npm - @esengine/pathfinding - Versions diffs - 13.1.0 → 13.2.0 - Mend

@esengine/pathfinding 13.1.0 → 13.2.0

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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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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. 预计算集群内入口点之间的真实路径代价\n * 5. 先在抽象图上寻路，再利用缓存细化为详细路径\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. Precompute actual path costs between entrances within clusters\n * 5. First find path on abstract graph, then refine using cached paths\n /\n\nimport { IndexedBinaryHeap, IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n IPathfindingMap,\n IPoint,\n IPathResult,\n IPathfinder,\n IPathfindingOptions,\n IPathNode\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\nimport { AStarPathfinder } from './AStarPathfinder';\nimport { PathCache } from './PathCache';\n\n// =============================================================================\n// 类型定义 \| Type Definitions\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（超过此宽度会拆分或使用端点策略）\n * @en Maximum entrance width (entrances wider than this will be split or use endpoint strategy)\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 @zh 入口策略：'middle' 在中间放节点，'end' 在宽入口两端各放节点\n * @en Entrance strategy: 'middle' places node at center, 'end' places nodes at both ends for wide entrances\n /\n entranceStrategy?: 'middle' \| 'end';\n\n /\n @zh 是否延迟计算 intra-edges（大幅加速预处理，首次查询时计算真实路径）\n * @en Whether to lazily compute intra-edges (greatly speeds up preprocessing, computes actual paths on first query)\n /\n lazyIntraEdges?: 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: 64,\n maxEntranceWidth: 16,\n cacheInternalPaths: true,\n entranceStrategy: 'end',\n lazyIntraEdges: true\n};\n\n/\n @zh 抽象边信息\n * @en Abstract edge information\n /\ninterface AbstractEdge {\n /* @zh 目标节点 ID @en Target node ID /\n targetNodeId: number;\n /* @zh 边代价（真实路径代价）@en Edge cost (actual path cost) /\n cost: number;\n /* @zh 是否为跨集群边 @en Is inter-cluster edge /\n isInterEdge: boolean;\n /* @zh 缓存的具体路径（ConcreteNodeId 列表）@en Cached concrete path (ConcreteNodeId list) /\n innerPath: number[] \| null;\n}\n\n/\n @zh 抽象节点\n * @en Abstract node\n /\ninterface AbstractNode {\n /* @zh 节点 ID @en Node ID /\n id: number;\n /* @zh 位置（地图坐标）@en Position (map coordinates) /\n position: IPoint;\n /* @zh 所属集群 ID @en Cluster ID /\n clusterId: number;\n /* @zh 对应的具体地图节点 ID (y * width + x) @en Corresponding concrete node ID /\n concreteNodeId: number;\n /* @zh 出边列表 @en Outgoing edges /\n edges: AbstractEdge[];\n}\n\n/\n @zh A* 搜索节点\n * @en A* search node\n /\ninterface SearchNode extends IHeapIndexable {\n node: AbstractNode;\n g: number;\n h: number;\n f: number;\n parent: SearchNode \| null;\n closed: boolean;\n opened: boolean;\n heapIndex: number;\n}\n\n/\n @zh 入口区间（边界上连续可通行的区域）\n * @en Entrance span (continuous walkable region on boundary)\n /\ninterface EntranceSpan {\n start: number;\n end: number;\n}\n\n// =============================================================================\n// SubMap 子地图类 (Slice) \| SubMap Class (Slice)\n// =============================================================================\n\n/\n @zh 子地图 - 为集群提供隔离的地图视图\n * @en SubMap - Provides isolated map view for cluster\n \n @zh 不复制数据，只做坐标转换并委托给父地图\n * @en Doesn't copy data, just transforms coordinates and delegates to parent map\n /\nclass SubMap implements IPathfindingMap {\n readonly width: number;\n readonly height: number;\n\n constructor(\n private readonly parentMap: IPathfindingMap,\n private readonly originX: number,\n private readonly originY: number,\n width: number,\n height: number\n ) {\n this.width = width;\n this.height = height;\n }\n\n /\n @zh 局部坐标转全局坐标\n * @en Convert local to global coordinates\n /\n localToGlobal(localX: number, localY: number): IPoint {\n return {\n x: this.originX + localX,\n y: this.originY + localY\n };\n }\n\n /\n @zh 全局坐标转局部坐标\n * @en Convert global to local coordinates\n /\n globalToLocal(globalX: number, globalY: number): IPoint {\n return {\n x: globalX - this.originX,\n y: globalY - this.originY\n };\n }\n\n isWalkable(x: number, y: number): boolean {\n if (x < 0 \|\| x >= this.width \|\| y < 0 \|\| y >= this.height) {\n return false;\n }\n return