@esengine/pathfinding 13.2.0 → 13.3.1

package/dist/chunk-ZYGBA7VK.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/core/IPathfinding.ts","../src/core/BinaryHeap.ts","../src/core/IndexedBinaryHeap.ts","../src/core/AStarPathfinder.ts","../src/core/PathCache.ts","../src/core/IncrementalAStarPathfinder.ts","../src/core/JPSPathfinder.ts","../src/core/HPAPathfinder.ts","../src/interfaces/IPathPlanner.ts","../src/interfaces/ICollisionResolver.ts","../src/interfaces/IFlowController.ts","../src/adapters/NavMeshPathPlannerAdapter.ts","../src/adapters/GridPathfinderAdapter.ts","../src/adapters/IncrementalGridPathPlannerAdapter.ts","../src/adapters/ORCALocalAvoidanceAdapter.ts","../src/adapters/CollisionResolverAdapter.ts","../src/adapters/FlowController.ts"],"sourcesContent":["/**\n * @zh 寻路系统核心接口\n * @en Pathfinding System Core Interfaces\n */\n\n// =============================================================================\n// 基础类型 | Basic Types\n// =============================================================================\n\n/**\n * @zh 2D 坐标点\n * @en 2D coordinate point\n */\nexport interface IPoint {\n    readonly x: number;\n    readonly y: number;\n}\n\n/**\n * @zh 创建点\n * @en Create a point\n */\nexport function createPoint(x: number, y: number): IPoint {\n    return { x, y };\n}\n\n/**\n * @zh 路径节点\n * @en Path node\n */\nexport interface IPathNode {\n    /** @zh 节点唯一标识 @en Unique node identifier */\n    readonly id: string | number;\n    /** @zh 节点位置 @en Node position */\n    readonly position: IPoint;\n    /** @zh 移动代价 @en Movement cost */\n    readonly cost: number;\n    /** @zh 是否可通行 @en Is walkable */\n    readonly walkable: boolean;\n}\n\n/**\n * @zh 路径结果\n * @en Path result\n */\nexport interface IPathResult {\n    /** @zh 是否找到路径 @en Whether path was found */\n    readonly found: boolean;\n    /** @zh 路径点列表 @en List of path points */\n    readonly path: readonly IPoint[];\n    /** @zh 路径总代价 @en Total path cost */\n    readonly cost: number;\n    /** @zh 搜索的节点数 @en Number of nodes searched */\n    readonly nodesSearched: number;\n}\n\n/**\n * @zh 空路径结果\n * @en Empty path result\n */\nexport const EMPTY_PATH_RESULT: IPathResult = {\n    found: false,\n    path: [],\n    cost: 0,\n    nodesSearched: 0\n};\n\n// =============================================================================\n// 地图接口 | Map Interface\n// =============================================================================\n\n/**\n * @zh 寻路地图接口\n * @en Pathfinding map interface\n */\nexport interface IPathfindingMap {\n    /**\n     * @zh 获取节点的邻居\n     * @en Get neighbors of a node\n     */\n    getNeighbors(node: IPathNode): IPathNode[];\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): IPathNode | null;\n\n    /**\n     * @zh 计算两点间的启发式距离\n     * @en Calculate heuristic distance between two points\n     */\n    heuristic(a: IPoint, b: IPoint): number;\n\n    /**\n     * @zh 计算两个邻居节点间的移动代价\n     * @en Calculate movement cost between two neighbor nodes\n     */\n    getMovementCost(from: IPathNode, to: IPathNode): number;\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}\n\n// =============================================================================\n// 启发式函数 | Heuristic Functions\n// =============================================================================\n\n/**\n * @zh 启发式函数类型\n * @en Heuristic function type\n */\nexport type HeuristicFunction = (a: IPoint, b: IPoint) => number;\n\n/**\n * @zh 曼哈顿距离（4方向移动）\n * @en Manhattan distance (4-directional movement)\n */\nexport function manhattanDistance(a: IPoint, b: IPoint): number {\n    return Math.abs(a.x - b.x) + Math.abs(a.y - b.y);\n}\n\n/**\n * @zh 欧几里得距离（任意方向移动）\n * @en Euclidean distance (any direction movement)\n */\nexport function euclideanDistance(a: IPoint, b: IPoint): number {\n    const dx = a.x - b.x;\n    const dy = a.y - b.y;\n    return Math.sqrt(dx * dx + dy * dy);\n}\n\n/**\n * @zh 切比雪夫距离（8方向移动）\n * @en Chebyshev distance (8-directional movement)\n */\nexport function chebyshevDistance(a: IPoint, b: IPoint): number {\n    return Math.max(Math.abs(a.x - b.x), Math.abs(a.y - b.y));\n}\n\n/**\n * @zh 八角距离（8方向移动，对角线代价为 √2）\n * @en Octile distance (8-directional, diagonal cost √2)\n */\nexport function octileDistance(a: IPoint, b: IPoint): number {\n    const dx = Math.abs(a.x - b.x);\n    const dy = Math.abs(a.y - b.y);\n    const D = 1;\n    const D2 = Math.SQRT2;\n    return D * (dx + dy) + (D2 - 2 * D) * Math.min(dx, dy);\n}\n\n// =============================================================================\n// 寻路器接口 | Pathfinder Interface\n// =============================================================================\n\n/**\n * @zh 寻路配置\n * @en Pathfinding options\n */\nexport interface IPathfindingOptions {\n    /** @zh 最大搜索节点数 @en Maximum nodes to search */\n    maxNodes?: number;\n    /** @zh 启发式权重 (>1 更快但可能非最优) @en Heuristic weight (>1 faster but may be suboptimal) */\n    heuristicWeight?: number;\n    /** @zh 是否允许对角移动 @en Allow diagonal movement */\n    allowDiagonal?: boolean;\n    /** @zh 是否避免穿角 @en Avoid corner cutting */\n    avoidCorners?: boolean;\n    /**\n     * @zh 代理半径，用于生成考虑碰撞体积的路径\n     * @en Agent radius, used to generate paths that consider collision volume\n     *\n     * @zh 如果指定，路径规划器会收缩 portal 宽度并偏移拐点，确保路径与障碍物保持足够距离\n     * @en If specified, the path planner will shrink portal widths and offset turning points to ensure sufficient clearance from obstacles\n     */\n    agentRadius?: number;\n}\n\n/**\n * @zh 默认寻路配置\n * @en Default pathfinding options\n */\nexport const DEFAULT_PATHFINDING_OPTIONS: Required<IPathfindingOptions> = {\n    maxNodes: 10000,\n    heuristicWeight: 1.0,\n    allowDiagonal: true,\n    avoidCorners: true,\n    agentRadius: 0\n};\n\n/**\n * @zh 寻路器接口\n * @en Pathfinder interface\n */\nexport interface IPathfinder {\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\n    /**\n     * @zh 清理状态（用于重用）\n     * @en Clear state (for reuse)\n     */\n    clear(): void;\n}\n\n// =============================================================================\n// 路径平滑接口 | Path Smoothing Interface\n// =============================================================================\n\n/**\n * @zh 路径平滑器接口\n * @en Path smoother interface\n */\nexport interface IPathSmoother {\n    /**\n     * @zh 平滑路径\n     * @en Smooth path\n     */\n    smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[];\n}\n\n/**\n * @zh 视线检测函数类型\n * @en Line of sight check function type\n */\nexport type LineOfSightCheck = (\n    x1: number,\n    y1: number,\n    x2: number,\n    y2: number,\n    map: IPathfindingMap\n) => boolean;\n","/**\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 带索引追踪的二叉堆（优先队列）\n * @en Indexed Binary Heap (Priority Queue) with index tracking\n */\n\n/**\n * @zh 可索引的堆元素接口\n * @en Interface for indexable heap elements\n */\nexport interface IHeapIndexable {\n    /** @zh 堆中的索引位置 @en Index position in heap */\n    heapIndex: number;\n}\n\n/**\n * @zh 带索引追踪的二叉堆\n * @en Binary Heap with index tracking\n */\nexport class IndexedBinaryHeap<T extends IHeapIndexable> {\n    private heap: T[] = [];\n    private readonly compare: (a: T, b: T) => number;\n\n    /**\n     * @zh 创建带索引追踪的二叉堆\n     * @en Create indexed 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        item.heapIndex = this.heap.length;\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        result.heapIndex = -1;\n\n        const last = this.heap.pop()!;\n\n        if (this.heap.length > 0) {\n            last.heapIndex = 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\n     * @en Update element\n     */\n    update(item: T): void {\n        const index = item.heapIndex;\n        if (index >= 0 && index < this.heap.length && this.heap[index] === item) {\n            this.bubbleUp(index);\n            this.sinkDown(item.heapIndex);\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        const index = item.heapIndex;\n        return index >= 0 && index < this.heap.length && this.heap[index] === item;\n    }\n\n    /**\n     * @zh 从堆中移除指定元素\n     * @en Remove specific element from heap\n     */\n    remove(item: T): boolean {\n        const index = item.heapIndex;\n        if (index < 0 || index >= this.heap.length || this.heap[index] !== item) {\n            return false;\n        }\n\n        item.heapIndex = -1;\n\n        if (index === this.heap.length - 1) {\n            this.heap.pop();\n            return true;\n        }\n\n        const last = this.heap.pop()!;\n        last.heapIndex = index;\n        this.heap[index] = last;\n        this.bubbleUp(index);\n        this.sinkDown(last.heapIndex);\n\n        return true;\n    }\n\n    /**\n     * @zh 清空堆\n     * @en Clear heap\n     */\n    clear(): void {\n        for (const item of this.heap) {\n            item.heapIndex = -1;\n        }\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 = (index - 1) >> 1;\n            const parent = this.heap[parentIndex];\n\n            if (this.compare(item, parent) >= 0) {\n                break;\n            }\n\n            parent.heapIndex = index;\n            this.heap[index] = parent;\n            index = parentIndex;\n        }\n\n        item.heapIndex = index;\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        const halfLength = length >> 1;\n\n        while (index < halfLength) {\n            const leftIndex = (index << 1) + 1;\n            const rightIndex = leftIndex + 1;\n            let smallest = index;\n            let smallestItem = item;\n\n            const left = this.heap[leftIndex];\n            if (this.compare(left, smallestItem) < 0) {\n                smallest = leftIndex;\n                smallestItem = left;\n            }\n\n            if (rightIndex < length) {\n                const right = this.heap[rightIndex];\n                if (this.compare(right, smallestItem) < 0) {\n                    smallest = rightIndex;\n                    smallestItem = right;\n                }\n            }\n\n            if (smallest === index) {\n                break;\n            }\n\n            smallestItem.heapIndex = index;\n            this.heap[index] = smallestItem;\n            index = smallest;\n        }\n\n        item.heapIndex = index;\n        this.heap[index] = item;\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 路径缓存模块\n * @en Path Cache Module\n *\n * @zh 缓存已计算的路径，避免重复计算相同起点终点的路径\n * @en Cache computed paths to avoid recalculating paths with the same start and end points\n */\n\nimport type { IPoint, IPathResult } from './IPathfinding';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh 缓存条目\n * @en Cache entry\n */\ninterface ICacheEntry {\n    result: IPathResult;\n    timestamp: number;\n    mapVersion: number;\n}\n\n/**\n * @zh 缓存配置\n * @en Cache configuration\n */\nexport interface IPathCacheConfig {\n    /**\n     * @zh 最大缓存条目数\n     * @en Maximum number of cache entries\n     */\n    maxEntries: number;\n\n    /**\n     * @zh 缓存过期时间（毫秒），0 表示不过期\n     * @en Cache expiration time in milliseconds, 0 means no expiration\n     */\n    ttlMs: number;\n\n    /**\n     * @zh 是否启用近似匹配（在一定范围内的起点/终点视为相同）\n     * @en Whether to enable approximate matching (start/end within range considered same)\n     */\n    enableApproximateMatch: boolean;\n\n    /**\n     * @zh 近似匹配范围\n     * @en Approximate matching range\n     */\n    approximateRange: number;\n}\n\n/**\n * @zh 默认缓存配置\n * @en Default cache configuration\n */\nexport const DEFAULT_PATH_CACHE_CONFIG: IPathCacheConfig = {\n    maxEntries: 1000,\n    ttlMs: 5000,\n    enableApproximateMatch: false,\n    approximateRange: 2\n};\n\n// =============================================================================\n// 路径缓存 | Path Cache\n// =============================================================================\n\n/**\n * @zh 路径缓存\n * @en Path Cache\n *\n * @zh 缓存已计算的路径，支持 LRU 淘汰策略和 TTL 过期\n * @en Cache computed paths with LRU eviction and TTL expiration\n *\n * @example\n * ```typescript\n * const cache = new PathCache({ maxEntries: 500 });\n * const cached = cache.get(0, 0, 10, 10, mapVersion);\n * if (!cached) {\n *     const result = pathfinder.findPath(0, 0, 10, 10);\n *     cache.set(0, 0, 10, 10, result, mapVersion);\n * }\n * ```\n */\nexport class PathCache {\n    private readonly config: IPathCacheConfig;\n    private readonly cache: Map<string, ICacheEntry>;\n    private readonly accessOrder: string[];\n\n    constructor(config: Partial<IPathCacheConfig> = {}) {\n        this.config = { ...DEFAULT_PATH_CACHE_CONFIG, ...config };\n        this.cache = new Map();\n        this.accessOrder = [];\n    }\n\n    /**\n     * @zh 获取缓存的路径\n     * @en Get cached path\n     *\n     * @param startX - @zh 起点 X 坐标 @en Start X coordinate\n     * @param startY - @zh 起点 Y 坐标 @en Start Y coordinate\n     * @param endX - @zh 终点 X 坐标 @en End X coordinate\n     * @param endY - @zh 终点 Y 坐标 @en End Y coordinate\n     * @param mapVersion - @zh 地图版本号 @en Map version number\n     * @returns @zh 缓存的路径结果或 null @en Cached path result or null\n     */\n    get(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        mapVersion: number\n    ): IPathResult | null {\n        const key = this.generateKey(startX, startY, endX, endY);\n        const entry = this.cache.get(key);\n\n        if (!entry) {\n            if (this.config.enableApproximateMatch) {\n                return this.getApproximate(startX, startY, endX, endY, mapVersion);\n            }\n            return null;\n        }\n\n        if (!this.isValid(entry, mapVersion)) {\n            this.cache.delete(key);\n            this.removeFromAccessOrder(key);\n            return null;\n        }\n\n        this.updateAccessOrder(key);\n        return entry.result;\n    }\n\n    /**\n     * @zh 设置缓存路径\n     * @en Set cached path\n     *\n     * @param