@esengine/pathfinding 13.3.1 → 13.3.2

package/dist/ecs.d.ts

@@ -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

@@ -1107,6 +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);
   }
@@ -1199,12 +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;

package/dist/ecs.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/ecs/NavigationAgentComponent.ts","../src/ecs/NavigationSystem.ts","../src/ecs/ORCAConfigComponent.ts"],"sourcesContent":["/**\n * @zh 统一导航代理组件\n * @en Unified Navigation Agent Component\n *\n * @zh 算法无关的通用导航属性，配合 NavigationSystem 使用\n * @en Algorithm-agnostic common navigation properties, works with NavigationSystem\n */\n\nimport {\n    Component,\n    ECSComponent,\n    Serializable,\n    Serialize,\n    Property\n} from '@esengine/ecs-framework';\nimport type { IVector2 } from '../interfaces/IPathPlanner';\n\n/**\n * @zh 导航状态\n * @en Navigation state\n */\nexport enum NavigationState {\n    /**\n     * @zh 空闲\n     * @en Idle\n     */\n    Idle = 'idle',\n\n    /**\n     * @zh 正在导航\n     * @en Navigating\n     */\n    Navigating = 'navigating',\n\n    /**\n     * @zh 已到达\n     * @en Arrived\n     */\n    Arrived = 'arrived',\n\n    /**\n     * @zh 路径被阻挡\n     * @en Path blocked\n     */\n    Blocked = 'blocked',\n\n    /**\n     * @zh 无法到达\n     * @en Unreachable\n     */\n    Unreachable = 'unreachable'\n}\n\n/**\n * @zh 统一导航代理组件\n * @en Unified navigation agent component\n *\n * @zh 包含算法无关的通用导航属性，不包含算法特定参数\n * @en Contains algorithm-agnostic common navigation properties, no algorithm-specific parameters\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n *\n * // 添加导航代理组件\n * const nav = entity.addComponent(new NavigationAgentComponent());\n * nav.radius = 0.5;\n * nav.maxSpeed = 5.0;\n *\n * // 设置目标\n * nav.setDestination(100, 200);\n *\n * // NavigationSystem 会自动处理：\n * // 1. 使用 IPathPlanner 计算全局路径\n * // 2. 使用 ILocalAvoidance 进行局部避让\n * // 3. 使用 ICollisionResolver 防止穿透\n * ```\n */\n@ECSComponent('NavigationAgent')\n@Serializable({ version: 1, typeId: 'NavigationAgent' })\nexport class NavigationAgentComponent extends Component {\n    // =========================================================================\n    // 核心物理属性 | Core Physical Properties\n    // =========================================================================\n\n    /**\n     * @zh 代理半径\n     * @en Agent radius\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Radius', min: 0.1, max: 10 })\n    radius: number = 0.5;\n\n    /**\n     * @zh 最大速度\n     * @en Maximum speed\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Max Speed', min: 0.1, max: 100 })\n    maxSpeed: number = 5.0;\n\n    /**\n     * @zh 加速度（用于平滑移动）\n     * @en Acceleration (for smooth movement)\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Acceleration', min: 0.1, max: 100 })\n    acceleration: number = 10.0;\n\n    // =========================================================================\n    // 寻路配置 | Pathfinding Configuration\n    // =========================================================================\n\n    /**\n     * @zh 路径点到达阈值\n     * @en Waypoint arrival threshold\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Waypoint Threshold', min: 0.1, max: 10 })\n    waypointThreshold: number = 0.5;\n\n    /**\n     * @zh 目标到达阈值\n     * @en Destination arrival threshold\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Arrival Threshold', min: 0.1, max: 10 })\n    arrivalThreshold: number = 0.3;\n\n    /**\n     * @zh 路径重新计算间隔（秒）\n     * @en Path recalculation interval (seconds)\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Repath Interval', min: 0.1, max: 10 })\n    repathInterval: number = 0.5;\n\n    // =========================================================================\n    // 配置选项 | Configuration Options\n    // =========================================================================\n\n    /**\n     * @zh 是否启用导航\n     * @en Whether navigation is enabled\n     */\n    @Serialize()\n    @Property({ type: 'boolean', label: 'Enabled' })\n    enabled: boolean = true;\n\n    /**\n     * @zh 是否自动重新计算被阻挡的路径\n     * @en Whether to auto repath when blocked\n     */\n    @Serialize()\n    @Property({ type: 'boolean', label: 'Auto Repath' })\n    autoRepath: boolean = true;\n\n    /**\n     * @zh 是否启用平滑转向\n     * @en Whether to enable smooth steering\n     */\n    @Serialize()\n    @Property({ type: 'boolean', label: 'Smooth Steering' })\n    smoothSteering: boolean = true;\n\n    // =========================================================================\n    // 运行时状态 | Runtime State (Non-serialized)\n    // =========================================================================\n\n    /**\n     * @zh 当前位置\n     * @en Current position\n     */\n    position: IVector2 = { x: 0, y: 0 };\n\n    /**\n     * @zh 当前速度\n     * @en Current velocity\n     */\n    velocity: IVector2 = { x: 0, y: 0 };\n\n    /**\n     * @zh 目标位置\n     * @en Destination position\n     */\n    destination: IVector2 | null = null;\n\n    /**\n     * @zh 当前导航状态\n     * @en Current navigation state\n     */\n    state: NavigationState = NavigationState.Idle;\n\n    /**\n     * @zh 当前路径\n     * @en Current path\n     */\n    path: IVector2[] = [];\n\n    /**\n     * @zh 当前路径点索引\n     * @en Current waypoint index\n     */\n    currentWaypointIndex: number = 0;\n\n    /**\n     * @zh 上次重新计算路径的时间\n     * @en Last repath time\n     */\n    lastRepathTime: number = 0;\n\n    // =========================================================================\n    // 增量寻路状态（时间切片）| Incremental Pathfinding State (Time Slicing)\n    // =========================================================================\n\n    /**\n     * @zh 当前增量寻路请求 ID\n     * @en Current incremental pathfinding request ID\n     */\n    currentRequestId: number = -1;\n\n    /**\n     * @zh 寻路进度 (0-1)\n     * @en Pathfinding progress (0-1)\n     */\n    pathProgress: number = 0;\n\n    /**\n     * @zh 优先级（数字越小优先级越高）\n     * @en Priority (lower number = higher priority)\n     */\n    priority: number = 50;\n\n    /**\n     * @zh 是否正在等待路径计算完成\n     * @en Whether waiting for path computation to complete\n     */\n    isComputingPath: boolean = false;\n\n    // =========================================================================\n    // 公共方法 | Public Methods\n    // =========================================================================\n\n    /**\n     * @zh 设置位置\n     * @en Set position\n     *\n     * @param x - @zh X 坐标 @en X coordinate\n     * @param y - @zh Y 坐标 @en Y coordinate\n     */\n    setPosition(x: number, y: number): void {\n        this.position = { x, y };\n    }\n\n    /**\n     * @zh 设置目标位置\n     * @en Set destination\n     *\n     * @param x - @zh 目标 X 坐标 @en Destination X coordinate\n     * @param y - @zh 目标 Y 坐标 @en Destination Y coordinate\n     */\n    setDestination(x: number, y: number): void {\n        this.destination = { x, y };\n        this.state = NavigationState.Navigating;\n        this.path = [];\n        this.currentWaypointIndex = 0;\n        this.lastRepathTime = 0;\n    }\n\n    /**\n     * @zh 停止导航\n     * @en Stop navigation\n     */\n    stop(): void {\n        this.destination = null;\n        this.state = NavigationState.Idle;\n        this.path = [];\n        this.currentWaypointIndex = 0;\n        this.velocity = { x: 0, y: 0 };\n    }\n\n    /**\n     * @zh 获取当前路径点\n     * @en Get current waypoint\n     *\n     * @returns @zh 当前路径点，如果没有则返回 null @en Current waypoint, or null if none\n     */\n    getCurrentWaypoint(): IVector2 | null {\n        if (this.currentWaypointIndex < this.path.length) {\n            return this.path[this.currentWaypointIndex]!;\n        }\n        return null;\n    }\n\n    /**\n     * @zh 获取到目标的距离\n     * @en Get distance to destination\n     *\n     * @returns @zh 到目标的距离，如果没有目标则返回 Infinity @en Distance to destination, or Infinity if no destination\n     */\n    getDistanceToDestination(): number {\n        if (!this.destination) return Infinity;\n        const dx = this.destination.x - this.position.x;\n        const dy = this.destination.y - this.position.y;\n        return Math.sqrt(dx * dx + dy * dy);\n    }\n\n    /**\n     * @zh 获取当前速度大小\n     * @en Get current speed\n     *\n     * @returns @zh 当前速度大小 @en Current speed magnitude\n     */\n    getCurrentSpeed(): number {\n        return Math.sqrt(this.velocity.x * this.velocity.x + this.velocity.y * this.velocity.y);\n    }\n\n    /**\n     * @zh 检查是否已到达目标\n     * @en Check if arrived at destination\n     *\n     * @returns @zh 是否已到达 @en Whether arrived\n     */\n    hasArrived(): boolean {\n        return this.state === NavigationState.Arrived;\n    }\n\n    /**\n     * @zh 检查路径是否被阻挡\n     * @en Check if path is blocked\n     *\n     * @returns @zh 是否被阻挡 @en Whether blocked\n     */\n    isBlocked(): boolean {\n        return this.state === NavigationState.Blocked;\n    }\n\n    /**\n     * @zh 检查目标是否无法到达\n     * @en Check if destination is unreachable\n     *\n     * @returns @zh 是否无法到达 @en Whether unreachable\n     */\n    isUnreachable(): boolean {\n        return this.state === NavigationState.Unreachable;\n    }\n\n    /**\n     * @zh 重置组件状态\n     * @en Reset component state\n     */\n    reset(): void {\n        this.position = { x: 0, y: 0 };\n        this.velocity = { x: 0, y: 0 };\n        this.destination = null;\n        this.state = NavigationState.Idle;\n        this.path = [];\n        this.currentWaypointIndex = 0;\n        this.lastRepathTime = 0;\n    }\n\n    /**\n     * @zh 组件从实体移除时调用\n     * @en Called when component is removed from entity\n     */\n    public onRemovedFromEntity(): void {\n        this.reset();\n    }\n}\n","/**\n * @zh 统一导航系统\n * @en Unified Navigation System\n *\n * @zh 可插拔的导航系统，支持运行时切换寻路、避让、碰撞检测算法\n * @en Pluggable navigation system, supports runtime swapping of pathfinding, avoidance, and collision detection algorithms\n */\n\nimport {\n    EntitySystem,\n    Matcher,\n    ECSSystem,\n    type Entity\n} from '@esengine/ecs-framework';\nimport { NavigationAgentComponent, NavigationState } from './NavigationAgentComponent';\nimport type {\n    IPathPlanner,\n    IVector2,\n    IIncrementalPathPlanner,\n    PathPlanState\n} from '../interfaces/IPathPlanner';\nimport { isIncrementalPlanner, PathPlanState as PlanState } from '../interfaces/IPathPlanner';\nimport type { ILocalAvoidance, IObstacleData, IAvoidanceAgentData } from '../interfaces/ILocalAvoidance';\nimport type { ICollisionResolver } from '../interfaces/ICollisionResolver';\nimport type { IFlowController, IFlowAgentData } from '../interfaces/IFlowController';\nimport { PassPermission } from '../interfaces/IFlowController';\n\n/**\n * @zh 导航系统配置\n * @en Navigation system configuration\n */\nexport interface INavigationSystemConfig {\n    /**\n     * @zh 时间步长\n     * @en Time step\n     */\n    timeStep?: number;\n\n    /**\n     * @zh 是否启用路径规划阶段\n     * @en Whether to enable path planning stage\n     */\n    enablePathPlanning?: boolean;\n\n    /**\n     * @zh 是否启用流量控制阶段\n     * @en Whether to enable flow control stage\n     */\n    enableFlowControl?: boolean;\n\n    /**\n     * @zh 是否启用局部避让阶段\n     * @en Whether to enable local avoidance stage\n     */\n    enableLocalAvoidance?: boolean;\n\n    /**\n     * @zh 是否启用碰撞解决阶段\n     * @en Whether to enable collision resolution stage\n     */\n    enableCollisionResolution?: boolean;\n\n    /**\n     * @zh 是否启用代理间碰撞解决\n     * @en Whether to enable agent-agent collision resolution\n     */\n    enableAgentCollisionResolution?: boolean;\n\n    // =========================================================================\n    // 时间切片配置 | Time Slicing Configuration\n    // =========================================================================\n\n    /**\n     * @zh 是否启用时间切片寻路（需要 IIncrementalPathPlanner）\n     * @en Whether to enable time-sliced pathfinding (requires IIncrementalPathPlanner)\n     *\n     * @zh 启用后，寻路计算会分散到多帧执行，避免卡顿\n     * @en When enabled, pathfinding computation is spread across multiple frames to avoid stuttering\n     */\n    enableTimeSlicing?: boolean;\n\n    /**\n     * @zh 每帧总迭代预算\n     * @en Total iteration budget per frame\n     *\n     * @zh 所有代理共享此预算，根据优先级分配\n     * @en All agents share this budget, allocated by priority\n     *\n     * @default 1000\n     */\n    iterationsBudget?: number;\n\n    /**\n     * @zh 每帧最大处理代理数\n     * @en Maximum agents to process per frame\n     *\n     * @zh 限制每帧处理的代理数量，避免过载\n     * @en Limits the number of agents processed per frame to avoid overload\n     *\n     * @default 10\n     */\n    maxAgentsPerFrame?: number;\n\n    /**\n     * @zh 每个代理每帧最大迭代数\n     * @en Maximum iterations per agent per frame\n     *\n     * @default 200\n     */\n    maxIterationsPerAgent?: number;\n}\n\n/**\n * @zh 默认配置\n * @en Default configuration\n */\nconst DEFAULT_CONFIG: Required<INavigationSystemConfig> = {\n    timeStep: 1 / 60,\n    enablePathPlanning: true,\n    enableFlowControl: true,\n    enableLocalAvoidance: true,\n    enableCollisionResolution: true,\n    enableAgentCollisionResolution: true,\n    enableTimeSlicing: false,\n    iterationsBudget: 1000,\n    maxAgentsPerFrame: 10,\n    maxIterationsPerAgent: 200\n};\n\n/**\n * @zh 统一导航系统\n * @en Unified Navigation System\n *\n * @zh 可插拔的导航系统，处理管线：PathPlanning → LocalAvoidance → CollisionResolution\n * @en Pluggable navigation system, pipeline: PathPlanning → LocalAvoidance → CollisionResolution\n *\n * @example\n * ```typescript\n * import {\n *     NavigationSystem,\n *     NavigationAgentComponent,\n *     createNavMeshPathPlanner,\n *     createORCAAvoidance,\n *     createDefaultCollisionResolver\n * } from '@esengine/pathfinding/ecs';\n *\n * // 创建系统\n * const navSystem = new