@esengine/pathfinding 13.1.0 → 13.3.0

package/dist/chunk-3VEX32JO.js.map

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+{"version":3,"sources":["../src/avoidance/ILocalAvoidance.ts","../src/avoidance/LinearProgram.ts","../src/avoidance/ObstacleBuilder.ts","../src/avoidance/ORCASolver.ts","../src/avoidance/KDTree.ts","../src/avoidance/CollisionResolver.ts"],"sourcesContent":["/**\n * @zh ORCA 局部避让接口定义\n * @en ORCA Local Avoidance Interface Definitions\n */\n\nimport type { IVector2 } from '@esengine/ecs-framework-math';\n\nexport type { IVector2 };\n\n/**\n * @zh ORCA 约束线（半平面）\n * @en ORCA constraint line (half-plane)\n *\n * @zh 约束线定义了一个半平面，代理的速度必须在允许的一侧\n * @en A constraint line defines a half-plane, agent's velocity must be on the allowed side\n */\nexport interface IORCALine {\n    /**\n     * @zh 线上的一点\n     * @en A point on the line\n     */\n    point: IVector2;\n\n    /**\n     * @zh 线的方向向量（单位向量，允许区域在左侧）\n     * @en Direction vector of the line (unit vector, allowed region is on the left)\n     */\n    direction: IVector2;\n}\n\n// =============================================================================\n// 代理数据 | Agent Data\n// =============================================================================\n\n/**\n * @zh 避让代理数据\n * @en Avoidance agent data\n *\n * @zh 包含计算 ORCA 所需的所有代理信息\n * @en Contains all agent information needed for ORCA computation\n */\nexport interface IAvoidanceAgent {\n    /**\n     * @zh 代理唯一标识\n     * @en Unique identifier for the agent\n     */\n    id: number;\n\n    /**\n     * @zh 当前位置\n     * @en Current position\n     */\n    position: IVector2;\n\n    /**\n     * @zh 当前速度\n     * @en Current velocity\n     */\n    velocity: IVector2;\n\n    /**\n     * @zh 首选速度（通常指向目标方向）\n     * @en Preferred velocity (usually towards target)\n     */\n    preferredVelocity: IVector2;\n\n    /**\n     * @zh 代理半径\n     * @en Agent radius\n     */\n    radius: number;\n\n    /**\n     * @zh 最大速度\n     * @en Maximum speed\n     */\n    maxSpeed: number;\n\n    /**\n     * @zh 邻居检测距离\n     * @en Neighbor detection distance\n     */\n    neighborDist: number;\n\n    /**\n     * @zh 最大邻居数量\n     * @en Maximum number of neighbors to consider\n     */\n    maxNeighbors: number;\n\n    /**\n     * @zh 代理避让时间视野（秒）\n     * @en Time horizon for agent avoidance (seconds)\n     *\n     * @zh 更大的值会让代理更早开始避让\n     * @en Larger values make agents start avoiding earlier\n     */\n    timeHorizon: number;\n\n    /**\n     * @zh 障碍物避让时间视野（秒）\n     * @en Time horizon for obstacle avoidance (seconds)\n     */\n    timeHorizonObst: number;\n}\n\n// =============================================================================\n// 障碍物 | Obstacles\n// =============================================================================\n\n/**\n * @zh 静态障碍物顶点（链表节点）\n * @en Static obstacle vertex (linked list node)\n */\nexport interface IObstacleVertex {\n    /**\n     * @zh 顶点位置\n     * @en Vertex position\n     */\n    point: IVector2;\n\n    /**\n     * @zh 下一个顶点（构成障碍物边，循环链表）\n     * @en Next vertex (forms obstacle edge, circular linked list)\n     */\n    next: IObstacleVertex;\n\n    /**\n     * @zh 前一个顶点（循环链表）\n     * @en Previous vertex (circular linked list)\n     */\n    previous: IObstacleVertex;\n\n    /**\n     * @zh 边的单位方向向量（从此顶点指向 next 顶点）\n     * @en Unit direction vector of edge (from this vertex towards next vertex)\n     */\n    direction: IVector2;\n\n    /**\n     * @zh 是否为凸顶点\n     * @en Whether this is a convex vertex\n     */\n    isConvex: boolean;\n\n    /**\n     * @zh 顶点 ID（用于调试）\n     * @en Vertex ID (for debugging)\n     */\n    id: number;\n}\n\n/**\n * @zh 静态障碍物（多边形）\n * @en Static obstacle (polygon)\n *\n * @zh 重要：顶点必须按逆时针（CCW）顺序排列（在 Y 轴向上的坐标系中）\n * @en Important: Vertices must be in counter-clockwise (CCW) order (in Y-axis up coordinate system)\n *\n * @zh 可以使用 math 库中的 Polygon.ensureCCW() 确保正确顺序\n * @en Use Polygon.ensureCCW() from math library to ensure correct order\n *\n * @zh 在 Y 轴向下的坐标系（如 Canvas）中，视觉上的 CCW 需要传入 yAxisDown=true\n * @en In Y-axis down coordinate system (like Canvas), use yAxisDown=true for visual CCW\n *\n * @example\n * ```typescript\n * import { Polygon } from '@esengine/ecs-framework-math';\n *\n * // 标准 Y 轴向上坐标系\n * const obstacle: IObstacle = {\n *     vertices: Polygon.ensureCCW(myVertices)\n * };\n *\n * // Canvas/屏幕坐标系（Y 轴向下）\n * const obstacle: IObstacle = {\n *     vertices: Polygon.ensureCCW(myVertices, true)\n * };\n * ```\n */\nexport interface IObstacle {\n    /**\n     * @zh 顶点列表（逆时针顺序，Y 轴向上坐标系）\n     * @en Vertex list (counter-clockwise order in Y-axis up coordinate system)\n     */\n    vertices: IVector2[];\n}\n\n// =============================================================================\n// 求解器接口 | Solver Interface\n// =============================================================================\n\n/**\n * @zh ORCA 求解器配置\n * @en ORCA solver configuration\n */\nexport interface IORCASolverConfig {\n    /**\n     * @zh 默认时间视野（代理）\n     * @en Default time horizon for agents\n     */\n    defaultTimeHorizon?: number;\n\n    /**\n     * @zh 默认时间视野（障碍物）\n     * @en Default time horizon for obstacles\n     */\n    defaultTimeHorizonObst?: number;\n\n    /**\n     * @zh 时间步长（用于碰撞响应）\n     * @en Time step (for collision response)\n     */\n    timeStep?: number;\n\n    /**\n     * @zh 数值精度阈值\n     * @en Numerical precision threshold\n     */\n    epsilon?: number;\n\n    /**\n     * @zh 是否使用 Y 轴向下的坐标系（如 Canvas/屏幕坐标）\n     * @en Whether using Y-axis down coordinate system (like Canvas/screen coords)\n     *\n     * @zh 这会影响障碍物顶点顺序的判断（CCW 检测）\n     * @en This affects obstacle vertex order detection (CCW check)\n     *\n     * @default false\n     */\n    yAxisDown?: boolean;\n}\n\n/**\n * @zh ORCA 求解结果\n * @en ORCA solve result\n */\nexport interface IORCAResult {\n    /**\n     * @zh 计算得到的新速度\n     * @en Computed new velocity\n     */\n    velocity: IVector2;\n\n    /**\n     * @zh 是否找到可行解（满足所有约束）\n     * @en Whether a feasible solution was found (satisfies all constraints)\n     */\n    feasible: boolean;\n\n    /**\n     * @zh 生成的 ORCA 约束线数量\n     * @en Number of ORCA lines generated\n     */\n    numLines: number;\n\n    /**\n     * @zh 违反的约束数量\n     * @en Number of violated constraints\n     */\n    violatedConstraints: number;\n}\n\n/**\n * @zh ORCA 求解器接口\n * @en ORCA solver interface\n */\nexport interface IORCASolver {\n    /**\n     * @zh 计算代理的新速度\n     * @en Compute new velocity for agent\n     *\n     * @param agent - @zh 当前代理 @en Current agent\n     * @param neighbors - @zh 邻近代理列表 @en List of neighbor agents\n     * @param obstacles - @zh 静态障碍物列表 @en List of static obstacles\n     * @param deltaTime - @zh 时间步长 @en Time step\n     * @returns @zh 新速度 @en New velocity\n     */\n    computeNewVelocity(\n        agent: IAvoidanceAgent,\n        neighbors: readonly IAvoidanceAgent[],\n        obstacles: readonly IObstacle[],\n        deltaTime: number\n    ): IVector2;\n}\n\n// =============================================================================\n// 空间索引接口 | Spatial Index Interface\n// =============================================================================\n\n/**\n * @zh 邻居查询结果\n * @en Neighbor query result\n */\nexport interface INeighborResult {\n    /**\n     * @zh 代理数据\n     * @en Agent data\n     */\n    agent: IAvoidanceAgent;\n\n    /**\n     * @zh 距离的平方\n     * @en Squared distance\n     */\n    distanceSq: number;\n}\n\n/**\n * @zh 空间索引接口（用于快速邻居查询）\n * @en Spatial index interface (for fast neighbor queries)\n */\nexport interface ISpatialIndex {\n    /**\n     * @zh 构建空间索引\n     * @en Build spatial index\n     *\n     * @param agents - @zh 代理列表 @en List of agents\n     */\n    build(agents: readonly IAvoidanceAgent[]): void;\n\n    /**\n     * @zh 查询指定范围内的邻居\n     * @en Query neighbors within specified range\n     *\n     * @param position - @zh 查询位置 @en Query position\n     * @param radius - @zh 查询半径 @en Query radius\n     * @param maxResults - @zh 最大返回数量 @en Maximum number of results\n     * @param excludeId - @zh 排除的代理 ID @en Agent ID to exclude\n     * @returns @zh 邻居列表（按距离排序）@en List of neighbors (sorted by distance)\n     */\n    queryNeighbors(\n        position: IVector2,\n        radius: number,\n        maxResults: number,\n        excludeId?: number\n    ): INeighborResult[];\n\n    /**\n     * @zh 清空索引\n     * @en Clear the index\n     */\n    clear(): void;\n}\n\n// =============================================================================\n// 默认配置 | Default Configuration\n// =============================================================================\n\n/**\n * @zh 默认 ORCA 求解器配置\n * @en Default ORCA solver configuration\n */\nexport const DEFAULT_ORCA_CONFIG: Required<IORCASolverConfig> = {\n    defaultTimeHorizon: 2.0,\n    defaultTimeHorizonObst: 1.0,\n    timeStep: 1 / 60,\n    epsilon: 0.00001,\n    yAxisDown: false\n};\n\n/**\n * @zh 默认代理参数\n * @en Default agent parameters\n */\nexport const DEFAULT_AGENT_PARAMS = {\n    radius: 0.5,\n    maxSpeed: 5.0,\n    neighborDist: 15.0,\n    maxNeighbors: 10,\n    timeHorizon: 2.0,\n    timeHorizonObst: 1.0\n};\n","/**\n * @zh 2D 线性规划求解器\n * @en 2D Linear Programming Solver\n *\n * @zh 用于 ORCA 算法中的速度优化求解\n * @en Used for velocity optimization in ORCA algorithm\n */\n\nimport { Vector2, type IVector2 } from '@esengine/ecs-framework-math';\nimport type { IORCALine } from './ILocalAvoidance';\n\n// =============================================================================\n// 常量 | Constants\n// =============================================================================\n\n/**\n * @zh 数值精度阈值\n * @en Numerical precision threshold\n */\nconst EPSILON = 0.00001;\n\nconst { dot, det, lengthSq } = Vector2;\n\n// =============================================================================\n// 线性规划求解 | Linear Programming Solver\n// =============================================================================\n\n/**\n * @zh 1D 线性规划\n * @en 1D Linear Programming\n *\n * @zh 在一条线上找到满足约束的最优点\n * @en Find optimal point on a line that satisfies constraints\n *\n * @param lines - @zh 约束线列表 @en List of constraint lines\n * @param lineNo - @zh 当前处理的线索引 @en Index of current line being processed\n * @param radius - @zh 最大速度（圆盘半径）@en Maximum speed (disk radius)\n * @param optVelocity - @zh 首选速度 @en Preferred velocity\n * @param directionOpt - @zh 是否优化方向 @en Whether to optimize direction\n * @param result - @zh 结果向量（输出）@en Result vector (output)\n * @returns @zh 是否找到可行解 @en Whether a feasible solution was found\n */\nfunction linearProgram1(\n    lines: readonly IORCALine[],\n    lineNo: number,\n    radius: number,\n    optVelocity: IVector2,\n    directionOpt: boolean,\n    result: Vector2\n): boolean {\n    const line = lines[lineNo]!;\n    const dotProduct = dot(line.point, line.direction);\n    const discriminant = dotProduct * dotProduct + radius * radius - lengthSq(line.point);\n\n    if (discriminant < 0) {\n        return false;\n    }\n\n    const sqrtDiscriminant = Math.sqrt(discriminant);\n    let tLeft = -dotProduct - sqrtDiscriminant;\n    let tRight = -dotProduct + sqrtDiscriminant;\n\n    for (let i = 0; i < lineNo; i++) {\n        const constraint = lines[i]!;\n        const denominator = det(line.direction, constraint.direction);\n        const numerator = det(constraint.direction, {\n            x: line.point.x - constraint.point.x,\n            y: line.point.y - constraint.point.y\n        });\n\n        if (Math.abs(denominator) <= EPSILON) {\n            if (numerator < 0) {\n                return false;\n            }\n            continue;\n        }\n\n        const t = numerator / denominator;\n\n        if (denominator >= 0) {\n            tRight = Math.min(tRight, t);\n        } else {\n            tLeft = Math.max(tLeft, t);\n        }\n\n        if (tLeft > tRight) {\n            return false;\n        }\n    }\n\n    let t: number;\n    if (directionOpt) {\n        if (dot(optVelocity, line.direction) > 0) {\n            t = tRight;\n        } else {\n            t = tLeft;\n        }\n    } else {\n        t = dot(line.direction, {\n            x: optVelocity.x - line.point.x,\n            y: optVelocity.y - line.point.y\n        });\n\n        if (t < tLeft) {\n            t = tLeft;\n        } else if (t > tRight) {\n            t = tRight;\n        }\n    }\n\n    result.x = line.point.x + t * line.direction.x;\n    result.y = line.point.y + t * line.direction.y;\n\n    return true;\n}\n\n/**\n * @zh 2D 线性规划\n * @en 2D Linear Programming\n *\n * @zh 在多个半平面约束下找到最优速度\n * @en Find optimal velocity under multiple half-plane constraints\n *\n * @param lines - @zh 约束线列表 @en List of constraint lines\n * @param radius - @zh 最大速度（圆盘半径）@en Maximum speed (disk radius)\n * @param optVelocity - @zh 首选速度 @en Preferred velocity\n * @param directionOpt - @zh 是否优化方向 @en Whether to optimize direction\n * @param result - @zh 结果向量（输出）@en Result vector (output)\n * @returns @zh 第一个失败的约束索引，如果成功则返回 lines.length @en Index of first failed constraint, or lines.length if successful\n */\nexport function linearProgram2(\n    lines: readonly IORCALine[],\n    radius: number,\n    optVelocity: IVector2,\n    directionOpt: boolean,\n    result: Vector2\n): number {\n    if (directionOpt) {\n        result.x = optVelocity.x * radius;\n        result.y = optVelocity.y * radius;\n    } else if (lengthSq(optVelocity) > radius * radius) {\n        const len = Math.sqrt(lengthSq(optVelocity));\n        result.x = optVelocity.x / len * radius;\n        result.y = optVelocity.y / len * radius;\n    } else {\n        result.x = optVelocity.x;\n        result.y = optVelocity.y;\n    }\n\n    for (let i = 0; i < lines.length; i++) {\n        const line = lines[i]!;\n        const detVal = det(line.direction, { x: line.point.x - result.x, y: line.point.y - result.y });\n        if (detVal > 0) {\n            const tempResult = result.clone();\n            if (!linearProgram1(lines, i, radius, optVelocity, directionOpt, result)) {\n                result.copy(tempResult);\n                return i;\n            }\n        }\n    }\n\n    return lines.length;\n}\n\n/**\n * @zh 3D 线性规划（回退方案）\n * @en 3D Linear Programming (fallback)\n *\n * @zh 当 2D 线性规划失败时，使用此方法找到最小穿透的速度\n * @en When 2D LP fails, use this to find velocity with minimum penetration\n *\n * @zh 重要：障碍物约束线（前 numObstLines 条）具有最高优先级，绝不会被违反\n * @en Important: Obstacle constraint lines (first numObstLines) have highest priority and are never violated\n *\n * @param lines - @zh 约束线列表 @en List of constraint lines\n * @param numObstLines - @zh 障碍物约束线数量 @en Number of obstacle constraint lines\n * @param beginLine - @zh 开始处理的线索引 @en Index of line to start processing\n * @param radius - @zh 最大速度 @en Maximum speed\n * @param result - @zh 结果向量（输入/输出）@en Result vector (input/output)\n */\nexport function linearProgram3(\n    lines: IORCALine[],\n    numObstLines: number,\n    beginLine: number,\n    radius: number,\n    result: Vector2\n): void {\n    let distance = 0;\n\n    for (let i = beginLine; i < lines.length; i++) {\n        const line = lines[i]!;\n        if (det(line.direction, { x: line.point.x - result.x, y: line.point.y - result.y }) > distance) {\n            const projLines: IORCALine[] = [];\n\n            for (let j = 0; j < numObstLines; j++) {\n                projLines.push(lines[j]!);\n            }\n\n            for (let j = numObstLines; j < i; j++) {\n                const line1 = lines[j]!;\n                const line2 = lines[i]!;\n\n                let newLine: IORCALine;\n                const determinant = det(line1.direction, line2.direction);\n\n                if (Math.abs(determinant) <= EPSILON) {\n                    if (dot(line1.direction, line2.direction) > 0) {\n                        continue;\n                    }\n\n                    newLine = {\n                        point: {\n                            x: 0.5 * (line1.point.x + line2.point.x),\n                            y: 0.5 * (line1.point.y + line2.point.y)\n                        },\n                        direction: { x: 0, y: 0 }\n                    };\n                } else {\n                    const diff = {\n                        x: line1.point.x - line2.point.x,\n                        y: line1.point.y - line2.point.y\n                    };\n                    const t = det(line2.direction, diff) / determinant;\n\n                    newLine = {\n                        point: {\n                            x: line1.point.x + t * line1.direction.x,\n                            y: line1.point.y + t * line1.direction.y\n                        },\n                        direction: { x: 0, y: 0 }\n                    };\n                }\n\n                const dirDiff = {\n                    x: line1.direction.x - line2.direction.x,\n                    y: line1.direction.y - line2.direction.y\n                };\n                const dirLen = Math.sqrt(lengthSq(dirDiff));\n                if (dirLen > EPSILON) {\n                    newLine.direction.x = dirDiff.x / dirLen;\n                    newLine.direction.y = dirDiff.y / dirLen;\n                }\n\n                projLines.push(newLine);\n            }\n\n            const tempResult = result.clone();\n            const