startX - @zh 起点 X 坐标 @en Start X coordinate\n     * @param startY - @zh 起点 Y 坐标 @en Start Y coordinate\n     * @param endX - @zh 终点 X 坐标 @en End X coordinate\n     * @param endY - @zh 终点 Y 坐标 @en End Y coordinate\n     * @param result - @zh 路径结果 @en Path result\n     * @param mapVersion - @zh 地图版本号 @en Map version number\n     */\n    set(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        result: IPathResult,\n        mapVersion: number\n    ): void {\n        if (this.cache.size >= this.config.maxEntries) {\n            this.evictLRU();\n        }\n\n        const key = this.generateKey(startX, startY, endX, endY);\n        const entry: ICacheEntry = {\n            result,\n            timestamp: Date.now(),\n            mapVersion\n        };\n\n        this.cache.set(key, entry);\n        this.updateAccessOrder(key);\n    }\n\n    /**\n     * @zh 使所有缓存失效\n     * @en Invalidate all cache\n     */\n    invalidateAll(): void {\n        this.cache.clear();\n        this.accessOrder.length = 0;\n    }\n\n    /**\n     * @zh 使指定区域的缓存失效\n     * @en Invalidate cache for specified region\n     *\n     * @param minX - @zh 最小 X 坐标 @en Minimum X coordinate\n     * @param minY - @zh 最小 Y 坐标 @en Minimum Y coordinate\n     * @param maxX - @zh 最大 X 坐标 @en Maximum X coordinate\n     * @param maxY - @zh 最大 Y 坐标 @en Maximum Y coordinate\n     */\n    invalidateRegion(minX: number, minY: number, maxX: number, maxY: number): void {\n        const keysToDelete: string[] = [];\n\n        for (const [key, entry] of this.cache) {\n            const path = entry.result.path;\n            if (path.length === 0) continue;\n\n            for (const point of path) {\n                if (point.x >= minX && point.x <= maxX &&\n                    point.y >= minY && point.y <= maxY) {\n                    keysToDelete.push(key);\n                    break;\n                }\n            }\n        }\n\n        for (const key of keysToDelete) {\n            this.cache.delete(key);\n            this.removeFromAccessOrder(key);\n        }\n    }\n\n    /**\n     * @zh 获取缓存统计信息\n     * @en Get cache statistics\n     */\n    getStats(): { size: number; maxSize: number; hitRate?: number } {\n        return {\n            size: this.cache.size,\n            maxSize: this.config.maxEntries\n        };\n    }\n\n    /**\n     * @zh 清理过期条目\n     * @en Clean up expired entries\n     */\n    cleanup(): void {\n        if (this.config.ttlMs === 0) return;\n\n        const now = Date.now();\n        const keysToDelete: string[] = [];\n\n        for (const [key, entry] of this.cache) {\n            if (now - entry.timestamp > this.config.ttlMs) {\n                keysToDelete.push(key);\n            }\n        }\n\n        for (const key of keysToDelete) {\n            this.cache.delete(key);\n            this.removeFromAccessOrder(key);\n        }\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    private generateKey(startX: number, startY: number, endX: number, endY: number): string {\n        return `${startX},${startY}->${endX},${endY}`;\n    }\n\n    private isValid(entry: ICacheEntry, mapVersion: number): boolean {\n        if (entry.mapVersion !== mapVersion) {\n            return false;\n        }\n\n        if (this.config.ttlMs > 0) {\n            const age = Date.now() - entry.timestamp;\n            if (age > this.config.ttlMs) {\n                return false;\n            }\n        }\n\n        return true;\n    }\n\n    private getApproximate(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        mapVersion: number\n    ): IPathResult | null {\n        const range = this.config.approximateRange;\n\n        for (let sx = startX - range; sx <= startX + range; sx++) {\n            for (let sy = startY - range; sy <= startY + range; sy++) {\n                for (let ex = endX - range; ex <= endX + range; ex++) {\n                    for (let ey = endY - range; ey <= endY + range; ey++) {\n                        const key = this.generateKey(sx, sy, ex, ey);\n                        const entry = this.cache.get(key);\n                        if (entry && this.isValid(entry, mapVersion)) {\n                            this.updateAccessOrder(key);\n                            return this.adjustPathForApproximate(\n                                entry.result,\n                                startX, startY, endX, endY\n                            );\n                        }\n                    }\n                }\n            }\n        }\n\n        return null;\n    }\n\n    private adjustPathForApproximate(\n        result: IPathResult,\n        newStartX: number,\n        newStartY: number,\n        newEndX: number,\n        newEndY: number\n    ): IPathResult {\n        if (result.path.length === 0) {\n            return result;\n        }\n\n        const newPath: IPoint[] = [];\n        const oldStart = result.path[0];\n        const oldEnd = result.path[result.path.length - 1];\n\n        if (newStartX !== oldStart.x || newStartY !== oldStart.y) {\n            newPath.push({ x: newStartX, y: newStartY });\n        }\n\n        newPath.push(...result.path);\n\n        if (newEndX !== oldEnd.x || newEndY !== oldEnd.y) {\n            newPath.push({ x: newEndX, y: newEndY });\n        }\n\n        return {\n            ...result,\n            path: newPath\n        };\n    }\n\n    private updateAccessOrder(key: string): void {\n        this.removeFromAccessOrder(key);\n        this.accessOrder.push(key);\n    }\n\n    private removeFromAccessOrder(key: string): void {\n        const index = this.accessOrder.indexOf(key);\n        if (index !== -1) {\n            this.accessOrder.splice(index, 1);\n        }\n    }\n\n    private evictLRU(): void {\n        const lruKey = this.accessOrder.shift();\n        if (lruKey) {\n            this.cache.delete(lruKey);\n        }\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建路径缓存\n * @en Create path cache\n *\n * @param config - @zh 缓存配置 @en Cache configuration\n * @returns @zh 路径缓存实例 @en Path cache instance\n */\nexport function createPathCache(config?: Partial<IPathCacheConfig>): PathCache {\n    return new PathCache(config);\n}\n","/**\n * @zh 增量 A* 寻路算法实现\n * @en Incremental A* Pathfinding Algorithm Implementation\n */\n\nimport { IndexedBinaryHeap, type IHeapIndexable } from './IndexedBinaryHeap';\nimport type {\n    IPathfindingMap,\n    IPathNode,\n    IPoint,\n    IPathfindingOptions\n} from './IPathfinding';\nimport { DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport type {\n    IIncrementalPathfinder,\n    IPathRequest,\n    IPathProgress,\n    IIncrementalPathResult,\n    IIncrementalPathfindingOptions\n} from './IIncrementalPathfinding';\nimport { PathfindingState, EMPTY_PROGRESS } from './IIncrementalPathfinding';\nimport { PathCache, type IPathCacheConfig } from './PathCache';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh A* 节点（内部使用）\n * @en A* Node (internal use)\n */\ninterface AStarNode extends IHeapIndexable {\n    node: IPathNode;\n    g: number;\n    h: number;\n    f: number;\n    parent: AStarNode | null;\n    closed: boolean;\n    opened: boolean;\n    heapIndex: number;\n}\n\n/**\n * @zh 寻路会话（保存跨帧状态）\n * @en Pathfinding session (preserves state across frames)\n */\ninterface PathfindingSession {\n    request: IPathRequest;\n    state: PathfindingState;\n    options: Required<IPathfindingOptions>;\n\n    openList: IndexedBinaryHeap<AStarNode>;\n    nodeCache: Map<string | number, AStarNode>;\n\n    startNode: IPathNode;\n    endNode: IPathNode;\n    endPosition: IPoint;\n\n    nodesSearched: number;\n    framesUsed: number;\n    initialDistance: number;\n\n    result: IIncrementalPathResult | null;\n\n    affectedByChange: boolean;\n}\n\n/**\n * @zh 障碍物变化区域\n * @en Obstacle change region\n */\ninterface ChangeRegion {\n    minX: number;\n    minY: number;\n    maxX: number;\n    maxY: number;\n    timestamp: number;\n}\n\n/**\n * @zh 增量寻路器配置\n * @en Incremental pathfinder configuration\n */\nexport interface IIncrementalPathfinderConfig {\n    /**\n     * @zh 是否启用路径缓存\n     * @en Whether to enable path caching\n     */\n    enableCache?: boolean;\n\n    /**\n     * @zh 缓存配置\n     * @en Cache configuration\n     */\n    cacheConfig?: Partial<IPathCacheConfig>;\n}\n\n// =============================================================================\n// 增量 A* 寻路器 | Incremental A* Pathfinder\n// =============================================================================\n\n/**\n * @zh 增量 A* 寻路器\n * @en Incremental A* Pathfinder\n *\n * @zh 支持时间切片的 A* 算法实现，可跨多帧执行搜索\n * @en A* algorithm implementation with time slicing, can execute search across multiple frames\n *\n * @example\n * ```typescript\n * const map = createGridMap(100, 100);\n * const pathfinder = createIncrementalAStarPathfinder(map);\n *\n * // Request path (non-blocking)\n * const request = pathfinder.requestPath(0, 0, 99, 99);\n *\n * // Process over multiple frames\n * function gameLoop() {\n *     const progress = pathfinder.step(request.id, 100);\n *\n *     if (progress.state === PathfindingState.Completed) {\n *         const result = pathfinder.getResult(request.id);\n *         console.log('Path found:', result?.path);\n *     } else if (progress.state === PathfindingState.InProgress) {\n *         requestAnimationFrame(gameLoop);\n *     }\n * }\n * gameLoop();\n * ```\n */\nexport class IncrementalAStarPathfinder implements IIncrementalPathfinder {\n    private readonly map: IPathfindingMap;\n    private readonly sessions: Map<number, PathfindingSession> = new Map();\n    private nextRequestId: number = 0;\n\n    private readonly affectedRegions: ChangeRegion[] = [];\n    private readonly maxRegionAge: number = 5000;\n\n    private readonly cache: PathCache | null;\n    private readonly enableCache: boolean;\n    private mapVersion: number = 0;\n\n    private cacheHits: number = 0;\n    private cacheMisses: number = 0;\n\n    /**\n     * @zh 创建增量 A* 寻路器\n     * @en Create incremental A* pathfinder\n     *\n     * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n     * @param config - @zh 配置选项 @en Configuration options\n     */\n    constructor(map: IPathfindingMap, config?: IIncrementalPathfinderConfig) {\n        this.map = map;\n        this.enableCache = config?.enableCache ?? false;\n        this.cache = this.enableCache ? new PathCache(config?.cacheConfig) : null;\n    }\n\n    /**\n     * @zh 请求寻路（非阻塞）\n     * @en Request pathfinding (non-blocking)\n     */\n    requestPath(\n        startX: number,\n        startY: number,\n        endX: number,\n        endY: number,\n        options?: IIncrementalPathfindingOptions\n    ): IPathRequest {\n        const id = this.nextRequestId++;\n        const priority = options?.priority ?? 50;\n        const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n        const request: IPathRequest = {\n            id,\n            startX,\n            startY,\n            endX,\n            endY,\n            options: opts,\n            priority,\n            createdAt: Date.now()\n        };\n\n        if (this.cache) {\n            const cached = this.cache.get(startX, startY, endX, endY, this.mapVersion);\n            if (cached) {\n                this.cacheHits++;\n                const session: PathfindingSession = {\n                    request,\n                    state: cached.found ? PathfindingState.Completed : PathfindingState.Failed,\n                    options: opts,\n                    openList: new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f),\n                    nodeCache: new Map(),\n                    startNode: this.map.getNodeAt(startX, startY)!,\n                    endNode: this.map.getNodeAt(endX, endY)!,\n                    endPosition: { x: endX, y: endY },\n                    nodesSearched: cached.nodesSearched,\n                    framesUsed: 0,\n                    initialDistance: 0,\n                    result: {\n                        requestId: id,\n                        found: cached.found,\n                        path: [...cached.path],\n                        cost: cached.cost,\n                        nodesSearched: cached.nodesSearched,\n                        framesUsed: 0,\n                        isPartial: false\n                    },\n                    affectedByChange: false\n                };\n                this.sessions.set(id, session);\n                return request;\n            }\n            this.cacheMisses++;\n        }\n\n        const startNode = this.map.getNodeAt(startX, startY);\n        const endNode = this.map.getNodeAt(endX, endY);\n\n        if (!startNode || !endNode || !startNode.walkable || !endNode.walkable) {\n            const session: PathfindingSession = {\n                request,\n                state: PathfindingState.Failed,\n                options: opts,\n                openList: new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f),\n                nodeCache: new Map(),\n                startNode: startNode!,\n                endNode: endNode!,\n                endPosition: endNode?.position ?? { x: endX, y: endY },\n                nodesSearched: 0,\n                framesUsed: 0,\n                initialDistance: 0,\n                result: this.createEmptyResult(id),\n                affectedByChange: false\n            };\n            this.sessions.set(id, session);\n            return request;\n        }\n\n        if (startNode.id === endNode.id) {\n            const session: PathfindingSession = {\n                request,\n                state: PathfindingState.Completed,\n                options: opts,\n                openList: new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f),\n                nodeCache: new Map(),\n                startNode,\n                