npm - @esengine/pathfinding - Versions diffs - 13.3.0 → 13.3.1 - Mend

@esengine/pathfinding 13.3.0 → 13.3.1

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Files changed (10) hide show

package/dist/{FlowController-Dc3nuLq5.d.ts → FlowController-BztOzQsW.d.ts} +36 -6
package/dist/{chunk-NIKT3PQC.js → chunk-ZYGBA7VK.js} +29 -9
package/dist/{chunk-NIKT3PQC.js.map → chunk-ZYGBA7VK.js.map} +1 -1
package/dist/ecs.d.ts +2 -2
package/dist/ecs.js +19 -2
package/dist/ecs.js.map +1 -1
package/dist/index.d.ts +7 -2
package/dist/index.js +15 -1
package/dist/index.js.map +1 -1
package/package.json +5 -5

package/dist/index.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"sources":["../src/core/GridPathfinder.ts","../src/core/PathValidator.ts","../src/grid/GridMap.ts","../src/navmesh/NavMesh.ts","../src/smoothing/PathSmoother.ts","../src/smoothing/RadiusAwarePathSmoother.ts"],"sourcesContent":["/*\n @zh 网格寻路器（统一实现）\n * @en Grid Pathfinder (unified implementation)\n /\n\nimport type { IPathfinder, IPathResult, IPathfindingOptions, IPoint } from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport { GridMap } from '../grid/GridMap';\n\n// =============================================================================\n// 配置 \| Configuration\n// =============================================================================\n\n/\n @zh 寻路模式\n * @en Pathfinding mode\n /\nexport type GridPathfinderMode = 'standard' \| 'fast' \| 'bidirectional';\n\n/\n @zh 网格寻路器配置\n * @en Grid pathfinder configuration\n /\nexport interface IGridPathfinderConfig {\n /\n @zh 寻路模式\n * @en Pathfinding mode\n \n - standard: 标准A，适合小地图\n - fast: TypedArray优化，适合中大地图\n * - bidirectional: 双向搜索，适合超大地图\n /\n mode?: GridPathfinderMode;\n}\n\n// =============================================================================\n// 常量 \| Constants\n// =============================================================================\n\nconst CLOSED_FLAG = 1;\nconst OPENED_FLAG = 2;\nconst BACKWARD_CLOSED = 4;\nconst BACKWARD_OPENED = 8;\n\n// =============================================================================\n// 状态存储 \| State Storage\n// =============================================================================\n\nclass GridState {\n private readonly size: number;\n readonly width: number;\n\n private g: Float32Array;\n private f: Float32Array;\n private flags: Uint8Array;\n private parent: Int32Array;\n private heapIndex: Int32Array;\n private version: Uint32Array;\n private currentVersion: number = 1;\n\n // 双向搜索额外状态\n private gBack: Float32Array \| null = null;\n private fBack: Float32Array \| null = null;\n private parentBack: Int32Array \| null = null;\n private heapIndexBack: Int32Array \| null = null;\n\n constructor(width: number, height: number, bidirectional: boolean = false) {\n this.width = width;\n this.size = width height;\n\n this.g = new Float32Array(this.size);\n this.f = new Float32Array(this.size);\n this.flags = new Uint8Array(this.size);\n this.parent = new Int32Array(this.size);\n this.heapIndex = new Int32Array(this.size);\n this.version = new Uint32Array(this.size);\n\n if (bidirectional) {\n this.gBack = new Float32Array(this.size);\n this.fBack = new Float32Array(this.size);\n this.parentBack = new Int32Array(this.size);\n this.heapIndexBack = new Int32Array(this.size);\n }\n }\n\n reset(): void {\n this.currentVersion++;\n if (this.currentVersion > 0xFFFFFFFF) {\n this.version.fill(0);\n this.currentVersion = 1;\n }\n }\n\n private isInit(i: number): boolean {\n return this.version[i] === this.currentVersion;\n }\n\n private init(i: number): void {\n if (!this.isInit(i)) {\n this.g[i] = Infinity;\n this.f[i] = Infinity;\n this.flags[i] = 0;\n this.parent[i] = -1;\n this.heapIndex[i] = -1;\n if (this.gBack) {\n this.gBack[i] = Infinity;\n this.fBack![i] = Infinity;\n this.parentBack![i] = -1;\n this.heapIndexBack![i] = -1;\n }\n this.version[i] = this.currentVersion;\n }\n }\n\n // Forward\n getG(i: number): number { return this.isInit(i) ? this.g[i] : Infinity; }\n setG(i: number, v: number): void { this.init(i); this.g[i] = v; }\n getF(i: number): number { return this.isInit(i) ? this.f[i] : Infinity; }\n setF(i: number, v: number): void { this.init(i); this.f[i] = v; }\n getParent(i: number): number { return this.isInit(i) ? this.parent[i] : -1; }\n setParent(i: number, v: number): void { this.init(i); this.parent[i] = v; }\n getHeapIndex(i: number): number { return this.isInit(i) ? this.heapIndex[i] : -1; }\n setHeapIndex(i: number, v: number): void { this.init(i); this.heapIndex[i] = v; }\n isClosed(i: number): boolean { return this.isInit(i) && (this.flags[i] & CLOSED_FLAG) !== 0; }\n setClosed(i: number): void { this.init(i); this.flags[i] \|= CLOSED_FLAG; }\n isOpened(i: number): boolean { return this.isInit(i) && (this.flags[i] & OPENED_FLAG) !== 0; }\n setOpened(i: number): void { this.init(i); this.flags[i] \|= OPENED_FLAG; }\n\n // Backward\n getGBack(i: number): number { return this.isInit(i) ? this.gBack![i] : Infinity; }\n setGBack(i: number, v: number): void { this.init(i); this.gBack![i] = v; }\n getFBack(i: number): number { return this.isInit(i) ? this.fBack![i] : Infinity; }\n setFBack(i: number, v: number): void { this.init(i); this.fBack![i] = v; }\n getParentBack(i: number): number { return this.isInit(i) ? this.parentBack![i] : -1; }\n setParentBack(i: number, v: number): void { this.init(i); this.parentBack![i] = v; }\n getHeapIndexBack(i: number): number { return this.isInit(i) ? this.heapIndexBack![i] : -1; }\n setHeapIndexBack(i: number, v: number): void { this.init(i); this.heapIndexBack![i] = v; }\n isClosedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_CLOSED) !== 0; }\n setClosedBack(i: number): void { this.init(i); this.flags[i] \|= BACKWARD_CLOSED; }\n isOpenedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_OPENED) !== 0; }\n setOpenedBack(i: number): void { this.init(i); this.flags[i] \|= BACKWARD_OPENED; }\n}\n\n// =============================================================================\n// 堆 \| Heap\n// =============================================================================\n\nclass GridHeap {\n private heap: number[] = [];\n private state: GridState;\n private isBack: boolean;\n\n constructor(state: GridState, isBack: boolean = false) {\n this.state = state;\n this.isBack = isBack;\n }\n\n get size(): number { return this.heap.length; }\n get isEmpty(): boolean { return this.heap.length === 0; }\n\n private getF(i: number): number {\n return this.isBack ? this.state.getFBack(i) : this.state.getF(i);\n }\n private getHeapIndex(i: number): number {\n return this.isBack ? this.state.getHeapIndexBack(i) : this.state.getHeapIndex(i);\n }\n private setHeapIndex(i: number, v: number): void {\n if (this.isBack) this.state.setHeapIndexBack(i, v);\n else this.state.setHeapIndex(i, v);\n }\n\n push(i: number): void {\n this.setHeapIndex(i, this.heap.length);\n this.heap.push(i);\n this.bubbleUp(this.heap.length - 1);\n }\n\n pop(): number {\n if (this.heap.length === 0) return -1;\n const result = this.heap[0];\n this.setHeapIndex(result, -1);\n const last = this.heap.pop()!;\n if (this.heap.length > 0) {\n this.heap[0] = last;\n this.setHeapIndex(last, 0);\n this.sinkDown(0);\n }\n return result;\n }\n\n update(i: number): void {\n const pos = this.getHeapIndex(i);\n if (pos >= 0 && pos < this.heap.length) {\n this.bubbleUp(pos);\n this.sinkDown(this.getHeapIndex(i));\n }\n }\n\n clear(): void { this.heap.length = 0; }\n\n private bubbleUp(pos: number): void {\n const idx = this.heap[pos];\n const f = this.getF(idx);\n while (pos > 0) {\n const pp = (pos - 1) >> 1;\n const pi = this.heap[pp];\n if (f >= this.getF(pi)) break;\n this.heap[pos] = pi;\n this.setHeapIndex(pi, pos);\n pos = pp;\n }\n this.heap[pos] = idx;\n this.setHeapIndex(idx, pos);\n }\n\n private sinkDown(pos: number): void {\n const len = this.heap.length;\n const idx = this.heap[pos];\n const f = this.getF(idx);\n const half = len >> 1;\n while (pos < half) {\n const left = (pos << 1) + 1;\n const right = left + 1;\n let smallest = pos, smallestF = f;\n const lf = this.getF(this.heap[left]);\n if (lf < smallestF) { smallest = left; smallestF = lf; }\n if (right < len) {\n const rf = this.getF(this.heap[right]);\n if (rf < smallestF) smallest = right;\n }\n if (smallest === pos) break;\n const si = this.heap[smallest];\n this.heap[pos] = si;\n this.setHeapIndex(si, pos);\n pos = smallest;\n }\n this.heap[pos] = idx;\n this.setHeapIndex(idx, pos);\n }\n}\n\n// =============================================================================\n// 网格寻路器 \| Grid Pathfinder\n// =============================================================================\n\n/*\n @zh 网格寻路器\n * @en Grid Pathfinder\n /\nexport class GridPathfinder implements IPathfinder {\n private readonly map: GridMap;\n private readonly mode: GridPathfinderMode;\n private readonly state: GridState;\n private readonly openList: GridHeap;\n private readonly openListBack: GridHeap \| null;\n\n constructor(map: GridMap, config?: IGridPathfinderConfig) {\n this.map = map;\n this.mode = config?.mode ?? 'fast';\n const isBidir = this.mode === 'bidirectional';\n this.state = new GridState(map.width, map.height, isBidir);\n this.openList = new GridHeap(this.state, false);\n this.openListBack = isBidir ? new GridHeap(this.state, true) : null;\n }\n\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n if (this.mode === 'bidirectional') {\n return this.findPathBidirectional(startX, startY, endX, endY, options);\n }\n return this.findPathUnidirectional(startX, startY, endX, endY, options);\n }\n\n private findPathUnidirectional(\n startX: number, startY: number,\n endX: number, endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n const { width, height } = this.map;\n\n this.state.reset();\n this.openList.clear();\n\n if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n const startIdx = startY width + startX;\n const endIdx = endY * width + endX;\n\n if (startIdx === endIdx) {\n return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n }\n\n const hw = opts.heuristicWeight;\n const h0 = this.map.heuristic({ x: startX, y: startY }, { x: endX, y: endY }) * hw;\n this.state.setG(startIdx, 0);\n this.state.setF(startIdx, h0);\n this.state.setOpened(startIdx);\n this.openList.push(startIdx);\n\n let searched = 0;\n const maxNodes = opts.maxNodes;\n const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n const nodes = this.map['nodes'];\n const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n const dirCount = dx.length;\n\n while (!this.openList.isEmpty && searched < maxNodes) {\n const cur = this.openList.pop();\n this.state.setClosed(cur);\n searched++;\n\n if (cur === endIdx) {\n return this.buildPath(startIdx, endIdx, searched);\n }\n\n const cx = cur % width, cy = (cur / width) \| 0;\n const curG = this.state.getG(cur);\n\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dx[d], ny = cy + dy[d];\n if (nx < 0 \|\| nx >= width \|\| ny < 0 \|\| ny >= height) continue;\n\n const neighbor = nodes[ny][nx];\n if (!neighbor.walkable) continue;\n\n if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n if (!nodes[cy][cx + dx[d]].walkable \|\| !nodes[cy + dy[d]][cx].walkable) continue;\n }\n\n const ni = ny * width + nx;\n if (this.state.isClosed(ni)) continue;\n\n const isDiag = dx[d] !== 0 && dy[d] !== 0;\n const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n const tentG = curG + cost;\n\n if (!this.state.isOpened(ni)) {\n const h = this.map.heuristic({ x: nx, y: ny }, { x: endX, y: endY }) * hw;\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.state.setOpened(ni);\n this.openList.push(ni);\n } else if (tentG < this.state.getG(ni)) {\n const h = this.state.getF(ni) - this.state.getG(ni);\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.openList.update(ni);\n }\n }\n }\n\n return { found: false, path: [], cost: 0, nodesSearched: searched };\n }\n\n private findPathBidirectional(\n startX: number, startY: number,\n endX: number, endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n const { width, height } = this.map;\n\n this.state.reset();\n this.openList.clear();\n this.openListBack!.clear();\n\n if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n const startIdx = startY * width + startX;\n const endIdx = endY * width + endX;\n\n if (startIdx === endIdx) {\n return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n }\n\n const hw = opts.heuristicWeight;\n const startPos = { x: startX, y: startY };\n const endPos = { x: endX, y: endY };\n\n // Init forward\n const hf = this.map.heuristic(startPos, endPos) * hw;\n this.state.setG(startIdx, 0);\n this.state.setF(startIdx, hf);\n this.state.setOpened(startIdx);\n this.openList.push(startIdx);\n\n // Init backward\n const hb = this.map.heuristic(endPos, startPos) * hw;\n this.state.setGBack(endIdx, 0);\n this.state.setFBack(endIdx, hb);\n this.state.setOpenedBack(endIdx);\n this.openListBack!.push(endIdx);\n\n let searched = 0;\n const maxNodes = opts.maxNodes;\n let meetIdx = -1, bestCost = Infinity;\n\n const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n const nodes = this.map['nodes'];\n const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n const dirCount = dx.length;\n\n while ((!this.openList.isEmpty \|\| !this.openListBack!.isEmpty) && searched < maxNodes) {\n // Forward\n if (!this.openList.isEmpty) {\n const cur = this.openList.pop();\n this.state.setClosed(cur);\n searched++;\n\n const curG = this.state.getG(cur);\n if (this.state.isClosedBack(cur)) {\n const total = curG + this.state.getGBack(cur);\n if (total < bestCost) { bestCost = total; meetIdx = cur; }\n }\n if (meetIdx !== -1 && curG >= bestCost) break;\n\n const cx = cur % width, cy = (cur / width) \| 0;\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dx[d], ny = cy + dy[d];\n if (nx < 0 \|\| nx >= width \|\| ny < 0 \|\| ny >= height) continue;\n const neighbor = nodes[ny][nx];\n if (!neighbor.walkable) continue;\n if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n if (!nodes[cy][cx + dx[d]].walkable \|\| !nodes[cy + dy[d]][cx].walkable) continue;\n }\n const ni = ny * width + nx;\n if (this.state.isClosed(ni)) continue;\n const isDiag = dx[d] !== 0 && dy[d] !== 0;\n const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n const tentG = curG + cost;\n if (!this.state.isOpened(ni)) {\n const h = this.map.heuristic({ x: nx, y: ny }, endPos) * hw;\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.state.setOpened(ni);\n this.openList.push(ni);\n } else if (tentG < this.state.getG(ni)) {\n const h = this.state.getF(ni) - this.state.getG(ni);\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.openList.update(ni);\n }\n }\n }\n\n // Backward\n if (!this.openListBack!.isEmpty) {\n const cur = this.openListBack!.pop();\n this.state.setClosedBack(cur);\n searched++;\n\n const curG = this.state.getGBack(cur);\n if (this.state.isClosed(cur)) {\n const total = curG + this.state.getG(cur);\n if (total < bestCost) { bestCost = total; meetIdx = cur; }\n }\n if (meetIdx !== -1 && curG >= bestCost) break;\n\n const cx = cur % width, cy = (cur / width) \| 0;\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dx[d], ny = cy + dy[d];\n if (nx < 0 \|\| nx >= width \|\| ny < 0 \|\| ny >= height) continue;\n const neighbor = nodes[ny][nx];\n if (!neighbor.walkable) continue;\n if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n if (!nodes[cy][cx + dx[d]].walkable \|\| !nodes[cy + dy[d]][cx].walkable) continue;\n }\n const ni = ny * width + nx;\n if (this.state.isClosedBack(ni)) continue;\n const isDiag = dx[d] !== 0 && dy[d] !== 0;\n const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n const tentG = curG + cost;\n if (!this.state.isOpenedBack(ni)) {\n const h = this.map.heuristic({ x: nx, y: ny }, startPos) * hw;\n this.state.setGBack(ni, tentG);\n this.state.setFBack(ni, tentG + h);\n this.state.setParentBack(ni, cur);\n this.state.setOpenedBack(ni);\n this.openListBack!.push(ni);\n } else if (tentG < this.state.getGBack(ni)) {\n const h = this.state.getFBack(ni) - this.state.getGBack(ni);\n this.state.setGBack(ni, tentG);\n this.state.setFBack(ni, tentG + h);\n this.state.setParentBack(ni, cur);\n this.openListBack!.update(ni);\n }\n }\n }\n }\n\n if (meetIdx === -1) {\n return { found: false, path: [], cost: 0, nodesSearched: searched };\n }\n\n return this.buildPathBidirectional(startIdx, endIdx, meetIdx, searched);\n }\n\n private validate(startX: number, startY: number, endX: number, endY: number): boolean {\n const { width, height } = this.map;\n if (startX < 0 \|\| startX >= width \|\| startY < 0 \|\| startY >= height) return false;\n if (endX < 0 \|\| endX >= width \|\| endY < 0 \|\| endY >= height) return false;\n return this.map.isWalkable(startX, startY) && this.map.isWalkable(endX, endY);\n }\n\n private buildPath(startIdx: number, endIdx: number, searched: number): IPathResult {\n const w = this.state.width;\n const path: IPoint[] = [];\n let cur = endIdx;\n while (cur !== -1) {\n path.push({ x: cur % w, y: (cur / w) \| 0 });\n cur = cur === startIdx ? -1 : this.state.getParent(cur);\n }\n path.reverse();\n return { found: true, path, cost: this.state.getG(endIdx), nodesSearched: searched };\n }\n\n private buildPathBidirectional(startIdx: number, endIdx: number, meetIdx: number, searched: number): IPathResult {\n const w = this.state.width;\n const path: IPoint[] = [];\n\n // Forward path\n let cur = meetIdx;\n while (cur !== -1 && cur !== startIdx) {\n path.push({ x: cur % w, y: (cur / w) \| 0 });\n cur = this.state.getParent(cur);\n }\n path.push({ x: startIdx % w, y: (startIdx / w) \| 0 });\n path.reverse();\n\n // Backward path\n cur = this.state.getParentBack(meetIdx);\n while (cur !== -1 && cur !== endIdx) {\n path.push({ x: cur % w, y: (cur / w) \| 0 });\n cur = this.state.getParentBack(cur);\n }\n if (meetIdx !== endIdx) {\n path.push({ x: endIdx % w, y: (endIdx / w) \| 0 });\n }\n\n const cost = this.state.getG(meetIdx) + this.state.getGBack(meetIdx);\n return { found: true, path, cost, nodesSearched: searched };\n }\n\n clear(): void {\n this.state.reset();\n this.openList.clear();\n this.openListBack?.clear();\n }\n}\n\n/*\n @zh 创建网格寻路器\n * @en Create grid pathfinder\n /\nexport function createGridPathfinder(map: GridMap, config?: IGridPathfinderConfig): GridPathfinder {\n return new GridPathfinder(map, config);\n}\n","/\n @zh 路径验证器\n * @en Path Validator\n /\n\nimport type { IPoint, IPathfindingMap } from './IPathfinding';\nimport type { IPathValidator, IPathValidationResult } from './IIncrementalPathfinding';\n\n// =============================================================================\n// 路径验证器 \| Path Validator\n// =============================================================================\n\n/\n @zh 路径验证器\n * @en Path Validator\n \n @zh 用于检查现有路径在地图变化后是否仍然有效\n * @en Used to check if an existing path is still valid after map changes\n \n @example\n * ```typescript\n * const validator = new PathValidator();\n * const result = validator.validatePath(path, 0, path.length, map);\n \n if (!result.valid) {\n * console.log('Path invalid at index:', result.invalidIndex);\n * // Trigger replanning from current position\n * }\n * ```\n /\nexport class PathValidator implements IPathValidator {\n /\n @zh 验证路径段的有效性\n * @en Validate path segment validity\n \n @param path - @zh 要验证的路径 @en Path to validate\n * @param fromIndex - @zh 起始索引 @en Start index\n * @param toIndex - @zh 结束索引 @en End index\n * @param map - @zh 地图实例 @en Map instance\n * @returns @zh 验证结果 @en Validation result\n /\n validatePath(\n path: readonly IPoint[],\n fromIndex: number,\n toIndex: number,\n map: IPathfindingMap\n ): IPathValidationResult {\n const end = Math.min(toIndex, path.length);\n\n for (let i = fromIndex; i < end; i++) {\n const point = path[i];\n const x = Math.floor(point.x);\n const y = Math.floor(point.y);\n\n if (!map.isWalkable(x, y)) {\n return { valid: false, invalidIndex: i };\n }\n\n if (i > fromIndex) {\n const prev = path[i - 1];\n if (!this.checkLineOfSight(prev.x, prev.y, point.x, point.y, map)) {\n return { valid: false, invalidIndex: i };\n }\n }\n }\n\n return { valid: true, invalidIndex: -1 };\n }\n\n /\n @zh 检查两点之间的视线（使用 Bresenham 算法）\n * @en Check line of sight between two points (using Bresenham algorithm)\n \n @param x1 - @zh 起点 X @en Start X\n * @param y1 - @zh 起点 Y @en Start Y\n * @param x2 - @zh 终点 X @en End X\n * @param y2 - @zh 终点 Y @en End Y\n * @param map - @zh 地图实例 @en Map instance\n * @returns @zh 是否有视线 @en Whether there is line of sight\n /\n private checkLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap\n ): boolean {\n const ix1 = Math.floor(x1);\n const iy1 = Math.floor(y1);\n const ix2 = Math.floor(x2);\n const iy2 = Math.floor(y2);\n\n let dx = Math.abs(ix2 - ix1);\n let dy = Math.abs(iy2 - iy1);\n let x = ix1;\n let y = iy1;\n\n const sx = ix1 < ix2 ? 1 : -1;\n const sy = iy1 < iy2 ? 1 : -1;\n\n if (dx > dy) {\n let err = dx / 2;\n while (x !