optVelocity = { x: -lines[i]!.direction.y, y: lines[i]!.direction.x };\n\n            if (linearProgram2(projLines, radius, optVelocity, true, result) < projLines.length) {\n                result.copy(tempResult);\n            }\n\n            // @zh 验证结果不违反障碍物约束\n            // @en Verify result doesn't violate obstacle constraints\n            if (!verifyObstacleConstraints(lines, numObstLines, result)) {\n                result.copy(tempResult);\n            }\n\n            distance = det(lines[i]!.direction, {\n                x: lines[i]!.point.x - result.x,\n                y: lines[i]!.point.y - result.y\n            });\n        }\n    }\n}\n\n/**\n * @zh 验证速度是否满足所有障碍物约束\n * @en Verify velocity satisfies all obstacle constraints\n */\nfunction verifyObstacleConstraints(\n    lines: readonly IORCALine[],\n    numObstLines: number,\n    velocity: IVector2\n): boolean {\n    for (let i = 0; i < numObstLines; i++) {\n        const line = lines[i]!;\n        const detVal = det(line.direction, {\n            x: line.point.x - velocity.x,\n            y: line.point.y - velocity.y\n        });\n        if (detVal > EPSILON) {\n            return false;\n        }\n    }\n    return true;\n}\n\n/**\n * @zh ORCA 线性规划求解结果\n * @en ORCA Linear Programming solve result\n */\nexport interface IORCALPResult {\n    /**\n     * @zh 计算得到的速度\n     * @en Computed velocity\n     */\n    velocity: Vector2;\n\n    /**\n     * @zh 是否找到可行解（满足所有约束）\n     * @en Whether a feasible solution was found (satisfies all constraints)\n     */\n    feasible: boolean;\n\n    /**\n     * @zh 违反的约束数量\n     * @en Number of violated constraints\n     */\n    violatedConstraints: number;\n}\n\n/**\n * @zh 求解 ORCA 线性规划\n * @en Solve ORCA Linear Programming\n *\n * @zh 综合使用 2D 和 3D 线性规划求解最优速度\n * @en Use both 2D and 3D LP to solve for optimal velocity\n *\n * @zh 注意：此函数不包含回退逻辑，调用方应通过返回的 feasible 标志判断是否需要流量控制\n * @en Note: This function does not include fallback logic, caller should check feasible flag for flow control\n *\n * @param lines - @zh ORCA 约束线列表 @en List of ORCA constraint lines\n * @param numObstLines - @zh 障碍物约束线数量 @en Number of obstacle lines\n * @param maxSpeed - @zh 最大速度 @en Maximum speed\n * @param preferredVelocity - @zh 首选速度 @en Preferred velocity\n * @returns @zh 求解结果，包含速度和可行性标志 @en Solve result with velocity and feasibility flag\n */\nexport function solveORCALinearProgram(\n    lines: IORCALine[],\n    numObstLines: number,\n    maxSpeed: number,\n    preferredVelocity: IVector2\n): IORCALPResult {\n    const result = new Vector2();\n\n    const lineFail = linearProgram2(lines, maxSpeed, preferredVelocity, false, result);\n\n    let feasible = lineFail >= lines.length;\n    let violatedConstraints = 0;\n\n    if (!feasible) {\n        linearProgram3(lines, numObstLines, lineFail, maxSpeed, result);\n        violatedConstraints = lines.length - lineFail;\n    }\n\n    // @zh 检查是否违反障碍物约束\n    // @en Check if obstacle constraints are violated\n    if (numObstLines > 0 && !verifyObstacleConstraints(lines, numObstLines, result)) {\n        feasible = false;\n        violatedConstraints = Math.max(violatedConstraints, 1);\n    }\n\n    return {\n        velocity: result,\n        feasible,\n        violatedConstraints\n    };\n}\n","/**\n * @zh 障碍物构建器\n * @en Obstacle Builder\n */\n\nimport type { IVector2 } from '@esengine/ecs-framework-math';\nimport type { IObstacle, IObstacleVertex } from './ILocalAvoidance';\n\nconst EPSILON = 0.00001;\n\n/**\n * @zh 计算点相对于线段的位置（左侧判断）\n * @en Compute point position relative to line segment (left-of test)\n *\n * @zh 使用叉积判断点在向量的哪一侧\n * @en Use cross product to determine which side of the vector the point is on\n *\n * @zh 返回值 > 0 表示 p3 在向量 p1->p2 的左边\n * @en Returns > 0 if p3 is to the left of vector p1->p2\n */\nfunction leftOf(p1: IVector2, p2: IVector2, p3: IVector2): number {\n    return (p1.x - p3.x) * (p2.y - p1.y) - (p1.y - p3.y) * (p2.x - p1.x);\n}\n\n/**\n * @zh 从顶点数组创建障碍物链表\n * @en Create obstacle linked list from vertex array\n *\n * @param vertices - @zh 顶点数组（CCW 顺序）@en Vertex array (CCW order)\n * @param startId - @zh 起始顶点 ID @en Starting vertex ID\n */\nexport function createObstacleVertices(\n    vertices: readonly IVector2[],\n    startId: number = 0\n): IObstacleVertex[] {\n    const n = vertices.length;\n    if (n < 2) {\n        return [];\n    }\n\n    const obstacleVertices: IObstacleVertex[] = [];\n    for (let i = 0; i < n; i++) {\n        obstacleVertices.push({\n            point: { x: vertices[i]!.x, y: vertices[i]!.y },\n            direction: { x: 0, y: 0 },\n            next: null as unknown as IObstacleVertex,\n            previous: null as unknown as IObstacleVertex,\n            isConvex: false,\n            id: startId + i\n        });\n    }\n\n    for (let i = 0; i < n; i++) {\n        const curr = obstacleVertices[i]!;\n        const next = obstacleVertices[(i + 1) % n]!;\n        const prev = obstacleVertices[(i + n - 1) % n]!;\n\n        curr.next = next;\n        curr.previous = prev;\n\n        const dx = next.point.x - curr.point.x;\n        const dy = next.point.y - curr.point.y;\n        const edgeLen = Math.sqrt(dx * dx + dy * dy);\n\n        if (edgeLen > EPSILON) {\n            curr.direction = { x: dx / edgeLen, y: dy / edgeLen };\n        } else {\n            curr.direction = { x: 1, y: 0 };\n        }\n    }\n\n    for (let i = 0; i < n; i++) {\n        const curr = obstacleVertices[i]!;\n        const prev = curr.previous;\n        const next = curr.next;\n        curr.isConvex = leftOf(prev.point, curr.point, next.point) >= 0;\n    }\n\n    return obstacleVertices;\n}\n\n/**\n * @zh 构建障碍物顶点的选项\n * @en Options for building obstacle vertices\n */\nexport interface IBuildObstacleOptions {\n    /**\n     * @zh 是否使用 Y 轴向下的坐标系（如 Canvas/屏幕坐标）\n     * @en Whether using Y-axis down coordinate system (like Canvas/screen coords)\n     *\n     * @zh 这会影响障碍物顶点顺序的判断\n     * @en This affects obstacle vertex order detection\n     *\n     * @default false\n     */\n    yAxisDown?: boolean;\n}\n\n/**\n * @zh 从障碍物数组创建所有障碍物顶点\n * @en Create all obstacle vertices from obstacle array\n *\n * @zh 自动检测并纠正顶点顺序为 CCW（逆时针）\n * @en Automatically detects and corrects vertex order to CCW (counter-clockwise)\n *\n * @param obstacles - @zh 障碍物数组 @en Array of obstacles\n * @param options - @zh 构建选项 @en Build options\n */\nexport function buildObstacleVertices(\n    obstacles: readonly IObstacle[],\n    options: IBuildObstacleOptions = {}\n): IObstacleVertex[] {\n    const { yAxisDown = false } = options;\n    const allVertices: IObstacleVertex[] = [];\n    let nextId = 0;\n\n    for (const obstacle of obstacles) {\n        // @zh 自动确保顶点为 CCW 顺序\n        // @en Automatically ensure vertices are in CCW order\n        const ccwVertices = ensureCCW([...obstacle.vertices], yAxisDown);\n        const vertices = createObstacleVertices(ccwVertices, nextId);\n        allVertices.push(...vertices);\n        nextId += vertices.length;\n    }\n\n    return allVertices;\n}\n\n/**\n * @zh 确保顶点按逆时针顺序排列\n * @en Ensure vertices are in counter-clockwise order\n */\nexport function ensureCCW(vertices: IVector2[], yAxisDown: boolean = false): IVector2[] {\n    if (vertices.length < 3) {\n        return vertices;\n    }\n\n    let signedArea = 0;\n    for (let i = 0; i < vertices.length; i++) {\n        const curr = vertices[i]!;\n        const next = vertices[(i + 1) % vertices.length]!;\n        signedArea += (curr.x * next.y - next.x * curr.y);\n    }\n    signedArea *= 0.5;\n\n    const isCCW = yAxisDown ? signedArea < 0 : signedArea > 0;\n\n    if (isCCW) {\n        return vertices;\n    }\n\n    return [...vertices].reverse();\n}\n","/**\n * @zh ORCA 避让算法求解器\n * @en ORCA Avoidance Algorithm Solver\n *\n * @zh 实现最优互惠碰撞避免（ORCA）算法，用于多代理局部避让\n * @en Implements Optimal Reciprocal Collision Avoidance (ORCA) algorithm for multi-agent local avoidance\n */\n\nimport { Vector2, type IVector2 } from '@esengine/ecs-framework-math';\nimport type {\n    IAvoidanceAgent,\n    IObstacle,\n    IObstacleVertex,\n    IORCALine,\n    IORCASolver,\n    IORCASolverConfig\n} from './ILocalAvoidance';\nimport { DEFAULT_ORCA_CONFIG } from './ILocalAvoidance';\nimport { solveORCALinearProgram, type IORCALPResult } from './LinearProgram';\nimport { buildObstacleVertices } from './ObstacleBuilder';\n\n/**\n * @zh 数值精度阈值\n * @en Numerical precision threshold\n */\nconst EPSILON = 0.00001;\n\nconst { det, dot, lengthSq, len } = Vector2;\n\n/**\n * @zh 向量归一化\n * @en Normalize vector\n */\nfunction normalize(v: IVector2): IVector2 {\n    const length = len(v);\n    if (length < EPSILON) {\n        return { x: 