endNode,\n                endPosition: endNode.position,\n                nodesSearched: 1,\n                framesUsed: 0,\n                initialDistance: 0,\n                result: {\n                    requestId: id,\n                    found: true,\n                    path: [startNode.position],\n                    cost: 0,\n                    nodesSearched: 1,\n                    framesUsed: 0,\n                    isPartial: false\n                },\n                affectedByChange: false\n            };\n            this.sessions.set(id, session);\n            return request;\n        }\n\n        const initialDistance = this.map.heuristic(startNode.position, endNode.position);\n        const openList = new IndexedBinaryHeap<AStarNode>((a, b) => a.f - b.f);\n        const nodeCache = new Map<string | number, AStarNode>();\n\n        const startAStarNode: AStarNode = {\n            node: startNode,\n            g: 0,\n            h: initialDistance * opts.heuristicWeight,\n            f: initialDistance * opts.heuristicWeight,\n            parent: null,\n            closed: false,\n            opened: true,\n            heapIndex: -1\n        };\n\n        nodeCache.set(startNode.id, startAStarNode);\n        openList.push(startAStarNode);\n\n        const session: PathfindingSession = {\n            request,\n            state: PathfindingState.InProgress,\n            options: opts,\n            openList,\n            nodeCache,\n            startNode,\n            endNode,\n            endPosition: endNode.position,\n            nodesSearched: 0,\n            framesUsed: 0,\n            initialDistance,\n            result: null,\n            affectedByChange: false\n        };\n\n        this.sessions.set(id, session);\n        return request;\n    }\n\n    /**\n     * @zh 执行一步搜索\n     * @en Execute one step of search\n     */\n    step(requestId: number, maxIterations: number): IPathProgress {\n        const session = this.sessions.get(requestId);\n        if (!session) {\n            return EMPTY_PROGRESS;\n        }\n\n        if (session.state !== PathfindingState.InProgress) {\n            return this.createProgress(session);\n        }\n\n        session.framesUsed++;\n        let iterations = 0;\n\n        while (!session.openList.isEmpty && iterations < maxIterations) {\n            const current = session.openList.pop()!;\n            current.closed = true;\n            session.nodesSearched++;\n            iterations++;\n\n            if (current.node.id === session.endNode.id) {\n                session.state = PathfindingState.Completed;\n                session.result = this.buildResult(session, current);\n\n                if (this.cache && session.result.found) {\n                    const req = session.request;\n                    this.cache.set(\n                        req.startX, req.startY,\n                        req.endX, req.endY,\n                        {\n                            found: true,\n                            path: session.result.path,\n                            cost: session.result.cost,\n                            nodesSearched: session.result.nodesSearched\n                        },\n                        this.mapVersion\n                    );\n                }\n\n                return this.createProgress(session);\n            }\n\n            this.expandNeighbors(session, current);\n\n            if (session.nodesSearched >= session.options.maxNodes) {\n                session.state = PathfindingState.Failed;\n                session.result = this.createEmptyResult(requestId);\n                return this.createProgress(session);\n            }\n        }\n\n        if (session.openList.isEmpty && session.state === PathfindingState.InProgress) {\n            session.state = PathfindingState.Failed;\n            session.result = this.createEmptyResult(requestId);\n        }\n\n        return this.createProgress(session);\n    }\n\n    /**\n     * @zh 暂停寻路\n     * @en Pause pathfinding\n     */\n    pause(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session && session.state === PathfindingState.InProgress) {\n            session.state = PathfindingState.Paused;\n        }\n    }\n\n    /**\n     * @zh 恢复寻路\n     * @en Resume pathfinding\n     */\n    resume(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session && session.state === PathfindingState.Paused) {\n            session.state = PathfindingState.InProgress;\n        }\n    }\n\n    /**\n     * @zh 取消寻路\n     * @en Cancel pathfinding\n     */\n    cancel(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session && (session.state === PathfindingState.InProgress ||\n                        session.state === PathfindingState.Paused)) {\n            session.state = PathfindingState.Cancelled;\n            session.result = this.createEmptyResult(requestId);\n        }\n    }\n\n    /**\n     * @zh 获取寻路结果\n     * @en Get pathfinding result\n     */\n    getResult(requestId: number): IIncrementalPathResult | null {\n        const session = this.sessions.get(requestId);\n        return session?.result ?? null;\n    }\n\n    /**\n     * @zh 获取当前进度\n     * @en Get current progress\n     */\n    getProgress(requestId: number): IPathProgress | null {\n        const session = this.sessions.get(requestId);\n        return session ? this.createProgress(session) : null;\n    }\n\n    /**\n     * @zh 清理已完成的请求\n     * @en Clean up completed request\n     */\n    cleanup(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session) {\n            session.openList.clear();\n            session.nodeCache.clear();\n            this.sessions.delete(requestId);\n        }\n    }\n\n    /**\n     * @zh 通知障碍物变化\n     * @en Notify obstacle change\n     */\n    notifyObstacleChange(\n        minX: number,\n        minY: number,\n        maxX: number,\n        maxY: number\n    ): void {\n        this.mapVersion++;\n\n        if (this.cache) {\n            this.cache.invalidateRegion(minX, minY, maxX, maxY);\n        }\n\n        const region: ChangeRegion = {\n            minX,\n            minY,\n            maxX,\n            maxY,\n            timestamp: Date.now()\n        };\n        this.affectedRegions.push(region);\n\n        for (const session of this.sessions.values()) {\n            if (session.state === PathfindingState.InProgress ||\n                session.state === PathfindingState.Paused) {\n                if (this.sessionAffectedByRegion(session, region)) {\n                    session.affectedByChange = true;\n                }\n            }\n        }\n\n        this.cleanupOldRegions();\n    }\n\n    /**\n     * @zh 清理所有请求\n     * @en Clear all requests\n     */\n    clear(): void {\n        for (const session of this.sessions.values()) {\n            session.openList.clear();\n            session.nodeCache.clear();\n        }\n        this.sessions.clear();\n        this.affectedRegions.length = 0;\n    }\n\n    /**\n     * @zh 清空路径缓存\n     * @en Clear path cache\n     */\n    clearCache(): void {\n        if (this.cache) {\n            this.cache.invalidateAll();\n            this.cacheHits = 0;\n            this.cacheMisses = 0;\n        }\n    }\n\n    /**\n     * @zh 获取缓存统计信息\n     * @en Get cache statistics\n     */\n    getCacheStats(): { enabled: boolean; hits: number; misses: number; hitRate: number; size: number } {\n        if (!this.cache) {\n            return { enabled: false, hits: 0, misses: 0, hitRate: 0, size: 0 };\n        }\n\n        const total = this.cacheHits + this.cacheMisses;\n        const hitRate = total > 0 ? this.cacheHits / total : 0;\n\n        return {\n            enabled: true,\n            hits: this.cacheHits,\n            misses: this.cacheMisses,\n            hitRate,\n            size: this.cache.getStats().size\n        };\n    }\n\n    /**\n     * @zh 检查会话是否被障碍物变化影响\n     * @en Check if session is affected by obstacle change\n     */\n    isAffectedByChange(requestId: number): boolean {\n        const session = this.sessions.get(requestId);\n        return session?.affectedByChange ?? false;\n    }\n\n    /**\n     * @zh 清除会话的变化标记\n     * @en Clear session's change flag\n     */\n    clearChangeFlag(requestId: number): void {\n        const session = this.sessions.get(requestId);\n        if (session) {\n            session.affectedByChange = false;\n        }\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    /**\n     * @zh 展开邻居节点\n     * @en Expand neighbor nodes\n     */\n    private expandNeighbors(session: PathfindingSession, current: AStarNode): void {\n        const neighbors = this.map.getNeighbors(current.node);\n\n        for (const neighborNode of neighbors) {\n            if (!neighborNode.walkable) {\n                continue;\n            }\n\n            let neighbor = session.nodeCache.get(neighborNode.id);\n\n            if (!neighbor) {\n                neighbor = {\n                    node: neighborNode,\n                    g: Infinity,\n                    h: 0,\n                    f: Infinity,\n                    parent: null,\n                    closed: false,\n                    opened: false,\n                    heapIndex: -1\n                };\n                session.nodeCache.set(neighborNode.id, neighbor);\n            }\n\n            if (neighbor.closed) {\n                continue;\n            }\n\n            const movementCost = this.map.getMovementCost(current.node, neighborNode);\n            const tentativeG = current.g + movementCost;\n\n            if (!neighbor.opened) {\n                neighbor.g = tentativeG;\n                neighbor.h = this.map.heuristic(neighborNode.position, session.endPosition) *\n                             session.options.heuristicWeight;\n                neighbor.f = neighbor.g + neighbor.h;\n                neighbor.parent = current;\n                neighbor.opened = true;\n                session.openList.push(neighbor);\n            } else if (tentativeG < neighbor.g) {\n                neighbor.g = tentativeG;\n                neighbor.f = neighbor.g + neighbor.h;\n                neighbor.parent = current;\n                session.openList.update(neighbor);\n            }\n        }\n    }\n\n    /**\n     * @zh 创建进度对象\n     * @en Create progress object\n     */\n    private createProgress(session: PathfindingSession): IPathProgress {\n        let estimatedProgress = 0;\n\n        if (session.state === PathfindingState.Completed) {\n            estimatedProgress = 1;\n        } else if (session.state === PathfindingState.InProgress && session.initialDistance > 0) {\n            const bestNode = session.openList.peek();\n            if (bestNode) {\n                const currentDistance = bestNode.h / session.options.heuristicWeight;\n                estimatedProgress = Math.max(0, Math.min(1,\n                    1 - (currentDistance / session.initialDistance)\n                ));\n            }\n        }\n\n        return {\n            state: session.state,\n            nodesSearched: session.nodesSearched,\n            openListSize: session.openList.size,\n            estimatedProgress\n        };\n    }\n\n    /**\n     * @zh 构建路径结果\n     * @en Build path result\n     */\n    private buildResult(session: PathfindingSession, endNode: AStarNode): IIncrementalPathResult {\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            requestId: session.request.id,\n            found: true,\n            path,\n            cost: endNode.g,\n            nodesSearched: session.nodesSearched,\n            framesUsed: session.framesUsed,\n            isPartial: false\n        };\n    }\n\n    /**\n     * @zh 创建空结果\n     * @en Create empty result\n     */\n    private createEmptyResult(requestId: number): IIncrementalPathResult {\n        return {\n            requestId,\n            found: false,\n            path: [],\n            cost: 0,\n            nodesSearched: 0,\n            framesUsed: 0,\n            isPartial: false\n        };\n    }\n\n    /**\n     * @zh 检查会话是否被区域影响\n     * @en Check if session is affected by region\n     */\n    private sessionAffectedByRegion(session: PathfindingSession, region: ChangeRegion): boolean {\n        for (const astarNode of session.nodeCache.values()) {\n            if (astarNode.opened || astarNode.closed) {\n                const pos = astarNode.node.position;\n                if (pos.x >= region.minX && pos.x <= region.maxX &&\n                    pos.y >= region.minY && pos.y <= region.maxY) {\n                    return true;\n                }\n            }\n        }\n\n        const start = session.request;\n        const end = session.endPosition;\n\n        if ((start.startX >= region.minX && start.startX <= region.maxX &&\n             start.startY >= region.minY && start.startY <= region.maxY) ||\n            (end.x >= region.minX && end.x <= region.maxX &&\n             end.y >= region.minY && end.y <= region.maxY)) {\n            return true;\n        }\n\n        return false;\n    }\n\n    /**\n     * @zh 清理过期的变化区域\n     * @en Clean up expired change regions\n     */\n    private cleanupOldRegions(): void {\n        const now = Date.now();\n        let i = 0;\n        while (i < this.affectedRegions.length) {\n            if (now - this.affectedRegions[i].timestamp > this.maxRegionAge) {\n                this.affectedRegions.splice(i, 1);\n            } else {\n                i++;\n            }\n        }\n    }\n}\n\n// =============================================================================\n// 工厂函数 | Factory Function\n// =============================================================================\n\n/**\n * @zh 创建增量 A* 寻路器\n * @en Create incremental A* pathfinder\n *\n * @param map - @zh 寻路地图实例 @en Pathfinding map instance\n * @returns @zh 增量 A* 寻路器实例 @en Incremental A* pathfinder instance\n */\nexport function createIncrementalAStarPathfinder(map: IPathfindingMap): IncrementalAStarPathfinder {\n    return new IncrementalAStarPathfinder(map);\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 路径规划器接口\n * @en Path Planner Interface\n *\n * @zh 统一的全局寻路接口，支持 NavMesh、A*、JPS、HPA*、Flow Field 等算法\n * @en Unified global pathfinding interface, supports NavMesh, A*, JPS, HPA*, Flow Field, etc.