this.parentMap.isWalkable(this.originX + x, this.originY + y);\n }\n\n getNodeAt(x: number, y: number): IPathNode \| null {\n if (x < 0 \|\| x >= this.width \|\| y < 0 \|\| y >= this.height) {\n return null;\n }\n const globalNode = this.parentMap.getNodeAt(this.originX + x, this.originY + y);\n if (!globalNode) return null;\n\n // 创建局部节点（调整坐标）\n return {\n id: y this.width + x,\n position: { x, y },\n cost: globalNode.cost,\n walkable: globalNode.walkable\n };\n }\n\n getNeighbors(node: IPathNode): IPathNode[] {\n const neighbors: IPathNode[] = [];\n const { x, y } = node.position;\n\n // 8方向邻居\n const directions = [\n { dx: 0, dy: -1 }, // N\n { dx: 1, dy: -1 }, // NE\n { dx: 1, dy: 0 }, // E\n { dx: 1, dy: 1 }, // SE\n { dx: 0, dy: 1 }, // S\n { dx: -1, dy: 1 }, // SW\n { dx: -1, dy: 0 }, // W\n { dx: -1, dy: -1 } // NW\n ];\n\n for (const dir of directions) {\n const nx = x + dir.dx;\n const ny = y + dir.dy;\n\n if (nx < 0 \|\| nx >= this.width \|\| ny < 0 \|\| ny >= this.height) {\n continue;\n }\n\n if (!this.isWalkable(nx, ny)) {\n continue;\n }\n\n // 对角线移动：检查是否被角落阻挡\n if (dir.dx !== 0 && dir.dy !== 0) {\n if (!this.isWalkable(x + dir.dx, y) \|\| !this.isWalkable(x, y + dir.dy)) {\n continue;\n }\n }\n\n const neighborNode = this.getNodeAt(nx, ny);\n if (neighborNode) {\n neighbors.push(neighborNode);\n }\n }\n\n return neighbors;\n }\n\n heuristic(a: IPoint, b: IPoint): number {\n // Octile 距离\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 getMovementCost(from: IPathNode, to: IPathNode): number {\n const dx = Math.abs(to.position.x - from.position.x);\n const dy = Math.abs(to.position.y - from.position.y);\n const baseCost = (dx !== 0 && dy !== 0) ? Math.SQRT2 : 1;\n return baseCost * to.cost;\n }\n}\n\n// =============================================================================\n// Cluster 集群类 \| Cluster Class\n// =============================================================================\n\n/*\n @zh 集群 - 管理地图的一个区域\n * @en Cluster - Manages a region of the map\n /\nclass Cluster {\n readonly id: number;\n readonly originX: number;\n readonly originY: number;\n readonly width: number;\n readonly height: number;\n readonly subMap: SubMap;\n\n /* @zh 集群内的抽象节点 ID 列表 @en Abstract node IDs in this cluster /\n nodeIds: number[] = [];\n\n /* @zh 预计算的距离缓存 @en Precomputed distance cache /\n private readonly distanceCache: Map<string, number> = new Map();\n\n /* @zh 预计算的路径缓存 @en Precomputed path cache /\n private readonly pathCache: Map<string, number[]> = new Map();\n\n constructor(\n id: number,\n originX: number,\n originY: number,\n width: number,\n height: number,\n parentMap: IPathfindingMap\n ) {\n this.id = id;\n this.originX = originX;\n this.originY = originY;\n this.width = width;\n this.height = height;\n this.subMap = new SubMap(parentMap, originX, originY, width, height);\n }\n\n /\n @zh 检查点是否在集群内\n * @en Check if point is in cluster\n /\n containsPoint(x: number, y: number): boolean {\n return x >= this.originX && x < this.originX + this.width &&\n y >= this.originY && y < this.originY + this.height;\n }\n\n /\n @zh 添加节点 ID\n * @en Add node ID\n /\n addNodeId(nodeId: number): void {\n if (!this.nodeIds.includes(nodeId)) {\n this.nodeIds.push(nodeId);\n }\n }\n\n /\n @zh 移除节点 ID\n * @en Remove node ID\n /\n removeNodeId(nodeId: number): void {\n const idx = this.nodeIds.indexOf(nodeId);\n if (idx !== -1) {\n this.nodeIds.splice(idx, 1);\n }\n }\n\n /\n @zh 生成缓存键\n * @en Generate cache key\n /\n private getCacheKey(fromId: number, toId: number): string {\n return `${fromId}->${toId}`;\n }\n\n /\n @zh 设置缓存\n * @en Set cache\n /\n setCache(fromId: number, toId: number, cost: number, path: number[]): void {\n const key = this.getCacheKey(fromId, toId);\n this.distanceCache.set(key, cost);\n this.pathCache.set(key, path);\n }\n\n /\n @zh 获取缓存的距离\n * @en Get cached distance\n /\n getCachedDistance(fromId: number, toId: number): number \| undefined {\n return this.distanceCache.get(this.getCacheKey(fromId, toId));\n }\n\n /\n @zh 获取缓存的路径\n * @en Get cached path\n /\n getCachedPath(fromId: number, toId: number): number[] \| undefined {\n return this.pathCache.get(this.getCacheKey(fromId, toId));\n }\n\n /\n @zh 清除缓存\n * @en Clear cache\n /\n clearCache(): void {\n this.distanceCache.clear();\n