0, y: 0 };\n    }\n    return { x: v.x / length, y: v.y / length };\n}\n\n/**\n * @zh ORCA 求解器实现\n * @en ORCA Solver implementation\n *\n * @zh 实现最优互惠碰撞避免算法，计算代理的安全速度\n * @en Implements Optimal Reciprocal Collision Avoidance algorithm to compute safe velocities for agents\n */\nexport class ORCASolver implements IORCASolver {\n    private readonly config: Required<IORCASolverConfig>;\n\n    constructor(config: IORCASolverConfig = {}) {\n        this.config = { ...DEFAULT_ORCA_CONFIG, ...config };\n    }\n\n    /**\n     * @zh 计算代理的新速度\n     * @en Compute new velocity for agent\n     *\n     * @param agent - @zh 当前代理 @en Current agent\n     * @param neighbors - @zh 邻近代理列表 @en List of neighboring agents\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @param deltaTime - @zh 时间步长 @en Time step\n     * @returns @zh 计算得到的新速度 @en Computed new velocity\n     */\n    computeNewVelocity(\n        agent: IAvoidanceAgent,\n        neighbors: readonly IAvoidanceAgent[],\n        obstacles: readonly IObstacle[],\n        deltaTime: number\n    ): IVector2 {\n        const result = this.computeNewVelocityWithResult(agent, neighbors, obstacles, deltaTime);\n        return result.velocity;\n    }\n\n    /**\n     * @zh 计算代理的新速度（带完整结果）\n     * @en Compute new velocity for agent (with full result)\n     *\n     * @param agent - @zh 当前代理 @en Current agent\n     * @param neighbors - @zh 邻近代理列表 @en List of neighboring agents\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @param deltaTime - @zh 时间步长 @en Time step\n     * @returns @zh 完整求解结果 @en Full solve result\n     */\n    computeNewVelocityWithResult(\n        agent: IAvoidanceAgent,\n        neighbors: readonly IAvoidanceAgent[],\n        obstacles: readonly IObstacle[],\n        deltaTime: number\n    ): IORCALPResult & { numLines: number } {\n        const orcaLines: IORCALine[] = [];\n\n        const obstacleVertices = buildObstacleVertices(obstacles, {\n            yAxisDown: this.config.yAxisDown\n        });\n        const numObstLines = this.createObstacleORCALines(agent, obstacleVertices, orcaLines);\n        this.createAgentORCALines(agent, neighbors, deltaTime, orcaLines);\n\n        const result = solveORCALinearProgram(\n            orcaLines,\n            numObstLines,\n            agent.maxSpeed,\n            agent.preferredVelocity\n        );\n\n        return {\n            ...result,\n            numLines: orcaLines.length\n        };\n    }\n\n    /**\n     * @zh 创建代理间的 ORCA 约束线\n     * @en Create ORCA constraint lines for agent-agent avoidance\n     */\n    private createAgentORCALines(\n        agent: IAvoidanceAgent,\n        neighbors: readonly IAvoidanceAgent[],\n        deltaTime: number,\n        orcaLines: IORCALine[]\n    ): void {\n        const invTimeHorizon = 1.0 / agent.timeHorizon;\n\n        for (const other of neighbors) {\n            if (other.id === agent.id) continue;\n\n            const relativePosition: IVector2 = {\n                x: other.position.x - agent.position.x,\n                y: other.position.y - agent.position.y\n            };\n\n            const relativeVelocity: IVector2 = {\n                x: agent.velocity.x - other.velocity.x,\n                y: agent.velocity.y - other.velocity.y\n            };\n\n            const distSq = lengthSq(relativePosition);\n            const combinedRadius = agent.radius + other.radius;\n            const combinedRadiusSq = combinedRadius * combinedRadius;\n\n            const line: IORCALine = {\n                point: { x: 0, y: 0 },\n                direction: { x: 0, y: 0 }\n            };\n\n            let u: IVector2;\n\n            if (distSq > combinedRadiusSq) {\n                // @zh 无碰撞情况\n                // @en No collision case\n                const w: IVector2 = {\n                    x: relativeVelocity.x - invTimeHorizon * relativePosition.x,\n                    y: relativeVelocity.y - invTimeHorizon * relativePosition.y\n                };\n\n                const wLengthSq = lengthSq(w);\n                const dotProduct1 = dot(w, relativePosition);\n\n                if (dotProduct1 < 0 && dotProduct1 * dotProduct1 > combinedRadiusSq * wLengthSq) {\n                    // @zh 投影到截止圆\n                    // @en Project on cut-off circle\n                    const wLength = Math.sqrt(wLengthSq);\n                    const unitW = normalize(w);\n\n                    line.direction = { x: unitW.y, y: -unitW.x };\n                    u = {\n                        x: (combinedRadius * invTimeHorizon - wLength) * unitW.x,\n                        y: (combinedRadius * invTimeHorizon - wLength) * unitW.y\n                    };\n                } else {\n                    // @zh 投影到腿部\n                    // @en Project on legs\n                    const leg = Math.sqrt(distSq - combinedRadiusSq);\n\n                    if (det(relativePosition, w) > 0) {\n                        line.direction = {\n                            x: (relativePosition.x * leg - relativePosition.y * combinedRadius) / distSq,\n                            y: (relativePosition.x * combinedRadius + relativePosition.y * leg) / distSq\n                        };\n                    } else {\n                        line.direction = {\n                            x: -(relativePosition.x * leg + relativePosition.y * combinedRadius) / distSq,\n                            y: -(-relativePosition.x * combinedRadius + relativePosition.y * leg) / distSq\n                        };\n                    }\n\n                    const dotProduct2 = dot(relativeVelocity, line.direction);\n                    u = {\n                        x: dotProduct2 * line.direction.x - relativeVelocity.x,\n                        y: dotProduct2 * line.direction.y - relativeVelocity.y\n                    };\n                }\n            } else {\n                // @zh 碰撞情况\n                // @en Collision case\n                const invTimeStep = 1.0 / deltaTime;\n\n                const w: IVector2 = {\n                    x: relativeVelocity.x - invTimeStep * relativePosition.x,\n                    y: relativeVelocity.y - invTimeStep * relativePosition.y\n                };\n\n                const wLength = len(w);\n                const unitW = wLength > EPSILON\n                    ? { x: w.x / wLength, y: w.y / wLength }\n                    : { x: 1, y: 0 };\n\n                line.direction = { x: unitW.y, y: -unitW.x };\n                u = {\n                    x: (combinedRadius * invTimeStep - wLength) * unitW.x,\n                    y: (combinedRadius * invTimeStep - wLength) * unitW.y\n                };\n            }\n\n            line.point = {\n                x: agent.velocity.x + 0.5 * u.x,\n                y: agent.velocity.y + 0.5 * u.y\n            };\n\n            orcaLines.push(line);\n        }\n    }\n\n    /**\n     * @zh 创建障碍物的 ORCA 约束线\n     * @en Create ORCA constraint lines for obstacle avoidance\n     */\n    private createObstacleORCALines(\n        agent: IAvoidanceAgent,\n        obstacleVertices: IObstacleVertex[],\n        orcaLines: IORCALine[]\n    ): number {\n        const invTimeHorizonObst = 1.0 / agent.timeHorizonObst;\n        const radiusSq = agent.radius * agent.radius;\n        let numObstLines = 0;\n\n        for (const obstacle1 of obstacleVertices) {\n            const obstacle2 = obstacle1.next;\n\n            const relativePosition1: IVector2 = {\n                x: obstacle1.point.x - agent.position.x,\n                y: obstacle1.point.y - agent.position.y\n            };\n            const relativePosition2: IVector2 = {\n                x: obstacle2.point.x - agent.position.x,\n                y: obstacle2.point.y - agent.position.y\n            };\n\n            // @zh 跳过代理位于内侧的边（对于 CCW 多边形，内侧在左边）\n            // @en Skip edges where agent is on interior side (for CCW polygons, interior is on left)\n            const obstacleVector: IVector2 = {\n                x: obstacle2.point.x - obstacle1.point.x,\n                y: obstacle2.point.y - obstacle1.point.y\n            };\n            const signedDistToEdge = det(obstacleVector, relativePosition1);\n\n            if (signedDistToEdge < -EPSILON) {\n                continue;\n            }\n\n            // @zh 检查是否已被现有 ORCA 线覆盖\n            // @en Check if already covered by existing ORCA lines\n            let alreadyCovered = false;\n            for (const existingLine of orcaLines) {\n                const scaledRelPos1: IVector2 = {\n                    x: invTimeHorizonObst * relativePosition1.x - existingLine.point.x,\n                    y: invTimeHorizonObst * relativePosition1.y - existingLine.point.y\n                };\n                const scaledRelPos2: IVector2 = {\n                    x: invTimeHorizonObst * relativePosition2.x - existingLine.point.x,\n                    y: invTimeHorizonObst * relativePosition2.y - existingLine.point.y\n                };\n\n                if (det(scaledRelPos1, existingLine.direction) - invTimeHorizonObst * agent.radius >= -EPSILON &&\n                    det(scaledRelPos2, existingLine.direction) - invTimeHorizonObst * agent.radius >= -EPSILON) {\n                    alreadyCovered = true;\n                    break;\n                }\n            }\n\n            if (alreadyCovered) {\n                continue;\n            }\n\n            const distSq1 = lengthSq(relativePosition1);\n            const distSq2 = lengthSq(relativePosition2);\n            const obstacleVectorSq = lengthSq(obstacleVector);\n\n            const s = obstacleVectorSq > EPSILON\n                ? -dot(relativePosition1, obstacleVector) / obstacleVectorSq\n                : 0;\n\n            const distSqLineToEdge = lengthSq({\n                x: -relativePosition1.x - s * obstacleVector.x,\n                y: -relativePosition1.y - s * obstacleVector.y\n            });\n\n            const line: IORCALine = {\n                point: { x: 0, y: 0 },\n                direction: { x: 0, y: 0 }\n            };\n\n            // @zh 与左顶点碰撞\n            // @en Collision with left vertex\n            if (s < 0 && distSq1 <= radiusSq) {\n                if (obstacle1.isConvex) {\n                    line.point = { x: 0, y: 0 };\n                    line.direction = normalize({ x: -relativePosition1.y, y: relativePosition1.x });\n                    orcaLines.push(line);\n                    numObstLines++;\n                }\n                continue;\n            }\n\n            // @zh 与右顶点碰撞\n            // @en Collision with right vertex\n            if (s > 1 && distSq2 <= radiusSq) {\n                if (obstacle2.isConvex && det(relativePosition2, obstacle2.direction) >= 0) {\n                    line.point = { x: 0, y: 0 };\n                    line.direction = normalize({ x: -relativePosition2.y, y: relativePosition2.x });\n                    orcaLines.push(line);\n                    numObstLines++;\n                }\n                continue;\n            }\n\n            // @zh 与边碰撞\n            // @en Collision with edge segment\n            if (s >= 0 && s <= 1 && distSqLineToEdge <= radiusSq) {\n                line.point = { x: 0, y: 0 };\n                line.direction = { x: -obstacle1.direction.x, y: -obstacle1.direction.y };\n                orcaLines.push(line);\n                numObstLines++;\n                continue;\n            }\n\n            // @zh 无碰撞 - 计算腿部方向\n            // @en No collision - compute leg directions\n            let obs1 = obstacle1;\n            let obs2 = obstacle2;\n            let leftLegDirection: IVector2;\n            let rightLegDirection: IVector2;\n\n            if (s < 0 && distSqLineToEdge <= radiusSq) {\n                // @zh 从左顶点斜视\n                // @en Obliquely viewed from left vertex\n                if (!obstacle1.isConvex) continue;\n                obs2 = obstacle1;\n\n                const leg1 = Math.sqrt(Math.max(0, distSq1 - radiusSq));\n                leftLegDirection = {\n                    x: (relativePosition1.x * leg1 - relativePosition1.y * agent.radius) / distSq1,\n                    y: (relativePosition1.x * agent.radius + relativePosition1.y * leg1) / distSq1\n                };\n                rightLegDirection = {\n                    x: (relativePosition1.x * leg1 + relativePosition1.y * agent.radius) / distSq1,\n                    y: (-relativePosition1.x * agent.radius + relativePosition1.y * leg1) / distSq1\n                };\n            } else if (s > 1 && distSqLineToEdge <= radiusSq) {\n                // @zh 从右顶点斜视\n                // @en Obliquely viewed from right vertex\n                if (!obstacle2.isConvex) continue;\n                obs1 = obstacle2;\n\n                const leg2 = Math.sqrt(Math.max(0, distSq2 - radiusSq));\n                leftLegDirection = {\n                    x: (relativePosition2.x * leg2 - relativePosition2.y * agent.radius) / distSq2,\n                    y: (relativePosition2.x * agent.radius + relativePosition2.y * leg2) / distSq2\n                };\n                rightLegDirection = {\n                    x: (relativePosition2.x * leg2 + relativePosition2.y * agent.radius) / distSq2,\n                    y: (-relativePosition2.x * agent.radius + relativePosition2.y * leg2) / distSq2\n                };\n            } else {\n                // @zh 正常情况\n                // @en Normal case\n                if (obstacle1.isConvex) {\n                    const leg1 = Math.sqrt(Math.max(0, distSq1 - radiusSq));\n                    leftLegDirection = {\n                        x: (relativePosition1.x * leg1 - relativePosition1.y * agent.radius) / distSq1,\n                        y: (relativePosition1.x * agent.radius + relativePosition1.y * leg1) / distSq1\n                    };\n                } else {\n                    leftLegDirection = { x: -obstacle1.direction.x, y: -obstacle1.direction.y };\n                }\n\n                if (obstacle2.isConvex) {\n                    const leg2 = Math.sqrt(Math.max(0, distSq2 - radiusSq));\n                    rightLegDirection = {\n                        x: (relativePosition2.x * leg2 + relativePosition2.y * agent.radius) / distSq2,\n                        y: (-relativePosition2.x * agent.radius + relativePosition2.y * leg2) / distSq2\n                    };\n                } else {\n                    rightLegDirection = { x: obstacle1.direction.x, y: obstacle1.direction.y };\n                }\n            }\n\n            // @zh 检查外部腿\n            // @en Check for foreign legs\n            const leftNeighbor = obs1.previous;\n            let isLeftLegForeign = false;\n            let isRightLegForeign = false;\n\n            if (obs1.isConvex) {\n                const negLeftNeighborDir = { x: -leftNeighbor.direction.x, y: -leftNeighbor.direction.y };\n                if (det(leftLegDirection, negLeftNeighborDir) >= 0) {\n                    leftLegDirection = negLeftNeighborDir;\n                    isLeftLegForeign = true;\n                }\n            }\n\n            if (obs2.isConvex) {\n                if (det(rightLegDirection, obs2.direction) <= 0) {\n                    rightLegDirection = { x: obs2.direction.x, y: obs2.direction.y };\n                    isRightLegForeign = true;\n                }\n            }\n\n            // @zh 计算截止中心点\n            // @en Compute cut-off centers\n            const leftCutoff: IVector2 = {\n                x: invTimeHorizonObst * (obs1.point.x - agent.position.x),\n                y: invTimeHorizonObst * (obs1.point.y - agent.position.y)\n            };\n            const rightCutoff: IVector2 = {\n                x: invTimeHorizonObst * (obs2.point.x - agent.position.x),\n                y: invTimeHorizonObst * (obs2.point.y - agent.position.y)\n            };\n            const cutoffVector: IVector2 = {\n                x: rightCutoff.x - leftCutoff.x,\n                y: rightCutoff.y - leftCutoff.y\n            };\n\n            const sameVertex = obs1 === obs2;\n            const cutoffVectorSq = lengthSq(cutoffVector);\n            const t = sameVertex\n                ? 