@esengine/pathfinding 13.2.0 → 13.3.0

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/core/BinaryHeap.ts","../src/core/AStarPathfinder.ts","../src/core/GridPathfinder.ts","../src/core/JPSPathfinder.ts","../src/core/HPAPathfinder.ts","../src/navmesh/NavMesh.ts"],"sourcesContent":["/**\n * @zh 二叉堆（优先队列）\n * @en Binary Heap (Priority Queue)\n *\n * @zh 用于 A* 算法的高效开放列表\n * @en Efficient open list for A* algorithm\n */\nexport class BinaryHeap<T> {\n    private heap: T[] = [];\n    private readonly compare: (a: T, b: T) => number;\n\n    /**\n     * @zh 创建二叉堆\n     * @en Create binary heap\n     *\n     * @param compare - @zh 比较函数，返回负数表示 a < b @en Compare function, returns negative if a < b\n     */\n    constructor(compare: (a: T, b: T) => number) {\n        this.compare = compare;\n    }\n\n    /**\n     * @zh 堆大小\n     * @en Heap size\n     */\n    get size(): number {\n        return this.heap.length;\n    }\n\n    /**\n     * @zh 是否为空\n     * @en Is empty\n     */\n    get isEmpty(): boolean {\n        return this.heap.length === 0;\n    }\n\n    /**\n     * @zh 插入元素\n     * @en Push element\n     */\n    push(item: T): void {\n        this.heap.push(item);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    /**\n     * @zh 弹出最小元素\n     * @en Pop minimum element\n     */\n    pop(): T | undefined {\n        if (this.heap.length === 0) {\n            return undefined;\n        }\n\n        const result = this.heap[0];\n        const last = this.heap.pop()!;\n\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.sinkDown(0);\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 查看最小元素（不移除）\n     * @en Peek minimum element (without removing)\n     */\n    peek(): T | undefined {\n        return this.heap[0];\n    }\n\n    /**\n     * @zh 更新元素（重新排序）\n     * @en Update element (re-sort)\n     */\n    update(item: T): void {\n        const index = this.heap.indexOf(item);\n        if (index !== -1) {\n            this.bubbleUp(index);\n            this.sinkDown(index);\n        }\n    }\n\n    /**\n     * @zh 检查是否包含元素\n     * @en Check if contains element\n     */\n    contains(item: T): boolean {\n        return this.heap.indexOf(item) !== -1;\n    }\n\n    /**\n     * @zh 清空堆\n     * @en Clear heap\n     */\n    clear(): void {\n        this.heap.length = 0;\n    }\n\n    /**\n     * @zh 上浮操作\n     * @en Bubble up operation\n     */\n    private bubbleUp(index: number): void {\n        const item = this.heap[index];\n\n        while (index > 0) {\n            const parentIndex = Math.floor((index - 1) / 2);\n            const parent = this.heap[parentIndex];\n\n            if (this.compare(item, parent) >= 0) {\n                break;\n            }\n\n            this.heap[index] = parent;\n            index = parentIndex;\n        }\n\n        this.heap[index] = item;\n    }\n\n    /**\n     * @zh 下沉操作\n     * @en Sink down operation\n     */\n    private sinkDown(index: number): void {\n        const length = this.heap.length;\n        const item = this.heap[index];\n\n        while (true) {\n            const leftIndex = 2 * index + 1;\n            const rightIndex = 2 * index + 2;\n            let smallest = index;\n\n            if (leftIndex < length && this.compare(this.heap[leftIndex], this.heap[smallest]) < 0) {\n                smallest = leftIndex;\n            }\n\n            if (rightIndex < length && this.compare(this.heap[rightIndex], this.heap[smallest]) < 0) {\n                smallest = rightIndex;\n            }\n\n            if (smallest === index) {\n                break;\n            }\n\n            this.heap[index] = this.heap[smallest];\n            this.heap[smallest] = item;\n            index = smallest;\n        }\n    }\n}\n","/**\n * @zh A* 寻路算法实现\n * @en A* Pathfinding Algorithm Implementation\n */\n\nimport { IndexedBinaryHeap, type IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathfinder,\n    IPathResult,\n    IPathfindingOptions,\n    IPathNode,\n    IPoint\n} from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\n\n// =============================================================================\n// 内部节点类型 | Internal Node Type\n// =============================================================================\n\ninterface AStarNode extends IHeapIndexable {\n    node: IPathNode;\n    g: number;  // Cost from start\n    h: number;  // Heuristic to end\n    f: number;  // Total cost (g + h)\n    parent: AStarNode | null;\n    closed: boolean;\n    opened: boolean;\n    heapIndex: number;  // For IndexedBinaryHeap O(log n) update\n}\n\n// =============================================================================\n// A* 寻路器 | A* Pathfinder\n// =============================================================================\n\n/**\n * @zh A* 寻路器\n * @en A* Pathfinder\n *\n * @zh 使用 A* 算法在地图上查找最短路径\n * @en Uses A* algorithm to find shortest path on a map\n *\n * @example\n * ```typescript\n * const map = new GridMap(width, height);\n * const pathfinder = new AStarPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 10, 10);\n * if (result.found) {\n *     console.log('Path:', result.path);\n * }\n * ```\n */\nexport class AStarPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private nodeCache: Map<string | number, AStarNode> = new Map();\n    private openList: IndexedBinaryHeap<AStarNode>;\n\n    constructor(map: IPathfindingMap) {\n        this.map = map;\n        this.openList = new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f);\n    }\n\n    /**\n     * @zh 查找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // Clear previous state\n        this.clear();\n\n        // Get start and end nodes\n        const startNode = this.map.getNodeAt(startX, startY);\n        const endNode = this.map.getNodeAt(endX, endY);\n\n        // Validate nodes\n        if (!startNode || !endNode) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        if (!startNode.walkable || !endNode.walkable) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same position\n        if (startNode.id === endNode.id) {\n            return {\n                found: true,\n                path: [startNode.position],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // Initialize start node\n        const start = this.getOrCreateAStarNode(startNode);\n        start.g = 0;\n        start.h = this.map.heuristic(startNode.position, endNode.position) * opts.heuristicWeight;\n        start.f = start.h;\n        start.opened = true;\n\n        this.openList.push(start);\n\n        let nodesSearched = 0;\n        const endPosition = endNode.position;\n\n        // A* main loop\n        while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = this.openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // Found the goal\n            if (current.node.id === endNode.id) {\n                return this.buildPath(current, nodesSearched);\n            }\n\n            // Explore neighbors\n            const neighbors = this.map.getNeighbors(current.node);\n\n            for (const neighborNode of neighbors) {\n                // Skip if not walkable or already closed\n                if (!neighborNode.walkable) {\n                    continue;\n                }\n\n                const neighbor = this.getOrCreateAStarNode(neighborNode);\n\n                if (neighbor.closed) {\n                    continue;\n                }\n\n                // Calculate tentative g score\n                const movementCost = this.map.getMovementCost(current.node, neighborNode);\n                const tentativeG = current.g + movementCost;\n\n                // Check if this path is better\n                if (!neighbor.opened) {\n                    // First time visiting this node\n                    neighbor.g = tentativeG;\n                    neighbor.h = this.map.heuristic(neighborNode.position, endPosition) * opts.heuristicWeight;\n                    neighbor.f = neighbor.g + neighbor.h;\n                    neighbor.parent = current;\n                    neighbor.opened = true;\n                    this.openList.push(neighbor);\n                } else if (tentativeG < neighbor.g) {\n                    // Found a better path\n                    neighbor.g = tentativeG;\n                    neighbor.f = neighbor.g + neighbor.h;\n                    neighbor.parent = current;\n                    this.openList.update(neighbor);\n                }\n            }\n        }\n\n        // No path found\n        return {\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.nodeCache.clear();\n        this.openList.clear();\n    }\n\n    /**\n     * @zh 获取或创建 A* 节点\n     * @en Get or create A* node\n     */\n    private getOrCreateAStarNode(node: IPathNode): AStarNode {\n        let astarNode = this.nodeCache.get(node.id);\n\n        if (!astarNode) {\n            astarNode = {\n                node,\n                g: Infinity,\n                h: 0,\n                f: Infinity,\n                parent: null,\n                closed: false,\n                opened: false,\n                heapIndex: -1\n            };\n            this.nodeCache.set(node.id, astarNode);\n        }\n\n        return astarNode;\n    }\n\n    /**\n     * @zh 构建路径结果\n     * @en Build path result\n     */\n    private buildPath(endNode: AStarNode, nodesSearched: number): IPathResult {\n        const path: IPoint[] = [];\n        let current: AStarNode | null = endNode;\n\n        while (current) {\n            path.push(current.node.position);\n            current = current.parent;\n        }\n\n        path.reverse();\n\n        return {\n            found: true,\n            path,\n            cost: endNode.g,\n            nodesSearched\n        };\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 A* 寻路器\n * @en Create A* pathfinder\n */\nexport function createAStarPathfinder(map: IPathfindingMap): AStarPathfinder {\n    return new AStarPathfinder(map);\n}\n","/**\n * @zh 网格寻路器（统一实现）\n * @en Grid Pathfinder (unified implementation)\n */\n\nimport type { IPathfinder, IPathResult, IPathfindingOptions, IPoint } from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport { GridMap } from '../grid/GridMap';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh 寻路模式\n * @en Pathfinding mode\n */\nexport type GridPathfinderMode = 'standard' | 'fast' | 'bidirectional';\n\n/**\n * @zh 网格寻路器配置\n * @en Grid pathfinder configuration\n */\nexport interface IGridPathfinderConfig {\n    /**\n     * @zh 寻路模式\n     * @en Pathfinding mode\n     *\n     * - standard: 标准A*，适合小地图\n     * - fast: TypedArray优化，适合中大地图\n     * - bidirectional: 双向搜索，适合超大地图\n     */\n    mode?: GridPathfinderMode;\n}\n\n// =============================================================================\n// 常量 | Constants\n// =============================================================================\n\nconst CLOSED_FLAG = 1;\nconst OPENED_FLAG = 2;\nconst BACKWARD_CLOSED = 4;\nconst BACKWARD_OPENED = 8;\n\n// =============================================================================\n// 状态存储 | State Storage\n// =============================================================================\n\nclass GridState {\n    private readonly size: number;\n    readonly width: number;\n\n    private g: Float32Array;\n    private f: Float32Array;\n    private flags: Uint8Array;\n    private parent: Int32Array;\n    private heapIndex: Int32Array;\n    private version: Uint32Array;\n    private currentVersion: number = 1;\n\n    // 双向搜索额外状态\n    private gBack: Float32Array | null = null;\n    private fBack: Float32Array | null = null;\n    private parentBack: Int32Array | null = null;\n    private heapIndexBack: Int32Array | null = null;\n\n    constructor(width: number, height: number, bidirectional: boolean = false) {\n        this.width = width;\n        this.size = width * height;\n\n        this.g = new Float32Array(this.size);\n        this.f = new Float32Array(this.size);\n        this.flags = new Uint8Array(this.size);\n        this.parent = new Int32Array(this.size);\n        this.heapIndex = new Int32Array(this.size);\n        this.version = new Uint32Array(this.size);\n\n        if (bidirectional) {\n            this.gBack = new Float32Array(this.size);\n            this.fBack = new Float32Array(this.size);\n            this.parentBack = new Int32Array(this.size);\n            this.heapIndexBack = new Int32Array(this.size);\n        }\n    }\n\n    reset(): void {\n        this.currentVersion++;\n        if (this.currentVersion > 0xFFFFFFFF) {\n            this.version.fill(0);\n            this.currentVersion = 1;\n        }\n    }\n\n    private isInit(i: number): boolean {\n        return this.version[i] === this.currentVersion;\n    }\n\n    private init(i: number): void {\n        if (!this.isInit(i)) {\n            this.g[i] = Infinity;\n            this.f[i] = Infinity;\n            this.flags[i] = 0;\n            this.parent[i] = -1;\n            this.heapIndex[i] = -1;\n            if (this.gBack) {\n                this.gBack[i] = Infinity;\n                this.fBack![i] = Infinity;\n                this.parentBack![i] = -1;\n                this.heapIndexBack![i] = -1;\n            }\n            this.version[i] = this.currentVersion;\n        }\n    }\n\n    // Forward\n    getG(i: number): number { return this.isInit(i) ? this.g[i] : Infinity; }\n    setG(i: number, v: number): void { this.init(i); this.g[i] = v; }\n    getF(i: number): number { return this.isInit(i) ? this.f[i] : Infinity; }\n    setF(i: number, v: number): void { this.init(i); this.f[i] = v; }\n    getParent(i: number): number { return this.isInit(i) ? this.parent[i] : -1; }\n    setParent(i: number, v: number): void { this.init(i); this.parent[i] = v; }\n    getHeapIndex(i: number): number { return this.isInit(i) ? this.heapIndex[i] : -1; }\n    setHeapIndex(i: number, v: number): void { this.init(i); this.heapIndex[i] = v; }\n    isClosed(i: number): boolean { return this.isInit(i) && (this.flags[i] & CLOSED_FLAG) !== 0; }\n    setClosed(i: number): void { this.init(i); this.flags[i] |= CLOSED_FLAG; }\n    isOpened(i: number): boolean { return this.isInit(i) && (this.flags[i] & OPENED_FLAG) !== 0; }\n    setOpened(i: number): void { this.init(i); this.flags[i] |= OPENED_FLAG; }\n\n    // Backward\n    getGBack(i: number): number { return this.isInit(i) ? this.gBack![i] : Infinity; }\n    setGBack(i: number, v: number): void { this.init(i); this.gBack![i] = v; }\n    getFBack(i: number): number { return this.isInit(i) ? this.fBack![i] : Infinity; }\n    setFBack(i: number, v: number): void { this.init(i); this.fBack![i] = v; }\n    getParentBack(i: number): number { return this.isInit(i) ? this.parentBack![i] : -1; }\n    setParentBack(i: number, v: number): void { this.init(i); this.parentBack![i] = v; }\n    getHeapIndexBack(i: number): number { return this.isInit(i) ? this.heapIndexBack![i] : -1; }\n    setHeapIndexBack(i: number, v: number): void { this.init(i); this.heapIndexBack![i] = v; }\n    isClosedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_CLOSED) !== 0; }\n    setClosedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_CLOSED; }\n    isOpenedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_OPENED) !== 0; }\n    setOpenedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_OPENED; }\n}\n\n// =============================================================================\n// 堆 | Heap\n// =============================================================================\n\nclass GridHeap {\n    private heap: number[] = [];\n    private state: GridState;\n    private isBack: boolean;\n\n    constructor(state: GridState, isBack: boolean = false) {\n        this.state = state;\n        this.isBack = isBack;\n    }\n\n    get size(): number { return this.heap.length; }\n    get isEmpty(): boolean { return this.heap.length === 0; }\n\n    private getF(i: number): number {\n        return this.isBack ? this.state.getFBack(i) : this.state.getF(i);\n    }\n    private getHeapIndex(i: number): number {\n        return this.isBack ? this.state.getHeapIndexBack(i) : this.state.getHeapIndex(i);\n    }\n    private setHeapIndex(i: number, v: number): void {\n        if (this.isBack) this.state.setHeapIndexBack(i, v);\n        else this.state.setHeapIndex(i, v);\n    }\n\n    push(i: number): void {\n        this.setHeapIndex(i, this.heap.length);\n        this.heap.push(i);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    pop(): number {\n        if (this.heap.length === 0) return -1;\n        const result = this.heap[0];\n        this.setHeapIndex(result, -1);\n        const last = this.heap.pop()!;\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.setHeapIndex(last, 0);\n            this.sinkDown(0);\n        }\n        return result;\n    }\n\n    update(i: number): void {\n        const pos = this.getHeapIndex(i);\n        if (pos >= 0 && pos < this.heap.length) {\n            this.bubbleUp(pos);\n            this.sinkDown(this.getHeapIndex(i));\n        }\n    }\n\n    clear(): void { this.heap.length = 0; }\n\n    private bubbleUp(pos: number): void {\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        while (pos > 0) {\n            const pp = (pos - 1) >> 1;\n            const pi = this.heap[pp];\n            if (f >= this.getF(pi)) break;\n            this.heap[pos] = pi;\n            this.setHeapIndex(pi, pos);\n            pos = pp;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n\n    private sinkDown(pos: number): void {\n        const len = this.heap.length;\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        const half = len >> 1;\n        while (pos < half) {\n            const left = (pos << 1) + 1;\n            const right = left + 1;\n            let smallest = pos, smallestF = f;\n            const lf = this.getF(this.heap[left]);\n            if (lf < smallestF) { smallest = left; smallestF = lf; }\n            if (right < len) {\n                const rf = this.getF(this.heap[right]);\n                if (rf < smallestF) smallest = right;\n            }\n            if (smallest === pos) break;\n            const si = this.heap[smallest];\n            this.heap[pos] = si;\n            this.setHeapIndex(si, pos);\n            pos = smallest;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n}\n\n// =============================================================================\n// 网格寻路器 | Grid Pathfinder\n// =============================================================================\n\n/**\n * @zh 网格寻路器\n * @en Grid Pathfinder\n */\nexport class GridPathfinder implements IPathfinder {\n    private readonly map: GridMap;\n    private readonly mode: GridPathfinderMode;\n    private readonly state: GridState;\n    private readonly openList: GridHeap;\n    private readonly openListBack: GridHeap | null;\n\n    constructor(map: GridMap, config?: IGridPathfinderConfig) {\n        this.map = map;\n        this.mode = config?.mode ?? 'fast';\n        const isBidir = this.mode === 'bidirectional';\n        this.state = new GridState(map.width, map.height, isBidir);\n        this.openList = new GridHeap(this.state, false);\n        this.openListBack = isBidir ? new GridHeap(this.state, true) : null;\n    }\n\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        if (this.mode === 'bidirectional') {\n            return this.findPathBidirectional(startX, startY, endX, endY, options);\n        }\n        return this.findPathUnidirectional(startX, startY, endX, endY, options);\n    }\n\n    private findPathUnidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const h0 = this.map.heuristic({ x: startX, y: startY }, { x: endX, y: endY }) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, h0);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while (!this.openList.isEmpty && searched < maxNodes) {\n            const cur = this.openList.pop();\n            this.state.setClosed(cur);\n            searched++;\n\n            if (cur === endIdx) {\n                return this.buildPath(startIdx, endIdx, searched);\n            }\n\n            const cx = cur % width, cy = (cur / width) | 0;\n            const curG = this.state.getG(cur);\n\n            for (let d = 0; d < dirCount; d++) {\n                const nx = cx + dx[d], ny = cy + dy[d];\n                if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n\n                const neighbor = nodes[ny][nx];\n                if (!neighbor.walkable) continue;\n\n                if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                    if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                }\n\n                const ni = ny * width + nx;\n                if (this.state.isClosed(ni)) continue;\n\n                const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                const tentG = curG + cost;\n\n                if (!this.state.isOpened(ni)) {\n                    const h = this.map.heuristic({ x: nx, y: ny }, { x: endX, y: endY }) * hw;\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.state.setOpened(ni);\n                    this.openList.push(ni);\n                } else if (tentG < this.state.getG(ni)) {\n                    const h = this.state.getF(ni) - this.state.getG(ni);\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.openList.update(ni);\n                }\n            }\n        }\n\n        return { found: false, path: [], cost: 0, nodesSearched: searched };\n    }\n\n    private findPathBidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack!.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const startPos = { x: startX, y: startY };\n        const endPos = { x: endX, y: endY };\n\n        // Init forward\n        const hf = this.map.heuristic(startPos, endPos) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, hf);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        // Init backward\n        const hb = this.map.heuristic(endPos, startPos) * hw;\n        this.state.setGBack(endIdx, 0);\n        this.state.setFBack(endIdx, hb);\n        this.state.setOpenedBack(endIdx);\n        this.openListBack!.push(endIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        let meetIdx = -1, bestCost = Infinity;\n\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while ((!this.openList.isEmpty || !this.openListBack!.isEmpty) && searched < maxNodes) {\n            // Forward\n            if (!this.openList.isEmpty) {\n                const cur = this.openList.pop();\n                this.state.setClosed(cur);\n                searched++;\n\n                const curG = this.state.getG(cur);\n                if (this.state.isClosedBack(cur)) {\n                    const total = curG + this.state.getGBack(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosed(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpened(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, endPos) * hw;\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.state.setOpened(ni);\n                        this.openList.push(ni);\n                    } else if (tentG < this.state.getG(ni)) {\n                        const h = this.state.getF(ni) - this.state.getG(ni);\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.openList.update(ni);\n                    }\n                }\n            }\n\n            // Backward\n            if (!this.openListBack!.isEmpty) {\n                const cur = this.openListBack!.pop();\n                this.state.setClosedBack(cur);\n                searched++;\n\n                const curG = this.state.getGBack(cur);\n                if (this.state.isClosed(cur)) {\n                    const total = curG + this.state.getG(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosedBack(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpenedBack(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, startPos) * hw;\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.state.setOpenedBack(ni);\n                        this.openListBack!.push(ni);\n                    } else if (tentG < this.state.getGBack(ni)) {\n                        const h = this.state.getFBack(ni) - this.state.getGBack(ni);\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.openListBack!.update(ni);\n                    }\n                }\n            }\n        }\n\n        if (meetIdx === -1) {\n            return { found: false, path: [], cost: 0, nodesSearched: searched };\n        }\n\n        return this.buildPathBidirectional(startIdx, endIdx, meetIdx, searched);\n    }\n\n    private validate(startX: number, startY: number, endX: number, endY: number): boolean {\n        const { width, height } = this.map;\n        if (startX < 0 || startX >= width || startY < 0 || startY >= height) return false;\n        if (endX < 0 || endX >= width || endY < 0 || endY >= height) return false;\n        return this.map.isWalkable(startX, startY) && this.map.isWalkable(endX, endY);\n    }\n\n    private buildPath(startIdx: number, endIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n        let cur = endIdx;\n        while (cur !== -1) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = cur === startIdx ? -1 : this.state.getParent(cur);\n        }\n        path.reverse();\n        return { found: true, path, cost: this.state.getG(endIdx), nodesSearched: searched };\n    }\n\n    private buildPathBidirectional(startIdx: number, endIdx: number, meetIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n\n        // Forward path\n        let cur = meetIdx;\n        while (cur !== -1 && cur !== startIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParent(cur);\n        }\n        path.push({ x: startIdx % w, y: (startIdx / w) | 0 });\n        path.reverse();\n\n        // Backward path\n        cur = this.state.getParentBack(meetIdx);\n        while (cur !== -1 && cur !== endIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParentBack(cur);\n        }\n        if (meetIdx !