@esengine/pathfinding 13.3.0 → 13.3.2

package/dist/ecs.d.ts

@@ -1,6 +1,6 @@
 import { Component, EntitySystem, Entity } from '@esengine/ecs-framework';
-import { S as IVector2, V as IPathPlanner, a7 as IFlowController, a0 as ILocalAvoidance, a2 as ICollisionResolver, _ as IObstacleData } from './FlowController-Dc3nuLq5.js';
-export { ap as CollisionResolverAdapter, ab as DEFAULT_FLOW_CONTROLLER_CONFIG, ao as DEFAULT_ORCA_PARAMS, ar as FlowController, ag as GridPathfinderAdapter, a3 as ICongestionZone, a4 as IFlowAgentData, a5 as IFlowControlResult, a6 as IFlowControllerConfig, au as IGridPathfinderAdapterConfig, av as IIncrementalGridPathPlannerConfig, at as IORCAParams, ak as IncrementalGridPathPlannerAdapter, ae as NavMeshPathPlannerAdapter, am as ORCALocalAvoidanceAdapter, aa as PassPermission, ah as createAStarPlanner, aq as createDefaultCollisionResolver, as as createFlowController, aj as createHPAPlanner, al as createIncrementalAStarPlanner, ai as createJPSPlanner, af as createNavMeshPathPlanner, an as createORCAAvoidance } from './FlowController-Dc3nuLq5.js';
+import { S as IVector2, V as IPathPlanner, a7 as IFlowController, a0 as ILocalAvoidance, a2 as ICollisionResolver, _ as IObstacleData } from './FlowController-BztOzQsW.js';
+export { ap as CollisionResolverAdapter, ab as DEFAULT_FLOW_CONTROLLER_CONFIG, ao as DEFAULT_ORCA_PARAMS, ar as FlowController, ag as GridPathfinderAdapter, a3 as ICongestionZone, a4 as IFlowAgentData, a5 as IFlowControlResult, a6 as IFlowControllerConfig, au as IGridPathfinderAdapterConfig, av as IIncrementalGridPathPlannerConfig, at as IORCAParams, ak as IncrementalGridPathPlannerAdapter, ae as NavMeshPathPlannerAdapter, am as ORCALocalAvoidanceAdapter, aa as PassPermission, ah as createAStarPlanner, aq as createDefaultCollisionResolver, as as createFlowController, aj as createHPAPlanner, al as createIncrementalAStarPlanner, ai as createJPSPlanner, af as createNavMeshPathPlanner, an as createORCAAvoidance } from './FlowController-BztOzQsW.js';
 import './CollisionResolver-CSgWsegP.js';
 import '@esengine/ecs-framework-math';
 
@@ -609,6 +609,31 @@ declare class NavigationSystem extends EntitySystem {
      * @en Resolve agent-agent collisions
      */
     private resolveAgentCollisions;
+    /**
+     * @zh 查找有效的修正向量（不会进入障碍物）
+     * @en Find valid correction vector (won't enter obstacles)
+     */
+    private findValidCorrection;
+    /**
+     * @zh 查找滑动位置（当目标位置不可行走时）
+     * @en Find slide position (when target position is not walkable)
+     *
+     * @zh 尝试只沿 X 轴或 Y 轴移动，实现沿墙滑动效果
+     * @en Try moving only along X or Y axis, achieving wall sliding effect
+     */
+    private findSlidePosition;
+    /**
+     * @zh 检查位置是否可行走（考虑代理半径）
+     * @en Check if position is walkable (considering agent radius)
+     *
+     * @zh 检查代理边界框的4个角点和中心点，确保整个代理都在可行走区域
+     * @en Check 4 corners and center of agent bounding box, ensure entire agent is in walkable area
+     *
+     * @param position - @zh 位置 @en Position
+     * @param radius - @zh 代理半径 @en Agent radius
+     * @param tolerance - @zh 容差比例 (0-1)，用于允许轻微重叠 @en Tolerance ratio (0-1), allows slight overlap
+     */
+    private isPositionWalkable;
 }
 