== ix2) {\n if (!map.isWalkable(x, y)) {\n return false;\n }\n err -= dy;\n if (err < 0) {\n y += sy;\n err += dx;\n }\n x += sx;\n }\n } else {\n let err = dy / 2;\n while (y !== iy2) {\n if (!map.isWalkable(x, y)) {\n return false;\n }\n err -= dx;\n if (err < 0) {\n x += sx;\n err += dy;\n }\n y += sy;\n }\n }\n\n return map.isWalkable(ix2, iy2);\n }\n}\n\n// =============================================================================\n// 障碍物变化管理器 \| Obstacle Change Manager\n// =============================================================================\n\n/\n @zh 障碍物变化记录\n * @en Obstacle change record\n /\nexport interface IObstacleChange {\n /\n @zh X 坐标\n * @en X coordinate\n /\n readonly x: number;\n\n /\n @zh Y 坐标\n * @en Y coordinate\n /\n readonly y: number;\n\n /\n @zh 变化前是否可通行\n * @en Was walkable before change\n /\n readonly wasWalkable: boolean;\n\n /\n @zh 变化时间戳\n * @en Change timestamp\n /\n readonly timestamp: number;\n}\n\n/\n @zh 障碍物变化区域\n * @en Obstacle change region\n /\nexport interface IChangeRegion {\n /\n @zh 最小 X 坐标\n * @en Minimum X coordinate\n /\n readonly minX: number;\n\n /\n @zh 最小 Y 坐标\n * @en Minimum Y coordinate\n /\n readonly minY: number;\n\n /\n @zh 最大 X 坐标\n * @en Maximum X coordinate\n /\n readonly maxX: number;\n\n /\n @zh 最大 Y 坐标\n * @en Maximum Y coordinate\n /\n readonly maxY: number;\n}\n\n/\n @zh 障碍物变化管理器\n * @en Obstacle Change Manager\n \n @zh 跟踪地图障碍物变化，用于触发动态重规划\n * @en Tracks map obstacle changes, used to trigger dynamic replanning\n \n @example\n * ```typescript\n * const manager = new ObstacleChangeManager();\n \n // Record change when obstacle is added/removed\n * manager.recordChange(10, 20, true); // Was walkable, now blocked\n \n // Get affected region for notification\n * const region = manager.getAffectedRegion();\n * if (region) {\n * pathfinder.notifyObstacleChange(\n * region.minX, region.minY,\n * region.maxX, region.maxY\n * );\n * }\n \n // Clear after notification\n * manager.flush();\n * ```\n /\nexport class ObstacleChangeManager {\n private readonly changes: Map<string, IObstacleChange> = new Map();\n private epoch: number = 0;\n\n /\n @zh 记录障碍物变化\n * @en Record obstacle change\n \n @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @param wasWalkable - @zh 变化前是否可通行 @en Was walkable before change\n /\n recordChange(x: number, y: number, wasWalkable: boolean): void {\n const key = `${x},${y}`;\n this.changes.set(key, {\n x,\n y,\n wasWalkable,\n timestamp: Date.now()\n });\n }\n\n /\n @zh 获取影响区域\n * @en Get affected region\n \n @returns @zh 影响区域或 null（如果没有变化）@en Affected region or null if no changes\n /\n getAffectedRegion(): IChangeRegion \| null {\n if (this.changes.size === 0) {\n return null;\n }\n\n let minX = Infinity;\n let minY = Infinity;\n let maxX = -Infinity;\n let maxY = -Infinity;\n\n for (const change of this.changes.values()) {\n minX = Math.min(minX, change.x);\n minY = Math.min(minY, change.y);\n maxX = Math.max(maxX, change.x);\n maxY = Math.max(maxY, change.y);\n }\n\n return { minX, minY, maxX, maxY };\n }\n\n /\n @zh 获取所有变化\n * @en Get all changes\n \n @returns @zh 变化列表 @en List of changes\n /\n getChanges(): IObstacleChange[] {\n return Array.from(this.changes.values());\n }\n\n /\n @zh 检查是否有变化\n * @en Check if there are changes\n \n @returns @zh 是否有变化 @en Whether there are changes\n /\n hasChanges(): boolean {\n return this.changes.size > 0;\n }\n\n /\n @zh 获取当前 epoch\n * @en Get current epoch\n \n @returns @zh 当前 epoch @en Current epoch\n /\n getEpoch(): number {\n return this.epoch;\n }\n\n /\n @zh 清空变化记录并推进 epoch\n * @en Clear changes and advance epoch\n /\n flush(): void {\n this.changes.clear();\n this.epoch++;\n }\n\n /\n @zh 清空所有状态\n * @en Clear all state\n /\n clear(): void {\n this.changes.clear();\n this.epoch = 0;\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Functions\n// =============================================================================\n\n/\n @zh 创建路径验证器\n * @en Create path validator\n \n @returns @zh 路径验证器实例 @en Path validator instance\n /\nexport function createPathValidator(): PathValidator {\n return new PathValidator();\n}\n\n/\n @zh 创建障碍物变化管理器\n * @en Create obstacle change manager\n \n @returns @zh 障碍物变化管理器实例 @en Obstacle change manager instance\n /\nexport function createObstacleChangeManager(): ObstacleChangeManager {\n return new ObstacleChangeManager();\n}\n","/\n @zh 网格地图实现\n * @en Grid Map Implementation\n /\n\nimport type {\n IPathfindingMap,\n IPathNode,\n IPoint,\n HeuristicFunction\n} from '../core/IPathfinding';\nimport { createPoint, octileDistance } from '../core/IPathfinding';\n\n// =============================================================================\n// 网格节点 \| Grid Node\n// =============================================================================\n\n/\n @zh 网格节点\n * @en Grid node\n /\nexport class GridNode implements IPathNode {\n readonly id: number;\n readonly position: IPoint;\n readonly x: number;\n readonly y: number;\n cost: number;\n walkable: boolean;\n\n constructor(x: number, y: number, width: number, walkable: boolean = true, cost: number = 1) {\n this.x = x;\n this.y = y;\n this.id = y width + x;\n this.position = createPoint(x, y);\n this.walkable = walkable;\n this.cost = cost;\n }\n}\n\n// =============================================================================\n// 移动方向 \| Movement Directions\n// =============================================================================\n\n/*\n @zh 4方向偏移 (上下左右)\n * @en 4-directional offsets (up, down, left, right)\n /\nexport const DIRECTIONS_4 = [\n { dx: 0, dy: -1 }, // Up\n { dx: 1, dy: 0 }, // Right\n { dx: 0, dy: 1 }, // Down\n { dx: -1, dy: 0 } // Left\n] as const;\n\n/\n @zh 8方向偏移 (含对角线)\n * @en 8-directional offsets (including diagonals)\n /\nexport const DIRECTIONS_8 = [\n { dx: 0, dy: -1 }, // Up\n { dx: 1, dy: -1 }, // Up-Right\n { dx: 1, dy: 0 }, // Right\n { dx: 1, dy: 1 }, // Down-Right\n { dx: 0, dy: 1 }, // Down\n { dx: -1, dy: 1 }, // Down-Left\n { dx: -1, dy: 0 }, // Left\n { dx: -1, dy: -1 } // Up-Left\n] as const;\n\n// =============================================================================\n// 网格地图配置 \| Grid Map Options\n// =============================================================================\n\n/\n @zh 网格地图配置\n * @en Grid map options\n /\nexport interface IGridMapOptions {\n /* @zh 是否允许对角移动 @en Allow diagonal movement /\n allowDiagonal?: boolean;\n /* @zh 对角移动代价 @en Diagonal movement cost /\n diagonalCost?: number;\n /* @zh 是否避免穿角 @en Avoid corner cutting /\n avoidCorners?: boolean;\n /* @zh 启发式函数 @en Heuristic function /\n heuristic?: HeuristicFunction;\n}\n\n/\n @zh 默认网格地图配置\n * @en Default grid map options\n /\nexport const DEFAULT_GRID_OPTIONS: Required<IGridMapOptions> = {\n allowDiagonal: true,\n diagonalCost: Math.SQRT2,\n avoidCorners: true,\n heuristic: octileDistance\n};\n\n// =============================================================================\n// 网格地图 \| Grid Map\n// =============================================================================\n\n/\n @zh 网格地图\n * @en Grid Map\n \n @zh 基于二维数组的网格地图实现，支持4方向和8方向移动\n * @en Grid map implementation based on 2D array, supports 4 and 8 directional movement\n \n @example\n * ```typescript\n * // Create a 10x10 grid\n * const grid = new GridMap(10, 10);\n \n // Set some cells as obstacles\n * grid.setWalkable(5, 5, false);\n * grid.setWalkable(5, 6, false);\n \n // Use with pathfinder\n * const pathfinder = new AStarPathfinder(grid);\n * const result = pathfinder.findPath(0, 0, 9, 9);\n * ```\n /\nexport class GridMap implements IPathfindingMap {\n readonly width: number;\n readonly height: number;\n private readonly nodes: GridNode[][];\n private readonly options: Required<IGridMapOptions>;\n\n constructor(width: number, height: number, options?: IGridMapOptions) {\n this.width = width;\n this.height = height;\n this.options = { ...DEFAULT_GRID_OPTIONS, ...options };\n this.nodes = this.createNodes();\n }\n\n /\n @zh 创建网格节点\n * @en Create grid nodes\n /\n private createNodes(): GridNode[][] {\n const nodes: GridNode[][] = [];\n\n for (let y = 0; y < this.height; y++) {\n nodes[y] = [];\n for (let x = 0; x < this.width; x++) {\n nodes[y][x] = new GridNode(x, y, this.width, true, 1);\n }\n }\n\n return nodes;\n }\n\n /\n @zh 获取指定位置的节点\n * @en Get node at position\n /\n getNodeAt(x: number, y: number): GridNode \| null {\n if (!this.isInBounds(x, y)) {\n return null;\n }\n return this.nodes[y][x];\n }\n\n /\n @zh 检查坐标是否在边界内\n * @en Check if coordinates are within bounds\n /\n isInBounds(x: number, y: number): boolean {\n return x >= 0 && x < this.width && y >= 0 && y < this.height;\n }\n\n /\n @zh 检查位置是否可通行\n * @en Check if position is walkable\n /\n isWalkable(x: number, y: number): boolean {\n const node = this.getNodeAt(x, y);\n return node !== null && node.walkable;\n }\n\n /\n @zh 设置位置是否可通行\n * @en Set position walkability\n /\n setWalkable(x: number, y: number, walkable: boolean): void {\n const node = this.getNodeAt(x, y);\n if (node) {\n node.walkable = walkable;\n }\n }\n\n /\n @zh 设置位置的移动代价\n * @en Set movement cost at position\n /\n setCost(x: number, y: number, cost: number): void {\n const node = this.getNodeAt(x, y);\n if (node) {\n node.cost = cost;\n }\n }\n\n /\n @zh 获取节点的邻居\n * @en Get neighbors of a node\n /\n getNeighbors(node: IPathNode): GridNode[] {\n const neighbors: GridNode[] = [];\n const { x, y } = node.position;\n const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n for (let i = 0; i < directions.length; i++) {\n const dir = directions[i];\n const nx = x + dir.dx;\n const ny = y + dir.dy;\n\n if (nx < 0 \|\| nx >= this.width \|\| ny < 0 \|\| ny >= this.height) {\n continue;\n }\n\n const neighbor = this.nodes[ny][nx];\n\n if (!neighbor.walkable) {\n continue;\n }\n\n if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n const hNode = this.nodes[y][x + dir.dx];\n const vNode = this.nodes[y + dir.dy][x];\n\n if (!hNode.walkable \|\| !vNode.walkable) {\n continue;\n }\n }\n\n neighbors.push(neighbor);\n }\n\n return neighbors;\n }\n\n /\n @zh 遍历节点的邻居（零分配）\n * @en Iterate over neighbors (zero allocation)\n /\n forEachNeighbor(node: IPathNode, callback: (neighbor: GridNode) => boolean \| void): void {\n const { x, y } = node.position;\n const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n for (let i = 0; i < directions.length; i++) {\n const dir = directions[i];\n const nx = x + dir.dx;\n const ny = y + dir.dy;\n\n if (nx < 0 \|\| nx >= this.width \|\| ny < 0 \|\| ny >= this.height) {\n continue;\n }\n\n const neighbor = this.nodes[ny][nx];\n\n if (!neighbor.walkable) {\n continue;\n }\n\n if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n const hNode = this.nodes[y][x + dir.dx];\n const vNode = this.nodes[y + dir.dy][x];\n\n if (!hNode.walkable \|\| !vNode.walkable) {\n continue;\n }\n }\n\n if (callback(neighbor) === false) {\n return;\n }\n }\n }\n\n /\n @zh 计算启发式距离\n * @en Calculate heuristic distance\n /\n heuristic(a: IPoint, b: IPoint): number {\n return this.options.heuristic(a, b);\n }\n\n /\n @zh 计算移动代价\n * @en Calculate movement cost\n /\n getMovementCost(from: IPathNode, to: IPathNode): number {\n const dx = Math.abs(from.position.x - to.position.x);\n const dy = Math.abs(from.position.y - to.position.y);\n\n // Diagonal movement\n if (dx !== 0 && dy !== 0) {\n return to.cost this.options.diagonalCost;\n }\n\n // Cardinal movement\n return to.cost;\n }\n\n /*\n @zh 从二维数组加载地图\n * @en Load map from 2D array\n \n @param data - @zh 0=可通行，非0=不可通行 @en 0=walkable, non-0=blocked\n /\n loadFromArray(data: number[][]): void {\n for (let y = 0; y < Math.min(data.length, this.height); y++) {\n for (let x = 0; x < Math.min(data[y].length, this.width); x++) {\n this.nodes[y][x].walkable = data[y][x] === 0;\n }\n }\n }\n\n /\n @zh 从字符串加载地图\n * @en Load map from string\n \n @param str - @zh 地图字符串，'.'=可通行，'#'=障碍 @en Map string, '.'=walkable, '#'=blocked\n /\n loadFromString(str: string): void {\n const lines = str.trim().split('\\n');\n\n for (let y = 0; y < Math.min(lines.length, this.height); y++) {\n const line = lines[y];\n for (let x = 0; x < Math.min(line.length, this.width); x++) {\n this.nodes[y][x].walkable = line[x] !== '#';\n }\n }\n }\n\n /\n @zh 导出为字符串\n * @en Export to string\n /\n toString(): string {\n let result = '';\n\n for (let y = 0; y < this.height; y++) {\n for (let x = 0; x < this.width; x++) {\n result += this.nodes[y][x].walkable ? '.' : '#';\n }\n result += '\\n';\n }\n\n return result;\n }\n\n /\n @zh 重置所有节点为可通行\n * @en Reset all nodes to walkable\n /\n reset(): void {\n for (let y = 0; y < this.height; y++) {\n for (let x = 0; x < this.width; x++) {\n this.nodes[y][x].walkable = true;\n this.nodes[y][x].cost = 1;\n }\n }\n }\n\n /\n @zh 设置矩形区域的通行性\n * @en Set walkability for a rectangle region\n /\n setRectWalkable(\n x: number,\n y: number,\n width: number,\n height: number,\n walkable: boolean\n ): void {\n for (let dy = 0; dy < height; dy++) {\n for (let dx = 0; dx < width; dx++) {\n this.setWalkable(x + dx, y + dy, walkable);\n }\n }\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Function\n// =============================================================================\n\n/\n @zh 创建网格地图\n * @en Create grid map\n /\nexport function createGridMap(\n width: number,\n height: number,\n options?: IGridMapOptions\n): GridMap {\n return new GridMap(width, height, options);\n}\n","/\n @zh 导航网格实现\n * @en NavMesh Implementation\n \n @zh 支持动态障碍物：可以临时禁用多边形或添加圆形/矩形障碍物\n * @en Supports dynamic obstacles: can temporarily disable polygons or add circular/rectangular obstacles\n /\n\nimport type {\n IPathfindingMap,\n IPathNode,\n IPoint,\n IPathResult,\n IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 动态障碍物 \| Dynamic Obstacles\n// =============================================================================\n\n/\n @zh 动态障碍物类型\n * @en Dynamic obstacle type\n /\nexport type ObstacleType = 'circle' \| 'rect' \| 'polygon';\n\n/\n @zh 动态障碍物\n * @en Dynamic obstacle\n /\nexport interface IDynamicObstacle {\n /\n @zh 障碍物 ID\n * @en Obstacle ID\n /\n readonly id: number;\n\n /\n @zh 障碍物类型\n * @en Obstacle type\n /\n readonly type: ObstacleType;\n\n /\n @zh 是否启用\n * @en Whether enabled\n /\n enabled: boolean;\n\n /\n @zh 位置（圆形和矩形的中心）\n * @en Position (center for circle and rect)\n /\n position: IPoint;\n\n /\n @zh 半径（圆形）或半宽/半高（矩形）\n * @en Radius (circle) or half-width/half-height (rect)\n /\n radius?: number;\n halfWidth?: number;\n halfHeight?: number;\n\n /\n @zh 顶点（多边形）\n * @en Vertices (polygon)\n /\n vertices?: readonly IPoint[];\n}\n\n// =============================================================================\n// 导航多边形 \| Navigation Polygon\n// =============================================================================\n\n/\n @zh 导航多边形\n * @en Navigation polygon\n /\nexport interface INavPolygon {\n /* @zh 多边形ID @en Polygon ID /\n readonly id: number;\n /* @zh 顶点列表 @en Vertex list /\n readonly vertices: readonly IPoint[];\n /* @zh 中心点 @en Center point /\n readonly center: IPoint;\n /* @zh 邻居多边形ID @en Neighbor polygon IDs /\n readonly neighbors: readonly number[];\n /* @zh 到邻居的共享边 @en Shared edges to neighbors /\n readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/\n @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n /\nexport interface IPortal {\n /* @zh 边的左端点 @en Left endpoint of edge /\n readonly left: IPoint;\n /* @zh 边的右端点 @en Right endpoint of edge /\n readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 \| NavMesh Node\n// =============================================================================\n\n/\n @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n /\nclass NavMeshNode implements IPathNode {\n readonly id: number;\n readonly position: IPoint;\n readonly cost: number;\n readonly walkable: boolean;\n readonly polygon: INavPolygon;\n\n constructor(polygon: INavPolygon) {\n this.id = polygon.id;\n this.position = polygon.center;\n this.cost = 1;\n this.walkable = true;\n this.polygon = polygon;\n }\n}\n\n// =============================================================================\n// 导航网格 \| Navigation Mesh\n// =============================================================================\n\n/\n @zh 导航网格\n * @en Navigation Mesh\n \n @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n \n @example\n * ```typescript\n * const navmesh = new NavMesh();\n \n // Add polygons\n * navmesh.addPolygon([\n * { x: 0, y: 0 }, { x: 10, y: 0 },\n * { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n \n // Build connections\n * navmesh.build();\n \n // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n /\nexport class NavMesh implements IPathfindingMap {\n private polygons: Map<number, INavPolygon> = new Map();\n private nodes: Map<number, NavMeshNode> = new Map();\n private nextId = 0;\n\n // @zh 动态障碍物支持\n // @en Dynamic obstacle support\n private obstacles: Map<number, IDynamicObstacle> = new Map();\n private nextObstacleId = 0;\n private disabledPolygons: Set<number> = new Set();\n\n /\n @zh 添加导航多边形\n * @en Add navigation polygon\n \n @returns @zh 多边形ID @en Polygon ID\n /\n addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n const id = this.nextId++;\n const center = this.calculateCenter(vertices);\n\n const polygon: INavPolygon = {\n id,\n vertices,\n center,\n neighbors,\n portals: new Map()\n };\n\n this.polygons.set(id, polygon);\n this.nodes.set(id, new NavMeshNode(polygon));\n\n return id;\n }\n\n /\n @zh 设置两个多边形之间的连接\n * @en Set connection between two polygons\n /\n setConnection(\n polyA: number,\n polyB: number,\n portal: IPortal\n ): void {\n const polygonA = this.polygons.get(polyA);\n const polygonB = this.polygons.get(polyB);\n\n if (!polygonA \|\| !polygonB) {\n return;\n }\n\n // Update neighbors and portals\n const neighborsA = [...polygonA.neighbors];\n const portalsA = new Map(polygonA.portals);\n\n if (!neighborsA.includes(polyB)) {\n neighborsA.push(polyB);\n }\n portalsA.set(polyB, portal);\n\n this.polygons.set(polyA, {\n ...polygonA,\n neighbors: neighborsA,\n portals: portalsA\n });\n\n // Reverse portal for the other direction\n const reversePortal: IPortal = {\n left: portal.right,\n right: portal.left\n };\n\n const neighborsB = [...polygonB.neighbors];\n const portalsB = new Map(polygonB.portals);\n\n if (!neighborsB.includes(polyA)) {\n neighborsB.push(polyA);\n }\n portalsB.set(polyA, reversePortal);\n\n this.polygons.set(polyB, {\n ...polygonB,\n neighbors: neighborsB,\n portals: portalsB\n });\n }\n\n /\n @zh 自动检测并建立相邻多边形的连接\n * @en Auto-detect and build connections between adjacent polygons\n /\n build(): void {\n const polygonList = Array.from(this.polygons.values());\n\n for (let i = 0; i < polygonList.length; i++) {\n for (let j = i + 1; j < polygonList.length; j++) {\n const polyA = polygonList[i];\n const polyB = polygonList[j];\n\n const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n if (sharedEdge) {\n this.setConnection(polyA.id, polyB.id, sharedEdge);\n }\n }\n }\n }\n\n /\n @zh 查找两个多边形的共享边\n * @en Find shared edge between two polygons\n /\n private findSharedEdge(\n verticesA: readonly IPoint[],\n verticesB: readonly IPoint[]\n ): IPortal \| null {\n const epsilon = 0.0001;\n\n for (let i = 0; i < verticesA.length; i++) {\n const a1 = verticesA[i];\n const a2 = verticesA[(i + 1) % verticesA.length];\n\n for (let j = 0; j < verticesB.length; j++) {\n const b1 = verticesB[j];\n const b2 = verticesB[(j + 1) % verticesB.length];\n\n // Check if edges match (in either direction)\n const match1 =\n Math.abs(a1.x - b2.x) < epsilon &&\n Math.abs(a1.y - b2.y) < epsilon &&\n Math.abs(a2.x - b1.x) < epsilon &&\n Math.abs(a2.y - b1.y) < epsilon;\n\n const match2 =\n Math.abs(a1.x - b1.x) < epsilon &&\n Math.abs(a1.y - b1.y) < epsilon &&\n Math.abs(a2.x - b2.x) < epsilon &&\n Math.abs(a2.y - b2.y) < epsilon;\n\n if (match1 \|\| match2) {\n return {\n left: a1,\n right: a2\n };\n }\n }\n }\n\n return null;\n }\n\n /\n @zh 计算多边形中心\n * @en Calculate polygon center\n /\n private calculateCenter(vertices: readonly IPoint[]): IPoint {\n let x = 0;\n let y = 0;\n\n for (const v of vertices) {\n x += v.x;\n y += v.y;\n }\n\n return createPoint(x / vertices.length, y / vertices.length);\n }\n\n /\n @zh 查找包含点的多边形\n * @en Find polygon containing point\n /\n findPolygonAt(x: number, y: number): INavPolygon \| null {\n for (const polygon of this.polygons.values()) {\n if (this.isPointInPolygon(x, y, polygon.vertices)) {\n return polygon;\n }\n }\n return null;\n }\n\n /\n @zh 检查点是否在多边形内\n * @en Check if point is inside polygon\n /\n private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n let inside = false;\n const n = vertices.length;\n\n for (let i = 0, j = n - 1; i < n; j = i++) {\n const xi = vertices[i].x;\n const yi = vertices[i].y;\n const xj = vertices[j].x;\n const yj = vertices[j].y;\n\n if (\n yi > y !