== endIdx) {\n            path.push({ x: endIdx % w, y: (endIdx / w) | 0 });\n        }\n\n        const cost = this.state.getG(meetIdx) + this.state.getGBack(meetIdx);\n        return { found: true, path, cost, nodesSearched: searched };\n    }\n\n    clear(): void {\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack?.clear();\n    }\n}\n\n/**\n * @zh 创建网格寻路器\n * @en Create grid pathfinder\n */\nexport function createGridPathfinder(map: GridMap, config?: IGridPathfinderConfig): GridPathfinder {\n    return new GridPathfinder(map, config);\n}\n","/**\n * @zh JPS (Jump Point Search) 寻路算法实现\n * @en JPS (Jump Point Search) Pathfinding Algorithm Implementation\n *\n * @zh JPS 是 A* 的优化版本，通过跳跃点剪枝大幅提升开放地形的搜索效率\n * @en JPS is an optimized version of A* that significantly improves search efficiency on open terrain through jump point pruning\n */\n\nimport { BinaryHeap } from './BinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfinder,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh JPS 节点\n * @en JPS Node\n */\ninterface JPSNode {\n    x: number;\n    y: number;\n    g: number;\n    h: number;\n    f: number;\n    parent: JPSNode | null;\n    closed: boolean;\n}\n\n// =============================================================================\n// JPS 寻路器 | JPS Pathfinder\n// =============================================================================\n\n/**\n * @zh JPS 寻路器\n * @en JPS Pathfinder\n *\n * @zh 适用于均匀代价网格地图，在开放地形上比标准 A* 快 10-100 倍\n * @en Suitable for uniform cost grid maps, 10-100x faster than standard A* on open terrain\n *\n * @example\n * ```typescript\n * const map = createGridMap(100, 100);\n * const pathfinder = new JPSPathfinder(map);\n * const result = pathfinder.findPath(0, 0, 99, 99);\n * ```\n */\nexport class JPSPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly width: number;\n    private readonly height: number;\n\n    private openList: BinaryHeap<JPSNode>;\n    private nodeGrid: (JPSNode | null)[][];\n\n    constructor(map: IPathfindingMap) {\n        this.map = map;\n\n        // 获取地图尺寸\n        const bounds = this.getMapBounds();\n        this.width = bounds.width;\n        this.height = bounds.height;\n\n        this.openList = new BinaryHeap<JPSNode>((a, b) => a.f - b.f);\n        this.nodeGrid = [];\n    }\n\n    /**\n     * @zh 寻找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: Partial<IPathfindingOptions>\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // 验证起点和终点\n        if (!this.map.isWalkable(startX, startY) || !this.map.isWalkable(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // 相同位置\n        if (startX === endX && startY === endY) {\n            return {\n                found: true,\n                path: [{ x: startX, y: startY }],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // 初始化\n        this.initGrid();\n        this.openList.clear();\n\n        const startNode = this.getOrCreateNode(startX, startY);\n        startNode.g = 0;\n        startNode.h = this.heuristic(startX, startY, endX, endY) * opts.heuristicWeight;\n        startNode.f = startNode.h;\n        this.openList.push(startNode);\n\n        let nodesSearched = 0;\n\n        while (!this.openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = this.openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // 到达终点\n            if (current.x === endX && current.y === endY) {\n                return {\n                    found: true,\n                    path: this.buildPath(current),\n                    cost: current.g,\n                    nodesSearched\n                };\n            }\n\n            // 查找跳跃点\n            this.identifySuccessors(current, endX, endY, opts);\n        }\n\n        return {\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.openList.clear();\n        this.nodeGrid = [];\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    /**\n     * @zh 获取地图边界\n     * @en Get map bounds\n     */\n    private getMapBounds(): { width: number; height: number } {\n        // 尝试从地图获取尺寸\n        const mapAny = this.map as any;\n        if (typeof mapAny.width === 'number' && typeof mapAny.height === 'number') {\n            return { width: mapAny.width, height: mapAny.height };\n        }\n        // 默认尺寸\n        return { width: 1000, height: 1000 };\n    }\n\n    /**\n     * @zh 初始化节点网格\n     * @en Initialize node grid\n     */\n    private initGrid(): void {\n        this.nodeGrid = [];\n        for (let i = 0; i < this.width; i++) {\n            this.nodeGrid[i] = [];\n        }\n    }\n\n    /**\n     * @zh 获取或创建节点\n     * @en Get or create node\n     */\n    private getOrCreateNode(x: number, y: number): JPSNode {\n        // Bounds check to ensure valid array indices\n        const xi = x | 0;\n        const yi = y | 0;\n        if (xi < 0 || xi >= this.width || yi < 0 || yi >= this.height) {\n            throw new Error('[JPSPathfinder] Invalid grid coordinates');\n        }\n        if (!this.nodeGrid[xi]) {\n            this.nodeGrid[xi] = [];\n        }\n        if (!this.nodeGrid[xi][yi]) {\n            this.nodeGrid[xi][yi] = {\n                x: xi,\n                y: yi,\n                g: Infinity,\n                h: 0,\n                f: Infinity,\n                parent: null,\n                closed: false\n            };\n        }\n        return this.nodeGrid[xi][yi]!;\n    }\n\n    /**\n     * @zh 启发式函数（八方向距离）\n     * @en Heuristic function (octile distance)\n     */\n    private heuristic(x1: number, y1: number, x2: number, y2: number): number {\n        const dx = Math.abs(x1 - x2);\n        const dy = Math.abs(y1 - y2);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n\n    /**\n     * @zh 识别后继节点（跳跃点）\n     * @en Identify successors (jump points)\n     */\n    private identifySuccessors(\n        node: JPSNode,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): void {\n        const neighbors = this.findNeighbors(node);\n\n        for (const neighbor of neighbors) {\n            const jumpPoint = this.jump(\n                neighbor.x,\n                neighbor.y,\n                node.x,\n                node.y,\n                endX,\n                endY\n            );\n\n            if (jumpPoint) {\n                const jx = jumpPoint.x;\n                const jy = jumpPoint.y;\n\n                const jpNode = this.getOrCreateNode(jx, jy);\n                if (jpNode.closed) continue;\n\n                const dx = Math.abs(jx - node.x);\n                const dy = Math.abs(jy - node.y);\n                const distance = Math.sqrt(dx * dx + dy * dy);\n                const tentativeG = node.g + distance;\n\n                if (tentativeG < jpNode.g) {\n                    jpNode.g = tentativeG;\n                    jpNode.h = this.heuristic(jx, jy, endX, endY) * opts.heuristicWeight;\n                    jpNode.f = jpNode.g + jpNode.h;\n                    jpNode.parent = node;\n\n                    if (!this.openList.contains(jpNode)) {\n                        this.openList.push(jpNode);\n                    } else {\n                        this.openList.update(jpNode);\n                    }\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找邻居（根据父节点方向剪枝）\n     * @en Find neighbors (pruned based on parent direction)\n     */\n    private findNeighbors(node: JPSNode): IPoint[] {\n        const { x, y, parent } = node;\n        const neighbors: IPoint[] = [];\n\n        // 无父节点，返回所有可通行邻居\n        if (!parent) {\n            for (let dx = -1; dx <= 1; dx++) {\n                for (let dy = -1; dy <= 1; dy++) {\n                    if (dx === 0 && dy === 0) continue;\n                    const nx = x + dx;\n                    const ny = y + dy;\n                    if (this.isWalkableAt(nx, ny)) {\n                        // 对角线移动检查\n                        if (dx !== 0 && dy !== 0) {\n                            if (this.isWalkableAt(x + dx, y) || this.isWalkableAt(x, y + dy)) {\n                                neighbors.push({ x: nx, y: ny });\n                            }\n                        } else {\n                            neighbors.push({ x: nx, y: ny });\n                        }\n                    }\n                }\n            }\n            return neighbors;\n        }\n\n        // 有父节点，根据方向剪枝\n        const dx = Math.sign(x - parent.x);\n        const dy = Math.sign(y - parent.y);\n\n        // 对角线移动\n        if (dx !== 0 && dy !== 0) {\n            // 自然邻居\n            if (this.isWalkableAt(x, y + dy)) {\n                neighbors.push({ x, y: y + dy });\n            }\n            if (this.isWalkableAt(x + dx, y)) {\n                neighbors.push({ x: x + dx, y });\n            }\n            if (this.isWalkableAt(x, y + dy) || this.isWalkableAt(x + dx, y)) {\n                if (this.isWalkableAt(x + dx, y + dy)) {\n                    neighbors.push({ x: x + dx, y: y + dy });\n                }\n            }\n\n            // 强制邻居\n            if (!this.isWalkableAt(x - dx, y) && this.isWalkableAt(x, y + dy)) {\n                if (this.isWalkableAt(x - dx, y + dy)) {\n                    neighbors.push({ x: x - dx, y: y + dy });\n                }\n            }\n            if (!this.isWalkableAt(x, y - dy) && this.isWalkableAt(x + dx, y)) {\n                if (this.isWalkableAt(x + dx, y - dy)) {\n                    neighbors.push({ x: x + dx, y: y - dy });\n                }\n            }\n        }\n        // 水平移动\n        else if (dx !== 0) {\n            if (this.isWalkableAt(x + dx, y)) {\n                neighbors.push({ x: x + dx, y });\n\n                // 强制邻居\n                if (!this.isWalkableAt(x, y + 1) && this.isWalkableAt(x + dx, y + 1)) {\n                    neighbors.push({ x: x + dx, y: y + 1 });\n                }\n                if (!this.isWalkableAt(x, y - 1) && this.isWalkableAt(x + dx, y - 1)) {\n                    neighbors.push({ x: x + dx, y: y - 1 });\n                }\n            }\n        }\n        // 垂直移动\n        else if (dy !== 0) {\n            if (this.isWalkableAt(x, y + dy)) {\n                neighbors.push({ x, y: y + dy });\n\n                // 强制邻居\n                if (!this.isWalkableAt(x + 1, y) && this.isWalkableAt(x + 1, y + dy)) {\n                    neighbors.push({ x: x + 1, y: y + dy });\n                }\n                if (!this.isWalkableAt(x - 1, y) && this.isWalkableAt(x - 1, y + dy)) {\n                    neighbors.push({ x: x - 1, y: y + dy });\n                }\n            }\n        }\n\n        return neighbors;\n    }\n\n    /**\n     * @zh 跳跃函数（迭代版本，避免递归开销）\n     * @en Jump function (iterative version to avoid recursion overhead)\n     */\n    private jump(\n        startX: number,\n        startY: number,\n        px: number,\n        py: number,\n        endX: number,\n        endY: number\n    ): IPoint | null {\n        const dx = startX - px;\n        const dy = startY - py;\n\n        let x = startX;\n        let y = startY;\n\n        while (true) {\n            if (!this.isWalkableAt(x, y)) {\n                return null;\n            }\n\n            if (x === endX && y === endY) {\n                return { x, y };\n            }\n\n            if (dx !== 0 && dy !== 0) {\n                if ((this.isWalkableAt(x - dx, y + dy) && !this.isWalkableAt(x - dx, y)) ||\n                    (this.isWalkableAt(x + dx, y - dy) && !this.isWalkableAt(x, y - dy))) {\n                    return { x, y };\n                }\n\n                if (this.jumpStraight(x + dx, y, dx, 0, endX, endY) ||\n                    this.jumpStraight(x, y + dy, 0, dy, endX, endY)) {\n                    return { x, y };\n                }\n\n                if (!this.isWalkableAt(x + dx, y) && !this.isWalkableAt(x, y + dy)) {\n                    return null;\n                }\n            } else if (dx !== 0) {\n                if ((this.isWalkableAt(x + dx, y + 1) && !this.isWalkableAt(x, y + 1)) ||\n                    (this.isWalkableAt(x + dx, y - 1) && !this.isWalkableAt(x, y - 1))) {\n                    return { x, y };\n                }\n            } else if (dy !== 0) {\n                if ((this.isWalkableAt(x + 1, y + dy) && !this.isWalkableAt(x + 1, y)) ||\n                    (this.isWalkableAt(x - 1, y + dy) && !this.isWalkableAt(x - 1, y))) {\n                    return { x, y };\n                }\n            }\n\n            x += dx;\n            y += dy;\n        }\n    }\n\n    /**\n     * @zh 直线跳跃（水平或垂直方向）\n     * @en Straight jump (horizontal or vertical direction)\n     */\n    private jumpStraight(\n        startX: number,\n        startY: number,\n        dx: number,\n        dy: number,\n        endX: number,\n        endY: number\n    ): boolean {\n        let x = startX;\n        let y = startY;\n\n        while (true) {\n            if (!this.isWalkableAt(x, y)) {\n                return false;\n            }\n\n            if (x === endX && y === endY) {\n                return true;\n            }\n\n            if (dx !== 0) {\n                if ((this.isWalkableAt(x + dx, y + 1) && !this.isWalkableAt(x, y + 1)) ||\n                    (this.isWalkableAt(x + dx, y - 1) && !this.isWalkableAt(x, y - 1))) {\n                    return true;\n                }\n            } else if (dy !== 0) {\n                if ((this.isWalkableAt(x + 1, y + dy) && !this.isWalkableAt(x + 1, y)) ||\n                    (this.isWalkableAt(x - 1, y + dy) && !this.isWalkableAt(x - 1, y))) {\n                    return true;\n                }\n            }\n\n            x += dx;\n            y += dy;\n        }\n    }\n\n    /**\n     * @zh 检查位置是否可通行\n     * @en Check if position is walkable\n     */\n    private isWalkableAt(x: number, y: number): boolean {\n        if (x < 0 || x >= this.width || y < 0 || y >= this.height) {\n            return false;\n        }\n        return this.map.isWalkable(x, y);\n    }\n\n    /**\n     * @zh 构建路径\n     * @en Build path\n     */\n    private buildPath(endNode: JPSNode): IPoint[] {\n        const path: IPoint[] = [];\n        let current: JPSNode | null = endNode;\n\n        while (current) {\n            path.unshift({ x: current.x, y: current.y });\n            current = current.parent;\n        }\n\n        // 插值跳跃点之间的路径\n        return this.interpolatePath(path);\n    }\n\n    /**\n     * @zh 插值路径（在跳跃点之间填充中间点）\n     * @en Interpolate path (fill intermediate points between jump points)\n     */\n    private interpolatePath(jumpPoints: IPoint[]): IPoint[] {\n        if (jumpPoints.length < 2) {\n            return jumpPoints;\n        }\n\n        const path: IPoint[] = [jumpPoints[0]];\n\n        for (let i = 1; i < jumpPoints.length; i++) {\n            const prev = jumpPoints[i - 1];\n            const curr = jumpPoints[i];\n\n            const dx = curr.x - prev.x;\n            const dy = curr.y - prev.y;\n            const steps = Math.max(Math.abs(dx), Math.abs(dy));\n\n            const stepX = dx === 0 ? 0 : dx / Math.abs(dx);\n            const stepY = dy === 0 ? 0 : dy / Math.abs(dy);\n\n            let x = prev.x;\n            let y = prev.y;\n\n            for (let j = 0; j < steps; j++) {\n                // 优先对角移动\n                if (x !== curr.x && y !== curr.y) {\n                    x += stepX;\n                    y += stepY;\n                } else if (x !== curr.x) {\n                    x += stepX;\n                } else if (y !== curr.y) {\n                    y += stepY;\n                }\n\n                if (x !== prev.x || y !== prev.y) {\n                    path.push({ x, y });\n                }\n            }\n        }\n\n        return path;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 JPS 寻路器\n * @en Create JPS pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @returns @zh JPS 寻路器实例 @en JPS pathfinder instance\n */\nexport function createJPSPathfinder(map: IPathfindingMap): JPSPathfinder {\n    return new JPSPathfinder(map);\n}\n","/**\n * @zh HPA* (Hierarchical Pathfinding A*) 寻路算法实现\n * @en HPA* (Hierarchical Pathfinding A*) Pathfinding Algorithm Implementation\n *\n * @zh HPA* 是一种分层寻路算法，适用于超大地图 (1000x1000+)\n * @en HPA* is a hierarchical pathfinding algorithm suitable for very large maps (1000x1000+)\n *\n * @zh 工作原理：\n * 1. 将地图划分为集群 (clusters)\n * 2. 在集群边界检测入口点 (entrances)\n * 3. 构建抽象图 (abstract graph) 连接入口点\n * 4. 预计算集群内入口点之间的真实路径代价\n * 5. 先在抽象图上寻路，再利用缓存细化为详细路径\n *\n * @en How it works:\n * 1. Divide map into clusters\n * 2. Detect entrances at cluster boundaries\n * 3. Build abstract graph connecting entrances\n * 4. Precompute actual path costs between entrances within clusters\n * 5. First find path on abstract graph, then refine using cached paths\n */\n\nimport { IndexedBinaryHeap, IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPoint,\n    IPathResult,\n    IPathfinder,\n    IPathfindingOptions,\n    IPathNode\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS, EMPTY_PATH_RESULT } from './IPathfinding';\nimport { AStarPathfinder } from './AStarPathfinder';\nimport { PathCache } from './PathCache';\n\n// =============================================================================\n// 类型定义 | Type Definitions\n// =============================================================================\n\n/**\n * @zh HPA* 配置\n * @en HPA* Configuration\n */\nexport interface IHPAConfig {\n    /**\n     * @zh 集群大小（边长）\n     * @en Cluster size (side length)\n     */\n    clusterSize: number;\n\n    /**\n     * @zh 最大入口宽度（超过此宽度会拆分或使用端点策略）\n     * @en Maximum entrance width (entrances wider than this will be split or use endpoint strategy)\n     */\n    maxEntranceWidth: number;\n\n    /**\n     * @zh 是否启用内部路径缓存\n     * @en Whether to enable internal path caching\n     */\n    cacheInternalPaths: boolean;\n\n    /**\n     * @zh 入口策略：'middle' 在中间放节点，'end' 在宽入口两端各放节点\n     * @en Entrance strategy: 'middle' places node at center, 'end' places nodes at both ends for wide entrances\n     */\n    entranceStrategy?: 'middle' | 'end';\n\n    /**\n     * @zh 是否延迟计算 intra-edges（大幅加速预处理，首次查询时计算真实路径）\n     * @en Whether to lazily compute intra-edges (greatly speeds up preprocessing, computes actual paths on first query)\n     */\n    lazyIntraEdges?: boolean;\n}\n\n/**\n * @zh 默认 HPA* 配置\n * @en Default HPA* configuration\n */\nexport const DEFAULT_HPA_CONFIG: IHPAConfig = {\n    clusterSize: 64,\n    maxEntranceWidth: 16,\n    cacheInternalPaths: true,\n    entranceStrategy: 'end',\n    lazyIntraEdges: true\n};\n\n/**\n * @zh 抽象边信息\n * @en Abstract edge information\n */\ninterface AbstractEdge {\n    /** @zh 目标节点 ID @en Target node ID */\n    targetNodeId: number;\n    /** @zh 边代价（真实路径代价）@en Edge cost (actual path cost) */\n    cost: number;\n    /** @zh 是否为跨集群边 @en Is inter-cluster edge */\n    isInterEdge: boolean;\n    /** @zh 缓存的具体路径（ConcreteNodeId 列表）@en Cached concrete path (ConcreteNodeId list) */\n    innerPath: number[] | null;\n}\n\n/**\n * @zh 抽象节点\n * @en Abstract node\n */\ninterface AbstractNode {\n    /** @zh 节点 ID @en Node ID */\n    id: number;\n    /** @zh 位置（地图坐标）@en Position (map coordinates) */\n    position: IPoint;\n    /** @zh 所属集群 ID @en Cluster ID */\n    clusterId: number;\n    /** @zh 对应的具体地图节点 ID (y * width + x) @en Corresponding concrete node ID */\n    concreteNodeId: number;\n    /** @zh 出边列表 @en Outgoing edges */\n    edges: AbstractEdge[];\n}\n\n/**\n * @zh A* 搜索节点\n * @en A* search node\n */\ninterface SearchNode extends IHeapIndexable {\n    node: AbstractNode;\n    g: number;\n    h: number;\n    f: number;\n    parent: SearchNode | null;\n    closed: boolean;\n    opened: boolean;\n    heapIndex: number;\n}\n\n/**\n * @zh 入口区间（边界上连续可通行的区域）\n * @en Entrance span (continuous walkable region on boundary)\n */\ninterface EntranceSpan {\n    start: number;\n    end: number;\n}\n\n// =============================================================================\n// SubMap 子地图类 (Slice) | SubMap Class (Slice)\n// =============================================================================\n\n/**\n * @zh 子地图 - 为集群提供隔离的地图视图\n * @en SubMap - Provides isolated map view for cluster\n *\n * @zh 不复制数据，只做坐标转换并委托给父地图\n * @en Doesn't copy data, just transforms coordinates and delegates to parent map\n */\nclass SubMap implements IPathfindingMap {\n    readonly width: number;\n    readonly height: number;\n\n    constructor(\n        private readonly parentMap: IPathfindingMap,\n        private readonly originX: number,\n        private readonly originY: number,\n        width: number,\n        height: number\n    ) {\n        this.width = width;\n        this.height = height;\n    }\n\n    /**\n     * @zh 局部坐标转全局坐标\n     * @en Convert local to global coordinates\n     */\n    localToGlobal(localX: number, localY: number): IPoint {\n        return {\n            x: this.originX + localX,\n            y: this.originY + localY\n        };\n    }\n\n    /**\n     * @zh 全局坐标转局部坐标\n     * @en Convert global to local coordinates\n     */\n    globalToLocal(globalX: number, globalY: number): IPoint {\n        return {\n            x: globalX - this.originX,\n            y: globalY - this.originY\n        };\n    }\n\n    isWalkable(x: number, y: number): boolean {\n        if (x < 0 || x >= this.width || y < 0 || y >= this.height) {\n            return false;\n        }\n        return this.parentMap.isWalkable(this.originX + x, this.originY + y);\n    }\n\n    getNodeAt(x: number, y: number): IPathNode | null {\n        if (x < 0 || x >= this.width || y < 0 || y >= this.height) {\n            return null;\n        }\n        const globalNode = this.parentMap.getNodeAt(this.originX + x, this.originY + y);\n        if (!globalNode) return null;\n\n        // 创建局部节点（调整坐标）\n        return {\n            id: y * this.width + x,\n            position: { x, y },\n            cost: globalNode.cost,\n            walkable: globalNode.walkable\n        };\n    }\n\n    getNeighbors(node: IPathNode): IPathNode[] {\n        const neighbors: IPathNode[] = [];\n        const { x, y } = node.position;\n\n        // 8方向邻居\n        const directions = [\n            { dx: 0, dy: -1 },  // N\n            { dx: 1, dy: -1 },  // NE\n            { dx: 1, dy: 0 },   // E\n            { dx: 1, dy: 1 },   // SE\n            { dx: 0, dy: 1 },   // S\n            { dx: -1, dy: 1 },  // SW\n            { dx: -1, dy: 0 },  // W\n            { dx: -1, dy: -1 }  // NW\n        ];\n\n        for (const dir of directions) {\n            const nx = x + dir.dx;\n            const ny = y + dir.dy;\n\n            if (nx < 0 || nx >= this.width || ny < 0 || ny >= this.height) {\n                continue;\n            }\n\n            if (!this.isWalkable(nx, ny)) {\n                continue;\n            }\n\n            // 对角线移动：检查是否被角落阻挡\n            if (dir.dx !== 0 && dir.dy !== 0) {\n                if (!this.isWalkable(x + dir.dx, y) || !this.isWalkable(x, y + dir.dy)) {\n                    continue;\n                }\n            }\n\n            const neighborNode = this.getNodeAt(nx, ny);\n            if (neighborNode) {\n                neighbors.push(neighborNode);\n            }\n        }\n\n        return neighbors;\n    }\n\n    heuristic(a: IPoint, b: IPoint): number {\n        // Octile 距离\n        const dx = Math.abs(a.x - b.x);\n        const dy = Math.abs(a.y - b.y);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n\n    getMovementCost(from: IPathNode, to: IPathNode): number {\n        const dx = Math.abs(to.position.x - from.position.x);\n        const dy = Math.abs(to.position.y - from.position.y);\n        const baseCost = (dx !== 0 && dy !== 0) ? Math.SQRT2 : 1;\n        return baseCost * to.cost;\n    }\n}\n\n// =============================================================================\n// Cluster 集群类 | Cluster Class\n// =============================================================================\n\n/**\n * @zh 集群 - 管理地图的一个区域\n * @en Cluster - Manages a region of the map\n */\nclass Cluster {\n    readonly id: number;\n    readonly originX: number;\n    readonly originY: number;\n    readonly width: number;\n    readonly height: number;\n    readonly subMap: SubMap;\n\n    /** @zh 集群内的抽象节点 ID 列表 @en Abstract node IDs in this cluster */\n    nodeIds: number[] = [];\n\n    /** @zh 预计算的距离缓存 @en Precomputed distance cache */\n    private readonly distanceCache: Map<string, number> = new Map();\n\n    /** @zh 预计算的路径缓存 @en Precomputed path cache */\n    private readonly pathCache: Map<string, number[]> = new Map();\n\n    constructor(\n        id: number,\n        originX: number,\n        originY: number,\n        width: number,\n        height: number,\n        parentMap: IPathfindingMap\n    ) {\n        this.id = id;\n        this.originX = originX;\n        this.originY = originY;\n        this.width = width;\n        this.height = height;\n        this.subMap = new SubMap(parentMap, originX, originY, width, height);\n    }\n\n    /**\n     * @zh 检查点是否在集群内\n     * @en Check if point is in cluster\n     */\n    containsPoint(x: number, y: number): boolean {\n        return x >= this.originX && x < this.originX + this.width &&\n               y >= this.originY && y < this.originY + this.height;\n    }\n\n    /**\n     * @zh 添加节点 ID\n     * @en Add node ID\n     */\n    addNodeId(nodeId: number): void {\n        if (!this.nodeIds.includes(nodeId)) {\n            this.nodeIds.push(nodeId);\n        }\n    }\n\n    /**\n     * @zh 移除节点 ID\n     * @en Remove node ID\n     */\n    removeNodeId(nodeId: number): void {\n        const idx = this.nodeIds.indexOf(nodeId);\n        if (idx !