@esengine/pathfinding 13.2.0 → 13.3.0

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Files changed (24) hide show
  1. package/dist/{KDTree-2rs2EXvm.d.ts → CollisionResolver-CSgWsegP.d.ts} +122 -86
  2. package/dist/FlowController-Dc3nuLq5.d.ts +2751 -0
  3. package/dist/KDTree-BRpn7O8K.d.ts +216 -0
  4. package/dist/avoidance.d.ts +26 -4
  5. package/dist/avoidance.js +10 -2
  6. package/dist/{chunk-JTZP55BJ.js → chunk-3VEX32JO.js} +385 -9
  7. package/dist/chunk-3VEX32JO.js.map +1 -0
  8. package/dist/chunk-H5EFZBBT.js +1 -0
  9. package/dist/chunk-NIKT3PQC.js +3811 -0
  10. package/dist/chunk-NIKT3PQC.js.map +1 -0
  11. package/dist/ecs.d.ts +440 -647
  12. package/dist/ecs.js +1003 -1399
  13. package/dist/ecs.js.map +1 -1
  14. package/dist/index.d.ts +153 -711
  15. package/dist/index.js +1335 -1735
  16. package/dist/index.js.map +1 -1
  17. package/package.json +3 -3
  18. package/dist/IIncrementalPathfinding-3qs7e_pO.d.ts +0 -450
  19. package/dist/LinearProgram-DyD3pI6v.d.ts +0 -56
  20. package/dist/chunk-JTZP55BJ.js.map +0 -1
  21. package/dist/chunk-KEYTX37K.js +0 -1
  22. package/dist/chunk-VNC2YAAL.js +0 -1650
  23. package/dist/chunk-VNC2YAAL.js.map +0 -1
  24. /package/dist/{chunk-KEYTX37K.js.map → chunk-H5EFZBBT.js.map} +0 -0
package/dist/ecs.js.map CHANGED
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- {"version":3,"sources":["../src/ecs/PathfindingAgentComponent.ts","../src/ecs/PathfindingMapComponent.ts","../src/ecs/PathfindingSystem.ts","../src/ecs/AvoidanceAgentComponent.ts","../src/ecs/AvoidanceWorldComponent.ts","../src/ecs/LocalAvoidanceSystem.ts"],"sourcesContent":["/**\n * @zh 寻路代理组件\n * @en Pathfinding Agent Component\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\nimport type { IPoint } from '../core/IPathfinding';\nimport { PathfindingState } from '../core/IIncrementalPathfinding';\n\n// =============================================================================\n// 寻路代理组件 | Pathfinding Agent Component\n// =============================================================================\n\n/**\n * @zh 寻路代理组件\n * @en Pathfinding Agent Component\n *\n * @zh 附加到需要寻路的实体上，管理寻路请求和结果\n * @en Attach to entities that need pathfinding, manages path requests and results\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n * const agent = entity.addComponent(new PathfindingAgentComponent());\n *\n * // Set initial position\n * agent.x = 10;\n * agent.y = 10;\n *\n * // Request path to target\n * agent.requestPathTo(50, 50);\n *\n * // In movement system, follow the path\n * const waypoint = agent.getNextWaypoint();\n * if (waypoint) {\n * // Move towards waypoint\n * // When reached, call agent.advanceWaypoint()\n * }\n * ```\n */\n@ECSComponent('PathfindingAgent')\n@Serializable({ version: 1, typeId: 'PathfindingAgent' })\nexport class PathfindingAgentComponent extends Component {\n // =========================================================================\n // 位置属性 | Position Properties\n // =========================================================================\n\n /**\n * @zh 当前位置 X 坐标\n * @en Current position X coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Position X' })\n x: number = 0;\n\n /**\n * @zh 当前位置 Y 坐标\n * @en Current position Y coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Position Y' })\n y: number = 0;\n\n // =========================================================================\n // 目标属性 | Target Properties\n // =========================================================================\n\n /**\n * @zh 目标位置 X 坐标\n * @en Target position X coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Target X' })\n targetX: number = 0;\n\n /**\n * @zh 目标位置 Y 坐标\n * @en Target position Y coordinate\n */\n @Serialize()\n @Property({ type: 'number', label: 'Target Y' })\n targetY: number = 0;\n\n /**\n * @zh 是否有新的寻路请求待处理\n * @en Whether there is a new path request pending\n */\n hasRequest: boolean = false;\n\n // =========================================================================\n // 配置属性 | Configuration Properties\n // =========================================================================\n\n /**\n * @zh 寻路优先级（数值越小优先级越高）\n * @en Pathfinding priority (lower number = higher priority)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Priority', min: 0, max: 100 })\n priority: number = 50;\n\n /**\n * @zh 每帧最大迭代次数\n * @en Maximum iterations per frame\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Iterations/Frame', min: 10, max: 1000 })\n maxIterationsPerFrame: number = 100;\n\n /**\n * @zh 是否启用动态重规划\n * @en Whether dynamic replanning is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Dynamic Replan' })\n enableDynamicReplan: boolean = true;\n\n /**\n * @zh 向前探测距离（用于障碍物检测）\n * @en Lookahead distance for obstacle detection\n */\n @Serialize()\n @Property({ type: 'number', label: 'Lookahead Distance', min: 1, max: 20 })\n lookaheadDistance: number = 5;\n\n /**\n * @zh 路径验证间隔（帧数）\n * @en Path validation interval (in frames)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Validation Interval', min: 1, max: 60 })\n validationInterval: number = 10;\n\n // =========================================================================\n // 运行时状态（不序列化）| Runtime State (not serialized)\n // =========================================================================\n\n /**\n * @zh 当前寻路状态\n * @en Current pathfinding state\n */\n state: PathfindingState = PathfindingState.Idle;\n\n /**\n * @zh 当前请求 ID\n * @en Current request ID\n */\n currentRequestId: number = -1;\n\n /**\n * @zh 当前路径点列表\n * @en Current path waypoints\n */\n path: IPoint[] = [];\n\n /**\n * @zh 当前路径索引\n * @en Current path index\n */\n pathIndex: number = 0;\n\n /**\n * @zh 路径总代价\n * @en Total path cost\n */\n pathCost: number = 0;\n\n /**\n * @zh 寻路进度 (0-1)\n * @en Pathfinding progress (0-1)\n */\n progress: number = 0;\n\n /**\n * @zh 上次验证的帧号\n * @en Last validation frame number\n */\n lastValidationFrame: number = 0;\n\n /**\n * @zh 寻路完成回调\n * @en Pathfinding complete callback\n */\n onPathComplete?: (found: boolean, path: readonly IPoint[]) => void;\n\n /**\n * @zh 寻路进度回调\n * @en Pathfinding progress callback\n */\n onPathProgress?: (progress: number) => void;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 请求寻路到目标位置\n * @en Request path to target position\n *\n * @param targetX - @zh 目标 X 坐标 @en Target X coordinate\n * @param targetY - @zh 目标 Y 坐标 @en Target Y coordinate\n */\n requestPathTo(targetX: number, targetY: number): void {\n this.targetX = targetX;\n this.targetY = targetY;\n this.hasRequest = true;\n this.state = PathfindingState.Idle;\n this.progress = 0;\n }\n\n /**\n * @zh 取消当前寻路\n * @en Cancel current pathfinding\n */\n cancelPath(): void {\n this.hasRequest = false;\n this.state = PathfindingState.Cancelled;\n this.path = [];\n this.pathIndex = 0;\n this.progress = 0;\n this.currentRequestId = -1;\n }\n\n /**\n * @zh 获取下一个路径点\n * @en Get next waypoint\n *\n * @returns @zh 下一个路径点或 null @en Next waypoint or null\n */\n getNextWaypoint(): IPoint | null {\n if (this.pathIndex < this.path.length) {\n return this.path[this.pathIndex];\n }\n return null;\n }\n\n /**\n * @zh 前进到下一个路径点\n * @en Advance to next waypoint\n */\n advanceWaypoint(): void {\n if (this.pathIndex < this.path.length) {\n this.pathIndex++;\n }\n }\n\n /**\n * @zh 检查是否到达路径终点\n * @en Check if reached path end\n *\n * @returns @zh 是否到达终点 @en Whether reached end\n */\n isPathComplete(): boolean {\n return this.pathIndex >= this.path.length;\n }\n\n /**\n * @zh 检查是否正在寻路\n * @en Check if pathfinding is in progress\n *\n * @returns @zh 是否正在寻路 @en Whether pathfinding is in progress\n */\n isSearching(): boolean {\n return this.state === PathfindingState.InProgress;\n }\n\n /**\n * @zh 检查是否有有效路径\n * @en Check if has valid path\n *\n * @returns @zh 是否有有效路径 @en Whether has valid path\n */\n hasValidPath(): boolean {\n return this.state === PathfindingState.Completed && this.path.length > 0;\n }\n\n /**\n * @zh 获取剩余路径点数量\n * @en Get remaining waypoint count\n *\n * @returns @zh 剩余路径点数量 @en Remaining waypoint count\n */\n getRemainingWaypointCount(): number {\n return Math.max(0, this.path.length - this.pathIndex);\n }\n\n /**\n * @zh 获取当前路径的总长度\n * @en Get total path length\n *\n * @returns @zh 路径总长度 @en Total path length\n */\n getPathLength(): number {\n return this.path.length;\n }\n\n /**\n * @zh 重置组件状态\n * @en Reset component state\n */\n reset(): void {\n this.state = PathfindingState.Idle;\n this.currentRequestId = -1;\n this.path = [];\n this.pathIndex = 0;\n this.pathCost = 0;\n this.progress = 0;\n this.hasRequest = false;\n this.lastValidationFrame = 0;\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n this.reset();\n this.onPathComplete = undefined;\n this.onPathProgress = undefined;\n }\n}\n","/**\n * @zh 寻路地图组件\n * @en Pathfinding Map Component\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\nimport type { IPathfindingMap, IPathSmoother } from '../core/IPathfinding';\nimport type { IIncrementalPathfinder } from '../core/IIncrementalPathfinding';\n\n// =============================================================================\n// 地图类型 | Map Type\n// =============================================================================\n\n/**\n * @zh 地图类型\n * @en Map type\n */\nexport type PathfindingMapType = 'grid' | 'navmesh';\n\n// =============================================================================\n// 寻路地图组件 | Pathfinding Map Component\n// =============================================================================\n\n/**\n * @zh 寻路地图组件\n * @en Pathfinding Map Component\n *\n * @zh 挂载在场景实体上，持有地图实例和增量寻路器\n * @en Attached to scene entity, holds map instance and incremental pathfinder\n *\n * @example\n * ```typescript\n * const mapEntity = scene.createEntity('PathfindingMap');\n * const mapComp = mapEntity.addComponent(new PathfindingMapComponent());\n *\n * // Configure map\n * mapComp.width = 100;\n * mapComp.height = 100;\n * mapComp.iterationsBudget = 2000;\n *\n * // Map and pathfinder will be initialized by PathfindingSystem\n * ```\n */\n@ECSComponent('PathfindingMap')\n@Serializable({ version: 1, typeId: 'PathfindingMap' })\nexport class PathfindingMapComponent extends Component {\n // =========================================================================\n // 地图配置 | Map Configuration\n // =========================================================================\n\n /**\n * @zh 地图类型\n * @en Map type\n */\n @Serialize()\n @Property({\n type: 'enum',\n label: 'Map Type',\n options: [\n { value: 'grid', label: 'Grid' },\n { value: 'navmesh', label: 'NavMesh' }\n ]\n })\n mapType: PathfindingMapType = 'grid';\n\n /**\n * @zh 网格宽度（仅 grid 类型）\n * @en Grid width (grid type only)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Map