== yj > y &&\n x < ((xj - xi) (y - yi)) / (yj - yi) + xi\n ) {\n inside = !inside;\n }\n }\n\n return inside;\n }\n\n // ==========================================================================\n // IPathfindingMap 接口实现 \| IPathfindingMap Interface Implementation\n // ==========================================================================\n\n getNodeAt(x: number, y: number): IPathNode \| null {\n const polygon = this.findPolygonAt(x, y);\n return polygon ? this.nodes.get(polygon.id) ?? null : null;\n }\n\n getNeighbors(node: IPathNode): IPathNode[] {\n const navNode = node as NavMeshNode;\n const neighbors: IPathNode[] = [];\n\n for (const neighborId of navNode.polygon.neighbors) {\n const neighbor = this.nodes.get(neighborId);\n if (neighbor) {\n neighbors.push(neighbor);\n }\n }\n\n return neighbors;\n }\n\n heuristic(a: IPoint, b: IPoint): number {\n return euclideanDistance(a, b);\n }\n\n getMovementCost(from: IPathNode, to: IPathNode): number {\n return euclideanDistance(from.position, to.position);\n }\n\n isWalkable(x: number, y: number): boolean {\n return this.findPolygonAt(x, y) !== null;\n }\n\n // ==========================================================================\n // 寻路 \| Pathfinding\n // ==========================================================================\n\n /*\n @zh 在导航网格上寻路\n * @en Find path on navigation mesh\n /\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n const startPolygon = this.findPolygonAt(startX, startY);\n const endPolygon = this.findPolygonAt(endX, endY);\n\n if (!startPolygon \|\| !endPolygon) {\n return EMPTY_PATH_RESULT;\n }\n\n // Same polygon\n if (startPolygon.id === endPolygon.id) {\n return {\n found: true,\n path: [createPoint(startX, startY), createPoint(endX, endY)],\n cost: euclideanDistance(\n createPoint(startX, startY),\n createPoint(endX, endY)\n ),\n nodesSearched: 1\n };\n }\n\n // A on polygon graph\n const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n if (!polygonPath.found) {\n return EMPTY_PATH_RESULT;\n }\n\n // Convert polygon path to point path using funnel algorithm\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n const pointPath = this.funnelPath(start, end, polygonPath.polygons, opts.agentRadius);\n\n return {\n found: true,\n path: pointPath,\n cost: this.calculatePathLength(pointPath),\n nodesSearched: polygonPath.nodesSearched\n };\n }\n\n /*\n @zh 在多边形图上寻路\n * @en Find path on polygon graph\n \n @param start - @zh 起始多边形 @en Start polygon\n * @param end - @zh 目标多边形 @en End polygon\n * @param opts - @zh 寻路选项 @en Pathfinding options\n * @param checkObstacles - @zh 是否检查障碍物 @en Whether to check obstacles\n /\n private findPolygonPath(\n start: INavPolygon,\n end: INavPolygon,\n opts: Required<IPathfindingOptions>,\n checkObstacles: boolean = false\n ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n interface AStarState {\n polygon: INavPolygon;\n g: number;\n f: number;\n parent: AStarState \| null;\n }\n\n const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n const closed = new Set<number>();\n const states = new Map<number, AStarState>();\n\n const startState: AStarState = {\n polygon: start,\n g: 0,\n f: euclideanDistance(start.center, end.center) opts.heuristicWeight,\n parent: null\n };\n\n states.set(start.id, startState);\n openList.push(startState);\n\n let nodesSearched = 0;\n\n while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n const current = openList.pop()!;\n nodesSearched++;\n\n if (current.polygon.id === end.id) {\n // Reconstruct path\n const path: INavPolygon[] = [];\n let state: AStarState \| null = current;\n\n while (state) {\n path.unshift(state.polygon);\n state = state.parent;\n }\n\n return { found: true, polygons: path, nodesSearched };\n }\n\n closed.add(current.polygon.id);\n\n for (const neighborId of current.polygon.neighbors) {\n if (closed.has(neighborId)) {\n continue;\n }\n\n // @zh 检查障碍物：跳过被阻挡或禁用的多边形\n // @en Check obstacles: skip blocked or disabled polygons\n if (checkObstacles && this.isPolygonBlocked(neighborId)) {\n continue;\n }\n\n const neighborPolygon = this.polygons.get(neighborId);\n if (!neighborPolygon) {\n continue;\n }\n\n const g = current.g + euclideanDistance(\n current.polygon.center,\n neighborPolygon.center\n );\n\n let neighborState = states.get(neighborId);\n\n if (!neighborState) {\n neighborState = {\n polygon: neighborPolygon,\n g,\n f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n parent: current\n };\n states.set(neighborId, neighborState);\n openList.push(neighborState);\n } else if (g < neighborState.g) {\n neighborState.g = g;\n neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n neighborState.parent = current;\n openList.update(neighborState);\n }\n }\n }\n\n return { found: false, polygons: [], nodesSearched };\n }\n\n /*\n @zh 使用漏斗算法优化路径（支持代理半径）\n * @en Optimize path using funnel algorithm (supports agent radius)\n \n @param start - @zh 起点 @en Start point\n * @param end - @zh 终点 @en End point\n * @param polygons - @zh 多边形路径 @en Polygon path\n * @param agentRadius - @zh 代理半径 @en Agent radius\n /\n private funnelPath(\n start: IPoint,\n end: IPoint,\n polygons: INavPolygon[],\n agentRadius: number = 0\n ): IPoint[] {\n if (polygons.length <= 1) {\n return [start, end];\n }\n\n // Collect and shrink portals\n const portals: { left: IPoint; right: IPoint; originalLeft: IPoint; originalRight: IPoint }[] = [];\n\n for (let i = 0; i < polygons.length - 1; i++) {\n const portal = polygons[i].portals.get(polygons[i + 1].id);\n if (portal) {\n if (agentRadius > 0) {\n const shrunk = this.shrinkPortal(portal.left, portal.right, agentRadius);\n portals.push({\n left: shrunk.left,\n right: shrunk.right,\n originalLeft: portal.left,\n originalRight: portal.right\n });\n } else {\n portals.push({\n left: portal.left,\n right: portal.right,\n originalLeft: portal.left,\n originalRight: portal.right\n });\n }\n }\n }\n\n if (portals.length === 0) {\n return [start, end];\n }\n\n // Simple string pulling algorithm with radius-aware turning points\n const path: IPoint[] = [start];\n\n let apex = start;\n let apexOriginal = start;\n let leftIndex = 0;\n let rightIndex = 0;\n let left = portals[0].left;\n let right = portals[0].right;\n let leftOriginal = portals[0].originalLeft;\n let rightOriginal = portals[0].originalRight;\n\n for (let i = 1; i <= portals.length; i++) {\n const nextLeft = i < portals.length ? portals[i].left : end;\n const nextRight = i < portals.length ? portals[i].right : end;\n\n // Update right\n if (this.triArea2(apex, right, nextRight) <= 0) {\n if (this.pointsEqual(apex, right) \|\| this.triArea2(apex, left, nextRight) > 0) {\n right = nextRight;\n rightIndex = i;\n if (i < portals.length) {\n rightOriginal = portals[i].originalRight;\n }\n } else {\n // Add turning point with radius offset\n const turnPoint = agentRadius > 0\n ? this.offsetTurningPoint(apexOriginal, leftOriginal, left, agentRadius, 'left')\n : left;\n path.push(turnPoint);\n\n apex = left;\n apexOriginal = leftOriginal;\n leftIndex = rightIndex = leftIndex;\n left = right = apex;\n leftOriginal = rightOriginal = apexOriginal;\n i = leftIndex;\n continue;\n }\n }\n\n // Update left\n if (this.triArea2(apex, left, nextLeft) >= 0) {\n if (this.pointsEqual(apex, left) \|\| this.triArea2(apex, right, nextLeft) < 0) {\n left = nextLeft;\n leftIndex = i;\n if (i < portals.length) {\n leftOriginal = portals[i].originalLeft;\n }\n } else {\n // Add turning point with radius offset\n const turnPoint = agentRadius > 0\n ? this.offsetTurningPoint(apexOriginal, rightOriginal, right, agentRadius, 'right')\n : right;\n path.push(turnPoint);\n\n apex = right;\n apexOriginal = rightOriginal;\n leftIndex = rightIndex = rightIndex;\n left = right = apex;\n leftOriginal = rightOriginal = apexOriginal;\n i = rightIndex;\n continue;\n }\n }\n }\n\n path.push(end);\n\n return path;\n }\n\n /\n @zh 收缩 portal（将两端点向内移动 agentRadius）\n * @en Shrink portal (move endpoints inward by agentRadius)\n /\n private shrinkPortal(left: IPoint, right: IPoint, radius: number): { left: IPoint; right: IPoint } {\n const dx = right.x - left.x;\n const dy = right.y - left.y;\n const len = Math.sqrt(dx dx + dy * dy);\n\n if (len <= radius * 2) {\n // Portal too narrow, return center point\n const cx = (left.x + right.x) / 2;\n const cy = (left.y + right.y) / 2;\n return {\n left: createPoint(cx, cy),\n right: createPoint(cx, cy)\n };\n }\n\n // Normalize direction\n const nx = dx / len;\n const ny = dy / len;\n\n // Shrink both endpoints inward\n return {\n left: createPoint(left.x + nx * radius, left.y + ny * radius),\n right: createPoint(right.x - nx * radius, right.y - ny * radius)\n };\n }\n\n /*\n @zh 偏移拐点以保持与角落的距离\n * @en Offset turning point to maintain distance from corner\n \n @param prevApex - @zh 上一个顶点 @en Previous apex\n * @param cornerOriginal - @zh 原始角落位置 @en Original corner position\n * @param cornerShrunk - @zh 收缩后的角落位置 @en Shrunk corner position\n * @param radius - @zh 代理半径 @en Agent radius\n * @param side - @zh 转向侧 ('left' 或 'right') @en Turn side ('left' or 'right')\n /\n private offsetTurningPoint(\n prevApex: IPoint,\n cornerOriginal: IPoint,\n cornerShrunk: IPoint,\n radius: number,\n side: 'left' \| 'right'\n ): IPoint {\n // Direction from previous apex to corner\n const dx = cornerOriginal.x - prevApex.x;\n const dy = cornerOriginal.y - prevApex.y;\n const len = Math.sqrt(dx dx + dy * dy);\n\n if (len < 0.0001) {\n return cornerShrunk;\n }\n\n // Perpendicular direction (pointing into the walkable area)\n // For left turn, perpendicular is to the right of the direction\n // For right turn, perpendicular is to the left of the direction\n let perpX: number, perpY: number;\n if (side === 'left') {\n perpX = dy / len;\n perpY = -dx / len;\n } else {\n perpX = -dy / len;\n perpY = dx / len;\n }\n\n // Offset the shrunk corner by radius in the perpendicular direction\n // This ensures the agent's circular body clears the corner\n return createPoint(\n cornerShrunk.x + perpX * radius,\n cornerShrunk.y + perpY * radius\n );\n }\n\n /*\n @zh 检查两点是否相等\n * @en Check if two points are equal\n /\n private pointsEqual(a: IPoint, b: IPoint): boolean {\n return Math.abs(a.x - b.x) < 0.0001 && Math.abs(a.y - b.y) < 0.0001;\n }\n\n /\n @zh 计算三角形面积的两倍（用于判断点的相对位置）\n * @en Calculate twice the triangle area (for point relative position)\n /\n private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n return (c.x - a.x) (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n }\n\n /*\n @zh 计算路径总长度\n * @en Calculate total path length\n /\n private calculatePathLength(path: readonly IPoint[]): number {\n let length = 0;\n\n for (let i = 1; i < path.length; i++) {\n length += euclideanDistance(path[i - 1], path[i]);\n }\n\n return length;\n }\n\n // =========================================================================\n // 动态障碍物管理 \| Dynamic Obstacle Management\n // =========================================================================\n\n /\n @zh 添加圆形障碍物\n * @en Add circular obstacle\n \n @param x - @zh 中心 X @en Center X\n * @param y - @zh 中心 Y @en Center Y\n * @param radius - @zh 半径 @en Radius\n * @returns @zh 障碍物 ID @en Obstacle ID\n /\n addCircleObstacle(x: number, y: number, radius: number): number {\n const id = this.nextObstacleId++;\n this.obstacles.set(id, {\n id,\n type: 'circle',\n enabled: true,\n position: createPoint(x, y),\n radius\n });\n return id;\n }\n\n /\n @zh 添加矩形障碍物\n * @en Add rectangular obstacle\n \n @param x - @zh 中心 X @en Center X\n * @param y - @zh 中心 Y @en Center Y\n * @param halfWidth - @zh 半宽 @en Half width\n * @param halfHeight - @zh 半高 @en Half height\n * @returns @zh 障碍物 ID @en Obstacle ID\n /\n addRectObstacle(x: number, y: number, halfWidth: number, halfHeight: number): number {\n const id = this.nextObstacleId++;\n this.obstacles.set(id, {\n id,\n type: 'rect',\n enabled: true,\n position: createPoint(x, y),\n halfWidth,\n halfHeight\n });\n return id;\n }\n\n /\n @zh 添加多边形障碍物\n * @en Add polygon obstacle\n \n @param vertices - @zh 顶点列表 @en Vertex list\n * @returns @zh 障碍物 ID @en Obstacle ID\n /\n addPolygonObstacle(vertices: IPoint[]): number {\n const id = this.nextObstacleId++;\n const center = this.calculateCenter(vertices);\n this.obstacles.set(id, {\n id,\n type: 'polygon',\n enabled: true,\n position: center,\n vertices\n });\n return id;\n }\n\n /\n @zh 移除障碍物\n * @en Remove obstacle\n /\n removeObstacle(obstacleId: number): boolean {\n return this.obstacles.delete(obstacleId);\n }\n\n /\n @zh 启用/禁用障碍物\n * @en Enable/disable obstacle\n /\n setObstacleEnabled(obstacleId: number, enabled: boolean): void {\n const obstacle = this.obstacles.get(obstacleId);\n if (obstacle) {\n obstacle.enabled = enabled;\n }\n }\n\n /\n @zh 更新障碍物位置\n * @en Update obstacle position\n /\n updateObstaclePosition(obstacleId: number, x: number, y: number): void {\n const obstacle = this.obstacles.get(obstacleId);\n if (obstacle) {\n obstacle.position = createPoint(x, y);\n }\n }\n\n /\n @zh 获取所有障碍物\n * @en Get all obstacles\n /\n getObstacles(): IDynamicObstacle[] {\n return Array.from(this.obstacles.values());\n }\n\n /\n @zh 获取启用的障碍物\n * @en Get enabled obstacles\n /\n getEnabledObstacles(): IDynamicObstacle[] {\n return Array.from(this.obstacles.values()).filter(o => o.enabled);\n }\n\n /\n @zh 清除所有障碍物\n * @en Clear all obstacles\n /\n clearObstacles(): void {\n this.obstacles.clear();\n this.nextObstacleId = 0;\n }\n\n // =========================================================================\n // 多边形禁用管理 \| Polygon Disable Management\n // =========================================================================\n\n /\n @zh 禁用多边形\n * @en Disable polygon\n /\n disablePolygon(polygonId: number): void {\n this.disabledPolygons.add(polygonId);\n }\n\n /\n @zh 启用多边形\n * @en Enable polygon\n /\n enablePolygon(polygonId: number): void {\n this.disabledPolygons.delete(polygonId);\n }\n\n /\n @zh 检查多边形是否被禁用\n * @en Check if polygon is disabled\n /\n isPolygonDisabled(polygonId: number): boolean {\n return this.disabledPolygons.has(polygonId);\n }\n\n /\n @zh 禁用包含指定点的多边形\n * @en Disable polygon containing specified point\n /\n disablePolygonAt(x: number, y: number): number \| null {\n const polygon = this.findPolygonAt(x, y);\n if (polygon) {\n this.disablePolygon(polygon.id);\n return polygon.id;\n }\n return null;\n }\n\n /\n @zh 清除所有禁用的多边形\n * @en Clear all disabled polygons\n /\n clearDisabledPolygons(): void {\n this.disabledPolygons.clear();\n }\n\n /\n @zh 获取被禁用的多边形 ID 列表\n * @en Get list of disabled polygon IDs\n /\n getDisabledPolygons(): number[] {\n return Array.from(this.disabledPolygons);\n }\n\n // =========================================================================\n // 障碍物碰撞检测 \| Obstacle Collision Detection\n // =========================================================================\n\n /\n @zh 检查点是否在任何障碍物内\n * @en Check if point is inside any obstacle\n /\n isPointInObstacle(x: number, y: number): boolean {\n for (const obstacle of this.obstacles.values()) {\n if (!obstacle.enabled) continue;\n\n if (this.isPointInSingleObstacle(x, y, obstacle)) {\n return true;\n }\n }\n return false;\n }\n\n /\n @zh 检查点是否在单个障碍物内\n * @en Check if point is inside single obstacle\n /\n private isPointInSingleObstacle(x: number, y: number, obstacle: IDynamicObstacle): boolean {\n switch (obstacle.type) {\n case 'circle': {\n const dx = x - obstacle.position.x;\n const dy = y - obstacle.position.y;\n return dx dx + dy * dy <= (obstacle.radius ?? 0) 2;\n }\n case 'rect': {\n const hw = obstacle.halfWidth ?? 0;\n const hh = obstacle.halfHeight ?? 0;\n return Math.abs(x - obstacle.position.x) <= hw &&\n Math.abs(y - obstacle.position.y) <= hh;\n }\n case 'polygon': {\n if (!obstacle.vertices) return false;\n return this.isPointInPolygon(x, y, obstacle.vertices);\n }\n default:\n return false;\n }\n }\n\n /\n * @zh 检查线段是否与任何障碍物相交\n * @en Check if line segment intersects any obstacle\n /\n doesLineIntersectObstacle(x1: number, y1: number, x2: number, y2: number): boolean {\n for (const obstacle of this.obstacles.values()) {\n if (!obstacle.enabled) continue;\n\n if (this.doesLineIntersectSingleObstacle(x1, y1, x2, y2, obstacle)) {\n return true;\n }\n }\n return false;\n }\n\n /\n @zh 检查线段是否与单个障碍物相交\n * @en Check if line segment intersects single obstacle\n /\n private doesLineIntersectSingleObstacle(\n x1: number, y1: number, x2: number, y2: number,\n obstacle: IDynamicObstacle\n ): boolean {\n switch (obstacle.type) {\n case 'circle': {\n return this.lineIntersectsCircle(\n x1, y1, x2, y2,\n obstacle.position.x, obstacle.position.y,\n obstacle.radius ?? 0\n );\n }\n case 'rect': {\n const hw = obstacle.halfWidth ?? 0;\n const hh = obstacle.halfHeight ?? 0;\n const minX = obstacle.position.x - hw;\n const maxX = obstacle.position.x + hw;\n const minY = obstacle.position.y - hh;\n const maxY = obstacle.position.y + hh;\n return this.lineIntersectsRect(x1, y1, x2, y2, minX, minY, maxX, maxY);\n }\n case 'polygon': {\n if (!obstacle.vertices) return false;\n return this.lineIntersectsPolygon(x1, y1, x2, y2, obstacle.vertices);\n }\n default:\n return false;\n }\n }\n\n /\n @zh 线段与圆相交检测\n * @en Line segment circle intersection\n /\n private lineIntersectsCircle(\n x1: number, y1: number, x2: number, y2: number,\n cx: number, cy: number, r: number\n ): boolean {\n const dx = x2 - x1;\n const dy = y2 - y1;\n const fx = x1 - cx;\n const fy = y1 - cy;\n\n const a = dx dx + dy * dy;\n const b = 2 * (fx * dx + fy * dy);\n const c = fx * fx + fy * fy - r * r;\n\n let discriminant = b * b - 4 * a * c;\n if (discriminant < 0) return false;\n\n discriminant = Math.sqrt(discriminant);\n const t1 = (-b - discriminant) / (2 * a);\n const t2 = (-b + discriminant) / (2 * a);\n\n return (t1 >= 0 && t1 <= 1) \|\| (t2 >= 0 && t2 <= 1) \|\| (t1 < 0 && t2 > 1);\n }\n\n /*\n @zh 线段与矩形相交检测\n * @en Line segment rectangle intersection\n /\n private lineIntersectsRect(\n x1: number, y1: number, x2: number, y2: number,\n minX: number, minY: number, maxX: number, maxY: number\n ): boolean {\n // Check if either endpoint is inside\n if ((x1 >= minX && x1 <= maxX && y1 >= minY && y1 <= maxY) \|\|\n (x2 >= minX && x2 <= maxX && y2 >= minY && y2 <= maxY)) {\n return true;\n }\n\n // Check intersection with each edge\n return this.lineSegmentsIntersect(x1, y1, x2, y2, minX, minY, maxX, minY) \|\|\n this.lineSegmentsIntersect(x1, y1, x2, y2, maxX, minY, maxX, maxY) \|\|\n this.lineSegmentsIntersect(x1, y1, x2, y2, maxX, maxY, minX, maxY) \|\|\n this.lineSegmentsIntersect(x1, y1, x2, y2, minX, maxY, minX, minY);\n }\n\n /\n @zh 线段与多边形相交检测\n * @en Line segment polygon intersection\n /\n private lineIntersectsPolygon(\n x1: number, y1: number, x2: number, y2: number,\n vertices: readonly IPoint[]\n ): boolean {\n // Check if either endpoint is inside\n if (this.isPointInPolygon(x1, y1, vertices) \|\|\n this.isPointInPolygon(x2, y2, vertices)) {\n return true;\n }\n\n // Check intersection with each edge\n for (let i = 0; i < vertices.length; i++) {\n const j = (i + 1) % vertices.length;\n if (this.lineSegmentsIntersect(\n x1, y1, x2, y2,\n vertices[i].x, vertices[i].y,\n vertices[j].x, vertices[j].y\n )) {\n return true;\n }\n }\n return false;\n }\n\n /\n @zh 两线段相交检测\n * @en Two line segments intersection\n /\n private lineSegmentsIntersect(\n x1: number, y1: number, x2: number, y2: number,\n x3: number, y3: number, x4: number, y4: number\n ): boolean {\n const d1 = this.direction(x3, y3, x4, y4, x1, y1);\n const d2 = this.direction(x3, y3, x4, y4, x2, y2);\n const d3 = this.direction(x1, y1, x2, y2, x3, y3);\n const d4 = this.direction(x1, y1, x2, y2, x4, y4);\n\n if (((d1 > 0 && d2 < 0) \|\| (d1 < 0 && d2 > 0)) &&\n ((d3 > 0 && d4 < 0) \|\| (d3 < 0 && d4 > 0))) {\n return true;\n }\n\n const epsilon = 0.0001;\n if (Math.abs(d1) < epsilon && this.onSegment(x3, y3, x4, y4, x1, y1)) return true;\n if (Math.abs(d2) < epsilon && this.onSegment(x3, y3, x4, y4, x2, y2)) return true;\n if (Math.abs(d3) < epsilon && this.onSegment(x1, y1, x2, y2, x3, y3)) return true;\n if (Math.abs(d4) < epsilon && this.onSegment(x1, y1, x2, y2, x4, y4)) return true;\n\n return false;\n }\n\n private direction(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number): number {\n return (x3 - x1) (y2 - y1) - (y3 - y1) * (x2 - x1);\n }\n\n private onSegment(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number): boolean {\n return Math.min(x1, x2) <= x3 && x3 <= Math.max(x1, x2) &&\n Math.min(y1, y2) <= y3 && y3 <= Math.max(y1, y2);\n }\n\n // =========================================================================\n // 障碍物感知寻路 \| Obstacle-Aware Pathfinding\n // =========================================================================\n\n /*\n @zh 检查多边形是否被障碍物阻挡\n * @en Check if polygon is blocked by obstacle\n \n @zh 检查以下条件：\n * @en Checks the following conditions:\n * - @zh 多边形是否被禁用 @en Whether polygon is disabled\n * - @zh 多边形中心是否在障碍物内 @en Whether polygon center is inside obstacle\n * - @zh 多边形任意顶点是否在障碍物内 @en Whether any polygon vertex is inside obstacle\n * - @zh 多边形任意边是否与障碍物相交 @en Whether any polygon edge intersects obstacle\n /\n isPolygonBlocked(polygonId: number): boolean {\n if (this.disabledPolygons.has(polygonId)) {\n return true;\n }\n\n const polygon = this.polygons.get(polygonId);\n if (!polygon) return