== -1) {\n            this.nodeIds.splice(idx, 1);\n        }\n    }\n\n    /**\n     * @zh 生成缓存键\n     * @en Generate cache key\n     */\n    private getCacheKey(fromId: number, toId: number): string {\n        return `${fromId}->${toId}`;\n    }\n\n    /**\n     * @zh 设置缓存\n     * @en Set cache\n     */\n    setCache(fromId: number, toId: number, cost: number, path: number[]): void {\n        const key = this.getCacheKey(fromId, toId);\n        this.distanceCache.set(key, cost);\n        this.pathCache.set(key, path);\n    }\n\n    /**\n     * @zh 获取缓存的距离\n     * @en Get cached distance\n     */\n    getCachedDistance(fromId: number, toId: number): number | undefined {\n        return this.distanceCache.get(this.getCacheKey(fromId, toId));\n    }\n\n    /**\n     * @zh 获取缓存的路径\n     * @en Get cached path\n     */\n    getCachedPath(fromId: number, toId: number): number[] | undefined {\n        return this.pathCache.get(this.getCacheKey(fromId, toId));\n    }\n\n    /**\n     * @zh 清除缓存\n     * @en Clear cache\n     */\n    clearCache(): void {\n        this.distanceCache.clear();\n        this.pathCache.clear();\n    }\n\n    /**\n     * @zh 获取缓存大小\n     * @en Get cache size\n     */\n    getCacheSize(): number {\n        return this.distanceCache.size;\n    }\n}\n\n// =============================================================================\n// HPA* 寻路器 | HPA* Pathfinder\n// =============================================================================\n\n/**\n * @zh HPA* 寻路器\n * @en HPA* Pathfinder\n *\n * @zh 适用于超大地图的分层寻路算法\n * @en Hierarchical pathfinding algorithm for very large maps\n *\n * @example\n * ```typescript\n * const map = createGridMap(1000, 1000);\n * const pathfinder = new HPAPathfinder(map, { clusterSize: 20 });\n *\n * // Preprocess (do once after map changes)\n * pathfinder.preprocess();\n *\n * // Find path\n * const result = pathfinder.findPath(0, 0, 999, 999);\n * ```\n */\nexport class HPAPathfinder implements IPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly config: Required<IHPAConfig>;\n    private readonly mapWidth: number;\n    private readonly mapHeight: number;\n\n    // 集群管理\n    private clusters: Cluster[] = [];\n    private clusterGrid: (number | null)[][] = [];  // [cx][cy] -> clusterId\n    private clustersX: number = 0;\n    private clustersY: number = 0;\n\n    // 抽象图\n    private abstractNodes: Map<number, AbstractNode> = new Map();\n    private nodesByCluster: Map<number, number[]> = new Map();\n    private nextNodeId: number = 0;\n\n    // 入口统计\n    private entranceCount: number = 0;\n\n    // 内部寻路器\n    private readonly localPathfinder: AStarPathfinder;\n\n    // 完整路径缓存\n    private readonly pathCache: PathCache;\n    private mapVersion: number = 0;\n\n    private preprocessed: boolean = false;\n\n    constructor(map: IPathfindingMap, config?: Partial<IHPAConfig>) {\n        this.map = map;\n        this.config = { ...DEFAULT_HPA_CONFIG, ...config } as Required<IHPAConfig>;\n\n        const bounds = this.getMapBounds();\n        this.mapWidth = bounds.width;\n        this.mapHeight = bounds.height;\n\n        this.localPathfinder = new AStarPathfinder(map);\n        this.pathCache = new PathCache({ maxEntries: 1000, ttlMs: 0 });\n    }\n\n    // =========================================================================\n    // 公共 API | Public API\n    // =========================================================================\n\n    /**\n     * @zh 预处理地图（构建抽象图）\n     * @en Preprocess map (build abstract graph)\n     */\n    preprocess(): void {\n        this.clear();\n\n        // 1. 构建集群\n        this.buildClusters();\n\n        // 2. 检测入口并创建抽象节点\n        this.buildEntrances();\n\n        // 3. 创建集群内边（计算真实代价）\n        this.buildIntraEdges();\n\n        this.preprocessed = true;\n    }\n\n    /**\n     * @zh 寻找路径\n     * @en Find path\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: Partial<IPathfindingOptions>\n    ): IPathResult {\n        if (!this.preprocessed) {\n            this.preprocess();\n        }\n\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // 验证起点终点\n        if (!this.map.isWalkable(startX, startY) || !this.map.isWalkable(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // 同一点\n        if (startX === endX && startY === endY) {\n            return {\n                found: true,\n                path: [{ x: startX, y: startY }],\n                cost: 0,\n                nodesSearched: 1\n            };\n        }\n\n        // 检查路径缓存\n        const cached = this.pathCache.get(startX, startY, endX, endY, this.mapVersion);\n        if (cached) {\n            return cached;\n        }\n\n        const startCluster = this.getClusterAt(startX, startY);\n        const endCluster = this.getClusterAt(endX, endY);\n\n        if (!startCluster || !endCluster) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        let result: IPathResult;\n\n        // 同一集群：直接局部搜索\n        if (startCluster.id === endCluster.id) {\n            result = this.findLocalPath(startX, startY, endX, endY, opts);\n        } else {\n            // 跨集群：HPA* 搜索\n            const startTemp = this.insertTempNode(startX, startY, startCluster);\n            const endTemp = this.insertTempNode(endX, endY, endCluster);\n\n            const abstractPath = this.abstractSearch(startTemp, endTemp, opts);\n\n            this.removeTempNode(startTemp, startCluster);\n            this.removeTempNode(endTemp, endCluster);\n\n            if (!abstractPath || abstractPath.length === 0) {\n                return EMPTY_PATH_RESULT;\n            }\n\n            result = this.refinePath(abstractPath, startX, startY, endX, endY, opts);\n        }\n\n        // 缓存结果\n        if (result.found) {\n            this.pathCache.set(startX, startY, endX, endY, result, this.mapVersion);\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 清理状态\n     * @en Clear state\n     */\n    clear(): void {\n        this.clusters = [];\n        this.clusterGrid = [];\n        this.abstractNodes.clear();\n        this.nodesByCluster.clear();\n        this.nextNodeId = 0;\n        this.entranceCount = 0;\n        this.pathCache.invalidateAll();\n        this.mapVersion++;\n        this.preprocessed = false;\n    }\n\n    /**\n     * @zh 通知地图区域变化\n     * @en Notify map region change\n     */\n    notifyRegionChange(minX: number, minY: number, maxX: number, maxY: number): void {\n        // 找出受影响的集群并重建其 intra-edges\n        const affectedClusters = this.getAffectedClusters(minX, minY, maxX, maxY);\n\n        for (const cluster of affectedClusters) {\n            // 清除该集群的缓存\n            cluster.clearCache();\n\n            // 移除该集群内所有节点的 intra-edges\n            for (const nodeId of cluster.nodeIds) {\n                const node = this.abstractNodes.get(nodeId);\n                if (node) {\n                    node.edges = node.edges.filter(e => e.isInterEdge);\n                }\n            }\n\n            // 重建 intra-edges\n            this.buildClusterIntraEdges(cluster);\n        }\n\n        this.pathCache.invalidateRegion(minX, minY, maxX, maxY);\n        this.mapVersion++;\n    }\n\n    /**\n     * @zh 获取预处理统计信息\n     * @en Get preprocessing statistics\n     */\n    getStats(): {\n        clusters: number;\n        entrances: number;\n        abstractNodes: number;\n        cacheSize: number;\n    } {\n        let cacheSize = 0;\n        for (const cluster of this.clusters) {\n            cacheSize += cluster.getCacheSize();\n        }\n\n        return {\n            clusters: this.clusters.length,\n            entrances: this.entranceCount,\n            abstractNodes: this.abstractNodes.size,\n            cacheSize\n        };\n    }\n\n    // =========================================================================\n    // 预处理方法 | Preprocessing Methods\n    // =========================================================================\n\n    private getMapBounds(): { width: number; height: number } {\n        const mapAny = this.map as any;\n        if (typeof mapAny.width === 'number' && typeof mapAny.height === 'number') {\n            return { width: mapAny.width, height: mapAny.height };\n        }\n        return { width: 1000, height: 1000 };\n    }\n\n    /**\n     * @zh 构建集群\n     * @en Build clusters\n     */\n    private buildClusters(): void {\n        const clusterSize = this.config.clusterSize;\n        this.clustersX = Math.ceil(this.mapWidth / clusterSize);\n        this.clustersY = Math.ceil(this.mapHeight / clusterSize);\n\n        // 初始化集群网格\n        this.clusterGrid = [];\n        for (let cx = 0; cx < this.clustersX; cx++) {\n            this.clusterGrid[cx] = [];\n            for (let cy = 0; cy < this.clustersY; cy++) {\n                this.clusterGrid[cx][cy] = null;\n            }\n        }\n\n        // 创建集群\n        let clusterId = 0;\n        for (let cy = 0; cy < this.clustersY; cy++) {\n            for (let cx = 0; cx < this.clustersX; cx++) {\n                const originX = cx * clusterSize;\n                const originY = cy * clusterSize;\n                const width = Math.min(clusterSize, this.mapWidth - originX);\n                const height = Math.min(clusterSize, this.mapHeight - originY);\n\n                const cluster = new Cluster(\n                    clusterId,\n                    originX,\n                    originY,\n                    width,\n                    height,\n                    this.map\n                );\n\n                this.clusters.push(cluster);\n                this.clusterGrid[cx][cy] = clusterId;\n                this.nodesByCluster.set(clusterId, []);\n                clusterId++;\n            }\n        }\n    }\n\n    /**\n     * @zh 检测入口并创建抽象节点\n     * @en Detect entrances and create abstract nodes\n     */\n    private buildEntrances(): void {\n        const clusterSize = this.config.clusterSize;\n\n        for (let cy = 0; cy < this.clustersY; cy++) {\n            for (let cx = 0; cx < this.clustersX; cx++) {\n                const clusterId = this.clusterGrid[cx][cy];\n                if (clusterId === null) continue;\n\n                const cluster1 = this.clusters[clusterId];\n\n                // 右边相邻集群\n                if (cx < this.clustersX - 1) {\n                    const cluster2Id = this.clusterGrid[cx + 1][cy];\n                    if (cluster2Id !== null) {\n                        const cluster2 = this.clusters[cluster2Id];\n                        this.detectAndCreateEntrances(cluster1, cluster2, 'vertical');\n                    }\n                }\n\n                // 下边相邻集群\n                if (cy < this.clustersY - 1) {\n                    const cluster2Id = this.clusterGrid[cx][cy + 1];\n                    if (cluster2Id !== null) {\n                        const cluster2 = this.clusters[cluster2Id];\n                        this.detectAndCreateEntrances(cluster1, cluster2, 'horizontal');\n                    }\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 检测并创建两个相邻集群之间的入口\n     * @en Detect and create entrances between two adjacent clusters\n     */\n    private detectAndCreateEntrances(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        boundaryDirection: 'horizontal' | 'vertical'\n    ): void {\n        const spans = this.detectEntranceSpans(cluster1, cluster2, boundaryDirection);\n\n        for (const span of spans) {\n            this.createEntranceNodes(cluster1, cluster2, span, boundaryDirection);\n        }\n    }\n\n    /**\n     * @zh 检测边界上的连续可通行区间\n     * @en Detect continuous walkable spans on boundary\n     */\n    private detectEntranceSpans(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        boundaryDirection: 'horizontal' | 'vertical'\n    ): EntranceSpan[] {\n        const spans: EntranceSpan[] = [];\n\n        if (boundaryDirection === 'vertical') {\n            // cluster1 在左，cluster2 在右\n            const x1 = cluster1.originX + cluster1.width - 1;\n            const x2 = cluster2.originX;\n            const startY = Math.max(cluster1.originY, cluster2.originY);\n            const endY = Math.min(\n                cluster1.originY + cluster1.height,\n                cluster2.originY + cluster2.height\n            );\n\n            let spanStart: number | null = null;\n\n            for (let y = startY; y < endY; y++) {\n                const walkable1 = this.map.isWalkable(x1, y);\n                const walkable2 = this.map.isWalkable(x2, y);\n\n                if (walkable1 && walkable2) {\n                    if (spanStart === null) {\n                        spanStart = y;\n                    }\n                } else {\n                    if (spanStart !== null) {\n                        spans.push({ start: spanStart, end: y - 1 });\n                        spanStart = null;\n                    }\n                }\n            }\n\n            if (spanStart !== null) {\n                spans.push({ start: spanStart, end: endY - 1 });\n            }\n        } else {\n            // cluster1 在上，cluster2 在下\n            const y1 = cluster1.originY + cluster1.height - 1;\n            const y2 = cluster2.originY;\n            const startX = Math.max(cluster1.originX, cluster2.originX);\n            const endX = Math.min(\n                cluster1.originX + cluster1.width,\n                cluster2.originX + cluster2.width\n            );\n\n            let spanStart: number | null = null;\n\n            for (let x = startX; x < endX; x++) {\n                const walkable1 = this.map.isWalkable(x, y1);\n                const walkable2 = this.map.isWalkable(x, y2);\n\n                if (walkable1 && walkable2) {\n                    if (spanStart === null) {\n                        spanStart = x;\n                    }\n                } else {\n                    if (spanStart !== null) {\n                        spans.push({ start: spanStart, end: x - 1 });\n                        spanStart = null;\n                    }\n                }\n            }\n\n            if (spanStart !== null) {\n                spans.push({ start: spanStart, end: endX - 1 });\n            }\n        }\n\n        return spans;\n    }\n\n    /**\n     * @zh 为入口区间创建抽象节点\n     * @en Create abstract nodes for entrance span\n     */\n    private createEntranceNodes(\n        cluster1: Cluster,\n        cluster2: Cluster,\n        span: EntranceSpan,\n        boundaryDirection: 'horizontal' | 'vertical'\n    ): void {\n        const spanLength = span.end - span.start + 1;\n        const maxWidth = this.config.maxEntranceWidth;\n        const strategy = this.config.entranceStrategy;\n\n        // 确定要放置节点的位置\n        const positions: number[] = [];\n\n        if (spanLength <= maxWidth) {\n            // 窄入口：放在中间\n            positions.push(Math.floor((span.start + span.end) / 2));\n        } else {\n            // 宽入口：均匀分布多个节点\n            // Wide entrance: distribute multiple nodes evenly\n            const numNodes = Math.ceil(spanLength / maxWidth);\n            const spacing = spanLength / numNodes;\n\n            for (let i = 0; i < numNodes; i++) {\n                // 在每个子区间的中心放置节点\n                const pos = Math.floor(span.start + spacing * (i + 0.5));\n                positions.push(Math.min(pos, span.end));\n            }\n\n            // 如果使用 'end' 策略，确保两端也有节点\n            if (strategy === 'end') {\n                if (!positions.includes(span.start)) {\n                    positions.unshift(span.start);\n                }\n                if (!positions.includes(span.end)) {\n                    positions.push(span.end);\n                }\n            }\n        }\n\n        // 为每个位置创建节点对\n        for (const pos of positions) {\n            let p1: IPoint, p2: IPoint;\n\n            if (boundaryDirection === 'vertical') {\n                // cluster1 在左，cluster2 在右\n                p1 = { x: cluster1.originX + cluster1.width - 1, y: pos };\n                p2 = { x: cluster2.originX, y: pos };\n            } else {\n                // cluster1 在上，cluster2 在下\n                p1 = { x: pos, y: cluster1.originY + cluster1.height - 1 };\n                p2 = { x: pos, y: cluster2.originY };\n            }\n\n            // 创建节点对\n            const node1 = this.createAbstractNode(p1, cluster1);\n            const node2 = this.createAbstractNode(p2, cluster2);\n\n            // 创建 inter-edge（代价为 1，相邻格子）\n            const interCost = 1;\n\n            node1.edges.push({\n                targetNodeId: node2.id,\n                cost: interCost,\n                isInterEdge: true,\n                innerPath: null\n            });\n\n            node2.edges.push({\n                targetNodeId: node1.id,\n                cost: interCost,\n                isInterEdge: true,\n                innerPath: null\n            });\n\n            this.entranceCount++;\n        }\n    }\n\n    /**\n     * @zh 创建抽象节点\n     * @en Create abstract node\n     */\n    private createAbstractNode(position: IPoint, cluster: Cluster): AbstractNode {\n        // 检查是否已存在相同位置的节点\n        const concreteId = position.y * this.mapWidth + position.x;\n\n        for (const nodeId of cluster.nodeIds) {\n            const existing = this.abstractNodes.get(nodeId);\n            if (existing && existing.concreteNodeId === concreteId) {\n                return existing;\n            }\n        }\n\n        // 创建新节点\n        const node: AbstractNode = {\n            id: this.nextNodeId++,\n            position: { x: position.x, y: position.y },\n            clusterId: cluster.id,\n            concreteNodeId: concreteId,\n            edges: []\n        };\n\n        this.abstractNodes.set(node.id, node);\n        cluster.addNodeId(node.id);\n\n        const clusterNodes = this.nodesByCluster.get(cluster.id);\n        if (clusterNodes) {\n            clusterNodes.push(node.id);\n        }\n\n        return node;\n    }\n\n    /**\n     * @zh 构建所有集群的 intra-edges\n     * @en Build intra-edges for all clusters\n     */\n    private buildIntraEdges(): void {\n        for (const cluster of this.clusters) {\n            this.buildClusterIntraEdges(cluster);\n        }\n    }\n\n    /**\n     * @zh 构建单个集群的 intra-edges\n     * @en Build intra-edges for single cluster\n     */\n    private buildClusterIntraEdges(cluster: Cluster): void {\n        const nodeIds = cluster.nodeIds;\n\n        if (nodeIds.length < 2) return;\n\n        if (this.config.lazyIntraEdges) {\n            // 延迟计算模式：只用启发式距离创建边，真实路径在首次使用时计算\n            this.buildLazyIntraEdges(cluster);\n        } else {\n            // 立即计算模式：预处理时计算所有真实路径\n            this.buildEagerIntraEdges(cluster);\n        }\n    }\n\n    /**\n     * @zh 延迟构建 intra-edges（只用启发式距离）\n     * @en Build lazy intra-edges (using heuristic distance only)\n     */\n    private buildLazyIntraEdges(cluster: Cluster): void {\n        const nodeIds = cluster.nodeIds;\n\n        for (let i = 0; i < nodeIds.length; i++) {\n            for (let j = i + 1; j < nodeIds.length; j++) {\n                const node1 = this.abstractNodes.get(nodeIds[i])!;\n                const node2 = this.abstractNodes.get(nodeIds[j])!;\n\n                // 使用启发式距离作为估计代价\n                const heuristicCost = this.heuristic(node1.position, node2.position);\n\n                // 创建双向 intra-edge（innerPath = null 表示未计算）\n                node1.edges.push({\n                    targetNodeId: node2.id,\n                    cost: heuristicCost,\n                    isInterEdge: false,\n                    innerPath: null  // 标记为未计算\n                });\n\n                node2.edges.push({\n                    targetNodeId: node1.id,\n                    cost: heuristicCost,\n                    isInterEdge: false,\n                    innerPath: null\n                });\n            }\n        }\n    }\n\n    /**\n     * @zh 立即构建 intra-edges（计算真实路径）\n     * @en Build eager intra-edges (compute actual paths)\n     */\n    private buildEagerIntraEdges(cluster: Cluster): void {\n        const nodeIds = cluster.nodeIds;\n\n        // 为子地图创建 A* 寻路器\n        const subPathfinder = new AStarPathfinder(cluster.subMap);\n\n        // 计算所有节点对之间的真实路径\n        for (let i = 0; i < nodeIds.length; i++) {\n            for (let j = i + 1; j < nodeIds.length; j++) {\n                const node1 = this.abstractNodes.get(nodeIds[i])!;\n                const node2 = this.abstractNodes.get(nodeIds[j])!;\n\n                // 转换为局部坐标\n                const local1 = cluster.subMap.globalToLocal(node1.position.x, node1.position.y);\n                const local2 = cluster.subMap.globalToLocal(node2.position.x, node2.position.y);\n\n                // A* 计算真实路径\n                const result = subPathfinder.findPath(\n                    local1.x, local1.y,\n                    local2.x, local2.y\n                );\n\n                if (result.found && result.path.length > 0) {\n                    // 转换路径为全局 ConcreteNodeId\n                    const globalPath: number[] = result.path.map(p => {\n                        const global = cluster.subMap.localToGlobal(p.x, p.y);\n                        return global.y * this.mapWidth + global.x;\n                    });\n\n                    // 缓存到集群\n                    if (this.config.cacheInternalPaths) {\n                        cluster.setCache(node1.id, node2.id, result.cost, globalPath);\n                        cluster.setCache(node2.id, node1.id, result.cost, [...globalPath].reverse());\n                    }\n\n                    // 创建双向 intra-edge\n                    node1.edges.push({\n                        targetNodeId: node2.id,\n                        cost: result.cost,\n                        isInterEdge: false,\n                        innerPath: this.config.cacheInternalPaths ? globalPath : null\n                    });\n\n                    node2.edges.push({\n                        targetNodeId: node1.id,\n                        cost: result.cost,\n                        isInterEdge: false,\n                        innerPath: this.config.cacheInternalPaths ? [...globalPath].reverse() : null\n                    });\n                }\n                // 如果路径不存在，不创建边（集群内不连通）\n            }\n        }\n    }\n\n    /**\n     * @zh 按需计算 intra-edge 的真实路径\n     * @en Compute actual path for intra-edge on demand\n     */\n    private computeIntraEdgePath(\n        fromNode: AbstractNode,\n        toNode: AbstractNode,\n        edge: AbstractEdge\n    ): { cost: number; path: number[] } | null {\n        const cluster = this.clusters[fromNode.clusterId];\n        if (!cluster) return null;\n\n        // 检查集群缓存\n        const cachedPath = cluster.getCachedPath(fromNode.id, toNode.id);\n        const cachedCost = cluster.getCachedDistance(fromNode.id, toNode.id);\n        if (cachedPath && cachedCost !== undefined) {\n            // 更新边的代价和路径\n            edge.cost = cachedCost;\n            (edge as any).innerPath = cachedPath;\n            return { cost: cachedCost, path: cachedPath };\n        }\n\n        // 计算真实路径\n        const subPathfinder = new AStarPathfinder(cluster.subMap);\n        const local1 = cluster.subMap.globalToLocal(fromNode.position.x, fromNode.position.y);\n        const local2 = cluster.subMap.globalToLocal(toNode.position.x, toNode.position.y);\n\n        const result = subPathfinder.findPath(local1.x, local1.y, local2.x, local2.y);\n\n        if (result.found && result.path.length > 0) {\n            // 转换路径为全局 ConcreteNodeId\n            const globalPath: number[] = result.path.map(p => {\n                const global = cluster.subMap.localToGlobal(p.x, p.y);\n                return global.y * this.mapWidth + global.x;\n            });\n\n            // 缓存结果\n            if (this.config.cacheInternalPaths) {\n                cluster.setCache(fromNode.id, toNode.id, result.cost, globalPath);\n                // 也缓存反向路径\n                cluster.setCache(toNode.id, fromNode.id, result.cost, [...globalPath].reverse());\n            }\n\n            // 更新边\n            edge.cost = result.cost;\n            (edge as any).innerPath = globalPath;\n\n            // 更新反向边\n            const reverseEdge = toNode.edges.find(e => e.targetNodeId === fromNode.id);\n            if (reverseEdge) {\n                reverseEdge.cost = result.cost;\n                (reverseEdge as any).innerPath = [...globalPath].reverse();\n            }\n\n            return { cost: result.cost, path: globalPath };\n        }\n\n        return null;\n    }\n\n    // =========================================================================\n    // 搜索方法 | Search Methods\n    // =========================================================================\n\n    /**\n     * @zh 获取指定位置的集群\n     * @en Get cluster at position\n     */\n    private getClusterAt(x: number, y: number): Cluster | null {\n        const cx = Math.floor(x / this.config.clusterSize);\n        const cy = Math.floor(y / this.config.clusterSize);\n\n        if (cx < 0 || cx >= this.clustersX || cy < 0 || cy >= this.clustersY) {\n            return null;\n        }\n\n        const clusterId = this.clusterGrid[cx]?.[cy];\n        if (clusterId === null || clusterId === undefined) {\n            return null;\n        }\n\n        return this.clusters[clusterId] || null;\n    }\n\n    /**\n     * @zh 获取受影响的集群\n     * @en Get affected clusters\n     */\n    private getAffectedClusters(minX: number, minY: number, maxX: number, maxY: number): Cluster[] {\n        const affected: Cluster[] = [];\n        const clusterSize = this.config.clusterSize;\n\n        const minCX = Math.floor(minX / clusterSize);\n        const maxCX = Math.floor(maxX / clusterSize);\n        const minCY = Math.floor(minY / clusterSize);\n        const maxCY = Math.floor(maxY / clusterSize);\n\n        for (let cy = minCY; cy <= maxCY; cy++) {\n            for (let cx = minCX; cx <= maxCX; cx++) {\n                if (cx >= 0 && cx < this.clustersX && cy >= 0 && cy < this.clustersY) {\n                    const clusterId = this.clusterGrid[cx]?.[cy];\n                    if (clusterId !== null && clusterId !