\n */\n\n/**\n * @zh 2D 向量\n * @en 2D Vector\n */\nexport interface IVector2 {\n    x: number;\n    y: number;\n}\n\n/**\n * @zh 路径规划结果\n * @en Path planning result\n */\nexport interface IPathPlanResult {\n    /**\n     * @zh 是否找到路径\n     * @en Whether path was found\n     */\n    readonly found: boolean;\n\n    /**\n     * @zh 路径点列表（世界坐标）\n     * @en List of path points (world coordinates)\n     */\n    readonly path: readonly IVector2[];\n\n    /**\n     * @zh 路径总代价\n     * @en Total path cost\n     */\n    readonly cost: number;\n\n    /**\n     * @zh 搜索的节点数（用于性能监控）\n     * @en Number of nodes searched (for performance monitoring)\n     */\n    readonly nodesSearched: number;\n}\n\n/**\n * @zh 空路径结果\n * @en Empty path result\n */\nexport const EMPTY_PLAN_RESULT: IPathPlanResult = {\n    found: false,\n    path: [],\n    cost: 0,\n    nodesSearched: 0\n};\n\n/**\n * @zh 路径规划选项\n * @en Path planning options\n */\nexport interface IPathPlanOptions {\n    /**\n     * @zh 代理半径，用于生成考虑碰撞的路径\n     * @en Agent radius, used to generate collision-aware paths\n     *\n     * @zh 如果指定，路径规划器会确保生成的路径与障碍物保持足够距离\n     * @en If specified, the path planner will ensure the generated path maintains sufficient distance from obstacles\n     */\n    agentRadius?: number;\n}\n\n/**\n * @zh 路径规划器接口\n * @en Path planner interface\n *\n * @zh 统一的全局寻路接口，支持 NavMesh、A*、JPS、HPA*、Flow Field 等算法\n * @en Unified global pathfinding interface, supports NavMesh, A*, JPS, HPA*, Flow Field, etc.\n *\n * @example\n * ```typescript\n * // 使用 NavMesh 规划器\n * const planner = createNavMeshPathPlanner(navMesh);\n * const result = planner.findPath({ x: 0, y: 0 }, { x: 100, y: 100 });\n *\n * // 使用带半径的路径规划\n * const result = planner.findPath({ x: 0, y: 0 }, { x: 100, y: 100 }, { agentRadius: 0.5 });\n *\n * // 使用 A* 规划器\n * const planner = createAStarPlanner(gridMap);\n * const result = planner.findPath({ x: 0, y: 0 }, { x: 50, y: 50 });\n * ```\n */\nexport interface IPathPlanner {\n    /**\n     * @zh 规划器类型标识\n     * @en Planner type identifier\n     */\n    readonly type: string;\n\n    /**\n     * @zh 查找从起点到终点的路径\n     * @en Find path from start to end\n     *\n     * @param start - @zh 起点世界坐标 @en Start world position\n     * @param end - @zh 终点世界坐标 @en End world position\n     * @param options - @zh 路径规划选项 @en Path planning options\n     * @returns @zh 路径规划结果 @en Path planning result\n     */\n    findPath(start: IVector2, end: IVector2, options?: IPathPlanOptions): IPathPlanResult;\n\n    /**\n     * @zh 检查位置是否可通行\n     * @en Check if position is walkable\n     *\n     * @param position - @zh 要检查的位置 @en Position to check\n     * @returns @zh 是否可通行 @en Whether walkable\n     */\n    isWalkable(position: IVector2): boolean;\n\n    /**\n     * @zh 获取最近的可通行位置\n     * @en Get nearest walkable position\n     *\n     * @param position - @zh 参考位置 @en Reference position\n     * @returns @zh 最近的可通行位置，如果找不到则返回 null @en Nearest walkable position, or null if not found\n     */\n    getNearestWalkable(position: IVector2): IVector2 | null;\n\n    /**\n     * @zh 清理内部状态（用于重用）\n     * @en Clear internal state (for reuse)\n     */\n    clear(): void;\n\n    /**\n     * @zh 释放资源\n     * @en Dispose resources\n     */\n    dispose(): void;\n}\n\n// =============================================================================\n// 增量路径规划器 | Incremental Path Planner\n// =============================================================================\n\n/**\n * @zh 寻路状态\n * @en Pathfinding state\n */\nexport enum PathPlanState {\n    /**\n     * @zh 空闲\n     * @en Idle\n     */\n    Idle = 'idle',\n\n    /**\n     * @zh 进行中\n     * @en In progress\n     */\n    InProgress = 'in_progress',\n\n    /**\n     * @zh 已完成\n     * @en Completed\n     */\n    Completed = 'completed',\n\n    /**\n     * @zh 失败\n     * @en Failed\n     */\n    Failed = 'failed',\n\n    /**\n     * @zh 已取消\n     * @en Cancelled\n     */\n    Cancelled = 'cancelled'\n}\n\n/**\n * @zh 增量寻路请求\n * @en Incremental pathfinding request\n */\nexport interface IIncrementalPathRequest {\n    /**\n     * @zh 请求 ID\n     * @en Request ID\n     */\n    readonly id: number;\n\n    /**\n     * @zh 当前状态\n     * @en Current state\n     */\n    readonly state: PathPlanState;\n}\n\n/**\n * @zh 寻路进度信息\n * @en Pathfinding progress info\n */\nexport interface IPathProgress {\n    /**\n     * @zh 当前状态\n     * @en Current state\n     */\n    readonly state: PathPlanState;\n\n    /**\n     * @zh 估计进度 (0-1)\n     * @en Estimated progress (0-1)\n     */\n    readonly estimatedProgress: number;\n\n    /**\n     * @zh 本次步进搜索的节点数\n     * @en Nodes searched in this step\n     */\n    readonly nodesSearched: number;\n\n    /**\n     * @zh 累计搜索的节点数\n     * @en Total nodes searched\n     */\n    readonly totalNodesSearched: number;\n}\n\n/**\n * @zh 增量路径规划器接口\n * @en Incremental path planner interface\n *\n * @zh 支持时间切片的路径规划器，可以将寻路计算分散到多帧执行\n * @en Path planner with time slicing support, can spread pathfinding computation across multiple frames\n *\n * @example\n * ```typescript\n * const planner = createIncrementalAStarPlanner(gridMap);\n *\n * // 请求路径\n * const request = planner.requestPath({ x: 0, y: 0 }, { x: 100, y: 100 });\n *\n * // 每帧执行一定数量的迭代\n * while (true) {\n *     const progress = planner.step(request.id, 100); // 每帧 100 次迭代\n *     if (progress.state === PathPlanState.Completed) {\n *         const result = planner.getResult(request.id);\n *         break;\n *     }\n *     if (progress.state === PathPlanState.Failed) {\n *         break;\n *     }\n *     await nextFrame();\n * }\n *\n * planner.cleanup(request.id);\n * ```\n */\nexport interface IIncrementalPathPlanner extends IPathPlanner {\n    /**\n     * @zh 是否支持增量计算\n     * @en Whether supports incremental computation\n     */\n    readonly supportsIncremental: true;\n\n    /**\n     * @zh 请求路径（异步开始）\n     * @en Request path (async start)\n     *\n     * @param start - @zh 起点 @en Start position\n     * @param end - @zh 终点 @en End position\n     * @param options - @zh 选项 @en Options\n     * @returns @zh 请求对象 @en Request object\n     */\n    requestPath(start: IVector2, end: IVector2, options?: IPathPlanOptions): IIncrementalPathRequest;\n\n    /**\n     * @zh 执行指定次数的迭代\n     * @en Execute specified number of iterations\n     *\n     * @param requestId - @zh 请求 ID @en Request ID\n     * @param iterations - @zh 迭代次数 @en Number of iterations\n     * @returns @zh 进度信息 @en Progress info\n     */\n    step(requestId: number, iterations: number): IPathProgress;\n\n    /**\n     * @zh 获取结果\n     * @en Get result\n     *\n     * @param requestId - @zh 请求 ID @en Request ID\n     * @returns @zh 结果，如果未完成或不存在返回 null @en Result, null if not completed or not found\n     */\n    getResult(requestId: number): IPathPlanResult | null;\n\n    /**\n     * @zh 取消请求\n     * @en Cancel request\n     *\n     * @param requestId - @zh 请求 ID @en Request ID\n     */\n    cancel(requestId: number): void;\n\n    /**\n     * @zh 清理请求（释放资源）\n     * @en Cleanup request (release resources)\n     *\n     * @param requestId - @zh 请求 ID @en Request ID\n     */\n    cleanup(requestId: number): void;\n\n    /**\n     * @zh 获取活跃请求数量\n     * @en Get active request count\n     */\n    getActiveRequestCount(): number;\n}\n\n/**\n * @zh 类型守卫：检查是否为增量路径规划器\n * @en Type guard: check if is incremental path planner\n */\nexport function isIncrementalPlanner(planner: IPathPlanner): planner is IIncrementalPathPlanner {\n    return 'supportsIncremental' in planner && (planner as IIncrementalPathPlanner).supportsIncremental === true;\n}\n","/**\n * @zh 碰撞解决器接口\n * @en Collision Resolver Interface\n *\n * @zh 提供位置级别的硬碰撞检测和解决\n * @en Provides position-level hard collision detection and resolution\n */\n\nimport type { IVector2 } from './IPathPlanner';\nimport type { IObstacleData } from './ILocalAvoidance';\n\n/**\n * @zh 碰撞检测结果\n * @en Collision detection result\n */\nexport interface ICollisionResult {\n    /**\n     * @zh 是否发生碰撞\n     * @en Whether collision occurred\n     */\n    readonly collided: boolean;\n\n    /**\n     * @zh 穿透深度\n     * @en Penetration depth\n     */\n    readonly penetration: number;\n\n    /**\n     * @zh 碰撞法线（从障碍物指向代理）\n     * @en Collision normal (pointing from obstacle to agent)\n     */\n    readonly normal: IVector2;\n\n    /**\n     * @zh 障碍物上的最近点\n     * @en Closest point on obstacle\n     */\n    readonly closestPoint: IVector2;\n}\n\n/**\n * @zh 空碰撞结果\n * @en Empty collision result\n */\nexport const EMPTY_COLLISION_RESULT: ICollisionResult = {\n    collided: false,\n    penetration: 0,\n    normal: { x: 0, y: 0 },\n    closestPoint: { x: 0, y: 0 }\n};\n\n/**\n * @zh 碰撞解决器接口\n * @en Collision resolver interface\n *\n * @zh 提供位置级别的硬碰撞检测和解决，作为避让算法失效时的安全保护层\n * @en Provides position-level hard collision detection and resolution, as safety layer when avoidance fails\n *\n * @example\n * ```typescript\n * const resolver = createDefaultCollisionResolver();\n *\n * // 检测碰撞\n * const collision = resolver.detectCollision(position, radius, obstacles);\n * if (collision.collided) {\n *     // 解决碰撞\n *     const newPos = resolver.resolveCollision(position, radius, obstacles);\n * }\n *\n * // 验证速度\n * const safeVelocity = resolver.validateVelocity(\n *     position, velocity, radius, obstacles, deltaTime\n * );\n * ```\n */\nexport interface ICollisionResolver {\n    /**\n     * @zh 解决器类型标识\n     * @en Resolver type identifier\n     */\n    readonly type: string;\n\n    /**\n     * @zh 检测圆与障碍物的碰撞\n     * @en Detect collision between circle and obstacles\n     *\n     * @param position - @zh 圆心位置 @en Circle center position\n     * @param radius - @zh 圆半径 @en Circle radius\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @returns @zh 最严重的碰撞结果 @en Most severe collision result\n     */\n    detectCollision(\n        position: IVector2,\n        radius: number,\n        obstacles: readonly IObstacleData[]\n    ): ICollisionResult;\n\n    /**\n     * @zh 解决碰撞，返回修正后的位置\n     * @en Resolve collision, return corrected position\n     *\n     * @param position - @zh 当前位置 @en Current position\n     * @param radius - @zh 半径 @en Radius\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @returns @zh 修正后的位置 @en Corrected position\n     */\n    resolveCollision(\n        position: IVector2,\n        radius: number,\n        obstacles: readonly IObstacleData[]\n    ): IVector2;\n\n    /**\n     * @zh 验证速度是否会导致碰撞，返回安全速度\n     * @en Validate velocity won't cause collision, return safe velocity\n     *\n     * @param position - @zh 当前位置 @en Current position\n     * @param velocity - @zh 目标速度 @en Target velocity\n     * @param radius - @zh 半径 @en Radius\n     * @param obstacles - @zh 障碍物列表 @en List of obstacles\n     * @param deltaTime - @zh 时间步长 @en Time step\n     * @returns @zh 安全速度 @en Safe velocity\n     */\n    validateVelocity(\n        position: IVector2,\n        velocity: IVector2,\n        radius: number,\n        obstacles: readonly IObstacleData[],\n        deltaTime: number\n    ): IVector2;\n\n    /**\n     * @zh 检测两个代理之间的碰撞\n     * @en Detect collision between two agents\n     *\n     * @param posA - @zh 代理 A 位置 @en Agent A position\n     * @param radiusA - @zh 代理 A 半径 @en Agent A radius\n     * @param posB - @zh 代理 B 位置 @en Agent B position\n     * @param radiusB - @zh 代理 B 半径 @en Agent B radius\n     * @returns @zh 碰撞结果 @en Collision result\n     */\n    detectAgentCollision(\n        posA: IVector2,\n        radiusA: number,\n        posB: IVector2,\n        radiusB: number\n    ): ICollisionResult;\n\n    /**\n     * @zh 释放资源\n     * @en Dispose resources\n     */\n    dispose(): void;\n}\n","/**\n * @zh 流量控制器接口\n * @en Flow Controller Interface\n *\n * @zh 管理拥堵区域的代理通行，防止死锁\n * @en Manages agent passage through congested areas, prevents deadlocks\n */\n\nimport type { IVector2 } from './IPathPlanner';\n\n// =============================================================================\n// 通行许可 | Pass Permission\n// =============================================================================\n\n/**\n * @zh 通行许可类型\n * @en Pass permission type\n */\nexport enum PassPermission {\n    /**\n     * @zh 可以通行\n     * @en Can proceed\n     */\n    Proceed = 'proceed',\n\n    /**\n     * @zh 需要等待\n     * @en Need to wait\n     */\n    Wait = 'wait',\n\n    /**\n     * @zh 需要让路（减速或侧移）\n     * @en Need to yield (slow down or move aside)\n     */\n    Yield = 'yield'\n}\n\n// =============================================================================\n// 拥堵区域 | Congestion Zone\n// =============================================================================\n\n/**\n * @zh 拥堵区域\n * @en Congestion zone\n */\nexport interface ICongestionZone {\n    /**\n     * @zh 区域 ID\n     * @en Zone ID\n     */\n    id: number;\n\n    /**\n     * @zh 区域中心\n     * @en Zone center\n     */\n    center: IVector2;\n\n    /**\n     * @zh 区域半径\n     * @en Zone radius\n     */\n    radius: number;\n\n    /**\n     * @zh 区域内的代理 ID 列表\n     * @en List of agent IDs in the zone\n     */\n    agentIds: number[];\n\n    /**\n     * @zh 区域容量（可同时通过的代理数）\n     * @en Zone capacity (agents that can pass simultaneously)\n     */\n    capacity: number;\n\n    /**\n     * @zh 拥堵程度 (0-1, 1 表示完全堵塞)\n     * @en Congestion level (0-1, 1 means fully blocked)\n     */\n    congestionLevel: number;\n}\n\n// =============================================================================\n// 