n    private findInternalPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        cluster: Cluster\n    ): IPoint[] | null {\n        const cacheKey = `${cluster.id}:${startX},${startY}->${endX},${endY}`;\n\n        if (this.config.cacheInternalPaths) {\n            const cached = this.internalPathCache.get(cacheKey);\n            if (cached) {\n                return cached;\n            }\n        }\n\n        const result = this.localPathfinder.findPath(startX, startY, endX, endY);\n\n        if (result.found && this.config.cacheInternalPaths) {\n            this.internalPathCache.set(cacheKey, [...result.path]);\n        }\n\n        return result.found ? [...result.path] : null;\n    }\n\n    private calculatePathCost(path: IPoint[]): number {\n        let cost = 0;\n        for (let i = 1; i < path.length; i++) {\n            const dx = Math.abs(path[i].x - path[i - 1].x);\n            const dy = Math.abs(path[i].y - path[i - 1].y);\n            cost += dx !== 0 && dy !== 0 ? Math.SQRT2 : 1;\n        }\n        return cost;\n    }\n\n    private heuristic(a: IPoint, b: IPoint): number {\n        const dx = Math.abs(a.x - b.x);\n        const dy = Math.abs(a.y - b.y);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 HPA* 寻路器\n * @en Create HPA* pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @param config - @zh HPA* 配置 @en HPA* configuration\n * @returns @zh HPA* 寻路器实例 @en HPA* pathfinder instance\n */\nexport function createHPAPathfinder(\n    map: IPathfindingMap,\n    config?: Partial<IHPAConfig>\n): HPAPathfinder {\n    return new HPAPathfinder(map, config);\n}\n","/**\n * @zh 导航网格实现\n * @en NavMesh Implementation\n */\n\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 导航多边形 | Navigation Polygon\n// =============================================================================\n\n/**\n * @zh 导航多边形\n * @en Navigation polygon\n */\nexport interface INavPolygon {\n    /** @zh 多边形ID @en Polygon ID */\n    readonly id: number;\n    /** @zh 顶点列表 @en Vertex list */\n    readonly vertices: readonly IPoint[];\n    /** @zh 中心点 @en Center point */\n    readonly center: IPoint;\n    /** @zh 邻居多边形ID @en Neighbor polygon IDs */\n    readonly neighbors: readonly number[];\n    /** @zh 到邻居的共享边 @en Shared edges to neighbors */\n    readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/**\n * @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n */\nexport interface IPortal {\n    /** @zh 边的左端点 @en Left endpoint of edge */\n    readonly left: IPoint;\n    /** @zh 边的右端点 @en Right endpoint of edge */\n    readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 | NavMesh Node\n// =============================================================================\n\n/**\n * @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n */\nclass NavMeshNode implements IPathNode {\n    readonly id: number;\n    readonly position: IPoint;\n    readonly cost: number;\n    readonly walkable: boolean;\n    readonly polygon: INavPolygon;\n\n    constructor(polygon: INavPolygon) {\n        this.id = polygon.id;\n        this.position = polygon.center;\n        this.cost = 1;\n        this.walkable = true;\n        this.polygon = polygon;\n    }\n}\n\n// =============================================================================\n// 导航网格 | Navigation Mesh\n// =============================================================================\n\n/**\n * @zh 导航网格\n * @en Navigation Mesh\n *\n * @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n *\n * @example\n * ```typescript\n * const navmesh = new NavMesh();\n *\n * // Add polygons\n * navmesh.addPolygon([\n *     { x: 0, y: 0 }, { x: 10, y: 0 },\n *     { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n *\n * // Build connections\n * navmesh.build();\n *\n * // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n */\nexport class NavMesh implements IPathfindingMap {\n    private polygons: Map<number, INavPolygon> = new Map();\n    private nodes: Map<number, NavMeshNode> = new Map();\n    private nextId = 0;\n\n    /**\n     * @zh 添加导航多边形\n     * @en Add navigation polygon\n     *\n     * @returns @zh 多边形ID @en Polygon ID\n     */\n    addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n        const id = this.nextId++;\n        const center = this.calculateCenter(vertices);\n\n        const polygon: INavPolygon = {\n            id,\n            vertices,\n            center,\n            neighbors,\n            portals: new Map()\n        };\n\n        this.polygons.set(id, polygon);\n        this.nodes.set(id, new NavMeshNode(polygon));\n\n        return id;\n    }\n\n    /**\n     * @zh 设置两个多边形之间的连接\n     * @en Set connection between two polygons\n     */\n    setConnection(\n        polyA: number,\n        polyB: number,\n        portal: IPortal\n    ): void {\n        const polygonA = this.polygons.get(polyA);\n        const polygonB = this.polygons.get(polyB);\n\n        if (!polygonA || !polygonB) {\n            return;\n        }\n\n        // Update neighbors and portals\n        const neighborsA = [...polygonA.neighbors];\n        const portalsA = new Map(polygonA.portals);\n\n        if (!neighborsA.includes(polyB)) {\n            neighborsA.push(polyB);\n        }\n        portalsA.set(polyB, portal);\n\n        this.polygons.set(polyA, {\n            ...polygonA,\n            neighbors: neighborsA,\n            portals: portalsA\n        });\n\n        // Reverse portal for the other direction\n        const reversePortal: IPortal = {\n            left: portal.right,\n            right: portal.left\n        };\n\n        const neighborsB = [...polygonB.neighbors];\n        const portalsB = new Map(polygonB.portals);\n\n        if (!neighborsB.includes(polyA)) {\n            neighborsB.push(polyA);\n        }\n        portalsB.set(polyA, reversePortal);\n\n        this.polygons.set(polyB, {\n            ...polygonB,\n            neighbors: neighborsB,\n            portals: portalsB\n        });\n    }\n\n    /**\n     * @zh 自动检测并建立相邻多边形的连接\n     * @en Auto-detect and build connections between adjacent polygons\n     */\n    build(): void {\n        const polygonList = Array.from(this.polygons.values());\n\n        for (let i = 0; i < polygonList.length; i++) {\n            for (let j = i + 1; j < polygonList.length; j++) {\n                const polyA = polygonList[i];\n                const polyB = polygonList[j];\n\n                const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n                if (sharedEdge) {\n                    this.setConnection(polyA.id, polyB.id, sharedEdge);\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找两个多边形的共享边\n     * @en Find shared edge between two polygons\n     */\n    private findSharedEdge(\n        verticesA: readonly IPoint[],\n        verticesB: readonly IPoint[]\n    ): IPortal | null {\n        const epsilon = 0.0001;\n\n        for (let i = 0; i < verticesA.length; i++) {\n            const a1 = verticesA[i];\n            const a2 = verticesA[(i + 1) % verticesA.length];\n\n            for (let j = 0; j < verticesB.length; j++) {\n                const b1 = verticesB[j];\n                const b2 = verticesB[(j + 1) % verticesB.length];\n\n                // Check if edges match (in either direction)\n                const match1 =\n                    Math.abs(a1.x - b2.x) < epsilon &&\n                    Math.abs(a1.y - b2.y) < epsilon &&\n                    Math.abs(a2.x - b1.x) < epsilon &&\n                    Math.abs(a2.y - b1.y) < epsilon;\n\n                const match2 =\n                    Math.abs(a1.x - b1.x) < epsilon &&\n                    Math.abs(a1.y - b1.y) < epsilon &&\n                    Math.abs(a2.x - b2.x) < epsilon &&\n                    Math.abs(a2.y - b2.y) < epsilon;\n\n                if (match1 || match2) {\n                    return {\n                        left: a1,\n                        right: a2\n                    };\n                }\n            }\n        }\n\n        return null;\n    }\n\n    /**\n     * @zh 计算多边形中心\n     * @en Calculate polygon center\n     */\n    private calculateCenter(vertices: readonly IPoint[]): IPoint {\n        let x = 0;\n        let y = 0;\n\n        for (const v of vertices) {\n            x += v.x;\n            y += v.y;\n        }\n\n        return createPoint(x / vertices.length, y / vertices.length);\n    }\n\n    /**\n     * @zh 查找包含点的多边形\n     * @en Find polygon containing point\n     */\n    findPolygonAt(x: number, y: number): INavPolygon | null {\n        for (const polygon of this.polygons.values()) {\n            if (this.isPointInPolygon(x, y, polygon.vertices)) {\n                return polygon;\n            }\n        }\n        return null;\n    }\n\n    /**\n     * @zh 检查点是否在多边形内\n     * @en Check if point is inside polygon\n     */\n    private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n        let inside = false;\n        const n = vertices.length;\n\n        for (let i = 0, j = n - 1; i < n; j = i++) {\n            const xi = vertices[i].x;\n            const yi = vertices[i].y;\n            const xj = vertices[j].x;\n            const yj = vertices[j].y;\n\n            if (\n                yi > y !