== undefined) {\n                        affected.push(this.clusters[clusterId]);\n                    }\n                }\n            }\n        }\n\n        return affected;\n    }\n\n    /**\n     * @zh 插入临时节点\n     * @en Insert temporary node\n     */\n    private insertTempNode(x: number, y: number, cluster: Cluster): AbstractNode {\n        const concreteId = y * this.mapWidth + x;\n\n        // 检查是否已存在该位置的节点\n        for (const nodeId of cluster.nodeIds) {\n            const existing = this.abstractNodes.get(nodeId);\n            if (existing && existing.concreteNodeId === concreteId) {\n                return existing;\n            }\n        }\n\n        // 创建临时节点\n        const tempNode: AbstractNode = {\n            id: this.nextNodeId++,\n            position: { x, y },\n            clusterId: cluster.id,\n            concreteNodeId: concreteId,\n            edges: []\n        };\n\n        this.abstractNodes.set(tempNode.id, tempNode);\n        cluster.addNodeId(tempNode.id);\n\n        // 计算到集群内所有其他节点的真实路径\n        const subPathfinder = new AStarPathfinder(cluster.subMap);\n        const localPos = cluster.subMap.globalToLocal(x, y);\n\n        for (const existingNodeId of cluster.nodeIds) {\n            if (existingNodeId === tempNode.id) continue;\n\n            const existingNode = this.abstractNodes.get(existingNodeId);\n            if (!existingNode) continue;\n\n            const targetLocalPos = cluster.subMap.globalToLocal(\n                existingNode.position.x,\n                existingNode.position.y\n            );\n\n            const result = subPathfinder.findPath(\n                localPos.x, localPos.y,\n                targetLocalPos.x, targetLocalPos.y\n            );\n\n            if (result.found && result.path.length > 0) {\n                // 转换路径\n                const globalPath: number[] = result.path.map(p => {\n                    const global = cluster.subMap.localToGlobal(p.x, p.y);\n                    return global.y * this.mapWidth + global.x;\n                });\n\n                // 添加双向边\n                tempNode.edges.push({\n                    targetNodeId: existingNode.id,\n                    cost: result.cost,\n                    isInterEdge: false,\n                    innerPath: globalPath\n                });\n\n                existingNode.edges.push({\n                    targetNodeId: tempNode.id,\n                    cost: result.cost,\n                    isInterEdge: false,\n                    innerPath: [...globalPath].reverse()\n                });\n            }\n        }\n\n        return tempNode;\n    }\n\n    /**\n     * @zh 移除临时节点\n     * @en Remove temporary node\n     */\n    private removeTempNode(node: AbstractNode, cluster: Cluster): void {\n        // 移除其他节点指向此节点的边\n        for (const existingNodeId of cluster.nodeIds) {\n            if (existingNodeId === node.id) continue;\n\n            const existingNode = this.abstractNodes.get(existingNodeId);\n            if (existingNode) {\n                existingNode.edges = existingNode.edges.filter(\n                    e => e.targetNodeId !== node.id\n                );\n            }\n        }\n\n        // 从集群和图中移除\n        cluster.removeNodeId(node.id);\n        this.abstractNodes.delete(node.id);\n    }\n\n    /**\n     * @zh 在抽象图上进行 A* 搜索\n     * @en Perform A* search on abstract graph\n     */\n    private abstractSearch(\n        startNode: AbstractNode,\n        endNode: AbstractNode,\n        opts: Required<IPathfindingOptions>\n    ): AbstractNode[] | null {\n        const openList = new IndexedBinaryHeap<SearchNode>((a, b) => a.f - b.f);\n        const nodeMap = new Map<number, SearchNode>();\n\n        const endPosition = endNode.position;\n\n        // 初始化起点\n        const h = this.heuristic(startNode.position, endPosition) * opts.heuristicWeight;\n        const startSearchNode: SearchNode = {\n            node: startNode,\n            g: 0,\n            h,\n            f: h,\n            parent: null,\n            closed: false,\n            opened: true,\n            heapIndex: -1\n        };\n\n        openList.push(startSearchNode);\n        nodeMap.set(startNode.id, startSearchNode);\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            current.closed = true;\n            nodesSearched++;\n\n            // 找到目标\n            if (current.node.id === endNode.id) {\n                return this.reconstructPath(current);\n            }\n\n            // 扩展邻居\n            for (const edge of current.node.edges) {\n                let neighbor = nodeMap.get(edge.targetNodeId);\n\n                if (!neighbor) {\n                    const neighborNode = this.abstractNodes.get(edge.targetNodeId);\n                    if (!neighborNode) continue;\n\n                    const nh = this.heuristic(neighborNode.position, endPosition) * opts.heuristicWeight;\n                    neighbor = {\n                        node: neighborNode,\n                        g: Infinity,\n                        h: nh,\n                        f: Infinity,\n                        parent: null,\n                        closed: false,\n                        opened: false,\n                        heapIndex: -1\n                    };\n                    nodeMap.set(edge.targetNodeId, neighbor);\n                }\n\n                if (neighbor.closed) continue;\n\n                const tentativeG = current.g + edge.cost;\n\n                if (!neighbor.opened) {\n                    neighbor.g = tentativeG;\n                    neighbor.f = tentativeG + neighbor.h;\n                    neighbor.parent = current;\n                    neighbor.opened = true;\n                    openList.push(neighbor);\n                } else if (tentativeG < neighbor.g) {\n                    neighbor.g = tentativeG;\n                    neighbor.f = tentativeG + neighbor.h;\n                    neighbor.parent = current;\n                    openList.update(neighbor);\n                }\n            }\n        }\n\n        return null;\n    }\n\n    /**\n     * @zh 重建抽象路径\n     * @en Reconstruct abstract path\n     */\n    private reconstructPath(endNode: SearchNode): AbstractNode[] {\n        const path: AbstractNode[] = [];\n        let current: SearchNode | null = endNode;\n\n        while (current) {\n            path.unshift(current.node);\n            current = current.parent;\n        }\n\n        return path;\n    }\n\n    /**\n     * @zh 细化抽象路径为具体路径\n     * @en Refine abstract path to concrete path\n     */\n    private refinePath(\n        abstractPath: AbstractNode[],\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): IPathResult {\n        if (abstractPath.length === 0) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        const fullPath: IPoint[] = [];\n        let totalCost = 0;\n        let nodesSearched = abstractPath.length;\n\n        // 处理抽象路径中的每一段\n        for (let i = 0; i < abstractPath.length - 1; i++) {\n            const fromNode = abstractPath[i];\n            const toNode = abstractPath[i + 1];\n\n            // 查找连接边\n            const edge = fromNode.edges.find(e => e.targetNodeId === toNode.id);\n\n            if (!edge) {\n                // 边不存在，需要实时计算\n                const segResult = this.findLocalPath(\n                    fromNode.position.x, fromNode.position.y,\n                    toNode.position.x, toNode.position.y,\n                    opts\n                );\n\n                if (segResult.found) {\n                    this.appendPath(fullPath, segResult.path);\n                    totalCost += segResult.cost;\n                    nodesSearched += segResult.nodesSearched;\n                }\n            } else if (edge.isInterEdge) {\n                // Inter-edge：直接连接\n                if (fullPath.length === 0 ||\n                    fullPath[fullPath.length - 1].x !== fromNode.position.x ||\n                    fullPath[fullPath.length - 1].y !== fromNode.position.y) {\n                    fullPath.push({ x: fromNode.position.x, y: fromNode.position.y });\n                }\n                fullPath.push({ x: toNode.position.x, y: toNode.position.y });\n                totalCost += edge.cost;\n            } else if (edge.innerPath && edge.innerPath.length > 0) {\n                // Intra-edge：使用缓存路径\n                const concretePath = edge.innerPath.map(id => ({\n                    x: id % this.mapWidth,\n                    y: Math.floor(id / this.mapWidth)\n                }));\n                this.appendPath(fullPath, concretePath);\n                totalCost += edge.cost;\n            } else {\n                // Lazy intra-edge 或没有缓存路径：按需计算真实路径\n                // Lazy intra-edge or no cached path: compute actual path on demand\n                const computed = this.computeIntraEdgePath(fromNode, toNode, edge);\n\n                if (computed && computed.path.length > 0) {\n                    // 使用计算出的路径\n                    const concretePath = computed.path.map(id => ({\n                        x: id % this.mapWidth,\n                        y: Math.floor(id / this.mapWidth)\n                    }));\n                    this.appendPath(fullPath, concretePath);\n                    totalCost += computed.cost;\n                } else {\n                    // 路径计算失败，回退到实时搜索\n                    // Path computation failed, fall back to real-time search\n                    const segResult = this.findLocalPath(\n                        fromNode.position.x, fromNode.position.y,\n                        toNode.position.x, toNode.position.y,\n                        opts\n                    );\n\n                    if (segResult.found) {\n                        this.appendPath(fullPath, segResult.path);\n                        totalCost += segResult.cost;\n                        nodesSearched += segResult.nodesSearched;\n                    }\n                }\n            }\n        }\n\n        // 确保起点正确\n        if (fullPath.length > 0 && (fullPath[0].x !== startX || fullPath[0].y !== startY)) {\n            // 连接起点到路径开头\n            const firstPoint = fullPath[0];\n            if (Math.abs(firstPoint.x - startX) <= 1 && Math.abs(firstPoint.y - startY) <= 1) {\n                fullPath.unshift({ x: startX, y: startY });\n            } else {\n                const segResult = this.findLocalPath(startX, startY, firstPoint.x, firstPoint.y, opts);\n                if (segResult.found) {\n                    fullPath.splice(0, 0, ...segResult.path.slice(0, -1));\n                    totalCost += segResult.cost;\n                }\n            }\n        }\n\n        // 确保终点正确\n        if (fullPath.length > 0) {\n            const lastPoint = fullPath[fullPath.length - 1];\n            if (lastPoint.x !== endX || lastPoint.y !== endY) {\n                if (Math.abs(lastPoint.x - endX) <= 1 && Math.abs(lastPoint.y - endY) <= 1) {\n                    fullPath.push({ x: endX, y: endY });\n                } else {\n                    const segResult = this.findLocalPath(lastPoint.x, lastPoint.y, endX, endY, opts);\n                    if (segResult.found) {\n                        fullPath.push(...segResult.path.slice(1));\n                        totalCost += segResult.cost;\n                    }\n                }\n            }\n        }\n\n        return {\n            found: fullPath.length > 0,\n            path: fullPath,\n            cost: totalCost,\n            nodesSearched\n        };\n    }\n\n    /**\n     * @zh 追加路径（避免重复点）\n     * @en Append path (avoid duplicate points)\n     */\n    private appendPath(fullPath: IPoint[], segment: readonly IPoint[]): void {\n        if (segment.length === 0) return;\n\n        let startIdx = 0;\n\n        // 避免重复第一个点\n        if (fullPath.length > 0) {\n            const last = fullPath[fullPath.length - 1];\n            if (last.x === segment[0].x && last.y === segment[0].y) {\n                startIdx = 1;\n            }\n        }\n\n        for (let i = startIdx; i < segment.length; i++) {\n            fullPath.push({ x: segment[i].x, y: segment[i].y });\n        }\n    }\n\n    /**\n     * @zh 局部寻路\n     * @en Local pathfinding\n     */\n    private findLocalPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        opts: Required<IPathfindingOptions>\n    ): IPathResult {\n        return this.localPathfinder.findPath(startX, startY, endX, endY, opts);\n    }\n\n    /**\n     * @zh 启发式函数（Octile 距离）\n     * @en Heuristic function (Octile distance)\n     */\n    private heuristic(a: IPoint, b: IPoint): number {\n        const dx = Math.abs(a.x - b.x);\n        const dy = Math.abs(a.y - b.y);\n        return dx + dy + (Math.SQRT2 - 2) * Math.min(dx, dy);\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建 HPA* 寻路器\n * @en Create HPA* pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @param config - @zh HPA* 配置 @en HPA* configuration\n * @returns @zh HPA* 寻路器实例 @en HPA* pathfinder instance\n */\nexport function createHPAPathfinder(\n    map: IPathfindingMap,\n    config?: Partial<IHPAConfig>\n): HPAPathfinder {\n    return new HPAPathfinder(map, config);\n}\n","/**\n * @zh 导航网格实现\n * @en NavMesh Implementation\n */\n\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 导航多边形 | Navigation Polygon\n// =============================================================================\n\n/**\n * @zh 导航多边形\n * @en Navigation polygon\n */\nexport interface INavPolygon {\n    /** @zh 多边形ID @en Polygon ID */\n    readonly id: number;\n    /** @zh 顶点列表 @en Vertex list */\n    readonly vertices: readonly IPoint[];\n    /** @zh 中心点 @en Center point */\n    readonly center: IPoint;\n    /** @zh 邻居多边形ID @en Neighbor polygon IDs */\n    readonly neighbors: readonly number[];\n    /** @zh 到邻居的共享边 @en Shared edges to neighbors */\n    readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/**\n * @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n */\nexport interface IPortal {\n    /** @zh 边的左端点 @en Left endpoint of edge */\n    readonly left: IPoint;\n    /** @zh 边的右端点 @en Right endpoint of edge */\n    readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 | NavMesh Node\n// =============================================================================\n\n/**\n * @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n */\nclass NavMeshNode implements IPathNode {\n    readonly id: number;\n    readonly position: IPoint;\n    readonly cost: number;\n    readonly walkable: boolean;\n    readonly polygon: INavPolygon;\n\n    constructor(polygon: INavPolygon) {\n        this.id = polygon.id;\n        this.position = polygon.center;\n        this.cost = 1;\n        this.walkable = true;\n        this.polygon = polygon;\n    }\n}\n\n// =============================================================================\n// 导航网格 | Navigation Mesh\n// =============================================================================\n\n/**\n * @zh 导航网格\n * @en Navigation Mesh\n *\n * @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n *\n * @example\n * ```typescript\n * const navmesh = new NavMesh();\n *\n * // Add polygons\n * navmesh.addPolygon([\n *     { x: 0, y: 0 }, { x: 10, y: 0 },\n *     { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n *\n * // Build connections\n * navmesh.build();\n *\n * // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n */\nexport class NavMesh implements IPathfindingMap {\n    private polygons: Map<number, INavPolygon> = new Map();\n    private nodes: Map<number, NavMeshNode> = new Map();\n    private nextId = 0;\n\n    /**\n     * @zh 添加导航多边形\n     * @en Add navigation polygon\n     *\n     * @returns @zh 多边形ID @en Polygon ID\n     */\n    addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n        const id = this.nextId++;\n        const center = this.calculateCenter(vertices);\n\n        const polygon: INavPolygon = {\n            id,\n            vertices,\n            center,\n            neighbors,\n            portals: new Map()\n        };\n\n        this.polygons.set(id, polygon);\n        this.nodes.set(id, new NavMeshNode(polygon));\n\n        return id;\n    }\n\n    /**\n     * @zh 设置两个多边形之间的连接\n     * @en Set connection between two polygons\n     */\n    setConnection(\n        polyA: number,\n        polyB: number,\n        portal: IPortal\n    ): void {\n        const polygonA = this.polygons.get(polyA);\n        const polygonB = this.polygons.get(polyB);\n\n        if (!polygonA || !polygonB) {\n            return;\n        }\n\n        // Update neighbors and portals\n        const neighborsA = [...polygonA.neighbors];\n        const portalsA = new Map(polygonA.portals);\n\n        if (!neighborsA.includes(polyB)) {\n            neighborsA.push(polyB);\n        }\n        portalsA.set(polyB, portal);\n\n        this.polygons.set(polyA, {\n            ...polygonA,\n            neighbors: neighborsA,\n            portals: portalsA\n        });\n\n        // Reverse portal for the other direction\n        const reversePortal: IPortal = {\n            left: portal.right,\n            right: portal.left\n        };\n\n        const neighborsB = [...polygonB.neighbors];\n        const portalsB = new Map(polygonB.portals);\n\n        if (!neighborsB.includes(polyA)) {\n            neighborsB.push(polyA);\n        }\n        portalsB.set(polyA, reversePortal);\n\n        this.polygons.set(polyB, {\n            ...polygonB,\n            neighbors: neighborsB,\n            portals: portalsB\n        });\n    }\n\n    /**\n     * @zh 自动检测并建立相邻多边形的连接\n     * @en Auto-detect and build connections between adjacent polygons\n     */\n    build(): void {\n        const polygonList = Array.from(this.polygons.values());\n\n        for (let i = 0; i < polygonList.length; i++) {\n            for (let j = i + 1; j < polygonList.length; j++) {\n                const polyA = polygonList[i];\n                const polyB = polygonList[j];\n\n                const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n                if (sharedEdge) {\n                    this.setConnection(polyA.id, polyB.id, sharedEdge);\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找两个多边形的共享边\n     * @en Find shared edge between two polygons\n     */\n    private findSharedEdge(\n        verticesA: readonly IPoint[],\n        verticesB: readonly IPoint[]\n    ): IPortal | null {\n        const epsilon = 0.0001;\n\n        for (let i = 0; i < verticesA.length; i++) {\n            const a1 = verticesA[i];\n            const a2 = verticesA[(i + 1) % verticesA.length];\n\n            for (let j = 0; j < verticesB.length; j++) {\n                const b1 = verticesB[j];\n                const b2 = verticesB[(j + 1) % verticesB.length];\n\n                // Check if edges match (in either direction)\n                const match1 =\n                    Math.abs(a1.x - b2.x) < epsilon &&\n                    Math.abs(a1.y - b2.y) < epsilon &&\n                    Math.abs(a2.x - b1.x) < epsilon &&\n                    Math.abs(a2.y - b1.y) < epsilon;\n\n                const match2 =\n                    Math.abs(a1.x - b1.x) < epsilon &&\n                    Math.abs(a1.y - b1.y) < epsilon &&\n                    Math.abs(a2.x - b2.x) < epsilon &&\n                    Math.abs(a2.y - b2.y) < epsilon;\n\n                if (match1 || match2) {\n                    return {\n                        left: a1,\n                        right: a2\n                    };\n                }\n            }\n        }\n\n        return null;\n    }\n\n    /**\n     * @zh 计算多边形中心\n     * @en Calculate polygon center\n     */\n    private calculateCenter(vertices: readonly IPoint[]): IPoint {\n        let x = 0;\n        let y = 0;\n\n        for (const v of vertices) {\n            x += v.x;\n            y += v.y;\n        }\n\n        return createPoint(x / vertices.length, y / vertices.length);\n    }\n\n    /**\n     * @zh 查找包含点的多边形\n     * @en Find polygon containing point\n     */\n    findPolygonAt(x: number, y: number): INavPolygon | null {\n        for (const polygon of this.polygons.values()) {\n            if (this.isPointInPolygon(x, y, polygon.vertices)) {\n                return polygon;\n            }\n        }\n        return null;\n    }\n\n    /**\n     * @zh 检查点是否在多边形内\n     * @en Check if point is inside polygon\n     */\n    private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n        let inside = false;\n        const n = vertices.length;\n\n        for (let i = 0, j = n - 1; i < n; j = i++) {\n            const xi = vertices[i].x;\n            const yi = vertices[i].y;\n            const xj = vertices[j].x;\n            const yj = vertices[j].y;\n\n            if (\n                yi > y !== yj > y &&\n                x < ((xj - xi) * (y - yi)) / (yj - yi) + xi\n            ) {\n                inside = !inside;\n            }\n        }\n\n        return inside;\n    }\n\n    // ==========================================================================\n    // IPathfindingMap 接口实现 | IPathfindingMap Interface Implementation\n    // ==========================================================================\n\n    getNodeAt(x: number, y: number): IPathNode | null {\n        const polygon = this.findPolygonAt(x, y);\n        return polygon ? this.nodes.get(polygon.id) ?? null : null;\n    }\n\n    getNeighbors(node: IPathNode): IPathNode[] {\n        const navNode = node as NavMeshNode;\n        const neighbors: IPathNode[] = [];\n\n        for (const neighborId of navNode.polygon.neighbors) {\n            const neighbor = this.nodes.get(neighborId);\n            if (neighbor) {\n                neighbors.push(neighbor);\n            }\n        }\n\n        return neighbors;\n    }\n\n    heuristic(a: IPoint, b: IPoint): number {\n        return euclideanDistance(a, b);\n    }\n\n    getMovementCost(from: IPathNode, to: IPathNode): number {\n        return euclideanDistance(from.position, to.position);\n    }\n\n    isWalkable(x: number, y: number): boolean {\n        return this.findPolygonAt(x, y) !== null;\n    }\n\n    // ==========================================================================\n    // 寻路 | Pathfinding\n    // ==========================================================================\n\n    /**\n     * @zh 在导航网格上寻路\n     * @en Find path on navigation mesh\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        const startPolygon = this.findPolygonAt(startX, startY);\n        const endPolygon = this.findPolygonAt(endX, endY);\n\n        if (!startPolygon || !endPolygon) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same polygon\n        if (startPolygon.id === endPolygon.id) {\n            return {\n                found: true,\n                path: [createPoint(startX, startY), createPoint(endX, endY)],\n                cost: euclideanDistance(\n                    createPoint(startX, startY),\n                    createPoint(endX, endY)\n                ),\n                nodesSearched: 1\n            };\n        }\n\n        // A* on polygon graph\n        const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n        if (!polygonPath.found) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Convert polygon path to point path using funnel algorithm\n        const start = createPoint(startX, startY);\n        const end = createPoint(endX, endY);\n        const pointPath = this.funnelPath(start, end, polygonPath.polygons);\n\n        return {\n            found: true,\n            path: pointPath,\n            cost: this.calculatePathLength(pointPath),\n            nodesSearched: polygonPath.nodesSearched\n        };\n    }\n\n    /**\n     * @zh 在多边形图上寻路\n     * @en Find path on polygon graph\n     */\n    private findPolygonPath(\n        start: INavPolygon,\n        end: INavPolygon,\n        opts: Required<IPathfindingOptions>\n    ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n        interface AStarState {\n            polygon: INavPolygon;\n            g: number;\n            f: number;\n            parent: AStarState | null;\n        }\n\n        const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n        const closed = new Set<number>();\n        const states = new Map<number, AStarState>();\n\n        const startState: AStarState = {\n            polygon: start,\n            g: 0,\n            f: euclideanDistance(start.center, end.center) * opts.heuristicWeight,\n            parent: null\n        };\n\n        states.set(start.id, startState);\n        openList.push(startState);\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            nodesSearched++;\n\n            if (current.polygon.id === end.id) {\n                // Reconstruct path\n                const path: INavPolygon[] = [];\n                let state: AStarState | null = current;\n\n                while (state) {\n                    path.unshift(state.polygon);\n                    state = state.parent;\n                }\n\n                return { found: true, polygons: path, nodesSearched };\n            }\n\n            closed.add(current.polygon.id);\n\n            for (const neighborId of current.polygon.neighbors) {\n                if (closed.has(neighborId)) {\n                    continue;\n                }\n\n                const neighborPolygon = this.polygons.get(neighborId);\n                if (!neighborPolygon) {\n                    continue;\n                }\n\n                const g = current.g + euclideanDistance(\n                    current.polygon.center,\n                    neighborPolygon.center\n                );\n\n                let neighborState = states.get(neighborId);\n\n                if (!neighborState) {\n                    neighborState = {\n                        polygon: neighborPolygon,\n                        g,\n                        f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n                        parent: current\n                    };\n                    states.set(neighborId, neighborState);\n                    openList.push(neighborState);\n                } else if (g < neighborState.g) {\n                    neighborState.g = g;\n                    neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n                    neighborState.parent = current;\n                    openList.update(neighborState);\n                }\n            }\n        }\n\n        return { found: false, polygons: [], nodesSearched };\n    }\n\n    /**\n     * @zh 使用漏斗算法优化路径\n     * @en Optimize path using funnel algorithm\n     */\n    private funnelPath(\n        start: IPoint,\n        end: IPoint,\n        polygons: INavPolygon[]\n    ): IPoint[] {\n        if (polygons.length <= 1) {\n            return [start, end];\n        }\n\n        // Collect portals\n        const portals: IPortal[] = [];\n\n        for (let i = 0; i < polygons.length - 1; i++) {\n            const portal = polygons[i].portals.get(polygons[i + 1].id);\n            if (portal) {\n                portals.push(portal);\n            }\n        }\n\n        if (portals.length === 0) {\n            return [start, end];\n        }\n\n        // Simple string pulling algorithm\n        const path: IPoint[] = [start];\n\n        let apex = start;\n        let leftIndex = 0;\n        let rightIndex = 0;\n        let left = portals[0].left;\n        let right = portals[0].right;\n\n        for (let i = 1; i <= portals.length; i++) {\n            const nextLeft = i < portals.length ? portals[i].left : end;\n            const nextRight = i < portals.length ? portals[i].right : end;\n\n            // Update right\n            if (this.triArea2(apex, right, nextRight) <= 0) {\n                if (apex === right || this.triArea2(apex, left, nextRight) > 0) {\n                    right = nextRight;\n                    rightIndex = i;\n                } else {\n                    path.push(left);\n                    apex = left;\n                    leftIndex = rightIndex = leftIndex;\n                    left = right = apex;\n                    i = leftIndex;\n                    continue;\n                }\n            }\n\n            // Update left\n            if (this.triArea2(apex, left, nextLeft) >= 0) {\n                if (apex === left || this.triArea2(apex, right, nextLeft) < 0) {\n                    left = nextLeft;\n                    leftIndex = i;\n                } else {\n                    path.push(right);\n                    apex = right;\n                    leftIndex = rightIndex = rightIndex;\n                    left = right = apex;\n                    i = rightIndex;\n                    continue;\n                }\n            }\n        }\n\n        path.push(end);\n\n        return path;\n    }\n\n    /**\n     * @zh 计算三角形面积的两倍（用于判断点的相对位置）\n     * @en Calculate twice the triangle area (for point relative position)\n     */\n    private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n        return (c.x - a.x) * (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n    }\n\n    /**\n     * @zh 计算路径总长度\n     * @en Calculate total path length\n     */\n    private calculatePathLength(path: readonly IPoint[]): number {\n        let length = 0;\n\n        for (let i = 1; i < path.length; i++) {\n            length += euclideanDistance(path[i - 1], path[i]);\n        }\n\n        return length;\n    }\n\n    /**\n     * @zh 清空导航网格\n     * @en Clear navigation mesh\n     */\n    clear(): void {\n        this.polygons.clear();\n        this.nodes.clear();\n        this.nextId = 0;\n    }\n\n    /**\n     * @zh 获取所有多边形\n     * @en Get all polygons\n     */\n    getPolygons(): INavPolygon[] {\n        return Array.from(this.polygons.values());\n    }\n\n    /**\n     * @zh 获取多边形数量\n     * @en Get polygon count\n     */\n    get polygonCount(): number {\n        return this.polygons.size;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建导航网格\n * @en Create navigation mesh\n */\nexport function createNavMesh(): NavMesh {\n    return new 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+{"version":3,"sources":["../src/core/GridPathfinder.ts","../src/core/PathValidator.ts","../src/grid/GridMap.ts","../src/navmesh/NavMesh.ts","../src/smoothing/PathSmoother.ts","../src/smoothing/RadiusAwarePathSmoother.ts"],"sourcesContent":["/**\n * @zh 网格寻路器（统一实现）\n * @en Grid Pathfinder (unified implementation)\n */\n\nimport type { IPathfinder, IPathResult, IPathfindingOptions, IPoint } from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport { GridMap } from '../grid/GridMap';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh 寻路模式\n * @en Pathfinding mode\n */\nexport type GridPathfinderMode = 'standard' | 'fast' | 'bidirectional';\n\n/**\n * @zh 网格寻路器配置\n * @en Grid pathfinder configuration\n */\nexport interface IGridPathfinderConfig {\n    /**\n     * @zh 寻路模式\n     * @en Pathfinding mode\n     *\n     * - standard: 标准A*，适合小地图\n     * - fast: TypedArray优化，适合中大地图\n     * - bidirectional: 双向搜索，适合超大地图\n     */\n    mode?: GridPathfinderMode;\n}\n\n// =============================================================================\n// 常量 | Constants\n// =============================================================================\n\nconst CLOSED_FLAG = 1;\nconst OPENED_FLAG = 2;\nconst BACKWARD_CLOSED = 4;\nconst BACKWARD_OPENED = 8;\n\n// =============================================================================\n// 状态存储 | State Storage\n// =============================================================================\n\nclass GridState {\n    private readonly size: number;\n    readonly width: number;\n\n    private g: Float32Array;\n    private f: Float32Array;\n    private flags: Uint8Array;\n    private parent: Int32Array;\n    private heapIndex: Int32Array;\n    private version: Uint32Array;\n    private currentVersion: number = 1;\n\n    // 双向搜索额外状态\n    private gBack: Float32Array | null = null;\n    private fBack: Float32Array | null = null;\n    private parentBack: Int32Array | null = null;\n    private heapIndexBack: Int32Array | null = null;\n\n    constructor(width: number, height: number, bidirectional: boolean = false) {\n        this.width = width;\n        this.size = width * height;\n\n        this.g = new Float32Array(this.size);\n        this.f = new Float32Array(this.size);\n        this.flags = new Uint8Array(this.size);\n        this.parent = new Int32Array(this.size);\n        this.heapIndex = new Int32Array(this.size);\n        this.version = new Uint32Array(this.size);\n\n        if (bidirectional) {\n            this.gBack = new Float32Array(this.size);\n            this.fBack = new Float32Array(this.size);\n            this.parentBack = new Int32Array(this.size);\n            this.heapIndexBack = new Int32Array(this.size);\n        }\n    }\n\n    reset(): void {\n        this.currentVersion++;\n        if (this.currentVersion > 0xFFFFFFFF) {\n            this.version.fill(0);\n            this.currentVersion = 1;\n        }\n    }\n\n    private isInit(i: number): boolean {\n        return this.version[i] === this.currentVersion;\n    }\n\n    private init(i: number): void {\n        if (!this.isInit(i)) {\n            this.g[i] = Infinity;\n            this.f[i] = Infinity;\n            this.flags[i] = 0;\n            this.parent[i] = -1;\n            this.heapIndex[i] = -1;\n            if (this.gBack) {\n                this.gBack[i] = Infinity;\n                this.fBack![i] = Infinity;\n                this.parentBack![i] = -1;\n                this.heapIndexBack![i] = -1;\n            }\n            this.version[i] = this.currentVersion;\n        }\n    }\n\n    // Forward\n    getG(i: number): number { return this.isInit(i) ? this.g[i] : Infinity; }\n    setG(i: number, v: number): void { this.init(i); this.g[i] = v; }\n    getF(i: number): number { return this.isInit(i) ? this.f[i] : Infinity; }\n    setF(i: number, v: number): void { this.init(i); this.f[i] = v; }\n    getParent(i: number): number { return this.isInit(i) ? this.parent[i] : -1; }\n    setParent(i: number, v: number): void { this.init(i); this.parent[i] = v; }\n    getHeapIndex(i: number): number { return this.isInit(i) ? this.heapIndex[i] : -1; }\n    setHeapIndex(i: number, v: number): void { this.init(i); this.heapIndex[i] = v; }\n    isClosed(i: number): boolean { return this.isInit(i) && (this.flags[i] & CLOSED_FLAG) !== 0; }\n    setClosed(i: number): void { this.init(i); this.flags[i] |= CLOSED_FLAG; }\n    isOpened(i: number): boolean { return this.isInit(i) && (this.flags[i] & OPENED_FLAG) !== 0; }\n    setOpened(i: number): void { this.init(i); this.flags[i] |= OPENED_FLAG; }\n\n    // Backward\n    getGBack(i: number): number { return this.isInit(i) ? this.gBack![i] : Infinity; }\n    setGBack(i: number, v: number): void { this.init(i); this.gBack![i] = v; }\n    getFBack(i: number): number { return this.isInit(i) ? this.fBack![i] : Infinity; }\n    setFBack(i: number, v: number): void { this.init(i); this.fBack![i] = v; }\n    getParentBack(i: number): number { return this.isInit(i) ? this.parentBack![i] : -1; }\n    setParentBack(i: number, v: number): void { this.init(i); this.parentBack![i] = v; }\n    getHeapIndexBack(i: number): number { return this.isInit(i) ? this.heapIndexBack![i] : -1; }\n    setHeapIndexBack(i: number, v: number): void { this.init(i); this.heapIndexBack![i] = v; }\n    isClosedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_CLOSED) !== 0; }\n    setClosedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_CLOSED; }\n    isOpenedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_OPENED) !== 0; }\n    setOpenedBack(i: number): void { this.init(i); this.flags[i] |= BACKWARD_OPENED; }\n}\n\n// =============================================================================\n// 堆 | Heap\n// =============================================================================\n\nclass GridHeap {\n    private heap: number[] = [];\n    private state: GridState;\n    private isBack: boolean;\n\n    constructor(state: GridState, isBack: boolean = false) {\n        this.state = state;\n        this.isBack = isBack;\n    }\n\n    get size(): number { return this.heap.length; }\n    get isEmpty(): boolean { return this.heap.length === 0; }\n\n    private getF(i: number): number {\n        return this.isBack ? this.state.getFBack(i) : this.state.getF(i);\n    }\n    private getHeapIndex(i: number): number {\n        return this.isBack ? this.state.getHeapIndexBack(i) : this.state.getHeapIndex(i);\n    }\n    private setHeapIndex(i: number, v: number): void {\n        if (this.isBack) this.state.setHeapIndexBack(i, v);\n        else this.state.setHeapIndex(i, v);\n    }\n\n    push(i: number): void {\n        this.setHeapIndex(i, this.heap.length);\n        this.heap.push(i);\n        this.bubbleUp(this.heap.length - 1);\n    }\n\n    pop(): number {\n        if (this.heap.length === 0) return -1;\n        const result = this.heap[0];\n        this.setHeapIndex(result, -1);\n        const last = this.heap.pop()!;\n        if (this.heap.length > 0) {\n            this.heap[0] = last;\n            this.setHeapIndex(last, 0);\n            this.sinkDown(0);\n        }\n        return result;\n    }\n\n    update(i: number): void {\n        const pos = this.getHeapIndex(i);\n        if (pos >= 0 && pos < this.heap.length) {\n            this.bubbleUp(pos);\n            this.sinkDown(this.getHeapIndex(i));\n        }\n    }\n\n    clear(): void { this.heap.length = 0; }\n\n    private bubbleUp(pos: number): void {\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        while (pos > 0) {\n            const pp = (pos - 1) >> 1;\n            const pi = this.heap[pp];\n            if (f >= this.getF(pi)) break;\n            this.heap[pos] = pi;\n            this.setHeapIndex(pi, pos);\n            pos = pp;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n\n    private sinkDown(pos: number): void {\n        const len = this.heap.length;\n        const idx = this.heap[pos];\n        const f = this.getF(idx);\n        const half = len >> 1;\n        while (pos < half) {\n            const left = (pos << 1) + 1;\n            const right = left + 1;\n            let smallest = pos, smallestF = f;\n            const lf = this.getF(this.heap[left]);\n            if (lf < smallestF) { smallest = left; smallestF = lf; }\n            if (right < len) {\n                const rf = this.getF(this.heap[right]);\n                if (rf < smallestF) smallest = right;\n            }\n            if (smallest === pos) break;\n            const si = this.heap[smallest];\n            this.heap[pos] = si;\n            this.setHeapIndex(si, pos);\n            pos = smallest;\n        }\n        this.heap[pos] = idx;\n        this.setHeapIndex(idx, pos);\n    }\n}\n\n// =============================================================================\n// 网格寻路器 | Grid Pathfinder\n// =============================================================================\n\n/**\n * @zh 网格寻路器\n * @en Grid Pathfinder\n */\nexport class GridPathfinder implements IPathfinder {\n    private readonly map: GridMap;\n    private readonly mode: GridPathfinderMode;\n    private readonly state: GridState;\n    private readonly openList: GridHeap;\n    private readonly openListBack: GridHeap | null;\n\n    constructor(map: GridMap, config?: IGridPathfinderConfig) {\n        this.map = map;\n        this.mode = config?.mode ?? 'fast';\n        const isBidir = this.mode === 'bidirectional';\n        this.state = new GridState(map.width, map.height, isBidir);\n        this.openList = new GridHeap(this.state, false);\n        this.openListBack = isBidir ? new GridHeap(this.state, true) : null;\n    }\n\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        if (this.mode === 'bidirectional') {\n            return this.findPathBidirectional(startX, startY, endX, endY, options);\n        }\n        return this.findPathUnidirectional(startX, startY, endX, endY, options);\n    }\n\n    private findPathUnidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const h0 = this.map.heuristic({ x: startX, y: startY }, { x: endX, y: endY }) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, h0);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while (!this.openList.isEmpty && searched < maxNodes) {\n            const cur = this.openList.pop();\n            this.state.setClosed(cur);\n            searched++;\n\n            if (cur === endIdx) {\n                return this.buildPath(startIdx, endIdx, searched);\n            }\n\n            const cx = cur % width, cy = (cur / width) | 0;\n            const curG = this.state.getG(cur);\n\n            for (let d = 0; d < dirCount; d++) {\n                const nx = cx + dx[d], ny = cy + dy[d];\n                if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n\n                const neighbor = nodes[ny][nx];\n                if (!neighbor.walkable) continue;\n\n                if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                    if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                }\n\n                const ni = ny * width + nx;\n                if (this.state.isClosed(ni)) continue;\n\n                const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                const tentG = curG + cost;\n\n                if (!this.state.isOpened(ni)) {\n                    const h = this.map.heuristic({ x: nx, y: ny }, { x: endX, y: endY }) * hw;\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.state.setOpened(ni);\n                    this.openList.push(ni);\n                } else if (tentG < this.state.getG(ni)) {\n                    const h = this.state.getF(ni) - this.state.getG(ni);\n                    this.state.setG(ni, tentG);\n                    this.state.setF(ni, tentG + h);\n                    this.state.setParent(ni, cur);\n                    this.openList.update(ni);\n                }\n            }\n        }\n\n        return { found: false, path: [], cost: 0, nodesSearched: searched };\n    }\n\n    private findPathBidirectional(\n        startX: number, startY: number,\n        endX: number, endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n        const { width, height } = this.map;\n\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack!.clear();\n\n        if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n        const startIdx = startY * width + startX;\n        const endIdx = endY * width + endX;\n\n        if (startIdx === endIdx) {\n            return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n        }\n\n        const hw = opts.heuristicWeight;\n        const startPos = { x: startX, y: startY };\n        const endPos = { x: endX, y: endY };\n\n        // Init forward\n        const hf = this.map.heuristic(startPos, endPos) * hw;\n        this.state.setG(startIdx, 0);\n        this.state.setF(startIdx, hf);\n        this.state.setOpened(startIdx);\n        this.openList.push(startIdx);\n\n        // Init backward\n        const hb = this.map.heuristic(endPos, startPos) * hw;\n        this.state.setGBack(endIdx, 0);\n        this.state.setFBack(endIdx, hb);\n        this.state.setOpenedBack(endIdx);\n        this.openListBack!.push(endIdx);\n\n        let searched = 0;\n        const maxNodes = opts.maxNodes;\n        let meetIdx = -1, bestCost = Infinity;\n\n        const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n        const nodes = this.map['nodes'];\n        const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n        const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n        const dirCount = dx.length;\n\n        while ((!this.openList.isEmpty || !this.openListBack!.isEmpty) && searched < maxNodes) {\n            // Forward\n            if (!this.openList.isEmpty) {\n                const cur = this.openList.pop();\n                this.state.setClosed(cur);\n                searched++;\n\n                const curG = this.state.getG(cur);\n                if (this.state.isClosedBack(cur)) {\n                    const total = curG + this.state.getGBack(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosed(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpened(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, endPos) * hw;\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.state.setOpened(ni);\n                        this.openList.push(ni);\n                    } else if (tentG < this.state.getG(ni)) {\n                        const h = this.state.getF(ni) - this.state.getG(ni);\n                        this.state.setG(ni, tentG);\n                        this.state.setF(ni, tentG + h);\n                        this.state.setParent(ni, cur);\n                        this.openList.update(ni);\n                    }\n                }\n            }\n\n            // Backward\n            if (!this.openListBack!.isEmpty) {\n                const cur = this.openListBack!.pop();\n                this.state.setClosedBack(cur);\n                searched++;\n\n                const curG = this.state.getGBack(cur);\n                if (this.state.isClosed(cur)) {\n                    const total = curG + this.state.getG(cur);\n                    if (total < bestCost) { bestCost = total; meetIdx = cur; }\n                }\n                if (meetIdx !== -1 && curG >= bestCost) break;\n\n                const cx = cur % width, cy = (cur / width) | 0;\n                for (let d = 0; d < dirCount; d++) {\n                    const nx = cx + dx[d], ny = cy + dy[d];\n                    if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;\n                    const neighbor = nodes[ny][nx];\n                    if (!neighbor.walkable) continue;\n                    if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n                        if (!nodes[cy][cx + dx[d]].walkable || !nodes[cy + dy[d]][cx].walkable) continue;\n                    }\n                    const ni = ny * width + nx;\n                    if (this.state.isClosedBack(ni)) continue;\n                    const isDiag = dx[d] !== 0 && dy[d] !== 0;\n                    const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n                    const tentG = curG + cost;\n                    if (!this.state.isOpenedBack(ni)) {\n                        const h = this.map.heuristic({ x: nx, y: ny }, startPos) * hw;\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.state.setOpenedBack(ni);\n                        this.openListBack!.push(ni);\n                    } else if (tentG < this.state.getGBack(ni)) {\n                        const h = this.state.getFBack(ni) - this.state.getGBack(ni);\n                        this.state.setGBack(ni, tentG);\n                        this.state.setFBack(ni, tentG + h);\n                        this.state.setParentBack(ni, cur);\n                        this.openListBack!.update(ni);\n                    }\n                }\n            }\n        }\n\n        if (meetIdx === -1) {\n            return { found: false, path: [], cost: 0, nodesSearched: searched };\n        }\n\n        return this.buildPathBidirectional(startIdx, endIdx, meetIdx, searched);\n    }\n\n    private validate(startX: number, startY: number, endX: number, endY: number): boolean {\n        const { width, height } = this.map;\n        if (startX < 0 || startX >= width || startY < 0 || startY >= height) return false;\n        if (endX < 0 || endX >= width || endY < 0 || endY >= height) return false;\n        return this.map.isWalkable(startX, startY) && this.map.isWalkable(endX, endY);\n    }\n\n    private buildPath(startIdx: number, endIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n        let cur = endIdx;\n        while (cur !== -1) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = cur === startIdx ? -1 : this.state.getParent(cur);\n        }\n        path.reverse();\n        return { found: true, path, cost: this.state.getG(endIdx), nodesSearched: searched };\n    }\n\n    private buildPathBidirectional(startIdx: number, endIdx: number, meetIdx: number, searched: number): IPathResult {\n        const w = this.state.width;\n        const path: IPoint[] = [];\n\n        // Forward path\n        let cur = meetIdx;\n        while (cur !== -1 && cur !== startIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParent(cur);\n        }\n        path.push({ x: startIdx % w, y: (startIdx / w) | 0 });\n        path.reverse();\n\n        // Backward path\n        cur = this.state.getParentBack(meetIdx);\n        while (cur !== -1 && cur !== endIdx) {\n            path.push({ x: cur % w, y: (cur / w) | 0 });\n            cur = this.state.getParentBack(cur);\n        }\n        if (meetIdx !== endIdx) {\n            path.push({ x: endIdx % w, y: (endIdx / w) | 0 });\n        }\n\n        const cost = this.state.getG(meetIdx) + this.state.getGBack(meetIdx);\n        return { found: true, path, cost, nodesSearched: searched };\n    }\n\n    clear(): void {\n        this.state.reset();\n        this.openList.clear();\n        this.openListBack?.clear();\n    }\n}\n\n/**\n * @zh 创建网格寻路器\n * @en Create grid pathfinder\n */\nexport function createGridPathfinder(map: GridMap, config?: IGridPathfinderConfig): GridPathfinder {\n    return new GridPathfinder(map, config);\n}\n","/**\n * @zh 路径验证器\n * @en Path Validator\n */\n\nimport type { IPoint, IPathfindingMap } from './IPathfinding';\nimport type { IPathValidator, IPathValidationResult } from './IIncrementalPathfinding';\n\n// =============================================================================\n// 路径验证器 | Path Validator\n// =============================================================================\n\n/**\n * @zh 路径验证器\n * @en Path Validator\n *\n * @zh 用于检查现有路径在地图变化后是否仍然有效\n * @en Used to check if an existing path is still valid after map changes\n *\n * @example\n * ```typescript\n * const validator = new PathValidator();\n * const result = validator.validatePath(path, 0, path.length, map);\n *\n * if (!result.valid) {\n *     console.log('Path invalid at index:', result.invalidIndex);\n *     // Trigger replanning from current position\n * }\n * ```\n */\nexport class PathValidator implements IPathValidator {\n    /**\n     * @zh 验证路径段的有效性\n     * @en Validate path segment validity\n     *\n     * @param path - @zh 要验证的路径 @en Path to validate\n     * @param fromIndex - @zh 起始索引 @en Start index\n     * @param toIndex - @zh 结束索引 @en End index\n     * @param map - @zh 地图实例 @en Map instance\n     * @returns @zh 验证结果 @en Validation result\n     */\n    validatePath(\n        path: readonly IPoint[],\n        fromIndex: number,\n        toIndex: number,\n        map: IPathfindingMap\n    ): IPathValidationResult {\n        const end = Math.min(toIndex, path.length);\n\n        for (let i = fromIndex; i < end; i++) {\n            const point = path[i];\n            const x = Math.floor(point.x);\n            const y = Math.floor(point.y);\n\n            if (!map.isWalkable(x, y)) {\n                return { valid: false, invalidIndex: i };\n            }\n\n            if (i > fromIndex) {\n                const prev = path[i - 1];\n                if (!this.checkLineOfSight(prev.x, prev.y, point.x, point.y, map)) {\n                    return { valid: false, invalidIndex: i };\n                }\n            }\n        }\n\n        return { valid: true, invalidIndex: -1 };\n    }\n\n    /**\n     * @zh 检查两点之间的视线（使用 Bresenham 算法）\n     * @en Check line of sight between two points (using Bresenham algorithm)\n     *\n     * @param x1 - @zh 起点 X @en Start X\n     * @param y1 - @zh 起点 Y @en Start Y\n     * @param x2 - @zh 终点 X @en End X\n     * @param y2 - @zh 终点 Y @en End Y\n     * @param map - @zh 地图实例 @en Map instance\n     * @returns @zh 是否有视线 @en Whether there is line of sight\n     */\n    private checkLineOfSight(\n        x1: number,\n        y1: number,\n        x2: number,\n        y2: number,\n        map: IPathfindingMap\n    ): boolean {\n        const ix1 = Math.floor(x1);\n        const iy1 = Math.floor(y1);\n        const ix2 = Math.floor(x2);\n        const iy2 = Math.floor(y2);\n\n        let dx = Math.abs(ix2 - ix1);\n        let dy = Math.abs(iy2 - iy1);\n        let x = ix1;\n        let y = iy1;\n\n        const sx = ix1 < ix2 ? 