false;\n\n // @zh 检查中心点\n // @en Check center point\n if (this.isPointInObstacle(polygon.center.x, polygon.center.y)) {\n return true;\n }\n\n // @zh 检查所有顶点\n // @en Check all vertices\n for (const vertex of polygon.vertices) {\n if (this.isPointInObstacle(vertex.x, vertex.y)) {\n return true;\n }\n }\n\n // @zh 检查所有边是否与障碍物相交\n // @en Check if any edge intersects with obstacles\n const vertices = polygon.vertices;\n for (let i = 0; i < vertices.length; i++) {\n const v1 = vertices[i];\n const v2 = vertices[(i + 1) % vertices.length];\n if (this.doesLineIntersectObstacle(v1.x, v1.y, v2.x, v2.y)) {\n return true;\n }\n }\n\n return false;\n }\n\n /\n @zh 在导航网格上寻路（考虑障碍物）\n * @en Find path on navigation mesh (considering obstacles)\n \n @zh 此方法在规划阶段就考虑障碍物，自动绕过被阻挡的多边形\n * @en This method considers obstacles during planning, automatically avoiding blocked polygons\n \n @zh 与 findPath 不同，此方法会：\n * @en Unlike findPath, this method will:\n * - @zh 在 A* 搜索中跳过被障碍物阻挡的多边形\n * - @en Skip obstacle-blocked polygons during A* search\n * - @zh 验证起点和终点不在障碍物内\n * - @en Verify start and end points are not inside obstacles\n /\n findPathWithObstacles(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n // @zh 检查起点和终点是否在障碍物内\n // @en Check if start and end are inside obstacles\n if (this.isPointInObstacle(startX, startY) \|\| this.isPointInObstacle(endX, endY)) {\n return EMPTY_PATH_RESULT;\n }\n\n const startPolygon = this.findPolygonAt(startX, startY);\n const endPolygon = this.findPolygonAt(endX, endY);\n\n if (!startPolygon \|\| !endPolygon) {\n return EMPTY_PATH_RESULT;\n }\n\n // @zh 检查起点/终点多边形是否被阻挡\n // @en Check if start/end polygons are blocked\n if (this.isPolygonBlocked(startPolygon.id) \|\| this.isPolygonBlocked(endPolygon.id)) {\n return EMPTY_PATH_RESULT;\n }\n\n // @zh 同一多边形内的路径\n // @en Path within same polygon\n if (startPolygon.id === endPolygon.id) {\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n\n // @zh 检查直线路径是否穿过障碍物\n // @en Check if direct path crosses obstacles\n if (this.doesLineIntersectObstacle(startX, startY, endX, endY)) {\n return EMPTY_PATH_RESULT;\n }\n\n return {\n found: true,\n path: [start, end],\n cost: euclideanDistance(start, end),\n nodesSearched: 1\n };\n }\n\n // @zh 使用障碍物感知的多边形路径搜索\n // @en Use obstacle-aware polygon path search\n const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts, true);\n\n if (!polygonPath.found) {\n return EMPTY_PATH_RESULT;\n }\n\n // @zh 使用 Funnel 算法生成路径点\n // @en Generate path points using Funnel algorithm\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n const pointPath = this.funnelPath(start, end, polygonPath.polygons, opts.agentRadius);\n\n return {\n found: true,\n path: pointPath,\n cost: this.calculatePathLength(pointPath),\n nodesSearched: polygonPath.nodesSearched\n };\n }\n\n /\n @zh 清空导航网格\n * @en Clear navigation mesh\n /\n clear(): void {\n this.polygons.clear();\n this.nodes.clear();\n this.obstacles.clear();\n this.disabledPolygons.clear();\n this.nextId = 0;\n this.nextObstacleId = 0;\n }\n\n /\n @zh 获取所有多边形\n * @en Get all polygons\n /\n getPolygons(): INavPolygon[] {\n return Array.from(this.polygons.values());\n }\n\n /\n @zh 获取多边形数量\n * @en Get polygon count\n /\n get polygonCount(): number {\n return this.polygons.size;\n }\n\n /\n @zh 获取障碍物数量\n * @en Get obstacle count\n /\n get obstacleCount(): number {\n return this.obstacles.size;\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Function\n// =============================================================================\n\n/\n @zh 创建导航网格\n * @en Create navigation mesh\n /\nexport function createNavMesh(): NavMesh {\n return new NavMesh();\n}\n","/\n @zh 路径平滑算法\n * @en Path Smoothing Algorithms\n /\n\nimport type {\n IPathfindingMap,\n IPathSmoother,\n IPoint\n} from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 视线检测 \| Line of Sight\n// =============================================================================\n\n/\n @zh 使用 Bresenham 算法检测视线\n * @en Line of sight check using Bresenham algorithm\n /\nexport function bresenhamLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap\n): boolean {\n // Round to grid coordinates\n let ix1 = Math.floor(x1);\n let iy1 = Math.floor(y1);\n const ix2 = Math.floor(x2);\n const iy2 = Math.floor(y2);\n\n const dx = Math.abs(ix2 - ix1);\n const dy = Math.abs(iy2 - iy1);\n\n const sx = ix1 < ix2 ? 1 : -1;\n const sy = iy1 < iy2 ? 1 : -1;\n\n let err = dx - dy;\n\n while (true) {\n if (!map.isWalkable(ix1, iy1)) {\n return false;\n }\n\n if (ix1 === ix2 && iy1 === iy2) {\n break;\n }\n\n const e2 = 2 err;\n\n if (e2 > -dy) {\n err -= dy;\n ix1 += sx;\n }\n\n if (e2 < dx) {\n err += dx;\n iy1 += sy;\n }\n }\n\n return true;\n}\n\n/*\n @zh 使用射线投射检测视线（更精确）\n * @en Line of sight check using ray casting (more precise)\n /\nexport function raycastLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap,\n stepSize: number = 0.5\n): boolean {\n const dx = x2 - x1;\n const dy = y2 - y1;\n const distance = Math.sqrt(dx dx + dy * dy);\n\n if (distance === 0) {\n return map.isWalkable(Math.floor(x1), Math.floor(y1));\n }\n\n const steps = Math.ceil(distance / stepSize);\n const stepX = dx / steps;\n const stepY = dy / steps;\n\n let x = x1;\n let y = y1;\n\n for (let i = 0; i <= steps; i++) {\n if (!map.isWalkable(Math.floor(x), Math.floor(y))) {\n return false;\n }\n x += stepX;\n y += stepY;\n }\n\n return true;\n}\n\n// =============================================================================\n// 路径简化器（拐点移除）\| Path Simplifier (Waypoint Removal)\n// =============================================================================\n\n/*\n @zh 路径简化器 - 移除不必要的拐点\n * @en Path Simplifier - Removes unnecessary waypoints\n \n @zh 使用视线检测移除可以直接到达的中间点\n * @en Uses line of sight to remove intermediate points that can be reached directly\n /\nexport class LineOfSightSmoother implements IPathSmoother {\n private readonly lineOfSight: typeof bresenhamLineOfSight;\n\n constructor(lineOfSight: typeof bresenhamLineOfSight = bresenhamLineOfSight) {\n this.lineOfSight = lineOfSight;\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n if (path.length <= 2) {\n return [...path];\n }\n\n const result: IPoint[] = [path[0]];\n let current = 0;\n\n while (current < path.length - 1) {\n // Find the furthest point we can see from current\n let furthest = current + 1;\n\n for (let i = path.length - 1; i > current + 1; i--) {\n if (this.lineOfSight(\n path[current].x,\n path[current].y,\n path[i].x,\n path[i].y,\n map\n )) {\n furthest = i;\n break;\n }\n }\n\n result.push(path[furthest]);\n current = furthest;\n }\n\n return result;\n }\n}\n\n// =============================================================================\n// 曲线平滑器 \| Curve Smoother\n// =============================================================================\n\n/\n @zh Catmull-Rom 样条曲线平滑\n * @en Catmull-Rom spline smoothing\n /\nexport class CatmullRomSmoother implements IPathSmoother {\n private readonly segments: number;\n private readonly tension: number;\n\n /\n @param segments - @zh 每段之间的插值点数 @en Number of interpolation points per segment\n * @param tension - @zh 张力 (0-1) @en Tension (0-1)\n /\n constructor(segments: number = 5, tension: number = 0.5) {\n this.segments = segments;\n this.tension = tension;\n }\n\n smooth(path: readonly IPoint[], _map: IPathfindingMap): IPoint[] {\n if (path.length <= 2) {\n return [...path];\n }\n\n const result: IPoint[] = [];\n\n // Add phantom points at the ends\n const points = [\n path[0],\n ...path,\n path[path.length - 1]\n ];\n\n for (let i = 1; i < points.length - 2; i++) {\n const p0 = points[i - 1];\n const p1 = points[i];\n const p2 = points[i + 1];\n const p3 = points[i + 2];\n\n for (let j = 0; j < this.segments; j++) {\n const t = j / this.segments;\n const point = this.interpolate(p0, p1, p2, p3, t);\n result.push(point);\n }\n }\n\n // Add final point\n result.push(path[path.length - 1]);\n\n return result;\n }\n\n /\n @zh Catmull-Rom 插值\n * @en Catmull-Rom interpolation\n /\n private interpolate(\n p0: IPoint,\n p1: IPoint,\n p2: IPoint,\n p3: IPoint,\n t: number\n ): IPoint {\n const t2 = t t;\n const t3 = t2 * t;\n\n const tension = this.tension;\n\n const x =\n 0.5 \n ((2 p1.x) +\n (-p0.x + p2.x) * t * tension +\n (2 * p0.x - 5 * p1.x + 4 * p2.x - p3.x) * t2 * tension +\n (-p0.x + 3 * p1.x - 3 * p2.x + p3.x) * t3 * tension);\n\n const y =\n 0.5 \n ((2 p1.y) +\n (-p0.y + p2.y) * t * tension +\n (2 * p0.y - 5 * p1.y + 4 * p2.y - p3.y) * t2 * tension +\n (-p0.y + 3 * p1.y - 3 * p2.y + p3.y) * t3 * tension);\n\n return createPoint(x, y);\n }\n}\n\n// =============================================================================\n// 组合平滑器 \| Combined Smoother\n// =============================================================================\n\n/*\n @zh 组合路径平滑器\n * @en Combined path smoother\n \n @zh 先简化路径，再用曲线平滑\n * @en First simplify path, then smooth with curves\n /\nexport class CombinedSmoother implements IPathSmoother {\n private readonly simplifier: LineOfSightSmoother;\n private readonly curveSmoother: CatmullRomSmoother;\n\n constructor(curveSegments: number = 5, tension: number = 0.5) {\n this.simplifier = new LineOfSightSmoother();\n this.curveSmoother = new CatmullRomSmoother(curveSegments, tension);\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n // First simplify\n const simplified = this.simplifier.smooth(path, map);\n\n // Then curve smooth\n return this.curveSmoother.smooth(simplified, map);\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Functions\n// =============================================================================\n\n/\n @zh 创建视线平滑器\n * @en Create line of sight smoother\n /\nexport function createLineOfSightSmoother(\n lineOfSight?: typeof bresenhamLineOfSight\n): LineOfSightSmoother {\n return new LineOfSightSmoother(lineOfSight);\n}\n\n/\n @zh 创建曲线平滑器\n * @en Create curve smoother\n /\nexport function createCatmullRomSmoother(\n segments?: number,\n tension?: number\n): CatmullRomSmoother {\n return new CatmullRomSmoother(segments, tension);\n}\n\n/\n @zh 创建组合平滑器\n * @en Create combined smoother\n /\nexport function createCombinedSmoother(\n curveSegments?: number,\n tension?: number\n): CombinedSmoother {\n return new CombinedSmoother(curveSegments, tension);\n}\n","/\n @zh 半径感知路径平滑器\n * @en Radius-Aware Path Smoother\n \n @zh 通用的路径后处理器，确保路径与障碍物保持安全距离\n * @en Generic path post-processor that ensures paths maintain safe distance from obstacles\n /\n\nimport type { IPathfindingMap, IPathSmoother, IPoint } from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 配置 \| Configuration\n// =============================================================================\n\n/\n @zh 半径感知平滑器配置\n * @en Radius-aware smoother configuration\n /\nexport interface IRadiusAwareSmootherConfig {\n /\n @zh 代理半径\n * @en Agent radius\n /\n agentRadius: number;\n\n /\n @zh 额外安全边距\n * @en Extra safety margin\n * @default 0.1\n /\n safetyMargin?: number;\n\n /\n @zh 采样方向数量（用于检测周围障碍物）\n * @en Number of sample directions (for detecting nearby obstacles)\n * @default 8\n /\n sampleDirections?: number;\n\n /\n @zh 最大偏移尝试次数\n * @en Maximum offset attempts\n * @default 8\n /\n maxOffsetAttempts?: number;\n\n /\n @zh 是否处理拐点（角落）\n * @en Whether to process turning points (corners)\n * @default true\n /\n processCorners?: boolean;\n}\n\n/\n @zh 默认配置\n * @en Default configuration\n /\nconst DEFAULT_CONFIG: Required<Omit<IRadiusAwareSmootherConfig, 'agentRadius'>> = {\n safetyMargin: 0.1,\n sampleDirections: 8,\n maxOffsetAttempts: 8,\n processCorners: true\n};\n\n// =============================================================================\n// 半径感知路径平滑器 \| Radius-Aware Path Smoother\n// =============================================================================\n\n/\n @zh 半径感知路径平滑器\n * @en Radius-Aware Path Smoother\n \n @zh 对任意寻路算法输出的路径进行后处理，确保路径点与障碍物保持足够距离\n * @en Post-processes paths from any pathfinding algorithm to ensure path points maintain sufficient distance from obstacles\n \n @example\n * ```typescript\n * // 创建平滑器\n * const smoother = new RadiusAwarePathSmoother({ agentRadius: 0.5 });\n \n // 处理路径\n * const safePath = smoother.smooth(rawPath, map);\n \n // 与其他平滑器组合使用\n * const combined = new CombinedRadiusAwareSmoother(\n * new LineOfSightSmoother(),\n * { agentRadius: 0.5 }\n * );\n * ```\n /\nexport class RadiusAwarePathSmoother implements IPathSmoother {\n private readonly config: Required<IRadiusAwareSmootherConfig>;\n private readonly sampleAngles: number[];\n\n constructor(config: IRadiusAwareSmootherConfig) {\n this.config = {\n ...DEFAULT_CONFIG,\n ...config\n };\n\n // 预计算采样角度\n this.sampleAngles = [];\n const step = (Math.PI 2) / this.config.sampleDirections;\n for (let i = 0; i < this.config.sampleDirections; i++) {\n this.sampleAngles.push(i * step);\n }\n }\n\n /*\n @zh 平滑路径，确保与障碍物保持安全距离\n * @en Smooth path, ensuring safe distance from obstacles\n \n @param path - @zh 原始路径 @en Original path\n * @param map - @zh 地图 @en Map\n * @returns @zh 处理后的安全路径 @en Processed safe path\n /\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n if (path.length <= 1) {\n return [...path];\n }\n\n const result: IPoint[] = [];\n const clearance = this.config.agentRadius + this.config.safetyMargin;\n\n for (let i = 0; i < path.length; i++) {\n const point = path[i]!;\n const isCorner = this.config.processCorners && i > 0 && i < path.length - 1;\n\n let safePoint: IPoint;\n\n if (isCorner) {\n // 处理拐点\n const prev = path[i - 1]!;\n const next = path[i + 1]!;\n safePoint = this.offsetCornerPoint(point, prev, next, clearance, map);\n } else {\n // 处理普通点\n safePoint = this.offsetPointFromObstacles(point, clearance, map);\n }\n\n result.push(safePoint);\n }\n\n return result;\n }\n\n /\n @zh 将点从障碍物偏移\n * @en Offset point away from obstacles\n /\n private offsetPointFromObstacles(\n point: IPoint,\n clearance: number,\n map: IPathfindingMap\n ): IPoint {\n // 检测周围障碍物\n const obstacleDirections = this.detectNearbyObstacles(point, clearance, map);\n\n if (obstacleDirections.length === 0) {\n // 没有障碍物在范围内\n return point;\n }\n\n // 计算平均障碍物方向\n let avgDirX = 0;\n let avgDirY = 0;\n for (const dir of obstacleDirections) {\n avgDirX += dir.x;\n avgDirY += dir.y;\n }\n\n const len = Math.sqrt(avgDirX avgDirX + avgDirY * avgDirY);\n if (len < 0.0001) {\n // 障碍物方向相互抵消，保持原位\n return point;\n }\n\n // 反方向偏移（远离障碍物）\n const offsetDirX = -avgDirX / len;\n const offsetDirY = -avgDirY / len;\n\n // 尝试不同的偏移距离\n for (let attempt = 1; attempt <= this.config.maxOffsetAttempts; attempt++) {\n const offsetDist = clearance * attempt / this.config.maxOffsetAttempts;\n const newX = point.x + offsetDirX * offsetDist;\n const newY = point.y + offsetDirY * offsetDist;\n\n if (map.isWalkable(Math.floor(newX), Math.floor(newY))) {\n // 检查新位置是否有足够的clearance\n const newObstacles = this.detectNearbyObstacles(\n createPoint(newX, newY),\n clearance,\n map\n );\n\n if (newObstacles.length === 0) {\n return createPoint(newX, newY);\n }\n }\n }\n\n // 无法找到更好的位置，返回原点\n return point;\n }\n\n /*\n @zh 偏移拐点（角落）\n * @en Offset corner point\n /\n private offsetCornerPoint(\n corner: IPoint,\n prev: IPoint,\n next: IPoint,\n clearance: number,\n map: IPathfindingMap\n ): IPoint {\n // 计算进入方向和离开方向\n const inDirX = corner.x - prev.x;\n const inDirY = corner.y - prev.y;\n const inLen = Math.sqrt(inDirX inDirX + inDirY * inDirY);\n\n const outDirX = next.x - corner.x;\n const outDirY = next.y - corner.y;\n const outLen = Math.sqrt(outDirX * outDirX + outDirY * outDirY);\n\n if (inLen < 0.0001 \|\| outLen < 0.0001) {\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n // 标准化方向\n const inNormX = inDirX / inLen;\n const inNormY = inDirY / inLen;\n const outNormX = outDirX / outLen;\n const outNormY = outDirY / outLen;\n\n // 计算角平分线方向（指向角的内侧）\n // 角平分线 = 入射方向 + 出射方向的反方向\n const bisectX = inNormX - outNormX;\n const bisectY = inNormY - outNormY;\n const bisectLen = Math.sqrt(bisectX * bisectX + bisectY * bisectY);\n\n if (bisectLen < 0.0001) {\n // 直线，不需要特殊处理\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n // 标准化角平分线\n const bisectNormX = bisectX / bisectLen;\n const bisectNormY = bisectY / bisectLen;\n\n // 计算转角角度\n const dotProduct = inNormX * outNormX + inNormY * outNormY;\n const angle = Math.acos(Math.max(-1, Math.min(1, dotProduct)));\n\n // 计算需要的偏移距离\n // 在角落处，需要偏移 clearance / sin(angle/2) 才能保持与两边的距离\n const halfAngle = angle / 2;\n const sinHalfAngle = Math.sin(halfAngle);\n\n if (sinHalfAngle < 0.1) {\n // 角度太小（几乎是直线），使用普通偏移\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n const offsetDist = clearance / sinHalfAngle;\n\n // 限制最大偏移距离\n const maxOffset = clearance * 3;\n const actualOffset = Math.min(offsetDist, maxOffset);\n\n // 沿角平分线偏移\n const newX = corner.x + bisectNormX * actualOffset;\n const newY = corner.y + bisectNormY * actualOffset;\n\n // 验证新位置是否可行\n if (map.isWalkable(Math.floor(newX), Math.floor(newY))) {\n return createPoint(newX, newY);\n }\n\n // 如果角平分线方向不可行，尝试反方向\n const altX = corner.x - bisectNormX * actualOffset;\n const altY = corner.y - bisectNormY * actualOffset;\n\n if (map.isWalkable(Math.floor(altX), Math.floor(altY))) {\n return createPoint(altX, altY);\n }\n\n // 回退到普通偏移\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n /*\n @zh 检测附近的障碍物方向\n * @en Detect nearby obstacle directions\n /\n private detectNearbyObstacles(\n point: IPoint,\n clearance: number,\n map: IPathfindingMap\n ): IPoint[] {\n const obstacles: IPoint[] = [];\n\n for (const angle of this.sampleAngles) {\n const dirX = Math.cos(angle);\n const dirY = Math.sin(angle);\n\n // 沿该方向采样\n const sampleX = point.x + dirX clearance;\n const sampleY = point.y + dirY * clearance;\n\n if (!map.isWalkable(Math.floor(sampleX), Math.floor(sampleY))) {\n // 该方向有障碍物\n obstacles.push(createPoint(dirX, dirY));\n }\n }\n\n return obstacles;\n }\n}\n\n// =============================================================================\n// 组合平滑器 \| Combined Smoother\n// =============================================================================\n\n/*\n @zh 组合半径感知平滑器\n * @en Combined radius-aware smoother\n \n @zh 先使用其他平滑器（如 LOS、Catmull-Rom），再应用半径感知处理\n * @en First applies other smoother (like LOS, Catmull-Rom), then applies radius-aware processing\n \n @example\n * ```typescript\n * const smoother = new CombinedRadiusAwareSmoother(\n * new LineOfSightSmoother(),\n * { agentRadius: 0.5 }\n * );\n * const path = smoother.smooth(rawPath, map);\n * ```\n /\nexport class CombinedRadiusAwareSmoother implements IPathSmoother {\n private readonly baseSmoother: IPathSmoother;\n private readonly radiusAwareSmoother: RadiusAwarePathSmoother;\n\n constructor(\n baseSmoother: IPathSmoother,\n config: IRadiusAwareSmootherConfig\n ) {\n this.baseSmoother = baseSmoother;\n this.radiusAwareSmoother = new RadiusAwarePathSmoother(config);\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n // 先用基础平滑器处理\n const smoothed = this.baseSmoother.smooth(path, map);\n\n // 再应用半径感知处理\n return this.radiusAwareSmoother.smooth(smoothed, map);\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Functions\n// =============================================================================\n\n/\n @zh 创建半径感知平滑器\n * @en Create radius-aware smoother\n \n @param agentRadius - @zh 代理半径 @en Agent radius\n * @param options - @zh 额外配置 @en Additional options\n \n @example\n * ```typescript\n * const smoother = createRadiusAwareSmoother(0.5);\n * const safePath = smoother.smooth(path, map);\n * ```\n /\nexport function createRadiusAwareSmoother(\n agentRadius: number,\n options?: Omit<IRadiusAwareSmootherConfig, 'agentRadius'>\n): RadiusAwarePathSmoother {\n return new RadiusAwarePathSmoother({\n agentRadius,\n ...options\n });\n}\n\n/\n @zh 创建组合半径感知平滑器\n * @en Create combined radius-aware smoother\n \n @param baseSmoother - @zh 基础平滑器 @en Base smoother\n * @param agentRadius - @zh 代理半径 @en Agent radius\n * @param options - @zh 额外配置 @en Additional options\n \n @example\n * ```typescript\n * const smoother = createCombinedRadiusAwareSmoother(\n * new LineOfSightSmoother(),\n * 0.5\n * );\n * ```\n */\nexport function createCombinedRadiusAwareSmoother(\n baseSmoother: IPathSmoother,\n agentRadius: number,\n options?: Omit<IRadiusAwareSmootherConfig, 'agentRadius'>\n): CombinedRadiusAwareSmoother {\n return new CombinedRadiusAwareSmoother(baseSmoother, {\n agentRadius,\n ...options\n 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1	+ {"version":3,"sources":["../src/core/GridPathfinder.ts","../src/core/PathValidator.ts","../src/grid/GridMap.ts","../src/navmesh/NavMesh.ts","../src/smoothing/PathSmoother.ts","../src/smoothing/RadiusAwarePathSmoother.ts"],"sourcesContent":["/*\n @zh 网格寻路器（统一实现）\n * @en Grid Pathfinder (unified implementation)\n /\n\nimport type { IPathfinder, IPathResult, IPathfindingOptions, IPoint } from './IPathfinding';\nimport { EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from './IPathfinding';\nimport { GridMap } from '../grid/GridMap';\n\n// =============================================================================\n// 配置 \| Configuration\n// =============================================================================\n\n/\n @zh 寻路模式\n * @en Pathfinding mode\n /\nexport type GridPathfinderMode = 'standard' \| 'fast' \| 'bidirectional';\n\n/\n @zh 网格寻路器配置\n * @en Grid pathfinder configuration\n /\nexport interface IGridPathfinderConfig {\n /\n @zh 寻路模式\n * @en Pathfinding mode\n \n - standard: 标准A，适合小地图\n - fast: TypedArray优化，适合中大地图\n * - bidirectional: 双向搜索，适合超大地图\n /\n mode?: GridPathfinderMode;\n}\n\n// =============================================================================\n// 常量 \| Constants\n// =============================================================================\n\nconst CLOSED_FLAG = 1;\nconst OPENED_FLAG = 2;\nconst BACKWARD_CLOSED = 4;\nconst BACKWARD_OPENED = 8;\n\n// =============================================================================\n// 状态存储 \| State Storage\n// =============================================================================\n\nclass GridState {\n private readonly size: number;\n readonly width: number;\n\n private g: Float32Array;\n private f: Float32Array;\n private flags: Uint8Array;\n private parent: Int32Array;\n private heapIndex: Int32Array;\n private version: Uint32Array;\n private currentVersion: number = 1;\n\n // 双向搜索额外状态\n private gBack: Float32Array \| null = null;\n private fBack: Float32Array \| null = null;\n private parentBack: Int32Array \| null = null;\n private heapIndexBack: Int32Array \| null = null;\n\n constructor(width: number, height: number, bidirectional: boolean = false) {\n this.width = width;\n this.size = width height;\n\n this.g = new Float32Array(this.size);\n this.f = new Float32Array(this.size);\n this.flags = new Uint8Array(this.size);\n this.parent = new Int32Array(this.size);\n this.heapIndex = new Int32Array(this.size);\n this.version = new Uint32Array(this.size);\n\n if (bidirectional) {\n this.gBack = new Float32Array(this.size);\n this.fBack = new Float32Array(this.size);\n this.parentBack = new Int32Array(this.size);\n this.heapIndexBack = new Int32Array(this.size);\n }\n }\n\n reset(): void {\n this.currentVersion++;\n if (this.currentVersion > 0xFFFFFFFF) {\n this.version.fill(0);\n this.currentVersion = 1;\n }\n }\n\n private isInit(i: number): boolean {\n return this.version[i] === this.currentVersion;\n }\n\n private init(i: number): void {\n if (!this.isInit(i)) {\n this.g[i] = Infinity;\n this.f[i] = Infinity;\n this.flags[i] = 0;\n this.parent[i] = -1;\n this.heapIndex[i] = -1;\n if (this.gBack) {\n this.gBack[i] = Infinity;\n this.fBack![i] = Infinity;\n this.parentBack![i] = -1;\n this.heapIndexBack![i] = -1;\n }\n this.version[i] = this.currentVersion;\n }\n }\n\n // Forward\n getG(i: number): number { return this.isInit(i) ? this.g[i] : Infinity; }\n setG(i: number, v: number): void { this.init(i); this.g[i] = v; }\n getF(i: number): number { return this.isInit(i) ? this.f[i] : Infinity; }\n setF(i: number, v: number): void { this.init(i); this.f[i] = v; }\n getParent(i: number): number { return this.isInit(i) ? this.parent[i] : -1; }\n setParent(i: number, v: number): void { this.init(i); this.parent[i] = v; }\n getHeapIndex(i: number): number { return this.isInit(i) ? this.heapIndex[i] : -1; }\n setHeapIndex(i: number, v: number): void { this.init(i); this.heapIndex[i] = v; }\n isClosed(i: number): boolean { return this.isInit(i) && (this.flags[i] & CLOSED_FLAG) !== 0; }\n setClosed(i: number): void { this.init(i); this.flags[i] \|= CLOSED_FLAG; }\n isOpened(i: number): boolean { return this.isInit(i) && (this.flags[i] & OPENED_FLAG) !== 0; }\n setOpened(i: number): void { this.init(i); this.flags[i] \|= OPENED_FLAG; }\n\n // Backward\n getGBack(i: number): number { return this.isInit(i) ? this.gBack![i] : Infinity; }\n setGBack(i: number, v: number): void { this.init(i); this.gBack![i] = v; }\n getFBack(i: number): number { return this.isInit(i) ? this.fBack![i] : Infinity; }\n setFBack(i: number, v: number): void { this.init(i); this.fBack![i] = v; }\n getParentBack(i: number): number { return this.isInit(i) ? this.parentBack![i] : -1; }\n setParentBack(i: number, v: number): void { this.init(i); this.parentBack![i] = v; }\n getHeapIndexBack(i: number): number { return this.isInit(i) ? this.heapIndexBack![i] : -1; }\n setHeapIndexBack(i: number, v: number): void { this.init(i); this.heapIndexBack![i] = v; }\n isClosedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_CLOSED) !== 0; }\n setClosedBack(i: number): void { this.init(i); this.flags[i] \|= BACKWARD_CLOSED; }\n isOpenedBack(i: number): boolean { return this.isInit(i) && (this.flags[i] & BACKWARD_OPENED) !== 0; }\n setOpenedBack(i: number): void { this.init(i); this.flags[i] \|= BACKWARD_OPENED; }\n}\n\n// =============================================================================\n// 堆 \| Heap\n// =============================================================================\n\nclass GridHeap {\n private heap: number[] = [];\n private state: GridState;\n private isBack: boolean;\n\n constructor(state: GridState, isBack: boolean = false) {\n this.state = state;\n this.isBack = isBack;\n }\n\n get size(): number { return this.heap.length; }\n get isEmpty(): boolean { return this.heap.length === 0; }\n\n private getF(i: number): number {\n return this.isBack ? this.state.getFBack(i) : this.state.getF(i);\n }\n private getHeapIndex(i: number): number {\n return this.isBack ? this.state.getHeapIndexBack(i) : this.state.getHeapIndex(i);\n }\n private setHeapIndex(i: number, v: number): void {\n if (this.isBack) this.state.setHeapIndexBack(i, v);\n else this.state.setHeapIndex(i, v);\n }\n\n push(i: number): void {\n this.setHeapIndex(i, this.heap.length);\n this.heap.push(i);\n this.bubbleUp(this.heap.length - 1);\n }\n\n pop(): number {\n if (this.heap.length === 0) return -1;\n const result = this.heap[0];\n this.setHeapIndex(result, -1);\n const last = this.heap.pop()!;\n if (this.heap.length > 0) {\n this.heap[0] = last;\n this.setHeapIndex(last, 0);\n this.sinkDown(0);\n }\n return result;\n }\n\n update(i: number): void {\n const pos = this.getHeapIndex(i);\n if (pos >= 0 && pos < this.heap.length) {\n this.bubbleUp(pos);\n this.sinkDown(this.getHeapIndex(i));\n }\n }\n\n clear(): void { this.heap.length = 0; }\n\n private bubbleUp(pos: number): void {\n const idx = this.heap[pos];\n const f = this.getF(idx);\n while (pos > 0) {\n const pp = (pos - 1) >> 1;\n const pi = this.heap[pp];\n if (f >= this.getF(pi)) break;\n this.heap[pos] = pi;\n this.setHeapIndex(pi, pos);\n pos = pp;\n }\n this.heap[pos] = idx;\n this.setHeapIndex(idx, pos);\n }\n\n private sinkDown(pos: number): void {\n const len = this.heap.length;\n const idx = this.heap[pos];\n const f = this.getF(idx);\n const half = len >> 1;\n while (pos < half) {\n const left = (pos << 1) + 1;\n const right = left + 1;\n let smallest = pos, smallestF = f;\n const lf = this.getF(this.heap[left]);\n if (lf < smallestF) { smallest = left; smallestF = lf; }\n if (right < len) {\n const rf = this.getF(this.heap[right]);\n if (rf < smallestF) smallest = right;\n }\n if (smallest === pos) break;\n const si = this.heap[smallest];\n this.heap[pos] = si;\n this.setHeapIndex(si, pos);\n pos = smallest;\n }\n this.heap[pos] = idx;\n this.setHeapIndex(idx, pos);\n }\n}\n\n// =============================================================================\n// 网格寻路器 \| Grid Pathfinder\n// =============================================================================\n\n/*\n @zh 网格寻路器\n * @en Grid Pathfinder\n /\nexport class GridPathfinder implements IPathfinder {\n private readonly map: GridMap;\n private readonly mode: GridPathfinderMode;\n private readonly state: GridState;\n private readonly openList: GridHeap;\n private readonly openListBack: GridHeap \| null;\n\n constructor(map: GridMap, config?: IGridPathfinderConfig) {\n this.map = map;\n this.mode = config?.mode ?? 'fast';\n const isBidir = this.mode === 'bidirectional';\n this.state = new GridState(map.width, map.height, isBidir);\n this.openList = new GridHeap(this.state, false);\n this.openListBack = isBidir ? new GridHeap(this.state, true) : null;\n }\n\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n if (this.mode === 'bidirectional') {\n return this.findPathBidirectional(startX, startY, endX, endY, options);\n }\n return this.findPathUnidirectional(startX, startY, endX, endY, options);\n }\n\n private findPathUnidirectional(\n startX: number, startY: number,\n endX: number, endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n const { width, height } = this.map;\n\n this.state.reset();\n this.openList.clear();\n\n if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n const startIdx = startY width + startX;\n const endIdx = endY * width + endX;\n\n if (startIdx === endIdx) {\n return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n }\n\n const hw = opts.heuristicWeight;\n const h0 = this.map.heuristic({ x: startX, y: startY }, { x: endX, y: endY }) * hw;\n this.state.setG(startIdx, 0);\n this.state.setF(startIdx, h0);\n this.state.setOpened(startIdx);\n this.openList.push(startIdx);\n\n let searched = 0;\n const maxNodes = opts.maxNodes;\n const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n const nodes = this.map['nodes'];\n const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n const dirCount = dx.length;\n\n while (!this.openList.isEmpty && searched < maxNodes) {\n const cur = this.openList.pop();\n this.state.setClosed(cur);\n searched++;\n\n if (cur === endIdx) {\n return this.buildPath(startIdx, endIdx, searched);\n }\n\n const cx = cur % width, cy = (cur / width) \| 0;\n const curG = this.state.getG(cur);\n\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dx[d], ny = cy + dy[d];\n if (nx < 0 \|\| nx >= width \|\| ny < 0 \|\| ny >= height) continue;\n\n const neighbor = nodes[ny][nx];\n if (!neighbor.walkable) continue;\n\n if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n if (!nodes[cy][cx + dx[d]].walkable \|\| !nodes[cy + dy[d]][cx].walkable) continue;\n }\n\n const ni = ny * width + nx;\n if (this.state.isClosed(ni)) continue;\n\n const isDiag = dx[d] !== 0 && dy[d] !== 0;\n const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n const tentG = curG + cost;\n\n if (!this.state.isOpened(ni)) {\n const h = this.map.heuristic({ x: nx, y: ny }, { x: endX, y: endY }) * hw;\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.state.setOpened(ni);\n this.openList.push(ni);\n } else if (tentG < this.state.getG(ni)) {\n const h = this.state.getF(ni) - this.state.getG(ni);\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.openList.update(ni);\n }\n }\n }\n\n return { found: false, path: [], cost: 0, nodesSearched: searched };\n }\n\n private findPathBidirectional(\n startX: number, startY: number,\n endX: number, endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = options ? { ...DEFAULT_PATHFINDING_OPTIONS, ...options } : DEFAULT_PATHFINDING_OPTIONS;\n const { width, height } = this.map;\n\n this.state.reset();\n this.openList.clear();\n this.openListBack!.clear();\n\n if (!this.validate(startX, startY, endX, endY)) return EMPTY_PATH_RESULT;\n\n const startIdx = startY * width + startX;\n const endIdx = endY * width + endX;\n\n if (startIdx === endIdx) {\n return { found: true, path: [{ x: startX, y: startY }], cost: 0, nodesSearched: 1 };\n }\n\n const hw = opts.heuristicWeight;\n const startPos = { x: startX, y: startY };\n const endPos = { x: endX, y: endY };\n\n // Init forward\n const hf = this.map.heuristic(startPos, endPos) * hw;\n this.state.setG(startIdx, 0);\n this.state.setF(startIdx, hf);\n this.state.setOpened(startIdx);\n this.openList.push(startIdx);\n\n // Init backward\n const hb = this.map.heuristic(endPos, startPos) * hw;\n this.state.setGBack(endIdx, 0);\n this.state.setFBack(endIdx, hb);\n this.state.setOpenedBack(endIdx);\n this.openListBack!.push(endIdx);\n\n let searched = 0;\n const maxNodes = opts.maxNodes;\n let meetIdx = -1, bestCost = Infinity;\n\n const { allowDiagonal, avoidCorners, diagonalCost } = this.map['options'];\n const nodes = this.map['nodes'];\n const dx = allowDiagonal ? [0, 1, 1, 1, 0, -1, -1, -1] : [0, 1, 0, -1];\n const dy = allowDiagonal ? [-1, -1, 0, 1, 1, 1, 0, -1] : [-1, 0, 1, 0];\n const dirCount = dx.length;\n\n while ((!this.openList.isEmpty \|\| !this.openListBack!.isEmpty) && searched < maxNodes) {\n // Forward\n if (!this.openList.isEmpty) {\n const cur = this.openList.pop();\n this.state.setClosed(cur);\n searched++;\n\n const curG = this.state.getG(cur);\n if (this.state.isClosedBack(cur)) {\n const total = curG + this.state.getGBack(cur);\n if (total < bestCost) { bestCost = total; meetIdx = cur; }\n }\n if (meetIdx !== -1 && curG >= bestCost) break;\n\n const cx = cur % width, cy = (cur / width) \| 0;\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dx[d], ny = cy + dy[d];\n if (nx < 0 \|\| nx >= width \|\| ny < 0 \|\| ny >= height) continue;\n const neighbor = nodes[ny][nx];\n if (!neighbor.walkable) continue;\n if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n if (!nodes[cy][cx + dx[d]].walkable \|\| !nodes[cy + dy[d]][cx].walkable) continue;\n }\n const ni = ny * width + nx;\n if (this.state.isClosed(ni)) continue;\n const isDiag = dx[d] !== 0 && dy[d] !== 0;\n const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n const tentG = curG + cost;\n if (!this.state.isOpened(ni)) {\n const h = this.map.heuristic({ x: nx, y: ny }, endPos) * hw;\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.state.setOpened(ni);\n this.openList.push(ni);\n } else if (tentG < this.state.getG(ni)) {\n const h = this.state.getF(ni) - this.state.getG(ni);\n this.state.setG(ni, tentG);\n this.state.setF(ni, tentG + h);\n this.state.setParent(ni, cur);\n this.openList.update(ni);\n }\n }\n }\n\n // Backward\n if (!this.openListBack!.isEmpty) {\n const cur = this.openListBack!.pop();\n this.state.setClosedBack(cur);\n searched++;\n\n const curG = this.state.getGBack(cur);\n if (this.state.isClosed(cur)) {\n const total = curG + this.state.getG(cur);\n if (total < bestCost) { bestCost = total; meetIdx = cur; }\n }\n if (meetIdx !== -1 && curG >= bestCost) break;\n\n const cx = cur % width, cy = (cur / width) \| 0;\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dx[d], ny = cy + dy[d];\n if (nx < 0 \|\| nx >= width \|\| ny < 0 \|\| ny >= height) continue;\n const neighbor = nodes[ny][nx];\n if (!neighbor.walkable) continue;\n if (avoidCorners && dx[d] !== 0 && dy[d] !== 0) {\n if (!nodes[cy][cx + dx[d]].walkable \|\| !nodes[cy + dy[d]][cx].walkable) continue;\n }\n const ni = ny * width + nx;\n if (this.state.isClosedBack(ni)) continue;\n const isDiag = dx[d] !== 0 && dy[d] !== 0;\n const cost = isDiag ? neighbor.cost * diagonalCost : neighbor.cost;\n const tentG = curG + cost;\n if (!this.state.isOpenedBack(ni)) {\n const h = this.map.heuristic({ x: nx, y: ny }, startPos) * hw;\n this.state.setGBack(ni, tentG);\n this.state.setFBack(ni, tentG + h);\n this.state.setParentBack(ni, cur);\n this.state.setOpenedBack(ni);\n this.openListBack!.push(ni);\n } else if (tentG < this.state.getGBack(ni)) {\n const h = this.state.getFBack(ni) - this.state.getGBack(ni);\n this.state.setGBack(ni, tentG);\n this.state.setFBack(ni, tentG + h);\n this.state.setParentBack(ni, cur);\n this.openListBack!.update(ni);\n }\n }\n }\n }\n\n if (meetIdx === -1) {\n return { found: false, path: [], cost: 0, nodesSearched: searched };\n }\n\n return this.buildPathBidirectional(startIdx, endIdx, meetIdx, searched);\n }\n\n private validate(startX: number, startY: number, endX: number, endY: number): boolean {\n const { width, height } = this.map;\n if (startX < 0 \|\| startX >= width \|\| startY < 0 \|\| startY >= height) return false;\n if (endX < 0 \|\| endX >= width \|\| endY < 0 \|\| endY >= height) return false;\n return this.map.isWalkable(startX, startY) && this.map.isWalkable(endX, endY);\n }\n\n private buildPath(startIdx: number, endIdx: number, searched: number): IPathResult {\n const w = this.state.width;\n const path: IPoint[] = [];\n let cur = endIdx;\n while (cur !== -1) {\n path.push({ x: cur % w, y: (cur / w) \| 0 });\n cur = cur === startIdx ? -1 : this.state.getParent(cur);\n }\n path.reverse();\n return { found: true, path, cost: this.state.getG(endIdx), nodesSearched: searched };\n }\n\n private buildPathBidirectional(startIdx: number, endIdx: number, meetIdx: number, searched: number): IPathResult {\n const w = this.state.width;\n const path: IPoint[] = [];\n\n // Forward path\n let cur = meetIdx;\n while (cur !== -1 && cur !== startIdx) {\n path.push({ x: cur % w, y: (cur / w) \| 0 });\n cur = this.state.getParent(cur);\n }\n path.push({ x: startIdx % w, y: (startIdx / w) \| 0 });\n path.reverse();\n\n // Backward path\n cur = this.state.getParentBack(meetIdx);\n while (cur !== -1 && cur !== endIdx) {\n path.push({ x: cur % w, y: (cur / w) \| 0 });\n cur = this.state.getParentBack(cur);\n }\n if (meetIdx !== endIdx) {\n path.push({ x: endIdx % w, y: (endIdx / w) \| 0 });\n }\n\n const cost = this.state.getG(meetIdx) + this.state.getGBack(meetIdx);\n return { found: true, path, cost, nodesSearched: searched };\n }\n\n clear(): void {\n this.state.reset();\n this.openList.clear();\n this.openListBack?.clear();\n }\n}\n\n/*\n @zh 创建网格寻路器\n * @en Create grid pathfinder\n /\nexport function createGridPathfinder(map: GridMap, config?: IGridPathfinderConfig): GridPathfinder {\n return new GridPathfinder(map, config);\n}\n","/\n @zh 路径验证器\n * @en Path Validator\n /\n\nimport type { IPoint, IPathfindingMap } from './IPathfinding';\nimport type { IPathValidator, IPathValidationResult } from './IIncrementalPathfinding';\n\n// =============================================================================\n// 路径验证器 \| Path Validator\n// =============================================================================\n\n/\n @zh 路径验证器\n * @en Path Validator\n \n @zh 用于检查现有路径在地图变化后是否仍然有效\n * @en Used to check if an existing path is still valid after map changes\n \n @example\n * ```typescript\n * const validator = new PathValidator();\n * const result = validator.validatePath(path, 0, path.length, map);\n \n if (!result.valid) {\n * console.log('Path invalid at index:', result.invalidIndex);\n * // Trigger replanning from current position\n * }\n * ```\n /\nexport class PathValidator implements IPathValidator {\n /\n @zh 验证路径段的有效性\n * @en Validate path segment validity\n \n @param path - @zh 要验证的路径 @en Path to validate\n * @param fromIndex - @zh 起始索引 @en Start index\n * @param toIndex - @zh 结束索引 @en End index\n * @param map - @zh 地图实例 @en Map instance\n * @returns @zh 验证结果 @en Validation result\n /\n validatePath(\n path: readonly IPoint[],\n fromIndex: number,\n toIndex: number,\n map: IPathfindingMap\n ): IPathValidationResult {\n const end = Math.min(toIndex, path.length);\n\n for (let i = fromIndex; i < end; i++) {\n const point = path[i];\n const x = Math.floor(point.x);\n const y = Math.floor(point.y);\n\n if (!map.isWalkable(x, y)) {\n return { valid: false, invalidIndex: i };\n }\n\n if (i > fromIndex) {\n const prev = path[i - 1];\n if (!this.checkLineOfSight(prev.x, prev.y, point.x, point.y, map)) {\n return { valid: false, invalidIndex: i };\n }\n }\n }\n\n return { valid: true, invalidIndex: -1 };\n }\n\n /\n @zh 检查两点之间的视线（使用 Bresenham 算法）\n * @en Check line of sight between two points (using Bresenham algorithm)\n \n @param x1 - @zh 起点 X @en Start X\n * @param y1 - @zh 起点 Y @en Start Y\n * @param x2 - @zh 终点 X @en End X\n * @param y2 - @zh 终点 Y @en End Y\n * @param map - @zh 地图实例 @en Map instance\n * @returns @zh 是否有视线 @en Whether there is line of sight\n /\n private checkLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap\n ): boolean {\n const ix1 = Math.floor(x1);\n const iy1 = Math.floor(y1);\n const ix2 = Math.floor(x2);\n const iy2 = Math.floor(y2);\n\n let dx = Math.abs(ix2 - ix1);\n let dy = Math.abs(iy2 - iy1);\n let x = ix1;\n let y = iy1;\n\n const sx = ix1 < ix2 ? 1 : -1;\n const sy = iy1 < iy2 ? 1 : -1;\n\n if (dx > dy) {\n let err = dx / 2;\n while (x !== ix2) {\n if (!map.isWalkable(x, y)) {\n return false;\n }\n err -= dy;\n if (err < 0) {\n y += sy;\n err += dx;\n }\n x += sx;\n }\n } else {\n let err = dy / 2;\n while (y !