NavigationSystem();\n *\n * // 配置算法（可选，每个阶段都可以独立启用/禁用）\n * navSystem.setPathPlanner(createNavMeshPathPlanner(navMesh));\n * navSystem.setLocalAvoidance(createORCAAvoidance());\n * navSystem.setCollisionResolver(createDefaultCollisionResolver());\n *\n * scene.addSystem(navSystem);\n *\n * // 添加障碍物\n * navSystem.addObstacle({ vertices: [...] });\n *\n * // 创建代理\n * const agent = scene.createEntity('Agent');\n * const nav = agent.addComponent(new NavigationAgentComponent());\n * nav.setPosition(0, 0);\n * nav.setDestination(100, 100);\n *\n * // 运行时切换算法\n * navSystem.setPathPlanner(createJPSPlanner(gridMap));\n * navSystem.setLocalAvoidance(null);  // 禁用避让\n * ```\n */\n@ECSSystem('Navigation', { updateOrder: 45 })\nexport class NavigationSystem extends EntitySystem {\n    private config: Required<INavigationSystemConfig>;\n\n    private pathPlanner: IPathPlanner | null = null;\n    private flowController: IFlowController | null = null;\n    private localAvoidance: ILocalAvoidance | null = null;\n    private collisionResolver: ICollisionResolver | null = null;\n\n    /**\n     * @zh 静态障碍物（墙壁、建筑等）- 由 PathPlanner 和 CollisionResolver 处理\n     * @en Static obstacles (walls, buildings) - handled by PathPlanner and CollisionResolver\n     */\n    private staticObstacles: IObstacleData[] = [];\n\n    /**\n     * @zh 动态障碍物（移动物体等）- 由 ORCA 和 CollisionResolver 处理\n     * @en Dynamic obstacles (moving objects) - handled by ORCA and CollisionResolver\n     */\n    private dynamicObstacles: IObstacleData[] = [];\n\n    private currentTime: number = 0;\n    private agentEnterTimes: Map<number, number> = new Map();\n\n    // =========================================================================\n    // 时间切片状态 | Time Slicing State\n    // =========================================================================\n\n    /**\n     * @zh 是否为增量寻路器\n     * @en Whether the path planner is incremental\n     */\n    private isIncrementalPlanner: boolean = false;\n\n    /**\n     * @zh 等待寻路的代理队列（按优先级排序）\n     * @en Queue of agents waiting for pathfinding (sorted by priority)\n     */\n    private pendingPathRequests: Set<number> = new Set();\n\n    constructor(config: INavigationSystemConfig = {}) {\n        super(Matcher.all(NavigationAgentComponent));\n        this.config = { ...DEFAULT_CONFIG, ...config };\n    }\n\n    // =========================================================================\n    // 算法设置 | Algorithm Setters\n    // =========================================================================\n\n    /**\n     * @zh 设置路径规划器\n     * @en Set path planner\n     *\n     * @param planner - @zh 路径规划器，传入 null 禁用路径规划 @en Path planner, pass null to disable\n     *\n     * @zh 如果传入 IIncrementalPathPlanner 且启用了时间切片，会自动使用增量寻路\n     * @en If passing IIncrementalPathPlanner and time slicing is enabled, will automatically use incremental pathfinding\n     *\n     * @example\n     * ```typescript\n     * navSystem.setPathPlanner(createNavMeshPathPlanner(navMesh));\n     * navSystem.setPathPlanner(createAStarPlanner(gridMap));\n     * navSystem.setPathPlanner(createIncrementalAStarPlanner(gridMap));  // 支持时间切片\n     * navSystem.setPathPlanner(null);  // 禁用\n     * ```\n     */\n    setPathPlanner(planner: IPathPlanner | null): void {\n        this.pathPlanner?.dispose();\n        this.pathPlanner = planner;\n        this.isIncrementalPlanner = planner !== null && isIncrementalPlanner(planner);\n        this.pendingPathRequests.clear();\n    }\n\n    /**\n     * @zh 获取当前路径规划器\n     * @en Get current path planner\n     */\n    getPathPlanner(): IPathPlanner | null {\n        return this.pathPlanner;\n    }\n\n    /**\n     * @zh 设置流量控制器\n     * @en Set flow controller\n     *\n     * @param controller - @zh 流量控制器，传入 null 禁用流量控制 @en Flow controller, pass null to disable\n     *\n     * @example\n     * ```typescript\n     * navSystem.setFlowController(createFlowController());\n     * navSystem.setFlowController(null);  // 禁用\n     * ```\n     */\n    setFlowController(controller: IFlowController | null): void {\n        this.flowController?.dispose();\n        this.flowController = controller;\n    }\n\n    /**\n     * @zh 获取当前流量控制器\n     * @en Get current flow controller\n     */\n    getFlowController(): IFlowController | null {\n        return this.flowController;\n    }\n\n    /**\n     * @zh 设置局部避让算法\n     * @en Set local avoidance algorithm\n     *\n     * @param avoidance - @zh 局部避让算法，传入 null 禁用避让 @en Local avoidance, pass null to disable\n     *\n     * @example\n     * ```typescript\n     * navSystem.setLocalAvoidance(createORCAAvoidance());\n     * navSystem.setLocalAvoidance(null);  // 禁用\n     * ```\n     */\n    setLocalAvoidance(avoidance: ILocalAvoidance | null): void {\n        this.localAvoidance?.dispose();\n        this.localAvoidance = avoidance;\n    }\n\n    /**\n     * @zh 获取当前局部避让算法\n     * @en Get current local avoidance algorithm\n     */\n    getLocalAvoidance(): ILocalAvoidance | null {\n        return this.localAvoidance;\n    }\n\n    /**\n     * @zh 设置碰撞解决器\n     * @en Set collision resolver\n     *\n     * @param resolver - @zh 碰撞解决器，传入 null 禁用碰撞解决 @en Collision resolver, pass null to disable\n     *\n     * @example\n     * ```typescript\n     * navSystem.setCollisionResolver(createDefaultCollisionResolver());\n     * navSystem.setCollisionResolver(null);  // 禁用\n     * ```\n     */\n    setCollisionResolver(resolver: ICollisionResolver | null): void {\n        this.collisionResolver?.dispose();\n        this.collisionResolver = resolver;\n    }\n\n    /**\n     * @zh 获取当前碰撞解决器\n     * @en Get current collision resolver\n     */\n    getCollisionResolver(): ICollisionResolver | null {\n        return this.collisionResolver;\n    }\n\n    // =========================================================================\n    // 障碍物管理 | Obstacle Management\n    // =========================================================================\n\n    /**\n     * @zh 添加静态障碍物（墙壁、建筑等）\n     * @en Add static obstacle (walls, buildings, etc.)\n     *\n     * @zh 静态障碍物由 PathPlanner 规划路径时考虑，CollisionResolver 防止穿透\n     * @zh ORCA 不会处理静态障碍物，因为路径规划已经绑开了它们\n     * @en Static obstacles are considered by PathPlanner for routing, CollisionResolver for penetration prevention\n     * @en ORCA does NOT process static obstacles since path planning already avoids them\n     *\n     * @param obstacle - @zh 障碍物数据 @en Obstacle data\n     */\n    addStaticObstacle(obstacle: IObstacleData): void {\n        this.staticObstacles.push(obstacle);\n    }\n\n    /**\n     * @zh 添加动态障碍物（移动物体、临时障碍等）\n     * @en Add dynamic obstacle (moving objects, temporary obstacles, etc.)\n     *\n     * @zh 动态障碍物由 ORCA 进行局部避让，CollisionResolver 防止穿透\n     * @en Dynamic obstacles are handled by ORCA for local avoidance, CollisionResolver for penetration prevention\n     *\n     * @param obstacle - @zh 障碍物数据 @en Obstacle data\n     */\n    addDynamicObstacle(obstacle: IObstacleData): void {\n        this.dynamicObstacles.push(obstacle);\n    }\n\n    /**\n     * @zh 移除所有静态障碍物\n     * @en Remove all static obstacles\n     */\n    clearStaticObstacles(): void {\n        this.staticObstacles = [];\n    }\n\n    /**\n     * @zh 移除所有动态障碍物\n     * @en Remove all dynamic obstacles\n     */\n    clearDynamicObstacles(): void {\n        this.dynamicObstacles = [];\n    }\n\n    /**\n     * @zh 移除所有障碍物（静态和动态）\n     * @en Remove all obstacles (static and dynamic)\n     */\n    clearObstacles(): void {\n        this.staticObstacles = [];\n        this.dynamicObstacles = [];\n    }\n\n    /**\n     * @zh 获取静态障碍物列表\n     * @en Get static obstacles list\n     */\n    getStaticObstacles(): readonly IObstacleData[] {\n        return this.staticObstacles;\n    }\n\n    /**\n     * @zh 获取动态障碍物列表\n     * @en Get dynamic obstacles list\n     */\n    getDynamicObstacles(): readonly IObstacleData[] {\n        return this.dynamicObstacles;\n    }\n\n    /**\n     * @zh 获取所有障碍物列表（静态+动态）\n     * @en Get all obstacles list (static + dynamic)\n     */\n    getObstacles(): readonly IObstacleData[] {\n        return [...this.staticObstacles, ...this.dynamicObstacles];\n    }\n\n    /**\n     * @zh 获取所有障碍物用于碰撞检测\n     * @en Get all obstacles for collision detection\n     */\n    private getAllObstaclesForCollision(): readonly IObstacleData[] {\n        return [...this.staticObstacles, ...this.dynamicObstacles];\n    }\n\n    /**\n     * @zh 设置静态障碍物列表\n     * @en Set static obstacles list\n     *\n     * @param obstacles - @zh 障碍物列表 @en Obstacles list\n     */\n    setStaticObstacles(obstacles: IObstacleData[]): void {\n        this.staticObstacles = [...obstacles];\n    }\n\n    /**\n     * @zh 设置动态障碍物列表\n     * @en Set dynamic obstacles list\n     *\n     * @param obstacles - @zh 障碍物列表 @en Obstacles list\n     */\n    setDynamicObstacles(obstacles: IObstacleData[]): void {\n        this.dynamicObstacles = [...obstacles];\n    }\n\n    // =========================================================================\n    // 系统生命周期 | System Lifecycle\n    // =========================================================================\n\n    /**\n     * @zh 系统销毁时调用\n     * @en Called when system is destroyed\n     */\n    protected onDestroy(): void {\n        this.pathPlanner?.dispose();\n        this.flowController?.dispose();\n        this.localAvoidance?.dispose();\n        this.collisionResolver?.dispose();\n        this.pathPlanner = null;\n        this.flowController = null;\n        this.localAvoidance = null;\n        this.collisionResolver = null;\n        this.staticObstacles = [];\n        this.dynamicObstacles = [];\n        this.agentEnterTimes.clear();\n        this.pendingPathRequests.clear();\n        this.isIncrementalPlanner = false;\n    }\n\n    // =========================================================================\n    // 处理管线 | Processing Pipeline\n    // =========================================================================\n\n    /**\n     * @zh 处理实体\n     * @en Process entities\n     */\n    protected process(entities: readonly Entity[]): void {\n        if (entities.length === 0) return;\n\n        const deltaTime = this.config.timeStep;\n        this.currentTime += deltaTime;\n\n        const agentDataMap = new Map<number, IAvoidanceAgentData>();\n        const flowAgentDataList: IFlowAgentData[] = [];\n        const entityMap = new Map<number, Entity>();\n\n        // Build entity map for quick lookup\n        for (const entity of entities) {\n            entityMap.set(entity.id, entity);\n        }\n\n        // Stage 1: Path Planning\n        // 时间切片模式使用增量寻路，同步模式使用普通寻路\n        // Time slicing mode uses incremental pathfinding, sync mode uses normal pathfinding\n        if (this.config.enablePathPlanning && this.pathPlanner) {\n            if (this.config.enableTimeSlicing && this.isIncrementalPlanner) {\n                // Incremental mode: process all agents together with budget allocation\n                const agentList: Array<{ entityId: number; agent: NavigationAgentComponent }> = [];\n                for (const entity of entities) {\n                    const agent = entity.getComponent(NavigationAgentComponent)!;\n                    if (agent.enabled) {\n                        agentList.push({ entityId: entity.id, agent });\n                    }\n                }\n                this.processIncrementalPathPlanning(agentList, entityMap);\n            } else {\n                // Sync mode: process each agent individually\n                for (const entity of entities) {\n                    const agent = entity.getComponent(NavigationAgentComponent)!;\n                    if (!agent.enabled) continue;\n                    this.processPathPlanning(agent, deltaTime);\n                }\n            }\n        }\n\n        // Stage 1b: Build Agent Data (after path planning)\n        for (const entity of entities) {\n            const agent = entity.getComponent(NavigationAgentComponent)!;\n            if (!agent.enabled) continue;\n\n            // Track enter time for flow control\n            if (!this.agentEnterTimes.has(entity.id)) {\n                this.agentEnterTimes.set(entity.id, this.currentTime);\n            }\n\n            // Calculate preferred velocity from path\n            const preferredVelocity = this.calculatePreferredVelocity(agent);\n\n            // Build agent data for avoidance\n            const agentData = this.buildAgentData(entity, agent, preferredVelocity);\n            agentDataMap.set(entity.id, agentData);\n\n            // Build flow agent data\n            flowAgentDataList.push({\n                id: entity.id,\n                position: { x: agent.position.x, y: agent.position.y },\n                destination: agent.destination,\n                currentWaypoint: agent.getCurrentWaypoint(),\n                radius: agent.radius,\n                priority: 50,\n                enterTime: this.agentEnterTimes.get(entity.id)\n            });\n        }\n\n        // Stage 2: Flow Control\n        if (this.config.enableFlowControl && this.flowController) {\n            this.flowController.update(flowAgentDataList, deltaTime);\n        }\n\n        // Stage 3: Local Avoidance (batch processing)\n        // Only process agents that have permission to proceed or yield\n        if (this.config.enableLocalAvoidance && this.localAvoidance && agentDataMap.size > 0) {\n            const proceedingAgents: IAvoidanceAgentData[] = [];\n            const proceedingEntityIds = new Set<number>();\n\n            for (const entity of entities) {\n                const agent = entity.getComponent(NavigationAgentComponent)!;\n                if (!agent.enabled) continue;\n\n                const flowResult = this.flowController?.getFlowControl(entity.id);\n                const permission = flowResult?.permission ?? PassPermission.Proceed;\n\n                if (permission === PassPermission.Wait) {\n                    // Agent must wait - move to wait position or stop\n                    this.handleWaitingAgent(entity, agent, flowResult!.waitPosition, deltaTime);\n                } else {\n                    // Agent can proceed (with possible speed reduction for Yield)\n                    const agentData = agentDataMap.get(entity.id);\n                    if (agentData) {\n                        // Apply speed multiplier from flow control\n                        const speedMult = flowResult?.speedMultiplier ?? 