this.pathCache.clear();\n }\n\n /\n @zh 获取缓存大小\n * @en Get cache size\n /\n getCacheSize(): number {\n return this.distanceCache.size;\n }\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: Required<IHPAConfig>;\n private readonly mapWidth: number;\n private readonly mapHeight: number;\n\n // 集群管理\n private clusters: Cluster[] = [];\n private clusterGrid: (number \| null)[][] = []; // [cx][cy] -> clusterId\n private clustersX: number = 0;\n private clustersY: number = 0;\n\n // 抽象图\n private abstractNodes: Map<number, AbstractNode> = new Map();\n private nodesByCluster: Map<number, number[]> = new Map();\n private nextNodeId: number = 0;\n\n // 入口统计\n private entranceCount: number = 0;\n\n // 内部寻路器\n private readonly localPathfinder: AStarPathfinder;\n\n // 完整路径缓存\n private readonly pathCache: PathCache;\n private mapVersion: number = 0;\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 } as Required<IHPAConfig>;\n\n const bounds = this.getMapBounds();\n this.mapWidth = bounds.width;\n this.mapHeight = bounds.height;\n\n this.localPathfinder = new AStarPathfinder(map);\n this.pathCache = new PathCache({ maxEntries: 1000, ttlMs: 0 });\n }\n\n // =========================================================================\n // 公共 API \| Public API\n // =========================================================================\n\n /\n @zh 预处理地图（构建抽象图）\n * @en Preprocess map (build abstract graph)\n /\n preprocess(): void {\n this.clear();\n\n // 1. 构建集群\n this.buildClusters();\n\n // 2. 检测入口并创建抽象节点\n this.buildEntrances();\n\n // 3. 创建集群内边（计算真实代价）\n this.buildIntraEdges();\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 // 验证起点终点\n if (!this.map.isWalkable(startX, startY) \|\| !this.map.isWalkable(endX, endY)) {\n return EMPTY_PATH_RESULT;\n }\n\n // 同一点\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 // 检查路径缓存\n const cached = this.pathCache.get(startX, startY, endX, endY, this.mapVersion);\n if (cached) {\n return cached;\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 let result: IPathResult;\n\n // 同一集群：直接局部搜索\n if (startCluster.id === endCluster.id) {\n result = this.findLocalPath(startX, startY, endX, endY, opts);\n } else {\n // 跨集群：HPA 搜索\n const startTemp = this.insertTempNode(startX, startY, startCluster);\n const endTemp = this.insertTempNode(endX, endY, endCluster);\n\n const abstractPath = this.abstractSearch(startTemp, endTemp, opts);\n\n this.removeTempNode(startTemp, startCluster);\n this.removeTempNode(endTemp, endCluster);\n\n if (!abstractPath \|\| abstractPath.length === 0) {\n return EMPTY_PATH_RESULT;\n }\n\n result = this.refinePath(abstractPath, startX, startY, endX, endY, opts);\n }\n\n // 缓存结果\n if (result.found) {\n this.pathCache.set(startX, startY, endX, endY, result, this.mapVersion);\n }\n\n return result;\n }\n\n /*\n @zh 清理状态\n * @en Clear state\n /\n clear(): void {\n this.clusters = [];\n this.clusterGrid = [];\n this.abstractNodes.clear();\n this.nodesByCluster.clear();\n this.nextNodeId = 0;\n this.entranceCount = 0;\n this.pathCache.invalidateAll();\n this.mapVersion++;\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 // 找出受影响的集群并重建其 intra-edges\n const affectedClusters = this.getAffectedClusters(minX, minY, maxX, maxY);\n\n for (const cluster of affectedClusters) {\n // 清除该集群的缓存\n cluster.clearCache();\n\n // 移除该集群内所有节点的 intra-edges\n for (const nodeId of cluster.nodeIds) {\n const node = this.abstractNodes.get(nodeId);\n if (node) {\n node.edges = node.edges.filter(e => e.isInterEdge);\n }\n }\n\n // 重建 intra-edges\n this.buildClusterIntraEdges(cluster);\n }\n\n this.pathCache.invalidateRegion(minX, minY, maxX, maxY);\n this.mapVersion++;\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 let cacheSize = 0;\n for (const cluster of this.clusters) {\n cacheSize += cluster.getCacheSize();\n }\n\n return {\n clusters: this.clusters.length,\n entrances: this.entranceCount,\n abstractNodes: this.abstractNodes.size,\n cacheSize\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 /\n @zh 构建集群\n * @en Build clusters\n /\n private buildClusters(): void {\n const clusterSize = this.config.clusterSize;\n this.clustersX = Math.ceil(this.mapWidth / clusterSize);\n this.clustersY = Math.ceil(this.mapHeight / clusterSize);\n\n // 初始化集群网格\n