Width', min: 1, max: 10000 })\n width: number = 100;\n\n /**\n * @zh 网格高度（仅 grid 类型）\n * @en Grid height (grid type only)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Map Height', min: 1, max: 10000 })\n height: number = 100;\n\n /**\n * @zh 是否允许对角移动\n * @en Whether diagonal movement is allowed\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Allow Diagonal' })\n allowDiagonal: boolean = true;\n\n /**\n * @zh 是否避免穿角\n * @en Whether to avoid corner cutting\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Avoid Corners' })\n avoidCorners: boolean = true;\n\n // =========================================================================\n // 系统配置 | System Configuration\n // =========================================================================\n\n /**\n * @zh 每帧处理的最大代理数\n * @en Maximum agents processed per frame\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Agents/Frame', min: 1, max: 100 })\n maxAgentsPerFrame: number = 10;\n\n /**\n * @zh 每帧总迭代次数预算\n * @en Total iterations budget per frame\n */\n @Serialize()\n @Property({ type: 'number', label: 'Iterations Budget', min: 100, max: 10000 })\n iterationsBudget: number = 1000;\n\n /**\n * @zh 是否启用路径平滑\n * @en Whether path smoothing is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Enable Smoothing' })\n enableSmoothing: boolean = true;\n\n /**\n * @zh 路径平滑类型\n * @en Path smoothing type\n */\n @Serialize()\n @Property({\n type: 'enum',\n label: 'Smoothing Type',\n options: [\n { value: 'los', label: 'Line of Sight' },\n { value: 'catmullrom', label: 'Catmull-Rom' },\n { value: 'combined', label: 'Combined' }\n ]\n })\n smoothingType: 'los' | 'catmullrom' | 'combined' = 'los';\n\n // =========================================================================\n // 缓存配置 | Cache Configuration\n // =========================================================================\n\n /**\n * @zh 是否启用路径缓存\n * @en Whether path caching is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Enable Cache' })\n enableCache: boolean = true;\n\n /**\n * @zh 缓存最大条目数\n * @en Maximum cache entries\n */\n @Serialize()\n @Property({ type: 'number', label: 'Cache Size', min: 100, max: 10000 })\n cacheMaxEntries: number = 1000;\n\n /**\n * @zh 缓存过期时间（毫秒），0 表示不过期\n * @en Cache TTL in milliseconds, 0 means no expiration\n */\n @Serialize()\n @Property({ type: 'number', label: 'Cache TTL (ms)', min: 0, max: 60000 })\n cacheTtlMs: number = 5000;\n\n // =========================================================================\n // 调试配置 | Debug Configuration\n // =========================================================================\n\n /**\n * @zh 是否显示调试信息\n * @en Whether to show debug info\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Debug Mode' })\n debugMode: boolean = false;\n\n /**\n * @zh 是否显示网格\n * @en Whether to show grid\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Show Grid' })\n showGrid: boolean = false;\n\n /**\n * @zh 是否显示路径\n * @en Whether to show paths\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Show Paths' })\n showPaths: boolean = false;\n\n // =========================================================================\n // 运行时实例（不序列化）| Runtime Instances (not serialized)\n // =========================================================================\n\n /**\n * @zh 地图实例\n * @en Map instance\n */\n map: IPathfindingMap | null = null;\n\n /**\n * @zh 增量寻路器实例\n * @en Incremental pathfinder instance\n */\n pathfinder: IIncrementalPathfinder | null = null;\n\n /**\n * @zh 路径平滑器实例\n * @en Path smoother instance\n */\n smoother: IPathSmoother | null = null;\n\n /**\n * @zh 是否已初始化\n * @en Whether initialized\n */\n initialized: boolean = false;\n\n // =========================================================================\n // 统计信息 | Statistics\n // =========================================================================\n\n /**\n * @zh 当前活跃请求数\n * @en Current active request count\n */\n activeRequests: number = 0;\n\n /**\n * @zh 本帧使用的迭代次数\n * @en Iterations used this frame\n */\n iterationsUsedThisFrame: number = 0;\n\n /**\n * @zh 本帧处理的代理数\n * @en Agents processed this frame\n */\n agentsProcessedThisFrame: number = 0;\n\n /**\n * @zh 缓存命中次数\n * @en Cache hit count\n */\n cacheHits: number = 0;\n\n /**\n * @zh 缓存未命中次数\n * @en Cache miss count\n */\n cacheMisses: number = 0;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 设置网格单元格是否可通行\n * @en Set grid cell walkability\n *\n * @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @param walkable - @zh 是否可通行 @en Is walkable\n */\n setWalkable(x: number, y: number, walkable: boolean): void {\n if (this.map && 'setWalkable' in this.map) {\n (this.map as { setWalkable(x: number, y: number, walkable: boolean): void })\n .setWalkable(x, y, walkable);\n\n if (this.pathfinder) {\n this.pathfinder.notifyObstacleChange(x - 1, y - 1, x + 1, y + 1);\n }\n }\n }\n\n /**\n * @zh 设置矩形区域是否可通行\n * @en Set rectangular area walkability\n *\n * @param x - @zh 起始 X @en Start X\n * @param y - @zh 起始 Y @en Start Y\n * @param width - @zh 宽度 @en Width\n * @param height - @zh 高度 @en Height\n * @param walkable - @zh 是否可通行 @en Is walkable\n */\n setRectWalkable(\n x: number,\n y: number,\n rectWidth: number,\n rectHeight: number,\n walkable: boolean\n ): void {\n if (this.map && 'setRectWalkable' in this.map) {\n (this.map as { setRectWalkable(x: number, y: number, w: number, h: number, walkable: boolean): void })\n .setRectWalkable(x, y, rectWidth, rectHeight, walkable);\n\n if (this.pathfinder) {\n this.pathfinder.notifyObstacleChange(\n x - 1,\n y - 1,\n x + rectWidth + 1,\n y + rectHeight + 1\n );\n }\n }\n }\n\n /**\n * @zh 检查位置是否可通行\n * @en Check if position is walkable\n *\n * @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @returns @zh 是否可通行 @en Is walkable\n */\n isWalkable(x: number, y: number): boolean {\n return this.map?.isWalkable(x, y) ?? false;\n }\n\n /**\n * @zh 重置统计信息\n * @en Reset statistics\n */\n resetStats(): void {\n this.iterationsUsedThisFrame = 0;\n this.agentsProcessedThisFrame = 0;\n }\n\n /**\n * @zh 获取剩余迭代预算\n * @en Get remaining iteration budget\n *\n * @returns @zh 剩余预算 @en Remaining budget\n */\n getRemainingBudget(): number {\n return Math.max(0, this.iterationsBudget - this.iterationsUsedThisFrame);\n }\n\n /**\n * @zh 获取缓存统计信息\n * @en Get cache statistics\n *\n * @returns @zh 缓存统计 @en Cache statistics\n */\n getCacheStats(): { enabled: boolean; hits: number; misses: number; hitRate: number } {\n const pathfinderWithCache = this.pathfinder as { getCacheStats?: () => { hits: number; misses: number; hitRate: number } };\n if (pathfinderWithCache?.getCacheStats) {\n const stats = pathfinderWithCache.getCacheStats();\n this.cacheHits = stats.hits;\n this.cacheMisses = stats.misses;\n return {\n enabled: this.enableCache,\n hits: stats.hits,\n misses: stats.misses,\n hitRate: stats.hitRate\n };\n }\n return {\n enabled: this.enableCache,\n hits: this.cacheHits,\n misses: this.cacheMisses,\n hitRate: this.cacheHits + this.cacheMisses > 0\n ? this.cacheHits / (this.cacheHits + this.cacheMisses)\n : 0\n };\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n if (this.pathfinder) {\n this.pathfinder.clear();\n }\n\n this.map = null;\n this.pathfinder = null;\n this.smoother = null;\n this.initialized = false;\n }\n}\n","/**\n * @zh 寻路系统\n * @en Pathfinding System\n */\n\nimport {\n EntitySystem,\n Matcher,\n ECSSystem,\n type Entity\n} from '@esengine/ecs-framework';\nimport { PathfindingAgentComponent } from './PathfindingAgentComponent';\nimport { PathfindingMapComponent } from './PathfindingMapComponent';\nimport { PathfindingState } from '../core/IIncrementalPathfinding';\nimport type { IIncrementalPathfinder, IPathProgress } from '../core/IIncrementalPathfinding';\nimport { IncrementalAStarPathfinder } from '../core/IncrementalAStarPathfinder';\nimport { GridMap } from '../grid/GridMap';\nimport { LineOfSightSmoother, CatmullRomSmoother, CombinedSmoother } from '../smoothing/PathSmoother';\nimport { PathValidator } from '../core/PathValidator';\n\n// =============================================================================\n// 代理队列项 | Agent Queue Item\n// =============================================================================\n\n/**\n * @zh 代理队列项\n * @en Agent queue item\n */\ninterface AgentQueueItem {\n entity: Entity;\n component: PathfindingAgentComponent;\n}\n\n// =============================================================================\n// 寻路系统 | Pathfinding System\n// =============================================================================\n\n/**\n * @zh 寻路系统\n * @en Pathfinding System\n *\n * @zh 处理所有 PathfindingAgentComponent，支持时间切片和动态重规划\n * @en Processes all PathfindingAgentComponents, supports time slicing and dynamic replanning\n *\n * @example\n * ```typescript\n * // Add system to scene\n * scene.addSystem(new PathfindingSystem());\n *\n * // Create map entity\n * const mapEntity = scene.createEntity('Map');\n * mapEntity.addComponent(new PathfindingMapComponent());\n *\n * // Create agents\n * const agent = scene.createEntity('Agent');\n * const pathAgent = agent.addComponent(new PathfindingAgentComponent());\n * pathAgent.requestPathTo(50, 50);\n *\n * // System handles pathfinding automatically each frame\n * ```\n */\n@ECSSystem('Pathfinding', { updateOrder: 0 })\nexport class PathfindingSystem extends EntitySystem {\n private mapEntity: Entity | null = null;\n private mapComponent: PathfindingMapComponent | null = null;\n private pathValidator: PathValidator;\n\n private agentQueue: AgentQueueItem[] = [];\n private frameCounter: number = 0;\n\n constructor() {\n super(Matcher.all(PathfindingAgentComponent));\n this.pathValidator = new PathValidator();\n }\n\n /**\n * @zh 系统初始化\n * @en System initialization\n */\n protected onInitialize(): void {\n this.findMapEntity();\n this.initializeMap();\n }\n\n /**\n * @zh 系统激活时调用\n * @en Called when system is enabled\n */\n protected onEnable(): void {\n this.findMapEntity();\n }\n\n /**\n * @zh 处理实体\n * @en Process entities\n */\n protected process(entities: readonly Entity[]): void {\n if (!this.mapComponent?.pathfinder) {\n this.findMapEntity();\n if (!this.mapComponent?.pathfinder) {\n return;\n }\n }\n\n this.frameCounter++;\n this.mapComponent.resetStats();\n\n this.buildAgentQueue(entities);\n\n this.processAgentsWithBudget();\n\n this.validatePaths(entities);\n }\n\n // =========================================================================\n // 私有方法 | Private Methods\n // =========================================================================\n\n /**\n * @zh 查找地图实体\n * @en Find map entity\n */\n private findMapEntity(): void {\n if (!this.scene) return;\n\n const entities = this.scene.entities.findEntitiesWithComponent(PathfindingMapComponent);\n if (entities.length > 0) {\n const entity = entities[0]!;\n const mapComp = entity.getComponent(PathfindingMapComponent);\n if (mapComp) {\n this.mapEntity = entity;\n this.mapComponent = mapComp;\n\n if (!mapComp.initialized) {\n this.initializeMap();\n }\n }\n }\n }\n\n /**\n * @zh 初始化地图\n * @en Initialize map\n */\n private initializeMap(): void {\n if (!this.mapComponent) return;\n if (this.mapComponent.initialized) return;\n\n if (!this.mapComponent.map) {\n if (this.mapComponent.mapType === 'grid') {\n this.mapComponent.map = new GridMap(\n this.mapComponent.width,\n this.mapComponent.height,\n {\n allowDiagonal: this.mapComponent.allowDiagonal,\n avoidCorners: this.mapComponent.avoidCorners\n }\n );\n }\n }\n\n if (!this.mapComponent.pathfinder && this.mapComponent.map) {\n this.mapComponent.pathfinder = new IncrementalAStarPathfinder(\n this.mapComponent.map,\n {\n enableCache: this.mapComponent.enableCache,\n cacheConfig: {\n maxEntries: this.mapComponent.cacheMaxEntries,\n ttlMs: this.mapComponent.cacheTtlMs\n }\n }\n );\n }\n\n if (!this.mapComponent.smoother && this.mapComponent.enableSmoothing) {\n switch (this.mapComponent.smoothingType) {\n case 'catmullrom':\n this.mapComponent.smoother = new CatmullRomSmoother();\n break;\n case 'combined':\n this.mapComponent.smoother = new CombinedSmoother();\n break;\n case 'los':\n default:\n this.mapComponent.smoother = new LineOfSightSmoother();\n break;\n }\n }\n\n this.mapComponent.initialized = true;\n }\n\n /**\n * @zh 构建代理优先级队列\n * @en Build agent priority queue\n */\n private buildAgentQueue(entities: readonly Entity[]): void {\n this.agentQueue.length = 0;\n\n for (const entity of entities) {\n const agent = entity.getComponent(PathfindingAgentComponent);\n if (!agent) continue;\n\n if (!agent.hasRequest &&\n (agent.state === PathfindingState.Idle ||\n agent.state === PathfindingState.Completed ||\n agent.state === PathfindingState.Cancelled)) {\n continue;\n }\n\n this.agentQueue.push({ entity, component: agent });\n }\n\n this.agentQueue.sort((a, b) => a.component.priority - b.component.priority);\n }\n\n /**\n * @zh 使用预算处理代理\n * @en Process agents with budget\n */\n private processAgentsWithBudget(): void {\n const pathfinder = this.mapComponent!.pathfinder!;\n const maxAgents = this.mapComponent!.maxAgentsPerFrame;\n let remainingBudget = this.mapComponent!.iterationsBudget;\n let agentsProcessed = 0;\n\n for (const { component: agent } of this.agentQueue) {\n if (agentsProcessed >= maxAgents || remainingBudget <= 0) {\n break;\n }\n\n if (agent.hasRequest && agent.state === PathfindingState.Idle) {\n this.startNewRequest(agent, pathfinder);\n }\n\n if (agent.state === PathfindingState.InProgress) {\n const iterations = Math.min(\n agent.maxIterationsPerFrame,\n remainingBudget\n );\n\n const progress = pathfinder.step(agent.currentRequestId, iterations);\n this.updateAgentFromProgress(agent, progress, pathfinder);\n\n remainingBudget -= progress.nodesSearched;\n this.mapComponent!.iterationsUsedThisFrame += progress.nodesSearched;\n }\n\n agentsProcessed++;\n }\n\n this.mapComponent!.agentsProcessedThisFrame = agentsProcessed;\n }\n\n /**\n * @zh 启动新的寻路请求\n * @en Start new pathfinding request\n */\n private startNewRequest(\n agent: PathfindingAgentComponent,\n pathfinder: IIncrementalPathfinder\n ): void {\n if (agent.currentRequestId >= 0) {\n pathfinder.cancel(agent.currentRequestId);\n pathfinder.cleanup(agent.currentRequestId);\n }\n\n const request = pathfinder.requestPath(\n agent.x,\n agent.y,\n agent.targetX,\n agent.targetY,\n { priority: agent.priority }\n );\n\n agent.currentRequestId = request.id;\n agent.state = PathfindingState.InProgress;\n agent.hasRequest = false;\n agent.progress = 0;\n agent.path = [];\n agent.pathIndex = 0;\n\n this.mapComponent!.activeRequests++;\n }\n\n /**\n * @zh 从进度更新代理状态\n * @en Update agent state from progress\n */\n private updateAgentFromProgress(\n agent: PathfindingAgentComponent,\n progress: IPathProgress,\n pathfinder: IIncrementalPathfinder\n ): void {\n agent.state = progress.state;\n agent.progress = progress.estimatedProgress;\n\n agent.onPathProgress?.(progress.estimatedProgress);\n\n if (progress.state === PathfindingState.Completed) {\n const result = pathfinder.getResult(agent.currentRequestId);\n if (result && result.found) {\n const smoother = this.mapComponent?.smoother;\n const map = this.mapComponent?.map;\n\n if (smoother && map && this.mapComponent?.enableSmoothing) {\n agent.path = smoother.smooth(result.path, map);\n } else {\n agent.path = [...result.path];\n }\n\n agent.pathIndex = 0;\n agent.pathCost = result.cost;\n\n agent.onPathComplete?.(true, agent.path);\n } else {\n agent.path = [];\n agent.state = PathfindingState.Failed;\n agent.onPathComplete?.(false, []);\n }\n\n pathfinder.cleanup(agent.currentRequestId);\n this.mapComponent!.activeRequests--;\n } else if (progress.state === PathfindingState.Failed) {\n agent.path = [];\n agent.onPathComplete?.(false, []);\n pathfinder.cleanup(agent.currentRequestId);\n this.mapComponent!.activeRequests--;\n }\n }\n\n /**\n * @zh 周期性验证路径有效性\n * @en Periodically validate path validity\n */\n private validatePaths(entities: readonly Entity[]): void {\n const map = this.mapComponent?.map;\n if (!map) return;\n\n for (const entity of entities) {\n const agent = entity.getComponent(PathfindingAgentComponent);\n if (!agent || !agent.enableDynamicReplan) continue;\n if (agent.path.length === 0 || agent.isPathComplete()) continue;\n\n if (this.frameCounter - agent.lastValidationFrame < agent.validationInterval) {\n continue;\n }\n\n agent.lastValidationFrame = this.frameCounter;\n\n const checkEnd = Math.min(\n agent.pathIndex + agent.lookaheadDistance,\n agent.path.length\n );\n\n const result = this.pathValidator.validatePath(\n agent.path,\n agent.pathIndex,\n checkEnd,\n map\n );\n\n if (!result.valid) {\n agent.x = agent.path[agent.pathIndex]?.x ?? agent.x;\n agent.y = agent.path[agent.pathIndex]?.y ?? agent.y;\n agent.requestPathTo(agent.targetX, agent.targetY);\n }\n }\n }\n}\n","/**\n * @zh 避让代理组件\n * @en Avoidance Agent Component\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\nimport { DEFAULT_AGENT_PARAMS } from '../avoidance/ILocalAvoidance';\n\n// =============================================================================\n// 避让代理组件 | Avoidance Agent Component\n// =============================================================================\n\n/**\n * @zh 避让代理组件\n * @en Avoidance Agent Component\n *\n * @zh 附加到需要局部避让的实体上，与 ORCA 系统配合使用\n * @en Attach to entities that need local avoidance, works with ORCA system\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Monster');\n *\n * // 添加避让代理\n * const avoidance = entity.addComponent(new AvoidanceAgentComponent());\n * avoidance.radius = 0.5;\n * avoidance.maxSpeed = 5.0;\n *\n * // 设置首选速度（朝向目标）\n * avoidance.setPreferredVelocityTowards(targetX, targetY, currentX, currentY);\n *\n * // 系统计算后，使用新速度更新位置\n * // After system computes, use new velocity to update position\n * x += avoidance.newVelocityX * deltaTime;\n * y += avoidance.newVelocityY * deltaTime;\n * ```\n */\n@ECSComponent('AvoidanceAgent')\n@Serializable({ version: 1, typeId: 'AvoidanceAgent' })\nexport class AvoidanceAgentComponent extends Component {\n // =========================================================================\n // 物理属性 | Physical Properties\n // =========================================================================\n\n /**\n * @zh 代理半径\n * @en Agent radius\n *\n * @zh 用于碰撞检测和避让计算\n * @en Used for collision detection and avoidance computation\n */\n @Serialize()\n @Property({ type: 'number', label: 'Radius', min: 0.1, max: 10 })\n radius: number = DEFAULT_AGENT_PARAMS.radius;\n\n /**\n * @zh 最大速度\n * @en Maximum speed\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Speed', min: 0.1, max: 100 })\n maxSpeed: number = DEFAULT_AGENT_PARAMS.maxSpeed;\n\n // =========================================================================\n // ORCA 参数 | ORCA Parameters\n // =========================================================================\n\n /**\n * @zh 邻居检测距离\n * @en Neighbor detection distance\n *\n * @zh 只考虑此范围内的其他代理\n * @en Only considers other agents within this range\n */\n @Serialize()\n @Property({ type: 'number', label: 'Neighbor Dist', min: 1, max: 100 })\n neighborDist: number = DEFAULT_AGENT_PARAMS.neighborDist;\n\n /**\n * @zh 最大邻居数量\n * @en Maximum number of neighbors to consider\n *\n * @zh 限制计算量，优先考虑最近的邻居\n * @en Limits computation, prioritizes closest neighbors\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Neighbors', min: 1, max: 50 })\n maxNeighbors: number = DEFAULT_AGENT_PARAMS.maxNeighbors;\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，但可能导致过于保守\n * @en Larger values make agents start avoiding earlier, but may be too conservative\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Horizon', min: 0.1, max: 10 })\n timeHorizon: number = DEFAULT_AGENT_PARAMS.timeHorizon;\n\n /**\n * @zh 障碍物避让时间视野（秒）\n * @en Time horizon for obstacle avoidance (seconds)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Horizon Obst', min: 0.1, max: 10 })\n timeHorizonObst: number = DEFAULT_AGENT_PARAMS.timeHorizonObst;\n\n // =========================================================================\n // 位置和速度（运行时状态）| Position & Velocity (Runtime State)\n // =========================================================================\n\n /**\n * @zh 当前位置 X\n * @en Current position X\n *\n * @zh 如果实体有 Transform 组件，系统会自动同步\n * @en If entity has Transform component, system will sync automatically\n */\n positionX: number = 0;\n\n /**\n * @zh 当前位置 Y\n * @en Current position Y\n */\n positionY: number = 0;\n\n /**\n * @zh 当前速度 X\n * @en Current velocity X\n */\n velocityX: number = 0;\n\n /**\n * @zh 当前速度 Y\n * @en Current velocity Y\n */\n velocityY: number = 0;\n\n /**\n * @zh 首选速度 X（通常指向目标方向）\n * @en Preferred velocity X (usually towards target)\n */\n preferredVelocityX: number = 0;\n\n /**\n * @zh 首选速度 Y\n * @en Preferred velocity Y\n */\n preferredVelocityY: number = 0;\n\n /**\n * @zh ORCA 计算的新速度 X\n * @en New velocity X computed by ORCA\n */\n newVelocityX: number = 0;\n\n /**\n * @zh ORCA 计算的新速度 Y\n * @en New velocity Y computed by ORCA\n */\n newVelocityY: number = 0;\n\n // =========================================================================\n // 配置选项 | Configuration Options\n // =========================================================================\n\n /**\n * @zh 是否启用避让\n * @en Whether avoidance is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Enabled' })\n enabled: boolean = true;\n\n /**\n * @zh 是否自动应用新速度\n * @en Whether to automatically apply new velocity\n *\n * @zh 如果为 true，系统会在计算后自动将 newVelocity 赋值给 velocity\n * @en If true, system will