1.0;\n                        if (speedMult < 1.0) {\n                            // Create modified agent data with scaled velocity\n                            const modifiedAgentData: IAvoidanceAgentData = {\n                                ...agentData,\n                                preferredVelocity: {\n                                    x: agentData.preferredVelocity.x * speedMult,\n                                    y: agentData.preferredVelocity.y * speedMult\n                                }\n                            };\n                            proceedingAgents.push(modifiedAgentData);\n                        } else {\n                            proceedingAgents.push(agentData);\n                        }\n                        proceedingEntityIds.add(entity.id);\n                    }\n                }\n            }\n\n            // Compute avoidance only for proceeding agents\n            // 关键：ORCA 只处理动态障碍物，静态障碍物由路径规划处理\n            // Key: ORCA only handles dynamic obstacles, static obstacles are handled by path planning\n            if (proceedingAgents.length > 0) {\n                const avoidanceResults = this.localAvoidance.computeBatchAvoidance(\n                    proceedingAgents,\n                    this.dynamicObstacles,\n                    deltaTime\n                );\n\n                for (const entity of entities) {\n                    if (!proceedingEntityIds.has(entity.id)) continue;\n\n                    const agent = entity.getComponent(NavigationAgentComponent)!;\n                    if (!agent.enabled) continue;\n\n                    const result = avoidanceResults.get(entity.id);\n                    if (result) {\n                        this.applyAvoidanceResult(entity, agent, result.velocity, deltaTime);\n                    } else {\n                        const agentData = agentDataMap.get(entity.id);\n                        if (agentData) {\n                            this.applyAvoidanceResult(entity, agent, agentData.preferredVelocity, deltaTime);\n                        }\n                    }\n                }\n            }\n        } else {\n            // No avoidance, just use preferred velocity (but still respect flow control)\n            for (const entity of entities) {\n                const agent = entity.getComponent(NavigationAgentComponent)!;\n                if (!agent.enabled) continue;\n\n                const flowResult = this.flowController?.getFlowControl(entity.id);\n                const permission = flowResult?.permission ?? PassPermission.Proceed;\n\n                if (permission === PassPermission.Wait && this.config.enableFlowControl && this.flowController) {\n                    this.handleWaitingAgent(entity, agent, flowResult!.waitPosition, deltaTime);\n                } else {\n                    const agentData = agentDataMap.get(entity.id);\n                    if (agentData) {\n                        let velocity = agentData.preferredVelocity;\n                        const speedMult = flowResult?.speedMultiplier ?? 1.0;\n                        if (speedMult < 1.0) {\n                            velocity = {\n                                x: velocity.x * speedMult,\n                                y: velocity.y * speedMult\n                            };\n                        }\n                        this.applyAvoidanceResult(entity, agent, velocity, deltaTime);\n                    }\n                }\n            }\n        }\n\n        // Stage 4: Agent-Agent Collision Resolution\n        if (this.config.enableAgentCollisionResolution && this.collisionResolver) {\n            this.resolveAgentCollisions(entities);\n        }\n\n        // Cleanup enter times for removed agents\n        this.cleanupEnterTimes(entities);\n    }\n\n    /**\n     * @zh 处理等待中的代理\n     * @en Handle waiting agent\n     */\n    private handleWaitingAgent(\n        entity: Entity,\n        agent: NavigationAgentComponent,\n        waitPosition: IVector2 | null,\n        deltaTime: number\n    ): void {\n        if (waitPosition) {\n            // Move towards wait position\n            const dx = waitPosition.x - agent.position.x;\n            const dy = waitPosition.y - agent.position.y;\n            const dist = Math.sqrt(dx * dx + dy * dy);\n\n            if (dist > agent.arrivalThreshold) {\n                const speed = Math.min(agent.maxSpeed * 0.5, dist);\n                const velocity: IVector2 = {\n                    x: (dx / dist) * speed,\n                    y: (dy / dist) * speed\n                };\n                this.applyAvoidanceResult(entity, agent, velocity, deltaTime);\n            } else {\n                // At wait position, stop\n                agent.velocity = { x: 0, y: 0 };\n            }\n        } else {\n            // No wait position specified, just stop\n            agent.velocity = { x: 0, y: 0 };\n        }\n    }\n\n    /**\n     * @zh 清理已移除代理的进入时间记录\n     * @en Cleanup enter times for removed agents\n     */\n    private cleanupEnterTimes(entities: readonly Entity[]): void {\n        const activeIds = new Set(entities.map(e => e.id));\n        for (const id of this.agentEnterTimes.keys()) {\n            if (!activeIds.has(id)) {\n                this.agentEnterTimes.delete(id);\n            }\n        }\n    }\n\n    /**\n     * @zh 处理路径规划（同步模式）\n     * @en Process path planning (synchronous mode)\n     */\n    private processPathPlanning(agent: NavigationAgentComponent, deltaTime: number): void {\n        if (!agent.destination || agent.state === NavigationState.Arrived) {\n            return;\n        }\n\n        const needsRepath =\n            agent.path.length === 0 ||\n            (agent.autoRepath &&\n                this.currentTime - agent.lastRepathTime > agent.repathInterval);\n\n        if (needsRepath && this.pathPlanner) {\n            const result = this.pathPlanner.findPath(\n                agent.position,\n                agent.destination,\n                { agentRadius: agent.radius }\n            );\n\n            if (result.found) {\n                agent.path = result.path.map(p => ({ x: p.x, y: p.y }));\n                agent.currentWaypointIndex = 0;\n                agent.state = NavigationState.Navigating;\n            } else {\n                agent.state = NavigationState.Unreachable;\n                agent.path = [];\n            }\n\n            agent.lastRepathTime = this.currentTime;\n        }\n\n        this.advanceWaypoint(agent);\n    }\n\n    /**\n     * @zh 处理增量路径规划（时间切片模式）\n     * @en Process incremental path planning (time slicing mode)\n     *\n     * @param agents - @zh 代理列表 @en Agent list\n     * @param entityMap - @zh 实体 ID 到代理的映射 @en Entity ID to agent mapping\n     */\n    private processIncrementalPathPlanning(\n        agents: Array<{ entityId: number; agent: NavigationAgentComponent }>,\n        entityMap: Map<number, Entity>\n    ): void {\n        if (!this.pathPlanner || !this.isIncrementalPlanner) return;\n\n        const planner = this.pathPlanner as IIncrementalPathPlanner;\n        let remainingBudget = this.config.iterationsBudget;\n        let processedCount = 0;\n\n        // Step 1: Check which agents need path requests\n        for (const { entityId, agent } of agents) {\n            if (!agent.destination || agent.state === NavigationState.Arrived) {\n                if (agent.currentRequestId >= 0) {\n                    planner.cleanup(agent.currentRequestId);\n                    agent.currentRequestId = -1;\n                    agent.isComputingPath = false;\n                }\n                continue;\n            }\n\n            const needsRepath =\n                !agent.isComputingPath &&\n                agent.currentRequestId < 0 &&\n                (agent.path.length === 0 ||\n                    (agent.autoRepath &&\n                        this.currentTime - agent.lastRepathTime > agent.repathInterval));\n\n            if (needsRepath) {\n                this.pendingPathRequests.add(entityId);\n            }\n        }\n\n        // Step 2: Start new requests for pending agents (limited by maxAgentsPerFrame)\n        const pendingArray = Array.from(this.pendingPathRequests);\n\n        // Sort by priority (lower number = higher priority)\n        pendingArray.sort((a, b) => {\n            const agentA = agents.find(x => x.entityId === a);\n            const agentB = agents.find(x => x.entityId === b);\n            return (agentA?.agent.priority ?? 50) - (agentB?.agent.priority ?? 50);\n        });\n\n        for (const entityId of pendingArray) {\n            if (processedCount >= this.config.maxAgentsPerFrame) break;\n\n            const entry = agents.find(x => x.entityId === entityId);\n            const destination = entry?.agent.destination;\n            if (!entry || !destination) {\n                this.pendingPathRequests.delete(entityId);\n                continue;\n            }\n\n            const { agent } = entry;\n\n            // Start new request\n            const request = planner.requestPath(\n                agent.position,\n                destination,\n                { agentRadius: agent.radius }\n            );\n\n            agent.currentRequestId = request.id;\n            agent.isComputingPath = true;\n            agent.pathProgress = 0;\n            this.pendingPathRequests.delete(entityId);\n            processedCount++;\n        }\n\n        // Step 3: Process active requests\n        const activeAgents = agents.filter(x => x.agent.isComputingPath && x.agent.currentRequestId >= 0);\n\n        // Sort by priority\n        activeAgents.sort((a, b) => a.agent.priority - b.agent.priority);\n\n        for (const { agent } of activeAgents) {\n            if (remainingBudget <= 0) break;\n\n            const iterations = Math.min(remainingBudget, this.config.maxIterationsPerAgent);\n            const progress = planner.step(agent.currentRequestId, iterations);\n\n            remainingBudget -= progress.nodesSearched;\n            agent.pathProgress = progress.estimatedProgress;\n\n            if (progress.state === PlanState.Completed) {\n                const result = planner.getResult(agent.currentRequestId);\n                planner.cleanup(agent.currentRequestId);\n\n                if (result && result.found) {\n                    agent.path = result.path.map(p => ({ x: p.x, y: p.y }));\n                    agent.currentWaypointIndex = 0;\n                    agent.state = NavigationState.Navigating;\n                } else {\n                    agent.state = NavigationState.Unreachable;\n                    agent.path = [];\n                }\n\n                agent.currentRequestId = -1;\n                agent.isComputingPath = false;\n                agent.pathProgress = 0;\n                agent.lastRepathTime = this.currentTime;\n            } else if (progress.state === PlanState.Failed || progress.state === PlanState.Cancelled) {\n                planner.cleanup(agent.currentRequestId);\n                agent.state = NavigationState.Unreachable;\n                agent.path = [];\n                agent.currentRequestId = -1;\n                agent.isComputingPath = false;\n                agent.pathProgress = 0;\n                agent.lastRepathTime = this.currentTime;\n            }\n        }\n\n        // Step 4: Advance waypoints for all agents\n        for (const { agent } of agents) {\n            this.advanceWaypoint(agent);\n        }\n    }\n\n    /**\n     * @zh 推进路径点\n     * @en Advance waypoint\n     */\n    private advanceWaypoint(agent: NavigationAgentComponent): void {\n        while (agent.currentWaypointIndex < agent.path.length) {\n            const waypoint = agent.path[agent.currentWaypointIndex]!;\n            const dx = waypoint.x - agent.position.x;\n            const dy = waypoint.y - agent.position.y;\n            const dist = Math.sqrt(dx * dx + dy * dy);\n\n            if (dist < agent.waypointThreshold) {\n                agent.currentWaypointIndex++;\n            } else {\n                break;\n            }\n        }\n    }\n\n    /**\n     * @zh 计算首选速度\n     * @en Calculate preferred velocity\n     */\n    private calculatePreferredVelocity(agent: NavigationAgentComponent): IVector2 {\n        if (!agent.destination) {\n            return { x: 0, y: 0 };\n        }\n\n        // 如果代理处于无法到达或已到达状态，停止移动\n        // If agent is unreachable or arrived, stop moving\n        if (agent.state === NavigationState.Unreachable || agent.state === NavigationState.Arrived) {\n            return { x: 0, y: 0 };\n        }\n\n        // 如果没有路径且不在计算中，停止移动（避免直线穿墙）\n        // If no path and not computing, stop moving (avoid walking through walls)\n        if (agent.path.length === 0 && !agent.isComputingPath) {\n            return { x: 0, y: 0 };\n        }\n\n        let targetX: number, targetY: number;\n        let isLastWaypoint = false;\n\n        if (agent.currentWaypointIndex < agent.path.length) {\n            const waypoint = agent.path[agent.currentWaypointIndex]!;\n            targetX = waypoint.x;\n            targetY = waypoint.y;\n            isLastWaypoint = agent.currentWaypointIndex === agent.path.length - 1;\n        } else if (agent.path.length > 0) {\n            // 路径已走完，使用最终目标\n            // Path exhausted, use final destination\n            targetX = agent.destination.x;\n            targetY = agent.destination.y;\n            isLastWaypoint = true;\n        } else {\n            // 没有路径，不应该移动\n            // No path, should not move\n            return { x: 0, y: 0 };\n        }\n\n        const dx = targetX - agent.position.x;\n        const dy = targetY - agent.position.y;\n        const dist = Math.sqrt(dx * dx + dy * dy);\n\n        if (dist < 0.0001) {\n            return { x: 0, y: 0 };\n        }\n\n        // 只在接近最终目标时减速，中间路径点保持全速\n        // Only slow down when approaching final destination, keep full speed for intermediate waypoints\n        const speed = isLastWaypoint ? Math.min(agent.maxSpeed, dist) : agent.maxSpeed;\n        return {\n            x: (dx / dist) * speed,\n            y: (dy / dist) * speed\n        };\n    }\n\n    /**\n     * @zh 构建代理数据\n     * @en Build agent data\n     */\n    private buildAgentData(\n        entity: Entity,\n        agent: NavigationAgentComponent,\n        preferredVelocity: IVector2\n    ): IAvoidanceAgentData {\n        return {\n            id: entity.id,\n            position: { x: agent.position.x, y: agent.position.y },\n            velocity: { x: agent.velocity.x, y: agent.velocity.y },\n            preferredVelocity,\n            radius: agent.radius,\n            maxSpeed: agent.maxSpeed\n        };\n    }\n\n    /**\n     * @zh 应用避让结果\n     * @en Apply avoidance result\n     */\n    private applyAvoidanceResult(\n        entity: Entity,\n        agent: NavigationAgentComponent,\n        newVelocity: IVector2,\n        deltaTime: number\n    ): void {\n        // CollisionResolver 处理所有障碍物（静态+动态）\n        // CollisionResolver handles all obstacles (static + dynamic)\n        const allObstacles = this.getAllObstaclesForCollision();\n\n        // Stage 3a: Collision Resolution (velocity validation)\n        if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {\n            newVelocity = this.collisionResolver.validateVelocity(\n                agent.position,\n                newVelocity,\n                agent.radius,\n                allObstacles,\n                deltaTime\n            );\n        }\n\n        // Apply smooth steering if enabled\n        if (agent.smoothSteering) {\n            newVelocity = this.applySmoothSteering(agent, newVelocity, deltaTime);\n        }\n\n        // Update velocity\n        agent.velocity = { x: newVelocity.x, y: newVelocity.y };\n\n        // Calculate new position\n        let newPosition: IVector2 = {\n            x: agent.position.x + newVelocity.x * deltaTime,\n            y: agent.position.y + newVelocity.y * deltaTime\n        };\n\n        // Stage 3b: Collision Resolution (position correction)\n        if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {\n            newPosition = this.collisionResolver.resolveCollision(\n                newPosition,\n                agent.radius,\n                allObstacles\n            );\n        }\n\n        // Update position\n        agent.position = newPosition;\n\n        // Check arrival\n        this.checkArrival(agent);\n    }\n\n    /**\n     * @zh 应用平滑转向\n     * @en Apply smooth steering\n     */\n    private applySmoothSteering(\n        agent: NavigationAgentComponent,\n        targetVelocity: IVector2,\n        deltaTime: number\n    ): IVector2 {\n        const maxChange = agent.acceleration * deltaTime;\n\n        const dvx = targetVelocity.x - agent.velocity.x;\n        const dvy = targetVelocity.y - agent.velocity.y;\n        const changeMag = Math.sqrt(dvx * dvx + dvy * dvy);\n\n        if (changeMag <= maxChange) {\n            return targetVelocity;\n        }\n\n        const factor = maxChange / changeMag;\n        const newVel = {\n            x: agent.velocity.x + dvx * factor,\n            y: agent.velocity.y + dvy * factor\n        };\n\n        // 保持目标速度大小，避免转弯时减速\n        // Maintain target speed to prevent slowdown during turns\n        const targetSpeed = Math.sqrt(targetVelocity.x * targetVelocity.x + targetVelocity.y * targetVelocity.y);\n        const newSpeed = Math.sqrt(newVel.x * newVel.x + newVel.y * newVel.y);\n        if (newSpeed > 0.0001 && targetSpeed > 0.0001) {\n            const scale = targetSpeed / newSpeed;\n            newVel.x *= scale;\n            newVel.y *= scale;\n        }\n\n        return newVel;\n    }\n\n    /**\n     * @zh 检查是否到达目标\n     * @en Check if arrived at destination\n     */\n    private checkArrival(agent: NavigationAgentComponent): void {\n        if (!agent.destination) return;\n\n        const dx = agent.destination.x - agent.position.x;\n        const dy = agent.destination.y - agent.position.y;\n        const dist = Math.sqrt(dx * dx + dy * dy);\n\n        if (dist < agent.arrivalThreshold) {\n            agent.state = NavigationState.Arrived;\n            agent.velocity = { x: 0, y: 0 };\n        }\n    }\n\n    /**\n     * @zh 解决代理间碰撞\n     * @en Resolve agent-agent collisions\n     */\n    private resolveAgentCollisions(entities: readonly Entity[]): void {\n        if (!this.collisionResolver) return;\n\n        const corrections: Map<number, IVector2> = new Map();\n        const activeEntities = entities.filter(e => {\n            const agent = e.getComponent(NavigationAgentComponent)!;\n            return agent.enabled;\n        });\n\n        for (let i = 0; i < activeEntities.length; i++) {\n            for (let j = i + 1; j < activeEntities.length; j++) {\n                const entityA = activeEntities[i]!;\n                const entityB = activeEntities[j]!;\n                const agentA = entityA.getComponent(NavigationAgentComponent)!;\n                const agentB = entityB.getComponent(NavigationAgentComponent)!;\n\n                const collision = this.collisionResolver.detectAgentCollision(\n                    agentA.position,\n                    agentA.radius,\n                    agentB.position,\n                    agentB.radius\n                );\n\n                if (collision.collided) {\n                    const halfPush = (collision.penetration + 0.01) * 0.5;\n\n                    const corrA = corrections.get(entityA.id) ?? { x: 0, y: 0 };\n                    corrA.x += collision.normal.x * halfPush;\n                    corrA.y += collision.normal.y * halfPush;\n                    corrections.set(entityA.id, corrA);\n\n                    const corrB = corrections.get(entityB.id) ?? { x: 0, y: 0 };\n                    corrB.x -= collision.normal.x * halfPush;\n                    corrB.y -= collision.normal.y * halfPush;\n                    corrections.set(entityB.id, corrB);\n                }\n            }\n        }\n\n        const allObstacles = this.getAllObstaclesForCollision();\n\n        for (const [entityId, correction] of corrections) {\n            const entity = activeEntities.find(e => e.id === entityId);\n            if (!entity) continue;\n\n            const agent = entity.getComponent(NavigationAgentComponent)!;\n            let newPosition: IVector2 = {\n                x: agent.position.x + correction.x,\n                y: agent.position.y + correction.y\n            };\n\n            if (allObstacles.length > 0) {\n                newPosition = this.collisionResolver.resolveCollision(\n                    newPosition,\n                    agent.radius,\n                    allObstacles\n                );\n            }\n\n            agent.position = newPosition;\n        }\n    }\n}\n","/**\n * @zh ORCA 算法配置组件\n * @en ORCA Algorithm Configuration Component\n *\n * @zh 可选组件，仅当使用 ORCA 避让算法时需要，用于覆盖默认 ORCA 参数\n * @en Optional component, only needed when using ORCA avoidance, to override default ORCA parameters\n */\n\nimport {\n    Component,\n    ECSComponent,\n    Serializable,\n    Serialize,\n    Property\n} from '@esengine/ecs-framework';\n\n/**\n * @zh ORCA 算法配置组件\n * @en ORCA algorithm configuration component\n *\n * @zh 可选组件，附加到代理实体上以覆盖默认 ORCA 参数\n * @en Optional component, attach to agent entities to override default ORCA parameters\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n *\n * // 添加导航代理\n * entity.addComponent(new NavigationAgentComponent());\n *\n * // 可选：添加 ORCA 配置以自定义参数\n * const orcaConfig = entity.addComponent(new ORCAConfigComponent());\n * orcaConfig.timeHorizon = 3.0;  // 更长的预测时间\n * orcaConfig.neighborDist = 20.0;  // 更大的邻居检测范围\n * ```\n */\n@ECSComponent('ORCAConfig')\n@Serializable({ version: 1, typeId: 'ORCAConfig' })\nexport class ORCAConfigComponent extends Component {\n    /**\n     * @zh 邻居检测距离\n     * @en Neighbor detection distance\n     *\n     * @zh 代理检测邻居的最大距离，更大的值意味着更早开始避让但也更消耗性能\n     * @en Maximum distance for detecting neighbors, larger value means earlier avoidance but more performance cost\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Neighbor Dist', min: 1, max: 100 })\n    neighborDist: number = 15.0;\n\n    /**\n     * @zh 最大邻居数量\n     * @en Maximum number of neighbors\n     *\n     * @zh 计算避让时考虑的最大邻居数量，更多邻居意味着更精确但也更消耗性能\n     * @en Maximum neighbors considered for avoidance, more neighbors means more accurate but slower\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Max Neighbors', min: 1, max: 50 })\n    maxNeighbors: number = 10;\n\n    /**\n     * @zh 代理避让时间视野\n     * @en Time horizon for agent avoidance\n     *\n     * @zh 预测其他代理未来位置的时间范围，更长意味着更平滑但可能过度避让\n     * @en Time range for predicting other agents' future positions, longer means smoother but may over-avoid\n     */\n    @Serialize()\n    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+{"version":3,"sources":["../src/ecs/NavigationAgentComponent.ts","../src/ecs/NavigationSystem.ts","../src/ecs/ORCAConfigComponent.ts"],"sourcesContent":["/**\n * @zh 统一导航代理组件\n * @en Unified Navigation Agent Component\n *\n * @zh 算法无关的通用导航属性，配合 NavigationSystem 使用\n * @en Algorithm-agnostic common navigation properties, works with NavigationSystem\n */\n\nimport {\n    Component,\n    ECSComponent,\n    Serializable,\n    Serialize,\n    Property\n} from '@esengine/ecs-framework';\nimport type { IVector2 } from '../interfaces/IPathPlanner';\n\n/**\n * @zh 导航状态\n * @en Navigation state\n */\nexport enum NavigationState {\n    /**\n     * @zh 空闲\n     * @en Idle\n     */\n    Idle = 'idle',\n\n    /**\n     * @zh 正在导航\n     * @en Navigating\n     */\n    Navigating = 'navigating',\n\n    /**\n     * @zh 已到达\n     * @en Arrived\n     */\n    Arrived = 'arrived',\n\n    /**\n     * @zh 路径被阻挡\n     * @en Path blocked\n     */\n    Blocked = 'blocked',\n\n    /**\n     * @zh 无法到达\n     * @en Unreachable\n     */\n    Unreachable = 'unreachable'\n}\n\n/**\n * @zh 统一导航代理组件\n * @en Unified navigation agent component\n *\n * @zh 包含算法无关的通用导航属性，不包含算法特定参数\n * @en Contains algorithm-agnostic common navigation properties, no algorithm-specific parameters\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n *\n * // 添加导航代理组件\n * const nav = entity.addComponent(new NavigationAgentComponent());\n * nav.radius = 0.5;\n * nav.maxSpeed = 5.0;\n *\n * // 设置目标\n * nav.setDestination(100, 200);\n *\n * // NavigationSystem 会自动处理：\n * // 1. 使用 IPathPlanner 计算全局路径\n * // 2. 使用 ILocalAvoidance 进行局部避让\n * // 3. 使用 ICollisionResolver 防止穿透\n * ```\n */\n@ECSComponent('NavigationAgent')\n@Serializable({ version: 1, typeId: 'NavigationAgent' })\nexport class NavigationAgentComponent extends Component {\n    // =========================================================================\n    // 核心物理属性 | Core Physical Properties\n    // =========================================================================\n\n    /**\n     * @zh 代理半径\n     * @en Agent radius\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Radius', min: 0.1, max: 10 })\n    radius: number = 0.5;\n\n    /**\n     * @zh 最大速度\n     * @en Maximum speed\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Max Speed', min: 0.1, max: 100 })\n    maxSpeed: number = 5.0;\n\n    /**\n     * @zh 加速度（用于平滑移动）\n     * @en Acceleration (for smooth movement)\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Acceleration', min: 0.1, max: 100 })\n    acceleration: number = 10.0;\n\n    // =========================================================================\n    // 寻路配置 | Pathfinding Configuration\n    // =========================================================================\n\n    /**\n     * @zh 路径点到达阈值\n     * @en Waypoint arrival threshold\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Waypoint Threshold', min: 0.1, max: 10 })\n    waypointThreshold: number = 0.5;\n\n    /**\n     * @zh 目标到达阈值\n     * @en Destination arrival threshold\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Arrival Threshold', min: 0.1, max: 10 })\n    arrivalThreshold: number = 0.3;\n\n    /**\n     * @zh 路径重新计算间隔（秒）\n     * @en Path recalculation interval (seconds)\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Repath Interval', min: 0.1, max: 10 })\n    repathInterval: number = 0.5;\n\n    // =========================================================================\n    // 配置选项 | Configuration Options\n    // =========================================================================\n\n    /**\n     * @zh 是否启用导航\n     * @en Whether navigation is enabled\n     */\n    @Serialize()\n    @Property({ type: 'boolean', label: 'Enabled' })\n    enabled: boolean = true;\n\n    /**\n     * @zh 是否自动重新计算被阻挡的路径\n     * @en Whether to auto repath when blocked\n     */\n    @Serialize()\n    @Property({ type: 'boolean', label: 