0.5\n                : (cutoffVectorSq > EPSILON\n                    ? dot({ x: agent.velocity.x - leftCutoff.x, y: agent.velocity.y - leftCutoff.y }, cutoffVector) / cutoffVectorSq\n                    : 0.5);\n\n            const tLeft = dot({ x: agent.velocity.x - leftCutoff.x, y: agent.velocity.y - leftCutoff.y }, leftLegDirection);\n            const tRight = dot({ x: agent.velocity.x - rightCutoff.x, y: agent.velocity.y - rightCutoff.y }, rightLegDirection);\n\n            // @zh 投影到左截止圆\n            // @en Project on left cut-off circle\n            if ((t < 0 && tLeft < 0) || (sameVertex && tLeft < 0 && tRight < 0)) {\n                const unitW = normalize({ x: agent.velocity.x - leftCutoff.x, y: agent.velocity.y - leftCutoff.y });\n                line.direction = { x: unitW.y, y: -unitW.x };\n                line.point = {\n                    x: leftCutoff.x + agent.radius * invTimeHorizonObst * unitW.x,\n                    y: leftCutoff.y + agent.radius * invTimeHorizonObst * unitW.y\n                };\n                orcaLines.push(line);\n                numObstLines++;\n                continue;\n            }\n\n            // @zh 投影到右截止圆\n            // @en Project on right cut-off circle\n            if (t > 1 && tRight < 0) {\n                const unitW = normalize({ x: agent.velocity.x - rightCutoff.x, y: agent.velocity.y - rightCutoff.y });\n                line.direction = { x: unitW.y, y: -unitW.x };\n                line.point = {\n                    x: rightCutoff.x + agent.radius * invTimeHorizonObst * unitW.x,\n                    y: rightCutoff.y + agent.radius * invTimeHorizonObst * unitW.y\n                };\n                orcaLines.push(line);\n                numObstLines++;\n                continue;\n            }\n\n            // @zh 计算投影距离\n            // @en Compute projection distances\n            const distSqCutoff = (t < 0 || t > 1 || sameVertex)\n                ? Infinity\n                : lengthSq({\n                    x: agent.velocity.x - (leftCutoff.x + t * cutoffVector.x),\n                    y: agent.velocity.y - (leftCutoff.y + t * cutoffVector.y)\n                });\n\n            const distSqLeft = tLeft < 0\n                ? Infinity\n                : lengthSq({\n                    x: agent.velocity.x - (leftCutoff.x + tLeft * leftLegDirection.x),\n                    y: agent.velocity.y - (leftCutoff.y + tLeft * leftLegDirection.y)\n                });\n\n            const distSqRight = tRight < 0\n                ? Infinity\n                : lengthSq({\n                    x: agent.velocity.x - (rightCutoff.x + tRight * rightLegDirection.x),\n                    y: agent.velocity.y - (rightCutoff.y + tRight * rightLegDirection.y)\n                });\n\n            // @zh 投影到截止线\n            // @en Project on cut-off line\n            if (distSqCutoff <= distSqLeft && distSqCutoff <= distSqRight) {\n                line.direction = { x: -obs1.direction.x, y: -obs1.direction.y };\n                line.point = {\n                    x: leftCutoff.x + agent.radius * invTimeHorizonObst * (-line.direction.y),\n                    y: leftCutoff.y + agent.radius * invTimeHorizonObst * line.direction.x\n                };\n                orcaLines.push(line);\n                numObstLines++;\n                continue;\n            }\n\n            // @zh 投影到左腿\n            // @en Project on left leg\n            if (distSqLeft <= distSqRight) {\n                if (isLeftLegForeign) {\n                    continue;\n                }\n\n                line.direction = { x: leftLegDirection.x, y: leftLegDirection.y };\n                line.point = {\n                    x: leftCutoff.x + agent.radius * invTimeHorizonObst * (-line.direction.y),\n                    y: leftCutoff.y + agent.radius * invTimeHorizonObst * line.direction.x\n                };\n                orcaLines.push(line);\n                numObstLines++;\n                continue;\n            }\n\n            // @zh 投影到右腿\n            // @en Project on right leg\n            if (isRightLegForeign) {\n                continue;\n            }\n\n            line.direction = { x: -rightLegDirection.x, y: -rightLegDirection.y };\n            line.point = {\n                x: rightCutoff.x + agent.radius * invTimeHorizonObst * (-line.direction.y),\n                y: rightCutoff.y + agent.radius * invTimeHorizonObst * line.direction.x\n            };\n            orcaLines.push(line);\n            numObstLines++;\n        }\n\n        return numObstLines;\n    }\n}\n\n/**\n * @zh 创建 ORCA 求解器\n * @en Create ORCA solver\n *\n * @param config - @zh 可选配置参数 @en Optional configuration parameters\n * @returns @zh ORCA 求解器实例 @en ORCA solver instance\n */\nexport function createORCASolver(config?: IORCASolverConfig): ORCASolver {\n    return new ORCASolver(config);\n}\n","/**\n * @zh KD-Tree 空间索引\n * @en KD-Tree Spatial Index\n *\n * @zh 用于快速查询指定范围内的邻近代理\n * @en Used for fast neighbor queries within specified range\n */\n\nimport type { IVector2 } from '@esengine/ecs-framework-math';\nimport type { IAvoidanceAgent, ISpatialIndex, INeighborResult } from './ILocalAvoidance';\n\n// =============================================================================\n// KD-Tree 节点 | KD-Tree Node\n// =============================================================================\n\n/**\n * @zh KD-Tree 节点\n * @en KD-Tree node\n */\ninterface KDTreeNode {\n    /**\n     * @zh 代理索引（叶节点）或分割维度（内部节点）\n     * @en Agent index (leaf) or split dimension (internal node)\n     */\n    agentIndex: number;\n\n    /**\n     * @zh 分割值\n     * @en Split value\n     */\n    splitValue: number;\n\n    /**\n     * @zh 左子节点索引\n     * @en Left child index\n     */\n    left: number;\n\n    /**\n     * @zh 右子节点索引\n     * @en Right child index\n     */\n    right: number;\n\n    /**\n     * @zh 子树中代理索引的起始位置\n     * @en Start index of agents in subtree\n     */\n    begin: number;\n\n    /**\n     * @zh 子树中代理索引的结束位置\n     * @en End index of agents in subtree\n     */\n    end: number;\n\n    /**\n     * @zh 边界框最小值\n     * @en Bounding box minimum\n     */\n    minX: number;\n    minY: number;\n\n    /**\n     * @zh 边界框最大值\n     * @en Bounding box maximum\n     */\n    maxX: number;\n    maxY: number;\n}\n\n// =============================================================================\n// KD-Tree 实现 | KD-Tree Implementation\n// =============================================================================\n\n/**\n * @zh KD-Tree 空间索引\n * @en KD-Tree spatial index\n *\n * @zh 每帧重建，支持高效的范围查询\n * @en Rebuilt every frame, supports efficient range queries\n */\nexport class KDTree implements ISpatialIndex {\n    private agents: IAvoidanceAgent[] = [];\n    private agentIndices: number[] = [];\n    private nodes: KDTreeNode[] = [];\n\n    /**\n     * @zh 最大叶节点大小\n     * @en Maximum leaf size\n     */\n    private readonly maxLeafSize = 10;\n\n    /**\n     * @zh 构建 KD-Tree\n     * @en Build KD-Tree\n     */\n    build(agents: readonly IAvoidanceAgent[]): void {\n        this.agents = agents as IAvoidanceAgent[];\n        this.agentIndices = [];\n        this.nodes = [];\n\n        if (agents.length === 0) {\n            return;\n        }\n\n        // 初始化代理索引数组\n        for (let i = 0; i < agents.length; i++) {\n            this.agentIndices.push(i);\n        }\n\n        // 递归构建树\n        this.buildRecursive(0, agents.length, 0);\n    }\n\n    /**\n     * @zh 递归构建 KD-Tree\n     * @en Recursively build KD-Tree\n     */\n    private buildRecursive(begin: number, end: number, depth: number): number {\n        const nodeIndex = this.nodes.length;\n\n        const node: KDTreeNode = {\n            agentIndex: -1,\n            splitValue: 0,\n            left: -1,\n            right: -1,\n            begin,\n            end,\n            minX: Infinity,\n            minY: Infinity,\n            maxX: -Infinity,\n            maxY: -Infinity\n        };\n\n        this.nodes.push(node);\n\n        // 计算边界框\n        for (let i = begin; i < end; i++) {\n            const agent = this.agents[this.agentIndices[i]!]!;\n            node.minX = Math.min(node.minX, agent.position.x);\n            node.minY = Math.min(node.minY, agent.position.y);\n            node.maxX = Math.max(node.maxX, agent.position.x);\n            node.maxY = Math.max(node.maxY, agent.position.y);\n        }\n\n        const count = end - begin;\n\n        if (count <= this.maxLeafSize) {\n            // 叶节点\n            return nodeIndex;\n        }\n\n        // 选择分割维度（交替使用 x 和 y）\n        const splitDim = depth % 2;\n\n        // 按分割维度排序\n        if (splitDim === 0) {\n            this.sortByX(begin, end);\n        } else {\n            this.sortByY(begin, end);\n        }\n\n        // 找到中点\n        const mid = Math.floor((begin + end) / 2);\n        const midAgent = this.agents[this.agentIndices[mid]!]!;\n        node.splitValue = splitDim === 0 ? midAgent.position.x : midAgent.position.y;\n\n        // 递归构建子树\n        node.left = this.buildRecursive(begin, mid, depth + 1);\n        node.right = this.buildRecursive(mid, end, depth + 1);\n\n        return nodeIndex;\n    }\n\n    /**\n     * @zh 按 X 坐标排序\n     * @en Sort by X coordinate\n     */\n    private sortByX(begin: number, end: number): void {\n        const indices = this.agentIndices;\n        const agents = this.agents;\n\n        for (let i = begin + 1; i < end; i++) {\n            const key = indices[i]!;\n            const keyX = agents[key]!.position.x;\n            let j = i - 1;\n\n            while (j >= begin && agents[indices[j]!]