1 : -1;\n        const sy = iy1 < iy2 ? 1 : -1;\n\n        if (dx > dy) {\n            let err = dx / 2;\n            while (x !== ix2) {\n                if (!map.isWalkable(x, y)) {\n                    return false;\n                }\n                err -= dy;\n                if (err < 0) {\n                    y += sy;\n                    err += dx;\n                }\n                x += sx;\n            }\n        } else {\n            let err = dy / 2;\n            while (y !== iy2) {\n                if (!map.isWalkable(x, y)) {\n                    return false;\n                }\n                err -= dx;\n                if (err < 0) {\n                    x += sx;\n                    err += dy;\n                }\n                y += sy;\n            }\n        }\n\n        return map.isWalkable(ix2, iy2);\n    }\n}\n\n// =============================================================================\n// 障碍物变化管理器 | Obstacle Change Manager\n// =============================================================================\n\n/**\n * @zh 障碍物变化记录\n * @en Obstacle change record\n */\nexport interface IObstacleChange {\n    /**\n     * @zh X 坐标\n     * @en X coordinate\n     */\n    readonly x: number;\n\n    /**\n     * @zh Y 坐标\n     * @en Y coordinate\n     */\n    readonly y: number;\n\n    /**\n     * @zh 变化前是否可通行\n     * @en Was walkable before change\n     */\n    readonly wasWalkable: boolean;\n\n    /**\n     * @zh 变化时间戳\n     * @en Change timestamp\n     */\n    readonly timestamp: number;\n}\n\n/**\n * @zh 障碍物变化区域\n * @en Obstacle change region\n */\nexport interface IChangeRegion {\n    /**\n     * @zh 最小 X 坐标\n     * @en Minimum X coordinate\n     */\n    readonly minX: number;\n\n    /**\n     * @zh 最小 Y 坐标\n     * @en Minimum Y coordinate\n     */\n    readonly minY: number;\n\n    /**\n     * @zh 最大 X 坐标\n     * @en Maximum X coordinate\n     */\n    readonly maxX: number;\n\n    /**\n     * @zh 最大 Y 坐标\n     * @en Maximum Y coordinate\n     */\n    readonly maxY: number;\n}\n\n/**\n * @zh 障碍物变化管理器\n * @en Obstacle Change Manager\n *\n * @zh 跟踪地图障碍物变化，用于触发动态重规划\n * @en Tracks map obstacle changes, used to trigger dynamic replanning\n *\n * @example\n * ```typescript\n * const manager = new ObstacleChangeManager();\n *\n * // Record change when obstacle is added/removed\n * manager.recordChange(10, 20, true);  // Was walkable, now blocked\n *\n * // Get affected region for notification\n * const region = manager.getAffectedRegion();\n * if (region) {\n *     pathfinder.notifyObstacleChange(\n *         region.minX, region.minY,\n *         region.maxX, region.maxY\n *     );\n * }\n *\n * // Clear after notification\n * manager.flush();\n * ```\n */\nexport class ObstacleChangeManager {\n    private readonly changes: Map<string, IObstacleChange> = new Map();\n    private epoch: number = 0;\n\n    /**\n     * @zh 记录障碍物变化\n     * @en Record obstacle change\n     *\n     * @param x - @zh X 坐标 @en X coordinate\n     * @param y - @zh Y 坐标 @en Y coordinate\n     * @param wasWalkable - @zh 变化前是否可通行 @en Was walkable before change\n     */\n    recordChange(x: number, y: number, wasWalkable: boolean): void {\n        const key = `${x},${y}`;\n        this.changes.set(key, {\n            x,\n            y,\n            wasWalkable,\n            timestamp: Date.now()\n        });\n    }\n\n    /**\n     * @zh 获取影响区域\n     * @en Get affected region\n     *\n     * @returns @zh 影响区域或 null（如果没有变化）@en Affected region or null if no changes\n     */\n    getAffectedRegion(): IChangeRegion | null {\n        if (this.changes.size === 0) {\n            return null;\n        }\n\n        let minX = Infinity;\n        let minY = Infinity;\n        let maxX = -Infinity;\n        let maxY = -Infinity;\n\n        for (const change of this.changes.values()) {\n            minX = Math.min(minX, change.x);\n            minY = Math.min(minY, change.y);\n            maxX = Math.max(maxX, change.x);\n            maxY = Math.max(maxY, change.y);\n        }\n\n        return { minX, minY, maxX, maxY };\n    }\n\n    /**\n     * @zh 获取所有变化\n     * @en Get all changes\n     *\n     * @returns @zh 变化列表 @en List of changes\n     */\n    getChanges(): IObstacleChange[] {\n        return Array.from(this.changes.values());\n    }\n\n    /**\n     * @zh 检查是否有变化\n     * @en Check if there are changes\n     *\n     * @returns @zh 是否有变化 @en Whether there are changes\n     */\n    hasChanges(): boolean {\n        return this.changes.size > 0;\n    }\n\n    /**\n     * @zh 获取当前 epoch\n     * @en Get current epoch\n     *\n     * @returns @zh 当前 epoch @en Current epoch\n     */\n    getEpoch(): number {\n        return this.epoch;\n    }\n\n    /**\n     * @zh 清空变化记录并推进 epoch\n     * @en Clear changes and advance epoch\n     */\n    flush(): void {\n        this.changes.clear();\n        this.epoch++;\n    }\n\n    /**\n     * @zh 清空所有状态\n     * @en Clear all state\n     */\n    clear(): void {\n        this.changes.clear();\n        this.epoch = 0;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Functions\n// =============================================================================\n\n/**\n * @zh 创建路径验证器\n * @en Create path validator\n *\n * @returns @zh 路径验证器实例 @en Path validator instance\n */\nexport function createPathValidator(): PathValidator {\n    return new PathValidator();\n}\n\n/**\n * @zh 创建障碍物变化管理器\n * @en Create obstacle change manager\n *\n * @returns @zh 障碍物变化管理器实例 @en Obstacle change manager instance\n */\nexport function createObstacleChangeManager(): ObstacleChangeManager {\n    return new ObstacleChangeManager();\n}\n","/**\n * @zh 网格地图实现\n * @en Grid Map Implementation\n */\n\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    HeuristicFunction\n} from '../core/IPathfinding';\nimport { createPoint, octileDistance } from '../core/IPathfinding';\n\n// =============================================================================\n// 网格节点 | Grid Node\n// =============================================================================\n\n/**\n * @zh 网格节点\n * @en Grid node\n */\nexport class GridNode implements IPathNode {\n    readonly id: number;\n    readonly position: IPoint;\n    readonly x: number;\n    readonly y: number;\n    cost: number;\n    walkable: boolean;\n\n    constructor(x: number, y: number, width: number, walkable: boolean = true, cost: number = 1) {\n        this.x = x;\n        this.y = y;\n        this.id = y * width + x;\n        this.position = createPoint(x, y);\n        this.walkable = walkable;\n        this.cost = cost;\n    }\n}\n\n// =============================================================================\n// 移动方向 | Movement Directions\n// =============================================================================\n\n/**\n * @zh 4方向偏移 (上下左右)\n * @en 4-directional offsets (up, down, left, right)\n */\nexport const DIRECTIONS_4 = [\n    { dx: 0, dy: -1 },  // Up\n    { dx: 1, dy: 0 },   // Right\n    { dx: 0, dy: 1 },   // Down\n    { dx: -1, dy: 0 }   // Left\n] as const;\n\n/**\n * @zh 8方向偏移 (含对角线)\n * @en 8-directional offsets (including diagonals)\n */\nexport const DIRECTIONS_8 = [\n    { dx: 0, dy: -1 },   // Up\n    { dx: 1, dy: -1 },   // Up-Right\n    { dx: 1, dy: 0 },    // Right\n    { dx: 1, dy: 1 },    // Down-Right\n    { dx: 0, dy: 1 },    // Down\n    { dx: -1, dy: 1 },   // Down-Left\n    { dx: -1, dy: 0 },   // Left\n    { dx: -1, dy: -1 }   // Up-Left\n] as const;\n\n// =============================================================================\n// 网格地图配置 | Grid Map Options\n// =============================================================================\n\n/**\n * @zh 网格地图配置\n * @en Grid map options\n */\nexport interface IGridMapOptions {\n    /** @zh 是否允许对角移动 @en Allow diagonal movement */\n    allowDiagonal?: boolean;\n    /** @zh 对角移动代价 @en Diagonal movement cost */\n    diagonalCost?: number;\n    /** @zh 是否避免穿角 @en Avoid corner cutting */\n    avoidCorners?: boolean;\n    /** @zh 启发式函数 @en Heuristic function */\n    heuristic?: HeuristicFunction;\n}\n\n/**\n * @zh 默认网格地图配置\n * @en Default grid map options\n */\nexport const DEFAULT_GRID_OPTIONS: Required<IGridMapOptions> = {\n    allowDiagonal: true,\n    diagonalCost: Math.SQRT2,\n    avoidCorners: true,\n    heuristic: octileDistance\n};\n\n// =============================================================================\n// 网格地图 | Grid Map\n// =============================================================================\n\n/**\n * @zh 网格地图\n * @en Grid Map\n *\n * @zh 基于二维数组的网格地图实现，支持4方向和8方向移动\n * @en Grid map implementation based on 2D array, supports 4 and 8 directional movement\n *\n * @example\n * ```typescript\n * // Create a 10x10 grid\n * const grid = new GridMap(10, 10);\n *\n * // Set some cells as obstacles\n * grid.setWalkable(5, 5, false);\n * grid.setWalkable(5, 6, false);\n *\n * // Use with pathfinder\n * const pathfinder = new AStarPathfinder(grid);\n * const result = pathfinder.findPath(0, 0, 9, 9);\n * ```\n */\nexport class GridMap implements IPathfindingMap {\n    readonly width: number;\n    readonly height: number;\n    private readonly nodes: GridNode[][];\n    private readonly options: Required<IGridMapOptions>;\n\n    constructor(width: number, height: number, options?: IGridMapOptions) {\n        this.width = width;\n        this.height = height;\n        this.options = { ...DEFAULT_GRID_OPTIONS, ...options };\n        this.nodes = this.createNodes();\n    }\n\n    /**\n     * @zh 创建网格节点\n     * @en Create grid nodes\n     */\n    private createNodes(): GridNode[][] {\n        const nodes: GridNode[][] = [];\n\n        for (let y = 0; y < this.height; y++) {\n            nodes[y] = [];\n            for (let x = 0; x < this.width; x++) {\n                nodes[y][x] = new GridNode(x, y, this.width, true, 1);\n            }\n        }\n\n        return nodes;\n    }\n\n    /**\n     * @zh 获取指定位置的节点\n     * @en Get node at position\n     */\n    getNodeAt(x: number, y: number): GridNode | null {\n        if (!this.isInBounds(x, y)) {\n            return null;\n        }\n        return this.nodes[y][x];\n    }\n\n    /**\n     * @zh 检查坐标是否在边界内\n     * @en Check if coordinates are within bounds\n     */\n    isInBounds(x: number, y: number): boolean {\n        return x >= 0 && x < this.width && y >= 0 && y < this.height;\n    }\n\n    /**\n     * @zh 检查位置是否可通行\n     * @en Check if position is walkable\n     */\n    isWalkable(x: number, y: number): boolean {\n        const node = this.getNodeAt(x, y);\n        return node !== null && node.walkable;\n    }\n\n    /**\n     * @zh 设置位置是否可通行\n     * @en Set position walkability\n     */\n    setWalkable(x: number, y: number, walkable: boolean): void {\n        const node = this.getNodeAt(x, y);\n        if (node) {\n            node.walkable = walkable;\n        }\n    }\n\n    /**\n     * @zh 设置位置的移动代价\n     * @en Set movement cost at position\n     */\n    setCost(x: number, y: number, cost: number): void {\n        const node = this.getNodeAt(x, y);\n        if (node) {\n            node.cost = cost;\n        }\n    }\n\n    /**\n     * @zh 获取节点的邻居\n     * @en Get neighbors of a node\n     */\n    getNeighbors(node: IPathNode): GridNode[] {\n        const neighbors: GridNode[] = [];\n        const { x, y } = node.position;\n        const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n        for (let i = 0; i < directions.length; i++) {\n            const dir = directions[i];\n            const nx = x + dir.dx;\n            const ny = y + dir.dy;\n\n            if (nx < 0 || nx >= this.width || ny < 0 || ny >= this.height) {\n                continue;\n            }\n\n            const neighbor = this.nodes[ny][nx];\n\n            if (!neighbor.walkable) {\n                continue;\n            }\n\n            if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n                const hNode = this.nodes[y][x + dir.dx];\n                const vNode = this.nodes[y + dir.dy][x];\n\n                if (!hNode.walkable || !vNode.walkable) {\n                    continue;\n                }\n            }\n\n            neighbors.push(neighbor);\n        }\n\n        return neighbors;\n    }\n\n    /**\n     * @zh 遍历节点的邻居（零分配）\n     * @en Iterate over neighbors (zero allocation)\n     */\n    forEachNeighbor(node: IPathNode, callback: (neighbor: GridNode) => boolean | void): void {\n        const { x, y } = node.position;\n        const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n        for (let i = 0; i < directions.length; i++) {\n            const dir = directions[i];\n            const nx = x + dir.dx;\n            const ny = y + dir.dy;\n\n            if (nx < 0 || nx >= this.width || ny < 0 || ny >= this.height) {\n                continue;\n            }\n\n            const neighbor = this.nodes[ny][nx];\n\n            if (!neighbor.walkable) {\n                continue;\n            }\n\n            if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n                const hNode = this.nodes[y][x + dir.dx];\n                const vNode = this.nodes[y + dir.dy][x];\n\n                if (!hNode.walkable || !vNode.walkable) {\n                    continue;\n                }\n            }\n\n            if (callback(neighbor) === false) {\n                return;\n            }\n        }\n    }\n\n    /**\n     * @zh 计算启发式距离\n     * @en Calculate heuristic distance\n     */\n    heuristic(a: IPoint, b: IPoint): number {\n        return this.options.heuristic(a, b);\n    }\n\n    /**\n     * @zh 计算移动代价\n     * @en Calculate movement cost\n     */\n    getMovementCost(from: IPathNode, to: IPathNode): number {\n        const dx = Math.abs(from.position.x - to.position.x);\n        const dy = Math.abs(from.position.y - to.position.y);\n\n        // Diagonal movement\n        if (dx !== 0 && dy !== 0) {\n            return to.cost * this.options.diagonalCost;\n        }\n\n        // Cardinal movement\n        return to.cost;\n    }\n\n    /**\n     * @zh 从二维数组加载地图\n     * @en Load map from 2D array\n     *\n     * @param data - @zh 0=可通行，非0=不可通行 @en 0=walkable, non-0=blocked\n     */\n    loadFromArray(data: number[][]): void {\n        for (let y = 0; y < Math.min(data.length, this.height); y++) {\n            for (let x = 0; x < Math.min(data[y].length, this.width); x++) {\n                this.nodes[y][x].walkable = data[y][x] === 0;\n            }\n        }\n    }\n\n    /**\n     * @zh 从字符串加载地图\n     * @en Load map from string\n     *\n     * @param str - @zh 地图字符串，'.'=可通行，'#'=障碍 @en Map string, '.'=walkable, '#'=blocked\n     */\n    loadFromString(str: string): void {\n        const lines = str.trim().split('\\n');\n\n        for (let y = 0; y < Math.min(lines.length, this.height); y++) {\n            const line = lines[y];\n            for (let x = 0; x < Math.min(line.length, this.width); x++) {\n                this.nodes[y][x].walkable = line[x] !== '#';\n            }\n        }\n    }\n\n    /**\n     * @zh 导出为字符串\n     * @en Export to string\n     */\n    toString(): string {\n        let result = '';\n\n        for (let y = 0; y < this.height; y++) {\n            for (let x = 0; x < this.width; x++) {\n                result += this.nodes[y][x].walkable ? '.' : '#';\n            }\n            result += '\\n';\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 重置所有节点为可通行\n     * @en Reset all nodes to walkable\n     */\n    reset(): void {\n        for (let y = 0; y < this.height; y++) {\n            for (let x = 0; x < this.width; x++) {\n                this.nodes[y][x].walkable = true;\n                this.nodes[y][x].cost = 1;\n            }\n        }\n    }\n\n    /**\n     * @zh 设置矩形区域的通行性\n     * @en Set walkability for a rectangle region\n     */\n    setRectWalkable(\n        x: number,\n        y: number,\n        width: number,\n        height: number,\n        walkable: boolean\n    ): void {\n        for (let dy = 0; dy < height; dy++) {\n            for (let dx = 0; dx < width; dx++) {\n                this.setWalkable(x + dx, y + dy, walkable);\n            }\n        }\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建网格地图\n * @en Create grid map\n */\nexport function createGridMap(\n    width: number,\n    height: number,\n    options?: IGridMapOptions\n): GridMap {\n    return new GridMap(width, height, options);\n}\n","/**\n * @zh 导航网格实现\n * @en NavMesh Implementation\n *\n * @zh 支持动态障碍物：可以临时禁用多边形或添加圆形/矩形障碍物\n * @en Supports dynamic obstacles: can temporarily disable polygons or add circular/rectangular obstacles\n */\n\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathResult,\n    IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 动态障碍物 | Dynamic Obstacles\n// =============================================================================\n\n/**\n * @zh 动态障碍物类型\n * @en Dynamic obstacle type\n */\nexport type ObstacleType = 'circle' | 'rect' | 'polygon';\n\n/**\n * @zh 动态障碍物\n * @en Dynamic obstacle\n */\nexport interface IDynamicObstacle {\n    /**\n     * @zh 障碍物 ID\n     * @en Obstacle ID\n     */\n    readonly id: number;\n\n    /**\n     * @zh 障碍物类型\n     * @en Obstacle type\n     */\n    readonly type: ObstacleType;\n\n    /**\n     * @zh 是否启用\n     * @en Whether enabled\n     */\n    enabled: boolean;\n\n    /**\n     * @zh 位置（圆形和矩形的中心）\n     * @en Position (center for circle and rect)\n     */\n    position: IPoint;\n\n    /**\n     * @zh 半径（圆形）或半宽/半高（矩形）\n     * @en Radius (circle) or half-width/half-height (rect)\n     */\n    radius?: number;\n    halfWidth?: number;\n    halfHeight?: number;\n\n    /**\n     * @zh 顶点（多边形）\n     * @en Vertices (polygon)\n     */\n    vertices?: readonly IPoint[];\n}\n\n// =============================================================================\n// 导航多边形 | Navigation Polygon\n// =============================================================================\n\n/**\n * @zh 导航多边形\n * @en Navigation polygon\n */\nexport interface INavPolygon {\n    /** @zh 多边形ID @en Polygon ID */\n    readonly id: number;\n    /** @zh 顶点列表 @en Vertex list */\n    readonly vertices: readonly IPoint[];\n    /** @zh 中心点 @en Center point */\n    readonly center: IPoint;\n    /** @zh 邻居多边形ID @en Neighbor polygon IDs */\n    readonly neighbors: readonly number[];\n    /** @zh 到邻居的共享边 @en Shared edges to neighbors */\n    readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/**\n * @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n */\nexport interface IPortal {\n    /** @zh 边的左端点 @en Left endpoint of edge */\n    readonly left: IPoint;\n    /** @zh 边的右端点 @en Right endpoint of edge */\n    readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 | NavMesh Node\n// =============================================================================\n\n/**\n * @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n */\nclass NavMeshNode implements IPathNode {\n    readonly id: number;\n    readonly position: IPoint;\n    readonly cost: number;\n    readonly walkable: boolean;\n    readonly polygon: INavPolygon;\n\n    constructor(polygon: INavPolygon) {\n        this.id = polygon.id;\n        this.position = polygon.center;\n        this.cost = 1;\n        this.walkable = true;\n        this.polygon = polygon;\n    }\n}\n\n// =============================================================================\n// 导航网格 | Navigation Mesh\n// =============================================================================\n\n/**\n * @zh 导航网格\n * @en Navigation Mesh\n *\n * @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n *\n * @example\n * ```typescript\n * const navmesh = new NavMesh();\n *\n * // Add polygons\n * navmesh.addPolygon([\n *     { x: 0, y: 0 }, { x: 10, y: 0 },\n *     { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n *\n * // Build connections\n * navmesh.build();\n *\n * // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n */\nexport class NavMesh implements IPathfindingMap {\n    private polygons: Map<number, INavPolygon> = new Map();\n    private nodes: Map<number, NavMeshNode> = new Map();\n    private nextId = 0;\n\n    // @zh 动态障碍物支持\n    // @en Dynamic obstacle support\n    private obstacles: Map<number, IDynamicObstacle> = new Map();\n    private nextObstacleId = 0;\n    private disabledPolygons: Set<number> = new Set();\n\n    /**\n     * @zh 添加导航多边形\n     * @en Add navigation polygon\n     *\n     * @returns @zh 多边形ID @en Polygon ID\n     */\n    addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n        const id = this.nextId++;\n        const center = this.calculateCenter(vertices);\n\n        const polygon: INavPolygon = {\n            id,\n            vertices,\n            center,\n            neighbors,\n            portals: new Map()\n        };\n\n        this.polygons.set(id, polygon);\n        this.nodes.set(id, new NavMeshNode(polygon));\n\n        return id;\n    }\n\n    /**\n     * @zh 设置两个多边形之间的连接\n     * @en Set connection between two polygons\n     */\n    setConnection(\n        polyA: number,\n        polyB: number,\n        portal: IPortal\n    ): void {\n        const polygonA = this.polygons.get(polyA);\n        const polygonB = this.polygons.get(polyB);\n\n        if (!polygonA || !polygonB) {\n            return;\n        }\n\n        // Update neighbors and portals\n        const neighborsA = [...polygonA.neighbors];\n        const portalsA = new Map(polygonA.portals);\n\n        if (!neighborsA.includes(polyB)) {\n            neighborsA.push(polyB);\n        }\n        portalsA.set(polyB, portal);\n\n        this.polygons.set(polyA, {\n            ...polygonA,\n            neighbors: neighborsA,\n            portals: portalsA\n        });\n\n        // Reverse portal for the other direction\n        const reversePortal: IPortal = {\n            left: portal.right,\n            right: portal.left\n        };\n\n        const neighborsB = [...polygonB.neighbors];\n        const portalsB = new Map(polygonB.portals);\n\n        if (!neighborsB.includes(polyA)) {\n            neighborsB.push(polyA);\n        }\n        portalsB.set(polyA, reversePortal);\n\n        this.polygons.set(polyB, {\n            ...polygonB,\n            neighbors: neighborsB,\n            portals: portalsB\n        });\n    }\n\n    /**\n     * @zh 自动检测并建立相邻多边形的连接\n     * @en Auto-detect and build connections between adjacent polygons\n     */\n    build(): void {\n        const polygonList = Array.from(this.polygons.values());\n\n        for (let i = 0; i < polygonList.length; i++) {\n            for (let j = i + 1; j < polygonList.length; j++) {\n                const polyA = polygonList[i];\n                const polyB = polygonList[j];\n\n                const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n                if (sharedEdge) {\n                    this.setConnection(polyA.id, polyB.id, sharedEdge);\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 查找两个多边形的共享边\n     * @en Find shared edge between two polygons\n     */\n    private findSharedEdge(\n        verticesA: readonly IPoint[],\n        verticesB: readonly IPoint[]\n    ): IPortal | null {\n        const epsilon = 0.0001;\n\n        for (let i = 0; i < verticesA.length; i++) {\n            const a1 = verticesA[i];\n            const a2 = verticesA[(i + 1) % verticesA.length];\n\n            for (let j = 0; j < verticesB.length; j++) {\n                const b1 = verticesB[j];\n                const b2 = verticesB[(j + 1) % verticesB.length];\n\n                // Check if edges match (in either direction)\n                const match1 =\n                    Math.abs(a1.x - b2.x) < epsilon &&\n                    Math.abs(a1.y - b2.y) < epsilon &&\n                    Math.abs(a2.x - b1.x) < epsilon &&\n                    Math.abs(a2.y - b1.y) < epsilon;\n\n                const match2 =\n                    Math.abs(a1.x - b1.x) < epsilon &&\n                    Math.abs(a1.y - b1.y) < epsilon &&\n                    Math.abs(a2.x - b2.x) < epsilon &&\n                    Math.abs(a2.y - b2.y) < epsilon;\n\n                if (match1 || match2) {\n                    return {\n                        left: a1,\n                        right: a2\n                    };\n                }\n            }\n        }\n\n        return null;\n    }\n\n    /**\n     * @zh 计算多边形中心\n     * @en Calculate polygon center\n     */\n    private calculateCenter(vertices: readonly IPoint[]): IPoint {\n        let x = 0;\n        let y = 0;\n\n        for (const v of vertices) {\n            x += v.x;\n            y += v.y;\n        }\n\n        return createPoint(x / vertices.length, y / vertices.length);\n    }\n\n    /**\n     * @zh 查找包含点的多边形\n     * @en Find polygon containing point\n     */\n    findPolygonAt(x: number, y: number): INavPolygon | null {\n        for (const polygon of this.polygons.values()) {\n            if (this.isPointInPolygon(x, y, polygon.vertices)) {\n                return polygon;\n            }\n        }\n        return null;\n    }\n\n    /**\n     * @zh 检查点是否在多边形内\n     * @en Check if point is inside polygon\n     */\n    private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n        let inside = false;\n        const n = vertices.length;\n\n        for (let i = 0, j = n - 1; i < n; j = i++) {\n            const xi = vertices[i].x;\n            const yi = vertices[i].y;\n            const xj = vertices[j].x;\n            const yj = vertices[j].y;\n\n            if (\n                yi > y !