this.clusterGrid = [];\n for (let cx = 0; cx < this.clustersX; cx++) {\n this.clusterGrid[cx] = [];\n for (let cy = 0; cy < this.clustersY; cy++) {\n this.clusterGrid[cx][cy] = null;\n }\n }\n\n // 创建集群\n let clusterId = 0;\n for (let cy = 0; cy < this.clustersY; cy++) {\n for (let cx = 0; cx < this.clustersX; cx++) {\n const originX = cx clusterSize;\n const originY = cy * clusterSize;\n const width = Math.min(clusterSize, this.mapWidth - originX);\n const height = Math.min(clusterSize, this.mapHeight - originY);\n\n const cluster = new Cluster(\n clusterId,\n originX,\n originY,\n width,\n height,\n this.map\n );\n\n this.clusters.push(cluster);\n this.clusterGrid[cx][cy] = clusterId;\n this.nodesByCluster.set(clusterId, []);\n clusterId++;\n }\n }\n }\n\n /*\n @zh 检测入口并创建抽象节点\n * @en Detect entrances and create abstract nodes\n /\n private buildEntrances(): void {\n const clusterSize = this.config.clusterSize;\n\n for (let cy = 0; cy < this.clustersY; cy++) {\n for (let cx = 0; cx < this.clustersX; cx++) {\n const clusterId = this.clusterGrid[cx][cy];\n if (clusterId === null) continue;\n\n const cluster1 = this.clusters[clusterId];\n\n // 右边相邻集群\n if (cx < this.clustersX - 1) {\n const cluster2Id = this.clusterGrid[cx + 1][cy];\n if (cluster2Id !== null) {\n const cluster2 = this.clusters[cluster2Id];\n this.detectAndCreateEntrances(cluster1, cluster2, 'vertical');\n }\n }\n\n // 下边相邻集群\n if (cy < this.clustersY - 1) {\n const cluster2Id = this.clusterGrid[cx][cy + 1];\n if (cluster2Id !== null) {\n const cluster2 = this.clusters[cluster2Id];\n this.detectAndCreateEntrances(cluster1, cluster2, 'horizontal');\n }\n }\n }\n }\n }\n\n /\n @zh 检测并创建两个相邻集群之间的入口\n * @en Detect and create entrances between two adjacent clusters\n /\n private detectAndCreateEntrances(\n cluster1: Cluster,\n cluster2: Cluster,\n boundaryDirection: 'horizontal' \| 'vertical'\n ): void {\n const spans = this.detectEntranceSpans(cluster1, cluster2, boundaryDirection);\n\n for (const span of spans) {\n this.createEntranceNodes(cluster1, cluster2, span, boundaryDirection);\n }\n }\n\n /\n @zh 检测边界上的连续可通行区间\n * @en Detect continuous walkable spans on boundary\n /\n private detectEntranceSpans(\n cluster1: Cluster,\n cluster2: Cluster,\n boundaryDirection: 'horizontal' \| 'vertical'\n ): EntranceSpan[] {\n const spans: EntranceSpan[] = [];\n\n if (boundaryDirection === 'vertical') {\n // cluster1 在左，cluster2 在右\n const x1 = cluster1.originX + cluster1.width - 1;\n const x2 = cluster2.originX;\n const startY = Math.max(cluster1.originY, cluster2.originY);\n const endY = Math.min(\n cluster1.originY + cluster1.height,\n cluster2.originY + cluster2.height\n );\n\n let spanStart: number \| null = null;\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 (spanStart === null) {\n spanStart = y;\n }\n } else {\n if (spanStart !== null) {\n spans.push({ start: spanStart, end: y - 1 });\n spanStart = null;\n }\n }\n }\n\n if (spanStart !== null) {\n spans.push({ start: spanStart, end: endY - 1 });\n }\n } else {\n // cluster1 在上，cluster2 在下\n const y1 = cluster1.originY + cluster1.height - 1;\n const y2 = cluster2.originY;\n const startX = Math.max(cluster1.originX, cluster2.originX);\n const endX = Math.min(\n cluster1.originX + cluster1.width,\n cluster2.originX + cluster2.width\n );\n\n let spanStart: number \| null = null;\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 (spanStart === null) {\n spanStart = x;\n }\n } else {\n if (spanStart !== null) {\n spans.push({ start: spanStart, end: x - 1 });\n spanStart = null;\n }\n }\n }\n\n if (spanStart !== null) {\n spans.push({ start: spanStart, end: endX - 1 });\n }\n }\n\n return spans;\n }\n\n /\n @zh 为入口区间创建抽象节点\n * @en Create abstract nodes for entrance span\n /\n private createEntranceNodes(\n cluster1: Cluster,\n cluster2: Cluster,\n span: EntranceSpan,\n boundaryDirection: 'horizontal' \| 'vertical'\n ): void {\n const spanLength = span.end - span.start + 1;\n const maxWidth = this.config.maxEntranceWidth;\n const strategy = this.config.entranceStrategy;\n\n // 确定要放置节点的位置\n const positions: number[] = [];\n\n if (spanLength <= maxWidth) {\n // 窄入口：放在中间\n positions.push(Math.floor((span.start + span.end) / 2));\n } else {\n // 宽入口：均匀分布多个节点\n // Wide entrance: distribute multiple