== iy2) {\n if (!map.isWalkable(x, y)) {\n return false;\n }\n err -= dx;\n if (err < 0) {\n x += sx;\n err += dy;\n }\n y += sy;\n }\n }\n\n return map.isWalkable(ix2, iy2);\n }\n}\n\n// =============================================================================\n// 障碍物变化管理器 \| Obstacle Change Manager\n// =============================================================================\n\n/\n @zh 障碍物变化记录\n * @en Obstacle change record\n /\nexport interface IObstacleChange {\n /\n @zh X 坐标\n * @en X coordinate\n /\n readonly x: number;\n\n /\n @zh Y 坐标\n * @en Y coordinate\n /\n readonly y: number;\n\n /\n @zh 变化前是否可通行\n * @en Was walkable before change\n /\n readonly wasWalkable: boolean;\n\n /\n @zh 变化时间戳\n * @en Change timestamp\n /\n readonly timestamp: number;\n}\n\n/\n @zh 障碍物变化区域\n * @en Obstacle change region\n /\nexport interface IChangeRegion {\n /\n @zh 最小 X 坐标\n * @en Minimum X coordinate\n /\n readonly minX: number;\n\n /\n @zh 最小 Y 坐标\n * @en Minimum Y coordinate\n /\n readonly minY: number;\n\n /\n @zh 最大 X 坐标\n * @en Maximum X coordinate\n /\n readonly maxX: number;\n\n /\n @zh 最大 Y 坐标\n * @en Maximum Y coordinate\n /\n readonly maxY: number;\n}\n\n/\n @zh 障碍物变化管理器\n * @en Obstacle Change Manager\n \n @zh 跟踪地图障碍物变化，用于触发动态重规划\n * @en Tracks map obstacle changes, used to trigger dynamic replanning\n \n @example\n * ```typescript\n * const manager = new ObstacleChangeManager();\n \n // Record change when obstacle is added/removed\n * manager.recordChange(10, 20, true); // Was walkable, now blocked\n \n // Get affected region for notification\n * const region = manager.getAffectedRegion();\n * if (region) {\n * pathfinder.notifyObstacleChange(\n * region.minX, region.minY,\n * region.maxX, region.maxY\n * );\n * }\n \n // Clear after notification\n * manager.flush();\n * ```\n /\nexport class ObstacleChangeManager {\n private readonly changes: Map<string, IObstacleChange> = new Map();\n private epoch: number = 0;\n\n /\n @zh 记录障碍物变化\n * @en Record obstacle change\n \n @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @param wasWalkable - @zh 变化前是否可通行 @en Was walkable before change\n /\n recordChange(x: number, y: number, wasWalkable: boolean): void {\n const key = `${x},${y}`;\n this.changes.set(key, {\n x,\n y,\n wasWalkable,\n timestamp: Date.now()\n });\n }\n\n /\n @zh 获取影响区域\n * @en Get affected region\n \n @returns @zh 影响区域或 null（如果没有变化）@en Affected region or null if no changes\n /\n getAffectedRegion(): IChangeRegion \| null {\n if (this.changes.size === 0) {\n return null;\n }\n\n let minX = Infinity;\n let minY = Infinity;\n let maxX = -Infinity;\n let maxY = -Infinity;\n\n for (const change of this.changes.values()) {\n minX = Math.min(minX, change.x);\n minY = Math.min(minY, change.y);\n maxX = Math.max(maxX, change.x);\n maxY = Math.max(maxY, change.y);\n }\n\n return { minX, minY, maxX, maxY };\n }\n\n /\n @zh 获取所有变化\n * @en Get all changes\n \n @returns @zh 变化列表 @en List of changes\n /\n getChanges(): IObstacleChange[] {\n return Array.from(this.changes.values());\n }\n\n /\n @zh 检查是否有变化\n * @en Check if there are changes\n \n @returns @zh 是否有变化 @en Whether there are changes\n /\n hasChanges(): boolean {\n return this.changes.size > 0;\n }\n\n /\n @zh 获取当前 epoch\n * @en Get current epoch\n \n @returns @zh 当前 epoch @en Current epoch\n /\n getEpoch(): number {\n return this.epoch;\n }\n\n /\n @zh 清空变化记录并推进 epoch\n * @en Clear changes and advance epoch\n /\n flush(): void {\n this.changes.clear();\n this.epoch++;\n }\n\n /\n @zh 清空所有状态\n * @en Clear all state\n /\n clear(): void {\n this.changes.clear();\n this.epoch = 0;\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Functions\n// =============================================================================\n\n/\n @zh 创建路径验证器\n * @en Create path validator\n \n @returns @zh 路径验证器实例 @en Path validator instance\n /\nexport function createPathValidator(): PathValidator {\n return new PathValidator();\n}\n\n/\n @zh 创建障碍物变化管理器\n * @en Create obstacle change manager\n \n @returns @zh 障碍物变化管理器实例 @en Obstacle change manager instance\n /\nexport function createObstacleChangeManager(): ObstacleChangeManager {\n return new ObstacleChangeManager();\n}\n","/\n @zh 网格地图实现\n * @en Grid Map Implementation\n /\n\nimport type {\n IPathfindingMap,\n IPathNode,\n IPoint,\n HeuristicFunction\n} from '../core/IPathfinding';\nimport { createPoint, octileDistance } from '../core/IPathfinding';\n\n// =============================================================================\n// 网格节点 \| Grid Node\n// =============================================================================\n\n/\n @zh 网格节点\n * @en Grid node\n /\nexport class GridNode implements IPathNode {\n readonly id: number;\n readonly position: IPoint;\n readonly x: number;\n readonly y: number;\n cost: number;\n walkable: boolean;\n\n constructor(x: number, y: number, width: number, walkable: boolean = true, cost: number = 1) {\n this.x = x;\n this.y = y;\n this.id = y width + x;\n this.position = createPoint(x, y);\n this.walkable = walkable;\n this.cost = cost;\n }\n}\n\n// =============================================================================\n// 移动方向 \| Movement Directions\n// =============================================================================\n\n/*\n @zh 4方向偏移 (上下左右)\n * @en 4-directional offsets (up, down, left, right)\n /\nexport const DIRECTIONS_4 = [\n { dx: 0, dy: -1 }, // Up\n { dx: 1, dy: 0 }, // Right\n { dx: 0, dy: 1 }, // Down\n { dx: -1, dy: 0 } // Left\n] as const;\n\n/\n @zh 8方向偏移 (含对角线)\n * @en 8-directional offsets (including diagonals)\n /\nexport const DIRECTIONS_8 = [\n { dx: 0, dy: -1 }, // Up\n { dx: 1, dy: -1 }, // Up-Right\n { dx: 1, dy: 0 }, // Right\n { dx: 1, dy: 1 }, // Down-Right\n { dx: 0, dy: 1 }, // Down\n { dx: -1, dy: 1 }, // Down-Left\n { dx: -1, dy: 0 }, // Left\n { dx: -1, dy: -1 } // Up-Left\n] as const;\n\n// =============================================================================\n// 网格地图配置 \| Grid Map Options\n// =============================================================================\n\n/\n @zh 网格地图配置\n * @en Grid map options\n /\nexport interface IGridMapOptions {\n /* @zh 是否允许对角移动 @en Allow diagonal movement /\n allowDiagonal?: boolean;\n /* @zh 对角移动代价 @en Diagonal movement cost /\n diagonalCost?: number;\n /* @zh 是否避免穿角 @en Avoid corner cutting /\n avoidCorners?: boolean;\n /* @zh 启发式函数 @en Heuristic function /\n heuristic?: HeuristicFunction;\n}\n\n/\n @zh 默认网格地图配置\n * @en Default grid map options\n /\nexport const DEFAULT_GRID_OPTIONS: Required<IGridMapOptions> = {\n allowDiagonal: true,\n diagonalCost: Math.SQRT2,\n avoidCorners: true,\n heuristic: octileDistance\n};\n\n// =============================================================================\n// 网格地图 \| Grid Map\n// =============================================================================\n\n/\n @zh 网格地图\n * @en Grid Map\n \n @zh 基于二维数组的网格地图实现，支持4方向和8方向移动\n * @en Grid map implementation based on 2D array, supports 4 and 8 directional movement\n \n @example\n * ```typescript\n * // Create a 10x10 grid\n * const grid = new GridMap(10, 10);\n \n // Set some cells as obstacles\n * grid.setWalkable(5, 5, false);\n * grid.setWalkable(5, 6, false);\n \n // Use with pathfinder\n * const pathfinder = new AStarPathfinder(grid);\n * const result = pathfinder.findPath(0, 0, 9, 9);\n * ```\n /\nexport class GridMap implements IPathfindingMap {\n readonly width: number;\n readonly height: number;\n private readonly nodes: GridNode[][];\n private readonly options: Required<IGridMapOptions>;\n\n constructor(width: number, height: number, options?: IGridMapOptions) {\n if (width <= 0 \|\| !Number.isFinite(width) \|\| !Number.isInteger(width)) {\n throw new Error(`width must be a positive integer, got: ${width}`);\n }\n if (height <= 0 \|\| !Number.isFinite(height) \|\| !Number.isInteger(height)) {\n throw new Error(`height must be a positive integer, got: ${height}`);\n }\n this.width = width;\n this.height = height;\n this.options = { ...DEFAULT_GRID_OPTIONS, ...options };\n this.nodes = this.createNodes();\n }\n\n /\n @zh 创建网格节点\n * @en Create grid nodes\n /\n private createNodes(): GridNode[][] {\n const nodes: GridNode[][] = [];\n\n for (let y = 0; y < this.height; y++) {\n nodes[y] = [];\n for (let x = 0; x < this.width; x++) {\n nodes[y][x] = new GridNode(x, y, this.width, true, 1);\n }\n }\n\n return nodes;\n }\n\n /\n @zh 获取指定位置的节点\n * @en Get node at position\n /\n getNodeAt(x: number, y: number): GridNode \| null {\n if (!this.isInBounds(x, y)) {\n return null;\n }\n return this.nodes[y][x];\n }\n\n /\n @zh 检查坐标是否在边界内\n * @en Check if coordinates are within bounds\n /\n isInBounds(x: number, y: number): boolean {\n return x >= 0 && x < this.width && y >= 0 && y < this.height;\n }\n\n /\n @zh 检查位置是否可通行\n * @en Check if position is walkable\n /\n isWalkable(x: number, y: number): boolean {\n const node = this.getNodeAt(x, y);\n return node !== null && node.walkable;\n }\n\n /\n @zh 设置位置是否可通行\n * @en Set position walkability\n /\n setWalkable(x: number, y: number, walkable: boolean): void {\n const node = this.getNodeAt(x, y);\n if (node) {\n node.walkable = walkable;\n }\n }\n\n /\n @zh 设置位置的移动代价\n * @en Set movement cost at position\n \n @param x - @zh X 坐标 @en X coordinate\n * @param y - @zh Y 坐标 @en Y coordinate\n * @param cost - @zh 移动代价，必须为正数 @en Movement cost, must be positive\n * @throws @zh 如果 cost 不是正数则抛出错误 @en Throws if cost is not positive\n /\n setCost(x: number, y: number, cost: number): void {\n if (cost <= 0 \|\| !Number.isFinite(cost)) {\n throw new Error(`cost must be a positive finite number, got: ${cost}`);\n }\n const node = this.getNodeAt(x, y);\n if (node) {\n node.cost = cost;\n }\n }\n\n /\n @zh 获取节点的邻居\n * @en Get neighbors of a node\n /\n getNeighbors(node: IPathNode): GridNode[] {\n const neighbors: GridNode[] = [];\n const { x, y } = node.position;\n const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n for (let i = 0; i < directions.length; i++) {\n const dir = directions[i];\n const nx = x + dir.dx;\n const ny = y + dir.dy;\n\n if (nx < 0 \|\| nx >= this.width \|\| ny < 0 \|\| ny >= this.height) {\n continue;\n }\n\n const neighbor = this.nodes[ny][nx];\n\n if (!neighbor.walkable) {\n continue;\n }\n\n if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n const hNode = this.nodes[y][x + dir.dx];\n const vNode = this.nodes[y + dir.dy][x];\n\n if (!hNode.walkable \|\| !vNode.walkable) {\n continue;\n }\n }\n\n neighbors.push(neighbor);\n }\n\n return neighbors;\n }\n\n /\n @zh 遍历节点的邻居（零分配）\n * @en Iterate over neighbors (zero allocation)\n /\n forEachNeighbor(node: IPathNode, callback: (neighbor: GridNode) => boolean \| void): void {\n const { x, y } = node.position;\n const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;\n\n for (let i = 0; i < directions.length; i++) {\n const dir = directions[i];\n const nx = x + dir.dx;\n const ny = y + dir.dy;\n\n if (nx < 0 \|\| nx >= this.width \|\| ny < 0 \|\| ny >= this.height) {\n continue;\n }\n\n const neighbor = this.nodes[ny][nx];\n\n if (!neighbor.walkable) {\n continue;\n }\n\n if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {\n const hNode = this.nodes[y][x + dir.dx];\n const vNode = this.nodes[y + dir.dy][x];\n\n if (!hNode.walkable \|\| !vNode.walkable) {\n continue;\n }\n }\n\n if (callback(neighbor) === false) {\n return;\n }\n }\n }\n\n /\n @zh 计算启发式距离\n * @en Calculate heuristic distance\n /\n heuristic(a: IPoint, b: IPoint): number {\n return this.options.heuristic(a, b);\n }\n\n /\n @zh 计算移动代价\n * @en Calculate movement cost\n /\n getMovementCost(from: IPathNode, to: IPathNode): number {\n const dx = Math.abs(from.position.x - to.position.x);\n const dy = Math.abs(from.position.y - to.position.y);\n\n // Diagonal movement\n if (dx !== 0 && dy !== 0) {\n return to.cost this.options.diagonalCost;\n }\n\n // Cardinal movement\n return to.cost;\n }\n\n /*\n @zh 从二维数组加载地图\n * @en Load map from 2D array\n \n @param data - @zh 0=可通行，非0=不可通行 @en 0=walkable, non-0=blocked\n /\n loadFromArray(data: number[][]): void {\n for (let y = 0; y < Math.min(data.length, this.height); y++) {\n for (let x = 0; x < Math.min(data[y].length, this.width); x++) {\n this.nodes[y][x].walkable = data[y][x] === 0;\n }\n }\n }\n\n /\n @zh 从字符串加载地图\n * @en Load map from string\n \n @param str - @zh 地图字符串，'.'=可通行，'#'=障碍 @en Map string, '.'=walkable, '#'=blocked\n /\n loadFromString(str: string): void {\n const lines = str.trim().split('\\n');\n\n for (let y = 0; y < Math.min(lines.length, this.height); y++) {\n const line = lines[y];\n for (let x = 0; x < Math.min(line.length, this.width); x++) {\n this.nodes[y][x].walkable = line[x] !== '#';\n }\n }\n }\n\n /\n @zh 导出为字符串\n * @en Export to string\n /\n toString(): string {\n let result = '';\n\n for (let y = 0; y < this.height; y++) {\n for (let x = 0; x < this.width; x++) {\n result += this.nodes[y][x].walkable ? '.' : '#';\n }\n result += '\\n';\n }\n\n return result;\n }\n\n /\n @zh 重置所有节点为可通行\n * @en Reset all nodes to walkable\n /\n reset(): void {\n for (let y = 0; y < this.height; y++) {\n for (let x = 0; x < this.width; x++) {\n this.nodes[y][x].walkable = true;\n this.nodes[y][x].cost = 1;\n }\n }\n }\n\n /\n @zh 设置矩形区域的通行性\n * @en Set walkability for a rectangle region\n /\n setRectWalkable(\n x: number,\n y: number,\n width: number,\n height: number,\n walkable: boolean\n ): void {\n for (let dy = 0; dy < height; dy++) {\n for (let dx = 0; dx < width; dx++) {\n this.setWalkable(x + dx, y + dy, walkable);\n }\n }\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Function\n// =============================================================================\n\n/\n @zh 创建网格地图\n * @en Create grid map\n /\nexport function createGridMap(\n width: number,\n height: number,\n options?: IGridMapOptions\n): GridMap {\n return new GridMap(width, height, options);\n}\n","/\n @zh 导航网格实现\n * @en NavMesh Implementation\n \n @zh 支持动态障碍物：可以临时禁用多边形或添加圆形/矩形障碍物\n * @en Supports dynamic obstacles: can temporarily disable polygons or add circular/rectangular obstacles\n /\n\nimport type {\n IPathfindingMap,\n IPathNode,\n IPoint,\n IPathResult,\n IPathfindingOptions\n} from '../core/IPathfinding';\nimport { createPoint, euclideanDistance, EMPTY_PATH_RESULT, DEFAULT_PATHFINDING_OPTIONS } from '../core/IPathfinding';\nimport { BinaryHeap } from '../core/BinaryHeap';\n\n// =============================================================================\n// 动态障碍物 \| Dynamic Obstacles\n// =============================================================================\n\n/\n @zh 动态障碍物类型\n * @en Dynamic obstacle type\n /\nexport type ObstacleType = 'circle' \| 'rect' \| 'polygon';\n\n/\n @zh 动态障碍物\n * @en Dynamic obstacle\n /\nexport interface IDynamicObstacle {\n /\n @zh 障碍物 ID\n * @en Obstacle ID\n /\n readonly id: number;\n\n /\n @zh 障碍物类型\n * @en Obstacle type\n /\n readonly type: ObstacleType;\n\n /\n @zh 是否启用\n * @en Whether enabled\n /\n enabled: boolean;\n\n /\n @zh 位置（圆形和矩形的中心）\n * @en Position (center for circle and rect)\n /\n position: IPoint;\n\n /\n @zh 半径（圆形）或半宽/半高（矩形）\n * @en Radius (circle) or half-width/half-height (rect)\n /\n radius?: number;\n halfWidth?: number;\n halfHeight?: number;\n\n /\n @zh 顶点（多边形）\n * @en Vertices (polygon)\n /\n vertices?: readonly IPoint[];\n}\n\n// =============================================================================\n// 导航多边形 \| Navigation Polygon\n// =============================================================================\n\n/\n @zh 导航多边形\n * @en Navigation polygon\n /\nexport interface INavPolygon {\n /* @zh 多边形ID @en Polygon ID /\n readonly id: number;\n /* @zh 顶点列表 @en Vertex list /\n readonly vertices: readonly IPoint[];\n /* @zh 中心点 @en Center point /\n readonly center: IPoint;\n /* @zh 邻居多边形ID @en Neighbor polygon IDs /\n readonly neighbors: readonly number[];\n /* @zh 到邻居的共享边 @en Shared edges to neighbors /\n readonly portals: ReadonlyMap<number, IPortal>;\n}\n\n/\n @zh 入口（两个多边形之间的共享边）\n * @en Portal (shared edge between two polygons)\n /\nexport interface IPortal {\n /* @zh 边的左端点 @en Left endpoint of edge /\n readonly left: IPoint;\n /* @zh 边的右端点 @en Right endpoint of edge /\n readonly right: IPoint;\n}\n\n// =============================================================================\n// 导航网格节点 \| NavMesh Node\n// =============================================================================\n\n/\n @zh 导航网格节点（包装多边形）\n * @en NavMesh node (wraps polygon)\n /\nclass NavMeshNode implements IPathNode {\n readonly id: number;\n readonly position: IPoint;\n readonly cost: number;\n readonly walkable: boolean;\n readonly polygon: INavPolygon;\n\n constructor(polygon: INavPolygon) {\n this.id = polygon.id;\n this.position = polygon.center;\n this.cost = 1;\n this.walkable = true;\n this.polygon = polygon;\n }\n}\n\n// =============================================================================\n// 导航网格 \| Navigation Mesh\n// =============================================================================\n\n/\n @zh 导航网格\n * @en Navigation Mesh\n \n @zh 使用凸多边形网格进行高效寻路，适合复杂地形\n * @en Uses convex polygon mesh for efficient pathfinding, suitable for complex terrain\n \n @example\n * ```typescript\n * const navmesh = new NavMesh();\n \n // Add polygons\n * navmesh.addPolygon([\n * { x: 0, y: 0 }, { x: 10, y: 0 },\n * { x: 10, y: 10 }, { x: 0, y: 10 }\n * ]);\n \n // Build connections\n * navmesh.build();\n \n // Find path\n * const result = navmesh.findPath(1, 1, 8, 8);\n * ```\n /\nexport class NavMesh implements IPathfindingMap {\n private polygons: Map<number, INavPolygon> = new Map();\n private nodes: Map<number, NavMeshNode> = new Map();\n private nextId = 0;\n\n // @zh 动态障碍物支持\n // @en Dynamic obstacle support\n private obstacles: Map<number, IDynamicObstacle> = new Map();\n private nextObstacleId = 0;\n private disabledPolygons: Set<number> = new Set();\n\n /\n @zh 添加导航多边形\n * @en Add navigation polygon\n \n @returns @zh 多边形ID @en Polygon ID\n /\n addPolygon(vertices: IPoint[], neighbors: number[] = []): number {\n const id = this.nextId++;\n const center = this.calculateCenter(vertices);\n\n const polygon: INavPolygon = {\n id,\n vertices,\n center,\n neighbors,\n portals: new Map()\n };\n\n this.polygons.set(id, polygon);\n this.nodes.set(id, new NavMeshNode(polygon));\n\n return id;\n }\n\n /\n @zh 设置两个多边形之间的连接\n * @en Set connection between two polygons\n /\n setConnection(\n polyA: number,\n polyB: number,\n portal: IPortal\n ): void {\n const polygonA = this.polygons.get(polyA);\n const polygonB = this.polygons.get(polyB);\n\n if (!polygonA \|\| !polygonB) {\n return;\n }\n\n // Update neighbors and portals\n const neighborsA = [...polygonA.neighbors];\n const portalsA = new Map(polygonA.portals);\n\n if (!neighborsA.includes(polyB)) {\n neighborsA.push(polyB);\n }\n portalsA.set(polyB, portal);\n\n this.polygons.set(polyA, {\n ...polygonA,\n neighbors: neighborsA,\n portals: portalsA\n });\n\n // Reverse portal for the other direction\n const reversePortal: IPortal = {\n left: portal.right,\n right: portal.left\n };\n\n const neighborsB = [...polygonB.neighbors];\n const portalsB = new Map(polygonB.portals);\n\n if (!neighborsB.includes(polyA)) {\n neighborsB.push(polyA);\n }\n portalsB.set(polyA, reversePortal);\n\n this.polygons.set(polyB, {\n ...polygonB,\n neighbors: neighborsB,\n portals: portalsB\n });\n }\n\n /\n @zh 自动检测并建立相邻多边形的连接\n * @en Auto-detect and build connections between adjacent polygons\n /\n build(): void {\n const polygonList = Array.from(this.polygons.values());\n\n for (let i = 0; i < polygonList.length; i++) {\n for (let j = i + 1; j < polygonList.length; j++) {\n const polyA = polygonList[i];\n const polyB = polygonList[j];\n\n const sharedEdge = this.findSharedEdge(polyA.vertices, polyB.vertices);\n\n if (sharedEdge) {\n this.setConnection(polyA.id, polyB.id, sharedEdge);\n }\n }\n }\n }\n\n /\n @zh 查找两个多边形的共享边\n * @en Find shared edge between two polygons\n /\n private findSharedEdge(\n verticesA: readonly IPoint[],\n verticesB: readonly IPoint[]\n ): IPortal \| null {\n const epsilon = 0.0001;\n\n for (let i = 0; i < verticesA.length; i++) {\n const a1 = verticesA[i];\n const a2 = verticesA[(i + 1) % verticesA.length];\n\n for (let j = 0; j < verticesB.length; j++) {\n const b1 = verticesB[j];\n const b2 = verticesB[(j + 1) % verticesB.length];\n\n // Check if edges match (in either direction)\n const match1 =\n Math.abs(a1.x - b2.x) < epsilon &&\n Math.abs(a1.y - b2.y) < epsilon &&\n Math.abs(a2.x - b1.x) < epsilon &&\n Math.abs(a2.y - b1.y) < epsilon;\n\n const match2 =\n Math.abs(a1.x - b1.x) < epsilon &&\n Math.abs(a1.y - b1.y) < epsilon &&\n Math.abs(a2.x - b2.x) < epsilon &&\n Math.abs(a2.y - b2.y) < epsilon;\n\n if (match1 \|\| match2) {\n return {\n left: a1,\n right: a2\n };\n }\n }\n }\n\n return null;\n }\n\n /\n @zh 计算多边形中心\n * @en Calculate polygon center\n /\n private calculateCenter(vertices: readonly IPoint[]): IPoint {\n let x = 0;\n let y = 0;\n\n for (const v of vertices) {\n x += v.x;\n y += v.y;\n }\n\n return createPoint(x / vertices.length, y / vertices.length);\n }\n\n /\n @zh 查找包含点的多边形\n * @en Find polygon containing point\n /\n findPolygonAt(x: number, y: number): INavPolygon \| null {\n for (const polygon of this.polygons.values()) {\n if (this.isPointInPolygon(x, y, polygon.vertices)) {\n return polygon;\n }\n }\n return null;\n }\n\n /\n @zh 检查点是否在多边形内\n * @en Check if point is inside polygon\n /\n private isPointInPolygon(x: number, y: number, vertices: readonly IPoint[]): boolean {\n let inside = false;\n const n = vertices.length;\n\n for (let i = 0, j = n - 1; i < n; j = i++) {\n const xi = vertices[i].x;\n const yi = vertices[i].y;\n const xj = vertices[j].x;\n const yj = vertices[j].y;\n\n if (\n yi > y !