== yj > y &&\n                x < ((xj - xi) * (y - yi)) / (yj - yi) + xi\n            ) {\n                inside = !inside;\n            }\n        }\n\n        return inside;\n    }\n\n    // ==========================================================================\n    // IPathfindingMap 接口实现 | IPathfindingMap Interface Implementation\n    // ==========================================================================\n\n    getNodeAt(x: number, y: number): IPathNode | null {\n        const polygon = this.findPolygonAt(x, y);\n        return polygon ? this.nodes.get(polygon.id) ?? null : null;\n    }\n\n    getNeighbors(node: IPathNode): IPathNode[] {\n        const navNode = node as NavMeshNode;\n        const neighbors: IPathNode[] = [];\n\n        for (const neighborId of navNode.polygon.neighbors) {\n            const neighbor = this.nodes.get(neighborId);\n            if (neighbor) {\n                neighbors.push(neighbor);\n            }\n        }\n\n        return neighbors;\n    }\n\n    heuristic(a: IPoint, b: IPoint): number {\n        return euclideanDistance(a, b);\n    }\n\n    getMovementCost(from: IPathNode, to: IPathNode): number {\n        return euclideanDistance(from.position, to.position);\n    }\n\n    isWalkable(x: number, y: number): boolean {\n        return this.findPolygonAt(x, y) !== null;\n    }\n\n    // ==========================================================================\n    // 寻路 | Pathfinding\n    // ==========================================================================\n\n    /**\n     * @zh 在导航网格上寻路\n     * @en Find path on navigation mesh\n     */\n    findPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        const startPolygon = this.findPolygonAt(startX, startY);\n        const endPolygon = this.findPolygonAt(endX, endY);\n\n        if (!startPolygon || !endPolygon) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Same polygon\n        if (startPolygon.id === endPolygon.id) {\n            return {\n                found: true,\n                path: [createPoint(startX, startY), createPoint(endX, endY)],\n                cost: euclideanDistance(\n                    createPoint(startX, startY),\n                    createPoint(endX, endY)\n                ),\n                nodesSearched: 1\n            };\n        }\n\n        // A* on polygon graph\n        const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n        if (!polygonPath.found) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // Convert polygon path to point path using funnel algorithm\n        const start = createPoint(startX, startY);\n        const end = createPoint(endX, endY);\n        const pointPath = this.funnelPath(start, end, polygonPath.polygons, opts.agentRadius);\n\n        return {\n            found: true,\n            path: pointPath,\n            cost: this.calculatePathLength(pointPath),\n            nodesSearched: polygonPath.nodesSearched\n        };\n    }\n\n    /**\n     * @zh 在多边形图上寻路\n     * @en Find path on polygon graph\n     *\n     * @param start - @zh 起始多边形 @en Start polygon\n     * @param end - @zh 目标多边形 @en End polygon\n     * @param opts - @zh 寻路选项 @en Pathfinding options\n     * @param checkObstacles - @zh 是否检查障碍物 @en Whether to check obstacles\n     */\n    private findPolygonPath(\n        start: INavPolygon,\n        end: INavPolygon,\n        opts: Required<IPathfindingOptions>,\n        checkObstacles: boolean = false\n    ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n        interface AStarState {\n            polygon: INavPolygon;\n            g: number;\n            f: number;\n            parent: AStarState | null;\n        }\n\n        const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n        const closed = new Set<number>();\n        const states = new Map<number, AStarState>();\n\n        const startState: AStarState = {\n            polygon: start,\n            g: 0,\n            f: euclideanDistance(start.center, end.center) * opts.heuristicWeight,\n            parent: null\n        };\n\n        states.set(start.id, startState);\n        openList.push(startState);\n\n        let nodesSearched = 0;\n\n        while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n            const current = openList.pop()!;\n            nodesSearched++;\n\n            if (current.polygon.id === end.id) {\n                // Reconstruct path\n                const path: INavPolygon[] = [];\n                let state: AStarState | null = current;\n\n                while (state) {\n                    path.unshift(state.polygon);\n                    state = state.parent;\n                }\n\n                return { found: true, polygons: path, nodesSearched };\n            }\n\n            closed.add(current.polygon.id);\n\n            for (const neighborId of current.polygon.neighbors) {\n                if (closed.has(neighborId)) {\n                    continue;\n                }\n\n                // @zh 检查障碍物：跳过被阻挡或禁用的多边形\n                // @en Check obstacles: skip blocked or disabled polygons\n                if (checkObstacles && this.isPolygonBlocked(neighborId)) {\n                    continue;\n                }\n\n                const neighborPolygon = this.polygons.get(neighborId);\n                if (!neighborPolygon) {\n                    continue;\n                }\n\n                const g = current.g + euclideanDistance(\n                    current.polygon.center,\n                    neighborPolygon.center\n                );\n\n                let neighborState = states.get(neighborId);\n\n                if (!neighborState) {\n                    neighborState = {\n                        polygon: neighborPolygon,\n                        g,\n                        f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n                        parent: current\n                    };\n                    states.set(neighborId, neighborState);\n                    openList.push(neighborState);\n                } else if (g < neighborState.g) {\n                    neighborState.g = g;\n                    neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n                    neighborState.parent = current;\n                    openList.update(neighborState);\n                }\n            }\n        }\n\n        return { found: false, polygons: [], nodesSearched };\n    }\n\n    /**\n     * @zh 使用漏斗算法优化路径（支持代理半径）\n     * @en Optimize path using funnel algorithm (supports agent radius)\n     *\n     * @param start - @zh 起点 @en Start point\n     * @param end - @zh 终点 @en End point\n     * @param polygons - @zh 多边形路径 @en Polygon path\n     * @param agentRadius - @zh 代理半径 @en Agent radius\n     */\n    private funnelPath(\n        start: IPoint,\n        end: IPoint,\n        polygons: INavPolygon[],\n        agentRadius: number = 0\n    ): IPoint[] {\n        if (polygons.length <= 1) {\n            return [start, end];\n        }\n\n        // Collect and shrink portals\n        const portals: { left: IPoint; right: IPoint; originalLeft: IPoint; originalRight: IPoint }[] = [];\n\n        for (let i = 0; i < polygons.length - 1; i++) {\n            const portal = polygons[i].portals.get(polygons[i + 1].id);\n            if (portal) {\n                if (agentRadius > 0) {\n                    const shrunk = this.shrinkPortal(portal.left, portal.right, agentRadius);\n                    portals.push({\n                        left: shrunk.left,\n                        right: shrunk.right,\n                        originalLeft: portal.left,\n                        originalRight: portal.right\n                    });\n                } else {\n                    portals.push({\n                        left: portal.left,\n                        right: portal.right,\n                        originalLeft: portal.left,\n                        originalRight: portal.right\n                    });\n                }\n            }\n        }\n\n        if (portals.length === 0) {\n            return [start, end];\n        }\n\n        // Simple string pulling algorithm with radius-aware turning points\n        const path: IPoint[] = [start];\n\n        let apex = start;\n        let apexOriginal = start;\n        let leftIndex = 0;\n        let rightIndex = 0;\n        let left = portals[0].left;\n        let right = portals[0].right;\n        let leftOriginal = portals[0].originalLeft;\n        let rightOriginal = portals[0].originalRight;\n\n        for (let i = 1; i <= portals.length; i++) {\n            const nextLeft = i < portals.length ? portals[i].left : end;\n            const nextRight = i < portals.length ? portals[i].right : end;\n\n            // Update right\n            if (this.triArea2(apex, right, nextRight) <= 0) {\n                if (this.pointsEqual(apex, right) || this.triArea2(apex, left, nextRight) > 0) {\n                    right = nextRight;\n                    rightIndex = i;\n                    if (i < portals.length) {\n                        rightOriginal = portals[i].originalRight;\n                    }\n                } else {\n                    // Add turning point with radius offset\n                    const turnPoint = agentRadius > 0\n                        ? this.offsetTurningPoint(apexOriginal, leftOriginal, left, agentRadius, 'left')\n                        : left;\n                    path.push(turnPoint);\n\n                    apex = left;\n                    apexOriginal = leftOriginal;\n                    leftIndex = rightIndex = leftIndex;\n                    left = right = apex;\n                    leftOriginal = rightOriginal = apexOriginal;\n                    i = leftIndex;\n                    continue;\n                }\n            }\n\n            // Update left\n            if (this.triArea2(apex, left, nextLeft) >= 0) {\n                if (this.pointsEqual(apex, left) || this.triArea2(apex, right, nextLeft) < 0) {\n                    left = nextLeft;\n                    leftIndex = i;\n                    if (i < portals.length) {\n                        leftOriginal = portals[i].originalLeft;\n                    }\n                } else {\n                    // Add turning point with radius offset\n                    const turnPoint = agentRadius > 0\n                        ? this.offsetTurningPoint(apexOriginal, rightOriginal, right, agentRadius, 'right')\n                        : right;\n                    path.push(turnPoint);\n\n                    apex = right;\n                    apexOriginal = rightOriginal;\n                    leftIndex = rightIndex = rightIndex;\n                    left = right = apex;\n                    leftOriginal = rightOriginal = apexOriginal;\n                    i = rightIndex;\n                    continue;\n                }\n            }\n        }\n\n        path.push(end);\n\n        return path;\n    }\n\n    /**\n     * @zh 收缩 portal（将两端点向内移动 agentRadius）\n     * @en Shrink portal (move endpoints inward by agentRadius)\n     */\n    private shrinkPortal(left: IPoint, right: IPoint, radius: number): { left: IPoint; right: IPoint } {\n        const dx = right.x - left.x;\n        const dy = right.y - left.y;\n        const len = Math.sqrt(dx * dx + dy * dy);\n\n        if (len <= radius * 2) {\n            // Portal too narrow, return center point\n            const cx = (left.x + right.x) / 2;\n            const cy = (left.y + right.y) / 2;\n            return {\n                left: createPoint(cx, cy),\n                right: createPoint(cx, cy)\n            };\n        }\n\n        // Normalize direction\n        const nx = dx / len;\n        const ny = dy / len;\n\n        // Shrink both endpoints inward\n        return {\n            left: createPoint(left.x + nx * radius, left.y + ny * radius),\n            right: createPoint(right.x - nx * radius, right.y - ny * radius)\n        };\n    }\n\n    /**\n     * @zh 偏移拐点以保持与角落的距离\n     * @en Offset turning point to maintain distance from corner\n     *\n     * @param prevApex - @zh 上一个顶点 @en Previous apex\n     * @param cornerOriginal - @zh 原始角落位置 @en Original corner position\n     * @param cornerShrunk - @zh 收缩后的角落位置 @en Shrunk corner position\n     * @param radius - @zh 代理半径 @en Agent radius\n     * @param side - @zh 转向侧 ('left' 或 'right') @en Turn side ('left' or 'right')\n     */\n    private offsetTurningPoint(\n        prevApex: IPoint,\n        cornerOriginal: IPoint,\n        cornerShrunk: IPoint,\n        radius: number,\n        side: 'left' | 'right'\n    ): IPoint {\n        // Direction from previous apex to corner\n        const dx = cornerOriginal.x - prevApex.x;\n        const dy = cornerOriginal.y - prevApex.y;\n        const len = Math.sqrt(dx * dx + dy * dy);\n\n        if (len < 0.0001) {\n            return cornerShrunk;\n        }\n\n        // Perpendicular direction (pointing into the walkable area)\n        // For left turn, perpendicular is to the right of the direction\n        // For right turn, perpendicular is to the left of the direction\n        let perpX: number, perpY: number;\n        if (side === 'left') {\n            perpX = dy / len;\n            perpY = -dx / len;\n        } else {\n            perpX = -dy / len;\n            perpY = dx / len;\n        }\n\n        // Offset the shrunk corner by radius in the perpendicular direction\n        // This ensures the agent's circular body clears the corner\n        return createPoint(\n            cornerShrunk.x + perpX * radius,\n            cornerShrunk.y + perpY * radius\n        );\n    }\n\n    /**\n     * @zh 检查两点是否相等\n     * @en Check if two points are equal\n     */\n    private pointsEqual(a: IPoint, b: IPoint): boolean {\n        return Math.abs(a.x - b.x) < 0.0001 && Math.abs(a.y - b.y) < 0.0001;\n    }\n\n    /**\n     * @zh 计算三角形面积的两倍（用于判断点的相对位置）\n     * @en Calculate twice the triangle area (for point relative position)\n     */\n    private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n        return (c.x - a.x) * (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n    }\n\n    /**\n     * @zh 计算路径总长度\n     * @en Calculate total path length\n     */\n    private calculatePathLength(path: readonly IPoint[]): number {\n        let length = 0;\n\n        for (let i = 1; i < path.length; i++) {\n            length += euclideanDistance(path[i - 1], path[i]);\n        }\n\n        return length;\n    }\n\n    // =========================================================================\n    // 动态障碍物管理 | Dynamic Obstacle Management\n    // =========================================================================\n\n    /**\n     * @zh 添加圆形障碍物\n     * @en Add circular obstacle\n     *\n     * @param x - @zh 中心 X @en Center X\n     * @param y - @zh 中心 Y @en Center Y\n     * @param radius - @zh 半径 @en Radius\n     * @returns @zh 障碍物 ID @en Obstacle ID\n     */\n    addCircleObstacle(x: number, y: number, radius: number): number {\n        const id = this.nextObstacleId++;\n        this.obstacles.set(id, {\n            id,\n            type: 'circle',\n            enabled: true,\n            position: createPoint(x, y),\n            radius\n        });\n        return id;\n    }\n\n    /**\n     * @zh 添加矩形障碍物\n     * @en Add rectangular obstacle\n     *\n     * @param x - @zh 中心 X @en Center X\n     * @param y - @zh 中心 Y @en Center Y\n     * @param halfWidth - @zh 半宽 @en Half width\n     * @param halfHeight - @zh 半高 @en Half height\n     * @returns @zh 障碍物 ID @en Obstacle ID\n     */\n    addRectObstacle(x: number, y: number, halfWidth: number, halfHeight: number): number {\n        const id = this.nextObstacleId++;\n        this.obstacles.set(id, {\n            id,\n            type: 'rect',\n            enabled: true,\n            position: createPoint(x, y),\n            halfWidth,\n            halfHeight\n        });\n        return id;\n    }\n\n    /**\n     * @zh 添加多边形障碍物\n     * @en Add polygon obstacle\n     *\n     * @param vertices - @zh 顶点列表 @en Vertex list\n     * @returns @zh 障碍物 ID @en Obstacle ID\n     */\n    addPolygonObstacle(vertices: IPoint[]): number {\n        const id = this.nextObstacleId++;\n        const center = this.calculateCenter(vertices);\n        this.obstacles.set(id, {\n            id,\n            type: 'polygon',\n            enabled: true,\n            position: center,\n            vertices\n        });\n        return id;\n    }\n\n    /**\n     * @zh 移除障碍物\n     * @en Remove obstacle\n     */\n    removeObstacle(obstacleId: number): boolean {\n        return this.obstacles.delete(obstacleId);\n    }\n\n    /**\n     * @zh 启用/禁用障碍物\n     * @en Enable/disable obstacle\n     */\n    setObstacleEnabled(obstacleId: number, enabled: boolean): void {\n        const obstacle = this.obstacles.get(obstacleId);\n        if (obstacle) {\n            obstacle.enabled = enabled;\n        }\n    }\n\n    /**\n     * @zh 更新障碍物位置\n     * @en Update obstacle position\n     */\n    updateObstaclePosition(obstacleId: number, x: number, y: number): void {\n        const obstacle = this.obstacles.get(obstacleId);\n        if (obstacle) {\n            obstacle.position = createPoint(x, y);\n        }\n    }\n\n    /**\n     * @zh 获取所有障碍物\n     * @en Get all obstacles\n     */\n    getObstacles(): IDynamicObstacle[] {\n        return Array.from(this.obstacles.values());\n    }\n\n    /**\n     * @zh 获取启用的障碍物\n     * @en Get enabled obstacles\n     */\n    getEnabledObstacles(): IDynamicObstacle[] {\n        return Array.from(this.obstacles.values()).filter(o => o.enabled);\n    }\n\n    /**\n     * @zh 清除所有障碍物\n     * @en Clear all obstacles\n     */\n    clearObstacles(): void {\n        this.obstacles.clear();\n        this.nextObstacleId = 0;\n    }\n\n    // =========================================================================\n    // 多边形禁用管理 | Polygon Disable Management\n    // =========================================================================\n\n    /**\n     * @zh 禁用多边形\n     * @en Disable polygon\n     */\n    disablePolygon(polygonId: number): void {\n        this.disabledPolygons.add(polygonId);\n    }\n\n    /**\n     * @zh 启用多边形\n     * @en Enable polygon\n     */\n    enablePolygon(polygonId: number): void {\n        this.disabledPolygons.delete(polygonId);\n    }\n\n    /**\n     * @zh 检查多边形是否被禁用\n     * @en Check if polygon is disabled\n     */\n    isPolygonDisabled(polygonId: number): boolean {\n        return this.disabledPolygons.has(polygonId);\n    }\n\n    /**\n     * @zh 禁用包含指定点的多边形\n     * @en Disable polygon containing specified point\n     */\n    disablePolygonAt(x: number, y: number): number | null {\n        const polygon = this.findPolygonAt(x, y);\n        if (polygon) {\n            this.disablePolygon(polygon.id);\n            return polygon.id;\n        }\n        return null;\n    }\n\n    /**\n     * @zh 清除所有禁用的多边形\n     * @en Clear all disabled polygons\n     */\n    clearDisabledPolygons(): void {\n        this.disabledPolygons.clear();\n    }\n\n    /**\n     * @zh 获取被禁用的多边形 ID 列表\n     * @en Get list of disabled polygon IDs\n     */\n    getDisabledPolygons(): number[] {\n        return Array.from(this.disabledPolygons);\n    }\n\n    // =========================================================================\n    // 障碍物碰撞检测 | Obstacle Collision Detection\n    // =========================================================================\n\n    /**\n     * @zh 检查点是否在任何障碍物内\n     * @en Check if point is inside any obstacle\n     */\n    isPointInObstacle(x: number, y: number): boolean {\n        for (const obstacle of this.obstacles.values()) {\n            if (!obstacle.enabled) continue;\n\n            if (this.isPointInSingleObstacle(x, y, obstacle)) {\n                return true;\n            }\n        }\n        return false;\n    }\n\n    /**\n     * @zh 检查点是否在单个障碍物内\n     * @en Check if point is inside single obstacle\n     */\n    private isPointInSingleObstacle(x: number, y: number, obstacle: IDynamicObstacle): boolean {\n        switch (obstacle.type) {\n            case 'circle': {\n                const dx = x - obstacle.position.x;\n                const dy = y - obstacle.position.y;\n                return dx * dx + dy * dy <= (obstacle.radius ?? 0) ** 2;\n            }\n            case 'rect': {\n                const hw = obstacle.halfWidth ?? 0;\n                const hh = obstacle.halfHeight ?? 0;\n                return Math.abs(x - obstacle.position.x) <= hw &&\n                       Math.abs(y - obstacle.position.y) <= hh;\n            }\n            case 'polygon': {\n                if (!obstacle.vertices) return false;\n                return this.isPointInPolygon(x, y, obstacle.vertices);\n            }\n            default:\n                return false;\n        }\n    }\n\n    /**\n     * @zh 检查线段是否与任何障碍物相交\n     * @en Check if line segment intersects any obstacle\n     */\n    doesLineIntersectObstacle(x1: number, y1: number, x2: number, y2: number): boolean {\n        for (const obstacle of this.obstacles.values()) {\n            if (!obstacle.enabled) continue;\n\n            if (this.doesLineIntersectSingleObstacle(x1, y1, x2, y2, obstacle)) {\n                return true;\n            }\n        }\n        return false;\n    }\n\n    /**\n     * @zh 检查线段是否与单个障碍物相交\n     * @en Check if line segment intersects single obstacle\n     */\n    private doesLineIntersectSingleObstacle(\n        x1: number, y1: number, x2: number, y2: number,\n        obstacle: IDynamicObstacle\n    ): boolean {\n        switch (obstacle.type) {\n            case 'circle': {\n                return this.lineIntersectsCircle(\n                    x1, y1, x2, y2,\n                    obstacle.position.x, obstacle.position.y,\n                    obstacle.radius ?? 0\n                );\n            }\n            case 'rect': {\n                const hw = obstacle.halfWidth ?? 0;\n                const hh = obstacle.halfHeight ?? 0;\n                const minX = obstacle.position.x - hw;\n                const maxX = obstacle.position.x + hw;\n                const minY = obstacle.position.y - hh;\n                const maxY = obstacle.position.y + hh;\n                return this.lineIntersectsRect(x1, y1, x2, y2, minX, minY, maxX, maxY);\n            }\n            case 'polygon': {\n                if (!obstacle.vertices) return false;\n                return this.lineIntersectsPolygon(x1, y1, x2, y2, obstacle.vertices);\n            }\n            default:\n                return false;\n        }\n    }\n\n    /**\n     * @zh 线段与圆相交检测\n     * @en Line segment circle intersection\n     */\n    private lineIntersectsCircle(\n        x1: number, y1: number, x2: number, y2: number,\n        cx: number, cy: number, r: number\n    ): boolean {\n        const dx = x2 - x1;\n        const dy = y2 - y1;\n        const fx = x1 - cx;\n        const fy = y1 - cy;\n\n        const a = dx * dx + dy * dy;\n        const b = 2 * (fx * dx + fy * dy);\n        const c = fx * fx + fy * fy - r * r;\n\n        let discriminant = b * b - 4 * a * c;\n        if (discriminant < 0) return false;\n\n        discriminant = Math.sqrt(discriminant);\n        const t1 = (-b - discriminant) / (2 * a);\n        const t2 = (-b + discriminant) / (2 * a);\n\n        return (t1 >= 0 && t1 <= 1) || (t2 >= 0 && t2 <= 1) || (t1 < 0 && t2 > 1);\n    }\n\n    /**\n     * @zh 线段与矩形相交检测\n     * @en Line segment rectangle intersection\n     */\n    private lineIntersectsRect(\n        x1: number, y1: number, x2: number, y2: number,\n        minX: number, minY: number, maxX: number, maxY: number\n    ): boolean {\n        // Check if either endpoint is inside\n        if ((x1 >= minX && x1 <= maxX && y1 >= minY && y1 <= maxY) ||\n            (x2 >= minX && x2 <= maxX && y2 >= minY && y2 <= maxY)) {\n            return true;\n        }\n\n        // Check intersection with each edge\n        return this.lineSegmentsIntersect(x1, y1, x2, y2, minX, minY, maxX, minY) ||\n               this.lineSegmentsIntersect(x1, y1, x2, y2, maxX, minY, maxX, maxY) ||\n               this.lineSegmentsIntersect(x1, y1, x2, y2, maxX, maxY, minX, maxY) ||\n               this.lineSegmentsIntersect(x1, y1, x2, y2, minX, maxY, minX, minY);\n    }\n\n    /**\n     * @zh 线段与多边形相交检测\n     * @en Line segment polygon intersection\n     */\n    private lineIntersectsPolygon(\n        x1: number, y1: number, x2: number, y2: number,\n        vertices: readonly IPoint[]\n    ): boolean {\n        // Check if either endpoint is inside\n        if (this.isPointInPolygon(x1, y1, vertices) ||\n            this.isPointInPolygon(x2, y2, vertices)) {\n            return true;\n        }\n\n        // Check intersection with each edge\n        for (let i = 0; i < vertices.length; i++) {\n            const j = (i + 1) % vertices.length;\n            if (this.lineSegmentsIntersect(\n                x1, y1, x2, y2,\n                vertices[i].x, vertices[i].y,\n                vertices[j].x, vertices[j].y\n            )) {\n                return true;\n            }\n        }\n        return false;\n    }\n\n    /**\n     * @zh 两线段相交检测\n     * @en Two line segments intersection\n     */\n    private lineSegmentsIntersect(\n        x1: number, y1: number, x2: number, y2: number,\n        x3: number, y3: number, x4: number, y4: number\n    ): boolean {\n        const d1 = this.direction(x3, y3, x4, y4, x1, y1);\n        const d2 = this.direction(x3, y3, x4, y4, x2, y2);\n        const d3 = this.direction(x1, y1, x2, y2, x3, y3);\n        const d4 = this.direction(x1, y1, x2, y2, x4, y4);\n\n        if (((d1 > 0 && d2 < 0) || (d1 < 0 && d2 > 0)) &&\n            ((d3 > 0 && d4 < 0) || (d3 < 0 && d4 > 0))) {\n            return true;\n        }\n\n        const epsilon = 0.0001;\n        if (Math.abs(d1) < epsilon && this.onSegment(x3, y3, x4, y4, x1, y1)) return true;\n        if (Math.abs(d2) < epsilon && this.onSegment(x3, y3, x4, y4, x2, y2)) return true;\n        if (Math.abs(d3) < epsilon && this.onSegment(x1, y1, x2, y2, x3, y3)) return true;\n        if (Math.abs(d4) < epsilon && this.onSegment(x1, y1, x2, y2, x4, y4)) return true;\n\n        