nodes evenly\n const numNodes = Math.ceil(spanLength / maxWidth);\n const spacing = spanLength / numNodes;\n\n for (let i = 0; i < numNodes; i++) {\n // 在每个子区间的中心放置节点\n const pos = Math.floor(span.start + spacing (i + 0.5));\n positions.push(Math.min(pos, span.end));\n }\n\n // 如果使用 'end' 策略，确保两端也有节点\n if (strategy === 'end') {\n if (!positions.includes(span.start)) {\n positions.unshift(span.start);\n }\n if (!positions.includes(span.end)) {\n positions.push(span.end);\n }\n }\n }\n\n // 为每个位置创建节点对\n for (const pos of positions) {\n let p1: IPoint, p2: IPoint;\n\n if (boundaryDirection === 'vertical') {\n // cluster1 在左，cluster2 在右\n p1 = { x: cluster1.originX + cluster1.width - 1, y: pos };\n p2 = { x: cluster2.originX, y: pos };\n } else {\n // cluster1 在上，cluster2 在下\n p1 = { x: pos, y: cluster1.originY + cluster1.height - 1 };\n p2 = { x: pos, y: cluster2.originY };\n }\n\n // 创建节点对\n const node1 = this.createAbstractNode(p1, cluster1);\n const node2 = this.createAbstractNode(p2, cluster2);\n\n // 创建 inter-edge（代价为 1，相邻格子）\n const interCost = 1;\n\n node1.edges.push({\n targetNodeId: node2.id,\n cost: interCost,\n isInterEdge: true,\n innerPath: null\n });\n\n node2.edges.push({\n targetNodeId: node1.id,\n cost: interCost,\n isInterEdge: true,\n innerPath: null\n });\n\n this.entranceCount++;\n }\n }\n\n /*\n @zh 创建抽象节点\n * @en Create abstract node\n /\n private createAbstractNode(position: IPoint, cluster: Cluster): AbstractNode {\n // 检查是否已存在相同位置的节点\n const concreteId = position.y this.mapWidth + position.x;\n\n for (const nodeId of cluster.nodeIds) {\n const existing = this.abstractNodes.get(nodeId);\n if (existing && existing.concreteNodeId === concreteId) {\n return existing;\n }\n }\n\n // 创建新节点\n const node: AbstractNode = {\n id: this.nextNodeId++,\n position: { x: position.x, y: position.y },\n clusterId: cluster.id,\n concreteNodeId: concreteId,\n edges: []\n };\n\n this.abstractNodes.set(node.id, node);\n cluster.addNodeId(node.id);\n\n const clusterNodes = this.nodesByCluster.get(cluster.id);\n if (clusterNodes) {\n clusterNodes.push(node.id);\n }\n\n return node;\n }\n\n /*\n @zh 构建所有集群的 intra-edges\n * @en Build intra-edges for all clusters\n /\n private buildIntraEdges(): void {\n for (const cluster of this.clusters) {\n this.buildClusterIntraEdges(cluster);\n }\n }\n\n /\n @zh 构建单个集群的 intra-edges\n * @en Build intra-edges for single cluster\n /\n private buildClusterIntraEdges(cluster: Cluster): void {\n const nodeIds = cluster.nodeIds;\n\n if (nodeIds.length < 2) return;\n\n if (this.config.lazyIntraEdges) {\n // 延迟计算模式：只用启发式距离创建边，真实路径在首次使用时计算\n this.buildLazyIntraEdges(cluster);\n } else {\n // 立即计算模式：预处理时计算所有真实路径\n this.buildEagerIntraEdges(cluster);\n }\n }\n\n /\n @zh 延迟构建 intra-edges（只用启发式距离）\n * @en Build lazy intra-edges (using heuristic distance only)\n /\n private buildLazyIntraEdges(cluster: Cluster): void {\n const nodeIds = cluster.nodeIds;\n\n for (let i = 0; i < nodeIds.length; i++) {\n for (let j = i + 1; j < nodeIds.length; j++) {\n const node1 = this.abstractNodes.get(nodeIds[i])!;\n const node2 = this.abstractNodes.get(nodeIds[j])!;\n\n // 使用启发式距离作为估计代价\n const heuristicCost = this.heuristic(node1.position, node2.position);\n\n // 创建双向 intra-edge（innerPath = null 表示未计算）\n node1.edges.push({\n targetNodeId: node2.id,\n cost: heuristicCost,\n isInterEdge: false,\n innerPath: null // 标记为未计算\n });\n\n node2.edges.push({\n targetNodeId: node1.id,\n cost: heuristicCost,\n isInterEdge: false,\n innerPath: null\n });\n }\n }\n }\n\n /\n @zh 立即构建 intra-edges（计算真实路径）\n * @en Build eager intra-edges (compute actual paths)\n /\n private buildEagerIntraEdges(cluster: Cluster): void {\n const nodeIds = cluster.nodeIds;\n\n // 为子地图创建 A 寻路器\n const subPathfinder = new AStarPathfinder(cluster.subMap);\n\n // 计算所有节点对之间的真实路径\n for (let i = 0; i < nodeIds.length; i++) {\n for (let j = i + 1; j < nodeIds.length; j++) {\n const node1 = this.abstractNodes.get(nodeIds[i])!;\n const node2 = this.abstractNodes.get(nodeIds[j])!;\n\n // 转换为局部坐标\n const local1 = cluster.subMap.globalToLocal(node1.position.x, node1.position.y);\n const local2 = cluster.subMap.globalToLocal(node2.position.x, node2.position.y);\n\n // A* 计算真实路径\n const result = subPathfinder.findPath(\n local1.x, local1.y,\n