'Auto Repath' })\n    autoRepath: boolean = true;\n\n    /**\n     * @zh 是否启用平滑转向\n     * @en Whether to enable smooth steering\n     */\n    @Serialize()\n    @Property({ type: 'boolean', label: 'Smooth Steering' })\n    smoothSteering: boolean = true;\n\n    // =========================================================================\n    // 运行时状态 | Runtime State (Non-serialized)\n    // =========================================================================\n\n    /**\n     * @zh 当前位置\n     * @en Current position\n     */\n    position: IVector2 = { x: 0, y: 0 };\n\n    /**\n     * @zh 当前速度\n     * @en Current velocity\n     */\n    velocity: IVector2 = { x: 0, y: 0 };\n\n    /**\n     * @zh 目标位置\n     * @en Destination position\n     */\n    destination: IVector2 | null = null;\n\n    /**\n     * @zh 当前导航状态\n     * @en Current navigation state\n     */\n    state: NavigationState = NavigationState.Idle;\n\n    /**\n     * @zh 当前路径\n     * @en Current path\n     */\n    path: IVector2[] = [];\n\n    /**\n     * @zh 当前路径点索引\n     * @en Current waypoint index\n     */\n    currentWaypointIndex: number = 0;\n\n    /**\n     * @zh 上次重新计算路径的时间\n     * @en Last repath time\n     */\n    lastRepathTime: number = 0;\n\n    // =========================================================================\n    // 增量寻路状态（时间切片）| Incremental Pathfinding State (Time Slicing)\n    // =========================================================================\n\n    /**\n     * @zh 当前增量寻路请求 ID\n     * @en Current incremental pathfinding request ID\n     */\n    currentRequestId: number = -1;\n\n    /**\n     * @zh 寻路进度 (0-1)\n     * @en Pathfinding progress (0-1)\n     */\n    pathProgress: number = 0;\n\n    /**\n     * @zh 优先级（数字越小优先级越高）\n     * @en Priority (lower number = higher priority)\n     */\n    priority: number = 50;\n\n    /**\n     * @zh 是否正在等待路径计算完成\n     * @en Whether waiting for path computation to complete\n     */\n    isComputingPath: boolean = false;\n\n    // =========================================================================\n    // 公共方法 | Public Methods\n    // =========================================================================\n\n    /**\n     * @zh 设置位置\n     * @en Set position\n     *\n     * @param x - @zh X 坐标 @en X coordinate\n     * @param y - @zh Y 坐标 @en Y coordinate\n     */\n    setPosition(x: number, y: number): void {\n        this.position = { x, y };\n    }\n\n    /**\n     * @zh 设置目标位置\n     * @en Set destination\n     *\n     * @param x - @zh 目标 X 坐标 @en Destination X coordinate\n     * @param y - @zh 目标 Y 坐标 @en Destination Y coordinate\n     */\n    setDestination(x: number, y: number): void {\n        this.destination = { x, y };\n        this.state = NavigationState.Navigating;\n        this.path = [];\n        this.currentWaypointIndex = 0;\n        this.lastRepathTime = 0;\n    }\n\n    /**\n     * @zh 停止导航\n     * @en Stop navigation\n     */\n    stop(): void {\n        this.destination = null;\n        this.state = NavigationState.Idle;\n        this.path = [];\n        this.currentWaypointIndex = 0;\n        this.velocity = { x: 0, y: 0 };\n    }\n\n    /**\n     * @zh 获取当前路径点\n     * @en Get current waypoint\n     *\n     * @returns @zh 当前路径点，如果没有则返回 null @en Current waypoint, or null if none\n     */\n    getCurrentWaypoint(): IVector2 | null {\n        if (this.currentWaypointIndex < this.path.length) {\n            return this.path[this.currentWaypointIndex]!;\n        }\n        return null;\n    }\n\n    /**\n     * @zh 获取到目标的距离\n     * @en Get distance to destination\n     *\n     * @returns @zh 到目标的距离，如果没有目标则返回 Infinity @en Distance to destination, or Infinity if no destination\n     */\n    getDistanceToDestination(): number {\n        if (!this.destination) return Infinity;\n        const dx = this.destination.x - this.position.x;\n        const dy = this.destination.y - this.position.y;\n        return Math.sqrt(dx * dx + dy * dy);\n    }\n\n    /**\n     * @zh 获取当前速度大小\n     * @en Get current speed\n     *\n     * @returns @zh 当前速度大小 @en Current speed magnitude\n     */\n    getCurrentSpeed(): number {\n        return Math.sqrt(this.velocity.x * this.velocity.x + this.velocity.y * this.velocity.y);\n    }\n\n    /**\n     * @zh 检查是否已到达目标\n     * @en Check if arrived at destination\n     *\n     * @returns @zh 是否已到达 @en Whether arrived\n     */\n    hasArrived(): boolean {\n        return this.state === NavigationState.Arrived;\n    }\n\n    /**\n     * @zh 检查路径是否被阻挡\n     * @en Check if path is blocked\n     *\n     * @returns @zh 是否被阻挡 @en Whether blocked\n     */\n    isBlocked(): boolean {\n        return this.state === NavigationState.Blocked;\n    }\n\n    /**\n     * @zh 检查目标是否无法到达\n     * @en Check if destination is unreachable\n     *\n     * @returns @zh 是否无法到达 @en Whether unreachable\n     */\n    isUnreachable(): boolean {\n        return this.state === NavigationState.Unreachable;\n    }\n\n    /**\n     * @zh 重置组件状态\n     * @en Reset component state\n     */\n    reset(): void {\n        this.position = { x: 0, y: 0 };\n        this.velocity = { x: 0, y: 0 };\n        this.destination = null;\n        this.state = NavigationState.Idle;\n        this.path = [];\n        this.currentWaypointIndex = 0;\n        this.lastRepathTime = 0;\n    }\n\n    /**\n     * @zh 组件从实体移除时调用\n     * @en Called when component is removed from entity\n     */\n    public onRemovedFromEntity(): void {\n        this.reset();\n    }\n}\n","/**\n * @zh 统一导航系统\n * @en Unified Navigation System\n *\n * @zh 可插拔的导航系统，支持运行时切换寻路、避让、碰撞检测算法\n * @en Pluggable navigation system, supports runtime swapping of pathfinding, avoidance, and collision detection algorithms\n */\n\nimport {\n    EntitySystem,\n    Matcher,\n    ECSSystem,\n    type Entity\n} from '@esengine/ecs-framework';\nimport { NavigationAgentComponent, NavigationState } from './NavigationAgentComponent';\nimport type {\n    IPathPlanner,\n    IVector2,\n    IIncrementalPathPlanner,\n    PathPlanState\n} from '../interfaces/IPathPlanner';\nimport { isIncrementalPlanner, PathPlanState as PlanState } from '../interfaces/IPathPlanner';\nimport type { ILocalAvoidance, IObstacleData, IAvoidanceAgentData } from '../interfaces/ILocalAvoidance';\nimport type { ICollisionResolver } from '../interfaces/ICollisionResolver';\nimport type { IFlowController, IFlowAgentData } from '../interfaces/IFlowController';\nimport { PassPermission } from '../interfaces/IFlowController';\n\n/**\n * @zh 导航系统配置\n * @en Navigation system configuration\n */\nexport interface INavigationSystemConfig {\n    /**\n     * @zh 时间步长\n     * @en Time step\n     */\n    timeStep?: number;\n\n    /**\n     * @zh 是否启用路径规划阶段\n     * @en Whether to enable path planning stage\n     */\n    enablePathPlanning?: boolean;\n\n    /**\n     * @zh 是否启用流量控制阶段\n     * @en Whether to enable flow control stage\n     */\n    enableFlowControl?: boolean;\n\n    /**\n     * @zh 是否启用局部避让阶段\n     * @en Whether to enable local avoidance stage\n     */\n    enableLocalAvoidance?: boolean;\n\n    /**\n     * @zh 是否启用碰撞解决阶段\n     * @en Whether to enable collision resolution stage\n     */\n    enableCollisionResolution?: boolean;\n\n    /**\n     * @zh 是否启用代理间碰撞解决\n     * @en Whether to enable agent-agent collision resolution\n     */\n    enableAgentCollisionResolution?: boolean;\n\n    // =========================================================================\n    // 时间切片配置 | Time Slicing Configuration\n    // =========================================================================\n\n    /**\n     * @zh 是否启用时间切片寻路（需要 IIncrementalPathPlanner）\n     * @en Whether to enable time-sliced pathfinding (requires IIncrementalPathPlanner)\n     *\n     * @zh 启用后，寻路计算会分散到多帧执行，避免卡顿\n     * @en When enabled, pathfinding computation is spread across multiple frames to avoid stuttering\n     */\n    enableTimeSlicing?: boolean;\n\n    /**\n     * @zh 每帧总迭代预算\n     * @en Total iteration budget per frame\n     *\n     * @zh 所有代理共享此预算，根据优先级分配\n     * @en All agents share this budget, allocated by priority\n     *\n     * @default 1000\n     */\n    iterationsBudget?: number;\n\n    /**\n     * @zh 每帧最大处理代理数\n     * @en Maximum agents to process per frame\n     *\n     * @zh 限制每帧处理的代理数量，避免过载\n     * @en Limits the number of agents processed per frame to avoid overload\n     *\n     * @default 10\n     */\n    maxAgentsPerFrame?: number;\n\n    /**\n     * @zh 每个代理每帧最大迭代数\n     * @en Maximum iterations per agent per frame\n     *\n     * @default 200\n     */\n    maxIterationsPerAgent?: number;\n}\n\n/**\n * @zh 默认配置\n * @en Default configuration\n */\nconst DEFAULT_CONFIG: Required<INavigationSystemConfig> = {\n    timeStep: 1 / 60,\n    enablePathPlanning: true,\n    enableFlowControl: true,\n    enableLocalAvoidance: true,\n    enableCollisionResolution: true,\n    enableAgentCollisionResolution: true,\n    enableTimeSlicing: false,\n    iterationsBudget: 1000,\n    maxAgentsPerFrame: 10,\n    maxIterationsPerAgent: 200\n};\n\n/**\n * @zh 统一导航系统\n * @en Unified Navigation System\n *\n * @zh 可插拔的导航系统，处理管线：PathPlanning → LocalAvoidance → CollisionResolution\n * @en Pluggable navigation system, pipeline: PathPlanning → LocalAvoidance → CollisionResolution\n *\n * @example\n * ```typescript\n * import {\n *     NavigationSystem,\n *     NavigationAgentComponent,\n *     createNavMeshPathPlanner,\n *     createORCAAvoidance,\n *     createDefaultCollisionResolver\n * } from '@esengine/pathfinding/ecs';\n *\n * // 创建系统\n * const navSystem = new NavigationSystem();\n *\n * // 配置算法（可选，每个阶段都可以独立启用/禁用）\n * navSystem.setPathPlanner(createNavMeshPathPlanner(navMesh));\n * navSystem.setLocalAvoidance(createORCAAvoidance());\n * navSystem.setCollisionResolver(createDefaultCollisionResolver());\n *\n * scene.addSystem(navSystem);\n *\n * // 添加障碍物\n * navSystem.addObstacle({ vertices: [...] });\n *\n * // 创建代理\n * const agent = scene.createEntity('Agent');\n * const nav = agent.addComponent(new NavigationAgentComponent());\n * nav.setPosition(0, 0);\n * nav.setDestination(100, 100);\n *\n * // 运行时切换算法\n * navSystem.setPathPlanner(createJPSPlanner(gridMap));\n * navSystem.setLocalAvoidance(null);  // 禁用避让\n * ```\n */\n@ECSSystem('Navigation', { updateOrder: 45 })\nexport class NavigationSystem extends EntitySystem {\n    private config: Required<INavigationSystemConfig>;\n\n    private pathPlanner: IPathPlanner | null = null;\n    private flowController: IFlowController | null = null;\n    private localAvoidance: ILocalAvoidance | null = null;\n    private collisionResolver: ICollisionResolver | null = null;\n\n    /**\n     * @zh 静态障碍物（墙壁、建筑等）- 由 PathPlanner 和 CollisionResolver 处理\n     * @en Static obstacles (walls, buildings) - handled by PathPlanner and CollisionResolver\n     */\n    private staticObstacles: IObstacleData[] = [];\n\n    /**\n     * @zh 动态障碍物（移动物体等）- 由 ORCA 和 CollisionResolver 处理\n     * @en Dynamic obstacles (moving objects) - handled by ORCA and CollisionResolver\n     */\n    private dynamicObstacles: IObstacleData[] = [];\n\n    private currentTime: number = 0;\n    private agentEnterTimes: Map<number, number> = new Map();\n\n    // =========================================================================\n    // 时间切片状态 | Time Slicing State\n    // =========================================================================\n\n    /**\n     * @zh 是否为增量寻路器\n     * @en Whether the path planner is incremental\n     */\n    private isIncrementalPlanner: boolean = false;\n\n    /**\n     * @zh 等待寻路的代理队列（按优先级排序）\n     * @en Queue of agents waiting for pathfinding (sorted by priority)\n     */\n    private pendingPathRequests: Set<number> = new Set();\n\n    constructor(config: INavigationSystemConfig = {}) {\n        super(Matcher.all(NavigationAgentComponent));\n        this.config = { ...DEFAULT_CONFIG, ...config };\n    }\n\n    // =========================================================================\n    // 算法设置 | Algorithm Setters\n    // =========================================================================\n\n    /**\n     * @zh 设置路径规划器\n     * @en Set path planner\n     *\n     * @param planner - @zh 路径规划器，传入 null 禁用路径规划 @en Path planner, pass null to disable\n     *\n     * @zh 如果传入 IIncrementalPathPlanner 且启用了时间切片，会自动使用增量寻路\n     * @en If passing IIncrementalPathPlanner and time slicing is enabled, will automatically use incremental pathfinding\n     *\n     * @example\n     * ```typescript\n     * navSystem.setPathPlanner(createNavMeshPathPlanner(navMesh));\n     * navSystem.setPathPlanner(createAStarPlanner(gridMap));\n     * navSystem.setPathPlanner(createIncrementalAStarPlanner(gridMap));  // 支持时间切片\n     * navSystem.setPathPlanner(null);  // 禁用\n     * ```\n     */\n    setPathPlanner(planner: IPathPlanner | null): void {\n        this.pathPlanner?.dispose();\n        this.pathPlanner = planner;\n        this.isIncrementalPlanner = planner !