== yj > y &&\n x < ((xj - xi) (y - yi)) / (yj - yi) + xi\n ) {\n inside = !inside;\n }\n }\n\n return inside;\n }\n\n // ==========================================================================\n // IPathfindingMap 接口实现 \| IPathfindingMap Interface Implementation\n // ==========================================================================\n\n getNodeAt(x: number, y: number): IPathNode \| null {\n const polygon = this.findPolygonAt(x, y);\n return polygon ? this.nodes.get(polygon.id) ?? null : null;\n }\n\n getNeighbors(node: IPathNode): IPathNode[] {\n const navNode = node as NavMeshNode;\n const neighbors: IPathNode[] = [];\n\n for (const neighborId of navNode.polygon.neighbors) {\n const neighbor = this.nodes.get(neighborId);\n if (neighbor) {\n neighbors.push(neighbor);\n }\n }\n\n return neighbors;\n }\n\n heuristic(a: IPoint, b: IPoint): number {\n return euclideanDistance(a, b);\n }\n\n getMovementCost(from: IPathNode, to: IPathNode): number {\n return euclideanDistance(from.position, to.position);\n }\n\n isWalkable(x: number, y: number): boolean {\n return this.findPolygonAt(x, y) !== null;\n }\n\n // ==========================================================================\n // 寻路 \| Pathfinding\n // ==========================================================================\n\n /*\n @zh 在导航网格上寻路\n * @en Find path on navigation mesh\n /\n findPath(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n const startPolygon = this.findPolygonAt(startX, startY);\n const endPolygon = this.findPolygonAt(endX, endY);\n\n if (!startPolygon \|\| !endPolygon) {\n return EMPTY_PATH_RESULT;\n }\n\n // Same polygon\n if (startPolygon.id === endPolygon.id) {\n return {\n found: true,\n path: [createPoint(startX, startY), createPoint(endX, endY)],\n cost: euclideanDistance(\n createPoint(startX, startY),\n createPoint(endX, endY)\n ),\n nodesSearched: 1\n };\n }\n\n // A on polygon graph\n const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts);\n\n if (!polygonPath.found) {\n return EMPTY_PATH_RESULT;\n }\n\n // Convert polygon path to point path using funnel algorithm\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n const pointPath = this.funnelPath(start, end, polygonPath.polygons, opts.agentRadius);\n\n return {\n found: true,\n path: pointPath,\n cost: this.calculatePathLength(pointPath),\n nodesSearched: polygonPath.nodesSearched\n };\n }\n\n /*\n @zh 在多边形图上寻路\n * @en Find path on polygon graph\n \n @param start - @zh 起始多边形 @en Start polygon\n * @param end - @zh 目标多边形 @en End polygon\n * @param opts - @zh 寻路选项 @en Pathfinding options\n * @param checkObstacles - @zh 是否检查障碍物 @en Whether to check obstacles\n /\n private findPolygonPath(\n start: INavPolygon,\n end: INavPolygon,\n opts: Required<IPathfindingOptions>,\n checkObstacles: boolean = false\n ): { found: boolean; polygons: INavPolygon[]; nodesSearched: number } {\n interface AStarState {\n polygon: INavPolygon;\n g: number;\n f: number;\n parent: AStarState \| null;\n }\n\n const openList = new BinaryHeap<AStarState>((a, b) => a.f - b.f);\n const closed = new Set<number>();\n const states = new Map<number, AStarState>();\n\n const startState: AStarState = {\n polygon: start,\n g: 0,\n f: euclideanDistance(start.center, end.center) opts.heuristicWeight,\n parent: null\n };\n\n states.set(start.id, startState);\n openList.push(startState);\n\n let nodesSearched = 0;\n\n while (!openList.isEmpty && nodesSearched < opts.maxNodes) {\n const current = openList.pop()!;\n nodesSearched++;\n\n if (current.polygon.id === end.id) {\n // Reconstruct path\n const path: INavPolygon[] = [];\n let state: AStarState \| null = current;\n\n while (state) {\n path.unshift(state.polygon);\n state = state.parent;\n }\n\n return { found: true, polygons: path, nodesSearched };\n }\n\n closed.add(current.polygon.id);\n\n for (const neighborId of current.polygon.neighbors) {\n if (closed.has(neighborId)) {\n continue;\n }\n\n // @zh 检查障碍物：跳过被阻挡或禁用的多边形\n // @en Check obstacles: skip blocked or disabled polygons\n if (checkObstacles && this.isPolygonBlocked(neighborId)) {\n continue;\n }\n\n const neighborPolygon = this.polygons.get(neighborId);\n if (!neighborPolygon) {\n continue;\n }\n\n const g = current.g + euclideanDistance(\n current.polygon.center,\n neighborPolygon.center\n );\n\n let neighborState = states.get(neighborId);\n\n if (!neighborState) {\n neighborState = {\n polygon: neighborPolygon,\n g,\n f: g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight,\n parent: current\n };\n states.set(neighborId, neighborState);\n openList.push(neighborState);\n } else if (g < neighborState.g) {\n neighborState.g = g;\n neighborState.f = g + euclideanDistance(neighborPolygon.center, end.center) * opts.heuristicWeight;\n neighborState.parent = current;\n openList.update(neighborState);\n }\n }\n }\n\n return { found: false, polygons: [], nodesSearched };\n }\n\n /*\n @zh 使用漏斗算法优化路径（支持代理半径）\n * @en Optimize path using funnel algorithm (supports agent radius)\n \n @param start - @zh 起点 @en Start point\n * @param end - @zh 终点 @en End point\n * @param polygons - @zh 多边形路径 @en Polygon path\n * @param agentRadius - @zh 代理半径 @en Agent radius\n /\n private funnelPath(\n start: IPoint,\n end: IPoint,\n polygons: INavPolygon[],\n agentRadius: number = 0\n ): IPoint[] {\n if (polygons.length <= 1) {\n return [start, end];\n }\n\n // Collect and shrink portals\n const portals: { left: IPoint; right: IPoint; originalLeft: IPoint; originalRight: IPoint }[] = [];\n\n for (let i = 0; i < polygons.length - 1; i++) {\n const portal = polygons[i].portals.get(polygons[i + 1].id);\n if (portal) {\n if (agentRadius > 0) {\n const shrunk = this.shrinkPortal(portal.left, portal.right, agentRadius);\n portals.push({\n left: shrunk.left,\n right: shrunk.right,\n originalLeft: portal.left,\n originalRight: portal.right\n });\n } else {\n portals.push({\n left: portal.left,\n right: portal.right,\n originalLeft: portal.left,\n originalRight: portal.right\n });\n }\n }\n }\n\n if (portals.length === 0) {\n return [start, end];\n }\n\n // Simple string pulling algorithm with radius-aware turning points\n const path: IPoint[] = [start];\n\n let apex = start;\n let apexOriginal = start;\n let leftIndex = 0;\n let rightIndex = 0;\n let left = portals[0].left;\n let right = portals[0].right;\n let leftOriginal = portals[0].originalLeft;\n let rightOriginal = portals[0].originalRight;\n\n for (let i = 1; i <= portals.length; i++) {\n const nextLeft = i < portals.length ? portals[i].left : end;\n const nextRight = i < portals.length ? portals[i].right : end;\n\n // Update right\n if (this.triArea2(apex, right, nextRight) <= 0) {\n if (this.pointsEqual(apex, right) \|\| this.triArea2(apex, left, nextRight) > 0) {\n right = nextRight;\n rightIndex = i;\n if (i < portals.length) {\n rightOriginal = portals[i].originalRight;\n }\n } else {\n // Add turning point with radius offset\n const turnPoint = agentRadius > 0\n ? this.offsetTurningPoint(apexOriginal, leftOriginal, left, agentRadius, 'left')\n : left;\n path.push(turnPoint);\n\n apex = left;\n apexOriginal = leftOriginal;\n leftIndex = rightIndex = leftIndex;\n left = right = apex;\n leftOriginal = rightOriginal = apexOriginal;\n i = leftIndex;\n continue;\n }\n }\n\n // Update left\n if (this.triArea2(apex, left, nextLeft) >= 0) {\n if (this.pointsEqual(apex, left) \|\| this.triArea2(apex, right, nextLeft) < 0) {\n left = nextLeft;\n leftIndex = i;\n if (i < portals.length) {\n leftOriginal = portals[i].originalLeft;\n }\n } else {\n // Add turning point with radius offset\n const turnPoint = agentRadius > 0\n ? this.offsetTurningPoint(apexOriginal, rightOriginal, right, agentRadius, 'right')\n : right;\n path.push(turnPoint);\n\n apex = right;\n apexOriginal = rightOriginal;\n leftIndex = rightIndex = rightIndex;\n left = right = apex;\n leftOriginal = rightOriginal = apexOriginal;\n i = rightIndex;\n continue;\n }\n }\n }\n\n path.push(end);\n\n return path;\n }\n\n /\n @zh 收缩 portal（将两端点向内移动 agentRadius）\n * @en Shrink portal (move endpoints inward by agentRadius)\n /\n private shrinkPortal(left: IPoint, right: IPoint, radius: number): { left: IPoint; right: IPoint } {\n const dx = right.x - left.x;\n const dy = right.y - left.y;\n const len = Math.sqrt(dx dx + dy * dy);\n\n if (len <= radius * 2) {\n // Portal too narrow, return center point\n const cx = (left.x + right.x) / 2;\n const cy = (left.y + right.y) / 2;\n return {\n left: createPoint(cx, cy),\n right: createPoint(cx, cy)\n };\n }\n\n // Normalize direction\n const nx = dx / len;\n const ny = dy / len;\n\n // Shrink both endpoints inward\n return {\n left: createPoint(left.x + nx * radius, left.y + ny * radius),\n right: createPoint(right.x - nx * radius, right.y - ny * radius)\n };\n }\n\n /*\n @zh 偏移拐点以保持与角落的距离\n * @en Offset turning point to maintain distance from corner\n \n @param prevApex - @zh 上一个顶点 @en Previous apex\n * @param cornerOriginal - @zh 原始角落位置 @en Original corner position\n * @param cornerShrunk - @zh 收缩后的角落位置 @en Shrunk corner position\n * @param radius - @zh 代理半径 @en Agent radius\n * @param side - @zh 转向侧 ('left' 或 'right') @en Turn side ('left' or 'right')\n /\n private offsetTurningPoint(\n prevApex: IPoint,\n cornerOriginal: IPoint,\n cornerShrunk: IPoint,\n radius: number,\n side: 'left' \| 'right'\n ): IPoint {\n // Direction from previous apex to corner\n const dx = cornerOriginal.x - prevApex.x;\n const dy = cornerOriginal.y - prevApex.y;\n const len = Math.sqrt(dx dx + dy * dy);\n\n if (len < 0.0001) {\n return cornerShrunk;\n }\n\n // Perpendicular direction (pointing into the walkable area)\n // For left turn, perpendicular is to the right of the direction\n // For right turn, perpendicular is to the left of the direction\n let perpX: number, perpY: number;\n if (side === 'left') {\n perpX = dy / len;\n perpY = -dx / len;\n } else {\n perpX = -dy / len;\n perpY = dx / len;\n }\n\n // Offset the shrunk corner by radius in the perpendicular direction\n // This ensures the agent's circular body clears the corner\n return createPoint(\n cornerShrunk.x + perpX * radius,\n cornerShrunk.y + perpY * radius\n );\n }\n\n /*\n @zh 检查两点是否相等\n * @en Check if two points are equal\n /\n private pointsEqual(a: IPoint, b: IPoint): boolean {\n return Math.abs(a.x - b.x) < 0.0001 && Math.abs(a.y - b.y) < 0.0001;\n }\n\n /\n @zh 计算三角形面积的两倍（用于判断点的相对位置）\n * @en Calculate twice the triangle area (for point relative position)\n /\n private triArea2(a: IPoint, b: IPoint, c: IPoint): number {\n return (c.x - a.x) (b.y - a.y) - (b.x - a.x) * (c.y - a.y);\n }\n\n /*\n @zh 计算路径总长度\n * @en Calculate total path length\n /\n private calculatePathLength(path: readonly IPoint[]): number {\n let length = 0;\n\n for (let i = 1; i < path.length; i++) {\n length += euclideanDistance(path[i - 1], path[i]);\n }\n\n return length;\n }\n\n // =========================================================================\n // 动态障碍物管理 \| Dynamic Obstacle Management\n // =========================================================================\n\n /\n @zh 添加圆形障碍物\n * @en Add circular obstacle\n \n @param x - @zh 中心 X @en Center X\n * @param y - @zh 中心 Y @en Center Y\n * @param radius - @zh 半径 @en Radius\n * @returns @zh 障碍物 ID @en Obstacle ID\n /\n addCircleObstacle(x: number, y: number, radius: number): number {\n const id = this.nextObstacleId++;\n this.obstacles.set(id, {\n id,\n type: 'circle',\n enabled: true,\n position: createPoint(x, y),\n radius\n });\n return id;\n }\n\n /\n @zh 添加矩形障碍物\n * @en Add rectangular obstacle\n \n @param x - @zh 中心 X @en Center X\n * @param y - @zh 中心 Y @en Center Y\n * @param halfWidth - @zh 半宽 @en Half width\n * @param halfHeight - @zh 半高 @en Half height\n * @returns @zh 障碍物 ID @en Obstacle ID\n /\n addRectObstacle(x: number, y: number, halfWidth: number, halfHeight: number): number {\n const id = this.nextObstacleId++;\n this.obstacles.set(id, {\n id,\n type: 'rect',\n enabled: true,\n position: createPoint(x, y),\n halfWidth,\n halfHeight\n });\n return id;\n }\n\n /\n @zh 添加多边形障碍物\n * @en Add polygon obstacle\n \n @param vertices - @zh 顶点列表 @en Vertex list\n * @returns @zh 障碍物 ID @en Obstacle ID\n /\n addPolygonObstacle(vertices: IPoint[]): number {\n const id = this.nextObstacleId++;\n const center = this.calculateCenter(vertices);\n this.obstacles.set(id, {\n id,\n type: 'polygon',\n enabled: true,\n position: center,\n vertices\n });\n return id;\n }\n\n /\n @zh 移除障碍物\n * @en Remove obstacle\n /\n removeObstacle(obstacleId: number): boolean {\n return this.obstacles.delete(obstacleId);\n }\n\n /\n @zh 启用/禁用障碍物\n * @en Enable/disable obstacle\n /\n setObstacleEnabled(obstacleId: number, enabled: boolean): void {\n const obstacle = this.obstacles.get(obstacleId);\n if (obstacle) {\n obstacle.enabled = enabled;\n }\n }\n\n /\n @zh 更新障碍物位置\n * @en Update obstacle position\n /\n updateObstaclePosition(obstacleId: number, x: number, y: number): void {\n const obstacle = this.obstacles.get(obstacleId);\n if (obstacle) {\n obstacle.position = createPoint(x, y);\n }\n }\n\n /\n @zh 获取所有障碍物\n * @en Get all obstacles\n /\n getObstacles(): IDynamicObstacle[] {\n return Array.from(this.obstacles.values());\n }\n\n /\n @zh 获取启用的障碍物\n * @en Get enabled obstacles\n /\n getEnabledObstacles(): IDynamicObstacle[] {\n return Array.from(this.obstacles.values()).filter(o => o.enabled);\n }\n\n /\n @zh 清除所有障碍物\n * @en Clear all obstacles\n /\n clearObstacles(): void {\n this.obstacles.clear();\n this.nextObstacleId = 0;\n }\n\n // =========================================================================\n // 多边形禁用管理 \| Polygon Disable Management\n // =========================================================================\n\n /\n @zh 禁用多边形\n * @en Disable polygon\n /\n disablePolygon(polygonId: number): void {\n this.disabledPolygons.add(polygonId);\n }\n\n /\n @zh 启用多边形\n * @en Enable polygon\n /\n enablePolygon(polygonId: number): void {\n this.disabledPolygons.delete(polygonId);\n }\n\n /\n @zh 检查多边形是否被禁用\n * @en Check if polygon is disabled\n /\n isPolygonDisabled(polygonId: number): boolean {\n return this.disabledPolygons.has(polygonId);\n }\n\n /\n @zh 禁用包含指定点的多边形\n * @en Disable polygon containing specified point\n /\n disablePolygonAt(x: number, y: number): number \| null {\n const polygon = this.findPolygonAt(x, y);\n if (polygon) {\n this.disablePolygon(polygon.id);\n return polygon.id;\n }\n return null;\n }\n\n /\n @zh 清除所有禁用的多边形\n * @en Clear all disabled polygons\n /\n clearDisabledPolygons(): void {\n this.disabledPolygons.clear();\n }\n\n /\n @zh 获取被禁用的多边形 ID 列表\n * @en Get list of disabled polygon IDs\n /\n getDisabledPolygons(): number[] {\n return Array.from(this.disabledPolygons);\n }\n\n // =========================================================================\n // 障碍物碰撞检测 \| Obstacle Collision Detection\n // =========================================================================\n\n /\n @zh 检查点是否在任何障碍物内\n * @en Check if point is inside any obstacle\n /\n isPointInObstacle(x: number, y: number): boolean {\n for (const obstacle of this.obstacles.values()) {\n if (!obstacle.enabled) continue;\n\n if (this.isPointInSingleObstacle(x, y, obstacle)) {\n return true;\n }\n }\n return false;\n }\n\n /\n @zh 检查点是否在单个障碍物内\n * @en Check if point is inside single obstacle\n /\n private isPointInSingleObstacle(x: number, y: number, obstacle: IDynamicObstacle): boolean {\n switch (obstacle.type) {\n case 'circle': {\n const dx = x - obstacle.position.x;\n const dy = y - obstacle.position.y;\n return dx dx + dy * dy <= (obstacle.radius ?? 0) 2;\n }\n case 'rect': {\n const hw = obstacle.halfWidth ?? 0;\n const hh = obstacle.halfHeight ?? 0;\n return Math.abs(x - obstacle.position.x) <= hw &&\n Math.abs(y - obstacle.position.y) <= hh;\n }\n case 'polygon': {\n if (!obstacle.vertices) return false;\n return this.isPointInPolygon(x, y, obstacle.vertices);\n }\n default:\n return false;\n }\n }\n\n /\n * @zh 检查线段是否与任何障碍物相交\n * @en Check if line segment intersects any obstacle\n /\n doesLineIntersectObstacle(x1: number, y1: number, x2: number, y2: number): boolean {\n for (const obstacle of this.obstacles.values()) {\n if (!obstacle.enabled) continue;\n\n if (this.doesLineIntersectSingleObstacle(x1, y1, x2, y2, obstacle)) {\n return true;\n }\n }\n return false;\n }\n\n /\n @zh 检查线段是否与单个障碍物相交\n * @en Check if line segment intersects single obstacle\n /\n private doesLineIntersectSingleObstacle(\n x1: number, y1: number, x2: number, y2: number,\n obstacle: IDynamicObstacle\n ): boolean {\n switch (obstacle.type) {\n case 'circle': {\n return this.lineIntersectsCircle(\n x1, y1, x2, y2,\n obstacle.position.x, obstacle.position.y,\n obstacle.radius ?? 0\n );\n }\n case 'rect': {\n const hw = obstacle.halfWidth ?? 0;\n const hh = obstacle.halfHeight ?? 0;\n const minX = obstacle.position.x - hw;\n const maxX = obstacle.position.x + hw;\n const minY = obstacle.position.y - hh;\n const maxY = obstacle.position.y + hh;\n return this.lineIntersectsRect(x1, y1, x2, y2, minX, minY, maxX, maxY);\n }\n case 'polygon': {\n if (!obstacle.vertices) return false;\n return this.lineIntersectsPolygon(x1, y1, x2, y2, obstacle.vertices);\n }\n default:\n return false;\n }\n }\n\n /\n @zh 线段与圆相交检测\n * @en Line segment circle intersection\n /\n private lineIntersectsCircle(\n x1: number, y1: number, x2: number, y2: number,\n cx: number, cy: number, r: number\n ): boolean {\n const dx = x2 - x1;\n const dy = y2 - y1;\n const fx = x1 - cx;\n const fy = y1 - cy;\n\n const a = dx dx + dy * dy;\n const b = 2 * (fx * dx + fy * dy);\n const c = fx * fx + fy * fy - r * r;\n\n let discriminant = b * b - 4 * a * c;\n if (discriminant < 0) return false;\n\n discriminant = Math.sqrt(discriminant);\n const t1 = (-b - discriminant) / (2 * a);\n const t2 = (-b + discriminant) / (2 * a);\n\n return (t1 >= 0 && t1 <= 1) \|\| (t2 >= 0 && t2 <= 1) \|\| (t1 < 0 && t2 > 1);\n }\n\n /*\n @zh 线段与矩形相交检测\n * @en Line segment rectangle intersection\n /\n private lineIntersectsRect(\n x1: number, y1: number, x2: number, y2: number,\n minX: number, minY: number, maxX: number, maxY: number\n ): boolean {\n // Check if either endpoint is inside\n if ((x1 >= minX && x1 <= maxX && y1 >= minY && y1 <= maxY) \|\|\n (x2 >= minX && x2 <= maxX && y2 >= minY && y2 <= maxY)) {\n return true;\n }\n\n // Check intersection with each edge\n return this.lineSegmentsIntersect(x1, y1, x2, y2, minX, minY, maxX, minY) \|\|\n this.lineSegmentsIntersect(x1, y1, x2, y2, maxX, minY, maxX, maxY) \|\|\n this.lineSegmentsIntersect(x1, y1, x2, y2, maxX, maxY, minX, maxY) \|\|\n this.lineSegmentsIntersect(x1, y1, x2, y2, minX, maxY, minX, minY);\n }\n\n /\n @zh 线段与多边形相交检测\n * @en Line segment polygon intersection\n /\n private lineIntersectsPolygon(\n x1: number, y1: number, x2: number, y2: number,\n vertices: readonly IPoint[]\n ): boolean {\n // Check if either endpoint is inside\n if (this.isPointInPolygon(x1, y1, vertices) \|\|\n this.isPointInPolygon(x2, y2, vertices)) {\n return true;\n }\n\n // Check intersection with each edge\n for (let i = 0; i < vertices.length; i++) {\n const j = (i + 1) % vertices.length;\n if (this.lineSegmentsIntersect(\n x1, y1, x2, y2,\n vertices[i].x, vertices[i].y,\n vertices[j].x, vertices[j].y\n )) {\n return true;\n }\n }\n return false;\n }\n\n /\n @zh 两线段相交检测\n * @en Two line segments intersection\n /\n private lineSegmentsIntersect(\n x1: number, y1: number, x2: number, y2: number,\n x3: number, y3: number, x4: number, y4: number\n ): boolean {\n const d1 = this.direction(x3, y3, x4, y4, x1, y1);\n const d2 = this.direction(x3, y3, x4, y4, x2, y2);\n const d3 = this.direction(x1, y1, x2, y2, x3, y3);\n const d4 = this.direction(x1, y1, x2, y2, x4, y4);\n\n if (((d1 > 0 && d2 < 0) \|\| (d1 < 0 && d2 > 0)) &&\n ((d3 > 0 && d4 < 0) \|\| (d3 < 0 && d4 > 0))) {\n return true;\n }\n\n const epsilon = 0.0001;\n if (Math.abs(d1) < epsilon && this.onSegment(x3, y3, x4, y4, x1, y1)) return true;\n if (Math.abs(d2) < epsilon && this.onSegment(x3, y3, x4, y4, x2, y2)) return true;\n if (Math.abs(d3) < epsilon && this.onSegment(x1, y1, x2, y2, x3, y3)) return true;\n if (Math.abs(d4) < epsilon && this.onSegment(x1, y1, x2, y2, x4, y4)) return true;\n\n return false;\n }\n\n private direction(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number): number {\n return (x3 - x1) (y2 - y1) - (y3 - y1) * (x2 - x1);\n }\n\n private onSegment(x1: number, y1: number, x2: number, y2: number, x3: number, y3: number): boolean {\n return Math.min(x1, x2) <= x3 && x3 <= Math.max(x1, x2) &&\n Math.min(y1, y2) <= y3 && y3 <= Math.max(y1, y2);\n }\n\n // =========================================================================\n // 障碍物感知寻路 \| Obstacle-Aware Pathfinding\n // =========================================================================\n\n /*\n @zh 检查多边形是否被障碍物阻挡\n * @en Check if polygon is blocked by obstacle\n \n @zh 检查以下条件：\n * @en Checks the following conditions:\n * - @zh 多边形是否被禁用 @en Whether polygon is disabled\n * - @zh 多边形中心是否在障碍物内 @en Whether polygon center is inside obstacle\n * - @zh 多边形任意顶点是否在障碍物内 @en Whether any polygon vertex is inside obstacle\n * - @zh 多边形任意边是否与障碍物相交 @en Whether any polygon edge intersects obstacle\n /\n isPolygonBlocked(polygonId: number): boolean {\n if (this.disabledPolygons.has(polygonId)) {\n return true;\n }\n\n const polygon = this.polygons.get(polygonId);\n if (!polygon) return false;\n\n // @zh 检查中心点\n // @en Check center point\n if (this.isPointInObstacle(polygon.center.x, polygon.center.y)) {\n return true;\n }\n\n // @zh 检查所有顶点\n // @en Check all vertices\n for (const vertex of polygon.vertices) {\n if (this.isPointInObstacle(vertex.x, vertex.y)) {\n return true;\n }\n }\n\n // @zh 检查所有边是否与障碍物相交\n // @en Check if any edge intersects with obstacles\n const vertices = polygon.vertices;\n for (let i = 0; i < vertices.length; i++) {\n const v1 = vertices[i];\n const v2 = vertices[(i + 1) % vertices.length];\n if (this.doesLineIntersectObstacle(v1.x, v1.y, v2.x, v2.y)) {\n return true;\n }\n }\n\n return false;\n }\n\n /\n @zh 在导航网格上寻路（考虑障碍物）\n * @en Find path on navigation mesh (considering obstacles)\n \n @zh 此方法在规划阶段就考虑障碍物，自动绕过被阻挡的多边形\n * @en This method considers obstacles during planning, automatically avoiding blocked polygons\n \n @zh 与 findPath 不同，此方法会：\n * @en Unlike findPath, this method will:\n * - @zh 在 A* 搜索中跳过被障碍物阻挡的多边形\n * - @en Skip obstacle-blocked polygons during A* search\n * - @zh 验证起点和终点不在障碍物内\n * - @en Verify start and end points are not inside obstacles\n /\n findPathWithObstacles(\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: IPathfindingOptions\n ): IPathResult {\n const opts = { ...DEFAULT_PATHFINDING_OPTIONS, ...options };\n\n // @zh 检查起点和终点是否在障碍物内\n // @en Check if start and end are inside obstacles\n if (this.isPointInObstacle(startX, startY) \|\| this.isPointInObstacle(endX, endY)) {\n return EMPTY_PATH_RESULT;\n }\n\n const startPolygon = this.findPolygonAt(startX, startY);\n const endPolygon = this.findPolygonAt(endX, endY);\n\n if (!startPolygon \|\| !endPolygon) {\n return EMPTY_PATH_RESULT;\n }\n\n // @zh 检查起点/终点多边形是否被阻挡\n // @en Check if start/end polygons are blocked\n if (this.isPolygonBlocked(startPolygon.id) \|\| this.isPolygonBlocked(endPolygon.id)) {\n return EMPTY_PATH_RESULT;\n }\n\n // @zh 同一多边形内的路径\n // @en Path within same polygon\n if (startPolygon.id === endPolygon.id) {\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n\n // @zh 检查直线路径是否穿过障碍物\n // @en Check if direct path crosses obstacles\n if (this.doesLineIntersectObstacle(startX, startY, endX, endY)) {\n return EMPTY_PATH_RESULT;\n }\n\n return {\n found: true,\n path: [start, end],\n cost: euclideanDistance(start, end),\n nodesSearched: 1\n };\n }\n\n // @zh 使用障碍物感知的多边形路径搜索\n // @en Use obstacle-aware polygon path search\n const polygonPath = this.findPolygonPath(startPolygon, endPolygon, opts, true);\n\n if (!polygonPath.found) {\n return EMPTY_PATH_RESULT;\n }\n\n // @zh 使用 Funnel 算法生成路径点\n // @en Generate path points using Funnel algorithm\n const start = createPoint(startX, startY);\n const end = createPoint(endX, endY);\n const pointPath = this.funnelPath(start, end, polygonPath.polygons, opts.agentRadius);\n\n return {\n found: true,\n path: pointPath,\n cost: this.calculatePathLength(pointPath),\n nodesSearched: polygonPath.nodesSearched\n };\n }\n\n /\n @zh 清空导航网格\n * @en Clear navigation mesh\n /\n clear(): void {\n this.polygons.clear();\n this.nodes.clear();\n this.obstacles.clear();\n this.disabledPolygons.clear();\n this.nextId = 0;\n this.nextObstacleId = 0;\n }\n\n /\n @zh 获取所有多边形\n * @en Get all polygons\n /\n getPolygons(): INavPolygon[] {\n return Array.from(this.polygons.values());\n }\n\n /\n @zh 获取多边形数量\n * @en Get polygon count\n /\n get polygonCount(): number {\n return this.polygons.size;\n }\n\n /\n @zh 获取障碍物数量\n * @en Get obstacle count\n /\n get obstacleCount(): number {\n return this.obstacles.size;\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Function\n// =============================================================================\n\n/\n @zh 创建导航网格\n * @en Create navigation mesh\n /\nexport function createNavMesh(): NavMesh {\n return new NavMesh();\n}\n","/\n @zh 路径平滑算法\n * @en Path Smoothing Algorithms\n /\n\nimport type {\n IPathfindingMap,\n IPathSmoother,\n IPoint\n} from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 视线检测 \| Line of Sight\n// =============================================================================\n\n/\n @zh 使用 Bresenham 算法检测视线\n * @en Line of sight check using Bresenham algorithm\n /\nexport function bresenhamLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap\n): boolean {\n // Round to grid coordinates\n let ix1 = Math.floor(x1);\n let iy1 = Math.floor(y1);\n const ix2 = Math.floor(x2);\n const iy2 = Math.floor(y2);\n\n const dx = Math.abs(ix2 - ix1);\n const dy = Math.abs(iy2 - iy1);\n\n const sx = ix1 < ix2 ? 1 : -1;\n const sy = iy1 < iy2 ? 1 : -1;\n\n let err = dx - dy;\n\n while (true) {\n if (!map.isWalkable(ix1, iy1)) {\n return false;\n }\n\n if (ix1 === ix2 && iy1 === iy2) {\n break;\n }\n\n const e2 = 2 err;\n\n if (e2 > -dy) {\n err -= dy;\n ix1 += sx;\n }\n\n if (e2 < dx) {\n err += dx;\n iy1 += sy;\n }\n }\n\n return true;\n}\n\n/*\n @zh 使用射线投射检测视线（更精确）\n * @en Line of sight check using ray casting (more precise)\n /\nexport function raycastLineOfSight(\n x1: number,\n y1: number,\n x2: number,\n y2: number,\n map: IPathfindingMap,\n stepSize: number = 0.5\n): boolean {\n const dx = x2 - x1;\n const dy = y2 - y1;\n const distance = Math.sqrt(dx dx + dy * dy);\n\n if (distance === 0) {\n return map.isWalkable(Math.floor(x1), Math.floor(y1));\n }\n\n const steps = Math.ceil(distance / stepSize);\n const stepX = dx / steps;\n const stepY = dy / steps;\n\n let x = x1;\n let y = y1;\n\n for (let i = 0; i <= steps; i++) {\n if (!map.isWalkable(Math.floor(x), Math.floor(y))) {\n return false;\n }\n x += stepX;\n y += stepY;\n }\n\n return true;\n}\n\n// =============================================================================\n// 路径简化器（拐点移除）\| Path Simplifier (Waypoint Removal)\n// =============================================================================\n\n/*\n @zh 路径简化器 - 移除不必要的拐点\n * @en Path Simplifier - Removes unnecessary waypoints\n \n @zh 使用视线检测移除可以直接到达的中间点\n * @en Uses line of sight to remove intermediate points that can be reached directly\n /\nexport class LineOfSightSmoother implements IPathSmoother {\n private readonly lineOfSight: typeof bresenhamLineOfSight;\n\n constructor(lineOfSight: typeof bresenhamLineOfSight = bresenhamLineOfSight) {\n this.lineOfSight = lineOfSight;\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n if (path.length <= 2) {\n return [...path];\n }\n\n const result: IPoint[] = [path[0]];\n let current = 0;\n\n while (current < path.length - 1) {\n // Find the furthest point we can see from current\n let furthest = current + 1;\n\n for (let i = path.length - 1; i > current + 1; i--) {\n if (this.lineOfSight(\n path[current].x,\n path[current].y,\n path[i].x,\n path[i].y,\n map\n )) {\n furthest = i;\n break;\n }\n }\n\n result.push(path[furthest]);\n current = furthest;\n }\n\n return result;\n }\n}\n\n// =============================================================================\n// 曲线平滑器 \| Curve Smoother\n// =============================================================================\n\n/\n @zh Catmull-Rom 样条曲线平滑\n * @en Catmull-Rom spline smoothing\n /\nexport class CatmullRomSmoother implements IPathSmoother {\n private readonly segments: number;\n private readonly tension: number;\n\n /\n @param segments - @zh 每段之间的插值点数 @en Number of interpolation points per segment\n * @param tension - @zh 张力 (0-1) @en Tension (0-1)\n /\n constructor(segments: number = 5, tension: number = 0.5) {\n this.segments = segments;\n this.tension = tension;\n }\n\n smooth(path: readonly IPoint[], _map: IPathfindingMap): IPoint[] {\n if (path.length <= 2) {\n return [...path];\n }\n\n const result: IPoint[] = [];\n\n // Add phantom points at the ends\n const points = [\n path[0],\n ...path,\n path[path.length - 1]\n ];\n\n for (let i = 1; i < points.length - 2; i++) {\n const p0 = points[i - 1];\n const p1 = points[i];\n const p2 = points[i + 1];\n const p3 = points[i + 2];\n\n for (let j = 0; j < this.segments; j++) {\n const t = j / this.segments;\n const point = this.interpolate(p0, p1, p2, p3, t);\n result.push(point);\n }\n }\n\n // Add final point\n result.push(path[path.length - 1]);\n\n return result;\n }\n\n /\n @zh Catmull-Rom 插值\n * @en Catmull-Rom interpolation\n /\n private interpolate(\n p0: IPoint,\n p1: IPoint,\n p2: IPoint,\n p3: IPoint,\n t: number\n ): IPoint {\n const t2 = t t;\n const t3 = t2 * t;\n\n const tension = this.tension;\n\n const x =\n 0.5 \n ((2 p1.x) +\n (-p0.x + p2.x) * t * tension +\n (2 * p0.x - 5 * p1.x + 4 * p2.x - p3.x) * t2 * tension +\n (-p0.x + 3 * p1.x - 3 * p2.x + p3.x) * t3 * tension);\n\n const y =\n 0.5 \n ((2 p1.y) +\n (-p0.y + p2.y) * t * tension +\n (2 * p0.y - 5 * p1.y + 4 * p2.y - p3.y) * t2 * tension +\n (-p0.y + 3 * p1.y - 3 * p2.y + p3.y) * t3 * tension);\n\n return createPoint(x, y);\n }\n}\n\n// =============================================================================\n// 组合平滑器 \| Combined Smoother\n// =============================================================================\n\n/*\n @zh 组合路径平滑器\n * @en Combined path smoother\n \n @zh 先简化路径，再用曲线平滑\n * @en First simplify path, then smooth with curves\n /\nexport class CombinedSmoother implements IPathSmoother {\n private readonly simplifier: LineOfSightSmoother;\n private readonly curveSmoother: CatmullRomSmoother;\n\n constructor(curveSegments: number = 5, tension: number = 0.5) {\n this.simplifier = new LineOfSightSmoother();\n this.curveSmoother = new CatmullRomSmoother(curveSegments, tension);\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n // First simplify\n const simplified = this.simplifier.smooth(path, map);\n\n // Then curve smooth\n return this.curveSmoother.smooth(simplified, map);\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Functions\n// =============================================================================\n\n/\n @zh 创建视线平滑器\n * @en Create line of sight smoother\n /\nexport function createLineOfSightSmoother(\n lineOfSight?: typeof bresenhamLineOfSight\n): LineOfSightSmoother {\n return new LineOfSightSmoother(lineOfSight);\n}\n\n/\n @zh 创建曲线平滑器\n * @en Create curve smoother\n /\nexport function createCatmullRomSmoother(\n segments?: number,\n tension?: number\n): CatmullRomSmoother {\n return new CatmullRomSmoother(segments, tension);\n}\n\n/\n @zh 创建组合平滑器\n * @en Create combined smoother\n /\nexport function createCombinedSmoother(\n curveSegments?: number,\n tension?: number\n): CombinedSmoother {\n return new CombinedSmoother(curveSegments, tension);\n}\n","/\n @zh 半径感知路径平滑器\n * @en Radius-Aware Path Smoother\n \n @zh 通用的路径后处理器，确保路径与障碍物保持安全距离\n * @en Generic path post-processor that ensures paths maintain safe distance from obstacles\n /\n\nimport type { IPathfindingMap, IPathSmoother, IPoint } from '../core/IPathfinding';\nimport { createPoint } from '../core/IPathfinding';\n\n// =============================================================================\n// 配置 \| Configuration\n// =============================================================================\n\n/\n @zh 半径感知平滑器配置\n * @en Radius-aware smoother configuration\n /\nexport interface IRadiusAwareSmootherConfig {\n /\n @zh 代理半径\n * @en Agent radius\n /\n agentRadius: number;\n\n /\n @zh 额外安全边距\n * @en Extra safety margin\n * @default 0.1\n /\n safetyMargin?: number;\n\n /\n @zh 采样方向数量（用于检测周围障碍物）\n * @en Number of sample directions (for detecting nearby obstacles)\n * @default 8\n /\n sampleDirections?: number;\n\n /\n @zh 最大偏移尝试次数\n * @en Maximum offset attempts\n * @default 8\n /\n maxOffsetAttempts?: number;\n\n /\n @zh 是否处理拐点（角落）\n * @en Whether to process turning points (corners)\n * @default true\n /\n processCorners?: boolean;\n}\n\n/\n @zh 默认配置\n * @en Default configuration\n /\nconst DEFAULT_CONFIG: Required<Omit<IRadiusAwareSmootherConfig, 'agentRadius'>> = {\n safetyMargin: 0.1,\n sampleDirections: 8,\n maxOffsetAttempts: 8,\n processCorners: true\n};\n\n// =============================================================================\n// 半径感知路径平滑器 \| Radius-Aware Path Smoother\n// =============================================================================\n\n/\n @zh 半径感知路径平滑器\n * @en Radius-Aware Path Smoother\n \n @zh 对任意寻路算法输出的路径进行后处理，确保路径点与障碍物保持足够距离\n * @en Post-processes paths from any pathfinding algorithm to ensure path points maintain sufficient distance from obstacles\n \n @example\n * ```typescript\n * // 创建平滑器\n * const smoother = new RadiusAwarePathSmoother({ agentRadius: 0.5 });\n \n // 处理路径\n * const safePath = smoother.smooth(rawPath, map);\n \n // 与其他平滑器组合使用\n * const combined = new CombinedRadiusAwareSmoother(\n * new LineOfSightSmoother(),\n * { agentRadius: 0.5 }\n * );\n * ```\n /\nexport class RadiusAwarePathSmoother implements IPathSmoother {\n private readonly config: Required<IRadiusAwareSmootherConfig>;\n private readonly sampleAngles: number[];\n\n constructor(config: IRadiusAwareSmootherConfig) {\n this.config = {\n ...DEFAULT_CONFIG,\n ...config\n };\n\n // 预计算采样角度\n this.sampleAngles = [];\n const step = (Math.PI 2) / this.config.sampleDirections;\n for (let i = 0; i < this.config.sampleDirections; i++) {\n this.sampleAngles.push(i * step);\n }\n }\n\n /*\n @zh 平滑路径，确保与障碍物保持安全距离\n * @en Smooth path, ensuring safe distance from obstacles\n \n @param path - @zh 原始路径 @en Original path\n * @param map - @zh 地图 @en Map\n * @returns @zh 处理后的安全路径 @en Processed safe path\n /\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n if (path.length <= 1) {\n return [...path];\n }\n\n const result: IPoint[] = [];\n const clearance = this.config.agentRadius + this.config.safetyMargin;\n\n for (let i = 0; i < path.length; i++) {\n const point = path[i]!;\n const isCorner = this.config.processCorners && i > 0 && i < path.length - 1;\n\n let safePoint: IPoint;\n\n if (isCorner) {\n // 处理拐点\n const prev = path[i - 1]!;\n const next = path[i + 1]!;\n safePoint = this.offsetCornerPoint(point, prev, next, clearance, map);\n } else {\n // 处理普通点\n safePoint = this.offsetPointFromObstacles(point, clearance, map);\n }\n\n result.push(safePoint);\n }\n\n return result;\n }\n\n /\n @zh 将点从障碍物偏移\n * @en Offset point away from obstacles\n /\n private offsetPointFromObstacles(\n point: IPoint,\n clearance: number,\n map: IPathfindingMap\n ): IPoint {\n // 检测周围障碍物\n const obstacleDirections = this.detectNearbyObstacles(point, clearance, map);\n\n if (obstacleDirections.length === 0) {\n // 没有障碍物在范围内\n return point;\n }\n\n // 计算平均障碍物方向\n let avgDirX = 0;\n let avgDirY = 0;\n for (const dir of obstacleDirections) {\n avgDirX += dir.x;\n avgDirY += dir.y;\n }\n\n const len = Math.sqrt(avgDirX avgDirX + avgDirY * avgDirY);\n if (len < 0.0001) {\n // 障碍物方向相互抵消，保持原位\n return point;\n }\n\n // 反方向偏移（远离障碍物）\n const offsetDirX = -avgDirX / len;\n const offsetDirY = -avgDirY / len;\n\n // 尝试不同的偏移距离\n for (let attempt = 1; attempt <= this.config.maxOffsetAttempts; attempt++) {\n const offsetDist = clearance * attempt / this.config.maxOffsetAttempts;\n const newX = point.x + offsetDirX * offsetDist;\n const newY = point.y + offsetDirY * offsetDist;\n\n if (map.isWalkable(Math.floor(newX), Math.floor(newY))) {\n // 检查新位置是否有足够的clearance\n const newObstacles = this.detectNearbyObstacles(\n createPoint(newX, newY),\n clearance,\n map\n );\n\n if (newObstacles.length === 0) {\n return createPoint(newX, newY);\n }\n }\n }\n\n // 无法找到更好的位置，返回原点\n return point;\n }\n\n /*\n @zh 偏移拐点（角落）\n * @en Offset corner point\n /\n private offsetCornerPoint(\n corner: IPoint,\n prev: IPoint,\n next: IPoint,\n clearance: number,\n map: IPathfindingMap\n ): IPoint {\n // 计算进入方向和离开方向\n const inDirX = corner.x - prev.x;\n const inDirY = corner.y - prev.y;\n const inLen = Math.sqrt(inDirX inDirX + inDirY * inDirY);\n\n const outDirX = next.x - corner.x;\n const outDirY = next.y - corner.y;\n const outLen = Math.sqrt(outDirX * outDirX + outDirY * outDirY);\n\n if (inLen < 0.0001 \|\| outLen < 0.0001) {\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n // 标准化方向\n const inNormX = inDirX / inLen;\n const inNormY = inDirY / inLen;\n const outNormX = outDirX / outLen;\n const outNormY = outDirY / outLen;\n\n // 计算角平分线方向（指向角的内侧）\n // 角平分线 = 入射方向 + 出射方向的反方向\n const bisectX = inNormX - outNormX;\n const bisectY = inNormY - outNormY;\n const bisectLen = Math.sqrt(bisectX * bisectX + bisectY * bisectY);\n\n if (bisectLen < 0.0001) {\n // 直线，不需要特殊处理\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n // 标准化角平分线\n const bisectNormX = bisectX / bisectLen;\n const bisectNormY = bisectY / bisectLen;\n\n // 计算转角角度\n const dotProduct = inNormX * outNormX + inNormY * outNormY;\n const angle = Math.acos(Math.max(-1, Math.min(1, dotProduct)));\n\n // 计算需要的偏移距离\n // 在角落处，需要偏移 clearance / sin(angle/2) 才能保持与两边的距离\n const halfAngle = angle / 2;\n const sinHalfAngle = Math.sin(halfAngle);\n\n if (sinHalfAngle < 0.1) {\n // 角度太小（几乎是直线），使用普通偏移\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n const offsetDist = clearance / sinHalfAngle;\n\n // 限制最大偏移距离\n const maxOffset = clearance * 3;\n const actualOffset = Math.min(offsetDist, maxOffset);\n\n // 沿角平分线偏移\n const newX = corner.x + bisectNormX * actualOffset;\n const newY = corner.y + bisectNormY * actualOffset;\n\n // 验证新位置是否可行\n if (map.isWalkable(Math.floor(newX), Math.floor(newY))) {\n return createPoint(newX, newY);\n }\n\n // 如果角平分线方向不可行，尝试反方向\n const altX = corner.x - bisectNormX * actualOffset;\n const altY = corner.y - bisectNormY * actualOffset;\n\n if (map.isWalkable(Math.floor(altX), Math.floor(altY))) {\n return createPoint(altX, altY);\n }\n\n // 回退到普通偏移\n return this.offsetPointFromObstacles(corner, clearance, map);\n }\n\n /*\n @zh 检测附近的障碍物方向\n * @en Detect nearby obstacle directions\n /\n private detectNearbyObstacles(\n point: IPoint,\n clearance: number,\n map: IPathfindingMap\n ): IPoint[] {\n const obstacles: IPoint[] = [];\n\n for (const angle of this.sampleAngles) {\n const dirX = Math.cos(angle);\n const dirY = Math.sin(angle);\n\n // 沿该方向采样\n const sampleX = point.x + dirX clearance;\n const sampleY = point.y + dirY * clearance;\n\n if (!map.isWalkable(Math.floor(sampleX), Math.floor(sampleY))) {\n // 该方向有障碍物\n obstacles.push(createPoint(dirX, dirY));\n }\n }\n\n return obstacles;\n }\n}\n\n// =============================================================================\n// 组合平滑器 \| Combined Smoother\n// =============================================================================\n\n/*\n @zh 组合半径感知平滑器\n * @en Combined radius-aware smoother\n \n @zh 先使用其他平滑器（如 LOS、Catmull-Rom），再应用半径感知处理\n * @en First applies other smoother (like LOS, Catmull-Rom), then applies radius-aware processing\n \n @example\n * ```typescript\n * const smoother = new CombinedRadiusAwareSmoother(\n * new LineOfSightSmoother(),\n * { agentRadius: 0.5 }\n * );\n * const path = smoother.smooth(rawPath, map);\n * ```\n /\nexport class CombinedRadiusAwareSmoother implements IPathSmoother {\n private readonly baseSmoother: IPathSmoother;\n private readonly radiusAwareSmoother: RadiusAwarePathSmoother;\n\n constructor(\n baseSmoother: IPathSmoother,\n config: IRadiusAwareSmootherConfig\n ) {\n this.baseSmoother = baseSmoother;\n this.radiusAwareSmoother = new RadiusAwarePathSmoother(config);\n }\n\n smooth(path: readonly IPoint[], map: IPathfindingMap): IPoint[] {\n // 先用基础平滑器处理\n const smoothed = this.baseSmoother.smooth(path, map);\n\n // 再应用半径感知处理\n return this.radiusAwareSmoother.smooth(smoothed, map);\n }\n}\n\n// =============================================================================\n// 工厂函数 \| Factory Functions\n// =============================================================================\n\n/\n @zh 创建半径感知平滑器\n * @en Create radius-aware smoother\n \n @param agentRadius - @zh 代理半径 @en Agent radius\n * @param options - @zh 额外配置 @en Additional options\n \n @example\n * ```typescript\n * const smoother = createRadiusAwareSmoother(0.5);\n * const safePath = smoother.smooth(path, map);\n * ```\n /\nexport function createRadiusAwareSmoother(\n agentRadius: number,\n options?: Omit<IRadiusAwareSmootherConfig, 'agentRadius'>\n): RadiusAwarePathSmoother {\n return new RadiusAwarePathSmoother({\n agentRadius,\n ...options\n });\n}\n\n/\n @zh 创建组合半径感知平滑器\n * @en Create combined radius-aware smoother\n \n @param baseSmoother - @zh 基础平滑器 @en Base smoother\n * @param agentRadius - @zh 代理半径 @en Agent radius\n * @param options - @zh 额外配置 @en Additional options\n \n @example\n * ```typescript\n * const smoother = createCombinedRadiusAwareSmoother(\n * new LineOfSightSmoother(),\n * 0.5\n * );\n * ```\n */\nexport function createCombinedRadiusAwareSmoother(\n baseSmoother: IPathSmoother,\n agentRadius: number,\n options?: Omit<IRadiusAwareSmootherConfig, 'agentRadius'>\n): CombinedRadiusAwareSmoother {\n return new CombinedRadiusAwareSmoother(baseSmoother, {\n agentRadius,\n ...options\n 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