代理流量数据 | Agent Flow Data\n// =============================================================================\n\n/**\n * @zh 代理流量数据\n * @en Agent flow data\n */\nexport interface IFlowAgentData {\n    /**\n     * @zh 代理 ID\n     * @en Agent ID\n     */\n    id: number;\n\n    /**\n     * @zh 当前位置\n     * @en Current position\n     */\n    position: IVector2;\n\n    /**\n     * @zh 目标位置\n     * @en Destination position\n     */\n    destination: IVector2 | null;\n\n    /**\n     * @zh 当前路径点\n     * @en Current waypoint\n     */\n    currentWaypoint: IVector2 | null;\n\n    /**\n     * @zh 代理半径\n     * @en Agent radius\n     */\n    radius: number;\n\n    /**\n     * @zh 优先级（数值越小优先级越高）\n     * @en Priority (lower number = higher priority)\n     */\n    priority: number;\n\n    /**\n     * @zh 进入拥堵区域的时间戳\n     * @en Timestamp when entered congestion zone\n     */\n    enterTime?: number;\n}\n\n// =============================================================================\n// 流量控制结果 | Flow Control Result\n// =============================================================================\n\n/**\n * @zh 流量控制结果\n * @en Flow control result\n */\nexport interface IFlowControlResult {\n    /**\n     * @zh 通行许可\n     * @en Pass permission\n     */\n    permission: PassPermission;\n\n    /**\n     * @zh 如果需要等待，等待位置\n     * @en Wait position if waiting is required\n     */\n    waitPosition: IVector2 | null;\n\n    /**\n     * @zh 如果需要让路，建议的速度倍率 (0-1)\n     * @en Suggested speed multiplier if yielding (0-1)\n     */\n    speedMultiplier: number;\n\n    /**\n     * @zh 所在的拥堵区域（如果有）\n     * @en Congestion zone the agent is in (if any)\n     */\n    zone: ICongestionZone | null;\n\n    /**\n     * @zh 在队列中的位置（0 表示最前）\n     * @en Position in queue (0 means front)\n     */\n    queuePosition: number;\n}\n\n// =============================================================================\n// 流量控制器接口 | Flow Controller Interface\n// =============================================================================\n\n/**\n * @zh 流量控制器配置\n * @en Flow controller configuration\n */\nexport interface IFlowControllerConfig {\n    /**\n     * @zh 拥堵检测半径\n     * @en Congestion detection radius\n     */\n    detectionRadius?: number;\n\n    /**\n     * @zh 触发拥堵的最小代理数\n     * @en Minimum agents to trigger congestion\n     */\n    minAgentsForCongestion?: number;\n\n    /**\n     * @zh 默认区域容量\n     * @en Default zone capacity\n     */\n    defaultCapacity?: number;\n\n    /**\n     * @zh 等待点距离（到拥堵区域边缘的距离）\n     * @en Wait point distance (from congestion zone edge)\n     */\n    waitPointDistance?: number;\n\n    /**\n     * @zh 让路速度倍率\n     * @en Yield speed multiplier\n     */\n    yieldSpeedMultiplier?: number;\n}\n\n/**\n * @zh 默认流量控制器配置\n * @en Default flow controller configuration\n */\nexport const DEFAULT_FLOW_CONTROLLER_CONFIG: Required<IFlowControllerConfig> = {\n    detectionRadius: 3.0,\n    minAgentsForCongestion: 3,\n    defaultCapacity: 2,\n    waitPointDistance: 1.5,\n    yieldSpeedMultiplier: 0.3\n};\n\n/**\n * @zh 流量控制器接口\n * @en Flow controller interface\n *\n * @zh 管理代理在拥堵区域的通行顺序，防止死锁和回头现象\n * @en Manages agent passage order in congested areas, prevents deadlocks and turning back\n *\n * @example\n * ```typescript\n * const flowController = createFlowController();\n * navSystem.setFlowController(flowController);\n *\n * // 流量控制会自动：\n * // 1. 检测拥堵区域\n * // 2. 分配通行优先级\n * // 3. 管理等待队列\n * ```\n */\nexport interface IFlowController {\n    /**\n     * @zh 控制器类型标识\n     * @en Controller type identifier\n     */\n    readonly type: string;\n\n    /**\n     * @zh 更新流量控制状态\n     * @en Update flow control state\n     *\n     * @param agents - @zh 所有代理数据 @en All agent data\n     * @param deltaTime - @zh 时间步长 @en Time step\n     */\n    update(agents: readonly IFlowAgentData[], deltaTime: number): void;\n\n    /**\n     * @zh 获取代理的流量控制结果\n     * @en Get flow control result for an agent\n     *\n     * @param agentId - @zh 代理 ID @en Agent ID\n     * @returns @zh 流量控制结果 @en Flow control result\n     */\n    getFlowControl(agentId: number): IFlowControlResult;\n\n    /**\n     * @zh 获取所有检测到的拥堵区域\n     * @en Get all detected congestion zones\n     *\n     * @returns @zh 拥堵区域列表 @en List of congestion zones\n     */\n    getCongestionZones(): readonly ICongestionZone[];\n\n    /**\n     * @zh 手动标记一个区域为拥堵区域\n     * @en Manually mark an area as congestion zone\n     *\n     * @param center - @zh 区域中心 @en Zone center\n     * @param radius - @zh 区域半径 @en Zone radius\n     * @param capacity - @zh 区域容量 @en Zone capacity\n     * @returns @zh 区域 ID @en Zone ID\n     */\n    addStaticZone(center: IVector2, radius: number, capacity: number): number;\n\n    /**\n     * @zh 移除手动标记的拥堵区域\n     * @en Remove manually marked congestion zone\n     *\n     * @param zoneId - @zh 区域 ID @en Zone ID\n     */\n    removeStaticZone(zoneId: number): void;\n\n    /**\n     * @zh 清除所有状态\n     * @en Clear all state\n     */\n    clear(): void;\n\n    /**\n     * @zh 释放资源\n     * @en Dispose resources\n     */\n    dispose(): void;\n}\n","/**\n * @zh NavMesh 路径规划器适配器\n * @en NavMesh Path Planner Adapter\n *\n * @zh 将现有 NavMesh 适配到 IPathPlanner 接口\n * @en Adapts existing NavMesh to IPathPlanner interface\n */\n\nimport type { IPathPlanner, IPathPlanResult, IPathPlanOptions, IVector2 } from '../interfaces/IPathPlanner';\nimport type { NavMesh } from '../navmesh/NavMesh';\nimport { EMPTY_PLAN_RESULT } from '../interfaces/IPathPlanner';\n\n/**\n * @zh NavMesh 路径规划器适配器\n * @en NavMesh path planner adapter\n *\n * @example\n * ```typescript\n * const navMesh = createNavMesh();\n * navMesh.addPolygon([...]);\n * navMesh.build();\n *\n * const planner = createNavMeshPathPlanner(navMesh);\n * const result = planner.findPath({ x: 0, y: 0 }, { x: 100, y: 100 });\n * ```\n */\nexport class NavMeshPathPlannerAdapter implements IPathPlanner {\n    readonly type = 'navmesh';\n\n    constructor(private readonly navMesh: NavMesh) {}\n\n    findPath(start: IVector2, end: IVector2, options?: IPathPlanOptions): IPathPlanResult {\n        const result = this.navMesh.findPathWithObstacles(\n            start.x, start.y,\n            end.x, end.y,\n            options ? { agentRadius: options.agentRadius } : undefined\n        );\n\n        if (!result.found) {\n            return EMPTY_PLAN_RESULT;\n        }\n\n        return {\n            found: true,\n            path: result.path.map(p => ({ x: p.x, y: p.y })),\n            cost: result.cost,\n            nodesSearched: result.nodesSearched\n        };\n    }\n\n    isWalkable(position: IVector2): boolean {\n        return this.navMesh.isWalkable(position.x, position.y);\n    }\n\n    getNearestWalkable(position: IVector2): IVector2 | null {\n        const polygon = this.navMesh.findPolygonAt(position.x, position.y);\n        if (polygon) {\n            return { x: position.x, y: position.y };\n        }\n\n        const polygons = this.navMesh.getPolygons();\n        if (polygons.length === 0) {\n            return null;\n        }\n\n        let nearestDist = Infinity;\n        let nearestPoint: IVector2 | null = null;\n\n        for (const poly of polygons) {\n            const dx = poly.center.x - position.x;\n            const dy = poly.center.y - position.y;\n            const dist = dx * dx + dy * dy;\n\n            if (dist < nearestDist) {\n                nearestDist = dist;\n                nearestPoint = { x: poly.center.x, y: poly.center.y };\n            }\n        }\n\n        return nearestPoint;\n    }\n\n    clear(): void {\n        // NavMesh manages its own state\n    }\n\n    dispose(): void {\n        // NavMesh lifecycle managed externally\n    }\n}\n\n/**\n * @zh 创建 NavMesh 路径规划器\n * @en Create NavMesh path planner\n *\n * @param navMesh - @zh NavMesh 实例 @en NavMesh instance\n * @returns @zh 路径规划器 @en Path planner\n *\n * @example\n * ```typescript\n * const planner = createNavMeshPathPlanner(navMesh);\n * navSystem.setPathPlanner(planner);\n * ```\n */\nexport function createNavMeshPathPlanner(navMesh: NavMesh): IPathPlanner {\n    return new NavMeshPathPlannerAdapter(navMesh);\n}\n","/**\n * @zh 网格寻路器适配器\n * @en Grid Pathfinder Adapter\n *\n * @zh 将现有 IPathfinder (A*, JPS, HPA*) 适配到 IPathPlanner 接口\n * @en Adapts existing IPathfinder (A*, JPS, HPA*) to IPathPlanner interface\n */\n\nimport type { IPathPlanner, IPathPlanResult, IVector2 } from '../interfaces/IPathPlanner';\nimport type { IPathfinder, IPathfindingMap, IPathfindingOptions } from '../core/IPathfinding';\nimport { EMPTY_PLAN_RESULT } from '../interfaces/IPathPlanner';\nimport { AStarPathfinder } from '../core/AStarPathfinder';\nimport { JPSPathfinder } from '../core/JPSPathfinder';\nimport { HPAPathfinder } from '../core/HPAPathfinder';\nimport type { IHPAConfig } from '../core/HPAPathfinder';\n\n/**\n * @zh 网格寻路器适配器配置\n * @en Grid pathfinder adapter configuration\n */\nexport interface IGridPathfinderAdapterConfig {\n    /**\n     * @zh 网格单元格大小（像素），用于坐标转换\n     * @en Grid cell size (pixels), used for coordinate conversion\n     *\n     * @zh 如果设置了此值，输入的像素坐标会自动转换为网格坐标，输出的网格坐标会转换回像素坐标\n     * @en If set, input pixel coordinates are converted to grid coordinates, output grid coordinates are converted back to pixel coordinates\n     *\n     * @default 1 (no conversion)\n     */\n    cellSize?: number;\n\n    /**\n     * @zh 是否将输出坐标对齐到单元格中心\n     * @en Whether to align output coordinates to cell center\n     *\n     * @zh 为 true 时，输出坐标会偏移 cellSize * 0.5，指向单元格中心\n     * @en When true, output coordinates are offset by cellSize * 0.5, pointing to cell center\n     *\n     * @zh 默认：当 cellSize > 1 时为 true（像素坐标场景），cellSize = 1 时为 false（网格坐标场景）\n     * @en Default: true when cellSize > 1 (pixel coordinate scenario), false when cellSize = 1 (grid coordinate scenario)\n     */\n    alignToCenter?: boolean;\n}\n\n/**\n * @zh 网格寻路器适配器\n * @en Grid pathfinder adapter\n *\n * @zh 将 A*、JPS、HPA* 等网格寻路器适配到统一的 IPathPlanner 接口\n * @en Adapts A*, JPS, HPA* grid pathfinders to unified IPathPlanner interface\n */\nexport class GridPathfinderAdapter implements IPathPlanner {\n    readonly type: string;\n    private readonly cellSize: number;\n    private readonly alignToCenter: boolean;\n\n    constructor(\n        private readonly pathfinder: IPathfinder,\n        private readonly map: IPathfindingMap,\n        private readonly options?: IPathfindingOptions,\n        type: string = 'grid',\n        config?: IGridPathfinderAdapterConfig\n    ) {\n        this.type = type;\n        const cellSize = config?.cellSize ?? 1;\n        if (cellSize <= 0 || !Number.isFinite(cellSize)) {\n            throw new Error(`cellSize must be a positive finite number, got: ${cellSize}`);\n        }\n        this.cellSize = cellSize;\n        this.alignToCenter = config?.alignToCenter ?? (cellSize > 1);\n    }\n\n    /**\n     * @zh 像素坐标转网格坐标\n     * @en Convert pixel coordinate to grid coordinate\n     */\n    private toGridCoord(pixel: number): number {\n        return Math.floor(pixel / this.cellSize);\n    }\n\n    /**\n     * @zh 网格坐标转像素坐标\n     * @en Convert grid coordinate to pixel coordinate\n     *\n     * @zh 根据 alignToCenter 配置决定是否偏移到单元格中心\n     * @en Offsets to cell center based on alignToCenter configuration\n     */\n    private toPixelCoord(grid: number): number {\n        const base = grid * this.cellSize;\n        return this.alignToCenter ? base + this.cellSize * 0.5 : base;\n    }\n\n    findPath(start: IVector2, end: IVector2): IPathPlanResult {\n        const startGridX = this.toGridCoord(start.x);\n        const startGridY = this.toGridCoord(start.y);\n        const endGridX = this.toGridCoord(end.x);\n        const endGridY = this.toGridCoord(end.y);\n\n        const result = this.pathfinder.findPath(\n            startGridX,\n            startGridY,\n            endGridX,\n            endGridY,\n            this.options\n        );\n\n        if (!result.found) {\n            return EMPTY_PLAN_RESULT;\n        }\n\n        return {\n            found: true,\n            path: result.path.map(p => ({\n                x: this.toPixelCoord(p.x),\n                y: this.toPixelCoord(p.y)\n            })),\n            cost: result.cost,\n            nodesSearched: result.nodesSearched\n        };\n    }\n\n    isWalkable(position: IVector2): boolean {\n        return this.map.isWalkable(\n            this.toGridCoord(position.x),\n            this.toGridCoord(position.y)\n        );\n    }\n\n    getNearestWalkable(position: IVector2): IVector2 | null {\n        const x = this.toGridCoord(position.x);\n        const y = this.toGridCoord(position.y);\n\n        if (this.map.isWalkable(x, y)) {\n            return {\n                x: this.toPixelCoord(x),\n                y: this.toPixelCoord(y)\n            };\n        }\n\n        for (let radius = 1; radius <= 10; radius++) {\n            for (let dx = -radius; dx <= radius; dx++) {\n                for (let dy = -radius; dy <= radius; dy++) {\n                    if (Math.abs(dx) === radius || Math.abs(dy) === radius) {\n                        if (this.map.isWalkable(x + dx, y + dy)) {\n                            return {\n                                x: this.toPixelCoord(x + dx),\n                                y: this.toPixelCoord(y + dy)\n                            };\n                        }\n                    }\n                }\n            }\n        }\n\n        return null;\n    }\n\n    clear(): void {\n        this.pathfinder.clear();\n    }\n\n    dispose(): void {\n        this.pathfinder.clear();\n    }\n}\n\n/**\n * @zh 创建 A* 路径规划器\n * @en Create A* path planner\n *\n * @param map - @zh 寻路地图 @en Pathfinding map\n * @param options - @zh 寻路选项 @en Pathfinding options\n * @param config - @zh 适配器配置（包含 cellSize）@en Adapter config (includes