== null && isIncrementalPlanner(planner);\n        this.pendingPathRequests.clear();\n    }\n\n    /**\n     * @zh 获取当前路径规划器\n     * @en Get current path planner\n     */\n    getPathPlanner(): IPathPlanner | null {\n        return this.pathPlanner;\n    }\n\n    /**\n     * @zh 设置流量控制器\n     * @en Set flow controller\n     *\n     * @param controller - @zh 流量控制器，传入 null 禁用流量控制 @en Flow controller, pass null to disable\n     *\n     * @example\n     * ```typescript\n     * navSystem.setFlowController(createFlowController());\n     * navSystem.setFlowController(null);  // 禁用\n     * ```\n     */\n    setFlowController(controller: IFlowController | null): void {\n        this.flowController?.dispose();\n        this.flowController = controller;\n    }\n\n    /**\n     * @zh 获取当前流量控制器\n     * @en Get current flow controller\n     */\n    getFlowController(): IFlowController | null {\n        return this.flowController;\n    }\n\n    /**\n     * @zh 设置局部避让算法\n     * @en Set local avoidance algorithm\n     *\n     * @param avoidance - @zh 局部避让算法，传入 null 禁用避让 @en Local avoidance, pass null to disable\n     *\n     * @example\n     * ```typescript\n     * navSystem.setLocalAvoidance(createORCAAvoidance());\n     * navSystem.setLocalAvoidance(null);  // 禁用\n     * ```\n     */\n    setLocalAvoidance(avoidance: ILocalAvoidance | null): void {\n        this.localAvoidance?.dispose();\n        this.localAvoidance = avoidance;\n    }\n\n    /**\n     * @zh 获取当前局部避让算法\n     * @en Get current local avoidance algorithm\n     */\n    getLocalAvoidance(): ILocalAvoidance | null {\n        return this.localAvoidance;\n    }\n\n    /**\n     * @zh 设置碰撞解决器\n     * @en Set collision resolver\n     *\n     * @param resolver - @zh 碰撞解决器，传入 null 禁用碰撞解决 @en Collision resolver, pass null to disable\n     *\n     * @example\n     * ```typescript\n     * navSystem.setCollisionResolver(createDefaultCollisionResolver());\n     * navSystem.setCollisionResolver(null);  // 禁用\n     * ```\n     */\n    setCollisionResolver(resolver: ICollisionResolver | null): void {\n        this.collisionResolver?.dispose();\n        this.collisionResolver = resolver;\n    }\n\n    /**\n     * @zh 获取当前碰撞解决器\n     * @en Get current collision resolver\n     */\n    getCollisionResolver(): ICollisionResolver | null {\n        return this.collisionResolver;\n    }\n\n    // =========================================================================\n    // 障碍物管理 | Obstacle Management\n    // =========================================================================\n\n    /**\n     * @zh 添加静态障碍物（墙壁、建筑等）\n     * @en Add static obstacle (walls, buildings, etc.)\n     *\n     * @zh 静态障碍物由 PathPlanner 规划路径时考虑，CollisionResolver 防止穿透\n     * @zh ORCA 不会处理静态障碍物，因为路径规划已经绑开了它们\n     * @en Static obstacles are considered by PathPlanner for routing, CollisionResolver for penetration prevention\n     * @en ORCA does NOT process static obstacles since path planning already avoids them\n     *\n     * @param obstacle - @zh 障碍物数据 @en Obstacle data\n     */\n    addStaticObstacle(obstacle: IObstacleData): void {\n        this.staticObstacles.push(obstacle);\n    }\n\n    /**\n     * @zh 添加动态障碍物（移动物体、临时障碍等）\n     * @en Add dynamic obstacle (moving objects, temporary obstacles, etc.)\n     *\n     * @zh 动态障碍物由 ORCA 进行局部避让，CollisionResolver 防止穿透\n     * @en Dynamic obstacles are handled by ORCA for local avoidance, CollisionResolver for penetration prevention\n     *\n     * @param obstacle - @zh 障碍物数据 @en Obstacle data\n     */\n    addDynamicObstacle(obstacle: IObstacleData): void {\n        this.dynamicObstacles.push(obstacle);\n    }\n\n    /**\n     * @zh 移除所有静态障碍物\n     * @en Remove all static obstacles\n     */\n    clearStaticObstacles(): void {\n        this.staticObstacles = [];\n    }\n\n    /**\n     * @zh 移除所有动态障碍物\n     * @en Remove all dynamic obstacles\n     */\n    clearDynamicObstacles(): void {\n        this.dynamicObstacles = [];\n    }\n\n    /**\n     * @zh 移除所有障碍物（静态和动态）\n     * @en Remove all obstacles (static and dynamic)\n     */\n    clearObstacles(): void {\n        this.staticObstacles = [];\n        this.dynamicObstacles = [];\n    }\n\n    /**\n     * @zh 获取静态障碍物列表\n     * @en Get static obstacles list\n     */\n    getStaticObstacles(): readonly IObstacleData[] {\n        return this.staticObstacles;\n    }\n\n    /**\n     * @zh 获取动态障碍物列表\n     * @en Get dynamic obstacles list\n     */\n    getDynamicObstacles(): readonly IObstacleData[] {\n        return this.dynamicObstacles;\n    }\n\n    /**\n     * @zh 获取所有障碍物列表（静态+动态）\n     * @en Get all obstacles list (static + dynamic)\n     */\n    getObstacles(): readonly IObstacleData[] {\n        return [...this.staticObstacles, ...this.dynamicObstacles];\n    }\n\n    /**\n     * @zh 获取所有障碍物用于碰撞检测\n     * @en Get all obstacles for collision detection\n     */\n    private getAllObstaclesForCollision(): readonly IObstacleData[] {\n        return [...this.staticObstacles, ...this.dynamicObstacles];\n    }\n\n    /**\n     * @zh 设置静态障碍物列表\n     * @en Set static obstacles list\n     *\n     * @param obstacles - @zh 障碍物列表 @en Obstacles list\n     */\n    setStaticObstacles(obstacles: IObstacleData[]): void {\n        this.staticObstacles = [...obstacles];\n    }\n\n    /**\n     * @zh 设置动态障碍物列表\n     * @en Set dynamic obstacles list\n     *\n     * @param obstacles - @zh 障碍物列表 @en Obstacles list\n     */\n    setDynamicObstacles(obstacles: IObstacleData[]): void {\n        this.dynamicObstacles = [...obstacles];\n    }\n\n    // =========================================================================\n    // 系统生命周期 | System Lifecycle\n    // =========================================================================\n\n    /**\n     * @zh 系统销毁时调用\n     * @en Called when system is destroyed\n     */\n    protected onDestroy(): void {\n        this.pathPlanner?.dispose();\n        this.flowController?.dispose();\n        this.localAvoidance?.dispose();\n        this.collisionResolver?.dispose();\n        this.pathPlanner = null;\n        this.flowController = null;\n        this.localAvoidance = null;\n        this.collisionResolver = null;\n        this.staticObstacles = [];\n        this.dynamicObstacles = [];\n        this.agentEnterTimes.clear();\n        this.pendingPathRequests.clear();\n        this.isIncrementalPlanner = false;\n    }\n\n    // =========================================================================\n    // 处理管线 | Processing Pipeline\n    // =========================================================================\n\n    /**\n     * @zh 处理实体\n     * @en Process entities\n     */\n    protected process(entities: readonly Entity[]): void {\n        if (entities.length === 0) return;\n\n        const deltaTime = this.config.timeStep;\n        this.currentTime += deltaTime;\n\n        const agentDataMap = new Map<number, IAvoidanceAgentData>();\n        const flowAgentDataList: IFlowAgentData[] = [];\n        const entityMap = new Map<number, Entity>();\n\n        // Build entity map for quick lookup\n        for (const entity of entities) {\n            entityMap.set(entity.id, entity);\n        }\n\n        // Stage 1: Path Planning\n        // 时间切片模式使用增量寻路，同步模式使用普通寻路\n        // Time slicing mode uses incremental pathfinding, sync mode uses normal pathfinding\n        if (this.config.enablePathPlanning && this.pathPlanner) {\n            if (this.config.enableTimeSlicing && this.isIncrementalPlanner) {\n                // Incremental mode: process all agents together with budget allocation\n                const agentList: Array<{ entityId: number; agent: NavigationAgentComponent }> = [];\n                for (const entity of entities) {\n                    const agent = entity.getComponent(NavigationAgentComponent)!;\n                    if (agent.enabled) {\n                        agentList.push({ entityId: entity.id, agent });\n                    }\n                }\n                this.processIncrementalPathPlanning(agentList, entityMap);\n            } else {\n                // Sync mode: process each agent individually\n                for (const entity of entities) {\n                    const agent = entity.getComponent(NavigationAgentComponent)!;\n                    if (!agent.enabled) continue;\n                    this.processPathPlanning(agent, deltaTime);\n                }\n            }\n        }\n\n        // Stage 1b: Build Agent Data (after path planning)\n        for (const entity of entities) {\n            const agent = entity.getComponent(NavigationAgentComponent)!;\n            if (!agent.enabled) continue;\n\n            // Track enter time for flow control\n            if (!this.agentEnterTimes.has(entity.id)) {\n                this.agentEnterTimes.set(entity.id, this.currentTime);\n            }\n\n            // Calculate preferred velocity from path\n            const preferredVelocity = this.calculatePreferredVelocity(agent);\n\n            // Build agent data for avoidance\n            const agentData = this.buildAgentData(entity, agent, preferredVelocity);\n            agentDataMap.set(entity.id, agentData);\n\n            // Build flow agent data\n            flowAgentDataList.push({\n                id: entity.id,\n                position: { x: agent.position.x, y: agent.position.y },\n                destination: agent.destination,\n                currentWaypoint: agent.getCurrentWaypoint(),\n                radius: agent.radius,\n                priority: 50,\n                enterTime: this.agentEnterTimes.get(entity.id)\n            });\n        }\n\n        // Stage 2: Flow Control\n        if (this.config.enableFlowControl && this.flowController) {\n            this.flowController.update(flowAgentDataList, deltaTime);\n        }\n\n        // Stage 3: Local Avoidance (batch processing)\n        // Only process agents that have permission to proceed or yield\n        if (this.config.enableLocalAvoidance && this.localAvoidance && agentDataMap.size > 0) {\n            const proceedingAgents: IAvoidanceAgentData[] = [];\n            const proceedingEntityIds = new Set<number>();\n\n            for (const entity of entities) {\n                const agent = entity.getComponent(NavigationAgentComponent)!;\n                if (!agent.enabled) continue;\n\n                const flowResult = this.flowController?.getFlowControl(entity.id);\n                const permission = flowResult?.permission ?? PassPermission.Proceed;\n\n                if (permission === PassPermission.Wait) {\n                    // Agent must wait - move to wait position or stop\n                    this.handleWaitingAgent(entity, agent, flowResult!.waitPosition, deltaTime);\n                } else {\n                    // Agent can proceed (with possible speed reduction for Yield)\n                    const agentData = agentDataMap.get(entity.id);\n                    if (agentData) {\n                        // Apply speed multiplier from flow control\n                        const speedMult = flowResult?.speedMultiplier ?? 1.0;\n                        if (speedMult < 1.0) {\n                            // Create modified agent data with scaled velocity\n                            const modifiedAgentData: IAvoidanceAgentData = {\n                                ...agentData,\n                                preferredVelocity: {\n                                    x: agentData.preferredVelocity.x * speedMult,\n                                    y: agentData.preferredVelocity.y * speedMult\n                                }\n                            };\n                            proceedingAgents.push(modifiedAgentData);\n                        } else {\n                            proceedingAgents.push(agentData);\n                        }\n                        proceedingEntityIds.add(entity.id);\n                    }\n                }\n            }\n\n            // Compute avoidance only for proceeding agents\n            // 关键：ORCA 只处理动态障碍物，静态障碍物由路径规划处理\n            // Key: ORCA only handles dynamic obstacles, static obstacles are handled by path planning\n            if (proceedingAgents.length > 0) {\n                const avoidanceResults = this.localAvoidance.computeBatchAvoidance(\n                    proceedingAgents,\n                    this.dynamicObstacles,\n                    deltaTime\n                );\n\n                for (const entity of entities) {\n                    if (!proceedingEntityIds.has(entity.id)) continue;\n\n                    const agent = entity.getComponent(NavigationAgentComponent)!;\n                    if (!agent.enabled) continue;\n\n                    const result = avoidanceResults.get(entity.id);\n                    if (result) {\n                        this.applyAvoidanceResult(entity, agent, result.velocity, deltaTime);\n                    } else {\n                        const agentData = agentDataMap.get(entity.id);\n                        if (agentData) {\n                            this.applyAvoidanceResult(entity, agent, agentData.preferredVelocity, deltaTime);\n                        }\n                    }\n                }\n            }\n        } else {\n            // No avoidance, just use preferred velocity (but still respect flow control)\n            for (const entity of entities) {\n                const agent = entity.getComponent(NavigationAgentComponent)!;\n                if (!agent.enabled) continue;\n\n                const flowResult = this.flowController?.getFlowControl(entity.id);\n                const permission = flowResult?.permission ?? PassPermission.Proceed;\n\n                if (permission === PassPermission.Wait && this.config.enableFlowControl && this.flowController) {\n                    this.handleWaitingAgent(entity, agent, flowResult!.waitPosition, deltaTime);\n                } else {\n                    const agentData = agentDataMap.get(entity.id);\n                    if (agentData) {\n                        let velocity = agentData.preferredVelocity;\n                        const speedMult = flowResult?.speedMultiplier ?? 