!.position.x > keyX) {\n                indices[j + 1] = indices[j]!;\n                j--;\n            }\n            indices[j + 1] = key;\n        }\n    }\n\n    /**\n     * @zh 按 Y 坐标排序\n     * @en Sort by Y coordinate\n     */\n    private sortByY(begin: number, end: number): void {\n        const indices = this.agentIndices;\n        const agents = this.agents;\n\n        for (let i = begin + 1; i < end; i++) {\n            const key = indices[i]!;\n            const keyY = agents[key]!.position.y;\n            let j = i - 1;\n\n            while (j >= begin && agents[indices[j]!]!.position.y > keyY) {\n                indices[j + 1] = indices[j]!;\n                j--;\n            }\n            indices[j + 1] = key;\n        }\n    }\n\n    /**\n     * @zh 查询邻居\n     * @en Query neighbors\n     */\n    queryNeighbors(\n        position: IVector2,\n        radius: number,\n        maxResults: number,\n        excludeId?: number\n    ): INeighborResult[] {\n        const results: INeighborResult[] = [];\n        const radiusSq = radius * radius;\n\n        if (this.nodes.length === 0) {\n            return results;\n        }\n\n        this.queryRecursive(0, position, radiusSq, maxResults, excludeId, results);\n\n        // 按距离排序\n        results.sort((a, b) => a.distanceSq - b.distanceSq);\n\n        // 截取最大数量\n        if (results.length > maxResults) {\n            results.length = maxResults;\n        }\n\n        return results;\n    }\n\n    /**\n     * @zh 递归查询\n     * @en Recursive query\n     */\n    private queryRecursive(\n        nodeIndex: number,\n        position: IVector2,\n        radiusSq: number,\n        maxResults: number,\n        excludeId: number | undefined,\n        results: INeighborResult[]\n    ): void {\n        const node = this.nodes[nodeIndex];\n        if (!node) return;\n\n        // 检查边界框是否与查询圆相交\n        const closestX = Math.max(node.minX, Math.min(position.x, node.maxX));\n        const closestY = Math.max(node.minY, Math.min(position.y, node.maxY));\n        const dx = position.x - closestX;\n        const dy = position.y - closestY;\n        const distSqToBBox = dx * dx + dy * dy;\n\n        if (distSqToBBox > radiusSq) {\n            return;\n        }\n\n        // 叶节点：检查所有代理\n        if (node.left === -1 && node.right === -1) {\n            for (let i = node.begin; i < node.end; i++) {\n                const agentIndex = this.agentIndices[i]!;\n                const agent = this.agents[agentIndex]!;\n\n                if (excludeId !== undefined && agent.id === excludeId) {\n                    continue;\n                }\n\n                const adx = position.x - agent.position.x;\n                const ady = position.y - agent.position.y;\n                const distSq = adx * adx + ady * ady;\n\n                if (distSq < radiusSq) {\n                    results.push({ agent, distanceSq: distSq });\n                }\n            }\n            return;\n        }\n\n        // 递归查询子节点\n        if (node.left !== -1) {\n            this.queryRecursive(node.left, position, radiusSq, maxResults, excludeId, results);\n        }\n        if (node.right !== -1) {\n            this.queryRecursive(node.right, position, radiusSq, maxResults, excludeId, results);\n        }\n    }\n\n    /**\n     * @zh 清空索引\n     * @en Clear the index\n     */\n    clear(): void {\n        this.agents = [];\n        this.agentIndices = [];\n        this.nodes = [];\n    }\n\n    /**\n     * @zh 获取代理数量\n     * @en Get agent count\n     */\n    get agentCount(): number {\n        return this.agents.length;\n    }\n}\n\n/**\n * @zh 创建 KD-Tree\n * @en Create KD-Tree\n */\nexport function createKDTree(): KDTree {\n    return new KDTree();\n}\n","/**\n * @zh 碰撞解决器\n * @en Collision Resolver\n *\n * @zh 提供位置级别的硬碰撞检测和解决，作为 ORCA 的补充保护层\n * @en Provides position-level hard collision detection and resolution as a supplementary protection layer for ORCA\n */\n\nimport type { IVector2 } from '@esengine/ecs-framework-math';\nimport type { IObstacle } from './ILocalAvoidance';\n\nconst EPSILON = 0.00001;\n\n// =============================================================================\n// 碰撞检测结果 | Collision Detection Result\n// =============================================================================\n\n/**\n * @zh 碰撞检测结果\n * @en Collision detection result\n */\nexport interface ICollisionResult {\n    /**\n     * @zh 是否发生碰撞\n     * @en Whether collision occurred\n     */\n    collided: boolean;\n\n    /**\n     * @zh 穿透深度\n     * @en Penetration depth\n     */\n    penetration: number;\n\n    /**\n     * @zh 碰撞法线（从障碍物指向代理）\n     * @en Collision normal (pointing from obstacle to agent)\n     */\n    normal: IVector2;\n\n    /**\n     * @zh 最近点\n     * @en Closest point on obstacle\n     */\n    closestPoint: IVector2;\n}\n\n/**\n * @zh 空碰撞结果\n * @en Empty collision result\n */\nexport const EMPTY_COLLISION: ICollisionResult = {\n    collided: false,\n    penetration: 0,\n    normal: { x: 0, y: 0 },\n    closestPoint: { x: 0, y: 0 }\n};\n\n// =============================================================================\n// 几何工具函数 | Geometry Utilities\n// =============================================================================\n\n/**\n * @zh 计算点到线段的最近点\n * @en Calculate closest point on line segment to a point\n */\nfunction closestPointOnSegment(\n    point: IVector2,\n    segStart: IVector2,\n    segEnd: IVector2\n): IVector2 {\n    const dx = segEnd.x - segStart.x;\n    const dy = segEnd.y - segStart.y;\n    const lengthSq = dx * dx + dy * dy;\n\n    if (lengthSq < EPSILON) {\n        return { x: segStart.x, y: segStart.y };\n    }\n\n    const t = Math.max(0, Math.min(1,\n        ((point.x - segStart.x) * dx + (point.y - segStart.y) * dy) / lengthSq\n    ));\n\n    return {\n        x: segStart.x + t * dx,\n        y: segStart.y + t * dy\n    };\n}\n\n/**\n * @zh 检查点是否在多边形内（射线法）\n * @en Check if point is inside polygon (ray casting)\n */\nfunction isPointInPolygon(point: IVector2, vertices: readonly IVector2[]): 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 > point.y !== yj > point.y &&\n            point.x < ((xj - xi) * (point.y - yi)) / (yj - yi) + xi\n        ) {\n            inside = !inside;\n        }\n    }\n\n    return inside;\n}\n\n/**\n * @zh 计算点到多边形的最近点和距离\n * @en Calculate closest point on polygon and distance to point\n */\nfunction closestPointOnPolygon(\n    point: IVector2,\n    vertices: readonly IVector2[]\n): { point: IVector2; distanceSq: number; edgeIndex: number } {\n    let minDistSq = Infinity;\n    let closestPt: IVector2 = { x: 0, y: 0 };\n    let closestEdge = 0;\n\n    for (let i = 0; i < vertices.length; i++) {\n        const j = (i + 1) % vertices.length;\n        const closest = closestPointOnSegment(point, vertices[i]!, vertices[j]!);\n        const dx = point.x - closest.x;\n        const dy = point.y - closest.y;\n        const distSq = dx * dx + dy * dy;\n\n        if (distSq < minDistSq) {\n            minDistSq = distSq;\n            closestPt = closest;\n            closestEdge = i;\n        }\n    }\n\n    return { point: closestPt, distanceSq: minDistSq, edgeIndex: closestEdge };\n}\n\n// =============================================================================\n// 碰撞解决器 | Collision Resolver\n// =============================================================================\n\n/**\n * @zh 碰撞解决器配置\n * @en Collision resolver configuration\n */\nexport interface ICollisionResolverConfig {\n    /**\n     * @zh 碰撞响应系数（0-1，1 表示完全推出）\n     * @en Collision response factor (0-1, 1 means fully push out)\n     */\n    responseFactor?: number;\n\n    /**\n     * @zh 安全边距（额外距离）\n     * @en Safety margin (extra distance)\n     */\n    safetyMargin?: number;\n}\n\n/**\n * @zh 默认配置\n * @en Default configuration\n */\nexport const DEFAULT_COLLISION_CONFIG: Required<ICollisionResolverConfig> = {\n    responseFactor: 1.0,\n    safetyMargin: 0.01\n};\n\n/**\n * @zh 碰撞解决器\n * @en Collision Resolver\n *\n * @zh 提供位置级别的硬碰撞检测和解决\n * @en Provides position-level hard collision detection and resolution\n */\nexport class CollisionResolver {\n    private readonly config: Required<ICollisionResolverConfig>;\n\n    constructor(config: ICollisionResolverConfig = {}) {\n        this.config = { ...DEFAULT_COLLISION_CONFIG, ...config };\n    }\n\n    /**\n     * @zh 检测圆与单个障碍物的碰撞\n     * @en Detect collision between circle and single obstacle\n     *\n     * @param position - @zh 圆心位置 @en Circle center position\n     * @param radius - @zh 圆半径 @en Circle radius\n     * @param obstacle - @zh 障碍物 @en Obstacle\n     * @returns @zh 碰撞结果 @en Collision result\n     */\n    detectCollision(\n        position: IVector2,\n        radius: number,\n        obstacle: IObstacle\n    ): ICollisionResult {\n        const vertices = obstacle.vertices;\n        if (vertices.length < 3) {\n            return EMPTY_COLLISION;\n        }\n\n        const isInside = isPointInPolygon(position, vertices);\n        const closest = closestPointOnPolygon(position, vertices);\n        const distance = Math.sqrt(closest.distanceSq);\n\n        let penetration: number;\n        let normalX: number;\n        let normalY: number;\n\n        if (isInside) {\n            penetration = radius + distance;\n            const dx = closest.point.x - position.x;\n            const dy = closest.point.y - position.y;\n            const len = Math.sqrt(dx * dx + dy * dy);\n            if (len > EPSILON) {\n                normalX = dx / len;\n                normalY = dy / len;\n            } else {\n                normalX = 1;\n                normalY = 0;\n            }\n        } else if (distance < radius) {\n            penetration = radius - distance;\n            const dx = position.x - closest.point.x;\n            const dy = position.y - closest.point.y;\n            const len = Math.sqrt(dx * dx + dy * dy);\n            if (len > EPSILON) {\n                normalX = dx / len;\n                normalY = dy / len;\n            } else {\n                normalX = 1;\n                normalY = 0;\n            }\n        } else {\n            return EMPTY_COLLISION;\n        }\n\n        return {\n            collided: true,\n            penetration,\n            normal: { x: normalX, y: normalY },\n            closestPoint: closest.point\n        };\n    }\n\n    /**\n     * @zh 检测圆与所有障碍物的碰撞\n     * @en Detect collision between circle and all obstacles\n     *\n     * @param position - @zh 圆心位置 @en Circle center position\n     * @param radius - @zh 圆半径 @en Circle radius\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @returns @zh 最严重的碰撞结果 @en Most severe collision result\n     */\n    detectCollisions(\n        position: IVector2,\n        radius: number,\n        obstacles: readonly IObstacle[]\n    ): ICollisionResult {\n        let worstCollision = EMPTY_COLLISION;\n        let maxPenetration = 0;\n\n        for (const obstacle of obstacles) {\n            const collision = this.detectCollision(position, radius, obstacle);\n            if (collision.collided && collision.penetration > maxPenetration) {\n                maxPenetration = collision.penetration;\n                worstCollision = collision;\n            }\n        }\n\n        return worstCollision;\n    }\n\n    /**\n     * @zh 解决碰撞，返回修正后的位置\n     * @en Resolve collision, return corrected position\n     *\n     * @param position - @zh 当前位置 @en Current position\n     * @param radius - @zh 半径 @en Radius\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @returns @zh 修正后的位置 @en Corrected position\n     */\n    resolveCollision(\n        position: IVector2,\n        radius: number,\n        obstacles: readonly IObstacle[]\n    ): IVector2 {\n        const result = { x: position.x, y: position.y };\n        const maxIterations = 4;\n\n        for (let iter = 0; iter < maxIterations; iter++) {\n            const collision = this.detectCollisions(result, radius, obstacles);\n\n            if (!collision.collided) {\n                break;\n            }\n\n            const pushDistance = (collision.penetration + this.config.safetyMargin) * this.config.responseFactor;\n            result.x += collision.normal.x * pushDistance;\n            result.y += collision.normal.y * pushDistance;\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 验证速度是否会导致碰撞，返回安全速度\n     * @en Validate velocity won't cause collision, return safe velocity\n     *\n     * @param position - @zh 当前位置 @en Current position\n     * @param velocity - @zh 目标速度 @en Target velocity\n     * @param radius - @zh 半径 @en Radius\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @param deltaTime - @zh 时间步长 @en Time step\n     * @returns @zh 安全速度 @en Safe velocity\n     */\n    validateVelocity(\n        position: IVector2,\n        velocity: IVector2,\n        radius: number,\n        obstacles: readonly IObstacle[],\n        deltaTime: number\n    ): IVector2 {\n        const speed = Math.sqrt(velocity.x * velocity.x + velocity.y * velocity.y);\n        if (speed < EPSILON) {\n            return velocity;\n        }\n\n        const newPos = {\n            x: position.x + velocity.x * deltaTime,\n            y: position.y + velocity.y * deltaTime\n        };\n\n        const collision = this.detectCollisions(newPos, radius, obstacles);\n\n        if (!collision.collided) {\n            return velocity;\n        }\n\n        const dotProduct = velocity.x * collision.normal.x + velocity.y * collision.normal.y;\n\n        if (dotProduct >= 0) {\n            return velocity;\n        }\n\n        // 移除朝向障碍物的速度分量，沿障碍物边缘滑动\n        const slideVelocity = {\n            x: velocity.x - dotProduct * collision.normal.x,\n            y: velocity.y - dotProduct * collision.normal.y\n        };\n\n        // 检查滑动速度是否太小（几乎垂直撞向障碍物）\n        const slideSpeed = Math.sqrt(slideVelocity.x * slideVelocity.x + slideVelocity.y * slideVelocity.y);\n        if (slideSpeed < speed * 0.1) {\n            // 速度几乎完全朝向障碍物角落，选择沿障碍物边缘滑动的方向\n            // 计算垂直于法线的两个方向\n            const perpDir1 = { x: -collision.normal.y, y: collision.normal.x };\n            const perpDir2 = { x: collision.normal.y, y: -collision.normal.x };\n\n            // 选择与原速度方向夹角较小的方向（点积较大）\n            const dot1 = velocity.x * perpDir1.x + velocity.y * perpDir1.y;\n            const dot2 = velocity.x * perpDir2.x + velocity.y * perpDir2.y;\n            const chosenDir = dot1 >= dot2 ? perpDir1 : perpDir2;\n\n            // 返回沿障碍物边缘的速度，保持原速度大小\n            return {\n                x: chosenDir.x * speed,\n                y: chosenDir.y * speed\n            };\n        }\n\n        return slideVelocity;\n    }\n\n    /**\n     * @zh 检测两个代理之间的碰撞\n     * @en Detect collision between two agents\n     *\n     * @param posA - @zh 代理 A 位置 @en Agent A position\n     * @param radiusA - @zh 代理 A 半径 @en Agent A radius\n     * @param posB - @zh 代理 B 位置 @en Agent B position\n     * @param radiusB - @zh 代理 B 半径 @en Agent B radius\n     * @returns @zh 碰撞结果 @en Collision result\n     */\n    detectAgentCollision(\n        posA: IVector2,\n        radiusA: number,\n        posB: IVector2,\n        radiusB: number\n    ): ICollisionResult {\n        const dx = posB.x - posA.x;\n        const dy = posB.y - posA.y;\n        const distSq = dx * dx + dy * dy;\n        const combinedRadius = radiusA + radiusB;\n\n        if (distSq >= combinedRadius * combinedRadius) {\n            return EMPTY_COLLISION;\n        }\n\n        const distance = Math.sqrt(distSq);\n        const penetration = combinedRadius - distance;\n\n        let normalX: number, normalY: number;\n        if (distance > EPSILON) {\n            normalX = -dx / distance;\n            normalY = -dy / distance;\n        } else {\n            normalX = 1;\n            normalY = 0;\n        }\n\n        return {\n            collided: true,\n            penetration,\n            normal: { x: normalX, y: normalY },\n            closestPoint: {\n                x: posA.x + normalX * radiusA,\n                y: posA.y + normalY * radiusA\n            }\n        };\n    }\n\n    /**\n     * @zh 解决代理之间的碰撞\n     * @en Resolve collision between agents\n     *\n     * @param posA - @zh 代理 A 位置 @en Agent A position\n     * @param radiusA - @zh 代理 A 半径 @en Agent A radius\n     * @param posB - @zh 代理 B 位置 @en Agent B position\n     * @param radiusB - @zh 代理 B 半径 @en Agent B radius\n     * @returns @zh 修正后的位置 [A, B] @en Corrected positions [A, B]\n     */\n    resolveAgentCollision(\n        posA: IVector2,\n        radiusA: number,\n        posB: IVector2,\n        radiusB: number\n    ): [IVector2, IVector2] {\n        const collision = this.detectAgentCollision(posA, radiusA, posB, radiusB);\n\n        if (!collision.collided) {\n            return [posA, posB];\n        }\n\n        const halfPush = (collision.penetration + this.config.safetyMargin) * 0.5 * this.config.responseFactor;\n\n        return [\n            {\n                x: posA.x + collision.normal.x * halfPush,\n                y: posA.y + collision.normal.y * halfPush\n            },\n            {\n                x: posB.x - collision.normal.x * halfPush,\n                y: posB.y - collision.normal.y * halfPush\n            }\n        ];\n    }\n}\n\n/**\n * @zh 创建碰撞解决器\n * @en Create collision resolver\n */\nexport function createCollisionResolver(config?: ICollisionResolverConfig): CollisionResolver {\n    return new 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