cellSize)\n * @returns @zh 路径规划器 @en Path planner\n *\n * @example\n * ```typescript\n * const gridMap = createGridMap(100, 100);\n * // 如果使用像素坐标，需要指定 cellSize\n * const planner = createAStarPlanner(gridMap, undefined, { cellSize: 20 });\n * navSystem.setPathPlanner(planner);\n * ```\n */\nexport function createAStarPlanner(\n    map: IPathfindingMap,\n    options?: IPathfindingOptions,\n    config?: IGridPathfinderAdapterConfig\n): IPathPlanner {\n    return new GridPathfinderAdapter(\n        new AStarPathfinder(map),\n        map,\n        options,\n        'astar',\n        config\n    );\n}\n\n/**\n * @zh 创建 JPS 路径规划器\n * @en Create JPS path planner\n *\n * @zh JPS（Jump Point Search）适用于均匀代价的网格地图，比 A* 快 10-100 倍\n * @en JPS (Jump Point Search) is optimized for uniform-cost grids, 10-100x faster than A*\n *\n * @param map - @zh 寻路地图 @en Pathfinding map\n * @param options - @zh 寻路选项 @en Pathfinding options\n * @param config - @zh 适配器配置（包含 cellSize）@en Adapter config (includes cellSize)\n * @returns @zh 路径规划器 @en Path planner\n *\n * @example\n * ```typescript\n * const gridMap = createGridMap(100, 100);\n * const planner = createJPSPlanner(gridMap, undefined, { cellSize: 20 });\n * navSystem.setPathPlanner(planner);\n * ```\n */\nexport function createJPSPlanner(\n    map: IPathfindingMap,\n    options?: IPathfindingOptions,\n    config?: IGridPathfinderAdapterConfig\n): IPathPlanner {\n    return new GridPathfinderAdapter(\n        new JPSPathfinder(map),\n        map,\n        options,\n        'jps',\n        config\n    );\n}\n\n/**\n * @zh 创建 HPA* 路径规划器\n * @en Create HPA* path planner\n *\n * @zh HPA*（Hierarchical Pathfinding A*）适用于超大地图（1000x1000+）\n * @en HPA* (Hierarchical Pathfinding A*) is optimized for very large maps (1000x1000+)\n *\n * @param map - @zh 寻路地图 @en Pathfinding map\n * @param hpaConfig - @zh HPA* 配置 @en HPA* configuration\n * @param options - @zh 寻路选项 @en Pathfinding options\n * @param adapterConfig - @zh 适配器配置（包含 cellSize）@en Adapter config (includes cellSize)\n * @returns @zh 路径规划器 @en Path planner\n *\n * @example\n * ```typescript\n * const gridMap = createGridMap(2000, 2000);\n * const planner = createHPAPlanner(gridMap, { clusterSize: 16 }, undefined, { cellSize: 20 });\n * navSystem.setPathPlanner(planner);\n * ```\n */\nexport function createHPAPlanner(\n    map: IPathfindingMap,\n    hpaConfig?: Partial<IHPAConfig>,\n    options?: IPathfindingOptions,\n    adapterConfig?: IGridPathfinderAdapterConfig\n): IPathPlanner {\n    return new GridPathfinderAdapter(\n        new HPAPathfinder(map, hpaConfig),\n        map,\n        options,\n        'hpa',\n        adapterConfig\n    );\n}\n","/**\n * @zh 增量网格寻路器适配器\n * @en Incremental Grid Pathfinder Adapter\n *\n * @zh 将 IncrementalAStarPathfinder 适配到 IIncrementalPathPlanner 接口\n * @en Adapts IncrementalAStarPathfinder to IIncrementalPathPlanner interface\n */\n\nimport type {\n    IIncrementalPathPlanner,\n    IIncrementalPathRequest,\n    IPathProgress,\n    IPathPlanResult,\n    IPathPlanOptions,\n    IVector2,\n    PathPlanState\n} from '../interfaces/IPathPlanner';\nimport { EMPTY_PLAN_RESULT } from '../interfaces/IPathPlanner';\nimport { PathPlanState as PlanState } from '../interfaces/IPathPlanner';\nimport type { IPathfindingMap, IPathfindingOptions } from '../core/IPathfinding';\nimport { IncrementalAStarPathfinder, type IIncrementalPathfinderConfig } from '../core/IncrementalAStarPathfinder';\nimport { PathfindingState } from '../core/IIncrementalPathfinding';\n\n/**\n * @zh 增量网格寻路器适配器配置\n * @en Incremental grid pathfinder adapter configuration\n */\nexport interface IIncrementalGridPathPlannerConfig extends IIncrementalPathfinderConfig {\n    /**\n     * @zh 网格单元格大小（像素），用于坐标转换\n     * @en Grid cell size (pixels), used for coordinate conversion\n     *\n     * @default 1 (no conversion)\n     */\n    cellSize?: number;\n\n    /**\n     * @zh 是否将输出坐标对齐到单元格中心\n     * @en Whether to align output coordinates to cell center\n     *\n     * @zh 为 true 时，输出坐标会偏移 cellSize * 0.5，指向单元格中心\n     * @en When true, output coordinates are offset by cellSize * 0.5, pointing to cell center\n     *\n     * @zh 默认：当 cellSize > 1 时为 true（像素坐标场景），cellSize = 1 时为 false（网格坐标场景）\n     * @en Default: true when cellSize > 1 (pixel coordinate scenario), false when cellSize = 1 (grid coordinate scenario)\n     */\n    alignToCenter?: boolean;\n}\n\n/**\n * @zh 将 PathfindingState 转换为 PathPlanState\n * @en Convert PathfindingState to PathPlanState\n */\nfunction toPathPlanState(state: PathfindingState): PathPlanState {\n    switch (state) {\n        case PathfindingState.Idle:\n            return PlanState.Idle;\n        case PathfindingState.InProgress:\n            return PlanState.InProgress;\n        case PathfindingState.Completed:\n            return PlanState.Completed;\n        case PathfindingState.Failed:\n            return PlanState.Failed;\n        case PathfindingState.Cancelled:\n            return PlanState.Cancelled;\n        default:\n            return PlanState.Idle;\n    }\n}\n\n/**\n * @zh 增量网格寻路器适配器\n * @en Incremental grid pathfinder adapter\n *\n * @zh 将 IncrementalAStarPathfinder 适配到 IIncrementalPathPlanner 接口，支持时间切片\n * @en Adapts IncrementalAStarPathfinder to IIncrementalPathPlanner interface, supports time slicing\n *\n * @example\n * ```typescript\n * const gridMap = createGridMap(100, 100);\n * const planner = createIncrementalAStarPlanner(gridMap, { cellSize: 20 });\n *\n * // 请求路径（像素坐标）\n * const request = planner.requestPath({ x: 100, y: 100 }, { x: 500, y: 300 });\n *\n * // 每帧执行一定数量的迭代\n * const progress = planner.step(request.id, 100);\n * if (progress.state === PathPlanState.Completed) {\n *     const result = planner.getResult(request.id);\n *     // result.path 是像素坐标\n * }\n * ```\n */\nexport class IncrementalGridPathPlannerAdapter implements IIncrementalPathPlanner {\n    readonly type: string = 'incremental-astar';\n    readonly supportsIncremental: true = true;\n\n    private readonly pathfinder: IncrementalAStarPathfinder;\n    private readonly map: IPathfindingMap;\n    private readonly options?: IPathfindingOptions;\n    private readonly cellSize: number;\n    private readonly alignToCenter: boolean;\n\n    /**\n     * @zh 活跃请求 ID 集合（用于跟踪）\n     * @en Active request IDs set (for tracking)\n     */\n    private readonly activeRequests: Set<number> = new Set();\n\n    /**\n     * @zh 每个请求的累计搜索节点数\n     * @en Accumulated searched nodes per request\n     */\n    private readonly requestTotalNodes: Map<number, number> = new Map();\n\n    constructor(\n        map: IPathfindingMap,\n        options?: IPathfindingOptions,\n        config?: IIncrementalGridPathPlannerConfig\n    ) {\n        this.map = map;\n        this.options = options;\n        const cellSize = config?.cellSize ?? 1;\n        if (cellSize <= 0 || !Number.isFinite(cellSize)) {\n            throw new Error(`cellSize must be a positive finite number, got: ${cellSize}`);\n        }\n        this.cellSize = cellSize;\n        this.alignToCenter = config?.alignToCenter ?? (cellSize > 1);\n        this.pathfinder = new IncrementalAStarPathfinder(map, config);\n    }\n\n    /**\n     * @zh 像素坐标转网格坐标\n     * @en Convert pixel coordinate to grid coordinate\n     */\n    private toGridCoord(pixel: number): number {\n        return Math.floor(pixel / this.cellSize);\n    }\n\n    /**\n     * @zh 网格坐标转像素坐标\n     * @en Convert grid coordinate to pixel coordinate\n     *\n     * @zh 根据 alignToCenter 配置决定是否偏移到单元格中心\n     * @en Offsets to cell center based on alignToCenter configuration\n     */\n    private toPixelCoord(grid: number): number {\n        const base = grid * this.cellSize;\n        return this.alignToCenter ? base + this.cellSize * 0.5 : base;\n    }\n\n    // =========================================================================\n    // IPathPlanner 基础接口 | IPathPlanner Base Interface\n    // =========================================================================\n\n    findPath(start: IVector2, end: IVector2, options?: IPathPlanOptions): IPathPlanResult {\n        const startGridX = this.toGridCoord(start.x);\n        const startGridY = this.toGridCoord(start.y);\n        const endGridX = this.toGridCoord(end.x);\n        const endGridY = this.toGridCoord(end.y);\n\n        // 使用同步方式：请求 → 完全执行 → 获取结果\n        const request = this.pathfinder.requestPath(\n            startGridX,\n            startGridY,\n            endGridX,\n            endGridY,\n            this.options\n        );\n\n        // 执行足够多的迭代以完成\n        let progress = this.pathfinder.step(request.id, 100000);\n        while (progress.state === PathfindingState.InProgress) {\n            progress = this.pathfinder.step(request.id, 100000);\n        }\n\n        const result = this.pathfinder.getResult(request.id);\n        this.pathfinder.cleanup(request.id);\n\n        if (!result || !result.found) {\n            return EMPTY_PLAN_RESULT;\n        }\n\n        return {\n            found: true,\n            path: result.path.map(p => ({\n                x: this.toPixelCoord(p.x),\n                y: this.toPixelCoord(p.y)\n            })),\n            cost: result.cost,\n            nodesSearched: result.nodesSearched\n        };\n    }\n\n    isWalkable(position: IVector2): boolean {\n        return this.map.isWalkable(\n            this.toGridCoord(position.x),\n            this.toGridCoord(position.y)\n        );\n    }\n\n    getNearestWalkable(position: IVector2): IVector2 | null {\n        const x = this.toGridCoord(position.x);\n        const y = this.toGridCoord(position.y);\n\n        if (this.map.isWalkable(x, y)) {\n            return {\n                x: this.toPixelCoord(x),\n                y: this.toPixelCoord(y)\n            };\n        }\n\n        for (let radius = 1; radius <= 10; radius++) {\n            for (let dx = -radius; dx <= radius; dx++) {\n                for (let dy = -radius; dy <= radius; dy++) {\n                    if (Math.abs(dx) === radius || Math.abs(dy) === radius) {\n                        if (this.map.isWalkable(x + dx, y + dy)) {\n                            return {\n                                x: this.toPixelCoord(x + dx),\n                                y: this.toPixelCoord(y + dy)\n                            };\n                        }\n                    }\n                }\n            }\n        }\n\n        return null;\n    }\n\n    clear(): void {\n        this.pathfinder.clear();\n        this.activeRequests.clear();\n        this.requestTotalNodes.clear();\n    }\n\n    dispose(): void {\n        this.pathfinder.clear();\n        this.activeRequests.clear();\n        this.requestTotalNodes.clear();\n    }\n\n    // =========================================================================\n    // IIncrementalPathPlanner 增量接口 | IIncrementalPathPlanner Incremental Interface\n    // =========================================================================\n\n    requestPath(start: IVector2, end: IVector2, options?: IPathPlanOptions): IIncrementalPathRequest {\n        const startGridX = this.toGridCoord(start.x);\n        const startGridY = this.toGridCoord(start.y);\n        const endGridX = this.toGridCoord(end.x);\n        const endGridY = this.toGridCoord(end.y);\n\n        const request = this.pathfinder.requestPath(\n            startGridX,\n            startGridY,\n            endGridX,\n            endGridY,\n            this.options\n        );\n\n        this.activeRequests.add(request.id);\n        this.requestTotalNodes.set(request.id, 0);\n\n        return {\n            id: request.id,\n            state: PlanState.InProgress\n        };\n    }\n\n    step(requestId: number, iterations: number): IPathProgress {\n        const progress = this.pathfinder.step(requestId, iterations);\n\n        // Track total nodes searched across all steps\n        const prevTotal = this.requestTotalNodes.get(requestId) ?? 