1.0;\n                        if (speedMult < 1.0) {\n                            velocity = {\n                                x: velocity.x * speedMult,\n                                y: velocity.y * speedMult\n                            };\n                        }\n                        this.applyAvoidanceResult(entity, agent, velocity, deltaTime);\n                    }\n                }\n            }\n        }\n\n        // Stage 4: Agent-Agent Collision Resolution\n        if (this.config.enableAgentCollisionResolution && this.collisionResolver) {\n            this.resolveAgentCollisions(entities);\n        }\n\n        // Cleanup enter times for removed agents\n        this.cleanupEnterTimes(entities);\n    }\n\n    /**\n     * @zh 处理等待中的代理\n     * @en Handle waiting agent\n     */\n    private handleWaitingAgent(\n        entity: Entity,\n        agent: NavigationAgentComponent,\n        waitPosition: IVector2 | null,\n        deltaTime: number\n    ): void {\n        if (waitPosition) {\n            // Move towards wait position\n            const dx = waitPosition.x - agent.position.x;\n            const dy = waitPosition.y - agent.position.y;\n            const dist = Math.sqrt(dx * dx + dy * dy);\n\n            if (dist > agent.arrivalThreshold) {\n                const speed = Math.min(agent.maxSpeed * 0.5, dist);\n                const velocity: IVector2 = {\n                    x: (dx / dist) * speed,\n                    y: (dy / dist) * speed\n                };\n                this.applyAvoidanceResult(entity, agent, velocity, deltaTime);\n            } else {\n                // At wait position, stop\n                agent.velocity = { x: 0, y: 0 };\n            }\n        } else {\n            // No wait position specified, just stop\n            agent.velocity = { x: 0, y: 0 };\n        }\n    }\n\n    /**\n     * @zh 清理已移除代理的进入时间记录\n     * @en Cleanup enter times for removed agents\n     */\n    private cleanupEnterTimes(entities: readonly Entity[]): void {\n        const activeIds = new Set(entities.map(e => e.id));\n        for (const id of this.agentEnterTimes.keys()) {\n            if (!activeIds.has(id)) {\n                this.agentEnterTimes.delete(id);\n            }\n        }\n    }\n\n    /**\n     * @zh 处理路径规划（同步模式）\n     * @en Process path planning (synchronous mode)\n     */\n    private processPathPlanning(agent: NavigationAgentComponent, deltaTime: number): void {\n        if (!agent.destination || agent.state === NavigationState.Arrived) {\n            return;\n        }\n\n        const needsRepath =\n            agent.path.length === 0 ||\n            (agent.autoRepath &&\n                this.currentTime - agent.lastRepathTime > agent.repathInterval);\n\n        if (needsRepath && this.pathPlanner) {\n            const result = this.pathPlanner.findPath(\n                agent.position,\n                agent.destination,\n                { agentRadius: agent.radius }\n            );\n\n            if (result.found) {\n                agent.path = result.path.map(p => ({ x: p.x, y: p.y }));\n                agent.currentWaypointIndex = 0;\n                agent.state = NavigationState.Navigating;\n            } else {\n                agent.state = NavigationState.Unreachable;\n                agent.path = [];\n            }\n\n            agent.lastRepathTime = this.currentTime;\n        }\n\n        this.advanceWaypoint(agent);\n    }\n\n    /**\n     * @zh 处理增量路径规划（时间切片模式）\n     * @en Process incremental path planning (time slicing mode)\n     *\n     * @param agents - @zh 代理列表 @en Agent list\n     * @param entityMap - @zh 实体 ID 到代理的映射 @en Entity ID to agent mapping\n     */\n    private processIncrementalPathPlanning(\n        agents: Array<{ entityId: number; agent: NavigationAgentComponent }>,\n        entityMap: Map<number, Entity>\n    ): void {\n        if (!this.pathPlanner || !this.isIncrementalPlanner) return;\n\n        const planner = this.pathPlanner as IIncrementalPathPlanner;\n        let remainingBudget = this.config.iterationsBudget;\n        let processedCount = 0;\n\n        // Step 1: Check which agents need path requests\n        for (const { entityId, agent } of agents) {\n            if (!agent.destination || agent.state === NavigationState.Arrived) {\n                if (agent.currentRequestId >= 0) {\n                    planner.cleanup(agent.currentRequestId);\n                    agent.currentRequestId = -1;\n                    agent.isComputingPath = false;\n                }\n                continue;\n            }\n\n            const needsRepath =\n                !agent.isComputingPath &&\n                agent.currentRequestId < 0 &&\n                (agent.path.length === 0 ||\n                    (agent.autoRepath &&\n                        this.currentTime - agent.lastRepathTime > agent.repathInterval));\n\n            if (needsRepath) {\n                this.pendingPathRequests.add(entityId);\n            }\n        }\n\n        // Step 2: Start new requests for pending agents (limited by maxAgentsPerFrame)\n        const pendingArray = Array.from(this.pendingPathRequests);\n\n        // Sort by priority (lower number = higher priority)\n        pendingArray.sort((a, b) => {\n            const agentA = agents.find(x => x.entityId === a);\n            const agentB = agents.find(x => x.entityId === b);\n            return (agentA?.agent.priority ?? 50) - (agentB?.agent.priority ?? 50);\n        });\n\n        for (const entityId of pendingArray) {\n            if (processedCount >= this.config.maxAgentsPerFrame) break;\n\n            const entry = agents.find(x => x.entityId === entityId);\n            const destination = entry?.agent.destination;\n            if (!entry || !destination) {\n                this.pendingPathRequests.delete(entityId);\n                continue;\n            }\n\n            const { agent } = entry;\n\n            // Start new request\n            const request = planner.requestPath(\n                agent.position,\n                destination,\n                { agentRadius: agent.radius }\n            );\n\n            agent.currentRequestId = request.id;\n            agent.isComputingPath = true;\n            agent.pathProgress = 0;\n            this.pendingPathRequests.delete(entityId);\n            processedCount++;\n        }\n\n        // Step 3: Process active requests\n        const activeAgents = agents.filter(x => x.agent.isComputingPath && x.agent.currentRequestId >= 0);\n\n        // Sort by priority\n        activeAgents.sort((a, b) => a.agent.priority - b.agent.priority);\n\n        for (const { agent } of activeAgents) {\n            if (remainingBudget <= 0) break;\n\n            const iterations = Math.min(remainingBudget, this.config.maxIterationsPerAgent);\n            const progress = planner.step(agent.currentRequestId, iterations);\n\n            remainingBudget -= progress.nodesSearched;\n            agent.pathProgress = progress.estimatedProgress;\n\n            if (progress.state === PlanState.Completed) {\n                const result = planner.getResult(agent.currentRequestId);\n                planner.cleanup(agent.currentRequestId);\n\n                if (result && result.found) {\n                    agent.path = result.path.map(p => ({ x: p.x, y: p.y }));\n                    agent.currentWaypointIndex = 0;\n                    agent.state = NavigationState.Navigating;\n                } else {\n                    agent.state = NavigationState.Unreachable;\n                    agent.path = [];\n                }\n\n                agent.currentRequestId = -1;\n                agent.isComputingPath = false;\n                agent.pathProgress = 0;\n                agent.lastRepathTime = this.currentTime;\n            } else if (progress.state === PlanState.Failed || progress.state === PlanState.Cancelled) {\n                planner.cleanup(agent.currentRequestId);\n                agent.state = NavigationState.Unreachable;\n                agent.path = [];\n                agent.currentRequestId = -1;\n                agent.isComputingPath = false;\n                agent.pathProgress = 0;\n                agent.lastRepathTime = this.currentTime;\n            }\n        }\n\n        // Step 4: Advance waypoints for all agents\n        for (const { agent } of agents) {\n            this.advanceWaypoint(agent);\n        }\n    }\n\n    /**\n     * @zh 推进路径点\n     * @en Advance waypoint\n     */\n    private advanceWaypoint(agent: NavigationAgentComponent): void {\n        while (agent.currentWaypointIndex < agent.path.length) {\n            const waypoint = agent.path[agent.currentWaypointIndex]!;\n            const dx = waypoint.x - agent.position.x;\n            const dy = waypoint.y - agent.position.y;\n            const dist = Math.sqrt(dx * dx + dy * dy);\n\n            if (dist < agent.waypointThreshold) {\n                agent.currentWaypointIndex++;\n            } else {\n                break;\n            }\n        }\n    }\n\n    /**\n     * @zh 计算首选速度\n     * @en Calculate preferred velocity\n     */\n    private calculatePreferredVelocity(agent: NavigationAgentComponent): IVector2 {\n        if (!agent.destination) {\n            return { x: 0, y: 0 };\n        }\n\n        // 如果代理处于无法到达或已到达状态，停止移动\n        // If agent is unreachable or arrived, stop moving\n        if (agent.state === NavigationState.Unreachable || agent.state === NavigationState.Arrived) {\n            return { x: 0, y: 0 };\n        }\n\n        // 如果没有路径且不在计算中，停止移动（避免直线穿墙）\n        // If no path and not computing, stop moving (avoid walking through walls)\n        if (agent.path.length === 0 && !agent.isComputingPath) {\n            return { x: 0, y: 0 };\n        }\n\n        let targetX: number, targetY: number;\n        let isLastWaypoint = false;\n\n        if (agent.currentWaypointIndex < agent.path.length) {\n            const waypoint = agent.path[agent.currentWaypointIndex]!;\n            targetX = waypoint.x;\n            targetY = waypoint.y;\n            isLastWaypoint = agent.currentWaypointIndex === agent.path.length - 1;\n        } else if (agent.path.length > 0) {\n            // 路径已走完，使用最终目标\n            // Path exhausted, use final destination\n            targetX = agent.destination.x;\n            targetY = agent.destination.y;\n            isLastWaypoint = true;\n        } else {\n            // 没有路径，不应该移动\n            // No path, should not move\n            return { x: 0, y: 0 };\n        }\n\n        const dx = targetX - agent.position.x;\n        const dy = targetY - agent.position.y;\n        const dist = Math.sqrt(dx * dx + dy * dy);\n\n        if (dist < 0.0001) {\n            return { x: 0, y: 0 };\n        }\n\n        // 只在接近最终目标时减速，中间路径点保持全速\n        // Only slow down when approaching final destination, keep full speed for intermediate waypoints\n        const speed = isLastWaypoint ? Math.min(agent.maxSpeed, dist) : agent.maxSpeed;\n        return {\n            x: (dx / dist) * speed,\n            y: (dy / dist) * speed\n        };\n    }\n\n    /**\n     * @zh 构建代理数据\n     * @en Build agent data\n     */\n    private buildAgentData(\n        entity: Entity,\n        agent: NavigationAgentComponent,\n        preferredVelocity: IVector2\n    ): IAvoidanceAgentData {\n        return {\n            id: entity.id,\n            position: { x: agent.position.x, y: agent.position.y },\n            velocity: { x: agent.velocity.x, y: agent.velocity.y },\n            preferredVelocity,\n            radius: agent.radius,\n            maxSpeed: agent.maxSpeed\n        };\n    }\n\n    /**\n     * @zh 应用避让结果\n     * @en Apply avoidance result\n     */\n    private applyAvoidanceResult(\n        entity: Entity,\n        agent: NavigationAgentComponent,\n        newVelocity: IVector2,\n        deltaTime: number\n    ): void {\n        // CollisionResolver 处理所有障碍物（静态+动态）\n        // CollisionResolver handles all obstacles (static + dynamic)\n        const allObstacles = this.getAllObstaclesForCollision();\n\n        // Stage 3a: Collision Resolution (velocity validation)\n        if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {\n            newVelocity = this.collisionResolver.validateVelocity(\n                agent.position,\n                newVelocity,\n                agent.radius,\n                allObstacles,\n                deltaTime\n            );\n        }\n\n        // Apply smooth steering if enabled\n        if (agent.smoothSteering) {\n            newVelocity = this.applySmoothSteering(agent, newVelocity, deltaTime);\n        }\n\n        // Update velocity\n        agent.velocity = { x: newVelocity.x, y: newVelocity.y };\n\n        // Calculate new position\n        let newPosition: IVector2 = {\n            x: agent.position.x + newVelocity.x * deltaTime,\n            y: agent.position.y + newVelocity.y * deltaTime\n        };\n\n        // Stage 3b: Collision Resolution (position correction)\n        if (this.config.enableCollisionResolution && this.collisionResolver && allObstacles.length > 0) {\n            newPosition = this.collisionResolver.resolveCollision(\n                newPosition,\n                agent.radius,\n                allObstacles\n            );\n        }\n\n        // 最终检查：确保新位置可行走（防止出界或进入障碍物）\n        // Final check: ensure new position is walkable (prevent out-of-bounds or entering obstacles)\n        // 使用 isPositionWalkable 检查整个代理（包括半径）是否在可行走区域\n        // Use isPositionWalkable to check if entire agent (including radius) is in walkable area\n        if (!this.isPositionWalkable(newPosition, agent.radius)) {\n            // 新位置不可行走，尝试滑动到有效位置\n            // New position not walkable, try sliding to a valid position\n            const slidPosition = this.findSlidePosition(agent.position, newPosition, agent.radius);\n            if (slidPosition) {\n                newPosition = slidPosition;\n                // 更新速度以反映实际移动方向\n                // Update velocity to reflect actual movement direction\n                agent.velocity = {\n                    x: (newPosition.x - agent.position.x) / deltaTime,\n                    