automatically assign newVelocity to velocity after computation\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Auto Apply' })\n autoApplyVelocity: boolean = true;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 设置位置\n * @en Set position\n */\n setPosition(x: number, y: number): void {\n this.positionX = x;\n this.positionY = y;\n }\n\n /**\n * @zh 设置当前速度\n * @en Set current velocity\n */\n setVelocity(x: number, y: number): void {\n this.velocityX = x;\n this.velocityY = y;\n }\n\n /**\n * @zh 设置首选速度\n * @en Set preferred velocity\n */\n setPreferredVelocity(x: number, y: number): void {\n this.preferredVelocityX = x;\n this.preferredVelocityY = y;\n }\n\n /**\n * @zh 设置首选速度朝向目标\n * @en Set preferred velocity towards target\n *\n * @param targetX - @zh 目标 X @en Target X\n * @param targetY - @zh 目标 Y @en Target Y\n * @param currentX - @zh 当前 X（可选，默认使用 positionX）@en Current X (optional, defaults to positionX)\n * @param currentY - @zh 当前 Y（可选，默认使用 positionY）@en Current Y (optional, defaults to positionY)\n */\n setPreferredVelocityTowards(\n targetX: number,\n targetY: number,\n currentX?: number,\n currentY?: number\n ): void {\n const x = currentX ?? this.positionX;\n const y = currentY ?? this.positionY;\n\n const dx = targetX - x;\n const dy = targetY - y;\n const dist = Math.sqrt(dx * dx + dy * dy);\n\n if (dist > 0.0001) {\n const speed = Math.min(this.maxSpeed, dist);\n this.preferredVelocityX = (dx / dist) * speed;\n this.preferredVelocityY = (dy / dist) * speed;\n } else {\n this.preferredVelocityX = 0;\n this.preferredVelocityY = 0;\n }\n }\n\n /**\n * @zh 应用 ORCA 计算的新速度\n * @en Apply new velocity computed by ORCA\n */\n applyNewVelocity(): void {\n this.velocityX = this.newVelocityX;\n this.velocityY = this.newVelocityY;\n }\n\n /**\n * @zh 获取新速度的长度\n * @en Get length of new velocity\n */\n getNewSpeed(): number {\n return Math.sqrt(\n this.newVelocityX * this.newVelocityX +\n this.newVelocityY * this.newVelocityY\n );\n }\n\n /**\n * @zh 获取当前速度的长度\n * @en Get length of current velocity\n */\n getCurrentSpeed(): number {\n return Math.sqrt(\n this.velocityX * this.velocityX +\n this.velocityY * this.velocityY\n );\n }\n\n /**\n * @zh 停止代理\n * @en Stop the agent\n */\n stop(): void {\n this.velocityX = 0;\n this.velocityY = 0;\n this.preferredVelocityX = 0;\n this.preferredVelocityY = 0;\n this.newVelocityX = 0;\n this.newVelocityY = 0;\n }\n\n /**\n * @zh 重置组件状态\n * @en Reset component state\n */\n reset(): void {\n this.positionX = 0;\n this.positionY = 0;\n this.velocityX = 0;\n this.velocityY = 0;\n this.preferredVelocityX = 0;\n this.preferredVelocityY = 0;\n this.newVelocityX = 0;\n this.newVelocityY = 0;\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n this.reset();\n }\n}\n","/**\n * @zh 避让世界组件\n * @en Avoidance World Component\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\nimport type { IObstacle, IORCASolverConfig } from '../avoidance/ILocalAvoidance';\nimport { DEFAULT_ORCA_CONFIG } from '../avoidance/ILocalAvoidance';\nimport type { ORCASolver } from '../avoidance/ORCASolver';\nimport type { KDTree } from '../avoidance/KDTree';\n\n// =============================================================================\n// 避让世界组件 | Avoidance World Component\n// =============================================================================\n\n/**\n * @zh 避让世界组件\n * @en Avoidance World Component\n *\n * @zh 挂载在场景实体上，持有 ORCA 求解器和静态障碍物\n * @en Attached to scene entity, holds ORCA solver and static obstacles\n *\n * @example\n * ```typescript\n * const worldEntity = scene.createEntity('AvoidanceWorld');\n * const world = worldEntity.addComponent(new AvoidanceWorldComponent());\n *\n * // 添加静态障碍物（墙壁）\n * world.addObstacle({\n * vertices: [\n * { x: 0, y: 0 },\n * { x: 10, y: 0 },\n * { x: 10, y: 1 },\n * { x: 0, y: 1 }\n * ]\n * });\n *\n * // LocalAvoidanceSystem 会自动使用此组件\n * ```\n */\n@ECSComponent('AvoidanceWorld')\n@Serializable({ version: 1, typeId: 'AvoidanceWorld' })\nexport class AvoidanceWorldComponent extends Component {\n // =========================================================================\n // ORCA 配置 | ORCA Configuration\n // =========================================================================\n\n /**\n * @zh 默认时间视野（代理）\n * @en Default time horizon for agents\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Horizon', min: 0.1, max: 10 })\n defaultTimeHorizon: number = DEFAULT_ORCA_CONFIG.defaultTimeHorizon;\n\n /**\n * @zh 默认时间视野（障碍物）\n * @en Default time horizon for obstacles\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Horizon Obst', min: 0.1, max: 10 })\n defaultTimeHorizonObst: number = DEFAULT_ORCA_CONFIG.defaultTimeHorizonObst;\n\n /**\n * @zh 时间步长\n * @en Time step\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Step', min: 0.001, max: 0.1 })\n timeStep: number = DEFAULT_ORCA_CONFIG.timeStep;\n\n // =========================================================================\n // 运行时实例（不序列化）| Runtime Instances (not serialized)\n // =========================================================================\n\n /**\n * @zh ORCA 求解器实例\n * @en ORCA solver instance\n */\n solver: ORCASolver | null = null;\n\n /**\n * @zh KD-Tree 实例\n * @en KD-Tree instance\n */\n kdTree: KDTree | null = null;\n\n /**\n * @zh 静态障碍物列表\n * @en List of static obstacles\n */\n obstacles: IObstacle[] = [];\n\n /**\n * @zh 是否已初始化\n * @en Whether initialized\n */\n initialized: boolean = false;\n\n // =========================================================================\n // 统计信息 | Statistics\n // =========================================================================\n\n /**\n * @zh 当前代理数量\n * @en Current agent count\n */\n agentCount: number = 0;\n\n /**\n * @zh 本帧处理的代理数\n * @en Agents processed this frame\n */\n agentsProcessedThisFrame: number = 0;\n\n /**\n * @zh 本帧 ORCA 计算耗时（毫秒）\n * @en ORCA computation time this frame (ms)\n */\n computeTimeMs: number = 0;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 获取 ORCA 配置\n * @en Get ORCA configuration\n */\n getConfig(): IORCASolverConfig {\n return {\n defaultTimeHorizon: this.defaultTimeHorizon,\n defaultTimeHorizonObst: this.defaultTimeHorizonObst,\n timeStep: this.timeStep\n };\n }\n\n /**\n * @zh 添加静态障碍物\n * @en Add static obstacle\n *\n * @param obstacle - @zh 障碍物（顶点列表，逆时针顺序）@en Obstacle (vertex list, counter-clockwise)\n */\n addObstacle(obstacle: IObstacle): void {\n this.obstacles.push(obstacle);\n }\n\n /**\n * @zh 添加矩形障碍物\n * @en Add rectangular obstacle\n *\n * @param x - @zh 左下角 X @en Bottom-left X\n * @param y - @zh 左下角 Y @en Bottom-left Y\n * @param width - @zh 宽度 @en Width\n * @param height - @zh 高度 @en Height\n */\n addRectObstacle(x: number, y: number, width: number, height: number): void {\n this.obstacles.push({\n vertices: [\n { x: x, y: y },\n { x: x + width, y: y },\n { x: x + width, y: y + height },\n { x: x, y: y + height }\n ]\n });\n }\n\n /**\n * @zh 移除所有障碍物\n * @en Remove all obstacles\n */\n clearObstacles(): void {\n this.obstacles = [];\n }\n\n /**\n * @zh 重置统计信息\n * @en Reset statistics\n */\n resetStats(): void {\n this.agentsProcessedThisFrame = 0;\n this.computeTimeMs = 0;\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n this.solver = null;\n this.kdTree = null;\n this.obstacles = [];\n this.initialized = false;\n }\n}\n","/**\n * @zh 局部避让系统\n * @en Local Avoidance System\n */\n\nimport {\n EntitySystem,\n Matcher,\n ECSSystem,\n type Entity\n} from '@esengine/ecs-framework';\nimport { AvoidanceAgentComponent } from './AvoidanceAgentComponent';\nimport { AvoidanceWorldComponent } from './AvoidanceWorldComponent';\nimport { PathfindingAgentComponent } from './PathfindingAgentComponent';\nimport { ORCASolver, createORCASolver } from '../avoidance/ORCASolver';\nimport { KDTree, createKDTree } from '../avoidance/KDTree';\nimport type { IAvoidanceAgent } from '../avoidance/ILocalAvoidance';\n\n// =============================================================================\n// 局部避让系统 | Local Avoidance System\n// =============================================================================\n\n/**\n * @zh 局部避让系统\n * @en Local Avoidance System\n *\n * @zh 使用 ORCA 算法计算代理的避让速度\n * @en Uses ORCA algorithm to compute avoidance velocities for agents\n *\n * @example\n * ```typescript\n * // 添加系统到场景\n * scene.addSystem(new LocalAvoidanceSystem());\n *\n * // 创建避让世界（可选，用于静态障碍物）\n * const worldEntity = scene.createEntity('AvoidanceWorld');\n * worldEntity.addComponent(new AvoidanceWorldComponent());\n *\n * // 创建代理\n * const agent = scene.createEntity('Agent');\n * const avoidance = agent.addComponent(new AvoidanceAgentComponent());\n *\n * // 可选：同时添加寻路代理，系统会自动同步位置\n * agent.addComponent(new PathfindingAgentComponent());\n *\n * // 每帧设置首选速度（朝向目标）\n * avoidance.setPreferredVelocityTowards(targetX, targetY);\n *\n * // 系统计算后，newVelocity 会被更新\n * // 如果 autoApplyVelocity = true，velocity 也会自动更新\n * ```\n */\n@ECSSystem('LocalAvoidance', { updateOrder: 50 })\nexport class LocalAvoidanceSystem extends EntitySystem {\n private worldEntity: Entity | null = null;\n private worldComponent: AvoidanceWorldComponent | null = null;\n\n private solver: ORCASolver | null = null;\n private kdTree: KDTree | null = null;\n\n constructor() {\n super(Matcher.all(AvoidanceAgentComponent));\n }\n\n /**\n * @zh 系统初始化\n * @en System initialization\n */\n protected onInitialize(): void {\n this.findWorldEntity();\n this.initializeSolver();\n }\n\n /**\n * @zh 系统激活时调用\n * @en Called when system is enabled\n */\n protected onEnable(): void {\n this.findWorldEntity();\n }\n\n /**\n * @zh 处理实体\n * @en Process entities\n */\n protected process(entities: readonly Entity[]): void {\n if (entities.length === 0) return;\n\n // 确保求解器已初始化\n if (!this.solver) {\n this.initializeSolver();\n }\n\n const startTime = performance.now();\n\n // 1. 收集所有代理数据\n const agents = this.collectAgentData(entities);\n\n // 2. 构建 KD-Tree\n this.kdTree!.build(agents);\n\n // 3. 获取静态障碍物\n const obstacles = this.worldComponent?.obstacles ?? [];\n\n // 4. 