return false;\n    }\n\n    private direction(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number): number {\n        return (x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1);\n    }\n\n    private onSegment(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number): boolean {\n        return Math.min(x1, x2) <= x3 && x3 <= Math.max(x1, x2) &&\n               Math.min(y1, y2) <= y3 && y3 <= Math.max(y1, y2);\n    }\n\n    // =========================================================================\n    // 障碍物感知寻路 | Obstacle-Aware Pathfinding\n    // =========================================================================\n\n    /**\n     * @zh 检查多边形是否被障碍物阻挡\n     * @en Check if polygon is blocked by obstacle\n     *\n     * @zh 检查以下条件：\n     * @en Checks the following conditions:\n     * - @zh 多边形是否被禁用 @en Whether polygon is disabled\n     * - @zh 多边形中心是否在障碍物内 @en Whether polygon center is inside obstacle\n     * - @zh 多边形任意顶点是否在障碍物内 @en Whether any polygon vertex is inside obstacle\n     * - @zh 多边形任意边是否与障碍物相交 @en Whether any polygon edge intersects obstacle\n     */\n    isPolygonBlocked(polygonId: number): boolean {\n        if (this.disabledPolygons.has(polygonId)) {\n            return true;\n        }\n\n        const polygon = this.polygons.get(polygonId);\n        if (!polygon) return false;\n\n        // @zh 检查中心点\n        // @en Check center point\n        if (this.isPointInObstacle(polygon.center.x, polygon.center.y)) {\n            return true;\n        }\n\n        // @zh 检查所有顶点\n        // @en Check all vertices\n        for (const vertex of polygon.vertices) {\n            if (this.isPointInObstacle(vertex.x, vertex.y)) {\n                return true;\n            }\n        }\n\n        // @zh 检查所有边是否与障碍物相交\n        // @en Check if any edge intersects with obstacles\n        const vertices = polygon.vertices;\n        for (let i = 0; i < vertices.length; i++) {\n            const v1 = vertices[i];\n            const v2 = vertices[(i + 1) % vertices.length];\n            if (this.doesLineIntersectObstacle(v1.x, v1.y, v2.x, v2.y)) {\n                return true;\n            }\n        }\n\n        return false;\n    }\n\n    /**\n     * @zh 在导航网格上寻路（考虑障碍物）\n     * @en Find path on navigation mesh (considering obstacles)\n     *\n     * @zh 此方法在规划阶段就考虑障碍物，自动绕过被阻挡的多边形\n     * @en This method considers obstacles during planning, automatically avoiding blocked polygons\n     *\n     * @zh 与 findPath 不同，此方法会：\n     * @en Unlike findPath, this method will:\n     * - @zh 在 A* 搜索中跳过被障碍物阻挡的多边形\n     * - @en Skip obstacle-blocked polygons during A* search\n     * - @zh 验证起点和终点不在障碍物内\n     * - @en Verify start and end points are not inside obstacles\n     */\n    findPathWithObstacles(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IPathfindingOptions\n    ): IPathResult {\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        // @zh 检查起点和终点是否在障碍物内\n        // @en Check if start and end are inside obstacles\n        if (this.isPointInObstacle(startX, startY) || this.isPointInObstacle(endX, endY)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        const startPolygon = this.findPolygonAt(startX, startY);\n        const endPolygon = this.findPolygonAt(endX, endY);\n\n        if (!startPolygon || !endPolygon) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // @zh 检查起点/终点多边形是否被阻挡\n        // @en Check if start/end polygons are blocked\n        if (this.isPolygonBlocked(startPolygon.id) || this.isPolygonBlocked(endPolygon.id)) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // @zh 同一多边形内的路径\n        // @en Path within same polygon\n        if (startPolygon.id === endPolygon.id) {\n            const start = createPoint(startX, startY);\n            const end = createPoint(endX, endY);\n\n            // @zh 检查直线路径是否穿过障碍物\n            // @en Check if direct path crosses obstacles\n            if (this.doesLineIntersectObstacle(startX, startY, endX, endY)) {\n                return EMPTY_PATH_RESULT;\n            }\n\n            return {\n                found: true,\n                path: [start, end],\n                cost: euclideanDistance(start, end),\n                nodesSearched: 1\n            };\n        }\n\n        // @zh 使用障碍物感知的多边形路径搜索\n        // @en Use obstacle-aware polygon path search\n        const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts, true);\n\n        if (!polygonPath.found) {\n            return EMPTY_PATH_RESULT;\n        }\n\n        // @zh 使用 Funnel 算法生成路径点\n        // @en Generate path points using Funnel algorithm\n        const start = createPoint(startX, startY);\n        const end = createPoint(endX, endY);\n        const pointPath = this.funnelPath(start, end, polygonPath.polygons, opts.agentRadius);\n\n        return {\n            found: true,\n            path: pointPath,\n            cost: this.calculatePathLength(pointPath),\n            nodesSearched: polygonPath.nodesSearched\n        };\n    }\n\n    /**\n     * @zh 清空导航网格\n     * @en Clear navigation mesh\n     */\n    clear(): void {\n        this.polygons.clear();\n        this.nodes.clear();\n        this.obstacles.clear();\n        this.disabledPolygons.clear();\n        this.nextId = 0;\n        this.nextObstacleId = 0;\n    }\n\n    /**\n     * @zh 获取所有多边形\n     * @en Get all polygons\n     */\n    getPolygons(): INavPolygon[] {\n        return Array.from(this.polygons.values());\n    }\n\n    /**\n     * @zh 获取多边形数量\n     * @en Get polygon count\n     */\n    get polygonCount(): number {\n        return this.polygons.size;\n    }\n\n    /**\n     * @zh 获取障碍物数量\n     * @en Get obstacle count\n     */\n    get obstacleCount(): number {\n        return this.obstacles.size;\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建导航网格\n * @en Create navigation mesh\n */\nexport function createNavMesh(): NavMesh {\n    return new NavMesh();\n}\n","/**\n * @zh 路径平滑算法\n * @en Path Smoothing Algorithms\n */\n\nimport type {\n    IPathfindingMap,\n    IPathSmoother,\n    IPoint\n} from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 视线检测 | Line of Sight\n// =============================================================================\n\n/**\n * @zh 使用 Bresenham 算法检测视线\n * @en Line of sight check using Bresenham algorithm\n */\nexport function bresenhamLineOfSight(\n    x1: number,\n    y1: number,\n    x2: number,\n    y2: number,\n    map: IPathfindingMap\n): boolean {\n    // Round to grid coordinates\n    let ix1 = Math.floor(x1);\n    let iy1 = Math.floor(y1);\n    const ix2 = Math.floor(x2);\n    const iy2 = Math.floor(y2);\n\n    const dx = Math.abs(ix2 - ix1);\n    const dy = Math.abs(iy2 - iy1);\n\n    const sx = ix1 < ix2 ? 1 : -1;\n    const sy = iy1 < iy2 ? 1 : -1;\n\n    let err = dx - dy;\n\n    while (true) {\n        if (!map.isWalkable(ix1, iy1)) {\n            return false;\n        }\n\n        if (ix1 === ix2 && iy1 === iy2) {\n            break;\n        }\n\n        const e2 = 2 * err;\n\n        if (e2 > -dy) {\n            err -= dy;\n            ix1 += sx;\n        }\n\n        if (e2 < dx) {\n            err += dx;\n            iy1 += sy;\n        }\n    }\n\n    return true;\n}\n\n/**\n * @zh 使用射线投射检测视线（更精确）\n * @en Line of sight check using ray casting (more precise)\n */\nexport function raycastLineOfSight(\n    x1: number,\n    y1: number,\n    x2: number,\n    y2: number,\n    map: IPathfindingMap,\n    stepSize: number = 0.5\n): boolean {\n    const dx = x2 - x1;\n    const dy = y2 - y1;\n    const distance = Math.sqrt(dx * dx + dy * dy);\n\n    if (distance === 0) {\n        return map.isWalkable(Math.floor(x1), Math.floor(y1));\n    }\n\n    const steps = Math.ceil(distance / stepSize);\n    const stepX = dx / steps;\n    const stepY = dy / steps;\n\n    let x = x1;\n    let y = y1;\n\n    for (let i = 0; i <= steps; i++) {\n        if (!map.isWalkable(Math.floor(x), Math.floor(y))) {\n            return false;\n        }\n        x += stepX;\n        y += stepY;\n    }\n\n    return true;\n}\n\n// =============================================================================\n// 路径简化器（拐点移除）| Path Simplifier (Waypoint Removal)\n// =============================================================================\n\n/**\n * @zh 路径简化器 - 移除不必要的拐点\n * @en Path Simplifier - Removes unnecessary waypoints\n *\n * @zh 使用视线检测移除可以直接到达的中间点\n * @en Uses line of sight to remove intermediate points that can be reached directly\n */\nexport class LineOfSightSmoother implements IPathSmoother {\n    private readonly lineOfSight: typeof bresenhamLineOfSight;\n\n    constructor(lineOfSight: typeof bresenhamLineOfSight = bresenhamLineOfSight) {\n        this.lineOfSight = lineOfSight;\n    }\n\n    smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n        if (path.length <= 2) {\n            return [...path];\n        }\n\n        const result: IPoint[] = [path[0]];\n        let current = 0;\n\n        while (current < path.length - 1) {\n            // Find the furthest point we can see from current\n            let furthest = current + 1;\n\n            for (let i = path.length - 1; i > current + 1; i--) {\n                if (this.lineOfSight(\n                    path[current].x,\n                    path[current].y,\n                    path[i].x,\n                    path[i].y,\n                    map\n                )) {\n                    furthest = i;\n                    break;\n                }\n            }\n\n            result.push(path[furthest]);\n            current = furthest;\n        }\n\n        return result;\n    }\n}\n\n// =============================================================================\n// 曲线平滑器 | Curve Smoother\n// =============================================================================\n\n/**\n * @zh Catmull-Rom 样条曲线平滑\n * @en Catmull-Rom spline smoothing\n */\nexport class CatmullRomSmoother implements IPathSmoother {\n    private readonly segments: number;\n    private readonly tension: number;\n\n    /**\n     * @param segments - @zh 每段之间的插值点数 @en Number of interpolation points per segment\n     * @param tension - @zh 张力 (0-1) @en Tension (0-1)\n     */\n    constructor(segments: number = 5, tension: number = 0.5) {\n        this.segments = segments;\n        this.tension = tension;\n    }\n\n    smooth(path: readonly IPoint[], _map: IPathfindingMap): IPoint[] {\n        if (path.length <= 2) {\n            return [...path];\n        }\n\n        const result: IPoint[] = [];\n\n        // Add phantom points at the ends\n        const points = [\n            path[0],\n            ...path,\n            path[path.length - 1]\n        ];\n\n        for (let i = 1; i < points.length - 2; i++) {\n            const p0 = points[i - 1];\n            const p1 = points[i];\n            const p2 = points[i + 1];\n            const p3 = points[i + 2];\n\n            for (let j = 0; j < this.segments; j++) {\n                const t = j / this.segments;\n                const point = this.interpolate(p0, p1, p2, p3, t);\n                result.push(point);\n            }\n        }\n\n        // Add final point\n        result.push(path[path.length - 1]);\n\n        return result;\n    }\n\n    /**\n     * @zh Catmull-Rom 插值\n     * @en Catmull-Rom interpolation\n     */\n    private interpolate(\n        p0: IPoint,\n        p1: IPoint,\n        p2: IPoint,\n        p3: IPoint,\n        t: number\n    ): IPoint {\n        const t2 = t * t;\n        const t3 = t2 * t;\n\n        const tension = this.tension;\n\n        const x =\n            0.5 *\n            ((2 * p1.x) +\n                (-p0.x + p2.x) * t * tension +\n                (2 * p0.x - 5 * p1.x + 4 * p2.x - p3.x) * t2 * tension +\n                (-p0.x + 3 * p1.x - 3 * p2.x + p3.x) * t3 * tension);\n\n        const y =\n            0.5 *\n            ((2 * p1.y) +\n                (-p0.y + p2.y) * t * tension +\n                (2 * p0.y - 5 * p1.y + 4 * p2.y - p3.y) * t2 * tension +\n                (-p0.y + 3 * p1.y - 3 * p2.y + p3.y) * t3 * tension);\n\n        return createPoint(x, y);\n    }\n}\n\n// =============================================================================\n// 组合平滑器 | Combined Smoother\n// =============================================================================\n\n/**\n * @zh 组合路径平滑器\n * @en Combined path smoother\n *\n * @zh 先简化路径，再用曲线平滑\n * @en First simplify path, then smooth with curves\n */\nexport class CombinedSmoother implements IPathSmoother {\n    private readonly simplifier: LineOfSightSmoother;\n    private readonly curveSmoother: CatmullRomSmoother;\n\n    constructor(curveSegments: number = 5, tension: number = 0.5) {\n        this.simplifier = new LineOfSightSmoother();\n        this.curveSmoother = new CatmullRomSmoother(curveSegments, tension);\n    }\n\n    smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n        // First simplify\n        const simplified = this.simplifier.smooth(path, map);\n\n        // Then curve smooth\n        return this.curveSmoother.smooth(simplified, map);\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Functions\n// =============================================================================\n\n/**\n * @zh 创建视线平滑器\n * @en Create line of sight smoother\n */\nexport function createLineOfSightSmoother(\n    lineOfSight?: typeof bresenhamLineOfSight\n): LineOfSightSmoother {\n    return new LineOfSightSmoother(lineOfSight);\n}\n\n/**\n * @zh 创建曲线平滑器\n * @en Create curve smoother\n */\nexport function createCatmullRomSmoother(\n    segments?: number,\n    tension?: number\n): CatmullRomSmoother {\n    return new CatmullRomSmoother(segments, tension);\n}\n\n/**\n * @zh 创建组合平滑器\n * @en Create combined smoother\n */\nexport function createCombinedSmoother(\n    curveSegments?: number,\n    tension?: number\n): CombinedSmoother {\n    return new CombinedSmoother(curveSegments, tension);\n}\n","/**\n * @zh 半径感知路径平滑器\n * @en Radius-Aware Path Smoother\n *\n * @zh 通用的路径后处理器，确保路径与障碍物保持安全距离\n * @en Generic path post-processor that ensures paths maintain safe distance from obstacles\n */\n\nimport type { IPathfindingMap, IPathSmoother, IPoint } from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 配置 | Configuration\n// =============================================================================\n\n/**\n * @zh 半径感知平滑器配置\n * @en Radius-aware smoother configuration\n */\nexport interface IRadiusAwareSmootherConfig {\n    /**\n     * @zh 代理半径\n     * @en Agent radius\n     */\n    agentRadius: number;\n\n    /**\n     * @zh 额外安全边距\n     * @en Extra safety margin\n     * @default 0.1\n     */\n    safetyMargin?: number;\n\n    /**\n     * @zh 采样方向数量（用于检测周围障碍物）\n     * @en Number of sample directions (for detecting nearby obstacles)\n     * @default 8\n     */\n    sampleDirections?: number;\n\n    /**\n     * @zh 最大偏移尝试次数\n     * @en Maximum offset attempts\n     * @default 8\n     */\n    maxOffsetAttempts?: number;\n\n    /**\n     * @zh 是否处理拐点（角落）\n     * @en Whether to process turning points (corners)\n     * @default true\n     */\n    processCorners?: boolean;\n}\n\n/**\n * @zh 默认配置\n * @en Default configuration\n */\nconst DEFAULT_CONFIG: Required<Omit<IRadiusAwareSmootherConfig, 'agentRadius'>> = {\n    safetyMargin: 0.1,\n    sampleDirections: 8,\n    maxOffsetAttempts: 8,\n    processCorners: true\n};\n\n// =============================================================================\n// 半径感知路径平滑器 | Radius-Aware Path Smoother\n// =============================================================================\n\n/**\n * @zh 半径感知路径平滑器\n * @en Radius-Aware Path Smoother\n *\n * @zh 对任意寻路算法输出的路径进行后处理，确保路径点与障碍物保持足够距离\n * @en Post-processes paths from any pathfinding algorithm to ensure path points maintain sufficient distance from obstacles\n *\n * @example\n * ```typescript\n * // 创建平滑器\n * const smoother = new RadiusAwarePathSmoother({ agentRadius: 0.5 });\n *\n * // 处理路径\n * const safePath = smoother.smooth(rawPath, map);\n *\n * // 与其他平滑器组合使用\n * const combined = new CombinedRadiusAwareSmoother(\n *     new LineOfSightSmoother(),\n *     { agentRadius: 0.5 }\n * );\n * ```\n */\nexport class RadiusAwarePathSmoother implements IPathSmoother {\n    private readonly config: Required<IRadiusAwareSmootherConfig>;\n    private readonly sampleAngles: number[];\n\n    constructor(config: IRadiusAwareSmootherConfig) {\n        this.config = {\n            ...DEFAULT_CONFIG,\n            ...config\n        };\n\n        // 预计算采样角度\n        this.sampleAngles = [];\n        const step = (Math.PI * 2) / this.config.sampleDirections;\n        for (let i = 0; i < this.config.sampleDirections; i++) {\n            this.sampleAngles.push(i * step);\n        }\n    }\n\n    /**\n     * @zh 平滑路径，确保与障碍物保持安全距离\n     * @en Smooth path, ensuring safe distance from obstacles\n     *\n     * @param path - @zh 原始路径 @en Original path\n     * @param map - @zh 地图 @en Map\n     * @returns @zh 处理后的安全路径 @en Processed safe path\n     */\n    smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n        if (path.length <= 1) {\n            return [...path];\n        }\n\n        const result: IPoint[] = [];\n        const clearance = this.config.agentRadius + this.config.safetyMargin;\n\n        for (let i = 0; i < path.length; i++) {\n            const point = path[i]!;\n            const isCorner = this.config.processCorners && i > 0 && i < path.length - 1;\n\n            let safePoint: IPoint;\n\n            if (isCorner) {\n                // 处理拐点\n                const prev = path[i - 1]!;\n                const next = path[i + 1]!;\n                safePoint = this.offsetCornerPoint(point, prev, next, clearance, map);\n            } else {\n                // 处理普通点\n                safePoint = this.offsetPointFromObstacles(point, clearance, map);\n            }\n\n            result.push(safePoint);\n        }\n\n        return result;\n    }\n\n    /**\n     * @zh 将点从障碍物偏移\n     * @en Offset point away from obstacles\n     */\n    private offsetPointFromObstacles(\n        point: IPoint,\n        clearance: number,\n        map: IPathfindingMap\n    ): IPoint {\n        // 检测周围障碍物\n        const obstacleDirections = this.detectNearbyObstacles(point, clearance, map);\n\n        if (obstacleDirections.length === 0) {\n            // 没有障碍物在范围内\n            return point;\n        }\n\n        // 计算平均障碍物方向\n        let avgDirX = 0;\n        let avgDirY = 0;\n        for (const dir of obstacleDirections) {\n            avgDirX += dir.x;\n            avgDirY += dir.y;\n        }\n\n        const len = Math.sqrt(avgDirX * avgDirX + avgDirY * avgDirY);\n        if (len < 0.0001) {\n            // 障碍物方向相互抵消，保持原位\n            return point;\n        }\n\n        // 反方向偏移（远离障碍物）\n        const offsetDirX = -avgDirX / len;\n        const offsetDirY = -avgDirY / len;\n\n        // 尝试不同的偏移距离\n        for (let attempt = 1; attempt <= this.config.maxOffsetAttempts; attempt++) {\n            const offsetDist = clearance * attempt / this.config.maxOffsetAttempts;\n            const newX = point.x + offsetDirX * offsetDist;\n            const newY = point.y + offsetDirY * offsetDist;\n\n            if (map.isWalkable(Math.floor(newX), Math.floor(newY))) {\n                // 检查新位置是否有足够的clearance\n                const newObstacles = this.detectNearbyObstacles(\n                    createPoint(newX, newY),\n                    clearance,\n                    map\n                );\n\n                if (newObstacles.length === 0) {\n                    return createPoint(newX, newY);\n                }\n            }\n        }\n\n        // 无法找到更好的位置，返回原点\n        return point;\n    }\n\n    /**\n     * @zh 偏移拐点（角落）\n     * @en Offset corner point\n     */\n    private offsetCornerPoint(\n        corner: IPoint,\n        prev: IPoint,\n        next: IPoint,\n        clearance: number,\n        map: IPathfindingMap\n    ): IPoint {\n        // 计算进入方向和离开方向\n        const inDirX = corner.x - prev.x;\n        const inDirY = corner.y - prev.y;\n        const inLen = Math.sqrt(inDirX * inDirX + inDirY * inDirY);\n\n        const outDirX = next.x - corner.x;\n        const outDirY = next.y - corner.y;\n        const outLen = Math.sqrt(outDirX * outDirX + outDirY * outDirY);\n\n        if (inLen < 0.0001 || outLen < 0.0001) {\n            return this.offsetPointFromObstacles(corner, clearance, map);\n        }\n\n        // 标准化方向\n        const inNormX = inDirX / inLen;\n        const inNormY = inDirY / inLen;\n        const outNormX = outDirX / outLen;\n        const outNormY = outDirY / outLen;\n\n        // 计算角平分线方向（指向角的内侧）\n        // 角平分线 = 入射方向 + 出射方向的反方向\n        const bisectX = inNormX - outNormX;\n        const bisectY = inNormY - outNormY;\n        const bisectLen = Math.sqrt(bisectX * bisectX + bisectY * bisectY);\n\n        if (bisectLen < 0.0001) {\n            // 直线，不需要特殊处理\n            return this.offsetPointFromObstacles(corner, clearance, map);\n        }\n\n        // 标准化角平分线\n        const bisectNormX = bisectX / bisectLen;\n        const bisectNormY = bisectY / bisectLen;\n\n        // 计算转角角度\n        const dotProduct = inNormX * outNormX + inNormY * outNormY;\n        const angle = Math.acos(Math.max(-1, Math.min(1, dotProduct)));\n\n        // 计算需要的偏移距离\n        // 在角落处，需要偏移 clearance / sin(angle/2) 才能保持与两边的距离\n        const halfAngle = angle / 2;\n        const sinHalfAngle = Math.sin(halfAngle);\n\n        if (sinHalfAngle < 0.1) {\n            // 角度太小（几乎是直线），使用普通偏移\n            return this.offsetPointFromObstacles(corner, clearance, map);\n        }\n\n        const offsetDist = clearance / sinHalfAngle;\n\n        // 限制最大偏移距离\n        const maxOffset = clearance * 3;\n        const actualOffset = Math.min(offsetDist, maxOffset);\n\n        // 沿角平分线偏移\n        const newX = corner.x + bisectNormX * actualOffset;\n        const newY = corner.y + bisectNormY * actualOffset;\n\n        // 验证新位置是否可行\n        if (map.isWalkable(Math.floor(newX), Math.floor(newY))) {\n            return createPoint(newX, newY);\n        }\n\n        // 如果角平分线方向不可行，尝试反方向\n        const altX = corner.x - bisectNormX * actualOffset;\n        const altY = corner.y - bisectNormY * actualOffset;\n\n        if (map.isWalkable(Math.floor(altX), Math.floor(altY))) {\n            return createPoint(altX, altY);\n        }\n\n        // 回退到普通偏移\n        return this.offsetPointFromObstacles(corner, clearance, map);\n    }\n\n    /**\n     * @zh 检测附近的障碍物方向\n     * @en Detect nearby obstacle directions\n     */\n    private detectNearbyObstacles(\n        point: IPoint,\n        clearance: number,\n        map: IPathfindingMap\n    ): IPoint[] {\n        const obstacles: IPoint[] = [];\n\n        for (const angle of this.sampleAngles) {\n            const dirX = Math.cos(angle);\n            const dirY = Math.sin(angle);\n\n            // 沿该方向采样\n            const sampleX = point.x + dirX * clearance;\n            const sampleY = point.y + dirY * clearance;\n\n            if (!map.isWalkable(Math.floor(sampleX), Math.floor(sampleY))) {\n                // 该方向有障碍物\n                obstacles.push(createPoint(dirX, dirY));\n            }\n        }\n\n        return obstacles;\n    }\n}\n\n// =============================================================================\n// 组合平滑器 | Combined Smoother\n// =============================================================================\n\n/**\n * @zh 组合半径感知平滑器\n * @en Combined radius-aware smoother\n *\n * @zh 先使用其他平滑器（如 LOS、Catmull-Rom），再应用半径感知处理\n * @en First applies other smoother (like LOS, Catmull-Rom), then applies radius-aware processing\n *\n * @example\n * ```typescript\n * const smoother = new CombinedRadiusAwareSmoother(\n *     new LineOfSightSmoother(),\n *     { agentRadius: 0.5 }\n * );\n * const path = smoother.smooth(rawPath, map);\n * ```\n */\nexport class CombinedRadiusAwareSmoother implements IPathSmoother {\n    private readonly baseSmoother: IPathSmoother;\n    private readonly radiusAwareSmoother: RadiusAwarePathSmoother;\n\n    constructor(\n        baseSmoother: IPathSmoother,\n        config: IRadiusAwareSmootherConfig\n    ) {\n        this.baseSmoother = baseSmoother;\n        this.radiusAwareSmoother = new RadiusAwarePathSmoother(config);\n    }\n\n    smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n        // 先用基础平滑器处理\n        const smoothed = this.baseSmoother.smooth(path, map);\n\n        // 再应用半径感知处理\n        return this.radiusAwareSmoother.smooth(smoothed, map);\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Functions\n// =============================================================================\n\n/**\n * @zh 创建半径感知平滑器\n * @en Create radius-aware smoother\n *\n * @param agentRadius - @zh 代理半径 @en Agent radius\n * @param options - @zh 额外配置 @en Additional options\n *\n * @example\n * ```typescript\n * const smoother = createRadiusAwareSmoother(0.5);\n * const safePath = smoother.smooth(path, map);\n * ```\n */\nexport function createRadiusAwareSmoother(\n    agentRadius: number,\n    options?: Omit<IRadiusAwareSmootherConfig, 'agentRadius'>\n): RadiusAwarePathSmoother {\n    return new RadiusAwarePathSmoother({\n        agentRadius,\n        ...options\n    });\n}\n\n/**\n * @zh 创建组合半径感知平滑器\n * @en Create combined radius-aware smoother\n *\n * @param baseSmoother - @zh 基础平滑器 @en Base smoother\n * @param agentRadius - @zh 代理半径 @en Agent radius\n * @param options - @zh 额外配置 @en Additional options\n *\n * @example\n * ```typescript\n * const smoother = createCombinedRadiusAwareSmoother(\n *     new LineOfSightSmoother(),\n *     0.5\n * );\n * ```\n */\nexport function createCombinedRadiusAwareSmoother(\n    baseSmoother: IPathSmoother,\n    agentRadius: number,\n    options?: Omit<IRadiusAwareSmootherConfig, 'agentRadius'>\n): CombinedRadiusAwareSmoother {\n    return new CombinedRadiusAwareSmoother(baseSmoother, {\n        agentRadius,\n        ...options\n    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