== yj > y &&\n                x < ((xj - xi) * (y - yi)) / (yj - yi) + xi\n            ) {\n                inside = !inside;\n            }\n        }\n\n        return inside;\n    }\n\n    // ==========================================================================\n    // IPathfindingMap 接口实现 | IPathfindingMap Interface Implementation\n    // ==========================================================================\n\n    getNodeAt(x: number, y: number): IPathNode | null {\n        const polygon = this.findPolygonAt(x, y);\n        return polygon ? this.nodes.get(polygon.id) ?? null : null;\n    }\n\n    getNeighbors(node: IPathNode): IPathNode[] {\n        const navNode = node as NavMeshNode;\n        const neighbors: IPathNode[] = [];\n\n        for (const neighborId of navNode.polygon.neighbors) {\n            const neighbor = this.nodes.get(neighborId);\n            if (neighbor) {\n                neighbors.push(neighbor);\n            }\n        }\n\n        return neighbors;\n    }\n\n    heuristic(a: IPoint, b: IPoint): number {\n        return euclideanDistance(a, b);\n    }\n\n    getMovementCost(from: IPathNode, to: IPathNode): number {\n        return euclideanDistance(from.position, to.position);\n    }\n\n    isWalkable(x: number, y: number): boolean {\n        return this.findPolygonAt(x, y) !== null;\n    }\n\n    // ==========================================================================\n    // 寻路 | Pathfinding\n    // ==========================================================================\n\n    /**\n     * @zh 在导航网格上寻路\n     * @en Find path on navigation mesh\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        const startPolygon = this.findPolygonAt(startX, startY);\n        const endPolygon = this.findPolygonAt(endX, endY);\n\n        if (!startPolygon || !endPolygon) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same polygon\n        if (startPolygon.id === endPolygon.id) {\n            return {\n                found: true,\n                path: [createPoint(startX, startY), createPoint(endX, endY)],\n                cost: euclideanDistance(\n                    createPoint(startX, startY),\n                    createPoint(endX, endY)\n                ),\n                nodesSearched: 1\n            };\n        }\n\n        // A* on polygon graph\n        const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n        if (!polygonPath.found) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Convert polygon path to point path using funnel algorithm\n        const start = createPoint(startX, startY);\n        const end = createPoint(endX, endY);\n        const pointPath = this.funnelPath(start, end, polygonPath.polygons);\n\n        return {\n            found: true,\n            path: pointPath,\n            cost: this.calculatePathLength(pointPath),\n            nodesSearched: polygonPath.nodesSearched\n        };\n    }\n\n    /**\n     * @zh 在多边形图上寻路\n     * @en Find path on polygon graph\n     */\n    private findPolygonPath(\n        start: INavPolygon,\n        end: INavPolygon,\n        opts: Required<IPathfindingOptions>\n    ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n        interface AStarState {\n            polygon: INavPolygon;\n            g: number;\n            f: number;\n            parent: AStarState | null;\n        }\n\n        const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n        const closed = new Set<number>();\n        const states = new Map<number, AStarState>();\n\n        const startState: AStarState = {\n            polygon: start,\n            g: 0,\n            f: euclideanDistance(start.center, end.center) * opts.heuristicWeight,\n            parent: null\n        };\n\n        states.set(start.id, startState);\n        openList.push(startState);\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            nodesSearched++;\n\n            if (current.polygon.id === end.id) {\n                // Reconstruct path\n                const path: INavPolygon[] = [];\n                let state: AStarState | null = current;\n\n                while (state) {\n                    path.unshift(state.polygon);\n                    state = state.parent;\n                }\n\n                return { found: true, polygons: path, nodesSearched };\n            }\n\n            closed.add(current.polygon.id);\n\n            for (const neighborId of current.polygon.neighbors) {\n                if (closed.has(neighborId)) {\n                    continue;\n                }\n\n                const neighborPolygon = this.polygons.get(neighborId);\n                if (!neighborPolygon) {\n                    continue;\n                }\n\n                const g = current.g + euclideanDistance(\n                    current.polygon.center,\n                    neighborPolygon.center\n                );\n\n                let neighborState = states.get(neighborId);\n\n                if (!neighborState) {\n                    neighborState = {\n                        polygon: neighborPolygon,\n                        g,\n                        f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n                        parent: current\n                    };\n                    states.set(neighborId, neighborState);\n                    openList.push(neighborState);\n                } else if (g < neighborState.g) {\n                    neighborState.g = g;\n                    neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n                    neighborState.parent = current;\n                    openList.update(neighborState);\n                }\n            }\n        }\n\n        return { found: false, polygons: [], nodesSearched };\n    }\n\n    /**\n     * @zh 使用漏斗算法优化路径\n     * @en Optimize path using funnel algorithm\n     */\n    private funnelPath(\n        start: IPoint,\n        end: IPoint,\n        polygons: INavPolygon[]\n    ): IPoint[] {\n        if (polygons.length <= 1) {\n            return [start, end];\n        }\n\n        // Collect portals\n        const portals: IPortal[] = [];\n\n        for (let i = 0; i < polygons.length - 1; i++) {\n            const portal = polygons[i].portals.get(polygons[i + 1].id);\n            if (portal) {\n                portals.push(portal);\n            }\n        }\n\n        if (portals.length === 0) {\n            return [start, end];\n        }\n\n        // Simple string pulling algorithm\n        const path: IPoint[] = [start];\n\n        let apex = start;\n        let leftIndex = 0;\n        let rightIndex = 0;\n        let left = portals[0].left;\n        let right = portals[0].right;\n\n        for (let i = 1; i <= portals.length; i++) {\n            const nextLeft = i < portals.length ? portals[i].left : end;\n            const nextRight = i < portals.length ? portals[i].right : end;\n\n            // Update right\n            if (this.triArea2(apex, right, nextRight) <= 0) {\n                if (apex === right || this.triArea2(apex, left, nextRight) > 0) {\n                    right = nextRight;\n                    rightIndex = i;\n                } else {\n                    path.push(left);\n                    apex = left;\n                    leftIndex = rightIndex = leftIndex;\n                    left = right = apex;\n                    i = leftIndex;\n                    continue;\n                }\n            }\n\n            // Update left\n            if (this.triArea2(apex, left, nextLeft) >= 0) {\n                if (apex === left || this.triArea2(apex, right, nextLeft) < 0) {\n                    left = nextLeft;\n                    leftIndex = i;\n                } else {\n                    path.push(right);\n                    apex = right;\n                    leftIndex = rightIndex = rightIndex;\n                    left = right = apex;\n                    i = rightIndex;\n                    continue;\n                }\n            }\n        }\n\n        path.push(end);\n\n        return path;\n    }\n\n    /**\n     * @zh 计算三角形面积的两倍（用于判断点的相对位置）\n     * @en Calculate twice the triangle area (for point relative position)\n     */\n    private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n        return (c.x - a.x) * (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n    }\n\n    /**\n     * @zh 计算路径总长度\n     * @en Calculate total path length\n     */\n    private calculatePathLength(path: readonly IPoint[]): number {\n        let length = 0;\n\n        for (let i = 1; i < path.length; i++) {\n            length += euclideanDistance(path[i - 1], path[i]);\n        }\n\n        return length;\n    }\n\n    /**\n     * @zh 清空导航网格\n     * @en Clear navigation mesh\n     */\n    clear(): void {\n        this.polygons.clear();\n        this.nodes.clear();\n        this.nextId = 0;\n    }\n\n    /**\n     * @zh 获取所有多边形\n     * @en Get all polygons\n     */\n    getPolygons(): INavPolygon[] {\n        return Array.from(this.polygons.values());\n    }\n\n    /**\n     * @zh 获取多边形数量\n     * @en Get polygon count\n     */\n    get polygonCount(): number {\n        return this.polygons.size;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建导航网格\n * @en Create navigation mesh\n */\nexport function createNavMesh(): NavMesh {\n    return new 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