local2.x, local2.y\n );\n\n if (result.found && result.path.length > 0) {\n // 转换路径为全局 ConcreteNodeId\n const globalPath: number[] = result.path.map(p => {\n const global = cluster.subMap.localToGlobal(p.x, p.y);\n return global.y * this.mapWidth + global.x;\n });\n\n // 缓存到集群\n if (this.config.cacheInternalPaths) {\n cluster.setCache(node1.id, node2.id, result.cost, globalPath);\n cluster.setCache(node2.id, node1.id, result.cost, [...globalPath].reverse());\n }\n\n // 创建双向 intra-edge\n node1.edges.push({\n targetNodeId: node2.id,\n cost: result.cost,\n isInterEdge: false,\n innerPath: this.config.cacheInternalPaths ? globalPath : null\n });\n\n node2.edges.push({\n targetNodeId: node1.id,\n cost: result.cost,\n isInterEdge: false,\n innerPath: this.config.cacheInternalPaths ? [...globalPath].reverse() : null\n });\n }\n // 如果路径不存在，不创建边（集群内不连通）\n }\n }\n }\n\n /*\n @zh 按需计算 intra-edge 的真实路径\n * @en Compute actual path for intra-edge on demand\n /\n private computeIntraEdgePath(\n fromNode: AbstractNode,\n toNode: AbstractNode,\n edge: AbstractEdge\n ): { cost: number; path: number[] } \| null {\n const cluster = this.clusters[fromNode.clusterId];\n if (!cluster) return null;\n\n // 检查集群缓存\n const cachedPath = cluster.getCachedPath(fromNode.id, toNode.id);\n const cachedCost = cluster.getCachedDistance(fromNode.id, toNode.id);\n if (cachedPath && cachedCost !== undefined) {\n // 更新边的代价和路径\n edge.cost = cachedCost;\n (edge as any).innerPath = cachedPath;\n return { cost: cachedCost, path: cachedPath };\n }\n\n // 计算真实路径\n const subPathfinder = new AStarPathfinder(cluster.subMap);\n const local1 = cluster.subMap.globalToLocal(fromNode.position.x, fromNode.position.y);\n const local2 = cluster.subMap.globalToLocal(toNode.position.x, toNode.position.y);\n\n const result = subPathfinder.findPath(local1.x, local1.y, local2.x, local2.y);\n\n if (result.found && result.path.length > 0) {\n // 转换路径为全局 ConcreteNodeId\n const globalPath: number[] = result.path.map(p => {\n const global = cluster.subMap.localToGlobal(p.x, p.y);\n return global.y this.mapWidth + global.x;\n });\n\n // 缓存结果\n if (this.config.cacheInternalPaths) {\n cluster.setCache(fromNode.id, toNode.id, result.cost, globalPath);\n // 也缓存反向路径\n cluster.setCache(toNode.id, fromNode.id, result.cost, [...globalPath].reverse());\n }\n\n // 更新边\n edge.cost = result.cost;\n (edge as any).innerPath = globalPath;\n\n // 更新反向边\n const reverseEdge = toNode.edges.find(e => e.targetNodeId === fromNode.id);\n if (reverseEdge) {\n reverseEdge.cost = result.cost;\n (reverseEdge as any).innerPath = [...globalPath].reverse();\n }\n\n return { cost: result.cost, path: globalPath };\n }\n\n return null;\n }\n\n // =========================================================================\n // 搜索方法 \| Search Methods\n // =========================================================================\n\n /*\n @zh 获取指定位置的集群\n * @en Get cluster at position\n /\n private getClusterAt(x: number, y: number): Cluster \| null {\n const cx = Math.floor(x / this.config.clusterSize);\n const cy = Math.floor(y / this.config.clusterSize);\n\n if (cx < 0 \|\| cx >= this.clustersX \|\| cy < 0 \|\| cy >= this.clustersY) {\n return null;\n }\n\n const clusterId = this.clusterGrid[cx]?.[cy];\n if (clusterId === null \|\| clusterId === undefined) {\n return null;\n }\n\n return this.clusters[clusterId] \|\| null;\n }\n\n /\n @zh 获取受影响的集群\n * @en Get affected clusters\n /\n private getAffectedClusters(minX: number, minY: number, maxX: number, maxY: number): Cluster[] {\n const affected: Cluster[] = [];\n const clusterSize = this.config.clusterSize;\n\n const minCX = Math.floor(minX / clusterSize);\n const maxCX = Math.floor(maxX / clusterSize);\n const minCY = Math.floor(minY / clusterSize);\n const maxCY = Math.floor(maxY / clusterSize);\n\n for (let cy = minCY; cy <= maxCY; cy++) {\n for (let cx = minCX; cx <= maxCX; cx++) {\n if (cx >= 0 && cx < this.clustersX && cy >= 0 && cy < this.clustersY) {\n const clusterId = this.clusterGrid[cx]?.[cy];\n if (clusterId !== null && clusterId !