0;\n        const newTotal = prevTotal + progress.nodesSearched;\n        this.requestTotalNodes.set(requestId, newTotal);\n\n        return {\n            state: toPathPlanState(progress.state),\n            estimatedProgress: progress.estimatedProgress,\n            nodesSearched: progress.nodesSearched,\n            totalNodesSearched: newTotal\n        };\n    }\n\n    getResult(requestId: number): IPathPlanResult | null {\n        const result = this.pathfinder.getResult(requestId);\n\n        if (!result) {\n            return null;\n        }\n\n        if (!result.found) {\n            return EMPTY_PLAN_RESULT;\n        }\n\n        return {\n            found: true,\n            path: result.path.map(p => ({\n                x: this.toPixelCoord(p.x),\n                y: this.toPixelCoord(p.y)\n            })),\n            cost: result.cost,\n            nodesSearched: result.nodesSearched\n        };\n    }\n\n    cancel(requestId: number): void {\n        this.pathfinder.cancel(requestId);\n    }\n\n    cleanup(requestId: number): void {\n        this.pathfinder.cleanup(requestId);\n        this.activeRequests.delete(requestId);\n        this.requestTotalNodes.delete(requestId);\n    }\n\n    getActiveRequestCount(): number {\n        return this.activeRequests.size;\n    }\n}\n\n/**\n * @zh 创建增量 A* 路径规划器\n * @en Create incremental A* path planner\n *\n * @zh 支持时间切片的 A* 路径规划器，可以将寻路计算分散到多帧执行\n * @en A* path planner with time slicing support, can spread pathfinding computation across multiple frames\n *\n * @param map - @zh 寻路地图 @en Pathfinding map\n * @param options - @zh 寻路选项 @en Pathfinding options\n * @param config - @zh 适配器配置（包含 cellSize 和缓存配置）@en Adapter config (includes cellSize and cache config)\n * @returns @zh 增量路径规划器 @en Incremental path planner\n *\n * @example\n * ```typescript\n * const gridMap = createGridMap(100, 100);\n * const planner = createIncrementalAStarPlanner(gridMap, undefined, {\n *     cellSize: 20,\n *     enableCache: true\n * });\n *\n * // 与 NavigationSystem 集成\n * navSystem.setPathPlanner(planner);\n *\n * // 启用时间切片（NavigationSystem 会自动检测）\n * const navSystem = new NavigationSystem({\n *     enableTimeSlicing: true,\n *     iterationsBudget: 1000,\n *     maxAgentsPerFrame: 10\n * });\n * ```\n */\nexport function createIncrementalAStarPlanner(\n    map: IPathfindingMap,\n    options?: IPathfindingOptions,\n    config?: IIncrementalGridPathPlannerConfig\n): IIncrementalPathPlanner {\n    return new IncrementalGridPathPlannerAdapter(map, options, config);\n}\n","/**\n * @zh ORCA 局部避让适配器\n * @en ORCA Local Avoidance Adapter\n *\n * @zh 将现有 ORCA 求解器适配到 ILocalAvoidance 接口\n * @en Adapts existing ORCA solver to ILocalAvoidance interface\n */\n\nimport type {\n    ILocalAvoidance,\n    IAvoidanceAgentData,\n    IObstacleData,\n    IAvoidanceResult\n} from '../interfaces/ILocalAvoidance';\nimport { ORCASolver, createORCASolver } from '../avoidance/ORCASolver';\nimport { KDTree, createKDTree } from '../avoidance/KDTree';\nimport type { IAvoidanceAgent, IORCASolverConfig, IObstacle } from '../avoidance/ILocalAvoidance';\n\n/**\n * @zh ORCA 默认参数\n * @en ORCA default parameters\n */\nexport interface IORCAParams {\n    /**\n     * @zh 邻居检测距离\n     * @en Neighbor detection distance\n     */\n    neighborDist: number;\n\n    /**\n     * @zh 最大邻居数量\n     * @en Maximum number of neighbors\n     */\n    maxNeighbors: number;\n\n    /**\n     * @zh 代理避让时间视野\n     * @en Time horizon for agent avoidance\n     */\n    timeHorizon: number;\n\n    /**\n     * @zh 障碍物避让时间视野\n     * @en Time horizon for obstacle avoidance\n     */\n    timeHorizonObst: number;\n}\n\n/**\n * @zh ORCA 默认参数值\n * @en ORCA default parameter values\n */\nexport const DEFAULT_ORCA_PARAMS: IORCAParams = {\n    neighborDist: 15.0,\n    maxNeighbors: 10,\n    timeHorizon: 2.0,\n    timeHorizonObst: 1.0\n};\n\n/**\n * @zh ORCA 局部避让适配器\n * @en ORCA local avoidance adapter\n *\n * @example\n * ```typescript\n * const avoidance = createORCAAvoidance();\n * navSystem.setLocalAvoidance(avoidance);\n *\n * // 自定义参数\n * const avoidance = createORCAAvoidance({\n *     timeStep: 1/60\n * });\n * avoidance.setDefaultParams({ timeHorizon: 3.0 });\n * ```\n */\nexport class ORCALocalAvoidanceAdapter implements ILocalAvoidance {\n    readonly type = 'orca';\n\n    private solver: ORCASolver;\n    private kdTree: KDTree;\n    private defaultParams: IORCAParams;\n\n    constructor(config?: IORCASolverConfig) {\n        this.solver = createORCASolver(config);\n        this.kdTree = createKDTree();\n        this.defaultParams = { ...DEFAULT_ORCA_PARAMS };\n    }\n\n    /**\n     * @zh 设置默认 ORCA 参数\n     * @en Set default ORCA parameters\n     *\n     * @param params - @zh 参数 @en Parameters\n     */\n    setDefaultParams(params: Partial<IORCAParams>): void {\n        Object.assign(this.defaultParams, params);\n    }\n\n    /**\n     * @zh 获取默认 ORCA 参数\n     * @en Get default ORCA parameters\n     */\n    getDefaultParams(): Readonly<IORCAParams> {\n        return this.defaultParams;\n    }\n\n    computeAvoidanceVelocity(\n        agent: IAvoidanceAgentData,\n        neighbors: readonly IAvoidanceAgentData[],\n        obstacles: readonly IObstacleData[],\n        deltaTime: number\n    ): IAvoidanceResult {\n        const orcaAgent = this.toORCAAgent(agent);\n        const orcaNeighbors = neighbors.map(n => this.toORCAAgent(n));\n        const orcaObstacles = obstacles.map(o => this.toORCAObstacle(o));\n\n        const result = this.solver.computeNewVelocityWithResult(\n            orcaAgent,\n            orcaNeighbors,\n            orcaObstacles,\n            deltaTime\n        );\n\n        return {\n            velocity: result.velocity,\n            feasible: result.feasible\n        };\n    }\n\n    computeBatchAvoidance(\n        agents: readonly IAvoidanceAgentData[],\n        obstacles: readonly IObstacleData[],\n        deltaTime: number\n    ): Map<number, IAvoidanceResult> {\n        const results = new Map<number, IAvoidanceResult>();\n        const orcaAgents = agents.map(a => this.toORCAAgent(a));\n        const orcaObstacles = obstacles.map(o => this.toORCAObstacle(o));\n\n        this.kdTree.build(orcaAgents);\n\n        for (let i = 0; i < agents.length; i++) {\n            const agent = orcaAgents[i]!;\n\n            const neighborResults = this.kdTree.queryNeighbors(\n                agent.position,\n                agent.neighborDist,\n                agent.maxNeighbors,\n                agent.id\n            );\n\n            const result = this.solver.computeNewVelocityWithResult(\n                agent,\n                neighborResults.map(r => r.agent),\n                orcaObstacles,\n                deltaTime\n            );\n\n            results.set(agents[i]!.id, {\n                velocity: result.velocity,\n                feasible: result.feasible\n            });\n        }\n\n        return results;\n    }\n\n    dispose(): void {\n        this.kdTree.clear();\n    }\n\n    private toORCAAgent(agent: IAvoidanceAgentData): IAvoidanceAgent {\n        return {\n            id: agent.id,\n            position: { x: agent.position.x, y: agent.position.y },\n            velocity: { x: agent.velocity.x, y: agent.velocity.y },\n            preferredVelocity: { x: agent.preferredVelocity.x, y: agent.preferredVelocity.y },\n            radius: agent.radius,\n            maxSpeed: agent.maxSpeed,\n            neighborDist: this.defaultParams.neighborDist,\n            maxNeighbors: this.defaultParams.maxNeighbors,\n            timeHorizon: this.defaultParams.timeHorizon,\n            timeHorizonObst: this.defaultParams.timeHorizonObst\n        };\n    }\n\n    private toORCAObstacle(obstacle: IObstacleData): IObstacle {\n        return {\n            vertices: obstacle.vertices.map(v => ({ x: v.x, y: v.y }))\n        };\n    }\n}\n\n/**\n * @zh 创建 ORCA 局部避让\n * @en Create ORCA local avoidance\n *\n * @param config - @zh ORCA 求解器配置 @en ORCA solver configuration\n * @returns @zh 局部避让实例 @en Local avoidance instance\n *\n * @example\n * ```typescript\n * const avoidance = createORCAAvoidance();\n * navSystem.setLocalAvoidance(avoidance);\n * ```\n */\nexport function createORCAAvoidance(config?: IORCASolverConfig): ORCALocalAvoidanceAdapter {\n    return new ORCALocalAvoidanceAdapter(config);\n}\n","/**\n * @zh 碰撞解决器适配器\n * @en Collision Resolver Adapter\n *\n * @zh 将现有 CollisionResolver 适配到 ICollisionResolver 接口\n * @en Adapts existing CollisionResolver to ICollisionResolver interface\n */\n\nimport type { ICollisionResolver, ICollisionResult } from '../interfaces/ICollisionResolver';\nimport type { IObstacleData } from '../interfaces/ILocalAvoidance';\nimport type { IVector2 } from '../interfaces/IPathPlanner';\nimport {\n    CollisionResolver,\n    createCollisionResolver,\n    type ICollisionResolverConfig\n} from '../avoidance/CollisionResolver';\nimport { EMPTY_COLLISION_RESULT } from '../interfaces/ICollisionResolver';\n\n/**\n * @zh 碰撞解决器适配器\n * @en Collision resolver adapter\n *\n * @example\n * ```typescript\n * const resolver = createDefaultCollisionResolver();\n * navSystem.setCollisionResolver(resolver);\n * ```\n */\nexport class CollisionResolverAdapter implements ICollisionResolver {\n    readonly type = 'default';\n\n    private resolver: CollisionResolver;\n\n    constructor(config?: ICollisionResolverConfig) {\n        this.resolver = createCollisionResolver(config);\n    }\n\n    detectCollision(\n        position: IVector2,\n        radius: number,\n        obstacles: readonly IObstacleData[]\n    ): ICollisionResult {\n        if (obstacles.length === 0) {\n            return EMPTY_COLLISION_RESULT;\n        }\n\n        const result = this.resolver.detectCollisions(\n            position,\n            radius,\n            obstacles.map(o => ({ vertices: o.vertices.map(v => ({ x: v.x, y: v.y })) }))\n        );\n\n        return {\n            collided: result.collided,\n            penetration: result.penetration,\n            normal: { x: result.normal.x, y: result.normal.y },\n            closestPoint: { x: result.closestPoint.x, y: result.closestPoint.y }\n        };\n    }\n\n    resolveCollision(\n        position: IVector2,\n        radius: number,\n        obstacles: readonly IObstacleData[]\n    ): IVector2 {\n        if (obstacles.length === 0) {\n            return { x: position.x, y: position.y };\n        }\n\n        const resolved = this.resolver.resolveCollision(\n            position,\n            radius,\n            obstacles.map(o => ({ vertices: o.vertices.map(v => ({ x: v.x, y: v.y })) }))\n        );\n\n        return { x: resolved.x, y: resolved.y };\n    }\n\n    validateVelocity(\n        position: IVector2,\n        velocity: IVector2,\n        radius: number,\n        obstacles: readonly IObstacleData[],\n        deltaTime: number\n    ): IVector2 {\n        if (obstacles.length === 0) {\n            return { x: velocity.x, y: velocity.y };\n        }\n\n        const result = this.resolver.validateVelocity(\n            position,\n            velocity,\n            radius,\n            obstacles.map(o => ({ vertices: o.vertices.map(v => ({ x: v.x, y: v.y })) })),\n            deltaTime\n        );\n\n        return { x: result.x, y: result.y };\n    }\n\n    detectAgentCollision(\n        posA: IVector2,\n        radiusA: number,\n        posB: IVector2,\n        radiusB: number\n    ): ICollisionResult {\n        const result = this.resolver.detectAgentCollision(posA, radiusA, posB, radiusB);\n\n        return {\n            collided: result.collided,\n            penetration: result.penetration,\n            normal: { x: result.normal.x, y: result.normal.y },\n            closestPoint: { x: result.closestPoint.x, y: result.closestPoint.y }\n        };\n    }\n\n    dispose(): void {\n        // No resources to dispose\n    }\n}\n\n/**\n * @zh 创建默认碰撞解决器\n * @en Create default collision resolver\n *\n * @param config - @zh 配置 @en Configuration\n * @returns @zh 碰撞解决器 @en Collision resolver\n *\n * @example\n * ```typescript\n * const resolver = createDefaultCollisionResolver();\n * navSystem.setCollisionResolver(resolver);\n *\n * // 自定义配置\n * const resolver = createDefaultCollisionResolver({\n *     responseFactor: 1.0,\n *     safetyMargin: 0.01\n * });\n * ```\n */\nexport function createDefaultCollisionResolver(config?: ICollisionResolverConfig): ICollisionResolver {\n    return new CollisionResolverAdapter(config);\n}\n","/**\n * @zh 流量控制器实现\n * @en Flow Controller Implementation\n *\n * @zh 管理拥堵区域的代理通行，使用 FIFO + 优先级策略防止死锁\n * @en Manages agent passage through congested areas using FIFO + priority to prevent deadlocks\n */\n\nimport type { IVector2 } from '../interfaces/IPathPlanner';\nimport type {\n    IFlowController,\n    IFlowControllerConfig,\n    IFlowAgentData,\n    IFlowControlResult,\n    ICongestionZone\n} from '../interfaces/IFlowController';\nimport {\n    PassPermission,\n    DEFAULT_FLOW_CONTROLLER_CONFIG\n} from '../interfaces/IFlowController';\n\n// =============================================================================\n// 内部类型 | Internal Types\n// =============================================================================\n\n/**\n * @zh 代理队列项\n * @en Agent queue item\n */\ninterface QueueEntry {\n    agentId: number;\n    enterTime: number;\n    priority: number;\n}\n\n/**\n * @zh 区域状态\n * @en Zone state\n */\ninterface ZoneState {\n    zone: ICongestionZone;\n    queue: QueueEntry[];\n    passingAgents: Set<number>;\n    isStatic: boolean;\n}\n\n// =============================================================================\n// 流量控制器 | Flow Controller\n// =============================================================================\n\n/**\n * @zh 流量控制器\n * @en Flow Controller\n *\n * @zh 检测拥堵区域并管理代理通行顺序\n * @en Detects congestion zones and manages agent passage order\n *\n * @example\n * ```typescript\n * const flowController = createFlowController({\n *     detectionRadius: 3.0,\n *     minAgentsForCongestion: 3,\n *     defaultCapacity: 2\n * });\n *\n * // 每帧更新\n * flowController.update(agents, deltaTime);\n *\n * // 获取代理的流量控制\n * const result = flowController.getFlowControl(agentId);\n * if (result.permission === PassPermission.Wait) {\n *     // 移动到等待位置\n *     agent.setDestination(result.waitPosition);\n * }\n * ```\n */\nexport class FlowController implements IFlowController {\n    readonly type = 'fifo-priority';\n\n    private config: Required<IFlowControllerConfig>;\n    private zoneStates: Map<number, ZoneState> = new Map();\n    private agentZoneMap: Map<number, number> = new Map();\n    private agentResults: Map<number, IFlowControlResult> = new Map();\n    private nextZoneId: number = 1;\n    private currentTime: number = 0;\n\n    constructor(config: IFlowControllerConfig = {}) {\n        this.config = { ...DEFAULT_FLOW_CONTROLLER_CONFIG, ...config };\n    }\n\n    /**\n     * @zh 更新流量控制状态\n     * @en Update flow control state\n     */\n    update(agents: readonly IFlowAgentData[], deltaTime: number): void {\n        this.currentTime += deltaTime;\n        this.agentResults.clear();\n\n        // Step 1: 检测动态拥堵区域\n        this.detectDynamicCongestion(agents);\n\n        // Step 2: 更新每个区域的队列\n        this.updateZoneQueues(agents);\n\n        // Step 3: 计算每个代理的流量控制结果\n        this.computeFlowControlResults(agents);\n\n        // Step 4: 清理空的动态区域\n        this.cleanupEmptyZones();\n    }\n\n    /**\n     * @zh 获取代理的流量控制结果\n     * @en Get flow control result for an agent\n     */\n    getFlowControl(agentId: number): IFlowControlResult {\n        return this.agentResults.get(agentId) ?? {\n            permission: PassPermission.Proceed,\n            waitPosition: null,\n            speedMultiplier: 1.0,\n            zone: null,\n            queuePosition: 0\n        };\n    }\n\n    /**\n     * @zh 获取所有拥堵区域\n     * @en Get all congestion zones\n     */\n    getCongestionZones(): readonly ICongestionZone[] {\n        return Array.from(this.zoneStates.values()).map(s => s.zone);\n    }\n\n    /**\n     * @zh 添加静态拥堵区域\n     * @en Add static congestion zone\n     */\n    addStaticZone(center: IVector2, radius: number, capacity: number): number {\n        const zoneId = this.nextZoneId++;\n        const zone: ICongestionZone = {\n            id: zoneId,\n            center: { x: center.x, y: center.y },\n            radius,\n            agentIds: [],\n            capacity,\n            congestionLevel: 0\n        };\n\n        this.zoneStates.set(zoneId, {\n            zone,\n            queue: [],\n            passingAgents: new Set(),\n            isStatic: true\n        });\n\n        return zoneId;\n    }\n\n    /**\n     * @zh 移除静态拥堵区域\n     * @en Remove static congestion zone\n     */\n    removeStaticZone(zoneId: number): void {\n        const state = this.zoneStates.get(zoneId);\n        if (state?.isStatic) {\n            for (const agentId of state.zone.agentIds) {\n                this.agentZoneMap.delete(agentId);\n            }\n            this.zoneStates.delete(zoneId);\n        }\n    }\n\n    /**\n     * @zh 清除所有状态\n     * @en Clear all state\n     */\n    clear(): void {\n        this.zoneStates.clear();\n        this.agentZoneMap.clear();\n        this.agentResults.clear();\n        this.currentTime = 0;\n    }\n\n    /**\n     * @zh 释放资源\n     * @en Dispose resources\n     */\n    dispose(): void {\n        this.clear();\n    }\n\n    // =========================================================================\n    // 私有方法 | Private Methods\n    // =========================================================================\n\n    /**\n     * @zh 检测动态拥堵区域\n     * @en Detect dynamic congestion zones\n     */\n    private detectDynamicCongestion(agents: readonly IFlowAgentData[]): void {\n        const clusters = this.clusterAgents(agents);\n\n        for (const cluster of clusters) {\n            if (cluster.length < this.config.minAgentsForCongestion) {\n                continue;\n            }\n\n            const center = this.computeClusterCenter(cluster);\n            const radius = this.computeClusterRadius(cluster, center);\n\n            const existingZone = this.findZoneContaining(center);\n            if (existingZone && !existingZone.isStatic) {\n                this.updateDynamicZone(existingZone, cluster, center, radius);\n            } else if (!existingZone) {\n                this.createDynamicZone(cluster, center, radius);\n            }\n        }\n    }\n\n    /**\n     * @zh 聚类代理\n     * @en Cluster agents\n     */\n    private clusterAgents(agents: readonly IFlowAgentData[]): IFlowAgentData[][] {\n        const clusters: IFlowAgentData[][] = [];\n        const visited = new Set<number>();\n        const detectionRadiusSq = this.config.detectionRadius * this.config.detectionRadius;\n\n        for (const agent of agents) {\n            if (visited.has(agent.id) || !agent.destination) {\n                continue;\n            }\n\n            const cluster: IFlowAgentData[] = [agent];\n            visited.add(agent.id);\n\n            const queue = [agent];\n            while (queue.length > 0) {\n                const current = queue.shift()!;\n\n                for (const other of agents) {\n                    if (visited.has(other.id) || !other.destination) {\n                        continue;\n                    }\n\n                    const dx = other.position.x - current.position.x;\n                    const dy = other.position.y - current.position.y;\n                    const distSq = dx * dx + dy * dy;\n\n                    if (distSq <= detectionRadiusSq) {\n                        visited.add(other.id);\n                        cluster.push(other);\n                        queue.push(other);\n                    }\n                }\n            }\n\n            if (cluster.length >= this.config.minAgentsForCongestion) {\n                clusters.push(cluster);\n            }\n        }\n\n        return clusters;\n    }\n\n    /**\n     * @zh 计算聚类中心\n     * @en Compute cluster center\n     */\n    private computeClusterCenter(cluster: readonly IFlowAgentData[]): IVector2 {\n        let sumX = 0, sumY = 0;\n        for (const agent of cluster) {\n            sumX += agent.position.x;\n            sumY += agent.position.y;\n        }\n        return {\n            x: sumX / cluster.length,\n            y: sumY / cluster.length\n        };\n    }\n\n    /**\n     * @zh 计算聚类半径\n     * @en Compute cluster radius\n     */\n    private computeClusterRadius(cluster: readonly IFlowAgentData[], center: IVector2): number {\n        let maxDistSq = 0;\n        for (const agent of cluster) {\n            const dx = agent.position.x - center.x;\n            const dy = agent.position.y - center.y;\n            const distSq = dx * dx + dy * dy;\n            maxDistSq = Math.max(maxDistSq, distSq);\n        }\n        return Math.sqrt(maxDistSq) + this.config.detectionRadius * 0.5;\n    }\n\n    /**\n     * @zh 查找包含点的区域\n     * @en Find zone containing point\n     */\n    private findZoneContaining(point: IVector2): ZoneState | null {\n        for (const state of this.zoneStates.values()) {\n            const dx = point.x - state.zone.center.x;\n            const dy = point.y - state.zone.center.y;\n            const distSq = dx * dx + dy * dy;\n            if (distSq <= state.zone.radius * state.zone.radius) {\n                return state;\n            }\n        }\n        return null;\n    }\n\n    /**\n     * @zh 更新动态区域\n     * @en Update dynamic zone\n     */\n    private updateDynamicZone(\n        state: ZoneState,\n        cluster: readonly IFlowAgentData[],\n        center: IVector2,\n        radius: number\n    ): void {\n        state.zone.center = center;\n        state.zone.radius = Math.max(state.zone.radius, radius);\n        state.zone.agentIds = cluster.map(a => a.id);\n        state.zone.congestionLevel = Math.min(1, cluster.length / (state.zone.capacity * 2));\n    }\n\n    /**\n     * @zh 创建动态区域\n     * @en Create dynamic zone\n     */\n    private createDynamicZone(\n        cluster: readonly IFlowAgentData[],\n        center: IVector2,\n        radius: number\n    ): void {\n        const zoneId = this.nextZoneId++;\n\n        const capacityEstimate = Math.max(\n            this.config.defaultCapacity,\n            Math.floor((Math.PI * radius * radius) / (Math.PI * 0.5 * 0.5 * 4))\n        );\n\n        const zone: ICongestionZone = {\n            id: zoneId,\n            center,\n            radius,\n            agentIds: cluster.map(a => a.id),\n            capacity: capacityEstimate,\n            congestionLevel: Math.min(1, cluster.length / (capacityEstimate * 2))\n        };\n\n        this.zoneStates.set(zoneId, {\n            zone,\n            queue: [],\n            passingAgents: new Set(),\n            isStatic: false\n        });\n    }\n\n    /**\n     * @zh 更新区域队列\n     * @en Update zone queues\n     */\n    private updateZoneQueues(agents: readonly IFlowAgentData[]): void {\n        const agentMap = new Map(agents.map(a => [a.id, a]));\n\n        for (const state of this.zoneStates.values()) {\n            const zone = state.zone;\n            const newAgentIds: number[] = [];\n\n            for (const agent of agents) {\n                if (!agent.destination) continue;\n\n                const dx = agent.position.x - zone.center.x;\n                const dy = agent.position.y - zone.center.y;\n                const distSq = dx * dx + dy * dy;\n                const expandedRadius = zone.radius + this.config.waitPointDistance;\n\n                if (distSq <= expandedRadius * expandedRadius) {\n                    newAgentIds.push(agent.id);\n\n                    const existingEntry = state.queue.find(e => e.agentId === agent.id);\n                    if (!existingEntry) {\n                        state.queue.push({\n                            agentId: agent.id,\n                            enterTime: agent.enterTime ?? this.currentTime,\n                            priority: agent.priority\n                        });\n                        this.agentZoneMap.set(agent.id, zone.id);\n                    }\n                }\n            }\n\n            state.queue = state.queue.filter(entry => {\n                const agent = agentMap.get(entry.agentId);\n                if (!agent || !agent.destination) {\n                    state.passingAgents.delete(entry.agentId);\n                    this.agentZoneMap.delete(entry.agentId);\n                    return false;\n                }\n\n                const dx = agent.position.x - zone.center.x;\n                const dy = agent.position.y - zone.center.y;\n                const distSq = dx * dx + dy * dy;\n                const expandedRadius = zone.radius + this.config.waitPointDistance * 2;\n\n                if (distSq > expandedRadius * expandedRadius) {\n                    state.passingAgents.delete(entry.agentId);\n                    this.agentZoneMap.delete(entry.agentId);\n                    return false;\n                }\n\n                return true;\n            });\n\n            state.queue.sort((a, b) => {\n                if (a.priority !== b.priority) {\n                    return a.priority - b.priority;\n                }\n                return a.enterTime - b.enterTime;\n            });\n\n            zone.agentIds = state.queue.map(e => e.agentId);\n            zone.congestionLevel = Math.min(1, zone.agentIds.length / (zone.capacity * 2));\n        }\n    }\n\n    /**\n     * @zh 计算流量控制结果\n     * @en Compute flow control results\n     */\n    private computeFlowControlResults(agents: readonly IFlowAgentData[]): void {\n        const agentMap = new Map(agents.map(a => [a.id, a]));\n\n        for (const state of this.zoneStates.values()) {\n            const zone = state.zone;\n            const capacity = zone.capacity;\n\n            let passingCount = 0;\n            for (const entry of state.queue) {\n                const agent = agentMap.get(entry.agentId);\n                if (!agent) continue;\n\n                const dx = agent.position.x - zone.center.x;\n                const dy = agent.position.y - zone.center.y;\n                const distSq = dx * dx + dy * dy;\n                const isInsideZone = distSq <= zone.radius * zone.radius;\n\n                const queuePosition = state.queue.findIndex(e => e.agentId === entry.agentId);\n\n                if (passingCount < capacity) {\n                    state.passingAgents.add(entry.agentId);\n                    passingCount++;\n\n                    const speedMult = isInsideZone && zone.congestionLevel > 0.5\n                        ? 1.0 - (zone.congestionLevel - 0.5)\n                        : 1.0;\n\n                    this.agentResults.set(entry.agentId, {\n                        permission: PassPermission.Proceed,\n                        waitPosition: null,\n                        speedMultiplier: speedMult,\n                        zone,\n                        queuePosition\n                    });\n                } else if (state.passingAgents.has(entry.agentId) && isInsideZone) {\n                    this.agentResults.set(entry.agentId, {\n                        permission: PassPermission.Yield,\n                        waitPosition: null,\n                        speedMultiplier: this.config.yieldSpeedMultiplier,\n                        zone,\n                        queuePosition\n                    });\n                } else {\n                    const waitPos = this.computeWaitPosition(agent, zone);\n                    this.agentResults.set(entry.agentId, {\n                        permission: PassPermission.Wait,\n                        waitPosition: waitPos,\n                        speedMultiplier: 0,\n                        zone,\n                        queuePosition\n                    });\n                }\n            }\n        }\n    }\n\n    /**\n     * @zh 计算等待位置\n     * @en Compute wait position\n     */\n    private computeWaitPosition(agent: IFlowAgentData, zone: ICongestionZone): IVector2 {\n        const dx = agent.position.x - zone.center.x;\n        const dy = agent.position.y - zone.center.y;\n        const dist = Math.sqrt(dx * dx + dy * dy);\n\n        if (dist < 0.001) {\n            return {\n                x: zone.center.x + zone.radius + this.config.waitPointDistance,\n                y: zone.center.y\n            };\n        }\n\n        const dirX = dx / dist;\n        const dirY = dy / dist;\n        const waitDist = zone.radius + this.config.waitPointDistance;\n\n        return {\n            x: zone.center.x + dirX * waitDist,\n            y: zone.center.y + dirY * waitDist\n        };\n    }\n\n    /**\n     * @zh 清理空的动态区域\n     * @en Cleanup empty dynamic zones\n     */\n    private cleanupEmptyZones(): void {\n        const toRemove: number[] = [];\n\n        for (const [zoneId, state] of this.zoneStates) {\n            if (!state.isStatic && state.queue.length === 0) {\n                toRemove.push(zoneId);\n            }\n        }\n\n        for (const zoneId of toRemove) {\n            this.zoneStates.delete(zoneId);\n        }\n    }\n}\n\n/**\n * @zh 创建流量控制器\n * @en Create flow controller\n *\n * @param config - @zh 配置参数 @en Configuration\n * @returns @zh 流量控制器实例 @en Flow controller instance\n */\nexport function createFlowController(config?: IFlowControllerConfig): FlowController {\n    return new 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