计算每个代理的新速度\n const deltaTime = this.worldComponent?.timeStep ?? (1 / 60);\n\n for (let i = 0; i < entities.length; i++) {\n const entity = entities[i]!;\n const component = entity.getComponent(AvoidanceAgentComponent)!;\n\n if (!component.enabled) continue;\n\n const agent = agents[i]!;\n\n // 查询邻居\n const neighborResults = this.kdTree!.queryNeighbors(\n agent.position,\n agent.neighborDist,\n agent.maxNeighbors,\n agent.id\n );\n\n const neighbors = neighborResults.map(r => r.agent);\n\n // ORCA 求解\n const newVelocity = this.solver!.computeNewVelocity(\n agent,\n neighbors,\n obstacles,\n deltaTime\n );\n\n // 更新组件\n component.newVelocityX = newVelocity.x;\n component.newVelocityY = newVelocity.y;\n\n // 自动应用新速度\n if (component.autoApplyVelocity) {\n component.applyNewVelocity();\n }\n }\n\n // 更新统计信息\n const endTime = performance.now();\n if (this.worldComponent) {\n this.worldComponent.agentCount = entities.length;\n this.worldComponent.agentsProcessedThisFrame = entities.length;\n this.worldComponent.computeTimeMs = endTime - startTime;\n }\n }\n\n // =========================================================================\n // 私有方法 | Private Methods\n // =========================================================================\n\n /**\n * @zh 查找世界实体\n * @en Find world entity\n */\n private findWorldEntity(): void {\n if (!this.scene) return;\n\n const entities = this.scene.entities.findEntitiesWithComponent(AvoidanceWorldComponent);\n if (entities.length > 0) {\n const entity = entities[0]!;\n const worldComp = entity.getComponent(AvoidanceWorldComponent);\n if (worldComp) {\n this.worldEntity = entity;\n this.worldComponent = worldComp;\n\n // 共享求解器和 KD-Tree 到世界组件\n if (this.solver && !worldComp.solver) {\n worldComp.solver = this.solver;\n }\n if (this.kdTree && !worldComp.kdTree) {\n worldComp.kdTree = this.kdTree;\n }\n worldComp.initialized = true;\n }\n }\n }\n\n /**\n * @zh 初始化求解器\n * @en Initialize solver\n */\n private initializeSolver(): void {\n const config = this.worldComponent?.getConfig();\n this.solver = createORCASolver(config);\n this.kdTree = createKDTree();\n\n if (this.worldComponent) {\n this.worldComponent.solver = this.solver;\n this.worldComponent.kdTree = this.kdTree;\n }\n }\n\n /**\n * @zh 收集代理数据\n * @en Collect agent data\n */\n private collectAgentData(entities: readonly Entity[]): IAvoidanceAgent[] {\n const agents: IAvoidanceAgent[] = [];\n\n for (const entity of entities) {\n const avoidance = entity.getComponent(AvoidanceAgentComponent)!;\n\n // 尝试从 PathfindingAgent 同步位置\n const pathAgent = entity.getComponent(PathfindingAgentComponent);\n if (pathAgent) {\n avoidance.positionX = pathAgent.x;\n avoidance.positionY = pathAgent.y;\n\n // 如果有有效路径，自动设置首选速度\n const waypoint = pathAgent.getNextWaypoint();\n if (waypoint && avoidance.preferredVelocityX === 0 && avoidance.preferredVelocityY === 0) {\n avoidance.setPreferredVelocityTowards(waypoint.x, waypoint.y);\n }\n }\n\n agents.push({\n id: entity.id,\n position: {\n x: avoidance.positionX,\n y: avoidance.positionY\n },\n 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navigation agent component\n *\n * @zh 包含算法无关的通用导航属性，不包含算法特定参数\n * @en Contains algorithm-agnostic common navigation properties, no algorithm-specific parameters\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n *\n * // 添加导航代理组件\n * const nav = entity.addComponent(new NavigationAgentComponent());\n * nav.radius = 0.5;\n * nav.maxSpeed = 5.0;\n *\n * // 设置目标\n * nav.setDestination(100, 200);\n *\n * // NavigationSystem 会自动处理：\n * // 1. 使用 IPathPlanner 计算全局路径\n * // 2. 使用 ILocalAvoidance 进行局部避让\n * // 3. 使用 ICollisionResolver 防止穿透\n * ```\n */\n@ECSComponent('NavigationAgent')\n@Serializable({ version: 1, typeId: 'NavigationAgent' })\nexport class NavigationAgentComponent extends Component {\n // =========================================================================\n // 核心物理属性 | Core Physical Properties\n // =========================================================================\n\n /**\n * @zh 代理半径\n * @en Agent radius\n */\n @Serialize()\n @Property({ type: 'number', label: 'Radius', min: 0.1, max: 10 })\n radius: number = 0.5;\n\n /**\n * @zh 最大速度\n * @en Maximum speed\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Speed', min: 0.1, max: 100 })\n maxSpeed: number = 5.0;\n\n /**\n * @zh 加速度（用于平滑移动）\n * @en Acceleration (for smooth movement)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Acceleration', min: 0.1, max: 100 })\n acceleration: number = 10.0;\n\n // =========================================================================\n // 寻路配置 | Pathfinding Configuration\n // =========================================================================\n\n /**\n * @zh 路径点到达阈值\n * @en Waypoint arrival threshold\n */\n @Serialize()\n @Property({ type: 'number', label: 'Waypoint Threshold', min: 0.1, max: 10 })\n waypointThreshold: number = 0.5;\n\n /**\n * @zh 目标到达阈值\n * @en Destination arrival threshold\n */\n @Serialize()\n @Property({ type: 'number', label: 'Arrival Threshold', min: 0.1, max: 10 })\n arrivalThreshold: number = 0.3;\n\n /**\n * @zh 路径重新计算间隔（秒）\n * @en Path recalculation interval (seconds)\n */\n @Serialize()\n @Property({ type: 'number', label: 'Repath Interval', min: 0.1, max: 10 })\n repathInterval: number = 0.5;\n\n // =========================================================================\n // 配置选项 | Configuration Options\n // =========================================================================\n\n /**\n * @zh 是否启用导航\n * @en Whether navigation is enabled\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Enabled' })\n enabled: boolean = true;\n\n /**\n * @zh 是否自动重新计算被阻挡的路径\n * @en Whether to auto repath when blocked\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Auto Repath' })\n autoRepath: boolean = true;\n\n /**\n * @zh 是否启用平滑转向\n * @en Whether to enable smooth steering\n */\n @Serialize()\n @Property({ type: 'boolean', label: 'Smooth Steering' })\n smoothSteering: boolean = true;\n\n // =========================================================================\n // 运行时状态 | Runtime State (Non-serialized)\n // =========================================================================\n\n /**\n * @zh 当前位置\n * @en Current position\n */\n position: IVector2 = { x: 0, y: 0 };\n\n /**\n * @zh 当前速度\n * @en Current velocity\n */\n velocity: IVector2 = { x: 0, y: 0 };\n\n /**\n * @zh 目标位置\n * @en Destination position\n */\n destination: IVector2 | null = null;\n\n /**\n * @zh 当前导航状态\n * @en Current navigation state\n */\n state: NavigationState = NavigationState.Idle;\n\n /**\n * @zh 当前路径\n * @en Current path\n */\n path: IVector2[] = [];\n\n /**\n * @zh 当前路径点索引\n * @en Current waypoint index\n */\n currentWaypointIndex: number = 0;\n\n /**\n * @zh 上次重新计算路径的时间\n * @en Last repath time\n */\n lastRepathTime: number = 0;\n\n // =========================================================================\n // 增量寻路状态（时间切片）| Incremental Pathfinding State (Time Slicing)\n // =========================================================================\n\n /**\n * @zh 当前增量寻路请求 ID\n * @en Current incremental pathfinding request ID\n */\n currentRequestId: number = -1;\n\n /**\n * @zh 寻路进度 (0-1)\n * @en Pathfinding progress (0-1)\n */\n pathProgress: number = 0;\n\n /**\n * @zh 优先级（数字越小优先级越高）\n * @en Priority (lower number = higher priority)\n */\n priority: number = 50;\n\n /**\n * @zh 是否正在等待路径计算完成\n * @en Whether waiting for path computation to complete\n */\n isComputingPath: boolean = false;\n\n // =========================================================================\n // 公共方法 | Public Methods\n // =========================================================================\n\n /**\n * @zh 设置位置\n * @en Set position\n *\n * @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n */\n setPosition(x: number, y: number): void {\n this.position = { x, y };\n }\n\n /**\n * @zh 设置目标位置\n * @en Set destination\n *\n * @param x - @zh 目标 X 坐标 @en Destination X coordinate\n * @param y - @zh 目标 Y 坐标 @en Destination Y coordinate\n */\n setDestination(x: number, y: number): void {\n this.destination = { x, y };\n this.state = NavigationState.Navigating;\n this.path = [];\n this.currentWaypointIndex = 0;\n this.lastRepathTime = 0;\n }\n\n /**\n * @zh 停止导航\n * @en Stop navigation\n */\n stop(): void {\n this.destination = null;\n this.state = NavigationState.Idle;\n this.path = [];\n this.currentWaypointIndex = 0;\n this.velocity = { x: 0, y: 0 };\n }\n\n /**\n * @zh 获取当前路径点\n * @en Get current waypoint\n *\n * @returns @zh 当前路径点，如果没有则返回 null @en Current waypoint, or null if none\n */\n getCurrentWaypoint(): IVector2 | null {\n if (this.currentWaypointIndex < this.path.length) {\n return this.path[this.currentWaypointIndex]!;\n }\n return null;\n }\n\n /**\n * @zh 获取到目标的距离\n * @en Get distance to destination\n *\n * @returns @zh 到目标的距离，如果没有目标则返回 Infinity @en Distance to destination, or Infinity if no destination\n */\n getDistanceToDestination(): number {\n if (!this.destination) return Infinity;\n const dx = this.destination.x - this.position.x;\n const dy = this.destination.y - this.position.y;\n return Math.sqrt(dx * dx + dy * dy);\n }\n\n /**\n * @zh 获取当前速度大小\n * @en Get current speed\n *\n * @returns @zh 当前速度大小 @en Current speed magnitude\n */\n getCurrentSpeed(): number {\n return Math.sqrt(this.velocity.x * this.velocity.x + this.velocity.y * this.velocity.y);\n }\n\n /**\n * @zh 检查是否已到达目标\n * @en Check if arrived at destination\n *\n * @returns @zh 是否已到达 @en Whether arrived\n */\n hasArrived(): boolean {\n return this.state === NavigationState.Arrived;\n }\n\n /**\n * @zh 检查路径是否被阻挡\n * @en Check if path is blocked\n *\n * @returns @zh 是否被阻挡 @en Whether blocked\n */\n isBlocked(): boolean {\n return this.state === NavigationState.Blocked;\n }\n\n /**\n * @zh 检查目标是否无法到达\n * @en Check if destination is unreachable\n *\n * @returns @zh 是否无法到达 @en Whether unreachable\n */\n isUnreachable(): boolean {\n return this.state === NavigationState.Unreachable;\n }\n\n /**\n * @zh 重置组件状态\n * @en Reset component state\n */\n reset(): void {\n this.position = { x: 0, y: 0 };\n this.velocity = { x: 0, y: 0 };\n this.destination = null;\n this.state = NavigationState.Idle;\n this.path = [];\n this.currentWaypointIndex = 0;\n this.lastRepathTime = 0;\n }\n\n /**\n * @zh 组件从实体移除时调用\n * @en Called when component is removed from entity\n */\n public onRemovedFromEntity(): void {\n this.reset();\n }\n}\n","/**\n * @zh 统一导航系统\n * @en Unified Navigation System\n *\n * @zh 可插拔的导航系统，支持运行时切换寻路、避让、碰撞检测算法\n * @en Pluggable navigation system, supports runtime swapping of pathfinding, avoidance, and collision detection algorithms\n */\n\nimport {\n EntitySystem,\n Matcher,\n ECSSystem,\n type Entity\n} from '@esengine/ecs-framework';\nimport { NavigationAgentComponent, NavigationState } from './NavigationAgentComponent';\nimport type {\n IPathPlanner,\n IVector2,\n IIncrementalPathPlanner,\n PathPlanState\n} from '../interfaces/IPathPlanner';\nimport { isIncrementalPlanner, PathPlanState as PlanState } from '../interfaces/IPathPlanner';\nimport type { ILocalAvoidance, IObstacleData, IAvoidanceAgentData } from '../interfaces/ILocalAvoidance';\nimport type { ICollisionResolver } from '../interfaces/ICollisionResolver';\nimport type { IFlowController, IFlowAgentData } from '../interfaces/IFlowController';\nimport { PassPermission } from '../interfaces/IFlowController';\n\n/**\n * @zh 导航系统配置\n * @en Navigation system configuration\n */\nexport interface INavigationSystemConfig {\n /**\n * @zh 时间步长\n * @en Time step\n */\n timeStep?: number;\n\n /**\n * @zh 是否启用路径规划阶段\n * @en Whether to enable path planning stage\n */\n enablePathPlanning?: boolean;\n\n /**\n * @zh 是否启用流量控制阶段\n * @en Whether to enable flow control stage\n */\n enableFlowControl?: boolean;\n\n /**\n * @zh 是否启用局部避让阶段\n * @en Whether to enable local avoidance stage\n */\n enableLocalAvoidance?: boolean;\n\n /**\n * @zh 是否启用碰撞解决阶段\n * @en Whether to enable collision resolution stage\n */\n enableCollisionResolution?: boolean;\n\n /**\n * @zh 是否启用代理间碰撞解决\n * @en Whether to enable agent-agent collision resolution\n */\n enableAgentCollisionResolution?: boolean;\n\n // =========================================================================\n // 时间切片配置 | Time Slicing Configuration\n // =========================================================================\n\n /**\n * @zh 是否启用时间切片寻路（需要 IIncrementalPathPlanner）\n * @en Whether to enable time-sliced pathfinding (requires IIncrementalPathPlanner)\n *\n * @zh 启用后，寻路计算会分散到多帧执行，避免卡顿\n * @en When enabled, pathfinding computation is spread across multiple frames to avoid stuttering\n */\n enableTimeSlicing?: boolean;\n\n /**\n * @zh 每帧总迭代预算\n * @en Total iteration budget per frame\n *\n * @zh 所有代理共享此预算，根据优先级分配\n * @en All agents share this budget, allocated by priority\n *\n * @default 1000\n */\n iterationsBudget?: number;\n\n /**\n * @zh 每帧最大处理代理数\n * @en Maximum agents to process per frame\n *\n * @zh 限制每帧处理的代理数量，避免过载\n * @en Limits the number of agents processed per frame to avoid overload\n *\n * @default 10\n */\n maxAgentsPerFrame?: number;\n\n /**\n * @zh 每个代理每帧最大迭代数\n * @en Maximum iterations per agent per frame\n *\n * @default 200\n */\n maxIterationsPerAgent?: number;\n}\n\n/**\n * @zh 默认配置\n * @en Default configuration\n */\nconst DEFAULT_CONFIG: Required<INavigationSystemConfig> = {\n timeStep: 1 / 60,\n enablePathPlanning: true,\n enableFlowControl: true,\n enableLocalAvoidance: true,\n enableCollisionResolution: true,\n enableAgentCollisionResolution: true,\n enableTimeSlicing: false,\n iterationsBudget: 1000,\n maxAgentsPerFrame: 10,\n maxIterationsPerAgent: 200\n};\n\n/**\n * @zh 统一导航系统\n * @en Unified Navigation System\n *\n * @zh 可插拔的导航系统，处理管线：PathPlanning → LocalAvoidance → CollisionResolution\n * @en Pluggable navigation system, pipeline: PathPlanning → LocalAvoidance → CollisionResolution\n *\n * @example\n * ```typescript\n * import {\n * NavigationSystem,\n * NavigationAgentComponent,\n * createNavMeshPathPlanner,\n * createORCAAvoidance,\n * createDefaultCollisionResolver\n * } from '@esengine/pathfinding/ecs';\n *\n * // 创建系统\n * const navSystem = new NavigationSystem();\n *\n * // 配置算法（可选，每个阶段都可以独立启用/禁用）\n * navSystem.setPathPlanner(createNavMeshPathPlanner(navMesh));\n * navSystem.setLocalAvoidance(createORCAAvoidance());\n * navSystem.setCollisionResolver(createDefaultCollisionResolver());\n *\n * scene.addSystem(navSystem);\n *\n * // 添加障碍物\n * navSystem.addObstacle({ vertices: [...] });\n *\n * // 创建代理\n * const agent = scene.createEntity('Agent');\n * const nav = agent.addComponent(new NavigationAgentComponent());\n * nav.setPosition(0, 0);\n * nav.setDestination(100, 100);\n *\n * // 运行时切换算法\n * navSystem.setPathPlanner(createJPSPlanner(gridMap));\n * navSystem.setLocalAvoidance(null); // 禁用避让\n * ```\n */\n@ECSSystem('Navigation', { updateOrder: 45 })\nexport class NavigationSystem extends EntitySystem {\n private config: Required<INavigationSystemConfig>;\n\n private pathPlanner: IPathPlanner | null = null;\n private flowController: IFlowController | null = null;\n private localAvoidance: ILocalAvoidance | null = null;\n private collisionResolver: ICollisionResolver | null = null;\n\n /**\n * @zh 静态障碍物（墙壁、建筑等）- 由 PathPlanner 和 CollisionResolver 处理\n * @en Static obstacles (walls, buildings) - handled by PathPlanner and CollisionResolver\n */\n private staticObstacles: IObstacleData[] = [];\n\n /**\n * @zh 动态障碍物（移动物体等）- 由 ORCA 和 CollisionResolver 处理\n * @en Dynamic obstacles (moving objects) - handled by ORCA and CollisionResolver\n */\n private dynamicObstacles: IObstacleData[] = [];\n\n private currentTime: number = 0;\n private agentEnterTimes: Map<number, number> = new Map();\n\n // =========================================================================\n // 时间切片状态 | Time Slicing State\n // =========================================================================\n\n /**\n * @zh 是否为增量寻路器\n * @en Whether the path planner is incremental\n */\n private isIncrementalPlanner: boolean = false;\n\n /**\n * @zh 等待寻路的代理队列（按优先级排序）\n * @en Queue of agents waiting for pathfinding (sorted by priority)\n */\n private pendingPathRequests: Set<number> = new Set();\n\n constructor(config: INavigationSystemConfig = {}) {\n super(Matcher.all(NavigationAgentComponent));\n this.config = { ...DEFAULT_CONFIG, ...config };\n }\n\n // =========================================================================\n // 算法设置 | Algorithm Setters\n // =========================================================================\n\n /**\n * @zh 设置路径规划器\n * @en Set path planner\n *\n * @param planner - @zh 路径规划器，传入 null 禁用路径规划 @en Path planner, pass null to disable\n *\n * @zh 如果传入 IIncrementalPathPlanner 且启用了时间切片，会自动使用增量寻路\n * @en If passing IIncrementalPathPlanner and time slicing is enabled, will automatically use incremental pathfinding\n *\n * @example\n * ```typescript\n * navSystem.setPathPlanner(createNavMeshPathPlanner(navMesh));\n * navSystem.setPathPlanner(createAStarPlanner(gridMap));\n * navSystem.setPathPlanner(createIncrementalAStarPlanner(gridMap)); // 支持时间切片\n * navSystem.setPathPlanner(null); // 禁用\n * ```\n */\n setPathPlanner(planner: IPathPlanner | null): void {\n this.pathPlanner?.dispose();\n this.pathPlanner = planner;\n this.isIncrementalPlanner = planner !== null && isIncrementalPlanner(planner);\n this.pendingPathRequests.clear();\n }\n\n /**\n * @zh 获取当前路径规划器\n * @en Get current path planner\n */\n getPathPlanner(): IPathPlanner | null {\n return this.pathPlanner;\n }\n\n /**\n * @zh 设置流量控制器\n * @en Set flow controller\n *\n * @param controller - @zh 流量控制器，传入 null 禁用流量控制 @en Flow controller, pass null to disable\n *\n * @example\n * ```typescript\n * navSystem.setFlowController(createFlowController());\n * navSystem.setFlowController(null); // 禁用\n * ```\n */\n setFlowController(controller: IFlowController | null): void {\n this.flowController?.dispose();\n this.flowController = controller;\n }\n\n /**\n * @zh 获取当前流量控制器\n * @en Get current flow controller\n */\n getFlowController(): IFlowController | null {\n return this.flowController;\n }\n\n /**\n * @zh 设置局部避让算法\n * @en Set local avoidance algorithm\n *\n * @param avoidance - @zh 局部避让算法，传入 null 禁用避让 @en Local avoidance, pass null to disable\n *\n * @example\n * ```typescript\n * navSystem.setLocalAvoidance(createORCAAvoidance());\n * navSystem.setLocalAvoidance(null); // 禁用\n * ```\n */\n setLocalAvoidance(avoidance: ILocalAvoidance | null): void {\n this.localAvoidance?.dispose();\n this.localAvoidance = avoidance;\n }\n\n /**\n * @zh 获取当前局部避让算法\n * @en Get current local avoidance algorithm\n */\n getLocalAvoidance(): ILocalAvoidance | null {\n return this.localAvoidance;\n }\n\n /**\n * @zh 设置碰撞解决器\n * @en Set collision resolver\n *\n * @param resolver - @zh 碰撞解决器，传入 null 禁用碰撞解决 @en Collision resolver, pass null to disable\n *\n * @example\n * ```typescript\n * navSystem.setCollisionResolver(createDefaultCollisionResolver());\n * navSystem.setCollisionResolver(null); // 禁用\n * ```\n */\n setCollisionResolver(resolver: ICollisionResolver | null): void {\n this.collisionResolver?.dispose();\n this.collisionResolver = resolver;\n }\n\n /**\n * @zh 获取当前碰撞解决器\n * @en Get current collision resolver\n */\n getCollisionResolver(): ICollisionResolver | null {\n return this.collisionResolver;\n }\n\n // =========================================================================\n // 障碍物管理 | Obstacle Management\n // =========================================================================\n\n /**\n * @zh 添加静态障碍物（墙壁、建筑等）\n * @en Add static obstacle (walls, buildings, etc.)\n *\n * @zh 静态障碍物由 PathPlanner 规划路径时考虑，CollisionResolver 防止穿透\n * @zh ORCA 不会处理静态障碍物，因为路径规划已经绑开了它们\n * @en Static obstacles are considered by PathPlanner for routing, CollisionResolver for penetration prevention\n * @en ORCA does NOT process static obstacles since path planning already avoids them\n *\n * @param obstacle - @zh 障碍物数据 @en Obstacle data\n */\n addStaticObstacle(obstacle: IObstacleData): void {\n this.staticObstacles.push(obstacle);\n }\n\n /**\n * @zh 添加动态障碍物（移动物体、临时障碍等）\n * @en Add dynamic obstacle (moving objects, temporary obstacles, etc.)\n *\n * @zh 动态障碍物由 ORCA 进行局部避让，CollisionResolver 防止穿透\n * @en Dynamic obstacles are handled by ORCA for local avoidance, CollisionResolver for penetration prevention\n *\n * @param obstacle - @zh 障碍物数据 @en Obstacle data\n */\n addDynamicObstacle(obstacle: IObstacleData): void {\n this.dynamicObstacles.push(obstacle);\n }\n\n /**\n * @zh 移除所有静态障碍物\n * @en Remove all static obstacles\n */\n clearStaticObstacles(): void {\n this.staticObstacles = [];\n }\n\n /**\n * @zh 移除所有动态障碍物\n * @en Remove all dynamic obstacles\n */\n clearDynamicObstacles(): void {\n this.dynamicObstacles = [];\n }\n\n /**\n * @zh 移除所有障碍物（静态和动态）\n * @en Remove all obstacles (static and dynamic)\n */\n clearObstacles(): void {\n this.staticObstacles = [];\n this.dynamicObstacles = [];\n }\n\n /**\n * @zh 获取静态障碍物列表\n * @en Get static obstacles list\n */\n getStaticObstacles(): readonly IObstacleData[] {\n return this.staticObstacles;\n }\n\n /**\n * @zh 获取动态障碍物列表\n * @en Get dynamic obstacles list\n */\n getDynamicObstacles(): readonly IObstacleData[] {\n return this.dynamicObstacles;\n }\n\n /**\n * @zh 获取所有障碍物列表（静态+动态）\n * @en Get all obstacles list (static + dynamic)\n */\n getObstacles(): readonly IObstacleData[] {\n return [...this.staticObstacles, ...this.dynamicObstacles];\n }\n\n /**\n * @zh 获取所有障碍物用于碰撞检测\n * @en Get all obstacles for collision detection\n */\n private getAllObstaclesForCollision(): readonly IObstacleData[] {\n return [...this.staticObstacles, ...this.dynamicObstacles];\n }\n\n /**\n * @zh 设置静态障碍物列表\n * @en Set static obstacles list\n *\n * @param obstacles - @zh 障碍物列表 @en Obstacles list\n */\n setStaticObstacles(obstacles: IObstacleData[]): void {\n this.staticObstacles = [...obstacles];\n }\n\n /**\n * @zh 设置动态障碍物列表\n * @en Set dynamic obstacles list\n *\n * @param obstacles - @zh 障碍物列表 @en Obstacles list\n */\n setDynamicObstacles(obstacles: IObstacleData[]): void {\n this.dynamicObstacles = [...obstacles];\n }\n\n // =========================================================================\n // 系统生命周期 | System Lifecycle\n // =========================================================================\n\n /**\n * @zh 