 /**

package/dist/ecs.js

@@ -18,7 +18,7 @@ import {
   createNavMeshPathPlanner,
   createORCAAvoidance,
   isIncrementalPlanner
-} from "./chunk-NIKT3PQC.js";
+} from "./chunk-ZYGBA7VK.js";
 import "./chunk-YKA3PWU3.js";
 import "./chunk-3VEX32JO.js";
 import {
@@ -1020,6 +1020,18 @@ var _NavigationSystem = class _NavigationSystem extends EntitySystem {
         y: 0
       };
     }
+    if (agent.state === NavigationState.Unreachable || agent.state === NavigationState.Arrived) {
+      return {
+        x: 0,
+        y: 0
+      };
+    }
+    if (agent.path.length === 0 && !agent.isComputingPath) {
+      return {
+        x: 0,
+        y: 0
+      };
+    }
     let targetX, targetY;
     let isLastWaypoint = false;
     if (agent.currentWaypointIndex < agent.path.length) {
@@ -1027,10 +1039,15 @@ var _NavigationSystem = class _NavigationSystem extends EntitySystem {
       targetX = waypoint.x;
       targetY = waypoint.y;
       isLastWaypoint = agent.currentWaypointIndex === agent.path.length - 1;
-    } else {
+    } else if (agent.path.length > 0) {
       targetX = agent.destination.x;
       targetY = agent.destination.y;
       isLastWaypoint = true;
+    } else {
+      return {
+        x: 0,
+        y: 0
+      };
     }
     const dx = targetX - agent.position.x;
     const dy = targetY - agent.position.y;
@@ -1090,6 +1107,22 @@ var _NavigationSystem = class _NavigationSystem extends EntitySystem {
     if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {
       newPosition = this.collisionResolver.resolveCollision(newPosition, agent.radius, allObstacles);
     }
+    if (!this.isPositionWalkable(newPosition, agent.radius)) {
+      const slidPosition = this.findSlidePosition(agent.position, newPosition, agent.radius);
+      if (slidPosition) {
+        newPosition = slidPosition;
+        agent.velocity = {
+          x: (newPosition.x - agent.position.x) / deltaTime,
+          y: (newPosition.y - agent.position.y) / deltaTime
+        };
+      } else {
+        agent.velocity = {
+          x: 0,
+          y: 0
+        };
+        return;
+      }
+    }
     agent.position = newPosition;
     this.checkArrival(agent);
   }
@@ -1182,12 +1215,130 @@ var _NavigationSystem = class _NavigationSystem extends EntitySystem {
         x: agent.position.x + correction.x,
         y: agent.position.y + correction.y
       };
+      if (!this.isPositionWalkable(newPosition, agent.radius, 1)) {
+        const partialCorrection = this.findValidCorrection(agent.position, correction, agent.radius);
+        if (partialCorrection) {
+          newPosition = {
+            x: agent.position.x + partialCorrection.x,
+            y: agent.position.y + partialCorrection.y
+          };
+        } else {
+          continue;
+        }
+      }
       if (allObstacles.length > 0) {
         newPosition = this.collisionResolver.resolveCollision(newPosition, agent.radius, allObstacles);
       }
+      if (!this.isPositionWalkable(newPosition, agent.radius, 1)) {
+        continue;
+      }
       agent.position = newPosition;
     }
   }
+  /**
+   * @zh 查找有效的修正向量（不会进入障碍物）
+   * @en Find valid correction vector (won't enter obstacles)
+   */
+  findValidCorrection(currentPos, correction, radius = 0) {
+    if (!this.pathPlanner) return correction;
+    const steps = [
+      0.75,
+      0.5,
+      0.25,
+      0.1
+    ];
+    for (const scale of steps) {
+      const testPos = {
+        x: currentPos.x + correction.x * scale,
+        y: currentPos.y + correction.y * scale
+      };
+      if (this.isPositionWalkable(testPos, radius, 1)) {
+        return {
+          x: correction.x * scale,
+          y: correction.y * scale
+        };
+      }
+    }
+    return null;
+  }
+  /**
+   * @zh 查找滑动位置（当目标位置不可行走时）
+   * @en Find slide position (when target position is not walkable)
+   *
+   * @zh 尝试只沿 X 轴或 Y 轴移动，实现沿墙滑动效果
+   * @en Try moving only along X or Y axis, achieving wall sliding effect
+   */
+  findSlidePosition(currentPos, targetPos, radius) {
+    const dx = targetPos.x - currentPos.x;
+    const dy = targetPos.y - currentPos.y;
+    const xOnlyPos = {
+      x: targetPos.x,
+      y: currentPos.y
+    };
+    if (Math.abs(dx) > 1e-3 && this.isPositionWalkable(xOnlyPos, radius)) {
+      return xOnlyPos;
+    }
+    const yOnlyPos = {
+      x: currentPos.x,
+      y: targetPos.y
+    };
+    if (Math.abs(dy) > 1e-3 && this.isPositionWalkable(yOnlyPos, radius)) {
+      return yOnlyPos;
+    }
+    const halfPos = {
+      x: currentPos.x + dx * 0.5,
+      y: currentPos.y + dy * 0.5
+    };
+    if (this.isPositionWalkable(halfPos, radius)) {
+      return halfPos;
+    }
+    return null;
+  }
+  /**
+   * @zh 检查位置是否可行走（考虑代理半径）
+   * @en Check if position is walkable (considering agent radius)
+   *
+   * @zh 检查代理边界框的4个角点和中心点，确保整个代理都在可行走区域
+   * @en Check 4 corners and center of agent bounding box, ensure entire agent is in walkable area
+   *
+   * @param position - @zh 位置 @en Position
+   * @param radius - @zh 代理半径 @en Agent radius
+   * @param tolerance - @zh 容差比例 (0-1)，用于允许轻微重叠 @en Tolerance ratio (0-1), allows slight overlap
+   */
+  isPositionWalkable(position, radius = 0, tolerance = 0.8) {
+    if (!this.pathPlanner) return true;
+    if (!this.pathPlanner.isWalkable(position)) {
+      return false;
+    }
+    if (radius <= 0) {
+      return true;
+    }
+    const checkRadius = radius * tolerance;
+    const corners = [
+      {
+        x: position.x - checkRadius,
+        y: position.y - checkRadius
+      },
+      {
+        x: position.x + checkRadius,
+        y: position.y - checkRadius
+      },
+      {
+        x: position.x - checkRadius,
+        y: position.y + checkRadius
+      },
+      {
+        x: position.x + checkRadius,
+        y: position.y + checkRadius
+      }
+    ];
+    for (const corner of corners) {
+      if (!this.pathPlanner.isWalkable(corner)) {
+        return false;
+      }
+    }
+    return true;
+  }
 };
 __name(_NavigationSystem, "NavigationSystem");
 var NavigationSystem = _NavigationSystem;