== undefined) {\n affected.push(this.clusters[clusterId]);\n }\n }\n }\n }\n\n return affected;\n }\n\n /\n @zh 插入临时节点\n * @en Insert temporary node\n /\n private insertTempNode(x: number, y: number, cluster: Cluster): AbstractNode {\n const concreteId = y this.mapWidth + x;\n\n // 检查是否已存在该位置的节点\n for (const nodeId of cluster.nodeIds) {\n const existing = this.abstractNodes.get(nodeId);\n if (existing && existing.concreteNodeId === concreteId) {\n return existing;\n }\n }\n\n // 创建临时节点\n const tempNode: AbstractNode = {\n id: this.nextNodeId++,\n position: { x, y },\n clusterId: cluster.id,\n concreteNodeId: concreteId,\n edges: []\n };\n\n this.abstractNodes.set(tempNode.id, tempNode);\n cluster.addNodeId(tempNode.id);\n\n // 计算到集群内所有其他节点的真实路径\n const subPathfinder = new AStarPathfinder(cluster.subMap);\n const localPos = cluster.subMap.globalToLocal(x, y);\n\n for (const existingNodeId of cluster.nodeIds) {\n if (existingNodeId === tempNode.id) continue;\n\n const existingNode = this.abstractNodes.get(existingNodeId);\n if (!existingNode) continue;\n\n const targetLocalPos = cluster.subMap.globalToLocal(\n existingNode.position.x,\n existingNode.position.y\n );\n\n const result = subPathfinder.findPath(\n localPos.x, localPos.y,\n targetLocalPos.x, targetLocalPos.y\n );\n\n if (result.found && result.path.length > 0) {\n // 转换路径\n const globalPath: number[] = result.path.map(p => {\n const global = cluster.subMap.localToGlobal(p.x, p.y);\n return global.y * this.mapWidth + global.x;\n });\n\n // 添加双向边\n tempNode.edges.push({\n targetNodeId: existingNode.id,\n cost: result.cost,\n isInterEdge: false,\n innerPath: globalPath\n });\n\n existingNode.edges.push({\n targetNodeId: tempNode.id,\n cost: result.cost,\n isInterEdge: false,\n innerPath: [...globalPath].reverse()\n });\n }\n }\n\n return tempNode;\n }\n\n /*\n @zh 移除临时节点\n * @en Remove temporary node\n /\n private removeTempNode(node: AbstractNode, cluster: Cluster): void {\n // 移除其他节点指向此节点的边\n for (const existingNodeId of cluster.nodeIds) {\n if (existingNodeId === node.id) continue;\n\n const existingNode = this.abstractNodes.get(existingNodeId);\n if (existingNode) {\n existingNode.edges = existingNode.edges.filter(\n e => e.targetNodeId !== node.id\n );\n }\n }\n\n // 从集群和图中移除\n cluster.removeNodeId(node.id);\n this.abstractNodes.delete(node.id);\n }\n\n /\n @zh 在抽象图上进行 A* 搜索\n * @en Perform A* search on abstract graph\n /\n private abstractSearch(\n startNode: AbstractNode,\n endNode: AbstractNode,\n opts: Required<IPathfindingOptions>\n ): AbstractNode[] \| null {\n const openList = new IndexedBinaryHeap<SearchNode>((a, b) => a.f - b.f);\n const nodeMap = new Map<number, SearchNode>();\n\n const endPosition = endNode.position;\n\n // 初始化起点\n const h = this.heuristic(startNode.position, endPosition) opts.heuristicWeight;\n const startSearchNode: SearchNode = {\n node: startNode,\n g: 0,\n h,\n f: h,\n parent: null,\n closed: false,\n opened: true,\n heapIndex: -1\n };\n\n openList.push(startSearchNode);\n nodeMap.set(startNode.id, startSearchNode);\n\n let nodesSearched = 0;\n\n while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n const current = openList.pop()!;\n current.closed = true;\n nodesSearched++;\n\n // 找到目标\n if (current.node.id === endNode.id) {\n return this.reconstructPath(current);\n }\n\n // 扩展邻居\n for (const edge of current.node.edges) {\n let neighbor = nodeMap.get(edge.targetNodeId);\n\n if (!neighbor) {\n const neighborNode = this.abstractNodes.get(edge.targetNodeId);\n if (!neighborNode) continue;\n\n const nh = this.heuristic(neighborNode.position, endPosition) * opts.heuristicWeight;\n neighbor = {\n node: neighborNode,\n g: Infinity,\n h: nh,\n f: Infinity,\n parent: null,\n closed: false,\n opened: false,\n heapIndex: -1\n };\n nodeMap.set(edge.targetNodeId, neighbor);\n }\n\n if (neighbor.closed) continue;\n\n const tentativeG = current.g + edge.cost;\n\n if (!neighbor.opened) {\n neighbor.g = tentativeG;\n neighbor.f = tentativeG + neighbor.h;\n neighbor.parent = current;\n neighbor.opened = true;\n openList.push(neighbor);\n } else if (tentativeG < neighbor.g) {\n neighbor.g = tentativeG;\n neighbor.f = tentativeG + neighbor.h;\n neighbor.parent = current;\n openList.update(neighbor);\n }\n }\n }\n\n return null;\n }\n\n /*\n @zh 重建抽象路径\n * @en Reconstruct abstract path\n /\n private reconstructPath(endNode: SearchNode): AbstractNode[] {\n const path: AbstractNode[] = [];\n let current: SearchNode \| null = endNode;\n\n while (current) {\n path.unshift(current.node);\n current = current.parent;\n }\n\n return path;\n }\n\n /\n @zh 细化抽象路径为具体路径\n * @en Refine abstract path to concrete path\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 if (abstractPath.length === 0) {\n return EMPTY_PATH_RESULT;\n }\n\n const fullPath: IPoint[] = [];\n let totalCost = 0;\n let nodesSearched = abstractPath.length;\n\n // 处理抽象路径中的每一段\n for (let i = 0; i < abstractPath.length - 1; i++) {\n const fromNode = abstractPath[i];\n const toNode = abstractPath[i + 1];\n\n // 查找连接边\n const edge = fromNode.edges.find(e => e.targetNodeId === toNode.id);\n\n if (!edge) {\n // 边不存在，需要实时计算\n const segResult = this.findLocalPath(\n fromNode.position.x, fromNode.position.y,\n toNode.position.x, toNode.position.y,\n opts\n );\n\n if (segResult.found) {\n this.appendPath(fullPath, segResult.path);\n totalCost += segResult.cost;\n nodesSearched += segResult.nodesSearched;\n }\n } else if (edge.isInterEdge) {\n // Inter-edge：直接连接\n if (fullPath.length === 0 \|\|\n fullPath[fullPath.length - 1].x !== fromNode.position.x \|\|\n fullPath[fullPath.length - 1].y !== fromNode.position.y) {\n fullPath.push({ x: fromNode.position.x, y: fromNode.position.y });\n }\n fullPath.push({ x: toNode.position.x, y: toNode.position.y });\n totalCost += edge.cost;\n } else if (edge.innerPath && edge.innerPath.length > 0) {\n // Intra-edge：使用缓存路径\n const concretePath = edge.innerPath.map(id => ({\n x: id % this.mapWidth,\n y: Math.floor(id / this.mapWidth)\n }));\n this.appendPath(fullPath, concretePath);\n totalCost += edge.cost;\n } else {\n // Lazy intra-edge 或没有缓存路径：按需计算真实路径\n // Lazy intra-edge or no cached path: compute actual path on demand\n const computed = this.computeIntraEdgePath(fromNode, toNode, edge);\n\n if (computed && computed.path.length > 0) {\n // 使用计算出的路径\n const concretePath = computed.path.map(id => ({\n x: id % this.mapWidth,\n y: Math.floor(id / this.mapWidth)\n }));\n this.appendPath(fullPath, concretePath);\n totalCost += computed.cost;\n } else {\n // 路径计算失败，回退到实时搜索\n // Path computation failed, fall back to real-time search\n const segResult = this.findLocalPath(\n fromNode.position.x, fromNode.position.y,\n toNode.position.x, toNode.position.y,\n opts\n );\n\n if (segResult.found) {\n this.appendPath(fullPath, segResult.path);\n totalCost += segResult.cost;\n nodesSearched += segResult.nodesSearched;\n }\n }\n }\n }\n\n // 确保起点正确\n if (fullPath.length > 0 && (fullPath[0].x !== startX \|\| fullPath[0].y !== startY)) {\n // 连接起点到路径开头\n const firstPoint = fullPath[0];\n if (Math.abs(firstPoint.x - startX) <= 1 && Math.abs(firstPoint.y - startY) <= 1) {\n fullPath.unshift({ x: startX, y: startY });\n } else {\n const segResult = this.findLocalPath(startX, startY, firstPoint.x, firstPoint.y, opts);\n if (segResult.found) {\n fullPath.splice(0, 0, ...segResult.path.slice(0, -1));\n totalCost += segResult.cost;\n }\n }\n }\n\n // 确保终点正确\n if (fullPath.length > 0) {\n const lastPoint = fullPath[fullPath.length - 1];\n if (lastPoint.x !== endX \|\| lastPoint.y !== endY) {\n if (Math.abs(lastPoint.x - endX) <= 1 && Math.abs(lastPoint.y - endY) <= 1) {\n fullPath.push({ x: endX, y: endY });\n } else {\n const segResult = this.findLocalPath(lastPoint.x, lastPoint.y, endX, endY, opts);\n if (segResult.found) {\n fullPath.push(...segResult.path.slice(1));\n totalCost += segResult.cost;\n }\n }\n }\n }\n\n return {\n found: fullPath.length > 0,\n path: fullPath,\n cost: totalCost,\n nodesSearched\n };\n }\n\n /\n @zh 追加路径（避免重复点）\n * @en Append path (avoid duplicate points)\n /\n private appendPath(fullPath: IPoint[], segment: readonly IPoint[]): void {\n if (segment.length === 0) return;\n\n let startIdx = 0;\n\n // 避免重复第一个点\n if (fullPath.length > 0) {\n const last = fullPath[fullPath.length - 1];\n if (last.x === segment[0].x && last.y === segment[0].y) {\n startIdx = 1;\n }\n }\n\n for (let i = startIdx; i < segment.length; i++) {\n fullPath.push({ x: segment[i].x, y: segment[i].y });\n }\n }\n\n /\n @zh 局部寻路\n * @en Local pathfinding\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 /\n @zh 启发式函数（Octile 距离）\n * @en Heuristic function (Octile distance)\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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