系统销毁时调用\n * @en Called when system is destroyed\n */\n protected onDestroy(): void {\n this.pathPlanner?.dispose();\n this.flowController?.dispose();\n this.localAvoidance?.dispose();\n this.collisionResolver?.dispose();\n this.pathPlanner = null;\n this.flowController = null;\n this.localAvoidance = null;\n this.collisionResolver = null;\n this.staticObstacles = [];\n this.dynamicObstacles = [];\n this.agentEnterTimes.clear();\n this.pendingPathRequests.clear();\n this.isIncrementalPlanner = false;\n }\n\n // =========================================================================\n // 处理管线 | Processing Pipeline\n // =========================================================================\n\n /**\n * @zh 处理实体\n * @en Process entities\n */\n protected process(entities: readonly Entity[]): void {\n if (entities.length === 0) return;\n\n const deltaTime = this.config.timeStep;\n this.currentTime += deltaTime;\n\n const agentDataMap = new Map<number, IAvoidanceAgentData>();\n const flowAgentDataList: IFlowAgentData[] = [];\n const entityMap = new Map<number, Entity>();\n\n // Build entity map for quick lookup\n for (const entity of entities) {\n entityMap.set(entity.id, entity);\n }\n\n // Stage 1: Path Planning\n // 时间切片模式使用增量寻路，同步模式使用普通寻路\n // Time slicing mode uses incremental pathfinding, sync mode uses normal pathfinding\n if (this.config.enablePathPlanning && this.pathPlanner) {\n if (this.config.enableTimeSlicing && this.isIncrementalPlanner) {\n // Incremental mode: process all agents together with budget allocation\n const agentList: Array<{ entityId: number; agent: NavigationAgentComponent }> = [];\n for (const entity of entities) {\n const agent = entity.getComponent(NavigationAgentComponent)!;\n if (agent.enabled) {\n agentList.push({ entityId: entity.id, agent });\n }\n }\n this.processIncrementalPathPlanning(agentList, entityMap);\n } else {\n // Sync mode: process each agent individually\n for (const entity of entities) {\n const agent = entity.getComponent(NavigationAgentComponent)!;\n if (!agent.enabled) continue;\n this.processPathPlanning(agent, deltaTime);\n }\n }\n }\n\n // Stage 1b: Build Agent Data (after path planning)\n for (const entity of entities) {\n const agent = entity.getComponent(NavigationAgentComponent)!;\n if (!agent.enabled) continue;\n\n // Track enter time for flow control\n if (!this.agentEnterTimes.has(entity.id)) {\n this.agentEnterTimes.set(entity.id, this.currentTime);\n }\n\n // Calculate preferred velocity from path\n const preferredVelocity = this.calculatePreferredVelocity(agent);\n\n // Build agent data for avoidance\n const agentData = this.buildAgentData(entity, agent, preferredVelocity);\n agentDataMap.set(entity.id, agentData);\n\n // Build flow agent data\n flowAgentDataList.push({\n id: entity.id,\n position: { x: agent.position.x, y: agent.position.y },\n destination: agent.destination,\n currentWaypoint: agent.getCurrentWaypoint(),\n radius: agent.radius,\n priority: 50,\n enterTime: this.agentEnterTimes.get(entity.id)\n });\n }\n\n // Stage 2: Flow Control\n if (this.config.enableFlowControl && this.flowController) {\n this.flowController.update(flowAgentDataList, deltaTime);\n }\n\n // Stage 3: Local Avoidance (batch processing)\n // Only process agents that have permission to proceed or yield\n if (this.config.enableLocalAvoidance && this.localAvoidance && agentDataMap.size > 0) {\n const proceedingAgents: IAvoidanceAgentData[] = [];\n const proceedingEntityIds = new Set<number>();\n\n for (const entity of entities) {\n const agent = entity.getComponent(NavigationAgentComponent)!;\n if (!agent.enabled) continue;\n\n const flowResult = this.flowController?.getFlowControl(entity.id);\n const permission = flowResult?.permission ?? PassPermission.Proceed;\n\n if (permission === PassPermission.Wait) {\n // Agent must wait - move to wait position or stop\n this.handleWaitingAgent(entity, agent, flowResult!.waitPosition, deltaTime);\n } else {\n // Agent can proceed (with possible speed reduction for Yield)\n const agentData = agentDataMap.get(entity.id);\n if (agentData) {\n // Apply speed multiplier from flow control\n const speedMult = flowResult?.speedMultiplier ?? 1.0;\n if (speedMult < 1.0) {\n // Create modified agent data with scaled velocity\n const modifiedAgentData: IAvoidanceAgentData = {\n ...agentData,\n preferredVelocity: {\n x: agentData.preferredVelocity.x * speedMult,\n y: agentData.preferredVelocity.y * speedMult\n }\n };\n proceedingAgents.push(modifiedAgentData);\n } else {\n proceedingAgents.push(agentData);\n }\n proceedingEntityIds.add(entity.id);\n }\n }\n }\n\n // Compute avoidance only for proceeding agents\n // 关键：ORCA 只处理动态障碍物，静态障碍物由路径规划处理\n // Key: ORCA only handles dynamic obstacles, static obstacles are handled by path planning\n if (proceedingAgents.length > 0) {\n const avoidanceResults = this.localAvoidance.computeBatchAvoidance(\n proceedingAgents,\n this.dynamicObstacles,\n deltaTime\n );\n\n for (const entity of entities) {\n if (!proceedingEntityIds.has(entity.id)) continue;\n\n const agent = entity.getComponent(NavigationAgentComponent)!;\n if (!agent.enabled) continue;\n\n const result = avoidanceResults.get(entity.id);\n if (result) {\n this.applyAvoidanceResult(entity, agent, result.velocity, deltaTime);\n } else {\n const agentData = agentDataMap.get(entity.id);\n if (agentData) {\n this.applyAvoidanceResult(entity, agent, agentData.preferredVelocity, deltaTime);\n }\n }\n }\n }\n } else {\n // No avoidance, just use preferred velocity (but still respect flow control)\n for (const entity of entities) {\n const agent = entity.getComponent(NavigationAgentComponent)!;\n if (!agent.enabled) continue;\n\n const flowResult = this.flowController?.getFlowControl(entity.id);\n const permission = flowResult?.permission ?? PassPermission.Proceed;\n\n if (permission === PassPermission.Wait && this.config.enableFlowControl && this.flowController) {\n this.handleWaitingAgent(entity, agent, flowResult!.waitPosition, deltaTime);\n } else {\n const agentData = agentDataMap.get(entity.id);\n if (agentData) {\n let velocity = agentData.preferredVelocity;\n const speedMult = flowResult?.speedMultiplier ?? 1.0;\n if (speedMult < 1.0) {\n velocity = {\n x: velocity.x * speedMult,\n y: velocity.y * speedMult\n };\n }\n this.applyAvoidanceResult(entity, agent, velocity, deltaTime);\n }\n }\n }\n }\n\n // Stage 4: Agent-Agent Collision Resolution\n if (this.config.enableAgentCollisionResolution && this.collisionResolver) {\n this.resolveAgentCollisions(entities);\n }\n\n // Cleanup enter times for removed agents\n this.cleanupEnterTimes(entities);\n }\n\n /**\n * @zh 处理等待中的代理\n * @en Handle waiting agent\n */\n private handleWaitingAgent(\n entity: Entity,\n agent: NavigationAgentComponent,\n waitPosition: IVector2 | null,\n deltaTime: number\n ): void {\n if (waitPosition) {\n // Move towards wait position\n const dx = waitPosition.x - agent.position.x;\n const dy = waitPosition.y - agent.position.y;\n const dist = Math.sqrt(dx * dx + dy * dy);\n\n if (dist > agent.arrivalThreshold) {\n const speed = Math.min(agent.maxSpeed * 0.5, dist);\n const velocity: IVector2 = {\n x: (dx / dist) * speed,\n y: (dy / dist) * speed\n };\n this.applyAvoidanceResult(entity, agent, velocity, deltaTime);\n } else {\n // At wait position, stop\n agent.velocity = { x: 0, y: 0 };\n }\n } else {\n // No wait position specified, just stop\n agent.velocity = { x: 0, y: 0 };\n }\n }\n\n /**\n * @zh 清理已移除代理的进入时间记录\n * @en Cleanup enter times for removed agents\n */\n private cleanupEnterTimes(entities: readonly Entity[]): void {\n const activeIds = new Set(entities.map(e => e.id));\n for (const id of this.agentEnterTimes.keys()) {\n if (!activeIds.has(id)) {\n this.agentEnterTimes.delete(id);\n }\n }\n }\n\n /**\n * @zh 处理路径规划（同步模式）\n * @en Process path planning (synchronous mode)\n */\n private processPathPlanning(agent: NavigationAgentComponent, deltaTime: number): void {\n if (!agent.destination || agent.state === NavigationState.Arrived) {\n return;\n }\n\n const needsRepath =\n agent.path.length === 0 ||\n (agent.autoRepath &&\n this.currentTime - agent.lastRepathTime > agent.repathInterval);\n\n if (needsRepath && this.pathPlanner) {\n const result = this.pathPlanner.findPath(\n agent.position,\n agent.destination,\n { agentRadius: agent.radius }\n );\n\n if (result.found) {\n agent.path = result.path.map(p => ({ x: p.x, y: p.y }));\n agent.currentWaypointIndex = 0;\n agent.state = NavigationState.Navigating;\n } else {\n agent.state = NavigationState.Unreachable;\n agent.path = [];\n }\n\n agent.lastRepathTime = this.currentTime;\n }\n\n this.advanceWaypoint(agent);\n }\n\n /**\n * @zh 处理增量路径规划（时间切片模式）\n * @en Process incremental path planning (time slicing mode)\n *\n * @param agents - @zh 代理列表 @en Agent list\n * @param entityMap - @zh 实体 ID 到代理的映射 @en Entity ID to agent mapping\n */\n private processIncrementalPathPlanning(\n agents: Array<{ entityId: number; agent: NavigationAgentComponent }>,\n entityMap: Map<number, Entity>\n ): void {\n if (!this.pathPlanner || !this.isIncrementalPlanner) return;\n\n const planner = this.pathPlanner as IIncrementalPathPlanner;\n let remainingBudget = this.config.iterationsBudget;\n let processedCount = 0;\n\n // Step 1: Check which agents need path requests\n for (const { entityId, agent } of agents) {\n if (!agent.destination || agent.state === NavigationState.Arrived) {\n if (agent.currentRequestId >= 0) {\n planner.cleanup(agent.currentRequestId);\n agent.currentRequestId = -1;\n agent.isComputingPath = false;\n }\n continue;\n }\n\n const needsRepath =\n !agent.isComputingPath &&\n agent.currentRequestId < 0 &&\n (agent.path.length === 0 ||\n (agent.autoRepath &&\n this.currentTime - agent.lastRepathTime > agent.repathInterval));\n\n if (needsRepath) {\n this.pendingPathRequests.add(entityId);\n }\n }\n\n // Step 2: Start new requests for pending agents (limited by maxAgentsPerFrame)\n const pendingArray = Array.from(this.pendingPathRequests);\n\n // Sort by priority (lower number = higher priority)\n pendingArray.sort((a, b) => {\n const agentA = agents.find(x => x.entityId === a);\n const agentB = agents.find(x => x.entityId === b);\n return (agentA?.agent.priority ?? 50) - (agentB?.agent.priority ?? 