y: (newPosition.y - agent.position.y) / deltaTime\n                };\n            } else {\n                // 无法滑动，保持原位置\n                // Cannot slide, stay at current position\n                agent.velocity = { x: 0, y: 0 };\n                return;\n            }\n        }\n\n        // Update position\n        agent.position = newPosition;\n\n        // Check arrival\n        this.checkArrival(agent);\n    }\n\n    /**\n     * @zh 应用平滑转向\n     * @en Apply smooth steering\n     */\n    private applySmoothSteering(\n        agent: NavigationAgentComponent,\n        targetVelocity: IVector2,\n        deltaTime: number\n    ): IVector2 {\n        const maxChange = agent.acceleration * deltaTime;\n\n        const dvx = targetVelocity.x - agent.velocity.x;\n        const dvy = targetVelocity.y - agent.velocity.y;\n        const changeMag = Math.sqrt(dvx * dvx + dvy * dvy);\n\n        if (changeMag <= maxChange) {\n            return targetVelocity;\n        }\n\n        const factor = maxChange / changeMag;\n        const newVel = {\n            x: agent.velocity.x + dvx * factor,\n            y: agent.velocity.y + dvy * factor\n        };\n\n        // 保持目标速度大小，避免转弯时减速\n        // Maintain target speed to prevent slowdown during turns\n        const targetSpeed = Math.sqrt(targetVelocity.x * targetVelocity.x + targetVelocity.y * targetVelocity.y);\n        const newSpeed = Math.sqrt(newVel.x * newVel.x + newVel.y * newVel.y);\n        if (newSpeed > 0.0001 && targetSpeed > 0.0001) {\n            const scale = targetSpeed / newSpeed;\n            newVel.x *= scale;\n            newVel.y *= scale;\n        }\n\n        return newVel;\n    }\n\n    /**\n     * @zh 检查是否到达目标\n     * @en Check if arrived at destination\n     */\n    private checkArrival(agent: NavigationAgentComponent): void {\n        if (!agent.destination) return;\n\n        const dx = agent.destination.x - agent.position.x;\n        const dy = agent.destination.y - agent.position.y;\n        const dist = Math.sqrt(dx * dx + dy * dy);\n\n        if (dist < agent.arrivalThreshold) {\n            agent.state = NavigationState.Arrived;\n            agent.velocity = { x: 0, y: 0 };\n        }\n    }\n\n    /**\n     * @zh 解决代理间碰撞\n     * @en Resolve agent-agent collisions\n     */\n    private resolveAgentCollisions(entities: readonly Entity[]): void {\n        if (!this.collisionResolver) return;\n\n        const corrections: Map<number, IVector2> = new Map();\n        const activeEntities = entities.filter(e => {\n            const agent = e.getComponent(NavigationAgentComponent)!;\n            return agent.enabled;\n        });\n\n        for (let i = 0; i < activeEntities.length; i++) {\n            for (let j = i + 1; j < activeEntities.length; j++) {\n                const entityA = activeEntities[i]!;\n                const entityB = activeEntities[j]!;\n                const agentA = entityA.getComponent(NavigationAgentComponent)!;\n                const agentB = entityB.getComponent(NavigationAgentComponent)!;\n\n                const collision = this.collisionResolver.detectAgentCollision(\n                    agentA.position,\n                    agentA.radius,\n                    agentB.position,\n                    agentB.radius\n                );\n\n                if (collision.collided) {\n                    const halfPush = (collision.penetration + 0.01) * 0.5;\n\n                    const corrA = corrections.get(entityA.id) ?? { x: 0, y: 0 };\n                    corrA.x += collision.normal.x * halfPush;\n                    corrA.y += collision.normal.y * halfPush;\n                    corrections.set(entityA.id, corrA);\n\n                    const corrB = corrections.get(entityB.id) ?? { x: 0, y: 0 };\n                    corrB.x -= collision.normal.x * halfPush;\n                    corrB.y -= collision.normal.y * halfPush;\n                    corrections.set(entityB.id, corrB);\n                }\n            }\n        }\n\n        const allObstacles = this.getAllObstaclesForCollision();\n\n        for (const [entityId, correction] of corrections) {\n            const entity = activeEntities.find(e => e.id === entityId);\n            if (!entity) continue;\n\n            const agent = entity.getComponent(NavigationAgentComponent)!;\n            let newPosition: IVector2 = {\n                x: agent.position.x + correction.x,\n                y: agent.position.y + correction.y\n            };\n\n            // 先检查目标位置是否可行走（包括代理半径），防止被推入障碍物\n            // Check if target position is walkable (including agent radius) first, prevent being pushed into obstacles\n            // 使用严格的容差（1.0）防止代理被推入障碍物\n            // Use strict tolerance (1.0) to prevent agents being pushed into obstacles\n            if (!this.isPositionWalkable(newPosition, agent.radius, 1.0)) {\n                // 目标位置不可行走，尝试只应用部分修正或完全不应用\n                // Target position not walkable, try partial correction or skip entirely\n                const partialCorrection = this.findValidCorrection(agent.position, correction, agent.radius);\n                if (partialCorrection) {\n                    newPosition = {\n                        x: agent.position.x + partialCorrection.x,\n                        y: agent.position.y + partialCorrection.y\n                    };\n                } else {\n                    // 找不到有效的修正方向，跳过此代理的修正\n                    // Cannot find valid correction direction, skip this agent\n                    continue;\n                }\n            }\n\n            if (allObstacles.length > 0) {\n                newPosition = this.collisionResolver.resolveCollision(\n                    newPosition,\n                    agent.radius,\n                    allObstacles\n                );\n            }\n\n            // 最终检查：确保修正后的位置仍然可行走（包括代理半径）\n            // Final check: ensure corrected position is still walkable (including agent radius)\n            // 使用严格的容差（1.0）\n            // Use strict tolerance (1.0)\n            if (!this.isPositionWalkable(newPosition, agent.radius, 1.0)) {\n                // 仍然不可行走，放弃此修正\n                // Still not walkable, abandon this correction\n                continue;\n            }\n\n            agent.position = newPosition;\n        }\n    }\n\n    /**\n     * @zh 查找有效的修正向量（不会进入障碍物）\n     * @en Find valid correction vector (won't enter obstacles)\n     */\n    private findValidCorrection(currentPos: IVector2, correction: IVector2, radius: number = 0): IVector2 | null {\n        if (!this.pathPlanner) return correction;\n\n        // 尝试逐步减少修正量，找到一个有效的位置\n        // Try progressively reducing correction to find a valid position\n        // 使用严格的容差（1.0）确保不进入障碍物\n        // Use strict tolerance (1.0) to ensure not entering obstacles\n        const steps = [0.75, 0.5, 0.25, 0.1];\n        for (const scale of steps) {\n            const testPos: IVector2 = {\n                x: currentPos.x + correction.x * scale,\n                y: currentPos.y + correction.y * scale\n            };\n            if (this.isPositionWalkable(testPos, radius, 1.0)) {\n                return { x: correction.x * scale, y: correction.y * scale };\n            }\n        }\n\n        // 所有缩放都失败，返回 null\n        // All scales failed, return null\n        return null;\n    }\n\n    /**\n     * @zh 查找滑动位置（当目标位置不可行走时）\n     * @en Find slide position (when target position is not walkable)\n     *\n     * @zh 尝试只沿 X 轴或 Y 轴移动，实现沿墙滑动效果\n     * @en Try moving only along X or Y axis, achieving wall sliding effect\n     */\n    private findSlidePosition(currentPos: IVector2, targetPos: IVector2, radius: number): IVector2 | null {\n        const dx = targetPos.x - currentPos.x;\n        const dy = targetPos.y - currentPos.y;\n\n        // 尝试只沿 X 轴移动\n        // Try moving only along X axis\n        const xOnlyPos: IVector2 = { x: targetPos.x, y: currentPos.y };\n        if (Math.abs(dx) > 0.001 && this.isPositionWalkable(xOnlyPos, radius)) {\n            return xOnlyPos;\n        }\n\n        // 尝试只沿 Y 轴移动\n        // Try moving only along Y axis\n        const yOnlyPos: IVector2 = { x: currentPos.x, y: targetPos.y };\n        if (Math.abs(dy) > 0.001 && this.isPositionWalkable(yOnlyPos, radius)) {\n            return yOnlyPos;\n        }\n\n        // 尝试部分移动（50%）\n        // Try partial movement (50%)\n        const halfPos: IVector2 = {\n            x: currentPos.x + dx * 0.5,\n            y: currentPos.y + dy * 0.5\n        };\n        if (this.isPositionWalkable(halfPos, radius)) {\n            return halfPos;\n        }\n\n        // 无法找到有效滑动位置\n        // Cannot find valid slide position\n        return null;\n    }\n\n    /**\n     * @zh 检查位置是否可行走（考虑代理半径）\n     * @en Check if position is walkable (considering agent radius)\n     *\n     * @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\n     * @en Check 4 corners and center of agent bounding box, ensure entire agent is in walkable area\n     *\n     * @param position - @zh 位置 @en Position\n     * @param radius - @zh 代理半径 @en Agent radius\n     * @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\n     */\n    private isPositionWalkable(position: IVector2, radius: number = 0, tolerance: number = 0.8): boolean {\n        if (!this.pathPlanner) return true;\n\n        // 检查中心点（必须可行走）\n        // Check center point (must be walkable)\n        if (!this.pathPlanner.isWalkable(position)) {\n            return false;\n        }\n\n        // 如果没有半径，只检查中心点\n        // If no radius, only check center\n        if (radius <= 0) {\n            return true;\n        }\n\n        // 使用缩小后的半径进行检查，允许轻微重叠\n        // Use reduced radius for checking, allows slight overlap\n        const checkRadius = radius * tolerance;\n\n        // 检查边界框的4个角点\n        // Check 4 corners of bounding box\n        const corners: IVector2[] = [\n            { x: position.x - checkRadius, y: position.y - checkRadius },\n            { x: position.x + checkRadius, y: position.y - checkRadius },\n            { x: position.x - checkRadius, y: position.y + checkRadius },\n            { x: position.x + checkRadius, y: position.y + checkRadius }\n        ];\n\n        for (const corner of corners) {\n            if (!this.pathPlanner.isWalkable(corner)) {\n                return false;\n            }\n        }\n\n        return true;\n    }\n}\n","/**\n * @zh ORCA 算法配置组件\n * @en ORCA Algorithm Configuration Component\n *\n * @zh 可选组件，仅当使用 ORCA 避让算法时需要，用于覆盖默认 ORCA 参数\n * @en Optional component, only needed when using ORCA avoidance, to override default ORCA parameters\n */\n\nimport {\n    Component,\n    ECSComponent,\n    Serializable,\n    Serialize,\n    Property\n} from '@esengine/ecs-framework';\n\n/**\n * @zh ORCA 算法配置组件\n * @en ORCA algorithm configuration component\n *\n * @zh 可选组件，附加到代理实体上以覆盖默认 ORCA 参数\n * @en Optional component, attach to agent entities to override default ORCA parameters\n *\n * @example\n * ```typescript\n * const entity = scene.createEntity('Agent');\n *\n * // 添加导航代理\n * entity.addComponent(new NavigationAgentComponent());\n *\n * // 可选：添加 ORCA 配置以自定义参数\n * const orcaConfig = entity.addComponent(new ORCAConfigComponent());\n * orcaConfig.timeHorizon = 3.0;  // 更长的预测时间\n * orcaConfig.neighborDist = 20.0;  // 更大的邻居检测范围\n * ```\n */\n@ECSComponent('ORCAConfig')\n@Serializable({ version: 1, typeId: 'ORCAConfig' })\nexport class ORCAConfigComponent extends Component {\n    /**\n     * @zh 邻居检测距离\n     * @en Neighbor detection distance\n     *\n     * @zh 代理检测邻居的最大距离，更大的值意味着更早开始避让但也更消耗性能\n     * @en Maximum distance for detecting neighbors, larger value means earlier avoidance but more performance cost\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Neighbor Dist', min: 1, max: 100 })\n    neighborDist: number = 15.0;\n\n    /**\n     * @zh 最大邻居数量\n     * @en Maximum number of neighbors\n     *\n     * @zh 计算避让时考虑的最大邻居数量，更多邻居意味着更精确但也更消耗性能\n     * @en Maximum neighbors considered for avoidance, more neighbors means more accurate but slower\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Max Neighbors', min: 1, max: 50 })\n    maxNeighbors: number = 10;\n\n    /**\n     * @zh 代理避让时间视野\n     * @en Time horizon for agent avoidance\n     *\n     * @zh 预测其他代理未来位置的时间范围，更长意味着更平滑但可能过度避让\n     * @en Time range for predicting other agents' future positions, longer means smoother but may over-avoid\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Time Horizon', min: 0.1, max: 10 })\n    timeHorizon: number = 2.0;\n\n    /**\n     * @zh 障碍物避让时间视野\n     * @en Time horizon for obstacle avoidance\n     *\n     * @zh 预测与障碍物碰撞的时间范围，通常比代理视野短\n     * @en Time range for predicting obstacle collisions, usually shorter than agent horizon\n     */\n    @Serialize()\n    @Property({ type: 'number', label: 'Time Horizon Obst', min: 0.1, max: 10 })\n    timeHorizonObst: number = 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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@esengine/pathfinding",
-  "version": "13.3.1",
+  "version": "13.3.2",
   "description": "寻路系统 | Pathfinding System - A*, Grid, NavMesh",
   "type": "module",
   "main": "./dist/index.js",
@@ -32,14 +32,14 @@
     "tsup": "^8.0.0",
     "typescript": "^5.8.0",
     "vitest": "^2.1.9",
+    "@esengine/ecs-framework-math": "2.11.0",
     "@esengine/blueprint": "4.5.0",
-    "@esengine/ecs-framework": "2.7.1",
-    "@esengine/ecs-framework-math": "2.11.0"
+    "@esengine/ecs-framework": "2.7.1"
   },
   "peerDependencies": {
-    "@esengine/ecs-framework-math": "2.11.0",
     "@esengine/ecs-framework": "2.7.1",
-    "@esengine/blueprint": "4.5.0"
+    "@esengine/blueprint": "4.5.0",
+    "@esengine/ecs-framework-math": "2.11.0"
   },
   "peerDependenciesMeta": {
     "@esengine/ecs-framework": {