50);\n });\n\n for (const entityId of pendingArray) {\n if (processedCount >= this.config.maxAgentsPerFrame) break;\n\n const entry = agents.find(x => x.entityId === entityId);\n const destination = entry?.agent.destination;\n if (!entry || !destination) {\n this.pendingPathRequests.delete(entityId);\n continue;\n }\n\n const { agent } = entry;\n\n // Start new request\n const request = planner.requestPath(\n agent.position,\n destination,\n { agentRadius: agent.radius }\n );\n\n agent.currentRequestId = request.id;\n agent.isComputingPath = true;\n agent.pathProgress = 0;\n this.pendingPathRequests.delete(entityId);\n processedCount++;\n }\n\n // Step 3: Process active requests\n const activeAgents = agents.filter(x => x.agent.isComputingPath && x.agent.currentRequestId >= 0);\n\n // Sort by priority\n activeAgents.sort((a, b) => a.agent.priority - b.agent.priority);\n\n for (const { agent } of activeAgents) {\n if (remainingBudget <= 0) break;\n\n const iterations = Math.min(remainingBudget, this.config.maxIterationsPerAgent);\n const progress = planner.step(agent.currentRequestId, iterations);\n\n remainingBudget -= progress.nodesSearched;\n agent.pathProgress = progress.estimatedProgress;\n\n if (progress.state === PlanState.Completed) {\n const result = planner.getResult(agent.currentRequestId);\n planner.cleanup(agent.currentRequestId);\n\n if (result && result.found) {\n agent.path = result.path.map(p => ({ x: p.x, y: p.y }));\n agent.currentWaypointIndex = 0;\n agent.state = NavigationState.Navigating;\n } else {\n agent.state = NavigationState.Unreachable;\n agent.path = [];\n }\n\n agent.currentRequestId = -1;\n agent.isComputingPath = false;\n agent.pathProgress = 0;\n agent.lastRepathTime = this.currentTime;\n } else if (progress.state === PlanState.Failed || progress.state === PlanState.Cancelled) {\n planner.cleanup(agent.currentRequestId);\n agent.state = NavigationState.Unreachable;\n agent.path = [];\n agent.currentRequestId = -1;\n agent.isComputingPath = false;\n agent.pathProgress = 0;\n agent.lastRepathTime = this.currentTime;\n }\n }\n\n // Step 4: Advance waypoints for all agents\n for (const { agent } of agents) {\n this.advanceWaypoint(agent);\n }\n }\n\n /**\n * @zh 推进路径点\n * @en Advance waypoint\n */\n private advanceWaypoint(agent: NavigationAgentComponent): void {\n while (agent.currentWaypointIndex < agent.path.length) {\n const waypoint = agent.path[agent.currentWaypointIndex]!;\n const dx = waypoint.x - agent.position.x;\n const dy = waypoint.y - agent.position.y;\n const dist = Math.sqrt(dx * dx + dy * dy);\n\n if (dist < agent.waypointThreshold) {\n agent.currentWaypointIndex++;\n } else {\n break;\n }\n }\n }\n\n /**\n * @zh 计算首选速度\n * @en Calculate preferred velocity\n */\n private calculatePreferredVelocity(agent: NavigationAgentComponent): IVector2 {\n if (!agent.destination) {\n return { x: 0, y: 0 };\n }\n\n let targetX: number, targetY: number;\n let isLastWaypoint = false;\n\n if (agent.currentWaypointIndex < agent.path.length) {\n const waypoint = agent.path[agent.currentWaypointIndex]!;\n targetX = waypoint.x;\n targetY = waypoint.y;\n isLastWaypoint = agent.currentWaypointIndex === agent.path.length - 1;\n } else {\n targetX = agent.destination.x;\n targetY = agent.destination.y;\n isLastWaypoint = true;\n }\n\n const dx = targetX - agent.position.x;\n const dy = targetY - agent.position.y;\n const dist = Math.sqrt(dx * dx + dy * dy);\n\n if (dist < 0.0001) {\n return { x: 0, y: 0 };\n }\n\n // 只在接近最终目标时减速，中间路径点保持全速\n // Only slow down when approaching final destination, keep full speed for intermediate waypoints\n const speed = isLastWaypoint ? Math.min(agent.maxSpeed, dist) : agent.maxSpeed;\n return {\n x: (dx / dist) * speed,\n y: (dy / dist) * speed\n };\n }\n\n /**\n * @zh 构建代理数据\n * @en Build agent data\n */\n private buildAgentData(\n entity: Entity,\n agent: NavigationAgentComponent,\n preferredVelocity: IVector2\n ): IAvoidanceAgentData {\n return {\n id: entity.id,\n position: { x: agent.position.x, y: agent.position.y },\n velocity: { x: agent.velocity.x, y: agent.velocity.y },\n preferredVelocity,\n radius: agent.radius,\n maxSpeed: agent.maxSpeed\n };\n }\n\n /**\n * @zh 应用避让结果\n * @en Apply avoidance result\n */\n private applyAvoidanceResult(\n entity: Entity,\n agent: NavigationAgentComponent,\n newVelocity: IVector2,\n deltaTime: number\n ): void {\n // CollisionResolver 处理所有障碍物（静态+动态）\n // CollisionResolver handles all obstacles (static + dynamic)\n const allObstacles = this.getAllObstaclesForCollision();\n\n // Stage 3a: Collision Resolution (velocity validation)\n if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {\n newVelocity = this.collisionResolver.validateVelocity(\n agent.position,\n newVelocity,\n agent.radius,\n allObstacles,\n deltaTime\n );\n }\n\n // Apply smooth steering if enabled\n if (agent.smoothSteering) {\n newVelocity = this.applySmoothSteering(agent, newVelocity, deltaTime);\n }\n\n // Update velocity\n agent.velocity = { x: newVelocity.x, y: newVelocity.y };\n\n // Calculate new position\n let newPosition: IVector2 = {\n x: agent.position.x + newVelocity.x * deltaTime,\n y: agent.position.y + newVelocity.y * deltaTime\n };\n\n // Stage 3b: Collision Resolution (position correction)\n if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {\n newPosition = this.collisionResolver.resolveCollision(\n newPosition,\n agent.radius,\n allObstacles\n );\n }\n\n // Update position\n agent.position = newPosition;\n\n // Check arrival\n this.checkArrival(agent);\n }\n\n /**\n * @zh 应用平滑转向\n * @en Apply smooth steering\n */\n private applySmoothSteering(\n agent: NavigationAgentComponent,\n targetVelocity: IVector2,\n deltaTime: number\n ): IVector2 {\n const maxChange = agent.acceleration * deltaTime;\n\n const dvx = targetVelocity.x - agent.velocity.x;\n const dvy = targetVelocity.y - agent.velocity.y;\n const changeMag = Math.sqrt(dvx * dvx + dvy * dvy);\n\n if (changeMag <= maxChange) {\n return targetVelocity;\n }\n\n const factor = maxChange / changeMag;\n const newVel = {\n x: agent.velocity.x + dvx * factor,\n y: agent.velocity.y + dvy * factor\n };\n\n // 保持目标速度大小，避免转弯时减速\n // Maintain target speed to prevent slowdown during turns\n const targetSpeed = Math.sqrt(targetVelocity.x * targetVelocity.x + targetVelocity.y * targetVelocity.y);\n const newSpeed = Math.sqrt(newVel.x * newVel.x + newVel.y * newVel.y);\n if (newSpeed > 0.0001 && targetSpeed > 0.0001) {\n const scale = targetSpeed / newSpeed;\n newVel.x *= scale;\n newVel.y *= scale;\n }\n\n return newVel;\n }\n\n /**\n * @zh 检查是否到达目标\n * @en Check if arrived at destination\n */\n private checkArrival(agent: NavigationAgentComponent): void {\n if (!agent.destination) return;\n\n const dx = agent.destination.x - agent.position.x;\n const dy = agent.destination.y - agent.position.y;\n const dist = Math.sqrt(dx * dx + dy * dy);\n\n if (dist < agent.arrivalThreshold) {\n agent.state = NavigationState.Arrived;\n agent.velocity = { x: 0, y: 0 };\n }\n }\n\n /**\n * @zh 解决代理间碰撞\n * @en Resolve agent-agent collisions\n */\n private resolveAgentCollisions(entities: readonly Entity[]): void {\n if (!this.collisionResolver) return;\n\n const corrections: Map<number, IVector2> = new Map();\n const activeEntities = entities.filter(e => {\n const agent = e.getComponent(NavigationAgentComponent)!;\n return agent.enabled;\n });\n\n for (let i = 0; i < activeEntities.length; i++) {\n for (let j = i + 1; j < activeEntities.length; j++) {\n const entityA = activeEntities[i]!;\n const entityB = activeEntities[j]!;\n const agentA = entityA.getComponent(NavigationAgentComponent)!;\n const agentB = entityB.getComponent(NavigationAgentComponent)!;\n\n const collision = this.collisionResolver.detectAgentCollision(\n agentA.position,\n agentA.radius,\n agentB.position,\n agentB.radius\n );\n\n if (collision.collided) {\n const halfPush = (collision.penetration + 0.01) * 0.5;\n\n const corrA = corrections.get(entityA.id) ?? { x: 0, y: 0 };\n corrA.x += collision.normal.x * halfPush;\n corrA.y += collision.normal.y * halfPush;\n corrections.set(entityA.id, corrA);\n\n const corrB = corrections.get(entityB.id) ?? { x: 0, y: 0 };\n corrB.x -= collision.normal.x * halfPush;\n corrB.y -= collision.normal.y * halfPush;\n corrections.set(entityB.id, corrB);\n }\n }\n }\n\n const allObstacles = this.getAllObstaclesForCollision();\n\n for (const [entityId, correction] of corrections) {\n const entity = activeEntities.find(e => e.id === entityId);\n if (!entity) continue;\n\n const agent = entity.getComponent(NavigationAgentComponent)!;\n let newPosition: IVector2 = {\n x: agent.position.x + correction.x,\n y: agent.position.y + correction.y\n };\n\n if (allObstacles.length > 0) {\n newPosition = this.collisionResolver.resolveCollision(\n newPosition,\n agent.radius,\n allObstacles\n );\n }\n\n agent.position = newPosition;\n }\n }\n}\n","/**\n * @zh ORCA 算法配置组件\n * @en ORCA Algorithm Configuration Component\n *\n * @zh 可选组件，仅当使用 ORCA 避让算法时需要，用于覆盖默认 ORCA 参数\n * @en Optional component, only needed when using ORCA avoidance, to override default ORCA parameters\n */\n\nimport {\n Component,\n ECSComponent,\n Serializable,\n Serialize,\n Property\n} from '@esengine/ecs-framework';\n\n/**\n * @zh ORCA 算法配置组件\n * @en ORCA algorithm configuration component\n *\n * @zh 可选组件，附加到代理实体上以覆盖默认 ORCA 参数\n * @en Optional component, attach to agent entities to override default ORCA parameters\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n *\n * // 添加导航代理\n * entity.addComponent(new NavigationAgentComponent());\n *\n * // 可选：添加 ORCA 配置以自定义参数\n * const orcaConfig = entity.addComponent(new ORCAConfigComponent());\n * orcaConfig.timeHorizon = 3.0; // 更长的预测时间\n * orcaConfig.neighborDist = 20.0; // 更大的邻居检测范围\n * ```\n */\n@ECSComponent('ORCAConfig')\n@Serializable({ version: 1, typeId: 'ORCAConfig' })\nexport class ORCAConfigComponent extends Component {\n /**\n * @zh 邻居检测距离\n * @en Neighbor detection distance\n *\n * @zh 代理检测邻居的最大距离，更大的值意味着更早开始避让但也更消耗性能\n * @en Maximum distance for detecting neighbors, larger value means earlier avoidance but more performance cost\n */\n @Serialize()\n @Property({ type: 'number', label: 'Neighbor Dist', min: 1, max: 100 })\n neighborDist: number = 15.0;\n\n /**\n * @zh 最大邻居数量\n * @en Maximum number of neighbors\n *\n * @zh 计算避让时考虑的最大邻居数量，更多邻居意味着更精确但也更消耗性能\n * @en Maximum neighbors considered for avoidance, more neighbors means more accurate but slower\n */\n @Serialize()\n @Property({ type: 'number', label: 'Max Neighbors', min: 1, max: 50 })\n maxNeighbors: number = 10;\n\n /**\n * @zh 代理避让时间视野\n * @en Time horizon for agent avoidance\n *\n * @zh 预测其他代理未来位置的时间范围，更长意味着更平滑但可能过度避让\n * @en Time range for predicting other agents' future positions, longer means smoother but may over-avoid\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Horizon', min: 0.1, max: 10 })\n timeHorizon: number = 2.0;\n\n /**\n * @zh 障碍物避让时间视野\n * @en Time horizon for obstacle avoidance\n *\n * @zh 预测与障碍物碰撞的时间范围，通常比代理视野短\n * @en Time range for predicting obstacle collisions, usually shorter than agent horizon\n */\n @Serialize()\n @Property({ type: 'number', label: 'Time Horizon Obst', min: 0.1, max: 10 })\n timeHorizonObst: number = 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